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Industrial Devices Corporation Impulse PCW-5181 User Manual

Impulse microstepping drive user's manual
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Industrial
Devices
Corporation
The Only Microstepping Drive with:
TM
Open Loop Stall Detect
(OLSD
)
™
TM
Multi-Stepping
TM
Dynamic Smoothing
TM
Xtreme Smoothness
Motion Node
User's Manual
P/N PCW-5181
Version 1.0

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Summary of Contents for Industrial Devices Corporation Impulse PCW-5181

  • Page 1 Industrial Devices Corporation The Only Microstepping Drive with: Open Loop Stall Detect (OLSD ™ Multi-Stepping Dynamic Smoothing Xtreme Smoothness Motion Node User’s Manual P/N PCW-5181 Version 1.0...

  • Page 3: Revision History

    Industrial Devices Corporation (IDC) strives to maintain effective communication with all users and potential users of our products. If you have any questions or concerns regarding this technical manual or the product it covers, please contact: Industrial Devices Corporation FROM OUTSIDE THE U.S. CALL (707) 789-1000 WEB SITE: www.idcmotion.com EMAIL: info@idcmotion.com Revision History...

  • Page 5: Table Of Contents

    ...4-18 ESCRIPTIONS TORED ETUP ...4-23 ...4-23 ...4-23 ETUP ...4-24 OMMUNICATIONS ...4-25 ...4-26 PDATING MPULSE CHAPTER 5 - CONFIGURING IMPULSE WITH AN IDC KEYPAD ...5-1 ...3-3 MPULSE ...3-4 ONNECTIONS ...3-7 EYPAD ...3-8 ...3-8 ...3-9 UTPUTS ...3-10 RIVE 95/98/2000/ME/NT ...4-1 EVELOPER ON INDOWS ...4-2...
  • Page 6 2 - C ECTION ONFIGURING Configuring Impulse with the Keypad ...5-12 Open a File ...5-12 Using the EDIT > SETUP Menus to Configure the Impulse ...5-12 MOTOR SETUP ...5-12 COMMAND SETUP ...5-13 MECHANICAL SETUP ...5-15 MOTOR TUNING SETUP (X-Smoothness) ...5-16 ADVANCED SETUP ...5-17...

  • Page 7: Chapter 1 - Impulse Overview

    Anti-Resonance Integrated Cooling Tunnel Regenerative Circuit This manual will enable you to 1) quickly setup and verify that your Impulse is operational, 2) configure and program the Impulse for your specific application, and 3) successfully troubleshoot possible performance problems. Function...
  • Page 8 Chapter 1 - Overview This page intentionally left blank...

  • Page 9: Chapter 2 - Shipping Contents

    Chapter 2 - Shipping Contents Your Impulse will arrive equipped as listed in section #1. If any parts or accessories are missing, please call IDC Customer Support at: (800) 747-0064. Sections 2 and 3 are provided as reference material. - What You Will Receive if You Ordered the Following:...
  • Page 10 Chapter 2 - Shipping Contents This page intentionally left blank...

  • Page 11: Chapter 3 - Connecting And Installing Your Impulse

    The purpose of this chapter is to provide information that will help you connect and install your Impulse drive in its intended application. The Impulse drive easily interfaces with a PC, PLC, Step & Direction Motion Controller, or IDC keypad. Block diagrams of several Impulse-based applications are shown below.
  • Page 12 Do not insert objects into the Impulse drive . High voltages could cause per- sonal injury, and equipment could be damaged beyond repair. Do not open the Impulse drive. The factory warranty will be voided if the drive • is opened.

  • Page 13: Connecting A Motor To The Impulse

    Note: This is a high-impedance safety-interlock circuit. If the interlock wire breaks, or the connector is removed, the current to the motor is immediately stopped, the drive faults (latches) and the LED on the front panel of the Impulse will flash five times (see LED Diagnostics on p. 3-8). IDC Motor Wiring/Color Codes...

  • Page 14: Serial Communication Connections

    B. Serial Communication Connections Making RS-232/RS-485 Connections The standard Impulse drive uses a 3-wire implementation of RS-232C. The RX, TX, and COM lines are the serial signals supported. No hardware handshaking is required. Note that some RS-232C devices require handshaking, such as RTS and CTS. It is the responsibility of the user to disable this handshaking via software or hardware (see Troubleshooting RS-232C Communication Problems on page 3-6 for more information).

  • Page 15: Daisy-Chaining Impulse Drives

    Daisy-Chaining Impulse Drives Your Impulse also supports daisy chaining. The unit address (range 1-99) can be set via the keypad or in Application Developer. Rules for Daisy Chain Operation Units on a daisy chain must be “device addressed’ (numbered) in order for communications to work properly.

  • Page 16: Troubleshooting Rs-232C Communication Problems

    Chapter 3 - Connecting and Installing Your Impulse Troubleshooting RS-232C Communication Problems If communications between computer and Impulse are unsuccessful, one or more of the following procedures will usually solve the problem: Host transmit (TX) must be connected to receive (RX) of the drive unit, and receive (RX) of the host must be connected to transmit (TX) of the drive.

  • Page 17: Connecting An Idc Keypad

    Impulse, while the FP220 can be used with the Impulse as well as IDC’s Smart Drives (see keypad-specific information below). The COM PORT on the front panel of the Impulse is used for connecting either version of keypad. Power is applied to either version of keypad when power is connected to the Impulse.

  • Page 18: Connecting Ac Power

    Usage. E. LED Diagnostic Indications The Impulse drive detects and resolves fault conditions (see table below). Faults are signaled by either a steady red or a flashing red LED on the front panel. A solid green LED indicates normal operation. A slowly flashing green LED indicates a shutdown (disabled), while a rapidly flashing green LED signals a regen dump.

  • Page 19: Connecting Inputs And Outputs

    Impulse I/O Schematics (Chap. 6) and the 25-pin Connector drawing below. Use a shielded cable, and connect the shield only at the Impulse. Connect shield to pin 9. IDC offers a 25-pin screw-terminal breakout board (shown below) to add convenience and flexibility to your application.

  • Page 20: Mounting The Impulse Drive

    Chapter 3 - Connecting and Installing Your Impulse G. Mounting the Impulse Drive This section includes installation requirements, Impulse dimensions, installing and removing mounting brackets, and mounting the Impulse on a DIN rail. Environmental and Installation Requirements • Operating Ambient Temperature: Max. 50º C (122º F) @ 4 Amps •...

  • Page 21: Impulse Dimensions

    Chapter 3 - Connecting and Installing Your Impulse Impulse Dimensions Impulse with DIN-rail Mounting Bracket (P/N PCS-5111 TS 35 DIN RAIL 5.599 1.779 6.365 Impulse with Screw-type Mounting Bracket (P/N PCS-5110) 10-32 screw with .305'' head 6.000 5.599 6.365 1.779 1.779...

  • Page 22: Inserting And Removing Mounting Brackets From The Impulse

    Chapter 3 - Connecting and Installing Your Impulse Inserting and Removing Mounting Brackets from the Impulse Both Impulse mounting brackets are interchangeable and each is inserted or removed according to the following procedures. No tools are required to insert a bracket, however a flat-bladed screwdriver is required for removal.

  • Page 23: Impulse Din-Rail Mounting

    Gently pry downward until the bracket disconnects from the rail. Note: The bracket will fall approximately 1 inch, but will still be retained by the Impulse housing. Do not attempt to remove the bracket by pulling it from the housing.
  • Page 24 Chapter 3 - Connecting and Installing Your Impulse This page intentionally left blank 3-14...

  • Page 25: Chapter 4 - Configuring Impulse With Application Developer

    Chapter 4 - Configuring Impulse with Application Developer™ This chapter covers the installation and use of IDC’s Application Developer software to configure your Impulse drive. Installing Application Developer on Windows 95/98/2000/ME/NT Place the IDC CD in your CD-ROM drive and click on the Start button.

  • Page 26: Using Application Developer

    Chapter 4 - Configuring Impulse with Application Developer Using Application Developer Application Developer’s graphic user interface allows you to configure and program your Impulse using an appropriately equipped computer. Upon starting Application Developer you will be given four options for beginning the configuration of your application (see window below).
  • Page 27 To test communication using the current setup, click on Test Connection. Click OK. Skip the section on Using the Project Wizard and go to Fine Tuning Your Application. Note: Echo and Mode are not available; they have no effect on the Impulse drive. Chapter 4 - Configuring Impulse with Application Developer...

  • Page 28: Open An Existing Project

    Open an Existing Project If you want to open a project file which has been stored on disk (not in the Impulse), select Open an Existing Project. Select the desired file and click on the Open button. After opening an existing project file, it is still possible to use the Project Wizard at any time by simply clicking on the Wizard toolbar button.
  • Page 29 Click the Project Wizard button on the Application Developer Startup window. • Select the product you are configuring, Impulse in this case, and click on Next. • The Wizard Navigator (left side of window) allows you to quickly locate your current posi- tion in the setup process.
  • Page 30 Chapter 4 - Configuring Impulse with Application Developer Click Next and the first of three possible Mechanics setup windows will appear. The Mechanics window that appears depends on the selection made in the Select an IDC Mechanical System list. Mechanics window A (shown below) appears when a Motor Only is being configured. This...
  • Page 31 (4) Discrete Inputs and one (1) Discrete Output. The buttons to the right of the inputs and outputs are provided for toggling between Active High (A.H.) and Active Low (A.L.). Chapter 4 - Configuring Impulse with Application Developer...
  • Page 32 Chapter 4 - Configuring Impulse with Application Developer Discrete Inputs (see pulldown menu) Discrete Outputs (see pulldown menu) When all parameters have been configured, click Next and the Accept window will appear. This display allows you to review the settings made earlier, or gives you an opportunity to return (Back button) to any parameter you may want to change.
  • Page 33 • Click on Config. Comm Port (#1) and select the Port to which you are connecting the Impulse. Next, select a Unit Number (from 1 - 99) for the Impulse being configured. To test communication using the current setup, click on Test Connection. Click OK.

  • Page 34: Fine-Tuning Your Application

    The Application Developer toolbar buttons allow quick access to most of the menus available on the menu bar. The toolbar buttons shown below are available when configuring an Impulse drive. If a button or item on the menu bar is grayed-out, that function is not available to Impulse users. Project...

  • Page 35: Motor

    To create or change a motor file, see Edit Motor. • Edit Motor - See Appendix C for information on using this feature. The “Advanced” tuning feature is also covered in Appendix C. See Appendix C to Edit a Motor Chapter 4 - Configuring Impulse with Application Developer 4-11...

  • Page 36: Mechanics

    Chapter 4 - Configuring Impulse with Application Developer Mechanics Move Unit and Total Inertia (kg-cm parameters. Click on the Change Mechanical System/Units button to edit your mechanical parameters. • Change Mechanical System/Units - The text input-box parameters (in each available Setup Mechanical System window) are dependent upon the selection you make from the Select Mechanical System list.

  • Page 37: Command

    • Stop Rate - Enter the deceleration rate of the motor when a STOP or EOT input is acti- vated (see Limits Tables in Ch. 9, Troubleshooting the Impulse). Notes: (1) The Stop Rate units are user-defined (selected). (2) The Stop Rate should be a value that ensures enough torque to control deceleration while not allowing the motor to stall.
  • Page 38 Chapter 4 - Configuring Impulse with Application Developer • Jog High (Jog High Speed) - Default = 2.00 (user-defined units) Numeric Precision • Select Standard to limit the decimal precision of accelerations, decelerations, velocities, and distances to the following: Accels and Decels:...

  • Page 39: X-Smoothness (Xtreme Smoothing™)

    The benefits of low-speed smoothness are 1) reduced vibration, and 2) an increase in torque, which was typically lost to vibration before the arrival of the Impulse drive. Achieving this revolutionary smoothness is easily and quickly accomplished by following the simple procedure below.
  • Page 40 Chapter 4 - Configuring Impulse with Application Developer X-Smoothness #2 Recommended values for M1 and M2 have been pre-configured for IDC motors, but we recommend that these settings be verified and adjusted if necessary by the following procedure. 5. Press the Run Test button.

  • Page 41: Advanced (Advanced Tuning)

    This is a form of interpolation that produces smooth motion in an otherwise coarse and noisy stepping system. Chapter 4 - Configuring Impulse with Application Developer Note: Observe decrease in Gain when Multi-Stepping is Enabled.

  • Page 42: I/O Setup

    Chapter 4 - Configuring Impulse with Application Developer Stall Detection • Select Stall Detection to enable the Open Loop Stall Detect™ encoderless stall detection feature. • Stall detection becomes active at velocities of 0.5 RPS and greater. Remember to perform a “Send All” command to send the modified project file to the drive.
  • Page 43 (activation on to activation off). To insure the negative edge is latched, the Warm Boot input must be held asserted for at least 500 s before releasing. Chapter 4 - Configuring Impulse with Application Developer Move Select Inputs...

  • Page 44: Output Descriptions

    Brake: The Brake output is activated on any fault condition. This provides a control signal to engage a brake when the Impulse loses torque due to a fault. The Brake output also provides a polarity-configurable fault output since the dedicated fault output is fixed as an active high, sinking output.

  • Page 45: Stored Move Setup - Editing Stored Moves

    Stored Move Setup - Editing Stored Moves If your Impulse is equipped with the Motion Node option you will be able to access the Stored Move Setup menu shown below. The Impulse will store seven (7) moves which can be invoked through binary inputs, by serial commands (see Appendix B), or via the Run >...
  • Page 46 Chapter 4 - Configuring Impulse with Application Developer Note: Homing is predicated on the assumption that the system is positioned somewhere between the EOT switches when the home move is invoked. If the system is initially outside the interval between the EOT switches, the homing routine will fail in one of two ways: (1) carriage will be driven against mechanical end-stop.

  • Page 47: File Menu

    I/O, Axis, and Project Wizard, accessible from toolbar buttons, have been discussed previ- oulsy. • Select Controller Type as the first step in starting a new project file. You must select a con- troller before you can build a new project file. Chapter 4 - Configuring Impulse with Application Developer 4-23...

  • Page 48: Communications Menu

    This dialog box also contains a Comm Port test utility to verify proper RS-232/485 operation. • Select Test Connection to command an instant communication test (also available in Setup Comm Port). • For information on Load Flash Memory, see Updating Your Impulse Operating System at the end of this chapter. 4-24...

  • Page 49: Run Menu

    No editing of moves is available on this menu. During the execution of any stored move, the Impulse ignores the step and direction inputs. Any activity on those inputs is completely lost. In other words, stored moves are not added in with incoming step commands. Typically, it is not a useful control stratagem to trigger a stored move while engaged in motion commanded via the step and direction inputs.

  • Page 50: View Menu

    • Click Drive Info for a look at hardware and firmware versions. In the unlikely event that the Impulse sustains an EEPROM Fault (7 red LED flashes) the Restore Factory Settings button is used to clear the current memory contents and restore the factory default configu- ration of the Impulse.

  • Page 51: Updating Your Impulse Operating System

    Your Impulse drive contains FLASH memory technology allowing the flexibility and convenience of upgrading the operating system using Application Developer and a PC RS232 or RS485 serial connection. The latest released Impulse operating system version is available for download at our web site http://www.idcmotion.com.
  • Page 52 Chapter 4 - Configuring Impulse with Application Developer This page intentionally left blank 4-28...

  • Page 53: Chapter 5 - Configuring Impulse With An Idc Keypad

    Impulse Keypad, and we recommend this section be reviewed by those experienced with the FP220 keypad as well. If you are using an FP220 keypad (version 3.00 and above) to configure the Impulse, it is imperative that the keypad DIP-switches be set as shown on the next page.
  • Page 54 Impulse drive. NOTE: If you are using an FP220 keypad with your Impulse, you must set DIP-switch #3 to the ON position and switch #s 1, 2, and 4 to OFF. Setting switch #3 to ON does not apply when using the FP220 with other IDC drives or controls.
  • Page 55 - Deletes project files or characters in a text-entry editor. Saves an entry and moves back one menu level. Chapter 5 - Configuring Impulse with an IDC Keypad ± ALPHA ALPHA Serves as a minus or ALPHA plus a numeric key...
  • Page 56 Chapter 5 - Configuring Impulse with an IDC Keypad Keypad Menu Structure Most operations using the keypad are menu-driven. A menu consists of a title bar on the top display line and as many as three options (or sub-menus) at a time on the bottom display line. Each option is displayed above one of the function keys, F1, F2, or F3.

  • Page 57: Enter Key

    Use the ENTER key to select or save a file in the FILE OPTIONS MENU. Sending the Factory Default Configuration to the Impulse In the unlikely event that the Impulse sustains an EEPROM Fault (7 red LED flashes), this fault can be cleared by restoring the factory default configuration. To restore the default configuration: Press the decimal key.
  • Page 58 Chapter 5 - Configuring Impulse with an IDC Keypad Using the RUN Menus Press the RUN key to display the MOVE, PROBE, JOG, WMBOOT, and SHTDWN menus. Run Stored Move (MOVE) Note: The MOVE feature is available only if you purchased the optional Motion Node version of the Impulse RUN >...
  • Page 59 If YES is selected, the open project file will be overwritten with the data currently in the keypad. If NO is selected, you will be prompted again to select a project file location to overwrite and rename if desired. Chapter 5 - Configuring Impulse with an IDC Keypad EDIT FILE...
  • Page 60 Using the SETUP Sub-Menus for Configuring Your System The following table shows the structure within the EDIT > SETUP sub-menu. For more detailed descriptions of setup parameters, see Chapter 5 - Configuring Impulse with the FP100 or FP220 Keypad. Sub-Menu...

  • Page 61: Using The Help Menu

    • Press HR_OP for the total number of hours the Impulse has been in operation. • Press PWR_CY for the number of times power has been cycled.

  • Page 62: Using The Copy Menu

    Chapter 5 - Configuring Impulse with an IDC Keypad COPY Using the COPY Menu Downloading project files between keypads and Impulse or between keypad and PC can save a significant amount of time when configuring your drive with an FP100 keypad. Press COPY for the following two options:...

  • Page 63: Section 2 - Configuring Impulse With An Idc Keypad

    Configuring all parameters in the EDIT menu will ensure that your project file is setup correctly. The task of configuring your Impulse for a specific application consists of customizing a number of software parameters to match the mechanics of the system. These parameters include motor setup, I/O, jog, stored move profiles, and advanced tuning.

  • Page 64: Configuring Impulse With The Keypad

    Open a File Using the EDIT > FILE menu, open a project file. Using the EDIT > SETUP Menus to Configure the Impulse The EDIT > SETUP menus allow you to configure your motor, mechanical units, I/O, operating characteristics, and perform advanced tuning of your system for optimum performance.

  • Page 65: Command Setup

    5. Press COPY > FRM PAD (F3) to send the project file to the drive. Your project file now contains parameters vital to the advanced performance features of the Impulse. COMMAND SETUP...
  • Page 66 Chapter 5 - Configuring Impulse with an IDC Keypad Configuring Drive Resolution EDIT > SETUP > COMAND > D-RES Using the numeric keys, enter the operating step resolution. The valid range for drive resolution is 200 to 100,000 in increments of 200 (divisible integer of 4X the tooth count of the motor).

  • Page 67: Mechanical Setup

    Press the right arrow key ( ) and the Denominator value entry screen will appear. Using the numeric keys, enter the numerator value. Press ESC. Chapter 5 - Configuring Impulse with an IDC Keypad MECH SETUP UNITS RATIO User Units...

  • Page 68: Motor Tuning Setup (X-Smoothness)

    Chapter 5 - Configuring Impulse with an IDC Keypad MOTOR TUNING SETUP (X-Smoothness) Fine-tuning of the motor is recommended for all applications and should be accomplished before the motor load is connected. Fine-tuning produces extremely smooth performance at 2 rps and below and is accomplished by configuring the three X-Smoothness components (X-SM1, X-SM2, and X- SM3).

  • Page 69: Advanced Setup

    This option allows you to configure the anti-resonance gain (#2) between 0.1and 25.0. Press GAIN2 (F2). Using numeric keys, enter a gain of between 0.1 and 25.0. Press ESC. Chapter 5 - Configuring Impulse with an IDC Keypad Keep New Settings? STOP RED TIMEOUT (I-STOP) IDLE MODE REDUCTION (I-IDLE)
  • Page 70 Chapter 5 - Configuring Impulse with an IDC Keypad Configuring Profiling Parameters EDIT > SETUP > ADVNCE > DYN-SM MULTI (Multi-Stepping™) This option allows you to enable or disable Multi-Stepping™ feature. Press MULTI (F1). Using arrow keys, select ENABLED or DISABLED.
  • Page 71 > SETUP > ADVNCE > STALL Using the up and down arrows, toggle to DISABLED or ENABLED OLSD™ . Press ESC twice to return to the EDIT > SETUP menu. Chapter 5 - Configuring Impulse with an IDC Keypad - IDLE MODE REDUCT - TMEOUT...

  • Page 72: I/O Setup

    Chapter 5 - Configuring Impulse with an IDC Keypad I/O SETUP This option allows you to configure up to (4) digital inputs and one (1) digital output. EDIT > SETUP > I/O Configuring Inputs The input number (#1 - #4) is selected by using the right or left arrow key. The input function is selected by scrolling the list using the up or down arrow key.

  • Page 73: Configuring Outputs

    Using the right or left arrow key, select the desired input or output. Using the up or down arrow key, toggle to the desired polarity. Press ESC. Chapter 5 - Configuring Impulse with an IDC Keypad Input Description The output position has no function Activated on a fault...

  • Page 74: Move Menus - Using Stored Moves

    Chapter 5 - Configuring Impulse with an IDC Keypad Move Menus - Using Stored Moves This feature is only available of your Impulse is equipped with the optional Motion Node. The MOVE menu allows you to edit the Stored-Move parameters (also see Edit > Stored Move menu in Application Developer).
  • Page 75 Press SCAN (F2). Using the numeric keys, enter the desired scan time in milliseconds. Press ESC twice to return to the EDIT menu. Chapter 5 - Configuring Impulse with an IDC Keypad Move #1 Accel 0.0 RPS Move #1 Decel 0.0 RPS...

  • Page 76: Unit

    Chapter 5 - Configuring Impulse with an IDC Keypad UNIT# This menu allows you to configure the unit number for use in RS232C daisy chains or RS485 buses. The valid range for unit numbers is 1 - 99. EDIT > UNIT# Using the numeric keys, enter the desired unit number for the drive.

  • Page 77: Chapter 6 - Hardware Reference

    Chapter 6 - Hardware Reference Impulse Specifications Power Requirements Current Output Range Motor Inductance Range Motor Resolution Motor Frame Size - NEMA Input Voltage Input Current Setup Time (Direction) Max. Frequency (Step) Single-Ended Mode Input Voltage (VDC) Differential Mode (VDC between + and -)

  • Page 78: Remote Mounting Your Keypad

    Chapter 6 - Hardware Reference Remote Mounting Your Keypad The keypad can easily be mounted and sealed to NEMA 4 specifications by using the included mounting gasket and 6-foot communication cable. Warning: Do not attach the gasket to the keypad. Attach the gasket with the adhesive side toward the mounting enclosure. A pressure-seal is formed between the gasket and the keypad, while the adhesive maintains the seal between the enclosure and the gasket.

  • Page 79: Keypad Mounting Template

    Keypad Mounting *Template *CAUTION - this is scaled-down version of the keypad template. Use this drawing only for dimensions and locations of mounting holes. The actual template is included with your keypad and may also be found at: http://www.idcmotion.com/support/index.html KEYPAD MOUNTING TEMPLATE CAUTION: Your Keypad will be damaged if mounting screws extend more than 0.2 inches into the keypad.

  • Page 80: Digital Inputs

    Chapter 6 - Hardware Reference Impulse I/O Schematics Digital Inputs IN1_BUF Digital Output +ANA MMBT2222ALT1 2.43K Impulse internal 4.99K IN1/IN2 AM26LS32 TO COMMON Impulse internal external CMPD914 IN3/IN4 4.02k Impulse internal external PULL-UP +5V, +12V, or 24V RELAY COIL TO PULLUP COMMON...

  • Page 81: Fault Output

    When this input is off (logic high) the drive is enabled and the motor is energized. 4.99K 2.2n 50V 4.99K 2.2n 50V AM26LS32 Fault Output 4N35 FAULT Impulse internal 4.99K STEP- DIR- 4.99K STEP+, DIR+, SD+ SINKING OUTPUT Impulse internal external 4.99K...
  • Page 82 Chapter 6 - Hardware Reference Using IDC Position Sensors as EOT Limit Switches with the Impulse Four IDC position sensors may be used as EOT limit switches with the Impulse. Connection information for all four sensors is provided below. Impulse internal...

  • Page 83: Optional Accessories For Your Impulse

    Screw Terminal Breakout Board See page next page for connection information. SS-IO SS-IO-6 25-pin D-Shell I/O cable that connects Impulse to other devices or PLC SS-IO is 2 ft. SS-IO-6 is 6 ft. See the next page for wire color codes...
  • Page 84 Chapter 6 - Hardware Reference DB25BO Screw Terminal Breakout Board When connected to the Impulse, the DB25BO terminals will match the pinouts of the 25-pin connector as shown below. DB25BO 25-pin Connector on Impulse Drive SS-IO/SS-IO-6 Cables Impulse Signal STEP +...

  • Page 85: Idc Motor

    Impulse-Applicable IDC Motors S12 Hybrid Step Motor Electrical Specs. Continuous Stall Torque Recommended Current/Phase Winding Resistance @ Ambient Inductance Max. Winding Temperature Mechanical Specs. Rotor Inertia Axial Shaft Load Radial Shaft Load @ 0.5 inches Motor Weight Step Angle (full step)
  • Page 86 Chapter 6 - Hardware Reference S21, S22, S23 Hybrid Step Motor Specifications .002 A Electrical Specs. Continuous Stall Torque Recommended Current/Phase Winding Resistance @ Ambient Inductance Max. Winding Temperature Mechanical Specs. Rotor Inertia oz-in-s Axial Shaft Load Radial Shaft Load @ 0.5 inches Motor Weight Step Angle (full step) IDC Motor Wiring...
  • Page 87 S32, S33 Hybrid Step Motor Specifications 1/2-14NPS Electrical Specs. Continuous Stall Torque oz-in [N-m] Recommended Current/Phase Amps Winding Resistance @ Ambient Ohms Inductance Max. Winding Temperature °F [°C] Mechanical Specs. Rotor Inertia oz-in-s [kg-m Axial Shaft Load lbs [N] Radial Shaft Load @ 0.5 inches lbs [N] Motor Weight lbs [kg]...
  • Page 88 Chapter 6 - Hardware Reference P21, 22 Hybrid Step Motor Specifications 2.22 .219 .005 1.11 .010 THRU .205 1.11 EQ SP AS SHOWN ON A 2.625 2.22 .010 Note: Specs. apply to parallel (120 VAC) connections. Electrical Specs. Continuous Stall Torque Recommended Current/Phase Winding Resistance @ Ambient Inductance...
  • Page 89 P/K 31, 32, 33Step Motor Specifications Electrical Specs. Continuous Stall Torque Recommended Current/Phase Inductance Max. Winding Temperature Mechanical Specs. Rotor Inertia Axial Shaft Load Radial Shaft Load @ 0.5 inches Motor Weight Step Angle (full step) EQ and EM Encoder Cables Quick Disconnect Motor Cable Signal *Pin...
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  • Page 91: Chapter 7 - Troubleshooting The Impulse

    Impulse Limits Tables for a variety of operational parameters, e.g. the Acceleration/ Deceleration/Velocity Limits Table. The Impulse drive detects and resolves fault conditions. Faults are signaled by either a steady red or flashing red LED on the front panel. A solid green LED indicates normal operation. Most faults are cleared by either 1) cycling power, 2) sending a RESET command via the serial port or configurable logic input, or 3) probing the motor if the LED is steady red.

  • Page 92: Chapter 7 - Troubleshooting Your Impulse

    Chapter 7 - Troubleshooting Your Impulse Symptom The keypad is blank, but the backlight is on. The keypad is blank and the backlight is off. It is difficult to read the display Can’t Communicate over RS232, but keypad works. Can’t Communicate over RS232, and keypad does NOT work.

  • Page 93: Limits Tables

    25400 25600 36000 50000 50800 100000 Chapter 7 - Troubleshooting the Impulse Possible Causes Internal Fan or Heatsink Tunnel is clogged or restricted (internal temp. has exceeded 68° C (154° F). Ambient air in cabinet is too hot. The cooling fan is not turning.
  • Page 94 Chapter 7 - Troubleshooting Your Impulse This page intentionally left blank...

  • Page 95: Chapter 8 - Product Support

    Chapter 8 - Product Support Factory Authorized Distributors IDC has more than 45 factory-trained and authorized automation technology distributors located throughout North America, Western Europe, and the Pacific Rim. Each has been selected for their technical expertise, their local market knowledge, and exemplary business practices. They are ready to assist you in applying Industrial Devices’...

  • Page 96: Warranty & Repairs

    Chapter 8 - Product Support & Warranty Information Warranty & Repairs Industrial Devices Corporation (IDC) warrants this product to be free of defects in material and workmanship for a period of two (2) years from the date of shipment to the end user. Products that have been improperly used or damaged, in the opinion of IDC, are not subject to the terms of this warranty.

  • Page 97: Appendix A: Recommended Wiring Practices For Idc Controls

    Appendix A: Recommended Wiring Practices for IDC Controls When configuring your Impulse please follow the wiring practices listed below: • Earth ground your machine at one point using a star configuration (shown at right). Multiple earth grounds can cause a ground loop (see Preventing Ground Loop below).
  • Page 98 Appendix A - Recommended Wiring Practices...

  • Page 99: Appendix B - Impulse Advanced Programming

    Communications Protoco Transmission Frame The Impulse drive does not use the ASCII character set for encoding and parsing serial data but rather transmits actual numeric data in the form of bytes. This convention allows for faster and more efficient serial communications by reducing the number of bytes required for data transmission and eliminating the need to convert ASCII character strings into raw data.
  • Page 100 Appendix B - Impulse Advanced Programming Byte Receive Time Out Since there is no end of transmission frame deliminator, the Impulse assumes if no bytes are received for 60 ms, the transmission is complete. The receive time out is reset on every byte received therefore, the host system must insure that the latency between transmitted bytes is less than 60 ms.
  • Page 101 Transmission Status Response. Error response are defined as follows: No Error Receive Checksum Error Invalid Parameter Data Field Length Appendix B - Impulse Advanced Programming Checksum Upper Byte Checksum Lower Byte (Address + Index + Data) Cmd Position Upper Byte, Upper Word...
  • Page 102 Appendix B - Impulse Advanced Programming User Accessible Parameters Serial Jog Velocity (RAM Only) Description: Velocity value for the serial jog velocity in RPS. Parameters Parameter & Defaults SerJogV_H SerJogV_L Formulas Parameter SerJogV_H SerJogV_L Index Index Transmission Frame Unit Address...
  • Page 103 JogAcel_L Formulas Parameter JogAcel_H JogAcel_L Index Index Transmission Frame Unit Address Appendix B - Impulse Advanced Programming Parameter Description Jog Acceleration Rate Upper Word Jog Acceleration Rate Lower Word JogAcel_H = INT[(AccelRPS )(50x10 JogAcel_L = INT[FRAC[(AccelRPS Parameter Description JogAcel_H; JogAcel_L...
  • Page 104 Appendix B - Impulse Advanced Programming Stored Move Profiles #1 - #7 for Acceleration, Velocity, Deceleration Description: Determines Move Profiles #1 through #7 (acceleration, velocity and deceleration) for the internal move engine as selected by the move selection inputs or over RS232/485.
  • Page 105 Unit Address XX (see Mem. Map Index) StMvADH StMvADH CkSum CkSum Appendix B - Impulse Advanced Programming Parameter Description Move Type/Acceleration Ratio Move Distance Upper Word (Steps) Move Distance Lower Word (Steps) Acceleration Distance Upper Word Acceleration Distance Lower Word...
  • Page 106 Appendix B - Impulse Advanced Programming Serial Port Stored Move Selection (RAM Only) Description: Selects stored moves 1-7. Parameters Parameter & Defaults SerMvSel Formulas Parameter SerMvSel Index Transmission Frame Unit Address Parameter Description Stored Move Selection Formula SerMvSel = Stored Move Number...
  • Page 107 Description: Determines the commanded velocity based on the input step frequency. Parameters Parameter & Defaults CmdVel Formulas Parameter CmdVel Index Index Transmission Frame Unit Address Appendix B - Impulse Advanced Programming Parameter Description Commanded Velocity Formula CmdVel  ---------------------- -  0.0064 VelocityRPS ---------------------------- - 25600...
  • Page 108 Appendix B - Impulse Advanced Programming Stored Drive Faults (Reserved EEPROM Parameter) Description: Determines the last 8 drive faults. Parameters Parameter & Defaults Formulas - N/A Index Transmission Frame Unit Address Commanded Position Counter (RAM Only) Description: Determines the accumulated commanded position in motor steps.
  • Page 109 Index Index Transmission Frame Unit Address Appendix B - Impulse Advanced Programming Parameter Description EEPROM Enable Value EE_Enable = 0 EEPROM Disabled (Parameter changes are written to RAM only) EE_Enable = 1 EEPROM Enabled (Parameter changes are written to EEPROM)
  • Page 110 Appendix B - Impulse Advanced Programming System Status (RAM Only) Description: Determines the operational status of the drive. Parameters Parameter & Defaults SysStatus Formulas Bits 3 - 0 Status Value Bits 7 - 4 Bits 8 - 11 Bit 8 - Bit 11...

  • Page 111: Unit Address

    Parameters Parameter & Defaults UnitAddr Formulas Parameter UnitAddr Index Map Index Transmission Frame Unit Address Appendix B - Impulse Advanced Programming Parameter Description Unit Address Number Formula Value from 1 to 255 Parameter Description UnitAddr UnitAddr UnitAddr CkSum Default Value...
  • Page 112 Appendix B - Impulse Advanced Programming Software Shutdown (RAM Only) Description: Software override of the shutdown input. Parameters Parameter & Defaults ShutDwn Formulas Parameter ShutDwn Index Index Transmission Frame Unit Address B-14 Parameter Description Shutdown Override Formula ShutDwn = 0 GUI Shutdown Override Disabled (Shutdown input in control)

  • Page 113: Appendix C - Using Non-Idc Motors With The Impulse

    The optimum parameters cannot generally be determined in the field. Contact your distributor for factory assistance in characterizing non-IDC motors. The remaining option for those using non-IDC motors is to use the Impulse as a standard drive by disabling the stall detection and anti resonance features.

  • Page 114: Custom Or User-Defined Motors

    Operating Current is the current-magnitude command to the drive in Amps (it is not RMS). The value entered represents the peak amplitude of the phase currents. Saturation Current (in Amps) is critical for the implementation of the Impulse’s exclusive Open Loop Stall Detect ratory conditions for IDC motors, but cannot be accurately determined in the field for cus- tom motors.
  • Page 115 Note: This feature is typically used to build motor files for non-IDC motors. Only motors with characteristics matching those of IDC motors will benefit from the advanced features of the Impulse drive (i.e. X-Smoothness™, Dynamic Smoothing™).
  • Page 116 Appendix C - Using Non-IDC Motors with the Impulse Anti -Resonance • Damping Gain 1 - Enter the recommended value. • Damping Gain 2 - If a value is present you may leave it as is or enter a value according to the table: Note: Both Damping Gains (1 and 2) must be configured.
  • Page 117 Index AC power requirements 3-8 acceleration limits 17 accessories for the Impulse - I/O connection 6-7 address of unit 4-24 anti-resonance - enabling 4-17 anti-resonance settings - keypad 5-17 Application Developer command setup parameters 4-13 file loading options 4-2 installation 4-1...
  • Page 118 I/O 4-7 mechanics 4-6 motor 4-5 resolution 4-7 receiving files by the keypad 5-10 resetting Impulse 4-25 returning the Impulse for repair 8-2 RS-232C connections 3-4 RS-485 connections 3-4 scan time - move select 5-23 schematics digital inputs 6-4 digital output 6-4...
  • Page 119 Do Not Print This Page Inserted as Placeholder...
  • Page 120 Industrial Devices Corporation 3925 Cypress Drive Petaluma, CA USA 94954 TEL: (800) 747-0064 • FAX: (707) 789-0175 • OUTSIDE THE U.S. CALL (707) 789-1000 E-mail: info@idcmotion.com Web Site: www.idcmotion.com...

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