REV101805
DESCRIPTION
The IM2000S is a high per for -
mance microstepping controller
that in cor po rates a sine/cosine
sig nal gen er a tor, anti-res o nance
cir cuit ry, PWM cur rent control
and much more in one mono lith ic
IC. The IM2000S com bines hard-
ware in tense func tions to geth er
with in no va tive fea tures to provide
de sign ers with a powerful yet sim ple
solution for their high vol ume OEM
prod ucts.
Never before has any motion prod-
uct integrated all the digital control
into one mono lith ic IC. This high
de gree of in te gra tion can signi -
cantly reduce design time as well
as driv er size.
Beyond the integration of a com-
plete microstepping control sys tem,
the IM2000S has unique features
that give designers un prec e dent ed
con trol over motor move ment.
These fea tures in clude 14 se lect -
able res o lu tions (in both decimal
and binary) that can be changed at
any time with out motor move ment
in ter rup tion. There is no need to
reset the con trol ler. This al lows the
user to rapidly move long dis tanc es,
yet pre cise ly position the mo tor at
the end of trav el without the need or
expense of a com plex controller.
Another valuable feature is an “On
Full Step” output which in di cates
when the mo tor is at an electrical
full step. This output can be used
to reduce the over head needed to
track position when making long
moves.
The development of pro pri etary cir-
cuits has minimized ripple cur rent,
while main tain ing a 20 KHz chop-
ping rate. This prevents additional
motor heat ing that is common with
drivers re quir ing high er chop ping
rates. Now low inductance step per
motors can be used to im prove
high speed per for mance and peak
sys tem ef cien cy.
The IM2000S needs only clock
and di rec tion inputs to control the
PACKAGING INFORMATION
Dimensions in Inches (mm)
mo tor and will in ter face directly to
dis crete bridg es or com mon mono-
lith ic bridge ICs.
Designers can now place drivers
di rect ly on their PC boards with all
the nec es sary con trol in an ultra
small 64 pin QFP package.
Size, price and time-to-market are
three crucial aspects in today’s
com pet i tive mar kets and the
IM2000S of fers the ability to re-
duce all three.
Enlarged View Above
Actual Size
FEATURES
•
IM2000S Offers a Com plete
Microstepping Control Sys tem
in a 64 Pin QFP Pack age
•
Up to 10MHz Step Clock Rate
•
Internal Sine/Cosine Generator
•
PWM Phase Current Control
•
Minimal External Components
•
Automatic Current Reduction
•
14 Selectable Resolutions, in
Both Dec i mal and Binary
•
Number of Microsteps
Per Step can be Changed
On-The-Fly With out Motor
Move ment Interruption
•
Up to 51,200 Steps/Rev
•
Standalone or Buss Modes
•
Single +5 VDC Power Supply
•
Short Circuit and Over
Temperature Protection Inputs
•
Fault Output
•
On Full Step Output
•
Anti-Resonance Circuitry
REV101805
IM2000S PIN ASSIGNMENTS
PIN
NAME
FUNCTION
59
SCLK
Step clock input. A positive going edge on this input will advance the motor one increment (the size of the increment is dependent
on the microstep select inputs).
52
RSEL
ROM select input. When low, this input selects the internal sine/cosine ROM. When high, AD0-AD8 are selected for use with
an external lookup table.
57
RESET
Reset input. When low, this input will reset the IM2000S (PWM, Enable and Full Bridge outputs will be disabled). When
released, the controller will be at its initial state (sine at 0, cosine at peak).
60
DIR
Direction input. This input is used to change the direction of the motor. Physical direction also depends on the connection of the
motor windings.
53
CSEL
Clock select input. When low, the SCLK input will be directed to the internal sine/cosine generator independent of the level 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.
61
EN
Enable input. When low, this input will enable/disable the PWM and full bridge output signals.
62
FSTEP
On fullstep output signal. This active low output indicates when sine & cosine outputs of the IM2000S are positioned on a full
step.
63
FAULT
Fault output signal. This active high output indicates when a fault has occurred. It will stay active until the IM2000S is reset.
64
WR
Write input. When the IM2000S is con gured in the buss mode, this input is used to latch in the microstep select, enable and
direction inputs.
1
MODE
Mode select input. This input is used to con gure the IM2000S in a stand-alone or buss mode.
45, 2
PWMA, PWMB
Phase A and Phase B pulse width modulated output signals. These outputs can be used to control the phase currents in common
PWM type power sections.
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.
43, 4
ENA, ENB
Phase A and Phase B enable output signals. These active high outputs, which work in conjunction with the enable input of PIN 6,
can be used to enable/disable the power section of the driver.
38, 39, 41, 42
HRA, LRA,
LLA, HLA
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 bridge
sections or half and full bridge ICs.
5, 6, 8, 9
HLB, LLB,
LRB, HRB
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 bridge
power sections or half and full bridge ICs.
12–19
COS0–COS7
Cosine waveform output signals for Phase B.
28–35
SIN7–SIN0
Sine waveform output signals for Phase A.
47
IHI
Polarity select input for active high or active low high side full bridge control outputs.
46
ILOW
Polarity select input for active high or active low low side full bridge control outputs.
36, 11
VSA, VSB
Phase A and Phase B current sense inputs.
37, 10
OVCA, OVCB
Phase A and Phase B over current/short circuit protection inputs.
20
CURRED
Automatic current reduction output signal. This active high output is used to automatically reduce the driver output current 1
second after the last step clock input.
22, 23
OSCRC, OSCR
Resistor/capacitor inputs for on-board PWM oscillator.
24
OVV
Over voltage protection input.
26
OVTMP
Over temperature protection input.
25, 58
VCC
Supply voltage.
7, 21, 40, 54
GND
Ground.
48–51
MSEL0–MSEL3
Microstep resolution select inputs. These inputs are used to select the number of microsteps per full step. The available resolu-
tions (microsteps/step) are: 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 125, 128, 250, 256.
12–19
AD0–AD7
Address 0 - Address 7. These outputs are used in conjunction with external lookup tables for user supplied sine and cosine
curves.
27
COUT
SCLK output. This output is dependent on the CSEL and EN inputs.
55, 56
CIR0, CIR1
PWM circulation select inputs. These inputs are used to select whether or not the PWM will be in a recirculating or a non-recir-
culating mode, or an automatic recirculating and non-recirculating mode.
REV101805
TYPICAL APPLICATION
48V, 3 Amps (RMS)/Phase Microstepping Driver
IM2000S ABSOLUTE
MAXIMUM RATINGS
RECOMMENDED
OPERATING CONDITIONS
ELECTRICAL
CHARACTERISTICS
AC Electrical Characteristics
BLOCK DIAGRAM
+5V
36
11
VSA
VSB
1
MODE
64
WR
OVCA
OVCB
37
10
24
OVV
26
OVTMPRES SEL 0
RES SEL 1
RES SEL 2
RES SEL 3
MSEL0
MSEL1
MSEL2
MSEL3
48
49
50
51
STEP CLOCK
DIRECTION
ENABLE
SCLK
DIR
EN
59
60
61
+5V
51K
55
56
CIR0
CIR1
RSEL
CSEL
52
53
0.47µf
30.1K
1.0nf
RESET
OSCR
OSCRC
57
23
22
IHI
ILOW
GND
GND
GND
GND
47
46
7
21
40
54
+5V
+5V
0.1µf
0.1µf
VCC
VCC
25
58
IM2000S
HLA
LLA
HRA
LRA
38
39
41
42
HLB
LLB
HRB
LRB
5
6
9
8
CURRED
FAULT
FSTEP
20
63
62
28
29
30
31
32
33
34
35
SINE0
SINE1
SINE2
SINE3
SINE4
SINE5
SINE6
SINE7
12
13
14
15
16
17
18
19
COS0/AD0
COS1/AD1
COS2/AD2
COS3/AD3
COS4/AD4
COS5/AD5
COS6/AD6
COS7/AD7
ENA
SIGNA
PWMA
43
44
45
ENB
SIGNB
PWMB
4
3
2
COUT
27
+5V
+5V
1K
1
8
3
2
+
-
4
TLC372
+5V
1K
7
5
6
+
-
TLC372
5.1K
220pf
5.1K
220pf
1
1
2
2
3
3
OUT1
OUT1
OUT2
OUT2
GND
GND
VDD
VDD
+5V
+5V
11
11
10
10
9
9
8
8
7
7
6
6
5
5
4
4
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
TLC524
TLC524
11
5
7
9
6
0.22µf
EN
IN1
IN2
VREF
GND
WR
WR
CS
CS
V+
OUT1
BOOT1
BOOT2
OUT2
VSEN
L6203
2
3
4
8
1
10
10nf
10nf
0.5
2W
ØB
+5V
LM234Z
68.1
R1
+5V
TLC271
6
7
3
2
4
8
0.1µf
10µf
+
+
-
0.22µf
L6203
0.5
2W
10nf
10nf
ØA
2
3
4
8
1
10
0.1µf
1000µf
+12 to +48V
+
EN
IN1
IN2
VREF
GND
V+
OUT1
BOOT1
BOOT2
OUT2
VSEN
11
5
7
9
6
DB0
DC Electrical Characteristics
V
DD
= +5.0 ±10%
T
OPR
= 25° C
Output Current (AMPS) = 0.002 x R1 (OHMS)
NOTE: Diodes may be needed on phase outputs depending on input voltage and phase currents used.
Symbol
Parameter
Limits
Unit
V
DD
DC Supply Voltage
V
SS
- 0.3 to +7.0
V
V
IN
Input Voltage
V
SS
-
0.3
to V
DD
+ 0.3
V
V
OUT
Output Voltage
V
SS
-
0.3
to V
DD
+
0.3
V
T
STG
Storage Temp
- 65 to +150
°C
Symbol
Parameter
Min
Typ
Max
Unit
V
DD
DC Supply Voltage
4.5
5.0
5.5
V
V
IN
Input Voltage
V
SS
—
V
DD
V
T
OPR
Operating Temp
- 20
—
85
°C
Symbol
Parameter
Min
Typical
Unit
t
RW
RESET pulse width
200
—
nS
t
S
MSEL, SCLK setup
time
—
100
nS
t
SW
SCLK pulse width
—
10
nS
t
WR
WR pulse width
—
20
nS
t
WH
Data hold time after
WR
0
—
nS
f
PWM
PWM chopping frequency
—
20
KHz
f
CLK
SCLK input frequency
—
10
MHz
Symbol
Parameter
Conditions
Min
Typ
Max
Unit
V
IL
Low level input voltage
—
—
—
0.8
V
V
IH
High level input voltage
—
2.0
—
—
V
V
T+
V
T+
V
Schmitt trigger positive
going threshold voltage
V
DD
= 5.0
—
3.0
—
V
V
T–
V
T–
V
Schmitt trigger negative
going threshold voltage
V
DD
= 5.0
0.6
—
—
V
V
H
Schmitt trigger hysteresis
voltage
V
DD
= 5.0
0.1
—
—
V
I
IL
Low level input current
V
IN
= V
SS
—
—
1.0
mA
I
IH
High level input current
V
IN
= V
DD
—
—
1.0
mA
V
OL
Low level output voltage
—
—
—
V
SS
+ 0.4
V
V
OH
High level output voltage
—
V
DD
- 0.4
—
—
V
I
OL
Low level output current
—
—
—
- 6.0
mA
I
OH
High level output current
—
—
—
3.0
mA
I
CC
Supply current
—
—
—
30
mA
-
1
-
2
-
3
Intelligent Motion Systems IM2000 IM2000S User manual
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