Intelligent Motion Systems IB Series User manual

T
intelligent motion systems, inc.
Excellence in MotionTM
370 N. MAIN ST., PO BOX 457, MARLBOROUGH, CT 06447
PH. [phone], FAX [phone]
Internet: http://www.imshome.com, E-Mail: [email protected]
TM
IBSERIES
OPERATING INSTRUCTIONS
HALF/FULL STEP STEPPING MOTOR DRIVERS
IB462 ''
''
'IB463 ''
''
'IB104 ''
''
'IB106 ''
''
'IB1010

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; niether 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
indemnifies Intelligent Motion Systems, Inc., against all damages.
TM
© 2003 by Intelligent Motion Systems, Inc.
All Rights Reserved
IB Series Half/Full Step Driver Operating Instructions
Revision 05.21.2003

1
Contents
IMPORTANT! READ THIS FIRST! ........................................................... 5
The Product Manual ......................................................................................5
Connecting the IB Series Driver to Your System ..........................................5
Notes and Warnings .....................................................................................6
PartI: GeneralInformation
Section 1.1: Introduction to the IB Series Drivers ................................. 8
Features and Benefits...................................................................................9
Section 1.2: Theory of Operation ........................................................ 11
Section Overview .........................................................................................11
Circuit Operation .........................................................................................11
Output Wave Sequences ............................................................................12
Timing .........................................................................................................13
Section 1.3: Selecting a Power Supply ............................................... 14
Section Overview .........................................................................................14
Selecting a Power Supply ...........................................................................14
Recommended Wiring................................................................................16
AC Line Filtering ..........................................................................................17
Section 1.4: Motor Selection and Connection.................................... 18
Section Overview .........................................................................................18
Selecting a Motor.........................................................................................18
Motor Wiring ................................................................................................21
Section 1.5: Interfacing to the IB Series Drive .................................... 25
Section Overview .........................................................................................25
Layout and Interface Guidelines .................................................................25
Pin Assignment and Description................................................................26
Basic Connections......................................................................................27
Interfacing Motor Power (+V) .......................................................................27
Interfacing the Logic Inputs.........................................................................28
Controlling the Output Current ....................................................................30
Section 1.6: Troubleshooting .............................................................. 32
Section Overview .........................................................................................32
Basic Troubleshooting................................................................................32
Problem Symptoms and Possible Causes ...............................................32
Contacting Application Support ..................................................................34
The IMS Web Site ........................................................................................35
Returning Your Product to IMS ....................................................................35
Part2: Hardware Reference
Section2.1: IB462................................................................................. 38
Section Overview .........................................................................................38
Mechanical Specifications ..........................................................................38
Electrical Specifications ..............................................................................39
Thermal Specifications ...............................................................................39

2
Current Adjust Resistor Values ..................................................................40
Recommended IMS Power Supplies .........................................................41
Recommended IMS Motors ........................................................................41
Options and Accessories ...........................................................................42
Section2.2: IB463................................................................................. 43
Section Overview .........................................................................................43
Mechanical Specifications ..........................................................................43
Electrical Specifications ..............................................................................44
Thermal Specifications ...............................................................................44
Current Adjust Resistor Values ..................................................................45
Recommended IMS Power Supplies .........................................................46
Recommended IMS Motors ........................................................................46
Options and Accessories ...........................................................................47
Section2.3: IB104................................................................................. 48
Section Overview .........................................................................................48
Mechanical Specifications ..........................................................................48
Electrical Specifications ..............................................................................49
Thermal Specifications ...............................................................................49
Current Adjust Resistor Values ..................................................................50
Recommended IMS Power Supplies .........................................................51
Recommended IMS Motors ........................................................................52
Options and Accessories ...........................................................................52
Section2.4: IB106................................................................................. 53
Section Overview .........................................................................................53
Mechanical Specifications ..........................................................................53
Electrical Specifications ..............................................................................54
Thermal Specifications ...............................................................................54
Current Adjust Resistor Values ..................................................................55
Recommended IMS Power Supplies .........................................................56
Recommended IMS Motors ........................................................................57
Options and Accessories ...........................................................................57
Section 2.5: IB1010 ............................................................................... 58
Section Overview .........................................................................................58
Mechanical Specifications ..........................................................................58
Electrical Specifications ..............................................................................59
Thermal Specifications ...............................................................................59
Current Adjust Resistor Values ..................................................................60
Recommended IMS Power Supplies .........................................................61
Recommended IMS Motors ........................................................................61
Options and Accessories ...........................................................................62
Appendix A: OPT140............................................................................ 63
Optional Interface Board .............................................................................63
Appendix B: Cooling Solutions .......................................................... 67
H-4X Heat Sink ............................................................................................67
H-100 Heat Sink ..........................................................................................67
Thermal Pads .............................................................................................68
AppendixC: MiscellaneousAccessories ............................................ 70

3
List of Figures
Figure 1.2.1 IB Series Block Diagram ....................................................11
Figure 1.2.2 Normal Mode Phase Sequence .........................................12
Figure 1.2.3 Wave Mode Phase Sequence ............................................13
Figure 1.2.4 Half Step Mode Phase Sequence ......................................13
Figure 1.2.5 Timing .................................................................................13
Figure 1.4.1 Per Phase Winding Inductance ..........................................20
Figure 1.4.2 8 Lead Motor Series Connection........................................22
Figure 1.4.3 8 Lead Motor Parallel Connection ......................................22
Figure 1.4.4 6 Lead Motor Half Coil Connection ....................................23
Figure 1.4.5 6 Lead Motor Full Coil Connection .....................................23
Figure 1.4.6 4 Lead Motor Connection ...................................................24
Figure 1.5.1 Basic Connections .............................................................27
Figure 1.5.2 Opto-coupler Input Circuit ...................................................28
Figure 1.5.3 TTL Interface .......................................................................29
Figure 1.5.4 Open Collector Interface .....................................................29
Figure 1.5.5 74HC/54HC/74HCT/54HCT Interface ................................30
Figure 1.5.6 Current Adjust Resistor Placement....................................30
Figure 1.5.7 Switching Phase Currents..................................................31
Figure 1.5.8 Isolated Switching of Phase Currents................................31
Figure 2.1.1 IB462 Dimensions..............................................................38
Figure 2.2.1 IB463 Dimensions..............................................................43
Figure 2.3.1 IB104 Dimensions..............................................................48
Figure 2.4.1 IB106 Dimensions..............................................................53
Figure 2.5.1 IB1010 Dimensions............................................................58
Figure A.1 PT-140 Dimensions ...........................................................63
Figure A.2 OPT-140 Placement ...........................................................65
Figure A.3 OPT-140 Schematic Representation .................................65
Figure B.1 H-4X Heat Sink....................................................................67
Figure B.2 H-100X Heat Sink ...............................................................68

4
List of Tables
Table 1.4.1 Motor Connections ................................................................21
Table 1.5.1 Pin Assignment and Description ..........................................26
Table 2.1.1 IB462 Electrical Specifications..............................................39
Table 2.1.2 IB462 Thermal Specifications ...............................................39
Table 2.1.3 IB462 Current Adjust Resistor Values ..................................40
Table 2.2.1 IB463 Electrical Specifications..............................................44
Table 2.2.2 IB463 Thermal Specifications ...............................................44
Table 2.2.3 IB463 Current Adjust Resistor Values ..................................45
Table 2.3.1 IB104 Electrical Specifications..............................................49
Table 2.3.2 IB104 Thermal Specifications ...............................................49
Table 2.3.3 IB104 Current Adjust Resistor Values ..................................50
Table 2.4.1 IB106 Electrical Specifications..............................................54
Table 2.4.2 IB106 Thermal Specifications ...............................................54
Table 2.4.3 IB106 Current Adjust Resistor Values ..................................55
Table 2.5.1 IB1010 Electrical Specifications............................................59
Table 2.5.2 IB1010 Thermal Specifications .............................................59
Table 2.5.3 IB1010 Current Adjust Resistor Values ................................60
Table A.1 OPT-140 Pin Configuration ...................................................66

5
IMPORTANT! READ THIS FIRST!
The Product Manual
Using This Manual
This manual is divided into two parts:
Part 1 is General Information, which covers details common to the entire
IB Series of products such as operational theory, connection and interface
instructions, and troubleshooting.
Part 2 is Hardware Reference. This part contains sections with informa-
tion specific to each individual IB drive. Here you will find details such as
mechanical, electrical and thermal specifications, current control resistor
value tables and recommended power supplies and motors for each IB
series drive. Do not attempt to connect or use your drive without first
consulting the section specific to the IB series drive you purchased!
The Bookmarks
The IB Series product manual in it’s electronic format (ib.pdf) can be
downloaded from the IMS website at www.imshome.com. This version
includes a Bookmark feature that allows the reader to
link from a Bookmarked Topic in the Table of
Contents to a full description of that feature’s
attributes and functions. You can also select a Topic
directly from the Table of Contents Pages. Topics
with a Bookmark function are further identifiable
because the cursor changes from a normal pointer to a
“finger” pointer when placed over the word.
Connecting The IB Series Driver to your System
!All logic inputs are optically isolated and MUST have a
current limiting resistor at each input.
!Most regulated supplies use a voltage interrupt or “crow-
bar” current limit. That is, when the supply senses an
over-current condition, it will turn off the output voltage for
a time, and then back on again. This will continue until the
over-current condition is cleared. Therefore, when using a
regulated power supply for drive voltage, the supply should
provide current sufficient enough to handle the high inrush
motor current during power-up. If it does not, the power
supply will switch into current limit and cut off regulating
voltage to the drive. This can cause damage to the IB
Series Motor Driver! Methods that will correct this condition
are as follows:

6
Notes and Warnings
•Use an unregulated power supply.
!Disconnecting any inputs or outputs from the driver while
power is applied will damage the drive!
!Do not use any flux removers or cleaners that
contain tricloroethane or hydrochlorofuorocarbons
(HCFCs).
Tricloroethane and HCFCs will attack internal plastic
components and cause permanent damage to the IB Series
Driver. We recommend using a “No-Clean” solder when
soldering to the input and output pins of the IB series driver.
If cleaning is required an alcohol based solvent should be
used.
Recommended Solders Recommeded Solvent
Kester “245” No-clean core solder, Tech Spray “Envorotech 1679”,
Alpha Metals “Telecore Plus” solder, Chemtronics “Flux-off NR 2000”,
Multicore “X39B” No-clean solder, or equivalent.
or equivalent.
WARNING! The IB series have 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 IB
Series drive!
WARNING! Ensure that the power supply output voltage
does not exceed the maximum input voltage of the IB
Series Drive that you are using!
WARNING! A current limiting resistor is required when
interfacing to the isolated inputs or damage will occur to
the drive. See Part 1, Section 5 for interface details.
WARNING! Do not use any flux removers that contain
trichloroethane or hydrochlorofluorocarbons (HCFCs) or
corrosive damage will occur to the internal drive components!
Recommended Solder Temperature Recommeded Time
315°C (600°F) 10 Seconds

7
General
Information
Part I
Section 1.1–Introduction
Section 1.2–Theory of Operation
Section 1.3–Selecting a Power Supply
Section 1.4–Selecting a Motor
Section 1.5–Interfacing
Section 1.6–Troubleshooting

8
Section 1.1
Introduction to the IB Series Drivers
IB Series Half/Full Step Drivers
The IB series of miniature high performance stepper motor drives are
designed for today’s quality minded, price sensitive market. The 40 volt
series has a +12 to +40 VDC input voltage, up to 3.5 Amps per phase
drive current and a maximum step frequency of 40kHz. The 80V series
has a +24 to +80 VDC input voltage, up to a powerful 9 Amps per phase
of drive current and a maximum step frequency of 250kHz. All of these
drives feature pin compatibility, optically isolated logic inputs, and a 20
kHz chopping rate to reduce noise. In addition, all these drives are single
supply.
The 40V Line of IB Drives
IB462
The IB462 packs a powerful 160 Watts into less than 3 cu. in. This drive
operates from +12 to +40VDC and effortlessly outputs 2 Amps per phase.
This high voltage allows for greater speeds at higher torque without having to
resort to expensive drives or larger motors.
The high efficiency of the IB462 chopper drive along with its miniature
size make it ideally suited to replace the less efficient L/R drives. In
addition, the low cost and off-the-shelf availability of the IB462 permits
an immediate, cost effective solution to an in-house design.
IB463
The IB463 has an output capability of up to 3.5 Amps per phase and,
while it operates at the same voltage range as the IB462, it can deliver 1.4
times more power. This equates to 230 Watts of power in a package that
only requires 3.6 cubic inches of real estate.
The IB463 is ideal for those applications requiring more power, but where
size and cost are still important factors.
The 80V Line of IB Drives
The IB104, 106 and 1010 use MOSFET technology to achieve high power
from a miniature package. These drives are designed to get maximum
performance from larger, higher torque motors. This type of performance
is required for today’s most demanding applications.

9
Features and Benefits
General Features
!Very Low Cost.
!Single Supply.
!On-Board Phase Logic.
!Isolated Inputs.
!PC Board or Chassis Mountable.
!ExtremelySmall Size.
!20 kHz Chopping Rate.
!Full or Half Step.
With this 80V series of the IB family, IMS has preserved pin compatibility
with the 40V series to provide equipment manufacturer’s the ability to
easily upgrade their systems if more power is needed. In addition, the
small package makes them ideal for PC board mounting. They may also be
frame or chassis mounted and will accept 0.200/0.196 center connectors or
plug type terminal strips such as the option TS-6 terminals sold by IMS.
IB104
The IB104 operates from +24 to +80 volts at 4 Amps per phase output
current. This drive is ideal for lower power applications requiring high
voltage performance. The IB104 will also run cooler because it uses the
same MOSFET technology as the more powerful 80V IB drives.
IB106
The IB106 was designed with higher performance motors that require
more current in mind. Applications requiring increased power can take
advantage of its 6 Amps/phase drive current.
IB1010
The IB1010 utilizes the same high 80V input voltage as the IB104 and
IB106, but is capable of delivering a full 9 Amps per phase. This equates
to an incredible 1800 Watts in the same small package. This drive is
unparalleled for those applications where maximum power is required, but
size and cost are still a consideration.

10
Product Specific Features
IB462
!High Input Voltage (+12 to +40V).
!High Output Current (2 Amps/Phase).
!40kHz Step Rate.
IB463
!High Input Voltage (+12 to +40VDC).
!High Output Current (3.5 Amps per Phase).
!40kHz Step Rate.
IB104
!High Input Voltage (+24 to +80VDC).
!High Output Current (4 Amps per Phase).
!Over/Under Voltage Protection.
!250 kHz Step Rate.
IB106
!High Input Voltage (+24 to +80VDC).
!High Output Current (6 Amps per Phase).
!Over/Under Voltage Protection.
!250 kHz Step Rate.
IB1010
!High Input Voltage (+24 to +80VDC).
!High Output Current (9 Amps per Phase).
!Over/Under Voltage Protection.
!250 kHz Step Rate.

11
Section 1.2
Theory of Operation
Section Overview
This section will cover the circuit operation for the IB series drives.
!Circuit Operation.
!Output Wave Sequences.
!Timing.
Circuit Operation
The IB series drives are bipolar chopping stepper motor drives. They
receive step clock, direction and mode signals from the system controller
and generate constant phase currents which are adjustable in magnitude.
The principal functions are: a translator which generates the motor phase
sequences, a dual PWM chopper circuit which regulates the current in the
motor windings and a power stage to drive the motor. The translator
generates three different sequences selected by the half/full step input.
These are normal (two phases energized), wave drive (one phase energized)
Figure 1.2.1: IB Series Block Diagram
TRANSLATOR
DRIVE
LOGIC
+5 VDC +5v
REGULATOR
OSCILLATOR
Q
SR
Q
SR
-
+
-
+
+5 VDC
+5 VDC
QC
D
ENABLE PIN 1
LOGIC GROUND PIN 2
HALF / FULL STEP PIN 3
STEP CLOCK PIN 4
CW/CCW PIN 5
CURRENT ADJUST PIN 6
FILTER
FILTER
PIN 8 +V
PIN 12 Ø A
PIN 11 Ø A
PIN 10 Ø B
PIN 9 Ø B
PIN 7 GROUND
OUTPUT
BRIDGE
OUTPUT
BRIDGE

12
and half step (alternately one phase energized/ two phases energized).
A common on-board oscillator drives the dual chopper. It supplies pulses
which set two flip-flops. When the current in a winding reaches the
programmed peak value a corresponding comparator resets its flip-flop,
shutting down the output stage until the next oscillator pulse comes along.
Because the windings in the motor store energy, current will continue to
flow through the windings during the off period. The peak current for
both windings is programmed by the current adjust input.
The output stage consists of dual full bridge drivers. The IB Series drives
can be disabled by a logic HIGH signal on the enable input. Ultra fast
recovery fly-back rectifiers are used to improve efficiency and help reduce
noise.
Output Wave Sequences
The IB series drives generate phase sequences for normal, wave and half step
modes. The state diagram and output waveforms are shown below. In all
modes, the transition occurs on the falling edge of the step clock signal.
Normal Mode
In normal drive mode two phases are energized at all times. This mode is
enabled by a logic HIGH on the Half/Full step input when the IB drive
initializes to state 1.
Wave Mode
In wave drive mode one phase is energized at a time. This mode is enabled
by selecting full step mode when the IB drive is in an even numbered state.
Figure 1.2.2: Normal Mode Phase Sequence
1
35
7
2
4
6
8
135713571
STEP CLOCK
PHASE A
PHASE B
PHASE A
PHASE B

13
Half Step Mode
In half step mode the phasing alternates from one phase energized to two
phases energized. Half step mode is selected by a logic LOW on the Half/
Full step input.
Timing
Figure 1.2.5: Timing
Figure 1.2.3: Wave Mode Phase Sequence
1
35
7
2
4
6
8
246824682
STEP CLOCK
PHASE A
PHASE B
PHASE A
PHASE B
Figure 1.2.4: Half Step Mode
1
35
7
2
4
6
8
123456781
STEP CLOCK
PHASE A
PHASE B
PHASE A
PHASE B
t
CLK
t
S
t
H
STEP CLOCK
CW/CCW
HALF/FULL STEP
Parameter Minimum
t - Clock Time.......................3µs
t - Set up time...........................2µs
t - Hold Time..............................5.5µs
CLCK
S
H

14
Section 1.3
Selecting a Power Supply
Section Overview
This section contains general information pertaining to power supply
selection for use with the IB drive. See the section in Part II of this
document titled for the specific model IB drive you purchased for power
supply specifications and recommendations. Precise wiring and connection
details are to be found in Section 1.5, Interfacing to the IB Series Driver. The
following is covered by this section:
!Selecting a Power Supply.
!RecommendedWiring.
!AC Line Filtering.
Selecting a Power Supply
Selecting a Motor Supply (+V)
Proper selection of a power supply to be used in a motion system is as
important as selecting the drive itself. When choosing a power supply for a
stepping motor driver there are several performance issues that must be
addressed. An undersized power supply can lead to poor performance and
possibly even damage to your drive.
The Power Supply - Motor Relationship
Motor windings can be basically viewed as inductors. Winding resistance
and inductance result in an L/R time constant that resists the change in
current. To effectively manipulate the rate of charge, the voltage applied is
increased. When traveling at high speeds, there is less time between steps
to reach current. The point where the rate of commutation does not allow
the driver to reach full current is referred to as voltage mode. Ideally you
want to be in current mode, which is when the drive is achieving the
desired current between steps. Simply stated, a higher voltage will decrease
the time it takes to charge the coil, and therefore will allow for higher
torque at higher speeds.
Another 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 and, as a result, could damage the stepper
driver over a period of time.

15
The Power Supply - Driver Relationship
The IB series driver is very current efficient as far as the power supply is
concerned. Once the motor has charged one or both windings of the
motor, all the power supply has to do is replace losses in the system. The
charged winding acts as an energy storage in that the current will recirculate
within the bridge, and in and out of each phase reservoir. This results in a
less than expected current draw on the supply.
Stepping motor drivers are designed with the intention that a user’s power
supply output will ramp up to greater or equal to the minimum operating
voltage. The initial current surge is quite substantial and could damage the
driver if the supply is undersized. The output of the power supply could
fall below the operating range of the driver upon a current surge if it is
undersized. This could cause the power supply to start oscillating in and
out of the voltage range of the driver and result in damage to either the
supply, the driver, or both. There are two types of supplies commonly
used, regulated and unregulated, both of which can be switching or linear.
All have their advantages and disadvantages.
Regulated vs. Unregulated
An unregulated linear supply is less expensive and more resilient to
current surges, however, the voltage decreases with increasing current
draw. This can cause problems if the voltage drops below the working
range of the drive. Also of concern are the fluctuations in line voltage.
This can cause the unregulated linear supply to be above or below the
anticipated or acceptable voltage.
A regulated supply maintains a stable output voltage, which is good for
high speed performance. They are also not bothered by line fluctuations,
however, they are more expensive. Depending on the current regulation,
a regulated supply may crowbar or current clamp and lead to an oscilla-
tion that may cause damage to the driver and/or power supply. Back
EMF can cause problems for regulated supplies as well. The current
regeneration may be too large for the regulated supply to absorb. This
could lead to an over voltage condition which could damage the output
circuitry of the IB driver.
Non IMS switching power supplies and regulated linear supplies with
over-current protection are not recommended because of their inability to
handle the surge currents inherit in stepping motor systems.
WARNING! Do not connect or disconnect motor or power
leads with power applied!

16
Recommended Wiring
Rules of Wiring and Shielding
Noise is always present in a system that involves high power and small
signal circuitry. Regardless of the power configuration used for your
system, there are some wiring and shielding rules that should be followed
to keep the signal-to-noise ratio as small as possible.
Rules of Wiring
!Power supply and motor wiring should be shielded
twisted pairs run separately from signal carrying wires.
!A minimum of 1 twist per inch is recommended.
!Motor wiring should be shielded twisted pairs using 20-
gauge wire or, for distance greater than 5 feet, 18 gauge
or better.
!Power ground return should be as short as possible to
established ground.
!Power supply wiring should be shielded twisted pairs.
Use 18 gauge wire if load is less than 4 amps, or 16
gauge for more than 4 amps.
!Do not “daisy-chain” power wiring to system components.
Rules of Shielding
!The shield must be tied to zero-signal reference potential.
In order for shielding to be effective it is necessary for the
signal to be earthed or grounded.
!Do not assume that earth ground is true earth ground.
Depending on the distance to the main power cabinet it
may be necessary to sink a ground rod at a critical
location.
!The shield must be connected so that shield currents drain
to signal-earth connections.
!The number of separate shields required in a system is
equal to the number of independent signals being
processed plus one for each power entrance.
!The shield should be tied to a single point to prevent
ground loops.
!A second shield can be used over the primary shield,
however, the second shield is tied to ground at both ends.

17
Recommended Power Supply Cables
Power supply cables must not run parallel to logic level wiring as noise will
be coupled onto the logic signals from the power supply cables. If more
than one driver is to be connected to the same power supply, run separate
power and ground leads to each driver from the power supply. The
following Belden cables (or equivalent) are recommended for use with the
IB series drive.
Twisted Pair Jacketed
<4 Amps DC......................... Belden part# 9740 or equivalent 18 AWG
>4 Amps DC......................... Belden part# 8471 or equivalent 16 AWG
AC Line Filtering
The output voltage of an unregulated power supply will vary with the AC
input applied. It is recommended that an AC line filter be used to prevent
damage to the IB series drive due to a lightning strike or power surge.
WARNING! Verify that the power supply wiring is correct prior to
power application. If +V and GND are connected in reverse
order, catastrophic damage to the drive may occur! Ensure that
the power supply output voltage does not exceed the maximum
rated voltage for your IB driver!
WARNING! Hazardous voltage levels may be present if using an
open frame power supply to power the IB driver!

18
Section 1.4
Motor Selection and Connection
Section Overview
This section covers the motor configurations for the IB series drive, as well
as general information concerning motor selection and connection. For
specific motor recommendations see the section in Part II of this docu-
ment pertaining to the model IB drive which you purchased.
!Selecting a Motor.
!Motor Wiring.
!Connecting the Motor.
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?
!How much torque is required to move the load?
!How fast does the load need to move or accelerate?
!What degree of accuracy is required when positioning the
load?
While determining the answers to these and other questions is beyond the
scope of this document, they are details that you must know in order to
select a motor that is appropriate for your application. These details will
effect everything from the power supply voltage to the type and wiring
configuration of your stepper motor, as well as the current and half/full
step settings of your IB series drive.
Types and Construction of Stepping Motors
The stepping motor, while classed as a DC motor, is actually an AC motor
that is operated by trains of pulses. Though it is called a “stepping motor”
it is in reality a polyphase synchronous motor. This means it has multiple
phases wound in the stator and the rotor is dragged along in synchronism
with the rotating magnetic field. The IB series drivers are designed to work
with the following types of stepping motors:
1) Permanent Magnet (PM).
2) Hybrid Stepping Motors.