IM2000S 데이터 시트보기 (PDF) - Unspecified
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IM2000S Datasheet PDF : 16 Pages
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Microstep Select
(MSEL) Inputs
Truth Table: Resolution Select Inputs -Binary Mode
Microsteps per Full Step
MSEL 3
MSEL 2
MSEL 1
MSEL 0
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. Table 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.
2
4
8
16
32
64
128
256
0
0
0
0
0
0
0
1
0
0
1
0
0
0
1
1
0
1
0
0
0
1
0
1
0
1
1
0
0
1
1
1
Truth Table: Resolution Select Inputs - Decimal Mode
Microsteps per Full Step
5
10
25
50
125
250
MSEL 3
1
1
1
1
1
1
MSEL 2
0
0
0
0
1
1
MSEL 1
0
0
1
1
0
0
MSEL 0
0
1
0
1
0
1
Invalid Microstep Resolution Settings
If a resolution is chosen such that the sine/
Microsteps per Full Step
MSEL 3
MSEL 2
MSEL 1
MSEL 0
cosine output of the IM2000S would not
XXXXXXX
1
1
1
0
land on an electrical fullstep of the motor,
XXXXXXX
1
1
1
1
then the IM2000S will automatically align
Table 3.1: Microstep Resolution Settings
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 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 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 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 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.
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