Cc-Smart Technology MSD-XX Digital Multi Servo Driver User Manual
- June 11, 2024
- Cc-smart technology
Table of Contents
MSD-XX Digital Multi Servo Driver
Cc-Smart Technology Co., Ltd
User’s Manual
For MSD_XX Digital Multi Servo Driver Revision 3.0 ©2024 All Rights Reserved
Attention: Please read this manual carefully before using the driver!
Cc-Smart Technology Co., Ltd 1419/125 Le Van Luong, Phuoc Kien Commune, Nha Be
District, Ho Chi Minh City, Viet
Nam. Tel: +84983029530 Fax: No URL: www.cc-smart.net E-mail:
ccsmart.net@gmail.com
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The content in this manual has been carefully prepared and is believed to be
accurate, but not responsibility is assumed for inaccuracies. Cc-Smart
reserves the right to make changes without further notice to any products
herein to improve reliability, function or design. Cc-Smart does not assume
any liability arising out of the application or use of any product or circuit
described herein; neither does it convey any license under its patent rights
of others. Cc-Smart’s general policy does not recommend the use of its
products in life support or aircraft applications wherein a failure or
malfunction of the product may directly threaten life or injury. According to
Cc-Smart’s terms and conditions of sales, the user of Cc-Smart’s products in
life support or aircraft applications assumes all risks of such use and
indemnifies Cc-Smart against all damages
©2024 by Cc-Smart Technology Company Limited. All Rights Reserved
Table of Contents 1. Introuduction, Features and
Applications…………………………………………………………………………….. 4
Introduction…………………………………………………………………………………………………………………………… 4
Features…………………………………………………………………………………………………………………………………. 4 Applications
…………………………………………………………………………………………………………………………… 4 2. Specification and
Operating Enviroment ……………………………………………………………………………… 5 Mechaniccal
Specification……………………………………………………………………………………………………….. 5
MSD_E3:…………………………………………………………………………………………………………………………………. 5 MSD_E10:
………………………………………………………………………………………………………………………………. 5 MSD_E20:
………………………………………………………………………………………………………………………………. 5 MSD_A10:
………………………………………………………………………………………………………………………………. 6 MSD_E20:
………………………………………………………………………………………………………………………………. 6 MSD_H10 (Raspberry
Pi0):……………………………………………………………………………………………………… 6 MSD_H20:
………………………………………………………………………………………………………………………………. 7 Electrical Specifications
………………………………………………………………………………………………………….. 7 Operating Environment and
Parameters …………………………………………………………………………………. 9 3. Connections Overview:
……………………………………………………………………………………………………….. 9
MSD_E3:…………………………………………………………………………………………………………………………………. 9
MSD_E10:……………………………………………………………………………………………………………………………… 10
MSD_E20:……………………………………………………………………………………………………………………………… 10
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MSD_A10: …………………………………………………………………………………………………………………………….. 10 MSD_H10:
…………………………………………………………………………………………………………………………….. 11 MSD_H20:
…………………………………………………………………………………………………………………………….. 11 General information
……………………………………………………………………………………………………………… 12 Pulse/Dir Mode Connection:
…………………………………………………………………………………………………. 13 ANALOG/DIR Mode
Connection:…………………………………………………………………………………………….13 4. Setting the Driver by
Button (MSD_E3 don’t support) …………………………………………………………….. 14
Implement:……………………………………………………………………………………………………………………………. 14 7 Step Setting
Processing:……………………………………………………………………………………………………….. 14 Video
demo:…………………………………………………………………………………………………………………………..14 List Parameter
Code:………………………………………………………………………………………………………………. 14 5. Setting the Driver by
DcTunerPro App:………………………………………………………………………………….. 15 Introduction
………………………………………………………………………………………………………………………….. 15 Software
Installation……………………………………………………………………………………………………………….15 Install Usb
Driver:……………………………………………………………………………………………………………………16 Software
Introduction……………………………………………………………………………………………………………..19 Automatically
identify motor specification: ………………………………………………………………………………. 21 6. UART
Command Feature: ……………………………………………………………………………………………………. 22 Discription:
……………………………………………………………………………………………………………………………. 22 UART
Parameter…………………………………………………………………………………………………………………… 22 Configuration by the
Button: …………………………………………………………………………………………………. 22 C5=1; C6=1; C7=2 -> Reset
………………………………………………………………………………………………………. 22 UART
Command:…………………………………………………………………………………………………………………….22 7. Protection &
Indication Feature:………………………………………………………………………………………… 24
Protection:……………………………………………………………………………………………………………………………. 24 8.
Recommendation: …………………………………………………………………………………………………………….. 24 Wire
Gauge…………………………………………………………………………………………………………………………… 24 System Grounding
………………………………………………………………………………………………………………… 24 Power Supply
Connection……………………………………………………………………………………………………… 25
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1. Introuduction, Features and Applications
Introduction
The motion is very important and popular today. They appear in all most areas.
Special the motor, that is a big part of this fill. There are many Dc Servo
Drivers in the market but they are very special (not open), more expensive, so
big… Our driver is very small, low cost, friendlier and open. The driver has
an Auto Turning Tool which auto-detect motor information. There are many
communication methods Pulse/Dir, Uart Network, Virtual Com Port, Usb. There is
software that can configure, control, simulate, visual.
Features
7 Segment Indicator (not include MSD_E3). 10-28/40VDC, 0-10A/20A, 1-300/800W
(depend on MSD_XX). Position, Velocity, Acceleration Control. Auto Turning
Tool Support. Follow Over Protect, Encoder, Motor Fail Protect. Over Current,
Over Temperature, Short Circuit Protected. Support USB Communicate with
DcTurningPro Software. Support Virtual Com Port to communicate with users.
Communication: Pulse/Dir, UART, USB, Analog (Velocity Mode). Close Loop
Support: Smart PID, PID, PI, State Feedback. H-Bridge mode with over current,
temperature…protect.
Applications
Car, Toy… Robot… CNC…
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2. Specification and Operating Enviroment
Mechaniccal Specification MSD_E3:
MSD_E10:
MSD_E20:
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MSD_A10:
MSD_E20: MSD_H10 (Raspberry Pi0):
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MSD_H20:
Electrical Specifications (Tj = 25 /77 )
Parameters
MSD_E3
Min. Typical
Max.
Unit
Peak Output Current
0
–
4
A
Continuous Output Current(*) 0
–
3
A
Power Supply Voltage
+8
–
+30
VDC
VIOH (Logic Input High Level)
2
–
5
V
VIOL (Logic Input Low Level)
0
–
0.8
V
+5V Output Current
–
–
250
mA
Analog Pin (AN)
0
–
5
V
Parameters
MSD_E10
Min. Typical
Max.
Unit
Peak Output Current
0
–
30
A
Continuous Output Current(*) 0
–
10
A
Power Supply Voltage
+8
–
+38
VDC
VIOH (Logic Input High Level)
2
–
5
V
VIOL (Logic Input Low Level)
0
–
0.8
V
+5V Output Current
–
–
250
mA
Analog Pin (AN)
0
–
5
V
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Parameters
MSD_E20
Min. Typical
Max.
Unit
Peak Output Current
0
–
50
A
Continuous Output Current(*) 0
–
20
A
Power Supply Voltage
+8
–
+40
VDC
VIOH (Logic Input High Level)
2
–
5
V
VIOL (Logic Input Low Level)
0
–
0.8
V
+5V Output Current
–
–
250
mA
Analog Pin (AN)
0
–
5
V
Parameters
MSD_A10
Min. Typical
Max.
Unit
Peak Output Current
0
–
30
A
Continuous Output Current(*) 0
–
10
A
Power Supply Voltage
+8
–
+40
VDC
VIOH (Logic Input High Level)
2
–
5
V
VIOL (Logic Input Low Level)
0
–
0.8
V
+5V Output Current
–
–
250
mA
Analog Pin (AN)
0
–
5
V
Parameters
MSD_H10
Min. Typical
Max.
Unit
Peak Output Current
0
–
30
A
Continuous Output Current(*) 0
–
10
A
Power Supply Voltage
+8
–
+32
VDC
VIOH (Logic Input High Level)
2
–
5
V
VIOL (Logic Input Low Level)
0
–
0.8
V
+5V Output Current
–
–
250
mA
Analog Pin (AN)
0
–
5
V
Parameters
MSD_H20
Min. Typical
Max.
Unit
Peak Output Current
0
–
50
A
Continuous Output Current(*) 0
–
20
A
Power Supply Voltage
+8
–
+40
VDC
VIOH (Logic Input High Level)
2
–
5
V
VIOL (Logic Input Low Level)
0
–
0.8
V
+5V Output Current
–
–
250
mA
Analog Pin (AN)
0
–
5
V
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Operating Environment and Parameters
Cooling Operating Environment
Storage Temperature Weight
Natural cooling or forced cooling
Environment
Avoid dust, oil fog and
corrosive gases
Ambient Temperature 050 (32 122 )
Humidity
40%RH 90%RH
Vibration
5.9 m/s2 Max
-20 65 (-4 149 )
Approx. 50 grams
3. Connections Overview:
MSD_E3:
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MSD_E10:
MSD_E20: MSD_A10:
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MSD_H10:
MSD_H20:
(Top)
(Bottom)
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General information
No Name 1 BT1 Test*
2 BT2 Set*
3
TX
4
RX
5 Analog(**)
6
Dir
7
Pul
8
GND
Driver Control Signal ( Not For MSD_E3)
Description
I/O 8 Pins Header In Driver
Short Touch to GND to Test
I
Function
Short Touch to GND to Set
I
Function
UART TX Pin
O
UART RX Pin
I
Range [0-3V3]
I
Direction of Motor
I
Pulse in put (Active Edge
I
Negative)
Ground
O
(*) BT1, BT2 are two Pins Witch are connected Button Test and Button Set. So they will work as Button Test and Button Set. (**) The maximum effect value is 3V3.
No Name 1 TX/Pul/An
a
Driver Control Signal For MSD_E3
Description
I/O 4 Pins Header In Driver
TX in UART Mode
I/O
Pulse In Pulse/Dir Mode
Analog in Analog Mode
2 RX/Dir
RX in UART Mode
I
Dir in Pulse/Dir Mode or
Analog Mode
3
5V
+5V, 200mA Power Supply Out- O
Put
4
GND
Ground
O
Encoder Connection
No Name
Description
I/O
1
GND
Ground
O
2
VCC
+5V, 200mA Power Supply Out-Put
O
3 A/CHA
Encoder Signal Chanel A
I
4 B/CHB
Encoder Signal Chanel B
I
Home Sensor Detect
No Name
Description
I/O
1 RIGHT/+
Detect Right Touch (Active ==0)
I
2 LEFT/-
Detect Left Touch (Active ==0)
I
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Main POWER and MOTOR Connection
No Name
Description
I/O
1 V-/P-/HV-
Ground of power supply
I
2 V+/P+/HV+
10->32/40V power supply
I
3
M-/L
Motor negative connection
O
4
M+/R
Motor positive connection
O
Pulse/Dir Mode Connection:
MCU
Output 1 Output 2 GND
Driver
Pulse Pin Dir Pin GND Pin
ANALOG/DIR Mode Connection:
Driver
Vcc Analog Pin GND Pin
Dir
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4. Setting the Driver by Button (MSD_E3 don’t support)
Implement:
Note: In First Menu (Indicate =0000 ): Long Pressing the Set Button until
7-Segment blinking to go to configuration Mode (Indicate = C0:XX) -> Short
press the Set Button to switch to Parameter Code Or Long Pressing to go to
change Parameter Value Mode (the “:” will blinking) -> Short Press or Long
Press to change the Parameter value.
7 Step Setting Processing:
1. Connect motor -> Encoder -> power up the driver (Make sure correct power
supply direction).
2. Setting Encoder (by C0 and C1) 3. Switch The Control Mode to Turning Mode
to turning the Motor by C4 = 0 4. Turning the motor by press the Test Button
(The driver will identify the Motor
properties in this step. Note: the motor will run about 3 second to detect the
system). If Turning success the driver will indicate F0:XX, if Failed the
driver will indicate a error message code. 5. Choosing Control Mode by C4:
C4=2 (Position) or C4=1 (Velocity) 6. Choosing Control Method by C5: C5=0
Pulse/Dir, C5=1 Uart-Network,…
If C5=0 (Pulse/Dir): Please also configuration the C2 (Electronic Gear) in
your case. If C5=1 (Uart-Network): Please also configuration the C6 (Address
of driver in Network) and C7 (UART Baud Rate)
7. Saving (by pressing the Test Button) -> Reset (by press the both the Test
and Set Button same time).
Video demo: https://youtu.be/eCQlDmrCkeY
List Parameter Code:
C0: Encoder Line C0 (Encoder Line of Motor = C0100 + C1) C1: Encoder Line C1
(Ex: Encoder 321 Pulse/Round <=> C0 =3; C1 = 21) C2: Electronic Gear =C2100
(Number of external pulses per one revolution.) C3: Current limit (A) C4:
Control Modes (C4=0: Turning; C4=1: Velocity Control; C4=2: Position Control;
C4=4: Hbridge or Open Loop) C5: Control Methods (C5=0: Pulse/Dir; C5=1: Uart-
Network; C5=3: potentiometer/Analog; C5=5: Usb to Com) C6: Address of the
driver in Uart-Network C7: UART Baud Rate. (C7=0: 115220; C7=1: 57600; C7= 2:
19200). F0: Number of rounds to run when the test button is pressed for the
position
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button. For example, F1:01 means 10 rads/second. F2: Acceleration setting for
the test button. For example, F2:01 means 100 rads/second2. F3: Follow Error
Value (rad) (difference between estimate position vs current position) F4:
Protection Flag (F4=0: Disable Protection feature; F4=1: Enable protection
feature) F8: Counter Pass ( F8 increase one value when every pass) F9: Save
settings. (F9=1: Saving & Reset; F9=2: Reset; F9=3: Factory Reset & Reset)
5. Setting the Driver by DcTunerPro App:
Introduction
This manual will provide an overview of connection and basic setup
instructions for the digital servo driver using the DCTunerPro software. The
basic setup of a digital driver is designed to be analogous to the setup and
tuning of an analog amplifier. These instructions will walk you through the
following steps necessary to start up your driver and motor. This document is
intended for setting up the driver with the DCTunerPro.
Software Installation
The DCTunerPro is windows based setup software for tuning Cc-Smart’s digital
drivers. It can run in windows systems, including Windows XP/Window7,
Window10. And the selected PC should have 1 USB port at least for
communicating with the driver. Double click “DCTunerPro_V2.0.exe” to begin
installing the DCTunerPro. See Figure 6-1 to 6-4
Figure 6-1/2
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Figure 6-3/4
Install Usb Driver:
The widow will show a below dialog When you plug USB cable and turn on the
driver power in the first time.
Right click “My Computer-> Manage -> Device manage”
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Cc-Smart Technology Co., Ltd Choose Browse button to driver folder -> choose Next Choose “Install this driver software anyway”
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Note: with the Window version >7, when installing the driver, we will see this
message “The third-party INF does not contain digital signature information”.
You can go to our product information web to find a video show how to fix or
you can search in the internet to know how to fix it.
Software Introduction DCTurnerPro Main Window
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Board Setting (configuration encoder and board information)
Address: Address of the driver in the Uart-Network (Network) Encoder Line: The
resolution of encoder (number pulses encoder per one circle). Pulse/Row (Baud
Rate): Same electronic gear ratio. This value configures how many external
pulses correspond to ONE rotation round of motor. For example, if the value is
300 means the motor needs 300 pulses (from the external source) to rotate
exactly one round. Follow Error: Follow Error Value (rad) (difference between
estimate position vs current position)
Control method
Pulse/Dir: This method the driver is controlled by external signal “Pulse-
Direction”. USB: The driver is controlled by software via USB Analog: The
analog signal input is command for driver. It is only used with Velocity mode.
Network: Control multi driver by UART
Selecting Model Control
Auto Tuner Tool: This tool is used to auto finding a system information.
stFeedback Position Control: The motor is used a position mode and controlled
by state feed-back loop. PID Position Control: The motor is used a position
mode and controlled PID loop. PI Velocity Control: The motor is used a
velocity mode and controlled by PI loop. Smart Position Control: This is our
advanced close loop to control the motor (recommend).
Filter:
Accel: A frequency of low pass filter for accelerator. This value is usually
about 50-60 (Hz) Velocity: A frequency of low pass filter for velocity loop.
This value is usually about 50-60 (Hz) Encoder Filter: A frequency hardware
filter. The Hardware filter Encoder is calculated as below formula:
F_filter = Encoder Line460*V_max+ 1000
With:
F_filter: filter frequency. Encoder_Line: the number of encoder pulse per
round. V_max: the maxium velocity of motor.
Current Setting:
Configure maximum current for controlling motor. This function protects
overload or short circuit. The Driver automatically cuts off output current in
50ms.
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In these cases, the user has to reset system to continue operating.
Automatically identify motor specification: Principles:
The system will run as 80% power in first 4s then inverse rotation in next 4s.
While this process is running, the Auto Tuning tool collects the response data
of system, then analyzed and calculated J and B parameter of motor.
Operation:
-Step 1: Set Encoder Line value of your motor -Step 2: Choose “Save button” to save Encoder information -Step 3: Choose “Turning button” to start Turning. The driver will start the motor in some seconds to detect the J and B of motor property, result of J and B should be stable and positive in some Turning time.
-Step 4: Choose mode “Smart Position Control” in Model Setting to switch to control mode
-Step 5: Turn on the loop by putting the button like this (red color). you change the Model Control, this button will automatic changing please check again this button when you want to start the motor.
Note: When the state, so
-Step 6: Testing result by type Dw (Acceleration rad/s^2), Wm (Velocity rad/s), Phi_s (Position rad) witch you want the motor go to.
-Step 7: Click the button Update, the driver will control the motor run to (Phi_s) Position set. Try to change the position in step 6 and try again, if the motor has good respond go to next step
-Step 8: Choose the Control Method Pulse/Dir or Uart (Network) witch you want how to communicate with the driver. If the Control Method is Uart, please also set Baud rate and Address.
-Step 9: Click “Save Button” to save all config.
-Step 10: Click “Reset Button” to start the driver again, If all are correct, the driver will hold the motor. You can connect your controller to send the command (Uart command or Pulse/Dir command) to make the motor moving.
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6. UART Command Feature:
Discription:
This driver support ASCII UART command line. User can use UART interface to
communicate with the driver by ASCII. So they can work well with MCU, Arduino,
Raspberry… by the UART interface.
Any MSD_XX is addressed in the manufacture (the user can reconfigure by the
button or by the DcTurnerPro App) and work as Slave Mode in the UART Network.
A MCU can work as Mater mode and communicate to many slave (Msd_xx Driver)
UART Parameter
Baud Rate 1 (C7=0): 115200 Baud Rate 2 (C7=1): 57600 Baud Rate 3 (C7=2): 19200
Word Length: 8 Bit Stop Bits: 1 Parity: None
Configuration by the Button:
Use button to config
C5=1; C6=1; C7=2 -> Reset
MCU
RX PIN TX GND
Driver 1
RX Pin TX Pin
GND Pin
………… …D…riv…er…n
RX Pin TX Pin
UART Command:
Host Send Format:
GND Pin
N0 ? n : Help
Nx $xxx= Parameter_Value n : Parameter Setting Group; $001=20; Address of the
Driver is: 20 $002=200; Encoder Line (Encoder resolution per Round) $003=400;
The main Motor Saft will run 1/400 circle per One Pulse from
External Pin (Pul/Dir). $004=4; Model Close Loop Type (0: Turning, 1: None, 2:
PID Position,
3: PI Velocity (recommend), 4: Smart Position (recommend), 5: None, 6:
H-Bridge mode (Working as H-Bridge))
$005=0; Communicate Methode (0: PULSE/DIR, 1: UART Network, 2: None, 3: Analog
(Just for velocity Mode))
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$006=2000mA; Current Limit $007=12; Follow Error (rad(Position Model) or
rad/s(Velocity Model)): The Maximum different between Estimate Value vs Real
Value is 12 $008=1; Motor Protection Active (0: Disable, 1: Enable)
$009=115200; Uart Baud rate $010=2; Delta Position Expect When press the TEST
Button (Circle) $011=60; Velocity Expect When press the TEST Button (Round/s)
$012=500; Acceleration Expect When press the TEST Button (Round/s2) $020=4870;
Kp_P=4870 $021=0; Ki_P=0 $022=69; Kd_P=69 $023=33; Kp_V=33 $024=1144;
Ki_V=1144 $025=0; Kd_V=0 $026=0; Kp_I=0 $027=0; Ki_I=0 $028=0; Kd_I=0 $101=0;
MCU(0: Running, 1: Saving & Reset; 2: Reset; 3: Factory Reset & Reset;) Nx
[p/P value] [v value] [a value] n: Moving motor Nx with p/P,v,a parametter Nx:
x Adress Of Driver (0: Broadcast ; 1->99: Unicast) p: Absolute Position Value
(Option) P: Relative Position Value (Option) v: Velocity Value(Option) a:
Acceleration Value (Option) Example: (The Driver 1 go to 100rad with Velocity
50rad/s and Acceleration 600rad/s2): N1 p100 v50 a600 Nx [d value] n: d= Duty
Cycle in H-Bridge Mode ($004 = 6); (Value Range: 900 to 900) Note: “-“: Direct
=0 ; “1”: Direct = 1 ; Nx O [Kx] [T] [Mx] [Dx] [S] [L] [U] [r] [R101] [Gx] [C]
n; (O: Operation Group Command) [ ] : Option Kx : Ack command respond (K1:
Enable (default at start up MCU); K0: Disable T: Turning The Motor Mx: Control
Method = M4 (M3: PI Velocity, M4: Smart Position, M5: None, M6: H-Bridge mode
(Working as H-Bridge)) Dx: Communicate Method = D0 (D0: PULSE/DIR, D1: UART
Network, D2: None, D3: Analog (Just for velocity Mode))
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S: Saving All Parameter L: Lock/Pause/Stoop the Motor immediately U: Unlock
Motor r: Reset the Current Position to 0 R101: Reset the driver C: Clear error
list G: Get moving information (G1: One Time; G3: Until Receive a New Data
With Frequency Respond 5Hz; G255: One time with Random Delay)
7. Protection & Indication Feature:
Protection: Under/Over Voltage (vBus):
The motor driver output will be shut down when the power input voltage drops
below the lower limit. This is to make sure the MOSFETs have sufficient
voltage to fully turn on and do not overheat. ERR LED will blink during under
voltage shutdown.
Temperature Protection:
The maximum current limiting threshold is determined by the board temperature.
The higher the board temperature, the lower the current limiting threshold.
This way, the driver is able to deliver its full potential depending on the
actual condition without damaging the MOSFETs.
Overcurrent Protection with Active Current Limiting
When the motor is trying to draw more current than what the motor driver can
supply, the PWM to the motor will be chopped off and the motor current will be
maintained at maximum current limit. This prevents the motor driver from
damage when the motor stalls or an oversized motor is hooked up. OC LED will
turn on when current limiting is in action.
8. Recommendation:
Wire Gauge
The smaller wire diameter (lower gauge), the higher impedance. Higher
impedance wire will broadcast more noise than lower impedance wire. Therefore,
when selecting the wire gauge, it is preferable to select lower gauge (i.e.
larger diameter) wire. This recommendation becomes more critical as the cable
length increases. Use the following table to select the appropriate wire size
to use in your application.
Current (A) 10 15 20
Minimum wire size (AWG) #20 #18 #16
System Grounding
Good grounding practices help reduce the majority of noise present in a
system. All
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common grounds within an isolated system should be tied to PE (protective
earth) through a `SINGLE’ low resistance point. Avoiding repetitive links to
PE creating ground loops, which are a frequent source of noise. Central point
grounding should also be applied to cable shielding; shields should be open on
one end and grounded on the other. Close attention should also be given to
chassis wires. For example, motors are typically supplied with a chassis wire.
If this chassis wire is connected to PE, but the motor chassis itself is
attached to the machine frame, which is also connected to PE, a ground loop
will be created. Wires used for grounding should be of a heavy gauge and as
short as possible. Unused wiring should also be grounded when safe to do so
since wires left floating can act as large antennas, which contribute to EMI.
Power Supply Connection
NEVER connect power and ground in the wrong direction, because it will damage
the driver. The distance between the DC power supply of the drive and the
drive itself should be as short as possible since the cable between the two is
a source of noise. When the power supply lines are longer than 50 cm, a
1000µF/100V electrolytic capacitor should be connected between the terminal
“GND” and the terminal “+VDC”. This capacitor stabilizes the voltage supplied
to the drive as well as filters noise on the power supply line. Please note
that the polarity can’t be reversed. It is recommended to have multiple
drivers to share one power supply to reduce cost if the supply has enough
capacity. To avoid cross interference, DO NOT daisy-chain the power supply
input pins of the drivers. Instead, please connect them to power supply
separately.