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IMS MDrive34Plus Product Manual

Microstepping integrated motor and driver
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MDrive34Plus
Microstepping
Integrated Motor and Driver
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Summary of Contents for IMS MDrive34Plus

  • Page 1 MDrive34Plus Microstepping Integrated Motor and Driver...
  • Page 2 Intelligent Motion Systems and 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 aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems, Inc., against all damages.
  • Page 3 Important information Qualification of personnel Intended Use The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specifically designed for safety functions are not approved for applications where the functioning of the drive could endan- ger persons.
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  • Page 5: Table Of Contents

    Connecting Parameter Setup Cable ... 1-1 Install the IMS SPI Motor Interface ... 1-2 Part 1: Hardware Specifications Section 1.1: Introduction to the MDrive34Plus Microstepping... 1-5 Configuration Interface ... 1-5 Features and Benefits ... 1-5 Section 1.2: MDrive34Plus Microstepping Specifications ... 1-7 General Specifications ...
  • Page 6 SPI Timing Notes ... 2-35 Check Sum Calculation for SPI ... 2-35 SPI Commands and Parameters... 2-36 SPI Communications Sequence ... 2-37 Appendix A: MDrive34Plus Microstepping Motor Performance ...A-3 Speed-Torque Curves ...A-3 Motor Specifications ...A-4 Appendix B: Planetary Gearboxes ...A-5 Section Overview ...A-5...
  • Page 7 Figure GS.3: IMS Motor Interface Showing Default Settings ... 1-2 Figure GS.2: MDrivePlus CD ... 1-2 Part 1: Hardware Specifications Figure 1.1.1: MDrive34Plus Microstepping Integrated Motor and Driver Electronics ... 1-5 Figure 1.2.1: MDrive34Plus Microstepping Dimensional Information ... 1-9 Figure 1.2.2: MDrive34Plus Microstepping Connector Options ... 1-10 Figure 1.2.3: MDrive34Plus Microstepping Flying Leads ...
  • Page 8 Figure 2.6.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown) ... 2-37 Appendices Figure A.1: MDrive34Plus Microstepping Single Length Speed-Torque Curves ...A-3 Figure A.2: MDrive34Plus Microstepping Double Length Speed-Torque Curves ...A-3 Figure A.3: MDrive34Plus Microstepping Triple Length Speed-Torque Curves ...A-4 Figure B.1: MDrive34 Torque-Speed Curve ...A-7...
  • Page 9 Part 1: Hardware Specifications Table 1.2.1: MDrive34Plus Microstepping Electrical Specifications ... 1-7 Table 1.2.2: MDrive34Plus Microstepping Environmental Specifications ... 1-7 Table 1.2.3: MDrive34Plus Microstepping I/O Specifications ... 1-7 Table 1.2.4: MDrive34Plus Microstepping Communications Specifications ... 1-7 Table 1.2.5: MDrive34Plus Microstepping Motion Specifications ... 1-7 Table 1.2.6: MDrive34Plus Microstepping Motor Specifications ...
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  • Page 11: Before You Begin

    Gettin g Sta rted Before You Begin The Quick Start guide is designed to help quickly connect and begin using your MDrive34Plus Microstepping integrated motor and driver. The following examples will help you get the motor turning for the first time and introduce you to the basic settings of the drive.

  • Page 12: Install The Ims Spi Motor Interface

    Because the MDrive consists The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDrive34Plus of two core Microstepping. It is available both on the MDrive34Plus CD that came with your product and on the IMS web components, a drive and site at http://www.imshome.com/software_interfaces.html.

  • Page 13: Part 1: Hardware Specifications

    Part 1: Hardware Specifications Section 1.1: MDrive34Plus Microstepping Product Introduction Section 1.2: MDrive34Plus Microstepping Detailed Specifications Part 1: Hardware Specifications MICROSTEPPING...
  • Page 14 Page Intentionally Left Blank MDrive 34Plus Microstepping Hardware - Revision R071108 Relevant to Firmware Version 3.0.02...

  • Page 15: Section 1.1: Introduction To The Mdrive34Plus Microstepping

    Configuration Interface The IMS Motor Interface software is an easy to install and use GUI for configuring the MDrive34Plus from a computer's USB port. GUI access is via the IMS SPI Motor Interface included on the CD shipped with the prod- uct, or from www.imshome.com.
  • Page 16 Motor Run/Hold Current  Motor Direction vs. Direction Input  Microstep Resolution  Clock Type: Step and Direction, Quadrature, Step Up and Step Down  Programmable Digital Filtering for Clock and Direction Inputs   Available Options: Internal Optical Encoder  Integrated Planetary Gearbox ...

  • Page 17: General Specifications

    SE C T IO N 1 . 2 General Specifications Electrical Specifications Input Voltage (+V) Range* Max Power Supply Current (Per MDrive34Plus)* * Actual Power Supply Current will depend on Voltage and Load. Table 1.2.1: MDrive34Plus Microstepping Electrical Specifications Environmental Specifications...

  • Page 18: Setup Parameters

    Name MSEL EN ACT HCDT CLK TYPE CLK IOF WARN TEMP USER ID Table 1.2.6: MDrive34Plus Microstepping Motor Specifications MDrive17Plus Microstepping Setup Parameters Function Range Motor Hold Current 0 to 100 Motor Run Current 1 to 100 1, 2, 4, 5, 8, 10, 16, 25,...

  • Page 19: Mechanical Specifications

    (86.1 SQ.) 1.981 (50.32) 0.731 1.250 (18.57) (31.75) 3.727 (94.67) L MAX2 Figure 1.2.1: MDrive34Plus Microstepping Dimensional Information Part 1: Hardware Specifications 2.739 SQ. (69.57 SQ.) 3.39 SQ. 0.394 (10.01) L MAX L MAX2 Option - Control Knob 1.46 ±0.04 (37.1...

  • Page 20: Figure 1.2.2: Mdrive34Plus Microstepping Connector Options

    Connector Options The MDrive34Plus Microstepping comes in three Connector Options Flying Leads Type: 12’ (30.5 cm) Flying Leads Function: Power, I/O and Encoder (optional) Type: 10-Pin IDC Function: SPI Communications 1-10 12" (30.5 cm) Flying Leads Locking Wire Crimp Connectors...

  • Page 21: Pin Assignment And Description - Flying Leads Version

    White: OptoRef Orange: Step Clock Blue: Direction Brown: Enable Black: GND Red: +VDC Figure 1.2.3: MDrive34Plus Microstepping Flying Leads Part 1: Hardware Specifications Function Description The Signal applied to the Optocoupler Reference will determine the sinking/ or sourcing configuration of Opto Reference the inputs.

  • Page 22: Figure 1.2.4: Mdrive34Plus Microstepping Flying Leads With Single-End Encoder

    Yellow/Orange: Channel B- 1-12 White: OptoRef Blue: Direction Brown: Enable Black: GND Red: +VDC Figure 1.2.4: MDrive34Plus Microstepping Flying Leads with Single-End Encoder White: OptoRef Blue: Direction Brown: Enable Black: GND Red: +VDC Figure 1.2.5: MDrive34Plus Microstepping Flying Leads with Differential Encoder MDrive 34Plus Microstepping Hardware - Revision R071108 Relevant to Firmware Version 3.0.02...

  • Page 23: P2 Connector - Spi Communications

    MD-CC300-000 Note: The P2 Connector (10- Pin IDC, SPI Communications) is only available on the Flying Leads version of the MDrive34Plus Microstepping. On the models with pluggable connectors, SPI Communications interfaces to P1 (12-Pin Locking Wire Crimp) NEED A CABLE?

  • Page 24: Pin Assignment And Description - Pluggable Interface Version

    Pin Assignment And Description - Pluggable Interface Version NEED A CABLE? The following cables and P1 Connector - I/O and SPI Communications, 12-Pin Locking Wire Crimp converters are available to Pin Assignment - P1 Power, I/O and SPI interface with P1: Connections 12-Pin Locking Wire Crimp PD12-1434-FL3...

  • Page 25: P3 Connector - Dc Power, 2-Pin Locking Wire Crimp

    Pin 1 Pin 2 Figure 1.2.8: P3 Connector - DC Power +12 to +75 VDC Part 1: Hardware Specifications Description +12 to +75 VDC, 4 Amps Maximum per MDrive34Plus. Power Supply Return. Table 1.2.11: P3 Connector Recommended Cable: P/N PD02-3400-FL3...

  • Page 26: P4 Connector - Differential Encoder, 10-Pin Friction Lock Wire Crimp

    NEED A CABLE? P4 Connector - Differential Encoder, 10-Pin Friction Lock Wire Crimp The following Pin Assignment - P2 SPI Communications cables and converters are available to interface with P4: 10-Pin Friction Lock Wire Crimp PD10-3400-FL3 Recommended PD10-3400-FL3 1-16 10-Pin Wire Function Description Crimp...

  • Page 27: Connectivity

    Planetary Gearbox Efficient, low maintenance planetary gearboxes are offered assembled with the MDrive34Plus. Refer to details and part numbers on the back cover. Linear Slide Integrated linear slides are available factory installed for precision linear movement. Screw leads are 0.1", 0.2", 0.5"...
  • Page 28 Page Intentionally Left Blank 1-18 MDrive 34Plus Microstepping Hardware - Revision R071108 Relevant to Firmware Version 3.0.02...

  • Page 29: Part 2: Interfacing And Configuring

    Part 2: Interfacing and Configuring Section 2.1: Mounting and Interface Guidelines Section 2.2: Interfacing DC Power Section 2.3: Interfacing Logic Inputs Section 2.4: Interfacing SPI Communications Section 2.3: Using the IMS SPI Motor Interface Section 2.4: Using User-Defined SPI Part 2: Interfacing and Configuring MICROSTEPPING...
  • Page 30 Page Intentionally Left Blank MDrive 34Plus Microstepping Hardware - Revision R071108 Relevant to Firmware Version 3.0.02...

  • Page 31: Section 2.1: Mounting And Interface Guidelines

    Allow Top Clearance for Wiring/Cabling MDrive34Plus Mounting Flange or Adapter Plate* When determining material and thickness keep the maximum MDrive34Plus temperature of 85°C in consideration. Mounting Hole Pattern 4x Ø 0.217 (4x Ø 5.51) Ø 2.900 (Ø 73.66) 2.739 SQ.

  • Page 32: Layout And Interface Guidelines

    Layout and Interface Guidelines Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level cables and make your system unreliable. Logic level cables must be shielded to reduce the chance of EMI induced noise. The shield needs to be grounded at the signal source to earth.

  • Page 33: Recommended Wiring

    12-pin Locking Wire Crimp Connector Shell ... Tyco 1-794617-2 Crimp Pins ... Tyco 794610-0-1 Crimp Tool ... Tyco 91501-1 2-Pin Locking Wire Crimp (Power) The following mating connectors are recommended for the MDrive34Plus JST distributor for ordering and pricing information. Power - P3 Mating Connector Kit ... CK-05 Prototype Development Cable ...

  • Page 34: Securing Power Leads And Logic Leads

    Securing Power Leads and Logic Leads Adhesive Anchor/Tywrap Some applications may require that the MDrive move with the axis motion. If this is a requirement of your application, the motor leads must be properly anchored. This will prevent flexing and tugging which can cause damage at critical connection points within the MDrive.

  • Page 35: Section 2.2: Interfacing Dc Power

    SE C T IO N 2 .2 Choosing a Power Supply for Your MDrive When choosing a power supply for your MDrivePlus there are performance and sizing issues that must be addressed. An undersized power supply can lead to poor performance and even possible damage to the device, which can be both time consuming and expensive.

  • Page 36: Dc Power Supply Recommendations

    WARNING! DO NOT Plug or unplug Power with power applied! The power requirements for the Motion Control MDrive34Plus are: Output Voltage ...+12 to +75 VDC (Includes Back EMF) Current (max. per unit) ...4A (Actual power supply current requirement will depend upon voltage and load) Recommended IMS Power Supplies IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products.

  • Page 37: Connecting Dc Power

    Power Ground +VDC Shielded Twisted Pair Cable Shield to Earth Ground +V Voltage: +12 to +75* VDC +V Current: 4A Max Per MDrive34Plus Recommended IMS Power Supplies: IP804 IP806 ISP300-7 *Includes Back EMF! Part 2: Interfacing and Configuring –...

  • Page 38: Recommended Power And Cable Configurations

    Recommended Power and Cable Configurations Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive. Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet long. If cabling of 50 feet or longer is required, the additional length may be gained by adding an AC power supply cable (see Examples B &...

  • Page 39: Table 2.2.1: Recommended Wire Gauges

    MDrive34Plus Recommended Power Supply Cable AWG 1 Amperes (Peak) Length (Feet) Minimum AWG 2 Amperes (Peak) Length (Feet) Minimum AWG *Use the alternative methods illustrated in examples B and C when cable length is ≥ 50 feet. Also, use the same current rating when the alternate AC power is used.
  • Page 40 Page Intentionally Left Blank 2-12 MDrive 34Plus Microstepping Hardware - Revision R071108 Relevant to Firmware Version 3.0.02...

  • Page 41: Section 2.3: Isolated Input Interface And Connection

    SE C T IO N 2 .3 Optically Isolated Logic Inputs The MDrivePlus Microstepping has Opto Ref. three optically iso- lated inputs which Step Clock are located at the flying leads or on connector P1. These Direction inputs are iso- lated to minimize or Enable eliminate electrical...

  • Page 42: Figure 2.3.2: Isolated Input Pins And Connections

    Controller Opto Reference Direction, Enable) 2-14 See Input Configuration Step Clock Channel A Clock Up Direction Channel B Clock Down Enable Input Configuration Inputs Configured as Sourcing Controller I/O Ground Inputs Configured as Sinking +5 to +24VDC Figure 2.3.2: Isolated Input Pins and Connections Optocoupler Reference Input...

  • Page 43: Isolated Logic Input Characteristics

    Isolated Logic Input Characteristics Enable Input This input can be used to enable or disable the driver output circuitry. Leaving the enable switch open (Logic HIGH, Disconnected) for sinking or sourcing configuration, the driver outputs will be enabled and the step clock pulses will cause the motor to advance.

  • Page 44: Figure 2.3.5: Clock Input Timing Characteristics

    2-16 STEP/DIRECTION TIMING QUADRATURE TIMING UP/DOWN (CW/CCW) TIMING Figure 2.3.5: Clock Input Timing Characteristics Clock Input Timing Symbol Parameter Step/Direction T Direction Set Up T Direction Hold T Step High T Step Low T Direction Change T Channel High/Low F Step Maximum SMAX F Channel Maximum CHMAX...

  • Page 45: Optocoupler Reference

    Optocoupler Reference The MDrivePlus Microstepping Logic Inputs are optically isolated to prevent electrical noise being coupled into the inputs and causing erratic operation. There are two ways that the Optocoupler Reference will be connected depending whether the Inputs are to be configured as sinking or sourcing.

  • Page 46: Input Connection Examples

    Input Connection Examples The following diagrams illustrate possible connection/application of the MDrivePlus Microstepping Logic Inputs. 2-18 Open Collector Interface Example NPN Open Collector Interface +5 to +24VDC Controller Output Controller Ground PNP Open Collector Interface +5 to +24VDC Controller Output Controller Ground Figure 2.3.6: Open Collector Interface Example (Sinking)

  • Page 47: Switch Interface Example

    Switch Interface Example +5 to +24VDC SPST Switch +5 to +24VDC Figure 2.3.7: Switch Interface Example Part 2: Interfacing and Configuring Switch Interface (Sinking) Opto Ref. MDrivePlus Speed Control Input Switch Interface (Sourcing) Opto Ref. MDrivePlus Speed Control Enable Input Input SPST Switch...

  • Page 48: Minimum Required Connections

    P3:2 - Wire Crimp, Black Flying Lead P1:4 - Wire Crimp, Orange Flying Lead P1:6 - Wire Crimp, Blue Flying Lead P1:3 - Wire Crimp, White Flying Lead MDrive34Plus Microstepping MDrive 34Plus Microstepping Hardware - Revision R071108 Relevant to Firmware Version 3.0.02...

  • Page 49: Section 2.4: Connecting Spi Communications

    SE C T IO N 2 .4 Connecting the SPI Interface The SPI (Serial Peripheral Interface) is the communications and configuration interface. For prototyping we recommend the purchase of the parameter setup cable MD-CC300-000. For more information on prototype development cables, please see Appendix: C: Cables and Cordsets SPI Signal Overview +5 VDC (Output) This output is a voltage supply for the setup cable only.

  • Page 50: Spi Pins And Connections

    WARNING! The SPI Pins and Connections 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 using the default parallel port setting first. If necessary, the Parallel/SPI port may be configured in the bios of your PC.

  • Page 51: Logic Level Shifting And Conditioning Circuit

    Logic Level Shifting and Conditioning Circuit The following circuit diagram is of a Logic Level shifting and conditioning circuit. This circuit should be used if you are making your own parameter cable and are using a laptop computer with 3.3 V output parallel ports.

  • Page 52: Spi Master With Multiple Mdriveplus Microstepping

    SPI Master with Multiple MDrivePlus Microstepping 2-24 It is possible to link multiple MDrivePlus Microstepping units in an array from a single SPI Master by wiring the system and programming the user interface to write to multiple chip selects. Each MDrivePlus on the bus will have a dedicated chip select. Only one system MDrivePlus can be communicated with/Pa- rameters changed at a time.

  • Page 53: Section 2.5: Using The Ims Spi Motor Interface

    SE C T IO N 2 .5 Installation The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDrivePlus Microstepping. It is available both on the CD that came with your product and on the IMS web site at http:// www.imshome.com/software_interfaces.html.

  • Page 54: Ims Spi Motor Interface Menu Options

    Blue: New Value which has not yet been set to NVM. Black: This is the value Currently Stored in NVM IMS SPI Motor Interface Menu Options File View 2-26 Figure 2.5.1: SPI Motor Interface Color Coding > Open: Opens a saved *.mot (Motor Settings) file. >...

  • Page 55: Figure 2.5.4: Spi Motor Interface Recall Menu

    Recall! Retrieves the settings from the MDrivePlus Microstepping. Recall Last Stored Parameter Settings Figure 2.5.4: SPI Motor Interface Recall Menu Upgrade! Upgrades the MDrivePlus Microstepping firmware by placing the device in Upgrade Mode and launching the firmware upgrader utility. Toggle MForce into Upgrade Mode for Firmware Upgrade Figure 2.5.5: SPI Motor Interface Upgrade Menu...

  • Page 56: Screen 1: The Motion Settings Configuration Screen

    Screen 1: The Motion Settings Configuration Screen Microstep Resolution Holding Current The IMS SPI Motor Interface Software opens by default to the Motion Settings Screen shown on the left. There are six basic parameters that may be set here: MSEL (Microstep Resolution Selection) The MDrivePlus Microstepping features 20 microstep resolutions.

  • Page 57: Hcdt (Hold Current Delay Time)

    HCDT (Hold Current Delay Time) The HCDT Motor Hold Current Delay sets time in milliseconds for the Run Current to switch to Hold Current when motion is complete. When motion is complete, the MDrivePlus Microstepping will reduce the current in the windings of the motor to the percentage specified by MHC when the specified time elapses.

  • Page 58: Screen 2: I/O Settings Configuration Screen

    Screen 2: I/O Settings Configuration Screen The I/O Settings screen may be accessed by clicking View > IO Settings on the menu bar. This screen is used to configure the Input Clock type, the filtering and the Active High/Low State of the Enable Input. Input Clock Type The Input Clock Type translates the specified pulse source that the motor will use as a reference for establishing stepping resolution based on the frequency.

  • Page 59: Ims Part Number/Serial Number Screen

    All of the IMS SPI Motor Interface Screens have the Fault field visible. This read-only field will display a 2 charac- ter error code to indicate the type of fault. The table below shows the error codes. MDrive34Plus Microstepping Fault Codes Binary...

  • Page 60: Upgrading The Firmware In The Mdriveplus Microstepping

    NOTE: Once entered Upgrading the Firmware in the MDrivePlus Microstepping into Upgrade Mode, you MUST complete the upgrade. If the upgrade process is incomplete the IMS SPI Motor Interface will continue to open to the Upgrade dialog until the process is completed! 2-32 The IMS SPI Upgrader Screen New firmware releases are posted to the IMS web site at http://www.imshome.com.

  • Page 61: Initialization Screen

    Initialization Screen This screen will be active under five conditions: When the program initially starts up and seeks for a compatible device. The User selects File > Exit when connected to the device. The User clicks the Exit button while connected to the device. The Upgrade Process completes.
  • Page 62 Page Intentionally Left Blank 2-34 MDrive 34Plus Microstepping Hardware - Revision R071108 Relevant to Firmware Version 3.0.02...

  • Page 63: Section 2.6: Using User-Defined Spi

    SEC T IO N 2. 6 The MDrivePlus can be configured and operated through the end-user's SPI interface without using the IMS SPI Motor Interface software and optional parameter setup cable. An example of when this might be used is in cases where the machine design requires parameter settings to be changed on-the-fly by a software program or multiple system MDrivePlus Microstepping units parameter states being written/read.

  • Page 64: Spi Commands And Parameters

    SPI Commands and Parameters Use the following table and figure found on the following page together as the Byte order read and written from the MDrivePlus Microstepping, as well as the checksum at the end of a WRITE is critical. 2-36 SPI Commands and Parameters Command/...

  • Page 65: Spi Communications Sequence

    READ ALL CMD WRITE (MOSI): RESPONSE (MISO): WRITE ALL CMD WRITE (MOSI): RESPONSE (MISO): CHECKSUM CALCULATION 80+49+4D+53+19+05+00+00+01+F4+00+00+50+01=CD BINARY = 1100 1101 1'S COMPLEMENT = 0011 0010 2'S COMPLEMENT = 0011 0011 DEC = 51 HEX = 33 Figure 2.6.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown) SPI Communications Sequence See Timing Diagram and Byte Order figures.
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  • Page 67: Appendices

    Appendices Appendix A: MDrive34Plus Microstepping Motor Performance Appendix B: Planetary Gearboxes Appendix C: Connectivity Appendix D: Interfacing an Encoder Appendix E: Linear Slide Option Appendices MICROSTEPPING...
  • Page 68 Page Intentionally Left Blank MDrive 34Plus Microstepping Hardware - Revision R071108 Relevant to Firmware Version 3.0.02...

  • Page 69: Speed-Torque Curves

    Single Length Rotary Motor 1000 1000 2000 (300) (600) Speed in Full Steps per Second (RPM) Figure A.1: MDrive34Plus Microstepping Single Length Speed-Torque Curves Double Length Rotary Motor 1000 1000 2000 (300) (600) Speed in Full Steps per Second (RPM) Figure A.2: MDrive34Plus Microstepping Double Length Speed-Torque Curves...

  • Page 70: Motor Specifications

    2000 (300) (600) Speed in Full Steps per Second (RPM) Figure A.3: MDrive34Plus Microstepping Triple Length Speed-Torque Curves 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 Holding Torque ...

  • Page 71: Appendix B: Planetary Gearboxes

    There are many variables and parameters that must be considered when choosing an appropriate reduction ratio for an MDrive with Planetary Gearbox. This Addendum includes information to assist in determining a suitable combination for your application. Appendices Planetary Gearboxes MDrive MDrive34Plus...
  • Page 72 Calculating the Shock Load Output Torque (T AB ) Note: The following examples are based on picking “temporary variables” which may be adjusted. The shock load output torque (T AB ) is not the actual torque generated by the MDrive and Planetary Gearbox combination, but is a calculated value that includes an operating factor (C B ) to compensate for any shock loads applied to the Planetary Gearbox due to starting and stopping with no acceleration ramps, payloads and directional changes.

  • Page 73: Figure B.1: Mdrive34 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 ratio (i) is determined, the nominal output torque (T ×...

  • Page 74: Table B.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.

  • Page 75: 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 Plan- etary Gearbox ratio plays an important role in matching system inertia to motor inertia.

  • Page 76: Figure B.3: Rack And Pinion System Inertia Considerations

    Rack and Pinion Conveyor Belt Weight and size of drive roller A-10 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 77: Figure B.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 78: Figure B.6: Chain Drive System Inertia Considerations

    Chain Drive A-12 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 79: Planetary Gearbox For Mdrive34Plus

    4x Ø 0.217 (Ø5.5) Hole 4x Ø 0.217 (Ø5.5) Hole M6 x 0.472 (12.0) Deep Ø 2.56* (Ø 65.0) † 2.739 SQ. (69.58 SQ.) Figure B.7: Planetary Gearbox Specifications for MDrive34Plus PM81 Gearbox Ratios and Part Numbers Ratio Planetary Inertia Gearbox Moments (Rounded) 1-Stage 3.71:1...
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  • Page 81: Appendix C: Connectivity

    App e n dix C MD-CC30x-001: USB to SPI Converter and Parameter Setup Cable The MD-CC30x-001 USB to SPI Parameter Setup Cable provides a communication connection between the Microstepping MDrives and the USB port on a PC. IMS SPI Interface Software communicates to the Parameter Setup Cable through the PC's USB port. The Parameter Setup Cable interprets SPI commands and sends these commands to the MDrivePlus through the SPI interface.

  • Page 82: Figure C.2: 10-Pin Idc

    Note: Interactive Connector Detail and Mating Connector Kit installation tutorials are available at the IMS Web Site at http://www.imshome.com/ tutorials.html A-16 Should you choose to create your own interface cable IMS now has mating connector kits available which assist you in creating interface cables in small quantities. These kits come with the connector shells and crimp pins (if applicable) to create five interface cables.

  • Page 83: Figure C.3: Md-Cc303-001 Mechanical Specifications And Connection

    MD-CC303-001 The MD-CC3030-001 interfaces to the model MDrivePlus Microstepping with a 12-Pin locking wire crimp type connector at location P1. This cable consists of two joined cables: 6' (1.8m) RJ-45 Cable which plugs into the RJ-45 Jack of the converter body. 13' (4.0 m) for I/O and Power connection.

  • Page 84: Figure C.4: 12-Pin Wire Crimp

    Connector Detail and Mating Connector Kit A-18 Should you choose to create your own interface cable IMS now has mating connector kits available which assist you in creating interface cables in small quantities. These kits come with the connector shells and crimp pins to create five interface cables.

  • Page 85: Installation Procedure For The Md-Cc30X-000

    Installation Procedure for the MD-CC30x-000 These Installation procedures are written for Microsoft Windows XP Service Pack 2 or greater. The installation of the MD-CC30x-001 requires the installation of two sets of drivers, which may be downloaded from http://www.imshome.com:  Drivers for the IMS USB to SPI Converter Hardware.  Drivers for the Virtual Communications Port (VCP) used to communicate to your IMS Product.

  • Page 86: Figure C.8: Windows Logo Compatibility Testing

    A-20 86) Select “Search for the best driver in these locations.” (a) Check “Include this location in the search.” (b) Browse to the location where you extracted the files in Step #2. (c) Click Next (Figure C.7). Figure C.7: Hardware Update Wizard Screen 3 The drivers will begin to copy.

  • Page 87: Determining The Virtual Com Port (Vcp

    Determining the Virtual COM Port (VCP) The MD-CC30x-001 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-CC30x-001 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 88: Prototype Development Cable Pd12-1434-Fl3

    Prototype Development Cable PD12-1434-FL3 Pair Number (Cable/Pair) Connector Detail and Mating Connector Kit A-22 Wire Color Code Color Combination White/Blue Blue/White White/Orange Orange/White White/Green Green/White White/Brown Brown/White White/Gray Gray//White Black Table C.1: PD10-1434-FL3 Wire Color Codes To MDrivePlus 12-pin wire crimp Tyco connector 10.0’...

  • Page 89: Pd10-3400-Fl3 - Internal Differential Encoder

    The PD10-3400-FL3 is a 10' (3.0 M) Prototype Development Cable used to interface the encoder signals to the user's controller. The Connector end plugs into the P4 Connector of the MDrive34Plus. The Flying Lead end con- nects to a Control Interface such as a PLC.

  • Page 90: Prototype Development Cable Pd02-3400-Fl3 - Main Power

    Prototype Development Cable PD02-3400-FL3 — Main Power IMS recommends the Prototype Development Cable PD02-3400-FL3 for interfacing power to the MDrive- 34Plus A-24 Motion Control. To MDrivePlus 2-pin wire crimp Molex connector 10.0’ (3.0m) Figure C.16: PD02-3400-FL3 Connector Details side view locking tab shell Figure C.17: 2-Pin Wire Crimp...

  • Page 91: Appendix D: Interfacing An Encoder

    1000 1024 Table D.1: Available Encoder Line Counts and Part Numbers Note: The MDrive34Plus with Pluggable Interface is available with Differential Encoder only. The MDrive34Plus with Flying Leads is available with both Single-End or Differential Encoder. General Specifications Supply Voltage (VDC) ... -0.5 ... 7 ...Volts Supply Current ...30...

  • Page 92: Encoder Connections

    Encoder Connections Note: The MDM34 with Pluggable Interface is only available with a differential encoder. Yellow/Red: +5VDC Input Yellow/Brown: Channel B+ Yellow/Green: Channel A- Yellow/Orange: Channel B- Yellow/Red: +5VDC Input Yellow/Brown: Channel B A-26 Yellow/Black: Ground Yellow/Violet: Index+ Yellow/Blue: Channel A+ Yellow/Gray: Index - Differental Encoder Yellow/Black: Ground...

  • Page 93: Encoder Signals

    Encoder Signals Single-End Encoder (Available with Flying Leads Version only) Figure D.2: Single-End Encoder Signal Timing Differential Encoder Figure D.3: Differential Encoder Signal Timing Note: Rotation is as viewed from the cover side. One Cycle: 360 electrical degrees (°e) (X/Y) Symmetry: A measure of the relationship between X and Y, nominally 180°e.

  • Page 94: Encoder Cable

    Encoder Cable IMS offers an assembled cable for use with the Differential Encoder on MDM34 with the Pluggable Locking Wire Crimp interface . The IMS Part Number is listed below. Differential Encoder Cable (10' leads) ... PD10-3400-FL3 Recommended Encoder Mating Connectors IMS recommends the following mating connectors (or equivalent) if you make your own cables.

  • Page 95: Appendix E: Linear Slide Option

    Speed-Torque Curves 1000 1000 2000 (300) (600) Speed in Full Steps per Second (RPM) Figure E2: MDrive34Plus Speed Torque Curves Appendices - 0.50" travel per revolution - 1.00" travel per revolution † Speed/Force correlating equations: Axial Force = F friction = (Weight)(0.09)

  • Page 96: Specifications

    (cm) 100,000,000 5.0 (0.04) (254,000,000) 100,000,000 6.0 (0.04) (254,000,000) 100,000,000 7.0 (0.05) (254,000,000) 100,000,000 8.5 (0.06) (254,000,000) Table E.1: MDrive34Plus Linear Slide Specifications 3.25 1.30 (82.6) (33.0) 1.25 (31.8) 4 x 1/4-20 0.75 SHCS (19.1) 1.250 (31.8) Travel distance = L – (O + P) 2.25...
  • Page 97 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 98 Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107 e-mail: info@imshome.com http: //www.imshome.com © Intelligent Motion Systems, Inc. All Rights Reserved. IMS Product Disclaimer and most recent product information at www.imshome.com. IMS EUROPEAN SALES MANAGEMENT 4 Quai Des Etroits 69005 Lyon, France Tel.

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