Intelligent Motion Systems IM481H Computer Drive User Manual
Contents
1. 40 TO 125 C OPERATING 0 TO 50 C REAR MOUNTING SURFACE MAX 70 C ADDITIONAL COOLING MAY BE REQUIRED TO LIMIT REAR MOUNTING SURFACE Care should be taken when choosing a heatsink to ensure that there is good thermal flow otherwise hot spots may occur in the IM481H which will reduce the effectivness of the thermal protection WARNING Rear mounting surface of driver contains different voltages and must be keep isolated when attached to a conductive surface NOTE An optional thermal pad Part TI 481 and heat sink Part 481 is available for the IM481H SECTION 6 1 MECHANICAL SPECIFICATIONS DIMENSIONAL INFORMATION Dimensions in Inches mm IM481H 2 700 68 6 Wt 0 512 2 m TU 14 6 gms 2 225 i F 56 4 2 X 0 150 655 3 8 THRU TYR Heat Sink This Side oda ans 14 3 a 0 058 0 225 0 100 0 016 I 15 5 7 H H 25 4 0 4 SQ 9 481 b 3 000 sl 0920 ANETO 76 2 23 37 1 02 oz 29 0 gms 0275 2452. INTELLIGENT MOTION SYSTEMS ING Excellence in Motion IM481H ULTRA MINIATURE HIGH PERFORMANCE MICROSTEPPING DRIVE OPERA INE RUC ONS 370 MAIN ST PO BOX 457 MARLBOROUGH CT 06447 PH 860 295 6102 FAX 860 295 6107 Internet http www imshome com E Mail info imshome com 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 sa trademarks of Intelligent Motion Systems Inc Intelligent Motion Systems Inc s general policy does not recommend the use of its products in life Support or aircraft applications wherein 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
3. N NOTE Always use Shielded Twisted Pairs for the IMS Driver Motor Cable This page intentionally left blank 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 the 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
4. NOTE Care should be taken when using this supply not to couple noise from external circuits into the IM481H which could cause erratic operation or damage 5VDC SUPPLY 5VDC SUPPLY MOTOR SUPPLY Figure 5 14 SECTION 10 LAYOUT AND INTERFACE GUIDELINES Logic level signals should not run parallel to motor phase signals The motor phase signals will introduce noise into the logic level signals and can make the system unreliable Motor phase signals should run as pairs and should be separated from other signals by ground traces where possible When leaving the board motor cables should not be run parallel with other wires and phases should be wired using twisted pairs If motor cabling in excess of 1 foot is required the use of a shielded twisted pair cable is recommended to reduce the transmission of EMI The shield must be tied to AC ground at the driver end only The motor end must be left floating If more then one driver is to be connected to the same power supply separate power and ground connections from each driver to the power supply should be used The power supply cables need to be a twisted pair if power is connected from a source external to the board If multiple drivers are used with an external power source and it is not possible to run separate power and ground connections to each driver a low impedance electrolytic capacitor equivalent to 2 times the total capacitance of
5. 8 and 4 lead motors and 6 lead center tapped motors see section 8 2 Connecting the Motor To maintain a given set motor current the IM481H chops the voltage using a constant chopping frequency 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 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 The maximum per phase motor inductance for the IM481H is calculated as follows Max per Phase Inductance mH 2 x Supply Voltage 10 NOTE calculating the maximum phase inductance when using an unregulated power supply the minimum supply output voltage should be used Since the IM481H 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 IM481H is Set to the motor s rated current The higher the voltage used the faster the current can flow through the motor coils This in turn means a higher step rate Care should be taken not to exceed the maximum voltage of the driver Therefore 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 the highest possible driver voltage SECTION 8 2 CONNECTING THE MOTOR Phase A of th
6. IM481H mounting screw is 5 0 7 0 in lbs See the hardware list on the following page The Isolating Thermal Pad TI 481 item 4 is supplied with the INT 481 Interface Board If the INT 481 is not used the Thermal Pad must be ordered seperately WARNING The Heat Sink mounting surface must be a smooth flat surface with no burrs protrusions cuttings or other foreign objects WARNING If you are planning to wash your PCB it must be done prior to adding the IM481H Driver or damage will occur gt gt IM481 H Driver INT 481 Interface Board H 481 Heat Sink Panel Mount G n n d 5 ep N E 2 0 915 gt c 23 25 Ref _ 4 0 180 IN 4 57 Ref Description M481H Microstepping Driver INT 481 Interface Board H 481 Heat Sink 481 Isolating Thermal Pad 6 32x5 8 Pan Head Screw 6 Split Lock Washer at Washer 0 250 OD 0 145 ID 0 030 Thick 32x13 8 Pan Head Screw The Isolating Thermal Pad TI 481 item 4 is supplied with the INT 481 Interface Board If the INT 481 is not used the Thermal Pad must be ordered seperately 7 OUTPUT CURRENT SECTION 7 1 DETERMINING THE OUTPUT CURRENT For any given motor the OUTPUT CURRENT used for MICROSTEPPING is determined differently from that of a HALF FULL STE
7. all the driver capacitors see section 9 Power requirements and of equal voltage must be placed at the power input to the board MOTOR CABLES Dual Twisted Pair Shielded Separate Shields SO eeu nde ee eet Belden Part 9402 or equivalent 20 Gauge gt ER Belden Part 9368 or equivalent 18 Gauge POWER SUPPLY CABLES Twisted Pair Jacketed lt 4 Amps DC current Belden 9740 or equivalent 18 Gauge gt 4 Amps DC Belden 8471 or equivalent 16 Gauge SECTION 11 MICROSTEP SELECTION The number of microsteps per step is selected by pins 7 thru 10 Table 5 shows the standard resolution values along with the associated input settings See section 14 Inputs The microstep resolution can be changed at any time There is no need to reset or cycle power On the fly gear shifting facilitates high speed slewing combined with high resolution positioning at either end of the move When the number of microsteps per step are changed such that the IM481H does not fall on a full step i e zero crossing of the sine cosine waveforms the IM481H will re adjust itself at the next pulse that would overshoot the full step position This feature allows the IM481H to re adjust the motor to position no matter what resolution is chosen or when it is changed 15 MICROSTEP SELECTION Table 5 RESOLUTION STEPS REV RESOLUTION RESOLUTION RESOLUTION RESOLUTIO
8. are used to connect the motor DC power to the IM481H Two local capacitors are needed connected between pins 11 and 12 and located as close to the pins as possible to insure stable operation The first capacitor is low impedance aluminum electrolytic The continuous operating voltage of the capacitor should exceed the maximum supply voltage as well as any additional voltage caused by the motors back EMF The value of the capacitor should be approximately 150 microfarads for every 1 amp of peak per phase output current EXAMPLE For peak output current of 1 4 supply voltage of 45 volts 220uf 50v capacitor is recommended Along with the aluminum electrolytic a 0 1 microfarad ceramic capacitor must be used to filter out high frequency noise It should be located between the IM481H s power input pins and the aluminum electrolytic capacitor The continuous operating voltage of the capacitor should exceed the maximum supply voltage as well as any additional voltage caused by the motors back EMF POWER SUPPLY SPECIFICATIONS Table 4 Recommended Type Unregulated DC Ripple Voltage 10 max Output Voltage 12 to 45Vdc Output 0 75 Amps TYPICAL NOTE RECOMMENDED POWER SUPPLY IMS PART ft ISP200 4 NOTE With the exception of IMS Power Supplies Switching Power Supplies and regulated linears with overcurrent pr
9. 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 the IMS Driver Supply Cable AWG Table in this Appendix Example A Cabling Under 50 Feet DC Power To IMS Driver Type RFI Filter 7 gt Required Current Ferrite Beads Shielded Twisted Pair Wire Size from Cable Length IMS Driver Supply Cable AWG Table less than 50 Feet DC Voltage from Shield to Earth Ground Power Supply on Supply End Only 500 pf Per Amp Example B Cabling 50 Feet or Greater AC Power to Full Wave Bridge NOTE To Cable Connect the cable illustrated Example A to the output of the Full Wave Bridge Full Wave Bridge Cable Length as required Shielded Twisted Pair Wire Size from IMS Driver Supply Cable AWG Table T Type RFI Filter gt Required Current Shield to Earth Ground Transformer 0 to 28 VAC RMS on Supply End Only for 48 VDC Systems 20 to 48 VAC RMS for 75 VDC Systems 000001 23 Example C Cabling 50 Feet or Greater AC Power to Power Supply IMS INTELLIGENT MOTION SYSTEMS INC 1P402 REVB DC Volts Out To Cable A GS
10. output indicates when the driver is positioned at a full step This output STEP OUTPUT can be used to count the number of full steps the motor has moved regardless of the number of microsteps in between This output is active high See section 12 19 FAULT This totem pole output indicates short circuit has occurred or low signal was OUTPUT detected on the Fault input This output is active high See section 16 20 PHASE B Phase B of the stepping motor is connected between pin 20 and pin 21 See section 8 21 SECTION 4 ELECTRICAL SPECIFICATIONS Table 1 Test Parameters TA 25 C V 48v TEST CONDITION IN TYP MAX UNITS INPUT VOLTAGE PHASE OUTPUT CURRE PHASE OUTPUT CURRENT QUIESCENT CURRENT pin 12 INPUTS OUTPUTS FLOATING QUIESCENT CURRENT 5vdc pin 14 INPUTS OUTPUTS FLOATING ACTIVE POWER DISSIPATION LOW LEVEL INPUT VOLTAGE HIGH LEVEL INPUT VOLTAGE HIGH LEVEL INPUT VOLTAGE ee INPUT PULL UP RESISTANCE INPUT PULL UP RESISTANCE INPUT PULL UP LOW LEVEL OUTPUT CURRENT HIGH LEVEL OUTPUT CURRENT LOW LEVEL OUTPUT VOLTAGE HIGH LEVEL OUTPUT VOLTAGE INCLUDES BACK OF MOTOR SECTION 5 THERMAL SPECIFICATIONS Table 2 STORAGE
11. 0 gren 21 Pin Right Angle 6 99 62 23 Connector HY481 CNO21 nn Big Tr 1609 o JPZ 8111 ep B This Side 1 550 exu 89 37 T Ore Iu I QE EI 3 e e 0000000000000000007 2 X 0143 i 8 6 Thru 48 2 872 H 481 k 72 9 Wt 2 40 oz 1875 68 1 0 178 o4gg 479 0 312 sies T 12 6 9 FT i 1 312 33 3 2X 0 177 U U U U U U U U U U 4 5 Thru ida ar 1 100 P ere n 1 i ar 0 550 EE 13 9 54 2 450 2 X 46 32 62 2 Tapped Thru Does not include mounting hardware SECTION 6 2 MOUNTING INFORMATION IM481 H Driver and H 481 Heat Sink Direct Mount on PCB D NOTE Components are described in the table on the H following page n 7 AN zl I Y 0 f 0 096 3 2 43 Hole Pattern for Direct PCB Mounting H 481 Heat Sink Dimensions are in Inches mm 0 250 0 003 0 0 5 lt 5 6 35 0 08 0 0 2 0 240 1 6 1 875 6 1 6 1 5 47 63 p 4 gt 0 064 0 031 KN 1 6 Pad 0 78 Hole NOTE The hardware items through are supplied with the H 481 Heat Sink Kit If the H 481 is not used the mounting hardware is not supplied NOTE The torque specification for the 46 32 INT 481 and
12. 2x Phase B Phase B L 20 5 MH 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 requirements 27 IMS Driver to Motor Cable AWG Table 1 Ampere Peak 5 Amperes Peak 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 2 Amperes Peak 6 Amperess Peak Length Feet 10 25 50 75 100 Length Feet 10 25 50 75 100 Minimum 20 18 16 14 14 Minimum AWG 14 14 14 12 12 3 Peak 7 Amperess Peak Length Feet 10 25 50 75 100 Length Feet 10 25 50 75 100 Minimum 18 16 14 12 12 Minimum AWG 12 12 12 12 12 4 Amperes Peak Length Feet 10 25 50 75 100 Minimum 18 16 14 12 12 Use the alternate method illustrated in Example B when cable length is gt 50 feet Driver to Motor Supply Cable Wire Size protection against EMI and RFI The actual cable type wire gauge shield type and filtering devices used are dependent on the customer s application and system N NOTE These recommendations will provide optimal DC Supply Cable the AC Supply Cable and the IMS Driver to
13. 8THERMAL REQUIREMENTS sse 19 19OPTIONS ACCESSORIES sse 20 Appendix A Recommended Cable Configurations 21 WARRANT Y tct mak iei ete i nee Dr 30 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Table 1 Table 2 Table 3 Table 4 Table 5 LIST OF FIGURES DIMENSIONAL INFORMATION 4 MOUNTING INFORMATION 6 SETTING OUTPUT CURRENT 9 MOTOR 12 POWER CONNECTIONS 14 MICROSTEP RESOLUTION SELECTION 16 t eerte ai 18 FAULT IN RESET INTERFACE CIRCUIT 18 RESET TIMING 2 18 MULTIPLE DRIVES ONE RESET 18 AUTOMATIC CURRENT REDUCTION 19 LIST OF TABLES ELECTRICAL SPECIFICATIONS 4 THERMAL SPECIFICATIONS 4 10 POWER SUPPLY SPECIFICATIONS 13 MICROSTEP SELECTION eee 15 SECTION 2 INTRODUCTION The IM481H is high performance yet low cost microstepping driver that utilizes advanced hybrid technology to greatly reduce size without sacrificing features The I
14. Connect the cable illustrated NE in Example A to the output of the Power Supply CT FF ge a M UM k on aO o Power Supply Cable Length as required Shielded Twisted Pair Wire Size from IMS Driver Supply Cable AWG Table T Type RFI Filter gt Required Current Shield to Earth Ground on Supply End Only 120 or 240 VAC Dependent on Power Supply 24 NOTE These recommendations will provide optimal protection against EMI and RFI The actual cable type wire gauge shield type and filtering devices used are dependent on the customer s application and system IMS Driver Supply Cable AWG Table 1 Ampere Peak Length Feet 10 25 50 75 100 Minimum AWG 20 20 18 118 16 2 Amperes Peak Length Feet 10 25 50 75 100 Minimum AWG 20 18 16 14 14 3 Amperes Peak Length Feet 10 25 50 75 100 Minimum AWG 18 16 14 12 12 4 Amperes Peak Length Feet 10 25 50 75 100 Minimum AWG 18 16 14 12 12 Use the alternative methods innustrated in Examples B and C when the cable length is 2 50 feet Also use the same current rating when the alternate AC power is used Driver Supply Cable Wire Size N NOTE Always use Shielded Twisted Pairs for the IMS Driver DC Supply Cable the AC Supply Cable and th
15. IM481H Ultra Miniature High Performance Microstepping Drive Revision 05 12 05 O Intelligent Motion Systems Inc All Rights Reserved SECTION PAGE 1 LIST OF TABLES AND FIGURES 1 2 INTRODUCTION oet caet alae 2 3 PIN ASSIGNMENT AND DESCRIPTION 3 4 ELECTRICAL SPECIFICATIONS 4 5 THERMAL SPECIFICATIONS 4 6 MECHANICAL SPECIFICATIONS 6 1 DIMENSIONAL IMFORMATION 5 6 2 MOUNTING INFORMATION 20 6 7 OUTPUT CURRENT 7 4 DETERMINING OUTPUT CURRENT 7 7 2 SETTING OUTPUT CURRENT 8 753 RESISTOR TABLE innedeler 9 8 MOTOR 8 1 MOTOR SEELEGCTIQN tata da 10 8 2 CONNECTING THE 10 9 POWER REQUIREMENTS 91 12 9 2 5 VDC INPUT settes eei ent tee 13 10LAYOUT AND INTERFACE GUIDELINES 14 11 MICROSTEP SELECTION sese 14 12FULLSTEP OUTPUT SIGNAL sse 16 ASTIMING 16 TAIN TS 2 espe E a Eee EGER at EP naa 17 15AUTOMATIC CURRENT REDUCTION 18 16FAULT PROTECTION 02 040 000 00 19 1
16. LIGENT MOTION 59 SYSTEMS INC Excellence in Motion P O Box 457 370 North Main Street Marlborough CT 06447 U S A Phone 860 295 6102 Fax 860 295 6107 Email info imshome com Home Page www imshome com TECHNICAL SUPPORT Eastern U S Phone 860 295 6102 Fax 860 295 6107 E mail etech imshome com Western U S Phone 760 966 3162 Fax 760 966 3165 E mail wtech 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 IM481H Operating Instructions IMS EUROPE GmbH Hahnstrasse 10 VS Schwenningen Germany D 78054 Phone 49 7720 94138 0 Fax 49 7720 94138 2 European Sales Management 4 Quai Des Etroits 69005 Lyon France Phone 33 4 7256 5113 Fax 33 4 7838 1537 German Sales Technical Support Phone 49 35205 4587 8 Fax 49 35205 4587 9 Email hruland imshome com Revision 051205
17. M481H is exceptionally small easy to interface and use yet powerful enough to handle the most demanding applications The IM481H has 14 built in microstep resolutions both binary and decimal The resolution can be changed at any time without the need to reset the driver This feature allows the user to rapidly move long distances yet precisely position the motor at the end of travel without the expense of high performance controllers With the development of proprietary and patented circuits ripple current has been minimized to reduce motor heating common with other designs allowing the use of low inductance motors improving high speed performance and system efficiency The IM481H because of its ultra small size and low cost can be used to increase accuracy and smoothness in systems using higher step angle motors In many instances mechanical gearing can be replaced with microstepping reducing cost and eliminating potential maintenance OPTIONAL INTERFACE BOARD 481 is plug on interface board which be used with the IM481H to facilitate testing in situations where panel mounting is preferred The INT 481 contains extra circuitry which includes Opto isolators for step clock direction enable and reset along with extra fault detection circuits 5vdc supply input capacitor and fault and power LED s Wiring is done through a 15 pin screw terminal header A four position dip switch is supplied for microstep r
18. N Microsteps Step 1 8 Step Motors SELECT 0 SELECT 1 SELECT 2 SELECT 3 PIN 7 PIN 8 PIN 9 PIN 10 BINARY 2 LOW LOW E Li LOW OW 2 4 8 LO OW 64 12 800 HIGH L HIGH L 128 25 600 LOW HIGH HIGH LOW 256 51 200 HIGH HIGH HIGH LOW DECIMAL 10 2 000 HIGH LOW LOW HIGH 2 5 000 LOW HIGH LO HIGH 5 5 w 5 OW 125 250 50 000 HIGH L HIGH HIGH ILLEGAL SETTINGS MAY CAUSE ERRATIC OPERATION SUPPLY GROUND FT 01112 13141516 1718 19 2021 RESOLUTION SELECT 3 w gt c N gt co ee RESOLUTION SELECT 2 gt 1 RESOLUTION SELECT 0 gt RESOLUTION SELECT 1 Figure 6 16 SECTION 12 FULLSTEP OUTPUT SIGNAL The FULLSTEP output signal from the IM481H is an active high output at pin 18 This output is TRUE for the duration of the full step A full step occurs when either Phase A or Phase B cross through zero i e full current in one winding and zero current in the other winding This fullstep position is common position no matter what resolution is selected The fullstep output can be used to count the number of mechanical full steps the motor has traveled without having to count the number of microsteps in between controller that utilizes this output can greatly reduce its position tracking overhead and thus substantially increasing its throughput SECTION 13 TIMING The Direction and Microstep Resolution Select inputs are syncron
19. N 15 AUTOMATIC CURRENT REDUCTION Built into the IM481H is the ability to automatically reduce the current in the motor windings after the completion of a move The reduction occurs approximately 5 seconds after the last positive going edge of the Step Clock input The IM481H will then revert back to the original current setting at the next positive going edge of the Step Clock input To utilize this feature the current reference output must be used to adjust the output current of the IM481H and a resistor must be connected between pins 3 amp 4 see Figure 6 The value of the resistor will determine the amount of current reduction The amount of current per phase in the current reduction mode is related to the value of the current reference resistor and the current reduction resistor When the current reduction circuit is activated the current reduction resistor is paralleled with the current adjustment resistor The parallel combination of the current reference and current reduction resistors determine the reduced current level The relationship between the output current and the resistor s values is as follows 001 x R Current Adjust x R Current Reduction Output Current Reduced R Current Adjust R Current Reduction OR Output Current Reduced x R Current Adjust R Current Reduction 001 x R Current Adjust Output Current Reduced NOTE Resistor v
20. P driver In the IM481H a sine cosine output function is used in rotating the motor Therefore when microstepping the specified phase current of the motor is considered an RMS value The CURRENT ADJUSTMENT RESISTOR used to set the output current of the IM481H sets the peak output of the sine cosine waves not the RMS value Therefore the specified motor current which is the RMS value should be multiplied by 1 4 to determine the PEAK value to which the IM481H will be set EXAMPLE If a motor has a specified PHASE CURRENT of 0 75 amps per phase then 0 75 amps X 1 4 1 05 amps peak The Resistor Value OUTPUT CURRENT X 1000 or in this example 1 05 X 1000 1050 Q Table 3 shows commercially available 196 resistors for a given current NOTE Stepper motors be configured as 4 6 or 8 leads Each configuration requires different currents Shown below are the different lead configurations and the procedures to determine their output current 4 Lead Motors Multiply the specified phase current by 1 4 to determine the peak output current 6 Lead Motors 1 When configuring a 6 lead motor in a half coil configuration i e connected from one end of the coil to the center tap high speed configuration multiply the specified per phase or unipolar current rating by 1 4 to determine the peak output current 2 When configuring the motor so the full coil is used i e connected from end to end with the center tap floating higher t
21. alues are in ohms 112131151617 18192021 1 wem CURRENT REDUCTION s CURRENT REFERENCE CURRENT ADJUSTMENT SUPPLY GROUND no oe a o CURRENT REDUCTION RESISTOR CURRENT ADJUSTMENT RESISTOR Figure 11 NOTE When connecting the current reduction resistor between pins 4 and 5 the connections should be made as short as possible to help minimize noise coupled into the driver 19 SECTION 16 FAULT PROTECTION The IM481H is internally protected against over temperature and over current The over temperature set point is between 60 and 70 C Care should be taken when choosing and installing heat sink so that there is good thermal conduction otherwise hot spots may occur in the IM481H which will reduce the operating thermal range The over current protection consists of PHASE to PHASE and V to PHASE If an output driver in the IM481H detects an over temperature condition it will shut down but will not activate the fault output Once the temperature drops to safe operating temperature the IM481H will resume operation If an over current fault is detected by the IM481H the outputs will be disabled and cannot be re enabled without resetting the driver or by cycling power At the same time the active high FAULT output pin 19 is enabled The FAULT IN input pin 6 can be used to force a fault condition When pulled low the signal is
22. e IMS Driver to Motor Cable 25 Recommended Cable Configurations IMS Driver to Motor Cable length wire gauge and power conditioning devices play major role in the performance of your IMS Driver and Motor NOTE The length of the DC power supply cable between the IMS Driver and the Motor should not exceed 50 feet Example demonstrates the recommended cable configuration for the IMS Driver 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 the IMS Driver to Motor Cable AWG Table in this Appendix Example A Cabling Under 50 Feet IMS Driver to Motor Phase A gm Phase A Phase B fmm Phase B Ferrite Beads Cable Length less than 50 Feet Two Shielded Twisted Pairs Wire Size from IMS Driver to Motor Cable AWG Table Shield to Earth Ground on Supply End Only Example B Cabling 50 Feet or Greater IMS Driver to Motor Phase A mm Phase Phase B Phase B Ferrite Beads Cable Length 50 Feet or greater Two Shielded Twisted Pairs Wire Size from IMS Driver to Motor Cable AWG Table Y Phase Phase Shield to Earth Ground Common Mode on Supply End Only Line Filters
23. e Stepping Motor is connected between pins 1 and 2 Phase B of the Stepping Motor is connected between pins 20 and 21 The following drawings in figure 4 illustrates the connection of 4 6 and 8 Lead Stepping Motors to the IM481H Driver NOTE Toreduce the transmission of EMI from the motor cables a twisted pair sheilded cable is recommended if the driver to motor cabling is in excess of one foot Motor leads should not exceed 100 feet Refer to Section 10 Recommended Wiring for further information NOTE The physical direction of the motor with respect to the direction input will depend on the connection of the motor windings To reverse the direction of the motor with respect to the direction input switch the wires on either phase A or phase B outputs WARNING Do not connect or disconnect the AC power leads or the motor leads with power applied 11 MOTOR CONNECTIONS PHASE A PHASE B 8 LEAD MOTOR SERIES CONNECTION PHASE A PHASE B NC 20 O 21 6 LEAD MOTOR HIGHER SPEED CONFIGURATION HALF COLL NC NO CONNECTION 1 e 2 PHASE A PHASEB 20 21 8 LEAD MOTOR PARALLEL CONNECTION 1 O NC PHASE A PHASE B 210 6 LEAD MOTOR HIGHER TORQUE CONFIGURATION FULL COIL NC NO CONNECTION PHASE A PHASE B 4 LEAD MOTOR Figure 4 12 POWER REQUIREMENTS SECTION 9 1 MOTOR POWER Pins 11 ground and 12 V
24. e section 7 2 6 FAULT INPUT A low signal on this input will generate latched fault condition See section 16 7 RESOLUTION Microstep resolution select inputs Used to select the number of microsteps per step of 10 SELECT 0 3 the motor See section 11 11 SUPPLY Supply voltage ground return See section 9 GROUND 12 V Supply voltage input See section 9 13 RESET INPUT When low this input will reset the driver phase outputs will disable When released the driver will be at its initial state phase off phase on See section 14 14 5V 5Vdc supply input This supply is used to power the internal logic The 5Vdc supply should be referenced to pin 11 supply ground See section 9 2 15 STEP CLOCK A positive going edge on this input advances the motor one increment The size of the INPUT increment is dependent on the microstep select inputs See section 13 16 DIRECTION This input is used to change the direction of the motor Physical direction also depends INPUT on the connection of the motor windings See section 13 17 ENABLE This input is used to enable disable the output section of the driver When high the INPUT outputs are enabled However this input does not inhibit the step clock Therefore when enabled the outputs will update by the number of clock pulses if any applied to the driver while it had been disabled See section 14 18 ON FULL This totem pole
25. esolution selection FEATURES Very Low Cost Ultra Miniature 1 1 x 2 7 x 0 17 High Input Voltage 12 to 48Vdc High Output Current 1 5 Amps RMS 2 3 Amps Peak Advanced Hybrid Design Replaces Mechanical Gearing for Smoothness and Positioning Designed for High Performance Low Inductance Stepping Motors 20 KHz Chopping Rate Up to 10 MHz Step Clock Rate 14 Selectable Microstepping Resolutions that can be changed On The Fly Up to 51 200 Steps Rev with a 1 8 Motor Automatically Switches between Slow and Fast Decay for Unmatched Performance At Full Step Output SECTION 3 PIN ASSIGNMENT AND DESCRIPTION PIN NAME PIN FUNCTION 1 2 PHASE A Phase A of the stepping motor is connected between pin 1 and pin 2 See section 8 3 CURRENT Phase current reduction adjustment input resistor connected between this and pin REDUCTION 4 if used to set motor phase current will proportionately reduce current in both ADJUST windings approximately 5 seconds after the last positive edge of the step clock input See section 15 4 CURRENT Phase current reference output resistor is connected between this 1 mA current REFERENCE source output and the Ground pin pin 11 to generate the voltage used to set the peak phase current in the motor See section 7 5 CURRENT Phase current adjustment input voltage applied to this input sets the peak phase ADJUSTMENT current in the motor Se
26. ized with the positive going edge of the Step Clock input When the Step Clock input goes high the Direction and Microstep Select inputs are latched and further changes to these inputs are ignored until the next rising edge of the Step Clock input After these signals are latched the IM481H looks to see if any changes have occured to the Direction and the Microstep Select inputs change has occurred the IM481H will execute the change before taking the next step Only AFTER the change has been executed will the step be taken If no change has occured the IM481H will simply take the next step This feature works as an automatic debounce for the Direction and Microstep Select inputs The minimum pulse width for the Step Clock input is 75nS The typical execution time for Direction or Microstep Select change is 100nS The typical execution time for Step input is 100nS The Reset and Enable inputs are asynchronous to any input and can be changed at any time The Reset requires minimum pulse width of 10uS See Section 14 for more information The Fullstep output typically occurs 75nS after the positive edge of the Step Clock excluding changes to the Direction or the Microstep Select inputs 17 SECTION 14 INPUTS The inputs to the IM481H are internally pulled up to the 5VDC internal supply Figure 7 shows the fant inputs and their associated pull up resistor P values See Section 4 Electrical Specifications fo
27. latched and the outputs will be disabled The fault condition can only be cleared by cycling power or resetting the driver SECTION 17 THERMAL REQUIREMENTS The IM481H may require heat sinking to maintain safe operating temperature Care should be taken when mounting the IM481H to heat sink with an electrically conductive surface that an isolating thermal pad is used WARNING Rear mounting surface of driver contains different voltages and must be kept isolated when attached to a conductive surface NOTE An optional thermal pad Part 481 and heat sink Part 481 is available for the IM481H The watts dissipated by the IM481H can be calculated as follows Watts Dissipated 0 6 x Peak per Phase Output Current EXAMPLE Peak per Phase Output Current 1 4 amps Watts Dissipated 1 18 20 SECTION 18 OPTIONS ACCESSORIES DESCRIPTION PART NUMBER Thermal Pad TI 481 Interface Board INT 481 Heat Sink Includes mounting hardware H 481 21 Pin Right Angle Connector 481 021 Small End Screw Driver SD1 21 APPENDIX Recommended Cable Configurations DC Supply to IMS Driver Cable length wire gauge and power conditioning devices play major role in the performance of your IMS Driver and Motor NOTE The length of the DC power supply cable to the IMS Driver should not exceed 50 feet Example demonstrates the recommended cable configuration for DC power supply cabling under 50
28. ollows PEAK OUTPUT CURRENT Amps x 1000 Resistor Value Ohms EXAMPLE To set the peak output current of the IM481H to 1 4 Amps 1 4 001 Resistor Value 1400 Table 3 shows the standard 196 resistor values with respect to the peak output current NOTE When using the Current Reference output to set the output current of the IM481H care should taken to keep the connections as short as possible to help minimize the noise coupled into the driver 3 o x gt a 2 3 n 101112131415161718192021 No o 2 D cc gt 3 4 173 ML oo v m Current Adjustment Current Adjustment Resistor Figure 3 Driver and or Motor in safe operating range DO NOT operate the IM481H Driver without a Current Adjustment Resistor 1 WARNING A Current Adjustment Resistor is always necessary to keep the 9 SECTION 7 3 RESISTOR TABLE Table 3 PEAK OUTPUT CURRENT REFERENCE RESISTOR VALUE 1 AMPS VOLTS OHMS WARNING Although stepping motors will run hot when configured correctly damage may occur to motor if a higher than specified current is used Most specified motor currents are maximum values Care should be taken when exceeding these ratings 10 MOTOR SECTION 8 1 MOTOR SELECTION The IM481H is a Bipolar driver which works equally well with both Bipolar and Unipolar motors i e
29. orque configuration use the per phase or unipolar current rating as the peak output current 8 Lead Motors SERIES CONNECTION When configuring the motor windings in Series 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 PARALLEL CONNECTION When configuring the motor windings in parallel 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 NOTE After determining the peak output current use table 4 to choose the proper current reference resistor value SECTION 7 2 SETTING OUTPUT CURRENT The OUTPUT CURRENT on the IM481H is set by applying voltage to pin 5 current adjustment The output current is set as follows PEAK OUTPUT CURRENT Amps Volts applied to pin 5 EXAMPLE 1 4 volts applied to pin 5 will set the peak output current of the IM481H to 1 4 amps per phase generate the reference voltage needed to set the peak output current of the driver 1mA current source is provided pin 4 Current Reference By connecting a resistor 1 8 watt or higher between pin 4 and pin 11 Ground a reference voltage is generated Pin 4 is then connected to pin 5 Current Adjustment to set the peak per phase output current of the driver See Figure 3 The relationship between the output current and the resistor value is as f
30. otection are not recommended because of their inability to handle surge currents If multiple drivers are to be run off of one power supply each drive should have separate power and ground wires that connect directly to the output capacitor of the power supply THE OUTPUT CURRENT NEEDED IS DEPENDENT ON THE SUPPLY VOLTAGE MOTOR SELECTION AND LOAD WARNING When using an unregulated power supply care should be taken that the output voltage does not exceed the maximum driver input voltage because of variations in line voltage It is recommended that a input line filter be used on the power supply to limit voltage spikes to the driver WARNING Do not connect or disconnect motor leads with power applied Do not connect or disconnect power supply with power applied 13 SECTION 9 2 5 VDC INPUT The IM481H requires an external regulated 5Vdc power supply The supply is connected between pins 11 ground and 14 5vdc A 22 microfarad 10v tantilum capacitor must be placed as close to the IM481H as possible between the 5vdc input pin 14 and ground The 5vdc supply ground and the motor supply ground should not be connected together at the power supplies The common ground connection between the motor power supply and the 5vdc supply should be made at the ground pin of the additional electrolytic capacitor used for the motor supply see section 9 1 Figure 5 shows the proper connection of the external 5vdc supply to the IM481H
31. r resistor tolerence Fault In Resolution Select 0 Resolution Select 1 Resolution Select 2 Resolution Select 3 AM Reset An open collector output is recommended Sieb Clock when interfacing with the IM481H Enable Ka rd On power up or if the Reset Input is Closed the internal reset circuit will hold the input low for 100 to 300 milliseconds The holding time does not begin until the Reset Input is Opened See Figure 9 Figure 7 WARNING When interfacing the FAULT IN or RESET input an open collector tri state output or a blocking diode is REQUIRED or damage may occur to internal circuits See Figure 8 1N914 OR EQUIVALENT FAULT IN RESET INPUT R INTERFACE FAULT IN RESET Lt CIRCUIT INPUT Figure 8 RESET BUTTON Circuit Circuit Circuit Open 1 Open Closes atT 0 5V Internal Reset Hold Time Starts When Circuit Opens 0 100 200 300 Milliseconds Figure 9 M UNIT 1 gt neser When controlling multiple drives with single RESET INPUT A BUTTON _1N914 OR Reset you must install blocking diodes at the EQUIVALENT input Pin 13 of each drive Because of the UNIT 2 RESET slight differences in Reset timing this will 1N914 OR INPUT prevent the drives from latching the Reset FOUNALENE Input in the LOW state See Figure 10 RESET 1N93440R LL INPUT EQUIVALENT Figure 10 18 SECTIO
32. s 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 Authorization 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 INTEL
33. 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 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 damage
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