Intelligent Motion Systems Excellence in Motion IM805H, Excellence in Motion IM483H Operating Instructions Manual
Page 1
TM
intelligent motion systems, inc.
Excellence in Motion
TM
IM483H & IM805H
HYBRID MICROSTEPPING DRIVERS
HFC-22 HEAT SINK/FAN/CLIP ASSEMBLY
IM483H-DK1 DEVELOPER’S KIT
PR-22 PIN RECEPTACLE CARRIER
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
PATENT PENDING
TM
Page 2
© Intelligent Motion Systems, Inc.
All Rights Reserved
IM483H/IM805H Operating Instructions
Revision R032206
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.
Change Log
Date Revision Changes
03/22/2006 R032206 Updated IMS Contact info, warranty and disclaimer info on cover
Page 3
1
IM483H/IM805H Rev. R032206
Table of Contents
Section 1: Introduction.............................................................................. 4
The IM483H/IM805H Hybrid.......................................................................................... 4
Features and Benets ................................................................................................... 5
IM483H/IM805H .................................................................................................... 5
The Product Manual ...................................................................................................... 6
Hyperlinks.............................................................................................................. 6
Notes and Warnings...................................................................................................... 6
Section 2: Hardware Specications.......................................................... 7
Section Overview .......................................................................................................... 7
Mechanical Specications ............................................................................................. 7
Dimensional Information - IM483H/IM805H .......................................................... 7
Dimensional Information - PR-22 .......................................................................... 8
Electrical Specications................................................................................................. 9
IM483H DC Electrical Characteristics ................................................................... 9
IM805H DC Electrical Characteristics ................................................................. 10
IM483H/IM805H AC Electrical Characteristics.................................................... 11
Thermal Specications ................................................................................................ 11
Pin Assignment and Description ................................................................................. 12
IM483H/IM805H—Connector P1 ........................................................................ 12
IM483H/IM805H—Connector P2 ........................................................................ 13
Section 3: Mounting the IM483H/IM805H .............................................. 14
Section Overview ........................................................................................................ 14
Mounting the IM483H/IM805H .................................................................................... 14
Direct Mounting the IM483H/IM805H to a PC Board ......................................... 14
Mounting the IM483H/IM805H Using the PR-22 Receptacle ............................. 15
Recommended Mounting Hardware ................................................................... 16
Attaching the HFC-22 Heat Sink/Fan/Clip Assembly .......................................... 16
Removing the HFC-22 Heat Sink/Fan/Clip Assembly......................................... 17
Section 4: Theory of Operation .............................................................. 18
Section Overview ........................................................................................................ 18
Circuit Operation ......................................................................................................... 18
Microstep Select (MSEL) Inputs.................................................................................. 19
Stepping ...................................................................................................................... 19
Dual PWM Circuit ........................................................................................................ 20
Fullstep Output Signal ................................................................................................. 21
Timing.......................................................................................................................... 21
Section 5: Power Supply Requirements.................................................22
Section Overview ........................................................................................................ 22
Selecting a Power Supply ........................................................................................... 22
Selecting a Motor Supply (+V) ............................................................................ 22
Recommended IMS Power Supplies .................................................................. 24
Selecting a +5VDC Supply.......................................................................................... 24
Recommended Wiring................................................................................................. 25
Rules of Wiring and Shielding ............................................................................. 25
AC Line Filtering.......................................................................................................... 26
Section 6: Motor Requirements..............................................................27
Section Overview ........................................................................................................ 27
Selecting a Motor ........................................................................................................ 27
Types and Construction of Stepping Motors ....................................................... 27
Sizing a Motor for Your System .......................................................................... 28
Recommended IMS Motors ............................................................................... 30
Page 4
IM483H/IM805H Rev. R032206
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3
IM483H/IM805H Rev. R032206
Motor Wiring ................................................................................................................ 32
Connecting the Motor .................................................................................................. 32
IM483H/IM805H .................................................................................................. 32
8 Lead Motors .................................................................................................... 33
6 Lead Motors ..................................................................................................... 34
4 Lead Motors ..................................................................................................... 35
Section 7: Interfacing to the IM483H/IM805H ........................................ 36
Section Overview ........................................................................................................ 36
Layout and Interface Guidelines.................................................................................. 36
Motor Power ................................................................................................................ 37
+5 VDC Input............................................................................................................... 38
Interfacing the Current Adjust Input............................................................................. 38
Determining the Output Current .......................................................................... 38
Setting the Output Current .................................................................................. 40
Current Adjust Resistor and Reference Values (IM483H) .................................. 41
Current Adjust Resistor and Reference Values (IM805H) .................................. 42
Reducing/Disabling the Output Current ............................................................. 43
Interfacing the IM483H/IM805H Inputs........................................................................ 44
The Microstep Resolution Select Inputs (MSEL) ................................................ 45
Interfacing the Fault Input ................................................................................... 46
Minimum Connections................................................................................................. 47
Section 8: Troubleshooting..................................................................... 48
Section Overview ........................................................................................................ 48
Basic Troubleshooting................................................................................................. 48
Problem Symptoms and Possible Causes .................................................................. 48
Contacting Application Support ................................................................................... 51
The IMS Web Site ....................................................................................................... 51
Returning Your Product to IMS ................................................................................... 51
Appendix A: The IM483H/IM805H Developer’s Kit ................................ 52
Section Overview ........................................................................................................ 52
Assembling the IM483H/IM805H-DK1 ........................................................................ 52
The INT-483H/IM805H Interface Board ...................................................................... 53
Pin Assignment and Descriptions ....................................................................... 54
Electrical Specications ...................................................................................... 54
Dimensional Information ..................................................................................... 55
Setting the Output Current ................................................................................. 56
Isolated Inputs..................................................................................................... 57
Microstep Resolution Settings............................................................................. 58
LED Indicators..................................................................................................... 59
Fault Protection ................................................................................................... 59
Full Step Output .................................................................................................. 59
Minimum Connections for the IM483H/IM805H-DK1 .................................................. 60
Page 5
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IM483H/IM805H Rev. R032206
Figure 2.1: IM483H/IM805H Dimensions .................................................................. 7
Figure 2.2: PR-22 Dimensions ................................................................................... 8
Figure 2.3: IM483H/IM805H Connectors.................................................................. 13
Figure 3.1: PCB Hole Pattern .................................................................................. 14
Figure 3.3: PCB Hole Pattern for PR-22 Pin Receptacle Carrier ............................. 15
Figure 3.4: PCB Mounting ....................................................................................... 16
Figure 3.5: HFC-22 Exploded.................................................................................. 17
Figure 4.1: IM483H/IM805H Block Diagram .......................................................... 18
Figure 4.2: Recirculating PWM ................................................................................ 20
Figure 4.3: Non-Recirculating PWM ........................................................................ 20
Figure 6.1 A & B: Per Phase Winding Inductance .................................................. 29
Figure 6.2: 8 Lead Series Motor Connections ......................................................... 33
Figure 6.3: 8 Lead Parallel Motor Connections ....................................................... 33
Figure 6.4: 6 Lead Half Coil (Higher Speed) Motor Connections ............................ 34
Figure 6.5: 6 Lead Full Coil (Higher Torque) Motor ................................................. 34
Figure 6.6: 4 Lead Motor Connections .................................................................... 35
Figure 7.1: Power Interface ..................................................................................... 37
Figure 7.2: Current Adjust Resistor Connection ...................................................... 40
Figure 7.3: Setting the Output Current using an External Source ........................... 41
Figure 7.4: Reducing the Output Current ................................................................ 43
Figure 7.5: Current Reduction Interface .................................................................. 44
Figure 7.6: Input Pull-Up Resistors.......................................................................... 44
Figure 7.7: MSEL Inputs, Interface Example........................................................... 45
Figure 7.8: IM483H/IM805H Inputs .......................................................................... 46
Figure 7.9: Reset Timing .......................................................................................... 46
Figure 7.10: Interfacing the Fault In/Reset Inputs ...................................................... 46
Figure 7.11: Multiple Drives - One Reset ................................................................... 46
Figure A.1: IM483H/IM805H Developer’s Kit ............................................................ 52
Figure A.2: HFC-22 Exploded ................................................................................... 53
Figure A.3: INT-483H/805H Interface Board Dimensions ......................................... 55
Figure A.4: INT-483H/805H Current Adjust and Reduction Resistor Placement ...... 56
Figure A.5: INT-483H/805H Jumper Settings ........................................................... 57
Figure A.6: INT-483H/805H Opto-Isolated Inputs ..................................................... 57
Figure A.7: INT-483H/805H MSEL Switch ................................................................ 58
Figure A.8: INT-483H/805H Minimum Connections.................................................. 60
List of Figures
List of Tables
Table 2.1: IM483H DC Electrical Characteristics.......................................................... 9
Table 2.2: IM805H DC Electrical Characteristics........................................................ 10
Table 2.3: IM483H/IM805H AC Electrical Characteristics .......................................... 11
Table 2.4: IM483H/IM805H Thermal Specications ................................................... 11
Table 2.5: IM483H/IM805H Connector P1 Conguration ........................................... 12
Table 2.6: IM483H/IM805H Connector P2 Conguration ........................................... 13
Table 5.1: IM483H/IM805H Motor Power Supply Specications................................ 23
Table 5.2: IM483H/IM805H +5VDC Power Supply Specication ............................... 24
Table 7.1: IM483H Current Adjust Resistor and Reference Values ........................... 41
Table 7.2: IM805H Current Adjust Resistor and Reference Values ........................... 42
Table 7.3: Motor Resolution Select Settings............................................................... 45
Table 7.4: IM483H/IM805H Minimum Connections.................................................... 47
Table A.1: INT-483H/805H Interface Board Pinout and Descriptions ......................... 54
Table A.2: INT-483H/805H Interface Board Electrical Characteristics........................ 54
Table A.3: INT-483H/805H Resolution Select Switch Settings ................................... 58
Page 6
IM483H/IM805H Rev. R032206
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IM483H/IM805H Rev. R032206
S e c t i o n 1
I n t r o d u c t i o n
T h e I M 4 8 3 H / I M 8 0 5 H H y b r i d
The IM483H/IM805H is a high performance, yet low cost microstepping driver
that utilizes advanced hybrid technology to greatly reduce size without sacric-
ing features. The IM483H/IM805H is exceptionally small, easy to interface and
use, yet powerful enough to handle the most demanding applications.
The IM483H/IM805H 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 the user to rapidly move long distances, yet
precisely position the motor at the end of travel without the expense of high
performance controllers.
With the development of proprietary and patented circuits, ripple current has
been minimized to reduce motor heating common with other designs, allow-
ing the use of low inductance motors to improve high speed performance and
system efciency.
The IM483H/IM805H, because of its ultra small size and low cost, can be used
to increase accuracy and smoothness in systems using higher step angle motors.
In many instances mechanical gearing can be replaced with microstepping,
reducing cost and eliminating potential maintenance.
Available as options for the IM483H/IM805H are the HFC-22 Heat Sink/Fan/Clip as-
sembly and the PR-22 Pin Receptacle carrier. The HFC-22 provides a unique cooling
solution and was designed specically for the IM483H and IM805H Hybrid Micro-
stepping Drivers. The HFC-22 will easily maintain a reliable rear plate temperature
without using large heat sinks and cumbersome mounting hardware. The heat sink
and fan are easily mounted to the driver by means of a removeable clip developed by
IMS. The HFC-22 fully assembled with the IM483H or IM805H takes up only 6.8 in3
of space! For applications where ease of removal is required, the PR-22 provides reli-
able, high quality receptacle set which comes attached to a high temperature plastic
throwaway carrier that allows for ease of placement for wave or hand soldering.
The IM483H/IM805H was developed to provide designers with affordable, state-of-
the-art technology for the competitive edge needed in today’s market.
Page 7
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IM483H/IM805H Rev. R032206
F e a t u r e s a n d B e n e f i t s
I M 4 8 3 H / I M 8 0 5 H
n Very Low Cost.
n Ultra Miniature 2.10” x 2.60” x 0.362”
(53.34 x 66.04 x 9.19 mm).
n Advanced Hybrid Design.
n High Input Voltage (+12 to +48VDC/+24 to +75 VDC).
n High Output Current (3A RMS, 4A Peak/5A RMS, 7A Peak).
n No Minimum Inductance.
n FAULT Input and Output.
n Phase to Phase Short Circuit Protection.
n Over-Temperature Protection.
n Microstep Resolution to 51,200 Steps/Rev.
n Microstep Resolutions can be Changed “On-The-Fly” With-
out Loss of Motor Position.
n 20 kHz Chopping Rate.
n Automatically Switches Between Slow and Fast Decay for
Unmatched Performance.
n 14 Selectable Resolutions both in Decimal and Binary.
n Adjustable Automatic Current Reduction.
n At Full Step Output.
n Optional Cooling Solution (HFC-22).
n Optional Receptacle Carrier (PR-22).
Page 8
IM483H/IM805H Rev. R032206
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7
IM483H/IM805H Rev. R032206
T h e P r o d u c t M a n u a l
The IM483H/IM805H product manual in its electronic format may be down-
loaded from the IMS website at http://www.imshome.com. This version includes
a Bookmarks feature that allows the reader to link from a Bookmarked Topic
in the Table of Contents to a full description of that feature’s
attributes and functions. You can also select a Topic directly
from the Table of Contents Pages. Topics with a hyperlink
function are further identiable because the cursor changes
from a normal pointer to a “nger” pointer when placed over
the word.
N o t e s a n d W a r n i n g s
WARNING! The IM483H/IM805H components are sensitive to
ElectroStatic Discharge (ESD). All handling should be done at an
ESD protected workstation.
WARNING! Hazardous voltage levels may be present if using an
open frame power supply to power the IM483H/IM805H.
WARNING! Ensure that the power supply output voltage does not
exceed the maximum input voltage of the IM483H/IM805H.
WARNING! Do not apply power to the IM483H/IM805H without
proper heat sinking or cooling! The included thermal pad
(TN-22)MUST be used between the IM483H/IM805H and the
heat sink! The maximum rear plate temperature of the IM483H/
IM805H is 70°C!
Page 9
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IM483H/IM805H Rev. R032206
S e c t i o n 2
H a r d w a r e S p e c i f i c a t i o n s
S e c t i o n O v e r v i e w
This section will acquaint you with the dimensional information, pin descrip-
tion, power, environmental and thermal requirements of the IM483H/IM805H.
It is broken down as follows:
n Mechanical Specications.
n Electrical Specications.
n Thermal Specications.
n Pin Assignment and Description.
M e c h a n i c a l S p e c i f i c a t i o n s
D i m e n s i o n a l I n f o r m a t i o n - I M 4 8 3 H / I M 8 0 5 H
Dimensions are in inches, parenthesis dimensions are in millimeters.
Figure 2.1: IM483H/IM805H Dimensions
HEATSINK/FAN/CLIP ASSY
1.25
(31.75)
.525
(13.34)
13 X .100
(2.54)
.025 DIA. PIN
(0.64 DIA PIN)
.045 DIA. PIN
(1.14 DIA. PIN)
2X .150 DIA. THRU
(3.81 DIA. THRU)
2.100
(53.34)
.780 (19.81)
1.050
(26.67)
.720
(18.29
)
1
14
1
9
P2
P1
.375
(9.52)
8 X .200
(5.08)
2.350
(59.69
)
2.600
(66.04)
23 X .156
(3.96)
.362
(9.19
)
Page 10
IM483H/IM805H Rev. R032206
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9
IM483H/IM805H Rev. R032206
Figure 2.2: PR-22 Dimensions
2.800
(71.12)
0.115
(2.92)
1.700
(43.18)
0.290
(7.36)
0.200
(5.08)
0.100
(2.54)
1.300
(33.02)
1.500
(38.10)
.072 DIA.
(1.83 DIA.)
.055 DIA.
(1.40 DIA.)
.090
(2.28)
.230
(5.84)
.118 DIA.
(3.00 DIA.)
.100 DIA.
(2.50 DIA.)
.050
(1.27)
.050
(1.27)
.117
(2.97)
.255
(6.48)
.290
(7.36)
.290
(7.36)
IMS
PR-22
Page 11
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IM483H/IM805H Rev. R032206
E l e c t r i c a l S p e c i f i c a t i o n s
I M 4 8 3 H D C E l e c t r i c a l C h a r a c t e r i s t i c s
*Includes Motor Back EMF.
**Lower Currents may be used for Current Reduction.
Table 2.1: IM483H DC Electrical Characteristics
Specification Test Condition Min. Typ. Max. Unit
Input Voltage +12 +45 +48* VDC
Phase Output Current RMS 0.4** 3 A
Phase Output Current Peak 4 A
Supply Current (+5V) Inputs/Outputs Floating 100 mA
Active Power Dissipation I
OUT
=3A RMS 50 80 mA
Low Level Input Voltage All Inputs 0.8 V
High Level Input Voltage All Inputs Except Reset 2.0 V
High Level Input Voltage Reset 2.3 V
Low Level Input Current SCLK,DIR,H/F, Enable -1.2 mA
Input Pull-Up Resistance Fault, MSEL 0-3, Enable 4.94 4.99 5.03 kΩ
Input Pull-Up Resistance Step Clock, Direction 2.19 2.21 2.23 kΩ
Input Pull-Up Resistance Reset Input Only 1.27 kΩ
Low Level Output Current Fault, Fullstep -6 mA
High Level Output Current Fault, Fullstep 3 mA
Low Level Output Voltage Fault, Fullstep 0.4 V
High Level Output Voltage Fault, Fullstep 4.5 V
Fan Operating Voltage 4.3 5.0 5.7 V
Fan Operation Current 170 mA
Page 12
IM483H/IM805H Rev. R032206
10
11
IM483H/IM805H Rev. R032206
I M 8 0 5 H D C E l e c t r i c a l C h a r a c t e r i s t i c s
Table 2.2: IM805H DC Electrical Characteristics
*Includes Motor Back EMF.
**Lower Currents may be used for Current Reduction.
Specification Test Condition Min. Typ. Max. Unit
Input Voltage +24 +45 +75* VDC
Phase Output Current RMS 1** 5 A
Phase Output Current Peak 5 A
Supply Current (+5V) Inputs/Outputs Floating 100 mA
Active Power Dissipation I
OUT
=3A RMS 50 80 mA
Low Level Input Voltage All Inputs 0.8 V
High Level Input Voltage All Inputs Except Reset 2.0 V
High Level Input Voltage Reset 2.3 V
Low Level Input Current SCLK,DIR,H/F, Enable -1.2 mA
Input Pull-Up Resistance Fault, MSEL 0-3, Enable 4.94 4.99 5.03 kΩ
Input Pull-Up Resistance Step Clock, Direction 2.19 2.21 2.23 kΩ
Input Pull-Up Resistance Reset Input Only 1.27 kΩ
Low Level Output Current Fault, Fullstep -6 mA
High Level Output Current Fault, Fullstep 3 mA
Low Level Output Voltage Fault, Fullstep 0.4 V
High Level Output Voltage Fault, Fullstep 4.5 V
Fan Operating Voltage 4.3 5.0 5.7 V
Fan Operation Current 170 mA
Page 13
11
IM483H/IM805H Rev. R032206
T h e r m a l S p e c i f i c a t i o n s
I M4 83 H/ I M8 05 H A C El e ct ri ca l C h a r a c t e r i s t i c s
scitsiretcarahClacirtcelECAH508MI/H384MI
noitacificepS
noitidnoCtseT
niM
pyT
xaM
tinU
htdiWesluPteseR 0.1
µS
emiTputeSnoitceriD,LESM
001
Sn
htdiWesluPkcolCpetS 05 Sn
emiTnoitucexEkcolCpetS
egnahCLESMronoitceriDoN
001
Sn
emiTnoitucexEkcolCpetS egnahCLESMronoitceriD 002 Sn
tuptuOpetS-lluFotkcolCpetS
57
Sn
ycneuqerFtupnIkcolCpetS 01 zHM
ycneuqerFreppohCMWP
02
zHk
Table 2.3: IM483H/IM805H AC Electrical Characteristics
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noitacificepS
egnaR
erutarepmeTtneibmA °05+ot°0
erutarepmeTegarotS
°521+ot°04-
erutarepmeTetalPmumixaM °56+
Table 2.4: IM483H/IM805H Thermal Specications
WARNING! Do not apply power to the IM483H/IM805H without
proper heat sinking or cooling! The included thermal pad
(TN-22) MUST be used between the IM483H/IM805H and the
heat sink! The maximum rear plate temperature of the IM483H/
NOTE: Care should be taken when choosing a heat sink to
ensure that there is good thermal ow, otherwise hot spots may
occur in the IM483H/IM805H which will reduce the effectiveness
of the thermal protection.
NOTE: An optional cooling fan assembly (Part # HFC-22) is
available for the IM483H/IM805H.
Page 14
IM483H/IM805H Rev. R032206
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13
IM483H/IM805H Rev. R032206
P i n A s s i g n m e n t a n d D e s c r i p t i o n
Table 2.5: IM483H/IM805H Connector P1 Conguration
CH508MI/H384MI noitarugifnoC1Protcenno
#NIP
NOITCNUF
SLIATED
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ecnerefeRtnerruC
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.rotomehtnitnerrucesahpkaepehttesotdesu
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tupnItsujdA
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ehtecuderyletanoitroporplliw,tnerrucesahprotom
sdnoces5.yletamixorppasgnidniwrotomhtobnitnerruc
.tupnikcolcpetsehtfoegdeevitisoptsalehtretfa
4
tupnItluaF
dehctalaetareneglliwtupnisihtnolangisWOLcigolA
.noitidnocTLUAF
5
0tceleSnoituloseR
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stupniesehT.rotomehtfopetsrepspetsorcimforebmun
PIDaotdetcennocebdluohsdnapu-dellupyllanretniera
nanotuptuoLTTro)NPN(gniknisrotcellocnepo,hctiws
.rellortnocytrapdrihtroSMI
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1tceleSnoituloseR
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2tceleSnoituloseR
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3tceleSnoituloseR
9
tupnIkcolCpetS
rotomehtsecnavdatupnisihtnoegdegniogevitisopA
tnadnepedsitnemercniehtfoezisehT.tnemercnieno
.stupnitcelesnoituloserehtfosgnittesehtnopu
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tupnInoitceriD
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fonoitcennocehtnopusdnepedoslanoitceridlacisyhP
.sgnidniwrotomeht
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,etats)detcennocton(HGIHcigoLaninehW.revirdeht
ehtelbasidlliwtupnisihtgnikniS.delbaneerastuptuoeht
petsehttibihnitonseodtupnisiht,revewoH.tuptuorevird
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sawtielihwrevirdehtotdeilppa)ynafi(seslupkcolc
.delbasid
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llufforebmunehttnuocotdesuebnactuptuosihT.pets
forebmunehtfosseldrager,devomsahrotomehtspets
.HGIHevitcasituptuosihT.neewtebnispetsorcim
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tuptuOtluaF
noitidnoctiucrictrohsarehtietahtsetacidnituptuosihT
tluafehtnodetcetedsawlangisWOLaroderruccosah
.HGIHevitcasituptuosihT.tupni
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tupnIteseR
stuptuoesahp(revirdehtteserlliwtupnisiht,WOLnehW
laitinistitaeblliwrevirdeht,desaelernehW.)elbasidlliw
.)NOBesahP,FFOAesahP(etats
Page 15
13
IM483H/IM805H Rev. R032206
Table 2.6: IM483H/IM805H Connector P2 Conguration
Pin 1
Pin 1
P1
P2
Figure 2.3: IM483H/IM805H Connectors
CH508MI/H384MI noitarugifnoC2Protcenno
#NIP
NOITCNUF
SLIATED
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BesahProtoM
tuptuO
.3nipdnanipsihtneewtebdetcennocsiBesahP
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BDNG
ebdluohsdnuorgsihT.dnuorGBesahProtoM
roticapaclanretxeehtfodael”dnuorg“ehtotdetcennoc
.BesahProf
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.erehdetcennocsi
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.H508MIehtrofCDV57+ot42+
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.egatlovylppuscigolCDV5+
7
AesahProtoM
tuptuO
.9nipdnanipsihtneewtebdetcennocsiAesahP
8
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Page 16
IM483H/IM805H Rev. R032206
14
15
IM483H/IM805H Rev. R032206
S e c t i o n 3
M o u n t i n g t h e I M 4 8 3 H / I M 8 0 5 H
S e c t i o n O v e r v i e w
This section covers mounting the IM483H/IM805H in your system. The following mounting options are covered:
n Mounting the IM483H/IM805H to a PCB.
n Mounting the IM483H/IM805H using the PR-22 Pin Re-
ceptacle.
n Recommended Mounting Hardware.
n Attaching/Removing the HFC-22 Heat Sink/Fan/Clip As-
sembly.
M o u n t i n g t h e I M 4 8 3 H / I M 8 0 5 H
The IM483H & IM805H hybrids are designed to be soldered into the users PC
board, however, they may also be mounted using the PR-22 pin receptacle carrier for ease of removal.
D i r e c t M o u n t i n g t h e I M 4 8 3 H / I M 8 0 5 H t o a P C
B o a r d
The IM483H and IM805H hybrids are designed to be soldered directly into a PC board.
The following diagram contains the hole pattern and recommended pad sizes for direct
mounting of the IM483H/IM805H.
Recommended Soldering Practices
Max. Soldering Temp .................................................................... 315°C
Max. Soldering Time .....................................................................10 sec.
Figure 3.1: PCB Hole Pattern (Direct Mounting of the IM483H/IM805H to a PC Board)
0.200
(5.08)
0.100
(2.54)
0.375
(9.5)
0.525
(13.30)
2.350
(59.70)
0.720
(18.3)
0.780
(19.8)
0.166 (4.2) DIA. HOLE
2 PLACES
0.70 (1.80) DIA. HOLE
0.150 (3.80) DIA. PAD
9 PLACES
0.042 (1.00) DIA. HOLE
0.075 (1.90) DIA. PAD
14 PLACES
Page 17
15
IM483H/IM805H Rev. R032206
Recommended Solder Recommended Cleaning Solvent
Kester “245” No Clean Tech Spray “Envirotech 1679”
Alpha Metals “Telecore Plus” Chemtronics “Flux-off NR 2000”
Multicore “X39B” No Clean
Figure 3.3: PCB Hole Pattern (for Mounting of the PR-22 Pin Receptacle Carrier)
Mounting the IM483H/IM805H Using the PR-22
Receptacle
The PR-22 pin receptacle carrier allows
for easy placement of multi-ngered
receptacle pins facilitating easy removal
and placement of the IM483H/IM805H
driver. The PR-22 is a disposable plastic
frame containing 23 receptacles in a
layout that matches the pin layout of the
IM483H/IM805H hybrid.
This tool enables the user to insert the
23 receptacles into their PC board design
in a single operation for wave or hand
solder. The plastic frame can then be
lifted out and discarded. The following
gure (Figure 3.3) shows the PCB hole pattern and recommended pad size that should be
used on the end-user PC board. The recommended mounting hardware are the same as
illustrated in Figure 3.4.
To lift the disposable carrier after soldering, gently pry the carrier from the PCB with a
at head screwdriver or, to avoid chancing PC board damage, use the optional pry bar
(PB-22).
0.200"
(5.08)
0.100"
(2.54)
0.375
(9.5)
0.525”
(13.30)
2.350"
(59.70)
0.720
(18.3)
0.780
(19.8)
0.166 (4.2) DIA. HOLE
2 PLACES
0.107 (2.72) DIA. HOLE
0.156 (3.96) WIDE PAD
0.176 (4.47) LONG PAD
9 PLACES
0.062 (1.57) DIA. HOLE
0.090 (2.29) WIDE PAD
0.110 (2.79) LONG PAD
14 PLACES
Figure 3.2: PR-22 Pin Receptacle Carrier
Page 18
IM483H/IM805H Rev. R032206
16
17
IM483H/IM805H Rev. R032206
Atta chi ng the HFC -22 He at Sink/Fa n/C lip Assemb ly
The gure at right illustrates the HFC-22 mounted to the IM483H/IM805H. To
attach the HFC-22 complete the following:
1) Placing the heat sink on the driver, align so that the dot on
the heat sink is on the same side as the dot on the driver,
with the TN-22 thermal pad sandwiched between them.
2) Insert two of the arms from the fan/clip assembly into the
corresponding slots in the driver, aligning the curved ngers
on the clip between the posts of the heat sink. Insert the
other two locking tabs into the opposite slots and snap into
place. The locking tabs on all four arms should be completely through the slots on the driver.
R e c o m m e n d e d C o n n e c t o r
The HFC-22 fan connector plugs into the following pin header:
Molex Part Number: 22-23-2021
Digikey Part Number: WM-4200-ND
Samtec Part Number: TSW-101-07-T-D
NOTE! The torque specication for the mounting screws
is 5.0 to 7.0 lb-in (0.60 to 0.80 N-m). Do not over tighten
screws!
Figure 3.4: PCB Mounting Hardware (Direct Mounting or Socketed)
R e c o m m e n d e d M o u n t i n g H a r d w a r e
The following gure (Figure 3.4) illustrates the recommended mounting hardware. This
hardware and associated torque specication will be the same whether the PR-22 pin
receptacle carrier is used or the driver is directly mounted to a PC Board.
METRIC.
U.S.
Phillips Pan HD
#6 Stainless
Mach. Screw
Phillips Pan HD
M3 X 0.5 Stainless
Mach. Screw
#6 Split Lock Washer
Stainless (.04TH, .24OD)
M3 Split Lock Washer
Stainless (.08TH, 6.20 Dia. Max)
M3 Flat Washer
Stainless (.05TH, 6.20 Dia. Max)
#6 Flat Washer
Stainless (.04TH, .24OD)
Keystone #4866 or
equivalent #6 threaded
insert (Mounted from
bottom of PCB
PEM #KFS2-M3 or
equivalent M3 X 0.5 threaded
insert (Mounted from
bottom of PCB
WARNING! The IM483H/IM805H Drivers are not
hermetically sealed. DO NOT wash the PCB with the
Driver soldered in place. Always wash the PCB prior to
mounting the Driver. NEVER use compressed air.
Page 19
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IM483H/IM805H Rev. R032206
Removing the HFC-22 Heat Sink/Fan/Clip Assembly
To remove the HFC-22 from the the driver:
1) Squeeze the two arms on one side of the assembly until the
locking tabs are free in the slot on the drive.
2) Gently lift the freed side away from the drive. The HFC-22 will
separate from the drive. (The fan will be locked inside the
clip.)
Figure 3.5: HFC-22 Heat Sink/Fan/Clip Assembly
NOTE! If the curved ngers do not align between
the posts on the heat sink do not try and force them.
Verify that the heat sink is sitting square on the driver
and that the dot on the heat sink is on the same side
as the dot on the driver!
WARNING! The heat sink mounting surface must be a
smooth, at surface with no burrs, protrusions, cuttings or
other foreign objects.
NOTE! Be certain to remove the clear protective sheet
from the TN-22 Thermal Pad before installation.
FINGERS
CLIP
FA
N
HEA
T-SINK
THERMAL
PA
D
DRIVER
ARM
LOCKING TA
B
Page 20
IM483H/IM805H Rev. R032206
18
19
IM483H/IM805H Rev. R032206
S e c t i o n 4
T h e o r y o f O p e r a t i o n
S e c t i o n O v e r v i e w
This section will cover the circuit operation for the IM483H/IM805H microstepping driver hybrid.
n Circuit Operation
n Microstep Select Inputs
n Stepping
n Dual PWM Circuit
n Fullstep Output
n Timing
C i r c u i t O p e r a t i o n
Microstepping drives have a much higher degree of suitability for applications
that require smooth operation and accurate positioning at low speeds than do
half/fullstep drivers and reduction gearing. The IM483H/IM805H, with its
ability to be set to microstep resolutions as high as 51,200 microsteps/rev (256
Microsteps/step) using a 1.8° stepping motor, is ideal for such applications.
In order to subdivide motor steps into microsteps while maintaining positional
accuracy, precise current control is required. The IM483H/IM805H accomplishes this by the use of a unique Dual PWM circuit built into the patented
IM2000 Microstep Controller ASIC, which resides at the heart of the IM483H/
IM805H. This PWM circuit uses an alternating recirculating/non-recirculating
mode to accurately regulate the current in the windings of a two phase stepping
motor.
Figure 4.1: IM483H/IM805H Block Diagram
Page 21
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IM483H/IM805H Rev. R032206
M i c r o s t e p S e l e c t ( M S E L ) I n p u t s
Another unique feature of the IM2000 is the ability to change resolutions at
any time. A resolution change can occur whether the motor is being clocked or
is at rest. The change will not take place until the rising edge of the next STEP
CLOCK input. At this time, the new resolution is latched and implemented
before the step clock pulse takes effect.
If a resolution is chosen such that the sine/cosine output of the IM2000 would
not land on an electrical fullstep of the motor, then the IM2000 will automatically align itself to the full step position on the step clock pulse that would
have caused the motor to rotate past the full step. The step clock pulses, from
that point forward, will be equal to the selected resolution. This feature allows the user to switch resolutions at any time without having to keep track of
sine/cosine location. Now the On-Full-Step output of the IM483H/IM805H can
easily be used to monitor position.
Interface guidelines and settings for the Microstep Resolution inputs are located in Section 7 of this document, Interfacing to the IM483H/IM805H.
S t e p p i n g
The IM2000 contains a built-in sine/cosine generator used for the generation of
Phase A and Phase B position reference. This digitally encoded 9 bit sine and 9
bit cosine signal is directly fed into a digital to analog converter.
The step clock (SCLK) and direction (DIR) inputs are buffered using Schmidt
triggered buffers for increased noise immunity and are used to increment or
decrement the sine/cosine position generator. The position generator is updated
on the rising edge of the step clock input. It will increment or decrement by the
amount specied by the microstep resolution select (MSEL) inputs.
The direction (DIR) input determines the direction of the position generator
and hence the direction of the motor. The DIR input is synchronized to the
SCLK input. On the rising edge of the SCLK input the state of the DIR input
is latched in. The position generator will then look to see if there has been a
change in direction and implement that change before executing the next step.
By utilizing this method to implement the direction change, the noise immunity
is greatly increased and no physical change in the motor occurs if the direction
line is toggled prior to the step clock input.
The enable/disable input does not effect the step clock input. The sine/cosine
generator will continue to update if a signal is applied to the step clock input.
The IM2000 outputs both sine and cosine data simultaneously when applying a
step clock input. Dual internal look-up tables are used to output a unique position for every step clock input to enhance system performance.
Page 22
IM483H/IM805H Rev. R032206
20
21
IM483H/IM805H Rev. R032206
D u a l P W M C i r c u i t
The IM2000 contains a unique dual PWM circuit that efciently and accurately
regulates the current in the windings of a two phase stepping motor. The internal
PWM accomplishes this by using an alternating recirculating/non-recirculating
mode to control the current.
R e c i r c u l a t i n g
In a recirculating PWM, the current in the windings is contained within the output bridge while the PWM is in its OFF state. (After the set current is reached.)
This method of controlling the current is efcient when using low inductance
motors, but lacks response because of its inability to remove
current from the windings on
the downward cycle of the sine/
cosine wave. (See gure 4.1)
N o n - R e c i r c u l a t i n g
In a non-recirculating PWM,
the current ows up through the
bridge and back to the supply
in the OFF phase of the cycle.
This method of controlling
current allows for much better
response but reduces efciency
and increases current ripple,
especially in lower inductance
motors. (See Figure 4.3)
The IM2000’s PWM utilizes the best features of both by combining recirculating
and non-recirculating current control. On
the rising edge of the sine/cosine waveform,
the PWM will always be in a recirculating mode. This mode allows the driver to
run at peak efciency while maintaining
minimum current ripple even with low
inductance motors. On the downward
cycle of the sine/cosine waveform, the
PWM operates in a two part cycle. In the
rst part of its cycle, the PWM is in a nonrecirculating mode to pull current from the
motor windings. In the second part of the
cycle the PWM reverts back to recirculating mode to increase efciency and reduce
current ripple.
The IM2000 will automatically change
Figure 4.2: Recirculating PWM
DRIVE CURRENT
RECIRCULATION
Figure 4.3: Non- Recirculating PWM
DRIVE CURRENT
RECIRCULATION
Page 23
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IM483H/IM805H Rev. R032206
the non-recirculating pulse widths to compensate for changes in supply voltage and accommodate a wide variety of motor inductances. This method also
allows for the use of very low inductance motors with your IM483H/IM805H
driver, while utilizing a 20kHz chopping rate which reduces motor heating but
maintains high efciency and low current ripple.
F u l l s t e p O u t p u t S i g n a l
The fullstep output signal from the IM483H/IM805H is an active high output
at connector P1:12. This output will be TRUE for the duration of the full step.
A full step occurs when either Phase A or Phase B crosses through zero (i.e.
full current in one motor winding and zero current in the other winding). This
fullstep position is a common position regardless of the microstep resolution
selected.
The fullstep output can be used to count the number of mechanical fullsteps
that the motor has traveled without the need to count the number of microsteps
in between. A controller that utilizes this output can greatly reduce its position
tracking overhead, thus substantially increasing its throughput.
Interface guidelines and a sample application for the fullstep output are located
in Section 7 of this document, Interfacing to the IM483H/IM805H.
T i m i n g
The direction and microstep resolution select inputs are synchronized with the
positive going edge of the step clock input. When the step clock input goes
HIGH, the direction and microstep resolution select inputs are latched. Further
changes to these inputs are ignored until the next rising edge of the step clock
input.
After these signals are latched, the IM483H/IM805H looks to see if any
changes have occurred to the direction and microstep resolution select inputs.
If a change has occurred, the IM483H/IM805H will execute the change before
taking the next step. Only AFTER the change has been executed will the step
be taken. If no change has occurred, the IM483H/IM805H will simply take the
next step. This feature works as an automatic debounce for the direction and
microstep resolution select inputs.
The reset and enable inputs are asynchronous to any input and can be changed
at any time.
Page 24
IM483H/IM805H Rev. R032206
22
23
IM483H/IM805H Rev. R032206
S e c t i o n 5
P o w e r S u p p l y R e q u i r e m e n t s
S e c t i o n O v e r v i e w
This section covers the power supply requirements of the IM483H/IM805H.
Precise wiring and connection details are to be found in Section 7: Interfacing
to the IM483H/IM805H. The following is covered by this section:
n Selecting a Power Supply.
n Recommended Wiring.
n AC Line Filtering.
S e l e c t i n g a P o w e r S u p p l y
S e l e c t i n g a M o t o r S u p p l y ( + V )
Proper selection of a power supply to be used in a motion system is as important as selecting the drive itself. When choosing a power supply for a stepping motor driver, there are several performance issues that must be addressed.
An undersized power supply can lead to poor performance and possibly even
damage to your drive.
T h e P o w e r S u p p l y - M o t o r R e l a t i o n s h i p
Motor windings can basically be viewed as inductors. Winding resistance and
inductance result in an L/R time constant that resists the change in current.
To effectively manipulate the rate of charge, the voltage applied is increased.
When traveling at high speeds, there is less time between steps to reach current.
The point where the rate of commutation does not allow the driver to reach full
current is referred to as voltage mode. Ideally you want to be in current mode,
which is when the drive is achieving the desired current between steps. Simply
stated, a higher voltage will decrease the time it takes to charge the coil and,
therefore, will allow for higher torque at higher speeds.
Another characteristic of all motors is back EMF. Back EMF is a source of
current that can push the output of a power supply beyond the maximum operating voltage of the driver. As a result, damage to the stepper driver could occur
over a period of time.
T h e P o w e r S u p p l y - D r i v e r R e l a t i o n s h i p
The IM483H/IM805H is very current efcient as far as the power supply is
concerned. Once the motor has charged one or both windings of the motor, all
the power supply has to do is replace losses in the system. The charged winding
acts as an energy storage in that the current will recirculate within the bridge
and in and out of each phase reservoir. This results in a less than expected current draw on the supply.
Page 25
23
IM483H/IM805H Rev. R032206
Stepping motor drivers are designed with the intent that a user’s power supply
output will ramp up to greater than or equal to the minimum operating voltage.
The initial current surge is substantial and could damage the driver if the supply
is undersized. The output of the power supply could fall below the operating
range of the driver upon a current surge, if it is undersized. This could cause the
power supply to start oscillating in and out of the voltage range of the driver
and result in damage to either the supply, the driver, or both. There are two
types of supplies commonly used, regulated and unregulated, both of which can
be switching or linear. Each have advantages and disadvantages.
R e g u l a t e d v s . U n r e g u l a t e d
An unregulated linear supply is less expensive and more resilient to current
surges, however, the voltage decreases with increasing current draw. This can
cause problems if the voltage drops below the working range of the drive. Also
of concern are the uctuations in line voltage. This can cause the unregulated
linear supply to be above or below the anticipated or acceptable voltage.
A regulated supply maintains a stable output voltage, which is good for high
speed performance. These supplies are also not effected by line uctuations,
however, they are more expensive. Depending on the current regulation, a regulated supply may crowbar or current clamp and lead to an oscillation that, as
previously stated, can cause damage to the driver and/or supply. Back EMF can
cause problems for regulated supplies as well. The current regeneration may be
too large for the regulated supply to absorb. This could lead to an over voltage
condition which could damage the output circuitry of the IM483H/IM805H.
Non IMS switching power supplies and regulated linear supplies with overcurrent protection are not recommended because of their inability to handle the
surge currents inherit in stepping motor systems.
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H384MI
H508MI
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Table 5.1: Motor Power Supply Specications
Page 26
IM483H/IM805H Rev. R032206
24
25
IM483H/IM805H Rev. R032206
R e c o m m e n d e d I M S P o w e r S u p p l i e s
IMS has designed a series of low cost miniature unregulated Switching and
Linear Supplies that can handle extreme varying load conditions. This makes
them ideal for stepper motor drives and DC servo motors. Each of these is
available in either 120 or 240 VAC conguration. See the IMS Catalog or
website (http://www.imshome.com) for more information. Listed below are the
power supplies recommended for use with the IM483H/IM805H.
I P 4 0 4 / I S P 2 0 0 - 4 ( I M 4 8 3 H )
Range
Input 120 VAC Version ................................... 102-132 VAC
240 VAC Version ................................... 204-264 VAC
IP404 Unregulated Linear Supply
No Load Output Voltage* ...................... 43 VDC @ 0 Amps
Continuous Output Rating* .................... 32 VDC @ 2 Amps
Peak Output Rating*............................... 26 VDC @ 4 Amps
ISP200-4 Unregulated Switching Supply
No Load Output Voltage* ...................... 41 VDC @ 0 Amps
Continuous Output Rating* .................... 38 VDC @ 1.5 Amps
Peak Output Rating*............................... 35 VDC @ 3 Amps
I P 8 0 4 / I S P 2 0 0 - 7 ( I M 8 0 5 H )
Range
Input 120 VAC Version ................................... 102-132 VAC
240 VAC Version ................................... 204-264 VAC
IP804 Unregulated Linear Supply
No Load Output Voltage* ...................... 76 VDC @ 0 Amps
Continuous Output Rating* .................... 65 VDC @ 2 Amps
Peak Output Rating*............................... 58 VDC @ 4 Amps
ISP200-7 Unregulated Switching Supply
No Load Output Voltage* ...................... 70 VDC @ 0 Amps
Continuous Output Rating* .................... 62 VDC @ 1 Amps
Peak Output Rating*............................... 59 VDC @ 2 Amps
* All measurements were taken at 25°C, 120 VAC, 60 Hz.
S e l e c t i n g a + 5 V D C S u p p l y
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Am001
Am003
Table 5.2: +5VDC Power Supply Specications
Page 27
25
IM483H/IM805H Rev. R032206
R e c o m m e n d e d W i r i n g
R u l e s o f W i r i n g a n d S h i e l d i n g
Noise is always present in a system that involves both high power and small
signal circuitry. Regardless of the power conguration used for your system,
there are some wiring and shielding rules that should be followed to keep the
noise to signal ratio as small as possible.
R u l e s o f W i r i n g
n Power supply and motor wiring should be shielded twisted
pairs run separately from signal carrying wires.
n A minimum of 1 twist per inch is recommended.
n Motor wiring should be shielded twisted pairs using 20-gauge
wire or, for distance greater than 5 feet, 18 gauge or better.
n Power ground return should be as short as possible to estab-
lished ground.
n Power supply wiring should be shielded twisted pairs. Use
18 gauge wire if load is less than 4 amps, or 16 gauge for
more than 4 amps.
n Do not “Daisy-Chain” power wiring to system components.
R u l e s o f S h i e l d i n g
n The shield must be tied to zero-signal reference potential.
In order for shielding to be effective, it is necessary for the
signal to be earthed or grounded.
n Do not assume that earth ground is true earth ground. De-
pending on the distance to the main power cabinet, it may be
necessary to sink a ground rod at a critical location.
n The shield must be connected so that shield currents drain
to signal-earth connections.
n The number of separate shields required in a system is equal
to the number of independent signals being processed plus
one for each power entrance.
n The shield should be tied to a single point to prevent ground loops.
n A second shield can be used over the primary shield, how-
ever, the second shield is tied to ground at both ends.
R e c o m m e n d e d P o w e r S u p p l y C a b l e s
Power supply cables must not run parallel to logic level wiring as noise will
be coupled onto the logic signals from the power supply cables. If more than
one driver is to be connected to the same power supply, run separate power
and ground leads to each driver from the power supply. The following Belden
cables (or equivalent) are recommended for use with the IM483H/IM805H.
Page 28
IM483H/IM805H Rev. R032206
26
27
IM483H/IM805H Rev. R032206
Twisted pair jacketed
<4Amps DC ........................................................ Belden Part# 9740 or
equivalent 18 Gauge
>4Amps DC ........................................................ Belden Part# 8471 or
equivalent 16 Gauge
A C L i n e F i l t e r i n g
Since the output voltage of an unregulated power supply will vary with the AC
input applied, it is recommended that an AC line lter be used to prevent damage to the IM483H/IM805H due to a lightning strike or power surge.
WARNING! Verify that the power supply wiring is
correct prior to power application. If +V and GND are
connected in reverse order, catastrophic damage to
the IM483H/IM805H may occur! Ensure that the power
supply output voltage does not exceed +48/75VDC, the
maximum input voltage of the IM483H/IM805H!
WARNING! Hazardous voltage levels may be present
if using an open frame power supply to power the
IM483H/IM805H!
Page 29
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IM483H/IM805H Rev. R032206
S e c t i o n 6
M o t o r R e q u i r e m e n t s
S e c t i o n O v e r v i e w
This section covers the motor congurations for the IM483H/IM805H.
n Selecting a Motor.
n Motor Wiring.
n Connecting the Motor.
S e l e c t i n g a M o t o r
When selecting a stepper motor for your application, there are several factors
that need to be taken into consideration.
n How will the motor be coupled to the load?
n How much torque is required to move the load?
n How fast does the load need to move or accelerate?
n What degree of accuracy is required when positioning the load?
While determining the answers to these and other questions is beyond the
scope of this document, they are details that you must know in order to select
a motor that is appropriate for your application. These details will effect
everything from the power supply voltage to the type and wiring conguration
of your stepper motor. The current and microstepping settings of your IM483H/
IM805H drive will also be effected.
T y p e s a n d C o n s t r u c t i o n o f S t e p p i n g M o t o r s
The stepping motor, while classed as a DC motor, is actually an AC motor that
is operated by trains of pulses. Although it is called a “stepping motor”, it is
in reality a polyphase synchronous motor. This means it has multiple phases
wound in the stator and the rotor is dragged along in synchronism with the
rotating magnetic eld. The IM483H/IM805H is designed to work with the following types of stepping motors:
1) Permanent Magnet (PM)
2) Hybrid Stepping Motors
Page 30
IM483H/IM805H Rev. R032206
28
29
IM483H/IM805H Rev. R032206
Hybrid stepping motors combine the features of the PM stepping motors with
the features of another type of stepping motor called a variable reluctance motor (VR), which is a low torque and load capacity motor that is typically used
in instrumentation. The IM483H/IM805H cannot be used with VR motors as
they have no permanent magnet.
On hybrid motors, the phases are wound on toothed segments of the stator assembly. The rotor consists of a permanent magnet with a toothed outer surface
which allows precision motion accurate to within ± 3 percent. Hybrid stepping
motors are available with step angles varying from 0.45° to 15° with 1.8° being
the most commonly used. Torque capacity in hybrid steppers ranges from 5
- 8000 ounce-inches. Because of their smaller step angles, hybrid motors have
a higher degree of suitability in applications where precise load positioning and
smooth motion is required.
S i z i n g a M o t o r f o r Yo u r S y s t e m
The IM483H/IM805H 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).
To maintain a given set motor current, the IM483H/IM805H chops the voltage
using a constant 20kHz 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. In order to avoid this situation, it is necessary to choose a motor with a low winding inductance. The
lower the winding inductance, the higher the step rate possible.
W i n d i n g I n d u c t a n c e
Since the IM483H/IM805H is a constant current source, it is not necessary to
use a motor that is rated at the same voltage as the supply voltage. What is
important is that the IM483H/IM805H is set to the motor’s rated current. See
Section 7: Interfacing to the IM483H/IM805H for more details.
As was discussed in the previous section, Power Supply Requirements, the
higher the voltage used the faster the current can ow through the motor windings. This in turn means a higher step rate, or motor speed. Care should be
taken not to exceed the maximum voltage of the driver. Therefore, in choosing
a motor for a system design, the best performance for a specied torque is a
motor with the lowest possible winding inductance used in conjunction with
highest possible driver voltage.
The winding inductance will determine the motor type and wiring conguration
best suited for your system. While the equation used to size a motor for your
system is quite simple, several factors fall into play at this point.
The winding inductance of a motor is rated in milliHenrys (mH) per Phase.
The amount of inductance will depend on the wiring conguration of the motor.
Page 31
29
IM483H/IM805H Rev. R032206
Figure 6.1 A & B: Per Phase Winding Inductance
The per phase winding inductance specied may be different than the per phase
inductance seen by your IM483H/IM805H driver depending on the wiring conguration used. Your calculations must allow for the actual inductance that the
driver will see based upon the motor’s wiring conguration used.
Figure 6.1A shows a stepper motor in a series conguration. In this conguration, the per phase inductance will be 4 times that specied. For example:
a stepping motor has a specied per phase inductance of 1.47mH. In this
conguration the driver will see 5.88 mH per phase.
Figure 6.1B shows an 8 lead motor wired in parallel. Using this conguration
the per phase inductance seen by the driver will be as specied.
Using the following equation we will show an example of sizing a motor for
a IM483H/IM805H used with an unregulated power supply with a minimum
voltage (+V) of 18 VDC:
.2 X 18 = 3.6 mH
The maximum per phase winding inductance we can use is 3.6 mH.
Maximum Motor Inductance (mH per Phase) =
.2 X Minimum Supply Voltage
PHASE A
PHASE A
PHASE B
PHASE B
8 Lead Stepping Motor
Series Configuration
8 Lead Stepping Motor
Parallel Configuration
PHASE A
PHASE
A
PHASE B
PHASE
B
(Note: This example also
applies to the 6 lead motor
full copper configuration and
to 4 lead stepping motors)
(Note: This example also
applies to the 6 lead motor
half copper configuration)
Specified Per Phase
Inductance
Specified Per Phase
Inductance
Actual Inductance
Seen By the Driver
Actual Inductance
Seen By the Driver
A B
NOTE: In calculating the maximum phase inductance, the
minimum supply output voltage should be used when using an
unregulated supply.
Page 32
IM483H/IM805H Rev. R032206
30
31
IM483H/IM805H Rev. R032206
R e c o m m e n d e d I M S M o t o r s
IMS stocks the following 1.8° hybrid stepping motors that are recommended
for the IM483H/IM805H. All IMS motors are CE marked. For more detailed
information on these motors, please see the IMS Full Line catalog or the IMS
website at http://www.imshome.com.
17 Frame (IM483H)
Single Shaft Double Shaft
M2-1713-S ................................................................. M2-1713-D
M2-1715-S ................................................................. M2-1715-D
M2-1719-S ................................................................. M2-1719-D
23 Frame (IM483H/IM805H)
Single Shaft Double Shaft
M2-2215-S ................................................................. M2-2215-D
M2-2220-S ................................................................. M2-2220-D
M2-2232-S ................................................................. M2-2232-D
M2-2240-S ................................................................. M2-2240-D
34 Frame (IM805H)
Single Shaft Double Shaft
M2-3424-S ................................................................. M2-3424-D
M2-3437-S ................................................................. M2-3437-D
M2-3450-S ................................................................. M2-3450-D
E n h a n c e d S t e p p e r M o t o r s
IMS also carries a new series of 23 frame enhanced stepping motors that are recommended for use with the IM483H/IM805H. These motors use a unique relationship
between the rotor and stator to generate more torque per frame size while ensuring
more precise positioning and increased accuracy.
The special design allows the motors to provide higher torque than standard stepping motors while maintaining a steadier torque and reducing torque drop-off.
The motors are available in 3 stack sizes, single or double shaft, with or without
encoders. They handle currents up to 3 Amps in series or 6 Amps parallel, and
holding torque ranges from 95 oz.-in. to 230 oz.-in (67 N-cm to 162 N-cm).
These CE rated motors are ideal for applications where higher torque is required.
23 Frame High Torque Motors (IM483H/IM805H)
Single Shaft Double Shaft
MH-2218-S ................................................................ MH-2218-D
MH-2222-S ................................................................ MH-2222-D
MH-2231-S ................................................................ MH-2231-D
Page 33
31
IM483H/IM805H Rev. R032206
I M S I n s i d e O u t S t e p p e r M o t o r s
The new inside out stepper (IOS) motor was designed by IMS to bring versatility to stepper motors using a unique multi-functional, hollow core design.
This versatile new motor can be converted to a ball screw linear actuator by
mounting a miniature ball screw to the front shaft face. Ball screw linear actuators offer long life, high efciency, and can be eld retrotted. There is no need
to throw the motor away due to wear of the nut or screw.
The IOS motors offer the following features:
n The shaft face diameter offers a wide choice of threaded
hole patterns for coupling.
n The IOS motor can be direct coupled in applications within
the torque range of the motor, eliminating couplings and
increasing system efciency.
n The IOS motor can replace gearboxes in applications where
gearboxes are used for inertia dampening between the motor and the load. The induced backlash from the gearbox
is eliminated providing improved bi-directional position accuracy.
n Electrical or pnuematic lines can be directed through the
center of the motor enabling the motors to be stacked endto-end or applied in robotic end effector applications. The
through hole is stationary, preventing cables from being
chaffed by a moving hollow shaft.
n Light beams can be directed through the motor for refraction
by a mirror or lter wheel mounted on the shaft mounting
face.
n The IOS motor is adaptable to valves enabling the valve
stem to protrude above the motor frame. The stem can be
retrotted with a dial indicator showing valve position.
n The motor is compatible with IMS bipolar drivers, keeping
the system cost low.
n The IOS motor can operate up to 3000 rpm’s.
The IOS motor is available in the following frames:
Frame Size IMS PN
17 Frame ...................................................................M3-1713-IOS
23 Frame ...................................................................M3-2220-IOS
34 Frame ...................................................................M3-3424-IOS
Page 34
IM483H/IM805H Rev. R032206
32
33
IM483H/IM805H Rev. R032206
M o t o r W i r i n g
As with the power supply wiring, motor wiring should be run separately from
logic wiring to minimize noise coupled onto the logic signals. Motor cabling
exceeding 1’ in length should be shielded twisted pairs to reduce the transmission of EMI (Electromagnetic Interference) which can lead to rough motor
operation and poor system performance overall. For more information on
wiring and shielding, please refer to Rules of Wiring and Shielding in Section 5
of this manual.
Below are listed the recommended motor cables:
Dual Twisted Pair Shielded (Separate Shields)
< 5 feet ..............................................Belden Part# 9402 or equivalent 20 Gauge
> 5 feet ..............................................Belden Part# 9368 or equivalent 18 Gauge
When using a bipolar motor, the motor must be within 100 feet of the drive.
C o n n e c t i n g t h e M o t o r
The motor leads are connected to the following connector pins:
I M 4 8 3 H / I M 8 0 5 H
Phase Connector: Pin
Phase B.............................................................................P2: 3
Phase B.............................................................................P2: 1
Phase A ............................................................................P2: 9
Phase A ............................................................................P2: 7
NOTE: The physical direction of the motor with respect to the direction input will depend upon the connection of the motor windings. To
switch the direction of the motor with respect to the direction input,
switch the wires on either Phase A or Phase B outputs.
WARNING! Do not connect or disconnect motor or power leads
with power applied!
Page 35
33
IM483H/IM805H Rev. R032206
8 L e a d M o t o r s
8 lead motors offer a high degree of exibility to the system designer in that they may
be connected in series or parallel, thus satisfying a wide range of applications.
S e r i e s C o n n e c t i o n
A series motor conguration would typically be used in applications where a
higher torque at low speeds is needed. Because this conguration has the most
inductance, the performance will start to degrade at higher speeds. Use the per
phase (or unipolar) current rating as the peak output current, or multiply the
bipolar current rating by 1.4 to determine the peak output current.
P a r a l l e l C o n n e c t i o n
An 8 lead motor in a parallel conguration offers a more stable, but lower
torque at lower speeds. But because of the lower inductance, there will be
higher torque at higher speeds. Multiply the per phase (or unipolar) current
rating by 1.96, or the bipolar current rating by 1.4, to determine the peak output
current.
Figure 6.3: 8 Lead Parallel Motor Connections
PHASE A
PHASE A
PHASE B
PHASE B
Figure 6.2: 8 Lead Series Motor Connections
PHASE A
PHASE A
PHASE B
PHASE B
Page 36
IM483H/IM805H Rev. R032206
34
35
IM483H/IM805H Rev. R032206
6 L e a d M o t o r s
Like 8 lead stepping motors, 6 lead motors have two congurations available
for high speed or high torque operation. The higher speed conguration, or half
coil, is so described because it uses one half of the motor’s inductor windings. The higher torque conguration, or full coil, uses the full windings of the
phases.
H a l f C o i l C o n f i g u r a t i o n
As previously stated, the half coil conguration uses 50% of the motor phase
windings. This gives lower inductance, hence, lower torque output. Like the
parallel connection of 8 lead motor, the torque output will be more stable at
higher speeds. This conguration is also referred to as half copper. In setting
the driver output current multiply the specied per phase (or unipolar) current
rating by 1.4 to determine the peak output current.
F u l l C o i l C o n f i g u r a t i o n
The full coil conguration on a six lead motor should be used in applications
where higher torque at lower speeds is desired. This conguration is also
referred to as full copper. Use the per phase (or unipolar) current rating as the
peak output current.
Figure 6.5: 6 Lead Full Coil (Higher Torque) Motor
PHASE A
PHASE A
NO CONNECTION
PHASE B
PHASE B
NO CONNECTION
Figure 6.4: 6 Lead Half Coil (Higher Speed) Motor Connections
PHASE B
PHASE B
NO CONNECTION
PHASE A
PHASE A
NO CONNECTION
Page 37
35
IM483H/IM805H Rev. R032206
4 L e a d M o t o r s
4 lead motors are the least exible but easiest to wire. Speed and torque will
depend on winding inductance. In setting the driver output current, multiply the
specied phase current by 1.4 to determine the peak output current.
Figure 6.6: 4 Lead Motor Connections
PHASE A
PHASE A
PHASE B
PHASE B
Page 38
IM483H/IM805H Rev. R032206
36
37
IM483H/IM805H Rev. R032206
S e c t i o n 7
I n t e r f a c i n g t o t h e I M 4 8 3 H / I M 8 0 5 H
S e c t i o n O v e r v i e w
The IM483H/IM805H was designed to be incorporated directly in the user’s
printed circuit board. In order to operate, the IM483H/IM805H must have the
following connections:
n Motor Power (+V).
n +5VDC Input.
n MSEL Inputs.
n Current Adjust (Reduction is optional).
n Logic Interface.
n Minimum Connections.
L a y o u t a n d I n t e r f a c e G u i d e l i n e s
Logic level signals should not run parallel to motor phase signals. The motor
phase signals will couple noise onto the logic level signals. This will cause
rough motor motion and unreliable system operation. Motor phase signals
should be run as pairs and should be separated from other signals by ground
traces where possible.
When leaving the board, motor cables should not run parallel with other wires.
Phases should be wired using twisted pairs. If motor cabling in excess of one
foot is required, motor cabling should be shielded twisted pairs to reduce the
transmission of EMI. The shield must be tied to AC ground at driver end only
(or the supply ground if AC ground is not available). The motor end must be
left oating.
If more than one driver is connected to the power supply, separate power and
ground connections from each driver to the power supply should be used.
The power supply cables need to be a twisted pair if power is connected from
a source external to the board. If multiple drivers are used with an external
power source, and it is not possible to run separate power and ground connections to each driver, a low impedance electrolytic capacitor equivalent to two
times the total capacitance of all driver capacitors and of equal voltage must be
placed at the power input of the board.
Page 39
37
IM483H/IM805H Rev. R032206
M o t o r P o w e r
Pins 5 (+V), and 2 & 8 (GND) on connector P2 are used to connect motor DC
power to the IM483H/IM805H. Two local capacitors are needed. These must
be located as close to the IM483H/IM805H’s motor power input pins as possible to ensure stable operation.
The rst two capacitors, one for each motor phase, are low impedance aluminum electrolytics. The continuous operating voltage of the capacitor should
exceed the maximum supply voltage as well as any additional voltage caused
by the motor’s back EMF. The value of the capacitors should be approximately
150µF for every amp of peak per phase output current.
For power supply specications and recommendations, see Section 5: Power
Supply Requirements.
CALCULATING THE VALUE OF THE INPUT CAPACITORS
EXAMPLE: 3.2A (Peak Output Current @ 45VDC) X 150µF = 480µF 63V
Figure 7.1: Power Interface
+
ADDITIONAL
ELECTROLYTIC
CAPACITOR
ADDITIONAL
ELECTROLYTIC
CAPACITOR
+
+5VDC
SUPPLY
MOTOR
SUPPLY
+
+
- -
GNDA
GNDB
+V
GND
+5V
1
9
P2
.1uF
100V
.1uF
100V
+
68uF
10V,TANT
TOPSIDE PCB TRACES
BOTTOMSIDE PCB TRACES
8
7
6
4
3
2
Page 40
IM483H/IM805H Rev. R032206
38
39
IM483H/IM805H Rev. R032206
+ 5 V D C I n p u t
The IM483H/IM805H requires an external regulated +5VDC, ±5% power supply. The supply is connected between P2:6 (+5VDC Supply) and P2:4 (Power
Ground). A 68 microfarad 10V tantalum capacitor must be placed as close to
the IM483H/IM805H as possible between the +5VDC input pin (P2:6) and
ground. (See gure 7.1 on the previous page for PCB layout example.)
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 made at the
ground pin of the additional electrolytic capacitor used for the motor supply. (
See gure 7.1 on the previous page for PCB layout example.)
I n t e r f a c i n g t h e C u r r e n t A d j u s t I n p u t
For any given motor, the output current used for microstepping is determined
differently from that of a half/full step driver.
In the IM483H/IM805H, a sine/cosine output function is used in rotating the
motor. Therefore, when microstepping, the specied phase current of the motor is considered an RMS value.
D e t e r m i n i n g t h e O u t p u t C u r r e n t
Stepper motors can be congured as 4, 6 or 8 leads. Each conguration
requires different currents. Shown below are the different lead congurations
and the procedures to determine the peak per phase output current setting that
would be used with different motor/lead congurations.
4 L e a d M o t o r s
Multiply the specied phase current by 1.4 to determine the peak output
current.
6 L e a d M o t o r s
1) When conguring a 6 lead motor in a half coil conguration (i.e. connected
from one end of the coil to the center tap (high speed conguration)) multi-
EXAMPLE: A 4 lead motor has a specied phase current of
2.0A
2.0A x 1.4 = 2.8 Amps Peak
Page 41
39
IM483H/IM805H Rev. R032206
ply the specied per phase (or unipolar) current rating by 1.4 to determine
the peak output current.
2) When conguring the motor so the full coil is used (i.e. connected from
end-to-end with the center tap oating (higher torque conguration)) use
the per phase (or unipolar) current rating as the peak output current.
8 L e a d M o t o r s
SERIES CONNECTION:
When conguring the motor windings in series, use the per phase (or unipolar)
current rating as the peak output current, or multiply the bipolar current rating
by 1.4 to determine the peak output current.
PARALLEL CONNECTION:
When conguring the motor windings in parallel, multiply the per phase (or
unipolar) current rating by 2.0 or the bipolar current rating by 1.4 to determine
the peak output current.
EXAMPLE: A 6 lead motor in half coil conguration has a
specied phase current of 3.0A
3.0A x 1.4 = 4.2 Amps Peak
EXAMPLE: A 6 lead motor in full coil conguration with
a specied phase current of 3.0A
3.0A per phase = 3.0 Amps Peak
EXAMPLE: An 8 lead motor in series conguration with
a specied unipolar current of 3.0A
3.0A per phase = 3.0 Amps Peak
An 8 lead motor in series conguration with a
specied bipolar current of 2.8A
2.8 x 1.4 = 3.92 Amps Peak
Page 42
IM483H/IM805H Rev. R032206
40
41
IM483H/IM805H Rev. R032206
S e t t i n g t h e O u t p u t C u r r e n t
The output current can be set on the IM483H/IM805H one of two ways:
1) By connecting the current reference output (P1:1) to the current
adjust input (P1:2) and placing a resistor between this connection and
ground (P2:4). This uses the internal 1mA current source provided at
the current reference pin P1:1 (see gure 7.2).
2) By applying and external reference voltage to P1:2 (see gure 7.3).
Tables 7.1 and 7.2 show both the current adjust resistor values and the reference voltage required for peak per phase output current settings for the IM483H
and IM805H.
The current adjustment resistor orternal reference voltage used to set the per
phase output current of the IM483H/IM805H sets the peak per phase output of
the sine/cosine waves not the RMS value. Therefore, the peak per phase output
current must be used to determine the value to which the IM483H/IM805H will
be set. See Section 7 “Determining the Output Current” for more information.
EXAMPLE: An 8 lead motor in parallel conguration
with a specied unipolar current of 2.0A
2.0A per phase X 2.0 = 4.0 Amps Peak
An 8 lead motor in parallel conguration with
a specied bipolar current of 2.8A
2.8 x 1.4 = 3.92 Amps Peak
Figure 7.2: Current Adjust Resistor Connection
Bottom View
P1
P2
Pin 1
Pin 1
CURRENT REFERENCE
CURRENT ADJUST
SEE TABLES 7.1
AND 7.2 FOR
VOLTAGE VALUES
POWER
GROUND
CURRENT ADJUST
RESISTOR
WARNING! A current adjustment resistor is always necessary to
keep the Driver and/or Motor in a safe operating range.
DO NOT operate the IM483H/IM805H Drivers without a current
adjustment resistor in place.
Page 43
41
IM483H/IM805H Rev. R032206
Figure 7.3: Setting the Output Current using an External Source
Table 7.1: Current Adjust Reference/Output Current (IM483H)
Cu r r ent A d jus t Res i s t or a n d R e f e ren c e Val u e s
(I M 4 83H )
EXTERNAL REFERENCES
SEE TABLES 7.1 AND
7.2 FOR VOLTAGES
P1:2 CURRENT
ADJUST
Pin1
Pin1
Bottom View
H384MIehtrofseulaVecnerefeRdnarotsiseRtsujdAtnerruC
tnerruCtuptuO
)kaePspmA(
ecnerefeR
)stloV(
eulaVrotsiseR
)%1smhO(
4.0 2.0 002
6.0
3.0
103
8.0 4.0 293
0.1
5.0
994
2.1 6.0 095
4.1
7.0
896
6.1 8.0 787
8.1
9.0
788
0.2 0.1 0001
2.2
1.1
0011
4.2 2.1 0121
6.2
3.1
0031
8.2 4.1 0041
0.3
5.1
0051
2.3 6.1 0851
4.3
7.1
0961
6.3 8.1 0871
8.3
9.1
0191
0.4 0.2 0002
Page 44
IM483H/IM805H Rev. R032206
42
43
IM483H/IM805H Rev. R032206
Table 7.2: Current Adjust Reference/Output Current (IM805H)
Cu r r ent A d jus t Res i s t or a n d R e f e ren c e Val u e s
(I M 8 05H )
H384MIehtrofseulaVecnerefeRdnarotsiseRtsujdAtnerruC
tnerruCtuptuO
)kaePspmA(
ecnerefeR
)stloV(
eulaVrotsiseR
)%1smhO(
0.1 51.0 051
2.1
81.0
281
4.1 12.0 012
6.1
42.0
342
8.1 72.0 762
0.2
03.0
103
2.2 33.0 233
4.2
63.0
753
6.2 93.0 293
8.2
24.0
224
0.3 54.0 354
2.3
84.0
574
4.3 15.0 115
6.3
45.0
635
8.3 75.0 265
0.4
06.0
406
2.4 36.0 436
4.4
66.0
566
6.4 96.0 896
8.4
27.0
517
0.5 57.0 057
2.5
87.0
787
4.5 18.0 608
6.5
48.0
548
8.5 78.0 668
0.6
09.0
909
2.6 39.0 139
4.6
69.0
359
6.6 99.0 0001
8.6
20.1
0201
0.7 50.1 0501
Page 45
43
IM483H/IM805H Rev. R032206
R e d u c i n g / D i s a b l i n g t h e O u t p u t C u r r e n t
The IM483H/IM805H will automatically reduce the current in the motor
windings after a move provided the onboard 1mA current source, along with
a current adjustment resistor, is used to set the output current and a resistor is
placed between pins 2 and 3 of connector P1. Using this will greatly reduce the
amount of motor and drive heating in your system.
The amount of current reduced will depend upon the value of the Reduction
Adjust Resistor (R
Red
) and the value of the current adjust resistor (R
Adj
) . The
Current will be reduced 0.5 seconds after the rising edge of the last Step Clock
Pulse. The value of R
Red
is calculated as follows:
I
Run
is the desired peak running
current. Range 0.4A to 4A Peak
I
Hold
is the desired peak holding
current. Range 0.2A to 4A Peak
I
Run
x I
Hold
R
Red
= 500 x
( I
Run
- I
Hold
)
IM 48 3H
I
Run
is the desired peak running
current. Range 1.0A to 7A Peak
I
Hold
is the desired holding cur-
rent. Range 0.5A to 7A Peak
I
Run
x I
Hold
R
Red
= 150 x
( I
Run
- I
Hold
)
IM 805H
Bottom View
CURRENT REFERENCE
CURRENT ADJUST
CURRENT REDUCTION
CURRENT ADJUST
RESISTOR
CURRENT
REDUCTION
ADJUST
RESISTOR
POWER GROUND
Pin 1
Pin 1
P1
P2
Figure 7.4: Current Reduction Adjustment Resistor Connection
Page 46
IM483H/IM805H Rev. R032206
44
45
IM483H/IM805H Rev. R032206
I n t e r f a c i n g t h e I M 4 8 3 H / I M 8 0 5 H I n p u t s
The inputs to the IM483H/IM805H are internally pulled up to the +5VDC supply. Figure 7.6 shows the inputs and their associated pull up resistor values. See
Section 2: Hardware Specications, for resistor tolerance.
When interfacing to the IM483H/IM805H logic inputs an open collector output
is recommended.
Figure 7.6: Input Pull-Up Resistors
1
4.99k Ω
4.99k Ω
4.99k Ω
4.99k Ω
4.99k Ω
1.27k Ω
2.21k Ω
2.21k Ω
+5V
FAULT IN
MSEL 0
MSEL 1
MSEL 2
MSEL 3
SCLK
DIR
ENABLE
P1
P2
Bottom View
RESET
If zero current is required at stand still
then the current reduction output (P1:3)
may be tied directly to the enable input
(P1:11). This will disable the outputs
0.5 seconds after the last step clock
input.
When the current reduction output is
used in this manner an open collector
output or blocking diode is RE-
QUIRED or damage may occur to the
internal circuitry. The diode or open
collector transistor should be placed
after the enable/reduction connection as
shown in gure 7.5.
If a voltage is used to set the output
current the current reduction output
(P1:3) will provide an open drain, active low output that occurs 0.5 seconds
after the last step clock input and is
referenced to ground (P2:4) the RDSON of the internal MOSFET is approximatly 6.5Ω.
Figure 7.5: Interfacing the Current
Reduction Input
ENABLE/ REDUCTION
INPUT
ENABLE/ REDUCTION
INPUT
SCHOTTKY TYPE
INTERFACE
CIRCUIT
INTERFACE
CIRCUIT
OPEN COLLECTOR INTERFACE
BLOCKING DIODE
OR
Page 47
45
IM483H/IM805H Rev. R032206
The M i c r o s t e p R e s o l u t i o n S e l e c t I n p u t s ( M S E L )
Microsteps per step are selected via Pins 5 - 8 on connector P1. The table below
shows the standard resolution values and the associated input settings.
The microstep resolution can be changed at any time. There is no need to reset
the drive or cycle the power. On-the-y “gear shifting” facilitates high speed
slewing combined with high resolution positioning at either end of the move.
When the microsteps are changed so that the IM483H/IM805H does not fall
on a full step (i.e. zero crossing of the sine/cosine) the IM483H/IM805H will
readjust itself at the next pulse that would overshoot the fullstep position. This
feature allows the IM483H/IM805H to readjust the motor position no matter
what resolution is chosen when it is changed.
Table 7.3: Microstep Resolution Select Settings
Figure 7.7: MSEL Inputs, Interface Example
1
1
RESOLUTION SELECT 0
RESOLUTION SELECT 1
RESOLUTION SELECT 2
RESOLUTION SELECT 3
SUPPLY GROUND
Bottom View
Resolution
Microstep Select Line States
Microsteps/Step
Microsteps/Rev
MSEL0
MSEL1
MSEL2
MSEL3
Binary Microstep Resolution Settings (1.8° Motor)
2 400 GND GND GND GND
4
800
OPEN
GND
GND
GND
8 1,600 GND OPEN GND GND
16
3,200
OPEN
OPEN
GND
GND
32 6,400 GND GND OPEN GND
64
12,800
OPEN
GND
OPEN
GND
128 25,600 GND OPEN OPEN GND
256
51,200
OPEN
OPEN
OPEN
GND
Decimal Microstep Resolution Settings (1.8° Motor)
5 1,000 GND GND GND OPEN
10
2,000
OPEN
GND
GND
OPEN
25 5,000 GND OPEN GND OPEN
50
10,000
OPEN
OPEN
GND
OPEN
125 25,000 GND GND OPEN OPEN
250
50,000
OPEN
GND
OPEN
OPEN
Invalid Resolution Settings : May Cause Erratic Operation
GND OPEN OPEN OPEN
OPEN
OPEN
OPEN
OPEN
Page 48
IM483H/IM805H Rev. R032206
46
47
IM483H/IM805H Rev. R032206
I n t e r f a c i n g t h e F a u l t a n d R e s e t I n p u t s
The IM483H/IM805H has a Fault
input located at P1:4. This can be
used to force a fault condition. When
pulled low the signal is latched and
the outputs will be disabled. The
fault condition can only be cleared
by resetting the drive or cycling the
power.
When interfacing this input, an open
collector output or blocking diode
is REQUIRED or damage may
occur to the internal fault detection
circuitry.
The IM483H/IM805H also has a
Reset Input. On power up, or if the
Reset Input is Closed, the internal
reset circuit will hold the input low
for 100 to 300 milliseconds. The
“holding” time does not begin until
the Reset Input is Opened. (See
Figure 7.11: Multiple Drives - One Reset
1N914 OR
EQUIVALENT
1N914 OR
EQUIVALENT
1N914 OR
EQUIVALENT
RESET
BUTTON
RESET
INPUT
UNIT #1
RESET
INPUT
UNIT #2
RESET
INPUT
UNIT #3
14
14
14
1N914 OR EQUIVALENT
INTERFACE
CIRCUIT
OR
FAULT IN/RESET
INPUT
FAULT IN /RESET
INPUT
When controlling multiple drives
with a single Reset you must install
blocking diodes at the input (Pin 14)
of each drive. Because of the slight
differences in Reset timing, this will
prevent the drives from latching the
Reset Input in the LOW state. (See
Figure 7.11.)
Circuit
Open
Circuit
Closes
Circuit
Open
at T=0
0 100 200 300
Milliseconds
+5 V
Internal Reset Hold Time
Starts When Circuit Opens
RESET BUTTON
Figure 7.9: Reset Timing
Figure 7.10: Interfacing the Fault In/Reset Inputs
W A R N I N G! When interfacing the FAULT IN/RESET input, an open collector, tri-state
output or blocking diode is REQUIRED or damage may occur. (See Figure 7.10.)
1
4.99k Ω
4.99k Ω
4.99k Ω
4.99k Ω
4.99k Ω
1.27k Ω
2.21k Ω
2.21k Ω
+5V
FAULT IN
MSEL 0
MSEL 1
MSEL 2
MSEL 3
SCLK
DIR
ENABLE
P1
P2
Bottom View
RESET
Figure 7.8: IM483H/IM805H Inputs
Page 49
47
IM483H/IM805H Rev. R032206
M i n i m u m C o n n e c t i o n s
The following gure and table illustrate the minimum connection requirements
for the IM483H and IM805H drivers.
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2ProtcennoC
#niP
emaNniP
noitpircseD
9,7 AesahP tuptuoAesahP
3,1
BesahP
tuptuoBesahP
4 d
nuorG )nruter(dnuorgegatlovylppuS
5
V+
tupniegatlovylppuS
6 C
DV5+ tupnICDV5+
1ProtcennoC
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01 noitceriD tupninoitceridrotoM
9
kcolCpetS
tupnikcolcpetsrotoM
8-5 3-0LESM seniLtceleSnoituloseR
Figure 7.9: Minimum Connections
Table 7.4: Minimum Connections
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2ProtcennoC
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9,7 AesahP tuptuoAesahP
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BesahP
tuptuoBesahP
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5
V+
tupniegatlovylppuS
6 CDV5+ tupnICDV5+
1ProtcennoC
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01 noitceriD tupninoitceridrotoM
9
kcolCpetS
tupnikcolcpetsrotoM
8-5 3-0LESM seniLtceleSnoituloseR
Page 50
IM483H/IM805H Rev. R032206
48
49
IM483H/IM805H Rev. R032206
S e c t i o n 8
Tr o u b l e s h o o t i n g
S e c t i o n O v e r v i e w
This section will cover the following:
n Basic Troubleshooting
n Common Problems/Solutions
n Contacting Application Support
n Product Return Procedure
n 24-Month Limited Warranty
B a s i c Tr o u b l e s h o o t i n g
In the event that your IM483H/IM805H doesn’t operate properly, the rst step
is to identify whether the problem is electrical or mechanical in nature. The
next step is to isolate the system component that is causing the problem. As
part of this process you may have to disconnect the individual components that
make up your system and verify that they operate independently. It is important to document each step in the troubleshooting process. You may need this
documentation to refer back to at a later date, and, these details will greatly
assist one of our application engineers in determining the problem should you
need assistance.
Many of the problems that effect motion control systems can be traced to electrical noise, software errors, or mistakes in wiring.
P r o b l e m S y m p t o m s a n d P o s s i b l e C a u s e s
S y m p t o m
Motor does not move.
P o s s i b l e P r o b l e m
No power.
Unit is in a reset condition.
Invalid microstep resolution select setting.
Page 51
49
IM483H/IM805H Rev. R032206
Current adjust resistor is wrong value or not in place.
Fault condition exists.
Unit is disabled.
S y m p t o m
Motor moves in the wrong direction.
P o s s i b l e P r o b l e m
Motor phases may be connected in reverse.
S y m p t o m
Unit in fault.
P o s s i b l e P r o b l e m
Current adjust resistor is incorrect value or not in place.
Motor phase winding shorted.
Power input or output driver electrically overstressed.
Unit overheating.
S y m p t o m
Erratic motor motion.
P o s s i b l e P r o b l e m
Motor or power wiring unshielded or not twisted pair.
Logic wiring next to motor/power wiring.
Ground loop in system.
Open winding of motor.
Phase bad on drive.
Invalid microstep resolution select setting.
S y m p t o m
Motor stalls during acceleration.
Page 52
IM483H/IM805H Rev. R032206
50
51
IM483H/IM805H Rev. R032206
P o s s i b l e P r o b l e m
Incorrect current adjust setting or resistor value.
Motor is undersized for application.
Acceleration on controller is set to high.
Power supply voltage too low.
S y m p t o m
Excessive motor and driver heating.
P o s s i b l e P r o b l e m
Inadequate heat sinking / cooling.
Current reduction not being utilized.
Current set too high.
S y m p t o m
Inadequate holding torque.
P o s s i b l e P r o b l e m
Incorrect current adjust setting or resistor value.
Increase holding current with the current reduction adjust resistor.
Page 53
51
IM483H/IM805H Rev. R032206
T h e I M S W e b S i t e
Another product support resource is the IMS website located at http://
www.imshome.com/. This site is updated monthly with tech tips, applications
and new product updates.
R e t u r n i n g Yo u r P r o d u c t t o I M S
If Application Support determines that your IM483H/IM805H needs to be returned the factory for repair or replacement you will need to take the following
steps:
n Obtain an RMA (Returned Material Authorization) number
and shipping instructions from Customer Service.
n Fill out the “Reported Problem” eld in detail on the RMA
form that Customer Service will fax you.
n Enclose the product being returned, and the RMA form in the
box. Package product in its original container if possible. If
original packaging is unavailable ensure that the product is
enclosed in approved antistatic packing material. Write the
RMA number on the box.
The normal repair lead time is 10 business days, should you need your product
returned in a shorter time period you may request that a “HOT” status be placed
upon it while obtaining an RMA number. Should the factory determine that
the product repair is not covered under warranty, you will be notied of any
charges.
C o n t a c t i n g A p p l i c a t i o n S u p p o r t
In the event that you are unable to isolate the problem with your IM483H/
IM805H, the rst action you should take is to contact the distributor from
whom you originally purchased your product or IMS Application Support at
860-295-6102 or by fax at 860-295-6107. Be prepared to answer the following
questions:
n What is the application?
n In detail, how is the system congured?
n What is the system environment? (Temperature, Humidity,
Exposure to chemical vapors, etc.)
n What external equipment is the system interfaced to?
Page 54
IM483H/IM805H Rev. R032206
52
53
IM483H/IM805H Rev. R032206
A p p e n d i x A
T h e I M 4 8 3 H / I M 8 0 5 H D e v e l o p e r ’ s
K i t
S e c t i o n O v e r v i e w
This appendix covers the
optional developer’s kit for the
IM483H and IM805H Microstepping Hybrids. (IMS Part
Numbers IM483H-DK1 and
IM805H-DK1).
The Developer’s Kit provides
all of the tools needed for rapid
prototyping and product evaluation by eliminating the need
of laying out and testing a PC
board and heat sink proong.
The included interface board
features an onboard +5V supply, fault protection, opto isolation for logic inputs, and screw terminals for easy prototyping. The inclusion of
the interface board schematic provides a useful guide for PC board layout when
completing a system design using the IM483H/IM805H Hybrid.
Included in the Developer’s Kit are:
n IM483H or IM805H Hybrid Driver.
n INT-483H/805H Interface Board.
n HFC-22 Heat Sink/Fan/Clip Assembly.
n Interface Board Schematic.
A s s e m b l i n g t h e I M 4 8 3 H / I M 8 0 5 H - D K 1
To assemble the IM483H/IM805H-DK1:
1) Placing the heat sink on the driver, align so that the dot on
the heat sink is on the same side as the dot on the driver,
with the TN-22H thermal pad sandwiched between them.
2) Insert two of the arms from the fan/clip assembly into the
corresponding slots in the driver, aligning the curved ngers
on the clip between the posts of the heat sink. Insert the
other two locking tabs into the opposite slots and snap into
place. The locking tabs on all four arms should be completely through the slots on the driver.
3) Plug assembled HFC-22/driver into interface board.
Figure A.1: IM483H/IM805H-DK1
Page 55
53
IM483H/IM805H Rev. R032206
T h e I N T- 4 8 3 H / I M 8 0 5 H I n t e r f a c e B o a r d
One of the key components of the IM483H/IM805H-DK1 is the interface board INT483H/805H. The interface board was designed to aid the user in rapid integration of the
IM483H or IM805H driver hybrid into your system.
The key features of the interface board are:
n Optically Isolated Logic Inputs
n Fault Output
n +5VDC Supply
n Screw Terminals
n Power and Fault LEDs
n Input Capacitors
Figure A.2: HFC-22 Exploded View
FINGERS
CLIP
FA
N
HEA
T-SINK
THERMAL
PA
D
DRIVER
ARM
LOCKING TA
B
Page 56
IM483H/IM805H Rev. R032206
54
55
IM483H/IM805H Rev. R032206
P i n A s s i g n m e n t a n d D e s c r i p t i o n s
E l e c t r i c a l S p e c i f i c a t i o n s
The test parameters for the following are:
TA = 25°C, +V = 45VDC
snoitacificepSlacirtcelECDH508/H384-TNI
noitacificepS
noitidnoCtseT
niM
pyT
xaM
tinU
ylppuSotpO stupnIdetalosI 5 04 V
tnerruCdrawroFtupnI
stupnIdetalosI
8
01
21
Am
egatloVdrawroFtupnIotpO stupnIdetalosI 5.1 7.1 V
egatloVnwodkaerBesreveR
stupnIdetalosI
5
V
tnerruCtuptuOlangiS tluaF,petSlluFnO 52 Am
egatloVecruoS-niarD
tluaF,petSlluFnO
001
V
ecnatsiseRecruoS-niarD I(tluaF,petSlluFnO
SD
)Am52= 5.6
Ω
Table A.2: INT-483 / 805 Interface Board Electrical Characteristics
Table A.1: INT-483 / 805 Pin Assignment and Descriptions
INT-483H/805H Pin Assignment and Descriptions
Connector P1: 7 Pin Screw Terminal
Pin #
Pin Name
Description
1, 2 Phase A Phase A output
3, 4
Phase B
Phase B output
5, 6 Ground Supply voltage ground (return)
7
+V
Supply voltage input
Connector P2: 10 Position Pheonix
1 Opto Supply +5 to +24VDC
2
Current Reduction
Phase current reduction input
3 Current Adjust Phase current adjust input
4
GND
Ground
5 Reset Active LOW reset input
6
Enable
Active HIGH motor phase enable input
7 Direction Motor direction input
8
Step Clock
Motor step clock input
9 Full Step Open drain on full step output
10
Fault
Open drain fault output
Page 57
55
IM483H/IM805H Rev. R032206
JP
2
JP
1
ENON/ENOFF
OPTO/+5
V
MS0
MS
1
MS2
MS3
SW
1
TH
IS
SI
DE
“O
N”
POWER
FAUL
T
FAN
P3
+5
V
2 1
4.250
(107.95)
3.950
(100.33)
2.700
(68.58)
3.000
(76.2)
0.172 (4.37) Diameter
Through (4 Places
)
1.595
(40.51)
0.150
(4
.37)
0.150
(4
.37)
P2
P1
Pin
1
Pin
1
Figure A.3: INT-483 / 805 Interface Board, Dimensions in Inches (mm)
D i m e n s i o n a l I n f o r m a t i o n
The INT-483H/805H can be mounted to a panel using standard #8 hardware.
Dimensions in Inches (mm)
Page 58
IM483H/IM805H Rev. R032206
56
57
IM483H/IM805H Rev. R032206
S e t t i n g t h e O u t p u t C u r r e n t
The INT-483H/805H uses the IM483H or IM805H’s internal current source
to adjust the output current of the driver. In order to calculate the run and hold
currents for the driver being used, please refer to Section 7: Interfacing to the
IM483H/IM805H of this document. The gure below illustrates the resistor
connections for both run and hold currents.
J u m p e r S e t t i n g s
JP2:1-2: If the shunt is placed on the “ENON” side of the jumper (between pins 1 & 2)
the drive outputs will be disabled approximately .5 seconds after the last step clock input.
Note that in this mode of operation the current reduction resistor MUST NOT be used or
the drive will operate erratically. This mode should only be used if no holding current is
required.
JP2:2-3: If the shunt is placed on the “ENOFF” side of the jumper (between pins 2 & 3)
the drive outputs will not disable following the last step clock pulse. In this case a current reduction resistor can be used to set the holding current to some value. The jumper is
illustrated in gure A.5.
NOTE: When connecting both the current adjust and the
current reduction resistors, connections should be made
as short as possible to minimize the amount of electrical
noise coupled into the driver.
WARNING! When using the “ENON” mode of disabling
the outputs following a move the current reduction resistor
MUST NOT be used or the drive will operate erratically.
Figure A.4: INT-483 / 805 Current Adjustment Resistors
JP
2
JP
1
ENON/ENOFF
OPTO/+5
V
MS0
MS
1
MS
2
MS
3
SW
1
TH
IS
SI
DE
“O
N”
POWER
FAUL
T
FAN
P3
+5
V
2 1
P1
P2
Pin 1
Pin
1
Current
Adjustment
Resistor
Current
Reduction
Resistor
Page 59
57
IM483H/IM805H Rev. R032206
I s o l a t e d I n p u t s
The schematic illustrated in gure
A.6 shows the optically isolated
inputs to the INT-483H/805H and
associated circuitry.
J u m p e r S e t t i n g s
JP1:1-2: If the shunt is placed on the
“OPTO” side (between pins 1 & 2)
of the jumper, the power for the optoisolators (+5 to +24VDC) must be
provided by the user at P1:1.
JP1:2-3: If the shunt is placed on
the “+5V” side (between pins 2 &
3), then the opto-isolators will be powered by the on board +5V supply. If the
on-board supply is used to power the opto-isolators, electrical isolation between
drive power and the logic inputs will be lost.
NOTE: When using the on-board +5VDC supply (JP1:2-3)
to power the opto-isolators, electrical isolation between
drive/fan power and the logic inputs is defeated!
OPTO SUPPLY P1:1
(+5
TO +24 VDC)
STEP CLOCK P1:8
DIRECTION P1:7
ENABLE P1:6
RESET
P1:5
HCPL-0630
HCPL-0630
HCPL-0630
CCLHM100
CCLHM100
CCLHM100
CCLHM100
2
1
3
JP1
+5VDC
Figure A.6: Opto Isolated Inputs
Figure A.5: Jumpers JP1 & JP2
JP2
JP
1
ENON/ENOFFOPTO/+5V
MS
0
MS
1
MS
2
MS
3
SW1
THIS SIDE “ON”
POW
ER
FA
UL
T
FAN
P3
+5
V
2 1
JP2
JP
1
ENON/ENOFF OPTO/+5V
1 12 2
Page 60
IM483H/IM805H Rev. R032206
58
59
IM483H/IM805H Rev. R032206
noituloseR
sgnitteShctiwSPIDtceleSpetsorciM
petS/spetsorciM
veR/spetS
0LESM
1LESM
2LESM
3LESM
)rotoM°8.1(sgnitteSnoituloseRpetsorciMyraniB
2 004 NO NO NO NO
4
008
FFO
NO
NO
NO
8 0
06,1 NO FFO NO NO
61
002,3
FFO
FFO
NO
NO
23 004,6 NO NO FFO NO
46
008,21
FFO
NO
FFO
NO
821 006,52 NO FFO FFO NO
652
002,15
FFO
FFO
FFO
NO
)rotoM°8.1(sgnitteSnoituloseRpetsorciMlamiceD
5 0
00,1 NO NO NO FFO
01
000,2
FFO
NO
NO
FFO
52 000,5 NO FFO NO FFO
05
000,01
FFO
FFO
NO
FFO
521 000,52 NO NO FFO FFO
052
000,05
FFO
NO
FFO
FFO
noitarepOcitarrEesuaCyaM:sgnitteSnoituloseRdilavnI
NO FFO FFO FFO
FFO
FFO
FFO
FFO
M i c r o s t e p R e s o l u t i o n S e t t i n g s
The number of microsteps per step is selected by the DIP switch (SW1). The
following table shows the standard resolution values along with the associated switch
settings.
Please note that all of the example settings
are for a stepper motor with 1.8° step angle.
If using a motor with a different step angle
the steps/rev resolution will vary with the
step angle.
For example, a .45° step angle motor (800
Fullsteps/Rev) set to 16 microsteps/step
will have a resolution of 12,800 steps/rev.
Table A.3: Microstep Resolution Switch Settings
JP2
JP
1
ENON/ENOFFOPTO/+5V
MS
0
MS
1
MS
2
MS
3
SW1
THIS SIDE “ON”
POW
ER
FA
UL
T
FAN
P3
+5
V
2 1
MS
0
MS
1
MS
2
MS
3
SW1
THIS SIDE “ON”
Figure A.7: MESEL Select Switch
Page 61
59
IM483H/IM805H Rev. R032206
L E D I n d i c a t o r s
G r e e n
The green LED is powered by the on-board +5V supply and indicates a “power
on” condition when illuminated.
R e d
The red LED is controlled by the fault output of the IM483H or IM805H driver.
If the red LED is illuminated turn off the power and check for a system fault.
A fault condition can only be reset by cyclying power or toggling the RESET
input at P1:6. In the case of an over-temperature fault allow the drive to cool
before re-applying power.
F a u l t P r o t e c t i o n
The INT-483H/805H adds phase to ground fault protection to the IM483H
or IM805H. If a phase to ground fault is detected the driver will set the fault
output, which will illuminate the red LED.
The INT-483H/805H buffers the drivers fault output signal through an open
drain N-channel FET. The signal at the terminal strip is inverted, thus it is active LOW.
In the case of an over-temperature fault, neither the red LED or the fault output
will activate. The driver must be allowed to cool prior to re-applying power. If
this type of fault condition occurs verify that the HFC-22 is properly seated and
the fan is working.
The power must be cycled or the reset input toggled to clear the fault condition.
Refer to Section 8: Troubleshooting, of this document should the fault condition
not clear on power cycle or reset.
F u l l S t e p O u t p u t
The INT-483H/805H buffers the driver’s full step output signal through an
open drain N-channel FET. The signal at the terminal strip is inverted, thus it
is active LOW.
Page 62
IM483H/IM805H Rev. R032206
60
JP2
JP
1
ENON/ENOFF OPTO/+5V
MS
0
MS
1
MS
2
MS
3
SW
1
THIS SIDE “ON”
POW
ER
FA
ULT
FAN
P3
+5
V
2 1
P1
P2
Pin
1
Pin
1
Current
Adjustment
Resistor
Current
Reduction
Resistor
Direction
Step Cloc
k
Phase A
Phase A
Phase B
Phase B
Motor
Powe
r
Supply
GND
+V
M i n i m u m C o n n e c t i o n s f o r t h e I M 4 8 3 H /
I M 8 0 5 H - D K 1
The gure below illustrates the minimum connections to the IM483H/IM805HDK1.
Figure A.8: Minimum Connections
Page 63
WARRANTY
TWENTY-FOUR (24) MONTH LIMITED WARRANTY
Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS
(the “Customer”) that the product purchased from IMS (the “Product”) will be free from defects in
materials and workmanship under the normal use and service for which the Product was designed
for a period of 24 months from the date of purchase of the Product by the Customer. Customer’s
exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s
sole option, of the Product, or any part of the Product, determined by IMS to be defective. In order
to exercise its warranty rights, Customer must notify Company in accordance with the instructions
described under the heading “Obtaining Warranty Service.”
This Limited Warranty does not extend to any Product damaged by reason of alteration, accident,
abuse, neglect or misuse or improper or inadequate handling; improper or inadequate wiring
utilized or installed in connection with the Product; installation, operation or use of the Product not
made in strict accordance with the specifications and written instructions provided by IMS; use of
the Product for any purpose other than those for which it was designed; ordinary wear and tear;
disasters or Acts of God; unauthorized attachments, alterations or modifications to the Product;
the misuse or failure of any item or equipment connected to the Product not supplied by IMS;
improper maintenance or repair of the Product; or any other reason or event not caused by IMS.
IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL,
EXPRESS OR IMPLIED BY LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY
WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE.
CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS STATED
ABOVE, AND IN NO EVENT WILL THE IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL,
SPECIAL OR INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.
This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in
this Limited Warranty. This Limited Warranty is the sole warranty offered by IMS with respect to
the Product. IMS does not assume any other liability in connection with the sale of the Product. No
representative of IMS is authorized to extend this Limited Warranty or to change it in any manner
whatsoever. No warranty applies to any party other than the original Customer.
IMS and its directors, officers, employees, subsidiaries and affiliates shall not be liable for any
damages arising from any loss of equipment, loss or distortion of data, loss of time, loss or
destruction of software or other property, loss of production or profits, overhead costs, claims of
third parties, labor or materials, penalties or liquidated damages or punitive damages, whatsoever,
whether based upon breach of warranty, breach of contract, negligence, strict liability or any other
legal theory, or other losses or expenses incurred by the Customer or any third party.
OBTAINING WARRANTY SERVICE
Warranty service may obtained by a distributor, if the Product was purchased from IMS by a
distributor, or by the Customer directly from IMS, if the Product was purchased directly from
IMS. Prior to returning the Product for service, a Returned Material Authorization (RMA) number
must be obtained. Complete the form at http://www.imshome.com/rma.html after which an RMA
Authorization Form with RMA number will then be faxed to you. Any questions, contact IMS
Customer Service (860) 295-6102.
Include a copy of the RMA Authorization Form, contact name and address, and any additional
notes regarding the Product failure with shipment. Return Product in its original packaging, or
packaged so it is protected against electrostatic discharge or physical damage in transit. The RMA
number MUST appear on the box or packing slip. Send Product to: Intelligent Motion Systems, Inc.,
370 N. Main Street, Marlborough, CT 06447.
Customer shall prepay shipping changes for Products returned to IMS for warranty service and IMS
shall pay for return of Products to Customer by ground transportation. However, Customer shall
pay all shipping charges, duties and taxes for Products returned to IMS from outside the United
States.
Page 64
370 N. Main Street
P.O. Box 457
Marlborough, CT 06447 U.S.A.
Phone: 860/295-6102
Fax: 860/295-6107
E-mail: info@imshome.com
IMS MOTORS DIVISION
105 Copperwood Way, Suite H
Oceanside, CA 92054
Phone: 760/966-3162
Fax: 760/966-3165
E-mail: motors@imshome.com
U.S.A. SALES OFFICES
Eastern Region
Phone: 862/208-9742
Fax: 973/661-1275
E-mail: jroake@imshome.com
Central Region
Phone: 260/402-6016
Fax: 419/858-0375
E-mail: dwaksman@imshome.com
Western Region
Phone: 408/472-1971
Fax: 408/268-0716
E-mail: mwietharn@imshome.com
ASIA PACIFIC OFFICE
30 Rafes Pl., 23-00 Caltex House
Singapore 048622
Phone: +65/6233/6846
Fax: +65/6233/5044
E-mail: wllee@imshome.com
IMS EUROPE GmbH
Hahnstrasse 10, VS-Schwenningen
Germany D-78054
Phone: +49/7720/94138-0
Fax: +49/7720/94138-2
E-mail: info@imseuropehome.com
European Sales Management
4 Quai Des Etroits
69005 Lyon, France
Phone: +33/4 7256 5113
Fax: +33/4 7838 1537
E-mail: bmartinez@imshome.com
Germany Sales
Phone: +49/35205/4587-8
Fax: +49/35205/4587-9
E-mail: hruhland@imshome.com
Germany/UK Technical Support
Phone: +49/7720/94138-0
Fax: +49/7720/94138-2
E-mail: mweber@imshome.com
IMS Product Disclaimer and most up-to-date product information available at www.imshome.com.
© 2006 Intelligent Motion Systems, Inc. All Rights Reserved.
TECHNICAL SUPPORT
Eastern U.S.A.
Phone: 860/295-6102
Fax: 860/295-6107
E-mail: etech@imshome.com
Western U.S.A.
Phone: 760/966-3162
Fax: 760/966-3165
E-mail: wtech@imshome.com
Germany/UK
Phone: +49/7720/94138-0
Fax: +49/7720/94138-2
E-mail: mweber@imshome.com
www.imshome.com
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