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Intelligent Motion Systems MDrive17Plus2 manual available for free PDF download: Hardware Reference Manual
Intelligent Motion Systems MDrive17Plus2 Hardware Reference Manual (118 pages)
Motion Control
Brand:
Intelligent Motion Systems
| Category:
DC Drives
| Size: 4 MB
Table of Contents
Table of Contents
3
Getting Started - Mdriveplus Motion Control
11
Before You Begin
11
Tools and Equipment Required
11
Connecting the Power Supply
11
Connecting Communications
11
Install IMS Terminal Software
11
Part 1: Hardware Specifications
12
Establishing Communications
12
Figure GS.1: IMS Terminal Main Screen
12
Figure GS.2: IMS Terminal Prefrences Dialog
12
Testing the Mdriveplus Motion Control
13
Apply Power to the Mdriveplus Motion Control
13
Make the Mdriveplus Motion Control Move
13
Figure GS.3: Mdriveplus Motion Control Sign-On Message
13
Motion Control Example Using Program Mode
14
Programming Notes
14
Figure GS.4: Download the Program
14
Part 1: Hardware Specifications
16
Section 1.1: Mdrive17Plus Motion Control Product Introduction
16
Introduction to the Mdrive17Plus Motion Control System
16
Standard Feature Summary
16
The Mdrive17Plus Motion Control Key Differences and Enhanced Features
17
Section 1.2: Mdrive17Plus Detailed Specifications
18
Standard Electrical Specifications
18
Thermal Specifications
18
Standard Motion Specifications
18
Software Specifications
19
Motor Specifications
19
P1 Connector - I/O and Power Connections
20
Part 1: Hardware Specifications
20
Mechanical Specifications
20
Pin/Wire Assignments
20
Figure 1.2.1: Mdrive17Plus Mechanical Specifications
20
Figure 1.2.2: P1 - 12 In/304.8 CM Flying Leads
20
Figure 1.2.3: P1 7-Pin Pluggable Connector
20
Table 1.2.1: Mdrive17Plus P1 I/O and Power
20
P2 Connector - RS-422/485 Communications
21
Options and Accessories
21
Figure 1.1.1: Mdrive17Plus
21
Figure 1.2.4: P2 10-Pin IDC Communications Connector
21
Figure 1.2.5: P2 10-Pin Wire Crimp Communications Connector
21
Section 1.3: Mdrive17Plus2 Detailed Specifications
22
Standard Electrical Specifications
22
Enhanced Electrical Specifications
22
Thermal Specifications
22
Standard Motion Specifications
23
Enhanced Motion Specifications
23
Software Specifications
23
Options and Accessories
26
Section 1.4: Mdrive17Plus2-65 Detailed Specifications
27
Standard Electrical Specifications
27
Enhanced Electrical Specifications
27
Thermal Specifications
27
Standard Motion Specifications
28
Enhanced Motion Specifications
28
Software Specifications
28
Section 1.5: Mdrive23Plus Motion Control Product Introduction
32
Introduction to the Mdrive23Plus Motion Control System
32
Standard Feature Summary
32
The Mdrive23Plus Motion Control Key Differences and Enhanced Features
33
Section 1.6: Mdrive23Plus Detailed Specifications
34
Standard Electrical Specifications
34
Thermal Specifications
34
Standard Motion Specifications
34
Software Specifications
35
Motor Specifications
35
Mechanical Specificationsdimensions in Inches (MM)
36
Pin/Wire Assignments
36
P1 Connector - I/O and Power Connections
36
Figure 1.6.1: Mdrive23Plus Mechanical Specifications
36
Figure 1.6.2: P1 12 In/304.8 CM Flying Leads
36
Figure 1.6.3: P1 7-Pin Pluggable Connector
36
Table 1.6.1: Mdrive23Plus P1 I/O and Power
36
P2 Connector - RS-422/485 Communications
37
Options and Accessories
37
Figure 1.6.4: P2 10-Pin IDC Communications Connector
37
Figure 1.6.5: P2 10-Pin Wire Crimp Communications Connector
37
Section 1.7: Mdrive23Plus2 Detailed Specifications
38
Standard Electrical Specifications
38
Enhanced Electrical Specifications
38
Thermal Specifications
38
Standard Motion Specifications
39
Enhanced Motion Specifications
39
Software Specifications
39
Options and Accessories
42
Section 1.8: Mdrive23Plus2-65 Detailed Specifications
43
Standard Electrical Specifications
43
Enhanced Electrical Specifications
43
Thermal Specifications
43
Figure 1.9.1: Mdrive17Plus Motion Control Canopen Mechanical Specifications
49
Table 1.9.1: Mdrive17Plus P1 I/O and Power
49
P1 Connector - I/O and Power Connections - Plus Versions
50
P2 Connector - Canopen Communications
50
Figure 1.9.4: P1 16-Pin Wire Crimp - Enhanced I/O Configuration
50
Figure 1.9.5: P1 16-Pin Wire Crimp - Optional Remote Encoder Configuration
50
Figure 1.9.6: P2- DB-9 Canopen Communications
50
Figure 1.9.7: Canopen Network Using Mdriveplus Motion Control
50
Table 1.9.2: Mdrive17Plus2 P1 16-Pin Wire Crimp
50
Table 1.9.3: Mdrive17Plus P2 Canopen Communications
50
Mechanical Specifications (Sealed -65 Version)
51
Figure 1.9.8: Mdrive17Plus2-65 Motion Control
51
Figure 1.9.9: P1 19-Pin M23 (Male) - Enhanced I/O Configuration
51
Figure 1.10.1: Mdrive23Plus
54
Figure 1.5.1: Mdrive23Plus
55
Figure 1.10.4: P1 14 Pin Wire Crimp - Enhanced I/O Configuration
55
Figure 1.10.5: P1 14-Pin Wire Crimp - Optional Remote Encoder Configuration
55
Figure 1.10.6: P2- DB-9 Canopen Communications
55
Table 1.10.1: Mdrive17Plus P1 I/O and Power
55
Table 1.10.3: Mdrive23Plus P2 Canopen Communications
55
Figure 1.10.7: Mdrive23Plus2-65 Motion Control
56
Figure 1.10.8: P1 19-Pin M23 (Male) - Enhanced I/O Configuration
56
Figure 1.10.11: Canopen Network Using Mdriveplus Motion Control
57
Part 2: Connecting and Interfacing
59
Section 2.1: Mdriveplus Mounting and Connection Recommendations
61
Mounting Recommendations
61
Mdrive23Plus Microstepping
61
DC Power Recommendations
61
Mdrive17Plus Motion Control
61
Mdrive23Plus Motion Control
61
Layout and Interface Guidelines
61
Figure 2.1.1: Mdrive17Plus Mounting Screw Depth
61
Figure 2.1.2: Mdrive23Plus Motion Control Current Requirements
61
Figure 2.1.3: Mdrive Motion Control Power Connections
62
Figure 2.1.4: Typical Mdrive Shown with Leads Secured
62
Recommended Mating Connectors and Pins
62
Recommended Wiring
62
Securing Power Leads and Logic Leads
62
Part 2: Connecting and Interfacing
63
Section 2.2: Interfacing Mdriveplus Communications
63
Available Communications Cables/Converters
63
Interfacing Single Mode Communications
63
Single Mode Communications Full Duplex (RS-422)
63
Figure 2.2.1: Full Duplex Communications (RS-422)
63
Single Mode Communications Half Duplex (RS-485)
64
Interfacing Party Mode Communications
64
Figure 2.2.2: Half Duplex 2 Wire Communications (RS-485)
64
Data Cable Termination Resistors
65
Figure 2.2.3: RS-485 Interface, Multiple Mdriveplus Motion Control System
65
Mdriveplus Motion Control (MDI) Response to Echo Mode
65
Mdriveplus Motion Control Communication Format
65
Using Check Sum
67
Mdriveplus Motion Control Party Mode Sample Codes
68
Mdriveplus Motion Control Immediate Party Mode Sample Codes
69
Section 2.3: Interfacing and Using the Mdriveplus Motion Control I/O
70
The Mdriveplus Motion Control Digital I/O
70
Standard I/O Set - All Mdriveplus Motion Control Models
70
Enhanced I/O Set - Mdriveplus2/Plus2-65
70
Uses of the Digital I/O
70
Figure 2.3.1: Uses for the Digital I/O
70
Mdriveplus Motion Control Digital Input Functions
71
Programmable Input Functions
71
Dedicated Input Functions
71
Active States Defined
71
Table 2.3.2: Programmable Input Functions
71
Table 2.3.3: Dedicated Input Functions
71
Mdriveplus Motion Control Digital Output Functions
72
Programmable Output Functions
72
Dedicated Output Functions
72
Table 2.3.4: Programmable Output Functions
72
Table 2.3.5: Dedicated Output Functions
72
Mdriveplus Motion Control I/O Ratings
73
Mdriveplus Motion Control I/O Connection Map
73
Figure 2.3.2: I/O Connection Map
73
Table 2.3.6: Mdriveplus Motion Control I/O and Protection Ratings
73
I/O Usage Examples - Mdriveplus Standard I/O Set
74
Input Interface Example - Switch Input Example (Sinking Input)
74
Figure 2.3.3: Sinking Input Example Using a Push Button Switch
74
Input Interface Example - Switch Input Example (Sourcing Input)
75
Figure 2.3.4: Sourcing Input Example Using a Push Button Switch
75
Output Interface Example (Sinking Output)
76
Figure 2.3.5: Sinking Output Example
76
General Purpose I/O Usage Examples - Enhanced I/O Set
77
Input Interface Example - Switch Input Example (Sinking Input)
77
Figure 2.3.6: Switch Interface to Input, Sinking
77
Input Interface Example - Switch Input Example (Sourcing Input)
78
Figure 2.3.7 Sourcing Input Example Using a Push Button Switch
78
Output Interface Example (Sinking Output)
79
Figure 2.3.8: Sinking Output Example
79
Output Interface Example (Sourcing Output)
80
Figure 2.3.9: Sourcing Output Example
80
Dedicated Digital I/O - Enhanced I/O Set
81
Step/Direction/Clock I/O
81
Capture/Trip
81
Interfacing the Analog Input
82
Sample Usage
82
Figure 2.3.11: Analog Input - Voltage Mode
82
Figure 2.3.12: Analog Input - Current Mode
83
Appendices
85
Appendices
87
Appendix A: Mdriveplus Motion Control Motor Performance
87
Mdrive17Plus Motor Specifications
87
Mdrive17Plus Speed-Torque
87
Mdrive23Plus Motor Specifications
87
Figure A.1: Mdrive17Plus Motion Control Speed-Torque Curves
87
Figure A.2: Mdrive23Plus Motion Control Speed-Torque Curves
87
Appendix B: Recommended Power and Cable Configurations
88
Example a - Cabling under 50 Feet, DC Power
88
Example B - Cabling 50 Feet or Greater, AC Power to Full Wave Bridge
88
Example C - Cabling 50 Feet or Greater, AC Power to Power Supply
88
Figure B.1: DC Cabling - under 50 Feet
88
Figure B.2: DC Cabling - 50 Feet or Greater - AC to Full Wave Bridge Rectifier
88
Figure B.3: AC Cabling - 50 Feet or Greater - AC to Power Supply
88
Appendices
89
Recommended IMS Power Supplies
89
Recommended Power Supply Cabling
89
Table B.1: Recommended Supply Cables
89
Appendix C: Mdrive with Planetary Gearbox
90
Section Overview
90
Product Overview
90
Selecting a Planetary Gearbox
90
Calculating the Shock Load Output Torque (TAB
91
Figure C.1: Mdrive23 Torque-Speed Curve
92
Table C.1: Planetary Gearbox Operating Factor
93
System Inertia
94
Figure C.2: Lead Screw System Inertia Considerations
94
Figure C.3: Rack and Pinion System Inertia Considerations
95
Figure C.4: Conveyor System Inertia Considerations
95
Figure C.5: Rotary Table System Inertia Considerations
96
Figure C.6: Chain Drive System Inertia Considerations
97
Planetary Gearbox Inertia
98
Table C2: Planetary Gearbox Inertia Moments
98
Mdrive17Plus with Planetary Gearbox
99
Figure C.7: Planetary Gearbox Specifications for Mdrive17Plus
99
Mdrive23Plus with Planetary Gearbox
100
Figure C.8: Planetary Gearbox Specifications for Mdrive23Plus
100
Appendix D: I/O Application Guide
101
Standard I/O Set Interfacing and Application
101
Figure D.1: NPN Interface to an MDI Sinking Input
101
Figure D.2: PNP Interface to a Sourcing Input
102
Figure D.3: Sinking Output to Relay
103
Figure D.4: Mixed Output Example- Standard I/O Set
103
NPN Sinking Input
104
PNP Sourcing Input
104
Enhanced I/O Set Interfacing and Application
104
Figure D.5: NPN Sinking Input on an Mdriveplus2 Motion Control
104
Figure D.6: PNP Sourcing Input on an Mdriveplus2 Motion Control
104
Figure D.7: Sourcing Output to Sourcing Input
105
Sourcing Output
105
Mixed Input/Output Example
106
Interfacing Inputs as a Group Example
106
Figure D.8: Mixed Input/Output Example - Enhanced I/O
106
Figure D.9: TTL Interface to an Input Group
106
Interfacing Outputs as a Group Example
107
Figure D.10: Outputs Interfaced to Led's as a Group
107
Table D.1: Output Bit Weight Examples - Outputs Set as a Group
107
Appendix E: Mdriveplus Motion Control Closed Loop Control
108
Mdrive Motion Control Closed Loop Options
108
Internal Encoder
108
Remote Encoder
108
Figure E.1: Connecting a Remote Encoder
108
Appendix F: Optional Cables and Cordsets
109
Communications Converter Cables
109
USB to 10-Pin IDC (MD-CC400-000
109
Figure F.1: MD-CC400-000
109
Figure F.2: MD-CC400-000 Mechanical Specifications
109
Table F.1: MD-CC400-000 Electrical Specifications
109
USB to 5-Pin M12 (MD-CC401-000) (Sealed Version
110
Figure F.3: Typical Communications Interface
110
Table F.2: MD-CC401-000 Electrical Specifications
110
Installation Procedure for the MX-Cc40X-000
111
Installing the Cable/Vcp Drivers
111
Figure F.5: MD-CC401-000 Mechanical Specifications
111
Figure F.6: Typical Communications Interface
111
Figure F.7: Hardware Update Wizard
111
Figure F.10: Windows Logo Compatibility Testing
112
Figure F.11: Hardware Update Wizard Finish Installation
112
Determinig the Virtual COM Port (VCP
113
Figure F.12: Hardware Properties
113
Figure F.13: Windows Device Manager
113
Figure F.14: Prototype Development Cable PD16-1417-FL3
114
Figure F.15: Prototype Development Cable PD16-1417-FL3 Mechanical Specifications
114
Table F.3: PD16-1417-FL3 Wire Color Codes
114
Cordsets (Sealed Version Only
115
Table E.4: MD-Cs10X-000 Wire Color Chart
115
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