DSM S- -Series
Integrated Stepper Motor / Driver
Installation Manual


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   Summary of Contents for Baldor DSM S Series

  • Page 1

    DSM S- -Series Integrated Stepper Motor / Driver Installation Manual 04/07 MN1940...

  • Page 3: Table Of Contents

    5.1.5 Installing Baldor SPI Interface ........

  • Page 4: Table Of Contents

    5.2.1 Starting Baldor SPI Interface ........

  • Page 5: General Information

    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.

  • Page 6

    www.baldormotion.com 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...

  • Page 7: Introduction, Dsm S-series Integrated Motor And Driver

    www.baldormotion.com 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.

  • Page 8: Option Availability

    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.

  • Page 9: Receiving And Inspection, Identifying The Catalog Number

    www.baldormotion.com 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.

  • Page 10: Units And Abbreviations

    www.baldormotion.com 2.3 Units and abbreviations The following units and abbreviations may appear in this manual: ....Volt (also VAC and VDC) ....Watt .

  • Page 11: Basic Installation, Introduction, Location Requirements

    www.baldormotion.com 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.

  • Page 12: Mounting The Dsm

    www.baldormotion.com 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. Dimensions - DSMS17 Flying leads ‘P’ connector option 305 (12) 11.2 (0.44) All dimensions shown as...

  • Page 13

    www.baldormotion.com Maximum length of screw threads into the motor housing is 3.5 mm (0.14 in) Customer’s mounting flange M3 x 0.5 screw DSMS17 Figure 2 - Screw thread limitation - DSMS17 MN1940 Basic Installation 3-3...

  • Page 14

    www.baldormotion.com Dimensions - DSMS23 Flying leads ‘P’ connector option 305 (12) 11.2 (0.44) All dimensions shown as mm (inches) 51.2 (2.02) 41.4 48.3 20.6 (1.63) (1.9) (0.81) Ø6.35 (0.25) (0.59) 4 x Ø5 (0.2) 75.2 (2.96) (0.23) 47.14 (0.19) (1.86) L MAX Square...

  • Page 15

    www.baldormotion.com Dimensions - DSMS34 Flying leads 305 (12) 4 x Ø5.5 (0.22) 37 (1.46) 2 (0.08) 25 (0.98) 13 (0.51) 94.7 (3.73) Ø14 (0.55) Ø73 18.6 (0.73) 10 (0.39) (2.87) 69.6 (2.74) 31.8 (1.25) 86.1 (3.39) L MAX L MAX2 All dimensions shown as mm (inches) Motor...

  • Page 16: Other Requirements For Installation

    www.baldormotion.com 3.1.3 Other requirements for installation The DSM requires a power supply as described in section 4.2. A PC that fulfills the following specification: Minimum specification Recommended specification Processor Intel Pentium 133 MHz Intel PentiumII 400 MHz or faster 32MB 128 MB Hard disk space 40 MB...

  • Page 17: Input / Output, Introduction, Basic Connections

    www.baldormotion.com Input / Output 4.1 Introduction This section describes the input and output connections of the DSM. Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level cables and make the system unreliable. Logic level cables must be shielded to reduce the chance of induced noise.

  • Page 18: Motor Power Input

    www.baldormotion.com 4.2 Motor power input The DSM requires an unregulated DC power supply. The power supply current will depend upon voltage and load, but will not exceed 2 A (DSMS17 / DSMS23) or 4 A (DSMS34). Location Flying leads (red and black), ‘P’ connector Input voltage +12 to +48 VDC (DSMS17) range...

  • Page 19: Wire Sizes

    www.baldormotion.com 4.2.1 Wire sizes Table 1 describes the wire sizes to provide optimal protection against EMI and RFI. Correct wire size is determined by the current requirement and the cable length. The actual cable type, wire gauge, shield type and filtering devices used are dependent on the customer’s application and system.

  • Page 20: Logic Inputs, Logic Input Descriptions

    www.baldormotion.com 4.3 Logic inputs The DSM has three optically isolated logic inputs. These inputs are isolated to minimize or eliminate electrical noise coupled onto the drive control signals, and are over-voltage protected. The inputs may be configured as either sinking inputs or sourcing inputs (model dependent, see section 4.3.3), with the Optocoupler Reference (white) lead as the reference.

  • Page 21: Input Timing

    www.baldormotion.com closed) will cause the driver output circuitry to be disabled. Note that the internal sine/cosine position generator will continue to increment or decrement as long as step clock pulses are being received by the DSM. The enable input is not synchronized to any other input and may be changed at any time.

  • Page 22: Sinking / Sourcing Input Configuration

    www.baldormotion.com 4.3.3 Sinking / sourcing input configuration All DSMS17, 23 and 34 models can be wired to create sinking inputs, where a reference voltage between +5 and +24 VDC is connected to the Optocoupler Reference (white) lead. The isolated inputs are then interfaced to a sinking output (which utilizes the same supply as the opto coupler reference input) such as a switch, open collector, or PLC output.

  • Page 23

    www.baldormotion.com NextMove ESB ‘X2’ (models NSB003-501 / NSB003-502 only) Optocoupler reference +5 V +5 V Step clock ULN2003 Step input STEP0 Output 74AHCT244 Direction ULN2003 Direction input DIR0 Output 74AHCT244 DGND +5 V ‘X12’ REL COM Enable Enable input REL NC Figure 11 - Sourcing input connections from a typical controller (e.g.

  • Page 24: Spi Interface, Spi Connector

    www.baldormotion.com 4.4 SPI interface DSM setup parameters are changed via an SPI (Serial Peripheral Interface) port. This port uses a 10-pin IDC header, and connects to a USB port on your PC. The recommended method of connecting the SPI port to the PC is by using parameter setup cable CBL055-501. The PC requires a standard USB port.

  • Page 25: Spi Signal Descriptions

    www.baldormotion.com 4.4.2 SPI signal descriptions +5 V out This output is a voltage supply for the setup cable only. It is not designed to power any external devices CLK The clock is driven by the master and regulates the flow of the data bits. The master may transmit data at a variety of baud rates.

  • Page 26: Connection Summary - Minimum System Wiring

    www.baldormotion.com 4.5 Connection summary - minimum system wiring As a guide, Figure 13 shows an example of the typical minimum wiring required to operate the DSM in conjunction with a NextMove ESB controller. Motor power supply Red - 12-48 VDC / 12-75 VDC Black - 0 V Ferrite &...

  • Page 27: Operation, Introduction, Connecting The Dsm To The Pc, Installing The Usb Driver

    The motor interface is accessed through the Baldor SPI Interface software, which is an easy to install and easy to use program used to set the DSM’s parameters. The Baldor SPI Interface is included on the Baldor Motion Toolkit CD.

  • Page 28: Determining The Virtual Com Port Number, Installing Baldor Spi Interface

    2. Choose the Hardware tab and click Device Manager. 3. Expand the Ports (COM & LPT) item. 4. Look for the entry named Baldor USB to SPI Parameter Setup Cable (COM...). The value that appears after COM is the port number. Make a note of this number.

  • Page 29: Starting The Controller And Dsm

    www.baldormotion.com 5.1.6 Starting the controller and DSM If you have followed the instructions in the previous sections, you should have now connected power sources, inputs and outputs, and the USB cable linking the PC with the DSM. Before you apply power for the first time, it is very important to verify the following: Inspect all power connections for accuracy, workmanship and tightness.

  • Page 30: Baldor Spi Interface, Starting Baldor Spi Interface, Configuration Parameters

    5.2 Baldor SPI Interface The Baldor SPI Interface is a simple application for configuring all aspects of the DSM. 5.2.1 Starting Baldor SPI Interface On the Windows Start menu, select Programs, BALDOR SPI Interface, BALDOR SPI Interface. The software will immediately try to establish communication with the DSM. If this step fails, the word “Disconnected”...

  • Page 31

    The Upgrade! option (if present) must not be used! It currently has no purpose and will erase the firmware on the DSM, leaving it inoperable. If you have accidentally selected the Upgrade! option, please contact Baldor customer support. MN1940 Operation 5-5...

  • Page 32

    www.baldormotion.com I/O settings view The I/O settings view shows two additional parameters for the DSM: Clock Type The Clock Type parameter configures the step and direction inputs for the type of input signals being supplied to the motor. Step/Dir is the default setting. A waveform supplied to the step Step input causes the motor to advance one step for each rising edge.

  • Page 33: Troubleshooting, Introduction, Problem Diagnosis, Further Support, Communication Problems

    DSM. If you do have a problem, read this section first. 6.1.2 Further support If you need to contact Baldor technical support by telephone or fax, contact details are provided at the front of this manual. Please have the following information ready: The model number or serial number of your DSM (if known).

  • Page 34: Motor Control Problems

    www.baldormotion.com 6.1.4 Motor control problems Symptom Check Controller outputs Check that the DSM is powered. appears to be working, but will not Check that the logic connections between motor and controller are cause DSM to turn. correct. Confirm that the sense of the enable input is correct to enable the motor (section

  • Page 35: Specifications, Introduction, Input Power

    www.baldormotion.com Specifications 7.1 Introduction This section provides technical specifications of all DSM models. 7.1.1 Input power Description DSMS17... DSMS23... DSMS34... Required supply type Unregulated DC Ripple voltage ±10% Minimum supply voltage +12VDC +12VDC +12VDC Maximum supply voltage +48VDC +75VDC +75VDC Input current (maximum) 1.5A The maximum input voltage of the DSM includes motor back EMF, power supply...

  • Page 36: Motor Speed & Torque - Dsms17

    www.baldormotion.com 7.1.2 Motor speed & torque - DSMS17 DSMS17x-1A... 24 VDC 48 VDC 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) Speed in full steps per second (RPM) Description Value Holding torque 22.6 N·cm (32 oz·in) Detent torque 1.17 N·cm (1.66 oz·in) Rotor inertia...

  • Page 37

    www.baldormotion.com DSMS17x-3A... 24 VDC 48 VDC 1000 5000 6000 7000 2000 3000 4000 (300) (600) (900) (1200) (1500) (1800) (2100) Speed in full steps per second (RPM) Description Value Holding torque 52.9 N·cm (74.9 oz·in) Detent torque 2.45 N·cm (3.47 oz·in) Rotor inertia 0.082 kg·cm (0.00116 oz·in·s...

  • Page 38: Motor Speed & Torque - Dsms23

    www.baldormotion.com 7.1.3 Motor speed & torque - DSMS23 DSMS23x-1B... 24 VDC 45 VDC 75 VDC 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) Speed in full steps per second (RPM) Description Value Holding torque 64 N·cm (90 oz·in) Detent torque 2.7 N·cm (3.9 oz·in)

  • Page 39

    www.baldormotion.com DSMS23x-3B... 24 VDC 45 VDC 75 VDC 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) Speed in full steps per second (RPM) Description Value Holding torque 169 N·cm (239 oz·in) Detent torque 6.86 N·cm (9.7 oz·in) Rotor inertia 0.46 kg·cm...

  • Page 40: Motor Speed & Torque - Dsms34

    www.baldormotion.com 7.1.4 Motor speed & torque - DSMS34 DSMS34x-1B... 1000 24 VDC 45 VDC 75 VDC 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) Speed in full steps per second (RPM) Description Value Holding torque 269 N·cm (381 oz·in) Detent torque...

  • Page 41

    www.baldormotion.com DSMS34x-2B... 1000 24 VDC 45 VDC 75 VDC 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) Speed in full steps per second (RPM) Description Value Holding torque 406 N·cm (575 oz·in) Detent torque 10.0 N·cm (14.16 oz·in) Rotor inertia 1.6 kg·cm...

  • Page 42

    www.baldormotion.com DSMS34x-3B... 1000 24 VDC 45 VDC 75 VDC 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) Speed in full steps per second (RPM) Description Value Holding torque 749 N·cm (1061 oz·in) Detent torque 14.0 N·cm (19.83 oz·in) Rotor inertia 3.4 kg·cm...

  • Page 43: Digital Inputs

    www.baldormotion.com 7.1.5 Digital inputs Description Unit Value Type Opto-isolated Supply voltage Maximum Minimum Input forward voltage (max) Step clock / Direction Enable Input current (typical, 5V) Step clock / Direction 10.6 Enable Input current (maximum allowable) Step clock / Direction Enable Maximum input frequency MN1940...

  • Page 44

    www.baldormotion.com 7-10 Specifications MN1940...

  • Page 45

    Index Abbreviations, 2-4 Dimensions DSMS17, 3-2 DSMS23, 3-4 DSMS34, 3-5 Baldor SPI Interface, 5-4 DIR (direction override), 5-5 clock IOF, 5-6 Direction input, 4-4 clock type, 5-6 configuration parameters, 5-4 DIR (direction override), 5-5 direction override (DIR), 5-5 Enable input, 4-4...

  • Page 46

    SPI interface, 4-8 Operation, 5-1 CLK signal, 4-9 connecting to the PC, 5-1 CS signal, 4-9 installing Baldor SPI interface, 5-2 MISO signal, 4-9 installing the USB driver, 5-1 MOSI signal, 4-9 installing the virtual COM port driver, 5-1 signal descriptions, 4-9...

  • Page 47

    If you have any suggestions for improvements to this manual, please let us know. Write your comments in the space provided below, remove this page from the manual and mail it to: Manuals Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park...

  • Page 48

    Thank you for taking the time to help us. Comments MN1940...

  • Page 50

    Baldor Japan Corporation Baldor Electric Company Tel: +81 45 412 4506 Tel: +1 479 646 4711 Fax: +81 45 412 4507 Fax: +1 479 648 5792 For additional office locations visit www.baldor.com Printed in UK LT0227A02 E Baldor UK Ltd...

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