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T
TM
intelligent motion systems, inc.
TM
Excellence in Motion
IM481H
ULTRA MINIATURE HIGH PERFORMANCE
MICROSTEPPING DRIVE
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: info@imshome.com
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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
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SECTION PAGE 1 LIST OF TABLES AND FIGURES ..................................... 1 2 INTRODUCTION ............................................................... 2 3 PIN ASSIGNMENT AND DESCRIPTION ........................... 3 4 ELECTRICAL SPECIFICATIONS ...................................... 4 5 THERMAL SPECIFICATIONS ........................................... 4 6 MECHANICAL SPECIFICATIONS 6.1 DIMENSIONAL IMFORMATION ........................................ 5 6.2 MOUNTING INFORMATION ..........
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LIST OF FIGURES Figure 1 DIMENSIONAL INFORMATION .............................. 4 Figure 2 MOUNTING INFORMATION .................................... 6 Figure 3 SETTING OUTPUT CURRENT ................................ 9 Figure 4 MOTOR CONNECTIONS .......................................12 Figure 5 POWER CONNECTIONS ......................................14 Figure 6 MICROSTEP RESOLUTION SELECTION..............16 Figure 7 INPUTS .................................................................18 Figur
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SECTION 2 INTRODUCTION The IM481H is a high performance, yet low cost microstepping driver that utilizes advanced hybrid technology to greatly reduce size without sacrificing features. The IM481H is exceptionally small, easy to interface and use, yet powerful enough to handle the most demanding applications. The IM481H has 14 built in microstep resolutions (both binary and decimal). The resolution can be changed at any time without the need to reset the driver. This feature allows th
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SECTION 3 PIN ASSIGNMENT AND DESCRIPTION PIN # PIN NAME PIN FUNCTION PHASE A Phase A of the stepping motor is connected between pin 1 and pin 2. See section 8. 1,2 CURRENT Phase current reduction adjustment input. A resistor connected between this pin and pin 3 REDUCTION 4 ( if used to set motor phase current ) will proportionately reduce current in both ADJUST wind
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SECTION 4 ELECTRICAL SPECIFICATIONS Table 1 o Test Parameters: T = 25 C,+V = 48v A TEST CONDITION MIN TYP MAX UNITS INPUT VOLTAGE ....................................................................................... 12 .......45 ........ 48* .......... V PHASE OUTPUT CURRENT ......................................RMS .......................0.14 ...................1.5 .......... A PHASE OUTPUT CURRE
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MECHANICAL SPECIFICATIONS SECTION 6.1 DIMENSIONAL INFORMATION Dimensions in Inches (mm) 2.700 IM481H (68.6) 2.450 *Wt: 0.512 oz. (62.2) 0.175 14.6 gms. 2.225 (56.4) 2 X Ø 0.150 65° (3.8)THRU Heat Sink TYP. 1.100 This Side (27.9) 0.175 0.563 (4.4) (14.3) PIN 1 0.058 0.225 0.016 0.100 (1.5) (5.7) (0.4) SQ. (25.4) INT-481 3.000 0.920 (76.2) (23.37) *Wt: 1.02 oz. 0.620 0.275 2.450 29.0 gms. (15.75) 21 Pin Right Angle (6.99) (62.23) Connector HY481-CN021 21 1 SW1 ENOFF/ENON MS0 MS1 1 3 Heat Sink
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SECTION 6.2 MOUNTING INFORMATION IM481-H Driver and H-481 Heat Sink Direct Mount on PCB D NOTE: Components are described in the table on the following page. F * 4 1 3 A C B G 0.096 PCB (2.43) Hole Pattern for Direct PCB Mounting H-481 Heat Sink Dimensions are in Inches (mm) Ø 0.250 +0.003 / - 0.0 0.063 (6.35 +0.08 / - 0.0) 0.240 (1.6) 1.875 (6.1) (47.63) Pin #1 0.100 Typ 0.064 Pad, 0.031 Hole (2.54 Typ) (1.6 Pad, 0.78 Hole) NOTE: The hardware items “A” through “H” are supplied with the H-481 He
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IM481-H Driver, INT-481 Interface Board, H-481 Heat Sink Panel Mount 3 F E H * 4 1 2 0.915 (23.25) Ref. C B A IM481-H Driver, INT-481 Interface Board Panel Mount without Heat Sink * 4 1 A B C 2 0.180 (4.57) Ref. Product/Item# Description Qty. 1rI1 M481HMicrosteppingDrive 2dI1 NT-481InterfaceBoar 3kH1 -481HeatSin 4dT1 I-481IsolatingThermalPa Aw#2 6-32x5/8"PanHeadScre Br#2 6SplitLockWashe Ck#2 6FlatWasher,0.250"OD,0.145"ID,0.030"Thic Dw#2 8-32x13/8"PanHeadScre Ew#2 8-32x2PanHeadScre Fr#2 8SplitLoc
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OUTPUT CURRENT SECTION 7.1 DETERMINING THE OUTPUT CURRENT For any given motor, the OUTPUT CURRENT used for MICROSTEPPING is determined differently from that of a HALF/FULL STEP driver. In the IM481H, a sine/cosine output function is used in rotating the motor. Therefore, when microstepping, the specified phase current of the motor is considered an RMS value. The CURRENT ADJUSTMENT RESISTOR used to set the output current of the IM481H sets the peak output of the sine/cosine waves n
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SECTION 7.2 SETTING OUTPUT CURRENT The OUTPUT CURRENT on the IM481H is set by applying a voltage to pin 5 (current adjustment). The output current is set as follows: PEAK OUTPUT CURRENT (Amps) = Volts applied to pin 5 EXAMPLE: 1.4 volts applied to pin 5 will set the peak output current of the IM481H to 1.4 amps per phase. To generate the reference voltage needed to set the peak output current of the driver, a 1mA current source is provided (pin 4, Current Reference ). By connecting a resistor (
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SECTION 7.3 RESISTOR TABLE Table 3 PEAK OUTPUT CURRENT REFERENCE RESISTOR VALUE (1%) (AMPS) (VOLTS) (OHMS) 0.20 ................................ 0.20 ............................. 200 0.25 ................................0.25 .............................249 0.30 .......
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MOTOR SECTION 8.1 MOTOR SELECTION The IM481H is a Bipolar driver which works equally well with both Bipolar and Unipolar motors, ( i.e. 8 and 4 lead motors and 6 lead center tapped motors (see section 8.2, Connecting the Motor)). To maintain a given set motor current, the IM481H chops the voltage using a constant chopping frequency and a varying duty cycle. Duty cycles that exceed 50% can cause unstable chopping. This characteristic is directly related to the motor’s winding inductance. To avoid
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MOTOR CONNECTIONS 1 1 2 2 PHASE A PHASE A PHASE B PHASE B 20 20 21 21 8 LEAD MOTOR 8 LEAD MOTOR SERIES CONNECTION PARALLEL CONNECTION 1 1 NC 2 2 NC PHASE A PHASE A PHASE B PHASE B NC 20 20 NC 21 21 6 LEAD MOTOR 6 LEAD MOTOR HIGHER SPEED CONFIGURATION HIGHER TORQUE CONFIGURATION ( HALF COIL ) ( FULL COIL ) NC: NO CONNECTION NC: NO CONNECTION 1 2 PHASE A PHASE B 20 21 4 LEAD MOTOR Figure 4 12
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POWER REQUIREMENTS SECTION 9.1 MOTOR POWER Pins 11 (ground), and 12 (+V) are used to connect the motor DC power to the IM481H. Two local capacitors are needed, connected between pins 11 and 12 and located as close to the pins as possible, to insure stable operation. The first capacitor is a low impedance, aluminum electrolytic. The continuous operating voltage of the capacitor should exceed the maximum supply voltage as well as any additional voltage caused by the motors back EMF. Th
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SECTION 9.2 +5 VDC INPUT The IM481H requires an external regulated +5Vdc power supply. The supply is connected between pins 11 (ground), and 14 (+5vdc). A 22 microfarad 10v tantilum capacitor must be placed as close to the IM481H as possible between the +5vdc input pin (14) and ground. The +5vdc supply ground and the motor supply ground should not be connected together at the power supplies. The common ground connection between the motor power supply and the +5vdc supply should be m
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SECTION 10 LAYOUT AND INTERFACE GUIDELINES Logic level signals should not run parallel to motor phase signals. The motor phase signals will introduce noise into the logic level signals and can make the system unreliable. Motor phase signals should run as pairs and should be separated from other signals by ground traces where possible. When leaving the board, motor cables should not be run parallel with other wires and phases should be wired using twisted pairs. If motor cabling in exc
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MICROSTEP SELECTION Table 5 RESOLUTION STEPS/REV RESOLUTION RESOLUTION RESOLUTION RESOLUTION o (Microsteps/Step) (1.8 Step Motors) SELECT 0 SELECT 1 SELECT 2 SELECT 3 PIN 7 PIN 8 PIN 9 PIN 10 BINARY 2 400 LOW LOW LOW LOW 4 800 HIGH
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SECTION 12 FULLSTEP OUTPUT SIGNAL The FULLSTEP output signal from the IM481H is an active high output at pin 18. This output is TRUE for the duration of the full step. A full step occurs when either Phase A or Phase B cross through zero (i.e. full current in one winding and zero current in the other winding). This fullstep position is a common position no matter what resolution is selected. The fullstep output can be used to count the number of mechanical full steps the motor
