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Intelligent Motion Systems MForce Series Microstepping PowerDrive Excellence in Motion

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intelligent motion systems, INC.

Excellence in Motion

www.imshome.com

IMS EUROPE GmbH

Niedereschacherstrasse.54

78083 Dauchingen Germany

Phone: +49/7720/94138-0

Fax: +49/7720/94138-2

E-mail: info@imseuropehome.com

European Sales Management

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69005 Lyon, France

Phone: +33/4 7256 5113

Fax: +33/4 7838 1537

E-mail: bmar tinez@imshome.com

Germany Sales

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Fax: +49/35205/4587-9

E-mail: hruhland@imshome.com

Germany/UK Technical Support

Phone: +49/7720/94138-0

Fax: +49/7720/94138-2

E-mail: mweber@imshome.com

© 2006 Intelligent Motion Systems, Inc. All Rights Reserved. REV R040507

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IMS UK Ltd.

25 Barnes Wallis Road

Segenswor th East

Fareham, Hampshire PO15 5TT

Phone: +44/0 1489-889825

Fax: +44/0 1489-889857

E-mail: mcheckley@imshome.com

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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 Copper wood Way, Suite H

Oceanside, CA 92054

Phone: 760/966-3162

Fax: 760/966-3165

E-mail: motors@imshome.com

370 N. Main St., P.O. 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: +49/7720/94138-2

E-mail: mweber@imshome.com

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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