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Intelligent Motion Systems Motion Detector Motor Settings Screen PWM Current Control, PWM Mask

Models: Motion Detector

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Motor Settings Screen (PWM Current Control)

Motor Settings Screen (PWM Current Control)

The Motor settings screen allows the user to fine tune the settings of the PWM to optimize the current output for a variety of stepping motors.

There are four parameters that may be set:

1.PWM Mask

2.PWM Period (Duty Cycle)

3.PWM Frequency Range

4.PWM Control

PWM Mask	PWM Period
	(Duty Cycle)
PWM Frequency Range	Control Bits

Figure 2.6.13: Motor Settings Screen

PWM Mask

The PWM mask parameter prevents the premature end of the forward period caused by switching transients when the motor phase current is at low levels. Adjusting this value can impact the zero-crossing performance of the motor. If experiencing the “tick” which is inherit in stepper motor systems, this may be minimized or eliminated by adjusting this value. The range of this value is 0 to 255d and will be entered as a decimal value.

The Mask will act as a filter on the PWM signal to allow time for any ringing in the output circuitry to settle.

This range represents a 8-bit Hex value that specifies the Bridge Reverse Measure Time (REVTM) and the Minimum Bridge Forward On Time (FORTM) ranging from 600 nS to 3.4 µS each (see table and diagram below). Typically these values would be balanced. The table below shows the decimal value for each time.

Note that these are typical values and the currents may be unbalanced to fine tune the motor performance.

The default value for this parameter is 204 (0xCC), which represents a Reverse Measure Time and Minimum Forward On Time of 2.5 µS.

Reverse Measure Time/Minimum Forward On Time

Hex	Time
0x0	600 ns
0x1	700 ns
0x2	800 ns
0x3	900 ns

Hex	Time
0x4	1.0 µs
0x5	1.1 µs
0x6	1.2 µs
0x7	1.4 µs

Hex	Time
0x8	1.6 µs
0x9	1.8 µs
0xA	2.0 µs
0xB	2.2 µs

Hex	Time
0xC	2.5 µs
0xD	2.8 µs
0xE	3.1 µs
0xF	3.4 µs

Table 2.6.6: PWM Mask Settings

Reverse Measure Time

Min. Forward On Time

1	1	0	1	1	1	0	1
	0xD (2.8 µS)				0xD (2.8 µS)

Convert to Decimal

0xDD

PWM Mask Value = 221

Figure 2.6.14: PWM Mask Bits

38	Microstepping MForce PowerDrive Manual Revision R032008

Image 58

Intelligent Motion Systems Motion Detector operating instructions Motor Settings Screen PWM Current Control, PWM Mask

Contents

FORCETM POWER DRIVEMICROSTEPPING OPERATING INSTRUCTIONSMicrostepping MForce PowerDrive Product Manual Qualification of personnel Important informationIntended Use This page intentionally left blank Part 2 Connecting and Interfacing Table Of ContentsPart 1 Hardware Reference Appendices Appendix A Optional Prototype Development CablesPart 2 Connecting and Interfacing List of FiguresPart 1 Hardware Reference Appendices List of TablesPart 1: Interfacing and Configuring Part 1 Hardware ReferencePower Ground Microstepping MForce PowerDriveGETTING STARTED MForce PowerDrive FrontConnecting the Motor Connect Opto Reference and Logic InputsFORCETM PART HARDWARE REFERENCEPOWER DRIVE MICROSTEPPINGPage Intentionally Left Blank SECTION ConfiguringFeatures and Benefits Thermal Specifications General SpecificationsElectrical Specifications I/O SpecificationsDefault Setup ParametersMicrostepping MForce PowerDrive Setup Parameters Name12-PinLocking Wire Crimp Recommended Connector Shell and PinsPin Assignment - P1 Power, I/O and SPI Pin Assignment and DescriptionP4 Connector - Motor P3 Connector - DC Power, 2-PinLocking Wire CrimpPins 2 x Molex P/N Recommended Connector Shell and PinsMating connector to MForce 4-pinmotor interface Options and AccessoriesParameter Setup Cable and Adapters Prototype Development CablePage Intentionally Left Blank MICROSTEPPING PART INTERFACING AND CONFIGURINGFORCETM MICRO DRIVEPage Intentionally Left Blank Figure 2.1.1 Base Mounting the MForce PowerDrive Mounting and Connection GuidelinesMForce PowerDrive SECTIONMounting Hole Pattern Securing Power Leads and Logic LeadsFigure 2.1.2 End Mounting the MForce PowerDrive Layout and Interface GuidelinesRecommended Wiring Power P3Rules of Wiring Recommended Mating Connectors and PinsPage Intentionally Left Blank Interfacing DC Power SECTIONRecommended IMS Power Supplies DC Power Supply RecommendationsISP300-7Unregulated Switching Supply IP804 Unregulated Linear SupplyRecommended Power and Cable Configurations P3 2 + P3Basic DC Power Connection Example A DC Power Cabling Under 50 FeetWARNING! DO NOT connect or disconnect power leads Selecting a Motor Motor Selection and InterfaceSECTION Winding Inductance8 Lead Stepping Motor Parallel Configuration 8 Lead Stepping Motor Series ConfigurationRecommended IMS Motors 34 Frame Enhanced 6.3A 23 Frame Enhanced 3.0A23 Frame Enhanced 6.0A Single ShaftPhase PHASE A PHASE A PHASE B PHASE BConnecting the Motor Connector PinPHASE B PHASE APHASE A PHASE B PHASE ARecommended Motor Cabling PHASE A PHASE A PHASE B PHASE BMForce PowerDrive Phase Outputs A A B B Motor Connections A A B BExample B Motor Cabling Greater Than 50 Feet MForce PowerDrive Recommended Motor Cable AWGTable 2.3.1 Recommended Wire Gauges Figure 2.3.8 Motor Cableing Greater than 50 FeetPage Isolated Logic Input Characteristics Logic Interface and ConnectionIsolated Logic Input Pins and Connections Enable InputUp/Down Function Step/Direction FunctionQuadrature Function Step ClockChannel A DirectionStep Channel BFigure 2.4.4 Optocoupler Input Circuit Diagram PowerDriveMicrostepping MForce Optocoupler ReferenceInput Connection Examples NPN Open Collector Interface SinkingPNP Open Collector Interface Sourcing Figure 2.4.5 Open Collector Interface ExampleMicrostepping MForce PowerDrive Switch Interface SinkingSwitch Interface Sourcing Microstepping MForce PowerDriveMinimum Required Connections Power GroundMForce PowerDrive Front Opto ReferenceSPI Signal Overview Connecting SPI CommunicationsConnecting the SPI Interface SECTIONPart 2 Interfacing and Configuring SPI Pins and ConnectionsLogic Level Shifting and Conditioning Circuit Microstepping MForce PowerDrive #2 Microstepping MForce PowerDriveMicrostepping MForce PowerDrive #1 SPI ClockMicrostepping MForce PowerDrive Setup Parameters Using the IMS SPI Motor Interface InstallationConfiguration Parameters and Ranges Table 2.6.1 Setup Parameters and RangesFile View Settings ScreenIMS SPI Motor Interface Menu Options Perform File OperationPart 2 Interfacing and Configuring UpgradeFigure 2.6.5 SPI Motor Interface Upgrade Menu RecallMSEL Microstep Resolution Selection 1.MSEL Microstep Resolution SelectTable 2.6.2 Microstep Resolution Settings Exit Connected/Disconnected IndicatorFactory HCDT Hold Current Delay TimeTable 2.6.4 Input Clock Filter Settings Screen 2 I/O Settings Configuration ScreenInput Clock Filter Settings Enable Active High/LowMForce34Plus Microstepping Fault Codes Fault IndicationIMS Part Number/Serial Number Screen Upgrade Instructions The IMS SPI Upgrader Screen2.Serial Number the serial number of your unit Figure 2.6.11 SPI Motor Interface Initialization Initialization ScreenCommunications Port Operations Port MenuMotor Settings Screen PWM Current Control PWM Mask0x5 50 kHz Bit 0x0203 Read/Write Initial Value SPI Timing Notes Using User-DefinedSPISECTION Check Sum Calculation for SPISPI Commands and Parameters Table 2.7.1 SPI Commands and ParametersWrite READSPI Communications Sequence Page Intentionally Left Blank MICROSTEPPING APPENDICESFORCETM MICRO DRIVEPage Intentionally Left Blank MD-CC300-000 USB to SPI Parameter Setup Cable APPENDIX COptional Prototype Development Cables Figure A.2 MD-CC300-000Mechanical SpecificationsInstalling the Cable/VCP Drivers Installation Procedure for the MD-CC300-000Figure A.4 Hardware Update Wizard Figure A.7 Windows Logo Compatibility Testing Figure A.5 Hardware Update Wizard ScreenFigure A.6 Hardware Update Wizard Screen a Check “Include this location in the search”Figure A.9 Hardware Properties Determining the Virtual COM Port VCPTo locate the Virtual COM Port Figure A.10 Windows Device ManagerPD12-1434-FL3- Power, I/O and SPI Figure A.11 PD12-1434-FL3Prototype Development Cable PD02-2300-FL3 Drain Wire Pin Pin Pin Pin Drain WireGeneral Specifications Prototype Development Cable PD04-MF34-FL3TWENTY-FOUR24 MONTH LIMITED WARRANTY WARRANTYOBTAINING WARRANTY SERVICE Excellence in Motion intelligent motion systems, INC