Hardware Manual IntelliMotor® ITM-23Q Hardware Manual Integrated Step Motor, Encoder, Drive, and Controller
Contents Introduction............................................................................................................................................... 3 Features..................................................................................................................................................... 3 Available Model Numbers........................................................................................................................ 4 Block Diagram - ITM-23/Q/IP............
ITM-23Q Hardware Manual Introduction Thank you for selecting the Bimba IntelliMotor® ITM-23Q Series of Integrated Stepper Motors. We hope our dedication to performance, quality and economy will make your motion control project successful. If there’s anything we can do to improve our products or help you use them better, please call or fax. We’d like to hear from you. Our phone number is (800) 442-4622, or you can also email cs@bimba.com.
Available Model Numbers Ethernet/IP Communication RS232 Communicaton ITM-23Q-2-2-E ITM-23Q-2-5-E ITM-23Q-2-EIP-N-M12 ITM-23Q-2-2-N ITM-23Q-2-5-N ITM-23Q-3-EIP-E-M12 ITM-23Q-3-2-E ITM-23Q-3-5-E ITM-23Q-3-EIP-N-M12 ITM-23Q-3-2-N ITM-23Q-3-5-N ITM-23Q-2-EIP-E-M12 4 RS485 Communicaton
ITM-23Q Hardware Manual 12-48 VDC External Power Supply + RS-232 TX, RX, GND, +5V or RS-485 RX+, RX-, TX+, TX-, GND or 100 Mbit Ethernet Comm Conn - Power Conn Block Diagram - ITM-23/Q/IP 5 Volt DC Power Supply RS-232 or RS-485 or Ethernet 3.
Safety Instructions Only qualified personnel are permitted to transport, assemble, commission, and maintain this equipment. Properly qualified personnel are persons who are familiar with the transport, assembly, installation, commissioning and operation of motors, and who have the appropriate qualifications for their jobs. The qualified personnel must know and observe the following standards and regulations: IEC 364 resp.
ITM-23Q Hardware Manual Getting Started This manual describes the use of four different drive models. What you need to know and what you must have depends on the drive model. For all models, you’ll need the following: • a 24 - 48 volt DC power supply. Please read the section entitled Choosing a Power Supply for help in choosing the right power supply. • a small flat blade screwdriver for tightening the connectors (included).
Choosing a Power Supply When choosing a power supply, there are many things to consider. If you are manufacturing equipment that will be sold to others, you probably want a supply with all the safety agency approvals. If size and weight are an issue use a switching supply. You must also decide what size of power supply (in terms of voltage and current) is needed for your application. Voltage These integrated ITM-23Q drives are designed to give optimum performance between 24 and 48 volts DC.
ITM-23Q Hardware Manual Current The maximum supply currents required by the IntelliMotor® motors are shown in the table below with different power supply voltage inputs. Note that they draw less current than the motor draws. That’s because the ITM-23Q drives use switching amplifiers, converting a high voltage and low current into lower voltage and higher current. The more the power supply voltage exceeds the motor voltage, the less current you’ll need from the power supply.
ITM23Q-3 24V Power Supply Current 3 .5 0 3 .0 0 Torque (Oz-In) 200 2 .5 0 150 2 .0 0 100 1 .5 0 Amps 250 T orque O z /In 1 .0 0 50 S upply C urrent 0 .5 0 0 0 .0 0 0 10 20 30 Speed (RPS) 40 S upply C urrent No Load 50 ITM-23Q-3 48V Power Supply Current 3 .5 0 3 .0 0 Torque (Oz-In) 200 2 .5 0 150 2 .0 0 100 1 .5 0 1 .0 0 50 0 .5 0 0 0 .
ITM-23Q Hardware Manual Thrust vs. Speed Curves OLE-75; OLE-150 with ITM-23Q Motor @ 24 VDC Thrust vs. Speed Performance Curves ITM-23Q-2-*-* Vertical Orientation, 5 amps Current, 4000 steps/rev.
Thrust vs. Speed Curves OLE-75; OLE-150 with ITM-23Q Motor @ 48 VDC Thrust vs. Speed Performance Curves ITM-23Q-3-*-* Vertical Orientation, 5 amps Current, 4000 steps/rev.
ITM-23Q Hardware Manual Connecting the Power Supply If you need information about choosing a power supply, please read “Choosing a Power Supply” in the previous section. Connect the motor power supply “+” terminal to the drive terminal labeled “+”. Connect power supply “-” to the drive terminal labeled “-”. Use 16 to 20-gauge wire. The ITM-23Q drives contain an internal fuse that connects to the power supply + terminal. This fuse is not user replaceable.
If you plan to use a regulated power supply, you may encounter a problem with regeneration. If you rapidly decelerate a load from a high speed, much of the kinetic energy of that load is transferred back to the power supply. This can trip the over-voltage protection of a switching power supply, causing it to shut down. We offer the RGC-050 “regeneration clamp” to solve this problem. If in doubt, buy a Bimba RGC-050 for your first installation.
ITM-23Q Hardware Manual Connecting the ITM-23Q Communications The ITM-23Q is available with three types of communications: RS-232, RS-422/485, and Ethernet. Each type requires a different hardware connection for interface to a PC or other host system. The RS-232 version (ITM-23Q-x-2-x) comes with a cable that will provide the interface to an RS-232 port through a DB9 style connector. The RS-422/485 version (ITM-23Q-x-5-x) requires the user to provide both the cabling and the RS-422/485 interface.
NOTE: To use the ITM-23Q RS-422/485 version with the Bimba IQ Stepper software, the ITM-23Q must be connected to the PC in the four-wire “point to point” configuration (see below) and configured one axis at a time. to Host GND to Host Rxto Host Rx+ to Host Tx- to Host Tx+ +Rx- +Tx- GND ITM-23Q RS-422/485 4–wire “Point to Point” Wiring GND TX– TX+ RX– RX+ RS-422/485 Connector Diagram Four-Wire Configuration Four-wire systems utilize separate transmit and receive wires.
ITM-23Q Hardware Manual Two-Wire Configuration GND TX– TX+ RX– RX+ RS-422/485 Connector Diagram to Host GND to Host Tx- (A) to Host Tx+ (B) 120 +Rx- +Tx- GND Drive 1 +Rx- +Tx- GND Drive 2 +Rx- +Tx- GND Drive n Typical RS-422/485 Two-Wire System Transmit and receive on the same pair of wires can lead to trouble. The host must not only disable its transmitter before it can receive data, it must do so quickly, before a drive begins to answer a query.
Connecting to an ITM-23Q using USB The USB-COMi-M (8500-003) from VS Vision Systems GmbH is an excellent choice for USB to serial conversion. It can be used for all RS-232, RS-422 and RS-485 applications. The USB-COM-CBL from byterunner.com can be used for USB to RS-232 connection only. These adapters use the FTDI chip set and are compatible with Windows XP and later, including 64 bit versions. Note: Prolific-based USB serial adapters do not work with Vista 64 or Windows 7 64 bit operating systems.
ITM-23Q Hardware Manual Connecting the Drive to Your PC using Ethernet This process requires three steps: • Physically connect the drive to your network (or directly to the PC) • Set the drive’s IP address • Set the appropriate networking properties on your PC. Addresses, Subnets, and Ports Every device on an Ethernet network must have a unique IP address.
Settings 1 through E can be changed using the Bimba IQ Stepper software. Setting 0 is always “10.10.10.10”, the universal recovery address. If someone were to change the other settings and not write it down or tell anyone then you will not be able to communicate with your drive. The only way to “recover” it is to use the universal recovery address. Rotary Switch IP Address 0 10.10.10.10 1 192.168.1.10 2 192.168.1.20 3 192.168.1.30 4 192.168.0.40 5 192.168.0.50 6 192.168.0.60 7 192.168.0.
ITM-23Q Hardware Manual Ports are used to direct traffic to the right application once it gets to the right IP address. The UDP eSCL port in our drives is 7775. To send and receive commands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application. You will also need to choose an open (unused) port number for your application.
Once you’ve chosen an appropriate IP address for your drive, set the rotary switch according the address table above. If none of the default addresses are acceptable for your network, you can enter a new table of IP addresses using Configurator. If your network uses addresses starting with 192.168.0, the most common subnet, you will want to choose an address from switch settings 4 through E. Another common subnet is 192.168.1.
ITM-23Q Hardware Manual Using DCHP If you want to use your drive on a network where all or most of the devices use dynamic IP addresses supplied by a DHCP server, set the rotary switch to “F”. When the drive is connected to the network and powered on, it will obtain an IP address and a subnet mask from the server that is compatible with your PC. The only catch is that you won’t know what address the server assigns to your drive.
Option 2: Connect a Drive Directly to Your PC It doesn’t get much simpler than this: 1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the other into the drive. You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make the necessary physical layer changes. 24 2. Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”. 3. To set the IP address of your PC: a.
ITM-23Q Hardware Manual 4. You should see an icon for your network interface card (NIC). Right click and select properties. a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button. b. On Windows 7 and Vista, look for “(TCP/IPv4)” 5. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give your PC an IP address that is on the same subnet as the drive.
Option 3: Use Two Network Interface Cards (NICs) This technique allows you to keep your PC connected to your LAN, but keeps the drive off the LAN, preventing possible IP conflicts or excessive traffic. 1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it directly to the drive using a CAT5 LAN NIC1 PC NIC2 DRIVE cable.
ITM-23Q Hardware Manual ITM-23Q Inputs and Outputs The ITM drives have three digital inputs and one analog input: • High speed digital inputs for step and direction commands or encoder following, 5 to 24 volt logic • Digital input for other signals, 5 - 24 volt logic • Analog input for analog speed and positioning modes All drives include three digital inputs and one analog input.
High Speed Digital Inputs The ITM-23Q drives include two high-speed inputs called STEP and DIR. They accept 5 to 24 volt single-ended or differential signals, up to 2 MHz. Typically these inputs connect to an external controller that provides step & direction command signals. You can also connect a master encoder to the high-speed inputs for “following” applications. Or you can use these inputs with Wait Input, If Input, Feed to Sensor, Seek Home and other SCL or IQ® commands. Connection diagrams follow.
ITM-23Q Hardware Manual Master Encoder A+ STEP+ A- STEP- B+ B+ DIR+ B- DIR- GND GND ITM-23Q Motor Input Terminals Wiring for Encoder Following 5 to 24 VDC Power Supply + direction switch run/stop switch (closed=run) - DIR+ DIRSTEP+ ITM-23Q STEPUsing Mechanical Switches 29
The Enable (EN) Digital Input As mentioned in the previous section, the high-speed STEP and DIR inputs are designed for high speed operation. The Enable digital input is designed for high speed digital input operation between 5 and 24 volts DC. Note: If current is flowing into or out of an input, the logic state of that input is low or closed. If no current is flowing, or the input is not connected, the logic state is high or open.
ITM-23Q Hardware Manual Analog Input I/O Connector The ITM-23Q drives feature an analog input. The input can accept a signal range of 0 to 5 VDC. The drive can be configured to operate at a speed or position that is proportional to the analog signal. Use the Bimba IQ Stepper software to set the signal range, offset, dead-band and filter frequency. The ITM-23Q Drives provide a +5VDC 50ma output that can be used to power external devices such as potentiometers.
Programmable Output The ITM-23Q drives feature one optically isolated digital output. This output can be set to automatically control a motor brake, to signal a fault condition, to indicate when the motor is moving or to provide an output frequency proportional to motor speed (tach signal). The output can also be turned on and off by program instructions like Set Output. The output can be used to drive LEDs, relays and the inputs of other electronic devices like PLCs and counters.
ITM-23Q Hardware Manual 5-24VDC Power Supply + – OUT+ IN PLC ITM-23Q COM OUT- Motor Input Terminals Connecting a Sinking Output again relay 5-24 VDC Power Supply + – OUT+ ITM-23Q 1N4935 suppression diode OUT- Driving a Relay 33
Connection Diagrams - ITM-23Q-*-EIP-*-M12 The ITM-23Q-M12 controller/drive use three M12 style connectors to make all electrical connections. Bimba recommends Bimba cabled connectors CBL-PWR-M12- , CBL-IO-M12- , CBL-EIP-M12- for connecting power, I/O and Ethernet/IP connections. All information and guidance for using and connecting the various I/O and power connections are same for the M12 version of ITM-23Q as they are for the RS-232 and/or RS-485 versions found throughout this manual..
ITM-23Q Hardware Manual Reference Materials Mechanical Outlines Model Options ITM-23S-2-2-N RS-232, No encoder ITM-23S-2-2-E RS-232, Encoder ITM-23Q-2-2-N RS-232, No encoder ITM-23Q-2-2-E RS-232, Encoder ITM-23*-2-2-* Model ITM-23S-3-2-N Options RS-232, No encoder ITM-23S-3-2-E RS-232, Encoder ITM-23Q-3-2-N RS-232, No encoder ITM-23Q-3-2-E RS-232, Encoder ITM-23*-3-2-* 35
Model Options ITM-23S-2-5-N RS-485, No encoder ITM-23S-2-5-E RS-485, Encoder ITM-23Q-2-5-N RS-485, No encoder ITM-23Q-2-5-E RS-485, Encoder ITM-23*-2-5-* Model Options ITM-23S-3-5-N RS-485, No encoder ITM-23S-3-5-E RS-485, Encoder ITM-23Q-3-5-N RS-485, No encoder ITM-23Q-3-5-E RS-485, Encoder ITM-23*-3-5-* 36
ITM-23Q Hardware Manual Model Options ITM-23Q-2-EIP-E-M12 Ethernet/IP, Encoder ITM-23Q-2-EIP-N-M12 Eithernet/IP, No Encoder ITM-23Q-2-EIP-*-M12 Model Options ITM-23Q-3-EIP-E-M12 Ethernet/IP, Encoder ITM-23Q-3-EIP-N-M12 Eithernet/IP, No Encoder ITM-23Q-3-EIP-*-M12 37
Technical Specifications POWER AMPLIFIER AMPLIFIER TYPE Dual H-Bridge, 4 Quadrant CURRENT CONTROL 4 state PWM at 20 Khz OUTPUT TORQUE ITM-23Q-2: 125 oz-in with suitable power supply ITM-23Q-3: 210 oz-in with suitable power supply POWER SUPPLY External 12 - 48 VDC power supply required PROTECTION Over-voltage (shutdown at 74VDC), under-voltage (shutdown at 11VDC), over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground).
ITM-23Q Hardware Manual CONTROLLER: ITM-23S Models NON-VOLATILE STORAGE Configurations are saved in FLASH memory on-board the DSP. MODE OF OPERATION Step & Direction, CW/CCW, A/B Quadrature, Oscillator, Joystick, SCL streaming commands. STEP AND DIRECTION INPUTS STEP +/Optically Isolated, 5-24 Volt. 8-12mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3MHz. Function: Step, CW Step, A Quadrature, Encoder Following, CW Limit , CW Jog, START/STOP (Oscillator mode), General Purpose Input.
CONTROLLER INPUTS STEP +/Optically Isolated, 5-24 Volt. 8-12mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz. Function: Step, CW Step, A Quadrature, Encoder Following, CW Limit , CW Jog, START/STOP ( Oscillator mode), General Purpose Input. Adjustable bandwidth digital noise rejection filter on all inputs DIR+/Optically Isolated, 5-24 Volt. 8-12mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
ITM-23Q Hardware Manual Torque-Speed Curves Note: all torque curves were measured at 20,000 steps/rev.
ITM23*-2-*-* Temperature vs. Speed 24V Tem p 5.0 Amps @Ambient of 40°C Temperature (C) 48V Tem p Mounted to a 6.4" x 6.4" x .25" Aluminum Plate 250 200 150 100 Temperature vs Speed 50 0 0 10 20 30 40 50 Speed (RPS) ITM-23*-3-*-* Temperature vs. Speed 24V Tem p 5.0 Amps @Ambient of 40°C 48V Tem p Mounted to a 6.4" x 6.4" x .
ITM-23Q Hardware Manual Mating Connectors and Accessories Mating Connector (Type) ITM-23Q-x-2-x ITM-23Q-x-5-x ITM-23Q-x-EIP-x-M12 DC Power (2-position, screw terminal) 1615780000 - Weidmuller 1615780000 - Weidmuller -- I/O (11-position, spring cage) 1881419 - Phoenix 1881419 - Phoenix -- RS-485 (5-position, spring cage) -- 1881354 - Phoenix M12 DC Power Cable -- -- CBL-PWR-M12- M12 I/O Connector Cable -- -- CBL-IO-M12- * M12 Ethernet Cable -- -- CBL-EIP-M12- * -* * -- Enter len
LED Error Codes The drives include red and green LEDs to indicate status. When the motor is enabled, the green LED flashes slowly. When the green LED is solid, the motor is disabled.
ITM-23Q Hardware Manual Bimba Manufacturing Company P.O. Box 68 Monee, Illinois 60449-0068 Phone: 708-534-8544 Toll Free: 800-44-BIMBA Fax: 708-235-2014 Email: cs@bimba.com www.bimba.com Form HM-ITM-23Q-021F Ver. 1.0.
