TTM

intelligent motion systems, inc.

Excellence in MotionTM

IM2000
HIGH PERFORMANCE MICROSTEPPING STEP MOTOR CONTROLLER

IM2000F - 80 PIN QFP

IM2000P - 68 PIN PLCCC
IM2000S - ULTRA SMALL 64 PIN QFP

OPERATING INSTRUCTIONS
General Disclaimer Contents
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 Section 1
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 Introduction to the IM2000
application or use of any product or circuit described herein; neither does it Section Overview ......................... 3
convey any license under its patent rights of others. Intelligent Motion Systems The IM2000 .................................. 3
TM
and are trademarks of Intelligent Motion Systems, Inc.
Features And Benefits .................. 4
Intelligent Motion Systems, Inc.’s general policy does not recommend the use Block Diagram .............................. 4
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
Section 2
Motion Systems, Inc.’s terms and conditions of sales, the user of Intelligent
Motion Systems, Inc., products in life support or aircraft applications assumes Hardware Specifications
all risks of such use and indemnifies Intelligent Motion Systems, Inc., against Section Overview ......................... 5
all damages. Mechanical Specifications ............ 5
IM2000F - 80 Pin QFP ................... 5
IM2000P - 68 Pin PLCCC ............. 6
Tw e n t y - F o u r M o n t h L i m i t e d W a r r a n t y IM2000S - 64 Pin
Ultra-Small QFP .............................. 6
Intelligent Motion Systems, Inc., warrants its products against defects in
materials and workmanship for a period of 24 months from receipt by the end- Electrical & Environmental
user. During the warranty period, IMS will either, at its option, repair or Specifications ................................ 7
replace products which prove to be defective. IM2000 Pin Description ............... 8
EXCLUSIONS
Section 3
The above warranty shall not apply to defects resulting from: improper or Operation of the IM2000
inadequate handling by customer; improper or inadequate customer wiring;
Section Overview ......................... 9
unauthorized modification or misuse; or operation outside of the electrical
and/or environmental specifications for the product. Protection Inputs ........................... 9
Microstep Select (MSEL) Inputs .. 10
OBTAINING WARRANTY SERVICE Step/Direction Inputs .................... 10
To obtain warranty service, a returned material authorization number (RMA) Chip Select (CSEL) Input ............. 11
must be obtained from customer service at (860) 295-6102 before returning Full Step Output ............................ 11
product for service. Customer shall prepay shipping charges for products Dual PWM .................................... 11
returned to IMS for warranty service and IMS shall pay for return of products
to customer. However, customer shall pay all shipping charges, duties and
Recirculating ..................................... 11
taxes for products returned to IMS from another country. Non-Recirculating ........................... 11
Fixed PWM Type ............................ 12
WARRANTY LIMITATIONS
Power Control Outputs ................. 12
IMS makes no other warranty, either expressed or implied, with respect to the Current Control ............................. 13
product. IMS specifically disclaims the implied warranties of merchantability Digital Current Control ................ 13
and fitness for a particular purpose. Some jurisdictions do not allow limitations Automatic Current Reduction ..... 13
on how long an implied warranty lasts, so the above limitation or exclusion may
not apply to you. However, any implied warranty of merchantability or fitness is Example Application of the
limited to the 24-month duration of this written warranty. Power Control Outputs ................ 13
Chopping Oscillator ...................... 14
EXCLUSIVE REMEDIES
Reset ............................................. 14
If your product should fail during the warranty period, call customer service at External Lookup Tables ............... 14
(860) 295-6102 to obtain a returned material authorization number (RMA) Buss/Stand-alone Mode ................ 15
before returning product for service. Please include a written description of
Typical Application ...................... 16
the problem along with contact name and address. Send failed product to:
Intelligent Motion Systems, Inc., 370 N. Main St. Marlborough, Connecticut
06447. Also enclose information regarding the circumstances prior to
product failure.

2
Section 1
Introduction to the IM2000

Section Overview
This section will introduce the user to the feature set provided by the IM2000 Microstepping controller ASIC.
The following subsections are contained:
n The IM2000 Described
n Features and Benefits
n Block Diagram

The IM2000
The IM2000 is a high perfor-
mance microstepping step
motor controller that incorpo-
rates a sine/cosine signal
generator, anti-resonance
circuitry, PWM current control
and much more in one mono-
lithic IC. The IM2000 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
control into one monolithic IC.
This high degree of integration
can significantly reduce design Figure 1.1: The IM2000F, IM2000S and IM2000P, Shown Left to Right
time as well as driver size.
Beyond the integration of a complete microstepping control system, the IM2000 has unique features that give
designers unprecedented control over motor movement. These features include 14 selectable resolutions (in both
decimal and binary) that can be changed 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 IM2000 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 either a 68 pin
PLCC 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 the
ability to reduce all three.

3
Features And Benefits

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 Rate
n Internal Sine/Cosine Generator
n PWM Phase Current Control
n Minimal External Components
n Automatic Current Reduction
n 14 Selectable Resolutions — Both in Decimal and Binary
n Number of Microsteps Per Step can be Changed On-The-Fly Without Motor Movement Interrup-
tion
n Up to 51,200 Steps/Rev
n Standalone or Buss Modes
n Single 5V Power Supply
n Short Circuit and Over
Temperature Protection Inputs
n Fault Output
n On Full Step Output
n Anti-Resonance

Block Diagram

Figure 1.1: IM2000 Block Diagram

4
Section 2
Hardware Specifications
Section Overview
This section covers the hardware specifications of the IM2000. Covered are:
n Mechanical Specifications
n Electrical Specifications
n Pin Description

Mechanical Specifications
IM2000F - 80 Pin QFP

1 .0 0 8 + /- 0 .0 1 6
(2 5 .6 +/ - 0 .4 )
0 .7 8 7 + /- 0 .0 0 4
(2 0 .0 +/ - 0 .1 )
64 41

IM2000F
65 40

0 .7 7 2 + /- 0 .0 1 6
(Actual Size)

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

(19 .6 + /- 0.4)
IN D E X

80 25

1 24
0 .0 3 1 + /- 0 .0 0 4 0 .0 1 4 + /- 0 .0 0 4
(0 .8 +/- 0 .1 ) (0 .3 5 +/ - 0 .1 )
0 .1 3 3 M A X .
0 .0 0 6
( 2 .7 +
+ /- 0 .0
/- 0 .1 )

( 3 .4 )

0-
12
0

°
2

0 .0 5 9 + /- 0 .0 1 2
0 .1 06 + /- 0 .0 0 4

(1 .5 +/- 0 .3 )
(2.7 + /- 0.1 )

Figure 2.1: IM2000F Mechanical Specifications

5
IM2000P - 68 Pin PLCCC
0.9 9 0 + /- 0 .005
(25. 15 + /- 0.1 3)
0.9 5 4 + /- 0 .008
(24. 23 + /- 0.2 0)
60 44

61 43

0.954 +/- 0 .00 8

0.99 0 + /- 0.00 5
(24.23 +/- 0.20)

(25.1 5 + /- 0.13)
IN D E X
68
IM2000P 1
(Actual Size)

9 27

10 26
0.05 0 + /- 0 .004 0.03 0 + /- 0 .002
(1.2 7 + /- 0.1) (0.7 6 +/ - 0.05 )

0.01 8 + /- 0 .003
0 .008
(0 .20)
0.15 0 + /- 0.00 4

(0.4 6 +/ - 0.08 )
(3.8 1 + /- 0.01 )

0.0 99 + /- 0.0 08

0.1 70 + /- 0.0 12
(2. 51 + /- 0 .20 )

(4. 32 + /- 0 .30 )
0.92 0 + /- 0 .015
(23. 37 + /- 0.3 8)

Figure 2.2: IM2000P Mechanical Specifications

IM2000S - 64 Pin Ultra-Small QFP

0.4 72 + /- 0.005
(12 +/- 0 .40)
0.3 94 + /- 0.004
(10 +/- 0 .10)

IM2000S
(Actual Size)
0.4 72 + /- 0.00 5
0.3 94 + /- 0.0 04

(1 2 +/ - 0.40)
(1 0 + /- 0.10 )
0.066 M A X .
0 .0 0 5 + /- 0 .0 2 5 )

0.02 0 0.00 7 + 0.005/- 0.001

( 0 .1 2

(0.5 ) (0.1 8 +0 .10/- 0 .05)

+ /- 0 .0
5

(1.7)

0 -1
0°
01

0.05 5 + /- 0.004
(1.4 +/- 0.1) 0.02 0 + /- 0.007
(0.5 +/- 0.2)

Figure 2.3: IM2000S Mechanical Specifications

6
Electrical & Environmental Specifications
Test Condition: VDD = +5.0 ±10%, TOPR = 25 °C

Symbol Parameter Conditions Min. Typical Max. Units

VIL Low level input voltage 0.8 V
VIH High level input voltage 2.0 V
VT+ Schmitt trigger positive going threshold voltage VDD = 5.0 3.0 V
VT- Schmitt trigger negative going threshold voltage VDD = 5.0 0.6 V
VH Schmitt trigger hysteresis voltage VDD = 5.0 0.1 V
IIL Low level input current VIN = VSS 1.0 mA
IIH High level input current VIN = VDD 1.0 mA
VOL Low level output voltage VSS +0.4 V
VOH High level output voltage VDD -0.4 V
IOL Low level output current -6.0 mA
IOH High level output current 3.0 mA
ICC Supply current mA

Table 2.1: DC Electrical Specifications

Symbol Parameter Min. Typical Units

tRW RESET pulse width 200 nS
tS MSEL, SCLK setup time 100 nS
tSW SCLK pulse width 10 nS
tWR WR pulse width 20 nS
tWH Data hold time after WR 0 nS
fPWM PWM chopping frequency 20 KHz
fCLK SCLK input frequency 10 MHz

Table 2.2: AC Electrical Specifications

Parameter Symbol Limits Units

DC Supply Voltage VDD VSS -0.3 to +7.0 V
Input Voltage VIN VSS -0.3 to VDD +0.3 V
Output Voltage VOUT VSS -0.3 to VDD +0.3 V
Storage Temp. TSTG -65 to +150 °C

Table 2.3: Absolute Maximum Ratings

Parameter Symbol Min. Typ Max. Units

DC Supply Voltage VDD 4.5 5.0 5.5 V

Input Voltage VIN VSS VDD V

Operating Temp. TOPR -20 85 °C

Table 2.4: Recommended Operating Conditions

7
IM2000 Pin Description
80 Pin 68 Pin 64Pin
QFP PLCC QFP NAME Pin Function
(F) (P) (S)
Step clock input. A positive going edge on this input will advance the motor one increment (the size of the increment is
56 4 59 SCLK
dependent on the microstep select inputs).

ROM select input. When low, this input selects the internal sine/cosine ROM. When high, AD0-AD8 are selected for use
48 65 52 RSEL
with an external lookup table.

Reset input. When low, this input will reset the IM2000 (PWM, Enable, and Full Bridge outputs will be disabled). When
54 2 57 RESET
released, the controller will be at its initial state (sine at 0, cosine at peak).

Direction input. This input is used to change the direction of the motor. Physical direction also depends on the connection
57 5 60 DIR
of the motor windings.

Clock select input. When low, the SCLK input will be directed to the internal sine/cosine generator independent of the level
49 66 53 CSEL of the EN input. When high, the SCLK input will be directed to the COUT output when the EN input is low and, conversely,
to the internal sine/cosine generator when the EN input is high.

58 6 61 EN Enable input. When low, this input will enable/disable the PWM and full bridge output signals.

On fullstep output signal. This active low output indicates when the IM2000’s sine & cosine outputs are positioned on a full
59 7 62 FSTEP
step.

61 8 63 FAULT Fault output signal. This active high output indicates when a fault has occurred. It will stay active until the IM2000 is reset.

Write input. When the IM2000 is configured in the buss mode, this input is used to latch in the microstep select, enable,
62 9 64 WR
and direction inputs.

63 10 1 MODE Mode select input. This input is used to configure the IM2000 in a stand alone or buss mode.

Phase A and Phase B pulse width modulated output signals. These outputs can be used to control the phase currents in
40, 65 58, 12 45, 2 PWMA, PWMB
common PWM type power sections.

38, 67 57, 13 44, 3 SIGNA, SIGNB Sign of A and sign of B output signals. These outputs indicate the sign of the sine and the sign of the cosine.

Phase A and Phase B enable output signals. These active high outputs, which work in conjunction with the enable input of
36, 69 55, 15 43, 4 ENA, ENB
PIN 6, can be used to enable/disable the power section of the driver.

Phase A and Phase B enable NOT output signals. These active low outputs, which work in conjunction with the enable
37, 68 56, 14 — ENAN, ENBN
input of PIN 6, can be used to enable/disable the power section of the driver.

30, 31, 50, 51, 38, 39, HRA, LRA, LLA, Phase A high side and low side full bridge control signals. These outputs can be used to control discrete P-N or N-N full
34, 35 53, 54 41, 42 HLA bridge sections or half and full bridge IC’s.

70, 71, 16, 17, 5, 6, 8, HLB, LLB, LRB, Phase B high side and low side full bridge control signals. These outputs can be used to control discrete P-N or N-N full
74, 75 19, 20 9 HRB bridge power sections or half and full bridge IC’s.

78, 80, 1-
23-30 12-19 COS0-COS7 Cosine waveform output signals for Phase B.
4, 6, 7

18, 19,
40-47 28-35 SIN7-SIN0 Sine waveform output signals for Phase A.
21-25, 27

42 60 47 IHI Polarity select input for active high or active low high side full bridge control outputs.

41 59 46 ILOW Polarity select input for active high or active low low side full bridge control outputs.

28, 77 48, 22 36, 11 VSA, VSB Phase A and Phase B current sense inputs.

29, 76 49, 21 37, 10 OVCA, OVCB Phase A and Phase B over current/short circuit protection inputs.

Automatic current reduction output signal. This active high output is used to automatically reduce the driver output current
9 32 20 CURRED
1 second after the last step clock input.

11, 12 34, 35 22, 23 OSCRC, OSCR Resistor/capacitor inputs for on-board PWM oscillator.

14 36 24 OVV Over voltage protection input.

16 38 26 OVTMP Over temperature protection input.

15, 55 3, 37 25, 58 VCC Supply voltage.

10, 32, 18, 33, 7, 21,

GND Ground.
50, 72 52, 67 40, 54

43, 44, 46 18, 33, Microstep resolution select inputs. These inputs are used to select the number of microsteps per full step. The available
48-51 MSEL0-MSEL3
,47 52, 67 resolutions (microsteps/step) are: 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 125, 128, 250, 256.

78, 80, 1- AD0-AD8 (P/F) Address 0 – Address 8 (Address 0 - Address 7 oon IM2000S) . These outputs are used in conjunction with external
23-31 12-19
4, 6-8 AD0-AD7 (S) lookup tables for user supplied sine and cosine curves.

17 39 27 COUT SCLK output. This output is dependent on the CSEL and EN inputs.

PWM circulation select inputs. These inputs are used to select whether or not the PWM will be in a recirculating or a non-
51, 52 68, 1 55, 56 CIR0, CIR1 recirculating mode, or an automatic recirculating and non-recirculating mode.

Binary/Decimal select output. This output is used in conjunction with AD0-AD8 when using outside lookup tables. This
64 11 — BD
ouput is used to choose between binary or decimal encoded tables.

Table 2.5: IM2000 Pin Description

8
Section 3
Operation of the IM2000
Section Overview
This section covers the operation of the various circuits contained within the IM2000 Microstepping Controller
ASIC. These are:
n Protection Inputs
n Microstep Select (MSEL) Inputs
n Step/Direction Inputs
n Chip Select (CSEL) Input
n Full Step Output
n Dual PWM
n Power Control Outputs
n Controling the Output Current
n Chopping Oscillator
n Reset Input
n External Look-up Table
n Buss/Standalone Mode

Protection Inputs
The IM2000 has four inputs which will disable the PWM and driver control outputs to protect against external
faults. These inputs include:
n Over Temperature
n Phase A and Phase B Short Circuit
n Over Voltage
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 IM2000 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 IM2000
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
overcurrent and over temperature inputs.

+5V +5V
In p ut fro m
S e n se R e sisto r 1 0 kO h m 10 kO hm
+5V
* O u tpu t to
O V C A /O V C B O utput to
*S e t R efe re nce fo r C o m pa ra tor T herm ostat O VTM P
M axim u m
A llow ab le C u rre n t

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

9
Microstep Select (MSEL) Inputs
The Microstep Select inputs are
used to select the number of Truth Table: R esolution Select Inputs - Binary M ode
fractional steps per full step that Microsteps per Full S tep MS EL 3 MS EL 2 MS EL 1 MS EL 0
the IM2000 will output to the 2 0 0 0 0
motor. These inputs are buffered 4 0 0 0 1
using Schmitt trigger buffers to 8 0 0 1 0
increase noise immunity. There are 16 0 0 1 1
14 different selections built into the 32 0 1 0 0
IM2000. Table 3.1 shows the list of 64 0 1 0 1
resolutions and their relationship 1 28 0 1 1 0
2 56 0 1 1 1
to the state of the MSEL inputs.
A unique feature of the IM2000 is Truth Table: R esolution Select Inputs - Decim al M ode
the ability to change resolutions at
Microsteps per Full S tep MS EL 3 MS EL 2 MS EL 1 MS EL 0
any time. A resolution change can 5 1 0 0 0
occur whether the motor is being 10 1 0 0 1
clocked or is at rest. The change 25 1 0 1 0
will not take place until the rising 50 1 0 1 1
edge of the next step clock input. 1 25 1 1 0 0
At this time, the new resolution is 2 50 1 1 0 1
latched and implemented before the
Invalid M icrostep R esolution Settings
step clock pulse takes affect.
Microsteps per Full S tep
MS EL 3 MS EL 2 MS EL 1 MS EL 0
If a resolution is chosen such that
xxxxxxx 1 1 1 0
the sine/cosine output of the xxxxxxx 1 1 1 1
IM2000 would not land on an
electrical fullstep of the motor, Table 3.1: Microstep Resolution Settings
then the IM2000 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 resolu-
tions at any time without having to keep 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 IM2000 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 step 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 occurs if the direction line
is 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 if
a signal is applied to the step clock input. The IM2000 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.

10
Chip Select (CSEL) Input
The CSEL input is used to select a number of functions
CSEL Settings
that are implemented using the MSEL0 and MSEL1
inputs. If CSEL is low, or not connected, MSEL0 and MSEL1 MSEL0 Function
MSEL1 will function as microstep select lines as
0 0 SCLK to COUT
explained earlier.
0 1 SCLK to COUT
If CSEL is high, MSEL0 and MSEL1 may be used to:
1 0 Reset Controller
n Reset the IM2000.
1 1 Disable Outputs
n Disable the PWM and driver control
outputs.
Table 3.2: Chip Select Settings
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.

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 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 overhead
associated with updating/monitoring the position counter.

Dual PWM
The 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.

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 D R IV E C U R R E N T

R E C IR C U L AT IO N
reduces efficiency and increases current ripple, especially in lower
inductance motors (See Figure 4.3).
The IM2000’s PWM utilizes the best features of both by combin- Figure 3.3: Recirculating PWM
ing 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 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

11
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.
The IM2000 will automatically change the non-recirculating pulse
widths to compensate for changes in supply voltage and accom-
modate a wide variety of motor inductances. This method also
allows for the use of very low inductance motors, while utilizing
a 20kHz chopping rate which reduces motor heating but
maintains high efficiency and low current ripple.

F i x e d P W M Ty p e
The internal PWM in the IM2000 may also be placed in a D R IV E C U R R E N T
fixed recirculating or non-recirculating mode by the use of the R E C IR C U L AT IO N

CIR0 and CIR1 inputs. The relationship between the states of

the CIR0 and CIR1 inputs and the method of current control
Figure 3.4: Non-Recirculating PWM
is shown in Table 3.3.

PWM Current Control Modes

CIR1 CIR0 PWM Type

0 0 Auto-Recirculating

1 0 Fast Decay (Non-Recirculating)

0 1 Slow Decay (Recirculating)

1 1 Fast Decay (Non-Recirculating)

Table 3.3: Current Control Mode Settings

Power Control Outputs

The relationship between
the Sine\Cosine, Power
Section Control and PWM S ine\C osine O utput
outputs of the IM2000 is
illustrated in Figure 3.5.
When either the sine or
cosine is at 0, the enable and S ense C urrent
all drive control outputs for
O scillator
that particular phase will be
turned off to improve E nable In
accuracy. E nable O ut
The inputs IHI and ILOW H Lx
to the IM2000 are used to * *
LLx
invert the polarity of the
high side and low side driver HRx
control signals respectively. LR x * *
These inputs have no effect
on the sign, EN, and PWM S IG N x
output signals. PWMx
*F ast d e ca y p eriod fo r a u to de ca y m o d e .

Figure 3.5: Power Control Output Relationships

12
Example Application of the Power Control Outputs

IM 2 000 PHASE A IM 2000

VS
6 4
3 D IR 2 6 VS
SIGN A O U T1 ENA ENA
4 5 2
EN A N BR A KE HLA IN 1 O U T1
1
5 BO O T 1 3 PH AS E A
PW M A PW M 11 HRA 7 IN 2 O U T2
BO O T 2
+5 V 9
TF LA G
7 O U T2 10
GND 9
VS E N 8 VSS 13
10k O U T3
8 PH AS E B
GND 14
O VT M P PHASE B O U T4
6
3 D IR VS
2
11
SIGN B ENB ENB
O U T1
4 BR A KE 10 15
EN B N HLB IN 3 VSE NB
1
5 PW M BO O T 1 12 1
PW M B 11 HRB IN 4
BO O T 2 VSE NA
9 TF LA G
7 GND 10
O U T2
VS E N 8

IM 2000 Interface for the

IM 2 000 Interface for the SG S Thom son L298
N ation al Se m ico nductor LM D 18 200 &
Inte rn ational R ectifier IR 82 00B

Figure 3.6: Power Control Output Interface Examples

Current Control
Digital Current Control +5V
+V
The schematic example shown in Figure
3.6 illustrates how the user might set up LM 234Z
the 0 to 2V D/A reference to control the
output current of the driver. IN PUT FRO M CO U T
3 2.4 1 %

> IN C VH
Automatic Current U/ D VW 0 TO 2V RE FERE NCE
IN PUT FRO M DIR FO R D /A CO NVE RTER S
Reduction CS VL
X9C 102
The IM2000 contains an auto-current
reduction circuit which will automatically Figure 3.7: Digital Current Control Example
set the CURRED output HIGH approxi-
mately 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
TO C U R R E N T increase power efficiency in systems not requir-
A D JU S TM E N T C U R C U IT
ing full holding torque.
C U R R E N T R ED U C TIO N C U R R E N T A D JU S T
R E S IS TO R R E S IS TO R Note that although both phases are reduced by
the same percentage when using the Automatic
Current reduction feature, motor shaft move-
ment may occur, depending on shaft positioning
IN P U T FR O M
CURRED V N 0300 O R E Q U IV. and load type.

Figure 3.8: Automatic Current Reduction

13
Chopping Oscillator
45
The IM2000 contains a built-in oscillator which
is used to clock the internal pulse width 40

R esistance (k ohm s)
modulator. The oscillator frequency is set by an 35
external RC circuit. 30

While it is recommended to set the oscillator 25

frequency to approximately 20kHz to reduce 20
motor heating and maintain a frequency above 15
the audible range, the internal oscillator can
10
accommodate a wide range of frequencies.
Figure 3.9 shows the relationship between the 5
10 20 30 40 50 60
chopping frequency and the RC resistor O scillator F requency (kH z)
component values. Note that the values shown
were recorded using a fixed 1nF capacitor. Figure 3.9: Oscillator Frequency Settings

Reset
The reset input is a Schmitt triggered input used to initialize the IM2000. The IM2000 must be reset on power-up
to ensure proper operation. In order to initialize the IM2000, the reset input must be held in a logic LOW state
for 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 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 step
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.

E x t e r n a l L o o k u p Ta b l e
The IM2000 allows the use of an external lookup
table to generate the Phase A and Phase B External Lookup Table Example
waveforms. This is accomplished by the use of Decimal Binary
the RSEL input. By using an external lookup
table the user can tailor the wave shapes to meet Step #
AD0-AD9
Step #
AD0-AD9
individual needs. Decimal (Hex) Decimal (Hex)

When the RSEL input is in a logic LOW state, 0 0 (0) 0 0 (0)

the internal lookup tables are selected and the 1 50 (32) 1 64 (40)
sine and cosine information is accessed internal to
the IM2000. When RSEL is HIGH a nine bit 2 100 (64) 2 128 (80)
address is output to AD0 - AD8. This nine bit 3 150 (96) 3 192 (C0)
address will then increment or decrement
depending on the state of the microstep resolu- 4 200 (C8) 4 256 (100)
tion and direction inputs. 5 250 (FA) 5 192 (C0)
The IM2000 uses a unique approach in the 6 200 (C8)
generation of the address. First, nine bits are used
instead of 8 to get the full 256 positions. Second, Table 3.4: External Lookup Table Example Address
only a quarter of the sine and cosine waveforms Locations
need to be stored. The IM2000 will automatically
reconstruct the entire waveform from this
information. This means only 514 words need to be stored to generate the entire sine and cosine waveform for
binary resolutions and 502 words for decimal resolutions. The IM2000 will automatically generate the sign and
cosine signs and the full step output signal internally.

14
In reconstructing the sine and
cosine waveforms using binary
resolutions, the IM2000 addresses
locations 0 - 255 to reconstruct
the first quarter of the waveform.
CS
The 256th location represents the
peak or start of the second
quarter (i.e. sine = 1, cosine = 0). To Sine
When using decimal resolutions, D/A
the IM2000 addresses locations 0 - Converter
BD
249 to reconstruct the first
quarter of the waveform. The CS

250th location represents the peak

or start of the second quarter.
Table 3.4 shows the addresses
generated by the IM2000 for a To Cosine
resolution of 5 microstep per step D/A
in decimal and 4 microsteps per CS Converter
step in binary selected by MSEL0
- MSEL3.
The BD output may be used to
select between the binary and
decimal lookup tables. The BD
CS
output follows the MSEL3 input
and is latched and updated on the
rising edge of the SCLK input. Figure 3.10: External Lookup Table
Figure 3.10 shows a block
diagram utilizing external lookup tables

Buss/Stand-alone Mode
The IM2000 may be used either in stand-alone mode or tied
MODE
directly to the data buss of a microprocessor/controller.
If the Mode input is HIGH, the IM2000 will be in stand-
M SEL0 - M SEL3
D IR , E N 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.

tw h If the Mode input is LOW, the IM2000 will be in Buss

Mode and MSEL0 - MSEL3, DIR and EN are latched into
the IM2000 on the rising edge of the WR input. Figure
WR 3.11 shows the timing diagram for the WR input.

tw r

Figure 3.11: WR Input Timing

15
Ty p i c a l A p p l i c a t i o n
Output Current (AMPS) = .002 x R1 (OHMS)
48V, 3 Amps (RMS)/Phase Microstepping Driver
NOTE: Diodes may be needed on phase outputs
depending on input voltage and phase currents used.

Western Region Sales Office IMS Motor Sales

105 Copperwood Way, eSuit H 105 Copperwood Way, Suite H
Oceanside, CA 92054 Oceanside, CA 92054
Sales Phone: 760/966-3162
370 North Main Street Phone: 949/707-0156 Fax: 760/966-3165
P.O. Box 457 Fax: 949/707-0157 Email: [email protected]
Marlborough, CT 06447 Email: [email protected]
U.S.A. Western Technical Support IMS Europe
Phone: 760/966-3162 4 Quai Des Etroits
Phone: 860/295-6102 Fax: 760/966-3165 69005 Lyon, France
Fax: 860/295-6107 Email: [email protected] Phone: +33 4 72 56 51 13
Email: [email protected] Fax: +33 4 78 38 15 37
Web Site: http://www.imshome.com Email: [email protected]

IM2000 Operating Instructions

V12.06.2000
©2000 Intelligent Motion Systems, Inc.
All Rights Reserved