intelligent motion systems, inc.

Excellence in MotionTM

IM2000IM2000IM2000IM2000IM2000

OPERATING INSTRUCTIONS

TTMTMTMTMTM

HIGH PERFORMANCE MICROSTEPPING HIGH PERFORMANCE MICROSTEPPING HIGH PERFORMANCE MICROSTEPPING HIGH PERFORMANCE MICROSTEPPING HIGH PERFORMANCE MICROSTEPPING STEP MOTOR STEP MOTOR STEP MOTOR STEP MOTOR STEP MOTOR CONTROLLERCONTROLLERCONTROLLERCONTROLLERCONTROLLER

IM2000F - 80 PIN QFPIM2000F - 80 PIN QFPIM2000F - 80 PIN QFPIM2000F - 80 PIN QFPIM2000F - 80 PIN QFPIM2000P - 68 PIN PLCCCIM2000P - 68 PIN PLCCCIM2000P - 68 PIN PLCCCIM2000P - 68 PIN PLCCCIM2000P - 68 PIN PLCCC

IM2000S - ULTRA SMALL 64 PIN QFPIM2000S - ULTRA SMALL 64 PIN QFPIM2000S - ULTRA SMALL 64 PIN QFPIM2000S - ULTRA SMALL 64 PIN QFPIM2000S - ULTRA SMALL 64 PIN QFP

2

Gene r a l D i s c l a ime r

The information in this book has been carefully checked and is believed to beaccurate; however, no responsibility is assumed for inaccuracies.Intelligent Motion Systems, Inc., reserves the right to make changes withoutfurther notice to any products herein to improve reliability, function or design.Intelligent Motion Systems, Inc., does not assume any liability arising out of theapplication or use of any product or circuit described herein; neither does itconvey any license under its patent rights of others. Intelligent Motion Systemsand are trademarks of Intelligent Motion Systems, Inc.

Intelligent Motion Systems, Inc.’s general policy does not recommend the useof its products in life support or aircraft applications wherein a failure ormalfunction of the product may directly threaten life or injury. Per IntelligentMotion Systems, Inc.’s terms and conditions of sales, the user of IntelligentMotion Systems, Inc., products in life support or aircraft applications assumesall risks of such use and indemnifies Intelligent Motion Systems, Inc., againstall damages.

TM

Twen t y - F o u r Mon t h L im i t e d War r a n t y

Intelligent Motion Systems, Inc., warrants its products against defects inmaterials and workmanship for a period of 24 months from receipt by the end-user. During the warranty period, IMS will either, at its option, repair orreplace products which prove to be defective.

EXCLUSIONS

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

OBTAINING WARRANTY SERVICE

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

WARRANTY LIMITATIONS

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

EXCLUSIVE REMEDIES

If your product should fail during the warranty period, call customer service at(860) 295-6102 to obtain a returned material authorization number (RMA)before returning product for service. Please include a written description ofthe problem along with contact name and address. Send failed product to:Intelligent Motion Systems, Inc., 370 N. Main St. Marlborough, Connecticut06447. Also enclose information regarding the circumstances prior toproduct failure.

Contents

Section 1Section 1Section 1Section 1Section 1Introduction to the IM2000Introduction to the IM2000Introduction to the IM2000Introduction to the IM2000Introduction to the IM2000Section Overview ......................... 3The IM2000 .................................. 3Features And Benefits .................. 4Block Diagram .............................. 4

Section 2Section 2Section 2Section 2Section 2Hardware SpecificationsHardware SpecificationsHardware SpecificationsHardware SpecificationsHardware SpecificationsSection Overview ......................... 5Mechanical Specifications ............ 5IM2000F - 80 Pin QFP ................... 5IM2000P - 68 Pin PLCCC ............. 6IM2000S - 64 PinUltra-Small QFP .............................. 6Electrical & EnvironmentalSpecifications ................................ 7IM2000 Pin Description ............... 8

Section 3Section 3Section 3Section 3Section 3Operation of the IM2000Operation of the IM2000Operation of the IM2000Operation of the IM2000Operation of the IM2000Section Overview ......................... 9Protection Inputs ........................... 9Microstep Select (MSEL) Inputs .. 10Step/Direction Inputs .................... 10Chip Select (CSEL) Input ............. 11Full Step Output ............................ 11Dual PWM .................................... 11Recirculating ..................................... 11Non-Recirculating ........................... 11Fixed PWM Type ............................ 12Power Control Outputs ................. 12Current Control ............................. 13Digital Current Control ................ 13Automatic Current Reduction ..... 13Example Application of thePower Control Outputs ................ 13Chopping Oscillator ...................... 14Reset ............................................. 14External Lookup Tables ............... 14Buss/Stand-alone Mode ................ 15Typical Application ...................... 16

3

S e c t i o n 1I n t r o d u c t i o n t o t h e IM2000

Sec t i o n O v e r v i ewThis section will introduce the user to the feature set provided by the IM2000 Microstepping controller ASIC.The following subsections are contained:

n The IM2000 Describedn Features and Benefitsn Block Diagram

The IM2000The IM2000 is a high perfor-mance microstepping stepmotor controller that incorpo-rates a sine/cosine signalgenerator, anti-resonancecircuitry, PWM current controland much more in one mono-lithic IC. The IM2000 combineshardware intense functionstogether with innovativefeatures to provide designerswith a powerful yet simplesolution for their high volumeOEM products.

Never before has any motionproduct integrated all the digitalcontrol into one monolithic IC.This high degree of integrationcan significantly reduce designtime as well as driver size.

Beyond the integration of a complete microstepping control system, the IM2000 has unique features that givedesigners unprecedented control over motor movement. These features include 14 selectable resolutions (in bothdecimal and binary) that can be changed at any time without motor movement interruption. There is no need toreset the controller. This allows the user to rapidly move long distances, yet precisely position the motor at theend of travel without the need or expense of a complex controller.

Another valuable feature is an “On Full Step” output which indicates when the motor is at an electrical full step.This output can be used to reduce the overhead needed to track position when making long moves.

The development of proprietary circuits has minimized ripple current, while maintaining a 20 KHz choppingrate. This prevents additional motor heating that is common with drivers requiring higher chopping rates. Nowlow inductance stepper motors can be used to improve high speed performance and peak system efficiency.

The IM2000 needs only clock and direction inputs to control the motor and will interface directly to discretebridges or common monolithic bridge ICs.

Designers can now place drivers directly on their PC boards with all the necessary control in either a 68 pinPLCC package (IM2000P), an 80 pin QFP package (IM2000F), or an ultra small 64 pin QFP package(IM2000S).

Size, price and time-to-market are three crucial aspects in today’s competitive markets and the IM2000 offers theability to reduce all three.

Figure 1.1: The IM2000F, IM2000S and IM2000P, Shown Left to RightFigure 1.1: The IM2000F, IM2000S and IM2000P, Shown Left to RightFigure 1.1: The IM2000F, IM2000S and IM2000P, Shown Left to RightFigure 1.1: The IM2000F, IM2000S and IM2000P, Shown Left to RightFigure 1.1: The IM2000F, IM2000S and IM2000P, Shown Left to Right

4

Fea t u r e s And Bene f i t s

n Complete Microstepping Control System in the following packages:- 68 Pin PLCC (IM2000P)- 80 Pin QFP (IM2000F)- 64 Pin QFP (IM2000S)

n Up to 10MHz Step Clock Raten Internal Sine/Cosine Generatorn PWM Phase Current Controln Minimal External Componentsn Automatic Current Reductionn 14 Selectable Resolutions — Both in Decimal and Binaryn Number of Microsteps Per Step can be Changed On-The-Fly Without Motor Movement Interrup-

tionn Up to 51,200 Steps/Revn Standalone or Buss Modesn Single 5V Power Supplyn Short Circuit and Over

Temperature Protection Inputsn Fault Outputn On Full Step Outputn Anti-Resonance

B l o c k D i a g r am

Figure 1.1: IM2000 Block DiagramFigure 1.1: IM2000 Block DiagramFigure 1.1: IM2000 Block DiagramFigure 1.1: IM2000 Block DiagramFigure 1.1: IM2000 Block Diagram

5

S e c t i o n 2Ha r dwa r e Sp e c i f i c a t i o n s

Sec t i o n O v e r v i ewThis section covers the hardware specifications of the IM2000. Covered are:n Mechanical Specificationsn Electrical Specificationsn Pin Description

Mechan i c a l S p e c i f i c a t i o n s

IM2000F - 80 P i n QFP

IN D E X

1 24

25

40

4164

65

80

0.78 7 + /- 0 .004(20 .0 +/ - 0 .1 )

1 .00 8 + /- 0 .016(25 .6 +/ - 0 .4 )

0.5

51 +

/- 0

.00

4(1

4.0

+/-

0.1

)

0.7

72 +

/- 0

.01

6(1

9.6

+/-

0.4

)

0 .03 1 + /- 0 .004 (0 .8 +/- 0 .1 )

0 .01 4 + /- 0 .004(0 .3 5 +/ - 0 .1 )

0.10

6 +

/- 0

.004

(2.

7 +

/- 0

.1)

0.1

33 M

AX

.(3

.4)

0.006 +/- 0.002

( 2.7 +/- 0 .1) 0 -12 °

0 .05 9 + /- 0 .012 (1 .5 +/- 0 .3 )

Figure 2.1: IM2000F Mechanical SpecificationsFigure 2.1: IM2000F Mechanical SpecificationsFigure 2.1: IM2000F Mechanical SpecificationsFigure 2.1: IM2000F Mechanical SpecificationsFigure 2.1: IM2000F Mechanical Specifications

IM2000F(Actual Size)

6

IM2000P - 68 P i n P LCCC

0.1

70 +

/- 0

.012

(4.3

2 +

/- 0

.30

)

0.0

99 +

/- 0

.008

(2.5

1 +

/- 0

.20

) 0.0

08(0

.20)

0.15

0 +

/- 0

.00

4(3

.81

+/-

0.0

1)

0 .92 0 + /- 0 .015(23.37 + /- 0 .38)

0.01 8 + /- 0 .003(0.4 6 +/ - 0 .08 )

0.03 0 + /- 0 .002(0.7 6 +/ - 0 .05 )

0.05 0 + /- 0 .004 (1.2 7 + /- 0 .1)

IN D E X

9

10 26

27

43

4460

61

681

0.9

90

+/-

0.0

05(2

5.1

5 +

/- 0

.13)

0.9

54 +

/- 0

.008

(24.

23 +

/- 0

.20)

0 .99 0 + /- 0 .005(25.15 + /- 0 .13)

0 .95 4 + /- 0 .008(24.23 + /- 0 .20)

Figure 2.2: IM2000P Mechanical SpecificationsFigure 2.2: IM2000P Mechanical SpecificationsFigure 2.2: IM2000P Mechanical SpecificationsFigure 2.2: IM2000P Mechanical SpecificationsFigure 2.2: IM2000P Mechanical Specifications

IM2000S - 64 P i n U l t r a - Sma l l Q FP

IM2000S(Actual Size)

0.00 7 + 0 .005/-0 .001(0 .1 8 +0 .10/- 0 .05)

0 .02 0(0 .5 )

0 .4 72 + /- 0 .005(12 +/- 0 .40)

0 .3 94 + /- 0 .004(10 +/- 0 .10)

0.4

72 +

/- 0

.00

5(1

2 +/

- 0.

40)

0.3

94 +

/- 0

.004

(10

+/-

0.1

0)

0.06

6 M

AX

.(1

.7)

0 .005 +/- 0 .001

( 0.125 +/ - 0 .025)

0 .02 0 + /- 0 .007 (0 .5 +/- 0 .2)

0 -10 °

0.05 5 + /- 0 .004 (1 .4 +/- 0 .1)

Figure 2.3: IM2000S Mechanical SpecificationsFigure 2.3: IM2000S Mechanical SpecificationsFigure 2.3: IM2000S Mechanical SpecificationsFigure 2.3: IM2000S Mechanical SpecificationsFigure 2.3: IM2000S Mechanical Specifications

IM2000P(Actual Size)

7

E l e c t r i c a l & E n v i r o nmen t a l S p e c i f i c a t i o n s

Test Condition: VDD = +5.0 ±10%, TOPR = 25 °C

lobmyS retemaraP snoitidnoC .niM lacipyT .xaM stinU

V LIegatlovtupnilevelwoL 8.0 V

V HIegatlovtupnilevelhgiH 0.2 V

V +TegatlovdlohserhtgniogevitisopreggirtttimhcS V DD 0.5= 0.3 V

V -TegatlovdlohserhtgniogevitagenreggirtttimhcS V DD 0.5= 6.0 V

VHegatlovsiseretsyhreggirtttimhcS V DD 0.5= 1.0 V

I LItnerructupnilevelwoL V NI V= SS 0.1 mA

I HItnerructupnilevelhgiH V NI V= DD 0.1 mA

V LOegatlovtuptuolevelwoL V SS 4.0+ V

V HOegatlovtuptuolevelhgiH V DD 4.0- V

I LOtnerructuptuolevelwoL 0.6- Am

I HOtnerructuptuolevelhgiH 0.3 Am

I CCtnerrucylppuS Am

lobmyS retemaraP .niM lacipyT stinU

t WRhtdiweslupTESER 002 Sn

tS emitputesKLCS,LESM 001 Sn

t WShtdiweslupKLCS 01 Sn

t RWhtdiweslupRW 02 Sn

t HWRWretfaemitdlohataD 0 Sn

f MWPycneuqerfgnippohcMWP 02 zHK

f KLCycneuqerftupniKLCS 01 zHM

Table 2.1: DC Electrical SpecificationsTable 2.1: DC Electrical SpecificationsTable 2.1: DC Electrical SpecificationsTable 2.1: DC Electrical SpecificationsTable 2.1: DC Electrical Specifications

Table 2.2: AC Electrical SpecificationsTable 2.2: AC Electrical SpecificationsTable 2.2: AC Electrical SpecificationsTable 2.2: AC Electrical SpecificationsTable 2.2: AC Electrical Specifications

retemaraP lobmyS stimiL stinU

egatloVylppuSCD V DD V SS 0.7+ot3.0- V

egatloVtupnI V NI V SS Vot3.0- DD 3.0+ V

egatloVtuptuO V TUO V SS Vot3.0- DD 3.0+ V

.pmeTegarotS T GTS 051+ot56- C°

retemaraP lobmyS .niM pyT .xaM stinU

egatloVylppuSCD V DD 5.4 0.5 5.5 V

egatloVtupnI V NI V SS V DDV

.pmeTgnitarepO T RPO 02- 58 C°

Table 2.3: Absolute Maximum RatingsTable 2.3: Absolute Maximum RatingsTable 2.3: Absolute Maximum RatingsTable 2.3: Absolute Maximum RatingsTable 2.3: Absolute Maximum Ratings

Table 2.4: Recommended Operating ConditionsTable 2.4: Recommended Operating ConditionsTable 2.4: Recommended Operating ConditionsTable 2.4: Recommended Operating ConditionsTable 2.4: Recommended Operating Conditions

8

IM2000 P i n De s c r i p t i o n

niP08PFQ)F(

niP86CCLP)P(

niP46PFQ)S(

EMAN noitcnuFniP

65 4 95 KLCSsitnemercniehtfoeziseht(tnemercnienorotomehtecnavdalliwtupnisihtnoegdegniogevitisopA.tupnikcolcpetS

.)stupnitcelespetsorcimehtnotnedneped

84 56 25 LESResurofdetcelesera8DA-0DA,hgihnehW.MORenisoc/enislanretniehtstcelestupnisiht,wolnehW.tupnitcelesMOR

.elbatpukoollanretxenahtiw

45 2 75 TESERnehW.)delbasideblliwstuptuoegdirBlluFdna,elbanE,MWP(0002MIehtteserlliwtupnisiht,wolnehW.tupniteseR

.)kaeptaenisoc,0taenis(etatslaitinistitaeblliwrellortnoceht,desaeler

75 5 06 RIDnoitcennocehtnosdnepedoslanoitceridlacisyhP.rotomehtfonoitceridehtegnahcotdesusitupnisihT.tupninoitceriD

.sgnidniwrotomehtfo

94 66 35 LESClevelehtfotnednepednirotarenegenisoc/enislanretniehtotdetcerideblliwtupniKLCSeht,wolnehW.tupnitceleskcolC,ylesrevnoc,dnawolsitupniNEehtnehwtuptuoTUOCehtotdetcerideblliwtupniKLCSeht,hgihnehW.tupniNEehtfo

.hgihsitupniNEehtnehwrotarenegenisoc/enislanretniehtot

85 6 16 NE .slangistuptuoegdirbllufdnaMWPehtelbasid/elbanelliwtupnisiht,wolnehW.tupnielbanE

95 7 26 PETSFllufanodenoitisoperastuptuoenisoc&eniss’0002MIehtnehwsetacidnituptuowolevitcasihT.langistuptuopetsllufnO

.pets

16 8 36 TLUAF .tesersi0002MIehtlitnuevitcayatslliwtI.derruccosahtluafanehwsetacidnituptuohgihevitcasihT.langistuptuotluaF

26 9 46 RW,elbane,tcelespetsorcimehtnihctalotdesusitupnisiht,edomssubehtniderugifnocsi0002MIehtnehW.tupnietirW

.stupninoitceriddna

36 01 1 EDOM .edomssubroenoladnatsani0002MIehterugifnocotdesusitupnisihT.tupnitcelesedoM

56,04 21,85 2,54 BMWP,AMWPnistnerrucesahpehtlortnocotdesuebnacstuptuoesehT.slangistuptuodetaludomhtdiweslupBesahPdnaAesahP

.snoitcesrewopepytMWPnommoc

76,83 31,75 3,44 BNGIS,ANGIS .enisocehtfongisehtdnaenisehtfongisehtetacidnistuptuoesehT.slangistuptuoBfongisdnaAfongiS

96,63 51,55 4,34 BNE,ANEfotupnielbaneehthtiwnoitcnujnocnikrowhcihw,stuptuohgihevitcaesehT.slangistuptuoelbaneBesahPdnaAesahP

.revirdehtfonoitcesrewopehtelbasid/elbaneotdesuebnac,6NIP

86,73 41,65 — NBNE,NANEelbaneehthtiwnoitcnujnocnikrowhcihw,stuptuowolevitcaesehT.slangistuptuoTONelbaneBesahPdnaAesahP

.revirdehtfonoitcesrewopehtelbasid/elbaneotdesuebnac,6NIPfotupni

,13,0353,43

,15,0545,35

,93,8324,14

,ALL,ARL,ARHALH

llufN-NroN-PetercsidlortnocotdesuebnacstuptuoesehT.slangislortnocegdirbllufediswoldnaedishgihAesahP.s’CIegdirbllufdnaflahrosnoitcesegdirb

,17,0757,47

,71,6102,91

,8,6,59

,BRL,BLL,BLHBRH

llufN-NroN-PetercsidlortnocotdesuebnacstuptuoesehT.slangislortnocegdirbllufediswoldnaedishgihBesahP.s’CIegdirbllufdnaflahrosnoitcesrewopegdirb

-1,08,877,6,4

03-32 91-21 7SOC-0SOC .BesahProfslangistuptuomrofevawenisoC

,91,8172,52-12

74-04 53-82 0NIS-7NIS .AesahProfslangistuptuomrofevaweniS

24 06 74 IHI .stuptuolortnocegdirbllufedishgihwolevitcarohgihevitcaroftupnitcelesytiraloP

14 95 64 WOLI .stuptuolortnocegdirbllufediswolwolevitcarohgihevitcaroftupnitcelesytiraloP

77,82 22,84 11,63 BSV,ASV .stupniesnestnerrucBesahPdnaAesahP

67,92 12,94 01,73 BCVO,ACVO .stupninoitcetorptiucrictrohs/tnerrucrevoBesahPdnaAesahP

9 23 02 DERRUCtnerructuptuorevirdehtecuderyllacitamotuaotdesusituptuohgihevitcasihT.langistuptuonoitcudertnerruccitamotuA

.tupnikcolcpetstsalehtretfadnoces1

21,11 53,43 32,22 RCSO,CRCSO .rotallicsoMWPdraob-norofstupniroticapac/rotsiseR

41 63 42 VVO .tupninoitcetorpegatlovrevO

61 83 62 PMTVO .tupninoitcetorperutarepmetrevO

55,51 73,3 85,52 CCV .egatlovylppuS

,23,0127,05

,33,8176,25

,12,745,04

DNG .dnuorG

64,44,3474,

,33,8176,25

15-84 3LESM-0LESMelbaliavaehT.petsllufrepspetsorcimforebmunehttcelesotdesuerastupniesehT.stupnitcelesnoituloserpetsorciM

.652,052,821,521,46,05,23,52,61,01,8,5,4,2:era)pets/spetsorcim(snoituloser

-1,08,878-6,4

13-32 91-21)F/P(8DA-0DA

)S(7DA-0DAlanretxehtiwnoitcnujnocnidesuerastuptuoesehT.)S0002MInoo7sserddA-0sserddA(8sserddA–0sserddA

.sevrucenisocdnaenisdeilppusresurofselbatpukool

71 93 72 TUOC .stupniNEdnaLESCehtnotnednepedsituptuosihT.tuptuoKLCS

25,15 1,86 65,55 1RIC,0RIC-nonarognitalucriceranieblliwMWPehttonrorehtehwtcelesotdesuerastupniesehT.stupnitcelesnoitalucricMWP

.edomgnitalucricer-nondnagnitalucricercitamotuanaro,edomgnitalucricer

46 11 — DBsihT.selbatpukooledistuognisunehw8DA-0DAhtiwnoitcnujnocnidesusituptuosihT.tuptuotceleslamiceD/yraniB

.selbatdedocnelamicedroyranibneewtebesoohcotdesusitupuo

Table 2.5: IM2000 Pin DescriptionTable 2.5: IM2000 Pin DescriptionTable 2.5: IM2000 Pin DescriptionTable 2.5: IM2000 Pin DescriptionTable 2.5: IM2000 Pin Description

9

S e c t i o n 3Ope r a t i o n o f t h e IM2000

Sec t i o n O v e r v i ewThis section covers the operation of the various circuits contained within the IM2000 Microstepping ControllerASIC. These are:n Protection Inputsn Microstep Select (MSEL) Inputsn Step/Direction Inputsn Chip Select (CSEL) Inputn Full Step Outputn Dual PWMn Power Control Outputsn Controling the Output Currentn Chopping Oscillatorn Reset Inputn External Look-up Tablen Buss/Standalone Mode

Pr o t e c t i o n I n p u t sThe IM2000 has four inputs which will disable the PWM and driver control outputs to protect against externalfaults. These inputs include:

n Over Temperaturen Phase A and Phase B Short Circuitn Over Voltage

All four inputs are buffered using Schmitt triggered buffers and are internally AND’ed together. These inputsmay be used independently or tied together for wired OR’ed protection circuits. Unused inputs must be tied to alogic HIGH state.

Upon detection of a fault condition the IM2000 will latch the condition and set the fault output pin to a logicHIGH state. At this time the phase control outputs, phase enable outputs and PWM are disabled. The IM2000must be reset by either pulling the reset input LOW, or cycling power to clear the fault condition and re-enablethe PWM and driver control outputs. Figures 3.1 and 3.2 illustrate possible application/interface of theovercurrent and over temperature inputs.

10 kO hm

O utpu t to O V C A /O V C B

C om para tor

Input from S ense R es is to r

+5V *

*S et R eference fo r M axim um

A llow ab le C urren t

+5V

Figure 3.1: Overcurrent Protection ExampleFigure 3.1: Overcurrent Protection ExampleFigure 3.1: Overcurrent Protection ExampleFigure 3.1: Overcurrent Protection ExampleFigure 3.1: Overcurrent Protection Example

10 kOhm

Therm osta t O utpu t to O VTM P

+5V

Figure 3.2: Thermal Protection ExampleFigure 3.2: Thermal Protection ExampleFigure 3.2: Thermal Protection ExampleFigure 3.2: Thermal Protection ExampleFigure 3.2: Thermal Protection Example

10

Mic r o s t e p S e l e c t (MSEL ) I n p u t sThe Microstep Select inputs areused to select the number offractional steps per full step thatthe IM2000 will output to themotor. These inputs are bufferedusing Schmitt trigger buffers toincrease noise immunity. There are14 different selections built into theIM2000. Table 3.1 shows the list ofresolutions and their relationshipto the state of the MSEL inputs.

A unique feature of the IM2000 isthe ability to change resolutions atany time. A resolution change canoccur whether the motor is beingclocked or is at rest. The changewill not take place until the risingedge of the next step clock input.At this time, the new resolution islatched and implemented before thestep clock pulse takes affect.

If a resolution is chosen such thatthe sine/cosine output of theIM2000 would not land on anelectrical fullstep of the motor,then the IM2000 will automaticallyalign itself to the full step positionon the step clock pulse that would have caused the motor to rotate past the full step. The step clock pulses,from that point forward will be equal to the selected resolution. This feature allows the user to switch resolu-tions at any time without having to keep track of sine/cosine location. The user can now easily track positionutilizing the full step output signal.

The capability of changing resolutions on-the-fly allows for high speed slewing where bandwidth is limited, as isthe case with many single chip microcontrollers. The user may switch to a coarser resolution during long movesfor increased speed, then change to a finer resolution for precise positioning at the end of travel.

S t ep/D i r e c t i o n I n p u t sThe IM2000 contains a built-in sine/cosine generator used for the generation of Phase A and Phase B positionreference. This digitally encoded 9 bit sine and 9 bit cosine signal is directly fed into a digital-to-analog converter.

The step clock (SCLK) and direction (DIR) inputs are buffered using Schmidt triggered buffers for increasednoise immunity and are used to increment or decrement the sine/cosine position generator. The positiongenerator is updated on the rising edge of the step clock input. It will increment or decrement by the amountspecified by the microstep resolution select (MSEL) inputs.

The direction (DIR) input determines the direction of the position generator and hence the direction of themotor. The DIR input is synchronized to the SCLK input. On the rising edge of the SCLK input, the state ofthe DIR input is latched in. The position generator will then look to see if there has been a change in directionand implement that change before executing the next step. By utilizing this method to implement the directionchange, the noise immunity is greatly increased and no physical change in the motor occurs if the direction lineis toggled prior to the step clock input.

The enable/disable input does not affect the step clock input. The sine/cosine generator will continue to update ifa signal is applied to the step clock input. The IM2000 outputs both sine and cosine data simultaneously whenapplying a step clock input. Dual internal look-up tables are used to output a unique position for every stepclock input to enhance system performance.

Truth Table: Resolution Select Inputs - Binary Mode

Truth Table: Resolution Select Inputs - Decim al Mode

Invalid Microstep Resolution Settings

xxxxxxx

MSEL 0

MSEL 0

MSEL 0

0

0

0

1

1

1

0

0

1

1

0

0

1

1

01

MSEL 1

MSEL 1

MSEL 1

0

0

1

0

0

1

1

1

1

1

0

0

0

0

11

MSEL 2

MSEL 2

MSEL 2

0

0

1

0

0

1

0

0

0

0

1

1

1

1

11

MSEL 3

MSEL 3

MSEL 3

0

1

1

0

1

1

0

1

0

1

0

1

0

1

00

Microsteps per Full Step

Microsteps per Full Step

Microsteps per Full Step

2

5

4

10

8

25

16

50

32

125

64128256

250

xxxxxxx

Table 3.1: Microstep Resolution SettingsTable 3.1: Microstep Resolution SettingsTable 3.1: Microstep Resolution SettingsTable 3.1: Microstep Resolution SettingsTable 3.1: Microstep Resolution Settings

11

Ch i p S e l e c t ( CSEL ) I n p u tThe CSEL input is used to select a number of functionsthat are implemented using the MSEL0 and MSEL1inputs. If CSEL is low, or not connected, MSEL0 andMSEL1 will function as microstep select lines asexplained earlier.

If CSEL is high, MSEL0 and MSEL1 may be used to:

n Reset the IM2000.

n Disable the PWM and driver controloutputs.

n Channel the Step Clock Input to COUT.

The relationship between the MSEL0 and MSEL1 inputs and these special functions are illustrated in Table 3.2.

Fu l l S t e p Ou t p u tThis active high output indicates when the motor is electrically on a full step (the poles of the motor arealigned). This occurs when either the sine or cosine outputs are at zero.

This signal may be used to greatly reduce the overhead needed to monitor position, decreasing the number ofcounts needed to track position. By utilizing the full step output it is no longer necessary to keep track of thenumber of microsteps between steps on moves until the last fractional step. With the full step output, it is possibleto track position as a combination of full steps plus the number of microsteps occuring after the last full step.

In the case of long moves at high resolutions this feature will reduce the position counter size and the overheadassociated with updating/monitoring the position counter.

Dua l PWMThe IM2000 contains a unique dual PWM circuit that efficiently and accurately regulates the current in the wind-ings of a two phase stepping motor. The internal PWM accomplishes this by using an alternating recirculating/non-recirculating mode to control the current.

R e c i r c u l a t i n g

In a recirculating PWM, the current in the windings is containedwithin the output bridge while the PWM is in its OFF state (afterthe set current is reached). This method of controlling the currentis efficient when using low inductance motors, but lacks responsebecause of its inability to remove current from the windings onthe downward cycle of the sine/cosine wave (See Figure 3.3).

N o n - R e c i r c u l a t i n g

In a non-recirculating PWM, the current flows up through thebridge and back to the supply in the OFF phase of the cycle. Thismethod of controlling current allows for much better response butreduces efficiency and increases current ripple, especially in lowerinductance motors (See Figure 4.3).

The IM2000’s PWM utilizes the best features of both by combin-ing recirculating and non-recirculating current control. On the risingedge of the sine/cosine waveform, the PWM will always be in a recirculating mode. This mode allows the driver torun at peak efficiency while maintaining minimum current ripple even with low inductance motors. On the down-ward cycle of the sine/cosine waveform, the PWM operates in a two part cycle. In the first part of its cycle the PWM

Table 3.2: Chip Select SettingsTable 3.2: Chip Select SettingsTable 3.2: Chip Select SettingsTable 3.2: Chip Select SettingsTable 3.2: Chip Select Settings

sgnitteSLESC

1LESM 0LESM noitcnuF

0 0 TUOCotKLCS

0 1 TUOCotKLCS

1 0 rellortnoCteseR

1 1 stuptuOelbasiD

Figure 3.3: Recirculating PWMFigure 3.3: Recirculating PWMFigure 3.3: Recirculating PWMFigure 3.3: Recirculating PWMFigure 3.3: Recirculating PWM

D R IV E C U R R E N T

R E C IR C U L AT IO N

12

Figure 3.4: Non-Recirculating PWMFigure 3.4: Non-Recirculating PWMFigure 3.4: Non-Recirculating PWMFigure 3.4: Non-Recirculating PWMFigure 3.4: Non-Recirculating PWM

D R IV E C U R R E N T

R E C IR C U LAT IO N

is in a non-recirculating mode to pull current from the motorwindings. In the second part of the cycle the PWM reverts backto recirculating mode to increase efficiency and reduce currentripple.

The IM2000 will automatically change the non-recirculating pulsewidths to compensate for changes in supply voltage and accom-modate a wide variety of motor inductances. This method alsoallows for the use of very low inductance motors, while utilizinga 20kHz chopping rate which reduces motor heating butmaintains high efficiency and low current ripple.

F i x e d PWM Ty p e

The internal PWM in the IM2000 may also be placed in afixed recirculating or non-recirculating mode by the use of theCIR0 and CIR1 inputs. The relationship between the states ofthe CIR0 and CIR1 inputs and the method of current controlis shown in Table 3.3.

sedoMlortnoCtnerruCMWP

1RIC 0RIC epyTMWP

0 0 gnitalucriceR-otuA

1 0 )gnitalucriceR-noN(yaceDtsaF

0 1 )gnitalucriceR(yaceDwolS

1 1 )gnitalucriceR-noN(yaceDtsaF

Table 3.3: Current Control Mode SettingsTable 3.3: Current Control Mode SettingsTable 3.3: Current Control Mode SettingsTable 3.3: Current Control Mode SettingsTable 3.3: Current Control Mode Settings

Powe r Con t r o l O u t p u t sThe relationship betweenthe Sine\Cosine, PowerSection Control and PWMoutputs of the IM2000 isillustrated in Figure 3.5.When either the sine orcosine is at 0, the enable andall drive control outputs forthat particular phase will beturned off to improveaccuracy.

The inputs IHI and ILOWto the IM2000 are used toinvert the polarity of thehigh side and low side drivercontrol signals respectively.These inputs have no effecton the sign, EN, and PWMoutput signals.

S ine \C osine O utput

S ense C urrent

O sc illa torE nable In

E nable O ut

H Lx

H Rx

LR x

S IG N x

P W M x

LLx* *

* *

*F as t decay p eriod fo r au to de cay m ode .

Figure 3.5: Power Control Output RelationshipsFigure 3.5: Power Control Output RelationshipsFigure 3.5: Power Control Output RelationshipsFigure 3.5: Power Control Output RelationshipsFigure 3.5: Power Control Output Relationships

13

Cu r r e n t C on t r o l

D i g i t a l C u r r e n t C o n t r o l

The schematic example shown in Figure3.6 illustrates how the user might set upthe 0 to 2V D/A reference to control theoutput current of the driver.

Au t oma t i c C u r r e n tR e d u c t i o n

The IM2000 contains an auto-currentreduction circuit which will automaticallyset the CURRED output HIGH approxi-mately 1.5 seconds after the rising edge ofthe last step clock pulse. This output, coupled with a minimum of external components may be used to reducethe current in the windings when the motor is at a standstill.

The CURRED output will then be reset on the next rising edge of the step clock input. This feature can greatlyreduce motor and driver heating. It may alsoincrease power efficiency in systems not requir-ing full holding torque.

Note that although both phases are reduced bythe same percentage when using the AutomaticCurrent reduction feature, motor shaft move-ment may occur, depending on shaft positioningand load type.

E x amp l e App l i c a t i o n o f t h e P owe r C on t r o l O u t p u t s

EN A

H LA

H RA

EN A

IN 1

IN 2

EN B

IN 3

IN 4

VSS

G N D

EN B

H LB

H RB

VS

O U T1

O U T2

O U T3

O U T4

VSE N B

VSE N A

IM2000 Interface for theSGS Thom son L298

PHASE A

PHASE B

IM2000

6

5

7

11

10

12

4

2

3

13

14

15

1

9

8

SIGN A

ENA N

PW M A

DIR

BRA KE

PW M

TFLA G

GND

DIR

BRA KE

PW M

TFLA G

GND

SIGN B

ENB N

PW M B

+5V

OVTMP

10k

VSOUT1

BOOT1BOOT2

OUT2VSE N

VSOUT1

BOOT1BOOT2

OUT2VSE N

62

111

108

62

111

108

3

4

5

9

7

3

4

5

9

7

IM2000 Interface for theN ational Semiconductor LM D18200 &

Inte rnational R ectifier IR8200B

PH ASE A

PH ASE B

IM2000

Figure 3.6: Power Control Output Interface ExamplesFigure 3.6: Power Control Output Interface ExamplesFigure 3.6: Power Control Output Interface ExamplesFigure 3.6: Power Control Output Interface ExamplesFigure 3.6: Power Control Output Interface Examples

+5V

32.4 1%

>

U/

INC

D

CS

VH

VW

VL

LM 234Z

X9C102

INPUT FRO M CO UT

INPUT FRO M DIR

+V

0 TO 2V REFERENCEFO R D/A CONVERTERS

Figure 3.7: Digital Current Control ExampleFigure 3.7: Digital Current Control ExampleFigure 3.7: Digital Current Control ExampleFigure 3.7: Digital Current Control ExampleFigure 3.7: Digital Current Control Example

VN0300 O R EQ UIV.

CURRE NT ADJUS TRES IS TO R

CURRE NT R EDU CTIO NRES IS TO R

TO CURRE NT ADJU STM ENT CU RCUIT

INP UT FRO MCURRE D

Figure 3.8: Automatic Current ReductionFigure 3.8: Automatic Current ReductionFigure 3.8: Automatic Current ReductionFigure 3.8: Automatic Current ReductionFigure 3.8: Automatic Current Reduction

14

Chopp i n g O s c i l l a t o rThe IM2000 contains a built-in oscillator whichis used to clock the internal pulse widthmodulator. The oscillator frequency is set by anexternal RC circuit.

While it is recommended to set the oscillatorfrequency to approximately 20kHz to reducemotor heating and maintain a frequency abovethe audible range, the internal oscillator canaccommodate a wide range of frequencies.Figure 3.9 shows the relationship between thechopping frequency and the RC resistorcomponent values. Note that the values shownwere recorded using a fixed 1nF capacitor.

Rese tThe reset input is a Schmitt triggered input used to initialize the IM2000. The IM2000 must be reset on power-upto ensure proper operation. In order to initialize the IM2000, the reset input must be held in a logic LOW statefor a minimum of 200ns.

Upon reset the IM2000 is configured such that Phase A is at 0 and Phase B is full on and in the positive halfcycle. The fault output is cleared as long as no fault condition is active on any of the protection inputs. Thecurrent reduction output will set appoximately 1.5 seconds following the release of the reset input if no stepclock input is detected.

The microstep resolution select lines and the direction input are latched on the rising edge of the reset input.This will occur in either the buss or stand-alone mode of operation.

E x t e r n a l L o o k up Ta b l eThe IM2000 allows the use of an external lookuptable to generate the Phase A and Phase Bwaveforms. This is accomplished by the use ofthe RSEL input. By using an external lookuptable the user can tailor the wave shapes to meetindividual needs.

When the RSEL input is in a logic LOW state,the internal lookup tables are selected and thesine and cosine information is accessed internal tothe IM2000. When RSEL is HIGH a nine bitaddress is output to AD0 - AD8. This nine bitaddress will then increment or decrementdepending on the state of the microstep resolu-tion and direction inputs.

The IM2000 uses a unique approach in thegeneration of the address. First, nine bits are usedinstead of 8 to get the full 256 positions. Second,only a quarter of the sine and cosine waveformsneed to be stored. The IM2000 will automaticallyreconstruct the entire waveform from thisinformation. This means only 514 words need to be stored to generate the entire sine and cosine waveform forbinary resolutions and 502 words for decimal resolutions. The IM2000 will automatically generate the sign andcosine signs and the full step output signal internally.

45

40

35

30

25

20

15

10

510 20 30 40 50 60

Oscillator Frequency (kHz)

Res

ista

nce

(k o

hms)

Figure 3.9: Oscillator Frequency SettingsFigure 3.9: Oscillator Frequency SettingsFigure 3.9: Oscillator Frequency SettingsFigure 3.9: Oscillator Frequency SettingsFigure 3.9: Oscillator Frequency Settings

elpmaxEelbaTpukooLlanretxE

lamiceD yraniB

#petS 9DA-0DA)xeH(lamiceD

#petS 9DA-0DA)xeH(lamiceD

0 )0(0 0 )0(0

1 )23(05 1 )04(46

2 )46(001 2 )08(821

3 )69(051 3 )0C(291

4 )8C(002 4 )001(652

5 )AF(052 5 )0C(291

6 )8C(002

Table 3.4: External Lookup Table Example AddressTable 3.4: External Lookup Table Example AddressTable 3.4: External Lookup Table Example AddressTable 3.4: External Lookup Table Example AddressTable 3.4: External Lookup Table Example AddressLocationsLocationsLocationsLocationsLocations

15

In reconstructing the sine andcosine waveforms using binaryresolutions, the IM2000 addresseslocations 0 - 255 to reconstructthe first quarter of the waveform.The 256th location represents thepeak or start of the secondquarter (i.e. sine = 1, cosine = 0).When using decimal resolutions,the IM2000 addresses locations 0 -249 to reconstruct the firstquarter of the waveform. The250th location represents the peakor start of the second quarter.Table 3.4 shows the addressesgenerated by the IM2000 for aresolution of 5 microstep per stepin decimal and 4 microsteps perstep in binary selected by MSEL0- MSEL3.

The BD output may be used toselect between the binary anddecimal lookup tables. The BDoutput follows the MSEL3 inputand is latched and updated on therising edge of the SCLK input.Figure 3.10 shows a blockdiagram utilizing external lookup tables

Buss/S t and - a l o n e ModeThe IM2000 may be used either in stand-alone mode or tieddirectly to the data buss of a microprocessor/controller.

If the Mode input is HIGH, the IM2000 will be in stand-alone mode and MSEL0 - MSEL3 and DIR will be updatedon the rising edge of the SCLK input. The EN input is notdependent on the SCLK input.

If the Mode input is LOW, the IM2000 will be in BussMode and MSEL0 - MSEL3, DIR and EN are latched intothe IM2000 on the rising edge of the WR input. Figure3.11 shows the timing diagram for the WR input.

C S

C S

To SineD/A Converter

To CosineD/A ConverterC S

C S

BD

Figure 3.10: External Lookup TableFigure 3.10: External Lookup TableFigure 3.10: External Lookup TableFigure 3.10: External Lookup TableFigure 3.10: External Lookup Table

tw h

tw r

M O D E

M S E L 0 - M S E L 3D IR , E N

W R

Figure 3.11: WR Input TimingFigure 3.11: WR Input TimingFigure 3.11: WR Input TimingFigure 3.11: WR Input TimingFigure 3.11: WR Input Timing

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Ty p i c a l A pp l i c a t i o n48V, 3 Amps (RMS)/Phase Microstepping Driver

Output Current (AMPS) = .002 x R1 (OHMS)

NOTE: Diodes may be needed on phase outputsdepending on input voltage and phase currents used.

IM2000 Operating InstructionsV12.06.2000©2000 Intelligent Motion Systems, Inc.All Rights Reserved