Intelligent Motion Systems MDrive17Plus2 Hardware Reference Manual

Excellence in Motion

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www.imshome.com

MDrive34Plus Motion Control Hardware Reference Change Log

Date Revision Changes

05/04/2006

05/25/2006

R050406

R052506

Removed Ambient Temperature Specification

Replaced USB to RS-422 Comminications Cable driver installation instructions in Appendix F with instructions relevant to Windows XP Service Pack 2.

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies.

Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any liability arising out of the application or use of any product or circuit described herein; neither does it convey any license under its patent rights of others. Intelligent Motion Systems and are trademarks of Intelligent Motion Systems, Inc.

Intelligent Motion Systems, Inc.’s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury. Per Intelligent Motion

Systems, Inc.’s terms and conditions of sales, the user of Intelligent Motion Systems, Inc., products in life support or aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems, Inc., against all damages.

MDrivePlus Motion Control Hardware Reference Revision R052506

Copyright © 2006 Intelligent Motion Systems, Inc., All Rights Reserved

Table Of Contents

Getting Started - MDrivePlus Motion Control..............................................................................1-1

Before You Begin....................................................................................................................... 1-1

Tools and Equipment Required................................................................................................. 1-1

Connecting the Power Supply ................................................................................................... 1-1

Connecting Communications ................................................................................................... 1-1

Install IMS Terminal Software................................................................................................... 1-1

Establishing Communications................................................................................................... 1-2

Testing the MDrivePlus Motion Control................................................................................... 1-3

Apply Power to the MDrivePlus Motion Control...................................................................... 1-3

Make the MDrivePlus Motion Control Move ........................................................................... 1-3

Motion Control Example Using Program Mode........................................................................ 1-4

Programming Notes .................................................................................................................. 1-4

Part 1: Hardware Specifications

Section 1.1: MDrive17Plus Motion Control Product Introduction ....................................................1-6

Introduction to the MDrive17Plus Motion Control System...................................................... 1-6

Standard Feature Summary.................................................................................................... 1-6

The MDrive17Plus Motion Control Key Differences and Enhanced Features ........................... 1-7

Section 1.2: MDrive17Plus Detailed Specifications ........................................................................1-8

Standard Electrical Specifications .............................................................................................. 1-8

Thermal Specifications .............................................................................................................. 1-8

Standard Motion Specifications................................................................................................. 1-8

Software Specifications .............................................................................................................. 1-9

Motor Specifications ................................................................................................................. 1-9

P1 Connector - I/O and Power Connections .......................................................................... 1-10

Mechanical Specifications........................................................................................................ 1-10

Pin/Wire Assignments............................................................................................................. 1-10

P2 Connector - RS-422/485 Communications ...................................................................... 1-11

Options and Accessories .......................................................................................................... 1-11

Section 1.3: MDrive17Plus2 Detailed Specifications ....................................................................1-12

Standard Electrical Specifications ............................................................................................ 1-12

Enhanced Electrical Specifications........................................................................................... 1-12

Thermal Specifications ............................................................................................................ 1-12

Standard Motion Specifications............................................................................................... 1-13

Enhanced Motion Specifications ............................................................................................. 1-13

Software Specifications ............................................................................................................ 1-13

Motor Specifications ............................................................................................................... 1-14

Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-14

P1 Connector - I/O and Power Connections .......................................................................... 1-15

Pin/Wire Assignments............................................................................................................. 1-15

P2 Connector - RS-422/485 Communications ...................................................................... 1-15

Options and Accessories .......................................................................................................... 1-16

Section 1.4: MDrive17Plus2-65 Detailed Specifications ...............................................................1-17

Standard Electrical Specifications ............................................................................................ 1-17

Enhanced Electrical Specifications........................................................................................... 1-17

Thermal Specifications ............................................................................................................ 1-17

Standard Motion Specifications............................................................................................... 1-18

Enhanced Motion Specifications ............................................................................................. 1-18

Software Specifications ............................................................................................................ 1-18

Motor Specifications ............................................................................................................... 1-19

Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-19

Pin/Wire Assignments............................................................................................................. 1-20

P1 Connector - I/O and Power Connections..................................................................1-20

P2 Connector - RS-422/485 Communications...............................................................1-21

Options and Accessories .......................................................................................................... 1-21

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Section 1.5: MDrive23Plus Motion Control Product Introduction ..................................................1-22

Introduction to the MDrive23Plus Motion Control System.................................................... 1-22

Standard Feature Summary ..................................................................................................... 1-22

The MDrive23Plus Motion Control Key Differences and Enhanced Features ......................... 1-23

Section 1.6: MDrive23Plus Detailed Specifications ......................................................................1-24

Standard Electrical Specifications ............................................................................................ 1-24

Thermal Specifications ............................................................................................................ 1-24

Standard Motion Specifications............................................................................................... 1-24

Software Specifications ............................................................................................................ 1-25

Motor Specifications ............................................................................................................... 1-25

Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-26

Pin/Wire Assignments............................................................................................................. 1-26

P1 Connector - I/O and Power Connections .......................................................................... 1-26

P2 Connector - RS-422/485 Communications ...................................................................... 1-27

Options and Accessories .......................................................................................................... 1-27

Section 1.7: MDrive23Plus2 Detailed Specifications ....................................................................1-28

Standard Electrical Specifications ............................................................................................ 1-28

Enhanced Electrical Specifications........................................................................................... 1-28

Thermal Specifications ............................................................................................................ 1-28

Standard Motion Specifications............................................................................................... 1-29

Enhanced Motion Specifications ............................................................................................. 1-29

Software Specifications ............................................................................................................ 1-29

Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-30

Motor Specifications ............................................................................................................... 1-30

Pin/Wire Assignments............................................................................................................. 1-31

P1 Connector - I/O and Power Connections .......................................................................... 1-31

P2 Connector - RS-422/485 Communications ...................................................................... 1-31

Options and Accessories .......................................................................................................... 1-32

Section 1.8: MDrive23Plus2-65 Detailed Specifications ...............................................................1-33

Standard Electrical Specifications ............................................................................................ 1-33

Enhanced Electrical Specifications........................................................................................... 1-33

Thermal Specifications ............................................................................................................ 1-33

Standard Motion Specifications............................................................................................... 1-34

Enhanced Motion Specifications ............................................................................................. 1-34

Software Specifications ............................................................................................................ 1-34

Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-35

Motor Specifications ............................................................................................................... 1-35

Pin/Wire Assignments............................................................................................................. 1-36

P1 Connector - I/O and Power Connections .......................................................................... 1-36

P2 Connector - RS-422/485 Communications ...................................................................... 1-37

Options and Accessories .......................................................................................................... 1-37

Section 1.9: MDrive17Plus CANopen ..............................................................................................1-38

Standard Electrical Specifications ............................................................................................ 1-38

Thermal Specifications ............................................................................................................ 1-38

Motor Specifications ............................................................................................................... 1-38

Mechanical Specifications (Non-Sealed Versions)Dimensions in Inches (mm)......................... 1-39

P1 Connector - I/O and Power Connections - Plus Versions ................................................... 1-39

P1 Connector - I/O and Power Connections - Plus2 Versions ................................................. 1-40

P2 Connector - CANopen Communications .......................................................................... 1-40

Mechanical Specifications (Sealed -65 Version)........................................................................ 1-41

Pin/Wire Assignments............................................................................................................. 1-41

P1 Connector - I/O and Power Connections .......................................................................... 1-41

P2 Connector - CANOpen Communications......................................................................... 1-42

Section 1.10: MDrive23Plus CANopen ............................................................................................1-43

Standard Electrical Specifications ............................................................................................ 1-43

Thermal Specifications ............................................................................................................ 1-43

Motor Specifications ............................................................................................................... 1-43

Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-44

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P1 Connector - I/O and Power Connections - Plus Versions ................................................... 1-44

P1 Connector - I/O and Power Connections - Plus2 Versions ................................................. 1-45

P2 Connector - CANopen Communications .......................................................................... 1-45

Mechanical Specifications (Sealed -65 Version)........................................................................ 1-46

P1 Connector - I/O and Power Connections -65 Version........................................................ 1-46

P2 Connector - CANopen Communications - M12 Connector.............................................. 1-47

Part 2: Connecting and Interfacing

Section 2.1: MDrivePlus Mounting and Connection Recommendations ...........................................2-3

Mounting Recommendations.................................................................................................... 2-3

MDrive23Plus Microstepping................................................................................................. 2-3

DC Power Recommendations ................................................................................................... 2-3

MDrive17Plus Motion Control .............................................................................................. 2-3

MDrive23Plus Motion Control .............................................................................................. 2-3

Layout and Interface Guidelines................................................................................................ 2-3

Recommended Wiring ............................................................................................................ 2-4

Recommended Mating Connectors and Pins............................................................................. 2-4

Securing Power Leads and Logic Leads .................................................................................... 2-4

Section 2.2: Interfacing MDrivePlus Communications .....................................................................2-5

Available Communications Cables/Converters .......................................................................... 2-5

Interfacing Single Mode Communications ................................................................................ 2-5

Single Mode Communications Full Duplex (RS-422)............................................................... 2-5

Single Mode Communications Half Duplex (RS-485).............................................................. 2-6

Interfacing Party Mode Communications.................................................................................. 2-6

Data Cable Termination Resistors ........................................................................................... 2-7

MDrivePlus Motion Control Communication Format ............................................................. 2-7

MDrivePlus Motion Control (MDI) Response to Echo Mode .................................................... 2-8

Using Check Sum .................................................................................................................. 2-9

MDrivePlus Motion Control Party Mode Sample Codes......................................................... 2-10

MDrivePlus Motion Control Immediate Party Mode Sample Codes ........................................ 2-11

Section 2.3: Interfacing and Using the MDrivePlus Motion Control I/O .........................................2-12

The MDrivePlus Motion Control Digital I/O......................................................................... 2-12

Standard I/O Set - All MDrivePlus Motion Control Models ................................................... 2-12

Enhanced I/O Set - MDrivePlus2/Plus2-65........................................................................... 2-12

Uses of the Digital I/O............................................................................................................ 2-12

MDrivePlus Motion Control Digital Input Functions............................................................. 2-13

Programmable Input Functions............................................................................................. 2-13

Dedicated Input Functions ................................................................................................... 2-13

Active States Defined............................................................................................................ 2-13

MDrivePlus Motion Control Digital Output Functions.......................................................... 2-14

Programmable Output Functions .......................................................................................... 2-14

Dedicated Output Functions................................................................................................. 2-14

MDrivePlus Motion Control I/O Ratings ............................................................................... 2-15

MDrivePlus Motion Control I/O Connection Map ................................................................ 2-15

I/O Usage Examples — MDrivePlus Standard I/O Set............................................................ 2-16

Input Interface Example - Switch Input Example (Sinking Input)........................................... 2-16

Input Interface Example - Switch Input Example (Sourcing Input) ......................................... 2-17

Output Interface Example (Sinking Output) ......................................................................... 2-18

General Purpose I/O Usage Examples — Enhanced I/O Set ................................................... 2-19

Input Interface Example - Switch Input Example (Sinking Input)........................................... 2-19

Input Interface Example - Switch Input Example (Sourcing Input) ......................................... 2-20

Output Interface Example (Sinking Output) ......................................................................... 2-21

Output Interface Example (Sourcing Output) ........................................................................ 2-22

Dedicated Digital I/O - Enhanced I/O Set.............................................................................. 2-23

Step/Direction/Clock I/O ...................................................................................................... 2-23

Capture/Trip ....................................................................................................................... 2-23

Interfacing the Analog Input ................................................................................................... 2-24

Sample Usage ...................................................................................................................... 2-24

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Appendices

Appendix A: MDrivePlus Motion Control Motor Performance ......................................................... A-3

MDrive17Plus Motor Specifications..........................................................................................A-3

MDrive17Plus Speed-Torque ....................................................................................................A-3

MDrive23Plus Motor Specifications..........................................................................................A-3

Appendix B: Recommended Power and Cable Configurations .......................................................... A-4

Example A – Cabling Under 50 Feet, DC Power.......................................................................A-4

Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge ..................................A-4

Example C – Cabling 50 Feet or Greater, AC Power to Power Supply .......................................A-4

Recommended IMS Power Supplies ..........................................................................................A-5

Recommended Power Supply Cabling.......................................................................................A-5

Appendix C: MDrive with Planetary Gearbox.................................................................................. A-6

Section Overview ......................................................................................................................A-6

Product Overview .....................................................................................................................A-6

Selecting a Planetary Gearbox ...................................................................................................A-6

Calculating the Shock Load Output Torque (TAB)...................................................................A-7

System Inertia .........................................................................................................................A-10

Planetary Gearbox Inertia........................................................................................................A-14

MDrive17Plus with Planetary Gearbox ...................................................................................A-15

MDrive23Plus with Planetary Gearbox ...................................................................................A-16

Appendix D: I/O Application Guide ............................................................................................... A-17

Standard I/O Set Interfacing and Application..........................................................................A-17

NPN Sinking Input .............................................................................................................A-17

PNP Sourcing Input ............................................................................................................A-18

Mixed Input/Output Example ..............................................................................................A-19

Sinking Output ...................................................................................................................A-19

Enhanced I/O Set Interfacing and Application........................................................................A-20

NPN Sinking Input .............................................................................................................A-20

PNP Sourcing Input ............................................................................................................A-20

Sourcing Output ..................................................................................................................A-21

Mixed Input/Output Example ..............................................................................................A-22

Interfacing Inputs as a Group Example ...................................................................................A-22

Interfacing Outputs as a Group Example ................................................................................A-23

Appendix E: MDrivePlus Motion Control Closed Loop Control...................................................... A-24

MDrive Motion Control Closed Loop Options.......................................................................A-24

Internal Encoder .......................................................................................................... A-24

Remote Encoder............................................................................................................ A-25

Appendix F: Optional Cables and Cordsets..................................................................................... A-25

Communications Converter Cables.........................................................................................A-25

USB to 10-Pin IDC (MD-CC400-000)...............................................................................A-25

USB to 5-Pin M12 (MD-CC401-000) (Sealed Version)........................................................A-26

Installation Procedure for the MX-CC40x-000 .......................................................................A-27

Installing the Cable/VCP Drivers..........................................................................................A-27

Determinig the Virtual COM Port (VCP).............................................................................A-29

Prototype Development Cable for MDrive17Plus2 - PN PD16-1417-FL3 .............................A-30

Cordsets (Sealed Version Only) ...............................................................................................A-31

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List of Figures

Part 1: Hardware Specifications

Figure GS.1: IMS Terminal Main Screen................................................................................... 1-2

Figure GS.2: IMS Terminal Prefrences Dialog ........................................................................... 1-2

Figure GS.3: MDrivePlus Motion Control Sign-On Message.................................................... 1-3

Figure GS.4: Download the Program ........................................................................................ 1-4

Figure 1.1.1: MDrive17Plus...................................................................................................... 1-6

Figure 1.1.2: MDrive17Plus2-65............................................................................................... 1-6

Figure 1.2.1: MDrive17Plus Mechanical Specifications ........................................................... 1-10

Figure 1.2.2: P1 - 12 in/304.8 cm Flying Leads....................................................................... 1-10

Figure 1.2.3: P1 7-Pin Pluggable Connector ........................................................................... 1-10

Figure 1.2.4: P2 10-Pin IDC Communications Connector ..................................................... 1-11

Figure 1.2.5: P2 10-Pin Wire Crimp Communications Connector ......................................... 1-11

Figure 1.3.1: MDrive17Plus2 Mechanical Specifications ......................................................... 1-14

Figure 1.3.2: P1 16-Pin Wire Crimp - Enhanced I/O Configuration ...................................... 1-15

Figure 1.3.3: P1 16-Pin Wire Crimp - Optional Remote Encoder Configuration.................... 1-15

Figure 1.3.4: P2 10-Pin IDC Communications Connector ..................................................... 1-15

Figure 1.3.5: P2 10-Pin Wire Crimp Communications Connector ......................................... 1-15

Figure 1.4.1: MDrive17Plus2-65 Motion Control................................................................... 1-19

Figure 1.4.2: P1 19-Pin M23 (male) - Enhanced I/O Configuration....................................... 1-20

Figure 1.4.3: P1 19-Pin M23 (male) - Optional Remote Encoder Configuration .................... 1-20

Figure 1.4.4: P2 5-Pin M12 (Female) RS-422/485 Communications Connector .................... 1-21

Figure 1.5.1: MDrive23Plus.................................................................................................... 1-22

Figure 1.5.2: MDrive23Plus2-65............................................................................................. 1-22

Figure 1.6.1: MDrive23Plus Mechanical Specifications ........................................................... 1-26

Figure 1.6.2: P1 12 in/304.8 cm Flying Leads......................................................................... 1-26

Figure 1.6.3: P1 7-Pin Pluggable Connector ........................................................................... 1-26

Figure 1.6.4: P2 10-Pin IDC Communications Connector ..................................................... 1-27

Figure 1.6.5: P2 10-Pin Wire Crimp Communications Connector ......................................... 1-27

Figure 1.7.1: MDrive23Plus2 Mechanical Specifications ......................................................... 1-30

Figure 1.7.2: P1 14 Pin Wire Crimp - Enhanced I/O Configuration...................................... 1-31

Figure 1.7.3: P1 14-Pin Wire Crimp - Optional Remote Encoder Configuration.................... 1-31

Figure 1.7.4: P2 10-Pin IDC Communications Connector ..................................................... 1-31

Figure 1.7.5: P2 10-Pin Wire Crimp Communications Connector ......................................... 1-31

Figure 1.8.1: MDrive23Plus2-65 Motion Control................................................................... 1-35

Figure 1.8.2: P1 19-Pin M23 (male) - Enhanced I/O Configuration....................................... 1-36

Figure 1.8.3: P1 19-Pin M23 (male) - Optional Remote Encoder Configuration .................... 1-36

Figure 1.8.4: P2 5-Pin M12 (Female) RS-422/485 Communications Connector .................... 1-37

Figure 1.9.1: MDrive17Plus Motion Control CANopen Mechanical Specifications ................ 1-39

Figure 1.9.2: P1 - 12 in/304.8 cm Flying Leads....................................................................... 1-39

Figure 1.9.3: P1 7-Pin Pluggable Connector ........................................................................... 1-39

Figure 1.9.4: P1 16-Pin Wire Crimp - Enhanced I/O Configuration ...................................... 1-40

Figure 1.9.5: P1 16-Pin Wire Crimp - Optional Remote Encoder Configuration.................... 1-40

Figure 1.9.6: P2- DB-9 CANopen Communications............................................................... 1-40

Figure 1.9.7: CANopen Network using MDrivePlus Motion Control ..................................... 1-40

Figure 1.9.8: MDrive17Plus2-65 Motion Control................................................................... 1-41

Figure 1.9.9: P1 19-Pin M23 (male) - Enhanced I/O Configuration....................................... 1-41

Figure 1.9.10: P1 19-Pin M23 (male) - Optional Remote Encoder Configuration .................. 1-41

Figure 1.9.11: P2 5-Pin M12 (Female) RS-422/485 Communications Connector .................. 1-42

Figure 1.10.2: P1 - 12 in/304.8 cm Flying Leads..................................................................... 1-44

Figure 1.10.1: MDrive23Plus 2 Mechanical Specifications........................................................ 1-44

Figure 1.10.2: P1 - 12 in/304.8 cm Flying Leads..................................................................... 1-44

Figure 1.10.3: P1 7-Pin Pluggable Connector ......................................................................... 1-44

Figure 1.10.4: P1 14 Pin Wire Crimp - Enhanced I/O Configuration.................................... 1-45

Figure 1.10.5: P1 14-Pin Wire Crimp - Optional Remote Encoder Configuration,................. 1-45

Figure 1.10.6: P2- DB-9 CANopen Communications............................................................. 1-45

Figure 1.10.7: MDrive23Plus2-65 Motion Control................................................................. 1-46

Figure 1.10.8: P1 19-Pin M23 (male) - Enhanced I/O Configuration..................................... 1-46

Figure 1.10.9: P1 19-Pin M23 (male) - Optional Remote Encoder Configuration .................. 1-46

Figure 1.10.10: P2 5-Pin M12 (Male) CANopen Communications Connector ...................... 1-47

Figure 1.10.11: CANopen Network using MDrivePlus Motion Control ................................. 1-47

Figure 2.1.2: MDrive23Plus Motion Control Current Requirements ........................................ 2-3

Figure 2.1.1: MDrive17Plus Mounting Screw Depth ................................................................ 2-3

Figure 2.1.3: MDrive Motion Control Power Connections ....................................................... 2-4

Figure 2.1.4: Typical MDrive Shown with Leads Secured .......................................................... 2-4

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Part 2: Connecting and Interfacing

Figure 2.2.1: Full Duplex Communications (RS-422)............................................................... 2-5

Figure 2.2.2: Half Duplex 2 Wire Communications (RS-485) .................................................. 2-6

Figure 2.2.3: RS-485 Interface, Multiple MDrivePlus Motion Control System ......................... 2-7

Figure 2.3.1: Uses for the Digital I/O...................................................................................... 2-12

Figure 2.3.2: I/O Connection Map ......................................................................................... 2-15

Figure 2.3.3: Sinking Input Example using a Push Button Switch ........................................... 2-16

Figure 2.3.4: Sourcing Input Example using a Push Button Switch ......................................... 2-17

Figure 2.3.5: Sinking Output Example.................................................................................... 2-18

Figure 2.3.6: Switch Interface to Input, Sinking ...................................................................... 2-19

Figure 2.3.7 Sourcing Input Example using a Push Button Switch .......................................... 2-20

Figure 2.3.8: Sinking Output Example.................................................................................... 2-21

Figure 2.3.9: Sourcing Output Example.................................................................................. 2-22

Figure 2.3.10: MDrivePlus Motion Control Clock Functions ................................................. 2-23

Figure 2.3.11: Analog Input - Voltage Mode ........................................................................... 2-24

Figure 2.3.12: Analog Input - Current Mode .......................................................................... 2-25

Appendices

Figure A.1: MDrive17Plus Motion Control Speed-Torque Curves ............................................A-3

Figure A.2: MDrive23Plus Motion Control Speed-Torque Curves ............................................A-3

Figure B.1: DC Cabling - Under 50 Feet...................................................................................A-4

Figure B.2: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier......................A-4

Figure B.3: AC Cabling - 50 Feet or Greater - AC To Power Supply..........................................A-4

Figure C.1: MDrive23 Torque-Speed Curve..............................................................................A-8

Figure C.2: Lead Screw System Inertia Considerations ............................................................A-10

Figure C.3: Rack and Pinion System Inertia Considerations....................................................A-11

Figure C.4: Conveyor System Inertia Considerations ..............................................................A-11

Figure C.5: Rotary Table System Inertia Considerations..........................................................A-12

Figure C.6: Chain Drive System Inertia Considerations ..........................................................A-13

Figure C.7: Planetary Gearbox Specifications for MDrive17Plus .............................................A-15

Figure C.8: Planetary Gearbox Specifications for MDrive23Plus .............................................A-16

Figure D.1: NPN Interface to an MDI Sinking Input .............................................................A-17

Figure D.2: PNP Interface to a Sourcing Input .......................................................................A-18

Figure D.3: Sinking Output to Relay ......................................................................................A-19

Figure D.4: Mixed Output Example- Standard I/O Set ...........................................................A-19

Figure D.5: NPN Sinking Input on an MDrivePlus2 Motion Control ...................................A-20

Figure D.6: PNP Sourcing Input on an MDrivePlus2 Motion Control ...................................A-20

Figure D.7: Sourcing Output to Sourcing Input......................................................................A-21

Figure D.8: Mixed Input/Output Example - Enhanced I/O ....................................................A-22

Figure D.9: TTL Interface to an Input Group.........................................................................A-22

Figure D.10: Outputs Interfaced to LED’s as a Group.............................................................A-23

Figure E.1: Connecting a Remote Encoder..............................................................................A-24

Figure F.1: MD-CC400-000 ...................................................................................................A-25

Figure F.2: MD-CC400-000 Mechanical Specifications ..........................................................A-25

Figure F.3: Typical Communications Interface.........................................................................A-26

Figure F.4: MD-CC401-000 ...................................................................................................A-26

Figure F.5: MD-CC401-000 Mechanical Specifications ..........................................................A-27

Figure F.6: Typical Communications Interface........................................................................A-27

Figure F.7: Hardware Update Wizard ......................................................................................A-27

Figure F.8: Hardware Update Wizard Screen 2 ........................................................................A-28

Figure F.9: Hardware Update Wizard Screen 3 ........................................................................A-28

Figure F.10: Windows Logo Compatibility Testing..................................................................A-28

Figure F.11: Hardware Update Wizard Finish Installation .......................................................A-28

Figure F.12: Hardware Properties ............................................................................................A-29

Figure F.13: Windows Device Manager ...................................................................................A-29

Figure F.14: Prototype Development Cable PD16-1417-FL3..................................................A-30

Figure F.15: Prototype Development Cable PD16-1417-FL3 Mechanical Specifications .........A-30

Figure E.9: MD-CS10x-000....................................................................................................A-31 vii

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Part 1: Hardware Specifications

Table 1.2.1: MDrive17Plus P1 I/O and Power ........................................................................ 1-10

Table 1.2.2: MDrive17Plus P2 RS-422/485 Communications................................................ 1-11

Table 1.3.1: MDrive17Plus2 P1 16-Pin Wire Crimp............................................................... 1-15

Table 1.3.2: MDrive17Plus2 P2 RS-422/485 Communications.............................................. 1-15

Table 1.4.1: MDrive17Plus2-65 P1 19-Pin M23 Connector ................................................... 1-20

Table 1.4.2: MDrive17Plus2-65 P2 - RS-422/485 Communications ...................................... 1-21

Table 1.6.1: MDrive23Plus P1 I/O and Power ........................................................................ 1-26

Table 1.6.2: MDrive23Plus P2 RS-422/485 Communications................................................ 1-27

Table 1.7.1: MDrive23Plus2 P1 & P3 14-Pin Wire Crimp and 2-Pin Wire Crimp................. 1-31

Table 1.7.2: MDrive23Plus2 P2 RS-422/485 Communications.............................................. 1-31

Table 1.8.1: MDrive23Plus2-65 P1 19-Pin M23 Connector ................................................... 1-36

Table 1.8.2: MDrive23Plus2-65 P2 RS-422/485 Communications......................................... 1-37

Table 1.9.1: MDrive17Plus P1 I/O and Power ........................................................................ 1-39

Table 1.9.2: MDrive17Plus2 P1 16-Pin Wire Crimp............................................................... 1-40

Table 1.9.3: MDrive17Plus P2 CANopen Communications ................................................... 1-40

Table 1.9.4: MDrive17Plus2-65 P2 - CANopen Communications.......................................... 1-42

Table 1.9.5: MDrive17Plus2-65 P1 19-Pin M23 Connector ................................................... 1-42

Table 1.10.1: MDrive17Plus P1 I/O and Power ...................................................................... 1-45

Table 1.10.2: MDrive23Plus2 P1 & P3 14-Pin Wire Crimp and 2-Pin Wire Crimp............... 1-45

Table 1.10.3: MDrive23Plus P2 CANopen Communications ................................................. 1-45

Table 1.10.4: MDrive17Plus2-65 P1 19-Pin M23 Connector ................................................. 1-47

Table 1.10.5: MDrive17Plus2-65 P2 - CANopen Communications........................................ 1-47

Part 2: Connecting and Interfacing

Table 2.2.1: MDI Response to Echo Mode -Party and Check Sum are Zero (0) ........................ 2-8

Table 2.2.2: MDI Response to Echo Mode -Party is One (1) and Check Sum is Zero (0) ........ 2-8

Table 2.2.3: MDI Response to Echo Mode -Party is Zero (0) and Check Sum is One (1) ........ 2-8

Table 2.2.4: MDI Response to Echo Mode -Party and Check Sum are One (1) ........................ 2-9

Table 2.3.2: Programmable Input Functions ........................................................................... 2-13

Table 2.3.3: Dedicated Input Functions .................................................................................. 2-13

Table 2.3.4: Programmable Output Functions ........................................................................ 2-14

Table 2.3.5: Dedicated Output Functions ............................................................................... 2-14

Table 2.3.6: MDrivePlus Motion Control I/O and Protection Ratings.................................... 2-15

Appendices

Table B.1: Recommended Supply Cables ..................................................................................A-5

Table C.1: Planetary Gearbox Operating Factor ........................................................................A-9

Table C.2: Planetary Gearbox Inertia Moments.......................................................................A-14

Table D.1: Output Bit Weight Examples - Outputs set as a group...........................................A-23

Table F.1: MD-CC400-000 Electrical Specifications ...............................................................A-25

Table F.2: MD-CC401-000 Electrical Specifications ...............................................................A-26

Table F.3: PD16-1417-FL3 Wire Color Codes ........................................................................A-30

Table E.4: MD-CS10x-000 Wire Color Chart ........................................................................A-31

List Of Tables

vii

viii

Page Intentionally Left Blank

Getting Started

Getting Started - MDrivePlus Motion Control

Before You Begin

The Quick Start guide is designed to help get you connected and communicating with the MDrivePlus Motion Control. The following examples will help you get the motor turning for the fist time and introduce you to Immediate and Program modes of operation.

Tools and Equipment Required

• MDrivePlus Motion Control Unit

• Communications Converter Cable or equivalent (USB to RS-422)

• MDrivePlus Product CD or Internet access to www.imshome.com

• An Unregulated Power Supply (See specifications for your exact MDrivePlus Motion Control and required voltage.)

• Basic Tools: Wire Cutters / Strippers / Screwdriver

• Wire for Power Supply (See specifications for your exact MDrivePlus Motion Control.)

• A PC with Windows 9x, Windows 2000, Windows XP Service Pack 2

• 10 MB hard drive space

• A free serial communications port

Connecting the Power Supply

Using the recommended wire (see the specifications for your MDrivePlus Motion Control), connect the DC output of the power supply to the +V input of the connector appropriate for your MDrivePlus model.

Connect the power supply ground to the Power Ground pin appropriate for your MDrivePlus.

Connecting Communications

Connect the Host PC to the MDrivePlus Motion Control using the IMS Communications Converter Cable or equivalent.

Install IMS Terminal Software

1. Insert the MDrive CD into the CD Drive of your PC.

If not available, go to http://www.imshome.com/software_interfaces.html.

2. The CD will autostart.

3. Click the Software Button in the top-right navigation Area.

4. Click the IMS Terminal link appropriate to your operating system.

5. Click SETUP in the Setup dialog box and follow the on-screen instructions.

6. Once IMS Terminal is installed, the Communications Settings can be checked and/or set.

WARNING! Please ensure that you read the sections of the product manual pertaining to the MDrivePlus model you purchased in their entirety prior to placing the unit into full operation.

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1-1

W A R N I N G :

Do not connect or disconnect

DC input to the

MDrivePlus with power applied! Disconnect the AC power side to power down the DC Supply.

For battery operated systems, conditioning measures should be taken to prevent device damage caused by in-rush current draws, transient arcs and high voltage spikes.

Establishing Communications

1. Open IMS Terminal by clicking Start>Programs>IMS Terminal>IMS Term. The Program Edit

Window (left) and Terminal Window (right) will be displayed.

Figure GS.1: IMS Terminal Main Screen

2. On the Menu Bar click Edit / Preferences to open the Preferences dialog box.

3. Click on the Comm Settings tab to open the Comm Settings page.

a. Set Scroll Back to desired range of text lines to be displayed.

b. Under Device, verify that MDrive has been selected, and also verify the Comm Port being used. Do not change any other settings. Click “OK”.

1-2

Figure GS.2: IMS Terminal Prefrences Dialog

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Apply Power to the MDrivePlus Motion Control

1. Verify that all connections have been made, then apply power to the MDrivePlus Motion Control.

Click on the Phone icon or the Disconnect status box to establish communications between IMS

Terminal and the MDrivePlus. The following sign-on message should appear in the Terminal

Window:

“Copyright 2001-2006 by Intelligent Motion Systems, Inc.”

2. If you can see the sign-on message, then the MDrivePlus is properly powered-up and communicating.

a. If the sign-on message does not appear, try using a software reset. Hold down the “Ctrl” key and press “C”. If the sign-on message still does not appear, check all connections, as well as all hardware and software configurations, then start IMS Terminal again.

3. You are now connected and communicating to the MDrivePlus Motion Control.

Note: There are indicators at the bottom of the Terminal Window that show whether you are connected or disconnected, the current Baud Rate, and the type of device (MDrive) for which the

IMS Terminal is configured. These three items may be changed directly from this screen by double clicking on each of them.

Testing the MDrivePlus Motion Control

1. Click in the Terminal Window, and type (followed by ENTER):

PR VM

2. The MDrivePlus Motion Control will return a value of 768000

3. Type the following in the Terminal Window (followed by ENTER):

VM=360000

PR VM

4. The MDrivePlus Motion Control will return a value of 360000

5. Type FD and press ENTER. (FD = Factory Defaults)

“Copyright 2001-2006 by Intelligent Motion Systems, Inc.” should appear in the Terminal Window within a few seconds.

Note: Entering

MDrivePlus commands directly into the Terminal

Window is called

“Immediate Mode”.

The MDrivePlus Motion Control command set is not case sensitive except for command DN = < >

Warning: If you have installed the

MDrivePlus to a load, be sure the load can safely be moved before testing.

Tip: A small piece of tape on the motor shaft is a visual aid to help see the shaft turning.

MDI Hardware Manual Revision R052506

Figure GS.3: MDrivePlus Motion Control Sign-On Message

Make the MDrivePlus Motion Control Move

1. Type MR 51200 into the Terminal Window and press ENTER. (MR = Move Relative) a. With the default settings, the MDrive Motion Control should move one revolution in approximately 0.066 seconds, or at a velocity of 15 revolutions per second.

2. Type SL 102400 and press ENTER. (SL = Slew) a. With the default settings, the MDrivePlus Motion Control should run constantly at a speed of approximately 2 revolutions per second or 120 revolutions per minute.

3. Type SL 0 and press ENTER. The MDrivePlus Motion Control should decelerate to a full stop.

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1-3

NOTE

: Entering

MDrivePlus commands into the

Program Edit Window, to be edited and saved, is called “Program Mode”.

NOTE

: The program can be stopped by pressing the Escape Button or by pressing Ctrl+C.

Motion Control Example Using Program Mode

1. Click on drop-down menu View > New Edit Window to open the Program Edit Window.

2. Type “XYZ Test” into the “Open a New file for editing” dialog box, and click “OK”.

3. Click anywhere within the Program Edit Window, and type (followed by ENTER):

VA LP=0

A=100000

D=100000

PG 1

LB AA

MR 250000

H

H 1000

‘user variable name LP = start count 0

‘set acceleration to 100000 steps/sec2

‘set deceleration to 100000 steps/sec2

‘enter program mode, start program at address 1

‘label program AA

‘move motor 250000 steps in the positive direction

‘hold program execution until motion completes

‘hold 1000 milliseconds

MR –250000 ‘move motor 250000 steps in the negative direction

H

H 1000

‘hold program execution until motion completes

‘hold 1000 milliseconds

IC LP

PR ” LP=”,LP;

‘increment user variable LP

‘print axis position, 4 characters used, the

BR AA, LP<3 ‘branch to process label AA, if user variable LP< 3

E

‘terminal will display LP=1 LP=2 LP=3

‘end program execution

PG ‘exit program, return to immediate mode

4. Type FD in the Terminal Window and press ENTER to clear the MDrive buffer to factory defaults before downloading any program.

5. Click on drop-down menu Transfer > Download to transfer the program from the Program

Edit Window to the Terminal Window. (Under “Source Type” choose “Edit Window”.)

6. Type EX 1 in the Terminal Window and press ENTER to execute the program.

(EX = Execute at address 1.)

7. The MDrivePlus Motion Control will turn 250,000 microsteps in a clockwise direction, accelerating at 100,000 microsteps per sec

2

, then decelerating at 100,000 microsteps per sec

2

, pausing for 1000 milliseconds, then reversing the sequence in a counterclockwise direction, repeating the motion cycle 3 times until the program ends.

1-4

Figure GS.4: Download the Program

Programming Notes

The example above demonstrates basic commands that verify that your MDrivePlus Motion Control is communicating with your PC. More complex commands and movement may require that your I/O and/or Analog

Input be interfaced and configured. Refer to MDrivePlus Motions Control Software Reference for details.

For more information on MDrivePlus Motion Control Programming and Command Control Sets, refer to the

Software Section of this manual.

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1-4

Excellence in Motion

TM

TM

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Part 1:

Hardware

Specifications

Section 1.1: MDrive17Plus Motion Control Product Introduction

Section 1.2: MDrive17Plus Motion Control Detailed Specifications

Section 1.3: MDrive17Plus

2

Motion Control Detailed Specifications

Section 1.4: MDrive17Plus

2

-65 Motion Control Detailed Specifications

Section 1.5: MDrive23Plus Motion Control Product Introduction

Section 1.6: MDrive23Plus Motion Control Detailed Specifications

Section 1.7: MDrive23Plus

2

Motion Control Detailed Specifications

Section 1.8: MDrive23Plus

2

-65 Motion Control Detailed Specifications

MDI Hardware Manual Revision R052506

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1-5

Note: The

MDrivePlus Motion

Control is available in a CAN communications configuration. For more information and Hardware

Specifications see Appendix G of this document.

For detailed descriptions of supported CANopen objects please refer to the MDrive

CANpen Software Reference.

1-6

Section 1.1

MDrive17Plus Motion Control Product Introduction

Introduction to the MDrive17Plus Motion Control System

The MDrive17Plus Motion Control offers system designers a low cost, intelligent motion controller integrated with a NEMA 17 high torque brushless motor and a +12 to +48 volt microstepping driver.

The unsurpassed smoothness and performance delivered by the MDrive17Plus Motion Control are achieved through IMS's advanced 2nd generation current control. By applying innovative techniques to control current flow through the motor, resonance is significantly dampened over the entire speed range and audible noise is reduced.

The MDrive17Plus accepts a broad input voltage range from +12 to +48 VDC, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, reducing

Figure 1.1.1: MDrive17Plus

problems that can occur with long runs and multiple drive systems. An extended operating temperature range of –40° to +85°C provides long life, trouble free service in demanding environments.

Standard features available in the MDrive17Plus Motion Control include four +5 to +24 volt general purpose

I/O lines, one 10 bit analog input, 0 to 5MHz step clock rate, 20 microstep resolutions up to 51,200 steps per revolution, and full featured easy-to-program instruction set.

Expanded features in the MDrive17Plus2 version include up to eight +5 to +24 volt general purpose I/O lines and the capability of electronic gearing by following a rotary or linear axis at an electronically controlled ratio, or an output clock can be generated fixed to the internal step clock.

For use in environments where exposure to chemical, dust and liquids may occur, a sealed assembly

MDrive17Plus2-65 version is designed to meet IP65 specifications.

All MDrive17Plus Motion Control are available with optional closed loop control. This increases functionality by adding stall detection, position maintenance and find index mark.

The closed loop configuration is added via a 512 line (2048 edge) magnetic encoder with index mark, internal to the unit so there is no increase in length. Or, for an expanded choice of line counts and resolutions with MDrive17Plus2 versions only, closed loop control is available with an interface to a remotely mounted user-supplied external encoder.

The MDrive communicates over RS-422/485 which allows for point-to-point or multiple unit configurations utilizing one communication port. Addressing and hardware support up to 62 uniquely addressed units communicating over a single line. Baud rate is selectable from 4.8 to 115.2kbps.

Figure 1.1.2: MDrive17Plus 2 -65

Available motor configurations are available in three motor lengths. Interface connections are accomplished using 12.0”

(30.5cm) flying leads or a 7 position terminal strip. Plus2 versions come with pluggable locking wire crimp connectors. Plus2-65 sealed versions come with M12/M23 circular connectors.

The MDrive17Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and assembly time for a large range of brushless motor applications

Standard Feature Summary n

Highly Integrated Microstepping Driver, Motion Controller and NEMA 17 High Torque Brushless

Motor n

Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness n

Single Supply: +12 to +48 VDC n

Low Cost n

Extremely Compact

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MDI Hardware Manual Revision R052506 n

Available Options:

- Internal Magnetic Encoder for Closed Loop Control

- Integrated Planetary Gearbox

- Control Knob for Manual Positioning

- Linear Slide n

Three Rotary Motor Lengths Available n

Auxiliary Logic Power Supply Input n

20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes n

Open or Optional Closed Loop Control n

Programmable Motor Run and Hold Currents n

Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs n

One 10 Bit Analog Input Selectable: 0 to +10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA n

0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments n

RS-422/485 Communications n

62 Software Addresses for Multi-Drop Communications n

Simple 1 to 2 Character Instructions n

Interface Options:

- Pluggable Terminal Strip

- 12.0” (30.5cm) Flying Leads

The MDrive17Plus Motion Control Key Differences and Enhanced Features

There are three different variants of the MDrive17Plus Motion Control, these are:

1. MDrive17Plus Motion Control

The MDrive17Plus Motion Control is the standard version of the MDrive17Plus and is drop-in compatible with the legacy MDrive17 Motion Control product. The key feature additions from the original MDrive17 Motion Control are: n

Improved current control.

n

20 Microstep resolutions to 51,200 steps per rev including degrees, metric and arc minutes.

n

4 +5 to +24 VDC I/O lines which accept sinking or sourcing inputs.

n

One 0 to +10 VDC Analog input.

n

Optional pluggable strip for interface.

See Section 1.2 of this document for detailed specifications on the MDrive17Plus Motion Control.

2. MDrive17Plus2 Motion Control

The MDrive17Plus

2

Motion Control adds expanded functionality to the MDrive17Plus in the form of: n

Enhanced and expanded I/O set (8 lines) which can be configured as sinking or sourcing inputs or outputs.

n

Remote Encoder option (Reduces I/O set to 4 lines).

n

High speed position capture input or trip output.

n

Pluggable wire crimp interface.

n

Electronic gearing.

See Section 1.3 of this document for detailed specifications on the MDrive17Plus2 Motion Control.

3. MDrive17Plus2-65 Motion Control

The MDrive17Plus2-65 Motion Control adds protection against the ingress of fluids and dust to the MDrive17Plus2 by changing the motor-drive enclosure to meet IP65 specifications. With this change the connector configuration changes to industry standard M12/M23 circular connectors.

See Section 1.4 of this document for detailed specifications on the MDrive17Plus2-65 Motion Control.

Part 1: Hardware Specifications

1-7

WARNING!

The maximum

+48 VDC Input

Voltage of the

MDrive17Plus series includes motor Back EMF, Power

Supply Ripple and High Line.

WARNING! Because the

MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal

Specifications.

1-8

SECTION 1.2

MDrive17Plus Detailed Specifications

Standard Electrical Specifications

Input Voltage (+V)

Range....................................................................................................................+12 to +48 VDC

Power supply current requirements (max. per MDrive17Plus).....................................................2A

(Actual power supply current will depend on voltage and load)

Aux. Logic Input Voltage

Range....................................................................................................................+12 to +24 VDC

(Maintains power to control and feedback circuits [only] when input voltage is removed)

Analog Input (IN5)

Resolution..............................................................................................................................10 Bit

Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA

General Purpose I/O

Number/Type

Plus (1-4) ........................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Logic Threshold

Logic 0.............................................................................................................................<0.8VDC

Logic 1.............................................................................................................................>2.2VDC

Output Sink Current (per channel)* .........................................................................Up to 600 mA

Protection ..............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp

Communication

Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable

Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps

*

See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O

Thermal Specifications

Motor Temperature ............................................................................................100°C (maximum)

Operating Temperature ...............................................................................................-40 to +85°C

Standard Motion Specifications

Microstep Resolution – Open Loop Configuration

Number of Microstep Resolution Settings................................................................................. 20

200 400 800

Available Microsteps Per Revolution

1000 1600 2000 3200 5000

12800 20000 25000 25600 40000 50000 51200 36000 1

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

6400

21600 2

10000

25400 3

Encoder (Optional)

Type....................................................................................................................Internal, Magnetic

Resolution............................................................................512 Lines/2048 counts per Revolution

MDI Hardware Manual Revision R052506

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1-8

Counters

Type.................................................................................................... Position (C1), Encoder (C2)

Resolution..............................................................................................................................32 Bit

Edge Rate (Max) .................................................................................................................. 5 MHz

Velocity

Range................................................................................................. ±5,000,000 Steps per Second

Resolution................................................................................................. 0.5961 Steps per Second

Acceleration/Deceleration

Range................................................................................................... 1.5 x 10

9

Steps per Second

2

Resolution....................................................................................................90.9 Steps per Second 2

† Adjusting the microstep resolution can increase the range.

Software Specifications

Program Storage, Type/Size ...................................................................................Flash/6384 Bytes

User Registers................................................................................................................... (4) 32 Bit

User Program Labels and Variables ............................................................................................ 192

Math, Logic and Conditional Functions ............ +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT

Branch Functions ...................................................... Branch & Call (conditonal or unconditional)

Predefined I/O Functions...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,

Pause, Jog Plus, Jog Minus, Analog In

Outputs ................................................................................Moving, Fault, Stall, Velocity Change

Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture

Party Mode Addresses ................................................................................................................. 62

Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index

Motor Specifications

Single Length

Holding Torque................................................................................................ 32 oz-in/22.6 N-cm

Detent Torque............................................................................................... 1.66 oz-in/1.17 N-cm

Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2

Weight (Motor + Driver)...........................................................................................9.8 oz/277.8 g

Double Length

Holding Torque................................................................................................ 60 oz-in/42.4 N-cm

Detent Torque............................................................................................... 2.08 oz-in/1.47 N-cm

Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2

Weight (Motor + Driver).........................................................................................10.5 oz/297.7 g

Triple Length

Holding Torque............................................................................................. 74.9 oz-in/52.9 N-cm

Detent Torque............................................................................................... 3.47 oz-in/2.45 N-cm

Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2

Weight (Motor + Driver).........................................................................................15.1 oz/428.1 g

WARNING!

When using the

MDrivePlus Motion

Control with optional internal magnetic encoder, no axial force may be applied to the motor shaft without use of a load bearing isolation coupling.

MDI Hardware Manual Revision R052506

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1-9

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Mechanical Specifications

Dimensions in Inches (mm)

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MDrive17Plus Lengths

Inches (mm)

Motor Length

Single

Double

Triple

L

MAX2

Option

Ø 0.97

(Ø 24.6)

LMAX

SINGLE SHAFT or

ENCODER VERSION

2.20 (55.9)

2.43 (61.7)

2.77 (70.4)

LMAX2

CONTROL

KNOB VERSION

2.79 (70.9)

3.02 (76.7)

3.37 (85.6)

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P1 Connector Options

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Flying Leads

7-Pin Pluggable Clamp

Type Terminal Strip

P2 Connector Options

MDrivePlus

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Control Knob

10-Pin IDC

Figure 1.2.1: MDrive17Plus Mechanical Specifications

10-Pin Friction Lock

Wire Crimp

Pin/Wire Assignments

P1 Connector - I/O and Power Connections

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I/O 1

I/O 2

I/O 3

I/O 4

Analog Input

Power Ground

+V (+12 to +48 VDC)

P1

3

4

1

2

5

6

7

Figure 1.2.2: P1 - 12 in/304.8 cm Flying Leads Figure 1.2.3: P1 7-Pin Pluggable Connector

Pluggable

Terminal Strip

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

P1: I/O & POWER CONNECTOR

Flying Leads

Function

Wire Colors

White/Yellow

White/Orange

White/Violet

White/Blue

Green

Black

Red

I/O 1

I/O 2

I/O 3

I/O 4

Analog Input

Power/Aux-Ground

+V (+12 to +48 VDC)

Table 1.2.1: MDrive17Plus P1 I/O and Power

MDI Hardware Manual Revision R052506

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MDI Hardware Manual Revision R052506

P2 Connector - RS-422/485 Communications

10-Pin

IDC

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

P2: COMM CONNECTOR

RS-422/485

Wire

Crimp

Pin 9

Pin 10

Pin 7

Pin 8

Pin 5

Function

TX +

TX –

RX +

RX –

Aux-Logic (+12 to +24

VDC)

RX + Pin 6

Pin 3

Pin 4

Pin 1

Pin 2

RX –

TX –

TX +

Aux-Ground

Table 1.2.2: MDrive17Plus P2 RS-422/485

Communications

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Figure 1.2.5: P2 10-Pin Wire Crimp Communications Connector

Options and Accessories

Control Knob

The MDrive17Plus Motion Control is available with a factory-mounted rear control knob for manual shaft positioning.

Planetary Gearbox

Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive17Plus.

(For specifications and details see Appendix C: MDrive17Plus Planetary Gearbox Specification.)

Encoder

The MDrive17Plus Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.

Linear Slide

Integrated linear slides are available factory installed for precision linear movement. Screw pitches are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.

Contact factory for custom lengths.

Communication Converter Cables

These convenient 12.0' (3.6m) accessory cables connect a PC’s USB Port to the MDrivePlus P2

Connector. An in-line RS-422 converter enables parameter setting to a single MDrivePlus Motion

Control. Cable purchase recommended with first orders. Versions include:

USB to 10-Pin IDC .................................................Part No. MD-CC400-000

10-Pin IDC to Wire Crimp Adapter ........................Part No. MD-ADP-H

WARNING!

Because the

MDrive17Plus

Motion Control

DOES NOT have a Pin

Configuration label on the body of the device please ensure that all wiring connections are crosschecked against these tables and figures.

Part 1: Hardware Specifications

1-11

WARNING!

The maximum

+48 VDC Input

Voltage of the

MDrive17Plus series includes motor Back EMF, Power

Supply Ripple and High Line.

WARNING! Because the

MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal

Specifications.

SECTION 1.3

MDrive17Plus2 Detailed Specifications

Standard Electrical Specifications

Input Voltage (+V)

Range....................................................................................................................+12 to +48 VDC

Power supply current requirements (max. per MDrive17Plus).....................................................2A

(Actual power supply current will depend on voltage and load)

Aux. Logic Input Voltage

Range....................................................................................................................+12 to +24 VDC

(Maintains power to control and feedback circuits [only] when input voltage is removed)

Analog Input (IN5)

Resolution..............................................................................................................................10 Bit

Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA

General Purpose I/O

Number/Type

Plus ................................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Logic Threshold

Logic 0.............................................................................................................................<0.8VDC

Logic 1.............................................................................................................................>2.2VDC

Output Sink Current (per channel)* .........................................................................Up to 600 mA

Protection ..............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp

Communication

Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable

Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps

*

See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O

Enhanced Electrical Specifications

General Purpose I/O

Number/Type

Default Configuration (No external encoder)........................... 8 Sinking/Sourcing Inputs/Outputs

Remote Encoder Option .......................................................... 4 Sinking/Sourcing Inputs/Outputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ............................................................................................... (Sourcing) +12 to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Output Sink/Source Current (per channel)*..............................................................Up to 600 mA

Thermal Specifications

Motor Temperature ............................................................................................100°C (maximum)

Operating Temperature ...............................................................................................-40 to +85°C

1-12

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-13

1-12

MDI Hardware Manual Revision R052506

Standard Motion Specifications

Microstep Resolution – Open Loop Configuration

Number of Settings ..................................................................................................................... 20

Available Microsteps Per Revolution

200 400 800 1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 51200 36000

1

21600

2

25400

3

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

Encoder (Optional)

Type....................................................................................................................Internal, Magnetic

Resolution............................................................................512 Lines/2048 counts per Revolution

Counters

Type.................................................................................................... Position (C1), Encoder (C2)

Resolution..............................................................................................................................32 Bit

Edge Rate (Max) .................................................................................................................. 5 MHz

Velocity

Range................................................................................................. ±5,000,000 Steps per Second

Resolution...................................................................................................0.5961 Step per Second

Acceleration/Deceleration

Range...................................................................................................1.5 x 109 Steps per Second2

Resolution................................................................................................... 90.9 Steps per Second2

Enhanced Motion Specifications

Electronic Gearing

Range..................................................................................................................... 0.001 to 2.000†

Resolution..............................................................................................................................32 Bit

Threshold (External clock in) ...................................................................................................TTL

Input Filter Range ................................................................................................. 50 nS to 12.9 µS

Range (Secondary clock out) ................................................................................................ 1 to 1†

High Speed I/O

Position Capture ........................................ 32 Bit Resolution, 50 nS to 12.9 µS Input Filter Range

Trip Output Speed ................................................................................................................ 150nS

Trip Output Resolution..........................................................................................................32 Bit

Trip Output Threshold.............................................................................................................TTL

External Encoder (Optional)

Type.......................................................................................... User Supplied Differential Encoder

Steps per Revolution ..............................................See Microstep Resolutions - Open Loop, Above

Resolutions..................................................................................................................User-Defined

† Adjusting the microstep resolution can increase the range.

Software Specifications

Program Storage, Type/Size ...................................................................................Flash/6384 Bytes

User Registers................................................................................................................... (4) 32 Bit

User Program Labels and Variables ............................................................................................ 192

Math, Logic and Conditional Functions ............ +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT

Branch Functions ...................................................... Branch & Call (conditonal or unconditional)

Predefined I/O Functions...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,

Outputs ................................................................................Moving, Fault, Stall, Velocity Change

Part 1: Hardware Specifications

Pause, Jog Plus, Jog Minus, Analog In

1-13

1-14

Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture

Party Mode Addresses ................................................................................................................. 62

Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index

Motor Specifications

Single Length

Holding Torque................................................................................................ 32 oz-in/22.6 N-cm

Detent Torque............................................................................................... 1.66 oz-in/1.17 N-cm

Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2

Weight (Motor + Driver)...........................................................................................9.8 oz/277.8 g

Double Length

Holding Torque................................................................................................ 60 oz-in/42.4 N-cm

Detent Torque............................................................................................... 2.08 oz-in/1.47 N-cm

Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2

Weight (Motor + Driver).........................................................................................10.5 oz/297.7 g

Triple Length

Holding Torque............................................................................................. 74.9 oz-in/52.9 N-cm

Detent Torque............................................................................................... 3.47 oz-in/2.45 N-cm

Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2

Weight (Motor + Driver).........................................................................................15.1 oz/428.1 g

Mechanical Specifications

Dimensions in Inches (mm)

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MDrive17Plus Lengths

Inches (mm)

Motor Length

Single

Double

Triple

LMAX

SINGLE SHAFT or ENCODER

2.20 (55.9)

2.43 (61.7)

2.77 (70.4)

L

MAX2

Option

Ø 0.97

(Ø 24.6)

LMAX2

CONTROL

KNOB VERSION

2.79 (70.9)

3.02 (76.7)

3.37 (85.6)

P1 Connector Options

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16-Pin Pluggable

Locking Wire Crimp

P2 Connector Options

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Control Knob

10-Pin IDC 10-Pin Friction Lock

Wire Crimp

Figure 1.3.1: MDrive17Plus 2 Mechanical Specifications

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-15

1-14

MDI Hardware Manual Revision R052506

Pin/Wire Assignments

P1 Connector - I/O and Power Connections

Pin

10

Pin

11

Pin

12

Pin

13

Pin

14

Pin

15

Pin

16

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Wire

Crimp

P1: I/O & POWER CONNECTOR

Expanded I/O

Function

Remote Encoder

Closed Loop Control

I/O Power

I/O Ground

I/O 1

I/O 2

I/O Power

I/O Ground

I/O 1

I/O 2

I/O 3

I/O 4

I/O 9

I/O 10

I/O 11

I/O 3

I/O 4

Channel A +

Channel A –

Channel B +

I/O 12

Capture/Trip I/O

Analog In

Step/Clock I/O

Direction/Clock

I/O

+V (+12 to +48

VDC)

Power/Aux-

Ground

Channel B –

Capture/Trip I/O

Analog In

Index +

Index –

+V (+12 to +48

VDC)

Power/Aux-

Ground

Table 1.3.1: MDrive17Plus 2 P1 16-Pin Wire Crimp

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Figure 1.3.3: P1 16-Pin Wire Crimp - Optional Remote Encoder Configuration

P2 Connector - RS-422/485 Communications

10-Pin

IDC

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

P2: COMM CONNECTOR

Wire

Crimp

Pin 9

Pin 10

Pin 7

Pin 8

RS-422/485

Function

TX +

TX –

RX +

RX –

Pin 5 Aux-Logic (+12 to +24 VDC)

Pin 6

Pin 3

Pin 4

RX +

RX –

TX –

Pin 1

Pin 2

TX +

Comm Ground

Table 1.3.2: MDrive17Plus

2

P2 RS-

422/485 Communications

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WARNING! Because the MDrive17Plus2

Motion Control

DOES NOT have a Pin Configuration label on the body of the device please ensure that all wiring connections are cross-checked against these tables.

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Part 1: Hardware Specifications

1-15

1-16

Options and Accessories

Control Knob

The MDrive17Plus 2 Motion Control is available with a factory-mounted rear control knob for manual shaft positioning.

Planetary Gearbox

Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive17Plus2

(For specifications and details see Appendix C: MDrive17Plus Planetary Gearbox Specification.)

Encoder

The MDrive17Plus

2

Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.

Remote Encoder

The MDrive17Plus

2

Motion Control is available with differential encoder inputs for use with a remotely mounted encoder (not supplied).

Linear Slide

Integrated linear slides are available factory installed for precision linear movement. Screw pitches are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.

Contact factory for custom lengths.

Communication Converter Cables

These convenient 12.0' (3.6m) accessory cables connect a PC’s USB Port to the MDrive17Plus 2

P2 Connector. An in-line RS-422 converter enables parameter setting to a single MDrive17Plus

2

Motion Control. Cable purchase recommended with first orders. Versions include:

USB to 10-Pin IDC ................................................................ Part No. MD-CC400-000

10-Pin IDC to Wire Crimp Adapter ..............................................Part No. MD-ADP-H

Prototype Development Cable

To speed prototyping of Plus 2 versions, IMS recommends the following 10’ (3m) interface cable with first orders:

16-pin Wire Crimp Cable ........................................................ Part No. PD16-1417-FL3

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-17

1-16

MDI Hardware Manual Revision R052506

SECTION 1.4

MDrive17Plus2-65 Detailed Specifications

Standard Electrical Specifications

Input Voltage (+V)

Range....................................................................................................................+12 to +48 VDC

Power supply current requirements (max. per MDrive17Plus).....................................................2A

(Actual power supply current will depend on voltage and load)

Aux. Logic Input Voltage

Range....................................................................................................................+12 to +24 VDC

(Maintains power to control and feedback circuits [only] when input voltage is removed)

Analog Input (IN5)

Resolution..............................................................................................................................10 Bit

Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA

General Purpose I/O

Number/Type

Plus (1-4) ........................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Logic Threshold

Logic 0.............................................................................................................................<0.8VDC

Logic 1.............................................................................................................................>2.2VDC

Output Sink Current (per channel)* .........................................................................Up to 600 mA

Protection ..............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp

Communication

Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable

Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps

*

See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O

Enhanced Electrical Specifications

General Purpose I/O

Number/Type

Default Configuration (No external encoder)........................... 8 Sinking/Sourcing Inputs/Outputs

Remote Encoder Option .......................................................... 4 Sinking/Sourcing Inputs/Outputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ............................................................................................... (Sourcing) +12 to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Output Sink/Source Current (per channel) ...............................................................Up to 600 mA

Thermal Specifications

Motor Temperature*...........................................................................................100°C (maximum)

Operating Temperature ...............................................................................................-40 to +85°C

WARNING!

The maximum

+48 VDC Input

Voltage of the

MDrive17Plus series includes motor Back EMF, Power

Supply Ripple and High Line.

WARNING!

Because the

MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal

Specifications.

Part 1: Hardware Specifications

1-17

1-18

Standard Motion Specifications

Microstep Resolution – Open Loop Configuration

Number of Settings ..................................................................................................................... 20

200 400 800

Available Microsteps Per Revolution

1000 1600 2000 3200 5000

12800 20000 25000 25600 40000 50000 51200 36000 1

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

6400

21600 2

10000

25400 3

Encoder (Optional)

Type....................................................................................................................Internal, Magnetic

Resolution............................................................................512 Lines/2048 counts per Revolution

Counters

Type.................................................................................................... Position (C1), Encoder (C2)

Resolution..............................................................................................................................32 Bit

Edge Rate (Max) .................................................................................................................. 5 MHz

Velocity

Range................................................................................................. ±5,000,000 Steps per Second

Resolution...................................................................................................0.5961 Step per Second

Acceleration/Deceleration

Range...................................................................................................1.5 x 109 Steps per Second2

Resolution................................................................................................... 90.9 Steps per Second2

Enhanced Motion Specifications

Electronic Gearing

Range..................................................................................................................... 0.001 to 2.000†

Resolution..............................................................................................................................32 Bit

Threshold (External clock in) ...................................................................................................TTL

Input Filter Range ................................................................................................. 50 nS to 12.9 µS

Range (Secondary clock out) ................................................................................................ 1 to 1†

High Speed I/O

Position Capture ........................................ 32 Bit Resolution, 50 nS to 12.9 µS Input Filter Range

Trip Output Speed ................................................................................................................ 150nS

Trip Output Resolution..........................................................................................................32 Bit

Trip Output Threshold.............................................................................................................TTL

External Encoder (Optional)

Type.......................................................................................... User Supplied Differential Encoder

Steps per Revolution ...............................................See Microstep Resolutions - Open Loop Above

Resolutions..................................................................................................................User-Defined

Software Specifications

Program Storage, Type/Size ...................................................................................Flash/6384 Bytes

User Registers................................................................................................................... (4) 32 Bit

User Program Labels and Variables ............................................................................................ 192

Math, Logic and Conditional Functions ............ +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT

Branch Functions ...................................................... Branch & Call (conditonal or unconditional)

Predefined I/O Functions...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,

Pause, Jog Plus, Jog Minus, Analog In

Outputs ................................................................................Moving, Fault, Stall, Velocity Change

Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-19

1-18

Party Mode Addresses ................................................................................................................. 62

Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index

Motor Specifications

Single Length

Holding Torque................................................................................................ 32 oz-in/22.6 N-cm

Detent Torque............................................................................................... 1.66 oz-in/1.17 N-cm

Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2

Weight (Motor + Driver)...........................................................................................9.8 oz/277.8 g

Double Length

Holding Torque................................................................................................ 60 oz-in/42.4 N-cm

Detent Torque............................................................................................... 2.08 oz-in/1.47 N-cm

Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2

Weight (Motor + Driver).........................................................................................10.5 oz/297.7 g

Triple Length

Holding Torque............................................................................................. 74.9 oz-in/52.9 N-cm

Detent Torque............................................................................................... 3.47 oz-in/2.45 N-cm

Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2

Weight (Motor + Driver).........................................................................................15.1 oz/428.1 g

Mechanical Specifications

Dimensions in Inches (mm)

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Sealed MDrivePlus Lengths

Inches (mm)

Connectors

Motor Length LMAX

Single 2.39 (60.71)

Double 2.62 (66.55)

Triple 2.96 (75.18)

LMAX2 LMAX3

3.06 (77.72) 2.99 (75.95)

3.29 (83.57) 3.22 (81.79)

3.63 (92.20) 3.56 (90.42)

Ø 0.87

(Ø 22.1)

P1: 19-Pin M23

(Male)

Figure 1.4.1: MDrive17Plus2-65 Motion Control

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P2: 5-Pin

M12

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-19

1-20

Pin/Wire Assignments

P1 Connector - I/O and Power Connections

Outer: Pins 1-12

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M23

Circular

(Male)

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

Pin 11

Pin 12

Pin 13

Pin 14

Pin 15

Pin 16

Pin 17

Pin 18

Pin 19

Outer: Pins 1-12

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Figure 1.4.3: P1 19-Pin M23 (male) - Optional Remote Encoder Configuration

P1: I/O & POWER CONNECTOR

Function

Expanded I/O Remote Encoder Closed Loop Control

I/O 9

I/O 11

Step/Clock I/O

I/O 1

Direction/Clock I/O

+V (+12 to +48 VDC)

Aux-Logic(+12 to +24 VDC)

Aux-Ground

I/O 3

I/O Ground

I/O Power

Comm Ground

I/O 12

Capture/Trip I/O

Analog In

I/O 2

I/O 4

I/O 10

Power/Aux-Ground

Channel A +

Channel B +

Index +

I/O 1

Index –

+V (+12 to +48 VDC)

Aux-Logic(+12 to +24 VDC)

Comm Ground

I/O 3

I/O Ground

I/O Power

Earth Ground

Channel B –

Capture/Trip I/O

Analog In

I/O 2

I/O 4

Channel A –

Power/Aux-Ground

Table 1.4.1: MDrive17Plus

2

-65 P1 19-Pin M23 Connector

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-21

1-20

P2 Connector - RS-422/485 Communications

P2: COMM CONNECTOR

M12

Circular

RS-422/485

Function

(Female)

Pin 1

Pin 2

TX –

TX +

Pin 3

Pin 4

Pin 5

RX +

RX –

Comm Ground

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Table 1.4.2: MDrive17Plus

2

-65

P2 - RS-422/485

Communications

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Figure 1.4.4: P2 5-Pin M12 (Female) RS-422/485 Communications

Connector

Options and Accessories

Planetary Gearbox

Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive17Plus

2

-

65(For specifications and details see Appendix D: MDrive17Plus Planetary Gearbox

Specification.)

Encoder

The MDrive17Plus

2

-65 Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.

Communication Converter Cable

This convenient 12.0' (3.6m) accessory cable connects a PC’s USB Port to the MDrive17Plus

2

-

65 P2 5-Pin M12 Connector. An in-line RS-422 converter enables parameter setting to a single

MDrive17Plus 2 -65 Motion Control. Cable purchase recommended with first orders.

USB to M12 Circular (sealed version).......................................... Part No. MD-CC401-000

Cordsets

19-Pin M23 single-ended cordsets are offered to speed prototyping of MDrive17Plus2-65 Motion

Control units. Measuring 13.0' (4.0m) long, they are available in either straight or right angle termination and attach to the MDrivePlus P1 Connector. PVC jacketed cables come with a foil shield and unconnected drain wire.

Straight Termination.................................................................. Part No. MD-CS100-000

Right Angle Termination ........................................................... Part No. MD-CS101-000

Note: To reduce wiring time, please order Part# MD-

CC401-000, the USB to M12 accessory cable with inline

RS-422 Converter.

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-21

Note: The

MDrivePlus Motion

Control is available in a CAN communications configuration. For more information and Hardware

Specifications see Appendix H of this document.

For detailed descriptions of supported CANopen objects please refer to the MDrive

CANpen Software Reference.

1-22

Section 1.5

MDrive23Plus Motion Control Product Introduction

Introduction to the MDrive23Plus Motion Control System

The MDrive23Plus Motion Control offers system designers a low cost, intelligent motion controller integrated with a NEMA 23 high torque brushless motor and a +12 to +75 volt microstepping driver.

The unsurpassed smoothness and performance delivered by the

MDrive23Plus Motion Control are achieved through IMS's advanced 2nd generation current control. By applying innovative techniques to control current flow through the motor, resonance is significantly dampened over the entire speed range and audible noise is reduced.

The MDrive23Plus accepts a broad input voltage range from +12 to

+75 VDC, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, reducing problems that can occur with long runs and multiple drive systems.

An extended operating temperature range of –40° to +85°C provides long life, trouble free service in demanding environments.

Figure 1.5.1: MDrive23Plus

Standard features available in the MDrive23Plus Motion Control include four +5 to +24 volt general purpose

I/O lines, one 10 bit analog input, 0 to 5MHz step clock rate, 20 microstep resolutions up to 51,200 steps per revolution, and full featured easy-to-program instruction set.

Expanded features in the MDrive23Plus2 version include up to eight +5 to +24 volt general purpose I/O lines and the capability of electronic gearing by following a rotary or linear axis at an electronically controlled ratio, or an output clock can be generated fixed to the internal step clock.

For use in environments where exposure to chemical, dust and liquids may occur, a sealed assembly

MDrive23Plus2-65 version is designed to meet IP65 specifications.

All MDrive23Plus Motion Control are available with optional closed loop control. This increases functionality by adding stall detection, position maintenance and find index mark.

The closed loop configuration is added via a 512 line (2048 edge) magnetic encoder with index mark, internal to the unit so there is no increase in length. Or, for an expanded choice of line counts and resolutions with MDrive23Plus2 versions only, closed loop control is available with an interface to a remotely mounted usersupplied external encoder.

The MDrive communicates over RS-422/485 which allows for point-to-point or multiple unit configurations utilizing one communication port. Addressing and hardware support up to 62 uniquely addressed units communicating over a single line. Baud rate is selectable from 4.8 to 115.2kbps.

Figure 1.5.2: MDrive23Plus 2 -65

Available motor configurations include a single shaft rotary motor and a linear actuator with long life Acme screw. Rotary versions are available in three motor lengths. Interface connections are accomplished using 12.0”

(30.5cm) flying leads or a 7 position terminal strip. Plus2 versions come with pluggable locking wire crimp connectors. Plus2-65 sealed versions come with M12/M23 circular connectors.

The MDrive23Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and assembly time for a large range of brushless motor applications

Standard Feature Summary n

Highly Integrated Microstepping Driver, Motion Controller and NEMA 23 High Torque Brushless

Motor n

Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness n

Single Supply: +12 to +75 VDC n

Low Cost n

Extremely Compact n

Available Options:

- Long Life Linear Actuator

- Internal Magnetic Encoder for Closed Loop Control

- Integrated Planetary Gearbox

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-23

1-22

- Control Knob for Manual Positioning

- Linear Slide n

Three Rotary Motor Lengths Available n

Auxiliary Logic Power Supply Input n

20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes n

Open or Optional Closed Loop Control n

Programmable Motor Run and Hold Currents n

Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs n

One 10 Bit Analog Input Selectable: 0 to +10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA n

0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments n

RS-422/485 Communications n

62 Software Addresses for Multi-Drop Communications n

Simple 1 to 2 Character Instructions n

Interface Options:

- Pluggable Terminal Strip

- 12.0” (30.5cm) Flying Leads

The MDrive23Plus Motion Control Key Differences and Enhanced Features

There are three different variants of the MDrive23Plus Motion Control, these are:

1. MDrive23Plus Motion Control

The MDrive23Plus Motion Control is the standard version of the MDrive23Plus and is drop-in compatible with the legacy MDrive23 Motion Control product. The key feature additions from the original MDrive23 Motion Control are: n

Improved current control.

n

20 Microstep resolutions to 51,200 steps per rev including degrees, metric and arc minutes.

n

4 +5 to +24 VDC I/O lines which accept sinking or sourcing inputs.

n

One 0 to +10 VDC Analog input.

n

Optional pluggable strip for interface.

See Section 1.6 of this document for detailed specifications on the MDrive23Plus Motion Control.

2. MDrive23Plus2 Motion Control

The MDrive23Plus

2

Motion Control adds expanded functionality to the MDrive23Plus in the form of: n

Enhanced and expanded I/O set (8 lines) which can be configured as sinking or sourcing inputs or outputs.

n

Remote Encoder option (Reduces I/O set to 4 lines).

n

High speed position capture input or trip output.

n

14-pin locking wire crimp interface for I/O (P1).

n

2-pin locking wire crimp for power. n

Electronic gearing.

See Section 1.7 of this document for detailed specifications on the MDrive23Plus2 Motion Control.

3. MDrive23Plus2-65 Motion Control

The MDrive23Plus2-65 Motion Control adds protection against the ingress of fluids and dust to the MDrive23Plus2 by changing the motor-drive enclosure to meet IP65 specifications. With this change the connector configuration changes to industry standard M12/M23 circular connectors.

See Section 1.8 of this document for detailed specifications on the MDrive23Plus2-65 Motion Control.

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-23

WARNING!

The maximum

+75 VDC Input

Voltage of the

MDrive23Plus series includes motor Back EMF, Power

Supply Ripple and High Line.

WARNING! Because the

MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal

Specifications.

1-24

SECTION 1.6

MDrive23Plus Detailed Specifications

Standard Electrical Specifications

Input Voltage (+V)

Range....................................................................................................................+12 to +75 VDC

Power supply current requirements (max. per MDrive23Plus).....................................................2A

(Actual power supply current will depend on voltage and load)

Aux. Logic Input Voltage

Range....................................................................................................................+12 to +24 VDC

(Maintains power to control and feedback circuits [only] when input voltage is removed)

Analog Input (IN5)

Resolution..............................................................................................................................10 Bit

Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA

General Purpose I/O

Number/Type

Plus (1-4) ........................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Logic Threshold

Logic 0.............................................................................................................................<0.8VDC

Logic 1.............................................................................................................................>2.2VDC

Output Sink Current (per channel)* .........................................................................Up to 600 mA

Protection ..............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp

Communication

Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable

Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps

*

See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O

Thermal Specifications

Motor Temperature ............................................................................................100°C (maximum)

Operating Temperature .................................................................................................-40 to 85°C

Standard Motion Specifications

Microstep Resolution – Open Loop Configuration

Number of Settings ..................................................................................................................... 20

200 400 800

Available Microsteps Per Revolution

1000 1600 2000 3200 5000

12800 20000 25000 25600 40000 50000 51200 36000 1

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

6400

21600 2

10000

25400 3

Encoder (Optional)

Type....................................................................................................................Internal, Magnetic

Resolution............................................................................512 Lines/2048 counts per Revolution

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-25

1-24

Counters

Type.................................................................................................... Position (C1), Encoder (C2)

Resolution..............................................................................................................................32 Bit

Edge Rate (Max) .................................................................................................................. 5 MHz

Velocity

Range................................................................................................. ±5,000,000 Steps per Second

Resolution................................................................................................. 0.5961 Steps per Second

Acceleration/Deceleration

Range................................................................................................... 1.5 x 10 9 Steps per Second 2

Resolution....................................................................................................90.9 Steps per Second

2

† Adjusting the microstep resolution can increase the range.

Software Specifications

Program Storage, Type/Size ...................................................................................Flash/6384 Bytes

User Registers................................................................................................................... (4) 32 Bit

User Program Labels and Variables ............................................................................................ 192

Math, Logic and Conditional Functions ............ +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT

Branch Functions ...................................................... Branch & Call (conditonal or unconditional)

Predefined I/O Functions...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,

Pause, Jog Plus, Jog Minus, Analog In

Outputs ................................................................................Moving, Fault, Stall, Velocity Change

Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture

Party Mode Addresses ................................................................................................................. 62

Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index

Motor Specifications

Single Length

Holding Torque................................................................................................... 90 oz-in/64 N-cm

Detent Torque................................................................................................... 3.9 oz-in/2.7 N-cm

Rotor Inertia ...................................................................................0.0025 oz-in-sec2/0.26 kg-cm2

Weight (Motor + Driver).......................................................................................21.6 oz/612.13 g

Double Length

Holding Torque............................................................................................... 144 oz-in/102 N-cm

Detent Torque................................................................................................. 5.6 oz-in/3.92 N-cm

Rotor Inertia ...................................................................................0.0037 oz-in-sec2/0.26 kg-cm2

Weight (Motor + Driver).........................................................................................26.4 oz/784.4 g

Triple Length

Holding Torque............................................................................................... 239 oz-in/169 N-cm

Detent Torque................................................................................................. 9.7 oz-in/6.86 N-cm

Rotor Inertia .....................................................................................0.065 oz-in-sec2/0.46 kg-cm2

Weight (Motor + Driver).......................................................................................39.2 oz/1111.3 g

WARNING!

When using the

MDrivePlus Motion

Control with optional internal magnetic encoder, no axial force may be applied to the motor shaft without use of a load bearing isolation coupling.

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-25

1-26

Mechanical Specifications

Dimensions in Inches (mm)

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Motor Length

Single

Double

Triple

MDrive23Plus Lengths

Inches (mm)

LMAX

SINGLE SHAFT or

ENCODER VERSION

2.65 (67.31)

3.02 (76.71)

3.88 (98.55)

LMAX2

CONTROL KNOB

VERSION

3.36 (85.34)

3.73 (94.74)

5.59 (116.59)

L

MAX2

Option

Ø 0.97

(Ø 24.6)

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P1 Connector Options

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Flying Leads

7-Pin Pluggable Clamp

Type Terminal Strip

P2 Connector Options MDrivePlus

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Control Knob

10-Pin IDC

Figure 1.6.1: MDrive23Plus Mechanical Specifications

Pin/Wire Assignments

P1 Connector - I/O and Power Connections

10-Pin Friction Lock

Wire Crimp

P1

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I/O 1

I/O 2

I/O 3

I/O 4

Analog Input

Power Ground

+V (+12 to +75 VDC)

3

4

1

2

5

6

7

Figure 1.6.2: P1 12 in/304.8 cm Flying Leads Figure 1.6.3: P1 7-Pin Pluggable Connector

Pluggable

Terminal Strip

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

P1: I/O & POWER CONNECTOR

Flying Leads

Function

Wire Colors

White/Yellow

White/Orange

White/Violet

White/Blue

Green

Black

Red

I/O 1

I/O 2

I/O 3

I/O 4

Analog Input

Power/Aux-Ground

+V (+12 to +75 VDC)

Table 1.6.1: MDrive23Plus P1 I/O and Power

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-27

1-26

MDI Hardware Manual Revision R052506

P2 Connector - RS-422/485 Communications

P2: COMM CONNECTOR

10-Pin

IDC

Pin 1 Pin 9

Pin 2

Pin

10

Pin 3 Pin 7

Pin 4 Pin 8

Pin 5

RS-422/485

Wire

Crimp

Pin 5

Function

TX +

TX –

RX +

RX –

Aux-Logic (+12 to

+24 VDC)

Pin 6 Pin 6

Pin 7 Pin 3

Pin 8 Pin 4

Pin 9 Pin 1

Pin

10

Pin 2

RX +

RX –

TX –

TX +

Comm Ground

Table 1.6.2: MDrive23Plus P2

RS-422/485

Communications

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Figure 1.6.5: P2 10-Pin Wire Crimp Communications Connector

Options and Accessories

Control Knob

The MDrive23Plus Motion Control is available with a factory-mounted rear control knob for manual shaft positioning.

Planetary Gearbox

Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive23Plus.

(For specifications and details see Appendix C: MDrivePlus Planetary Gearbox Specification.)

Encoder

The MDrive23Plus Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.

Linear Slide

Integrated linear slides are available factory installed for precision linear movement. Screw pitches are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.

Contact factory for custom lengths.

Communication Converter Cables

These convenient 12.0' (3.6m) accessory cables connect a PC’s USB Port to the MDrivePlus P2

Connector. An in-line RS-422 converter enables parameter setting to a single MDrivePlus Motion

Control. Cable purchase recommended with first orders. Versions include:

USB to 10-Pin IDC .................................................Part No. MD-CC400-000

10-Pin IDC to Wire Crimp Adapter ........................Part No. MD-ADP-H

Part 1: Hardware Specifications

1-27

WARNING!

The maximum

+75 VDC Input

Voltage of the

MDrive23Plus series includes motor Back EMF, Power

Supply Ripple and High Line.

WARNING! Because the

MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal

Specifications.

SECTION 1.7

MDrive23Plus2 Detailed Specifications

Standard Electrical Specifications

Input Voltage (+V)

Range....................................................................................................................+12 to +75 VDC

Power supply current requirements (max. per MDrive23Plus).....................................................2A

(Actual power supply current will depend on voltage and load)

Aux. Logic Input Voltage

Range....................................................................................................................+12 to +24 VDC

(Maintains power to control and feedback circuits [only] when input voltage is removed)

Analog Input (IN5)

Resolution..............................................................................................................................10 Bit

Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA

General Purpose I/O

Number/Type

Plus ................................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Logic Threshold

Logic 0.............................................................................................................................<0.8VDC

Logic 1.............................................................................................................................>2.2VDC

Output Sink Current (per channel)* .........................................................................Up to 600 mA

Protection ..............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp

Communication

Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable

Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps

*

See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O

Enhanced Electrical Specifications

General Purpose I/O

Number/Type

Default Configuration (No external encoder)........................... 8 Sinking/Sourcing Inputs/Outputs

Remote Encoder Option .......................................................... 4 Sinking/Sourcing Inputs/Outputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ............................................................................................... (Sourcing) +12 to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Output Sink/Source Current (per channel)*..............................................................Up to 600 mA

Thermal Specifications

Motor Temperature ............................................................................................100°C (maximum)

Operating Temperature .................................................................................................-40 to 85°C

1-28

MDI Hardware Manual Revision R052506

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1-29

1-28

MDI Hardware Manual Revision R052506

Standard Motion Specifications

Microstep Resolution – Open Loop Configuration

Number of Settings ..................................................................................................................... 20

200 400 800

Available Microsteps Per Revolution

1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 51200 36000

1

21600

2

25400

3

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

Encoder (Optional)

Type....................................................................................................................Internal, Magnetic

Resolution............................................................................512 Lines/2048 counts per Revolution

Counters

Type.................................................................................................... Position (C1), Encoder (C2)

Resolution..............................................................................................................................32 Bit

Edge Rate (Max) .................................................................................................................. 5 MHz

Velocity

Range................................................................................................. ±5,000,000 Steps per Second

Resolution...................................................................................................0.5961 Step per Second

Acceleration/Deceleration

Range...................................................................................................1.5 x 109 Steps per Second2

Resolution................................................................................................... 90.9 Steps per Second2

Enhanced Motion Specifications

Electronic Gearing

Range..................................................................................................................... 0.001 to 2.000†

Resolution..............................................................................................................................32 Bit

Threshold (External clock in) ...................................................................................................TTL

Input Filter Range ................................................................................................. 50 nS to 12.9 µS

Range (Secondary clock out) ................................................................................................ 1 to 1†

High Speed I/O

Position Capture ........................................ 32 Bit Resolution, 50 nS to 12.9 µS Input Filter Range

Trip Output Speed ................................................................................................................ 150nS

Trip Output Resolution..........................................................................................................32 Bit

Trip Output Threshold.............................................................................................................TTL

External Encoder (Optional)

Type.......................................................................................... User Supplied Differential Encoder

Steps per Revolution ................................................. See Microstep resolution - Open Loop Above

Resolutions..................................................................................................................User-Defined

† Adjusting the microstep resolution can increase the range.

Software Specifications

Program Storage, Type/Size ...................................................................................Flash/6384 Bytes

User Registers................................................................................................................... (4) 32 Bit

User Program Labels and Variables ............................................................................................ 192

Math, Logic and Conditional Functions ............ +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT

Branch Functions ...................................................... Branch & Call (conditonal or unconditional)

Predefined I/O Functions...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,

Pause, Jog Plus, Jog Minus, Analog In

Part 1: Hardware Specifications

WARNING!

When using the

MDrivePlus Motion

Control with optional internal magnetic encoder, no axial force may be applied to the motor shaft without use of a load bearing isolation coupling.

1-29

1-30

Outputs ................................................................................Moving, Fault, Stall, Velocity Change

Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture

Party Mode Addresses ................................................................................................................. 62

Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index

Motor Specifications

Single Length

Holding Torque................................................................................................... 90 oz-in/64 N-cm

Detent Torque................................................................................................... 3.9 oz-in/2.7 N-cm

Rotor Inertia ...................................................................................0.0025 oz-in-sec2/0.26 kg-cm2

Weight (Motor + Driver).......................................................................................21.6 oz/612.13 g

Double Length

Holding Torque............................................................................................... 144 oz-in/102 N-cm

Detent Torque................................................................................................. 5.6 oz-in/3.92 N-cm

Rotor Inertia ...................................................................................0.0037 oz-in-sec2/0.26 kg-cm2

Weight (Motor + Driver).........................................................................................26.4 oz/784.4 g

Triple Length

Holding Torque............................................................................................... 239 oz-in/169 N-cm

Detent Torque................................................................................................. 9.7 oz-in/6.86 N-cm

Rotor Inertia .....................................................................................0.065 oz-in-sec2/0.46 kg-cm2

Weight (Motor + Driver).......................................................................................39.2 oz/1111.3 g

Mechanical Specifications

Dimensions in Inches (mm)

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Motor Length

Single

Double

Triple

MDrive23Plus Lengths

Inches (mm)

LMAX

SINGLE SHAFT or

ENCODER VERSION

2.65 (67.31)

3.02 (76.71)

3.88 (98.55)

LMAX2

CONTROL KNOB

VERSION

3.36 (85.34)

3.73 (94.74)

5.59 (116.59)

L

MAX2

Option

Ø 0.97

(Ø 24.6)

P1 Connector Options

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14-Pin & 2-Pin Pluggable Locking

Wire Crimp

P2 Connector Options MDrivePlus

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Control Knob

10-Pin IDC 10-Pin Friction Lock

Wire Crimp

Figure 1.7.1: MDrive23Plus2 Mechanical Specifications

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-31

1-30

MDI Hardware Manual Revision R052506

Pin/Wire Assignments

P1 Connector - I/O and Power Connections

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Figure

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7.2: P1 14 Pin Wire Crimp - Enhanced I/O Configuration,

P3 2-Pin Power Connector

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P1: I/O CONNECTOR

Wire

Crimp

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Expanded I/O

Function

Remote Encoder

I/O Power

I/O Ground

I/O 1

Closed Loop Control

I/O Power

I/O Ground

I/O 1

I/O 2

I/O 3

I/O 4

I/O 9

I/O 10

I/O 2

I/O 3

I/O 4

Channel A +

Channel A –

Pin 9

Pin 10

I/O 11

I/O 12

Channel B +

Channel B –

Pin 11 Capture/Trip I/O Capture/Trip I/O

Pin 12 Analog In Analog In

Pin 13 Step/Clock I/O

Pin 14

Direction/Clock

I/O

Index +

Index –

P3: POWER CONNECTOR

Pin 1

Pin 2

+V (+12 to +75

VDC)

Power/Aux-

Ground

+V (+12 to +75

VDC)

Power/Aux-

Ground

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Table

1.

7.1:

MDrive23Plus

2

P1 & P3 14-Pin Wire

Crimp and 2-Pin Wire Crimp

Figure

1.

7.3: P1 14-Pin Wire Crimp - Optional Remote Encoder

Configuration, P3 2-Pin Power Connector

P2 Connector - RS-422/485 Communications

P2: COMM CONNECTOR

10-Pin IDC Wire Crimp

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 9

Pin 10

Pin 7

Pin 8

Pin 5

Pin 6

Pin 3

RS-422/485

Function

TX +

TX –

RX +

RX –

Aux-Logic (+12 to +24 VDC)

RX +

RX –

Pin 8

Pin 9

Pin 10

Pin 4

Pin 1

Pin 2

TX –

TX +

Comm Ground

Table 1.7.2: MDrive23Plus

2

P2 RS-422/485 Communications

WARNING! Because the MDrive23Plus2

Motion Control

DOES NOT have a Pin Configuration label on the body of the device please ensure that all wiring connections are cross-checked against these tables.

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Figure 1.7.5: P2 10-Pin Wire Crimp Communications Connector

Part 1: Hardware Specifications

1-31

Options and Accessories

Control Knob

The MDrive23Plus Motion Control is available with a factory-mounted rear control knob for manual shaft positioning.

Planetary Gearbox

Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive23Plus.

(For specifications and details see Appendix C: MDrivePlus Planetary Gearbox Specification.)

Encoder

The MDrive23Plus Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.

Linear Slide

Integrated linear slides are available factory installed for precision linear movement. Screw pitches are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.

Contact factory for custom lengths.

Communication Converter Cables

These convenient 12.0' (3.6m) accessory cables connect a PC’s USB Port to the MDrivePlus P2

Connector. An in-line RS-422 converter enables parameter setting to a single MDrivePlus Motion

Control. Cable purchase recommended with first orders. Versions include:

USB to 10-Pin IDC .................................................Part No. MD-CC400-000

10-Pin IDC to Wire Crimp Adapter ........................Part No. MD-ADP-H

1-32

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-33

1-32

MDI Hardware Manual Revision R052506

SECTION 1.8

MDrive23Plus2-65 Detailed Specifications

Standard Electrical Specifications

Input Voltage (+V)

Range....................................................................................................................+12 to +75 VDC

Power supply current requirements (max. per MDrive23Plus).....................................................2A

(Actual power supply current will depend on voltage and load)

Aux. Logic Input Voltage

Range....................................................................................................................+12 to +24 VDC

(Maintains power to control and feedback circuits [only] when input voltage is removed)

Analog Input (IN5)

Resolution..............................................................................................................................10 Bit

Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA

General Purpose I/O

Number/Type

Plus (1-4) ........................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Logic Threshold

Logic 0.............................................................................................................................<0.8VDC

Logic 1.............................................................................................................................>2.2VDC

Output Sink Current (per channel)* .........................................................................Up to 600 mA

Protection ..............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp

Communication

Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable

Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps

*

See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O

Enhanced Electrical Specifications

General Purpose I/O

Number/Type

Default Configuration (No external encoder)........................... 8 Sinking/Sourcing Inputs/Outputs

Remote Encoder Option .......................................................... 4 Sinking/Sourcing Inputs/Outputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ............................................................................................... (Sourcing) +12 to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Output Sink/Source Current (per channel) ...............................................................Up to 600 mA

Thermal Specifications

Motor Temperature ............................................................................................100°C (maximum)

Operating Temperature .................................................................................................-40 to 85°C

WARNING!

The maximum

+75 VDC Input

Voltage of the

MDrive23Plus series includes motor Back EMF, Power

Supply Ripple and High Line.

WARNING!

Because the

MDrivePlus consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal

Specifications.

Part 1: Hardware Specifications

1-33

1-34

Standard Motion Specifications

Microstep Resolution – Open Loop Configuration

Number of Settings ..................................................................................................................... 20

200 400 800

Available Microsteps Per Revolution

1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 51200 36000

1

21600

2

25400

3

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

Encoder (Optional)

Type....................................................................................................................Internal, Magnetic

Resolution............................................................................512 Lines/2048 counts per Revolution

Counters

Type.................................................................................................... Position (C1), Encoder (C2)

Resolution..............................................................................................................................32 Bit

Edge Rate (Max) .................................................................................................................. 5 MHz

Velocity

Range................................................................................................. ±5,000,000 Steps per Second

Resolution...................................................................................................0.5961 Step per Second

Acceleration/Deceleration

Range...................................................................................................1.5 x 109 Steps per Second2

Resolution................................................................................................... 90.9 Steps per Second2

Enhanced Motion Specifications

Electronic Gearing

Range..................................................................................................................... 0.001 to 2.000†

Resolution..............................................................................................................................32 Bit

Threshold (External clock in) ...................................................................................................TTL

Input Filter Range ................................................................................................. 50 nS to 12.9 µS

Range (Secondary clock out) ................................................................................................ 1 to 1†

High Speed I/O

Position Capture ........................................ 32 Bit Resolution, 50 nS to 12.9 µS Input Filter Range

Trip Output Speed ................................................................................................................ 150nS

Trip Output Resolution..........................................................................................................32 Bit

Trip Output Threshold.............................................................................................................TTL

External Encoder (Optional)

Type.......................................................................................... User Supplied Differential Encoder

Steps per Revolution .................................................................................................................. See

Resolutions..................................................................................................................User-Defined

Software Specifications

Program Storage, Type/Size ...................................................................................Flash/6384 Bytes

User Registers................................................................................................................... (4) 32 Bit

User Program Labels and Variables ............................................................................................ 192

Math, Logic and Conditional Functions ............ +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT

Branch Functions ...................................................... Branch & Call (conditonal or unconditional)

Predefined I/O Functions...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,

Pause, Jog Plus, Jog Minus, Analog In

Outputs ................................................................................Moving, Fault, Stall, Velocity Change

Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-35

1-34

Party Mode Addresses ................................................................................................................. 62

Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index

Motor Specifications

Single Length

Holding Torque................................................................................................... 90 oz-in/64 N-cm

Detent Torque................................................................................................... 3.9 oz-in/2.7 N-cm

Rotor Inertia ...................................................................................0.0025 oz-in-sec2/0.26 kg-cm2

Weight (Motor + Driver).......................................................................................21.6 oz/612.13 g

Double Length

Holding Torque............................................................................................... 144 oz-in/102 N-cm

Detent Torque................................................................................................. 5.6 oz-in/3.92 N-cm

Rotor Inertia ...................................................................................0.0037 oz-in-sec2/0.26 kg-cm2

Weight (Motor + Driver).........................................................................................26.4 oz/784.4 g

Triple Length

Holding Torque............................................................................................... 239 oz-in/169 N-cm

Detent Torque................................................................................................. 9.7 oz-in/6.86 N-cm

Rotor Inertia .....................................................................................0.065 oz-in-sec2/0.46 kg-cm2

Weight (Motor + Driver).......................................................................................39.2 oz/1111.3 g

Mechanical Specifications

Dimensions in Inches (mm)

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Sealed MDrivePlus Lengths

Inches (mm)

Connectors

Motor Length LMAX LMAX2

Single 2.82 (71.63) 3.48 (88.39)

Double 3.16 (80.26) 3.82 (97.03)

Triple 4.02 (102.11) 4.67 (118.62)

LMAX3

3.42 (86.87)

3.76 (95.5)

4.62 (117.35)

Ø 0.87

(Ø 22.1)

P1: 19-Pin M23

(Male)

Figure 1.8.1: MDrive23Plus2-65 Motion Control

Ø 0.53

(Ø 13.5)

P2: 5-Pin

M12

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-35

1-36

Pin/Wire Assignments

P1 Connector - I/O and Power Connections

Outer: Pins 1-12

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Outer: Pins 1-12

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Figure 1.8.3: P1 19-Pin M23 (male) - Optional Remote Encoder Configuration

M23

Circular

Pin 7

Pin 8

Pin 9

Pin 10

Pin 11

Pin 12

Pin 13

Pin 14

Pin 15

Pin 16

Pin 17

Pin 18

Pin 19

(Male)

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

P1: I/O & POWER CONNECTOR

Function

Expanded I/O

I/O 9

I/O 11

Step/Clock I/O

I/O 1

Direction/Clock I/O

+V (+12 to +75 VDC)

Aux-Logic(+12 to +24 VDC)

Aux-Ground

I/O 3

I/O Ground

I/O Power

Comm Ground

I/O 12

Capture/Trip I/O

Analog In

I/O 2

I/O 4

I/O 10

Power/Aux-Ground

Remote Encoder Closed Loop Control

Channel A +

Channel B +

Index +

I/O 1

Index –

+V (+12 to +75 VDC)

Aux-Logic(+12 to +24 VDC)

Comm Ground

I/O 3

I/O Ground

I/O Power

Earth Ground

Channel B –

Capture/Trip I/O

Analog In

I/O 2

I/O 4

Channel A –

Power/Aux-Ground

Table 1.8.1: MDrive23Plus

2

-65 P1 19-Pin M23 Connector

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-37

1-36

P2 Connector - RS-422/485 Communications

P2: COMM CONNECTOR

M12

Circular

RS-422/485

Function

(Female)

Pin 1 TX –

Pin 2

Pin 3

Pin 4

Pin 5

TX +

RX +

RX –

Comm Ground

Table 1.8.2: MDrive23Plus

2

-65

P2 RS-422/485

Communications

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Figure 1.8.4: P2 5-Pin M12 (Female) RS-422/485 Communications

Connector

Options and Accessories

Planetary Gearbox

Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive23Plus

2

-

65(For specifications and details see Appendix D: MDrive23Plus Planetary Gearbox

Specification.)

Encoder

The MDrive23Plus

2

-65 Motion Control is available with an internal 512-line (2048 count) magnetic encoder with index mark.

Communication Converter Cable

This convenient 12.0' (3.6m) accessory cable connects a PC’s USB Port to the MDrive23Plus

2

-65 P2 5-

Pin M12 Connector. An in-line RS-422 converter enables parameter setting to a single MDrive23Plus

2

-65

Motion Control. Cable purchase recommended with first orders.

Note: To reduce wiring time, please order Part# MD-

CC401-000, the USB to M12 accessory cable with inline

RS-422 Converter.

USB to M12 Circular (sealed version).......................................... Part No. MD-CC401-000

Cordsets

19-Pin M23 single-ended cordsets are offered to speed prototyping of MDrive23Plus2-65 Motion Control units attaching to the P1 Connector. Measuring 13.0' (4.0m) long, they are available in either straight or right angle termination. PVC jacketed cables come with a foil shield and unconnected drain wire.

Straight Termination.................................................................. Part No. MD-CS100-000

Right Angle Termination ........................................................... Part No. MD-CS101-000

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-37

For detailed descriptions of supported CANopen objects please refer to the

MDrive CANpen Software

Reference.

SECTION 1.9

Standard Electrical Specifications

MDrive17Plus CANopen

Input Voltage (+V)

Range....................................................................................................................+12 to +48 VDC

Power supply current requirements (max. per MDrive17Plus).....................................................2A

(Actual power supply current will depend on voltage and load)

General Purpose I/O

Number/Type

MDrive17Plus (1-4)........................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs

MDrive17Plus 2 (1-4, 9-12) .................................................................8 Sourcing or Sinking Inputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Logic Threshold

Logic 0.............................................................................................................................<0.8VDC

Logic 1............................................................................................................................................

>2.2VDC

Output Sink Current (per channel)* .........................................................................Up to 600 mA

Protection ..............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp

CAN V+ Input Voltage

Range......................................................................................................................+7 to +30 VDC

(Maintains power to control and feedback circuits [only] when input voltage is removed)

Communication

Protocol (Standard) .................................CANopen DSP-402 (V2.0), DS-301 (V3.0), 2.0B Active

ID ......................................................................................................................... 11 and/or 29 Bit

Isolation .............................................................................................................................Galvanic

Features........................................... Node Guarding, Heartbeat, SDOs, PDOs (Variable Mapping)

BAUD Rate........................................................................................................ 10 kbps to 1 Mbps

Thermal Specifications

Operating Temperature ...............................................................................................-40 to +85°C

Motor Specifications

Single Length

Holding Torque................................................................................................ 32 oz-in/22.6 N-cm

Detent Torque............................................................................................... 1.66 oz-in/1.17 N-cm

Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2

Weight (Motor + Driver)...........................................................................................9.8 oz/277.8 g

Double Length

Holding Torque................................................................................................ 60 oz-in/42.4 N-cm

Detent Torque............................................................................................... 2.08 oz-in/1.47 N-cm

Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2

Weight (Motor + Driver).........................................................................................10.5 oz/297.7 g

1-38

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-39

1-38

Triple Length

Holding Torque............................................................................................. 74.9 oz-in/52.9 N-cm

Detent Torque............................................................................................... 3.47 oz-in/2.45 N-cm

Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2

Weight (Motor + Driver).........................................................................................15.1 oz/428.1 g

Mechanical Specifications (Non-Sealed Versions)

Dimensions in Inches (mm)

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Length

Single

Double

Triple

MDrivePlus Lengths

Inches (mm)

LMAX

SINGLE SHAFT, ENCODER

VERSION

2.20 (55.9)

2.43 (61.7)

2.77 (70.4)

LMAX2

CONTROL KNOB

VERSION

2.79 (70.9)

3.02 (76.7)

3.37 (85.6)

P1 Connector Options

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Type Terminal Strip

Figure 1.9.1: MDrive17Plus Motion Control CANopen Mechanical Specifications

MDrivePlus 2 (Only)

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Locking Wire Crimp

P1 Connector - I/O and Power Connections - Plus Versions

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Figure 1.9.2: P1 - 12 in/304.8 cm Flying

Leads

I/O 1

I/O 2

I/O 3

I/O 4

Analog Input

Power Ground

+V (+12 to +48 VDC)

P1

5

6

7

3

4

1

2

Figure 1.9.3: P1 7-Pin Pluggable

Connector

P1: I/O & POWER CONNECTOR

Pluggable Flying Leads

Function

Terminal Strip

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Wire Colors

White/Yellow

White/Orange

White/Violet

White/Blue

Green

Black

Red

I/O 1

I/O 2

I/O 3

I/O 4

Analog Input

Power/Aux-Ground

+V (+12 to +48 VDC)

Table 1.9.1: MDrive17Plus P1 I/O and Power

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-39

1-40

P1 Connector - I/O and Power Connections - Plus

2

Versions

P1: I/O & POWER CONNECTOR

Wire Crimp

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Expanded I/O

I/O Power

I/O Ground

I/O 1

I/O 2

I/O 3

I/O 4

I/O 9

Function

Remote Encoder Closed

Loop Control

I/O Power

I/O Ground

I/O 1

I/O 2

I/O 3

I/O 4

Channel A +

Pin 8

Pin 9

Pin 10

Pin 11

Pin 12

I/O 10

I/O 11

I/O 12

Capture/Trip I/O

Analog In

Channel A –

Channel B +

Channel B –

Capture/Trip I/O

Analog In

Pin 13

Pin 14

Step/Clock I/O

Direction/Clock I/O

Index +

Index –

Pin 15 +V (+12 to +48 VDC) +V (+12 to +48 VDC)

Pin 16 Power/Aux-Ground Power/Aux-Ground

Table 1.9.2: MDrive17Plus

2

P1 16-Pin Wire Crimp

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P2 Connector - CANopen Communications

P2: COMM CONNECTOR

DB-9

DB-9 Male

Function

Pin 1

Pin 2

No Connect

CAN Low

Pin 3 CAN -V (CAN GND)

Pin 4 No Connect

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

CAN Shield

CAN -V

CAN High

No Connect

CAN +V

Table 1.9.3: MDrive17Plus P2 CANopen

Communications

+V Supply

7 to 30 VDC

Return

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Communications

Pin 3: CAN -V

3

2

4

1

Pin 4: CAN HIGH

CANopen

Controller

MDI Plus

CANopen

Node 1

MDI Plus

CANopen

Node

x

Pin 2: CAN +V

Pin 5: CAN LOW

Pin 1: Shield

5-Pin M12 Male

CAN -V (CAN_GND)

CAN Low

CAN Shield

1 2 3 4 5

6 7 8 9

Termination

Resistor*

Termination

Resistor*

*Termination Resistors are required between CAN High and CAN Low at both ends of the cabling

CAN -V

CAN +V

CAN High

DB-9

Figure 1.9.7: CANopen Network using MDrivePlus Motion Control

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-41

1-40

Mechanical Specifications (Sealed -65 Version)

Dimensions in Inches (mm)

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Inches (mm)

Connectors

Motor Length LMAX

Single 2.39 (60.71)

Double 2.62 (66.55)

Triple 2.96 (75.18)

LMAX2 LMAX3

3.06 (77.72) 3.15 (79.95)

3.29 (83.57) 3.38 (85.79)

3.63 (92.20) 3.72 (94.42)

Ø 0.87

(Ø 22.1)

P1: 19-Pin M23

(Male)

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P2: 5-Pin

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Outer: Pins 1-12

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Figure 1.9.10: P1 19-Pin M23 (male) - Optional Remote Encoder

Configuration

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-41

1-42

M23

Circular

(Male)

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

Pin 11

Pin 12

Pin 13

Pin 14

Pin 15

Pin 16

Pin 17

Pin 18

Pin 19

P1: I/O & POWER CONNECTOR

Function

Expanded I/O Remote Encoder Closed Loop Control

I/O 9

I/O 11

Step/Clock I/O

I/O 1

Direction/Clock I/O

+V (+12 to +48 VDC)

Aux-Logic(+12 to +24 VDC)

Channel A +

Channel B +

Index +

I/O 1

Index –

+V (+12 to +48 VDC)

Aux-Logic(+12 to +24 VDC)

Aux-Ground

I/O 3

I/O Ground

I/O Power

Comm Ground

I/O 12

Capture/Trip I/O

Analog In

I/O 2

I/O 4

I/O 10

Power/Aux-Ground

Comm Ground

I/O 3

I/O Ground

I/O Power

Earth Ground

Channel B –

Capture/Trip I/O

Analog In

I/O 2

I/O 4

Channel A –

Power/Aux-Ground

Table 1.9.4: MDrive17Plus

2

-65 P1 19-Pin M23 Connector

P2 Connector - CANOpen Communications

P2: COMM CONNECTOR

M12

Circular

RS-422/485

Function

(Female)

Pin 1

Pin 2

Shield

CAN +V

Pin 3

Pin 4

Pin 5

CAM -V

CAN HIGH

CAN LOW

Table 1.4.5: MDrive17Plus

2

-65

P2 - CANopen

Communications

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Figure 1.9.11: P2 5-Pin M12 (Male) CAN Open Communications

Connector

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-43

1-42

MDI Hardware Manual Revision R052506

SECTION 1.10

Standard Electrical Specifications

MDrive23Plus CANopen

Input Voltage (+V)

Range....................................................................................................................+12 to +75 VDC

Power supply current requirements (max. per MDrive23Plus).....................................................2A

(Actual power supply current will depend on voltage and load)

General Purpose I/O

Number/Type

MDrive23Plus (1-4)........................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs

MDrive23Plus 2 (1-4, 9-12) .................................................................8 Sourcing or Sinking Inputs

Voltage Range

Input................................................................................... TTL level compatible, up to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Logic Threshold

Logic 0.............................................................................................................................<0.8VDC

Logic 1.............................................................................................................................>2.2VDC

Output Sink Current (per channel)* .........................................................................Up to 600 mA

Protection ..............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp

CAN V+ Input Voltage

Range......................................................................................................................+7 to +30 VDC

(Maintains power to control and feedback circuits [only] when input voltage is removed)

Communication

Protocol (Standard) .................................CANopen DSP-402 (V2.0), DS-301 (V3.0), 2.0B Active

ID ......................................................................................................................... 11 and/or 29 Bit

Isolation .............................................................................................................................Galvanic

Features........................................... Node Guarding, Heartbeat, SDOs, PDOs (Variable Mapping)

BAUD Rate........................................................................................................ 10 kbps to 1 Mbps

Thermal Specifications

Operating Temperature ...............................................................................................-40 to +85°C

Motor Specifications

Single Length

Holding Torque................................................................................................... 90 oz-in/64 N-cm

Detent Torque................................................................................................... 3.9 oz-in/2.7 N-cm

Rotor Inertia ...................................................................................0.0025 oz-in-sec2/0.26 kg-cm2

Weight (Motor + Driver).......................................................................................21.6 oz/612.13 g

Double Length

Holding Torque............................................................................................... 144 oz-in/102 N-cm

Detent Torque................................................................................................. 5.6 oz-in/3.92 N-cm

Rotor Inertia ...................................................................................0.0037 oz-in-sec2/0.26 kg-cm2

Weight (Motor + Driver).........................................................................................26.4 oz/784.4 g

Part 1: Hardware Specifications

1-43

1-44

Triple Length

Holding Torque............................................................................................... 239 oz-in/169 N-cm

Detent Torque................................................................................................. 9.7 oz-in/6.86 N-cm

Rotor Inertia .....................................................................................0.065 oz-in-sec2/0.46 kg-cm2

Weight (Motor + Driver).......................................................................................39.2 oz/1111.3 g

Mechanical Specifications

Dimensions in Inches (mm)

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Motor Length

Single

Double

Triple

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MDrive23Plus Lengths

Inches (mm)

LMAX

SINGLE SHAFT or

ENCODER VERSION

2.65 (67.31)

3.02 (76.71)

3.88 (98.55)

LMAX2

CONTROL KNOB

VERSION

3.36 (85.34)

3.73 (94.74)

5.59 (116.59)

L

MAX2

Option

Ø 0.97

(Ø 24.6)

Control Knob

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P1 Connector Options

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Flying Leads

7-Pin Pluggable Clamp

Type Terminal Strip

Plus 2 Only

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14-Pin & 2-Pin Pluggable Locking Wire

Crimp

Figure 1.10.1: MDrive23Plus2 Mechanical Specifications

P1 Connector - I/O and Power Connections - Plus Versions

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Figure 1.10.2: P1 - 12 in/304.8 cm

Flying Leads

I/O 1

I/O 2

I/O 3

I/O 4

Analog Input

Power Ground

+V (+12 to +48 VDC)

P1

5

6

7

3

4

1

2

Figure 1.10.3: P1 7-Pin Pluggable

Connector

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-45

1-44

MDI Hardware Manual Revision R052506

P1: I/O & POWER CONNECTOR

Pluggable Flying Leads

Function

Terminal Strip

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Wire Colors

White/Yellow

White/Orange

White/Violet

White/Blue

Green

Black

Red

I/O 1

I/O 2

I/O 3

I/O 4

Analog Input

Power/Aux-Ground

+V (+12 to +48 VDC)

Table 1.10.1: MDrive17Plus P1 I/O and Power

P1 Connector - I/O and Power Connections - Plus

2

Versions

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Figure

1.10.

4: P1 14 Pin Wire Crimp - Enhanced I/O Configuration,

P3 2-Pin Power Connector

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Figure

1.10.

5: P1 14-Pin Wire Crimp - Optional Remote Encoder

Configuration, P3 2-Pin Power Connector

P1: I/O CONNECTOR

Wire

Crimp

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

Expanded I/O

Function

Remote Encoder

I/O Power

Closed Loop Control

I/O Power

I/O Ground

I/O 1

I/O 2

I/O 3

I/O 4

I/O 9

I/O 10

I/O 11

I/O 12

I/O Ground

I/O 1

I/O 2

I/O 3

I/O 4

Channel A +

Channel A –

Channel B +

Channel B –

Pin 11 Capture/Trip I/O Capture/Trip I/O

Pin 12 Analog In

Pin 13 Step/Clock I/O

Analog In

Index +

Pin 14

Direction/Clock

I/O

Index –

P3: POWER CONNECTOR

Pin 1

Pin 2

+V (+12 to +75

VDC)

Power/Aux-

Ground

+V (+12 to +75

VDC)

Power/Aux-

Ground

Table

1.10.2

:

MDrive23Plus

2

P1 & P3 14-Pin Wire

Crimp and 2-Pin Wire Crimp

P2 Connector - CANopen Communications

P2: COMM CONNECTOR

DB-9 Male

DB-9

Pin 1

Function

No Connect

Pin 2 CAN Low

Pin 3 CAN -V (CAN GND)

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

No Connect

CAN Shield

CAN -V

CAN High

No Connect

CAN +V

Table 1.10.3: MDrive23Plus P2 CANopen

Communications

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Figure 1.10.6: P2- DB-9 CANopen

Communications

Part 1: Hardware Specifications

1-45

1-46

Mechanical Specifications (Sealed -65 Version)

Dimensions in Inches (mm)

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Sealed MDrivePlus Lengths

Inches (mm)

Connectors

Motor Length LMAX LMAX2

Single 2.82 (71.63) 3.48 (88.39)

Double 3.16 (80.26) 3.82 (97.03)

Triple 4.02 (102.11) 4.67 (118.62)

LMAX3

3.58 (90.87)

3.92 (99.5)

4.78 (121.35)

Ø 0.87

(Ø 22.1)

P1: 19-Pin M23

(Male)

Figure 1.10.7: MDrive23Plus2-65 Motion Control

Ø 0.53

(Ø 13.5)

P2: 5-Pin

M12

P1 Connector - I/O and Power Connections

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Figure 1.10.8: P1 19-Pin M23 (male) - Enhanced I/O Configuration

Outer: Pins 1-12

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Figure 1.10.9: P1 19-Pin M23 (male) - Optional Remote Encoder

Configuration

MDI Hardware Manual Revision R052506

Part 1: Hardware Specifications

1-47

1-46

MDI Hardware Manual Revision R052506

M23

Circular

(Male)

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

Pin 11

Pin 12

Pin 13

Pin 14

Pin 15

Pin 16

Pin 17

Pin 18

Pin 19

P1: I/O & POWER CONNECTOR

Function

Expanded I/O Remote Encoder Closed Loop Control

I/O 9

I/O 11

Step/Clock I/O

I/O 1

Direction/Clock I/O

+V (+12 to +48 VDC)

Aux-Logic(+12 to +24 VDC)

Channel A +

Channel B +

Index +

I/O 1

Index –

+V (+12 to +48 VDC)

Aux-Logic(+12 to +24 VDC)

Aux-Ground

I/O 3

I/O Ground

I/O Power

Comm Ground

I/O 12

Capture/Trip I/O

Analog In

I/O 2

I/O 4

I/O 10

Comm Ground

I/O 3

I/O Ground

I/O Power

Earth Ground

Channel B –

Capture/Trip I/O

Analog In

I/O 2

I/O 4

Channel A –

Power/Aux-Ground

Table 1.10.4: MDrive17Plus

2

Power/Aux-Ground

-65 P1 19-Pin M23 Connector

P2 Connector - CANopen Communications

P2: COMM CONNECTOR

RS-422/485

M12

Circular Function

(Female)

Pin 1 Shield

Pin 2

Pin 3

Pin 4

Pin 5

CAN +V

CAM -V

CAN HIGH

CAN LOW

Table 1.10.5: MDrive17Plus

2

-65

P2 - CANopen

Communications

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Figure 1.10.10: P2 5-Pin M12 (Female) RS-422/485 Communications

Connector

+V Supply

7 to 30 VDC

Return

Pin 3: CAN -V

3

2

4

1

Pin 4: CAN HIGH

CANopen

Controller

MDI Plus

CANopen

Node 1

MDI Plus

CANopen

Node

x

Pin 2: CAN +V

Pin 5: CAN LOW

Pin 1: Shield

5-Pin M12 Male

CAN -V (CAN_GND)

CAN Low

CAN Shield

1 2 3 4 5

6 7 8 9

Termination

Resistor*

Termination

Resistor*

*Termination Resistors are required between CAN High and CAN Low at both ends of the cabling

CAN -V

CAN +V

CAN High

DB-9

Figure 1.10.11: CANopen Network using MDrivePlus Motion Control

Part 1: Hardware Specifications

1-47

Page Intentionally Left Blank

1-48

MDI Hardware Manual Revision R052506

Excellence in Motion

TM

TM

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Part 2:

Connecting and

Interfacing

Section 2.1: Mounting and Connection Recommendations

Section 2.2: Interfacing Communications

Section 2.3: Interfacing and Using the MDrivePlus Motion Control I/O

Part 2: Connecting and Interfacing

2-1

Page Intentionally Left Blank

2-2

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-3

2-2

MDI Hardware Manual Revision R050406

SECTION 2.1

MDrivePlus Mounting and Connection Recommendations

Mounting

Recommendations

Care must be observed when installing the mounting screws on ALL MDrive17Plus versions.

The mounting holes on the flange are not drilled through and have a maximum depth of

0.150” (3.81 mm).

The warning note and Figure below illustrate the maximum safe thread length and maximum torque for mounting all versions of the MDrive17Plus.

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MDrive23Plus

Microstepping

Figure 2.1.1: MDrive17Plus Mounting Screw Depth

There are no special mounting considerations for this device. Flange mounting holes are drilled through with a diameter of 0.197" (5.0mm) to take standard M5 screws. The length of the screw used will be determined by the mounting flange width. See

Mechanical Specifications for mounting hole pattern.

DC Power Recommendations

MDrive17Plus Motion Control

The MDrive17Plus Motion Control operates from a single unregulated linear or unregulated switching power supply to power the control circuits and provide motor power.

The power requirements for the MDrive17Plus Motion Control are:

Output Voltage .....................................................................................................+12 to +48 VDC

Current (max. per unit)...............................................................................................................2A

(Actual power supply current requirement will depend upon voltage and load)

For recommended IMS power supplies and cable recommendations see Appendix B: Recommended Power and

Cable Configurations.

MDrive23Plus Motion Control

2.0

1.6

1.2

75 60 45 30 15

Voltage (VDC)

The power requirements for the MDrive23Plus Motion Control are:

Output Voltage...................+12 to +75 VDC

Current (max. per unit) ............................2A

(Actual power supply current requirement will depend upon voltage and load)

Figure 2.1.2: MDrive23Plus Motion Control Current Requirements

Layout and Interface Guidelines

Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level cables and make your system unreliable.

Logic level cables must be shielded to reduce the chance of EMI induced noise. The shield needs to be grounded at the signal source to earth. The other end of the shield must not be tied to anything, but allowed to float. This allows the shield to act as a drain.

WARNING! The mounting holes in the MDrive17 mounting flange are not through holes. The maximum length of the screw threads into the motor flange is

0.140” (3.5 mm).

MAXIMUM

TORQUE! The maximum torque for the M3x0.5 screw is 7.8 lb-in (9 kg-cm) with a thread engagement of 5 threads (3.3 mm deep).

A lesser thread engagement diminishes the maximum torque.

WARNING! DO

NOT connect or disconnect power leads when power is applied!

Disconnect the AC power side to power down the DC power supply.

Part 2: Connecting and Interfacing

2-3

WARNING! DO NOT bundle the logic leads with the power leads as this could lead to noise induced errors.

Power supply leads to the MDrivePlus need to be twisted. If more than one driver is to be connected to the same power supply, run separate power and ground leads from the supply to each driver.

Recommended Wiring

The following wiring/cabling is recommended for use with the MDrivePlus:

Logic Wiring......................................................................................................................22 AWG

Wire Strip Length ...................................................................................................0.25” (6.0 mm)

Power and Ground .................... See Appendix B: Recommended Power and Cable Configurations

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Figure 2.1.3: MDrive Motion Control Power Connections

Recommended Mating Connectors and Pins

Communications

10-pin Friction Lock (P2) .......................................................................... Hirose DF11-10DS-2C

Crimp Contact for 10-pin Friction Lock (22 AWG) .................................................... DF11-22SC

Crimp Contact for 10-pin Friction Lock (24 - 28 AWG) ......................................... DF11-2428SC

Crimp Contact for 10-pin Friction Lock (30 AWG) .................................................... DF11-30SC

Logic and Power

The following mating connectors are recommended for the MDrivePlus2 Units ONLY! Please contact a

JST distributor for ordering and pricing information.

MDrive17Plus 2

16-pin Locking Wire Crimp Connector Shell ............................................ JST PN PADP-16V-1-S

Crimp Pins..............................................................................................JST PN SPH-001T-P0.5L

MDrive23Plus 2

14-pin Locking Wire Crimp Connector Shell ............................................ JST PN PADP-14V-1-S

Crimp Pins..............................................................................................JST PN SPH-001T-P0.5L

Securing Power Leads and Logic Leads

Some applications may require that the MDrive move with the axis motion. If this is a requirement of your application, the motor leads (flying, pluggable or threaded) must be properly anchored. This will prevent flexing and tugging which can cause damage at critical connection points within the MDrive.

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Figure 2.1.4: Typical MDrive Shown with Leads Secured

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-5

2-4

SECTION 2.2

Interfacing MDrivePlus Communications

Available Communications Cables/Converters

To simplify the wiring and connection process IMS offers USB to RS-422 communications cables for each of the MDrivePlus Motion Control models. These convenient 12.0' (3.6m) accessory cables connect a PC’s

USB Port to the MDrivePlus P2 Connector. An in-line RS-422 converter enables parameter setting to a single

MDrivePlus Motion Control. Cable purchase recommended with first orders. Versions include:

USB to 10-Pin IDC .................................................Part No. MD-CC400-000

10-Pin IDC to Wire Crimp Adapter ........................Part No. MD-ADP-H

USB to M12 Circular (sealed version)..........................Part No. MD-CC401-000

For more information on these cables please reference Appendix F: Optional Cables and Cordsets.

Interfacing Single Mode Communications

The MDrivePlus Motion Control communicate to the host using the RS-422/485 protocol. Communications may be configured as either half duplex (RS-485) or full duplex (RS-422) using the EM (Echo Mode) Instruction. RS-422/485 may be used in two ways: either to communicate to a single MDrivePlus Motion Control, or to address up to 62 individually named MDrivePlus nodes in a multidrop system.

Single Mode Communications Full Duplex (RS-422)

To interface the MDrivePlus Motion Control using RS-422 protocol you will need one of the following: n

A PC equipped with RS-422 Interface.

n

A PC RS-232 to RS-422/485 Converter.

n

The USB to RS-422 accessory cable appropriate to your MDrivePlus Motion Control model.

Use the following diagram to connect RS-422 communications to the MDrivePlus Motion Control.

Note: See the

Specifications

Section of this document specific to the

MDrivePlus model you purchased for detailed connector and pin information.

WARNING! Do not connect or disconnect the

Communications

Converter Cables while power is applied!

See Warning

5-PIN M12

WARNING! If using

AUX-Logic, the

Power return MUST be connected to the Motor Power Ground. DO

NOT connect the return to

Communications Ground!

RS-422 Converter

Aux-Logic

Comm GND

RX+

RX -

TX+

TX-

MDrivePlus/Plus 2

10-PIN IDC

Pin 5

Pin 10

10-PIN

FRICTION LOCK

WIRE CRIMP

Pin 5

Pin 2

Pin 4, 7

Pin 3, 6

Pin 2, 8

Pin 1, 9

Pin 3, 8

Pin 6, 7

Pin 4,10

Pin 1, 9

Pin 5

Pin 4

Pin 3

Pin 1

Pin 2

CGND

RX-

RX+

TX-

TX+

100

Ω

MDI Hardware Manual Revision R050406

Internal to Prevent Circulating Currents in Party Mode

Figure 2.2.1: Full Duplex Communications (RS-422)

Part 2: Connecting and Interfacing

2-5

2-6

Single Mode Communications Half Duplex (RS-485)

The MDrivePlus Motion Control can be operated in a 2 wire RS-485 communication bus. Before connecting the 2 wire RS-485, download your program and setup instructions using the standard 4 wire RS-422

Communications Cable. If a program is not being used, download and save any setup parameters. To ensure the MDrivePlus responds only to commands specifically meant for it, set the unit in Party Mode (Please see

Party Mode below). The Echo Mode command (EM) must be set to the value of 1 (EM=1). This will set the

MDrivePlus communication into “half duplex” mode. Connect the driver in the 2 wire RS-485 configuration.

The following diagram illustrates how to connect the MDrivePlus 4 wire RS-485 to operate as a 2 wire system.

2 Wire RS-485

Comm GND

B

A

MDrivePlus/Plus 2

10-PIN IDC 10-PIN

FRICTION LOCK

WIRE CRIMP

Pin 10

Pin 4, 7

Pin 3, 6

Pin 2, 8

Pin 1, 9

Pin 2

Pin 3, 8

Pin 6, 7

Pin 4,10

Pin 1, 9

5-PIN M12

Pin 5

Pin 4

Pin 3

Pin 1

Pin 2

CGND

RX-

RX+

TX-

TX+

Figure 2.2.2: Half Duplex 2 Wire Communications (RS-485)

Interfacing Party Mode Communications

In systems with multiple controllers it is necessary to communicate with the control modules using party mode (PY=1). The MDrivePlus Motion Control nodes in the system are configured in software for this mode of operation by setting the Party Flag (PY) to True (1). It is necessary for all of the nodes in a system to have this configuration selected. When operating in party mode, each MDrive Motion Control in the system will need a unique address, or name, to identify it in the system. This is accomplished by using the software command DN, or Device Name. For example, to set the name of an MDrive to “A” you would use the following command: DN=65 or DN=”A” (65 is the ASCII decimal equivalent of uppercase A).

The factory default name is “!”. The asterisk character “*” is used to issue global commands to every device in the system. NOTE: When using the asterisk “*” in Party Mode, typed entries and commands will not be echoed. See Appendix B for ASCII table.

In setting up your system for party operation, the most practical approach is to observe the following steps:

1. Connect the first MDrivePlus Motion Control to the Host PC configured for Single Mode

Operation.

2. Establish communications and download program if required.

3. Using the command DN, name the MDrivePlus Motion Control. This can be any upper or lower case

ASCII character or number 0-9. (DN=”A”{enter}) (Note: The quotation marks before and after the device name are required.)

4. Set the party flag PY=1{enter}.

5. Press CTRL+J to activate the Party Mode.

6. Type the letters AS and press CTRL+J (Save device name and Party Mode).

7. Remove power.

8. Repeat steps 1 through 7 for each additional MDrive in the system.

9. After all MDrives are assigned a Device Name the Multiple MDrive Interface can be configured as shown in the following figure.

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-7

2-6

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Figure 2.2.3: RS-485 Interface, Multiple MDrivePlus Motion Control System

Data Cable Termination Resistors

Data Cable lengths greater than 15 feet (4.5 meters) are susceptible to signal reflection and/or noise. IMS recommends 120 Ω termination resistors in series with 0.1µf capacitors at both ends of the Data Cables. An example of resistor placement is shown in Figure 2.3 above. For systems with Data Cables 15 feet (4.5 meters) or less, the termination resistors are generally not required.

MDrivePlus Motion Control Communication Format

The following communication formats, used by MDrivePlus Motion Control (MDI) units, began with firmware version 1.043.

{}

{0D}

{0A}

{DN}

The contents between the {} symbols are transmitted.

Hex equivalent for a CR (Carriage Return).

Hex equivalent for a LF (Line Feed).

Represents the Device Name being sent.

{CS} Check Sum; {ACK} 06 Hex; {NAK} 15 Hex

EM = Echo Mode; PY = PartY Mode; CK= ChecK sum

The word {command} represents the immediate command sent to the MDI.

Command Execution Time (CET) is the time the MDI takes to execute a command. This varies from command to command and usually is in the 1-5 millisecond range.

MDrivePlus Motion Control (MDI) Response to Echo Mode

Dependent on how the Echo Mode (EM) is set in conjunction with Party Mode (PY) and Check Sum (CK), the MDI will respond differently. The following tables illustrate the various responses based on how the EM,

PY and CK parameters are set.

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-7

2-8

Parameter Setting

EM=0 & PY=0 CK=0

Transmission to

MDI

MDI Initial Response

(command) (D)

(command)

Echoed back one character at a time as the character is entered.

EM=1 & PY=0 CK=0 (command) (0D) −

MDI Final

Response

CET (0D) (0A)

Notes

CET (0D) (0A)>

The last character sent is the prompt >

EM=2 & PY=0 CK=0

EM=3 & PY=0 CK=0

(command) (0D)

(command) (0D)

−

−

−

CET command

(0D) (0A)

Table 2.2.1: MDI Response to Echo Mode - Party and Check Sum are Zero (0)

The last character sent is LF

No response except to PR and L commands

Queued response.

The last character sent is the LF

Parameter Setting Transmission to MDI

EM=0 & PY=1 CK=0 (DN) (command) (0A)

MDI Initial

Response

(command)

Echoed back one character at a time as the character is entered.

MDI Final

Response

CET (0D)

(0A)>

Notes

The last character sent is the prompt >

EM=1 & PY=1 CK=0 (DN) (command) (0A)

EM=2 & PY=1 CK=0 (DN) (command) (0A)

EM=3 & PY=1 CK=0 (DN) (command) (0A)

−

−

−

CET (0D) (0A)

−

CET command

(0D) (0A)

The last character sent is LF

No response except to

PR and L commands

Queued response. The last character sent is the LF

Table 2.2.2: MDI Response to Echo Mode - Party is One (1) and Check Sum is Zero (0)

Parameter Setting Transmission to MDI

EM=0 & PY=0 CK=1 (DN) (command) (0A)

MDI Initial

Response

(command)

Echoed back one character at a time as the character is entered.

MDI Final

Response

CET (0D) (0A)>

EM=1 & PY=0 CK=1 (DN) (command) (0A) − CET (0D) (0A)

EM=2 & PY=0 CK=1 (DN) (command) (0A)

EM=3 & PY=0 CK=1 (DN) (command) (0A)

−

−

−

CET command

(0D) (0A)

Notes

The last character sent is the prompt

>

The last character sent is LF

No response except to

PR and L commands

Queued response. The last character sent is the LF

Table 2.2.3: MDI Response to Echo Mode - Party is Zero (0) and Check Sum is One (1)

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

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2-8

MDI Hardware Manual Revision R050406

Parameter Setting

EM=0 & PY=1 CK=1

Transmission to

MDI

(DN) (command)

(CS) (0A)

MDI Initial

Response

(command)

Echoed back one character at a time as the character is entered.

−

MDI Final

Response

CET (ACK) or

(NAK)>

Notes

The last character sent is the prompt >

EM=1 & PY=1 CK=1

EM=2 & PY=1 CK=1

EM=3 & PY=1 CK=1

(DN) (command)

(CS) (0A)

(DN) (command)

(CS) (0A)

(DN) (command)

(CS) (0A)

−

−

CET (ACK) or

(NAK)>

−

CET command

(CS) (ACK) (NAK)

The last character sent is ACK or NAK

No response except to PR and L commands

Queued response.

The last character sent is ACK or NAK

Table 2.2.4: MDI Response to Echo Mode - Party and Check Sum are One (1)

Using Check Sum

For communication using Check Sum, the following 2 commands demonstrate sending and receiving.

Sending Command

1.

Check Sum set to ZERO before first character is sent.

2. All characters (ASCII values) are added to Check Sum, including the Device Name DN (if PY=1), to the end of the command, but not including terminator.

3. Check Sum is 2’s complement, then “OR” ed with Hex 80 (prevents Check Sum from being seen as

Command Terminator).

4. Terminator Sent.

Example command:

MR (space) 1

Note: Any combination of upper/lower case may be used. In this example, if a lower case <mr> were to be used, the decimal values will change to 109 and 114. Subsequently the Result Check Sum value will change. (Possible entries: MR, mr, Mr, mR.) (M = 77, R =82, m = 109, r = 114) (See ASCII table appendix in MDI Software Manual.)

77 82 32 49

4D 52 20 31

Decimal value of M, R, <space> and 1

Hex

77+82+32+49 = 240 Add decimal values together

1111 0000 = 240 Change 240 decimal to binary

0000 1111 1’s complement (invert binary)

0001 0000

1000 0000

1001 0000 144

Add 1 [2’s complement]

OR result with 128 (Hex 80)

Result Check Sum value

Once the result is reached, add the check Sum value (144 in this example) to your string by typing: MR 1(Alt

Key + 0144) (Use the symbol of 0144 in your string by holding down the alt key and typing 0144). You must type the numbers from the Numlock key pad to the right of the keyboard. The numbers at the top of the keyboard will not work.

Receiving Command

1. Check Sum set to ZERO.

2. All characters are added to Check Sum.

3. When receiving a Command Terminator, the lower 7 bits of the Check Sum should be equal to

ZERO. a) If not ZERO, the command is ignored and NAK echoed. b) If ZERO, ACK is sent instead of CR/LF pair.

4. Responses to PR commands will be Check Summed as above, but the receiving device should NOT respond with ACK or NAK.

Part 2: Connecting and Interfacing

2-9

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MDrivePlus Motion Control Party Mode Sample Codes

1. Download this segment of code into the first MDrivePlus Motion Control. After downloading the program to the unit, follow the Set Up instructions described earlier. Be sure to set your first unit with the unique Device Name of A (DN=”A”). The device name is case sensitive.

RC=25 ‘Run current

HC=5 ‘Hold current

MS=256

A=250000

‘Microstep selection

‘Acceleration

D=250000 ‘Deceleration

PG 1 ‘Enter program mode

S1=0,0 ‘Setup I/O 1 as an input low true

LB SU ‘Start program upon power up

LB AA ‘Label program AA

MR 104400 ‘Move relative 104400 counts

H ‘Hold program execution to complete the move

LB DD ‘Label program DD

BR DD,I1=0 ‘Branch to DD if I1=0

4PR “Bex 1” ‘Print device name B to execute program

‘at address 1

H 2000 ‘Hold program execution 2000 milliseconds

PR “Cex 1” ‘Print device name C to execute program at

‘address 1

H 2000 ‘Hold program execution 2000 milliseconds

BR AA ‘Branch to label AA

E

PG ‘Exit program, return to immediate mode

2. Download this segment of code into your second MDrivePlus Motion Control. After downloading the program to the unit, follow the previous party mode instructions. Be sure to set your second unit with the unique address of B (device name is case sensitive).

RC=25

HC=5

MS=256

A=250000

D=250000

PG 1

LB BB

MR 208000

H

E

PG

‘Run current

‘Hold current

‘Microstep selection

‘Acceleration

‘Deceleration

‘Enter program mode

‘Label program BB

‘Move relative 208000 counts

‘Hold program execution to complete the move

‘Exit program, return to immediate mode

3. Download this segment of code into your third MDrivePlus Motion Control. After downloading the program to the unit, follow the previous party mode instructions. Be sure to set your third unit with the unique address of C (device name is case sensitive).

RC=25

HC=5

MS=256

A=250000

D=250000

PG 1

LB CC

MR 300000

H

E

PG

‘Run current

‘Hold current

‘Microstep selection

‘Acceleration

‘Deceleration

‘Enter program mode

‘Label program CC

‘Move relative 300000 counts

‘Hold program execution to complete the move

‘Exit program, return to immediate mode

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-11

MDrivePlus Motion Control Immediate Party Mode Sample Codes

Once Party Mode has been defined and set up as previously described under the heading “Multiple MDrivePlus

Motion Control System (Party Mode)”, you may enter commands in the Immediate Mode in the IMS Terminal Window. Some examples follow.

Move MDrive A, B or C 10000 Steps

Assuming there are three MDrives set up in Party Mode as shown in the Sample Codes above.

n

To move MDrive Unit “A”, Press Ctrl+J and then type: AMR^10000 and press Ctrl+J. MDrive Unit

“A” will move 10000 steps.

n

To print the position type: APR P and press Ctrl+J. The position of MDrive Unit “A” will be printed.

n

To move MDrive Unit “B” type: BMR 10000 and press Ctrl+J. MDrive Unit “B” will move 10000 steps.

n

To move all three MDrives at the same time type: *MR 10000 and press Ctrl+J. All MDrives will move 10000 steps. n

To change a Variable in the “C” unit type: C<variable name><number> and press Ctrl+J. The variable will be changed. To verify the change type: CPR <variable name> and press Ctrl+J. The new value will be displayed.

All Commands and Variables may be programmed in this manner. n

To take an MDrive out of Party Mode type: <device name>PY=0 and press Ctrl+J. That unit will be taken out of Party Mode. To take all units out of Party Mode type: *PY=0 and press Ctrl+J. All units will be taken out of Party Mode.

NOTE: When instructed to type Ctrl+J, that is the key + the key. It will not display in the

Terminal Window so be certain you press the correct keys. CtrlJ activates the Party Mode.

NOTE: Once you have activated Party Mode with the first Ctrl+J you do not have to type it before each successive command.

However, every command must be followed with a Ctrl+J.

NOTE: The asterisk (*) is a global command which addresses all units. Since three units can not answer together, the asterisk

(*) as well as other global commands will not be displayed in the Terminal Window.

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MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-11

NOTE: On the Standard

MDrivePlus, when configured as outputs, the

I/O set is sinking ONLY!

The Plus2 Models add the functionality of I/O Power, which enables the user to use all the outputs, both

Standard and Enhanced, as

Sinking or Sourcing.

NOTE: If the unit purchased has the remote encoder option, the additional points become dedicated to encoder functions!

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SECTION 2.3

Interfacing and Using the MDrivePlus Motion Control I/O

The MDrivePlus Motion Control Digital I/O

The MDrivePlus Motion Control product line is available with two digital I/O configurations, Standard and

Enhanced.

The digital I/O may be defined as either active HIGH or active LOW. When the I/O is configured as active

HIGH, the level is +5 to +24 VDC and the state will be read/set as a “1”. If the level is 0 VDC, then the state will be read/set as “0”. Inversely, if configured as active LOW, then the state of the I/O will be read/set as a “1” when the level is LOW, and “0” when the level is HIGH. The active HIGH/LOW state is configured by the third parameter of the I/O Setup (S1-4, S9-12) variable. The goal of this I/O configuration scheme is to maximize compatibility between the MDrivePlus Motion Control and standard sensors and switches.

Standard ................................................................................ All MDrivePlus Models

Available Points .................................................................IO1, IO2, IO3, IO4 (Sinking or

Sourcing Inputs, Sinking

Outputs ONLY)

Enhanced ............................................................................... Plus2, Plus2-65

Available Points .................................................................IO1, IO2, IO3, IO4 (Sinking

Sourcing, Outputs/Inputs)

Additional Points...............................................................IO9, IO10, IO11, IO12 (Sinking

Sourcing, Outputs/Inputs)

Dedicated I/O ...................................................................Step/Clock Input, Step/Direction

I/O, Capture Input/Trip Output

Standard I/O Set - All MDrivePlus Motion Control Models

The MDrivePlus Motion Control comes standard with a set of four I/O — (4) sinking or sourcing 0 to +24

VDC inputs or (4) sinking 0 to +24 VDC outputs, which may be programmed individually as either general purpose or dedicated inputs or outputs, or collectively as a group.

Enhanced I/O Set - MDrivePlus2/Plus2-65

The MDrivePlus2 Motion Control is equipped with a set of eight I/O — (8) sinking or sourcing 0 to +24

VDC inputs or (8) sinking or sourcing +12 to +24 VDC outputs, which may be programmed individually as either general purpose or dedicated inputs or outputs, or collectively as a group. The eight I/O consist of two separate banks of four points: Bank 1: IO1 - IO4, Bank 2: IO9 - IO12.

Uses of the Digital I/O

The I/O may be utilized to receive input from external devices such as sensors, switches or PLC outputs. When configured as outputs, devices such as relays, solenoids, LEDs and PLC inputs may be controlled from the MDrivePlus Motion Control.

Each I/O point may be individually programmed to any one of 9 dedicated input functions, 4 dedicated output functions, or as general purpose inputs or outputs. The I/O may be addressed individually, or as a group. The active state of the line or group may also be set. All of these possible functions are accomplished with the I/O Setup Variable (S1-4,

S9-12)

INPUTS

• Sensors

• Switches

• PLC Outputs

• Outputs of

Additional

System MDrive's

OUTPUTS

• Relays

• Solenoids

• LED's

• PLC Inputs

• Inputs of

Additional

System MDrive's

Figure 2.3.1: Uses for the Digital I/O

When the level is HIGH. The active HIGH/LOW state is configured by the second parameter of the I/O Setup (S1-4, S9-12) variable. The goal of this I/O configuration scheme is to maximize compatibility between the MDrivePlus Motion Control and standard sensors and switches.

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

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MDI Hardware Manual Revision R050406

MDrivePlus Motion Control Digital Input Functions

The MDrivePlus Motion Control inputs may be interfaced to a variety of sinking or sourcing devices. An input may be programmed to be a general purpose user input, or to one of nine dedicated input functions. These may then be programmed to have an active state of either HIGH or LOW.

The inputs are configured using the “S” Variable (See MDrive Motion Control Sofware Reference Manual for precise details on this command). The command is entered into the IMS terminal or program file as S<IO point>=<IO Type>,<Active State><Sink/Source>.

Example:

S9=3,1,0

S3=0,0,1

‘set IO point 9 to be a Limit- input, Active HIGH, Sourcing

‘set IO Point 3 to be a General Purpose input, Active LOW,

‘Sinking

Programmable Input Functions

The following table lists the programmable input functions of the MDrive Motion Control.

MDrivePlus Motion Control Input Functions

Parameter

(S1-S4, S9-S12)

0

1

2

3

4

5

6

7

8

11

Function Active

General Purpose

Home

Limit +

Limit –

GO

Soft Stop

Pause

Jog +

Jog –

Reset

Table 2.3.2: Programmable Input Functions

0/1

0/1

0/1

0/1

0/1

0/1

0/1

0/1

0/1

0/1

Dedicated Input Functions

MDrivePlus Motion Control Dedicated Input Functions

Parameter

(S7, S8)

33

34

35

Function

Step/Direction

Quadrature

Up/Down

Active

0/1

0/1

0/1

Parameter

(S13)

60

Function

High Speed Capture

Active

0/1

Table 2.3.3: Dedicated Input Functions

Sink/Source

0/1

0/1

0/1

0/1

0/1

0/1

0/1

0/1

0/1

0/1

Active States Defined

The Active State determines at what voltage level the input will be active.

Active HIGH ...................................................................... The input will be active when +5 top +24

VDC is applied to the input.

Active LOW........................................................................ The input will be active when it is gorunded

(0 VDC).

Part 2: Connecting and Interfacing

2-13

NOTE: On the Standard

MDrivePlus, when configured as outputs, the

I/O set is sinking ONLY!

The Plus2 Models add the functionality of I/O Power, which enables the user to use all the outputs, both Standard and Enhanced, as Sinking or

Sourcing.

Active LOW example:

IO 1 is to be configured as a Jog– input which will activate when a switch is toggled to ground (Sinking

Input):

S1=8,0,0 ‘set IO point 1 to Jog–, Active LOW, Sinking

Active HIGH example:

IO 4 is to be configured as a Home input which will activate when instructed by a PLC (+24VDC Sourcing

Input):

S4=1,1,1 ‘set IO point 1 to Home, Active HIGH, Sourcing

MDrivePlus Motion Control Digital Output Functions

The MDrivePlus Motion Control Outputs may be configured as general purpose or set to one of two dedicated functions, Fault or Moving. These outputs will sink up to 600 mA (one channel of two banks) and may be connected to an external VDC source. See Output Functions Table and I/O Ratings Table.

The outputs are set using the “S” comand (See MDrive Motion Control Sofware Reference Manual for precise details on this command). The command is entered into the IMS terminal or program file as S<IO point>=<IO Type>,<Active State><Sink/Source>.

Example:

S9=17,1,0

S3=18,0,0

‘set IO point 9 to be a Moving Output, Active HIGH, Sinking

‘set IO Point 3 to be a Fault Output, Active LOW, Sinking

Programmable Output Functions

The MDrivePlus Motion Control Output functions may be programmed to be a general purpose user output or to one of five output functions.

MDrivePlus Motion Control Output Functions

Parameter

(S1-S4, S9-S12)

16

17

18

19

20

Function Active

General Purpose User

Moving

Fault

Stall

Velocity Changing

0/1

0/1

0/1

0/1

0/1

Table 2.3.4: Programmable Output Functions

Dedicated Output Functions

Sink/Source

0/1

0/1

0/1

0/1

0/1

MDrivePlus Motion Control Dedicated Output Functions

Parameter

(S7, S8)

Function Active

49

50

51

Parameter

(S13)

61

Step/Direction

Quadrature

Up/Down

Function

High Speed Trip

0/1

0/1

0/1

Active

0/1

Table 2.3.5: Dedicated Output Functions

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MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

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MDrivePlus Motion Control I/O Ratings

MDrivePlus I/O Ratings

MDrivePlus Output Voltage (IOPWR) Rating

MDrivePlus2 Output Voltage (IOPWR) Rating

0 to +24 VDC

+12 to +24 VDC (Sourcing) | 0 to +24 VDC (Sinking)

Load Rating* (equal current per I/O Point)

* Heatsink Temp = 85C

I/O State

1 on, 3 off

2 on, 2 off

I Continuous I Peak (D=0.84)

550 mA

390 mA

600 mA

425 mA

3 on, 1 off 320 mA 350 mA

4 on, 0 off 275 mA 300 mA

To compute FET dissipation for unequal loads, calculate the FET power for each I/O not to exceed 425 mW.

Continuous Current

Peak Current

Duty Cycle

FET Power = I cont2 x 1.4

FET Power = I peak2

x D x 1.4

(D =T on /T period) = ≤ 1.0 seconds at 85˚C heatsink temperature.

Protection Ratings

Independent Over-temperature

Current Limit

Clamp

0.6A to 1.2 A

+45V, -20V

Table 2.3.6: MDrivePlus Motion Control I/O and Protection Ratings

MDrivePlus Motion Control I/O Connection Map

!

The P1 14-Pin Locking Wire Crimp Connector

On MDrive23Plus2 Models has the same I/O Pin

Configuration as the 16-Pin Wire Crimp

MDrivePlus MDrivePlus2 MDrivePlus2-65

I/O1

I/O2

I/O3

I/O4

ANALOG IN

PWR GROUND

12" FLYING

LEADS

White/Yellow

White/Orange

White/Violet

White/Blue

Green

Black

7-PIN

PLUGGABLE

TERMINAL

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

16-PIN

FRICTION LOCK

WIRE CRIMP

(14-PIN WIRE

CRIMP - MDI23)

Pin 3

Pin 4

Pin 5

Pin 6

Pin 12

19-PIN M23

Pin 4

Pin 16

Pin 9

Pin 17

Pin 15

USE I/O GND FOR I/O INTERFACING!

I/O POWER

I/O GROUND

CAPTURE/TRIP

I/O9

I/O10

I/O11

I/O12

STEP/CLK I/O

DIR/CLK I/O

CH A +

CH A -

CH B +

CH B -

INDEX +

INDEX -

N/A

8 I/O

CONFIGURATION

-OR-

USER SUPPLIED

REMOTE ENCODER

OPTION *

*See Appendix: MDrivePlus Closed Loop Control for encoder connection and configuration information

Figure 2.3.2: I/O Connection Map

Connector P1

Pin 1

Pin 2

Pin 11

Pin 7

Pin 8

Pin 9

Pin 10

Pin 13

Pin 14

Pin 11

Pin 10

Pin 14

Pin 1

Pin 18

Pin 2

Pin 13

Pin 3

Pin 5

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-15

NOTE: On the Standard

MDrivePlus, power ground is used to ground the

I/O interface.

NOTE: Advanced

I/O interface circuit diagrams and application examples are available in

Appendix D: I/O Applications

Guide.

I/O Usage Examples — MDrivePlus Standard I/O Set

The circuit examples below illustrate possible interface examples for using the MDrivePlus Motion Control

Digital I/O. Additional diagrams and code snippets are available in Appendix D: I/O Application Guide.

The code samples included with these examples will also serve to introduce the user to MDrivePlus Motion

Control programming. Please reference the MDrive software manual for more information on the Instructions, Variables and Flags that make up the MDI command set as well as material on setting up and using the

IMS Terminal.

Input Interface Example - Switch Input Example (Sinking Input)

The following circuit example shows a switch connected between an I/O point and power ground.

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Figure 2.3.3: Sinking Input Example using a Push Button Switch

Code Sample

For the code sample, this switch will be set up as a G0 sinking input, active when low. When pressed, the switch will launch the program beginning at address1 in MDrive memory:

***Setup Variables***

Sx=4,0,0 ‘set IO point x to be a G0 input, active when LOW, sinking

****Program***

PG1

MR 20000

H

MR -20000

H

E

PG

‘Move +20000 steps relative to current position

‘Hold program execution until motion completes

‘Move -20000 steps

‘Hold program execution until motion completes

‘End program, exit program mode

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MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-17

2-16

Input Interface Example - Switch Input Example (Sourcing Input)

The following circuit example shows a switch connected between an I/O point and a voltage supply which will source the input to perform a function.

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Figure 2.3.4: Sourcing Input Example using a Push Button Switch

Code Sample

For the code sample, the switch will be set up as a Soft Stop sourcing input, active when HIGH. When pressed, the switches will stop the motor.

S1=5,1,1

SL 200000

‘set IO point 1 to be a Soft Stop input, active when HIGH,

‘sourcing

‘enter this to slew the motor at 200000 µsteps/sec

When the switch is depressed the motor will decelerate to a stop.

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-17

NOTE: On the Standard

MDrivePlus, when configured as outputs, the

I/O set is sinking ONLY!

The Plus2 Models add the functionality of I/O Power, which enables the user to use all the outputs, both

Standard and Enhanced, as

Sinking or Sourcing.

Output Interface Example (Sinking Output)

The following circuit example shows a load connected to an I/O point that will be configured as a sinking output.

Internal pull-up voltage always off switched

MDrivePlus

Diode recommended for inductive loads

65-160 µA

24.9k ohms

IOx

LOAD load current, sinking

+ up to

24 V

GND

Sinking Output Equivalent Circuit Sinking Output

Figure 2.3.5: Sinking Output Example

Code Sample

For the code sample, the load will be an LED. The I/O point will be configured such that the LED will be unlit while the velocity is changing. Use the switch set-up from the previous input, modified to be sinking, example to soft stop the motor.

S1=5,0,0

S1=20,0,0

‘set IO point 1 to be a Soft Stop input, active when LOW,

‘sinking.

‘set IO point 2 to be a Velocity Changing output, active when

‘LOW

SL 2000000 ‘enter this to slew the motor at 200000 µsteps/sec

While the motor is accelerating the LED will be dark, but will light up when the motor reaches a constant velocity. When the Soft Stop switch is depressed the motor will begin to decelerate, the LED will go dark again while velocity is changing.

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MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-19

2-18

General Purpose I/O Usage Examples — Enhanced I/O Set

The MDrivePlus

2

models add the functionality of either an additional 4 I/O points or an optional interface for a user-defined remote encoder. Additionally, the I/O points, when configured as outputs have the added functionality of being configured as sinking or sourcing outputs.

The circuit examples below illustrate possible interface examples for using the MDrivePlus

2

Motion Control

Digital I/O. Additional diagrams and code samples are available in Appendix D: I/O Applications Guide.

The code samples included with these examples will also serve to introduce the user to MDrivePlus Motion

Control programming . Please reference the MDrive software manual for more information on the Instructions, Variables and Flags that make up the MDI command set as well as material on setting up and using the

IMS Terminal.

Input Interface Example - Switch Input Example (Sinking Input)

The following circuit example shows a switch connected between an I/O point and I/O Ground.

NOTE: Advanced

I/O interface circuit diagrams and application examples are available in Appendix D: I/O

Applications Guide.

Vih = 2.31 V

Vil = 0.99 V

Threshold (nom) = 1.5 V

Iil = 100 µA

IOPWR

IOx

Iil

MDrivePlus2

65 - 160 uA

Internal pull-up voltage

The internal pull-up voltage cannot provide output current / voltage

3.3 V

100k ohms detect logic

24.9k ohms

IOGND

Switch Input, Sinking

Sinking Input Equivalent Circuit

Figure 2.3.6: Switch Interface to Input, Sinking

Code Sample

For the code sample, this switch will be set up as a G0 sinking input, active when low. When pressed, the switch will launch the program beginning at address1 in MDrive memory:

***Setup Variables***

Sx=4,0,0 ‘set IO point x to be a G0 input, active when LOW, sinking

****Program***

PG1

MR 20000

H

MR -20000

H

E

PG

‘Move +20000 steps relative to current position

‘Hold program execution until motion completes

‘Move -20000 steps

‘Hold program execution until motion completes

‘End program, exit program mode

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

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2-20

Input Interface Example - Switch Input Example (Sourcing Input)

The following circuit example shows a switch connected between an I/O point and a voltage supply which will source the input to perform a function.

Vih = 2.31 V

Vil = 0.99 V

Threshold (nom) = 1.5 V

Iih = -1.24 mA

Switch Input, Sourcing

IOPWR

IOx

Iih

MDrivePlus

2

40 - 135 uA

Internal pull-up voltage

The internal pull-up voltage cannot provide output current / voltage

3.3 V

100k ohms

24.9k ohms detect logic

IOGND

Figure 2.3.7 Sourcing Input Example using a Push Button Switch

Code Sample

For the code sample, the switch will be set up as a Soft Stop sourcing input, active when HIGH.

When pressed, the switches will stop the motor.

S1=5,1,1

SL 200000

‘set IO point 1 to be a Soft Stop input, active when HIGH,

‘sourcing

‘enter this to slew the motor at 200000 µsteps/sec

When the switch is depressed the motor will decelerate to a stop.

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-21

2-20

Output Interface Example (Sinking Output)

The following circuit example shows a load connected to an I/O point that will be configured as a sinking output.

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Figure 2.3.8: Sinking Output Example

Code Sample

For the code sample, the load will be an LED. The I/O point will be configured such that the LED will be unlit while the velocity is changing. Use the switch set-up from the previous input, modified to be sinking, example to soft stop the motor.

S1=5,0,0

S1=20,0,0

‘set IO point 1 to be a Soft Stop input, active when LOW,

‘sinking.

‘set IO point 2 to be a Velocity Changing output, active

‘when LOW

SL 2000000 ‘enter this to slew the motor at 200000 µsteps/sec

While the motor is accelerating the LED will be dark, but will light up when the motor reaches a constant velocity. When the Soft Stop switch is depressed the motor will begin to decelerate, the LED will go dark again while velocity is changing.

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-21

2-22

Output Interface Example (Sourcing Output)

The following circuit example shows a load connected to an I/O point that will be configured as a sourcing output.

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Figure 2.3.9: Sourcing Output Example

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Code Sample

For the code sample, the load will be a relay. The output will be configured to be a General Purpose user output that will be set active when a range of motion completes.

******Setup Variables******

S1=16,1,1 ‘set IO point 1 to be a user output, active when HIGH,

‘sourcing.

******Program******

PG 100 ‘Enter program at address 100

MR 2000000 ‘Move some distance in the positive direction

H ‘Hold execution until motion completes

MR -1000000 ‘Move some distance in the negative direction

H

O1=1

‘Hold execution until motion completes

‘Set output 1 HIGH

Enter EX 100 to execute the program, the motion will occur and the output will set high.

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-23

2-22

MDI Hardware Manual Revision R050406

Dedicated Digital I/O - Enhanced I/O Set

Step/Direction/Clock I/O

These dedicated I/O lines are used to receive clock inputs from an external device or provide clock outputs to an external device such as a counter or a second

MDrivePlus in a system. The Clock I/O can be configured as one of three clock types using the S7 and S8 variable:

1. Step/Direction

2. Quadrature

3. Up/Down

Step/Direction

The Step/Direction function would typically be used to receive step and direction instructions from a second system MDrivePlus or secondary controller. When configured as outputs the

MDrivePlus Motion Control can provide step and direction control to another system drive for electronic gearing applications.

Quadrature

Step/Direction Function

Input: S<7-8>=33, <active state>

Output: S<7-8>=49,<active state>

Step Clock

Direction

Quadrature Function

Input: S<7-8>=34, <active state>

Output: S<7-8>=50,<active state>

Channel A

Channel B

Up/Down Function

CW

Input: S<7-8>=35, <active state>

Output: S<7-8>=51,<active state>

CCW

The Quadrature clock function would typically be used for

Figure 2.3.10: MDrivePlus Motion Control Clock Functions following applications where the MDrivePlus would either be a master or slave in an application that would require two MDrives to move the same distance and speed.

Up/Down

The Up/Down clock would typically be used in a dual-clock direction control application, or to increment/decrement an external counter.

Capture/Trip

The Capture Input/Trip Output point is a high speed I/O point which can be used for time critical events in motion applications.

Capture Input

When configured as a capture input I/O point 13 has programmable filtering with a range of

50nS to 12.9 µ

S and has a resolution of 32 bits.

To configure the Capture input

S13=60,<0/1> ‘configure IO13 as a capture input, <active HIGH/LOW>

FC <0-9> ‘set input filtering to <range>

Trip Output

When configured as a trip output I/O 13 trip speed is 150 nS with 32 bit resolution.

To configure the Trip output

S13=61,<0/1> ‘configure IO13 as a trip output, <active HIGH/LOW>

NOTE: Advanced

I/O interface circuit diagrams and application examples are available in Appendix I/O

Applications Guide.

NOTE: When using the MDrivePlus2 with the external encoder option, the step an direction I/O are not available! These I/O points become Index + and Index -.

See Appendix: MDrivePlus

Motion Control Closed

Loop Control for encoder connection and configuration information.

Part 2: Connecting and Interfacing

2-23

2-24

Interfacing the Analog Input

The analog input of the MDrivePlus Motion Control is configured from the factory as a 0 to 5V, 10 bit resolution input (S5=9). This offers the user the ability to receive input from temperature, pressure, or other forms of sensors, and then control events based upon the input.

The value of this input will be read using the I5 instruction, which has a range of 0 to 1023, where 0 = 0 volts and 1024 = 5.0 volts. The MDrivePlus Motion Control may also be configured for a 4 to 20 mA or 0 to 20 mA Analog Input (S5 = 10).

Sample Usage

‘***********Main Program**************

S5=9,0

PG 100

‘set analog input to read variable voltage (0 to +5VDC)

‘start prog. address 100

LB A1 ‘label program A1

CL A2, I5<500 ‘Call Sub A2, If I5 is less than 500

CL A3, I5>524 ‘Call Sub A3, If I5 is greater than 524

BR A1 ‘loop to A1

‘***********Subroutines**************

LB A2

MA 2000

H

RT

‘label subroutine A2

‘Move Absolute 2000 steps

‘Hold program execution until motion ceases

‘return from subroutine

LB A3

MA -2000

H

RT

E

PG

‘label subroutine A3

‘Move Absolute -2000 steps

‘Hold program execution until motion ceases

‘return from subroutine

‘End

‘Exit program

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Figure 2.3.11: Analog Input - Voltage Mode

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MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-25

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Figure 2.3.12: Analog Input - Current Mode

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2-24

MDI Hardware Manual Revision R050406 Part 2: Connecting and Interfacing

2-25

Page Intentionally Left Blank

2-26

MDI Hardware Manual Revision R050406

Appendices

Excellence in Motion

TM

TM

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Appendices

Appendix A:

Appendix B:

Appendix C:

Appendix D:

Appendix E:

Appendix F:

MDrivePlus Motion Control Motor Performance

Recommended Power and Cable Configurations

Planetary Gearbox Specification and Application Guide

I/O Application Guide

MDrivePlus Motion Control Closed Loop Control

Optional Cables and Cordsets

A-1

Page Intentionally Left Blank

A-2

MDI Hardware Manual Revision R052506 Appendices

A-3

A-2

MDI Hardware Manual Revision R052506

appendix A

MDrivePlus Motion Control Motor Performance

MDrive17Plus Speed-Torque

Single Length Rotary Motor Double Length Rotary Motor Triple Length Rotary Motor

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Figure A.1: MDrive17Plus Motion Control Speed-Torque Curves

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MDrive17Plus Motor Specifications

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Single Length

Holding Torque................................................................................................ 32 oz-in/22.6 N-cm

Detent Torque............................................................................................... 1.66 oz-in/1.17 N-cm

Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2

Weight (Motor + Driver)...........................................................................................9.8 oz/277.8 g

Double Length

Holding Torque................................................................................................ 60 oz-in/42.4 N-cm

Detent Torque............................................................................................... 2.08 oz-in/1.47 N-cm

Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2

Weight (Motor + Driver).........................................................................................10.5 oz/297.7 g

Triple Length

Holding Torque............................................................................................. 74.9 oz-in/52.9 N-cm

Detent Torque............................................................................................... 3.47 oz-in/2.45 N-cm

Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2

Weight (Motor + Driver).........................................................................................15.1 oz/428.1 g

MDrive23Plus Speed-Torque

Single Length Rotary Motor Double Length Rotary Motor

Triple Length Rotary Motor

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Figure A.2: MDrive23Plus Motion Control Speed-Torque Curves

MDrive23Plus Motor Specifications

Single Length

Holding Torque................................................................................................... 90 oz-in/64 N-cm

Detent Torque................................................................................................... 3.9 oz-in/2.7 N-cm

Rotor Inertia ...................................................................................0.0025 oz-in-sec2/0.26 kg-cm2

Weight (Motor + Driver).......................................................................................21.6 oz/612.13 g

Double Length

Holding Torque............................................................................................... 144 oz-in/102 N-cm

Detent Torque................................................................................................. 5.6 oz-in/3.92 N-cm

Rotor Inertia ...................................................................................0.0037 oz-in-sec2/0.26 kg-cm2

Weight (Motor + Driver).........................................................................................26.4 oz/784.4 g

Triple Length

Holding Torque............................................................................................... 239 oz-in/169 N-cm

Detent Torque................................................................................................. 9.7 oz-in/6.86 N-cm

Rotor Inertia .....................................................................................0.065 oz-in-sec2/0.46 kg-cm2

Weight (Motor + Driver).......................................................................................39.2 oz/1111.3 g

Appendices

A-3

NOTE: These recommendations will provide optimal protection against EMI and

RFI. The actual cable type, wire gauge, shield type and filtering devices used are dependent on the customer’s application and system.

NOTE: The length of the DC power supply cable to an MDrive should not exceed 50 feet.

NOTE: These recommendations will provide optimal protection against EMI and RFI. The actual cable type, wire gauge, shield type and filtering devices used are dependent on the customer’s application and system.

NOTE: Always use

Shielded/Twisted

Pairs for the MDrive

DC Supply Cable and the AC

Supply Cable.

appendix B

Recommended Power and Cable Configurations

Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive.

Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet long. If cabling of 50 feet or longer is required, the additional length may be gained by adding an AC power supply cable (see Examples B & C).

Correct AWG wire size is determined by the current requirement plus cable length. Please see the MDrive Supply Cable AWG Table at the end of this Appendix.

Example A – Cabling Under 50 Feet, DC Power

Cable Length less than 50 Feet

π

Type RFI Filter

≥ Required Current

DC Voltage from

Power Supply

500 µf

Per Amp

+

-

Shield to Earth Ground on Supply End Only

Shielded Twisted Pair

(Wire Size from

MDrive Supply Cable AWG Table)

Ferrite

Beads

Figure B.1: DC Cabling - Under 50 Feet

+

Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge

Transformer - 10 to 28 VAC RMS for 48 VDC Systems

20 to 48 VAC RMS for 75 VDC Systems

π

Type RFI Filter

≥ Required Current

Shielded Twisted Pair

(Wire Size from

MDrive Supply Cable AWG Table)

Shield to Earth Ground on Supply End Only

Cable Length as required

NOTE:

Connect the cable illustrated in Example A to the output of the Full Wave Bridge

+

To Cable A

-

Full Wave Bridge

Figure B.2: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier

Example C – Cabling 50 Feet or Greater, AC Power to Power Supply

π

Type RFI Filter

≥ Required Current

120 or 240 VAC

Dependent on

Power Supply

Shield to Earth Ground on Supply End Only

Shielded Twisted Pair

(Wire Size from

MDrive Supply Cable AWG Table)

NOTE:

Connect the cable illustrated in Example A to the output of the Power Supply

DC Volts Out

Cable Length as required

+

-

To Cable A

Power Supply

Figure B.3: AC Cabling - 50 Feet or Greater - AC To Power Supply

A-4

MDI Hardware Manual Revision R052506 Appendices

A-5

A-4

Recommended IMS Power Supplies

IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products.

IP404 Unregulated Linear Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

No Load Output Voltage........................................................................43 VDC @ 0 Amps

Continuous Output Rating.................................................................32 VDC @ 1.5 Amps

Peak Output Rating ...............................................................................26 VDC @ 3 Amps

ISP200-4 Unregulated Switching Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

No Load Output Voltage........................................................................41 VDC @ 0 Amps

Continuous Output Rating.................................................................38 VDC @ 1.5 Amps

Peak Output Rating ...............................................................................35 VDC @ 3 Amps

Recommended Power Supply Cabling

MDrivePlus Supply Cable AWG Table

Length (Feet)

1 Ampere (Peak)

10 25 50* 75* 100*

Minimun AWG 20 20

2 Amperes (Peak)

Length (Feet)

Minimun AWG

10

20

25

18

18

50*

16

18

75*

14

16

100*

14

Length (Feet)

Minimun AWG

3 Amperes (Peak)

10

18

25

16

4 Amperes (Peak)

50*

14

75*

12

100*

12

Length (Feet)

Minimun AWG

10

18

25

16

50*

14

75*

12

100*

*Use the alternative methods illustrated in examples

B and C when cable length is ≥ 50 feet. Also, use the same current rating when the alternate AC power is used.

12

Table B.1: Recommended Supply Cables

MDI Hardware Manual Revision R052506 Appendices

A-5

A-6

Appendix C

MDrive with Planetary Gearbox

Section Overview

This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox, and may include product sizes not relevant to this manual.

Shown are: n Product Overview n Selecting a Planetary Gearbox n Mechanical Specifications

Product Overview

All gearboxes are factory installed.

Mode of Function

Optional Planetary Gearbox operate as their name implies: the motor-driven sun wheel is in the center, transmitting its movement to three circumferential planet gears which form one stage. They are arranged on the bearing pins of a planet carrier. The last planet carrier in each sequence is rigidly linked to the output shaft and so ensures the power transmission to the output shaft. The planet gears run in an internally toothed outer ring gear.

Service Life

Depending on ambient and environmental conditions and the operational specification of the driving system, the useful service life of a Planetary Gerabox is up to 10,000 hours. The wide variety of potential applications prohibits generalizing values for the useful service life.

Lubrication

All Planetary Gearbox are grease-packed and therefore maintenance-free throughout their life. The best possible lubricant is used for our MDrive/Planetary Gearbox combinations.

Mounting Position

The grease lubrication and the different sealing modes allow the Planetary Gearbox to be installed in any position.

Operating Temperature

The temperature range for the Planetary Gearbox is between –30 and +140° C. However, the temperature range recommended for the Heat Sink of the MDrive is 0 to +85º C.

Overload Torque

The permitted overload torque (shock load) is defined as a short-term increase in output torque, e.g. during the start-up of a motor. In these all-metal Planetary Gearbox, the overload torque can be as much as

1.5 times the permitted output torque.

Available Planetary Gearbox

The following lists available Planetary Gearbox, diameter and corresponding MDrive.

Gearbox Diameter

42 mm

52 mm

MDrive

MDrive17

MDrive23

Selecting a Planetary Gearbox

There are many variables and parameters that must be considered when choosing an appropriate reduction ratio for an MDrive with Planetary Greabox. This Addendum includes information to assist in determining a

MDI Hardware Manual Revision R052506 Appendices

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A-6

MDI Hardware Manual Revision R052506 suitable combination for your application.

Calculating the Shock Load Output Torque (TAB)

Note: The following examples are based on picking “temporary variables” which may be adjusted.

The shock load output torque (TAB) is not the actual torque generated by the MDrive and Planetary Gearbox combination, but is a calculated value that includes an operating factor (CB) to compensate for any shock loads applied to the Planetary Gearbox due to starting and stopping with no acceleration ramps, payloads and directional changes. The main reason the shock load output torque (TAB) is calculated is to ensure that it does not exceed the maximum specified torque for a Planetary Gearbox.

Note: There are many variables that affect the calculation of the shock load output torque. Motor speed, motor voltage, motor torque and reduction ratio play an important role in determining shock load output torque.

Some variables must be approximated to perform the calculations for the first time. If the result does not meet your requirements, change the variables and re-calculate the shock load output torque.

Use the equation compendium below to calculate the shock load output torque.

Note: The MDrive23 and the numbers and values used in these examples have been chosen randomly for demonstration purposes. Be certain you obtain the correct data for the

MDrive you have purchased.

Factors i n

M n

AB

T

N

T

M

η

T

AB

C

B s f

= Reduction Ratio - The ratio of the Planetary Gearbox.

= Motor Speed - In Revolutions Per Minute (Full Steps/Second).

= Output Speed - The speed at the output shaft of the Planetary Gearbox.

= Nominal Output Torque - The output torque at the output shaft of the Planetary

Gearbox.

= Motor Torque - The base MDrive torque. Refer to MDrive Speed Torque Tables.

= Gear Efficiency - A value factored into the calculation to allow for any friction in the gears.

= Shock Load Output Torque - A torque value calculated to allow for short term loads greater than the nominal output torque.

= Operating Factor - A value that is used to factor the shock load output torque.

= Safety Factor - A 0.5 to 0.7 factor used to create a margin for the MDrive torque requirement.

Reduction Ratio

Reduction ratio (i) is used to reduce a relatively high motor speed (n

M

) to a lower output speed (n

AB

).

With: i = n

M

÷ n

AB

or: motor speed ÷ output speed = reduction ratio

Example:

The required speed at the output shaft of the Planetary Gearbox is 90 RPM.

You would divide motor speed (n

M

) by output speed (n

AB

) to calculate the proper gearbox ratio.

The MDrive speed you would like to run is approximately 2000 full steps/second or 600 RPM.

NOTE: In reference to the MDrive speed values, they are given in full steps/second on the Speed/Torque

Tables. Most speed specifications for the Planetary Gearbox will be given in RPM (revolutions per minute). To convert full steps/second to RPM, divide by 200 and multiply by 60.

Where: 200 is the full steps per revolution of a 1.8° stepping motor.

2000 full steps/second ÷ 200 = 10 RPS (revolutions per second) × 60 Seconds = 600 RPM

For the Reduction Ratio (i), divide the MDrive speed by the required Planetary Gearbox output speed.

600 RPM ÷ 90 = 6.67:1 Reduction Ratio

Referring to the Available Ratio Table at the end of this section, the reduction ratio (i) of the Planetary

Gearbox will be 7:1. The numbers in the left column are the rounded ratios while the numbers in the right column are the actual ratios. The closest actual ratio is 6.75:1 which is the rounded ratio of 7:1. The slight difference can be made up in MDrive speed.

Appendices

A-7

A-8

Nominal Output Torque

Calculate the nominal output torque using the torque values from the MDrive’s Speed/Torque Tables.

Nominal output torque (T

N

) is the actual torque generated at the Planetary Gearbox output shaft which includes reduction ratio (i), gear efficiency (η) and the safety factor (s f ratio (i) is determined, the nominal output torque (T

N

) for the MDrive. Once the reduction

) can be calculated as follows:

T

N

= T

M

× i × η ÷ s f

or:

Motor torque × reduction ratio × gear efficiency ÷ safety factor = nominal output torque.

For gear efficiency (η) refer to the Mechanical Specifications for the 7:1 Planetary Gearbox designed for your MDrive.

For motor torque (T

M

) see the appropriate MDrive Speed/Torque Table. Dependent on which

MDrive you have, the torque range will vary. The torque will fall between the high voltage line and the low voltage line at the indicated speed for the MDrive. (See the example Speed/Torque Table below.)

140

120

100

80

60

40

20

0

0

24 VDC

45 VDC

75 VDC

99

85

71

56

42

28

14

7000 1000 2000 3000 4000 5000

Speed in Full Steps per Second

6000

Figure C.1: MDrive23 Torque-Speed Curve

The Speed/Torque Table above is for an MDrive23 Double Size This MDrive will produce a torque range of 51 to 95 oz-in in the full voltage range at the speed of 2000 Full Steps/Second (600 RPM).

Please note that this is not the usable torque range. The torque output to the Planetary Gearbox must include a safety factor (s f

) to allow for any voltage and current deviations supplied to the MDrive.

The motor torque must include a safety factor (s f

) ranging from 0.5 to 0.7. This must be factored into the nominal output torque calculation. A 0.5 safety factor is aggressive while a 0.7 safety factor is more conservative.

Example:

The available motor torque (T

M

) is 51 to 95 oz-in.

NOTE: You may specify a torque less than but not greater than the motor torque range.

For this example the motor torque (T

M

) will be 35 oz-in.

A 6.75:1 reduction ratio (i) has been determined.

Gear efficiency (η) = 80% from the appropriate table for the Planetary Gearbox which is used with an MDrive23.

Nominal output torque would be:

Motor torque (T

M

= 0.5 or 0.7)

= 35) × reduction ratio (i = 6.75) × gear efficiency (η = 0.8) ÷ safety factor (s f

35 × 6.75 = 236.25 × 0.8 = 189 ÷ 0.5 = 378 oz-in nominal output torque (T

N

) or

35 × 6.75 = 236.25 × 0.8 = 189 ÷ 0.7 = 270 oz-in nominal output torque (T

N

)

With the safety factor (s f

(T

N

) and gear efficiency (η) included in the calculation, the nominal output torque

) may be greater than the user requirement.

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MDI Hardware Manual Revision R052506

Shock Load Output Torque

The nominal output torque (T

N shock load output torque (T

AB

) is the actual working torque the Planetary Gearbox will generate. The

) is the additional torque that can be generated by starting and stopping with no acceleration ramps, payloads, inertia and directional changes. Although the nominal output torque (T

N

) of the Planetary Gearbox is accurately calculated, shock loads can greatly increase the dynamic torque on the Planetary Gearbox.

Each Planetary Gearbox has a maximum specified output torque. In this example a 7:1 single stage

MD23 Planetary Gearbox is being used. The maximum specified output torque is 566 oz-in. By calculating the shock load output torque (T

AB output torque.

) you can verify that value is not exceeding the maximum specified

When calculating the shock load output torque (T operating factor (C

B

) are taken into account. C

B

AB

), the calculated nominal output torque (T

N

) and the

is merely a factor which addresses the different working conditions of a Planetary Gearbox and is the result of your subjective appraisal. It is therefore only meant as a guide value. The following factors are included in the approximate estimation of the operating factor

(C

B

): n

Direction of rotation (constant or alternating) n

Load (shocks) n

Daily operating time

Note: The higher the operating factor (C

B

), the closer the shock load output torque (T

AB

) will be to the maximum specified output torque for the Planetary Gearbox. Refer to the table below to calculate the approximate operating factor (C

B

).

With the most extreme conditions which would be a C

B

of 1.9, the shock load output torque (T

AB

) is over the maximum specified torque of the Planetary Gearbox with a 0.5 safety factor but under with a 0.7 safety factor.

The nominal output torque (T

N

(T

AB

).

) × the operating factor (C

B

) = shock load or maximum output torque

With a 0.5 safety factor, the shock load output torque is greater than the maximum output torque specification of the MDrive23 Planetary Gearbox.

(378 × 1.9 = 718.2 oz-in.)

With a 0.7 safety factor the shock load output torque is within maximum output torque specification of the MDrive23 Planetary Gearbox.

(270 × 1.9 = 513 oz-in.)

The 0.5 safety factor could only be used with a lower operating factor (C

B motor torque.

) such as 1.5 or less, or a lower

Note: All published torque specifications are based on C

B

(T

AB

) = nominal output torque (T

N

).

= 1.0. Therefore, the shock load output torque

WARNING! Excessive torque may damage your Planetary Gearbox. If the MDrive/Planetary Gearbox should hit an obstruction, especially at lower speeds (300 RPM or 1000 Full Steps/Second), the torque generated will exceed the maximum torque for the Planetary Gearbox. Precautions must be taken to ensure there are no obstructions in the system.

Determining the Operating Factor (C

B

)

Direction of

Rotation

Load

(Shocks)

Daily Operating Time

3 Hours 8 Hours 24 Hours

Constant

Alternating

Low* C

B

=1.0

Medium** C

B

=1.2

Low† C

B

=1.3

Medium†† C

B

=1.6

C

B

=1.1

C

B

=1.3

C

B

=1.4

C

B

=1.7

C

B

=1.3

C

B

=1.5

C

B

=1.6

C

B

=1.9

* Low Shock = Motor turns in one direction and has ramp up at start.

** Medium Shock = Motor turns in one direction and has no ramp up at start.

† Low Shock = Motor turns in both directions and has ramp up at start.

†† Medium Shock = Motor turns in both directions and has no ramp up at start.

Table C.1: Planetary Gearbox Operating Factor

Appendices

A-9

A-10

System Inertia

System inertia must be included in the selection of an MDrive and Planetary Gearbox. Inertia is the resistance an object has relative to changes in velocity. Inertia must be calculated and matched to the motor inertia. The

Planetary Gearbox ratio plays an important role in matching system inertia to motor inertia. There are many variable factors that affect the inertia. Some of these factors are: n n

The type of system being driven.

Weight and frictional forces of that system.

n The load the system is moving or carrying.

The ratio of the system inertia to motor inertia should be between 1:1 and 10:1. With 1:1 being ideal, a 1:1 to

5:1 ratio is good while a ratio greater than 5:1 and up to 10:1 is the maximum.

Type of System

There are many systems and drives, from simple to complex, which react differently and possess varied amounts of inertia. All of the moving components of a given system will have some inertia factor which must be included in the total inertia calculation. Some of these systems include: n

Lead screw

Rack and pinion n n n n

Conveyor belt

Rotary table

Belt drive n Chain drive

Not only must the inertia of the system be calculated, but also any load that it may be moving or carrying.

The examples below illustrate some of the factors that must be considered when calculating the inertia of a system.

Lead Screw

In a system with a lead screw, the following must be considered: n n n n n

The weight and preload of the screw

The weight of the lead screw nut

The weight of a table or slide

The friction caused by the table guideways

The weight of any parts

Weight of table

Weight of screw

Weight of parts

Weight of nut

Friction of guideways

Preload on leadscrew

Figure C.2: Lead Screw System Inertia Considerations

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MDI Hardware Manual Revision R052506

Rack and Pinion

In a system with a rack and pinion, the following must be considered: n n n n n

The weight or mass of the pinion

The weight or mass of the rack

The friction and/or preload between the pinion and the rack

Any friction in the guidance of the rack

The weight or mass of the object the rack is moving

Friction of rack in guide

Weight of rack

Preload or friction between pinion and rack

Weight of pinion and shaft

Gearbox

Motor

Load on rack

Figure C.3: Rack and Pinion System Inertia Considerations

Conveyor Belt

In a system with a conveyor belt, the following must be considered: n n n n n

The weight and size of the cylindrical driving pulley or roller

The weight of the belt

The weight or mass and size of the idler roller or pulley on the opposite end

The angle or elevation of the belt

Any load the belt may be carrying

Weight and size of drive roller

Motor

Gearbox

Weight of conveyor belt

Weight and size of idler roller

Friction of belt

Weight of parts

Elevation

Figure C.4: Conveyor System Inertia Considerations

Appendices

A-11

A-12

Rotary Table

In a system with a rotary table, the following must be considered: n

The weight or mass and size of the table n

Any parts or load the table is carrying n fect the inertia n

The position of the load on the table, the distance from the center of the table will af-

How the table is being driven and supported also affects theinertia

Belt Drive

In a system with a belt drive, the following must be considered: n

The weight or mass and size of the driving pulley n

The tension and/or friction of the belt n

The weight or mass and size of the driven pulley n

Any load the system may be moving or carrying

The position of parts relative to the center of the rotary table is important

Motor

Gearbox

Weight and position of parts on table

Weight and size of driven pulley

Weight and size of drive pulley

Figure C.5: Rotary Table System Inertia Considerations

Weight and size of table

Friction of any bearing or support

Weight of shaft

Friction created by tension on belt

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A-12

Chain Drive

In a system with a chain drive, the following must be considered: n the weight and size of drive sprocket and any attaching hub n the weight and size of the driven sprocket and shaft n the weight of the chain n the weight of any material or parts being moved

Weight of chain

Weight and size of drive sprocket and hub

Weight and size of driven sprocket, shaft and any material or parts being moved

Figure C.6: Chain Drive System Inertia Considerations

Once the system inertia (J

L

) has been calculated in oz-in-sec

2

, it can be matched to the motor inertia. To match the system inertia to the motor inertia, divide the system inertia by the square of the gearbox ratio.

The result is called Reflected Inertia or (J ref

).

J ref

= J

L

÷ Ζ 2

Where:

J

L

= System Inertia in oz-in-sec

2

J ref

= Reflected Inertia in oz-in-sec

2

Z = Gearbox Ratio

The ideal situation would be to have a 1:1 system inertia to motor inertia ratio. This will yield the best positioning and accuracy. The reflected inertia (J ref

) must not exceed 10 times the motor inertia.

Your system may require a reflected inertia ratio as close to 1:1 as possible. To achieve the 1:1 ratio, you must calculate an Optimal Gearbox Ratio (Z desired J ref opt

) which would be the square root of J

L

divided by the

. In this case since you want the system inertia to match the motor inertia with a 1:1 ratio, J ref would be equal to the motor inertia.

Where:

Z opt

= J

L

÷ J ref

Z opt

= Optimal Gearbox Ratio

J

L

= System Inertia in oz-in-sec

2

J ref

= Desired Reflected Inertia in oz-in-sec

2

(Motor Inertia)

MDI Hardware Manual Revision R052506 Appendices

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A-14

Planetary Gearbox Inertia

In addition to System Inertia, the Planetary Gearbox inertia must also be included when matching system inertia to motor inertia. The Planetary Gearbox inertia varies with the ratio and the number of stages.

The table below lists the inertia values for the MDrive14, 17, 23 and 34 Planetary Gearbox. The values are in oz-in-sec

2

(ounce-inches-second squared). To calculate the inertia in kg-cm

2

(kilograms-centimeter squared) multiply oz-in-sec

2

by 70.6154.

Planetary Gearbox Inertia Moments (oz-in-sec

2

)

Stages

1-Stage

2-Stage

3-Stage 115:1

124:1

130:1

139:1

150:1

169:1

181:1

195:1

236:1

308:1

59:1

68:1

71:1

79:1

93:1

95:1

100:1

107:1

19:1

22:1

25:1

27:1

29:1

35:1

46:1

51:1

Rounded

Ratio

4:1

5:1

7:1

14:1

16:1

18:1

MDrive 17

Gearbox

0.00006627

0.00004362

0.00003328

0.00006245

0.00005084

0.00005070

0.00004149

0.00004135

0.00003200

0.00004121

0.00003186

0.00003186

0.00003186

0.00006245

0.00005084

0.00005070

0.00004149

0.00005070

0.00003200

0.00004135

0.00004121

0.00003186

0.00004121

0.00003186

0.00003186

0.00004121

0.00003186

0.00003186

0.00003186

0.00003186

0.00003186

0.00003186

MDrive 23

Gearbox

0.00025986

0.00017461

0.00016030

0.00024230

0.00020406

0.00020335

0.00016512

0.00016469

0.00013453

0.00016441

0.00013425

0.00013411

0.00013411

0.00024230

0.00020406

0.00020335

0.00016512

0.00020335

0.00016441

0.00020335

0.00016441

0.00013425

0.00016441

0.00013425

0.00013411

0.00016441

0.00013411

0.00013411

0.00013411

0.00013411

0.00013411

0.00013411

Table C2: Planetary Gearbox Inertia Moments

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MDI Hardware Manual Revision R052506

MDrive17Plus with Planetary Gearbox

The MDrive17Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better inertia matching and produce finer positional resolutions. These efficient, low maintenance Planetary

Gearbox come fully assembled with the MDrive and are offered in a large number of reduction ratios in 1-, 2- and

3-stage configurations.

An optional NEMA Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle.

Planetary Gearbox may be combined with other MDrive17Plus options, however are unavailable on Linear Actuator versions.

Parameters

1-Stage 2-Stage 3-Stage

Permitted Output Torque (oz-in/Nm)......................... 425/3.0 .......................1062/7.5.......................... 2124/15.0

Gearbox Efficiency ......................................................... 0.80............................. 0.75................................... 0.70

Maximum Backlash (degree) ......................................... 0.80° ............................0.85°................................. 0.90°

Output Side with Ball Bearing

Maximum Load, Radial (lb-force/N)............................ 36/160......................... 52/230 ............................ 67.5/300

Maximum Load, Axial (lb-force/N)............................... 11/50........................... 18/80 ............................... 25/110

Weight - Gearbox Only (oz/g).................................... 14.3/406 ......................17.9/508........................... 21.5/609

Weight - Gearbox & NEMA Flange (oz/g)................. 14.8/420 ......................18.5/525........................... 22.2/630

Planetary Gearbox

Dimensions in Inches (mm)

Gearbox Ratios (Rounded)

1-Stage

3.71:1

5.18:1

6.75:1

2-Stage

13.73:1

15.88:1

18.37:1

19.20:1

22.21:1

3-Stage

50.89:1

58.86:1

68.07:1

71.16:1

78.72:1

25.01:1

26.85:1

92.70:1

95.18:1

28.93:1 99.51:1

34.98:1 107.21:1

45.56:1 115.08:1

123.98:1

129.62:1

139.14:1

149.90:1

168.85:1

181.25:1

195.27:1

236.10:1

307.55:1

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Gearbox Lengths

Inches (mm)

k1 Gearbox k2 Gearbox w/

NEMA Flange

1-Stage

2.736

(69.5)

2.858

(72.6)

2-Stage

3.248

(82.5)

3.37

(85.6)

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3-Stage

3.76

(95.5)

3.882

(98.6)

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Planetary Gearbox with Optional NEMA Output Flange

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Figure C.7: Planetary Gearbox Specifications for MDrive17Plus

Appendices

A-15

A-16

MDrive23Plus with Planetary Gearbox

The MDrive23Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better inertia matching and produce finer positional resolutions. These efficient, low maintenance Planetary

Gearbox come fully assembled with the MDrive and are offered in a large number of reduction ratios in 1-, 2- and

3-stage configurations.

An optional NEMA Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle. Planetary Gearbox may be combined with other MDrive17Plus options, however are unavailable on Linear

Actuator versions.

Parameters 1-Stage 2-Stage 3-Stage

Permitted Output Torque (oz-in/Nm)....................... 566/4.0 ........................1699/12.0......................... 3540/25.0

Gearbox Efficiency .......................................................0.80 ............................... 0.75................................... 0.70

Maximum Backlash (degree) ....................................... 0.70° ..............................0.75°................................. 0.80°

Output Side with Ball Bearing

Maximum Load, Radial (lb-force/N)..........................45/200 ........................... 72/320 ............................. 101/450

Maximum Load, Axial (lb-force/N).............................13/60 ............................ 22/100 .............................. 34/150

Weight - Gearbox Only (oz/g).................................. 25.0/711 ........................32.2/914.......................... 39.4/1117

Weight - Gearbox & NEMA Flange (oz/g)............... 25.9/735 ........................33.3/945.......................... 40.7/1155

Planetary Gearbox

Dimensions in Inches (mm)

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Gearbox Lengths

Inches (mm)

k1 Gearbox k2 Gearbox w/

NEMA Flange

1-Stage

2.976

(75.6)

3.035

(77.1)

2-Stage

3.537

(89.7)

3.59

(91.2)

3-Stage

4.087

(103.8)

4.146

(105.3)

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Gearbox Ratios (Rounded)

1-Stage

3.70:1

5.18:1

6.75:1

2-Stage

13.73:1

15.88:1

18.36:1

19.20:1

22.20:1

3-Stage

50.89:1

58.85:1

68.06:1

71.16:1

78.71:1

25.01:1

26.85:1

92.70:1

95.17:1

28.93:1 99.50:1

34.97:1 107.20:1

45.56:1 115.07:1

123.97:1

129.62:1

139.13:1

149.90:1

168.84:1

181.24:1

195.26:1

236.09:1

307.54:1

Planetary Gearbox with Optional NEMA Output Flange

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Figure C.8: Planetary Gearbox Specifications for MDrive23Plus

MDI Hardware Manual Revision R052506 Appendices

A-17

A-16

MDrive23Plus with Planetary Gearbox

appendix D

Standard I/O Set Interfacing and Application

NPN Sinking Input

I/O Application Guide

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Figure D.1: NPN Interface to an MDI Sinking Input

Application Example

Proximity sensor will operate as a +Limit. When active LOW will index the motor to a specified position.

‘[VARIABLES]

S1=2,0,0 ‘set IO1 to Limit+, Active LOW, sinking

‘[PROGRAMS]

PG 100 ‘enter program mode at address 100

LB AA ‘label program AA

MR 200000000 ‘move relative x distance

H ‘hold program execution until move completes

CL AB , I1 = 0 ‘call subroutine AB if I1 = 0 (limit reached)

BR AA , I1 = 1 ‘branch to AA if I1=1

LB AB ‘Label Sub AB

PR “Error 83, Positive Limit Reached”

ER=0

MA - 10000 ‘Absolute move to Pos. -10000

H ‘hold program execution until move completes

E ‘end program

PG ‘exit program.

‘[END]

MDI Hardware Manual Revision R052506 Appendices

A-17

A-18

PNP Sourcing Input

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Figure D.2: PNP Interface to a Sourcing Input

Application Example

Will use this input as a general purpose input which will run a motion subroutine when HIGH.

‘[VARIABLES]

S1=0,1,1 ‘set IO1 Gen Purpose User, active HIGH, src

S2=0,1,1 ‘set IO1 Gen Purpose User, active HIGH, src

‘[PROGRAMS]

‘*****Main Program*****

PG 100

LB AA

CL SA,I1=1 ‘call sub SA if IO1=1

CL SB,I2=1 ‘call sub SB if IO2=1

BR AA

‘******Subroutines*******

LB SA ‘Subroutine will perform some motion

MR 200000

H

MR -200000

H

BR SA,I1=1 ‘conditional branch to beginning of sub

BR AA,I1=0 ‘Branch to main program if IO1=0

RT

LB SB ‘Subroutine will perform some motion

MR 10000

H

MR -10000

H

BR SB,I2=1 ‘conditional branch to beginning of sub

BR AA,I2=0 ‘Branch to main program if IO1=0

RT

E

PG

‘[END]

MDI Hardware Manual Revision R052506 Appendices

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MDI Hardware Manual Revision R052506

Sinking Output

MDrivePlus

Internal pull-up voltage always off switched

Sinking Output Equivalent Circuit

IOx

24.9k ohms

GND

*External Resistor may be needed to limit output sink current to 600mA

Sinking Output up to

24 V

+

Figure D.3: Sinking Output to Relay

Application Example

Active LOW Output will be opem a relay, useful for Fault.

‘[VARIABLES]

S1=19,0,0 ‘Configure IO 1 as a Fault output.

Mixed Input/Output Example

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Figure D.4: Mixed Output Example- Standard I/O Set

NOTE: On the

Standard MDrivePlus, when configured as outputs, the I/O set is sinking ONLY! The Plus2

Models add the functionality of

I/O Power, which enables the user to use all the outputs, both

Standard and Enhanced, as

Sinking or Sourcing.

Appendices

A-19

A-20

Enhanced I/O Set Interfacing and Application

NPN Sinking Input

+

12 to

24 V

Vih = 2.31 V

Vil = 0.99 V

Threshold (nom) = 1.5 V

Iil = 100 µA

NPN

IOPWR

IOx

Iil

MDrivePlus2

65 - 160 uA pull-up voltage

The internal pull-up voltage current / voltage

3.3 V

100k ohms

24.9k ohms detect logic

IOGND

NPN Input, Sinking

Sinking Input Equivalent Circuit

Figure D.5: NPN Sinking Input on an MDrivePlus2 Motion Control

Application Example

Sensor using the HOME function.

‘[VARIABLES]

S2=1,1,0 ‘Configure IO2 as a Home Input, active HIGH, sinking.

Enter to IMS Terminal in Immediate mode or in a Program

HM 1 ‘Slew at VM - until IO2 = 1, Creep off + at VI

PNP Sourcing Input

Application Example

Sensor using the Jog+ function.

12 to

24 V

Vih = 2.31 V

Vil = 0.99 V

Threshold (nom) = 1.5 V

Iih = -1.24 mA

PNP

IOPWR

IOx

Iih

MDrivePlus

2

40 - 135 uA

Internal pull-up voltage

The internal pull-up voltage cannot provide output current / voltage

3.3 V

100k ohms

24.9k ohms detect logic

IOGND

PNP Input, Sourcing

Figure D.6: PNP Sourcing Input on an MDrivePlus2 Motion Control

JE=1 ‘Enable Jog function

S11=7,1,1 ‘Configure IO11 as a Jog+ Input, active HIGH, sourcing

MDI Hardware Manual Revision R052506 Appendices

A-21

A-20

Sourcing Output

Application Example

This application example will illustrate two MDrivePlus2 units in a system. In the program example

MDrivePlus2 #1 will be configured as a Fault Output, which when HIGH will trip an input on MDrivePlus2

#2 which will be configured as a Pause Input.

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Figure D.7: Sourcing Output to Sourcing Input

MDrive #1

S9=18,1,1 ‘Configure IO9 as a Fault output, active HIGH, sourcing

MDrive #2

S9=6,1,1 ‘Configure IO9 as a Pause Input, active HIGH, sourcing.

MDI Hardware Manual Revision R052506 Appendices

A-21

A-22

Mixed Input/Output Example

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Figure D.8: Mixed Input/Output Example - Enhanced I/O

Interfacing Inputs as a Group Example

The MDrivePlus inputs may read as a group using the IL. IH and IN keywords. This will display as a decimal between 0 to 15 representing the 4 bit binary number (IL, IH) or as a decimal between 0 and 255 representing the 8 bit binary number on the MDrivePlus

2

models. The IN keyword will function on the Standard MDrivePlus but will only read inputs 1 - 4. Inputs will be configured as user inputs (S<point>=0).

Standard MDrivePlus Motion Control

PR IN

PR IN

‘Reads Inputs 4(MSB) through 1(LSB)

‘Reads Inputs 4(MSB) through 1(LSB)

Enhanced MDrivePlus2

PR IL

PR IH:

PR IN:

‘Reads Inputs 4(MSB) through 1(LSB)

‘Reads Inputs 12(MSB) through 9(LSB)

‘Reads Inputs 12(MSB) - 9 amd 4 - 1(LSB)

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Figure D.9: TTL Interface to an Input Group

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MDI Hardware Manual Revision R052506 Appendices

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MDI Hardware Manual Revision R052506

Interfacing Outputs as a Group Example

The MDrivePlus inputs may be written to as a group using the OL, OH and OT keywords. This will set the outputs as a binary number representing the decimal between 0 to 15 representing the 4 bit binary number (OL, OH) or as an 8 bit binary number representing the decimal 0 to 255 on the MDrivePlus

2

models. The OT keyword will function on the Standard MDrivePlus but will only set inputs 1 - 4. Outputs will be configured as user outputs

(S<point>=16).

Standard MDrivePlus Motion Control

OL=3

OT=13

‘set the binary state of the standard I/O to 0011

‘set the binary state of the standard I/O to 1101

Enhanced MDrivePlus2

OL=5

OH=9

OT=223

‘set the binary state of the standard I/O to 0101

‘set the binary state of the expanded I/O to 1001

‘set the binary state of the combined I/O to 1101 1111

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Figure D.10: Outputs Interfaced to LED’s as a Group

I/O Set

Output Bit Weight Examples

IO12

(MSB)

Enhanced (Plus

2

)

IO11 IO10 IO9 IO4

Standard

IO3 IO2 IO1

(LSB)

OL=13

OT=13

NOT AVAILABLE

1 1 0 1

OH=9 NOT ADDRESSED BY OH

1 0 0 1

OT=223

1 1 0 1 1 1 1

Table D.1: Output Bit Weight Examples - Outputs set as a group

1

Appendices

A-23

A-24

appendix E

MDrivePlus Motion Control Closed

Loop Control

MDrive Motion Control Closed Loop Options

The MDrive Motion control has two closed loop options: Internal magnetic encoder on all MDrivePlus models or interface to a remote user supplied encoder on MDrivePlus

2

models.

Internal Encoder

All models of the MDrivePlus motion control are available with an internal magnetic encoder, which adds the functionality of Stall Detection, Position Maintenance and Home to Index.

The encoder itself has a resolution of 512 lines or 2048 edges per revolution.

Remote Encoder

The MDrivePlus

2

models are available with the option of useing a remote encoder through the enhanced I/O.

The advantage of using a remote encoder is that the encoder can be stationed directly on the load for increased accuracy.

Set Up and Configuration

Remote Encoder

CH A+

CH A-

CH B+

CH B-

Index +

RIndex -

CH B- CH

Figure E.1: Connecting a Remote Encoder

MDI Hardware Manual Revision R052506 Appendices

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A-24

appendix F

Communications Converter Cables

USB to 10-Pin IDC (MD-CC400-000)

The MD-CC400-000 is an in-line

USB to RS-422 converter with integrated 10 pin IDC cable. This product is used to communicate to a single

MDrive Motion Control Device. The included components will allow you to connect the USB port of a PC* directly to the MDrive Motion Control.

Optional Cables and Cordsets

The MD-CC400-000 communications converter cable is designed to be used with all MDrive, MDrivePlus and

MDrivePlus2 Motion Control devices that utilize an RS-422 ten pin connector interface.

Figure F.1: MD-CC400-000

Supplied Components: MD-CC400-000 Communications Converter Cable, USB Cable, USB Drivers, IMS

Terminal Interface Software.

* If your PC is already equipped with RS-422, the MD-CC400-000 cable is not required.

Electrical Specifications

MD-CC400-000 Specifications

BAUD Rate

Connectors:

USB

Up to 115 kbps

RS-422 Side

Ribbon Cable Length

Power Requirement

10 Pin 2mm IDC

6 feet (1.8 meters)

Power from USB

Table F.1: MD-CC400-000 Electrical Specifications

Mechanical Specifications

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10 Pin IDC Connector

Cable Length 6.0 ft (1.8 m)

Figure F.2: MD-CC400-000 Mechanical Specifications

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WARNING! DO NOT connect or disconnect the Communications

Converter Cable from

MDrive while power is applied!

MDI Hardware Manual Revision R052506 Appendices

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A-26

MD-CC400-000 Power Jack

The 2.5mm power jack located on top of the converter housing can be used to maintain logic power for MDrives that have an Aux-Power-Supply connection.

Center Pin+12 to 24 VDC unregulated Outer Contact

Ground

Host

2.5 mm

Power Jack

+VDC

USB Cable

TX+

Aux Pwr Sply

TX-

RX-

RX+

CGND

USB to RS-422

Converter

RX+

Aux Pwr Sply

RX-

TX-

TX+

CGND

P2

P2 P2

Option– 10 Pin Locking

Wire Crimp Adapter

9

10

1 2

An optional pin adapter is available to convert the 10 pin IDC connector on the

Communications Converter

Cable to a 10 pin friction lock wire crimp interface.

1 2

9

10-Pin Friction Lock Wire Crimp 10-Pin IDC

Figure F.3: Typical Communications Interface

10 Pin IDC to Wire Crimp

Adapter .................................................................MD-ADP-H

10

MDrive

USB to 5-Pin M12 (MD-CC401-000) (Sealed Version)

The MD-CC401-000 is an in-line USB to

RS-422 converter with integrated cable. This product is used to communicate to a single

MDrivePlus Motion

Control device. The included components will allow you to connect the USB port of a PC directly to sealed versions of the

MDrivePlus Motion Control.

Figure F.4: MD-CC401-000

The MD-CC401-000 communications converter cable is designed to be used with all MDrivePlus2-65 utilizing an M12 5-pin connector interface.

Supplied Components: MD-CC401-000 Communications Converter Cable, USB Cable, USB Drivers, IMS

Terminal Interface Software.

Electrical Specifications

MD-CC401-000 Specifications

BAUD Rate

Connectors:

USB

RS-422 Side

Cable Length

Up to 115 kbps

5 Pin M12

6 feet (1.8 meters)

Power Requirement Power from USB

Table F.2: MD-CC401-000 Electrical Specifications

MDI Hardware Manual Revision R052506 Appendices

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MDI Hardware Manual Revision R052506

Mechanical Specifications

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MD-CC401-000 Power Jack

The 2.5mm power jack located on top of the converter housing can be used to maintain logic power for

MDrives that have an Aux-

Power-Supply connection.

Center Pin +12 to 24 VDC unregulated Outer Contact-

Ground

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Figure F.6: Typical Communications Interface

Installation Procedure for the MX-CC40x-000

These Installation procedures are written for Microsoft Windows XP Service Pack 2. Users with earlier versions of Windows please see the alternate installation instructions at the IMS web site (http://www.imshome.com).

The installation of the MD-CC40x-000 requires the installation of two sets of drivers:

+ Drivers for the IMS USB to RS-422 Converter Hardware.

+ Drivers for the Virtual Communications Port (VCP) used to communicate to your IMS Product.

Therefore the Hardware Update wizard will run twice during the installation process.

The full installation procedure will be a two-part process: Installing the Cable/VCP drivers and Determining the Virtual COM Port used.

Installing the Cable/VCP Drivers

1) Plug the USB Converter Cable into the USB port of the MD-CC40x-000.

2) Plug the other end of the USB cable into an open USB port on your PC.

3) Your PC will recognize the new hardware and open the Hardware Update dialog.

4) Select “No, not this time” on the radio buttons in answer to the query “Can

Windows Connect to Windows Update to search for software?” Click “Next” (Figure

F.7).

5) Select “Install from a list or specific location

(Advanced)” on the radio buttons in answer to the query “What do you want the wizard to do?” Click “Next” (Figure F.8).

Figure F.7: Hardware Update Wizard

Appendices

A-27

Figure F.8: Hardware Update Wizard Screen 2

6) Select “Search for the best driver in these locations.”

(a) Check “Include this location in the search.”

(b) Browse to the MDrive CD [Drive Letter]:\ Cable_

Drivers\MD CC40x000_DRIVERS.

(c) Click Next (Figure F.9).

A-28

Figure F.9: Hardware Update Wizard Screen 3

7) The drivers will begin to copy.

8) On the Dialog for Windows Logo Compatibility Testing, click “Continue Anyway” (Figure F.10).

9) The Driver Installation will proceed. When the Completing the Found New Hardware Wizard dialog appears, Click “Finish” (Figure F.11).

10) Upon finish, the Welcome to the Hardware Update Wizard will reappear to guide you through the second part of the install process. Repeat steps 1 through 9 above to complete the cable installation.

11) Your IMS MD-CC40x-000 is now ready to use.

Figure F.10: Windows Logo Compatibility

Testing

Figure F.11: Hardware Update Wizard Finish Installation

MDI Hardware Manual Revision R052506 Appendices

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A-28

Determining the Virtual COM Port (VCP)

The MD-CC40x-000 uses a Virtual COM Port to communicate through the USB port to the MDrive. A VCP is a software driven serial port which emulates a hardware port in Windows.

The drivers for the MD-CC40x-000 will automatically assign a VCP to the device during installation. The

VCP port number will be needed when IMS Terminal is set up in order that IMS Terminal will know where to find and communicate with your IMS Product.

To locate the Virtual COM Port.

1) Right-Click the “My Computer” Icon and select “Properties”.

2) Browse to the Hardware Tab (Figure F.12), Click the Button labeled “Device Manager”.

3) Look in the heading “Ports (COM & LPT)” IMS USB to RS422 Converter Cable (COMx) will be listed (Figure F.12). The COM # will be the Virtual COM Port connected. You will enter this number into your IMS Terminal Configuration.

Figure F.12: Hardware Properties

Figure F.13: Windows Device Manager

MDI Hardware Manual Revision R052506 Appendices

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A-30

Cordsets (Sealed Version Only)

19-pin M23 single-ended cordsets are offered to speed prototyping of sealed MDrivePlus

2

units. Measuring

13.0’ (4.0m) long, either straight or right-angle termination is available. PVC jacketed cables come with a foil shield and an unconnected drain wire.

Straight Termination ............................................................................................. MD-CS100-000

Right Angle Termination....................................................................................... MD-CS101-000

Prototype Development Cable for MDrive17Plus

2

- PN PD16-1417-FL3

IMS recommends the Prototype Development

Cable PD16-1417-FL3 with the first order of an

MDrive17Plus 2 Motion Control to mate with the

16-pin locking wire crimp connector P1. 16 (8

Twisted Pair) Flying Leads interface to the user’s control electronics at the un-terminated end of the cable.

Care should be observed to ensure that the black leads are connected in the correct location in relation to their paired color.

Figure F.14: Prototype Development Cable PD16-1417-FL3

Pin 1

22 AWG Stranded, 8 Twisted Pairs

Shield - Foil/Tinned Copper Braid

0.551

(14.0 mm)

10' (3m)

Figure F.15: Prototype Development Cable PD16-1417-FL3 Mechanical Specifications

Pair Number

1

2

3

4

5

6

7

8

Wire Color Code

Color Combination

Black Paired with Red

Black Paired with White

Black Paired with Green

Black Paired with Blue

Black Paired with Yellow

Signal Name (Color)

Power Ground (Black) / +V (Red)

Direction (Black) / Step Clock (White)

Analog In (Black) / Capture-Trip (Green)

I/O 12 (Black) / I/O 11(Green)

I/O 10 (Black) / I/O 9 (Blue)

Black Paired with Brown

Black Paired with Orange

White Paired with Red

I/O 4 (Black) / I/O 3 (Brown)

I/O 2 (Black) / I/O 1 (Orange)

I/O GND (White) / I/O PWR (Red)

Table F.3: PD16-1417-FL3 Wire Color Codes

MDI Hardware Manual Revision R052506 Appendices

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A-30

Cordsets

19-pin M23 single-ended cordsets are offered to speed prototyping of the sealed MDrivePlus-65. 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 Termination ....................................................................... MD-CS101-000

M23

Circular

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

M23 Cordset

M23 Cordset

DC Color Code

Violet

Red

Grey

Red/Blue

Green

Blue

Grey/Pink

White/Green

White/Yellow

White/Grey

M23 Circular

Pin 11

Pin 12

*

Pin 13

Pin 14

Pin 15

Pin 16

Pin 17

Pin 18

Pin 19

* Pin 12 makes an electrical contact to the M23 connector shell.

M23 Cordset

DC Color Code

Black

Green/Yellow

Yellow/Brown

Brown/Green

White

Yellow

Pink

Grey/Brown

Brown

Table E.4: MD-CS10x-000 Wire Color Chart

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Figure F.16: MD-CS10x-000

MDI Hardware Manual Revision R052506 Appendices

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This Page Intentionally Left Blank

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MDI Hardware Manual Revision R052506

WARRANTY

TWENTY-FOUR (24) MONTH LIMITED WARRANTY

Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased from IMS (the “Product”) will be free from defects in materials and workmanship under the normal use and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the

Customer. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s sole option, of the Product, or any part of the Product, determined by IMS to be defective. In order to exercise its warranty rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty

Service.”

NOTE: MDrive Motion Control electronics are not removable from the motor in the field.

The entire unit must be returned to the factory for repair.

This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the

Product; installation, operation or use of the Product not made in strict accordance with the specifications and written instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modifications to the Product; the misuse or failure of any item or equipment connected to the Product not supplied by IMS; improper maintenance or repair of the

Product; or any other reason or event not caused by IMS.

IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY

LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION,

ANY WARRANTIES OF MERCHANTABILITY OR FITNESS

FOR ANY PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS

STATED ABOVE, AND IN NO EVENT WILL THE IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR

INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.

This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This

Limited Warranty is the sole warranty offered by IMS with respect to the Product. IMS does not assume any other liability in connection with the sale of the Product. No representative of IMS is authorized to extend this Limited Warranty or to change it in any manner whatsoever. No warranty applies to any party other than the original Customer.

IMS and its directors, officers, employees, subsidiaries and affiliates shall not be liable for any damages arising from any loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production or profits, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages, whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory, or other losses or expenses incurred by the Customer or any third party.

OBTAINING WARRANTY SERVICE

Warranty service may obtained by a distributor, if the Product was purchased from IMS by a distributor, or by the Customer directly from IMS, if the Product was purchased directly from IMS. Prior to returning the Product for service, a Returned

Material Authorization (RMA) number must be obtained. Complete the form at http://www.imshome.com/rma.html after which an RMA Authorization Form with RMA number will then be faxed to you. Any questions, contact IMS Customer

Service (860) 295-6102.

Include a copy of the RMA Authorization Form, contact name and address, and any additional notes regarding the Product failure with shipment. Return Product in its original packaging, or packaged so it is protected against electrostatic discharge or physical damage in transit. The RMA number MUST appear on the box or packing slip. Send Product to: Intelligent Motion

Systems, Inc., 370 N. Main Street, Marlborough, CT 06447.

Customer shall prepay shipping changes for Products returned to IMS for warranty service and IMS shall pay for return of

Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for

Products returned to IMS from outside the United States.

TM

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370 N. Main Street

P.O. Box 457

Marlborough, CT 06447 U.S.A.

Phone: 860/295-6102

Fax: 860/295-6107

E-mail: [email protected]

TECHNICAL SUPPORT

Eastern U.S.A.

Phone: 860/295-6102

Fax: 860/295-6107

E-mail: [email protected]

Western U.S.A.

Phone: 760/966-3162

Fax: 760/966-3165

E-mail: [email protected]

Germany/UK

Phone: +49/7720/94138-0

Fax: +49/7720/94138-2

E-mail: [email protected]

U.S.A. SALES OFFICES

Eastern Region

Phone: 862/208-9742

Fax: 973/661-1275

E-mail: [email protected]

Central Region

Phone: 260/402-6016

Fax: 419/858-0375

E-mail: [email protected]

Western Region

Phone: 408/472-1971

Fax: 408/268-0716

E-mail: [email protected]

IMS MOTORS DIVISION

105 Copperwood Way, Suite H

Oceanside, CA 92054

Phone: 760/966-3162

Fax: 760/966-3165

E-mail: [email protected]

© 2006 Intelligent Motion Systems, Inc. All Rights Reserved. REV050406

IMS Product Disclaimer and most recent product information at www.imshome.com.

IMS EUROPE GmbH

Hahnstrasse 10, VS-Schwenningen

Germany D-78054

Phone: +49/7720/94138-0

Fax: +49/7720/94138-2

E-mail: [email protected]

European Sales Management

4 Quai Des Etroits

69005 Lyon, France

Phone: +33/4 7256 5113

Fax: +33/4 7838 1537

E-mail: [email protected]

Germany Sales

Phone: +49/35205/4587-8

Fax: +49/35205/4587-9

E-mail: [email protected]

Germany/UK Technical Support

Phone: +49/7720/94138-0

Fax: +49/7720/94138-2

E-mail: [email protected]

IMS UK Ltd.

25 Barnes Wallis Road

Segensworth East

Fareham, Hampshire, UK PO155TT

Phone: +44/1489/889-825

Fax: +44/1489/889-857

E-mail: [email protected]

IMS ASIA PACIFIC OFFICE

30 Raffles Pl., 23-00 Caltex House

Singapore 048622

Phone: +65/6233/6846

Fax: +65/6233/5044

E-mail: [email protected]

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