Intelligent Motion Systems MDrive34AC manual Step/Direction Timing, Quadrature Timing, Channel A

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STEP/DIRECTION TIMING

		TDH
Direction
	TDSU
	TDSU
Step			TSL
		TSH	TSL

QUADRATURE TIMING

Direction Change	TCHL
	TCHL
Channel A
	TDC
Channel B
	TCHL

UP/DOWN (CW/CCW) TIMING

Step Up
Step Down	TSH	TSL	TDC			TDC
Step Down
				TSH	TSL
		Figure 2.1.3: Clock Input Timing Characteristics

			Clock Input Timing
Symbol		Parameter			Type and Value
Symbol		Parameter	Step/Direction		Step Up/Down	Quadrature	Units
			Step/Direction		Step Up/Down	Quadrature	Units
TDSU	T Direction Set Up		0		—	—	nS min
TDH	T Direction Hold		50		—	—	nS min
TSH		T Step High	250		250	—	nS min
TSL		T Step Low	250		250	—	nS min
TDL	T Direction Change		—		250	250	nS min
TCHL	T Channel High/Low		—		—	400	nS min
FSMAX	F Step Maximum		5		2	—	MHz Max
FCHMAX	F Channel Maximum		—		—	1.25	MHz Max
FER	F Edge Rate		—		—	5	MHz Max


		Parameter	Turn On			Turn Off	µS
—	Enable On/Off		25			20	µS

Table 2.1.1: Input Clocks Timing Table

Part 2: Interfacing and Configuring

2-5

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Contents 42TM Excellence in MotionTM34 TM OPERATING INSTRUCTIONSinaccuracies Low Voltage Installation InformationMDriveAC Plus Microstepping Revision R031808 Qualification of personnel Important informationIntended Use This page intentionally left blank Part 2 Interfacing and Configuration Table Of ContentsPart 1 Hardware Specifications 1-132-12 Section 2.3: Using the IMS SPI Motor InterfaceSection 2.4: Using User-DefinedSPI 2-21Part 2: Interfacing and Configuration List Of FiguresPart 1: Hardware Specifications AppendicesPart 2: Interfacing and Configuration List of TablesPart 1: Hardware Specifications AppendicesGETTING STARTED Connecting AC PowerConnect Opto Power and Logic Inputs MDriveAC Plus MicrosteppingMotion Settings DialogInput Settings Dialog Connecting Parameter Setup CableInstall the IMS SPI Motor Interface Figure GS.2: MDriveAC Plus CDExcellence in Motion TM PART HARDWARE SPECIFICATIONSmICROSTEPPING Page Intentionally Left Blank Relevant to Firmware VersionSECTION ConfiguringFeatures and Benefits Introduction to the MDrive34AC Plus Microstepping20 Microstep Resolutions up to Thermal Specifications General SpecificationsElectrical Specifications I/O SpecificationsMotor Specifications Setup ParametersMDriveAC Plus Microstepping Setup Parameters DefaultConnectors Mechanical SpecificationsDimensions in Inches mm Control KnobNEED A CABLE? Pin Assignment and Descriptionavailable to interface to the 19-PinM23 Connector The following cordset isPin # Pin Assignment - P1 I/O, SPI and EncoderConnections FunctionInside: Pins 13 - Outside: Pins 1Options and Accessories Features and Benefits Introduction to the MDrive42AC Plus MicrosteppingConfiguring Motor, Power Supply, and Drive Electronics20 Microstep Resolutions up to I/O Specifications Electrical SpecificationsThermal Specifications Communications SpecificationsDefault Setup ParametersMDriveAC Plus Microstepping Setup Parameters Table 1.4.1: Setup ParametersConnectors Mechanical SpecificationsDimensions in Inches mm P1 P3NEED A CABLE? available to interface to the 19-PinM23 ConnectorPin Assignment and Description The following cordset isPin # Pin Assignment - P1 I/O, SPI and EncoderConnections FunctionInside: Pins 13 - Outside: Pins 1Pin Pin Pin Internal Encoder Options and AccessoriesParameter Setup Cable and Adapter Control KnobSection 2.3: Using the IMS SPI Motor Interface PART INTERFACING AND CONFIGURINGSection 2.2: Connecting SPI Communications Section 2.4 Using User-DefinedSPIPage Intentionally Left Blank Relevant to Firmware VersionOptically Isolated Logic Inputs Isolated Logic Input Pins and ConnectionsLogic Interface and Connection MD-CS10x-000Wire Color ReferenceDirection Isolated Logic Input CharacteristicsStep Clock QuadratureUP/DOWN CW/CCW TIMING STEP/DIRECTION TIMINGQUADRATURE TIMING Figure 2.1.3: Clock Input Timing CharacteristicsMicrostepping Optocoupler ReferenceMDriveACPlus Optocoupler ReferencePNP Open Collector Interface Sourcing NPN Open Collector Interface SinkingMDriveACPlus Microstepping Input Connection ExamplesFault Temperature Warning Output Switch Interface SinkingSwitch Interface Sourcing Switch Interface ExampleFigure 2.1.7: Fault Output interfaced to an LED Minimum Required ConnectionsFigure 2.1.8 Minimum Required Connections SPI Signal Overview Connecting SPI CommunicationsConnecting the SPI Interface +5 VDC OutputMicrostepping #2 SPI Pins and ConnectionsMDriveACPlus Microstepping #1 MDriveACPlus 2-11Color Coded Parameter Values Using the IMS SPI Motor Interface InstallationConfiguration Parameters and Ranges MDriveAC Plus Microstepping Setup ParametersFile View Settings ScreenIMS SPI Motor Interface Menu Options Perform File OperationHelp UpgradeRecall 2-141.MSEL: Microstep Resolution Select MSEL Microstep Resolution SelectionExit Connected/Disconnected IndicatorFactory HCDT Hold Current Delay TimeEnable Active High/Low Screen 2 I/O Settings Configuration ScreenInput Clock Filter Settings Input Clock TypeIMS Part Number/Serial Number Screen Fault IndicationMDriveAC Plus Microstepping Fault Codes Upgrade Instructions The IMS SPI Upgrader Screen2.Serial Number: the serial number of your unit Communications Port Operations Initialization ScreenPort Menu Check Sum Calculation for SPI Using User-DefinedSPISPI Timing Notes SECTIONTable 2.4.1: SPI Commands and Parameters SPI Commands and Parameters2-22 Relevant to Firmware VersionWrite READSPI Communications Sequence Page Intentionally Left Blank Relevant to Firmware VersionAppendix C: Optional Cables and Cordsets APPENDICESAppendix B: Gear Boxes Appendix D: Interfacing an EncoderPage MDrive34AC Plus Microstepping Motor SpecificationsMDriveAC Plus Microstepping Motor Performance MDrive34AC – 120VACMDrive42AC Plus Microstepping Double LengthTriple Length MDrive42AC – 120VACDouble Length Motor SpecificationsSingle Length 1147 oz-in/810 N-cmSection Overview APPENDIX BMDrive with Planetary Gearbox Product OverviewCalculating the Shock Load Output Torque TAB ExampleFigure B.1: MDrive23 Torque-SpeedCurve Table B.1: Planetary Gearbox Operating Factor Weight of Conveyor Belt A-11A-12 A-13 MDrive34AC Plus2 Planetary Gearbox Parameters Planetary Gearbox for MDrive34AC Plus2A-14 PM81 Gearbox Ratios and Part NumbersA-15 Planetary Gearbox for MDrive42AC Plus2PM105 Gearbox Ratios and Part Numbers A-16 PM120 Gearbox Ratios and Part NumbersAPPENDIX C MD-CC300-000 USB to SPI Parameter Setup CableInstallation Procedure for the MX-CC300-000 Optional Cables and CordsetsA-18 A-19 Determining the Virtual COM Port VCPAdapter A-20P1 - Expanded I/O Configuration MD-CS10x-000CordsetPin Assignment and Wire Colors Function3-PinEuro AC Connector MD-CS20x-000CordsetTable C.2: Euro AC Wire Color Chart MD-CS200-000MDriveAC Plus Microstepping Pin ConfigurationAPPENDIX D Factory Mounted EncoderEncoder Signals A-24Linear Slide Option FeaturesAPPENDIX E MDrive34Plus Linear SlideMechanical Specifications A-26Specifications ScrewOBTAINING WARRANTY SERVICE TWENTY-FOUR24 MONTH LIMITED WARRANTYWARRANTY intelligent motion systems, INC Excellence in Motion

STEP/DIRECTION TIMING

Direction

Step

QUADRATURE TIMING

Channel A

Channel B

UP/DOWN (CW/CCW) TIMING

Step Up

Step Down

Figure 2.1.3: Clock Input Timing Characteristics

Clock Input Timing

Parameter

Type and Value

Step/Direction

Step Up/Down

Quadrature

Turn Off