Intelligent Motion Systems MDrive17Plus Hardware Reference Manual page 48

For detailed
descriptions of
supported CANopen
objects please refer to the
MDrive CANpen Software
Reference.
1-38
S EC TI O N 1.9
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)
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-sec 2 /0.038kg-cm 2
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-sec 2 /0.057kg-cm 2
Weight (Motor + Driver).........................................................................................10.5 oz/297.7 g
MDrive17Plus CANopen
MDI Hardware Manual Revision R052506