Intelligent Motion Systems MDrive17Plus Hardware Reference Manual
  1. Manuals
  2. Brands
  3. Intelligent Motion Systems Manuals
  4. DC Drives
  5. MDrive17Plus
  6. Hardware reference manual

Intelligent Motion Systems MDrive17Plus Hardware Reference Manual

Motion control
Hide thumbs
Table of Contents

Advertisement

Quick Links

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MDrive17Plus and is the answer not in the manual?

Questions and answers

Related Manuals for Intelligent Motion Systems MDrive17Plus

Summary of Contents for Intelligent Motion Systems MDrive17Plus

  • Page 2 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...

  • Page 3: Table Of Contents

    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 ......................
  • Page 4 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)......
  • Page 5 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 ..................
  • Page 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...
  • Page 7 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 ................
  • Page 8 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...
  • Page 9 List Of Tables 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 ...........
  • Page 10 Page Intentionally Left Blank viii...

  • Page 11: Getting Started - Mdriveplus Motion Control

    G ettin g S tarted WARNING! Please Getting Started - MDrivePlus Motion Control ensure that you read the sections of the product manual Before You Begin pertaining to the MDrivePlus model you purchased in their The Quick Start guide is designed to help get you connected and communicating with the MDrivePlus Mo- entirety prior to placing the unit tion Control.

  • Page 12: 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 applied! Disconnect the AC power side to power down the DC Supply.

  • Page 13: Testing The Mdriveplus Motion Control

    Window: The MDrivePlus Motion Control command set is not case sensitive “Copyright 2001-2006 by Intelligent Motion Systems, Inc.” except for command DN = < > If you can see the sign-on message, then the MDrivePlus is properly powered-up and Warning: If you communicating.

  • Page 14: Motion Control Example Using Program Mode

    NOTE: Entering Motion Control Example Using Program Mode MDrivePlus commands into the Click on drop-down menu View > New Edit Window to open the Program Edit Window. Program Edit Window, Type “XYZ Test” into the “Open a New file for editing” dialog box, and click “OK”. to be edited and saved, is Click anywhere within the Program Edit Window, and type (followed by ENTER): called “Program Mode”.
  • Page 15 Part 1: Hardware Specifications...

  • Page 16: Section 1.1: Mdrive17Plus Motion Control Product Introduction

    Expanded features in the MDrive17Plus 2 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.

  • Page 17: The Mdrive17Plus Motion Control Key Differences And Enhanced Features

    See Section 1.3 of this document for detailed specifications on the MDrive17Plus 2 Motion Control. 3. MDrive17Plus 2 -65 Motion Control The MDrive17Plus 2 -65 Motion Control adds protection against the ingress of fluids and dust to the MDrive17Plus 2 by changing the motor-drive enclosure to meet IP65 specifications. With this change the connector configuration changes to industry standard M12/M23 circular connectors.

  • Page 18: Section 1.2: Mdrive17Plus Detailed Specifications

    Input Voltage (+V) WARNING! Because the Range........................+12 to +48 VDC MDrivePlus consists of two Power supply current requirements (max. per MDrive17Plus).............2A core components, a drive (Actual power supply current will depend on voltage and load) and a motor, close attention...

  • Page 19: 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 Velocity be applied to the motor shaft without use of a load bearing Range....................

  • Page 20: P1 Connector - I/O And Power Connections

    I/O 2 Pin 3 White/Violet I/O 3 Pin 4 White/Blue I/O 4 Pin 5 Green Analog Input Pin 6 Black Power/Aux-Ground Pin 7 +V (+12 to +48 VDC) Table 1.2.1: MDrive17Plus P1 I/O and Power 1-10 MDI Hardware Manual Revision R052506...

  • Page 21: P2 Connector - Rs-422/485 Communications

    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.

  • Page 22: Section 1.3: Mdrive17Plus2 Detailed Specifications

    Input Voltage (+V) Supply Ripple and High Line. Range........................+12 to +48 VDC WARNING! Because the Power supply current requirements (max. per MDrive17Plus).............2A MDrivePlus consists of two core components, a drive (Actual power supply current will depend on voltage and load)

  • Page 23: Standard Motion Specifications

    Standard Motion Specifications Microstep Resolution – Open Loop Configuration Number of Settings ........................20 Available Microsteps Per Revolution 1000 1600 2000 3200 5000 6400 10000 12800 20000 25000 25600 40000 50000 51200 36000 21600 25400 1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep Encoder (Optional) Type ........................Internal, Magnetic...
  • Page 24 3.02 (76.7) ���� ����� Triple 2.77 (70.4) 3.37 (85.6) 16-Pin Pluggable Locking Wire Crimp Option MAX2 P2 Connector Options �� �� Control Knob 10-Pin IDC 10-Pin Friction Lock Wire Crimp Figure 1.3.1: MDrive17Plus Mechanical Specifications 1-14 MDI Hardware Manual Revision R052506...
  • Page 25 Pin/Wire Assignments P1 Connector - I/O and Power Connections WARNING! Because P1: I/O & POWER CONNECTOR the MDrive17Plus 2 �� �� Function Motion Control Wire Remote Encoder DOES NOT have ��������������������������� ������������������������ Crimp Expanded I/O Closed Loop Control ���������������������� ���������������������������...

  • Page 26: Options And Accessories

    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 P2 Connector. An in-line RS-422 converter enables parameter setting to a single MDrive17Plus Motion Control. Cable purchase recommended with first orders. Versions include: USB to 10-Pin IDC ..............

  • Page 27: Standard Electrical Specifications

    Input Voltage (+V) Supply Ripple and High Line. Range........................+12 to +48 VDC WARNING! Because the Power supply current requirements (max. per MDrive17Plus).............2A MDrivePlus (Actual power supply current will depend on voltage and load) consists of two core components, a drive Aux.

  • Page 28: Standard Motion Specifications

    Standard Motion Specifications Microstep Resolution – Open Loop Configuration Number of Settings ........................20 Available Microsteps Per Revolution 1000 1600 2000 3200 5000 6400 10000 12800 20000 25000 25600 40000 50000 51200 36000 21600 25400 1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep Encoder (Optional) Type ........................Internal, Magnetic...
  • Page 29 3.06 (77.72) 2.99 (75.95) (Ø 13.5) (Ø 22.1) Double 2.62 (66.55) 3.29 (83.57) 3.22 (81.79) Triple 2.96 (75.18) 3.63 (92.20) 3.56 (90.42) P2: 5-Pin P1: 19-Pin M23 (Male) Figure 1.4.1: MDrive17Plus 2 -65 Motion Control 1-19 Part 1: Hardware Specifications...
  • Page 30 Analog In Analog In Pin 16 I/O 2 I/O 2 Pin 17 I/O 4 I/O 4 Pin 18 I/O 10 Channel A – Pin 19 Power/Aux-Ground Power/Aux-Ground Table 1.4.1: MDrive17Plus -65 P1 19-Pin M23 Connector 1-20 MDI Hardware Manual Revision R052506...
  • Page 31 -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 65 P2 5-Pin M12 Connector. An in-line RS-422 converter enables parameter setting to a single MDrive17Plus -65 Motion Control.

  • Page 32: Section 1.5: Mdrive23Plus Motion Control Product Introduction

    S ec tio n 1.5 Note: The MDrivePlus Motion Control is available MDrive23Plus Motion Control Product Introduction in a CAN communications configuration. For more information and Hardware Introduction to the MDrive23Plus Motion Control System Specifications see Appendix H of this document. The MDrive23Plus Motion Control offers system designers a low cost, intelligent motion controller integrated with a NEMA 23 For detailed descriptions of...

  • Page 33: The Mdrive23Plus Motion Control Key Differences And Enhanced Features

    Control Knob for Manual Positioning Linear Slide Three Rotary Motor Lengths Available Auxiliary Logic Power Supply Input 20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes Open or Optional Closed Loop Control Programmable Motor Run and Hold Currents Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs One 10 Bit Analog Input Selectable: 0 to +10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA 0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments...

  • Page 34: Section 1.6: Mdrive23Plus Detailed Specifications

    S EC TI ON 1.6 WARNING! MDrive23Plus Detailed Specifications The maximum +75 VDC Input Voltage of the Standard Electrical Specifications MDrive23Plus series includes motor Back EMF, Power Supply Ripple and High Line. Input Voltage (+V) WARNING! Because the Range........................+12 to +75 VDC MDrivePlus consists of two Power supply current requirements (max.

  • Page 35: Software Specifications

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

  • Page 36: Mechanical Specificationsdimensions In Inches (Mm)

    Mechanical Specifications Dimensions in Inches (mm) ���� ����� ������ ������ ���������� ����� ����������� ������ ��������� ������ ���������� ����� ���������� �������� ���������� � ������� ����������� �������������������� ������������������� ���� ������ ����������� ���������� ������������������ �� ���������������� ���� ������ ���� ��������������� ����� ��������� ������������� �...

  • Page 37: P2 Connector - Rs-422/485 Communications

    P2 Connector - RS-422/485 Communications P2: COMM CONNECTOR RS-422/485 10-Pin Wire � � Function Crimp ���������� ���������� Pin 1 Pin 9 TX + ����������� ������������ Pin 2 TX – �������������� ����������� �������������� Pin 3 Pin 7 RX + ���������� ������������ Pin 4 Pin 8 RX –...

  • Page 38: Standard Electrical Specifications

    S EC TI O N 1.7 WARNING! MDrive23Plus 2 Detailed Specifications The maximum +75 VDC Input Voltage of the Standard Electrical Specifications MDrive23Plus series includes motor Back EMF, Power Supply Ripple and High Line. Input Voltage (+V) WARNING! Because the Range........................+12 to +75 VDC MDrivePlus consists of two Power supply current requirements (max.

  • Page 39: Standard Motion Specifications

    Standard Motion Specifications WARNING! When using the Microstep Resolution – Open Loop Configuration MDrivePlus Motion Number of Settings ........................20 Control with optional internal magnetic encoder, no axial force may Available Microsteps Per Revolution be applied to the motor shaft without use of a load bearing 1000 1600...
  • Page 40 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....................
  • Page 41 Pin/Wire Assignments P1 Connector - I/O and Power Connections WARNING! Because P1: I/O CONNECTOR the MDrive23Plus 2 �� � � Function Motion Control Wire �������������������������� ����������������������� Remote Encoder DOES NOT have �� Crimp Expanded I/O �� �� Closed Loop Control a Pin Configuration label ����������������������...

  • Page 42: Options And Accessories

    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.

  • Page 43: Standard Electrical Specifications

    SE C T IO N 1 . 8 MDrive23Plus 2 -65 Detailed Specifications WARNING! The maximum +75 VDC Input Voltage of the Standard Electrical Specifications MDrive23Plus series includes motor Back EMF, Power Input Voltage (+V) Supply Ripple and High Line. Range........................+12 to +75 VDC WARNING! Because the...
  • Page 44 Standard Motion Specifications Microstep Resolution – Open Loop Configuration Number of Settings ........................20 Available Microsteps Per Revolution 1000 1600 2000 3200 5000 6400 10000 12800 20000 25000 25600 40000 50000 51200 36000 21600 25400 1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep Encoder (Optional) Type ........................Internal, Magnetic...
  • Page 45 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-sec 2 /0.26 kg-cm 2 Weight (Motor + Driver)..................21.6 oz/612.13 g Double Length Holding Torque....................
  • Page 46 Pin/Wire Assignments P1 Connector - I/O and Power Connections Outer: Pins 1-12 �������������������� ������������ ����������������� �� ������������� �� � �� � �� ������������������ ��������������������� �� �� � � �� �� �� � � �� ������������ ������������ � � � ������������������ ��������������������������...
  • Page 47 P2 Connector - RS-422/485 Communications Note: To reduce P2: COMM CONNECTOR ����������� ����������� wiring time, please RS-422/485 order Part# MD- CC401-000, the USB to M12 Circular Function accessory cable with inline � � (Female) RS-422 Converter. Pin 1 TX – �...
  • Page 48 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 (1-4, 9-12) ..............8 Sourcing or Sinking Inputs Voltage Range Input...................

  • Page 49: Figure 1.9.1: Mdrive17Plus Motion Control Canopen Mechanical Specifications

    Flying Leads 7-Pin Pluggable Clamp 16-Pin Pluggable Type Terminal Strip Locking Wire Crimp Figure 1.9.1: MDrive17Plus Motion Control CANopen Mechanical Specifications P1 Connector - I/O and Power Connections - Plus Versions P1: I/O & POWER CONNECTOR Pluggable Flying Leads Function...

  • Page 50: P1 Connector - I/O And Power Connections - Plus Versions

    CAN High ������ Pin 8 No Connect ������ Pin 9 CAN +V �������� Figure 1.9.6: P2- DB-9 CANopen Table 1.9.3: MDrive17Plus P2 CANopen Communications Communications Return +V Supply 7 to 30 VDC Pin 3: CAN -V Pin 4: CAN HIGH CANopen...

  • Page 51: Mechanical Specifications (Sealed -65 Version)

    (Ø 13.5) Triple 2.96 (75.18) 3.63 (92.20) 3.72 (94.42) P1: 19-Pin M23 (Male) P2: 5-Pin Figure 1.9.8: MDrive17Plus 2 -65 Motion Control (Male) Pin/Wire Assignments P1 Connector - I/O and Power Connections Outer: Pins 1-12 Outer: Pins 1-12 ������������ ��������������������...
  • Page 52 I/O 2 Pin 17 I/O 4 I/O 4 Pin 18 I/O 10 Channel A – Pin 19 Power/Aux-Ground Power/Aux-Ground Table 1.9.4: MDrive17Plus -65 P1 19-Pin M23 Connector P2 Connector - CANOpen Communications P2: COMM CONNECTOR RS-422/485 ������������� ��������������� Circular Function (Female) �...
  • Page 53 S EC T IO N 1 . 1 0 MDrive23Plus CANopen 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) General Purpose I/O Number/Type MDrive23Plus (1-4)...........

  • Page 54: Figure 1.10.1: Mdrive23Plus

    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-sec 2 /0.46 kg-cm 2 Weight (Motor + Driver)..................39.2 oz/1111.3 g Mechanical Specifications Dimensions in Inches (mm) ���� ����� ������ ������ ���������� ����� ����������� ������ ���������...

  • Page 55: Figure 1.5.1: Mdrive23Plus

    Pin 5 Green Analog Input Pin 6 Black Power/Aux-Ground Pin 7 +V (+12 to +48 VDC) Table 1.10.1: MDrive17Plus P1 I/O and Power P1 Connector - I/O and Power Connections - Plus Versions P1: I/O CONNECTOR �� � � Function Wire �����������������������...

  • Page 56: Figure 1.10.7: Mdrive23Plus2-65 Motion Control

    Mechanical Specifications (Sealed -65 Version) Dimensions in Inches (mm) ����� ������ � ���� ����� ������ ������ ���������� ������ ����������� ���� ����� ������������� �������� ����������� ������� ���� �� ������ �������������������� ������������ ������������������� ���������� ����� ������ ������������������ ���������������� �� ����� ������ ������ ������...

  • Page 57: Figure 1.10.11: Canopen Network Using Mdriveplus Motion Control

    I/O 2 Pin 17 I/O 4 I/O 4 Pin 18 I/O 10 Channel A – Pin 19 Power/Aux-Ground Power/Aux-Ground Table 1.10.4: MDrive17Plus -65 P1 19-Pin M23 Connector P2 Connector - CANopen Communications P2: COMM CONNECTOR RS-422/485 ������������� ��������������� Circular Function (Female) �...
  • Page 58 Page Intentionally Left Blank 1-48 MDI Hardware Manual Revision R052506...

  • Page 59: Part 2: Connecting And Interfacing

    Part 2: Connecting and Interfacing...
  • Page 60 Page Intentionally Left Blank MDI Hardware Manual Revision R050406...

  • Page 61: Section 2.1: Mdriveplus Mounting And Connection Recommendations

    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...

  • Page 62: Recommended Wiring

    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 16-pin Locking Wire Crimp Connector Shell ..........JST PN PADP-16V-1-S Crimp Pins....................JST PN SPH-001T-P0.5L MDrive23Plus 14-pin Locking Wire Crimp Connector Shell ..........

  • Page 63: Available Communications Cables/Converters

    SE C T IO N 2 .2 Note: See the Specifications Section of this Interfacing MDrivePlus Communications document specific to the MDrivePlus model you purchased for detailed Available Communications Cables/Converters connector and pin information. To simplify the wiring and connection process IMS offers USB to RS-422 communications cables for each WARNING! Do of the MDrivePlus Motion Control models.

  • Page 64: 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 connect- ing 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).

  • Page 65: Data Cable Termination Resistors

    � � ���������� � � ���������� � ����Ω ��� ��� ��� ��� ���� ����Ω 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...
  • Page 66 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 67: 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 68: 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”). The device name is case sensitive. RC=25 ‘Run current HC=5...

  • Page 69: Mdriveplus Motion Control Immediate Party Mode Sample Codes

    NOTE: When instructed MDrivePlus Motion Control Immediate Party Mode Sample Codes to type Ctrl+J, that is the key + the Once Party Mode has been defined and set up as previously described under the heading “Multiple MDrivePlus key. It will not display in the Motion Control System (Party Mode)”, you may enter commands in the Immediate Mode in the IMS Termi- Terminal Window so be certain nal Window.

  • Page 70: Section 2.3: Interfacing And Using The Mdriveplus Motion Control I/O

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

  • Page 71: Mdriveplus Motion Control Digital Input Functions

    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.

  • Page 72: Mdriveplus Motion Control Digital Output Functions

    Active LOW example: NOTE: On IO 1 is to be configured as a Jog– input which will activate when a switch is toggled to ground (Sinking the Standard Input): MDrivePlus, when configured as outputs, the S1=8,0,0 ‘set IO point 1 to Jog–, Active LOW, Sinking I/O set is sinking ONLY! The Plus 2 Models add the Active HIGH example:...

  • Page 73: 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 74: I/O Usage Examples - Mdriveplus Standard I/O Set

    I/O Usage Examples — MDrivePlus Standard I/O Set NOTE: On the Standard The circuit examples below illustrate possible interface examples for using the MDrivePlus Motion Control MDrivePlus, power Digital I/O. Additional diagrams and code snippets are available in Appendix D: I/O Application Guide. ground is used to ground the I/O interface.

  • Page 75: 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. ������������ ������������� ����������������������� ���������������������������� ������������������ �������� �������...

  • Page 76: 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 77: General Purpose I/O Usage Examples - Enhanced I/O Set

    General Purpose I/O Usage Examples — Enhanced I/O Set NOTE: Advanced I/O interface circuit The MDrivePlus models add the functionality of either an additional 4 I/O points or an optional interface diagrams and for a user-defined remote encoder. Additionally, the I/O points, when configured as outputs have the added application examples are functionality of being configured as sinking or sourcing outputs.

  • Page 78: 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 79: 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. � ���������� ���������������������������� ��������������������� ����������������� ����� �������� ������� ��������������������� ������� ��������������� ������ ��� �������µ� ���� ���...

  • Page 80: 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. � ���������� ���������������������������� ��������������������� ����������������� ����� �������� ������� ������� � �������� ����� ���������������������� ���� ��� ����...

  • Page 81: 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 I/O receive clock inputs from an external device Applications Guide. Input: S<7-8>=33, <active state>...

  • Page 82: 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 83: Figure 2.3.12: Analog Input - Current Mode

    ������������ ��������������������������� ������ ������������� ������������ ���������������������������������������� ����� � � � ������������� � � � � � ��� � � ���������������������������������������� Figure 2.3.12: Analog Input - Current Mode 2-25 Part 2: Connecting and Interfacing...
  • Page 84 Page Intentionally Left Blank 2-26 MDI Hardware Manual Revision R050406...

  • Page 85: Appendices

    Appendices...
  • Page 86 Page Intentionally Left Blank MDI Hardware Manual Revision R052506...

  • Page 87: Appendix A: Mdriveplus Motion Control Motor Performance

    ������ ������ � � ��������������� � �� � ����������� � ��� � ������������������������������������ ������������������������������������� Figure A.1: MDrive17Plus Motion Control Speed-Torque Curves MDrive17Plus 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-sec 2 /0.038kg-cm 2 Weight (Motor + Driver)...................9.8 oz/277.8 g...

  • Page 88: Appendix B: Recommended Power And Cable Configurations

    ap p e nd i 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.

  • Page 89: Recommended Ims Power Supplies

    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...

  • Page 90: Appendix C: Mdrive With Planetary Gearbox

    Ap p e nd i x C MDrive with Planetary Gearbox Section Overview This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox, and may include product sizes not relevant to this manual. Shown are: Product Overview Selecting a Planetary Gearbox Mechanical Specifications Product Overview...

  • Page 91: Calculating The Shock Load Output Torque (Tab

    suitable combination for your application. Note: The MDrive23 and the numbers and Calculating the Shock Load Output Torque (T AB ) values used in these examples have been chosen Note: The following examples are based on picking “temporary variables” which may be adjusted. randomly for demonstration The shock load output torque (T AB ) is not the actual torque generated by the MDrive and Planetary Gearbox purposes.

  • Page 92: 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 93: 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 94: 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 95: 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 Any friction in the guidance of the rack The weight or mass of the object the rack is moving Weight of...

  • Page 96: 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 How the table is being driven and supported also affects theinertia Belt Drive...

  • Page 97: 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 the weight of any material or parts being moved Weight of chain...

  • Page 98: 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 99: Mdrive17Plus With Planetary Gearbox

    MDrive17Plus with Planetary Gearbox The MDrive17Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, en- able 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.

  • Page 100: Mdrive23Plus With Planetary Gearbox

    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...

  • Page 101: 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 ������������ ������������� ����������������������� �������� ���������������� ������� ������� ����� ����������� ��� ��������� ������ � ��� ����� ��� ���������� ����� ���� ��� ������������������������� ������������������ ������������������...

  • Page 102: Figure D.2: Pnp Interface To A Sourcing Input

    PNP Sourcing Input ������������ ������������� ����������������������� ������������������ ���������������������������� �������� ������� ��������������������� ������� ����������������� ��� � ����� ����� ���� ��� ��������� ������ ����� ��� ���������� ����������� ��� ������������������� ������������������������������������ 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...

  • Page 103: Figure D.3: Sinking Output To Relay

    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 104: Npn Sinking Input

    Enhanced I/O Set Interfacing and Application NPN Sinking Input Vih = 2.31 V MDrivePlus 2 Vil = 0.99 V Threshold (nom) = 1.5 V = 100 µA IOPWR Internal The internal pull-up voltage pull-up cannot provide output voltage current / voltage 3.3 V 65 - 160 uA 12 to...

  • Page 105: 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. �����...

  • Page 106: Mixed Input/Output Example

    Mixed Input/Output Example ����� ��� ������ ����������� ��� ��������������� ����� ����������� ��� ��������������� ����� ��� ��������� ���������� ����� � ��������� ���������� ��� ������ ����������� ��� ���� ����� ������������ ���� ���� ������� ����������� ���� ������� ����������� ���� ����� 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.

  • Page 107: 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 108: Appendix E: Mdriveplus Motion Control Closed Loop Control

    a p pe ndix 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 109: Appendix F: Optional Cables And Cordsets

    WARNING! DO NOT app en d i x F connect or disconnect the Communications Converter Cable from Optional Cables and Cordsets MDrive while power is applied! 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 inte- grated 10 pin IDC cable.

  • Page 110: Usb To 5-Pin M12 (Md-Cc401-000) (Sealed Version

    MD-CC400-000 Power Jack The 2.5mm power jack lo- Host cated on top of the converter MDrive 2.5 mm Power Jack housing can be used to main- tain logic power for MDrives Aux Pwr Sply that have an Aux-Power-Sup- USB Cable ply connection.

  • Page 111: Installation Procedure For The Mx-Cc40X-000

    Mechanical Specifications �������� ������� ��������� ��������� ��� ��������� ������������ ��������� ����������������������������� ��������������� ���������� ��������� ��������������������� Figure F.5: MD-CC401-000 Mechanical Specifications ���������������� ������������� ��������������������������� MD-CC401-000 Power Jack The 2.5mm power jack ���� located on top of the con- verter housing can be used ������...

  • Page 112: Figure F.10: Windows Logo Compatibility Testing

    Figure F.8: Hardware Update Wizard Screen 2 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). Figure F.9: Hardware Update Wizard Screen 3 The drivers will begin to copy.

  • Page 113: Determinig The Virtual Com Port (Vcp

    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.

  • Page 114: Figure F.14: Prototype Development Cable Pd16-1417-Fl3

    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 - PN PD16-1417-FL3 IMS recommends the Prototype Development Cable PD16-1417-FL3 with the first order of an...

  • Page 115: Cordsets (Sealed Version Only

    Cordsets 19-pin M23 single-ended cordsets are offered to speed prototyping of the sealed MDrivePlus-65. Measur- ing 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 ................
  • Page 116 This Page Intentionally Left Blank A-32 MDI Hardware Manual Revision R052506...
  • Page 117 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.
  • Page 118 Oceanside, CA 92054 Phone: +49/7720/94138-0 Phone: 760/966-3162 Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 Fax: 760/966-3165 Fax: +49/7720/94138-2 E-mail: mweber@imshome.com E-mail: motors@imshome.com E-mail: mweber@imshome.com © 2006 Intelligent Motion Systems, Inc. All Rights Reserved. REV050406 IMS Product Disclaimer and most recent product information at www.imshome.com.

This manual is also suitable for:

Mdrive17plus2Mdrive17plus2-65Mdrive23plusMdrive23plus2Mdrive23plus2-65

Table of Contents