Schneider Electric MDrive 14Plus, 17Plus, 23Plus, 34Plus, 34AC Plus Motion Control, MDrive 14, 17, 23 Linear Actuator User Manual
जाहिरात
जाहिरात
MDrive
®
Motion Control
MDrive and
Linear Actuator Products
REACH
MDrivePlus Motion Control Manual Change Log
Date Revision Changes
07/15/2009 R082409 Integrated all NEMA sizes into a single document. Added Linear Actuators
08/24/2009 R082409
11/16/2009
03/16/2010
07/02/2010
09/07/2010
11/02/2010
02/07/2011
04/22/2014
R111609
R031610
R070210
R090710
R110210
R020711
R042214
Removed details and specifications for the MDrive42AC Plus Motion
Control, as it is discontinued.
Added support for size 14 and 23 linear actuator.
Updated Linear actuator sections with assembly instructions for the antibacklash nut.
Minor corrections throughout
Changed party mode connecting to reflect termination capacitance equation.
Added support for Ethernet communication interface.
Modified dimensioned drawing for NEMA size 17 models with industrial connectors to reflect a 0.07” (1.8 mm) increase in length. Added pin numbers to cable detail drawings.
Modified dimensioned drawing for NEMA size 14 models to reflect an increased tolerance to the length of the motor shaft.
MDrivePlus Motion Control Manual Revision R042214
Copyright © Schneider Electric Motion USA, All Rights Reserved
Important information
This manual is part of the product.
Carefully read this manual and observe all instructions.
Keep this manual for future reference.
Hand this manual and all other pertinent product documentation over to all users of the product.
Carefully read and observe all safety instructions and the chapter “Before you begin - safety information”.
Some products are not available in all countries.
For information on the availability of products, please consult the catalog.
Subject to technical modifications without notice.
All details provided are technical data which do not constitute warranted qualities.
Most of the product designations are registered trademarks of their respective owners, even if this is not explicitly indicated.
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MDrive
®
Motion Control
Table of Contents
Table of Contents
Part 1: General Usage
1 Introduction ................................................................................ 1-1
3 Interfacing DC power ................................................................ 3-1
4 Interfacing AC power ................................................................ 4-1
5 Interfacing serial communication ............................................ 5-1
6 Interfacing CANopen communication ..................................... 6-1
7 Interfacing Ethernet communication ....................................... 7-1
8 Interfacing I/O ............................................................................ 8-1
Part 2: Detailed specifications and connectivity information: MDrivePlus
MDrive14Plus
1 Introduction ................................................................................ 1-1
2 Specifications ............................................................................ 2-1
3 Mounting and connection recommendations ......................... 3-1
4 Connection and interface ......................................................... 4-1
MDrive17Plus
1 Introduction ................................................................................ 1-1
2 Specifications ............................................................................ 2-1
3 Mounting and connection recommendations ......................... 3-1
4 Connection and interface ......................................................... 4-1
MDrive23Plus
1 Introduction ................................................................................ 1-1
2 Specifications ............................................................................ 2-1
3 Mounting and connection recommendations ......................... 3-1
4 Connection and interface ......................................................... 4-1
MDrive34Plus
1 Introduction ................................................................................ 1-1
2 Specifications ............................................................................ 2-1
3 Mounting and connection recommendations ......................... 3-1
4 Connection and interface ......................................................... 4-1
MDrive34 AC Plus
1 Introduction ................................................................................ 1-1
2 Specifications ............................................................................ 2-1
3 Connection and interface ......................................................... 4-1
Part 3: Detailed specifications and connectivity information: MDrive Linear Actuators
MDrive14 Linear Actuator
1 Introduction ................................................................................ 1-1
2 Specifications ............................................................................ 2-1
3 Mounting and connection recommendations ......................... 3-1
4 Connection and interface ......................................................... 4-1
MDrive17 Linear Actuator
1 Introduction ................................................................................ 1-1
2 Specifications ............................................................................ 2-1
3 Mounting and connection recommendations ......................... 3-1
Integrated Motor and Driver i
Table of Contents
MDrive
®
Motion Control
4 Connection and interface ......................................................... 4-1
MDrive23 Linear Actuator
1 Introduction ................................................................................ 1-1
2 Specifications ............................................................................ 2-1
3 Mounting and connection recommendations ......................... 3-1
4 Connection and interface ......................................................... 4-1
ii
Integrated Motor and Driver
MDrive
®
Motion Control
Part 1: General Usage
1. Introduction
2. Safety
3. Interfacing DC power
4. Interfacing AC power
5. Interfacing serial communication
6. Interfacing CANopen communication
7. Interfacing Ethernet communication
8. Interfacing I/O
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MDrive® Motion Control
Table of Contents
Table of Contents
Integrated Motor and Driver
Important information ................................................................... 3
1 Introduction ................................................................................ 1-1
1.1 MDrive versions ..............................................................1-1
1.3 Documentation reference ................................................1-2
1.4 Product software .............................................................1-2
1.4.1 Communication converter drivers ......................1-2
1.4.2 SEM Terminal ....................................................1-2
2.1 Qualification of personnel ................................................2-1
2.2 Intended Use ...................................................................2-1
2.3 Hazard Categories ..........................................................2-2
2.4 General safety instructions ..............................................2-2
3 Interfacing DC power ................................................................ 3-1
3.1 Applicability .....................................................................3-2
3.2 Selecting a power supply (+V) ........................................3-2
3.2.1 Power supply — motor relationship ...................3-2
3.2.2 Power supply — driver relationship ...................3-2
3.2.3 Regulated vs unregulated ..................................3-3
3.3 Power supply cabling recommendations .........................3-3
3.3.1 DC Cabling Under 50’ (15.24 m) .......................3-4
3.3.2 AC power to full wave bridge .............................3-4
3.3.3 AC power DC supply .........................................3-5
3.3.4 Recommended wire gauges ..............................3-5
3.3 Switching DC power (DPM75 accessory) .......................3-6
5 Interfacing serial communication ............................................ 5-1
5.1 Applicability .....................................................................5-1
5.2.2 Driver installation procedure ..............................5-1
5.3 Interfacing single mode communication ..........................5-3
5.3.1 Full duplex (RS-422) ..........................................5-3
5.3.2 Half duplex (RS-485) .........................................5-4
5.4 interfacing party mode communication ............................5-5
5.4.1 Mutli-drop communication using MD-CC402-001 ...
5.4.2 Multi-drop communication connection ...............5-7
5.4.3 System power connection for a multi-drop system .
5.4.4 Software configuration .......................................5-9
4 Interfacing AC power ................................................................ 4-1
4.1 Applicability .....................................................................4-1
4.2 Interfacing AC voltage .....................................................4-2
4.3 MD-CS20x-000 cordset ...................................................4-2
6 Interfacing CANopen communication ..................................... 6-1
6.1 Features ..........................................................................6-1
6.2 Interfacing the can bus ....................................................6-1
6.2.1 CAN bus connections ........................................6-1
i
Table of Contents
MDrive® Motion Control
6.2.2 Recommended CANopen dongle ......................6-2
6.3 CANopen Tester quick start ............................................6-3
6.3.1 Installation ..........................................................6-3
6.3.2 Getting Started with CANopen Tester ...............6-3
7 Interfacing Ethernet communication ....................................... 6-1
7.1 Features ..........................................................................6-1
7.2 Connecting to a network ..................................................6-2
7.2.1 Network setup preparation .................................6-2
7.2.2 Network setup procedure ...................................6-3
7.3 Supported protocols ........................................................6-4
7.4 Ethernet status LED indicators ........................................6-4
8 Interfacing I/O ............................................................................ 8-1
8.1 I/O configurations ............................................................8-2
8.1.1 I/O States ...........................................................8-2
8.2 General purpose I/O ........................................................8-3
8.2.1 General purpose input functions ........................8-3
8.2.2 General purpose output functions......................8-3
8.2.3 Interfacing sinking inputs ...................................8-4
8.2.4 Interfacing sinking outputs .................................8-5
8.2.5 Interfacing sourcing inputs .................................8-6
8.2.6 Interfacing sourcing outputs ...............................8-7
8.2.7 Mixed I/O Example ............................................8-8
8.2.8 Mixed I/O Example (expanded) .........................8-8
8.2.9 Interfacing to a bank of I/O points ......................8-9
8.3 Dedicated I/O ................................................................8-11
8.3.1 Capture input/trip output ..................................8-11
8.4 Analog input ..................................................................8-12
ii
Integrated Motor and Driver
MDrive® Motion Control
List of Figures
Table of Contents
Figure 3.1 DC power supply cabling under 50’ (15.24 m) ......................3-4
Figure 3.2 50’ (15.2 m) or greater, AC power to full wave bridge ...........3-4
Figure 3.3 50’ (15.2 m) or greater, AC power to DC supply ...................3-5
Figure 3.4 DPM75 basic wiring and connection .....................................3-6
Figure 5.2 Full duplex RS-422 connection. ............................................5-3
Figure 5.3 Half duplex RS-485 connection. ............................................5-4
Figure 5.4 Multi-drop communication using the PD10-1434-FL3 ...........5-6
Figure 5.6 Interface for party-mode operation ........................................5-7
Figure 5.7 Power interface for eliminating communication ground loops 5-8
Figure 4.1 Euro AC connector (P3) ........................................................4-2
Figure 4.2 MD-CS20x-000 ......................................................................4-2
Figure 6.1 Interfacing the CAN bus ........................................................6-1
Figure 6.2 MD-CC500-000 USB to CANopen commissioning cable ......6-2
Figure 6.3 CANopen Tester ....................................................................6-4
Figure 7.1 Example Ethernet network using MDrivePlus .......................6-2
Figure 7.2 TCP/IP Configuration Utility ..................................................6-3
Figure 7.3 Ethernet status indicator LEDs ..............................................6-4
Figure 8.1 Sinking input equivalent circuit and interface examples ........8-4
Figure 8.2 Sinking output equivalent circuit and interface examples......8-5
Figure 8.3 Sourcing input equivalent circuit and interface examples .....8-6
Figure 8.4 Sourcing output equivalent circuit and interface examples ...8-7
Figure 8.5 Mixed inputs and outputs, standard MDrive. .........................8-8
Figure 8.6 Mixed inputs and outputs, expanded MDrive. .......................8-8
Figure 8.7 TTL interface to I/O banks as a group for BCD program control
..............................................................................................8-9
Figure 8.9 nput equivalent circuit, capture/trip I/O ................................8-11
Figure 8.10 Analog input interface ..........................................................8-12
List of Tables
Table 3.2 Power supply cable AWG recommendations ........................3-5
Table 4.1 AC standard wire colors ........................................................4-2
Table 7.1 Ethernet status indicator LEDs ..............................................6-5
Table 8.1 MDrive I/O configurations ......................................................8-2
Table 8.2 General purpose input functions ...........................................8-3
Table 8.3 General purpose output functions .........................................8-3
Integrated Motor and Driver iii
Table of Contents
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MDrive® Motion Control
iv
Integrated Motor and Driver
MDrive
®
Motion Control 1 Introduction
1 Introduction
1.1
The
MDrive Motion Control
high torque integrated programmable motion controller motor and step and direction driver is ideal for designers who want the simplicity of a motor with on-board electronics. The integrated electronics of the
MDrivePlus eliminate the need to run motor cabling through the machine, reducing the potential for problems due to electrical noise
The
MDrive Motion Control uses
high torque brushless step motors integrated with a high performance programmable motion controller and a microstepping driver, and accepts up to 20 resolution settings from full to 256 microsteps per full step, including: degrees, metric and arc minutes.
Programming is accomplished over RS-422/485 using the IMS Terminal software tool, which is provided.
The MDrive Motion Control is a compact, powerful and cost effective motion control solution that will reduce system cost, design and assembly time for a large range of brushless step motor applications.
MDrive versions
MDrive
The MDrive is available in the following power ranges and flange sizes:
+12 to +48 VDC
NEMA 14
NEMA 17
+12 to +75 VDC
NEMA 23
NEMA 34
120 and 240 VAC
NEMA 34
MDrive Linear Actuator
MDrive Linear Actuators are available in the following power ranges and flange sizes:
+12 to +48 VDC
NEMA 14
NEMA 17
+12 to +75 VDC
NEMA 23
Integrated Motor and Driver
1-1
1 Introduction MDrive
®
Motion Control
1.3
1.4
1.4.1
1.4.2
Documentation reference
The following user’s manuals are available for the MDrive:
Product hardware manual, describes the technical data and installation of the product.
Product software manual, describes the configuration and programming of the product.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the web site at: http://www.imshome.com/downloads/manuals.html.
Product software
Communication converter drivers
If using the our communication converter, drivers are required, these drivers are available for download from the web site at: http://www.imshome.com/downloads/cable_drivers.html.
SEM Terminal
The MDrive motion control can be configured and programmed using any standard ANSI terminal emulator and ASCII text editor.
The recommended tool is the SEM Terminal integrated terminal and program editor. SEM Terminal features color-coded editor, multiple-function keys and is pre-configured to operate using the
MDrive default settings
Installation and usages instructions are to be found in MCode software manual.
This software may be downloaded from: http://www.imshome.com/downloads/software_interfaces.html
1-2 Integrated Motor and Drive
MDrive
®
Motion Control 2 Safety
2 Safety
2.1
2.2
Qualification of personnel
Only technicians who are familiar with and understand the contents of this manual and the other relevant documentation are authorized to work on and with this drive system. The technicians must be able to detect potential dangers that may be caused by setting parameters, changing parameter values and generally by the operation of mechanical, electrical and electronic equipment.
The technicians must have sufficient technical training, knowledge and experience to recognise and avoid dangers.
The technicians must be familiar with the relevant standards, regulations and safety regulations that must be observed when working on the drive system.
Intended Use
The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specifically designed for safety functions are not approved for applications where the functioning of the drive could endanger persons.
The possibility of unexpected or unbraked movements can never be totally excluded without additional safety equipment.
For this reason personnel must never be in the danger zone of the drives unless additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety.
Suitable measures for prevention of property damage are also required.
In all cases the applicable safety regulations and the specified operating conditions, such as environmental conditions and specified technical data, must be observed.
The drive system must not be commissioned and operated until completion of installation in accordance with the EMC regulations and the specifications in this manual. To prevent personal injury and damage to property damaged drive systems must not be installed or operated.
Changes and modifications of the drive systems are not permitted and if made no warranty and liability will be accepted.
The drive system must be operated only with the specified wiring and approved accessories. In general, use only original accessories and spare parts.
Integrated Motor and Driver
2-1
2 Safety MDrive
®
Motion Control
2.3
2.4
The drive systems must not be operated in an environment subject to explosion hazard (ex area).
Hazard Categories
Safety notes and general information are indicated by hazard messages in the manual. In addition there are symbols and instructions affixed to the product that warn of possible hazards and help to operate the product safely.
Depending on the seriousness of the hazard, the messages are divided into three hazard categories.
!
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death, serious injury, or equipment damage.
!
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.
!
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided,
can result in injury or equipment damage.
General safety instructions
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
2-2 Integrated Motor and Driver
MDrive
®
Motion Control 2 Safety
!
WARNING
LOSS OF CONTROL
z Observe the accident prevention regulations. (For USA see also
NEMA ICS1.1 and NEMA ICS7.1) z The system manufacturer must take the potential error possibilities of the signals and the critical functions into account to ensure a safe status during and after errors. Some examples are: emergency stop, final position limitation, power failure and restart.
z
The assessment of error possibilities must also include unexpected delays and the failure of signals or functions.
z Suitable redundant control paths must be in place for dangerous functions.
z Check that measures taken are effective.
Failure to follow these instructions can result in death or serious injury.
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
Integrated Motor and Driver
2-3
2 Safety MDrive
®
Motion Control
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2-4 Integrated Motor and Driver
MDrive
®
Motion Control 3 Interfacing DC Power
3 Interfacing DC power
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
MAXIMUM VOLTAGE INPUT
Do not exceed the maximum rated voltage of the device! Motor
Back EMF, power supply ripple and high line must be taken into account when selecting a power supply voltage level.
Failure to follow these instructions may result in damage to system components!
!
CAUTION
GENERAL POWER SUPPLY PRACTICE
Do not connect or disconnect the power supply while power is applied.
Disconnect the AC side to power down the DC supply.
For battery operated systems connect a “transient suppressor” across the switch to prevent arcs and high-voltage spikes.
Failure to follow these instructions may result in damage to system components!
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect power, logic, or communication while the device is in a powered state without additional protection.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions may result in damage to system components!
Detailed specifications, voltage limits, current requirements and connectivity information are located in the product detail section corresponding to the MDrive model you purchased.
Integrated Motor and Driver
3-1
3 Interfacing DC Power MDrive
®
Motion Control
3.1 Applicability
3.2
3.2.1
3.2.2
This section applies to all MDrive motion control products with a DC power input.
Selecting a power supply (+V)
Proper selection of a power supply to be used in a motion system is as important as selecting the drive itself. When choosing a power supply for a stepping motor driver, there are several performance issues that must be addressed. An undersized power supply can lead to poor performance and possibly even damage to your drive.
Power supply — motor relationship
Motor windings can basically be viewed as inductors. Winding resistance (R) and inductance (L) result in an L/R time constant that resists the change in current. To effectively manipulate the rate of charge, the voltage applied is increased. When traveling at high speeds, there is less time between steps to reach current. The point where the rate of commutation does not allow the driver to reach full current is referred to as voltage mode. Ideally you want to be in current mode, which is when the drive is achieving the desired current between steps. Simply stated, a higher voltage will decrease the time it takes to charge the coil and, therefore, will allow for higher torque at higher speeds.
Another characteristic of all motors is back EMF. Back EMF is a source of current that can push the output of a power supply beyond the maximum operating voltage of the driver. As a result, damage to the stepper driver could occur over a period of time. This is especially prevalent with overhauling loads.
Power supply — driver relationship
The MDrive is very current efficient as far as the power supply is concerned. Once the motor has charged one or both windings of the motor, all the power supply has to do is replace losses in the system.
The charged winding acts as an energy storage in that the current will recirculate within the bridge and in and out of each phase reservoir. This results in a less than expected current draw on the power supply.
Stepping motor drivers are designed with the intent that a user’s power supply output will ramp up to greater than or equal to the minimum operating voltage of the drive. The initial current surge is substantial and could damage the driver if the supply is undersized. The output of an undersized power supply could fall below the operating range of the driver upon a current surge. This could cause the power supply to start oscillating in and out of the voltage range of the driver and result in damage to either the supply, the driver, or both.
There are two types of supplies commonly used, regulated and unregulated, both of which can be switching or linear. Each have advantages and disadvantages.
3-2 Integrated Motor and Driver
MDrive
®
Motion Control 3 Interfacing DC Power
3.2.3
3.3
Regulated vs unregulated
An unregulated linear supply is less expensive and more resilient to current surges, however, the voltage decreases with increasing current draw. This may cause problems if the voltage drops below the working range of the drive.
Fluctuations in line voltage are also a point of concern. These fluctuations may cause the unregulated linear supply to be above or below the anticipated or acceptable voltage.
A regulated supply maintains a stable output voltage, which is good for high speed performance. These supplies are also not affected by line fluctuations, however, they are more expensive. Depending on the current regulation, a regulated supply may crowbar or current clamp and lead to an oscillation that, as previously stated, can cause damage to the driver and/or supply. Back EMF can cause problems for regulated supplies as well. The current regeneration may be too large for the regulated supply to absorb. This could lead to an over voltage condition which could damage the output circuitry of the MDrive.
Switching power supplies and regulated linear supplies with over current protection are not recommended because of their inability to handle the surge currents inherit in stepping motor systems.
See the product detail section of this document for specific power supply voltage and current requirements and recommended power supplies.
Power supply cabling recommendations
!
CAUTION
EMI and RFI
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.
The length of the DC power supply cable to an MDrive should not exceed 50 feet (15.2 m).
Always use Shielded/Twisted Pairs for the MDrive DC Supply
Cable and the AC Supply Cable.
Failure to follow these instructions may result in damage to system components!
Integrated Motor and Driver
3-3
3 Interfacing DC Power MDrive
®
Motion Control
3.3.1
3.3.2
Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive.
Figure 3.1 illustrates the recommended cable configuration for DC power supply cabling under 50 feet (15.2 m) long. If cabling of 50 feet (15.2 m) or longer is required, the additional length may be gained by adding an
AC power supply cable (see Figures 3.2 and 3.3).
Correct AWG wire size is determined by the current requirement plus cable length. Please see Table 3.1.
DC Cabling Under 50’ (15.24 m)
A
+
B
C
+V
GND
-
≤ 50’ (15.24 m)
C
D
A
B
� Type RFI Filter ≥ Required Current
Ferrite Bead
Shielded Twisted Pair (See AWG Table for Size)
Electrolytic Capacitor, 500µF per Amp
Figure 3.1 DC power supply cabling under 50’ (15.24 m)
AC power to full wave bridge
D
A
B
C
D
+ -
Supply GND
+VDC Output
Shield to Earth
(Supply End Only)
To Cable in
+
-
Shield to Earth
(Supply End Only)
≥ 50’ (15.24 m)
C
D
A
B
� Type RFI Filter ≥ Required Current
Transformer: 10 to 28 VAC RMS
Shielded Twisted Pair (See AWG Table for Size)
Full Wave Bridge Rectifier, Rectifier Output
Connects to Cable Shown in Figure 3.1
Figure 3.2 50’ (15.2 m) or greater, AC power to full wave bridge
3-4 Integrated Motor and Driver
MDrive
®
Motion Control 3 Interfacing DC Power
3.3.3
3.3.4
AC power DC supply
A
B
C
DC Volts Out to
+
-
Shield to Earth
(Supply End Only)
A
B
C
D
≥ 50’ (15.2 m)
� Type RFI Filter ≥ Required Current
120 or 240 VAC Dependant on DC Power
Supply AC Input Requirement
Shielded Twisted Pair (See AWG Table for Size)
Unregulated DC Power Supply
D
Figure 3.3 50’ (15.2 m) or greater, AC power to DC supply
Recommended wire gauges
For cable lengths exceeding 50’ (15.2 m), use the cable configurations shown in Figures 3.2 and 3.3.
Cable Length: Feet (meters)
Amps Peak
1 Amp Peak
2 Amps Peak
3 Amps Peak
4 Amps Peak
10 (3.0)
20
20
18
18
25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Minimum AWG
20
18
18
16
18
14
18
14
16
16
14
14
12
12
12
12
Table 3.2 Power supply cable AWG recommendations
Detailed specifications, voltage limits and connectivity information are located in the product detail section corresponding to the MDrive model you purchased.
Integrated Motor and Driver
3-5
3 Interfacing DC Power MDrive
®
Motion Control
3.3 Switching DC power (DPM75 accessory)
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect power, logic, or communication while the device is in a powered state without additional protection.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions may result in damage to system components!
The function of the DPM75 Drive Protection Module is to limit the surge current and voltage to a safe level when DC input power is switched on and off to a motor drive. This provides the added protection necessary for reliable motor drive operation when switching the DC power, instead of the recommended AC power to the DC power supply. The device is designed to protect the motor drive when operating under all load conditions. This device does not protect the motor drive from wiring the power incorrectly.
The unit is capable of being used with 48, 60, and 75 volt rated motor drives. An external jumper selection is available so the user can match the circuit to their particular application. The DPM75 is capable of a steady state operating current of 4 amps.
The DPM75 can be used for any frame size motor drive, when properly configured. It can also be used for more than one unit provided the current and voltage do not exceed the DPM75’s ratings. The maximum
DPM75 ratings are 75 volts and 4 amps.
Power requirements and wiring details are available in the product detail section pertaining to the MDrive product purchased.
Voltage set by wire jumper
SPST switch*
Fuse**
A terminal
B terminal
C terminal power + power – drive – drive +
+ – – +
3-6
Motor drive
Power supply
* Do not switch negative side of supply
**Fuse = 6.3 Amp slow blow (recommended: Bussman S505-6.3A
or Littelfuse 215006.3). The fuse is optional.
Figure 3.4 DPM75 basic wiring and connection
Integrated Motor and Driver
MDrive
®
Motion Control
5 Interfacing Serial Communication
5 Interfacing serial communication
The MDrive communicates to the host using the RS-422/485 protocol.
Communication 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 MDrive, or to address up to 62 individually named nodes in a multidrop system.
5.1 Applicability
5.2
This section applies to all MDrive Motion Control models with an RS-
422/485 communication interface.
USB to RS-422/485 isolated communication converter cables
To simplify the wiring and connection process we offer an electrically isolated USB to RS-422/485 communication cables for the MDrive.
These convenient 12.0’ (3.6m) accessory cables connect a PC’s USB port to the MDrive P2 connector. An in-line RS-422/485 converter enables parameter setting to a single MDrive. cable purchase recommended with first order.
There are two communication converter cables available depending on the connector type:
USB to 10-pin wire crimp ............................Part No. MD-CC402-001
USB to 5-pin M-12 circular .........................Part No. MD-CC401-001
5.2.2 Driver installation procedure
The installation of the MD-CC40x-000 requires the installation of two sets of drivers:
Drivers for the USB to RS-422 converter hardware.
Drivers for the Virtual Communication Port (VCP) used to communicate to your 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.
Integrated Motor and Driver
5-1
5 Interfacing Serial Communication MDrive
®
Motion Control
5-2
Installing the cable/VCP Drivers
1) Download the MD-CC40x-001 communication converter drivers from http://www.imshome.com/downloads/cable_drivers.html.
Extract to a folder on your hard drive.
2) Plug the USB converter cable into the USB port of the MD-
CC40x-001.
3) Plug the other end of the USB cable into an open USB port on your PC.
4) Your PC will recognize the new hardware and open the Hardware
Update dialog.
5) 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”.
6) 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”.
Select “Search for the best driver in these locations.”
Check “Include this location in the search.”
Browse to the download location on your hard drive.
7) Click Next.
8) The drivers will begin to copy.
9) On the Dialog for Windows Logo Compatibility Testing, click “Continue Anyway”.
10) The driver installation will proceed. When completing the Found
New Hardware Wizard dialog appears, Click “Finish”.
11) 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.
12) Your MD-CC40x-001 is now ready to use.
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 product.
To locate the Virtual COM Port.
1) Right-Click the “My Computer” Icon and select “Properties”.
2) Browse to the Hardware Tab, Click the Button labeled “Device
Manager”.
3) Look in the heading “Ports (COM & LPT)” USB to RS-422 converter cable (COMx) will be listed). The COM # will be the Virtual COM
Port connected. You will enter this number into your IMS Terminal configuration.
Integrated Motor and Driver
MDrive
®
Motion Control
5 Interfacing Serial Communication
5.3.1 Full duplex (RS-422)
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect communication while the device is in a powered state.
Failure to follow these instructions may result in damage to system components!
To interface the MDrive 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.
• MD-CC402-001 or equivalent communication converter.
Use the following diagram to connect RS-422 communication to the
MDrive (not required if using our cables)
RS-422 P2*
TX-
RX+
RX-
TX+
COMM GND
RX-
TX+
TX-
RX+
GND
* see the section in Part 2 applicable to the model
you purchased for pinout information
COMMUNICATIONS GROUND
COMM GND
A 100Ω Resistor is placed between COMM
GND and Power GND to prevent communications ground loops. This resistor is internal to the AccuStep.
100Ω
COMM GND is ONLY to be used for grounding communications.
Figure 5.2 Full duplex RS-422 connection.
Integrated Motor and Driver
5-3
5 Interfacing Serial Communication MDrive
®
Motion Control
5.3.2 Half duplex (RS-485)
The MDrive can be operated in a two wire RS-485 communication bus.
Before connecting the two wire RS-485, download your program and setup instructions using the standard four wire RS-422 Communication cable. If a program is not being used, download and save any setup parameters. To ensure the MDrive responds only to commands specifically meant for it, set the unit in party mode
The Echo Mode command (EM) must be set to the value of 1 (EM=1).
This will set the MDrive communication into “half duplex” mode. Connect the driver in the two wire RS-485 configuration. The following diagram illustrates how to connect the four wire RS-485 to operate as a two wire system.
RS-485 P2*
CH A
CH B
COMM GND
RX-
TX+
TX-
RX+
GND
* see the section in Part 2 applicable to the model
you purchased for pinout information
COMMUNICATIONS GROUND
COMM GND
A 100Ω Resistor is placed between COMM
GND and Power GND to prevent communications ground loops. This resistor is internal to the AccuStep.
100Ω
COMM GND is ONLY to be used for grounding communications. Grounding Aux-Logic or any other device to COMM GND may damage the device!
Figure 5.3 Half duplex RS-485 connection.
5-4 Integrated Motor and Driver
MDrive
®
Motion Control
5 Interfacing Serial Communication
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect communication while the device is in a powered state.
Failure to follow these instructions may result in damage to system components!
!
CAUTION
Communication GROUND LOOPS
To avoid ground loops in the system only connect communication ground to the first MDrive in the system. Do not connect communication ground on subsequent MDrives.
Failure to follow these instructions may result in damage to system components!
!
CAUTION
SHIELDED CABLES
Do not use the MD-CC400-001 communication converter cable for multi-drop systems. Ribbon cables are not recommended for use in multi-drop communication systems due to the lack of shielded cabling.
Failure to follow these instructions may result in damage to system components!
DEVICE NAME
Each unit in a party mode system must have a unique identifier, or device name. Each unit MUST be connected and communicated with in single mode communication and given a name using the DN command
Please reference the MCode Programming and Software manual for more information.
Integrated Motor and Driver
5-5
5 Interfacing Serial Communication MDrive
®
Motion Control
5.4.1 Mutli-drop communication using MD-CC402-001
Required:
MD-CC402-001 communication converter cable
PD10-1434-FL3 prototype development cable(s)
Used in conjunction with the MD-CC402-001 communication converter cable to facilitate multi-drop RS-422/485 communication.
To MDrive
10-pin friction lock wire crimp connector To Communications
10.0’ (3.0m)
Flying leads terminated by crimp
Wire Colors
White/Red Stripe
White/Blue Stripe
Blue/White Stripe
White/Orange Stripe
Orange/White Stripe
Green/White Stripe
Function
Aux-Logic
TX+
TX-
RX+
RX-
GND
Note: If not using Aux-Logic
Remove Wire (White/Red Stripe)
Remove Ground Wire
(White/Green Stripe)
MDrive #n
MDrive #2
MDrive #1
Ground Connects to 1st MDrive ONLY!
5-6
Figure 5.4 Multi-drop communication using the PD10-1434-FL3
Procedure
1) Remove ground wire (unless this is the first system MDrive, green/white stripe)
2) Remove aux-logic (if not used, red/white stripe)
3) Connect pre-crimped flying leads as shown in Figure 5.7 below
9
7
8
White/Blue Stripe
10 Blue/White Stripe
White/Orange Stripe
Orange/White Stripe
Figure 5.5 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp connector.
Integrated Motor and Driver
MDrive
®
Motion Control
5 Interfacing Serial Communication
5.4.2
RS-422
TX−
TX+
RX−
RX+
Multi-drop communication connection
Connecting RS-422 in party mode can be fraught with issues. Following a few simple best practices can save a good deal of time troubleshooting.
Configuring the MDrive
WIth a comm converter and the MDrive units you plan to use in Party
Mode at hand, perform the following:
1) Connect in single mode RS-422 and initiate communication, download any programs if required.
2) Assign a device name (DN=”<A-Z, a-z or 0-9>”) i.e DN=”A”.
3) Set the party flag to 1 (PY=1)
4) Press CTRL+J to activate party mode
5) Type in [Device Name]S and press CTRL+J (saves the DN and party configuration) ie AS CTRL+J
6) Remove power and label the drive with the assigned DN.
7) Repeat for each system MDrive.
Figure 5.6 illustrates the connection schematic for a multi-drop communication system, note that communication ground only connects to the first system MDrive.
Earth shield at converter end
......
......
......
......
RT*
CT*
RT*
CT*
GND
GND
100Ω
TX+ TX− RX+ RX−
GND X
TX+ TX− RX+ RX−
100Ω
GND X
TX+ TX− RX+ RX−
100Ω
Device #1 Device #2
*Termination
RT = based on the impedence of the cable, generally 120Ω
CT = (cable length in ft * 1.7nS/ft * 2) / Zo*
*Zo = characteristic impedence of the cable
Figure 5.6 Interface for party-mode operation
Device #n
Data cable Termination Resistors
Under15 ft we recommend that no termination is used. Over 15’ (4.5 meters) The value of capacitance should be calculated using the formula above to find the cable round trip delay divided by the characteristic impedance of the cable (Zo).
Integrated Motor and Driver
5-7
5 Interfacing Serial Communication MDrive
®
Motion Control
5.4.3 System power connection for a multi-drop system
The power connection schematic in Figure 5.7 represents the recommended power configuration for avoiding communication ground loops
Note 4 Note 2 Note 1
PC
COMM
GND
RS422
I/O PWR AUX-PWR +V
Motor
Power
GND
AUX
Power
GND
I/O
Power
GND
Internal
Power
Supply
Bridge
+V
AUX
PWR
I/O
PWR
Electrically
Isolated
Note 3
I/O
I/O
RS422
Transciever
UNIT #1
COMM GND
100Ω
I/O GND PWR GND
X
Do Not Use
5-8
I/O PWR
I/O
I/O
RS422
Transciever
AUX-PWR
Internal
Power
Supply
+V
Bridge
.
100Ω
COMM GND
UNIT #2-n
I/O GND PWR GND
X
Do Not Use
X
Note 1
Use AUX-PWR only if position information is needed when motor power is lost AND the MDrive has an encoder
Note 2
Use I/O Power only if sourcing outputs are required. I/O Power is only available on MDrives with expanded I/O
Note 3
Note 4
The isolated communication converter’s common MUST be connected to ONLY one MDrive.
If Multiple motor power supplies are used connect the commons together and refer to note three.
Figure 5.7 Power interface for eliminating communication ground loops
Integrated Motor and Driver
MDrive
®
Motion Control
5 Interfacing Serial Communication
5.4.4 Software configuration
Party mode communication requires extensive software configuration and has a specific communication and response format.
This is documented in detail in the MCode software and programming manual.
Integrated Motor and Driver
5-9
5 Interfacing Serial Communication
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MDrive
®
Motion Control
5-10 Integrated Motor and Driver
MDrive
®
Motion Control 4 Interfacing AC Power
4 Interfacing AC power
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if power or signal wiring is exposed.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
MAXIMUM VOLTAGE INPUT
Do not exceed the maximum rated voltage of the device!
Failure to follow these instructions may result in damage to system components!
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Failure to follow these instructions may result in damage to system components!
Detailed specifications, voltage limits, current requirements and connectivity information are located in the product detail section corresponding to the MDrive model you purchased.
4.1 Applicability
This section is only applicable to those MDrives with a 120 or 240 VAC input voltage.
Integrated Motor and Driver
4-1
4 Interfacing AC Power MDrive
®
Motion Control
4.2 Interfacing AC voltage
3-Pin Euro AC Connector
Pin 3: Neutral
Pin 1: Earth
Pin 2: Line
Figure 4.1 Euro AC connector (P3)
4.3 MD-CS20x-000 cordset
Signal
Earth
Line
Neutral
European (IEC) color code
Yellow/Green
Brown
Blue
Table 4.1 AC standard wire colors
US color code
Green
Black
White
The single-end three conductor cordsets are used with the MDrive AC.
Measuring 13.0’ (4.0m) long, they are available in either straight or right angle termination. IEC color code, oil-resistant yellow PVC jacket, IP68 and NEMA 6P rated.
Straight Termination ............................................... MD-CS200-000
Right Angle Termination ......................................... MD-CS201-000
MD-CS200-000
Brown
Blue
Yellow/green
13’ (4.0 m)
MD-CS201-000
Brown
Blue
Yellow/green
Ensure adequate space is available inside your
Enclosure to allow for the cordset connector!
Figure 4.2 MD-CS20x-000
2.54” (64.5 mm)
1.70”
(43.3 mm)
4-2 Integrated Motor and Driver
MDrive
®
Motion Control
6 Interfacing CANopen Communication
6 Interfacing CANopen communication
6.1 Features
6.2
6.2.1
CANopen DS-301 and DS-402
Galvanically isolated communication
3 Dynamically mappable process data objects (PDO)
Layer Setting Services (LSS) to establish node id and baud
Node guarding
Heartbeat producer
Emergency objects
Upgradable software
Interfacing the can bus
CAN bus connections
Return
+V Supply
7 to 30 VDC
The MDrive communicates using the CAN 2.0B Active Protocol and the
CiA DS-301 Application Layer and Communication Profile. The full DS-
301 V4.02 Specification may be downloaded free at http://www.can-cia.
org. The default BAUD rate is 1 Mbit/Sec. The default Node ID is 41h.
CANopen
Controller
MDrive
Node 1
MDrive
Node
x
Figure 6.1 Interfacing the CAN bus
6-1
6 Interfacing CANopen Communication MDrive
®
Motion Control
6.2.2 Recommended CANopen dongle
In order to use the CANopen Tester tool and upgrade utility for the
MDrive you must purchase the MD-CC500-000 communication cable.
When purchased from us, the user interface software for upgrading and prototyping is included. This is required to upgrade the firmware in the
MDrive updates become available.
This device is also available from phytec at: http://www.phytec.com/can/ hardware/pccaninterface/peakusb.htm, but does not include the CANopen Tester and upgrader software.
Interface cable construction
To connect the MD-CC500-000 dongle to the MDrive product an interface cable will need to be constructed. The figure below shows the parts required.
Interface Cable (Not Supplied)
+7 to +30 VDC
Power Supply
CAN +V
CAN -V (Ground)
MD-CC500-000
M12F
To P2
DB-9F
120Ω
CAN-H
120Ω Termination
Resistor is REQUIRED
Between CAN-H and CAN-L
At the MDrivePlus end of the cable.
CAN-L
DB-9F
Connector Front View
Pin 3: CAN -V (Ground)
Pin 5: CAN-Shield
Pin 2: CAN-L
DB-9F
To USB Port
M12F
Connector Front View
Pin 5: CAN-L
Pin 1: CAN Shield
Pin 2: CAN +V
Pin 9: CAN +V
Pin 7: CAN-H
Pin 4: CAN-H
Figure 6.2 MD-CC500-000 USB to CANopen commissioning cable
Installation Instructions
Pin 3: CAN GND
1) Install the MD-CC500-000 adapter per the Phytec PCAN-USB
Operating Instructions included on the PEAK CD included with the product.
2) Install the CANopen Tester software available online at http:// www.imshome.com/
3) Using the interface cable (not supplied), connect the MDrive product to the MD-CC500-000.
4) Apply power to the MDrive product.
6-2
MDrive
®
Motion Control
6 Interfacing CANopen Communication
6.3 CANopen Tester quick start
6.3.1 Installation
6.3.2
1) Download the most recent version of the CANopen Tester from the web site at: http://www.imshome.com/downloads/software_interfaces.html.
2) Extract the files from the archive file.
3) Browse to the extracted folder.
4) Double-Click the Setup.exe file.
5) Follow the prompts to install the program.
Getting Started with CANopen Tester
!
CANopen Tester Software
CAUTION
Do not use this software unless you accept the responsibility of using the full tool.
Only technicians who are familiar with and understand the contents of the manual and the other relevant documentation are authorized to work with the full tool.
Damage and/or drive failure may be experienced without full knowledge of the device indexes and features.
The following brief tutorial will cover setting the MDrive in profile position. To place the software in advanced mode, select “advanced Mode” from the tools menu in the main interface. A warning dialog will launch with the caution text. If qualified, click “yes” on the dialog. This will launch the advanced features screen.
With the MDrive powered and the CANopen Tester software launched, select through the following sequence.
See figure 5.3 for button locations.
A. Click CAN Init
B. Check “Cycle Reading of indexes.
C. Click Msg Window Scripts – This will open another window to allow the user to see data being sent to MDrive in the following steps.
D. Click Operation_Toggle three times (this steps through Index
0x6040 Control Word ending with Operation Enabled). This enables the output bridge of the driver.
E.. Enter the number “1” in the Modes of Operations field, this places the MDrive into Profile Position mode.
F. Enter 512000 into the IDX67AH field, strike the return (Enter) key on your keyboard, the motor should move 10 revolutions.
6-3
6 Interfacing CANopen Communication
C
A
F
B
MDrive
®
Motion Control
E
D
Figure 6.3 CANopen Tester
6-4
MDrive
®
Motion Control
7 Interfacing Ethernet Communication
7 Interfacing Ethernet communication
Ethernet is a frame based, standardized networking system used for
Local Area Networks. The ease of connectivity and use, reliability and minimal signal degradation over long distance has made it an ideal networking standard for a number of industrial protocols.
MDrive with Ethernet is not to be confused with the EtherNet/IP (Ethernet Industrial Protocol), developed by Rockwell Automation.
A major benefit of using Ethernet in motion control systems is the standardized IP addressing system, which allows for up to 255 devices on a network, while eliminating the complicated wiring and software configuration of traditional multi-drop systems using RS-232, RS-422 or
RS-485.
Ethernet is available as a communications interface on MDrive23Plus
Motion Control units only
NOTE: While defined as an MDrive23Plus2, please note that the Ethernet version DOES NOT have the upper I/O bank, I/O points 9 - 12. Only
I/O points 1 - 4 are available, they may be programmed as sinkinh or sourcing inputs or outputs.
7.1 Features
Standard RJ45 and CAT5/6 cabling
Isolated communication
Minimal signal degradation over long distance
All error checking handled by the system (no check-summing)
No complicated multidrop wiring and configuration
MODBUS/TCP or MCode/TCP protocols
6-1
7 Interfacing Ethernet Communication MDrive
®
Motion Control
7.2 Connecting to a network
The MDrivePlus Motion Control withe Ethernet uses standard RJ45 connectors with CAT5 or 6 cabling without crossover.
Ethernet switch
PC
Additional Ethernet devices
Controller
MDrive #1 e.g. 192.168.33.1
MDrive #2 e.g. 192.168.33.2
Figure 7.1 Example Ethernet network using MDrivePlus
7.2.1 Network setup preparation
To set up a network using MDrive Motion Control with Ethernet there are a few steps that must be followed to configure the MDrivePlus units for use on your network.
NOTE: You may need to contact the IT department at your location to obtain a block of viable IP addresses for your system.
Information needed to start:
Default IP Address:
192.168.33.1
Default Subnet Mask:
255.255.0.0
System/software requirements:
PC running Windows XP SP2 or newer
TCP/IP Configuration Utility installed
- available at http://www.
imshome.com
MDrive Motion Control with Ethernet connected to your network with power applied.
6-2
MDrive
®
Motion Control
7.2.2 Network setup procedure
7 Interfacing Ethernet Communication
Figure 7.2 TCP/IP Configuration Utility
1) Open the TCP/IP Configuration utility.
2) In the IP Address dropdown enter the default IP: 192.168.33.1.
3) Click “Connect”.
4) Write the desired IP and Subnet mask to the device.
WARNING: ensure the IP/Subnet is available on your network!
5) Cycle power on the MDrivePlus.
6) Reconnect to the new IP Address.
7) To verify communication, click the SEM Port tab on the TCP/IP
Configuration utility.
8) Click into the bottom text area, key in CTRL+C.
9) If communications are functioning the sign-on “Copyright ©2010
Schneider Electric Motion USA” should appear in the upper window.
10) Repeat steps 2 – 9 on each subsequent MDrive for your system.
6-3
7 Interfacing Ethernet Communication MDrive
®
Motion Control
7.3
7.4
Supported protocols
The new MDrive Motion Control Ethernet products support two protocols in a single package:
1)
MCode/TCP — Schneider Electric Motion USA’s proprietary programming language for MDrive Motion Control products,adapted to utilize TCP/IP message formatting.
If using the device using MCode/TCP, please see the MCode Programming and Reference Manual located on the web site at http:// www.imshome.com/downloads/manuals.html.
2)
MODBUS/TCP — A standard open industrial protocol supported by a variety of machine components such as programmable controllers, drives and controls, I/O modules and switches.
These protocols may be used separately or interchangeably, as is required by the constraints of the application by connecting to the port thatthe protocol is running on, 503 for MCode/TCP and 502 for
MODBUS/TCP.
Ethernet status LED indicators
The MDrivePlus with Ethernet has two dual-color (red/green) LEDs visible from the back of the drive to give status and error indication of the
Ethernet connection.
Figure 7.3 Ethernet status indicator LEDs
LED 1
LED 2
P2
6-4
MDrive
®
Motion Control
7 Interfacing Ethernet Communication
LED 1 LED 2
Boot-up/Initialization faults
Off Off
Description
Boot-up / TCP-IP stack ok. (Waiting for connection)
Green Off Drive initialization error, if persistent, contact applications support
MODBUS/TCP connection (Port 502)
Off Red (flashing) MODBUS/TCP port 502 connected
Off
Off
Green Set socket option failure
Red+Green Socket receive error or Port 502 disconnect
Red+Green Red+Green
(1 sec. interval)
UART overrun, retry in progress
MCode/TCP connection (Port 503)
Red (flashing) Off MCode/TCP port 503 connected
Green
Red+Green
Off
Off
Set socket option failure
Socket receive error or Port 503 disconnect
Table 7.1 Ethernet status indicator LEDs
6-5
7 Interfacing Ethernet Communication
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MDrive
®
Motion Control
6-6
MDrive® Motion Control
8 Interfacing I/O
8 Interfacing I/O
!
CAUTION
ELECTRICAL OVERSTRESS
The general purpose I/O is tolerant to +24 VDC. The following listed I/O points are TTL level and only tolerant to +5 VDC:
1) Step Clock
2) Direction
3) Capture/Trip
4) Remote encoder inputs
Do not exceed +5 VDC on these points.
Failure to follow these instructions can result in equipment damage.
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions may result in damage to system components!
CONNECTOR OPTIONS
The MDrive motion control product family has an extensive set of connector options. The purpose of this section is to give a general overview of the I/O interface methods and practices.
Please see the section specific to the MDrive product you purchased in the second part of this document for connectors, pin configurations and connectivity options.
I/O FUNCTIONS AND PARAMETERS
The functions and operational parameters of the MDrive Motion Control
I/O MUST be configured in software.
For detailed specifications and instruction please reference the MCode
Software and Programming manual.
Integrated Motor and Driver
8-1
8 Interfacing I/O
MDrive® Motion Control
8.1 I/O configurations
8.1.1 I/O States
The MDrive Motion Control product line is available with the following
I/O configuration.
I/O set
General purpose
Dedicated
Analog input
IO1, IO2, IO3, IO4, IO9, IO10, IO11, IO12 (Sinking or sourcing inputs or outputs
Capture input/trip output
AIN1
Table 8.1 MDrive I/O configurations
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 MDrive Motion Control and standard sensors and switches.
8-2 Integrated Motor and Driver
MDrive® Motion Control
8 Interfacing I/O
8.2
8.2.1
8.2.2
General purpose I/O
The general purpose +5 to +24 VDC I/O must be configured and programed to general or reserved functions in software. The I/O cannot be exercised without configuration parameters being set:
General purpose input functions
Function
User defined
Home
Limit +
Limit -
G0
Soft stop
Pause
Jog +
Jog -
Reset
Description
Input function used to control program branches, subroutine calls or BCD functions when the input bank is used as a group.
Homing input
Positive limit input
Negative limit input
Executes program at memory address 1 on activation
Stops motion with deceleration and halts program execution
Pause/resume program execution with motion
Jog positive direction
Jog negative direction
Reset program, equivalent to a ^C terminal input.
Table 8.2 General purpose input functions
General purpose output functions
Function
User defined
Description
Output function which can be set to trigger external events from within a program
Input will be in an active state when the motor is moving Moving
Fault Activates on an error.
Stall Activates when a stall is detected (encoder required)
Velocity changing Activates when accelerating or decelerating
Table 8.3 General purpose output functions
Integrated Motor and Driver
8-3
8 Interfacing I/O
MDrive® Motion Control
8.2.3 Interfacing sinking inputs
MDrive Motion Control
Input equivalen circuit, sinking input
IOx
GND
Iil
Internal pull-up voltage
3.3 V
65 - 160 uA
100k ohms detect logic
24.9k ohms
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iil = 100 µA
Input Examples
NPN Input, Sinking
NPN
+
+5 to +24VDC
IOx
GND
Switch Input, Sinking
IOx
GND
Figure 8.1 Sinking input equivalent circuit and interface examples
8-4 Integrated Motor and Driver
MDrive® Motion Control
8 Interfacing I/O
8.2.4 Interfacing sinking outputs
MDrive Motion Control
Output equivalent circuit, sinking output
Always off
Internal pull-up voltage
65 - 160 μA
IOx
GND
24.9k ohms
Switched
Output Examples
Inductive load, sinking
LOAD
IOx
LED Ouput, sinking
+
+5 to +24VDC
Diode recommended for inductive loads
GND
IOx
+
+5 to +24VDC
*R
LIMIT
*Output sink current = 600 mA Max.
GND
Figure 8.2 Sinking output equivalent circuit and interface examples
Integrated Motor and Driver
8-5
8 Interfacing I/O
MDrive® Motion Control
8.2.5 Interfacing sourcing inputs
MDrive Motion Control
Input equivalen circuit, sourcing input
IO PWR
Internal pull-up voltage
The internal pull-up voltage cannot provide output current/voltage
3.3 V
IOx
Iih
65 - 160 uA
GND
100k ohms detect logic
24.9k ohms
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA
Input Examples
PNP Input, Sourcing
Switch Input, Sourcing
IOx
PNP
IOx
+
+5 to +24VDC
+
+5 to +24VDC
GND
Figure 8.3 Sourcing input equivalent circuit and interface examples
GND
8-6 Integrated Motor and Driver
MDrive® Motion Control
8 Interfacing I/O
8.2.6 Interfacing sourcing outputs
MDrive Motion Control
Output equivalent circuit, sinking output
IO PWR
Switched
Internal pull-up voltage
IOx
GND
24.9k ohms
Always
Off
40 - 135 μA
Output Examples
Inductive load, sourcing
IO PWR
+
+5 to +24VDC Diode recommended for inductive loads
LOAD IOx
GND
Figure 8.4 Sourcing output equivalent circuit and interface examples
Integrated Motor and Driver
8-7
8 Interfacing I/O
MDrive® Motion Control
8.2.7 Mixed I/O Example
8-8
The application illustrated in Figure 8.5 shows an example of the I/O points being used as mixed inputs and outputs on an MDrive with the standard I/O configuration.
IO3 and IO4 are configured as sinking limit inputs, IO2 is set up as a sourcing G0 input with IO1 as a sinking user output. This circuit would operate as automatic reset, where and event inside the program would trigger the user output and run a program located at address 1 in program storage.
User Output
+
+5 to +24VDC
PNP
LOAD
G0
Limit +
IO1
IO2
IO3
Limit -
IO4
GND
8.2.8
Figure 8.5 Mixed inputs and outputs, standard MDrive.
Mixed I/O Example (expanded)
+
+5 to +24VDC
PLC
IN (w / pullup)
IN (w / pullup)
OUT (PNP)
OUT (PNP)
LOAD
LOAD
Moving Output
Stall Output
Jog + Input
Jog - Input
User Output
User Output
Limit + Input
Limit - Input
IO9
IO10
IO11
IO12
GND
IO PWR
IO1
IO2
IO3
IO4
Figure 8.6 Mixed inputs and outputs, expanded MDrive.
Integrated Motor and Driver
MDrive® Motion Control
8 Interfacing I/O
8.2.9 Interfacing to a bank of I/O points
The I/O can be interfaced to as a bank of inputs or outputs. Available banks are:
Standard ................................................................... Bank 1: IO1-O4
Expanded ................................. Bank 1: IO1-IO4, Bank 2: IO9-IO12
Expanded + remote encoder ................................... Bank 1: IO1-IO4
This feature gives the user to implement sophisticated process control applications by triggering events based upon the BCD state of the I/O.
Binary coded decimal inputs
Figure 8.7 illustrates a TTL interface to I/O banks 1 and 2 on an MDrive with the expanded I/O set. These are set to be user defined inputs and the state is read using the following software commands as a binary number. When reading the state of the bank to a terminal it will display as decimal:
IL — will read the lower input group (IO1 - IO4) where IO1 is the
LSB and IO4 is the MSB
IH — will read the upper input group (IO9 - IO12) where IO9 is the LSB and IO12 is the MSB
IT — will read both input groups (IO1 - IO12) where IO1 is the
LSB and IO12 is the MSB
+5 VDC
LSB
MSB
LSB
MSB
IO9
IO10
IO11
IO12
GND
IO1
IO2
IO3
IO4
Figure 8.7 TTL interface to I/O banks as a group for BCD program control
Integrated Motor and Driver
8-9
8 Interfacing I/O
MDrive® Motion Control
Binary coded decimal outputs
Figure 8.8 illustrates an LED interface to I/O banks 1 and 2 on an
MDrive with the expanded I/O set. This is one possible interface method for illustration purposes. A more practical application would be to interface the outputs to a PLC input module to control external processes from within an MDrive program. These are configured as user defined outputs and the state is set using the following software commands as a decimal number. When write the state of the outputs they will be set as a binary number.
OL — will set the lower output group (IO1 - IO4) where IO1 is the LSB and IO4 is the MSB
OH — will set the upper output group (IO9 - IO12) where IO9 is the LSB and IO12 is the MSB
OT — will set both output groups (IO1 - IO12) where IO1 is the
LSB and IO12 is the MSB
+5 to +24 VDC
LSB
MSB
IO1
IO2
IO3
IO4
LSB
MSB
IO9
IO10
IO11
IO12
Figure 8.8 Output interface to I/O banks as a group for BCD process control
8-10 Integrated Motor and Driver
MDrive® Motion Control
8 Interfacing I/O
8.3 Dedicated I/O
!
CAUTION
ELECTRICAL OVERSTRESS
The I/O points detailed in this subsection are TTL level and only tolerant to +5 VDC:
1) Capture/Trip
2) Remote encoder inputs
Do not exceed +5 VDC on these points.
Failure to follow these instructions can result in equipment damage.
8.3.1 Capture input/trip output
The Capture Input/Trip Output point is a high speed I/O point which can be used for time critical events in motion applications.
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.
The capture input needs to be pulled up to TTL using a 10k ohm resistor.
Trip Output
When configured as a trip output I/O 13 trip speed is 150 nS with 32 bit resolution.
MDrive Motion Control
Input equivalen circuit, capture/trip I/O
Integrated Motor and Driver
Capture In/Trip Out
IOGND
Trip Out
T
Capt In
R
TRIP_OUT
ENABLE TO
CAPT_IN
Vin Max = +5 V
Vin Hi = 1.86 V
Vin Low = 0.9 V
Iin Hi = 1 mA
Iin Low = -0.8 mA
Vo Min = 2 V
Vo Max = 5 V
Iosc Min = 35 mA
Iosc Max = 250 mA
Figure 8.9 Input equivalent circuit, capture/trip I/O
8-11
8 Interfacing I/O
MDrive® Motion Control
8.4 Analog input
The analog input of the MDrive is configured from the factory as a 0 to
5V, 10 bit resolution input). 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 input can receive input from 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA and 0 to 20 mA devices.
0 to +5 VDC Potentiometer
10 kΩ Potentiometer
MDrive
12
+5 VDC
10
+5V
ANALOG IN
11
GND
PLC Analog Output
All voltage modes
Analog Out
GND
Controller or PLC
MDrive
10
ANALOG IN
11
GND
P1 P1
Sensor
All voltage and current modes
MDrive
Out
GND
Sensor
10
ANALOG IN
11
GND
P1
Figure 8.10 Analog input interface
8-12 Integrated Motor and Driver
MDrive
®
Motion Control
Part 2: Detailed specifications and connectivity information
1. MDrive 14
2. MDrive 17
3. MDrive 23
4. MDrive 34
5. MDrive 34AC
This page intentionally left blank
MDrive
®
14
Motion Control
1. Introduction
2. Specifications
3. Mounting Recommendations
4. Interface and Connectivity
This page intentionally left blank
MDrive®14Plus Motion Control
Table of Contents
Integrated Motor and Driver
Table of Contents
1 Introduction .................................................................... MDI14:1-1
1.1 MDrive 14 unit overview ...................................... MDI14:1-1
1.2 Product identification ........................................... MDI14:1-2
1.3 Documentation reference .................................... MDI14:1-3
1.4 Product software ................................................. MDI14:1-3
2 Specifications ................................................................ MDI14:2-1
2.1 Mechanical specifications .................................... MDI14:2-1
2.1.1 Standard and expanded features version ...............
............................................................... MDI14:2-1
2.2 General specifications ......................................... MDI14:2-2
2.2.1 Electrical specifications .......................... MDI14:2-2
2.2.2 Standard I/O specifications .................... MDI14:2-2
2.2.3 I/O specifications (Plus
2.2.4 Communication specifications ............... MDI14:2-4
2.2.5 Thermal specifications ........................... MDI14:2-4
2.2.6 Motion specifications ............................. MDI14:2-5
2.2.7 Software specifications .......................... MDI14:2-5
2.2.8 Motor specifications ............................... MDI14:2-6
2.2.9 Speed-force performance curves .......... MDI14:2-6
2.3 Connectivity specifications/pin assignments —
Communication ................................................... MDI14:2-7
2.3.1 RS-422/485 communication .................. MDI14:2-7
2.3.2 CANopen communication option (Plus
features) ................................................. MDI14:2-7
2.4 Connectivity specifications/pin assignments - Comm, ........
Power and I/O ..................................................... MDI14:2-8
2.4.1 Communication, Power and I/O - standard I/O ......
(Plus only) .............................................. MDI14:2-8
2 expanded features) ...............
............................................................... MDI14:2-9
2 with remote encoder) ............
............................................................. MDI14:2-10
2.5 Options .............................................................. MDI14:2-11
3 Mounting and connection recommendations ............. MDI14:3-1
3.1 Mounting .............................................................. MDI14:3-2
3.2 Layout and interface guidelines........................... MDI14:3-3
3.2.1 Rules of wiring ...................................... MDI14:3-3
3.2.2 Rules of shielding ................................. MDI14:3-3
3.3 Recommended wiring .......................................... MDI14:3-4
3.3.1 Recommended mating connectors and pins ..........
............................................................... MDI14:3-4
3.4 Securing power leads and logic leads ................. MDI14:3-5
4 Connection and interface ............................................. MDI14:4-1
4.1 Interfacing RS422-485 communication ............... MDI14:4-1
4.1.1 P1 — 12-pin locking wire crimp ............. MDI14:4-2
4.1.2 P2 — 10-pin friction lock wire crimp ...... MDI14:4-2
4.2 Interfacing CANopen communication .................. MDI14:4-3
4.2.1 P2 — 9-pin D-sub connector (female) ... MDI14:4-3
4.3 Interfacing DC power ........................................... MDI14:4-4
i
Table of Contents
List of Figures
MDrive®14Plus Motion Controlr
4.3.1 Recommended power supply characteristics .........
............................................................... MDI14:4-4
4.3.2 Recommended wire gauge .................... MDI14:4-4
4.3.3 P1 — 12-pin locking wire crimp interface MDI14:4-4
4.3.4 P1 — 16-pin locking wire crimp interface MDI14:4-5
4.3.5 Power Interface using Drive Protection Module .....
DPM75 ................................................... MDI14:4-5
4.4 Interfacing I/O ...................................................... MDI14:4-6
4.4.1 P1 — 12-pin locking wire crimp ............. MDI14:4-6
4.4.2 P1 — 16-pin locking wire crimp interface
(expanded I/O) ....................................... MDI14:4-7
4.4.3 P1 — 16-pin locking wire crimp interface (remote .
encoder) ................................................. MDI14:4-8
4.5 Connectivity accessory details ............................ MDI14:4-9
4.5.1 RS-422/485 communication converter cables ........
............................................................... MDI14:4-9
4.5.2 Prototype development cables ............ MDI14:4-10
4.6 Mating connector kits ........................................ MDI14:4-13
Figure 1.1 Standard product options .......................................... MDI14:1-2
Figure 2.1 Standard and Expanded features mechanical specifications .....
.................................................................................. MDI14:2-1
Figure 2.2 Performance curves - single length motor ................. MDI14:2-6
Figure 2.3 Performance curves - triple length motor .................. MDI14:2-6
Figure 3.1 MDrive 14 mounting and drill pattern ........................ MDI14:3-2
Figure 3.2 Securing leads ........................................................... MDI14:3-5
Figure 4.1 DPM75 Drive Protection Module ............................... MDI14:4-5
Figure 4.2 MD-CC402-001 communication converter cable ...... MDI14:4-9
Figure 4.2 MD-CC403-001 communication converter ................ MDI14:4-9
Figure 4.4 Multi-drop communication using the PD10-1434-FL3 ................
................................................................................ MDI14:4-10
Figure 4.5 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp .....
connector. ................................................................ MDI14:4-10
Figure 4.6 Prototype development cable PD12B-1434-FL3 ..... MDI14:4-11
Figure 4.7 Prototype development cable PD16-1417-FL3 ....... MDI14:4-12
ii
Integrated Motor and Driver
MDrive®14Plus Motion Control
List of Tables
Table of Contents
Table 2.1 Electrical specifications ............................................. MDI14:2-2
Table 2.2 I/O specifications ....................................................... MDI14:2-2
Table 2.3 Expanded I/O specifications ...................................... MDI14:2-3
Table 2.4 Communication specifications ................................... MDI14:2-4
Table 2.5 Thermal specifications ............................................... MDI14:2-4
Table 2.6 Motion specifications ................................................. MDI14:2-5
Table 2.7 Software specifications .............................................. MDI14:2-5
Table 2.8 Microstepping motor specifications ........................... MDI14:2-6
Table 2.9 P2 communication, 10-pin locking wire crimp ........... MDI14:2-7
Table 2.10 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
.................................................................................. MDI14:2-7
Table 2.11 P1 communication, power and I/O, 12-pin locking wire crimp....
.................................................................................. MDI14:2-8
Table 2.12 P1 Expanded I/O, 14-pin locking wire crimp ............. MDI14:2-9
Table 2.13 I/O and remote encoder interface - 16-pin locking wire crimpl ..
................................................................................ MDI14:2-10
Table 4.1 Communication connections, P1 - 12-pin wire crimp MDI14:4-2
Table 4.2 P2 communication, 10-pin locking wire crimp ........... MDI14:4-2
Table 4.3 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
.................................................................................. MDI14:4-3
Table 4.4 Recommended power supply characteristics ............ MDI14:4-4
Table 4.5 Recommended power supply wire gauge ................. MDI14:4-4
Table 4.6 Power and ground connections, 12-pin locking wire crimp ........
.................................................................................. MDI14:4-4
Table 4.7 Power and ground connections, 16-pin locking wire crimp ........
.................................................................................. MDI14:4-5
Table 4.8 Universal input connections, 12-pin locking wire crimp ..............
.................................................................................. MDI14:4-6
Table 4.9 I/O connections, 16-pin locking wire crimp ................ MDI14:4-7
Table 4.10 I/O and remote encoder connections, 16-pin locking wire crimp
.................................................................................. MDI14:4-8
Integrated Motor and Driver iii
Table of Contents
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MDrive®14Plus Motion Controlr
iv
Integrated Motor and Driver
MDrive® 14 Motion Control 1 Introduction
1 Introduction
1.1 MDrive 14 unit overview
The
MDrive
®
14 Motion Control offers system designers a cost effective, full featured programmable motion controller integrated with a NEMA 23 high torque 1.8° brushless step motor and a +12 up to +48 VDC* microstepping driver.
The unsurpassed smoothness and performance delivered by the MDrive
14 Motion Control are achieved through our 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 MDrive 14 accepts a broad input voltage range from +12 up to +48
VDC*, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, reducing problems that can occur with long cable runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.
Standard features of all MDrive 14 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 of MDrive 14 versions 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.
All MDrive 14 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
MDrive 14 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-topoint 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.
Optional communication protocols include CANopen. The CAN bus is
2.0B active (11 and/or 29 bit) and is capable of all standard frequencies from 10kHz to 1MHz. CANopen features include node guarding, heartbeat producer, SDOs and PDOs. Highlights include variable PDO mapping and extended node identifier.
Motor configurations include a single shaft rotary in four lengths, and linear actuators with long life Acme screw**.
Integrated Motor and Driver
MDI14:1-1
1 Introduction MDrive® 14 Motion Control
Numerous connector styles give you choices for the best fit and features. Select from 12.0” (30.5cm) flying leads, pluggable terminal strip, locking wire crimp connectors.
MDrive connectivity has never been easier with options ranging from all-inclusive QuickStart Kits to individual interfacing cables and mating connector kits to build your own cables.
The MDrive 14 is a compact, powerful and cost effective motion control solution that will reduce system cost, design and assembly time for a large range of brushless step motor applications.
1.2 Product identification
MDrive
®
14 Plus
MDrive
®
14 Plus
2
P1: I/O, Power & Communication
C = 12-pin locking wire crimp
connector
P1: I/O & Power, and optional remote encoder
C = 16-pin locking wire crimp
connector
P2: Communication
L = RS-422/485 with 10-pin friction
lock wire crimp connector
Part numbers
E x a m p l e :
QuickStart Kit
K = kit option, or leave blank if not wanted
MDrive Plus version
MDI = Motion Control
Input
1 = Plus, standard features
3 = Plus
2
, expanded features
P1 connector
C = wire crimp
Communication
R = RS-422/485
P2 connector
Z = none (only for Plus products)
L = wire crimp (only for Plus
2
products)
Motor size
14 = NEMA 14 (1.4" / 36 mm)
Motor length
A = single stack
C = triple stack
Drive voltage
4 = +12 to +48 VDC
Options
Leave blank if not wanted
Options may be combined, unless noted
K M D I 1 C R Z 1 4 A 4 – E Q
K M D I 1 C R Z 1 4 A 4 – EQ
K M D I 1 C R Z 1 4 A 4 – EQ
K M D I 1 C R Z 1 4 A 4 – EQ
K M D I 1 C R Z 1 4 A 4 – EQ
K M D I 1 C R Z 1 4 A 4 – EQ
K M D I 1 C R Z 1 4 A 4 – EQ
K M D I 1 C R Z 1 4 A 4 – EQ
K M D I 1 C R Z 1 4 A 4 – EQ
K M D I 1 C R Z 1 4 A 4 – EQ
– EQ = internal encoder, 512-line internal magnetic encoder with index mark
– EQ
– EE = remote encoder interface, differential encoder to be provided by user
Available with Plus
2
versions only. May not be combined with internal encoder option.
– N = rear control knob for manual positioning
Figure 1.1 Standard product options
MDI14:1-2 Integrated Motor and Driver
MDrive® 14 Motion Control 1 Introduction
1.3
1.4
Documentation reference
The following User’s manuals are available for the MDrive 14:
Product manuals, describes the technical data, installation, configuration and programming of the product.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for downloaded at http://www.imshome.com/downloads/literature_overview.html.
Product software
The MDrive 14 motion control integrated motor and driver may be programmed using any standard ASCII txt editor and ANSI terminal emulated. The recommended environment is the SEM Terminal Interface, which is a combined terminal/program editor tailored for use with IMS motion control products. This free software may be downloaded at:
http://www.imshome.com/downloads/software_interfaces.html.
Installation and usages instructions are to be found in the MCode Programming Manual, which is correlated to this document.
Integrated Motor and Driver
MDI14:1-3
1 Introduction
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MDrive® 14 Motion Control
MDI14:1-4 Integrated Motor and Driver
MDrive
®
14 Motion Control 2 Specifications
2
2.1
2.1.1
Specifications
Mechanical specifications
Standard and expanded features version
MDrive 14
0.17
(4.32)
P1
1.11
(28.19)
0.10
(2.54)
0.94 ±0.04
(24.0 ±1.0)
0.079 ±0.01
(2.0 ±0.25)
2.05
(52.07)
0.59 ±0.02
(15.0 ±0.5)
1.82
(46.19)
Control
Knob
0.177 ±0.002
(4.50 ±0.05)
LMAX2
LMAX
1.024 SQ.
(26.0 SQ.)
1.4 ±0.004 SQ.
(35.55 ±0.1 SQ.)
4X M3x0.5 THREAD x0.138 DEEP
Ø 0.866 +0/-0.002
(Ø 22.0 +0/-0.051)
Ø 0.197 +0/-0.0005
(Ø 5.00 +0/-0.012)
P1
0.20
(5.08)
1.11
(28.19)
0.94 ±0.04
(24.0 ±1.0)
0.079 ±0.01
(2.0 ±0.25)
2.06
(52.32)
0.59 ±0.02
(15.0 ±0.5)
1.82
(46.19)
4X M3x0.5 THREAD x0.138 DEEP
Control
Knob
P2
0.177 ±0.002
(4.50 ±0.05)
Ø 0.866 +0/-0.002
(Ø 22.0 +0/-0.051)
Ø 0.197 +0/-0.0005
(Ø 5.00 +0/-0.012)
LMAX2
LMAX
1.024 SQ.
(26.0 SQ.)
1.4 ±0.004 SQ.
(35.55 ±0.1 SQ.)
MDrive Lengths
Inches (mm)
Motor
Length
Single
Triple
LMAX
SINGLE SHAFT,
INTERNAL ENCODER, or LINEAR ACTUATOR
1.93 (49.02)
3.03 (76.96)
LMAX2
CONTROL KNOB
2.62 (66.55)
3.73 (94.74)
L
MAX2
Option
Ø 0.97
(Ø 24.6)
P2 Connector Options
P2
Comm Comm
P2
10-Pin Friction Lock
Wire Crimp
DB9 (Male)
Figure 2.1 Standard and Expanded features mechanical specifications
Control Knob
Integrated Motor and Driver
MDI14:2-1
2 Specifications MDrive
®
14 Motion Control
2.2
2.2.1
General specifications
Electrical specifications
Input voltage range
Power supply current
Aux-Logic Input Voltage
Max Aux-Logic Supply Current (Per
MDrive)**
Condition
—
—
—
—
Min
+12
—
+12
—
—
Typ
—
—
—
Max
+48
1
+24
194
*per MDrive 14, Actual current depends on voltage and load.
** Maintains power to control and feedback circuits [only] when input voltage is removed
Table 2.1 Electrical specifications
Unit
VDC
A
VDC mA
2.2.2 Standard I/O specifications
General Purpose I/O - Number and Type
=I/O Points 1-4
General Purpose I/O - Electrical
Inputs
Sinking Outputs
Output Sink Current
Logic Threshold
Protection
Analog Input
Resolution
Range
Condition
—
—
—
One channel
Logic 0
Logic 1
Sinking
Sourcing
—
Voltage Mode
Current Mode
Table 2.2 I/O specifications
Min Typ Max Unit
4 I/O points configurable as sinking or sourcing inputs or sinking outputs
TTL
—
—
—
—
—
—
—
—
—
+24
+24
600
< 0.8
> 2.2
VDC
VDC mA
VDC
VDC
Over temp, short circuit
Transient Over Voltage,
Inductive Clamp
10 bits
0 to +5 VDC, 0 to +10 VDC
4 to 20 mA, 0 to 20mA
MDI14:2-2 Integrated Motor and Driver
MDrive
®
14 Motion Control 2 Specifications
2.2.3 I/O specifications (Plus
2 expanded features)
)
Condition Min Typ Max Unit
General Purpose I/O - Number and Type
I/O Points 1-8 —
8 I/O points (4 if configured for remote encoder) configurable as sinking or sourcing inputs or outputs
General Purpose I/O - Electrical
Inputs
Outputs
Sinking or Sourcing
Sinking
Sourcing
One channel
TTL
—
+12
—
—
—
+24
+24
+24
600
VDC
VDC
VDC mA Output Sink Current
Clock I/O (Step & Direction I/O)
Types
Logic Threshold
—
—
—
Step/Direction, Up/Down, Quadrature
+5 VDC TTL Input, TTL Output
(with 2 kΩ Load to Ground
Trip Output/Capture Input
Logic Threshold —
+5 VDC TTL Input, TTL Output
(with 2 kΩ Load to Ground
Motion I/O
Electronic gearing
(uses Clock I/O)
High speed position capture
High speed trip output
Range
Resolution
Threshold
Filter range
Secondary clock out ratio
Filter range
Resolution
Speed
Resolution
Threshold
0.001
—
—
—
—
—
—
—
—
—
—
—
—
—
2.000
32 bit
TTL VDC
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
1:1
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
32 bit
150
32
TTL nS bit
VDC
Optional remote encoder (closed loop)*
Type
Steps per revolution
Resolution
User supplied differential encoder
See motion specifications table
User defined . Note: microsteps/rev = 2X the encoder counts/rev minimum.
*Remote encoder inputs replace I/O points 4-8 and step and direction I/O
Table 2.3 Expanded I/O specifications
Integrated Motor and Driver
MDI14:2-3
2 Specifications MDrive
®
14 Motion Control
2.2.4 Communication specifications
RS-422/485 (standard)
BAUD rate
CANopen (optional)
Type
BAUD rate
Application layer
Device profile
ID
Isolation
Condition
—
Min
4.8
—
Version 3.0
Version 2.0
—
—
Table 2.4 Communication specifications
10 kHz
Typ
—
Max
115.2
Unit kbps
1 MHz
2.0B active
—
DS-301
DSP-402
11 or 29 bit
Galvanic
2.2.5 Thermal specifications
Heat sink temperature
Motor temperature non-condensing humidity non-condensing humidity
Table 2.5 Thermal specifications
Min
-40
-40
Typ
—
—
Max
+85
+100
Unit
ºC
ºC
MDI14:2-4 Integrated Motor and Driver
MDrive
®
14 Motion Control 2 Specifications
2.2.6
2.2.7
Motion specifications
Microstep Resolution - Open Loop
Number of microstep resolutions
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
* 1" per revolution lead screw
Microstep resolution (closed loop configuration - (optional)
Steps Per Revolution (Fixed)
Position Resolution
Optional differential encoder (internally mounted)
Type
Resolution (Lines)
Resolution (Edges)
Counters
Counter 1 (C1) Type
Counter 2 (C2) Type
Resolution
Maximum Edge Rate
Velocity
Range
Resolution
Acceleration/Deceleration
Range
Resolution
6400
21600
2
10000
25400
3
20
51200
2048
Internal, Magnetic
512
2048
Position
Encoder
32 bit
5 MHz
±5,000,000 Steps/Sec.
0.5961 Steps/Sec.
1.5 x 10
9
Steps/Sec.
2
90.9 Steps/Sec.
2
Table 2.6 Motion specifications
Software specifications
Program Storage Type/Size
User Registers
User Program Labels and Variables
Math, Logic and Conditional Functions
Branch Functions
Party Mode Addresses
Encoder Functions
Predefined I/O Functions
Input Functions
Output Functions
Trip Functions
Flash/6384 Bytes
(4) 32 Bit
192
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Branch and Call (Conditional)
62
Stall Detect, Position Maintenance, Find Index
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog Input
Moving, Fault, Stall, Velocity Changing
Trip on Input, Trip on Position, Trip on Time, Trip Capture
Table 2.7 Software specifications
Integrated Motor and Driver
MDI14:2-5
2 Specifications MDrive
®
14 Motion Control
2.2.8
2.2.9
Motor specifications
Specification
Holding torque oz-in (N-cm)
Detent torque oz-in (N-cm)
Rotor inertia oz-in-sec
2
(kg-cm
2
)
Weight motor and driver oz (g)
Table 2.8 Microstepping motor specifications
Speed-force performance curves
Single length motor
40
Single length
18.0 (12.71)
2.0 (1.4)
0.00024 (0.017)
5.29 (150.0)
30
20
10
Triple length
36.0 (25.0)
4.4 (3.1)
0.000801 (0.0566)
12.8 (380.0)
28�
12 VDC
24 VDC
48 VDC
22
14
8
0
0
1000
2000 3000 4000 5000 6000 7000
(300)
(600) (900) (1200) (1500) (1800) (2100)
8000 9000
(2400) (2700)
Speed in Full Steps per Second (RPM)
Figure 2.2 Performance curves - single length motor
Triple length motor
20
10
40
30
28�
12 VDC
24 VDC
48 VDC
22
14
8
0
0 1000 2000 3000 4000 5000 6000 7000
(300) (600) (900) (1200) (1500) (1800) (2100)
8000 9000
(2400) (2700)
Speed in Full Steps per Second (RPM)
Figure 2.3 Performance curves - triple length motor
MDI14:2-6 Integrated Motor and Driver
MDrive
®
14 Motion Control 2 Specifications
2.3
2.3.1
2.3.2
Connectivity specifications/pin assignments — Communication
RS-422/485 communication
10-pin friction lock wire crimp
RS-422/485
P2
10
8
6
4
2
5
3
9
7
1
Connectivity Options
USB to RS-422 Converter:
MD-CC402-001
Mating connector kit:
CK-02
Mfg P/N:
Shell
Hirose DF11-2428SC
Pins
Hirose DF11-TA2428HC
Pin # Function
1
2
3
4
5
TX +
Comm GND
RX -
TX -
Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 2.9 P2 communication, 10-pin locking wire crimp
CANopen communication option (Plus
2
expanded feautures)
9-pin D-sub female (DB-9F)
CANopen
P2
8
9
6
7
3
4
1
2
5
Connectivity Options
USB to CANopen converter:
MD-CC500-000
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 2.10 CANopen communication, P2: 9-pin D-sub female (DB-9F)
Integrated Motor and Driver
MDI14:2-7
2 Specifications MDrive
®
14 Motion Control
2.4
2.4.1
Connectivity specifications/pin assignments - Comm, Power and I/O
Communication, Power and I/O - standard I/O (Plus only)
1 3 5 7 9 11
2 4 6 810 12
Connectivity Options
USB to RS-422 Converter:
MD-CC403-001
Mating connector kit:
CK-08
Mfg P/N:
Shell
JST PADP-12V-1-S
Pins
JST SPH-001T0.5L
5
6
7
2
3
1
Pin # Function
GND
+V
I/O 2
4 I/O 3
I/O 4
AIN
I/O 1
8 AUX
9
10
11
12
TX +
TX -
RX -
RX +
Description
Power, Auxiliary and Communication ground.
+12 to +48 VDC Power Supply
0 to +24 VDC Programmable I/O Point 2
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
0 to +24 VDC Programmable I/O Point 1
+12 to +24 VDC Auxiliary Logic Supply Input. This provides power to control and logic circuits if main power is removed.
Transmit +: Connects to Receive + of the
Communication Host.
Transmit –: Connects to Receive – of the Communication
Host.
Receive –: Connects to Transmit – of the Communication
Host.
Receive +: Connects to Transmit + of the Communication
Host.
Table 2.11 P1 communication, power and I/O, 12-pin locking wire crimp
MDI14:2-8 Integrated Motor and Driver
MDrive
®
14 Motion Control
I/O & Power
0.20”
(5.0mm)
2.4.2
2 Specifications
P1
Power and I/O (Plus
2 expanded features)
0.14”
16-pin locking wire crimp
Pin # Function Description
7
5
3
1
15 16
13 14
11
9
12
10
8
6
4
2
1 I/O power I/O Power, used with sourcing inputs or outputs.
2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 I/O 9
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
0 to +24 VDC Programmable I/O Point 9
Connectivity Options
Prototype development cable::
PD16-1417-FL3
Mating connector kit:
CK-10
8 I/O 10
9 I/O 11
10 I/O 12
0 to +24 VDC Programmable I/O Point 10
0 to +24 VDC Programmable I/O Point 11
0 to +24 VDC Programmable I/O Point 12
Mfg P/N:
Shell
JST PADP-16V-1-S
Pins
JST SPH-001T0.5L
11
Capture/trip
I/O
High Speed Capture Input or Trip Output.
+5 VDC Logic Level.
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
13
Step/clock
I/O
Step clock i/o. Can also be configured as quadrature or clock up/down. +5 VDC logic level.
14
Direction/ clock I/O
15 +V
16
Power/aux ground
Direction i/o. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
+12 to +48 VDC motor power supply input.
Power and auxiliary ground
Table 2.12 P1 Expanded I/O, 14-pin locking wire crimp
Integrated Motor and Driver
MDI14:2-9
2 Specifications
2.4.3
MDrive
®
14 Motion Control
I/O & Power
0.20”
(5.0mm)
P1
Power and I/O (Plus
2 with remote encoder)
0.14”
16-pin locking wire crimp
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs.
2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
7
5
3
1
15 16
13 14
11
9
12
10
8
6
4
2
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 CH A+
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
Channel A+ encoder input. +5 VDC logic level
Connectivity Options
Prototype development cable::
PD16-1417-FL3
Mating connector kit:
CK-10
8 CH A-
9 CH B+
10 CH B-
Channel A- encoder input. +5 VDC logic level
Channel B+ encoder input. +5 VDC logic level
Channel B- encoder input. +5 VDC logic level
Mfg P/N:
Shell
JST PADP-16V-1-S
Pins
JST SPH-001T0.5L
11
Capture/trip
I/O
High Speed Capture Input or Trip Output.
+5 VDC Logic Level.
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
13 IDX+ Index mark + encoder input. +5 VDC logic level
14 IDX-
15 +V
16
Power/aux ground
Index mark - encoder input. +5 VDC logic level
+12 to +48 VDC motor power supply input.
Power and auxiliary ground
Table 2.13 I/O and remote encoder interface - 16-pin locking wire crimpl
MDI14:2-10 Integrated Motor and Driver
MDrive
®
14 Motion Control 2 Specifications
2.5 Options
Drive Protection Module
The function of the DPM75 Drive Protection Module is to limit the surge current and voltage to a safe level when DC input power is switched on and off to a motor drive.
Internal encoder
Internal differential magnetic 512 line differential encoders with index mark are available.
Remote Encoder (Plus
2
versions only)
MDrive 14 Motion Control versions are available with differential encoder inputs for use with a remote encoder (not supplied).
Control Knob
The MDrive 14 is available with a factory-mounted rear control knob for manual shaft positioning.
P
2.6 Connectivity
QuickStart kit
For rapid design verification, all-inclusive QuickStart Kits have communication converter, prototype development cable(s), instructions and CD for MDrive initial functional setup and system testing.
Communication Converters
Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program communication parameters for a single
MDrive product via a PC’s USB port. Length 12.0’ (3.6m).
Mates to connector:
P2 10-pin wire crimp .................................................MD-CC402-001
P1 12-pin wire crimp .................................................MD-CC403-001
Prototype Development Cables
Speed test/development with pre-wired mating connectors that have flying leads other end. Length 10.0’ (3.0m).
Mates to connector:
P2 10-pin wire crimp ................................................ PD10-1434-FL3
P1 12-pin wire crimp .............................................. PD12B-1434-FL3
P1 16-pin wire crimp ................................................ PD16-1417-FL3
Mating Connector Kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Integrated Motor and Driver
MDI14:2-11
2 Specifications MDrive
®
14 Motion Control
Mates to connector:
P2 10-pin wire crimp ................................................................CK-02
P1 16-pin wire crimp ................................................................CK-10
P1 12-pin wire crimp ................................................................CK-08
MDI14:2-12 Integrated Motor and Driver
MDrive
®
14 Motion Control 3 Mounting
3 Mounting and connection recommendations
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
!
CAUTION
LEAD RESTRAINT
Some MDrive mounting configurations require that the MDrive move along the screw. Ensure that all cabling is properly restrained to provide strain relief on connection points..
Failure to follow these instructions can result in equipment damage.
!
THERMAL MANAGEMENT
CAUTION
The mounting plate material should offer sufficient mass and thermal conductivity to ensure that the motor temperature does not eceed 100°C.
Failure to follow these instructions can result in equipment damage.
Integrated Motor and Driver
MDI14:3-1
3 Mounting MDrive
®
14 Motion Control
3.1 Mounting
Care must be observed when installing the mounting screws on ALL MDrive 14Plus 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 MDrive 14.
Maximum length of screw threads into the motor housing
0.130" (3.3 mm)
Temperature sensor should be attached at the center of the motor body
4 X M3-0.5 Screw
(not supplied)
Length TBD by flange thickness
MDrive14Plus
Maximum Tightening Torque:
7.8 lb-in (9 kg-cm)
Mounting Flange
Or Adapter Plate
Drill Pattern for Mounting Flange or Adapter Plate
0.118 (3.0) Thru 4 Places on a 1.448 (36.79) Circle
Ø 0.866 (21.996)
1.024 SQ.
(26.0 SQ.)
Figure 3.1 MDrive 14 mounting and drill pattern
MDI14:3-2 Integrated Motor and Driver
MDrive
®
14 Motion Control 3 Mounting
3.2
3.2.1
3.2.2
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.
Power supply leads to the MDrive 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.
Rules of wiring
Power supply and motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires.
A minimum of one twist per inch is recommended.
Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better.
Power ground return should be as short as possible to established ground.
Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.
Rules of shielding
The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not effective if the signal is not earthed or grounded.
Do not assume that Earth ground is a true Earth ground. Depending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location.
The shield must be connected so that shield currents drain to signal-earth connections.
The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance.
The shield should be tied to a single point to prevent ground loops.
A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.
Integrated Motor and Driver
MDI14:3-3
3 Mounting MDrive
®
14 Motion Control
3.3 Recommended wiring
The following wiring/cabling is recommended for use with the MDrive 14:
Logic Wiring ......................................................................... 22 AWG
Wire Strip Length ....................................................... 0.25” (6.0 mm)
Power and Ground See Table 3.2 in Part 1, Section 3 of this document
3.3.1 Recommended mating connectors and pins
Communication
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
10-pin pressure-fit IDC .................................Samtec TCSD-05-01-N
Ribbon cable.............................................................Tyco 1-57051-9
Power and I/O
The following mating connectors are recommended for the MDrive142
Units ONLY! Please contact a JST distributor for ordering and pricing information.
16-pin Locking Wire Crimp Connector Shell JST PN PADP-16V-1-S
Crimp Pins ................................................ JST PN SPH-001T-P0.5
L
MDI14:3-4 Integrated Motor and Driver
MDrive
®
14 Motion Control 3 Mounting
3.4 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
Figure 3.2 Securing leads
Communication Leads
Integrated Motor and Driver
MDI14:3-5
3 Mounting
This page intentionally left blank
MDrive
®
14 Motion Control
MDI14:3-6 Integrated Motor and Driver
MDrive
®
14 Motion Control 4 Connection and Interface
4 Connection and interface
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
4.1 Interfacing RS422-485 communication
For general RS422/485 single and party mode communication practices please see Part 1 Section 5 of this document.
!
CAUTION
Communication GROUND LOOPS
To avoid ground loops in the system only connect communication ground to the first MDrive in the system. Do not connect communication ground on subsequent MDrives.
Failure to follow these instructions may result in damage to system components!
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect communication while the device is in a powered state.
Failure to follow these instructions may result in damage to system components!
Integrated Motor and Driver
MDI14:4-1
4 Connection and Interface MDrive
®
14 Motion Control
4.1.1
4.1.2
P1 — 12-pin locking wire crimp
11: RX-
9: TX+
1: GND
12: RX+
10: TX-
Pin # Function
1 GND
9 TX +
10 TX -
11 RX -
12 RX +
Description
Power/aux/communication ground
Transmit plus
Transmit minus
Receive minus
Receive plus
Table 4.1 Communication connections, P1 - 12-pin wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-08
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD12-1434-FL3
Communication converter cable (10’/3.0 m) .............MD-CC403-001
Manufacturer (JST) part numbers
Connector shell........................................................ PADP-10V010S
Pins............................................................................ SPH-001T0.5L
P2 — 10-pin friction lock wire crimp
Use to connect second device
9: TX+
7: RX+
5: AUX
3: RX-
1: TX+
10: TX-
8: RX-
6: RX+
4: TX-
2: Ground
Pin # Function
1 TX +
2 Comm GND
3 RX -
4 TX -
5 Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 4.2 P2 communication, 10-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-02
(contains 5 connector shells, ribbon cable not included)
Communication converter cable (10’/3.0 m) .............MD-CC402-001
MDI14:4-2 Integrated Motor and Driver
MDrive
®
14 Motion Control 4 Connection and Interface
4.2
4.2.1
Interfacing CANopen communication
P2 — 9-pin D-sub connector (female)
CAN -V
CAN_H
CAN +V
8
9
6
7
3
4
1
2
5
CAN_L
CAN -V
Shield
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 4.3 CANopen communication, P2: 9-pin D-sub female (DB-9F)
Connectivity accessories
Communication converter cable ...............................MD-CC500-000
Integrated Motor and Driver
MDI14:4-3
4 Connection and Interface MDrive
®
14 Motion Control
4.3 Interfacing DC power
See part 1 of this document, section 3, for recommended power cable configurations.
!
CAUTION
OVER VOLTAGE
The DC voltage range for the MDrive 14 is +12 to +48 VDC.
Ensure that motor back EMF is factored into your power supply size calculations.
Allow 3.0 A maximum power supply output current per MDrive in the system. Actual power supply current will depend on voltage and load.
Failure to follow these instructions can result in equipment damage.
4.3.1 Recommended power supply characteristics
Voltage range
Type
Ripple
Output current
+12 to +48 VDC
Unregulated linear
± 5%
1.0 A (per MDrive 1
Table 4.4 Recommended power supply characteristics
4.3.2
4.3.3
Recommended wire gauge
Cable Length: Feet (meters)
Amps Peak
1 Amp Peak
10 (3.0)
20
25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Minimum AWG
20 18 18 18
Table 4.5 Recommended power supply wire gauge
P1 — 12-pin locking wire crimp interface
1: GND
Pin #
8: +AUX-PWR
1
2
8
2: +VDC
Signal
Power ground
+12 to + 48 VDC
Aux-power +2 to +24
VDC
IWire colors
MD-CC305-001 PD12B-14340-FL3
Black
Red
Red/black
See section 4.7.2 for wire colors.
Table 4.6 Power and ground connections, 12-pin locking wire crimp
MDI14:4-4 Integrated Motor and Driver
MDrive
®
14 Motion Control 4 Connection and Interface
4.3.4
Connectivity accessories
Mating connector kit ................................................................CK-08
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) .............. PD12B-1434-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-12V-1-S
Pins............................................................................ SPH-001T0.5L
P1 — 16-pin locking wire crimp interface
+V 15
GND
16
Pin Numbers
15
16
Signal
+12 to + 48 VDC
Power and auxiliary ground
Prototype development cable wire colors
Red
Black
Table 4.7 Power and ground connections, 16-pin locking wire crimp
4.3.5
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins........................................................................ SPH-001T0.5L04
(contains 5 connector shells, ribbon cable not included)
Power Interface using Drive Protection Module DPM75
Wire jumper A to B for 48 VDC Max.
A terminal
B terminal
C terminal power + power – drive – drive +
SPST switch*
Fuse**
V+ GND
– +
MDrive Power supply
* Do not switch negative side of supply
**Fuse = 6.3 Amp slow blow (recommended: Bussman S505-6.3A
or Littelfuse 215006.3). The fuse is optional.
Figure 4.1 DPM75 Drive Protection Module
Integrated Motor and Driver
MDI14:4-5
4 Connection and Interface MDrive
®
14 Motion Control
4.4 Interfacing I/O
See part 1 of this document, section 4, for I/O interface configurations and methods.
!
CAUTION
ELECTRICAL OVERSTRESS
The general purpose I/O is tolerant to +24 VDC. The following listed I/O point is TTL level and only tolerant to +5 VDC:
1) Capture/Trip
2) Step/Direction
3) Remote encoder inputs
Do not exceed +5 VDC on these points.
Failure to follow these instructions can result in equipment damage.
4.4.1 P1 — 12-pin locking wire crimp
7: I/O 1
5: I/O 4
3: I/O 2
6: Analog in
4: I/O 3
Pin #
5
6
7
3
4
Signal
I/O 2
I/O 3
I/O 4
Analog input
I/O 1
Wire colors
MD-CC403-001 PD12B-1434-FL3
White
Green
Orange
White/black
Blue
Table 4.8 Universal input connections, 12-pin locking wire crimp
See section 4.7.2 for wire colors.
Connectivity accessories
Mating connector kit ................................................................CK-08
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) .............. PD12B-1434-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-12V-1-S
Pins............................................................................ SPH-001T0.5L
MDI14:4-6 Integrated Motor and Driver
MDrive
®
14 Motion Control 4 Connection and Interface
4.4.2
13: Step
11: Capt/Trip
9: I/O 11
7: I/O 9
5: I/O 3
3: I/O 1
1: I/O pwr
P1 — 16-pin locking wire crimp interface (expanded I/O)
14: Direction
12: Analog
10: I/O 12
8: I/O 10
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
General purpose I/O 9
General purpose I/O 10
General purpose I/O 11
General purpose I/O 12
Capture output/trip input
Analog input
Step clock I/O
Direction clock I/O
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
White
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.9 I/O connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins............................................................................ SPH-001T0.5L
Integrated Motor and Driver
MDI14:4-7
4 Connection and Interface MDrive
®
14 Motion Control
4.4.3 P1 — 16-pin locking wire crimp interface (remote encoder)
13: IDX +
11: Capt/Trip
9: CH B +
7: CH A +
5: I/O 3
3: I/O 1
1: I/O pwr
14: IDX -
12: Analog
10: CH B -
8: CH A -
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Channel A +
Channel A -
Channel B +
Channel B -
Capture output/trip input
Analog input
Index +
Index -
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
White
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.10 I/O and remote encoder connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins............................................................................ SPH-001T0.5L
MDI14:4-8 Integrated Motor and Driver
MDrive
®
14 Motion Control 4 Connection and Interface
4.5 Connectivity accessory details
4.5.1 RS-422/485 communication converter cables
USB to 10-pin wire crimp connector P2
P/N: MD-CC402-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
6.0’ (1.8m)
6.0’ (1.8m)
To MDrive P2 in-line converter
To computer
USB port
Figure 4.2 MD-CC402-001 communication converter cable
USB to 12-pin circular connector P1—
MD-CC403-000
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters.
6.0’ (1.8m)
6.0’ (1.8m)
To computer
USB port
To MDrive P1
10.0’ (3.0m) in-line converter
To Power, I/O & Communications
2
3
7
5
Pin # Wire Colors Signal
1 Black GND
Red
White
Blue
Green
+V
I/O 2
I/O 1
I/O 3
5 Orange I/O 4
6 Brown Analog Input
Figure 4.2 MD-CC403-001 communication converter
Integrated Motor and Driver
MDI14:4-9
4 Connection and Interface MDrive
®
14 Motion Control
4.5.2 Prototype development cables
Flying leads to10-pin wire crimp connector
P2 -P/N: PD10-1434-FL3
Used in conjunction with the MD-CC402-001 communication converter cable to facilitate multi-drop RS-422/485 communication.
To MDrive P2
10.0’ (3.0m)
To Communications
Flying leads terminated by crimp
Wire Colors
White/Red Stripe
White/Blue Stripe
Blue/White Stripe
White/Orange Stripe
Orange/White Stripe
Green/White Stripe
Function
Aux-Logic
TX+
TX-
RX+
RX-
GND
Note: If not using Aux-Logic
Remove Wire (White/Red Stripe)
Remove Ground Wire
(White/Green Stripe)
MDrive #n
MDrive #2
MDrive #1
Ground Connects to 1st MDrive ONLY!
Figure 4.4 Multi-drop communication using the PD10-1434-FL3
Procedure
1) Remove ground wire (unless this is the first system MDrive, green/white stripe)
2) Remove aux-logic (if not used, red/white stripe)
3) Connect pre-crimped flying leads as shown in Figure 5.7 below
9
10
8
Blue/White Stripe
White/Blue Stripe
Orange/White Stripe
White/Orange Stripe
7
Figure 4.5 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp connector.
MDI14:4-10 Integrated Motor and Driver
MDrive
®
14 Motion Control 4 Connection and Interface
Flying leads to12-pin locking wire crimp connector P1 - PD12B-3400-FL3
Description: Pre-wired mating connector interfaces to an MDrive’s
12-pin wire crimp connector, with flying leads other end, for quick test/ development.
Function: I/O, Power & Communication Interface.
To MDrive P1 To I/O, Power &
Communications
10.0’ (3.0m)
7
5
12
3
5
6
8
10
9
11
Pin # Wire Colors Signal
1 Black GND
2 Red +V
Black
White
Black
TX-
TX+
RX-
Green
Black
Blue
Black
Yellow
Black
Brown
RX+
I/O 2
I/O 1
I/O 3
I/O 4
Analog Input
Aux-Logic
Figure 4.6 Prototype development cable PD12B-1434-FL3
X
X
X
Pairs
X
X
X
Integrated Motor and Driver
MDI14:4-11
4 Connection and Interface MDrive
®
14 Motion Control
Flying leads to16-pin locking wire crimp connector P2 -P/N: PD16-1417-FL3
The PD16-1417-FL3 prototype development cable is used to rapidly interface the MDrive 14 to the users controller. This 10’ (3.0 m) cable consists of a 16-pin locking wire crimp connector to plug directly into the
MDrive P1 connector with flying leads on the opposite end to interface to power, i/o and/or remote encoder.
To MDrive P1 To Power & I/O
10.0’ (3.0m)
5
4
3
2
1
7
6
9
8
11
10
Pin # Wire Colors Signal (Expanded features)
16 Black GND
15
14
13
12
Red
Black
White
Black
+V
Step Clock I/O
Direction I/O
Analog Input
Green
Black
Blue
Black
Capture/Trip I/O
I/O 12
I/O 11
I/O 10
Yellow
Black
Brown
Black
Orange
White
Red
I/O 9
I/O 4
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Figure 4.7 Prototype development cable PD16-1417-FL3
Signal (Remote encoder)
GND
+V
Index –
Index +
Analog Input
Capture/Trip I/O
Channel B –
Channel B +
Channel A –
Channel A +
I/O 4
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Pairs
X
X
X
X
X
X
X
X
MDI14:4-12 Integrated Motor and Driver
MDrive
®
14 Motion Control 4 Connection and Interface
4.6 Mating connector kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin pressure-fit IDC .......................................................CK-01
P2 10-pin wire crimp ................................................................CK-02
P1 12-pin wire crimp ................................................................CK-08
P1 16-pin wire crimp ................................................................CK-10
Integrated Motor and Driver
MDI14:4-13
4 Connection and Interface
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MDrive
®
14 Motion Control
MDI14:4-14 Integrated Motor and Driver
MDrive
®
17
Motion Control
1. Introduction
2. Specifications
3. Mounting Recommendations
4. Interface and Connectivity
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MDrive
®
17 Motion Control
Table of Contents
Table of Contents
Integrated Motor and Driver
1 Introduction .................................................................... MDI17:1-1
1.1 MDrive 17 unit overview ...................................... MDI17:1-1
1.2 Product identification ........................................... MDI17:1-2
1.3 Documentation reference .................................... MDI17:1-3
2 Specifications ................................................................ MDI17:2-1
2.1 Mechanical specifications .................................... MDI17:2-1
2.1.1 Dimensional information ........................ MDI17:2-1
2.1.2 Dimensional information - sealed version ...............
............................................................... MDI17:2-2
2.2 General specifications ......................................... MDI17:2-3
2.2.1 Electrical specifications .......................... MDI17:2-3
2.2.2 I/O specifications ................................... MDI17:2-3
2.2.3 I/O specifications (Plus
............................................................... MDI17:2-4
2.2.4 Communication specifications ............... MDI17:2-5
2.2.5 Thermal specifications ........................... MDI17:2-5
2.2.6 Motion specifications ............................. MDI17:2-6
2.2.7 Software specifications .......................... MDI17:2-6
2.2.8 Motor specifications ............................... MDI17:2-7
2.2.9 Speed-force performance curves .......... MDI17:2-7
2.3 Connectivity specifications/pin assignments —
Communication ................................................... MDI17:2-8
2.3.1 RS-422/485 communication .................. MDI17:2-8
2.3.2 CANopen communication option ......... MDI17:2-10
2.4 Connectivity specifications/pin assignments - Power and ...
I/O ...................................................................... MDI17:2-11
2.4.1 Power and I/O - standard I/O (Plus) .... MDI17:2-11
2.4.2 Power and I/O - expanded I/O (Plus
2.4.3 Power and I/O - remote encoder (Plus
2.4.4 DC power and I/O - expanded I/O (Plus
2.4.5 DC power and I/O - remote encoder (Plus
2.5 Options .............................................................. MDI17:2-15
2.6 Connectivity ....................................................... MDI17:2-16
3 Mounting and connection recommendations ............. MDI17:3-1
3.1 Mounting .............................................................. MDI17:3-2
3.2 Layout and interface guidelines........................... MDI17:3-3
3.2.1 Rules of wiring ...................................... MDI17:3-3
3.2.2 Rules of shielding ................................. MDI17:3-3
3.3 Recommended wiring .......................................... MDI17:3-4
3.3.1 Recommended mating connectors and pins ..........
............................................................... MDI17:3-4
3.4 Securing power leads and logic leads ................. MDI17:3-5
4 Connection and interface ............................................. MDI17:4-1
4.1 Interfacing RS422-485 communication ............... MDI17:4-1
4.1.1 P2 — 10-pin pressure-fit IDC style connector ........
............................................................... MDI17:4-2
4.1.2 P2 — 10-pin friction lock wire crimp ...... MDI17:4-2
4.1.3 P2 — 5-pin M12 industrial connector ..... MDI17:4-3
4.2 Interfacing CANopen communication .................. MDI17:4-3
i
Table of Contents ii
List of Figures
MDrive
®
17 Motion Controlr
4.2.1 P2 — 9-pin d-sub connector (female) .... MDI17:4-3
4.2.2 P2 — 5-pin M12 industrial connector (female) .......
............................................................... MDI17:4-4
4.3 Interfacing DC power ........................................... MDI17:4-4
4.3.1 Recommended power supply characteristics .........
............................................................... MDI17:4-4
4.3.2 Recommended wire gauge .................... MDI17:4-5
4.3.3 P1 — 12’ (30.5 cm) flying leads interface ...............
............................................................... MDI17:4-5
4.3.4 P1 — 7-pin pluggable terminal interface MDI17:4-5
4.3.5 P1 — 16-pin locking wire crimp interface MDI17:4-5
4.3.6 P1 — 19-pin M23 industrial interface ..... MDI17:4-6
4.3.7 Power Interface using Drive Protection Module .....
DPM75 ................................................... MDI17:4-6
4.4 Interfacing I/O ...................................................... MDI17:4-7
4.4.1 P1 — 12’ (30.5 cm) flying leads interface ...............
............................................................... MDI17:4-7
4.4.2 P1 — 7-pin pluggable terminal interface MDI17:4-7
4.4.3 P1 — 16-pin locking wire crimp interface (Plus
.... expanded features) ................................ MDI17:4-8
4.4.5 P1 — 19-pin M23 industrial connector (Plus
....... expanded features) .............................. MDI17:4-10
4.5 Connectivity accessory details .......................... MDI17:4-11
4.5.1 RS-422/485 communication converter cables ........
............................................................. MDI17:4-11
4.5.2 Prototype development cables ............ MDI17:4-13
4.5.3 Connectivity option — 19 conductor cordset ..........
............................................................. MDI17:4-15
4.6 Mating connector kits ........................................ MDI17:4-16
Figure 1.1 Standard product options .......................................... MDI17:1-2
Figure 2.1 Standard and Expanded features mechanical specifications .....
.................................................................................. MDI17:2-1
Figure 2.2 Sealed mechanical specifications ............................. MDI17:2-2
Figure 2.3 Single length motor ................................................... MDI17:2-7
Figure 2.4 Double length motor .................................................. MDI17:2-7
Figure 2.5 Triple length motor .................................................... MDI17:2-8
Figure 3.1 MDrive 17 mounting and drill pattern ........................ MDI17:3-2
Figure 3.2 Securing leads ........................................................... MDI17:3-5
Figure 4.1 DPM75 Drive Protection Module ............................... MDI17:4-6
Figure 4.2 MD-CC400-000 communication converter cable .... MDI17:4-11
Figure 4.3 MD-CC402-001 communication converter cable .... MDI17:4-11
Figure 4.4 MD-CC401-001 communication converter .............. MDI17:4-12
Figure 4.5 Multi-drop communication using the PD10-1434-FL3 ................
................................................................................ MDI17:4-13
Figure 4.6 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp .....
connector. ................................................................ MDI17:4-13
Figure 4.7 Prototype development cable PD16-1417-FL3 ....... MDI17:4-14
Figure 4.8 MD-CS10x-000 cordset ........................................... MDI17:4-15
Integrated Motor and Driver
MDrive
®
17 Motion Control
List of Tables
Table of Contents
Table 2.1 Electrical specifications ............................................. MDI17:2-3
Table 2.2 I/O specifications ....................................................... MDI17:2-3
Table 2.3 Expanded I/O specifications ...................................... MDI17:2-4
Table 2.4 Communication specifications ................................... MDI17:2-5
Table 2.5 Thermal specifications ............................................... MDI17:2-5
Table 2.6 Motion specifications ................................................. MDI17:2-6
Table 2.7 Software specifications .............................................. MDI17:2-6
Table 2.6 Microstepping motor specifications ........................... MDI17:2-7
Table 2.9 P2 communication, 10-pin locking wire crimp ........... MDI17:2-8
Table 2.10 P2 communication, 10-pin IDC/SAMTEC .................. MDI17:2-9
Table 2.11 P2 communication, 10-pin IDC/SAMTEC .................. MDI17:2-9
Table 2.12 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
................................................................................ MDI17:2-10
Table 2.13 CANopen communication, P2: 5-pin D-sub female . MDI17:2-10
Table 2.14 Power and I/O interface - 12” (308.8.mm) flying leads ...............
................................................................................ MDI17:2-11
Table 2.15 Power and I/O interface - 7-pin pluggable terminal . MDI17:2-11
Table 2.16 P1 Expanded I/O, 14-pin locking wire crimp ........... MDI17:2-12
Table 2.17 I/O and remote encoder interface - 16-pin locking wire crimpl ..
................................................................................ MDI17:2-13
Table 2.18 P1 I/O and aux power, 19-pin lM23 industrial connector............
................................................................................ MDI17:2-14
Table 2.19 P1 I/O and aux power, 19-pin lM23 industrial connector............
................................................................................ MDI17:2-15
Table 4.1 Communication connections, P2 - 10-pin IDC .......... MDI17:4-2
Table 4.2 P2 communication, 10-pin locking wire crimp ........... MDI17:4-2
Table 4.3 P2 communication, 5-pin M12F industrial connector MDI17:4-3
Table 4.4 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
.................................................................................. MDI17:4-3
Table 4.5 CANopen communication, P2: 5-pin M12 female .... MDI17:4-4
Table 4.6 Recommended power supply characteristics ............ MDI17:4-4
Table 4.7 Recommended power supply wire gauge ................. MDI17:4-5
Table 4.8 Power and ground connections, flying leads ............. MDI17:4-5
Table 4.9 Power and ground connections, 7-pin terminal ......... MDI17:4-5
Table 4.4 Power and ground connections, 16-pin locking wire crimp ........
.................................................................................. MDI17:4-5
Table 4.10 Power and ground connections, 12-pin locking wire crimp ........
.................................................................................. MDI17:4-6
Table 4.11 I/O connections, flying leads ..................................... MDI17:4-7
Table 4.12 I/O connections, 7-pin terminal .................................. MDI17:4-7
Table 4.13 I/O connections, 16-pin locking wire crimp ................ MDI17:4-8
Table 4.14 I/O and remote encoder connections, 16-pin locking wire crimp
.................................................................................. MDI17:4-9
Table 4.15 I/O connections, 19-pin M23 industrial .................... MDI17:4-10
Table 4.16: I/O connections, 19-pin M23 industrial ...................... MDI17:4-10
Integrated Motor and Driver iii
Table of Contents
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MDrive
®
17 Motion Controlr iv
Integrated Motor and Driver
MDrive
®
17 Motion Control 1 Introduction
1 Introduction
1.1 MDrive 17 unit overview
The
MDrive
®
17 Motion Control offers system designers a cost effective, full featured programmable motion controller integrated with a NEMA 17 high torque 1.8° brushless step motor and a +12 up to +48 VDC* microstepping driver.
The unsurpassed smoothness and performance delivered by the MDrive
17 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 MDrive 17 accepts a broad input voltage range from +12 up to +48
VDC*, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, reducing problems that can occur with long cable runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.
Standard features of all MDrive 17 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 of MDrive 17 versions 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.
All MDrive 17 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
MDrive 17 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-topoint 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.
Optional communication protocols include CANopen. The CAN bus is
2.0B active (11 and/or 29 bit) and is capable of all standard frequencies from 10kHz to 1MHz. CANopen features include node guarding, heartbeat producer, SDOs and PDOs. Highlights include variable PDO mapping and extended node identifier.
Motor configurations include a single shaft rotary in four lengths, and linear actuators with long life Acme screw**.
Integrated Motor and Driver
MDI17:1-1
1 Introduction MDrive
®
17 Motion Control
Numerous connector styles give you choices for the best fit and features. Select from 12.0” (30.5cm) flying leads, pluggable terminal strip, locking wire crimp connectors, and M12/M23 industrial connectors.
MDrive connectivity has never been easier with options ranging from all-inclusive QuickStart Kits to individual interfacing cables and mating connector kits to build your own cables.
The MDrive 17 is a compact, powerful and cost effective motion control solution that will reduce system cost, design and assembly time for a large range of brushless step motor applications.
1.2 Product identification
MDrive
®
17 Plus
P1: I/O & Power
F = 12" flying leads
P = non-locking spring clamp
terminal strip
P2: Communication
D = RS-422/485 with 10-pin IDC
non-locking connector
L = RS-422/485 with 10-pin friction
lock wire crimp connector
MDrive
®
17 Plus
2
MDrive
®
17 Plus
2 with industrial connectors
P1: I/O & Power, and optional remote encoder
C = 16-pin locking wire crimp
connector
P2: Communication
D = RS-422/485 with 10-pin IDC
non-locking connector
L = RS-422/485 with 10-pin friction
lock wire crimp connector
P2: Communication
P1: I/O & Power, and optional remote encoder
M = 19-pin M23 male
industrial connector
Part numbers
E x a m p l e :
QuickStart Kit
K = kit option, or leave blank if not wanted
MDrive Plus version
MDI = Motion Control
Input
1 = Plus, standard features
3 = Plus
4 = Plus
2
2
, expanded features
, expanded features, with industrial connectors, IP54-rated
P1 connector
F = � ying leads
P = pluggable
C = wire crimp (1)
M = M23 industrial connector (2)
Communication
R = RS-422/485
P2 connector
D = IDC
L = wire crimp
Q = M12 industrial connector (2)
Motor size
17 = NEMA 17 (1.7" / 42 mm)
Motor length
A = single stack
B = double stack
C = triple stack
Drive voltage
4 = +12 to +48 VDC
Options
Leave blank if not wanted
Options may be combined, unless noted
K M D I 1 F R D 1 7 A 4 – E Q
K M D I 1 F R D 1 7 A 4 – EQ
K M D I 1 F R D 1 7 A 4 – EQ
K M D I 1 F R D 1 7 A 4 – EQ
K M D I 1 F R D 1 7 A 4 – EQ
K M D I 1 F R D 1 7 A 4 – EQ
K M D I 1 F R D 1 7 A 4 – EQ
K M D I 1 F R D 1 7 A 4 – EQ
K M D I 1 F R D 1 7 A 4 – EQ
K M D I 1 F R D 1 7 A 4 – EQ
– EQ = internal encoder, 512-line internal magnetic encoder with index mark
– EQ
– EE = remote encoder interface, differential encoder to be provided by user
Available with Plus
2
versions only. May not be combined with internal encoder option.
– N = rear control knob for manual positioning (3)
(1) Only available with Plus 2 products without industrial connectors.
(2) Only available with Plus
2
products with industrial connectors.
(3) Not available with industrial connector products.
Figure 1.1 Standard product options
MDI17:1-2 Integrated Motor and Driver
MDrive
®
17 Motion Control 1 Introduction
1.3 Documentation reference
The following User’s manuals are available for the MDrive 17:
Product manuals, describes the technical data, installation, configuration and programming of the product.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download at: http://www.imshome.com/downloads/literature_overview.html.
1.4 Product software
The MDrive 17 motion control integrated motor and driver may be programmed using any standard ASCII txt editor and ANSI terminal emulated. The recommended environment is the IMS Terminal Interface, which is a combined terminal/program editor tailored for use with
IMS motion control products. This free software may be downloaded at: http://www.imshome.com/downloads/software_interfaces.html.
Installation and usages instructions are to be found in the MCode Programming Manual, which is correlated to this document.
Integrated Motor and Driver
MDI17:1-3
1 Introduction
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MDrive
®
17 Motion Control
MDI17:1-4 Integrated Motor and Driver
MDrive
®
17 Motion Control 2 Specifications
2
2.1
2.1.1
2.30
(58.3)
Specifications
Mechanical specifications
Dimensional information
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)
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)
LMAX
LMAX2
MDrive Lengths
Inches (mm)
Motor
Length
Single
Double
Triple
LMAX
SINGLE SHAFT,
INTERNAL ENCODER or LINEAR ACTUATOR
2.20 (55.9)
2.43 (61.7)
2.77 (70.4)
LMAX2
CONTROL KNOB
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.)
I
P1 Connector Options
MDrive
/O & Power I/O & Power I/O & Power
12.00
+1.0/-0.0
(304.8
+25.4/-0.0
)
0.44
(11.2)
0.20
(5.0)
P1
P1 P1
Flying Leads 7-Pin Pluggable Clamp
Type Terminal Strip
0.14
(3.6)
16-Pin Pluggable
Locking Wire Crimp
P2 Connector Options
MDrive & Plus expanded features
Comm Comm Comm
P2 P2 P2
Control Knob
10-Pin IDC 10-Pin Friction Lock
Wire Crimp
DB9 (Male) for CANopen Only
Figure 2.1 Standard and Expanded features mechanical specifications
Integrated Motor and Driver
MDI17:2-1
2 Specifications MDrive
®
17 Motion Control
2.1.2
1.078
(27.4)
Dimensional information - sealed version
P2
0.80
(20.3)
1.38
(35.1)
LMAX3*
0.49
(12.5)
0.94 ±0.02
(23.9 ±0.5)
0.08
(2.0)
0.59 ±0.02
(15.0 ±0.5)
2.792
(70.9)
P1
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
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 MDrive Lengths
Motor
Length
Single
Double
Triple
Inches (mm)
LMAX LMAX2 LMAX3*
2.48 (63.00)
2.71 (68.83)
3.15 (80.00)
3.38 (85.85)
3.08 (78.23)
3.31 (85.10)
3.04 (77.22) 3.71 (94.23) 3.64 (92.46)
*CANopen increases measurement by 0.09"/2.0mm
Connectors
Ø 0.87
(Ø 22.1)
Ø 0.53
(Ø 13.5)
P1: 19-Pin M23 (Male) P2: 5-Pin M12 (Female)
(or CANopen – Male)
1.69 SQ.
(42.9 SQ.)
0.64
(16.3)
4X M3x0.5 THREAD x0.15 MIN DEEP
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
Figure 2.2 Sealed mechanical specifications
MDI17:2-2 Integrated Motor and Driver
MDrive
®
17 Motion Control 2 Specifications
2.2
2.2.1
General specifications
Electrical specifications
Input voltage range
Power supply current
Aux-Logic Input Voltage
Max Aux-Logic Supply Current (Per
MDrive)**
Condition
—
—
—
—
Min
+12
—
+12
—
Typ
—
—
—
—
Max
+48
2
+24
194
*per MDrive 17, Actual current depends on voltage and load.
** Maintains power to control and feedback circuits [only] when input voltage is removed
Table 2.1 Electrical specifications
Unit
VDC
A
VDC mA
2.2.2 I/O specifications
General Purpose I/O - Number and Type
I/O Points 1-4
General Purpose I/O - Electrical
Inputs
Sinking Outputs
Output Sink Current
Logic Threshold
Protection
Analog Input
Resolution
Range
Condition
—
—
—
One channel
Logic 0
Logic 1
Sinking
Sourcing
—
Voltage Mode
Current Mode
Table 2.2 I/O specifications
Min Typ Max Unit
4 I/O points configurable as sinking or sourcing inputs or sinking outputs
TTL
—
—
—
—
—
—
—
—
+24
+24
600
< 0.8
VDC
VDC mA
VDC
— > 2.2
VDC
Over temp, short circuit
Transient Over Voltage, Inductive
Clamp
0 to +5 VDC, 0 to +10 VDC
4 to 20 mA, 0 to 20mA
Integrated Motor and Driver
MDI17:2-3
2 Specifications MDrive
®
17 Motion Control
2.2.3 I/O specifications (Plus
2
expanded features)
Condition Min Typ Max Unit
General Purpose I/O - Number and Type
I/O Points 1-8 —
8 I/O points (4 if configured for remote encoder) configurable as sinking or sourcing inputs or outputs
General Purpose I/O - Electrical
Inputs
Outputs
Sinking or Sourcing
Sinking
Sourcing
One channel
TTL
—
+12
—
—
—
+24
+24
+24
600
VDC
VDC
VDC mA Output Sink Current
Clock I/O (Step & Direction I/O)
Types
Logic Threshold
—
—
—
Step/Direction, Up/Down, Quadrature
+5 VDC TTL Input, TTL Output
(with 2 kΩ Load to Ground
Trip Output/Capture Input
Logic Threshold —
+5 VDC TTL Input, TTL Output
(with 2 kΩ Load to Ground
Motion I/O
Electronic gearing
High speed position capture
High speed trip output
Range
Resolution
Threshold
Filter range
Secondary clock out ratio
Filter range
Resolution
Speed
Resolution
Threshold
0.001
—
—
—
—
—
—
—
—
—
—
—
—
—
2.000
32 bit
TTL VDC
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
1:1
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
32 bit
150
32
TTL nS bit
VDC
Optional remote encoder (closed loop)*
Type
Steps per revolution
Resolution
User supplied differential encoder
See motion specifications table
User defined . Note: microsteps/rev = 2X the encoder counts/rev minimum.
*Remote encoder inputs replace I/O points 4-8 and step and direction I/O
Table 2.3 Expanded I/O specifications
MDI17:2-4 Integrated Motor and Driver
MDrive
®
17 Motion Control 2 Specifications
2.2.4 Communication specifications
RS-422/485 (standard)
BAUD rate
CANopen (optional)
Type
BAUD rate
Application layer
Device profile
ID
Isolation
Condition
—
Min
4.8
—
Version 3.0
Version 2.0
—
—
Table 2.4 Communication specifications
10 kHz
Typ
—
Max
115.2
Unit kbps
1 MHz
2.0B active
—
DS-301
DSP-402
11 or 29 bit
Galvanic
2.2.5 Thermal specifications
Heat sink temperature
Motor temperature non-condensing humidity non-condensing humidity
Table 2.5 Thermal specifications
Min
-40
-40
Typ
—
—
Max
+85
+100
Unit
ºC
ºC
Integrated Motor and Driver
MDI17:2-5
2 Specifications MDrive
®
17 Motion Control
2.2.6
2.2.7
Motion specifications
Microstep Resolution - Open Loop
Number of microstep resolutions
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
* 1" per revolution lead screw
Microstep resolution (closed loop configuration - (optional)
Steps Per Revolution (Fixed)
Position Resolution
Optional differential encoder (internally mounted)
Type
Resolution (Lines)
Resolution (Edges)
Counters
Counter 1 (C1) Type
Counter 2 (C2) Type
Resolution
Maximum Edge Rate
Velocity
Range
Resolution
Acceleration/Deceleration
Range
Resolution
6400
21600
2
10000
25400
3
20
51200
2048
Internal, Magnetic
512
2048
Position
Encoder
32 bit
5 MHz
±5,000,000 Steps/Sec.
0.5961 Steps/Sec.
1.5 x 10
9
Steps/Sec.
2
90.9 Steps/Sec.
2
Table 2.6 Motion specifications
Software specifications
Program Storage Type/Size
User Registers
User Program Labels and Variables
Math, Logic and Conditional Functions
Branch Functions
Party Mode Addresses
Encoder Functions
Predefined I/O Functions
Input Functions
Output Functions
Trip Functions
Flash/6384 Bytes
(4) 32 Bit
192
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Branch and Call (Conditional)
62
Stall Detect, Position Maintenance, Find Index
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog Input
Moving, Fault, Stall, Velocity Changing
Trip on Input, Trip on Position, Trip on Time, Trip Capture
Table 2.7 Software specifications
MDI17:2-6 Integrated Motor and Driver
MDrive
®
17 Motion Control 2 Specifications
2.2.8
2.2.9
Motor specifications
Specification
Holding torque oz-in (N-cm)
Detent torque oz-in (N-cm)
Rotor inertia oz-in-sec
2
(kg-cm
2
)
Weight motor and driver oz (g)
Single length
32 (22.6)
1.66 (1.17)
0.00053 (0.038)
10.4 (294.8)
Double length
60 (42.4)
2.08 (1.47)
0.00080 (0.057)
12.0 (340.2)
Triple length
74.9 (52.9)
3.47 (2.45)
0.00116 (0.082)
15.2 (430.9)
Table 2.6 Microstepping motor specifications
Speed-force performance curves
Single length motor
60
50
40
30
20
10
0
0 1000
(300)
24 VDC
48 VDC
2000
(600)
3000 4000 5000 6000 7000
(900) (1200) (1500) (1800) (2100)
42
35
28
21
14
7
Speed in Full Steps per Second (RPM)
Figure 2.3 Single length motor
Double length motor
60
50
40
30
20
10
0
0
24 VDC
48 VDC
1000
(300)
2000
(600)
3000
(900)
4000
5000 6000 7000
(1200) (1500) (1800) (2100)
Speed in Full Steps per Second (RPM)
Figure 2.4 Double length motor
42
35
28
21
14
7
Integrated Motor and Driver
MDI17:2-7
2 Specifications MDrive
®
17 Motion Control
Triple length motor
60
50
40
30
20
10
0
0
24 VDC
48 VDC
1000
(300)
2000
(600)
3000
(900)
4000 5000 6000 7000
(1200) (1500) (1800) (2100)
Speed in Full Steps per Second (RPM)
Figure 2.5 Triple length motor
42
35
28
21
14
7
2.3
2.3.1
Connectivity specifications/pin assignments — Communication
RS-422/485 communication
10-pin friction lock wire crimp
P2
5
3
9
7
1
10
8
6
4
2
Connectivity Options
USB to RS-422/485
Converter:
MD-CC402-001
Mating connector kit:
CK-02
Mfg P/N:
Shell
Hirose DF11-10DS-2C
Pins
Hirose: DF11-2428SC
Pin # Function
1 TX +
2 Comm GND
3 RX -
4 TX -
5 Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 2.9 P2 communication, 10-pin locking wire crimp
MDI17:2-8 Integrated Motor and Driver
MDrive
®
17 Motion Control 2 Specifications
10-pin press-fit (IDC style)
RS-422/485
P2
5
7
1
3
9 10
6
8
2
4
Connectivity Options
USB to RS-422/485
Converter:
MD-CC400-001
Mating connector kit:
CK-01
Mfg P/N:
Shell
SAMTEC: TCSD-05-01-N
Ribbon cable
Tyco: 1-57051-9
Pin # Function
1
2
3
4
5
TX +
TX -
RX +
RX -
Aux-Logic
6 RX +
7 RX -
8 TX -
9
10
TX +
Comm GND
Description
Transmit plus
Transmit minus
Receive plus
Receive minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive minus
Transmit minus
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Table 2.10 P2 communication, 10-pin pressure fit IDC/SAMTEC
5-pin M12 industrial
P2
3 4
5
2 1
Pin # Function
1 TX -
2 TX +
3 RX +
4 RX -
5 Comm Gnd
Description
Transmit minus
Transmit plus
Receive plus
Receive minus
Communication ground
Table 2.11 P2 communication, 10-pin pressure fit IDC/SAMTEC
Connectivity Options
USB to RS-422/485
Converter:
MD-CC401-001
Integrated Motor and Driver
MDI17:2-9
2 Specifications MDrive
®
17 Motion Control
2.3.2 CANopen communication option
9-pin D-sub female (DB-9F)
CANopen
P2
8
9
6
7
3
4
1
2
5
Connectivity Options
USB to CANopen converter:
MD-CC500-000
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 2.12 CANopen communication, P2: 9-pin D-sub female (DB-9F)
5-pin M12 industrial
P2
4 3
5
1 2
Pin # Function
1 Shield
2 CAN +V
3 CAN -V
4 CAN high
5 CAN low
Description
Optional CAN shield
+7 to +30 VDC power supply
CAN communication ground
CAN_H bus line (high dominant)
CAN_L bus line (low dominant)
Table 2.13 CANopen communication, P2: 5-pin D-sub female
Connectivity Options
USB to CANopen converter:
MD-CC500-000
MDI17:2-10 Integrated Motor and Driver
MDrive
®
17 Motion Control 2 Specifications
2.4
2.4.1
Connectivity specifications/pin assignments - Power and I/O
Power and I/O - standard I/O (Plus)
12” (304.8 mm) flying leads
I/O & Power
P1
12.0”
(304.8mm )
+25.4/-0.0
Wire Color
White/yellow
White/orange I/O 2
White/violet
White/blue
Green
Black
Red
Function
I/O 1
I/O 3
I/O 4
Analog input
GND
+V
Description
General purpose I/O point 1
General purpose I/O point 2
General purpose I/O point 3
General purpose I/O point 4
0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
Power and auxiliary ground
Motor power
Table 2.14 Power and I/O interface - 12” (308.8.mm) flying leads
7-pin pluggable terminal
I/O & Power
0.44”
(11.2mm)
P1
Top view
5
6
7
3
4
1
2
Pin #
1
2
3
4
5
6
7
Function
I/O 1
I/O 2
I/O 3
I/O 4
Analog input
GND
+V
Description
General purpose I/O point 1
General purpose I/O point 2
General purpose I/O point 3
General purpose I/O point 4
0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
Power and auxiliary ground
Motor power
Table 2.15 Power and I/O interface - 7-pin pluggable terminal
Integrated Motor and Driver
MDI17:2-11
2 Specifications MDrive
®
17 Motion Control
2.4.2 Power and I/O - expanded I/O (Plus
2
)
16-pin locking wire crimp
I/O & Power
0.20”
(5.0mm)
7
5
3
1
15 16
13 14
11
9
12
10
8
6
4
2
P1
0.14”
(3.6mm)
Connectivity Options
Prototype development cable::
PD16-1417-FL3
Mating connector kit:
CK-10
Mfg P/N:
Shell
JST PADP-16V-1-S
Pins
JST SPH-001T0.5L
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs.
2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 I/O 9
8 I/O 10
9 I/O 11
10 I/O 12
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
0 to +24 VDC Programmable I/O Point 9
0 to +24 VDC Programmable I/O Point 10
0 to +24 VDC Programmable I/O Point 11
0 to +24 VDC Programmable I/O Point 12
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level.
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
13
Step/clock
I/O
Step clock i/o. Can also be configured as quadrature or clock up/down. +5 VDC logic level.
14
Direction/ clock I/O
15 +V
16
Power/aux ground
Direction i/o. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
+12 to +48 VDC motor power supply input.
Power and auxiliary ground
Table 2.16 P1 Expanded I/O, 14-pin locking wire crimp
MDI17:2-12 Integrated Motor and Driver
MDrive
®
17 Motion Control 2 Specifications
2.4.3 Power and I/O - remote encoder (Plus
2
)
16-pin locking wire crimp
I/O & Power
0.20”
(5.0mm)
7
5
3
1
15 16
13 14
11
9
12
10
8
6
4
2
P1
0.14”
(3.6mm)
Connectivity Options
Prototype development cable::
PD16-1417-FL3
Mating connector kit:
CK-10
Mfg P/N:
Shell
JST PADP-16V-1-S
Pins
JST SPH-001T0.5L
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs.
2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 CH A+
8 CH A-
9 CH B+
10 CH B-
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
Channel A+ encoder input. +5 VDC logic level
Channel A- encoder input. +5 VDC logic level
Channel B+ encoder input. +5 VDC logic level
Channel B- encoder input. +5 VDC logic level
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level.
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
13 IDX+ Index mark + encoder input. +5 VDC logic level
14
15
16
IDX-
+V
Power/aux ground
Index mark - encoder input. +5 VDC logic level
+12 to +48 VDC motor power supply input.
Power and auxiliary ground
Table 2.17 I/O and remote encoder interface - 16-pin locking wire crimpl
Integrated Motor and Driver
MDI17:2-13
2 Specifications MDrive
®
17 Motion Control
2.4.4 DC power and I/O - expanded I/O (Plus
2
-65)
19-pin M23 industrial
Outside: Pins 1 -12
1
12
2
3
4
11
10 9 8
5
7
6
Inside: Pins 13 -19
13
14
18 19 15
17 16
Connectivity Options
Prototype development cable:
MD-CS100-000 (straight)
MD-CS101-000 (rightangle)
Pin # Function
1 I/O 9
2
3
I/O 11
Description
0 to +24 VDC Programmable I/O Point 9.
0 to +24 VDC Programmable I/O Point 11.
Step/Clock I/O 0 to +5 VDC Step Clock I/O. Can also be configured as Quadrature or Clock Up/Down.
4 I/O 1 0 to +24 VDC Programmable I/O Point 1.
5
6
Direction/clock
I/O
+V
Aux-Logic
Direction i/o. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
7
8
9
10
11
12
13
14
15
16
17
18
19
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell
I/O 12
Capture/Trip
I/O
AIN
I/O 2
I/O 4
I/O 10
GND
Motor power input
+12 to +24 VDC Auxiliary Logic Supply Input.
This provides power to control and logic circuits if main power is removed.
Auxiliary Ground.
0 to +24 VDC Programmable I/O Point 3.
Non-isolated I/O ground. Common with power ground.
I/O Power, used with sourcing inputs or outputs.
See Section 2.3 for more details.
Shell connect
0 to +24 VDC Programmable I/O Point 12.
High Speed Capture Input or Trip Output. +5
VDC Logic Level.
0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog
Input.
0 to +24 VDC Programmable I/O Point 2.
0 to +24 VDC Programmable I/O Point 4.
0 to +24 VDC Programmable I/O Point 10.
Power ground
Table 2.18 P1 I/O and aux power, 19-pin lM23 industrial connector
MDI17:2-14 Integrated Motor and Driver
MDrive
®
17 Motion Control 2 Specifications
2.4.5 DC power and I/O - remote encoder (Plus
2
-65)
19-pin M23 industrial
Outside: Pins 1 -12
1
12
2
3
4
11
10 9 8
5
7
6
Inside: Pins 13 -19
13
14
18 19 15
17 16
Connectivity Options
Prototype development cable:
MD-CS100-000 (straight)
MD-CS101-000 (rightangle)
Pin # Function
1 CH A+
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
CH B+
IDX+
I/O 1
IDX-
+V
Aux-Logic
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell
CH B-
Capture/Trip
I/O
AIN
I/O 2
I/O 4
CH A-
GND
Description
Channel A+ encoder input. +5 VDC logic level
Channel B+ encoder input. +5 VDC logic level
Index mark + encoder input. +5 VDC logic level
0 to +24 VDC Programmable I/O Point 1.
Index mark - encoder input. +5 VDC logic level
Motor power input
+12 to +24 VDC Auxiliary Logic Supply Input.
This provides power to control and logic circuits if main power is removed.
Auxiliary Ground.
0 to +24 VDC Programmable I/O Point 3.
Non-isolated I/O ground. Common with power ground.
I/O Power, used with sourcing inputs or outputs.
See Section 2.3 for more details.
Shell connect
Channel B- encoder input. +5 VDC logic level
High Speed Capture Input or Trip Output. +5
VDC Logic Level.
0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog
Input.
0 to +24 VDC Programmable I/O Point 2.
0 to +24 VDC Programmable I/O Point 4.
Channel A- encoder input. +5 VDC logic level
Power ground
Table 2.19 P1 I/O and aux power, 19-pin lM23 industrial connector
2.5 Options
Drive Protection Module
The function of the DPM75 Drive Protection Module is to limit the surge current and voltage to a safe level when DC input power is switched on and off to the MDrive.
Internal encoder
Internal differential magnetic 512 line differential encoders with index mark are available:
Remote Encoder (Plus
2
versions only)
MDrive 17 Motion Control versions are available with differential encoder inputs for use with a remote encoder (not supplied).
Control Knob
The MDrive 17 is available with a factory-mounted rear control knob for manual shaft positioning.
Integrated Motor and Driver
MDI17:2-15
2 Specifications MDrive
®
17 Motion Control
2.6 Connectivity
QuickStart kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter, prototype development cable(s), instructions and CD for MDrive initial functional setup and system testing.
Communication Converters
Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program communication parameters for a single
MDrive product via a PC’s USB port. Length 12.0’ (3.6m).
Mates to connector:
P2 10-pin pressure-fit IDC ........................................MD-CC400-001
P2 5-pin M12 industrial .............................................MD-CC401-001
P2 10-pin wire crimp .................................................MD-CC402-001
Prototype Development Cables
Speed test/development with pre-wired mating connectors that have flying leads other end. Length 10.0’ (3.0m).
Mates to connector:
P2 10-pin wire crimp ................................................ PD10-1434-FL3
P1 16-pin wire crimp ................................................ PD16-1417-FL3
P1 19-pin M23 industrial (straight)............................ MD-CS100-000
P1 19-pin M23 industrial (right-angle) ...................... MD-CS101-000
Mating Connector Kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin pressure-fit IDC .......................................................CK-01
P2 10-pin wire crimp ................................................................CK-02
P1 16-pin wire crimp ................................................................CK-10
MDI17:2-16 Integrated Motor and Driver
MDrive
®
17 Motion Control 3 Mounting
3 Mounting and connection recommendations
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
!
CAUTION
LEAD RESTRAINT
Some MDrive mounting configurations require that the MDrive move along the screw. Ensure that all cabling is properly restrained to provide strain relief on connection points..
Failure to follow these instructions can result in equipment damage.
!
THERMAL MANAGEMENT
CAUTION
The mounting plate material should offer sufficient mass and thermal conductivity to ensure that the motor temperature does not eceed 100°C.
Failure to follow these instructions can result in equipment damage.
Integrated Motor and Driver
MDI17:3-1
3 Mounting MDrive
®
17 Motion Control
3.1 Mounting
Care must be observed when installing the mounting screws on ALL
MDrive 17 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 MDrive 17.
Maximum length of screw threads into the motor housing
0.140" (3.5 mm)
4 X M3-0.5 Screw
(not supplied)
Length TBD by flange thickness
Temperature sensor should be attached at the center of the motor body
Drill Pattern for Mounting Flange or Adapter Plate
0.118 (3.0) Thru 4 Places on a 1.725 (43.82) Circle
MDrive17Plus
Maximum Tightening Torque:
7.8 lb-in (9 kg-cm)
Mounting Flange
Or Adapter Plate
Ø 0.866 (21.996)
1.220 SQ.
(31.0 SQ.)
Figure 3.1 MDrive 17 mounting and drill pattern
MDI17:3-2 Integrated Motor and Driver
MDrive
®
17 Motion Control 3 Mounting
3.2
3.2.1
3.2.2
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.
Power supply leads to the MDrive 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.
Rules of wiring
Power supply and motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires.
A minimum of one twist per inch is recommended.
Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better.
Power ground return should be as short as possible to established ground.
Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.
Rules of shielding
The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not effective if the signal is not earthed or grounded.
Do not assume that Earth ground is a true Earth ground. Depending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location.
The shield must be connected so that shield currents drain to signal-earth connections.
The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance.
The shield should be tied to a single point to prevent ground loops.
A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.
Integrated Motor and Driver
MDI17:3-3
3 Mounting MDrive
®
17 Motion Control
3.3 Recommended wiring
The following wiring/cabling is recommended for use with the MDrive17:
Logic Wiring ......................................................................... 22 AWG
Wire Strip Length ....................................................... 0.25” (6.0 mm)
Power and Ground See Table 3.2 in Part 1, Section 3 of this document
3.3.1 Recommended mating connectors and pins
Communication
10-pin Friction Lock (P2) ...............................Hirose DF11-10DS-2C
Crimp pin for 10-pin Friction Lock (22 AWG).................. DF11-22SC
Crimp pin for 10-pin Friction Lock (24 - 28 AWG) ...... DF11-2428SC
Crimp pin for 10-pin Friction Lock (30 AWG).................. DF11-30SC
10-pin pressure-fit IDC .................................Samtec TCSD-05-01-N
Ribbon cable.............................................................Tyco 1-57051-9
Power and I/O
The following mating connectors are recommended for the MDrive172
Units ONLY! Please contact a JST distributor for ordering and pricing information.
16-pin Locking Wire Crimp Shell ................. JST PN PADP-16V-1-S
Crimp Pins ................................................ JST PN SPH-001T-P0.5L
MDI17:3-4 Integrated Motor and Driver
MDrive
®
17 Motion Control 3 Mounting
3.4 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
Figure 3.2 Securing leads
Logic leads
Adhesive anchors
& tywrap
Communications leads
Integrated Motor and Driver
MDI17:3-5
3 Mounting
This page intentionally left blank
MDrive
®
17 Motion Control
MDI17:3-6 Integrated Motor and Driver
MDrive
®
17 Motion Control 4 Connection and Interface
4 Connection and interface
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
4.1 Interfacing RS422-485 communication
For general RS422/485 single and party mode communication practices please see Part 1 Section 5 of this document.
!
CAUTION
Communication GROUND LOOPS
To avoid ground loops in the system only connect communication ground to the first MDrive in the system. Do not connect communication ground on subsequent MDrives.
Failure to follow these instructions may result in damage to system components!
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect communication while the device is in a powered state.
Failure to follow these instructions may result in damage to system components!
Integrated Motor and Driver
MDI17:4-1
4 Connection and Interface MDrive
®
17 Motion Control
4.1.1
4.1.2
P2 — 10-pin pressure-fit IDC style connector
Red conductor
Pin 1
Pin 10
Pin # Function
1 TX +
2 TX -
3 RX +
4 RX -
5 Aux-Logic
6 RX +
7 RX -
8 TX -
9 TX +
10 Comm GND
Description
Transmit plus
Transmit minus
Receive plus
Receive minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive minus
Transmit minus
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Table 4.1 Communication connections, P2 - 10-pin IDC
Connectivity accessories
Mating connector kit ................................................................CK-01
(contains 5 connector shells, ribbon cable not included)
Communication converter cable (10’/3.0 m) .............MD-CC400-001
P2 — 10-pin friction lock wire crimp
Hirose P/N
Shell DF11-10DS-2C
Pins DF11-2428SC
Use to connect second device
9: TX+
7: RX+
5: AUX
3: RX-
1: TX+
10: TX-
8: RX-
6: RX+
4: TX-
2: Ground
Pin # Function
1 TX +
2 Comm GND
3 RX -
4 TX -
5 Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 4.2 P2 communication, 10-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-02
(contains 5 connector shells, ribbon cable not included)
Communication converter cable (10’/3.0 m) .............MD-CC402-001
MDI17:4-2 Integrated Motor and Driver
MDrive
®
17 Motion Control 4 Connection and Interface
4.1.3 P2 — 5-pin M12 industrial connector
RX+
TX+
3 4
5
2 1
GND
RX-
TX-
Pin # Function
1 TX -
2 TX +
3 RX +
4 RX -
5 Comm GND
Description
Transmit minus
Transmit plus
Receive plus
Receive minus
Communication ground only. Do not ground auxlogic to this pin.
Table 4.3 P2 communication, 5-pin M12F industrial connector
Connectivity accessories
Communication converter cable (10’/3.0 m) .............MD-CC401-001
4.2
4.2.1
Interfacing CANopen communication
P2 — 9-pin d-sub connector (female)
CAN -V
CAN_H
CAN +V
6
7
8
9
1
2
3
4
5
CAN_L
CAN -V
Shield
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 4.4 CANopen communication, P2: 9-pin D-sub female (DB-9F)
Connectivity accessories
Communication converter cable ...............................MD-CC500-000
Integrated Motor and Driver
MDI17:4-3
4 Connection and Interface MDrive
®
17 Motion Control
4.2.2
4.3
P2 — 5-pin M12 industrial connector (female)
CAN_H
Shield
4 3
5
1 2
CAN_L
CAN -V
CAN +V
Pin # Function
1 Shield
2 CAN +V
3 CAN -V
4 CAN high
5 CAN low
Description
Optional CAN shield
+7 to +30 VDC power supply
Optional ground
CAN_H bus line (high dominant)
CAN_L bus line (low dominant)
Table 4.5 CANopen communication, P2: 5-pin M12 female
Connectivity accessories
Communication converter cable ..............................MD-CC500-000
Interfacing DC power
See part 1 of this document, section 3, for recommended power cable configurations.
!
CAUTION
OVER VOLTAGE
The DC voltage range for the MDrive 17 is +12 to +48 VDC.
Ensure that motor back EMF is factored into your power supply size calculations.
Allow 3.0 A maximum power supply output current per MDrive in the system. Actual power supply current will depend on voltage and load.
Failure to follow these instructions can result in equipment damage.
4.3.1 Recommended power supply characteristics
Voltage range
Type
Ripple
Output current
+12 to +48 VDC
Unregulated linear
± 5%
2.0 A (per MDrive 17
Table 4.6 Recommended power supply characteristics
MDI17:4-4 Integrated Motor and Driver
MDrive
®
17 Motion Control 4 Connection and Interface
4.3.2
4.3.3
4.3.4
4.3.5
Recommended wire gauge
Cable Length: Feet (meters)
Amps Peak
1 Amp Peak
2 Amps Peak
10 (3.0)
20
20
25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Minimum AWG
20 18 18 18
18 16 14 14
Table 4.7 Recommended power supply wire gauge
P1 — 12’ (30.5 cm) flying leads interface
Wire Color
Red
Black
Motor power supply
Power ground
Table 4.8 Power and ground connections, flying leads
P1 — 7-pin pluggable terminal interface
Pin #
6
7
Power ground
Motor power supply
Table 4.9 Power and ground connections, 7-pin terminal
GND
+V
6
7
P1 — 16-pin locking wire crimp interface
+V
15
GND
16
Pin Numbers
15
16
Signal
+12 to + 48 VDC
Power and auxiliary ground
Prototype development cable wire colors
Red
Black
Table 4.4 Power and ground connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins........................................................................ SPH-001T0.5L04
Integrated Motor and Driver
MDI17:4-5
4 Connection and Interface MDrive
®
17 Motion Control
4.3.6
4.3.7
(contains 5 connector shells, ribbon cable not included)
P1 — 19-pin M23 industrial interface
GND
19 6
+V
Pin #
6
19
Signal
Motor power supply
Power ground
Cable wire colors
MD-CS10x-000
Blue
Brown
Table 4.10 Power and ground connections, 12-pin locking wire crimp
A mating connector kit is not available for this connector. Shop for compatible connectors at:
Lumberg
Phoenix
Turck
RDE Connectors
Power Interface using Drive Protection Module DPM75
The DPM75 Drive Protection Module will limit surge currents for up to three (3) MDrive 17 units at up to 48 VDC to allow switching DC Power.
Wire jumper A to B for 48 VDC Max.
SPST switch*
Fuse**
A terminal
B terminal
C terminal power + power – drive – drive +
V+ GND
– +
MDrive Power supply
* Do not switch negative side of supply
**Fuse = 6.3 Amp slow blow (recommended: Bussman S505-6.3A
or Littelfuse 215006.3). The fuse is optional.
Figure 4.1 DPM75 Drive Protection Module
MDI17:4-6 Integrated Motor and Driver
MDrive
®
17 Motion Control 4 Connection and Interface
4.4 Interfacing I/O
See part 1 of this document, section 4, for I/O interface configurations and methods.
!
CAUTION
ELECTRICAL OVERSTRESS
The general purpose I/O is tolerant to +24 VDC. The following listed I/O point is TTL level and only tolerant to +5 VDC:
1) Capture/Trip
2) Step/Direction
3) Remote encoder inputs
Do not exceed +5 VDC on these points.
Failure to follow these instructions can result in equipment damage.
4.4.1
4.4.2
P1 — 12’ (30.5 cm) flying leads interface
Wire Color
White/yellow
White/orange
White/violet
White/blue
Green
Signal
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Analog input
Table 4.11 I/O connections, flying leads
P1 — 7-pin pluggable terminal interface
I/O 1
I/O 2
I/O 3
I/O 4
Analog In
1
2
3
4
5
4
5
2
3
Pin number
1
Signal
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Analog input
Table 4.12 I/O connections, 7-pin terminal
Integrated Motor and Driver
MDI17:4-7
4 Connection and Interface MDrive
®
17 Motion Control
4.4.3 P1 — 16-pin locking wire crimp interface (Plus
2
expanded features)
13: Step Clock
11: Capt/Trip
9: I/O 11
7: I/O 9
5: I/O 3
3: I/O 1
1: I/O pwr
14: Direction
12: Analog
10: I/O 12
8: I/O 10
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
General purpose I/O 9
General purpose I/O 10
General purpose I/O 11
General purpose I/O 12
Capture output/trip input
Analog input
Step clock I/O
Direction clock I/O
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
White
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.13 I/O connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins............................................................................ SPH-001T0.5L
MDI17:4-8 Integrated Motor and Driver
MDrive
®
17 Motion Control 4 Connection and Interface
4.4.4 P1 — 16-pin locking wire crimp interface (remote encoder)
13: IDX +
11: Capt/Trip
9: CH B +
7: CH A +
5: I/O 3
3: I/O 1
1: I/O pwr
14: IDX -
12: Analog
10: CH B -
8: CH A -
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Channel A +
Channel A -
Channel B +
Channel B -
Capture output/trip input
Analog input
Index +
Index -
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
White
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.14 I/O and remote encoder connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins............................................................................ SPH-001T0.5L
Integrated Motor and Driver
MDI17:4-9
4 Connection and Interface MDrive
®
17 Motion Control
4.4.5
4.4.6
P1 — 19-pin M23 industrial connector (Plus
2
expanded features)
I/O11
I/O9
Shell
I/O Power
I/O GND
I/O12
I/O10
I/O4
Outside: Pins 1 -12
Step Clock I/O
1
12
11
2 3
4
10 9 8
5
6
7
I/O3
Inside: Pins 13 -19
13
18
14
15
17 16
+V
Capture/Trip
Analog In
I/O2
Pin Numbers Signal
14
15
16
17
18
9
10
11
12
13
7
8
5
6
3
4
1
2
I/O 9
I/O 11
Step/Clock I/O
I/O 1
Direction I/O
+VDC
Aux-Logic
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell connect
I/O 12
Capture/Trip I/O
AIN
I/O 2
I/O 4
I/O 10
Table 4.15 I/O connections, 19-pin M23 industrial
Prototype development cable wire colors (twisted pairs)
Violet
Red
Grey
Red/Blue
Green
Blue
Gray/Pink
White/Green
White/Yellow
White/Gray
Black
Yellow/Green
Yellow/Brown
Brown/Green
White
Yellow
Pink
Gray/Brown
P1 — 19-pin M23 industrial connector (remote encoder)
CH B+
CH A+
Shell
I/O Power
I/O GND
CH B-
CH A-
I/O4
Outside: Pins 1 -12
Index +
1
12
2 3
4
11
10 9 8
5
6
7
I/O3
Inside: Pins 13 -19
13
14
18
17 16
15
+V
Capture/Trip
Analog In
I/O2
Pin Numbers Signal
14
15
16
17
18
9
10
11
12
13
6
7
8
4
5
1
2
3
Channel A+
Channel B+
Index +
I/O 1
Index -
+V
Aux-Logic
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell connect
Channel B-
Capture/Trip I/O
AIN
I/O 2
I/O 4
Channel A -
Table 4.16: I/O connections, 19-pin M23 industrial
Prototype development cable wire colors (twisted pairs)
Violet
Red
Grey
Red/Blue
Green
Blue
Gray/Pink
White/Green
White/Yellow
White/Gray
Black
Yellow/Green
Yellow/Brown
Brown/Green
White
Yellow
Pink
Gray/Brown
MDI17:4-10 Integrated Motor and Driver
MDrive
®
17 Motion Control 4 Connection and Interface
4.5 Connectivity accessory details
4.5.1 RS-422/485 communication converter cables
USB to 10-pin IDC connector P2
P/N: MD-CC400-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
6.0’ (1.8m)
To computer
USB port
To MDrive P2 in-line converter
6.0’ (1.8m)
Figure 4.2 MD-CC400-000 communication converter cable
USB to 10-pin wire crimp connector P2
P/N: MD-CC402-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
6.0’ (1.8m)
6.0’ (1.8m)
To MDrive P2 in-line converter
To computer
USB port
Figure 4.3 MD-CC402-001 communication converter cable
Integrated Motor and Driver
MDI17:4-11
4 Connection and Interface MDrive
®
17 Motion Control
USB to 5-pin industrial connector P2—
MD-CC401-000
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters.
No mating connector kit is available for this connector style. Compatible mating connectors may be purchased from the following suppliers:
Phoenix
Turck
RDE Connectors
6.0’ (1.8m)
6.0’ (1.8m)
To computer
USB port
To MDrive P2 in-line converter
5-pin M12 (male)
Figure 4.4 MD-CC401-001 communication converter
MDI17:4-12 Integrated Motor and Driver
MDrive
®
17 Motion Control 4 Connection and Interface
4.5.2 Prototype development cables
Flying leads to10-pin wire crimp connector
P2 -P/N: PD10-1434-FL3
Used in conjunction with the MD-CC402-001 communication converter cable to facilitate multi-drop RS-422/485 communication.
To MDrive P2
10.0’ (3.0m)
To Communications
Flying leads terminated by crimp
Wire Colors
White/Red Stripe
White/Blue Stripe
Blue/White Stripe
White/Orange Stripe
Orange/White Stripe
Green/White Stripe
Function
Aux-Logic
TX+
TX-
RX+
RX-
GND
Note: If not using Aux-Logic
Remove Wire (White/Red Stripe)
Remove Ground Wire
(White/Green Stripe)
MDrive #n
MDrive #2
MDrive #1
Ground Connects to 1st MDrive ONLY!
Figure 4.5 Multi-drop communication using the PD10-1434-FL3
Procedure
1) Remove ground wire (unless this is the first system MDrive, green/white stripe)
2) Remove aux-logic (if not used, red/white stripe)
3) Connect pre-crimped flying leads as shown in Figure 5.7 below
9
10
8
Blue/White Stripe
White/Blue Stripe
Orange/White Stripe
White/Orange Stripe
7
Figure 4.6 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp connector.
Integrated Motor and Driver
MDI17:4-13
4 Connection and Interface MDrive
®
17 Motion Control
Flying leads to16-pin locking wire crimp connector P2 -P/N: PD16-1417-FL3
The PD16-1417-FL3 prototype development cable is used to rapidly interface the MDrive17 to the users controller. This 10’ (3.0 m) cable consists of a 16-pin locking wire crimp connector to plug directly into the
MDrive P1 connector with flying leads on the opposite end to interface to p
To MDrive P1
10.0’ (3.0m)
To Power & I/O
Pair Wire
Colors
1
Black
White
2
3
4
5
Black
Green
Black
Blue
Black
Yellow
Black
Brown
6
7
8
Black
Orange
White
Red
Black
Red
Function
Direction
Step Clock
Analog In
Capt/Trip
I/O12
I/O11
I/O10
I/O9
I/O4
I/O3
I/O2
I/O1
I/O Ground
I/O Power
Power GND Power GND
+V +V
Encoder
Function
IDX+
IDX-
Analog In
Capt/Trip
CH B-
CH B+
CH A-
CH A +
I/O4
I/O3
I/O2
I/O1
I/O Ground
I/O Power
7
6
5
4
9
8
11
10
3
2
1
14
13
12
Pin # Wire Colors Signal (Expanded features)
16
15
Black
Red
GND
+V
Black
White
Black
Step Clock I/O
Direction I/O
Analog Input
Green
Black
Blue
Black
Yellow
Black
Brown
Black
Orange
White
Red
Capture/Trip I/O
I/O 12
I/O 11
I/O 10
I/O 9
I/O 4
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Signal (Remote encoder)
GND
+V
Index –
Index +
Analog Input
Capture/Trip I/O
Channel B –
Channel B +
Channel A –
Channel A +
I/O 4
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Figure 4.7 Prototype development cable PD16-1417-FL3
Pairs
X
X
X
X
X
X
X
X
MDI17:4-14 Integrated Motor and Driver
MDrive
®
17 Motion Control 4 Connection and Interface
4.5.3 Connectivity option — 19 conductor cordset
19-pin M23 single-ended cordsets are offered to speed prototyping of the MDrive Accustep 34ac Motion Control. 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 ........................... MD-CS100-000
Right Angle ......................................... MD-CS101-000
To MDrive
19-pin M23 Connector To I/O
MD-CS100-000
2.815”
(71.5 mm)
MD-CS101-000
2.37”
(60.2)
13.0’
(4.0 m)
Ensure adequate space is available within your enclosure for the cordset connector!
Pin # Wire Colors
7
8
9
5
6
1
2
3
4
16
17
18
19
10
11
12
13
14
15
Violet
Red
Gray
Red/Blue
Green
Blue
Gray/Pink
White/Green
White/Yellow
White/Gray
Black
Green/Yellow
Yellow/Brown
Brown/Green
White
Yellow
Pink
Gray/Brown
Brown
Signal (Expanded
Features)
I/O9
I/O11
Step Clock
I/O1
Direction
+V
Aux-Logic
Comm GND
I/O3
I/O GND
I/O Power
Shell Connect
I/O12
Capture/Trip
Analog In
I/O2
I/O4
I/O10
GND
Figure 4.8 MD-CS10x-000 cordset
Signal (Remote encoder)
Channel A +
Channel B +
Index +
I/O1
Index –
+V
Aux-Logic
Comm GND
I/O3
I/O GND
I/O Power
Shell Connect
Channel B –
Capture/Trip
Analog In
I/O2
I/O4
Channel A –
GND
Integrated Motor and Driver
MDI17:4-15
4 Connection and Interface MDrive
®
17 Motion Control
4.6 Mating connector kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin pressure-fit IDC .......................................................CK-01
P2 10-pin wire crimp ................................................................CK-02
P1 16-pin wire crimp ................................................................CK-10
P3 2-pin wire crimp ..................................................................CK-04
MDI17:4-16 Integrated Motor and Driver
MDrive
®
23
Motion Control
1. Introduction
2. Specifications
3. Mounting Recommendations
4. Interface and Connectivity
This page intentionally left blank
MDrive
®
23 Motion Control
Table of Contents
Table of Contents
Integrated Motor and Driver
1 Introduction .................................................................... MDI23:1-1
1.1 MDrive 23 unit overview ...................................... MDI23:1-1
1.2 Product identification ........................................... MDI23:1-2
1.3 Documentation reference .................................... MDI23:1-2
1.4 Product software ................................................. MDI23:1-3
2 Specifications ................................................................ MDI23:2-1
2.1 Mechanical specifications .................................... MDI23:2-1
2.1.1 Standard and expanded features version ...............
............................................................... MDI23:2-1
2.1.2 Sealed version ....................................... MDI23:2-2
2.2 General specifications ......................................... MDI23:2-3
2.2.1 Electrical specifications .......................... MDI23:2-3
2.2.2 Standard I/O specifications (plus) .......... MDI23:2-4
2.2.3 Expanded I/O specifications (Plus
2.2.4 Communication specifications ............... MDI23:2-5
2.2.5 Thermal specifications ........................... MDI23:2-6
2.2.6 Motion specifications ............................. MDI23:2-6
2.2.7 Software specifications .......................... MDI23:2-7
2.2.8 Motor specifications ............................... MDI23:2-7
2.2.9 Speed-force performance curves .......... MDI23:2-7
2.3 Connectivity specifications/pin assignments —
Communication ................................................... MDI23:2-9
2.3.1 RS-422/485 communication .................. MDI23:2-9
2.3.2 CANopen communication option ......... MDI23:2-10
2.4 Connectivity specifications/pin assignments - Power and ...
I/O ...................................................................... MDI23:2-11
2.4.1 Power and I/O - standard I/O (Plus) .... MDI23:2-11
2.4.2 DC motor power ................................... MDI23:2-12
2.4.3 I/O - expanded I/O (Plus
) .................... MDI23:2-12
2.4.4 I/O - expanded I/O (Plus
............................................................. MDI23:2-13
2.4.5 I/O - remote encoder (Plus 2 ) ................ MDI23:2-13
2.4.6 DC power and I/O - expanded I/O (Plus
with ....... industrial connectors) ........................... MDI23:2-14
2.4.7 DC power and I/O - remote encoder (Plus
with .... industrial connectors) ........................... MDI23:2-15
2.5 Options .............................................................. MDI23:2-15
2.6 Connectivity ....................................................... MDI23:2-16
3 Mounting and connection recommendations ............. MDI23:3-1
3.1 Mounting .............................................................. MDI23:3-2
3.2 Layout and interface guidelines........................... MDI23:3-3
3.2.1 Rules of wiring ...................................... MDI23:3-3
3.2.2 Rules of shielding ................................. MDI23:3-3
3.3 Recommended wiring .......................................... MDI23:3-4
3.3.1 Recommended mating connectors and pins ..........
............................................................... MDI23:3-4
3.4 Securing power leads and logic leads ................. MDI23:3-5
4 Connection and interface ............................................. MDI23:4-1
4.1 Interfacing RS422-485 communication ............... MDI23:4-1
4.1.1 P2 — 10-pin pressure-fit IDCstyle connector .........
............................................................... MDI23:4-2
4.1.2 P2 — 10-pin friction lock wire crimp ...... MDI23:4-2
i
Table of Contents
MDrive
®
23 Motion Controlr
4.1.3 P2 — 5-pin M12 industrial connector (male) ..........
............................................................... MDI23:4-3
4.2 Interfacing Ethernet communication .................... MDI23:4-3
4.3 Interfacing CANopen communication .................. MDI23:4-4
4.3.1 P2 — 9-pin d-sub connector (female) .... MDI23:4-4
4.3.2 P2 — 5-pin M12 industrial connector (female) .......
............................................................... MDI23:4-4
4.4 Interfacing DC power ........................................... MDI23:4-5
4.4.1 Recommended power supply characteristics .........
4.4.2 Recommended wire gauge .................... MDI23:4-5
4.4.5 P1 — 2-pin wire crimp interface ............. MDI23:4-6
4.4.6 P1 — 19-pin M23 industrial interface ..... MDI23:4-6
4.4.3 P1 — 12’ (30.5 cm) flying leads interface ...............
............................................................... MDI23:4-6
4.4.4 P1 — 7-pin pluggable terminal interface MDI23:4-6
4.5 Interfacing I/O ...................................................... MDI23:4-7
4.5.1 P1 — 12’ (30.5 cm) flying leads interface ...............
............................................................... MDI23:4-7
4.5.2 P1 — 7-pin pluggable terminal interface MDI23:4-7
4.5.3 P1 — 14-pin locking wire crimp interface
(expanded I/O) ...................................... MDI23:4-8
4.5.5 P1 — 19-pin M23 industrial connector (expanded
I/O) ....................................................... MDI23:4-11
4.6 Connectivity accessory details .......................... MDI23:4-12
4.6.1 RS-422/485 communication converter cables ........
............................................................. MDI23:4-12
4.6.2 Prototype development cables ............ MDI23:4-14
4.6.3 Connectivity option — 19 conductor cordset ..........
............................................................. MDI23:4-17
4.7 Mating connector kits ........................... MDI23:4-18
ii Integrated Motor and Driver
MDrive
®
23 Motion Control
List of Figures
Table of Contents
Figure 1.1 Standard product options .......................................... MDI23:1-2
Figure 2.1 Standard and Expanded features mechanical specifications .....
.................................................................................. MDI23:2-1
Figure 2.2 Sealed mechanical specifications ............................. MDI23:2-2
Figure 2.3 Motor performance curve — single length motor ...... MDI23:2-7
Figure 2.4 Motor performance curve — double length motor ..... MDI23:2-8
Figure 2.5 Motor performance curve — triple length motor ........ MDI23:2-8
Figure 2.6 Motor performance curve — quad length motor........ MDI23:2-8
Figure 3.1 MDrive 23 mounting and drill pattern ........................ MDI23:3-2
Figure 3.2 Securing leads ........................................................... MDI23:3-5
Figure 4.1 MD-CC400-000 communication converter cable .... MDI23:4-12
Figure 4.2 MD-CC402-001 communication converter cable .... MDI23:4-12
Figure 4.3 MD-CC401-001 communication converter .............. MDI23:4-13
Figure 4.4 Multi-drop communication using the PD10-1434-FL3 ................
................................................................................ MDI23:4-14
Figure 4.5 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp .....
connector. ................................................................ MDI23:4-14
Figure 4.7 Prototype development cable PD02-2300-FL3 ....... MDI23:4-16
Figure 4.8 MD-CS10x-000 cordset ........................................... MDI23:4-17
Integrated Motor and Driver iii
Table of Contents
List of Tables iv
MDrive
®
23 Motion Controlr
Table 2.1 Electrical specifications ............................................. MDI23:2-3
Table 2.2 I/O specifications ....................................................... MDI23:2-4
Table 2.3 Expanded I/O specifications ...................................... MDI23:2-5
Table 2.4 Communication specifications ................................... MDI23:2-5
Table 2.5 Thermal specifications ............................................... MDI23:2-6
Table 2.6 Motion specifications ................................................. MDI23:2-6
Table 2.7 Software specifications .............................................. MDI23:2-7
Table 2.8 MDrive 23 motor specifications ................................. MDI23:2-7
Table 2.9 P2 communication, 10-pin locking wire crimp ........... MDI23:2-9
Table 2.10 P2 communication, 10-pin pressure fit IDC/SAMTEC MDI23:2-9
Table 2.11 P2 communication, 10-pin pressure fit IDC/SAMTEC ................
................................................................................ MDI23:2-10
Table 2.12 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
................................................................................ MDI23:2-10
Table 2.13 CANopen communication, P2: 5-pin D-sub female . MDI23:2-10
Table 2.14 P2 communications, RJ45 (ethernet versions only) MDI23:2-11
Table 2.15 Power and I/O interface - 12” (308.8.mm) flying leads ...............
................................................................................ MDI23:2-11
Table 2.16 Power and I/O interface - 7-pin pluggable terminal . MDI23:2-11
................................................................................ MDI23:2-12
Table 2.17 P3 DC power, 2-pin locking wire crimp ................... MDI23:2-12
Table 2.18 P1 Expanded I/O, 14-pin locking wire crimp ........... MDI23:2-12
Table 2.19 P1 Expanded I/O (Ethernet Version), 14-pin locking wire crimp
................................................................................ MDI23:2-13
Table 2.20 I/O and remote encoder interface - 16-pin locking wire crimp ...
................................................................................ MDI23:2-13
Table 2.21 P1 I/O and aux power, 19-pin lM23 industrial connector............
................................................................................ MDI23:2-14
Table 2.22 P1 I/O and aux power, 19-pin M23 industrial connector ............
................................................................................ MDI23:2-15
Table 4.1 Communication connections, P2 - 10-pin IDC .......... MDI23:4-2
Table 4.2 P2 communication, 10-pin locking wire crimp ........... MDI23:4-2
Table 4.3 P2 communication, 5-pin M12F industrial connector MDI23:4-3
Table 4.4 P2 communication, Ethernet RJ45 ............................ MDI23:4-3
Table 4.5 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
.................................................................................. MDI23:4-4
Table 4.6 CANopen communication, P2: 5-pin M12 female .... MDI23:4-4
Table 4.7 Recommended power supply characteristics ............ MDI23:4-5
Table 4.8 Recommended power supply wire gauge ................. MDI23:4-5
Table 4.11 Power and ground connections, 7-pin terminal ......... MDI23:4-6
Table 4.12 Power and ground connections, 12-pin locking wire crimp ........
.................................................................................. MDI23:4-6
Table 4.9 Power and ground connections, flying leads ............. MDI23:4-6
Table 4.10 Power and ground connections, 7-pin terminal ......... MDI23:4-6
Table 4.13 I/O connections, flying leads ..................................... MDI23:4-7
Table 4.14 I/O connections, 7-pin terminal .................................. MDI23:4-7
Table 4.15 I/O connections, 16-pin locking wire crimp ................ MDI23:4-8
Table 4.16 I/O connections, 16-pin locking wire crimp ................ MDI23:4-9
Table 4.17 I/O and remote encoder connections, 16-pin locking wire crimp
................................................................................ MDI23:4-10
Table 4.18 I/O connections, 19-pin M23 industrial .................... MDI23:4-11
Table 4.19 I/O connections, 19-pin M23 industrial .................... MDI23:4-11
Integrated Motor and Driver
MDrive
®
23 Motion Control 1 Introduction
1 Introduction
1.1 MDrive 23 unit overview
The
MDrive
®
23 Motion Control offers system designers a cost effective, full featured programmable motion controller integrated with a NEMA 23 high torque 1.8° brushless step motor and a +12 up to +75 VDC* microstepping driver.
The unsurpassed smoothness and performance delivered by the MDrive
23 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 MDrive 23 accepts a broad input voltage range from +12 up 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 cable runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.
Standard features of all MDrive 23 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 of MDrive 23 versions 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.
All MDrive 23 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
MDrive 23 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-topoint 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.
Optional communication protocols include CANopen and Ethernet. The
CAN bus is 2.0B active (11 and/or 29 bit) and is capable of all standard frequencies from 10kHz to 1MHz. CANopen features include node guarding, heartbeat producer, SDOs and PDOs. Highlights include variable PDO mapping and extended node identifier. The Ethernet versions supports MODBUS/TCP and MCode/TCP.
Motor configurations include a single shaft rotary in four lengths, and linear actuators with long life Acme screw**.
Integrated Motor and Driver
MDI23:1-1
1 Introduction MDrive
®
23 Motion Control
Numerous connector styles give you choices for the best fit and features. Select from 12.0” (30.5cm) flying leads, pluggable terminal strip, locking wire crimp connectors, and M12/M23 industrial connectors.
MDrive connectivity has never been easier with options ranging from all-inclusive QuickStart Kits to individual interfacing cables and mating connector kits to build your own cables.
The MDrive 23 is a compact, powerful and cost effective motion control solution that will reduce system cost, design and assembly time for a large range of brushless step motor applications.
1.2 Product identification
MDrive
®
23 Plus
P1: I/O & Power
F = 12" flying leads
P = non-locking spring clamp
terminal strip
P2: Communication
D = RS-422/485 with 10-pin IDC
non-locking connector
L = RS-422/485 with 10-pin friction
lock wire crimp connector
MDrive
®
23 Plus
2
MDrive
®
23 Plus
2 with industrial connectors
P1: I/O, and optional remote encoder
C = 14-pin locking wire crimp
connector
P3: Power
2-pin locking wire crimp connector
P2: Communication
D = RS-422/485 with 10-pin IDC
non-locking connector
L = RS-422/485 with 10-pin friction
lock wire crimp connector
R = Ethernet with RJ45
locking connector
P2: Communication
Q = RS-422/485 with 5-pin M12
female industrial connector
P1: I/O & Power, and optional remote encoder
M = 19-pin M23 male industrial connector
Part numbers
E x a m p l e :
QuickStart Kit
K = kit option, or leave blank if not wanted
MDrive Plus version
MDI = Motion Control
Input
1 = Plus, standard features
3 = Plus
4 = Plus
2
2
, expanded features
, expanded features, with industrial connectors, IP54-rated
P1 connector
F = � ying leads
P = pluggable
C = wire crimp (1)
M = M23 industrial connector (2)
Communication
R = RS-422/485
E = Ethernet (3)
P2 connector
D = IDC
L = wire crimp
R = RJ45 (3)
Q = M12 industrial connector (2)
Motor size
23 = NEMA 23 (2.3" / 57 mm)
Motor length (4)
A = single stack
B = double stack
C = triple stack
D = quad stack
Drive voltage (4)
7 = +12 to +75 VDC
6 = +12 to +60 VDC
Options
Leave blank if not wanted
Options may be combined, unless noted
K M D I 1 F R D 2 3 A 7 – E Q
K M D I 1 F R D 2 3 A 7 – EQ
K M D I 1 F R D 2 3 A 7 – EQ
K M D I 1 F R D 2 3 A 7 – EQ
K M D I 1 F R D 2 3 A 7 – EQ
K M D I 1 F R D 2 3 A 7 – EQ
K M D I 1 F R D 2 3 A 7 – EQ
K M D I 1 F R D
2 3 A 7 – EQ
K M D I 1 F R D 2 3 A 7 – EQ
K M D I 1 F R D 2 3 A 7 – EQ
– EQ = internal encoder, 512-line internal magnetic encoder with index mark
– EQ
– EE = remote encoder interface, differential encoder to be provided by user
Available with Plus
2
versions only. May not be combined with internal encoder option.
(5)
– N = rear control knob for manual positioning (6)
(1) Only available with Plus
2
products without industrial connectors.
(2) Only available with Plus
2
products with industrial connectors.
(3) Only available with Plus products with Ethernet protocol.
(4) Only quad stack motors have +12 to +60 VDC drives, all other motors have +12 to +75 VDC drives.
(5) Not available with Ethernet products.
(6) Not available with industrial connector products.
Figure 1.1 Standard product options
Documentation reference
Integrated Motor and Driver
MDrive
®
23 Motion Control 1 Introduction
1.4 Product software
The following User’s manuals are available for the MDrive 23:
Product manual, describes the technical data, installation, configuration and programming of the product.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the IMS web site at http://www.imshome.com
The MDrive 23 motion control integrated motor and driver may be programmed using any standard ASCII txt editor and ANSI terminal emulated. The recommended environment is the IMS Terminal Interface, which is a combined terminal/program editor tailored for use with
IMS motion control products. This free software may be downloaded from http://www.imshome.com/software_interfaces.html.
Installation and usages instructions are to be found in the MCode Programming Manual, which is correlated to this document.
Integrated Motor and Driver
MDI23:1-3
1 Introduction
Page intentionally left blank
MDrive
®
23 Motion Control
MDI23:1-4 Integrated Motor and Driver
MDrive
®
23 Motion Control 2 Specifications
2
2.1
2.1.1
Specifications
Mechanical specifications
Standard and expanded features version
2.96
(75.2)
P1/P3
1.90
(48.3)
0.81 ±0.02
(20.6 ±0.5)
2.02
(51.2)
1.63
(41.4)
0.063 ±0.008
(1.6 ±0.2)
0.59 ±0.008
(15.0 ±0.2)
Single, Double & Triple
Length Motors:
Ø 0.2500 +0/-0.0005
(Ø 6.350 +0/-0.013)
Quad Length Motor:
Ø 0.315 +0/-0.0005
(Ø 8.0 +0/-0.013)
Ø 0.197 +0.012/-0
(Ø 5.0 +0.3/-0)
P2
1.34
(34.0)
LMAX2
LMAX
Single, Double & Triple
Length Motors:
0.230 ±0.004
(5.8 ±0.1)
Quad Length Motor:
0.2756 ±0.004
(7.0 ±0.1)
0.189 ±0.012
(4.8 ±0.3)
Motor stack length
Single
Double
Triple
Lmax (1)
2.65 (67.31)
3.02 (76.71)
3.88 (98.55)
Quad
5.28 (134.15)
(1) Single shaft or internal encoder.
(2) Control knob or external encoder.
Lmax2 (2)
3.36 (85.34)
3.73 (94.74)
4.59 (116.59)
5.99 (152.19)
0.93*
(
23.6)
0.86*
(21.8)
* Ethernet communication
2.22
(
56.4)
Lmax2 option
Ø 0.97
(Ø 24.6)
control knob
Figure 2.1 Standard and Expanded features mechanical specifications
1.856 ±0.008
(
47.1 ±0.2)
Ø 1.500 ±0.002
(Ø 38.1 ±0.1)
Integrated Motor and Driver
MDI23:2-1
2 Specifications MDrive
®
23 Motion Control
2.1.2 Sealed version
2.042
(51.9)
LMAX3*
0.06
(1.5)
P2
1.078
(27.4)
P1
1.033
(26.2)
1.480
(37.6)
LMAX
LMAX2
Motor
Length
Single
Double
Triple
LMAX LMAX2 LMAX3*
2.82 (71.63)
3.16 (80.26)
4.02 (102.11)
3.48 (88.39)
3.82 (97.03)
4.67 (118.62)
3.42 (86.87)
3.76 (95.5)
4.62 (117.35)
*CANopen increases measurement by 0.09"/2.0mm
0.81 ±0.02
(20.6 ±0.5)
Single, Double & Triple
Length Motors:
0.23 ±0.004
(5.8 ±0.1)
Single, Double & Triple
Length Motors:
Ø 0.2500 +0/-0.0005
(Ø 6.350 +0/-0.013)
Ø 0.87
(Ø 22.1)
I/O & Comm
Power
Ø 0.53
(Ø 13.5)
P2: 5-Pin M12 (Female)
(or CANopen – Male)
2.02
(51.2)
1.64
(41.5)
2.22 SQ.
(56.4 SQ.)
Figure 2.2 Sealed mechanical specifications
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)
MDI23:2-2 Integrated Motor and Driver
MDrive
®
23 Motion Control 2 Specifications
2.2
2.2.1
General specifications
Electrical specifications
Input voltage range
Condition
Single, double and triple lengthe motors
Quad length motor
Min
+12
+12
Single, double and triple length motors
—
Typ Max
+75
+60
Unit
VDC
2.0
1.6
1.2
75 60 45 30 12
Voltage (VDC)
Max power supply current*
Quad length ,motor
3.5
2.8
2.1
60 48 36 24 12
Voltage (VDC)
Aux-Logic Input Voltage
Max Aux-Logic Supply Current (Per
MDrive)**
—
—
+12
—
—
—
+24
194
VDC mA
*per MDrive 23, Actual current depends on voltage and load.
** Maintains power to control and feedback circuits [only] when input voltage is removed
Table 2.1 Electrical specifications
Integrated Motor and Driver
MDI23:2-3
2 Specifications MDrive
®
23 Motion Control
2.2.2 Standard I/O specifications (plus)
Condition
General Purpose I/O - Number and Type
Plus (I/O Points 1-4)
General Purpose I/O - Electrical
Inputs
Sinking Outputs (All)
Output Sink Current (Plus)
Logic Threshold
Protection
—
—
—
One channel
Logic 0
Logic 1
Sinking
Sourcing
Analog Input
Resolution
Range
Clock I/O
Types
Logic Threshold
Trip Output/Capture Input
Logic Threshold
—
Voltage Mode
Current Mode
—
—
Table 2.2 I/O specifications
—
Min Typ Max Unit
4 I/O points configurable as sinking or sourcing inputs or sinking outputs
TTL
—
—
—
—
—
—
—
—
—
+24
+24
600
< 0.8
> 2.2
VDC
VDC mA
VDC
VDC
Over temp, short circuit
Transient Over Voltage, Inductive
Clamp
0 to +5 VDC, 0 to +10 VDC
4 to 20 mA, 0 to 20mA
Step/Direction, Up/Down, Quadrature
+5 VDC TTL Input, TTL Output (with 2 kΩ Load to Ground
+5 VDC TTL Input, TTL Output (with 2 kΩ Load to Ground
MDI23:2-4 Integrated Motor and Driver
MDrive
®
23 Motion Control 2 Specifications
2.2.3
2.2.4
Expanded I/O specifications (Plus
2
)
Condition Min Typ Max Unit
General Purpose I/O - Number and Type
Plus (I/O Points 1-8)
General Purpose I/O - Electrical
Inputs
Outputs
Output Sink Current (Plus)
Motion I/O
—
Sinking or Sourcing
Sinking
Sourcing
One channel remote encoder) configurable as sinking or sourcing inputs or outputs
TTL
—
+12
—
—
—
—
+24
+24
+24
600
VDC
VDC
VDC mA
Electronic gearing
High speed position capture
High speed trip output
Range
Resolution
Threshold
Filter range
Secondary clock out ratio
Filter range
Resolution
Speed
Resolution
Threshold
0.001
—
—
—
—
—
—
—
—
—
—
—
—
—
2.000
32
TTL
32
150
32
TTL bit
VDC
1:1 bit nS bit
VDC
Optional remote encoder
Type
Steps per revolution
Resolution
User supplied differential encoder
See motion specifications table
*Remote encoder inputs replace I/O points 4-8 and step and direction I/O
Table 2.3 Expanded I/O specifications
Communication specifications
Condition Min Typ Max Unit
RS-422/485 (standard)
BAUD rate
Ethernet (optional)
Protocols
CANopen (optional)
Type
BAUD rate
Application layer
Device profile
ID
Isolation
— 4.8
—
Version 3.0
Version 2.0
—
—
Table 2.4 Communication specifications
10 kHz
MODBUS/TCP and MCode/TCP
—
115.2
kbps
1 MHz
2.0B active
—
DS-301
DSP-402
11 or 29 bit
Galvanic
Integrated Motor and Driver
MDI23:2-5
2 Specifications MDrive
®
23 Motion Control
2.2.5
2.2.6
Thermal specifications
Heat sink temperature
Motor temperature non-condensing humidity non-condensing humidity
Table 2.5 Thermal specifications
Motion specifications
Min
-40
-40
Typ
—
—
Max
+85
+100
Unit
ºC
ºC
Microstep Resolution - Open Loop
Number of microstep resolutions
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
* 1" per revolution lead screw
Microstep resolution (closed loop configuration - (optional)
Steps Per Revolution (Fixed)
Position Resolution
Optional differential encoder (internally mounted)
Type
Resolution (Lines)
Resolution (Edges)
Counters
Counter 1 (C1) Type
Counter 2 (C2) Type
Resolution
Maximum Edge Rate
Velocity
Range
Resolution
Acceleration/Deceleration
Range
Resolution
6400
21600
2
10000
25400
3
20
51200
2048
Internal, Magnetic
512
2048
Position
Encoder
32 bit
5 MHz
±5,000,000 Steps/Sec.
0.5961 Steps/Sec.
1.5 x 10
9
Steps/Sec.
2
90.9 Steps/Sec.
2
Table 2.6 Motion specifications
MDI23:2-6 Integrated Motor and Driver
MDrive
®
23 Motion Control 2 Specifications
2.2.7
2.2.8
Software specifications
Program Storage Type/Size
User Registers
User Program Labels and Variables
Math, Logic and Conditional Functions
Branch Functions
Party Mode Addresses
Encoder Functions
Predefined I/O Functions
Input Functions
Output Functions
Trip Functions
Flash/6384 Bytes
(4) 32 Bit
192
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Branch and Call (Conditional)
62
Stall Detect, Position Maintenance, Find Index
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog Input
Moving, Fault, Stall, Velocity Changing
Trip on Input, Trip on Position, Trip on Time, Trip Capture
Table 2.7 Software specifications
Motor specifications
Specification
Holding torque oz-in (N-cm)
Detent torque oz-in (N-cm)
Rotor inertia oz-in-sec
2
(kg-cm
2
)
Weight motor and driver oz (g)
Single length
90.0 (64)
3.9 (2.7)
0.0025 (0.18)
21.6 (612.3)
Double length
144 (102)
5.6 (3.92)
0.0037 (0.26)
26.4 (784.4)
Table 2.8 MDrive 23 motor specifications
Triple length Quad length
239 (169) 283 (200)
9.7 (6.86) 14.2 (10.0)
0.0065 (0.46) 0.0108 (0.76)
39.2 (1111.3) 61.6 (1746.3)
2.2.9 Speed-force performance curves
Single length motor
250
225
100
75
50
25
200
175
150
125
0
0
24 VDC
48 VDC
75 VDC
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
176
159
141
124
106
88
71
53
35
18
7000
(2100)
Figure 2.3 Motor performance curve — single length motor
Integrated Motor and Driver
MDI23:2-7
2 Specifications MDrive
®
23 Motion Control
MDI23:2-8
Double length motor
250
225
200
175
150
125
100
75
50
25
0
0
24 VDC
48 VDC
75 VDC
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
176
159
141
124
106
88
71
53
35
18
7000
(2100)
Figure 2.4 Motor performance curve — double length motor
Triple length motor
250
225
200
175
150
125
100
75
50
25
0
0
24 VDC
48 VDC
75 VDC
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
176
159
141
53
35
18
124
106
88
71
7000
(2100)
Figure 2.5 Motor performance curve — triple length motor
Quad length motor
250
225
200
175
150
125
100
75
50
25
0
0
24 VDC
48 VDC
60 VDC
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
176
159
141
53
35
18
124
106
88
71
7000
(2100)
Figure 2.6 Motor performance curve — quad length motor
Integrated Motor and Driver
MDrive
®
23 Motion Control 2 Specifications
2.3
2.3.1
Connectivity specifications/pin assignments — Communication
RS-422/485 communication
10-pin friction lock wire crimp
P2
5
3
9
7
1
10
8
6
4
2
Connectivity Options
USB to RS-422/485
Converter:
MD-CC402-001
Mating connector kit:
CK-02
Mfg P/N:
Shell
Hirose DF11-10DS-2C
Pins
Hirose: DF11-2428SC
Pin # Function
1
2
3
4
5
TX +
Comm GND
RX -
TX -
Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 2.9 P2 communication, 10-pin locking wire crimp
10-pin press-fit (IDC style)
P2
6
8
2
4
10
5
7
1
3
9
Connectivity Options
USB to RS-422/485
Converter:
MD-CC400-001
Mating connector kit:
CK-01
Mfg P/N:
Shell
SAMTEC: TCSD-05-01-N
Ribbon cable
Tyco: 1-57051-9
Pin # Function
1
2
3
4
5
TX +
TX -
RX +
RX -
Aux-Logic
6 RX +
7 RX -
8 TX -
9
10
TX +
Comm GND
Description
Transmit plus
Transmit minus
Receive plus
Receive minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive minus
Transmit minus
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Table 2.10 P2 communication, 10-pin pressure fit IDC/SAMTEC
Integrated Motor and Driver
MDI23:2-9
2 Specifications MDrive
®
23 Motion Control
5-pin M12 industrial
P2
3 4
5
2 1
Pin # Function
1 TX -
2 TX +
3 RX +
4 RX -
5 Comm Gnd
Description
Transmit minus
Transmit plus
Receive plus
Receive minus
Communication ground
Table 2.11 P2 communication, 10-pin pressure fit IDC/SAMTEC
Connectivity Options
USB to RS-422/485
Converter:
MD-CC401-001
2.3.2 CANopen communication option
9-pin D-sub female (DB-9F)
P2
8
9
6
7
3
4
1
2
5
Connectivity Options
USB to CANopen converter:
MD-CC500-000
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 2.12 CANopen communication, P2: 9-pin D-sub female (DB-9F)
5-pin M12 industrial
P2
4 3
5
1 2
Connectivity Options
USB to CANopen converter:
MD-CC500-000
Pin # Function
1 Shield
2 CAN +V
3 CAN -V
4 CAN high
5 CAN low
Description
Optional CAN shield
+7 to +30 VDC power supply
CAN communication ground
CAN_H bus line (high dominant)
CAN_L bus line (low dominant)
Table 2.13 CANopen communication, P2: 5-pin D-sub female
MDI23:2-10 Integrated Motor and Driver
MDrive
®
23 Motion Control 2 Specifications
2.4
2.4.1
RJ45 (Ethernet versions only)
P2
Pin # Function
1 TX +
2 TX -
3 RX +
4 N/C
5 N/C
6 RX -
7 N/C
8 N/C
Description
Transmit plus
Transmit minus
Receive plus
Not connected
Not connected
Receive minus
Not connected
Not connected
Table 2.14 P2 communications, RJ45 (ethernet versions only)
Connectivity specifications/pin assignments - Power and I/O
Power and I/O - standard I/O (Plus)
12” (304.8 mm) flying leads
12.00
+1.0/-0.0
(304.8)
(+25.4/-0.0)
P1
Wire Color Function
White/yellow I/O 1
White/orange I/O 2
White/violet I/O 3
White/blue I/O 4
Green
Black
Red
Analog input
GND
+V
Description
General purpose I/O point 1
General purpose I/O point 2
General purpose I/O point 3
General purpose I/O point 4
0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
Power and auxiliary ground
Motor power
Table 2.15 Power and I/O interface - 12” (308.8.mm) flying leads
7-pin pluggable terminal
Top view
5
6
7
3
4
1
2
Pin #
1
2
3
4
5
6
7
Function
I/O 1
I/O 2
I/O 3
I/O 4
Analog input
GND
+V
Description
General purpose I/O point 1
General purpose I/O point 2
General purpose I/O point 3
General purpose I/O point 4
0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
Power and auxiliary ground
Motor power
Table 2.16 Power and I/O interface - 7-pin pluggable terminal
Integrated Motor and Driver
MDI23:2-11
2 Specifications MDrive
®
23 Motion Control
2.4.2 DC motor power
2-pin friction lock wire crimp
P3
2 1
Pin # Function
1 +V
2 Ground
Description
+12 to +60 VDC motor power
Power supply return (ground)
Table 2.17 P3 DC power, 2-pin locking wire crimp
Connectivity Options
Prototype development cable
PD-02-2300-FL3
Mating connector kit:
CK-04
Mfg P/N:
Shell
Tyco 794617-2
Pins
Tyco 794610-1
2.4.3 I/O - expanded I/O (Plus
2
)
14-pin locking wire crimp
P1
5
3
1
13
11
9
7
6
4
2
14
12
10
8
Connectivity Options
Prototype development cable::
PD14-2334-FL3
Mating connector kit:
CK-09
Mfg P/N:
Shell
JST PADP-14V-1-S
Pins
JST SPH-001T0.5L
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs
2 I/O GND
3 I/O 1
Non-isolated I/O Ground. Common with Power Ground
0 to +24 VDC Programmable I/O Point 1
4 I/O 2 0 to +24 VDC Programmable I/O Point 2
5
6
7
I/O 3
I/O 4
I/O 9
1
8 I/O 10 1
9 I/O 11
1
10 I/O 12
1
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
0 to +24 VDC Programmable I/O Point 9
0 to +24 VDC Programmable I/O Point 10
0 to +24 VDC Programmable I/O Point 11
0 to +24 VDC Programmable I/O Point 12
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input
13
Step/clock
I/O
Step clock I/O. Can also be configured as quadrature or clock up/down. +5 VDC logic level.
14
Direction/ clock I/O
Direction I/O. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
Table 2.18 P1 Expanded I/O, 14-pin locking wire crimp
MDI23:2-12 Integrated Motor and Driver
MDrive
®
23 Motion Control 2 Specifications
2.4.4 I/O - expanded I/O (Plus
2
– Ethernet version)
14-pin locking wire crimp
P1
5
3
1
13
11
9
7
6
4
2
14
12
10
8
Connectivity Options
Prototype development cable::
PD14-2334-FL3
Mating connector kit:
CK-09
Mfg P/N:
Shell
JST PADP-14V-1-S
Pins
JST SPH-001T0.5L
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs
2 I/O GND Non-isolated I/O Ground. Common with Power Ground
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 - 10 N/C
14
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
Not connected
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input
13
Step/clock
I/O
Step clock I/O. Can also be configured as quadrature or clock up/down. +5 VDC logic level.
Direction/ clock I/O
Direction I/O. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
Table 2.19 P1 Expanded I/O (Ethernet Version), 14-pin locking wire crimp
2.4.5 I/O - remote encoder (Plus
2
)
Not available with Ethernet models
14-pin locking wire crimp
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs.
2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 CH A+
8 CH A-
9 CH B+
10 CH B-
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
Channel A+ encoder input. +5 VDC logic level
Channel A- encoder input. +5 VDC logic level
Channel B+ encoder input. +5 VDC logic level
Channel B- encoder input. +5 VDC logic level
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level.
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
13 IDX+ Index mark + encoder input. +5 VDC logic level
14 IDXIndex mark - encoder input. +5 VDC logic level
Table 2.20 I/O and remote encoder interface - 16-pin locking wire crimp
Integrated Motor and Driver
MDI23:2-13
2 Specifications MDrive
®
23 Motion Control
2.4.6 DC power and I/O - expanded I/O (Plus
2
with industrial connectors)
19-pin M23 industrial
Outside: Pins 1 -12
1
12
2
3
4
11
10 9 8
5
7
6
Inside: Pins 13 -19
13
14
18 19 15
17 16
Connectivity Options
Prototype development cable:
MD-CS100-000 (straight)
MD-CS101-000 (rightangle)
Pin # Function
1 I/O 9
2
3
I/O 11
Description
0 to +24 VDC Programmable I/O Point 9.
0 to +24 VDC Programmable I/O Point 11.
Step/Clock I/O 0 to +5 VDC Step Clock I/O. Can also be configured as Quadrature or Clock Up/Down.
4 I/O 1 0 to +24 VDC Programmable I/O Point 1.
5
6
Direction/clock
I/O
+V
Aux-Logic
Direction i/o. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
7
8
9
10
11
12
13
14
15
16
17
18
19
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell
I/O 12
Capture/Trip
I/O
AIN
I/O 2
I/O 4
I/O 10
GND
Motor power input
+12 to +24 VDC Auxiliary Logic Supply Input.
This provides power to control and logic circuits if main power is removed.
Auxiliary Ground.
0 to +24 VDC Programmable I/O Point 3.
Non-isolated I/O ground. Common with power ground.
I/O Power, used with sourcing inputs or outputs.
See Section 2.3 for more details.
Shell connect
0 to +24 VDC Programmable I/O Point 12.
High Speed Capture Input or Trip Output. +5
VDC Logic Level.
0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog
Input.
0 to +24 VDC Programmable I/O Point 2.
0 to +24 VDC Programmable I/O Point 4.
0 to +24 VDC Programmable I/O Point 10.
Power ground
Table 2.21 P1 I/O and aux power, 19-pin lM23 industrial connector
MDI23:2-14 Integrated Motor and Driver
MDrive
®
23 Motion Control 2 Specifications
2.4.7 DC power and I/O - remote encoder (Plus
2
with industrial connectors)
19-pin M23 industrial
Outside: Pins 1 -12
1
12
2
3
4
11
10 9 8
5
7
6
Inside: Pins 13 -19
13
14
18 19 15
17 16
Connectivity Options
Prototype development cable:
MD-CS100-000 (straight)
MD-CS101-000 (rightangle)
Pin # Function
1 CH A+
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
CH B+
IDX+
I/O 1
IDX-
+V
Aux-Logic
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell
CH B-
Capture/Trip
I/O
AIN
I/O 2
I/O 4
CH A-
GND
Description
Channel A+ encoder input. +5 VDC logic level
Channel B+ encoder input. +5 VDC logic level
Index mark + encoder input. +5 VDC logic level
0 to +24 VDC Programmable I/O Point 1.
Index mark - encoder input. +5 VDC logic level
Motor power input
+12 to +24 VDC Auxiliary Logic Supply Input.
This provides power to control and logic circuits if main power is removed.
Auxiliary Ground.
0 to +24 VDC Programmable I/O Point 3.
Non-isolated I/O ground. Common with power ground.
I/O Power, used with sourcing inputs or outputs.
See Section 2.3 for more details.
Shell connect
Channel B- encoder input. +5 VDC logic level
High Speed Capture Input or Trip Output. +5
VDC Logic Level.
0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog
Input.
0 to +24 VDC Programmable I/O Point 2.
0 to +24 VDC Programmable I/O Point 4.
Channel A- encoder input. +5 VDC logic level
Power ground
Table 2.22 P1 I/O and aux power, 19-pin M23 industrial connector
2.5 Options
Internal encoder
Internal differential magnetic 512 line differential encoders with index mark are available:
Remote Encoder (Plus2 versions only)
MDrive 23 Motion Control versions are available with differential encoder inputs for use with a remote encoder (not supplied).
Control Knob
The MDrive 23 is available with a factory-mounted rear control knob for manual shaft positioning.
Integrated Motor and Driver
MDI23:2-15
2 Specifications MDrive
®
23 Motion Control
2.6 Connectivity
QuickStart kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter, prototype development cable(s), instructions and CD for MDrive initial functional setup and system testing.
Communication Converters
Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program communication parameters for a single
MDrive product via a PC’s USB port. Length 12.0’ (3.6m).
Mates to connector:
P2 10-pin pressure-fit IDC ........................................MD-CC400-001
P2 5-pin M12 industrial .............................................MD-CC401-001
P2 10-pin wire crimp .................................................MD-CC402-001
Prototype Development Cables
Speed test/development with pre-wired mating connectors that have flying leads other end. Length 10.0’ (3.0m).
Mates to connector:
P2 10-pin wire crimp ................................................ PD10-1434-FL3
P1 14-pin wire crimp ................................................ PD14-2334-FL3
P1 19-pin M23 industrial (straight)............................ MD-CS100-000
P1 19-pin M23 industrial (right-angle) ...................... MD-CS101-000
P3 2-pin wire crimp .................................................. PD02-2300-FL3
Mating Connector Kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin pressure-fit IDC .......................................................CK-01
P2 10-pin wire crimp ................................................................CK-02
P1 14-pin wire crimp ................................................................CK-09
P3 2-pin wire crimp ..................................................................CK-04
MDI23:2-16 Integrated Motor and Driver
MDrive
®
23 Motion Control 3 Mounting
3 Mounting and connection recommendations
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
!
CAUTION
LEAD RESTRAINT
Some MDrive mounting configurations require that the MDrive move along the screw. Ensure that all cabling is properly restrained to provide strain relief on connection points..
Failure to follow these instructions can result in equipment damage.
!
THERMAL MANAGEMENT
CAUTION
The mounting plate material should offer sufficient mass and thermal conductivity to ensure that the motor temperature does not eceed 100°C.
Failure to follow these instructions can result in equipment damage.
Integrated Motor and Driver
MDI23:3-1
3 Mounting
3.1 Mounting
MDrive
®
23 Motion Control
Mounting Flange or Adapter Plate
(Material and thickness determined by user application and thermal considerations)
Temperature sensor should be attached at the center of the motor body
MDI23:3-2
Mounting Hardware (Metric)*
4 x M5 - 0.50 Screw
4 x M5 Split Lockwasher
4 x M5 Flat Washer
*Not Supplied
Drill Pattern
4 Places on a Ø 67.00 Circle
Use 4.5 mm drill. Tap to
M5-0.5
47.1 ±02 SQ.
Figure 3.1 MDrive 23 mounting and drill pattern
Ø 38.1 ±0.1
Integrated Motor and Driver
MDrive
®
23 Motion Control 3 Mounting
3.2
3.2.1
3.2.2
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.
Power supply leads to the MDrive 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.
Rules of wiring
Power supply and motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires.
A minimum of one twist per inch is recommended.
Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better.
Power ground return should be as short as possible to established ground.
Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.
Rules of shielding
The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not effective if the signal is not earthed or grounded.
Do not assume that Earth ground is a true Earth ground. Depending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location.
The shield must be connected so that shield currents drain to signal-earth connections.
The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance.
The shield should be tied to a single point to prevent ground loops.
A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.
Integrated Motor and Driver
MDI23:3-3
3 Mounting MDrive
®
23 Motion Control
3.3 Recommended wiring
The following wiring/cabling is recommended for use with the MDrive17:
Logic Wiring ...........................................................................................22 AWG
Wire Strip Length......................................................................... 0.25” (6.0 mm)
Power and Ground ................ See Table 3.2 in Part 1, Section 3 of this document
3.3.1 Recommended mating connectors and pins
Communication
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
I/O
The following mating connectors are recommended for the MDrive172 Units ONLY!
Please contact a JST distributor for ordering and pricing information.
14-pin Locking Wire Crimp Connector Shell .................. JST PN PADP-14V-1-S
Crimp Pins ...................................................................JST PN SPH-001T-P0.5L
Power
2-pin Locking Wire Crimp Connector Shell ..................................Tyco 794617-2
Crimp Pins ....................................................................................Tyco 794610-1
MDI23:3-4 Integrated Motor and Driver
MDrive
®
23 Motion Control 3 Mounting
3.4 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
Integrated Motor and Driver
Logic leads
Adhesive anchors
& tywrap
Figure 3.2 Securing leads
Communications leads
MDI23:3-5
3 Mounting
This page intentionally left blank
MDrive
®
23 Motion Control
MDI23:3-6 Integrated Motor and Driver
MDrive
®
23 Motion Control 4 Connection and Interface
4 Connection and interface
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
4.1 Interfacing RS422-485 communication
For general RS422/485 single and party mode communication practices please see Part 1 Section 5 of this document.
!
CAUTION
Communication GROUND LOOPS
To avoid ground loops in the system only connect communication ground to the first MDrive in the system. Do not connect communication ground on subsequent MDrives.
Failure to follow these instructions may result in damage to system components!
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect communication while the device is in a powered state.
Failure to follow these instructions may result in damage to system components!
Integrated Motor and Driver
MDI23:4-1
4 Connection and Interface MDrive
®
23 Motion Control
4.1.1
4.1.2
P2 — 10-pin pressure-fit IDCstyle connector
Red conductor
Pin 1
Pin 10
Pin # Function
1 TX +
2 TX -
3 RX +
4 RX -
5 Aux-Logic
6 RX +
7 RX -
8 TX -
9 TX +
10 Comm GND
Description
Transmit plus
Transmit minus
Receive plus
Receive minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive minus
Transmit minus
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Table 4.1 Communication connections, P2 - 10-pin IDC
Connectivity accessories
Mating connector kit ................................................................CK-01
(contains 5 connector shells, ribbon cable not included)
Communication converter cable (10’/3.0 m) .............MD-CC400-001
P2 — 10-pin friction lock wire crimp
Use to connect second device
9: TX+
7: RX+
5: AUX
3: RX-
1: TX+
10: TX-
8: RX-
6: RX+
4: TX-
2: Ground
Pin # Function
1 TX +
2 Comm GND
3 RX -
4 TX -
5 Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 4.2 P2 communication, 10-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-02
(contains 5 connector shells, ribbon cable not included)
Communication converter cable (10’/3.0 m) .............MD-CC402-001
MDI23:4-2 Integrated Motor and Driver
MDrive
®
23 Motion Control 4 Connection and Interface
4.1.3 P2 — 5-pin M12 industrial connector (male)
GND
TX+
3 4
5
2 1
RX-
RX+
TX-
Pin # Function
1 TX -
2 TX +
3 RX +
4 RX -
5 Comm GND
Description
Transmit minus
Transmit plus
Receive plus
Receive minus
Communication ground only. Do not ground auxlogic to this pin.
Table 4.3 P2 communication, 5-pin M12F industrial connector
Connectivity accessories
Communication converter cable (10’/3.0 m) .............MD-CC401-001
4.2 Interfacing Ethernet communication
TX -
RX +
RX -
Pin # Function
1
4
7
8
TX +
2 TX -
3 RX +
N/C
5 N/C
6 RX -
N/C
N/C
Description
Transmit plus
Transmit minus
Receive plus
Not connected
Not connected
Receive minus
Not connected
Not connected
Table 4.4 P2 communication, Ethernet RJ45
Integrated Motor and Driver
MDI23:4-3
4 Connection and Interface MDrive
®
23 Motion Control
4.3
4.3.1
Interfacing CANopen communication
P2 — 9-pin d-sub connector (female)
CAN -V
CAN_H
CAN +V
6
7
8
9
3
4
1
2
5
CAN_L
CAN -V
Shield
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 4.5 CANopen communication, P2: 9-pin D-sub female (DB-9F)
Connectivity accessories
Communication converter cable ...............................MD-CC500-000
4.3.2 P2 — 5-pin M12 industrial connector (female)
CAN_H
Shield
4 3
5
1 2
CAN_L
CAN -V
CAN +V
Pin # Function
1 Shield
2 CAN +V
3 CAN -V
4 CAN high
5 CAN low
Description
Optional CAN shield
+7 to +30 VDC power supply
Optional ground
CAN_H bus line (high dominant)
CAN_L bus line (low dominant)
Table 4.6 CANopen communication, P2: 5-pin M12 female
Connectivity accessories
Communication converter cable ..............................MD-CC500-000
MDI23:4-4 Integrated Motor and Driver
MDrive
®
23 Motion Control 4 Connection and Interface
4.4
4.4.1
4.4.2
Interfacing DC power
See part 1 of this document, section 3, for recommended power cable configurations.
!
CAUTION
OVER VOLTAGE
The DC voltage range for the MDrive 23 is +12 to +60 VDC.
Ensure that motor back EMF is factored into your power supply size calculations.
Allow 3.0 A maximum power supply output current per MDrive in the system. Actual power supply current will depend on voltage and load.
Failure to follow these instructions can result in equipment damage.
Recommended power supply characteristics
Recommended wire gauge
Voltage range
Type
Ripple
Output current
+12 to +75 VDC
Unregulated linear
± 5%
3.0 A (per MDrive 23
Table 4.7 Recommended power supply characteristics
Cable Length: Feet (meters)
Amps Peak
1 Amp Peak
2 Amps Peak
3 Amps Peak
10 (3.0)
20
20
18
25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Minimum AWG
20 18 18 18
18
16
16
14
14
12
14
12
Table 4.8 Recommended power supply wire gauge
Integrated Motor and Driver
MDI23:4-5
4 Connection and Interface MDrive
®
23 Motion Control
4.4.3
4.4.4
P1 — 12’ (30.5 cm) flying leads interface
Wire Color
Red
Black
Motor power supply
Power ground
Table 4.9 Power and ground connections, flying leads
P1 — 7-pin pluggable terminal interface
Pin #
6
7
Power ground
Motor power supply
Table 4.10 Power and ground connections, 7-pin terminal
6
7
4.4.5
4.4.6
P1 — 2-pin wire crimp interface
GND
+V
2
1
Pin #
6
7
Power ground
Motor power supply
Table 4.11 Power and ground connections, 7-pin terminal
PD02-2300-FL3 wire colors
Black
Red
Connectivity accessories
Prototype development cable .................................. PD02-2300-FL3
Mating connector kit ................................................................CK-04
(contains 5 connector shells, ribbon cable not included)
P1 — 19-pin M23 industrial interface
GND
19 6
+V
Pin #
6
19
Signal
Motor power supply
Power ground
Cable wire colors
MD-CS10x-000
Blue
Brown
Table 4.12 Power and ground connections, 12-pin locking wire crimp
A mating connector kit is not available for this connector. Shop for compatible connectors at:
Lumberg
Phoenix
Turck
RDE Connectors
MDI23:4-6 Integrated Motor and Driver
MDrive
®
23 Motion Control 4 Connection and Interface
4.5 Interfacing I/O
See part 1 of this document, section 4, for I/O interface configurations and methods.
!
CAUTION
ELECTRICAL OVERSTRESS
The general purpose I/O is tolerant to +24 VDC. The following listed I/O point is TTL level and only tolerant to +5 VDC:
1) Capture/Trip
2) Step/Direction
3) Remote encoder inputs
Do not exceed +5 VDC on these points.
Failure to follow these instructions can result in equipment damage.
4.5.1
4.5.2
P1 — 12’ (30.5 cm) flying leads interface
Wire Color
White/yellow
White/orange
White/violet
White/blue
Green
Signal
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Analog input
Table 4.13 I/O connections, flying leads
P1 — 7-pin pluggable terminal interface
I/O 1
I/O 2
I/O 3
I/O 4
Analog In
1
2
3
4
5
4
5
2
3
Pin number
1
Signal
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Analog input
Table 4.14 I/O connections, 7-pin terminal
Integrated Motor and Driver
MDI23:4-7
4 Connection and Interface MDrive
®
23 Motion Control
4.5.3 P1 — 14-pin locking wire crimp interface (expanded I/O)
13: Step Clock
11: Capt/Trip
9: I/O 11
7: I/O 9
5: I/O 3
3: I/O 1
1: I/O pwr
14: Direction
12: Analog
10: I/O 12
8: I/O 10
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
General purpose I/O 9
General purpose I/O 10
General purpose I/O 11
General purpose I/O 12
Capture output/trip input
Analog input
Step clock I/O
Direction clock I/O
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
Black
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.15 I/O connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-09
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD14-2334-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-14V-1-S
Pins............................................................................ SPH-001T0.5L
MDI23:4-8 Integrated Motor and Driver
MDrive
®
23 Motion Control 4 Connection and Interface
4.5.3 P1 — 14-pin locking wire crimp interface (Ethernet version)
13: Step Clock
11: Capt/Trip
9: N/C
7: N/C
5: I/O 3
3: I/O 1
1: I/O pwr
14: Direction
12: Analog
10: N/C
8: N/C
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Not connected
Not connected
Not connected
Not connected
Capture output/trip input
Analog input
Step clock I/O
Direction clock I/O
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
Black
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.16 I/O connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-09
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD14-2334-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-14V-1-S
Pins............................................................................ SPH-001T0.5L
Integrated Motor and Driver
MDI23:4-9
4 Connection and Interface MDrive
®
23 Motion Control
4.5.4 P1 — 14-pin locking wire crimp interface (remote encoder)
13: IDX +
11: Capt/Trip
9: CH B +
7: CH A +
5: I/O 3
3: I/O 1
1: I/O pwr
14: IDX -
12: Analog
10: CH B -
8: CH A -
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Channel A +
Channel A -
Channel B +
Channel B -
Capture output/trip input
Analog input
Index +
Index -
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
White
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.17 I/O and remote encoder connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-09
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD14-2334-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-14V-1-S
Pins............................................................................ SPH-001T0.5L
MDI23:4-10 Integrated Motor and Driver
MDrive
®
23 Motion Control 4 Connection and Interface
4.5.5
4.5.6
P1 — 19-pin M23 industrial connector (expanded I/O)
I/O11
I/O9
Shell
I/O Power
I/O GND
I/O12
I/O10
I/O4
Outside: Pins 1 -12
Step Clock I/O
1
12
11
2 3
4
10 9 8
5
6
7
I/O3
Inside: Pins 13 -19
13
18
14
15
17 16
P1 — 19-pin M23 industrial connector (remote encoder)
Outside: Pins 1 -12
Index +
Pin Numbers Signal
CH B+
CH A+
Shell
I/O Power
I/O GND
CH B-
CH A-
I/O4
1
12
2 3
4
11
10 9 8
5
6
7
I/O3
Inside: Pins 13 -19
13 14
18
17 16
15
+V
Aux-Logic
Aux-Ground
Capture/Trip
Analog In
I/O2
+V
Aux-Logic
Aux-Ground
Capture/Trip
Analog In
I/O2
14
15
16
17
18
9
10
11
12
13
6
7
8
4
5
1
2
3
Pin Numbers Signal
14
15
16
17
18
9
10
11
12
13
7
8
5
6
3
4
1
2
I/O 9
I/O 11
Step/Clock I/O
I/O 1
Direction I/O
+VDC
Aux-Logic
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell connect
I/O 12
Capture/Trip I/O
AIN
I/O 2
I/O 4
I/O 10
Table 4.18 I/O connections, 19-pin M23 industrial
Prototype development cable wire colors (twisted pairs)
Violet
Red
Grey
Red/Blue
Green
Blue
Gray/Pink
White/Green
White/Yellow
White/Gray
Black
Yellow/Green
Yellow/Brown
Brown/Green
White
Yellow
Pink
Gray/Brown
Channel A+
Channel B+
Index +
I/O 1
Index -
+V
Aux-Logic
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell connect
Channel B-
Capture/Trip I/O
AIN
I/O 2
I/O 4
Channel A -
Prototype development cable wire colors (twisted pairs)
Violet
Red
Grey
Red/Blue
Green
Blue
Gray/Pink
White/Green
White/Yellow
White/Gray
Black
Yellow/Green
Yellow/Brown
Brown/Green
White
Yellow
Pink
Gray/Brown
Table 4.19 I/O connections, 19-pin M23 industrial
Integrated Motor and Driver
MDI23:4-11
4 Connection and Interface MDrive
®
23 Motion Control
4.6 Connectivity accessory details
4.6.1 RS-422/485 communication converter cables
USB to 10-pin IDC connector P2
P/N: MD-CC400-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
To MDrive 10-pin
IDC connector
6.0’ (1.8m)
To computer
USB port in-line converter
6.0’ (1.8m)
Figure 4.1 MD-CC400-000 communication converter cable
USB to 10-pin wire crimp connector P2
P/N: MD-CC402-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
6.0’ (1.8m)
6.0’ (1.8m)
To MDrivePlus
10-pin friction lock wire crimp connector in-line converter
To computer
USB port
Figure 4.2 MD-CC402-001 communication converter cable
MDI23:4-12 Integrated Motor and Driver
MDrive
®
23 Motion Control 4 Connection and Interface
USB to 5-pin industrial connector P2—
MD-CC401-000
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters.
No mating connector kit is available for this connector style. Compatible mating connectors may be purchased from the following suppliers:
Phoenix
Turck
RDE Connectors
6.0’ (1.8m)
6.0’ (1.8m)
To computer
USB port
To MDrivePlus
5-pin M12 connector
(female) in-line converter
5-pin M12 (male)
Figure 4.3 MD-CC401-001 communication converter
Integrated Motor and Driver
MDI23:4-13
4 Connection and Interface MDrive
®
23 Motion Control
4.6.2 Prototype development cables
Flying leads to10-pin wire crimp connector
P2 -P/N: PD10-1434-FL3
Used in conjunction with the MD-CC402-001 communication converter cable to facilitate multi-drop RS-422/485 communication.
To MDrivePlus
10-pin friction lock wire crimp connector To Communications
10.0’ (3.0m)
Flying leads terminated by crimp
Wire Colors
White/Red Stripe
White/Blue Stripe
Blue/White Stripe
White/Orange Stripe
Orange/White Stripe
Green/White Stripe
Function
Aux-Logic
TX+
TX-
RX+
RX-
GND
Note: If not using Aux-Logic
Remove Wire (White/Red Stripe)
Remove Ground Wire
(White/Green Stripe)
MDrive #n
MDrive #2
MDrive #1
Ground Connects to 1st MDrive ONLY!
Figure 4.4 Multi-drop communication using the PD10-1434-FL3
Procedure
1) Remove ground wire (unless this is the first system MDrive, green/white stripe)
2) Remove aux-logic (if not used, red/white stripe)
3) Connect pre-crimped flying leads as shown in Figure 5.7 below
9
10
8
Blue/White Stripe
White/Blue Stripe
Orange/White Stripe
White/Orange Stripe
7
Figure 4.5 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp connector.
MDI23:4-14 Integrated Motor and Driver
MDrive
®
23 Motion Control 4 Connection and Interface
Flying leads to14-pin locking wire crimp connector P2 -P/N: PD14-2334-FL3
The PD14-2334-FL3 prototype development cable is used to rapidly interface the MDrive 23 to the users controller. This 10’ (3.0 m) cable consists of a 14-pin locking wire crimp connector to plug directly into the
MDrive P1 connector with flying leads on the opposite end to interface
To MDrive P1 To Power & I/O
10.0’ (3.0m)
3
2
1
5
4
9
8
7
6
12
11
10
Pin # Wire Colors Signal (Expanded features)
14
13
Black
White
Step Clock I/O
Direction I/O
Black
Green
Black
Analog Input
Capture/Trip I/O
I/O 12
Blue
Black
Yellow
Black
I/O 11
I/O 10
I/O 9
I/O 4
Brown
Black
Orange
Black
Red
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Signal (Remote encoder)
Index –
Index +
Analog Input
Capture/Trip I/O
Channel B –
Channel B +
Channel A –
Channel A +
I/O 4
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Figure 4.6 Prototype development cable PD14-2334-FL
Pairs
X
X
X
X
X
X
X
Integrated Motor and Driver
MDI23:4-15
4 Connection and Interface MDrive
®
23 Motion Control
Flying leads to 2-pin locking wire crimp connector P2 -P/N: PD02-2300-FL3
The PD02-2300-FL3 prototype development cable is used to rapidly interface the MDrive 23 to the users DC power supply. This 10’ (3.0 m) cable consists of a 2-pin locking wire crimp connector to plug directly into the MDrive P3 connector with flying leads on the opposite end to interface to DC power.
To MDrivePlus
2-pin wire crimp
Tycho connector
To Power
10.0’ (3.0m)
Pin # Wire Colors Signal (Expanded features)
2 Black Ground
1 Red +V
Figure 4.7 Prototype development cable PD02-2300-FL3
MDI23:4-16 Integrated Motor and Driver
MDrive
®
23 Motion Control 4 Connection and Interface
4.6.3 Connectivity option — 19 conductor cordset
19-pin M23 single-ended cordsets are offered to speed prototyping.
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 ........................... MD-CS100-000
Right Angle ......................................... MD-CS101-000
To MDrivePlus
19-pin M23 Connector To I/O
MD-CS100-000
2.815”
(71.5 mm)
MD-CS101-000
2.37”
(60.2)
13.0’
(4.0 m)
Ensure adequate space is available within your enclosure for the cordset connector!
Pin # Wire Colors
7
8
9
5
6
1
2
3
4
16
17
18
19
10
11
12
13
14
15
Violet
Red
Gray
Red/Blue
Green
Blue
Gray/Pink
White/Green
White/Yellow
White/Gray
Black
Green/Yellow
Yellow/Brown
Brown/Green
White
Yellow
Pink
Gray/Brown
Brown
Signal (Expanded
Features)
I/O9
I/O11
Step Clock
I/O1
Direction
+V
Aux-Logic
Comm GND
I/O3
I/O GND
I/O Power
Shell Connect
I/O12
Capture/Trip
Analog In
I/O2
I/O4
I/O10
GND
Figure 4.8 MD-CS10x-000 cordset
Signal (Remote encoder)
Channel A +
Channel B +
Index +
I/O1
Index –
+V
Aux-Logic
Comm GND
I/O3
I/O GND
I/O Power
Shell Connect
Channel B –
Capture/Trip
Analog In
I/O2
I/O4
Channel A –
GND
Integrated Motor and Driver
MDI23:4-17
4 Connection and Interface MDrive
®
23 Motion Control
4.7 Mating connector kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin pressure-fit IDC .......................................................CK-01
P2 10-pin wire crimp ................................................................CK-02
P1 14-pin wire crimp ................................................................CK-09
P3 2-pin wire crimp ..................................................................CK-04
MDI23:4-18 Integrated Motor and Driver
MDrive
®
34
Motion Control
1. Introduction
2. Specifications
3. Mounting Recommendations
4. Interface and Connectivity
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MDrive
®
34 Motion Control
Table of Contents
Table of Contents
Integrated Motor and Driver
1 Introduction .................................................................... MDI34:1-1
1.1 MDrive 34 unit overview ...................................... MDI34:1-1
1.2 Product identification ........................................... MDI34:1-2
1.3 Documentation reference .................................... MDI34:1-3
1.4 Product software ................................................. MDI34:1-3
2 Specifications ................................................................ MDI34:2-1
2.1 Mechanical specifications .................................... MDI34:2-1
2.1.1 Standard and expanded features version ...............
............................................................... MDI34:2-1
2.2 General specifications ......................................... MDI34:2-2
2.2.1 Electrical specifications .......................... MDI34:2-2
2.2.2 Standard I/O specifications (plus) .......... MDI34:2-2
2.2.3 Expanded I/O specifications (Plus
2.2.4 Communication specifications ............... MDI34:2-4
2.2.5 Thermal specifications ........................... MDI34:2-4
2.2.6 Motion specifications ............................. MDI34:2-5
2.2.7 Software specifications .......................... MDI34:2-5
2.2.8 Motor specifications ............................... MDI34:2-6
2.2.9 Performance curves ............................... MDI34:2-6
2.3 Connectivity specifications/pin assignments —
Communication ................................................... MDI34:2-7
2.3.1 RS-422/485 communication .................. MDI34:2-7
2.3.2 CANopen communication option ........... MDI34:2-8
2.4 Connectivity specifications/pin assignments - Power and ...
I/O ........................................................................ MDI34:2-9
2.4.1 Power and I/O - standard I/O (Plus) ...... MDI34:2-9
2.4.2 DC motor power ................................... MDI34:2-10
2.4.3 I/O - expanded I/O (Plus
) .................... MDI34:2-10
2.4.4 I/O - remote encoder (Plus
2.5 Options .............................................................. MDI34:2-12
2.6 Connectivity ....................................................... MDI34:2-13
3 Mounting and connection recommendations ............. MDI34:3-1
3.1 Mounting .............................................................. MDI34:3-2
3.2 Layout and interface guidelines........................... MDI34:3-3
3.2.1 Rules of wiring ...................................... MDI34:3-3
3.2.2 Rules of shielding ................................. MDI34:3-3
3.3 Recommended wiring .......................................... MDI34:3-4
3.3.1 Recommended mating connectors and pins ..........
............................................................... MDI34:3-4
3.4 Securing power leads and logic leads ................. MDI34:3-4
4 Connection and interface ............................................. MDI34:4-1
4.1 Interfacing RS422-485 communication ............... MDI34:4-1
4.1.1 P2 — 10-pin pressure-fit IDCstyle connector .........
............................................................... MDI34:4-2
4.1.2 P2 — 10-pin friction lock wire crimp ...... MDI34:4-2
4.2 Interfacing CANopen communication .................. MDI34:4-3
4.2.1 P2 — 9-pin d-sub connector (female) .... MDI34:4-3
4.3 Interfacing DC power ........................................... MDI34:4-4
4.3.1 Recommended power supply characteristics .........
4.3.2 Recommended wire gauge .................... MDI34:4-4
i
ii
Table of Contents
MDrive
®
34 Motion Controlr
4.3.3 P1 — 12’ (30.5 cm) flying leads interface ...............
............................................................... MDI34:4-5
4.3.4 P3 — 2-pin locking wire crimp interface MDI34:4-5
4.4 Interfacing I/O ...................................................... MDI34:4-6
4.4.1 P1 — 12’ (30.5 cm) flying leads interface ...............
............................................................... MDI34:4-6
4.4.2 P1 — 14-pin locking wire crimp interface
(expanded I/O) ....................................... MDI34:4-7
4.5 Connectivity accessory details ............................ MDI34:4-9
4.5.1 Communication converter cables .......... MDI34:4-9
4.5.2 Prototype development cables ............ MDI34:4-10
4.6 Mating connector kits ........................................ MDI34:4-13
List of Figures
Figure 1.1 Standard product options .......................................... MDI34:1-2
Figure 2.1 Standard and Expanded features mechanical specifications .....
.................................................................................. MDI34:2-1
Figure 2.2 Performance curves - single length motor ................. MDI34:2-6
Figure 2.3 Performance curves -double length motor ................ MDI34:2-6
Figure 2.4 Performance curves -triple length motor ................... MDI34:2-7
Figure 3.1 MDrive 34 mounting and drill pattern ........................ MDI34:3-2
Figure 3.2 Securing leads ........................................................... MDI34:3-5
Figure 4.1 MD-CC400-000 communication converter cable ...... MDI34:4-9
Figure 4.2 MD-CC402-001 communication converter cable ...... MDI34:4-9
Figure 4.3 Multi-drop communication using the PD10-1434-FL3 ................
................................................................................ MDI34:4-10
Figure 4.4 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp .....
connector. ................................................................ MDI34:4-10
Figure 4.5 Prototype development cable PD14-2334-FL3 ....... MDI34:4-11
Figure 4.6 Prototype development cable PD20-3400-FL3 ....... MDI34:4-12
Figure 4.7 Prototype development cable PD02-3400-FL3 ....... MDI34:4-13
Integrated Motor and Driver
MDrive
®
34 Motion Control
List of Tables
Table of Contents
Table 2.1 Electrical specifications ............................................. MDI34:2-2
Table 2.2 I/O specifications ....................................................... MDI34:2-2
Table 2.3 Expanded I/O specifications ...................................... MDI34:2-3
Table 2.4 Communication specifications ................................... MDI34:2-4
Table 2.5 Thermal specifications ............................................... MDI34:2-4
Table 2.6 Motion specifications ................................................. MDI34:2-5
Table 2.7 Software specifications .............................................. MDI34:2-5
Table 2.8 Motor specifications ................................................... MDI34:2-6
Table 2.9 P2 communication, 10-pin locking wire crimp ........... MDI34:2-7
Table 2.10 P2 communication, 10-pin pressure fit IDC/SAMTEC MDI34:2-8
Table 2.11 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
.................................................................................. MDI34:2-8
Table 2.12 Power and I/O interface - 12” (308.8.mm) flying leads ...............
.................................................................................. MDI34:2-9
Table 2.13 P3 DC power, 2-pin locking wire crimp ................... MDI34:2-10
Table 2.147 P1 Expanded I/O, 14-pin locking wire crimp ........... MDI34:2-10
Table 2.15 I/O and remote encoder interface - 20-pin locking wire crimpl ..
................................................................................ MDI34:2-11
Table 4.1 Communication connections, P2 - 10-pin IDC .......... MDI34:4-2
Table 4.2 P2 communication, 10-pin locking wire crimp ........... MDI34:4-2
Table 4.4 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
.................................................................................. MDI34:4-3
Table 4.61 Recommended power supply wire gauge ................. MDI34:4-4
Table 4.7 Power and ground connections, flying leads ............. MDI34:4-5
Table 4.3 Power and ground connections, 12-pin locking wire crimp ........
.................................................................................. MDI34:4-5
Table 4.11 I/O connections, flying leads ..................................... MDI34:4-6
Table 4.13 I/O connections, 16-pin locking wire crimp ................ MDI34:4-7
Table 4.14 I/O and remote encoder connections, 16-pin locking wire crimp
.................................................................................. MDI34:4-8
Integrated Motor and Driver iii
Table of Contents
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MDrive
®
34 Motion Controlr iv Integrated Motor and Driver
MDrive
®
34 Motion Control 1 Introduction
1 Introduction
1.1 MDrive 34 unit overview
The
MDrive
®
34 Motion Control offers system designers a cost effective, full featured programmable motion controller integrated with a NEMA 34 high torque 1.8° brushless step motor and a +12 up to +75 VDC* microstepping driver.
The unsurpassed smoothness and performance delivered by the MDrive
34 Motion Control are achieved through 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 MDrive 34 accepts a broad input voltage range from +12 up 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 cable runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.
Standard features of all MDrive 34 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 of MDrive 34 versions 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.
All MDrive 34 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
MDrive 34 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-topoint 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.
Optional communication protocols include CANopen. The CAN bus is
2.0B active (11 and/or 29 bit) and is capable of all standard frequencies from 10kHz to 1MHz. CANopen features include node guarding, heartbeat producer, SDOs and PDOs. Highlights include variable PDO mapping and extended node identifier.
Numerous connector styles give you choices for the best fit and features. Select from 12.0” (30.5cm) flying leads or locking wire crimp connectors.
Integrated Motor and Driver
MDI34:1-1
1 Introduction MDrive
®
34 Motion Control
MDrive connectivity has never been easier with options ranging from all-inclusive QuickStart Kits to individual interfacing cables and mating connector kits to build your own cables.
The MDrive 34 is a compact, powerful and cost effective motion control solution that will reduce system cost, design and assembly time for a large range of brushless step motor applications.
1.2 Product identification
MDrive
®
34 Plus flying leads interface
MDrive
®
34 Plus pluggable interface
2
P1: I/O & Power
F = 12" flying leads
P2: Communication
D = RS-422/485 with 10-pin
IDC non-locking connector
L = RS-422/485 with 10-pin
friction lock wire crimp
connector
P1: I/O, and optional remote encoder
C = 14-pin locking wire crimp connector
(20-pin with remote encoder option)
P3: Power
2-pin locking wire crimp connector
P2: Communication
L = RS-422/485 with 10-pin friction
lock wire crimp connector
Part numbers
E x a m p l e :
QuickStart Kit
K = kit option, or leave blank if not wanted
MDrive Plus version
MDI = Motion Control
Input
1 = Plus, standard features
3 = Plus
2 , expanded features
P1 connector
F = � ying leads (1)
C = pluggable (2)
Communication
R = RS-422/485
P2 connector
D = IDC (1)
L = wire crimp
Motor size
34 = NEMA 34 (3.4" / 86 mm)
Motor length
A = single stack
B = double stack
C = triple stack
Drive voltage
7 = +12 to +75 VDC
Options
Leave blank if not wanted
Options may be combined, unless noted
K M D I 1 F R D 3 4 A 7 – E Q
K M D I 1 F R D 3 4 A 7 – EQ
K M D I 1 F R D 3 4 A 7 – EQ
K M D I 1 F R D 3 4 A 7 – EQ
K M D I 1 F R D 3 4 A 7 – EQ
K M D I 1 F R D 3 4 A 7 – EQ
K M D I 1 F R D 3 4 A 7 – EQ
K M D I 1 F R D 3 4 A 7 – EQ
K M D I 1 F R D 3 4 A 7 – EQ
K M D I 1 F R D 3 4 A
7 – EQ
– EQ = internal encoder, 512-line internal magnetic encoder with index mark
– EQ
– EE = remote encoder interface, differential encoder to be provided by user
Available with Plus
2
versions only. May not be combined with internal encoder option.
– N = rear control knob for manual positioning
(1) Only available with Plus products.
(2) Only available with Plus
2
products.
Figure 1.1 Standard product options
MDI34:1-2 Integrated Motor and Driver
MDrive
®
34 Motion Control 1 Introduction
1.3
1.4
Documentation reference
The following User’s manuals are available for the MDrive 34:
Product manual, describes the technical data, installation, configuration and programming of the product.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the IMS web site at http://www.imshome.com
Product software
The MDrive 34 motion control integrated motor and driver may be programmed using any standard ASCII txt editor and ANSI terminal emulated. The recommended environment is the IMS Terminal Interface, which is a combined terminal/program editor tailored for use with
IMS motion control products. This free software may be downloaded from http://www.imshome.com/software_interfaces.html.
Installation and usages instructions are to be found in the MCode Programming Manual, which is correlated to this document.
Integrated Motor and Driver
MDI34:1-3
1 Introduction
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MDrive
®
34 Motion Control
MDI34:1-4 Integrated Motor and Driver
MDrive
®
34 Motion Control 2 Specifications
2
2.1
2.1.1
Specifications
Mechanical specifications
Standard and expanded features version
0.731
(18.57)
1.981
(50.32)
1.250
(31.75)
0.394
(10.01)
4X Ø 0.217 (Ø 5.51)
1.46
±0.04
(37.1
±1.0
)
0.984
±0.01
(25.0
±0.25
)
3.727
(94.67)
0.512
+0/–0.004
(13.0
±0.10
)
0.079
(2.0)
Ø 0.5512
(Ø 14.0
Ø 2.874
±0.002
(Ø 73.0
±0.05
)
+0/-0.0004
+0/-0.010
)
LMAX2
LMAX
CANopen Only
0.425
(10.79)
2.739 SQ.
(69.57 SQ.)
3.39 SQ.
(86.1 SQ.)
Motor
Length
Single
Double
Triple
MDrive Lengths
Inches (mm)
LMAX
SINGLE SHAFT,
INTERNAL ENCODER
3.81 (96.77)
4.60 (116.84)
6.17 (156.72)
LMAX2
CONTROL KNOB
VERSION
4.52 (114.81)
5.31 (134.87)
6.88 (174.75)
L
MAX2
Option
Ø 1.90
(Ø 48.3)
Control Knob
Connector Options
Connector
Options
Plus Plus 2 Plus 2 with
Remote Encoder
Plus 2 with
CANopen
P1
P1
P1
P2
P3
P2
P1
P3
P2
P3
P2
Flying Leads Pluggable Locking
Wire Crimp
Pluggable Locking
Wire Crimp with
Remote Encoder
Pluggable Locking
Wire Crimp with
CANopen DB9 (Male)
Figure 2.1 Standard and Expanded features mechanical specifications
Integrated Motor and Driver
MDI34:2-1
2 Specifications MDrive
®
34 Motion Control
2.2
2.2.1
General specifications
Electrical specifications
Input voltage range
Max power supply current*
Aux-Logic Input Voltage
Max Aux-Logic Supply Current (Per
MDrive)**
Condition
—
—
—
—
Min
+12
—
+12
—
Typ
—
—
—
—
Max
+75
3
+24
194
*per MDrive 34, Actual current depends on voltage and load.
** Maintains power to control and feedback circuits [only] when input voltage is removed
Table 2.1 Electrical specifications
Unit
VDC
A
VDC mA
2.2.2 Standard I/O specifications (plus)
Condition
General Purpose I/O - Number and Type
Plus (I/O Points 1-4)
General Purpose I/O - Electrical
Inputs
Sinking Outputs (All)
Output Sink Current (Plus)
Logic Threshold
Protection
—
—
—
One channel
Logic 0
Logic 1
Sinking
Sourcing
Analog Input
Resolution
Range
Clock I/O
Types
Logic Threshold
Trip Output/Capture Input
Logic Threshold
—
Voltage Mode
Current Mode
—
—
Table 2.2 I/O specifications
—
MDI34:2-2
Min Typ Max Unit
4 I/O points configurable as sinking or sourcing inputs or sinking outputs
TTL
—
—
—
—
—
—
—
—
—
+24
+24
600
< 0.8
> 2.2
VDC
VDC mA
VDC
VDC
Over temp, short circuit
Transient Over Voltage, Inductive
Clamp
0 to +5 VDC, 0 to +10 VDC
4 to 20 mA, 0 to 20mA
Step/Direction, Up/Down, Quadrature
+5 VDC TTL Input, TTL Output (with 2 kΩ Load to Ground
+5 VDC TTL Input, TTL Output (with 2 kΩ Load to Ground
Integrated Motor and Driver
MDrive
®
34 Motion Control 2 Specifications
2.2.3 Expanded I/O specifications (Plus
2
)
Condition Min Typ Max Unit
General Purpose I/O - Number and Type
Plus (I/O Points 1-8) —
8 I/O points (4 if configured for remote encoder) configurable as sinking or sourcing inputs or outputs
General Purpose I/O - Electrical
Inputs
Outputs
Sinking or Sourcing
Sinking
Sourcing
One channel
TTL
—
+12
—
—
—
+24
+24
+24
600
VDC
VDC
VDC mA Output Sink Current (Plus)
Motion I/O
—
Electronic gearing
High speed position capture
High speed trip output
Range
Resolution
Threshold
Filter range
Secondary clock out ratio
Filter range
Resolution
Speed
Resolution
Threshold
0.001
—
—
—
—
—
—
—
—
—
—
—
—
—
2.000
32 bit
TTL VDC
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
1:1
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
32 bit
150
32
TTL nS bit
VDC
Optional remote encoder (closed loop)*
Type
Steps per revolution
Resolution
User supplied differential encoder
See motion specifications table
User defined . Note: microsteps/rev = 2X the encoder counts/rev minimum.
*Remote encoder inputs replace I/O points 4-8 and step and direction I/O
Table 2.3 Expanded I/O specifications
Integrated Motor and Driver
MDI34:2-3
2 Specifications MDrive
®
34 Motion Control
2.2.4 Communication specifications
RS-422/485 (standard)
BAUD rate
CANopen (optional)
Type
BAUD rate
Application layer
Device profile
ID
Isolation
Condition
—
Min
4.8
—
Version 3.0
Version 2.0
—
—
Table 2.4 Communication specifications
10 kHz
Typ
—
Max
115.2
Unit kbps
1 MHz
2.0B active
—
DS-301
DSP-402
11 or 29 bit
Galvanic
2.2.5 Thermal specifications
Heat sink temperature
Motor temperature non-condensing humidity non-condensing humidity
Table 2.5 Thermal specifications
-40
-40
Min Typ
—
—
Max
+85
+100
Unit
ºC
ºC
MDI34:2-4 Integrated Motor and Driver
MDrive
®
34 Motion Control 2 Specifications
2.2.6
2.2.7
Motion specifications
Microstep Resolution - Open Loop
Number of microstep resolutions
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
* 1" per revolution lead screw
Microstep resolution (closed loop configuration - (optional)
Steps Per Revolution (Fixed)
Position Resolution
Optional differential encoder (internally mounted)
Type
Resolution (Lines)
Resolution (Edges)
Counters
Counter 1 (C1) Type
Counter 2 (C2) Type
Resolution
Maximum Edge Rate
Velocity
Range
Resolution
Acceleration/Deceleration
Range
Resolution
6400
21600
2
10000
25400
3
20
51200
2048
Internal, Magnetic
512
2048
Position
Encoder
32 bit
5 MHz
±5,000,000 Steps/Sec.
0.5961 Steps/Sec.
1.5 x 10
9
Steps/Sec.
2
90.9 Steps/Sec.
2
Table 2.6 Motion specifications
Software specifications
Program Storage Type/Size
User Registers
User Program Labels and Variables
Math, Logic and Conditional Functions
Branch Functions
Party Mode Addresses
Encoder Functions
Predefined I/O Functions
Input Functions
Output Functions
Trip Functions
Flash/6384 Bytes
(4) 32 Bit
192
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Branch and Call (Conditional)
62
Stall Detect, Position Maintenance, Find Index
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog Input
Moving, Fault, Stall, Velocity Changing
Trip on Input, Trip on Position, Trip on Time, Trip Capture
Table 2.7 Software specifications
Integrated Motor and Driver
MDI34:2-5
2 Specifications MDrive
®
34 Motion Control
2.2.8
2.2.9
Motor specifications
Spcification
Holding torque oz-in (N-cm)
Detent torque oz-in (N-cm)
Rotor inertia oz-in-sec
2
(kg-cm
2
)
Weight motor and driver lb (kg)
Single length
381 (269)
10.9 (7.7)
0.01416 (1.0)
4.1 (1.90)
Table 2.8 Motor specifications
Performance curves
Single length motor
1000
900
800
700
600
500
400
300
200
100
0
0
Double length
575 (406)
14.16 (10.0)
0.02266 (1.6)
5.5 (2.5)
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
24 VDC
45 VDC
75 VDC
706
353
282
211
140
71
635
565
494
423
7000
(2100)
Triple length
1061(749)
19.83 (14.0)
0.04815 (3.4)
8.8 (4.0)
Figure 2.2 Performance curves - single length motor
Double length motor
1000
900
800
700
600
500
400
300
200
100
0
0 1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
24 VDC
45 VDC
75 VDC
706
353
282
211
140
71
635
565
494
423
7000
(2100)
Figure 2.3 Performance curves -double length motor
MDI34:2-6 Integrated Motor and Driver
MDrive
®
34 Motion Control 2 Specifications
Triple length motor
1000
900
800
700
600
500
400
300
200
100
0
0
24 VDC
45 VDC
75 VDC
706
353
282
211
140
71
635
565
494
423
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
Speed in Full Steps per Second (RPM)
7000
(2100)
Figure 2.4 Performance curves -triple length motor
2.3 Connectivity specifications/pin assignments — Communication
2.3.1 RS-422/485 communication
10-pin friction lock wire crimp (onlu available on pluggable connector versions)
P2
6
8
2
4
10
5
7
1
3
9
Connectivity Options
USB to RS-422/485
Converter:
MD-CC402-001
Mating connector kit:
CK-02
Mfg P/N:
Shell
Hirose DF11-10DS-2C
Pins
Hirose: DF11-2428SC
Pin # Function
1 TX +
2 Comm GND
3 RX -
4 TX -
5 Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 2.9 P2 communication, 10-pin locking wire crimp
Integrated Motor and Driver
MDI34:2-7
2 Specifications MDrive
®
34 Motion Control
10-pin press-fit (IDC style) Only available on flying leads versions
2.3.2
P2
10
8
6
4
2
5
3
9
7
1
Connectivity Options
USB to RS-422/485
Converter:
MD-CC400-001
Mating connector kit:
CK-01
Mfg P/N:
Shell
SAMTEC: TCSD-05-01-N
Ribbon cable
Tyco: 1-57051-9
Pin # Function
1
2
3
4
5
TX +
TX -
RX +
RX -
Aux-Logic
6 RX +
7 RX -
8 TX -
9
10
TX +
Comm GND
Description
Transmit plus
Transmit minus
Receive plus
Receive minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive minus
Transmit minus
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Table 2.10 P2 communication, 10-pin pressure fit IDC/SAMTEC
CANopen communication option
9-pin D-sub female (DB-9F)
P2
8
9
6
7
3
4
1
2
5
Connectivity Options
USB to CANopen converter:
MD-CC500-000
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 2.11 CANopen communication, P2: 9-pin D-sub female (DB-9F)
MDI34:2-8 Integrated Motor and Driver
MDrive
®
34 Motion Control 2 Specifications
2.4
2.4.1
Connectivity specifications/pin assignments - Power and I/O
Power and I/O - standard I/O (Plus)
12” (304.8 mm) flying leads
Wire Color
White/yellow
White/orange I/O 2
White/violet
White/blue
Green
Black
Red
Function
I/O 1
I/O 3
I/O 4
Analog input
GND
+V
Description
General purpose I/O point 1
General purpose I/O point 2
General purpose I/O point 3
General purpose I/O point 4
0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
Power and auxiliary ground
Motor power
Table 2.12 Power and I/O interface - 12” (308.8.mm) flying leads
Integrated Motor and Driver
MDI34:2-9
2 Specifications MDrive
®
34 Motion Control
2.4.2 DC motor power
2-pin friction lock wire crimp
Pin # Function
1 +V
2 Ground
Description
+12 to +60 VDC motor power
Power supply return (ground)
Table 2.13 P3 DC power, 2-pin locking wire crimp
P3
1
2
Connectivity Options
Prototype development cable
PD-02-3400-FL3
Mating connector kit:
CK-05
Mfg P/N:
Shell
Molex 751067-0200
Pins
Molex 750217-9101
2.4.3 I/O - expanded I/O (Plus
2
)
14-pin locking wire crimp
P1
2
4
1
3
8
10
12
14
7
9
11
13
Connectivity Options
Prototype development cable::
PD14-2334-FL3
Mating connector kit:
CK-09
Mfg P/N:
Shell
JST PADP-14V-1-S
Pins
JST SPH-001T0.5L
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs
2 I/O GND
3 I/O 1
Non-isolated I/O Ground. Common with Power Ground
0 to +24 VDC Programmable I/O Point 1
4 I/O 2 0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 I/O 9
8 I/O 10
9 I/O 11
10 I/O 12
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
0 to +24 VDC Programmable I/O Point 9
0 to +24 VDC Programmable I/O Point 10
0 to +24 VDC Programmable I/O Point 11
0 to +24 VDC Programmable I/O Point 12
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input
13
Step/clock
I/O
Step clock i/o. Can also be configured as quadrature or clock up/down. +5 VDC logic level.
14
Direction/ clock I/O
Direction i/o. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
Table 2.147 P1 Expanded I/O, 14-pin locking wire crimp
MDI34:2-10 Integrated Motor and Driver
MDrive
®
34 Motion Control 2 Specifications
2.4.4 I/O - remote encoder (Plus
2
)
20-pin locking wire crimp
P1
9
11
13
15
5
7
1
3
17
19
10
12
14
16
6
8
2
4
18
20
Connectivity Options
Prototype development cable::
PD20-3400-FL3
Mating connector kit:
CK-11
Mfg P/N:
Shell
JST PADP-20V-1-S
Pins
JST SPH-001T0.5L
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs
2 I/O GND Non-isolated I/O Ground. Common with Power Ground
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 I/O 9
8 I/O 10
9 I/O 11
10 I/O 12
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
0 to +24 VDC Programmable I/O Point 9
0 to +24 VDC Programmable I/O Point 10
0 to +24 VDC Programmable I/O Point 11
0 to +24 VDC Programmable I/O Point 12
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input
13
Step/clock
I/O
Step clock i/o. Can also be configured as quadrature or clock up/down. +5 VDC logic level.
14
Direction/ clock I/O
15 CH A+
16 CH A-
17 CH B+
18 CH B-
19 IDX+
20 IDX-
Direction i/o. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
Channel A+ encoder input. +5 VDC logic level
Channel A- encoder input. +5 VDC logic level
Channel B+ encoder input. +5 VDC logic level
Channel B- encoder input. +5 VDC logic level
Index mark + encoder input. +5 VDC logic level
Index mark - encoder input. +5 VDC logic level
Table 2.15 I/O and remote encoder interface - 20-pin locking wire crimpl
Integrated Motor and Driver
MDI34:2-11
2 Specifications MDrive
®
34 Motion Control
2.5 Options
Internal encoder
Internal differential magnetic 512 line differential encoders with index mark are available:
Remote Encoder (Plus2 versions only)
MDrive 34 Motion Control versions are available with differential encoder inputs for use with a remote encoder (not supplied).
Control Knob
The MDrive 34 is available with a factory-mounted rear control knob for manual shaft positioning.
MDI34:2-12 Integrated Motor and Driver
MDrive
®
34 Motion Control 2 Specifications
2.6 Connectivity
QuickStart kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter, prototype development cable(s), instructions and CD for MDrive initial functional setup and system testing.
Communication Converters
Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program communication parameters for a single
MDrive product via a PC’s USB port. Length 12.0’ (3.6m).
Mates to connector:
P2 10-pin pressure-fit IDC ........................................MD-CC400-001
P2 5-pin M12 circular................................................MD-CC401-001
P2 10-pin wire crimp .................................................MD-CC402-001
P2 9-pin DSub (CANopen) .......................................MD-CC500-000
Prototype Development Cables
Speed test/development with pre-wired mating connectors that have flying leads other end. Length 10.0’ (3.0m).
Mates to connector:
P2 10-pin wire crimp ................................................ PD10-1434-FL3
P1 14-pin wire crimp ................................................ PD14-2334-FL3
P1 19-pin M23 circular (straight) .............................. MD-CS100-000
P1 19-pin M23 circular (right-angle) ......................... MD-CS101-000
P3 2-pin wire crimp .................................................. PD02-2300-FL3
Mating Connector Kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin pressure-fit IDC .......................................................CK-01
P2 10-pin wire crimp ................................................................CK-02
P1 14-pin wire crimp ................................................................CK-09
P3 2-pin wire crimp ..................................................................CK-04
Integrated Motor and Driver
MDI34:2-13
2 Specifications
Page intentionally left blank
MDrive
®
34 Motion Control
MDI34:2-14 Integrated Motor and Driver
MDrive
®
34 Motion Control 3 Mounting
3 Mounting and connection recommendations
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
!
CAUTION
LEAD RESTRAINT
Some MDrive mounting configurations require that the MDrive move along the screw. Ensure that all cabling is properly restrained to provide strain relief on connection points..
Failure to follow these instructions can result in equipment damage.
!
THERMAL MANAGEMENT
CAUTION
The mounting plate material should offer sufficient mass and thermal conductivity to ensure that the motor temperature does not eceed 100°C.
Failure to follow these instructions can result in equipment damage.
Integrated Motor and Driver
MDI34:3-1
3 Mounting
3.1 Mounting
Mounting Recommendation
Allow Top
Clearance for
Wiring/Cabling
MDrive
®
34 Motion Control
MDI34:3-2
4x Ø 5.51
Lexium ILT2V85
Mounting Flange or Adapter Plate*
Mounting Hole Pattern
Mounting Hardware (Metric)
4 x M5 - 0.80 Screw
4 x M5 Split Lockwasher
4 x M5 Flat Washer
4 x M5 - 0.80 Lock Nuts
Mounting Hardware is not supplied
Ø 73.66
69.57 SQ.
Figure 3.1 MDrive 34 mounting and drill pattern
Ø 98.37
Integrated Motor and Driver
MDrive
®
34 Motion Control 3 Mounting
3.2
3.2.1
3.2.2
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.
Power supply leads to the MDrive 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.
Rules of wiring
Power supply and motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires.
A minimum of one twist per inch is recommended.
Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better.
Power ground return should be as short as possible to established ground.
Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.
Rules of shielding
The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not effective if the signal is not earthed or grounded.
Do not assume that Earth ground is a true Earth ground. Depending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location.
The shield must be connected so that shield currents drain to signal-earth connections.
The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance.
The shield should be tied to a single point to prevent ground loops.
A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.
Integrated Motor and Driver
MDI34:3-3
3 Mounting MDrive
®
34 Motion Control
3.3
3.3.1
3.4
Recommended wiring
The following wiring/cabling is recommended for use with the MDrive 34:
Logic Wiring ......................................................................... 22 AWG
Wire Strip Length ....................................................... 0.25” (6.0 mm)
Power, Ground ......................See Part 1 Section 3 of this document
Recommended mating connectors and pins
Communication
Press-Fit IDC - P2 (MDrive 34 Only)
10-Pin IDC ..................................................Samtec: TCSD-05-01-N
Ribbon Cable .........................................................Tyco: 1-57051-9
Friction Lock Wire Crimp - P2
10-pin Friction Lock (MDI34Plus2) ................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
I/O, Power and Encoder
The following mating connectors are recommended for the MDrive 34
Units ONLY! Please contact a JST distributor for ordering and pricing information.
Manufacturer PNs
14-pin Locking Wire Crimp Connector Shell JST PN PADP-14V-1-S
Crimp Pins ................................................ JST PN SPH-001T-P0.5L
20-pin Locking Wire Crimp Shell ................. JST PN PADP-20V-1-S
Crimp Pins ................................................ JST PN SPH-001T-P0.5L
2-pin Locking Wire Crimp Connector Shell.......... Molex 51067-0200
Crimp Pins ................................................ Molex 50217-9101 Brass
Securing power leads and logic leads
MDI34:3-4 Integrated Motor and Driver
MDrive
®
34 Motion Control 3 Mounting
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.
P1: Power
P2: Communications
Adhesive anchor/tywrap
Figure 3.2 Securing leads
P1: Logic
Integrated Motor and Driver
MDI34:3-5
3 Mounting
This page intentionally left blank
MDrive
®
34 Motion Control
MDI34:3-6 Integrated Motor and Driver
MDrive
®
34 Motion Control 4 Connection and Interface
4 Connection and interface
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
4.1 Interfacing RS422-485 communication
For general RS422/485 single and party mode communication practices please see Part 1 Section 5 of this document.
!
CAUTION
Communication GROUND LOOPS
To avoid ground loops in the system only connect communication ground to the first MDrive in the system. Do not connect communication ground on subsequent MDrives.
Failure to follow these instructions may result in damage to system components!
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect communication while the device is in a powered state.
Failure to follow these instructions may result in damage to system components!
Integrated Motor and Driver
MDI34:4-1
4 Connection and Interface MDrive
®
34 Motion Control
4.1.1
4.1.2
P2 — 10-pin pressure-fit IDCstyle connector
Red conductor
Pin 1
Pin 10
Pin # Function
1 TX +
2 TX -
3 RX +
4 RX -
5 Aux-Logic
6 RX +
7 RX -
8 TX -
9 TX +
10 Comm GND
Description
Transmit plus
Transmit minus
Receive plus
Receive minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive minus
Transmit minus
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Table 4.1 Communication connections, P2 - 10-pin IDC
Connectivity accessories
Mating connector kit ................................................................CK-01
(contains 5 connector shells, ribbon cable not included)
Communication converter cable (10’/3.0 m) .............MD-CC400-001
P2 — 10-pin friction lock wire crimp
Use to connect second device
9: TX+
7: RX+
5: AUX
3: RX-
1: TX+
10: TX-
8: RX-
6: RX+
4: TX-
2: Ground
Pin # Function
1 TX +
2 Comm GND
3 RX -
4 TX -
5 Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 4.2 P2 communication, 10-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-02
(contains 5 connector shells, ribbon cable not included)
Communication converter cable (10’/3.0 m) .............MD-CC402-001
MDI34:4-2 Integrated Motor and Driver
MDrive
®
34 Motion Control 4 Connection and Interface
4.2
4.2.1
Interfacing CANopen communication
P2 — 9-pin d-sub connector (female)
CAN -V
CAN_H
CAN +V
8
9
6
7
3
4
1
2
5
CAN_L
CAN -V
Shield
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 4.4 CANopen communication, P2: 9-pin D-sub female (DB-9F)
Connectivity accessories
Communication converter cable ...............................MD-CC500-000
Integrated Motor and Driver
MDI34:4-3
4 Connection and Interface MDrive
®
34 Motion Control
4.3
4.3.1
4.3.2
Interfacing DC power
See part 1 of this document, section 3, for recommended power cable configurations.
!
CAUTION
OVER VOLTAGE
The DC voltage range for the MDrive23Plus is +12 to +60
VDC. Ensure that motor back EMF is factored into your power supply size calculations.
Allow 3.0 A maximum power supply output current per MDrive in the system. Actual power supply current will depend on voltage and load.
Failure to follow these instructions can result in equipment damage.
Recommended power supply characteristics
Recommended wire gauge
Voltage range
Type
Ripple
Output current
Cable Length: Feet (meters)
Amps Peak
1 Amp Peak
2 Amps Peak
3 Amps Peak
4 Amps Peak
10 (3.0)
20
20
18
16
+12 to +75 VDC
Unregulated linear
± 5%
4.0 A (per MDrive 34
25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Minimum AWG
20 18 18 18
18
16
14
16
14
12
14
12
12
14
12
12
Table 4.61 Recommended power supply wire gauge
MDI34:4-4 Integrated Motor and Driver
MDrive
®
34 Motion Control 4 Connection and Interface
4.3.3
4.3.4
P1 — 12’ (30.5 cm) flying leads interface
Wire Color
Red
Black
Motor power supply
Power ground
Table 4.7 Power and ground connections, flying leads
P3 — 2-pin locking wire crimp interface
Pin 1 +V
Pin 2 GND
Pin #
1
2
Signal
+12 to +75 VDC supply
Power ground
IMS cable wire colors
PD02-3400-FL3
Red
Black
Table 4.3 Power and ground connections, 12-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-05
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD02-3400-FL3
Manufacturer (Molex) part numbers
Connector shell...............................................................51067-0200
Pins.................................................................................50217-9101
Integrated Motor and Driver
MDI34:4-5
4 Connection and Interface MDrive
®
34 Motion Control
4.4 Interfacing I/O
See part 1 of this document, section 4, for I/O interface configurations and methods.
!
CAUTION
ELECTRICAL OVERSTRESS
The general purpose I/O is tolerant to +24 VDC. The following listed I/O point is TTL level and only tolerant to +5 VDC:
1) Capture/Trip
2) Step/Direction
3) Remote encoder inputs
Do not exceed +5 VDC on these points.
Failure to follow these instructions can result in equipment damage.
4.4.1 P1 — 12’ (30.5 cm) flying leads interface
Wire Color
White/yellow
White/orange
White/violet
White/blue
Green
Signal
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Analog input
Table 4.11 I/O connections, flying leads
MDI34:4-6 Integrated Motor and Driver
MDrive
®
34 Motion Control 4 Connection and Interface
4.4.2 P1 — 14-pin locking wire crimp interface (expanded I/O)
13: Step Clock
11: Capt/Trip
9: I/O 11
7: I/O 9
5: I/O 3
3: I/O 1
1: I/O pwr
14: Direction
12: Analog
10: I/O 12
8: I/O 10
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
General purpose I/O 9
General purpose I/O 10
General purpose I/O 11
General purpose I/O 12
Capture output/trip input
Analog input
Step clock I/O
Direction clock I/O
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
Black
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.13 I/O connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-09
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD14-2334-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-14V-1-S
Pins............................................................................ SPH-001T0.5L
Integrated Motor and Driver
MDI34:4-7
4 Connection and Interface MDrive
®
34 Motion Control
4.4.3 P1 — 20-pin locking wire crimp interface (remote encoder)
19: IDX +
17: CH B +
15: CH A +
13: Step
11: Capt/Trip
9: I/O 11
7: I/O 9
5: I/O 3
3: I/O 1
1: I/O pwr
20: IDX -
18: CH B -
16: CH A -
14: Direction
12: Analog
10: I/O 12
8: I/O 10
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
8
9
10
11
12
13
14
3
4
1
2
5
6
7
15
16
17
18
19
20
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
General purpose I/O 9
General purpose I/O 10
General purpose I/O 11
General purpose I/O 12
Capture output/trip input
Analog input
Step clock I/O
Direction clock I/O
Channel A +
Channel A -
Channel B +
Channel B -
Index +
Index -
Prototype development cable wire colors (twisted pairs)
Cable 1
Red
Black
Orange
Black
Brown
Black
Yellow
Black
Blue
Black
Green
Black
White
Black
Cable 2
White/blue
Blue/White
White/orange
Orange/White
White/green
Green/white
Pair
Pair
Pair
Pair
Pair
Pair
Pair
Pair
Pair
Pair
Table 4.14 I/O and remote encoder connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................. CK11
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD20-3400-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-20V-1-S
Pins............................................................................ SPH-001T0.5L
MDI34:4-8 Integrated Motor and Driver
MDrive
®
34 Motion Control 4 Connection and Interface
4.5 Connectivity accessory details
4.5.1 Communication converter cables
USB to 10-pin IDC connector P2
P/N: MD-CC400-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
To MDrive 10-pin
IDC connector
6.0’ (1.8m)
To computer
USB port in-line converter
6.0’ (1.8m)
Figure 4.1 MD-CC400-000 communication converter cable
USB to 10-pin wire crimp connector P2
P/N: MD-CC402-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
6.0’ (1.8m)
6.0’ (1.8m)
To MDrivePlus
10-pin friction lock wire crimp connector in-line converter
To computer
USB port
CANopen communication converter cable
MD-CC500-000
Figure 4.2 MD-CC402-001 communication converter cable
See Part 1, Section 6 of this document for CANopen connectivity instructions and MD-CC500-000 details.
Integrated Motor and Driver
MDI34:4-9
4 Connection and Interface MDrive
®
34 Motion Control
4.5.2 Prototype development cables
Flying leads to10-pin wire crimp connector
P2 -P/N: PD10-1434-FL3
Used in conjunction with the MD-CC402-001 communication converter cable to facilitate multi-drop RS-422/485 communication.
To MDrivePlus
10-pin friction lock wire crimp connector To Communications
10.0’ (3.0m)
Flying leads terminated by crimp
Wire Colors
White/Red Stripe
White/Blue Stripe
Blue/White Stripe
White/Orange Stripe
Orange/White Stripe
Green/White Stripe
Function
Aux-Logic
TX+
TX-
RX+
RX-
GND
Note: If not using Aux-Logic
Remove Wire (White/Red Stripe)
Remove Ground Wire
(White/Green Stripe)
MDrive #n
MDrive #2
MDrive #1
Ground Connects to 1st MDrive ONLY!
Figure 4.3 Multi-drop communication using the PD10-1434-FL3
Procedure
1) Remove ground wire (unless this is the first system MDrive, green/white stripe)
2) Remove aux-logic (if not used, red/white stripe)
3) Connect pre-crimped flying leads as shown in Figure 5.7 below
9
10
8
Blue/White Stripe
White/Blue Stripe
Orange/White Stripe
White/Orange Stripe
7
Figure 4.4 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp connector.
MDI34:4-10 Integrated Motor and Driver
MDrive
®
34 Motion Control 4 Connection and Interface
Flying leads to 14-pin locking wire crimp connector P1 -P/N: PD14-2334-FL3
The PD14-2334-FL3 prototype development cable is used to rapidly interface the MDrive 34 to the users controller. This 10’ (3.0 m) cable consists of a 14-pin locking wire crimp connector to plug directly into the
MDrive P1 connector with flying leads on the opposite end to interface
To MDrive P1 To Power & I/O
10.0’ (3.0m)
3
2
1
5
4
9
8
7
6
12
11
10
Pin # Wire Colors Signal (Expanded features)
14
13
Black
White
Step Clock I/O
Direction I/O
Black
Green
Black
Analog Input
Capture/Trip I/O
I/O 12
Blue
Black
Yellow
Black
I/O 11
I/O 10
I/O 9
I/O 4
Brown
Black
Orange
Black
Red
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Figure 4.5 Prototype development cable PD14-2334-FL3
Signal (Remote encoder)
Index –
Index +
Analog Input
Capture/Trip I/O
Channel B –
Channel B +
Channel A –
Channel A +
I/O 4
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Pairs
X
X
X
X
X
X
X
Integrated Motor and Driver
MDI34:4-11
4 Connection and Interface MDrive
®
34 Motion Control
Flying leads to 20-pin locking wire crimp connector P1 -P/N: PD20-3400-FL3
The PD20-3400-FL3 prototype development cable is used to rapidly interface the MDrive 34 to the users controller. This 10’ (3.0 m) cable consists of a 20-pin locking wire crimp connector to plug directly into the
MDrive P1 connector with flying leads on the opposite end to interface to I/O devices.
To MDrivePlus
20-pin wire crimp
JST connector
To Encoder
Cable 2
Cable 1
Both 10.0’ (3.0m)
To I/O
19
18
17
16
15
9
8
11
10
Pin # Wire Colors
14 Black
13
12
White
Black
Green
Black
Blue
Black
Signal (Expanded features)
Step Clock I/O
Direction I/O
Analog Input
Capture/Trip I/O
I/O 12
I/O 11
I/O 10
7
6
5
4
Yellow
Black
Brown
Black
I/O 9
I/O 4
I/O 3
I/O 2
3
2
Orange
Black
I/O 1
I/O Ground
1 Red I/O Power
Cable 2 - Encoder signals
20 Green/White Index –
White/Green Index +
Orange/White Channel B –
White/Orange Channel B +
Blue/White
White/Blue
Channel A –
Channel A +
Figure 4.6 Prototype development cable PD20-3400-FL3
X
X
X
X
X
X
X
Pairs
X
X
X
MDI34:4-12 Integrated Motor and Driver
MDrive
®
34 Motion Control 4 Connection and Interface
Flying leads to 2-pin locking wire crimp connector P2 -P/N: PD02-3400-FL3
The PD02-3400-FL3 prototype development cable is used to rapidly interface the MDrive 34 to the users DC power supply. This 10’ (3.0 m) cable consists of a 2-pin locking wire crimp connector to plug directly into the MDrive P3 connector with flying leads on the opposite end to interface to DC power.
To MDrivePlus
2-pin wire crimp
Molex connector
To Power
Wire Colors Function
Black
Red
Power Ground
+V
10.0’ (3.0m)
Figure 4.7 Prototype development cable PD02-3400-FL3
4.6 Mating connector kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin pressure-fit IDC .......................................................CK-01
P2 10-pin wire crimp ................................................................CK-02
P1 14-pin wire crimp ................................................................CK-09
P3 2-pin wire crimp ..................................................................CK-05
Integrated Motor and Driver
MDI34:4-13
4 Connection and Interface
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MDrive
®
34 Motion Control
MDI34:4-14 Integrated Motor and Driver
MDrive
®
34AC
Motion Control
1. Introduction
2. Specifications
3. Interface and Connectivity
This page intentionally left blank
MDrive
®
34AC Motion Control
Table of Contents
Table of Contents
1 Introduction ................................................................................ 1-1
1.1 MDrive 34AC Motion Control overview ...........................1-1
1.2 Product identification .......................................................1-2
1.3 Documentation reference ................................................1-3
1.4 Product software .............................................................1-3
2 Specifications ............................................................................ 2-1
2.1 Mechanical specifications ................................................2-1
2.2 General specifications .....................................................2-2
2.2.1 Electrical specifications ......................................2-2
2.2.3 I/O specifications ...............................................2-2
2.2.4 Communication specifications ...........................2-3
2.2.5 Thermal specifications .......................................2-3
2.2.6 Motion specifications .........................................2-3
2.2.7 Software specifications ......................................2-4
2.2.8 Motor specifications ...........................................2-4
2.2.9 Speed-force performance curves ......................2-5
2.3 Connectivity specifications/pin assignments ...................2-6
2.3.1 RS-422/485 communication ..............................2-6
2.3.2 CANopen communication option .......................2-6
2.3.3 AC power ...........................................................2-6
2.3.4 Expanded I/O .....................................................2-7
2.3.5 I/O and remote encoder .....................................2-8
2.4 Encoder ...........................................................................2-9
2.5 Connectivity .....................................................................2-9
3 Connection and interface ......................................................... 3-1
3.1 Interfacing I/O ..................................................................3-1
3.1.1 P1 — 19-pin M23 industrial connector (expanded
3.1.3 Connectivity option — 19 conductor cordset .....3-3
3.2 Interfacing RS-422/485 communication ..........................3-4
3.2.1 P2 — 5-pin M12 industrial connector (male) .....3-4
3.2.2 Communication converter — MD-CC401-000 ...3-4
3.3 Interfacing CANopen communication ..............................3-5
3.3.1 P2 — 5-pin M12 industrial connector (female) ..3-5
3.3.2 MD-CC500-000 USB to CANopen converter .....3-5
3.4 Interfacing AC power .......................................................3-6
3.4.1 P3 — 3-pin Euro AC ..........................................3-6
3.4.2 MD-CS20x-000 cordset .....................................3-6
Integrated Motor and Driver i
ii
Table of Contents
List of Figures
List of Tables
MDrive
®
34AC Motion Control
Figure 1.1 Standard product options ......................................................1-2
Figure 2.1 MDrive 34AC mechanical dimensions ..................................2-1
Figure 2.3 Motor performance curve — 120 VAC ..................................2-5
Figure 2.4 Motor performance curve — 240 VAC ..................................2-5
Figure 3.1 MD-CS10x-000 cordset .........................................................3-3
Figure 3.2 MD-CC401-001 communication converter ............................3-4
Figure 3.3 MD-CC500-000 and interface cable ......................................3-5
Figure 3.4 MD-CS20x-000 ......................................................................3-6
Table 2.1 Electrical specifications .........................................................2-2
Table 2.2 I/O specifications ...................................................................2-2
Table 2.3 Communication specifications ...............................................2-3
Table 2.4 Thermal specifications ...........................................................2-3
Table 2.5 Motion specifications .............................................................2-3
Table 2.6 Software specifications ..........................................................2-4
Table 2.7 MDrive 34AC Motion Control motor specifications ................2-4
Table 2.8 P2 communication, 5-pin M12F industrial connector ............2-6
Table 2.9 CANopen communication, P2: 5-pin D-sub female ...............2-6
Table 2.10 P3 DC power, 2-pin locking wire crimp .................................2-6
Table 2.11 P1 I/O and aux power, 19-pin lM23 industrial connector.......2-7
Table 2.12 P1 I/O and aux power, 19-pin lM23 industrial connector.......2-8
Table 3.1 I/O connections, 19-pin M23 industrial ..................................3-2
Table 3.2 I/O connections, 19-pin M23 industrial ..................................3-2
Table 3.3 P2 communication, 5-pin M12F industrial connector ............3-4
Table 3.4 CANopen communication, P2: 5-pin M12 female ................3-5
Table 3.5 AC standard wire colors ........................................................3-6
Integrated Motor and Driver
MDrive
®
34AC Motion Control 1 Introduction
1 Introduction
1.1
The
MDrive
34AC Motion Control system offers designers a cost effective, full featured programmable motion controller integrated with a
NEMA 34 high torque 1.8° brushless step motor and a microstepping driver operating at 120 or 240 VAC.
MDrive 34AC Motion Control overview
Unsurpassed smoothness and performance delivered by the MDrive 34AC are achieved through 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 MDrive 34AC accepts a broad input voltage range from 95 to 264 VAC, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, reducing problems that can occur with long cable runs and multiple drive systems. An extended operating range of –40° to +75°C provides long life, trouble free service in demanding environments.
The MDrive 34AC Motion Control system adds a versatile array of functions by combining a full featured programmable motion controller with our compact and cost effective MDrive 34AC Microstepping products, adding little cost and no increase in size. Standard offerings include up to 8 general purpose I/O lines (sourcing or sinking) that operate to +24 VDC, one 10 bit analog input, electronic gearing, high speed position capture input/trip output, microstep resolutions up to 51,200 steps per revolution, 0 to 5 MHz step clock rate, and a full featured easy-to-program instruction set.
The MDrive 34AC Motion Control system communicates over RS-422/485 which allows for point-to-point or multiple unit configurations utilizing one communication port. Addressing and hardware support multiple uniquely addressed units communicating over a single line.
Optional communication protocols include CANopen. The CAN bus is 2.0B active (11 and/or 29 bit) and is capable of all standard frequencies from
10 kHz to 1 MHz. CANopen features include node guarding, heartbeat producer, SDOs and PDOs. Highlights include variable PDO mapping and extended node identifier.
The MDrive 34AC Motion Control is 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) optical encoder with index mark, internal to the MDrive 34AC so there is no increase in length. Or, for an expanded choice of line counts and resolutions, closed loop control is available with an interface to a remotely mounted user-supplied external encoder.
In addition to encoder options, the MDrive 34AC Motion Control has 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.
Integrated Motor and Driver
MDI34AC:1-1
1 Introduction MDrive
®
34AC Motion Control
Interface connections are accomplished using standard industrial industrial connectors. And connectivity has never been easier with options ranging from all-inclusive QuickStart Kits to individual interfacing cables.
1.2 Product identification
MDrive
®
34ac Plus
2
P1: I/O, and optional remote encoder
19-pin M23 male industrial connector
P3: Integrated Power Supply
3-pin Euro AC male industrial connector
P2: Communication
RS-422/485 with 5-pin M12 female industrial connector
Part numbers
E x a m p l e :
QuickStart Kit
K = kit option, or leave blank if not wanted
MDrive Plus version
MDI = Motion Control
Input
4 = Plus
2
, expanded features, with industrial connectors, IP54-rated
P1 connector
M = M23 industrial connector
Communication
R = RS-422/485
P2 connector
Q = M12 industrial connector
Motor size
34 = NEMA 34 (3.4" / 86 mm)
Motor length
A = single stack
B = double stack
C = triple stack
Drive voltage
1 = 120 VAC
2 = 240 VAC
Options
Leave blank if not wanted
Options may be combined, unless noted
K M D I 4 M R Q 3 4 A 1 – E Q
K M D I 4 M R Q 3 4 A 1 – EQ
K M D I 4 M R Q 3 4 A 1 – EQ
K M D I 4 M R Q 3 4 A 1 – EQ
K M D I 4 M R Q 3 4 A 1 – EQ
K M D I 4 M
R Q 3 4 A 1 – EQ
K M D I 4 M R Q 3 4 A 1 – EQ
K M D I 4 M R Q 3 4 A 1 – EQ
K M D I 4 M R Q 3 4 A 1 – EQ
K M D I 4 M R Q 3 4 A 1 – EQ
– EQ = internal encoder, 512-line internal magnetic encoder with index mark
– EE = remote encoder interface, differential encoder to be provided by user
May not be combined with internal encoder option.
– N = rear control knob for manual positioning (1)
– EQ
(1) Not IP54-rated.
Figure 1.1 Standard product options
MDI34AC:1-2 Integrated Motor and Driver
MDrive
®
34AC Motion Control 1 Introduction
1.3
1.4
Documentation reference
The following User’s manuals are available for the MDrive23 :
Product hardware manual, describes the technical data and installation,of the product.
MCode Programming and Reference manual which details the programming and configuration of the device.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the IMS web site at http://www.imshome.com
Product software
The MDrive 34AC Motion Control motion control integrated motor and driver may be programmed using any standard ASCII txt editor and
ANSI terminal emulated. The recommended environment is the IMS
Terminal Interface, which is a combined terminal/program editor tailored for use with IMS motion control products. This free software may be downloaded from http://www.imshome.com/software_interfaces.html.
Installation and usages instructions are to be found in the MCode Programming Manual, which is correlated to this document.
Integrated Motor and Driver
MDI34AC:1-3
1 Introduction
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MDrive
®
34AC Motion Control
MDI34AC:1-4 Integrated Motor and Driver
MDrive
®
34AC Motion Control 2 Specifications
2
2.1
Specifications
Mechanical specifications
LMAX2
LMAX
2.70
(68.4)
P2
P3
P1
0.71
(18.0)
1.46 ±0.039
(37.0 ±1.0)
0.87 ±0.010
(22 ±0.25)
Ø 0.22
(Ø 5.5)
Ø 2.87 ±0.002
(Ø 73.0 ±0.05)
6.47
(164.2)
5.76
(146.2)
3.38 SQ.
(85.8 SQ.)
0.40
(10.1)
MDrive AccuStep lengths
Inches (mm)
Motor length
Single
Double
Triple
LMAX with single shaft or internal encoder
6.1 (155.0)
6.9 (174.3)
8.4 (214.3)
LMAX2 with control knob
7.1 (180.4)
7.9 (199.7)
9.4 (239.7)
Ø 0.55 +0/-0.0005
(Ø 14.0 +0/-0.013)
0.08 ±0.004
(2.0 ±0.1)
0.20 +0/-0.002
(5.0 +0/-0.05)
0.63 +0/-0.017
(16.0 +0/-0.432)
2.74 +0/-0.010 SQ.
(69.58 +0/-0.25 SQ.)
3.46
(87.8)
L
MAX2
option
Ø 1.90
(Ø 48.3) control knob connectors
I/O Comm Power
Ø 0.87
(Ø 22.1)
Ø 0.53
(Ø 13.5)
Ø 0.87
(Ø 22.1)
P1: 19-pin M23 P2: 5-pin M12 P3: 3-pin Euro AC
Figure 2.1 MDrive 34AC mechanical dimensions
Integrated Motor and Driver
MDI34AC:2-1
2 Specifications MDrive
®
34AC Motion Control
2.2
2.2.1
General specifications
Electrical specifications
120 VAC
Input voltage range
240 VAC
Aux-Logic Input Voltage*
Max Aux-Logic Supply Current (Per
MDrive)**
Condition
—
—
—
—
Min
95
95
+12
—
Typ
—
—
—
Max
132
264
+24
194
Unit
VAC
VAC
VDC mA
* Maintains power to control and feedback circuits [only] when input voltage is removed
Table 2.1 Electrical specifications
2.2.3 I/O specifications
Condition
General Purpose I/O - Number and Type
I/O Points 1-8
General Purpose I/O - Electrical
Inputs
Outputs
Output Sink Current (Plus)
Motion I/O
High speed position capture
High speed trip output
—
Sinking or Sourcing
Sinking
Sourcing
One channel
Filter range
Resolution
Speed
Resolution
Threshold
Analog input
Resolution
Range
Voltage
Current
Table 2.2 I/O specifications
Min Typ Max Unit
0
0
4
—
0
—
—
—
—
8 I/O points configurable as sinking or sourcing inputs or outputs
TTL
—
+12
—
—
—
—
—
—
—
—
—
+24
+24
+24
600
—
—
—
—
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
32
150 bit nS
32
TTL bit
VDC
10
5
10
20
20
VDC
VDC
VDC mA bit
VDC
VDC mA mA
MDI34AC:2-2 Integrated Motor and Driver
MDrive
®
34AC Motion Control 2 Specifications
2.2.4 Communication specifications
RS-422/485 (standard)
BAUD rate
CANopen (optional)
Type
BAUD rate
Application layer
Device profile
ID
Isolation
Condition
—
Min
4.8
—
Version 3.0
Version 2.0
—
—
Table 2.3 Communication specifications
10 kHz
Typ
—
Max
115.2
Unit kbps
1 MHz
2.0B active
—
DS-301
DSP-402
11 or 29 bit
Galvanic
2.2.5 Thermal specifications
Min
-40
-40
Typ
—
—
Max
+75
+90
Unit
ºC
ºC
2.2.6
Heat sink temperature
Motor temperature non-condensing humidity non-condensing humidity
Table 2.4 Thermal specifications
Motion specifications
Microstep resolution (closed loop)
Steps Per Revolution
Position Resolution
Encoder type
Resolution (Lines)
Resolution (Edges)
Counters
Counter 1 (C1) Type
Counter 2 (C2) Type
Resolution
Maximum Edge Rate
Velocity
Range
Resolution
Acceleration/Deceleration
Range
Resolution
Table 2.5 Motion specifications
51200
2048
Internal, Differential magnetic
1000
4000
Position
Encoder
32 bit
5 MHz
±5,000,000 Steps/Sec.
0.5961 Steps/Sec.
1.5 x 10
9
Steps/Sec.
2
90.9 Steps/Sec.
2
Integrated Motor and Driver
MDI34AC:2-3
2 Specifications MDrive
®
34AC Motion Control
2.2.7
2.2.8
Software specifications
Program Storage Type/Size
User Registers
User Program Labels and Variables
Math, Logic and Conditional Functions
Branch Functions
Party Mode Addresses
Encoder Functions
Predefined I/O Functions
Input Functions
Output Functions
Trip Functions
Flash/6384 Bytes
(4) 32 Bit
192
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Branch and Call (Conditional)
62
Stall Detect, Position Maintenance, Find Index
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog Input
Moving, Fault, Stall, Velocity Changing
Trip on Input, Trip on Position, Trip on Time, Trip Capture
Table 2.6 Software specifications
Motor specifications
Specification
Holding torque oz-in (N-cm)
Detent torque oz-in (N-cm)
Rotor inertia oz-in-sec
2
(kg-cm
2
)
Weight motor and driver lb (kg)
Single length
330 oz-in (233)
10.9 (7.7)
0.0142 (1.0)
6.4 (2.9)
Double length
500 (353)
14.16 (10.0)
0.0227 (1.6)
7.7 (3.5)
Table 2.7 MDrive 34AC Motion Control motor specifications
Triple length
700 (529)
19.83 (14.0)
0.0482 (3.4)
11.0 (5.0)
MDI34AC:2-4 Integrated Motor and Driver
MDrive
®
34AC Motion Control 2 Specifications
2.2.9 Speed-force performance curves
S120 VAC motor performance
700
600
500
400
300
200
100
0
0
Triple Motor Length
Double Motor Length
Single Motor Length
495
424
354
283
212
141
71
2000
(600)
4000
(1200)
6000
(1800)
8000
(2400)
Speed – Full Steps/Second (RPM)
10000
(3000)
Figure 2.3 Motor performance curve — 120 VAC
240 VAC motor performance
700
600
500
400
300
200
Triple Motor Length
Double Motor Length
Single Motor Length
100
0
0 2000
(600)
4000
(1200)
6000
(1800)
8000
(2400)
Speed – Full Steps/Second (RPM)
Figure 2.4 Motor performance curve — 240 VAC
10000
(3000)
283
212
141
71
495
424
354
Integrated Motor and Driver
MDI34AC:2-5
2 Specifications MDrive
®
34AC Motion Control
2.3
2.3.1
2.3.2
Connectivity specifications/pin assignments
RS-422/485 communication
5-pin M12 industrial connector
(female)
P2
3 4
5
2 1
Pin # Function
1 TX -
2 TX +
3 RX +
4 RX -
5 Comm Gnd
Description
Transmit minus
Transmit plus
Receive plus
Receive minus
Communication ground
Table 2.8 P2 communication, 5-pin M12F industrial connector
Connectivity Options
USB to RS-422/485
Converter:
MD-CC401-001
CANopen communication option
5-pin M12 industrial
P2
4 3
5
1 2
Pin # Function
1 Shield
2 CAN +V
3 CAN -V
4 CAN high
5 CAN low
Description
Optional CAN shield
+7 to +30 VDC power supply
CAN communication ground
CAN_H bus line (high dominant)
CAN_L bus line (low dominant)
Table 2.9 CANopen communication, P2: 5-pin D-sub female
Connectivity Options
USB to CANopen converter:
MD-CC500-000
2.3.3 AC power
3-pin Euro AC
Pin 3
Pin 2
Connectivity Options
Cordset
Straight MD-CS200-000
Right-angle: MD-
CS201-000
Pin 1
Pin # Function
1 Earth
2 Line
3 Neutral
Description
Chassis (earth) ground
AC line
AC neutral
Table 2.10 P3 DC power, 2-pin locking wire crimp
MDI34AC:2-6 Integrated Motor and Driver
MDrive
®
34AC Motion Control 2 Specifications
2.3.4 Expanded I/O
19-pin M23 industrial
Outside: Pins 1 -12
1
12
2
3
4
11
10 9 8
5
7
6
Inside: Pins 13 -19
13
14
18 19 15
17 16
Connectivity Options
Cordset
Straight MD-CS100-000
Right-angle: MD-
CS101-000
8
9
4
5
6
Pin # Function
1 I/O 9
2
3
I/O 11
Description
0 to +24 VDC Programmable I/O Point 9.
0 to +24 VDC Programmable I/O Point 11.
Step/Clock I/O 0 to +5 VDC Step Clock I/O. Can also be configured as Quadrature or Clock Up/Down.
I/O 1
No Connect
0 to +24 VDC Programmable I/O Point 1.
No Connect.
No Connect
Aux-Logic
7
No Connect.
+12 to +24 VDC Auxiliary Logic Supply Input.
This provides power to control and logic circuits if main power is removed.
10
14
15
16
17
18
19
11
12
13
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell
I/O 12
Capture/Trip
I/O
AIN
I/O 2
I/O 4
I/O 10
No Connect
Auxiliary Ground.
0 to +24 VDC Programmable I/O Point 3.
Non-isolated I/O Ground. Common with Power
Ground.
I/O Power, used with sourcing inputs or outputs.
Shell connect
0 to +24 VDC Programmable I/O Point 12.
High Speed Capture Input or Trip Output. +5
VDC Logic Level.
0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog
Input.
0 to +24 VDC Programmable I/O Point 2.
0 to +24 VDC Programmable I/O Point 4.
0 to +24 VDC Programmable I/O Point 10.
No Connect.
Table 2.11 P1 I/O and aux power, 19-pin lM23 industrial connector
Integrated Motor and Driver
MDI34AC:2-7
2 Specifications MDrive
®
34AC Motion Control
2.3.5 I/O and remote encoder
19-pin M23 industrial
Outside: Pins 1 -12
1
12
2
3
4
11
10 9 8
5
7
6
Inside: Pins 13 -19
13
14
18 19 15
17 16
Connectivity Options
Cordset
Straight MD-CS100-000
Right-angle: MD-
CS101-000
2
3
4
5
6
Pin # Function
1 CH A+
7
8
9
10
11
12
13
14
15
16
17
18
19
CH B+
IDX+
I/O 1
IDX-
N/C
Aux-Logic
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell
CH B-
Capture/Trip
I/O
AIN
I/O 2
I/O 4
CH A-
N/C
Description
Channel A+ encoder input. +5 VDC logic level
Channel B+ encoder input. +5 VDC logic level
Index mark + encoder input. +5 VDC logic level
0 to +24 VDC Programmable I/O Point 1.
Index mark - encoder input. +5 VDC logic level
Not connected
+12 to +24 VDC Auxiliary Logic Supply Input.
This provides power to control and logic circuits if main power is removed.
Auxiliary Ground.
0 to +24 VDC Programmable I/O Point 3.
Non-isolated I/O ground. Common with power ground.
I/O Power, used with sourcing inputs or outputs.
Shell connect
Channel B- encoder input. +5 VDC logic level
High Speed Capture Input or Trip Output. +5
VDC Logic Level.
0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog
Input.
0 to +24 VDC Programmable I/O Point 2.
0 to +24 VDC Programmable I/O Point 4.
Channel A- encoder input. +5 VDC logic level
Not connected
Table 2.12 P1 I/O and aux power, 19-pin lM23 industrial connector
MDI34AC:2-8 Integrated Motor and Driver
MDrive
®
34AC Motion Control 2 Specifications
2.4 Encoder
Internal encoder
MDrive 34ACl products include a 1000 line internal magnetic encoder with index mark.
2.5 Connectivity
QuickStart kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter, prototype development cable(s), instructions and CD for MDrive 34ACl initial functional setup and system testing.
Communication Converters
Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program communication parameters for a single
MDrive product via a PC’s USB port. Length 12.0’ (3.6m).
Mates to connector:
P2 5-pinM12 industrial ..............................................MD-CC401-001
Prototype Development Cables
Speed test/development with pre-wired mating connectors that have flying leads other end. Length 10.0’ (3.0m).
Mates to connector:
P1 19-pin M23 (straight) ........................................... MD-CS100-000
P1 19-pin M23 (right-angle) ...................................... MD-CS101-000
P3 Euro AC (straight) ............................................... MD-CS200-000
P3 Euro AC (right-angle) .......................................... MD-CS201-000
Integrated Motor and Driver
MDI34AC:2-9
2 Specifications
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MDrive
®
34AC Motion Control
MDI34AC:2-10 Integrated Motor and Driver
MDrive
®
34AC Motion Control 3 Connection and Interface
3 Connection and interface
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
3.1 Interfacing I/O
See part 1 of this document, section 6, for I/O interface configurations and methods.
!
CAUTION
ELECTRICAL OVERSTRESS
The general purpose I/O is tolerant to +24 VDC. The following listed I/O point is TTL level and only tolerant to +5 VDC:
1) Capture/Trip
2) Step/direction I/O
3) Remote encoder inputs
Do not exceed +5 VDC on these points.
Failure to follow these instructions can result in equipment damage.
Integrated Motor and Driver
MDI34AC:3-1
3 Connection and Interface MDrive
®
34AC Motion Control
3.1.1 P1 — 19-pin M23 industrial connector (expanded I/O)
3.1.2
I/O11
I/O9
Shell
I/O Power
I/O GND
I/O12
I/O10
I/O4
Outside: Pins 1 -12
N/C
1
12
2
3
4
11
10 9 8
5
7
6
I/O3
Inside: Pins 13 -19
N/C
13
14
18 19 15
17 16
I/O1
N/C
N/C
Aux-Logic
Aux-Ground
Capture/Trip
Analog In
I/O2
Pin Numbers Signal
7
8
5
6
3
4
1
2
9
10
11
12
13
14
15
16
17
18
19
I/O 9
I/O 11
Step/Clock I/O
I/O 1
No Connect
No Connect
Aux-Logic
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell connect
I/O 12
Capture/Trip I/O
AIN
I/O 2
I/O 4
I/O 10
No Connect
Table 3.1 I/O connections, 19-pin M23 industrial
Prototype development cable wire colors (twisted pairs)
Violet
Red
Grey
Red/Blue
Green
Blue
Gray/Pink
White/Green
White/Yellow
White/Gray
Black
Green/Yellow*
Yellow/Brown
Brown/Green
White
Yellow
Pink
Gray/Brown
Brown
P1 — 19-pin M23 industrial connector (remote encoder)
CH B+
CH A+
Shell
I/O Power
I/O GND
CH B-
CH A-
I/O4
Outside: Pins 1 -12
Index +
1
12
2 3 4
11
10 9 8
5
7
6
I/O3
Inside: Pins 13 -19
13 14
18 15
17 16
I/O1
N/C
Aux-Logic
Aux-Ground
Capture/Trip
Analog In
I/O2
Pin Numbers Signal
7
8
5
6
3
4
1
2
9
10
11
12
13
14
15
16
17
18
Channel A+
Channel B+
Index +
I/O 1
Index -
No connect
Aux-Logic
Aux-Ground
I/O 3
I/O GND
I/O PWR
Shell connect
Channel B-
Capture/Trip I/O
AIN
I/O 2
I/O 4
Channel A -
Table 3.2 I/O connections, 19-pin M23 industrial
Prototype development cable wire colors (twisted pairs)
Violet
Red
Grey
Red/Blue
Green
Blue
Gray/Pink
White/Green
White/Yellow
White/Gray
Black
Blue
Yellow/Brown
Brown/Green
White
Yellow
Pink
Gray/Brown
MDI34AC:3-2 Integrated Motor and Driver
MDrive
®
34AC Motion Control 3 Connection and Interface
3.1.3 Connectivity option — 19 conductor cordset
19-pin M23 single-ended cordsets are offered to speed prototyping.
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 ........................... MD-CS100-000
Right Angle ......................................... MD-CS101-000
To MDrivePlus
19-pin M23 Connector To I/O
MD-CS100-000
2.815”
(71.5 mm)
MD-CS101-000
2.37”
(60.2)
13.0’
(4.0 m)
Ensure adequate space is available within your enclosure for the cordset connector!
Pin # Wire Colors
9
10
11
12
13
14
15
16
17
18
19
5
6
7
8
1
2
3
4
Violet
Red
Gray
Red/Blue
Green
Blue
Gray/Pink
White/Green
White/Yellow
White/Gray
Black
Green/Yellow
Yellow/Brown
Brown/Green
White
Yellow
Pink
Gray/Brown
Brown
Figure 3.1 MD-CS10x-000 cordset
Signal (Expanded
Features)
I/O9
I/O11
Step Clock
I/O1
Direction
Not connected
Aux-Logic
Comm GND
I/O3
I/O GND
I/O Power
Shell Connect
I/O12
Capture/Trip
Analog In
I/O2
I/O4
I/O10
Not connected
Signal (Remote encoder)
Channel A +
Channel B +
Index +
I/O1
Index –
Not connected
Aux-Logic
Comm GND
I/O3
I/O GND
I/O Power
Shell Connect
Channel B –
Capture/Trip
Analog In
I/O2
I/O4
Channel A –
Not connected
Integrated Motor and Driver
MDI34AC:3-3
3 Connection and Interface MDrive
®
34AC Motion Control
3.2
3.2.1
3.2.2
Interfacing RS-422/485 communication
P2 — 5-pin M12 industrial connector (male)
RX+
TX+
3 4
5
2 1
GND
RX-
TX-
Pin # Function
1 TX -
2 TX +
3 RX +
4 RX -
5 Comm GND
Description
Transmit minus
Transmit plus
Receive plus
Receive minus
Communication ground only. Do not ground auxlogic to this pin.
Table 3.3 P2 communication, 5-pin M12F industrial connector
Communication converter — MD-CC401-000
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters.
No mating connector kit is available for this connector style. Compatible mating connectors may be purchased from the following suppliers:
Phoenix
Turck
RDE Connectors
6.0’ (1.8m)
6.0’ (1.8m)
To computer
USB port
To MDrivePlus
5-pin M12 connector
(female) in-line converter
5-pin M12 (male)
Figure 3.2 MD-CC401-001 communication converter
MDI34AC:3-4 Integrated Motor and Driver
MDrive
®
34AC Motion Control 3 Connection and Interface
3.3
3.3.1
3.3.2
Interfacing CANopen communication
P2 — 5-pin M12 industrial connector (female)
CAN_H
Shield
4 3
5
1 2
CAN_L
CAN -V
CAN +V
Pin # Function
1 Shield
2 CAN +V
3 CAN -V
4 CAN high
5 CAN low
Description
Optional CAN shield
+7 to +30 VDC power supply
Optional ground
CAN_H bus line (high dominant)
CAN_L bus line (low dominant)
Table 3.4 CANopen communication, P2: 5-pin M12 female
Connectivity accessories
Communication converter cable ..............................MD-CC500-000
MD-CC500-000 USB to CANopen converter
The MD-CC500-000 will not natively interface to the P2 connector of the device. An interface cable must be constructed as illustrated below.
Interface Cable (Note Supplied)
+7 to +30 VDC
Power Supply
CAN +V
CAN -V (Ground)
VW3L1A500
To P2
M12F
120Ω
CAN-H
120Ω Termination
Resistor is REQUIRED
Between CAN-H and CAN-L
At the M12F end of the cable.
CAN-L
M12F
Connector Front View
Pin 1: CAN Shield
Pin 5: CAN-L
Pin 4: CAN-H
120Ω
DB-9F
To USB Port
Pin 2: CAN +V
+7 to +30 VDC
Power
Supply
GND
Pin 3: CAN GND
Figure 3.3 MD-CC500-000 and interface cable
Integrated Motor and Driver
MDI34AC:3-5
3 Connection and Interface MDrive
®
34AC Motion Control
3.4
3.4.1
3.4.2
Interfacing AC power
P3 — 3-pin Euro AC
3-Pin Euro AC Connector
Pin 3: Neutral
Pin 1: Earth
Pin 2: Line
MD-CS20x-000 cordset
Pin number Signal
1 Earth
2 Line
3 Neutral
Table 3.5 AC standard wire colors
European (IEC) color code
Yellow/Green
Brown
Blue
The single-end three conductor cordsets are used with the MDrive AC.
Measuring 13.0’ (4.0m) long, they are available in either straight or right angle termination. IEC color code, oil-resistant yellow PVC jacket, IP68 and NEMA 6P rated.
Straight Termination ............................................... MD-CS200-000
Right Angle Termination ......................................... MD-CS201-000
MD-CS200-000
Brown
Blue
Yellow/green
13’ (4.0 m)
MD-CS201-000
Brown
Blue
Yellow/green
Ensure adequate space is available inside your
Enclosure to allow for the cordset connector!
Figure 3.4 MD-CS20x-000
2.54” (64.5 mm)
1.70”
(43.3 mm)
MDI34AC:3-6 Integrated Motor and Driver
MDrive
®
Linear Actuator
Motion Control
Part 3: Detailed specifications and connectivity information
1. MDrive 14 Linear Actuator
2. MDrive 17 Linear Actuator
3. MDrive 23 Linear Actuator
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MDrive
®
14 Linear Actuator
Motion Control
1. Introduction
2. Specifications
3. Mounting Recommendations
4. Interface and Connectivity
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MDrive
®
14 Linear Actuator
Table of Contents
Table of Contents
Integrated Motor and Driver
1 Introduction .....................................................................MLI14:1-1
1.1 MDrive 14 linear actuator unit overview ...............MLI14:1-1
1.1.1 Linear actuator styles .............................MLI14:1-1
1.1.2 MDrive 14 linear versions ......................MLI14:1-1
1.2 Product identification ............................................MLI14:1-2
1.3 Documentation reference .....................................MLI14:1-3
1.4 Product software ..................................................MLI14:1-3
2 Specifications .................................................................MLI14:2-1
2.1 Mechanical specifications .....................................MLI14:2-1
2.1.1 Non-captive shaft ....................................MLI14:2-1
2.1.2 External shaft ..........................................MLI14:2-2
2.2 General specifications ..........................................MLI14:2-3
2.2.1 Electrical specifications ...........................MLI14:2-3
2.2.2 Standard I/O specifications (plus) ...........MLI14:2-3
2.2.3 Expanded I/O specifications (Plus
2.2.4 Communication specifications ................MLI14:2-5
2.2.5 Thermal specifications ............................MLI14:2-5
2.2.6 Motion specifications ..............................MLI14:2-6
2.2.7 Software specifications ...........................MLI14:2-6
2.2.8 Motor specifications ................................MLI14:2-7
2.2.9 Speed-force performance curves ...........MLI14:2-7
2.3 Connectivity specifications/pin assignments —
Communication ....................................................MLI14:2-8
2.3.1 RS-422/485 communication ...................MLI14:2-8
2.3.2 CANopen communication option (Plus
................................................................MLI14:2-8
2.4 Connectivity specifications/pin assignments - Comm, ........
Power and I/O ......................................................MLI14:2-9
2.4.1 Communication, Power and I/O - standard I/O ......
(Plus only) ...............................................MLI14:2-9
2.4.2 Power and I/O - expanded I/O (Plus
2.4.3 Power and I/O - remote encoder (Plus 2 ) MLI14:2-11
2.5 Options ...............................................................MLI14:2-12
2.6 Connectivity ........................................................MLI14:2-12
3 Mounting, connection and assembly recommendations ...........
..........................................................................................MLI14:3-1
3.1 Mounting ...............................................................MLI14:3-2
3.2 Layout and interface guidelines............................MLI14:3-3
3.2.1 Rules of wiring .......................................MLI14:3-3
3.2.2 Rules of shielding ..................................MLI14:3-3
3.3 Recommended wiring ...........................................MLI14:3-4
3.3.1 Recommended mating connectors and pins ..........
................................................................MLI14:3-4
3.4 Securing power leads and logic leads ..................MLI14:3-5
3.5 Anti-Backlash nut assembly and installation ........MLI14:3-6
3.5.1 Notes and warnings ................................MLI14:3-6
3.5.2 Installation ...............................................MLI14:3-6
3.5.3 Removal from screw ...............................MLI14:3-6
3.5.4 Assembly procedure ...............................MLI14:3-7
i
Table of Contents
List of Figures
MDrive
®
14 Linear Actuator
4 Connection and interface ..............................................MLI14:4-1
4.1 Interfacing RS422-485 communication ................MLI14:4-1
4.1.1 P1 — 12-pin locking wire crimp ..............MLI14:4-2
4.1.2 P2 — 10-pin friction lock wire crimp .......MLI14:4-2
4.2 Interfacing CANopen communication ...................MLI14:4-3
4.2.1 P2 — 9-pin d-sub connector (female) .....MLI14:4-3
4.3 Interfacing DC power ............................................MLI14:4-4
4.3.1 Recommended wire gauge .....................MLI14:4-4
4.3.2 P1 — 12-pin locking wire crimp interface MLI14:4-4
4.3.3 P1 — 16-pin locking wire crimp interface MLI14:4-5
4.4 Interfacing I/O .......................................................MLI14:4-6
4.4.1 P1 — 12-pin locking wire crimp ..............MLI14:4-6
4.4.2 P1 — 16-pin locking wire crimp interface
(expanded I/O) ........................................MLI14:4-7
4.5 Connectivity accessory details .............................MLI14:4-9
4.5.1 RS-422/485 communication converter cables ........
................................................................MLI14:4-9
4.5.2 Prototype development cables .............MLI14:4-10
4.6 Mating connector kits .........................................MLI14:4-12
Figure 1.1 Standard product options ...........................................MLI14:1-2
Figure 2.1 Non-captive shaft mechanical specifications..............MLI14:2-1
Figure 2.2 External shaft mechanical specifications ....................MLI14:2-2
Figure 2.3 Performance curves ...................................................MLI14:2-7
Figure 3.1 MDrive 14 linear actuator mounting and drill pattern..MLI14:3-2
Figure 3.2 Securing leads ............................................................MLI14:3-5
Figure 3.3 Insert spring tang ........................................................MLI14:3-7
Figure 3.4 Spring engaged ..........................................................MLI14:3-7
Figure 3.5 Insert opposite tang ....................................................MLI14:3-7
Figure 3.6 Inserting the back nut .................................................MLI14:3-8
Figure 3.7 Measuring the gap distance .......................................MLI14:3-8
Figure 3.8 Pre-loading the nut .....................................................MLI14:3-9
Figure 3.9 Nut pre-loaded and fully assembled ...........................MLI14:3-9
Figure 4.1 MD-CC402-001 communication converter cable .......MLI14:4-9
Figure 4.2 MD-CC403-001 communication converter .................MLI14:4-9
Figure 4.3 Multi-drop communication using the PD10-1434-FL3 ................
.................................................................................MLI14:4-10
Figure 4.4 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp .....
connector. .................................................................MLI14:4-10
Figure 4.5 Prototype development cable PD12B-1434-FL3 ......MLI14:4-11
Figure 4.6 Prototype development cable PD16-1417-FL3 ........MLI14:4-12
ii
Integrated Motor and Driver
MDrive
®
14 Linear Actuator
List of Tables
Table of Contents
Table 2.1 Electrical specifications ..............................................MLI14:2-3
Table 2.2 I/O specifications ........................................................MLI14:2-3
Table 2.3 Expanded I/O specifications .......................................MLI14:2-4
Table 2.4 Communication specifications ....................................MLI14:2-5
Table 2.5 Thermal specifications ................................................MLI14:2-5
Table 2.6 Motion specifications ..................................................MLI14:2-6
Table 2.7 Software specifications ...............................................MLI14:2-6
Table 2.8 Actuator specifications ...............................................MLI14:2-7
Table 2.9 P2 communication, 10-pin locking wire crimp ............MLI14:2-8
Table 2.10 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
...................................................................................MLI14:2-8
Table 2.11 P1 communication, power and I/O, 12-pin locking wire crimp....
...................................................................................MLI14:2-9
Table 2.12 P1 Expanded I/O, 14-pin locking wire crimp ............MLI14:2-10
Table 2.13 I/O and remote encoder interface - 16-pin locking wire crimpl ..
.................................................................................MLI14:2-11
Table 4.1 Communication connections, P1 - 12-pin wire crimp .MLI14:4-2
Table 4.2 P2 communication, 10-pin locking wire crimp ............MLI14:4-2
Table 4.3 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
...................................................................................MLI14:4-3
Table 4.4 Recommended power supply wire gauge ..................MLI14:4-4
Table 4.5 Power and ground connections, 12-pin locking wire crimp ........
...................................................................................MLI14:4-4
Table 4.6 Power and ground connections, 16-pin locking wire crimp ........
...................................................................................MLI14:4-5
Table 4.7 Universal input connections, 12-pin locking wire crimp ..............
...................................................................................MLI14:4-6
Table 4.8 I/O connections, 16-pin locking wire crimp .................MLI14:4-7
Table 4.9 I/O and remote encoder connections, 16-pin locking wire crimp
...................................................................................MLI14:4-8
Integrated Motor and Driver iii
Table of Contents
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MDrive
®
14 Linear Actuator iv
Integrated Motor and Driver
MDrive
®
14 Linear Actuator 1 Introduction
1 Introduction
1.1
1.1.1
MDrive
®
linear actuators combine leading all-in-one integrated motion technology with linear motion to deliver high accuracy, unsurpassed repeatability and long life, all in a package that is extremely compact and affordable.
MDrive 14 linear actuator unit overview
Linear actuator styles
1.1.2
Two (2) linear actuator styles of MDrive 14 integrated motor + driver solutions are available:
Non-captive shaft — a screw runs through the MDrive and moves axially as the motor rotates
External shaft — a rotating screw, integral to the motor shaft, moves a screw-mounted nut axially
Precision rolled lead screws used with MDrive linear actuators are designed specifically for motion control applications to deliver maximum life and quiet operation. Corrosion resistant and non-magnetic, screws are manufactured from premium grade stainless steel and available with optional coating.
MDrive 14 linear versions
Three (2) MDrive14 integrated versions provide a choice of features and capabilities:
Microstepping — motor + driver
Motion Control — motor + driver + controller
MDrive14 linear actuators feature high torque 1.8° brushless NEMA 14 single length step motors with integrated electronics, providing the leading technology solution for all-in-one linear motion applications.
Unsurpassed smoothness and performance delivered by MDrive 14 products 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 MDrive 14 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 problems that can occur with long cable runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.mapping and extended node identifier.
Motor configurations include a single shaft rotary in four lengths, and linear actuators with long life Acme screw**.
Integrated Motor and Driver
MLI14:1-1
1 Introduction MDrive
®
14 Linear Actuator
1.2 Product identification
P1
P2
P1
I/O, power & communication connector:
C = locking wire crimp
(separate Comm connector on Plus 2 versions)
P2
Communication connectors
Plus 2 versions only:
L = 10-pin locking wire crimp
B = DB9, only with CANopen Comm
M L I 1
P1
C
R Z14A4
RS-422/485 comm
Plus
2
Plus 2
P1 P2
M L I 3
C
R
L
14A4
RS-422/485 comm
M L I 3
C
C
B
14A4
CANopen comm
Optional encoder
For NO encoder, omit any –E specification from part number
– EQ
Internal magnetic encoder with 512-line count and index mark.
– EQ
(see above)
– EE
Plus 2 version only: optional inputs for differential remote encoder (not supplied).
May not be combined with internal encoder.
– L
linear actuator
– L
– L
linear actuator linear actuator
See details at bottom of page for complete linear actuator part numbers.
Non-captive shaft External shaft
– L 1 Z
Screw lead
travel per rev
A = 0.250” (6.35mm)
B = 0.125” (3.175mm)
Screw end
M = metric
U = UNC
S = smooth
Z = none
C = 0.063” (1.588mm)
D = 0.031” (0.794mm)
Coating
T = teflon*
Z = none
Screw length
3.0 to 18.0” in 0.1 increments ex. 12.5” = 125
10.0” = 100
Screw length calculation = desired stroke length +
1.40" (35.56mm) + mounting surface plate thickness
*Contact factory for availability.
Figure 1.1 Standard product options
– L 3
Screw lead
travel per rev
A = 0.250” (6.35mm)
B = 0.125” (3.175mm)
C = 0.063” (1.588mm)
D = 0.031” (0.794mm)
Screw end
M = metric
U = UNC
S = smooth
Z = none
Screw length
3.0 to 18.0” in 0.1 increments ex. 12.5” = 125
10.0” = 100
Coating
T = teflon*
Z = none
Nut
G = general purpose
(dynamic load limit
to 25lbs/11kg)
A = anti-backlash
(dynamic load limit
to 5lbs/2kg)
Screw length calculation = desired stroke length + nut length + mounting surface plate thickness
MLI14:1-2 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 1 Introduction
1.3
1.4
Documentation reference
The following User’s manuals are available for the MDrive14Plus:
Product manual, describes the technical data, installation, configuration and programming of the product.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the IMS web site at http://www.imshome.com
Product software
The MDrive 14 Linear Actuator motion control integrated motor and driver may be programmed using any standard ASCII txt editor and
ANSI terminal emulated. The recommended environment is the IMS
Terminal Interface, which is a combined terminal/program editor tailored for use with IMS motion control products. This free software may be downloaded from http://www.imshome.com/software_interfaces.html.
Installation and usages instructions are to be found in the MCode Programming Manual, which is correlated to this document.
Integrated Motor and Driver
MLI14:1-3
1 Introduction
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MDrive
®
14 Linear Actuator
MLI14:1-4 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 2 Specifications
2
2.1
2.1.1
Specifications
Mechanical specifications
Non-captive shaft
Side view
1.11
(28.19)
Front view
0.079 ±0.01
(2.0 ±0.25) options:
- Metric
- UNC
- Smooth
- None
2.05
(52.07)
0.25
(6.35) 0.25
(6.35)
2.30
(58.42)
3.0 to 18.0
(76.2 to 457.2)
Load limit
Nominal load limit: 50 lbs (22 kg)*
*Screw D: 10 lbs (4.5 kg). Heavier loads will degrade screw life. Consult factory for alternatives.
1.82
(46.19)
1.024 SQ.
(26.0 SQ.)
1.4 ±0.004 SQ.
(35.55 ±0.1 SQ.)
4X M3x0.5 THREAD x0.138 DEEP
Ø 0.866 +0/-0.002
(Ø 22.0 +0/-0.051)
Screw end options, see detail drawings
Screw specifications
Screw material
MDrive Linear Actuator precision rolled lead screws are designed specifically for motion control applications to deliver maximum life and quiet operation.
Corrosion resistant and non-magnetic, screws are manufactured from premium grade stainless steel.
Standard screw
Dimensions in inches (mm)
0.25
(6.35)
3.0 to 18.0
(76.2 to 457.2)
Screw end options
(see details at right)
Lead options
Screw coating
An optional teflon screw coating is available for smooth operation and extended life.
inches (mm)
Screw A
Screw B
Screw C
Screw D
0.25
(6.35) travel per revolution travel per full step
0.250 (6.350) 0.00125 (0.0317)
0.125 (3.175)
0.063 (1.588)
0.031 (0.794)
0.00063 (0.0158)
0.00031 (0.0079)
0.00016 (0.0040)
Screw end options
Threaded end
Metric end:
M4 x 0.7mm
thread to within 0.03"
(0.76mm) of shoulder
UNC end:
#8-32 UNC-2A thread to within 0.03"
(0.76mm) of shoulder
Smooth end
Ø 0.1967" ±0.001
(Ø 5mm ±0.003)
None
—
Cantilevered loads
Unsupported loads and side loading are not recommended for non-captive shaft MDrive ® linear actuator products.
Calculating screw length
Screw length = [mounting surface plate thickness] + [1.40" (35.56mm)] + [desired stroke length]
Figure 2.1 Non-captive shaft mechanical specifications
Integrated Motor and Driver
MLI14:2-1
2 Specifications MDrive
®
14 Linear Actuator
2.1.2 External shaft
Side view
2.05
(52.07)
Nut detail
F
B
2.30
(58.42)
A
General purpose nut
Flange shape: round
Load limit: 25 lbs (11 kg)
Purpose: for applications not requiring anti-backlash and wear compensation.
1.11
(28.19)
3.0 to 18.0
(76.2 to 457.2)
0.079 ±0.01
(2.0 ±0.25)
0.25
(6.35)
0.25
(6.35)
Nut
Front view
1.82
(46.19)
4X M3x0.5 THREAD x0.138 DEEP
Ø 0.866 +0/-0.002
(Ø 22.0 +0/-0.051)
Screw end options, see detail drawings
Screw end options:
- Smooth
- None
1.024 SQ.
(26.0 SQ.)
1.4 ±0.004 SQ.
(35.55 ±0.1 SQ.)
F
B
A
Anti-backlash nut
Flange shape: triangle
Load limit: 5 lbs (2 kg)
Purpose: backlash free operation for high accuracy and low drag torque.
Anti-backlash nut outline
General purpose nut outline
Ø D
Ø BCD
Ø E
inches (mm)
General purpose
A B D E F BCD
0.50
(12.7)
0.75
(19.1)
0.9max
(22.86)
1.0
(25.4)
1.0
(25.4)
0.14
(3.6)
0.143
(3.63)
0.15
(3.81)
0.18
(4.57)
0.75
(19.1)
0.75
(19.1)
load limit
25lbs/
11 kg
5lbs/
2 kg
drag torque
free wheeling
< 1.0 oz-in
< 0.7 N-cm
Screw specifications
Screw material
MDrive Linear Actuator precision rolled lead screws are corrosion resistant and non-magnetic, manufactured from premium grade stainless steel.
Standard screw
Dimensions in inches (mm)
0.25
(6.35)
Screw end options
(see details at right)
3.0 to 18.0
(76.2 to 457.2)
Screw coating
An optional teflon screw coating is available for smooth operation and extended life.
0.25
(6.35)
Lead options
inches (mm)
Screw A
Screw B
Screw C
Screw D travel per revolution travel per full step
0.250 (6.350) 0.00125 (0.0317)
0.125 (3.175)
0.063 (1.588)
0.031 (0.794)
0.00063 (0.0158)
0.00031 (0.0079)
0.00016 (0.0040)
Screw end options
Threaded end
Metric end:
M4 x 0.7mm
thread to within 0.03"
(0.76mm) of shoulder
UNC end:
#8-32 UNC-2A thread to within 0.03"
(0.76mm) of shoulder
Smooth end
None
Ø 0.1967" ±0.001
(Ø 5mm ±0.003)
—
Cantilevered loads
Loads for external shaft MDrive
®
linear actuator products MUST BE supported. Side loading is not recommended.
Calculating stroke length
Available stroke length = [screw length] – [nut length] – [mounting surface plate thickness]
Figure 2.2 External shaft mechanical specifications
MLI14:2-2 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 2 Specifications
2.2
2.2.1
General specifications
Electrical specifications
Input voltage range
Power supply current
Aux-Logic Input Voltage
Max Aux-Logic Supply Current (Per
MDrive)**
Condition
—
—
—
—
Min
+12
—
+12
—
—
Typ
—
—
—
Max
+48
1
+24
194
*per MDrive14Plus, Actual current depends on voltage and load.
** Maintains power to control and feedback circuits [only] when input voltage is removed
Table 2.1 Electrical specifications
Unit
VDC
A
VDC mA
2.2.2 Standard I/O specifications (plus)
Condition
General Purpose I/O - Number and Type
Plus (I/O Points 1-4)
General Purpose I/O - Electrical
Inputs
Sinking Outputs (All)
Output Sink Current (Plus)
Logic Threshold
Protection
—
—
—
One channel
Logic 0
Logic 1
Sinking
Sourcing
Analog Input
Resolution
Range
Clock I/O
Types
Logic Threshold
Trip Output/Capture Input
Logic Threshold
—
Voltage Mode
Current Mode
—
—
Table 2.2 I/O specifications
—
Integrated Motor and Driver
Min Typ Max Unit
4 I/O points configurable as sinking or sourcing inputs or sinking outputs
TTL
—
—
—
—
—
—
—
—
—
+24
+24
600
< 0.8
> 2.2
VDC
VDC mA
VDC
VDC
Over temp, short circuit
Transient Over Voltage, Inductive
Clamp
0 to +5 VDC, 0 to +10 VDC
4 to 20 mA, 0 to 20mA
Step/Direction, Up/Down, Quadrature
+5 VDC TTL Input, TTL Output (with 2 kΩ Load to Ground
+5 VDC TTL Input, TTL Output (with 2 kΩ Load to Ground
MLI14:2-3
2 Specifications MDrive
®
14 Linear Actuator
2.2.3 Expanded I/O specifications (Plus
2
)
Condition Min Typ Max Unit
General Purpose I/O - Number and Type
Plus (I/O Points 1-8) —
8 I/O points (4 if configured for remote encoder) configurable as sinking or sourcing inputs or outputs
General Purpose I/O - Electrical
Inputs
Outputs
Sinking or Sourcing
Sinking
Sourcing
One channel
TTL
—
+12
—
—
—
+24
+24
+24
600
VDC
VDC
VDC mA Output Sink Current (Plus)
Motion I/O
—
Electronic gearing
High speed position capture
High speed trip output
Range
Resolution
Threshold
Filter range
Secondary clock out ratio
Filter range
Resolution
Speed
Resolution
Threshold
0.001
—
—
—
—
—
—
—
—
—
—
—
—
—
2.000
32 bit
TTL VDC
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
1:1
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
32 bit
150
32
TTL nS bit
VDC
Optional remote encoder (closed loop)*
Type
Steps per revolution
Resolution
User supplied differential encoder
See motion specifications table
User defined . Note: microsteps/rev = 2X the encoder counts/rev minimum.
*Remote encoder inputs replace I/O points 4-8 and step and direction I/O
Table 2.3 Expanded I/O specifications
MLI14:2-4 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 2 Specifications
2.2.4 Communication specifications
RS-422/485 (standard)
BAUD rate
CANopen (optional)
Type
BAUD rate
Application layer
Device profile
ID
Isolation
Condition
—
Min
4.8
—
Version 3.0
Version 2.0
—
—
Table 2.4 Communication specifications
10 kHz
Typ
—
Max
115.2
Unit kbps
1 MHz
2.0B active
—
DS-301
DSP-402
11 or 29 bit
Galvanic
2.2.5 Thermal specifications
Heat sink temperature
Motor temperature non-condensing humidity non-condensing humidity
Table 2.5 Thermal specifications
Min
-40
-40
Typ
—
—
Max
+85
+100
Unit
ºC
ºC
Integrated Motor and Driver
MLI14:2-5
2 Specifications MDrive
®
14 Linear Actuator
2.2.6
2.2.7
Motion specifications
Microstep Resolution - Open Loop
Number of microstep resolutions
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
* 1" per revolution lead screw
Microstep resolution (closed loop configuration - (optional)
Steps Per Revolution (Fixed)
Position Resolution
Optional differential encoder (internally mounted)
Type
Resolution (Lines)
Resolution (Edges)
Counters
Counter 1 (C1) Type
Counter 2 (C2) Type
Resolution
Maximum Edge Rate
Velocity
Range
Resolution
Acceleration/Deceleration
Range
Resolution
6400
21600
2
10000
25400
3
20
51200
2048
Internal, Magnetic
512
2048
Position
Encoder
32 bit
5 MHz
±5,000,000 Steps/Sec.
0.5961 Steps/Sec.
1.5 x 10
9
Steps/Sec.
2
90.9 Steps/Sec.
2
Table 2.6 Motion specifications
Software specifications
Program Storage Type/Size
User Registers
User Program Labels and Variables
Math, Logic and Conditional Functions
Branch Functions
Party Mode Addresses
Encoder Functions
Predefined I/O Functions
Input Functions
Output Functions
Trip Functions
Flash/6384 Bytes
(4) 32 Bit
192
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Branch and Call (Conditional)
62
Stall Detect, Position Maintenance, Find Index
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog Input
Moving, Fault, Stall, Velocity Changing
Trip on Input, Trip on Position, Trip on Time, Trip Capture
Table 2.7 Software specifications
MLI14:2-6 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 2 Specifications
2.2.8 Motor specifications
Holding torque
Rotor inertia
Maximum thrust (Non-captive)
Maximum thrust (External)
Maximum repeatability (Non-captive)
Maximum repeatability (External)
General purpose
With anti-backlash nut
General purpose
With anti-backlash nut
General purpose
With anti-backlash nut
General purpose
With anti-backlash nut
Maximum screw misalignment
Wieght without screw
Table 2.8 Actuator specifications
18 oz-in (13 N-cm)
0.0003 oz-in-sec
2
(0.021 kg-cm2)
50 lbs (22 kg)
—
25 lbs (11 kg)
5 lbs (2 kg)
0.005” (0.127 mm)
—
0.005” (0.127mm)
0.0005” (0.0127 mm)
± 1°
8.0 oz (230.0 g)
2.2.9 Speed-force performance curves
12 VDC 24 VDC
100
90
80
70
60
50
40
30
20
Screw D
Screw C
Screw B
Screw A
Load limit 50lbs / 22kg *
27
22
10
0
4
0 1000
(300)
2000
(600)
3000
(900)
4000 5000
(1200) (1500)
6000
(1800)
7000
(2100)
8000
(2400)
18
13
9
44
40
36
31
Speed in full steps per second
(RPM)
100
90
80
Screw D
Screw C
Screw B
Screw A
70
60
31
27
50
40
Load limit 50lbs / 22kg *
30
20
10
9
4
0
0 1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000 7000
(1800) (2100)
8000
(2400)
22
18
13
44
40
36
Speed in full steps per second
(RPM)
48 VDC
100
90
80
Screw D
Screw C
Screw B
Screw A
70
60
50
40
30
20
10
Load limit 50lbs / 22kg *
27
22
18
13
9
4
0
0 1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
7000 8000
(2100) (2400)
44
40
36
31
Speed in full steps per second
(RPM)
*For non-captive shaft linear actuators. Load limit for external shaft linear actuators is determined by selected nut.
Figure 2.3 Performance curves
Integrated Motor and Driver
MLI14:2-7
2 Specifications MDrive
®
14 Linear Actuator
2.3
2.3.1
2.3.2
Connectivity specifications/pin assignments — Communication
RS-422/485 communication
10-pin friction lock wire crimp
RS-422/485
P2
10
8
6
4
2
5
3
9
7
1
Connectivity Options
USB to RS-422 Converter:
MD-CC402-001
Mating connector kit:
CK-02
Mfg P/N:
Shell
Hirose DF11-2428SC
Pins
Hirose DF11-TA2428HC
Pin # Function
1
2
3
4
5
TX +
Comm GND
RX -
TX -
Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 2.9 P2 communication, 10-pin locking wire crimp
CANopen communication option (Plus
2
only)
9-pin D-sub female (DB-9F)
CANopen
P2
8
9
6
7
3
4
1
2
5
Connectivity Options
USB to CANopen converter:
MD-CC500-000
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 2.10 CANopen communication, P2: 9-pin D-sub female (DB-9F)
MLI14:2-8 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 2 Specifications
2.4
2.4.1
Connectivity specifications/pin assignments - Comm, Power and I/O
Communication, Power and I/O - standard I/O (Plus only)
1 3 5 7 9 11
2 4 6 810 12
Connectivity Options
USB to RS-422 Converter:
MD-CC403-001
Mating connector kit:
CK-08
Mfg P/N:
Shell
JST PADP-12V-1-S
Pins
JST SPH-001T0.5L
5
6
7
2
3
1
Pin # Function
GND
+V
I/O 2
4 I/O 3
I/O 4
AIN
I/O 1
8 AUX
9
10
11
12
TX +
TX -
RX -
RX +
Description
Power, Auxiliary and Communication ground.
+12 to +48 VDC Power Supply
0 to +24 VDC Programmable I/O Point 2
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
0 to +24 VDC Programmable I/O Point 1
+12 to +24 VDC Auxiliary Logic Supply Input. This provides power to control and logic circuits if main power is removed.
Transmit +: Connects to Receive + of the Communication
Host.
Transmit –: Connects to Receive – of the Communication
Host.
Receive –: Connects to Transmit – of the Communication
Host.
Receive +: Connects to Transmit + of the Communication
Host.
Table 2.11 P1 communication, power and I/O, 12-pin locking wire crimp
Integrated Motor and Driver
MLI14:2-9
2 Specifications
2.4.2
MDrive
®
14 Linear Actuator
I/O & Power
0.20”
(5.0mm)
P1
Power and I/O - expanded I/O (Plus
2
0.14”
16-pin locking wire crimp
)
Pin # Function Description
7
5
3
1
15 16
13 14
11
9
12
10
8
6
4
2
1 I/O power I/O Power, used with sourcing inputs or outputs.
2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 I/O 9
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
0 to +24 VDC Programmable I/O Point 9
Connectivity Options
Prototype development cable::
PD16-1417-FL3
Mating connector kit:
CK-10
8 I/O 10
9 I/O 11
10 I/O 12
0 to +24 VDC Programmable I/O Point 10
0 to +24 VDC Programmable I/O Point 11
0 to +24 VDC Programmable I/O Point 12
Mfg P/N:
Shell
JST PADP-16V-1-S
Pins
JST SPH-001T0.5L
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level.
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
13
Step/clock
I/O
Step clock i/o. Can also be configured as quadrature or clock up/down. +5 VDC logic level.
14
Direction/ clock I/O
15 +V
16
Power/aux ground
Direction i/o. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
+12 to +48 VDC motor power supply input.
Power and auxiliary ground
Table 2.12 P1 Expanded I/O, 14-pin locking wire crimp
MLI14:2-10 Integrated Motor and Driver
MDrive
®
14 Linear Actuator
2.4.3
2 Specifications
I/O & Power
0.20”
(5.0mm)
P1
Power and I/O - remote encoder (Plus
2
)
0.14”
16-pin locking wire crimp
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs.
2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
7
5
3
1
15 16
13 14
11
9
12
10
8
6
4
2
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 CH A+
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
Channel A+ encoder input. +5 VDC logic level
Connectivity Options
Prototype development cable::
PD16-1417-FL3
Mating connector kit:
CK-10
8 CH A-
9 CH B+
10 CH B-
Channel A- encoder input. +5 VDC logic level
Channel B+ encoder input. +5 VDC logic level
Channel B- encoder input. +5 VDC logic level
Mfg P/N:
Shell
JST PADP-16V-1-S
Pins
JST SPH-001T0.5L
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level.
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
13 IDX+ Index mark + encoder input. +5 VDC logic level
14 IDX-
15 +V
16
Power/aux ground
Index mark - encoder input. +5 VDC logic level
+12 to +48 VDC motor power supply input.
Power and auxiliary ground
Table 2.13 I/O and remote encoder interface - 16-pin locking wire crimpl
Integrated Motor and Driver
MLI14:2-11
2 Specifications MDrive
®
14 Linear Actuator
2.5 Options
Internal encoder
Internal differential magnetic 512 line differential encoders with index mark are available:
Remote Encoder (Plus2 versions only)
MDrive14Plus
2
Motion Control versions are available with differential encoder inputs for use with a remote encoder (not supplied).
Control Knob
The MDrive14Plus 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 MDriv14Plus.
2.6 Connectivity
QuickStart kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter, prototype development cable(s), instructions and CD for MDrive initial functional setup and system testing.
Communication Converters
Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program communication parameters for a single
MDrive product via a PC’s USB port. Length 12.0’ (3.6m).
Mates to connector:
P2 10-pin wire crimp .................................................MD-CC402-001
P1 12-pin wire crimp .................................................MD-CC403-001
Prototype Development Cables
Speed test/development with pre-wired mating connectors that have flying leads other end. Length 10.0’ (3.0m).
Mates to connector:
P2 10-pin wire crimp ................................................ PD10-1434-FL3
P1 12-pin wire crimp .............................................. PD12B-1434-FL3
P1 16-pin wire crimp ................................................ PD16-1417-FL3
MLI14:2-12
Mating Connector Kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin wire crimp ................................................................CK-02
P1 16-pin wire crimp ................................................................CK-10
P1 12-pin wire crimp ................................................................CK-08
Integrated Motor and Driver
MDrive
®
14 Linear Actuator 3 Mounting
3 Mounting, connection and assembly recommendations
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
!
CAUTION
LEAD RESTRAINT
Some MDrive mounting configurations require that the MDrive move along the screw. Ensure that all cabling is properly restrained to provide strain relief on connection points..
Failure to follow these instructions can result in equipment damage.
!
THERMAL MANAGEMENT
CAUTION
The mounting plate material should offer sufficient mass and thermal conductivity to ensure that the motor temperature does not eceed 100°C.
Failure to follow these instructions can result in equipment damage.
SCREW MISALIGNMENT
!
CAUTION
Ensure that support for the screw is in place as to not exceed the maximum misalignment of
±1°.
Failure to follow these instructions can result in equipment damage.
Integrated Motor and Driver
MLI14:3-1
3 Mounting MDrive
®
14 Linear Actuator
3.1 Mounting
!
CAUTION
CANTILEVER LOADS
Loads for external shaft MDrive linear actuator products MUST
BE supported. Side loading is not recommended.
Failure to follow these instructions can result in equipment damage.
Care must be observed when installing the mounting screws on ALL MDrive 14Plus 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 MDrive14Plus.
Maximum length of screw threads into the motor housing
0.130" (3.3 mm)
Temperature sensor should be attached at the center of the motor body
MDrive 14
4 X M3-0.5 Screw
(not supplied)
Length TBD by flange thickness
Maximum Tightening Torque:
7.8 lb-in (9 kg-cm)
Mounting Flange
Or Adapter Plate
Drill Pattern for Mounting Flange or Adapter Plate
0.118 (3.0) Thru 4 Places on a 1.448 (36.79) Circle
Ø 0.866 (21.996)
1.024 SQ.
(26.0 SQ.)
MLI14:3-2
Figure 3.1 MDrive 14 linear actuator mounting and drill pattern
Integrated Motor and Driver
MDrive
®
14 Linear Actuator 3 Mounting
3.2
3.2.1
3.2.2
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.
Power supply leads to the MDrive 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.
Rules of wiring
Power supply and motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires.
A minimum of one twist per inch is recommended.
Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better.
Power ground return should be as short as possible to established ground.
Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.
Rules of shielding
The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not effective if the signal is not earthed or grounded.
Do not assume that Earth ground is a true Earth ground. Depending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location.
The shield must be connected so that shield currents drain to signal-earth connections.
The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance.
The shield should be tied to a single point to prevent ground loops.
A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.
Integrated Motor and Driver
MLI14:3-3
3 Mounting MDrive
®
14 Linear Actuator
3.3 Recommended wiring
The following wiring/cabling is recommended for use with the MDrive14:
Logic Wiring ...........................................................................................22 AWG
Wire Strip Length......................................................................... 0.25” (6.0 mm)
Power and Ground ................ See Table 3.2 in Part 1, Section 3 of this document
3.3.1 Recommended mating connectors and pins
Communication
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
10-pin pressure-fit IDC ................................................... Samtec TCSD-05-01-N
Ribbon cable ................................................................................Tyco 1-57051-9
Power and I/O
The following mating connectors are recommended for the MDrive142 Units ONLY!
Please contact a JST distributor for ordering and pricing information.
16-pin Locking Wire Crimp Connector Shell .................. JST PN PADP-16V-1-S
Crimp Pins ...................................................................JST PN SPH-001T-P0.5L
MLI14:3-4 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 3 Mounting
3.4 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
Figure 3.2 Securing leads
Communication Leads
Integrated Motor and Driver
MLI14:3-5
3 Mounting MDrive
®
14 Linear Actuator
3.5
3.5.1
Anti-Backlash nut assembly and installation
Notes and warnings
Do not use a wrench on the stainless steel cam of the nut.
Do not oil the mechanism of the nut.
Do not install the note into an interference fit bore (mechanism will not work).
3.5.2 Installation
To install threaded model nuts, simply hand tighten until shoulder is flush with mounting surface. A small amount of Loctite thread compound such as #277 can be used to prevent loosening. Alternatively, a pin can be installed to mechanically lock the threads.
Flanged models can be mounted to either the front or rear face of the flange.
Before use, it is recommended that the stainless steel preload mechanism be turned so that the caming surfaces move down the ramps.
Once play is felt, allow the mechanism to slowly unwind again to establish the proper preload. (It is possible in assembly to inadvertently twist the cam creating excessive drag torque. This procedure will correct this.)
Using lubricant on the lead screw threads is recommended. This extends the life of the nut and reduces heat generation, noise and vibration. TriGEL-300S or TriGEL-1200SC is recommended.
3.5.3 Removal from screw
If it is necessary to remove the nut from your screw, you may lock the mechanism so that it can be immediately reinstalled without re-setting the preload. This can be done by wrapping tape around the junction between the stainless steel cam and the plastic nut halves. This will prevent the cam from turning when the nut is removed from screw.
Remember to remove tape after installation.
For immediate transfer from one screw to another, hold the nut together between your thumb and forefinger so that it cannot expand axially.
Remove the nut and install it on the second screw. It may be helpful to prevent the cam from turning with your remaining fingers as you transfer. If the nut becomes disassembled or looses its preload for any reason, follow the steps listed in the assembly procedure below.
MLI14:3-6 Integrated Motor and Driver
MDrive
®
14 Linear Actuator
3.5.4 Assembly procedure
1) Insert spring tang into cam slot.
3 Mounting
Figure 3.3 Insert spring tang
2) Ensure that the spring is engaged.
Figure 3.4 Spring engaged
3) Insert opposite tang into front nut slot or hole (dependant on size).
Use the slot or hole that will allow the the cam to be positioned closest to the bottom of the ramp.
Figure 3.5 Insert opposite tang
Integrated Motor and Driver
MLI14:3-7
3 Mounting MDrive
®
14 Linear Actuator
4) With washer installed, insert the back nut into the front nut.
Figure 3.6 Inserting the back nut
5) With the cam held at the bottom of the ramp, thread the entire nut onto the screw starting with the front nut. After the entire nut is threaded onto the screw, release the cam to observe the gap distance (X on the drawing). The gap distance (X) should be about one-third of the full ramp distance, but no more than half.
Figure 3.7 Measuring the gap distance
6) If the gap distance is incorrect, unthread the nut just enough to allow the back nut to disengage from the screw. Pull the back nut off and rotate to the next index position and reinsert back into the front nut. With the cam held at the bottom of the ramp, thread the entire nut back onto the screw. Release the cam and verify the correct gap distance. If still not correct repeat this step.
MLI14:3-8 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 3 Mounting
7) Once the back nut has been properly clocked to yield the correct gap distance, unthread the nut again just enough to disengage the back nut from the screw, but do not remove from the nut. Pull the cam away from the ramp and rotate in the clockwise direction for two ramp settings, then hold the cam at the bottom of the second ramp. Be careful not to allow the back nut to rotate with respect to the front nut while completing this task. With the cam held at the bottom of the second ramp, push the back nut into the front nut and thread the entire nut onto the screw.
Figure 3.8 Pre-loading the nut
8) The anti-backlash nut is now pre-loaded and fully assembled.
Figure 3.9 Nut pre-loaded and fully assembled
Integrated Motor and Driver
MLI14:3-9
3 Mounting
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MDrive
®
14 Linear Actuator
MLI14:3-10 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 4 Connection and Interface
4 Connection and interface
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
4.1 Interfacing RS422-485 communication
For general RS422/485 single and party mode communication practices please see Part 1 Section 5 of this document.
!
CAUTION
Communication GROUND LOOPS
To avoid ground loops in the system only connect communication ground to the first MDrive in the system. Do not connect communication ground on subsequent MDrives.
Failure to follow these instructions may result in damage to system components!
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect communication while the device is in a powered state.
Failure to follow these instructions may result in damage to system components!
Integrated Motor and Driver
MLI14:4-1
4 Connection and Interface MDrive
®
14 Linear Actuator
4.1.1
4.1.2
P1 — 12-pin locking wire crimp
11: RX-
9: TX+
1: GND
12: RX+
10: TX-
Pin # Function
1 GND
9 TX +
10 TX -
11 RX -
12 RX +
Description
Power/aux/communication ground
Transmit plus
Transmit minus
Receive minus
Receive plus
Table 4.1 Communication connections, P1 - 12-pin wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-08
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD12-1434-FL3
Communication converter cable (10’/3.0 m) .............MD-CC403-001
Manufacturer (JST) part numbers
Connector shell........................................................ PADP-10V010S
Pins............................................................................ SPH-001T0.5L
P2 — 10-pin friction lock wire crimp
Use to connect second device
9: TX+
7: RX+
5: AUX
3: RX-
1: TX+
10: TX-
8: RX-
6: RX+
4: TX-
2: Ground
Pin # Function
1 TX +
2 Comm GND
3 RX -
4 TX -
5 Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 4.2 P2 communication, 10-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-02
(contains 5 connector shells, ribbon cable not included)
Communication converter cable (10’/3.0 m) .............MD-CC402-001
MLI14:4-2 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 4 Connection and Interface
4.2
4.2.1
Interfacing CANopen communication
P2 — 9-pin d-sub connector (female)
CAN -V
CAN_H
CAN +V
8
9
6
7
3
4
1
2
5
CAN_L
CAN -V
Shield
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 4.3 CANopen communication, P2: 9-pin D-sub female (DB-9F)
Connectivity accessories
Communication converter cable ...............................MD-CC500-000
Integrated Motor and Driver
MLI14:4-3
4 Connection and Interface MDrive
®
14 Linear Actuator
4.3
4.3.1
4.3.2
Interfacing DC power
Recommended wire gauge
See part 1 of this document, section 3, for recommended power cable configurations.
!
CAUTION
OVER VOLTAGE
The DC voltage range for the MDrive14Plus is +12 to +48
VDC. Ensure that motor back EMF is factored into your power supply size calculations.
Allow 3.0 A maximum power supply output current per MDrive in the system. Actual power supply current will depend on voltage and load.
Failure to follow these instructions can result in equipment damage.
Cable Length: Feet (meters)
Amps Peak
1 Amp Peak
10 (3.0)
20
25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Minimum AWG
20 18 18 18
Table 4.4 Recommended power supply wire gauge
P1 — 12-pin locking wire crimp interface
1: GND
Pin #
1
8: +AUX-PWR
2
8
2: +VDC
Signal
Power ground
+12 to + 48 VDC
Aux-power +2 to +24
VDC
IMS cable wire colors
MD-CC305-001 PD12B-14340-FL3
Black
Red
Red/black
See section 4.7.2 for wire colors.
Table 4.5 Power and ground connections, 12-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-08
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) .............. PD12B-1434-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-12V-1-S
Pins............................................................................ SPH-001T0.5L
MLI14:4-4 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 4 Connection and Interface
4.3.3 P1 — 16-pin locking wire crimp interface
+V 15
GND
16
Pin Numbers
15
16
Signal
+12 to + 48 VDC
Power and auxiliary ground
Prototype development cable wire colors
Red
Black
Table 4.6 Power and ground connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins........................................................................ SPH-001T0.5L04
(contains 5 connector shells, ribbon cable not included)
Integrated Motor and Driver
MLI14:4-5
4 Connection and Interface MDrive
®
14 Linear Actuator
4.4 Interfacing I/O
See part 1 of this document, section 4, for I/O interface configurations and methods.
!
CAUTION
ELECTRICAL OVERSTRESS
The general purpose I/O is tolerant to +24 VDC. The following listed I/O point is TTL level and only tolerant to +5 VDC:
1) Capture/Trip
2) Step/Direction
3) Remote encoder inputs
Do not exceed +5 VDC on these points.
Failure to follow these instructions can result in equipment damage.
4.4.1 P1 — 12-pin locking wire crimp
7: I/O 1
5: I/O 4
3: I/O 2
6: Analog in
4: I/O 3
Pin #
5
6
7
3
4
Signal
I/O 2
I/O 3
I/O 4
Analog input
I/O 1
IMS cable wire colors
MD-CC403-001 PD12B-1434-FL3
White
Green
Orange
White/black
Blue
Table 4.7 Universal input connections, 12-pin locking wire crimp
See section 4.7.2 for wire colors.
Connectivity accessories
Mating connector kit ................................................................CK-08
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) .............. PD12B-1434-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-12V-1-S
Pins............................................................................ SPH-001T0.5L
MLI14:4-6 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 4 Connection and Interface
4.4.2
13: Step
11: Capt/Trip
9: I/O 11
7: I/O 9
5: I/O 3
3: I/O 1
1: I/O pwr
P1 — 16-pin locking wire crimp interface (expanded I/O)
14: Direction
12: Analog
10: I/O 12
8: I/O 10
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
General purpose I/O 9
General purpose I/O 10
General purpose I/O 11
General purpose I/O 12
Capture output/trip input
Analog input
Step clock I/O
Direction clock I/O
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
White
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.8 I/O connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins............................................................................ SPH-001T0.5L
Integrated Motor and Driver
MLI14:4-7
4 Connection and Interface MDrive
®
14 Linear Actuator
4.4.3 P1 — 16-pin locking wire crimp interface (remote encoder)
13: IDX +
11: Capt/Trip
9: CH B +
7: CH A +
5: I/O 3
3: I/O 1
1: I/O pwr
14: IDX -
12: Analog
10: CH B -
8: CH A -
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Channel A +
Channel A -
Channel B +
Channel B -
Capture output/trip input
Analog input
Index +
Index -
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
White
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.9 I/O and remote encoder connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins............................................................................ SPH-001T0.5L
MLI14:4-8 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 4 Connection and Interface
4.5 Connectivity accessory details
4.5.1 RS-422/485 communication converter cables
USB to 10-pin wire crimp connector P2
P/N: MD-CC402-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
6.0’ (1.8m)
6.0’ (1.8m)
To MDrivePlus
10-pin friction lock wire crimp connector in-line converter
To computer
USB port
Figure 4.1 MD-CC402-001 communication converter cable
USB to 12-pin circular connector P1—
MD-CC403-000
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters.
6.0’ (1.8m)
6.0’ (1.8m)
To computer
USB port
To MDrivePlus
12-pin wire crimp
JST connector
10.0’ (3.0m) in-line converter
To Power, I/O & Communications
2
3
7
5
Pin # Wire Colors Signal
1 Black GND
Red
White
Blue
Green
+V
I/O 2
I/O 1
I/O 3
5 Orange I/O 4
6 Brown Analog Input
Figure 4.2 MD-CC403-001 communication converter
Integrated Motor and Driver
MLI14:4-9
4 Connection and Interface MDrive
®
14 Linear Actuator
4.5.2 Prototype development cables
Flying leads to10-pin wire crimp connector
P2 -P/N: PD10-1434-FL3
Used in conjunction with the MD-CC402-001 communication converter cable to facilitate multi-drop RS-422/485 communication.
To MDrivePlus
10-pin friction lock wire crimp connector To Communications
10.0’ (3.0m)
Flying leads terminated by crimp
Wire Colors
White/Red Stripe
White/Blue Stripe
Blue/White Stripe
White/Orange Stripe
Orange/White Stripe
Green/White Stripe
Function
Aux-Logic
TX+
TX-
RX+
RX-
GND
Note: If not using Aux-Logic
Remove Wire (White/Red Stripe)
Remove Ground Wire
(White/Green Stripe)
MDrive #n
MDrive #2
MDrive #1
Ground Connects to 1st MDrive ONLY!
Figure 4.3 Multi-drop communication using the PD10-1434-FL3
Procedure
1) Remove ground wire (unless this is the first system MDrive, green/white stripe)
2) Remove aux-logic (if not used, red/white stripe)
3) Connect pre-crimped flying leads as shown in Figure 5.7 below
9
10
8
Blue/White Stripe
White/Blue Stripe
Orange/White Stripe
White/Orange Stripe
7
Figure 4.4 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp connector.
MLI14:4-10 Integrated Motor and Driver
MDrive
®
14 Linear Actuator 4 Connection and Interface
Flying leads to12-pin locking wire crimp connector P1 - PD12B-3400-FL3
Description: Pre-wired mating connector interfaces to an MDrive’s
12-pin wire crimp connector, with flying leads other end, for quick test/ development.
Function: I/O, Power & Communication Interface.
To MDrivePlus
12-pin wire crimp
JST connector
To I/O, Power &
Communications
10.0’ (3.0m)
10
9
11
Pin # Wire Colors Signal
1 Black GND
2 Red +V
Black
White
Black
TX-
TX+
RX-
7
5
12
3
Green
Black
Blue
Black
RX+
I/O 2
I/O 1
I/O 3
5
6
Yellow
Black
I/O 4
Analog Input
8 Brown Aux-Logic
Figure 4.5 Prototype development cable PD12B-1434-FL3
X
X
X
Pairs
X
X
X
Integrated Motor and Driver
MLI14:4-11
4 Connection and Interface MDrive
®
14 Linear Actuator
Flying leads to16-pin locking wire crimp connector P2 -P/N: PD16-1417-FL3
The PD16-1417-FL3 prototype development cable is used to rapidly interface the MDrive14 to the users controller. This 10’ (3.0 m) cable consists of a 16-pin locking wire crimp connector to plug directly into the
MDrive P1 connector with flying leads on the opposite end to interface to power, i/o and/or remote encoder.
To MDrivePlus
16-pin wire crimp
JST connector
10.0’ (3.0m)
To Power & I/O
Pair Wire
Colors
1
Black
White
2
3
4
5
Black
Green
Black
Blue
Black
Yellow
Black
Brown
6
7
8
Black
Orange
White
Red
Black
Red
Function
Direction
Step Clock
Analog In
Capt/Trip
I/O12
I/O11
I/O10
I/O9
I/O4
I/O3
I/O2
I/O1
I/O Ground
I/O Power
Power GND Power GND
+V +V
Encoder
Function
IDX+
IDX-
Analog In
Capt/Trip
CH B-
CH B+
CH A-
CH A +
I/O4
I/O3
I/O2
I/O1
I/O Ground
I/O Power
5
4
3
2
1
7
6
9
8
11
10
Pin # Wire Colors Signal (Expanded features)
16 Black GND
15
14
13
12
Red
Black
White
Black
+V
Step Clock I/O
Direction I/O
Analog Input
Green
Black
Blue
Black
Capture/Trip I/O
I/O 12
I/O 11
I/O 10
Yellow
Black
Brown
Black
Orange
White
Red
I/O 9
I/O 4
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Figure 4.6 Prototype development cable PD16-1417-FL3
Signal (Remote encoder)
GND
+V
Index –
Index +
Analog Input
Capture/Trip I/O
Channel B –
Channel B +
Channel A –
Channel A +
I/O 4
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
4.6 Mating connector kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin pressure-fit IDC .......................................................CK-01
P2 10-pin wire crimp ................................................................CK-02
P1 12-pin wire crimp ................................................................CK-08
P1 16-pin wire crimp ................................................................CK-10
Pairs
X
X
X
X
X
X
X
X
MLI14:4-12 Integrated Motor and Driver
MDrive
®
17 Linear Actuator
Motion Control
1. Introduction
2. Specifications
3. Mounting Recommendations
4. Interface and Connectivity
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MDrive
®
17 Linear Actuator
Table of Contents
Integrated Motor and Driver
Table of Contents
1 Introduction .....................................................................MLI17:1-1
1.1 MDrive17 linear actuator unit overview ................MLI17:1-1
1.1.1 Linear actuator styles .............................MLI17:1-1
1.1.2 MDrive17 versions .................................MLI17:1-1
1.3 Product identification ............................................MLI17:1-2
1.3.1 Linear actuator options ...........................MLI17:1-2
1.4 Documentation reference .....................................MLI17:1-3
1.5 Product software ..................................................MLI17:1-3
2 Specifications .................................................................MLI17:2-1
2.1 Mechanical specifications .....................................................
.............................................................................MLI17:2-1
2.1.1 External shaft ..........................................MLI17:2-1
2.1.1 Non-captive shaft ....................................MLI17:2-2
2.2 General specifications ..........................................MLI17:2-3
2.2.1 Electrical specifications ...........................MLI17:2-3
2.2.2 Standard I/O specifications (Plus) ..........MLI17:2-3
2.2.3 Expanded I/O specifications (Plus 2 ) ........MLI17:2-4
2.2.4 Communication specifications ................MLI17:2-4
2.2.5 Thermal specifications ............................MLI17:2-5
2.2.6 Motion specifications ..............................MLI17:2-5
2.2.7 Software specifications ...........................MLI17:2-6
2.2.8 Actuator motor specifications ..................MLI17:2-6
2.2.9 Speed-force performance curves ...........MLI17:2-6
2.3 Connectivity specifications/pin assignments -
Communication ....................................................MLI17:2-8
2.3.1 RS-422/RS-485 communication .............MLI17:2-8
2.3.2 CANopen communication option (connector P2)....
................................................................MLI17:2-9
2.4 Connectivity specifications/pin assignments - Power and ...
I/O .........................................................................MLI17:2-9
2.4.1 Power and I/O - standard I/O (Plus) .......MLI17:2-9
2.4.2 Power and I/O - expanded I/O (Plus 2 ) ..MLI17:2-10
.4.2 Power and I/O - remote encoder (Plus
3.6 Options ...............................................................MLI17:2-12
3.7 Connectivity ........................................................MLI17:2-12
3 Mounting and connection recommendations ..............MLI17:3-1
3.1 Mounting ...............................................................MLI17:3-2
3.2 Layout and interface guidelines............................MLI17:3-3
3.2.1 Rules of wiring .......................................MLI17:3-3
3.2.2 Rules of shielding ..................................MLI17:3-3
3.3 Recommended wiring ...........................................MLI17:3-4
3.3.1 Recommended mating connectors and pins ..........
................................................................MLI17:3-4
3.4 Securing power leads and logic leads ..................MLI17:3-5
3.5 Anti-Backlash nut assembly and installation ........MLI17:3-6
3.5.1 Notes and warnings ................................MLI17:3-6
3.5.2 Installation ...............................................MLI17:3-6
3.5.3 Removal from screw ...............................MLI17:3-6
.5.4 Assembly procedure ...............................MLI17:3-7
i
Table of Contents
List of Figures
MDrive
®
17 Linear Actuator
4 Connection and interface ..............................................MLI17:4-1
4.1 Interfacing communication ...................................MLI17:4-1
4.2 Interfacing DC power ............................................MLI17:4-1
4.2.1 Recommended IMS power supplies .......MLI17:4-2
4.2.2 Recommended wire gauge .....................MLI17:4-2
4.3 Interfacing I/O .......................................................MLI17:4-4
4.3.1 P1 — 12’ (30.5 cm) flying leads interface MLI17:4-4
4.3.2 P1 — 7-pin pluggable terminal interface .MLI17:4-4
4.3.3 P1 — 16-pin locking wire crimp interface
(expanded I/O) ........................................MLI17:4-5
4.3.4 P1 — 16-pin locking wire crimp interface (remote .
encoder) .............................................................MLI17:4-6
4.4 Connectivity accessory details .............................MLI17:4-7
4.4.1 RS-422/485 communication converter cables ........
................................................................MLI17:4-7
4.4.2 Prototype development cables ...............MLI17:4-8
4.4.3 Mating connector kits ............................MLI17:4-10
Figure 1.1 Standard product options ...........................................MLI17:1-2
Figure 2.1 External shaft mechanical specifications - dimensions in inches
(mm) ...........................................................................MLI17:2-1
Figure 2.3 12 VDC speed-force curves .......................................MLI17:2-6
Figure 2.4 24 VDC speed-force curves .......................................MLI17:2-7
Figure 2.5 48 VDC speed-force curves .......................................MLI17:2-7
Figure 3.1 Mdrive linear actuator mounting and drill pattern .......MLI17:3-2
Figure 3.2 Securing leads ............................................................MLI17:3-5
Figure 3.3 Insert spring tang ........................................................MLI17:3-7
Figure 3.4 Spring engaged ..........................................................MLI17:3-7
Figure 3.5 Insert opposite tang ....................................................MLI17:3-7
Figure 3.6 Inserting the back nut .................................................MLI17:3-8
Figure 3.7 Measuring the gap distance .......................................MLI17:3-8
Figure 3.8 Pre-loading the nut .....................................................MLI17:3-9
Figure 3.9 Nut pre-loaded and fully assembled ...........................MLI17:3-9
Figure 4.1 MD-CC400-000 communication converter cable .......MLI17:4-7
Figure 4.2 MD-CC402-001 communication converter cable .......MLI17:4-7
Figure 4.3 Multi-drop communication using the PD10-1434-FL3 MLI17:4-8
Figure 4.4 Prototype development cable PD16-1417-FL3 ..........MLI17:4-9
ii
Integrated Motor and Driver
MDrive
®
17 Linear Actuator
List of Tables
Table of Contents
Table 2.1 Electrical specifications ..............................................MLI17:2-3
Table 2.2 Standard I/O specifications ........................................MLI17:2-3
Table 2.3 Expanded I/O specifications .......................................MLI17:2-4
Table 2.4 Communication specifications ....................................MLI17:2-4
Table 2.5 Thermal specifications ................................................MLI17:2-5
Table 2.6 Motion specifications ..................................................MLI17:2-5
Table 2.7 Software specifications ...............................................MLI17:2-6
Table 2.8 Linear actuator motor specifications ...........................MLI17:2-6
Table 2.9 P2 communication, 10-pin pressure fit IDC/SAMTEC MLI17:2-8
Table 2.10 P2 communication, 10-pin locking wire crimp ............MLI17:2-8
Table 2.11 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......
...................................................................................MLI17:2-9
Table 2.12 Power and I/O interface - 12” (308.8.mm) flying leads MLI17:2-9
Table 2.13 Power and I/O interface - 7-pin pluggable terminal ..MLI17:2-10
Table 2.14 Power and I/O interface - 16-pin locking wire crimp .MLI17:2-10
Table 2.15 Power, I/O and remote encoder interface - 16-pin locking wire
crimp .........................................................................MLI17:2-11
Table 4.1 Recommended power supply wire gauge ..................MLI17:4-2
Table 4.2 Power and ground connections, flying leads ..............MLI17:4-3
Table 4.3 Power and ground connections, 7-pin terminal ..........MLI17:4-3
Table 4.4 Power and ground connections, 16-pin locking wire crimp ........
...................................................................................MLI17:4-3
Table 4.5 I/O connections, flying leads ......................................MLI17:4-4
Table 4.6 I/O connections, 7-pin terminal ...................................MLI17:4-4
Table 4.7 I/O connections, 16-pin locking wire crimp .................MLI17:4-5
Table 4.7 I/O and remote encoder connections, 16-pin locking wire crimp
...................................................................................MLI17:4-6
Integrated Motor and Driver iii
Table of Contents
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MDrive
®
17 Linear Actuator
iv
Integrated Motor and Driver
MDrive
®
17 Linear Actuator 1 Introduction
1 Introduction
1.1
1.1.1
MDrive
®
linear actuators combine leading all-in-one integrated motion technology with linear motion to deliver high accuracy, unsurpassed repeatability and long life, all in a package that is extremely compact and affordable.
MDrive17 linear actuator unit overview
Linear actuator styles
Two (2) linear actuator styles of MDrive17 integrated motor + driver solutions are available:
Non-captive shaft — a screw runs through the MDrive and moves axially as the motor rotates
External shaft — a rotating screw, integral to the motor shaft, moves a screw-mounted nut axially
Precision rolled lead screws used with MDrive linear actuators are designed specifically for motion control applications to deliver maximum life and quiet operation. Corrosion resistant and non-magnetic, screws are manufactured from premium grade stainless steel and available with optional coating.
1.1.2 MDrive17 versions
Three (3) MDrive17 integrated versions provide a choice of features and capabilities:
Microstepping — motor + driver
Motion Control — motor + driver + controller
MDrive17 linear actuators feature high torque 1.8° brushless NEMA 17
(1.7”/43mm sq.) single length step motors with integrated electronics, providing the leading technology solution for all-in-one linear motion applications.
Unsurpassed smoothness and performance delivered by MDrive17 products 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 MDrive17 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 problems that can occur with long cable runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.
Integrated Motor and Driver
MLI17:1-1
1 Introduction MDrive
®
17 Linear Actuator
1.3
1.3.1
Product identification
P1
P2
P1
I/O & power connectors:
F = flying leads
P = pluggable terminal
C = locking wire crimp
(includes Comm on
Microstepping version)
P2
Communication connectors:
D = 10-pin IDC
L = 10-pin friction lock wire crimp
B = DB9, only with CANopen Comm
Z = None (when C used at P1 on Microstepping version)
Linear actuator options
M L I 1
P1 P2
F,P
R
D,L
17A4
RS-422/485 comm
M L I 1
F,P
C
B
17A4
CANopen comm
– EQ
Internal magnetic encoder with 512-line count and index mark.
– L
linear actuator
– L
linear actuator
Plus 2
M L I 3
C
Plus 2
M L I 3
C
R
D,L
17A4
RS-422/485 comm
C
B
17A4
CANopen comm
– EQ
(see above)
– EE
Plus 2 version only: optional inputs for differential remote encoder (not supplied).
May not be combined with internal encoder.
– L
linear actuator
– L
linear actuator
See details at bottom of page for complete linear actuator part numbers.
Non-captive shaft
External shaft
– L 1 Z
Screw lead
travel per rev
A = 0.250” (6.35mm)
B = 0.125” (3.175mm)
C = 0.063” (1.588mm)
D = 0.031” (0.794mm)
Screw end
M = metric
U = UNC
S = smooth
Z = none
Coating
T = teflon*
Z = none
Screw length
3.0 to 18.0” in 0.1 increments ex. 12.5” = 125
10.0” = 100
Screw length calculation = mounting surface plate thickness + 1.40" (35.56mm) + desired stroke length
*Contact factory for availability.
Figure 1.1 Standard product options
– L 3
Screw lead
travel per rev
A = 0.250”/6.35mm
B = 0.125”/3.175mm
C = 0.063”/1.588mm
D = 0.031”/0.794mm
Screw end
M = metric
U = UNC
S = smooth
Z = none
Screw length
3.0 to 18.0” in 0.1 increments ex. 12.5” = 125
10.0” = 100
Nut
Coating
T = teflon*
Z = none
G = general purpose
(dynamic load limit
to 25lbs/111N)
A = anti-backlash
(dynamic load limit
to 5lbs/22N)
Stroke length calculation = screw length – nut length – mounting surface plate thickness
MLI17:1-2 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 1 Introduction
1.4
1.5
Documentation reference
The following User’s manuals are available for the MDrive17 linear actuator:
Product manual, describes the technical data, installation, configuration and programming of the product.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the IMS web site at http://www.imshome.com
Product software
The MDrive17 linear actuator motion control integrated motor and driver may be programmed using any standard ASCII txt editor and ANSI terminal emulated. The recommended environment is the IMS Terminal Interface, which is a combined terminal/program editor tailored for use with IMS motion control products. This free software may be downloaded from http://www.imshome.com/software_interfaces.html.
Installation and usages instructions are to be found in the MCode Programming Manual, which is correlated to this document.
Integrated Motor and Driver
MLI17:1-3
1 Introduction MDrive
®
17 Linear Actuator
This page has been intentionally left blank.
MLI17:1-4 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 2 Specifications
2
2.1
2.1.1
Specifications
Mechanical specifications
External shaft
Side view
1.19
(30.2)
Connector option
P1
2.30
(58.3)
P2
Connector option
0.08
(2.0)
Nut detail
B
F
A
General purpose nut
Flange shape: round
Load limit: 25 lbs (11.3 kg)
Purpose: for applications not requiring anti-backlash and wear compensation.
2.20
(55.9)
1.59
(40.5)
F
B
A
Anti-backlash nut
Flange shape: triangle
Load limit: 5 lbs (2.3 kg)
Purpose: backlash free operation for high accuracy and low drag torque.
Front view
3.0 to 18.0
(76.2 to 457.2)
0.25
(6.35)
0.25
(6.35)
Nut
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
4X M3x0.5 thread x0.15 minimum deep
Screw end options see detail drawings below
Screw end options:
- Smooth
- None
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
1.68 SQ.
(42.7 SQ.)
Ø D
Ø BCD
Ø E
inches (mm)
General purpose
A
0.50
(12.7)
B D E F
0.75
(19.1)
0.9max
(22.86)
1.0
(25.4)
1.0
(25.4)
0.14
(2.6)
0.143
(2.63)
0.15
(2.81)
0.18
(4.57)
BCD
0.75
(19.1)
0.75
(19.1)
load limit
25lbs/
11.3kg
5lbs/
2.3kg
drag torque
free wheeling
< 1.0 oz-in
< 0.7 N-cm
Screw Specifications
Standard Acme style rolled screw
0.250
(6.35)
Screw end options
Smooth
Dimensions
Ø 0.1967" ±0.001
(Ø 5mm ±0.003)
3.0 to 18.0
(76.2 to 457.2)
None
—
Lead options
inches (mm)
Screw A
Screw B
Screw C
Screw D
Travel/revolution
0.250 (6.35)
0 .12
5 (2.175)
0.063 (1.588)
0.031 (0.794)
Travel/full step
0.00125 (0.0317)
0.00063 (0.0158)
0.00031 (0.0079)
0.00016 (0.004)
Screw coating
An optional teflon screw coating is available for smooth operation and extended life.
Contact factory for availability.
Figure 2.1 External shaft mechanical specifications - dimensions in inches (mm)
Integrated Motor and Driver
MLI17:2-1
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
1.68 SQ.
(42.7 SQ.)
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
4X M3x0.5 THREAD x0.15 MIN DEEP
END THREADS
– Metric = M4x0.7mm
thread to within 0.03”
(0.76mm) of shoulder
– UNC = #8-32 UNC-2A
thread to within 0.03”
(0.76mm) of shoulder
– Smooth = Ø 0.1967”
±0.001 (Ø 5mm ±0.003)
– None = Ø 0.25”
(Ø 6.35mm)
2 Specifications MDrive
®
17 Linear Actuator
2.1.1
Cantilevered loads
Loads for external shaft MDrive ® linear actuator products MUST BE supported. Side loading is not recommended.
Calculating screw/stroke length
Available stroke length = [6.0” screw] – [nut length] – [mounting surface plate thickness]
Non-captive shaft
Side view
1.19
(30.2)
Connector option
P1
Front view
2.30
(58.3)
0.08
(2.0)
0.25
(6.35)
Screw end options:
- Metric
- UNC
- Smooth
- None
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
4X M3x0.5 thread x0.15 minimum deep
Screw end options see detail drawings below
P2
Connector option
0.25
(6.4)
1.59
(40.5)
2.20
(55.9)
3.0 to 18.0
(76.2 to 457.2)
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
1.68 SQ.
(42.7 SQ.)
Screw Specifications
Standard Acme style rolled screw
0.250
(6.35)
3.0 to 18.0
(76.2 to 457.2)
Lead options
inches (mm)
Screw A
Screw B
Screw C
Screw D
Travel/revolution
0.250 (6.35)
0 .12
5 (2.175)
0.063 (1.588)
0.031 (0.794)
Travel/full step
0.00125 (0.0317)
0.00063 (0.0158)
0.00031 (0.0079)
0.00016 (0.004)
Screw end options
Metric
UNC
Dimensions
M4 x 0.7mm
thread to within
0.03" (0.76mm) of shoulder
#8-32 UNC-2A thread to within
0.03" (0.76mm) of shoulder
Smooth
Ø 0.1967" ±0.001
(Ø 5mm ±0.003)
None
—
MLI17:2-2
Figure 2.2 Non-captive shaft mechanical specifications - dimensions in inches (mm)
Cantilevered loads
Unsupported loads and side loading are not recommended for non-captive shaft
MDrive
®
linear actuator products.
Calculating screw/stroke length
Screw length = [mounting surface plate thickness] + [1.40” (35.56mm)] + [desired stroke length]]
Integrated Motor and Driver
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
1.68 SQ.
(42.7 SQ.)
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
4X M3x0.5 THREAD x0.15 MIN DEEP
END THREADS
– Metric = M4x0.7mm
thread to within 0.03”
(0.76mm) of shoulder
– UNC = #8-32 UNC-2A
thread to within 0.03”
(0.76mm) of shoulder
– Smooth = Ø 0.1967”
±0.001 (Ø 5mm ±0.003)
– None = Ø 0.25”
(Ø 6.35mm)
MDrive
®
17 Linear Actuator 2 Specifications
2.2
2.2.1
General specifications
Electrical specifications
Input voltage range
Max power supply current
Aux-Logic Input Voltage
Max Aux-Logic Supply Current (Per
MDrive17)**
Condition
—
—
—
—
Min
+12
—
+12
—
Typ
—
—
—
—
Max
+48
2.0*
+24
161
*per MDrive17, Actual current depends on voltage and load.
** Maintains power to control and feedback circuits [only] when input voltage is removed
Table 2.1 Electrical specifications
Unit
VDC
A
VDC mA
2.2.2 Standard I/O specifications (Plus)
Condition
General Purpose I/O - Number and Type
Plus (I/O Points 1-4)
General Purpose I/O - Electrical
Inputs
Sinking Outputs (All)
Output Sink Current (Plus)
Logic Threshold
Protection
—
—
—
One channel
Logic 0
Logic 1
Sinking
Sourcing
Analog Input
Resolution
Range
Clock I/O
Types
Logic Threshold
Trip Output/Capture Input
Logic Threshold
—
Voltage Mode
Current Mode
—
—
—
Table 2.2 Standard I/O specifications
Min Typ Max Unit
4 I/O points configurable as sinking or sourcing inputs or sinking outputs
TTL
—
—
—
—
—
—
—
—
—
+24
+24
600
< 0.8
> 2.2
VDC
VDC mA
VDC
VDC
Over temp, short circuit
Transient Over Voltage, Inductive
Clamp
0 to +5 VDC, 0 to +10 VDC
4 to 20 mA, 0 to 20mA
Step/Direction, Up/Down, Quadrature
+5 VDC TTL Input, TTL Output (with 2 kΩ Load to Ground
+5 VDC TTL Input, TTL Output (with 2 kΩ Load to Ground
Integrated Motor and Driver
MLI17:2-3
2 Specifications MDrive
®
17 Linear Actuator
2.2.3
2.2.4
MLI17:2-4
Expanded I/O specifications (Plus
2
)
Condition Min Typ Max Unit
General Purpose I/O - Number and Type
Plus (I/O Points 1-8) —
8 I/O points (4 if configured for remote encoder) configurable as sinking or sourcing inputs or outputs
General Purpose I/O - Electrical
Inputs
Outputs
Sinking or Sourcing
Sinking
Sourcing
One channel
TTL
—
+12
—
—
—
+24
+24
+24
600
VDC
VDC
VDC mA Output Sink Current (Plus)
Motion I/O
—
Electronic gearing
High speed position capture
High speed trip output
Range
Resolution
Threshold
Filter range
Secondary clock out ratio
Filter range
Resolution
Speed
Resolution
Threshold
0.001
—
—
—
—
—
—
—
—
—
—
—
—
—
2.000
32 bit
TTL VDC
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
1:1
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
32 bit
150
32
TTL nS bit
VDC
Optional remote encoder (closed loop)*
Type
Steps per revolution
Resolution
User supplied differential encoder
See motion specifications table
User defined . Note: microsteps/rev = 2X the encoder counts/rev minimum.
*Remote encoder inputs replace I/O points 4-8 and step and direction I/O
Table 2.3 Expanded I/O specifications
Communication specifications
Condition Min Typ Max Unit
RS-422/485 (standard)
BAUD rate
CANopen (optional)
Type
BAUD rate
Application layer
Device profile
ID
Isolation
— 4.8
—
Version 3.0
Version 2.0
—
—
Table 2.4 Communication specifications
10 kHz —
115.2
kbps
1 MHz
2.0B active
—
DS-301
DSP-402
11 or 29 bit
Galvanic
Integrated Motor and Driver
MDrive
®
17 Linear Actuator 2 Specifications
2.2.5
2.2.6
Thermal specifications
Heat sink temperature
Motor temperature non-condensing humidity non-condensing humidity
Table 2.5 Thermal specifications
Motion specifications
Min
-40
-40
Typ
—
—
Max
+85
+100
Unit
ºC
ºC
Microstep Resolution - Open Loop
Number of microstep resolutions
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
* 1" per revolution lead screw
Microstep resolution (closed loop configuration - (optional)
Steps Per Revolution (Fixed)
Position Resolution
Optional differential encoder (internally mounted)
Type
Resolution (Lines)
Resolution (Edges)
Counters
Counter 1 (C1) Type
Counter 2 (C2) Type
Resolution
Maximum Edge Rate
Velocity
Range
Resolution
Acceleration/Deceleration
Range
Resolution
6400
21600
2
10000
25400
3
20
51200
2048
Internal, Magnetic
512
2048
Position
Encoder
32 bit
5 MHz
±5,000,000 Steps/Sec.
0.5961 Steps/Sec.
1.5 x 10
9
Steps/Sec.
2
90.9 Steps/Sec.
2
Table 2.6 Motion specifications
Integrated Motor and Driver
MLI17:2-5
2 Specifications MDrive
®
17 Linear Actuator
2.2.7
2.2.8
2.2.9
Software specifications
Program Storage Type/Size
User Registers
User Program Labels and Variables
Math, Logic and Conditional Functions
Branch Functions
Party Mode Addresses
Encoder Functions
Predefined I/O Functions
Input Functions
Output Functions
Trip Functions
Flash/6384 Bytes
(4) 32 Bit
192
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Branch and Call (Conditional)
62
Stall Detect, Position Maintenance, Find Index
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog Input
Moving, Fault, Stall, Velocity Changing
Trip on Input, Trip on Position, Trip on Time, Trip Capture
Table 2.7 Software specifications
Actuator motor specifications
Holding torque
Rotor inertia
Maximum thrust
Maximum repeatability
General purpose
With anti-backlash nut
General purpose
With anti-backlash nut
Maximum screw misalignment
Wieght without screw
Table 2.8 Linear actuator motor specifications
Speed-force performance curves
12 VDC Curves
100
90
80
70
60
50
40
30
20
10
0
0
29.16 oz-in (20.6 N-cm)
0.0005 oz-in-sec
2
(0.035 kg-cm
2
)
50 lbs (222 N)
25 lbs (111 N)
0.005” (0.127 mm)
0.0005” (0.0127 mm)
± 1°
9.6 oz (272.2 g)
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
Load limit 50lbs / 222N *
5000
(1500)
6000
(1800)
7000
(2100)
Speed in full steps per second (RPM)
Screw D
Screw C
Screw B
Screw A
8000
(2400)
444
399
355
310
266
222
177
133
88
44
Figure 2.3 12 VDC speed-force curves
MLI17:2-6 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 2 Specifications
24 VDC Curves
100
90
80
70
60
50
40
30
20
10
0
0 1000
(300)
2000
(600)
3000
(900)
4000
(1200)
Load limit 50lbs / 222N *
5000
(1500)
6000
(1800)
Screw D
Screw C
Screw B
Screw A
7000
(2100)
Speed in full steps per second (RPM)
8000
(2400)
444
399
355
310
266
222
177
133
88
44
Figure 2.4 24 VDC speed-force curves
48VDC Curves
50
40
30
20
100
90
80
70
60
Load limit 50lbs / 222N *
10
0
0
Screw D
Screw C
Screw B
Screw A
1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
7000
(2100)
Speed in full steps per second (RPM)
8000
(2400)
444
399
355
310
266
222
177
133
88
44
Figure 2.5 48 VDC speed-force curves
Integrated Motor and Driver
MLI17:2-7
2 Specifications MDrive
®
17 Linear Actuator
2.3
2.3.1
Connectivity specifications/pin assignments - Communication
RS-422/RS-485 communication
10-pin pressure fit IDC
RS-422/485
P2
5
7
1
3
9 10
6
8
2
4
Connectivity Options
USB to RS-422/485
Converter:
MD-CC400-001
Mating connector kit:
CK-01
Mfg P/N:
Shell
SAMTEC: TCSD-05-01-N
Ribbon cable
Tyco: 1-57051-9
Pin # Function
1 TX +
2 TX -
3 RX +
4 RX -
5 Aux-Logic
6 RX +
7 RX -
8 TX -
9
10
TX +
Comm GND
Description
Transmit plus
Transmit minus
Receive plus
Receive minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive minus
Transmit minus
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Table 2.9 P2 communication, 10-pin pressure fit IDC/SAMTEC
10-pin friction lock wire crimp
RS-422/485
P2
5
3
9
7
1
10
8
6
4
2
Connectivity Options
USB to RS-422/485
Converter:
MD-CC402-001
Mating connector kit:
CK-02
Mfg P/N:
Shell
Hirose DF11-10DS-2C
Pins
Hirose: DF11-2428SC
Pin # Function
1
2
3
4
5
TX +
Comm GND
RX -
TX -
Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 2.10 P2 communication, 10-pin locking wire crimp
MLI17:2-8 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 2 Specifications
2.3.2 CANopen communication option (connector P2)
9-pin D-sub female (DB-9F)
CANopen
P2
8
9
6
7
3
4
1
2
5
Connectivity Options
USB to CANopen converter:
MD-CC500-000
Pin # Function
1 N/C
2 CAN low
3 VAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 2.11 CANopen communication, P2: 9-pin D-sub female (DB-9F)
2.4
2.4.1
Connectivity specifications/pin assignments - Power and I/O
Power and I/O - standard I/O (Plus)
12” (304.8 mm) flying leads
I/O & Power
P1
12.0”
(304.8mm )
+25.4/-0.0
Wire Color
White/yellow
White/orange
White/violet
White/blue
Green
Black
Red
Function
I/O 1
I/O 2
I/O 3
I/O 4
Analog input
GND
+V
Description
General purpose I/O point 1
General purpose I/O point 2
General purpose I/O point 3
General purpose I/O point 4
0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
Power and auxiliary ground
Motor power (+12 to +48VDC
Table 2.12 Power and I/O interface - 12” (308.8.mm) flying leads
Integrated Motor and Driver
MLI17:2-9
2 Specifications MDrive
®
17 Linear Actuator
7-pin pluggable terminal
I/O & Power
0.44”
(11.2mm)
P1
Top view
5
6
7
3
4
1
2
Pin #
1
2
3
4
5
6
7
Function
I/O 1
I/O 2
I/O 3
I/O 4
Analog input
GND
+V
Description
General purpose I/O point 1
General purpose I/O point 2
General purpose I/O point 3
General purpose I/O point 4
0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
Power and auxiliary ground
Motor power (+12 to +48VDC
Table 2.13 Power and I/O interface - 7-pin pluggable terminal
2.4.2
MLI17:2-10
Power and I/O - expanded I/O (Plus
2
)
16-pin locking wire crimp
I/O & Power
0.20”
(5.0mm)
7
5
3
1
15 16
13 14
11
9
12
10
8
6
4
2
P1
0.14”
(3.6mm)
Connectivity Options
Prototype development cable::
PD16-1417-FL3
Mating connector kit:
CK-10
Mfg P/N:
Shell
JST PADP-16V-1-S
Pins
JST SPH-001T0.5L
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs.
2 I/O GND
3 I/O 1
Non-isolated I/O Ground. Common with Power Ground.
0 to +24 VDC Programmable I/O Point 1
4 I/O 2
5 I/O 3
0 to +24 VDC Programmable I/O Point 2
0 to +24 VDC Programmable I/O Point 3
6 I/O 4
7 I/O 9
8 I/O 10
0 to +24 VDC Programmable I/O Point 4
0 to +24 VDC Programmable I/O Point 9
0 to +24 VDC Programmable I/O Point 10
9 I/O 11
10 I/O 12
11
0 to +24 VDC Programmable I/O Point 11
0 to +24 VDC Programmable I/O Point 12
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level.
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
13
Step/clock
I/O
Step clock i/o. Can also be configured as quadrature or clock up/down. +5 VDC logic level.
14
Direction/ clock I/O
Direction i/o. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
15 +V
16
Power/aux ground
+12 to +48 VDC motor power supply input.
Power and auxiliary ground
Table 2.14 Power and I/O interface - 16-pin locking wire crimp
Integrated Motor and Driver
MDrive
®
17 Linear Actuator 2 Specifications
.4.2 Power and I/O - remote encoder (Plus
2
)
16-pin locking wire crimp
I/O & Power
0.20”
(5.0mm)
P1
0.14”
(3.6mm)
7
5
3
1
15 16
13 14
11
9
12
10
8
6
4
2
Connectivity Options
Prototype development cable::
PD16-1417-FL3
Mating connector kit:
CK-10
Mfg P/N:
Shell
JST PADP-16V-1-S
Pins
JST SPH-001T0.5L
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs.
2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 CH A+
8 CH A-
9 CH B+
10 CH B-
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
Channel A+ encoder input. +5 VDC logic level
Channel A- encoder input. +5 VDC logic level
Channel B+ encoder input. +5 VDC logic level
Channel B- encoder input. +5 VDC logic level
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level.
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
13 IDX+ Index mark + encoder input. +5 VDC logic level
14
15
16
IDX-
+V
Power/aux ground
Index mark - encoder input. +5 VDC logic level
+12 to +48 VDC motor power supply input.
Power and auxiliary ground
Table 2.15 Power, I/O and remote encoder interface - 16-pin locking wire crimpl
Integrated Motor and Driver
MLI17:2-11
2 Specifications MDrive
®
17 Linear Actuator
3.6 Options
Internal encoder
Internal differential magnetic encoders with index mark are available with the MDrive14Plus Microstepping.
Line counts available: 100, 200, 250, 256, 400, 500, 512, 800,1000
3.7 Connectivity
QuickStart kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter, prototype development cable(s), instructions and CD for MDrive linear actuator initial functional setup and system testing.
Communication Converters
Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program communication parameters for a single
MDrive product via a PC’s USB port. Length 12.0’ (3.6m).
Mates to connector:
P2 10-pin IDC ...........................................................MD-CC400-001
P2 10-pin wire crimp .................................................MD-CC402-001
Prototype Development Cables
Speed test/development with pre-wired mating connectors that have flying leads other end. Length 10.0’ (3.0m).
Mates to connector:
P2 10-pin wire crimp ................................................ PD10-1434-FL3
P1 16-pin wire crimp ................................................ PD16-1417-FL3
Mating Connector Kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin wire crimp ................................................................CK-02
P1 16-pin wire crimp ................................................................CK-10
Kit contains 5 mating connectors that press fit onto ribbon cable. Cable not supplied.
P2 10-pin IDC ..........................................................................CK-01
MLI17:2-12 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 3 Mounting
3 Mounting and connection recommendations
!
CAUTION
LEAD RESTRAINT
Some linear actuator mounting configurations require that the
MDrive move along the screw. Ensure that all cabling is properly restrained to provide strain relief on connection points..
Failure to follow these instructions can result in equipment damage.
SCREW MISALIGNMENT
!
CAUTION
Ensure that support for the screw is in place as to not exceed the maximum misalignment of
±1°.
Failure to follow these instructions can result in equipment damage.
!
CAUTION
CANTILEVER LOADS
Loads for external shaft MDrive linear actuator products MUST
BE supported. Side loading is not recommended.
Failure to follow these instructions can result in equipment damage.
!
CAUTION
MOUNTING SCREW TORQUE
When mounting the MDrive, do not exceed the maximum recommended tightening torque of 7.8 lb-in (9 kg-cm).
Failure to follow these instructions can result in equipment damage.
Integrated Motor and Driver
MLI17:3-1
3 Mounting MDrive
®
17 Linear Actuator
3.1 Mounting
Care must be observed when installing the mounting screws on ALL MDrive17 linear actuator 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 MDrive17 linear actuator.
Maximum length of screw threads into the motor housing
0.140" (3.5 mm)
4 X M3-0.5 Screw
(not supplied)
Length TBD by flange thickness
Temperature sensor should be attached at the center of the motor body
Drill Pattern for Mounting Flange or Adapter Plate
0.118 (3.0) Thru 4 Places on a 1.725 (43.82) Circle
MDrive17
Linear Actuator
Maximum Tightening Torque:
7.8 lb-in (9 kg-cm)
Mounting Flange
Or Adapter Plate
Ø 0.866 (21.996)
1.220 SQ.
(31.0 SQ.)
Figure 3.1 Mdrive linear actuator mounting and drill pattern
MLI17:3-2 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 3 Mounting
3.2
3.2.1
3.2.2
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.
Power supply leads to the MDrive17 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.
Rules of wiring
Power Supply and Motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires.
A minimum of one twist per inch is recommended.
Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better.
Power ground return should be as short as possible to established ground.
Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.
Rules of shielding
The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not effective if the signal is not earthed or grounded.
Do not assume that Earth ground is a true Earth ground. Depending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location.
The shield must be connected so that shield currents drain to signal-earth connections.
The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance.
The shield should be tied to a single point to prevent ground loops.
A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.
Integrated Motor and Driver
MLI17:3-3
3 Mounting MDrive
®
17 Linear Actuator
3.3 Recommended wiring
The following wiring/cabling is recommended for use with the MDrive17:
Logic Wiring ......................................................................... 22 AWG
Wire Strip Length ....................................................... 0.25” (6.0 mm)
Power and Ground ...........................................................................
3.3.1 Recommended mating connectors and pins
Communication
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 MDrive172
Units ONLY! Please contact a JST distributor for ordering and pricing information.
16-pin Locking Wire Crimp Connector Shell JST PN PADP-16V-1-S
Crimp Pins ................................................ JST PN SPH-001T-P0.5L
MLI17:3-4 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 3 Mounting
3.4 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
& tywrap
Figure 3.2 Securing leads
Communication leads
Integrated Motor and Driver
MLI17:3-5
3 Mounting MDrive
®
17 Linear Actuator
3.5
3.5.1
Anti-Backlash nut assembly and installation
Notes and warnings
Do not use a wrench on the stainless steel cam of the nut.
Do not oil the mechanism of the nut.
Do not install the note into an interference fit bore (mechanism will not work).
3.5.2 Installation
To install threaded model nuts, simply hand tighten until shoulder is flush with mounting surface. A small amount of Loctite thread compound such as #277 can be used to prevent loosening. Alternatively, a pin can be installed to mechanically lock the threads.
Flanged models can be mounted to either the front or rear face of the flange.
Before use, it is recommended that the stainless steel preload mechanism be turned so that the caming surfaces move down the ramps.
Once play is felt, allow the mechanism to slowly unwind again to establish the proper preload. (It is possible in assembly to inadvertently twist the cam creating excessive drag torque. This procedure will correct this.)
Using lubricant on the lead screw threads is recommended. This extends the life of the nut and reduces heat generation, noise and vibration. TriGEL-300S or TriGEL-1200SC is recommended.
3.5.3 Removal from screw
If it is necessary to remove the nut from your screw, you may lock the mechanism so that it can be immediately reinstalled without re-setting the preload. This can be done by wrapping tape around the junction between the stainless steel cam and the plastic nut halves. This will prevent the cam from turning when the nut is removed from screw.
Remember to remove tape after installation.
For immediate transfer from one screw to another, hold the nut together between your thumb and forefinger so that it cannot expand axially.
Remove the nut and install it on the second screw. It may be helpful to prevent the cam from turning with your remaining fingers as you transfer. If the nut becomes disassembled or looses its preload for any reason, follow the steps listed in the assembly procedure below.
MLI17:3-6 Integrated Motor and Driver
MDrive
®
17 Linear Actuator
.5.4 Assembly procedure
1) Insert spring tang into cam slot.
3 Mounting
Figure 3.3 Insert spring tang
2) Ensure that the spring is engaged.
Figure 3.4 Spring engaged
3) Insert opposite tang into front nut slot or hole (dependant on size).
Use the slot or hole that will allow the the cam to be positioned closest to the bottom of the ramp.
Figure 3.5 Insert opposite tang
Integrated Motor and Driver
MLI17:3-7
3 Mounting MDrive
®
17 Linear Actuator
4) With washer installed, insert the back nut into the front nut.
Figure 3.6 Inserting the back nut
5) With the cam held at the bottom of the ramp, thread the entire nut onto the screw starting with the front nut. After the entire nut is threaded onto the screw, release the cam to observe the gap distance (X on the drawing). The gap distance (X) should be about one-third of the full ramp distance, but no more than half.
Figure 3.7 Measuring the gap distance
6) If the gap distance is incorrect, unthread the nut just enough to allow the back nut to disengage from the screw. Pull the back nut off and rotate to the next index position and reinsert back into the front nut. With the cam held at the bottom of the ramp, thread the entire nut back onto the screw. Release the cam and verify the correct gap distance. If still not correct repeat this step.
MLI17:3-8 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 3 Mounting
7) Once the back nut has been properly clocked to yield the correct gap distance, unthread the nut again just enough to disengage the back nut from the screw, but do not remove from the nut. Pull the cam away from the ramp and rotate in the clockwise direction for two ramp settings, then hold the cam at the bottom of the second ramp. Be careful not to allow the back nut to rotate with respect to the front nut while completing this task. With the cam held at the bottom of the second ramp, push the back nut into the front nut and thread the entire nut onto the screw.
Figure 3.8 Pre-loading the nut
8) The anti-backlash nut is now pre-loaded and fully assembled.
Figure 3.9 Nut pre-loaded and fully assembled
Integrated Motor and Driver
MLI17:3-9
3 Mounting
This page intentionally left blank
MDrive
®
17 Linear Actuator
MLI17:3-10 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 4 Connection and Interface
4 Connection and interface
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
4.1
4.2
Interfacing communication
Communication interface, connector pin configuration and specifications are common to all NEMA sizes of the MDrive linear actuator. Connectivity information is located in Part 1 of this document, Section 1.4
Interfacing DC power
See part 1 of this document, section 3, for recommended power cable configurations.
!
CAUTION
OVER VOLTAGE
The DC voltage range for the MDrive17 linear actuator is +12 to +48 VDC. Ensure that motor back EMF is factored into your power supply size calculations.
Allow 2.0 A maximum power supply output current per
MDrive17 in the system. Actual power supply current will depend on voltage and load.
Failure to follow these instructions can result in equipment damage.
Integrated Motor and Driver
MLI17:4-1
4 Connection and Interface MDrive
®
17 Linear Actuator
4.2.1 Recommended IMS power supplies
IP402 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 ......................................39 VDC @ 0 Amps
Continuous Output Rating ................................30 VDC @ 1.0 Amps
Peak Output Rating ..........................................25 VDC @ 2.0 Amps
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 Amp
4.2.2 Recommended wire gauge
1 Ampere (Peak)
Length (Feet)
Minimum AWG
2 Amperes (Peak)
Length (Feet)
Minimum AWG
10
20
10
20
25
20
25
18
Table 4.1 Recommended power supply wire gauge
50*
18
50*
16
75*
18
75*
14
100*
16
100*
14
MLI17:4-2 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 4 Connection and Interface
4.2.3
4.2.4
P1 — 12’ (30.5 cm) flying leads interface
Wire Color
Red
Black
+12 to + 48 VDC
Power and auxiliary ground
Table 4.2 Power and ground connections, flying leads
P1 — 7-pin pluggable terminal interface
GND
+V
6
7
Pin Numbers
6
7
Power and auxiliary ground
+12 to + 48 VDC
Table 4.3 Power and ground connections, 7-pin terminal
4.2.5 P1 — 16-pin locking wire crimp interface
+V 15
GND
16
Pin Numbers
15
16
Signal
+12 to + 48 VDC
Power and auxiliary ground
Prototype development cable wire colors
Red
Black
Table 4.4 Power and ground connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins............................................................................ SPH-001T0.5L
Integrated Motor and Driver
MLI17:4-3
4 Connection and Interface MDrive
®
17 Linear Actuator
4.3 Interfacing I/O
See part 1 of this document, section 4, for I/O interface configurations and methods.
!
CAUTION
ELECTRICAL OVERSTRESS
The general purpose I/O is tolerant to +24 VDC. The following listed I/O points are TTL level and only tolerant to +5 VDC:
1) Step Clock
2) Direction
3) Capture/Trip
4) Remote encoder inputs
Do not exceed +5 VDC on these points.
Failure to follow these instructions can result in equipment damage.
4.3.1 P1 — 12’ (30.5 cm) flying leads interface
4.3.2
Wire Color
White/yellow
White/orange
White/violet
White/blue
Green
Signal
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Analog input
Table 4.5 I/O connections, flying leads
P1 — 7-pin pluggable terminal interface
I/O 1
I/O 2
I/O 3
I/O 4
Analog In
1
2
3
4
5
4
5
2
3
Pin number
1
Signal
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Analog input
Table 4.6 I/O connections, 7-pin terminal
MLI17:4-4 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 4 Connection and Interface
4.3.3 P1 — 16-pin locking wire crimp interface (expanded I/O)
13: Step
11: Capt/Trip
9: I/O 11
7: I/O 9
5: I/O 3
3: I/O 1
1: I/O pwr
14: Direction
12: Analog
10: I/O 12
8: I/O 10
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
General purpose I/O 9
General purpose I/O 10
General purpose I/O 11
General purpose I/O 12
Capture output/trip input
Analog input
Step clock I/O
Direction clock I/O
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
White
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.7 I/O connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins............................................................................ SPH-001T0.5L
Integrated Motor and Driver
MLI17:4-5
4 Connection and Interface MDrive
®
17 Linear Actuator
4.3.4 P1 — 16-pin locking wire crimp interface (remote encoder)
13: IDX +
11: Capt/Trip
9: CH B +
7: CH A +
5: I/O 3
3: I/O 1
1: I/O pwr
14: IDX -
12: Analog
10: CH B -
8: CH A -
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Channel A +
Channel A -
Channel B +
Channel B -
Capture output/trip input
Analog input
Index +
Index -
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
White
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.7 I/O and remote encoder connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-10
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD16-1417-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-16V-1-S
Pins............................................................................ SPH-001T0.5L
MLI17:4-6 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 4 Connection and Interface
4.4 Connectivity accessory details
4.4.1 RS-422/485 communication converter cables
USB to 10-pin IDC connector P2
P/N: MD-CC400-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
To MDrive 10-pin
IDC connector
6.0’ (1.8m)
To computer
USB port in-line converter
6.0’ (1.8m)
Figure 4.1 MD-CC400-000 communication converter cable
USB to 10-pin wire crimp connector P2
P/N: MD-CC402-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
6.0’ (1.8m)
6.0’ (1.8m)
To MDrivePlus
10-pin friction lock wire crimp connector in-line converter
To computer
USB port
Figure 4.2 MD-CC402-001 communication converter cable
Integrated Motor and Driver
MLI17:4-7
4 Connection and Interface MDrive
®
17 Linear Actuator
4.4.2 Prototype development cables
Flying leads to10-pin wire crimp connector
P2 -P/N: PD10-1434-FL3
Used in conjunction with the MD-CC402-001 communication converter cable to facilitate multi-drop RS-422/485 communication.
To MDrivePlus
10-pin friction lock wire crimp connector To Communications
10.0’ (3.0m)
Flying leads terminated by crimp
Wire Colors
White/Red Stripe
White/Blue Stripe
Blue/White Stripe
White/Orange Stripe
Orange/White Stripe
Green/White Stripe
Function
Aux-Logic
TX+
TX-
RX+
RX-
GND
Note: If not using Aux-Logic
Remove Wire (White/Red Stripe)
Remove Ground Wire
(White/Green Stripe)
MDrive #n
MDrive #2
MDrive #1
Ground Connects to 1st MDrive ONLY!
Figure 4.3 Multi-drop communication using the PD10-1434-FL3
MLI17:4-8 Integrated Motor and Driver
MDrive
®
17 Linear Actuator 4 Connection and Interface
Flying leads to16-pin locking wire crimp connector P2 -P/N: PD16-1417-FL3
The PD16-1417-FL3 prototype development cable is used to rapidly interface the MDrive17 to the users controller. This 10’ (3.0 m) cable consists of a 16-pin locking wire crimp connector to plug directly into the
MDrive P1 connector with flying leads on the opposite end to interface to power, I/O and/or remote encoder.
To 16-pin wire crimp
JST connector
10.0’ (3.0m)
To Power & I/O
Pair Wire
Colors
1
Black
White
2
3
4
5
Black
Green
Black
Blue
Black
Yellow
Black
Brown
6
7
8
Black
Orange
White
Red
Black
Red
Function
Direction
Step Clock
Analog In
Capt/Trip
I/O12
I/O11
I/O10
I/O9
I/O4
I/O3
I/O2
I/O1
I/O Ground
I/O Power
Power GND Power GND
+V +V
Encoder
Function
IDX+
IDX-
Analog In
Capt/Trip
CH B-
CH B+
CH A-
CH A +
I/O4
I/O3
I/O2
I/O1
I/O Ground
I/O Power
9
8
11
10
Pin # Wire Colors Signal (Expanded features)
16 Black GND
15
14
13
12
Red
Black
White
Black
+V
Step Clock I/O
Direction I/O
Analog Input
Green
Black
Blue
Black
Capture/Trip I/O
I/O 12
I/O 11
I/O 10
5
4
3
7
6
Yellow
Black
Brown
Black
Orange
I/O 9
I/O 4
I/O 3
I/O 2
I/O 1
Channel A +
I/O 4
I/O 3
I/O 2
I/O 1
2 White I/O Ground I/O Ground
1 Red I/O Power I/O Power
Figure 4.4 Prototype development cable PD16-1417-FL3
Signal (Remote encoder)
GND
+V
Index –
Index +
Analog Input
Capture/Trip I/O
Channel B –
Channel B +
Channel A –
Pairs
X
X
X
X
X
X
X
X
Integrated Motor and Driver
MLI17:4-9
4 Connection and Interface MDrive
®
17 Linear Actuator
4.4.3 Mating connector kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin wire crimp ................................................................CK-02
P1 16-pin wire crimp ................................................................CK-10
Kit contains 5 mating connectors that press fit onto ribbon cable. Cable not supplied.
P2 10-pin IDC ..........................................................................CK-01
MLI17:4-10 Integrated Motor and Driver
MDrive
®
23 Linear Actuator
Motion Control
1. Introduction
2. Specifications
3. Mounting Recommendations
4. Interface and Connectivity
This page intentionally left blank
MDrive®23 Linear Actuator Motion Control
Table of Contents
Integrated Motor and Driver
Table of Contents
1 Introduction .....................................................................MLI23:1-1
1.1 MDrive 23 linear actuator unit overview ...............MLI23:1-1
1.1.1 Linear actuator styles .............................MLI23:1-1
1.1.2 MDrive 23 linear versions ......................MLI23:1-1
1.2 Product identification ............................................MLI23:1-2
1.3 Documentation reference .....................................MLI23:1-3
1.4 Product software ..................................................MLI23:1-3
2 Specifications .................................................................MLI23:2-1
2.1 Mechanical specifications .....................................MLI23:2-1
2.1.1 Non-Captive Shaft ..................................MLI23:2-1
2.1.2 External Shaft .........................................MLI23:2-2
2.1.2 External Shaft .........................................MLI23:2-2
2.2 General specifications ..........................................MLI23:2-3
2.2.1 Electrical specifications ...........................MLI23:2-3
2.2.2 Standard I/O specifications (plus) ...........MLI23:2-4
2.2.3 Expanded I/O specifications (Plus
2.2.4 Communication specifications ................MLI23:2-5
2.2.5 Thermal specifications ............................MLI23:2-6
2.2.6 Motion specifications ..............................MLI23:2-6
2.2.7 Software specifications ...........................MLI23:2-7
2.2.8 Motor specifications ................................MLI23:2-7
2.2.9 Speed-force performance curves ...........MLI23:2-8
2.3 Connectivity specifications/pin assignments —
Communication ....................................................MLI23:2-9
2.3.1 RS-422/485 communication ...................MLI23:2-9
2.3.2 CANopen communication option ..........MLI23:2-10
2.4 Connectivity specifications/pin assignments - Power and ...
I/O .......................................................................MLI23:2-11
2.4.1 Power and I/O - standard I/O (Plus) .....MLI23:2-11
2.4.2 DC motor power ....................................MLI23:2-12
2.4.3 I/O - expanded I/O (Plus
) .....................MLI23:2-12
2.4.4 I/O - remote encoder (Plus 2 ) .................MLI23:2-13
2.5 Options ...............................................................MLI23:2-14
2.6 Connectivity ........................................................MLI23:2-14
3 Mounting and connection recommendations ..............MLI23:3-1
3.1 Mounting ...............................................................MLI23:3-2
3.2 Layout and interface guidelines............................MLI23:3-3
3.2.1 Rules of wiring .......................................MLI23:3-3
3.2.2 Rules of shielding ..................................MLI23:3-3
3.3 Recommended wiring ...........................................MLI23:3-4
3.3.1 Recommended mating connectors and pins ..........
................................................................MLI23:3-4
3.4 Securing power leads and logic leads ..................MLI23:3-5
3.5 Anti-Backlash nut assembly and installation ........MLI23:3-6
3.5.1 Notes and warnings ................................MLI23:3-6
3.5.2 Installation ...............................................MLI23:3-6
3.5.3 Removal from screw ...............................MLI23:3-6
.5.4 Assembly procedure ...............................MLI23:3-7
i
ii
Table of Contents
List of Figures
MDrive®23 Linear Actuator Motion Control
4 Connection and interface ..............................................MLI23:4-1
4.1 Interfacing RS422-485 communication ................MLI23:4-1
4.1.1 P2 — 10-pin pressure-fit IDCstyle connector .........
................................................................MLI23:4-2
4.1.2 P2 — 10-pin friction lock wire crimp .......MLI23:4-2
4.2 Interfacing CANopen communication .....MLI23:4-3
4.2.1 P2 — 9-pin d-sub connector (female) .....MLI23:4-3
4.3 Interfacing DC power ............................................MLI23:4-4
4.3.1 Recommended IMS power supplies .......MLI23:4-4
4.3.2 Recommended wire gauge .....................MLI23:4-5
4.3.3 P1 — 12’ (30.5 cm) flying leads interface MLI23:4-5
4.3.4 P1 — 7-pin pluggable terminal interface .MLI23:4-5
4.3.5 P1 — 2-pin wire crimp interface ..............MLI23:4-6
4.4 Interfacing I/O .......................................................MLI23:4-7
4.4.1 P1 — 12’ (30.5 cm) flying leads interface MLI23:4-7
4.4.2 P1 — 7-pin pluggable terminal interface .MLI23:4-7
4.4.3 P1 — 14-pin locking wire crimp interface
(expanded I/O) ........................................MLI23:4-8
4.5 Connectivity accessory details ...........................MLI23:4-10
4.5.1 RS-422/485 communication converter cables ........
..............................................................MLI23:4-10
4.5.2 Prototype development cables .............MLI23:4-11
4.6 Mating connector kits .........................................MLI23:4-14
Figure 1.1 Standard product options ...........................................MLI23:1-2
Figure 2.1 Non-captive shAft mechanical specifications .............MLI23:2-1
Figure 2.2 Sealed mechanical specifications ..............................MLI23:2-2
Figure 2.3 Motor performance curve — +24 VDC .......................MLI23:2-8
Figure 2.4 Motor performance curve — +48 VDC .......................MLI23:2-8
Figure 2.5 Motor performance curve — +75 VDCr ......................MLI23:2-8
Figure 3.1 MDrive 23 mounting and drill pattern .........................MLI23:3-2
Figure 3.2 Securing leads ............................................................MLI23:3-5
Figure 3.3 Insert spring tang ........................................................MLI23:3-7
Figure 3.4 Spring engaged ..........................................................MLI23:3-7
Figure 3.5 Insert opposite tang ....................................................MLI23:3-7
Figure 3.6 Inserting the back nut .................................................MLI23:3-8
Figure 3.7 Measuring the gap distance .......................................MLI23:3-8
Figure 3.8 Pre-loading the nut .....................................................MLI23:3-9
Figure 3.9 Nut pre-loaded and fully assembled ...........................MLI23:3-9
Figure 4.1 MD-CC400-000 communication converter cable .....MLI23:4-10
Figure 4.2 MD-CC402-001 communication converter cable .....MLI23:4-10
Figure 4.4 Multi-drop communication using the PD10-1434-FL3 MLI23:4-11
Figure 4.6 Prototype development cable PD14-2334-FL3 ........MLI23:4-12
Figure 4.7 Prototype development cable PD02-2300-FL3 ........MLI23:4-13
Integrated Motor and Driver
MDrive®23 Linear Actuator Motion Control
List of Tables
Table of Contents
Table 2.8 MDrive 23 linear actuator specifications .......................................MLI23:2-7
Table 2.9 P2 communication, 10-pin locking wire crimp ..............................MLI23:2-9
Table 2.10 P2 communication, 10-pin pressure fit IDC/SAMTEC ..................MLI23:2-9
Table 2.11 CANopen communication, P2: 9-pin D-sub female (DB-9F) ......MLI23:2-10
Table 2.12 Power and I/O interface - 12” (308.8.mm) flying leads ...............MLI23:2-11
Table 2.13 Power and I/O interface - 7-pin pluggable terminal ....................MLI23:2-11
Table 2.14 P3 DC power, 2-pin locking wire crimp ......................................MLI23:2-12
Table 2.15 P1 Expanded I/O, 14-pin locking wire crimp ..............................MLI23:2-12
Table 2.16 I/O and remote encoder interface - 16-pin locking wire crimpl ..MLI23:2-13
Table 4.1 Communication connections, P2 - 10-pin IDC .............................MLI23:4-2
Table 4.2 P2 communication, 10-pin locking wire crimp ..............................MLI23:4-2
Table 4.4 CANopen communication, P2: 9-pin D-sub female (DB-9F) ........MLI23:4-3
Table 4.61 Recommended power supply wire gauge ....................................MLI23:4-5
Table 4.7 Power and ground connections, flying leads ................................MLI23:4-5
Table 4.8 Power and ground connections, 7-pin terminal ............................MLI23:4-5
Table 4.9 Power and ground connections, 7-pin terminal ............................MLI23:4-6
Table 4.13 I/O connections, 16-pin locking wire crimp ...................................MLI23:4-8
Table 4.14 I/O and remote encoder connections, 16-pin locking wire crimp..MLI23:4-9
Integrated Motor and Driver iii
Table of Contents
MDrive®23 Linear Actuator Motion Control
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iv Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 1 Introduction
1 Introduction
1.1
1.1.1
MDrive
®
linear actuators combine leading all-in-one integrated motion technology with linear motion to deliver high accuracy, unsurpassed repeatability and long life, all in a package that is extremely compact and affordable.
MDrive 23 linear actuator unit overview
Linear actuator styles
1.1.2
Two (2) linear actuator styles of MDrive 23 integrated motor + driver solutions are available:
Non-captive shaft — a screw runs through the MDrive and moves axially as the motor rotates
External shaft — a rotating screw, integral to the motor shaft, moves a screw-mounted nut axially
Precision rolled lead screws used with MDrive linear actuators are designed specifically for motion control applications to deliver maximum life and quiet operation. Corrosion resistant and non-magnetic, screws are manufactured from premium grade stainless steel and available with optional coating.
MDrive 23 linear versions
Three (2) MDrive 23 integrated versions provide a choice of features and capabilities:
Microstepping — motor + driver
Motion Control — motor + driver + controller
MDrive14 linear actuators feature high torque 1.8° brushless NEMA 23 single length step motors with integrated electronics, providing the leading technology solution for all-in-one linear motion applications.
Unsurpassed smoothness and performance delivered by MDrive 23 products 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 MDrive 23 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 cable runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.mapping and extended node identifier.
Motor configurations include a single shaft rotary in four lengths, and linear actuators with long life Acme screw**.
Integrated Motor and Driver
MLI23:1-1
1 Introduction MDrive
®
23 Linear Actuator Motion Control
1.2 Product identification
P1
P1
I/O & power connectors:
F = flying leads
P = pluggable terminal
C = locking wire crimp
P2
Communication connectors:
D = 10-pin IDC
L = 10-pin friction lock wire crimp
B = DB9, only with CANopen Comm
P2
Plus 2
Plus 2
MLI1
P1 P2
F,P
R
D,L
23A7
RS-422/485 comm
MLI1
F,P
C
B
23A7
CANopen comm
Optional encoder
For NO encoder, omit any –E specification from part number
– EQ
Internal magnetic encoder with 512-line count and index mark.
MLI3
MLI3
C
C
R
D,L
RS-422/485 comm
C
B
23A7
23A7
CANopen comm
– EQ
(see above)
– EE
Plus 2 version only: optional inputs for differential remote encoder (not supplied).
May not be combined with internal encoder.
– L
– L
– L
linear actuator linear actuator linear actuator
– L
linear actuator
See details at bottom of page for complete linear actuator part numbers.
Non-captive shaft
– L 1 Z
Screw lead
travel per rev
G = 0.375” (9.525mm)
A = 0.200” (5.08mm)
B = 0.167” (4.233mm)
D = 0.083” (2.116mm)
Screw end
M = metric
U = UNC
S = smooth
Z = none
Coating
T = teflon*
Z = none
Screw length
3.0 to 24.0” in 0.1 increments ex. 12.5” = 125
10.0” = 100
Screw length calculation = desired stroke length +
1.8" (45.7mm) + mounting surface plate thickness
External shaft
– L 3
Screw lead
travel per rev
G = 0.375” (9.525mm)
A = 0.200” (5.08mm)
B = 0.167” (4.233mm)
D = 0.083” (2.116mm)
Screw end
M = metric
U = UNC
S = smooth
Z = none
Screw length
3.0 to 24.0” in 0.1 increments ex. 12.5” = 125
10.0” = 100
Coating
T = teflon*
Z = none
Nut
G = general purpose
(dynamic load limit
to 60lbs/22kg)
A = anti-backlash
(dynamic load limit
to 25lbs/11kg)
Screw length calculation = desired stroke length + nut length + mounting surface plate thickness
Figure 1.1 Standard product options
MLI23:1-2 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 1 Introduction
1.3
1.4
Documentation reference
The following User’s manuals are available:
Product manual, describes the technical data, installation, configuration and programming of the product.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the IMS web site at http://www.imshome.com
Product software
The MDrive 23 Linear Actuator motion control integrated motor and driver may be programmed using any standard ASCII txt editor and
ANSI terminal emulated. The recommended environment is the IMS
Terminal Interface, which is a combined terminal/program editor tailored for use with IMS motion control products. This free software may be downloaded from http://www.imshome.com/software_interfaces.html.
Installation and usages instructions are to be found in the MCode Programming Manual, which is correlated to this document.
Integrated Motor and Driver
MLI23:1-3
1 Introduction MDrive
®
23 Linear Actuator Motion Control
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MLI23:1-4 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 2 Specifications
2
2.1
2.1.1
Specifications
Mechanical specifications
Non-Captive Shaft
Side view
1.90
(48.3)
0.06 ±0.00
(1.5 ±0.1)
2.96
(75.2)
Screw end options:
- Metric
- UNC
- Smooth
- None
0.375
(9.525)
Front view
1.63
(41.4)
2.02
(51.2)
Ø 0.197
(Ø 5.0)
Screw end options see detail drawings
1.34
(34.0)
2.65
(67.31)
3.0 to 24.0
(76.2 to 609.6)
Load limit
Nominal load limit: 200 lbs (91 kg)
0.19
(4.9)
0.50
(12.7)
1.856 ±0.008 SQ.
(47.1 ±0.2 SQ.)
2.22 SQ.
(56.4 SQ.)
Ø 1.500 ±0.002
(Ø 38.1 ±0.1)
Screw specifications
Screw material
MDrive Linear Actuator precision rolled lead screws are designed specifically for motion control applications to deliver maximum life and quiet operation.
Corrosion resistant and non-magnetic, screws are manufactured from premium grade stainless steel.
Standard screw
Dimensions in inches (mm)
0.375
(9.52)
3.0 to 24.0
(76.2 to 609.6)
Screw end options
(see details at right)
Screw coating
An optional teflon screw coating is available for smooth operation and extended life.
0.50
(12.7)
Lead options
inches (mm)
Travel/revolution Travel/full step
Screw G 0.3750 (9.525) 0.001875 (0.0476)
Screw A 0.200
(5.08) 0.001
(0.0254)
Screw B 0 .1670
(4.233) 0.000835 (0.0212)
Screw D 0.0833 (2.116) 0.0004165 (0.0106)
Screw end options
Threaded end
Metric end:
M6 x 1.0mm
thread to within 0.03"
(0.76mm) of shoulder
UNC end:
1/4-20 UNC-2A thread to within 0.05"
(1.3mm) of shoulder
Smooth end
Ø 0.2362" ±0.001
(Ø 6mm ±0.003)
None
—
Cantilevered loads
Unsupported loads and side loading are not recommended for non-captive shaft MDrive ® linear actuator products.
Calculating screw length
Screw length = [mounting surface plate thickness] + [1.8" (45.7mm)] + [desired stroke length]
Figure 2.1 Non-captive shsft mechanical specifications
Integrated Motor and Driver
MLI23:2-1
2 Specifications MDrive
®
23 Linear Actuator Motion Control
2.1.2
2.1.2
External Shaft
External Shaft
Side view
1.90
(48.3)
Front view
1.63
(41.4)
2.02
(51.2)
3.0 to 24.0
(76.2 to 609.6)
2.96
(75.2)
0.06 ±0.00
(1.5 ±0.1)
0.50
(12.7)
0.375
(9.525)
Ø 0.197
(Ø 5.0)
Screw end options see detail drawings
Nut
1.34
(34.0)
2.65
(67.31)
Nut detail / load limit
B
F
B
0.19
(4.9)
Screw end options:
- Smooth
- None
1.856 ±0.008 SQ.
(47.1 ±0.2 SQ.)
2.22 SQ.
(56.4 SQ.)
Ø 1.500 ±0.002
(Ø 38.1 ±0.1)
F
A
Nut outline
Ø D
Ø BCD
Ø E
A
General purpose nut
Flange shape: round
Load limit: 60 lbs (27 kg)
Purpose: for applications not requiring anti-backlash and wear compensation.
Anti-backlash nut
Flange shape: triangle
Load limit: 25 lbs (11 kg)
Purpose: backlash free operation for high accuracy and low drag torque.
inches (mm)
A B D E F BCD
0.71
(18.0)
1.50
(38.1)
1.875
(47.63) max
1.5
(38.1)
1.5
(38.1)
0.20
(5.08)
0.20
(5.08)
1.125
(28.6)
0.20
(5.08)
0.20
(5.08)
1.125
(28.6)
load limit
60lbs/
27kg
25lbs/
11kg
drag torque
free wheeling
1–3
Screw specifications
Screw material
MDrive Linear Actuator precision rolled lead screws are corrosion resistant and non-magnetic, manufactured from premium grade stainless steel.
Screw coating
An optional teflon screw coating is available for smooth operation and extended life.
Standard screw
Dimensions in inches (mm)
3.0 to 24.0
(76.2 to 609.6)
0.375
(9.52)
Lead options
inches (mm)
Travel/revolution Travel/full step
Screw G 0.3750 (9.525) 0.001875 (0.0476)
Screw A 0.200
(5.08) 0.001
(0.0254)
Screw B 0 .1670
(4.233) 0.000835 (0.0212)
Screw D 0.0833 (2.116) 0.0004165 (0.0106)
Screw end options
Threaded end
Metric end:
M6 x 1.0mm
thread to within 0.03"
(0.76mm) of shoulder
UNC end:
1/4-20 UNC-2A thread to within 0.05"
(1.3mm) of shoulder
Smooth end
Ø 0.2362" ±0.001
(Ø 6mm ±0.003)
None
—
Cantilevered loads
Loads for external shaft MDrive ® linear actuator products MUST BE supported. Side loading is not recommended.
Calculating stroke length
Available stroke length = [screw length] – [nut length] – [mounting surface plate thickness]
Figure 2.2 Sealed mechanical specifications
MLI23:2-2 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 2 Specifications
2.2
2.2.1
General specifications
Electrical specifications
Input voltage range
Condition
Single, double and triple lengthe motors
Min
+12 —
Typ Max
+75
Unit
VDC
Max power supply current* Single length motors
2.0
1.6
1.2
75 60 45 30 12
Voltage (VDC)
Aux-Logic Input Voltage
Max Aux-Logic Supply Current (Per
MDrive)**
—
—
+12
—
—
—
+24
194
VDC mA
*per MDrive 23, Actual current depends on voltage and load.
** Maintains power to control and feedback circuits [only] when input voltage is removed
Table 2.1 Electrical specifications
Integrated Motor and Driver
MLI23:2-3
2 Specifications MDrive
®
23 Linear Actuator Motion Control
2.2.2 Standard I/O specifications (plus)
Condition
General Purpose I/O - Number and Type
Plus (I/O Points 1-4)
General Purpose I/O - Electrical
Inputs
Sinking Outputs (All)
Output Sink Current (Plus)
Logic Threshold
Protection
—
—
—
One channel
Logic 0
Logic 1
Sinking
Sourcing
Analog Input
Resolution
Range
Clock I/O
Types
Logic Threshold
Trip Output/Capture Input
Logic Threshold
—
Voltage Mode
Current Mode
—
—
Table 2.2 I/O specifications
—
Min Typ Max Unit
4 I/O points configurable as sinking or sourcing inputs or sinking outputs
TTL
—
—
—
—
—
—
—
—
—
+24
+24
600
< 0.8
> 2.2
VDC
VDC mA
VDC
VDC
Over temp, short circuit
Transient Over Voltage, Inductive
Clamp
0 to +5 VDC, 0 to +10 VDC
4 to 20 mA, 0 to 20mA
Step/Direction, Up/Down, Quadrature
+5 VDC TTL Input, TTL Output (with 2 kΩ Load to Ground
+5 VDC TTL Input, TTL Output (with 2 kΩ Load to Ground
MLI23:2-4 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 2 Specifications
2.2.3
2.2.4
Expanded I/O specifications (Plus
2
)
Condition Min Typ Max Unit
General Purpose I/O - Number and Type
Plus (I/O Points 1-8) —
8 I/O points (4 if configured for remote encoder) configurable as sinking or sourcing inputs or outputs
General Purpose I/O - Electrical
Inputs
Outputs
Sinking or Sourcing
Sinking
Sourcing
One channel
TTL
—
+12
—
—
—
+24
+24
+24
600
VDC
VDC
VDC mA Output Sink Current (Plus)
Motion I/O
—
Electronic gearing
High speed position capture
High speed trip output
Range
Resolution
Threshold
Filter range
Secondary clock out ratio
Filter range
Resolution
Speed
Resolution
Threshold
0.001
—
—
—
—
—
—
—
—
—
—
—
—
—
2.000
32 bit
TTL VDC
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
1:1
50 nS to 12.9 µS
(10 MHz to 38.8 kHz
32 bit
150
32
TTL nS bit
VDC
Optional remote encoder (closed loop)*
Type
Steps per revolution
Resolution
User supplied differential encoder
See motion specifications table
User defined . Note: microsteps/rev = 2X the encoder counts/rev minimum.
*Remote encoder inputs replace I/O points 4-8 and step and direction I/O
Table 2.3 Expanded I/O specifications
Communication specifications
Condition Min Typ Max Unit
RS-422/485 (standard)
BAUD rate
CANopen (optional)
Type
BAUD rate
Application layer
Device profile
ID
Isolation
— 4.8
—
Version 3.0
Version 2.0
—
—
Table 2.4 Communication specifications
10 kHz —
115.2
kbps
1 MHz
2.0B active
—
DS-301
DSP-402
11 or 29 bit
Galvanic
Integrated Motor and Driver
MLI23:2-5
2 Specifications MDrive
®
23 Linear Actuator Motion Control
2.2.5
2.2.6
Thermal specifications
Heat sink temperature
Motor temperature non-condensing humidity non-condensing humidity
Table 2.5 Thermal specifications
Motion specifications
Min
-40
-40
Typ
—
—
Max
+85
+100
Unit
ºC
ºC
Microstep Resolution - Open Loop
Number of microstep resolutions
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
* 1" per revolution lead screw
Microstep resolution (closed loop configuration - (optional)
Steps Per Revolution (Fixed)
Position Resolution
Optional differential encoder (internally mounted)
Type
Resolution (Lines)
Resolution (Edges)
Counters
Counter 1 (C1) Type
Counter 2 (C2) Type
Resolution
Maximum Edge Rate
Velocity
Range
Resolution
Acceleration/Deceleration
Range
Resolution
6400
21600
2
10000
25400
3
20
51200
2048
Internal, Magnetic
512
2048
Position
Encoder
32 bit
5 MHz
±5,000,000 Steps/Sec.
0.5961 Steps/Sec.
1.5 x 10
9
Steps/Sec.
2
90.9 Steps/Sec.
2
Table 2.6 Motion specifications
MLI23:2-6 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 2 Specifications
2.2.7
2.2.8
Software specifications
Program Storage Type/Size
User Registers
User Program Labels and Variables
Math, Logic and Conditional Functions
Branch Functions
Party Mode Addresses
Encoder Functions
Predefined I/O Functions
Input Functions
Output Functions
Trip Functions
Flash/6384 Bytes
(4) 32 Bit
192
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Branch and Call (Conditional)
62
Stall Detect, Position Maintenance, Find Index
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog Input
Moving, Fault, Stall, Velocity Changing
Trip on Input, Trip on Position, Trip on Time, Trip Capture
Table 2.7 Software specifications
Motor specifications
Holding torque
Rotor inertia
Maximum thrust (Non-captive)
Maximum thrust (External)
Maximum repeatability (Non-captive)
Maximum repeatability (External)
Maximum screw misalignment
Wieght without screw
General purpose
With anti-backlash nut
General purpose
With anti-backlash nut
General purpose
With anti-backlash nut
General purpose
With anti-backlash nut
90 oz-in (64 N-cm)
0.0025 oz-in-sec
2
(0.18 kg-cm
2
)
200 lbs (91 kg)
—
60 lbs (27 kg)
25 lbs (11 kg)
0.005” (0.127 mm)
—
0.005” (0.127mm)
0.0005” (0.0127 mm)
± 1°
22.0 oz (625.0 g)
Table 2.8 MDrive 23 linear actuator specifications
Integrated Motor and Driver
MLI23:2-7
2 Specifications MDrive
®
23 Linear Actuator Motion Control
2.2.9
MLI23:2-8
Speed-force performance curves
+24 VDC
200
180
160
140
120
Load limit 200lbs / 91kg *
Screw D
Screw B
Screw A
Screw G
100
80
60
40
20
27
18
9
0
0 1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
7000
(2100)
8000
(2400)
61
52
44
36
91
79
70
Speed in full steps per second
(RPM)
Figure 2.3 Motor performance curve — +24 VDC
+48 VDC
200
180
160
Load limit 200lbs / 91kg *
Screw D
Screw B
Screw A
Screw G
91
140
120
100
80
60
40
52
44
36
27
20
0
0 1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000
(1500)
6000
(1800)
7000
(2100)
8000
(2400)
18
9
79
70
61
Speed in full steps per second
(RPM)
Figure 2.4 Motor performance curve — +48 VDC
+75 VDC
Load limit 200lbs / 91kg *
200
180
160
140
120
Screw D
Screw B
Screw A
Screw G
100
80
60
40
20
36
27
0
0 1000
(300)
2000
(600)
3000
(900)
4000
(1200)
5000 6000
(1500) (1800)
7000
(2100)
8000
(2400)
18
9
61
52
44
91
79
70
Speed in full steps per second
(RPM)
Figure 2.5 Motor performance curve — +75 VDCr
Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 2 Specifications
2.3
2.3.1
Connectivity specifications/pin assignments — Communication
RS-422/485 communication
10-pin friction lock wire crimp
P2
5
3
9
7
1
10
8
6
4
2
Connectivity Options
USB to RS-422/485
Converter:
MD-CC402-001
Mating connector kit:
CK-02
Mfg P/N:
Shell
Hirose DF11-10DS-2C
Pins
Hirose: DF11-2428SC
Pin # Function
1
2
3
4
5
TX +
Comm GND
RX -
TX -
Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 2.9 P2 communication, 10-pin locking wire crimp
10-pin press-fit (IDC style)
P2
6
8
2
4
10
5
7
1
3
9
Connectivity Options
USB to RS-422/485
Converter:
MD-CC400-001
Mating connector kit:
CK-01
Mfg P/N:
Shell
SAMTEC: TCSD-05-01-N
Ribbon cable
Tyco: 1-57051-9
Pin # Function
1
2
3
4
5
TX +
TX -
RX +
RX -
Aux-Logic
6 RX +
7 RX -
8 TX -
9
10
TX +
Comm GND
Description
Transmit plus
Transmit minus
Receive plus
Receive minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive minus
Transmit minus
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Table 2.10 P2 communication, 10-pin pressure fit IDC/SAMTEC
Integrated Motor and Driver
MLI23:2-9
2 Specifications MDrive
®
23 Linear Actuator Motion Control
2.3.2 CANopen communication option
9-pin D-sub female (DB-9F)
P2
8
9
6
7
3
4
1
2
5
Connectivity Options
USB to CANopen converter:
MD-CC500-000
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 2.11 CANopen communication, P2: 9-pin D-sub female (DB-9F)
MLI23:2-10 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 2 Specifications
2.4
2.4.1
Connectivity specifications/pin assignments - Power and I/O
Power and I/O - standard I/O (Plus)
12” (304.8 mm) flying leads
12.00
+1.0/-0.0
(304.8)
(+25.4/-0.0)
P1
Wire Color
White/yellow
White/orange I/O 2
White/violet
White/blue
Green
Black
Red
Function
I/O 1
I/O 3
I/O 4
Analog input
GND
+V
Description
General purpose I/O point 1
General purpose I/O point 2
General purpose I/O point 3
General purpose I/O point 4
0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
Power and auxiliary ground
Motor power
Table 2.12 Power and I/O interface - 12” (308.8.mm) flying leads
7-pin pluggable terminal
Top view
5
6
7
3
4
1
2
Pin #
1
2
3
4
5
6
7
Function
I/O 1
I/O 2
I/O 3
I/O 4
Analog input
GND
+V
Description
General purpose I/O point 1
General purpose I/O point 2
General purpose I/O point 3
General purpose I/O point 4
0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
Power and auxiliary ground
Motor power
Table 2.13 Power and I/O interface - 7-pin pluggable terminal
Integrated Motor and Driver
MLI23:2-11
2 Specifications MDrive
®
23 Linear Actuator Motion Control
2.4.2 DC motor power
2-pin friction lock wire crimp
P3
2 1
Pin # Function
1 +V
2 Ground
Description
+12 to +60 VDC motor power
Power supply return (ground)
Table 2.14 P3 DC power, 2-pin locking wire crimp
Connectivity Options
Prototype development cable
PD-02-2300-FL3
Mating connector kit:
CK-04
Mfg P/N:
Shell
Tyco 794617-2
Pins
Tyco 794610-1
2.4.3 I/O - expanded I/O (Plus
2
)
14-pin locking wire crimp
P1
5
3
1
13
11
9
7
6
4
2
14
12
10
8
Connectivity Options
Prototype development cable::
PD14-2334-FL3
Mating connector kit:
CK-09
Mfg P/N:
Shell
JST PADP-14V-1-S
Pins
JST SPH-001T0.5L
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs
2 I/O GND
3 I/O 1
Non-isolated I/O Ground. Common with Power Ground
0 to +24 VDC Programmable I/O Point 1
4 I/O 2 0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 I/O 9
8 I/O 10
9 I/O 11
10 I/O 12
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
0 to +24 VDC Programmable I/O Point 9
0 to +24 VDC Programmable I/O Point 10
0 to +24 VDC Programmable I/O Point 11
0 to +24 VDC Programmable I/O Point 12
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input
13
Step/clock
I/O
Step clock i/o. Can also be configured as quadrature or clock up/down. +5 VDC logic level.
14
Direction/ clock I/O
Direction i/o. Can also be configured as quadrature or clock up/down.
+5 VDC logic level.
Table 2.15 P1 Expanded I/O, 14-pin locking wire crimp
MLI23:2-12 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 2 Specifications
2.4.4 I/O - remote encoder (Plus
2
)
16-pin locking wire crimp
P1
5
3
1
13
11
9
7
6
4
2
14
12
10
8
Connectivity Options
Prototype development cable::
PD14-2334-FL3
Mating connector kit:
CK-09
Mfg P/N:
Shell
JST PADP-14V-1-S
Pins
JST SPH-001T0.5L
Pin # Function Description
1 I/O power I/O Power, used with sourcing inputs or outputs.
2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
3 I/O 1
4 I/O 2
0 to +24 VDC Programmable I/O Point 1
0 to +24 VDC Programmable I/O Point 2
5 I/O 3
6 I/O 4
7 CH A+
8 CH A-
9 CH B+
10 CH B-
0 to +24 VDC Programmable I/O Point 3
0 to +24 VDC Programmable I/O Point 4
Channel A+ encoder input. +5 VDC logic level
Channel A- encoder input. +5 VDC logic level
Channel B+ encoder input. +5 VDC logic level
Channel B- encoder input. +5 VDC logic level
11
Capture/trip
I/O
High Speed Capture Input or Trip Output. +5 VDC Logic
Level.
12 Analog in 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
13 IDX+ Index mark + encoder input. +5 VDC logic level
14 IDXIndex mark - encoder input. +5 VDC logic level
Table 2.16 I/O and remote encoder interface - 16-pin locking wire crimpl
Integrated Motor and Driver
MLI23:2-13
2 Specifications MDrive
®
23 Linear Actuator Motion Control
2.5 Options
Internal encoder
Internal differential magnetic 512 line differential encoders with index mark are available:
Remote Encoder (Plus2 versions only)
MDrive 23 Linear Actuator Motion Control versions are available with differential encoder inputs for use with a remote encoder (not supplied).
2.6 Connectivity
QuickStart kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter, prototype development cable(s), instructions and CD for MDrive initial functional setup and system testing.
Communication Converters
Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program communication parameters for a single
MDrive product via a PC’s USB port. Length 12.0’ (3.6m).
Mates to connector:
P2 10-pin pressure-fit IDC ........................................MD-CC400-001
P2 10-pin wire crimp .................................................MD-CC402-001
Prototype Development Cables
Speed test/development with pre-wired mating connectors that have flying leads other end. Length 10.0’ (3.0m).
Mates to connector:
P2 10-pin wire crimp ................................................ PD10-1434-FL3
P1 14-pin wire crimp ................................................ PD14-2334-FL3
P3 2-pin wire crimp .................................................. PD02-2300-FL3
Mating Connector Kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin pressure-fit IDC .......................................................CK-01
P2 10-pin wire crimp ................................................................CK-02
P1 14-pin wire crimp ................................................................CK-09
P3 2-pin wire crimp ..................................................................CK-04
MLI23:2-14 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 2 Specifications
Integrated Motor and Driver
MLI23:2-15
2 Specifications MDrive
®
23 Linear Actuator Motion Control
MLI23:2-16 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 3 Mounting
3 Mounting and connection recommendations
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
!
CAUTION
LEAD RESTRAINT
Some MDrive mounting configurations require that the MDrive move along the screw. Ensure that all cabling is properly restrained to provide strain relief on connection points..
Failure to follow these instructions can result in equipment damage.
!
THERMAL MANAGEMENT
CAUTION
The mounting plate material should offer sufficient mass and thermal conductivity to ensure that the motor temperature does not eceed 100°C.
Failure to follow these instructions can result in equipment damage.
Integrated Motor and Driver
MLI23:3-1
3 Mounting MDrive
®
23 Linear Actuator Motion Control
3.1 Mounting
Mounting Flange or Adapter Plate
(Material and thickness determined by user application and thermal considerations)
Temperature sensor should be attached at the center of the motor body
MLI23:3-2
Mounting Hardware (Metric)*
4 x M5 - 0.50 Screw
4 x M5 Split Lockwasher
4 x M5 Flat Washer
*Not Supplied
Drill Pattern
4 Places on a Ø 67.00 Circle
Use 4.5 mm drill. Tap to
M5-0.5
47.1 ±02 SQ.
Ø 38.1 ±0.1
Figure 3.1 MDrive 23 mounting and drill pattern
Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 3 Mounting
3.2
3.2.1
3.2.2
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.
Power supply leads to the MDrive 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.
Rules of wiring
Power supply and motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires.
A minimum of one twist per inch is recommended.
Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better.
Power ground return should be as short as possible to established ground.
Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.
Rules of shielding
The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not effective if the signal is not earthed or grounded.
Do not assume that Earth ground is a true Earth ground. Depending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location.
The shield must be connected so that shield currents drain to signal-earth connections.
The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance.
The shield should be tied to a single point to prevent ground loops.
A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.
Integrated Motor and Driver
MLI23:3-3
3 Mounting MDrive
®
23 Linear Actuator Motion Control
3.3 Recommended wiring
The following wiring/cabling is recommended for use with the MDrive 23:
Logic Wiring ...........................................................................................22 AWG
Wire Strip Length......................................................................... 0.25” (6.0 mm)
Power and Ground ................ See Table 3.2 in Part 1, Section 3 of this document
3.3.1 Recommended mating connectors and pins
Communication
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
I/O
The following mating connectors are recommended for the MDrive 23 Units ONLY!
Please contact a JST distributor for ordering and pricing information.
14-pin Locking Wire Crimp Connector Shell .................. JST PN PADP-14V-1-S
Crimp Pins ...................................................................JST PN SPH-001T-P0.5L
Power
2-pin Locking Wire Crimp Connector Shell ..................................Tyco 794617-2
Crimp Pins ....................................................................................Tyco 794610-1
MLI23:3-4 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 3 Mounting
3.4 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
Integrated Motor and Driver
Figure 3.2 Securing leads
Logic leads
Adhesive anchors
& tywrap
Communications leads
MLI23:3-5
3 Mounting MDrive
®
23 Linear Actuator Motion Control
3.5
3.5.1
Anti-Backlash nut assembly and installation
Notes and warnings
Do not use a wrench on the stainless steel cam of the nut.
Do not oil the mechanism of the nut.
Do not install the note into an interference fit bore (mechanism will not work).
3.5.2 Installation
To install threaded model nuts, simply hand tighten until shoulder is flush with mounting surface. A small amount of Loctite thread compound such as #277 can be used to prevent loosening. Alternatively, a pin can be installed to mechanically lock the threads.
Flanged models can be mounted to either the front or rear face of the flange.
Before use, it is recommended that the stainless steel preload mechanism be turned so that the caming surfaces move down the ramps.
Once play is felt, allow the mechanism to slowly unwind again to establish the proper preload. (It is possible in assembly to inadvertently twist the cam creating excessive drag torque. This procedure will correct this.)
Using lubricant on the lead screw threads is recommended. This extends the life of the nut and reduces heat generation, noise and vibration. TriGEL-300S or TriGEL-1200SC is recommended.
3.5.3 Removal from screw
If it is necessary to remove the nut from your screw, you may lock the mechanism so that it can be immediately reinstalled without re-setting the preload. This can be done by wrapping tape around the junction between the stainless steel cam and the plastic nut halves. This will prevent the cam from turning when the nut is removed from screw.
Remember to remove tape after installation.
For immediate transfer from one screw to another, hold the nut together between your thumb and forefinger so that it cannot expand axially.
Remove the nut and install it on the second screw. It may be helpful to prevent the cam from turning with your remaining fingers as you transfer. If the nut becomes disassembled or looses its preload for any reason, follow the steps listed in the assembly procedure below.
MLI23:3-6 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control
.5.4 Assembly procedure
1) Insert spring tang into cam slot.
3 Mounting
Figure 3.3 Insert spring tang
2) Ensure that the spring is engaged.
Figure 3.4 Spring engaged
3) Insert opposite tang into front nut slot or hole (dependant on size).
Use the slot or hole that will allow the the cam to be positioned closest to the bottom of the ramp.
Figure 3.5 Insert opposite tang
Integrated Motor and Driver
MLI23:3-7
3 Mounting MDrive
®
23 Linear Actuator Motion Control
1) With washer installed, insert the back nut into the front nut.
Figure 3.6 Inserting the back nut
2) With the cam held at the bottom of the ramp, thread the entire nut onto the screw starting with the front nut. After the entire nut is threaded onto the screw, release the cam to observe the gap distance (X on the drawing). The gap distance (X) should be about one-third of the full ramp distance, but no more than half.
Figure 3.7 Measuring the gap distance
3) If the gap distance is incorrect, unthread the nut just enough to allow the back nut to disengage from the screw. Pull the back nut off and rotate to the next index position and reinsert back into the front nut. With the cam held at the bottom of the ramp, thread the entire nut back onto the screw. Release the cam and verify the correct gap distance. If still not correct repeat this step.
MLI23:3-8 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 3 Mounting
4) Once the back nut has been properly clocked to yield the correct gap distance, unthread the nut again just enough to disengage the back nut from the screw, but do not remove from the nut. Pull the cam away from the ramp and rotate in the clockwise direction for two ramp settings, then hold the cam at the bottom of the second ramp. Be careful not to allow the back nut to rotate with respect to the front nut while completing this task. With the cam held at the bottom of the second ramp, push the back nut into the front nut and thread the entire nut onto the screw.
Figure 3.8 Pre-loading the nut
5) The anti-backlash nut is now pre-loaded and fully assembled.
Figure 3.9 Nut pre-loaded and fully assembled
Integrated Motor and Driver
MLI23:3-9
3 Mounting MDrive
®
23 Linear Actuator Motion Control
This page intentionally left blank
MLI23:3-10 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 4 Connection and Interface
4 Connection and interface
!
DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
!
CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communication while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
4.1 Interfacing RS422-485 communication
For general RS422/485 single and party mode communication practices please see Part 1 Section 5 of this document.
!
CAUTION
Communication GROUND LOOPS
To avoid ground loops in the system only connect communication ground to the first MDrive in the system. Do not connect communication ground on subsequent MDrives.
Failure to follow these instructions may result in damage to system components!
!
CAUTION
HOT PLUGGING!
Do not connect or disconnect communication while the device is in a powered state.
Failure to follow these instructions may result in damage to system components!
Integrated Motor and Driver
MLI23:4-1
4 Connection and Interface MDrive
®
23 Linear Actuator Motion Control
4.1.1
4.1.2
P2 — 10-pin pressure-fit IDCstyle connector
Red conductor
Pin 1
Pin 10
Pin # Function
1 TX +
2 TX -
3 RX +
4 RX -
5 Aux-Logic
6 RX +
7 RX -
8 TX -
9 TX +
10 Comm GND
Description
Transmit plus
Transmit minus
Receive plus
Receive minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive minus
Transmit minus
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Table 4.1 Communication connections, P2 - 10-pin IDC
Connectivity accessories
Mating connector kit ................................................................CK-01
(contains 5 connector shells, ribbon cable not included)
Communication converter cable (10’/3.0 m) .............MD-CC400-001
P2 — 10-pin friction lock wire crimp
Use to connect second device
9: TX+
7: RX+
5: AUX
3: RX-
1: TX+
10: TX-
8: RX-
6: RX+
4: TX-
2: Ground
Pin # Function
1 TX +
2 Comm GND
3 RX -
4 TX -
5 Aux-Logic
6 RX +
7 RX +
8 RX -
9 TX +
10 TX -
Description
Transmit plus
Communication ground only. Do not ground auxlogic to this pin.
Receive minus
Transmit minus
Auxiliary logic maintains power to the logic circuitry in the absence of motor power. +12 to
+24 VDC input
Receive plus
Receive plus
Receive minus
Transmit plus
Transmit minus
Table 4.2 P2 communication, 10-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-02
(contains 5 connector shells, ribbon cable not included)
Communication converter cable (10’/3.0 m) .............MD-CC402-001
MLI23:4-2 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 4 Connection and Interface
4.2
4.2.1
Interfacing CANopen communication
P2 — 9-pin d-sub connector (female)
CAN -V
CAN_H
CAN +V
8
9
6
7
3
4
1
2
5
CAN_L
CAN -V
Shield
Pin # Function
1 N/C
2 CAN low
3 CAN -V
4 N/C
5 Shield
6 CAN -V
7 CAN high
8 N/C
9 CAN +V
Description
Not connected
CAN_L bus line (low dominant)
CAN communication ground
Not connected
Optional CAN shield
Optional ground
CAN_H bus line (high dominant)
Not connected
+7 to +30 VDC power supply
Table 4.4 CANopen communication, P2: 9-pin D-sub female (DB-9F)
Connectivity accessories
Communication converter cable ...............................MD-CC500-000
Integrated Motor and Driver
MLI23:4-3
4 Connection and Interface MDrive
®
23 Linear Actuator Motion Control
4.3
4.3.1
Interfacing DC power
See part 1 of this document, section 3, for recommended power cable configurations.
!
CAUTION
OVER VOLTAGE
The DC voltage range for the MDrive 23 is +12 to +60 VDC.
Ensure that motor back EMF is factored into your power supply size calculations.
Allow 3.0 A maximum power supply output current per MDrive in the system. Actual power supply current will depend on voltage and load.
Failure to follow these instructions can result in equipment damage.
Recommended IMS power supplies
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
ISP300-4 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 ......................................42 VDC @ 0 Amps
Continuous Output Rating ................................39 VDC @ 3.0 Amps
Peak Output Rating ............................................ 37 VDC @6.0 Amp
MLI23:4-4 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 4 Connection and Interface
4.3.2
4.3.3
4.3.4
Recommended wire gauge
Cable Length: Feet (meters)
Amps Peak
1 Amp Peak
2 Amps Peak
3 Amps Peak
10 (3.0)
20
20
18
25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Minimum AWG
20 18 18 18
18
16
16
14
14
12
14
12
Table 4.61 Recommended power supply wire gauge
P1 — 12’ (30.5 cm) flying leads interface
Wire Color
Red
Black
Motor power supply
Power ground
Table 4.7 Power and ground connections, flying leads
P1 — 7-pin pluggable terminal interface
GND
+V
6
7
Pin #
6
7
Power ground
Motor power supply
Table 4.8 Power and ground connections, 7-pin terminal
Integrated Motor and Driver
MLI23:4-5
4 Connection and Interface MDrive
®
23 Linear Actuator Motion Control
4.3.5 P1 — 2-pin wire crimp interface
GND
+V
2
1
Pin #
6
7
Power ground
Motor power supply
Table 4.9 Power and ground connections, 7-pin terminal
PD02-2300-FL3 wire colors
Black
Red
Connectivity accessories
Prototype development cable .................................. PD02-2300-FL3
Mating connector kit ................................................................CK-04
(contains 5 connector shells, ribbon cable not included)
MLI23:4-6 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 4 Connection and Interface
4.4 Interfacing I/O
See part 1 of this document, section 4, for I/O interface configurations and methods.
!
CAUTION
ELECTRICAL OVERSTRESS
The general purpose I/O is tolerant to +24 VDC. The following listed I/O point is TTL level and only tolerant to +5 VDC:
1) Capture/Trip
2) Step/Direction
3) Remote encoder inputs
Do not exceed +5 VDC on these points.
Failure to follow these instructions can result in equipment damage.
4.4.1
4.4.2
P1 — 12’ (30.5 cm) flying leads interface
Wire Color
White/yellow
White/orange
White/violet
White/blue
Green
Signal
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Analog input
Table 4.11 I/O connections, flying leads
P1 — 7-pin pluggable terminal interface
I/O 1
I/O 2
I/O 3
I/O 4
Analog In
1
2
3
4
5
3
4
5
Pin number
1
2
Signal
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Analog input
Table 4.12 I/O connections, 7-pin terminal
Integrated Motor and Driver
MLI23:4-7
4 Connection and Interface MDrive
®
23 Linear Actuator Motion Control
4.4.3 P1 — 14-pin locking wire crimp interface (expanded I/O)
13: Step Clock
11: Capt/Trip
9: I/O 11
7: I/O 9
5: I/O 3
3: I/O 1
1: I/O pwr
14: Direction
12: Analog
10: I/O 12
8: I/O 10
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
General purpose I/O 9
General purpose I/O 10
General purpose I/O 11
General purpose I/O 12
Capture output/trip input
Analog input
Step clock I/O
Direction clock I/O
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
Black
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.13 I/O connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-09
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD14-2334-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-14V-1-S
Pins............................................................................ SPH-001T0.5L
MLI23:4-8 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 4 Connection and Interface
4.4.4 P1 — 14-pin locking wire crimp interface (remote encoder)
13: IDX +
11: Capt/Trip
9: CH B +
7: CH A +
5: I/O 3
3: I/O 1
1: I/O pwr
14: IDX -
12: Analog
10: CH B -
8: CH A -
6: I/O 4
4: I/O 2
2: I/O ground
Pin Numbers
9
10
11
12
13
14
6
7
8
1
2
3
4
5
Signal
I/O power
I/O ground
General purpose I/O 1
General purpose I/O 2
General purpose I/O 3
General purpose I/O 4
Channel A +
Channel A -
Channel B +
Channel B -
Capture output/trip input
Analog input
Index +
Index -
Blue
Black
Green
Black
White
Black
Prototype development cable wire colors (twisted pairs)
Red
Pair
White
Orange
Black
Pair
Brown
Black
Yellow
Black
Pair
Pair
Pair
Pair
Pair
Table 4.14 I/O and remote encoder connections, 16-pin locking wire crimp
Connectivity accessories
Mating connector kit ................................................................CK-09
(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD14-2334-FL3
Manufacturer (JST) part numbers
Connector shell..........................................................PADP-14V-1-S
Pins............................................................................ SPH-001T0.5L
Integrated Motor and Driver
MLI23:4-9
4 Connection and Interface MDrive
®
23 Linear Actuator Motion Control
4.5 Connectivity accessory details
4.5.1 RS-422/485 communication converter cables
USB to 10-pin IDC connector P2
P/N: MD-CC400-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
To MDrive 10-pin
IDC connector
6.0’ (1.8m)
To computer
USB port in-line converter
6.0’ (1.8m)
Figure 4.1 MD-CC400-000 communication converter cable
USB to 10-pin wire crimp connector P2
P/N: MD-CC402-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating connector to conveniently program and set configuration parameters
6.0’ (1.8m)
6.0’ (1.8m)
To MDrivePlus
10-pin friction lock wire crimp connector in-line converter
To computer
USB port
Figure 4.2 MD-CC402-001 communication converter cable
MLI23:4-10 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 4 Connection and Interface
4.5.2 Prototype development cables
Flying leads to10-pin wire crimp connector
P2 -P/N: PD10-1434-FL3
Used in conjunction with the MD-CC402-001 communication converter cable to facilitate multi-drop RS-422/485 communication.
To MDrivePlus
10-pin friction lock wire crimp connector To Communications
10.0’ (3.0m)
Flying leads terminated by crimp
Wire Colors
White/Red Stripe
White/Blue Stripe
Blue/White Stripe
White/Orange Stripe
Orange/White Stripe
Green/White Stripe
Function
Aux-Logic
TX+
TX-
RX+
RX-
GND
Note: If not using Aux-Logic
Remove Wire (White/Red Stripe)
Remove Ground Wire
(White/Green Stripe)
MDrive #n
MDrive #2
MDrive #1
Ground Connects to 1st MDrive ONLY!
Figure 4.4 Multi-drop communication using the PD10-1434-FL3
Procedure
1) Remove ground wire (unless this is the first system MDrive, green/white stripe)
2) Remove aux-logic (if not used, red/white stripe)
3) Connect pre-crimped flying leads as shown in Figure 5.7 below
9
10
8
Blue/White Stripe
White/Blue Stripe
Orange/White Stripe
White/Orange Stripe
7
Figure 4.5 Wiring a second PD10-1434-FL3 into the 10-pin wire crimp connector.
Integrated Motor and Driver
MLI23:4-11
4 Connection and Interface MDrive
®
23 Linear Actuator Motion Control
Flying leads to14-pin locking wire crimp connector P2 -P/N: PD14-2334-FL3
The PD14-2334-FL3 prototype development cable is used to rapidly interface the MDrive 23 to the users controller. This 10’ (3.0 m) cable consists of a 14-pin locking wire crimp connector to plug directly into the
MDrive P1 connector with flying leads on the opposite end to interface to I/O devices.
To MDrive P1 To Power & I/O
10.0’ (3.0m)
3
2
5
4
1
8
7
6
13
12
11
Pin # Wire Colors Signal (Expanded features)
14 Black Step Clock I/O
10
9
White
Black
Green
Black
Blue
Direction I/O
Analog Input
Capture/Trip I/O
I/O 12
I/O 11
Black
Yellow
Black
Brown
Black
Orange
Black
Red
I/O 10
I/O 9
I/O 4
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Figure 4.6 Prototype development cable PD14-2334-FL3
Signal (Remote encoder)
Index –
Index +
Analog Input
Capture/Trip I/O
Channel B –
Channel B +
Channel A –
Channel A +
I/O 4
I/O 3
I/O 2
I/O 1
I/O Ground
I/O Power
Pairs
X
X
X
X
X
X
X
MLI23:4-12 Integrated Motor and Driver
MDrive
®
23 Linear Actuator Motion Control 4 Connection and Interface
Flying leads to 2-pin locking wire crimp connector P2 -P/N: PD02-2300-FL3
The PD02-2300-FL3 prototype development cable is used to rapidly interface the MDrive 23 to the users DC power supply. This 10’ (3.0 m) cable consists of a 2-pin locking wire crimp connector to plug directly into the MDrive P3 connector with flying leads on the opposite end to interface to DC power.
To MDrivePlus
2-pin wire crimp
Tycho connector
To Power
Wire Colors Function
Black
Red
Power Ground
+V
10.0’ (3.0m)
Pin # Wire Colors Signal (Expanded features)
2 Black Ground
1 Red +V
Figure 4.7 Prototype development cable PD02-2300-FL3
Integrated Motor and Driver
MLI23:4-13
4 Connection and Interface MDrive
®
23 Linear Actuator Motion Control
4.6 Mating connector kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin pressure-fit IDC .......................................................CK-01
P2 10-pin wire crimp ................................................................CK-02
P1 14-pin wire crimp ................................................................CK-09
P3 2-pin wire crimp ..................................................................CK-04
MLI23:4-14 Integrated Motor and Driver
WARRANTY
Reference the web site at www.motion.schneider-electric.com
for the latest warranty and product information.
USA SALES OFFICES
East Region
Tel. 610-573-9655 e-mail: [email protected]
Northeast Region
Tel. 860-368-9703 e-mail: [email protected]
Central Region
Tel. 630-267-3302 e-mail: [email protected]
Western Region
Tel. 602-578-7201 e-mail: [email protected]
EUROPEAN SALES MANAGEMENT
Tel. +33/4 7256 5113 – Fax +33/4 7838 1537 e-mail: [email protected]
TECHNICAL SUPPORT
Tel. +00 (1) 860-295-6102 – Fax +00 (1) 860-295-6107 e-mail: [email protected]
Schneider Electric Motion USA
370 N. Main Street
Marlborough, CT 06447 USA www.motion.schneider-electric.com
Owing to changes in standards and equipment, the characteristics given in the text and images in this document are not binding until they have been confirmed with us.
Print: Schneider Electric Motion USA
Photos: Schneider Electric Motion USA
Date : 04 / 2014
© Schneider Electric Motion USA All Rights Reserved.
Product Disclaimer and most recent product information online.
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