Intelligent Motion Systems 17 User Manual

intelligent motion systems, inc.

Excellence in Motion

OPERATING INSTRUCTIONS

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 indemnifies Intelligent Motion Systems, Inc., against all damages.

Table of Contents

Part 1: General Information And Hardware Information

Section 1.1: Introduction to the MDrive17 Motion Control ....................................................................................................................... 5

Introduction to the MDrive17 Motion Control ................................................................................................................................................................................5

Feature Summary .........................................................................................................................................................................................................................5

Section 1.2: MDrive17 Motion Control Specifications ............................................................................................................................... 6

Section Overview .........................................................................................................................................................................................................................6

Rotary Motor Specifications ......................................................................................................................................................................................................... 6

Mechanical Specifications - Dimensions in Inches (mm) ...................................................................................................................................................6

MDrive Motion Control 1713 Motor Specs and Speed/T orque Curves................................................................................................................................ 6

MDrive Motion Control 1715 Motor Specs and Speed/T orque Curves................................................................................................................................ 7

MDrive Motion Control 1719 Motor Specs and Speed/T orque Curves................................................................................................................................ 7

Linear Motor Specifications ..........................................................................................................................................................................................................7

Speed-Force Curve: 24 VDC ..............................................................................................................................................................................................8

Linear Actuator MDrive Motion Control 1713 Specs and Speed-Force Curves ..................................................................................................................8

Speed-Force Curve: 45 VDC ..............................................................................................................................................................................................8

MDrive17 Motion Control ACME Screw ...............................................................................................................................................................................9

General Specifications..................................................................................................................................................................................................................9

Power Supply Requirements ......................................................................................................................................................................................................10

Recommended IMS Power Supplies.................................................................................................................................................................................. 10

Thermal Specifications ...............................................................................................................................................................................................................10

Section 1.3: Introduction to the MDrive23 Motion Control ..................................................................................................................... 11

Introduction to the MDrive23 Motion Control .............................................................................................................................................................................. 11

Section 1.4: MDrive23 Motion Control Specifications ............................................................................................................................. 12

MDrive Motion Control 2218 Motor Specs and Speed/T orque Curves.............................................................................................................................. 12

MDrive Motion Control 2222 Motor Specs and Speed/T orque Curves.............................................................................................................................. 13

MDrive Motion Control 2231 Motor Specs and Speed/T orque Curves.............................................................................................................................. 13

Linear Actuator MDrive Motion Control 2218 Specs and Speed-Force Curves ................................................................................................................14

MDrive23 Motion Control ACME Screw .............................................................................................................................................................................15

Part 2: Connecting, Configuring And Programming The MDrive Motion Control

Section 2.1: Interfacing the MDrive Motion Control ................................................................................................................................. 19

Layout and Interface Guidelines ................................................................................................................................................................................................19

Recommended Wiring ............................................................................................................. ..........................................................................................19

Pin Configuration and Descriptions ............................................................................................................................................................................................ 19

Interfacing Power........................................................................................................................................................................................................................ 20

Interfacing RS-485 Communications .........................................................................................................................................................................................20

Single MDrive ....................................................................................................................................................................................................................20

Multiple MDrive Motion Control System (Party Mode) ......................................................................................................................................................21

Interfacing the Digital I/O ...........................................................................................................................................................................................................22

Uses of the Digital I/O ......................................................................................................................................................................................................22

Interfacing Inputs .............................................................................................................................................................................................................. 22

Interfacing Outputs ...........................................................................................................................................................................................................24

Interfacing the Analog Input .......................................................................................................................................................................................................25

Sample Usage ................................................................................................................................................................................................................... 25

Section 2.2: MDrive Motion Control Software Introduction ................................................................................................................... 26

Installing and Using IMS T erminal...............................................................................................................................................................................................26

System Requirements ......................................................................................................................................................................................................26

Installation .........................................................................................................................................................................................................................26

Using the IMS Terminal Software ......................................................................................................................................................................................27

Setting the Programmable Function Keys ........................................................................................................................................................................28

Upgrading the MDrive Motion Control Firmware......................................................................................................................................................................... 28

MDrive Motion Control Programming.......................................................................................................................................................................................... 29

Operational Modes .............................................................................................................................................................................................................29

Basic Components of MDrive Motion Control Software ............................................................................................................................................................29

Instructions........................................................................................................................................................................................................................ 29

Variables ............................................................................................................................................................................................................................29

Flags.................................................................................................................................................................................................................................. 30

Keywords ...........................................................................................................................................................................................................................30

Most Commonly Used Variables and Commands ...................................................................................................................................................................... 30

Math Functions ..................................................................................................................................................................................................................31

Motion Commands.............................................................................................................................................................................................................31

I/O Commands ..................................................................................................................................................................................................................32

System Instructions .......................................................................................................................................................................................................... 32

Program Instructions ......................................................................................................................................................................................................... 32

Section 2.3: MDrive Motion Control Command Set Summary ............................................................................................................... 35

Setup Instructions, Variables and Flags .....................................................................................................................................................................................35

Miscellaneous Instructions, Variables and Flags ........................................................................................................................................................................35

Motion Instructions, Variables and Flags.................................................................................................................................................................................... 35

I/O Instructions, Variables and Flags ......................................................................................................................................................................................... 36

Program Instructions, Variables and Flags.................................................................................................................................................................................36

Position Related Instructions, Variables and Flags ....................................................................................................................................................................37

Encoder Related Instructions, Variables and Flags....................................................................................................................................................................37

Mathematical Functions.............................................................................................................................................................................................................. 37

Section 2.4: MDrive Motion Control Command Set .................................................................................................................................. 38

Appendix A: ASCII TABLE ................................................................................................................................................................................64

Appendix B: Error Codes ................................................................................................................................................................................. 65

List of Figures

Figure 1.1 Rotary MDrive17 Motion Control Mechanical Specifications ..................................................................................................................................6

Figure 1.2 Rotary MDrive17 Motion Control 1713 Speed/Torque Data.....................................................................................................................................6

Figure 1.3 Rotary MDrive17 Motion Control 1715 Speed/Torque Data.....................................................................................................................................7

Figure 1.4 Rotary MDrive17 Motion Control 1719 Speed/Torque Data.....................................................................................................................................7

Figure 1.5 Linear Actuator MDrive17 Motion Control Mechanical Specifications .....................................................................................................................7

Figure 1.6 Speed-Force Curve - 24VDC (100% Current) .........................................................................................................................................................8

Figure 1.7 Speed-Force Curve - 45VDC (100% Current) .........................................................................................................................................................8

Figure 1.8 Rotary MDrive23 Motion Control Mechanical Specifications ................................................................................................................................12

Figure 1.9 Rotary MDrive23 Motion Control 2218 Speed/Torque Data...................................................................................................................................12

Figure 1.10 Rotary MDrive23 Motion Control 2222 Speed/Torque Data................................................................................................................................... 13

Figure 1.11 Rotary MDrive23 Motion Control 2231 Speed/Torque Data................................................................................................................................... 13

Figure 1.12 Linear Actuator MDrive23 Motion Control Mechanical Specifications ...................................................................................................................13

Figure 1.13 Speed-Force Curve - 24VDC (100% Current) .......................................................................................................................................................14

Figure 1.14 Speed-Force Curve - 45VDC (100% Current) .......................................................................................................................................................14

Figure 2.1 Power Supply Interface .........................................................................................................................................................................................20

Figure 2.2 RS-485 Interface, Single MDrive Motion Control ..................................................................................................................................................20

Figure 2.3 RS-485 Interface, Multiple MDrive Motion Control System ..................................................................................................................................21

Figure 2.4 Input Interfaced to a Switch ..................................................................................................................................................................................22

Figure 2.5 Input Interfaced to a PLC ...................................................................................................................................................................................... 22

Figure 2.6 TTL Interface to an Input Group ............................................................................................................................................................................23

Figure 2.7 Output Interfaced to an LED ................................................................................................................................................................................. 24

Figure 2.8 Output Interfaced to a Relay ................................................................................................................................................................................ 24

Figure 2.9 Outputs Interfaced tp LED’s as a Group............................................................................................................................................................... 24

Figure 2.10 Analog Input Interface ...........................................................................................................................................................................................25

Figure 2.11 IMS Terminal Window ............................................................................................................................................................................................. 26

Figure 2.12 IMS Terminal Preferences......................................................................................................................................................................................27

Figure 2.13 IMS Terminal Upgrader Window ............................................................................................................................................................................. 28

List of T ables

T able 1.1 Rotary MDI1713 Motor Specifications .....................................................................................................................................................................6

T able 1.2 Rotary MDI1715 Motor Specifications .....................................................................................................................................................................7

T able 1.3 Rotary MDI1719 Motor Specifications .....................................................................................................................................................................7

Table 1.4 Linear Actuator MDrive17 Motion Control Motor Specifications ..............................................................................................................................8

Table 1.5 ACME Screws for Linear Actuator MDrive17 Motion Control ..................................................................................................................................9

T able 1.6 Rotary MDI2218 Motor Specifications ...................................................................................................................................................................12

T able 1.7 Rotary MDI2222 Motor Specifications ...................................................................................................................................................................13

T able 1.8 Rotary MDI2231 Motor Specifications ...................................................................................................................................................................13

Table 1.9 Linear Actuator MDrive23 Motion Control Motor Specifications ............................................................................................................................14

Table 1.10 ACME Screws for Linear Actuator MDrive23 Motion Control ................................................................................................................................15

T able 2.1 P1 Pin Configuration and Description .................................................................................................................................................................... 19

T able 2.2 P2 Pin Configuration and Description .................................................................................................................................................................... 20

T able 2.3 Input Functions ......................................................................................................................................................................................................22

T able 2.4 I/O Group Truth Table.............................................................................................................................................................................................23

T able 2.5 Output Functions ...................................................................................................................................................................................................24

T able 2.6 Microstep Resolution Settings ...............................................................................................................................................................................51

Part 1: General Information

and Hardware Specifications

Intentionally Left Blank

Section 1.1

Introduction to the MDrive17 Motion Control

The MDrive17 Motion Control offers the system designer a low-cost, intelligent motion controller integrated with a NEMA 17 high

torque stepping motor and a +12 to +48 VDC microstepping drive.

The MDrive17 Motion Control adds a versatile array of functions by combining a complete programmable motion controller with

our already compact and cost effective standard MDrive17, adding little cost and no increase in size. Standard offerings include four

5 to 24 volt programmable I/O points, one 10-bit 0 to 5 volt analog input, 0 to 5 MHz step clock rate, microstep resolution up to

51,200 steps per revolution and a full featured easy-to-program instruction set.

The MDrive17 Motion Control communicates using the RS-485 communications protocol, this allows for point-to-point or multi-

drop communications using one communications port. Addressing and hardware support up to 62 MDrive nodes in a system. The

communications BAUD rate is software selectable and ranges from 4.8 kbps to 115 kbps.

The MDrive17 is also available with an optional closed loop control. The closed loop configuration adds a 512 line (2048 count)

internal magnetic rotary encoder with index mark without increasing the length of the unit. Closed loop configuration adds position

maintenance, stall detection and find index mark.

A vailable motor configurations include: single shaft, double shaft with control knob, and long life ACME screw linear actuator .

Rotary versions are available in three stack lengths: 13, 15 & 19. Interface connections are accomplished using either a 7 position

terminal block or optional 12” flying leads.

Feature Summary

! Integrated Microstepping Drive/Motion Controller with Optional Encoder/NEMA 17 High Torque Stepping Motor ! +12 to +48VDC Input Voltage ! Low Cost ! Extremely Compact ! Available Configurations: Single Shaft*, Linear Actuator, Integral Encoder*, Double Shaft with Knob for Manual

! Three Motor Stack Lengths Available* ! Single Power Supply ! Microstep Resolution up to 51,200 Steps Per Revolution ! Open Loop or Optional Closed Loop Control ! Programmable Motor Run and Hold Current Settings ! Four 5 to 24 VDC Programmable I/O Points ! One Analog 10 Bit, 0 to 5 Volt Analog Input ! 0 to 5 MHz Step Clock Rate, SelecTable 1. in 0.59 Hz Increments ! RS-485 Communications Protocol ! Communications BAUD Rate SelecTable 1. from 4.8 kbps to 115 kbps ! 62 Software Addresses for Multidrop Communications ! Simple 1 and 2 Character Programming Instructions ! Pluggable Terminal Strip or 12” Flying Lead Interface ! Optional Integrated RS-232 to RS-485 Converter/Communications Cable

*Rotary Motor Only

Positioning*

Section 1.2

MDrive17 Motion Control Specifications

Section Overview

This section contains mechanical, motor and electrical specifications specific to each version of the MDrive17 Motion Control.

Shown are:

! ! Linear Motor Specifications ! General Specifications ! Power Supply Requirements ! Thermal Specifications

Rotary Motor Specifications

Mechanical Specifications - Dimensions in Inches (mm)

Rotary Motor Specifications

Standard Rotary Motor (L

Stack In (mm) 1713 2.187 (55.56) 1715 2.407 (61.15) 1719 2.786 (70.77)

Figure 1.1: Rotary MDrive17 Motion Control Mechanical Specifications

MDrive Motion Control 1713 Motor Specs and Speed/Torque Curves

MDI1713

Holding Torque oz-in (N-cm) 32 (22.6) Detent Torque oz-in (N-cm) 2.0 (1.4) Rotor Inertia oz-in-sec2 (kg-cm2) 0.00053 (0.038) Weight (Motor+Driver) oz (gm) 8.26 (234.2)

T able 1.1: Rotary MDI1713 Motor Specifications

MAX

)

Figure 1.2: Rotary MDrive Motion Contr ol 1713 Speed/Torque Data

Control Knob (L

Stack In ( mm) 1713 2.774 (69.71) 1715 2.965 (75.30) 1719 3.343 (84.92)

MAX2

)

MDrive Motion Control 1715 Motor Specs and Speed/Torque Curves

MDI1715

Holding Torque oz-in (N-cm) 60 (42.4) Detent Torque oz-in (N-cm) 2.5 (1.8) Rotor Inertia oz-in-sec2 (kg-cm2) 0.00080 (0.057) Weight (Motor+Driver) oz (gm) 10.42 (295.4)

T able 1.2: Rotary MDI1715 Motor Specifications

Figure 1.3: Rotary MDrive Motion Contr ol 1715 Speed/Torque Data

MDrive Motion Control 1719 Motor Specs and Speed/Torque Curves

MDI1719

Holding Torque oz-in (N-cm) 74.9 (52.9) Detent Torque oz-in (N-cm) 4.0 (2.8) Rotor Inertia oz-in-sec2 (kg-cm2) 0.0116 (0.082) Weight (Motor+Driver) oz (gm) 11.80 (334.5)

T able 1.3: Rotary MDI1719 Motor Specifications

Linear Motor Specifications

Mechanical Specifications - Dimensions in Inches (mm)

Figure 1.4: Rotary MDrive Motion Control 1719 Speed/Torque Data

Figure 1.5: Linear Actuator MDrive17 Motion Control Mechanical Specifications

Linear Actuator MDrive Motion Control 1713 Specs and Speed-Force

Curves

MDI17 Linear Actuator

Maximum Thrust lbs (kg) 50 (22.7) Maximum Screw Deflection ±1 ° Backlash inches (mm) 0.005 (0.127) Weight (Motor+Driver) oz (gm) 9.2 (0.127)

T able 1.4: Linear Actuator MDrive17 Motion Contr ol Motor Specifications

Speed-Force Curve: 24 VDC

Refer to Table 1. 5 for screw pitch information

Figure 1.6: Speed-Force Curve - 24VDC (100% Current)

Speed-Force Curve: 45 VDC

Refer to Table 1. 5 for screw pitch information

Figure 1.7: Speed-Force Curve - 45VDC (100% Current)

MDrive17 Motion Control ACME Screw

WARNING: The maximum axial load limit for the MDrive17 Linear motor is 50 lbs (22.7 kg). Do not exceed this rating!

WARNING: The ACME Screw MUST NOT deflect more than ± 1 degree perpendicular to the motor face. Additional support for radial loads may be required!

General Specifications

Input Voltage (+V)

Range ......................................................................................................................... +12 to +48 VDC

Analog Input

Resolution ................................................................................................................. 10 Bit

V oltage Range............................................................................................................. 0 to +5 Volts

Programmable I/O

Number ...................................................................................................................... 4

Interface Type ........................................................................................................... Open Collector

V oltage Range............................................................................................................. 0 to +24 VDC

Output Sink Current ................................................................................................. 700 mA

Protection .................................................................................................................. Over Temp., Short Circuit, Inductive Clamp

MDI17 ACME Screws

Screw Travel/Full Step - Inches (mm)

A 0.00125 (0.3175)

B 0.000625 (0.015875) C 0.0003125 (0.079375) D 0.00015625 (0.00396875)

Table 1.5: ACME Screws for the MDI17 Linear Actuator

Communication

Protocol ..................................................................................................................... RS-485, Full/Half Duplex SelecTable 1.

BAUD Rate ............................................................................................................... 4800, 9600, 19.2k, 38.0k, 115.2k

Motion

Microstep Resolution (Open Loop Configuration)

Number of Settings ................................................................................................... 14

Steps per Revolution ................................................................................................ 400, 800, 1000, 1600, 2000, 3200, 5000

6400, 10000, 12800, 25000, 25600, 50000 51200

Microstep Resolution (Closed Loop Configuration)

Steps per Revolution (Fixed).................................................................................... 51200

Encoder (Optional)

Type .......................................................................................................................... Internal, Magnetic

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 ................................................................................................................. 1 Step per Second

Acceleration/Deceleration

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

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

General Specifications

Software

Program and Data Storage ......................................................................................... Non-Volatile

User Program Space .................................................................................................. 767 Bytes

User Registers ........................................................................................................... 4 - 32 Bit

Math Functions ......................................................................................................... +, -, x, ÷, <>, =, <, <=, >, >=, AND, OR,

Branch Functions ...................................................................................................... Branch & Call (Conditional)

Predefined I/O Functions

Inputs ........................................................................................................................ Home, Limit +, Limit -, Go, Stop, Pause,

Outputs ..................................................................................................................... Moving, Fault

Trip Functions .......................................................................................................... Input, Position

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

Encoder Functions .................................................................................................... Stall Detect, Position Maintenance,

Protection

Types ......................................................................................................................... Thermal

Power Supply Requirements

Each MDrive will require a maximum power supply current of 2A. Actual power supply current will depend upon the load and duty cycle.

XOR, NOT

Jog +, Jog -, Analog Input

Find Index

Recommended IMS Power Supplies

Listed below are the power supplies recommended for use with both voltage ranges of the MDrive17 Motion Control.

Unregulated Linear Supply

Input Specifications

AC Input V oltage Range .................................................................................................... 102-132VAC/Optional 240VAC

Frequency ........................................................................................................................... 50-60Hz

Output Specifications

Voltage (Nominal - No Load)............................................................................................ 40 VDC

Current (Peak) ................................................................................................................... 4 Amps

Current (Continuous) ......................................................................................................... 2 Amps

Unregulated Switching Supply

Input Specifications

AC Input V oltage Range .................................................................................................... 102-132VAC

Frequency ........................................................................................................................... 50-60Hz

Output Specifications

Voltage (Nominal - No Load)............................................................................................ 45 VDC

Current (Peak) ................................................................................................................... 3 Amps

Current (Continuous) ......................................................................................................... 1.5 Amps

Thermal Specifications

Because the MDrive consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. The following maximum temperatures apply to the MDrive17:

Heatsink Temperature

Max.................................................................................................................................... 85°C

Motor Temperature

Max.................................................................................................................................... 100°C

IP404(MDI17)

ISP200-4(MDI17)

/Optional 240VAC

Section 1.3

Introduction to the MDrive23 Motion Control

The MDrive23 Motion Control offers the system designer a low-cost, intelligent motion controller integrated with a NEMA 23 high torque stepping motor and a +12 to +48 VDC microstepping drive.

The MDrive23 Motion Control adds a versatile array of functions by combining a complete programmable motion controller with our already compact and cost effective standard MDrive23, adding little cost and no increase in size. Standard offerings include four 5 to 24 volt programmable I/O points, one 10-bit 0 to 5 volt analog input, 0 to 5 MHz step clock rate, microstep resolution up to 51,200 steps per revolution and a full featured easy-to-program instruction set.

The MDrive23 Motion Control communicates using the RS-485 communications protocol, this allows for point-to-point or multidrop communications using one communications port. Addressing and hardware support up to 62 MDrive nodes in a system. The communications BAUD rate is software selectable and ranges from 4.8 kbps to 115 kbps.

The MDrive23 is also available with an optional closed loop control. The closed loop configuration adds a 512 line (2048 count) internal magnetic rotary encoder with index mark without increasing the length of the unit. Closed loop configuration adds position maintenance, stall detection and find index mark.

A vailable motor configurations include: single shaft, double shaft with control knob, and long life ACME screw linear actuator . Rotary versions are available in three stack lengths: 18, 22 & 31. Interface connections are accomplished using either a 7 position terminal block or optional 12” flying leads.

Feature Summary

! Integrated Microstepping Drive/Motion Controller with Optional Encoder/NEMA 23 High Torque Stepping Motor ! +12 to +48VDC Input Voltage ! Low Cost ! Extremely Compact ! Available Configurations: Single Shaft*, Linear Actuator, Integral Encoder*, Double Shaft with Knob for Manual

! Three Motor Stack Lengths Available* ! Single Power Supply ! Microstep Resolution up to 51,200 Steps Per Revolution ! Open Loop or Optional Closed Loop Control ! Programmable Motor Run and Hold Current Settings ! Four 5 to 24 VDC Programmable I/O Points ! One Analog 10 Bit, 0 to 5 Volt Analog Input ! 0 to 5 MHz Step Clock Rate, Selectable in 0.59 Hz Increments ! RS-485 Communications Protocol ! Communications BAUD Rate Selectable from 4.8 kbps to 115 kbps ! 62 Software Addresses for Multidrop Communications ! Simple 1 and 2 Character Programming Instructions ! Pluggable Terminal Strip or 12” Flying Lead Interface ! Optional Integrated RS-232 to RS-485 Converter/Communications Cable

*Rotary Motor Only

Positioning*

Section 1.4

(

)

500

(

)

SQ.

EQ. SPAC

0.230 .005

(

)

MDrive23 Motion Control Specifications

Section Overview

This section contains mechanical, motor and electrical specifications specific to each version of the MDrive23 Motion Control. Shown are:

! ! Linear Motor Specifications ! General Specifications ! Power Supply Requirements ! Thermal Specifications

Rotary Motor Specifications

Mechanical Specifications - Dimensions in Inches (mm)

Rotary Motor Specifications

Interface Option

1.62

41.28

0.060 (1.53)

0.810 ± .030 (20.57 ±.76)

0.590 (14.86)

38.10 4 x Ø 0.205 (5.21)

±.010 (.25) HOLES

ED ON

.625 (66.68) DBC

2.907

(73.84)

MAX

MAX2

Standard Rotary Motor (L

MAX

)

Stack In (mm) 2218 2.632 (66.85) 2222 3.000 (76.20) 2231 3.960 (100.58)

5.84

.2500 (6.35

0.2495 (6.34)

Ø 1.500 ±.002 (Ø 38.10 ±.05)

.127

1.860

(47.24 SQ.)

2.22 SQ.

(56.39 SQ.)

Control Knob (L

MAX2

)

Stack In ( mm) 2218 3.088 (78.44) 2222 3.537 (89.84) 2231 4.416 (112.17)

Figure 1.8: Rotary MDrive23 Motion Control Mechanical Specifications

MDrive Motion Control 2218 Motor Specs and Speed/Torque Curves

MDI2218

Holding Torque oz-in (N-cm) 90 (64) Detent Torque oz-in (N-cm) 3.5 (2.5) Rotor Inertia oz-in-sec2 (kg-cm2) 0.0025 (0.18) Weight (Motor+Driver) oz (gm) 20.1 (569.8)

T able 1.6: Rotary MDI2218 Motor Specifications

70 60 50 40

Torque in Oz - In

0 1000 2000 3000 4000 5000 6000 7000

Speed in Full Steps per Second

24 VDC 45 VDC

Torque in N - cm

42 35 28 21 14 7

Figure 1.9: Rotary MDrive Motion Contr ol 2218 Speed/Torque Data

MDrive Motion Control 2222 Motor Specs and Speed/Torque Curves

(

)

(

)

(

)

(

)

(

)

OF SHOU

MDI2222

Holding Torque oz-in (N-cm) 144 (102) Detent Torque oz-in (N-cm) 5.6 (3.92) Rotor Inertia oz-in-sec2 (kg-cm2) 0.0037 (0.26) Weight (Motor+Driver) oz (gm) 24.4 (691.7)

T able 1.7: Rotary MDI2222 Motor Specifications

140 120 100

80 60 40

Torque in Oz - In

0 1000 2000 3000 4000 5000 6000 7000

Speed in Full Steps per Second

Figure 1.10: Rotary MDrive Motion Contr ol 2222 Speed/Torque Data

MDrive Motion Control 2231 Motor Specs and Speed/Torque Curves

MDI2231

Holding Torque oz-in (N-cm) 239 (169) Detent Torque oz-in (N-cm) 9.7 (6.86) Rotor Inertia oz-in-sec2 (kg-cm2) 0.0065 (0.46) Weight (Motor+Driver) oz (gm) 38.5 (1091.5)

T able 1.8: Rotary MDI2231 Motor Specifications

225 200

175 150 125 100

Torque in Oz - In

50 25

0 1000 2000 3000 4000 5000 6000 7000

Speed in Full Steps per Second

24 VDC 45 VDC

Torque in N - cm

85 71 56 42 28 14

159 141

124

Torque in N - cm

106 88 71 53 35 18

Linear Motor Specifications

Mechanical Specifications - Dimensions in Inches (mm)

6.000

(152.40)

1.62

41.28

0.375

2.907

(73.84)

(9.525)

2.630

(66.80)

Figure 1.11: Rotary MDrive Motion Control 2231 Speed/Torque Data

1.500

38.10 4 x Ø 0.205 (5.21)

0.060 (1.53)

1/4-20 UNC-2

THREAD TO

WITHIN .050

LDE

1.3

2.22 S

56.39 SQ.

±.010 (.25) HOLES E

. SPACED ON

2.625 (66.68) DBC

1.860 SQ..

47.24 SQ.

00 ±.002

(Ø 38.10 ±.05)

Figure 1.12: Linear Actuator MDrive23 Motion Control Mechanical Specifications

Linear Actuator MDrive Motion Control 2218 Specs and Speed-Force Curves

MDI23 Linear Actuator

Maximum Thrust lbs (kg) 200 (90.7) Maximum Screw Deflection ±1 ° Backlash inches (mm) 0.005 (0.127) Weight (Motor+Driver) oz (gm) 20.4 (578.3)

T able 1.9: Linear Actuator MDrive23 Motion Contr ol Motor Specifications

Speed-Force Curve: 24 VDC

Refer to Table 1.10 for screw pitch information

200 180 160

140 120 100

80 60 40 20

Force (lbs) Load Limit 200 lbs

0 1000 2000 3000 4000 5000 6000 7000

Speed in Full Steps per Second

Figure 1.13: Speed-Force Curve - 24VDC (100% Current)

Speed-Force Curve: 45 VDC

Refer to Table 1.10 for screw pitch information

200 180 160

140 120 100

80 60 40

Force (lbs) Load Limit 200 lbs

0 1000 2000 3000 4000 5000 6000 7000

Screw E Screw D Screw C Screw B

Screw A

Scre w E Scre w D Scre w C Scre w B

Scre w A

Speed in Full Steps per Second

890

Force (N)Load Limit 890N

801 712

623 534 445 356 267 178 89

890

Force (N)Load Limit 890N

801 712

623 534 445 356 267 178 89

Figure 1.14: Speed-Force Curve - 45VDC (100% Current)

MDrive23 Motion Control ACME Screw

WARNING: The maximum axial load limit for the MDrive23 Linear motor is 200 lbs (90.7 kg). Do not exceed this rating!

WARNING: The ACME Screw MUST NOT deflect more than ± 1 degree perpendicular to the motor face. Additional support for radial loads may be required!

General Specifications

Input Voltage (+V)

Range ......................................................................................................................... +12 to +48 VDC

Analog Input

Resolution ................................................................................................................. 10 Bit

V oltage Range............................................................................................................. 0 to +5 Volts

Programmable I/O

Number ...................................................................................................................... 4

Interface Type ........................................................................................................... Open Collector

V oltage Range............................................................................................................. 0 to +24 VDC

Output Sink Current ................................................................................................. 700 mA

Protection .................................................................................................................. Over Temp., Short Circuit, Inductive Clamp

MDI23 ACME Screws

Screw Travel/Full Step - Inches (mm)

F 0.002 (0.0508)

A 0.001 (0.0254) B 0.000833 (0.0211582) C 0.0005 (0.0127) D 0.0004167 (0.00793750) E 0.0003125 (0.0079375)

T able 1.10: ACME Screws for the MDI23 Linear Actuator

Communication

Protocol ..................................................................................................................... RS-485, Full/Half Duplex Selectable

BAUD Rate ............................................................................................................... 4800, 9600, 19.2k, 38.0k, 115.2k

Motion

Microstep Resolution (Open Loop Configuration)

Number of Settings ................................................................................................... 14

Steps per Revolution ................................................................................................ 400, 800, 1000, 1600, 2000, 3200, 5000

6400, 10000, 12800, 25000, 25600, 50000 51200

Microstep Resolution (Closed Loop Configuration)

Steps per Revolution (Fixed).................................................................................... 51200

Encoder (Optional)

Type .......................................................................................................................... Internal, Magnetic

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 ................................................................................................................. 1 Step per Second

Acceleration/Deceleration

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

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

General Specifications

Software

Program and Data Storage ......................................................................................... Non-Volatile

User Program Space .................................................................................................. 767 Bytes

User Registers ........................................................................................................... 4 - 32 Bit

Math Functions ......................................................................................................... +, -, x, ÷, <>, =, <, <=, >, >=, AND, OR,

Branch Functions ...................................................................................................... Branch & Call (Conditional)

Predefined I/O Functions

Inputs ........................................................................................................................ Home, Limit +, Limit -, Go, Stop, Pause,

Outputs ..................................................................................................................... Moving, Fault

Trip Functions .......................................................................................................... Input, Position

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

Encoder Functions .................................................................................................... Stall Detect, Position Maintenance,

Protection

Types ......................................................................................................................... Thermal

Power Supply Requirements

Each MDrive will require a maximum power supply current of 2A. Actual power supply current will depend upon the load and duty cycle.

XOR, NOT

Jog +, Jog -, Analog Input

Find Index

Recommended IMS Power Supplies

Listed below are the power supplies recommended for use with both voltage ranges of the MDrive23 Motion Control.

Unregulated Linear Supply

Input Specifications

AC Input V oltage Range .................................................................................................... 102-132VAC/Optional 240V AC

Frequency ........................................................................................................................... 50-60Hz

Output Specifications

Voltage (Nominal - No Load) ............................................................................................ 40 VDC

Current (Peak) ................................................................................................................... 4 Amps

Current (Continuous) ......................................................................................................... 2 Amps

Unregulated Switching Supply

Input Specifications

AC Input V oltage Range .................................................................................................... 102-132VAC

Frequency ........................................................................................................................... 50-60Hz

Output Specifications

Voltage (Nominal - No Load) ............................................................................................ 45 VDC

Current (Peak) ................................................................................................................... 3 Amps

Current (Continuous) ......................................................................................................... 1.5 Amps

Thermal Specifications

Heatsink Temperature

Max.................................................................................................................................... 85°C

Motor Temperature

Max.................................................................................................................................... 100°C

IP404(MDI23)

ISP200-4(MDI23)

/Optional 240VAC

Part 2: Connecting, Configuring

and Programming the

MDrive Motion Control

Intentionally Left Blank

Section 2.1

Interfacing the MDrive Motion Control

Section Overview

This section will acquaint the user with connecting and using the MDrive Motion Control.

! ! Pin Configuration and Descriptions ! Interfacing Power ! Interfacing RS-485 Communications ! Interfacing Digital I/O ! Interfacing Analog Input

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 driver 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 Wiring

Layout and Interface Guidelines

The following wiring/cabling is recommended for use with the MDrive Motion Control:

Power

Belden Part# 9740 or equivalent 18 Gauge

Logic Wiring (I/O, Communications)

Wire Size .............................................................................................................. 20-22 AWG

General Practices

The following wire strip length is recommended:

Wire Strip Length................................................................................................. 0.250” (6.0 mm)

Pin Configuration and Descriptions

Connector P1

Pin # Flying Lead Function Description 1 White/Yellow I/O1 Open Collector I/O Point #1, +5 to +24VDC 2 White/Orange I/O2 Open Collector I/O Point #2, +5 to +24VDC 3 White/Violet I/O3 Open Collector I/O Point #3, +5 to +24VDC 4 White/Blue I/O4 Open Collector I/O Point #4, +5 to +24VDC 5 Green Analog Input 10 Bit, 0 to 5V Analog Input 6 Black GND Ground 7 Red +V +12 to +48 VDC Power Supply Input

T able 2.1: P1 Pin Configuration and Description

+ 48 hidden pages

Intelligent Motion Systems 17 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual