Applied Motion 1035D User Manual

10/15/03

1035man.ai

User's Manual

1035D

2 Axis

Step Motor Driver

A+
A–
B+

3362

B–

0-1A

STEP

DIR

COM

DIR

0-1A

A+
A–
B+

axis 1 axis 2

B–

3362

STEP

Copyright 2003

Applied Motion Products, Inc.

404 Westridge Drive Watsonville, CA 95076

Tel [phone] [phone] Fax [phone]

1035D

motors • drives • controls

-15-

Technical Specifications

Amplifiers

Inputs

Physical

Connectors

Dual, bipolar H-bridge, pulse width modulated switching at 20kHz.
12-35 VDC input. 0 - 1.0 amp/phase output current, adjusted by
trimpot. 35 watts maximum output power per axis. Automatic idle
current reduction, reduces current to 50% of setting after one half
second.

Step and direction, optically isolated, 5-24V logic. Can be
configured for sinking or sourcing signals. 2200 ohms input
impedance. Motor steps on rising edge of step line. 10 µsec
minimum low pulse. 50 µsec minimum set up time for direction
signal.

Housed in molded plastic case. Mounts on EN50022 (35 mm) DIN
rail. Can also be attached to Aromat (NAiS) FP0 PLC.

1.0 x 2.4 x 3.55 inches overall. See page 13 for detailed drawing.
Weight: 9 ounces (250 g).
Ambient temp range (operating): 0 - 70˚C.

European style screw terminal blocks. Motors: 4 position. Signal
Input: 5 position. DC Input: 2 position. Wire size: AWG 16-28.

Introduction

Thank you for selecting an Applied Motion Products motor control. We hope our
dedication to performance, quality and economy will make your motion control
project successful.

If there's anything we can do to improve our products or help you use them better,
please call or fax. We'd like to hear from you. Our phone number is (800) 525­1609 or you can reach us by fax at (831) 761–6544.

You can also find useful information 24 hours a day at our web site:

www.applied-motion.com.

Features

•

Drives two step motors independently.

•

Drives NEMA motor sizes 14 through 23.

•

Pulse width modulation switching amplifiers.

•

Phase current from 0 to 1.0 amps (each axis independently adjustable by trimpot.)

•

Step and direction inputs, optically isolated, 5-24V logic.

•

Full and half step (jumper selectable)

•

Automatic 50% idle current reduction

CE Mark

Complies with EN55011A and EN50082-1(1992).

Block Diagram

step

dir

com

dir

step

12-35 VDC

Optical

Isolation

full/half select (jumper)

Step

Sequencer

Idle

Current

Reduction

Step

Sequencer

-3--14-

Amplifier

Amplifier

A+
A­B+
B-

current setting
(trimpot)

current setting
(trimpot)

A+
A­B+
B-

to
motor

to
motor

Getting Started

Mechanical Outline

To use your Applied Motion Products motor control, you will need the following:

• a 12-35 volt DC power supply for the motor. Please read the section

Choosing a Power Supply

for help in choosing the right power supply.

• a source of step & direction signals (indexer, oscillator or PLC).

• a source of power to activate the optoisolation circuits. Many indexers & PLCs
have power available for this purpose. If not, you may need a small 5 - 24 VDC
power supply.

• a small flat blade screwdriver (0.1" wide) for tightening the connectors and setting
the current.

The sketch below shows where to find the important connection and adjustment
points. Please examine it now.

A+
A–
B+
B–

0-1A

STEP

DIR

COM

DIR

STEP

3362

axis 2 motor
connector

axis 2 current
adjustment

step & direction
inputs

2.75

2.40 1.00

A+
A–
B+
B–

0-1A

STEP

DIR

3.55 3.90

COM

DIR

STEP

0-1A

A+
A–

axis 1 axis 2

B+
B–

1035D

3362 3362

0-1A

A+
A–

axis 1 axis 2

B+
B–

1035D

3362

-4-

axis 1 current
adjustment

axis 1 motor
connector

power
connector
12-35 VDC

-13-

Mounting the Drive

The 1035D is designed for DIN rail mounting. First, secure a piece of 35mm
(EN50022) DIN rail to a rigid surface. Normally, that would be the wall of a wiring
cabinet. Then hang the 1035D on the DIN rail and press the blue plastic tab to lock
the drive to the rail.

Connecting the Power Supply

If you need information about choosing a power supply, please read

Power Supply

located in the back of this manual.

If your power supply does not have a fuse on the output or some kind of short
circuit current limiting feature you need to put a 2 amp slow blow fuse between the
drive and power supply. Install the fuse on the positive power supply lead.

Connect the motor power supply positive terminal to the driver terminal marked
"+". Connect power supply return to the drive terminal marked "-". Use no
smaller than 20 gauge wire. Be careful not to reverse the wires. Reverse
connection will destroy your driver, void your warranty and generally wreck your
day.

2A slow blow

motor

supply

12-35 VDC+–

fuse

Choosing a

Step 1

Hang Drive on DIN Rail

Step 2

Press Blue

Latching Tab

The amplifiers and voltage regulator in the 1035D have been specially designed for
maximum efficiency. Still, they generate some heat, which must leave the 1035D
through the slots in the case.

Never use your drive where there is no air flow.
Always mount the drive vertically.
Never block the ventiliation slots.
Never put the drive where it can get wet or where metal particles can
get on it.

Connecting the Motor

Warning: When connecting the motor to the driver, be sure that the
motor power supply is off. Secure any unused motor leads so that they
can't short out to anything. Never disconnect the motor while the drive
is powered up. Never connect motor leads to ground or to a power
supply!

You must now decide how to connect your
motor to the drive.

Four lead motors can only be connected
one way. Please follow the sketch at the
right.

Six lead motors can be connected in
series or center tap. In series mode, motors
produce more torque at low speeds, but
cannot run as fast as in the center tap
configuration. In series operation, the motor
should be operated at 30% less than the rated current to prevent overheating.
Winding diagrams for both connection methods are shown on the next page

A+

A-

Red

Blue

Yellow

4 Leads

4

lead

motor

White

B+ B-

-12- -5-

Grn/Wht

A-

motor

Black

6

lead

NC

B+

Red/

Wht

NC = not
connected

White

NC

Green

A+

Red

NC = not
connected

6 Leads Series Connected 6 Leads Center Tap Connected

B-

A-

A+

NC

Grn/Wht

White

Green

Red

motor

Black

6

lead

B+B-

Red/

Wht

NC

Eight lead motors can also be connected in two ways: series and parallel. As
with six lead motors, series operation gives you more torque at low speeds and less
torque at high speeds. In series operation, the motor should be operated at 30%
less than the rated current to prevent over heating. The wiring diagrams for eight
lead motors are shown below.

Orange

A+

Org/Wht

8

lead

Blk/Wht

A-

Black

Red

8 Leads Series Connected

motor

Red/

Yel/

Wht

B+ B-

Wht

Blk/Wht

A-

Yellow

Orange

A+

8

lead

Org/

Wht

Black

Red

B+

8 Leads Parallel Connected

Yel/
Wht

motor

Red/Wht

Yel
low

B-

Step Table

(full stepping)

Step A+ A- B+ B-

0+– +–

DIR=1

cw

1–++–
2–+–+

DIR=0

ccw

3+– –+
4+– +–

Choosing a Power Supply

Voltage

Chopper drives work by switching the voltage to the motor terminals on and off
while monitoring current to achieve a precise level of phase current. To do this
efficiently and silently, you’ll want to have a power supply with a voltage rating at
least five times that of the motor. Depending on how fast you want to run the motor,
you may need even more voltage than that. More is better, the only upper limit
being the maximum voltage rating of the drive itself: 35 volts. If you choose an
unregulated power supply, do not exceed 24 volts. This is because unregulated
supplies are rated at full load current. At lesser loads, like when the motor’s not
moving, the actual voltage can be up to 1.4 times the rated voltage.

Current

The maximum supply current you will need is the sum of the two phase
currents. (Four phase currents if you are using two motors.) However, you will
generally need a lot less than that, depending on the motor type, voltage, speed and
load conditions. That's because the 1035D uses switching amplifiers, converting a
high voltage and low current into lower voltage and higher current. The more the
power supply voltage exceeds the motor voltage, the less current you’ll need from
the power supply.

We recommend the following selection procedure:

1. If you plan to use only a few drives, get a power supply with at least twice the
rated phase current of the motor. If you are using two motors with the 1035D (after
all, that's why you bought a two axis drive) then you should double the rated current
of each motor and add them together.

2. If you are designing for mass production and must minimize cost, get one
power supply with more than four times the rated current of the motors . Install the
motor in the application and monitor the current coming out of the power supply
and into the drive at various motor loads. This will tell you how much current you
really need so you can design in a lower cost power supply.

If you plan to use a regulated power supply you may encounter a problem with
current foldback. When you first power up your drive, the full current of all motor
phases will be drawn for a few milliseconds while the stator fields are being
established. After that the amplifiers start chopping and much less current is drawn
from the power supply. If your power supply thinks this initial surge is a short
circuit it may “foldback” to a lower voltage. With many foldback schemes the
voltage returns to normal only after the first motor step and is fine thereafter. In that
sense, unregulated power supplies are better. They are also less expensive.

Step 3 is the Power Up State

-11--6-

Recommended Motors

Connecting A Pulse Source

The following motors from Applied Motion Products are recommended for
use with the 1035D. All motors in the list have been tested with the 1035D.
Dynamic torque data is available.

Motor Size Winding Max Torque Current

Number inches Connection oz-in Amps

5014-842 1.38 x 1.38 x 1.57 4 lead 22 1.0
5017-006 1.65 x 1.65 x 1.34 center-end 10 1.0
5017-009 1.65 x 1.65 x 1.54 center-end 17 0.8

5017-013 1.65 x 1.65 x 1.85 center-end 24 0.8
HT17-068 1.65 x 1.65 x 1.30 parallel 22 1.0
HT17-072 1.65 x 1.65 x 1.54 parallel 34 1.0
HT17-076 1.65 x 1.65 x 1.85 parallel 54 1.0

4023-839 2.22 x 2.22 x 1.5 center-end 35 1.0

4023-819 2.22 x 2.22 x 2.0 center-end 56 1.0
HT23-393 2.22 x 2.22 x 1.54 parallel 34 1.0
HT23-396 2.22 x 2.22 x 2.13 parallel 110 1.0
HT23-399 2.22 x 2.22 x 2.99 parallel 140 1.0

The 1035D inputs contain optical isolation
circuitry to prevent the electrical noise inherent
in switching amplifiers from interfering with your
circuits.

Optical isolation also allows the 1035D to accept
step and direction signals ranging from 5 to 24
volts. Furthermore, the input signals can be
sourcing (PNP) or sinking (NPN), depending on
how you connect the COM terminal.

A schematic diagram of the input circuit is at the
right. The wiring diagrams below show how to
connect the drive to various pulse sources.

+5 VDC

STEP–

COM

STEP

Si-100

DIR–

DIR

COM

inside 1035D

2200

STEP1

2200

DIR1

2200

STEP2

2200

DIR2

1035D

Connecting Applied Motion Si-100

+5 VDC

STEP

COM

STEP

SI-1

DIR

Connecting Applied Motion SI-1

DIR

-7--10-

1035D

Y0
Y2

+

Y1
Y3

24VDC

NAiS FP0 PLC

–

Power

Supply

+

–

STEP1

DIR1
COM

STEP2

DIR2

Connecting Aromat (NAiS) Model FP0 PLC

1035D

Setting Phase Current

Before you turn on the power supply the first time, you need to set the driver for the
proper motor phase current. The rated current is usually printed on the motor label.
For a list of recommended Applied Motion Products motors and their rated current,
see page 10.

The current for each axis is set independently by trimpots located on the front panel
of the 1035D. The sketch below shows how to set the trimpots.

0.5A

0.4A

0.3A

0.6A

0.7A

Selecting Between Full and Half Step Operation

The 1035D is shipped from the factory in full step mode. This
results in more torque at low speeds than half step mode. Full
stepping also allows you to achieve higher speeds than half
stepping if the speed of your pulse source is limited. For
example, to drive a motor at 25 rev/sec in half step mode, you
must supply step pulses to the 1035D at a rate of 10,000 Hz. To
get 25 rev/sec in full step mode, only 5,000 pulses/sec are
required.

Half stepping is smoother and quieter than full step, so you
should use half step mode whenever posssible.

To change a 1035D to half step operation, remove the black
jumper located next to the power supply connector. You may
need a pair of small pliers, tweezers, or someone with sharp
fingernails to remove the jumper.

Removing the jumper sets

both axes to half step mode.

Custom software is also available for 1/4 stepping, which provides more precise
positioning and smoother motion than full and half stepping.

remove
jumper for
half step

0.2A

0.1A

0.8A

0.9A

3362

0

1035D current setting

(shown at 0.5A)

Idle Current Reduction

The 1035D includes a feature that automatically reduces the motor current by 50%
when the motor is not moving. This is known as idle current reduction.

The idle current reduction is not adjustable by the user. However, for qualifying
OEMs, we can change the amount of current reduction during the manufacturing
process. This is accomplished by changing the software in the sequencing chips.
These chips are socketed, so units can be retrofitted if necessary.

For special options please call the factory.

1A

For special options please call the factory.

-8- -9-