Technical manual

Microstep driver
SMC11

NANOTEC ELECTRONIC GmbH & Co. KG Tel. +49 (0)89-900 686-0

Gewerbestraße 11 Fax +49 (0)89-900 686-50
D-85652 Landsham near Munich, Germany [email protected]
Technical manual
SMC11
Editorial

Editorial / About this manual

© 2009
Nanotec® Electronic GmbH & Co. KG
Gewerbestraße 11
D-85652 Landsham / Pliening, Germany

Tel.: +49 (0)89-900 686-0

Fax: +49 (0)89-900 686-50

Internet: www.nanotec.com

All rights reserved!

MS Windows 2000/XP/Vista are registered trademarks of Microsoft Corporation.

Thank you for choosing a Nanotec microstep driver!

Target group
This technical manual is aimed at designers and developers who need to operate a
Nanotec® stepper motor without much experience in stepper motor technology.

About this manual

This technical manual must be carefully read before installation and commissioning of
the driver.
Nanotec® reserves the right to make technical alterations and further develop
hardware and software in the interests of its customers to improve the function of this
product without prior notice.
This manual has been written with due care. It is exclusively intended as a technical
description of the product and as commissioning instructions. The warranty is
exclusively for repair or replacement of defective equipment, according to our general
terms and conditions; liability for subsequent damage or errors is excluded. Applicable
standards and regulations must be complied with during installation of the device.
For criticisms, proposals and suggestions for improvement, please contact the above
address or send an email to: [email protected]

Version/Change overview
Version Date Changes
0.7 27.02.2007 New
1.0 08.08.2008 Revision C+P
1.1 01.12.2008 Revision C+P
1.2 30.09.2009 Revision C+P
1.3 25.11.2009 Revision C+P

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SMC11
Contents

Contents

1 Overview ............................................................................................................................... 4
2 Commissioning .................................................................................................................... 6
3 Connections ......................................................................................................................... 7
3.1 Connection diagram ............................................................................................................... 7
3.2 Inputs: connector X2 .............................................................................................................. 8
3.2.1 Pin assignment....................................................................................................................... 8
3.2.2 Voltage supply........................................................................................................................ 8
3.2.3 Input circuits ......................................................................................................................... 10
3.2.4 "Clock" input (CLK) .............................................................................................................. 12
3.2.5 "Direction" input (DIR) .......................................................................................................... 12
3.2.6 "Enable" input (EN) .............................................................................................................. 13
3.2.7 "Automatic current reduction" input...................................................................................... 13
3.2.8 Time behaviour of input signals ........................................................................................... 15
3.3 Outputs for motor connection: connector X1 ....................................................................... 16
4 Settings ............................................................................................................................... 18
4.1 Setting the phase current..................................................................................................... 18
4.2 Setting the step mode .......................................................................................................... 20
5 Technical data .................................................................................................................... 22
5.1 Specific values ..................................................................................................................... 22
5.2 Dimensions .......................................................................................................................... 23
5.3 Compliance with EMC standards......................................................................................... 24
Index ..................................................................................................................................................... 25

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SMC11
Overview

1 Overview
Purpose and application
The SMC11 is an extremely compact bipolar constant-current microstep driver for
controlling 4, 6 and 8-conductor stepper motors. Its small housing dimensions permit
the use of several step motor output stages in confined spaces.
The SMC11 was developed for stepper motor sizes 20 (Nema 8), 28 (Nema 13) and
40 (Nema 17). Depending on the phase current, it can also be used with larger
stepper motors of size 56 (Nema 23) and 86 (Nema 34).

SMC 11 functions
The SMC11 offers the following functions:
• Step resolution is adjustable via solder bridges (in SMC11 and SMC11G) or DIP
switch (in SMC11GE).
• Phase current is continuously adjustable from 0.3 A to 2.5 A via a potentiometer.
• Control of "Clock", "Direction", "Enable" and "Current reduction" inputs via 3.5 V
low voltage processors or via a 3.5 V or 5 V TTL signal.
• Integrated overload and temperature protection
• Transient overvoltage protection
• Automatic current reduction (SMC11-2 only): To reduce the thermal load of the
motor and the output stage when at a standstill, the phase current is automatically
reduced to < 50% of the set value after a clock pause of max. 1.5 s.

Models
The driver is available in the following models:
• Open model: SMC11
Variable current setting for different bipolar motors
–
Attachment via screws (with simple wiring also suitable for mounting on the
–
back of the motor)
• Housing model: SMC11G / SMC11GE
– Suitable for high currents and larger motors
– Variable current setting
– Attachment via TS35 DIN rail
– SMC11GE only: external step mode setting via coding switch

Picture
SMC11 SMC11G(E)

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Overview

Variants
The SMC11 is available in the variants SMC11-1 and SMC11-2, and SMC11G(E) is
only available in the variant SMC11-2. The variants differ with respect to the following
features:
• Range of step mode settings
– SMC11-1: 1/1, 1/2, 1/4, 1/8
– SMC11-2: 1/1, 1/2, 1/4, 1/16
• Automatic current reduction only available in SMC11-2

Advantages
The SMC11 is based on the SMD power driver (A3979SLP-T). Building on many
years of experience with stepper motors and with the optimal design of stepper motor
controls, Nanotec has developed a small printed circuit board that enables designers
and developers to quickly and easily test the entire functional scope of this
component. In addition to the power driver, the SMC11 also includes useful functions
and protective circuits, as well as an EMC-compatible layout. Thus, the SMC11 is not
only suitable as an evaluation board but is also ideal for numerous small and medium-
sized applications as a standard stepper motor control due to its robust design and
functional capabilities, and especially due to its attractive price.
In light of the large quantities, Nanotec offers the IMT 903 at distributor prices so that
customers with up to 2000 units benefit from its fair price, support and high availability.
Apart from the advantages of the SMC11, other customized circuits and boards have
already been developed on the basis of IMT 903 for specific installation sizes and
functions, and these are already in use in many specific application – maybe even in
yours.

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SMC11
Commissioning

2 Commissioning
Safety warnings
CAUTION!
Danger of destruction of output stage!
• Check the connections carefully.
• Never unplug the motor connections while they are live.

CAUTION!
Alternating electromagnetic fields!
Alternating electromagnetic fields around current-carrying cables, especially around
the supply and motor cables, can cause interference in the output stage and other
devices.
• Shield the cables. Run the shield connection on one side or both sides to a short
earth.
• Use twisted pair cables.
• Keep power supply and motor cables as short as possible.
• Run large areas of the output stage housing and motor to a short earth.
• Run supply, motor and control cables separately.

Procedure
Proceed as follows to take the output stage into service safely:
Step Action See also
1 Set the desired step mode via the corresponding solder Section 4.2
bridges or DIP switch.
2 Connect the motor at the outputs. Section 3.3
3 Connect the power supply. Section 3.2.2
Connect a charging capacitor of at least 4700µF in
parallel to the power supply (terminal x ), depending on
the motor size.
4 Set the required motor phase current on the Section 4.1
potentiometer, if necessary.
5 Enable the current reduction, if necessary. Section 3.2.7
6 Change the step mode, if necessary. Section 4.2
7 Switch on the power supply.
The motor moves slightly and goes into the stable
phase position. The holding torque acts in the motor.
The output stage is ready for operation and can be
moved in the corresponding direction via the "Clock"
input, depending on the direction signal.

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Connections

3 Connections

3.1 Connection diagram

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Connections

3.2 Inputs: connector X2

3.2.1 Pin assignment

The pins on connector X2 are assigned as follows:
Pin no. Name Comment
1 VBB Operating voltage +12 V DC ... +35 V DC
2 EN "Enable" input:
• Low (< 0.8 V) = active
• High (3.15 – 5.5 V) or open = disable
3 DIR "Direction" input:
• Low (< 0.8 V) = active
• High (3.15 – 5.5 V) or open = disable
4 CLK "Clock" input:
• Low (< 0.8 V) = active
• High (3.15 – 5.5 V) = disable
• Pulse width > 2 µs
• Pulse pause > 2 µs
5 GND Earth (0 V)
6 – Automatic current reduction to approx. 50%:
• Low (< 0.8 V) = active
• High (3.15 – 5.5 V) or open = disable

3.2.2 Voltage supply

Voltage source
The operating or supply voltage is supplied by a battery (low voltage
12 – 24 V), a transformer with rectification and screening or, preferably, a switched-
mode power supply (NANOTEC NTS24) with 24 V or higher (max. 35 V for maximum
speed and power utilization).

Permissible operating voltage

The permissible operating voltage ranges from +12 to +35 V DC.
A charging capacitor of at least 4700 µF/ 50 V must be connected at the supply
voltage to ensure that the permissible operating voltage is not exceeded (e.g. during
braking).
CAUTION!
Danger of electrical surges
Connect charging capacitor with minimum 4700 µF!
An operating voltage > 50 V will destroy the output stage! Mixing up the connections
can destroy the output stage!
• Never disconnect the link when operating voltage is applied!
• Never disconnect lines when live!

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Connections

Install the charging capacitor as close as possible to the SMC11:

Although the SMC11 is designed for smaller series up to ST4118L1804, tests have
shown that the SMC11G works reliably even with stepper motor series sizes of ST59,
ST60 and ST89 up to phase currents of 2 A, provided that the power supply does not
exceed the permissible 35 V internally under any load and the regenerative feedback
is performed via moderate braking ramps with a min. of 0.5 s. The external moments
of inertia Jex in motor sizes ST59 and ST89 should not exceed Eex = Jmotor * 5 / 2.

Accessories for voltage supply

Power packs and charging capacitors are available as accessories:
Designation Order number
Power pack NTS24 (24 V)
Power pack NTS12 (12 V)
Add an additional power supply at 35V supply
for greater speeds.
Charging capacitor Z-K4700/50

Note:
Additional information on the accessories is available on the Nanotec website:
www.nanotec.com

Series connection of power supplies

CAUTION!
Danger of destruction of output stage!
• Adjust the maximum voltage via the potentiometers of the power supplies
(Voltage Adj. Range): NTS24: 23V; NTS12: 11V.

In applications in which the maximum power of the stepper motor absolutely must be
obtained in combination with the end stage SMC 11, and a 35V power supply is not
available, the NTS24 and NTS12 power supplies can be connected in series (see
connection diagram).

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Connections

The characteristic lines in the following figure show the power increase from 24V to
35V:

3.2.3 Input circuits

Input circuit 5 V / 15 mA

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Connections

Input circuit 24 V / 15 mA

Overvoltage protection
All inputs are protected against overvoltage by protection diodes.
The integrated Schmitt trigger ensures reliable switching of the input signals
independent of the edge steepness.

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Connections

3.2.4 "Clock" input (CLK)

Function
The step is triggered by a negative edge at the "Clock" input.

Phase current
The following figure shows the phase current as a function of the input signal.

3.2.5 "Direction" input (DIR)

Function
The "Direction" input specifies the rotation direction of the motor. There must be a
pause of >120 µs between switching the rotation direction and activation of the input.
"Direction" input level State Motor rotation direction
High or open Disable Motor turns in the direction set
when operation started.
Low Enable Motor turns in the opposite direction.

Phase current
The following figure shows the phase current as a function of the input signal.

1 and 3: The motor turns to the right

2: The motor turns to the left

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3.2.6 "Enable" input (EN)

Function
After the signal is set to "High" (positive edge), the output stage switches off the phase
currents and the motor is not supplied with current. The "Low" signal supplies the
motor with current again.
If the enable signal is disabled during the running clock signal (level on "High"), the
output stage switches to no current. The internal ring counter continues running with
the external clock signal.

Phase current
The following figure shows the phase current as a function of the input signal.

The grey lines in the figure show that the output stage has internally moved the motor
four additional steps from position 1 to position 2. When the enable signal is
reactivated (level on "Low"), motor operation continues from position 2 (only if the
supply voltage VBB remains in tact and the clock frequency is constant).

3.2.7 "Automatic current reduction" input

Note:
This function is only available in SMC11-2.

Function
To reduce the thermal load on the motor and output stage during a motor standstill,
the current reduction can be enabled via a "Low" signal (disable) on pin 6.
When current reduction is enabled, the phase current is automatically reduced to <
50% of the set current value after a clock pause of max. 1.5 s:
Step mode Phase current in A Phase current in A Current reduction
(pin 6 = enable) (pin 6 = disable) in %
Full step 0.5 0.2 40
1.5 0.48 32
2.4 0.68 28
Half step 0.5 0.23 46
1.5 0.46 31
2.5 0.72 29
Microstep 0.5 0.24 48
1.5 0.56 37
2.5 0.8 32

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Connections

Phase current with enabled current reduction

The following figure shows the phase current when current reduction is enabled.

Phase current when current reduction is begin disabled

When the automatic current reduction is disabled, the phase current returns to the
original phase current value without a significant time delay.

Phase current with disabled current reduction

The following figure shows the phase current when current reduction is disabled.

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3.2.8 Time behaviour of input signals

The following figure shows a schematic diagram of the time behaviour of the "Clock",
"Direction" and "Automatic current reduction" input signals.

A > 2 µs Pulse width

B > 2 µs Pulse pause
C > 2 µs DIR enable time before pulse
D > 2 µs DIR enable time after pulse
E > 2 µs Current reduction disabled after pulse on
F < 1,5 s Current reduction enabled after pulse off

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Connections

3.3 Outputs for motor connection: connector X1

Notes
The following information should be noted:
• The SMC11 is used exclusively to control 2-phase stepper motors with 4, 6 or 8
connecting wires in bipolar mode.
• Swapping the connecting cables within a phase (A with A/ or B with B/) changes
the direction of rotation.
• When using a motor with 6 or 8 connections, the windings must be connected.
• Motor cables that are not needed should be galvanically isolated (see connection
diagrams).
• Using twisted pair and shielded motor cables can reduce interference on or from
other devices.
• The labelling of the motor connections can be found from the data sheet of the
respective stepper motor.

Pin assignment
The following table shows the pin assignment for the X1 connector:
Pin no. Name Comment
1 A See also data sheet of connected
2 A/ stepper motor (colour code of 4
wires).
3 B
4 B/

CAUTION!
Danger of electrical surges
Mixing up the connections can destroy the output stage!
• Never disconnect the link when operating voltage is applied!
• Never disconnect lines when live!

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Connections

Connection diagrams
Motor with 4 lines:

Motor with 6 lines:

1 winding half (Bipolar) serial connection

Motor with 8 lines:

(Bipolar) serial connection (Bipolar) parallel connection

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SMC11
Settings

4 Settings

4.1 Setting the phase current

CAUTION!
Danger of property damage from overcurrent!
Step loss may occur, and the motor windings may overheat or burn out!
• Do not exceed the maximum permissible current values of the motor and control
unit.

Setting at low clock frequency

The natural resonance of stepper motors, which tends to arise in the low speed
ranges and frequencies under full step operation, can give rise to current peaks that
lie above the set phase current value and can lead to overcurrent step loss in the
driver chip.
Avoid operating in the resonance range due to the unstable running behaviour,
audible running noise and low torque.
The following information should be noted:
• Avoid full step mode at low speeds or frequencies.
• Reduce the maximum phase current in the low speed range; see the following
figure.

Guide values
The permissible phase current with which the output stage can drive the motors
without step loss depends on operating conditions such as the operating voltage,
frequency, step mode, motor being driven, load, ambient temperature and effective
cooling of the end stage (via large cooling surfaces or fans).
The values specified here are guide values that may vary depending on the
installation conditions.
The following information should be noted:

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Settings

• Thermal aspects (heat dissipation).

• When using a setting with high phase currents, perform a test of at least two hours.
If the temperature value remains stable throughout this time period, and the output
stage does not exhibit step loss, the output stage can be used under the same
operating conditions. Otherwise, better heat dissipation must be provided for.
The following table shows the guide values for the maximum phase current setting at
an ambient temperature of 40 °C max.:
Step mode SMC11 SMC11G(E)
Full step 1.0 A 1.8 A
Half step to microstep 1.4 A 2.2 A

Setting via the potentiometer

The phase current can be set continuously with the integrated potentiometer.
Turning clockwise increases the phase current value. The setting in the following
figure corresponds to level 6.5.

The following table shows the assignment of the phase current values to the
potentiometer levels:
Level Phase current (in A)
Full step Half step Microstep
1
2 0.1 - 0.3 0.2 - 0.4
3 0.3 0.5 0.5
4 0.6 0.8 0.8
5 0.9 1.2 1.2
6 1.2 1.6 1.6
7 1.5 2.0 2.0
8 1.8 2.4 2.4
9 2.1 2.8 2.8
10 2.4
11 2.5

Note:
The values in the table have a tolerance of up to 10%.

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Settings

Overcurrent protection
The output stage is protected against damage by the integrated overtemperature and
overcurrent protection. Depending on the set phase current, heat generation in the
chip can be very high, which activates the internal overtemperature protection (barrier
layer temperature max. 165 °C, chip surface temperature approx. 85 °C) and
automatically deactivates the output stage if necessary or switches off the phase
current.

Checking the phase current

The set current value can be determined using a clamp-on ammeter (e.g. type E3N of
Chauvin Arnoux) in the motor supply line of a phase.

4.2 Setting the step mode

SMC11 and SMC11G
The step mode is set via the solder bridges J1 and J2 in SMC11 and SMC11G. The
solder bridges are arranged differently in SMC11-1 and SMC11-2; see the following
figure:

Step mode Solder bridge

J2 J1
1/1 x x
1/2 x
1/4 x
1/8 (SMC11-1) or 1/16 (SMC11-2)

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Settings

SMC11GE
The step mode is set via a DIP switch in SMC11GE:

Step mode Switch

1 2
1/1 On On
1/2 Off On
1/4 On Off
1/8 or 1/16 Off Off

Notes
All SMC11 models are delivered preset to the microstep mode (one-eighth step in
SMC11-1 and one-sixteenth step in SMC11-2).
Advantages of the microstep mode:
• High step resolution and a more continuous, smooth running of the motor
• Less resonance at low speeds

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Technical data

5 Technical data

5.1 Specific values

Operating voltage VBB DC +12 V to +35 V
Max. phase current SMC11: 1.4 A/phase
SMC11G(E): 2.5 A/phase
Current reduction < 50% of phase current
Clock pause < 1.5 s
Settling time < 1.5 s
Interfaces Plug-in terminals JST-XHP
Step resolution Full step
Half step
1/4 step
1/8 step (in SMC11-1)
1/16 step (in SMC11-2)
Operating mode Bipolar chopper driver
Step frequency 0 to 200 kHz (with respect to control)
Signal input 5 V / 15 mA
Enable: Low (< 0.8 V)
Disable: High (3.1 - 5.5 V or open)
Motor output VOUT = VBB; to 35 V
Clock VDD = 3.0 - 5.5 V, typically 5 V
Low: 0 - 0.8 V
High: 3.1 - 5.5 V
Pulse width: >2 µs
Pulse width: >2 µs
Ambient temperature 0 to 40 °C
Attachment SMC11:
• 2x M2.5 drilled holes spaced at 19.05 mm
• 2x M3 drilled holes
• SMC11G(E):
• On DIN rail EN 50022, 35 × 7.5 mm
Dimensions SMC11:
41.5 x 36 x 15.6 (L x W x H) without cooling block
SMC 11G(E):
43 x 43 x 26 (L x W x H) without connector and retaining
clip for DIN rail

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Technical data

5.2 Dimensions
SMC11

SMC11G

A: Retaining clip for DIN rail

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Technical data

SMC11GE

A: Retaining clip for DIN rail

5.3 Compliance with EMC standards

The following tests for electromagnetic compatibility (EMC) were performed on the
SMC11 according to EMC directive 89/336/EC:
Standard Test Overall result
EN 61000-6-1 Electromagnetic compatibility (EMC) generic Device complies
(2002) immunity standard with standard.

EN 61000-6-3 Electromagnetic compatibility (EMC) generic Device complies

(2002) emission standard with standard.
EN61000-4-4 Fast burst transient immunity Device complies
with standard.
EN61000-4-2 Electrostatic discharge immunity Device complies
with standard.
EN61000-4-6 Conducted RF immunity (conducted RF Device complies
induction, induced by high frequency fields with standard.
above 9 kHz)
EN61000-4-5 Surge immunity Device complies
with standard.
EN61000-6-3 Conducted emissions Device complies
with standard.

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Index

Index

A M
Attachment ....................................................22 Models ............................................................ 4
Automatic current reduction...........................13 Motor connection .......................................... 16
Motor connection diagram ............................ 17
C
Charging capacitor ..........................................9 N
CLK (clock input) ...........................................12 Natural resonance......................................... 18
Clock input.....................................................12
O
Connections.....................................................7
Operating conditions ..................................... 18
Current peaks ................................................18
Operating voltage............................................ 8
Current reduction...........................................13
Outputs ......................................................... 16
D Overcurrent protection .................................. 20
Dimensions....................................................23 Overcurrent step loss.................................... 18
DIP switch......................................................21 Overtemperature..................................... 19, 20
DIR (direction input).......................................12 Overvoltage protection.................................. 11
Direction input................................................12
P
E Phase current................................................ 18
EMC...............................................................24 Pin assignment
Emission ........................................................24 Connector X1 ............................................ 16
EN (enable input)...........................................13 Connector X2 .............................................. 8
Enable input...................................................13 Potentiometer................................................ 19
Power pack ..................................................... 9
F
Protection diodes .......................................... 11
Functions .........................................................4
S
H
Solder bridges............................................... 20
Heat dissipation .............................................19
Standards...................................................... 24

I Step mode..................................................... 20

Immunity ........................................................24
T
Input circuits ..................................................10
Technical data............................................... 22
Inputs ...............................................................8
Time behaviour ..........................................15 V
Interfaces .........................................................7 Variants........................................................... 5
Voltage source ................................................ 8
J
Voltage supply ................................................ 8
Jumper...........................................................20

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Index

X X1 connector................................................. 16
X2 connector................................................... 8

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