IMS MDrive 34 Plus Series, MDrive 34 Plus, MDrive 34 Plus 2 Hardware Reference Manual

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Excellence in Motion

Motion control

Hardware

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MDrive34Plus Motion Control Hardware Reference Change Log

Date Revision Changes

06/29/2006 R062906 Initial Release

08/01/2006 R080106 Added 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 indemnies Intelligent Motion Systems, Inc., against all damages.

MDrive34Plus Motion Control Hardware Reference Revision R080106

Table of Contents

Getting Started - MDrivePlus Motion Control ..................................................................................1-1

Before You Begin ....................................................................................................................... 1-1

Tools and Equipment Required ................................................................................................. 1-1

Connecting the Power Supply ...................................................................................................1-1

Connecting Communications ...................................................................................................1-1

Install IMS Terminal Software ................................................................................................... 1-1

Establishing Communications ................................................................................................... 1-2

Apply Power to the MDrivePlus Motion Control ...................................................................... 1-3

Testing the MDrivePlus Motion Control ................................................................................... 1-3

Make the MDrivePlus Motion Control Move ........................................................................... 1-3

Motion Control Example Using Program Mode ........................................................................ 1-4

Programming Notes ..................................................................................................................1-4

Part 1: Hardware Specifications

Section 1.1: MDrive34Plus Motion Control Product Introduction ....................................................1-7

Introduction to the MDrive34Plus Motion Control System ...................................................... 1-7

Standard Feature Summary ....................................................................................................... 1-7

The MDrive34Plus Motion Control Key Differences and Enhanced Features ........................... 1-8

There are three different variants of the MDrive17Plus Motion Control, these are: ................... 1-8

Section 1.2: MDrive34Plus Detailed Specifications ........................................................................1-9

Standard Electrical Specifications .............................................................................................. 1-9

Thermal Specifications ..............................................................................................................1-9

Standard Motion Specifications ................................................................................................. 1-9

Software Specifications ............................................................................................................ 1-10

Motor Specifications ...............................................................................................................1-10

Mechanical Specifications ........................................................................................................ 1-11

Pin/Wire Assignments ............................................................................................................. 1-12

P1 Connector - I/O and Power Connections ...................................................................... 1-12

P2 Connector - RS-422/485 Communications................................................................... 1-12

Options and Accessories ..........................................................................................................1-12

Section 1.3: MDrive34Plus2 Detailed Specifications ....................................................................1-13

Standard Electrical Specifications ............................................................................................ 1-13

Enhanced Electrical Specifications ........................................................................................... 1-13

Thermal Specifications ............................................................................................................1-13

Standard Motion Specifications ............................................................................................... 1-13

Enhanced Motion Specifications ............................................................................................. 1-14

Software Specifications ............................................................................................................ 1-14

Motor Specifications ...............................................................................................................1-15

Mechanical Specifications ........................................................................................................ 1-15

Pin/Wire Assignments ............................................................................................................. 1-16

P1 Connector - I/O and Power Connections ...................................................................... 1-16

P2 Connector - RS-422/485 Communications................................................................... 1-16

P3 Connector - Power ........................................................................................................1-17

Options and Accessories ..........................................................................................................1-17

Part 2: Connecting and Interfacing

Section 2.1: Mounting and Connection Recommendations ...............................................................2-3

Mounting Recommendations .................................................................................................... 2-3

DC Power Recommendations ................................................................................................... 2-3

MDrive34Plus Motion Control ............................................................................................ 2-3

Layout and Interface Guidelines ................................................................................................ 2-3

Recommended Wiring .........................................................................................................2-3

Recommended Mating Connectors and Pins ........................................................................ 2-4

Securing Power Leads and Logic Leads ................................................................................. 2-4

Section 2.2: Interfacing Communications .........................................................................................2-5

Available Communications Cables/Converters .......................................................................... 2-5

Interfacing Single Mode Communications ................................................................................ 2-5

Single Mode Communications Full Duplex (RS-422) .......................................................... 2-5

Single Mode Communications Half Duplex (RS-485) ......................................................... 2-6

Interfacing Party Mode Communications .................................................................................. 2-6

Data Cable Termination Resistors ......................................................................................... 2-6

MDrivePlus Motion Control Communication Format ......................................................... 2-7

MDrivePlus Motion Control (MDI) Response to Echo Mode .............................................. 2-7

Using Check Sum ................................................................................................................. 2-9

MDrivePlus Motion Control Party Mode Sample Codes .................................................... 2-10

MDrivePlus Motion Control Immediate Party Mode Sample Codes .................................. 2-11

Section 2.3: Interfacing and Using the MDrivePlus Motion Control I/O .........................................2-12

The MDrivePlus Motion Control Digital I/O ......................................................................... 2-12

Standard I/O Set ................................................................................................................ 2-12

Enhanced I/O Set - MDrive34Plus2 ................................................................................... 2-12

Uses of the Digital I/O ............................................................................................................ 2-12

MDrivePlus Motion Control Digital Input Functions ............................................................. 2-13

Programmable Input Functions .......................................................................................... 2-13

Dedicated Input Functions ................................................................................................. 2-13

Active States Defined .......................................................................................................... 2-13

MDrivePlus Motion Control Digital Output Functions .......................................................... 2-14

Programmable Output Functions ....................................................................................... 2-14

Dedicated Output Functions .............................................................................................. 2-14

MDrivePlus Motion Control I/O Ratings ............................................................................... 2-15

MDrivePlus Motion Control I/O Connections ....................................................................... 2-15

I/O Usage Examples — MDrivePlus Standard I/O Set ............................................................ 2-16

Input Interface Example - Switch Input Example (Sinking Input) ...................................... 2-16

Input Interface Example - Switch Input Example (Sourcing Input) ....................................2-17

Output Interface Example (Sinking Output) ...................................................................... 2-18

General Purpose I/O Usage Examples — Enhanced I/O Set ................................................... 2-19

Input Interface Example - Switch Input Example (Sinking Input) ...................................... 2-19

Input Interface Example - Switch Input Example (Sourcing Input) ....................................2-20

Output Interface Example (Sinking Output) ...................................................................... 2-21

Output Interface Example (Sourcing Output) .................................................................... 2-22

Dedicated Digital I/O - Enhanced I/O Set .............................................................................. 2-23

Step/Direction/Clock I/O ..................................................................................................2-23

Capture/Trip ...................................................................................................................... 2-23

Interfacing the Analog Input ................................................................................................... 2-24

Sample Usage ..................................................................................................................... 2-24

Appendices

Appendix A: MDrivePlus Motion Control Motor Performance ......................................................... A-3

Speed-Torque Curves/Motor Specifications ...............................................................................A-3

Appendix B: Recommended Power and Cable Configurations .......................................................... A-4

Example A – Cabling Under 50 Feet, DC Power .......................................................................A-4

Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge ..................................A-4

Example C – Cabling 50 Feet or Greater, AC Power to Power Supply .......................................A-4

Recommended IMS Power Supplies .......................................................................................... A-5

Recommended Power Supply Cabling .......................................................................................A-5

Appendix C: Planetary Gearboxes..................................................................................................... A-6

Section Overview ......................................................................................................................A-6

Product Overview .....................................................................................................................A-6

Selecting a Planetary Gearbox....................................................................................................A-6

Calculating the Shock Load Output Torque (TAB) ..............................................................A-7

System Inertia .........................................................................................................................A-10

Planetary Gearbox Inertia ........................................................................................................A-14

MDrive34AC Plus2 with Planetary Gearbox ...........................................................................A-15

Appendix D: I/O Application Guide ............................................................................................... A-17

Standard I/O Set Interfacing and Application ..........................................................................A-17

NPN Sinking Input ............................................................................................................ A-17

PNP Sourcing Input ...........................................................................................................A-18

Mixed Input/Output Example ............................................................................................A-19

Sinking Output ..................................................................................................................A-19

Enhanced I/O Set Interfacing and Application ........................................................................A-20

NPN Sinking Input ............................................................................................................ A-20

PNP Sourcing Input ...........................................................................................................A-20

Sourcing Output ................................................................................................................A-21

Mixed Input/Output Example ............................................................................................A-22

Interfacing Inputs as a Group Example....................................................................................A-22

Interfacing Outputs as a Group Example.................................................................................A-23

MDrivePlus Motion Control Closed Loop Control .................................................................A-24

Appendix E: MDrive Motion Control Closed Loop Options ............................................................ A-24

Internal Encoder .................................................................................................................A-24

Remote Encoder - MDrive34Plus2 (20-Pin Locking Wire Crimp) .....................................A-25

Appendix F: Optional Cables and Cordsets ..................................................................................... A-26

Communications Converter Cables .........................................................................................A-26

USB to 10-Pin IDC (MD-CC400-000) .............................................................................A-26

Installation Procedure for the MX-CC40x-000 .......................................................................A-27

Installing the Cable/VCP Drivers .......................................................................................A-27

Determining the Virtual COM Port (VCP) ........................................................................A-29

Prototype Development Cables ...............................................................................................A-29

Prototype Development Cable - PD14-2334-FL3 ..............................................................A-30

Prototype Development Cable - PD02-3400-FL3 ..............................................................A-30

Prototype Development Cable - PD10-1434-FL3 ..............................................................A-31

Figure GS.1: IMS Terminal Main Screen ................................................................................... 1-2

Figure GS.2: IMS Terminal Prefrences Dialog ........................................................................... 1-2

Figure GS.3: MDrivePlus Motion Control Sign-On Message .................................................... 1-3

Figure GS.4: Download the Program ........................................................................................ 1-4

Part 1: Hardware Specifications

Figure 1.1.1: MDrive34Plus With Flying Leads ........................................................................1-7

Figure 1.1.2: MDrive34Plus2 Locking Wire Crimp ................................................................... 1-7

Figure 1.2.1: MDrive34Plus Mechanical Specifications ...........................................................1-11

Figure 1.2.2: P1 - 12 in/304.8 cm Flying Leads ....................................................................... 1-12

Figure 1.2.3: P2 - 10-Pin IDC, RS-422/485 Communications ............................................... 1-12

Figure 1.3.1: Mechanical Specifications ................................................................................... 1-16

Figure 1.3.2: P1 14-Pin Wire Crimp: Enhanced I/O .............................................................. 1-16

Figure 1.3.3: P1 20-Pin Wire Crimp: Enhanced I/O and External Remote Encoder .............. 1-16

Figure 1.3.4: P2 10-Pin Wire Crimp Communications Connector ......................................... 1-16

Figure 1.3.5: P3 2-Pin Locking Wire Crimp Power Connector................................................ 1-17

Part 2: Connecting and Interfacing

Figure 2.1.1: MDrive Motion Control Power Connections ....................................................... 2-3

Figure 2.1.2: Typical MDrive Shown with Leads Secured ..........................................................2-4

Figure 2.2.1: Full Duplex Communications (RS-422) ............................................................... 2-5

Figure 2.2.2: Half Duplex 2 Wire Communications (RS-485) ..................................................2-6

Figure 2.2.3: RS-485 Interface, Multiple MDrivePlus Motion Control System ......................... 2-7

Figure 2.3.1: Uses for the Digital I/O ...................................................................................... 2-12

Figure 2.3.2: P1 - 12 in/304.8 cm Flying Leads ....................................................................... 2-15

Figure 2.3.3: Connector Orientation ....................................................................................... 2-15

Figure 2.3.4: P1 14-Pin and 20-Pin Wire Crimp Connector Pin Configuration ..................... 2-15

Figure 2.3.5: Sinking Input Example using a Push Button Switch ........................................... 2-16

Figure 2.3.6: Sourcing Input Example using a Push Button Switch ......................................... 2-17

Figure 2.3.7: Sinking Output Example .................................................................................... 2-18

Figure 2.3.8: Switch Interface to Input, Sinking ...................................................................... 2-19

Figure 2.3.9 Sourcing Input Example using a Push Button Switch .......................................... 2-20

Figure 2.3.10: Sinking Output Example .................................................................................. 2-21

Figure 2.3.11: Sourcing Output Example ................................................................................ 2-22

Figure 2.3.12: MDrivePlus Motion Control Clock Functions ................................................. 2-23

Figure 2.3.13: Analog Input - Voltage Mode ........................................................................... 2-24

Figure 2.3.14: Analog Input - Current Mode .......................................................................... 2-25

List of Figures

iii

Appendices

Figure A.1: MDrive34Plus Motion Control Speed-Torque Curves ...........................................A-3

Figure B.1: DC Cabling - Under 50 Feet ...................................................................................A-4

Figure B.2: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier ......................A-4

Figure B.3: AC Cabling - 50 Feet or Greater - AC To Power Supply ..........................................A-4

Figure C.1: MDrive23 Torque-Speed Curve ..............................................................................A-8

Figure C.2: Lead Screw System Inertia Considerations ............................................................A-10

Figure C.3: Rack and Pinion System Inertia Considerations ....................................................A-11

Figure C.4: Conveyor System Inertia Considerations ..............................................................A-11

Figure C.5: Rotary Table System Inertia Considerations ..........................................................A-12

Figure C.6: Chain Drive System Inertia Considerations ..........................................................A-13

Figure C.7: Planetary Gearbox Specifications for MDrive34Plus Motion Control ...................A-15

Figure D.1: NPN Interface to an MDI Sinking Input .............................................................A-17

Figure D.2: PNP Interface to a Sourcing Input .......................................................................A-18

Figure D.3: Sinking Output to Relay ......................................................................................A-19

Figure D.4: Mixed Output Example- Standard I/O Set ...........................................................A-19

Figure D.5: NPN Sinking Input on an MDrivePlus2 Motion Control ...................................A-20

Figure D.6: PNP Sourcing Input on an MDrivePlus2 Motion Control ...................................A-20

Figure D.7: Sourcing Output to Sourcing Input ......................................................................A-21

Figure D.8: Mixed Input/Output Example - Enhanced I/O ....................................................A-22

Figure D.9: TTL Interface to an Input Group .........................................................................A-22

Figure D.10: Outputs Interfaced to LED’s as a Group .............................................................A-23

Figure E.1: Connecting a Remote Encoder ..............................................................................A-25

Figure F.1: MD-CC400-000 ...................................................................................................A-26

Figure F.2: MD-CC400-000 Mechanical Specifications ..........................................................A-26

Figure F.3: Typical Communications Interface ........................................................................A-27

Figure F.4: Hardware Update Wizard ......................................................................................A-27

Figure F.5: Hardware Update Wizard Screen 2 ........................................................................A-28

Figure F.6: Hardware Update Wizard Screen 3 ........................................................................A-28

Figure F.7: Windows Logo Compatibility Testing ....................................................................A-28

Figure F.8: Hardware Update Wizard Finish Installation .........................................................A-28

Figure F.9: Hardware Properties...............................................................................................A-29

Figure F.10: Windows Device Manager ...................................................................................A-29

Figure F.11: PD14-2334-FL3 ..................................................................................................A-30

Figure F.12: PD02-3400-FL3 ..................................................................................................A-30

Figure F.13: PD10-1434-FL3 ..................................................................................................A-31

Part 2: Connections and Interface

Table 2.2.1: MDI Response to Echo Mode - Party and Check Sum are Zero (0) ....................... 2-8

Table 2.2.2: MDI Response to Echo Mode - Party is One (1) and Check Sum is Zero (0) ....... 2-8

Table 2.2.3: MDI Response to Echo Mode - Party is Zero (0) and Check Sum is One (1) ....... 2-8

Table 2.2.4: MDI Response to Echo Mode - Party and Check Sum are One (1) ....................... 2-9

Table 2.3.1: Programmable Input Functions............................................................................ 2-13

Table 2.3.2: Dedicated Input Functions ..................................................................................2-13

Table 2.3.3: Programmable Output Functions ........................................................................ 2-14

Table 2.3.4: Dedicated Output Functions ...............................................................................2-14

Table 2.3.5: MDrivePlus Motion Control I/O and Protection Ratings .................................... 2-15

Table 2.3.6: MDrive34Plus P1 I/O ......................................................................................... 2-15

Table 2.3.7: P1 Pin Descriptions .............................................................................................2-15

Appendices

Table B.1: Recommended Supply Cables ..................................................................................A-5

Table C.1: Planetary Gearbox Operating Factor ........................................................................A-9

Table B.2: Planetary Gearbox Inertia Moments .......................................................................A-14

Table B.3: Planetary Gearbox Specifications ............................................................................A-15

Table B.4: Planetary Gearbox Ratios and Part Numbers ..........................................................A-15

Table D.1: Output Bit Weight Examples - Outputs set as a group ...........................................A-23

Table F.1: MD-CC400-000 Electrical Specifications ...............................................................A-26

Table F.2: PD16-1423 Wire Color Codes ................................................................................A-30

Table F.3 PD10-1434 Wire Color Codes .................................................................................A-31

List Of Tables

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.

• An +12 to +75 VDC Unregulated Power Supply .

• Basic Tools: Wire Cutters / Strippers / Screwdriver.

• 18 AWG Wire for Power Supply.

• A PC with Windows XP Service Pack 2.

• A free serial communications or USB port.

Connecting the Power Supply

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:

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.

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:

Mo tion control

Hardware

Excellence in Motion

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

conguration. 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. MDrive34Plus

The MDrive34Plus

Motion Control

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

Logic Threshold

Logic 0 .............................................................................................................................<0.8VDC

Logic 1 .............................................................................................................................>2.2VDC

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

Specications.

Communication

Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable

Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps

* See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O

Thermal Specifications

Operating Temperature .................................................................................................-40 to 85°C

Standard Motion Specifications

Microstep Resolution – Open Loop Configuration

Number of Microstep Resolution Settings ................................................................................. 20

Available Microsteps Per Revolution

200 400 800 1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 51200 36000121600225400

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

Encoder (Optional)

Type .......................................................................................................................Internal, Optical

Resolution ............................................................................512 Lines/2048 counts per Revolution

Part 1: Hardware Specifications

1-9

WARNING! When using the MDrivePlus Motion

Control with optional internal magnetic encoder, no axial force may be applied to the motor shaft without use of a load bearing isolation coupling.

Counters

Type .................................................................................................... Position (C1), Encoder (C2)

Resolution ..............................................................................................................................32 Bit

Edge Rate (Max) .................................................................................................................. 5 MHz

Velocity

Range ................................................................................................. ±5,000,000 Steps per Second

Resolution ................................................................................................. 0.5961 Steps per Second

Acceleration/Deceleration

Range ................................................................................................... 1.5 x 109 Steps per Second

Resolution ....................................................................................................90.9 Steps per Second

† Adjusting the microstep resolution can increase the range.

Software Specifications

Program Storage, Type/Size ...................................................................................Flash/6384 Bytes

User Registers ................................................................................................................... (4) 32 Bit

User Program Labels and Variables ............................................................................................ 192

Math, Logic and Conditional Functions .............+, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT

Branch Functions .......................................................Branch & Call (conditonal or unconditional)

Predefined I/O Functions ................................... Inputs Home, Limit Plus, Limit Minus, Go, Stop,

Pause, Jog Plus, Jog Minus, Analog In

Outputs .................................................................................Moving, Fault, Stall, Velocity Change

Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture

Party Mode Addresses ................................................................................................................. 62

Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index

Motor Specifications

Single Length

Holding Torque ............................................................................................... 381 oz-in/269 N-cm

Detent Torque .................................................................................................10.9 oz-in/7.7 N-cm

Rotor Inertia ...................................................................................0.01416 oz-in-sec2/1.0 kg-cm

Weight (Motor + Driver) ............................................................................................. 4.1 lb/1.9 kg

Double Length

Holding Torque ............................................................................................... 575 oz-in/406 N-cm

Detent Torque .............................................................................................14.16 oz-in/10.0 N-cm

Rotor Inertia ...................................................................................0.02266 oz-in-sec2/1.6 kg-cm

Weight (Motor + Driver) ............................................................................................. 5.5 lb/2.5 kg

Triple Length

Holding Torque ............................................................................................. 1061 oz-in/749 N-cm

Detent Torque .............................................................................................19.83 oz-in/14.0 N-cm

Rotor Inertia ...................................................................................0.04815 oz-in-sec2/3.4 kg-cm

Weight (Motor + Driver) ............................................................................................. 8.8 lb/4.0 kg

1-10

MDrive34Plus Motion Control Hardware Revision R080106

12" (305)

Ø 0.5512 +0/-0.0004 (Ø 14.0 +0/-0.010)

4X Ø 0.217 (Ø 5.51)

2.739 SQ.

(69.57 SQ.)

3.39 SQ.

(86.1 SQ.)

Ø 2.874 ±0.002 (Ø 73.0 ±0.05)

Mechanical Specifications

MAX

0.394

(10.01)

1.46 ±0.04 (37.1 ±1.0)

0.984 ±0.01 (25.0 ±0.25)

0.512 +0/–0.004 (13.0 ±0.10)

0.079 (2.0)

0.731

(18.57)

1.250

(31.75)

1.981

(50.32)

3.727

(94.67)

MAX2

Ø 1.90

(Ø 48.3)

Dimensions in Inches (mm)

MDrive Lengths Inches (mm)

Motor Length

Single Double Triple

MAX

SINGLE SHAFT,

INTERNAL ENCODER

3.71 (94.23) 4.42 (112.27)

4.50 (114.30) 5.21 (132.33)

6.07 (154.18) 6.78 (172.21)

Connector Options

MAX2

CONTROL KNOB

VERSION

MAX2

Option

Control Knob

Part 1: Hardware Specifications

Figure 1.2.1: Mechanical Speciﬁcations

1-11

Pin 1

Pin 7

Pin 5

Pin 3

Pin 9

Pin 2

Pin10

Pin 4

Pin 8

Pin 6

Pin 1

P2: COMM CONNECTOR

RS-422/485

10-Pin

IDC

Wire

Crimp

Function

Pin 1 Pin 9 TX + Pin 2 Pin 10 TX – Pin 3 Pin 7 RX + Pin 4 Pin 8 RX –

Pin 5 Pin 5

Aux-Logic (+12 to +24

VDC) Pin 6 Pin 6 RX + Pin 7 Pin 3 RX – Pin 8 Pin 4 TX – Pin 9 Pin 1 TX +

Pin 10 Pin 2 COMM Ground

White/Yellow I/O1

White/Orange I/O2

White/Violet I/O3

White/Blue I/O4

Green Analog Input

Black Power Ground

Red +V (+12 to +75 VDC)

Flying Leads - I/O and Power Connection

Wire Color Function

White/Yellow I/O 1

White/Orange I/O 2

White/Violet I/O 3

White/Blue I/O 4

Green Analog Input

Black Power/Aux-Ground

Red +V (+12 to +75 VDC)

Pin/Wire Assignments

P1 Connector - I/O and Power Conne ctions

Figure 1.2.2: P1 - 12 in/304.8 cm Flying Leads

P2 Connector - RS-422/485 Communic ations

1-12

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.

Control Knob

The MDrive34Plus 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

Communications Converter Cables

in Appendix C.

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

Figure 1.2.3: P2 - 10-Pin IDC, RS-422/485 Communications

MDrive34Plus Motion Control Hardware Revision R080106

SE C TI O N 1 .3

MDrive34Plus

Standard Electrical Specifications

Detailed 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

Power supply current requirements (max. per MDrive34Plus) .....................................................4A

(Actual power supply current will depend on voltage and load)

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

Communication

Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable

Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps

* See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O

Enhanced Electrical Specifications

General Purpose I/O

Number/Type

Default Conﬁguration (No external encoder) ........................... 8 Sinking/Sourcing Inputs/Outputs

Voltage Range

Input ................................................................................... TTL level compatible, up to +24 VDC

Output ............................................................................................... (Sourcing) +12 to +24 VDC

Output ................................................................................................... (Sinking) up to +24 VDC

Output Sink/Source Current (per channel)* ..............................................................Up to 600 mA

Logic Threshold

Logic 0 .............................................................................................................................<0.8VDC

Logic 1 .............................................................................................................................>2.2VDC

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

Specications.

Thermal Speciﬁcations

Operating Temperature .................................................................................................-40 to 85°C

Standard Motion Specifications

Microstep Resolution – Open Loop Configuration

Number of Microstep Resolution Settings ................................................................................... 20

Available Microsteps Per Revolution

200 400 800 1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 51200 36000121600225400

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

Part 1: Hardware Specifications

1-13

Encoder (Optional)

Type .......................................................................................................................Internal, Optical

Resolution ............................................................................512 Lines/2048 counts per Revolution

Counters

Type .................................................................................................... Position (C1), Encoder (C2)

Resolution ..............................................................................................................................32 Bit

Edge Rate (Max) .................................................................................................................. 5 MHz

Velocity

Range ................................................................................................. ±5,000,000 Steps per Second

Resolution ...................................................................................................0.5961 Step per Second

Acceleration/Deceleration

Range ...................................................................................................1.5 x 109 Steps per Second

Resolution ................................................................................................... 90.9 Steps per Second

Enhanced Motion Specifications

Electronic Gearing

Range ..................................................................................................................... 0.001 to 2.000†

Resolution ..............................................................................................................................32 Bit

Threshold (External clock in) ...................................................................................................TTL

Input Filter Range ................................................................................................. 50 nS to 12.9 µS

Range (Secondary clock out) ................................................................................................ 1 to 1†

2 2

High Speed I/O

Position Capture ........................................ 32 Bit Resolution, 50 nS to 12.9 µS Input Filter Range

Trip Output Speed ................................................................................................................ 150nS

Trip Output Resolution ..........................................................................................................32 Bit

Trip Output Threshold ............................................................................................................. TTL

Remote Encoder (Optional)

Type ..........................................................................................User-Supplied Differential Encoder

Steps per Revolution...............................................See Microstep Resolutions - Open Loop, Above

Resolutions ..................................................................................................................User-Deﬁned

† Adjusting the microstep resolution can increase the range.

Software Specifications

Program Storage, Type/Size ...................................................................................Flash/6384 Bytes

User Registers ................................................................................................................... (4) 32 Bit

User Program Labels and Variables ............................................................................................ 192

Math, Logic and Conditional Functions .............+, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT

Branch Functions .......................................................Branch & Call (conditonal or unconditional)

Predefined I/O Functions ................................... Inputs Home, Limit Plus, Limit Minus, Go, Stop,

Pause, Jog Plus, Jog Minus, Analog In

Outputs .................................................................................Moving, Fault, Stall, Velocity Change

Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture

Party Mode Addresses ................................................................................................................. 62

Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index

1-14

MDrive34Plus Motion Control Hardware Revision R080106

Motor Specifications

Ø 0.5512 +0/-0.0004 (Ø 14.0 +0/-0.010)

4X Ø 0.217 (Ø 5.51)

2.739 SQ.

(69.57 SQ.)

3.39 SQ.

(86.1 SQ.)

Ø 2.874 ±0.002 (Ø 73.0 ±0.05)

MAX

0.394

(10.01)

1.46 ±0.04 (37.1 ±1.0)

0.984 ±0.01 (25.0 ±0.25)

0.512 +0/–0.004 (13.0 ±0.10)

0.079 (2.0)

0.731

(18.57)

1.250

(31.75)

1.981

(50.32)

3.727

(94.67)

MAX2

Ø 1.90

(Ø 48.3)

Single Length

Holding Torque ............................................................................................... 381 oz-in/269 N-cm

Detent Torque .................................................................................................10.9 oz-in/7.7 N-cm

Rotor Inertia ...................................................................................0.01416 oz-in-sec2/1.0 kg-cm

Weight (Motor + Driver) ............................................................................................. 4.1 lb/1.9 kg

Double Length

Holding Torque ............................................................................................... 575 oz-in/406 N-cm

Detent Torque .............................................................................................14.16 oz-in/10.0 N-cm

Rotor Inertia ...................................................................................0.02266 oz-in-sec2/1.6 kg-cm

Weight (Motor + Driver) ............................................................................................. 5.5 lb/2.5 kg

Triple Length

Holding Torque ............................................................................................. 1061 oz-in/749 N-cm

Detent Torque .............................................................................................19.83 oz-in/14.0 N-cm

Rotor Inertia ...................................................................................0.04815 oz-in-sec2/3.4 kg-cm

Weight (Motor + Driver) ............................................................................................. 8.8 lb/4.0 kg

Mechanical Specifications

Dimensions in Inches (mm)

MDrive Lengths Inches (mm)

Motor Length

Single Double Triple

Part 1: Hardware Specifications

MAX

SINGLE SHAFT,

INTERNAL ENCODER

3.71 (94.23) 4.42 (112.27)

4.50 (114.30) 5.21 (132.33)

6.07 (154.18) 6.78 (172.21)

MAX2

CONTROL KNOB

VERSION

Figure 1.3.1: Mechanical Speciﬁcations

MAX2

Option

Control Knob

1-15

Connector Options

Connector

Options

Pluggable Locking

Wire Crimp

Pluggable Locking

Wire Crimp with Remote Encoder

Pin 1 Pin 1

Pin 1

Pin 1 Pin 1

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

Pin 11

Pin 12

Pin 13

Pin 14

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

Pin 11

Pin 12

Pin 13

Pin 15

Pin 17

Pin 14

Pin 16

Pin 18

Pin 19

Pin 20

P1: I/O CONNECTOR

Wire

Crimp

Function

Expanded I/O

Remote Encoder Closed

Loop Control Pin 1 I/O Power I/O Power Pin 2 I/O Ground I/O Ground Pin 3 I/O 1 I/O 1 Pin 4 I/O 2 I/O 2 Pin 5 I/O 3 I/O 3 Pin 6 I/O 4 I/O 4 Pin 7 I/O 9 I/O 9 Pin 8 I/O 10 I/O 10 Pin 9 I/O 11 I/O 11

Pin 10 I/O 12 I/O 12 Pin 11 Capture/Trip I/O Capture/Trip I/O Pin 12 Analog In Analog In Pin 13 Step/Clock I/O Step/Clock I/O Pin 14 Direction/Clock I/O Direction/Clock I/O Pin 15

n/a

Channel A +

Pin 16 Channel A -

Pin17 Channel B + Pin 18 Channel B Pin 19 Index + Pin 20 Index -

1-16

Pin/Wire Assignments

P1 Connector - I/O and Power Conne ctions

Figure 1.3.2: Connector Orientation

Figure 1.3.3 P1 14 Pin and 20-Pin Wire Crimp Connector Pin Conﬁguration

MDrive34Plus Motion Control Hardware Revision R080106

Pin 10

Pin 2

Pin 3

Pin 1

Pin 8

Pin 5

Pin 7

Pin 4

Pin 6

Pin 9

P2: COMM CONNECTOR

Wire Crimp Function

Pin 1 TX + Pin 2 Comm Ground Pin 3 RX – Pin 4 TX – Pin 5

Aux-Logic (+12 to +24 VDC) Pin 6 RX + Pin 7 RX + Pin 8 RX – Pin 9 TX +

Pin 10 TX –

P2 Connector - RS-422/485 Communic ations

Pin 1

Pin 2

P3: POWER CONNECTOR

Wire Crimp Function

Pin 1 +V (+12 to +75 VDC) Pin 2 Power/Aux Ground

Figure 1.3.4: P2 10-Pin Wire Crimp Communications Connector

P3 Connector - Power

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:

I/O: 14-Pin Wire Crimp Cable ..............................................PD14-2334-FL3

I/O: 20-Pin Wire Crimp Cable ..............................................PD20-3400-FL3

Power: 2-Pin Wire Crimp Cable .............................................PD02-3400-FL3

Communications: 10-Pin Wire Crimp Cable .........................PD10-1434-FL3

Part 1: Hardware Specifications

1-17

Page Intentionally Left Blank

1-18

MDrive34Plus Motion Control Hardware Revision R080106

Mo tion control

Part 2: Connecting and Interfacing

Excellence in Motion

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

–

MDrive34Plus MDrive34Plus

12" FLYING

LEADS

Black

Red

2 PIN

LOCKING

WIRE CRIMP

(P3)

Pin 1

Pin 2

Shielded Twisted Pair Cable 18 AWG

P1 P3

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:

Logic Wiring ......................................................................................................................22 AWG

Wire Strip Length ...................................................................................................0.25” (6.0 mm)

Power and Ground ....................See Appendix B: Recommended Power and Cable Configurations

Figure 2.1.1: MDrive Motion Control Power Connections

Part 2: Connections and Interface

2-3

Recommended Mating Connectors and Pins

Adhesive Anchor/Tywrap

P1: Logic Wiring

P3: Power

P2 Comm

Separation between Logic and Power

Communications

10-Pin IDC (MDI34Plus) .......................................................................... Samtec TCSD-05-01-N

10-pin Friction Lock (MDI34Plus2) ........................................................... Hirose DF11-10DS-2C

Crimp Contact for 10-pin Friction Lock (22 AWG)..................................................... DF11-22SC

Crimp Contact for 10-pin Friction Lock (24 - 28 AWG) .........................................DF11-2428SC

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.

Enhanced I/O - P2

14-pin Locking Wire Crimp Connector Shell ............................................JST PN PADP-14V-1-S

Crimp Pins ..............................................................................................JST PN SPH-001T-P0.5L

Enhance I/O with Remote Encoder - P2

20-pin Locking Wire Crimp Connector Shell ............................................JST PN PADP-20V-1-S

Crimp Pins ..............................................................................................JST PN SPH-001T-P0.5L

Power - P3

2-pin Locking Wire Crimp Connector Shell ..................................................... Molex 51067-0200

Crimp Pins .............................................................................................. Molex 50217-9101 Brass

Securing Power Leads and Logic Lea ds

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 3, 6

Pin 6, 7

Pin 4, 7

Pin 3, 8

Pin 10

Pin 2

Pin 5

MDrive34Plus/Plus

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

Specications

Section of this

document specic 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

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.

Figure 2.2.2: Half Duplex 2 Wire Communications (RS-485)

2-6

Interfacing Party Mode Communications

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.

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*

CGND

MDrivePlus Motion Control #2

(DN=B)

Mating

Connector*

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

TERMINATOR

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 Setting Transmission 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 Setting Transmission 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 congured 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

Sourcing, Outputs/Inputs)

Additional Points ............................................................... IO9, IO10, IO11, IO12 (Sinking

Sourcing, Outputs/Inputs)

Dedicated I/O ...................................................................Step/Clock Input, Step/Direction

I/O, Capture Input/Trip Output

Enhanced (20-Pin) ................................................................. Plus

Available Points .................................................................IO1, IO2, IO3, IO4 (Sinking

Sourcing, Outputs/Inputs)

Additional Points ............................................................... IO9, IO10, IO11, IO12 (Sinking

Sourcing, Outputs/Inputs)

Dedicated I/O ...................................................................Step/Clock Input, Step/Direction

I/O, Capture Input/Trip Output

Remote Encoder I/O ......................................................... Channel A±, Channel B±, Index±

Standard I/O Set

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.

2-12

Enhanced I/O Set - MDrive34Plus

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)

0 General Purpose 0/1 0/1

1 Home 0/1 0/1

2 Limit + 0/1 0/1

3 Limit – 0/1 0/1

4 GO 0/1 0/1

5 Soft Stop 0/1 0/1

6 Pause 0/1 0/1

7 Jog + 0/1 0/1

8 Jog – 0/1 0/1

11 Reset 0/1 0/1

Function Active Sink/Source

Table 2.3.1: Programmable Input Functions

Dedicated Input Functions

MDrivePlus Motion Control Dedicated Input Functions

Parameter

(S7, S8)

33 Step/Direction 0/1

34 Quadrature 0/1

35 Up/Down 0/1

Parameter

(S13)

60 High Speed Capture 0/1

Table 2.3.2: Dedicated Input Functions

Function Active

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

congured 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)

16 General Purpose User 0/1 0/1

17 Moving 0/1 0/1

18 Fault 0/1 0/1

19 Stall 0/1 0/1

20 Velocity Changing 0/1 0/1

Function Active Sink/Source

Table 2.3.3: Programmable Output Functions

Dedicated Output Functions

MDrivePlus Motion Control Dedicated Output Functions

Parameter

(S7, S8)

49 Step/Direction 0/1

50 Quadrature 0/1

51 Up/Down 0/1

Parameter

(S13)

61 High Speed Trip 0/1

Table 2.3.4: Dedicated Output Functions

Function Active

2-14

MDrive34Plus Motion Control Hardware Revision R080106

MDrivePlus Motion Control I/O Ratings

White/Yellow I/O1

White/Orange I/O2

White/Violet I/O3

White/Blue I/O4

Green Analog Input

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

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 -

MDrivePlus I/O Ratings

MDrivePlus Output Voltage (IOPWR) Rating 0 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 = 85C

To compute FET dissipation for unequal loads, calculate the FET power for each I/O not to exceed 425 mW.

Continuous Current FET Power = I

Peak Current FET Power = I

Duty Cycle (D =T on /T period) = ≤ 1.0 seconds at 85˚C

Protection Ratings

Independent Over-temperature

Current Limit 0.6A to 1.2 A

Clamp +45V, -20V

Table 2.3.5: MDrivePlus Motion Control I/O and Protection Ratings

I/O State I Continuous I Peak (D=0.84)

1 on, 3 off 550 mA 600 mA

2 on, 2 off 390 mA 425 mA

3 on, 1 off 320 mA 350 mA

4 on, 0 off 275 mA 300 mA

x 1.4

cont

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

Part 2: Connections and Interface

MDrive34Plus Motion Control

Figure 2.3.2: P1 - 12 in/304.8 cm Flying Leads

MDrive34Plus2 Motion Control

Figure 2.3.3: P1 14-Pin Wire Crimp: Enhanced I/O

Remote Encoder

Flying Leads - I/O and Power Connection

Wire Color Function

White/Yellow I/O 1

White/Orange I/O 2

White/Violet I/O 3

White/Blue I/O 4

Green Analog Input

Table 2.3.6: MDrive34Plus P1 I/O

P1: I/O CONNECTOR

Wire

Crimp

Expanded I/O

Function

Remote Encoder Closed

Loop Control Pin 1 I/O Power I/O Power Pin 2 I/O Ground I/O Ground Pin 3 I/O 1 I/O 1 Pin 4 I/O 2 I/O 2 Pin 5 I/O 3 I/O 3 Pin 6 I/O 4 I/O 4 Pin 7 I/O 9 I/O 9 Pin 8 I/O 10 I/O 10 Pin 9 I/O 11 I/O 11

Pin 10 I/O 12 I/O 12

Pin 11 Capture/Trip I/O Capture/Trip I/O Pin 12 Analog In Analog In Pin 13 Step/Clock I/O Step/Clock I/O Pin 14 Direction/Clock I/O Direction/Clock I/O Pin 15

Channel A +

Pin 16 Channel A -

Pin17 Channel B +

Pin 18 Channel B -

n/a

Pin 19 Index + Pin 20 Index -

Table 2.3.7: P1 Pin Descriptions

2-15

Switch 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

NOTE: On the Standard

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

congured 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)

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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

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

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

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

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

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

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

Dedicated Digital I/O - Enhanced I/O Set

Step Clock

Direction

Channel A

Channel B

CCW

Step/Direction Function

Quadrature Function

Up/Down Function

Input: S<7-8>=33, <active state> Output: S<7-8>=49,<active state>

Input: S<7-8>=34, <active state> Output: S<7-8>=50,<active state>

Input: S<7-8>=35, <active state> Output: S<7-8>=51,<active state>

Step/Dir ection/Clock I/O

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 conguration

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

Plus Motion Co

Driv

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

Plus Motion Co

Driv

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

Mo tion control

Appendices

Appendix A: MDrivePlus Motion Control Motor Performance

Excellence in Motion

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

ap p en d ix A

900

1000

800

700

600

500

400

300

200

100

0 1000

(300)

2000 (600)

3000 (900)

4000

(1200)

5000

(1500)

6000

(1800)

7000

(2100)

Speed in Full Steps per Second (RPM)

orque in Oz - In

T orque in N - cm

465

494

423

706

635

353

282

211

140

45 VDC 75 VDC

24 VDC

900

1000

800

700

600

500

400

300

200

100

Torque in Oz - In

orque in N - cm

465

494

423

706

635

353

282

211

140

45 VDC 75 VDC

24 VDC

0 1000

(300)

2000 (600)

3000 (900)

4000

(1200)

5000

(1500)

6000

(1800)

7000

(2100)

Speed in Full Steps per Second (RPM

)

900

1000

800

700

600

500

400

300

200

100

orque in Oz - In

T orque in N - cm

465

494

423

706

635

353

282

211

140

45 VDC 75 VDC

24 VDC

0 1000

(300)

2000 (600)

3000 (900)

4000

(1200)

5000

(1500)

6000

(1800)

7000

(2100)

Speed in Full Steps per Second (RPM)

MDrivePlus Motion Control Motor Performance

Speed-Torque Curves/Motor Specifications

Single Length

Holding Torque ............................. 381 oz-in/269 N-cm

Detent Torque ............................... 10.9 oz-in/7.7 N-cm

Rotor Inertia .................0.01416 oz-in-sec2/1.0 kg-cm

Weight (Motor + Driver) ............................4.1 lb/1.9 kg

Triple Length

Double Length

Holding Torque ............................. 575 oz-in/406 N-cm

Detent Torque ........................... 14.16 oz-in/10.0 N-cm

Rotor Inertia .................0.02266 oz-in-sec2/1.6 kg-cm

Weight (Motor + Driver) ............................5.5 lb/2.5 kg

Appendices

Holding Torque ........................... 1061 oz-in/749 N-cm

Detent Torque ........................... 19.83 oz-in/14.0 N-cm

Rotor Inertia .................0.04815 oz-in-sec2/3.4 kg-cm

Weight (Motor + Driver) ............................8.8 lb/4.0 kg

Figure A.1: MDrive34Plus Motion Control Speed-Torque Curves

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.

IP804 Unregulated Linear Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

No Load Output Voltage ........................................................................ 76 VDC @ 0 Amps

Half Load Output .................................................................................. 65 VDC @ 2 Amps

Full Load output .................................................................................... 58 VDC @ 4 Amps

IP806 Unregulated Linear Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

No Load Output Voltage ........................................................................ 76 VDC @ 0 Amps

Half Load Output .................................................................................. 68 VDC @ 3 Amps

Full Load Output ...................................................................................64 VDC @ 6 Amps

ISP300-7 Unregulated Switching Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

No Load Output Voltage ........................................................................ 68 VDC @ 0 Amps

Continuous Output Rating .................................................................... 63 VDC @ 2 Amps

Peak Output Rating ...............................................................................59 VDC @ 4 Amps

Recommended Power Supply Cabling

MDrivePlus Supply Cable AWG Table

Length (Feet) 10 25 50* 75* 100*

Minimun AWG 18 16 14 12 12

Length (Feet) 10 25 50* 75* 100*

Minimun AWG 18 16 14 12 12

*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 Specications

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 Diameter MDrive

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

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.

2000 full steps/second

÷ 200 = 10 RPS (revolutions per second) × 60 Seconds = 600 RPM

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

0 1000 2000 3000 4000 5000 6000 7000

Speed in Full Steps per Second

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:

Motor torque

= TM × i × η÷ sf or:

× reduction ratio × gear efficiency ÷ safety factor = nominal output torque.

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

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.

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.

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

= 0.5 or 0.7)

× 6.75 = 236.25 × 0.8 = 189 ÷ 0.5 = 378 oz-in nominal output torque (TN)

× 6.75 = 236.25 × 0.8 = 189 ÷ 0.7 = 270 oz-in nominal output torque (TN)

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 Hours 8 Hours 24 Hours

Constant Low* CB=1.0 CB=1.1 CB=1.3

Medium** CB=1.2 CB=1.3 CB=1.5

Alternating Low† CB=1.3 CB=1.4 CB=1.6

Medium†† CB=1.6 CB=1.7 CB=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

= JL ÷Ζ

ref

Where:

= System Inertia in oz-in-sec

= Reflected Inertia in oz-in-sec

ref

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.

Where:

= JL ÷ J

opt

ref

= Optimal Gearbox Ratio

opt

= System Inertia in oz-in-sec

= Desired Reflected Inertia in oz-in-sec2 (Motor Inertia)

ref

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

0.00218082

0.00178431

0.00179847

0.00147276

0.00179847

0.00124619

0.00147276

0.00148693

0.00124619

0.00148693

0.00124619

0.00144444

0.00124619

0.00126035

0.00124619

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

Key DIN 6885-A-6x6x28mm

Ctrg. DIN 332-D M6x16

4x Ø 0.217 (Ø5.5) Hole*4x Ø 0.217 (Ø5.5) Hole*

0.197* (5.0)

k1 ±0.02 (±0.5)

Ø 2.56* (Ø 65.0)

1.575 (40.0)

Ø 3.189

(Ø 81.0)

Ø 1.969 +0.0006/-0.0004*

(Ø 50.0 +0.015/-0.010)

Ø 2.874 +0/-0.0012

†

(Ø 73.0 +0/-0.030)

Ø 0.748 +0/-0.0008

(Ø 19.0 +0/-0.021)

0.394

†

(10.0)

MDrive34Plus

3.386 SQ.

(86.0 SQ.)

*Gearbox without Flange †

Gearbox with Flange

1.929* (49.0)

1.811

†

(46.0)

M6 x 0.472 (12.0) Deep

†

0.079

†

(2.0)

2.739

†

(69.58)

Ctrg. DIN 332-D M6x16

Key DIN 6885-A-6x6x28mm

4x Ø 0.217 (Ø 5.5) Hole

1.575

(40.0)

1.811 (46.0)

0.079 (2.0)

Ø 0.748 +0/-0.0008

(Ø 19.0 +0/-0.021)

k2 ±0.02 (±0.5)

3.386 SQ. (86.0 SQ.)

2.739

(69.58)

2.739 (69.58)

0.394 (10.0)

Ø 2.874 +0/-0.0012

(Ø 73.0 +0/-0.030)

Ø 3.189

(Ø 81.0)

MDRIVE34

Planetary Gearbox Parameters

Permitted

Output Torque

(oz-in/Nm)

Gearbox

Efﬁciency

Maximum

Backlash

Maximum Load

(lb-force/N)

Radial Axial Gearbox with Flange

1-STAGE

2-STAGE 8496/60.0

3-STAGE 16992/120.0

2832/20.0 0.80 1.0° 90/400 18/80

0.75 1.5° 135/600 27/120

0.70 2.0°

225/1000

Table B.3: Planetary Gearbox Specifications

Planetary Gearbox Mechanical Speciﬁcations

Dimensions in Inches (mm)

Output Side with Ball Bearing

Weight

(oz/g)

64.4/1827

89.5/2538

45/200

92.6/2625

66.7/1890

92.6/2625

118.5/3360

Ratios and Part Numbers

Planetary

Gearbox

1-Stage 1-Stage 1-Stage

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

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

Ratio

(Rounded)

3.71:1 G1A1

5.18:1 G1A2

6.75:1 G1A3

13.73:1 G1A4

15.88:1 G1A5

18.37:1 G1A6

19.20:1 G1A7

22.21:1 G1A8

25.01:1 G1A9

26.85:1 G1B1

28.93:1 G1B2

34.98:1 G1B3

45.56:1 G1B4

50.89:1 G1B5

58.86:1 G1B6

68.07:1 G1B7

71.16:1 G1B8

78.72:1 G1B9

92.70:1 G1C1

95.18:1 G1C2

99.51:1 G1C3

107.21:1 G1C4

115.08:1 G1C5

123.98:1 G1C6

129.62:1 G1C7

139.14:1 G1C8

149.90:1 G1C9

168.85:1 G1D1

181.25:1 G1D2

195.27:1 G1D3

236.10:1 G1D4

307.55:1 G1D5

Table B.4: Planetary Gearbox Ratios

and Part Numbers

Part

Num-

ber

Appendices

1-Stage 4.315 (109.6) 4.433 (112.6) 2-Stage 5.169 (131.3) 5.287 (134.3) 3-Stage 6.024 (153.0) 6.142 (156.0)

Figure C.7: Planetary Gearbox Specifications for MDrive34Plus Motion Control

Gearbox Lengths Inches (mm)

GEARBOX* with FLANGE

†

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

+ 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 congured as

is sinking ONLY! The Plus

outputs, the I/O set

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

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

load current, sourcing

Sourcing Output

Sourcing Input

uit

Input Equivalent Cir

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

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)

IN (w / pullup)

PLC

+5 VDC

MDrivePlus Motion Control

IO1

IO2

IO3

IO4

IO9

IO10

IO11

IO12

GND

STANDARDENHANCED

LSB LSB

MSB

LSB

MSB MSB

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

MSB

LSB

MSB

+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=9 NOT ADDRESSED BY OH

OT=223

IO12

(MSB)

Table D.1: Output Bit Weight Examples - Outputs set as a group

IO11 IO10 IO9 IO4 IO3 IO2 IO1

NOT AVAILABLE

1 1 0 1

1 0 0 1

1 1 0 1 1 1 1 1

(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

Remote Encoder - MDrive34Plus2 (20-Pin Locking Wire Crimp)

CH A+

CH B+

CH A-

CH B-

Index + RIndex -

Remote Encoder

CH A-

CH B-

CH A+

CH B+

Index -

Index +

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 Specications

BAUD Rate Up to 115 kbps Connectors:

USB

RS-422 Side 10 Pin 2mm IDC

Ribbon Cable Length 6 feet (1.8 meters)

Power Requirement Power 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.

Electrical Specifications

Mechanical Specifications

A-26

Figure F.2: MD-CC400-000 Mechanical Specifications

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

USB Cable

Aux Pwr Spl

10-Pin IDC

10-Pin Friction Lock Wire Crimp

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.

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.

11) Your IMS MD-CC40x-000 is now ready to use.

A-28

Figure F.7: Windows Logo Compatibility

Testing

Figure F.8: Hardware Update Wizard Finish 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.

Figure F.9: Hardware Properties

Figure F.10: Windows Device Manager

Prototype Development Cables

Plus2 Enhanced I/O (14-Pin Locking Wire Crimp) ....................................................PD14-2334-FL3

Plus2 Enhanced I/O+Remote Encoder (20-Pin Locking Wire Crimp) ........................PD20-3400-FL3

Plus2 Power ................................................................................................................PD02-3400-FL3

Plus2 Communications ...............................................................................................PD10-1434-FL3

Appendices

A-29

Prototype Development Cable PD14-2334-FL3

Pin 1

Shield - Foil/Tinned Copper Braid

10 ft (3.0 m)

22 AWG Stranded, 7 Twisted Pairs

Motor Power (+12 to +75 VDC)

Power Supply Return (Ground)

Drain Wire (Connect to Earth at Power Supply)

Pin 1 (Red Wire)

10 ft (3.0 m)

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 Number Color Combination Signal Name (Color)

1 Black Paired with White Direction (Black) / Step Clock (White)

2 Black Paired with Green Analog In (Black) / Capture-Trip (Green)

3 Black Paired with Blue I/O 12 (Black) / I/O 11(Blue)

4 Black Paired with Yellow I/O 10 (Black) / I/O 9 (Yellow)

5 Black Paired with Brown I/O 4 (Black) / I/O 3 (Brown)

6 Black Paired with Orange I/O 2 (Black) / I/O 1 (Orange)

7 White Paired with Red I/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 -

Host MDrivePlus

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

3 AUX Power AUX Power

Color Combination Communications Host

Connection

MDrive Wire Crimp

Connection

White/Blue RX+ TX+

Blue/White RX+ TX-

White/Orange TX+ RX+

Orange/White TX- RX-

White/Green NC NC

Green/White COMM GND COMM GND

White/Blue TX+ TX+

Blue/White TX- TX-

White/Orange RX+ RX+

Orange/White RX- RX-

White/Green NC NC

Green/White COMM GND COMM 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 specications 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 modications 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, ofcers, employees, subsidiaries and afliates 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 prots, 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.

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

TECHNICAL SUPPORT Eastern U.S.A.

Phone: 860/295-6102 Fax: 860/295-6107 E-mail: etech@imshome.com

Western U.S.A.

Phone: 760/966-3162 Fax: 760/966-3165 E-mail: wtech@imshome.com

Germany/UK

Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 E-mail: mweber@imshome.com

IMS Product Disclaimer and most recent product information at www.imshome.com.

U.S.A. SALES OFFICES Eastern Region

Phone: 862/208-9742 Fax: 973/661-1275 E-mail: jroake@imshome.com

Central Region

Phone: 260/402-6016 Fax: 419/858-0375 E-mail: dwaksman@imshome.com

Western Region

Phone: 602/578-7201 E-mail:

IMS MOTORS DIVISION

105 Copperwood Way, Suite H Oceanside, CA 92054 Phone: 760/966-3162 Fax: 760/966-3165 E-mail: motors@imshome.com

dweisenberger@imshome.com

IMS EUROPE GmbH Hahnstrasse 10, VS-Schwenningen Germany D-78054 Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 E-mail: info@imseuropehome.com

European Sales Management

4 Quai Des Etroits 69005 Lyon, France Phone: +33/4 7256 5113 Fax: +33/4 7838 1537 E-mail: bmartinez@imshome.com

Germany Sales

Phone: +49/35205/4587-8 Fax: +49/35205/4587-9 E-mail: hruhland@imshome.com

Germany/UK Technical Support

Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 E-mail: mweber@imshome.com

IMS UK Ltd.

25 Barnes Wallis Road Segensworth East Fareham, Hampshire PO15 5TT Phone: +44/0 1489-889825 Fax: +44/0 1489-889857 E-mail: mcheckley@imshome.com

IMS ASIA PACIFIC OFFICE

30 Rafﬂes Pl., 23-00 Caltex House Singapore 048622 Phone: +65/6233/6846 Fax: +65/6233/5044 E-mail: wllee@imshome.com

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IMS MDrive 34 Plus Series, MDrive 34 Plus, MDrive 34 Plus 2 Hardware Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual