JVL MIS23 Series User manual

LB0053-22GB Revised 25.th. January 2016
JVL Industri Elektronik A/S
Integrated Step Motors,
QuickStep,
MIS231, MIS232, MIS234,
MIS340, MIS341, MIS342,
MIS430, and MIS432
Including Step Motor Controller
SMC75, SMC85
User Manual

Important
User Information
Please contact your nearest JVL representative for technical assistance. Your
nearest contact can be found on our web site www.jvl.dk
Copyright 1998-2016, JVL Industri Elektronik A/S. All rights reserved.
This user manual must not be reproduced in any form without prior written
permission of JVL Industri Elektronik A/S.
JVL Industri Elektronik A/S reserves the right to make changes to informa-
tion contained in this manual without prior notice.
Furthermore JVL Industri Elektronik A/S assumes no liability for printing er-
rors or other omissions or discrepancies in this user manual.
MacTalk and MotoWare are registered trademarks
JVL Industri Elektronik A/S
Blokken 42
DK-3460 Birkerød
Denmark
Tlf. [phone]
Fax. [phone]
e-mail: [email protected]
Internet: http://www.jvl.dk
The MIS and SMC series of products are used to control electrical
and mechanical components of motion control systems.
You should test your motion system for safety under all potential
conditions. Failure to do so can result in damage to equipment
and/or serious injury to personnel.
!!
Warning

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 3
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1Introduction .................................................................................................................... 7
1.1 Non-programmable motors ............................................................................................................................... 8
1.2 Programmable motors ...................................................................................................................................... 10
1.3 General description .......................................................................................................................................... 12
2Hardware - Intelligent products .................................................................................. 13
2.1 Power Supply .................................................................................................................................................... 14
2.2 Inputs ................................................................................................................................................................ 18
2.3 Analogue Inputs ................................................................................................................................................ 21
2.4 User Outputs .................................................................................................................................................... 25
2.5 Serial interfaces overview ................................................................................................................................. 27
2.6 RS485 Interface ................................................................................................................................................. 28
2.7 Special Outputs ................................................................................................................................................. 30
2.8 Special Connections .......................................................................................................................................... 32
2.9 Handling noise in cables .................................................................................................................................... 33
2.10 How to connect MIS23x ................................................................................................................................... 35
2.11 How to connect MIS34x ................................................................................................................................... 37
2.12 LED indicators at the MIS34x ........................................................................................................................... 53
2.13 LED indicators at the MIS34x ........................................................................................................................... 54
2.14 LED indicators at the MIS34x ........................................................................................................................... 55
3Hardware Non-intelligent products ............................................................................. 57
4Using MacTalk ............................................................................................................... 59
4.1 Using the MacTalk software ............................................................................................................................. 60
4.2 How to update MacTalk ................................................................................................................................... 68
4.3 How to update the motor firmware ................................................................................................................. 69
4.4 How to update the encoder firmware ............................................................................................................. 70
5Description of functions ................................................................................................ 71
5.1 Adjusting the motor current ............................................................................................................................. 72
5.2 Auto Correction ............................................................................................................................................... 73
5.3 Absolute position back-up ............................................................................................................................... 75
5.4 SSI encoder/sensor interface ............................................................................................................................. 78
5.5 Absolute Multi-turn Encoder ............................................................................................................................ 85
5.6 Position Limits ................................................................................................................................................... 91
5.7 Mechanical Zero search .................................................................................................................................... 96
6Modes ............................................................................................................................ 97
6.1 Passive Mode .................................................................................................................................................... 98
6.2 Velocity Mode ................................................................................................................................................... 99
6.3 Positioning Mode ............................................................................................................................................ 100
6.4 Gear Mode ...................................................................................................................................................... 101
6.5 Zero search modes ......................................................................................................................................... 110
7Error Handling ............................................................................................................ 115
8Registers ......................................................................................................................117
8.1 Introduction to registers ................................................................................................................................. 118
8.2 MIS23x Registers ............................................................................................................................................. 119
8.3 MIS34x & MIS43x Registers ............................................................................................................................ 154

4 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
9Building Sequential Programs .................................................................................... 189
9.1 Getting started with programming ..................................................................................................................190
9.2 Programming Main window ............................................................................................................................191
9.3 Programming menu .........................................................................................................................................192
9.4 How to build a program ..................................................................................................................................193
9.5 General programming hints .............................................................................................................................196
9.6 Command toolbox description ........................................................................................................................197
9.7 Graphic programming command reference ....................................................................................................198
10 CANopen Introduction ............................................................................................... 217
10.1 General information about CANopen .............................................................................................................218
10.2 Connection and setup of the CAN bus ...........................................................................................................222
10.3 Using CANopenExplorer ................................................................................................................................226
10.4 Objects in the DS301 standard ........................................................................................................................231
10.5 Objects used in the DSP-402 standard ............................................................................................................241
10.6 Flexible Register setup .....................................................................................................................................248
10.7 More details of CANopen Theory ..................................................................................................................249
11 Modbus interface ........................................................................................................ 261
11.1 Modbus in MIS34x and SMC85 ........................................................................................................................262
12 Stand alone electronics .............................................................................................. 265
12.1 Step motor drivers (SMDxx) ...........................................................................................................................266
12.2 Step motor controllers (SMCxx) .....................................................................................................................268
12.3 How to connect the motor .............................................................................................................................273
12.4 How to connect in general ..............................................................................................................................276
12.5 Quick Start (SMC75A1MxAA) .........................................................................................................................277
13 Technical Data ............................................................................................................ 278
13.1 MIS23x Technical Data ....................................................................................................................................279
13.2 MIS34x Technical Data ....................................................................................................................................280
13.3 SMC75 Technical Data ....................................................................................................................................281
13.4 Torque Curves ................................................................................................................................................282
13.5 Physical Dimensions ........................................................................................................................................284
13.6 Life time ...........................................................................................................................................................287
13.7 Trouble-shooting guide ...................................................................................................................................288
14 Connection to other Equipment ................................................................................ 289
14.1 Connecting SMI30/SMC35 to MIS/SMC75 ......................................................................................................290
14.2 Connecting MISxx/SMC75 to SMD73 .............................................................................................................291
14.3 Connecting MISxx/SMC75 to SMD41 .............................................................................................................292
14.4 Connecting MISxx/SMC75 to MAC00-Bx .......................................................................................................293
14.5 Connection to PLC/PC Boards .......................................................................................................................294
15 Accessories .................................................................................................................. 295
15.1 Cables ..............................................................................................................................................................296
15.2 Power Supplies ................................................................................................................................................297
15.3 Brakes and shaft reinforcement .......................................................................................................................298
15.4 Gear and brake mounting instruction ..............................................................................................................299
16 Appendix ..................................................................................................................... 301
16.1 MIS23x & SMC75 Registers detailed ...............................................................................................................302
16.2 MIS34/43/SMC85 Registers detailed ................................................................................................................312
16.3 Velocity accuracy .............................................................................................................................................322
16.4 Command timing .............................................................................................................................................323
16.5 More about program timing ............................................................................................................................324
16.6 Motor Connections .........................................................................................................................................325
16.7 Serial communication ......................................................................................................................................327
16.8 MIS Ordering Information ...............................................................................................................................332

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 5
16.9 SMC75/85 Ordering Information .................................................................................................................... 333
16.10 MST Motor Ordering Information .................................................................................................................. 334
17 Declarations ................................................................................................................ 336
17.1 CE Declaration of Conformity ........................................................................................................................ 337
17.2 Vibrationtest certificate MIS23x ...................................................................................................................... 339
17.3 Vibrationtest certificates MIS34x .................................................................................................................... 340
17.4 Index ............................................................................................................................................................... 342

6 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 5
1 Introduction
This user manual describes the set-up and usage of the following products:
Complete motors with build-in controller or driver
• Types MIS231, MIS232 and MIS234 (NEMA23 sizes)
• Types MIS340, MIS341 and MIS342 (NEMA34 sizes)
• Types MIS43x (NEMA43 sizes) - only limited supported in this manual.
Stand-alone electronics without motor
• Types SMD73 and SMD74 drive PCB without intelligence (not programmable)
• Types SMC75 and SMC85 controller PCB with intelligence (fully programmable)
All the quickstep motors are available as a fully programmable product with a wide range
of features also covering a simple pulse and direction interface.
The smaller quickstep motors size MIS23x are also available as a “non-programmable”
and more simple version with pulse and direction inputs for applications which are price
sensitive.
Examples of motors and stand alone electronics.
MIS34x family
(MIS340 shown)
MIS23x family
(MIS232 shown)
TT2317-01GB
TT2319-01GB
MI
S
342 and MI
S
340
Standard version
MIS340
with Bluetooth
MI
S
232
with step and direction input
MI
S
230-234
Standard version
SMC75A1
Step motor controller
SMC85A1
Step motor controller
SMD73
Step motor driver

6 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
1.1 Non-programmable motors
The QuickStep series of Stepper motors with inte-
grated electronics represents a major step forward.
All the necessary electronics in a stepper system are in-
tegrated in the motor itself.
In the past, a traditional motor system has typically been
based on a central controller unit located remote from
the motor. This configuration however has the disad-
vantage that installation costs are a major part of the to-
tal expense of building machinery.
The basic idea of the QuickStep motors is to minimize
these costs but also to make a component that is much
better protected against electrical noise, which can be a
typical problem when using long cables between the
controller and motor.
The stepper motor, encoder and electronics are spe-
cially developed by JVL so that together they form a
closed unit, in which the power driver and controller
are mounted inside the motor.
The advantages of this solution are:
• De-central intelligence.
• Simple installation. No cables between motor and
driver.
• EMC safe. Switching noise remains within
motor. (Noise can however be introduced in the
DI/DO).
• Compact. Does not take space in cabinet.
• Low-cost alternative to separate step or
servo motor and driver.
In the past decade, pulse/direction interfaces have be-
come increasingly popular for the control of step and
servo motors. This is due to the fact that pulse/direction
signals provide a simple and reliable interface which is
100% digital, precise, and offers immediate response.
When a pulse is sent, the motor instantaneously moves
1 step forward.
For example, if the motor has a resolution of 200 steps/
revolution, it will move 1.8 degrees. By changing the
frequency of the applied pulse signal, it is possible to ac-
celerate the motor.
By counting the number of pulses, the motor’s po-
sition can be determined without any error what-
soever. The direction input is used to determine
the motor’s direction of rotation. JVL’s QuickStep
motors with pulse/direction interface offer the fol-
lowing advantages:
• Very simple technology that is easy to under-
stand and apply.
• High stability and low cost because the tech-
nology is simple with few components.
• Only one cable with 4 wires is required, so
cabling costs are a minimum.
• No controller in the control cabinet.
• All positioning and control is performed by the
PLC, so there is no duplication of software or
cabling.
• Robust IP67 connector and IP55 motor housing
for applications in demanding environments.
• Thermally protected against current overload
and short-circuit.
• Reacts instantaneously. The motor starts within
microseconds.
• 5V or 24V PNP/NPN inputs ensure compatibil-
ity with any controller.
• Step resolution of 200, 400, 800, 1000 or 1600
pulses/revolution.
• Supply voltage 18-28VDC (based on SMD73).
• Supply voltage 18-48VDC (based on SMD74).
• Possibility for encoder feedback.
All the required electronics are integrated in the
motor itself in a single compact unit. The motor can
be supplied with the connector either on the back
or side of the housing. M12 connector is standard,
but cable glands or DSUB connector can be deliv-
ered on request.
For further information on the pulse/direction
driver see also SMD73 Data-sheet and Tech-
nical Note.
MIS231 Stepmotor
with pulse and direction input
TT2322-01GB

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 7
1.1 Non-programmable motors
1.1.1 Block diagram, Pulse/Direction Version
1.1.2 Driver Connections
Versions with pulse and direction control:
Connections for versions with 1 M12 connector. (See also SMD73 data-sheet)
xx: 05 for 5 metre and 20 for 20 metre cable.
Versions with cable glands and 5 m cable
M12 5 pin male Description JVL cable WI1000M12 F5TxxN
1P+ (18-28VDC) Brown
2Pulse White
3P- Blue
4Direction Black
5Signal Ground Grey
Colour Code Description
Red P+ (18-28VDC)
Black P-
Blue Direction
White Pulse
Shield Signal ground
2-phase
stepper
motor
Incremental
encoder
Optional
A
Stepclock
Direction
SMD73 or SMD74 Driver
Motor
Encoder
B
EncoderOutput
Stepanddirection
inputPowersupplyconnector
200, 400, 800,
1000, 1600 step
Driver
Bus Supply
18-28VDC (SMD73)
18-48VDC (SMD74)
Ground
High speed
digital logic
array
Phase A
Phase B
TT2178-02GB
5V to 24V
PNP/NPN
Selector

8 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
1.2 Programmable motors
The compact step motor controller SMC75
and SMC85 is designed for positioning and
speed control of stepper motors.
SMC75 is mounted directly in the housing of
the JVL QuickStep motors MIS 231, 232 and
234, and SMC85 is mounted in the MIS34x and
MIS43x, forming a complete integrated step
motor.
They may also be used with other types of step
motors according to customers requirements.
The basic features of the controller are:
• Serial RS485 or 5V serial position control-
ler.
• Position controller with graphic program-
ming.
• Option for CANbus, CANopen DS-301/
DSP-402 or DeviceNet (under develop-
ment).
• A dual supply facility is available so that
position and parameters are maintained at
emergency stop.
• Gear mode.
• MACmotor protocol so MACmotor and
Quickstep motors can be connected on
the same RS485 bus.
• Command for easy PLC/PC setup and
communication.
• Power supply 12-48VDC.
• Fixed 1600 pulses/rev.
• Built-in 16Bit µprocessor (SMC75) and
32Bit µprocessor (SMC85) with 8 In/Out
that can be configured as inputs, PNP out-
puts or analogue inputs. 5V serial and
RS485 interface for set up and program-
ming.
•MODBUSinterface.
• 9.6 to 1Mb communication.
• Driver technology is improved as com-
pared to SMD73 and supply voltage is
12-48VDC.
When used with the QuickStep motor or
mounted on any other step motor the ad-
vantages of the controller are:
• De-central intelligence.
• Simple installation. No cables between
motor and driver.
• EMC safe. Switching noise remains
within motor.
• Compact. Does not take space in cabi-
net.
• Low-cost alternative to separate step
or servo motor and driver.
• Stall detect by means of magnetic
encoder with resolution of up to 1024
pulses/rev. (H2 option)
• Absolute multi turn encoder for keep-
ing the position permanent also during
power down. (H3 option).
• Interface possibilities:
• From PC/PLC with serial commands via
5V serial or RS485.
• Pulse/direction input. Encoder output.
• CANopen, DeviceNet.
• 8 I/O, 5-28VDC that can be configured
as Inputs, Outputs or analogue inputs.
• Future option for Profibus DP, Ethernet,
Bluetooth and Zigbee wireless.
MIS232 with controller

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 9
1.2 Programmable motors
1.2.1 Block diagram, Positioning/Speed Control
2-phase
stepper
motor
Optional
Encoder
MIS23x:
MIS34x and MIS43x
H2 option - 1024 cpr
H2 option - 1024 cpr
H3 option - 65536 cpr
CVI
12-28V logic
P+
P+
12-48V (SMC75)
12-80V (SMC85)
Main supply
P-
(Ground)
IO1
CVO
A-
Tx
Rx
B+
IN8 Analog 8
Digital 8
Digital 1
CAN L
A+
A-
B+
B-
CAN R
Switchmode
Power
Supply
High speed
digital logic
array
Output
source
driver
CAN
Tranciever
RS422
Optional
16Bit (SMC75)
32Bit (SMC85)
Microprocessor
with
Integrated Flash
Phase A
Motor
SMC75 or SMC85 Controller
MI
S23
x, MI
S3
4x, MI
S
4
3
x Integrated
S
tepper Motor
Phase B
Power supply
connectorUser I/O connector
S
erial inter
f
ace
connector
Field Bus
connector
Multi
f
unction
I/O Interface
TT2140-02GB
IN1 Analog 1
IO8
750mA
Fuse
RS485
Driver
OUT
IN
Optional
MIS34x,
MIS43x
Optional
MIS34x,
MIS43x
Optional
Ethernet
connectors
Ethernet
Interface Wireless
4
4
Driver
Magnetic
Incremental
Encoder

10 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
1.3 General description
The QuickStep motors are currently available in 6 different models divided in 2 families.
NEMA23 covers: MIS231, MIS232 and MIS234, with holding torque ratings from 1.1 to
3.0 Nm and NEMA34 covers: MIS340, 341 and 342. The basic functions and I/O features
are the same for all models. MIS43x models up to 25.0 Nm are under development.
1.3.1 Basic modes/functions in the QuickStep motor
The QuickStep motor offers the following functions:
Motor Type MIS231 MIS232 MIS234 MIS340 MIS341 MIS342 Unit
Holding Torque 1.1 1.6 2.9 3.0 6.1 9.0 Nm
Inertia 0.3 0.48 0.96 1.4 2.7 4.0 kgcm2
Flange NEMA23 (57x57 mm.) NEMA34 (87x87 mm) -
Length 96 118.5 154 9[3.74] 126[4.96] 156.0[6.14] mm [Inch]
Shaft Ø 6.35 6.35 10.0 9.53 14.0 14.0 mm
Shaft radial play Max. 0.02 (450g load) Max. 0.02 (450g load) mm
Shaft axial play Max. 0.08 (450g load) Max. 0.08 (450g load) mm
Max radial force 7.5 (20mm from flange) 22 (20mm from flange) kg
Max axial force 1.5 6kg
Weight 0.9 1.2 1.8 2.7 4.2 5.8 kg
Mode Description
Passive The motor will be in a completely passive state but communication is active and internal
registers can be setup. Motor shaft can be turned by hand.
Velocity The motor velocity can be controlled using MacTalk software or by setting register 5 (V_SOLL)
using serial or program commands.
Position The motor position can be controlled using MacTalk or by setting register 3 (P_SOLL) using
serial or program commands.
Gear
The motor position and velocity can be controlled by pulse and direction or encoder signals
at the inputs “IN1” and “IN2”.
The gear ratio can be set to a large ratio by using register 14 (GEAR1) and register 15
(GEAR2).

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 11
2 Hardware - Intelligent products
This chapter ONLY covers intelligent products which are based on either the SMC75 or
SMC85 stepper controller.
The following pages explains how the I/O, Power supply, Interface etc. can be connected
and used.
Please notice that the SMC75 controller PCB is used in all the MIS23x motors and the
SMC85 controller PCB is used in all the MIS34x motors.

12 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
2.1 Power Supply
2.1.1 General Aspects of Power Supply - only MIS23x motors
Powering of the Controller is relatively simple.
To ensure that powering of the Controller is as simple as possible, only a driver and con-
trol voltage are connected to the Controller. Internal supply circuitry ensures the correct
supply voltages for the driver, control circuits, etc.
The motor can be operated with the same power supply if using 12 – 28VDC for both
Driver and control voltage. Often a higher voltage than 28VDC is desired as main supply
since the motor have a better torque performance at higher speed. In this case a separate
control supply (CVI) must be used with max. 28VDC.
NB: for actual connections, see drawing Step motor controllers (SMCxx), page 266
2.1.2 Main Power Supply (P+) - only MIS23x motors
The Driver section requires a supply voltage in the range 12-48VDC nominal. It is strong-
ly recommended to use a voltage as high as possible since it will give the best torque per-
formance of the motor at high speeds.
For optimum performance, it is recommended that a capacitance of minimum 1000µF is
connected to the power supply. It should be mounted as close as possible to the motor.
Similarly, it is recommended that 0.75mm cable is used to connect the power supply to
the Controller. If the Controller supply voltage falls below10V, the internal reset circuitry
will reset the driver. Provision should therefore be made to ensure that the supply volt-
age is always maintained at a minimum of 12V, even in the event of a mains voltage drop.
The Controller is protected against incorrect polarity connection but not over-voltage.
Warning: Power supply voltage higher than 50VDC will cause damages.
Only MIS23x
MainPowerSupply
12-48VDC
MIS23xMotor
ControlVoltage
12-28VDC
+
MIS23x Power Supply
TT2159GB
P- (GND)
CVI (Control circuit supply)
P+ (Main supply)

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 13
2.1 Power Supply
2.1.3 Control Voltage (CVI) - only MIS23x motors
The control voltage should be in the range 12-28VDC and is used to supply the micro-
processor circuit, internal functions in general and the user output driver (O1-8).
To ensure that position and parameters are maintained after an emergency stop, the
control voltage should be maintained under a stop situation where the P+ (main power)
is disconnected.
Warning: Control voltage higher than 30VDC will damage the controller.
2.1.4 Power Supply Grounding
It is recommended that the housing is connected to ground or common 0 VDC. The
overall earthing of the system must be done at a central point close to the power supply.
2.1.5 Dimensioning power supply and fuse - only MIS23x motors
The power supply must be dimensioned according to the actual motor size.
The size of the pre-fuse also depends on the actual model of the MIS motor.
Use the following table to select the power supply and fuse ratings.
See also the appendix which shows the standard power supplies that JVL offers.
2.1.6 General power supply description
The supply voltage can be chosen in the range 12VDC to 48VDC. However the maxi-
mum torque is based on 48VDC. A lower voltage will decrease the speed/torque perfor-
mance, and in general it is not recommended to run the motor at more than 300RPM if
for example 24VDC is used as supply.
Desired
voltage MIS231 MIS232 MIS234
-Supply
rating
Fuse size Supply
rating
Fuse size Supply
rating
Fuse size
12VDC 20W T4A 40W T6.3A 60W T10A
24VDC 40W T4A 80W T6.3A 160W T10A
48VDC 80W T4A 160W T6.3A 320W T10A
Recommended
power supply
PSU24-075
PSU48-240
PSU40-4
PSU24-240
PSU48-240
PSU40-4
PSU24-240
PSU48-240
PSU40-4
Only MIS23x
10 20
TT2325-01GB
24
30
200
mADC
VD
C
150
100
50
0
C
ontrol circuit supply current
(C
VI
)
versus voltage

14 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
2.1 Power Supply
2.1.7 Select Your Power Supply - only MIS23x motors
We recommend the use of 48VDC or the highest possible voltage to supply the motor.
As seen in the chart below, it is clear that the torque below 100 RPM is independent of
supply voltage. But above 300-500 RPM, the torque at 24VDC is half compared to the
torque at 48VDC.
Additionally, higher voltage gives better current and filter regulation and thereby better
performance. If there is a tendency for motor resonance, a lower supply voltage can be
a solution to the problem.
Only MIS23x
TT2220GB
MAC140 Motor
with MAC00-B1,
B2 or B4
MIS23x QuickStep motor or
SMC75 Controller
P+
P+
P-
P-
CVI
Power
Supply
Power
Supply
Control voltage
Only MAC50-141 with
B2 or B4 (Optional)
O+
Control
Voltage
Allways use shielded cables.
The screen must be connected
to common ground at
the power supply
Power supply
Make sure that all
involved units are
connected to the same
potential
GND
+12-28VDC
(control voltage)
+12-48VDC (Bus voltage)
Power supply connections to a MAC140 or a QuickStep motor

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 15
2.1 Power Supply
2.1.8 Control Voltage (CVI) - only MIS34x motors
The control voltage should be in the range 12-28VDC and is used to supply the micro-
processor circuit, internal functions in general and the user output driver (O1-8).
To ensure that position and parameters are maintained after an emergency stop, the
control voltage should be maintained under a stop situation where the P+ (main power)
is disconnected.
Warning: Control voltage higher than 30VDC will damage the controller.
2.1.9 Power Supply Grounding
It is recommended that the housing is connected to ground or common 0 VDC. The
overall earthing of the system must be done at a central point close to the power supply.
2.1.10 Dimensioning power supply and fuse - only MIS34x motors
The power supply must be dimensioned according to the actual motor size.
The size of the pre-fuse also depends on the actual model of the MIS motor.
Use the following table to select the power supply and fuse ratings.
Please notice that the specified wattage values are worst case values at maximum torque.
See also the appendix which shows the standard power supplies that JVL offers.
2.1.11 General power supply description
The supply voltage at the main power (P+ terminals) can be chosen in the range 12VDC
to 80VDC (nominal). However the maximum performance is based on a 80V DC supply.
A lower voltage will decrease the speed/torque performance.
See also the torque curves in the appendix Section 13.4, page 280.
Desired
voltage MIS340 MIS341 MIS342
-Supply
rating
Fuse size Supply
rating
Fuse size Supply
rating
Fuse size
24VDC 120W T6.3A 200W T6.3A 250W T10A
48VDC 240W T6.3A 350W T6.3A 500W T10A
80VDC 450W T6.3A 600W T6.3A 700W T10A
Recommended
power supply
PSU24-240
PSU48-240
PSU80-4
PSU24-240
PSU48-240
PSU80-4
PSU24-240
PSU80-4
Only MIS34x

16 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
2.2 Inputs
2.2.1 Inputs
The Quickstep motors has 8 inputs/outputs (IO’s) that each can be set individually to in-
put, output or analogue input 0-5VDC via MacTalk or software commands. See Using
MacTalk, page 57, for setup.
This means for example that it is possible to have 4 inputs, 3 outputs and one analogue
input.
Please notice: The number of available IO terminals available may vary de-
pending at which motor type you are using. Please the chapter Connector over-
view for the MIS23x, page 33 or Connector overview for the MIS34x, page 35
Input/output functional diagram:
2.2.2 General Input features
• Inputs are TTL to 28VDC compliant.
• Over-current protection and thermal shut-down.
•10kOhminputresistance.
• No galvanic isolation.
• Zero search input can be selected to any input 1 to 8.
• Digital filter can be enabled for each input selectable from 0 to 100ms. If disabled, the
response time is 100µs.
• Analogue filter can be selected for all analogue inputs.
Only MIS23x:
• High speed incremental counter on Input 1 and Input 2.
• High speed Pulse/direction on Input 1 and Input 2 for gear mode.
• Positive and negative limit can be selected to any input 1 to 8 (only MIS23x)
!
TT21
60
-
0
2
G
B
Internal µ-Processor
Digital input
CVI
<1 Ohm
10kOhm
1nF
4k7
+5V
IO1 to IO8
Overcurrent protection
Analog input
Digital output

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 17
2.2 Inputs
2.2.3 General
The Controller is equipped with a total of 8 digital inputs. Each input can be used for a
variety of purposes depending on the actual application. Each of the inputs can be detect-
ed from the actual program that has been downloaded to the Controller or via serial
commands.
The Inputs are not optically isolated from other Controller circuitry. All of the Inputs
have a common ground terminal, denoted GND. Each Input can operate with voltages
in the range 5 to 30VDC. Note that the Inputs should normally be connected to a PNP
output since a positive current must be applied for an input to be activated.
Note that CVO is available as CVI on the I/O connectors. This provides the facility that
local sensors can be supplied directly from the controller.
2.2.4 Connection of NPN Output
If an Input is connected to an NPN output, a Pull-Up resistor must be connected be-
tween the Input and the + supply. See the illustration above.
The value of the resistance used depends on the supply voltage. The following resistances
are recommended:
Supply Voltage Recommended Resistance R
5-12VDC 1kOhm / 0.25W
12-18VDC 2.2kOhm / 0.25W
18-24VDC 3.3kOhm / 0.25W
24-30VDC 4.7kOhm / 0.25W
TT2161GB
PowerSupply
+5-30VDC
+
Inductive
sensor
or similar
NPN Output
UserInputs
PowerSupply
+5-30VDC
+
Inductive
sensor
or similar
PNP Output
CVO
This diagramis used if an NPNoutput is connected
R
Note that End-of-travel inputs,
I1-8 and HMshare a
common ground ( GND).
All three ground terminals ( GND and P-)
are connected together.
Select external
or internal power
supply tosensors
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18 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
2.2 Inputs
2.2.5 Digital inputs - features.
All of the eight I/O signals can be used as digital inputs. The sampled and possibly filtered
value of each input is stored in the Input’s register (reg. 18). Unlike the analogue inputs,
there is only one value for each digital input, so it must be configured to be either unfil-
tered or filtered.
Unfiltered (high-speed) digital inputs are sampled every 100 µS (micro-seconds).
Filtered digital inputs are sampled every milli-second, and the filter value can be set in the
range 1 to100 mS, so the filtered input must be sampled to have the same logical value
for that number of samples in a row. Once an input has changed state after passing the
filtering, it will again take the same number of samples of the opposite logical level to
change it back. For example, if the filter is set to 5 mS and the start value is 0 (zero), the
input will remain at zero until three samples in succession have been read as 1 (one). If
the signal immediately drops down to 0 again, it will take three samples of zero in suc-
cession before the register bit gets set to zero.
Note that filtering of the digital inputs does load the micro-controller, so if filtering of the
digital inputs is not needed, ALL the inputs can be selected as high-speed to reduce the
load.