IMS MDO17, MDrive17 Product Data

FEATURES

TM

SPEED CONTROL

Patent Pending

DESCRIPTION

• Integrated Variable Speed
Controller, Microstepping Driver
and NEMA 17 High Torque 1.8°
Stepping Motor

• +12 to +48 VDC Input Volt age

• Digital Oscillator for Accurate

Speed Control

• Low Cost

• Extremely Compact

• Available Confi gurations:

- Single Shaft*

- Long Life Linear Actuator

- Optical En cod er*

- Control Knob for Manual

Positioning*

- Integrated Planetary Gearbox*

• Three Stack Sizes Available*

• Electronically Confi gurable

(Eliminates Potentiometers):

- Motor Run/Hold Current

- Acceleration/Deceleration

- Initial and Max Velocity

- Speed Control Input Source

- Microstep Resolution to

256 Microsteps/Full Step

• 2 Modes of Operation:

Bidirectional or Unidirectional

• 15-25kHz PWM, 0-20mA,
4-20mA or 0 to +5 VDC
Speed Control Input with
Programmable Center Point

• Single Supply

• Interface Uses Pluggable

Terminal Strip or 12.0"
(30.5cm) Flying Leads

• Graphical User Interface (GUI)
for Quick and Easy Pa ram e ter
Setup

* Rotary Motor Only

The MDrive17 Speed Control offers
the system designer low cost, intelli­gent velocity control integrated with a
NEMA 17 high torque stepping motor
and a +12 to +48 volt microstepping
driver.

The MDrive17 Speed Control fea­tures a digital oscillator for accu­rate velocity control with an output
frequency of up to 100 kilohertz.
Output frequency will vary with the
signal applied to the speed control
input. Speed can be adjusted by 15­25kHz PWM, 0-20mA, 4-20mA or
0 to +5 volts.

There are two basic modes of opera­tion: bidirectional and unidirectional.
By moving the center point, both
speed and direction are controlled
by the IMS Analog Speed Control GUI.
By setting the center point to zero or
the lower end of the potentiometer,
only velocity is controlled by the speed
control input; direction is controlled
by a separate digital input.

The MDrive17 Speed Control has 12
setup parameters, confi gured using
the supplied IMS Analog Speed Con­trol GUI. The setup parameters en­able the user to confi gure all MDrive
operational parameters which are
stored in nonvolatile memory.

The versatile, compact MDrive17
Speed Control is available in multiple
confi gurations to fi t various system
needs. These options include a single
shaft rotary motor , a dual shaft rotary
motor available with optical encoder
or control knob, a planetary gear­box, or a long life Acme screw linear

actuator. The rotary MDrive17 is
available in single, double and triple
stack sizes: 13, 15 & 19. Interface
connections are accomplished us­ing either a 7 position pluggable
terminal strip or 12.0” (30.5cm)
fl ying leads.

CONFIGURING

The IMS Analog Speed Control is
a required software GUI for quick
and easy parameter setup of the
MDrive17 Speed Con trol from a
computer par al lel/SPI port. GUI
access is via the IMS SPI In ter ­face in clud ed on the CD shipped
with the product, or down load at
www.imshome.com. An optional
Parameter Setup Cable is available
for ease of connecting and confi gur­ing the MDrive.

IMS Analog Speed Control features:

• Easy installation.

• Automatic detection of MDrive

version and communication
confi guration.

• Will not set out-of-range values.

• Tool-tips display valid range

setting for each option.

• Single screen interface

Confi guring the MDrive Speed Control
is simplifi ed with the IMS Analog Speed
Control's single screen interface.

MDrive17 Speed Control Datasheet REV121704 1

(below)

.

MDRIVE17 SPEED CONTROL SPECIFICATIONS

GENERAL SPEC I FI CA TIONS

Speed Control Input ................................... 15 to 25kHz PWM, 0 to 20mA, 4 to 20mA or 0 to +5 VDC

A/D Resolution.................................................................................................................... 10 bit

Speed Control Potentiometer Resistance.................................................................................. 10 kΩ

Input Voltage (+V) Range*........................................................................................+12 to +48 VDC

Stop/Start, Direction (Low Lev el Input)........................................................................ 0 to +1.5 VDC

Stop/Start, Direction (High Lev el Input) ...................................................................+3.0 to +5.0 VDC

Input Pull-up Re sis tance (to +5 VDC) Stop/Start, Di rec tion ......................................................4.99 kΩ

Heat Sink Temperature (Max) ..................................................................................................85° C

Motor Temperature (Max).....................................................................................................100° C

*Power supply current requirements = 2A (maximum) per MDrive17. Actual power supply current will depend on voltage and load.

PARAMETERS

SETUP PARAMETERS

NAME FUNCTION RANGE UNITS DEFAULT

ACCL Accel/Decel 2000 to 65000 steps/sec

C Joystick Center 0 to 1022 counts 0

DB Deadband 0 to 255 counts 1

DCLT Decel Type Decel at ACCL Rate/No Decel -- Decel

A1 Input Mode Volts/4-20mA/0-20mA -- Volts

FS Full Scale 1 to 1023 counts 1023
MHC Motor Hold Current 0 to 100 percent 5
MRC Motor Run Current 1 to 100 percent 25

MSEL Microstep Resolution 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 125, 128, 250, 256 µsteps per step 256

RANGE VI/VM Range 1 to 8 -- 3

VI Initial Velocity 1 to 100000 steps/sec 400

VM Maximum Velocity 1 to 100000 steps/sec 20000

All parameters are set using the supplied IMS Analog Speed Control GUI.
An optional Parameter Setup Cable is rec om mend ed with fi rst orders.

2

2000

PIN/WIRE ASSIGNMENTS

CONNECTOR P1 – Pluggable Terminal Strip or Flying Leads

PIN FLYING LEADS FUNCTION

1 Violet STOP / START INPUT
2 Blue DIRECTION INPUT
3 Green SPEED CONTROL INPUT (0-5V (10K POT)/PWM/4-20mA/0-20mA)
4 Yellow +5 VDC OUTPUT (10K POT)
5 Gray LOGIC GROUND (10K POT)
6 Black POWER GROUND
7 Red

ENCODER PIN ASSIGNMENTS

ENCODER – Single-End ENCODER – Differential

PIN FUNCTION PIN FUNCTION PIN FUNCTION

1 GROUND 1 NO CONNECT 6 CHANNEL A +
2 INDEX 2 +5 VDC INPUT 7 CHANNEL B –
3 CHANNEL A 3 GROUND 8 CHANNEL B +
4 +5 VDC INPUT 4 NO CONNECT 9 INDEX –
5 CHANNEL B 5 CHANNEL A – 10 INDEX +

Optional Encoder Cables available.

NOTE: For recommended mating connector information, refer to the product's Quick Reference at www.imshome.com/quick.html

+V (+12 TO +48 VDC)

CONNECTOR P2 (SPI) – 10 Pin Pin-Header

PIN FUNCTION

4 CHIP SELECT
5 GROUND
6 +5 VDC OUTPUT
7 MASTER OUT - SLAVE IN
8 CLOCK

10 MASTER IN - SLAVE OUT

Omitted numbers are NO CONNECT

MDrive17 Speed Control Datasheet REV121704 2

MDRIVE17 MOTOR SPECIFICATIONS

MD1713 Single Stack

Holding Torque ...................32 oz-in / 22.6 N-cm

Detent Torque.................1.66 oz-in / 1.17 N-cm

Rotor Inertia

....0.00053

oz-in-sec2 / 0.038

kg-cm

Weight (Motor+Driver)..............9.8 oz / 277.8 g

MD1715 Double Stack

Holding Torque ................60.0 oz-in / 42.4 N-cm

Detent Torque.................2.08 oz-in / 1.47 N-cm

Rotor Inertia

....0.00080

oz-in-sec2 / 0.057

kg-cm

Weight (Motor+Driver)............10.5 oz / 297.7 g

TORQUE-SPEED CURVES

Rotary Motor
MD1713 Single Stack

25

20

15

10

Torque in Oz-In

5

0

1000

500

2000

3000 4000

Speed in Full Steps per Second

MD1715 Double Stack

5000 6000 7000

24 VDC
45 VDC

18

14

11

7

4

MD1719 Triple Stack

Holding Torque ................74.9 oz-in / 52.9 N-cm

Detent Torque.................3.47 oz-in / 2.45 N-cm

2

Rotor Inertia

....0.00116

oz-in-sec2 / 0.082

Weight (Motor+Driver)............15.1 oz / 428.1 g

MD1713 Linear Actuator

Maximum Thrust ........................50 lbs / 222 N

Maximum Screw Defl ection .......................... ± 1°

2

Backlash .........................0.005 in / 0.127 mm

Weight (without screw)........... 10.4 oz / 294.8 g

FORCE-SPEED CURVES

Linear Actuator
24 VDC

Torque in N-cm

50

45

40

35

30

25

20

Force in lbs

15

10

5

0

1000

0

Load Limit 50lbs / 222N

Screw D
Screw C
Screw B
Screw A

2000

3000 4000

Speed in Full Steps per Second

5000 6000 7000

kg-cm

222

200

177

155

133

111

88

66

44

22

2

Force in N

45

40

35

30

25

20

15

Torque in Oz-In

10

5

0

1000

500

2000

3000 4000

Speed in Full Steps per Second

MD1719 Triple Stack

60

50

40

30

20

Torque in Oz-In

10

0

1000

500

2000

3000 4000

Speed in Full Steps per Second

24 VDC
45 VDC

5000 6000 7000

24 VDC
45 VDC

5000 6000 7000

28

25

Torque in N-cm

21

18

14

11

7

4

42

Torque in N-cm

35

28

21

14

7

45 VDC

50

45

40

35

30

25

20

Force in lbs

15

10

5

0

0

1000

Load Limit 50lbs / 222N

Screw D
Screw C
Screw B
Screw A

2000

3000 4000

Speed in Full Steps per Second

5000 6000 7000

222

200

177

155

133

111

88

66

44

22

Force in N

MDrive17 Speed Control Datasheet REV121704 3

MDRIVE17 WITH PLANETARY GEARBOX

The MDrive17 is available with a Planetary Gearbox
option developed to increase torque at lower speeds,
enable better inertia matching and produce fi ner
positional resolutions. These effi cient, low mainte­nance Planetary Gearbox come fully assembled with
the MDrive and are offered in a large number of

reduction ratios in 1-, 2- and 3-stage confi gurations.
An optional NEMA Flange allows mounting the Plan­etary Gearbox to the load using a standard NEMA
bolt circle. Planetary Gearbox may be combined with
other MDrive17 options, however are unavailable on
Linear Actuator versions.

Parameters 1-Stage 2-Stage 3-Stage

Permitted Output Torque (oz-in/Nm)...........................425/3.0.............1062/7.5 ........ 2124/15.0

Gearbox Effi ciency.......................................................0.80 ....................0.75 ................. 0.70

Maximum Backlash (degree)........................................ 0.80°...................0.85°.................0.90°

Ouput Side with Ball Bearing

Maximum Load, Radial (lb-force/N)............................ 36/160...............52/230...........67.5/300

Maximum Load, Axial (lb-force/N)............................... 11/50................. 18/80..............25/110

Weight - Gearbox Only (oz/g)....................................14.3/406............17.9/508 ......... 21.5/609

Weight - Gearbox & NEMA Flange (oz/g) ...................14.8/420............18.5/525 ......... 22.2/630

PLANETARY GEARBOX MECHANICAL SPECIFICATIONS

Dimensions in Inches (mm)

Planetary Gearbox for MDrive17

0.984
(25.0)

M4 x 0.394 (10.0) Deep

M3 x 0.394 (10.0) Deep

1.657 SQ.

(42.1 SQ.)

Ø 1.26

(Ø 32.0)

Ø 1.417
(Ø 36.0)

Ø 0.984 +0/-0.002

(Ø 25.0 +0/-0.052)

Ø 0.315 +0/-0.0004

(Ø 8.0 +0/-0.009)

Ctrg. DIN 332 - D M3

Key DIN 6885-A-3x3x16mm

Planetary Gearbox with Optional NEMA Output Flange

k1 ±0.02 (±0.5)

0.08
(2.0)

Ø 1.654

(Ø 42.0)

k1 Gearbox
k2 Gearbox w/

NEMA Flange

Gearbox Ratios (Rounded)

1-Stage 2-Stage 3-Stage

3.70:1 13.73:1 50.89:1

5.18:1 15.88:1 58.85:1

6.75:1 18.36:1 68.06:1

MDRIVE17

Gearbox Lengths

1-Stage 2-Stage 3-Stage

2.736

(69.5)

2.858

(72.6)

19.20:1 71.16:1

22.20:1 78.71:1

25.01:1 92.70:1

26.85:1 95.17:1

28.93:1 99.50:1

34.97:1 107.20:1

45.56:1 115.07:1

3.248

(82.5)

3.37

(85.6)

123.97:1

129.62:1

139.13:1

149.90:1

168.84:1

181.24:1

195.26:1

236.09:1

307.54:1

Inches (mm)

3.76

(95.5)

3.882

(98.6)

M3 x 0.276 (7.0) Deep

Ø 0.866 +0/-0.002

1.22
(31.0)

1.22

(31.0)

1.657 SQ.
(42.1 SQ.)

Ctrg. DIN 332 - D M3

Key DIN 6885-A-3x3x16mm

(Ø 22.0 +0/-0.052)

Ø 0.315 +0/-0.0004

(Ø 8.0 +0/-0.009)

0.846
(21.5)

k2 ±0.02 (±0.5)

0.08
(2.0)

Ø 1.654

(Ø 42.0)

1.20

(30.5)

MDRIVE17

MDrive17 Speed Control Datasheet REV121704 4

MDRIVE17 SPEED CONTROL – MECHANICAL SPECIFICATIONS

)

Dimensions in Inches (mm)

Rotary MDrive17: Single Shaft, Control Knob & Encoder Versions

2.16

(54.9)

Interface

Option

P1

(33.8)

0.08

(2.0)

P2

L

MAX

L

MAX2

1.33

MDrive Lengths

Stack Size

1713 2.20 (55.9) 2.92 (74.2)
1715 2.43 (61.7) 3.15 (80.0)
1719 2.75 (69.8) 3.47 (88.1)

Inches (mm)

L

MAX

SINGLE SHAFT

VERSION

CONTROL KNOB or

ENCODER VERSION

0.94 ±0.02
(24.0 ±0.5)

0.59 ±0.02
(15.0 ±0.5)

0.177 ±0.002
(4.5 ±0.05)

Ø 0.1968

(Ø 5.0)

Ø 0.866

(Ø 22.00)

L

MAX2

+0.000

-0.0005
(-0.012)

+0.000

-0.002
(-0.051)

1.67 SQ.

(42.4 SQ.)

Interface Options

12.00

+1.0/-0.0

(304.8)

(+25.4/-0.0)

4X M3x0.5 THREAD
x 0.15 MIN DEEP

1.22 ±0.004 SQ.
(31.0 ±0.1 SQ.)

0.44

(11.2)

L

Options

MAX2

Ø 0.97

(Ø 24.6)

Control Knob

100 - 1000 Line Encoders

Linear Actuator MDrive17

6.00

(152.4)

Option

P1

P2

1.33

(33.8)

(55.6)

2.19

Interface

0.250

(6.35)

2.16

(54.9)

1.20

(30.4)

Differential

Adapter

.

0.08

(2.0)

1.90

(48.3

1.42

(36.1)

#8-32 UNC-2A
Thread to within

0.03 (0.76) of Shoulder

0.25
(6.4)

Flying Leads

1.66 SQ.

(42.2 SQ.)

Pluggable Clamp

Type Terminal Strip

4X M3x0.5 THREAD
x 0.15 MIN DEEP

1.22 ±0.004 SQ.
(31.0 ±0.1 SQ.)

Ø 0.866

(Ø 22.00)

+0.000

-0.002
(-0.051)

MDrive17 Speed Control Datasheet REV121704 5

MDRIVE17 SPEED CONTROL – OPTIONS

Control Knob

The MDrive17 is available with a fac to ry-mount ed rear

control knob for man u al shaft positioning.

Planetary Gearbox

Effi cient, low maintenance Planetary Gearbox are of-

fered assembled with the MDrive17. Details inside.

Encoder

The MDrive17 is available with a factory-mount ed

op ti cal en cod er. Available line counts are 100, 200,
250, 400, 500 or 1000. All en cod ers, except
1000 line, have an in dex mark. Encoders are avail­able in both single-end and dif fer en tial confi gurations.

Order optional Encoder Cables separately:

Single-end Cable (12"/30.5cm) ..... ES-CABLE-2

Differential Cable (36"/91.5cm).....ED-CABLE-2

Linear Actuator

The MDrive17 with long life Acme Screw Linear Actua-

ORDER INFORMATION

MDRIVE17 SPEED CONTROL

Control
Knob

Stack Sizes

†

13 = Single Stack & Linear Actuator
15 = Double Stack
19 = Triple Stack

MDO 17

Interface Options

F = 12” Flying Leads
P = Pluggable Clamp
Type Terminal Strip

Example #1: Part Number MDOP1719 is an MDrive17 Speed
COntrol with Pluggable Interface, NEMA 17 motor, stack size 19.

OPTION

†Linear Actuator Available ONLY in Stack Size 13. (MDOX1713LX)

Planetary
Gearbox

Encoder

Linear
Actuator

Screw Type (Travel/Full Step)

A = 0.00125”
B = 0.000625”
C = 0.0003125”
D = 0.00015625”

tor is avail able with the following trav el/full step:

Screw A ..............0.00125”/full step

Screw B ..............0.000625”/full step

Screw C ..............0.0003125”/full step

Screw D .............. 0.00015625”/full step

Standard screw length is 6.0” (152.4mm) plus the

mounting end thread. Cus tom lengths from 2.0” to

24.0” are available without mounting end thread.

Linear Actuators are Non-Captive style. Contact the

factory regarding Captive Shaft or External styles.

Parameter Setup Cable

A low cost ac ces so ry which eliminates the need for

users to wire com mu ni ca tions. This 6' (1.8m) cable
includes built-in logic level shifting circuitry to ac com ­mo date the 3.3v por ts on some PCs and plugs in
easily to con nect a stan dard DB-25 PC par al lel/SPI
port to the MDrive's 10 pin pin-header (P2). Order
Cable Part No. MD-CC100-000.

N

G

Gearbox Ratio

Rounded to Nearest Whole Number

E

S = Single End
D = Differential

†

L

Line Counts: 100, 200,

250, 400, 500, 1000

Custom Screw Length

Range 2.0” to 24.0”

Format XX.X

eg. 08.5 for an 8.5” Screw

(6.0” Screw Length Standard)

OPTIONS

Example #2: MDOP1719N

Adds a Control Knob
to the part shown in example #1.

Example #3: MDOP1719G5

Rounding ratio to the nearest whole number,
the above adds a Planetary Gearbox with

5.18:1 ratio to the part shown in example #1.
Add -F if optional NEMA Flange is desired.

Example #4: MDOP1719ED500

Adds a 500 line count Differential Encoder
to the part shown in example #1.

Example #5: MDOP1713LC10.5

MDrive17 Speed Control Linear Actuator
with a 0.0003125”/Full Step Acme
Screw custom cut to 10.5”.

MAY NOT be combined with other options.

Note: MDrive17 Linear Actuator
Available ONLY in Stack Size 13

P.O. Box 457, 370 N. Main Street
Marlborough, CT 06447 U.S.A.

Phone: [phone]
Fax: [phone]
E-mail: [e-mail]
Home Page: www.imshome.com

Distributed By:

TECHNICAL SUPPORT

Eastern U.S.

Phone: [phone]
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Western U.S.

Phone: [phone]
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IMS MOTORS DIVISION

105 Copperwood Way, Suite H
Oceanside, CA 92054
Phone: [phone]
Fax: [phone]
E-mail: [e-mail]

Product information covered by IMS Product Disclaimer available at www.imshome.com.
Visit the IMS web site for the most up-to-date product information.

© 2002, 2004 Intelligent Motion Systems, Inc. All Rights Reserved. REV111104

IMS EUROPE

Hahnstrasse 10, VS-Schwenningen
Germany D-78054
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Fax: [phone]
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European Sales Management

4 Quai Des Etroits
69005 Lyon, France
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