MDrive34Plus Motion Control Hardware Reference Change Log
DateRevisionChanges
06/29/2006R062906Initial Release
08/01/2006R080106Added connector orientation drawings to Part 1: Hardware Specifications, added Cable info to Appendix F.
The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is
assumed for inaccuracies.
Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to
improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any liability arising out of the
application or use of any product or circuit described herein; neither does it convey any license under its patent rights of
others. Intelligent Motion Systems and are trademarks of Intelligent Motion Systems, Inc.
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 indemnies Intelligent Motion Systems, Inc., against all damages.
MDrive34Plus Motion Control Hardware Reference Revision R080106
Table F.2: PD16-1423 Wire Color Codes ................................................................................A-30
Table F.3 PD10-1434 Wire Color Codes .................................................................................A-31
List Of Tables
iv
Ge t ti n g S t a r t e d
Getting Started - MDrivePlus Motion Control
Before You Begin
The Quick Start guide is designed to help get you connected and communicating with the MDrivePlus Motion Control. The following examples will help you get the motor turning for the fist time and introduce you
to Immediate and Program modes of operation.
Immediate Mode: In Immediate Mode, commands are issued and executed directly to the
MDrive34Plus Motion Control by user input into the terminal window.
Program Mode: Program mode is used to input user programs into the MDrive34Plus Motion
Control.
Tools and Equipment Required
• MDrivePlus Motion Control Unit.
• Communications Converter Cable or equivalent (USB to RS-422).
• MDrivePlus Product CD or Internet access to www.imshome.com.
WARNING! Please
ensure that you
read the sections of
the product manual
pertaining to the MDrivePlus
model you purchased in their
entirety prior to placing the unit
into full operation.
Using the recommended wire (see the specifications for your MDrivePlus Motion Control), connect the DC
output of the power supply to the +V input of the connector appropriate for your MDrivePlus model.
Connect the power supply ground to the Power Ground pin appropriate for your MDrivePlus.
Connecting Communications
Connect the Host PC to the MDrivePlus Motion Control using the IMS Communications Converter Cable
or equivalent.
Install IMS Terminal Software
1. Insert the MDrive CD into the CD Drive of your PC.
If not available, go to http://www.imshome.com/software_interfaces.html.
2. The CD will autostart.
3. Click the Software Button in the top-right navigation Area.
4. Click the IMS Terminal link appropriate to your operating system.
5. Click SETUP in the Setup dialog box and follow the on-screen instructions.
6. Once IMS Terminal is installed, the Communications Settings can be checked and/or set.
Note: Interactive
Tutorials covering
the installation and
use of the IMS Terminal are
located on the IMS Web Site
at http://www.imshome.com/
tutorials.html.
Part 1: Hardware Specifications
1-1
W A R N I N G :
Do not connect
or disconnect
DC input to the
MDrivePlus with power
applied! Disconnect the AC
power side to power down
the DC Supply.
For battery operated
systems, conditioning
measures should be taken
to prevent device damage
caused by in-rush current
draws, transient arcs and
high voltage spikes.
Establishing Communications
1. Open IMS Terminal by clicking Start>Programs>IMS Terminal>IMS Term. The Program Edit
Window (left) and Terminal Window (right) will be displayed.
Figure GS.1: IMS Terminal Main Screen
2. On the Menu Bar click Edit / Preferences to open the Preferences dialog box.
3. Click on the Comm Settings tab to open the Comm Settings page.
a. Set Scroll Back to desired range of text lines to be displayed.
b. Under Device, verify that MDrive has been selected, and also verify the Comm Port being
used. Do not change any other settings. Click “OK”.
1-2
Figure GS.2: IMS Terminal Prefrences Dialog
MDrive34Plus Motion Control Hardware Revision R080106
Apply Power to the MDrivePlus Motion Control
1. Verify that all connections have been made, then apply power to the MDrivePlus Motion Control.
Click on the Phone icon or the Disconnect status box to establish communications between IMS
Terminal and the MDrivePlus. The following sign-on message should appear in the Terminal
Window:
“Copyright 2001-2006 by Intelligent Motion Systems, Inc.”
2. If you can see the sign-on message, then the MDrivePlus is properly powered-up and
communicating.
a. If the sign-on message does not appear, try using a software reset. Hold down the “Ctrl” key
and press “C”. If the sign-on message still does not appear, check all connections, as well as all
hardware and software configurations, then start IMS Terminal again.
3. You are now connected and communicating to the MDrivePlus Motion Control.
Note: There are indicators at the bottom of the Terminal Window that show whether you are
connected or disconnected, the current Baud Rate, and the type of device (MDrive) for which the
IMS Terminal is configured. These three items may be changed directly from this screen by double
clicking on each of them.
Testing the MDrivePlus Motion Control
1. Click in the Terminal Window, and type (followed by ENTER):
PR VM
2. The MDrivePlus Motion Control will return a value of 768000
3. Type the following in the Terminal Window (followed by ENTER):
VM=360000
PR VM
4. The MDrivePlus Motion Control will return a value of 360000
5. Type FD and press ENTER. (FD = Factory Defaults)
Note: Entering
MDrivePlus
commands directly
into the Terminal Window is
called “Immediate Mode”.
The MDrivePlus Motion
Control command set is not
case sensitive except for
command DN = < >
Warning: If you
have installed the
MDrivePlus to a
load, be sure the
load can safely be moved
before testing.
Tip: A small piece of tape on
the motor shaft is a visual aid
to help see the shaft turning.
“Copyright 2001-2006 by Intelligent Motion Systems, Inc.”
should appear in the Terminal Window within a few seconds.
Figure GS.3: MDrivePlus Motion Control Sign-On Message
Make the MDrivePlus Motion Control Move
1. Type MR 51200 into the Terminal Window and press ENTER. (MR = Move Relative)
a. With the default settings, the MDrive Motion Control should move one revolution in
approximately 0.066 seconds, or at a velocity of 15 revolutions per second.
2. Type SL 102400 and press ENTER. (SL = Slew)
a. With the default settings, the MDrivePlus Motion Control should run constantly at a speed of
approximately 2 revolutions per second or 120 revolutions per minute.
3. Type SL
0 and press ENTER. The MDrivePlus Motion Control should decelerate to a full stop.
Part 1: Hardware Specifications
1-3
NOTE: Entering
MDrivePlus
commands into
the Program Edit
Window, to be edited and
saved, is called “Program
Mode”.
NOTE: The program
can be stopped by
pressing the Escape
Button or by pressing Ctrl+C.
Motion Control Example Using Program Mode
1. Click on drop-down menu View > New Edit Window to open the Program Edit Window.
2. Type “XYZ Test” into the “Open a New file for editing” dialog box, and click “OK”.
3. Click anywhere within the Program Edit Window, and type (followed by ENTER):
VA LP=0 ‘user variable name LP = start count 0
A=100000 ‘set acceleration to 100000 steps/sec
D=100000 ‘set deceleration to 100000 steps/sec
PG 1 ‘enter program mode, start program at address 1
LB AA ‘label program AA
MR 250000 ‘move motor 250000 steps in the positive direction
H ‘hold program execution until motion completes
H 1000 ‘hold 1000 milliseconds
MR –250000 ‘move motor 250000 steps in the negative direction
H ‘hold program execution until motion completes
H 1000 ‘hold 1000 milliseconds
IC LP ‘increment user variable LP
PR ” LP=”,LP; ‘print axis position, 4 characters used, the ‘terminal will display LP=1 LP=2 LP=3
BR AA, LP<3 ‘branch to process label AA, if user variable LP< 3
E ‘end program execution
PG ‘exit program, return to immediate mode
4. Type FD in the Terminal Window and press ENTER to clear the MDrive buffer to factory
defaults before downloading any program.
5. Click on drop-down menu Transfer > Download to transfer the program from the Program
Edit Window to the Terminal Window. (Under “Source Type” choose “Edit Window”.)
6. Type EX 1 in the Terminal Window and press ENTER to execute the program.
(EX = Execute at address 1.)
7. The MDrivePlus Motion Control will turn 250,000 microsteps in a clockwise direction,
accelerating at 100,000 microsteps per sec2, then decelerating at 100,000 microsteps per sec2,
pausing for 1000 milliseconds, then reversing the sequence in a counterclockwise direction,
repeating the motion cycle 3 times until the program ends.
2
2
1-4
Figure GS.4: Download the Program
Programming Notes
The example above demonstrates basic commands that verify that your MDrivePlus Motion Control is communicating with your PC. More complex commands and movement may require that your I/O and/or Analog
Input be interfaced and configured. Refer to MDrivePlus Motions Control Software Reference for details.
For more information on MDrivePlus Motion Control Programming and Command Control Sets, refer to the
Software Section of this manual.
MDrive34Plus Motion Control Hardware Revision R080106
Part 1:
34
TM
Mo tion control
Hardware
Excellence in Motion
TM
Specifications
Section 1.1: MDrive34Plus Motion Control Product Introduction
Section 1.2: MDrive34Plus Motion Control Detailed Specifications
Section 1.3: MDrive34Plus2 Motion Control Detailed Specifications
Part 1: Hardware Specifications
1-5
Page Intentionally Left Blank
1-6
MDrive34Plus Motion Control Hardware Revision R080106
Se c ti o n 1 . 1
MDrive34Plus Motion Control Product Introduction
Introduction to the MDrive34Plus Motion Control System
The MDrive34Plus Motion Control offers system designers
a low cost, intelligent motion controller integrated with a
NEMA 34 high torque brushless motor and a +12 to +75
volt microstepping driver.
The unsurpassed smoothness and performance delivered by
the MDrive34Plus Motion Control are achieved through
IMS's advanced 2nd generation current control. By applying innovative techniques to control current flow through
the motor, resonance is significantly dampened over the
entire speed range and audible noise is reduced.
The MDrive34Plus accepts a broad input voltage range
from +12 to +75 VDC, delivering enhanced performance
and speed. Oversized input capacitors are used to minimize
power line surges, reducing problems that can occur with
long runs and multiple drive systems. An extended operating range of –40° to +85°C provides long life, trouble free service in demanding environments.
Standard features available in the MDrive34Plus Motion Control include four +5 to +24 volt general purpose I/O
lines, one 10 bit analog input, 0 to 5MHz step clock rate, 20 microstep resolutions up to 51,200 steps per revolution, and full featured easy-to-program instruction set.
Expanded features in the MDrive34Plus2 version include eight
+5 to +24 volt general purpose I/O lines and the capability of
electronic gearing by following a rotary or linear axis at an electronically controlled ratio, or an output clock can be generated
fixed to the internal step clock.
All MDrive34Plus Motion Control are available with optional
closed loop control. This increases functionality by adding stall
detection, position maintenance and find index mark.
The closed loop configuration is added via a 512 line (2048
edge) magnetic encoder with index mark, internal to the unit
so there is no increase in length. Or, for an expanded choice of
line counts and resolutions with MDrive34Plus2 versions only,
closed loop control is available with an interface to a remotely
mounted user-supplied external encoder.
The MDrive communicates over RS-422/485 which allows for
point-to-point or multiple unit configurations utilizing one communication port. Addressing and hardware support
up to 62 uniquely addressed units communicating over a single line. Baud rate is selectable from 4.8 to 115.2kbps.
Available motor configurations include a single shaft rotary motor and a linear actuator with long life Acme screw*.
Rotary versions are available in three motor lengths. Interface connections are accomplished using 12.0” (30.5cm)
flying leads, or with pluggable locking wire crimp connectors for Plus2 versions only.
The MDrive34Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and assembly time for a large range of brushless motor applications.
Figure 1.1.1: MDrive34Plus With Flying Leads
Figure 1.1.2: MDrive34Plus2 Locking Wire Crimp
Note: The
MDrivePlus
Motion
Control is available in a
CAN communications
conguration. For more
information see IMS Web
Site.
Standard Feature Summary
Highly Integrated Microstepping Driver, Motion Controller and NEMA 34 High Torque Brushless
Motor
Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
Single Supply: +12 to +75 VDC
Low Cost
Extremely Compact
Part 1: Hardware Specifications
1-7
Available Options:
- Internal Optical Encoder for Closed Loop Control
- Integrated Planetary Gearbox
- Control Knob for Manual Positioning
Three Rotary Motor Lengths Available
Auxiliary Logic Power Supply Input
20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes
Open or Optional Closed Loop Control
Programmable Motor Run and Hold Currents
Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs
One 10 Bit Analog Input Selectable: 0 to
+10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA
0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments
RS-422/485 or Optional CANopen* Communications
62 Software Addresses for Multi-Drop Communications
Simple 1 to 2 Character Instructions
Interface Options:
- 12.0” (30.5cm) Flying Leads
Expanded Plus2 Features
8 I/O Lines, +24 VDC Tolerant
Electronic Gearing
External/Remote Encoder for Closed Loop Control
Sourcing or Sinking, Inputs and Outputs:
High Speed Position Capture Input or Trip Output
Pluggable Locking Wire Crimp Interface
The MDrive34Plus Motion Control Key Differences and Enhanced Features
There are two different variants of the MDrive34Plus Motion Control, these are:
1. MDrive34Plus Motion Control
The MDrive34Plus Motion Control is the standard version of the MDrive34Plus and is drop-in
compatible with the legacy MDrive34 Motion Control product. The key additions in the new Plus
units are:
Improved current control.
20 Microstep resolutions to 51,200 steps per rev including degrees, metric and arc minutes.
Four+5 to +24 VDC I/O lines which accept sinking or sourcing inputs.
One 0 to +10 VDC Analog input.
See Section 1.2 of this document for detailed specifications on the MDrive34Plus Motion Control.
2
2. MDrive34Plus
The MDrive34Plus
Motion Control
2
Motion Control adds expanded functionality to the MDrive34Plus in the form of:
1-8
Enhanced and expanded I/O set (8 lines) which can be configured as sinking or sourcing inputs or
outputs.
Remote Encoder option.
High speed position capture input or trip output.
Pluggable wire crimp interface.
Electronic gearing.
MDrive34Plus Motion Control Hardware Revision R080106
SE C TI O N 1 .2
MDrive34Plus Detailed Specifications
Standard Electrical Specifications
WARNING!
The maximum
+75 VDC Input
Voltage of the
MDrive34Plus series includes
motor Back EMF, Power
Supply Ripple and High Line.
Input Voltage (+V)
Range ....................................................................................................................+12 to +75 VDC
Aux. Logic Input Voltage
Range ....................................................................................................................+12 to +24 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Analog Input (IN5)
Resolution ..............................................................................................................................10 Bit
Voltage Range ..................................................0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA
General Purpose I/O
Number/Type
Plus (1-4) ........................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs
Voltage Range
Input ................................................................................... TTL level compatible,up to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
WARNING! Because the
MDrivePlus consists of two
core components, a drive
and a motor, close attention
must be paid to the thermal
environment where the
device is used. See Thermal
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
WARNING! Because the
MDrivePlus consists of two
core components, a drive
and a motor, close attention
must be paid to the thermal
environment where the
device is used. See Thermal
Specications.
Thermal Specifications
Operating Temperature .................................................................................................-40 to 85°C
Standard Motion Specifications
Microstep Resolution – Open Loop Configuration
Number of Microstep Resolution Settings ................................................................................... 20
Figure 1.3.5: P3 2-Pin Locking Wire Crimp Power Connector
Options and Accessories
Internal Encoder
All MDrive34Plus Motion Control versions are available with an optional internal 512-line (2048 count) optical
encoder with index mark.
Remote Encoder (Plus2 versions only)
MDrive34Plus2 Motion Control versions are available with differential encoder inputs for use with a remote
encoder (not supplied).
Control Knob
The MDrive34Plus2 is available with a factory-mounted rear control knob for manual shaft positioning.
Planetary Gearbox
Efficient, low maintenance planetary gearboxes are offered assembled with the MDrive34Plus. Refer to details in
Appendix C..
Communications Converter Cables
These convenient accessory cables connect a PC’s USB Port to the MDrive’s P2 Connector. Total cable length is
12.0' (3.6m). An in-line RS-422 converter enables parameter setting to a single MDrive Motion Control. Purchase
recommended with first orders.
USB to 10-Pin IDC ............................................................... MD-CC400-000
10-Pin to Wire Crimp Adapter ..............................................MD-ADP-H
Prototype Development Cables
For testing and development of MDrives with pluggable locking wire crimp connectors, the following 10.0' (3m)
interface cables are recommended with first orders:
MDrive34Plus Motion Control Hardware Revision R080106
34
TM
Mo tion control
Part 2:
Connecting and
Interfacing
Excellence in Motion
TM
Section 2.1: Mounting and Connection Recommendations
Section 2.2: Interfacing Communications
Section 2.3: Interfacing and Using the MDrivePlus Motion Control I/O
Part 2: Connections and Interface
2-1
2-2
MDrive34Plus Motion Control Hardware Revision R080106
SE C TI O N 2 .1
Unregulated
Linear or
Switching
Power Supply
Power
Ground
+VDC
Shield to
Earth Ground
+
–
MDrive34PlusMDrive34Plus
2
12" FLYING
LEADS
Black
Red
2 PIN
LOCKING
WIRE CRIMP
(P3)
Pin 1
Pin 2
Shielded Twisted Pair Cable 18 AWG
1
P1P3
!
WARNING! Do not connect
or disconnect cabling while
power is applied!
Mounting and Connection Recommendations
Mounting Recommendations
There are no special mounting considerations for this device. Flange mounting holes are drilled through with a diameter
of 0.217" (5.51mm) to take standard M5 screws. The length of the screw used will be determined by the mounting flange
width. See Mechanical Specifications for mounting hole pattern.
DC Power Recommendations
MDrive34Plus Motion Control
The power requirements for the MDrive34Plus Motion Control are:
Output Voltage .....................................................................................................+12 to +75 VDC
Current (max. per unit) ............................................................................................................... 4A
(Actual power supply current requirement will depend upon voltage and load)
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. The other end of the shield must not be tied to anything, but allowed to float. This allows the shield to act as
a drain.
Power supply leads to the MDrivePlus need to be twisted. If more than one driver is to be connected to the same power
supply, run separate power and ground leads from the supply to each driver.
Recommended W iring
The following wiring/cabling is recommended for use with the MDrivePlus:
Crimp Contact for 10-pin Friction Lock (30 AWG)..................................................... DF11-30SC
Logic and Power
The following mating connectors are recommended for the MDrive34Plus2 Units ONLY! Please contact a JST
distributor for ordering and pricing information.
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.
Figure 2.1.2: Typical MDrive Shown with Leads Secured
2-4
MDrive34Plus Motion Control Hardware Revision R080106
SE C TI O N 2 .2
HOST PC INTERFACE
MDRIVE PLUS MOTION CONTROL
RS-422 Converter
Aux-Logic
Comm GND
RX+
RX TX+
TX-
RXRX+
TXTX+
10-PIN IDC
10-PIN
FRICTION LOCK
WIRE CRIMP
Pin 2, 8
Pin 4,10
Pin 1, 9
Pin 1, 9
Pin 3, 6
Pin 6, 7
Pin 4, 7
Pin 3, 8
Pin 10
Pin 2
Pin 5
Pin 5
MDrive34Plus/Plus
2
100Ω
CGND
See Warning
Internal to Prevent Circulating Currents in Party Mode
Interfacing Communications
Available Communications Cables/Converters
To simplify the wiring and connection process IMS offers USB to RS-422 communications cables for each of the
MDrivePlus Motion Control models. These convenient 12.0' (3.6m) accessory cables connect a PC’s USB Port to the
MDrivePlus
trol. Cable purchase recommended with first orders. Versions include:
USB to 10-Pin IDC .................................................Part No. MD-CC400-000
10-Pin IDC to Wire Crimp Adapter ........................Part No. MD-ADP-H
For more information on these cables please reference Appendix F: Optional Cables and Cordsets.
Interfacing Single Mode Communications
The MDrivePlus Motion Control communicates to the host using the RS-422/485 protocol. Communications may be
configured as either half duplex (RS-485) or full duplex (RS-422) using the EM (Echo Mode) Instruction. RS-422/485
may be used in two ways: either to communicate to a single MDrivePlus Motion Control, or to address up to 62 individually named MDrivePlus nodes in a multidrop system.
P2 Connector. An in-line RS-422 converter enables parameter setting to a single
MDrivePlus
Motion Con-
Note: See the
Specications
Section of
this
document specic to the
MDrivePlus model you
purchased for detailed
connector and pin
information.
WARNING!
Do not
connect or
disconnect
the Communications
Converter Cables while
power is applied!
Single
Mode Communications Full Duplex (
RS-422)
To interface the MDrivePlus Motion Control using RS-422 protocol you will need one of the following:
A PC equipped with RS-422 Interface.
A PC RS-232 to RS-422/485 Converter.
The USB to RS-422 accessory cable appropriate to your MDrivePlus Motion Control model.
Use the following diagram to connect RS-422 communications to the MDrivePlus Motion Control.
WARNING!
If using AUX-
Logic, the
Power return
MUST be connected
to the Motor Power
Ground. DO NOT
connect the return
to Communications
Ground!
Part 2: Connections and Interface
Figure 2.2.1: Full Duplex Communications (RS-422)
2-5
Single Mode Communications Half Du plex (RS-485)
MDRIVE PLUS MOTION CONTROL
100Ω
HOST PC INTERFACE
2 Wire RS-485
Comm GND
B
A
RXRX+
TXTX+
10-PIN IDC
10-PIN
FRICTION LOCK
WIRE CRIMP
MDrive34Plus/Plus
2
CGND
Pin 4,10
Pin 1, 9
Pin 6, 7
Pin 3, 8
Pin 2
Pin 2, 8
Pin 1, 9
Pin 3, 6
Pin 4, 7
Pin 10
The MDrivePlus Motion Control can be operated in a 2 wire RS-485 communication bus. Before connecting the 2 wire
RS-485, download your program and setup instructions using the standard 4 wire RS-422 Communications Cable. If a
program is not being used, download and save any setup parameters. To ensure the MDrivePlus responds only to commands specifically meant for it, set the unit in Party Mode (Please see Party Mode below). The Echo Mode command
(EM) must be set to the value of 1 (EM=1). This will set the MDrivePlus communication into “half duplex” mode. Connect the driver in the 2 wire RS-485 configuration. The following diagram illustrates how to connect the MDrivePlus 4
wire RS-485 to operate as a 2 wire system.
In systems with multiple controllers it is necessary to communicate with the control modules using party mode
(PY=1). The MDrivePlus Motion Control nodes in the system are configured in software for this mode of operation
by setting the Party Flag (PY) to True (1). It is necessary for all of the nodes in a system to have this configuration
selected. When operating in party mode, each MDrive Motion Control in the system will need a unique address,
or name, to identify it in the system. This is accomplished by using the software command DN, or Device Name.
For example, to set the name of an MDrive to “A” you would use the following command: DN=65 or DN=”A” (65
is the ASCII decimal equivalent of uppercase A). The factory default name is “!”. The asterisk character “*” is used
to issue global commands to every device in the system. NOTE: When using the asterisk “*” in Party Mode, typed
entries and commands will not be echoed. See Appendix A of the Software Reference for ASCII table.
In setting up your system for party operation, the most practical approach is to observe the following steps:
1. Connect the first MDrivePlus Motion Control to the Host PC configured for Single Mode Operation.
2. Establish communications and download program if required.
3.
Using the command DN, name the MDrivePlus Motion Control. This can be any upper or lower case ASCII
character or number 0-9. (DN=”A”{enter}) (Note: The quotation marks before and after the device name are
required.)
4. Set the party flag PY=1{enter}.
5. Press CTRL+J to activate the Party Mode.
6. Type the letters AS and press CTRL+J (Save device name and Party Mode).
7. Remove power.
8. Repeat steps 1 through 7 for each additional MDrive in the system.
9. After all MDrives are assigned a Device Name the Multiple MDrive Interface can be configured as shown in
the following figure.
Data Cable Termin ation Resistors
MDrive34Plus Motion Control Hardware Revision R080106
MDrivePlus Motion Control #1
(DN=A)
Mating
Connector*
RX
-
RX
+
TX
-
TX
+
CGND
MDrivePlus Motion Control #2
(DN=B)
Mating
Connector*
RX
-
RX
+
TX
-
TX
+
CGND
* Mating Connector
Samtec
P/N TCSD-05-01-N
Note:
120
Ω
Termination Resistors in series with 0.1µf
ceramic capacitors are recommended at both ends
of the Data Lines when cable length exceeds 15 feet.
Ribbon Cable
AMP 10WDY00005P
RS-232 to RS-422
Converter
TX
RX
CGND
HOST
RX+
TX-
RX-
RX+
CGND
R
TERMINATOR
C
TERMINATOR
100 Ω
100 Ω
Data Cable lengths greater than 15 feet (4.5 meters) are susceptible to signal reflection and/or noise. IMS recommends
120 Ω termination resistors in series with 0.1µf capacitors at both ends of the Data Cables. An example of resistor placement is shown in Figure 2.2.3 above. For systems with Data Cables 15 feet (4.5 meters) or less, the termination resistors
are generally not required.
MDrivePlus Motion Control Communication For mat
The following communication formats are used by the MDrive34Plus Motion Control.
{} The contents between the {} symbols are transmitted.
{0D} Hex equivalent for a CR (Carriage Return).
{0A} Hex equivalent for a LF (Line Feed).
{DN} Represents the Device Name being sent.
{CS} Check Sum; {ACK} 06 Hex; {NAK} 15 Hex
EM = Echo Mode; PY = PartY Mode; CK= ChecK sum
The word {command} represents the immediate command sent to the MDI.
Command Execution Time (CET) is the time the MDI takes to execute a command. This varies from command to command and usually is in the 1-5 millisecond range.
MDrivePlus Motion Control (MDI) Response to Echo Mode
Dependent on how the Echo Mode (EM) is set in conjunction with Party Mode (PY) and Check Sum (CK), the MDI
will respond differently. The following tables illustrate the various responses based on how the EM, PY and CK parameters are set.
Part 2: Connections and Interface
Figure 2.2.3: RS-485 Interface, Multiple MDrivePlus Motion Control System
2-7
Parameter Setting
EM=0 & PY=0 CK=0(command) (D)
EM=1 & PY=0 CK=0(command) (0D)−CET (0D) (0A)
EM=2 & PY=0 CK=0(command) (0D)−−
EM=3 & PY=0 CK=0(command) (0D)−
Transmission to
MDI
Table 2.2.1: MDI Response to Echo Mode - Party and Check Sum are Zero (0)
MDI Initial Response
(command)
Echoed back one
character at a time
as the character is
entered.
MDI Final
Response
CET (0D) (0A)>
CET command
(0D) (0A)
Notes
The last character
sent is the prompt >
The last character
sent is LF
No response
except to PR and L
commands
Queued response.
The last character
sent is the LF
Parameter SettingTransmission to MDI
EM=0 & PY=1 CK=0(DN) (command) (0A)
EM=1 & PY=1 CK=0(DN) (command) (0A)−CET (0D) (0A)
EM=2 & PY=1 CK=0(DN) (command) (0A)−−
EM=3 & PY=1 CK=0(DN) (command) (0A)−
MDI Initial
Response
(command)
Echoed back one
character at a time
as the character is
entered.
MDI Final
Response
CET (0D)
(0A)>
CET
command
(0D) (0A)
Table 2.2.2: MDI Response to Echo Mode - Party is One (1) and Check Sum is Zero (0)
Parameter SettingTransmission to MDI
EM=0 & PY=0 CK=1(DN) (command) (0A)
EM=1 & PY=0 CK=1(DN) (command) (0A)−CET (0D) (0A)
EM=2 & PY=0 CK=1(DN) (command) (0A)−−
EM=3 & PY=0 CK=1(DN) (command) (0A)−
MDI Initial
Response
(command)
Echoed back one
character at a time
as the character is
entered.
MDI Final
Response
CET (0D) (0A)>
CET command
(0D) (0A)
Table 2.2.3: MDI Response to Echo Mode - Party is Zero (0) and Check Sum is One (1)
Notes
The last
character sent
is the prompt >
The last
character sent
is LF
No response
except to
PR and L
commands
Queued
response. The
last character
sent is the LF
Notes
The last
character sent
is the prompt
>
The last
character sent
is LF
No response
except to
PR and L
commands
Queued
response. The
last character
sent is the LF
2-8
MDrive34Plus Motion Control Hardware Revision R080106
Parameter Setting
EM=0 & PY=1 CK=1
EM=1 & PY=1 CK=1
EM=2 & PY=1 CK=1
EM=3 & PY=1 CK=1
Transmission to
MDI
(DN) (command)
(CS) (0A)
(DN) (command)
(CS) (0A)
(DN) (command)
(CS) (0A)
(DN) (command)
(CS) (0A)
Table 2.2.4: MDI Response to Echo Mode - Party and Check Sum are One (1)
MDI Initial
Response
(command)
Echoed back one
character at a time
as the character is
entered.
−
−−
−
MDI Final
Response
CET (ACK) or
(NAK)>
CET (ACK) or
(NAK)>
CET command
(CS) (ACK) (NAK)
Notes
The last character
sent is the prompt >
The last character
sent is ACK or NAK
No response
except to PR and L
commands
Queued response.
The last character
sent is ACK or NAK
Using Check Sum
For communication using Check Sum, the following 2 commands demonstrate sending and receiving.
Sending Command
1. Check Sum set to ZERO before first character is sent.
2. All characters (ASCII values) are added to Check Sum, including the Device Name DN (if PY=1), to the end of
the command, but not including terminator.
3. Check Sum is 2’s complement, then “OR” ed with Hex 80 (prevents Check Sum from being seen as Command
Terminator).
4. Terminator Sent.
Example command:
MR (space) 1 Note: Any combination of upper/lower case may be used. In this example,
if a lower case <mr> were to be used, the decimal values will change to
109 and 114. Subsequently the Result Check Su m v a l ue wi l l c h a nge.
(Po s s ible e n t r i e s : MR, m r, Mr, m R.) ( M = 7 7 , R = 8 2 , m =
109, r = 114) (See ASCII table appendix in MDI Software Manual.)
77 82 32 49 Decimal value of M, R, <space> and 1
4D 52 20 31 Hex
77+82+32+49 = 240 Add decimal values together
1111 0000 = 240 Change 240 decimal to binary
0000 1111 1’s complement (invert binary)
0001 0000 Add 1 [2’s complement]
1000 0000 OR result with 128 (Hex 80)
1001 0000 144 Result Check Sum value
Once the result is reached, add the check Sum value (144 in this example) to your string by typing: MR 1(Alt Key +
0144) (Use the symbol of 0144 in your string by holding down the alt key and typing 0144). You must type the numbers
from the Numlock key pad to the right of the keyboard. The numbers at the top of the keyboard will not work.
Receiving Command
1. Check Sum set to ZERO.
2. All characters are added to Check Sum.
3. When receiving a Command Terminator, the lower 7 bits of the Check Sum should be equal to ZERO.
a) If not ZERO, the command is ignored and NAK echoed.
b) If ZERO, ACK is sent instead of CR/LF pair.
4. Responses to PR commands will be Check Summed as above, but the receiving device should NOT respond
with ACK or NAK.
Part 2: Connections and Interface
2-9
MDrivePlus Motion Control Party Mode Sample Codes
1. Download this segment of code into the first MDrivePlus Motion Control. After downloading the program
to the unit, follow the Set Up instructions described earlier. Be sure to set your first unit with the unique
Device Name of A (DN=”A”). The device name is case sensitive.
RC=25 ‘Run current
HC=5 ‘Hold current
MS=256 ‘Microstep selection
A=250000 ‘Acceleration
D=250000 ‘Deceleration
PG 1 ‘Enter program mode
S1=0,0 ‘Setup I/O 1 as an input low true
LB SU ‘Start program upon power up
LB AA ‘Label program AA
MR 104400 ‘Move relative 104400 counts
H ‘Hold program execution to complete the move
LB DD ‘Label program DD
BR DD,I1=0 ‘Branch to DD if I1=0
4PR “Bex 1” ‘Print device name B to execute program ‘at address 1
H 2000 ‘Hold program execution 2000 milliseconds
PR “Cex 1” ‘Print device name C to execute program at ‘address 1
H 2000 ‘Hold program execution 2000 milliseconds
BR AA ‘Branch to label AA
E
PG ‘Exit program, return to immediate mode
2. Download this segment of code into your second MDrivePlus Motion Control. After downloading the
program to the unit, follow the previous party mode instructions. Be sure to set your second unit with the
unique address of B (device name is case sensitive).
RC=25 ‘Run current
HC=5 ‘Hold current
MS=256 ‘Microstep selection
A=250000 ‘Acceleration
D=250000 ‘Deceleration
PG 1 ‘Enter program mode
LB BB ‘Label program BB
MR 208000 ‘Move relative 208000 counts
H ‘Hold program execution to complete the move
E
PG ‘Exit program, return to immediate mode
3. Download this segment of code into your third MDrivePlus Motion Control. After downloading the
program to the unit, follow the previous party mode instructions. Be sure to set your third unit with the
unique address of C (device name is case sensitive).
RC=25 ‘Run current
HC=5 ‘Hold current
MS=256 ‘Microstep selection
A=250000 ‘Acceleration
D=250000 ‘Deceleration
PG 1 ‘Enter program mode
LB CC ‘Label program CC
MR 300000 ‘Move relative 300000 counts
H ‘Hold program execution to complete the move
E
PG ‘Exit program, return to immediate mode
2-10
MDrive34Plus Motion Control Hardware Revision R080106
MDrivePlus Motion Control Immediate Party Mode Sample Codes
Once Party Mode has been defined and set up as previously described under the heading “Multiple MDrivePlus Motion Control
System (Party Mode)”, you may enter commands in the Immediate Mode in the IMS Terminal Window. Some examples follow.
Move MDrive A, B or C 10000 Steps
Assuming there are three MDrives set up in Party Mode as shown in the Sample Codes above.
To move MDrive Unit “A”, Press Ctrl+J and then type: AMR
10000 and press Ctrl+J. MDrive Unit “A” will move
^
10000 steps.
To print the position type: APR P and press Ctrl+J. The position of MDrive Unit “A” will be printed.
To move MDrive Unit “B” type: BMR 10000 and press Ctrl+J. MDrive Unit “B” will move 10000 steps.
To move all three MDrives at the same time type: *MR 10000 and press Ctrl+J. All MDrives will move 10000 steps.
To change a Variable in the “C” unit type: C<variable name><number> and press Ctrl+J. The variable will be changed.
To verify the change type: CPR <variable name> and press Ctrl+J. The new value will be displayed.
All Commands and Variables may be programmed in this manner.
To take an MDrive out of Party Mode type: <device name>PY=0 and press Ctrl+J. That unit will be taken out of Party
Mode. To take all units out of Party Mode type: *PY=0 and press Ctrl+J. All units will be taken out of Party Mode.
NOTE: When
instructed to
type Ctrl+J, that
is the key + the
key. It will not display
in the Terminal Window
so be certain you press
the correct keys. CtrlJ
activates the Party Mode.
NOTE: Once
you have
activated Party Mode
with the rst Ctrl+J you
do not have to type it
before each successive
command. However,
every command must be
followed with a Ctrl+J.
NOTE: The
asterisk (*) is a
global command which
addresses all units.
Since three units can
not answer together, the
asterisk (*) as well as
other global commands
will not be displayed in
the Terminal Window.
Part 2: Connections and Interface
2-11
NOTE: On
INPUTS
• Sensors
• Switches
• PLC Outputs
• Outputs of
Additional
System MDrive's
OUTPUTS
• Relays
• Solenoids
• LED's
• PLC Inputs
• Inputs of
Additional
System MDrive's
the Standard
MDrivePlus,
when congured as
outputs, the I/O set
is sinking ONLY! The
Plus2 Models add the
functionality of I/O
Power, which enables
the user to use all the
outputs, both
Standard and
Enhanced, as
Sinking or Sourcing.
NOTE: If the unit
purchased has the
remote encoder option,
the additional points
become dedicated to
encoder functions!
SE C TI O N 2 .3
Interfacing and Using the MDrivePlus Motion Control I/O
The MDrivePlus Motion Control Digital I/O
The MDrivePlus Motion Control product line is available with two digital I/O configurations, Standard and Enhanced.
The digital I/O may be defined as either active HIGH or active LOW. When the I/O is configured as active HIGH,
the level is +5 to +24 VDC and the state will be read/set as a “1”. If the level is 0 VDC, then the state will be read/set
as “0”. Inversely, if configured as active LOW, then the state of the I/O will be read/set as a “1” when the level is LOW,
and “0” when the level is HIGH. The active HIGH/LOW state is configured by the third parameter of the I/O Setup
(S1-4, S9-12) variable. The goal of this I/O configuration scheme is to maximize compatibility between the MDrivePlus
Motion Control and standard sensors and switches.
Standard ................................................................................ All MDrivePlus Models
Available Points .................................................................IO1, IO2, IO3, IO4 (Sinking or
Sourcing Inputs, Sinking
Outputs ONLY)
Enhanced (14-Pin) ................................................................. Plus
Available Points .................................................................IO1, IO2, IO3, IO4 (Sinking
The MDrivePlus Motion Control comes standard with a set
of four I/O — (4) sinking or sourcing 0 to +24 VDC inputs
or (4) sinking 0 to +24 VDC outputs, which may be programmed individually as either general purpose or dedicated
inputs or outputs, or collectively as a group.
2
2
2-12
Enhanced I/O Set - MDrive34Plus
2
The MDrivePlus2 Motion Control is equipped with a set of
eight I/O — (8) sinking or sourcing 0 to +24 VDC inputs
or (8) sinking or sourcing +12 to +24 VDC outputs, which
may be programmed individually as either general purpose
or dedicated inputs or outputs, or collectively as a group.
The eight I/O consist of two separate banks of four points:
Figure 2.3.1: Uses for the Digital I/O
Bank 1: IO1 - IO4, Bank 2: IO9 - IO12.
Uses of the Digital I/O
The I/O may be utilized to receive input from external devices such as sensors, switches or PLC outputs. When configured as outputs, devices such as relays, solenoids, LEDs and PLC inputs may be controlled from the MDrivePlus
MDrive34Plus Motion Control Hardware Revision R080106
Motion Control.
Each I/O point may be individually programmed to any one of 9 dedicated input functions, 4 dedicated output functions, or
as general purpose inputs or outputs. The I/O may be addressed individually, or as a group. The active state of the line or group
may also be set. All of these possible functions are accomplished with the I/O Setup Variable (S1-4, S9-12)
When the level is HIGH. The active HIGH/LOW state is configured by the second parameter of the I/O Setup (S1-4, S9-12)
variable. The goal of this I/O configuration scheme is to maximize compatibility between the MDrivePlus Motion Control and
standard sensors and switches.
MDrivePlus Motion Control Digital Input Functions
The MDrivePlus Motion Control inputs may be interfaced to a variety of sinking or sourcing devices. An input may be programmed to be a general purpose user input, or to one of nine dedicated input functions. These may then be programmed to
have an active state of either HIGH or LOW.
The inputs are configured using the “S” Variable (See MDrive Motion Control Sofware Reference Manual for precise details on this command). The command is entered into the IMS terminal or program file as S<IO point>=<IO Type>,<Active
State><Sink/Source>.
Example:
S9=3,1,0 ‘set IO point 9 to be a Limit- input, Active HIGH, Sourcing
S3=0,0,1 ‘set IO Point 3 to be a General Purpose input, Active LOW, ‘Sinking
Programmable Input Functions
The following table lists the programmable input functions of the MDrive Motion Control.
MDrivePlus Motion Control Input Functions
Parameter
(S1-S4, S9-S12)
0General Purpose0/10/1
1Home0/10/1
2Limit +0/10/1
3Limit –0/10/1
4GO0/10/1
5Soft Stop0/10/1
6Pause0/10/1
7Jog +0/10/1
8Jog –0/10/1
11Reset0/10/1
FunctionActiveSink/Source
Table 2.3.1: Programmable Input Functions
Dedicated Input Functions
MDrivePlus Motion Control Dedicated Input Functions
Parameter
(S7, S8)
33Step/Direction 0/1
34Quadrature0/1
35Up/Down0/1
Parameter
(S13)
60High Speed Capture0/1
Table 2.3.2: Dedicated Input Functions
FunctionActive
FunctionActive
Active States Defined
The Active State determines at what voltage level the input will be active.
Active HIGH ...................................................................... The input will be active when +5 top +24 VDC is applied to
the input.
Active LOW ........................................................................ The input will be active when it is gorunded (0 VDC).
Part 2: Connections and Interface
2-13
NOTE: On
the Standard
MDrivePlus, when
congured as outputs, the
I/O set is sinking ONLY!
The Plus2 Models add the
functionality of I/O Power,
which enables the user to use
all the outputs, both Standard
and Enhanced, as Sinking or
Sourcing.
Active LOW example:
IO 1 is to be configured as a Jog– input which will activate when a switch is toggled to ground (Sinking
Input):
S1=8,0,0 ‘set IO point 1 to Jog–, Active LOW, Sinking
Active HIGH example:
IO 4 is to be configured as a Home input which will activate when instructed by a PLC (+24VDC Sourcing Input):
S4=1,1,1 ‘set IO point 1 to Home, Active HIGH, Sourcing
MDrivePlus Motion Control Digital Output Functions
The MDrivePlus Motion Control Outputs may be configured as general purpose or set to one of two dedicated functions, Fault or Moving. These outputs will sink up to 600 mA (one channel of two banks) and may
be connected to an external VDC source. See Output Functions Table and I/O Ratings Table.
The outputs are set using the “S” comand (See MDrive Motion Control Sofware Reference Manual for
precise details on this command). The command is entered into the IMS terminal or program file as S<IO
point>=<IO Type>,<Active State><Sink/Source>.
Example:
S9=17,1,0 ‘set IO point 9 to be a Moving Output, Active HIGH, Sinking
S3=18,0,0 ‘set IO Point 3 to be a Fault Output, Active LOW, Sinking
Programmable Output Functions
The MDrivePlus Motion Control Output functions may be programmed to be a general purpose user output
or to one of five output functions.
MDrivePlus Motion Control Output Functions
Parameter
(S1-S4, S9-S12)
16General Purpose User0/10/1
17Moving0/10/1
18Fault0/10/1
19Stall0/10/1
20Velocity Changing0/10/1
FunctionActiveSink/Source
Table 2.3.3: Programmable Output Functions
Dedicated Output Functions
MDrivePlus Motion Control Dedicated Output Functions
Parameter
(S7, S8)
49Step/Direction 0/1
50Quadrature0/1
51Up/Down0/1
Parameter
(S13)
61High Speed Trip0/1
Table 2.3.4: Dedicated Output Functions
FunctionActive
FunctionActive
2-14
MDrive34Plus Motion Control Hardware Revision R080106
MDrivePlus Motion Control I/O Ratings
P1
White/Yellow I/O1
White/Orange I/O2
White/Violet I/O3
White/Blue I/O4
Green Analog Input
13
14
1 2
Pin 1: I/O Power
Pin 2: I/O Ground
Pin 3: I/O 1
Pin 4: I/O 2
Pin 5: I/O 3
Pin 6: I/O 4
Pin 7: I/O 9
Pin 8: I/O 10
Pin 9: I/O 11
Pin 10: I/O 12
Pin 11: Capture/Trip I/O
Pin 12: Analog In
Pin 13: Step Clock I/O
Pin 14: Direction/Clock I/O
P1
19
20
1 2
Pin 1: I/O Power
Pin 2: I/O Ground
Pin 3: I/O 1
Pin 4: I/O 2
Pin 5: I/O 3
Pin 6: I/O 4
Pin 7: I/O 9
Pin 8: I/O 10
Pin 9: I/O 11
Pin 10: I/O 12
Pin 11: Capture/Trip I/O
Pin 12: Analog In
Pin 13: Step Clock I/O
Pin 15: Channel A +
Pin 17: Channel B+
Pin 14: Direction/Clock I/O
Pin 16: Channel A -
Pin 18: Channel B -
Pin 19: Index +
Pin 20: Index -
P1
MDrivePlus I/O Ratings
MDrivePlus Output Voltage (IOPWR) Rating0 to +24 VDC
MDrivePlus2 Output Voltage (IOPWR) Rating+12 to +24 VDC (Sourcing) | 0 to +24 VDC (Sinking)
Load Rating* (equal current per I/O Point)
* Heatsink Temp = 85C
To compute FET dissipation for unequal loads, calculate the FET power for each I/O not to exceed 425
mW.
Continuous CurrentFET Power = I
Peak CurrentFET Power = I
Duty Cycle(D =T on /T period) = ≤ 1.0 seconds at 85˚C
Protection Ratings
Independent Over-temperature
Current Limit0.6A to 1.2 A
Clamp+45V, -20V
Table 2.3.5: MDrivePlus Motion Control I/O and Protection Ratings
I/O StateI ContinuousI Peak (D=0.84)
1 on, 3 off550 mA600 mA
2 on, 2 off390 mA425 mA
3 on, 1 off320 mA350 mA
4 on, 0 off275 mA300 mA
2
x 1.4
cont
2
x D x 1.4
peak
heatsink temperature.
MDrivePlus Motion Control I/O Connections
Figure 2.3.4: P1 20-Pin Wire Crimp: Enhanced I/O and External
MDrivePlus, power
ground is used to ground the
I/O interface.
NOTE: Advanced
I/O interface
circuit diagrams
and application
examples are available
in Appendix D: I/O
ApplicationsGuide.
I/O Usage Examples — MDrivePlus Standard I/O Set
The circuit examples below illustrate possible interface examples for using the MDrivePlus Motion Control
Digital I/O. Additional diagrams and code snippets are available in Appendix D: I/O Application Guide.
The code samples included with these examples will also serve to introduce the user to MDrivePlus Motion
Control programming. Please reference the MDrive software manual for more information on the Instructions, Variables and Flags that make up the MDI command set as well as material on setting up and using the
IMS Terminal.
Input Interface Example - Switch Input Example (Sinking Input)
The following circuit example shows a switch connected between an I/O point and power ground.
Figure 2.3.5: Sinking Input Example using a Push Button Switch
Code Sample
For the code sample, this switch will be set up as a G0 sinking input, active when low. When pressed, the
switch will launch the program beginning at address1 in MDrive memory:
***Setup Variables***
Sx=4,0,0 ‘set IO point x to be a G0 input, active when LOW, sinking
****Program***
PG1
MR 20000 ‘Move +20000 steps relative to current position
H ‘Hold program execution until motion completes
MR -20000 ‘Move -20000 steps
H ‘Hold program execution until motion completes
E
PG ‘End program, exit program mode
2-16
MDrive34Plus Motion Control Hardware Revision R080106
Input Interface Example - Switch Input Example (Sourcing Input)
Switch Input, Sourcing
Internal
pull-up
voltage
detect
logic
40 - 135 uA
24.9k ohms
100k ohms
3.3 V
The internal pull-up voltage
cannot provide output
current / voltage
IOx
GND
Iih
MDrivePlus Sourcing Input Equivalent
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA
Up to
+24 VDC
+
The following circuit example shows a switch connected between an I/O point and a voltage supply which will
source the input to perform a function.
Figure 2.3.6: Sourcing Input Example using a Push Button Switch
Code Sample
For the code sample, the switch will be set up as a Soft Stop sourcing input, active when HIGH. When
pressed, the switches will stop the motor.
S1=5,1,1 ‘set IO point 1 to be a Soft Stop input, active when HIGH,
‘sourcing
SL 200000 ‘enter this to slew the motor at 200000 µsteps/sec
When the switch is depressed the motor will decelerate to a stop.
Part 2: Connections and Interface
2-17
Internal
pull-up
voltage
24.9k ohms
Sinking Output Equivalent Circuit
always
off
switched
65-160 µA
IOx
GND
MDrivePlus
load current, sinking
up to
24 V
LOAD
Sinking Output
+
Diode recommended for
inductive loads
NOTE: On
the Standard
MDrivePlus, when
congured as outputs, the
I/O set is sinking ONLY!
The Plus2 Models add the
functionality of I/O Power,
which enables the user to
use all the outputs, both
Standard and Enhanced, as
Sinking or Sourcing.
Output Interface Example (Sinking Output)
The following circuit example shows a load connected to an I/O point that will be configured as a sinking
output.
Figure 2.3.7: Sinking Output Example
Code Sample
For the code sample, the load will be an LED. The I/O point will be configured such that the LED will be
unlit while the velocity is changing. Use the switch set-up from the previous input, modified to be sinking,
example to soft stop the motor.
S1=5,0,0 ‘set IO point 1 to be a Soft Stop input, active when LOW,
‘sinking.
S1=20,0,0 ‘set IO point 2 to be a Velocity Changing output, active when
‘LOW
SL 2000000 ‘enter this to slew the motor at 200000 µsteps/sec
While the motor is accelerating the LED will be dark, but will light up when the motor reaches a constant
velocity. When the Soft Stop switch is depressed the motor will begin to decelerate, the LED will go dark again
while velocity is changing.
S1=16,1,0
Output, Active HIGH, Sinking
S1=16,1,1
Output, Active LOW, Sourcing
O1=1 (Sink OFF, Hi-Z)
O1=0 (Sink ON)
O1=1 (Sink ON)
O1=0 (Sink OFF, Hi-Z)
2-18
MDrive34Plus Motion Control Hardware Revision R080106
General Purpose I/O Usage Examples — Enhanced I/O Set
Internal
pull-up
voltage
detect
logic
24.9k ohms
100k ohms
3.3 V
The internal pull-up voltage
cannot provide output
current / voltage
IOPWR
IOGND
Iil
65 - 160 uA
MDrivePlus2
IOx
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iil = 100 µA
Switch Input, Sinking
Sinking Input Equivalent Circuit
The MDrivePlus2 models add the functionality of either an additional 4 I/O points or an optional interface
for a user-defined remote encoder. Additionally, the I/O points, when configured as outputs have the added
functionality of being configured as sinking or sourcing outputs.
The circuit examples below illustrate possible interface examples for using the MDrivePlus2 Motion Control
Digital I/O. Additional diagrams and code samples are available in Appendix D: I/O Applications Guide.
The code samples included with these examples will also serve to introduce the user to MDrivePlus Motion
Control programming . Please reference the MDrive software manual for more information on the Instructions, Variables and Flags that make up the MDI command set as well as material on setting up and using the
IMS Terminal.
Input Interface Example - Switch Input Example (Sinking Input)
The following circuit example shows a switch connected between an I/O point and I/O Ground.
NOTE: Advanced
I/O interface circuit
diagrams and
application examples are
available in Appendix D: I/O
Application Guide.
Code Sample
***Setup Variables***
Sx=4,0,0 ‘set IO point x to be a G0 input, active when LOW, sinking
****Program***
PG1
MR 20000 ‘Move +20000 steps relative to current position
H ‘Hold program execution until motion completes
MR -20000 ‘Move -20000 steps
H ‘Hold program execution until motion completes
E
PG ‘End program, exit program mode
Figure 2.3.8: Switch Interface to Input, Sinking
For the code sample, this switch will be set up as a G0 sinking input, active when low. When
pressed, the switch will launch the program beginning at address1 in MDrive memory:
Part 2: Connections and Interface
2-19
Input Interface Example - Switch Input Example (Sourcing Input)
Switch Input, Sourcing
Internal
pull-up
voltage
detect
logic
40 - 135 uA
24.9k ohms
100k ohms
3.3 V
The internal pull-up voltage
cannot provide output
current / voltage
IOPWR
IOx
IOGND
Iih
MDrivePlus
2
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA
The following circuit example shows a switch connected between an I/O point and a voltage supply which will
source the input to perform a function.
Figure 2.3.9 Sourcing Input Example using a Push Button Switch
Code Sample
For the code sample, the switch will be set up as a Soft Stop sourcing input, active when HIGH.
When pressed, the switches will stop the motor.
S1=5,1,1 ‘set IO point 1 to be a Soft Stop input, active when HIGH,
‘sourcing
SL 200000 ‘enter this to slew the motor at 200000 µsteps/sec
When the switch is depressed the motor will decelerate to a stop.
2-20
MDrive34Plus Motion Control Hardware Revision R080106
Output Interface Example (Sinking Output)
Internal
pull-up
voltage
The internal pull-up voltage
cannot provide output
current / voltage
24.9k ohms
Sinking Output Equivalent Circuit
always
off
switched
IOPWR
IOx
IOGND
MDrivePlus
2
load current, sinking
up to
24 V
LOAD
Sinking Output
+
Diode recommended for
inductive loads
65-160 µA
The following circuit example shows a load connected to an I/O point that will be configured as a sinking
output.
Figure 2.3.10: Sinking Output Example
Code Sample
For the code sample, the load will be an LED. The I/O point will be configured such that the LED will be
unlit while the velocity is changing. Use the switch set-up from the previous input, modified to be sinking,
example to soft stop the motor.
S1=5,0,0 ‘set IO point 1 to be a Soft Stop input, active when LOW,
‘sinking.
S1=20,0,0 ‘set IO point 2 to be a Velocity Changing output, active
‘when LOW
SL 2000000 ‘enter this to slew the motor at 200000 µsteps/sec
While the motor is accelerating the LED will be dark, but will light up when the motor reaches a constant
velocity. When the Soft Stop switch is depressed the motor will begin to decelerate, the LED will go dark
again while velocity is changing.
Output, Active HIGH, Sinking
Output, Active LOW, Sourcing
S1=16,1,0
S1=16,1,1
O1=1 (Sink OFF, Hi-Z)
O1=0 (Sink ON)
O1=1 (Sink ON)
O1=0 (Sink OFF, Hi-Z)
Part 2: Connections and Interface
2-21
Output Interface Example (Sour cing Output)
Internal
pull-up
voltage
The internal pull-up voltage
cannot provide output
current / voltage
24.9k ohms
Sourcing Output Equivalent Circuit
always
off
switched
IOPWR
IOx
IOGND
MDrivePlus
2
LOAD
12 to
24 V
+
load current, sourcing
Sourcing Output
40-135 µA
The following circuit example shows a load connected to an I/O point that will be configured as a sourcing
output.
Figure 2.3.11: Sourcing Output Example
Code Sample
For the code sample, the load will be a relay. The output will be configured to be a General Purpose user output that will be set active when a range of motion completes.
2-22
******Setup Variables******
S1=16,1,1 ‘set IO point 1 to be a user output, active when HIGH, ‘sourcing.
******Program******
PG 100 ‘Enter program at address 100
MR 2000000 ‘Move some distance in the positive direction
H ‘Hold execution until motion completes
MR -1000000 ‘Move some distance in the negative direction
H ‘Hold execution until motion completes
O1=1 ‘Set output 1 HIGH
Enter EX 100 to execute the program, the motion will occur and the output will set high.
S1=16,1,1
Output, Active HIGH, Sourcing
S1=16,0,1
Output, Active LOW, Sourcing
O1=1 (Source ON)
O1=0 (Source OFF, Hi-Z)
O1=1 (Source OFF, Hi-Z)
O1=0 (Source ON)
MDrive34Plus Motion Control Hardware Revision R080106
These dedicated I/O lines are used to
receive clock inputs from an external device
or provide clock outputs to an external device such as a counter or a second
MDrivePlus in a system. The Clock I/O can
be configured as one of three clock types using the S7 and S8 variable:
1. Step/Direction
2. Quadrature
3. Up/Down
Step/Direction
The Step/Direction function
would typically be used to receive
step and direction instructions
from a second system MDrivePlus
or secondary controller. When
configured as outputs the
MDrivePlus Motion Control
can provide step and direction
control to another system drive for
electronic gearing applications.
NOTE: Advanced
I/O interface circuit
diagrams and
application examples are
available in Appendix D: I/O
Application Guide.
NOTE: When using
the MDrivePlus2
with the external
encoder option, the
step an direction I/O are not
available! These I/O points
become Index + and Index -.
See Appendix E: MDrivePlus
Motion Control Closed
Loop Control for encoder
connection and conguration
information.
Quadrature
The Quadrature clock function
would typically be used for
following applications where the MDrivePlus would either be a master or slave in an application
that would require two MDrives to move the same distance and speed.
Up/Down
The Up/Down clock would typically be used in a dual-clock direction control application, or to
increment/decrement an external counter.
Capture/Trip
The Capture Input/Trip Output point is a high speed I/O point which can be used for time critical events in
motion applications.
Capture Input
When configured as a capture input I/O point 13 has programmable filtering with a range of
50nS to 12.9 µS and has a resolution of 32 bits.
To configure the Capture input
S13=60,<0/1> ‘configure IO13 as a capture input, <active HIGH/LOW>
FC <0-9> ‘set input filtering to <range>
Trip Output
When configured as a trip output I/O 13 trip speed is 150 nS with 32 bit resolution.
To configure the Trip output
S13=61,<0/1> ‘configure IO13 as a trip output, <active HIGH/LOW>
Figure 2.3.12: MDrivePlus Motion Control Clock Functions
Part 2: Connections and Interface
2-23
Interfacing the Analog Input
+V (0-5VDC/0-10VDC)
10 k Ohm Potentiometer
Voltage Mode
tro
l
Plus Motion Co
n
Driv
e
Analog Input
Ground
S5=9,0 'set input +VDC range to 0 - +5 VDC
S5=9,1 'set input +VDC range to 0 - +10 VDC
The analog input of the MDrivePlus Motion Control is configured from the factory as a 0 to 5V, 10 bit resolution input (S5=9). This offers the user the ability to receive input from temperature, pressure, or other forms of
sensors, and then control events based upon the input.
The value of this input will be read using the I5 instruction, which has a range of 0 to 1023, where 0 = 0 volts
and 1024 = 5.0 volts. The MDrivePlus Motion Control may also be configured for a 4 to 20 mA or 0 to 20
mA Analog Input (S5 = 10).
Sample Usage
‘***********Main Program**************
S5=9,0 ‘set analog input to read variable voltage (0 to +5VDC)
PG 100 ‘start prog. address 100
LB A1 ‘label program A1
CL A2, I5<500 ‘Call Sub A2, If I5 is less than 500
CL A3, I5>524 ‘Call Sub A3, If I5 is greater than 524
BR A1 ‘loop to A1
‘***********Subroutines**************
LB A2 ‘label subroutine A2
MA 2000 ‘Move Absolute 2000 steps
H ‘Hold program execution until motion ceases
RT ‘return from subroutine
LB A3 ‘label subroutine A3
MA -2000 ‘Move Absolute -2000 steps
H ‘Hold program execution until motion ceases
RT ‘return from subroutine
E ‘End
PG ‘Exit program
Figure 2.3.13: Analog Input - Voltage Mode
2-24
MDrive34Plus Motion Control Hardware Revision R080106
Current Mode
tro
l
Plus Motion Co
n
Driv
e
Analog Input
Ground
S5=10,0 'set input I range to 0 to 20mA
S5=10,1 'set input I range to 4 to 20mA
4 - 20 mA, 0 - 20 mA Source
Source Ground
Figure 2.3.14: Analog Input - Current Mode
Part 2: Connections and Interface
2-25
Page Intentionally Left Blank
2-26
MDrive34Plus Motion Control Hardware Revision R080106
34
TM
Mo tion control
Appendices
Appendix A: MDrivePlus Motion Control Motor Performance
Excellence in Motion
TM
Appendix B: Recommended Power and Cable Configurations
Appendix C: Planetary Gearboxes
Appendix D: I/O Application Guide
Appendix E: MDrivePlus Motion Control Closed Loop Control
Appendix F: Optional Cables and Cordsets
Appendices
A-1
Page Intentionally Left Blank
A-2
MDrive34Plus Motion Control Hardware Manual Revision R080106
Weight (Motor + Driver) ............................8.8 lb/4.0 kg
Figure A.1: MDrive34Plus Motion Control Speed-Torque Curves
2
A-3
Shield to Earth Ground
on Supply End Only
π Type RFI Filter
≥ Required Current
120 or 240 VAC
Dependent on
Power Supply
Power Supply
+
-
To Cable A
DC Volts Out
Shielded Twisted Pair
(Wire Size from
MDrive Supply Cable AWG Table)
Cable Length
as required
NOTE:
Connect the cable illustrated
in Example A to the output of
the Power Supply
NOTE: These
Shield to Earth Ground
on Supply End Only
DC Voltage from
Power Supply
500 µf
Per Amp
+
-
Ferrite
Beads
π Type RFI Filter
≥ Required Current
+
-
To MDrive
Shielded Twisted Pair
(Wire Size from
MDrive Supply Cable AWG Table)
Cable Length
less than 50 Feet
Shield to Earth Ground
on Supply End Only
π Type RFI Filter
≥ Required Current
Transformer - 10 to 28 VAC RMS for 48 VDC Systems
20 to 48 VAC RMS for 75 VDC Systems
Full Wave Bridge
+
-
To Cable A
Shielded Twisted Pair
(Wire Size from
MDrive Supply Cable AWG Table)
Cable Length
as required
NOTE:
Connect the cable illustrated
in Example A to the output of
the Full Wave Bridge
recommendations
will provide optimal
protection against EMI and
RFI. The actual cable type,
wire gauge, shield type and
ltering devices used are
dependent on the customer’s
application and system.
NOTE: The length of
the DC power supply
cable to an MDrive
should not exceed 50 feet.
NOTE: These
recommendations
will provide optimal
protection against EMI
and RFI. The actual cable
type, wire gauge, shield
type and ltering devices
used are dependent on the
customer’s application and
system.
ap p en d ix B
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 & C).
Correct AWG wire size is determined by the current requirement plus cable length. Please see the MDrive Supply Cable AWG Table at the end of this Appendix.
Example A – Cabling Under 50 Feet, DC Power
NOTE: Always use
Shielded/Twisted
Pairs for the MDrive
DC Supply Cable and the AC
Supply Cable.
Figure B.1: DC Cabling - Under 50 Feet
Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge
Figure B.2: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier
Example C – Cabling 50 Feet or Greater, AC Power to Power Supply
A-4
Figure B.3: AC Cabling - 50 Feet or Greater - AC To Power Supply
MDrive34Plus Motion Control Hardware Manual Revision R080106
Recommended IMS Power Supplies
IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products.
*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.
Table B.1: Recommended Supply Cables
3 Amperes (Peak)
4 Amperes (Peak)
Appendices
A-5
Ap p en d ix C
Planetary Gearboxes
Section Overview
This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox,
and may include product sizes not relevant to this manual.
Shown are:
Product Overview
Selecting a Planetary Gearbox
Mechanical Specications
Product Overview
All gearboxes are factory installed.
Mode of Function
Optional Planetary Gearbox operate as their name implies: the motor-driven sun wheel is in the center,
transmitting its movement to three circumferential planet gears which form one stage. They are arranged
on the bearing pins of a planet carrier. The last planet carrier in each sequence is rigidly linked to the output shaft and so ensures the power transmission to the output shaft. The planet gears run in an internally
toothed outer ring gear.
Service Life
Depending on ambient and environmental conditions and the operational specification of the driving
system, the useful service life of a Planetary Gerabox is up to 10,000 hours. The wide variety of potential
applications prohibits generalizing values for the useful service life.
Lubrication
All Planetary Gearbox are grease-packed and therefore maintenance-free throughout their life. The best
possible lubricant is used for our MDrive/Planetary Gearbox combinations.
Mounting Position
The grease lubrication and the different sealing modes allow the Planetary Gearbox to be installed in any
position.
Operating Temperature
The temperature range for the Planetary Gearbox is between –30 and +140° C. However, the temperature
range recommended for the Heat Sink of the MDrive is 0 to +85º C.
Overload Torque
The permitted overload torque (shock load) is defined as a short-term increase in output torque, e.g. during the start-up of a motor. In these all-metal Planetary Gearbox, the overload torque can be as much as
1.5 times the permitted output torque.
Available Planetary Gearbox
The following lists available Planetary Gearbox, diameter and corresponding MDrive.
A-6
Gearbox DiameterMDrive
81 mm MDrive34
Selecting a Planetary Gearbox
There are many variables and parameters that must be considered when choosing an appropriate reduction
ratio for an MDrive with Planetary Greabox. This Addendum includes information to assist in determining a
suitable combination for your application.
MDrive34Plus Motion Control Hardware Manual Revision R080106
Calculating the Shock Load Output Torque (TAB)
Note: The following examples are based on picking “temporary variables” which may be adjusted.
The shock load output torque (TAB) is not the actual torque generated by the MDrive and Planetary Gearbox
combination, but is a calculated value that includes an operating factor (CB) to compensate for any shock
loads applied to the Planetary Gearbox due to starting and stopping with no acceleration ramps, payloads and
directional changes. The main reason the shock load output torque (TAB) is calculated is to ensure that it does
not exceed the maximum specified torque for a Planetary Gearbox.
Note: There are many variables that affect the calculation of the shock load output torque. Motor speed, motor
voltage, motor torque and reduction ratio play an important role in determining shock load output torque.
Some variables must be approximated to perform the calculations for the first time. If the result does not meet
your requirements, change the variables and re-calculate the shock load output torque.
Use the equation compendium below to calculate the shock load output torque.
Factors
i = Reduction Ratio - The ratio of the Planetary Gearbox.
nM = Motor Speed - In Revolutions Per Minute (Full Steps/Second).
nAB = Output Speed - The speed at the output shaft of the Planetary Gearbox.
TN = Nominal Output Torque - The output torque at the output shaft of the Planetary
Gearbox.
TM = Motor Torque - The base MDrive torque. Refer to MDrive Speed Torque Tables.
η= Gear Efficiency - A value factored into the calculation to allow for any friction in the
gears.
TAB = Shock Load Output Torque - A torque value calculated to allow for short term loads
greater than the nominal output torque.
CB = Operating Factor - A value that is used to factor the shock load output torque.
sf = Safety Factor - A 0.5 to 0.7 factor used to create a margin for the MDrive torque
requirement.
Note:The MDrive23
and the numbers and
values used in these
examples have been chosen
randomly for demonstration
purposes. Be certain you
obtain the correct data for the
MDrive you have purchased.
Reduction Ratio
Reduction ratio (i) is used to reduce a relatively high motor speed (nM) to a lower output speed (nAB).
With: i = nM ÷ n
or: motor speed ÷ output speed = reduction ratio
AB
Example:
The required speed at the output shaft of the Planetary Gearbox is 90 RPM.
You would divide motor speed (nM) by output speed (nAB) to calculate the proper gearbox ratio.
The MDrive speed you would like to run is approximately 2000 full steps/second or 600 RPM.
NOTE: In reference to the MDrive speed values, they are given in full steps/second on the Speed/Torque
Tables. Most speed specifications for the Planetary Gearbox will be given in RPM (revolutions per minute). To convert full steps/second to RPM, divide by 200 and multiply by 60.
Where: 200 is the full steps per revolution of a 1.8° stepping motor.
For the Reduction Ratio (i), divide the MDrive speed by the required Planetary Gearbox output speed.
600 RPM
÷ 90 = 6.67:1 Reduction Ratio
Referring to the Available Ratio Table at the end of this section, the reduction ratio (i) of the Planetary
Gearbox will be 7:1. The numbers in the left column are the rounded ratios while the numbers in the
right column are the actual ratios. The closest actual ratio is 6.75:1 which is the rounded ratio of 7:1. The
slight difference can be made up in MDrive speed.
Appendices
A-7
Nominal Output Torque
140
120
100
80
60
40
20
0
99
85
71
56
42
28
14
01000200030004000500060007000
Speed in Full Steps per Second
T
orque in Oz - In
T
orque in N - cm
24 VDC
45 VDC
75 VDC
Calculate the nominal output torque using the torque values from the MDrive’s Speed/Torque Tables.
Nominal output torque (TN) is the actual torque generated at the Planetary Gearbox output shaft which
includes reduction ratio (i), gear efficiency (η) and the safety factor (sf) for the MDrive. Once the reduction
ratio (i) is determined, the nominal output torque (TN) can be calculated as follows:
For gear efficiency (η) refer to the Mechanical Specifications for the 7:1 Planetary Gearbox designed for
your MDrive.
For motor torque (T
) see the appropriate MDrive Speed/Torque Table. Dependent on which
M
MDrive you have, the torque range will vary. The torque will fall between the high voltage line and the low
voltage line at the indicated speed for the MDrive. (See the example Speed/Torque Table below.)
A-8
Figure C.1: MDrive23 Torque-Speed Curve
The Speed/Torque Table above is for an MDrive23 Double Size This MDrive will produce a torque range
of 51 to 95 oz-in in the full voltage range at the speed of 2000 Full Steps/Second (600 RPM).
Please note that this is not the usable torque range. The torque output to the Planetary Gearbox must
include a safety factor (sf) to allow for any voltage and current deviations supplied to the MDrive.
The motor torque must include a safety factor (sf) ranging from 0.5 to 0.7. This must be factored into the
nominal output torque calculation. A 0.5 safety factor is aggressive while a 0.7 safety factor is more conservative.
Example:
The available motor torque (T
) is 51 to 95 oz-in.
M
NOTE: You may specify a torque less than but not greater than the motor torque range.
For this example the motor torque (T
) will be 35 oz-in.
M
A 6.75:1 reduction ratio (i) has been determined.
Gear efficiency (
η) = 80% from the appropriate table for the Planetary Gearbox which is used
with an MDrive23.
Nominal output torque would be:
Motor torque (T
= 35) × reduction ratio (i = 6.75) ×gear efficiency (η = 0.8) ÷ safety factor (sf
With the safety factor (sf) and gear efficiency (η) included in the calculation, the nominal output torque
(TN) may be greater than the user requirement.
MDrive34Plus Motion Control Hardware Manual Revision R080106
Shock Load Output Torque
Determining the Operating Factor (CB)
Direction of
Rotation
Load
(Shocks)
Daily Operating Time
3 Hours8 Hours24 Hours
ConstantLow*CB=1.0CB=1.1CB=1.3
Medium**CB=1.2CB=1.3CB=1.5
AlternatingLow†CB=1.3CB=1.4CB=1.6
Medium††CB=1.6CB=1.7CB=1.9
The nominal output torque (TN) is the actual working torque the Planetary Gearbox will generate. The
shock load output torque (TAB) is the additional torque that can be generated by starting and stopping
with no acceleration ramps, payloads, inertia and directional changes. Although the nominal output
torque (TN) of the Planetary Gearbox is accurately calculated, shock loads can greatly increase the dynamic torque on the Planetary Gearbox.
Each Planetary Gearbox has a maximum specified output torque. In this example a 7:1 single stage
MD23 Planetary Gearbox is being used. The maximum specified output torque is 566 oz-in. By calculating the shock load output torque (TAB) you can verify that value is not exceeding the maximum specified
output torque.
When calculating the shock load output torque (TAB), the calculated nominal output torque (TN) and the
operating factor (CB) are taken into account. CB is merely a factor which addresses the different working
conditions of a Planetary Gearbox and is the result of your subjective appraisal. It is therefore only meant
as a guide value. The following factors are included in the approximate estimation of the operating factor
(CB):
Direction of rotation (constant or alternating)
Load (shocks)
Daily operating time
Note: The higher the operating factor (CB), the closer the shock load output torque (TAB) will be to the
maximum specified output torque for the Planetary Gearbox. Refer to the table below to calculate the
approximate operating factor (CB).
With the most extreme conditions which would be a CB of 1.9, the shock load output torque (TAB) is
over the maximum specified torque of the Planetary Gearbox with a 0.5 safety factor but under with a 0.7
safety factor.
The nominal output torque (TN) × the operating factor (CB) = shock load or maximum output torque
(TAB).
With a 0.5 safety factor, the shock load output torque is greater than the maximum output torque specification of the MDrive23 Planetary Gearbox.
(378 × 1.9 = 718.2 oz-in.)
With a 0.7 safety factor the shock load output torque is within maximum output torque specification of
the MDrive23 Planetary Gearbox.
(270
× 1.9 = 513 oz-in.)
The 0.5 safety factor could only be used with a lower operating factor (CB) such as 1.5 or less, or a lower
motor torque.
Note: All published torque specifications are based on CB = 1.0. Therefore, the shock load output torque
(TAB) = nominal output torque (TN).
WARNING! Excessive torque may damage your Planetary Gearbox. If the MDrive/Planetary Gearbox
should hit an obstruction, especially at lower speeds (300 RPM or 1000 Full Steps/Second), the torque
generated will exceed the maximum torque for the Planetary Gearbox. Precautions must be taken to
ensure there are no obstructions in the system.
* Low Shock = Motor turns in one direction and has ramp up at start.
** Medium Shock = Motor turns in one direction and has no ramp up at start.
† Low Shock = Motor turns in both directions and has ramp up at start.
†† Medium Shock = Motor turns in both directions and has no ramp up at start.
Appendices
Table C.1: Planetary Gearbox Operating Factor
A-9
System Inertia
Preload on
leadscrew
Weight of
table
Weight of
parts
Friction of
guideways
Weight of
nut
Weight of
screw
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
Planetary Gearbox ratio plays an important role in matching system inertia to motor inertia. There are many
variable factors that affect the inertia. Some of these factors are:
The type of system being driven.
Weight and frictional forces of that system.
The load the system is moving or carrying.
The ratio of the system inertia to motor inertia should be between 1:1 and 10:1. With 1:1 being ideal, a 1:1 to
5:1 ratio is good while a ratio greater than 5:1 and up to 10:1 is the maximum.
Type of System
There are many systems and drives, from simple to complex, which react differently and possess varied
amounts of inertia. All of the moving components of a given system will have some inertia factor which
must be included in the total inertia calculation. Some of these systems include:
Lead screw
Rack and pinion
Conveyor belt
Rotary table
Belt drive
Chain drive
Not only must the inertia of the system be calculated, but also any load that it may be moving or carrying.
The examples below illustrate some of the factors that must be considered when calculating the inertia of a
system.
Lead Screw
In a system with a lead screw, the following must be considered:
The weight and preload of the screw
The weight of the lead screw nut
The weight of a table or slide
The friction caused by the table guideways
The weight of any parts
Figure C.2: Lead Screw System Inertia Considerations
A-10
MDrive34Plus Motion Control Hardware Manual Revision R080106
Rack and Pinion
Weight of
pinion and shaft
Preload or friction
between pinion and rack
Load on
rack
Weight of
rack
Friction of
rack in guide
Gearbox
Motor
Weight and size
of drive roller
Weight and size
of idler roller
Weight of
conveyor belt
Weight of
parts
Friction
of belt
Elevation
Motor
Gearbox
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
The friction and/or preload between the pinion and the rack
Any friction in the guidance of the rack
The weight or mass of the object the rack is moving
Figure C.3: Rack and Pinion System Inertia Considerations
Conveyor Belt
In a system with a conveyor belt, the following must be considered:
The weight and size of the cylindrical driving pulley or roller
The weight of the belt
The weight or mass and size of the idler roller or pulley on the opposite end
The angle or elevation of the belt
Any load the belt may be carrying
Figure C.4: Conveyor System Inertia Considerations
Appendices
A-11
Rotary Table
Weight and size
of drive pulley
Weight and size
of driven pulley
Friction created by
tension on belt
Weight of
shaft
Weight and
size of table
Weight and position
of parts on table
The position of parts relative
to the center of the
rotary table is important
Friction of any
bearing or support
Motor
Gearbox
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
How the table is being driven and supported also affects theinertia
Belt Drive
In a system with a belt drive, the following must be considered:
The weight or mass and size of the driving pulley
The tension and/or friction of the belt
The weight or mass and size of the driven pulley
Any load the system may be moving or carrying
A-12
Figure C.5: Rotary Table System Inertia Considerations
MDrive34Plus Motion Control Hardware Manual Revision R080106
Chain Drive
Weight of
chain
Weight and size
of drive
sprocket and hub
Weight and size
of driven sprocket,
shaft and any material
or parts being moved
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
the weight of any material or parts being moved
Figure C.6: Chain Drive System Inertia Considerations
Once the system inertia (JL) has been calculated in oz-in-sec2, it can be matched to the motor inertia. To
match the system inertia to the motor inertia, divide the system inertia by the square of the gearbox ratio.
The result is called Reflected Inertia or (J
J
= JL ÷Ζ
ref
2
).
ref
Where:
J
J
= System Inertia in oz-in-sec
L
= Reflected Inertia in oz-in-sec
ref
2
2
Z = Gearbox Ratio
The ideal situation would be to have a 1:1 system inertia to motor inertia ratio. This will yield the best
positioning and accuracy. The reflected inertia (J
) must not exceed 10 times the motor inertia.
ref
Your system may require a reflected inertia ratio as close to 1:1 as possible. To achieve the 1:1 ratio, you
must calculate an Optimal Gearbox Ratio (Z
desired J
. In this case since you want the system inertia to match the motor inertia with a 1:1 ratio, J
ref
) which would be the square root of JL divided by the
opt
ref
would be equal to the motor inertia.
Z
Where:
Z
J
J
= JL ÷ J
opt
ref
= Optimal Gearbox Ratio
opt
= System Inertia in oz-in-sec
L
= Desired Reflected Inertia in oz-in-sec2 (Motor Inertia)
ref
2
Appendices
A-13
Planetary Gearbox Inertia
Stages
Rounded
Ratio
1-Stage
4:1
5:1
7:1
2-Stage
14:1
16:1
18:1
19:1
22:1
25:1
27:1
29:1
35:1
46:1
3-Stage
51:1
59:1
68:1
71:1
79:1
93:1
95:1
100:1
107:1
115:1
124:1
130:1
139:1
150:1
169:1
181:1
195:1
236:1
308:1
MDrive 34
Gearbox
0.00233660
0.00154357
0.00128867
0.00219499
0.00179847
0.00182679
0.00141612
0.00148693
0.00177015
0.00148693
0.00124619
0.00126035
0.00126035
0.00218082
0.00178431
0.00179847
0.00147276
0.00179847
0.00124619
0.00147276
0.00148693
0.00124619
0.00148693
0.00124619
0.00124619
0.00144444
0.00124619
0.00126035
0.00124619
0.00126035
0.00126035
0.00126035
Planetary Gearbox Inertia Moments (oz-in-sec2)
In addition to System Inertia, the Planetary Gearbox inertia must also be included when matching system
inertia to motor inertia. The Planetary Gearbox inertia varies with the ratio and the number of stages.
The table below lists the inertia values for the MDrive14, 17, 23 and 34 Planetary Gearbox. The values
are in oz-in-sec2 (ounce-inches-second squared). To calculate the inertia in kg-cm2 (kilograms-centimeter
squared) multiply oz-in-sec2 by 70.6154.
A-14
Table B.2: Planetary Gearbox Inertia Moments
MDrive34Plus Motion Control Hardware Manual Revision R080106
MDrive34Plus Motion Control with Planetary Gearbox
Figure C.7: Planetary Gearbox Specifications for MDrive34Plus Motion Control
Gearbox Lengths Inches (mm)
GEARBOX*with FLANGE
k1
†
A-15
Page Intentionally Left Blank
A-16
MDrive34Plus Motion Control Hardware Manual Revision R080106
ap p en d ix D
NPN Input, Sinking
Internal
pull-up
voltage
detect
logic
24.9k ohms
100k ohms
3.3 V
GND
Iil
65 - 160 uA
MDrivePlus Sinking Input
Equivalent Circuit
IOx
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iil = 100 µA
up to
24 V
NPN
+
Standard I/O Set Interfacing and Application
NPN Sinking Input
Figure D.1: NPN Interface to an MDI Sinking Input
I/O Application Guide
Application Example
Proximity sensor will operate as a +Limit. When active LOW will index the motor to a specified
position.
‘[VARIABLES]
S1=2,0,0 ‘set IO1 to Limit+, Active LOW, sinking
‘[PROGRAMS]
PG 100 ‘enter program mode at address 100
LB AA ‘label program AA
MR 200000000 ‘move relative x distance
H ‘hold program execution until move completes
CL AB , I1 = 0 ‘call subroutine AB if I1 = 0 (limit reached)
BR AA , I1 = 1 ‘branch to AA if I1=1
LB AB ‘Label Sub AB
PR “Error 83, Positive Limit Reached”
ER=0
MA - 10000 ‘Absolute move to Pos. -10000
H ‘hold program execution until move completes
E ‘end program
PG ‘exit program.
‘[END]
Appendices
A-17
PNP Sour cing Input
PNP Input, Sourcing
Internal
pull-up
voltage
detect
logic
40 - 135 uA
24.9k ohms
100k ohms
3.3 V
The internal pull-up voltage
cannot provide output
current / voltage
IOx
GND
Iih
MDrivePlus Sourcing Input Equivalent
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA
up to
24 V
PNP
+
Figure D.2: PNP Interface to a Sourcing Input
Application Example
Will use this input as a general purpose input which will run a motion subroutine when HIGH.
‘[VARIABLES]
S1=0,1,1 ‘set IO1 Gen Purpose User, active HIGH, src
S2=0,1,1 ‘set IO1 Gen Purpose User, active HIGH, src
‘[PROGRAMS]
‘*****Main Program*****
PG 100
LB AA
CL SA,I1=1 ‘call sub SA if IO1=1
CL SB,I2=1 ‘call sub SB if IO2=1
BR AA
‘******Subroutines*******
LB SA ‘Subroutine will perform some motion
MR 200000
H
MR -200000
H
BR SA,I1=1 ‘conditional branch to beginning of sub
BR AA,I1=0 ‘Branch to main program if IO1=0
RT
LB SB ‘Subroutine will perform some motion
MR 10000
H
MR -10000
H
BR SB,I2=1 ‘conditional branch to beginning of sub
BR AA,I2=0 ‘Branch to main program if IO1=0
RT
E
PG
‘[END]
A-18
MDrive34Plus Motion Control Hardware Manual Revision R080106
Sinking Output
Internal
pull-up
voltage
24.9k ohms
Sinking Output Equivalent Circuit
always
off
switched
IOx
GND
MDrivePlus
Sinking Output
*External Resistor may be needed to
limit output sink current to 600mA
up to
24 V
+
IO1
IO2
IO3
IO4
GND
S1 = 16,0
S2 = 4,1,1
S3 = 2,0,0
S4 = 3,0,0
GO
+ LIMIT
- LIMIT
LOAD
PNP
up to
+24 V
+
S Parameter Settings
Figure D.3: Sinking Output to Relay
Application Example
Active LOW Output will be opem a relay, useful for Fault.
NOTE: On the
Standard MDrivePlus,
when congured as
is sinking ONLY! The Plus
outputs, the I/O set
2
Models add the functionality of
I/O Power, which enables the
user to use all the outputs, both
Standard and Enhanced, as
Sinking or Sourcing.
‘[VARIABLES]
S1=19,0,0 ‘Configure IO 1 as a Fault output.
Mixed Input/Output Example
Figure D.4: Mixed Output Example- Standard I/O Set
Appendices
A-19
Enhanced I/O Set Interfacing and Application
Internal
pull-up
voltage
detect
logic
24.9k ohms
100k ohms
3.3 V
The internal pull-up voltage
cannot provide output
current / voltage
IOPWR
IOGND
Iil
65 - 160 uA
MDrivePlus2
IOx
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iil = 100 µA
NPN Input, Sinking
Sinking Input Equivalent Circuit
NPN
12 to
24 V
+
PNP Input, Sourcing
Internal
pull-up
voltage
detect
logic
40 - 135 uA
24.9k ohms
100k ohms
3.3 V
The internal pull-up voltage
cannot provide output
current / voltage
IOPWR
IOx
IOGND
Iih
MDrivePlus
2
Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA
PNP
12 to
24 V
NPN Sinking Input
Figure D.5: NPN Sinking Input on an MDrivePlus2 Motion Control
Application Example
Sensor using the HOME function.
A-20
‘[VARIABLES]
S2=1,1,0 ‘Configure IO2 as a Home Input, active HIGH, sinking.
Enter to IMS Terminal in Immediate mode or in a Program
HM 1 ‘Slew at VM - until IO2 = 1, Creep off + at VI
PNP Sour cing Input
Application Example
Sensor using the Jog+ function.
JE=1 ‘Enable Jog function
S11=7,1,1 ‘Configure IO11 as a Jog+ Input, active HIGH, sourcing
Figure D.6: PNP Sourcing Input on an MDrivePlus2 Motion Control
MDrive34Plus Motion Control Hardware Manual Revision R080106
Sourcing Output
Internal
pull-up
voltage
The internal pull-up voltage
cannot provide output
current / voltage
24.9k ohms
Sourcing Output Equivalent Circuit
always
off
switched
IOPWR
IOx
IOGND
MDrivePlus
2
load current, sourcing
Sourcing Output
Sourcing Input
uit
g
Input Equivalent Cir
c
So
u
Internal
pull-up
voltage
detect
logic
40 - 135 uA
24.9k ohms
100k ohms
3.3 V
The internal pull-up voltage
cannot provide output
current / voltage
IOPWR
IOx
IOGND
Iih
MDrivePlus
2
#2
MDrivePlus
2
#1
Application Example
This application example will illustrate two MDrivePlus2 units in a system. In the program example
MDrivePlus2 #1 will be configured as a Fault Output, which when HIGH will trip an input on MDrivePlus2
#2 which will be configured as a Pause Input.
MDrive #1
S9=18,1,1 ‘Configure IO9 as a Fault output, active HIGH, sourcing
MDrive #2
S9=6,1,1 ‘Configure IO9 as a Pause Input, active HIGH, sourcing.
Appendices
Figure D.7: Sourcing Output to Sourcing Input
A-21
Mixed Input/Output Example
IO1
IO2
IO3
IO4
IOGND
S1 = 17,0,0
S2 = 19,0,0
S3 = 7,1,1
S4 = 8,1,1
STALL
JOG +
JOG -
LOAD
MOVING
IO9
IO10
IO11
IO12
S9 = 16,1,1
S10 = 16,1,1
S11 = 2,0,0
S12 = 3,0,0
+ LIMIT
- LIMIT
+12 to
+24 V
IOPWR
LOAD
OUT (PNP)
OUT (PNP)
IN (w / pullup)
IN (w / pullup)
PLC
+
+5 VDC
MDrivePlus Motion Control
IO1
IO2
IO3
IO4
IO9
IO10
IO11
IO12
GND
STANDARDENHANCED
LSBLSB
MSB
IL
IN
LSB
MSBMSB
IH
Figure D.8: Mixed Input/Output Example - Enhanced I/O
Interfacing Inputs as a Group Example
The MDrivePlus inputs may read as a group using the IL. IH and IN keywords. This will display as a decimal
between 0 to 15 representing the 4 bit binary number (IL, IH) or as a decimal between 0 and 255 representing the 8
bit binary number on the MDrivePlus2 models. The IN keyword will function on the Standard MDrivePlus but will
only read inputs 1 - 4. Inputs will be configured as user inputs (S<point>=0).
Standard MDrivePlus Motion Control
PR IN ‘Reads Inputs 4(MSB) through 1(LSB)
PR IN ‘Reads Inputs 4(MSB) through 1(LSB)
Enhanced MDrivePlus2
PR IL ‘Reads Inputs 4(MSB) through 1(LSB)
PR IH: ‘Reads Inputs 12(MSB) through 9(LSB)
PR IN: ‘Reads Inputs 12(MSB) - 9 amd 4 - 1(LSB)
A-22
Figure D.9: TTL Interface to an Input Group
MDrive34Plus Motion Control Hardware Manual Revision R080106
Interfacing Outputs as a Group Example
MDrivePlus Motion Control
IO1
IO2
IO3
IO4
IO9
IO10
IO11
IO12
STANDARDENHANCED
LSB
LSB
MSB
OL
OT
LSB
MSB
MSB
OH
+5 to +24 VDC
The MDrivePlus inputs may be written to as a group using the OL, OH and OT keywords. This will set the outputs as a binary number representing the decimal between 0 to 15 representing the 4 bit binary number (OL, OH)
or as an 8 bit binary number representing the decimal 0 to 255 on the MDrivePlus2 models. The OT keyword will
function on the Standard MDrivePlus but will only set inputs 1 - 4. Outputs will be configured as user outputs
(S<point>=16).
Standard MDrivePlus Motion Control
OL=3 ‘set the binary state of the standard I/O to 0011
OT=13 ‘set the binary state of the standard I/O to 1101
Enhanced MDrivePlus2
OL=5 ‘set the binary state of the standard I/O to 0101
OH=9 ‘set the binary state of the expanded I/O to 1001
OT=223 ‘set the binary state of the combined I/O to 1101 1111
Figure D.10: Outputs Interfaced to LED’s as a Group
Output Bit Weight Examples
Enhanced (Plus2)Standard
I/O Set
OL=13
OT=13
OH=9NOT ADDRESSED BY OH
OT=223
IO12
(MSB)
Table D.1: Output Bit Weight Examples - Outputs set as a group
IO11IO10IO9IO4IO3IO2IO1
NOT AVAILABLE
1101
1001
11011111
(LSB)
Appendices
A-23
ap p en d ix E
MDrivePlus Motion Control Closed Loop Control
MDrive Motion Control Closed Loop Options
The MDrive Motion control has two closed loop options: Internal magnetic encoder on all MDrivePlus models
or interface to a remote user supplied encoder on MDrivePlus2 models.
Internal Encoder
All models of the MDrivePlus motion control are available with an internal magnetic encoder, which adds the
functionality of Stall Detection, Position Maintenance and Home to Index.
The encoder itself has a resolution of 512 lines or 2048 edges per revolution.
A-24
MDrive34Plus Motion Control Hardware Manual Revision R080106
The MDrivePlus2 models are available with the option of using a remote encoder through the enhanced I/O.
The advantage of using a remote encoder is that the encoder can be stationed directly on the load for increased
accuracy.
Set Up and Configuration
Figure E.1: Connecting a Remote Encoder
Appendices
A-25
NOTE: The USB
10-Pin IDC Connector
Cable Length 6.0 ft (1.8 m)
MD-CC400-000
USB to RS-422 Converter Cable
www.imshome.com
USB Cable
Length 6.0 ft (1.8 m)
1.0 in
(25.0 mm)
3.75 in
(95.0 mm)
0.875 in
(22.0 mm)
USB
To MDrive
To PC USB
2.5 mm Power Jack
drivers must be
installed before the
Communications
Converter Cable is plugged into
the computer.
ap p en d ix F
Communications Converter Cables
Optional Cables and Cordsets
WARNING! DO NOT
connect or disconnect
the MD-CC400-000
Communications Converter
Cable from MDrive while power is
applied!
USB to 10-Pin IDC (MD-CC400-000)
The MD-CC400-000 is an in-line
USB to RS-422 converter with integrated 10-pin IDC cable. This product
is used to communicate to a single
MDrive Motion Control Device. The
included components will allow you
to connect the USB port of a PC* directly to the MDrive Motion Control.
The MD-CC400-000 communications converter cable is designed to be
used with all MDrive, MDrivePlus and
Figure F.1: MD-CC400-000
MDrivePlus2 Motion Control devices
that utilize an RS-422 ten pin connector interface.
Supplied Components: MD-CC400-000 Communications Converter Cable, USB Cable, USB Drivers, IMS
Terminal Interface Software.
10-Pin Locking Wire Crimp Adapter
An optional pin adapter is available to convert the 10-pin IDC connector on the Communications Converter Cable to a 10-pin friction lock wire crimp interface used on the Plus2 units.
Adapter Part # ....................................................... MD-ADP-H
MD-CC400-000 Specications
BAUD RateUp to 115 kbps
Connectors:
USB
RS-422 Side10 Pin 2mm IDC
Ribbon Cable Length6 feet (1.8 meters)
Power RequirementPower from USB
Table F.1: MD-CC400-000 Electrical Specifications
* If your PC is already equipped with RS-422, the MD-CC400-000 cable is not required.
MDrive34Plus Motion Control Hardware Manual Revision R080106
MD-CC400-000 Power Jack
USB to RS-422
Converter
TX+
Aux Pwr Sply
TX-
RX-
RX+
CGND
Host
2.5 mm
Power Jack
+VDC
RX+
RX-
TX+
CGND
TX-
MDrive
P2
USB Cable
Aux Pwr Spl
y
10-Pin IDC
10-Pin Friction Lock Wire Crimp
P2
1
10
P2
9
2
1
2
10
9
The 2.5mm power jack located on top of the converter
housing can be used to maintain logic power for MDrives
that have an Aux-Power-Supply connection.
Center Pin+12 to 24 VDC
unregulated Outer Contact
Ground.
Figure F.3: Typical Communications Interface
Installation Procedure for the MX-CC40x-000
These Installation procedures are written for Microsoft Windows XP Service Pack 2. Users with earlier versions
of Windows please see the alternate installation instructions at the IMS web site (http://www.imshome.com).
The installation of the MD-CC40x-000 requires the installation of two sets of drivers:
Drivers for the IMS USB to RS-422 Converter Hardware.
Drivers for the Virtual Communications Port (VCP) used to communicate to your IMS Product.
Therefore the Hardware Update wizard will run twice during the installation process.
The full installation procedure will be a two-part process: Installing the Cable/VCP drivers and Determining
the Virtual COM Port used.
Installing the Cable/VCP Drivers
1) Plug the USB Converter Cable into the USB
port of the MD-CC40x-000.
2) Plug the other end of the USB cable into an
open USB port on your PC.
3) Your PC will recognize the new hardware and
open the Hardware Update dialog.
4) Select “No, not this time” on the radio
buttons in answer to the query “Can
Windows Connect to Windows Update to
search for software?” Click “Next” (Figure
F.4).
5) Select “Install from a list or specific location
(Advanced)” on the radio buttons in answer
to the query “What do you want the wizard
to do?” Click “Next” (Figure F.5).
Figure F.4: Hardware Update Wizard
Note: An Interactive
Tutorial covering the
installation of the
Cable/VCP drivers are located
on the IMS Web Site at http://
www.imshome.com/tutorials.
html.
Appendices
A-27
Figure F.5: Hardware Update Wizard Screen 2
6) Select “Search for the best driver in these locations.”
(a) Check “Include this location in the search.”
(b) Browse to the MDrive CD [Drive Letter]:\ Cable_
Drivers\MD CC40x000_DRIVERS.
(c) Click Next (Figure F.6).
Figure F.6: Hardware Update Wizard Screen 3
7) The drivers will begin to copy.
8) On the Dialog for Windows Logo Compatibility Testing, click “Continue Anyway” (Figure F.7).
9) The Driver Installation will proceed. When the Completing the Found New Hardware Wizard
dialog appears, Click “Finish” (Figure F.8).
10) Upon finish, the Welcome to the Hardware Update Wizard will reappear to guide you through the
second part of the install process. Repeat steps 1 through 9 above to complete the cable installation.
MDrive34Plus Motion Control Hardware Manual Revision R080106
Determining the V irtual COM Port (VCP)
The MD-CC40x-000 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-CC40x-000 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.
To locate the Virtual COM Port.
1) Right-Click the “My Computer” Icon and select “Properties”.
2) Browse to the Hardware Tab (Figure F.9), Click the Button labeled “Device Manager”.
3) Look in the heading “Ports (COM & LPT)” IMS USB to RS422 Converter Cable (COMx) will
be listed (Figure F.10). The COM # will be the Virtual COM Port connected. You will enter this
number into your IMS Terminal Configuration.
IMS recommends the Prototype Development Cable PD14-2334-FL3 for interfacing I/O and Logic to the
MDrive34Plus2 Motion Control. IMS recommends the Prototype Development Cable PD14-2334-FL3 with
the first order of an MDrive34Plus2 Motion Control to mate with the 14-pin locking wire crimp connector P1.
14 (7 Twisted Pair) Flying Leads interface to the user’s control electronics at the un-terminated end of the cable.
Care should be observed to ensure that the black leads are connected in the correct location in relation to their
paired color.
Figure F.11: PD14-2324-FL3
Wire Color Code
Pair NumberColor CombinationSignal Name (Color)
1Black Paired with WhiteDirection (Black) / Step Clock (White)
2Black Paired with GreenAnalog In (Black) / Capture-Trip (Green)
3Black Paired with BlueI/O 12 (Black) / I/O 11(Blue)
4Black Paired with YellowI/O 10 (Black) / I/O 9 (Yellow)
5Black Paired with BrownI/O 4 (Black) / I/O 3 (Brown)
6Black Paired with OrangeI/O 2 (Black) / I/O 1 (Orange)
7White Paired with RedI/O GND (White) / I/O PWR (Red)
Table F.2: PD16-2334-FL3 Wire Color Codes
Prototype Development Cable PD02-2300-FL3
A-30
IMS recommends the Prototype Development Cable PD02-3400-FL3 for interfacing power to the MDrive34Plus2 Motion Control.
Figure F.12: PD02-3400-FL3
MDrive34Plus Motion Control Hardware Manual Revision R080106
CABLE 1
CABLE 2
CABLE 1
CABLE 2
Cable 1 will Crossover
RX+
RX TX +
TX -
RX+
RX TX +
TX -
HostMDrivePlus
COMM GND
RX-
RX+
TXTX+
Cable - Single Wire
Aux Power +12 to +24 VDC
DO NOT DAISY CHAIN! Each
Line MUST connect to the Power
Supply Output - Ground to Motor
Power Ground NOT COMM GND!
MDRIVE PLUS #1
Cable 1 DOES NOT
Crossover
MDRIVE PLUS #2
10 Ft (3.0 m)
Prototype Development Cable PD10-1434-FL3 (All MDrivePlus Motion Control)
The PD10-1434-FL3 is used to connect to the 10-pin wire crimp option for interfacing RS-422/485 Communications. It also features and additional cable attached for multi-drop communications systems.
It is important to note that Cable 1 will connect to the Communications host. Cable 2 will be used to interface additional MDrivePlus Motion Control Units. A PD10-1434-FL3 is required for each MDrivePlus in
the system. The second, and subsequent MDrivePlus units are interface by connecting Cable 1 of the second
PD10-1434-FL3 to Cable 2 of the first. The cables will connect wire color to wire color (See Figure F.13).
Cable 3 contains a single wire which is used to optionally connect a +12 to +24 VDC supply for Auxiliary
Power. This supply must be grounded at Motor Power ground. In multi-drop systems each usage of cable 3
must connect to the +VDC output of the Auxiliary Supply. Do not daisy chain this connection.
Wire Color Code
Pair Number
(Cable/Pair)
1/1
1/2
1/3
2/1
2/2
2/3
3AUX PowerAUX Power
Color CombinationCommunications Host
Connection
MDrive Wire Crimp
Connection
White/BlueRX+TX+
Blue/WhiteRX+TX-
White/OrangeTX+RX+
Orange/WhiteTX-RX-
White/GreenNCNC
Green/WhiteCOMM GNDCOMM GND
White/BlueTX+TX+
Blue/WhiteTX-TX-
White/OrangeRX+RX+
Orange/WhiteRX-RX-
White/GreenNCNC
Green/WhiteCOMM GNDCOMM GND
Table F.3: PD10-1434-FL3 Wire Color Codes
Appendices
Figure F.13: PD10-1434-FL3
A-31
Page Intentionally Left Blank
A-32
MDrive34Plus Motion Control Hardware Manual Revision R080106
WARRANTY
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. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s
sole option, of the Product, or any part of the Product, determined by IMS to be defective. In order to exercise its warranty
rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty
Service.”
NOTE: MDrive Motion Control electronics are not removable from the motor in the eld.
The entire unit must be returned to the factory for repair.
This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or
misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the
Product; installation, operation or use of the Product not made in strict accordance with the specications and written
instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary
wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modications to the Product; the misuse
or failure of any item or equipment connected to the Product not supplied by IMS; improper maintenance or repair of the
Product; or any other reason or event not caused by IMS.
IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY
LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS
STATED ABOVE, AND IN NO EVENT WILL THE IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR
INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.
This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This
Limited Warranty is the sole warranty offered by IMS with respect to the Product. IMS does not assume any other liability in
connection with the sale of the Product. No representative of IMS is authorized to extend this Limited Warranty or to change
it in any manner whatsoever. No warranty applies to any party other than the original Customer.
IMS and its directors, ofcers, employees, subsidiaries and afliates shall not be liable for any damages arising from any
loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production
or prots, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages,
whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory,
or other losses or expenses incurred by the Customer or any third party.
OBTAINING WARRANTY SERVICE
Warranty service may obtained by a distributor, if the Product was purchased from IMS by a distributor, or by the Customer
directly from IMS, if the Product was purchased directly from IMS. Prior to returning the Product for service, a Returned
Material Authorization (RMA) number must be obtained. Complete the form at http://www.imshome.com/rma.html after
which an RMA Authorization Form with RMA number will then be faxed to you. Any questions, contact IMS Customer
Service (860) 295-6102.
Include a copy of the RMA Authorization Form, contact name and address, and any additional notes regarding the Product
failure with shipment. Return Product in its original packaging, or packaged so it is protected against electrostatic discharge
or physical damage in transit. The RMA number MUST appear on the box or packing slip. Send Product to: Intelligent Motion
Systems, Inc., 370 N. Main Street, Marlborough, CT 06447.
Customer shall prepay shipping changes for Products returned to IMS for warranty service and IMS shall pay for return of
Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for
Products returned to IMS from outside the United States.
TM
MO TI ON C ON TR OL
intelligent motion systems, INC.
Excellence in Motion
www.imshome.com
370 N. Main St., P.O. Box 457
Marlborough, CT 06447 U.S.A.
Phone: 860/295-6102
Fax: 860/295-6107
E-mail: info@imshome.com