IMDP23/IMDEP23 Integrated NEMA 23 Motor and Drive With Encoder option User Manual And Commands Guide Version 1.04 RMS Technologies . 2533 N. Carson St #4698 . Carson City . NV . 89706 . 877-203-8969 www.rmsmotion.com . sales@rmsmotion.com . support@rmsmotion.
Thank you for purchasing the IMDP23 Integrated Motor and Driver. This product is warranted to be free of manufacturing defects for one (1) year from the date of purchase. PLEASE READ BEFORE USING Before you start, you must have a suitable DC power supply suitable for the motor. The power supply voltage must be between 4 times and 20 times the motor's rated voltage. DISCLAIMER The information provided in this document is believed to be reliable.
Silverpak 23D/DE Plus User Manual Product: Version: Date: IMDP23/IMDEP23 1.04 8/4/2010 Version History Version Date Description of Changes 1.00 5/6/2009 New user manual 1.01 7/23/2009 1.02 10/1/2009 Updated operating temperature specs and lead wire color code. Added note about mating connector 1.03 12/1/2009 1.04 8/4/2010 RMS Technologies IMDP23/IMDEP23 Manual Updated color code of 3-pin communication cable. Updated 24V opto connection diagram, and company address. Page 3 Version 1.
Table of Contents 1 FEATURES ...................................................................................................... 5 POLE DAMPING TECHNOLOGY™ ............................................................................. 5 IMDEP23 – ENCODER FEATURES.......................................................................... 5 DEFAULT SETTINGS ............................................................................................ 5 2 ELECTRICAL SPECIFICATIONS ..........................
1 FEATURES NEMA Size 23, 2 Phase, 1.8° Bipolar Step Motor w/ Built-In Microstepping Driver Operates from +12 to 75 VDC Software selectable run currents from 0.1 to 5.0 Amp Peak (in 0.05 Amp increments) Software selectable hold currents from 0 to 5.0 Amp Peak (in 0.
2 ELECTRICAL SPECIFICATIONS Power Supply Requirements Voltage +12 VDC to 75 VDC Driver Peak Current: 0.1 to 5.0 Amps Peak Baud rate: 57600 bps Motor Specifications NEMA Size 23 Holding Torque: IMDP23-S 100 oz-in IMDP23-M 182 oz-in IMDP23-L 294 oz-in Steps per Revolution (1.
4 MECHANICAL SPECIFICATIONS Motor Front Shaft Extension Length: Standard length is 0.81” Motor Shaft Diameter: Standard shaft diameter is 0.25” Overall Body Length (A) IMDP23-S (2.65”) IMDP23-M (3.16”) IMDP23-L (4.03”) Dimensions Figure 1: Dimensions Diagram RMS Technologies IMDP23/IMDEP23 Manual Page 7 Version 1.
Dimensions of IMDEP23 with Encoder Figure 2: Encoder drawing 5 PIN ASSIGNMENTS Along with the IMDP23 unit, you should’ve received the following cables. Lead wires can be inserted into the 7-pin connector by pressing down on the orange spring. Lead wires sizes allowed are from AWG 20 to AWG 26.
1234567 Figure 5: View of IMDP23 Plus connector Color Red Black Orange Pin 1 2 3 Function POWER +VE Ground Enable Brown 4 Direction Yellow 5 Step Blue 6 Internal 5V out Green 7 Opto reference* Description Motor Supply Voltage. +12 to 75 VDC Power Supply Ground Enable/Disables the drive of power. A low signal will disable the unit. Use the GUI to change this function such that a high signal disables the unit. Direction input. Default connection will rotate CCW.
Figure 6: Communication Port View The above image shows the communication port on the IMDP23. The 18-position cable plugs into this port. (This cable is sold separately) The opposite end of the communication cable is a 3-pin IDC (Insulation Displacement Connector). This connects to either the RS232 or USB converter card.
6 CONNECTION SPECIFICATIONS In order to properly connect your new IMDP23 Plus unit, first determine which Designer’s Kit you’ve purchased.
1. Download driver files for the USB485 converter card Go to www.rmsmotion.com and navigate to the USB485 converter card page by going to: Accessories USB to RS485 Converter card. Then click on “Download”, or simply scroll to the bottom of the page. Save the zip file called “USB485 Driver Files” and extract all files to your PC. 2. Connect the USB485 converter card to the Silverpak unit.
Note the COM Port number that was assigned to the converter card device by rightclicking on “My Computer” and going to: Hardware Tab Device Manager Ports (COM & LPT) RMS Motion US485 Connecting the IMDP23 to your PC via RS232 Follow the connection schematic shown below if using the RS485-RS232 Converter card. Figure 13: Connection of Silverpak to RS232 card, PC & Power Supply Resistor Values for the Opto Supply The optocouplers must be powered by an external power supply to maintain isolation.
Step, Direction, and Disable lines have a 470 ohm internal resistor Voltage: Ohms needed: Wattage rating: Resistor image: Color 5V 0 0 10V 500 ¼ watt 15V 1000 ¼ watt 24V 2000 ¼ watt Figure 14 Figure 15 Figure 16 Green Black Red Gold or Silver Maroon Black Red Gold or Silver Red Black Red Gold or Silver Connect three resistors for the step, direction, and enable input lines. See image below: Figure 17: Connection with external resistor RMS Technologies IMDP23/IMDEP23 Manual Page 14 Version 1.
If the desired voltage level is not listed above, below is how to calculate the resistor and wattage: Voltage 1.25V 0.010 Amps 470 R Power Re sistor Amps 2 or or Voltage 1.25V R 0.010 Amps Wattage Re sistor 0.0001Amps 470 Equation 1: Resistance Equations Equation 2: Wattage equations Vf = 1.25V 470Ω Vf = 1.25V 470Ω Vf = 1.25V 470Ω Figure 18: Internal Schematic For easier connection, simply connect pin 6 to pin 7.
7 Configuring The Settings Connect to RMS Driver GUI for setting Parameters Download the RMSDriver.zip file from the IMDP23 webpage. Connect to your PC, and turn on the Power Supply. Figure 19: GUI 1 Select the COM port and click “Connect” Setting 2 Make changes to current, microstepping, etc. Values Full step, 2x, 4x, 5x, 8x, 10x, 16x, 25x, 32x, 50x, 64x, 125x, 128x, 250x, or 256x.
Setting Values 0.5 Amps to 5.0 Amps, in 0.05 increments 0.0 Amps to 5.0 Amps, in 0.05 increments Detects step pulses on rising or falling edge Motor will initially rotate CCW. Disables the motor with a high (5V) or low signal (0V). 0, 1, 2, 3 Default settings Description Running Current: This changes the amount of current (Amps Peak) going into the motor. Do not exceed 1.4 times the motor’s current. Every motor is labeled with a current rating. Going beyond 1.4 times this value can burn the motor.
8 BASIC OPERATION List of components needed to rotate the motor: +12 to 75 VDC Power Supply Additional +5 VDC Volt Power Supply Signal Generator Ensure that the IMDP23 is not connected to the Main Power Supply until the following procedures have been properly carried out. 1. Connect the step pulse generator Connect Pin5, step pulse input, to the Positive Terminal of your pulse generator. Then connect the negative terminal to main ground power. 2.
Figure 20: Connection Schematic – Connecting to a Controller Connecting the Power The IMDP23 requires a supply voltage of +12-75 VDC. First, connect the positive end of the power supply to Power (Pin 1), and then connect the negative of the power supply to the Ground (Pin 2) on the IMDP23. WARNING! Be careful not to reverse the polarity from the power supply to the driver. Reversing the connection will destroy your driver and void the warranty.
Using IMDP23’s Internal 5VDC supply for optos: If using the internal 5VDC supply, simply connect PIN 6 to PIN 7. Be sure to connect step pulse ground to the Silverpak’s Ground, PIN 2. Changing direction and disabling the drive is achieved by connecting these two inputs to PIN 2, ground. This type of connection no longer optically isolates the inputs.
9 TROUBLESHOOTING The motor is not functioning correctly (does not move) Check if power is being supplied to the unit. If the shaft of the motor is hard to turn, power is on. Next, check if the signal generator is supplying pulses correctly. Verify that the 5V is being supplied to the opto couples either via a separate power source or the internal 5V from Pin 6. The motor is running erratically Check that step pulses are a clean TTL squarewave signal.
10 APPENDIX Recommended Cable Configurations: DC Supply to Driver Cable length, wire gauge and power conditioning devices play a major role in the performance of your RMS Technologies Driver and Motor. NOTE: The length of the DC power supply cable to the Driver should not exceed 50 feet. The example below demonstrates the recommended cable configuration for DC power supply cabling less than 50 feet long. Correct AWG wire size is determined by the current requirement plus cable length.
NOTE: These recommendations will provide optimal protection against EMI and RFI. The actual cable type, wire gauge, shield type and filtering devices used are dependent on the customer’s application and system.
Figure 27: Example of a bad rising edge waveform Below is an example of a good step pulse waveform where sensing the step on either edge would be fine: Figure 28: Example of a good waveform RMS Technologies IMDP23/IMDEP23 Manual Page 24 Version 1.
Amps RMS vs. Amps Peak Where does the 1.4 times come from? Current is continuously changing when a motor steps. If the motor is rated for 1.0 A/Ph, it may receive 0 Amps, 1 Amp, 1.4 Amps, or anything in between if you are microstepping. For ease of explanation, we will look at the current waveform when we half step, or set the driver/controller to 2x microstepping.
The 1.4A along this hypotenuse is also known as the 2-Phase On position, since both A and B Phases are “On” and receive current. It is also known as the peak current. As we see the waveform that’s plotted for the A Phase, the highest value on the curve is known as the peak value. Motors have a rated current, or average RMS value since in operation, the current is continuously changing. The most logical way to describe a rating is to take an average, or RMS (root means squared) value.
