Related Manuals for IMS MFORCE MICRO DRIVE Plus MICROSTEPPING
Summary of Contents for IMS MFORCE MICRO DRIVE Plus MICROSTEPPING
- Page 1 Excellence in Motion FORCE MICRO DRIVE MICROSTEPPING Operating Instructions www.imshome.com...
- Page 2 Systems, Inc.’s terms and conditions of sales, the user of Intelligent Motion Systems, Inc., products in life support or aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems, Inc., against all damages. IMS PN MAN-MFMMicro Revision R112706 Copyright ©...
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Page 3: Table Of Contents
Connecting the SPI Interface ......................12 SPI Signal Overview ........................12 SPI Pins and Connections ......................13 SPI Master with Multiple Microstepping MForce MicroDrive ............14 Section 2.4: Using the IMS SPI Motor Interface ................15 Installation ..........................15 Configuration Parameters and Ranges ..................15 Color Coded Parameter Values ....................15 IMS SPI Motor Interface Menu Options..................16... - Page 4 Installing the Cable/VCP Drivers ..................A-8 Determining the Virtual COM Port (VCP) ..............A-9 PD12-1434-FL3 — Power, I/O and SPI ...............A-11 Appendix D: IMS Enhanced Torque Stepping Motors .............. A-12 Size 14 Enhanced Torque Stepping Motor ................A-12 General Specifications ....................A-12 Wiring And Connection ....................A-12 Mechanical Specifications .....................A-12...
- Page 5 List of Figures Figure GS.1: Minimum Logic and Power Connections ............. 1-1 Part 1: Hardware Reference Figure 1.1.1: Microstepping MForce MicroDrive ..............1-5 Figure 1.2.1: MForce MicroDrive Mechanical Specifications ............. 1-8 Figure 1.2.2: P1 Connector - I/O and Power ................1-9 Figure 1.2.3: P2 Connector - SPI Communications ..............
- Page 6 List of Tables Part 1: Hardware Reference Table 1.2.1: Setup Parameters ....................1-8 Table 1.2.2: P1 — Pin Assignment, Power and I/O ..............1-9 Table 1.2.3: P2 Connector – SPI Communications ..............1-10 Table 1.2.4: P1 Connector – Power, I/O and SPI Communications ........1-11 Table 1.2.5: P3 —...
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Page 7: Before You Begin
G e ttin g S ta rted WARNING! The MForce has components which Microstepping MForce MicroDrive are sensitive to Electrostatic Discharge (ESD). All handling should be done at Before You Begin an ESD protected workstation. The Getting Started Section is designed to help quickly connect and begin using your Microstepping MForce WARNING! Hazardous voltage MicroDrive. - Page 8 Page Intentionally Left Blank Microstepping MForce MicroDrive Manual Revision R112706...
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Page 9: Part 1: Hardware Reference
FORCE MICRO DRIVE MICROSTEPPING Part 1: Hardware Reference Section 1.1: Introduction to the Microstepping MForce MicroDrive Section 1.2: Microstepping MForce MicroDrive Detailed Specifications Part 1: Hardware Specifications... - Page 10 Page Intentionally Left Blank Microstepping MForce MicroDrive Manual Revision R112706...
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Page 11: Configuring
Configuring The IMS SPI Motor Interface software is an easy to install and use GUI for configuring the Microstepping MForce MicroDrive from a computer's USB port. GUI access is via the IMS SPI Motor Interface included on the CD shipped with the product, or from www.imshome.com. -
Page 12: Features And Benefits
Features and Benefits • High Performance Microstepping Driver • Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness • Single Supply: +12 to +48 VDC • Low Cost • Extremely Compact • High Output Current: Up to 2 Amps RMS, 2.8 Amps Peak (Per Phase) •... -
Page 13: Section 1.2: Microstepping Mforce Microdrive Detailed Specifications
SE C T IO N 1 . 2 Microstepping MForce MicroDrive Detailed Specifications General Specifications Electrical Specifications Input Voltage (+V) Range* +12 to +48 VDC Max Power Supply Current (Per MForce MicroDrive)* 2 Amps * Actual Power Supply Current will depend on Voltage and Load. Output Current Output Current RMS 2 Amps... -
Page 14: Setup Parameters
The Maximum Allowable Setting is The following table illustrates the setup parameters. These are easily configured using the IMS SPI Motor Interface 67% Run Current configuration utility. An optional Parameter Setup Cable is available and recommended with the first order. -
Page 15: Pin Assignment And Description
Pin Assignment and Description P1 Connector - Power and I/O Pin Assignment - P1 Power and I/O Connections Flying Lead Wire 7-Pin Function Description Color Pluggable The level applied to the Optocoupler Reference will determine the sinking or sourcing configuration of the inputs. To set the inputs White Pin 1 Opto Reference... -
Page 16: P2 Connector - Spi Communications
NEED A CABLE? P2 Connector - SPI Communications The following cables and converters are Pin Assignment - P2 SPI Communications available to interface 10-Pin IDC Function Description communications with Pin 1 — No Connect Pin 2 — No Connect USB to SPI: Pin 3 —... -
Page 17: P1 12-Pin Locking Wire Crimp Connector Option
P1 12-Pin Locking Wire Crimp Connector Option - Power, I/O and SPI NOTE: The 12-Pin Communications Locking Wire Crimp Connector at P1 Eliminates the P2 Pin Assignment - P1 Power, I/O and SPI Connector! Connections Pin # Function Description Pin 1 Power Ground Pin 2 +12 to +48 VDC Motor Power Supply input. -
Page 18: P3 Connector - Motor Phase Connector
P3 Connector - Motor Phase Connector Pin Assignment - P3 Motor 4-Pin Wire Crimp Function Description Pin 1 ØA Phase A of the Motor Pin 2 ØA Phase A of the Motor Pin 3 ØB Phase B of the Motor Pin 4 ØB Phase B of the Motor... -
Page 19: Section 2.1: Mounting And Connection Recommendations
Part 2: Interfacing and Configuring Section 2.1: Mounting and Connection Recommendations Section 2.2: Logic Interface and Connection Section 2.3: Connecting SPI Communications Section 2.4: Using the IMS SPI Motor Interface Section 2.5: Using User-Defined SPI Part 2: Interfacing and Configuring... - Page 20 Page Intentionally Left Blank Microstepping MForce MicroDrive Manual Revision R112706...
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Page 21: Mounting Recommendations
SE C T I O N 2. 1 Mounting and Connection Recommendations Mounting Recommendations Flange mounting holes are drilled through with a diameter of 0.1.50" (3.81mm) to take standard 6X32 (M3 Metric) screws. The length of the screw used will be determined by the mounting flange width. See Mechanical Specifications for mounting hole pattern. -
Page 22: Dc Power Recommendations
Wiring should be accomplished using shielded twisted pair of appropriately gauged wires. The shield should be attached to earth at the power supply end and left floating at the MForce MicroDrive end. For recommended IMS Power Supplies and cable specifications please refer to Appendix: Recommended Power and Cable Configurations. -
Page 23: Section 2.2: Logic Interface And Connection
SE C T IO N 2 .2 Logic Interface and Connection Optically Isolated Logic Inputs The Microstepping MForce MicroDrive has three optically isolated logic inputs which are located on connector P1. These inputs are isolated to minimize or eliminate electrical noise coupled onto the drive control signals. Each input is internally pulled-up to the level of the optocoupler supply and may be connected to sinking or +5 to +24 VDC sourcing outputs on a controller or PLC. -
Page 24: Clock Inputs
The clock inputs may also be filtered using the Clock IOF Figure 2.2.2: Input Clock Functions pull down of the IMS SPI Motor Interface. The filter range is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz). The configuration parameters for the input filtering is covered in detail in Section 2.4: Configuring the Microstepping MForce MicroDrive. -
Page 25: Figure 2.2.3: Clock Input Timing Characteristics
STEP/DIRECTION TIMING QUADRATURE TIMING UP/DOWN TIMING Figure 2.2.3: Clock Input Timing Characteristics Clock Input Timing Type and Value Symbol Parameter Step/Direction Step Up/Down Quadrature Units T Direction Set Up — — nS min T Direction Hold — — nS min T Step High —... -
Page 26: Optocoupler Reference
NOTE: When Optocoupler Reference connecting the Optocoupler Supply, it is recommended The Microstepping MForce MicroDrive Logic Inputs are optically isolated to prevent electrical noise being coupled that you do not use MForce into the inputs and causing erratic operation. Power Ground as Ground as this will defeat the optical isolation. -
Page 27: Input Connection Examples
Input Connection Examples The following diagrams illustrate possible connection/application of the Microstepping MForce MicroDrive Logic Inputs. NPN Open Collector Interface (Sinking) +5 to +24VDC Optocoupler Reference Microstepping MForce MicroDrive Controller Output Input Controller Ground PNP Open Collector Interface (Sourcing) +5 to +24VDC Optocoupler Reference Controller Output Microstepping... -
Page 28: Switch Interface Example
Switch Interface Example Switch Interface (Sinking) +5 to +24VDC Optocoupler Reference Microstepping MForce MicroDrive Enable Input SPST Switch Switch Interface (Sourcing) +5 to +24VDC Optocoupler Reference Microstepping MForce MicroDrive Enable Input Enable Input SPST Switch Figure 2.2.6: Switch Interface Example Microstepping MForce MicroDrive Manual Revision R112706... -
Page 29: Minimum Required Connections
Minimum Required Connections The connections shown are the minimum required to operate the Microstepping MForce MicroDrive. These are illustrated in both Sinking and Sourcing Configurations. Please reference the Pin Configuration diagram and Specification Tables for the Microstepping MForce MicroDrive connector option you are using. Opto Reference* MForce MicroDrive Front... -
Page 30: Section 2.3: Connecting Spi Communications
S EC TIO N 2.3 Connecting SPI Communications Connecting the SPI Interface The SPI (Serial Peripheral Interface) is the com- munications and configuration interface. For prototyping we recommend the purchase of the parameter setup cable MD-CC300-000. If using the Microstepping MForce MicroDrive with the 10-Pin IDC on P2, this cable will plug directly into the P2 Connector. -
Page 31: Spi Pins And Connections
SPI Pins and Connections PC Parallel/SPI Port 2 3 4 For Use ONLY with IMS Parameter Setup Cable COMM GND +5 VDC OUT CHIP SELECT SPI CLOCK MASTER IN/SLAVE OUT MASTER OUT/SLAVE IN Recommended Cable: P/N MD-CC300-000 10-Pin IDC Figure 2.3.2: SPI Pins and Connections, 10-Pin IDC... -
Page 32: Spi Master With Multiple Microstepping Mforce Microdrive
SPI Master with Multiple Microstepping MForce MicroDrive It is possible to link multiple Microstepping MForce MicroDrive 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. -
Page 33: Section 2.4: Using The Ims Spi Motor Interface
The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your Microstepping MForce MicroDrive. It is available both on the CD that came with your product and on the IMS web site at http://www.imshome.com/software_interfaces.html. -
Page 34: Ims Spi Motor Interface Menu Options
Black: This is the value Currently Stored in NVM Figure 2.4.1: SPI Motor Interface Color Coding IMS SPI Motor Interface Menu Options File > Open: Opens a saved *.mot (Motor Settings) file. >... -
Page 35: Figure 2.4.4: Spi Motor Interface Recall Menu
Firmware Upgrade Figure 2.4.5: SPI Motor Interface Upgrade Menu Help > IMS Internet Tutorials: Link to an IMS Web Site page containing Interactive flash tutorials. > About: Opens the About IMS and IMS SPI Motor Interface Screen. Links to the Software... -
Page 36: Screen 1: The Motion Settings Configuration Screen
NVM Figure 2.4.7: SPI Motor Interface Motion Settings Screen The IMS SPI Motor Interface Software opens by default to the Motion Settings Screen shown on the left. There are six basic parameters that may be set here: MSEL: Microstep Resolution Select. -
Page 37: Hcdt (Hold Current Delay Time)
MForce MicroDrive to operate as your system expects. User ID The User ID is a three character (viewable ASCII) identifier which can be assigned by the user. Default is IMS. IMS SPI Motor Interface Button Functions The following appear on all of the IMS SPI Motor Interface screens, but will only be documented here. -
Page 38: Screen 2: I/O Settings Configuration Screen
Input Clock Filter The clock inputs may also be filtered using the Clock IOF pull down of the IMS SPI Motor Interface. The filter range is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz). Table 2.4.3 shows the filter settings. -
Page 39: Ims Part Number/Serial Number Screen
The IMS Part Number and Serial Number screen is accessed by clicking "View > Part and Serial Numbers". This screen is read-only and will display the part and serial number, as well as the fault code if existing. IMS may require this information if calling the factory for support. -
Page 40: Upgrading The Firmware In The Microstepping Mforce Microdrive
Below are listed the upgrade instructions as they will appear in the message box of the IMS SPI Upgrader. Note that some steps are not shown as they are accomplished internally, or are not relevant to the model IMS product you are updating. The only steps shown are those requiring user action. -
Page 41: Initialization Screen
Initialization Screen This screen will be active under five conditions: When the program initially starts up and seeks for a compatible device. The User selects File > Exit when connected to the device. The User clicks the Exit button while connected to the device. The Upgrade Process completes. -
Page 42: Section 2.5: Using User-Defined Spi
S EC TIO N 2.5 Using User-Defined SPI The MForce can be configured and operated through the end-user's SPI interface without using the IMS SPI Mo- tor Interface software and optional parameter setup cable. An example of when this might be used is in cases where the machine design requires parameter settings to be changed on-the-fly by a software program or multiple system Microstepping MForce MicroDrive units parameter states being written/read. -
Page 43: Spi Commands And Parameters
SPI Commands and Parameters Use the following table and figure found on the following page together as the Byte order read and written from the Microstepping MForce MicroDrive, as well as the checksum at the end of a WRITE is critical. SPI Commands and Parameters Command/ Range... -
Page 44: Spi Communications Sequence
READ ALL CMD WRITE (MOSI): RESPONSE (MISO): FAULT WRITE ALL CMD WRITE (MOSI): 05 00 RESPONSE (MISO): CHECKSUM CALCULATION 80+49+4D+53+19+05+00+00+01+F4+00+00+50=CC BINARY = 1100 1100 1'S COMPLEMENT = 0011 0011 2'S COMPLEMENT = 0011 0100 DEC = 52 HEX = 34 Figure 2.5.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown) SPI Communications Sequence See Timing Diagram and Byte Order figures. -
Page 45: Appendices
FORCE MICRO DRIVE MICROSTEPPING Appendices Appendix A: Recommended Power and Cable Configurations Appendix B: Optional IMS Encoders Appendix C: Optional Prototype Development Cables Appendix D: IMS Enhanced Torque Stepping Motors Appendices... - Page 46 Page Intentionally Left Blank Microstepping MForce MicroDrive Manual Revision R112706...
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Page 47: Appendix A: Recommended Power And Cable Configurations
ap p e n d i x A NOTE: These recommendations will provide optimal Recommended Power and Cable Configurations protection against EMI and RFI. The actual cable type, wire gauge, shield type and Cable length, wire gauge and power conditioning devices play a major role in the performance of your MForce. filtering devices used are Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet dependent on the customer’s... -
Page 48: Recommended Ims Power Supplies
Recommended IMS Power Supplies IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products. IP402 Unregulated Linear Supply Input Range 120 VAC Versions ...................102-132 VAC 240 VAC Versions ...................204-264 VAC Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz) No Load Output Voltage ................39 VDC @ 0 Amps... -
Page 49: General Specifications
Encoders are available in both single-end and differential configurations. All encoders have an index mark. Use of the encoder feedback feature of this product requires a controller such as an IMS MicroLYNX or PLC. The encoder has a 100 kHz maximum output frequency. -
Page 50: Encoder Signals
Encoder Signals Single-End Encoder Rotation: CW – B Leads A CCW – A Leads B Figure B.2: Single-End Encoder Signal Timing Differential Encoder Rotation: CW – B Leads A CCW – A Leads B Figure B.3: Differential Encoder Signal Timing Note: Rotation is as viewed from the cover side. -
Page 51: Encoder Cables
Encoder Cables IMS offers assembled cables for both the Single-End and Differential Encoders. The IMS Part Numbers are listed below. Single-End Encoder Cable (12”/30.5 cm leads) ..............ES-CABLE-2 Differential Encoder Cable (36”/91.5 cm leads) ............... ED-CABLE-2 Recommended Encoder Mating Connectors IMS recommends the following mating connectors (or equivalent) if you make your own cables. -
Page 52: Appendix C: Optional Prototype Development Cables
The Parameter Setup Cable interprets SPI commands and sends these commands to the MForce MicroDrive Figure C.1: MD-CC300-000 through the SPI interface. Supplied Components: MD-CC300-000 Parameter Setup Cable, USB Cable, USB Drivers, IMS SPI Interface Software. 3.75 in 1.0 in (95.0 mm) (25.0 mm) 0.875 in... -
Page 53: Installation Procedure For The Md-Cc300-000
The installation of the MD-CC300-000 requires the installation of two sets of drivers: Drivers for the IMS USB to SPI Converter Hardware. Drivers for the Virtual Communications Port (VCP) used to communicate to your IMS Product. Therefore the Hardware Update wizard will run twice during the installation process. -
Page 54: Figure C.7: Windows Logo Compatibility Testing
10) Upon finish, the Welcome to the Hardware Update Wizard will reappear to guide you through the second part of the install process. Repeat steps 1 through 9 above to complete the cable installation. 11) Your IMS MD-CC300-000 is now ready to use. Microstepping MForce MicroDrive Manual Revision R112706... -
Page 55: Determining The Virtual Com Port (Vcp
The drivers for the MD-CC300-000 will automatically assign a VCP to the device during installation. The VCP port number will be needed when IMS Terminal is set up in order that IMS Terminal will know where to find and communicate with your IMS Product. -
Page 56: Pd12-1434-Fl3 - Power, I/O And Spi
PD12-1434-FL3 — Power, I/O and SPI The PD12-1434-FL3 is a 10’ (3.0 m) Prototype Development Cable used to connect to the 12-Pin Locking Wire Crimp Connector. The Connector end plugs into the P1 Connector of the MForce MicroDrive. The Fly- ing Lead end connects to a Control Interface such as a PLC, an SPI Interface such as a PC Parallel port and the users motor power supply. -
Page 57: Appendix D: Ims Enhanced Torque Stepping Motors
D IMS Enhanced Torque Stepping Motors Size 14 Enhanced Torque Stepping Motor General Specifications L Max Part Number Holding Phase Number Phase Phase Detent Rotor Weight Torque Current of Leads Resistance Length Inductance Torque Inertia... -
Page 58: Size 17 Enhanced Torque Stepping Motor
ØA ØB green ØB black Figure D.3: Size 17 Wiring and Connection Speed Torque Curves Single Length 17 Motor Double Length 17 Motor (IMS p/n M-1713-1.5) (IMS p/n M-1715-1.5) 24 VDC 24 VDC 48 VDC 48 VDC 1000 2000 3000... -
Page 59: Mechanical Specifications
Mechanical Specifications REAR VIEW (Reduced) Dimensions in Inches (mm) 2X M2 0.94 ± 0.02 0.20 (5.1) (23.88 ± 0.51) Deep Min FRONT VIEW L MAX Optional Rear 0.590 (14.86) Shaft 0.177 ± 0.002 0.55 (4.52 ± 0.05) (14) 0.75 ±0.005 (19 ±0.13) 4X Ø... -
Page 60: Size 23 Enhanced Torque Stepping Motor
ØA ØB green ØB green/white Figure D.6: Size 23 Wiring and Connection Speed Torque Curves Double Length 23 Motor Single Length 23 Motor (IMS p/n M-2222-2.4) (IMS p/n M-2218-2.4) 24 VDC 24 VDC 45 VDC 45 VDC 1000 2000 3000... - Page 61 REAR VIEW (Reduced) 3 Amp: 2X M2 6 Amp: 2X #2-56 0.811 ±0.02 UNC-2B x (20.6 ±0.5) L MAX 0.125 (3.18) Deep FRONT VIEW 0.197 (5.0) 0.590 ±0.008 (15.0 ±0.02) 0.75 ±0.008 (19 ±0.2) 0.228 ±.009 0.56 (5.8 ±0.1) (14.3) 1.811 ±0.008 (46 ±0.2) 4X Ø...
- Page 62 Page Intentionally Left Blank Microstepping MForce MicroDrive Manual Revision R112706 A-18...
- Page 63 Customer. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s sole option, of the Product, or any part of the Product, determined by IMS to be defective. In order to exercise its warranty rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty Service.”...
- Page 64 E-mail: hruhland@imshome.com Oceanside, CA 92054 Germany/UK Technical Support Phone: 760/966-3162 Phone: +49/7720/94138-0 Fax: 760/966-3165 Fax: +49/7720/94138-2 E-mail: motors@imshome.com E-mail: mweber@imshome.com © 2006 Intelligent Motion Systems, Inc. All Rights Reserved. REV R112706 IMS Product Disclaimer and most recent product information at www.imshome.com.
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