Intelligent Motion SystemsメーカーMFM Motion Detectorの使用説明書/サービス説明書
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Operating Instructions TM Excellence in Motion TM FORCE POWER DRIVE MICROSTEPPING.
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.
Important information The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers.
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i T able Of Contents Getting S tarted: Microstepping MF orce P owerDrive ................................................................. 1-1 Before Y ou Begin ..........................................................................................
ii Enable Input .....................................................................................................................19 Clock Inputs ......................................................................................................
iii List of Figures F igure GS.1: Minimum Logic and P ower Connections ............................................................. 1-1 Part 1: Hardware Refer ence F igure 1.1.1: Micr ostepping MF orce P owerDrive ....................................
iv List of T ables Part 1: Hardware Refer ence T able 1.2.1: Electrical S pecifications .......................................................................................... 1-7 T able 1.2.2: Thermal S pecifications ..............................
1-1 P art 1: Hardwar e Specifications Note: A characteristic of all motors is back EMF . Back EMF is a source of current that can push the output of a power supply beyond the maximum operating voltage of the driver . As a result, damage to the stepper driver could occur over a period of time.
1-2 Microstepping MF orce P owerD rive Manual R evision R032008 Connect Opto Reference and Logic Inputs U sing 22 A WG wire, connect the Opto R eference to the desired refer ence point. The refer ence will determine whether or not the logic input is sinking or sourcing.
1-3 P art 1: Hardwar e Specifications Section 1.1: Introduction to the Micr ostepping MFor ce PowerDrive Section 1.2: Microstepping MFor ce PowerDrive Detailed Specifications Part 1: Hardware Refere.
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1-5 P art 1: Hardwar e Specifications SECTION 1.1 Introduction to the Microstepping MFor ce PowerDrive The Microstepping MF orce P ow- erDrive is a high performance, low cost microstepping driver that delivers unsurpassed smoothness and perfor- mance achieved through IMS’ s advanced 2nd generation current control.
1-6 Microstepping MF orce P owerD rive Manual R evision R032008 Features and Benefits High P erformance Microstepping Driver Advanced 2nd Generation C urrent Control for E xceptional P erformance and .
1-7 P art 1: Hardwar e Specifications SECTION 1.2 Microstepping MForce PowerDrive Detailed Specifications General Specifications Electrical Specifications Input V oltage (+V) Range* +12 to +75 VDC Ma.
1-8 Microstepping MF orce P owerD rive Manual R evision R032008 Mechanical Specifications - Dimensions in Inches (mm) Figur e 1.2.1: MFor ce P owerDriv e Mechanical Specifications Microstepping MForce.
1-9 P art 1: Hardwar e Specifications Pin Assignment and Description P1 12-Pin Locking W ire Crimp Connector Option - Power , I/O and SPI Communications Pin Assignment - P1 Power , I/O and SPI Connec.
1-10 Microstepping MF orce P owerD rive Manual R evision R032008 P3 Connector - DC Power , 2-Pin Locking W ire Crimp Pin Assignment - P3 Power 2-Pin Locking Wire Crimp Function Description Pin 1 +V +12 to +75 VDC, 4 Amps Maximum per MDrive34Plus. Pin 2 GND Power Supply Return.
1-1 1 P art 1: Hardwar e Specifications Options and Accessories Parameter Setup Cable and Adapters The optional 12.0' (3.6m) parameter setup cable part number MD-CC300-000 facilitates communications wiring and is recommended with first order . I t connects from the 10-Pin IDC Connector located at P2 to a PC's USB port.
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1 P art 2: Interfacing and Configuring Section 2.1: Mounting and Connection Recommendations Section 2.2: Logic Interface and Connection Section 2.3: Connecting SPI Communications Section 2.
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3 P art 2: Interfacing and Configuring SECTION 2.1 Mounting and Connection Guidelines Mounting Recommendations The Microstepping MF orce P owerD rive may be mounted two ways: end mounted or flat mounted End mount- ing will use #8 hardware, flat mounting will use standar d #6 hardwar e.
4 Microstepping MF orce P owerD rive Manual R evision R032008 Figur e 2.1.2: End M ounting the MF orce P owerDrive Securing Power Leads and Logic Leads Some applications may requir e that the MF orce and/or the connected motor to mov e with the axis motion.
5 P art 2: Interfacing and Configuring Rules of W iring • P ower Supply and M otor wiring should be shielded twisted pairs, and run separately from signal- carrying wires.
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7 P art 2: Interfacing and Configuring SECTION 2.2 Interfacing DC Power Choosing a Power Supply for Y our MForce PowerDrive When choosing a power supply for your MF orce P owerDrive ther e are performance and sizing issues that must be addressed.
8 Microstepping MF orce P owerD rive Manual R evision R032008 DC Power Supply Recommendations The power r equirements for the Microstepping MF orce P owerD rive are: Output V oltage ...................................................................+12 to +75 VDC (I ncludes Back EMF) Curr ent (max.
9 P art 2: Interfacing and Configuring P3 Unregulated Linear or Switching Power Supply Power Ground +VDC Shield to Earth Ground + – ! W ARNING! Do not connect or disconnect cabling while power is applied! Optional Prototype Development Cable: PD02-3400-FL3 Pin 1 Pin 2 Basic DC Power Connection Figur e 2.
10 Microstepping MF orce P owerD rive Manual R evision R032008 W ARNING! DO NOT connect or disconnect power leads when power is applied! Disconnect the AC power side to power down the DC power supply . Example C – Cabling 50 Feet or Greater , AC Power to Power Supply Figure 2.
1 1 P art 2: Interfacing and Configuring SECTION 2.3 Motor Selection and Interface Selecting a Motor When selecting a stepper motor for your application, there are sev eral factors that need to be ta.
12 Microstepping MF orce P owerD rive Manual R evision R032008 The per ph ase win din g in duc tan ce s pec ifi ed m ay be d iff ere nt t han th e pe r p hase in duc tanc e s een by you r MF orce P owerDrive d riv er d epe ndin g o n t he w iri ng conf igu rati on use d.
13 P art 2: Interfacing and Configuring 23 Frame Enhanced (2.4A - Not Available with Double Shaft) Single Shaft Double Shaft M-2218-2.4S .................................................................................................................
14 Microstepping MF orce P owerD rive Manual R evision R032008 The IOS motor is available in the following frames: Frame Siz e IMS PN 23 F rame ...........................................................................................................
15 P art 2: Interfacing and Configuring 6 Lead Motors Like 8 lead stepping motors, 6 lead motors have two configurations available for high speed or high torque operation. The higher speed configuration, or half coil, is so described because it uses one half of the motor’s inductor windings.
16 Microstepping MF orce P owerD rive Manual R evision R032008 Figur e 2.3.6: 4 Lead Motor Connections 1 3 4 2 P4 PHASE A PHASE A B PHASE PHASE B 4 Le a d Mo t or s 4 le a d mo t or s a re t he le as t fl ex i bl e b ut e as i es t t o wi r e. Sp e ed a n d to r qu e w il l de p en d o n wi n di ng in du c ta nc e .
17 P art 2: Interfacing and Configuring Shield to Earth Ground on Supply End Only Ferrite Beads *L z 0.5 MH * 0.5 MH is a typical starting point for the Common Mode Line F ilters. B y increasing or decreasing the value of L you can set the drain current to a minimum to meet your application ’ s requirements.
18 Microstepping MF orce P owerD rive Manual R evision R032008.
19 P art 2: Interfacing and Configuring SECTION 2.4 Logic Interface and Connection Optically Isolated Logic Inputs The Microstepping MF orce P owerD rive has three optically isolated logic inputs which are located on connector P1. These inputs are isolated to minimize or eliminate electrical noise coupled onto the driv e control signals.
20 Microstepping MF orce P owerD rive Manual R evision R032008 and sourcing configurations, the driver output circuitry will be disabled. Please note that the internal sine/cosine position generator will continue to increment or decrement as long as step clock pluses ar e being received by the Microstepping MF orce P owerD rive.
21 P art 2: Interfacing and Configuring T DSU T DH T SH T SL Direction Step T DC T CHL T CHL Channel A Channel B Direction Change T SH T SL T DC T SH T SL T DC Step Up Step Down STEP/DIRECTION TIMING QUADRA TURE TIMING UP/DOWN TIMING Figur e 2.
22 Microstepping MF orce P owerD rive Manual R evision R032008 Optocoupler Reference The Microstepping MF orce P owerD rive Logic Inputs are optically isolated to pr event electrical noise being coupled into the inputs and causing erratic operation.
23 P art 2: Interfacing and Configuring + Microstepping MForce PowerDrive +5 to +24VDC Optocoupler Reference Input Controller Output Controller Ground + +5 to +24VDC Optocoupler Reference Input Contr.
24 Microstepping MF orce P owerD rive Manual R evision R032008 Switch Interface Example Switch Interface (Sinking) Switch Interface (Sourcing) + +5 to +24VDC Optocoupler Reference Enable Input SPST Sw.
25 P art 2: Interfacing and Configuring Minimum Required Connections The connections shown are the minimum r equired to operate the Microstepping MF orce P ow erDrive.
26 Microstepping MF orce P owerD rive Manual R evision R032008 SECTION 2.5 Connecting SPI Communications Connecting the SPI Interface The SPI (Serial P eripheral Interface) is the com- munications and configuration interface. F or prototyping we recommend the pur chase of the parameter setup cable MD-CC300-000.
27 P art 2: Interfacing and Configuring SPI Pins and Connections +5 VDC OUT 19 15 2 3 4 PC Parallel/SPI Port P1 10 12 7 9 1 1 MASTER OUT/SLA VE IN MASTER IN/SLA VE OUT SPI CLOCK 8 CHIP SELECT COMM GND 12-Pin Locking Wire Crimp For Use ONL Y with IMS Parameter Setup Cable Figur e 2.
28 Microstepping MF orce P owerD rive Manual R evision R032008 Figur e 2.5.4: SPI Master with a S ingle Microstepping MF orce P owerDrive S P I M a s t e r w i t h M u l t i p l e M i c r o s t e p p .
29 P art 2: Interfacing and Configuring SECTION 2.6 Using the IMS SPI Motor Interface Installation The IMS SPI M otor Interface is a utility that easily allows you to set up the parameters of y our Microstepping MF orce P owerDrive. I t is available both on the CD that came with your pr oduct and on the IMS web site at http://www .
30 Microstepping MF orce P owerD rive Manual R evision R032008 IMS SPI Motor Interface Menu Options File > Open: Opens a saved *.mot (M otor Settings) file. > Save: Sav es the current motor settings as a *.mot file for later re-use > Save As > Exit - Disconnects from the device and opens the I nitialization Dialog.
31 P art 2: Interfacing and Configuring Recall! Retrieves the settings from the M icrostepping MF orce P owerDriv e. Upgrade! U pgrades the Microstepping MF orce P owerD rive firmware by placing the device in U pgrade M ode and launching the firmware upgrader utility .
32 Microstepping MF orce P owerD rive Manual R evision R032008 1. MSEL: Microstep R esolution Select. 2. HCDT : Holding Current Delay T ime. 3. MR C: M otor Run C urrent 4.
33 P art 2: Interfacing and Configuring HC DT ( H ol d Cu r re nt De lay Ti me ) Th e H C D T M ot or H o ld C u r r en t D el a y set s ti m e i n mi l l is e co nds f or t he R u n C ur r en t to s wi t c h t o Ho l d C ur r en t wh e n mo tio n is c om p le te.
34 Microstepping MF orce P owerD rive Manual R evision R032008 Screen 2: I/O Settings Configuration Screen The I/O Settings screen may be accessed b y clicking View > IO Settings on the menu bar . This screen is used to configure the Input Clock type, the filtering and the A ctive High/Lo w State of the E nable Input.
35 P art 2: Interfacing and Configuring IMS Part Number/Serial Number Screen The IMS P art N umber and Serial N umber screen is accessed by clicking "V iew > P art and Serial N umbers". This screen is read-only and will display the part and serial number , as well as the fault code if existing.
36 Microstepping MF orce P owerD rive Manual R evision R032008 Upgrading the Firmware in the Microstepping MFor ce PowerDrive The IMS SPI Upgrader Screen N ew firmware releases are posted to the IMS web site at http://www .imshome.com. The IMS SPI M otor Interface is required to upgrade y our Microstepping MF orce P owerD rive product.
37 P art 2: Interfacing and Configuring Initialization Screen This screen will be active under five conditions: When the program initially starts up and seeks for a compatible device. The U ser selects F ile > Exit when connected to the device. The U ser clicks the Exit button while connected to the device.
38 Microstepping MF orce P owerD rive Manual R evision R032008 Motor Settings Screen (PWM Current Contr ol) The Motor settings scr een allows the user to fine tune the settings of the PWM to optimize the curr ent output for a variety of stepping motors.
39 P art 2: Interfacing and Configuring T ypical PWM Mask Settings (Currents Balanced) Mask (hex) Mask (dec) REVTM FORTM Mask (hex) Mask (dec) REVTM FORTM 0x00 0 600 ns 600 ns 0x88 135 1.6 µs 1.6 µs 0x1 1 17 700 ns 700 ns 0x99 153 1.8 µs 1.8 µs 0x22 34 800 ns 800 ns 0xAA 170 2.
40 Microstepping MF orce P owerD rive Manual R evision R032008 PWM Control Bits Bit 7 – QUIET This bit changes PWM operation. When quiet is set, the bridge logic does not enter the rev erse measure period, therefor e there are fewer transitions. The bridge is disabled during zero cross.
41 P art 2: Interfacing and Configuring SECTION 2.7 Using User -Defined SPI The MF orce can be configured and operated through the end-user's SP I interface without using the IMS SPI M o- tor Interface software and optional parameter setup cable.
42 Microstepping MF orce P owerD rive Manual R evision R032008 SPI Commands and Parameters U se the following table and figure found on the follo wing page together as the Byte or der read and written from the MDrivePlus M icrostepping, as well as the checksum at the end of a WRITE is critical.
43 P art 2: Interfacing and Configuring Figur e 2.7.2: Read/W rite Byte Or der for P arameter Settings (Default P arameters S hown) SPI Communications Sequence See Timing D iagram and Byte Or der figures. READ 1. Send READ ALL Command 0x40 down MOSI to M icrostepping MF orce P owerDriv e followed by FF (15 Bytes).
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A-1 Appendices TM Appendices Appendix A: Optional Pr ototype Development Cables TM FORCE MICRO DRIVE MICROSTEPPING.
A-2 Microstepping MF orce P owerD rive Manual R evision R032008 P age Intentionally Left Blank.
A-3 Appendices WARN ING ! DO NOT connect or disconnect the MD-CC300-000 C o mm u n i ca t i o ns C o nv e r t er C a bl e f ro m M Fo r c e w h i l e p o w er i s applied! Appendix C Optional Prototyp.
A-4 Microstepping MF orce P owerD rive Manual R evision R032008 Figur e A.3: T ypical Setup, Adapter and P rototype Development Cable 12 12 11 2 1 1 P1 P2 ADAPTER P/N MD-ADP-14C TM T o MForce T o Cust.
A-5 Appendices 6) Select “Search for the best driver in these locations ”. (a) Check “Include this location in the search ”. (b) Browse to the CD [D rive Letter]: Cable_DriversMD-CC303-000_DRIVERS. (c) Click Next (F igure A.6). 7) The drivers will begin to copy .
A-6 Microstepping MF orce P owerD rive Manual R evision R032008 Determining the V irtual COM Port (VCP) The MD-CC300-000 uses a Virtual COM P ort to communicate through the USB port to the MForce. A V CP is a software driven serial port which emulates a hardwar e port in Windows.
A-7 Appendices PD12-1434-FL3 — Power , I/O and SPI The PD12-1434-FL3 is a 10’ (3.0 m) P rototype Development Cable used to connect to the 12-Pin Locking Wire Crimp Connector . The Connector end plugs into the P1 Connector of the MF orce P owerD rive.
A-8 Microstepping MF orce P owerD rive Manual R evision R032008 Prototype Development Cable PD02-2300-FL3 IMS recommends the P rototype Development Cable PD02-3400-FL3 for interfacing po wer to the MF orce P owerDrive. Motor Power (+12 to +75 VDC) Power Supply Return (Ground) Drain Wire (Connect to Earth at Power Supply) Pin 1 (Red Wire) 10 ft (3.
W ARRANTY TWENTY -FOUR (24) MONTH LIMITED W ARRANTY Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased.
intelligent motion systems, I N C . Excellence in Motion TECHNICAL SUPPORT (U.S.A.) Phone: 860/295-6102 Fax: 860/295-6107 E-mail: etech@imshome.com IMS ASIA P ACIFIC OFFICE 30 Raffles Pl., 23-00 Caltex House Singapore 048622 Phone: +65/6233/6846 Fax: +65/6233/5044 E-mail: wllee@imshome.
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