IM2000S - Intelligent Motion Systems, inc.

intelligent motion systems, inc.

Excellence in MotionTM

IM2000S

OPERATING INSTRUCTIONS

HIGH PERFORMANCE MICROSTEPPING STEP MOT OR CONTROLLER

IM2000S - ULTRA SMALL 64 PIN QFP

Table of Contents

Introduction to the IM2000S .........................................................................................................................................3

Section Overview ...................................................................................................................................................................... 3

The IM2000S ............................................................................................................................................................................ 3

Features And Benefits ............................................................................................................................................................... 4

Hardware Specifications ..............................................................................................................................................5

Section Overview ...................................................................................................................................................................... 5

Mechanical Specifications ........................................................................................................................................................ 5

Electrical & Environmental Specifications ............................................................................................................................... 6

IM2000S Pin Description.......................................................................................................................................................... 7

Operation of the IM2000S .............................................................................................................................................8

Section Overview ...................................................................................................................................................................... 8

Protection Inputs ....................................................................................................................................................................... 8

Microstep Select (MSEL) Inputs .............................................................................................................................................. 9

Step/Direction Inputs ................................................................................................................................................................ 9

Chip Select (CSEL) Input ....................................................................................................................................................... 10

Full Step Output ...................................................................................................................................................................... 10

Dual PWM .............................................................................................................................................................................. 10

Power Control Outputs............................................................................................................................................................ 11

Current Control ....................................................................................................................................................................... 12

Chopping Oscillator ................................................................................................................................................................ 13

Reset ....................................................................................................................................................................................... 13

External Lookup Table ............................................................................................................................................................ 13

Buss/Stand-alone Mode .......................................................................................................................................................... 14

Typical Application ................................................................................................................................................................. 15

List of Figures

Figure 1.1: IM2000S (2.5 T imes Actual Size)........................................................................................................................ 3

Figure 1.2: Block Diagram ..................................................................................................................................................... 4

Figure 2.1: Mechanical Specifications.................................................................................................................................... 5

Figure 3.1: Overcurrent Protection ......................................................................................................................................... 8

Figure 3.2: Thermal Protection ............................................................................................................................................... 8

Figure 3.3: Recirculating PWM............................................................................................................................................ 10

Figure 3.4: Non-Recirculating PWM.................................................................................................................................... 11

Figure 3.5: Power Control Output Relationships.................................................................................................................. 11

Figure 3.6: Power Control Output Interface Examples ........................................................................................................ 12

Figure 3.7: Digital Current Control Example ....................................................................................................................... 12

Figure 3.8: Automatic Current Reduction ............................................................................................................................ 12

Figure 3.9: Oscillator Frequency Settings ............................................................................................................................ 13

Figure 3.10: Block Diagram - External Lookup Table ........................................................................................................... 14

Figure 3.1 1: WR Input T iming ............................................................................................................................................... 14

Figure 3.12: Schematic (T ypical Application) ........................................................................................................................ 15

List of Tables

T able 2.1: DC Electrical Specifications ................................................................................................................................ 6

T able 2.2: AC Electrical Specifications ................................................................................................................................ 6

Table 2.3: Absolute Maximum Ratings ................................................................................................................................. 6

T able 2.4: Recommended Operating Conditions................................................................................................................... 6

Table 2.5: IM2000S Pin Description..................................................................................................................................... 7

Table 3.1: Microstep Resolution Settings ............................................................................................................................. 9

Table 3.2: Chip Select Settings ........................................................................................................................................... 10

Table 3.3: Current Control Mode Settings .......................................................................................................................... 11

Table 3.4: External Lookup Table (Example Address Locations)....................................................................................... 13

Section 1

Introduction to the IM2000S

Section Overview

This section will introduce the user to the feature set provided by the IM2000S Microsteping controller ASIC. The

following subsections are contained:

!The IM2000S Described

!Features and Benefits

!Block Diagram

The IM2000S

The IM2000S is a high performance microstepping step motor controller that

incorporates a sine/cosine signal generator, anti-resonance circuitry, PWM

current control and much more in one monolithic IC. The IM2000S combines

hardware intense functions together with innovative features to provide

designers with a powerful yet simple solution for their high volume OEM

products.

Never before has any motion product integrated all the digital contr ol into one

monolithic IC. This high deg ree of integration can significantly reduce design

time as well as driver size.

Beyond the integration of a complete microstepping control system, the

IM2000S has unique features that giv e designers unprecedented control o ver

motor movement. These features include 14 selectable resolutions (in both

decimal and binary) that can be chang ed at any time without motor movement

interruption. There is no need to reset the controller. This allows the user to

rapidly move long distances, yet precisely position the motor at the end 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 chopping rate. This

prevents additional motor heating that is common with drivers requiring higher chopping rates. Now low inductance

stepper motors can be used to improve high speed performance and peak system efficiency.

The IM2000S needs only clock and direction inputs to control the motor and will interface directly to discrete bridges or

common monolithic bridge ICs.

Designers can now place drivers directly on their PC boards with all the necessary control in the IM2000S chip’s ultra

small 64 pin QFP package .

Size, price and time-to-market are three crucial aspects in today’s competitive markets and the IM2000S offers the ability

to reduce all three.

Figure 1.1: The IM2000S

(2.5 times actual size.)

Features And Benefits

!Complete Microstepping Control System with the IM2000S 64 Pin QFP

!Up to 10MHz Step Clock Rate

!Internal Sine/Cosine Generator

!PWM Phase Current Control

!Minimal External Components

!Automatic Current Reduction

!14 Selectable Resolutions — Both in Decimal and Binary

!Number of Microsteps Per Step can be Changed On-The-Fly Without Motor Mov ement Interruption

!Up to 51,200 Steps/R ev

!Standalone or Buss Modes

!Single 5V Power Supply

!Short Circuit and Over

Temperature Protection Inputs

!Fault Output

!On Full Step Output

!Anti-Resonance

Block Diagram

Figure 1.2: IM2000S Block Diagram

VSA

VSB1

VTMP

VCA

VCB

CIR0

CIR1

ILOW

IHI

RESET

DIR

MODE

SCLK

CSEL

RSEL

INPUT

LOGIC

SIGNAL

SHAPER

SINE/COSINE

POSITION

GENERATOR

MICROSTEP

RESOLUTION

SELECTION

SEL0

MSEL1

SEL2

SEL3

ANTI-

RESONANCE

AUTO

SLOW/FAST

DECAY

AUTO

CURRENT

REDUCTION

CURRENT

CONTROL

OSC

ROM

FULL STEP

POSITION

GENERATOR

PROTECTION

CIRCUIT FAULT

ENA

SIGNA

PWMA

HLA

LLA

HRA

LRA

HLB

LLB

HRB

LRB

PWMB

SIGNB

ENB

OSCR

OSCRC

CURRED

SINE0

SINE1

SINE2

SINE3

SINE4

SINE5

SINE6

SINE7

COS0/AD

COS1/AD

COS2/AD

COS3/AD

COS4/AD

COS5/AD

COS6/AD

COS7/AD

FULL STE

COUT

Section 2

Hardware Specifications

Section Overview

This section covers the hardware specifications of the IM2000S . Co vered are:

!Mechanical Specifications

!Electrical Specifications

!Pin Description

Mechanical Specifications

IM2000S - 64 Pin Ultra-Small QFP

Figure 2.1: IM2000S Mechanical Specifications

IM2000S / 64 PIN QFP

(Enlarged)

0.007 + 0.005/-0.001

(0.18 +0.10/- 0.05)

0.020

(0.5)

0.472 +/- 0.005

(12 +/- 0.40)

0.394 +/- 0.004

(10 +/- 0.10)

0.472 +/- 0.005

(12 +/- 0.40)

0.394 +/- 0.004

(10 +/- 0.10)

0.066 MAX.

(1.7)

0.020 +/- 0.007

(0.5 +/- 0.2)

0.055 +/- 0.004

(1.4 +/- 0.1)

3348

INDEX

161

IM2000

(Actual Siz

0-10˚

0.005 ± 0.001

(

0.125 ± 0.025)

Electrical & Environmental Specifications

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

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htdiweslupRW02Sn

RWretfaemitdlohataD0Sn

MWP

ycneuqerfgnippohcMWP02zHK

KLC

ycneuqerftupniKLCS01zHM

Table 2.1: DC Electrical Specifications

Table 2.2: AC Electrical Specifications

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TUO

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egatloVylppuSCD

5.40.55.5

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02-58

C°

Table 2.3: Absolute Maximum Ratings

Table 2.4: Recommended Operating Conditions

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45, 2

43, 4

12-19 COS0-COS7

47 IHI

36, 11 VSA, VSB Phase A and Phase B current sense inputs.

OVV

25, 58

typically

IM2000S Pin Description

Table 2.5: IM2000S Pin Description

Section 3

Operation of the IM2000S

Section Overview

This section covers the operation of the various circuits contained within the IM2000S Microstepping Controller ASIC.

These are:

!Protection Inputs

!Microstep Select (MSEL) Inputs

!Step/Direction Inputs

!Chip Select (CSEL) Input

!Full Step Output

!Dual PWM

!P o w er Control Outputs

!Controling the Output Current

!Chopping Oscillator

!Reset Input

!External Look-up T able

!Buss/Standalone Mode

Protection Inputs

The IM2000S has four inputs which will disable the PWM and driver control outputs to protect against external faults.

These inputs include:

!Over T emperature

!Phase A and Phase B Short Circuit

!Over Volta ge

All four inputs are buffered using Schmitt triggered buffers and are internally AND’ed together. These inputs may be

used independently or tied together for wired OR’ed protection circuits. Unused inputs must be tied to a logic HIGH

state.

Upon detection of a fault condition the IM2000S will latch the condition and set the fault output pin to a logic HIGH

state. At this time the phase control outputs, phase enable outputs and PWM are disabled. The IM2000S must be reset by

either pulling the reset input LOW, or cycling power to clear the fault condition and re-enable the PWM and driver

control outputs. Figures 3.1 and 3.2 illustrate possible application/interface of the ov e rcurrent and over temperature

inputs.

Figure 3.1: Overcurrent Protection Example Figure 3.2: Thermal Protection Example

+5V

Thermostat Output to

OVTMP

10 kOhm

Output to

OVCA/OVC

Comparator

Input from

Sense Resistor

+5V

Set Reference for

Maximum

Allowable Current

+5V

Microstep Select

(MSEL) Inputs

The Microstep Select inputs are used to

select the number of fractional steps per full

step that the IM2000S will output to the

motor . These inputs are buffered using

Schmitt trigger buffers to increase noise

immunity. There are 14 different selections

built into the IM2000S. Tab le 3.1 shows the

list of resolutions and their relationship to

the state of the MSEL inputs.

A unique feature of the IM2000S is the

ability to change resolutions at any time. A

resolution change can occur whether the

motor is being clocked or is at rest. The

change will not take place until the rising

edge of the next step clock input. At this

time, the new resolution is latched and

implemented before the step clock pulse

takes affect.

If a resolution is chosen suc h that the sine/

cosine output of the IM2000S would not

land on an electrical fullstep of the motor,

then the IM2000S will automatically align

itself to the full step position on the step

clock pulse that would have caused the motor

to rotate past the full step. The step clock pulses, from that point forward will be equal to the selected resolution. This

feature allows the user to switch resolutions at any time without having to ke ep track of sine/cosine location. The user

can now easily track position utilizing the full step output signal.

The capability of changing resolutions on-the-fly allows for high speed slewing where bandwidth is limited, as is the case

with many single chip microcontrollers. The user may switch to a coarser resolution during long moves for increased

speed, then change to a finer resolution for precise positioning at the end of travel.

Step/Direction Inputs

The IM2000S contains a built-in sine/cosine generator used for the generation of Phase A and Phase B position

reference. This digitally encoded 9 bit sine and 9 bit cosine signal is directly fed into a digital-to-analog converter.

The step clock (SCLK) and direction (DIR) inputs are buffered using Schmidt triggered buffers for increased noise

immunity and are used to increment or decrement the sine/cosine position generator. The position generator is updated

on the rising edge of the ste p clock input. It will increment or decrement by the amount specified by the microstep

resolution select (MSEL) inputs.

The direction (DIR) input determines the direction of the position generator and hence the direction of the motor. The

DIR input is synchronized to the SCLK input. On the rising edge of the SCLK input, the state of the DIR input is

latched in. The position generator will then look to see if there has been a change in direction and implement that

change before executing the next step. By utilizing this method to implement the direction change, the noise immunity

is greatly increased and no physical change in the motor occur s if the direction line is toggled prior to the step clock

input.

The enable/disable input does not affect the step cloc k input. The sine/cosine generator will continue to update if a signal

is applied to the step clock input. The IM2000S outputs both sine and cosine data simultaneously when applying a step

clock input. Dual internal look-up tables are used to output a unique position for every step clock input to enhance

system performance.

T ruth T able: Resolution Select Inputs -Binary Mode

T ruth T able: Resolution Select Inputs - Decimal Mode

Invalid Microstep Resolution Settings

Table 3.1: Microstep Resolution Settings

petSlluFrepspetsorciM 3LESM 2LESM 1LESM 0LESM

2 0000

4 0 0 0 1

80010

61 0 0 1 1

230100

46 0 1 0 1

8210110

652 0 1 1 1

petSlluFrepspetsorciM 3LESM 2LESM 1LESM 0LESM

5 1000

01 1 0 0 1

521010

05 1 0 1 1

5211100

052 1 1 0 1

petSlluFrepspetsorciM 3LESM 2LESM 1LESM 0LESM

XXXXXXX 1110

XXXXXXX 1 1 1 1

Chip Select (CSEL) Input

The CSEL input is used to select a number of functions

that are implemented using the MSEL0 and MSEL1 inputs.

If CSEL is low, or not connected, MSEL0 and MSEL1 will

function as microstep select lines as explained earlier.

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

!R eset the IM2000S.

!Disable the PWM and driv er control outputs.

!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.

Full Step Output

This active high output indicates when the motor is electrically on a full step (the poles of the motor are aligned). 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 of counts

needed to track position. By utilizing the full step output it is no longer necessary to keep track of the number of

microsteps between steps on moves until the last fractional step. With the full step output, it is possible to trac k position a s

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 overhead associ-

ated with updating/monitoring the position counter.

Dual PWM

The IM2000S contains a unique dual PWM circuit that efficiently and accurately regulates the current in the windings of a

tw o phase stepping motor. The internal PWM accomplishes this by using an alternating recirculating/non-recirculating

mode to control the current.

Recirculating

In a recirculating PWM, the current in the windings is contained within the

output bridge while the PWM is in its OFF state (after the set current is

reached). This method of controlling the current is efficient when using

low inductance motors, but lacks response because of its inability to

remove current from the windings on the downward cycle of the sine/

cosine wave (See Figure 3.3).

Non-Recirculating

In a non-recirculating PWM, the current flows up through the bridge and

back to the supply in the OFF phase of the cycle. This method of

controlling current allows for much better response but reduces efficiency

and increases current ripple, especially in lower inductance motors (See

Figure 3.4).

The IM2000S PWM utilizes the best features of both by combining

recirculating and non-recirculating current control. On the rising edge of the sine/cosine waveform, the PWM will always be

in a recirculating mode. This mode allows the driver to run at peak efficiency while maintaining minimum current ripple even

with low inductance motors. On the downward cycle of the sine/cosine waveform, the PWM operates in a two part cycle. In

the first part of its cycle the PWM is in a non-recirculating mode to pull current from the motor windings . In the second part

of the cycle the PWM reverts back to recirculating mode to increase efficiency and reduce current ripple.

Table 3.2: Chip Select Settings

sgnitteSLESC

1LESM 0LESM noitcnuF

00 TUOCotKLCS

0 1 TUOCotKLCS

10 rellortnoCteseR

1 1 stuptuOelbasiD

Figure 3.3: Recirculating PWM

RIVE CURRENT

ECIRCULATION

The IM2000S will automatically change the non-recirculating pulse widths

to compensate for changes in supply voltage and accommodate a wide

variety of motor inductances. This method also allo ws for the use of very

low inductance motors , while utilizing a 20kHz chopping r ate which

reduces motor heating but maintains high efficiency and low current

ripple.

Fixed PWM Type

The internal PWM in the IM2000S may also be placed in a fixed

recirculating or non-recirculating mode by the use of the CIR0 and

CIR1 inputs. The relationship between the states of the CIR0 and

CIR1 inputs and the method of current control is shown in Table 3.3.

Table 3.3: Current Control Mode Settings

Power Control Outputs

The relationship between the

Sine\Cosine, Power Section

Control and PWM outputs of

the IM2000S is illustrated in

Figure 3.5. When either the sine

or cosine is at 0, the enable and

all drive control outputs for that

particular phase will be turned

off to improve accuracy.

The inputs IHI and ILO W to the

IM2000S are used to inve rt the

polarity of the high side and low

side driver control signals

respectively. These inputs have

no effect on the sign, EN, and

PWM output signals .

Figure 3.5: Power Control Output Relationships

ine\Cosine Output

Sense Current

Oscillator

Enable (In & Out)

HLx

HRx

LRx

SIGNx

PWMx

LLx **

*Fast decay period for auto decay mode.

sedoMlortnoCtnerruCMWPsedoMlortnoCtnerruCMWP sedoMlortnoCtnerruCMWP sedoMlortnoCtnerruCMWPsedoMlortnoCtnerruCMWP

1RIC1RIC 1RIC 1RIC1RIC 0RIC0RIC 0RIC 0RIC0RIC epyTMWPepyTMWP epyTMWP epyTMWPepyTMWP

00 gnitalucriceR-otuA

1 0 )gnitalucriceR-noN(yaceDtsaF

01 )gnitalucriceR(yaceDwolS

1 1 )gnitalucriceR-noN(yaceDtsaF

Figure 3.4: Non-Recirculating PWM

RIVE CURRENT

FAST DECAY

Current Control

Digital Current Control

The schematic example shown in Figure 3.7 illustrates

how the user might set up the 0 to 2V D/A reference to

control the output current of the driver.

Automatic Current Reduction

The IM2000S contains an auto-current reduction circuit

which will automatically set the CURRED output

HIGH appro ximately 1.5 seconds after the rising edge

of the last step clock pulse. This output, coupled with a

minimum of external components may be used to

reduce the 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 greatly reduce motor and driver heating. It may also

increase power efficiency in systems not requiring full holding torque.

Note that although both phases are reduced by the same percentage when using

the Automatic Current reduction feature, motor shaft mov ement ma y occur,

depending on shaft positioning and load type.

Example Application of the Power Control Outputs

Figure 3.6: Power Control Output Interface Examples

SIGNA

ENAN

PWMA

DIR

BRAKE

PWM

TFLAG

GND

DIR

BRAKE

PWM

TFLAG

GND

SIGNB

ENBN

PWMB

+5V

OVTMP

10k

OUT1

BOOT1

BOOT2

OUT2

VSEN

OUT1

BOOT1

BOOT2

OUT2

VSEN

IM2000 Interface for the

National Semiconductor LMD18200 &

International Rectifier IR8200B

PHASE A

PHASE B

IM2000

ENA

HLA

HRA

ENA

IN1

IN2

ENB

IN3

IN4

VSS

GND

ENB

HLB

HRB

OUT1

OUT2

OUT3

OUT4

VSENB

VSENA

IM2000 Interface for the

SGS Thomson L298

PHASE

IM2000

TO CURRENT

ADJUST CIRCU

CURRENT ADJUST

RESISTOR

CURRENT REDUCTION

RESISTOR

NPUT FROM

CURRED VN0300 OR

EQUIVALENT

Figure 3.8: Automatic Current Reduction

Figure 3.7: Digital Current Control Example

NPUT FROM COUT

NPUT FROM DIR

9C102

>INC

U/D

0 TO 2V REFERENC

FOR D/A CONVERTER

LM234Z

Chopping Oscillator

The IM2000S contains a built-in oscillator which is

used to clock the internal pulse width modulator.

The oscillator frequency is set by an external RC

circuit.

While it is recommended to set the oscillator

frequency to approximately 20kHz to reduce

motor heating and maintain a frequency above the

audible range, the internal oscillator can accommo-

date a wide range of frequencies. Figure 3.9 shows

the relationship between the chopping frequency

and the RC resistor component v alues. Note that

the values sho wn w ere recorded using a fixed 1nF

capacitor.

Reset

The reset input is a Schmitt triggered input used to initialize the IM2000S. The IM2000S must be reset on po wer-up to

ensure proper operation. In order to initialize the IM2000S, the reset input must be held in a logic LOW state for a

minimum of 200ns .

Upon reset the IM2000S is configured such that Phase A is at 0 and Phase B is full on and in the positive half cycle. The

fault output is cleared as long as no fault condition is active on any of the protection inputs. The current reduction

output will set appoximately 1.5 seconds following the release of the reset input if no ste p clock 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.

External Lookup Table

The IM2000S allows the use of an external lookup

table to generate the Phase A and Phase B wave-

forms . This is accomplished by the use of the RSEL

input. By using an external lookup table the user can

tailor the wave shapes to meet individual needs.

When the RSEL input is in a logic LOW state, the

internal lookup tables are selected and the sine and

cosine information is accessed internal to the

IM2000S. When RSEL is HIGH an eight bit address

is output to AD0 - AD7. This eight bit address will

then increment or decrement depending on the state

of the microstep resolution and direction inputs .

The IM2000S uses a unique approach in the genera-

tion of the address. Eight bits are used to get the full

256 positions. Only a quarter of the sine and cosine

wa veforms need to be stored. The IM2000S will

automatically reconstruct the entire wa veform from

this information. This means only 502 w ords need to

be stored to generate the entire sine and cosine

wa veform for decimal resolutions. The IM2000S will

automatically generate the sign and cosine signs and

the full step output signal internally.

510 20 30 40 50 6

Oscillator Frequency (kHz)

Figure 3.9: Oscillator Frequency Settings

Table 3.4: External Lookup Table

Example Address Locations

pukooLlanretxEpukooLlanretxE pukooLlanretxE pukooLlanretxEpukooLlanretxE elpmaxEelbaTelpmaxEelbaT elpmaxEelbaT elpmaxEelbaTelpmaxEelbaT

#petS#petS #petS #petS#petS 7DA-0DA7DA-0DA 7DA-0DA 7DA-0DA7DA-0DA )xeH(lamiceD

0)0(0

1 )23(05

2)46(001

3 )69(051

4)8C(002

5 )AF(052

6)8C(002

Figure 3.10: External Lookup Table

IM2000S

AD0-AD7

To Sine

D/A Convert

To Cosine

/A Convert

Decimal

Lookup

Table

Sine

Decimal

Lookup

Table

Cosine

In reconstructing the sine and cosine

wa vef orms, the IM2000S addresses

locations 0 - 249 to reconstruct the first

quarter of the wav eform. The 250th

location represents the peak or start of

the second quarter. Table 3.4 shows the

addresses generated by the IM2000S for a

resolution of 5 microstep per step

selected by MSEL0 - MSEL3.

Figure 3.10 shows a block diagram

utilizing external lookup tables.

Buss/Stand-alone Mode

The IM2000S may be used either in stand-alone mode or tied

directly to the data buss of a microprocessor/controller.

If the Mode input is HIGH, the IM2000S will be in stand-

alone mode and MSEL0 - MSEL3 and DIR will be updated on

the rising edge of the SCLK input. The EN input is not

dependent on the SCLK input.

If the Mode input is LOW, the IM2000S will be in Buss Mode

and MSEL0 - MSEL3, DIR and EN are latched into the

IM2000S on the rising edge of the WR input. Figure 3.11

shows the timing diagram for the WR input.

Figure 3.11: WR Input Timing

MODE

SEL0 - MSEL3

DIR, EN

+5V

11 VSA

VSB

1MODE

64 WR

OVCA

OVCB

24 OVV

26 OVTMPRES SEL 0

RES SEL 1

RES SEL 2

RES SEL 3

MSEL0

MSEL1

MSEL2

MSEL3

STEP CLOCK

DIRECTION

ENABLE

SCLK

DIR

+5V

51K

56 CIR0

CIR1

RSEL

CSEL

0.47µf

30.1K

1.0nf

RESET

OSCR

OSCRC

IHI

ILOW

GND

+5V +5V

0.1µf 0.1µf

VCC

IM2000S

HLA

LLA

HRA

LRA 38

HLB

LLB

HRB

LRB

CURRED

FAULT

FSTEP

SINE0

SINE1

SINE2

SINE3

SINE4

SINE5

SINE6

SINE7

COS0/AD0

COS1/AD1

COS2/AD2

COS3/AD3

COS4/AD4

COS5/AD5

COS6/AD6

COS7/AD7

ENA

SIGNA

PWMA

ENB

SIGNB

PWMB

COUT 27

+5V +5V

TLC372

+5V

TLC372

5.1K

220pf

5.1K

220pf

OUT1 OUT1

OUT2 OUT2

GND GND

VDD VDD

+5V

11 11

10 10

15 15

16 16

13 13

12 12

REF REF

RFB RFB

DB0

DB1 DB1

DB2 DB2

DB3 DB3

DB4 DB4

DB5 DB5

DB6 DB6

DB7 DB7

TLC7524 TLC7524

0.22µf

IN1

IN2

VREF

GND

WR WR

CS CS

V+

OUT1

BOOT1

BOOT2

OUT2

VSEN

L6203

10nf

0.5

ØB

+5V

LM234Z

68.1

+5V

TLC271

0.1µf

10µf

0.22µf

L6203

0.5

10nf

ØA

0.1µf

1000µf

+12 to +48V

IN1

IN2

VREF

GND

V+

OUT1

BOOT1

BOOT2

OUT2

VSEN

DB0

Typical Application

48V, 3 Amps (RMS)/Phase Microstepping Driver

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

NOTE: Diodes may be needed on phase outputs

depending on input voltage and phase currents used.

Figure 3.12: Schematic (Typical Application)

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Rev: 02192004

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

inaccuracies. Intellig ent Motion Systems, Inc., reserves the right to make changes without fur ther notice to any products herein to

improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any lia bility arising out of the application or

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Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased from IMS (the

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