Technical Documentation

Power Drives for 3-Phase

Stepping Motors

D 902
WDM3-004

English
Doc. no.: 220.902/Docu
X1
SIGNAL
X1
SIGNAL Ident no.: 00441110290
Edition: d156 08.03

X2
SIGNAL X2
SIGNAL

STEP
STEP
I-RED
GAT/ENA X1 I-RED
OFF
3456 GAT/ENA X1
EF 2

78 9A

OFF
01

PH.CURR
3456
BCD
EF 2

78 9A
01

STEP BCD
PH.CURR

STEP
I-RED
GAT/ENA X2
OFF I-RED
3456
GAT/ENA X2
EF 2

78 9A
01

PH.CURR
BCD OFF
3456
X1 X2
EF 2

78 9A
01

READY BCD
PH.CURR

X1 X1 X2
OVER-V

READY
LOW-V

X2
FAULT
TEMP

X1
X2
U
F

V
X1
W U
V
X1
W

U
V
X2
W U
V
X2
W

Made in Germany by:

Berger Lahr GmbH & Co. KG

Breslauer Str. 7
77933 Lahr
Safety instructions

Please read the following safety instructions carefully before

installing and using the power drive.
Safety instructions
• The intended use of the power drive (“Purpose”) is described in
this documentation and must be observed.
• The power drive may only be installed by a skilled electrician.
The national regulations concerning
– Prevention of accidents
– Installation of electrical and mechanical systems
– Radio interference suppression
must be observed.
• The technical data of the power drive, in particular the ambient
conditions, must be observed.
• The power drive should only be operated by trained personnel.
• Warranty will be voided by unauthorized modifications.
• Before installing accessories, please contact your Technical
Consultant.
• Do not throw away the original packaging material; you may need
to use it at a later date for shipment of the power drive.
• The safety symbols and safety instructions on the power drive
and in the documentation manual must be strictly observed.
Symbols used
ATTENTION
Indicates danger of damaging the power drive or other system
components, with a potential consequential danger of in-
juries.
DANGER
Indicates an immediate hazard for persons.
DANGER
Shock hazard due to high voltage on component.
DANGER
Hazard due to high temperatures on component.
ATTENTION
ESD warning (Electro-Static Discharge). The PC board or
component may only be touched in an electrostatically
protected environment.
NOTE
Important or additional information on the power drive or on the
documentation.

2 D 902, WDM3-004 Doc. no. 220.902/DGB

 General description

Structure and
characteristics
Purpose The D 902 or WDM3-004 power drives can be used for controlling
two BERGER LAHR 3-phase stepping motors of type size 90,
325 V (VRDM 39...LW).

The power drive provides the link between a digital positioning

unit and the two 3-phase stepping motors.
General description

English
The following controls, indicators and connectors for the two axes
X1
X1 and X2 are located on the front panel:
SIGNAL

SIGNAL Signal connection for the signal inputs and the

signal output
X2
SIGNAL DIP-switches for:
STEP Number of steps
STEP
I-RED Current reduction
I-RED
GAT/ENA Gate/Enable
GAT/ENA X1
OFF
3456

PH.CURR Selector switch for the motor phase current

EF 2

78 9A
01

BCD
PH.CURR

STEP

I-RED
GAT/ENA X2
READY Status indicators for readiness
OFF
3456
EF 2

78 9A
01

PH.CURR
BCD

X1 X2 Status indicators for malfunctions:

READY
X1 FAULT Short-circuit between motor phases
OVER-V

Overtemperature
LOW-V

X2
FAULT

TEMP
TEMP

U
OVER-V Overvoltage
V
X1
LOW-V Undervoltage
W

Motor connections for two 3-phase stepping motors

U
V
Connection for an external bleed resistor on the base panel of
W
X2
the WDM3-004 (only at units < RS40)

The supply connection is located on the rear of the D 902 power

control card.
The WDM3-004 unit contains the D 902 power control card and
the D 904 power supply unit.
230V
The mains connection and the selector switch are located on top
of the power supply unit. Use the selector switch to set the power
L supply unit to a mains voltage of 115 V or 230 V.
N
PE
Switch for micro-step function on board or unit top side

A fan can be bolted to the base of WDM3-004 units.

OFF

D 902, WDM3-004 Doc. no. 220.902/DGB 3

General description

Input signals The power drive (fig. 1) is controlled using the signal inputs for
pulse, direction, gate/enable, PWM current control and micro-
step.

Card and unit variants The following card and unit variants are available:
– D 902.00 and WDM3-004.0 for 24 V signal voltage
– D 902.01 and WDM3-004.1 for 5 V signal voltage

Phase current The phase current can be adjusted from 0.6 A to 2.5 A using a
selector switch.

Number of steps The DIP-switches can be used for adjusting the number of
Current reduction steps (200 to 10000 steps per revolution), the current reduction
(reduction of the motor current to 70% when the motor is
Gate/Enable stopped) and the gate or enable functions.

Micro-step The micro-step function is adjusted using the micro-step switch or

the micro-step signal input; it enables you to use a 10 times higher
resolution, or number of steps (10 x 200, 10 x 400, 10 x 500 or
10 x 1000).

LEDs Status indicators (LEDs) indicate operating states and any mal-
functions.

Power supply unit An external power supply unit is required to supply the D 902
power control card with the 325 VDC supply voltage.
WDM3-004 units can be operated directly from the mains supply.
Move the selector switch on the D 904 power supply unit to the
specific mains voltage used in your country (115 V or 230 V).
The power supply unit must have external fuse protection.
The fan must be supplied from an external 24 V power supply
unit.

Installation in 19" rack unit The D 902 power control card has been designed for installation
into a 19" standard rack housing (6 HU).

Wall mounting The WDM3-004 unit has been designed for wall mounting in a
switch cabinet.

4 D 902, WDM3-004 Doc. no. 220.902/DGB

 General description

WDM3-004
115 VAC
or D 904 power
supply unit 3-phase
230 VAC stepping motor
Signals: 325 VDC VRDM 39...LW
Pulse
Direction
X1
Controller Gate/enable
D 902

English
e.g. WPM-311, Current control power control
PLC, PC card
Micro-step
X2
Readiness

Status indicators
Settings:
Phase current
Number of steps
Current reduction
Gate/enable
Micro-step

Fig. 1 Drive system

Functions The block diagram (fig. 2) shows the principal function blocks of
the power drive for one axis.

Signal inputs and outputs The input signals (pulse, direction, gate/enable, current control
and micro-step) are opto-isolated between the external controller
and the internal electronic circuits. Readiness of the power drive
is indicated by a relay contact and an LED during normal oper-
ation.

Status indicators Five status indicators each give readiness and malfunction infor-
mation for an axis.

DIP-switches DIP-switches are used for setting the number of steps, current
reduction and gate/enable.

Micro-step The micro-step function can be activated via the micro-step switch
or via the micro-step signal input. The micro-step function can be
used for achieving a 10 times higher number of steps (10 x 200,
10 x 400, 10 x 500 or 10 x 1000).

Selector switch The selector switch is used for setting the motor phase current.

D 902, WDM3-004 Doc. no. 220.902/DGB 5

General description

Power supply unit The D 902 card must be supplied with 325 VDC power from an
external power supply unit. In WDM3-004 units, the D 904 power
supply unit is installed.
The chopper-type power supply generates several internal elec-
tronic operating voltages (+5 V, +15 V and -15 V) from the
325 VDC input power. Additionally, the 325 VDC power is required
for supplying the power amplifiers.

Bleed resistor A bleed resistor is fitted in order to dissipate large braking

energies. The dissipating capacity can be increased by means
of one or more external bleed resistors connected in parallel
(only at units < RS40).

115 VAC D 904 power

or for WDM3-004
supply unit
230 VAC
External
bleed resistor 325 VDC

D 902 Chopper-type
DIP-switches power supply unit
=
Micro-step +5V
function +15V
-15V
Readiness relay =
Ready

Pulse
Power
Direction Phase U
Signal amplifier
Gate/enable with current
inputs
Current control controller
Micro-step
Status indicators
Readiness
Short-circuit Power
Monitoring Setpoint Phase V
Overtemperature amplifier
logic generation
Overvoltage with current
controller
Undervoltage 3-phase
DIP-switches stepping
motor
Number of steps
Current reduction
Gate/enable Power
amplifier Phase W
Selector switch
with current
Motor phase current controller

Fig. 2 Block diagram for controlling one axis

6 D 902, WDM3-004 Doc. no. 220.902/DGB

 Technical data

Electrical data
WDM3-004 supply Supply voltage, selectable 115 VAC
230 VAC to 240 VAC
Mains frequency 50 Hz to 60 Hz
Mains error protection one period
Rated power consumption 5.5 A at 115 VAC
3.0 A at 230 VAC

English
glish
Maximum power loss 60 W
Starting current maximum 70 A
Leakage current (IEC60990) Motor cable <5m : <10mA
Motor cable 5-50m : <50mA

External fuse 6 A at 230 VAC

(“K” characteristic) 10 A at 115 VAC
NOTE
The devices may only be operated with fuse protection as speci-
fied above.
If necessary, use r.c.c.b. protection according to DIN VDE 0664,
part 1/10.85.

D 902 supply Supply voltage 260 VDC to 374 VDC

Power consumption
D 902 maximum 4.0 A
Supply cable
Length 0.5 m max.; twisted

Motor connection Phase current 0.6 A to 2.5 A

Motor voltage 3 x 325 VDC (connected to mains)
Motor cable (observe EN 60204 standard)
Length maximum 50 m
Cross-section 0.75 mm2 at cable length ≤ 30 m
≥ 1.5 mm2 at cable length > 30 m
Shield connection On both ends
Technical data

D 902, WDM3-004 Doc. no. 220.902/DGB 7

Technical data

Signal connection Signal inputs: Pulse, direction, gate/enable, current control,

micro-step; opto-isolated, polarity reversal protection.
Technical data
D 902.01, WDM3-004.1

Voltage control: Current control:

Uhigh, min = 2.5 V* Ihigh, min = 7 mA

Uhigh, max = 5.25 V* Ihigh, max = 25 mA
Ulow, max = 0.4 V Ilow, max = 0.2 mA
Ulow, min = -5.25 V Ilow, min = -25 mA
Imax = 30 mA Umax = 5.25 V

Input resistance = 150 ohms

D 902.00, WDM3-004.0

Voltage control: Current control:

Uhigh, min = 20 V Ihigh, min = 7 mA

Uhigh, max = 30 V Ihigh, max = 15 mA
Ulow, max = 3V Ilow, max = 0.2 mA
Ulow, min = -3 V Ilow,min = -15 mA
Imax = 20 mA Umax = 30 V

Input resistance = 2000 ohms

* Pulse signal voltage 3.5 V to 5.25 V for pulse length/pulse interval < 10 µs

Number of steps, adjustable in steps per revolution

Standard 200, 400, 500, 1000
Micro-step 2000, 4000, 5000, 10000
Pulse rate maximum 200 kHz
Signal output Readiness
Relay contact 36 VDC, 10 mA to 200 mA;
load resistance
DANGER
All signal inputs and outputs must be definitely isolated
from the mains. The maximum voltage of the signal inputs
towards ground must not exceed 60 VDC or 25 VAC.
NOTE
The 24 V voltage supply must meet the specifications of the DIN
standard VDE 0160 on safety extra-low voltage.
NOTE
The signal connections meet the PELV (Protected Extra Low
Voltage) specifications according to the DIN VDE 0160 standard.

8 D 902, WDM3-004 Doc. no. 220.902/DGB

 Technical data

Device protection Protection and monitoring circuits: Overtemperature, short-

circuit between motor leads (no ground fault protection), under-
voltage and overvoltage
Type of protection
D 902 IP 00 acc. to EN 60529: 1991
WDM3-004 IP 20 acc. to EN 60529: 1991
Mechanical data Dimensions
D 902 233 x 160 x 51 mm
(double eurocard format)

English
WDM3-004 249 x 240 x 52 mm
Weight
D 902 approx. 1200 g
WDM3-004 approx. 3400 g
Ambient conditions Ambient temperature 0°C to +50°C
Storage temperature -25°C to +70°C
Relative humidity 15% to 85%
(non-condensing)
Regulations
Machinery directive Insofar as the machinery corresponds to the machinery
directive 89/392/EEC and the configuration meets the
EMC test requirements specified by BERGER LAHR,
conformity with the machinery directive is hereby certified.
EMC directive If the EMC test requirements listed below and specified
by BERGER LAHR are fulfilled, conformity with the
following standards can be certified in accordance with
the EMC directive 89/336/EEC:
Radio interference
suppression according to EN 50081-2: 1993
Static discharge according to EN 60801-2: 1993, class 3
Burst according to IEC 801-4: 1988, class 4
BERGER LAHR – Use motor leads supplied by BERGER LAHR.
EMC test requirements Motor lead length is 10 m.
– Insert a BERGER LAHR mains filter into the mains
supply line.
– Install the unit in a switch cabinet.
– Use BERGER LAHR signal cables and wire them in
accordance with the documentation.
– Run signal, mains and motor cables separately (non-par-
allel) and ensure that the cable shield is connected to
ground on a large surface area on both cable ends.
– Install the mains filter directly at the unit. If this is not
possible, use a shielded connection cable (1 m max.)
between the filter and the unit.
– Ensure that the filter and the unit are connected to ground
on a large surface area (install on grounded metal plate
or switch cabinet rear wall, or use a ground strap).

D 902, WDM3-004 Doc. no. 220.902/DGB 9

Technical data

Low-voltage equipment Pursuant to the low-voltage equipment directive 73/23/EEC,

directive the products are in conformity with the following standards:
Protection class 1 acc. to prEN 50178: 1994
Overvoltage Category III acc. to prEN 50178: 1994
Contamination Grade 2 acc. to prEN 50178: 1994
NOTE
The statements of conformity mentioned above refer to the stand-
alone units.
Cards are components. Conformity with the EMC directive and
the low-voltage equipment directive must be established by
additional means such as mains filters, covers, etc. This is a
prerequisite for conformity with the machinery directive.

Approvals prEN 50178 classification VDE 0160/11.94

EN 60950 classification VDE 0805: 1993 + A2: 1994
UL 508 file no. 153 659

10 D 902, WDM3-004 Doc. no. 220.902/DGB

 Installation

Scope of supply The package includes:

Qty. Designation
1 D 902 power control card
or WDM3-004 unit
1 Product insert
1 Ground strap for WDM3-004
1 Fan for WDM3-004

English
4 Mounting brackets for WDM3-004

The following variants are available, depending on the signal

voltage:

Signal voltage 24 V 5V
Power control card D 902.00 D 902.01
Unit WDM3-004.0 WDM3-004.1

Installation
Accessories The following accessories are optionally available:

Designation Order number

Motor cable 3 x 1.5/2 x 1.0 mm2

Motor cable 3 x 2.5/2 x 1.5 mm2
Mains filter See power drive sales
documentation
Signal cable for pulse/direction
Set of connectors for D 902
Set of connectors for WDM3-004
3-phase stepping motor
VRDM 39...LW

NOTE
A motor cable with a small cross-section may cause a torque loss
at high speeds.

D 902, WDM3-004 Doc. no. 220.902/DGB 11

Installation

Installation
ATTENTION
The power control card may only be unpacked and installed
in an electrostatically protected environment.
DANGER
The supply voltage must be disconnected whenever assem-
bly work is carried out.
NOTE
If the power drive is installed without ventilation, maintain a
minimum clearance of 10 cm above, below and to the sides of
the drive. Leave 15 cm free in front of the unit to give room for
fitting the cable connections.

The D 902 power control card (fig. 3) is designed for installation

in a 19" standard rack housing (6 HU).
The WDM3-004 unit (fig. 4) has been designed for wall mounting
in a vertical position in a switch cabinet. You can use the
mounting brackets to fit the unit to the back or left-hand side of
the cabinet. If the unit is fitted on the left-hand side, spacers with
a thickness of 2.5 mm must be inserted.

26 26
160
7.4 5.5
.5
0
25
24
3

19
7
18

X1
SIGNAL

X2
SIGNAL
279.5

X1
SIGNAL
261.75
255.75

STEP
233.4

I-RED
GAT/ENA X1
OFF
3456
EF 2

78 9A
01

BCD
PH.CURR X2
SIGNAL
STEP

I-RED
GAT/ENA X2 STEP
OFF
3456
EF 2

78 9A
01

PH.CURR I-RED
X1
BCD
GAT/ENA
OFF
X1 X2 3456
EF 2

78 9A

READY
01

PH.CURR
248.5

BCD

X1 STEP
OVER-V
LOW-V

X2
FAULT
TEMP

I-RED
GAT/ENA X2
OFF
3456
EF 2

78 9A

U
01

BCD
PH.CURR

V X1 X2
READY
X1
12

W X1
OVER-V
LOW-V

X2
FAULT
TEMP

U
V
U X1
W
V
X2
W

t = 2.5 V
W
X2
.5
87

12.5 25.4
52
50.5
28

Airstream

Fig. 3 Installation drawing for Fig. 4 Installation drawing for

D 902 card WDM3-004 unit

12 D 902, WDM3-004 Doc. no. 220.902/DGB

 Installation

Ground strap Fasten the ground strap supplied to the bottom of the unit with
M4 bolts (8 mm max.) in front of the bleed resistor connection
and connect it to a grounded part of the switch cabinet.

Ventilation D 902 and WDM3-004 power drives can be operated without active
ventilation, provided that the minimum clearances (10 cm) are
observed and the ambient temperature does not exceed 50°C.

If the overtemperature LED “TEMP” lights up repeatedly, venti-

lation is required. The airstream in a ventilated 19" standard rack

English
housing should be 1 m/s.

Fan for WDM3-004 The fan on the WDM3-004 unit must be mounted at the bottom.
The airstream must pass through the unit from bottom to top (see
fig. 3). The arrow on the fan indicates the direction of the
airstream if the fan is connected correctly.

Fasten the fan with four screws at the bottom of the unit after
having cut out the grille.
Connect the fan to the external 24 VDC voltage supply:
red 24VDC
black 24VGND

Wiring
DANGER
The supply voltage must be disconnected whenever wiring
work is carried out.
The motor connection and the bleed resistor connection are
linked to the supply connection (325 V).
ATTENTION
Run motor and signal cables separately and shield them on
both ends.
Free, unassigned pins must not be wired.
The power drive must have external fuse protection (see
Technical data).
Good heat dissipation must be ensured when installing a
bleed resistor (accessory).

D 902, WDM3-004 Doc. no. 220.902/DGB 13

Installation

Wire the power drive as shown in fig. 5.

ATTENTION
Ensure that the mains and motor connectors are correctly
inserted on the card or unit, and that their screws are
fastened properly.
NOTE
An overvoltage fault may occur during dissipation of large braking
energies if the capacitor’s rating is insufficient (LED “OVER-V”
lights up).

Signal connection
Inputs
+
+ Pulse
1

- Pulse
9

+ Direction
2

_ - Direction
10

+ Gate/enable
3

- Gate/enable
11

+ Current control Controller

4

- Current control
12

+ Micro-step e.g. WPM-311

5

Readiness
13

relay - Micro-step
6
14

- Ready
15

+ Ready
8

24 VDC
power supply
unit
Motor connection
U
M V 24VDC 24VGND
W (red) (black)
3-phase Fan
stepping
motor

Power supply d z
4

connection
6

for D 902 +
8

+325 VDC Mains 115 V

10

or 230 V
12

0.5 m max. 50 Hz
14

L
16

Power supply
18

unit N
20

twisted
PE
22

_
24

GND/DC
26

Capacitor
28

1000 µF
30

450 V
32

PE
External bleed
Option resistor

Fig. 5 Wiring

14 D 902, WDM3-004 Doc. no. 220.902/DGB

 Installation

Motor connection 1. Release the two screws and remove the connectorX1 or
X2 (fig. 6-2) from the unit.
2. Preparation the motor cables (fig.6-1), an mount wire end
ferrules on the device end of the motor cable.
3. Fasten the litz wires with screws.
4. Fasten the connector to the front panel (item X1 or X2).
Preparation the motor The motor cables must be prepared as shown below.

English
cable
20 mm 25 mm 70 mm

bn
bl
bk
ye/gn

Bild 6-1 Preparation the motor cables

Motor connection X1
and X2

br
bl U
bk V
X1
W
ye/gn

br
bl U
bk V
X2
W
ye/gn

Bild 6-2 Motor connection

D902, WDM3-004 Doc.no.220.902/DGB 14/1

Installation

NOTE
The sense of rotation of the motor can be inverted by
interchanging two motor leads. In this case, also the
limit switch inputs LIMP and LIMN as well as the A
und A signals of any rotation monitoring encoder
connected must be interchanged.

ATTENTION
Connect the shield of the motor cable after the
following assembly instruction!

Installing the motor The following items required for installing the motor cable
cable on the side of the device are included in the accessory
bag:

Qty. Designation
1 Terminal angle
2 Shield terminal
1 Screw M4 x 8
2 Screw M3 x 8 with serrated washer
1 Serrated washer M4

Installing the terminal

angle
DANGER
Electric shock from high voltage!
If longer screws are used, they may contact live parts.
This may result in fatal injury.

The terminal angle is fastened to the bottom of the device

with the screws and serrated washers supplied with the
device. Correct installation of the terminal angle is
extremly important for grounding the motor cable shield
and for strain relief.

14/2 D902, WD3-004 Doc.no.220.902/DGB

 Installation

English
English
(connection of second
protective conductor) Screw M4x8 Screw M3x8

Fig. 6-3 Installing the terminal angle

DANGER
Electrical device with higher deflection current
> 3,5mA. Connection of a second protective
conductor absolutely necessary. Please note
minimum cross-section according to IEC 60364-5-54.

Fastening the shield

terminal

bn U
bl V
X1
bk W
ye/gn

bn
bl
X2
bk
ye/gn

Fig. 6-4 Fastening the shield terminal

D902, WD3-004 Doc.no.220.902/DGB 14/3

Installation

The shield angle is suspended on the bracket from below.

The motor cable is not subject to strain and securely
grounds shield when installed in this way.

Fig. 6-5 Installed motor cable

14/4 D902, WDM3-004 Doc.no.220.902/DGB

 Installation

Setup The following adjustments are equally valid for both axes X1 and
X2 and must be made before switching on the supply voltage.

230V 1. Set the mains voltage to 115 V or 230 V on the power

supply unit.
ATTENTION
The setting must correspond to the actual mains voltage
available.

English
DANGER!
Electrical shock from high voltage!
Observe safety instructions for work on electrical equip-
ment.
Disconnect voltage from device before setting the switch.

3456
2. Set the motor phase current on the selector switch
“PH.CURR” in accordance with the motor type plate.
EF 2

78 9A
01

BCD
PH.CURR

Position Phase current

[A]
0* 0.6
1 0.8
2 0.9
3 1.0
4 1.1
5 1.3
6 1.4
7 1.5
8 1.6
9 1.8
A 1.9
B 2.0
C 2.1
D 2.3
E 2.4
F 2.5
* Factory setting

ATTENTION
The set phase current must be equal to or less than the
nominal phase current specified on the motor type plate (the
lower the set phase current, the lower the motor torque).

D 902, WDM3-004 Doc. no. 220.902/DGB 15

Installation

DANGER!
Electrical shock from high voltage!
Observe safety instructions for work on electrical equip-
ment.
Disconnect voltage from device before setting the switch.
3. Set the number of steps for one axis using the DIP-
switches “STEP” and “MICRO-STEP” or via the micro-
step signal input.
Assignment of the micro-step switch on card or unit top:
Switch 1 for axis X1
Switch 3 for axis X2
The number of steps for axis X1 or X2 can be taken
from the following table:

MICRO-STEP Micro-step Micro-step

1 X1
Switch =OFF* Switch =ON STEP STEP
Not assigned
Signal =0 Signal =0 switch switch
3 X2
1 2
OFF
Not assigned
Switch =ON Switch =OFF
Signal =1 Signal =1
STEP 200 2000 ON OFF
1
2 400 4000 ON ON
500 5000 OFF ON
1000* 10000 OFF* OFF*
OFF

Signal input 0 =deenergized, 1 =energized

* Factory setting

4. Set the current reduction using the DIP-switch “I-RED”.

Current reduction “I-RED”

I-RED On (active) OFF*
OFF Off (inactive) ON
* Factory setting

5. Set the function of the gate/enable signal input on the

DIP-switch “GAT/ENA”.

Function selection “GAT/ENA”

Enable OFF*
OFF
GAT/ENA
Gate ON
* Factory setting

6. Connect the supply voltage.

If the unit is operating properly, or the power drive has
been enabled, the LED “READY” lights up and the
readiness relay is activated after switching on.

16 D 902, WDM3-004 Doc. no. 220.902/DGB

 Operation

ATTENTION
Before disconnecting the supply voltage, ensure that any
vertical axis loads are prevented from falling down (e.g. use
motor with brake).

Signal inputs Square-wave pulses must be fed to the pulse input to set the
Pulse motor shaft into rotation. Each positive pulse edge makes the
motor move by one step when the gate input is deenergized.
The sense of rotation is preset by the direction input. The number
of steps is set using the two DIP-switches “STEP”.

English
Operation
Direction If the signal input is deenergized, the motor turns in a clockwise
direction as seen from the front towards the motor shaft (default).
If the signal input is energized, the motor turns in a counterclock-
wise direction.
The sense of rotation can be inverted by interchanging two motor
phase leads.

Gate If the “GAT/ENA” DIP-switch is set to “ON” (gate function), any

active pulses are disabled when the signal input is energized. In
a multi-axis system, this function can be used for selecting
individual axes.

3 3 3
1
Pulse
0
Step
1
Direction CW CCW
0

2 1 2 1

1
Gate Pulses disabled Pulses enabled
0

4 5 6

1
Readiness
0

Counting at positive pulse edge ➀ Hold time ≥ 25 µs

➁ Setup time ≥ 0 µs
Direction = 0 ⇒ CW motor rotation ➂ Minimum pulse width /length ≥ 2.5 µ s*
Direction = 1 ⇒ CCW motor rotation ➃ Setup time ≥ 500 µs
➄ Hold time ≥ 25 µs
fmax(pulse) = 200 kHz* ➅ Wait time ≥ 500 µs
* Limited signal voltage range (see Technical data)
Undefined area

Fig. 6 Timing diagram

D 902, WDM3-004 Doc. no. 220.902/DGB 17

Operation

Enable If the “GAT/ENA” DIP-switch is set to “OFF” (enable function), the

power drive is ready to operate when the signal input is energized;
LED “READY” lights up after approx. 100 ms and the readiness
relay contact is closed. If the enable input is deenergized, the
“OVER-V” and “LOW-V” LEDs light up and the readiness relay
contact is open (the internal ring counter for setpoint generation
is reset). The input can be used for resetting error messages.

Micro-step The micro-step function can be selected using the micro-step

signal input or the micro-step switch (see page 14). The timing
of the micro-step signal input corresponds to the timing of the
gate signal input (see fig. 6).

Number of steps Micro-step Micro-Step

signal input switch
Standard energized ON
deenergized OFF
Micro-step energized OFF
deenergized ON

PWM current control The level of the motor phase current can be modified in the range
from 0% to 100% using the pulse width modulated PWM signal
(frequency range 10 kHz to 20 kHz). The set phase current flows
when the signal input is deenergized.
The motor phase current is switched off when the signal input is
energized. The stationary motor then has no holding torque.
NOTE
If PWM current control is used, the enable function should be
used at the same time. Otherwise, the full motor phase current
will flow if the signal cable is not connected.

Signal output When the power drive is operating properly, or enabled, the
Readiness readiness relay contact is closed and the “READY” LED lights.

18 D 902, WDM3-004 Doc. no. 220.902/DGB

 Malfunctions

Status indicators The ten LEDs on the power drive indicate operating states and
any malfunctions for each of the two axes.
Malfunctions

X1 X2 READY Lights up when the power drive is operating

READY
properly (readiness signal is sent via signal
connector). The supply voltage is in the rated
range; see Technical data.
FAULT Lights up in case of a short-circuit between two

English
motor phase leads.
X1
OVER-V

X2 TEMP Lights up in case of overtemperature (> 75°C) at

LOW-V
FAULT
TEMP

the heat sink.

OVER-V Lights up in case of overvoltage (> 410 V).

LOW-V Lights up in case of undervoltage (< 200 V).

OVER-V Light up if the enable input is inactive.

and
LOW-V

FAULT, Light up in case of excessive pulse frequency or

TEMP, if interference pulses occur.
OVER-V and
LOW-V

ATTENTION
If a malfunction occurs (LED “FAULT” to LED “LOW-V”), the
motor is deenergized and the power drive status changes
to “Not ready” (LED “READY” goes out).
When the motor is deenergized, it does not have any holding
torque. This may lead to undesirable effects.

NOTE
The fault condition can be cleared after eliminating the cause of
the fault by switching the supply voltage off and on again or by
deenergizing and reenergizing the enable input.

D 902, WDM3-004 Doc. no. 220.902/DGB 19

Malfunctions

Other malfunctions The following table lists possible malfunctions which are not
indicated.

Malfunction Cause Rectification

No LED lights Supply voltage not available Check supply voltage
Supply voltage not properly Connect supply voltage properly
connected
Motor does not turn Current control signal input Deactivate the signal input
and does not have a active
holding torque
Enable signal input not active
Motor incorrectly wired Wire motor properly
Motor does not turn Gate signal input active Deactivate the signal input
but does have a
holding torque Pulse signal input Adjust timing and voltage level

Motor turns Pulse and direction signal inputs Adjust timing and voltage level
irregularly
Overload Check load conditions
Motor defective Replace motor
Motor turns in wrong Motor phase leads inverted Connect motor phase leads
direction properly
Direction signal input incorrectly Ensure correct sense of rotation
set
Motor torque too low Motor phase current incorrectly Adjust phase current
set

20 D 902, WDM3-004 Doc. no. 220.902/DGB