Intelligent Motion Systems MDrive AC Plus Series Manuale utente
Operating
Instructions
TM
TM
Excellence in Motion
www.imshome.com
34TM
MICROSTEPPING
42TM
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. 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 indemnies Intelligent Motion Systems, Inc., against all damages.
TM
MDriveAC Plus Microstepping
Revision R052506
Copyright © 2006 Intelligent Motion Systems, Inc.
All Rights Reserved
MDriveAC Plus Motion Control Hardware Reference Change Log
Date Revision Changes
03/07/2006 R030706 Initial Release
04/13/2006 R041306 Corrected Motor+Driver weight specication for MDM34AC Plus, added notes on recommended mating connector for
the M23 19-pin connector P1. Added MD-CS10x-000 and MD-CS-20x-000 To Appendix C.
05/04/2006 R050406 Removed Ambient Temperature Specication
05/25/2006 R052506 Replaced USB to SPI Cable Driver Installation with instructions relavent to Windows XP Service Pack 2.
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Table Of Contents
Getting Started: MDriveAC Plus Microstepping........................................................................1-1
Before You Begin....................................................................................................................... 1-1
Connecting AC Power............................................................................................................... 1-1
Connect Opto Power and Logic Inputs (See Section 2.1 for Details)......................................... 1-1
Connecting Parameter Setup Cable (See Section 2.2 for Details)............................................... 1-1
Install the IMS SPI Motor Interface (See Section 2.3 for Details).............................................. 1-1
Part 1: Hardware Specifications
Section 1.1: Introduction to the MDrive34AC Plus Microstepping..............................................1-5
Configuring .............................................................................................................................. 1-5
Features and Benefits................................................................................................................. 1-5
Section 1.1: MDrive34AC Plus Microstepping Detailed Specifications.......................................1-7
General Specifications ............................................................................................................... 1-7
Setup Parameters....................................................................................................................... 1-7
Mechanical Specifications - Dimensions in Inches (mm)........................................................... 1-8
Connector Specifications........................................................................................................... 1-8
Motor Specifications ................................................................................................................. 1-9
Internal Encoder............................................................................................................... 1-9
Control Knob................................................................................................................... 1-9
Planetary Gearbox............................................................................................................ 1-9
Parameter Setup Cable and Adapter ................................................................................ 1-10
Cordsets ......................................................................................................................... 1-10
Section 1.1: Introduction to the MDrive42AC Plus Microstepping...........................................1-11
Configuring ............................................................................................................................ 1-11
Features and Benefits............................................................................................................... 1-11
Section 1.2: MDrive42AC Plus Microstepping Detailed Specifications.....................................1-13
General Specifications ............................................................................................................. 1-13
Setup Parameters..................................................................................................................... 1-13
Mechanical Specifications - Dimensions in Inches (mm)......................................................... 1-14
Connector Specifications......................................................................................................... 1-14
Motor Specifications ............................................................................................................... 1-15
Internal Encoder............................................................................................................. 1-15
Control Knob................................................................................................................. 1-15
Parameter Setup Cable and Adapter ................................................................................ 1-15
Cordsets ......................................................................................................................... 1-15
Section 1.3: Logic Interface and Connection ...............................................................................2-3
MDriveAC Plus Microstepping Optically Isolated Logic Inputs................................................ 2-3
Isolated Logic Input Pins and Connections ............................................................................... 2-3
Isolated Logic Input Characteristics........................................................................................... 2-3
Enable Input.................................................................................................................... 2-3
Clock Inputs..................................................................................................................... 2-3
Optocoupler Reference.............................................................................................................. 2-5
Input Connection Examples...................................................................................................... 2-5
Open Collector Interface Example...................................................................................... 2-6
Switch Interface Example.................................................................................................. 2-6
Minimum Required Connections.............................................................................................. 2-6
Fault Output............................................................................................................................. 2-6
Part 2: Interfacing and Configuration
Section 2.1: SPI Connection and Interface .................................................................................2-8
Connecting the SPI Interface .................................................................................................... 2-8
SPI Signal Overview.................................................................................................................. 2-8
SPI Pins and Connections......................................................................................................... 2-9
SPI Master with Multiple MDriveAC Plus Microstepping ........................................................ 2-9
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iii
Section 2.2: Configuring the MDriveAC Plus Microstepping Using the IMS SPI Motor Interface2-10
Installation .............................................................................................................................. 2-10
Configuration Parameters and Ranges ..................................................................................... 2-10
IMS SPI Motor Interface Menu Options ................................................................................ 2-11
IMS SPI Motor Interface Button Functions ............................................................................ 2-11
Motion Settings Configuration Screen .................................................................................... 2-12
MSEL (Microstep Resolution Selection)............................................................................ 2-12
HCDT (Hold Current Delay Time) ................................................................................ 2-13
MRC (Motor Run Current) ............................................................................................ 2-13
MHC (Motor Hold Current) .......................................................................................... 2-13
DIR (Motor Direction) ................................................................................................... 2-13
User ID ......................................................................................................................... 2-13
IO Settings Configuration Screen............................................................................................ 2-13
Input Clock Type ............................................................................................................ 2-14
Input Clock Filter........................................................................................................... 2-14
Warning Temperature ..................................................................................................... 2-14
IMS Part Number/Serial Number Screen ................................................................................ 2-14
Fault Indication....................................................................................................................... 2-15
Upgrading the Firmware in the MDriveAC Plus Microstepping.............................................. 2-15
The IMS SPI Upgrader Screen...................................................................................... 2-15
Upgrade Instructions..................................................................................................... 2-16
Section 2.3: Configuring the MDriveAC Plus Microstepping Using User-Defined SPI...............2-17
SPI Timing Notes.................................................................................................................... 2-17
Check Sum Calculation for SPI............................................................................................... 2-17
SPI Commands and Parameters .............................................................................................. 2-18
SPI Communications Sequence .................................................................................... 2-19
Appendices
Appendix A: MDriveAC Plus Microstepping Motor Performance ............................................... A-3
MDrive34AC Plus Microstepping.............................................................................................A-3
Speed-Torque Curves ........................................................................................................A-3
Motor Specifications .........................................................................................................A-3
MDrive42AC Plus Microstepping.............................................................................................A-4
Speed-Torque Curves ........................................................................................................A-4
Motor Specifications .........................................................................................................A-5
Appendix B: MDrive with Planetary Gearbox ........................................................................... A-6
Section Overview ......................................................................................................................A-6
Product Overview .....................................................................................................................A-6
Selecting a Planetary Gearbox ...................................................................................................A-6
Calculating the Shock Load Output Torque (TAB) .............................................................A-7
System Inertia .........................................................................................................................A-10
Planetary Gearbox Inertia........................................................................................................A-14
MDrive34AC Plus2 with Planetary Gearbox...........................................................................A-15
Appendix C: Optional Cables and Cordsets.............................................................................. A-16
MD-CC300-000: USB to SPI Parameter Setup Cable ............................................................A-16
Installation Procedure for the MD-CC300-000 ......................................................................A-16
Installing the Cable/VCP Drivers ....................................................................................A-16
Detrmining the Virtual COM Port (VCP).......................................................................A-18
Adapter ...................................................................................................................................A-19
Cordsets ..................................................................................................................................A-20
MD-CS10x-000 ............................................................................................................A-20
MD-CS20x-000 ............................................................................................................A-21
Appendix D: Interfacing the Internal Differential Optical Encoder ....................................... A-22
Factory Mounted Encoder.......................................................................................................A-22
General Specifications .............................................................................................................A-22
Pin Configuration ...................................................................................................................A-22
Encoder Signals.......................................................................................................................A-23
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iii
List Of Figures
Figure GS.1: Minimum Logic and Power Connections ............................................................. 1-1
Figure GS.2: MDriveAC Plus CD............................................................................................. 1-1
Figure GS.3: IMS Motor Interface Showing Default Settings.................................................... 1-2
Part 1: Hardware Specifications
Figure 1.1.1: MDrive34AC Plus ............................................................................................... 1-5
Figure 1.2.1: MDrive34AC Plus Mechanical Specifications....................................................... 1-8
Figure 1.2.2: 19-Pin M23 (Male) Connector Pin Numbers....................................................... 1-9
Figure 1.2.3: P3 3-Pin Euro AC Connector............................................................................... 1-9
Figure 1.3.1: MDrive42AC Plus.............................................................................................. 1-11
Figure 1.4.1: MDrive42AC Plus Mechanical Specifications..................................................... 1-14
Figure 1.4.2: 19-Pin M23 (Male) Connector Pin Numbers..................................................... 1-15
Figure 1.4.3: P3 3-Pin Euro AC Connector............................................................................. 1-15
Part 2: Interfacing and Configuration
Figure 2.1.1: MDriveAC Plus Microstepping Block Diagram.................................................... 2-3
Figure 2.1.2: Isolated Logic Pins and Connections .................................................................... 2-3
Figure 2.1.3: Input Clock Functions ......................................................................................... 2-4
Figure 2.1.4: Clock Input Timing Characteristics...................................................................... 2-5
Figure 2.1.5: Optocoupler Input Circuit Diagram..................................................................... 2-5
Figure 2.1.6: Open Collector Interface Example........................................................................ 2-6
Figure 2.1.7: Switch Interface Example ..................................................................................... 2-6
Figure 2.1.8: Minimum Required Connections......................................................................... 2-6
Figure 2.1.9: Fault Output Interfaced to an LED ...................................................................... 2-7
Figure 2.2.1: MD-CC300-000 Parameter Setup Cable.............................................................. 2-8
Figure 2.2.2: SPI Pins and Connections .................................................................................... 2-9
Figure 2.2.3: SPI Master with a Single MDriveAC Plus Microstepping ..................................... 2-9
Figure 2.2.4: SPI Master with Multiple MDriveAC Plus Microstepping.................................... 2-9
Figure 2.3.1: MDriveAC Plus CD........................................................................................... 2-10
Figure 2.3.2: IMS SPI Motor Interface Menu Options............................................................ 2-11
Figure 2.3.3: IMS SPI Motor Interface Buttons....................................................................... 2-11
Figure 2.3.4: IMS SPI Motor Interface Motion Settings Screen............................................... 2-12
Figure 2.3.5: Microstep Resolution Select Settings .................................................................. 2-12
Figure 2.3.6: Hold Current Delay Time .................................................................................. 2-13
Figure 2.3.7: Motor Run Current............................................................................................ 2-13
Figure 2.3.8: Motor Hold Current .......................................................................................... 2-13
Figure 2.3.9: Motor Direction Override .................................................................................. 2-13
Figure 2.3.10: User ID ............................................................................................................ 2-13
Figure 2.3.11: IMS SPI Motor Interface IO Settings Screen.................................................... 2-13
Figure 2.3.12: Input Clock Type ............................................................................................. 2-14
Figure 2.3.13: Input Clock Filter............................................................................................. 2-14
Figure 2.3.14: Warning Temperature ....................................................................................... 2-14
Figure 2.3.15: IMS Part and Serial Number Screen ................................................................. 2-14
Figure 2.3.16: Fault Display .................................................................................................... 2-15
Figure 2.3.17: IMS SPI Upgrader Screen................................................................................. 2-15
Figure 2.4.1: SPI Timing Diagram .......................................................................................... 2-17
Figure 2.4.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown) ....... 2-19
Appendices
Figure A.1: MDrive34AC Plus 120VAC Microstepping Speed-Torque Curves..........................A-3
Figure A.2: MDrive34AC Plus 240VAC Microstepping Speed-Torque Curves..........................A-3
Figure A.3: MDrive42AC Plus 120VAC Microstepping Speed-Torque Curves..........................A-4
Figure A.4: MDrive42AC Plus 240VAC Microstepping Speed-Torque Curves..........................A-4
Figure B.1: MDrive23 Torque-Speed Curve ..............................................................................A-8
Figure B.2: Lead Screw System Inertia Considerations ............................................................A-10
Figure B.3: Rack and Pinion System Inertia Considerations ....................................................A-11
Figure B.4: Conveyor System Inertia Considerations...............................................................A-11
Figure B.5: Rotary Table System Inertia Considerations ..........................................................A-12
Figure B.6: Chain Drive System Inertia Considerations...........................................................A-13
Figure B.7: Planetary Gearbox Specifications for MDrive34AC Plus .......................................A-15
iv
Figure C.1: MD-CC300-000 ..................................................................................................A-16
Figure C.2: MD-CC300-000 Mechanical Specifications .........................................................A-16
Figure C.3: Hardware Update Wizard .....................................................................................A-16
Figure C.4: Hardware Update Wizard Screen 2 .......................................................................A-17
Figure C.5: Hardware Update Wizard Screen 3 .......................................................................A-17
Figure C.6: Windows Logo Compatibility Testing...................................................................A-17
Figure C.7: Hardware Update Wizard Finish Installation ........................................................A-18
Figure C.8: Hardware Properties .............................................................................................A-18
Figure C.9: Windows Device Manager ....................................................................................A-18
Figure C.10: Typical Setup, Adapter and Single-End Cordset..................................................A-19
Figure C.11: MD-ADP-M23 ..................................................................................................A-19
Figure C.12: MD-ADP-M23 Mechanical Specifications .........................................................A-19
Figure C.13: MD-CS10x-000 .................................................................................................A-20
Figure C.14: MD-CS20x-000 .................................................................................................A-21
Figure D.1: Internal Differential Encoder Pin Configuration ..................................................A-22
Figure D.2: Differential Encoder Signal Timing ......................................................................A-23
List of Tables
Table GS.1: AC Wire Colors..................................................................................................... 1-1
Part 1: Hardware Specifications
Table 1.2.1: Setup Parameters.................................................................................................... 1-7
Table 1.2.2: Pin Configuration.................................................................................................. 1-8
Table 1.4.1: Setup Parameters.................................................................................................. 1-13
Table 1.4.2: Pin Configuration................................................................................................ 1-14
Part 2: Interfacing and Configuration
Table 2.1.1: Input Clocks Timing Table .................................................................................... 2-4
Table 2.1.2: Optocouple Reference Connection ........................................................................ 2-5
Table 2.3.1: Setup Parameters and Ranges............................................................................... 2-10
Table 2.3.2: Microstep Resolution Settings.............................................................................. 2-12
Table 2.3.3: Input Clock Filter Settings................................................................................... 2-14
Table 2.3.4: MDriveAC Plus Microstepping Fault Codes........................................................ 2-15
Table 2.4.1: SPI Commands and Parameters ........................................................................... 2-18
Appendices
Table B.1: Planetary Gearbox Operating Factor.........................................................................A-9
Table B.2: Planetary Gearbox Inertia Moments.......................................................................A-14
Table C.1: MD-CS10x-000 Wire Color Chart........................................................................A-20
Table C.2: Euro AC Wire Color Chart....................................................................................A-21
Table D.1: Available Encoder Line Counts and Part Numbers.................................................A-22
1-1
Part 1: Hardware Specications
WARNING!
The MDrive has
components which
are sensitive to
Electrostatic Discharge (ESD).
All handling should be done at
an ESD protected workstation.
Getting Started
MDriveAC Plus Microstepping
Before You Begin
The Quick Start guide is designed to help quickly connect and begin using your MDriveAC Plus Microstepping
integrated motor and driver. The following examples will help you get the motor turning for the first time and
introduce you to the basic settings of the drive.
Tools and Equipment Required
+ MDriveAC Plus Microstepping Unit
+ Parameter setup cable MD-CC300-000 and Adapter MD-ADP-M23 or equivalent (USB to SPI)
+ MDriveAC Plus Product CD or Internet access to www.imshome.com
+ Control Device for Step/Direction
+ +5 to +24 VDC optocoupler supply
+ Basic Tools: Wire Cutters / Strippers / Screwdriver
+ Wiring/Cabling for AC Power and Logic Connections
+ A PC with Windows 9x, Windows 2000, Windows XP
+ 10 MB hard drive space
Connecting AC Power
AC Power to Connector P3.
AC Power To P3
P3 Function US
Color
Euro Color
1 Earth GND Green Green/
Yellow
2 AC Line Black Brown
3 AC Neutral White Blue
Table GS.1: AC Wire Colors
Connect Opto Power and Logic
Inputs (See Section 2.1 for Details)
Using the recommended wire (see the speci-
fications for your MDriveAC Plus), connect
the DC output of the optocoupler power supply to the P1, Pin 1 of your MDriveAC Plus
Microstepping
model.
Connect the opto supply ground to the Power Ground pin appropriate for your controller/control circuitry.
Connecting Parameter Setup Cable (See Section 2.2 for Details)
Connect the Host PC to the MDriveAC Plus Microstepping using the IMS Parameter Setup Cable or equivalent.
Install the IMS SPI Motor Interface (See Section 2.3 for Details)
The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDriveAC Plus
Microstepping. It is available both on the MDriveAC Plus CD that came with your product and on the IMS web
site at http://www.imshome.com/software_interfaces.html.
+5 to +24
Opto Supply
+
Step Clock
Direction
Control Device
GND
MDriveAC
Plus Microstepping
P3
P1
}
}
AC Line*
AC Neutral*
Earth*
*Euro AC colors
- The live conductor must be brown
- The neutral is blue
- The earth ('safety ground') must be green/yellow
Figure GS.1: Minimum Logic and Power Connections
Figure GS.2: MDriveAC Plus CD
1-2 MDriveAC Plus Microstepping Hardware - Revision R052506
1-3
Part 1: Hardware Specications
1. Insert the MDrive CD into the CD
Drive of your PC.
If not available, go to http:
//www.imshome.com/software_
interfaces.html.
2. The CD will auto-start.
3. Click the Software Button in the
top-right navigation Area.
4. Click the IMS SPI Interface link
appropriate to your operating
system.
5. Click SETUP in the Setup dialog
box and follow the on-screen
instructions.
6. Once IMS SPI Motor Interface
is installed, the MDriveAC Plus
Microstepping settings can be
checked and/or set.
Once installed you can change the motor run current, holding current, microstep resolution and other configura-
tion settings. By sending clock pulses to the drive you can now change these settings safely on the fly as the IMS
SPI Motor interface will not allow you to set an out of range value.
Figure GS.3: IMS Motor Interface Showing Default Settings
WARNING!
Because the
MDrive consists
of two core
components, a drive and
a motor, close attention
must be paid to the thermal
environment where the
device is used. See Thermal
Specications.
1-2 MDriveAC Plus Microstepping Hardware - Revision R052506
1-3
Part 1: Hardware Specications
TM
Section 1.1: MDrive34AC Plus Microstepping Product Introduction
Section 1.2: MDrive34CAC Plus Microstepping Detailed Specications
Section 1.3: MDrive42AC Plus Microstepping Product Introduction
Section 1.4: MDrive42AC Plus-65 Microstepping Detailed Specications
Part 1:
Hardware
Specifications
TM
Excellence in Motion
1-4 MDriveAC Plus Microstepping Hardware - Revision R052506
1-5
Part 1: Hardware Specications
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