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Intelligent Motion Systems MForce Series Microstepping PowerDrive Network Card User Manual

1. anaa PHASE A aD doad PHASE A al PHASE B P4 PHASE B Figure 2 3 3 8 Lead Motor Parallel Connections Microstepping MForce PowerDrive Manual Revision R040507 6 Lead Motors Like 8 lead stepping motors 6 lead motors have two configurations available for high speed or high torque operation The higher speed configuration or half coil is so described because it uses one half of the motor s inductor windings The higher torque configuration or full coil uses the full windings of the phases Half Coil Configuration As previously stated the half coil configuration uses 50 of the motor phase windings This gives lower inductance hence lower torque output Like the parallel connection of 8 lead mo tor the torque output will be more stable at higher speeds This configuration is also referred to as half copper In setting the driver output current multiply the specified per phase or unipo lar current rating by 1 4 to determine the peak output current PHASE A anaaaa genes PHASE A No Connect U PHASE B PHASE B No Connect Figure 2 3 4 6 Lead Half Coil Higher Speed Motor Connections Full Coil Configuration The full coil configuration on a six lead motor should be used in applications where higher torque at lower speeds is desired This configuratio
2. CHIP SELECT 12 Pin Locking Wire Crimp Figure 2 5 2 SPI Pins and Connections 12 Pin Wire Crimp Logic Level Shifting and Conditioning Circuit The following circuit diagram is of a Logic Level shifting and conditioning circuit This circuit should be used if you are making your own parameter cable and are using a laptop computer with 3 3 V output parallel ports P 3 R1 2 3 ne 8 zx WV U1 A ns VA E CLK DB25 2 330pF TC3 100K 14 49 9 P2 8 gt ROT 5V e Paa R10S 100K 4 R3 5 6 Ra 4 _ lt vi U1 B Teer AM E gt S DB25 4 C4 T 330pF 7 49 9 P2 4 19 ES DB25 19 V 13 R5 121 41 Re 7 WI WW gt mos 100 5 30pF C5 400K HCT125 49 9 P2 7 Vo R1 5V 5V res4ox R122 100K 15 N 8 10 re Ws E 7 miso 49 9 DB25 15 HOT125 ay P2 10 6 F T 5 VDC ci 1yF c2 2k 1HF P2 6 H Jers eb V P2 5 Figure 2 5 3 Logic Level Shifting and Conditioning Circuit Part 2 Interfacing and Configuring NOTE If making your own parameter setup cable be advised the 3 3V output parallel ports on some laptop PC s may not be sufficient to communicate with the device without use of a logic level shifting and conditioning Interface 27 SPI Master with Multiple Microstepping MForce PowerDrive It is possible to link multiple Microstepping MForce PowerDrive units in an array from a single SPI Master by wiring the system and programming the use
3. Power Supply Figure 2 2 5 AC Cabling 50 Feet or Greater AC To Power Supply MForce PowerDrive Recommended Power Supply Cable AWG Length Feet 10 25 Minimum AWG 20 20 18 18 16 Length Feet 10 25 50 75 100 Length Feet Minimum AWG 20 18 16 14 14 Minimum AWG 14 12 12 Use the alternative methods illustrated in examples B and C when cable length is gt 50 feet Also use the same current rating when the alternate AC power is used Table 2 2 1 Recommended Wire Gauges Length Feet Minimum AWG Microstepping MForce PowerDrive Manual Revision R040507 SS TON Eos Motor Selection and Interface Selecting a Motor When selecting a stepper motor for your application there are several factors that need to be taken into consider ation E How will the motor be coupled to the load E How much torque is required to move the load E How fast does the load need to move or accelerate E What degree of accuracy is required when positioning the load While determining the answers to these and other questions is beyond the scope of this document they are details that you must know in order to select a motor that is appropriate for your application These details will affect everything from the power supply voltage to the type and wiring configuration of your stepper motor The current and microstepping settings of your
4. Section 2 6 Using the IMS SPI Motor Interface 29 A O 29 Configuration Parameters and Ranges 29 Color Coded Parameter Values 29 IMS SPI Motor Interface Men O pttovsessscessessssessscsteciesasecsvescessessesassisescstessastaeciessoedeisecseieesen 30 Screen 1 The Motion Settings Configuration Screen ocncncnnonncncnnonannnononon nono nn nono nn nn on no cronica cananncnni 31 MSFL Microstep Resolution Selection 22 HCDT Hold Current Delay Time 15139 MRC Motor Run Current ooccccccnno 1 39 MAC Motor Hold Cutline a aaao 33 DIR Mot r Direct Oth 5 asscisi esses sascesesaddessessvacsscssssassecesssvveesecediessavessss onesvecveussetessdeescessevaee 33 User IDiicn ada ias 11 09 IMS SPI Motor Interface Button Functions woo Screen 2 I O Settings Configuration Screen 34 Input Clock Types iii aia 34 Input Clock Filtet sosirii nr SA oc 34 Enable Active High Low 34 Warning Temperature moconnnonnnnononros 34 IMS Part Number Serial Number Screen 35 Faule Indicators alot asco 35 Upgrading the Firmware in the Microstepping MForce PowerDrivVO oconcncnnonnnnnononanononanananacananonon 36 The IMS SPIL Upgrader Sereen parcial dto dae 36 Upgrade Instructi Sinai acaricia arcadas 36 Initialization Screen d Port Menta si Section 2 7 Using User Defined SPI sscssssssssssssscsssscsssscsssscscssescssessssesssscsssscssssesssseesssessssesssessasees 38 SPI Timing
5. The Microstepping MForce PowerDrive features the ability to configure the clock inputs based upon how the user will desire to control the drive By default the unit is configured for the Step Direction function Step Clock The step clock input is where the motion clock from your control circuitry will be connected The motor will advance one microstep in the plus or minus direction based upon the state of the direction input on the ris ing edge of each clock pulse The size of this increment or decrement will depend on the microstep resolution setting Direction The direction input controls the CW CCW direction Step Direction Function of the motor The input may be configured as sinking or sourcing based upon the state of the Optocoupler Refer ence The CW CCW rotation based upon the state of the input may be set using the IMS Motor Interface software gt included with the Microstepping MForce PowerDrive Quadrature gt The Quadrature clock function would typically be used for following applications where the Microstepping MForce PowerDrive would be slaved to an MForce PowerDrive Quadrature Function Microstepping or other controller in an electronic gearing application Up Down The Up Down clock would typically be used in a dual clock direction control application gt Input Timing The direction input and the microstep resolution inputs Ub D F ti are internally synchronized to the positive going edge of
6. Getting Started Microstepping MForce PowerDrive wsssssssesssssssssessesessssescssesssssssesessesessasessoness 1 1 Before You Begira is 1 1 Tools md Equipment Required isidro aid paisa 1 1 Connecting the Power Supply iccsccssicssvisseeresstesscsissacoesseiosesasvioterosvievscsnsediorseoescstosodsbessabietbesdasacss 1 1 Connect Opto Reference and Logic Input iii occ 1 2 Connecting the Motors cisscscassisiesicszissisbasctecavesscsvctoxsearaistaissjubeseottessesesvotoes Inician as 1 2 Part 1 Hardware Reference Section 1 1 Introduction to the Microstepping MForce PowerDrive mmomomommmmmmmmmmmmmmm lt 1 5 CONSI ts fe ee ceases oia ota dais 1 5 Features and Belt irradia dia dic 1 6 Section 1 2 Microstepping MForce PowerDrive Detailed Specifications mmmmmmemo 1 7 General Specifications 1 7 Setup Parameters 1 8 Mechanical Specifications uu 1 8 Pin Assignmentand Description esseisti pE ae aeieea eeoa oe S ES ERESSE EIEE E Eat 1 9 P1 12 Pin Locking Wire Crimp Connector Power I O and SPI Communications 1 9 P3 Connector DC Power 2 Pin Locking Wire Crimp s ssessssssssessseresressersersesseeseeseeseese 1 10 PA Connector Motor sonia E E A EES 1 10 Part 2 Connecting and Interfacing Section 2 1 Mounting and Connection Guidelines ssssssssserersssserrsrereseresesreresoeesesesenroreseseerseseseeseeee 3 Mounting Recomienda isc sai 3 Securme Power Leads atid Logic Leds nic a dice 4 Layoutand Interface Gu
7. Switch Interface Sourcing GND SPST Switch Figure 2 4 6 Switch Interface Example Microstepping MForce PowerDrive Manual Revision R040507 Minimum Required Connections The connections shown are the minimum required to operate the Microstepping MForce PowerDrive These are illustrated in both Sinking and Sourcing Configurations Please reference the Pin Configuration diagram and Specification Tables for the Microstepping MForce PowerDrive connector option you are using Opto Reference The Opto Reference Will set the Sink Source Configuration of the Inputs Sinking OptoRef 5 to 24 VDC Sourcing OptoRef Ground Power Ground V 12 to 48 Step Direction MForce PowerDrive Front 12 Pin Wire Crimp at P1 Shown See Specifications for Pin Numbering for other versions Stepping Motor Figure 2 4 7 Minimum Required Connections Part 2 Interfacing and Configuring 25 26 S sG TION 2 5 Connecting SPI Communications Connecting the SPI Interface For prototyping we recommend the purchase of the parameter setup cable MD CC300 000 If using the Microstepping MForce PowerDrive with the 10 Pin IDC on P2 this cable will plug directly into the P2 Connector If using the model with a 12 Pin Locking Wire Crimp connector adapters are available to interface the para
8. it is recommended that you do not use MForce Power Ground as Ground as this will defeat the optical isolation 22 Optocoupler Reference The Microstepping MForce PowerDrive Logic Inputs are optically isolated to prevent electrical noise being coupled into the inputs and causing erratic operation There are two ways that the Optocoupler Reference will be connected depending whether the Inputs are to be configured as sinking or sourcing Optocoupler Reference Table 2 4 2 Optocoupler Reference Connection Optocoupler Reference To Drive Logic Input Step Clock Direction Enable Microstepping MForce PowerDrive Figure 2 4 4 Optocoupler Input Circuit Diagram Microstepping MForce PowerDrive Manual Revision R040507 Input Connection Examples The following diagrams illustrate possible connection application of the Microstepping MForce PowerDrive Logic Inputs NPN Open Collector Interface Sinking Controller Output Controller Ground 5 to 24VDC Optocoupler Reference Microstepping MForce PowerDrive Input PNP Open Collector Interface 5 to 24VDC Controller Output Controller Ground Sourcing Optocoupler Reference Microstepping MForce PowerDrive Input Figure 2 4 5 Open Collector Interface Example Part 2 Interfacing and Configuring 23 24 Switch Interface Example Switch Interface Sinking SPST Switch
9. rn gt FORCE POWER DRIVE A Plas MICROS TEPPING pr A UL OPERATING INSTRUCTIONS Microstepping MForce PowerDrive Product Manual Changelog 04 05 2007 R040507 Initial Release The information in this book has been carefully checked and is believed to be accurate however no responsibility is assumed for inaccuracies Intelligent Motion Systems Inc reserves the right to make changes without further notice to any products herein to improve reliability function or design Intelligent Motion Systems Inc 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 Intelligent Motion Systems and za z are trademarks of Intelligent Motion Systems Inc BEVE Intelligent Motion Systems Inc 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 Per Intelligent Motion Systems Inc s terms and conditions of sales the user of Intelligent Motion Systems Inc products in life support or aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems Inc against all damages Microstepping MForce PowerDrive Product Manual Revision RO40507 Copyright O 2007 Intelligent Motion Systems Inc All Rights Reserved Table Of Contents
10. Allows the user to set the CW CCW direction of the motor in relation to the Direction Input from the SPI Motor Interface MSEL Microstep Resolution Selection Oy eS The Microstepping MForce PowerDrive features 20 microstep resolutions This setting specifies the number of microsteps per step the motor will move The MForce PowerDrive uses a 200 step 1 8 stepping motor which at the highest default resolution of 256 will yield 51 200 steps per revolution of the motor shaft See Table 2 3 2 for available Microstep Resolutions Microstep Resolution Settings MS lt uSteps Step gt Steps Revolution MS lt yuSteps Steps Revolution Step gt A 25400 0 001 mm uStep Table 2 6 2 Microstep Resolution Settings 32 Microstepping MForce PowerDrive Manual Revision R040507 HCDT Hold Current Delay Time The HCDT Motor Hold Current Delay sets time in milliseconds for the Run Current to switch to Hold Current when motion is complete When motion is complete the Microstepping MForce PowerDrive will reduce the current in the windings of the motor to the percentage specified by MHC when the specified time elapses MARC Motor Run Current The MRC Motor Run Current parameter sets the motor run current to a percentage of the full output current of the MForce PowerDrive driver section MHC Motor Hold Current The MHC parameter sets the motor holding current as a percentage of the full output current of the driver If
11. Connector Shell ooniccidicicicicinonincnnncncnnanicncaninicncans Molex 3901 2045 Cp Piscis aiii ras Molex 44476 3112 Part 2 Interfacing and Configuring Page Intentionally Left Blank Microstepping MForce PowerDrive Manual Revision R040507 SECTION 2 2 Interfacing DC Power Choosing a Power Supply for Your MForce PowerDrive When choosing a power supply for your MForce PowerDrive there are performance and sizing issues that must be addressed An undersized power supply can lead to poor performance and even possible damage to the device which can be both time consum ing and expensive However The design of the MForce PowerDrive is quite efficient and may not require as large a supply as you might suspect Motors have windings that are electrically just inductors and with inductors comes re sistance and inductance Winding resistance and inductance result in a L R time constant that resists the change in current It requires five time constants to reach nominal current To effectively manipulate the di dt or the rate Figure 2 2 1 IMS ISP300 Switch Mode Power Supply of charge the voltage applied is increased When traveling at high speeds there is less time between steps to reach current The point where the rate of commutation does not allow the driver to reach full current is referred to as Voltage Mode Ideally you want to be in Current Mode which is when the drive is ach
12. FF FF FF o oo CHECKSUM CALCULATION 80 49 4D 53 19 05 00 00 01 F4 00 00 50 01 CD BINARY 1100 1101 1 S COMPLEMENT 0011 0010 2 S COMPLEMENT 0011 0011 DEC 51 HEX 33 Figure 2 7 2 Read Write Byte Order for Parameter Settings Default Parameters Shown SPI Communications Sequence See Timing Diagram and Byte Order figures READ 1 Send READ ALL Command 0x40 down MOSI to Microstepping MForce PowerDrive followed by FF 15 Bytes 2 Receive Parameter settings from MISO MSB First M Device and ending with LSB Fault Write 1 Send WRITE ALL Command 0x80 down MOSI followed by Parameter Bytes beginning with MSB MRC and ending with the LSB Checksum of all parameter Bytes 2 Response from MISO will be FF 10 Bytes 40 Microstepping MForce PowerDrive Manual Revision R040507 sO 7 FORCE MICRO DRIVE Mw Haro MICROS TEPPING APPENDICES Appendix A Optional Prototype Development Cables eo CE Appendices Page Intentionally Left Blank Microstepping MForce PowerDrive Manual Revision R040507 APPENDIX E Optional Prototype Development Cables MD CC300 000 USB to SPI Parameter Setup Cable WARNING DO NOT The MD CC300 000 USB to SPI Parameter Setup f AN i connect or disconnect Cable provides a communication connection between the MD CC300 000 the 10 pin connector on some Microstepping MForce Communications Converter
13. Microstepping MForce PowerDrive will also be affected Types and Construction of Stepping Motors The stepping motor while classed as a DC motor is actually an AC motor that is operated by trains of pulses Although it is called a stepping motor it is in reality a polyphase synchronous motor This means it has multiple phases wound in the stator and the rotor is dragged along in synchronism with the rotating magnetic field The MForce PowerDrive is designed to work with the following types of stepping motors 1 Permanent Magnet PM 2 Hybrid Stepping Motors Hybrid stepping motors combine the features of the PM stepping motors with the features of another type of stepping motor called a variable reluctance motor VR VR motors are low torque and load capacity motors which are typically used in instrumentation The MForce PowerDrive cannot be used with VR motors as they have no permanent magnet On hybrid motors the phases are wound on toothed segments of the stator assembly The rotor consists of a permanent magnet with a toothed outer surface which allows precision motion accurate to within 3 percent Hybrid stepping motors are available with step angles varying from 0 45 to 15 with 1 8 being the most com monly used Torque capacity in hybrid steppers ranges from 5 8000 ounce inches Because of their smaller step angles hybrid motors have a higher degree of suitability in applications where precise load positioning and smoot
14. Power 12 to 75 VDC 4 Amps Maximum per MDrive34Plus Power Supply Return Pin 2 GND Table 1 2 8 P3 Connector Recommended Connector Shell and Pins Shell Molex P N 510 67 0200 Pins 2 x Molex P N 502 17 9101 Wire 18 AWG Shielded Twisted Pair Figure 1 2 3 P3 2 Pin Locking Wire Crimp Pin Configuration P4 Connector Motor Pin Assignment P4 Motor Phase A Phase A Motor Output Pin 2 PhaseA Phase A Motor Return Pin 3 Phase B Phase B Motor Output Pin 4 Phase B_ Phase B Motor Return PD04 MF34 FL3 Table 1 2 9 P4 Connecter Recommended Connector Shell and Pins Shell Molex P N 39 01 2045 Pins 4 x Molex P N 44476 3112 Wire 16 AWG Shielded Twisted Pair Figure 1 2 4 P4 4 Pin Locking Wire Crimp Pin Configuration Microstepping MForce PowerDrive Manual Revision R040507 Options and Accessories Parameter Setup Cable and Adapters The optional 12 0 3 6m parameter setup cable part number MD CC300 000 facilitates communications wiring and is recommended with first order It connects from the 10 Pin IDC Connector located at P2 to a PC s USB port If the12 pin pluggable locking wire crimp connector is used at P1 adapter MD ADP 1723C is required to use the MD CC300 000 USB SP Loria A e a A tobas MD CC300 000 Prototype Development Cable To speed prototype development thes
15. PowerDrives and the USB port on a PC Cable from MForce while power is applied IMS SPI Interface Software communicates to the Parameter Setup Cable through the PC s USB port The Parameter Setup Cable interprets SPI commands and sends these commands to the MForce PowerDrive through the SPI interface Figure A 1 MD CC300 000 Supplied Components MD CC300 000 Parameter Setup Cable USB Cable USB Drivers IMS SPI Interface Software i 3 75 in gt 1 0in 95 0 mm E 10 al A EAN 0875in 7 I O TENT evox EN is GU KK ae E ze ao eee USB Cable Cc To PC USB Length 6 0 ft 1 8 m 10 Pin Connector To MForce Cable Length 6 0 ft 1 8 m Figure A 2 MD CC300 000 Mechanical Specifications Adapter Cables Parameter Setup Cable and Adapters The optional 12 0 3 6m parameter setup cable part number MD CC300 000 facilitates communica tions wiring and is recommended with first order It connects from the P2 connector to a PC s USB port Models with the 12 pin pluggable locking wire crimp require adapter MD ADP 1723C Prototype Development Cable For testing and development using the 12 pin pluggable locking wire crimp the 12 0 30 5cm prototype development cable plugs into the MD ADP 1723C adapter and has flying leads for connection to the user interface Part number ADP 3512 FL See Figure A 3 on the following page for dimensional and c
16. Run Current 1 to 100 percent 1 2 4 5 8 10 16 25 32 50 i P A T ee acs steps per MSEL E 64 100 108 125 127 128 ai 180 200 250 256 full step 5 25 56 Motor Direction 0 1 CW Override Hcpr Hold Current Delay 0 or 2 65535 NOM Time CUK TYPE Clock Type Step Dir Quadrature Up Down Step Dir Clock and Direction 50 nS to 12 9 uS 50nS 10 Sashai 10 MHz to 38 8kHz nS MA USER ID Customizable 1 3 characters Enable Active WARN TEMP warning 0 to 125 6 Temperature Table 2 6 1 Setup Parameters and Ranges Color Coded Parameter Values The SPI Motor Interface displays the parameter values using a predefined system of color codes to identify the status of the parameter 1 Black the parameter settings currently stored in the device NVM will display as black 2 Blue Blue text indicates a changed parameter setting that has not yet been written to the device 3 Red Red text indicates an out of range value which cannot be written to the device When an out of range parameter is entered into a field the set button will disable preventing the value to be written to NVM To view the valid parameter range hover the mouse pointer over the field The valid range will display in a tool tip The color coding is illustrated in Figure 2 5 1 Part 2 Interfacing and Configuring 29 Blue New Value which has not yet been set to NVM MSEL 127 fotor Interface alt xt ew Recall Upgrade Help 125 2
17. SPI The values in the example below are 8 bit binary hexadecimal conversions for the following SPI parameters MRC 25 MHC 5 MSEL 256 HCDT 500 mSec WARNTEMP 80 The Check Sum is calculated as follows Hex 80 19 05 00 00 01 F4 50 Sum E3 1110 0011 1 s complement 1C 0001 1100 Invert 2 s complement 1D 0001 1101 Add 1 Send the check sum value of 1D Note 80 is always the first command on a write Note Once a write is performed a read needs to be performed to see if there is a fault The fault is the last byte of the read Microstepping MForce PowerDrive Manual Revision R040507 SPI Commands and Parameters Use the following table and figure found on the following page together as the Byte order read and written from the MDrivePlus Microstepping as well as the checksum at the end of a WRITE is critical Command HEX Rane Notes Parameter Default 9 A READ ALL oxo Reads the hex value of all parameters Device M oxaD M Character precedes every READ Version_MSB lt 1 8 gt lt 0 9 gt Firmware Version Sub version eg 1 0 Firmware Version Appends to Version_ Version _LSB 0x00 MSB eg 00 USR_ID1 0x49 Uppercase Letter lt I gt USR_ID2 oxaD Uppercase Letter lt M gt USR_ID3 0x53 Uppercase Letter lt S gt 0 1 259 Microstep Resolution See Table in Section Meer 0 256 2 4 for settings DIR_OVRID oxoo 0510 override Direction Override 1 override dir
18. are desired the Opto Reference needs to be connected to the Controller Ground Connect the Step and Direction inputs to the appropriate outputs of your PLC or controller Connecting the Motor Using the recommended wire connect the Motor Phases to P3 as shown in Figure GS 1 Ensure that the phases are connected correctly Microstepping MForce PowerDrive Manual Revision R040507 nO os ia FORCE POWER DRIVE AO Plus MICROS TEPPING PART 1 HARDWARE REFERENCE Section 1 1 Introduction to the Microstepping MForce PowerDrive Section 1 2 Microstepping MForce PowerDrive Detailed Specifications Part 1 Hardware Specifications 1 3 Page Intentionally Left Blank Microstepping MForce PowerDrive Manual Revision R040507 SECTION 1 4 Introduction to the Microstepping MForce PowerDrive The Microstepping MForce Pow erDrive is a high performance low cost microstepping driver that delivers unsurpassed smoothness and perfor Y i HEAD 0 mance achieved through IMS s advanced 2nd generation current control By applying innovative techniques to con trol current flow through the motor resonance is significantly dampened over the entire speed range and audible noise is reduced Microstepping MForce PowerDrives accept a broad input voltage range from 12 to 75 VDC delivering enhanced performance and speed Oversized input capacitors are used to minimize power
19. cause the power supply to start oscillating in and out of the volt age range of the driver and result in damaging either the supply driver or both There are two types of supplies commonly used regulated and unregulated both of which can be switching or linear All have their advantages and disadvantages An unregulated linear supply is less expensive and more resilient to current surges however voltage decreases with increasing current draw This can cause serious problems if the voltage drops below the working range of the drive Also of concern is the fluctuations in line voltage This can cause the unregulated linear supply to be above or below the anticipated voltage A regulated supply maintains a stable output voltage which is good for high speed performance They are also not bothered by line fluctuations however they are more expensive Depending on the current regulation a regulated supply may crowbar or current clamp and lead to an oscillation that as previously stated can lead to damage Back EMF can cause problems for regulated supplies as well The current regeneration may be too large for the regulated supply to absorb and may lead to an over voltage condition Switching supplies are typically regulated and require little real estate which makes them attractive However their output response time is slow making them ineffective for inductive loads IMS has designed a series of low cost miniature non regulated switchers that
20. line Figure 1 1 1 Microstepping MForce PowerDrive surges reducing problems that can occur with long runs and multiple drive systems An extended operating range of 40 to 85 C provides long life trouble free service in demanding environments The high per phase output current of up to 5 Amps RMS 7 Amps Peak allows the extremely compact MForce PowerDrive to control a broad array of motors from size 23 to size 42 The microstepping drive accepts up to 20 resolution settings from full to 256 microsteps per full step including degrees metric and arc minutes These settings may be changed on the fly or downloaded and stored in nonvolatile memory with the use of a simple GUI which is provided This eliminates the need for external switches or resistors Parameters are changed via an SPI port The versatile Microstepping MForce PowerDrive comes with dual mounting configurations to fit various system needs All interface connections are accomplished using pluggable locking wire crimp connectors Optional cables are avail able for ease of connecting and configuring the MForce and are recommended with first order The Microstepping MForce PowerDrive is a compact powerful and inexpensive solution that will reduce system cost design and assembly time for a large range of applications Configuring The IMS SPI Motor Interface software is an easy to install and use GUI for configuring the Microstepping MForce PowerDrive from a computer s U
21. p Down Function the step clock input When a step clock pulse goes HIGH the state of the direction input and microstep resolution settings are latched Any changes made to the direction and or microstep resolution will occur on the rising edge of gt the step clock pulse following this change Run and Hold Current changes are updated immediately The following figure and table list the timing specifications gt Input Filtering The clock inputs may also be filtered using the Clock IOF ee lock pull down of the IMS SPI Motor Interface The filter range TOES a Input Clock Functions is from 50 nS 10 MHz to 12 9 uSec 38 8 kHz The configuration parameters for the input filtering is covered in detail in Section 2 4 Configuring the Microstepping MForce PowerDrive 20 Microstepping MForce PowerDrive Manual Revision R040507 STEP DIRECTION TIMING lt lt T py gt Direction Tpsu QUADRATURE TIMING Direction Change Sp Tenu Channel A pa Channel B gt X lt UP DOWN TIMING Step Up Step Down Figure 2 4 3 Clock Input Timing Characteristics T Direction Set Up T Direction Hold rara nr S D T 7 T T eee E Table 2 4 1 Input Clocks Timing Table Part 2 Interfacing and Configuring 21 NOTE When connecting the Optocoupler Supply
22. used to size a motor for your system is quite simple several factors fall into play at this point The winding inductance of a motor is rated in milliHenrys mH per Phase The amount of inductance will depend on the wiring configuration of the motor Part 2 Interfacing and Configuring 11 NOTE In calculating the maximum phase inductance the minimum supply output voltage should be used when using an unregulated supply 12 Actual Inductance Actual Inductance gt a Seen By the Driver Seen By the Driver Specified Per Phase y Specified Per Phase Inductance Inductance O PHASE A O PHASE A pa SaaS PHASE A S PHASE A os LI O PHASE B PHASE B O PHASE B PHASE l 8 Lead Stepping Motor 8 Lead Stepping Motor Series Configuration Parallel Configuration Note This example also Note This example also applies to the 6 lead motor applies to the 6 lead motor full copper configuration and half copper configuration to 4 lead stepping motors A B Figure 2 3 1 A B Per Phase Winding Inductance The per phase winding inductance specified may be different than the per phase inductance seen by your MForce PowerDrive driver depending on the wiring configuration used Your calculations must allow for the actual induc tance that the driver will see based upon the wiring configuration Figure 2 3 1A shows a stepper motor in a series configuration In this configura
23. 3 Clock Input Timing CharacteristiCS cocinan 21 Figure 2 4 4 Optocoupler Input Circuit DiagraM ocoocoinonnnnnnonennnnnncnnancnnocnnanconoranononancorananrncncanos 22 Figure 2 4 5 Open Collector Interface Example Figure 2 4 6 Switch Interface Example Figure 2 4 7 Minimum Required Connections sect Figure 2 5 1 MD CC300 000 Parameter Setup Cable ssssssiisiisirssissisesissssnssesrsssssrssessiiiiisieisoes 26 Figure 2 5 2 SPI Pins and Connections 12 Pin Wire CimMp sirssreirerissisisessissriisiiniieireireirsiseisni 27 Figure 2 5 3 Logic Level Shifting and Conditioning Circuit ana Figure 2 5 4 SPI Master with a Single Microstepping MForce PowerDrive 28 Figure 2 5 5 SPI Master with Multiple Microstepping MForce PowerDrives 0 28 Figure 2 6 1 SPI Motor Interface Color Coding dcir Figure 2 6 2 SPI Motor Interface File Menul ssccesssesssascssessssssssssevssasesesaissasaisseessascvesssesesseesssaees Figure 2 6 3 SPI Motor Interface View Menti cccsecesseisecscerssnseises arr creta Figute 2 6 4 SPI Motor Interface Recall Ment occiso Figure 2 6 5 SPI Motor Interface Upgrade Menu Eta Figure 2 6 6 SPI Motor Interface Help Menu and About Screen ocococcnnnononnnnnnnncnnnnncncananonnncncanos 31 Figure 2 6 7 SPI Motor Interface Motion Settings Screen se sreeresrersseseseresrerrereereererseresreresresrenee 32 Figure 2 6 8 SPI Motor Interface I O Settings Screen coconcnconononnnncncnnanononennconorannc
24. 64 VAC Output All Measurements were taken at 25 C 120 VAC 60 Hz No Load Output Voltages nin opinions 68 VDC E 0 Amps Continuous Output Rated 63 VDC O 2 Amps Peak Output Rating 59 VDC 4 Amps Microstepping MForce PowerDrive Manual Revision R040507 Basic DC Power Connection WARNING DO WARNING Do not connect MO Teone i or disconnect or disconnect cabling while f power leads power 1s applied when power is applied Disconnect the AC power side to power down the DC power supply Optional Prototype Development Cable PD02 3400 FL3 Shield to Earth Ground Figure 2 2 2 MForce PowerDrive DC Power Connection Recommended Power and Cable Configurations Cable length wire gauge and power conditioning devices play a major role in the performance of your MForce PoweDrive Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet long If cabling of 50 feet or longer is required the additional length may be gained by adding an AC power supply cable see Examples B amp C Correct AWG wire size is determined by the current requirement plus cable length Please see Table 2 2 1 for recommended wire gauges Example A DC Power Cabling Under 50 Feet Cable Length less than 50 Feet TT Type RFI Filter DC Voltage from gt Required C
25. Cc Cc HCDT_HI 0x01 Hold Current Delay Time High Byte E Cc Hold Current Delay Time Low Byte CLKTYP Input Clock Type CLKIOF Clock Input Filtering WARNTEMP OVER_TEMP 5 C Enable Active High Low See Fault Table Section 2 4 Writes the hex value to the following parameters USR_ID1 0x9 Uppercase Letter lt I gt i USR_ID2 0x4D Uppercase Letter lt M gt USR_ID3 0x53 Uppercase Letter lt S gt Microstep Resolution See Table in Section 2 4 for settings Direction Override a Hold Current Delay Time High Byte HCDT_LO Hold Current Delay Time Low Byte CLKTYP 0x00 A Input Clock Type CLKIOF lt 0 9 gt Clock Input Filtering WARNTEMP OVER_TEMP 5 C Enable Active High Low wo A Table 2 7 1 SPI Commands and Parameters Part 2 Interfacing and Configuring 39 SN READ ALL CMD WRITE MOSI 40 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF RESPONSE MISO XX 4D 10 00 49 4D 53 19 05 00 00 01 F4 00 00 50 01 00 Voo FAULT 01 EN_ACT 80 WARNTEMP CLKIOF CLKTYP sog HCDT_LO 0 0 L HCDT_HI 0 DIR_OVRID 256 MSEL 5 MHC 25 MRC Ss USR_ID3 M USR_ID2 l USR_ID1 1 0 00 VERSION M DEVICE USR_ID1 M USR_ID2 s USR_ID3 2 5 MRC 5 MHC 256 MSEL DIR_OVRID HCDT_HI 500 L HcDT LO CLKTYP CLKIOF WRITE ALL om 80 WARNTEMP res EN_ACT res CKSUM WRITE MOSI M 49 4D 53 19 05 00 00 01 F4 00 00 50 0 RESPONSE MISO XX FF FF FF FF FF FF FF FF FF FF FF
26. Clock DOWN 3 Enable EN Of these inputs only step clock and direction are required to operate the Microstepping MForce PowerDrive Isolated Logic Input Pins and Connections The following diagram illustrates the pins and connections for the Microstepping MForce PowerDrive family of products Careful attention should be paid to verify the connections on the model Microstepping MForce Power Drive you are using Isolated Logic Input Characteristics Enable Input This input can be used to enable or disable the driver output circuitry Leaving the enable switch open Logic HIGH Disconnected for sinking or sourcing configuration the driver outputs will be enabled and the step clock pulses will cause the motor to advance When this input switch is closed Logic LOW in both sinking Inputs Configured as Sinking Pin 5 Enable 5 to 24VDC Pin 3 Opto Supply Liu pin 3 Inputs Configured as Sourcing Pin 3 Controller I O Pin 4 Step Clock Ground Pin 6 Direction Figure 2 4 1 Isolated Logic Pins and Connections Part 2 Interfacing and Configuring and sourcing configurations the driver output circuitry will be disabled Please note that the internal sine cosine position generator will continue to increment or decrement as long as step clock pluses are being received by the Microstepping MForce PowerDrive Clock Inputs
27. M3 3424 IOS Connecting the Motor The motor leads are connected to the following connector pins Phase Connector Pin PA es P4 1 Phrasal ialin la P4 2 Phase Baras naie ENEE AE NE TE dh caren tease dectene nag tuts Maney eegs e sep cete ce dae betes tes P4 3 Phase Bci cts ISES T NOEN sas hasta saad TaN aE P4 4 8 Lead Motors 8 lead motors offer a high degree of flexibility to the system designer in that they may be connected in series or parallel thus satisfying a wide range of applications Series Connection A series motor configuration would typically be used in applications where a higher torque at lower speeds is required Because this configuration has the most inductance the performance will start to degrade at higher speeds Use the per phase or unipolar current rating as the peak output current or multiply the bipolar current rating by 1 4 to determine the peak output current Splice PHASE A PHASE A PHASE B PHASE B Splice Figure 2 3 2 8 Lead Motor Series Connections Parallel Connection An 8 lead motor in a parallel configuration offers a more stable but lower torque at lower speeds But because of the lower inductance there will be higher torque at higher speeds Multiply the per phase or unipolar current rating by 1 96 or the bipolar current rating by 1 4 to determine the peak output current mie
28. Manager 3 Look in the heading Ports COM amp LPT IMS USB to SPI Converter Cable COMx will be listed Figure A 10 The COM will be the Virtual COM Port connected You will enter this number into your IMS SPI Motor Interface Configuration zix ax System Restore Automatic Updates l Remote File Action View Help General Computer Name Hardware Advanced l EARE ES Disk drives m Device Manager The Device Manager lists all the hardware devices installed on your computer Use the Device Manager to change the Display adapters 2 DVD CD ROM drives 2 Floppy disk controllers JB Floppy disk drives H IDE ATAJATAPI controllers Ge Keyboards properties of any device Device Manager Drivers ae Driver Signing lets you make sure that installed drivers are f compatible with Windows Windows Update lets you set up how Windows connects to Windows Update for drivers Driver Signing Windows Update Mice and other pointing devices Monitors 38 Network adapters Other devices PhnxWcd BY Ports COM amp LPT wv Communications Port COM1 m Hardware Profiles Hardware profiles provide a way for you to set up and store different hardware configurations Hardware Profiles a ECP Printer Port LPT1 E Processors Sound video and game controllers Cancel Apply Figure A 9 Hardware Properties El System
29. Not s ini dt 38 Check Sum Calculation tor SPEciisiiai a di ida Gia 38 SPI Commands and Parametets ccccscssssscsssssssssssssescscsssessscesssesscssesssseseseesceessnenseeseusseesensees 39 SPI Communications Sequence insista iii 40 Appendices Appendix A Optional Prototype Development Cables oomommmmmimmrriii 9 MD CC300 000 USB to SPI Parameter Setup Cable Adapter Cablesirssvasc avsuriiasieisseesGsiaesaveratepictedtsce sous Installation Procedure for the MD CC300 000 cccsescssesscsseesceseessessessesscsecsecseeeseseeseeseesees Installinig the Cable VCP Drivers nia arrie Determining the Virtual COM Port VCP PD12 1434 FL3 Power I O and SPI Prototype Development Cable PD02 2300 F13 hasi Prototype Development Cable PD04 MF34 FL3 ussiisa i iiit List of Figures Figure GS 1 Minimum Logic and Power Connections ssssisrki sssrin tsss 1 1 Part 1 Hardware Reference Figure 1 1 1 Microstepping MForce PowerDrive cooonnoncnnononoonnonnncnccncnncnnnanncononnnnnnnonanocncannnrnnos 1 5 Figure 1 2 1 MForce PowerDrive Mechanical SpecificationS ssessssseissereiseeseensssesssessresessesiossee 1 8 Figure 1 2 2 P1 12 Pin Locking Wire Crimp Pin Configuration minnnnincnnnicnnnninnnnnincnnnn 1 9 Figure 1 2 3 P3 2 Pin Locking Wire Crimp Pin Configuration wc 1 10 Figure 1 2 4 P4 4 Pin Locking Wire Crimp Pin Configuration ococononcnnncnonencncnoncnrncicinanans 1 10 Part 2 Connecting a
30. PRODUCT This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty This Limited Warranty is the sole warranty offered by IMS with respect to the Product IMS does not assume any other liability in connection with the sale of the Product No representative of IMS is authorized to extend this Limited Warranty or to change it in any manner whatsoever No warranty applies to any party other than the original Customer IMS and its directors officers employees subsidiaries and affiliates shall not be liable for any damages arising from any loss of equipment loss or distortion of data loss of time loss or destruction of software or other property loss of production or profits overhead costs claims of third parties labor or materials penalties or liquidated damages or punitive damages whatsoever whether based upon breach of warranty breach of contract negligence strict liability or any other legal theory or other losses or expenses incurred by the Customer or any third party OBTAINING WARRANTY SERVICE Warranty service may obtained by a distributor if the Product was purchased from IMS by a distributor or by the Customer directly from IMS if the Product was purchased directly from IMS Prior to returning the Product for service a Returned Material Authorization RMA number must be obtained Complete the form at http www imshome com rma html after which an RMA Authorizatio
31. SB port GUI access is via the IMS SPI Motor Interface included on the CD shipped with the product or from www imshome com Optional cables are available for ease of connecting and configuring the MForce The IMS SPI Motor Interface features e Easy installation e Automatic detection of MForce version and communication configuration e Will not set out of range values e Tool tips display valid range setting for each option e Simple screen interfaces Part 1 Hardware Specifications Features and Benefits e High Performance Microstepping Driver Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness e Single Supply 12 to 75 VDC e Low Cost e Extremely Compact e High Output Current Up to 5 Amps RMS 7 Amps Peak Per Phase e 20 Microstep Resolutions up to 51 200 Steps Per Rev Including Degrees Metric Arc Minutes e Optically Isolated Logic Inputs will Accept 5 to 24 VDC Signals Sourcing or Sinking Automatic Current Reduction e Configurable Motor Run Hold Current Motor Direction vs Direction Input e Microstep Resolution e Clock Type Step and Direction Quadrature Step Up and Step Down e Programmable Digital Filtering for Clock and Direction Inputs Current and Microstep Resolution May Be Switched On The Fly Dual Mounting Configurations Power Motor and Signal Interface via locking wire crimp style connectors e Graphical User Interface GUI for Quick and E
32. Screen 2 b Browse to the CD Drive Letter Cable_Drivers MD CC303 000_DRIVERS c Click Next Figure A 6 7 The drivers will begin to copy Found New Hardware Wizard Please choose your search and installation options NSE SS Search for the best driver in these locations Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed J Search removable media floppy CD ROM J Include this location in the search D Cable_Drivers MD CC300 000_DRIVERS 7 Don t search will choose the driver to install Choose this option to select the device driver from a list Windows does not guarantee that the driver you choose will be the best match for your hardware lt Back Next gt Cancel Figure A 6 Hardware Update Wizard Screen 3 8 On the Dialog for Windows Logo Compatibility Testing click Continue Anyway Figure A 7 Hardware Installation A The software you are installing for this hardware IMS USB to SPI Device has not passed Windows Logo testing to verify its compatibility with Windows XP Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software
33. Select Upgrade File When this loads an explorer dialog will open asking you to browse for the firmware upgrade file This file will have the extension ims Step 3 Connect SPI Cable Step 4 Power up or Cycle Power to the MForce Step 6 Press Upgrade Button Progress bar will show upgrade progress in blue Message box will read Resetting Motor Interface Step 8 Press DONE then select Port Reconnect Microstepping MForce PowerDrive Manual Revision R040507 Initialization Screen This screen will be active under five conditions 1 When the program initially starts up and seeks for a compatible device 2 The User selects File gt Exit when connected to the device 3 The User clicks the Exit button while connected to the device 4 The Upgrade Process completes 5 The SPI Motor Interface is unable to connect to a compatible device 215 xi Establishing Connection Last Connected MOTOR INTERFACE Figure 2 6 11 SPI Motor Interface Initialization Port Menu The Port Menu allows the user to select the COM Port that the device is connected to either a parallel LPT Port or a Hardware Serial or Virtual Serial Port via USB The Reconnect option allows the user to reconnect to a unit using the previously used settings On open or reconnect the SPI Motor Interface will also try to auto seek for a connected device Communications Port Operations 7 IMS SPI Interface Select Parallel Parallel gt LPT Port
34. USB Serial gt Select Serial or aio USB VCP Auto seek Port and Reconnect to device Figure 2 6 12 SPI Motor Interface Port Menu Part 2 Interfacing and Configuring SHTON Bo Using User Defined SPI The MForce can be configured and operated through the end user s SPI interface without using the IMS SPI Mo tor Interface software and optional parameter setup cable An example of when this might be used is in cases where the machine design requires parameter settings to be changed on the fly by a software program or multiple system Microstepping MForce PowerDrive units parameter states being written read SPI Timing Notes 1 MSb Most Significant bit first and MSB Most Significant Byte first 2 8 bit bytes 3 25 kHz SPI Clock SCK 4 Data In MOSI on rising clock 5 Data Out MISO on falling clock READ ALL CS MOSI SCLK MISO WRITE ALL CS 7 MOSI SCLK MISO TIMING 20 uS i 20 uS i 20 uS min i min l min i i tu 1uS MOSI SCLK MISO Figure 2 7 1 SPI Timing Check Sum Calculation for
35. alog 4 Select No not this time on the radio buttons in answer to the query Can Windows Connect to Windows Update to search for software Click Next Figure A 4 5 Select Install from a list or specific location Advanced on the radio buttons in answer to the query What do you want the wizard to do Click Next Figure A 5 Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Can Windows connect to Windows Update to search for software C Yes this time only Yes now and every time connect a device No not this time Click Next to continue Back Cancel Figure A 4 Hardware Update Wizard Microstepping MForce PowerDrive Manual Revision R040507 6 Select Search for the best driver in these locations a Check Include this location in the search Found New Hardware Wizard This wizard helps you install software for MD CC300 000 If your hardware came with an installation CD 2 or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Install from a list or specific location Advanced Click Next to continue lt Back Cancel Figure A 5 Hardware Update Wizard
36. asy Parameter Setup Microstepping MForce PowerDrive Manual Revision R040507 SECTION Ue Microstepping MForce PowerDrive Detailed Specifications E General Specifications Input Voltage V Range 12 to 75 VDC Max Power Supply Current Per MForce PowerDrive 4 Amps Output Current RMS 5 Amps Output Current Peak Per Phase 7 Amps Actual Power Supply Current will depend on Voltage and Load Table 1 2 1 Electrical Specifications Heat Sink Temperature 40 C to 85 C Table 1 2 2 Thermal Specifications ETA Resolution 10 Bit Voltage Range Sourcing or Sinking 5 to 24 VDC Current 5 VDC Max 8 7 mA Current 24 VDC Max 14 6 mA Table 1 2 3 I O Specifications Protocol SPI Table 1 2 4 Communications Specifications Number of Resolutions Available Microsteps Per Revolution 200 1000 1600 2000 3200 5000 6400 10000 12800 20000 25000 25600 40000 50000 51200 36000 21600 25400 1 0 01 deg ustep 2 1 arc minute ustep 3 0 001 mm ustep 50 nS to 12 9 uS Digital Filter Range 10 MHz to 38 8kHz Step Direction Clock Types Quadrature Clock Up Clock Down Step Frequency Max 5 0 MHz Step Frequency Minimum Pulse Width 100 nS Table 1 2 5 Motion Specifications Part 1 Hardware Specifications 1 7 Setup Parameters The following table illustrates the setup parame
37. can handle the extreme varying load conditions which makes them ideal for the MForce PowerDrive Part 2 Interfacing and Configuring DC Power Supply Recommendations The power requirements for the Microstepping MForce PowerDrive are Output Voltages sonnii ai 12 to 75 VDC Includes Back EMF Current max per TTi RR A Ar 4A Actual power supply current requirement will depend upon voltage and load Recommended IMS Power Supplies IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products IP804 Unregulated Linear Supply Input Range 120 VAG Versions irme 102 132 VAC J40 VAG Versions suicida tias OE ESEE Tsiena 204 264 VAC Output All Measurements were taken at 25 C 120 VAC 60 Hz No Load Output Voltage 76 VDC 0 Amps Half Load Opus ias 65 VDC 2 Amps Full Load Output cms citant 58 VDC 4 Amps IP806 Unregulated Linear Supply Input Range 120 VAG Versions sisi coccsncescsves se sessvesbeesssessvasescsncstesssoesesseassessetenierevgecatesossteoses 102 132 VAC 240 VAG Versions ac aare iesene i e Eei SEAIN E REOS 204 264 VAC Output All Measurements were taken at 25 C 120 VAC 60 Hz No Load Output Voltage in inci iaiad 76 VDC 0 Amps Half Load Otutai ersada cedendo aE 68 VDC 3 Amps Full Lord OUtPUE tecnicas citada cis 64 VDC E 6 Amps ISP300 7 Unregulated Switching Supply Input Range 120 VAG Versions RET 102 132 VAC 240 VAG Versions Ei penre asena eTe SEAIN EERI 204 2
38. delines Logic level cables must not run parallel to power cables Power cables will introduce noise into the logic level cables and make your system unreliable Logic level cables must be shielded to reduce the chance of EMI induced noise The shield needs to be grounded at the signal source to earth The other end of the shield must not be tied to anything but allowed to float This allows the shield to act as a drain Power supply leads to the MForce PowerDrive need to be twisted If more than one driver is to be connected to the same power supply run separate power and ground leads from the supply to each driver Microstepping MForce PowerDrive Manual Revision R040507 Rules of Wiring Power Supply and Motor wiring should be shielded twisted pairs and run separately from signal carrying wires A minimum of one twist per inch is recommended e Motor wiring should be shielded twisted pairs using 20 gauge or for distances of more than 5 feet 18 gauge or better Power ground return should be as short as possible to established ground Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC Rules of Shielding The shield must be tied to zero signal reference potential It is necessary that the signal be earthed or grounded for the shield to become earthed or grounded Earthing or grounding the shield is not effective if the signal is not earthed or gro
39. devices a 2 Universal Serial Bus controllers IMS USB to SPI Device Standard Enhanced PCI to USB Host Controller USB Root Hub USB Root Hub USB Root Hub USB Root Hub VIA Rev 5 or later USB Universal Host Controller VIA Rev 5 or later USB Universal Host Controller VIA Rev 5 or later USB Universal Host Controller Figure A 10 Windows Device Manager Microstepping MForce PowerDrive Manual Revision R040507 PD12 1434 FL3 Power 1 0 and SPI The PD12 1434 FL3 is a 10 3 0 m Prototype Development Cable used to connect to the 12 Pin Locking Wire Crimp Connector The Connector end plugs into the P1 Connector of the MForce PowerDrive The Fly ing Lead end connects to a Control Interface such as a PLC an SPI Interface such as a PC Parallel port and the users motor power supply Wire Color Code Cable Pair Connection Pin Number OO wee ooreen 3 tene JO seco 4 E Vimielorange JO tmb CY A HA o AA een commend o e A PE a TO ot A Table A 1 PD12 1434 FL3 Wire Color Codes Gray White SPI CS White Gray SPI MOSI Se White Brown 5VDC Cable 1 Brown White SPI MISO White Green SPI Clock Green White SPI Ground White Orange Enable Orange White Direction White Blue Opto Reference Cable 2 Blue White Step Clock Black Not Used Red Not Used Figure A 11 PD12 1434 FL3 Appendices Prototype De
40. e warning condition the MForce PowerDrive will continue to operate as normal The thermal shutdown is 85 C Microstepping MForce PowerDrive Manual Revision R040507 IMS Part Number Serial Number Screen The IMS Part Number and Serial Number screen is accessed by clicking View gt Part and Serial Numbers This screen is read only and will display the part and serial number as well as the fault code if existing IMS may require this information if calling the factory for support File View Recall Upgrade Help IMS Part IMS Serial Number Figure 2 6 9 SPI Motor Interface Part and Serial Number Screen Fault Indication All of the IMS SPI Motor Interface Screens have the Fault field visible This read only field will display a 2 charac ter error code to indicate the type of fault The table below shows the error codes Error Write to MDM SPI Checksum Error Displayed Set Button SPI Checksum Error Error Write to MDM Sector Changing Displayed Set Button Defaults Checksum Error Write to MDM Error Displayed Set Button Settings Checksum Error Write to MDM Error Displayed Set Button F Error Write to MDM Temperature Warning Displayed Set Button All Fault Codes are OR ed together Table 2 6 5 Microstepping MForce PowerDrive Fault Codes Part 2 Interfacing and Configuring NOTE Once entered into Upgrade Mode you MUST complete the upgrade If the upgrade process is incomplete the IMS SPI M
41. e Mounting Hardware Metric 1 4 x 6 32 Screw 1 4 x M3 5 0 60 Screw 4 x 6 Split Lockwasher 4 x M3 5 Split Lockwasher 4 x 6 Flat Washer la 4 x M3 5 Flat Washer MForce PowerDrive Mounting Surface Mounting Hole Pattern Not to Scale Use 36 Drill Size 2 9 mm Tap to 6 32 M3 5 0 60 4 PL amp 74 45 TYP Figure 2 1 1 Base Mounting the MForce PowerDrive Part 2 Interfacing and Configuring NOTE Ensure that IN proper clearance is allowed for wiring and cabling Especially when end mounting the device NOTE Mounting Hardware is not supplied Q E 5 YN D lt E 5 o Recommended Tightening Torque 8 9 Ib in 89 6 100 8 N cm at g Mounting Hardware 2 x 8 32 Screw 2 x 8 Split Lockwasher 2 x 8 Flat Washer Mounting Hardware Metrit 2 x M4 0 70 Screw 2 x M4 Split Lockwasher 2 x M4 Flat Washer Mounting Hole Pattern Use 29 Drill Size 3 3 mm Tap to 8 32 2 PL M4 0 70 o 3 000 TYP 76 20 TYP Figure 2 1 2 End Mounting the MForce PowerDrive Securing Power Leads and Logic Leads Some applications may require that the MForce and or the connected motor to move with the axis motion If this is a requirement of your application the motor leads must be properly anchored This will prevent flexing and tugging which can cause damage at critical connection points on the MForce connectors Layout and Interface Gui
42. e cables connect to user interface via flying leads with MForce mating connector on opposite end Mating connector to 12 pin pluggable locking wire crimp plugs into MForce or adapter MD ADP 1723C Choose from 2 lengths 12 0 30 5cm 10 0 3 0m ps nl ADP 3512 FL AA PD12 1434 FL3 Mating connector to MForce 4 pin motor interface ON PD04 MF17 FL3 Part 1 Hardware Specifications Page Intentionally Left Blank Microstepping MForce PowerDrive Manual Revision R040507 FORCE MICRO DRIVE Mw Place MICROS TEPPING PART 2 INTERFACING AND CONFIGURING Section 2 1 Mounting and Connection Recommendations Section 2 2 Logic Interface and Connection Section 2 3 Connecting SPI Communications Section 2 4 Using the IMS SPI Motor Interface Section 2 5 Using User Defined SPI Part 2 Interfacing and Configuring 1 Page Intentionally Left Blank Microstepping MForce PowerDrive Manual Revision R040507 SLS TION E Mounting and Connection Guidelines Mounting Recommendations The Microstepping MForce PowerDrive may be mounted two ways end mounted or flat mounted End mount ing will use 8 hardware flat mounting will use standard 6 hardware Do not exceed the recommended mount ing torque specification The diagrams in Figures 2 1 1 and 2 1 2 illustrate the mounting methods Recommended Tightening Torque N fab ad 7 8 Ib in 78 4 89 6 N cm supplied Mounting Hardwar
43. ear of the nut or screw The IOS motors offer the following features H The shaft face diameter offers a wide choice of threaded hole patterns for coupling H The IOS motor can be direct coupled in applications within the torque range of the motor eliminating couplings and increasing system efficiency E The IOS motor can replace gearboxes in applications where gearboxes are used for inertia damping between the motor and the load The induced backlash from the gearbox is eliminated providing improved bidirectional position accuracy H Electrical or pneumatic lines can be directed through the center of the motor enabling the motors to be stacked end to end or applied in robotic end effector applications The through hole is stationary preventing cables from being chaffed by a moving hollow shaft E Light beams can be directed through the motor for refraction by a mirror or filter wheel mounted on the shaft mounting face H The IOS motor is adaptable to valves enabling the valve stem to protrude above the motor frame The stem can be retrofitted with a dial indicator showing valve position The motor is compatible with IMS bipolar drivers keeping the system cost low The IOS motor can operate up to 3000 rpm s Part 2 Interfacing and Configuring The IOS motor is available in the following frames Frame Size IMS PN DB Pame cian anida iseussisnasie M3 2220 IOS JAP ss duleaviadetsdisedeseascadeasueds Garashsasedsscssteasaheatteasss
44. ed Motor Cable AWG Length Feet 10 25 50 75 100 Length Feet 10 25 50 75 100 Minimum AWG 20 20 18 18 16 Minimum AWG 16 16 14 12 12 Length Feet 10 25 50 75 100 Length Feet 10 25 50 75 100 Minimum AWG 20 18 16 14 14 Minimum AWG 14 14 14 12 12 Length Feet 10 25 50 75 100 Length Feet 10 25 50 75 100 Minimum AWG 18 16 14 12 12 Minimum AWG 12 12 12 12 12 Use the alternative methods illustrated in example B when cable length is gt 50 feet Also use the same current rating when the alternate AC power is used Length Feet 10 25 50 75 100 Minimum AWG 18 16 14 12 12 Table 2 3 1 Recommended Wire Gauges Part 2 Interfacing and Configuring 18 Microstepping MForce PowerDrive Manual Revision R040507 SG TION 2 4 Logic Interface and Connection Optically Isolated Logic Inputs The Microstepping MForce PowerDrive has three optically isolated logic inputs which are located on connector P1 These inputs are isolated to minimize or eliminate electrical noise coupled onto the drive control signals Each input is internally pulled up to the level of the optocoupler supply and may be connected to sinking or 5 to 24 VDC sourcing outputs on a controller or PLC These inputs are 1 Step Clock SCLK Quadrature CH A Clock UP 2 Direction DIR Quadrature CH B
45. es Table A 1 PD12 1434 FL3 Wire Color Codes As Table A 2 PD04 MF34 FL3B visscaccsssssscosscssocessscvacocseascoasasdaovansasacaceaicecescoussdatsvncaentevsdovnsosteacndsan A 0 A Sd STARTS Microstepping MForce PowerDrive Before You Begin The Getting Started Section is designed to help quickly connect and begin using your Microstepping MForce PowerDrive The following examples will help you get a motor turning for the first time and introduce you to the basic settings of the drive Tools and Equipment Required Microstepping MForce PowerDrive Unit MFM A NEMA 23 or 34 Size Stepping Motor Control Device for Step Direction 5 to 24 VDC Optocoupler Supply if using sinking output type An Unregulated 12 to 48VDC Power Supply Basic Tools Wire Cutters Strippers Screwdriver Wire for Power Supply 18 AWG and Motor 16 AWG 22 AWG Wire for Logic Connections Opto Reference The Opto Reference Will set the Sink Source Configuration of the Inputs Sinking OptoRef 5 to 24 VDC Sourcing OptoRef Ground Power Ground V 12 to 48 Step Direction MForce PowerDrive Front 12 Pin Wire Crimp at P1 Shown See Specifications for Pin Numbering for other versions Stebbina Motor Figure GS 1 Minimum Logic and Power Connec
46. ex House Singapore 048622 Phone 65 6233 6846 Fax 65 6233 5044 E mail wllee imshome com IMS EUROPE GmbH Niedereschacherstrasse 54 78083 Dauchingen Germany Phone 49 7720 94138 0 Fax 49 7720 941 38 2 E mail info imseuropehome com European Sales Management 4 Quai Des Etroits 69005 Lyon France Phone 33 4 7256 5113 Fax 33 4 7838 1537 E mail bmartinez imshome com Germany Sales Phone 49 35205 4587 8 Fax 49 35205 4587 9 E mail hruhland imshome com Germany UK Technical Support Phone 49 7720 94138 0 Fax 49 7720 941 38 2 E mail mweber imshome com 2006 Intelligent Motion Systems Inc All Rights Reserved Excellence tn Motion U S A SALES OFFICES Eastern Region Phone 862 208 9742 Fax 973 661 1275 E mail jroake imshome com Central Region Phone 260 402 6016 Fax 419 858 0375 E mail dwaksman imshome com Western Region Phone 602 578 7201 E mail dweisenberger imshome com IMS MOTORS DIVISION 105 Copperwood Way Suite H Oceanside CA 92054 Phone 760 966 3162 Fax 760 966 3165 E mail motors imshome com REV RO40507 IMS Product Disclaimer and most recent product information at www imshome com
47. h motion is required Sizing a Motor for Your System The MForce PowerDrive is a bipolar driver which works equally well with both bipolar and unipolar motors i e 8 and 4 lead motors and 6 lead center tapped motors To maintain a given set motor current the MForce PowerDrive chops the voltage using a variable chopping fre quency and a varying duty cycle Duty cycles that exceed 50 can cause unstable chopping This characteristic is directly related to the motor s winding inductance In order to avoid this situation it is necessary to choose a motor with a low winding inductance The lower the winding inductance the higher the step rate possible Winding Inductance Since the MForce PowerDrive is a constant current source it is not necessary to use a motor that is rated at the same voltage as the supply voltage What is important is that the MForce PowerDrive is set to the motor s rated current The higher the voltage used the faster the current can flow through the motor windings This in turn means a higher step rate or motor speed Care should be taken not to exceed the maximum voltage of the driver There fore in choosing a motor for a system design the best performance for a specified torque is a motor with the lowest possible winding inductance used in conjunction with highest possible driver voltage The winding inductance will determine the motor type and wiring configuration best suited for your system While the equation
48. he repair or replacement at Company s sole option of the Product or any part of the Product determined by IMS to be defective In order to exercise its warranty rights Customer must notify Company in accordance with the instructions described under the heading Obtaining Warranty Service This Limited Warranty does not extend to any Product damaged by reason of alteration accident abuse neglect or misuse or improper or inadequate handling improper or inadequate wiring utilized or installed in connection with the Product installation operation or use of the Product not made in strict accordance with the specifications and written instructions provided by IMS use of the Product for any purpose other than those for which it was designed ordinary wear and tear disasters or Acts of God unauthorized attachments alterations or modifications to the Product the misuse or failure of any item or equipment connected to the Product not supplied by IMS improper maintenance or repair of the Product or any other reason or event not caused by IMS IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES WHETHER WRITTEN OR ORAL EXPRESS OR IMPLIED BY LAW OR OTHERWISE INCLUDING WITHOUT LIMITATION ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE CUSTOMER S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS STATED ABOVE AND IN NO EVENT WILL THE IMS BE LIABLE FOR INCIDENTAL CONSEQUENTIAL SPECIAL OR INDIRECT DAMAGES IN CONNECTION WITH THE
49. ications Pin 1 N C No Connect Pin 2 N C No Connect The Signal applied to the Optocoupler Reference will determine the sinking or sourcing configuration of the inputs Pin 3 Opto Reference To set the inputs for sinking operation a 5 to 24 VDC supply is connected If sourcing the Reference is connected to Ground Step Clock input The step clock input will receive the clock Step Clock Channel pulses which will step the motor 1 step for each pulse lt EA A Clock Up may also receive quadrature and clock up type inputs if so configured Enable Disable Input will enable or disable the driver output Pin 5 Enable to the motor In the disconnected state the driver outputs are enabled in either sinking or sourcing configuration Direction ChannelB Direction input The axis direction will be with respect to the Pin 6 state of the Direction Override Parameter It may also receive Clock Down quadrature and clock up type inputs if so configured Pin 7 5 VDC Output Supply voltage for the MD CC300 000 Cable ONLY Pin 8 SPI Clock The Clock is driven by the SPI Master The clock cycles once for each data bit Pin 9 GND Communications Ground Master In Slave Out Carries output data from the MFM back zono KI to the SPI Master SPI Chip Select This signal is used to turn communications Pin 11 CS on multiple MFM units on or off Pin 12 MOSI Master Out Slave In Carries output data from the SPI Maste
50. icrostepping MForce PowerDrive firmware by placing the device in Upgrade Mode and launching the firmware upgrader utility 72 IMS Motor Interface lol xi Toggle MForce into Upgrade Mode for Firmware Upgrade Figure 2 6 5 SPI Motor Interface Upgrade Menu Help gt IMS Internet Tutorials Link to an IMS Web Site page containing Interactive flash tutorials gt About Opens the About IMS and IMS SPI Motor Interface Screen Links to the Software IMS Motor Interface Tutorial page of the View Recall Upgrade IMS Website Motor Interface MSEL 256 a HcoT 500 mS MHC 74 About IMS SPI Interface IMS SPI Interface Version 903 1 14 Utillity to setup IMS s Speed Control and MDrive Products Copyright 2000 2006 by Intelligent Motion Systems Inc 370 North Main Street Marlborough CT 06447 web imshome com email info imshome com Figure 2 6 6 SPI Motor Interface Help Menu and About Screen Part 2 Interfacing and Configuring 31 1 MSEL Microstep Resolution Select Motor Run Current Microstep Resolution Selection Holding Current Delay Time Direction Override Motor Holding Current Load Factory Exit Program Default Settings i oe Three Character User ID Store Settings to NVM Figure 2 6 7 SPI Motor Interface Motion Settings Screen HCDT Holding Current Delay Time MRC Motor Run Current Motor Holding Current User ID 3 character ID Direction Override
51. ide Out Stepper Motors viii iaa da cita 13 Connecting the Motor 8 Lead Motors 6 Lead Motors A Weal Motors atari Recommended Motor Cabling viii india 16 Example A Motor Cabling Less Than 50 Feet coonccononncnnnnononacononannnonononanononononononcnaroncncnns 16 Example B Motor Cabling Greater Than 50 Feet ooccococononononononononononononononononononononononononons 17 Recommended Motor Cable AWG Sizes cccccccccsccsscesssssscssssssssssscsccssesescesscesscessessscseseuaes 17 Section 2 4 Logic Interface and Connection wessssssessseessserssrcssesssssscsssscssessssessssessessseesssessesssseseesass 19 Optically Isolated Logie Tt puts sseni aiaia drid disc iia 19 Isolated Logic Input Pins and Connections comica 19 Isolated Logic Input Characteristics iia ricos aia 19 A caca acu cus exysia tas E e E a E A A E A AN Optocotipler Referente ciel Input Connection Examples Open Collector Interface FExampleninnan ito iii dit Switch Interface Example coartada 24 Minimum Required Conector cn ice 25 Section 2 5 Connecting SPI Communications essessseessrssssersersssecssesssssssscsscssssesessessessssesssssssassess Connecting the SPI Interface sicisscvsssiavsisesstessousvssoacsucs sess sa esssvenassvatseastcreraens sas stsssndnediscvesetinncnnass SPI Signal OVET EW iinan N EEA EENE N EE E EPEAN Ee SPI Pisand Connections iaa Logic Level Shifting and Conditioning Circuit SPI Master with Multiple Microstepping MForce PowerDrive
52. idelines cosita t EEEE TES aana IE Ter EPE EREET 4 Rules OF WINE atando docs 5 Rulesof Shielding cidad iia id 5 Recommended Wir ind 5 Recommended Mating Connectors and PinSsrsissisisisesssisisisiseisoresizossissrasrsisssisssissrosisnssvesss 5 Section 2 2 Interfacing DC Power sessscsssseessscsssscrsssessescssescssssccssscscsscessscesesessescssescsssssessssssescesescenes 7 Choosing a Power Supply for Your MForce PowerDrive ocnicioninnnnnonincnnncncnnacncncncnracncnnacnrncncnrnininno 7 DC Power Supply Recommendations cisnes casonarvesreassstaesddeaeetesee 8 Recommended IMS Power Sup ples cios ci 8 Basie DC Power Conteo ias 9 Recommended Power and Cable Configurations ccssessessseesessessseseesessseseeeasseseeessenseneneass 9 Exaniple A DC Power Cabling Under 50 Peet sccccssstccssscavsisusssseesesessssssessnosneveasresssansssseass 9 Example B AC Power to Full Wave Bridge Cabling Over 50 Feet cccceseeseeseseneseees 10 Example C Cabling 50 Feet or Greater AC Power to Power Supply ococinonincnnononiconononeso 10 Section 2 3 Motor Selection and Interface sscsssscesssssssscsssscvsescsssscsssscssescssescssescessscesssessesseseseesase 11 Selectinga Motivar 11 Types and Construction of Stepping Motors ccececsseseesssesesesesesesesesesesesesesessesseseaseteeaes 11 Siziig Motor for QUE Mio e A 11 Recommended IMS Motors scsssssssseesceseesseseeseeseeseesecsecsececessesseseeseessesecsecseesseeaeeaeeateaseaseasenees 12 IMS Ins
53. ieving the desired current between steps Simply stated a higher voltage will decrease the time it takes to charge the coil and therefore will allow for higher torque at higher speeds Another characteristic of all motors is Back EMF and though nothing can be done about back EME we can give a path of low impedance by supplying enough output capacitance Back EMF is a source of current that can push the output of a power supply beyond the maximum operating voltage of the driver and as a result could damage the MForce PowerDrive over time The MForce PowerDrive is very current efficient as far as the power supply is concerned Once the motor has charged one or both windings of the motor all the power supply has to do is replace losses in the system The charged winding acts as an energy storage in that the current will re circulate within the bridge and in and out of each phase reservoir While one phase is in the decaying stage of the variable chopping oscillator the other phase is in the charging stage this results in a less than expected current draw on the supply The MForce PowerDrive is designed with the intention that a user s power supply output will ramp up to greater or equal to the minimum operating voltage The initial current surge is quite substantial and could damage the driver if the supply is undersized If a power supply is undersized upon a current surge the supply could fall be low the operating range of the driver This could
54. meter setup cable to P1 The SPI Serial Peripheral Interface is the com munications and configuration interface MD CC300 000 Figure 2 5 1 MD CC300 000 Parameter Setup Cable For more information on prototype development cables please see Appendix Prototype Development Cables SPI Signal Overview 5 VDC Output This output is a voltage supply for the setup cable only It is not designed to power any external devices SPI Clock 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 The Clock cycles once for each bit that is transferred Logic Ground This is the ground for all Communications MISO Master In Slave Out Carries output data from the Microstepping MForce PowerDrive units back to the SPI Master Only one MForce PowerDrive can transmit data during any particular transfer CS SPI Chip Select This signal is used to turn multiple Microstepping MForce PowerDrive units on or off MOSI Master Out Slave In Carries output data from the SPI Master to the Microstepping MForce PowerDrive Microstepping MForce PowerDrive Manual Revision R040507 SPI Pins and Connections PC Parallel SPI Port O 000000000 aca opoo Mm Setup Cable 5 VDC OUT COMM GND SPI CLOCK MASTER IN SLAVE OUT MASTER OUT SLAVE IN
55. n Form with RMA number will then be faxed to you Any questions contact IMS Customer Service 860 295 6102 Include a copy of the RMA Authorization Form contact name and address and any additional notes regarding the Product failure with shipment Return Product in its original packaging or packaged so it is protected against electrostatic discharge or physical damage in transit The RMA number MUST appear on the box or packing slip Send Product to Intelligent Motion Systems Inc 370 N Main Street Marlborough CT 06447 Customer shall prepay shipping changes for Products returned to IMS for warranty service and IMS shall pay for return of Products to Customer by ground transportation However Customer shall pay all shipping charges duties and taxes for Products returned to IMS from outside the United States 4 EE EIN lt ul INTELLIGENT MOTION SYSTEMS INC www imshome com 370 N Main St PO Box 457 Marlborough CT 06447 U S A Phone 860 295 6102 Fax 860 295 6107 E mail info imshome com TECHNICAL SUPPORT Phone 860 295 6102 U S A Fax 860 295 6107 E mail etech imshome com Germany UK Phone 49 7720 94138 0 Fax 49 7720 941 38 2 E mail mweber imshome com DISTRIBUTED BY IMS UK Ltd 25 Barnes Wallis Road Segensworth East Fareham Hampshire PO15 5TT Phone 44 0 1489 889825 Fax 44 0 1489 889857 E mail mcheckley imshome com IMS ASIA PACIFIC OFFICE 30 Raffles PI 23 00 Calt
56. n is also referred to as full copper Use the per phase or unipolar current rating as the peak output current on NTN BU PHASE A cme EEE No Connect PHASE A J PHASE B A No Connect aa PHASE B Figure 2 3 5 6 Lead Half Coil Higher Speed Motor Connections Part 2 Interfacing and Configuring 15 4 Lead Motors 4 lead motors are the least flexible but easiest to wire Speed and torque will depend on winding inductance In setting the driver output current multiply the specified phase current by 1 4 to deter mine the peak output current MN ll el PHASE A PHASE A El PHASE B P4 l PHASE B Figure 2 3 6 4 Lead Motor Connections Recommended Motor Cabling As with the power supply wiring motor wiring should be run separately from logic wiring to minimize noise coupled onto the logic signals Motor cabling exceeding 1 in length should be shielded twisted pairs to reduce the transmission of EMI Electromagnetic Interference which can lead to rough motor operation and poor system performance Cable length wire gauge and power conditioning devices play a major role in the performance of your MForce PowerDrive and Stepper Motor NOTE The length of the DC power supply cable between the MForce Powe
57. ncia anat sinine 1 7 Table 1 2 2 Thermal Specifications iii donas 1 7 Table 1 2 3 I O Specifications in Table 1 24 Communications Specification is ia dise 1 7 Table 125i Motion Speci cat Onisissssssscesseveisveesstvesevesessvessvesesssesazevaseseseveissoscbesaveseds iii 1 7 Table 1 216 Setup Param tersisesascsisaseseseaxsevoasscsocsuciesoussisczesdvervsevesssdhoasscnastvsaceasestyedvocvedsecbeaaneia 1 8 Table 1 2 7 P1 Connector Power I O and SPI Communications ocoocooconnonnonncnnonncnncnncononnconos 1 9 Table 1 2 8 P3 Connector Table 1 2 9 P4 Connecter Part 1 Interfacing and Configuring Table 2 2 Je Recommended Wire Gauges isc iia is 10 Table 2 3 13 Recommended Wire Gaupesis scsisccsssvsescassesscasesssereaserraresssceovessreconevesasetsesitetenerstsvens 17 Table 2 4 1 Input Clocks Timing Table Table 2 4 2 Optocoupler Reference Connection sisisi eisite raro rara rara 22 Table 2 6 1 Set p Parameters atid Ran pessaria doce slsese a aaeain 29 Table 2 6 2 Microstep Resolution Settnigs isis ccisscssesssss cssvessassesedsevedses tovesstaconsverntersesbieacesdensonses 32 Table 2 6 3 Hold and Run Current Percentage Equivalent c cccecesseesesesesesesseteesteteeseessneneees 33 Table 2 6 4 Input Clock Filter Settings ni Table 2 6 5 Microstepping MForce PowerDrive Fault Codes cocino 35 Table 2 7 1 SPI Commands and Parameters ccccsccssessessessessesseseeseesecsecsasessessessesecseesececeaceasens 39 Appendic
58. nd Interfacing Figure 2 1 1 Base Mounting the MForce PowerDrive coconiciniconinnnnnnnnncncnnnnn nora rn nn roca nro nora 3 Figure 2 1 2 End Mounting the MForce PowerDrive esseessesesersereersersesrertesresresreseestesereseserereseeneess 4 Figure 2 2 1 IMS ISP300 Switch Mode Power Supply cococicinininnnnncncnnnnncncnrannnncorarncnrnrararnrararanon 7 Figure 2 2 2 MForce PowerDrive DC Power Connecti ti a dsiiuriann ouien anG 9 Figure 2 2 3 DC Cabling Under 50 Feet Figure 2 2 4 AC To Full Wave Bridge Rectifier Cabling over 50 F Ct conininininininininnnnanininnncanos 10 Figure 2 2 5 AC Cabling 50 Feet or Greater AC To Power Supply cocococicononnincnninininranicincninnos 10 Figure 2 3 1 A 8z B Per Phase Winding Inductance cccssssssscsssssssessssesessessssssonssneanensensenies 12 Figure 2 3 2 8 Lead Motor Seri s Connections isiciecsscsscsiesssstsccvstasssecvsdsecosdsststesststonsssessctoesssounea 14 Figure 2 3 3 8 Lead Motor Parallel Connections cee data Figure 2 3 4 6 Lead Half Coil Higher Speed Motor Connections Figure 2 3 5 6 Lead Half Coil Higher Speed Motor Connections sill Figure 2 3 6 4 Lead Motor Connections camisas 16 Figure 2 3 7 Motor Cabling Less than 50 Peet anita docena ce 16 Figure 2 3 8 Motor Cableing Greater than 50 Feet ul Figure 2 4 1 Isolated Logic Pins and Connections sald Figure 2 4 2 Input Clock Functions ociconononinicnooso 1 20 Figure 2 4
59. onnection information Appendices A 3 A 4 Approx Length 12 304 8mm MD ADP 1723C To MForce MD ADP 1723C Adapter Cable To Customer PC USB Port Approx Length C 12 304 8mm gt ADP 3512 FL MD CC300 000 Parameter Setup Cable ll To Customer Length 6 0 ft 1 8 m ADP 3512 FL ill Interface USB Cable Prototype Development Cable Figure A 3 Typical Setup Adapter and Prototype Development Cable Installation Procedure for the MD CC300 000 These Installation procedures are written for Microsoft Windows XP Service Pack 2 Users with earlier versions of Windows please see the alternate installation instructions at the IMS web site http www imshome com The installation of the MD CC300 000 requires the installation of two sets of drivers m Drivers for the IMS USB to SPI Converter Hardware m Drivers for the Virtual Communications Port VCP used to communicate to your IMS Product Therefore the Hardware Update wizard will run twice during the installation process The full installation procedure will be a two part process Installing the Cable VCP drivers and Determining the Virtual COM Port used Installing the Cable VCP Drivers Plug the USB Converter Cable into the USB port of the MD CC300 000 2 Plug the other end of the USB cable into an open USB port on your PC 3 Your PC will recognize the new hardware and open the Hardware Update di
60. ononancnrancnracnnanos 34 Figure 2 6 9 SPI Motor Interface Part and Serial Number Screen coconcnconononnnonnoninanncncncnnocncnnnss 35 Figure 2 6 10 SPI Motor Interface Upgrade Utility si Figure 2 6 11 SPI Motor Interface Initialization csscsssssssersesscscessssssersossceersesossersosseeersneeees Figure 2 6 12 SPI Motor Interface Port Menu sciescsssscsssssvissvssssnscossassescencsscssvasavanverecssnesshesetinnse Figure 2 7 12 SP a Figure 2 7 2 Read Write Byte Order for Parameter Settings Default Parameters Shown 40 Appendices Figure A TMD eC C3 002000 siii oc A 3 Figure A 2 MD CC300 000 Mechanical Specifications ccs crearan A 3 Figure A 3 Typical Setup Adapter and Prototype Development Cable A 4 Figure A 4 Hardware Update Wizard oooonnocioncnos A 4 Figure A 5 Hardware Update Wizard Screen 2 ALS Figure A 6 Hardware Update Wizard Screen 3 ccssssssssesssscssstecssesssosssesesssssesssssseesnsseeenssenssees A 5 Figure A 7 Windows Logo Compatibility Testing c ccccceceeseseseseseseseeseeeeeesteseeseeeenenenees A 5 Figure A 8 Hardware Update Wizard Finish Installation cece eeeeeeeeneeeeeteeeeeneeeee A 6 Figure A 9 Hardware Properties Figure A 10 Windows Device Manager ai Figure A11 PD12 1434 EL3 cinismo Figure A12 PD023400 FIGS nenien a e a r abi Figure A13 PDO4 MES4 EL3 iii andinas Part 1 Hardware Reference Table 1 2 1 Electrical Speciications vi
61. otor Interface will continue to open to the Upgrade dialog until the process is completed 36 Upgrading the Firmware in the Microstepping MForce PowerDrive The IMS SPI Upgrader Screen New firmware releases are posted to the IMS web site at http www imshome com The IMS SPI Motor Interface is required to upgrade your Microstepping MForce PowerDrive product To launch the Upgrader click Upgrade on the IMS SPI Motor Interface menu The Upgrader screen has 4 read only text fields that will display the necessary info about your Microstepping MForce PowerDrive Welcome to the Unknown UPGRADER Press NEXT to Continue Figure 2 6 10 SPI Motor Interface Upgrade Utility 1 Previous Version this is the version of the firmware currently on your Microstepping MForce PowerDrive 2 Serial Number the serial number of your unit 3 Upgrade Version will display the version number of the firmware being installed 4 Messages the messages text area will display step by step instructions through the upgrade process Upgrade Instructions Below are listed the upgrade instructions as they will appear in the message box of the IMS SPI Upgrader Note that some steps are not shown as they are accomplished internally or are not relevant to the model IMS product you are updating The only steps shown are those requiring user action Welcome Message Welcome to the Motor Interface UPGRADER Click NEXT to continue Step 2
62. r to the MFM Table 1 2 7 P1 Connector Power I O and SPI Communications andada angad ge Recommended Connector Shell and Pins Shell AMP P N 1 794617 2 Pins 12 x AMP P N 794610 1 Wire 22 AWG Shielded Twisted Pair Figure 1 2 2 PI 12 Pin Locking Wire Crimp Pin Configuration Part 1 Hardware Specifications NEED A CABLE The following cables and converters are available to interface with P1 12 Pin Locking Wire Crimp PD12 1434 FL3 NEED A CABLE The following cables and converters are available to interface communications with USB to SPI MD C300 000 10 Pin IDC to 12 Pin Locking Wire Crimp Adapter All SPI Communications will connect to the P1 Connector An adapter is available to interface the MD CC300 000 to the 12 Pin Locking Wire Crimp connector MD ADP 1723C This adapter may be used in conjunction with the following Prototype Development cables to interface power and logic PD12 1434 FL3 10 ADP 3512 FL 12 See Appendix A for details 1 9 NEED A CABLE The following cables and converters are available to interface with P3 2 Pin Locking Wire Crimp PD02 3400 FL3 A WARNING Do not plug or unplug DC Power with power applied NEED A CABLE The following cables and converters are available to interface with P4 4 Pin Locking Wire Crimp PD04 MF34 FL3 P3 Connector DC Power 2 Pin Locking Wire Crimp Pin Assignment P3
63. r applications where higher torque is required For more detailed information on these motors please see the IMS Full Line catalog or the IMS web site at http www imshome com _ Microstepping MForce PowerDrive Manual Revision R040507 23 Frame Enhanced 2 4A Not Available with Double Shaft Single Shaft Double Shaft MITE DAS is iia N A M22 222 DA usina iii dat ii td it N A MIDA radio aiodas N A 23 Frame Enhanced 3 0A Single Shaft Double Shaft M 2218 3 0S M 2218 3 0D M 2222 3 08 M 2222 3 0D M 2231 3 0S M 2231 3 0D 23 Frame Enhanced 6 0A Single Shaft Double Shaft M 2218 6 0S M 2218 6 0D M 2222 6 0S M 2222 6 0D M 2231 6 0S M 2231 6 0D 34 Frame Enhanced 6 3A Single Shaft Double Shaft M 3424 6 3S siii re carretes M 3424 6 3 D M 3431 6 3S M 3431 6 3D M 3447 6 3S M 3447 6 3D IMS also offers 23 and 34 Frame hybrid linear actuators for use with the MForce PowerDrive Please see the IMS Full Line catalog or the IMS web site at hitp Avww imshome com IMS Inside Out Stepper Motors The new inside out stepper IOS motor was designed by IMS to bring versatility to stepper motors using a unique multi functional hollow core design This versatile new motor can be converted to a ball screw linear actuator by mounting a miniature ball screw to the front shaft face Ball screw linear actuators offer long life high efficiency and can be field retrofitted There is no need to throw the motor away due to w
64. r interface to write to multiple chip selects Each MForce on the bus will have a dedicated chip select Only one system MForce can be communicated with Parameters changed at a time SPI Clock SPI Master MaS SO CS Figure 2 5 4 SPI Master with a Single Microstepping MForce PowerDrive SPI Clock MOSI SPI Master MISO csi CS2 Figure 2 5 5 SPI Master with Multiple Microstepping MForce PowerDrives 28 Microstepping MForce PowerDrive Manual Revision R040507 SECTION 2 6 Using the IMS SPI Motor Interface Installation The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your Microstepping MForce PowerDrive It is available both on the CD that came with your product and on the IMS web site at http www imshome com software_interfaces html 1 Insert the CD into the CD Drive of your PC If not available go to http www imshome com software_interfaces html The CD will auto start Click the Software Button in the top right navigation Area Click the IMS SPI Interface link appropriate to your operating system Click SETUP in the Setup dialog box and follow the on screen instructions Once IMS SPI Motor Interface is installed the Microstepping MForce PowerDrive settings can be checked and or set DAWN WD Configuration Parameters and Ranges Motor Hold Current 0 to 100 percent Motor
65. rDrive and the Motor should not exceed 50 feet Example A demonstrates the recommended cable configuration for the MForce PowerDrive to Motor cabling under 50 Feet long If cabling of 50 feet or longer is required the additional length can be gained with the cable configuration in Example B Correct AWG wire size is determined by the current requirement plus cable length Please see Table 2 3 1 on the following page Example A Motor Cabling Less Than 50 Feet Cable Length less than 50 Feet MForce Motor PowerDrive Shielded Twisted Pair Connections Phase Outputs m z A A lt B Shield to Earth Ground on Supply End Only Ferrite Beads Figure 2 3 7 Motor Cabling Less than 50 Feet Microstepping MForce PowerDrive Manual Revision R040507 Example B Motor Cabling Greater Than 50 Feet Common Mode Cable Length E Line Filters 2x as required L 0 5 MH Motor Shielded Twisted Pair Connections LO e Ferrite Beads _ gt gt MForce PowerDrive Phase Outputs w gt l olw gt l wl Shield to Earth Ground on Supply End Only 0 5 MH is a typical starting point for the Common Mode Line Filters By increasing or decreasing the value of L you can set the drain current to a minimum to meet your applications requirements Figure 2 3 8 Motor Cableing Greater than 50 Feet Recommended Motor Cable AWG Sizes MForce PowerDrive Recommend
66. reen may be accessed by clicking View gt IO Settings on the menu bar This screen is used to configure the Input Clock type the filtering and the Active High Low State of the Enable Input Input Clock Type The Input Clock Type translates the specified pulse source that the motor will use as a reference for establishing stepping resolution based on the frequency f Active High Low IMS Motor Interface State of the Input Clock Type Recall Upgrade Help Enable Input Step Dir Quadrature or Step Dir gt Enable He Active Up Down Low 20005 25MH3 z e 20 4 c Input Clock Filter Clock Type Clock IOF Warning Temperature Figure 2 6 8 SPI Motor Interface I O Settings Screen The three clock types supported are 1 Step Direction 2 Quadrature 3 Up Down The Clock types are covered in detail in Section 2 2 Logic Interface and Connection Input Clock Filter The clock inputs may also be filtered using the Clock IOF pull down of the IMS SPI Motor Interface The filter range is from 50 nS 10 MHz to 12 9 pSec 38 8 kHz Table 2 4 3 shows the filter settings Input Clock Filter Settings Table 2 6 4 Input Clock Filter Settings Enable Active High Low The parameter sets the Enable Input to be Active when High Default Disconnected or Active when Low Warning Temperature The parameter sets the temperature at which a TW or temperature warning fault code will be generated In th
67. ters These are easily configured using the IMS SPI Motor Interface configuration utility An optional Parameter Setup Cable is available and recommended with the first order MSEL Motor Hold Current Motor Run Current Microstep Resolution Motor Direction Override HCDT CEI RE Hold Current Delay Time Clock Type Clock and Direction Filter User ID Warning Temperature Enable Active High Low Default 0 to 100 1 to 100 1 2 4 5 8 10 16 25 32 50 64 100 108 125 127 128 180 200 250 256 0 or 2 65535 Step Dir Quadrature Up Down 10 MHz to 38 8kHz percent percent usteps per full step Step Dir 200nS 2 5 MHz nS MHz Table 1 2 6 Setup Parameters Mechanical Specifications Dimensions in Inches mm 3 473 88 21 gt 2 116 53 75 2X 0 580 0 187 0 01 2X 14 73 4 75 0 25 2X 8 Screws for End Mount 0 225 a 3 00 0 01 5 72 76 2 0 25 7 82 TYP 0 160 0 01 7 82 TYP 0 E tal 4 06 0 25 3 897 98 98 0 160 0 01 Thru pete 4 06 0 25 Thru ee 4X 6 Screws for Flat Mount 10 59 TYP 74 93 3 473 S 88 21 Figure 1 2 1 MForce PowerDrive Mechanical Specifications 1 8 Microstepping MForce PowerDrive Manual Revision R040507 Pin Assignment and Description P1 12 Pin Locking Wire Crimp Connector Option Power O and SPI Commun
68. that has passed Windows Logo testing Continue Anyway STOP Installation Figure A 7 Windows Logo Compatibility Testing 9 The Driver Installation will proceed When the Completing the Found New Hardware Wizard dialog appears Click Finish Figure A 8 10 Upon finish the Welcome to the Hardware Update Wizard will reappear to guide you through the second part of the install process Repeat steps 1 through 9 above to complete the cable installation 11 Your IMS MD CC300 000 is now ready to use Appendices Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for 2 IMS USB to SPI Device Click Finish to close the wizard lt Back Finish Cancel Figure A 8 Hardware Update Wizard Finish Installation Determining the Virtual COM Port VCP The MD CC300 000 uses a Virtual COM Port to communicate through the USB port to the MForce A VCP is a software driven serial port which emulates a hardware port in Windows The drivers for the MD CC300 000 will automatically assign a VCP to the device during installation The VCP port number will be needed when IMS Terminal is set up in order that IMS Terminal will know where to find and communicate with your IMS Product To locate the Virtual COM Port 1 Right Click the My Computer Icon and select Properties 2 Browse to the Hardware Tab Figure A 9 Click the Button labeled Device
69. the hold current is set to 0 the output circuitry of the driver section will disable when the hold current setting becomes active The hold current setting becomes active HCDT setting mS following the last clock pulse Run and Hold Current Settings Table 2 6 3 Hold and Run Current Percentage Equivalents DIR Motor Direction The DIR Motor Direction parameter changes the motor direction relative to the direction input signal adapting the direc tion of the MForce PowerDrive to operate as your system expects User ID The User ID is a three character viewable ASCII identifier which can be assigned by the user Default is IMS IMS SPI Motor Interface Button Functions The following appear on all of the IMS SPI Motor Interface screens but will only be documented here Factory Clicking the Factory button will load the Microstepping MForce PowerDrive unit s factory default settings into the IMS SPI Motor Interface Connected Disconnected Indicator Displays the connected disconnected state of the software and if connected the port connected on Set Set writes the new settings to the MForce PowerDrive Un set settings will display as blue text in the setting fields Once set they will be in black text Setting the Parameters will also clear most Fault Conditions Exit Disconnects and opens the Initialization dialog Part 2 Interfacing and Configuring 33 Screen 2 1 0 Settings Configuration Screen The 1 O Settings sc
70. tion the per phase inductance will be 4 times that specified For example a stepping motor has a specified per phase inductance of 1 47mH In this configuration the driver will see 5 88 mH per phase Maximum Motor Inductance mH per Phase 2 X Minimum Supply Voltage Figure 2 3 1B shows an 8 lead motor wired in parallel Using this configuration the per phase inductance seen by the driver will be as specified Using the following equation we will show an example of sizing a motor for a MForce PowerDrive used with an unregulated power supply with a minimum voltage V of 18 VDC 2X 18 3 6 mH The recommended per phase winding inductance we can use is 3 6 mH Recommended IMS Motors IMS also carries a series of 23 and 34 frame enhanced stepping motors that are recommended for use with the MForce PowerDrive These motors use a unique relationship between the rotor and stator to generate more torque per frame size while ensuring more precise positioning and increased accuracy The special design allows the motors to provide higher torque than standard stepping motors while maintaining a steadier torque and reducing torque drop off Each frame size is available in 3 stack sizes single or double shaft with or without encoders They handle currents up to 2 4 Amps in series or 6 Amps parallel and holding torque ranges from 90 oz in M 2218 2 4 to 1303 oz in M 3447 6 3 64 N cm to 920 N cm These CE rated motors are ideal fo
71. tions Connecting the Power Supply Using the recommended wire connect the DC output of the power supply to the V input of the connector appropriate for your Microstepping MForce PowerDrive model Connect the power supply ground to the Power Ground pin appropriate for your Microstepping MForce PowerDrive Part 1 Hardware Specifications WARNING The MForce has components which are sensitive to Electrostatic Discharge ESD All handling should be done at an ESD protected workstation WARNING Hazardous voltage levels may be present if using an open frame power supply to power your MForce product WARNING Ensure that the power supply output voltage does not exceed the maximum input voltage of the MForce product that you are using gt Note A characteristic of all motors is back EMF Back EMF is a source of current that can push the output of a power supply beyond the maximum operating voltage of the driver As a result damage to the stepper driver could occur over a period of time Care should be taken so that the back EMF does not exceed the maximum input voltage rating of the MForce PowerDrive 1 1 Connect Opto Reference and Logic Inputs Using 22 AWG wire connect the Opto Reference to the desired reference point The reference will determine whether or not the logic input is sinking or sourcing If Sinking Inputs are desired connect the Opto reference to a 5 to 24 VDC Supply If Sourcing Outputs
72. unded Do not assume that Earth ground is a true Earth ground Depending on the distance from the main power cabinet it may be necessary to sink a ground rod at the critical location The shield must be connected so that shield currents drain to signal earth connections The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance The shield should be tied to a single point to prevent ground loops A second shield can be used over the primary shield however the second shield is tied to ground at both ends Recommended Wiring The following wiring cabling is recommended for use with the MForce PowerDrive Logie MID iii E AAA AA IAN 22 AWG Wire Stip Len gehts seis ona adria 0 25 6 0 mm Power and Ground viii iii dei 18 AWG Shielded Twisted Pair Mtb citan E iataniic ses 16 AWG Shielded Twisted Pair See Table 2 2 1 if using a power cable longer than 10 feet The Gauge used is dependant upon supply current and legnth Recommended Mating Connectors and Pins Logic and SPI Communications P1 12 pin Locking Wire Crimp Connector Shell oooicidicicicininininanincnananinnnrananacinanans AMP 1 794617 2 Cp PAS ainia taa AMP 794610 1 Power P3 2 pin Locking Wire Crimp Connector Shell ooonnnnnoninnnninnnnoninncnnnnrnccrnrinnncnns Molex 51067 0200 Comp Plis incida Molex 50217 9101 Brass Motor P4 4 pin Locking Wire Crimp
73. urrent Power Supply mae P3 2 me P3 1 Shield to Earth Ground Shielded Twisted Pair Ferrite A on Supply End Only Beads Figure 2 2 3 DC Cabling Under 50 Feet Part 2 Interfacing and Configuring A WARNING DO NOT connect or disconnect power leads when power is applied Disconnect the AC power side to power down the DC power supply 10 Example B AC Power to Full Wave Bridge Cabling Over 50 Feet NOTE Connect the cable illustrated in Figure 2 2 2 to the output of the Full Wave Bridge Transformer 10 to 28 VAC RMS for 48 VDC Systems 20 to 48 VAC RMS for 75 VDC Systems T Type RFI Filter gt Required Current ma Shield to Earth Ground on Supply End Only Shielded Twisted Pair Cable Length as required lt gt Full Wave Bridge Figure 2 2 4 AC To Full Wave Bridge Rectifier Cabling over 50 Feet Example C Cabling 50 Feet or Greater AC Power to Power Supply NOTE Connect the cable illustrated in Example A to the output of the Power Supply Shielded Twisted Pair TT Type RFI Filter gt Required Current 120 or 240 VAC Dependent on DC Volts Out Power Supply min Cable Length es gt AOF as required E br re E LY Shield to Earth Ground on Supply End Only l o o O oN smausas nonon zona SAE O o o
74. velopment Cable PDO2 2300 FL3 IMS recommends the Prototype Development Cable PD02 3400 FL3 for interfacing power to the MForce PowerDrive 10 ft 3 0 m Pin 1 Red Wire eS Power Supply Return Ground A N Drain Wire Connect to Earth at Power Supply Motor Power 12 to 75 VDC Figure A 12 PD02 3400 FL3 Prototype Development Cable PDO4 MF34 FL3 The PD04 MF34FL3 is a 10 3 0 M Prototype Development Cable used to connect the MForce PowerDrive to a stepping motor Pair Number Color Combination Interface Signal MForce Wire Crimp Cable Pair CN Pin Number es Table A 2 PDO4 MF34 FL3 Drain Wire Pin 4 Pin 3 Pin 2 Pin 1 Drain Wire General Specifications Length 10 Feet 3 0 Meters Conductor 16 AWG Twisted Pairs Shield 100 Flexfoil Jacket PVC Figure A 13 PD04 MF34 FL3 A 8 Microstepping MForce PowerDrive Manual Revision R040507 WARRANTY TWENTY FOUR 24 MONTH LIMITED WARRANTY Intelligent Motion Systems Inc IMS warrants only to the purchaser of the Product from IMS the Customer that the product purchased from IMS the Product will be free from defects in materials and workmanship under the normal use and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the Customer Customer s exclusive remedy under this Limited Warranty shall be t
75. x a I Red Out of Range Value The Set Button will disable as the the Motor Interface will not allow an out of range value to be stored User ID Fault IMS None Black This is the value Currently Stored in NVM Factory Set Exit Figure 2 6 1 SPI Motor Interface Color Coding IMS SPI Motor Interface Menu Options File gt Open Opens a saved mot Motor Settings file gt Save Saves the current motor settings as a mot file for later re use gt Save As gt Exit Disconnects from the device and opens the Initialization Dialog Perform File Operation IMS Motor Interface Open Motor Settings Ed File mot Save Motor Settings Save Motor Settings As Exit the Motor Interface Figure 2 6 2 SPI Motor Interface File Menu View gt Motion Settings Displays the Motion Settings screen gt IO Settings Displays the IO Settings Screen gt Part and Serial Number Displays the part and serial number View Settings Screen 7 IMS Motor Interface Motion Settings Screen 1 0 Settings Screen Read Only Part Part and Serial Numbers and Serial Number Screen IO Settings Figure 2 6 3 SPI Motor Interface View Menu 30 Microstepping MForce PowerDrive Manual Revision R040507 Recall Retrieves the settings from the Microstepping MForce PowerDrive Recall Last Stored Parameter Settings Figure 2 6 4 SPI Motor Interface Recall Menu Upgrade Upgrades the M

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