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
Page Intentionally Left Blank

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
Page Intentionally Left Blank

1-5
Part 1: Hardware Specifications
SECTION 1.1
Introduction to the Microstepping MForce MicroDrive
The Microstepping MForce MicroDrive is a high
performance, low cost microstepping driver that
delivers unsurpassed smoothness and performance
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.
Microstepping MForce MicroDrives accept a broad
input voltage range from +12 to +48 VDC, delivering
enhanced performance and speed. Oversized input
capacitors are used to minimize power line surges,
reducing problems that can occur with long runs and
multiple drive systems. An extended operating range of
–40° to +85°C provides long life, trouble free service in
demanding environments.
The high, per phase output current of up to 2 Amps
RMS, 2.8 Amps Peak, allows the extremely compact MForce MicroDrive to control a broad array of motors from
size 8 to size 34.
The microstepping drive accepts up to 20 resolution settings from full to 256 microsteps per full step, including:
degrees, metric and arc minutes. These settings may be changed on-the-fly or downloaded and stored in nonvolatile
memory with the use of a simple GUI which is provided. This eliminates the need for external switches or resistors.
Parameters are changed via an SPI port.
Power and signal interface connections are accomplished with either a pluggable locking wire crimp, terminal strip or
12.0" (30.5cm) flying leads. Motor phases are connected via a pluggable 4-pin locking wire crimp connector.
The Microstepping MForce MicroDrive is a compact, powerful and inexpensive solution that will reduce system
cost, design and assembly time for a large range of applications.
Configuring
The IMS SPI Motor Interface software is an easy to install and use GUI for configuring the Microstepping MForce
MicroDrive from a computer's USB port. GUI access is via the IMS SPI Motor Interface included on the CD
shipped with the product, or from www.imshome.com. Optional cables are available for ease of connecting and
configuring the MForce.
The IMS SPI Motor Interface features:
Easy installation.
Automatic detection of MForce version and communication conguration.
Will not set out-of-range values.
Tool-tips display valid range setting for each option.
Simple screen interfaces.
•
•
•
•
•
Figure 1.1.1: Microstepping MForce MicroDrive

1-6 Microstepping MForce MicroDrive Manual Revision R112706
Features and Benefits
High Performance Microstepping Driver
Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
Single Supply: +12 to +48 VDC
Low Cost
Extremely Compact
High Output Current:
Up to 2 Amps RMS, 2.8 Amps Peak (Per Phase)
20 Microstep Resolutions up to 51,200 Steps Per Rev Including:
Degrees, Metric, Arc Minutes
Optically Isolated Logic Inputs will Accept +5 to +24 VDC Signals, Sourcing or Sinking
Automatic Current Reduction
Configurable:
Motor Run/Hold Current
Motor Direction vs. Direction Input
Microstep Resolution
Clock Type: Step and Direction, Quadrature, Step Up and Step Down
Programmable Digital Filtering for Clock and Direction Inputs
Current and Microstep Resolution May Be Switched On-The-Fly
Dual Mounting Configurations
Power and Signal Interface Options:
Pluggable Locking Wire Crimp
Pluggable Terminal Strip
12.0” (30.5cm) Flying Leads
Graphical User Interface (GUI) for Quick and Easy Parameter Setup
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•

1-7
Part 1: Hardware Specifications
SECTION 1.2
Microstepping MForce MicroDrive Detailed Specifications
General Specifications
Electrical Specifications
Input Voltage (+V) Range* +12 to +48 VDC
Max Power Supply Current (Per MForce MicroDrive)* 2 Amps
* Actual Power Supply Current will depend on Voltage and Load.
Output Current
Output Current RMS 2 Amps
Output Current Peak (Per Phase) 2.8 Amps
Thermal Specifications
Heat Sink Temperature -40°C to +85°C
I/O Specifications
Isolated Inputs — Step Clock, Direction and Enable
Resolution 10 Bit
Voltage Range (Sourcing or Sinking) +5 to +24 VDC
Current (+5 VDC Max) 8.7 mA
Current (+24 VDC Max) 14.6 mA
Communications Specifications
Protocol SPI
Motion Specifications
Microstep Resolution
Number of Resolutions 20
Available Microsteps Per Revolution
200 400 800 1000 1600 2000 3200 5000 6400 10000
12800 20000 25000 25600 40000 50000 21500 360001216002254003
1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep
Digital Filter Range 50 nS to 12.9 µS
(10 MHz to 38.8kHz)
Clock Types Step/Direction, Quadrature, Clock
Up/Clock Down
Step Frequency (Max) 2.0 MHz
Step Frequencey Minimum Pulse Width 250 nS

1-8 Microstepping MForce MicroDrive Manual Revision R112706
MECHANICAL SPECIFICATIONS - Dimensions in Inches (mm)
Figure 1.2.1: MForce MicroDrive Mechanical Specifications
NOTE: The 12-Pin
Locking Connector
at P1 eliminates
the 10-Pin IDC
Connector at P2. SPI
Communications are located
on P1 for these versions.
Microstepping MForce MicroDrive Setup Parameters
Name Function Range Units Default
MHC Motor Hold Current 0 to 67 percent 5
MRC Motor Run Current 1 to 67 percent 25
MSEL Microstep Resolution 1, 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 100,108, 125, 127,128,
180, 200, 250, 256
µsteps per
full step 256
DIR Motor Direction Override 0/1 – CW
HCDT Hold Current Delay Time 0 or 2-65535 mSec 500
CLK TYPE Clock Type Step/Dir. Quadrature, Up/Down – Step/Dir
CLK IOF Clock and Direction Filter 50 nS to 12.9 µS
(10 MHz to 38.8kHz) nS (MHz) 50nS(10 MHz)
USER ID User ID Customizable 1-3 characters IMS
Table 1.2.1: Setup Parameters
TM
Microstepping
P2
P1
1.655
(42.05) 2.140
(54.36) 1.765
(44.83)
2X Ø 0.150
(2X Ø 3.81)
Heat Sink Side
Setup Parameters
The following table illustrates the setup parameters. These are easily configured using the IMS SPI Motor Interface
configuration utility. An optional Parameter Setup Cable is available and recommended with the first order.
WARNING!
The Maximum
Allowable Setting is
67% Run Current
for 2.0 Amps RMS!
See Section 2.4

1-9
Part 1: Hardware Specifications
Pin Assignment and Description
P1 Connector - Power and I/O
Pin Assignment - P1 Power and I/O Connections
Flying Lead Wire
Color 7-Pin Pluggable Function Description
White Pin 1 Opto Reference
The level applied to the Optocoupler Reference
will determine the sinking or sourcing
configuration of the inputs. To set the inputs
for sinking operation, a +5 to +24 VDC supply
is connected. If sourcing, the Reference is
connected to Controller/PLC Ground.
— Pin 2 N/C Not Connected
Orange Pin 3 Step Clock/Channel A/
Clock Up
Step Clock input. The step clock input will
receive the clock pulses which will step the
motor 1 step for each pulse. It may also receive
quadrature and clock up type inputs if so
configured.
Blue Pin 4 Direction/Channel B/
Clock Down
Direction input. The axis direction will be with
respect to the state of the Direction Override
Parameter. It may also receive quadrature and
clock up type inputs if so configured.
Brown Pin 5 Enable
Enable/Disable Input will enable or disable the
driver output to the motor. In the disconnected
state the driver outputs are enabled in either
sinking or sourcing configuration.
Black Pin 6 GND Power Ground
Red Pin 7 +V +12 to +48 VDC Motor Power Supply input.
Table 1.2.2: P1 — Pin Assignment, Power and I/O
Figure 1.2.2: P1 Connector - I/O and Power
White
Orange
Blue
Brown
Black
Red
P1
P1
1 23 4 5 6 7
12” Flying Leads 7-Pin Pluggable Terminal
N/C

1-10 Microstepping MForce MicroDrive Manual Revision R112706
P2 Connector - SPI Communications
Pin Assignment - P2 SPI Communications
10-Pin IDC Function Description
Pin 1 — No Connect
Pin 2 — No Connect
Pin 3 — No Connect
Pin 4 CS SPI Chip Select. This signal is used to turn communications
on multiple MFM units on or off.
Pin 5 GND Communications Ground.
Pin 6 +5 VDC Output Supply voltage for the MD-CC300-000 Cable ONLY!
Pin 7 MOSI Master-Out/Slave-In. Carries output data from the SPI
Master to the MFM.
Pin 8 SPI Clock The Clock is driven by the SPI Master. The clock cycles
once for each data bit.
Pin 9 — No Connect
Pin 10 MISO Master-In/Slave-Out. Carries output data from the MFM
back to the SPI Master.
Recommended
Converter/Cable
MD-CC300-000
Table 1.2.3: P2 Connector – SPI Communications
Figure 1.2.3: P2 Connector - SPI Communications
NEED A CABLE?
The following cables
and converters are
available to interface
communications with
P2:
USB to SPI:
MD-C300-000
10-Pin IDC to 12-Pin Locking
Wire Crimp Adapter
When the MForce is used with
the 12-Pin locking wire crimp
connector at P1, the 10-Pin IDC
Connector at P2 is not in Place. All
SPI Communications will connect
to the P1 Connector.
An adapter is available to interface
the MD-CC300-000 to the 12-Pin
Locking Wire Crimp connector.
MD-ADP-1723C
This adapter may be used in
conjunction with the following
Prototype Development cables to
interface power and logic:
PD12-1434-FL3 (10')
ADP-3512-FL (12")
See Appendix C for details.
Recommended Cable:
P/N MD-CC300-000
Recommended Cables:
P/N MD-CC300-000
P/N MD-ADP-H
10-Pin IDC
10-Pin Friction Lock
Wire Crimp
P2
9 7 5 3 1
10 8 6 4 2
P2
1 3 5 7 9
2 4 6 8 10

1-11
Part 1: Hardware Specifications
P1 12-Pin Locking Wire Crimp Connector Option - Power, I/O and SPI
Communications
Pin Assignment - P1 Power, I/O and SPI
Connections
Pin # Function Description
Pin 1 GND Power Ground
Pin 2 +V +12 to +48 VDC Motor Power Supply input.
Pin 3 Opto Reference
The Signal applied to the Optocoupler Reference will
determine the sinking/ or sourcing configuration of the inputs.
To set the inputs for sinking operation, a +5 to +24 VDC
supply is connected. If sourcing, the Reference is connected
to Ground.
Pin 4 Step Clock/Channel A/
Clock Up
Step Clock input. The step clock input will receive the clock
pulses which will step the motor 1 step for each pulse. It
may also receive quadrature and clock up type inputs if so
configured.
Pin 5 Enable Enable/Disable Input will enable or disable the driver output to the motor. In the disconnected state the driver outputs are
enabled in either sinking or sourcing configuration.
Pin 6 Direction/Channel B/
Clock Down
Direction input. The axis direction will be with respect to the
state of the Direction Override Parameter. It may also receive
quadrature and clock up type inputs if so configured.
Pin 7 +5 VDC Output Supply voltage for the MD-CC300-000 Cable ONLY!
Pin 8 SPI Clock The Clock is driven by the SPI Master. The clock cycles once
for each data bit.
Pin 9 GND Communications Ground.
Pin 10 MISO Master-In/Slave-Out. Carries output data from the MFM back
to the SPI Master.
Pin 11 CS SPI Chip Select. This signal is used to turn communications
on multiple MFM units on or off.
Pin 12 MOSI Master-Out/Slave-In. Carries output data from the SPI Master
to the MFM.
Table 1.2.4: P1 Connector – Power, I/O and SPI Communications
Figure 1.2.4: P1 — 12-Pin Locking Wire Crimp
NEED A CABLE?
The following cables
and converters are
available to interface
with P1:
12-Pin Locking Wire Crimp
PD12-1434-FL3
See Note on Previous Page for
more detail.
P1
12-Pin Locking Wire Crimp
1
2 4 6 8 1012
3 5 7 9 11
NOTE: The 12-Pin
Locking Wire Crimp
Connector at P1
Eliminates the P2
Connector!

1-12 Microstepping MForce MicroDrive Manual Revision R112706
Options and Accessories
Parameter Setup Cable and Adapters
The optional 12.0' (3.6m) parameter setup cable part number MD-CC300-000 facilitates communications
wiring and is recommended with first order. It connects from the 10-Pin IDC Connector located at P2 to a
PC's USB port. If the12-pin pluggable locking wire crimp connector is used at P1, adapter MD-ADP-1723C
is required to use the MD-CC300-000.
USB to SPI..........................................................................................................MD-CC300-000
Prototype Development Cable
To speed prototype development, these cables connect to user interface via flying leads with MForce mating
connector on opposite end.
Mating connector to 12-pin pluggable locking wire crimp plugs into MForce or adapter MD-ADP-1723C.
Choose from 2 lengths:
12.0" (30.5cm)..........................................................................................................ADP-3512-FL
10.0' (3.0m).......................................................................................................... PD12-1434-FL3
Mating connector to MForce 4-pin motor interface:
10.0' (3.0m)........................................................................................................ PD04-MF17-FL3
Figure 1.2.5: P3 — 4-Pin Locking Wire Crimp Motor Connector
P3 Connector - Motor Phase Connector
Pin Assignment - P3 Motor
4-Pin Wire Crimp Function Description
Pin 1 ØA Phase A of the Motor
Pin 2 ØA Phase A of the Motor
Pin 3 ØB Phase B of the Motor
Pin 4 ØB Phase B of the Motor
Table 1.2.5: P3 — Pin Assignment, Motor Phase Connections
P3
4-Pin Locking Wire Crimp
1 2 3 4
Recommended Connector Shell and Pins
Shell: AMP 1445022-4
Pins: AMP 1-794610-2
Wire: 20 AWG Shielded Twisted Pair

1
Part 2: Interfacing and Configuring
Section 2.1: Mounting and Connection Recommendations
Section 2.2: Logic Interface and Connection
Section 2.3: Connecting SPI Communications
Section 2.4: Using the IMS SPI Motor Interface
Section 2.5: Using User-Defined SPI
Part 2:
Interfacing and
Configuring
TM
FORCE
MICRO DRIVE
MICROSTEPPING

2Microstepping MForce MicroDrive Manual Revision R112706
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