Intelligent Motion Systems MDrive17Plus Hardware Reference Manual page 5

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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