IMS Mforce micro drive Reference

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Motion Control MForce MicroDrive Hardware Reference Change Log

Date Revision Changes

11/27/2006 R112706 Initial release.

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 indemnies Intelligent Motion Systems, Inc., against all damages.

IMS PN MAN-MFIMicro

Revision R112706

Table of Contents

Getting Started ..................................................................................................................................1-1

Before You Begin ....................................................................................................................... 1-1

Tools and Equipment Required ................................................................................................. 1-1

Connecting the Power Supply ...................................................................................................1-1

Connecting Communications ...................................................................................................1-1

Connecting the Motor .............................................................................................................. 1-1

Minimum Required Connections .............................................................................................. 1-1

Install IMS Terminal Software ................................................................................................... 1-2

Establishing Communications ................................................................................................... 1-3

Apply Power to the MForce ....................................................................................................... 1-4

Testing the MForce ................................................................................................................... 1-4

Make the MForce Move ............................................................................................................ 1-4

Motion Control Example Using Program Mode ........................................................................ 1-5

Programming Notes ..................................................................................................................1-5

Part 1: Hardware Specification

Section 1.1: Motion Control MForce MicroDrive Product Introduction ............................................1-9

Introduction .............................................................................................................................. 1-9

Feature Summary - Standard and Plus2 Expanded .....................................................................1-9

Section 1.2: Motion Control MForce MicroDrive Detailed Specifications ........................................1-11

Electrical Specifications ........................................................................................................... 1-11

Mechanical Specifications ........................................................................................................ 1-13

Pin/Wire Assignments and Description ................................................................................... 1-13

P1 Connector - I/O and Power Connections ...................................................................... 1-13

P1 Connector Options ....................................................................................................... 1-14

P2 Connector - RS-422/485 Communications................................................................... 1-14

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 Connector Options ....................................................................................................... 1-21

P2 Connector - RS-422/485 Communications................................................................... 1-21

P2 Connector Options ....................................................................................................... 1-22

P3 Connector - Motor Phase Connector ............................................................................ 1-22

Options and Accessories ..........................................................................................................1-22

Part 2: Connections and Interface

Section 2.1: Mounting and Connection Recommendations ...............................................................2-3

Mounting Recommendations .................................................................................................... 2-3

DC Power Recommendations ................................................................................................... 2-3

Layout and Interface Guidelines ................................................................................................ 2-3

Recommended Wiring .........................................................................................................2-4

Recommended Mating Connectors and Pins ........................................................................ 2-4

Securing Power Leads and Logic Leads ................................................................................. 2-4

Power Supply Connection .........................................................................................................2-5

Aux-Logic Supply Connection .................................................................................................. 2-6

Section 2.2: Motor Sizing and Selection ............................................................................................2-7

Selecting a Motor ......................................................................................................................2-7

Types and Construction of Stepping Motors ........................................................................ 2-7

Sizing a Motor for Your System ............................................................................................2-7

Recommended IMS Motors ..................................................................................................... 2-8

IMS Inside Out Stepper Motors ........................................................................................... 2-9

Motor Wiring.......................................................................................................................... 2-10

Connecting the Motor ............................................................................................................ 2-10

8 Lead Motors ................................................................................................................... 2-10

6 Lead Motors .................................................................................................................... 2-11

4 Lead Motors .................................................................................................................... 2-12

Section 2.3: Interfacing Communications .......................................................................................2-13

Available Communications Cables/Converters ........................................................................ 2-13

Interfacing Single Mode Communications .............................................................................. 2-13

Single Mode Communications Full Duplex (RS-422) ........................................................ 2-13

Single Mode Communications Half Duplex (RS-485) ....................................................... 2-14

Interfacing Party Mode Communications ................................................................................ 2-14

Data Cable Termination Resistors ....................................................................................... 2-14

MForce Communication Format ........................................................................................ 2-15

MForce Response to Echo Mode ........................................................................................ 2-15

Using Check Sum ............................................................................................................... 2-17

MForce Party Mode Sample Codes ..................................................................................... 2-18

MForce Immediate Party Mode Sample Codes ................................................................... 2-18

Section 2.4: Interfacing and Using the MFI I/O ...............................................................................2-20

The MForce Digital I/O .......................................................................................................... 2-20

Standard I/O Set ................................................................................................................ 2-20

Enhanced I/O Set - MForce Plus2 Version .......................................................................... 2-20

Uses of the Digital I/O ............................................................................................................ 2-20

MForce Digital Input Functions .............................................................................................. 2-21

Input Functions (I/O Points 1-4, 9-12) .............................................................................. 2-21

Input Functions (Points 7 & 8 — Clock Inputs and Point 13 — Capture) ........................ 2-22

Active States Defined .......................................................................................................... 2-22

MForce Digital Output Functions ........................................................................................... 2-22

Programmable Output Functions ....................................................................................... 2-22

Output Functions (Points 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 Examples — Enhanced I/O Set ................................................... 2-29

Input Interface Example - Switch Input Example (Sinking Input) ...................................... 2-29

Input Interface Example - Switch Input Example (Sourcing Input) ....................................2-30

Output Interface Example (Sinking Output) ...................................................................... 2-31

Output Interface Example (Sourcing Output) .................................................................... 2-32

Dedicated Digital I/O - Enhanced I/O Set .............................................................................. 2-33

Step/Direction/Clock I/O ..................................................................................................2-33

Capture/Trip ...................................................................................................................... 2-34

Interfacing the Analog Input ................................................................................................... 2-35

Sample Usage ..................................................................................................................... 2-35

Appendices

Appendix A: Recommended Power and Cable Configurations .......................................................... A-3

Example A – Cabling Under 50 Feet, DC Power .......................................................................A-3

Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge ..................................A-3

Example C – Cabling 50 Feet or Greater, AC Power to Power Supply .......................................A-3

Recommended IMS Power Supplies .......................................................................................... A-4

Recommended Power Supply Cabling .......................................................................................A-4

Appendix B: I/O Application Guide .................................................................................................. A-5

Standard I/O Set Interfacing and Application ............................................................................A-5

NPN Sinking Input ..............................................................................................................A-5

PNP Sourcing Input .............................................................................................................A-6

Sinking Output ....................................................................................................................A-7

Mixed Input/Output Example ..............................................................................................A-7

Enhanced I/O Set Interfacing and Application ..........................................................................A-8

NPN Sinking Input ..............................................................................................................A-8

PNP Sourcing Input .............................................................................................................A-8

Sourcing Output ..................................................................................................................A-8

Mixed Input/Output Example ............................................................................................A-10

Interfacing Inputs as a Group Example....................................................................................A-10

Interfacing Outputs as a Group Example.................................................................................A-11

Appendix C: Encoder Options ......................................................................................................... A-12

MForce Motion Control Closed Loop Options .......................................................................A-12

Remote Differential Encoder - MForce MicroDrive Plus2 ..................................................A-12

Encoders Available from IMS ..................................................................................................A-12

General Specifications ........................................................................................................A-12

Encoder Signals .......................................................................................................................A-13

Differential Encoder ...........................................................................................................A-13

Characteristics ....................................................................................................................A-13

Encoder Cables ......................................................................................................................A-14

Recommended Encoder Mating Connectors ...........................................................................A-14

Appendix D: Optional Cables and Cordsets .................................................................................... A-15

Communications Converter Cables .........................................................................................A-15

USB to 10-Pin IDC (MD-CC400-000) .............................................................................A-15

Electrical Specifications ......................................................................................................A-15

Mechanical Specifications ...................................................................................................A-15

Installation Procedure for the MX-CC40x-000 .......................................................................A-16

Installing the Cable/VCP Drivers .......................................................................................A-16

Determining the Virtual COM Port (VCP) ........................................................................A-18

Prototype Development Cables ...............................................................................................A-18

PD16-1417-FL3 — Power and I/O....................................................................................A-19

Prototype Development Cable PD10-1434-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 Connection .....................................................................................................A-23

Mechanical Specifications ...................................................................................................A-23

Size 23 Enhanced Torque Stepping Motor ...............................................................................A-24

General Specifications ........................................................................................................A-24

Wiring And Connection .....................................................................................................A-24

Figure GS.1: MForce MicroDrive Minumum Required Connections ........................................ 1-2

Figure GS.2: Product CD Entry and Installation Screens ..........................................................1-2

Figure GS.3: IMS Terminal Main Screen ................................................................................... 1-3

Figure GS.4: IMS Terminal Preferences Dialog .......................................................................... 1-3

Figure GS.5 MForce MicroDrive Sign-On Message................................................................... 1-4

Figure GS.6: Download the Program ........................................................................................ 1-5

Part 1: Hardware Specification

Figure 1.1.1: MForce MicroDrive with 7-Pin Terminal Strip ..................................................... 1-9

Figure 1.1.2: MForce MicroDrive Plus2 with Locking Wire Crimp ........................................... 1-9

Figure 1.2.1: Mechanical Specifications ................................................................................... 1-13

Figure 1.2.2: P1 Wire Color and Pin Assignment .................................................................... 1-14

Figure 1.2.3: P2 Pin Assignment ............................................................................................. 1-15

Figure 1.2.4: P3 — 4-Pin Locking Wire Crimp Motor Connector .......................................... 1-15

List of Figures

iii

Figure 1.3.1: Mechanical Specifications ................................................................................... 1-19

Figure 1.3.2: 16-Pin Wire Crimp Connector P1 Pin Numbers ................................................ 1-21

Figure 1.3.3: P2 Pin Assignment ............................................................................................. 1-22

Figure 1.3.4: P3: 4-Pin Locking Wire Crimp Motor Connector .............................................. 1-22

Part 2: Connections and Interface

Figure 2.1.1: MForce MicroDrive Mounting Recommendations ............................................... 2-3

Figure 2.1.2: Grounding and Shielding for Logic Connections .................................................. 2-4

Figure 2.1.3: MForce MicroDrive Power Connections ..............................................................2-5

Figure 2.1.4: Aux-Logic Connection ......................................................................................... 2-6

Figure 2.2.1 A & B: Per Phase Winding Inductance .................................................................. 2-8

Figure 2.2.2: 8 Lead Motor Series Connections ....................................................................... 2-10

Figure 2.2.3: 8 Lead Motor Parallel Connections.................................................................... 2-11

Figure 2.2.4: 6 Lead Half Coil (Higher Speed) Motor Connections ....................................... 2-11

Figure 2.2.5: 6 Lead Full Coil (Higher Torque) Motor Connections ...................................... 2-12

Figure 2.2.6: 4 Lead Motor Connections ................................................................................. 2-12

Figure 2.3.1: Full Duplex Communications (RS-422) ............................................................. 2-13

Figure 2.3.2: Half Duplex 2 Wire Communications (RS-485) ................................................2-14

Figure 2.3.3: RS-485 Interface, Multiple MForce System ........................................................ 2-15

Figure 2.4.1: Uses for the Digital I/O ...................................................................................... 2-20

Figure 2.4.2: Flying Lead I/O Connections ............................................................................. 2-24

Figure 2.4.3: 7-Pin Pluggable Terminal I/O Connections ........................................................ 2-24

Figure 2.4.4: Plus 2 I/O Connections - Expanded I/O Configuration ..................................... 2-25

Figure 2.4.5: Plus 2 I/O Connections - Closed Loop Configuration ........................................ 2-25

Figure 2.4.6: Sinking Input Example using a Push Button Switch ........................................... 2-26

Figure 2.4.7: Sourcing Input Example using a Push Button Switch ......................................... 2-27

Figure 2.4.8: Sinking Output Example .................................................................................... 2-28

Figure 2.4.9: Switch Interface to Input, Sinking ...................................................................... 2-29

Figure 2.4.10 Sourcing Input Example using a Push Button Switch ........................................ 2-30

Figure 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 Feet or Greater - AC To Full Wave Bridge Rectifier ......................A-3

Figure A.3: AC Cabling - 50 Feet or Greater - AC To Power Supply ..........................................A-3

Figure B.1: NPN Interface to an MDI Sinking Input ................................................................A-5

Figure B.2: PNP Interface to a Sourcing Input ..........................................................................A-6

Figure B.3: Sinking Output to Relay .........................................................................................A-7

Figure B.4: Mixed Output Example- Standard I/O Set ..............................................................A-7

Figure B.5: NPN Sinking Input on an MForce Plus2 Motion Control .....................................A-8

Figure B.6: PNP Sourcing Input on an MForce Plus2 Motion Control .....................................A-8

Figure B.7: Sourcing Output to Sourcing Input ........................................................................A-9

Figure B.8: Mixed Input/Output Example - Enhanced I/O .....................................................A-10

Figure B.9: TTL Interface to an Input Group ..........................................................................A-10

Figure B.10: Outputs Interfaced to LED’s as a Group .............................................................A-11

Figure C.1: Connecting a Remote Encoder .............................................................................A-12

Figure C.2: Differential Encoder Signals ..................................................................................A-13

Figure D.1: MD-CC400-000 ..................................................................................................A-15

Figure D.2: MD-CC400-000 Mechanical Specifications .........................................................A-15

Figure D.3: Hardware Update Wizard ..................................................................................... A-16

Figure D.4: Hardware Update Wizard Screen 2 .......................................................................A-16

Figure D.5: Hardware Update Wizard Screen 3 .......................................................................A-17

Figure D.6: Windows Logo Compatibility Testing ..................................................................A-17

Figure D.7: Hardware Update Wizard Finish Installation ........................................................A-17

Figure D.8: Hardware Properties ............................................................................................. A-18

Figure D.9: Windows Device Manager .................................................................................... A-18

Figure D.10: PD16-1417-FL3 Prototype Development Cable ................................................A-19

Figure D.11: PD10-1434-FL3 ................................................................................................A-21

Figure E.1: Size 14 Wiring and Connection ............................................................................A-22

Figure E.2: Size 14 Mechanical Specifications ..........................................................................A-22

Table GS.1: Minimum Required Connections .......................................................................... 1-1

Part 1: Hardware Specification

Table 1.2.1: P1 — Pin Assignment, Power and I/O ................................................................. 1-13

Table 1.2.2: P2 — Pin Assignment, RS-422/485 Communications......................................... 1-14

Table 1.2.3: P3 — Pin Assignment, Motor Phase Connections ............................................... 1-15

Table 1.3.1: P1 — Pin Assignment, Expanded I/O Configuration .......................................... 1-20

Table 1.3.2: P1 — Pin Assignment, Remote Encoder Configuration ....................................... 1-20

Table 1.3.3: P2 — Pin Assignment, RS-422/485 Communications......................................... 1-21

Table 1.3.4: P3 — Pin Assignment, Motor Phase Connections ............................................... 1-22

Part 2: Connections and Interface

Table 2.3.1: MForce Response to Echo Mode - Party and Check Sum are Zero (0) ................. 2-16

Table 2.3.2: MForce Response to Echo Mode - Party is One (1) and Check Sum 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 Ratings ..................................................................... 2-24

Appendices

Table A.1: Recommended Supply Cables ..................................................................................A-4

Table B.1: Output Bit Weight Examples - Outputs set as a group ...........................................A-11

Table C.1: Available Encoder Line Counts, Part Numbers and Pin Configurations .................A-12

Table D.1: MD-CC400-000 Electrical Specifications ..............................................................A-15

Table D.2: PD16-1417-FL3 Wire Color Codes.......................................................................A-19

Table D.3: PD10-1434-FL3 Wire Color Codes.......................................................................A-20

Table E.1: Size 14 General Specifications .................................................................................A-22

Table E.2: Size 17 General Specifications .................................................................................A-23

Table E.3: Size 23 General Specifications .................................................................................A-24

List of Tables

Page Intentionally Left Blank

Ge t ti n g S ta r te d

Getting Started

Before You Begin

A printed Quick Reference guide designed to help get you connected and communicating with the MForce is shipped with your product. The following examples will help you get the motor turning for the first time and introduce you to Immediate and Program modes of operation.

Immediate Mode: In Immediate Mode, commands are issued and executed directly to the MForce MicroDrive by user input into the terminal window of the IMS Terminal Program, shown later in this section. Program Mode: Program mode is used to input user programs into the Motion Control MForce MicroDrive .

Tools and Equipment Required

• Motion Control MForce MicroDrive.

• NEMA Size 14, 17 or 23 frame stepping motor.

• Communications Converter Cable IMS P/N MD-CC400-000 or equivalent (USB to RS-422).

• Product CD or internet access to www.imshome.com.

• A +12 to +48 VDC unregulated power supply.

• Basic tools: wire cutters / strippers / screwdriver.

• 20 AWG wire for power supply.

• 20 AWG wire for motor or optional prototype development cable IMS P/N PD04-MF17-FL3.

• A PC with Windows XP Service Pack 2.

• A free serial communications or USB port.

WARNING! Please ensure that you read the sections

of the product manual pertaining to the MForce MicroDrive model you purchased in their entirety prior to placing the unit into full operation.

Connecting the 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.

Connecting the Motor

In accordance with the motor manufacturer documentation, connect the Motor Phases to the MForce MicroDrive Connector P4 (Prototype Development Cable IMS P/N PD04-MF17-FL3 recommended).

See Figure GS.1.

Minumum Required Connections

The following Table and Diagram illustrate the minimum required connections to operate the MForce MicroDrive.

Minumum Required Connections

Connector P1 Flying Leads 7-Pin Termnal 16-Pin Wire Crimp

+12 to +48 VDC Red Pin 7 Pin 15

Power Ground Black Pin 6 Pin 16

Connector P2 10 Pin IDC 10 Pin Wire Crimp

TX+ Pin 1 Pin 9 TX – Pin 2 Pin 10 RX + Pin 3 Pin 7

RX - Pin 4 Pin 8

COMM GND Pin 10 Pin 2

Connector P4 4-Pin Locking Wire Crimp Motor Phase A Pin 1 Motor Phase A Pin 2 Motor Phase B Pin 3 Motor Phase B Pin 4

Table GS.1: Minimum Required Connections

Part 1: Hardware Specifications

1-1

W A R N I N G :

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 product specifications.

ØA

ØBØA ØB

MForce MicroDrive (Front View)

Stepping Motor

Motor Interface Cable

IMS P/N PD04-MF17-FL3

MForce MicroDrive (Side View)

RS-422

Converter

COMM GND

TX+RX+

TX-

RX-

RX+

RX-

TX+

TX-

Host PC

USB/Serial Port

10-Pin IDC Connector shown at P2 Communications Interface. Other connector pin assignments are detailed with product specifications.

COMM GND is ONLY to be used for grounding communications. Grounding Aux-Logic or any other device to COMM GND may damage the MForce!

Communications Cable

IMS P/N MD-CC400-000

or equivalent

Do not connect or disconnect

the MForce MicroDrive with power applied! Disconnect the AC power side to power down the DC Supply.

For battery operated systems, conditioning measures should be taken to prevent device damage caused by in-rush current draws, transient arcs and high voltage spikes.

DC input to

Install IMS Terminal Software

IMS Terminal is an integrated ASCII text editor and terminal emulator designed to easily communicate with and program IMS Motion Control products. Using this freely provided program will eliminate the added complication

Note: Interactive Tutorials covering

use of the IMS Terminal are located on the IMS Web Site at http://www.imshome.com/ tutorials.html.

1-2

the installation and

of configuring and using a separate text editor and terminal software.

1. Insert the CD included with the product into the CD Drive of your PC. If not available, go to http://www.imshome.com/software_interfaces.html.

2. The CD will autostart.

3. Click the Software Button in the top-right navigation Area.

4. Click the IMS Terminal link appropriate 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.1: MForce MicroDrive Minimum Required Connections

Figure GS.2: Product CD Entry and Installation Screens

Motion Control MForce MicroDrive Hardware Manual Revision R112706

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.

Figure GS.3: IMS Terminal Main Screen

Note: Entering MForce MicroDrive

commands directly into the Terminal Window is called “Immediate Mode”.

The Motion Control MForce MicroDrive command set is not case sensitive except for command DN = < >

Warning: If you have installed the MForce MicroDrive

to a load, be sure the load can safely be moved before testing.

Tip: A small piece of tape on the motor shaft is a visual aid to help see the shaft turning.

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. Under Device, confirm MDrive has been selected and also verify the Comm Port being

used. Do not change any other settings. Click “OK”.

Figure GS.4: IMS Terminal Preferences Dialog

Part 1: Hardware Specifications

1-3

Apply Power to the Motion Control MForce MicroDrive

1. Verify that all connections have been made, then apply power to the Motion Control MForce

MicroDrive. Click on the Phone icon or the Disconnect status box to establish communications between IMS Terminal and the MForce MicroDrive. The following sign-on message should appear

in the Terminal Window:

2. If you can see the sign-on message, then the MForce MicroDrive is properly powered-up and communicating.

a. If the sign-on message does not appear, try using a software reset. Hold down the “Ctrl” key

and press “C”. If the sign-on message still does not appear, check all connections, as well as all hardware and software configurations, then start IMS Terminal again.

3. You are now connected and communicating to the Motion Control MForce MicroDrive.

Note: There are indicators at the bottom of the Terminal Window that show whether you are

connected or disconnected, the current Baud Rate, and the type of device (MDrive displayed 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=360000 PR VM

4. The Motion Control MForce MicroDrive will return a value of 360000

5. Type FD and press ENTER. (FD = Factory Defaults)

should appear in the Terminal Window within a few seconds.

Figure GS.5 Motion Control MForce MicroDrive Sign-On Message

Make the Motion Control MForce MicroDrive Move

1. Type MR 51200 into the Terminal Window and press ENTER. (MR = Move Relative)

a. With the default settings, the MForce Motion Control should move one revolution in

approximately 0.066 seconds, or at a velocity of 15 revolutions per second.

2. Type SL 102400 and press ENTER. (SL = Slew)

a. With the default settings, the Motion Control MForce MicroDrive should run constantly at a

speed of approximately 2 revolutions per second or 120 revolutions per minute.

3. Type SL 0 and press ENTER. The Motion Control MForce MicroDrive should decelerate to a full stop.

1-4

Motion Control MForce MicroDrive Hardware Manual Revision R112706

Motion Control Example Using Program Mode

1. Click on drop-down menu View > New Edit Window to open the Program Edit Window.

2. Type “XYZ Test” into the “Open a New file for editing” dialog box, and click “OK”.

3. Click anywhere within the Program Edit Window, and type (followed by ENTER):

VA LP=0 ‘user variable name LP = start count 0 A=100000 ‘set acceleration to 100000 steps/sec D=100000 ‘set deceleration to 100000 steps/sec PG 1 ‘enter program mode, start program at address 1 LB AA ‘label program AA MR 250000 ‘move motor 250000 steps in the positive direction H ‘hold program execution until motion completes H 1000 ‘hold 1000 milliseconds MR –250000 ‘move motor 250000 steps in the negative direction H ‘hold program execution until motion completes H 1000 ‘hold 1000 milliseconds IC LP ‘increment user variable LP PR ” LP=”,LP; ‘print axis position, 4 characters used, the ‘terminal will display LP=1 LP=2 LP=3 BR AA, LP<3 ‘branch to process label AA, if user variable LP< 3 E ‘end program execution PG ‘exit program, return to immediate mode

4. Type FD in the Terminal Window and press ENTER to clear the MDrive buffer to factory defaults before downloading any program.

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 per sec2, then decelerating at 100,000 microsteps per sec2, pausing for 1000 milliseconds, then reversing the sequence in a counterclockwise direction, repeating the motion cycle 3 times until the program ends.

NOTE: Entering MForce MicroDrive commands into

Window, to be edited and saved, is called “Program Mode”.

2 2

Button or by pressing Ctrl+C.

the Program Edit

NOTE: The program can be stopped by pressing the Escape

Figure GS.6: Download the Program

Programming Notes

The example above demonstrates basic commands that verify that your Motion Control MForce MicroDrive is communicating with your PC. More complex commands and movement may require that your I/O and/or Analog Input be interfaced and configured. Refer to the Programming and Software Reference for details.

For more information on Programming and Command Control Sets, refer to the Programming and Software Reference Manual available on the your product CD or via the IMS web site at http://www.imshome. com/manuals.html.

Part 1: Hardware Specifications

1-5

This Page Intentionally Left Blank

Part 1:

FORCE

MICRO DRIVE

MOTION CONTROL

Hardware

Excellence in Motion

Specifications

Section 1.1: Product Introduction

Section 1.2: Standard Speciﬁcations

Section 1.3: Expanded Plus2 Speciﬁcations

Page Intentionally Left Blank

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Motion Control MForce MicroDrive Hardware Manual Revision R112706

Se c ti o n 1 .1

Product Introduction

Introduction

The Motion Control MForce MicroDrive offers system designers a low cost, intelligent motion controller integrated with a +12 to +48 volt/2A RMS Output Current microstepping drive and Motion Controller.

The unsurpassed smoothness and performance delivered by the Motion Control MForce MicroDrive are achieved through IMS's advanced 2nd generation current control. By applying innovative techniques to control current flow through the motor, resonance is significantly dampened over the entire speed range and audible noise is reduced.

The MForce MicroDrive accepts a broad input voltage range from +12 to +48 VDC, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, reducing problems that can occur with long runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.

Standard features available in the MForce MicroDrive include four +5 to +24 volt general purpose I/O lines, one 10 bit analog input, 0 to 5MHz step clock rate, 20 microstep resolutions up to 51,200 steps per revolution, and full featured easy-to-program instruction set.

Expanded features in the MForce MicroDrive Plus2 version include eight +5 to +24 volt general purpose I/O lines and the capability of electronic gearing by following a rotary or linear axis at an electronically controlled ratio, or an output clock can be generated fixed to the internal step clock.

MForce MicroDrive Plus2 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-point or multiple unit configurations utilizing one communication port. Addressing and hardware support up to 62 uniquely addressed units communicating over a single line. Baud rate is selectable from 4.8 to 115.2kbps.

Power and signal interface connections are accomplished using 12.0” (30.5cm) flying leads or a 7 position terminal strip. Plus2 versions interface using a pluggable locking wire crimp connector. Motor phases are connected via a pluggable 4-pin locking wire crimp connector.

The MForce MicroDrive is a compact, powerful and inexpensive solution that will reduce system cost, design and assembly time for a large range of applications.

Figure 1.1.1: MForce MicroDrive With 1-Pin

Terminal Strip

Figure 1.1.2: MForce MicroDrive Plus2

Wire Crimp

Note: The Motion Control MForce

MicroDrive is available with CAN communications. For more information see IMS Web Site at www.imshome.com.

Feature Summary – Standard and Plus2 Expanded

Standar d Features

 Highly Integrated Microstepping Driver and Motion Controller  Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness  Single Supply: +12 to +48 VDC  Compact Size: 1.7 x 2.3 x 1.3 inches (42 x 59 x 1.3 mm)  2A RMS/2.8 A Peak (per phase) Output Current  Low Cost  Extremely Compact  Auxiliary Logic Power Supply Input  20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes

Part 1: Hardware Specifications

1-9



Open or Closed Loop Control



Programmable Motor Run and Hold Currents

 Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs  One 10 Bit Analog Input Selectable: 0 to

+10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA

 0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments  RS-422/485 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 

8 I/O Points with Electronic Gearing (or)



4 I/O Points with External/Remote Encoder for Closed Loop Control

Sourcing or Sinking, Inputs and Outputs:

 High Speed Position Capture Input or Trip Output 

Pluggable Locking Wire Crimp Interface

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Motion Control MForce MicroDrive Hardware Manual Revision R112706

SE C TI O N 1 .2

Motion Control MForce MicroDrive Speciﬁcations

Standard Electrical Specifications

Electrical Specifications

Input Voltage (+V) Range* +12 to +48 VDC Max Power Supply Current (Per MForce MicroDrive)* 2 Amps Aux-Logic Input Voltage** +12 to +24 VDC

* Actual Power Supply Current will depend on Voltage and Load. ** Maintains power to control and feedback circuits [only] when input voltage is removed

Output Current

Output Current RMS 2 Amps Output Current Peak (Per Phase) 2.8 Amps

Environmental Specifications

Heat Sink Temperature -40°C to +85°C

I/O Specifications

General Purpose I/O - Number and Type

Plus (I/O Points 1-4)

General Purpose I/O - Electrical

Inputs TTL up to +24 VDC Sinking Outputs (All) 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)

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

Logic Threshold

Trip Output/Capture Input

Logic Threshold

4 Sourcing or Sinking Inputs or

Transient Over Voltage, Inductive

TTL Input, TTL Output (with 2 kΩ

4 Sinking Outputs

Clamp

Step/Direction, Up/Down,

Quadrature

Load to Ground)

WARNING!

The maximum +48 VDC Input

Voltage of the MForce MicroDrive series includes motor Back EMF, Power Supply Ripple and High Line.

WARNING! Because the MForce MicroDrive 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 Specications.

Communications Specifications

Protocol RS-422/RS-485 BAUD Rate 4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps

Part 1: Hardware Specifications

1-11

Motion Specifications

Microstep Resolution - Open Loop

Number of Resolutions 20

Available Microsteps Per Revolution

200 400 800 1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 21500 36000121600225400

1=0.01 deg/µstep 2=1 arc minute/µstep 3 =0 .0 01 mm/µstep

Counters

Counter 1 (C1) Type Position Counter 2 (C2) Type Encoder 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. Resolution 90.9 Steps/Sec. * 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) 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

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Motion Control MForce MicroDrive Hardware Manual Revision R112706

Mechanical Specifications

MOTION CONTROL

2.325

(59.06)

1.300

(33.02)

1.655

(42.05)

2.140

(54.36)

1.765

(44.83)

0.201 (5.11)

2X Ø 0.150

(2X Ø 3.81)

P1 Connector Options

P2 Connector Options

Flying Leads

7-Pin Terminal

Strip

10-Pin IDC 10-Pin Wire

Crimp

P2 P2

(304.8)

0.44

(11.2)

Dimensions in Inches (mm)

Figure 1.2.1: Mechanical Specifications

Pin/Wire Assignments and Description

P1 Connector - I/O and Power Connections

Flying Lead Wire

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

Color

White/Blue Pin 4 I/O 4 0 to +24 VDC Programmable I/O Point 4

Green Pin 5 AIN

Black Pin 6 GND Power and Auxiliary Ground

Red Pin 7 +V +12 to +48 VDC Motor Power Supply Input

7-Pin Pluggable

Terminal Strip

Function Description

Table 1.2.1: P1 — Pin Assignment, Power and I/O

0 to +5 VDC/0 to +10 VDC / 4 to 20 mA / 0 to 20 mA Analog Input

Part 1: Hardware Specifications

1-13

White/Yellow White/Orange

White/Violet White/Blue Green

Black Red

1 2 3 4 5 6 7

12” Flying Leads 7-Pin Pluggable Terminal

WARNING! Because

the MForce MicroDrive DOES NOT have a

Pin Conguration label

on the body of the device please ensure that all wiring connections are cross-checked against these

tables and gures.

NEED A CABLE?

The following cables and converters are available to interface communications with

P2:

USB to RS-422/485:

MD-CC400-000

10-Pin IDC to 10-Pin Wire Crimp Adapter: MD-ADP-H

Multi-Drop for 10-Pin Wire Crimp Party-Mode

PD10-1434-FL3

P1 Connector Options

Figure 1.2.2: P1 Wire Color and Pin Assignment

P2 Connector - RS-422/485 Communications

Pin Assignment - P2 RS-422/485 Communications

10-Pin IDC 10-Pin Wire Crimp Function Description

Pin 1 Pin 9 TX +

Pin 2 Pin 10 TX –

Pin 3 Pin 7 RX +

Pin 4 Pin 8 RX –

Pin 5 Pin 5 Aux-Logic

Pin 6 Pin 6 RX +

Pin 7 Pin 3 RX –

Pin 8 Pin 4 TX –

Pin 9 Pin 1 TX +

Pin 10 Pin 2

Recommended

Converter/Cable

MD-CC400-000

Recommended

Converter/Cable

MD-CC400-000 and

MD-ADP-H

Table 1.2.2: P2 — Pin Assignment, RS-422/485 Communications

COMM

GND

* For multi-drop communications systems IMS offers the PD10-1434-FL3 Prototype Development Cable. See Cables and Cordsets in the Appendices for more details.

Transmit +: Connects to Receive + of the Communications Host.

Transmit –: Connects to Receive – of the Communications Host.

Receive +: Connects to Transmit + of the Communications Host.

Receive –: Connects to Transmit – of the Communications Host.

+12 to +24 VDC Auxiliary Logic Supply Input. This provides power to control and logic circuits if main power is removed.

Receive +: This point will typically be used to connect to RX+ (Pin 3/7*) of a second MDrivePlus for Multidrop Communications.

Receive –: This point will typically be used to connect to RX – (Pin 4/8*) of a second MDrivePlus for Multidrop Communications.

Transmit –: This point will typically be used to connect to TX – (Pin 1/9*) of a second MDrivePlus for Multidrop Communications.

Transmit –: This point will typically be used to connect to TX + (Pin 2/10*) of a second MDrivePlus for Multidrop Communications.

Communications Ground. This Ground is ONLY to be used to ground communications. Auxiliary Logic Supply must be grounded at the motor supply ground.

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Motion Control MForce MicroDrive Hardware Manual Revision R112706

Recommended Cable:

P/N MD-CC400-000

Recommended Cables:

P/N MD-CC400-000

P/N MD-ADP-H

10-Pin IDC 10-Pin Friction Lock

Wire Crimp

9 7 5 3 1

10 8 6 4 2

1 3 5 7 9

2 4 6 8 10

P2 Connector Options

Figure 1.2.3: P2 Pin Assignment

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

P3 Connector

Recommended Cable: P/N PD04-MF17FL3

Recommended Connector Shell and Pins

Shell: AMP 1445022-4 Pins: AMP 1-794610-2 Wire: 20 AWG Shielded Twisted Pair

Figure 1.2.4: P3 — 4-Pin Locking Wire Crimp Motor Connector

Part 1: Hardware Specifications

1-15

Options and Accessories

Motors and Encoders

IMS offers a wide range of motors, encoders and accessories recommended for interface with the Motion Control MForce MicroDrive. For complete specifications on these products, please visit the IMS web site at www. imshome.com. See Appendix C for Encoder information and Appendix E for Motor details.

Power Supplies

IMS recommends the following power supplies for operating the MForce MicroDrive: ISP402, ISP404, ISP200-4. For 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 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

Prototy pe Development Cables

To speed prototyping, these 10' (3m) cables are available:

Comm: 10-pin Wire Crimp Cable ........................................................................PD10-1434-FL3

Motor Interface: 4-pin Wire Crimp Cable

See Appendix D for details.

................................................................. PD04-MF17-FL3

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SE C TI O N 1 .3

MForce MicroDrive Plus

Plus2 Electrical Specifications

Electrical Specifications

Input Voltage (+V) Range* +12 to +48 VDC Max Power Supply Current (Per MDrive17Plus)* 2 Amps Aux-Logic Input Voltage** +12 to +24 VDC

* Actual Power Supply Current will depend on Voltage and Load. ** Maintains power to control and feedback circuits [only] when input voltage is removed

Output Current

Output Current RMS 2 Amps Output Current Peak (Per Phase) 2.8 Amps

Environmental Specifications

Heat Sink Temperature -40°C to +85°C

I/O Specifications

General Purpose I/O - Number and Type

Plus (I/O Points 1-4)

Plus2 (I/O Points 1-4, 9-12)

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) Logic Threshold (Logic 0) < 0.8 VDC

Logic Threshold (Logic 1) > 2.2 VDC Protection (Sinking) Over Temp, Short Circuit

Protection (Sourcing)

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

Logic Threshold

Trip Output/Capture Input

Logic Threshold

Expanded Speciﬁcations

4 Sourcing or Sinking Inputs or

8 Sourcing or Sinking Inputs or

8 Sourcing or Sinking Outputs

up to 600 mA (One Channel in each

Transient Over Voltage, Inductive

TTL Input, TTL Output (with 2 kΩ

4 Sinking Outputs

(2 Banks of 4 Each)

I/O Bank)

Clamp

Step/Direction, Up/Down,

Quadrature

Load to Ground)

Communications Specifications

Protocol RS-422/RS-485 BAUD Rate 4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps

Part 1: Hardware Specifications

1-17

Motion Specifications

Microstep Resolution - Open Loop

Number of Resolutions 20

Available Microsteps Per Revolution

200 400 800 1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 21500 36000121600225400

1=0.01 deg/µstep 2=1 arc minute/µstep 3 =0 .0 01 mm/µstep

Optional Remote Encoder (Plus2 Only)‡

Type

Steps Per Revolution

Resolution - Open Loop

User Defined

Differential

See Microstep

Resolution User Defined*

Counters

Counter 1 (C1) Type Position Counter 2 (C2) Type Encoder 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. Resolution 90.9 Steps/Sec.

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 Capture Input - Resolution 32 Bits Position Capture Input - Filtering 50 nS to 12.9 µS Trip Output - Speed 150 nS Trip Output - Resolution 32 Bits Trip Output Voltage +5 VDC Logic Level * Microstep Resolution must be set to 2x the Encoder Counts/Rev minimum. ‡With Optional Remote Encoder the Encoder Inputs replace I/O Points 9-12 and the Step/Direction

Clock I/O Points.

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Motion Control MForce MicroDrive Hardware Manual Revision R112706

Software Specifications

MOTION CONTROL

P3P1

2.325

(59.06)

1.300

(33.02)

1.655

(42.05)

2.140

(54.36)

1.765

(44.83)

0.201 (5.11)

2X Ø 0.150

(2X Ø 3.81)

0.20

(5.0)

0.14 (3.6)

Program Storage Type/Size Flash/6384 Bytes User Registers (4) 32 Bit User Program Labels and Variables 192 Math, Logic and Conditional

Functions Branch Functions Branch and Call (Conditional) Party Mode Addresses 62 Encoder Functions Stall Detect, Position Maintenance, Find Index

Predefined I/O Functions

Input Functions Output Functions Moving, Fault, Stall, Velocity Changing

Trip Functions Trip on Input, Trip on Position, Trip on Time, Trip Capture

Mechanical Specifications

Dimensions in Inches (mm)

+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT

Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog

Input

Part 1: Hardware Specifications

Figure 1.3.1: Mechanical Specifications

1-19

Pin Assignments and Description

P1 Connector - Power and Expanded I/O Configuration

P1 - Expanded I/O Configuration

16-Pin Wire Crimp Function Description

Pin 1 I/O PWR Pin 2 I/O GND Non-isolated I/O Ground. Common with Power Ground.

Pin 3 I/O 1 0 to +24 VDC Programmable I/O Point 1 Pin 4 I/O 2 0 to +24 VDC Programmable I/O Point 2 Pin 5 I/O 3 0 to +24 VDC Programmable I/O Point 3 Pin 6 I/O 4 0 to +24 VDC Programmable I/O Point 4 Pin 7 I/O 9 0 to +24 VDC Programmable I/O Point 9 Pin 8 I/O 10 0 to +24 VDC Programmable I/O Point 10 Pin 9 I/O 11 0 to +24 VDC Programmable I/O Point 11

Pin 10 I/O 12 0 to +24 VDC Programmable I/O Point 12 Pin 11 Capture/Trip I/O Pin 12 AIN 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input. Pin 13 SCLK

Pin 14 DIR 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

I/O Power, used with sourcing inputs or outputs. See Section 2.3 for more details.

High Speed Capture Input or Trip Output. +5 VDC Logic Level.

Step Clock I/O. Can also be configured as Quadrature or Clock Up/Down.

Direction I/O. Can also be configured as Quadrature or Clock Up/Down.

P1 - Expanded I/O Configuration

16-Pin Wire Crimp Function Description

Pin 1 I/O PWR Pin 2 I/O GND Non-isolated I/O Ground. Common with Power Ground.

Pin 3 I/O 1 0 to +24 VDC Programmable I/O Point 1 Pin 4 I/O 2 0 to +24 VDC Programmable I/O Point 2 Pin 5 I/O 3 0 to +24 VDC Programmable I/O Point 3 Pin 6 I/O 4 0 to +24 VDC Programmable I/O Point 4 Pin 7 Channel A + Encoder Channel Channel A + Input. Pin 8 Channel A – Encoder Channel Channel A – Input. Pin 9 Channel B + Encoder Channel Channel B + Input.

Pin 10 Channel B – Encoder Channel Channel B – Input. Pin 11 Capture/Trip I/O Pin 12 AIN 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.

Pin 13 Index + Encoder Index + Input. Pin 14 Index – Encoder Index – Input. Pin 15 +V +12 to +48 VDC Motor Power Supply Input. Pin 16 GND Power and Auxiliary Ground

Recommended

Cable

PD16-1417-FL3

I/O Power, used with sourcing inputs or outputs. See Section 2.3 for more details.

High Speed Capture Input or Trip Output. +5 VDC Logic Level.

Table 1.3.2: P1 — Pin Assignment, Remote Encoder Configuration

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Motion Control MForce MicroDrive Hardware Manual Revision R112706

1 3 5 7 9 11 13 15

2 4 6 8 10 12 14 16

P1 Connector

Figure 1.3.2: 16-Pin Wire Crimp Connector P1 Pin Numbers