Quots for Driver For Stepping Motor - Closed loop motor driver-HBS86H – Longs Motor

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Quots for Driver For Stepping Motor - Closed loop motor driver-HBS86H – Longs Motor Detail:

1. Overview

The HBS86H hybrid stepper servo drive system integrates the servo control technology into the digital stepper drive perfectly. And this product adopts an optical encoder with high speed position sampling feedback of 50 μ s, once the position deviation appears, it will be fixed immediately. This product is compatible the advantages of the stepper drive and the servo drive, such as lower heat, less vibration, fast acceleration, and so on. This kind of servo drive also has an excellent cost performance.

Features

u Without losing step, High accuracy in positioning

u 100% rated output torque

u Variable current control technology, High current efficiency

u Small vibration, Smooth and reliable moving at low speed

u Accelerate and decelerate control inside, Great improvement in smoothness of starting or stopping the motor

u User-defined micro steps

u Compatible with 1000 and 2500 lines encoder

u No adjustment in general applications

u Over current, over voltage and over position error protection

u Green light means running while red light means protection or off line

3. Ports Introduction

3.1 ALM and PEND signal output ports

Port	Symbol	Name	Remark
1	PEND+	In position signal output +	+ -
2	PEND-	In position signal output -
3	ALM+	Alarm output +
4	ALM-	Alarm output -

3.2 Control Signal Input Ports

Port	Symbol	Name	Remark
1	PLS+	Pulse signal +	Compatible with 5V or 24V
2	PLS-	Pulse signal -	Compatible with 5V or 24V
3	DIR+	Direction signal+	Compatible with 5V or 24V
4	DIR-	Direction signal-	Compatible with 5V or 24V
5	ENA+	Enable signal +	Compatible with 5V or 24V
6	ENA-	Enable signal -	Compatible with 5V or 24V

3.3 Encoder Feedback Signal Input Ports

Port	Symbol	Name	Wiring color
1	PB+	Encoder phase B +	Blue
2	PB-	Encoder phase B -	White
3	PA+	Encoder phase A +	Yellow
4	PA-	Encoder phase A -	Green
5	VCC	Input power	Red
6	GND	Input power ground	Black

3.4 Power Interface Ports

Port	Identification	Symbol	Name	Remark
1	Motor Phase Wire Input Ports	A+	Phase A+（Red）	Motor Phase A
2		A-	Phase A- (Blue）	Motor Phase A
3		B+	Phase B+（Green）	Motor Phase B
4		B-	Phase B-（Black）	Motor Phase B
5	Power Input Ports	VCC	Input Power +	AC24V-70V DC30V-100V
6	Power Input Ports	GND	Input Power-	AC24V-70V DC30V-100V

4.Technological Index

Input Voltage		24~70VAC or 30~100VDC
Output Current		6A 20KHz PWM
Pulse Frequency max		200K
Communication rate		57.6Kbps
Protection		l Over current peak value 12A±10% l Over voltage value 130V l The over position error range can be set through the HISU
Overall Dimensions（mm）		150×97.5×53
Weight		Approximate 580g
Environment Specifications	Environment	Avoid dust, oil fog and corrosive gases
	Operating Temperature	70℃ Max
	Storage Temperature	-20℃~+65℃
	Humidity	40~90%RH
	Cooling method	Natural cooling or forced air cooling

Remark:

VCC is compatible with 5V or 24V;

R(3~5K) must be connected to control signal terminal.

Remark:

VCC is compatible with 5V or 24V;

R(3~5K) must be connected to control signal terminal.

5.2 Connections to Common Cathode

Remark:

VCC is compatible with 5V or 24V;

R(3~5K) must be connected to control signal terminal.

5.3 Connections to Differential Signal

Remark:

VCC is compatible with 5V or 24V;

R(3~5K) must be connected to control signal terminal.

5.4 Connections to 232 Serial Communication Interface

PIN1 PIN6 PIN1 PIN6

Crystal Head foot	Definition	Remark
1	TXD	Transmit Data
2	RXD	Receive Data
4	+5V	Power Supply to HISU
6	GND	Power Ground

5.5 Sequence Chart of Control Signals

In order to avoid some fault operations and deviations, PUL, DIR and ENA should abide by some rules, shown as following diagram:

Remark:

PUL/DIR

t1: ENA must be ahead of DIR by at least 5μ s. Usually, ENA+ and ENA- are NC (not connected).
t2: DIR must be ahead of PUL active edge by 6μ s to ensure correct direction;
t3: Pulse width not less than 2.5μ s;
1. t4: Low level width not less than 2.5μ s.

6. DIP Switch Setting

6.1 Activate Edge Setting

SW1 is used for setting the activate edge of the input signal, “off” means the activate edge is the rising edge, while “on” is the falling edge.

6.2 Running Direction Setting

SW2 is used for setting the running direction, “off” means CCW, while “on” means CW.

6.3 Micro steps Setting

The micro steps setting is in the following table, while SW3 、

SW4 、 SW5 、 SW6 are all on, the internal default micro steps inside is activate，this ratio can be setting through the HISU

8000	on	on	off	off
10000	off	on	off	off
20000	on	off	off	off
40000	off	off	off	off

7. Faults alarm and LED flicker frequency

Flicker Frequency	Description to the Faults
1	Error occurs when the motor coil current exceeds the drive’s current limit.
2	Voltage reference error in the drive
3	Parameters upload error in the drive
4	Error occurs when the input voltage exceeds the drive’s voltage limit.
5	Error occurs when the actual position following error exceeds the limit which is set by the position error limit.

Appearance and Installation Dimensi

Typical Connection

This drive can provide the encoder with a power supply of +5v, maximum current 80mA. It adopts a quadruplicated-frequency counting method, and the resolution ratio of the encoder multiply 4 are the pulses per rotate of the servo motor. Here is the typical connection of

10. Parameter Setting

The parameter setting method of 2HSS86H-KH drive is to use a HISU adjuster through the 232 serial communication ports, only in this way can we setting the parameters we want. There are a set of best default parameters to the corresponding motor which are care

adjusted by our engineers, users only need refer to the following table, specific condition and set the correct parameters.

Actual value = Set value × the corresponding dimension

There are total 20 parameter configurations, use the HISU to download the configured parameters to the drive, the detail descriptions to every parameter configuration are as follows:

Item	Description
Current loop Kp	Increase Kp to make current rise fast. Proportional Gain determines the response of the drive to setting command. Low Proportional Gain provides a stable system (doesn’t oscillate), has low stiffness, and the current error, causing poor performances in tracking current setting command in each step. Too large proportional gain values will cause oscillations and unstable system.
Current loop Ki	Adjust Ki to reduce the steady error. Integral Gain helps the drive to overcome static current errors. A low or zero value for Integral Gain may have current errors at rest. Increasing the integral gain can reduce the error. If the Integral Gain is too large, the system may “hunt” (oscillate) around the desired position.
Damping coefficient	This parameter is used to change the damping coefficient in case of the desired operating state is under resonance frequency.
Position loop Kp	The PI parameters of the position loop. The default values are suitable for most of the application, you don’t need to change them. Contact us if you have any question.
Position loop Ki

Speed loop Kp	The PI parameters of the speed loop. The default values are suitable for most of the application, you don’t need to change them. Contact us if you have any question.
Speed loop Ki
Open loop current	This parameter affects the static torque of the motor.
Close loop current	This parameter affects the dynamic torque of the motor. (The actual current = open loop current + close loop current)
Alarm Control	This parameter is set to control the Alarm optocoupler output transistor. 0 means the transistor is cut off when the system is in normal working, but when it comes to fault of the drive, the transistor becomes conductive. 1 means opposite to 0.
Stop lock enable	This parameter is set to enable the stop clock of the drive. 1 means enable this function while 0 means disable it.
Enable Control	This parameter is set to control the Enable input signal level, 0 means low, while 1 means high.
Arrival Control	This parameter is set to control the Arrival optocoupler output transistor. 0 means the transistor is cut off when the drive satisfies the arrival

Encoder resolution

Position error limit

Motor type selection

Speed smoothness

command, but when it comes to not, the transistor becomes conductive. 1 means opposite to 0.

This drive provides two choices of the number of

lines of the encoder. 0 means 1000 lines, while 1 means 2500 lines.

The limit of the position following error. When the actual position error exceeds this value, the drive will go into error mode and the fault output will be

activated. (The actual value = the set value× 10)

Parameter

Type

86J18

65EC

86J18

80EC

86J18

95EC

86J18

118EC

86J18

156EC

This parameter is set to control the smoothness of the speed of the motor while acceleration or deceleration, the larger the value, the smoother the speed in acceleration or deceleration.

0 1 2 … 10

User-defined p/r

This parameter is set of user-defined pulse per revolution, the internal default micro steps inside is

activate while SW3、SW4、SW5、SW6 are all on,

users can also set the micro steps by the outer DIP switches. (The actual micro steps = the set value

× 50)

11. Processing Methods to Common Problems and Faults

11.1 Power on power light off

n No power input, please check the power supply circuit. The voltage is too low.

11.2 Power on red alarm light on

n Please check the motor feedback signal and if the motor is connected with the drive.

n The stepper servo drive is over voltage or under voltage. Please lower or increase the input voltage.

11.3 Red alarm light on after the motor running a small

angle

n Please check the motor phase wires if they are connected correctly， if not， please refer to the 3.4 Power Ports

n Please check the parameter in the drive if the poles of the motor and the encoder lines are corresponding with the real parameters, if not, set them correctly.

n Please check if the frequency of the pulse signal is too fast, thus the motor may be out of it rated speed, and lead to position error.

11.4 After input pulse signal but the motor not running

n Please check the input pulse signal wires are connected in reliable way.

n Please make sure the input pulse mode is corresponding with the real input mode.

Product detail pictures:

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12.5n.m Closed Loop Stepper Motor