IMS MFORCE MICRO DRIVE Plus MICROSTEPPING User manual

Operating
Instructions
TM
Excellence in Motion
www.imshome.com
TM
FORCE
MICRO DRIVE
MICROSTEPPING

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is
assumed for inaccuracies.
Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to
improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any liability arising out of the
application or use of any product or circuit described herein; neither does it convey any license under its patent rights of
others. Intelligent Motion Systems and are trademarks of Intelligent Motion Systems, Inc.
Intelligent Motion Systems, Inc.’s general policy does not recommend the use of its products in life support or aircraft
applications wherein a failure or malfunction of the product may directly threaten life or injury. Per Intelligent Motion
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 indemnies Intelligent Motion Systems, Inc., against all damages.
TM
IMS PN MAN-MFMMicro
Revision R112706
Copyright © 2006 Intelligent Motion Systems,
Inc.
All Rights Reserved
Microstepping MForce MicroDrive Product Manual Changelog
Date Revision Changes
11/27/2006 R112706 Initial Release

i
Table of Contents
Getting Started: Microstepping MForce MicroDrive ...................................................................1-1
Before You Begin....................................................................................................................... 1-1
Tools and Equipment Required................................................................................................. 1-1
Connecting the Power Supply ................................................................................................... 1-1
Connect Opto Reference and Logic Inputs................................................................................ 1-1
Connecting the Motor .............................................................................................................. 1-1
Part 1: Hardware Reference
Section 1.1: Introduction to the Microstepping MForce MicroDrive............................................1-5
Configuring .............................................................................................................................. 1-5
Features and Benefits................................................................................................................. 1-6
Section 1.2: Microstepping MForce MicroDrive Detailed Specifications .....................................1-7
General Specifications ............................................................................................................... 1-7
Setup Parameters ....................................................................................................................... 1-8
Mechanical Specifications.......................................................................................................... 1-8
Pin Assignment and Description ............................................................................................... 1-9
P1 Connector - Power and I/O ....................................................................................... 1-9
P2 Connector - SPI Communications........................................................................... 1-10
P1 12-Pin Locking Wire Crimp Connector Option...................................................... 1-11
P3 Connector - Motor Phase Connector....................................................................... 1-12
Part 2: Connecting and Interfacing
Section 2.1: Mounting and Connection Recommendations ............................................................3
Mounting Recommendations........................................................................................................3
Thermal Considerations......................................................................................................3
Layout and Interface Guidelines....................................................................................................3
Recommended Wiring........................................................................................................3
Securing Power Leads and Logic Leads................................................................................3
DC Power Recommendations .......................................................................................................4
Microstepping MForce MicroDrive ....................................................................................4
Recommended DC Power Supply Connections ..................................................................4
Section 2.2: Logic Interface and Connection ..................................................................................5
Optically Isolated Logic Inputs......................................................................................................5
Isolated Logic Input Pins and Connections ...................................................................................5
Isolated Logic Input Characteristics...............................................................................................5
Enable Input.......................................................................................................................5
Clock Inputs .......................................................................................................................6
Optocoupler Reference..................................................................................................................8
Input Connection Examples..........................................................................................................9
Open Collector Interface Example ........................................................................................
Switch Interface Example..................................................................................................10
Minimum Required Connections................................................................................................11
Section 2.3: Connecting SPI Communications ............................................................................12
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
Screen 1: The Motion Settings Configuration Screen ..................................................................18
MSEL (Microstep Resolution Selection) ...........................................................................18
HCDT (Hold Current Delay Time) .................................................................................19
MRC (Motor Run Current) ..............................................................................................19
MHC (Motor Hold Current)............................................................................................19

ii
DIR (Motor Direction).....................................................................................................19
User ID.............................................................................................................................19
IMS SPI Motor Interface Button Functions......................................................................19
Screen 2: I/O Settings Configuration Screen ...............................................................................20
Input Clock Type..............................................................................................................20
Input Clock Filter .............................................................................................................20
Enable Active High/Low ...................................................................................................20
IMS Part Number/Serial Number Screen ....................................................................................21
Fault Indication...........................................................................................................................21
Upgrading the Firmware in the Microstepping MForce MicroDrive............................................22
The IMS SPI Upgrader Screen..........................................................................................22
Upgrade Instructions.........................................................................................................22
Initialization Screen.....................................................................................................................23
Port Menu.........................................................................................................................23
Section 2.5: Using User-Defined SPI ............................................................................................24
SPI Timing Notes........................................................................................................................24
Check Sum Calculation for SPI...................................................................................................24
SPI Commands and Parameters...................................................................................................25
SPI Communications Sequence ........................................................................................26
Appendices
Appendix A: Recommended Power and Cable Configurations ................................................... A-3
Example A – Cabling Under 50 Feet, DC Power.......................................................................A-3
Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge ..................................A-3
Example C – Cabling 50 Feet or Greater, AC Power to Power Supply .......................................A-3
Recommended IMS Power Supplies ..........................................................................................A-4
Recommended Power Supply Cabling.......................................................................................A-4
Appendix B: Encoder Options .................................................................................................... A-5
Encoders Available from IMS....................................................................................................A-5
General Specifications .....................................................................................................A-5
Encoder Signals.........................................................................................................................A-5
Differential Encoder........................................................................................................A-5
Characteristics.................................................................................................................A-6
Encoder Cables ........................................................................................................................A-6
Recommended Encoder Mating Connectors .............................................................................A-6
Appendix C: Optional Prototype Development Cables................................................................ A-7
MD-CC300-000: USB to SPI Parameter Setup Cable ..............................................................A-7
Adapter Cables..........................................................................................................................A-7
Installation Procedure for the MD-CC300-000 ........................................................................A-8
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
Size 17 Enhanced Torque Stepping Motor...............................................................................A-13
General Specifications ...................................................................................................A-13
Wiring And Connection ...............................................................................................A-13
Speed Torque Curves.....................................................................................................A-13
Mechanical Specifications .............................................................................................A-14
Size 23 Enhanced Torque Stepping Motor...............................................................................A-15
General Specifications ...................................................................................................A-15
Wiring And Connection ...............................................................................................A-15
Speed Torque Curves.....................................................................................................A-15

iii
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 ................................................................ 1-10
Figure 1.2.4: P1 — 12-Pin Locking Wire Crimp..................................................................... 1-11
Figure 1.2.5: P3 — 4-Pin Locking Wire Crimp Motor Connector.......................................... 1-12
Part 2: Connecting and Interfacing
Figure 2.1.1: MForce MicroDrive Mounting Recommendations...................................................3
Figure 2.1.2: Microstepping MForce MicroDrive Power Connections...........................................4
Figure 2.2.1: Isolated Logic Pins and Connections ........................................................................5
Figure 2.2.2: Input Clock Functions .............................................................................................6
Figure 2.2.3: Clock Input Timing Characteristics..........................................................................7
Figure 2.2.4: Optocoupler Input Circuit Diagram.........................................................................8
Figure 2.2.5: Open Collector Interface Example............................................................................9
Figure 2.2.6: Switch Interface Example .......................................................................................10
Figure 2.2.7: Minimum Required Connections...........................................................................11
Figure 2.3.1: MD-CC300-000 Parameter Setup Cable................................................................12
Figure 2.3.2: SPI Pins and Connections, 10-Pin IDC..................................................................13
Figure 2.3.3: SPI Pins and Connections, 12-Pin Wire Crimp......................................................13
Figure 2.3.4: SPI Master with a Single Microstepping MForce MicroDrive.................................14
Figure 2.3.5: SPI Master with Multiple Microstepping MForce MicroDrives ..............................14
Figure 2.4.1: SPI Motor Interface Color Coding .........................................................................16
Figure 2.4.2: SPI Motor Interface File Menu...............................................................................16
Figure 2.4.3: SPI Motor Interface View Menu.............................................................................16
Figure 2.4.4: SPI Motor Interface Recall Menu ...........................................................................17
Figure 2.4.5: SPI Motor Interface Upgrade Menu .......................................................................17
Figure 2.4.6: SPI Motor Interface Help Menu and About Screen ................................................17
Figure 2.4.7: SPI Motor Interface Motion Settings Screen...........................................................18
Figure 2.4.8: SPI Motor Interface I/O Settings Screen.................................................................20
Figure 2.4.9: SPI Motor Interface Part and Serial Number Screen ...............................................21
Figure 2.4.10: SPI Motor Interface Upgrade Utility ....................................................................22
Figure 2.4.11: SPI Motor Interface Initialization .........................................................................23
Figure 2.4.12: SPI Motor Interface Port Menu............................................................................23
Figure 2.5.1: SPI Timing .............................................................................................................24
Figure 2.5.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown)...........26
Appendices
Figure A.1: DC Cabling - Under 50 Feet...................................................................................A-3
Figure A.2: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier......................A-3
Figure A.3: AC Cabling - 50 Feet or Greater - AC To Power Supply..........................................A-3
Figure B.1: Single-End Encoder Signals.....................................................................................A-5
Figure B.2: Differential Encoder Signals....................................................................................A-5
Figure C.1: MD-CC300-000 ....................................................................................................A-7
Figure C.2: MD-CC300-000 Mechanical Specifications ...........................................................A-7
Figure C.3: Typical Setup, Adapter and Prototype Development Cable ....................................A-8
Figure C.4: Hardware Update Wizard .......................................................................................A-8
Figure C.5: Hardware Update Wizard Screen 2 .........................................................................A-9
Figure C.6: Hardware Update Wizard Screen 3 .........................................................................A-9
Figure C.7: Windows Logo Compatibility Testing.....................................................................A-9
Figure C.8: Hardware Update Wizard Finish Installation ........................................................A-10
Figure C.9: Hardware Properties .............................................................................................A-10
Figure C.10: Windows Device Manager..................................................................................A-10
Figure C.11 PD12-1434-FL3..................................................................................................A-11
Figure D.1: Size 14 Wiring and Connection............................................................................A-12
Figure D.2: Size 14 Mechanical Specifications.........................................................................A-12
Figure D.3: Size 17 Wiring and Connection............................................................................A-13
Figure D.4: Size 17 Speed Torque Curves................................................................................A-13
Figure D.5: Size 17 Mechanical Specifications.........................................................................A-14
Figure D.6: Size 23 Wiring and Connection............................................................................A-15
Figure D.7: Size 17 Speed Torque Curves................................................................................A-15
Figure D.8: Size 23 Mechanical Specifications.........................................................................A-16

iv
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 — Pin Assignment, Motor Phase Connections ............................................... 1-12
Part 1: Interfacing and Configuring
Table 2.2.1: Input Clocks Timing Table ........................................................................................7
Table 2.2.2: Optocoupler Reference Connection...........................................................................8
Table 2.4.1: Setup Parameters and Ranges...................................................................................15
Table 2.4.2: Microstep Resolution Settings..................................................................................19
Table 2.4.3: Input Clock Filter Settings.......................................................................................20
Table 2.4.4: Microstepping MForce MicroDrive Fault Codes......................................................21
Table 2.5.1: SPI Commands and Parameters ...............................................................................25
Appendices
Table A.1: Recommended Supply Cables ..................................................................................A-4
Table B.1: Available Encoder Line Counts, Part Numbers and Pin Configurations....................A-5
Table C.1: PD12-1434-FL3 Wire Color Codes.......................................................................A-11
Table D.1: Size 14 General Specifications................................................................................A-12
Table D.2: Size 17 General Specifications................................................................................A-13
Table D.3: Size 23 General Specifications................................................................................A-15

1-1
Part 1: Hardware Specifications
Note: A
characteristic of
all motors is back
EMF. Back EMF is
a source of current that can
push the output of a power
supply beyond the maximum
operating voltage of the
driver. As a result, damage
to the stepper driver could
occur over a period of time.
Care should be taken so
that the back EMF does not
exceed the maximum input
voltage rating of the MForce
MicroDrive.
WARNING! The
MForce has
components which
are sensitive to
Electrostatic Discharge (ESD).
All handling should be done at
an ESD protected workstation.
WARNING!
Hazardous voltage
levels may be
present if using an
open frame power supply to
power your MForce product.
WARNING! Ensure
that the power
supply output
voltage does not
exceed the maximum input
voltage of the MForce product
that you are using!
Gett i n g Star t e d
Microstepping MForce MicroDrive
Before You Begin
The Getting Started Section is designed to help quickly connect and begin using your Microstepping MForce
MicroDrive. The following examples will help you get a motor turning for the first time and introduce you to the
basic settings of the drive.
Tools and Equipment Required
Microstepping MForce MicroDrive Unit (MFM)
A NEMA 14, 17 or 23 Size Stepping Motor
Control Device for Step/Direction
+5 to +24 VDC Optocoupler Supply (if using sinking output type)
An Unregulated +12 to +48VDC Power Supply
Basic Tools: Wire Cutters / Strippers / Screwdriver
20 AWG Wire for Power Supply and Motor
22 AWG Wire for Logic Connections
Connecting the Power Supply
Using 20 AWG wire, connect the DC output of the power supply to the +V input of the connector appropriate for
your Microsteppi ng MForce MicroDrive model.
Connect the power supply ground to the Power Ground pin appropriate for your Microstepping MForce Micro-
Drive.
Connect Opto Reference and Logic Inputs
Using 22 AWG wire, connect the Opto Reference to the desired reference point. The reference will determine
whether or not the logic input is sinking or sourcing. If Sinking Inputs are desired, connect the Opto reference
to a +5 to +24 VDC Supply. If Sourcing Outputs are desired, the Opto Reference needs to be connected to the
Controller Ground.
Connect the Step and Direction inputs to the appropriate outputs of your PLC or controller.
Connecting the Motor
Using the recommended wire, connect the Motor Phases to P3 as shown in Figure GS.1. Ensure that the phases
are connected correctly.
Figure GS.1: Minimum Logic and Power Connections
P3
P1
1 2 3 4
12-Pin Wire Crimp at P1 Shown.
See Specifications for Pin
Numbering for other versions.
ØA ØB
ØA ØB
MForce MicroDrive Front
Stepping Motor
Step
Direction
+V (+12 to +48)
Power Ground
Opto Reference*
1 3
246
* The Opto Reference Will
set the Sink/Source
Configuration of the Inputs
Sinking: OptoRef = +5 to +24 VDC
Sourcing: OptoRef = Ground

1-2 Microstepping MForce MicroDrive Manual Revision R112706
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1-3
Part 1: Hardware Specifications
TM
FORCE
MICRO DRIVE
MICROSTEPPING
Section 1.1: Introduction to the Microstepping MForce MicroDrive
Section 1.2: Microstepping MForce MicroDrive Detailed Specifications
Part 1:
Hardware
Reference

1-4 Microstepping MForce MicroDrive Manual Revision R112706
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