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Intelligent Motion Systems Motion Detector Microstepping MForce PowerDrive, SPI Clock, CS1 CS2

Models: Motion Detector

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SPI Master with Multiple Microstepping MForce PowerDrive

It is possible to link multiple Microstepping MForce PowerDrive units in an array from a single SPI Master by wiring the system and programming the user interface to write to multiple chip selects.

Each MForce on the bus will have a dedicated chip select. Only one system MForce can be communicated with/Parameters changed at a time.

SPI Clock

SPI Master MOSIMISO

Microstepping

MForce

PowerDrive

Figure 2.5.4: SPI Master with a Single Microstepping MForce PowerDrive

SPI Clock

MOSI

SPI Master MISO

CS1

CS2

Microstepping

MForce

PowerDrive

Microstepping MForce

PowerDrive

Figure 2.5.5: SPI Master with Multiple Microstepping MForce PowerDrives

28	Microstepping MForce PowerDrive Manual Revision R032008

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Image 48

Intelligent Motion Systems Motion Detector Microstepping MForce PowerDrive #1, Microstepping MForce PowerDrive #2

Contents

POWER DRIVE MICROSTEPPINGFORCETM OPERATING INSTRUCTIONSMicrostepping MForce PowerDrive Product Manual Important information Qualification of personnelIntended Use This page intentionally left blank Table Of Contents Part 2 Connecting and InterfacingPart 1 Hardware Reference Appendices Appendix A Optional Prototype Development CablesList of Figures Part 2 Connecting and InterfacingPart 1 Hardware Reference List of Tables Part 1: Interfacing and ConfiguringAppendices Part 1 Hardware ReferenceMicrostepping MForce PowerDrive GETTING STARTEDPower Ground MForce PowerDrive FrontConnecting the Motor Connect Opto Reference and Logic InputsPART HARDWARE REFERENCE POWER DRIVEFORCETM MICROSTEPPINGPage Intentionally Left Blank SECTION ConfiguringFeatures and Benefits General Specifications Electrical SpecificationsThermal Specifications I/O SpecificationsSetup Parameters Microstepping MForce PowerDrive Setup ParametersDefault NameRecommended Connector Shell and Pins Pin Assignment - P1 Power, I/O and SPI12-PinLocking Wire Crimp Pin Assignment and DescriptionP3 Connector - DC Power, 2-PinLocking Wire Crimp Pins 2 x Molex P/NP4 Connector - Motor Recommended Connector Shell and PinsOptions and Accessories Parameter Setup Cable and AdaptersMating connector to MForce 4-pinmotor interface Prototype Development CablePage Intentionally Left Blank PART INTERFACING AND CONFIGURING FORCETMMICROSTEPPING MICRO DRIVEPage Intentionally Left Blank Mounting and Connection Guidelines MForce PowerDriveFigure 2.1.1 Base Mounting the MForce PowerDrive SECTIONSecuring Power Leads and Logic Leads Figure 2.1.2 End Mounting the MForce PowerDriveMounting Hole Pattern Layout and Interface GuidelinesPower P3 Rules of WiringRecommended Wiring Recommended Mating Connectors and PinsPage Intentionally Left Blank Interfacing DC Power SECTIONDC Power Supply Recommendations ISP300-7Unregulated Switching SupplyRecommended IMS Power Supplies IP804 Unregulated Linear SupplyP3 2 + P3 Basic DC Power ConnectionRecommended Power and Cable Configurations Example A DC Power Cabling Under 50 FeetWARNING! DO NOT connect or disconnect power leads Motor Selection and Interface SECTIONSelecting a Motor Winding Inductance8 Lead Stepping Motor Series Configuration 8 Lead Stepping Motor Parallel ConfigurationRecommended IMS Motors 23 Frame Enhanced 3.0A 23 Frame Enhanced 6.0A34 Frame Enhanced 6.3A Single ShaftPHASE A PHASE A PHASE B PHASE B Connecting the MotorPhase Connector PinPHASE A PHASE A PHASE BPHASE B PHASE APHASE A PHASE A PHASE B PHASE B MForce PowerDrive Phase Outputs A A B BRecommended Motor Cabling Motor Connections A A B BMForce PowerDrive Recommended Motor Cable AWG Table 2.3.1 Recommended Wire GaugesExample B Motor Cabling Greater Than 50 Feet Figure 2.3.8 Motor Cableing Greater than 50 FeetPage Logic Interface and Connection Isolated Logic Input Pins and ConnectionsIsolated Logic Input Characteristics Enable InputStep/Direction Function Quadrature FunctionUp/Down Function Step ClockDirection StepChannel A Channel BPowerDrive Microstepping MForceFigure 2.4.4 Optocoupler Input Circuit Diagram Optocoupler ReferenceNPN Open Collector Interface Sinking PNP Open Collector Interface SourcingInput Connection Examples Figure 2.4.5 Open Collector Interface ExampleSwitch Interface Sinking Switch Interface SourcingMicrostepping MForce PowerDrive Microstepping MForce PowerDrivePower Ground MForce PowerDrive FrontMinimum Required Connections Opto ReferenceConnecting SPI Communications Connecting the SPI InterfaceSPI Signal Overview SECTIONSPI Pins and Connections Part 2 Interfacing and ConfiguringLogic Level Shifting and Conditioning Circuit Microstepping MForce PowerDrive Microstepping MForce PowerDrive #1Microstepping MForce PowerDrive #2 SPI ClockUsing the IMS SPI Motor Interface Installation Configuration Parameters and RangesMicrostepping MForce PowerDrive Setup Parameters Table 2.6.1 Setup Parameters and RangesView Settings Screen IMS SPI Motor Interface Menu OptionsFile Perform File OperationUpgrade Figure 2.6.5 SPI Motor Interface Upgrade MenuPart 2 Interfacing and Configuring Recall1.MSEL Microstep Resolution Select MSEL Microstep Resolution SelectionTable 2.6.2 Microstep Resolution Settings Connected/Disconnected Indicator HCDT Hold Current Delay TimeFactory ExitScreen 2 I/O Settings Configuration Screen Input Clock Filter SettingsTable 2.6.4 Input Clock Filter Settings Enable Active High/LowFault Indication MForce34Plus Microstepping Fault CodesIMS Part Number/Serial Number Screen The IMS SPI Upgrader Screen Upgrade Instructions2.Serial Number the serial number of your unit Initialization Screen Communications Port OperationsFigure 2.6.11 SPI Motor Interface Initialization Port MenuMotor Settings Screen PWM Current Control PWM Mask0x5 50 kHz Bit 0x0203 Read/Write Initial Value Using User-DefinedSPI SECTIONSPI Timing Notes Check Sum Calculation for SPISPI Commands and Parameters Table 2.7.1 SPI Commands and ParametersREAD WriteSPI Communications Sequence Page Intentionally Left Blank APPENDICES FORCETMMICROSTEPPING MICRO DRIVEPage Intentionally Left Blank APPENDIX C Optional Prototype Development CablesMD-CC300-000 USB to SPI Parameter Setup Cable Figure A.2 MD-CC300-000Mechanical SpecificationsInstallation Procedure for the MD-CC300-000 Installing the Cable/VCP DriversFigure A.4 Hardware Update Wizard Figure A.5 Hardware Update Wizard Screen Figure A.6 Hardware Update Wizard ScreenFigure A.7 Windows Logo Compatibility Testing a Check “Include this location in the search”Determining the Virtual COM Port VCP To locate the Virtual COM PortFigure A.9 Hardware Properties Figure A.10 Windows Device ManagerPD12-1434-FL3- Power, I/O and SPI Figure A.11 PD12-1434-FL3Drain Wire Pin Pin Pin Pin Drain Wire General SpecificationsPrototype Development Cable PD02-2300-FL3 Prototype Development Cable PD04-MF34-FL3WARRANTY TWENTY-FOUR24 MONTH LIMITED WARRANTYOBTAINING WARRANTY SERVICE Excellence in Motion intelligent motion systems, INC