Intelligent Motion Systems MDrive AC Plus 34, Руководство по эксплуатации

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2-4
MDriveAC Plus Microstepping Hardware - Revision R052506
2-5
Part 2: Interfacing and Configuring
ing edge of each clock pulse. The size of this increment or decrement
will depend on the microstep resolution setting.
Direction
The direction input controls the CW/CCW direction of the motor.
The input may be configured as sinking or sourcing based upon the
state of the Optocoupler Reference. The CW/CCW rotation, based
upon the state of the input may be set using the IMS Motor Inter-
face software included with the MDriveAC Plus Microstepping.
Quadrature
The Quadrature clock function would typically be used for following
applications where the MDriveAC Plus Microstepping would be
slaved to an MDriveAC Plus Motion Control (or other controller) in
an electronic gearing application.
Up/Down
The Up/Down clock would typically be used in a dual-clock direc-
tion control application.
Enable
This input can be used to enable or disable the driver output circuit-
ry. Leaving the enable switch open for sinking or sourcing configura-
tion, the driver outputs will be enabled and the step clock pulses will
cause the motor to advance. When this input switch is closed in both
sinking and sourcing configurations, the driver output circuitry will
be disabled. Please note that the internal sine/cosine position genera-
tor will continue to increment or decrement as long as step clock
pluses are being received by the MDriveAC Plus Microstepping.
Input Timing
The direction input and the microstep resolution inputs are internally synchronized to the positive going edge
of the step clock input. When a step clock pulse goes HIGH, the state of the direction input and microstep
resolution settings are latched. Any changes made to the direction and/or microstep resolution will occur on
the rising edge of the step clock pulse following this change. Run and Hold Current changes are updated im-
mediately. The following figure and table list the timing specifications.
Input Filtering
The clock inputs may also be filtered using the Clock IOF pull down of the IMS SPI Motor Interface. The
filter range is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz).
The configuration parameters for the input filtering is covered in detail in Section 2.4: Configuring the
MDriveAC Plus Microstepping.
Step Clock
Direction
Channel A
Channel B
CW
CCW
Step/Direction Function
Quadrature Function
Up/Down Function
Figure 2.1.3: Input Clock Functions
Clock Input Timing
Symbol Parameter
Type and Value
Step/Direction Step Up/Down Quadrature Units
T
DSU
T Direction Set Up 0 — — nS min
T
DH
T Direction Hold 50 — — nS min
T
SH
T Step High 250 250 — nS min
T
SL
T Step Low 250 250 — nS min
T
DL
T Direction Change — 250 250 nS min
T
CHL
T Channel High/Low — — 400 nS min
F
SMAX
F Step Maximum 5 2 — MHz Max
F
CHMAX
F Channel Maximum — — 1.25 MHz Max
F
ER
F Edge Rate — — 5 MHz Max
Table 2.1.1: Input Clocks Timing Table