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Intelligent Motion Systems MForce Series Microstepping PowerDrive PHASE A, BPHASE, PHASE B, PHASE A

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14 Microstepping MForce PowerDrive Manual Revision R040507

The IOS motor is available in the following frames:

Frame Size IMS PN

23 Frame ...................................................................................................................M3-2220-IOS

34 Frame ...................................................................................................................M3-3424-IOS

Connecting the Motor

The motor leads are connected to the following connector pins:

Phase Connector: Pin

Phase A ...................................................................................................................................P4: 1

Phase A ...................................................................................................................................P4: 2

Phase B ...................................................................................................................................P4: 3

Phase B ...................................................................................................................................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.

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.

Figure 2.3.2: 8 Lead Motor Series Connections

1

3 4

2

Splice

Splice

P4

PHASE APHASE ABPHASEPHASE B

Figure 2.3.3: 8 Lead Motor Parallel Connections

1

3 4

2

P4

PHASE APHASE ABPHASEPHASE B

Contents

Main Page i Table Of Contents Part 2: Connecting and Interfacing ii iii List of Figures Part 2: Connecting and Interfacing iv List of Tables Part 1: Interfacing and Configuring 1-1 Getting Started Power Ground +V (+12 to +48) Microstepping MForce PowerDrive Before You Begin Page FORCE Page 1-5 SECTION 1.1 Configuring 1-6 Features and Benefits 1-7 Part 1: Hardware Specications SECTION 1.2 General Specifications 1-8 Mechanical Specifications - Microstepping MForce PowerDrive Setup Parameters Setup Parameters 1-9 P3 P1 1 3 5 7 9 11 2 4 6 8 10 12 Shell: AMP P/N 1-794617-2 Pins: 12 x AMP P/N 794610-1 Wire: 22 AWG Shielded Twisted Pair 1-10 P3 Connector - DC Power, 2-Pin Locking Wire Crimp P4 P3 P4 Connector - Motor Shell: Molex P/N 39-01-2045 Pins: 4 x Molex P/N 44476-3112 Wire: 16 AWG Shielded Twisted Pair Shell: Molex P/N 510-67-0200 Pins: 2 x Molex P/N 502-17-9101 Wire: 18 AWG Shielded Twisted Pair Page Page FORCE Page 3 SECTION 2.1 Mounting Recommendations Mounting Hole Pattern (Not to Scale) Recommended Tightening Torque: 7 - 8 lb-in (78.4 - 89.6 N-cm) 4 Securing Power Leads and Logic Leads Mounting Hole Pattern Layout and Interface Guidelines Recommended Tightening Torque: 8 - 9 lb-in (89.6 - 100.8 N-cm) 5 Logic and SPI Communications (P1) Power (P3) Motor (P4) Page 7 SECTION 2.2 Choosing a Power Supply for Your MForce PowerDrive 8 DC Power Supply Recommendations IP804 Unregulated Linear Supply IP806 Unregulated Linear Supply ISP300-7 Unregulated Switching Supply ! P3 Figure 2.2.3: DC Cabling - Under 50 Feet + + + - Example B: AC Power to Full Wave Bridge Cabling Over 50 Feet P + - MForce PowerDrive Recommended Power Supply Cable AWG SECTION 2.3 Selecting a Motor Winding Inductance 12 A B Page 14 Connecting the Motor PHASE A PHASE B BPHASE BPHASE PHASE A PHASE A PHASE A PHASE A 1 3 4 PHASE B PHASE B 2 PHASE A B PHASE PHASE A 16 1 3 4 PHASE B 2 PHASE A B PHASE Recommended Motor Cabling Example B: Motor Cabling Greater Than 50 Feet Table 2.3.1: Recommended Wire Gauges Page 19 SECTION 2.4 Optically Isolated Logic Inputs Isolated Logic Input Pins and Connections Isolated Logic Input Characteristics Step/Direction Function Quadrature Function Up/Down Function STEP/DIRECTION TIMING QUADRATURE TIMING Table 2.4.1: Input Clocks Timing Table UP/DOWN TIMING Figure 2.4.3: Clock Input Timing Characteristics Clock Input Timing Microstepping MForce PowerDrive NPN Open Collector Interface (Sinking) PNP Open Collector Interface (Sourcing) Switch Interface (Sinking) Switch Interface (Sourcing) 25 Minimum Required Connections SECTION 2.5 27 SPI Pins and Connections Figure 2.5.3: Logic Level Shifting and Conditioning Circuit 12 10 Page 29 SECTION 2.6 Installation Configuration Parameters and Ranges Color Coded Parameter Values Page Page 32 Figure 2.6.7: SPI Motor Interface Motion Settings Screen 33 Factory Connected/Disconnected Indicator Set Exit 34 Screen 2: I/O Settings Configuration Screen 35 IMS Part Number/Serial Number Screen Fault Indication 36 Upgrading the Firmware in the Microstepping MForce PowerDrive 37 Initialization Screen Communications Port Operations 38 SECTION 2.7 SPI Timing Notes Check Sum Calculation for SPI 39 SPI Commands and Parameters Table 2.7.1: SPI Commands and Parameters 40 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 Write Page Page Appendix C Optional Prototype Development Cables MD-CC300-000: USB to SPI Parameter Setup Cable Adapter Cables Installation Procedure for the MD-CC300-000 Page Page PD12-1434-FL3 Power, I/O and SPI Prototype Development Cable PD02-2300-FL3 Prototype Development Cable PD04-MF34-FL3 Pin 4 Pin 3 Pin 2 Pin 1 Drain Wire General Specifications WARRANTY intelligent motion systems, INC. Excellence in Motion www.imshome.com