Page 1
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
Page 2
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
Page 3
SPEED-TORQUE
PIN ASSIGNMENTS
MDrive34AC – 120VAC
700 495
600
500
400
300
Torque – Oz - In
200
100
0
0 2000
(600)
4000
(1200)
Speed – Full Steps/Second (RPM)
Triple Motor Length
Double Motor Length
Single Motor Length
6000
(1800)
8000
(2400)
MDrive34AC – 240VAC
700 495
600
500
400
300
Torque – Oz - In
200
100
0
0 2000
(600)
4000
(1200)
Speed – Full Steps/Second (RPM)
Triple Motor Length
Double Motor Length
Single Motor Length
6000
(1800)
8000
(2400)
10000
(3000)
10000
(3000)
424
Torque in N - cm
354
283
212
141
71
424
Torque in N - cm
354
283
212
141
71
P1: I/O CONNECTOR
M23 Circular
(Male)
Expanded I/O Remote Encoder Closed Loop Control
Function
Pin 1 I/O 9 Channel A +
Pin 2 I/O 11 Channel B +
Pin 3 Step/Clock I/O Index +
Pin 4 I/O 1 I/O 1
Pin 5 Direction/Clock I/O Index –
Pin 6
No Connect No Connect
Pin 7 Aux-Logic (+12 to +24 VDC) Aux-Logic (+12 to +24 VDC)
Pin 8 Aux-Ground Aux-Ground
Pin 9 I/O 3 I/O 3
Pin 10 I/O Ground I/O Ground
Pin 11 I/O Power I/O Power
Pin 12 Shell Connect Shell Connect
Pin 13 I/O 12 Channel B –
Pin 14 Capture/Trip I/O Capture/Trip I/O
Pin 15 Analog In Analog In
Pin 16 I/O 2 I/O 2
Pin 17 I/O 4 I/O 4
Pin 18 I/O 10 Channel A –
Pin 19
P2: COMM CONNECTOR
RS-422/485 CANopen
M12
Circular
Function
(Female)
Pin 1 TX – Pin 1 Shield
No Connect No Connect
P3: POWER CONNECTOR
Euro AC
M12
Circular
(Male)
Function
(Male)
Pin 1
Chassis Ground
Pin 2 AC Power Line
Pin 3 AC Power Neutral
Function
Pin 2 TX + Pin 2 CAN +V
Pin 3 RX + Pin 3 CAN –V
Pin 4 RX – Pin 4 CAN High
Pin 5 Comm Ground Pin 5 CAN Low
MECHANICAL SPECIFICATIONS
Dimensions in Inches (mm)
MDrive34AC Plus
MDrive Lengths Inches (mm)
Motor
Length
Single 6.1 (155.0) 7.1 (180.4)
Double 6.9 (174.3) 7.9 (199.7)
Triple 8.4 (214.3) 9.4 (239.7)
Connectivity details:
www.imshome.com/cables_cordsets.html
2
L
MAX2
L
MAX
L
MAX
SINGLE SHAFT,
ENCODER or
LINEAR ACTUATOR
VERSION
0.40
(10.1)
L
MAX2
CONTROL KNOB
VERSION
1.46 ±0.039
(37.0 ±1.0)
L
MAX2
Ø 1.90
(Ø 48.3)
Control Knob
0.87 ±0.010
Ø 0.55 +0/-0.0005
(Ø 14.0 +0/-0.013)
0.08 ±0.004
(2.0 ±0.1)
Option
(22 ±0.25)
Ø 2.87 ±0.002
(Ø 73.0 ±0.05)
Connectors
Ø 0.87
(Ø 22.1)
P1: 19-Pin M23
2.70
(68.4)
P2
Ø 0.22
(Ø 5.5)
0.63 +0/-0.017
(16.0 +0/-0.432)
I/O Comm Power
Ø 0.53
(Ø 13.5)
P2: 5-Pin M12 (Female)
(Male)
(or CANopen – Male)
P3
3.46
(87.8)
P1
(Ø 22.1)
Ø 0.87
MDrive34AC Plus2 Motion Control REV051208 3
0.20
(5.0
P3: 3-Pin Euro AC
(Male)
0.71
(18.0)
+0/-0.002
+0/-0.05
)
3.38 SQ.
(85.8 SQ.)
2.74 +0/-0.010 SQ.
(69.58 +0/-0.25 SQ.)
*CANopen option increases
overall height by 0.09"/2.0mm
5.76
(146.2)
6.47*
(164.2)
Page 4
ORDER INFORMATION — MDrive34AC Plus2 Motion Control
CONNECTIVITY
CONNECTING
QuickStart Kit
new
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter, prototype development cable(s), instructions
and CD for MDrivePlus initial functional setup and system testing.
Communication Converter
ew
n
Electrically isolated, in-line con ver t er pre-wired with mating connector to conveniently set/program communication parameters for a
single MDrivePlus via a PC's USB port. Length 12.0' (3.6m).
Mates to connector:
5-Pin M12 ............................................MD-CC401-001
5-Pin M12 CANopen ..............................MD-CC500-000*
*Requires mating connector adapter and power supply, not supplied.
Prototype Development Cables
Speed test/development with pre-wired mating connectors that
have fl ying leads other end. Single-ended cordsets are PVC jacketed with foil shield and unconnected drain wire. Length 13.0'
(4.0m).
Mates to connector:
19-Pin M23
Straight Termination ..........................MD-CC100-000
Right Angle Termination .....................MD-CC101-000
3-Pin Euro AC
Straight Termination ..........................MD-CC200-000
Right Angle Termination .....................MD-CC201-000
** Consult Factory for Availability.
‡ Not Available with Sealed –65 Versions.
Connectivity details: www.imshome.com/cables_cordsets.html
OPTIONS
OPTIONS
Linear Actuator**
The MDrive34AC Plus
tuator styles and options to satisfy a broad range of linear
motion applications. Contact the factory for details or see:
www.imshome.com/mdriveplus_linear_actuator.html
ternal Encoder
In
An internal 512-line (2048 count) differential optical
encoder with index mark is available factory-mounted.
Remote Encoder
This MDrivePlus Motion Control is offered with differential en-
coder inputs for use with a remote encoder (not supplied).
Control Knob
For manual shaft positioning, a factory-mounted rear control
knob is available.
Planetary Gearbox
Effi cient, low maintenance planetary gearboxes are
offered factory-mounted. Refer to details and part numbers on the back cover.
Linear Slide
Integrated linear slides are available factory installed for
precision linear movement. Screw leads are 0.1", 0.2", 0.5"
or 1.0" of travel per rev. Slides are 12.0" (30.5cm) to 42.0"
(106.7cm) long. Contact factory for custom lengths. Refer
to separate datasheet or web site for complete details.
‡
2
is offered with numerous linear ac-
PART NUMBERING
K
2
Plus
expanded features
MDrive Version
Plus2-65
IP65 sealed
**
Consult Factory for Availability.
3 = Plus
4 = Plus-65 (sealed)
MDI
QuickStart Kit
details above
Communications
R = RS-422/485
C = CANopen
MQ
P3: Power, 3-Pin Euro AC Connector
P1: I/O, 19-Pin M23 Circular Connector
P2: Communications, 5-Pin M12 Circular Connector
Example #1: Part Number MDI3MRQ34A2
MDrive34AC Plus
circular I/O interface, RS-422/485 communications
with 5-pin M12 circular connector, NEMA 34 single
length motor and 240 input voltage.
34 –
Motor
A = Single Length &
Linear Actuator**
B = Double Length
C = Triple Length
2
Motion
Control with 19-pin M23
OPTION
Input Voltage
1 = 120 Volt
2 = 240 Volt
is an
OPTIONS
Linear
Actuator**
For complete product specifications, see:
www.imshome.com/mdriveplus_linear_actuator.html
Internal
Encoder
Example: MDI3MRQ34A2–EQ adds a 512-line internal
optical encoder with index mark to example #1.
Remote
Encoder
Example: MDI3MRQ34A2–EE adds differential encoder inputs for
use with remote encoder (not supplied).
May not be combined with internal encoder option.
Control
Knob
Example: MDI3MRQ34A2–N adds a rear control knob to
example #1.
Planetary
Gearbox
Refer to gearbox page for complete
table of ratios and part numbers.
Example: MDI3MRQ34A2–G1A2 adds a 1-stage planetary gearbox
with 5.18:1 ratio to example #1. Add –F for optional NEMA flange.
Linear
Slide
Screw Lead
(inches/rev)
A = 0.10” (2.54mm)
B = 0.20” (5.08mm)
C = 0.50” (12.7mm)
D = 1.00” (25.4mm)
Example: MDI3MRQ34A2–RA12 adds a Linear Slide with
0.10" screw lead, 12" long to example #1.
–L
–EQ
–
EE
–N
Not available with sealed –65 versions.
–G
– F
Optional NEMA Flange
–R
Standard Screw Lengths
12", 18", 24", 36" or 42”
For Custom Lengths, Consult Factory
4 MDrive34AC Plus2 Motion Control REV060208
Page 5
MDRIVE34AC PLUS WITH PLANETARY GEARBOX
The MDrive34AC Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better
inertia matching and produce fi ner positional resolutions. These effi cient, low maintenance Planetary Gearbox come fully assembled
with the MDrive and are offered in a large number of reduction ratios in 1-, 2- and 3-stage confi gurations. An optional NEMA Output
Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle. Planetary Gearbox may be combined
with other MDrive34AC Plus options, however are unavailable with Linear Actuators.
Planetary Gearbox Parameters
1-STAGE
2-STAGE
3-STAGE
Permitted
Output Torque
(oz-in/Nm)
2832/20.0 0.80 1.0° 90/400 18/80 64.4/1827 66.7/1890
8496/60.0 0.75 1.5° 135/600 27/120 89.5/2538 92.6/2625
16992/120.0 0.70 2.0°
Gearbox
Effi ciency
Maximum
Backlash
225/1000
Planetary Gearbox for MDrive34AC Plus
Dimensions in Inches (mm)
*Gearbox without Flange
†
Gearbox with Flange
4x Ø 0.217 (Ø5.5) Hole
4x Ø 0.217 (Ø5.5) Hole
M6 x 0.472 (12.0) Deep
3.386 SQ.
(86.0 SQ.)
Ø 2.56*
(Ø 65.0)
2.739 SQ.
(69.58 SQ.)
†
†
*
Ctrg. DIN 332-D M6x16
†
Key DIN 6885-A-6x6x28mm
†
Ø 1.969 +0.0006/-0.0004*
(Ø 50.0 +0.015/-0.010)
or
Ø 2.874 +0/-0.0012
(Ø 73.0 +0/-0.030)
Ø 0.748 +0/-0.0008
(Ø 19.0 +0/-0.021)
Output Side with Ball Bearing
Maximum Load
(lb-force/N)
Radial Axial Gearbox with Flange
1.929*
(49.0)
or
1.811
(46.0)
1.575
(40.0)
45/200
†
114.6/3248 118.5/3360
k1 ±0.02 (±0.5)
0.197*
(5.0)
0.394
(10.0)
or
†
0.079
(2.0)
Ø 3.189
(Ø 81.0)
Weight
(oz/g)
†
Gearbox Lengths Inches (mm)
1-Stage
2-Stage
3-Stage
GEARBOX* with FLANGE
k1
4.315 (109.6) 4.433 (112.6)
5.169 (131.3) 5.287 (134.3)
6.024 (153.0) 6.142 (156.0)
†
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
MDrive34Plus
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
**Include optional planetary gearbox by adding –G plus
3 characters to the end of an MDrive part number.
Ratio
(Rounded)
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
Part
Number
**
U.S.A. SALES OFFICES
Eastern Region
Tel. 862 208-9742 - Fax 973 661-1275
e-mail: jroake@imshome.com
Central Region
Tel. 260 402-6016 - Fax 419 858-0375
e-mail: dwaksman@imshome.com
Western Region
Tel. 602 578-7201
dweisenberger@imshome.com
e-mail:
IMS ASIA PACIFIC OFFICE
30 Raffl es Pl., 23-00 Caltex House
Tel. +65/6233/6846 - Fax +65/6233/5044
e-mail: wllee@imshome.com
, Singapore 048622
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4 Quai Des Etroits
69005 Lyon, France
Tel. +33/4 7256 5113 - Fax +33/4 7838 1537
e-mail: bmartinez@imshome.com
IMS UK Ltd.
Sanderson Centre, 15 Lees Lane
Gosport, Hampshire PO12 3UL
Tel. +44/0 2392-520775 - Fax +44/0 2392-502559
e-mail: mcheckley@imshome.com
TECHNICAL SUPPORT
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107
e-mail: etech@imshome.com
Intelligent Motion Systems, Inc.
370 North Main Street, P.O. Box 457
Marlborough, CT 06447 - U.S.A.
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107
e-mail: info@imshome.com
http: //www.imshome.com
© Intelligent Motion Systems, Inc. All Rights Reserved. REV060208
IMS Product Disclaimer and most recent product information at www.imshome.com.
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