Intelligent Motion Systems IB Series, IB S Series, IB463, IB462, IB104 Operating Instructions Manual

...

Download

Page 1

intelligent motion systems, inc.

Excellence in Motion

IBSERIES

HALF/FULL STEP STEPPING MOTOR DRIVERS

IB462

' IB463

OPERATING INSTRUCTIONS

' IB104

' IB106

' IB1010

370 N. MAIN ST., PO BOX 457, MARLBOROUGH, CT 06447

Internet: http://www.imshome.com, E-Mail: info@imshome.com

PH. (860) 295-6102, FAX (860) 295-6107

Page 2

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; niether 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 indemnifies Intelligent Motion Systems, Inc., against all damages.

IB Series Half/Full Step Driver Operating Instructions

Revision 05.21.2003

Page 3

Contents

IMPORT ANT! READ THIS FIRST!........................................................... 5

The Product Manual ......................................................................................5

Connecting the IB Series Driver to Your System ..........................................5

Notes and Warnings .....................................................................................6

Part I: General Information

Section 1.1: Introduction to the IB Series Drivers ................................. 8

Features and Benefits ................................................................................... 9

Section 1.2: Theory of Operation ........................................................ 11

Section Overview ......................................................................................... 11

Circuit Operation ......................................................................................... 11

Output Wave Sequences ............................................................................12

Timing .........................................................................................................13

Section 1.3: Selecting a Power Supply ............................................... 14

Section Overview .........................................................................................14

Selecting a Power Supply ........................................................................... 1 4

Recommended Wiring ................................................................................16

AC Line Filtering ..........................................................................................1 7

Section 1.4: Motor Selection and Connection.................................... 18

Section Overview .........................................................................................18

Selecting a Motor......................................................................................... 18

Motor Wiring ................................................................................................21

Section 1.5: Interfacing to the IB Series Drive .................................... 25

Section Overview .........................................................................................25

Layout and Interface Guidelines ................................................................. 2 5

Pin Assignment and Description ................................................................26

Basic Connections ......................................................................................27

Interfacing Motor Power (+V) .......................................................................27

Interfacing the Logic Inputs......................................................................... 28

Controlling the Output Current .................................................................... 3 0

Section 1.6: Troubleshooting .............................................................. 32

Section Overview .........................................................................................32

Basic Troubleshooting ................................................................................32

Problem Symptoms and Possible Causes ...............................................32

Contacting Application Support .................................................................. 34

The IMS Web Site ........................................................................................35

Returning Your Product to IMS ....................................................................35

Section 2.1: IB462................................................................................. 38

Section Overview .........................................................................................38

Mechanical Specifications ..........................................................................38

Electrical Specifications ..............................................................................39

Thermal Specifications ...............................................................................39

Part 2: Hardware Reference

Page 4

Current Adjust Resistor Values .................................................................. 40

Recommended IMS Power Supplies .........................................................41

Recommended IMS Motors ........................................................................ 41

Options and Accessories ...........................................................................42

Section 2.2: IB463................................................................................. 43

Section Overview .........................................................................................43

Mechanical Specifications ..........................................................................43

Electrical Specifications ..............................................................................44

Thermal Specifications ...............................................................................44

Current Adjust Resistor Values .................................................................. 45

Recommended IMS Power Supplies .........................................................46

Recommended IMS Motors ........................................................................ 46

Options and Accessories ...........................................................................47

Section 2.3: IB104................................................................................. 48

Section Overview .........................................................................................48

Mechanical Specifications ..........................................................................48

Electrical Specifications ..............................................................................49

Thermal Specifications ...............................................................................49

Current Adjust Resistor Values .................................................................. 50

Recommended IMS Power Supplies .........................................................51

Recommended IMS Motors ........................................................................ 52

Options and Accessories ...........................................................................52

Section 2.4: IB106................................................................................. 53

Section Overview .........................................................................................53

Mechanical Specifications ..........................................................................53

Electrical Specifications ..............................................................................54

Thermal Specifications ...............................................................................54

Current Adjust Resistor Values .................................................................. 55

Recommended IMS Power Supplies .........................................................56

Recommended IMS Motors ........................................................................ 57

Options and Accessories ...........................................................................57

Section 2.5: IB1010 ............................................................................... 58

Section Overview .........................................................................................58

Mechanical Specifications ..........................................................................58

Electrical Specifications ..............................................................................59

Thermal Specifications ...............................................................................59

Current Adjust Resistor Values .................................................................. 60

Recommended IMS Power Supplies .........................................................61

Recommended IMS Motors ........................................................................ 61

Options and Accessories ...........................................................................62

Appendix A: OPT140............................................................................ 63

Optional Interface Board ............................................................................. 6 3

Appendix B: Cooling Solutions .......................................................... 67

H-4X Heat Sink ............................................................................................67

H-100 Heat Sink .......................................................................................... 6 7

Thermal Pads .............................................................................................68

Appendix C: Miscellaneous Accessories ............................................ 70

Page 5

List of Figures

Figure 1.2.1 IB Series Block Diagram .................................................... 11

Figure 1.2.2 Normal Mode Phase Sequence ......................................... 12

Figure 1.2.3 Wave Mode Phase Sequence ............................................13

Figure 1.2.4 Half Step Mode Phase Sequence ......................................13

Figure 1.2.5 Timing .................................................................................13

Figure 1.4.1 Per Phase Winding Inductance .......................................... 20

Figure 1.4.2 8 Lead Motor Series Connection ........................................ 2 2

Figure 1.4.3 8 Lead Motor Parallel Connection ...................................... 22

Figure 1.4.4 6 Lead Motor Half Coil Connection ....................................2 3

Figure 1.4.5 6 Lead Motor Full Coil Connection ..................................... 2 3

Figure 1.4.6 4 Lead Motor Connection ...................................................2 4

Figure 1.5.1 Basic Connections .............................................................27

Figure 1.5.2 Opto-coupler Input Circuit ................................................... 2 8

Figure 1.5.3 TTL Interface .......................................................................29

Figure 1.5.4 Open Collector Interface ..................................................... 29

Figure 1.5.5 74HC/54HC/74HCT/54HCT Interface ................................30

Figure 1.5.6 Current Adjust Resistor Placement ....................................30

Figure 1.5.7 Switching Phase Currents ..................................................31

Figure 1.5.8 Isolated Switching of Phase Currents ................................ 31

Figure 2.1.1 IB462 Dimensions ..............................................................38

Figure 2.2.1 IB463 Dimensions ..............................................................43

Figure 2.3.1 IB104 Dimensions ..............................................................48

Figure 2.4.1 IB106 Dimensions ..............................................................53

Figure 2.5.1 IB1010 Dimensions ............................................................58

Figure A.1 PT-140 Dimensions ...........................................................63

Figure A.2 OPT-140 Placement ...........................................................65

Figure A.3 OPT-140 Schematic Representation .................................65

Figure B.1 H-4X Heat Sink....................................................................6 7

Figure B.2 H-100X Heat Sink ...............................................................6 8

Page 6

List of Tables

Table 1.4.1 Motor Connections ................................................................21

Table 1.5.1 Pin Assignment and Description ..........................................26

Table 2.1.1 IB462 Electrical Specifications ..............................................39

Table 2.1.2 IB462 Thermal Specifications ...............................................39

Table 2.1.3 IB462 Current Adjust Resistor Values .................................. 40

Table 2.2.1 IB463 Electrical Specifications ..............................................44

Table 2.2.2 IB463 Thermal Specifications ...............................................44

Table 2.2.3 IB463 Current Adjust Resistor Values .................................. 45

Table 2.3.1 IB104 Electrical Specifications ..............................................49

Table 2.3.2 IB104 Thermal Specifications ...............................................49

Table 2.3.3 IB104 Current Adjust Resistor Values .................................. 50

Table 2.4.1 IB106 Electrical Specifications ..............................................54

Table 2.4.2 IB106 Thermal Specifications ...............................................54

Table 2.4.3 IB106 Current Adjust Resistor Values .................................. 55

Table 2.5.1 IB1010 Electrical Specifications ............................................59

Table 2.5.2 IB1010 Thermal Specifications .............................................59

Table 2.5.3 IB1010 Current Adjust Resistor Values ................................ 6 0

Table A.1 OPT-140 Pin Configuration ................................................... 66

Page 7

IMPORTANT! READ THIS FIRST!

The Product Manual

Using This Manual

This manual is divided into two parts: Part 1 is General Information, which covers details common to the entire

IB Series of products such as operational theory, connection and interface instructions, and troubleshooting.

Part 2 is Hardware Reference. This part contains sections with information specific to each individual IB drive. Here you will find details such as mechanical, electrical and thermal specifications, current control resistor value tables and recommended power supplies and motors for each IB series drive. Do not attempt to connect or use your drive without first

consulting the section specific to the IB series drive you purchased!

The Bookmarks

The IB Series product manual in it’s electronic for mat (ib.pdf) can be downloaded from the IMS website at www.imshome.com. This version includes a Bookmark 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 Bookmark function are further identifiable because the cursor changes from a normal pointer to a “finger” pointer when placed over the word.

Connecting The IB Series Driver to your System

! All logic inputs are optically isolated and MUST have a

! Most regulated supplies use a voltage interrupt or “crow-

current limiting resistor at each input.

bar” current limit. That is, when the supply senses an over-current condition, it will turn off the output voltage for a time, and then back on again. This will continue until the over-current condition is cleared. Therefore, when using a regulated power supply for drive voltage, the supply should provide current sufficient enough to handle the high inrush motor current during power-up. If it does not, the power supply will switch into current limit and cut off regulating voltage to the drive. This can cause damage to the IB Series Motor Driver! Methods that will correct this condition are as follows:

Page 8

• Use an unregulated power supply.

! Disconnecting any inputs or outputs from the driver while

! Do not use any flux removers or cleaners that

Recommended Solders Recommeded Solvent

Kester “245” No-clean core solder, Tech Spray “Envorotech 1679”, Alpha Metals “Telecore Plus” solder, Chemtronics “Flux-off NR 2000”, Multicore “X39B” No-clean solder, or equivalent. or equivalent.

Recommended Solder Temperature Recommeded Time

315°C (600°F) 10 Seconds

Notes and Warnings

power is applied will damage the drive!

contain tricloroethane or hydrochlorofuorocarbons (HCFCs).

Tricloroethane and HCFCs will attack internal plastic components and cause permanent damage to the IB Series

Driver. We recommend using a “No-Clean” solder when soldering to the input and output pins of the IB series driver. If cleaning is required an alcohol based solvent should be used.

WARNING! The IB series have components which 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 your IB Series drive!

WARNING! Ensure that the power supply output voltage does not exceed the maximum input voltage of the IB Series Drive that you are using!

WARNING! A current limiting resistor is required when interfacing to the isolated inputs or damage will occur to the drive. See Part 1, Section 5 for interface details.

WARNING! Do not use any flux removers that contain trichloroethane or hydrochlorofluorocarbons (HCFCs) or corrosive damage will occur to the internal drive components!

Page 9

Part I

General

Information

Section 1.1–Introduction Section 1.2–Theory of Operation Section 1.3–Selecting a Power Supply Section 1.4–Selecting a Motor Section 1.5–Interfacing Section 1.6–Troubleshooting

Page 10

Section 1.1

Introduction to the IB Series Drivers

IB Series Half/Full Step Drivers

The IB series of miniature high performance stepper motor drives are designed for today’s quality minded, price sensitive market. The 40 volt series has a +12 to +40 VDC input voltage, up to 3.5 Amps per phase drive current and a maximum step frequency of 40kHz. The 80V series has a +24 to +80 VDC input voltage, up to a powerful 9 Amps per phase of drive current and a maximum step frequency of 250kHz. All of these drives feature pin compatibility, optically isolated logic inputs, and a 20 kHz chopping rate to reduce noise. In addition, all these drives are single supply.

The 40V Line of IB Drives

IB462

The IB462 packs a powerful 160 Watts into less than 3 cu. in. This drive operates from +12 to +40VDC and effortlessly outputs 2 Amps per phase. This high voltage allows for greater speeds at higher torque without having to resort to expensive drives or larger motors.

The high efficiency of the IB462 chopper drive along with its miniature size make it ideally suited to replace the less efficient L/R drives. In addition, the low cost and off-the-shelf availability of the IB462 permits an immediate, cost effective solution to an in-house design.

IB463

The IB463 has an output capability of up to 3.5 Amps per phase and, while it operates at the same voltage range as the IB462, it can deliver 1.4 times more power. This equates to 230 Watts of power in a package that only requires 3.6 cubic inches of real estate.

The IB463 is ideal for those applications requiring more power, but where size and cost are still important factors.

The 80V Line of IB Drives

The IB104, 106 and 1010 use MOSFET technology to achieve high power from a miniature package. These drives are designed to get maximum performance from larger, higher torque motors. This type of performance is required for today’s most demanding applications.

Page 11

With this 80V series of the IB family, IMS has preserved pin compatibility with the 40V series to provide equipment manufacturer’s the ability to easily upgrade their systems if more power is needed. In addition, the small package makes them ideal for PC board mounting. They may also be frame or chassis mounted and will accept 0.200/0.196 center connectors or plug type terminal strips such as the option TS-6 terminals sold by IMS.

IB104

The IB104 operates from +24 to +80 volts at 4 Amps per phase output current. This drive is ideal for lower power applications requiring high voltage performance. The IB104 will also run cooler because it uses the same MOSFET technology as the more powerful 80V IB drives.

IB106

The IB106 was designed with higher performance motors that require more current in mind. Applications requiring increased power can take advantage of its 6 Amps/phase drive current.

IB1010

The IB1010 utilizes the same high 80V input voltage as the IB104 and IB106, but is capable of delivering a full 9 Amps per phase. This equates to an incredible 1800 Watts in the same small package. This drive is unparalleled for those applications where maximum power is required, but size and cost are still a consideration.

Features and Benefits

General Features

! Very Low Cost. ! Single Supply. ! On-Board Phase Logic. ! Isolated Inputs. ! PC Board or Chassis Mountable. ! Extremely Small Size. ! 20 kHz Chopping Rate. ! Full or Half Step.

Page 12

Product Specific Features

IB462

! High Input Voltage (+12 to +40V). ! High Output Current (2 Amps/Phase). ! 40kHz Step Rate.

IB463

! High Input Voltage (+12 to +40VDC). ! High Output Current (3.5 Amps per Phase). ! 40kHz Step Rate.

IB104

! High Input Voltage (+24 to +80VDC). ! High Output Current (4 Amps per Phase). ! Over/Under Voltage Protection. ! 250 kHz Step Rate.

IB106

! High Input Voltage (+24 to +80VDC). ! High Output Current (6 Amps per Phase). ! Over/Under Voltage Protection. ! 250 kHz Step Rate.

IB1010

! High Input Voltage (+24 to +80VDC). ! High Output Current (9 Amps per Phase). ! Over/Under Voltage Protection.

! 250 kHz Step Rate.

Page 13

Section 1.2

Theory of Operation

Section Overview

This section will cover the circuit operation for the IB series drives.

! Circuit Operation. ! Output Wave Sequences. ! Timing.

Circuit Operation

The IB series drives are bipolar chopping stepper motor drives. They receive step clock, direction and mode signals from the system controller and generate constant phase currents which are adjustable in magnitude.

The principal functions are: a translator which generates the motor phase sequences, a dual PWM chopper circuit which regulates the current in the motor windings and a power stage to drive the motor. The translator generates three different sequences selected by the half/full step input. These are normal (two phases energized), wave drive (one phase energized)

ENABLE PIN 1

LOGIC GROUND PIN 2

HALF / FULL STEP PIN 3

STEP CLOCK PIN 4

CW/CCW PIN 5

CURRENT ADJUST PIN 6

+5v

REGULATOR

FILTER

OUTPUT BRIDGE

+5 VDC

OSCILLATOR

TRANSLATO R

+5 VDC

DRIVE LOGIC

Figure 1.2.1: IB Series Block Diagram

PIN 8 +V

PIN 12 Ø A PIN 11 Ø A

PIN 10 Ø B PIN 9 Ø B

PIN 7 GROUND

Page 14

and half step (alternately one phase energized/ two phases energized).

A common on-board oscillator drives the dual chopper. It supplies pulses which set two flip-flops. When the current in a winding reaches the programmed peak value a corresponding comparator resets its flip-f lop, shutting down the output stage until the next oscillator pulse comes along.

Because the windings in the motor store energy, current will continue to flow through the windings during the off period. The peak current for both windings is programmed by the current adjust input.

The output stage consists of dual full bridge drivers. The IB Series drives can be disabled by a logic HIGH signal on the enable input. Ultra fast recovery fly-back rectifiers are used to improve efficiency and help reduce noise.

Output Wave Sequences

The IB series drives generate phase sequences for normal, wave and half step modes. The state diagram and output waveforms are shown below. In all modes, the transition occurs on the falling edge of the step clock signal.

Normal Mode

In normal drive mode two phases are energized at all times. This mode is enabled by a logic HIGH on the Half/Full step input when the IB drive initializes to state 1.

STEP CLOCK

PHASE A PHASE A

PHASE B PHASE B

Figure 1.2.2: Normal Mode Phase Sequence

Wave Mode

In wave drive mode one phase is energized at a time. This mode is enabled by selecting full step mode when the IB drive is in an even numbered state.

Page 15

STEP CLOCK

PHASE A

PHASE B PHASE B

Figure 1.2.3: Wave Mode Phase Sequence

Half Step Mode

In half step mode the phasing alternates from one phase energized to two phases energized. Half step mode is selected by a logic LOW on the Half/ Full step input.

Timing

STEP CLOCK

CW/CCW

HALF/FULL STEP

STEP CLOCK

PHASE A PHASE A

PHASE B

Figure 1.2.4: Half Step Mode

CLK

Parameter Minimum

t - Clock Tim e .... .. .... .. .. .... .....3 µs

CLCK

t - Set up time...........................2µs

t - Hold Time................... ...........5. 5 µs

Figure 1.2.5: Timing

Page 16

Section 1.3

Selecting a Power Supply

Section Overview

This section contains general information pertaining to power supply selection for use with the IB drive. See the section in Part II of this document titled for the specific model IB drive you purchased for power supply specifications and recommendations. Precise wiring and connection details are to be found in Section 1.5, Interfacing to the IB Series Driver. The following is covered by this section:

! Selecting a Power Supply. ! Recommended Wiring. ! AC Line Filtering.

Selecting a Power Supply

Selecting a Motor Supply (+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.

The Power Supply - Motor Relationship

Motor windings can be basically 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 and, as a result, could damage the stepper driver over a period of time.

Page 17

The Power Supply - Driver Relationship

The IB series driver is very current efficient 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 reser voir. This results in a less than expected current draw on the supply.

Stepping motor drivers are designed with the intention that a user’s power supply output will ramp up to greater or equal to the minimum operating voltage. The initial current surge is quite 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. All have their advantages and disadvantages.

Regulated vs. Unregulated

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 fluctuations 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. They are also not bothered by line fluctuations, however, they are more expensive. Depending on the current regulation, a regulated supply may crowbar or current clamp and lead to an oscillation that may cause damage to the driver and/or power 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 IB driver.

Non IMS switching power supplies and regulated linear supplies with over-current protection are not recommended because of their inability to handle the surge currents inherit in stepping motor systems.

WARNING! Do not connect or disconnect motor or power leads with power applied!

Page 18

Recommended Wiring

Rules of Wiring and Shielding

Noise is always present in a system that involves high power and small signal circuitry. Regardless of the power configuration used for your system, there are some wiring and shielding rules that should be followed to keep the signal-to-noise ratio as small as possible.

Rules of Wiring

! Power supply and motor wiring should be shielded

! A minimum of 1 twist per inch is recommended. ! Motor wiring should be shielded twisted pairs using 20-

! Power ground return should be as short as possible to

! Power supply wiring should be shielded twisted pairs.

! Do not “daisy-chain” power wiring to system components.

twisted pairs run separately from signal carrying wires.

gauge wire or, for distance greater than 5 feet, 18 gauge or better.

established ground.

Use 18 gauge wire if load is less than 4 amps, or 16 gauge for more than 4 amps.

Rules of Shielding

! The shield must be tied to zero-signal reference potential.

! Do not assume that earth ground is true earth ground.

! The shield must be connected so that shield currents drain

! The number of separate shields required in a system is

! The shield should be tied to a single point to prevent

! A second shield can be used over the primary shield,

In order for shielding to be effective it is necessary for the signal to be earthed or grounded.

Depending on the distance to the main power cabinet it may be necessary to sink a ground rod at a critical location.

to signal-earth connections.

equal to the number of independent signals being processed plus one for each power entrance.

ground loops.

however, the second shield is tied to ground at both ends.

Page 19

Recommended Power Supply Cables

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 IB series drive.

Twisted Pair Jacketed

<4 Amps DC ......................... Belden par t# 9740 or equivalent 18 AWG

>4 Amps DC ......................... Belden par t# 8471 or equivalent 16 AWG

AC Line Filtering

The output voltage of an unregulated power supply will vary with the AC input applied. It is recommended that an AC line filter be used to prevent damage to the IB series drive 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 drive may occur! Ensure that the power supply output voltage does not exceed the maximum rated voltage for your IB driver!

WARNING! Hazardous voltage levels may be present if using an open frame power supply to power the IB driver!

Page 20

Section 1.4

Motor Selection and Connection

Section Overview

This section covers the motor configurations for the IB series drive, as well as general information concerning motor selection and connection. For specific motor recommendations see the section in Part II of this document pertaining to the model IB drive which you purchased.

! Selecting a Motor. ! Motor Wiring. ! Connecting the Motor.

Selecting a Motor

When selecting a stepper motor for your application there are several factors that need to be taken into consideration.

! How will the motor be coupled to the load? ! How much torque is required to move the load? ! How fast does the load need to move or accelerate? ! What degree of accuracy is required when positioning the

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 configuration of your stepper motor, as well as the current and half/full step settings of your IB series drive.

load?

Types and Construction of Stepping Motors

The stepping motor, while classed as a DC motor, is actually an AC motor that is operated by trains of pulses. Though 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 field. The IB series drivers are designed to work with the following types of stepping motors:

1) Permanent Magnet (PM).

2) Hybrid Stepping Motors.

Page 21

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). A VR motor is a low torque and load capacity motor typically used in instrumentation. The IB series drivers 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 range 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.

Sizing a Motor for Your System

The IB series drivers are bipolar drivers which work 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 IB d rive 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.

Winding Inductance

Since the IB drive 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 drive is set to the motor’s rated current. Precise current control settings are explained in the sections of Part II of this document that pertain to the model IB drive which you purchased.

As was discussed in the previous section, Selecting a Power Supply , the higher the voltage used the faster the current can flow 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 specified 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 configuration 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 configuration of the motor.

Page 22

Actual Inductance

Seen By the Driver

Specified Per Phase

Inductance

PHASE A

Actual Inductance

Seen By the Driver

Specified Per Phase

Inductance

PHASE A

PHASE B

8 Lead Stepping Motor

Series Configurati on

(Note: This example also applies to the 6 lead motor full copper configuration and to 4 lead stepping motors)

PHASE B

8 Lead Stepping Motor

Parallel Confi

(Note: This example also applies to the 6 lead motor half copper configuration)

uration

Figure 1.4.1 A & B: Per Phase W inding Inductance

The per phase winding inductance specified may be different than the per phase inductance seen by your IB driver depending on the wiring configuration used. Your calculations must allow for the actual inductance that the driver will see based upon the motor’s wiring configuration used.

Figure 1.4.1A shows a stepper motor in a series configuration. In this configuration, the per phase inductance will be 4 times that specified. For example: a stepping motor has a specified per phase inductance of

1.47mH. In this configuration the driver will see 5.88 mH per phase. Figure 1.4.1B shows an 8 lead motor wired in parallel. Using this configu-

ration the per phase inductance seen by the driver will be as specified.

Maximum Motor Inductance (mH per Phase) =

.4 X Minimum Supply Voltage

Using the following equation we will show an example of sizing a motor for an IB drive used with an unregulated power supply with a minimum voltage (+V) of 18 VDC:

.4 X 18 = 7.2 mH The maximum per phase winding inductance we can use is 7.2 mH.

NOTE: In calculating the maximum phase inductance the minimum supply output voltage should be used when using an unregulated supply.

Page 23

Motor Wiring

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 foot 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

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!

more information on wiring and shielding, please refer to Rules of Wiring and Shielding in Section 1.3 of this manual.

Recommended motor cables:

Dual twisted pair shielded (separate shields)

< 4A RMS per phase current.......... Belden Part# 9368 or equivalent 18 AWG.

> 4A RMS per phase current..........Belden Part# 1492A or equivalent 16 AWG.

When using a bipolar motor, the motor must be within 100 feet of the drive.

Connecting the Motor

The motor leads are connected to the following connector pins:

Phase Connector Pin

Phase A................................................................................... 12

Phase A................................................................................... 11

Phase B ...................................................................................10

Phase B .................................................................................... 9

T able 1.4.1: Motor Connections

Page 24

8 Lead Motors

8 lead motors offer a high degree of flexibility to the system designer in that they may be connected in series or parallel, thus satisfying a wide range of applications.

Series Connection

A series motor configuration would typically be used in applications where a higher torque at low speeds is needed. Because this configuration has the most inductance, the performance will start to degrade at higher speeds.

PHASE A

PHASE A PHASE B

PHASE B

Figure 1.4.2: 8 Lead Motor Series Connection

Parallel Connection

An 8 lead motor in a parallel configuration offers a more stable, but lower torque at lower speeds. Because of the lower inductance there will be higher torque at higher speeds.

PHASE A

PHASE A PHASE B

PHASE B

Figure 1.4.3: 8 Lead Motor Parallel Connections

Page 25

6 Lead Motors

Like 8 lead stepping motors, 6 lead motors have two configurations available for high speed or high torque operation. The higher speed configuration, or half coil, is so described because it uses one half of the motor’s inductor windings. The higher torque configuration, or full coil, uses the full windings of the phases.

Half Coil Configuration

As previously stated the half coil configuration 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

PHASE A PHASE A

NO CONNECTION

PHASE B PHASE B

NO CONNECTION

Figure 1.4.4: 6 Lead Motor Half Coil (Higher Speed) Connections

more stable at higher speeds. This configuration is also referred to as half copper.

Full Coil Configuration

The full coil configuration on a six lead motor should be used in applications where higher torque at lower speeds is desired. This configuration is also referred to as full copper.

PHASE A

NO CONNECTION

PHASE A PHASE B

NO CONNECTION

PHASE B

Figure 1.4.5: 6 Lead Motor Full Coil (Higher Torque) Connections

Page 26

4 Lead Motors

4 lead motors are the least flexible but easiest to wire. Speed and torque will depend on winding inductance.

PHASE A

PHASE B

Figure 1.4.6: 4 Lead Motor Connections

Page 27

Section 1.5

Interfacing to the IB Series Drive

Section Overview

The IB series drive may be incorporated directly in the user’s printed circuit board. It may also be chassis mounted and interfaced to using either soldered wire connection or the optional plug on terminal strips (IMS PN TS-6). In order to operate, the IB drive must have the following connections

! Motor Power (+V). ! Motor. ! Logic Interface (Step Clock, Direction).

The section also contains pin assignment and description, and sample logic and current adjust interface circuit examples.

Layout and Interface Guidelines

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. The motor end must be left floating.

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 28

Pin Assignment and Description

noitpircseDdnatnemngissAniPevirDseireSBI

#NIP NOITCNUF SLIATED

7 8 9

01 11 21

elbanE.delbaneerastuptuoesahpeht,WOLcigoLnehW

dnuorGcigoL

tupnIpetSlluF/flaH

eeS noitarepOfoyroehT:2noitceS .sliatederomrof

tupnIkcolCpetS

tupnIWCC/WC

.dezinorhcnys

tsujdAtnerruC

dnuorGrewoP.)DNG(nruterylppusrewoP V+ .tupniylppusrewoP BØ.tuptuoBesahprotoM BØ .tuptuoBesahprotoM AØ.tuptuoAesahprotoM AØ .tuptuoAesahprotoM

ehtrofhtapnruterehtsinipsihT.nommoClangiScigoL

dluohsnipsihtnoitalosiniatniamotredronI.stupnicigol

.)dnuorGrewoP(7nipotdetcennocebton

etatsWOLcigoLaninehW.tupnitcelespetSlluF/flaH

evirdehtHGIHnehW.edompetsflahnieblliwevirdeht

-enOro,edoMevaW.edompetsllufnignitarepoeblliw

llufgnitcelesybdeniatbosi,edompetsllufnO-esahP

.etatsderebmunnevenatasievirdBIehtnehwpets

ybtessi,edompetsllufnO-esahP-owTro,edoMlamroN

derebmunddonatasievirdehtnehwpetsllufgnitceles

tievirdBIehtotdeilppasirewopnehW.etats

sinoitarepopetslluffI.1etatsotsezilaitiniyllacitamotua

.edoMlamroNotniogyllacitamotualliwBIehtdetceles

tupnisihtnoeslupHGIHevitcanA.tupnikcolCpetS

nosruccopetsehT.tnemercnienorotomehtsecnavda

)5.2.1erugiFeeS(.langissihtfoegdegnillafeht

.tupnilortnocnoitceridesiwkcolcretnuoc/esiwkcolC

ehtnosdnepednoitatorrotomfonoitceridlacisyhP

yllanretnisitupnisihT.sgnidniwrotomehtfonoitcennoc

detcennocsirotsiserA.tupnitnemtsujdAtnerruCesahP

tsujdaot)7niP(dnuorGrewoPdnatupnisihtneewteb

,dettimosirotsiserehtfI.rotomehtfotnerrucesahpeht

ehttaeblliwrotomehtfoesahphcaenitnerruceht

IItraPninoitcesehteeS.revirdehtfotnerrucmumixam

uoyevirdBIledomehtotgniniatreptnemucodsihtfo

.snoitauqednaselbatrotsiserrofdesahcrup

T able 1.5.1: Pin Assignment and Description

NOTE: See the section in Part II of this document pertaining to the model IB drive you purchased for electrical specifications of the input/output signals.

Page 29

Basic Connections

The diagram below illustrates the basic connections required to operate the IB series driver. The connection of each part is discussed at length in this section. In order to run the IB drive the following is required: a power

DRAWNBY JA

PIN 1

ENABLE

OUTPUT

GROUND

OUTPUT

CLOCK

OUTPUT

CONTROLLER

INTERFACE

DASHED LINE INDICATES THAT THE CONNECT ION OF THIS I NPUT IS NO T REQUIRED FOR DRIVER TO OPERATE.

Figure 1.5.1: Basic Connections

WARNING! A current limiting resistor or recommended interface is required in series with the logic inputs! Use of these inputs without this resistor or recommended interface will result in damage to the drive!

LOGIC GROUND

STEP CLOCK

/CCW

CURRENT ADJUST

PHASE A PHASE PHASE B PHASE B

GROUND

V+

INPUT CAPACIT OR

GND

POWER SUPPLY

HOT

NEUT

AC LINE FILTER

AC LINE CORD

EARTH

supply, a stepping motor, and a control interface supplying step clock and direction.

Interfacing Motor Power (+V)

Pins 7 (+V), and 8 (Ground) are used to connect motor DC power to the IB drive. A low impedance aluminum electrolytic capacitor is required. The continuous operating voltage of the capacitor should exceed the maximum supply voltage (+V) as well as any additional voltage caused by the motor’s back EMF.

EXAMPLE: 5.2A (Peak Output Current)@ 70VDC X 150µF = 780µF 100V

Page 30

The value of the capacitor should be approximately 150µF for every Amp of peak per phase output current and should be placed as close to pins 7 and 8 as possible. See figure 1.5.1 for connection drawing.

See the section titled for the model IB drive you purchased in Part II of this document for power supply specifications and recommendations.

Interfacing the Logic Inputs

The IB series drives have 4 isolated logic inputs: Enable, Step Clock, Direction, and Half/Full Step. These inputs are optically isolated and have a maximum forward input current of 15mA. Precise specifications on these inputs can be found in Part II of this manual, in the section pertaining to the model IB drive you purchased. These inputs require a current limiting resistor or use of one of the interfaces diagrammed in this section. Failure to utilize a resistor or recommended interface will damage the input circuitry of the drive and render it inoperable.

WARNING! A current limiting resistor or use of a recommended interface is required in series with the logic inputs! Use of these inputs without this resistor or recommended interface will result in damage to the drive!

ENABLE

CW/CCW

LOGIC GROUND

EXTERNAL RESISTOR

Figure 1.5.2: Opto-coupler Input Circuit

The following diagrams illustrate the recommended circuits for interfacing the logic inputs.

Page 31

TTL Interface

+5VDC

430

CONTROLLER

OUTPUT

1N916

OR EQUIV

Ω

TTL INTERFACE

INTERFACE SHOWN CONNECTED TO

THE ENABLE INPUT, MAY BE USED FOR

THE OTHER LOGIC INPUTS

Figure 1.5.3: TTL Interface

Open Collector Interface

PIN 1

ENABLE LOGIC

GROUND H

STEP CLOCK

/CCW

CURRENT ADJUST

PHASE A PHASE PHASE B PHASE

GROUND

DRAWN BY JA

V+

CONTROLLER

OUTPUT

OPEN COLLECTOR

INTERFACE SHOWN CO NNECT ED TO

THE ENABLE INPUT, MAY BE USED FOR

+VDC

¼ W

430

1200

1500

2000

3000

PIN 1

INTERFACE

THE OTHER LOGIC INPUTS

Figure 1.5.4: Open Collector Interface

ENABLE LOGIC

GROUND

H STEP

CLOCK

/CCW

CW CURRENT

ADJUST

PHASE A PHASE PHASE B PHASE

GROUND

DRAWNBY JA

V+

Page 32

74HC/54HC/74HCT/54HCT Interface

+5VDC

DRAWNBY JA

CONTROLLER

OUTPUT

430

¼ W

Ω

PIN 1

ENABLE LOGIC

GROUND H

STEP CLOCK

/CCW

CURRENT ADJUST

PHASE A PHASE PHASE PHASE B

GROUND

A B

V+

74HC/54HC/74HCT/54HCT

INTERFACE

INTERFACE SHOWN CONNECTED TO

THE ENABLE INPUT, MA Y BE USED FOR

THE OTHER LOGIC INPUTS

Figure 1.5.5: 74HC/54HC/74HCT/54HCT Interface

Controlling the Output Current

The IB series drivers are internally configured to run at full current. In order to lower the output current a resistor must be placed between pin 6 (Current Adjust) and pin 7 (Power Ground). This resistor value will be different for each model of the IB series. The section pertaining to each particular model contains a table that lists output current settings and adjust resistor values.

NOTE: If a resistor

is not placed between Pins 6 and 7, the drive

NOTE: See the

section in Part II of this document pertaining to the

PIN 1

ENABLE LOGIC

GROUND H

STEP CLOCK

/CCW

CURRENT ADJUST

PHASE A PHASE PHASE B PHASE

GROUND

RESISTOR

DRAWNBY JA

will be at full current.

V+

model IB drive purchased for resistor value tables.

Figure 1.5.6: Current Adjust Resistor Placement

Page 33

It is possible to switch the current adjust resistor value using the circuit examples provided in this section. These circuits may be used to switch from one output current setting to another, or to reduce the current in the motor windings when the motor is in a locked position. Use of this will reduce motor and drive heating considerably.

R 1

ADJ

R =

0.2 x I

MIN I = 10mA

See Hardware Reference part for R (current

adjust resistor) values.

adj

R 2

ADJ

PIN 1

ENABLE LOGIC

GROUND H STEP

CLOCK CW CURRENT

ADJUST

Q1 Q2

Q1 - Q2: VNO300L OR EQUIV.

+5 VGS WILL TURN ON FETS

Figure 1.5.7: Switching Phase Currents

See Hardware Reference part for R (current

adj

adjust resistor) values.

Ω

100k

+10V

Q1 (VNO300L OR EQUIV.)

DRAWNBY JA

PHASE A PHASE

/CCW

ADJ

PHASE PHASE B

GROUND

PIN 1

V+

ENABLE LOGIC

GROUND

H STEP

CLOCK

/CCW

CW CURRENT

ADJUST

A B

DRAWN BY JA

PHASE A PHASE

PHASE

PHASE B

V+

GROUND

4N25/4N26

Figure 1.5.8: Isolated Switching of Phase Currents

Page 34

Section 1.6

Troubleshooting

Section Overview

This section will cover the following:

! Basic Troubleshooting. ! Common Problems/Solutions. ! Contacting Application Support. ! Product Return Procedure. ! 24 Month Limited Warranty.

Basic Troubleshooting

In the event that your IB series drive doesn’t operate properly, the first 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. 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.

Problem Symptoms and Possible Causes

Symptom

Motor does not move.

Possible Problem

No power. Step clock is not grounded to opto supply ground. Unit is in a reset condition. Unit is disabled.

Page 35

Symptom

Motor moves in the wrong direction.

Possible Problem

Motor phases may be connected in reverse.

Symptom

Erratic motor motion.

Possible Problem

Motor/power wiring unshielded or not twisted pair. Logic wiring next to motor/power wiring. Ground loop in system. Open winding of motor. Phase blown on drive.

Symptom

Motor stalls during acceleration.

Possible Problem

Incorrect current adjust setting or resistor value. Motor is undersized for application. Acceleration on controller is set to high. Power supply voltage too low.

Symptom

Excessive motor and driver heating.

Possible Problem

Inadequate heat sinking / cooling. Current set too high.

Page 36

Symptom

Inadequate holding torque.

Possible Problem

Incorrect current adjust setting or resistor value.

Contacting Application Support

In the event that you are unable to isolate the problem with your IB series driver, the first 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:

! What is the application? ! In detail, how is the system configured? ! What is the system environment? (Temperature, humidity,

! What external equipment is the system interfaced to?

exposure to chemical vapors, etc.).

The IMS Web Site

Another product support resource is the IMS website located at www.imshome.com. This site is updated monthly with tech tips, applications and new product updates.

Returning Your Product to IMS

If Application Support determines that your IB series drive needs to be returned to the factory for repair or replacement, you will need to take the following steps:

! Obtain an RMA (Returned Material Authorization) number

! Fill out the “Reported Problem” field in detail on the RMA

! Enclose the product being returned, and the RMA form in

and shipping instructions from Customer Service.

form that Customer Service will fax you.

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.

Page 37

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 notified of any charges.

Page 38

Page Intentionally Left Blank

Page 39

Part II

Hardware

Reference

Section 2.1–IB462 Section 2.2–IB463 Section 2.3–IB104 Section 2.4–IB106 Section 2.5–IB1010

Page 40

Section 2.1

Section Overview

This section includes the hardware specifications of the IB462.

! Mechanical Specifications. ! Electrical Specifications. ! Thermal Specifications. ! Current Adjust Resistor Values. ! Recommended IMS Power Supplies. ! Recommended IMS Motors. ! Options and Accessories.

Mechanical Specifications

2.90

(73.7)

0.19

1.375

(34.93)

(4.8)

ENABLE

HCWLOGIC

GROUND/FSTEP

CLOCK

CURRENT

ADJUST

/CCW

GROUND

PHASE A

PHASE

PHASE B

V+

.47

(11.9)

1.435

(36.45)

2.38

(60.5)

1.95”

IB462

.575

(14.5)

0.31

(7.9)

0.09

(2.3)

0.02 (.51)

0.95

(24.1)

0.28

(7.1)

.045 (1.14)

0.20

(5.10)

SQ. PIN

Figure 2.1.1: IB462 Dimensions

0.31 TYP (7.9)

1.25

(31.8)

Dimensions in Inches (mm)

Page 41

Electrical Specifications

noitacificepS noitidnoCtseT .niM .pyT .xaM tinU

TnoitidnoCtseTllarevO

)egatloVrotoM(V+21*04V

T T

tnerruCtupnI 2 A

tnerruCtnecseiuQgnitaolFstuptuO57Am

egatloV

noitarutaSecruoS)h(tas

noitarutaSecruoS)i(tas

nwodkaerBesreveRtupnI

egatloVdrawroFtupnII

IiA2= 8.1 6.2 V

A2=7.14.2V

Am01=5.157.1V

tnerruCdrawroFtupnI 5 5.7 51 Am

KLC

htdiWesluPkcolCpetS3Su

emiTpu-teS F/H&WCC/WC 2 Su

emiTdloHF/H&WCC/WC5.5Su

ycneuqerFnoitatummoC 04 zHk

snoitacificepSlacirtcelE264BI

CDV04=V+,C°52=

5 V

VsidelbasidstuptuoesahpehthtiwegatlovtupnimumixamehT*

.%01+

XAM

Table 2.1.1: IB462 Electrical Specifications

Thermal Specifications

noitacificepS tinU

erutarepmeTtneibmAC°05+ot0

erutarepmeTegarotS C°521+ot04-

erutarepmeTesaCmumixaMC°07

Table 2.1.2: IB462 Thermal Specifications

NOTE: Additional cooling may be required to limit case temperature to 70°C. An optional heat sink, IMS PN H-4X, is

available. See Appendix B: Cooling Solutions, for details.

WARNING! The Driver must be mounted to a thermally conductive surface such as a metal enclosure wall or a Heat Sink. The Driver must not be operated when resting on an insulated surface such as wood or acrylic.

snoitacificepSlamrehT401BI

Page 42

Current Adjust Resistor Values

The table below lists the phase currents and their associated adjust resistor value. Figure 2.1.2 illustrates the reference circuit and contains the equation for calculating the current adjust resistor value.

264BIehtrofseulaVecnerefeRdnarotsiseRtsujdAtnerruC

tnerruCtuptuO

)kaePspmA(

1.050.00.12

2.0 01.0 2.44

3.051.08.96

4.0 02.0 001

5.052.0331

6.0 03.0 961

7.053.0512

8.0 04.0 762

9.054.0423

0.1 05.0 204

1.155.0784

2.1 06.0 406

3.156.0057

4.1 07.0 139

5.157.00121

6.1 08.0 0261

7.158.00622

8.1 09.0 0753

9.159.00867

0.2 00.1 TIUCRICNEPO

ecnerefeR

)stloV(

eulaVrotsiseR

)%1smhO(

T able 2.1.3: IB462 Current Adjust Resistor Values

NOTE: If a resistor is not placed between Pins 6 and 7, the drive will be at full current.

Page 43

Recommended IMS Power Supplies

IP402/IP402-240† Unregulated Linear Supply

Range

Input 120 VAC Version .................................... 102-132 VAC

240 VAC Version .................................... 204-264 VAC

No Load Output Voltage* ............................... 39 VDC @ 0 Amps

Continuous Output Rating* ........................... 30 VDC @ 1 Amps

Peak Output Rating* ......................................... 25 VDC @ 2 Amps

* Measurements taken at 25°C, 120 VAC, 60 Hz.

†

Optional 240 VAC Version

Recommended IMS Motors

IMS stocks the following 1.8° hybrid stepping motors that are recommended for the IB462. All IMS motors are CE marked. For more detailed information on these motors, please see the IMS catalog or web site at www.imshome.com.

17 Frame Motors

Single Shaft Double Shaft

M2-1713-S .................................................................... M2-1713-D

M2-1715-S .................................................................... M2-1715-D

M2-1719-S .................................................................... M2-1719-D

23 Frame Motors

Single Shaft Double Shaft

M2-2215-S .................................................................... M2-2215-D

M2-2220-S .................................................................... M2-2220-D

M2-2232-S .................................................................... M2-2232-D

IMS also carries a new series of 23 frame enhanced stepping motors that are recommended for use with the IB462. 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 dropoff.

Page 44

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 T orque Motors

Single Shaft Double Shaft

MH-2218-S.................................................................. MH-2218-D

MH-2222-S.................................................................. MH-2222-D

MH-2231-S.................................................................. MH-2231-D

Options and Accessories

See appendices for descriptions and technical data on these accessories.

Thermal Isolating Pad ....................................................TI-462

Thermal Non-Isolating Pad ......................................... TN-462

Heat Sink ............................................................................ H-4X

Interface Board ............................................................... OPT140

Plug-on Screw Terminal Set ............................................TS-6

Page 45

Section 2.2

Section Overview

This section includes the hardware specifications of the IB463.

Mechanical Specifications

2.90

(73.7)

0.19

1.375

(34.93)

(4.8)

ENABLE

HCWLOGIC

GROUND/FSTEP

CLOCK

CURRENT

ADJUST

/CCW

GROUND

V+

PHASE A

PHASE

PHASE B

.47

(11.9)

1.770

(44.96)

(75.2)

2.96

1.95”

IB463

.575

(14.5)

0.31 (7.9)

0.09 (2.3)

0.02 (.51)

.045 (1.14)

0.95

(24.1)

0.20

(5.10)

Figure 2.2.1: IB463 Dimensions

SQ. PIN

0.28

(7.1)

0.31 TYP (7.9)

1.25

(31.8)

Dimensions in Inches (mm)

Page 46

Electrical Specifications

noitacificepS noitidnoCtseT .niM .pyT .xaM tinU

TnoitidnoCtseTllarevO

)egatloVrotoM(V+21*04V

T T

tnerruCtupnI 5.3 A

tnerruCtnecseiuQgnitaolFstuptuO09Am

egatloV

noitarutaSecruoS)h(tas

noitarutaSecruoS)i(tas

nwodkaerBesreveRtupnI

egatloVdrawroFtupnII

IiA2= 7.1 4.2 V

A2=6.13.2V

Am6.1=5.157.1V

tnerruCdrawroFtupnI 5 5.7 51 Am

KLC

htdiWesluPkcolCpetS3Su

emiTpu-teS F/H&WCC/WC 2 Su

emiTdloHF/H&WCC/WC5.5Su

ycneuqerFnoitatummoC 04 zHk

snoitacificepSlacirtcelE364BI

CDV04=V+,C°52=

5 V

VsidelbasidstuptuoesahpehthtiwegatlovtupnimumixamehT*

.%01+

XAM

T able 2.2.1: IB463 Electrical Specifications

Thermal Specifications

noitacificepS tinU

erutarepmeTtneibmAC°05+ot0

erutarepmeTegarotS C°521+ot04-

T able 2.2.2: IB463 Thermal Specifications

NOTE: Additional cooling may be required to limit case temperature to 70°C. An optional heat sink, IMS PN H-4X, is available. See Appendix B: Cooling Solutions, for details.

snoitacificepSlamrehT364BI

erutarepmeTesaCmumixaMC°07

Page 47

Current Adjust Resistor Values

tnerruCtuptuO

)kaePspmA(

1.020..052.8

2.0 40.0 9.61

3.060.01.62

4.0 80.0 5.63

5.001.04.64

6.0 21.0 6.75

7.041.08.96

8.0 61.0 5.28

9.081.06.79

0.1 02.0 011

1.122.0721

2.1 42.0 741

3.162.0561

4.1 82.0 781

5.103.0012

6.1 23.0 732

7.143.0162

8.1 63.0 492

9.183.0233

0.2 04.0 473

1.224.0224

2.2 44.0 574

3.264.0635

4.2 84.0 46

5.205.0896

6.2 25.0 608

7.245.0139

8.2 65.0 0011

9.285.00331

0.3 06.0 0561

1.326.00512

2.3 46.0 0492

3.366.00464

4.3 86.0 0359

5.307.0TIUCRICNEPO

ecnerefeR

)stloV(

364BIehtrofseulaVecnerefeRdnarotsiseRtsujdAtnerruC

eulaVrotsiseR

)%1smhO(

T able 2.2.3: IB463 Current Adjust Resistor Values

Page 48

Recommended IMS Power Supplies

IP404/IP404-240† Unregulated Linear Supply

Range

Input 120 VAC Version .................................... 102-132 VAC

240 VAC Version .................................... 204-264 VAC

No Load Output Voltage* ............................... 43 VDC @ 0 Amps

Continuous Output Rating* ........................... 32 VDC @ 2 Amps

Peak Output Rating* ......................................... 26 VDC @ 4 Amps

* Measurements taken at 25°C, 120 VAC, 60 Hz.

†

Optional 240 VAC Version

Recommended IMS Motors

IMS stocks the following 1.8° hybrid stepping motors that are recommended for the IB463. All IMS motors are CE marked. For more detailed information on these motors please see the IMS catalog or web site at www.imshome.com.

17 Frame Motors

Single Shaft Double Shaft

M2-1713-S .................................................................... M2-1713-D

M2-1715-S .................................................................... M2-1715-D

M2-1719-S .................................................................... M2-1719-D

23 Frame Motors

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

IMS also carries a new series of 23 frame enhanced stepping motors that are recommended for use with the IB463. 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.

Page 49

These CE rated motors are ideal for applications where higher torque is required.

23 Frame High T orque Motors

Single Shaft Double Shaft

MH-2218-S.................................................................. MH-2218-D

MH-2222-S.................................................................. MH-2222-D

MH-2231-S.................................................................. MH-2231-D

Options and Accessories

See appendices for descriptions and technical data on these accessories.

Thermal Isolating Pad ....................................................TI-463

Thermal Non-Isolating Pad ......................................... TN-463

Heat Sink ............................................................................ H-4X

Interface Board ...............................................................OPT-140

Plug-on Screw Terminal Set ............................................. TS-6

Page 50

Section 2.3

)

Section Overview

This section includes the hardware specifications of the IB104.

Mechanical Specifications

IB104

0.95

(24.1)

0.188 (4.8)

ENABLE LOGIC

GROUND H

STEP CLOCK

/CCW

CURRENT ADJUST

0.10

(2.54)

1.47

(37.3)

PHASE A PHASE PHASE PHASE B

GROUND

4.96

(126.0)

A B

V+

3.95

(100.3)

0.27

(6.86)

1.00

(25.4)

0.28 (7.1)

Dimensions in Inches (mm

2.90

(73.7)

0.02

(0.51)

0.31 (7.9)

1.25

(31.8)

0.09 (2.3)

0.95

(24.1)

(5.1)

0.20

.045 (1.14)

SQ PIN

Figure 2.3.1: IB104 Dimensions

Page 51

Electrical Specifications

snoitacificepSlacirtcelE401BI

noitacificepS noitidnoCtseT .niM .pyT .xaM tinU

TnoitidnoCtseTllarevO

)egatloVrotoM(V+42*08V

tnerruCtupnI 0.4 A

tnerruCtnecseiuQgnitaolFstuptuO441Am

RSDhgiH IDA4.8= 02.0 smhO

woLI

egatloV

KLC

emiTpu-teS F/H&WCC/WC 2 Su

emiTdloHF/H&WCC/WC5.5Su

nwodkaerBesreveRtupnI

egatloVdrawroFtupnII

tnerruCdrawroFtupnI 5 5.7 51 Am

htdiWesluPkcolCpetS3Su

ycneuqerFnoitatummoC 04 zHk

A7.5=02.0smhO

Am6.1=5.157.1V

T able 2.3.1: IB104 Electrical Specifications

CDV04=V+,C°52=

5 V

VsidelbasidstuptuoesahpehthtiwegatlovtupnimumixamehT*

.%01+

XAM

Thermal Specifications

noitacificepS tinU

erutarepmeTtneibmAC°05+ot0 erutarepmeTegarotS C°521+ot04-

erutarepmeTesaCmumixaMC°07

T able 2.3.2: IB104 Thermal Specifications

NOTE: Additional cooling may be required to limit case

temperature to 70°C. An optional heat sink, IMS PN H-100, is available. See Appendix B: Cooling Solutions, for details.

snoitacificepSlamrehT401BI

Page 52

Current Adjust Resistor Values

tnerruCtuptuO

)kaePspmA(

0.102.0701

1.1 22.0 121

2.142.0731

3.1 62.0 451

4.182.0471

5.1 03.0 191

6.123.0512

7.1 43.0 732

8.163.0162

9.1 83.0 782

0.204.0423

1.2 24.0 753

2.244.0293

3.2 64.0 234

4.284.0784

5.2 05.0 635

6.225.0095

7.2 45.0 566

8.265.0057

9.2 85.0 548

0.306.0359

1.3 26.0 0011

2.346.00721

3.3 66.0 0051

4.386.00871

5.3 07.0 0122

6.327.00782

7.3 47.0 0293

8.367.00095

9.3 87.0 00421

0.408.0

ecnerefeR

)stloV(

401BIehtrofseulaVecnerefeRdnarotsiseRtsujdAtnerruC

eulaVrotsiseR

)%1smhO(

TIUCRICNEPO

Table 2.3.3: IB104 Current Adjust Resistor Values

NOTE: If a resistor is not placed between Pins 6 and 7, the drive will be at full current.

Page 53

Recommended IMS Power Supplies

IP804/IP804-240† Unregulated Linear Supply

Range

Input 120 VAC Version .................................... 102-132 VAC

240 VAC Version .................................... 204-264 VAC

No Load Output Voltage* ............................... 76 VDC @ 0 Amps

Continuous Output Rating* ........................... 65 VDC @ 2 Amps

Peak Output Rating* ......................................... 58 VDC @ 4 Amps

ISP300-7/ISP300H-7† Unregulated Switching Supply

Range

Input 120 VAC Version .................................... 102-132 VAC

240 VAC Version .................................... 204-264 VAC

No Load Output Voltage* ............................... 68 VDC @ 0 Amps

Continuous Output Rating* ........................... 63 VDC @ 2 Amps

Peak Output Rating* ......................................... 59 VDC @ 4 Amps

* Measurements taken at 25°C, 120 VAC, 60 Hz.

†

Optional 240 VAC Version

Page 54

Recommended IMS Motors

IMS stocks the following 1.8° hybrid stepping motors that are recommended for the IB104. All IMS motors are CE marked. For more detailed information on these motors please see the IMS catalog or web site at www.imshome.com.

23 Frame Motors

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 Motors

Single Shaft Double Shaft

M2-3424-S .................................................................... M2-3424-D

M2-3437-S .................................................................... M2-3437-D

IMS also carries a new series of 23 frame enhanced stepping motors that are recommended for use with the IB104. 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.

These CE rated motors are ideal for applications where higher torque is required.

23 Frame High T orque Motors

Single Shaft Double Shaft

MH-2218-S.................................................................. MH-2218-D

MH-2222-S.................................................................. MH-2222-D

MH-2231-S.................................................................. MH-2231-D

Options and Accessories

See appendices for descriptions and technical data on these accessories.

Thermal Isolating Pad ....................................................TI-100

Thermal Non-Isolating Pad ......................................... TN-100

Heat Sink ........................................................................... H-100

Interface Board ...............................................................OPT-140

Plug-on Screw Terminal Set .............................................TS-6

Page 55

Section 2.4

Section Overview

This section includes the hardware specifications of the IB106.

Mechanical Specifications

IB106

0.95

(24.1)

0.188 (4.8)

ENABLE LOGIC

GROUND H

STEP CLOCK

/CCW

CURRENT ADJUST

0.10

(2.54)

1.47

(37.3)

PHASE A PHASE PHASE PHASE B

GROUND

4.96

(126.0)

A B

V+

3.95

(100.3)

0.27

(6.86)

1.00

(25.4)

0.28 (7.1)

Dimensions in Inches (mm)

2.90

(73.7)

0.02

(0.51)

0.31 (7.9)

1.25

(31.8)

0.09 (2.3)

0.95

(24.1)

0.20 (5.1)

.045 (1.14)

SQ PIN

Figure 2.4.1: IB106 Dimensions

Page 56

Electrical Specifications

snoitacificepSlacirtcelE601BI

noitacificepS noitidnoCtseT .niM .pyT .xaM tinU

TnoitidnoCtseTllarevO

)egatloVrotoM(V+42*08V

RSDhgiH IDA11-= 711.0 smhO R

T T

tnerruCtupnI 0.6 A

tnerruCtnecseiuQgnitaolFstuptuO441Am

woLI

egatloV

KLC

emiTpu-teS F/H&WCC/WC 2 Su

emiTdloHF/H&WCC/WC5.5Su

nwodkaerBesreveRtupnI

egatloVdrawroFtupnII

tnerruCdrawroFtupnI 5 5.7 51 Am

htdiWesluPkcolCpetS3Su

ycneuqerFnoitatummoC 04 zHk

A51=50.077.0smhO

Am6.1=5.157.1V

Table 2.4.1: IB106 Electrical Specifications

CDV04=V+,C°52=

5 V

VsidelbasidstuptuoesahpehthtiwegatlovtupnimumixamehT*

.%01+

XAM

Thermal Specifications

noitacificepS tinU

erutarepmeTtneibmAC°05+ot0

erutarepmeTegarotS C°521+ot04-

Table 2.4.2: IB106 Thermal Specifications

NOTE: Additional cooling may be required to limit case temperature to 70°C. An optional heat sink, IMS PN H-100, is available. See Appendix B: Cooling Solutions, for details.

snoitacificepSlamrehT601BI

erutarepmeTesaCmumixaMC°07

Page 57

Current Adjust Resistor Values

601BIehtrofseulaVecnerefeRdnarotsiseRtsujdAtnerruC

tnerruCtuptuO

)kaePspmA(

0.202.0121

1.2 12.0 031

2.222.0041

3.2 32.0 051

4.242.0261

5.2 52.0 471

6.262.0781

7.2 72.0 002

8.282.0512

9.2 92.0 622

0.303.0342

1.3 13.0 162

2.323.0082

3.3 33.0 103

4.343.0613

5.3 53.0 043

6.363.0563

7.3 73.0 293

8.383.0224

9.3 93.0 354

0.404.0784

1.4 14.0 325

2.424.0265

3.4 34.0 916

4.444.0566

5.4 54.0 237

6.464.0608

7.4 74.0 788

8.484.0679

9.4 94.0 0011

0.505.00121

1.5 15.0 0731

2.525.00851

3.5 35.0 0781

4.545.00122

5.5 55.0 0762

6.565.00043

7.5 75.0 0464

8.585.00517

9.5 95.0 00341

0.606.0TIUCRICNEPO

Table 2.4.3: IB106 Current Adjust Resistor Values

ecnerefeR

)stloV(

eulaVrotsiseR

)%1smhO(

Page 58

Recommended IMS Power Supplies

IP804/IP804-240† Unregulated Linear Supply

Range

Input 120 VAC Version .................................... 102-132 VAC

240 VAC Version .................................... 204-264 VAC

No Load Output Voltage* ............................... 76 VDC @ 0 Amps

Continuous Output Rating* ........................... 65 VDC @ 2 Amps

Peak Output Rating* ......................................... 58 VDC @ 4 Amps

ISP300-7/ISP300H-7† Unregulated Switching Supply

Range

Input 120 VAC Version .................................... 102-132 VAC

240 VAC Version .................................... 204-264 VAC

No Load Output Voltage* ............................... 68 VDC @ 0 Amps

Continuous Output Rating* ........................... 63 VDC @ 2 Amps

Peak Output Rating* ......................................... 59 VDC @ 4 Amps

* Measurements taken at 25°C, 120 VAC, 60 Hz.

†

Optional 240 VAC Version

Page 59

Recommended IMS Motors

IMS stocks the following 1.8° hybrid stepping motors that are recommended for the IB106. All IMS motors are CE marked. For more detailed information on these motors please see the IMS catalog or web site at www.imshome.com.

23 Frame Motors

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 Motors

Single Shaft Double Shaft

M2-3424-S .................................................................... M2-3424-D

M2-3437-S .................................................................... M2-3437-D

M2-3450-S .................................................................... M2-3450-D

IMS also carries a new series of 23 frame enhanced stepping motors that are recommended for use with the IB106. 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 dropoff.

These CE rated motors are ideal for applications where higher torque is required.

23 Frame High Torque Motors

Single Shaft Double Shaft

MH-2218-S.................................................................. MH-2218-D

MH-2222-S.................................................................. MH-2222-D

MH-2231-S.................................................................. MH-2231-D

Options and Accessories

Thermal Isolating Pad ....................................................TI-100

Thermal Non-Isolating Pad ......................................... TN-100

Heat Sink ........................................................................... H-100

Interface Board ...............................................................OPT-140

Plug-on Screw Terminal Set ............................................. TS-6

Page 60

Section 2.5

Section Overview

This section includes the hardware specifications of the IB1010.

Mechanical Specifications

IB1010

0.95

(24.1)

0.188 (4.8)

ENABLE LOGIC

GROUND H

STEP CLOCK

/CCW

CURRENT ADJUST

0.10

(2.54)

1.47

(37.3)

PHASE A PHASE PHASE PHASE B

GROUND

4.96

(126.0)

A B

V+

3.95

(100.3)

0.27

(6.86)

1.00

(25.4)

0.28 (7.1)

Dimensions in Inches (mm)

2.90

(73.7)

0.02

(0.51)

0.31 (7.9)

1.25

(31.8)

0.09 (2.3)

0.95

(24.1)

(5.1)

0.20

.045 (1.14)

SQ PIN

Figure 2.5.1: IB1010 Dimensions

Page 61

Electrical Specifications

snoitacificepSlacirtcelE0101BI

noitacificepS noitidnoCtseT .niM .pyT .xaM tinU

TnoitidnoCtseTllarevO

)egatloVrotoM(V+42*08V

tnerruCtupnI 0.9 A

tnerruCtnecseiuQgnitaolFstuptuO441Am RSDhgiH IDA11-= 711.0 smhO R

woLI

egatloV

KLC

emiTpu-teS F/H&WCC/WC 2 Su

emiTdloHF/H&WCC/WC5.5Su

nwodkaerBesreveRtupnI

egatloVdrawroFtupnII

tnerruCdrawroFtupnI 5 5.7 51 Am

htdiWesluPkcolCpetS3Su

ycneuqerFnoitatummoC 04 zHk

A51=50.077.0smhO

Am6.1=5.157.1V

Table 2.5.1: IB1010 Electrical Specifications

CDV04=V+,C°52=

5 V

VsidelbasidstuptuoesahpehthtiwegatlovtupnimumixamehT*

.%01+

XAM

Thermal Specifications

noitacificepS tinU

erutarepmeTtneibmAC°05+ot0

erutarepmeTegarotS C°521+ot04-

erutarepmeTesaCmumixaMC°07

T able 2.5.2: IB1010 Thermal Specifications

NOTE: Additional cooling may be required to limit case temperature to 70°C. An optional heat sink, IMS PN H-100, is available. See Appendix B: Cooling Solutions, for details.

snoitacificepSlamrehT0101BI

Page 62

Current Adjust Resistor Values

tnerruCtuptuO

)kaePspmA(

0.202.0201

2.2 22.0 511

4.242.0031

6.2 62.0 741

8.282.0261

0.3 03.0 871

2.323.0691

4.3 43.0 122

6.363.0732

8.3 83.0 162

0.404.0782

2.4 24.0 613

4.444.0423

6.4 64.0 473

8.484.0214

0.5 05.0 354

2.525.0784

4.5 45.0 635

6.565.0095

8.5 85.0 946

0.606.0517

2.6 26.0 787

4.646.0788

6.6 66.0 679

8.686.00011

0.7 07.0 0721

2.727.00741

4.7 47.0 0561

6.767.00691

8.7 87.0 0232

0.808.00782

2.8 28.0 0563

4.848.00994

6.8 68.0 0867

8.888.000851

0.9 09.0 TIUCRICNEPO

ecnerefeR

)stloV(

0101BIehtrofseulaVecnerefeRdnarotsiseRtsujdAtnerruC

eulaVrotsiseR

)%1smhO(

Table 2.5.3: IB1010 Current Adjust Resistor Values

Page 63

Recommended IMS Power Supplies

IP806/IP806-240† Unregulated Linear Supply

Range

Input 120 VAC Version .................................... 102-132 VAC

240 VAC Version .................................... 204-264 VAC

No Load Output Voltage* ............................... 76 VDC @ 0 Amps

Continuous Output Rating* ........................... 68 VDC @ 3 Amps

Peak Output Rating* ......................................... 64 VDC @ 6 Amps

* Measurements taken at 25°C, 120 VAC, 60 Hz.

†

Optional 240 VAC Version

Recommended IMS Motors

IMS stocks the following 1.8° hybrid stepping motors that are recommended for the IB1010 All IMS motors are CE marked. For more detailed information on these motors please see the IMS catalog or web site at www.imshome.com.

34 Frame Motors

Single Shaft Double Shaft

M2-3450-S .................................................................... M2-3450-D

42 Frame Motors

Single Shaft Double Shaft

M2-4247-S .................................................................... M2-4247-D

M2-4270-S .................................................................... M2-4270-D

M2-4288-S .................................................................... M2-4288-D

Page 64

Options and Accessories

See appendices for descriptions and technical data on these accessories.

Thermal Isolating Pad ....................................................TI-100

Thermal Non-Isolating Pad ......................................... TN-100

Heat Sink ........................................................................... H-100

Interface Board ...............................................................OPT-140

Plug-on Screw Terminal Set .............................................TS-6

Page 65

Appendix A

(

)

(

)

Optional Interface Board

The OPT140 adds such features to the IB series drive as:

! A Removable Screw Terminal Interface. ! Isolated Current Reduction. ! 470Ω Pull-up Resistors on Logic Inputs. ! Input Capacitor.

Determining the Resistor Values

Setting the Output Current

To set the output current on the IB series drive using the OPT140 board you will need to place R4 (See Figure A.1 below for resistor location). The value resistor needed will match the resistor table for the model IB drive you purchased.

3.00

(76.2)

OPT140

Reduction

Adjust

5678910

4315TK19

4N25

IMS OPT140

11 121314

Current

Adjust

1234

Figure A.1: OPT-140 Dimensions

2.26

57.5

1.28

32.5

Page 66

Reducing the Output Current

In order to use the current reduction feature on the OPT140 there are two resistors that must be placed on the OPT140 board, R5 and R1. R5 should be a ½ watt resistor for the IB104, 106 and 1010. For the IB462 and IB463 a ¼ watt resistor should be used. The value of the resistor is calculated using the following equation:

R5 = 200 x (+V - 10)

The value of R1, the reduction adjust resistor (R

) is determined by

RED

using the current adjustment resistor tables in the section of the Hardware Reference part of this document pertaining to the model IB drive you purchased. It is calculated as follows:

* R

RUN

RED

RUN

= Reduction adjust resistor (R1).

RED

= Resistor value for desired

HOLD

R current from current adjust table (also value for R4).

holding current from current adjust table.

= Resistor value for desired run

RUN

- R

HOLD

The current reduction input on Pin 8 is pulled-up to +5VDC via a 1kΩ resistor. When toggled LOW the current reduction adjust resistor R1 will be switched in parallel with the current adjust resistor R4, thus the output current of the driver will be set to the value specified by the total resistance (R

) of R1 and R4 (see figure A.2: OPT140 Schematic Representation).

HOLD

The value of R

will be the resistor value representative of the desired

HOLD

holding current from the current adjust resistor table in the section appropriate for the model IB drive purchased. This value will only be used to calculate the value of R1 (R

) using the equation above.

RED

NOTE: If a resistor is not placed in the R4 position, the run current of the driver will be at its full scale. In this case the value of R1 would then equal the value of the current adjust resistor specified for

the desired holding current from the current adjust table being used.

Page 67

ENABLE PIN 1

LOGIC GROUND PIN 2

HALF/FULL STEP PIN 4

STEP CLOCK PIN 5

DIRECTION PIN 6

+5VDC PIN 7

+5V

Ω

470

+5V

Ω

470

Ω

PIN 1

DRIVER

2200 F

100V

PHASE A PIN 9 PHASE A PIN 10 PHASE B PIN 11 PHASE B PIN 12

R5 R1

10V

VNO300L

+V PIN 13

POWER GROUND PIN 14

CURRENT REDUCTION PIN 8

+5V

Ω

4N25/26

Figure A.2: OPT140 Schematic Representation

Mounting the OPT140

The OPT-140 is mounted to the IB drive as shown in figure 2.6.2. The power, ground and phase output pins (Pins 7-9) of the drive will be next to the input capacitor.

The pins are then soldered using a recommended solder. Use a recommended solvent for flux removal if required.

Recommended Solders: Recommeded Solvent:

R1, R4, and R5 should be placed prior to mounting the OPT140.

Figure A.3: OPT140 Placement

Page 68

OPT140 Pin Configuration

#NIP NOITCNUF SLIATED

01 11 21 31 41

elbanE

dnuorGcigoL

tcennoCoN-

tupnIpetSlluF/flaH

tupnIkcolCpetS

tupnIWCC/WC

CDV5+.tupniCDV5+

noitcudeRtnerruC

BØ.tuptuoBesahprotoM BØ .tuptuoBesahprotoM AØ.tuptuoAesahprotoM AØ .tuptuoAesahprotoM

V+.decafretnigniebevirdseiresBIrofnoitacificepseeS

DNG .dnuorgrewoP

.delbaneera

noitpircseDdnatnemngissAniP041-TPO

stuptuoesahpeht,etats)evitca(WOLcigoLaninehW

ehtrofhtapnruterehtsinipsihT.nommoClangiScigoL

dluohsnipsihtnoitalosiniatniamotredronI.stupnicigol

.)dnuorGrewoP(7nipotdetcennocebton

eeS.tupnitcelespetSlluF/flaH :2noitceS,1traP

noitarepOfoyroehT .sliatederomrof

tupnisihtnoeslupHGIHevitcanA.tupnikcolCpetS

nosruccopetsehT.tnemercnienorotomehtsecnavda

.langissihtfoegdegnillafeht

.tupnilortnocnoitceridesiwkcolcretnuoc/esiwkcolC

ehtnosdnepednoitatorrotomfonoitceridlacisyhP

yllanretnisitupnisihT.sgnidniwrotomehtfonoitcennoc

.revirdehtnidezinorhcnys

ehtnitnerrucehtecuderlliwtupnisihtnoWOLcigoL

eeS.4Rdna1Rybdeificepseulavehtotsgnidniwrotom

nerruCtuptuOehtgnicudeR .noitaluclacrotsiserrof,t

T able A.1: OPT140 Pin Configuration

WARNING! Do not connect +5VDC directly to pins 1, 4, 5, 6. An open collector driver should be used to control these inputs. See Section 1.5: Interfacing to the IB Series Drive, for interface configurations!

Page 69

Appendix B

Cooling Solutions

H-4X Heat Sink

The H-4X heat sink is designed for use with the IB462 and IB463. The H-4X comes with the following items:

(1 ) H-4X heat sink. (4) 8 X 32 mounting screws/washers. (1) TN-462 or TN-463 non-isolating thermal pad.

Mechanical Specifications

6.00

(152.4)

5.50

(139.7)

0.85

(21.6)

3.51

3.15

(89.5)

(80.1)

IB462

IB463

8-32 Threaded 6 PLACES

Figure B.1: H-4X Heat Sink, Dimensions in Inches (mm)

H-100 Heat Sink

The H-100 heat sink is designed for use with the IB104, IB106 and IB1010. The H-100 comes with the following items:

(1 ) H-100 heat sink. (4) 8 X 32 mounting screws/washers. (1) TN-100 non-isolating thermal pad.

Page 70

Mechanical Specifications

8-32 threaded hole 4 places marked “B”

0.757

(19.23)

2.504

(63.60)

2.00

(50.08)

0.814 (1.95)

Figure B.2: H-100 Heat Sink, Dimensions in Inches (mm)

Thermal Pads

IMS has available a series of non-isolating and isolating thermal pads designed for use with the IB series of half/full step drivers.

Thermal Non-Isolating (TN)

5.497

(139.6)

2.957

(75.10)

7.012

(178.10)

6-32 threaded hole 4 places marked “A”

0.753

(19.13)

2.626

(66.70)

4.132 ±0.015

(104.95 ±0.38)

0.317 (8.05)

0.063 (1.60)

0.250 (6.35)

1.317 ±0.015 (33.45 ±0.38)

The TN thermal non-isolating pad is a composite of .0015” (.038 mm) aluminum foil coated on both sides with a .0025” (.063 mm) thick thermally and electrically conductive rubber. These pads have a thermal conductivity of 0.65 W/m-K and a maximum temperature rating of 180°C.

One side of the TN pad is adhesive and may be applied directly to the IB driver. The TN pad eliminates the problems associated with using thermal grease. The following pads are available for the IB series drives:

TN-462 .............................................................................................IB462

TN-463 .............................................................................................IB463

TN-100 ............................................................ IB104, IB106 & IB1010

These pads are also included in the heat sink kit.

Page 71

Thermal Isolating (TI)

The TI thermal isolating pad uses a 0.006” (0.15mm) special film which has high thermal conductivity (0.9 W/m-K) and high dielectric strength (5000 Cps). The TI thermal insulating pad can withstand high voltages and does not require thermal grease to transfer heat. The following pads are available for the IB series drivers:

TI-462...............................................................................................IB462

TI-463...............................................................................................IB463

TI-100.............................................................. IB104, IB106 & IB1010

Page 72

APPendix C

Miscellaneous Accessories

TS-6 Screw Terminal Set

The TS-6 screw terminal set is available as an option for the IB series drivers. These six position terminal blocks plug directly onto the IB drive connector pins.

There are two of the six position terminals per set.

When using the TS-6 screw terminals the following practices should be observed:

Wire Size .................................................................... 14 to 22 AWG

Wire Strip Length....................................................0.238” (6.0 mm)

Tightening Torque ................................................ 7 lb-in (0.79 N-m)

Page 73

intelligent motion systems, inc.

Excellence in Motion

IB SERIES “S” VERSION

SINKING INPUT VERSION

HALF/FULL STEP STEPPING MOTOR DRIVERS

IB104

! IB106

OPERATING INSTRUCTIONS

! IB462

! IB463

! IB1010

ADDENDUM TO THE IB SERIES

OPERATING INSTRUCTIONS

REV . 07.17.2003

Page 74

Contents

General Description of the IB Series “S” Version .........................................1

Electrical Specifications ................................................................................1

Pin Assignment and Descriptions................................................................2

Interfacing and Using the IB Series “S” Version Isolated Logic Inputs........3

Powering the Optocouplers ...................................................................3

Interface Methods ...................................................................................4

Switch Interface ................................................................................ 4

Open Collector Interface ..................................................................5

TTL Interface.....................................................................................5

List of Figures

Figure 1 Isolated Logic Inputs ...................................................................3

Figure 2 IB Series “S” Version Switch Interface ........................................4

Figure 3 IB Series “S” Version Open Collector Interface ..........................5

Figure 4 IB Series “S” Version TTL Interface.............................................5

List of Tables

Table 1 Differences Between the “S” Version and Standard IB Drives ...1

Table 2 IB Series “S” Version Electrical Specifications ........................... 1

Table 3 IB Series “S” Version Pin Assignment and Descriptions ........... 2

Table 4 Recommended Input Current Limiting Resistor Values............4

REV . 07.17.2003

Page 75

Addendum

The IB Series “S” Version

General Description

The IB Series “S” Version drivers differ from the standard IB product line in that input circuitry requires a sinking interface rather than sourcing. Table 1 illustrates the differences between the “S” version and the standard IB product line.

epyTecafretnItupnIgnikniSgnicruoS

deriuqeRsrotsiseRgnitimiLtnerruCtupnI *oN seY

deriuqerylppusrelpuoc-otpOlanretxECDV5+-

041-TPOhtiwelbitapmoC oN seY

.evirdehtotegamadtneverpot

Table 1: Differences Between the “S” Version and Standard IB Drives

Electrical Specifications

noitacificepS noitidnoCtseT .niM .pyT .xaM tinU

TnoitidnoCtseTllarevO

T T

tnerruCtupnI 5.3/2 A

tnerruCtnecseiuQgnitaolFstuptuO09/57Am

egatloV

KLC

emiTpu-teS F/H&WCC/WC 2 Su

emiTdloHF/H&WCC/WC5.5Su

noitarutaSecruoS)h(tas

noitarutaSecruoS)i(tas

nwodkaerBesreveRtupnI

egatloVdrawroFtupnIstupnIdetalosI5.17.1V

tnerruCdrawroFtupnI stupnIdetalosI 0.7 51 Am

htdiWesluPkcolCpetS3Su

ycneuqerFnoitatummoC 04 zHk

IiA2= 7.1/8.1 4.2/6.2 V

A2=6.1/7.1

stupnIdetalosI 5 V

noisreV"S" BIdradnatS

VsidelbasidstuptuoesahpehthtiwegatlovtupnimumixamehT*

XAM

deriuqererasrotsisergnitimil,desusiegatlovrehgihafI.CDV5+=egatlovylppusotpO*

snoitacificepSlacirtcelEnoisreV"S"seireSBI

CDV04=V+,C°52=

3.2/4.2 V

.%01+

T able 2: IB Series “S” Version Electrical Specifications

REV . 07.17.2003

Page 76

Pin Assignment and Descriptions

#NIP NOITCNUF SLIATED

noitpircseDdnatnemngissAniPevirDnoisreV"S"seireSBI

7 8 9

01 11 21

elbasiD/elbanE

ylppuSotpO

tupnIpetSlluF/flaH

tupnIkcolCpetS

tupnIWCC/WC

tsujdAtnerruC

dnuorGrewoP.)DNG(nruterylppusrewoP

V+ .tupniylppusrewoP

BØ.tuptuoBesahprotoM BØ .tuptuoBesahprotoM AØ.tuptuoAesahprotoM AØ .tuptuoAesahprotoM

etatsHGIHcigolaninehW.revirdeht

naninehW.tupnitcelespetSlluF/flaH

eeS.edoMlamroN noitarepOfoyroehT:2noitceS

.sliatederomroflaunaMseireSBI

.tupnipetslluf/flahehtfoetatsehtnopudesab

.dezinorhcnys

fonoitcestuptuoehtelbasiD/elbanEotdesusitupnisihT

.delbaneerastuptuoesahpeht,)detcennocsiD/NEPO(

detalosiehtotrewopylppusotdesusitupniCDV5+sihT

tsumeractub,desuebyamegatlovrehgihA.stupnicigol

.relpuocotpoehthguorhttnerructimilotnekateb

petsflahnieblliwevirdehtetatsdetcennocsiD/FFO

petsllufnignitarepoeblliwevirdehtNOnehW.edom

si,edompetsllufnO-esahP-enOro,edoMevaW.edom

natasievirdBIehtnehwpetsllufgnitcelesybdeniatbo

nO-esahP-owTro,edoMlamroN.etatsderebmunneve

evirdehtnehwpetsllufgnitcelesybtessi,edompetslluf

otdeilppasirewopnehW.etatsderebmunddonatasi

petslluffI.1etatsotsezilaitiniyllacitamotuatievirdBIeht

otniogyllacitamotualliwBIehtdetcelessinoitarepo

ehtfo

rotomehtsecnavdatupnisihtnoegdegniogevitisopA

eblliwtnemercniehtfoezisehT.tnemercni,petseno

.tupnilortnocnoitceridesiwkcolcretnuoc/esiwkcolC

ehtnosdnepednoitatorrotomfonoitceridlacisyhP

yllanretnisitupnisihT.sgnidniwrotomehtfonoitcennoc

detcennocsirotsiserA.tupnitnemtsujdAtnerruCesahP

tsujdaot)7niP(dnuorGrewoPdnatupnisihtneewteb

,dettimosirotsiserehtfI.rotomehtfotnerrucesahpeht

ehttaeblliwrotomehtfoesahphcaenitnerruceht

IItraPninoitcesehteeS.revirdehtfotnerrucmumixam

Sx64BIledomehtotgniniatreplaunaMseireSBIehtfo

.snoitauqednaselbatrotsiserrofdesahcrupuoyevird

Table 3: IB Series “S” Version Pin Assignment and Descriptions

REV . 07.17.2003

Page 77

Interfacing and Using the IB Series “S” Version Isolated Logic Inputs

The IB Series “S” Version has 4 optically isolated logic inputs. These inputs are isolated to minimize or eliminate electrical noise coupled onto the drive control signals. Each input is internally pulled-up to the level of the optocoupler supply and may be connected to sinking outputs on a controller such as the IMS LYNX or a PLC. These inputs are:

1] Enable (Pin 1) 2] Half/Full Step (Pin 3) 3] Step Clock (Pin 4) 4] CW/CCW Direction (Pin 5)

Of these inputs only step clock and direction are required to operate the IB Series “S” Version.

The schematic shown in Figure 1 illustrates the inputs.

Powering the Optocouplers

In order to maintain isolation, the optocouplers must be powered by an external power supply connected to Pin 2, with the opto supply ground connected to the ground of the input control circuitry. The logic inputs are internally limited to allow for a +5VDC power supply.

Figure 1: Isolated Logic Inputs

REV . 07.17.2003

Page 78

A power supply in excess of +5 volts may be used, however a current limiting resistor MUST be placed in series with the input to limit the input forward current to the recommended 7 milliamps. At no time can the input forward current exceed 15 milliamps or damage may occur to the drive.

srotsiseRgnitimiLtnerruCtupnIdetalosI

ylppuSotpO

)CDV+(

5--

01 086 186 2100010001 51 0031 0031

4200720762

eulaVrotsiseR

)%5smhO(

eulaVrotsiseR

)%1smhO(

Table 4: Recommended Input Current Limiting Resistor Values

Interface Methods

The isolated logic inputs may be interfaced to the user’s control system in a variety of ways. In all cases the inputs are normally in a logic HIGH state when left floating. For purposes of this manual we will show three interface methods:

1] Switch Interface. 2] Open Collector Interface. 3] TTL Interface.

Switch Interface

A switch connected between the input and the opto supply ground will sink the input. If this method is used a SPST (Single-Pole, Single-Throw) switch works well for enable and direction. A normally-open momentary switch works well for reset. Figure 2 illustrates a SPST switch connected to the enable input.

Figure 2: IB Series “S” Version Switch Interface

REV . 07.17.2003

Page 79

Open Collector Interface

Figure 3 shows an open collector interface connected to the reset input. This interface method may be used with any of the logic inputs. Remember that a current limiting resistor is required if an opto supply voltage greater than +5 VDC is used.

Figure 3: IB Series “S” Version Open Collector Interface

TTL Interface

Figure 4 shows a TTL device connected to the enable input. This interface method may be used with any of the logic inputs.

Figure 4: IB Series “S” Version TTL Interface

REV . 07.17.2003

Page 80

TWENTY-FOUR MONTH LIMITED WARRANTY

Intelligent Motion Systems, Inc., warrants its products against defects in materials and workmanship for a period of 24 months from receipt by the enduser. During the warranty period, IMS will either, at its option, repair or replace Products which prove to be defective.

EXCLUSIONS

The above warranty shall not apply to defects resulting from: improper or inadequate handling by customer; improper or inadequate customer wiring; unauthorized modification or misuse; or operation outside of the electrical and/or environmental specifications for the Product.

OBTAINING WARRANTY SERVICE

To obtain warranty service, a returned material authorization number (RMA) must be obtained from customer service at (860) 295-6102 before returning product for service. Customer shall prepay shipping charges for Products returned to IMS for warranty service and IMS shall pay for return of Products to customer. However , customer shall pay all shipping charges, duties and taxes for Products returned to IMS from another country .

WARRANTY LIMITATIONS

IMS makes no other warranty, either expressed or implied, with respect to the Product. IMS specifically disclaims the implied warranties of merchantability and fitness for a particular purpose. Some jurisdictions do not allow limitations on how long an implied warranty lasts, so the above limitation or exclusion may not apply to you. However, any implied warranty of merchantability or fitness is limited to the 24-month duration of this written warranty .

EXCLUSIVE REMEDIES

If your Product should fail during the warranty period, call customer service at (860) 295-6102 to obtain a returned material authorization number (RMA) before returning product for service. Please include a written description of the problem along with contact name and address. Send failed product to: Intelligent Motion Systems, Inc., 370 N. Main St., Marlborough, Connecticut

06447. Also enclose information regarding the circumstances prior to Product failure.

Page 81

P.O. Box 457, 370 North Main Street Marlborough, CT 06447 U.S.A.

Phone: 860/295-6102 Fax: 860/295-6107 Email: info@imshome.com Home Page: www.imshome.com

TECHNICAL SUPPORT

Eastern U.S.

Phone: 860/295-6102 Fax: 860/295-6107 E-mail: etech@imshome.com

Western U.S.

Phone: 760/966-3162 Fax: 760/966-3165 E-mail: wtech@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

IMS EUROPE GmbH

Hahnstrasse 10, VS-Schwenningen Germany D-78054 Phone: +49/7720/94138-0 Fax: +49/7720/94138-2

European Sales Management

4 Quai Des Etroits 69005 Lyon, France Phone: +33/4 7256 5113 Fax: +33/4 7838 1537

German Sales/Technical Support

Phone: +49/35205/4587-8 Fax: +49/35205/4587-9 Email: hruland@imshome.com

IB Series Operating Instructions OM-IB SERIES V05.21.2003

Intelligent Motion Systems IB Series, IB S Series, IB463, IB462, IB104 Operating Instructions Manual

Specifications and Main Features

Frequently Asked Questions

User Manual