Baldor MN1940 User Manual
DSM S--Series
Integrated Stepper Motor / Driver
Installation Manual
04/07 MN1940
Contents
1 General Information 1-1.................................
2 Introduction 2-1........................................
2.1 DSM S-Series integrated motor and driver 2-1.................
2.1.1 Option availability 2-2..............................................
2.2 Receiving and inspection 2-3................................
2.2.1 Identifying the catalog number 2-3....................................
2.3 Units and abbreviations 2-4..................................
3 Basic Installation 3-1....................................
3.1 Introduction 3-1............................................
3.1.1 Location requirements 3-1..........................................
3.1.2 Mounting the DSM 3-2.............................................
3.1.3 Other requirements for installation 3-6................................
4 Input / Output 4-1......................................
4.1 Introduction 4-1............................................
4.1.1 Basic connections 4-1..............................................
4.2 Motor power input 4-2.......................................
4.2.1 Wire sizes 4-3....................................................
4.3 Logic inputs 4-4............................................
4.3.1 Logic input descriptions 4-4.........................................
4.3.2 Input timing 4-5...................................................
4.3.3 Sinking / sourcing input configuration 4-6..............................
4.4 SPI interface 4-8...........................................
4.4.1 SPI connector 4-8.................................................
4.4.2 SPI signal descriptions 4-9..........................................
4.5 Connection summary - minimum system wiring 4-10.............
5 Operation 5-1..........................................
5.1 Introduction 5-1............................................
5.1.1 Connecting the DSM to the PC 5-1...................................
5.1.2 Installing the USB driver 5-1.........................................
5.1.3 Installing the virtual COM port driver 5-1...............................
5.1.4 Determining the virtual COM port number 5-2..........................
5.1.5 Installing Baldor SPI Interface 5-2....................................
5.1.6 Starting the controller and DSM 5-3...................................
MN1940
Contents i
5.2 Baldor SPI Interface 5-4.....................................
5.2.1 Starting Baldor SPI Interface 5-4.....................................
5.2.2 Configuration parameters 5-4........................................
6 Troubleshooting 6-1....................................
6.1 Introduction 6-1............................................
6.1.1 Problem diagnosis 6-1..............................................
6.1.2 Further support 6-1................................................
6.1.3 Communication problems 6-1........................................
6.1.4 Motor control problems 6-2..........................................
7 Specifications 7-1......................................
7.1 Introduction 7-1............................................
7.1.1 Input power 7-1...................................................
7.1.2 Motor speed & torque - DSMS17 7-2.................................
7.1.3 Motor speed & torque - DSMS23 7-4.................................
7.1.4 Motor speed & torque - DSMS34 7-6.................................
7.1.5 Digital inputs 7-9..................................................
ii Contents
MN1940
AustralianBaldorPtyLt
d
1 General Information
LT0227A02 Copyright Baldor (c) 2007. All rights reserved.
This manual is copyrighted and all rights are reserved. This document or attached software may not,
in whole or in part, be copied or reproduced in any form without the prior written consent of BALDOR.
BALDOR makes no representations or warranties with respect to the contents hereof and specifically
disclaims any implied warranties of fitness for any particular purpose. The information in this
document is subject to change without notice.
BALDOR assumes no responsibility for any errors that may appear in this document.
Mintt is a registered trademark of Baldor.
Windows 95, Windows 98, Windows ME, Windows NT , Windows 2000 and Windows XP are
registered trademarks of the Microsoft Corporation.
Limited Warranty:
For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without
charge controls and accessories which our examination proves to be defective in material or
workmanship. This warranty is valid if the unit has not been tampered with by unauthorized persons,
misused, abused, or improperly installed and has been used in accordance with the instructions and/or
ratings supplied. This warranty is in lieu of any other warranty or guarantee expressed or implied.
BALDOR shall not be held responsible for any expense (including installation and removal),
inconvenience, or consequential damage, including injury to any person or property caused by items of
our manufacture or sale. (Some countries and U.S. states do not allow exclusion or limitation of
incidental or consequential damages, so the above exclusion may not apply.) In any event,
BALDOR’s total liability, under all circumstances, shall not exceed the full purchase price of the
control. Claims for purchase price refunds, repairs, or replacements must be referred to BALDOR with
all pertinent data as to the defect, the date purchased, the task performed by the control, and the
problem encountered. No liability is assumed for expendable items such as fuses. Goods may be
returned only with written notification including a BALDOR Return Authorization Number and any
return shipments must be prepaid.
Baldor UK Ltd
Mint Motion Centre
6 Bristol Distribution Park
Hawkley Drive
Bristol, BS32 0BF
Telephone: +44 (0) 1454 850000
Fax: +44 (0) 1454 850001
Email: technical.support@baldor.co.uk
Web site: www.baldor.co.uk
Baldor Electric Company
Telephone: +1 479 646 4711
Fax: +1 479 648 5792
Email: sales@baldor.com
Web site: www.baldor.com
Baldor ASR GmbH
Telephone: +49 (0) 89 90508-0
Fax: +49 (0) 89 90508-491
Baldor ASR AG
Telephone: +41 (0) 52 647 4700
Fax: +41 (0) 52 659 2394
Email: technical.support@baldor.ch
Australian Baldor Pty Ltd
Telephone: +61 2 9674 5455
Fax: +61 2 9674 2495
Baldor Electric (F.E.) Pte Ltd
Telephone: +65 744 2572
Fax: +65 747 1708
www.baldormotion.com
1
Baldor Italia S.R.L
Telephone: +39 (0) 11 56 24 440
Fax: +39 (0) 11 56 25 660
General Information 1-1MN1940
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Safety Notice
Only qualified personnel should attempt the start-up procedure or troubleshoot this equipment.
This equipment may be connected to other machines that have rotating parts or parts that are
controlled by this equipment. Improper use can cause serious or fatal injury.
Precautions
Do not touch any circuit board, power device or electrical connection before you first
ensure that no high voltage is present at this equipment or other equipment to which it is
WARNING
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
NOTICE
NOTICE
NOTICE
NOTICE
connected. Electrical shock can cause serious or fatal injury. Only qualified personnel
should attempt to start-up, program or troubleshoot this equipment.
Be sure that you are completely familiar with the safe operation and programming of this
equipment. This equipment may be connected to other machines that have rotating parts
or parts that are controlled by this equipment. Improper use can cause serious or fatal
injury.
The stop input to this equipment should not be used as the single means of achieving a
safety critical stop. Drive disable, motor disconnect, motor brake and other means should
be used as appropriate.
Improper operation or programming may cause violent motion of the motor shaft and
driven equipment. Be certain that unexpected motor shaft movement will not cause injury
to personnel or damage to equipment.
Be sure all wiring complies with the National Electrical Code and all regional and local
codes. Improper wiring may result in unsafe conditions.
The DSM has components which are sensitive to Electrostatic Discharge (ESD). All
handling should be done at an ESD protected workstation.
To prevent equipment damage, be certain that input and output signals are powered and
referenced correctly.
To ensure reliable performance of this equipment be certain that all signals to/from the DSM
are shielded correctly.
Avoid locating the DSM immediately above or beside heat generating equipment, or directly
below water steam pipes.
Avoid locating the DSM in the vicinity of corrosive substances or vapors, metal particles and
dust.
1-2 General Information MN1940
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2 Introduction
2.1 DSM S-Series integrated motor and driver
The DSM S-Series high-torque integrated motor and driver is ideal for designers who want the
simplicity of a motor with on-board electronics. The DSM allows the system designer to decide
the best method of control. The drive’s integrated electronics eliminates the need to run the
motor cabling through the machine, reducing the potential for problems due to electrical noise.
The DSM is a small, powerful and inexpensive solution that will reduce system cost, design
and assembly time for a large range of stepping motor applications.
The DSM family use a NEMA17, NEMA23 or NEMA34 1.8° high torque motor combined with a
microstepping drive, and accept up to 14 resolution settings from 1/2 to 256 microsteps per
step. Setup parameters can be changed ‘on-the-fly’ or downloaded and stored in non-volatile
memory with the use of a simple user interface program which is provided, eliminating the
need for external switches or resistors. The versatile, compact DSM is available in multiple
configurations to fit various system needs.
2
Features include:
H Integrated microstepping drive/NEMA high torque motor.
H Available in various stack lengths from 13 to 47 (model dependent).
H +12 to +75 VDC input voltage (+12 to +48 VDC on DSMS17).
H Optically isolated +5 to +24 VDC inputs, sourcing or sinking.
H Automatic current reduction.
H Automatic communication configuration.
H Rear knob for manual positioning (option M).
H Interfacing by 30 cm (12 in) flying leads (optional 7-pin terminal block on DSMS17/23).
H Graphical User Interface (GUI) for easy parameter setup.
H Extremely compact.
Introduction 2-1MN1940
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fly
inglead
r
t
rol
knob
A “Baldor Motion Toolkit CD” is available. This contains the Baldor SPI Interface software,
used for communicating and configuring the DSM.
This manual is intended to guide you through the installation of the DSM. The chapters should
be read in sequence.
The Basic Installation section describes the mechanical installation of the DSM.
The following sections require knowledge of the low level input/output requirements of the
device that will control the DSM, and an understanding of computer software installation. If you
are not qualified in these areas you should seek assistance before proceeding.
Note: You can check that you have the latest releases by visiting the website
www.baldormotion.com/supportme.
2.1.1 Option availability
Model
DSMS
17
DSMS
23
DSMS
34
‘F’
option
Yes
All models
Yes
All models
Yes
All models
s
‘P’
connecto
option
Yes
All
models
Yes
All
models
No Yes
‘M’
con
option
Yes
All
models
Yes
All
models
All
models
2-2 Introduction MN1940
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2.2 Receiving and inspection
When you receive your DSM, there are several things you should do immediately:
1. Check the condition of the packaging and report any damage immediately to the carrier
that delivered your DSM.
2. Remove the DSM from the shipping container and remove all packing material. The container
and packing materials may be retained for future shipment.
3. Verify that the catalog number of the DSM you received is the same as the catalog
number listed on your purchase order. The catalog/part number is described in the next
section.
4. Inspect the DSM for external damage during shipment and report any damage to the
carrier that delivered it.
5. If the DSM is to be stored for several weeks before use, be sure that it is stored in a
location that conforms to the storage humidity and temperature specifications shown in
section 3.1.1.
2.2.1 Identifying the catalog number
Different models of DSM are available. As a reminder of which product has been installed, it is
a good idea to write the catalog number in the space provided below.
DSM catalog number:
Installed in: ________________________
A description of a catalog number is shown here, using the example DSMS34F-3B-M:
Meaning Alternatives
DSMS DSM S-series family -
34 NEMA 34 frame size
F Flying lead connections P=7-pin terminal block
3 Large stack size
Supply voltage 12 - 75 VDC
B
(DSMS23 / DSMS34 only)
M (Optional) Manual control knob -
DSMS______-______-__
Date: ______
17=NEMA 17;
23=NEMA 23
1=Small stack size;
2=Medium stack size
A=Supply voltage 12 - 48 VDC
Introduction 2-3MN1940
2.3 Units and abbreviations
The following units and abbreviations may appear in this manual:
V Volt (also VAC and VDC)...............
WWatt..............
A Ampere...............
Ω Ohm...............
mΩ milliohm.............
μF microfarad..............
pF picofarad..............
mH millihenry.............
Φ phase...............
ms millisecond..............
μs microsecond..............
ns nanosecond..............
mm millimeter.............
m meter...............
in inch...............
ft feet...............
lb·in pound inch (torque).............
N·m Newton meter (torque).............
ADC Analog to Digital Converter............
ASCII American Standard Code for Information Interchange...........
AWG American Wire Gauge............
CDROM Compact Disc Read Only Memory.........
CTRL+E on the PC keyboard, press Ctrl then E at the same time..........
DAC Digital to Analog Converter............
EMC Electromagnetic Compatibility............
HMI Human Machine Interface.............
ISO International Standards Organization.............
Kbaud kilobaud (the same as Kbit/s in most applications)...........
MB megabytes.............
Mbps megabits/s...........
(NC) Not Connected............
NEMA National Electrical Manufacturers Association...........
RF Radio Frequency..............
SPI Serial Peripheral Interface.............
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2-4 Introduction MN1940
3 Basic Installation
3.1 Introduction
You should read all the sections in Basic Installation.
It is important that the correct steps are followed when installing the DSM.
This section describes the mechanical installation of the DSM.
3.1.1 Location requirements
Ensure you have read and understood the warnings and cautions in section 1.
The safe operation of this equipment depends upon its use in the appropriate environment.
The following points must be considered:
H The DSM is designed to be mounted indoors, permanently fixed and located.
H The DSM must be secured by the holes in the faceplate.
Because the DSM consists of two core components, a drive and a motor, attention must be
paid to the thermal specifications of both the motor and the electronics. The following
maximum temperatures apply to the DSM:
H The DSM heat sink temperature must not exceed 85 °C (185 °F).
H The DSM motor temperature must not exceed 100 °C (212 °F).
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3
Basic Installation 3-1MN1940
3.1.2 Mounting the DSM
Ensure you have read and understood the location requirements in section 3.1.1. Mount the
DSM by the four holes in the faceplate. M5 bolts or screws are recommended.
3.1.2.1 Dimensions - DSMS17
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Flying leads
305 (12)
58.3
(2.3)
DSM
Model
‘P’ connector option
30.2
(1.19)
P1
P2
L
MAX
L
MAX2
11. 2 (0.44)
2
(0.08)
L
MAX
24
(0.94)
15
(0.59)
4.5
(0.18)
Dimensions
(mm / inches)
(with control knob)
Ø5
(0.2)
L
MAX2
All dimensions shown as
mm (inches)
31 (1.22)
Square
42.7 (1.68)
Square
4xØM3x0.5 thread
x 3.8 (0.15) deep
Ø22 (0.87)
Weight
DSMS17x-1A 55.9 (2.20) 70.9 (2.79) 277.8 (9.8)
DSMS17x-2A 61.7 (2.43) 76.7 (3.02) 297.7 (10.5)
DSMS17x-3A 70.4 (2.77) 85.6 (3.37) 428.1 (15.1)
g/oz
Figure 1 - Package dimensions - DSMS17
Use care when installing the mounting screws on all DSMS17 models. The
mounting holes on the flange are not drilled through, so the maximum length for
CAUTION
screw threads into the motor flange is 3.5 mm (0.14 in). See Figure 2. The
maximum torque for the M3x0.5 screw is 9 kg·cm (7.8 lb-in).
3-2 Basic Installation MN1940
Maximum length of
screw threads into
the motor housing is
3.5 mm (0.14 in)
DSMS17
Figure 2 - Screw thread limitation - DSMS17
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Customer’s
mounting flange
M3 x 0.5 screw
Basic Installation 3-3MN1940
3.1.2.2 Dimensions - DSMS23
Flying leads
305 (12)
75.2
(2.96)
‘P’ connector option
48.3
(1.9)
P1
P2
L
MAX2
L
MAX
11. 2 (0.44)
4.9
(0.19)
(0.81)
(0.59)
5.8
(0.23)
20.6
15
All dimensions shown as
mm (inches)
51.2
(2.02)
41.4
(1.63)
Ø6.35
(0.25)
47.14
(1.86)
Square
56.4
(2.22)
Square
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4xØ5 (0.2)
DSMS
Model
L
MAX
Dimensions
(mm / inches)
(with control knob)
L
MAX2
Weight
kg / lb
DSMS23x-1B 67.31 (2.65) 85.34 (3.36) 0.61 (1.35)
DSMS23x-2B 76.71 (3.02) 94.74 (3.73) 0.75 (1.65)
DSMS23x-3B 98.55 (3.88) 116.6 (4.59) 1.11 (2.45)
Figure 3 - Package dimensions - DSMS23
3-4 Basic Installation MN1940
3.1.2.3 Dimensions - DSMS34
Flying leads
305 (12)
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4xØ5.5 (0.22)
37 (1.46)
25 (0.98)
13 (0.51)
Ø14
(0.55)
Ø73
(2.87)
L
MAX2
(with control knob)
94.7
(3.73)
Motor
Stack
18.6 (0.73)
L
MAX
L
MAX2
2 (0.08)
31.8 (1.25)
All dimensions shown as
Dimensions
(mm / inches)
L
MAX
10 (0.39)
mm (inches)
DSMS34F-1B 94.2 (3.71) 112.3 (4.42) 1.9 (4.19)
DSMS34F-2B 114.3 (4.50) 132.3 (5.21) 2.5 (5.5)
DSMS34F-3B 154.2 (6.07) 172.2 (6.78) 4.0 (8.8)
Figure 4 - Package dimensions - DSMS34
69.6 (2.74)
86.1 (3.39)
Weight
kg / lb
3.1.2.4 Securing DSM cables
Some applications may require that the DSM moves with the axis motion. If this is a
requirement of your application, the motor leads must be properly anchored. Secure the flying
leads to the motor body using adhesive cable clamps. This will prevent flexing and tugging
which can cause damage at critical connection points in the DSM electronics.
Do not bundle the logic leads together with the DSM power leads.
Basic Installation 3-5MN1940
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