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IMS MDRIVE 17 Operating Instructions Manual

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intelligent motion systems, inc.
Excellence in Motion
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OPERA TING INSTRUCTIONS

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  • Page 1 Patent Pending intelligent motion systems, inc. Excellence in Motion OPERA TING INSTRUCTIONS...
  • Page 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.

  • Page 3: Table Of Contents

    The IMS Motor Interface ................27 Installing the IMS SPI Interface ..............27 Startup ......................29 The IMS Motor Interface GUI Configuration Utility ........29 Changing Parameters ................30 Illegal Parameters/Tool Tips ............... 30 Returning to Factory Defaults ..............31 Configuration Parameters ................
  • Page 4 Connecting the SPI Interface ..............48 Section 1.7: Configuring The MDrive Speed Control ........50 Section Overview ..................50 The IMS Analog Speed Control Utility ............50 Installing the IMS SPI Interface ..............50 Configuration Parameters Explained ............51 Setting the Configuration Parameters ............54 Configuring the MDrive17/23 Speed Control with User Defined SPI ..
  • Page 5 TTL Interface ..................17 Figure 1.2.6 Switch Interface ................. 17 Figure 1.2.7 Parameter Setup Cable for MDrive 17/23 ........... 18 Figure 1.2.8 SPI Interface Wiring and Connections ..........18 Figure 1.2.9 SPI Logic Level Shifting and Conditioning Schematic ......19 Figure 1.2.10 Minimum Required Connections ............
  • Page 6 Rotary MDrive1715 Motor Specifications ..........66 Table 2.2.3 Rotary MDrive1719 Motor Specifications ..........66 Table 2.3.1 Linear Actuator MDrive 17 Motor Specifcations ........68 Table 2.3.2 Acme Screws for the MDrive17 Linear Actuator ........ 69 Table 3.1.1 MDrive23 Recommended Power Supply Specifications ..... 72 Table 3.2.1...

  • Page 7: Notes And Warnings

    I M P O R T A N T ! R E A D T H I S F I R S T ! N o t e s a n d W a r n i n g s WARNING! The MDrive has components which are sensitive to Electrostatic Discharge (ESD).
  • Page 8 USING THE MDRIVE PRODUCT MANUAL Microstepping MDrive Variants Microstepping MDrive Microstepping MDrive Microstepping Linear with Single-Shaft End with Factory Mounted Actuator MDrive or Control Knob Encoder Relevant Sections Relevant Sections Relevant Sections of the Manual of the Manual of the Manual Section Page# Section...
  • Page 9 PART I MDrive Integrated Motor and Electronics General Informa tion...

  • Page 10: Section 1.1: The Mdrive Integral Motor+Driver

    S e c t i o n 1 . 1 T h e M D r i v e I n t e g r a l M o t o r + D r i v e r S e c t i o n O v e r v i e w The purpose of this section is to introduce the user to the MDrive integrated high torque motor and microstepping driver.

  • Page 11: Features And Benefits Of The Microstepping Mdrive

    I M S M o t o r I n t e r f a c e S o f t w a r e The IMS Motor Interface Software is accessed through the IMS SPI Interface which is an easy to install and use software program. The SPI Interface is included on the CD that ships with the MDrive or is available for download at www.imshome.com.

  • Page 12: Introduction To The Mdrive Speed Control

    The MDrive Speed Control has 12 setup parameters which are configured by using the included IMS Speed Control Interface. These enable the user to configure all of the operational parameters of the MDrive which are stored in non-volatile memory.

  • Page 13: Features And Benefits Of The Mdrive Speed Control

    Features and Benefits of the MDrive Speed Control Integrated Speed Control, Driver and NEMA17 or 23 Motor +12 to +48 (MDO17 and MDO23-4) or +24 to +75 VDC (MDO23-7) Input Voltage Digital Oscillator for Accurate Speed Control Low Cost Extremely Compact Available Configurations: Single Shaft* Planetary Gearbox*...

  • Page 14: Section 1.2: Interfacing The Microstepping Mdrive

    S e c t i o n 1 . 2 I n t e r f a c i n g T h e M i c r o s t e p p i n g M D r i v e S e c t i o n O v e r v i e w This section will acquaint the user with connecting and using the microstepping MDrive products.

  • Page 15: Interfacing Power And Logic Inputs (Connector P1)

    I n t e r f a c i n g P o w e r a n d L o g i c I n p u t s ( C o n n e c t o r P 1 ) Opto Spply Enhanced ØA...

  • Page 16: Figure 1.2.3 Optocoupler Inputs

    Each input is internally pulled-up to the level of the optocoupler supply and may be connected to sinking outputs on a controller such as the IMS LYNX or a PLC. These inputs are: 1] Step Clock (P1:3)
  • Page 17 P o w e r i n g t h e O p t o c o u p l e r s In order to maintain isolation, the optocouplers must be powered by an external power supply connected to P1:1, with the opto supply ground connected to the ground of the input control circuitry.

  • Page 18: Open Collector Interface

    I n p u t T i m i n g The direction input and the microstep resolution inputs are internally synchronized to the positive going edge of the step clock input. When a step clock pulse goes HIGH, the state of the direction input and microstep resolution settings are latched.

  • Page 19: Ttl Interface

    T T L I n t e r f a c e Shown Connected to the Direction Input. All other Inputs will be interfaced the same. +5 VDC PIN 1 OPTO Opto Supply P1:1 SPPLY SCLK Direction P1:4 TTL INTERFACE Figure 1.2.5: TTL Interface S w i t c h I n t e r f a c e Shown Connected to the Enable Input.

  • Page 20: Interfacing The Mdrive Spi Interface (Connector P2)

    This cable plugs in easily to connect a standard DB-25 PC Parallel/SPI port to the MD-CC100-000 Parameter Setup Cable MDrive’s 10 pin pin-header (P2). Figure 1.2.7: Parameter Setup Cable for MDrive 17/23 MDrive Connector P2 (SPI Interface) Description Pin Name Pin #...

  • Page 21: Minimum Required Connections

    U1:A HCT125 49.9 DB25: 2 P2: 8 330pF 100K DB25: 3 100K U1:B HCT125 DB25: 4 49.9 P2: 4 330pF DB25: 19 U1:D MOSI 49.9 P2: 7 HCT125 330pF 100K 4.9K 100K MISO U1:C 49.9 P2: 10 DB25: 15 HCT125 +5 VDC 1µF P2: 6...

  • Page 22: Section 1.3: Interfacing An Encoder

    Encoders are available in both single-end and differential configurations. All encoders, except the 1000 line encoder, have an index mark. Use of the encoder feedback feature of this product requires a controller such as an IMS LYNX or PLC. The encoder has a 100kHz maximum output frequency.

  • Page 23: General Specifications

    G e n e r a l S p e c i f i c a t i o n s T y p Units Supply Voltage (VDC) ....... -0.5 ........ 7 ..Volts Supply Current ..........30 ..... 57 ..... 85 ..mA Output Voltage ...........

  • Page 24: Encoder Signals

    E n c o d e r S i g n a l s S i n g l e - E n d E n c o d e r Rotation: 100 to 1000 Lines CW – B Leads A CCW –...

  • Page 25: Encoder Profiles

    E n c o d e r P r o f i l e s Differential Single-End For overall length, see the For overall length, see the Mechanical Specifications in Section 2.2 Mechanical Specifications in Section 2.2 Figure 1.3.5: MDrive17 with Encoder, Side Profile Single-End For overall length, see the Mechanical Specifications in Section 3.2...

  • Page 26: Figure 1.3.7 Mdrive17 With Encoder, Rear Profile

    2.16 1.70* (54.9) (43.2) 1.90** 1.42 (48.3) (36.1) * Single-End Encoder ** Differential Encoder 1.20 (30.4) 1.67 (42.4) Figure 1.3.7: MDrive17 with Encoder, Rear View 1.50 (38.1) 1.90** 2.92 (48.3) (74.2) 1.42 1.70* (36.1) (43.2) * Single-End Encoder ** Differential Encoder 1.20 (30.4) 2.22...

  • Page 27: Figure 1.3.9 Mdrive23 With 2000 Line Encoder, Side Profile

    For overall length, see the Mechanical Specifications in Section 3.2 Figure 1.3.9: MDrive23 with 2000 Line Encoder, Side Profile 1.50 (38.1) 1.17 (29.7) 2.92 3.00 (74.2) (76.2) 2.22 (56.4) Figure 1.3.10: MDrive23 with 2000 Line Encoder, Rear Profile NOTE: The 2000 Line Encoder is only available on the MDrive23.

  • Page 28: Encoder Cables

    E n c o d e r C a b l e s IMS offers assembled cables for both the Single-End and Differential Encoders. The IMS Part Numbers are listed below. 100 to 1000 Line Encoders: Single-End Encoder Cable (12” leads) ..........ES-CABLE-2 Differential Encoder Cable (36”...

  • Page 29: Section 1.4: Configuring The Microstepping Mdrive

    I n s t a l l a t i o n Insert the IMS Product CD into your CD-ROM Drive. The CD should autostart to the IMS Main Index Page. If the CD does not autostart, click “Start > Run” and type “x:\IMS.exe” in the “Open” box and click OK.

  • Page 30: Figure 1.4.1 The Ims Cd Main Index Page

    After the CD starts, the IMS Main Index Page will be displayed. Figure 1.4.1: The IMS CD Main Index Page Place your mouse pointer over the MDrive Icon. The Icon wil be highlighted and the text message “MDrive Integrated Motor &...

  • Page 31: Startup

    T h e I M S M o t o r I n t e r f a c e G U I C o n f i g u r a t i o n U t i l i t y The IMS Motor Interface GUI (Graphical User Interface) simplifies use with a single screen interface for configuring the MDrive17 and MDrive23.

  • Page 32: Changing Parameters

    G U I f o r “ C ” C o n n e c t o r Version Number Connection Status & Port Figure 1.4.5: Typical MDMC GUI NOTE: The following functions are applicable to all GUI versions. C h a n g i n g P a r a m e t e r s When a Parameter is changed, the font color will change to blue and the “Set”...

  • Page 33: Returning To Factory Defaults

    Holding cursor over value displays Tool Tips Figure 1.4.7: Illegal Parameters/Tool Tips R e t u r n i n g t o F a c t o r y D e f a u l t s To return to the Factory Defaults, click the “Default” button and the “Set” button.

  • Page 34: Configuration Parameters

    Direction Override (DIR) is only available on MDrive Microstepping “C” Connector versions. Parameter settings are automatically saved to memory when the “SET” button is clicked on the IMS Motor Interface screen. These parameters may all be changed on-the-fly. The Table below summarizes the parameters and their function, range, units and default setting.

  • Page 35: Microselect Values

    C o n f i g u r i n g t h e M D r i v e W i t h U s e r D e f i n e d S P I The MDrive may be configured and operated through the end user’s SPI interface without using the previously discussed IMS Motor Interface GUI and the optional Parameter Setup Cable (see the beginning of this section).

  • Page 36: Table 1.4.4 Spi Command Summary

    S P I C o m m a n d s SPI Commands and Parameters CMD/PRM RANGE NOTES READ ALL 0x40 –––– Reads the hex value of all parameters Writes the hex value to the Commands WRITE ALL 0x80 –––– following parameters "M"...

  • Page 37: Spi Read/Write Example

    S P I R e a d / W r i t e E x a m p l e Figure 1.4.9: SPI Read/Write C h e c k S u m C a l c u l a t i o n f o r S P I The values in the example above are 8-bit binary hexadecimal conversions for the following SPI parameters: MRC=25%, MHC=5%, MSEL=256.

  • Page 39: Interfacing Power And Speed Control Inputs (Connector P1)

    S e c t i o n 1 . 5 I n t e r f a c i n g T h e M D r i v e S p e e d C o n t r o l S e c t i o n O v e r v i e w This section covers the hardware interface of the MDrive versions with integrated speed control electronics.

  • Page 40: Figure 1.5.1 Mdrive Speed Control Block Diagram

    I n t e r f a c i n g P o w e r a n d S p e e d C o n t r o l I n p u t s ( C o n n e c t o r P 1 ) Power Enhanced ØA...

  • Page 41: Using Switches And A Potentiometer

    ON/OFF state of the internal clock pulse generator and the direction of motor rotation. Each input is internally pulled-up to +5 Volts and may be connected to sinking outputs on a controller such as the IMS LYNX or a PLC. These inputs are:...
  • Page 42 V e l o c i t y C o n t r o l I n p u t C h a r a c t e r i s t i c s S t a r t / S t o p ( P i n 1 ) The /Start input is internally pulled-up to +5VDC through a 4.99kΩ...

  • Page 43: Interfacing The Mdrive Spi Interface (Connector P2)

    This cable plugs in easily to connect a standard DB-25 PC Parallel/SPI port to the MD-CC100-000 Parameter Setup Cable MDrive’s 10 pin pin-header (P2). Figure 1.5.5: Parameter Setup Cable for MDrive 17/23 MDrive Connector P2 (SPI Interface) Description Pin Name Pin #...

  • Page 44: Minimum Required Connections

    U1:A HCT125 49.9 P2: 8 DB25: 2 330pF 100K DB25: 3 100K U1:B HCT125 DB25: 4 49.9 P2: 4 330pF DB25: 19 U1:D MOSI 49.9 P2: 7 HCT125 330pF 100K 4.9K 100K MISO U1:C 49.9 P2: 10 DB25: 15 HCT125 +5 VDC 1µF .1µF...

  • Page 45: Section Overview

    MDrive17 and MDrive23 C Connector Versions utilize a 12 Position, Keyed and Locking Pin and Receptacle for interfacing the I/O. For quick connection and setup, the following cables are available from IMS. P a r a m e t e r S e t u p C a b l e A low cost accessory which eliminates the need for the user to wire communica- tions.

  • Page 46: Figure 1.6.1 Typical Setup, Adapter, Prototype Development Cable Connections For Mdrive17/23 With C Connector

    Approx Length To MDrive 12" (304.8mm) MD-ADP-1723C Adapter Cable MD-ADP-1723C To Customer PC Approx Length Parallel/SPI Port 12" (304.8mm) ADAPTER P/N MD-ADP-14C ADP-3512-FL DB-25 Approx Length MD-CC100-000 6 Feet (1.8 M) Parameter Setup Cable To Customer ADP-3512-FL MD-CC100-000 Interface Prototype Development Cable Figure 1.6.1: Typical Setup, Adapter, and Prototype Development Cable Connections for MDrive17/23 with C Connector P a r a m e t e r S e t t i n g...

  • Page 47: Figure 1.6.2 I/O Interface Connections With C Connector

    M a t i n g C C o n n e c t o r I n f o r m a t i o n In production situations, customers specify socket type and type of wire termination and purchase directly from the Connector Distributor. The following information is provided as an aid in this process.
  • Page 48 It may be configured as sinking or sourcing depending on the state of the Optocoupler Reference. The direction, based on the state of the input, may be set using the IMS Motor Interface software accessed through the IMS SPI Interface on the CD included with the MDrive17/23. The direction input...

  • Page 49: Minimum Required Connections

    Sourcing Configuration LOGIC SUPPLY +5 to +24 V +VDC Direction to Pin 6 12 Pin To Isolated Logic Inputs Enable to Pin 5 Header (P1) on MDrive17/23 Step Clock to Pin 4 with C Connector Optocoupler Reference to Pin 3 Sinking Configuration LOGIC SUPPLY +5 to +24 V...

  • Page 50: Connecting The Spi Interface

    C o n n e c t i n g t h e S P I I n t e r f a c e The SPI (Serial Peripheral Interface) for the MDrive17/23 with C Connector utilizes a 12 Position, Keyed and Locking Pin and Receptacle. The recom- mended method of connecting to this receptacle is the Parameter Setup Cable.

  • Page 51: Figure 1.6.6 Spi Master With Single Mdrive17/23

    WARNING! The Parallel/SPI Port on your PC must be set to one of the following: output only bi-directional EPP (Extended Parallel Port) Try the SPI connection at the default parallel port setting first. If necessary, the Parallel/SPI port may be configured in the bios of your PC. C C o n n e c t o r S P I D e s c r i p t i o n ( P i n s 7 - 1 2 ) P i n 7 - + 5 V D C ( O u t p u t ) This output is a voltage supply for the setup cable only.

  • Page 52: Section Overview

    Windows 2000 SP1, Windows XP). 10 MB hard drive space. A free parallel communications port. I n s t a l l a t i o n Please refer to Section 1.4 “Installing the IMS SPI Interface” and follow steps 1 through 5.

  • Page 53: Configuration Parameters Explained

    S t a r t - u p Select “Start>Programs>Analog Speed Control>Analog Speed Control”. The configuration utility will automatically scan your LPT ports for the connected MDrive and configure communications. The connection status and port are displayed at the bottom of the configuration screen as shown below. Connection status and port Figure 1.7.1: Speed Control Configuration Utility Screen C o n f i g u r a t i o n P a r a m e t e r s E x p l a i n e d...
  • Page 54 A c c e l e r a t i o n ( A C C L ) The ACCL parameter sets the acceleration and deceleration in steps per second J o y s t i c k C e n t e r P o s i t i o n ( C ) The parameter sets the center position of the joystick.

  • Page 55: Table 1.7.2 Range Parameter Settings

    M o t o r H o l d i n g C u r r e n t ( M H C ) The MHC parameter sets the motor holding current as a percentage of the full output current of the driver. If the hold current is set to 0, the output circuitry of the driver will disable when the hold current setting becomes active.

  • Page 56: Setting The Configuration Parameters

    I n i t i a l V e l o c i t y ( V I ) The VI parameter establishes the initial velocity of the controlled axis in steps per second. The setting of this parameter represents the slowest speed the motor will turn.

  • Page 57: Figure 1.7.2 Changing Counts Readout To Volts

    Change Counts to Volts by single clicking "Cts" on screen Figure 1.7.2: Changing Counts Readout to Volts I l l e g a l P a r a m e t e r s When certain parameters such as the Range is changed, other parameters adopt different min/max values.

  • Page 58: Returning To Default Parameters

    R e t u r n i n g t o t h e D e f a u l t P a r a m e t e r s To return to the Default Parameters, click the “Defaults” button and then click the “Set”...

  • Page 59: Figure 1.7.5 Initialization Mode

    C o n f i g u r i n g t h e M D r i v e S p e e d C o n t r o l f o r B i d i r e c t i o n a l O p e r a t i o n When setting the MDrive Speed Control for bidirectional operation, it is necessary that the joystick or pot be calibrated.

  • Page 60: Configuring The Mdrive17/23 Speed Control With User Defined Spi

    Configuring the MDrive Speed Control With User Defined SPI The MDrive Speed Control may be setup and operated without the included IMS Motor Interface GUI. If the optional cable is not being used you will need to make one using the diagram (SPI Interface Wiring and Connections) shown in Section 1.5 of this...

  • Page 61: Table 1.7.5 Mdrive17&23 Speed Control Spi Command Summary

    S P I C o m m a n d s SPI COMMANDS AND PARAMETERS CMD/PRM HEX/DEFAULT NOTES RANGE READ ALL 0X40 Reads the hex value of all parameters Commands WRITE ALL 0X80 Writes the hex value to the following parameters Data READ "u"...
  • Page 62 S P I R e a d / W r i t e E x a m p l e C h e c k S u m C a l c u l a t i o n f o r S P I The values in the example above are 8-bit binary hexadecimal conversions for the WRITE ALL commands.
  • Page 64 PART II MDrive 17 Integrated Motor and Electronics Rotary Linear Actua tor...

  • Page 65: Power Supply Specifications

    S e c t i o n 2 . 1 M D r i v e 1 7 P o w e r S u p p l y & T h e r m a l R e q u i r e m e n t s P o w e r S u p p l y S p e c i f i c a t i o n s MDrive Power Supply Specifications Recommended Supply Type...

  • Page 66: Section Overview

    S e c t i o n 2 . 2 R o t a r y M D r i v e 1 7 S p e c i f i c a t i o n s S e c t i o n O v e r v i e w This section contains mechanical, motor and electrical specifications specific to each version of the Rotary MDrive17.

  • Page 67: Interface Options

    I n t e r f a c e O p t i o n s - M D r i v e 1 7 0.44 (11.2) 12.00 0.36 +1.0/-0.0 (9.1) (304.8) (+25.4/-0.0) Flying Leads Pluggable Clamp C Connector* Type Terminal Block * Not available for MDO17 Speed Control Figure 2.2.2: Interface Options M o t o r S p e c i f i c a t i o n s...

  • Page 68: Figure 2.2.4 Rotary Mdrive 1715 Speed/Torque Data

    MDrive1715 Motor Specifications and Speed/Torque Curves MD1715 60 (42.4) Holding Torque oz-in (N-cm) Detent Torque oz-in (N-cm) 2.08 (1.47) Rotor Inertia oz-in-sec (kg-cm ) 0.00080 (0.057) Weight (Motor & Driver) oz (g) 10.5 (297.7) Table 2.2.2: Rotary MDrive 1715 Motor Specifications 24 VDC 45 VDC 1000...
  • Page 69 E l e c t r i c a l S p e c i f i c a t i o n s M D r i v e 1 7 M i c r o s t e p p i n g Input Voltage (+V) Range .............

  • Page 70: Section Overview

    S e c t i o n 2 . 3 L i n e a r M D r i v e 1 7 S p e c i f i c a t i o n s S e c t i o n O v e r v i e w This section contains mechanical, motor and electrical specifications specific to the Linear MDrive17.

  • Page 71: Force/Speed Curve - 24Vdc

    F o r c e / S p e e d C u r v e : 2 4 V D C Refer to the table below for screw pitch information. Figure 2.3.2: Force/Speed Curve - 24VDC (100% Current) F o r c e / S p e e d C u r v e : 4 5 V D C Refer to the table below for screw pitch information.

  • Page 72: Mdrive17 Mounting Screw Depth

    M D r i v e 1 7 M o u n t i n g S c r e w s Care must be observed when installing the mounting screws on ALL MDrive17 versions including Linear Actuators. The mounting holes on the flange are not drilled through and have a maximum depth of 0.150”...
  • Page 73 PART III MDrive 23 Integrated Motor and Electronics Rot ary Linear Actua tor...

  • Page 74: Table 3.1.1 Mdrive23 Recommended Power Supply Specifications

    S e c t i o n 3 . 1 M D r i v e 2 3 P o w e r & T h e r m a l R e q u i r e m e n t s Motor Power Supply Requirements 75V MD23 (-7) Specifications...

  • Page 75: Figure 3.2.1 Rotary Mdrive23 Mechanical Specifications

    S e c t i o n 3 . 2 R o t a r y M D r i v e 2 3 S p e c i f i c a t i o n s S e c t i o n O v e r v i e w This section contains mechanical, motor and electrical specifications specific to each version of the Rotary MDrive23.

  • Page 76: Interface Options

    I n t e r f a c e O p t i o n s - M D r i v e 2 3 0.44 (11.2) 12.00 0.36 +1.0/-0.0 (9.1) (304.8) (+25.4/-0.0) Flying Leads Pluggable Clamp C Connector* Type Terminal Block * Not available for MDO23 Speed Control or 75 VDC MDM23 Microstepping Figure 3.2.2: Interface Options M o t o r S p e c i f i c a t i o n s...

  • Page 77: Figure 3.2.4 Rotary Mdrive 2222 Speed/Torque Data

    MDrive 2222 Motor Specifications and Speed/Torque Curves MD2222 Holding Torque oz-in (N-cm) 144 (102) Detent Torque oz-in (N-cm) 5.6 (3.92) 0.0037 (0.26) Rotor Inertia oz-in-sec (kg-cm ) Weight (Motor & Driver) oz (g) 24.4 (691.7) Table 3.2.2: Rotary MDrive2222 Motor Specifications 24 VDC 45 VDC 75 VDC...
  • Page 78 E l e c t r i c a l S p e c i f i c a t i o n s M D r i v e 2 3 M i c r o s t e p p i n g Input Voltage (+V) Range ......

  • Page 79: Linear Actuator Mdrive23 Mechanical Specifications

    S e c t i o n 3 . 3 L i n e a r M D r i v e 2 3 S p e c i f i c a t i o n s S e c t i o n O v e r v i e w This section contains mechanical, motor and electrical specifications specific to the Linear MDrive23.

  • Page 80: Force/Speed Curve - 24Vdc

    F o r c e / S p e e d C u r v e : 2 4 V D C Refer to the table on the following page for screw pitch information. Load Limit 200lbs / 890N Screw F Scre E Scre Scre...

  • Page 81: Figure 3.3.4 Force/Speed Curve - 75Vdc

    F o r c e / S p e e d C u r v e : 7 5 V D C Refer to the table below for screw pitch information. Load Limit 200lbs / 890N Screw F Screw E Screw D Screw C Screw B...
  • Page 82 A P P E N D I X A R e c o m m e n d e d C a b l e C o n f i g u r a t i o n s Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive17 and MDrive23.
  • Page 83 Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge NOTE: To Cable A Connect the cable illustrated in Example A to the output of the Full Wave Bridge Full Wave Bridge Cable Length as required Shielded Twisted Pair (Wire Size from MDrive Supply Cable AWG Table)
  • Page 84 Example C – Cabling 50 Feet or Greater, AC Power to Power Supply DC Volts Out NOTE: To Cable A Connect the cable illustrated in Example A to the output of the Power Supply Power Supply Cable Length as required Shielded Twisted Pair (Wire Size from MDrive Supply Cable AWG Table)
  • Page 85 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. MDrive Supply Cable AWG Table 1 Ampere (Peak) Length (Feet) 25 50* 75* 100* Minimum AWG 20 18 18...
  • Page 86 a d d e n d u m M D r i v e w i t h P l a n e t a r y G e a r b o x S e c t i o n O v e r v i e w This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox, and may include product sizes not relevant to this manual.
  • Page 87 O v e r l o a d T o r q u e 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.
  • Page 88 Use the equation compendium below to calculate the shock load output torque. F a c t o r s 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.
  • Page 89 For the Reduction Ratio (i), divide the MDrive’s 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.
  • Page 90 Please note that this is not the usable torque range. The torque output to the Planetary Gearbox must include a safety factor (s ) to allow for any voltage and current deviations supplied to the MDrive. The motor torque must include a safety factor (s ) ranging from 0.5 to 0.7.
  • Page 91 When calculating the shock load output torque (T ), the calculated nominal output torque (T ) and the operating factor (C ) are taken into account. C 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.
  • Page 92 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.

  • Page 93: Table

    S y s t e m I n e r t i a 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.
  • Page 94 R a c k a n d P i n i o n 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 ❒...
  • Page 95 R o t a r y T a b l e 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 ❒...
  • Page 96 C h a i n D r i v e 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 ❒...
  • Page 97 MDrive14, 17, 23 and 34 Planetary Gearbox. The values are in oz-in-sec (ounce-inches-second squared). To calculate the inertia in kg-cm (kilograms-centimeter squared) multiply oz-in-sec 70.6154. Planetary Gearbox Inertia Moments (oz-in-sec Rounded MDrive 14 MDrive 17 MDrive 23 MDrive 34 Stages Ratio Gearbox Gearbox Gearbox Gearbox 0.00002181...
  • Page 98 M e c h a n i c a l S p e c i f i c a t i o n s M D r i v e 1 4 w i t h P l a n e t a r y G e a r b o x Dimensions in Inches (mm) 1.66 (42.1)
  • Page 99 M D r i v e 1 7 w i t h P l a n e t a r y G e a r b o x Dimensions in Inches (mm) 1.33 (33.8) 0.08 (2.0) Ø 0.315 +0/-0.0004 (Ø 8.0 +0/-0.009) 2.16 (54.9) Ctrg.
  • Page 100 M D r i v e 2 3 w i t h P l a n e t a r y G e a r b o x Dimensions in Inches (mm) 1.63 (41.4) 0.106 (2.7) Ø 0.472 +0/-0.0007 (Ø 12.0 +0/-0.018) 2.92 (74.2) Ctrg.
  • Page 101 M D r i v e 3 4 w i t h P l a n e t a r y G e a r b o x Dimensions in Inches (mm) 2.07 (52.6) 0.197 (5.0) 1.575 Ø 0.748 +0/-0.0008 (40.0) (Ø...
  • Page 102 Warranty. When installing a gear, pulley, coupling or other driving device to the output shaft of the Planetary Gearbox, IMS recommends that it be “slip-fit” onto the shaft and properly secured, i.e. with set screws.
  • Page 103 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.
  • Page 104 Phone: 760/966-3162 69005 Lyon, France Fax: 760/966-3165 E-mail: wtech@imshome.com Phone: +33/4 7256 5113 Fax: +33/4 7838 1537 German Sales/Technical Support IMS MOTORS DIVISION 105 Copperwood Way, Suite H Phone: +49/35205/4587-8 Oceanside, CA 92054 Fax: +49/35205/4587-9 E-mail: hruland@imshome.com Phone: 760/966-3162 Fax: 760/966-3165 E-mail: motors@imshome.com...

This manual is also suitable for:

Mdrive 23

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