IMS MDrive 34 Plus Series Hardware Reference Manual
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IMS MDrive 34 Plus Series Hardware Reference Manual

Motor+driver motion control
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Excellence in Motion
34
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Motion control
Hardware
REFEREnCE
Flying Leads Interface
Pluggable Interface
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Summary of Contents for IMS MDrive 34 Plus Series

  • Page 1 Excellence in Motion Motion control Hardware REFEREnCE Flying Leads Interface Pluggable Interface www.imshome.com...
  • Page 2 MDrive34Plus Motion Control Hardware Reference Change Log Date Revision Changes 06/29/2006 R062906 Initial Release 08/01/2006 R080106 Added connector orientation drawings to Part 1: Hardware Specifications, added Cable info to Appendix F. The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies.

  • Page 3: Table Of Contents

    Tools and Equipment Required ....................1-1 Connecting the Power Supply ....................1-1 Connecting Communications ....................1-1 Install IMS Terminal Software ....................1-1 Establishing Communications ....................1-2 Apply Power to the MDrivePlus Motion Control ..............1-3 Testing the MDrivePlus Motion Control ................... 1-3 Make the MDrivePlus Motion Control Move ................
  • Page 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: Planetary Gearboxes..................... A-6 Section Overview ........................A-6...
  • Page 5 Prototype Development Cable - PD02-3400-FL3 ..............A-30 Prototype Development Cable - PD10-1434-FL3 ..............A-31 List of Figures Figure GS.1: IMS Terminal Main Screen ................... 1-2 Figure GS.2: IMS Terminal Prefrences Dialog ................1-2 Figure GS.3: MDrivePlus Motion Control Sign-On Message ............ 1-3 Figure GS.4: Download the Program ..................
  • Page 6 Appendices Figure A.1: MDrive34Plus 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...

  • Page 7: Getting Started - Mdriveplus Motion Control

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

  • Page 8: Establishing Communications

    Establishing Communications W A R N I N G : Do not connect Open IMS Terminal by clicking Start>Programs>IMS Terminal>IMS Term. The Program Edit or disconnect Window (left) and Terminal Window (right) will be displayed. DC input to the MDrivePlus with power...

  • Page 9: Apply Power To The Mdriveplus Motion Control

    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 Tip: A small piece of tape on clicking on each of them.

  • Page 10: Motion Control Example Using Program Mode

    NOTE: Entering Motion Control Example Using Program Mode MDrivePlus commands into Click on drop-down menu View > New Edit Window to open the Program Edit Window. the Program Edit Type “XYZ Test” into the “Open a New file for editing” dialog box, and click “OK”. Window, to be edited and Click anywhere within the Program Edit Window, and type (followed by ENTER): saved, is called “Program...

  • Page 11: Part 1: Hardware Specifications

    Excellence in Motion Motion control Part 1: Hardware Specifications Section 1.1: MDrive34Plus Motion Control Product Introduction Section 1.2: MDrive34Plus Motion Control Detailed Specifications Section 1.3: MDrive34Plus Motion Control Detailed Specifications Part 1: Hardware Specifications...
  • Page 12 Page Intentionally Left Blank MDrive34Plus Motion Control Hardware Revision R080106...

  • Page 13: Introduction To The Mdrive34Plus Motion Control System

    The unsurpassed smoothness and performance delivered by the MDrive34Plus Motion Control are achieved through IMS's advanced 2nd generation current control. By apply- ing innovative techniques to control current flow through the motor, resonance is significantly dampened over the entire speed range and audible noise is reduced.

  • Page 14: The Mdrive34Plus Motion Control Key Differences And Enhanced Features

     Available Options: Internal Optical Encoder for Closed Loop Control Integrated Planetary Gearbox Control Knob for Manual Positioning  Three Rotary Motor Lengths Available  Auxiliary Logic Power Supply Input  20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes ...

  • Page 15: Section 1.2: Mdrive34Plus Detailed Specifications

    SE C T IO N 1 . 2 WARNING! The maximum +75 VDC Input MDrive34Plus Detailed Specifications Voltage of the MDrive34Plus series includes motor Back EMF, Power Standard Electrical Specifications Supply Ripple and High Line. WARNING! Because the Input Voltage (+V) MDrivePlus consists of two core components, a drive Range ........................+12 to +75 VDC...

  • Page 16: Software Specifications

    Counters WARNING! When using the Type ....................Position (C1), Encoder (C2) MDrivePlus Motion Resolution ..........................32 Bit Control with optional internal magnetic Edge Rate (Max) ........................5 MHz encoder, no axial force may be applied to the motor shaft Velocity without use of a load bearing isolation coupling.

  • Page 17: Mechanical Specifications

    Mechanical Specifications Dimensions in Inches (mm) 1.981 (50.32) 4X Ø 0.217 (Ø 5.51) 0.731 1.250 (18.57) (31.75) 0.394 (10.01) 1.46 ±0.04 (37.1 ±1.0 0.984 ±0.01 (25.0 ±0.25 3.727 (94.67) 0.512 +0/–0.004 (13.0 Ø 0.5512 ±0.10 +0/-0.0004 (Ø 14.0 +0/-0.010 0.079 (2.0) Ø...

  • Page 18: Pin/Wire Assignments

    Pin/Wire Assignments P1 Connector - I/O and Power Connections Flying Leads - I/O and Power Connection Wire Color Function White/Yellow I/O1 White/Yellow I/O 1 White/Orange I/O2 White/Orange I/O 2 White/Violet I/O3 White/Violet I/O 3 White/Blue I/O 4 White/Blue I/O4 Green Analog Input Green Analog Input Black...

  • Page 19: Standard Electrical Specifications

    SE C T IO N 1 . 3 WARNING! The maximum +75 VDC Input MDrive34Plus 2 Detailed Specifications Voltage of the MDrive34Plus series includes motor Back EMF, Power Standard Electrical Specifications Supply Ripple and High Line. WARNING! Because the Input Voltage (+V) MDrivePlus consists of two core components, a drive Range ........................+12 to +75 VDC...

  • Page 20: Enhanced Motion Specifications

    Encoder (Optional) Type ........................Internal, Optical 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 10 9 Steps per Second 2 Resolution ....................

  • Page 21: Motor Specifications

    Motor Specifications Single Length Holding Torque ....................381 oz-in/269 N-cm Detent Torque ....................10.9 oz-in/7.7 N-cm Rotor Inertia ...................0.01416 oz-in-sec 2 /1.0 kg-cm 2 Weight (Motor + Driver) ..................... 4.1 lb/1.9 kg Double Length Holding Torque ....................575 oz-in/406 N-cm Detent Torque .....................

  • Page 22: Pin/Wire Assignments

    Connector Options Connector Options Pin 1 Pin 1 Pin 1 Pin 1 Pin 1 Pin 1 Pluggable Locking Pluggable Locking Wire Crimp with Wire Crimp Remote Encoder Figure 1.3.2: Connector Orientation Pin/Wire Assignments P1 Connector - I/O and Power Connections Pin 1 Pin 1 Pin 2...

  • Page 23: P2 Connector - Rs-422/485 Communications

    P2 Connector - RS-422/485 Communications P2: COMM CONNECTOR Wire Crimp Function Pin 1 Pin 2 Pin 1 TX + Pin 2 Comm Ground Pin 3 Pin 4 Pin 3 RX – Pin 4 TX – Pin 5 Pin 6 Pin 5 Aux-Logic (+12 to +24 VDC) Pin 8 Pin 7...
  • Page 24 Page Intentionally Left Blank 1-18 MDrive34Plus Motion Control Hardware Revision R080106...

  • Page 25: Part 2: Connecting And Interfacing

    Excellence in Motion Motion control Part 2: Connecting and Interfacing Section 2.1: Mounting and Connection Recommendations Section 2.2: Interfacing Communications Section 2.3: Interfacing and Using the MDrivePlus Motion Control I/O Part 2: Connections and Interface...
  • Page 26 MDrive34Plus Motion Control Hardware Revision R080106...

  • Page 27: Mounting Recommendations

    SE C T I O N 2. 1 Mounting and Connection Recommendations Mounting Recommendations There are no special mounting considerations for this device. Flange mounting holes are drilled through with a diameter of 0.217" (5.51mm) to take standard M5 screws. The length of the screw used will be determined by the mounting flange width.

  • Page 28: Recommended Mating Connectors And Pins

    Recommended Mating Connectors and Pins Communications 10-Pin IDC (MDI34Plus) ................Samtec TCSD-05-01-N 10-pin Friction Lock (MDI34Plus ) ............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).............

  • Page 29: Section 2.2: Interfacing Communications

    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 Con- trol.

  • Page 30: Single Mode Communications Half Duplex (Rs-485)

    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.

  • Page 31: Mdriveplus Motion Control Communication Format

    Figure 2.2.3: RS-485 Interface, Multiple MDrivePlus Motion Control System 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 place- ment is shown in Figure 2.2.3 above.

  • Page 32: Table 2.2.1: Mdi Response To Echo Mode - Party And Check Sum Are Zero (0)

    Transmission to MDI Final Parameter Setting MDI Initial Response Notes Response (command) Echoed back one The last character EM=0 & PY=0 CK=0 (command) (D) character at a time CET (0D) (0A)> sent is the prompt > as the character is entered.

  • Page 33: Using Check Sum

    Transmission to MDI Initial MDI Final Parameter Setting Notes Response Response (command) Echoed back one (DN) (command) CET (ACK) or The last character EM=0 & PY=1 CK=1 character at a time (CS) (0A) (NAK)> sent is the prompt > as the character is entered.

  • Page 34: Mdriveplus Motion Control Party Mode Sample Codes

    MDrivePlus Motion Control Party Mode Sample Codes 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”).

  • Page 35: 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 type Ctrl+J, that System (Party Mode)”, you may enter commands in the Immediate Mode in the IMS Terminal Window. Some examples follow. is the key + the key.

  • Page 36: Section 2.3: Interfacing And Using The Mdriveplus Motion Control I/O

    S E C TIO N 2.3 NOTE: On the Standard MDrivePlus, Interfacing and Using the MDrivePlus Motion Control I/O when configured as outputs, the I/O set is sinking ONLY! The Plus 2 Models add the functionality of I/O The MDrivePlus Motion Control Digital I/O Power, which enables the user to use all the The MDrivePlus Motion Control product line is available with two digital I/O configurations, Standard and Enhanced.

  • Page 37: Mdriveplus Motion Control Digital Input Functions

    HIGH or LOW. The inputs are configured using the “S” Variable (See MDrive Motion Control Sofware Reference Manual for precise de- tails on this command). The command is entered into the IMS terminal or program file as S<IO point>=<IO Type>,<Active State><Sink/Source>.

  • Page 38: Mdriveplus Motion Control Digital Output Functions

    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>.

  • Page 39: Mdriveplus Motion Control I/O Ratings

    MDrivePlus Motion Control I/O Ratings MDrivePlus I/O Ratings MDrivePlus Output Voltage (IOPWR) Rating 0 to +24 VDC MDrivePlus2 Output Voltage (IOPWR) Rating +12 to +24 VDC (Sourcing) | 0 to +24 VDC (Sinking) Load Rating* (equal current per I/O Point) I/O State I Continuous I Peak (D=0.84)

  • Page 40: I/O Usage Examples - Mdriveplus Standard I/O Set

    Control programming. Please reference the MDrive software manual for more information on the Instruc- tions, Variables and Flags that make up the MDI command set as well as material on setting up and using the IMS Terminal. NOTE: Advanced I/O interface...

  • Page 41: Input Interface Example - Switch Input Example (Sourcing Input)

    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 The internal pull-up voltage = -1.24 mA...

  • Page 42: Output Interface Example (Sinking Output)

    Output Interface Example (Sinking Output) NOTE: On The following circuit example shows a load connected to an I/O point that will be configured as a sinking the Standard output. MDrivePlus, when configured as outputs, the I/O set is sinking ONLY! The Plus 2 Models add the MDrivePlus functionality of I/O Power,...

  • Page 43: General Purpose I/O Usage Examples - Enhanced I/O Set

    Control programming . Please reference the MDrive software manual for more information on the Instruc- tions, 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.

  • Page 44: Input Interface Example - Switch Input Example (Sourcing Input)

    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 MDrivePlus Vil = 0.99 V Threshold (nom) = 1.5 V = -1.24 mA IOPWR...

  • Page 45: Output Interface Example (Sinking Output)

    Output Interface Example (Sinking Output) The following circuit example shows a load connected to an I/O point that will be configured as a sinking output. MDrivePlus The internal pull-up voltage cannot provide output current / voltage IOPWR Internal pull-up Diode recommended for voltage inductive loads always...

  • Page 46: Output Interface Example (Sourcing Output)

    Output Interface Example (Sourcing Output) The following circuit example shows a load connected to an I/O point that will be configured as a sourcing output. MDrivePlus The internal pull-up voltage cannot provide output current / voltage IOPWR Internal pull-up voltage switched 12 to load current, sourcing...

  • Page 47: Dedicated Digital I/O - Enhanced I/O Set

    Dedicated Digital I/O - Enhanced I/O Set NOTE: Advanced I/O interface circuit Step/Direction/Clock I/O diagrams and Step/Direction Function application examples are These dedicated I/O lines are used to available in Appendix D: I/O receive clock inputs from an external device Application Guide.

  • Page 48: Interfacing The Analog Input

    Interfacing the Analog Input The analog input of the MDrivePlus Motion Control is configured from the factory as a 0 to 5V, 10 bit resolu- tion 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.

  • Page 49: Figure 2.3.14: Analog Input - Current Mode

    Analog Input 4 - 20 mA, 0 - 20 mA Source Ground Source Ground Current Mode S5=10,0 'set input I range to 0 to 20mA MDrive ePlus Motion Con trol S5=10,1 'set input I range to 4 to 20mA Figure 2.3.14: Analog Input - Current Mode 2-25 Part 2: Connections and Interface...
  • Page 50 Page Intentionally Left Blank 2-26 MDrive34Plus Motion Control Hardware Revision R080106...

  • Page 51: Appendices

    Excellence in Motion Motion control Appendices Appendix A: MDrivePlus Motion Control Motor Performance Appendix B: Recommended Power and Cable Configurations Appendix C: Planetary Gearboxes Appendix D: I/O Application Guide Appendix E: MDrivePlus Motion Control Closed Loop Control Appendix F: Optional Cables and Cordsets Appendices...
  • Page 52 Page Intentionally Left Blank MDrive34Plus Motion Control Hardware Manual Revision R080106...

  • Page 53: Appendix A: Mdriveplus Motion Control Motor Performance

    a pp e n d i x A MDrivePlus Motion Control Motor Performance Speed-Torque Curves/Motor Specifications Double Length Single Length 1000 1000 24 VDC 24 VDC 45 VDC 45 VDC 75 VDC 75 VDC 1000 2000 3000 4000 5000 6000 7000 1000 2000...

  • Page 54: Appendix B: Recommended Power And Cable Configurations

    app en di x B NOTE: These Recommended Power and Cable Configurations recommendations will provide optimal Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive. protection against EMI and RFI. The actual cable type, Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet wire gauge, shield type and long.

  • Page 55: Recommended Ims Power Supplies

    Recommended IMS Power Supplies IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products. IP804 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 ................76 VDC @ 0 Amps...

  • Page 56: Appendix C: Planetary Gearboxes

    App e ndi x C Planetary Gearboxes Section Overview This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox, and may include product sizes not relevant to this manual. Shown are:  Product Overvew  Selectng a Planetary Gearbox  Mechanical Specifications Product Overview All gearboxes are factory installed.

  • Page 57: Calculating The Shock Load Output Torque (Tab

    Calculating the Shock Load Output Torque (T AB ) Note: The MDrive23 and the numbers and Note: The following examples are based on picking “temporary variables” which may be adjusted. values used in these The shock load output torque (T AB ) is not the actual torque generated by the MDrive and Planetary Gearbox examples have been chosen combination, but is a calculated value that includes an operating factor (C B ) to compensate for any shock randomly for demonstration...

  • Page 58: Figure C.1: Mdrive23 Torque-Speed Curve

    Nominal Output Torque Calculate the nominal output torque using the torque values from the MDrive’s Speed/Torque Tables. Nominal output torque (T ) is the actual torque generated at the Planetary Gearbox output shaft which includes reduction ratio (i), gear efficiency (η) and the safety factor (s ) for the MDrive.

  • Page 59: Table C.1: Planetary Gearbox Operating Factor

    Shock Load Output Torque The nominal output torque (T ) is the actual working torque the Planetary Gearbox will generate. The shock load output torque (T ) 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 ) of the Planetary Gearbox is accurately calculated, shock loads can greatly increase the dy- namic torque on the Planetary Gearbox.

  • Page 60: System Inertia

    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.

  • Page 61: Figure C.3: Rack And Pinion System Inertia Considerations

    Rack and Pinion In a system with a rack and pinion, the following must be considered:  The weight or mass of the pinion  The weight or mass of the rack  The friction and/or preload between the pinion and the rack ...

  • Page 62: Figure C.5: Rotary Table System Inertia Considerations

    Rotary Table In a system with a rotary table, the following must be considered:  The weight or mass and size of the table  Any parts or load the table is carrying  The position of the load on the table, the distance from the center of the table will af- fect the inertia ...

  • Page 63: Figure C.6: Chain Drive System Inertia Considerations

    Chain Drive In a system with a chain drive, the following must be considered:  the weight and size of drive sprocket and any attaching hub  the weight and size of the driven sprocket and shaft  the weight of the chain ...

  • Page 64: Planetary Gearbox Inertia

    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 (ounce-inches-second squared).

  • Page 65: Figure C.7: Planetary Gearbox Specifications For Mdrive34Plus Motion Control

    MDrive34Plus Motion Control with Planetary Gearbox Planetary Gearbox Parameters Output Side with Ball Bearing Permitted Gearbox Maximum Maximum Load Weight Ratios and Part Numbers Output Torque Efficiency Backlash (lb-force/N) (oz/g) (oz-in/Nm) Radial Axial Gearbox with Flange 1-STAGE 2832/20.0 0.80 1.0° 90/400 18/80 64.4/1827...
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  • Page 67: Appendix D: I/O Application Guide

    ap pe n di x D I/O Application Guide Standard I/O Set Interfacing and Application NPN Sinking Input Vih = 2.31 V Vil = 0.99 V Threshold (nom) = 1.5 V Internal = 100 µA pull-up voltage 3.3 V 65 - 160 uA 100k ohms detect logic...

  • Page 68: Figure D.2: Pnp Interface To A Sourcing Input

    PNP Sourcing Input Vih = 2.31 V Vil = 0.99 V Threshold (nom) = 1.5 V The internal pull-up voltage = -1.24 mA Internal pull-up cannot provide output voltage current / voltage 3.3 V up to 24 V 100k ohms detect logic 24.9k ohms...

  • Page 69: Mixed Input/Output Example

    Sinking Output NOTE: On the *External Resistor may be needed to MDrivePlus Standard MDrivePlus, limit output sink current to 600mA when configured as outputs, the I/O set Internal is sinking ONLY! The Plus 2 pull-up voltage Models add the functionality of always I/O Power, which enables the user to use all the outputs, both...

  • Page 70: Npn Sinking Input

    ‘[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.

  • Page 71: Sourcing Output

    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. IOPWR The internal pull-up voltage Internal...

  • Page 72: Mixed Input/Output Example

    Mixed Input/Output Example IOPWR MOVING S1 = 17,0,0 IN (w / pullup) STALL S2 = 19,0,0 IN (w / pullup) JOG + OUT (PNP) S3 = 7,1,1 JOG - OUT (PNP) S4 = 8,1,1 +12 to S9 = 16,1,1 LOAD +24 V S10 = 16,1,1 IO10...

  • Page 73: Interfacing Outputs As A Group Example

    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 out- puts 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 models.

  • Page 74: Mdriveplus Motion Control Closed Loop Control

    a p pe ndi x 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 models.

  • Page 75: Figure E.1: Connecting A Remote Encoder

    Remote Encoder - MDrive34Plus (20-Pin Locking Wire Crimp) The MDrivePlus models are available with the option of using 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.

  • Page 76: Communications Converter Cables

    Figure F.1: MD-CC400-000 MDrivePlus 2 Motion Control devices that utilize an RS-422 ten pin connector interface. Supplied Components: MD-CC400-000 Communications Converter Cable, USB Cable, USB Drivers, IMS Terminal Interface Software. 10-Pin Locking Wire Crimp Adapter An optional pin adapter is available to convert the 10-pin IDC connector on the Communications Con- verter Cable to a 10-pin friction lock wire crimp interface used on the Plus units.

  • Page 77: Installation Procedure For The Mx-Cc40X-000

     Drivers for the IMS USB to RS-422 Converter Hardware. html.  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.

  • Page 78: Figure F.7: Windows Logo Compatibility Testing

    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.7: Windows Logo Compatibility Testing Figure F.8: Hardware Update Wizard Finish Installation...

  • Page 79: Determining The Virtual Com Port (Vcp

    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.

  • Page 80: Prototype Development Cable Pd14-2334-Fl3

    Prototype Development Cable PD14-2334-FL3 IMS recommends the Prototype Development Cable PD14-2334-FL3 for interfacing I/O and Logic to the MDrive34Plus Motion Control. IMS recommends the Prototype Development Cable PD14-2334-FL3 with the first order of an MDrive34Plus Motion Control to mate with the 14-pin locking wire crimp connector P1.

  • Page 81: Prototype Development Cable - Pd10-1434-Fl3

    Prototype Development Cable PD10-1434-FL3 (All MDrivePlus Motion Control) The PD10-1434-FL3 is used to connect to the 10-pin wire crimp option for interfacing RS-422/485 Com- munications. It also features and additional cable attached for multi-drop communications systems. It is important to note that Cable 1 will connect to the Communications host. Cable 2 will be used to inter- face additional MDrivePlus Motion Control Units.
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  • Page 83 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.”...
  • Page 84 Germany/UK Technical Support Phone: +49/7720/94138-0 Phone: 760/966-3162 Fax: +49/7720/94138-2 Fax: 760/966-3165 Phone: +49/7720/94138-0 E-mail: mweber@imshome.com E-mail: motors@imshome.com Fax: +49/7720/94138-2 E-mail: mweber@imshome.com © 2006 Intelligent Motion Systems, Inc. All Rights Reserved. REV R080106 IMS Product Disclaimer and most recent product information at www.imshome.com.

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