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IMS MDrive34Plus manual available for free PDF download: Product Manual
IMS MDrive34Plus Product Manual (98 pages)
Microstepping Integrated Motor and Driver
Brand:
IMS
| Category:
Engine
| Size: 6 MB
Table of Contents
Intended Use
3
Qualification of Personnel
3
Table of Contents
5
Getting Started: Mdrive34Plus Microstepping
11
Before You Begin
11
Connect Opto Power and Logic Inputs
11
Connecting Parameter Setup Cable
11
Connecting the Power Supply
11
Figure GS.1: Minimum Logic and Power Connections
11
Getting Started
11
Tools and Equipment Required
11
Install the IMS SPI Motor Interface
12
Part 1: Hardware Specifications
13
Part 1: Hardware Specifications
15
Section 1.1: Introduction to the Mdrive34Plus Microstepping
15
Configuration Interface
15
Features and Benefits
15
Figure 1.1.1: Mdrive34Plus Microstepping Integrated Motor and Driver Electronics
15
Section 1.2: Mdrive34Plus Microstepping Specifications
17
General Specifications
17
Table 1.2.1: Mdrive34Plus Microstepping Electrical Specifications
17
Table 1.2.2: Mdrive34Plus Microstepping Environmental Specifications
17
Table 1.2.3: Mdrive34Plus Microstepping I/O Specifications
17
Table 1.2.4: Mdrive34Plus Microstepping Communications Specifications
17
Table 1.2.5: Mdrive34Plus Microstepping Motion Specifications
17
Setup Parameters
18
Table 1.2.6: Mdrive34Plus Microstepping Motor Specifications
18
Table 1.2.7: Setup Parameters
18
Mechanical Specifications
19
Figure 1.2.1: Mdrive34Plus Microstepping Dimensional Information
19
Figure 1.2.2: Mdrive34Plus Microstepping Connector Options
20
Pin Assignment and Description - Flying Leads Version
21
P1 Connector - Power, I/O and Internal Optical Encoder (Optional)
21
Figure 1.2.3: Mdrive34Plus Microstepping Flying Leads
21
Table 1.2.8 P1 - Pin Assignment, Power and I/O
21
Figure 1.2.4: Mdrive34Plus Microstepping Flying Leads with Single-End Encoder
22
Figure 1.2.5: Mdrive34Plus Microstepping Flying Leads with Differential Encoder
22
P2 Connector - SPI Communications
23
Figure 1.2.6: P2 Connector - SPI Communications
23
Table 1.2.9: P2 Connector - SPI Communications
23
Pin Assignment and Description - Pluggable Interface Version
24
P1 Connector - I/O and SPI Communications, 12-Pin Locking Wire Crimp
24
Figure 1.2.7: P2 Connector - I/O and SPI Communications
24
Table 1.2.10: P1 Connector - I/O and SPI Communications
24
P3 Connector - DC Power, 2-Pin Locking Wire Crimp
25
Figure 1.2.8: P3 Connector - DC Power +12 to +75 VDC
25
P4 Connector - Differential Encoder, 10-Pin Friction Lock Wire Crimp
26
Figure 1.2.9: P4 Connector - Internal Differential Encoder Interface
26
Table 1.2.12: P4 Connector - Optional Internal Differential Encoder
26
Connectivity
27
Options
27
Part 2: Interfacing and Configuring
29
Part 2: Interfacing and Configuring
31
Section 2.1: Mounting and Interface Guidelines
31
Mounting Recommendations
31
Figure 2.1.1: Mounting Recommendations and Drill Pattern
31
Layout and Interface Guidelines
32
Rules of Wiring
32
Rules of Shielding
32
Figure 2.1.2: Grounding and Shielding for Logic Connections
32
Internal Differential Encoder
33
Power
33
Recommended Wiring
33
Recommended Mating Connectors and Pins
33
SPI Communications (Flying Lead Version Only)
33
12-Pin Locking Wire Crimp (I/O and SPI Communications)
33
Securing Power Leads and Logic Leads
34
Figure 2.1.3: Typical Mdrive Shown with Leads Secured
34
Section 2.2: Interfacing DC Power
35
Choosing a Power Supply for Your Mdrive
35
Figure 2.2.1: IMS ISP300 Switch Mode Power Supply
35
DC Power Supply Recommendations
36
Recommended IMS Power Supplies
36
Connecting DC Power
37
Figure 2.2.2 DC Power Connections
37
Recommended Power and Cable Configurations
38
Example a - Cabling under 50 Feet, DC Power
38
Example B - Cabling 50 Feet or Greater, AC Power to Full Wave Bridge
38
Example C - Cabling 50 Feet or Greater, AC Power to Power Supply
38
Part 2: Interfacing and Configuring
39
Table 2.2.1: Recommended Wire Gauges
39
Section 2.3: Isolated Input Interface and Connection
41
Optically Isolated Logic Inputs
41
Isolated Logic Input Pins and Connections
41
Figure 2.3.1: Mdriveplus Microstepping Block Diagram
41
Input Configuration
42
Figure 2.3.2: Isolated Input Pins and Connections
42
Figure 2.3.3: Optocoupler Input Circuit Diagram
42
Isolated Logic Input Characteristics
43
Enable Input
43
Clock Inputs
43
Up/Down Function
43
Figure 2.3.4: Input Clock Functions
43
Figure 2.3.5: Clock Input Timing Characteristics
44
Table 2.3.1: Input Clocks Timing Table
44
Optocoupler Reference
45
Table 2.3.2: Optocoupler Reference Connection
45
Input Connection Examples
46
Open Collector Interface Example
46
Figure 2.3.6: Open Collector Interface Example
46
Switch Interface Example
47
Figure 2.3.7: Switch Interface Example
47
Minimum Required Connections
48
Figure 2.3.8 Minimum Required Connections
48
Section 2.4: Connecting SPI Communications
49
Connecting the SPI Interface
49
SPI Signal Overview
49
SPI Pins and Connections
50
Logic Level Shifting and Conditioning Circuit
51
SPI Master with Multiple Mdriveplus Microstepping
52
Figure 2.4.4: SPI Master with a Single Mdriveplus Microstepping
52
Mdriveacplus Microstepping
52
Section 2.5: Using the IMS SPI Motor Interface
53
Installation
53
Configuration Parameters and Ranges
53
Color Coded Parameter Values
53
Table 2.5.1: Setup Parameters and Ranges
53
IMS SPI Motor Interface Menu Options
54
Figure 2.5.1: SPI Motor Interface Color Coding
54
Figure 2.5.2: SPI Motor Interface File Menu
54
Figure 2.5.3: SPI Motor Interface View Menu
54
Figure 2.5.4: SPI Motor Interface Recall Menu
55
Figure 2.5.5: SPI Motor Interface Upgrade Menu
55
Figure 2.5.6: SPI Motor Interface Help Menu and about Screen
55
Screen 1: the Motion Settings Configuration Screen
56
MSEL (Microstep Resolution Selection)
56
Figure 2.5.7: SPI Motor Interface Motion Settings Screen
56
Table 2.5.2: Microstep Resolution Settings
56
HCDT (Hold Current Delay Time)
57
MRC (Motor Run Current)
57
MHC (Motor Hold Current)
57
DIR (Motor Direction)
57
User ID
57
IMS SPI Motor Interface Button Functions
57
Screen 2: I/O Settings Configuration Screen
58
Input Clock Type
58
Input Clock Filter
58
Enable Active High/Low
58
Warning Temperature
58
Figure 2.5.8: SPI Motor Interface I/O Settings Screen
58
Table 2.5.3: Input Clock Filter Settings
58
IMS Part Number/Serial Number Screen
59
Fault Indication
59
Figure 2.5.9: SPI Motor Interface Part and Serial Number Screen
59
Table 2.5.4: Mdriveplus Microstepping Fault Codes
59
Upgrading the Firmware in the Mdriveplus Microstepping
60
The IMS SPI Upgrader Screen
60
Upgrade Instructions
60
Figure 2.5.10: SPI Motor Interface Upgrade Utility
60
Initialization Screen
61
Port Menu
61
Figure 2.5.11: SPI Motor Interface Initialization
61
Figure 2.5.12: SPI Motor Interface Port Menu
61
Section 2.6: Using User-Defined SPI
63
SPI Timing Notes
63
Check Sum Calculation for SPI
63
Figure 2.6.1: SPI Timing
63
SPI Commands and Parameters
64
Table 2.6.1: SPI Commands and Parameters
64
Figure 2.6.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown)
65
SPI Communications Sequence
65
Appendices
67
Appendix A: Mdrive34Plus Microstepping Motor Performance
67
Appendices
69
Speed-Torque Curves
69
Figure A.1: Mdrive34Plus Microstepping Single Length Speed-Torque Curves
69
Figure A.2: Mdrive34Plus Microstepping Double Length Speed-Torque Curves
69
Mdrive34Plus Microstepping Motor Performance
69
Motor Specifications
70
Figure A.3: Mdrive34Plus Microstepping Triple Length Speed-Torque Curves
70
Appendix B: Planetary Gearboxes
71
Section Overview
71
Product Overview
71
Selecting a Planetary Gearbox
71
Figure B.1: Mdrive34 Torque-Speed Curve
73
Table B.1: Planetary Gearbox Operating Factor
74
Appendices
74
System Inertia
75
Figure B.2: Lead Screw System Inertia Considerations
75
Figure B.3: Rack and Pinion System Inertia Considerations
76
Figure B.4: Conveyor System Inertia Considerations
76
Figure B.5: Rotary Table System Inertia Considerations
77
Figure B.6: Chain Drive System Inertia Considerations
78
Planetary Gearbox for Mdrive34Plus
79
PM81 Gearbox Ratios and Part Numbers
79
Figure B.7: Planetary Gearbox Specifications for Mdrive34Plus
79
Table B.2: Planetary Gearbox Specifications - PM81
79
Table B.3: Planetary Gearbox Ratios, Inertia Moments and Part Numbers
79
Appendix C: Connectivity
81
MD-Cc30X-001: USB to SPI Converter and Parameter Setup Cable
81
Figure C.1: MD-CC300-001 Mechanical Specifications and Connection
81
Figure C.2: 10-Pin IDC
82
Figure C.3: MD-CC303-001 Mechanical Specifications and Connection
83
Figure C.4: 12-Pin Wire Crimp
84
Installation Procedure for the MD-Cc30X-000
85
Installing the Cable/Vcp Drivers
85
Figure C.6: Hardware Update Wizard Screen 2
85
Figure C.5: Hardware Update Wizard
85
Figure C.7: Hardware Update Wizard Screen 3
86
Figure C.8: Windows Logo Compatibility Testing
86
Figure C.9: Hardware Update Wizard Finish Installation
86
Determining the Virtual COM Port (VCP
87
Figure C.10: Hardware Properties
87
Figure C.11: Windows Device Manager
87
Prototype Development Cable PD12-1434-FL3
88
Figure C.12: PD12-1434-FL3
88
Figure C.13: 12-Pin Wire Crimp
88
Table C.1: PD10-1434-FL3 Wire Color Codes
88
Figure C.14: PD10-3400-FL3
89
Figure C.15: PD10-3400-FL3
89
PD10-3400-FL3 - Internal Differential Encoder
89
Table C.2: PD10-3400-FL3 Wire Color Codes
89
Prototype Development Cable PD02-3400-FL3 - Main Power
90
Figure C.16: PD02-3400-FL3
90
Figure C.17: 2-Pin Wire Crimp
90
Appendix D: Interfacing an Encoder
91
Factory Mounted Internal Encoder
91
General Specifications
91
Table D.1: Available Encoder Line Counts and Part Numbers
91
Encoder Connections
92
Figure D.1: Single-End and Differential Encoder Connections
92
Encoder Signals
93
Figure D.2: Single-End Encoder Signal Timing
93
Figure D.3: Differential Encoder Signal Timing
93
Encoder Cable
94
Recommended Encoder Mating Connectors
94
Appendix E: Linear Slide Option
95
Features
95
Mdrive34Plus Linear Slide
95
Speed-Force Limitations
95
Speed-Torque Curves
95
Figure E.1: Speed Force Limitations
95
Figure E2: Mdrive34Plus Speed Torque Curves
95
Specifications
96
Mechanical Specifications
96
Figure F.3: Mechanical Specifications
96
Table E.1: Mdrive34Plus Linear Slide Specifications
96
Warranty
97
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