IMS MDO17Plus, MDrive17Plus Specification Sheet

Excellence in Motion

17

SPEED CONTROL

TM

TM

FEATURES

• Highly Integrated Microstepping Driver,
Intelligent Variable Speed Controller and
NEMA 17 High Torque 1.8° Brushless
Step Motor

• Advanced 2nd Generation Current
Control for Exceptional Performance and
Smoothness

• Single Supply: +12 to +48 VDC

• Cost Effective

• Extremely Compact

• 20 Microstep Resolutions up to
51,200 Steps Per Rev Including:
Degrees, Metric, Arc Minutes

• 10-bit Analog Speed Control Input
Accepts:

- 0 to +5 VDC

- 0 to +10 VDC

- 4 to 20 mA

- 0 to 20 mA

- 15 to 25 kHz PWM

• Automatic Current Reduction

• Electronically Confi gurable:

- Motor Run/Hold Current

- Microstep Resolution

- Acceleration/Deceleration

- Initial and Max Velocity

- Hold Current Delay Time/Motor
Settling Delay Time

- Programmable Filtering for the
Start/Stop Input

• Available Options:

- Long Life Linear Actuators**

- External Optical Encoder

- Integrated Planetary Gearbox

- Control Knob for Manual Positioning

- Linear Slide

• 3 Rotary Motor Lengths Available

• Setup Parameters May Be Switched
On-The-Fly

• Interface Options:

- Pluggable Terminal Strip

- 12.0” (30.5cm) Flying Leads

• Graphical User Interface (GUI) for Quick
and Easy Parameter Setup

DESCRIPTION

The MDrive17Plus Speed Control offers
system designers cost effective, program­mable velocity control integrated with a
NEMA 17 high torque 1.8° brushless step
motor and a +12 to +48 volt microstepping
driver.

The MDrive17Plus Speed Control features
a digital oscillator for accurate velocity
control with an output frequency of up
to 5 Megahertz. Output frequency will
vary with the signal applied to the speed
control input and can be limited by the
amount specifi ed by the Maximum Veloc-
ity parameter.

Speed can be adjusted using three modes
of operation: voltage, current and PWM.
The ranges are 0 to +5 volts and 0 to
+10 volts in voltage mode, 0 to 20 mA
and 4 to 20 mA in current mode, and 15
to 25 kHz in PWM mode. This allows the
MDrive17Plus Speed Control to be driven
by a wide variety of sensors and control
devices.

There are two basic methods for control­ling the velocity: bidirectional and unidi­rectional. By moving the center point, both
speed and direction are controlled by a
potentiometer or joystick. 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 MDrive17Plus Speed Control has 18
setup parameters, which may be con­fi gured using the supplied IMS Analog
Speed Control GUI, or a user-developed
front-end communicating over SPI. The
setup parameters enable the user to con­fi gure all MDrive operational parameters
which are stored in nonvolatile memory.

The versatile, compact MDrive17Plus
Speed Control is available in multiple

confi gurations to fi t various system needs.
Rotary motor versions come in three
lengths and may include an optical en­coder, control knob, planetary gearbox or
linear slide. Long life Acme screw linear
actuators** are also available.

Connector style options give you choices
for the best fi t and features. Select from

12.0" (30.5cm) fl ying leads or pluggable
terminal strip.

MDrivePlus connectivity has never been
easier with options ranging from all-inclu-

sive QuickStart Kits to individual inter­facing cables and mating connector kits

to build your own cables.

The MDrive17Plus is a compact, powerful
and cost effective motion control solution
that will reduce system cost, design and
assembly time for a large range
of brushless step motor applications.

See pg 4.

new

CONFIGURING

The IMS Analog Speed Control is a soft­ware GUI for quick and easy parameter
setup of the MDrivePlus Speed Con trol
from a computer's USB port. GUI ac­cess is via the IMS SPI Motor In ter face
available at www.imshome.com. The IMS
interface is also used to upgrade MDrive­Plus Speed Control fi rmware.

IMS Analog Speed Control features:

• Easy installation.

• Automatic detection of MDrivePlus ver­ sion and communication confi guration.

• Will not set out-of-range values.

• Tool-tips display valid range setting for
each option.

• Simple screen interface.

** Consult Factory for Availability.

www.imshome.com

MDrive

17Plus

SPEED CONTROL

STANDARD SPEC I FI CA TIONS

INPUT VOLTAGE (+V)

SPEED CONTROL

LOGIC INPUT

MOTION

THERMAL

*10 k Ω potentiometer resistance.

Range

Input 0 to +5 VDC*, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA or 15 to 25 kHz PWM
A/D Resolution 10 bit

Start/Stop and Direction

Oscillator Frequency (Max) 5 MHz

Microstep Resolution

Operating Temperature

+12 to +48 VDC

Power supply current requirements = 2A (maximum) per MDrive17Plus.
Actual power supply current will depend on voltage and load.

Low Level 0 to +0.8 VDC
High Level +2.0 to +5.0 VDC
Internal Pull-up Resistance (to +3.3 VDC)

Number of Settings 20

Steps Per Revolution

Heat Sink –40° to +85°C (non-condensing)
Motor –40° to +100°C (non-condensing)

SETUP PARAMETERS

Function Range Units Default

A1

ACCL

C

DB

DECL

DIR

FAULT

FS

HCDT

IF
MHC
MRC

MSDT

MSEL

SSD

VI

VM

All parameters are set using the supplied IMS SPI Motor Interface GUI and may be changed on-the-fl y.
An optional Communication Converter is recommended with fi rst orders.

USER ID

Analog Input Mode

Acceleration 91 to 1.5 X 10

Joystick Center 1 to 1022 counts 0

Analog Deadband 0 to 255 counts 1

Deceleration 91 to 1.5 X 10

Motor Direction Override Clockwise (CW) / Counterclockwise (CCW) — CW

Fault/Checksum Error Error Code — None

Analog Full Scale 1 to 1023 counts 1023

Hold Current Delay Time HCDT + MSDT <= 65535 milliseconds 500

Analog Input Filter 1 to 1000 counts 1

Motor Hold Current 0 to 100 percent 5

Motor Run Current 1 to 100 percent 25

Motor Settling Delay Time MSDT + HCDT <= 65535 milliseconds 0

Microstep Resolution

Stop/Start Debounce 0 to 255 milliseconds 0

Initial Velocity 0 to <VM steps/second 1000

Maximum Velocity VI to 5,000,000 steps/second 768,000

User ID Customizable 1–3 characters IMS

0 to +5 VDC, 0 to +10 VDC,

4 to 20 mA, 0 to 20 mA, 15 to 25 kHz PWM

1, 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 100,

108, 125, 127, 128, 180, 200, 250, 256

20 kΩ

200,

400, 800, 1000, 1600, 2000, 3200, 5000,
6400, 10000, 12800, 20000, 25000, 25600,
40000, 50000, 51200, 36000 (0.01 deg/µstep),
21600 (1 arc minute/µstep), 25400 (0.001mm/µstep)

— 0 to +5 VDC

9

9

steps/second

steps/second

µsteps per full step 256

2

2

1,000,000

1,000,000

MOTOR SPEC I FI CA TIONS

Holding Torque Detent Torque Rotor Inertia Weight (Motor+Driver)

SINGLE LENGTH

DOUBLE LENGTH

TRIPLE LENGTH

32 oz-in / 22.6 N-cm 1.66 oz-in / 1.17 N-cm 0.00053
60 oz-in / 42.4 N-cm 2.08 oz-in / 1.47 N-cm 0.00080

74.9 oz-in / 52.9 N-cm 3.47 oz-in / 2.45 N-cm 0.00116

ENCODER SPECIFICATIONS

Pin Assignments

DIFFERENTIAL ENCODER

Encoder Function Function

Pin 1
Pin 2 +5 VDC Input Index
Pin 3 Ground Channel A
Pin 4 No Connect +5 VDC Input
Pin 5 Channel A – Channel B
Pin 6 Channel A +
Pin 7 Channel B –
Pin 8 Channel B +
Pin 9 Index –

Pin 10 Index +

Optional encoder cables are available.

2 MDrive17Plus Speed Control REV060208

with locking connector feature

No Connect Ground

SINGLE-END

ENCODER

oz-in-sec2 / 0.038
oz-in-sec2 / 0.057
oz-in-sec2 / 0.082

kg-cm210.4 oz / 294.8 g
kg-cm212.0 oz / 340.2 g
kg-cm215.2 oz / 430.9 g

Line Counts and Part Numbers

Line Count Part Number Part Number

100
200
250
256 EWL EP
400
500

512 EXL EQ
1000
1024 EYL ER

DIFFERENTIAL ENCODER

with locking connector feature

EAL
EBL
ECL

EDL
EHL

EJL

SINGLE-END

ENCODER

E1
E2
E3

E4
E5

E6

MOTOR PERFORMANCE — Speed-Torque

T

i
N

)

T

i
N

)

Single Length Rotary Motor Double Length Rotary Motor

60

50

40

30

20

Torque in Oz-In

10

0

0

24 VDC
48 VDC

1000

2000
(600)

3000 4000
(900) (1200)

(300)

Speed in Full Steps per Second (RPM

5000 6000 7000

(1500) (1800) (2100)

42

35

28

21

14

7

orque

n

-cm

Torque in Oz-In

60

50

40

30

20

10

0

24 VDC
48 VDC

1000

0

(300)

2000
(600)

3000 4000
(900) (1200)

5000 6000 7000

(1500) (1800) (2100)

Speed in Full Steps per Second (RPM)

WIRE/PIN ASSIGNMENTS — MDrive17Plus Speed Control

P1: I/O & POWER CONNECTOR

Pluggable

Terminal Strip

Pin 1

Flying Leads

Wire Colors

Function

Violet Start/ Stop Input
Pin 2 Blue CW/CCW Direction Input
Pin 3 Green Speed Control Input
Pin 4 Yellow +5 VDC Output
Pin 5 Gray Logic Ground
Pin 6 Black Power Ground

Pin 7 Red +V (+12 to +48 VDC)

10-Pin IDC 10-Pin Wire Crimp Function

Pin 1 Pin 9 No Connect
Pin 2 Pin 10 No Connect
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8 Pin 4 SPI Clock
Pin 9

Pin 10

Triple Length Rotary Motor

42

35

28

21

14

60

50

Torque in N-cm

40

30

7

20

Torque in Oz-In

10

0

24 VDC
48 VDC

1000

0

(300)

2000
(600)

3000 4000
(900) (1200)

Speed in Full Steps per Second (RPM

P2: COMM CONNECTOR (SPI)

Pin 7 No Connect
Pin 8 SPI Chip Select
Pin 5 Communications Ground
Pin 6 +5 VDC Output
Pin 3 SPI Master Out – Slave In

Pin 1 No Connect
Pin 2 SPI Master In – Slave Out

5000 6000 7000

(1500) (1800) (2100)

42

35

orque

28

n

21

-cm

14

7

MECHANICAL SPECIFICATIONS

Dimensions in Inches (mm)

1.19

(30.2)

Connector

Option

P1

2.30

(58.3)

L

MAX2

P2

Option

Connector

MDrive Lengths Inches (mm)

L

Motor
Length

Single
Double
Triple

Connectivity details:
www.imshome.com/cables_cordsets.html

SINGLE SHAFT or LINEAR

MAX

ACTUATOR VERSION

2.20 (55.9) 2.79 (70.9)

2.43 (61.7) 3.02 (76.7)

2.77 (70.4) 3.37 (85.6)

L

MAX

0.08
(2.0)

CONTROL KNOB or

ENCODER VERSION

L

MAX2

0.94 ±0.02
(23.9 ±0.5)

L

MAX2

Options

Ø 0.97

(Ø 24.6)

Control Knob

0.59 ±0.02
(15.0 ±0.5)

0.177 ±0.002
(4.49 ±0.05)

Differential
Encoder*

Single-End
Encoder

Encoder

.

1.20

(30.4)

.

1.22*

(31.0)

Ø 0.1968 +0/-0.0005

(Ø 4.999 +0/-0.013)

Ø 0.866 +0/-0.002

(Ø 21.996 +0/-0.051)

P1 Connector Options

2.04*

1.42

(36.1)

(51.8)

P2 Connector Options

1.68 SQ.

(42.7 SQ.)

I/O & Power I/O & Power

12.00+1.0/-0.0

+25.4/-0.0)

(304.8

P1

Flying Leads

Comm Comm

P2

10-Pin IDC

P1

7-Pin Pluggable Clamp

Type Terminal Strip

P2

10-Pin Friction Lock

Wire Crimp

MDrive17Plus Speed Control REV060208 3

4X M3x0.5 THREAD

x0.15 MIN DEEP

1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)

0.44

(11.2)

ORDER INFORMATION — MDrive17Plus Speed Control

CONNECTIVITY

CONNECTING

ew

QuickStart Kit

n

For rapid design verifi cation, all-inclusive QuickStart Kits have com­munication converter, prototype development cable(s), instructions
and CD for MDrivePlus initial functional setup and system testing.

Communication Converter

new

Electrically isolated, in-line con vert ers pre-wired with mating connec­tors to conveniently set/program communication parameters for a
single MDrivePlus via a PC's USB port. Length 12.0' (3.6m).
Mates to connector:

10-Pin IDC ............................................MD-CC300-001

10-Pin Wire Crimp .................................MD-CC302-001

Mating Connector Kits

new

Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer's crimp tool recommended.
Mates to connector:

10-Pin Wire Crimp .................................CK-02

Kit contains 5 mating connectors that press fi t onto ribbon cable.
Cable not supplied.

10-Pin IDC ............................................CK-01

** Consult Factory for Availability.

Connectivity details: www.imshome.com/cables_cordsets.html

s

PART NUMBERING

Plus

base version

**

Consult Factory for Availability.

K

MDO1 S

QuickStart Kit
details above

P1: I/O & Power
F = 12" Flying Leads
P = Pluggable Clamp

Type Terminal Strip

Example #1: Part Number MDO1PSD17A4

with pluggable I/O & power interface, SPI communications with

Control
10-pin IDC connector, and NEMA 17 single length motor.

17 4

P2: Communications
D = SPI with 10-Pin IDC Connector

L = SPI with 10-Pin Friction Lock Wire
Crimp Connector

OPTION

–

Motor

A = Single Length & Linear Actuator**
B = Double Length
C = Triple Length

is an MDrive17Plus

Speed

OPTIONS

OPTIONS

Linear Actuator**

The MDrive17Plus is offered with numerous linear actuator

styles and options to satisfy a broad range of linear motion
applications. Contact the factory for details or see:

www.imshome.com/mdriveplus_linear_actuator.html

xternal Encoder

E

External optical encoders, single-end or

offered factory-mounted with the MDrive17Plus. Refer
to the Encoder Specifi cations section for available line
counts. All encoders come with an index mark.

Optional encoder cables are available. Order separately.

Single-end Cable (12.0"/30.5cm) ............ES-CABLE-2

Differential Locking Cable (6.0'/1.8mm) ...... ED-CABLE-6

Control Knob

The MDrive17Plus Speed Control is available with a factory-

mounted rear control knob for manual shaft positioning.

Planetary Gearbox

Effi cient, low maintenance planetary gearboxes are

offered assembled with the MDrive17Plus. 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"

or 1.0" of travel per rev. Slides are 12.0" (30.5cm) to 36.0"

(91.44cm) long. Contact factory for custom lengths. Refer

to separate datasheet or web site for complete details.

differential

OPTIONS

Linear
Actuator**

For complete product specifications, see:
www.imshome.com/mdriveplus_linear_actuator.html

External
Encoder

Refer to encoder specifications section for line counts and part numbers.

Example: MDO1PSD17A4–EHL adds an external 500-line count
differential optical encoder with index mark to example #1.

Control
Knob

Example: MDO1PSD17A4–N adds a rear control knob for manual
positioning to example #1.

Planetary
Gearbox

Refer to gearbox page for complete table of ratios and part numbers.

Example: MDO1PSD17A4–G1A2 adds a 1-stage planetary gearbox
with 5.18:1 ratio to example #1. Add –F for optional NEMA flange.

Linear
Slide

Screw Lead Standard Screw Lengths
(inches/rev)

A = 0.10” (2.54mm)
B = 0.20” (5.08mm)
C = 0.50” (12.7mm)
D = 1.00” (25.4mm)

Example: MDO1PSD17A4–RA10 adds a Linear Slide with

0.10" screw lead, 10" long to example #1.

–L

–

E

–N

– G

– F

Optional NEMA Flange

–R

10", 12", 15", 18", 24" or 36"

For Custom Lengths, Consult Factory

NOTE: 10" lengths only with A or B leads.
15" lengths only with A, B or C leads.
36" lengths only with D leads.

, are

4 MDrive17Plus Speed Control REV060208

MDRIVE17PLUS WITH PLANETARY GEARBOX

The MDrive17Plus 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 Output
Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle. Planetary Gearbox may be combined
with other MDrive17Plus options, however are unavailable with Linear Actuators.

Planetary Gearbox Parameters

1-STAGE

2-STAGE

3-STAGE

Permitted

Output Torque

(oz-in/Nm)

425/3.0 0.80 0.80° 36/160 11/50 14.3/406 14.8/420

1062/7.5 0.75 0.85° 52/230 18/80 17.9/508 18.5/525

2124/15.0 0.70 0.90° 67.5/300 25/110 18.5/525 22.2/630

Gearbox

Effi ciency

Maximum

Backlash

Planetary Gearbox for MDrive17Plus

Dimensions in Inches (mm)

*Gearbox without Flange
†

Gearbox with Flange

M3 x 0.276 (7.0) Deep

M4 x 0.394 (10.0) Deep*

M3 x 0.394 (10.0) Deep*

†

1.22

(31.0)

1.657 SQ.

(42.1 SQ.)

Ø 1.26*

(Ø 32.0)

Ø 1.417*
(Ø 36.0)

†

†

†)

Ø 0.984* or 0.866

(Ø 25.0* or 22.0

+0/-0.002 (+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

Output Side with Ball Bearing

Maximum Load

(lb-force/N)

Weight

(oz/g)

Radial Axial Gearbox with Flange

0.984*
(25.0)

or

†

0.846
(21.5)

0.08
(2.0)

k1 ±0.02 (±0.5)

Ø 1.654

(Ø 42.0)

1.20

(30.5)

Gearbox Lengths Inches (mm)

k1

1-Stage
2-Stage
3-Stage

GEARBOX* with FLANGE

2.736 (69.5) 2.858 (72.6)

3.248 (82.5) 3.37 (85.6)

3.76 (95.5) 3.882 (98.6)

MDrive17Plus

†

Ratios and Part Numbers

Planetary

Gearbox

1-Stage
1-Stage
1-Stage

2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage

3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage

**Include optional planetary gearbox by adding –G plus
3 characters to the end of an MDrive part number.

Ratio

(Rounded)

Part

Number

3.71:1 G1A1

5.18:1 G1A2

6.75:1 G1A3

13.73:1 G1A4

15.88:1 G1A5

18.37:1 G1A6

19.20:1 G1A7

22.21:1 G1A8

25.01:1 G1A9

26.85:1 G1B1

28.93:1 G1B2

34.98:1 G1B3

45.56:1 G1B4

50.89:1 G1B5

58.86:1 G1B6

68.07:1 G1B7

71.16:1 G1B8

78.72:1 G1B9

92.70:1 G1C1

95.18:1 G1C2

99.51:1 G1C3

107.21:1 G1C4

115.08:1 G1C5

123.98:1 G1C6

129.62:1 G1C7

139.14:1 G1C8

149.90:1 G1C9

168.85:1 G1D1

181.25:1 G1D2

195.27:1 G1D3

236.10:1 G1D4

307.55:1 G1D5

**

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