Intelligent Motion Systems Computer Drive IM481H User Manual

T
TM  
intelligent motion systems, inc.  
TM  
Excellence in Motion  
IM481H  
ULTRA MINIATURE HIGH PERFORMANCE  
MICROSTEPPING DRIVE  
OPERATING INSTRUCTIONS  
370 N. MAIN ST., PO BOX 457, MARLBOROUGH, CT 06447  
PH. (860) 295-6102, FAX (860) 295-6107  
SECTION  
PAGE  
LIST OF TABLESAND FIGURES ..................................... 1  
1
2
3
4
5
6
INTRODUCTION ............................................................... 2  
PINASSIGNMENTAND DESCRIPTION ........................... 3  
ELECTRICALSPECIFICATIONS ...................................... 4  
THERMALSPECIFICATIONS ........................................... 4  
MECHANICALSPECIFICATIONS  
6.1 DIMENSIONALIMFORMATION ........................................ 5  
6.2 MOUNTING INFORMATION .............................................. 6  
OUTPUT CURRENT  
7
8
7.1 DETERMINING OUTPUT CURRENT ................................. 7  
7.2 SETTING OUTPUT CURRENT .......................................... 8  
7.3 RESISTOR TABLE ........................................................... 9  
MOTOR  
8.1  
8.2  
9
MOTOR SELECTION.......................................................10  
CONNECTING THE MOTOR ............................................10  
POWER REQUIREMENTS  
9.1 MOTOR POWER.............................................................12  
9.2 +5 VDC INPUT ................................................................13  
10LAYOUTAND INTERFACE GUIDELINES .................................14  
11  
MICROSTEP SELECTION ...............................................14  
12FULLSTEP OUTPUT SIGNAL ...................................................16  
13TIMING .....................................................................................16  
14INPUTS ....................................................................................17  
15AUTOMATIC CURRENTREDUCTION .......................................18  
16FAULTPROTECTION ...............................................................19  
18THERMAL REQUIREMENTS....................................................19  
19OPTIONS/ACCESSORIES .......................................................20  
AppendixA- Recommended Cable Configurations........................21  
WARRANTY.................................................................................30  
LIST OF FIGURES  
Figure 1  
Figure 2  
Figure 3  
Figure 4  
Figure 5  
Figure 6  
Figure 7  
Figure 8  
Figure 9  
Figure 10  
Figure 11  
DIMENSIONALINFORMATION .............................. 4  
MOUNTING INFORMATION .................................... 6  
SETTING OUTPUT CURRENT ................................ 9  
MOTOR CONNECTIONS .......................................12  
POWER CONNECTIONS ......................................14  
MICROSTEP RESOLUTION SELECTION..............16  
INPUTS .................................................................18  
FAULTIN/RESET - INTERFACE CIRCUIT ..............18  
RESET TIMING .....................................................18  
MULTIPLE DRIVES - ONE RESET........................18  
AUTOMATIC CURRENTREDUCTION ...................19  
LIST OF TABLES  
Table 1  
Table 2  
Table 3  
Table 4  
Table 5  
ELECTRICALSPECIFICATIONS ............................ 4  
THERMALSPECIFICATIONS ................................. 4  
RESISTOR TABLE ................................................10  
POWER SUPPLY SPECIFICATIONS ....................13  
MICROSTEP SELECTION.....................................15  
1
SECTION 2  
INTRODUCTION  
The IM481H is a high performance, yet low cost microstepping driver that utilizes  
advanced hybrid technology to greatly reduce size without sacrificing features. The  
IM481H is exceptionally small, easy to interface and use, yet powerful enough to handle  
the most demanding applications.  
The IM481H has 14 built in microstep resolutions (both binary and decimal). The  
resolution can be changed at any time without the need to reset the driver. This feature  
allows the user to rapidly move long distances, yet precisely position the motor at the end  
of travel without the expense of high performance controllers.  
With the development of proprietary and patented circuits, ripple current has been  
minimized to reduce motor heating common with other designs, allowing the use of low  
inductance motors improving high speed performance and system efficiency.  
The IM481H, because of its ultra small size and low cost, can be used to increase  
accuracy and smoothness in systems using higher step angle motors. In many instances  
mechanical gearing can be replaced with microstepping, reducing cost and eliminating  
potential maintenance.  
OPTIONAL INTERFACE BOARD The INT-481 is a plug on interface board which can be  
used with the IM481H to facilitate testing or in situations where panel mounting is  
preferred  
The INT-481 contains extra circuitry which includes: Opto isolators for step clock,  
direction, enable, and reset, along with extra fault detection circuits, +5vdc supply, input  
capacitor, and fault and power LED’s. Wiring is done through a 15 pin screw terminal  
header. A four position dip switch is supplied for microstep resolution selection.  
FEATURES  
Very Low Cost  
Ultra Miniature 1.1” x 2.7” x 0.17”  
High Input Voltage (+12 to +48Vdc)  
High Output Current (1.5 Amps RMS, 2.3 Amps Peak)  
Advanced Hybrid Design  
Replaces Mechanical Gearing for Smoothness and Positioning  
Designed for High Performance, Low Inductance Stepping Motors  
20 KHz Chopping Rate  
Up to 10 MHz Step Clock Rate  
14 Selectable Microstepping Resolutions that can be changed On-The-Fly.  
Up to 51,200 Steps/Rev with a 1.8o Motor  
Automatically Switches between Slow and Fast Decay for Unmatched  
Performance  
At Full Step Output  
2
SECTION 3  
PIN ASSIGNMENT AND DESCRIPTION  
PIN #  
1,2  
PIN NAME  
PHASE A  
PIN FUNCTION  
Phase A of the stepping motor is connected between pin 1 and pin 2. See section 8.  
CURRENT  
REDUCTION  
ADJUST  
Phase current reduction adjustment input. A resistor connected between this pin and pin  
4 ( if used to set motor phase current ) will proportionately reduce current in both  
windings approximately .5 seconds after the last positive edge of the step clock input.  
See section 15.  
3
4
5
6
CURRENT  
REFERENCE  
Phase current reference output. A resistor is connected between this 1 mA current  
source output and the Ground pin ( pin 11 ) to generate the voltage used to set the peak  
phase current in the motor. See section 7.  
CURRENT  
ADJUSTMENT  
Phase current adjustment input. A voltage applied to this input sets the peak phase  
current in the motor. See section 7.2.  
FAULT INPUT  
A low signal on this input will generate a latched fault condition. See section 16.  
RESOLUTION  
SELECT 0-3  
Microstep resolution select inputs. Used to select the number of microsteps per step of  
the motor. See section 11.  
7-  
10  
SUPPLY  
GROUND  
Supply voltage ground ( return ). See section 9.  
Supply voltage input. See section 9.  
11  
12  
13  
14  
15  
16  
17  
18  
19  
+V  
RESET INPUT  
+5V  
When low, this input will reset the driver ( phase outputs will disable ). When released,  
the driver will be at its initial state ( phase A off, phase B on ). See section 14.  
+5Vdc supply input. This supply is used to power the internal logic. The +5Vdc supply  
should be referenced to pin 11( supply ground ). See section 9.2.  
STEP CLOCK  
INPUT  
A positive going edge on this input advances the motor one increment. The size of the  
increment is dependent on the microstep select inputs See section 13.  
DIRECTION  
INPUT  
This input is used to change the direction of the motor. Physical direction also depends  
on the connection of the motor windings. See section 13.  
ENABLE  
INPUT  
This input is used to enable/disable the output section of the driver. When high, the  
outputs are enabled. However, this input does not inhibit the step clock. Therefore when  
enabled the outputs will update by the number of clock pulses ( if any ) applied to the  
driver while it had been disabled. See section 14.  
ON-FULL-  
STEP OUTPUT  
This totem-pole output indicates when the driver is positioned at a full step. This output  
can be used to count the number of full steps the motor has moved, regardless of the  
number of microsteps in between. This output is active high. See section 12.  
FAULT  
OUTPUT  
This totem-pole output indicates a short circuit has occurred or a low signal was  
detected on the Fault input. This output is active high. See section 16  
PHASE B  
Phase B of the stepping motor is connected between pin 20 and pin 21. See section 8.  
20-  
21  
3
SECTION 4  
ELECTRICAL SPECIFICATIONS  
Table 1  
Test Parameters: T = 25oC,+V = 48v  
A
TEST CONDITION  
MIN TYP MAX UNITS  
INPUT VOLTAGE ....................................................................................... 12.......45........ 48*.......... V  
PHASE OUTPUT CURRENT......................................RMS .......................0.14 ...................1.5 .......... A  
PHASE OUTPUT CURRENT..................................... PEAK..................................................2.3 .......... A  
QUIESCENT CURRENT (+v, pin 12).......... INPUTS/OUTPUTS FLOATING .....................25......................mA  
QUIESCENT CURRENT (+5vdc, pin 14).... INPUTS/OUTPUTS FLOATING ................................... 40........mA  
ACTIVE POWER DISSIPATION .......................... I  
= 1A RMS ............................................2.0 ......... W  
OUT  
LOW LEVEL INPUT VOLTAGE ............................. ALL INPUTS ..................... .......................0.8 .......... V  
HIGH LEVEL INPUT VOLTAGE...................ALL INPUTS EXCEPT RESET......................2.0 ........................ V  
HIGH LEVEL INPUT VOLTAGE................................ RESET ...................................2.3 ......................... V  
INPUT PULL-UP RESISTANCE.................FAULT IN, RES SEL 0-3, ENABLE .......4.4 ......4.7 ........5.0 ........kΩ  
INPUT PULL-UP RESISTANCE.....................STEP CLOCK, DIRECTION ...........2.1 ......2.2 ........2.3 ........kΩ  
INPUT PULL-UP RESISTANCE................................ RESET .......................0.9 ......1.0 ........1.1 ........kΩ  
LOW LEVEL OUTPUT CURRENT..................... FAULT, FULLSTEP................ 24..................................mA  
HIGH LEVEL OUTPUT CURRENT.................... FAULT, FULLSTEP.................-2..................................mA  
LOW LEVEL OUTPUT VOLTAGE ..........................I =24 mA...............................................0.4 .......... V  
OL  
HIGH LEVEL OUTPUT VOLTAGE..........................I = -2 mA ....................4.5 .................................... V  
OH  
*
INCLUDES BACK EMF OF MOTOR  
SECTION 5  
THERMAL SPECIFICATIONS  
Table 2  
STORAGE TEMPERATURE................................................ -40 TO +125 OC  
OPERATING TEMPERATURE................................................0 TO +50 OC  
‡REAR MOUNTING SURFACE (MAX) ....................................... +70 OC  
‡ADDITIONAL COOLING MAY BE REQUIRED TO LIMIT REAR MOUNTING SURFACE  
Care should be taken when choosing a heatsink to ensure that there is good thermal flow,  
otherwise hot spots may occur in the IM481H which will reduce the effectivness of the  
thermal protection.  
W A R N I N G ! Rear mounting surface of driver contains  
different voltages and must be keep isolated when attached  
to a conductive surface !  
An optional thermal pad ( Part # TI-481 ) and heat sink ( Part # H-481 ) is available  
for the IM481H  
NOTE:  
4
MECHANICAL SPECIFICATIONS  
DIMENSIONAL INFORMATION  
SECTION 6.1  
Dimensions in Inches (mm)  
2.700  
(68.6)  
2.450  
(62.2)  
2.225  
(56.4)  
IM481H  
*Wt: 0.512 oz.  
14.6 gms.  
0.175  
2 X Ø 0.150  
(3.8)THRU  
65°  
TYP.  
Heat Sink  
1.100  
This Side  
(27.9)  
0.175  
(4.4)  
0.563  
(14.3)  
PIN 1  
0.058  
(1.5)  
0.225  
(5.7)  
0.016  
(0.4) SQ.  
0.100  
(25.4)  
3.000  
(76.2)  
INT-481  
0.920  
(23.37)  
*Wt: 1.02 oz.  
29.0 gms.  
0.620  
(15.75)  
0.275  
(6.99)  
2.450  
(62.23)  
21 Pin Right Angle  
Connector  
HY481-CN021  
21  
1
SW1  
ENOFF/ENON  
MS0  
MS1  
MS2  
MS3  
1
3
Heat Sink  
This Side  
JP2  
0.575  
(14.6)  
1.550  
(39.37)  
GRN  
RED  
LED1  
2 X Ø 0.143  
(3.6 ) Thru  
2.872  
(72.9)  
1.875  
H-481  
*Wt: 2.40 oz.  
68.1 gms.  
(47.6)  
0.178  
(4.5)  
0.312  
(7.9)  
0.498  
(12.6)  
1.312  
(33.3)  
2 X Ø 0.177  
(4.5) Thru  
1.100  
(27.9)  
0.550  
(13.9)  
0.211  
(5.4)  
2 X #6-32  
Tapped Thru  
2.450  
(62.2)  
* Does not include mounting hardware.  
5
SECTION 6.2  
MOUNTING INFORMATION  
IM481-H Driver and H-481 Heat Sink Direct Mount on PCB  
D
NOTE: Components are  
described in the table on the  
following page.  
F
*
4
1
3
C
A
B
G
0.096  
(2.43)  
PCB  
Hole Pattern for Direct PCB Mounting  
H-481 Heat Sink  
Dimensions are in Inches (mm)  
Ø 0.250 +0.003 / - 0.0  
(6.35 +0.08 / - 0.0)  
0.063  
(1.6)  
0.240  
(6.1)  
1.875  
(47.63)  
Pin #1  
0.100 Typ  
(2.54 Typ)  
0.064 Pad, 0.031 Hole  
(1.6 Pad, 0.78 Hole)  
NOTE: The hardware items “A” through “H” are supplied with the  
H-481 Heat Sink Kit. If the H-481 is not used, the mounting hardware is not supplied.  
NOTE: The torque specification for the #6-32 INT-481 and IM481H mounting screw is  
5.0 - 7.0 in-lbs. (See the hardware list on the following page.)  
* The Isolating Thermal Pad (TI-481) item “4” is supplied with the INT-481 Interface  
Board. If the INT-481 is not used, the Thermal Pad must be ordered seperately.  
WARNING! The Heat Sink mounting surface must be a smooth, flat surface  
with no burrs, protrusions, cuttings or other foreign objects.  
WARNING! If you are planning to wash your PCB it must be done prior to  
adding the IM481H Driver or damage will occur.  
6
IM481-H Driver, INT-481 Interface Board, H-481 Heat Sink Panel Mount  
3
F
E
H
*
4
1
2
0.915  
(23.25) Ref.  
C
B
A
IM481-H Driver, INT-481 Interface Board Panel Mount without Heat Sink  
*
4
1
A
C
B
2
0.180  
(4.57) Ref.  
Product/Item #  
Description  
Qty.  
1
1
2
3
4
A
B
C
D
E
IM481H Microstepping Driver  
INT-481 Interface Board  
H-481 Heat Sink  
1
1
TI-481 Isolating Thermal Pad  
#6-32x5/8" Pan Head Screw  
#6 Split Lock Washer  
1
2
2
#6 Flat Washer, 0.250" OD, 0.145" ID, 0.030" Thick  
#8-32x13/8" Pan Head Screw  
2
2
#8-32x2 Pan Head Screw  
2
F
#8 Split Lock Washer  
2
G
H
#8-32 Internally Threaded Broaching Nut  
Spacer, 0.312" OD, 0.171" ID, 0.500" Long  
2
2
* The Isolating Thermal Pad (TI-481) item “4” is supplied with the INT-481 Interface  
Board. If the INT-481 is not used, the Thermal Pad must be ordered seperately.  
7
OUTPUT CURRENT  
SECTION 7.1  
DETERMINING THE OUTPUT CURRENT  
For any given motor, the OUTPUT CURRENT used for MICROSTEPPING is determined  
differently from that of a HALF/FULL STEP driver.  
In the IM481H, a sine/cosine output function is used in rotating the motor. Therefore, when  
microstepping, the specified phase current of the motor is considered an RMS value.  
The CURRENT ADJUSTMENT RESISTOR used to set the output current of the IM481H  
sets the peak output of the sine/cosine waves not the RMS value. Therefore the specified  
motor current (which is the RMS value) should be multiplied by 1.4 to determine the PEAK  
value to which the IM481H will be set.  
EXAMPLE:  
If a motor has a specified PHASE CURRENT of 0.75 amps per phase, then:  
0.75 amps X 1.4 = 1.05 amps peak  
The Resistor Value = OUTPUT CURRENT X 1000 or in this example:  
1.05 X 1000 = 1050 Ω.  
Table 3 shows commercially available 1% resistors for a given current.  
NOTE: Stepper motors can be configured as 4, 6, or 8 leads. Each configuration requires  
different currents. Shown below are the different lead configurations and the procedures to  
determine their output current.  
4 Lead Motors: Multiply the specified phase current by 1.4 to determine the peak  
output current.  
6 Lead Motors: 1) When configuring a 6 lead motor in a half coil configuration ( i.e.  
connected from one end of the coil to the center tap (high speed  
configuration)) multiply the specified per phase (or unipolar) current  
rating by 1.4 to determine the peak output current.  
2) When configuring the motor so the full coil is used (i.e. connected  
from end to end with the center tap floating (higher torque  
configuration)) use the per phase (or unipolar) current rating as the  
peak output current.  
8 Lead Motors: SERIES CONNECTION: When configuring the motor windings in  
series, use the per phase (or unipolar) current rating as the peak  
output current, or multiply the bipolar current rating by 1.4 to  
determine the peak output current.  
PARALLEL CONNECTION: When configuring the motor windings in  
parallel, multiply the per phase (or unipolar) current rating by 1.96 or  
the bipolar current rating by 1.4 to determine the peak output current.  
After determining the peak output current, use table 4 to choose the proper  
current reference resistor value.  
NOTE:  
8
SECTION 7.2  
SETTING OUTPUT CURRENT  
The OUTPUT CURRENT on the IM481H is set by applying a voltage to pin 5 (current  
adjustment). The output current is set as follows:  
PEAK OUTPUT CURRENT (Amps) = Volts applied to pin 5  
EXAMPLE:  
1.4 volts applied to pin 5 will set the peak output current of the IM481H to 1.4  
amps per phase.  
To generate the reference voltage needed to set the peak output current of the driver, a  
1mA current source is provided (pin 4, Current Reference ). By connecting a resistor ( 1/8  
watt or higher ) between pin 4 and pin 11 ( Ground ) a reference voltage is generated. Pin  
4 is then connected to pin 5 ( Current Adjustment) to set the peak per phase output  
current of the driver ( See Figure 3 ).  
The relationship between the output current and the resistor value is as follows:  
PEAK OUTPUT CURRENT (Amps) x 1000 = Resistor Value (Ohms)  
EXAMPLE: To set the peak output current of the IM481H to 1.4 Amps:  
1.4 ÷ .001 = Resistor Value = 1400 .  
Table 3 shows the standard 1% resistor values with respect to the peak output current.  
NOTE: When using the Current Reference output to set the output current of the  
IM481H, care should taken to keep the connections as short as possible  
to help minimize the noise coupled into the driver.  
1
2
3
4
5
6
7
8
9
1 0 1 11 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1  
Current  
Adjustment  
Resistor  
Figure 3  
WARNING! A Current Adjustment Resistor is always necessary to keep the  
Driver and/or Motor in safe operating range.  
DO NOT operate the IM481H Driver without a Current Adjustment  
Resistor!  
9
SECTION 7.3  
RESISTOR TABLE  
Table 3  
PEAK OUTPUT CURRENT  
(AMPS)  
REFERENCE  
(VOLTS)  
RESISTOR VALUE (1%)  
(OHMS)  
0.20................................0.20 .............................200  
0.25................................0.25 .............................249  
0.30................................0.30 .............................301  
0.35................................0.35 .............................348  
0.40................................0.40 .............................402  
0.45................................0.45 .............................453  
0.50................................0.50 .............................499  
0.55................................0.55 .............................549  
0.60................................0.60 .............................604  
0.65................................0.65 .............................649  
0.70................................0.70 .............................698  
0.75................................0.75 .............................750  
0.80................................0.80 .............................806  
0.85................................0.85 .............................845  
0.90................................0.90 .............................909  
0.95................................0.95 .............................953  
1.00................................1.00 ........................... 1000  
1.05................................1.05 ........................... 1050  
1.10................................1.10 ........................... 1100  
1.15................................1.15 ........................... 1150  
1.20................................1.20 ........................... 1210  
1.25................................1.25 ........................... 1240  
1.30................................1.30 ........................... 1300  
1.35................................1.35 ........................... 1330  
1.40................................1.40 ........................... 1400  
1.45................................1.45 ........................... 1430  
1.50................................1.50 ........................... 1500  
1.55................................1.55 ........................... 1540  
1.60................................1.60 ........................... 1580  
1.65................................1.65 ........................... 1650  
1.70................................1.70 ........................... 1690  
1.75................................1.75 ........................... 1740  
1.80................................1.80 ........................... 1780  
1.85................................1.85 ........................... 1820  
1.90................................1.90 ........................... 1870  
1.95................................1.95 ........................... 1960  
2.00................................2.00 ........................... 2000  
2.05................................2.05 ........................... 2050  
2.10................................2.10 ........................... 2100  
W A R N I N G ! Although stepping motors will run hot when  
configured correctly, damage may occur to a motor if a higher than  
specified current is used. Most specified motor currents are maximum  
values. Care should be taken when exceeding these ratings.  
10  
MOTOR  
SECTION 8.1  
MOTOR SELECTION  
The IM481H is a Bipolar driver which works equally well with both Bipolar and Unipolar  
motors, ( i.e. 8 and 4 lead motors and 6 lead center tapped motors (see section 8.2,  
Connecting the Motor)).  
To maintain a given set motor current, the IM481H chops the voltage using a constant  
chopping frequency and a varying duty cycle. Duty cycles that exceed 50% can cause  
unstable chopping. This characteristic is directly related to the motor’s winding  
inductance. To avoid this situation, it is necessary to choose a motor with a low winding  
inductance. The lower the winding inductance, the higher the step rate possible.  
The maximum per phase motor inductance for the IM481H is calculated as follows:  
Max. per Phase Inductance (mH) = 2 x Supply Voltage ÷ 10  
NOTE: In calculating the maximum phase inductance, when using an unregulated  
power supply, the minimum supply output voltage should be used.  
Since the IM481H is a constant current source, it is not necessary to use a motor that is  
rated at the same voltage as the supply voltage. What is important is that the IM481H is  
set to the motor’s rated current.  
The higher the voltage used the faster the current can flow through the motor coils. This in  
turn means a higher step rate. Care should be taken not to exceed the maximum voltage  
of the driver.  
Therefore in choosing a motor for a system design, the best performance for a specified  
torque is a motor with the lowest possible winding inductance used in conjunction with the  
highest possible driver voltage.  
SECTION 8.2  
CONNECTING THE MOTOR  
Phase A of the Stepping Motor is connected between pins 1 and 2. Phase B of the  
Stepping Motor is connected between pins 20 and 21. The following drawings in figure 4  
illustrates the connection of 4,6, and 8 Lead Stepping Motors to the IM481H Driver.  
NOTE: To reduce the transmission of EMI from the motor cables, a twisted pair  
sheilded cable is recommended if the driver to motor cabling is in excess of  
one foot. Motor leads should not exceed 100 feet. Refer to Section 10,  
Recommended Wiring, for further information.  
NOTE: The physical direction of the motor with respect to the direction input will  
depend on the connection of the motor windings. To reverse the direction of  
the motor with respect to the direction input, switch the wires on either  
phase A or phase B outputs.  
WARNING! Do not connect or disconnect the AC power leads  
or the motor leads with power applied!  
11  
MOTOR CONNECTIONS  
1
2
1
2
PHASE A  
PHASE B  
PHASE A  
PHASE B  
20  
21  
20  
21  
8 LEAD MOTOR  
8 LEAD MOTOR  
SERIES CONNECTION  
PARALLEL CONNECTION  
1
2
1
2
NC  
NC  
PHASE A  
PHASE B  
PHASE A  
PHASE B  
NC  
20  
21  
20  
21  
NC  
6 LEAD MOTOR  
6 LEAD MOTOR  
HIGHER SPEED CONFIGURATION  
( HALF COIL )  
HIGHER TORQUE CONFIGURATION  
( FULL COIL )  
NC: NO CONNECTION  
NC: NO CONNECTION  
1
2
PHASE A  
PHASE B  
20  
21  
4 LEAD MOTOR  
Figure 4  
12  
POWER REQUIREMENTS  
MOTOR POWER  
SECTION 9.1  
Pins 11 (ground), and 12 (+V) are used to connect the motor DC power to the IM481H.  
Two local capacitors are needed, connected between pins 11 and 12 and located as  
close to the pins as possible, to insure stable operation.  
The first capacitor is a low impedance, aluminum electrolytic. The continuous operating  
voltage of the capacitor should exceed the maximum supply voltage as well as any  
additional voltage caused by the motors back EMF. The value of the capacitor should be  
approximately 150 microfarads for every 1 amp of peak per phase output current.  
EXAMPLE: For a peak output current of 1.4 amps, and a supply voltage of 45 volts, a  
220uf 50v capacitor is recommended.  
Along with the aluminum electrolytic, a 0.1 microfarad ceramic capacitor must be used to  
filter out high frequency noise. It should be located between the IM481H’s power input  
pins and the aluminum electrolytic capacitor. The continuous operating voltage of the  
capacitor should exceed the maximum supply voltage as well as any additional voltage  
caused by the motors back EMF.  
POWER SUPPLY SPECIFICATIONS  
Table 4  
Recommended Type:..............Unregulated DC.  
Ripple Voltage............................. ±10% max.  
Output Voltage......................... +12 to +45Vdc  
*Output Current.................. 0.75 Amps (TYPICAL)  
NOTE: RECOMMENDED POWER SUPPLY IMS: PART # ISP200-4  
NOTE:  
With the exception of IMS Power Supplies, Switching Power Supplies and  
regulated linears with overcurrent protection are not recommended because of  
their inability to handle surge currents. If multiple drivers are to be run off of one  
power supply each drive should have separate power and ground wires that  
connect directly to the output capacitor of the power supply.  
*THE OUTPUT CURRENT NEEDED IS DEPENDENT ON THE SUPPLY VOLTAGE,  
MOTOR SELECTION, AND LOAD.  
W A R N I N G : When using an unregulated power supply, care  
should be taken that the output voltage does not exceed the  
maximum driver input voltage because of variations in line  
voltage. It is recommended that a input line filter be used on the  
power supply to limit voltage spikes to the driver!!  
W A R N I N G : Do not connect or disconnect motor leads with  
power applied !! Do not connect or disconnect power supply  
with power applied !!  
13  
SECTION 9.2  
+5 VDC INPUT  
The IM481H requires an external regulated +5Vdc power supply. The supply is connected  
between pins 11 (ground), and 14 (+5vdc). A 22 microfarad 10v tantilum capacitor must  
be placed as close to the IM481H as possible between the +5vdc input pin (14) and  
ground.  
The +5vdc supply ground and the motor supply ground should not be connected together  
at the power supplies. The common ground connection between the motor power supply  
and the +5vdc supply should be made at the ground pin of the additional electrolytic  
capacitor used for the motor supply (see section 9.1)  
Figure 5 shows the proper connection of the external +5vdc supply to the IM481H.  
Care should be taken when using this supply not to couple noise from  
external circuits into the IM481H which could cause erratic operation or  
damage.  
NOTE:  
+5VDC  
SUPPLY  
MOTOR  
SUPPLY  
Figure 5  
14  
SECTION 10  
LAYOUT AND INTERFACE GUIDELINES  
Logic level signals should not run parallel to motor phase signals. The motor phase signals  
will introduce noise into the logic level signals and can make the system unreliable. Motor  
phase signals should run as pairs and should be separated from other signals by ground  
traces where possible.  
When leaving the board, motor cables should not be run parallel with other wires and  
phases should be wired using twisted pairs. If motor cabling in excess of 1 foot is required,  
the use of a shielded twisted pair cable is recommended to reduce the transmission of  
EMI. The shield must be tied to AC ground at the driver end only. The motor end must be  
left floating.  
If more then one driver is to be connected to the same power supply, separate power and  
ground connections from each driver to the power supply should be used.  
The power supply cables need to be a twisted pair if power is connected from a source  
external to the board. If multiple drivers are used with an external power source, and it is  
not possible to run separate power and ground connections to each driver, a low  
impedance electrolytic capacitor equivalent to 2 times the total capacitance of all the driver  
capacitors ( see section 9 Power requirements ) and of equal voltage must be placed at  
the power input to the board.  
MOTOR CABLES  
Dual Twisted Pair Shielded (Separate Shields)  
< 5 feet ............................................................ Belden Part # 9402 or equivalent 20 Gauge  
> 5 feet ............................................................ Belden Part # 9368 or equivalent 18 Gauge  
POWER SUPPLY CABLES  
Twisted Pair (Jacketed)  
< 4 Amps DC current....................................... Belden Part# 9740 or equivalent 18 Gauge  
> 4 Amps DC current....................................... Belden Part# 8471 or equivalent 16 Gauge  
SECTION 11  
MICROSTEP SELECTION  
The number of microsteps per step is selected by pins 7 thru 10. Table 5 shows the  
standard resolution values along with the associated input settings ( See section 14 -  
Inputs ).  
The microstep resolution can be changed at any time. There is no need to reset or cycle  
power. On-the-fly “gear shifting” facilitates high speed slewing combined with high  
resolution positioning at either end of the move.  
When the number of microsteps per step are changed such that the IM481H does not fall  
on a full step (i.e. zero crossing of the sine/cosine waveforms) the IM481H will re-adjust  
itself at the next pulse that would overshoot the full step position. This feature allows the  
IM481H to re-adjust the motor to position no matter what resolution is chosen or when it is  
changed.  
15  
MICROSTEP SELECTION  
Table 5  
RESOLUTION  
(Microsteps/Step)  
STEPS/REV  
RESOLUTION  
SELECT 0  
PIN 7  
RESOLUTION RESOLUTION  
RESOLUTION  
SELECT 3  
PIN 10  
(1.8o Step Motors)  
SELECT 1  
PIN 8  
SELECT 2  
PIN 9  
BINARY  
2
4
400  
LOW  
HIGH  
LOW  
HIGH  
LOW  
HIGH  
LOW  
HIGH  
LOW  
LOW  
HIGH  
HIGH  
LOW  
LOW  
HIGH  
HIGH  
LOW  
LOW  
LOW  
LOW  
HIGH  
HIGH  
HIGH  
HIGH  
LOW  
LOW  
LOW  
LOW  
LOW  
LOW  
LOW  
LOW  
800  
8
1,600  
3,200  
6,400  
12,800  
25,600  
51,200  
16  
32  
64  
128  
256  
DECIMAL  
5
1,000  
2,000  
LOW  
HIGH  
LOW  
HIGH  
LOW  
HIGH  
LOW  
LOW  
HIGH  
HIGH  
LOW  
LOW  
LOW  
LOW  
LOW  
LOW  
HIGH  
HIGH  
HIGH  
HIGH  
HIGH  
HIGH  
HIGH  
HIGH  
10  
25  
5,000  
50  
10,000  
25,000  
50,000  
125  
250  
ILLEGAL SETTINGS: MAY CAUSE ERRATIC OPERATION  
LOW  
HIGH  
HIGH  
HIGH  
HIGH  
HIGH  
HIGH  
HIGH  
Figure 6  
16  
SECTION 12  
FULLSTEP OUTPUT SIGNAL  
The FULLSTEP output signal from the IM481H is an active high output at pin 18. This  
output is TRUE for the duration of the full step. A full step occurs when either Phase A or  
Phase B cross through zero (i.e. full current in one winding and zero current in the other  
winding). This fullstep position is a common position no matter what resolution is  
selected.  
The fullstep output can be used to count the number of mechanical full steps the motor  
has traveled without having to count the number of microsteps in between. A controller  
that utilizes this output can greatly reduce its position tracking overhead and thus  
substantially increasing its throughput.  
SECTION 13  
TIMING  
The Direction and Microstep Resolution Select inputs are syncronized with the positive  
going edge of the Step Clock input. When the Step Clock input goes high, the Direction  
and Microstep Select inputs are latched and further changes to these inputs are ignored  
until the next rising edge of the Step Clock input.  
After these signals are latched, the IM481H looks to see if any changes have occured to  
the Direction and the Microstep Select inputs. If a change has occurred, the IM481H will  
execute the change before taking the next step. Only AFTER the change has been  
executed will the step be taken. If no change has occured the IM481H will simply take  
the next step. (This feature works as an automatic debounce for the Direction and  
Microstep Select inputs.)  
The minimum pulse width for the Step Clock input is 75nS. The typical execution time for  
a Direction or Microstep Select change is 100nS. The typical execution time for a Step  
input is 100nS.  
The Reset and Enable inputs are asynchronous to any input and can be changed at any  
time.  
The Reset requires a minimum pulse width of 10µS (See Section 14 for more  
information).  
The Fullstep output typically occurs 75nS after the positive edge of the Step Clock  
(excluding changes to the Direction or the Microstep Select inputs).  
17  
SECTION 14  
INPUTS  
The inputs to the IM481H are internally pulled up  
to the +5VDC internal supply. Figure 7 shows the  
inputs and their associated pull up resistor  
values. See Section 4, Electrical Specifications,  
for resistor tolerence.  
1
2
3
+5V  
4
5
6
7
8
Fault In  
Resolution Select 0  
Resolution Select 1  
Resolution Select 2  
Resolution Select 3  
4.7k Ω  
4.7k Ω  
4.7k Ω  
4.7k Ω  
4.7k Ω  
9
10  
11  
12  
13  
14  
Reset  
+5 VDC  
1k  
An open collector output is recommended  
when interfacing with the IM481H.  
Step Clock 15  
2.2k Ω  
2.2k Ω  
4.7k Ω  
Direction  
Enable  
16  
17  
18  
19  
20  
21  
On power up, or if the Reset Input is Closed,  
the internal reset circuit will hold the input  
low for 100 to 300 milliseconds. The  
“holding” time does not begin until the Reset  
Input is Opened. (See Figure 9.)  
Figure 7  
W A R N I N G! When interfacing the FAULT IN or RESET input, an  
open collector, tri-state output, or a blocking diode is REQUIRED or  
damage may occur to internal circuits. (See Figure 8.)  
1N914 OR EQUIVALENT  
FAULT IN/RESET  
INPUT  
Circuit  
OR  
INTERFACE  
CIRCUIT  
FAULT IN /RESET  
INPUT  
Figure 8  
RESET BUTTON  
Circuit  
Open  
Circuit Open  
Closes at T=0  
+5 V  
300  
Internal Reset Hold Time  
Starts When Circuit Opens  
0
100  
200  
Milliseconds  
Figure 9  
UNIT #1  
RESET  
13  
RESET  
BUTTON  
When controlling multiple drives with a single  
Reset you must install blocking diodes at the  
input (Pin 13) of each drive. Because of the  
slight differences in Reset timing, this will  
prevent the drives from latching the Reset  
Input in the LOW state. (See Figure 10.)  
INPUT  
1N914 OR  
EQUIVALENT  
UNIT #2  
13  
13  
RESET  
INPUT  
1N914 OR  
EQUIVALENT  
UNIT #3  
RESET  
INPUT  
1N914 OR  
EQUIVALENT  
Figure 10  
18  
SECTION 15  
AUTOMATIC CURRENT REDUCTION  
Built into the IM481H is the ability to automatically reduce the current in the motor  
windings after the completion of a move. The reduction occurs approximately .5 seconds  
after the last positive going edge of the Step Clock input. The IM481H will then revert  
back to the original current setting at the next positive going edge of the Step Clock input.  
To utilize this feature, the current reference output must be used to adjust the output  
current of the IM481H and a resistor must be connected between pins 3 & 4 (see Figure  
6). The value of the resistor will determine the amount of current reduction.  
The amount of current per phase in the current reduction mode is related to the value of  
the current reference resistor and the current reduction resistor. When the current  
reduction circuit is activated, the current reduction resistor is paralleled with the current  
adjustment resistor. The parallel combination of the current reference and current  
reduction resistors determine the reduced current level. The relationship between the  
output current and the resistor's values is as follows:  
.001 x *R(Current Adjust) x R(Current Reduction)  
Output Current Reduced (Amps)=  
R(Current Adjust) + R(Current Reduction)  
OR  
Output Current Reduced x R(Current Adjust)  
R(Current Reduction) =  
.001 x R(Current Adjust) - Output Current Reduced  
NOTE: Resistor values are in ohms.  
CURRENT  
REDUCTION  
RESISTOR  
CURRENT  
ADJUSTMENT  
RESISTOR  
Figure 11  
When connecting the current reduction resistor between pins 4 and 5, the  
connections should be made as short as possible to help minimize noise  
coupled into the driver.  
NOTE:  
19  
SECTION 16  
FAULT PROTECTION  
The IM481H is internally protected against over temperature, and over current.  
The over temperature set point is between 60 and 70 °C. Care should be taken when  
choosing and installing a heat sink so that there is a good thermal conduction, otherwise  
hot spots may occur in the IM481H which will reduce the operating thermal range.  
The over current protection consists of PHASE to PHASE, and +V to PHASE.  
If an output driver in the IM481H detects an over temperature condition it will shut down  
but will not activate the fault output. Once the temperature drops to a safe operating  
temperature, the IM481H will resume operation.  
If an over current fault is detected by the IM481H, the outputs will be disabled and cannot  
be re-enabled without resetting the driver or by cycling power. At the same time the active  
high FAULT output (pin 19) is enabled.  
The FAULT IN input (pin 6) can be used to force a fault condition. When pulled low the  
signal is latched and the outputs will be disabled. The fault condition can only be cleared  
by cycling power or resetting the driver.  
SECTION 17  
THERMAL REQUIREMENTS  
The IM481H may require heat sinking to maintain a safe operating temperature. Care  
should be taken when mounting the IM481H to a heat sink with an electrically conductive  
surface that an isolating thermal pad is used.  
W A R N I N G ! Rear mounting surface of driver contains  
different voltages and must be kept isolated when attached  
to a conductive surface !  
An optional thermal pad ( Part # TI-481 ) and heat sink ( Part # H-481 ) is available  
for the IM481H  
NOTE:  
The watts dissipated by the IM481H can be calculated as follows:  
Watts Dissipated = ( 0.6 x ( Peak per Phase Output Current )2 )  
EXAMPLE: Peak per Phase Output Current = 1.4 amps  
Watts Dissipated = 1.18  
20  
SECTION 18  
OPTIONS/ACCESSORIES  
DESCRIPTION  
PART NUMBER  
Thermal Pad  
TI - 481  
Interface Board  
INT-481  
H-481  
Heat Sink ( Includes mounting hardware )  
21 Pin Right Angle Connector  
Small End Screw Driver  
HY481-CN021  
SD1  
21  
A P P E N D I X A  
R e c o m m e n d e d C a b le C o n f ig u r a t io n s :  
D C S u p p ly t o IM S D r iv e r  
Cable length, wire gauge and power conditioning devices play a major role  
in the performance of your IMS Driver and Motor.  
NOTE: The length of the DC power supply cable to the IMS Driver should  
not exceed 50 feet.  
Example A demonstrates the recommended cable configuration for DC  
power supply cabling under 50 feet long. If cabling of 50 feet or longer is  
required, the additional length may be gained by adding an AC power  
supply cable (see Examples B & C).  
Correct AWG wire size is determined by the current requirement plus cable  
length. Please see the IMS Driver Supply Cable AWG Table in this  
Appendix.  
Exa m p le  
A
Ca b lin g Un d e r 5 0 Fe e t , DC P o we r  
To IMS Driver  
-
π Type RFI Filter  
Required Current  
Ferrite  
Beads  
Shielded Twisted Pair  
(Wire Size from  
IMS Driver Supply Cable AWG Table)  
Cable Length  
less than 50 Feet  
DC Voltage from  
Power Supply  
Shield to Earth Ground  
on Supply End Only  
-
500 µf  
Per Amp  
22  
Exa m p le  
B
Ca b lin g 5 0 Fe e t o r Gr e a t e r ,  
AC P o we r t o Fu ll W a ve Br id g e  
NOTE:  
To Cable A  
Connect the cable illustrated  
in Example A to the output of  
the Full Wave Bridge  
-
Full Wave Bridge  
Cable Length  
as required  
Shielded Twisted Pair  
(Wire Size from  
IMS Driver Supply Cable AWG Table)  
π Type RFI Filter  
Required Current  
Shield to Earth Ground  
on Supply End Only  
Transformer :  
0 to 28 VAC RMS  
for 48 VDC Systems  
20 to 48 VAC RMS  
for 75 VDC Systems  
23  
Exa m p le  
C
Ca b lin g 5 0 Fe e t o r Gr e a t e r ,  
AC P o we r t o P o we r S u p p ly  
DC Volts Out  
NOTE:  
To Cable A  
Connect the cable illustrated  
in Example A to the output of  
the Power Supply  
-
Power Supply  
Cable Length  
as required  
Shielded Twisted Pair  
(Wire Size from  
IMS Driver Supply Cable AWG Table)  
π Type RFI Filter  
Required Current  
Shield to Earth Ground  
on Supply End Only  
120 or 240 VAC  
Dependent on  
Power Supply  
24  
NOTE: These recommendations will provide optimal  
protection against EMI and RFI. The actual cable type,  
wire gauge, shield type and filtering devices used are dependent  
on the customer’s application and system.  
IMS Driver Supply Cable AWG Table  
1 Ampere (Peak)  
Length (Feet) 10 25 50* 75* 100*  
Minimum AWG 20 20 18 18 16  
2 Amperes (Peak)  
Length (Feet)  
10 25 50* 75* 100*  
Minimum AWG 20 18 16 14 14  
3 Amperes (Peak)  
Length (Feet)  
10 25 50* 75* 100*  
Minimum AWG 18 16 14 12 12  
4 Amperes (Peak)  
Length (Feet)  
10 25 50* 75* 100*  
Minimum AWG 18 16 14 12 12  
* Use the alternative methods innustrated in  
Examples B and C when the cable length is  
50  
feet. Also, use the same current rating when the  
alternate AC power is used.  
Driver Supply Cable Wire Size  
NOTE: Always use Shielded/Twisted Pairs for the IMS Driver  
DC Supply Cable, the AC Supply Cable and the IMS Driver to  
Motor Cable.  
25  
R e c o m m e n d e d C a b le C o n f ig u r a t io n s :  
IM S D r iv e r t o M o t o r  
Cable length, wire gauge and power conditioning devices play a major role  
in the performance of your IMS Driver and Motor.  
NOTE: The length of the DC power supply cable between the IMS Driver  
and the Motor should not exceed 50 feet.  
Example A demonstrates the recommended cable configuration for the IMS  
Driver to Motor cabling under 50 Feet long. If cabling of 50 feet or longer is  
required, the additional length can be gained with the cable configuration in  
Example B.  
Correct AWG wire size is determined by the current requirement plus cable  
length. Please see the IMS Driver to Motor Cable AWG Table in this Appendix.  
Exa m p le  
A
-
Ca b lin g Un d e r 5 0 Fe e t ,  
IM S Dr ive r t o M o t o r  
Phase A  
Phase A  
Phase B  
Phase B  
Ferrite  
Beads  
Cable Length  
less than 50 Feet  
Two Shielded/Twisted Pairs  
(Wire Size from  
IMS Driver to Motor Cable AWG Table)  
Phase A  
Phase A  
Phase B  
Phase B  
Shield to Earth Ground  
on Supply End Only  
26  
Exa m p le  
B
- Ca b lin g 5 0 Fe e t o r Gr e a t e r ,  
IM S Dr ive r t o M o t o r  
Phase A  
Phase A  
Phase B  
Phase B  
Ferrite  
Beads  
Cable Length  
50 Feet or greater  
Two Shielded/Twisted Pairs  
(Wire Size from  
IMS Driver to Motor Cable AWG Table)  
Phase A  
Phase A  
Shield to Earth Ground  
on Supply End Only  
Common Mode  
Line Filters (2x)  
Phase B  
Phase B  
*L 0.5 MH  
* 0.5 MH is a typical starting point for the  
Common Mode Line Filters. By increasing  
or decreasing the value of L you can set the  
drain current to a minimum to meet your requirements.  
27  
IMS Driver to Motor Cable AWG Table  
1 Ampere (Peak)  
5 Amperes (Peak)  
Length (Feet) 10 25 50* 75* 100*  
Minimum AWG 20 20 18 18 16  
Length (Feet) 10 25 50* 75* 100*  
Minimum AWG 16 16 14 12 12  
2 Amperes (Peak)  
6 Amperess (Peak)  
Length (Feet) 10 25 50* 75* 100*  
Minimum AWG 20 18 16 14 14  
Length (Feet) 10 25 50* 75* 100*  
Minimum AWG 14 14 14 12 12  
3 Amperes (Peak)  
7 Amperess (Peak)  
Length (Feet) 10 25 50* 75* 100*  
Minimum AWG 18 16 14 12 12  
Length (Feet) 10 25 50* 75* 100*  
Minimum AWG 12 12 12 12 12  
4 Amperes (Peak)  
* Use the alternate method illustrated in Example B  
Length (Feet) 10 25 50* 75* 100*  
Minimum AWG 18 16 14 12 12  
when cable length is  
50 feet.  
Driver to Motor Supply Cable Wire Size  
NOTE: These recommendations will provide optimal  
protection against EMI and RFI. The actual cable type,  
wire gauge, shield type and filtering devices used are dependent on  
the customer’s application and system.  
NOTE: Always use Shielded/Twisted Pairs for the IMS Driver  
DC Supply Cable, the AC Supply Cable and the IMS Driver to  
Motor Cable.  
28  
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WARRANTY  
TWENTY-FOUR (24) MONTH LIMITED WARRANTY  
Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product  
from IMS (the “Customer”) that the product purchased from IMS (the “Product”) will be free  
from defects in materials and workmanship under the normal use and service for which the  
Product was designed for a period of 24 months from the date of purchase of the Product by  
the Customer. Customer’s exclusive remedy under this Limited Warranty shall be the repair  
or replacement, at Company’s sole option, of the Product, or any part of the Product,  
determined by IMS to be defective. In order to exercise its warranty rights, Customer must  
notify Company in accordance with the instructions described under the heading “Obtaining  
Warranty Service.”  
This Limited Warranty does not extend to any Product damaged by reason of alteration,  
accident, abuse, neglect or misuse or improper or inadequate handling; improper or  
inadequate wiring utilized or installed in connection with the Product; installation, operation  
or use of the Product not made in strict accordance with the specifications and written  
instructions provided by IMS; use of the Product for any purpose other than those for which  
it was designed; ordinary wear and tear; disasters or Acts of God; unauthorized attachments,  
alterations or modifications to the Product; the misuse or failure of any item or equipment  
connected to the Product not supplied by IMS; improper maintenance or repair of the Product;  
or any other reason or event not caused by IMS.  
IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR  
ORAL, EXPRESS OR IMPLIED BY LAW OR OTHERWISE, INCLUDING WITHOUT  
LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY  
PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE  
PRODUCT WILL BE AS STATED ABOVE, AND IN NO EVENT WILL THE IMS BE LIABLE  
FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES IN  
CONNECTION WITH THE PRODUCT.  
This Limited Warranty shall be void if the Customer fails to comply with all of the terms set  
forth in this Limited Warranty. This Limited Warranty is the sole warranty offered by IMS with  
respect to the Product. IMS does not assume any other liability in connection with the sale of  
the Product. No representative of IMS is authorized to extend this Limited Warranty or to  
change it in any manner whatsoever. No warranty applies to any party other than the original  
Customer.  
IMS and its directors, officers, employees, subsidiaries and affiliates shall not be liable for  
any damages arising from any loss of equipment, loss or distortion of data, loss of time, loss  
or destruction of software or other property, loss of production or profits, overhead costs,  
claims of third parties, labor or materials, penalties or liquidated damages or punitive damages,  
whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict  
liability or any other legal theory, or other losses or expenses incurred by the Customer or  
any third party.  
OBTAINING WARRANTY SERVICE  
Warranty service may obtained by a distributor, if the Product was purchased from IMS by  
a distributor, or by the Customer directly from IMS, if the Product was purchased directly  
from IMS. Prior to returning the Product for service, a Returned Material Authorization (RMA)  
which an RMA Authorization Form with RMA number will then be faxed to you. Any questions,  
contact IMS Customer Service (860) 295-6102.  
Include a copy of the RMA Authorization Form, contact name and address, and any  
additional notes regarding the Product failure with shipment. Return Product in its original  
packaging, or packaged so it is protected against electrostatic discharge or physical damage  
in transit. The RMA number MUST appear on the box or packing slip. Send Product to:  
Intelligent Motion Systems, Inc., 370 N. Main Street, Marlborough, CT 06447.  
Customer shall prepay shipping changes for Products returned to IMS for warranty service  
and IMS shall pay for return of Products to Customer by ground transportation. However,  
Customer shall pay all shipping charges, duties and taxes for Products returned to IMS from  
outside the United States.  
P.O. Box 457, 370 North Main Street  
Marlborough, CT 06447 U.S.A.  
Phone: 860/295-6102  
Fax: 860/295-6107  
IMS EUROPE GmbH  
Hahnstrasse 10, VS-Schwenningen  
Germany D-78054  
Phone: +49/7720/94138-0  
Fax: +49/7720/94138-2  
European Sales Management  
4 Quai Des Etroits  
TECHNICAL SUPPORT  
Eastern U.S.  
Phone: 860/295-6102  
Fax: 860/295-6107  
Western U.S.  
Phone: 760/966-3162  
Fax: 760/966-3165  
69005 Lyon, France  
Phone: +33/4 7256 5113  
Fax: +33/4 7838 1537  
German Sales/Technical Support  
Phone: +49/35205/4587-8  
Fax: +49/35205/4587-9  
IMS MOTORS DIVISION  
105 Copperwood Way, Suite H  
Oceanside, CA 92054  
Phone: 760/966-3162  
Fax: 760/966-3165  
IM481H Operating Instructions  
Revision 051205  

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