IMS Mforce micro drive Page 48 Reference Download

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Motion Control MForce MicroDrive Hardware Manual Revision R112706

MForce MicroDrive Party Mode Sample Codes

1. Download this segment of code into the first MForce MicroDrive. After downloading the program to the

unit, follow the Set Up instructions described earlier. Be sure to set your first unit with the unique Device
Name of A (DN=”A”). The device name is case sensitive.

RC=25

‘Run current

HC=5

‘Hold current

MS=256

‘Microstep selection

A=250000

‘Acceleration

D=250000

‘Deceleration

PG 1 ‘Enter program mode

S1=0,0

‘Setup I/O 1 as an input low true

LB SU

‘Start program upon power up

LB AA

‘Label program AA

MR 104400

‘Move relative 104400 counts

H ‘Hold program execution to complete the move

LB DD ‘Label program DD

BR DD,I1=0

‘Branch to DD if I1=0

4PR “Bex 1”

‘Print device name B to execute program

‘at address 1

H 2000 ‘Hold program execution 2000 milliseconds

PR “Cex 1”

‘Print device name C to execute program at

‘address 1

H 2000 ‘Hold program execution 2000 milliseconds

BR AA

‘Branch to label AA

PG ‘Exit program, return to immediate mode

2. Download this segment of code into your second MForce MicroDrive. After downloading the program to

the unit, follow the previous party mode instructions. Be sure to set your second unit with the unique address
of B (device name is case sensitive).

RC=25

‘Run current

HC=5

‘Hold current

MS=256

‘Microstep selection

A=250000

‘Acceleration

D=250000

‘Deceleration

PG 1

‘Enter program mode

LB BB

‘Label program BB

MR 208000

‘Move relative 208000 counts

‘Hold program execution to complete the move

‘Exit program, return to immediate mode

3. Download this segment of code into your third MForce MicroDrive. After downloading the program to the

unit, follow the previous party mode instructions. Be sure to set your third unit with the unique address of C
(device name is case sensitive).

RC=25

‘Run current

HC=5

‘Hold current

MS=256

‘Microstep selection

A=250000

‘Acceleration

D=250000

‘Deceleration

PG 1

‘Enter program mode

LB CC

‘Label program CC

MR 300000

‘Move relative 300000 counts

‘Hold program execution to complete the move

‘Exit program, return to immediate mode

Summary of Contents for Mforce micro drive

Page 1: ...DRAFT COPY Hardware Reference Excellence in Motion www imshome com TM FORCE MICRO DRIVE MOTION CONTROL ...

Page 2: ...rademarks 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 a...

Page 3: ...P2 Connector Options 1 15 P3 Connector Motor Phase Connector 1 15 P3 Connector 1 15 Options and Accessories 1 16 Section 1 3 MForce MicroDrive Plus2 Expanded Specifications 1 17 Electrical Specifications 1 17 Mechanical Specifications 1 19 Pin Assignment and Description 1 20 P1 Connector Power and Expanded I O Configuration 1 20 P1 Connector Power and I O with Remote Encoder Configuration 1 20 P1 ...

Page 4: ...nts 7 8 Clock Outputs and Point 13 Trip 2 23 MForce I O Ratings 2 24 MForce Standard I O Connections 2 24 MForce Expanded Plus2 I O Connections 2 25 I O Usage Examples MForce Standard I O Set 2 26 Input Interface Example Switch Input Example Sinking Input 2 26 Input Interface Example Switch Input Example Sourcing Input 2 27 Output Interface Example Sinking Output 2 28 General Purpose I O Usage Exa...

Page 5: ... 1434 FL3 All MForce Plus Motion Control A 20 Setup Instructions Cable 1 A 20 Setup Instructions Cable 2 and Subsequent MDrives A 20 Appendix E IMS Enhanced Torque Stepping Motors A 22 Size 14 Enhanced Torque Stepping Motor A 22 General Specifications A 22 Wiring And Connection A 22 Mechanical Specifications A 22 Size 17 Enhanced Torque Stepping Motor A 23 General Specifications A 23 Wiring And Co...

Page 6: ...gure 2 4 11 Sinking Output Example 2 31 Figure 2 4 12 Sourcing Output Example 2 32 Figure 2 4 13 MFI Clock Functions 2 33 Figure 2 4 14 Step Direction I O Equivalent Circuit 2 33 Figure 2 4 15 Capture Trip I O Equivalent Circuit 2 34 Figure 2 4 16 Analog Input Voltage Mode 2 35 Figure 2 4 17 Analog Input Current Mode 2 36 Appendices Figure A 1 DC Cabling Under 50 Feet A 3 Figure A 2 DC Cabling 50 ...

Page 7: ...is Zero 0 2 16 Table 2 3 3 MForce Response to Echo Mode Party is Zero 0 and Check Sum is One 1 2 16 Table 2 3 4 MForce Response to Echo Mode Party and Check Sum are One 1 2 17 Table 2 4 1 Programmable Input Functions 2 21 Table 2 4 2 Dedicated Input Functions 2 22 Table 2 4 3 Programmable Output Functions 2 23 Table 2 4 4 Dedicated Output Functions 2 23 Table 2 3 5 MForce I O and Protection Rating...

Page 8: ...vi Page Intentionally Left Blank ...

Page 9: ...Power Supply Using 20 AWG wire connect the DC output of the power supply to the V input of the MForce MicroDrive Connect the power supply ground to the Power Ground pin appropriate for your MForce MicroDrive See Figure GS 1 Connecting Communications Connect the Host PC to the Motion Control MForce MicroDrive using the IMS Communications Converter Cable MD CC400 000 or equivalent See Figure GS 1 Co...

Page 10: ...priate to your operating system 5 Click SETUP in the Setup dialog box and follow the on screen instructions 6 Once IMS Terminal is installed the Communications Settings can be checked and or set Figure GS 2 Product CD Entry and Installation Screens P3 P1 1 2 3 4 V 12 to 48 VDC V Return Ground 7 Pin Terminal Connector shown at P1 Power and I O interface Other Connector Pin Assignments detailed with...

Page 11: ...p see the shaft turning Establishing Communications 1 Open IMS Terminal by clicking Start Programs IMS Terminal IMS Term The Program Edit Window left and Terminal Window right will be displayed 2 On the Menu Bar click Edit Preferences to open the Preferences dialog box 3 Click on the Comm Settings tab to open the Comm Settings page a Set Scroll Back to desired range of text lines to be displayed b...

Page 12: ...ed when using MForce for which the IMS Terminal is configured These three items may be changed directly from this screen by double clicking on each of them Testing the Motion Control MForce MicroDrive 1 Click in the Terminal Window and type followed by ENTER PR VM 2 The Motion Control MForce MicroDrive will return a value of 768000 3 Type the following in the Terminal Window followed by ENTER VM 3...

Page 13: ...gram 5 Click on drop down menu Transfer Download to transfer the program from the Program Edit Window to the Terminal Window Under Source Type choose Edit Window 6 Type EX 1 in the Terminal Window and press ENTER to execute the program EX Execute at address 1 7 The Motion Control MForce MicroDrive will turn the motor 250 000 microsteps in a clockwise direction accelerating at 100 000 microsteps pe...

Page 14: ...This Page Intentionally Left Blank ...

Page 15: ...TM Excellence in Motion Section 1 1 Product Introduction Section 1 2 Standard Specifications Section 1 3 Expanded Plus2 Specifications Part 1 Hardware Specifications TM FORCE MICRO DRIVE MOTION CONTROL ...

Page 16: ...1 8 Motion Control MForce MicroDrive Hardware Manual Revision R112706 Page Intentionally Left Blank ...

Page 17: ... models are available with optional closed loop control This increases functionality by adding stall detection position maintenance and find index mark The closed loop configuration offers an expanded choice of line counts and resolutions by interfacing to a remotely mounted user supplied external encoder The Motion Control MForce MicroDrive communicate over RS 422 485 which allows for point to po...

Page 18: ... 485 Communications Optional CANopen dtails available at www imshome com 62 Software Addresses for Multi Drop Communications Simple 1 to 2 Character Instructions Interface Options 12 0 30 5cm Flying Leads 7 Pin Pluggable Terminal Expanded Features Available only in the Plus2 Version 5 to 24 VDC Tolerant Sourcing or Sinking Inputs and Outputs 8 I O Points with Electronic Gearing or 4 I O Points wit...

Page 19: ...ll Up to 24 VDC Output Sink Current Plus up to 600 mA One Channel Logic Threshold Logic 0 0 8 VDC Logic Threshold Logic 1 2 2 VDC Protection Sinking Over Temp Short Circuit Protection Sourcing Transient Over Voltage Inductive Clamp Analog Input Resolution 10 Bit Range Voltage Mode 0 to 5 VDC 0 to 10 VDC Range Current Mode 4 to 20 mA 0 to 20mA Clock I O Types Step Direction Up Down Quadrature Logic...

Page 20: ... 0 5961 Steps Sec Acceleration Deceleration Range 1 5 x 109 Steps Sec 2 Resolution 90 9 Steps Sec 2 Microstep Resolution must be set to 2x the Encoder Counts Rev minimum Software Specifications Program Storage Type Size Flash 6384 Bytes User Registers 4 32 Bit User Program Labels and Variables 192 Math Logic and Conditional Functions x AND OR XOR NOT Branch Functions Branch and Call Conditional Pa...

Page 21: ...nments and Description P1 Connector I O and Power Connections Flying Lead Wire Color 7 Pin Pluggable Terminal Strip Function Description White Yellow Pin 1 I O 1 0 to 24 VDC Programmable I O Point 1 White Orange Pin 2 I O 2 0 to 24 VDC Programmable I O Point 2 White Violet Pin 3 I O 3 0 to 24 VDC Programmable I O Point 3 White Blue Pin 4 I O 4 0 to 24 VDC Programmable I O Point 4 Green Pin 5 AIN 0...

Page 22: ...ivePlus for Multidrop Communications Pin 8 Pin 4 TX Transmit This point will typically be used to connect to TX Pin 1 9 of a second MDrivePlus for Multidrop Communications Pin 9 Pin 1 TX Transmit This point will typically be used to connect to TX Pin 2 10 of a second MDrivePlus for Multidrop Communications Pin 10 Pin 2 COMM GND Communications Ground This Ground is ONLY to be used to ground communi...

Page 23: ...n Locking Wire Crimp Motor Connector P3 Connector Motor Phase Connector 4 Pin Wire Crimp Function Description Pin 1 ØA Phase A of the Motor Pin 2 ØA Phase A of the Motor Pin 3 ØB Phase B of the Motor Pin 4 ØB Phase B of the Motor Table 1 2 3 P3 Pin Assignment Motor Phase Connections Recommended Cable P N PD04 MF17 FL3 Recommended Connector Shell and Pins Shell AMP 1445022 4 Pins AMP 1 794610 2 Wir...

Page 24: ...r complete power supply specifications visit the IMS web site at www imshome com See Ap pendix A for recommended IMS power supplies Communications Converter Cables These convenient accessory cables connect a PC s USB Port to the P2 Connector of the MForce MicroDrive Total cable length is 12 0 3 6m An in line RS 422 converter enables parameter setting to a single Motion Control MForce Purchase reco...

Page 25: ... 1 4 9 12 8 Sourcing or Sinking Inputs or 8 Sourcing or Sinking Outputs 2 Banks of 4 Each General Purpose I O Electrical Inputs TTL up to 24 VDC Sinking Outputs All Up to 24 VDC Sourcing Outputs Plus2 12 to 24 VDC Output Sink Current Plus up to 600 mA One Channel Output Sink Current Plus2 up to 600 mA One Channel in each I O Bank Logic Threshold Logic 0 0 8 VDC Logic Threshold Logic 1 2 2 VDC Prot...

Page 26: ...er Resolution 32 Bits Maximum Edge Rate 5 MHz Velocity Range 5 000 000 Steps Sec Resolution 0 5961 Steps Sec Acceleration Deceleration Range 1 5 x 109 Steps Sec 2 Resolution 90 9 Steps Sec 2 Electronic Gearing Plus2 Only Range Ratio 0 001 to 2 000 Resolution 32 Bits Voltage 5 VDC Logic Level Input Filter Range 50 nS to 12 9 µS Secondary Output Clock Range 1 to 1 High Speed I O Plus2 Only Position ...

Page 27: ...Call Conditional Party Mode Addresses 62 Encoder Functions Stall Detect Position Maintenance Find Index Predefined I O Functions Input Functions Home Limit Limit Go Stop Pause Jog Jog Analog Input Output Functions Moving Fault Stall Velocity Changing Trip Functions Trip on Input Trip on Position Trip on Time Trip Capture Figure 1 3 1 Mechanical Specifications TM MOTION CONTROL P2 P3 P1 2 325 59 06...

Page 28: ...rature or Clock Up Down Pin 15 V 12 to 48 VDC Motor Power Supply Input Pin 16 GND Power and Auxiliary Ground Recommended Cable PD16 1417 FL3 Table 1 3 1 P1 Pin Assignment Expanded I O Configuration P1 Connector Power and I O with Remote Encoder Configuration P1 Expanded I O Configuration 16 Pin Wire Crimp Function Description Pin 1 I O PWR I O Power used with sourcing inputs or outputs See Section...

Page 29: ...ct to RX Pin 3 7 of a second MDrivePlus for Multidrop Communications Pin 7 Pin 3 RX Receive This point will typically be used to connect to RX Pin 4 8 of a second MDrivePlus for Multidrop Communications Pin 8 Pin 4 TX Transmit This point will typically be used to connect to TX Pin 1 9 of a second MDrivePlus for Multidrop Communications Pin 9 Pin 1 TX Transmit This point will typically be used to c...

Page 30: ...recommended with first orders See Appendix D for details USB to 10 Pin IDC MD CC400 000 10 Pin IDC to Wire Crimp Adapter MD ADP H Prototype Development Cables To speed prototyping these 10 3m cables are available I O 16 pin Wire Crimp Cable PD16 1417 FL3 Comm 10 pin Wire Crimp Cable PD10 1434 FL3 Motor Interface 4 pin Wire Crimp Cable PD04 MF17 FL3 See Appendix D for details Recommended Cable P N ...

Page 31: ... Mounting and Connection Recommendations Section 2 2 Motor Sizing and Selection Section 2 3 Interfacing Communications Section 2 4 Interfacing and Using the MForce I O Part 2 Connecting and Interfacing TM FORCE MICRO DRIVE MOTION CONTROL ...

Page 32: ...2 2 Motion Control MForce MicroDrive Hardware Manual Revision R112706 This Page Intentionally Left Blank ...

Page 33: ...es Logic level cables must not run parallel to power cables Power cables will introduce noise into the logic level cables and make your system unreliable Logic level cables must be shielded to reduce the chance of EMI induced noise The shield needs to be grounded at the signal source to earth The other end of the shield must not be tied to anything but allowed to float This allows the shield to ac...

Page 34: ...ion Enhanced I O P2 16 pin Locking Wire Crimp Connector Shell JST PN PADP 16V 1 S Crimp Pins JST PN SPH 001T P0 5L Motor 4 Pin Locking Wire Crimp Connector Shell AMP Tycho 1445022 4 Crimp Pins AMP Tycho 1 794610 2 Recommended Wire 20 AWG Shielded Twisted Pair Securing Power Leads and Logic Leads Some applications may require that the MForce move with the axis motion If this is a requirement of you...

Page 35: ...wisted Pair Cable 18 AWG WARNING Do not connect or disconnect cabling while power is applied Black Pin 6 Pin 7 Pin 16 Pin 15 Red 1 2 3 4 5 6 7 7 Pin Pluggable Terminal 16 Pin Wire Crimp 12 Flying Leads A B B B B A A P1 P1 A B B V Voltage 12 to 48 VDC V Current 2A Max Per MForceMicroDrive Recommended IMS Power Supplies ISP200 4 IP402 IP404 Includes Back EMF Power Supply Connection ...

Page 36: ...by the number of pulses commanded If stall detection is enabled a stall will register Black Pin 6 Pin 5 Pin 5 Pin 16 1 2 3 4 5 6 7 7 Pin Pluggable Terminal 16 Pin Wire Crimp 12 Flying Leads A A A P1 P1 A B B B B Aux Logic Voltage 12 to 24 VDC Aux Logic Power Requirement 1 93 Watts Worst Case B 10 Pin IDC Supply 10 Pin Wire Crimp P2 P2 DO NOT Ground the Logic Supply at Communications Ground or dama...

Page 37: ...y used Torque capacity in hybrid steppers ranges from 5 8000 ounce inches Because of their smaller step angles hybrid motors have a higher degree of suitability in applications where precise load positioning and smooth motion is required Sizing a Motor for Your System The MForce MicroDrive is a bipolar driver which works equally well with both bipolar and unipolar motors i e 8 and 4 lead motors an...

Page 38: ... more torque per frame size while ensuring more precise positioning and increased accuracy The special design allows the motors to provide higher torque than standard stepping motors while maintaining a steadier torque and reducing torque drop off These CE rated motors are ideal for applications where higher torque is required For more detailed information on these motors please see the IMS Full L...

Page 39: ...g The IOS motor can be direct coupled in applications within the torque range of the motor eliminating couplings and increasing system efficiency The IOS motor can replace gearboxes in applications where gearboxes are used for inertia damping between the motor and the load The induced backlash from the gearbox is eliminated providing improved bidirectional position accuracy Electrical or pneumatic...

Page 40: ...ase B P4 4 8 Lead Motors 8 lead motors offer a high degree of flexibility to the system designer in that they may be connected in series or parallel thus satisfying a wide range of applications Series Connection A series motor configuration would typically be used in applications where a higher torque at lower speeds is re quired Because this configuration has the most inductance the performance w...

Page 41: ...of 8 lead motor the torque output will be more stable at higher speeds This configuration is also referred to as half copper In setting the driver output current multiply the specified per phase or unipolar current rating by 1 4 to determine the peak output current Full Coil Configuration The full coil configuration on a six lead motor should be used in applications where higher torque at lower sp...

Page 42: ... depend on winding inductance In setting the driver output current multiply the specified phase current by 1 4 to determine the peak output current Figure 2 2 6 4 Lead Motor Connections P3 1 2 3 4 PHASE B PHASE B PHASE A PHASE A 3 P3 1 2 3 4 PHASE B NO CONNECTION NO CONNECTIO N PHASE B PHASE A PHASE A Figure 2 2 5 6 Lead Full Coil Higher Torque Motor Connections ...

Page 43: ... 62 individually named MForce MicroDrive nodes in a multidrop system Single Mode Communications Full Duplex RS 422 To interface the MForce MicroDrive using RS 422 protocol you will need one of the following A PC equipped with RS 422 Interface A PC RS 232 to RS 422 485 Converter The USB to RS 422 accessory cable Use the following diagram to connect RS 422 communications to the MForce MicroDrive Fig...

Page 44: ...lt name is The asterisk character is used to issue global commands to every device in the system NOTE When using the asterisk in Party Mode typed entries and commands will not be echoed See Appendix A of the Software Reference for ASCII table In setting up your system for party operation the most practical approach is to observe the following steps 1 Connect the first MForce MicroDrive to the Host...

Page 45: ... transmitted 0D Hex equivalent for a CR Carriage Return 0A Hex equivalent for a LF Line Feed DN Represents the Device Name being sent CS Check Sum ACK 06 Hex NAK 15 Hex EM Echo Mode PY PartY Mode CK ChecK sum The word command represents the immediate command sent to the MForce MicroDrive Command Execution Time CET is the time the MForce MicroDrive takes to execute a command This varies from comman...

Page 46: ...character at a time as the character is entered CET 0D 0A The last character sent is the prompt EM 1 PY 1 CK 0 DN command 0A CET 0D 0A The last character sent is LF EM 2 PY 1 CK 0 DN command 0A No response except to PR and L commands EM 3 PY 1 CK 0 DN command 0A CET command 0D 0A Queued response The last character sent is the LF Table 2 3 2 MForce MicroDrive Response to Echo Mode Party is One 1 an...

Page 47: ...d MR space 1 Note Any combination of upper lower case may be used In this example if a lower case mr were to be used the decimal values will change to 109 and 114 Subsequently the Result Check Sum value will change Possible entries MR mr Mr mR M 77 R 82 m 109 r 114 See ASCII table appendix in MForce MicroDrive Software Manual 77 82 32 49 Decimal value of M R space and 1 4D 52 20 31 Hex 77 82 32 49...

Page 48: ...ion 2000 milliseconds BR AA Branch to label AA E PG Exit program return to immediate mode 2 Download this segment of code into your second MForce MicroDrive After downloading the program to the unit follow the previous party mode instructions Be sure to set your second unit with the unique address of B device name is case sensitive RC 25 Run current HC 5 Hold current MS 256 Microstep selection A 2...

Page 49: ... follow Move MForce A B or C 10000 Steps Assuming there are three MForce MicroDrives set up in Party Mode as shown in the Sample Codes above To move MForce Unit A Press Ctrl J and then type AMR 10000 and press Ctrl J MForce Unit A will move 10000 steps To print the position type APR P and press Ctrl J The position of MForce Unit A will be printed To move MForce Unit B type BMR 10000 and press Ctrl...

Page 50: ...DC outputs which may be programmed individually as either general purpose or dedicated inputs or outputs or collectively as a group Enhanced I O Set MForce MicroDrive Plus2 Version The MForce MicroDrive Plus2 Version is equipped with a set of eight I O 8 sinking or sourcing 0 to 24 VDC inputs or 8 sinking or sourcing 12 to 24 VDC outputs which may be programmed individually as either general purpo...

Page 51: ...The following table lists the programmable input functions of the MForce Function Description Parameter S1 S4 S9 S12 Active Sink Source General Purpose General Purpose Input function used to control program branches subroutine calls or BCD functions when input bank is used as a group 0 0 1 0 1 Home Homing input Will function as specified by the Home HM command 1 0 1 0 1 Limit Positive Limit Input ...

Page 52: ...at voltage level the input will be active Active HIGH The input will be active when 5 to 24 VDC is applied to the input Active LOW The input will be active when it is grounded 0 VDC Active LOW example IO 1 is to be configured as a Jog input which will activate when a switch is toggled to ground Sinking Input S1 8 0 0 set IO point 1 to Jog Active LOW Sinking Active HIGH example IO 4 is to be config...

Page 53: ...he velocity is changing Example during acceleration and deceleration 20 0 1 0 1 Table 2 4 3 Programmable Output Functions Output Functions Points 7 8 Clock Outputs and Point 13 Trip Function Description Parameter S7 S8 Active Step Direction Step clock pulses will be output from Point 7 Direction from Point 8 The step clock output rate will be based upon the Pulse Width set by Clock Width CW The lo...

Page 54: ...r Icont2 x 1 4 Peak Current FET Power Ipeak2 x D x 1 4 Duty Cycle D T on T period 1 0 seconds at 85 C heatsink temperature Protection Ratings Independent Over temperature Current Limit 0 6A to 1 2 A Clamp 45V 20V Table 2 3 5 MForce MicroDrive I O and Protection Ratings MForce Standard I O Connections White Yellow White Orange White Violet White Blue Green P1 I O Point 1 I O Point 2 I O Point 3 I O...

Page 55: ... Step Clock I O Pin 14 Direction Clock I O Pin 10 I O 12 Pin 7 I O 9 Pin 8 I O 10 Figure 2 4 4 Plus 2 I O Connections Expanded I O Configuration P1 Pin 1 I O Power Pin 2 I O Ground Pin 4 I O 2 Pin 3 I O 1 Pin 6 I O 4 Pin 5 I O 3 Pin 9 Channel B Pin 11 Capture Trip Pin 12 Analog Input Pin 13 Index Pin 14 Index Pin 10 Channel B Pin 7 Channel A Pin 8 Channel A Figure 2 4 5 Plus 2 I O Connections Clos...

Page 56: ...nt and power ground Code Sample For the code sample this switch will be set up as a G0 sinking input active when low When pressed the switch will launch the program beginning at address1 in MForce memory Setup Variables Sx 4 0 0 set IO point x to be a G0 input active when LOW sinking Program PG1 MR 20000 Move 20000 steps relative to current position H Hold program execution until motion completes ...

Page 57: ...witches will stop the motor S1 5 1 1 set IO point 1 to be a Soft Stop input active when HIGH sourcing SL 200000 enter this to slew the motor at 200000 µsteps sec When the switch is depressed the motor will decelerate to a stop Switch Input Sourcing Internal pull up voltage detect logic 40 135 uA 24 9k ohms 100k ohms 3 3 V The internal pull up voltage cannot provide output current voltage IOx GND I...

Page 58: ...teps sec While the motor is accelerating the LED will be dark but will light up when the motor reaches a constant velocity When the Soft Stop switch is depressed the motor will begin to decelerate the LED will go dark again while velocity is changing S1 16 1 0 Output Active HIGH Sinking O1 1 Sink OFF Hi Z O1 0 Sink ON S1 16 1 1 Output Active LOW Sourcing O1 1 Sink ON O1 0 Sink OFF Hi Z Internal pu...

Page 59: ...etting up and using the IMS Terminal Input Interface Example Switch Input Example Sinking Input The following circuit example shows a switch connected between an I O point and I O Ground Code Sample For the code sample this switch will be set up as a G0 sinking input active when low When pressed the switch will launch the program beginning at address1 in MForce memory Setup Variables Sx 4 0 0 set ...

Page 60: ...ve when HIGH When pressed the switches will stop the motor S1 5 1 1 set IO point 1 to be a Soft Stop input active when HIGH sourcing SL 200000 enter this to slew the motor at 200000 µsteps sec When the switch is depressed the motor will decelerate to a stop Figure 2 4 10 Sourcing Input Example using a Push Button Switch Switch Input Sourcing Internal pull up voltage detect logic 40 135 uA 24 9k oh...

Page 61: ...ut active when LOW SL 2000000 enter this to slew the motor at 200000 µsteps sec While the motor is accelerating the LED will be dark but will light up when the motor reaches a constant velocity When the Soft Stop switch is depressed the motor will begin to decelerate the LED will go dark again while velocity is changing S1 16 1 0 Output Active HIGH Sinking O1 1 Sink OFF Hi Z O1 0 Sink ON S1 16 1 1...

Page 62: ...s 100 MR 2000000 Move some distance in the positive direction H Hold execution until motion completes MR 1000000 Move some distance in the negative direction H Hold execution until motion completes O1 1 Set output 1 HIGH Enter EX 100 to execute the program the motion will occur and the output will set high S1 16 1 1 Output Active HIGH Sourcing O1 1 Source ON O1 0 Source OFF Hi Z S1 16 0 1 Output A...

Page 63: ... direction control application or to increment decrement an external counter NOTE When using the MForce MicroDrive2 with the external encoder option the step an direction I O are not available These I O points become Index and Index See the Closed Loop Control Appendix for encoder connection and configuration information Step Clock Direction Channel A Channel B CW CCW Step Direction Function Quadr...

Page 64: ...hm resistor To configure the Capture input S13 60 0 1 configure IO13 as a capture input active HIGH LOW FC 0 9 set input filtering to range Trip Output When configured as a trip output I O 13 trip speed is 150 nS with 32 bit resolution To configure the Trip output S13 61 0 1 configure IO13 as a trip output active HIGH LOW CW 10 set the trip output pulse width to 500 nS IOGND MForce Plus Vin Max 5 ...

Page 65: ...e Usage Main Program S5 9 0 set analog input to read variable voltage 0 to 5VDC PG 100 start prog address 100 LB A1 label program A1 CL A2 I5 500 Call Sub A2 If I5 is less than 500 CL A3 I5 524 Call Sub A3 If I5 is greater than 524 BR A1 loop to A1 Subroutines LB A2 label subroutine A2 MA 2000 Move Absolute 2000 steps H Hold program execution until motion ceases RT return from subroutine LB A3 lab...

Page 66: ...ware Manual Revision R112706 Current Mode MForce Plus Motion Control Analog Input Ground S5 10 0 set input I range to 0 to 20mA S5 10 1 set input I range to 4 to 20mA 4 20 mA 0 20 mA Source Source Ground Figure 2 4 17 Analog Input Current Mode ...

Page 67: ...ices Appendix A Recommended Power and Cable Configurations Appendix B I O Application Guide Appendix C Optional IMS Encoders Appendix D Optional Cables and Cordsets Appendix E IMS Enhanced Torque Stepping Motors TM FORCE MICRO DRIVE MOTION CONTROL ...

Page 68: ...A 2 MForce MicroDrive Motion Control Hardware Manual Revision R112706 ...

Page 69: ...otection against EMI and RFI The actual cable type wire gauge shield type and filtering devices used are dependent on the customer s application and system NOTE The length of the DC power supply cable to an MForce should not exceed 50 feet NOTE These recommendations will provide optimal protection against EMI and RFI The actual cable type wire gauge shield type and filtering devices used are depen...

Page 70: ...en at 25 C 120 VAC 60 Hz No Load Output Voltage 43 VDC 0 Amps Half Load Output 32 VDC 3 Amps Full Load Output 26 VDC 6 Amps ISP200 4 Unregulated Switching Supply Input Range 120 VAC Versions 102 132 VAC 240 VAC Versions 204 264 VAC Output All Measurements were taken at 25 C 120 VAC 60 Hz No Load Output Voltage 41 VDC 0 Amps Continuous Output Rating 38 VDC 2 Amps Peak Output Rating 35 VDC 4 Amps Re...

Page 71: ...tive x distance H hold program execution until move completes CL AB I1 0 call subroutine AB if I1 0 limit reached BR AA I1 1 branch to AA if I1 1 LB AB Label Sub AB PR Error 83 Positive Limit Reached ER 0 MA 10000 Absolute move to Pos 10000 H hold program execution until move completes E end program PG exit program END NPN Input Sinking Internal pull up voltage detect logic 24 9k ohms 100k ohms 3 ...

Page 72: ...outine will perform some motion MR 200000 H MR 200000 H BR SA I1 1 conditional branch to beginning of sub BR AA I1 0 Branch to main program if IO1 0 RT LB SB Subroutine will perform some motion MR 10000 H MR 10000 H BR SB I2 1 conditional branch to beginning of sub BR AA I2 0 Branch to main program if IO1 0 RT E PG END PNP Input Sourcing Internal pull up voltage detect logic 40 135 uA 24 9k ohms 1...

Page 73: ...eeded to limit output sink current to 600mA up to 24 V Figure B 3 Sinking Output to Relay NOTE On the Standard MForce Plus when configured as outputs the I O set is sinking ONLY The Plus2 Models add the functionality of I O Power which enables the user to use all the outputs both Standard and Enhanced as Sinking or Sourcing IO1 IO2 IO3 IO4 GND S1 16 0 S2 4 1 1 S3 2 0 0 S4 3 0 0 GO LIMIT LIMIT LOAD...

Page 74: ...IGH sourcing Internal pull up voltage detect logic 24 9k ohms 100k ohms 3 3 V The internal pull up voltage cannot provide output current voltage IOPWR IOGND Iil 65 160 uA MForce Plus2 IOx Vih 2 31 V Vil 0 99 V Threshold nom 1 5 V Iil 100 µA NPN Input Sinking Sinking Input Equivalent Circuit NPN 12 to 24 V Figure B 5 NPN Sinking Input on an MForce Plus2 Motion Control PNP Input Sourcing Internal pu...

Page 75: ...e 2 S9 6 1 1 Configure IO9 as a Pause Input active HIGH sourcing Internal pull up voltage The internal pull up voltage cannot provide output current voltage 24 9k ohms Sourcing Output Equivalent Circuit Sourcing Input Equivalent Circuit always off switched IOPWR IOx IOGND MForce Plus2 load current sourcing Sourcing Output Sourcing Input Internal pull up voltage detect logic 40 135 uA 24 9k ohms 10...

Page 76: ...inputs S point 0 Standard MForce Plus Motion Control PR IN Reads Inputs 4 MSB through 1 LSB PR IN Reads Inputs 4 MSB through 1 LSB Enhanced MForce Plus2 PR IL Reads Inputs 4 MSB through 1 LSB PR IH Reads Inputs 12 MSB through 9 LSB PR IN Reads Inputs 12 MSB 9 amd 4 1 LSB IO1 IO2 IO3 IO4 IOGND S1 17 0 0 S2 19 0 0 S3 7 1 1 S4 8 1 1 STALL JOG JOG LOAD MOVING IO9 IO10 IO11 IO12 S9 16 1 1 S10 16 1 1 S1...

Page 77: ...rol OL 3 set the binary state of the standard I O to 0011 OT 13 set the binary state of the standard I O to 1101 Enhanced MForce Plus2 OL 5 set the binary state of the standard I O to 0101 OH 9 set the binary state of the expanded I O to 1001 OT 223 set the binary state of the combined I O to 1101 1111 Output Bit Weight Examples I O Set Enhanced Plus2 Standard IO12 MSB IO11 IO10 IO9 IO4 IO3 IO2 IO...

Page 78: ...iguration Figure C 1 Connecting a Remote Encoder P1 Pin 9 Channel B Pin 13 Index Pin 14 Index Pin 10 Channel B Pin 7 Channel A Pin 8 Channel A Encoders Available from IMS DIFFERENTIAL ENCODER Line Count Part Number 100 EA 200 EB 250 EC 256 EW 400 ED 500 EH 512 EX 1000 EJ 1024 EY Table C 1 Available Encoder Line Counts Part Numbers and Pin Configurations General Specifications Min Typ Max Units Sup...

Page 79: ...e Po Index Pulse Width Nominally 90 e Encoder Signals Differential Encoder Characteristics Parameter Symbol Min Typ Max Units Cycle Error 3 5 5 e Symmetry 130 180 230 e Quadrature 40 90 140 e Index Pulse Width Po 60 90 120 e Index Rise After CH B or CH A fall t1 300 100 250 ns Index Fall After CH A or CH B rise t2 70 150 1000 ns Over recommended operating range Values are for worst error over a fu...

Page 80: ...ectors IMS recommends the following mating connectors or equivalent if you make your own cables Differential Encoder Tyco Electronics Connector with 10 Preloaded IDC Pins 102694 3 Shell with Polarizing Key 102537 3 Back Cover 102536 3 Tyco Electronics 10 Pin IDC Ribbon Cable Connector 499997 1 3M 28 AWG x 0 5 x 10 Conductor Ribbon Cable 3365 10 For AWG 22 to 28 wires ...

Page 81: ...Wire Crimp Adapter An optional pin adapter is avail able to convert the 10 pin IDC connector on the Communications Converter Cable to a 10 pin friction lock wire crimp interface used on the Plus2 units Adapter Part MD ADP H If your PC is already equipped with RS 422 the MD CC400 000 cable is not required Electrical Specifications Mechanical Specifications 10 Pin IDC Connector Cable Length 6 0 ft 1...

Page 82: ...ing the Cable VCP Drivers 1 Plug the USB Converter Cable into the USB port of the MD CC400 000 2 Plug the other end of the USB cable into an open USB port on your PC 3 Your PC will recognize the new hardware and open the Hardware Update dialog 4 Select No not this time on the radio buttons in answer to the query Can Windows Connect to Windows Update to search for software Click Next Figure F 4 5 S...

Page 83: ... Compatibility Testing click Continue Anyway Figure F 7 9 The Driver Installation will proceed When the Completing the Found New Hardware Wizard dialog appears Click Finish Figure F 8 10 Upon finish the Welcome to the Hardware Update Wizard will reappear to guide you through the second part of the install process Repeat steps 1 through 9 above to complete the cable installation 11 Your IMS MD CC40...

Page 84: ...know where to find and communicate with your IMS Product To locate the Virtual COM Port 1 Right Click the My Computer Icon and select Properties 2 Browse to the Hardware Tab Figure D 8 Click the Button labeled Device Manager 3 Look in the heading Ports COM LPT IMS USB to RS422 Converter Cable COMx will be listed Figure D 9 The COM will be the Virtual COM Port connected You will enter this number i...

Page 85: ...ep Clock Index 13 3 Black Analog In Analog In 12 Green Capture In Trip Out Capture In Trip Out 11 4 Black I O 12 Channel B 10 Blue I O 11 Channel B 9 5 Black I O 10 Channel A 8 Yellow I O 9 Channel A 7 6 Black I O 4 I O 4 6 Brown I O 3 I O 3 5 7 Black I O 2 I O 2 4 Orange I O 1 I O 1 3 8 White I O GND I O GND 2 Red I O Power I O Power 1 Table D 2 PD16 1417 FL3 Wire Color Codes Figure D 10 PD16 141...

Page 86: ...atures an additional cable attached for multi drop communications systems Setup Instructions Cable 1 Cut crimp pins from Communications Wires and strip insulation back approximately 1 4 Connect receive RX and transmit TX lines as shown in the diagram and table above to your RS 422 485 Host interface Connect Communications Ground line to the Comm Ground of your RS 422 485 Host Connect Aux Power if ...

Page 87: ...st MForce RX RX TX TX Aux Power 12 to 24 VDC DO NOT DAISY CHAIN Each Line MUST connect to the Power Supply Output Ground to Motor Power Ground NOT COMM GND Orange White Stripe Pin 8 White Orange Stripe Pin 7 Blue White Stripe Pin 10 White Blue Stripe Pin 9 AUX SUPPLY 12 to 24 VDC AUX SUPPLY 12 to 24 VDC Communications Ground at Host Communications Ground 1 3 5 7 9 2 4 6 8 10 Pin Numbers Wire Crimp...

Page 88: ...ep Min Ø 0 866 0 0 002 Ø 22 0 0 0 052 Ø 0 197 0 0 005 Ø 5 0 0 0 012 FRONT VIEW 0 620 0 005 15 75 0 13 2X M1 2 0 20 5 1 Deep Min REAR VIEW Reduced General Specifications Part Number Holding Torque Phase Current Number of Leads Phase Resistance Phase Inductance Detent Torque Rotor Inertia LMax Length Weight oz in N cm Amps ohms mH oz in N cm oz in sec2 kg cm2 inches mm oz g M 1410 0 75 X 10 7 0 75 4...

Page 89: ...11562 0 082 1 89 48 12 7 360 Specify S for Single Shaft D for Double Shaft Table E 2 Size 17 General Specifications 1 67 SQ 42 3 SQ 4X Ø M3xP0 5 0 177 4 5 Deep Min 1 22 SQ 30 99 SQ Ø 0 866 0 0 002 Ø 22 0 0 0 052 FRONT VIEW 0 75 0 005 19 0 13 2X M2 0 20 5 1 Deep Min REAR VIEW Reduced Ø 0 197 0 0 001 Ø 4 99 0 0 012 0 590 14 86 0 55 14 11 8 inches 30 cm Optional Rear Shaft 0 177 0 002 4 52 0 05 0 94 ...

Page 90: ...065 0 46 2 99 76 35 3 1000 Specify S for Single Shaft D for Double Shaft Table E 3 Size 23 General Specifications Wiring And Connection Figure E 6 Size 23 Wiring and Connection green white red white red green Motor Connection WIRE COLOR PHASE ØA ØB ØA ØB 11 8 inches 30 cm 0 811 0 02 20 6 0 5 0 590 0 008 15 0 0 02 0 197 5 0 0 063 1 60 L MAX 0 228 009 5 8 0 1 0 56 14 3 2 22 SQ 56 39 SQ 1 85 SQ 47 1 ...

Page 91: ...omply with all of the terms set forth in this Limited Warranty This Limited Warranty is the sole warranty offered by IMS with respect to the Product IMS does not assume any other liability in connection with the sale of the Product No representative of IMS is authorized to extend this Limited Warranty or to change it in any manner whatsoever No warranty applies to any party other than the original...

Page 92: ...orth East Fareham Hampshire PO15 5TT Phone 44 0 1489 889825 Fax 44 0 1489 889857 E mail mcheckley imshome com IMS ASIA PACIFIC OFFICE 30 Raffles Pl 23 00 Caltex House Singapore 048622 Phone 65 6233 6846 Fax 65 6233 5044 E mail wllee imshome com U S A Sales offices Eastern Region Phone 862 208 9742 Fax 973 661 1275 E mail jroake imshome com Central Region Phone 260 402 6016 Fax 419 858 0375 E mail ...

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