Intelligent Motion Systems MDrive17 Plus, Plus2, Plus2-65, CANopen, MDrive23 Plus, Plus2, Plus2-65, CANopen Motion Control Hardware Reference
Oglas
Oglas
Excellence in Motion
TM
17
TM
MOTION CONTROL
Hardware
Reference
23
TM
www.imshome.com
MDrive34Plus Motion Control Hardware Reference Change Log
Date Revision Changes
05/04/2006
05/25/2006
R050406
R052506
Removed Ambient Temperature Specification
Replaced USB to RS-422 Communications Cable driver installation instructions in Appendix F with instructions relevant to Windows XP Service Pack 2.
07/28/2006 R072806 Minor corrections throughout. Added connector orientation drawings to each pinout diagram. Added new prototype development cable wire color charts and diagrams.
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 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 application or use of any product or circuit described herein; neither does it convey any license under its patent rights of others. Intelligent Motion Systems and are trademarks of Intelligent Motion Systems, Inc.
Intelligent Motion Systems, Inc.’s general policy does not recommend the use 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 Motion
Systems, Inc.’s terms and conditions of sales, the user of Intelligent Motion Systems, Inc., products in life support or aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems, Inc., against all damages.
MDrivePlus Motion Control Hardware Reference Revision R072506
Copyright © 2006 Intelligent Motion Systems, Inc., All Rights Reserved
Contents
Getting Started - MDrivePlus Motion Control ..................................................................................1-1
Before You Begin ....................................................................................................................... 1-1
Tools and Equipment Required ................................................................................................. 1-1
Connecting the Power Supply ................................................................................................... 1-1
Connecting Communications ................................................................................................... 1-1
Install IMS Terminal Software ................................................................................................... 1-1
Establishing Communications ................................................................................................... 1-2
Apply Power to the MDrivePlus Motion Control ...................................................................... 1-3
Testing the MDrivePlus Motion Control ................................................................................... 1-3
Make the MDrivePlus Motion Control Move ........................................................................... 1-3
Motion Control Example Using Program Mode ........................................................................ 1-4
Programming Notes .................................................................................................................. 1-4
Part 1: Hardware Specifications
Section 1.1: MDrive17Plus Motion Control Product Introduction ....................................................1-6
Introduction to the MDrive17Plus Motion Control System ...................................................... 1-6
Standard Feature Summary ....................................................................................................... 1-6
The MDrive17Plus Motion Control Key Differences and Enhanced Features ........................... 1-7
Section 1.2: MDrive17Plus Detailed Specifications ..........................................................................1-8
Standard Electrical Specifications .............................................................................................. 1-8
Thermal Specifications .............................................................................................................. 1-8
Standard Motion Specifications ................................................................................................. 1-8
Software Specifications .............................................................................................................. 1-9
Motor Specifications ................................................................................................................. 1-9
Mechanical Specifications ........................................................................................................ 1-10
Pin/Wire Assignments ............................................................................................................. 1-10
P1 Connector - I/O and Power Connections .......................................................................... 1-10
P2 Connector - RS-422/485 Communications ...................................................................... 1-11
Options and Accessories .......................................................................................................... 1-11
Section 1.3: MDrive17Plus2 Detailed Specifications .......................................................................1-12
Standard Electrical Specifications ............................................................................................ 1-12
Enhanced Electrical Specifications ........................................................................................... 1-12
Thermal Specifications ............................................................................................................ 1-12
Standard Motion Specifications ............................................................................................... 1-13
Enhanced Motion Specifications ............................................................................................. 1-13
Software Specifications ............................................................................................................ 1-13
Motor Specifications ............................................................................................................... 1-14
Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-14
Pin/Wire Assignments ............................................................................................................. 1-15
P1 Connector - I/O and Power Connections .......................................................................... 1-15
P2 Connector - RS-422/485 Communications ...................................................................... 1-15
Options and Accessories .......................................................................................................... 1-16
Section 1.4: MDrive17Plus2-65 Detailed Specifications ..................................................................1-17
Standard Electrical Specifications ............................................................................................ 1-17
Enhanced Electrical Specifications ........................................................................................... 1-17
Thermal Specifications ............................................................................................................ 1-17
Standard Motion Specifications ............................................................................................... 1-18
Enhanced Motion Specifications ............................................................................................. 1-18
Software Specifications ............................................................................................................ 1-18
Motor Specifications ............................................................................................................... 1-19
Mechanical Specifications ........................................................................................................ 1-19
P1 Connector - I/O and Power Connections .......................................................................... 1-20
P2 Connector - RS-422/485 Communications ...................................................................... 1-20
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Pin/Wire Assignments ............................................................................................................. 1-20
Options and Accessories .......................................................................................................... 1-21
Section 1.5: MDrive23Plus Motion Control Product Introduction ..................................................1-22
Introduction to the MDrive23Plus Motion Control System .................................................... 1-22
Standard Feature Summary ..................................................................................................... 1-22
The MDrive23Plus Motion Control Key Differences and Enhanced Features ......................... 1-23
Section 1.6: MDrive23Plus Detailed Specifications .........................................................................1-24
Standard Electrical Specifications ............................................................................................ 1-24
Thermal Specifications ............................................................................................................ 1-24
Software Specifications ............................................................................................................ 1-25
Motor Specifications ............................................................................................................... 1-25
Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-26
Pin/Wire Assignments ............................................................................................................. 1-26
P1 Connector - I/O and Power Connections .......................................................................... 1-26
P2 Connector - RS-422/485 Communications ...................................................................... 1-27
Options and Accessories .......................................................................................................... 1-27
Section 1.7: MDrive23Plus2 Detailed Specifications .......................................................................1-28
Standard Electrical Specifications ............................................................................................ 1-28
Enhanced Electrical Specifications ........................................................................................... 1-28
Thermal Specifications ............................................................................................................ 1-28
Standard Motion Specifications ............................................................................................... 1-29
Enhanced Motion Specifications ............................................................................................. 1-29
Software Specifications ............................................................................................................ 1-29
Motor Specifications ............................................................................................................... 1-30
Mechanical Specifications ........................................................................................................ 1-30
Pin/Wire Assignments ............................................................................................................. 1-31
P1 Connector - I/O and Power Connections .......................................................................... 1-31
P2 Connector - RS-422/485 Communications ...................................................................... 1-31
Options and Accessories .......................................................................................................... 1-32
Section 1.8: MDrive23Plus2-65 Detailed Specifications ..................................................................1-33
Standard Electrical Specifications ............................................................................................ 1-33
Enhanced Electrical Specifications ........................................................................................... 1-33
Thermal Specifications ............................................................................................................ 1-33
Standard Motion Specifications ............................................................................................... 1-34
Enhanced Motion Specifications ............................................................................................. 1-34
Software Specifications ............................................................................................................ 1-34
Motor Specifications ............................................................................................................... 1-35
Mechanical Specifications ........................................................................................................ 1-35
Pin/Wire Assignments ............................................................................................................. 1-36
P1 Connector - I/O and Power Connections .......................................................................... 1-36
P2 Connector - RS-422/485 Communications ...................................................................... 1-36
Options and Accessories .......................................................................................................... 1-37
Section 1.9: MDrive17Plus CANopen ..............................................................................................1-38
Standard Electrical Specifications ............................................................................................ 1-38
Thermal Specifications ............................................................................................................ 1-38
Motor Specifications ............................................................................................................... 1-38
Mechanical Specifications (Non-Sealed Versions) .................................................................... 1-39
P1 Connector - I/O and Power Connections - Plus Versions ................................................... 1-39
P1 Connector - I/O and Power Connections - Plus
2
Versions .................................................. 1-40
P2 Connector - CANopen Communications........................................................................... 1-40
Mechanical Specifications (Sealed -65 Version)Dimensions in Inches (mm) ............................ 1-41
Pin/Wire Assignments ............................................................................................................. 1-41
P1 Connector - I/O and Power Connections .......................................................................... 1-41
P2 Connector - CANOpen Communications ......................................................................... 1-42
Section 1.10: MDrive23Plus CANopen ............................................................................................1-43
Standard Electrical Specifications ............................................................................................ 1-43
Thermal Specifications ............................................................................................................ 1-43
Motor Specifications ............................................................................................................... 1-43
Mechanical SpecificationsDimensions ..................................................................................... 1-44
P1 Connector - I/O and Power Connections - Plus Versions ................................................... 1-44
P1 Connector - I/O and Power Connections - Plus 2 Versions .................................................. 1-45
P2 Connector - CANOpen Communications ......................................................................... 1-45
Mechanical Specifications (Sealed -65 Version) ........................................................................ 1-46
P1 Connector - I/O and Power Connections ........................................................................... 1-46
P2 Connector - CANopen Communications........................................................................... 1-47
Part 2: Connecting and Interfacing
Section 2.1: MDrivePlus Mounting and Connection Recommendations ...........................................2-3
Mounting Recommendations .................................................................................................... 2-3
MDrive23Plus Microstepping ................................................................................................. 2-3
DC Power Recommendations ................................................................................................... 2-3
MDrive17Plus Motion Control .............................................................................................. 2-3
MDrive23Plus Motion Control .............................................................................................. 2-3
Layout and Interface Guidelines ................................................................................................ 2-3
Recommended Wiring ............................................................................................................ 2-4
Recommended Mating Connectors and Pins ............................................................................. 2-4
Securing Power Leads and Logic Leads .................................................................................... 2-4
Section 2.2: Interfacing MDrivePlus Communications .....................................................................2-5
Available Communications Cables/Converters .......................................................................... 2-5
Interfacing Single Mode Communications ................................................................................ 2-5
Single Mode Communications Full Duplex (RS-422) ...........................................................................2-5
Single Mode Communications Half Duplex (RS-485) .............................................................. 2-6
Interfacing Party Mode Communications .................................................................................. 2-6
Data Cable Termination Resistors ........................................................................................... 2-7
MDrivePlus Motion Control Communication Format ............................................................. 2-7
MDrivePlus Motion Control (MDI) Response to Echo Mode .................................................... 2-7
Using Check Sum................................................................................................................... 2-9
MDrivePlus Motion Control Party Mode Sample Codes ......................................................... 2-10
MDrivePlus Motion Control Immediate Party Mode Sample Codes ........................................ 2-11
Section 2.3: Interfacing and Using the MDrivePlus Motion Control I/O .........................................2-12
The MDrivePlus Motion Control Digital I/O ......................................................................... 2-12
Standard I/O Set - All MDrivePlus Motion Control Models ................................................... 2-12
Enhanced I/O Set - MDrivePlus2/Plus2-65 ........................................................................... 2-12
Uses of the Digital I/O ............................................................................................................ 2-12
MDrivePlus Motion Control Digital Input Functions ............................................................. 2-13
Programmable Input Functions ............................................................................................. 2-13
Dedicated Input Functions ................................................................................................... 2-13
Active States Defined ............................................................................................................ 2-13
MDrivePlus Motion Control Digital Output Functions .......................................................... 2-14
Programmable Output Functions .......................................................................................... 2-14
Dedicated Output Functions ................................................................................................. 2-14
MDrivePlus Motion Control I/O Ratings ............................................................................... 2-15
MDrivePlus Motion Control I/O Connection Map ................................................................ 2-15
I/O Usage Examples — MDrivePlus Standard I/O Set ............................................................ 2-16
Input Interface Example - Switch Input Example (Sinking Input) ........................................... 2-16
Input Interface Example - Switch Input Example (Sourcing Input) ......................................... 2-17
Output Interface Example (Sinking Output) ......................................................................... 2-18
General Purpose I/O Usage Examples — Enhanced I/O Set ................................................... 2-19
Input Interface Example - Switch Input Example (Sinking Input) ........................................... 2-19
Input Interface Example - Switch Input Example (Sourcing Input) ......................................... 2-20
Output Interface Example (Sinking Output) ......................................................................... 2-21
Output Interface Example (Sourcing Output) ........................................................................ 2-22
Dedicated Digital I/O - Enhanced I/O Set .............................................................................. 2-23
Step/Direction/Clock I/O ...................................................................................................... 2-23
Capture/Trip ....................................................................................................................... 2-23
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Interfacing the Analog Input ................................................................................................... 2-24
Sample Usage ...................................................................................................................... 2-24
Appendices
Appendix A: MDrivePlus Motion Control Motor Performance ......................................................... A-3
MDrive17Plus Speed-Torque ....................................................................................................A-3
MDrive17Plus Motor Specifications ..........................................................................................A-3
MDrive23Plus Motor Specifications ..........................................................................................A-3
Appendix B: Recommended Power and Cable Configurations .......................................................... A-4
Example A – Cabling Under 50 Feet, DC Power .......................................................................A-4
Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge ..................................A-4
Example C – Cabling 50 Feet or Greater, AC Power to Power Supply .......................................A-4
Recommended IMS Power Supplies ..........................................................................................A-5
Recommended Power Supply Cabling .......................................................................................A-5
Appendix C: MDrive with Planetary Gearbox .................................................................................. A-6
Section Overview ......................................................................................................................A-6
Product Overview .....................................................................................................................A-6
Selecting a Planetary Gearbox....................................................................................................A-6
Calculating the Shock Load Output Torque (TAB) ..................................................................A-7
System Inertia .........................................................................................................................A-10
Planetary Gearbox Inertia ........................................................................................................A-14
MDrive17Plus with Planetary Gearbox ...................................................................................A-15
MDrive23Plus with Planetary Gearbox ...................................................................................A-16
Appendix D: I/O Application Guide ............................................................................................... A-17
Standard I/O Set Interfacing and Application ..........................................................................A-17
NPN Sinking Input .............................................................................................................A-17
PNP Sourcing Input ............................................................................................................A-18
Sinking Output ...................................................................................................................A-19
Mixed Input/Output Example ..............................................................................................A-19
Enhanced I/O Set Interfacing and Application ........................................................................A-20
NPN Sinking Input .............................................................................................................A-20
PNP Sourcing Input ............................................................................................................A-20
Sourcing Output ..................................................................................................................A-21
Mixed Input/Output Example ..............................................................................................A-22
Interfacing Inputs as a Group Example....................................................................................A-22
Interfacing Outputs as a Group Example.................................................................................A-23
Appendix E: MDrivePlus Motion Control Closed Loop Control ...................................................... A-24
MDrive Motion Control Closed Loop Options .......................................................................A-24
Internal Encoder ..................................................................................................................A-24
Remote Encoder ...................................................................................................................A-24
Appendix F: Optional Cables and Cordsets ..................................................................................... A-25
Communications Converter Cables .........................................................................................A-25
USB to 10-Pin IDC (MD-CC400-000) ...............................................................................A-25
USB to 5-Pin M12 (MD-CC401-000) (Sealed Version) ........................................................A-26
Installation Procedure for the MX-CC40x-000 .......................................................................A-27
Installing the Cable/VCP Drivers ..........................................................................................A-27
Determining the Virtual COM Port (VCP) ...........................................................................A-29
Prototype Development Cable PD10-1434-FL3 (All MDrivePlus Motion Control) ...............A-29
Prototype Development Cable for MDrive17Plus2 - PN PD16-1417-FL3 .............................A-31
Prototype Development Cable for MDrive23Plus2 - PN PD02-2300-FL3 .............................A-32
Prototype Development Cable for MDrive23Plus2 - PN PD14-2334-FL3 .............................A-32
Cordsets (Sealed Version Only) ...............................................................................................A-33
List of Figures
Figure GS.1: IMS Terminal Main Screen ................................................................................... 1-2
Figure GS.2: IMS Terminal Prefrences Dialog ........................................................................... 1-2
Figure GS.3: MDrivePlus Motion Control Sign-On Message .................................................... 1-3
Figure GS.4: Download the Program ........................................................................................ 1-4
Part 1: Hardware Specifications
Figure 1.1.1: MDrive17Plus ...................................................................................................... 1-6
Figure 1.1.2: MDrive17Plus 2 -65 ............................................................................................... 1-6
Figure 1.2.1: MDrive17Plus Mechanical Specifications ........................................................... 1-10
Figure 1.2.2: P1 Connector - I/O and Power ........................................................................... 1-10
Figure 1.2.3: P2 Connector - RS-422/485 Communications ................................................... 1-11
Figure 1.3.1: MDrive17Plus2 Mechanical Specifications ......................................................... 1-14
Figure 1.3.2: P1 Connector, Power and I/O ............................................................................ 1-15
Figure 1.3.3: P2 Connector - RS-422/485 Communications ................................................... 1-15
Figure 1.4.1: MDrive17Plus2-65 Motion Control ................................................................... 1-19
Figure 1.4.2: P1 19-Pin M23 (male) ....................................................................................... 1-20
Figure 1.4.3: P2 5-Pin M12 (Female) RS-422/485 Communications Connector .................... 1-20
Figure 1.5.1: MDrive23Plus .................................................................................................... 1-22
Figure 1.5.2: MDrive23Plus 2 -65 ............................................................................................. 1-22
Figure 1.6.1: MDrive23Plus Mechanical Specifications ........................................................... 1-26
Figure 1.6.2: P1 Connector, I/O and Power Connections........................................................ 1-26
Figure 1.6.3: P2 Connector - RS-422/485 Communications ................................................... 1-27
Figure 1.7.1: MDrive23Plus2 Mechanical Specifications ......................................................... 1-30
Figure 1.7.2: P1 14-Pin Wire Crimp ....................................................................................... 1-31
Figure 1.7.3: P2 Connector - RS-422/485 Communications ................................................... 1-31
Figure 1.8.1: MDrive23Plus2-65 Motion Control ................................................................... 1-35
Figure 1.8.2: P1 19-Pin M23 (male) ....................................................................................... 1-36
Figure 1.8.3: P2 5-Pin M12 (Female) RS-422/485 Communications Connector .................... 1-36
Figure 1.9.1: MDrive17Plus Motion Control CANopen Mechanical Specifications ................ 1-39
Figure 1.9.2: P1 Connector - I/O and Power ........................................................................... 1-39
Figure 1.9.3: P1 16-Pin Wire Crimp ....................................................................................... 1-40
Figure 1.9.4: P2- DB-9 CANopen Communications ............................................................... 1-40
Figure 1.9.5: CANOpen Network using MDrivePlus Motion Control .................................... 1-40
Figure 1.9.6: MDrive17Plus2-65 Motion Control ................................................................... 1-41
Figure 1.9.7: MDrive17Plus 2 -65 P1 19-Pin M23 Connector .................................................. 1-41
Figure 1.9.8: P2 5-Pin M12 (Male) CAN Open Communications Connector ........................ 1-42
Figure 1.10.1: MDrive23Plus2 Mechanical Specifications ....................................................... 1-44
Figure 1.10.2: P1 Connector, I/O and Power Connections...................................................... 1-44
Figure 1.10.3: P1 14-Pin Wire Crimp ..................................................................................... 1-45
Figure 1.10.4: P2- DB-9 CANopen Communications ............................................................. 1-45
Figure 1.10.5: MDrive23Plus2-65 Motion Control ................................................................. 1-46
Figure 1.10.7: P2 5-Pin M12 (Male) CAN Open Communications Connector ...................... 1-47
Figure 1.10.8: CANOpen Network using MDrivePlus Motion Control .................................. 1-47
Part 2: Connecting and Interfacing
Figure 2.1.1: MDrive17Plus Mounting Screw Depth ................................................................ 2-3
Figure 2.1.2: MDrive23Plus Motion Control Current Requirements ........................................ 2-3
Figure 2.1.3: MDrive Motion Control Power Connections ....................................................... 2-4
Figure 2.1.4: Typical MDrive Shown with Leads Secured .......................................................... 2-4
Figure 2.2.1: Full Duplex Communications (RS-422) ............................................................... 2-5
Figure 2.2.2: Half Duplex 2 Wire Communications (RS-485) .................................................. 2-6
Figure 2.2.3: RS-485 Interface, Multiple MDrivePlus Motion Control System ......................... 2-7
Figure 2.3.1: Uses for the Digital I/O ...................................................................................... 2-12
Figure 2.3.2: I/O Connection Map ......................................................................................... 2-15
Figure 2.3.3: Sinking Input Example using a Push Button Switch ........................................... 2-16
Figure 2.3.4: Sourcing Input Example using a Push Button Switch ......................................... 2-17
Figure 2.3.5: Sinking Output Example .................................................................................... 2-18
Figure 2.3.6: Switch Interface to Input, Sinking ...................................................................... 2-19
Figure 2.3.7 Sourcing Input Example using a Push Button Switch .......................................... 2-20
Figure 2.3.8: Sinking Output Example .................................................................................... 2-21
Figure 2.3.9: Sourcing Output Example .................................................................................. 2-22
Figure 2.3.10: MDrivePlus Motion Control Clock Functions ................................................. 2-23 v
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Figure 2.3.11: Analog Input - Voltage Mode ........................................................................... 2-24
Figure 2.3.12: Analog Input - Current Mode .......................................................................... 2-25
Appendices
Figure A.1: MDrive17Plus Motion Control Speed-Torque Curves ............................................A-3
Figure A.2: MDrive23Plus Motion Control Speed-Torque Curves ............................................A-3
Figure B.1: DC Cabling - Under 50 Feet ...................................................................................A-4
Figure B.2: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier ......................A-4
Figure B.3: AC Cabling - 50 Feet or Greater - AC To Power Supply ..........................................A-4
Figure C.1: MDrive23 Torque-Speed Curve ..............................................................................A-8
Figure C.2: Lead Screw System Inertia Considerations ............................................................A-10
Figure C.3: Rack and Pinion System Inertia Considerations ....................................................A-11
Figure C.4: Conveyor System Inertia Considerations ..............................................................A-11
Figure C.5: Rotary Table System Inertia Considerations ..........................................................A-12
Figure C.6: Chain Drive System Inertia Considerations ..........................................................A-13
Figure C.7: Planetary Gearbox Specifications for MDrive17Plus .............................................A-15
Figure C.8: Planetary Gearbox Specifications for MDrive23Plus .............................................A-16
Figure D.1: NPN Interface to an MDI Sinking Input .............................................................A-17
Figure D.2: PNP Interface to a Sourcing Input .......................................................................A-18
Figure D.3: Sinking Output to Relay ......................................................................................A-19
Figure D.4: Mixed Output Example- Standard I/O Set ...........................................................A-19
Figure D.5: NPN Sinking Input on an MDrivePlus2 Motion Control ...................................A-20
Figure D.6: PNP Sourcing Input on an MDrivePlus2 Motion Control ...................................A-20
Figure D.7: Sourcing Output to Sourcing Input ......................................................................A-21
Figure D.8: Mixed Input/Output Example - Enhanced I/O ....................................................A-22
Figure D.9: TTL Interface to an Input Group .........................................................................A-22
Figure D.10: Outputs Interfaced to LED’s as a Group .............................................................A-23
Figure E.1: Connecting a Remote Encoder ..............................................................................A-24
Figure F.1: MD-CC400-000 ...................................................................................................A-25
Figure F.2: MD-CC400-000 Mechanical Specifications ..........................................................A-25
Figure F.3: Typical Communications Interface ........................................................................A-26
Figure F.4: MD-CC401-000 ...................................................................................................A-26
Figure F.5: MD-CC401-000 Mechanical Specifications ..........................................................A-27
Figure F.6: Typical Communications Interface ........................................................................A-27
Figure F.7: Hardware Update Wizard ......................................................................................A-27
Figure F.8: Hardware Update Wizard Screen 2 ........................................................................A-28
Figure F.9: Hardware Update Wizard Screen 3 ........................................................................A-28
Figure F.10: Windows Logo Compatibility Testing ..................................................................A-28
Figure F.11: Hardware Update Wizard Finish Installation .......................................................A-28
Figure F.12: Hardware Properties.............................................................................................A-29
Figure F.13: Windows Device Manager ...................................................................................A-29
Figure F.14: PD10-1434-FL3 ..................................................................................................A-30
Figure F.15: Prototype Development Cable PD16-1417-FL3 Mechanical Specifications .........A-31
Figure F.16: Prototype Development Cable PD16-1417-FL3 ..................................................A-31
Figure F.17: PD02-2300-FL3 ..................................................................................................A-32
Figure F.18: PD02-2300-FL3 ..................................................................................................A-32
Figure F.19: MD-CS10x-000 ..................................................................................................A-33
List Of tables
Part 2: Connecting and Interfacing
Table 2.2.1: MDI Response to Echo Mode - Party and Check Sum are Zero (0) ....................... 2-8
Table 2.2.2: MDI Response to Echo Mode - Party is One (1) and Check Sum is Zero (0) ....... 2-8
Table 2.2.3: MDI Response to Echo Mode - Party is Zero (0) and Check Sum is One (1) ....... 2-8
Table 2.2.4: MDI Response to Echo Mode - Party and Check Sum are One (1) ....................... 2-9
Table 2.3.1: Programmable Input Functions............................................................................ 2-13
Table 2.3.2: Dedicated Input Functions .................................................................................. 2-13
Table 2.3.3: Programmable Output Functions ........................................................................ 2-14
Table 2.3.4: Dedicated Output Functions ............................................................................... 2-14
Table 2.3.5: MDrivePlus Motion Control I/O and Protection Ratings .................................... 2-15
Appendices
Table B.1: Recommended Supply Cables ..................................................................................A-5
Table C1: Planetary Gearbox Operating Factor .........................................................................A-9
Table C2: Planetary Gearbox Inertia Moments ........................................................................A-14
Table D.1: Output Bit Weight Examples - Outputs set as a group ...........................................A-23
Table F.1: MD-CC400-000 Electrical Specifications ...............................................................A-25
Table F.2: MD-CC401-000 Electrical Specifications ...............................................................A-26
Table F.3: PD10-1434-FL3 Wire Color Codes ................................................................................
Table F.4: PD16-1417-FL3 Wire Color Codes ........................................................................A-31
Table F.5: PD16-1417-FL3 Wire Color Codes ........................................................................A-32
Table F.6: MD-CS10x-000 Wire Color Chart .........................................................................A-33 vii
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Getting Started
Getting Started - MDrivePlus Motion Control
Before You Begin
The Quick Start guide is designed to help get you connected and communicating with the MDrivePlus Motion Control. The following examples will help you get the motor turning for the fist time and introduce you to Immediate and Program modes of operation.
Tools and Equipment Required
• MDrivePlus Motion Control Unit
• Communications Converter Cable or equivalent (USB to RS-422)
• MDrivePlus Product CD or Internet access to www.imshome.com
• An Unregulated Power Supply (See specifications for your exact MDrivePlus Motion Control and required voltage.)
• Basic Tools: Wire Cutters / Strippers / Screwdriver
• Wire for Power Supply (See specifications for your exact MDrivePlus Motion Control.)
• A PC with Windows 9x, Windows 2000, Windows XP Service Pack 2
• 10 MB hard drive space
• A free serial communications port
Connecting the Power Supply
Using the recommended wire (see the specifications for your MDrivePlus Motion Control), connect the DC output of the power supply to the +V input of the connector appropriate for your MDrivePlus model.
Connect the power supply ground to the Power Ground pin appropriate for your MDrivePlus.
Connecting Communications
Connect the Host PC to the MDrivePlus Motion Control using the IMS Communications Converter Cable or equivalent.
Install IMS Terminal Software
1. Insert the MDrive CD into the CD Drive of your PC.
If not available, go to http://www.imshome.com/software_interfaces.html.
2. The CD will autostart.
3. Click the Software Button in the top-right navigation Area.
4. Click the IMS Terminal link appropriate to your operating system.
5. Click SETUP in the Setup dialog box and follow the on-screen instructions.
6. Once IMS Terminal is installed, the Communications Settings can be checked and/or set.
WARNING! Please ensure that you read the sections of the product manual pertaining to the MDrivePlus model you purchased in their entirety prior to placing the unit into full operation.
Part 1: Hardware Specifications
1-1
W A R N I N G :
Do not connect or disconnect
DC input to the
MDrivePlus with power applied! Disconnect the AC power side to power down the DC Supply.
For battery operated systems, conditioning measures should be taken to prevent device damage caused by in-rush current draws, transient arcs and high voltage spikes.
Establishing Communications
1. Open IMS Terminal by clicking Start>Programs>IMS Terminal>IMS Term. The Program Edit
Window (left) and Terminal Window (right) will be displayed.
Figure GS.1: IMS Terminal Main Screen
2. On the Menu Bar click Edit / Preferences to open the Preferences dialog box.
3. Click on the Comm Settings tab to open the Comm Settings page.
a. Set Scroll Back to desired range of text lines to be displayed.
b. Under Device, verify that MDrive has been selected, and also verify the Comm Port being used. Do not change any other settings. Click “OK”.
1-2
Figure GS.2: IMS Terminal Prefrences Dialog
MDI Hardware Manual Revision R072806
Apply Power to the MDrivePlus Motion Control
1. Verify that all connections have been made, then apply power to the MDrivePlus Motion Control.
Click on the Phone icon or the Disconnect status box to establish communications between IMS
Terminal and the MDrivePlus. The following sign-on message should appear in the Terminal
Window:
“Copyright 2001-2006 by Intelligent Motion Systems, Inc.”
2. If you can see the sign-on message, then the MDrivePlus is properly powered-up and communicating.
a. If the sign-on message does not appear, try using a software reset. Hold down the “Ctrl” key and press “C”. If the sign-on message still does not appear, check all connections, as well as all hardware and software configurations, then start IMS Terminal again.
3. You are now connected and communicating to the MDrivePlus Motion Control.
Note: There are indicators at the bottom of the Terminal Window that show whether you are connected or disconnected, the current Baud Rate, and the type of device (MDrive) for which the
IMS Terminal is configured. These three items may be changed directly from this screen by double clicking on each of them.
Testing the MDrivePlus Motion Control
1. Click in the Terminal Window, and type (followed by ENTER):
PR VM
2. The MDrivePlus Motion Control will return a value of 768000
3. Type the following in the Terminal Window (followed by ENTER):
VM=360000
PR VM
4. The MDrivePlus Motion Control will return a value of 360000
5. Type FD and press ENTER. (FD = Factory Defaults)
“Copyright 2001-2006 by Intelligent Motion Systems, Inc.” should appear in the Terminal Window within a few seconds.
Note: Entering
MDrivePlus commands directly into the Terminal
Window is called
“Immediate Mode”.
The MDrivePlus Motion Control command set is not case sensitive except for command DN = < >
Warning: If you have installed the
MDrivePlus to a load, be sure the load can safely be moved before testing.
Tip: A small piece of tape on the motor shaft is a visual aid to help see the shaft turning.
Figure GS.3: MDrivePlus Motion Control Sign-On Message
Make the MDrivePlus Motion Control Move
1. Type MR 51200 into the Terminal Window and press ENTER. (MR = Move Relative) a. With the default settings, the MDrive Motion Control should move one revolution in approximately 0.066 seconds, or at a velocity of 15 revolutions per second.
2. Type SL 102400 and press ENTER. (SL = Slew) a. With the default settings, the MDrivePlus Motion Control should run constantly at a speed of approximately 2 revolutions per second or 120 revolutions per minute.
3. Type SL 0 and press ENTER. The MDrivePlus Motion Control should decelerate to a full stop.
Part 1: Hardware Specifications
1-3
NOTE: Entering
MDrivePlus commands into the
Program Edit Window, to be edited and saved, is called “Program Mode”.
NOTE: The program can be stopped by pressing the Escape Button or by pressing Ctrl+C.
Motion Control Example Using Program Mode
1. Click on drop-down menu View > New Edit Window to open the Program Edit Window.
2. Type “XYZ Test” into the “Open a New file for editing” dialog box, and click “OK”.
3. Click anywhere within the Program Edit Window, and type (followed by ENTER):
VA LP=0
A=100000
D=100000
PG 1
LB AA
MR 250000
H
H 1000
‘user variable name LP = start count 0
‘set acceleration to 100000 steps/sec2
‘set deceleration to 100000 steps/sec2
‘enter program mode, start program at address 1
‘label program AA
‘move motor 250000 steps in the positive direction
‘hold program execution until motion completes
‘hold 1000 milliseconds
MR –250000 ‘move motor 250000 steps in the negative direction
H
H 1000
‘hold program execution until motion completes
‘hold 1000 milliseconds
IC LP ‘increment user variable LP
PR ” LP=”,LP; ‘print axis position, 4 characters used, the
‘terminal will display LP=1 LP=2 LP=3
BR AA, LP<3 ‘branch to process label AA, if user variable LP< 3
E ‘end program execution
PG ‘exit program, return to immediate mode
4. Type FD in the Terminal Window and press ENTER to clear the MDrive buffer to factory defaults before downloading any program.
5. Click on drop-down menu Transfer > Download to transfer the program from the Program
Edit Window to the Terminal Window. (Under “Source Type” choose “Edit Window”.)
6. Type EX 1 in the Terminal Window and press ENTER to execute the program.
(EX = Execute at address 1.)
7. The MDrivePlus Motion Control will turn 250,000 microsteps in a clockwise direction, accelerating at 100,000 microsteps per sec
2
, then decelerating at 100,000 microsteps per sec
2
, pausing for 1000 milliseconds, then reversing the sequence in a counterclockwise direction, repeating the motion cycle 3 times until the program ends.
1-4
Figure GS.4: Download the Program
Programming Notes
The example above demonstrates basic commands that verify that your MDrivePlus Motion Control is communicating with your PC. More complex commands and movement may require that your I/O and/or Analog
Input be interfaced and configured. Refer to MDrivePlus Motions Control Software Reference for details.
For more information on MDrivePlus Motion Control Programming and Command Control Sets, refer to the
Software Section of this manual.
MDI Hardware Manual Revision R072806
Excellence in Motion
TM
TM
MOTION CONTROL
Part 1:
Hardware
Specifications
Section 1.1: MDrive17Plus Motion Control Product Introduction
Section 1.2: MDrive17Plus Motion Control Detailed Specifications
Section 1.3: MDrive17Plus
2
Motion Control Detailed Specifications
Section 1.4: MDrive17Plus
2
-65 Motion Control Detailed Specifications
Section 1.5: MDrive23Plus Motion Control Product Introduction
Section 1.6: MDrive23Plus Motion Control Detailed Specifications
Section 1.7: MDrive23Plus
2
Motion Control Detailed Specifications
Section 1.8: MDrive23Plus
2
-65 Motion Control Detailed Specifications
Part 1: Hardware Specifications
1-5
Note: The
MDrivePlus Motion
Control is available in a CAN communications configuration. For more information and Hardware
Specifications see Appendix G of this document.
For detailed descriptions of supported CANopen objects please refer to the MDrive
CANpen Software Reference.
1-6
Section 1.1
MDrive17Plus Motion Control Product Introduction
Introduction to the MDrive17Plus Motion Control System
The MDrive17Plus Motion Control offers system designers a low cost, intelligent motion controller integrated with a NEMA 17 high torque brushless motor and a +12 to +48 volt microstepping driver.
The unsurpassed smoothness and performance delivered by the MDrive17Plus Motion Control are achieved through IMS's advanced 2nd generation current control. By applying innovative techniques to control current flow through the motor, resonance is significantly dampened over the entire speed range and audible noise is reduced.
The MDrive17Plus accepts a broad input voltage range from +12 to +48 VDC, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, reducing
Figure 1.1.1: MDrive17Plus
problems that can occur with long runs and multiple drive systems. An extended operating temperature range of –40° to +85°C provides long life, trouble free service in demanding environments.
Standard features available in the MDrive17Plus Motion Control include four +5 to +24 volt general purpose
I/O lines, one 10 bit analog input, 0 to 5MHz step clock rate, 20 microstep resolutions up to 51,200 steps per revolution, and full featured easy-to-program instruction set.
Expanded features in the MDrive17Plus2 version include up to eight +5 to +24 volt general purpose I/O lines and the capability of electronic gearing by following a rotary or linear axis at an electronically controlled ratio, or an output clock can be generated fixed to the internal step clock.
For use in environments where exposure to chemical, dust and liquids may occur, a sealed assembly
MDrive17Plus2-65 version is designed to meet IP65 specifications.
All MDrive17Plus Motion Control are available with optional closed loop control. This increases functionality by adding stall detection, position maintenance and find index mark.
The closed loop configuration is added via a 512 line (2048 edge) magnetic encoder with index mark, internal to the unit so there is no increase in length. Or, for an expanded choice of line counts and resolutions with MDrive17Plus2 versions only, closed loop control is available with an interface to a remotely mounted user-supplied external encoder.
The MDrive communicates over RS-422/485 which allows for point-to-point or multiple unit configurations utilizing one communication port. Addressing and hardware support up to 62 uniquely addressed units communicating over a single line. Baud rate is selectable from 4.8 to 115.2kbps.
Figure 1.1.2: MDrive17Plus 2 -65
Available motor configurations are available in three motor lengths. Interface connections are accomplished using 12.0”
(30.5cm) flying leads or a 7 position terminal strip. Plus2 versions come with pluggable locking wire crimp connectors. Plus2-65 sealed versions come with M12/M23 circular connectors.
The MDrive17Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and assembly time for a large range of brushless motor applications
Standard Feature Summary
Highly Integrated Microstepping Driver, Motion Controller and NEMA 17 High Torque Brushless
Motor
Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
Single Supply: +12 to +48 VDC
Low Cost
Extremely Compact
MDI Hardware Manual Revision R072806
Available Options:
- Internal Magnetic Encoder for Closed Loop Control
- Integrated Planetary Gearbox
- Control Knob for Manual Positioning
- Linear Slide
Three Rotary Motor Lengths Available
Auxiliary Logic Power Supply Input
20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes
Open or Optional Closed Loop Control
Programmable Motor Run and Hold Currents
Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs
One 10 Bit Analog Input Selectable: 0 to +10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA
0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments
RS-422/485 Communications
62 Software Addresses for Multi-Drop Communications
Simple 1 to 2 Character Instructions
Interface Options:
- Pluggable Terminal Strip
- 12.0” (30.5cm) Flying Leads
The MDrive17Plus Motion Control Key Differences and Enhanced Features
There are three different variants of the MDrive17Plus Motion Control, these are:
1. MDrive17Plus Motion Control
The MDrive17Plus Motion Control is the standard version of the MDrive17Plus and is drop-in compatible with the legacy MDrive17 Motion Control product. The key feature additions from the original MDrive17 Motion Control are:
Improved current control.
20 Microstep resolutions to 51,200 steps per rev including degrees, metric and arc minutes.
4 +5 to +24 VDC I/O lines which accept sinking or sourcing inputs.
One 0 to +10 VDC Analog input.
Optional pluggable strip for interface.
See Section 1.2 of this document for detailed specifications on the MDrive17Plus Motion Control.
2. MDrive17Plus2 Motion Control
The MDrive17Plus
2
Motion Control adds expanded functionality to the MDrive17Plus in the form of:
Enhanced and expanded I/O set (8 lines) which can be configured as sinking or sourcing inputs or outputs.
Remote Encoder option (Reduces I/O set to 4 lines).
High speed position capture input or trip output.
Pluggable wire crimp interface.
Electronic gearing.
See Section 1.3 of this document for detailed specifications on the MDrive17Plus2 Motion Control.
3. MDrive17Plus2-65 Motion Control
The MDrive17Plus2-65 Motion Control adds protection against the ingress of fluids and dust to the MDrive17Plus2 by changing the motor-drive enclosure to meet IP65 specifications. With this change the connector configuration changes to industry standard M12/M23 circular connectors.
See Section 1.4 of this document for detailed specifications on the MDrive17Plus2-65 Motion Control.
Part 1: Hardware Specifications
1-7
WARNING!
The maximum
+48 VDC Input
Voltage of the
MDrive17Plus series includes motor Back EMF, Power
Supply Ripple and High Line.
WARNING! Because the
MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal
Specifications.
1-8
SECTION 1.2
MDrive17Plus Detailed Specifications
Standard Electrical Specifications
Input Voltage (+V)
Range ....................................................................................................................+12 to +48 VDC
Power supply current requirements (max. per MDrive17Plus) .....................................................2A
(Actual power supply current will depend on voltage and load)
Aux. Logic Input Voltage
Range ....................................................................................................................+12 to +24 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Analog Input (IN5)
Resolution ..............................................................................................................................10 Bit
Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA
General Purpose I/O
Number/Type
Plus (1-4) ........................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Logic Threshold
Logic 0 .............................................................................................................................<0.8VDC
Logic 1 .............................................................................................................................>2.2VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
Communication
Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable
Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps
*
See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O
Thermal Specifications
Motor Temperature ............................................................................................100°C (maximum)
Operating Temperature ...............................................................................................-40 to +85°C
Standard Motion Specifications
Microstep Resolution – Open Loop Configuration
Number of Microstep Resolution Settings ................................................................................. 20
200 400 800
Available Microsteps Per Revolution
1000 1600 2000 3200 5000
12800 20000 25000 25600 40000 50000 51200 36000
1
1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep
6400
21600
2
10000
25400
3
Encoder (Optional)
Type ....................................................................................................................Internal, Magnetic
Resolution ............................................................................512 Lines/2048 counts per Revolution
MDI Hardware Manual Revision R072806
Counters
Type .................................................................................................... Position (C1), Encoder (C2)
Resolution ..............................................................................................................................32 Bit
Edge Rate (Max) .................................................................................................................. 5 MHz
Velocity
Range ................................................................................................. ±5,000,000 Steps per Second
Resolution ................................................................................................. 0.5961 Steps per Second
Acceleration/Deceleration
Range ................................................................................................... 1.5 x 10
9
Steps per Second
2
Resolution ....................................................................................................90.9 Steps per Second 2
† Adjusting the microstep resolution can increase the range.
Software Specifications
Program Storage, Type/Size ...................................................................................Flash/6384 Bytes
User Registers ................................................................................................................... (4) 32 Bit
User Program Labels and Variables ............................................................................................ 192
Math, Logic and Conditional Functions ............. +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT
Branch Functions .......................................................Branch & Call (conditonal or unconditional)
Predefined I/O Functions ...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,
Pause, Jog Plus, Jog Minus, Analog In
Outputs .................................................................................Moving, Fault, Stall, Velocity Change
Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture
Party Mode Addresses ................................................................................................................. 62
Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index
Motor Specifications
Single Length
Holding Torque ................................................................................................ 32 oz-in/22.6 N-cm
Detent Torque ............................................................................................... 1.66 oz-in/1.17 N-cm
Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2
Weight (Motor + Driver) ...........................................................................................9.8 oz/277.8 g
Double Length
Holding Torque ................................................................................................ 60 oz-in/42.4 N-cm
Detent Torque ............................................................................................... 2.08 oz-in/1.47 N-cm
Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2
Weight (Motor + Driver) .........................................................................................10.5 oz/297.7 g
Triple Length
Holding Torque ............................................................................................. 74.9 oz-in/52.9 N-cm
Detent Torque ............................................................................................... 3.47 oz-in/2.45 N-cm
Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2
Weight (Motor + Driver) .........................................................................................15.1 oz/428.1 g
WARNING!
When using the
MDrivePlus Motion
Control with optional internal magnetic encoder, no axial force may be applied to the motor shaft without use of a load bearing isolation coupling.
Part 1: Hardware Specifications
1-9
1-10
Mechanical Specifications
Dimensions in Inches (mm)
1.19
(30.2)
Connector
Option
P1
0.08
(2.0)
0.94 ±0.02
(23.9 ±0.5)
0.59 ±0.02
(15.0 ±0.5)
2.30
(58.3)
P2
Connector
Option
0.177 ±0.002
(4.49 ±0.05)
LMAX
Ø 0.1968 +0/-0.0005
(Ø 4.999 +0/-0.013)
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
LMAX2
MDrive17Plus Lengths
Inches (mm)
Motor Length
Single
Double
Triple
LMAX
SINGLE SHAFT or
2.20 (55.9)
2.43 (61.7)
2.77 (70.4)
LMAX2
CONTROL
2.79 (70.9)
3.02 (76.7)
3.37 (85.6)
L
MAX2
Option
Ø 0.97
(Ø 24.6)
4X M3x0.5 THREAD x0.15 MIN DEEP
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
1.68 SQ.
(42.7 SQ.)
P1 Connector Options
12.00
+1.0/-0.0
(304.8
+25.4/-0.0
)
0.44
(11.2)
P1 P1
Flying Leads
7-Pin Pluggable Clamp
Type Terminal Strip
P2 Connector Options
MDrivePlus
P2 P2
Control Knob
10-Pin IDC
Figure 1.2.1: MDrive17Plus Mechanical Specifications
10-Pin Friction Lock
Wire Crimp
Pin/Wire Assignments
P1 Connector - I/O and Power Connections
P1
White/Yellow
White/Orange
White/Violet
White/Blue
Green
Black
Red
P1
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pluggable
Terminal Strip
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
P1: I/O & POWER CONNECTOR
Flying Leads
Function
Wire Colors
White/Yellow
White/Orange
White/Violet
White/Blue
Green
Black
Red
I/O 1
I/O 2
I/O 3
I/O 4
Analog Input
Power/Aux-Ground
+V (+12 to +48 VDC)
Figure 1.2.2: P1 Connector - I/O and Power
MDI Hardware Manual Revision R072806
P2 Connector - RS-422/485 Communications
10-Pin
IDC
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
P2: COMM CONNECTOR
RS-422/485
Wire
Function
Crimp
Pin 9
Pin 10
Pin 7
Pin 8
Pin 5
Pin 6
Pin 3
Pin 4
Pin 1
Pin 2
TX +
TX –
RX +
RX –
Aux-Logic (+12 to +24
VDC)
RX +
RX –
TX –
TX +
Aux-Ground
Pin 9
Pin 7
Pin 5
Pin 3
Pin 1
Pin 1
Pin 3
Pin 5
Pin 7
Pin 9
P2
10 Pin IDC
Pin 2
Pin 4
Pin 6
Pin 8
Pin 10
10 Pin Wire Crimp
P2
Pin 10
Pin 2
Pin 6
Pin 4
Pin 2
Figure 1.2.3: P2 Connector - RS-422/485 Communications
Options and Accessories
Control Knob
The MDrive17Plus Motion Control is available with a factory-mounted rear control knob for manual shaft positioning.
Planetary Gearbox
Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive17Plus.
(For specifications and details see Appendix C: MDrive17Plus Planetary Gearbox Specification.)
Encoder
The MDrive17Plus Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.
Linear Slide
Integrated linear slides are available factory installed for precision linear movement. Screw pitches are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.
Contact factory for custom lengths.
Communication Converter Cables
These convenient 12.0' (3.6m) accessory cables connect a PC’s USB Port to the MDrivePlus P2
Connector. An in-line RS-422 converter enables parameter setting to a single MDrivePlus Motion
Control. Cable purchase recommended with first orders. Versions include:
USB to 10-Pin IDC .................................................Part No. MD-CC400-000
10-Pin IDC to Wire Crimp Adapter ........................Part No. MD-ADP-H
Cable Assembly for Party-Mode ...............................Part No. PD10-1434-FL3
Part 1: Hardware Specifications
WARNING! Because the MDrive17Plus
Motion Control DOES
NOT have a Pin
Configuration label on the body of the device please ensure that all wiring connections are crosschecked against these tables and figures.
NEED A CABLE?
The following cables and converters are available to interface communications with
P2:
USB to RS-422/485:
MD-CC400-000
10 Pin IDC to 10-Pin Wire Crimp
Adapter:
MD-ADP-H
Multi-Drop for 10-Pin Wire Crimp
Party-Mode
PD10-1434-FL3
1-11
WARNING!
The maximum
+48 VDC Input
Voltage of the
MDrive17Plus series includes motor Back EMF, Power
Supply Ripple and High Line.
WARNING! Because the
MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal
Specifications.
SECTION 1.3
MDrive17Plus2 Detailed Specifications
Standard Electrical Specifications
Input Voltage (+V)
Range ....................................................................................................................+12 to +48 VDC
Power supply current requirements (max. per MDrive17Plus) .....................................................2A
(Actual power supply current will depend on voltage and load)
Aux. Logic Input Voltage
Range ....................................................................................................................+12 to +24 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Analog Input (IN5)
Resolution ..............................................................................................................................10 Bit
Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA
General Purpose I/O
Number/Type
Plus ................................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Logic Threshold
Logic 0 .............................................................................................................................<0.8VDC
Logic 1 .............................................................................................................................>2.2VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
Communication
Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable
Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps
*
See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O
Enhanced Electrical Specifications
General Purpose I/O
Number/Type
Default Configuration (No external encoder) ........................... 8 Sinking/Sourcing Inputs/Outputs
Remote Encoder Option .......................................................... 4 Sinking/Sourcing Inputs/Outputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ............................................................................................... (Sourcing) +12 to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Output Sink/Source Current (per channel)* ..............................................................Up to 600 mA
Thermal Specifications
Motor Temperature ............................................................................................100°C (maximum)
Operating Temperature ...............................................................................................-40 to +85°C
1-12
MDI Hardware Manual Revision R072806
Standard Motion Specifications
Microstep Resolution – Open Loop Configuration
Number of Settings ..................................................................................................................... 20
Available Microsteps Per Revolution
200 400 800 1000 1600 2000 3200 5000 6400 10000
12800 20000 25000 25600 40000 50000 51200 36000
1
21600
2
25400
3
1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep
Encoder (Optional)
Type ....................................................................................................................Internal, Magnetic
Resolution ............................................................................512 Lines/2048 counts per Revolution
Counters
Type .................................................................................................... Position (C1), Encoder (C2)
Resolution ..............................................................................................................................32 Bit
Edge Rate (Max) .................................................................................................................. 5 MHz
Velocity
Range ................................................................................................. ±5,000,000 Steps per Second
Resolution ...................................................................................................0.5961 Step per Second
Acceleration/Deceleration
Range ...................................................................................................1.5 x 109 Steps per Second2
Resolution ................................................................................................... 90.9 Steps per Second2
Enhanced Motion Specifications
Electronic Gearing
Range ..................................................................................................................... 0.001 to 2.000†
Resolution ..............................................................................................................................32 Bit
Threshold (External clock in) ...................................................................................................TTL
Input Filter Range ................................................................................................. 50 nS to 12.9 µS
Range (Secondary clock out) ................................................................................................ 1 to 1†
High Speed I/O
Position Capture ........................................ 32 Bit Resolution, 50 nS to 12.9 µS Input Filter Range
Trip Output Speed ................................................................................................................ 150nS
Trip Output Resolution ..........................................................................................................32 Bit
Trip Output Threshold .............................................................................................................TTL
External Encoder (Optional)
Type .......................................................................................... User Supplied Differential Encoder
Steps per Revolution...............................................See Microstep Resolutions - Open Loop, Above
Resolutions ..................................................................................................................User-Defined
† Adjusting the microstep resolution can increase the range.
Software Specifications
Program Storage, Type/Size ...................................................................................Flash/6384 Bytes
User Registers ................................................................................................................... (4) 32 Bit
User Program Labels and Variables ............................................................................................ 192
Math, Logic and Conditional Functions ............. +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT
Branch Functions .......................................................Branch & Call (conditonal or unconditional)
Predefined I/O Functions ...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,
Outputs .................................................................................Moving, Fault, Stall, Velocity Change
Part 1: Hardware Specifications
Pause, Jog Plus, Jog Minus, Analog In
1-13
1-14
Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture
Party Mode Addresses ................................................................................................................. 62
Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index
Motor Specifications
Single Length
Holding Torque ................................................................................................ 32 oz-in/22.6 N-cm
Detent Torque ............................................................................................... 1.66 oz-in/1.17 N-cm
Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2
Weight (Motor + Driver) ...........................................................................................9.8 oz/277.8 g
Double Length
Holding Torque ................................................................................................ 60 oz-in/42.4 N-cm
Detent Torque ............................................................................................... 2.08 oz-in/1.47 N-cm
Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2
Weight (Motor + Driver) .........................................................................................10.5 oz/297.7 g
Triple Length
Holding Torque ............................................................................................. 74.9 oz-in/52.9 N-cm
Detent Torque ............................................................................................... 3.47 oz-in/2.45 N-cm
Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2
Weight (Motor + Driver) .........................................................................................15.1 oz/428.1 g
Mechanical Specifications
Dimensions in Inches (mm)
1.19
(30.2)
Connector
Option
P1
0.08
(2.0)
0.94 ±0.02
(23.9 ±0.5)
0.59 ±0.02
(15.0 ±0.5)
2.30
(58.3)
P2
Connector
Option
0.177 ±0.002
(4.49 ±0.05)
LMAX
Ø 0.1968 +0/-0.0005
(Ø 4.999 +0/-0.013)
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
LMAX2
MDrive17Plus Lengths
Inches (mm)
LMAX
Motor Length SINGLE SHAFT
Single
Double
Triple
2.20 (55.9)
2.43 (61.7)
2.77 (70.4)
L
MAX2
Option
LMAX2
CONTROL
2.79 (70.9)
3.02 (76.7)
3.37 (85.6)
1.68 SQ.
(42.7 SQ.)
P1 Connector Options
0.20
(5.0)
P1
0.14
(3.6)
16-Pin Pluggable
Locking Wire Crimp
P2 Connector Options
P2 P2
4X M3x0.5 THREAD x0.15 MIN DEEP
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
Control Knob
10-Pin IDC 10-Pin Friction Lock
Wire Crimp
Figure 1.3.1: MDrive17Plus 2 Mechanical Specifications
MDI Hardware Manual Revision R072806
Pin/Wire Assignments
P1 Connector - I/O and Power Connections
P1: I/O & POWER CONNECTOR
Wire
Crimp
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Expanded I/O
I/O Power
I/O Ground
I/O 1
I/O 2
I/O 3
I/O 4
I/O 9
I/O 10
I/O 11
I/O 12
Capture/Trip I/O
Analog In
Step/Clock I/O
Direction/Clock I/O
Function
Remote Encoder Closed
Loop Control
I/O Power
I/O Ground
I/O 1
I/O 2
I/O 3
I/O 4
Channel A +
Channel A –
Channel B +
Channel B –
Capture/Trip I/O
Analog In
Index +
Pin 15 +V (+12 to +48 VDC) +V (+12 to +48 VDC)
Pin 16 Power/Aux-Ground
Index –
Power/Aux-Ground
Pin 1
Pin 15
Pin 13
Pin 11
Pin 9
Pin 7
Pin 5
Pin 3
Pin 1
P1
Figure 1.3.2: P1 Connector, Power and I/O
P2 Connector - RS-422/485 Communications
10-Pin
IDC
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
P2: COMM CONNECTOR
RS-422/485
Wire
Crimp
Pin 9
Pin 10
Pin 7
Pin 8
Pin 5
Pin 6
Pin 3
Pin 4
Pin 1
Pin 2
Function
TX +
TX –
RX +
RX –
Aux-Logic (+12 to +24
VDC)
RX +
RX –
TX –
TX +
Aux-Ground
Pin 1
Pin 3
Pin 5
Pin 7
Pin 9
P2
10 Pin IDC
Pin 2
Pin 4
Pin 6
Pin 8
Pin 10
Pin 9
Pin 7
Pin 5
Pin 3
Pin 1
10 Pin Wire Crimp
P2
Pin 10
Pin 2
Pin 6
Pin 4
Pin 2
Pin 16
Pin 14
Pin 12
Pin 10
Pin 8
Pin 6
Pin 4
Pin 2
WARNING! Because the MDrive17Plus2
Motion Control DOES
NOT have a Pin
Configuration label on the body of the device please ensure that all wiring connections are crosschecked against these tables.
WARNING! Ensure proper orientation of
P1, Pin 1 when creating your own cabling!
NEED A CABLE?
The following
Prototype
Development cable is available to interface
Power and I/O:
Flying Leads to 16-Pin
Connector
PD16-1417-FL3
See Appendix F for description and wire color chart.
NEED A CABLE?
The following cables and converters are available to interface communications with
P2:
USB to RS-422/485:
MD-CC400-000
10 Pin IDC to 10-Pin Wire Crimp
Adapter:
MD-ADP-H
Multi-Drop for 10-Pin Wire Crimp
Party-Mode
PD10-1434-FL3
See Appendix F for details.
Figure 1.3.3: P2 Connector - RS-422/485 Communications
Part 1: Hardware Specifications
1-15
1-16
Options and Accessories
Control Knob
The MDrive17Plus 2 Motion Control is available with a factory-mounted rear control knob for manual shaft positioning.
Planetary Gearbox
Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive17Plus2
(For specifications and details see Appendix C: MDrive17Plus Planetary Gearbox Specification.)
Encoder
The MDrive17Plus
2
Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.
Remote Encoder
The MDrive17Plus
2
Motion Control is available with differential encoder inputs for use with a remotely mounted encoder (not supplied).
Linear Slide
Integrated linear slides are available factory installed for precision linear movement. Screw pitches are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.
Contact factory for custom lengths.
Communication Converter Cables
These convenient 12.0' (3.6m) accessory cables connect a PC’s USB Port to the MDrive17Plus 2
P2 Connector. An in-line RS-422 converter enables parameter setting to a single MDrive17Plus
2
Motion Control. Cable purchase recommended with first orders. Versions include:
USB to 10-Pin IDC ................................................................ Part No. MD-CC400-000
10-Pin IDC to Wire Crimp Adapter ..............................................Part No. MD-ADP-H
Cable Assembly for Party-Mode ...............................................Part No. PD10-1434-FL3
Prototype Development Cable
To speed prototyping of Plus
2
versions, IMS recommends the following 10’ (3m) interface cable with first orders:
16-pin Wire Crimp Cable ........................................................ Part No. PD16-1417-FL3
MDI Hardware Manual Revision R072806
SECTION 1.4
MDrive17Plus2-65 Detailed Specifications
Standard Electrical Specifications
Input Voltage (+V)
Range ....................................................................................................................+12 to +48 VDC
Power supply current requirements (max. per MDrive17Plus) .....................................................2A
(Actual power supply current will depend on voltage and load)
Aux. Logic Input Voltage
Range ....................................................................................................................+12 to +24 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Analog Input (IN5)
Resolution ..............................................................................................................................10 Bit
Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA
General Purpose I/O
Number/Type
Plus (1-4) ........................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Logic Threshold
Logic 0 .............................................................................................................................<0.8VDC
Logic 1 .............................................................................................................................>2.2VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
Communication
Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable
Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps
*
See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O
Enhanced Electrical Specifications
General Purpose I/O
Number/Type
Default Configuration (No external encoder) ........................... 8 Sinking/Sourcing Inputs/Outputs
Remote Encoder Option .......................................................... 4 Sinking/Sourcing Inputs/Outputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ............................................................................................... (Sourcing) +12 to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Output Sink/Source Current (per channel) ...............................................................Up to 600 mA
Thermal Specifications
Motor Temperature* ...........................................................................................100°C (maximum)
Operating Temperature ...............................................................................................-40 to +85°C
WARNING! The maximum +48 VDC
Input Voltage of the
MDrive17Plus series includes motor Back EMF,
Power Supply Ripple and High
Line.
WARNING! Because the MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal
Specifications.
Part 1: Hardware Specifications
1-17
1-18
Standard Motion Specifications
Microstep Resolution – Open Loop Configuration
Number of Settings ..................................................................................................................... 20
200 400 800
Available Microsteps Per Revolution
1000 1600 2000 3200 5000
12800 20000 25000 25600 40000 50000 51200 36000
1
1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep
6400
21600
2
10000
25400
3
Encoder (Optional)
Type ....................................................................................................................Internal, Magnetic
Resolution ............................................................................512 Lines/2048 counts per Revolution
Counters
Type .................................................................................................... Position (C1), Encoder (C2)
Resolution ..............................................................................................................................32 Bit
Edge Rate (Max) .................................................................................................................. 5 MHz
Velocity
Range ................................................................................................. ±5,000,000 Steps per Second
Resolution ...................................................................................................0.5961 Step per Second
Acceleration/Deceleration
Range ...................................................................................................1.5 x 109 Steps per Second2
Resolution ................................................................................................... 90.9 Steps per Second2
Enhanced Motion Specifications
Electronic Gearing
Range ..................................................................................................................... 0.001 to 2.000†
Resolution ..............................................................................................................................32 Bit
Threshold (External clock in) ...................................................................................................TTL
Input Filter Range ................................................................................................. 50 nS to 12.9 µS
Range (Secondary clock out) ................................................................................................ 1 to 1†
High Speed I/O
Position Capture ........................................ 32 Bit Resolution, 50 nS to 12.9 µS Input Filter Range
Trip Output Speed ................................................................................................................ 150nS
Trip Output Resolution ..........................................................................................................32 Bit
Trip Output Threshold .............................................................................................................TTL
External Encoder (Optional)
Type .......................................................................................... User Supplied Differential Encoder
Steps per Revolution................................................See Microstep Resolutions - Open Loop Above
Resolutions ..................................................................................................................User-Defined
Software Specifications
Program Storage, Type/Size ...................................................................................Flash/6384 Bytes
User Registers ................................................................................................................... (4) 32 Bit
User Program Labels and Variables ............................................................................................ 192
Math, Logic and Conditional Functions ............. +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT
Branch Functions .......................................................Branch & Call (conditonal or unconditional)
Predefined I/O Functions ...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,
Pause, Jog Plus, Jog Minus, Analog In
Outputs .................................................................................Moving, Fault, Stall, Velocity Change
Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture
MDI Hardware Manual Revision R072806
Party Mode Addresses ................................................................................................................. 62
Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index
Motor Specifications
Single Length
Holding Torque ................................................................................................ 32 oz-in/22.6 N-cm
Detent Torque ............................................................................................... 1.66 oz-in/1.17 N-cm
Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2
Weight (Motor + Driver) ...........................................................................................9.8 oz/277.8 g
Double Length
Holding Torque ................................................................................................ 60 oz-in/42.4 N-cm
Detent Torque ............................................................................................... 2.08 oz-in/1.47 N-cm
Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2
Weight (Motor + Driver) .........................................................................................10.5 oz/297.7 g
Triple Length
Holding Torque ............................................................................................. 74.9 oz-in/52.9 N-cm
Detent Torque ............................................................................................... 3.47 oz-in/2.45 N-cm
Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2
Weight (Motor + Driver) .........................................................................................15.1 oz/428.1 g
Mechanical Specifications
Dimensions in Inches (mm)
P2
0.80
(20.3)
1.38
(35.1)
LMAX3
0.49
(12.5)
0.08
(2.0)
2.792
(70.9)
1.078
(27.4)
P1
0.94 ±0.02
(23.9 ±0.5)
0.59 ±0.02
(15.0 ±0.5)
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
0.64
(16.3)
4X M3x0.5 THREAD x0.15 MIN DEEP
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
1.161
(29.5) 0.177 ±0.002
(4.49 ±0.05)
Ø 0.1968 +0/-0.0020
(Ø 4.999 +0/-0.051)
LMAX
LMAX2
Sealed MDrivePlus Lengths
Inches (mm)
Motor Length LMAX
Single 2.39 (60.71)
Double 2.62 (66.55)
Triple 2.96 (75.18)
LMAX2 LMAX3
3.06 (77.72) 2.99 (75.95)
3.29 (83.57) 3.22 (81.79)
3.63 (92.20) 3.56 (90.42)
Connectors
Ø 0.87
(Ø 22.1)
P1: 19-Pin M23
(Male)
Figure 1.4.1: MDrive17Plus2-65 Motion Control
1.69 SQ.
(42.9 SQ.)
Ø 0.53
(Ø 13.5)
P2: 5-Pin
M12
Part 1: Hardware Specifications
1-19
NEED A CABLE?
The following cordset is available to interface to the 19-pin
M23 Connector:
Straight Termination
MD-CS100-000
Right Angle Termination
MD-CS-101-000
See Appendix F for details.
Pin/Wire Assignments
Pin 12
Pin 11
Pin 10
Pin 9
Pin 8
Pin 7
P1 Connector - I/O and Power Connections
Outer: Pins 1-12
9
10
11
17
16
8
7
15
6
1
18
19
13
14
5
2
3
4
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
I/O 10
I/O 4
I/O 2
Pin 19
Inner: Pins 13-19
10
11
17
9
16
8
7
12
18
13
1
19
14
15
6
5
2
3
4
M23
Circular
(Male)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Pin 15
Pin 16
Pin 17
Pin 18
Pin 19
P1: I/O & POWER CONNECTOR
Function
Expanded I/O
I/O 9
I/O 11
Step/Clock I/O
I/O 1
Direction/Clock I/O
+V (+12 to +48 VDC)
Aux-Logic(+12 to +24 VDC)
Aux-Ground
I/O 3
I/O Ground
I/O Power
Comm Ground
I/O 12
Capture/Trip I/O
Analog In
I/O 2
I/O 4
I/O 10
Power/Aux-Ground
Remote Encoder Closed Loop Control
Channel A +
Channel B +
Index +
I/O 1
Index –
+V (+12 to +48 VDC)
Aux-Logic(+12 to +24 VDC)
Comm Ground
I/O 3
I/O Ground
I/O Power
Earth Ground
Channel B –
Capture/Trip I/O
Analog In
I/O 2
I/O 4
Channel A –
Power/Aux-Ground
Figure 1.4.2: P1 19-Pin M23 (male)
NEED A CABLE?
The following communications converter/cable is available:
USB to RS-422/485 Converter
MD-CC401-000
See Appendix F for details.
P2 Connector - RS-422/485 Communications
Pin 13
P2: COMM CONNECTOR
M12
Circular
RS-422/485
Function
(Female)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
TX –
TX +
RX +
RX –
Comm Ground
Pin 3
Pin 2
Pin 5
Figure 1.4.3: P2 5-Pin M12 (Female) RS-422/485 Communications Connector
Pin 4
Pin 1
Pin 14
Pin 15
1-20
MDI Hardware Manual Revision R072806
Options and Accessories
Planetary Gearbox
Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive17Plus
2
-
65(For specifications and details see Appendix D: MDrive17Plus Planetary Gearbox
Specification.)
Encoder
The MDrive17Plus
2
-65 Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.
Communication Converter Cable
This convenient 12.0' (3.6m) accessory cable connects a PC’s USB Port to the MDrive17Plus
2
-
65 P2 5-Pin M12 Connector. An in-line RS-422 converter enables parameter setting to a single
MDrive17Plus
2
-65 Motion Control. Cable purchase recommended with first orders.
USB to M12 Circular (sealed version) .......................................... Part No. MD-CC401-000
Cordsets
19-Pin M23 single-ended cordsets are offered to speed prototyping of MDrive17Plus2-65 Motion
Control units. Measuring 13.0' (4.0m) long, they are available in either straight or right angle termination and attach to the MDrivePlus P1 Connector. PVC jacketed cables come with a foil shield and unconnected drain wire.
Straight Termination .................................................................. Part No. MD-CS100-000
Right Angle Termination ........................................................... Part No. MD-CS101-000
Note: To reduce wiring time, please order Part# MD-
CC401-000, the USB to M12 accessory cable with inline
RS-422 Converter.
Part 1: Hardware Specifications
1-21
Note: The
MDrivePlus Motion
Control is available in a CAN communications configuration. For more information and Hardware
Specifications see Appendix H of this document.
For detailed descriptions of supported CANopen objects please refer to the MDrive
CANpen Software Reference.
1-22
Section 1.5
MDrive23Plus Motion Control Product Introduction
Introduction to the MDrive23Plus Motion Control System
The MDrive23Plus Motion Control offers system designers a low cost, intelligent motion controller integrated with a NEMA 23 high torque brushless motor and a +12 to +75 volt microstepping driver.
The unsurpassed smoothness and performance delivered by the
MDrive23Plus Motion Control are achieved through IMS's advanced 2nd generation current control. By applying innovative techniques to control current flow through the motor, resonance is significantly dampened over the entire speed range and audible noise is reduced.
The MDrive23Plus accepts a broad input voltage range from +12 to
+75 VDC, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, reducing problems that can occur with long runs and multiple drive systems.
An extended operating temperature range of –40° to +85°C provides long life, trouble free service in demanding environments.
Figure 1.5.1: MDrive23Plus
Standard features available in the MDrive23Plus Motion Control include four +5 to +24 volt general purpose
I/O lines, one 10 bit analog input, 0 to 5MHz step clock rate, 20 microstep resolutions up to 51,200 steps per revolution, and full featured easy-to-program instruction set.
Expanded features in the MDrive23Plus2 version include up to eight +5 to +24 volt general purpose I/O lines and the capability of electronic gearing by following a rotary or linear axis at an electronically controlled ratio, or an output clock can be generated fixed to the internal step clock.
For use in environments where exposure to chemical, dust and liquids may occur, a sealed assembly
MDrive23Plus2-65 version is designed to meet IP65 specifications.
All MDrive23Plus Motion Control are available with optional closed loop control. This increases functionality by adding stall detection, position maintenance and find index mark.
The closed loop configuration is added via a 512 line (2048 edge) magnetic encoder with index mark, internal to the unit so there is no increase in length. Or, for an expanded choice of line counts and resolutions with MDrive23Plus2 versions only, closed loop control is available with an interface to a remotely mounted usersupplied external encoder.
The MDrive communicates over RS-422/485 which allows for point-to-point or multiple unit configurations utilizing one communication port. Addressing and hardware support up to 62 uniquely addressed units communicating over a single line. Baud rate is selectable from 4.8 to 115.2kbps.
Figure 1.5.2: MDrive23Plus 2 -65
Available motor configurations include a single shaft rotary motor and a linear actuator with long life Acme screw. Rotary versions are available in three motor lengths. Interface connections are accomplished using 12.0”
(30.5cm) flying leads or a 7 position terminal strip. Plus2 versions come with pluggable locking wire crimp connectors. Plus2-65 sealed versions come with M12/M23 circular connectors.
The MDrive23Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and assembly time for a large range of brushless motor applications
Standard Feature Summary
Highly Integrated Microstepping Driver, Motion Controller and NEMA 23 High Torque Brushless
Motor
Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
Single Supply: +12 to +75 VDC
Low Cost
Extremely Compact
Available Options:
- Long Life Linear Actuator
- Internal Magnetic Encoder for Closed Loop Control
- Integrated Planetary Gearbox
MDI Hardware Manual Revision R072806
- Control Knob for Manual Positioning
- Linear Slide
Three Rotary Motor Lengths Available
Auxiliary Logic Power Supply Input
20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes
Open or Optional Closed Loop Control
Programmable Motor Run and Hold Currents
Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs
One 10 Bit Analog Input Selectable: 0 to +10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA
0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments
RS-422/485 Communications
62 Software Addresses for Multi-Drop Communications
Simple 1 to 2 Character Instructions
Interface Options:
- Pluggable Terminal Strip
- 12.0” (30.5cm) Flying Leads
The MDrive23Plus Motion Control Key Differences and Enhanced Features
There are three different variants of the MDrive23Plus Motion Control, these are:
1. MDrive23Plus Motion Control
The MDrive23Plus Motion Control is the standard version of the MDrive23Plus and is drop-in compatible with the legacy MDrive23 Motion Control product. The key feature additions from the original MDrive23 Motion Control are:
Improved current control.
20 Microstep resolutions to 51,200 steps per rev including degrees, metric and arc minutes.
4 +5 to +24 VDC I/O lines which accept sinking or sourcing inputs.
One 0 to +10 VDC Analog input.
Optional pluggable strip for interface.
See Section 1.6 of this document for detailed specifications on the MDrive23Plus Motion Control.
2. MDrive23Plus2 Motion Control
The MDrive23Plus
2
Motion Control adds expanded functionality to the MDrive23Plus in the form of:
Enhanced and expanded I/O set (8 lines) which can be configured as sinking or sourcing inputs or outputs.
Remote Encoder option (Reduces I/O set to 4 lines).
High speed position capture input or trip output.
14-pin locking wire crimp interface for I/O (P1).
2-pin locking wire crimp for power.
Electronic gearing.
See Section 1.7 of this document for detailed specifications on the MDrive23Plus2 Motion Control.
3. MDrive23Plus2-65 Motion Control
The MDrive23Plus2-65 Motion Control adds protection against the ingress of fluids and dust to the MDrive23Plus2 by changing the motor-drive enclosure to meet IP65 specifications. With this change the connector configuration changes to industry standard M12/M23 circular connectors.
See Section 1.8 of this document for detailed specifications on the MDrive23Plus2-65 Motion Control.
Part 1: Hardware Specifications
1-23
WARNING!
The maximum
+75 VDC Input
Voltage of the
MDrive23Plus series includes motor Back EMF, Power
Supply Ripple and High Line.
WARNING! Because the
MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal
Specifications.
1-24
SECTION 1.6
MDrive23Plus Detailed Specifications
Standard Electrical Specifications
Input Voltage (+V)
Range ....................................................................................................................+12 to +75 VDC
Power supply current requirements (max. per MDrive23Plus) .....................................................2A
(Actual power supply current will depend on voltage and load)
Aux. Logic Input Voltage
Range ....................................................................................................................+12 to +24 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Analog Input (IN5)
Resolution ..............................................................................................................................10 Bit
Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA
General Purpose I/O
Number/Type
Plus (1-4) ........................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Logic Threshold
Logic 0 .............................................................................................................................<0.8VDC
Logic 1 .............................................................................................................................>2.2VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
Communication
Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable
Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps
*
See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O
Thermal Specifications
Motor Temperature ............................................................................................100°C (maximum)
Operating Temperature .................................................................................................-40 to 85°C
Standard Motion Specifications
Microstep Resolution – Open Loop Configuration
Number of Settings ..................................................................................................................... 20
200 400 800
Available Microsteps Per Revolution
1000 1600 2000 3200 5000
12800 20000 25000 25600 40000 50000 51200 36000
1
1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep
6400
21600
2
10000
25400
3
Encoder (Optional)
Type ....................................................................................................................Internal, Magnetic
Resolution ............................................................................512 Lines/2048 counts per Revolution
MDI Hardware Manual Revision R072806
Counters
Type .................................................................................................... Position (C1), Encoder (C2)
Resolution ..............................................................................................................................32 Bit
Edge Rate (Max) .................................................................................................................. 5 MHz
Velocity
Range ................................................................................................. ±5,000,000 Steps per Second
Resolution ................................................................................................. 0.5961 Steps per Second
Acceleration/Deceleration
Range ................................................................................................... 1.5 x 10 9 Steps per Second 2
Resolution ....................................................................................................90.9 Steps per Second
2
† Adjusting the microstep resolution can increase the range.
Software Specifications
Program Storage, Type/Size ...................................................................................Flash/6384 Bytes
User Registers ................................................................................................................... (4) 32 Bit
User Program Labels and Variables ............................................................................................ 192
Math, Logic and Conditional Functions ............. +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT
Branch Functions .......................................................Branch & Call (conditonal or unconditional)
Predefined I/O Functions ...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,
Pause, Jog Plus, Jog Minus, Analog In
Outputs .................................................................................Moving, Fault, Stall, Velocity Change
Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture
Party Mode Addresses ................................................................................................................. 62
Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index
Motor Specifications
Single Length
Holding Torque ................................................................................................... 90 oz-in/64 N-cm
Detent Torque ................................................................................................... 3.9 oz-in/2.7 N-cm
Rotor Inertia ...................................................................................0.0025 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) .......................................................................................21.6 oz/612.13 g
Double Length
Holding Torque ............................................................................................... 144 oz-in/102 N-cm
Detent Torque ................................................................................................. 5.6 oz-in/3.92 N-cm
Rotor Inertia ...................................................................................0.0037 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) .........................................................................................26.4 oz/784.4 g
Triple Length
Holding Torque ............................................................................................... 239 oz-in/169 N-cm
Detent Torque ................................................................................................. 9.7 oz-in/6.86 N-cm
Rotor Inertia .....................................................................................0.065 oz-in-sec2/0.46 kg-cm2
Weight (Motor + Driver) .......................................................................................39.2 oz/1111.3 g
WARNING!
When using the
MDrivePlus Motion
Control with optional internal magnetic encoder, no axial force may be applied to the motor shaft without use of a load bearing isolation coupling.
Part 1: Hardware Specifications
1-25
1-26
Mechanical Specifications
Dimensions in Inches (mm)
Connector
Option
P1/P3
1.90
(48.3)
0.06 ±0.00
(1.5 ±0.1)
2.96
(75.2)
P2
0.81 ±0.02
(20.6 ±0.5)
0.59 ±0.008
(15.0 ±0.2)
0.23 ±0.004
(5.8 ±0.1)
Ø 0.2500 +0/-0.0005
(Ø 6.350 +0/-0.013)
2.02
(51.2)
1.63
(41.4)
Ø 0.197
(Ø 5.0)
1.856 ±0.008 SQ.
(47.1 ±0.2 SQ.)
1.34
(34.0)
0.19
(4.9)
LMAX
LMAX2
Motor Length
Single
Double
Triple
MDrive23Plus Lengths
Inches (mm)
LMAX
SINGLE SHAFT or
ENCODER VERSION
2.65 (67.31)
3.02 (76.71)
3.88 (98.55)
LMAX2
CONTROL KNOB
VERSION
3.36 (85.34)
3.73 (94.74)
5.59 (116.59)
L
MAX2
Option
Ø 0.97
(Ø 24.6)
2.22 SQ.
(56.4 SQ.)
Ø 1.500 ±0.002
(Ø 38.1 ±0.1)
P1 Connector Options
12.00
+1.0/-0.0
(304.8
+25.4/-0.0
)
0.44
(11.2)
P1 P1
Flying Leads
7-Pin Pluggable Clamp
Type Terminal Strip
P2 Connector Options MDrivePlus
P2 P2
Control Knob
10-Pin IDC
Figure 1.6.1: MDrive23Plus Mechanical Specifications
Pin/Wire Assignments
P1 Connector - I/O and Power Connections
10-Pin Friction Lock
Wire Crimp
P1
White/Yellow
White/Orange
White/Violet
White/Blue
Green
Black
Red
P1
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pluggable
Terminal Strip
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
P1: I/O & POWER CONNECTOR
Flying Leads
Function
Wire Colors
White/Yellow
White/Orange
White/Violet
White/Blue
Green
Black
Red
I/O 1
I/O 2
I/O 3
I/O 4
Analog Input
Power/Aux-Ground
+V (+12 to +48 VDC)
Figure 1.6.2: P1 Connector, I/O and Power Connections
MDI Hardware Manual Revision R072806
P2 Connector - RS-422/485 Communications
10-Pin
IDC
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
P2: COMM CONNECTOR
RS-422/485
Wire
Function
Crimp
Pin 9
Pin 10
Pin 7
Pin 8
Pin 5
Pin 6
Pin 3
Pin 4
Pin 1
Pin 2
TX +
TX –
RX +
RX –
Aux-Logic (+12 to +24
VDC)
RX +
RX –
TX –
TX +
Aux-Ground
Pin 1
Pin 3
Pin 5
Pin 7
Pin 9
P2
10 Pin IDC
Pin 2
Pin 4
Pin 6
Pin 8
Pin 10
Pin 9
Pin 7
Pin 5
Pin 3
Pin 1
10 Pin Wire Crimp
P2
Pin 10
Pin 2
Pin 6
Pin 4
Pin 2
Figure 1.6.3: P2 Connector - RS-422/485 Communications
Options and Accessories
Control Knob
The MDrive23Plus Motion Control is available with a factory-mounted rear control knob for manual shaft positioning.
Planetary Gearbox
Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive23Plus.
(For specifications and details see Appendix C: MDrivePlus Planetary Gearbox Specification.)
Encoder
The MDrive23Plus Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.
Linear Slide
Integrated linear slides are available factory installed for precision linear movement. Screw pitches are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.
Contact factory for custom lengths.
Communication Converter Cables
These convenient 12.0' (3.6m) accessory cables connect a PC’s USB Port to the MDrivePlus P2
Connector. An in-line RS-422 converter enables parameter setting to a single MDrivePlus Motion
Control. Cable purchase recommended with first orders. Versions include:
USB to 10-Pin IDC .................................................Part No. MD-CC400-000
10-Pin IDC to Wire Crimp Adapter ........................Part No. MD-ADP-H
Cable Assembly for Party-Mode ................................Part No. PD10-1434-FL3
Part 1: Hardware Specifications
NEED A CABLE?
The following cables and converters are available to interface communications with
P2:
USB to RS-422/485:
MD-CC400-000
10 Pin IDC to 10-Pin Wire Crimp
Adapter:
MD-ADP-H
Multi-Drop for 10-Pin Wire Crimp
Party-Mode
PD10-1434-FL3
See Appendix F for details.
1-27
WARNING!
The maximum
+75 VDC Input
Voltage of the
MDrive23Plus series includes motor Back EMF, Power
Supply Ripple and High Line.
WARNING! Because the
MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal
Specifications.
SECTION 1.7
MDrive23Plus2 Detailed Specifications
Standard Electrical Specifications
Input Voltage (+V)
Range ....................................................................................................................+12 to +75 VDC
Power supply current requirements (max. per MDrive23Plus) .....................................................2A
(Actual power supply current will depend on voltage and load)
Aux. Logic Input Voltage
Range ....................................................................................................................+12 to +24 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Analog Input (IN5)
Resolution ..............................................................................................................................10 Bit
Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA
General Purpose I/O
Number/Type
Plus ................................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Logic Threshold
Logic 0 .............................................................................................................................<0.8VDC
Logic 1 .............................................................................................................................>2.2VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
Communication
Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable
Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps
*
See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O
Enhanced Electrical Specifications
General Purpose I/O
Number/Type
Default Configuration (No external encoder) ........................... 8 Sinking/Sourcing Inputs/Outputs
Remote Encoder Option .......................................................... 4 Sinking/Sourcing Inputs/Outputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ............................................................................................... (Sourcing) +12 to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Output Sink/Source Current (per channel)* ..............................................................Up to 600 mA
Thermal Specifications
Motor Temperature ............................................................................................100°C (maximum)
Operating Temperature .................................................................................................-40 to 85°C
1-28
MDI Hardware Manual Revision R072806
Standard Motion Specifications
Microstep Resolution – Open Loop Configuration
Number of Settings ..................................................................................................................... 20
200 400 800
Available Microsteps Per Revolution
1000 1600 2000 3200 5000
12800 20000 25000 25600 40000 50000 51200 36000
1
1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep
6400
21600
2
10000
25400
3
Encoder (Optional)
Type ....................................................................................................................Internal, Magnetic
Resolution ............................................................................512 Lines/2048 counts per Revolution
Counters
Type .................................................................................................... Position (C1), Encoder (C2)
Resolution ..............................................................................................................................32 Bit
Edge Rate (Max) .................................................................................................................. 5 MHz
Velocity
Range ................................................................................................. ±5,000,000 Steps per Second
Resolution ...................................................................................................0.5961 Step per Second
Acceleration/Deceleration
Range ...................................................................................................1.5 x 109 Steps per Second2
Resolution ................................................................................................... 90.9 Steps per Second2
Enhanced Motion Specifications
Electronic Gearing
Range ..................................................................................................................... 0.001 to 2.000†
Resolution ..............................................................................................................................32 Bit
Threshold (External clock in) ...................................................................................................TTL
Input Filter Range ................................................................................................. 50 nS to 12.9 µS
Range (Secondary clock out) ................................................................................................ 1 to 1†
High Speed I/O
Position Capture ........................................ 32 Bit Resolution, 50 nS to 12.9 µS Input Filter Range
Trip Output Speed ................................................................................................................ 150nS
Trip Output Resolution ..........................................................................................................32 Bit
Trip Output Threshold .............................................................................................................TTL
External Encoder (Optional)
Type .......................................................................................... User Supplied Differential Encoder
Steps per Revolution.................................................. See Microstep resolution - Open Loop Above
Resolutions ..................................................................................................................User-Defined
† Adjusting the microstep resolution can increase the range.
Software Specifications
Program Storage, Type/Size ...................................................................................Flash/6384 Bytes
User Registers ................................................................................................................... (4) 32 Bit
User Program Labels and Variables ............................................................................................ 192
Math, Logic and Conditional Functions ............. +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT
Branch Functions .......................................................Branch & Call (conditonal or unconditional)
Predefined I/O Functions ...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,
Pause, Jog Plus, Jog Minus, Analog In
Part 1: Hardware Specifications
WARNING!
When using the
MDrivePlus Motion
Control with optional internal magnetic encoder, no axial force may be applied to the motor shaft without use of a load bearing isolation coupling.
1-29
1-30
Outputs .................................................................................Moving, Fault, Stall, Velocity Change
Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture
Party Mode Addresses ................................................................................................................. 62
Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index
Motor Specifications
Single Length
Holding Torque ................................................................................................... 90 oz-in/64 N-cm
Detent Torque ................................................................................................... 3.9 oz-in/2.7 N-cm
Rotor Inertia ...................................................................................0.0025 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) .......................................................................................21.6 oz/612.13 g
Double Length
Holding Torque ............................................................................................... 144 oz-in/102 N-cm
Detent Torque ................................................................................................. 5.6 oz-in/3.92 N-cm
Rotor Inertia ...................................................................................0.0037 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) .........................................................................................26.4 oz/784.4 g
Triple Length
Holding Torque ............................................................................................... 239 oz-in/169 N-cm
Detent Torque ................................................................................................. 9.7 oz-in/6.86 N-cm
Rotor Inertia .....................................................................................0.065 oz-in-sec2/0.46 kg-cm2
Weight (Motor + Driver) .......................................................................................39.2 oz/1111.3 g
Mechanical Specifications
Dimensions in Inches (mm)
Connector
Option
P1/P3
1.90
(48.3)
0.06 ±0.00
(1.5 ±0.1)
0.81 ±0.02
(20.6 ±0.5)
2.02
(51.2)
1.63
(41.4)
Ø 0.197
(Ø 5.0)
2.96
(75.2)
P2
0.59 ±0.008
(15.0 ±0.2)
0.23 ±0.004
(5.8 ±0.1)
Ø 0.2500 +0/-0.0005
(Ø 6.350 +0/-0.013)
1.856 ±0.008 SQ.
(47.1 ±0.2 SQ.)
1.34
(34.0)
LMAX
0.19
(4.9)
2.22 SQ.
(56.4 SQ.)
Ø 1.500 ±0.002
(Ø 38.1 ±0.1)
LMAX2
Motor Length
Single
Double
Triple
MDrive23Plus Lengths
Inches (mm)
LMAX
SINGLE SHAFT or
ENCODER VERSION
2.65 (67.31)
3.02 (76.71)
3.88 (98.55)
LMAX2
CONTROL KNOB
VERSION
3.36 (85.34)
3.73 (94.74)
5.59 (116.59)
L
MAX2
Option
Ø 0.97
(Ø 24.6)
P1 Connector Options
0.38
(9.7)
0.50
(12.7)
0.13
(3.3)
P1/P3
14-Pin & 2-Pin Pluggable Locking
Wire Crimp
P2 Connector Options MDrivePlus
P2 P2
Control Knob
10-Pin IDC 10-Pin Friction Lock
Wire Crimp
Figure 1.7.1: MDrive23Plus2 Mechanical Specifications
MDI Hardware Manual Revision R072806
Pin/Wire Assignments
P1 Connector - I/O and Power Connections
P1: I/O CONNECTOR
Wire
Crimp
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Expanded I/O
I/O Power
I/O Ground
I/O 1
I/O 2
I/O 3
I/O 4
I/O 9
I/O 10
Function
Remote Encoder
Closed Loop Control
I/O Power
I/O Ground
I/O 1
Pin 9
Pin 10
I/O 11
I/O 12
Channel A –
Channel B +
Channel B –
Pin 11 Capture/Trip I/O Capture/Trip I/O
Pin 12
Pin 13
Pin 14
Analog In
Step/Clock I/O
Direction/Clock
I/O
I/O 2
I/O 3
I/O 4
Channel A +
Analog In
Index +
Index –
Pin 1
Pin 2
P3: POWER CONNECTOR
+V (+12 to +75
VDC)
Power/Aux-
Ground
+V (+12 to +75
VDC)
Power/Aux-
Ground
Pin 13
Pin 11
Pin 9
Pin 7
Pin 5
Pin 3
Pin 1
Pin 2
P1
P3
Figure
1.
7.2: P1 14-Pin Wire Crimp
P2 Connector - RS-422/485 Communications
10-Pin
IDC
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
P2: COMM CONNECTOR
RS-422/485
Wire
Function
Crimp
Pin 9
Pin 10
Pin 7
Pin 8
Pin 5
Pin 6
Pin 3
Pin 4
Pin 1
Pin 2
TX +
TX –
RX +
RX –
Aux-Logic (+12 to +24
VDC)
RX +
RX –
TX –
TX +
Aux-Ground
Pin 1
Pin 3
Pin 5
Pin 7
Pin 9
P2
10 Pin IDC
Pin 2
Pin 4
Pin 6
Pin 8
Pin 10
10 Pin Wire Crimp
P2
Pin 9
Pin 7
Pin 5
Pin 3
Pin 1
Pin 10
Pin 2
Pin 6
Pin 4
Pin 2
Pin 14
Pin 12
Pin 10
Pin 8
Pin 6
Pin 4
Pin 2
Pin 1
WARNING! Because the MDrive23Plus2
Motion Control
DOES NOT have a Pin Configuration label on the body of the device please ensure that all wiring connections are cross-checked against these tables.
cabling!
WARNING! Ensure proper orientation of P1, Pin 1 when creating your own
NEED A CABLE?
The following
Prototype
Development cable is available to interface
Power and I/O:
Power Interface
PD02-2300-FL3
Logic Interface
PD14-2334-FL3
See Appendix F for description and wire color chart.
NEED A CABLE?
The following cables and converters are available to interface communications with
P2:
USB to RS-422/485:
MD-CC400-000
10 Pin IDC to 10-Pin Wire Crimp
Adapter:
MD-ADP-H
Multi-Drop for 10-Pin Wire Crimp
Party-Mode
PD10-1434-FL3
See Appendix F for details.
Part 1: Hardware Specifications
Figure 1.7.3: P2 Connector - RS-422/485 Communications
1-31
1-32
Options and Accessories
Control Knob
The MDrive23Plus Motion Control is available with a factory-mounted rear control knob for manual shaft positioning.
Planetary Gearbox
Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive23Plus.
(For specifications and details see Appendix C: MDrivePlus Planetary Gearbox Specification.)
Encoder
The MDrive23Plus Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.
Linear Slide
Integrated linear slides are available factory installed for precision linear movement. Screw pitches are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.
Contact factory for custom lengths.
Communication Converter Cables
These convenient 12.0' (3.6m) accessory cables connect a PC’s USB Port to the MDrivePlus P2
Connector. An in-line RS-422 converter enables parameter setting to a single MDrivePlus Motion
Control. Cable purchase recommended with first orders. Versions include:
USB to 10-Pin IDC .................................................Part No. MD-CC400-000
10-Pin IDC to Wire Crimp Adapter ........................Part No. MD-ADP-H
Cable Assembly for Party-Mode ...............................Part No. MD-ADP-H
Prototype Development Cables
These convenient 10.0' (3.0m) accessory cables are designed top speed prototyping of the
MDrivePlus Motion Control. Cable purchase recommended with first orders. Versions include:
Power Interface ........................................................Part No. PD02-2300-FL3
Logic Interface .........................................................Part No. PD14-2334-FL3
MDI Hardware Manual Revision R072806
SECTION 1.8
MDrive23Plus2-65 Detailed Specifications
Standard Electrical Specifications
Input Voltage (+V)
Range ....................................................................................................................+12 to +75 VDC
Power supply current requirements (max. per MDrive23Plus) .....................................................2A
(Actual power supply current will depend on voltage and load)
Aux. Logic Input Voltage
Range ....................................................................................................................+12 to +24 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Analog Input (IN5)
Resolution ..............................................................................................................................10 Bit
Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA
General Purpose I/O
Number/Type
Plus (1-4) ........................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Logic Threshold
Logic 0 .............................................................................................................................<0.8VDC
Logic 1 .............................................................................................................................>2.2VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
Communication
Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable
Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps
*
See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O
Enhanced Electrical Specifications
General Purpose I/O
Number/Type
Default Configuration (No external encoder) ........................... 8 Sinking/Sourcing Inputs/Outputs
Remote Encoder Option .......................................................... 4 Sinking/Sourcing Inputs/Outputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ............................................................................................... (Sourcing) +12 to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Output Sink/Source Current (per channel) ...............................................................Up to 600 mA
Thermal Specifications
Motor Temperature ............................................................................................100°C (maximum)
Operating Temperature .................................................................................................-40 to 85°C
WARNING!
The maximum
+75 VDC Input
Voltage of the
MDrive23Plus series includes motor Back EMF, Power
Supply Ripple and High Line.
WARNING!
Because the
MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal
Specifications.
Part 1: Hardware Specifications
1-33
1-34
Standard Motion Specifications
Microstep Resolution – Open Loop Configuration
Number of Settings ..................................................................................................................... 20
200 400 800
Available Microsteps Per Revolution
1000 1600 2000 3200 5000
12800 20000 25000 25600 40000 50000 51200 36000
1
1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep
6400
21600
2
10000
25400
3
Encoder (Optional)
Type ....................................................................................................................Internal, Magnetic
Resolution ............................................................................512 Lines/2048 counts per Revolution
Counters
Type .................................................................................................... Position (C1), Encoder (C2)
Resolution ..............................................................................................................................32 Bit
Edge Rate (Max) .................................................................................................................. 5 MHz
Velocity
Range ................................................................................................. ±5,000,000 Steps per Second
Resolution ...................................................................................................0.5961 Step per Second
Acceleration/Deceleration
Range ...................................................................................................1.5 x 109 Steps per Second2
Resolution ................................................................................................... 90.9 Steps per Second2
Enhanced Motion Specifications
Electronic Gearing
Range ..................................................................................................................... 0.001 to 2.000†
Resolution ..............................................................................................................................32 Bit
Threshold (External clock in) ...................................................................................................TTL
Input Filter Range ................................................................................................. 50 nS to 12.9 µS
Range (Secondary clock out) ................................................................................................ 1 to 1†
High Speed I/O
Position Capture ........................................ 32 Bit Resolution, 50 nS to 12.9 µS Input Filter Range
Trip Output Speed ................................................................................................................ 150nS
Trip Output Resolution ..........................................................................................................32 Bit
Trip Output Threshold .............................................................................................................TTL
External Encoder (Optional)
Type .......................................................................................... User Supplied Differential Encoder
Steps per Revolution................................................................................................................... See
Resolutions ..................................................................................................................User-Defined
Software Specifications
Program Storage, Type/Size ...................................................................................Flash/6384 Bytes
User Registers ................................................................................................................... (4) 32 Bit
User Program Labels and Variables ............................................................................................ 192
Math, Logic and Conditional Functions ............. +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT
Branch Functions .......................................................Branch & Call (conditonal or unconditional)
Predefined I/O Functions ...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,
Pause, Jog Plus, Jog Minus, Analog In
Outputs .................................................................................Moving, Fault, Stall, Velocity Change
Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture
MDI Hardware Manual Revision R072806
Party Mode Addresses ................................................................................................................. 62
Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index
Motor Specifications
Single Length
Holding Torque ................................................................................................... 90 oz-in/64 N-cm
Detent Torque ................................................................................................... 3.9 oz-in/2.7 N-cm
Rotor Inertia ...................................................................................0.0025 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) .......................................................................................21.6 oz/612.13 g
Double Length
Holding Torque ............................................................................................... 144 oz-in/102 N-cm
Detent Torque ................................................................................................. 5.6 oz-in/3.92 N-cm
Rotor Inertia ...................................................................................0.0037 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) .........................................................................................26.4 oz/784.4 g
Triple Length
Holding Torque ............................................................................................... 239 oz-in/169 N-cm
Detent Torque ................................................................................................. 9.7 oz-in/6.86 N-cm
Rotor Inertia .....................................................................................0.065 oz-in-sec2/0.46 kg-cm2
Weight (Motor + Driver) .......................................................................................39.2 oz/1111.3 g
Mechanical Specifications
Dimensions in Inches (mm)
2.042
(51.9)
LMAX3
0.81 ±0.02
(20.6 ±0.5)
2.02
(51.2)
1.63
(41.4)
0.06
(1.5)
2.96
(75.2)
1.078
(27.4)
P2
0.590 ±0.008
(15.0 ±0.2)
0.230 ±0.004
(5.8 ±0.1)
Ø 0.2500 +0/-0.0005
(Ø 6.350 +0/-0.013)
Ø 0.197
(Ø 5.0)
1.856 ±0.008 SQ.
(47.1 ±0.2 SQ.)
P1
1.033
(26.2)
1.480
(37.6)
LMAX1
LMAX2
Sealed MDrivePlus Lengths
Inches (mm)
Motor Length LMAX
Single
Double
2.82 (71.63)
3.16 (80.26)
Triple 4.02 (102.11)
2.22 SQ.
(56.4 SQ.)
Connectors
LMAX2
3.48 (88.39)
3.82 (97.03)
4.67 (118.62)
LMAX3
3.42 (86.87)
3.76 (95.5)
4.62 (117.35)
Ø 0.87
(Ø 22.1)
P1: 19-Pin M23
(Male)
Figure 1.8.1: MDrive23Plus2-65 Motion Control
Ø 0.53
(Ø 13.5)
P2: 5-Pin
M12
Ø 1.500 ±0.002
(Ø 38.1 ±0.1)
Part 1: Hardware Specifications
1-35
NEED A CABLE?
The following cordset is available to interface to the 19-pin
M23 Connector:
Straight Termination
MD-CS100-000
Right Angle Termination
MD-CS-101-000
See Appendix F for details.
Pin/Wire Assignments
P1 Connector - I/O and Power Connections
Outer: Pins 1-12
Pin 12
Pin 11
Pin 10
Pin 9
Pin 8
Pin 7
9
10
11
17
16
8
7
18
19
13
14
15
1
6
5
2
4
3
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
I/O 10
I/O 4
I/O 2
Pin 19
M23
Circular
(Male)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Pin 15
Pin 16
Pin 17
Pin 18
Pin 19
Inner: Pins 13-19
10
11
17
9
16
8
7
12
18
13
1
19
14
15
6
5
2
3
4
P1: I/O & POWER CONNECTOR
Function
Expanded I/O Remote Encoder Closed Loop Control
I/O 9
I/O 11
Step/Clock I/O
I/O 1
Direction/Clock I/O
+V (+12 to +48 VDC)
Aux-Logic(+12 to +24 VDC)
Aux-Ground
I/O 3
I/O Ground
I/O Power
Comm Ground
I/O 12
Capture/Trip I/O
Analog In
I/O 2
I/O 4
I/O 10
Power/Aux-Ground
Channel A +
Channel B +
Index +
I/O 1
Index –
+V (+12 to +48 VDC)
Aux-Logic(+12 to +24 VDC)
Comm Ground
I/O 3
I/O Ground
I/O Power
Earth Ground
Channel B –
Capture/Trip I/O
Analog In
I/O 2
I/O 4
Channel A –
Power/Aux-Ground
Figure 1.8.2: P1 19-Pin M23 (male)
Pin 13
Pin 14
Pin 15
NEED A CABLE?
The following communications converter/cable is available:
USB to RS-422/485 Converter
MD-CC401-000
See Appendix F for details.
P2 Connector - RS-422/485 Communications
P2: COMM CONNECTOR
M12
Circular
RS-422/485
Function
(Female)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
TX –
TX +
RX +
RX –
Comm Ground
Pin 3
Pin 2
Pin 5
Figure 1.8.3: P2 5-Pin M12 (Female) RS-422/485 Communications Connector
Pin 4
Pin 1
1-36
MDI Hardware Manual Revision R072806
Options and Accessories
Planetary Gearbox
Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive23Plus
2
-
65(For specifications and details see Appendix D: MDrive23Plus Planetary Gearbox
Specification.)
Encoder
The MDrive23Plus
2
-65 Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.
Communication Converter Cable
This convenient 12.0' (3.6m) accessory cable connects a PC’s USB Port to the MDrive23Plus
2
-65 P2 5-
Pin M12 Connector. An in-line RS-422 converter enables parameter setting to a single MDrive23Plus
2
-65
Motion Control. Cable purchase recommended with first orders.
USB to M12 Circular (sealed version) .......................................... Part No. MD-CC401-000
Cordsets
19-Pin M23 single-ended cordsets are offered to speed prototyping of MDrive23Plus2-65 Motion Control units attaching to the P1 Connector. Measuring 13.0' (4.0m) long, they are available in either straight or right angle termination. PVC jacketed cables come with a foil shield and unconnected drain wire.
Straight Termination .................................................................. Part No. MD-CS100-000
Right Angle Termination ........................................................... Part No. MD-CS101-000
Note: To reduce wiring time, please order Part# MD-
CC401-000, the USB to M12 accessory cable with inline
RS-422 Converter.
Part 1: Hardware Specifications
1-37
For detailed descriptions of supported CANopen objects please refer to the
MDrive CANpen Software
Reference.
SECTION 1.9
Standard Electrical Specifications
MDrive17Plus CANopen
Input Voltage (+V)
Range ....................................................................................................................+12 to +48 VDC
Power supply current requirements (max. per MDrive17Plus) .....................................................2A
(Actual power supply current will depend on voltage and load)
General Purpose I/O
Number/Type
MDrive17Plus (1-4) ........................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs
MDrive17Plus 2 (1-4, 9-12) .................................................................8 Sourcing or Sinking Inputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Logic Threshold
Logic 0 .............................................................................................................................<0.8VDC
Logic 1 ............................................................................................................................................
>2.2VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
CAN V+ Input Voltage
Range ......................................................................................................................+7 to +30 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Communication
Protocol (Standard) .................................CANopen DSP-402 (V2.0), DS-301 (V3.0), 2.0B Active
ID ......................................................................................................................... 11 and/or 29 Bit
Isolation .............................................................................................................................Galvanic
Features ........................................... Node Guarding, Heartbeat, SDOs, PDOs (Variable Mapping)
BAUD Rate ........................................................................................................ 10 kbps to 1 Mbps
Thermal Specifications
Operating Temperature ...............................................................................................-40 to +85°C
Motor Specifications
Single Length
Holding Torque ................................................................................................ 32 oz-in/22.6 N-cm
Detent Torque ............................................................................................... 1.66 oz-in/1.17 N-cm
Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2
Weight (Motor + Driver) ...........................................................................................9.8 oz/277.8 g
Double Length
Holding Torque ................................................................................................ 60 oz-in/42.4 N-cm
Detent Torque ............................................................................................... 2.08 oz-in/1.47 N-cm
Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2
Weight (Motor + Driver) .........................................................................................10.5 oz/297.7 g
1-38
MDI Hardware Manual Revision R072806
Triple Length
Holding Torque ............................................................................................. 74.9 oz-in/52.9 N-cm
Detent Torque ............................................................................................... 3.47 oz-in/2.45 N-cm
Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2
Weight (Motor + Driver) .........................................................................................15.1 oz/428.1 g
Mechanical Specifications (Non-Sealed Versions)
Dimensions in Inches (mm)
1.19
(30.2)
Connector
Option
P1
0.94 ±0.02
(23.9 ±0.5)
0.08
(2.0)
0.59 ±0.02
(15.0 ±0.5)
2.30
(58.3)
Ø 0.1968 +0/-0.0005
(Ø 4.999 +0/-0.013)
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
P2
Connector
Option
0.177 ±0.002
(4.49 ±0.05)
4X M3x0.5 THREAD x0.15 MIN DEEP
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
LMAX
1.68 SQ.
(42.7 SQ.)
LMAX2
Motor
Length
Single
Double
Triple
MDrivePlus Lengths
Inches (mm)
LMAX
SINGLE SHAFT, ENCODER
VERSION
2.20 (55.9)
2.43 (61.7)
2.77 (70.4)
LMAX2
CONTROL KNOB
VERSION
2.79 (70.9)
3.02 (76.7)
3.37 (85.6)
P1 Connector Options
MDrivePlus
12.00
+1.0/-0.0
(304.8
+25.4/-0.0
)
P1
0.44
(11.2)
P1
Flying Leads 7-Pin Pluggable Clamp
Type Terminal Strip
Figure 1.9.1: MDrive17Plus Motion Control CANopen Mechanical Specifications
P1 Connector - I/O and Power Connections - Plus Versions
MDrivePlus 2 (Only)
0.20
(5.0)
P1
0.14
(3.6)
16-Pin Pluggable
Locking Wire Crimp
P1
White/Yellow
White/Orange
White/Violet
White/Blue
Green
Black
Red
P1
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Part 1: Hardware Specifications
Pluggable
Terminal Strip
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
P1: I/O & POWER CONNECTOR
Flying Leads
Function
Wire Colors
White/Yellow
White/Orange
White/Violet
White/Blue
Green
Black
Red
I/O 1
I/O 2
I/O 3
I/O 4
Analog Input
Power/Aux-Ground
+V (+12 to +48 VDC)
Figure 1.9.2: P1 Connector - I/O and Power
1-39
cabling!
WARNING! Ensure proper orientation of P1, Pin 1 when creating your own
NEED A CABLE?
The following
Prototype
Development cable is available to interface
Power and I/O:
Flying Leads to 16-Pin
Connector
PD16-1417-FL3
See Appendix F for description and wire color chart.
P1 Connector - I/O and Power Connections - Plus
2
Versions
Wire
Crimp
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Pin 15
Pin 16
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
P1: I/O & POWER CONNECTOR
Expanded I/O
I/O Power
I/O Ground
I/O 1
I/O 2
I/O 3
I/O 4
I/O 9
I/O 10
I/O 11
I/O 12
Capture/Trip I/O
Analog In
Step/Clock I/O
Function
Remote Encoder Closed
Loop Control
I/O Power
Direction/Clock I/O
I/O Ground
I/O 1
I/O 2
I/O 3
I/O 4
Channel A +
Channel A –
Channel B +
Channel B –
Capture/Trip I/O
Analog In
Index +
+V (+12 to +48 VDC) +V (+12 to +48 VDC)
Power/Aux-Ground
Index –
Power/Aux-Ground
Pin 1
Pin 15
Pin 13
Pin 11
Pin 9
Pin 7
Pin 5
Pin 3
Pin 1
P1
Figure 1.9.3: P1 16-Pin Wire Crimp
P2 Connector - CANopen Communications
DB-9
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
P2: COMM CONNECTOR
CAN DB-9 Male
Function
No Connect
CAN Low
CAN -V (CAN GND)
No Connect
CAN Shield
CAN -V
CAN High
No Connect
CAN +V
CAN -V (CAN_GND)
CAN Low
CAN Shield
1 2 3 4 5
6 7 8 9
CAN -V
CAN +V
CAN High
Figure 1.9.4: P2- DB-9 CANopen Communications
+V Supply
7 to 30 VDC
Return
Pin 4: CAN HIGH
4
1
2
3
Pin 3: CAN -V
Pin 1: Shield
Pin 5: CAN LOW
Pin 2: CAN +V
5-Pin M12 Male
CAN -V (CAN_GND)
CAN Low
CAN Shield
1 2 3 4 5
6 7 8 9
120Ω
Termination
Resistor*
CAN -V
CAN +V
CAN High
DB-9
CANopen
Controller
MDI Plus
CANopen
Node 1
MDI Plus
CANopen
Node x
*120Ω Termination Resistors are required between CAN High and CAN Low at both ends of the cabling per ISO-11828
120Ω
Termination
Resistor*
Figure 1.9.5: CANOpen Network using MDrivePlus Motion Control
Pin 16
Pin 14
Pin 12
Pin 10
Pin 8
Pin 6
Pin 4
Pin 2
1-40
MDI Hardware Manual Revision R072806
Mechanical Specifications (Sealed -65 Version)
Dimensions in Inches (mm)
P2
0.80
(20.3)
1.38
(35.1)
LMAX3
0.49
(12.5)
0.64
(16.3)
0.94 ±0.02
(23.9 ±0.5)
2.792
(70.9)
1.078
(27.4)
0.08
(2.0)
0.59 ±0.02
(15.0 ±0.5)
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
4X M3x0.5 THREAD x0.15 MIN DEEP
P1
1.161
(29.5) 0.177 ±0.002
(4.49 ±0.05)
Ø 0.1968 +0/-0.0020
(Ø 4.999 +0/-0.051)
LMAX
LMAX2
Sealed MDrivePlus Lengths
Inches (mm)
Motor Length LMAX
Single 2.39 (60.71)
Double 2.62 (66.55)
Triple 2.96 (75.18)
LMAX2 LMAX3
3.06 (77.72) 3.15 (79.95)
3.29 (83.57) 3.38 (85.79)
3.63 (92.20) 3.72 (94.42)
Connectors
Ø 0.87
(Ø 22.1)
P1: 19-Pin M23
(Male)
Figure 1.9.6: MDrive17Plus2-65 Motion Control
1.69 SQ.
(42.9 SQ.)
Ø 0.53
(Ø 13.5)
P2: 5-Pin
M12
(Male)
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
Pin/Wire Assignments
P1 Connector - I/O and Power Connections
Outer: Pins 1-12
Pin 12
Pin 11
Pin 10
Pin 9
Pin 8
Pin 7
9
10
11
17
16
8
7
18
19
15
6
1
13
14
5
2
3
4
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
I/O 10
I/O 4
I/O 2
Pin 19
Inner: Pins 13-19
10
11
17
9
8
16
7
12
18
13
1
19
14
15
6
5
2
4
3
M23
Circular
(Male)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Pin 15
Pin 16
Pin 17
Pin 18
Pin 19
P1: I/O & POWER CONNECTOR
Function
Expanded I/O
I/O 9
I/O 11
Step/Clock I/O
I/O 1
Direction/Clock I/O
+V (+12 to +48 VDC)
Aux-Logic(+12 to +24 VDC)
Aux-Ground
I/O 3
I/O Ground
I/O Power
Comm Ground
I/O 12
Capture/Trip I/O
Analog In
I/O 2
I/O 4
I/O 10
Power/Aux-Ground
Remote Encoder Closed Loop Control
Channel A +
Channel B +
Index +
I/O 1
Index –
+V (+12 to +48 VDC)
Aux-Logic(+12 to +24 VDC)
Comm Ground
I/O 3
I/O Ground
I/O Power
Earth Ground
Channel B –
Capture/Trip I/O
Analog In
I/O 2
I/O 4
Channel A –
Power/Aux-Ground
Figure 1.9.7: MDrive17Plus 2 -65 P1 19-Pin M23 Connector
Part 1: Hardware Specifications
Pin 13
Pin 14
Pin 15
NEED A CABLE?
The following cordset is available to interface to the 19-pin
M23 Connector:
Straight Termination
MD-CS100-000
Right Angle Termination
MD-CS-101-000
See Appendix F for details.
1-41
P2 Connector - CANOpen Communications
P2: COMM CONNECTOR
CANOpen
M12 Circular (Female)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Function
Shield
CAN +V
CAM -V
CAN HIGH
CAN LOW
Pin 4
4
1
Pin 1
Pin 5
Figure 1.9.8: P2 5-Pin M12 (Male) CAN Open Communications Connector
3
2
Pin 3
Pin 2
1-42
MDI Hardware Manual Revision R072806
SECTION 1.10
Standard Electrical Specifications
MDrive23Plus CANopen
Input Voltage (+V)
Range ....................................................................................................................+12 to +75 VDC
Power supply current requirements (max. per MDrive23Plus) .....................................................2A
(Actual power supply current will depend on voltage and load)
General Purpose I/O
Number/Type
MDrive23Plus (1-4) ........................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs
MDrive23Plus 2 (1-4, 9-12) .................................................................8 Sourcing or Sinking Inputs
Voltage Range
Input ................................................................................... TTL level compatible, up to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Logic Threshold
Logic 0 .............................................................................................................................<0.8VDC
Logic 1 .............................................................................................................................>2.2VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
CAN V+ Input Voltage
Range ......................................................................................................................+7 to +30 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Communication
Protocol (Standard) .................................CANopen DSP-402 (V2.0), DS-301 (V3.0), 2.0B Active
ID ......................................................................................................................... 11 and/or 29 Bit
Isolation .............................................................................................................................Galvanic
Features ........................................... Node Guarding, Heartbeat, SDOs, PDOs (Variable Mapping)
BAUD Rate ........................................................................................................ 10 kbps to 1 Mbps
Thermal Specifications
Operating Temperature ...............................................................................................-40 to +85°C
Motor Specifications
Single Length
Holding Torque ................................................................................................... 90 oz-in/64 N-cm
Detent Torque ................................................................................................... 3.9 oz-in/2.7 N-cm
Rotor Inertia ...................................................................................0.0025 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) .......................................................................................21.6 oz/612.13 g
Double Length
Holding Torque ............................................................................................... 144 oz-in/102 N-cm
Detent Torque ................................................................................................. 5.6 oz-in/3.92 N-cm
Rotor Inertia ...................................................................................0.0037 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) .........................................................................................26.4 oz/784.4 g
Triple Length
Holding Torque ............................................................................................... 239 oz-in/169 N-cm
Detent Torque ................................................................................................. 9.7 oz-in/6.86 N-cm
Part 1: Hardware Specifications
1-43
1-44
Rotor Inertia .....................................................................................0.065 oz-in-sec2/0.46 kg-cm2
Weight (Motor + Driver) .......................................................................................39.2 oz/1111.3 g
Mechanical Specifications
Dimensions in Inches (mm)
1.90
(48.3)
0.81 ±0.02
(20.6 ±0.5)
2.02
(51.2)
1.63
(41.4)
Connector
Option
P1/P3
0.06 ±0.00
(1.5 ±0.1)
Ø 0.197
(Ø 5.0)
2.96
(75.2)
P2
0.59 ±0.008
(15.0 ±0.2)
0.23 ±0.004
(5.8 ±0.1)
Ø 0.2500 +0/-0.0005
(Ø 6.350 +0/-0.013)
1.856 ±0.008 SQ.
(47.1 ±0.2 SQ.)
Motor Length
Single
Double
Triple
1.34
(34.0)
0.19
(4.9)
LMAX
LMAX2
MDrive23Plus Lengths
Inches (mm)
LMAX
SINGLE SHAFT or
ENCODER VERSION
2.65 (67.31)
3.02 (76.71)
3.88 (98.55)
LMAX2
CONTROL KNOB
VERSION
3.36 (85.34)
3.73 (94.74)
5.59 (116.59)
L
MAX2
Option
Ø 0.97
(Ø 24.6)
2.22 SQ.
(56.4 SQ.)
Ø 1.500 ±0.002
(Ø 38.1 ±0.1)
P1 Connector Options
12.00
+1.0/-0.0
(304.8
+25.4/-0.0
)
0.44
(11.2)
P1
P1
Flying Leads
7-Pin Pluggable Clamp
Type Terminal Strip
Plus
2
Only
0.38
(9.7)
0.50
(12.7)
0.13
(3.3)
P1/P3
14-Pin & 2-Pin Pluggable Locking Wire
Crimp
Control Knob
Figure 1.10.1: MDrive23Plus2 Mechanical Specifications
P1 Connector - I/O and Power Connections - Plus Versions
P1
White/Yellow
White/Orange
White/Violet
White/Blue
Green
Black
Red
P1
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pluggable
Terminal Strip
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
P1: I/O & POWER CONNECTOR
Flying Leads
Function
Wire Colors
White/Yellow
White/Orange
White/Violet
White/Blue
Green
Black
Red
I/O 1
I/O 2
I/O 3
I/O 4
Analog Input
Power/Aux-Ground
+V (+12 to +48 VDC)
Figure 1.10.2: P1 Connector, I/O and Power Connections
MDI Hardware Manual Revision R072806
P1 Connector - I/O and Power Connections - Plus
2
Versions
P1
P1: I/O CONNECTOR
Wire
Crimp
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 1
Pin 2
Expanded I/O
Function
Remote Encoder
I/O Power
I/O Ground
I/O 1
I/O 2
I/O 3
I/O 4
I/O 9
I/O 10
Pin 9
Pin 10
Pin 11 Capture/Trip I/O
Pin 12
Pin 13
Pin 14
I/O 11
I/O 12
Analog In
Step/Clock I/O
Direction/Clock
I/O
Closed Loop Control
I/O Power
I/O Ground
I/O 1
I/O 2
I/O 3
I/O 4
Channel A +
Channel A –
Channel B +
Channel B –
Capture/Trip I/O
Analog In
Index +
Index –
P3: POWER CONNECTOR
+V (+12 to +75
VDC)
Power/Aux-
Ground
+V (+12 to +75
VDC)
Power/Aux-
Ground
Pin 13
Pin 11
Pin 9
Pin 7
Pin 5
Pin 3
Pin 1
Pin 2
P3
Pin 14
Pin 12
Pin 10
Pin 8
Pin 6
Pin 4
Pin 2
Pin 1 cabling!
WARNING! Ensure proper orientation of P1, Pin 1 when creating your own
NEED A CABLE?
The following
Prototype
Development cable is available to interface
Power and I/O:
Power Interface
PD02-2300-FL3
Logic Interface
PD14-2334-FL3
See Appendix F for description and wire color chart.
Figure
1.10.
3: P1 14-Pin Wire Crimp
P2 Connector - CANOpen Communications
P2: COMM CONNECTOR
DB-9
Pin 1
Pin 2
CAN DB-9 Male
Function
No Connect
CAN Low
Pin 3 CAN -V (CAN GND)
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
No Connect
CAN Shield
CAN -V
CAN High
No Connect
CAN +V
CAN -V (CAN_GND)
CAN Low
CAN Shield
1 2 3 4 5
6 7 8 9
CAN -V
CAN +V
CAN High
Figure 1.10.4: P2- DB-9 CANopen Communications
Part 1: Hardware Specifications
1-45
Mechanical Specifications (Sealed -65 Version)
Dimensions in Inches (mm)
LMAX3
2.042
(51.9)
2.96
(75.2)
1.078
(27.4)
P2
0.06
(1.5)
0.81 ±0.02
(20.6 ±0.5)
0.590 ±0.008
(15.0 ±0.2)
0.230 ±0.004
(5.8 ±0.1)
Ø 0.2500 +0/-0.0005
(Ø 6.350 +0/-0.013)
P1
1.033
(26.2)
2.02
(51.2)
1.63
(41.4)
1.480
(37.6)
LMAX1
LMAX2
Sealed MDrivePlus Lengths
Inches (mm)
Motor Length LMAX
Single
Double
2.82 (71.63)
3.16 (80.26)
Triple 4.02 (102.11)
2.22 SQ.
(56.4 SQ.)
Connectors
LMAX2
3.48 (88.39)
3.82 (97.03)
4.67 (118.62)
LMAX3
3.58 (90.87)
3.92 (99.5)
4.78 (121.35)
Ø 0.87
(Ø 22.1)
P1: 19-Pin M23
(Male)
Figure 1.10.5: MDrive23Plus2-65 Motion Control
Ø 0.53
(Ø 13.5)
P2: 5-Pin
M12
NEED A CABLE?
The following cordset is available to interface to the 19-pin
M23 Connector:
Straight Termination
MD-CS100-000
Right Angle Termination
MD-CS-101-000
See Appendix F for details.
P1 Connector - I/O and Power Connections
Pin 12
Pin 11
Pin 10
Pin 9
Pin 8
Pin 7
Outer: Pins 1-12
Inner: Pins 13-19
9
10
11
17
16
8
7
18
19
15
6
1
13
14
5
2
3
4
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
I/O 10
I/O 4
I/O 2
9
10
11
17
16
8
7
12
18
13
1
19
14
15
6
5
2
4
3
Pin 19
M23
Circular
(Male)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Pin 15
Pin 16
Pin 17
Pin 18
Pin 19
P1: I/O & POWER CONNECTOR
Function
Expanded I/O
I/O 9
I/O 11
Step/Clock I/O
I/O 1
Direction/Clock I/O
+V (+12 to +48 VDC)
Aux-Logic(+12 to +24 VDC)
Aux-Ground
I/O 3
I/O Ground
I/O Power
Comm Ground
I/O 12
Capture/Trip I/O
Analog In
I/O 2
I/O 4
I/O 10
Power/Aux-Ground
Remote Encoder Closed Loop Control
Channel A +
Channel B +
Index +
I/O 1
Index –
+V (+12 to +48 VDC)
Aux-Logic(+12 to +24 VDC)
Comm Ground
I/O 3
I/O Ground
I/O Power
Earth Ground
Channel B –
Capture/Trip I/O
Analog In
I/O 2
I/O 4
Channel A –
Power/Aux-Ground
Table 1.10.6: MDrive17Plus
2
-65 P1 19-Pin M23 Connector
Pin 13
Pin 14
Pin 15
Ø 0.197
(Ø 5.0)
1.856 ±0.008 SQ.
(47.1 ±0.2 SQ.)
Ø 1.500 ±0.002
(Ø 38.1 ±0.1)
1-46
MDI Hardware Manual Revision R072806
P2 Connector - CANopen Communications
P2: COMM CONNECTOR
CANOpen
M12 Circular (Female)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Function
Shield
CAN +V
CAM -V
CAN HIGH
CAN LOW
Pin 4
4
1
Pin 1
Pin 5
Figure 1.10.7: P2 5-Pin M12 (Male) CAN Open Communications Connector
3
2
Pin 3
Pin 2
+V Supply
7 to 30 VDC
Return
Pin 4: CAN HIGH
1
4
2
3
Pin 3: CAN -V
Pin 1: Shield
Pin 5: CAN LOW
Pin 2: CAN +V
5-Pin M12 Male
CAN -V (CAN_GND)
CAN Low
CAN Shield
1 2 3 4 5
6 7 8 9
120Ω
Termination
Resistor*
CANopen
Controller
CAN -V
CAN +V
CAN High
DB-9
MDI Plus
CANopen
Node 1
MDI Plus
CANopen
Node x
*120Ω Termination Resistors are required between CAN High and CAN Low at both ends of the cabling per ISO-11828
120Ω
Termination
Resistor*
Figure 1.10.8: CANOpen Network using MDrivePlus Motion Control
Part 1: Hardware Specifications
1-47
Page Intentionally Left Blank
1-48
MDI Hardware Manual Revision R072806
Excellence in Motion
TM
TM
MOTION CONTROL
Part 2:
Connecting and
Interfacing
Section 2.1: Mounting and Connection Recommendations
Section 2.2: Interfacing Communications
Section 2.3: Interfacing and Using the MDrivePlus Motion Control I/O
Part 2: Connecting and Interfacing
2-1
Page Intentionally Left Blank
2-2
MDI Hardware Manual Revision R072806
SECTION 2.1
MDrivePlus Mounting and Connection Recommendations
Mounting
Recommendations
Care must be observed when installing the mounting screws on ALL MDrive17Plus versions.
The mounting holes on the flange are not drilled through and have a maximum depth of
0.150” (3.81 mm).
The warning note and Figure below illustrate the maximum safe thread length and maximum torque for mounting all versions of the MDrive17Plus.
Maximum length of screw threads into the motor housing
0.140" (3.5 mm)
M3 x 0.5 Screw
Length TBD by Customer
Customer's
Mounting Flange
MDrive17Plus
MDrive23Plus
Microstepping
Figure 2.1.1: MDrive17Plus Mounting Screw Depth
There are no special mounting considerations for this device. Flange mounting holes are drilled through with a diameter of 0.197" (5.0mm) to take standard M5 screws. The length of the screw used will be determined by the mounting flange width. See
Mechanical Specifications for mounting hole pattern.
DC Power Recommendations
MDrive17Plus Motion Control
The MDrive17Plus Motion Control operates from a single unregulated linear or unregulated switching power supply to power the control circuits and provide motor power.
The power requirements for the MDrive17Plus Motion Control are:
Output Voltage .....................................................................................................+12 to +48 VDC
Current (max. per unit) ...............................................................................................................2A
(Actual power supply current requirement will depend upon voltage and load)
For recommended IMS power supplies and cable recommendations see Appendix B: Recommended Power and
Cable Configurations.
MDrive23Plus Motion Control
2.0
1.6
1.2
75 60 45 30 15
Voltage (VDC)
The power requirements for the MDrive23Plus Motion Control are:
Output Voltage ...................+12 to +75 VDC
Current (max. per unit) ............................2A
(Actual power supply current requirement will depend upon voltage and load)
Figure 2.1.2: MDrive23Plus Motion Control Current Requirements
Layout and Interface Guidelines
Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level cables and make your system unreliable.
Logic level cables must be shielded to reduce the chance of EMI induced noise. The shield needs to be grounded at the signal source to earth. The other end of the shield must not be tied to anything, but allowed to float. This allows the shield to act as a drain.
WARNING! The mounting holes in the MDrive17 mounting flange are not through holes. The maximum length of the screw threads into the motor flange is
0.140” (3.5 mm).
MAXIMUM
TORQUE! The maximum torque for the M3x0.5 screw is 7.8 lb-in (9 kg-cm) with a thread engagement of 5 threads (3.3 mm deep).
A lesser thread engagement diminishes the maximum torque.
WARNING! DO
NOT connect or disconnect power leads when power is applied!
Disconnect the AC power side to power down the DC power supply.
Part 2: Connecting and Interfacing
2-3
WARNING! DO NOT bundle the logic leads with the power leads as this could lead to noise induced errors.
NEED A CABLE?
The following
Prototype
Development Cables are available to interface Power and I/O
MDI17Plus
2
PD16-1417-FL3
MDI23Plus
2
Power
PD02-2300-FL3
MDI23Plus
2
I/O
PD14-2334-FL3
To Interface Communications:
USB to RS-422/485
MD-CC400-000
10-Pin IDC to 10-Pin Wire Crimp
MD-ADP-H
10-Pin Wire Crimp (Multi-Drop)
PD10-1434-FL3
Cordsets for Sealed (-65) Models:
Straight Termination (M23)
MD-CS100-000
Right-Angle Termination (M23)
MD-CS101-000
USB to RS-422-485 (M12)
MD-CC401-000
See Appendix F for details.
Power supply leads to the MDrivePlus need to be twisted. If more than one driver is to be connected to the same power supply, run separate power and ground leads from the supply to each driver.
Recommended Wiring
The following wiring/cabling is recommended for use with the MDrivePlus:
Logic Wiring ......................................................................................................................22 AWG
Wire Strip Length ...................................................................................................0.25” (6.0 mm)
Power and Ground .................... See Appendix B: Recommended Power and Cable Configurations
Unregulated
Linear or
Switching
Power Supply
Power
Ground
+VDC
–
+
MDrivePlus
12" FLYING
LEADS
7 PIN
PLUGGABLE
TERMINAL
Black
Red
Pin 6
Pin 7
MDrivePlus2
16 PIN
LOCKING
WIRE CRIMP
2 PIN
LOCKING
WIRE CRIMP
(P3 MDI23)
Pin 16
Pin 15
Pin 2
Pin 1
MDrivePlus2-65
19 PIN M23
Pin 19
Pin 6
Shield to
Earth Ground
Figure 2.1.3: MDrive Motion Control Power Connections
Recommended Mating Connectors and Pins
Communications
10-pin Friction Lock (P2) .......................................................................... Hirose DF11-10DS-2C
Crimp Contact for 10-pin Friction Lock (22 AWG)..................................................... DF11-22SC
Crimp Contact for 10-pin Friction Lock (24 - 28 AWG) ......................................... DF11-2428SC
Crimp Contact for 10-pin Friction Lock (30 AWG)..................................................... DF11-30SC
Logic and Power
The following mating connectors are recommended for the MDrivePlus2 Units ONLY! Please contact a
JST distributor for ordering and pricing information.
MDrive17Plus 2
16-pin Locking Wire Crimp Connector Shell ............................................ JST PN PADP-16V-1-S
Crimp Pins ..............................................................................................JST PN SPH-001T-P0.5L
MDrive23Plus 2
14-pin Locking Wire Crimp Connector Shell ............................................ JST PN PADP-14V-1-S
Crimp Pins ..............................................................................................JST PN SPH-001T-P0.5L
Securing Power Leads and Logic Leads
Some applications may require that the MDrive move with the axis motion. If this is a requirement of your application, the motor leads (flying, pluggable or threaded) must be properly anchored. This will prevent flexing and tugging which can cause damage at critical connection points within the MDrive.
Power Leads
Adhesive Anchor
& Tywrap
Logic Leads
Adhesive Anchors
& Tywraps
2-4
Communication Leads
Figure 2.1.4: Typical MDrive Shown with Leads Secured
MDI Hardware Manual Revision R072806
SECTION 2.2
Interfacing MDrivePlus Communications
Available Communications Cables/Converters
To simplify the wiring and connection process IMS offers USB to RS-422 communications cables for each of the MDrivePlus Motion Control models. These convenient 12.0' (3.6m) accessory cables connect a PC’s
USB Port to the MDrivePlus P2 Connector. An in-line RS-422 converter enables parameter setting to a single
MDrivePlus Motion Control. Cable purchase recommended with first orders. Versions include:
USB to 10-Pin IDC .................................................Part No. MD-CC400-000
10-Pin IDC to Wire Crimp Adapter ........................Part No. MD-ADP-H
USB to M12 Circular (sealed version) ..........................Part No. MD-CC401-000
10-Pin Wire Crimp for Multi-drop ............................Part No. PD10-1434-FL3
For more information on these cables please reference Appendix F: Optional Cables and Cordsets.
Interfacing Single Mode Communications
The MDrivePlus Motion Control communicate to the host using the RS-422/485 protocol. Communications may be configured as either half duplex (RS-485) or full duplex (RS-422) using the EM (Echo Mode) Instruction. RS-422/485 may be used in two ways: either to communicate to a single MDrivePlus Motion Control, or to address up to 62 individually named MDrivePlus nodes in a multidrop system.
Single Mode Communications Full Duplex (RS-422)
To interface the MDrivePlus Motion Control using RS-422 protocol you will need one of the following:
A PC equipped with RS-422 Interface.
A PC RS-232 to RS-422/485 Converter.
The USB to RS-422 accessory cable appropriate to your MDrivePlus Motion Control model.
Use the following diagram to connect RS-422 communications to the MDrivePlus Motion Control.
See Warning
Note: See the
Specifications
Section of this document specific to the
MDrivePlus model you purchased for detailed connector and pin information.
WARNING! Do not connect or disconnect the
Communications
Converter Cables while power is applied!
WARNING! If using
AUX-Logic, the
Power return MUST be connected to the Motor Power Ground. DO
NOT connect the return to
Communications Ground!
RS-422 Converter
Aux-Logic
Comm GND
RX+
RX -
TX+
TX-
MDrivePlus/Plus 2
10-PIN IDC
Pin 5
Pin 10
10-PIN
FRICTION LOCK
WIRE CRIMP
Pin 5
Pin 2
Pin 4, 7
Pin 3, 6
Pin 2, 8
Pin 1, 9
Pin 3, 8
Pin 6, 7
Pin 4,10
Pin 1, 9
5-PIN M12
Pin 5
Pin 4
Pin 3
Pin 1
Pin 2
CGND
RX-
RX+
TX-
TX+
100
Ω
Internal to Prevent Circulating Currents in Party Mode
Figure 2.2.1: Full Duplex Communications (RS-422)
Part 2: Connecting and Interfacing
2-5
2-6
Single Mode Communications Half Duplex (RS-485)
The MDrivePlus Motion Control can be operated in a 2 wire RS-485 communication bus. Before connecting the 2 wire RS-485, download your program and setup instructions using the standard 4 wire RS-422
Communications Cable. If a program is not being used, download and save any setup parameters. To ensure the MDrivePlus responds only to commands specifically meant for it, set the unit in Party Mode (Please see
Party Mode below). The Echo Mode command (EM) must be set to the value of 1 (EM=1). This will set the
MDrivePlus communication into “half duplex” mode. Connect the driver in the 2 wire RS-485 configuration.
The following diagram illustrates how to connect the MDrivePlus 4 wire RS-485 to operate as a 2 wire system.
2 Wire RS-485
Comm GND
B
A
MDrivePlus/Plus 2
10-PIN IDC 10-PIN
FRICTION LOCK
WIRE CRIMP
Pin 10
Pin 4, 7
Pin 3, 6
Pin 2, 8
Pin 1, 9
Pin 2
Pin 3, 8
Pin 6, 7
Pin 4,10
Pin 1, 9
5-PIN M12
Pin 5
Pin 4
Pin 3
Pin 1
Pin 2
CGND
RX-
RX+
TX-
TX+
Figure 2.2.2: Half Duplex 2 Wire Communications (RS-485)
Interfacing Party Mode Communications
In systems with multiple controllers it is necessary to communicate with the control modules using party mode (PY=1). The MDrivePlus Motion Control nodes in the system are configured in software for this mode of operation by setting the Party Flag (PY) to True (1). It is necessary for all of the nodes in a system to have this configuration selected. When operating in party mode, each MDrive Motion Control in the system will need a unique address, or name, to identify it in the system. This is accomplished by using the software command DN, or Device Name. For example, to set the name of an MDrive to “A” you would use the following command: DN=65 or DN=”A” (65 is the ASCII decimal equivalent of uppercase A).
The factory default name is “!”. The asterisk character “*” is used to issue global commands to every device in the system. NOTE: When using the asterisk “*” in Party Mode, typed entries and commands will not be echoed. See Appendix B for ASCII table.
In setting up your system for party operation, the most practical approach is to observe the following steps:
1. Connect the first MDrivePlus Motion Control to the Host PC configured for Single Mode
Operation.
2. Establish communications and download program if required.
3. Using the command DN, name the MDrivePlus Motion Control. This can be any upper or lower case
ASCII character or number 0-9. (DN=”A”{enter}) (Note: The quotation marks before and after the device name are required.)
4. Set the party flag PY=1{enter}.
5. Press CTRL+J to activate the Party Mode.
6. Type the letters AS and press CTRL+J (Save device name and Party Mode).
7. Remove power.
8. Repeat steps 1 through 7 for each additional MDrive in the system.
9. After all MDrives are assigned a Device Name the Multiple MDrive Interface can be configured as shown in the following figure.
MDI Hardware Manual Revision R072806
MDrivePlus Motion Control #1
(DN=A)
Mating
Connector*
RX -
RX +
TX -
TX +
100
Ω
CGND
R
TERMINATOR
C
TERMINATOR
MDrivePlus Motion Control #2
(DN=B)
Mating
Connector*
RX -
RX +
TX -
TX +
100
Ω
CGND
RS-232 to RS-422
Converter
TX-
RX+
RX-
RX+
CGND
TX
RX
CGND
Ribbon Cable
AMP 10WDY00005P
HOST
Note: 120 Ω Termination Resistors in series with 0.1µf ceramic capacitors are recommended at both ends of the Data Lines when cable length exceeds 15 feet.
* Mating Connector
Samtec
P/N TCSD-05-01-N
Figure 2.2.3: RS-485 Interface, Multiple MDrivePlus Motion Control System
Data Cable Termination Resistors
Data Cable lengths greater than 15 feet (4.5 meters) are susceptible to signal reflection and/or noise. IMS recommends 120 Ω termination resistors in series with 0.1µf capacitors at both ends of the Data Cables. An example of resistor placement is shown in Figure 2.3 above. For systems with Data Cables 15 feet (4.5 meters) or less, the termination resistors are generally not required.
MDrivePlus Motion Control Communication Format
The following communication formats, used by MDrivePlus Motion Control (MDI) units, began with firmware version 1.043.
{}
{0D}
{0A}
{DN}
The contents between the {} symbols are transmitted.
Hex equivalent for a CR (Carriage Return).
Hex equivalent for a LF (Line Feed).
Represents the Device Name being sent.
{CS} Check Sum; {ACK} 06 Hex; {NAK} 15 Hex
EM = Echo Mode; PY = PartY Mode; CK= ChecK sum
The word {command} represents the immediate command sent to the MDI.
Command Execution Time (CET) is the time the MDI takes to execute a command. This varies from command to command and usually is in the 1-5 millisecond range.
MDrivePlus Motion Control (MDI) Response to Echo Mode
Dependent on how the Echo Mode (EM) is set in conjunction with Party Mode (PY) and Check Sum (CK), the MDI will respond differently. The following tables illustrate the various responses based on how the EM,
PY and CK parameters are set.
Part 2: Connecting and Interfacing
2-7
2-8
Parameter Setting
EM=0 & PY=0 CK=0
Transmission to
MDI
MDI Initial Response
(command) (D)
(command)
Echoed back one character at a time as the character is entered.
EM=1 & PY=0 CK=0 (command) (0D) −
MDI Final
Response
CET (0D) (0A)>
CET (0D) (0A)
Notes
The last character sent is the prompt >
EM=2 & PY=0 CK=0 (command) (0D) − −
EM=3 & PY=0 CK=0 (command) (0D) −
CET command
(0D) (0A)
Table 2.2.1: MDI Response to Echo Mode - Party and Check Sum are Zero (0)
The last character sent is LF
No response except to PR and L commands
Queued response.
The last character sent is the LF
Parameter Setting Transmission to MDI
EM=0 & PY=1 CK=0 (DN) (command) (0A)
MDI Initial
Response
(command)
Echoed back one character at a time as the character is entered.
MDI Final
Response
CET (0D)
(0A)>
Notes
The last character sent is the prompt >
EM=1 & PY=1 CK=0 (DN) (command) (0A)
EM=2 & PY=1 CK=0 (DN) (command) (0A)
EM=3 & PY=1 CK=0 (DN) (command) (0A)
−
−
−
CET (0D) (0A)
−
CET command
(0D) (0A)
The last character sent is LF
No response except to
PR and L commands
Queued response. The last character sent is the LF
Table 2.2.2: MDI Response to Echo Mode - Party is One (1) and Check Sum is Zero (0)
Parameter Setting Transmission to MDI
EM=0 & PY=0 CK=1 (DN) (command) (0A)
MDI Initial
Response
(command)
Echoed back one character at a time as the character is entered.
EM=1 & PY=0 CK=1 (DN) (command) (0A)
EM=2 & PY=0 CK=1
EM=3 & PY=0 CK=1
(DN) (command) (0A)
(DN) (command) (0A)
−
−
−
MDI Final
Response
CET (0D) (0A)>
CET (0D) (0A)
−
CET command
(0D) (0A)
Notes
The last character sent is the prompt
>
The last character sent is LF
No response except to
PR and L commands
Queued response. The last character sent is the LF
Table 2.2.3: MDI Response to Echo Mode - Party is Zero (0) and Check Sum is One (1)
MDI Hardware Manual Revision R072806
Parameter Setting
EM=0 & PY=1 CK=1
EM=1 & PY=1 CK=1
EM=2 & PY=1 CK=1
EM=3 & PY=1 CK=1
Transmission to
MDI
(DN) (command)
(CS) (0A)
(DN) (command)
(CS) (0A)
(DN) (command)
(CS) (0A)
MDI Initial
Response
(command)
Echoed back one character at a time as the character is entered.
−
−
(DN) (command)
(CS) (0A)
−
MDI Final
Response
CET (ACK) or
(NAK)>
CET (ACK) or
(NAK)>
−
CET command
(CS) (ACK) (NAK)
Notes
The last character sent is the prompt >
The last character sent is ACK or NAK
No response except to PR and L commands
Queued response.
The last character sent is ACK or NAK
Table 2.2.4: MDI Response to Echo Mode - Party and Check Sum are One (1)
Using Check Sum
For communication using Check Sum, the following 2 commands demonstrate sending and receiving.
Sending Command
1.
Check Sum set to ZERO before first character is sent.
2. All characters (ASCII values) are added to Check Sum, including the Device Name DN (if PY=1), to the end of the command, but not including terminator.
3. Check Sum is 2’s complement, then “OR” ed with Hex 80 (prevents Check Sum from being seen as
Command Terminator).
4. Terminator Sent.
Example command:
MR (space) 1
Note: Any combination of upper/lower case may be used. In this example, if a lower case <mr> were to be used, the decimal values will change to 109 and 114. Subsequently the Result Check Sum value will change. (Possible entries: MR, mr, Mr, mR.) (M = 77, R =82, m = 109, r = 114) (See ASCII table appendix in MDI Software Manual.)
77 82 32 49
4D 52 20 31
Decimal value of M, R, <space> and 1
Hex
77+82+32+49 = 240 Add decimal values together
1111 0000 = 240 Change 240 decimal to binary
0000 1111 1’s complement (invert binary)
0001 0000
1000 0000
1001 0000 144
Add 1 [2’s complement]
OR result with 128 (Hex 80)
Result Check Sum value
Once the result is reached, add the check Sum value (144 in this example) to your string by typing: MR 1(Alt
Key + 0144) (Use the symbol of 0144 in your string by holding down the alt key and typing 0144). You must type the numbers from the Numlock key pad to the right of the keyboard. The numbers at the top of the keyboard will not work.
Receiving Command
1. Check Sum set to ZERO.
2. All characters are added to Check Sum.
3. When receiving a Command Terminator, the lower 7 bits of the Check Sum should be equal to
ZERO. a) If not ZERO, the command is ignored and NAK echoed. b) If ZERO, ACK is sent instead of CR/LF pair.
4. Responses to PR commands will be Check Summed as above, but the receiving device should NOT respond with ACK or NAK.
Part 2: Connecting and Interfacing
2-9
2-10
MDrivePlus Motion Control Party Mode Sample Codes
1. Download this segment of code into the first MDrivePlus Motion Control. After downloading the program to the unit, follow the Set Up instructions described earlier. Be sure to set your first unit with the unique Device Name of A (DN=”A”). The device name is case sensitive.
RC=25 ‘Run current
HC=5 ‘Hold current
MS=256
A=250000
‘Microstep selection
‘Acceleration
D=250000 ‘Deceleration
PG 1 ‘Enter program mode
S1=0,0 ‘Setup I/O 1 as an input low true
LB SU ‘Start program upon power up
LB AA ‘Label program AA
MR 104400 ‘Move relative 104400 counts
H ‘Hold program execution to complete the move
LB DD ‘Label program DD
BR DD,I1=0 ‘Branch to DD if I1=0
4PR “Bex 1” ‘Print device name B to execute program
‘at address 1
H 2000 ‘Hold program execution 2000 milliseconds
PR “Cex 1” ‘Print device name C to execute program at
‘address 1
H 2000 ‘Hold program execution 2000 milliseconds
BR AA ‘Branch to label AA
E
PG ‘Exit program, return to immediate mode
2. Download this segment of code into your second MDrivePlus Motion Control. After downloading the program to the unit, follow the previous party mode instructions. Be sure to set your second unit with the unique address of B (device name is case sensitive).
RC=25
HC=5
MS=256
A=250000
D=250000
PG 1
LB BB
MR 208000
H
E
PG
‘Run current
‘Hold current
‘Microstep selection
‘Acceleration
‘Deceleration
‘Enter program mode
‘Label program BB
‘Move relative 208000 counts
‘Hold program execution to complete the move
‘Exit program, return to immediate mode
3. Download this segment of code into your third MDrivePlus Motion Control. After downloading the program to the unit, follow the previous party mode instructions. Be sure to set your third unit with the unique address of C (device name is case sensitive).
RC=25
HC=5
MS=256
A=250000
D=250000
PG 1
LB CC
MR 300000
H
E
PG
‘Run current
‘Hold current
‘Microstep selection
‘Acceleration
‘Deceleration
‘Enter program mode
‘Label program CC
‘Move relative 300000 counts
‘Hold program execution to complete the move
‘Exit program, return to immediate mode
MDI Hardware Manual Revision R072806
MDrivePlus Motion Control Immediate Party Mode Sample Codes
Once Party Mode has been defined and set up as previously described under the heading “Multiple MDrivePlus
Motion Control System (Party Mode)”, you may enter commands in the Immediate Mode in the IMS Terminal Window. Some examples follow.
Move MDrive A, B or C 10000 Steps
Assuming there are three MDrives set up in Party Mode as shown in the Sample Codes above.
To move MDrive Unit “A”, Press Ctrl+J and then type: AMR^10000 and press Ctrl+J. MDrive Unit
“A” will move 10000 steps.
To print the position type: APR P and press Ctrl+J. The position of MDrive Unit “A” will be printed.
To move MDrive Unit “B” type: BMR 10000 and press Ctrl+J. MDrive Unit “B” will move 10000 steps.
To move all three MDrives at the same time type: *MR 10000 and press Ctrl+J. All MDrives will move 10000 steps.
To change a Variable in the “C” unit type: C<variable name><number> and press Ctrl+J. The variable will be changed. To verify the change type: CPR <variable name> and press Ctrl+J. The new value will be displayed.
All Commands and Variables may be programmed in this manner.
To take an MDrive out of Party Mode type: <device name>PY=0 and press Ctrl+J. That unit will be taken out of Party Mode. To take all units out of Party Mode type: *PY=0 and press Ctrl+J. All units will be taken out of Party Mode.
NOTE: When instructed to type Ctrl+J, that is the key + the key. It will not display in the
Terminal Window so be certain you press the correct keys. CtrlJ activates the Party Mode.
NOTE: Once you have activated Party Mode with the first Ctrl+J you do not have to type it before each successive command.
However, every command must be followed with a Ctrl+J.
NOTE: The asterisk (*) is a global command which addresses all units. Since three units can not answer together, the asterisk
(*) as well as other global commands will not be displayed in the Terminal Window.
Part 2: Connecting and Interfacing
2-11
NOTE: On the Standard
MDrivePlus, when configured as outputs, the
I/O set is sinking ONLY!
The Plus2 Models add the functionality of I/O Power, which enables the user to use all the outputs, both
Standard and Enhanced, as
Sinking or Sourcing.
NOTE: If the unit purchased has the remote encoder option, the additional points become dedicated to encoder functions!
2-12
SECTION 2.3
Interfacing and Using the MDrivePlus Motion Control I/O
The MDrivePlus Motion Control Digital I/O
The MDrivePlus Motion Control product line is available with two digital I/O configurations, Standard and
Enhanced.
The digital I/O may be defined as either active HIGH or active LOW. When the I/O is configured as active
HIGH, the level is +5 to +24 VDC and the state will be read/set as a “1”. If the level is 0 VDC, then the state will be read/set as “0”. Inversely, if configured as active LOW, then the state of the I/O will be read/set as a “1” when the level is LOW, and “0” when the level is HIGH. The active HIGH/LOW state is configured by the third parameter of the I/O Setup (S1-4, S9-12) variable. The goal of this I/O configuration scheme is to maximize compatibility between the MDrivePlus Motion Control and standard sensors and switches.
Standard ................................................................................ All MDrivePlus Models
Available Points .................................................................IO1, IO2, IO3, IO4 (Sinking or
Sourcing Inputs, Sinking
Outputs ONLY)
Enhanced ............................................................................... Plus2, Plus2-65
Available Points .................................................................IO1, IO2, IO3, IO4 (Sinking
Sourcing, Outputs/Inputs)
Additional Points ...............................................................IO9, IO10, IO11, IO12 (Sinking
Sourcing, Outputs/Inputs)
Dedicated I/O ...................................................................Step/Clock Input, Step/Direction
I/O, Capture Input/Trip Output
Standard I/O Set - All MDrivePlus Motion Control Models
The MDrivePlus Motion Control comes standard with a set of four I/O — (4) sinking or sourcing 0 to +24
VDC inputs or (4) sinking 0 to +24 VDC outputs, which may be programmed individually as either general purpose or dedicated inputs or outputs, or collectively as a group.
Enhanced I/O Set - MDrivePlus2/Plus2-65
The MDrivePlus2 Motion Control is equipped with a set of eight I/O — (8) sinking or sourcing 0 to +24
VDC inputs or (8) sinking or sourcing +12 to +24 VDC outputs, which may be programmed individually as either general purpose or dedicated inputs or outputs, or collectively as a group. The eight I/O consist of two separate banks of four points: Bank 1: IO1 - IO4, Bank 2: IO9 - IO12.
Uses of the Digital I/O
The I/O may be utilized to receive input from external devices such as sensors, switches or PLC outputs. When configured as outputs, devices such as relays, solenoids, LEDs and PLC inputs may be controlled from the MDrivePlus Motion Control.
Each I/O point may be individually programmed to any one of 9 dedicated input functions, 4 dedicated output functions, or as general purpose inputs or outputs. The I/O may be addressed individually, or as a group. The active state of the line or group may also be set. All of these possible functions are accomplished with the I/O Setup Variable (S1-4,
S9-12)
INPUTS
• Sensors
• Switches
• PLC Outputs
• Outputs of
Additional
System MDrive's
OUTPUTS
• Relays
• Solenoids
• LED's
• PLC Inputs
• Inputs of
Additional
System MDrive's
Figure 2.3.1: Uses for the Digital I/O
When the level is HIGH. The active HIGH/LOW state is configured by the second parameter of the I/O Setup (S1-4, S9-12) variable. The goal of this I/O configuration scheme is to maximize compatibility between the MDrivePlus Motion Control and standard sensors and switches.
MDI Hardware Manual Revision R072806
MDrivePlus Motion Control Digital Input Functions
The MDrivePlus Motion Control inputs may be interfaced to a variety of sinking or sourcing devices. An input may be programmed to be a general purpose user input, or to one of nine dedicated input functions. These may then be programmed to have an active state of either HIGH or LOW.
The inputs are configured using the “S” Variable (See MDrive Motion Control Sofware Reference Manual for precise details on this command). The command is entered into the IMS terminal or program file as S<IO point>=<IO Type>,<Active State><Sink/Source>.
Example:
S9=3,1,0
S3=0,0,1
‘set IO point 9 to be a Limit- input, Active HIGH, Sourcing
‘set IO Point 3 to be a General Purpose input, Active LOW,
‘Sinking
Programmable Input Functions
The following table lists the programmable input functions of the MDrive Motion Control.
MDrivePlus Motion Control Input Functions
Parameter
(S1-S4, S9-S12)
0
1
2
3
4
5
6
7
8
11
Function Active
General Purpose
Home
Limit +
Limit –
GO
Soft Stop
Pause
Jog +
Jog –
Reset
Table 2.3.1: Programmable Input Functions
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
Dedicated Input Functions
MDrivePlus Motion Control Dedicated Input Functions
Parameter
(S7, S8)
33
34
35
Function
Step/Direction
Quadrature
Up/Down
Active
0/1
0/1
0/1
Parameter
(S13)
60
Function
High Speed Capture
Active
0/1
Table 2.3.2: Dedicated Input Functions
Sink/Source
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
Active States Defined
The Active State determines at what voltage level the input will be active.
Active HIGH ...................................................................... The input will be active when +5 top +24
VDC is applied to the input.
Active LOW ........................................................................ The input will be active when it is gorunded
(0 VDC).
Part 2: Connecting and Interfacing
2-13
NOTE: On the Standard
MDrivePlus, when configured as outputs, the
I/O set is sinking ONLY!
The Plus2 Models add the functionality of I/O Power, which enables the user to use all the outputs, both Standard and Enhanced, as Sinking or
Sourcing.
Active LOW example:
IO 1 is to be configured as a Jog– input which will activate when a switch is toggled to ground (Sinking
Input):
S1=8,0,0 ‘set IO point 1 to Jog–, Active LOW, Sinking
Active HIGH example:
IO 4 is to be configured as a Home input which will activate when instructed by a PLC (+24VDC Sourcing
Input):
S4=1,1,1 ‘set IO point 1 to Home, Active HIGH, Sourcing
MDrivePlus Motion Control Digital Output Functions
The MDrivePlus Motion Control Outputs may be configured as general purpose or set to one of two dedicated functions, Fault or Moving. These outputs will sink up to 600 mA (one channel of two banks) and may be connected to an external VDC source. See Output Functions Table and I/O Ratings Table.
The outputs are set using the “S” comand (See MDrive Motion Control Sofware Reference Manual for precise details on this command). The command is entered into the IMS terminal or program file as S<IO point>=<IO Type>,<Active State><Sink/Source>.
Example:
S9=17,1,0
S3=18,0,0
‘set IO point 9 to be a Moving Output, Active HIGH, Sinking
‘set IO Point 3 to be a Fault Output, Active LOW, Sinking
Programmable Output Functions
The MDrivePlus Motion Control Output functions may be programmed to be a general purpose user output or to one of five output functions.
MDrivePlus Motion Control Output Functions
Parameter
(S1-S4, S9-S12)
16
17
18
19
20
Function Active
General Purpose User
Moving
Fault
Stall
Velocity Changing
0/1
0/1
0/1
0/1
0/1
Table 2.3.3: Programmable Output Functions
Dedicated Output Functions
Sink/Source
0/1
0/1
0/1
0/1
0/1
MDrivePlus Motion Control Dedicated Output Functions
Parameter
(S7, S8)
49
50
51
Function
Step/Direction
Quadrature
Up/Down
Active
0/1
0/1
0/1
Parameter
(S13)
61
Function
High Speed Trip
Active
0/1
Table 2.3.4: Dedicated Output Functions
2-14
MDI Hardware Manual Revision R072806
MDrivePlus Motion Control I/O Ratings
MDrivePlus I/O Ratings
MDrivePlus Output Voltage (IOPWR) Rating
MDrivePlus2 Output Voltage (IOPWR) Rating
0 to +24 VDC
+12 to +24 VDC (Sourcing) | 0 to +24 VDC (Sinking)
Load Rating* (equal current per I/O Point)
* Heatsink Temp = 85C
I/O State
1 on, 3 off
2 on, 2 off
I Continuous I Peak (D=0.84)
550 mA
390 mA
600 mA
425 mA
3 on, 1 off 320 mA 350 mA
4 on, 0 off 275 mA 300 mA
To compute FET dissipation for unequal loads, calculate the FET power for each I/O not to exceed 425 mW.
Continuous Current
Peak Current
Duty Cycle
FET Power = I cont2 x 1.4
FET Power = I peak2
x D x 1.4
(D =T on /T period) = ≤ 1.0 seconds at 85˚C heatsink temperature.
Protection Ratings
Independent Over-temperature
Current Limit
Clamp
0.6A to 1.2 A
+45V, -20V
Table 2.3.5: MDrivePlus Motion Control I/O and Protection Ratings
MDrivePlus Motion Control I/O Connection Map
!
The P1 14-Pin Locking Wire Crimp Connector
On MDrive23Plus2 Models has the same I/O Pin
Configuration as the 16-Pin Wire Crimp
MDrivePlus MDrivePlus2
MDrivePlus2-65
I/O1
I/O2
I/O3
I/O4
ANALOG IN
PWR GROUND
I/O POWER
I/O GROUND
CAPTURE/TRIP
I/O9
I/O10
I/O11
I/O12
STEP/CLK I/O
DIR/CLK I/O
CH A +
CH A -
CH B +
CH B -
INDEX +
INDEX -
12" FLYING
LEADS
White/Yellow
White/Orange
White/Violet
White/Blue
Green
Black
7-PIN
PLUGGABLE
TERMINAL
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
16-PIN
FRICTION LOCK
WIRE CRIMP
(14-PIN WIRE
CRIMP - MDI23)
Pin 3
Pin 4
Pin 5
Pin 6
Pin 12
19-PIN M23
Pin 4
Pin 16
Pin 9
Pin 17
Pin 15
USE I/O GND FOR I/O INTERFACING!
N/A
8 I/O
CONFIGURATION
-OR-
USER SUPPLIED
REMOTE ENCODER
OPTION *
*See Appendix: MDrivePlus Closed Loop Control for encoder connection and configuration information
Pin 1
Pin 2
Pin 11
Pin 7
Pin 8
Pin 9
Pin 10
Pin 13
Pin 14
Connector P1
Figure 2.3.2: I/O Connection Map
Pin 11
Pin 10
Pin 14
Pin 1
Pin 18
Pin 2
Pin 13
Pin 3
Pin 5
Part 2: Connecting and Interfacing
2-15
NOTE: On the Standard
MDrivePlus, power ground is used to ground the
I/O interface.
NOTE: Advanced
I/O interface circuit diagrams and application examples are available in
Appendix D: I/O Applications
Guide.
I/O Usage Examples — MDrivePlus Standard I/O Set
The circuit examples below illustrate possible interface examples for using the MDrivePlus Motion Control
Digital I/O. Additional diagrams and code snippets are available in Appendix D: I/O Application Guide.
The code samples included with these examples will also serve to introduce the user to MDrivePlus Motion
Control programming. Please reference the MDrive software manual for more information on the Instructions, Variables and Flags that make up the MDI command set as well as material on setting up and using the
IMS Terminal.
Input Interface Example - Switch Input Example (Sinking Input)
The following circuit example shows a switch connected between an I/O point and power ground.
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iil = 100 µA
IOx
Iil
Internal pull-up voltage
65 - 160 uA
100k ohms
24.9k ohms
3.3 V detect logic
GND
Switch Input, Sinking
MDrivePlus Sinking Input
Equivalent Circuit
Figure 2.3.3: Sinking Input Example using a Push Button Switch
Code Sample
For the code sample, this switch will be set up as a G0 sinking input, active when low. When pressed, the switch will launch the program beginning at address1 in MDrive memory:
***Setup Variables***
Sx=4,0,0 ‘set IO point x to be a G0 input, active when LOW, sinking
****Program***
PG1
MR 20000
H
MR -20000
H
E
PG
‘Move +20000 steps relative to current position
‘Hold program execution until motion completes
‘Move -20000 steps
‘Hold program execution until motion completes
‘End program, exit program mode
2-16
MDI Hardware Manual Revision R072806
Input Interface Example - Switch Input Example (Sourcing Input)
The following circuit example shows a switch connected between an I/O point and a voltage supply which will source the input to perform a function.
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA
IOx
Iih
+
Up to
+24 VDC
Switch Input, Sourcing
GND
Internal pull-up voltage
The internal pull-up voltage cannot provide output current / voltage
3.3 V
100k ohms
24.9k ohms detect logic
40 - 135 uA
MDrivePlus Sourcing Input Equivalent
Figure 2.3.4: Sourcing Input Example using a Push Button Switch
Code Sample
For the code sample, the switch will be set up as a Soft Stop sourcing input, active when HIGH. When pressed, the switches will stop the motor.
S1=5,1,1
SL 200000
‘set IO point 1 to be a Soft Stop input, active when HIGH,
‘sourcing
‘enter this to slew the motor at 200000 µsteps/sec
When the switch is depressed the motor will decelerate to a stop.
Part 2: Connecting and Interfacing
2-17
NOTE: On the Standard
MDrivePlus, when configured as outputs, the
I/O set is sinking ONLY!
The Plus2 Models add the functionality of I/O Power, which enables the user to use all the outputs, both
Standard and Enhanced, as
Sinking or Sourcing.
Output Interface Example (Sinking Output)
The following circuit example shows a load connected to an I/O point that will be configured as a sinking output.
Internal pull-up voltage always off switched
MDrivePlus
Diode recommended for inductive loads
65-160 µA
24.9k ohms
IOx
LOAD load current, sinking
+ up to
24 V
GND
Sinking Output Equivalent Circuit
Sinking Output
Figure 2.3.5: Sinking Output Example
Code Sample
For the code sample, the load will be an LED. The I/O point will be configured such that the LED will be unlit while the velocity is changing. Use the switch set-up from the previous input, modified to be sinking, example to soft stop the motor.
S1=5,0,0
S1=20,0,0
‘set IO point 1 to be a Soft Stop input, active when LOW,
‘sinking.
‘set IO point 2 to be a Velocity Changing output, active when
‘LOW
SL 2000000 ‘enter this to slew the motor at 200000 µsteps/sec
While the motor is accelerating the LED will be dark, but will light up when the motor reaches a constant velocity. When the Soft Stop switch is depressed the motor will begin to decelerate, the LED will go dark again while velocity is changing.
2-18
MDI Hardware Manual Revision R072806
General Purpose I/O Usage Examples — Enhanced I/O Set
The MDrivePlus
2
models add the functionality of either an additional 4 I/O points or an optional interface for a user-defined remote encoder. Additionally, the I/O points, when configured as outputs have the added functionality of being configured as sinking or sourcing outputs.
The circuit examples below illustrate possible interface examples for using the MDrivePlus
2
Motion Control
Digital I/O. Additional diagrams and code samples are available in Appendix D: I/O Applications Guide.
The code samples included with these examples will also serve to introduce the user to MDrivePlus Motion
Control programming . Please reference the MDrive software manual for more information on the Instructions, Variables and Flags that make up the MDI command set as well as material on setting up and using the
IMS Terminal.
Input Interface Example - Switch Input Example (Sinking Input)
The following circuit example shows a switch connected between an I/O point and I/O Ground.
NOTE: Advanced
I/O interface circuit diagrams and application examples are available in Appendix D: I/O
Applications Guide.
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iil = 100 µA
IOPWR
MDrivePlus2
IOx
Iil
65 - 160 uA pull-up voltage
100k ohms
24.9k ohms
3.3 V
IOGND
Switch Input, Sinking
Sinking Input Equivalent Circuit
Figure 2.3.6: Switch Interface to Input, Sinking
Code Sample
For the code sample, this switch will be set up as a G0 sinking input, active when low. When pressed, the switch will launch the program beginning at address1 in MDrive memory:
***Setup Variables***
Sx=4,0,0 ‘set IO point x to be a G0 input, active when LOW, sinking
****Program***
PG1
MR 20000
H
MR -20000
H
E
PG
‘Move +20000 steps relative to current position
‘Hold program execution until motion completes
‘Move -20000 steps
‘Hold program execution until motion completes
‘End program, exit program mode
Part 2: Connecting and Interfacing
2-19
2-20
Input Interface Example - Switch Input Example (Sourcing Input)
The following circuit example shows a switch connected between an I/O point and a voltage supply which will source the input to perform a function.
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA
IOPWR
MDrivePlus
2
Internal voltage
Switch Input, Sourcing
IOx
Iih
IOGND
40 - 135 uA
100k ohms
24.9k ohms
3.3 V
Figure 2.3.7 Sourcing Input Example using a Push Button Switch
Code Sample
For the code sample, the switch will be set up as a Soft Stop sourcing input, active when HIGH.
When pressed, the switches will stop the motor.
S1=5,1,1
SL 200000
‘set IO point 1 to be a Soft Stop input, active when HIGH,
‘sourcing
‘enter this to slew the motor at 200000 µsteps/sec
When the switch is depressed the motor will decelerate to a stop.
MDI Hardware Manual Revision R072806
Output Interface Example (Sinking Output)
The following circuit example shows a load connected to an I/O point that will be configured as a sinking output.
MDrivePlus
2
The internal pull-up voltage cannot provide output current / voltage
Internal pull-up voltage always off switched
Sinking Output Equivalent Circuit
IOPWR
Diode recommended for inductive loads
65-160
µA
IOx
24.9k ohms
IOGND
LOAD load current, sinking
+ up to
24 V
Sinking Output
Figure 2.3.8: Sinking Output Example
Code Sample
For the code sample, the load will be an LED. The I/O point will be configured such that the LED will be unlit while the velocity is changing. Use the switch set-up from the previous input, modified to be sinking, example to soft stop the motor.
S1=5,0,0
S1=20,0,0
‘set IO point 1 to be a Soft Stop input, active when LOW,
‘sinking.
‘set IO point 2 to be a Velocity Changing output, active
‘when LOW
SL 2000000 ‘enter this to slew the motor at 200000 µsteps/sec
While the motor is accelerating the LED will be dark, but will light up when the motor reaches a constant velocity. When the Soft Stop switch is depressed the motor will begin to decelerate, the LED will go dark again while velocity is changing.
Part 2: Connecting and Interfacing
2-21
2-22
Output Interface Example (Sourcing Output)
The following circuit example shows a load connected to an I/O point that will be configured as a sourcing output.
MDrivePlus
2
The internal pull-up voltage cannot provide output current / voltage
Internal pull-up voltage switched
IOPWR
40-135
µA always off
Sourcing Output Equivalent Circuit
Figure 2.3.9: Sourcing Output Example
IOx
24.9k ohms
IOGND load current, sourcing
LOAD
Sourcing Output
12 to
24 V
+
Code Sample
For the code sample, the load will be a relay. The output will be configured to be a General Purpose user output that will be set active when a range of motion completes.
******Setup Variables******
S1=16,1,1 ‘set IO point 1 to be a user output, active when HIGH,
‘sourcing.
******Program******
PG 100 ‘Enter program at address 100
MR 2000000 ‘Move some distance in the positive direction
H ‘Hold execution until motion completes
MR -1000000 ‘Move some distance in the negative direction
H
O1=1
‘Hold execution until motion completes
‘Set output 1 HIGH
Enter EX 100 to execute the program, the motion will occur and the output will set high.
MDI Hardware Manual Revision R072806
Dedicated Digital I/O - Enhanced I/O Set
Step/Direction/Clock I/O
These dedicated I/O lines are used to receive clock inputs from an external device or provide clock outputs to an external device such as a counter or a second
MDrivePlus in a system. The Clock I/O can be configured as one of three clock types using the S7 and S8 variable:
1. Step/Direction
2. Quadrature
3. Up/Down
Step/Direction
The Step/Direction function would typically be used to receive step and direction instructions from a second system MDrivePlus or secondary controller. When configured as outputs the MDrivePlus Motion Control can provide step and direction control to another system drive for electronic gearing applications.
Step/Direction Function
Input: S<7-8>=33, <active state>
Output: S<7-8>=49,<active state>
Step Clock
Direction
Quadrature Function
Input: S<7-8>=34, <active state>
Output: S<7-8>=50,<active state>
Channel A
Channel B
Up/Down Function
CW
Input: S<7-8>=35, <active state>
Output: S<7-8>=51,<active state>
Quadrature
CCW
The Quadrature clock function would
Figure 2.3.10: MDrivePlus Motion Control Clock Functions typically be used for following applications where the MDrivePlus would either be a master or slave in an application that would require two
MDrives to move the same distance and speed.
Up/Down
The Up/Down clock would typically be used in a dual-clock direction control application, or to increment/decrement an external counter.
Capture/Trip
The Capture Input/Trip Output point is a high speed I/O point which can be used for time critical events in motion applications.
NOTE: Advanced
I/O interface circuit diagrams and application examples are available in Appendix I/O
Applications Guide.
NOTE: When using the
MDrivePlus2 with the external encoder option, the step an direction I/O are not available! These I/O points become
Index + and Index -. See Appendix:
MDrivePlus Motion Control
Closed Loop Control for encoder connection and configuration information.
Capture Input
When configured as a capture input I/O point 13 has programmable filtering with a range of
50nS to 12.9 µS and has a resolution of 32 bits.
To configure the Capture input
S13=60,<0/1> ‘configure IO13 as a capture input, <active HIGH/LOW>
FC <0-9> ‘set input filtering to <range>
Trip Output
When configured as a trip output I/O 13 trip speed is 150 nS with 32 bit resolution.
To configure the Trip output
S13=61,<0/1> ‘configure IO13 as a trip output, <active HIGH/LOW>
+5VDC.
WARNING! The
Capture/Trip operates at TTL levels. Do not apply more than
Part 2: Connecting and Interfacing
2-23
2-24
Interfacing the Analog Input
The analog input of the MDrivePlus Motion Control is configured from the factory as a 0 to 5V, 10 bit resolution input (S5=9). This offers the user the ability to receive input from temperature, pressure, or other forms of sensors, and then control events based upon the input.
The value of this input will be read using the I5 instruction, which has a range of 0 to 1023, where 0 = 0 volts and 1024 = 5.0 volts. The MDrivePlus Motion Control may also be configured for a 4 to 20 mA or 0 to 20 mA Analog Input (S5 = 10). If used as a 4 to 20mA input the range is 0 to 800 units.
Sample Usage
‘***********Main Program**************
S5=9,0
PG 100
‘set analog input to read variable voltage (0 to +5VDC)
‘start prog. address 100
LB A1 ‘label program A1
CL A2, I5<500 ‘Call Sub A2, If I5 is less than 500
CL A3, I5>524 ‘Call Sub A3, If I5 is greater than 524
BR A1 ‘loop to A1
‘***********Subroutines**************
LB A2 ‘label subroutine A2
MA 2000 ‘Move Absolute 2000 steps
H
RT
‘Hold program execution until motion ceases
‘return from subroutine
LB A3
MA -2000
H
RT
E
PG
‘label subroutine A3
‘Move Absolute -2000 steps
‘Hold program execution until motion ceases
‘return from subroutine
‘End
‘Exit program
+V (0-5VDC/0-10VDC)
10 k Ohm Potentiometer
Analog Input
Ground
Voltage Mode
S5=9,0 'set input +VDC range to 0 - +5 VDC
S5=9,1 'set input +VDC range to 0 - +10 VDC
Figure 2.3.11: Analog Input - Voltage Mode
MDrive n trol l
MDI Hardware Manual Revision R072806
Analog Input
4 - 20 mA, 0 - 20 mA Source
Source Ground
Current Mode
S5=10,0 'set input I range to 0 to 20mA
S5=10,1 'set input I range to 4 to 20mA
Figure 2.3.12: Analog Input - Current Mode
Ground trol l
Part 2: Connecting and Interfacing
2-25
Page Intentionally Left Blank
2-26
MDI Hardware Manual Revision R072806
Appendices
Excellence in Motion
TM
TM
MOTION CONTROL
Appendices
Appendix A: MDrivePlus Motion Control Motor Performance
Appendix B: Recommended Power and Cable Configurations
Appendix C: Planetary Gearbox Specification and Application Guide
Appendix D: I/O Application Guide
Appendix E: MDrivePlus Motion Control Closed Loop Control
Appendix F: Optional Cables and Cordsets
A-1
Page Intentionally Left Blank
A-2
MDI Hardware Manual Revision R072806
appendix A
MDrivePlus Motion Control Motor Performance
MDrive17Plus Speed-Torque
Single Length Rotary Motor Double Length Rotary Motor Triple Length Rotary Motor
60
50
40
30
20
10
0
0 1000
(300)
24 VDC
48 VDC
2000
(600)
3000
(900)
4000 5000
(1200) (1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
42
35
28
60
50
42
35
60
50
40
21
40
30
28
30
21
14
7
7000
(2100)
20
10
0
0 1000
(300)
24 VDC
48 VDC
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
14
7
7000
(2100)
20
10
0
0 1000
(300)
24 VDC
48 VDC
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
Figure A.1: MDrive17Plus Motion Control Speed-Torque Curves
Speed in Full Steps per Second (RPM)
MDrive17Plus Motor Specifications
7000
(2100)
42
35
28
21
14
7
Single Length
Holding Torque ................................................................................................ 32 oz-in/22.6 N-cm
Detent Torque ............................................................................................... 1.66 oz-in/1.17 N-cm
Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2
Weight (Motor + Driver) ...........................................................................................9.8 oz/277.8 g
Double Length
Holding Torque ................................................................................................ 60 oz-in/42.4 N-cm
Detent Torque ............................................................................................... 2.08 oz-in/1.47 N-cm
Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2
Weight (Motor + Driver) .........................................................................................10.5 oz/297.7 g
Triple Length
Holding Torque ............................................................................................. 74.9 oz-in/52.9 N-cm
Detent Torque ............................................................................................... 3.47 oz-in/2.45 N-cm
Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2
Weight (Motor + Driver) .........................................................................................15.1 oz/428.1 g
MDrive23Plus Speed-Torque
Single Length Rotary Motor Double Length Rotary Motor
Triple Length Rotary Motor
225
200
175
150
125
100
75
50
25
0
0
24 VDC
45 VDC
75 VDC
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
7000
(2100)
159
141
124
106
88
71
53
35
18
225
200
175
150
125
100
75
50
25
0
0
24 VDC
45 VDC
75 VDC
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
7000
(2100)
159
141
124
106
88
71
53
35
18
225
200
175
150
125
100
75
50
25
0
0
24 VDC
45 VDC
75 VDC
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
7000
(2100)
159
141
124
106
88
71
53
35
18
Figure A.2: MDrive23Plus Motion Control Speed-Torque Curves
MDrive23Plus Motor Specifications
Single Length
Holding Torque ................................................................................................... 90 oz-in/64 N-cm
Detent Torque ................................................................................................... 3.9 oz-in/2.7 N-cm
Rotor Inertia ...................................................................................0.0025 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) .......................................................................................21.6 oz/612.13 g
Double Length
Holding Torque ............................................................................................... 144 oz-in/102 N-cm
Detent Torque ................................................................................................. 5.6 oz-in/3.92 N-cm
Rotor Inertia ...................................................................................0.0037 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) .........................................................................................26.4 oz/784.4 g
Triple Length
Holding Torque ............................................................................................... 239 oz-in/169 N-cm
Detent Torque ................................................................................................. 9.7 oz-in/6.86 N-cm
Rotor Inertia .....................................................................................0.065 oz-in-sec2/0.46 kg-cm2
Weight (Motor + Driver) .......................................................................................39.2 oz/1111.3 g
Appendices
A-3
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: The length of the DC power supply cable to an MDrive should not exceed 50 feet.
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 MDrive
DC Supply Cable and the AC
Supply Cable.
appendix B
Recommended Power and Cable Configurations
Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive.
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 MDrive Supply Cable AWG Table at the end of this Appendix.
Example A – Cabling Under 50 Feet, DC Power
Cable Length less than 50 Feet
π
Type RFI Filter
≥ Required Current
DC Voltage from
Power Supply
500 µf
Per Amp
-
+
Shield to Earth Ground on Supply End Only
Shielded Twisted Pair
(Wire Size from
MDrive Supply Cable AWG Table)
Ferrite
Beads
Figure B.1: DC Cabling - Under 50 Feet
+
Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge
Transformer - 10 to 28 VAC RMS for 48 VDC Systems
20 to 48 VAC RMS for 75 VDC Systems
π
Type RFI Filter
≥ Required Current
Shielded Twisted Pair
(Wire Size from
MDrive Supply Cable AWG Table)
Shield to Earth Ground on Supply End Only
Cable Length as required
NOTE:
Connect the cable illustrated in Example A to the output of the Full Wave Bridge
+
To Cable A
-
Full Wave Bridge
Figure B.2: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier
Example C – Cabling 50 Feet or Greater, AC Power to Power Supply
π
Type RFI Filter
≥ Required Current
120 or 240 VAC
Dependent on
Power Supply
Shield to Earth Ground on Supply End Only
Shielded Twisted Pair
(Wire Size from
MDrive Supply Cable AWG Table)
Cable Length as required
NOTE:
Connect the cable illustrated in Example A to the output of the Power Supply
+
To Cable A
Power Supply
Figure B.3: AC Cabling - 50 Feet or Greater - AC To Power Supply
A-4
MDI Hardware Manual Revision R072806
Recommended IMS Power Supplies
IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products.
IP404 Unregulated Linear Supply
Input Range
120 VAC Versions ...........................................................................................102-132 VAC
240 VAC Versions ...........................................................................................204-264 VAC
Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)
No Load Output Voltage ........................................................................43 VDC @ 0 Amps
Continuous Output Rating .................................................................32 VDC @ 1.5 Amps
Peak Output Rating ...............................................................................26 VDC @ 3 Amps
ISP200-4 Unregulated Switching Supply
Input Range
120 VAC Versions ...........................................................................................102-132 VAC
240 VAC Versions ...........................................................................................204-264 VAC
Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)
No Load Output Voltage ........................................................................41 VDC @ 0 Amps
Continuous Output Rating .................................................................38 VDC @ 1.5 Amps
Peak Output Rating ...............................................................................35 VDC @ 3 Amps
Recommended Power Supply Cabling
MDrivePlus Supply Cable AWG Table
Length (Feet)
1 Ampere (Peak)
10 25 50* 75* 100*
Minimun AWG
Length (Feet)
Minimun AWG
20 20
2 Amperes (Peak)
10
20
25
18
18
50*
16
18 16
75* 100*
14 14
Length (Feet)
Minimun AWG
3 Amperes (Peak)
10
18
25
16
50*
14
75* 100*
12 12
Length (Feet)
4 Amperes (Peak)
10 25 50* 75* 100*
Minimun AWG 18 16 14 12 12
*Use the alternative methods illustrated in examples B and C when cable length is ≥ 50 feet. Also, use the same current rating when the alternate AC power is used.
Table B.1: Recommended Supply Cables
Appendices
A-5
A-6
Appendix C
MDrive with Planetary Gearbox
Section Overview
This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox, and may include product sizes not relevant to this manual.
Shown are:
Product Overview
Selecting a Planetary Gearbox
Mechanical Specifications
Product Overview
All gearboxes are factory installed.
Mode of Function
Optional Planetary Gearbox operate as their name implies: the motor-driven sun wheel is in the center, transmitting its movement to three circumferential planet gears which form one stage. They are arranged on the bearing pins of a planet carrier. The last planet carrier in each sequence is rigidly linked to the output shaft and so ensures the power transmission to the output shaft. The planet gears run in an internally toothed outer ring gear.
Service Life
Depending on ambient and environmental conditions and the operational specification of the driving system, the useful service life of a Planetary Gerabox is up to 10,000 hours. The wide variety of potential applications prohibits generalizing values for the useful service life.
Lubrication
All Planetary Gearbox are grease-packed and therefore maintenance-free throughout their life. The best possible lubricant is used for our MDrive/Planetary Gearbox combinations.
Mounting Position
The grease lubrication and the different sealing modes allow the Planetary Gearbox to be installed in any position.
Operating Temperature
The temperature range for the Planetary Gearbox is between –30 and +140° C. However, the temperature range recommended for the Heat Sink of the MDrive is 0 to +85º C.
Overload Torque
The permitted overload torque (shock load) is defined as a short-term increase in output torque, e.g. during the start-up of a motor. In these all-metal Planetary Gearbox, the overload torque can be as much as
1.5 times the permitted output torque.
Available Planetary Gearbox
The following lists available Planetary Gearbox, diameter and corresponding MDrive.
Gearbox Diameter
42 mm
52 mm
MDrive
MDrive17
MDrive23
Selecting a Planetary Gearbox
There are many variables and parameters that must be considered when choosing an appropriate reduction ratio for an MDrive with Planetary Greabox. This Addendum includes information to assist in determining a
MDI Hardware Manual Revision R072806
suitable combination for your application.
Calculating the Shock Load Output Torque (TAB)
Note: The following examples are based on picking “temporary variables” which may be adjusted.
The shock load output torque (TAB) is not the actual torque generated by the MDrive and Planetary Gearbox combination, but is a calculated value that includes an operating factor (CB) to compensate for any shock loads applied to the Planetary Gearbox due to starting and stopping with no acceleration ramps, payloads and directional changes. The main reason the shock load output torque (TAB) is calculated is to ensure that it does not exceed the maximum specified torque for a Planetary Gearbox.
Note: There are many variables that affect the calculation of the shock load output torque. Motor speed, motor voltage, motor torque and reduction ratio play an important role in determining shock load output torque.
Some variables must be approximated to perform the calculations for the first time. If the result does not meet your requirements, change the variables and re-calculate the shock load output torque.
Use the equation compendium below to calculate the shock load output torque.
Note: The MDrive23 and the numbers and values used in these examples have been chosen randomly for demonstration purposes. Be certain you obtain the correct data for the
MDrive you have purchased.
Factors i n
M n
AB
T
N
T
M
η
T
AB
C
B s f
= Reduction Ratio - The ratio of the Planetary Gearbox.
= Motor Speed - In Revolutions Per Minute (Full Steps/Second).
= Output Speed - The speed at the output shaft of the Planetary Gearbox.
= Nominal Output Torque - The output torque at the output shaft of the Planetary
Gearbox.
= Motor Torque - The base MDrive torque. Refer to MDrive Speed Torque Tables.
= Gear Efficiency - A value factored into the calculation to allow for any friction in the gears.
= Shock Load Output Torque - A torque value calculated to allow for short term loads greater than the nominal output torque.
= Operating Factor - A value that is used to factor the shock load output torque.
= Safety Factor - A 0.5 to 0.7 factor used to create a margin for the MDrive torque requirement.
Reduction Ratio
Reduction ratio (i) is used to reduce a relatively high motor speed (n
M
) to a lower output speed (n
AB
).
With: i = n
M
÷ n
AB
or: motor speed ÷ output speed = reduction ratio
Example:
The required speed at the output shaft of the Planetary Gearbox is 90 RPM.
You would divide motor speed (n
M
) by output speed (n
AB
) to calculate the proper gearbox ratio.
The MDrive speed you would like to run is approximately 2000 full steps/second or 600 RPM.
NOTE: In reference to the MDrive speed values, they are given in full steps/second on the Speed/Torque
Tables. Most speed specifications for the Planetary Gearbox will be given in RPM (revolutions per minute). To convert full steps/second to RPM, divide by 200 and multiply by 60.
Where: 200 is the full steps per revolution of a 1.8° stepping motor.
2000 full steps/second ÷ 200 = 10 RPS (revolutions per second) × 60 Seconds = 600 RPM
For the Reduction Ratio (i), divide the MDrive speed by the required Planetary Gearbox output speed.
600 RPM ÷ 90 = 6.67:1 Reduction Ratio
Referring to the Available Ratio Table at the end of this section, the reduction ratio (i) of the Planetary
Gearbox will be 7:1. The numbers in the left column are the rounded ratios while the numbers in the right column are the actual ratios. The closest actual ratio is 6.75:1 which is the rounded ratio of 7:1. The slight difference can be made up in MDrive speed.
Appendices
A-7
A-8
Nominal Output Torque
Calculate the nominal output torque using the torque values from the MDrive’s Speed/Torque Tables.
Nominal output torque (T
N
) is the actual torque generated at the Planetary Gearbox output shaft which includes reduction ratio (i), gear efficiency (η) and the safety factor (s f ratio (i) is determined, the nominal output torque (T
N
) for the MDrive. Once the reduction
) can be calculated as follows:
T
N
= T
M
× i × η ÷ s f
or:
Motor torque × reduction ratio × gear efficiency ÷ safety factor = nominal output torque.
For gear efficiency (η) refer to the Mechanical Specifications for the 7:1 Planetary Gearbox designed for your MDrive.
For motor torque (T
M
) see the appropriate MDrive Speed/Torque Table. Dependent on which
MDrive you have, the torque range will vary. The torque will fall between the high voltage line and the low voltage line at the indicated speed for the MDrive. (See the example Speed/Torque Table below.)
140
120
100
80
60
40
20
0
0
24 VDC
45 VDC
75 VDC
99
85
71
56
42
28
14
7000 1000 2000 3000 4000 5000
Speed in Full Steps per Second
6000
Figure C.1: MDrive23 Torque-Speed Curve
The Speed/Torque Table above is for an MDrive23 Double Size This MDrive will produce a torque range of 51 to 95 oz-in in the full voltage range at the speed of 2000 Full Steps/Second (600 RPM).
Please note that this is not the usable torque range. The torque output to the Planetary Gearbox must include a safety factor (s f
) to allow for any voltage and current deviations supplied to the MDrive.
The motor torque must include a safety factor (s f
) ranging from 0.5 to 0.7. This must be factored into the nominal output torque calculation. A 0.5 safety factor is aggressive while a 0.7 safety factor is more conservative.
Example:
The available motor torque (T
M
) is 51 to 95 oz-in.
NOTE: You may specify a torque less than but not greater than the motor torque range.
For this example the motor torque (T
M
) will be 35 oz-in.
A 6.75:1 reduction ratio (i) has been determined.
Gear efficiency (η) = 80% from the appropriate table for the Planetary Gearbox which is used with an MDrive23.
Nominal output torque would be:
Motor torque (T
M
= 0.5 or 0.7)
= 35) × reduction ratio (i = 6.75) × gear efficiency (η = 0.8) ÷ safety factor (s f
35 × 6.75 = 236.25 × 0.8 = 189 ÷ 0.5 = 378 oz-in nominal output torque (T
N
) or
35 × 6.75 = 236.25 × 0.8 = 189 ÷ 0.7 = 270 oz-in nominal output torque (T
N
)
With the safety factor (s f
(T
N
) and gear efficiency (η) included in the calculation, the nominal output torque
) may be greater than the user requirement.
MDI Hardware Manual Revision R072806
Shock Load Output Torque
The nominal output torque (T
N shock load output torque (T
AB
) is the actual working torque the Planetary Gearbox will generate. The
) is the additional torque that can be generated by starting and stopping with no acceleration ramps, payloads, inertia and directional changes. Although the nominal output torque (T
N
) of the Planetary Gearbox is accurately calculated, shock loads can greatly increase the dynamic torque on the Planetary Gearbox.
Each Planetary Gearbox has a maximum specified output torque. In this example a 7:1 single stage
MD23 Planetary Gearbox is being used. The maximum specified output torque is 566 oz-in. By calculating the shock load output torque (T
AB output torque.
) you can verify that value is not exceeding the maximum specified
When calculating the shock load output torque (T operating factor (C
B
) are taken into account. C
B
AB
), the calculated nominal output torque (T
N
) and the
is merely a factor which addresses the different working conditions of a Planetary Gearbox and is the result of your subjective appraisal. It is therefore only meant as a guide value. The following factors are included in the approximate estimation of the operating factor
(C
B
):
Direction of rotation (constant or alternating)
Load (shocks)
Daily operating time
Note: The higher the operating factor (C
B
), the closer the shock load output torque (T
AB
) will be to the maximum specified output torque for the Planetary Gearbox. Refer to the table below to calculate the approximate operating factor (C
B
).
With the most extreme conditions which would be a C
B
of 1.9, the shock load output torque (T
AB
) is over the maximum specified torque of the Planetary Gearbox with a 0.5 safety factor but under with a 0.7 safety factor.
The nominal output torque (T
N
(T
AB
).
) × the operating factor (C
B
) = shock load or maximum output torque
With a 0.5 safety factor, the shock load output torque is greater than the maximum output torque specification of the MDrive23 Planetary Gearbox.
(378 × 1.9 = 718.2 oz-in.)
With a 0.7 safety factor the shock load output torque is within maximum output torque specification of the MDrive23 Planetary Gearbox.
(270 × 1.9 = 513 oz-in.)
The 0.5 safety factor could only be used with a lower operating factor (C
B motor torque.
) such as 1.5 or less, or a lower
Note: All published torque specifications are based on C
B
(T
AB
) = nominal output torque (T
N
).
= 1.0. Therefore, the shock load output torque
WARNING! Excessive torque may damage your Planetary Gearbox. If the MDrive/Planetary Gearbox should hit an obstruction, especially at lower speeds (300 RPM or 1000 Full Steps/Second), the torque generated will exceed the maximum torque for the Planetary Gearbox. Precautions must be taken to ensure there are no obstructions in the system.
Determining the Operating Factor (C
B
)
Direction of
Rotation
Load
(Shocks)
Daily Operating Time
3 Hours 8 Hours 24 Hours
Constant
Alternating
Low* C
B
=1.0
Medium** C
B
=1.2
Low† C
B
=1.3
Medium†† C
B
=1.6
C
B
=1.1
C
B
=1.3
C
B
=1.4
C
B
=1.7
C
B
=1.3
C
B
=1.5
C
B
=1.6
C
B
=1.9
* Low Shock = Motor turns in one direction and has ramp up at start.
** Medium Shock = Motor turns in one direction and has no ramp up at start.
† Low Shock = Motor turns in both directions and has ramp up at start.
†† Medium Shock = Motor turns in both directions and has no ramp up at start.
Table C.1: Planetary Gearbox Operating Factor
Appendices
A-9
A-10
System Inertia
System inertia must be included in the selection of an MDrive and Planetary Gearbox. Inertia is the resistance an object has relative to changes in velocity. Inertia must be calculated and matched to the motor inertia. The
Planetary Gearbox ratio plays an important role in matching system inertia to motor inertia. There are many variable factors that affect the inertia. Some of these factors are:
The type of system being driven.
Weight and frictional forces of that system.
The load the system is moving or carrying.
The ratio of the system inertia to motor inertia should be between 1:1 and 10:1. With 1:1 being ideal, a 1:1 to
5:1 ratio is good while a ratio greater than 5:1 and up to 10:1 is the maximum.
Type of System
There are many systems and drives, from simple to complex, which react differently and possess varied amounts of inertia. All of the moving components of a given system will have some inertia factor which must be included in the total inertia calculation. Some of these systems include:
Lead screw
Rack and pinion
Conveyor belt
Rotary table
Belt drive
Chain drive
Not only must the inertia of the system be calculated, but also any load that it may be moving or carrying.
The examples below illustrate some of the factors that must be considered when calculating the inertia of a system.
Lead Screw
In a system with a lead screw, the following must be considered:
The weight and preload of the screw
The weight of the lead screw nut
The weight of a table or slide
The friction caused by the table guideways
The weight of any parts
Weight of table
Weight of screw
Weight of parts
Weight of nut
Friction of guideways
Preload on leadscrew
Figure C.2: Lead Screw System Inertia Considerations
MDI Hardware Manual Revision R072806
Rack and Pinion
In a system with a rack and pinion, the following must be considered:
The weight or mass of the pinion
The weight or mass of the rack
The friction and/or preload between the pinion and the rack
Any friction in the guidance of the rack
The weight or mass of the object the rack is moving
Friction of rack in guide
Weight of rack
Preload or friction between pinion and rack
Weight of pinion and shaft
Gearbox
Motor
Load on rack
Figure C.3: Rack and Pinion System Inertia Considerations
Conveyor Belt
In a system with a conveyor belt, the following must be considered:
The weight and size of the cylindrical driving pulley or roller
The weight of the belt
The weight or mass and size of the idler roller or pulley on the opposite end
The angle or elevation of the belt
Any load the belt may be carrying
Weight and size of drive roller
Motor
Gearbox
Weight of conveyor belt
Weight and size of idler roller
Friction of belt
Weight of parts
Elevation
Figure C.4: Conveyor System Inertia Considerations
Appendices
A-11
A-12
Rotary Table
In a system with a rotary table, the following must be considered:
The weight or mass and size of the table
Any parts or load the table is carrying
fect the inertia
The position of the load on the table, the distance from the center of the table will af-
How the table is being driven and supported also affects theinertia
Belt Drive
In a system with a belt drive, the following must be considered:
The weight or mass and size of the driving pulley
The tension and/or friction of the belt
The weight or mass and size of the driven pulley
Any load the system may be moving or carrying
The position of parts relative to the center of the rotary table is important
Motor
Gearbox
Weight and position of parts on table
Weight and size of driven pulley
Weight and size of drive pulley
Figure C.5: Rotary Table System Inertia Considerations
Weight and size of table
Friction of any bearing or support
Weight of shaft
Friction created by tension on belt
MDI Hardware Manual Revision R072806
Chain Drive
In a system with a chain drive, the following must be considered:
the weight and size of drive sprocket and any attaching hub
the weight and size of the driven sprocket and shaft
the weight of the chain
the weight of any material or parts being moved
Weight of chain
Weight and size of drive sprocket and hub
Weight and size of driven sprocket, shaft and any material or parts being moved
Figure C.6: Chain Drive System Inertia Considerations
Once the system inertia (J
L
) has been calculated in oz-in-sec
2
, it can be matched to the motor inertia. To match the system inertia to the motor inertia, divide the system inertia by the square of the gearbox ratio.
The result is called Reflected Inertia or (J ref
).
J ref
= J
L
÷ Ζ 2
Where:
J
L
= System Inertia in oz-in-sec
2
J ref
= Reflected Inertia in oz-in-sec
2
Z = Gearbox Ratio
The ideal situation would be to have a 1:1 system inertia to motor inertia ratio. This will yield the best positioning and accuracy. The reflected inertia (J ref
) must not exceed 10 times the motor inertia.
Your system may require a reflected inertia ratio as close to 1:1 as possible. To achieve the 1:1 ratio, you must calculate an Optimal Gearbox Ratio (Z desired J ref opt
) which would be the square root of J
L
divided by the
. In this case since you want the system inertia to match the motor inertia with a 1:1 ratio, J ref would be equal to the motor inertia.
Where:
Z opt
= J
L
÷ J ref
Z opt
= Optimal Gearbox Ratio
J
L
= System Inertia in oz-in-sec
2
J ref
= Desired Reflected Inertia in oz-in-sec
2
(Motor Inertia)
Appendices
A-13
A-14
Planetary Gearbox Inertia
In addition to System Inertia, the Planetary Gearbox inertia must also be included when matching system inertia to motor inertia. The Planetary Gearbox inertia varies with the ratio and the number of stages.
The table below lists the inertia values for the MDrive14, 17, 23 and 34 Planetary Gearbox. The values are in oz-in-sec
2
(ounce-inches-second squared). To calculate the inertia in kg-cm
2
(kilograms-centimeter squared) multiply oz-in-sec
2
by 70.6154.
Planetary Gearbox Inertia Moments (oz-in-sec
2
)
Stages
1-Stage
2-Stage
3-Stage 115:1
124:1
130:1
139:1
150:1
169:1
181:1
195:1
236:1
308:1
59:1
68:1
71:1
79:1
93:1
95:1
100:1
107:1
19:1
22:1
25:1
27:1
29:1
35:1
46:1
51:1
Rounded
Ratio
4:1
5:1
7:1
14:1
16:1
18:1
MDrive 17
Gearbox
0.00006627
0.00004362
0.00003328
0.00006245
0.00005084
0.00005070
0.00004149
0.00004135
0.00003200
0.00004121
0.00003186
0.00003186
0.00003186
0.00006245
0.00005084
0.00005070
0.00004149
0.00005070
0.00003200
0.00004135
0.00004121
0.00003186
0.00004121
0.00003186
0.00003186
0.00004121
0.00003186
0.00003186
0.00003186
0.00003186
0.00003186
0.00003186
MDrive 23
Gearbox
0.00025986
0.00017461
0.00016030
0.00024230
0.00020406
0.00020335
0.00016512
0.00016469
0.00013453
0.00016441
0.00013425
0.00013411
0.00013411
0.00024230
0.00020406
0.00020335
0.00016512
0.00020335
0.00016441
0.00020335
0.00016441
0.00013425
0.00016441
0.00013425
0.00013411
0.00016441
0.00013411
0.00013411
0.00013411
0.00013411
0.00013411
0.00013411
Table C2: Planetary Gearbox Inertia Moments
MDI Hardware Manual Revision R072806
MDrive17Plus with Planetary Gearbox
The MDrive17Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better inertia matching and produce finer positional resolutions. These efficient, low maintenance Planetary
Gearbox come fully assembled with the MDrive and are offered in a large number of reduction ratios in 1-, 2- and
3-stage configurations.
An optional NEMA Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle.
Planetary Gearbox may be combined with other MDrive17Plus options, however are unavailable on Linear Actuator versions.
Parameters
1-Stage 2-Stage 3-Stage
Permitted Output Torque (oz-in/Nm) ..........................425/3.0 .......................1062/7.5 ...........................2124/15.0
Gearbox Efficiency ......................................................... 0.80 ............................. 0.75 ................................... 0.70
Maximum Backlash (degree) ......................................... 0.80° ............................0.85° ................................. 0.90°
Output Side with Ball Bearing
Maximum Load, Radial (lb-force/N) ............................ 36/160 ......................... 52/230 .............................67.5/300
Maximum Load, Axial (lb-force/N) ............................... 11/50 ........................... 18/80 ............................... 25/110
Weight - Gearbox Only (oz/g) .....................................14.3/406 ......................17.9/508 ............................21.5/609
Weight - Gearbox & NEMA Flange (oz/g) ..................14.8/420 ......................18.5/525 ............................22.2/630
Planetary Gearbox
Dimensions in Inches (mm)
Gearbox Ratios (Rounded)
1-Stage
3.71:1
5.18:1
6.75:1
2-Stage
13.73:1
15.88:1
18.37:1
19.20:1
22.21:1
3-Stage
50.89:1
58.86:1
68.07:1
71.16:1
78.72:1
25.01:1
26.85:1
92.70:1
95.18:1
28.93:1 99.51:1
34.98:1 107.21:1
45.56:1 115.08:1
123.98:1
129.62:1
139.14:1
149.90:1
168.85:1
181.25:1
195.27:1
236.10:1
307.55:1
M4 x 0.394 (10.0) Deep
M3 x 0.394 (10.0) Deep
1.657 SQ. (42.1 SQ.)
Ø 1.26
(Ø 32.0)
Ø 1.417
(Ø 36.0)
Ø 0.984 +0/-0.002 (Ø 25.0 +0/-0.052)
Gearbox Lengths
Inches (mm)
k1 Gearbox k2 Gearbox w/
NEMA Flange
1-Stage
2.736
(69.5)
2.858
(72.6)
2-Stage
3.248
(82.5)
3.37
(85.6)
Ø 0.315 +0/-0.0004 (Ø 8.0 +0/-0.009)
Ctrg. DIN 332-D M3
0.984
(25.0)
Key DIN 6885-A-3x3x16mm
3-Stage
3.76
(95.5)
3.882
(98.6)
0.08
(2.0) k1 ±0.02 (±0.5)
Ø 1.654 (Ø 42.0)
Planetary Gearbox with Optional NEMA Output Flange
M3 x 0.276 (7.0) Deep
Ø 0.866 +0/-0.002 (Ø 22.0 +0/-0.052)
Ø 0.315 +0/-0.0004 (Ø 8.0 +0/-0.009)
0.846
(21.5)
0.08
(2.0) k2 ±0.02 (±0.5)
1.20
(30.5)
1.22 (31.0)
Ø 1.654 (Ø 42.0)
1.22
(31.0)
1.657 SQ.
(42.1 SQ.)
Ctrg. DIN 332 - D M3
Key DIN 6885-A-3x3x16mm
Figure C.7: Planetary Gearbox Specifications for MDrive17Plus
Appendices
A-15
A-16
MDrive23Plus with Planetary Gearbox
The MDrive23Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better inertia matching and produce finer positional resolutions. These efficient, low maintenance Planetary
Gearbox come fully assembled with the MDrive and are offered in a large number of reduction ratios in 1-, 2- and
3-stage configurations.
An optional NEMA Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle. Planetary Gearbox may be combined with other MDrive17Plus options, however are unavailable on Linear
Actuator versions.
Parameters 1-Stage 2-Stage 3-Stage
Permitted Output Torque (oz-in/Nm) ....................... 566/4.0.........................1699/12.0 ..........................3540/25.0
Gearbox Efficiency .......................................................0.80 ............................... 0.75 ................................... 0.70
Maximum Backlash (degree) ....................................... 0.70° ..............................0.75° ................................. 0.80°
Output Side with Ball Bearing
Maximum Load, Radial (lb-force/N) ..........................45/200 ........................... 72/320 ............................. 101/450
Maximum Load, Axial (lb-force/N) .............................13/60 ............................ 22/100 .............................. 34/150
Weight - Gearbox Only (oz/g) .................................. 25.0/711.........................32.2/914 ...........................39.4/1117
Weight - Gearbox & NEMA Flange (oz/g) ............... 25.9/735.........................33.3/945 ...........................40.7/1155
Planetary Gearbox
Dimensions in Inches (mm)
M5 x 0.394 (10.0) Deep
Ø 1.575
(Ø 40.0)
Ø 1.26 +0/-0.0015 (Ø 32.0 +0/-0.039)
Ø 0.472 +0/-0.0007 (Ø 12.0 +0/-0.018)
Ctrg. DIN 332-D M4x10
Key DIN 6885-A-4x4x16mm
Gearbox Lengths
Inches (mm)
k1 Gearbox k2 Gearbox w/
NEMA Flange
1-Stage
2.976
(75.6)
3.035
(77.1)
2-Stage
3.537
(89.7)
3.59
(91.2)
3-Stage
4.087
(103.8)
4.146
(105.3)
0.984
(25.0)
0.106
(2.7) k1 ±0.02 (±0.5)
Ø 2.047 (Ø 52.0)
Gearbox Ratios (Rounded)
1-Stage
3.70:1
5.18:1
6.75:1
2-Stage
13.73:1
15.88:1
18.36:1
19.20:1
22.20:1
3-Stage
50.89:1
58.85:1
68.06:1
71.16:1
78.71:1
25.01:1
26.85:1
92.70:1
95.17:1
28.93:1 99.50:1
34.97:1 107.20:1
45.56:1 115.07:1
123.97:1
129.62:1
139.13:1
149.90:1
168.84:1
181.24:1
195.26:1
236.09:1
307.54:1
Planetary Gearbox with Optional NEMA Output Flange
4x Ø 0.197 (Ø 5) Hole
Ø 1.50 +0/-0.0015 (Ø 38.1 +0/-0.039)
Ø 0.472 +0/-0.0007 (Ø 12.0 +0/-0.018)
0.925
(23.5)
0.06
(1.5) k2 ±0.02 (±0.5)
1.854 (47.1)
Ø 2.047 (Ø 52.0)
Ctrg. DIN 332-D M4x10
1.854
(47.1)
0.236
(6.0)
Key DIN 6885-A-4x4x16mm
2.22 SQ.
(56.4 SQ.)
Figure C.8: Planetary Gearbox Specifications for MDrive23Plus
MDI Hardware Manual Revision R072806
MDrive23Plus with Planetary Gearbox
appendix D
Standard I/O Set Interfacing and Application
NPN Sinking Input
I/O Application Guide
+ up to
24 V
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iil = 100 µA
NPN
IOx
Iil
Internal pull-up voltage
65 - 160 uA
100k ohms
24.9k ohms
3.3 V detect logic
GND
NPN Input, Sinking
MDrivePlus Sinking Input
Equivalent Circuit
Figure D.1: NPN Interface to an MDI Sinking Input
Application Example
Proximity sensor will operate as a +Limit. When active LOW will index the motor to a specified position.
‘[VARIABLES]
S1=2,0,0 ‘set IO1 to Limit+, Active LOW, sinking
‘[PROGRAMS]
PG 100 ‘enter program mode at address 100
LB AA ‘label program AA
MR 200000000 ‘move relative x distance
H ‘hold program execution until move completes
CL AB , I1 = 0 ‘call subroutine AB if I1 = 0 (limit reached)
BR AA , I1 = 1 ‘branch to AA if I1=1
LB AB ‘Label Sub AB
PR “Error 83, Positive Limit Reached”
ER=0
MA - 10000 ‘Absolute move to Pos. -10000
H ‘hold program execution until move completes
E ‘end program
PG ‘exit program.
‘[END]
Appendices
A-17
A-18
PNP Sourcing Input
+ up to
24 V
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA
PNP
IOx
Iih
Internal pull-up voltage
The internal pull-up voltage cannot provide output current / voltage
3.3 V
100k ohms
24.9k ohms detect logic
40 - 135 uA
GND
PNP Input, Sourcing
MDrivePlus Sourcing Input Equivalent
Figure D.2: PNP Interface to a Sourcing Input
Application Example
Will use this input as a general purpose input which will run a motion subroutine when HIGH.
‘[VARIABLES]
S1=0,1,1 ‘set IO1 Gen Purpose User, active HIGH, src
S2=0,1,1 ‘set IO1 Gen Purpose User, active HIGH, src
‘[PROGRAMS]
‘*****Main Program*****
PG 100
LB AA
CL SA,I1=1 ‘call sub SA if IO1=1
CL SB,I2=1 ‘call sub SB if IO2=1
BR AA
‘******Subroutines*******
LB SA ‘Subroutine will perform some motion
MR 200000
H
MR -200000
H
BR SA,I1=1 ‘conditional branch to beginning of sub
BR AA,I1=0 ‘Branch to main program if IO1=0
RT
LB SB ‘Subroutine will perform some motion
MR 10000
H
MR -10000
H
BR SB,I2=1 ‘conditional branch to beginning of sub
BR AA,I2=0 ‘Branch to main program if IO1=0
RT
E
PG
‘[END]
MDI Hardware Manual Revision R072806
Sinking Output
MDrivePlus pull-up voltage always off switched
Sinking Output Equivalent Circuit
IOx
24.9k ohms
GND
*External Resistor may be needed to limit output sink current to 600mA
Sinking Output up to
24 V
+
Figure D.3: Sinking Output to Relay
Application Example
Active LOW Output will be opem a relay, useful for Fault.
‘[VARIABLES]
S1=19,0,0 ‘Configure IO 1 as a Fault output.
Mixed Input/Output Example
S Parameter Settings
S1 = 16,0
S2 = 4,1,1
S3 = 2,0,0
S4 = 3,0,0
IO1
IO2
IO3
IO4
GND
GO
+ LIMIT
- LIMIT
LOAD
PNP
+ up to
+24 V
Figure D.4: Mixed Output Example- Standard I/O Set
NOTE: On the
Standard MDrivePlus, when configured as outputs, the I/O set is sinking ONLY! The Plus2
Models add the functionality of
I/O Power, which enables the user to use all the outputs, both
Standard and Enhanced, as
Sinking or Sourcing.
Appendices
A-19
A-20
Enhanced I/O Set Interfacing and Application
NPN Sinking Input
+
12 to
24 V
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iil = 100 µA
NPN
IOPWR
IOx
Iil
MDrivePlus2
65 - 160 uA
Internal voltage cannot provide output current / voltage
3.3 V
100k ohms
24.9k ohms
IOGND
NPN Input, Sinking
Sinking Input Equivalent Circuit
Figure D.5: NPN Sinking Input on an MDrivePlus2 Motion Control
Application Example
Sensor using the HOME function.
‘[VARIABLES]
S2=1,1,0 ‘Configure IO2 as a Home Input, active HIGH, sinking.
Enter to IMS Terminal in Immediate mode or in a Program
HM 1 ‘Slew at VM - until IO2 = 1, Creep off + at VI
PNP Sourcing Input
Application Example
Sensor using the Jog+ function.
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA
PNP
IOPWR
MDrivePlus
2 pull-up voltage
12 to
24 V
IOx
Iih
40 - 135 uA
100k ohms
24.9k ohms
3.3 V
IOGND
PNP Input, Sourcing
Figure D.6: PNP Sourcing Input on an MDrivePlus2 Motion Control
JE=1 ‘Enable Jog function
S11=7,1,1 ‘Configure IO11 as a Jog+ Input, active HIGH, sourcing
MDI Hardware Manual Revision R072806
Sourcing Output
Application Example
This application example will illustrate two MDrivePlus2 units in a system. In the program example
MDrivePlus2 #1 will be configured as a Fault Output, which when HIGH will trip an input on MDrivePlus2
#2 which will be configured as a Pause Input.
The internal pull-up voltage cannot provide output current / voltage
3.3 V
Internal pull-up voltage detect logic
100k ohms
24.9k ohms
40 - 135 uA
IOPWR
IOx
Iih
IOGND
Sou n c
MDrivePlus
2
#2
Sourcing Input
MDrivePlus
2
The internal pull-up voltage cannot provide output current / voltage
Internal pull-up voltage switched
IOPWR always off
Sourcing Output Equivalent Circuit
MDrivePlus
2
#1
IOx
24.9k ohms
IOGND load current, sourcing
Sourcing Output
Figure D.7: Sourcing Output to Sourcing Input
MDrive #1
S9=18,1,1 ‘Configure IO9 as a Fault output, active HIGH, sourcing
MDrive #2
S9=6,1,1 ‘Configure IO9 as a Pause Input, active HIGH, sourcing.
Appendices
A-21
A-22
Mixed Input/Output Example
S1 = 17,0,0
S2 = 19,0,0
S3 = 7,1,1
S4 = 8,1,1
S9 = 16,1,1
S10 = 16,1,1
S11 = 2,0,0
S12 = 3,0,0
IOPWR
IO1
IO2
IO3
IO4
IO9
IO10
IO11
IO12
IOGND
MOVING
STALL
JOG +
JOG -
+ LIMIT
- LIMIT
LOAD
LOAD
PLC
IN (w / pullup)
IN (w / pullup)
OUT (PNP)
OUT (PNP)
+
+12 to
+24 V
Figure D.8: Mixed Input/Output Example - Enhanced I/O
Interfacing Inputs as a Group Example
The MDrivePlus inputs may read as a group using the IL. IH and IN keywords. This will display as a decimal between 0 to 15 representing the 4 bit binary number (IL, IH) or as a decimal between 0 and 255 representing the 8 bit binary number on the MDrivePlus
2
models. The IN keyword will function on the Standard MDrivePlus but will only read inputs 1 - 4. Inputs will be configured as user inputs (S<point>=0).
Standard MDrivePlus Motion Control
PR IN
PR IN
‘Reads Inputs 4(MSB) through 1(LSB)
‘Reads Inputs 4(MSB) through 1(LSB)
Enhanced MDrivePlus2
PR IL
PR IH:
PR IN:
‘Reads Inputs 4(MSB) through 1(LSB)
‘Reads Inputs 12(MSB) through 9(LSB)
‘Reads Inputs 12(MSB) - 9 amd 4 - 1(LSB)
LSB
IL
MSB
LSB
IH
MSB
+5 VDC
Figure D.9: TTL Interface to an Input Group
MDrivePlus Motion Control
IO1
IO2
IO3
IO4
LSB
IN
IO9
IO10
IO11
IO12 MSB
GND
MDI Hardware Manual Revision R072806
Interfacing Outputs as a Group Example
The MDrivePlus inputs may be written to as a group using the OL, OH and OT keywords. This will set the outputs as a binary number representing the decimal between 0 to 15 representing the 4 bit binary number (OL, OH) or as an 8 bit binary number representing the decimal 0 to 255 on the MDrivePlus
2
models. The OT keyword will function on the Standard MDrivePlus but will only set inputs 1 - 4. Outputs will be configured as user outputs
(S<point>=16).
Standard MDrivePlus Motion Control
OL=3
OT=13
‘set the binary state of the standard I/O to 0011
‘set the binary state of the standard I/O to 1101
Enhanced MDrivePlus2
OL=5
OH=9
OT=223
‘set the binary state of the standard I/O to 0101
‘set the binary state of the expanded I/O to 1001
‘set the binary state of the combined I/O to 1101 1111
+5 to +24 VDC
LSB
OL
MSB
LSB
OH
MSB
MDrivePlus Motion Control
IO1
IO2
IO3
IO4
LSB
OT
IO9
IO10
IO11
IO12
MSB
Figure D.10: Outputs Interfaced to LED’s as a Group
I/O Set
Output Bit Weight Examples
IO12
(MSB)
Enhanced (Plus
2
)
IO11 IO10 IO9 IO4
Standard
IO3 IO2 IO1
(LSB)
OL=13
OT=13
NOT AVAILABLE
1 1 0 1
OH=9 NOT ADDRESSED BY OH
1 0 0 1
OT=223
1 1 0 1 1 1 1
Table D.1: Output Bit Weight Examples - Outputs set as a group
1
Appendices
A-23
A-24
appendix E
MDrivePlus Motion Control Closed
Loop Control
MDrive Motion Control Closed Loop Options
The MDrive Motion control has two closed loop options: Internal magnetic encoder on all MDrivePlus models or interface to a remote user supplied encoder on MDrivePlus
2
models.
Internal Encoder
All models of the MDrivePlus motion control are available with an internal magnetic encoder, which adds the functionality of Stall Detection, Position Maintenance and Home to Index.
The encoder itself has a resolution of 512 lines or 2048 edges per revolution.
Remote Encoder
The MDrivePlus
2
models are available with the option of useing a remote encoder through the enhanced I/O.
The advantage of using a remote encoder is that the encoder can be stationed directly on the load for increased accuracy.
Set Up and Configuration
Remote Encoder
CH A+
CH A-
CH B+
CH B-
Index +
RIndex -
CH B- CH
Figure E.1: Connecting a Remote Encoder
MDI Hardware Manual Revision R072806
appendix F
Communications Converter Cables
USB to 10-Pin IDC (MD-CC400-000)
The MD-CC400-000 is an in-line
USB to RS-422 converter with integrated 10 pin IDC cable. This product is used to communicate to a single
MDrive Motion Control Device. The included components will allow you to connect the USB port of a PC* directly to the MDrive Motion Control.
Optional Cables and Cordsets
The MD-CC400-000 communications converter cable is designed to be used with all MDrive, MDrivePlus and
MDrivePlus2 Motion Control devices that utilize an RS-422 ten pin connector interface.
Figure F.1: MD-CC400-000
Supplied Components: MD-CC400-000 Communications Converter Cable, USB Cable, USB Drivers, IMS
Terminal Interface Software.
* If your PC is already equipped with RS-422, the MD-CC400-000 cable is not required.
Electrical Specifications
MD-CC400-000 Specifications
BAUD Rate
Connectors:
Up to 115 kbps
USB
RS-422 Side
Ribbon Cable Length
10 Pin 2mm IDC
6 feet (1.8 meters)
Power Requirement Power from USB
Table F.1: MD-CC400-000 Electrical Specifications
Mechanical Specifications
To PC USB
1.0 in
(25.0 mm)
3.75 in
(95.0 mm)
0.875 in
(22.0 mm)
USB
2.5 mm Power Jack
USB Cable
Length 6.0 ft (1.8 m)
10 Pin IDC Connector
Cable Length 6.0 ft (1.8 m)
Figure F.2: MD-CC400-000 Mechanical Specifications
www.imshome.com
To MDrive
WARNING! DO NOT connect or disconnect the Communications
Converter Cable from
MDrive while power is applied!
Appendices
A-25
A-26
MD-CC400-000 Power Jack
The 2.5mm power jack located on top of the converter housing can be used to maintain logic power for MDrives that have an Aux-Power-Supply connection.
Center Pin+12 to 24 VDC unregulated Outer Contact
Ground
Host
2.5 mm
Power Jack
+VDC
USB Cable
TX+
Aux Pwr Sply
TX-
RX-
RX+
CGND
USB to RS-422
Converter
RX+
Aux Pwr Sply
RX-
TX-
TX+
CGND
P2
P2
P2
Option– 10 Pin Locking
Wire Crimp Adapter
9 10
1 2
An optional pin adapter is available to convert the 10 pin IDC connector on the
Communications Converter
Cable to a 10 pin friction lock wire crimp interface.
1
2
9
10-Pin Friction Lock Wire Crimp
10-Pin IDC
Figure F.3: Typical Communications Interface
10 Pin IDC to Wire Crimp
Adapter .................................................................MD-ADP-H
10
MDrive
USB to 5-Pin M12 (MD-CC401-000) (Sealed Version)
The MD-CC401-000 is an in-line USB to
RS-422 converter with integrated cable. This product is used to communicate to a single
MDrivePlus Motion
Control device. The included components will allow you to connect the USB port of a PC directly to sealed versions of the
MDrivePlus Motion Control.
Figure F.4: MD-CC401-000
The MD-CC401-000 communications converter cable is designed to be used with all MDrivePlus2-65 utilizing an M12 5-pin connector interface.
Supplied Components: MD-CC401-000 Communications Converter Cable, USB Cable, USB Drivers, IMS
Terminal Interface Software.
Electrical Specifications
MD-CC401-000 Specifications
BAUD Rate
Connectors:
USB
RS-422 Side
Cable Length
Up to 115 kbps
5 Pin M12
6 feet (1.8 meters)
Power Requirement Power from USB
Table F.2: MD-CC401-000 Electrical Specifications
MDI Hardware Manual Revision R072806
Mechanical Specifications
0.875 in
(22.0 mm)
1.0 in
(25.0 mm)
USB
3.75 in
(95.0 mm) www.imshome.com
To PC USB
USB Cable
Length 6.0 ft (1.8 m)
MD-CC401-000 Power Jack
The 2.5mm power jack located on top of the converter housing can be used to maintain logic power for
MDrives that have an Aux-
Power-Supply connection.
Center Pin +12 to 24 VDC unregulated Outer Contact-
Ground
Host
USB Cable
TX-
TX+
CGND
RX+
RX-
USB to RS-422
Converter
Cable Length 6.0 ft (1.8 m)
To MDrivePlus
Pin 4: RX-
Pin 3: RX+
Pin 5: CGND
Pin 2: TX+
Pin 1: TX-
MDrive
M12 F
Figure F.6: Typical Communications Interface
Installation Procedure for the MX-CC40x-000
These Installation procedures are written for Microsoft Windows XP Service Pack 2. Users with earlier versions of Windows please see the alternate installation instructions at the IMS web site (http://www.imshome.com).
The installation of the MD-CC40x-000 requires the installation of two sets of drivers:
Drivers for the IMS USB to RS-422 Converter Hardware.
Drivers for the Virtual Communications Port (VCP) used to communicate to your IMS Product.
Therefore the Hardware Update wizard will run twice during the installation process.
The full installation procedure will be a two-part process: Installing the Cable/VCP drivers and Determining the Virtual COM Port used.
Installing the Cable/VCP Drivers
1) Plug the USB Converter Cable into the USB port of the MD-CC40x-000.
2) Plug the other end of the USB cable into an open USB port on your PC.
3) Your PC will recognize the new hardware and open the Hardware Update dialog.
4) Select “No, not this time” on the radio buttons in answer to the query “Can
Windows Connect to Windows Update to search for software?” Click “Next” (Figure
F.7).
5) Select “Install from a list or specific location
(Advanced)” on the radio buttons in answer to the query “What do you want the wizard to do?” Click “Next” (Figure F.8).
Figure F.7: Hardware Update Wizard
Appendices
A-27
Figure F.8: Hardware Update Wizard Screen 2
6) Select “Search for the best driver in these locations.”
(a) Check “Include this location in the search.”
(b) Browse to the MDrive CD [Drive Letter]:\ Cable_
Drivers\MD CC40x000_DRIVERS.
(c) Click Next (Figure F.9).
A-28
Figure F.9: Hardware Update Wizard Screen 3
7) The drivers will begin to copy.
8) On the Dialog for Windows Logo Compatibility Testing, click “Continue Anyway” (Figure F.10).
9) The Driver Installation will proceed. When the Completing the Found New Hardware Wizard dialog appears, Click “Finish” (Figure F.11).
10) Upon finish, the Welcome to the Hardware Update Wizard will reappear to guide you through the second part of the install process. Repeat steps 1 through 9 above to complete the cable installation.
11) Your IMS MD-CC40x-000 is now ready to use.
Figure F.10: Windows Logo Compatibility
Testing
Figure F.11: Hardware Update Wizard Finish Installation
MDI Hardware Manual Revision R072806
Determining the Virtual COM Port (VCP)
The MD-CC40x-000 uses a Virtual COM Port to communicate through the USB port to the MDrive. A VCP is a software driven serial port which emulates a hardware port in Windows.
The drivers for the MD-CC40x-000 will automatically assign a VCP to the device during installation. The
VCP port number will be needed when IMS Terminal is set up in order that IMS Terminal will know where to find and communicate with your IMS Product.
To locate the Virtual COM Port.
1) Right-Click the “My Computer” Icon and select “Properties”.
2) Browse to the Hardware Tab (Figure F.12), Click the Button labeled “Device Manager”.
3) Look in the heading “Ports (COM & LPT)” IMS USB to RS422 Converter Cable (COMx) will be listed (Figure F.12). The COM # will be the Virtual COM Port connected. You will enter this number into your IMS Terminal Configuration.
Figure F.12: Hardware Properties
Figure F.13: Windows Device Manager
Prototype Development Cable PD10-1434-FL3 (All MDrivePlus Motion Control)
The PD10-1434-FL3 is used to connect to the 10-pin wire crimp option for interfacing RS-422/485 Communications. It also features and additional cable attached for multi-drop communications systems.
It is important to note that Cable 1 will connect to the Communications host. Cable 2 will be used to interface additional MDrivePlus Motion Control Units. A PD10-1434-FL3 is required for each MDrivePlus in the system. The second, and subsequent MDrivePlus units are interface by connecting Cable 1 of the second
PD10-1434-FL3 to Cable 2 of the first. The cables will connect wire color to wire color (See Figure F.14).
Cable 3 contains a single wire which is used to optionally connect a +12 to +24 VDC supply for Auxiliary
Power. This supply must be grounded at Motor Power ground. In multi-drop systems each usage of cable 3 must connect to the +VDC output of the Auxiliary Supply. Do not daisy chain this connection.
Appendices
A-29
A-30
Pair Number
(Cable/Pair)
1/1
1/2
1/3
2/1
2/2
2/3
3
COMM GND
RX-
RX+
TX-
TX+
Wire Color Code
Color Combination
White/Blue
Blue/White
White/Orange
Orange/White
White/Green
Green/White
White/Blue
Blue/White
White/Orange
Orange/White
White/Green
Green/White
Communications Host
Connection
RX+
RX+
TX+
TX-
NC
COMM GND
TX+
TX-
RX+
RX-
NC
COMM GND
AUX Power
MDrive Wire Crimp
Connection
TX+
TX-
RX+
RX-
NC
COMM GND
TX+
TX-
RX+
RX-
NC
COMM GND
AUX Power
Cable 1 will Crossover
Host MDrivePlus
RX+
RX -
TX +
TX -
RX+
RX -
TX +
TX -
CABLE 1
CABLE 2
Cable - Single Wire
Aux Power +12 to +24 VDC
DO NOT DAISY CHAIN! Each
Line MUST connect to the Power
Supply Output - Ground to Motor
Power Ground NOT COMM GND!
MDRIVE PLUS #1
Cable 1 DOES NOT
Crossover
CABLE 1
CABLE 2
MDRIVE PLUS #2
10 Ft (3.0 m)
Figure F.14: PD10-1434-FL3
MDI Hardware Manual Revision R072806
Prototype Development Cable for MDrive17Plus
2
- PN PD16-1417-FL3
IMS recommends the Prototype Development
Cable PD16-1417-FL3 with the first order of an
MDrive17Plus
2
Motion Control to mate with the
16-pin locking wire crimp connector P1. 16 (8
Twisted Pair) Flying Leads interface to the user’s control electronics at the un-terminated end of the cable.
Care should be observed to ensure that the black leads are connected in the correct location in relation to their paired color.
Figure F.15: Prototype Development Cable PD16-1417-FL3
Pin 1
22 AWG Stranded, 8 Twisted Pairs
Shield - Foil/Tinned Copper Braid
0.551
(14.0 mm)
10' (3m)
Figure F.16: Prototype Development Cable PD16-1417-FL3 Mechanical Specifications
Pair Number
1
2
3
4
5
6
7
8
Wire Color Code
Color Combination
Black Paired with Red
Black Paired with White
Black Paired with Green
Black Paired with Blue
Signal Name (Color)
Power Ground (Black) / +V (Red)
Direction (Black) / Step Clock (White)
Analog In (Black) / Capture-Trip (Green)
I/O 12 (Black) / I/O 11(Blue)
Black Paired with Yellow
Black Paired with Brown
Black Paired with Orange
White Paired with Red
I/O 10 (Black) / I/O 9 (Yellow)
I/O 4 (Black) / I/O 3 (Brown)
I/O 2 (Black) / I/O 1 (Orange)
I/O GND (White) / I/O PWR (Red)
Table F.4: PD16-1417-FL3 Wire Color Codes
Appendices
A-31
A-32
Prototype Development Cable for MDrive23Plus
2
- PN PD02-2300-FL3
IMS recommends the Prototype Development Cable PD02-2300-FL3 for interfacing power to the MDrive-
23Plus 2 Motion Control.
10 ft (3.0 m)
Power Supply Return (Ground)
Pin 1 (Red Wire)
Drain Wire (Connect to Earth at Power Supply)
Motor Power (+12 to +75 VDC)
Figure F.17: PD02-2300-FL3
Prototype Development Cable for MDrive23Plus
2
- PN PD14-2334-FL3
IMS recommends the Prototype Development Cable PD14-2334-FL3 for interfacing I/O and Logic to the
MDrive23Plus 2 Motion Control. IMS recommends the Prototype Development Cable PD14-2334-FL3 with the first order of an MDrive23Plus 2 Motion Control to mate with the 14-pin locking wire crimp connector P1.
14 (7 Twisted Pair) Flying Leads interface to the user’s control electronics at the un-terminated end of the cable.
Care should be observed to ensure that the black leads are connected in the correct location in relation to their paired color.
22 AWG Stranded, 7 Twisted Pairs
Pin 1
Shield - Foil/Tinned Copper Braid
Pair Number
1
2
3
4
5
6
7
8
10 ft (3.0 m)
Figure F.18: PD02-2300-FL3
Wire Color Code
Color Combination
Black Paired with Red
Black Paired with White
Black Paired with Green
Signal Name (Color)
Power Ground (Black)/+V (Red)
Direction (Black) / Step Clock (White)
Analog In (Black) / Capture-Trip (Green)
Black Paired with Blue
Black Paired with Yellow
Black Paired with Brown
Black Paired with Orange
White Paired with Red
I/O 12 (Black) / I/O 11(Blue)
I/O 10 (Black) / I/O 9 (Yellow)
I/O 4 (Black) / I/O 3 (Brown)
I/O 2 (Black) / I/O 1 (Orange)
I/O GND (White) / I/O PWR (Red)
Table F.5: PD16-1417-FL3 Wire Color Codes
MDI Hardware Manual Revision R072806
Cordsets (Sealed Version Only)
19-pin M23 single-ended cordsets are offered to speed prototyping of sealed MDrivePlus
2
units. Measuring
13.0’ (4.0m) long, either straight or right-angle termination is available. PVC jacketed cables come with a foil shield and an unconnected drain wire.
Straight Termination ............................................................................................. MD-CS100-000
Right Angle Termination ....................................................................................... MD-CS101-000
M23
Circular
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Violet
Red
Grey
Red/Blue
Green
Blue
Grey/Pink
White/Green
White/Yellow
White/Grey
M23 Cordset
M23 Cordset
DC Color Code
M23 Circular
Pin 11
Pin 12
*
Pin 13
Pin 14
Pin 15
Pin 16
Pin 17
Pin 18
Pin 19
* Pin 12 makes an electrical contact to the M23 connector shell.
M23 Cordset
DC Color Code
Black
Green/Yellow
Yellow/Brown
Brown/Green
White
Yellow
Pink
Grey/Brown
Brown
Table F.6: MD-CS10x-000 Wire Color Chart
Large Pins
Keyway
11
10
17
9
16
8
7
12
1
18
19
13
14
15
6
5
2
4
3
19-Pin M23
(Motor Mounted Male Receptacle)
MD-CS100--000
MDrivePlus-65 Microstepping with 19-Pin M23 (female) Cordset
13.0' (4.0m)
Figure F.19: MD-CS10x-000
Appendices
A-33
Page Intentionally Left Blank
A-34
MDI Hardware Manual Revision R072806
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.”
NOTE: MDrive Motion Control electronics are not removable from the motor in the field.
The entire unit must be returned to the factory for repair.
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) number must be obtained. Complete the form at http://www.imshome.com/rma.html after 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.
TM
MOTION CONTROL www.imshome.com
intelligent motion systems, INC.
Excellence in Motion
370 N. Main Street
P.O. Box 457
Marlborough, CT 06447 U.S.A.
Phone: 860/295-6102
Fax: 860/295-6107
E-mail: [email protected]
TECHNICAL SUPPORT
Eastern U.S.A.
Phone: 860/295-6102
Fax: 860/295-6107
E-mail: [email protected]
Western U.S.A.
Phone: 760/966-3162
Fax: 760/966-3165
E-mail: [email protected]
Germany/UK
Phone: +49/7720/94138-0
Fax: +49/7720/94138-2
E-mail: [email protected]
U.S.A. SALES OFFICES
Eastern Region
Phone: 862/208-9742
Fax: 973/661-1275
E-mail: [email protected]
Central Region
Phone: 260/402-6016
Fax: 419/858-0375
E-mail: [email protected]
Western Region
Phone: 408/472-1971
Fax: 408/268-0716
E-mail: [email protected]
IMS MOTORS DIVISION
105 Copperwood Way, Suite H
Oceanside, CA 92054
Phone: 760/966-3162
Fax: 760/966-3165
E-mail: [email protected]
© 2006 Intelligent Motion Systems, Inc. All Rights Reserved. REV072806
IMS Product Disclaimer and most recent product information at www.imshome.com.
IMS EUROPE GmbH
Hahnstrasse 10, VS-Schwenningen
Germany D-78054
Phone: +49/7720/94138-0
Fax: +49/7720/94138-2
E-mail: [email protected]
European Sales Management
4 Quai Des Etroits
69005 Lyon, France
Phone: +33/4 7256 5113
Fax: +33/4 7838 1537
E-mail: [email protected]
Germany Sales
Phone: +49/35205/4587-8
Fax: +49/35205/4587-9
E-mail: [email protected]
Germany/UK Technical Support
Phone: +49/7720/94138-0
Fax: +49/7720/94138-2
E-mail: [email protected]
IMS UK Ltd.
25 Barnes Wallis Road
Segensworth East
Fareham, Hampshire, UK PO155TT
Phone: +44/1489/889-825
Fax: +44/1489/889-857
E-mail: [email protected]
IMS ASIA PACIFIC OFFICE
30 Raffles Pl., 23-00 Caltex House
Singapore 048622
Phone: +65/6233/6846
Fax: +65/6233/5044
E-mail: [email protected]
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