Intelligent Motion Systems P2030 User Manual

Excellence in Motion

TM

FORCE

POWER DRIVE

MICROSTEPPING

TM

Operating

Instructions

TM

Microstepping MForce PowerDrive Product Manual Changelog

Date Revision Changes

04/05/2007 R040507 Initial Release

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is
assumed for inaccuracies.

Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to
improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any liability arising out of the
application or use of any product or circuit described herein; neither does it convey any license under its patent rights of
others. Intelligent Motion Systems and are trademarks of Intelligent Motion Systems, Inc.

Intelligent Motion Systems, Inc.’s general policy does not recommend the use of its products in life support or aircraft
applications wherein a failure or malfunction of the product may directly threaten life or injury. Per Intelligent Motion
Systems, Inc.’s terms and conditions of sales, the user of Intelligent Motion Systems, Inc., products in life support or

aircraft applications assumes all risks of such use and indemnies Intelligent Motion Systems, Inc., against all damages.

Microstepping MForce PowerDrive Product Manual

Revision R040507

Copyright © 2007 Intelligent Motion Systems,

Inc.

All Rights Reserved

Getting Started: Microstepping MForce PowerDrive .................................................................1-1

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

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

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

Connect Opto Reference and Logic Inputs................................................................................ 1-2

Connecting the Motor .............................................................................................................. 1-2

Part 1: Hardware Reference

Section 1.1: Introduction to the Microstepping MForce PowerDrive ...........................................1-5

Configuring .............................................................................................................................. 1-5

Features and Benefits ................................................................................................................. 1-6

Section 1.2: Microstepping MForce PowerDrive Detailed Specifications ..................................1-7

General Specifications ............................................................................................................... 1-7

Setup Parameters ....................................................................................................................... 1-8

Mechanical Specifications .......................................................................................................... 1-8

Pin Assignment and Description ............................................................................................... 1-9

P1 12-Pin Locking Wire Crimp Connector - Power, I/O and SPI Communications ...... 1-9

P3 Connector - DC Power, 2-Pin Locking Wire Crimp ................................................ 1-10

P4 Connector - Motor .................................................................................................. 1-10

Part 2: Connecting and Interfacing

Table Of Contents

Section 2.1: Mounting and Connection Guidelines .......................................................................3

Mounting Recommendations ........................................................................................................3

Securing Power Leads and Logic Leads ..........................................................................................4

Layout and Interface Guidelines ....................................................................................................4

Rules of Wiring ..................................................................................................................5

Rules of Shielding ..............................................................................................................5

Recommended Wiring ........................................................................................................5

Recommended Mating Connectors and Pins ......................................................................5

Section 2.2: Interfacing DC Power .................................................................................................7

Choosing a Power Supply for Your MForce PowerDrive ................................................................7

DC Power Supply Recommendations ............................................................................................8

Recommended IMS Power Supplies ....................................................................................8

Basic DC Power Connection .........................................................................................................9

Recommended Power and Cable Configurations ..........................................................................9

Example A: DC Power Cabling Under 50 Feet....................................................................9

Example B: AC Power to Full Wave Bridge Cabling Over 50 Feet .....................................10

Example C – Cabling 50 Feet or Greater, AC Power to Power Supply ...............................10

Section 2.3: Motor Selection and Interface ..................................................................................11

Selecting a Motor ........................................................................................................................11

Types and Construction of Stepping Motors .....................................................................11

Sizing a Motor for Your System .........................................................................................11

Recommended IMS Motors .......................................................................................................12

IMS Inside Out Stepper Motors ........................................................................................13

Connecting the Motor ................................................................................................................14

8 Lead Motors ..................................................................................................................14

6 Lead Motors ...................................................................................................................15

4 Lead Motors ...................................................................................................................16

Recommended Motor Cabling ...................................................................................................16

Example A: Motor Cabling Less Than 50 Feet ..................................................................16

Example B: Motor Cabling Greater Than 50 Feet .............................................................17

Recommended Motor Cable AWG Sizes ...........................................................................17

Section 2.4: Logic Interface and Connection ................................................................................19

Optically Isolated Logic Inputs ....................................................................................................19

Isolated Logic Input Pins and Connections .................................................................................19

Isolated Logic Input Characteristics .............................................................................................19

i

Enable Input .....................................................................................................................19

Clock Inputs .....................................................................................................................20

Optocoupler Reference ................................................................................................................22

Input Connection Examples ........................................................................................................23

Open Collector Interface Example ........................................................................................

Switch Interface Example ..................................................................................................24

Minimum Required Connections ................................................................................................25

Section 2.5: Connecting SPI Communications .............................................................................26

Connecting the SPI Interface ......................................................................................................26

SPI Signal Overview ....................................................................................................................26

SPI Pins and Connections ...........................................................................................................27

Logic Level Shifting and Conditioning Circuit ............................................................................27

SPI Master with Multiple Microstepping MForce PowerDrive ....................................................28

Section 2.6: Using the IMS SPI Motor Interface ........................................................................... 29

Installation ..................................................................................................................................29

Configuration Parameters and Ranges .........................................................................................29

Color Coded Parameter Values ....................................................................................................29

IMS SPI Motor Interface Menu Options.....................................................................................30

Screen 1: The Motion Settings Configuration Screen ..................................................................31

MSEL (Microstep Resolution Selection) ...........................................................................32

HCDT (Hold Current Delay Time) .................................................................................33

MRC (Motor Run Current) ..............................................................................................33

MHC (Motor Hold Current) ............................................................................................33

DIR (Motor Direction) .....................................................................................................33

User ID .............................................................................................................................33

IMS SPI Motor Interface Button Functions ......................................................................33

Screen 2: I/O Settings Configuration Screen ...............................................................................34

Input Clock Type ..............................................................................................................34

Input Clock Filter .............................................................................................................34

Enable Active High/Low ...................................................................................................34

Warning Temperature .......................................................................................................34

IMS Part Number/Serial Number Screen ....................................................................................35

Fault Indication ...........................................................................................................................35

Upgrading the Firmware in the Microstepping MForce PowerDrive ............................................36

The IMS SPI Upgrader Screen ..........................................................................................36

Upgrade Instructions .........................................................................................................36

Initialization Screen .....................................................................................................................37

Port Menu.........................................................................................................................37

Section 2.7: Using User-Defined SPI ............................................................................................38

SPI Timing Notes ........................................................................................................................38

Check Sum Calculation for SPI ...................................................................................................38

SPI Commands and Parameters...................................................................................................39

SPI Communications Sequence ........................................................................................40

Appendices

Appendix A: Optional Prototype Development Cables ................................................................ A-3

MD-CC300-000: USB to SPI Parameter Setup Cable ..............................................................A-3

Adapter Cables ..........................................................................................................................A-3

Installation Procedure for the MD-CC300-000 ........................................................................A-4

Installing the Cable/VCP Drivers ....................................................................................A-4

Determining the Virtual COM Port (VCP) ....................................................................A-6

PD12-1434-FL3 — Power, I/O and SPI ......................................................................... A-7

Prototype Development Cable PD02-2300-FL3 ....................................................................... A-8

Prototype Development Cable PD04-MF34-FL3 .....................................................................A-8

ii

Figure GS.1: Minimum Logic and Power Connections ............................................................. 1-1

Part 1: Hardware Reference

Figure 1.1.1: Microstepping MForce PowerDrive ...................................................................... 1-5

Figure 1.2.1: MForce PowerDrive Mechanical Specifications ..................................................... 1-8

Figure 1.2.2: P1 — 12-Pin Locking Wire Crimp Pin Configuration ......................................... 1-9

Figure 1.2.3: P3 — 2-Pin Locking Wire Crimp Pin Configuration ......................................... 1-10

Figure 1.2.4: P4 — 4-Pin Locking Wire Crimp Pin Configuration ......................................... 1-10

Part 2: Connecting and Interfacing

Figure 2.1.1: Base Mounting the MForce PowerDrive ...................................................................3

Figure 2.1.2: End Mounting the MForce PowerDrive ...................................................................4

Figure 2.2.1: IMS ISP300 Switch Mode Power Supply ..................................................................7

Figure 2.2.2: MForce PowerDrive DC Power Connection .............................................................9

Figure 2.2.3: DC Cabling - Under 50 Feet ....................................................................................9

Figure 2.2.4: AC To Full Wave Bridge Rectifier, Cabling over 50 Feet .........................................10

Figure 2.2.5: AC Cabling - 50 Feet or Greater - AC To Power Supply .........................................10

Figure 2.3.1 A & B: Per Phase Winding Inductance ....................................................................12

Figure 2.3.2: 8 Lead Motor Series Connections ...........................................................................14

Figure 2.3.3: 8 Lead Motor Parallel Connections........................................................................14

Figure 2.3.4: 6 Lead Half Coil (Higher Speed) Motor Connections ...........................................15

Figure 2.3.5: 6 Lead Half Coil (Higher Speed) Motor Connections ...........................................15

Figure 2.3.6: 4 Lead Motor Connections .....................................................................................16

Figure 2.3.7: Motor Cabling Less than 50 Feet ............................................................................16

Figure 2.3.8: Motor Cableing Greater than 50 Feet .....................................................................17

Figure 2.4.1: Isolated Logic Pins and Connections ......................................................................19

Figure 2.4.2: Input Clock Functions ...........................................................................................20

Figure 2.4.3: Clock Input Timing Characteristics ........................................................................21

Figure 2.4.4: Optocoupler Input Circuit Diagram .......................................................................22

Figure 2.4.5: Open Collector Interface Example ..........................................................................23

Figure 2.4.6: Switch Interface Example .......................................................................................24

Figure 2.4.7: Minimum Required Connections ...........................................................................25

Figure 2.5.1: MD-CC300-000 Parameter Setup Cable ................................................................26

Figure 2.5.2: SPI Pins and Connections, 12-Pin Wire Crimp ......................................................27

Figure 2.5.3: Logic Level Shifting and Conditioning Circuit .......................................................27

Figure 2.5.4: SPI Master with a Single Microstepping MForce PowerDrive .................................28

Figure 2.5.5: SPI Master with Multiple Microstepping MForce PowerDrives ..............................28

Figure 2.6.1: SPI Motor Interface Color Coding .........................................................................30

Figure 2.6.2: SPI Motor Interface File Menu ...............................................................................30

Figure 2.6.3: SPI Motor Interface View Menu .............................................................................30

Figure 2.6.4: SPI Motor Interface Recall Menu ...........................................................................31

Figure 2.6.5: SPI Motor Interface Upgrade Menu .......................................................................31

Figure 2.6.6: SPI Motor Interface Help Menu and About Screen ................................................31

Figure 2.6.7: SPI Motor Interface Motion Settings Screen ...........................................................32

Figure 2.6.8: SPI Motor Interface I/O Settings Screen .................................................................34

Figure 2.6.9: SPI Motor Interface Part and Serial Number Screen ...............................................35

Figure 2.6.10: SPI Motor Interface Upgrade Utility ....................................................................36

Figure 2.6.11: SPI Motor Interface Initialization .........................................................................37

Figure 2.6.12: SPI Motor Interface Port Menu ............................................................................37

Figure 2.7.1: SPI Timing .............................................................................................................38

Figure 2.7.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown) ...........40

List of Figures

iii

Appendices

Figure A.1: MD-CC300-000 ....................................................................................................A-3

Figure A.2: MD-CC300-000 Mechanical Specifications ............................................................A-3

Figure A.3: Typical Setup, Adapter and Prototype Development Cable ....................................A-4

Figure A.4: Hardware Update Wizard .......................................................................................A-4

Figure A.5: Hardware Update Wizard Screen 2 .........................................................................A-5

Figure A.6: Hardware Update Wizard Screen 3 .........................................................................A-5

Figure A.7: Windows Logo Compatibility Testing .....................................................................A-5

Figure A.8: Hardware Update Wizard Finish Installation...........................................................A-6

Figure A.9: Hardware Properties ................................................................................................A-6

Figure A.10: Windows Device Manager ....................................................................................A-6

Figure A.11 PD12-1434-FL3 ....................................................................................................A-7

Figure A.12: PD02-3400-FL3 ...................................................................................................A-8

Figure A.13: PD04-MF34-FL3 .................................................................................................A-8

Part 1: Hardware Reference

Table 1.2.1: Electrical Specifications .......................................................................................... 1-7

Table 1.2.2: Thermal Specifications ........................................................................................... 1-7

Table 1.2.3: I/O Specifications .................................................................................................. 1-7

Table 1.2.4: Communications Specifications ............................................................................. 1-7

Table 1.2.5: Motion Specifications ............................................................................................1-7

Table 1.2.6: Setup Parameters .................................................................................................... 1-8

Table 1.2.7: P1 Connector – Power, I/O and SPI Communications .......................................... 1-9

Table 1.2.8: P3 Connector ...................................................................................................... 1-10

Table 1.2.9: P4 Connecter ....................................................................................................... 1-10

List of Tables

Part 1: Interfacing and Configuring

Table 2.2.1: Recommended Wire Gauges ...................................................................................10

Table 2.3.1: Recommended Wire Gauges ....................................................................................17

Table 2.4.1: Input Clocks Timing Table ......................................................................................21

Table 2.4.2: Optocoupler Reference Connection .........................................................................22

Table 2.6.1: Setup Parameters and Ranges ...................................................................................29

Table 2.6.2: Microstep Resolution Settings ..................................................................................32

Table 2.6.3: Hold and Run Current Percentage Equivalents ........................................................33

Table 2.6.4: Input Clock Filter Settings .......................................................................................34

Table 2.6.5: Microstepping MForce PowerDrive Fault Codes ......................................................35

Table 2.7.1: SPI Commands and Parameters ...............................................................................39

Appendices

Table A.1: PD12-1434-FL3 Wire Color Codes .........................................................................A-7

Table A.2: PD04-MF34-FL3 .....................................................................................................A-8

iv

Ge t t in g S t a r te d

P4

P3

P1

12-Pin Wire Crimp at P1 Shown.
See Specifications for Pin
Numbering for other versions.

ØA

ØB

ØA

ØB

MForce PowerDrive Front

Step

Direction

+V (+12 to +48)

Power Ground

Opto Reference*

1

1 2

3 4

3

2

4

6

* The Opto Reference Will
set the Sink/Source
Configuration of the Inputs
Sinking: OptoRef = +5 to +24 VDC
Sourcing: OptoRef = Ground

Microstepping MForce PowerDrive

Before You Begin

The Getting Started Section is designed to help quickly connect and begin using your Microstepping MForce
PowerDrive. The following examples will help you get a motor turning for the first time and introduce you to
the basic settings of the drive.

WARNING! The MForce
has 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 MForce product.

Tools and Equipment Required

 Microstepping MForce PowerDrive Unit (MFM)
 A NEMA 23 or 34 Size Stepping Motor
 Control Device for Step/Direction
 +5 to +24 VDC Optocoupler Supply (if using sinking output type)
 An Unregulated +12 to +48VDC Power Supply
 Basic Tools: Wire Cutters / Strippers / Screwdriver
 Wire for Power Supply (18 AWG) and Motor (16 AWG)
 22 AWG Wire for Logic Connections

WARNING! Ensure that
the power supply output
voltage does not exceed

the maximum input
voltage of the MForce product that
you are using!

Note: A characteristic of
all motors is back EMF.
Back EMF is a source of

current that can push the
output of a power supply beyond
the maximum operating voltage
of the driver. As a result, damage
to the stepper driver could occur
over a period of time. Care should
be taken so that the back EMF
does not exceed the maximum
input voltage rating of the MForce
PowerDrive.

Connecting the Power Supply

Using the recommended wire, connect the DC output of the power supply to the +V input of the connector
appropriate for your Microsteppi

Connect the power supply ground to the Power Ground pin appropriate for your Microstepping MForce
PowerDrive.

Part 1: Hardware Specifications

Figure GS.1: Minimum Logic and Power Connections

ng MForce PowerDrive

model.

1-1

Connect Opto Reference and Logic Inputs

Using 22 AWG wire, connect the Opto Reference to the desired reference point. The reference will determine
whether or not the logic input is sinking or sourcing. If Sinking Inputs are desired, connect the Opto reference
to a +5 to +24 VDC Supply. If Sourcing Outputs are desired, the Opto Reference needs to be connected to the
Controller Ground.

Connect the Step and Direction inputs to the appropriate outputs of your PLC or controller.

Connecting the Motor

Using the recommended wire, connect the Motor Phases to P3 as shown in Figure GS.1. Ensure that the phases
are connected correctly.

1-2

Microstepping MForce PowerDrive Manual Revision R040507

Part 1:

TM

FORCE

POWER DRIVE

MICROSTEPPING

Hardware
Reference

Section 1.1: Introduction to the Microstepping MForce PowerDrive

Section 1.2: Microstepping MForce PowerDrive Detailed Specifications

Part 1: Hardware Specifications

1-3

Page Intentionally Left Blank

1-4

Microstepping MForce PowerDrive Manual Revision R040507

SE C T I O N 1 . 1

Introduction to the Microstepping MForce PowerDrive

The Microstepping MForce Pow­erDrive is a high performance, low
cost microstepping driver that delivers
unsurpassed smoothness and perfor­mance achieved through IMS’s advanced
2nd generation current control. By
applying innovative techniques to con­trol current flow through the motor,
resonance is significantly dampened over
the entire speed range and audible noise is
reduced.

Microstepping MForce PowerDrives
accept a broad input voltage range
from +12 to +75 VDC, delivering enhanced
performance and speed. Oversized input
capacitors are used to minimize power line
surges, reducing problems that can occur
with long runs and multiple drive systems.
An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.

The high, per phase output current of up to 5 Amps RMS, 7 Amps Peak, allows the extremely compact MForce
PowerDrive to control a broad array of motors from size 23 to size 42.

The microstepping drive accepts up to 20 resolution settings from full to 256 microsteps per full step, including:
degrees, metric and arc minutes. These settings may be changed on-the-fly or downloaded and stored in nonvolatile
memory with the use of a simple GUI which is provided. This eliminates the need for external switches or resistors.
Parameters are changed via an SPI port.

The versatile Microstepping MForce PowerDrive comes with dual mounting configurations to fit various system needs.
All interface connections are accomplished using pluggable locking wire crimp connectors. Optional cables are avail­able for ease of connecting and configuring the MForce, and are recommended with first order.

The Microstepping MForce PowerDrive
cost, design and assembly time for a large range of applications.

is a compact, powerful and inexpensive solution that will reduce system

Figure 1.1.1: Microstepping MForce PowerDrive

Configuring

The IMS SPI Motor Interface software is an easy to install and use GUI for configuring the Microstepping MForce
PowerDrive from a computer's USB port. GUI access is via the IMS SPI Motor Interface included on the CD
shipped with the product, or from www.imshome.com. Optional cables are available for ease of connecting and
configuring the MForce.

The IMS SPI Motor Interface features:

Easy installation.

•

Automatic detection of MForce version

•

Will not set out-of-range values.

•

Tool-tips display valid range setting for each option.

•

Simple screen interfaces.

•

and communication conguration.

Part 1: Hardware Specifications

1-5

Features and Benefits

High Performance Microstepping Driver

•

Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness

•

Single Supply: +12 to +75 VDC

•

Low Cost

•

Extremely Compact

•

High Output Current:

•
Up to 5 Amps RMS, 7 Amps Peak (Per Phase)

20 Microstep Resolutions up to 51,200 Steps Per Rev Including:

•
Degrees, Metric, Arc Minutes

Optically Isolated Logic Inputs will Accept +5 to +24 VDC Signals, Sourcing or Sinking

•

Automatic Current Reduction

•

Configurable:

•

Motor Run/Hold Current

•

Motor Direction vs. Direction Input

•

Microstep Resolution

•

Clock Type: Step and Direction, Quadrature, Step Up and Step Down

•

Programmable Digital Filtering for Clock and Direction Inputs

•

Current and Microstep Resolution May Be Switched On-The-Fly

•

Dual Mounting Configurations

•

Power, Motor and Signal Interface via locking wire crimp style connectors.

•

Graphical User Interface (GUI) for Quick and Easy Parameter Setup

•

1-6

Microstepping MForce PowerDrive Manual Revision R040507

SE C T I O N 1 . 2

Microstepping MForce PowerDrive Detailed Specifications

General Specifications

Electrical Specifications

Input Voltage (+V) Range* +12 to +75 VDC
Max Power Supply Current (Per MForce PowerDrive)* 4 Amps

Output Current RMS 5 Amps

Output Current Peak (Per Phase) 7 Amps

* Actual Power Supply Current will depend on Voltage and Load.

Table 1.2.1: Electrical Specifications

Thermal Specifications

Heat Sink Temperature -40°C to +85°C

Table 1.2.2: Thermal Specifications

I/O Specifications

Isolated Inputs — Step Clock, Direction and Enable

Resolution 10 Bit
Voltage Range (Sourcing or Sinking) +5 to +24 VDC
Current (+5 VDC Max) 8.7 mA
Current (+24 VDC Max) 14.6 mA

Table 1.2.3: I/O Specifications

Communications Specifications

Protocol SPI

Table 1.2.4: Communications Specifications

Motion Specifications

Microstep Resolution

Number of Resolutions 20

200 400 800 1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 51200 36000121600225400

1 = 0 . 0 1 d e g/ µs te p 2= 1 ar c mi nu te /µ st ep 3 =0 .0 01 m m/ µs te p

Digital Filter Range

Clock Types

Step Frequency (Max) 5.0 MHz

Step Frequency Minimum Pulse Width 100 nS

Available Microsteps Per Revolution

3

50 nS to 12.9 µS

(10 MHz to 38.8kHz)

Step/Direction,

Quadrature, Clock Up/

Clock Down

Table 1.2.5: Motion Specifications

Part 1: Hardware Specifications

1-7

Setup Parameters

3.473

(88.21)

2X 0.580

(2X 14.73)

Ø 0.187 ±0.01
(Ø 4.75 ±0.25)
2X #8 Screws
for End Mount

3.00 ±0.01

(76.2 ±0.25)

2.116

(53.75)

0.225
(5.72)

P4

P3

P1

3.473

(88.21)

Ø 0.160 ±0.01 Thru
(Ø 4.06 ±0.25 Thru)
4X #6 Screws
for Flat Mount

0.308 TYP.
(7.82 TYP.)

2.931 TYP.

(74.45 TYP.)

3.897

(98.98)

0.417 TYP.

(10.59 TYP.)

0.160 ±0.01
(4.06 ±0.25)

2.950

(74.93)

The following table illustrates the setup parameters. These are easily configured using the IMS SPI Motor Interface
configuration utility. An optional Parameter Setup Cable is available and recommended with the first order.

Microstepping MForce PowerDrive Setup Parameters

Name Function Range Units Default

MHC Motor Hold Current 0 to 100 percent 5

MRC Motor Run Current 1 to 100 percent 25

1, 2, 4, 5, 8, 10, 16, 25, 32, 50,

MSEL Microstep Resolution

64, 100,108, 125, 127,128,

180, 200, 250, 256

DIR Motor Direction Override 0/1 – CW

HCDT Hold Current Delay Time 0 or 2-65535 mSec 500

CLK TYPE Clock Type Step/Dir. Quadrature, Up/Down – Step/Dir

CLK IOF Clock and Direction Filter

50 nS to 12.9 µS

(10 MHz to 38.8kHz)

USER ID User ID Customizable 1-3 characters IMS

WARN TEMP Warning Temperature 0 to +125 ºC 80

EN ACT Enable Active High/Low High or Low — High

Table 1.2.6: Setup Parameters

µsteps per

full step

nS (MHz)

200nS(2.5

256

MHz)

Mechanical Specifications - Dimensions in Inches (mm)

1-8

Figure 1.2.1: MForce PowerDrive Mechanical Specifications

Microstepping MForce PowerDrive Manual Revision R040507

Pin Assignment and Description

P3

P1

1 3 5 7 9 11

2 4 6 8 10 12

P1 12-Pin Locking W ire Crimp Connector Option - Power, I/O and SPI
Communications

Pin Assignment - P1 Power, I/O and SPI
Connections

Pin # Function Description

Pin 1 N/C No Connect
Pin 2 N/C No Connect

The Signal applied to the Optocoupler Reference will

Pin 3 Opto Reference

Pin 4

Pin 5 Enable

Pin 6

Pin 7 +5 VDC Output Supply voltage for the MD-CC300-000 Cable ONLY!

Pin 8 SPI Clock

Pin 9 GND Communications Ground.

Pin 10 MISO

Pin 11 CS

Pin 12 MOSI

Step Clock/Channel

A/ Clock Up

Direction/Channel B/

Clock Down

Table 1.2.7: P1 Connector – Power, I/O and SPI Communications

determine the sinking/ or sourcing configuration of the inputs.
To set the inputs for sinking operation, a +5 to +24 VDC
supply is connected. If sourcing, the Reference is connected
to Ground.

Step Clock input. The step clock input will receive the clock
pulses which will step the motor 1 step for each pulse. It
may also receive quadrature and clock up type inputs if so
configured.

Enable/Disable Input will enable or disable the driver output
to the motor. In the disconnected state the driver outputs are
enabled in either sinking or sourcing configuration.

Direction input. The axis direction will be with respect to the
state of the Direction Override Parameter. It may also receive
quadrature and clock up type inputs if so configured.

The Clock is driven by the SPI Master. The clock cycles once
for each data bit.

Master-In/Slave-Out. Carries output data from the MFM back
to the SPI Master.

SPI Chip Select. This signal is used to turn communications
on multiple MFM units on or off.

Master-Out/Slave-In. Carries output data from the SPI Master
to the MFM.

NEED A CABLE?

The following cables
and converters are
available to interface
with P1:

12-Pin Locking Wire Crimp

PD12-1434-FL3

NEED A CABLE?

The following cables
and converters are
available to interface
communications with

USB to SPI:

MD-C300-000

10-Pin IDC to 12-Pin Locking
Wire Crimp Adapter

All SPI Communications will
connect to the P1 Connector.

An adapter is available to interface
the MD-CC300-000 to the 12-Pin
Locking Wire Crimp connector.

MD-ADP-1723C

This adapter may be used in
conjunction with the following
Prototype Development cables to
interface power and logic:

Recommended Connector Shell and Pins

Shell: AMP P/N 1-794617-2
Pins: 12 x AMP P/N 794610-1

Wire: 22 AWG Shielded Twisted Pair

Figure 1.2.2: P1 — 12-Pin Locking Wire Crimp Pin Configuration

PD12-1434-FL3 (10')
ADP-3512-FL (12")

See Appendix A for details.

Part 1: Hardware Specifications

1-9

P3

12

P4

1

1

2

2

3

4

NEED A CABLE?

The following cables
and converters are
available to interface
with P3:

2-Pin Locking Wire Crimp

PD02-3400-FL3

P3 Connector - DC Power, 2-Pin Locking W ire Crimp

Pin Assignment - P3 Power

2-Pin Locking

Wire Crimp

Pin 1 +V +12 to +75 VDC, 4 Amps Maximum per MDrive34Plus.
Pin 2 GND Power Supply Return.

Function Description

Table 1.2.8: P3 Connector

WARNING! Do not
plug or unplug DC
Power with power
applied.

NEED A CABLE?

The following cables
and converters are
available to interface
with P4:

4-Pin Locking Wire Crimp

PD04-MF34-FL3

Recommended Connector Shell and Pins

Shell: Molex P/N 510-67-0200
Pins: 2 x Molex P/N 502-17-9101

Wire: 18 AWG Shielded Twisted Pair

Figure 1.2.3: P3 — 2-Pin Locking Wire Crimp Pin Configuration

P4 Connector - Motor

Pin Assignment - P4 Motor

5-Pin Locking

Wire Crimp

Pin 1 Phase A Phase A Motor Output
Pin 2 Phase A Phase A Motor Return
Pin 3 Phase B Phase B Motor Output
Pin 4 Phase B Phase B Motor Return

Recommended

Cable

PD04-MF34-FL3

Function Description

1-10

Table 1.2.9: P4 Connecter

Recommended Connector Shell and Pins

Shell: Molex P/N 39-01-2045
Pins: 4 x Molex P/N 44476-3112

Wire: 16 AWG Shielded Twisted Pair

Figure 1.2.4: P4 — 4-Pin Locking Wire Crimp Pin Configuration

Microstepping MForce PowerDrive Manual Revision R040507

Options and Accessories

Parameter Setup Cable and Adapters

The optional 12.0' (3.6m) parameter setup cable part number MD-CC300-000 facilitates communications
wiring and is recommended with first order. It connects from the 10-Pin IDC Connector located at P2 to a
PC's USB port. If the12-pin pluggable locking wire crimp connector is used at P1, adapter MD-ADP-1723C
is required to use the MD-CC300-000.

USB to SPI ..........................................................................................................MD-CC300-000

Prototype Development Cable

To speed prototype development, these cables connect to user interface via flying leads with MForce mating
connector on opposite end.

Mating connector to 12-pin pluggable locking wire crimp plugs into MForce or adapter MD-ADP-1723C.
Choose from 2 lengths:

12.0" (30.5cm) ..........................................................................................................ADP-3512-FL

10.0' (3.0m) .......................................................................................................... PD12-1434-FL3

Mating connector to MForce 4-pin motor interface:

10.0' (3.0m). ....................................................................................................... PD04-MF17-FL3

Part 1: Hardware Specifications

1-11

Page Intentionally Left Blank

1-12

Microstepping MForce PowerDrive Manual Revision R040507

Part 2:

TM

FORCE

MICRO DRIVE

MICROSTEPPING

Interfacing and
Configuring

Section 2.1: Mounting and Connection Recommendations

Section 2.2: Logic Interface and Connection

Section 2.3: Connecting SPI Communications

Section 2.4: Using the IMS SPI Motor Interface

Section 2.5: Using User-Defined SPI

Part 2: Interfacing and Configuring

1

Page Intentionally Left Blank

2

Microstepping MForce PowerDrive Manual Revision R040507

SE C T I O N 2 . 1

4 x #6-32 Screw
4 x #6 Split Lockwasher
4 x #6 Flat Washer

Mounting Hardware

4 x M3.5 - 0.60 Screw
4 x M3.5 Split Lockwasher
4 x M3.5 Flat Washer

Mounting Hardware (Metric)

MForce PowerDrive

Mounting Surface

2.931 TYP

(74.45 TYP)

2.950

(74.93

Use #36 Drill Size (2.9 mm)
Tap to #6-32 (M3.5 - 0.60) 4 PL

Mounting Hole Pattern

(Not to Scale)

Recommended Tightening Torque:
7 - 8 lb-in (78.4 - 89.6 N-cm)

Mounting and Connection Guidelines

Mounting Recommendations

The Microstepping MForce PowerDrive may be mounted two ways: end mounted or flat mounted End mount­ing will use #8 hardware, flat mounting will use standard #6 hardware. Do not exceed the recommended mount­ing torque specification. The diagrams in Figures 2.1.1 and 2.1.2 illustrate the mounting methods.

NOTE: Mounting
Hardware is not
supplied.

Figure 2.1.1: Base Mounting the MForce PowerDrive

Part 2: Interfacing and Configuring

3

2 x #8-32 Screw
2 x #8 Split Lockwasher
2 x #8 Flat Washer

Mounting Hardware

2 x M4 - 0.70 Screw
2 x M4 Split Lockwasher
2 x M4 Flat Washer

Mounting Hardware (Metric)

Mounting Surface

3.000 TYP

(76.20 TYP)

Use #29 Drill Size (3.3 mm)
Tap to #8-32 2 PL (M4 - 0.70)

Mounting Hole Pattern

Recommended Tightening Torque:
8 - 9 lb-in (89.6 - 100.8 N-cm)

NOTE: Ensure that
proper clearance is
allowed for wiring

Especially when end
mounting the device.

and cabling.

NOTE: Mounting
Hardware is not
supplied.

Figure 2.1.2: End Mounting the MForce PowerDrive

Securing Power Leads and Logic Leads

Some applications may require that the MForce and/or the connected motor to move with the axis motion. If this
is a requirement of your application, the motor leads must be properly anchored. This will prevent flexing and
tugging which can cause damage at critical connection points on the MForce connectors.

Layout and Interface Guidelines

Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level
cables and make your system unreliable.

Logic level cables must be shielded to reduce the chance of EMI induced noise. The shield needs to be grounded at
the signal source to earth. The other end of the shield must not be tied to anything, but allowed to float. This allows
the shield to act as a drain.

Power supply leads to the MForce PowerDrive need to be twisted. If more than one driver is to be connected to
the same power supply, run separate power and ground leads from the supply to each driver.

4

Microstepping MForce PowerDrive Manual Revision R040507

Rules of W iring

• Power Supply and Motor wiring should be shielded twisted pairs, and run separately from signal­carrying wires.

• A minimum of one twist per inch is recommended.

• Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18
gauge or better.

• Power ground return should be as short as possible to established ground.

• Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16
gauge for more than 4 amps DC.

Rules of Shielding

• The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed
or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not
effective if the signal is not earthed or grounded.

• Do not assume that Earth ground is a true Earth ground. Depending on the distance from the main
power cabinet, it may be necessary to sink a ground rod at the critical location.

• The shield must be connected so that shield currents drain to signal-earth connections.

• The number of separate shields required in a system is equal to the number of independent signals
being processed plus one for each power entrance.

• The shield should be tied to a single point to prevent ground loops.

• A second shield can be used over the primary shield; however, the second shield is tied to ground at
both ends.

Recommended W iring

The following wiring/cabling is recommended for use with the MForce PowerDrive:

Logic Wiring ......................................................................................................................22 AWG

Wire Strip Length ...................................................................................................0.25” (6.0 mm)

Power and Ground ........................................................................ 18 AWG Shielded Twisted Pair*

Motor ...............................................................................................16 AWG Shielded Twisted Pair

*See Table 2.2.1 if using a power cable longer than 10 feet. The Gauge used is dependant upon supply current
and legnth.

Recommended Mating Connectors and Pins

Logic and SPI Communications (P1)

12-pin Locking Wire Crimp Connector Shell ......................................................AMP 1-794617-2

Crimp Pins ..............................................................................................................AMP 794610-1

Power (P3)

2-pin Locking Wire Crimp Connector Shell ..................................................... Molex 51067-0200

Crimp Pins .............................................................................................. Molex 50217-9101 Brass

Motor (P4)

4-pin Locking Wire Crimp Connector Shell ....................................................... Molex 3901-2045

Crimp Pins ....................................................................................................... Molex 44476-3112

Part 2: Interfacing and Configuring

5

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6

Microstepping MForce PowerDrive Manual Revision R040507

SE C T I O N 2 . 2

Interfacing DC Power

Choosing a Power Supply for Your MForce PowerDrive

When choosing a power supply for your
MForce PowerDrive there are performance
and sizing issues that must be addressed. An
undersized power supply can lead to poor
performance and even possible damage to
the device, which can be both time consum­ing and expensive. However, The design of
the MForce PowerDrive is quite efficient
and may not require as large a supply as you
might suspect.

Motors have windings that are electrically
just inductors, and with inductors comes re­sistance and inductance. Winding resistance
and inductance result in a L/R time constant
that resists the change in current. It requires
five time constants to reach nominal current.
To effectively manipulate the di/dt or 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, and though nothing can be done about back EMF, we can give
a path of low impedance by supplying enough output capacitance. 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 MForce PowerDrive over time.

The MForce PowerDrive 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 re-circulate within the bridge, and in and out of
each phase reservoir. While one phase is in the decaying stage of the variable chopping oscillator, the other phase
is in the charging stage, this results in a less than expected current draw on the supply.

The MForce PowerDrive is 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. If a power supply is undersized, upon a current surge the supply could fall be­low the operating range of the driver. This could cause the power supply to start oscillating in and out of the volt­age range of the driver and result in damaging either the supply, 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.

An unregulated linear supply is less expensive and more resilient to current surges, however, voltage decreases
with increasing current draw. This can cause serious problems if the voltage drops below the working range of the
drive. Also of concern is the fluctuations in line voltage. This can cause the unregulated linear supply to be above
or below the anticipated 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 as previously stated can lead to
damage. Back EMF can cause problems for regulated supplies as well. The current regeneration may be too large
for the regulated supply to absorb and may lead to an over voltage condition.

Switching supplies are typically regulated and require little real-estate, which makes them attractive. However,
their output response time is slow, making them ineffective for inductive loads. IMS has designed a series of low
cost miniature non-regulated switchers that can handle the extreme varying load conditions which makes them
ideal for the MForce PowerDrive.

Figure 2.2.1: IMS ISP300 Switch Mode Power Supply

Part 2: Interfacing and Configuring

7

DC Power Supply Recommendations

The power requirements for the Microstepping MForce PowerDrive are:

Output Voltage ...................................................................+12 to +75 VDC (Includes Back EMF)

Current (max. per unit) ...............................................................................................................4A

(Actual power supply current requirement will depend upon voltage and load)

Recommended IMS Power Supplies

IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products.

IP804 Unregulated Linear Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

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

Half Load Output ..................................................................................65 VDC @ 2 Amps

Full Load output ....................................................................................58 VDC @ 4 Amps

IP806 Unregulated Linear Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

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

Half Load Output ..................................................................................68 VDC @ 3 Amps

Full Load Output ................................................................................... 64 VDC @ 6 Amps

ISP300-7 Unregulated Switching Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

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

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

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

8

Microstepping MForce PowerDrive Manual Revision R040507

P3

Unregulated

Linear or

Switching

Power Supply

Power

Ground

+VDC

Shield to

Earth Ground

+

–

!

WARNING! Do not connect
or disconnect cabling while
power is applied!

Optional Prototype

Development Cable:

PD02-3400-FL3

Pin 1Pin 2

Basic DC Power Connection

Shield to Earth Ground

on Supply End Only

DC Voltage from

Power Supply

500 µf

Per Amp

+

-

Ferrite
Beads

P Type RFI Filter

r Required Current

+

-

Shielded Twisted Pair

Cable Length

less than 50 Feet

P3:2
P3:1

WARNING! DO
NOT connect

or disconnect

power leads
when power is applied!
Disconnect the AC power
side to power down the
DC power supply.

Figure 2.2.2: MForce PowerDrive DC Power Connection

Recommended Power and Cable Configurations

Cable length, wire gauge and power conditioning devices play a major role in the performance of your MForce
PoweDrive.

Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet long.
If cabling of 50 feet or longer is required, the additional length may be gained by adding an AC power supply
cable (see Examples B & C).

Correct AWG wire size is determined by the current requirement plus cable length. Please see Table 2.2.1 for
recommended wire gauges.

Example A: DC Power Cabling Under 50 Feet

Figure 2.2.3: DC Cabling - Under 50 Feet

Part 2: Interfacing and Configuring

9

WARNING! DO

Shield to Earth Ground

on Supply End Only

P Type RFI Filter

r Required Current

Transformer - 10 to 28 VAC RMS for 48 VDC Systems
20 to 48 VAC RMS for 75 VDC Systems

Full Wave Bridge

+

-

Shielded Twisted Pair

Cable Length

as required

NOTE:

Connect the cable illustrated

in Figure 2.2.2 to the output of

the Full Wave Bridge

Shield to Earth Ground

on Supply End Only

P Type RFI Filter

r Required Current

120 or 240 VAC

Dependent on

Power Supply

Power Supply

+

-

DC Volts Out

Shielded Twisted Pair

Cable Length

as required

NOTE:
Connect the cable illustrated
in Example A to the output of

the Power Supply

NOT connect
or disconnect

power leads
when power is applied!
Disconnect the AC power
side to power down the
DC power supply.

Example B: AC Power to Full Wave Bridge Cabling Over 50 Feet

Figure 2.2.4: AC To Full Wave Bridge Rectifier, Cabling over 50 Feet

Example C – Cabling 50 Feet or Greater, AC Power to Power Supply

10

Figure 2.2.5: AC Cabling - 50 Feet or Greater - AC To Power Supply

MForce PowerDrive Recommended Power Supply Cable AWG

1 Amperes (Peak) 3 Amperes (Peak)

Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100*

Minimum AWG 20 20 18 18 16 Minimum AWG 18 16 14 12 12

2 Amperes (Peak) 4 Amperes (Peak)

Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100*

Minimum AWG 20 18 16 14 14 Minimum AWG 18 16 14 12 12

*Use the alternative methods illustrated in examples B and C when cable length is ≥ 50 feet. Also, use the same

current rating when the alternate AC power is used.

Table 2.2.1: Recommended Wire Gauges

Microstepping MForce PowerDrive Manual Revision R040507

SE C T I O N 2 . 3

Motor Selection and Interface

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 load?

While determining the answers to these and other questions is beyond the scope of this document, they are
details that you must know in order to select a motor that is appropriate for your application. These details will
affect everything from the power supply voltage to the type and wiring configuration of your stepper motor. The
current and microstepping settings of your Microstepping MForce PowerDrive will also be affected.

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.
Although it is called a “stepping motor”, it is in reality a polyphase synchronous motor. This means it has multiple
phases wound in the stator and the rotor is dragged along in synchronism with the rotating magnetic field. The
MForce PowerDrive is designed to work with the following types of stepping motors:

1) Permanent Magnet (PM)

2) Hybrid Stepping Motors

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). VR motors are low torque and load capacity motors
which are typically used in instrumentation. The MForce PowerDrive cannot be used with VR motors as they
have no permanent magnet.

On hybrid motors, the phases are wound on toothed segments of the stator assembly. The rotor consists of a
permanent magnet with a toothed outer surface which allows precision motion accurate to within ± 3 percent.
Hybrid stepping motors are available with step angles varying from 0.45° to 15° with 1.8° being the most com­monly used. Torque capacity in hybrid steppers ranges from 5 - 8000 ounce-inches. Because of their smaller
step angles, hybrid motors have a higher degree of suitability in applications where precise load positioning and
smooth motion is required.

Sizing a Motor for Your System

The MForce PowerDrive is a bipolar driver which works equally well with both bipolar and unipolar motors (i.e.
8 and 4 lead motors, and 6 lead center tapped motors).

To maintain a given set motor current, the MForce PowerDrive chops the voltage using a variable 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 MForce PowerDrive 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 MForce PowerDrive is set to the motor’s rated
current.

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.

Part 2: Interfacing and Configuring

11

PHASE A

PHASE A

PHASE B

PHASE B

8 Lead Stepping Motor

Series Configuration

8 Lead Stepping Motor

Parallel Configuration

PHASE A

PHASE A

PHASE B

PHASE B

(Note: This example a lso
applies to the 6 lead motor
full copper conguration and
to 4 lead stepping motors)

(Note: This example a lso
applies to the 6 lead motor
half copper conguration)

Specified Per Phase

Inductance

Specified Per Phase

Inductance

Actual Inductance

Seen By the Driver

Actual Inductance
Seen By the Driver

A B

NOTE: In
calculating the
maximum phase

minimum supply output
voltage should be used when
using an unregulated supply.

inductance, the

12

Figure 2.3.1 A & B: Per Phase Winding Inductance

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

Figure 2.3.1A 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.

Maximum Motor Inductance (mH per Phase) =

.2 X Minimum Supply Voltage

Figure 2.3.1B shows an 8 lead motor wired in parallel. Using this configuration the per phase inductance seen by
the driver will be as specified.

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

.2 X 18 = 3.6 mH

The recommended per phase winding inductance we can use is 3.6 mH.

Recommended IMS Motors

IMS also carries a series of 23 and 34 frame enhanced stepping motors that are recommended for use with the MForce
PowerDrive. 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.

Each frame size is available in 3 stack sizes, single or double shaft, with or without encoders. They handle currents up
to 2.4 Amps in series or 6 Amps parallel, and holding torque ranges from 90 oz.-in. (M-2218-2.4) to 1303 oz.-in (M­3447-6.3) (64 N-cm to 920 N-cm).

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

For more detailed information on these motors, please see the IMS Full Line catalog or the IMS web site at
http://www.imshome.com.

Microstepping MForce PowerDrive Manual Revision R040507

23 Frame Enhanced (2.4A - Not Available with Double Shaft)

Single Shaft Double Shaft

M-2218-2.4S ............................................................................................................................N/A

M-2222-2.4S ............................................................................................................................N/A

M-2231-2.4S ............................................................................................................................N/A

23 Frame Enhanced (3.0A)

Single Shaft Double Shaft

M-2218-3.0S ............................................................................................................M-2218-3.0D

M-2222-3.0S ............................................................................................................M-2222-3.0D

M-2231-3.0S ............................................................................................................M-2231-3.0D

23 Frame Enhanced (6.0A)

Single Shaft Double Shaft

M-2218-6.0S ............................................................................................................M-2218-6.0D

M-2222-6.0S ............................................................................................................M-2222-6.0D

M-2231-6.0S ............................................................................................................M-2231-6.0D

34 Frame Enhanced (6.3A)

Single Shaft Double Shaft

M-3424-6.3S ...........................................................................................................M-3424-6.3-D

M-3431-6.3S ............................................................................................................M-3431-6.3D

M-3447-6.3S ............................................................................................................M-3447-6.3D

IMS also offers 23 and 34 Frame hybrid linear actuators for use with the MForce PowerDrive.
Please see the IMS Full Line catalog or the IMS web site at http://www.imshome.com.

IMS Inside Out Stepper Motors

The new inside out stepper (IOS) motor was designed by IMS to bring versatility to stepper motors using a
unique multi-functional, hollow core design.

This versatile new motor can be converted to a ball screw linear actuator by mounting a miniature ball screw to
the front shaft face. Ball screw linear actuators offer long life, high efficiency, and can be field retrofitted. There is
no need to throw the motor away due to wear of the nut or screw.

The IOS motors offer the following features:

The shaft face diameter offers a wide choice of threaded hole patterns for coupling.

The IOS motor can be direct coupled in applications within the torque range of the motor,

eliminating couplings and increasing system efciency.

The IOS motor can replace gearboxes in applications where gearboxes are used for inertia

damping between the motor and the load. The induced backlash from the gearbox is
eliminated providing improved bidirectional position accuracy.

Electrical or pneumatic lines can be directed through the center of the motor enabling

the motors to be stacked end-to-end or applied in robotic end effector applications. The
through hole is stationary, preventing cables from being chaffed by a moving hollow
shaft.

Light beams can be directed through the motor for refraction by a mirror or lter wheel

mounted on the shaft mounting face.

The IOS motor is adaptable to valves enabling the valve stem to protrude above the motor

frame. The stem can be retrotted with a dial indicator showing valve position.

The motor is compatible with IMS bipolar drivers, keeping the system cost low.

The IOS motor can operate up to 3000 rpm’s.

Part 2: Interfacing and Configuring

13

The IOS motor is available in the following frames:

1
3 4

2

Splice

Splice

P4

PHASE A

PHASE A

BPHASE

PHASE B

1
3 4

2

P4

PHASE A

PHASE A

BPHASE

PHASE B

Frame Size IMS PN

23 Frame ...................................................................................................................M3-2220-IOS

34 Frame ...................................................................................................................M3-3424-IOS

Connecting the Motor

The motor leads are connected to the following connector pins:

Phase Connector: Pin

Phase A ...................................................................................................................................P4: 1

Phase A ...................................................................................................................................P4: 2

Phase B ................................................................................................................................... P4: 3

Phase B ................................................................................................................................... P4: 4

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
lower speeds is required. Because this configuration has the most inductance, the performance
will start to degrade at higher speeds. Use the per phase (or unipolar) current rating as the peak
output current, or multiply the bipolar current rating by 1.4 to determine the peak output current.

14

Figure 2.3.2: 8 Lead Motor Series Connections

Parallel Connection

An 8 lead motor in a parallel configuration offers a more stable, but lower torque at lower speeds.
But because of the lower inductance, there will be higher torque at higher speeds. Multiply the
per phase (or unipolar) current rating by 1.96, or the bipolar current rating by 1.4, to determine
the peak output current.

Figure 2.3.3: 8 Lead Motor Parallel Connections

Microstepping MForce PowerDrive Manual Revision R040507

6 Lead Motors

1
3 4

2

P4

PHASE A

PHASE A

B

PHASE

PHASE B

No Connect

No Connect

1
3 4

2

P4

PHASE A

PHASE A

B

PHASE

PHASE B

No Connect

No Connect

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 more stable at higher speeds. This configuration is also referred to
as half copper. In setting the driver output current multiply the specified per phase (or unipo­lar) current rating by 1.4 to determine the peak output current.

Figure 2.3.4: 6 Lead Half Coil (Higher Speed) Motor Connections

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. Use the
per phase (or unipolar) current rating as the peak output current.

Figure 2.3.5: 6 Lead Half Coil (Higher Speed) Motor Connections

Part 2: Interfacing and Configuring

15

1
3 4

2

P4

PHASE A

PHASE A

B

PHASE

PHASE B

4 Lead Motors

Shield to Earth Ground

on Supply End Only

Ferrite Beads

Cable Length

less than 50 Feet

MForce

PowerDrive

Phase Outputs

Motor

Connections

Shielded/Twisted Pair

A

A

B

B

A
A
B
B

4 lead motors are the least flexible but easiest to wire. Speed and torque will depend on winding
inductance. In setting the driver output current, multiply the specified phase current by 1.4 to deter­mine the peak output current.

Figure 2.3.6: 4 Lead Motor Connections

Recommended Motor Cabling

As with the power supply wiring, motor wiring should be run separately from logic wiring to minimize noise
coupled onto the logic signals. Motor cabling exceeding 1’ in length should be shielded twisted pairs to reduce
the transmission of EMI (Electromagnetic Interference) which can lead to rough motor operation and poor
system performance.

Cable length, wire gauge and power conditioning devices play a major role in the performance of your MForce
PowerDrive and Stepper Motor.

NOTE: The length of the DC power supply cable between the MForce PowerDrive and the Motor should not
exceed 50 feet.

Example A demonstrates the recommended cable configuration for the MForce PowerDrive to Motor cabling
under 50 Feet long. If cabling of 50 feet or longer is required, the additional length can be gained with the cable
configuration in Example B.

Correct AWG wire size is determined by the current requirement plus cable length. Please see Table 2.3.1 on the
following page.

16

Example A: Motor Cabling Less Than 50 Feet

Figure 2.3.7: Motor Cabling Less than 50 Feet

Microstepping MForce PowerDrive Manual Revision R040507

Shield to Earth Ground

on Supply End Only

Ferrite Beads

*L z 0.5 MH

* 0.5 MH is a typical starting point for the Common Mode Line Filters. By increasing or decreasing
the value of L you can set the drain current to a minimum to meet your application’s requirements.

Common Mode
Line Filters (2x)

Shielded/Twisted Pair

Cable Length

as required

Motor

Connections

A

A

B

B

A

A

B

B

MForce

PowerDrive

Phase Outputs

Example B: Motor Cabling Greater Than 50 Feet

Figure 2.3.8: Motor Cableing Greater than 50 Feet

Recommended Motor Cable AWG Sizes

MForce PowerDrive Recommended Motor Cable AWG

1 Amperes (Peak) 5 Amperes (Peak)

Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100*

Minimum AWG 20 20 18 18 16 Minimum AWG 16 16 14 12 12

2 Amperes (Peak) 6 Amperes (Peak)

Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100*

Minimum AWG 20 18 16 14 14 Minimum AWG 14 14 14 12 12

3 Amperes (Peak) 7 Amperes (Peak)

Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100*

Minimum AWG 18 16 14 12 12 Minimum AWG 12 12 12 12 12

4 Amperes (Peak) *Use the alternative methods illustrated in example

Length (Feet) 10 25 50* 75* 100*

Minimum AWG 18 16 14 12 12

B when cable length is ≥ 50 feet. Also, use the same

current rating when the alternate AC power is used.

Part 2: Interfacing and Configuring

Table 2.3.1: Recommended Wire Gauges

17

18

Microstepping MForce PowerDrive Manual Revision R040507

SE C T I O N 2 . 4

Pin 3: Opto Supply

Pin 5: Enable

Pin 4: Step/Clock

Pin 6: Direction

Inputs Configured as Sinking

+5 to +24VDC

Inputs Configured as Sourcing

Controller I/O

Ground

Pin 3

Pin 3

Logic Interface and Connection

Optically Isolated Logic Inputs

The Microstepping MForce PowerDrive has three optically isolated logic inputs which are located on connector
P1. 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 or +5 to +24
VDC sourcing outputs on a controller or PLC. These inputs are:

1] Step Clock (SCLK)/Quadrature (CH A)/Clock UP

2] Direction (DIR)/Quadrature (CH B)/ Clock DOWN

3] Enable (EN)

Of these inputs only step clock and direction are required to operate the Microstepping MForce PowerDrive.

Isolated Logic Input Pins and Connections

The following diagram illustrates the pins and connections for the Microstepping MForce PowerDrive family of
products. Careful attention should be paid to verify the connections on the model Microstepping MForce Power­Drive you are using.

Isolated Logic Input Characteristics

Enable Input

This input can be used to enable or disable the driver output circuitry. Leaving the enable switch open (Logic
HIGH, Disconnected) for sinking or sourcing configuration, the driver outputs will be enabled and the step
clock pulses will cause the motor to advance. When this input switch is closed (Logic LOW) in both sinking

Part 2: Interfacing and Configuring

Figure 2.4.1: Isolated Logic Pins and Connections

19

and sourcing configurations, the driver output circuitry will be disabled. Please note that the internal sine/cosine

Step Clock

Direction

Channel A

Channel B

CW

CCW

Step/Direction Function

Quadrature Function

Up/Down Function

position generator will continue to increment or decrement as long as step clock pluses are being received by the
Microstepping MForce PowerDrive.

Clock Inputs

The Microstepping MForce PowerDrive features the ability to configure the clock inputs based upon how the user
will desire to control the drive. By default the unit is configured for the Step/Direction function.

Step Clock

The step clock input is where the motion clock from your control circuitry will be connected. The motor will
advance one microstep in the plus or minus direction (based upon the state of the direction input) on the ris­ing edge of each clock pulse. The size of this increment or decrement will depend on the microstep resolution
setting.

Direction

The direction input controls the CW/CCW direction
of the motor. The input may be configured as sinking or
sourcing based upon the state of the Optocoupler Refer­ence. The CW/CCW rotation, based upon the state of the
input may be set using the IMS Motor Interface software
included with the Microstepping MForce PowerDrive.

Quadrature

The Quadrature clock function would typically be used for
following applications where the Microstepping MForce
PowerDrive would be slaved to an MForce PowerDrive
Microstepping (or other controller) in an electronic gearing
application.

Up/Down

The Up/Down clock would typically be used in a dual­clock direction control application.

Input Timing

The direction input and the microstep resolution inputs
are internally synchronized to the positive going edge of
the step clock input. When a step clock pulse goes HIGH,
the state of the direction input and microstep resolution
settings are latched. Any changes made to the direction
and/or microstep resolution will occur on the rising edge of
the step clock pulse following this change. Run and Hold
Current changes are updated immediately. The following
figure and table list the timing specifications.

Input Filtering

The clock inputs may also be filtered using the Clock IOF
pull down of the IMS SPI Motor Interface. The filter range
is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz).

The configuration parameters for the input filtering is
covered in detail in Section 2.4: Configuring the Microstepping MForce PowerDrive.

Figure 2.4.2: Input Clock Functions

20

Microstepping MForce PowerDrive Manual Revision R040507

T

DSU

T

DH

T

SH

T

SL

Direction

Step

T

DC

T

CHL

T

CHL

Channel

A

Channel B

Direction Change

T

SH

T

SL

T

DC

T

SH

T

SL

T

DC

Step Up

Step Down

STEP/DIRECTION TIMING

QUADRATURE TIMING

UP/DOWN TIMING

Symbol Parameter

T

DSU

T

DH

T

SH

T

SL

T

DL

T

CHL

F

SMAX

F

CHMAX

F

ER

T Direction Set Up 50 — — nS min

T Direction Hold 100 — — nS min

T Step High 100 100 — nS min

T Step Low 100 100 — nS min

T Direction Change — 200 200 nS min

T Channel High/Low — — 400 nS min

F Step Maximum 5 5 — MHz Max

F Channel Maximum — — 1.25 MHz Max

F Edge Rate — — 5 MHz Max

Figure 2.4.3: Clock Input Timing Characteristics

Clock Input Timing

Type and Value

Step/Direction Step Up/Down Quadrature Units

Table 2.4.1: Input Clocks Timing Table

Part 2: Interfacing and Configuring

21

NOTE: When

Constant

Current

Source

Optocoupler

+5 VDC

To Drive Logic

Optocoupler

Reference

Input

(Step Clock,

Direction, Enable)

Microstepping MForce

PowerDrive

connecting the
Optocoupler Supply,

it is recommended
that you do not use MForce
Power Ground as Ground
as this will defeat the optical
isolation.

Optocoupler Reference

The Microstepping MForce PowerDrive Logic Inputs are optically isolated to prevent electrical noise being coupled
into the inputs and causing erratic operation.

There are two ways that the Optocoupler Reference will be connected depending whether the Inputs are to be
configured as sinking or sourcing.

Optocoupler Reference

Input Type Optocoupler Reference Connection

Sinking +5 to +24 VDC

Sourcing Controller Ground

Table 2.4.2: Optocoupler Reference Connection

Figure 2.4.4: Optocoupler Input Circuit Diagram

22

Microstepping MForce PowerDrive Manual Revision R040507

+

Microstepping

MForce PowerDrive

+5 to +24VDC

Optocoupler Reference

Input

Controller Output

Controller Ground

+

+5 to +24VDC

Optocoupler Reference

Input

Controller Output

Controller Ground

NPN Open Collector Interface

(Sinking)

PNP Open Collector Interface

(Sourcing)

Microstepping

MForce PowerDrive

Input Connection Examples

The following diagrams illustrate possible connection/application of the Microstepping MForce PowerDrive Logic
Inputs.

Figure 2.4.5: Open Collector Interface Example

Part 2: Interfacing and Configuring

23

Switch Interface Example

Switch Interface

(Sinking)

Switch Interface

(Sourcing)

+

+5 to +24VDC

Optocoupler Reference

Enable Input

SPST

Switch

GND

+

Enable Input

+5 to +24VDC

Optocoupler Reference

GND

SPST

Switch

Enable Input

Microstepping

MForce PowerDrive

Microstepping

MForce PowerDrive

Figure 2.4.6: Switch Interface Example

24

Microstepping MForce PowerDrive Manual Revision R040507

Minimum Required Connections

P4

P3

P1

12-Pin Wire Crimp at P1 Shown.
See Specifications for Pin
Numbering for other versions.

ØA

ØB

ØA

ØB

MForce PowerDrive Front

Stepping Motor

Step

Direction

+V (+12 to +48)

Power Ground

Opto Reference*

1

1 2

3 4

3

2

4

6

* The Opto Reference Will
set the Sink/Source
Configuration of the Inputs
Sinking: OptoRef = +5 to +24 VDC
Sourcing: OptoRef = Ground

The connections shown are the minimum required to operate the Microstepping MForce PowerDrive. These are
illustrated in both Sinking and Sourcing Configurations. Please reference the Pin Configuration diagram and
Specification Tables for the Microstepping MForce PowerDrive connector option you are using.

Figure 2.4.7: Minimum Required Connections

Part 2: Interfacing and Configuring

25

SE C T I O N 2 . 5

Connecting SPI Communications

Connecting the SPI Interface

The SPI (Serial Peripheral Interface) is the com­munications and configuration interface.

For prototyping we recommend the purchase
of the parameter setup cable MD-CC300-000.
If using the Microstepping MForce PowerDrive
with the 10-Pin IDC on P2, this cable will plug
directly into the P2 Connector.

If using the model with a 12-Pin Locking Wire
Crimp connector, adapters are available to
interface the parameter setup cable to P1.

For more information on prototype development cables, please see Appendix: Prototype Development Cables.

SPI Signal Overview

+5 VDC (Output)

This output is a voltage supply for the setup cable only. It is not designed to power any external devices.

SPI Clock

The Clock is driven by the Master and regulates the flow of the data bits. The Master may transmit data at a
variety of baud rates. The Clock cycles once for each bit that is transferred.

Figure 2.5.1: MD-CC300-000 Parameter Setup Cable

Logic Ground

This is the ground for all Communications.

MISO (Master In/Slave Out)

Carries output data from the Microstepping MForce PowerDrive units back to the SPI Master. Only one
MForce PowerDrive can transmit data during any particular transfer.

CS (SPI Chip Select)

This signal is used to turn multiple Microstepping MForce PowerDrive units on or off.

MOSI (Master Out/Slave In)

Carries output data from the SPI Master to the Microstepping MForce PowerDrive.

26

Microstepping MForce PowerDrive Manual Revision R040507

SPI Pins and Connections

+5 VDC OUT

19

15

2 3 4

PC Parallel/SPI Port

P1

10

12

7 9

11

MASTER OUT/SLAVE IN

MASTER IN/SLAVE OUT

SPI CLOCK

8

CHIP SELECT

COMM GND

12-Pin Locking Wire Crimp

For Use ONLY

with IMS Parameter

Setup Cable

U1:A

U1:B

U1:D

U1:C

HCT125

HCT125

HCT125

HCT125

2

1

14

4

5

7

13

12

11

10

8

9

6

3

2

R1

100

+5V

R2

49.9

P2: 8

CLK

+5V

P2: 4

P2: 7

P2: 10

P2: 6

P2: 5

CS

MOSI

MISO

+5 VDC

GND

5

6

10

7

4

8

3

4

19

DB25: 2

DB25: 3

DB25: 4

DB25: 19

DB25: 15

15

C3

330pF

R9

100K

R10

100K

R4

49.9

R6

49.9

C4

330pF

R3

100

R5

100

C5

330pF

R11

100K

+5V

R12

100K

+5V

R8

4.9K

R7

49.9
+5V

C1

C2

.1µF

1µF
25V

+

Figure 2.5.2: SPI Pins and Connections, 12-Pin Wire Crimp

Logic Level Shifting and Conditioning Circuit

The following circuit diagram is of a Logic Level shifting and conditioning circuit. This circuit should be
used if you are making your own parameter cable and are using a laptop computer with 3.3 V output parallel
ports.

Part 2: Interfacing and Configuring

Figure 2.5.3: Logic Level Shifting and Conditioning Circuit

NOTE: If making your
own parameter setup
cable, be advised

the 3.3V output
parallel ports on some laptop
PC’s may not be sufficient to
communicate with the device
without use of a logic level
shifting and conditioning
Interface.

27

SPI Master with Multiple Microstepping MForce PowerDrive

SPI Master

SPI Clock

MOSI

MISO

CS

SPI Clock

MOSI

MISO

CS1

CS2

SPI Master

Microstepping

MForce

PowerDrive

Microstepping

MForce

PowerDrive

#1

Microstepping

MForce

PowerDrive

#2

It is possible to link multiple Microstepping MForce PowerDrive units in an array from a single SPI Master by wiring the system
and programming the user interface to write to multiple chip selects.

Each MForce on the bus will have a dedicated chip select. Only one system MForce can be communicated with/Parameters
changed at a time.

Figure 2.5.4: SPI Master with a Single Microstepping MForce PowerDrive

Figure 2.5.5: SPI Master with Multiple Microstepping MForce PowerDrives

28

Microstepping MForce PowerDrive Manual Revision R040507

SE C T I O N 2 . 6

Using the IMS SPI Motor Interface

Installation

The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your Microstepping
MForce PowerDrive. It is available both on the CD that came with your product and on the IMS web site at
http://www.imshome.com/software_interfaces.html.

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

2. The CD will auto-start.

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

4. Click the IMS SPI Interface link appropriate to your operating system.

5. Click SETUP in the Setup dialog box and follow the on-screen instructions.

6. Once IMS SPI Motor Interface is installed, the Microstepping MForce PowerDrive settings can
be checked and/or set.

Configuration Parameters and Ranges

Microstepping MForce PowerDrive Setup Parameters

Name Function Range Units Default

MHC Motor Hold Current 0 to 100 percent 5

MRC Motor Run Current 1 to 100 percent 25

MSEL

DIR

HCDT

CLK TYPE Clock Type Step/Dir. Quadrature, Up/Down – Step/Dir

CLK IOF

USER ID User ID Customizable 1-3 characters IMS

EN ACT

WARN TEMP

Microstep

Resolution

Motor Direction

Override

Hold Current Delay

Time

Clock and Direction

Filter

Enable Active

High/Low

Warning

Temperature

1, 2, 4, 5, 8, 10, 16, 25, 32, 50,

64, 100,108, 125, 127,128,

180, 200, 250, 256

0/1 – CW

0 or 2-65535 mSec 500

50 nS to 12.9 µS

(10 MHz to 38.8kHz)

High/Low — High

0 to + 125 °C 80

µsteps per

full step

nS (MHz)

256

50nS (10

MHz)

Table 2.6.1: Setup Parameters and Ranges

Color Coded Parameter Values

The SPI Motor Interface displays the parameter values using a predefined system of color codes to identify the
status of the parameter.

1.

Black: the parameter settings currently stored in the device NVM will display as black.

2.

Blue: Blue text indicates a changed parameter setting that has not yet been written to the
device.

3.

Red: Red text indicates an out-of-range value which cannot be written to the device. When
an out-of-range parameter is entered into a field, the "set" button will disable, preventing the
value to be written to NVM. To view the valid parameter range, hover the mouse pointer over
the field. The valid range will display in a tool tip.

The color coding is illustrated in Figure 2.5.1.

Part 2: Interfacing and Configuring

29

Red: Out of Range Value.
The Set Button will disable
as the the Motor Interface will
not allow an out of range value
to be stored.

Blue: New Value which has not yet
been set to NVM.

Black: This is the value
Currently Stored in NVM

Figure 2.6.1: SPI Motor Interface Color Coding

Perform File

Operation

Open Motor Settings

File (*.mot)

Save Motor Settings

Save Motor Settings As

Exit the Motor Interface

View Settings

Screen

Motion Settings Screen

I/O Settings Screen

Read-Only Part

and Serial Number Screen

IMS SPI Motor Interface Menu Options

File

> Open: Opens a saved *.mot (Motor Settings) file.

> Save: Saves the current motor settings as a *.mot file for later re-use

> Save As

> Exit - Disconnects from the device and opens the Initialization Dialog.

Figure 2.6.2: SPI Motor Interface File Menu

30

View

> Motion Settings: Displays the Motion Settings screen

> IO Settings: Displays the IO Settings Screen

> Part and Serial Number: Displays the part and serial number

Figure 2.6.3: SPI Motor Interface View Menu

Microstepping MForce PowerDrive Manual Revision R040507

Recall!

Recall Last Stored

Parameter Settings

Toggle MForce into

Upgrade Mode for

Firmware Upgrade

Links to the Software

Tutorial page of the

IMS Website

Retrieves the settings from the Microstepping MForce PowerDrive.

Figure 2.6.4: SPI Motor Interface Recall Menu

Upgrade!

Upgrades the Microstepping MForce PowerDrive firmware by placing the device in Upgrade Mode and
launching the firmware upgrader utility.

Figure 2.6.5: SPI Motor Interface Upgrade Menu

Help

> IMS Internet Tutorials: Link to an IMS Web Site page containing Interactive flash tutorials.

> About: Opens the About IMS and IMS SPI Motor Interface Screen.

Part 2: Interfacing and Configuring

Figure 2.6.6: SPI Motor Interface Help Menu and About Screen

31

1. MSEL: Microstep Resolution Select.

Load Factory

Default Settings

Exit Program

Store Settings

to NVM

Three Character

User ID

Microstep Resolution

Selection

Holding Current

Delay Time

Direction
Override

Motor Run
Current

Motor Holding
Current

Fault/Checksum
Error

Figure 2.6.7: SPI Motor Interface Motion Settings Screen

2. HCDT: Holding Current Delay Time.

3. MRC: Motor Run Current

4. Motor Holding Current

5. User ID: 3-character ID

6. Direction Override: Allows the user to set the CW/CCW direction of the motor in relation to the
Direction Input from the SPI Motor Interface.

MSEL (Microstep Resolution Selection)

The Microstepping MForce PowerDrive features 20 microstep resolutions. This setting specifies the number of
microsteps per step the motor will move.

The MForce PowerDrive uses a 200 step (1.8°) stepping motor which at the highest (default) resolution of 256
will yield 51,200 steps per revolution of the motor shaft.

See Table 2.3.2 for available Microstep Resolutions.

32

Microstep Resolution Settings

Binary µStep Resolution Settings Decimal µStep Resolution Settings

MS=<µSteps/Step> Steps/Revolution MS=<µSteps/

1 200 5 1000

2 400 10 2000

4 800 25 5000

8 1600 50 10000

16 3200 100 20000

32 6400 125 25000

64 12800 200 40000

128 25600 250 50000

256 51200

Additional Resolution Settings

180 36000 (0.01°/µStep)

108 21600 (1 Arc Minute/µStep)

127 25400 (0.001 mm/µStep)

Table 2.6.2: Microstep Resolution Settings

Microstepping MForce PowerDrive Manual Revision R040507

Steps/Revolution

Step>

HCDT (Hold Current Delay Time)

The HCDT Motor Hold Current Delay sets time in milliseconds for the Run Current to switch to Hold Current when
motion is complete. When motion is complete, the Microstepping MForce PowerDrive will reduce the current in the
windings of the motor to the percentage specified by MHC when the specified time elapses.

MRC (Motor Run Current)

The MRC Motor Run Current parameter sets the motor run current to a percentage of the full output current of the
MForce PowerDrive driver section.

MHC (Motor Hold Current)

The MHC parameter sets the motor holding current as a percentage of the full output current of the driver. If the hold
current is set to 0, the output circuitry of the driver section will disable when the hold current setting becomes active. The
hold current setting becomes active HCDT setting mS following the last clock pulse.

Run and Hold Current Settings

HC=(%)
RC=(%)

10 0.5

20 1.0

30 1.5

40 2.0

50 2.5

60 3.0

70 3.5

80 4.0

90 4.5

100 5.0

MForce PowerDrive

(Amps RMS)

Table 2.6.3: Hold and Run Current Percentage Equivalents

DIR (Motor Direction)

The DIR Motor Direction parameter changes the motor direction relative to the direction input signal, adapting the direc­tion of the MForce PowerDrive to operate as your system expects.

User ID

The User ID is a three character (viewable ASCII) identifier which can be assigned by the user. Default is IMS.

IMS SPI Motor Interface Button Functions

The following appear on all of the IMS SPI Motor Interface screens, but will only be documented here.

Factory

Clicking the Factory button will load the Microstepping MForce PowerDrive unit's factory default settings into the
IMS SPI Motor Interface.

Connected/Disconnected Indicator

Displays the connected/disconnected state of the software , and if connected, the port connected on.

Set

Set writes the new settings to the MForce PowerDrive . Un-set settings will display as blue text in the setting fields.
Once set they will be in black text. Setting the Parameters will also clear most Fault Conditions.

Exit

Disconnects and opens the Initialization dialog.

Part 2: Interfacing and Configuring

33

Screen 2: I/O Settings Configuration Screen

Input Clock Type

(Step/Dir, Quadrature or

Up/Down)

Input Clock Filter

Active High/Low
State of the
Enable Input

Warning
Temperature

The I/O Settings screen may be accessed by clicking View > IO Settings on the menu bar. This screen is used to
configure the Input Clock type, the filtering and the Active High/Low State of the Enable Input.

Input Clock Type

The Input Clock Type translates the specified pulse source that the motor will use as a reference for establishing
stepping resolution based on the frequency.

Figure 2.6.8: SPI Motor Interface I/O Settings Screen

The three clock types supported are:

1. Step/Direction

2. Quadrature

3. Up/Down

The Clock types are covered in detail in Section 2.2: Logic Interface and Connection.

Input Clock Filter

The clock inputs may also be filtered using the Clock IOF pull down of the IMS SPI Motor Interface. The filter
range is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz). Table 2.4.3 shows the filter settings.

Input Clock Filter Settings

Min. Pulse Cutoff Frequency

50 nS 10 MHz

150 nS 3.3 MHz

200 nS 2.5 MHz

300 nS 1.67 MHz

500 nS 1.0 MHz

900 nS 555 kHz

1.7 µS 294.1 kHz

3.3 µS 151 kHz

6.5 µS 76.9 kHz

12.9 µS 38.8 kHz

Table 2.6.4: Input Clock Filter Settings

Enable Active High/Low

The parameter sets the Enable Input to be Active when High (Default, Disconnected) or Active when Low.

Warning Temperature

The parameter sets the temperature at which a TW, or temperature warning fault code will be generated. In the
warning condition the MForce PowerDrive will continue to operate as normal. The thermal shutdown is +85°C.

34

Microstepping MForce PowerDrive Manual Revision R040507

IMS Part Number/Serial Number Screen

IMS Part #

IMS Serial Number

The IMS Part Number and Serial Number screen is accessed by clicking "View > Part and Serial Numbers".

This screen is read-only and will display the part and serial number, as well as the fault code if existing. IMS may
require this information if calling the factory for support.

Figure 2.6.9: SPI Motor Interface Part and Serial Number Screen

Fault Indication

All of the IMS SPI Motor Interface Screens have the Fault field visible. This read-only field will display a 2 charac­ter error code to indicate the type of fault. The table below shows the error codes.

MForce34Plus Microstepping Fault Codes

Binary
Case*

— None No Fault — —

4 CS SPI Checksum Error

8 SC/CS

16 DFLT

32 DATA

64 TW Temperature Warning

Error

Code

Description Action To Clear

SPI Checksum Error/

Sector Changing

Defaults Checksum

Error

Settings Checksum

Error

*All Fault Codes are OR'ed together

Error

Displayed

Error

Displayed

Error

Displayed

Error

Displayed

Error

Displayed

Write to MDM

(Set Button)

Write to MDM

(Set Button)

Write to MDM

(Set Button)

Write to MDM

(Set Button)

Write to MDM

(Set Button)

Table 2.6.5: Microstepping MForce PowerDrive Fault Codes

Part 2: Interfacing and Configuring

35

NOTE: Once entered
into Upgrade Mode,
you MUST complete

the upgrade. If
the upgrade process is
incomplete the IMS SPI Motor
Interface will continue to open
to the Upgrade dialog until the
process is completed!

Upgrading the Firmware in the Microstepping MForce PowerDrive

The IMS SPI Upgrader Screen

New firmware releases are posted to the IMS web site at http://www.imshome.com.

The IMS SPI Motor Interface is required to upgrade your Microstepping MForce PowerDrive product. To launch
the Upgrader, click "Upgrade!" on the IMS SPI Motor Interface menu.

The Upgrader screen has 4 read-only text fields that will display the necessary info about your Microstepping
MForce PowerDrive.

Figure 2.6.10: SPI Motor Interface Upgrade Utility

1. Previous Version: this is the version of the firmware currently on your Microstepping MForce
PowerDrive.

2. Serial Number: the serial number of your unit.

3. Upgrade Version: will display the version number of the firmware being installed.

4. Messages: the messages text area will display step by step instructions through the upgrade process.

Upgrade Instructions

Below are listed the upgrade instructions as they will appear in the message box of the IMS SPI Upgrader.
Note that some steps are not shown as they are accomplished internally, or are not relevant to the model IMS
product you are updating. The only steps shown are those requiring user action.

Welcome Message: Welcome to the Motor Interface UPGRADER! Click NEXT to
continue.

Step 2: Select Upgrade File

When this loads, an explorer dialog will open asking you to browse for the firmware upgrade file. This
file will have the extension *.ims.

Step 3: Connect SPI Cable
Step 4: Power up or Cycle Power to the MForce
Step 6: Press Upgrade Button

Progress bar will show upgrade progress in blue, Message box will read "Resetting Motor Interface"

Step 8: Press DONE, then select Port/Reconnect.

36

Microstepping MForce PowerDrive Manual Revision R040507

Initialization Screen

Communications

Port Operations

Select Parallel

(LPT) Port

Select Serial or

USB (VCP)

Auto-seek Port

and Reconnect

to device

This screen will be active under five conditions:

When the program initially starts up and seeks for a compatible device.

1.

The User selects File > Exit when connected to the device.

2.

The User clicks the Exit button while connected to the device.

3.

The Upgrade Process completes.

4.

The SPI Motor Interface is unable to connect to a compatible device.

5.

Figure 2.6.11: SPI Motor Interface Initialization

Port Menu

The Port Menu allows the user to select the COM Port that the device is connected to, either a parallel (LPT) Port,
or a Hardware Serial or Virtual Serial Port via USB.

The Reconnect option allows the user to reconnect to a unit using the previously used settings.

On open or reconnect, the SPI Motor Interface will also try to auto seek for a connected device.

Figure 2.6.12: SPI Motor Interface Port Menu

Part 2: Interfacing and Configuring

37

SE C T I O N 2 . 7

Using User-Defined SPI

The MForce can be configured and operated through the end-user's SPI interface without using the IMS SPI Mo­tor Interface software and optional parameter setup cable.

An example of when this might be used is in cases where the machine design requires parameter settings to be
changed on-the-fly by a software program or multiple system Microstepping MForce PowerDrive units parameter
states being written/read.

SPI Timing Notes

1. MSb (Most Significant bit) first and MSB (Most Significant Byte) first.

2. 8 bit bytes.

3. 25 kHz SPI Clock (SCK).

4. Data In (MOSI) on rising clock.

5. Data Out (MISO) on falling clock.

38

Figure 2.7.1: SPI Timing

Check Sum Calculation for SPI

The values in the example below are 8-bit binary hexadecimal conversions for the following SPI parameters:
MRC=25%, MHC=5%, MSEL=256, HCDT=500 mSec, WARNTEMP=80.

The Check Sum is calculated as follows:
(Hex) 80+19+05+00+00+01+F4+50

Sum = E3 1110 0011

1’s complement = 1C 0001 1100 (Invert)

2’s complement = 1D 0001 1101 (Add 1)

Send the check sum value of 1D
Note: 80 is always the first command on a write.

Note: Once a write is performed, a read needs to be performed to see if there is a fault. The fault is the last byte of
the read.

Microstepping MForce PowerDrive Manual Revision R040507

SPI Commands and Parameters

Use the following table and figure found on the following page together as the Byte order read and written from
the MDrivePlus Microstepping, as well as the checksum at the end of a WRITE is critical.

SPI Commands and Parameters

Command/

Parameter

READ ALL 0x40 — Reads the hex value of all parameters

MSB Device (M) 0x4D — M Character precedes every READ

Version_MSB 0x10 <1-8>.<0-9> Firmware Version.Sub-version, eg 1.0

Version_LSB 0x00 <0-99>

USR_ID1 0x49 — Uppercase Letter <I>

USR_ID2 0x4D — Uppercase Letter <M>

USR_ID3 0x53 — Uppercase Letter <S>

MRC 0x19 1-67% Motor Run Current

MHC 0x05 0-67% Motor Hold Current

MSEL 0x00

DIR_OVRID 0x00

HCDT_HI 0x01

HCDT_LO 0xF4 Hold Current Delay Time Low Byte

CLKTYP 0x00

CLKIOF 0x00 <0-9> Clock Input Filtering

WARNTEMP 0x50 OVER_TEMP - 5° C

EN_ACT 0x01

LSB FAULT 0x00 — See Fault Table, Section 2.4

WRITE ALL 0x80 —

MSB USR_ID1 0x49 — Uppercase Letter <I>

USR_ID2 0x4D — Uppercase Letter <M>

USR_ID3 0x53 — Uppercase Letter <S>

MRC 0x19 1-100% Motor Run Current

MHC 0x05 0-100% Motor Hold Current

MSEL 0x00

DIR_OVRID 0x00

HCDT_HI 0x01

HCDT_LO 0xF4 Hold Current Delay Time Low Byte

CLKTYP 0x00

CLKIOF 0x00 <0-9> Clock Input Filtering

WARNTEMP 0x50 OVER_TEMP - 5° C

EN_ACT 0x01

LSB CKSUM 34

HEX

(Default)

Range Notes

Firmware Version Appends to Version_

0*, 1-259

*0=256

0=no override
1=override dir

0 or 2-65535

0=s/d,

1=quad,

2=u/d

0=Low

1=High,

0*, 1-259

*0=256

0=no override
1=override dir

0 or 2-65535

0=s/d,

1=quad,

2=u/d

0=Low

1=High

Microstep Resolution (See Table in Section

2.4 for settings)

Direction Override

Hold Current Delay Time High Byte

Input Clock Type

Enable Active High/Low

Writes the hex value to the following

Microstep Resolution (See Table in Section

2.4 for settings)

Direction Override

Hold Current Delay Time High Byte

Input Clock Type

Enable Active High/Low

MSB, eg.00

parameters.

Part 2: Interfacing and Configuring

Table 2.7.1: SPI Commands and Parameters

39

WA

RNTEMP
CLKIOF
CLKTYP
HCDT_LO
HCDT_HI
DIR_OVRID
MSEL
MHC
MRC
USR_ID3
USR_ID2
USR_ID1
VERSION
DEVICE

80
0
0

0
256
5
25
S
M
I

1.0.00
M

FF

FF

FF

40

FF

FF

FF

FF

FF

FF

FF

FF

FF

FF

FF

FF

FF

104D00

49

4D

53

19

05

00

00

01

F4

00

00

50 01

XX

500

00
01

00

FAULT
EN_ACT

RESPONSE (MISO):

WRITE (MOSI):

READ ALL CMD

CHECKSUM CALCULATION

80+49+4D+53+19+05+00+00+01+F4+00+00+50+01=CD

BINARY = 1100 1101

1'S COMPLEMENT = 0011 0010

2'S COMPLEMENT = 0011 0011

DEC = 51

HEX = 33

MRC
MHC
MSEL
DIR_OVRID
HCDT_HI
HCDT_LO
CLKTYP
CLKIOF
WA

RNTEMP
EN_ACT
CKSUM

0
0
80
01
51

80

F4

0001000150

33

XX

FF

FF

FF

FF

FFFFFFFFFFFFFFFFFF

FF

500

00

25
5
256
0

19

USR_ID1
USR_ID2
USR_ID3

I
M
S

494D53

05 00

RESPONSE (MISO):

WRITE (MOSI):

WRITE ALL CMD

Figure 2.7.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown)

SPI Communications Sequence

See Timing Diagram and Byte Order figures.

READ

1. Send READ ALL Command 0x40 down MOSI to Microstepping MForce PowerDrive followed by
FF (15 Bytes).

2. Receive Parameter settings from MISO MSB First (M-Device) and ending with LSB (Fault).

Write

1. Send WRITE ALL Command (0x80) down MOSI followed by Parameter Bytes beginning with MSB
(MRC) and ending with the LSB (Checksum of all parameter Bytes).

2. Response from MISO will be FF (10) Bytes.

40

Microstepping MForce PowerDrive Manual Revision R040507

Appendices

TM

FORCE

MICRO DRIVE

MICROSTEPPING

TM

Appendix A: Optional Prototype Development Cables

Appendices

A-1

Page Intentionally Left Blank

A-2

Microstepping MForce PowerDrive Manual Revision R040507

Ap p e n d i x C

10 Pin Connector

Cable Length 6.0 ft (1.8 m)

MD-CC300-000

USB to SPI Parameter Setup Cable

www.imshome.com

USB Cable

Length 6.0 ft (1.8 m)

1.0 in

(25.0 mm)

3.75 in

(95.0 mm)

0.875 in

(22.0 mm)

USB

To MForce

To PC USB

Optional Prototype Development Cables

MD-CC300-000: USB to SPI Parameter Setup Cable

The MD-CC300-000 USB to SPI Parameter Setup
Cable provides a communication connection between
the 10-pin connector on some Microstepping MForce
PowerDrives and the USB port on a PC.

IMS SPI Interface Software communicates to the
Parameter Setup Cable through the PC's USB port.

The Parameter Setup Cable interprets SPI commands
and sends these commands to the MForce
PowerDrive through the SPI interface.

Supplied Components: MD-CC300-000 Parameter
Setup Cable, USB Cable, USB Drivers, IMS SPI Interface Software.

WARNING! DO NOT
connect or disconnect
the MD-CC300-000

Communications Converter
Cable from MForce while power is
applied!

Figure A.1: MD-CC300-000

Adapter Cables

Parameter Setup Cable and Adapters

The optional 12.0' (3.6m) parameter setup cable part number MD-CC300-000 facilitates communica­tions wiring and is recommended with first order. It connects from the P2 connector to a PC's USB port.
Models with the 12-pin pluggable locking wire crimp require adapter MD-ADP-1723C.

Prototype Development Cable

For testing and development using the 12-pin pluggable locking wire crimp, the 12.0" (30.5cm) prototype
development cable plugs into the MD-ADP-1723C adapter and has flying leads for connection to the user
interface. Part number ADP-3512-FL.

See Figure A.3 on the following page for dimensional and connection information.

Figure A.2: MD-CC300-000 Mechanical Specifications

Appendices

A-3

12

12

11

2

1

1

P1

P2

ADAPTER P/N

MD-ADP-14C

TM

To MForce

To Customer PC

USB Port

To Customer

Interface

MD-ADP-1723C

Adapter Cable

MD-CC300-000

Parameter Setup Cable

ADP-3512-FL

Prototype Development Cable

12

12

11

2

1

1

P1

P2

ADAPTER P/N

MD-ADP-14C

TM

Approx Length
12" (304.8mm)

MD-ADP-1723C

Approx Length
12" (304.8mm)

ADP-3512-FL

USB Cable

Length 6.0 ft (1.8 m)

Installation Procedure for the MD-CC300-000

Figure A.3: Typical Setup, Adapter and Prototype Development Cable

These Installation procedures are written for Microsoft Windows XP Service Pack 2. Users with earlier versions of
Windows please see the alternate installation instructions at the IMS web site (http://www.imshome.com).

The installation of the MD-CC300-000 requires the installation of two sets of drivers:

 Drivers for the IMS USB to SPI Converter Hardware.

 Drivers for the Virtual Communications Port (VCP) used to communicate to your IMS Product.

Therefore the Hardware Update wizard will run twice during the installation process.

The full installation procedure will be a two-part process: Installing the Cable/VCP drivers and Determining the
Virtual COM Port used.

Installing the Cable/VCP Drivers

1) Plug the USB Converter Cable into the USB port of the MD-CC300-000.

2) Plug the other end of the USB cable into an open USB port on your PC.

3) Your PC will recognize the new hardware and open the Hardware Update dialog.

4) Select “No, not this time” on the radio buttons
in answer to the query “Can Windows Connect
to Windows Update to search for software?”
Click “Next” (Figure A.4).

5) Select “Install from a list or specific location
(Advanced)” on the radio buttons in answer
to the query “What do you want the wizard to
do?” Click “Next” (Figure A.5).

A-4

Figure A.4: Hardware Update Wizard

Microstepping MForce PowerDrive Manual Revision R040507

6) Select “Search for the best driver in these locations”.
(a) Check “Include this location in the search”.

Figure A.5: Hardware Update Wizard Screen 2

(b) Browse to the CD [Drive Letter]:\ Cable_Drivers\MD-CC303-000_DRIVERS.
(c) Click Next (Figure A.6).

7) The drivers will begin to copy.

Figure A.6: Hardware Update Wizard Screen 3

8) On the Dialog for Windows Logo Compatibility Testing, click “Continue Anyway” (Figure A.7).

Figure A.7: Windows Logo Compatibility Testing

9) The Driver Installation will proceed. When the Completing the Found New Hardware Wizard dialog
appears, Click “Finish” (Figure A.8).

10) Upon finish, the Welcome to the Hardware Update Wizard will reappear to guide you through the
second part of the install process. Repeat steps 1 through 9 above to complete the cable installation.

11) Your IMS MD-CC300-000 is now ready to use.

Appendices

A-5

Figure A.8: Hardware Update Wizard Finish Installation

Determining the Virtual COM Port (VCP)

The MD-CC300-000 uses a Virtual COM Port to communicate through the USB port to the MForce. A VCP
is a software driven serial port which emulates a hardware port in Windows.

The drivers for the MD-CC300-000 will automatically assign a VCP to the device during installation. The
VCP port number will be needed when IMS Terminal is set up in order that IMS Terminal will know where to
find and communicate with your IMS Product.

To locate the Virtual COM Port.

1) Right-Click the “My Computer” Icon and select “Properties”.

2) Browse to the Hardware Tab (Figure A.9), Click the Button labeled “Device Manager”.

3) Look in the heading “Ports (COM & LPT)” IMS USB to SPI Converter Cable (COMx) will be
listed (Figure A.10). The COM # will be the Virtual COM Port connected. You will enter this

number into your IMS SPI Motor Interface Configuration.

A-6

Figure A.9: Hardware Properties

Figure A.10: Windows Device Manager

Microstepping MForce PowerDrive Manual Revision R040507

PD12-1434-FL3 — Power, I/O and SPI

AMP

12

Red:Not Used

Black: Not Used

Blue/White: Step Clock

White/Blue: Opto Reference

Orange/White: Direction

White/Orange: Enable

Green/White: SPI Ground

White/Green: SPI Clock

Brown/White SPI MISO

White/Brown: +5VDC

White/Gray: SPI MOSI

Gray/White: SPI CS

Cable 2

Cable 1

The PD12-1434-FL3 is a 10’ (3.0 m) Prototype Development Cable used to connect to the 12-Pin Locking
Wire Crimp Connector. The Connector end plugs into the P1 Connector of the MForce PowerDrive. The Fly­ing Lead end connects to a Control Interface such as a PLC, an SPI Interface such as a PC Parallel port and the
users motor power supply.

Wire Color Code

Pair Number

(Cable/Pair)

1/1

1/2

1/3

1/4

1/5

2/1

Color Combination Interface Signal MForce Wire Crimp

Connection Pin Number

White/Blue Opto Reference 3

Blue/White Step Clock 4

White/Orange Enable 5

Orange/White Direction 6

White/Green SPI Clock 8

Green/White COMM GND 9

White/Brown +5VDC 7

Brown/White Master In - Slave Out 12

White/Gray Master Out - Slave In 10

Gray//White SPI Chip Select 11

Black Not Used 1

Red Not Used 2

Table A.1: PD12-1434-FL3 Wire Color Codes

Appendices

Figure A.11 PD12-1434-FL3

A-7

Prototype Development Cable PD02-2300-FL3

Motor Power (+12 to +75 VDC)

Power Supply Return (Ground)

Drain Wire (Connect to Earth at Power Supply)

Pin 1 (Red Wire)

10 ft (3.0 m)

Pin 4
Pin 3

Pin 2

Pin 1

Drain Wire

Drain Wire

General Specifications

Length: 10 Feet (3.0 Meters)
Conductor: 16 AWG
Twisted Pairs
Shield: 100% Flexfoil
Jacket: PVC

IMS recommends the Prototype Development Cable PD02-3400-FL3 for interfacing power to the MForce
PowerDrive.

Figure A.12: PD02-3400-FL3

Prototype Development Cable PD04-MF34-FL3

The PD04-MF34FL3 is a 10’ (3.0 M) Prototype Development Cable used to connect the MForce PowerDrive
to a stepping motor:

Pair Number

(Cable/Pair)

1/1

1/2

Color Combination Interface Signal MForce Wire Crimp

Connection Pin Number

Black Phase A 1

White Phase A 2

Black Phase B 3

White Phase B 4

Table A.2: PD04-MF34-FL3

A-8

Figure A.13: PD04-MF34-FL3

Microstepping MForce PowerDrive Manual Revision R040507

WARRANTY

TWENTY-FOUR (24) MONTH LIMITED WARRANTY

Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the
product purchased from IMS (the “Product”) will be free from defects in materials and workmanship under the normal use
and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the
Customer. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s
sole option, of the Product, or any part of the Product, determined by IMS to be defective. In order to exercise its warranty
rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty
Service.”

This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or
misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the

Product; installation, operation or use of the Product not made in strict accordance with the specications and written

instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary

wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modications to the Product; the misuse

or failure of any item or equipment connected to the Product not supplied by IMS; improper maintenance or repair of the
Product; or any other reason or event not caused by IMS.

IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY
LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS
FOR ANY PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS
STATED ABOVE, AND IN NO EVENT WILL THE IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR
INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.

This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This
Limited Warranty is the sole warranty offered by IMS with respect to the Product. IMS does not assume any other liability in
connection with the sale of the Product. No representative of IMS is authorized to extend this Limited Warranty or to change
it in any manner whatsoever. No warranty applies to any party other than the original Customer.

IMS and its directors, ofcers, employees, subsidiaries and afliates shall not be liable for any damages arising from any

loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production

or prots, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages,

whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory,
or other losses or expenses incurred by the Customer or any third party.

OBTAINING WARRANTY SERVICE

Warranty service may obtained by a distributor, if the Product was purchased from IMS by a distributor, or by the Customer
directly from IMS, if the Product was purchased directly from IMS. Prior to returning the Product for service, a Returned
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Include a copy of the RMA Authorization Form, contact name and address, and any additional notes regarding the Product
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or physical damage in transit. The RMA number MUST appear on the box or packing slip. Send Product to: Intelligent Motion
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Customer shall prepay shipping changes for Products returned to IMS for warranty service and IMS shall pay for return of
Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for
Products returned to IMS from outside the United States.

intelligent motion systems, INC.

Excellence in Motion

www.imshome.com

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