Intelligent Motion Systems IM805 Manuel utilisateur

intelligent motion systems, inc.

Excellence in MotionTM

IM805

HIGH PERFORMANCE MICROSTEPPING DRIVE

STANDARD DRIVER

CONNECTOR OPTIONS

COOLING SOLUTIONS

ACCESSORIES

OPERATING INSTRUCTIONS

370 N. MAIN ST., PO BOX 457, MARLBOROUGH, CT 06447

PH. (860) 295-6102, FAX (860) 295-6107

Internet: http://www.imshome.com, E-Mail: [email protected]



IM805 Operating Instructions

Revision R032306

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.



Change Log

Date Revision Changes

03/23/2006 R032306 Updated IMS Contact info, warranty and disclaimer info on cover.

Added sub-section for status indicator LED, pg 12. Updated recom-

mended IMS Motor Part Numbers, pg 27.

1IM805 Operating Instructions Revision R032306

Table of Contents

Introduction............................................................................................... 5

The IM805 ..................................................................................................................... 5

Features and Benets ................................................................................................... 5

The Product Manual ...................................................................................................... 6

Notes and Warnings...................................................................................................... 7

Hardware Specications........................................................................... 8

Section Overview .......................................................................................................... 8

Mechanical Specications ............................................................................................. 8

Electrical Specications................................................................................................. 9

Thermal Specications ................................................................................................ 10

Pin Assignment and Description ................................................................................. 10

Status Indications ........................................................................................................ 12

Mounting The IM805 .............................................................................. 13

Theory of Operation ............................................................................... 15

Section Overview ........................................................................................................ 15

Circuit Operation ......................................................................................................... 15

Microstep Select (MSEL) Inputs.................................................................................. 16

Stepping ...................................................................................................................... 16

Dual PWM Circuit ........................................................................................................ 17

Fullstep Output Signal ................................................................................................. 18

Timing.......................................................................................................................... 18

Power Supply Requirements.................................................................. 19

Section Overview ........................................................................................................ 19

Selecting a Power Supply ........................................................................................... 19

Selecting an Opto Supply............................................................................................ 21

Recommended Wiring................................................................................................. 22

AC Line Filtering.......................................................................................................... 23

Motor Requirements............................................................................... 24

Section Overview ........................................................................................................ 24

Selecting a Motor ........................................................................................................ 24

Motor Wiring ................................................................................................................ 29

Connecting the Motor .................................................................................................. 29

Interfacing and Controlling the IM805 .................................................... 33

Section Overview ........................................................................................................ 33

Layout and Interface Guidelines.................................................................................. 33

Motor Power Connection (+V)..................................................................................... 34

Conguring and Controlling the Output Current .......................................................... 35

Controlling the Output Resolution ............................................................................... 40

Interfacing and Using the Isolated Logic Inputs .......................................................... 42

Connecting and Using the Fault Output ...................................................................... 48

Full Step Output .......................................................................................................... 49

Minimum Connections................................................................................................. 50

Troubleshooting...................................................................................... 51

Section Overview ........................................................................................................ 51

Basic Troubleshooting................................................................................................. 51

Problem Symptoms and Possible Causes .................................................................. 51

Contacting Technical Support ..................................................................................... 54

The IMS Web Site ....................................................................................................... 54

Returning Your Product to IMS ................................................................................... 54

2 IM805 Operating Instructions Revision R032306

3IM805 Operating Instructions Revision R032306

Standard Connection Options ................................................................ 55

Appendix Overview ..................................................................................................... 55

IM805-34P1................................................................................................................. 56

IM805-8P2................................................................................................................... 61

IM805-34P1-8P2 ......................................................................................................... 62

IM805-PLG .................................................................................................................. 63

Cooling Solutions ................................................................................... 65

H-4X Heat Sink Kit ...................................................................................................... 65

Thermal Non-Isolating Pad (TN-48) ........................................................................... 65

Accessories ............................................................................................ 66

Appendix Overview ..................................................................................................... 66

U3-CLP: Side-Mounting Clip ....................................................................................... 66

BB-34-4P Breakout Board........................................................................................... 68

PLG-R Removable Screw Terminal Set...................................................................... 70

2 IM805 Operating Instructions Revision R032306

3IM805 Operating Instructions Revision R032306

List Of Figures

Figure 2.1 IM805 Dimensions .................................................................................. 8

Figure 2.2 IM805 Pin Conguration ....................................................................... 10

Figure 2.3 Stautus Indicator LED........................................................................... 12

Figure 3.1 Mounting Recommendations ................................................................ 13

Figure 4.1 IM805 Block Diagram ........................................................................... 15

Figure 4.2 Recirculating PWM ............................................................................... 17

Figure 4.3 Non-Recirculating PWM ....................................................................... 17

Figure 6.1 Per Phase Winding Inductance ............................................................ 26

Figure 6.2 8 Lead Motor Series Connections ........................................................ 30

Figure 6.3 8 Lead Motor Parallel Connections....................................................... 30

Figure 6.4 6 Lead Motor Half Coil (Higher Speed) Connections ........................... 31

Figure 6.5 6 Lead Motor Full Coil (Higher Torque) Connections ........................... 31

Figure 6.6 4 Lead motor Connections.................................................................... 32

Figure 7.1 IM805 Motor Power Connctions ........................................................... 35

Figure 7.2 Current Adjust Resistor Placement....................................................... 38

Figure 7.3 Current Reduction Adjust Resistor Placement ..................................... 39

Figure 7.4 MSEL Switch Showing 50 Microsteps/Step Selected........................... 40

Figure 7.5 Optically Isolated Inputs........................................................................ 42

Figure 7.6 Switch Interface .................................................................................... 45

Figure 7.7 Open Collector Interface....................................................................... 46

Figure 7.8 TTL Interface ........................................................................................ 46

Figure 7.9 LYNX Interface ..................................................................................... 47

Figure 7.10 The Fault Output Connected to an LED ............................................... 48

Figure 7.11 The Full Step Output Connected to an Up/Down Counter ................... 49

Figure 7.12 IM805 Minimum Connections ............................................................... 50

Figure A.1 IM805-34P1 Connector P1 Mechanical Drawing.................................. 56

Figure A.2 IM805-34P1 Connector P1 Pin Locations ............................................ 56

FIgure A.3 MSEL Connection Using TTL Interface ................................................ 59

Figure A.4 Cascading IM805-34P1 Drives Using the Step/Direction Outputs ....... 60

Figure A.5 IM805-8P2 - Connector P1 ................................................................... 61

Figure A.6 IM805-8P2 - Connector P2 ................................................................... 61

Figure A.7 IM805-34P1-8P2 - Connector P1 ......................................................... 63

Figure A.8 IM805-34P1-8P2 - Connector P2 ......................................................... 63

Figure A.9 IM805-PLG Connectors ........................................................................ 65

Figure A.10 IM805-PLG Pin Location and Orientation............................................. 66

Figure B.1 H-4X Heat Sink ..................................................................................... 67

Figure C.1 U3-CLP Mounting Hole Locations ........................................................ 68

Figure C.2 Attaching the U3-CLP to the IM805 ...................................................... 69

Figure C.3 Panal Mounting an IM805 Using the U3-CLP Clip Set ......................... 69

Figure C.4 BB-34-4P Breakout Board Mechanical Specications.......................... 70

Figure C.5 BB-34-4P Pin Locations........................................................................ 71

Figure C.6 BB-34-4P Mounting Diagram................................................................ 71

4 IM805 Operating Instructions Revision R032306

5IM805 Operating Instructions Revision R032306

List Of Tables

Table 2.1 Electrical Specications .......................................................................... 9

Table 2.2 IM805 Thermal Specications .............................................................. 10

Table 2.3 Connector P1 - Pin Assignment and Description.................................. 11

Table 2.4 Connector P2 - Pin Assignment and Description.................................. 12

Table 3.1 IM805 Mounting Screw/Washer Requirements ................................... 14

Table 5.1 Motor Power Supply Requirements ...................................................... 20

Table 5.2 +5 VDC Power Supply Requirements .................................................. 21

Table 7.1 Current Adjust Resistor Values............................................................. 38

Table 7.2 Microstep Resolution Switch Settings................................................... 41

Table 7.3 Recommended Input Current Limiting Resistor Values........................ 43

Table 7.4 Logic Input Timing ................................................................................ 44

Table A.1 IM805-34P1 - Connector P1 Pin Assignment and Description ............ 57

4 IM805 Operating Instructions Revision R032306

5IM805 Operating Instructions Revision R032306

Features and Benefits

n Low Cost.

n Small Size 2.75” x 3.00” x 1.20”

(69.9 x 76.2 x 30.5 mm).

n Advanced Surface Mount and ASIC Technology.

n High Input Voltage (+24 to +75VDC).

n High Output Current (5A RMS, 7A Peak).

n No Minimum Inductance.

n FAULT Output.

n Optically Isolated Inputs.

Section 1

Introduction

The IM805

The IM805 is a high performance,

yet low cost microstepping driver

that utilizes surface mount ASIC

technology. The IM805 is small,

easy to interface and use, yet

powerful enough to handle the

most demanding applications.

The IM805 has 14 built-in mic-

rostep resolutions (both binary

and decimal). The resolution can

be changed at any time without

the need to reset the driver. This

feature allows the user to rapidly

move long distances, yet precisely position the motor at the end of travel without

the expense of high performance controllers.

With the development of proprietary and patented circuits, ripple current has

been minimized to reduce motor heating common with other designs, allow-

ing the use of low inductance motors to improve high speed performance and

system efciency.

The IM805, because of its small size and low cost, can be used to increase

accuracy and smoothness in systems using higher step angle motors. In many

instances mechanical gearing can be replaced with microstepping, reducing

cost and eliminating potential maintenance.

Available as options for the IM805 are a variety of connector styles, a heat sink

and thermal pad.

The IM805 was developed to provide designers with affordable, state-of-the-art tech-

nology for the competitive edge needed in today’s market.

6 IM805 Operating Instructions Revision R032306

7IM805 Operating Instructions Revision R032306

n Single Supply.

n Up to 10MHz Step Clock Rate.

n Short Circuit Protection.

n Microstep Resolution to 51,200 Steps/Rev.

n Microstep Resolutions can be Changed “On-The-Fly” With-

out Loss of Motor Position.

n 20 kHz Chopping Rate.

n Automatically Switches Between Slow and Fast Decay for

Unmatched Performance.

n 14 Selectable Resolutions Both in Decimal and Binary.

n Adjustable Automatic Current Reduction.

n At Full Step Output.

The Product Manual

The main sections of this manual address the standard IM805 driver, which

come with 8 position screw terminals as a connection medium. The different

connector, input options and accessories are covered in detail in the appendices.

The Bookmarks

The IB Series product manual in it’s electronic format (ib.pdf) can be down-

loaded 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 identiable because the cursor changes

from a normal pointer to a “nger” pointer when placed over

the word.

6 IM805 Operating Instructions Revision R032306

7IM805 Operating Instructions Revision R032306

WARNING! The IM805 components 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 the IM805.

WARNING! Ensure that the power supply output voltage does not

exceed the maximum input voltage of the IM805.

WARNING! A current adjustment resistor is always necessary to

keep the Driver and/or Motor in a safe operating range.

DO NOT operate the IM805 Driver without a current adjustment

resistor in place.

Notes and Warnings

WARNING! Turn off the AC power side to power down the DC

power supply.

WARNING! For battery operated systems connect a “transient

suppressor” across the power switch to prevent arcs and high

voltage spikes. Also place a “transorb” across the +V and GND of

the battery connections at the Driver.

8 IM805 Operating Instructions Revision R032306

9IM805 Operating Instructions Revision R032306

0.150

(3.8)

2.600

(66.0)

2.750

(69.9)

0.290

(7.4)

2.710

(68.8)

3.000

(76.2)

4X Ø 0.160

(4X Ø 4.1)

0.410

(10.4)

0.025

(0.6)

12345678

1.00

(25.4)

0.312

(7.92)

0.030

(0.8)

1.320

(33.53)

IM805-34P1

Section 2

Hardware Specifications

Section Overview

This section will acquaint you with the dimensional information, pin de-

scription, power, environmental and thermal requirements of the IM805.

It is broken down as follows:

n Mechanical Specications.

n Electrical Specications.

n Thermal Specications.

n Pin Assignment and Description.

Mechanical Specifications

Shown are the standard 8 position screw terminal set and the Optional 34

Pin Connector for the IM805. Specications for the 34 Pin Connector are

available in Appendix A: Standard Connection Options, of this document.

Dimensions are in inches, parenthesis dimensions are in millimeters.

Figure 2.1: IM805 Dimensions

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