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IMS Mforce micro drive Reference

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Excellence in Motion
TM
FORCE
MICRO DRIVE
MOTION CONTROL
Hardware
Reference
www.imshome.com

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  • Page 1: Hardware Reference

    Excellence in Motion FORCE MICRO DRIVE MOTION CONTROL Hardware Reference 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-MFIMicro Revision R112706...

  • Page 3: Table Of Contents

    Connecting the Power Supply ....................1-1 Connecting Communications ....................1-1 Connecting the Motor ......................1-1 Minimum Required Connections ....................1-1 Install IMS Terminal Software ....................1-2 Establishing Communications ....................1-3 Apply Power to the MForce ....................... 1-4 Testing the MForce ........................1-4 Make the MForce Move ......................
  • Page 4 IMS Inside Out Stepper Motors ................... 2-9 Motor Wiring.......................... 2-10 Connecting the Motor ......................2-10 8 Lead Motors ........................2-10 6 Lead Motors ........................2-11 4 Lead Motors ........................2-12 Section 2.3: Interfacing Communications ..................2-13 Available Communications Cables/Converters ................ 2-13 Interfacing Single Mode Communications ................
  • Page 5 Prototype Development Cable PD10-1434-FL3 (All MForce Plus Motion Control) ....A-20 Setup Instructions — Cable #1 ..................A-20 Setup Instructions — Cable #2 and Subsequent MDrives ..........A-20 Appendix E: IMS Enhanced Torque Stepping Motors ..............A-22 Size 14 Enhanced Torque Stepping Motor ................A-22 General Specifications ......................A-22 Wiring And Connection .....................A-22...
  • Page 6 Figure 1.3.1: Mechanical Specifications ................... 1-19 Figure 1.3.2: 16-Pin Wire Crimp Connector P1 Pin Numbers ..........1-21 Figure 1.3.3: P2 Pin Assignment ..................... 1-22 Figure 1.3.4: P3: 4-Pin Locking Wire Crimp Motor Connector ..........1-22 Part 2: Connections and Interface Figure 2.1.1: MForce MicroDrive Mounting Recommendations ..........
  • Page 7 List of Tables Table GS.1: Minimum Required Connections ................1-1 Part 1: Hardware Specification Table 1.2.1: P1 — Pin Assignment, Power and I/O ..............1-13 Table 1.2.2: P2 — Pin Assignment, RS-422/485 Communications......... 1-14 Table 1.2.3: P3 — Pin Assignment, Motor Phase Connections ..........1-15 Table 1.3.1: P1 —...
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  • Page 9: Getting Started

    Immediate and Program modes of operation. Immediate Mode: In Immediate Mode, commands are issued and executed directly to the MForce MicroDrive by user input into the terminal window of the IMS Terminal Program, shown later in this section.

  • Page 10: Install Ims Terminal Software

    Figure GS.1: MForce MicroDrive Minimum Required Connections Install IMS Terminal Software IMS Terminal is an integrated ASCII text editor and terminal emulator designed to easily communicate with and program IMS Motion Control products. Using this freely provided program will eliminate the added complication of configuring and using a separate text editor and terminal software.

  • Page 11: Establishing Communications

    Establishing Communications Note: Entering Open IMS Terminal by clicking Start>Programs>IMS Terminal>IMS Term. The Program Edit MForce MicroDrive Window (left) and Terminal Window (right) will be displayed. commands directly into the Terminal Window is called “Immediate Mode”. The Motion Control MForce...
  • Page 12 Baud Rate, and the type of device (MDrive displayed when using MForce) for which the IMS Terminal is configured. These three items may be changed directly from this screen by double clicking on each of them.

  • Page 13: Motion Control Example Using Program Mode

    Analog Input be interfaced and configured. Refer to the Programming and Software Reference for details. For more information on Programming and Command Control Sets, refer to the Programming and Soft- ware Reference Manual available on the your product CD or via the IMS web site at http://www.imshome. com/manuals.html.
  • Page 14 This Page Intentionally Left Blank...

  • Page 15: Part 1: Hardware Specification

    Excellence in Motion FORCE MICRO DRIVE MOTION CONTROL Part 1: Hardware Specifications Section 1.1: Product Introduction Section 1.2: Standard Specifications Section 1.3: Expanded Plus Specifications...
  • Page 16 Page Intentionally Left Blank Motion Control MForce MicroDrive Hardware Manual Revision R112706...

  • Page 17: Introduction

    Motion Controller. The unsurpassed smoothness and performance delivered by the Motion Control MForce MicroDrive are achieved through IMS's advanced 2nd generation current control. By applying innovative techniques to control current flow through the motor, resonance is significantly dampened over the entire speed range and audible noise is reduced.
  • Page 18  Open or Closed Loop Control  Programmable Motor Run and Hold Currents  Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs  One 10 Bit Analog Input Selectable: 0 to +10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA ...

  • Page 19: Electrical Specifications

    SE C T IO N 1 . 2 WARNING! The maximum +48 VDC Input Motion Control MForce MicroDrive Specifications Voltage of the MForce MicroDrive series includes motor Back EMF, Standard Electrical Specifications Power Supply Ripple and High Line. Electrical Specifications WARNING! Because the Input Voltage (+V) Range* +12 to +48 VDC...
  • Page 20 Motion Specifications Microstep Resolution - Open Loop Number of Resolutions Available Microsteps Per Revolution 1000 1600 2000 3200 5000 6400 10000 12800 20000 25000 25600 40000 50000 21500 36000 21600 25400 1 = 0 . 0 1 d e g / µ s t e p 2 = 1 a r c m i n u t e / µ...

  • Page 21: Mechanical Specifications

    Mechanical Specifications Dimensions in Inches (mm) 2X Ø 0.150 (2X Ø 3.81) 1.655 1.765 2.140 (42.05) (44.83) (54.36) MOTION CONTROL 0.201 2.325 (5.11) (59.06) P1 Connector Options 0.44 (304.8) (11.2) 1.300 (33.02) Flying Leads 7-Pin Terminal Strip P2 Connector Options 10-Pin IDC 10-Pin Wire Crimp...

  • Page 22: P1 Connector Options

    Pin 2 Logic Supply must be grounded at the motor supply ground. Recommended Recommended * For multi-drop communications systems IMS offers the Converter/Cable Converter/Cable PD10-1434-FL3 Prototype Development Cable. See Cables and Cordsets in the Appendices for more details. MD-CC400-000 and...

  • Page 23: P2 Connector Options

    P2 Connector Options 10-Pin IDC 10-Pin Friction Lock Wire Crimp 9 7 5 3 1 1 3 5 7 9 10 8 6 4 2 2 4 6 8 10 Recommended Cable: Recommended Cables: P/N MD-CC400-000 P/N MD-CC400-000 P/N MD-ADP-H Figure 1.2.3: P2 Pin Assignment P3 Connector - Motor Phase Connector 4-Pin Wire Crimp...

  • Page 24: Options And Accessories

    Options and Accessories Motors and Encoders IMS offers a wide range of motors, encoders and accessories recommended for interface with the Motion Con- trol MForce MicroDrive. For complete specifications on these products, please visit the IMS web site at www.

  • Page 25: Section 1.3: Mforce Microdrive Plus Expanded Specifications

    SE C T IO N 1 . 3 MForce MicroDrive Plus 2 Expanded Specifications Plus Electrical Specifications Electrical Specifications Input Voltage (+V) Range* +12 to +48 VDC Max Power Supply Current (Per MDrive17Plus)* 2 Amps Aux-Logic Input Voltage** +12 to +24 VDC * Actual Power Supply Current will depend on Voltage and Load.
  • Page 26 Motion Specifications Microstep Resolution - Open Loop Number of Resolutions Available Microsteps Per Revolution 1000 1600 2000 3200 5000 6400 10000 12800 20000 25000 25600 40000 50000 21500 36000 21600 25400 1 = 0 . 0 1 d e g / µ s t e p 2 = 1 a r c m i n u t e / µ...

  • Page 27: Mechanical Specifications

    Software Specifications Program Storage Type/Size Flash/6384 Bytes User Registers (4) 32 Bit User Program Labels and Variables Math, Logic and Conditional +, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT Functions Branch Functions Branch and Call (Conditional) Party Mode Addresses Encoder Functions Stall Detect, Position Maintenance, Find Index...

  • Page 28: P1 Connector - Power And Expanded I/O Configuration

    Pin Assignments and Description P1 Connector - Power and Expanded I/O Configuration P1 - Expanded I/O Configuration 16-Pin Wire Crimp Function Description I/O Power, used with sourcing inputs or outputs. See Pin 1 I/O PWR Section 2.3 for more details. Pin 2 I/O GND Non-isolated I/O Ground.

  • Page 29: P2 Connector - Rs-422/485 Communications

    Pin 2 Logic Supply must be grounded at the motor supply ground. Recommended Recommended * For multi-drop communications systems IMS offers the Converter/Cable Converter/Cable PD10-1434-FL3 Prototype Development Cable. See Cables and Cordsets in the Appendices for more details. MD-CC400-000 and...

  • Page 30: P2 Connector Options

    Options and Accessories Motors and Encoders IMS offers a wide range of motors, encoders and accessories recommended for interface with the Motion Control MForce MicroDrive. For complete specifications on these products, please visit the IMS web site at www.im- shome.com. See Appendix C for Encoder information and Appendix E for Motor details.

  • Page 31: Section 2.1: Mounting And Connection Recommendations

    Excellence in Motion FORCE MICRO DRIVE MOTION CONTROL Part 2: Connecting and Interfacing Section 2.1: Mounting and Connection Recommendations Section 2.2: Motor Sizing and Selection Section 2.3: Interfacing Communications Section 2.4: Interfacing and Using the MForce I/O...
  • Page 32 This Page Intentionally Left Blank Motion Control MForce MicroDrive Hardware Manual Revision R112706...

  • Page 33: 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 34: Recommended Wiring

    Switch Shielded Cable Signal MForce MicroDrive Common Cut drain wire here. Do not terminate Keep Unshielded Runs Short Shield Drain Ground Braid Wire All other I/O (Short Run) Drains Connect to Common Point Control Panel Back Panel Earth Stud Sand paint off panel to ensure bare metal contact.

  • Page 35: Power Supply Connection

    1 2 3 4 5 6 7 Shield to Earth Ground Pin 6 +V Voltage: +12 to +48* VDC +V Current: 2A Max Per MForceMicroDrive Pin 7 Recommended IMS Power Supplies: 16-Pin Wire Crimp ISP200-4 IP402 IP404 *Includes Back EMF! Pin 16 Pin 15 Figure 2.1.3: MForce MicroDrive Power Connections...

  • Page 36: Aux-Logic Supply Connection

    Aux-Logic Supply Connection The Auxiliary Logic input will maintain power to the Logic circuitry in the absence of motor power. The user will still be able to communicate with the device, however motion commands will be ignored and the internal counter will update by the number of pulses commanded.

  • Page 37: Section 2.2: Motor Sizing And Selection

    SE C T IO N 2 .2 Motor Sizing and Selection Selecting a Motor When selecting a stepper motor for your application, there are several factors that need to be taken into consideration:  How will the motor be coupled to the load? ...

  • Page 38: Recommended Ims Motors

    Recommended IMS Motors IMS also carries a series of 14, 17 and 23 frame enhanced stepping motors that are recommended for use with the MForce MicroDrive. These motors use a unique relationship between the rotor and stator to generate more torque per frame size while ensuring more precise positioning and increased accuracy.

  • Page 39: Ims Inside Out Stepper Motors

    M-2231-2.4S ..........................N/A IMS Inside Out Stepper Motors The new inside out stepper (IOS) motor was designed by IMS to bring versatility to stepper motors using a unique multi- functional, hollow core design. This versatile new motor can be converted to a ball screw linear actuator by mounting a miniature ball screw to the front shaft face.

  • Page 40: Motor Wiring

    Motor Wiring As with the power supply wiring, motor wiring should be run separately from logic wiring to minimize noise coupled onto the logic signals. Motor cabling exceeding 1’ in length should be shielded twisted pairs to reduce the transmission of EMI (Electromagnetic Interference) which can lead to rough motor operation and poor system performance.

  • Page 41: Lead Motors

    1 2 3 4 PHASE B PHASE B PHASE A PHASE A Figure 2.2.3: 8 Lead Motor Parallel Connections 6 Lead Motors Like 8 lead stepping motors, 6 lead motors have two configurations available for high speed or high torque opera- tion.

  • Page 42: Figure 2.2.5: 6 Lead Full Coil (Higher Torque) Motor Connections

    1 2 3 4 PHASE B NO CONNECTION PHASE B PHASE A NO CONNECTIO N PHASE A Figure 2.2.5: 6 Lead Full Coil (Higher Torque) Motor Connections 4 Lead Motors 4 lead motors are the least flexible but easiest to wire. Speed and torque will depend on winding inductance. In setting the driver output current, multiply the specified phase current by 1.4 to determine the peak output current.

  • Page 43: Section 2.3: Interfacing Communications

    To simplify the wiring and connection process IMS offers a USB to RS-422 communications cable for the MForce Mi- croDrive. This convenient 12.0' (3.6m) accessory cable connects a PC’s USB Port to the MForce MicroDrive P2 Connec- tor.

  • Page 44: Single Mode Communications Half Duplex (Rs-485)

    Data Cable Termination Resistors Data Cable lengths greater than 15 feet (4.5 meters) are susceptible to signal reflection and/or noise. IMS recommends 120 Ω termination resistors in series with 0.1µf capacitors at both ends of the Data Cables. An example of resistor place- ment is shown in Figure 2.3.3.

  • Page 45: Mforce Communication Format

    TERMINATOR TERMINATOR CGND Figure 2.3.3: RS-485 Interface, Multiple MForce MicroDrive System MForce MicroDrive Communication Format The following communication formats are used by the MForce MicroDrive. The contents between the {} symbols are transmitted. {0D} Hex equivalent for a CR (Carriage Return). {0A} Hex equivalent for a LF (Line Feed).
  • Page 46 Transmission MForce MForce MicroDrive Parameter Setting to MForce MicroDrive Final Notes Initial Response MicroDrive Response (command) Echoed back one The last character EM=0 & PY=0 CK=0 (command) (D) character at a time CET (0D) (0A)> sent is the prompt > as the character is entered.

  • Page 47: Using Check Sum

    Transmission MForce MForce MicroDrive Parameter Setting to MForce MicroDrive Initial Notes Final Response MicroDrive Response (command) Echoed back one (DN) (command) CET (ACK) or The last character EM=0 & PY=1 CK=1 character at a time (CS) (0A) (NAK)> sent is the prompt > as the character is entered.

  • Page 48: Mforce Party Mode Sample Codes

    MForce MicroDrive Party Mode Sample Codes Download this segment of code into the first MForce MicroDrive. After downloading the program to the unit, follow the Set Up instructions described earlier. Be sure to set your first unit with the unique Device Name of A (DN=”A”).

  • Page 49: Mforce Immediate Party Mode Sample Codes

    Once Party Mode has been defined and set up as previously described under the heading “Multiple MForce MicroDrive type Ctrl+J, that System (Party Mode)”, you may enter commands in the Immediate Mode in the IMS Terminal Window. Some examples is the key + the follow.

  • Page 50: The Mforce Digital I/O

    S E C TIO N 2.4 NOTE: On the Standard MForce Interfacing and Using the MForce MicroDrive I/O MicroDrive, when configured as outputs, the I/O set is sinking The MForce MicroDrive Digital I/O ONLY! The Plus 2 Models add the functionality of I/ The MForce MicroDrive product line is available with two digital I/O configurations, Standard and Enhanced.

  • Page 51: Input Functions (I/O Points 1-4, 9-12)

    HIGH or LOW. The inputs are configured using the “S” Variable (See MCode Software Reference Manual for precise details on this command). The command is entered into the IMS terminal or program file as S<IO point>=<IO Type>,<Active State><Sink/Source>. Example: S9=3,1,0 ‘set IO point 9 to be a Limit- input, Active HIGH, Sourcing...

  • Page 52: Input Functions (Points 7 & 8 - Clock Inputs And Point 13 - Capture)

    VDC source. See Output Functions Table and I/O Ratings Table. The outputs are set using the “S” command (See MCode Software Reference Manual for precise details on this command). The command is entered into the IMS terminal or program file as S<IO point>=<IO Type>,<Active State><Sink/Source>.

  • Page 53: Programmable Output Functions

    Programmable Output Functions The MForce MicroDrive Output functions may be programmed to be a general purpose user output or to one of five output functions. Parameter Sink/ Function Description Active (S1-S4, S9-S12) Source A general purpose output can be set in a program or in immediate General Purpose mode to trigger external events.

  • Page 54: Mforce Standard I/O Connections

    MForce MicroDrive I/O Ratings MForce MicroDrive I/O Ratings Standard Output Voltage (IOPWR) Rating 0 to +24 VDC Expanded Plus Output Voltage (IOPWR) Rating +12 to +24 VDC (Sourcing) | 0 to +24 VDC (Sinking) Load Rating* (equal current per I/O Point) I/O State I Continuous I Peak (D=0.84)

  • Page 55: Mforce Expanded Plus 2 I/O Connections

    MForce Expanded Plus I/O Connections Pin 11: Capture/Trip Pin 12: Analog Input Pin 1: I/O Power Pin 2: I/O Ground Pin 13: Step/Clock I/O Pin 14: Direction/Clock I/O Pin 4: I/O 2 Pin 9: I/O 11 Pin 3: I/O 1 Pin 10: I/O 12 Pin 6: I/O 4 Pin 7: I/O 9...

  • Page 56: Input Interface Example - Switch Input Example (Sinking Input)

    Please reference the MForce software manual for more information on the Instructions, Vari- ables and Flags that make up the MForce MicroDrive command set as well as material on setting up and using the IMS Terminal. NOTE: Advanced Input Interface Example - Switch Input Example (Sinking Input)

  • Page 57: Input Interface Example - Switch Input Example (Sourcing Input)

    Input Interface Example - Switch Input Example (Sourcing Input) The following circuit example shows a switch connected between an I/O point and a voltage supply which will source the input to perform a function. Code Sample Vih = 2.31 V Vil = 0.99 V Threshold (nom) = 1.5 V The internal pull-up voltage...

  • Page 58: Output Interface Example (Sinking Output)

    Output Interface Example (Sinking Output) The following circuit example shows a load connected to an I/O point that will be configured as a sinking NOTE: On the output. Standard MForce MicroDrive, when configured as outputs, the I/O set is sinking ONLY! The Plus 2 Models add the MForce Plus functionality of I/O Power,...

  • Page 59: General Purpose I/O Usage Examples - Enhanced I/O Set

    Software Reference manual for more information on the Instructions, Variables and Flags that make up the MCode command set as well as material on setting up and using the IMS Terminal. Input Interface Example - Switch Input Example (Sinking Input) The following circuit example shows a switch connected between an I/O point and I/O Ground.

  • Page 60: Input Interface Example - Switch Input Example (Sourcing Input)

    Input Interface Example - Switch Input Example (Sourcing Input) The following circuit example shows a switch connected between an I/O point and a voltage supply which will source the input to perform a function. Code Sample Vih = 2.31 V MForce Plus Vil = 0.99 V Threshold (nom) = 1.5 V...

  • Page 61: Output Interface Example (Sinking Output)

    Output Interface Example (Sinking Output) The following circuit example shows a load connected to an I/O point that will be configured as a sinking output. MForce Plus 2 The internal pull-up voltage cannot provide output current / voltage IOPWR Internal pull-up Diode recommended for voltage...

  • Page 62: Output Interface Example (Sourcing Output)

    Output Interface Example (Sourcing Output) The following circuit example shows a load connected to an I/O point that will be configured as a sourcing output. MForce Plus 2 The internal pull-up voltage cannot provide output current / voltage IOPWR Internal pull-up voltage switched...

  • Page 63: Dedicated Digital I/O - Enhanced I/O Set

    Dedicated Digital I/O - Enhanced I/O Set NOTE: Advanced I/O interface circuit Step/Direction/Clock I/O diagrams and These dedicated I/O lines are used to Step/Direction Function application examples are receive clock inputs from an external device available in the I/O Application Guide Appendix.

  • Page 64: Capture/Trip

    Capture/Trip The Capture Input/Trip Output point is a high speed I/O point which can be used for time critical events in motion applications. Capture Input When configured as a capture input I/O point 13 has programmable filtering with a range of 50nS to 12.9 µS and has a resolution of 32 bits.

  • Page 65: Interfacing The Analog Input

    Interfacing the Analog Input The analog input of the MForce MicroDrive is configured from the factory as a 0 to 5V, 10 bit resolution input (S5=9). This offers the user the ability to receive input from temperature, pressure, or other forms of sen- sors, and then control events based upon the input.

  • Page 66: Figure 2.4.17: Analog Input - Current Mode

    Analog Input 4 - 20 mA, 0 - 20 mA Source Ground Source Ground Current Mode S5=10,0 'set input I range to 0 to 20mA MForce Plus Motion Control S5=10,1 'set input I range to 4 to 20mA Figure 2.4.17: Analog Input - Current Mode 2-36 Motion Control MForce MicroDrive Hardware Manual Revision R112706...

  • Page 67: Appendices

    Excellence in Motion FORCE MICRO DRIVE MOTION CONTROL Appendices Appendix A: Recommended Power and Cable Configurations Appendix B: I/O Application Guide Appendix C: Optional IMS Encoders Appendix D: Optional Cables and Cordsets Appendix E: IMS Enhanced Torque Stepping Motors Appendices...
  • Page 68 MForce MicroDrive Motion Control Hardware Manual Revision R112706...

  • Page 69: 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 70: 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 71: Appendix B: I/O Application Guide

    ap pe n di x B I/O Application Guide Standard I/O Set Interfacing and Application NPN Sinking Input Application Example Vih = 2.31 V Vil = 0.99 V Threshold (nom) = 1.5 V Internal = 100 µA pull-up voltage 3.3 V 65 - 160 uA 100k ohms detect...

  • Page 72: Figure B.2: Pnp Interface To A Sourcing Input

    PNP Sourcing Input Vih = 2.31 V Vil = 0.99 V Threshold (nom) = 1.5 V The internal pull-up voltage = -1.24 mA Internal pull-up cannot provide output voltage current / voltage 3.3 V up to 24 V 100k ohms detect logic 24.9k ohms...

  • Page 73: Mixed Input/Output Example

    Sinking Output NOTE: On the *External Resistor may be needed to limit output sink current to 600mA MForce Plus Standard MForce Plus, when configured Internal pull-up voltage as outputs, the I/O always set is sinking ONLY! The Plus 2 Models add the functionality of Sinking Output I/O Power, which enables the user to use all the outputs, both...

  • Page 74: Npn Sinking Input

    ‘[VARIABLES] S2=1,1,0 ‘Configure IO2 as a Home Input, active HIGH, sinking. Enter to IMS Terminal in Immediate mode or in a Program HM 1 ‘Slew at VM - until IO2 = 1, Creep off + at VI PNP Sourcing Input Application Example Sensor using the Jog+ function.

  • Page 75: Sourcing Output

    Sourcing Output Application Example This application example will illustrate two MForce Plus2 units in a system. In the program example MForce Plus2 #1 will be configured as a Fault Output, which when HIGH will trip an input on MForce Plus2 #2 which will be configured as a Pause Input.

  • Page 76: Mixed Input/Output Example

    Mixed Input/Output Example IOPWR MOVING S1 = 17,0,0 IN (w / pullup) STALL S2 = 19,0,0 IN (w / pullup) JOG + OUT (PNP) S3 = 7,1,1 JOG - OUT (PNP) S4 = 8,1,1 +12 to S9 = 16,1,1 LOAD +24 V S10 = 16,1,1 IO10...

  • Page 77: Interfacing Outputs As A Group Example

    Interfacing Outputs as a Group Example The MForce inputs may be written to as a group using the OL, OH and OT keywords. This will set the outputs as a binary number representing the decimal between 0 to 15 representing the 4 bit binary number (OL, OH) or as an 8 bit binary number representing the decimal 0 to 255 on the Expanded MForce Plus models.

  • Page 78: Appendix C: Encoder Options

    Pin 14: Index - Pin 9: Channel B+ Pin 10: Channel B - Pin 7: Channel A+ Pin 8: Channel A - Figure C.1: Connecting a Remote Encoder Encoders Available from IMS Differential DIFFERENTIAL ENCODER Line Count Part Number 1000...

  • Page 79: Encoder Signals

    Temperature Operating ........................ -40 to +100° C Storage ........................-40 to +100° C Humidity ......................90% (non-condensing) Encoder Signals Differential Encoder Rotation: CW – B Leads A CCW – A Leads B Figure C.2: Differential Encoder Signals Note: Rotation is as viewed from the cover side. One Cycle: 360 electrical degrees (°e) (X/Y) Symmetry: A measure of the relationship between X and Y, nominally 180°e.

  • Page 80: Encoder Cables

    Encoder Cables IMS Differential Encoder Cable (36” leads) ..............ED-CABLE-2 Recommended Encoder Mating Connectors IMS recommends the following mating connectors (or equivalent) if you make your own cables. Differential Encoder Tyco Electronics Connector with 10 Preloaded IDC Pins* ..........102694-3 Shell with Polarizing Key ..................

  • Page 81: Communications Converter Cables

    USB port of a PC* directly to the 10-Pin IDC Connector located at P2. Supplied Components: MD-CC400- 000 Communications Converter Cable, USB Cable, USB Drivers, IMS Terminal Interface Software. 10-Pin Locking Wire Crimp Adapter Figure D.1: MD-CC400-000...

  • Page 82: Installing The Cable/Vcp Drivers

     Drivers for the IMS USB to RS-422 Converter Hardware. html.  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. The full installation procedure will be a two-part process: Installing the Cable/VCP drivers and Determining the Virtual COM Port used.

  • Page 83: Figure D.6: 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-CC400-000 is now ready to use. Figure D.6: Windows Logo Compatibility Testing Figure D.7: Hardware Update Wizard Finish...

  • Page 84: Determining The Virtual Com Port (Vcp

    The drivers for the MD-CC400-000 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 85 PD16-1417-FL3 — Power and I/O The PD16-1417-FL3 is a 10’ (3.0 M) Prototype Development Cable used to connect to the 16-Pin Locking Wire Crimp Connector. The Connector end plugs into the P1 Connector of the MForce Plus . The Flying Lead end connects to a Control Interface such as a PLC and the users motor power supply.

  • Page 86: Prototype Development Cable Pd10-1434-Fl3 (All Mforce Plus Motion Control

    Prototype Development Cable PD10-1434-FL3 (All MForce Motion Control) Note: If using the The PD10-1434-FL3 is used to connect to the 10-pin wire crimp option for interfacing RS-422/485 Com- PD10-1434-FL3 for a single MForce munications. It also features an additional cable attached for multi-drop communications systems. System, follow only the setup Setup Instructions —...

  • Page 87: Figure D.11: Pd10-1434-Fl3

    Cable #1 will Crossover Host MForce Communications RX - RX - Ground at Host TX + TX + TX - TX - COMMUNICATIONS GND ONLY PD10-1434-FL3 (Cable #1) AUX-SUPPLY +12 to +24 VDC AUXILIARY SUPPLY +12 to +24 VDC Pin 7 White/Orange Stripe Aux Power +12 to +24 VDC Pin 8...

  • Page 88: Appendix E: Ims Enhanced Torque Stepping Motors

    E 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 oz-in...

  • Page 89: Size 17 Enhanced Torque Stepping Motor

    Size 17 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 oz-in Amps ohms oz-in oz-in-sec inches (N-cm) (mm) (N-cm) (kg-cm 0.000538 1.34 M -1713 - 1.5[X]* (23)

  • Page 90: Wiring And Connection

    Size 23 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 oz-in Amps ohms oz-in oz-in-sec inches (N-cm) (mm) (N-cm) (kg-cm 2.4 Amp: 0.00255 1.77 16.9...
  • Page 91 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 92 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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