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Intelligent Motion Systems Ultra Miniature High Performance Microstepping Drpive manual

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Table of contents for the manual

  • Page 1

    T intelligent motion systems, inc. Excellence in Motion TM 370 N. MAIN ST ., PO BOX 457, MARLBOROUGH, CT 06447 PH. (860) 295-6102, F AX (860) 295-6107 Internet: http://www .imshome.com, E-Mail: info@imshome.com TM IM481H UL TRA MINIA TURE HIGH PERFORMANCE MICROSTEPPING DRIVE OPERA TING INSTRUCTIONS[...]

  • Page 2

    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 as[...]

  • Page 3

    SECTION P A GE 1 LIST OF T ABLES AND FIGURES ..................................... 1 2 INTRODUCTION ............................................................... 2 3 PIN ASSIGNMENT AND DESCRIPTION ........................... 3 4 ELECTRICAL SPECIFICA TIONS ...................................... 4 5 THERMAL SPECIFICA TIONS .........................[...]

  • Page 4

    LIST OF FIGURES Figure 1 DIMENSIONAL INFORMA TION .............................. 4 Figure 2 MOUNTING INFORMA TION .................................... 6 Figure 3 SETTING OUTPUT CURRENT ................................ 9 Figure 4 MOTOR CONNECTIONS ....................................... 1 2 Figure 5 POWER CONNECTIONS ................................[...]

  • Page 5

    SECTIO N 2 INTRODUCT ION The IM481H is a high performance, yet low cost microstepping driver that utilizes advanced hybrid tec hnology to greatly reduce size without sacrif icing features. The IM481H is exceptional ly small, easy to interface and use, yet powerful enough t o handle the m ost demanding applic ations. The IM481H has 14 built in micro[...]

  • Page 6

    3 1,2 PHASE A Phase A of the stepp ing motor is c onnected betw een pi n 1 and p in 2. See section 8. 3 CURRENT REDUCTION ADJUST Phase current reduct ion adjustm ent input. A resistor connected betw een this pin and pin 4 ( if use d to set motor phase c urrent ) w ill proportionately reduce cu rrent in both windings approxim ately .5 seconds after [...]

  • Page 7

    SECTIO N 4 ELECTR ICAL SPECIFIC ATIONS Tabl e 1 Test Param eters: T A = 25 o C,+V = 48v TEST CONDI TION MIN TYP M AX UNITS INPUT V OLTAGE ....................................................................................... 12 ....... 45 ........ 48 * .......... V PHASE OUTPUT CURRENT ...................................... RMS ...................[...]

  • Page 8

    SECTION 6.1 5 Dimensions in Inches (mm) MECHANICAL SPECIFICATIONS PIN 1 2.700 (68.6) 2.450 (62.2) 2.225 (56.4) 0.563 (14.3) 1.100 (27.9) 0.225 (5.7) 0.100 (25.4) 0.016 (0.4) SQ. 65° TYP . 0.175 (4.4) 2 X Ø 0.150 (3.8)THRU 0.175 0.058 (1.5) Heat Sink This Side GRN RE D LED1 FAUL T POWER 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 1 3 JP2 ENOFF[...]

  • Page 9

    SECTION 6.2 MOUNTING INFORMATION Dimensions are in Inches (mm) * The Isolating Thermal Pad (TI-481) item “4” is supplied with the INT-481 Interface Board. If the INT-481 is not used, the Thermal Pad must be ordered seperately. 6 Pin #1 1.875 (47.63) 0.063 (1.6) 0.100 T yp (2.54 T yp) 0.064 Pad, 0.031 Hole (1.6 Pad, 0.78 Hole) 0.240 (6.1) Ø 0.2[...]

  • Page 10

    7 IM481-H Driver, INT-481 Interface Board, H-481 Heat Sink Panel Mount A B C E 1 2 F 3 4 H * 0.915 (23.25) Ref. IM481-H Driver, INT-481 Interface Board Panel Mount without Heat Sink A B C 1 2 4 * 0.180 (4.57) Ref. # m e t I / t c u d o r P n o i t p i r c s e D . y t Q 1r e v i r D g n i p p e t s o r c i M H 1 8 4 M I1 2d r a o B e c a f r e t n I[...]

  • Page 11

    OUTPUT CURRENT SECTIO N 7.1 DETERM INING THE OUTPUT CURRENT For any given motor, the OUTPUT CURRENT used for MICROSTEPPING is determi ned different ly from that of a HALF/FULL STEP driver. In the IM481H, a sine/cosine output function is used in rotat ing the motor. Therefore, when microst epping, the specified phase current of the motor is consider[...]

  • Page 12

    SECTION 7.2 SETTING OUTPUT CURRENT The OUTPUT CURRENT on the IM481H is set by applying a voltage to pin 5 (current adjustment). The output current is set as follows: PEAK OUTPUT CURRENT (Amps) = Volts applied to pin 5 EXAMPLE: 1.4 volts applied to pin 5 will set the peak output current of the IM481H to 1.4 amps per phase. To generate the reference [...]

  • Page 13

    SECTIO N 7.3 RESISTOR T ABLE Table 3 PEA K OUTPUT CURRENT REFER ENCE RESISTOR VA LUE (1 %) (A MPS) ( VOLT S) (OHMS) 0.20 ................................ 0.20 ............................. 200 0.25 ................................ 0.25 ............................. 249 0.30 ................................ 0.30 ............................. 301 0.3[...]

  • Page 14

    W ARNING! Do not connect or disconnect the AC power leads or the motor leads with power applied! 1 1 MOT OR SECTION 8.1 MOTOR SELECTION The IM481H is a Bipolar driver which works equally well with both Bipolar and Unipolar motors, ( i.e. 8 and 4 lead motors and 6 lead center tapped motors (see section 8.2, Connecting the Motor)). T o maintain a giv[...]

  • Page 15

    8 LEAD MOTOR SERIES CONNECTION 6 LEAD MOTOR HIGHER SPE ED CONFIGURATION ( HAL F CO IL ) NC: NO CONNECTION MOTOR CONNECT IONS 1 2 Figure 4 6 LEAD MOTOR HIGHER TORQUE CONFIGURATION ( FULL COIL ) NC: NO CONNECTION 8 LEAD MOTOR PA RA LLE L CO NNE CTI ON 4 LEAD MOTOR PHASE B PHASE A 1 2 20 21 PHASE B PHASE A 1 2 20 21 PHASE B PHASE A 1 2 20 21 PHASE B P[...]

  • Page 16

    POWER R EQUIREM ENTS SECTIO N 9.1 MOTOR POW ER Pins 11 (ground), and 12 (+V) are used to c onnect the motor DC power to the IM481H. Two local capacit ors are needed, connected between pins 11 and 12 and locat ed as close to the pins as possi ble, to insure stable operation. The first capacit or is a low impedance, aluminum electrolytic. The continu[...]

  • Page 17

    SECTIO N 9.2 +5 VDC INPUT The IM481H requires an external regul ated +5Vdc power supply. The supply is connected between pins 11 (ground), and 14 (+5vdc). A 22 microfarad 10v tantilum capacitor must be placed as close to the IM481H as possible between the +5vdc input pin (14) and ground. The +5vdc supply ground and the motor supply ground shoul d n[...]

  • Page 18

    SECTIO N 10 LAYOUT AND INTERF ACE GUIDELINES Logic level signals should not run parallel to motor phase signals. The motor phase signals will introduce noise into the logic level signals and can make the system unreliable. Motor phase signals should run as pairs and should be separated f rom other signals by ground traces where possi ble. When leav[...]

  • Page 19

    MICROSTEP S ELECTION Table 5 RESOLUTION STEPS/REV RESOLUTION RESOLUT ION RESO LUTION RESO LUT ION (Microsteps/St ep) (1.8 o Step Mo tors) SELECT 0 SELECT 1 SELECT 2 SE LECT 3 PIN 7 PIN 8 PIN 9 PIN 10 BINARY DECIMA L ILLEGA L SETTINGS: MAY CAUSE ERRATIC OPERATION 2 400 LOW LOW LO W LOW 4 800 HIGH LOW LO W LOW 8 1,60 0 LOW HIGH LOW LOW 16 3,20 0 HIGH[...]

  • Page 20

    SECTIO N 12 FULLSTEP OUTPUT SIGNAL The FULLSTEP output signal from the IM481H is an active high output at pin 18. This output is TRUE for the duration of the full step. A full st ep occurs when either Phase A or Phase B cross t hrough zero (i.e. full c urrent in one winding and zero current in the other winding). This f ullstep position is a c ommo[...]

  • Page 21

    1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 +5V 4.7k Ω 4.7k Ω 4.7k Ω 4.7k Ω 4.7k Ω 1k Ω 2.2k Ω 2.2k Ω 4.7k Ω Fault In Resolution Select 0 Resolution Select 1 Resolution Select 2 Resolution Select 3 Reset +5 VDC Step Clock Direction Enable SECTION 14 INPUTS An open collector output is recommended when interfacing with the[...]

  • Page 22

    CURRENT REDUCTION RESISTOR SECTIO N 15 AUTOM A T IC CURRENT REDUCTION Built into the IM481H is the ability to automatically reduce the current in the motor windings after t he completion of a move. The reduction occ urs approximately .5 s econds after the last positive going edge of the Step Clock input. The IM481H w ill then revert back to the ori[...]

  • Page 23

    SECTIO N 16 FA ULT P ROTE CTION The IM481H is internally protect ed against over temperature, and over current. The over temperature set point is between 60 and 70 °C. Care should be taken when choosing and installing a heat sink so that there is a good thermal conduction, otherwise hot spots may occur in the IM481H w hich will reduce the operatin[...]

  • Page 24

    SECTIO N 18 OPTIONS/A C CESSORIES DESCR IPT ION P A RT NU MBER Thermal Pad TI - 481 Interface Board INT-481 Heat Sink ( Includes mounting hardware ) H-481 21 Pin Right Angle Connector HY481-CN021 Small End Scre w D riv er SD1 2 1[...]

  • Page 25

    22 APPENDIX A Recommended Cable Configurations: DC Supply to IMS Driver Cable length, wire gauge and power conditioning devices play a major role in the performance of your IMS Driver and Motor . NOTE: The length of the DC power supply cable to the IMS Driver should not exceed 50 feet. Example A demonstrates the recommended cable configuration for [...]

  • Page 26

    23 Shield to Earth Ground on Supply End Only Shielded T wisted Pair (Wire Size from IMS Driver Supply Cable AWG T able) π T ype RFI Filter ≥ Required Current Cable Length as required T ransformer : 0 to 28 V AC RMS for 48 VDC Systems 20 to 48 V AC RMS for 75 VDC Systems Full W ave Bridge + - T o Cable A NOTE: Connect the cable illustrated in Exa[...]

  • Page 27

    24 Shield to Earth Ground on Supply End Only Shielded T wisted Pair (Wire Size from IMS Driver Supply Cable AWG T able) π T ype RFI Filter ≥ Required Current Cable Length as required 120 or 240 V AC Dependent on Power Supply Power Supply + - T o Cable A DC V olts Out NOTE: Connect the cable illustrated in Example A to the output of the Power Sup[...]

  • Page 28

    25 IMS Driver Supply Cable AWG T able 1 Ampere (Peak) 2 Amperes (Peak) 3 Amperes (Peak) 4 Amperes (Peak) Length (Feet) Minimum A WG Length (Feet) Minimum A WG Length (Feet) Minimum A WG Length (Feet) Minimum A WG 10 25 50* 75* 100* 10 25 50* 75* 100* 10 25 50* 75* 100* 10 25 50* 75* 100* 20 20 18 18 16 20 18 16 14 14 18 16 14 12 12 18 16 14 12 12 *[...]

  • Page 29

    26 Cable length, wire gauge and power conditioning devices play a major role in the performance of your IMS Driver and Motor . NOTE: The length of the DC power supply cable between the IMS Driver and the Motor should not exceed 50 feet. Example A demonstrates the recommended cable configuration for the IMS Driver to Motor cabling under 50 Feet long[...]

  • Page 30

    27 Shield to Earth Ground on Supply End Only Ferrite Beads Cable Length 50 Feet or greater Phase A Phase A Phase B Phase B Phase A Phase A *L ≈ 0.5 MH * 0.5 MH is a typical starting point for the Common Mode Line Filters. By increasing or decreasing the value of L you can set the drain current to a minimum to meet your requirements. Phase B Phase[...]

  • Page 31

    28 1 Ampere (Peak) Length (Feet) Minimum AWG 10 25 50* 75* 100* 20 20 18 18 16 2 Amperes (Peak) Length (Feet) Minimum AWG 10 25 50* 75* 100* 20 18 16 14 14 3 Amperes (Peak) Length (Feet) Minimum AWG 10 25 50* 75* 100* 18 16 14 12 12 4 Amperes (Peak) Length (Feet) Minimum AWG 10 25 50* 75* 100* 18 16 14 12 12 5 Amperes (Peak) Length (Feet) Minimum A[...]

  • Page 32

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  • Page 33

    WARRANTY TWENTY-FOUR (24) MONTH LIMITED WARRANTY Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased from IMS (the “Product”) will be free from defects in materials and workmanship under the normal use and service for which the Product was designed [...]

  • Page 34

    IM481H Operating Instructions P.O. Box 457, 370 North Main Street Marlborough, CT 06447 U.S.A. Phone: 860/295-6102 Fax: 860/295-6107 Email: info@imshome.com Home Page: www.imshome.com TECHNICAL SUPPORT Eastern U.S. Phone: 860/295-6102 Fax: 860/295-6107 E-mail: etech@imshome.com Western U.S. Phone: 760/966-3162 Fax: 760/966-3165 E-mail: wtech@imshom[...]