Intelligent Motion Systems MForce Series Microstepping PowerDrive Recommended IMS Motors

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NOTE: In calculating the maximum phase inductance, the

minimum supply output voltage should be used when using an unregulated supply.

Actual Inductance

Seen By the Driver

Specified Per Phase

Inductance

PHASE A

PHASE A

PHASE B

PHASE B

8 Lead Stepping Motor

Series Configuration

(Note: This exampl e a lso applies to the 6 lead motor full copper con￿guration and to 4 lead stepping motors)

Actual Inductance

Seen By the Driver

Specified Per Phase

Inductance

PHASE A

PHASE A

PHASE B

PHASE B

8 Lead Stepping Motor

Parallel Configuration

(Note: This exampl e a lso applies to the 6 lead motor half copper con￿guration)

AB

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 configuration, 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:

.2 X 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 for 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.

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Microstepping MForce PowerDrive Manual Revision R040507

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Contents Forcetm Microstepping MForce PowerDrive Product Manual Table Of Contents Appendices List of Figures List of Tables Microstepping MForce PowerDrive MForce PowerDrive FrontStepping Motor Connecting the Motor Connect Opto Reference and Logic InputsForcetm Intentionally Left Blank Introduction to the Microstepping MForce PowerDrive ConfiguringFeatures and Benefits Microstepping MForce PowerDrive Detailed Specifications General SpecificationsSetup Parameters Mechanical Specifications Dimensions in Inches mmPin Assignment and Description Pin # Function DescriptionP3 Connector DC Power, 2-Pin Locking Wire Crimp P4 Connector MotorOptions and Accessories Parameter Setup Cable and AdaptersPrototype Development Cable Intentionally Left Blank Forcetm Microstepping MForce PowerDrive Manual Revision R040507 Mounting and Connection Guidelines Mounting RecommendationsSecuring Power Leads and Logic Leads Mounting Hole PatternLayout and Interface Guidelines Power P3 Logic and SPI Communications P1Motor P4 Intentionally Left Blank Interfacing DC Power Choosing a Power Supply for Your MForce PowerDriveRecommended IMS Power Supplies DC Power Supply RecommendationsISP300-7 Unregulated Switching Supply IP804 Unregulated Linear SupplyBasic DC Power Connection Recommended Power and Cable ConfigurationsExample a DC Power Cabling Under 50 Feet Transformer 10 to 28 VAC RMS for 48 VDC Systems Winding Inductance Motor Selection and InterfaceSelecting a Motor Types and Construction of Stepping MotorsLead Stepping Motor Parallel Configuration Recommended IMS MotorsFrame Enhanced 6.0A Frame Enhanced 2.4A Not Available with Double ShaftFrame Enhanced 3.0A Frame Enhanced 6.3APhase Connector Pin Lead MotorsPhase a Motor Connections MForce PowerDrive Phase OutputsRecommended Motor Cabling Example a Motor Cabling Less Than 50 FeetExample B Motor Cabling Greater Than 50 Feet Recommended Motor Cable AWG SizesMicrostepping MForce PowerDrive Manual Revision R040507 Enable Input Isolated Logic Input Pins and ConnectionsIsolated Logic Input Characteristics Logic Interface and ConnectionQuadrature Step ClockDirection Up/DownSTEP/DIRECTION Timing Optocoupler Reference Optocoupler ReferenceNPN Open Collector Interface Sinking Input Connection ExamplesSwitch Interface Sinking Switch Interface ExampleMinimum Required Connections +V +12 to +48Connecting SPI Communications SPI Pins and Connections Logic Level Shifting and Conditioning CircuitSPI Master with Multiple Microstepping MForce PowerDrive 4 SPI Master with a Single Microstepping MForce PowerDriveUsing the IMS SPI Motor Interface Installation Configuration Parameters and RangesColor Coded Parameter Values IMS SPI Motor Interface Menu Options FileView Upgrade RecallHelp Msel Microstep Resolution Select Msel Microstep Resolution SelectionSet Connected/Disconnected IndicatorFactory ExitInput Clock Type Screen 2 I/O Settings Configuration ScreenEnable Active High/Low Input Clock FilterFault Indication IMS Part Number/Serial Number ScreenIMS SPI Upgrader Screen Upgrade InstructionsInitialization Screen Port MenuUsing User-Defined SPI SPI Timing NotesCheck Sum Calculation for SPI SPI Commands and Parameters MSBWrite SPI Communications SequenceAppendices Intentionally Left Blank MD-CC300-000 USB to SPI Parameter Setup Cable Optional Prototype Development CablesAdapter Cables Installation Procedure for the MD-CC300-000 Installing the Cable/VCP DriversFigure A.5 Hardware Update Wizard Screen Determining the Virtual COM Port VCP PD12-1434-FL3 Power, I/O and SPI Wire Color CodePrototype Development Cable PD02-2300-FL3 Prototype Development Cable PD04-MF34-FL3Warranty Excellence in Motion
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