Intelligent Motion Systems MDI34 User Manual

Patent Pending

Excellence in Motion

34

mOTION CONTROL

(with optional CANopen)

TM

TM

FEATURES

• Highly Integrated Microstepping Driver/
Intelligent Motion Controller with Optional
Encoder/NEMA 34 High Torque 1.8°
Brushless Step Motor

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

• Single Supply: 120 or 240 VAC

• Cost Effective

• Extremely Compact

• High Positioning Accuracy

• No Tuning Required

• Stable at Low Speeds

• No Dithering at Zero Speed

• High Starting Torque

• Allows for Greater Inertia Mismatch

• Built-in Regeneration Circuitry

• Available Options:

- Long Life Linear Actuators**

- Integral Optical Encoder for Closed
Loop Control

- External/Remote Encoder (not supplied)
for Closed Loop Control

- Control Knob for Manual Positioning

- Integrated Planetary Gearbox

- IP65 Sealed Confi guration

- Linear Slide

• Three Motor Lengths Available

• Auxiliary Logic Power Supply Input

• Up to 5 MHz Step Clock Rate

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

• Open or Optional Closed Loop Control

• Programmable Motor Current

• Up to Eight +24 VDC Tolerant I/O Lines,
Sourcing or Sinking

• One 10 Bit Analog Input Selectable: 0 to +5
VDC, 0 to +10 VDC, 0-20 mA, 4-20 mA

• RS-422/485 or Optional CANopen
Communications

• 62 Software Addresses for Multi-Drop
Communications

• High Speed Position Capture Input or Trip
Output

• Electronic Gearing

DESCRIPTION

The MDrive34AC Plus2 Motion Control
system of fers de sign ers a cost effec­tive, full featured programmable motion
con trol ler in te grat ed with a NEMA 34 high
torque 1.8° brushless step motor and a
microstepping driver operating at 120 or
240 VAC.

Unsurpassed smoothness and perfor­mance delivered by the MDrive34AC are
achieved through IMS's advanced 2nd
generation current control. By applying
innovative techniques to control current
fl ow through the motor, resonance is sig­nifi cantly dampened over the entire speed
range and audible noise is reduced.

The MDrive34AC accepts a broad input
voltage range from 95 to 264 VAC, deliv­ering enhanced performance and speed.
Oversized input capacitors are used to
minimize power line surges, reducing
problems that can occur with long cable
runs and multiple drive systems. An ex­tended operating range of –40° to +75°C
provides long life, trouble free service in
demanding environments.

The MDrive34AC Plus
system adds a versatile array of func tions
by com bin ing a full featured pro gram ­ma ble mo tion controller with our com pact
and cost ef fec tive MDrive34AC Micro­stepping products, adding little cost and
no increase in size. Stan dard of fer ings
include up to 8 general pur pose I/O lines
(sourcing or sinking) that operate to +24
VDC, one 10 bit analog in put, electronic
gearing, high speed position capture
input/trip output, microstep res o lu tions up
to 51,200 steps per rev o lu tion, 0 to 5 MHz
step clock rate, and a full fea tured easy­to-program in struc tion set.

The MDrive34AC Plus
system com mu ni cates over RS-422/485
which al lows for point-to-point or multiple
unit con fi g u ra tions utilizing one com mu -
ni ca tion port. Addressing and hard ware
support multiple uniquely addressed units
com mu ni cat ing over a single line.

2

Motion Control

2

Motion Control

Optional communication protocols
include CANopen. The CAN bus is 2.0B
active (11 and/or 29 bit) and is capable
of all standard frequencies from 10 kHz
to 1 MHz. CANopen features include
node guarding, heartbeat producer,
SDOs and PDOs. Highlights include
variable PDO mapping and extended
node identifi er.

The MDrive34AC Plus
is available with optional closed loop
control. This increases functionality by
adding stall detection, position mainte­nance and fi nd index mark.

The closed loop confi guration is added
via a 512 line (2048 edge) optical
encoder with index mark, internal to the
MDrive34AC so there is no increase in
length. Or, for an expanded choice of
line counts and resolutions, closed loop
control is available with an interface
to a remotely mounted user-supplied
external encoder.

In addition to encoder options, the
MDrive34AC Plus
the capability of electronic gearing by
following a rotary or linear axis at an
electronically controlled ratio, or an
output clock can be generated fi xed to
the internal step clock.

A sealed version designed to meet
IP65 specifi cations is also available.
The sealed assembly allows the
MDrive34AC to be used in environ­ments where exposure to chemical,
dust and liquids may occur.

Three rotary motor lengths are avail­able as are linear actuators with long
life Acme screw**.

In ter face con nec tions are ac com plished
using standard industrial circular con­nectors. And connectivity has never
been easier with options ranging from

all-inclusive QuickStart Kits to indi­vidual interfacing cables.

2

Motion Control

2

Motion Control has

See pg 4.

new

**Consult Factory for Availability.

www.imshome.com

MDrive

34AC Plus

2

MOTION CONTROL

GENERAL SPEC I FI CA TIONS

INPUT VOLTAGE

AUX. LOGIC INPUT VOLTAGE

ANALOG INPUT

GENERAL PURPOSE I/O

COMMUNICATION

MOTION

SOFTWARE

THERMAL

PROTECTION

†

Designed for line-neutral systems.

‡

Adjusting the microstep resolution can increase the range.

Range

Range

Resolution 10 Bit
Voltage Range 0 to +5 VDC,
Number/Type 8 Sourcing or Sinking (or 4 when Remote Encoder Option is Selected)

Logic Range

Output Sink/Source Current Up to 600 mA per Channel
Protection Over Temp, Short Circuit, Transient Over Voltage, Over Voltage, Inductive Clamp
Type (Standard) RS-422/485
Baud Rate 4800 to 115.2kbps
Type (Optional) CANopen DSP-402 (V2.0), DS-301 (V3.0), 2.0B Active
ID 11 and/or 29 Bit
Isolation Galvanic
Features Node Guarding, Heartbeat, SDOs, PDOs (Variable Mapping)

Open Loop
Confi guration

Closed Loop
Confi guration
(Optional)

Counters

Velocity

Accel/Decel

Electronic Gearing

High Speed I/O

Program Storage Type/Size Flash/6384 Bytes
User Registers (4) 32 Bit
User Program Labels and

Variables
Math Functions +, –, ×, ÷, >, <, =, <=, >=, AND, OR, XOR, NOT
Branch Functions Branch & Call

General Purpose I/O
Functions

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

Operating Temperature

Type Thermal, Internal Fuse

Internal
Encoder

Remote
Encoder

120 V MDrive – 95 to 132 VAC @ 50/60 Hz
240 V MDrive – 95 to 264 VAC @ 50/60 Hz

+12 to +24 VDC

Maintains power to control and feedback circuits (only) when input voltage is removed.

0 to +10 VDC, 0-20 mA or 4–20 mA

+5 to +24 VDC – Inputs and Sinking Outputs; Inputs TTL Level Compatible
+12 to +24 VDC – Sourcing Outputs

Number of Settings

Steps Per Revolution

Type Internal,
Steps Per Revolution 51200
Resolution 512 Lines/2048 Edges Per Rev
Type User-Supplied Differential Encoder

Steps Per Revolution

Resolution

Type Position, En cod er/32 Bit
Edge Rate (Max) 5 MHz
Range +/- 5,000,000 Steps Per Second
Resolution 0.5961 Steps Per Second
Range 1.5 x 10
Resolution 90.9 Steps Per Second
Range‡/Resolution/Threshold

(External Clock In)
Input Filter Range 50 nS to 12.9 µS (10 MHz to 38.8 kHz)
Range‡ (Secondary Clock Out) 1 to 1

Position Capture

Trip Output – Speed/Resolution/
Threshold

192

Inputs

Outputs Moving, Fault, Stall,

Heat Sink –40° to +75°C (non-condensing)
Motor –40° to +90°C (non-condensing)

Input Filter Range 50 nS to 12.9 µS (10 MHz to 38.8 kHz)
Resolution 32 Bit

†

20

200,

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

Optical

200,

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

User-Defi ned
Note: µstep/rev 2X the encoder count/rev minimum

9

Steps Per Second

0.001 to 2.000/32 Bit/TTL

150 nS/32 Bit/TTL

Home, Limit Plus, Limit Minus, Go, Stop, Pause, Jog
Plus, Jog Minus, Analog In, General Purpose

20000, 25000, 25600,

20000, 25000, 25600,

2

2

Velocity Change, General Purpose

MOTOR SPECIFICATIONS

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

SINGLE LENGTH

DOUBLE LENGTH

TRIPLE LENGTH

2 MDrive34AC Plus2 Motion Control REV060208

330 oz-in / 233 N-cm 10.9 oz-in / 7.7 N-cm 0.01416

500 oz-in / 353 N-cm 14.16 oz-in / 10.0 N-cm 0.02266

750 oz-in / 529 N-cm 19.83 oz-in / 14.0 N-cm 0.04815

oz-in-sec2 / 1.0

oz-in-sec2 / 1.6

oz-in-sec2 / 3.4

kg-cm

kg-cm

kg-cm

2

2

2

6.4 lb / 2.9 kg

7.7 lb / 3.5 kg

11.0 lb / 5.0 kg