Intelligent Motion Systems MDI AC42Plus, MDrive42AC User Manual

Quick Reference

Program Editor
Window

Terminal Emulator
Window

>Copyright 2001-2008 by Intelligent Motion Systems. Inc.

Dimensions in inches (mm)

Motor Length

LMAX1

(Single Shaft

or Internal Encoder)

LMAX2

(Control Knob)

Single 7.4 (187.96)

9.4 (238.76)

Double 9.4 (238.76)

11.4 (289.56)

L

MAX1

L

MAX2

2.17
(55.0)

1.375
(34.9)

Ø 0.75

(Ø 19.05)

0.49

(12.5)

0.059
(1.5)

3.0

(76.2)

4.331 SQ.

(110.0 SQ.)

6.75

(171.45)

7.40

(187.96)

3.50 SQ.

(88.88 SQ.)

0.65

(16.51)

Ø 0.75

(Ø 19.05)

0.335
(8.51)

0.83

(21.08)

Ø 2.185
(Ø 55.5)

4.50

(114.3)

Notes and Warnings

Installation, configuration and maintenance must be carried out by qualified
technicians only. You must have detailed information to be able to carry out this
work. This information can be found in the user manuals.

• Unexpected dangers may be encountered when working with this product!

• Incorrect use may destroy this product and connected components!

The user manuals are not included. You can obtain them from the Internet at:

http://www.imshome.com/mdrive42acplus_mdi.html.

Required for Setup*

Depending on your MDrivePlus connectors configuration, you may also need:

* If you purchased your MDrivePlus with a QuickStart Kit, you have received all
of the connecting cables needed for initial functional setup and system testing.

Getting Started

All documentation, software and resources are available online at:
http://www.imshome.com/mdrive42acplus_mdi.html

Connecting Power and I/O

Your MDrivePlus may be configured with power and I/O combined on separate
connectors. Please refer to the opposite side of this document for connecting
details and available IMS connectivity options including Prototype Development
Cables and Mating Connector Kits.

Connecting Communications — RS-422/485

MDrive42AC Plus2-65
Motion Control

®

Windows XP Service Pack 2 or greater.

PC running Microsoft•

IMS Terminal integrated program editor and terminal emulator. (Available •

online)

IMS MD-CS200-000 or equvalent Lumberg Euro AC cable for AC line. •
(Requred for UL)

RS-422/485 communications interface. (Recommended: IMS MD-•
CC401-001 Communication Converter) or CANopen communications
converter. (Recommend MD-CC500-000)

I/O and Power interface to 19-pin M23 circularp connector. (Recom-•
mended: IMS MD-CS100-000 or MD-CS101-000 Prototype Development

Cordset)

Connect IMS RS-422/485 communications converter to MDrivePlus and 1.

PC.

Install the communication converter drivers onto PC (available online).2.

Install and open IMS Terminal.3.

Apply power to MDrivePlus.4.

Within IMS Terminal, Click into the Terminal Window (shown below).5.

General Specifications

Electrical Specifications

Input Voltage Range (120 VAC MDrive) 95 to 132 VAC @ 50/60 Hz
Input Current (120 VAC MDrive) 4.2 Amps
Input Voltage Range (240 VAC MDrive) 95 to 264 VAC @ 50/60 Hz
Input Current (240 VAC MDrive) 2.1 Amps
Aux-Logic Input Voltage +12 to +24 VDC
Aux-Logic Input Current 230 mA Max

Environmental Specifications

Operating Temperature

(non-condensing)
Sealing (Plus2-65 Only) IP-65 Compliant

I/O Specifications

General Purpose I/O - Number and Type

I/O Points 1-4, 9-12

General Purpose I/O - Electrical

Inputs TTL, +5 to +24 VDC
Sinking Outputs +5 to +24 VDC
Sourcing Outputs +12 to +24 VDC
Output Sink Current up to 600 mA
Logic Threshold (Logic 0) < 0.8 VDC
Logic Threshold (Logic 1) > 2.2 VDC
Protection (Sinking) Over Temp, Short Circuit

Protection (Sourcing)

Analog Input

Resolution 10 Bit
Range (Voltage Mode) 0 to +5 VDC, 0 to +10 VDC
Range (Current Mode) 4 to 20 mA, 0 to 20mA

Clock I/O

Types

Logic Threshold

Trip Output/Capture Input

Logic Threshold

Communications Specifications

Protocol RS-422/RS-485
BAUD Rate 4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps

CANopen Option

Protocol CAN 2.0B Active
Communications Profile CiA DS-301
BAUD Rate

Note: 800 kbps not supported by the MD-CC500-000

USB to CANopen dongle.

Protection Specifications

Thermal
Internal Fuse (Line-Neutral Systems Only, Line-Line Systems Require External Fusing

Motion Specifications

Microstep Resolution - Open Loop

Number of Resolutions 20

200 400 800 1000 1600 2000 3200 5000 6400 10000

12800 20000 25000 25600 40000 50000 51200 36000

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

Software Specifications

Program Storage Type/Size Flash/6384 Bytes
User Program Labels and Variables 192
Party Mode Addresses 62

Heat Sink -40°C to +75°C

Motor -40°C to +90°C

8 programmable I/O Points - sinking

or sourcing inputs or outputs.

Transient Over Voltage, Inductive

Step/Direction, Up/Down,

TTL Input, TTL Output (with 2 kΩ

TTL Input, TTL Output (with 2 kΩ

10, 20, 50, 125, 250, 500, 800

kBit/s, 1MBit/s (default)

Available Microsteps Per Revolution

1

Quadrature

Load to Ground)

Load to Ground)

21600225400

Clamp

Mechanical Specifications

3

Key in CTRL+C. The MDrivePlus sign-on message: “Copyright 2001-2008 6.
by Intelligent Motion Systems, Inc.” should appear, verifying that com-

munications is active.

Connecting Communications — CANopen

A “Getting Started” tutorial using the IMS CANopen Tester GUI with the
MD-CC500-000 USB to CANopen dongle is available online at:
http://www.imshome.com/canopen_gs.html.

All documentation, software and resources are available online at:

http://www.imshome.com/mdrive42acplus_mdi.html

MDrive42AC Plus Motion Control Quick Reference R070208

MDrive42AC Plus2-65

P1

P2

P3

I/O Power
I/O GND

I/O1

I/O2

I/O4

I/O3

N/C

I/O11

Analog In

Capture/Trip

I/O12
I/O10

Direction
N/C
Aux-Logic
Aux-Ground

Step Clock

I/O9
Shell

Outside: Pins 1–12

2

1

11

10

9

8

7

6

5

4

3

12

Inside: Pins 13–19

1918 15

14

17

16

13

Comm Gnd

TX+

RX+

RX-

TX-

12345

To computer
USB port

To MDrivePlus
5-pin M12 connector

(female)

6.0’ (1.8m)

in-line converter

6.0’ (1.8m)

5-pin M12 (male)

P2

P1

P2

P1

P3

P3

Pin 1

Pin 2

Pin 3

P2

CAN +V
(+7 to +30 VDC)
CAN -V (Ground)

CAN-H
CAN-L

120Ω

MD-CC500-000

MDrivePlus

P2

DB-9F

M12F

CAN +V

Termination Resistor

Required

CAN -V

CAN-H
CAN-L

Pin 5: CAN-L

Pin 3: CAN GND

Pin 1: CAN Shield

Pin 2: CAN +V

Pin 4: CAN-H

M12F

Connector Front View

Power Supply

To Power & I/O

13.0’ (4.0m)

To MDrivePlus
19-pin M23 (male)

Connector

19-pin M23 (female)

To MDriveAC Plus
AC Power Connector (male)

12.8’ (4.0m)

To AC Power

3-pin Euro AC (female)

Motion Control
Connectivity Options

Connector Style Function

19-pin M23 Circular (male)......... I/O

5-Pin M12 Circular (female)........ Communications

5-Pin M12 Circular (male)........ Communications

(CANopen Version)

3-pin Euro AC (male)................... AC Power

I/O

19-pin M23 circular connector (male)

Prototype Development Cordset

p/n (straight connector): MD-CS100-000
p/n (right-angle connector): MD-CS101-000

Pre-wired mating connector interfaces to an MDrive’s 19-pin M23 circular con­nector, with flying leads other end, for quick test/development.

Wire Colors Function Encoder

Violet I/O9 Channel A+
Red I/O11 Channel B+
Gray Step Clock Index+
Red/Blue I/O1 I/O1
Green Direction Index­Blue N/C N/C
Gray/Pink Aux-Logic Aux-Logic
White/Green Comm GND Comm GND
White/Yellow I/O3 I/O3
White/Gray I/O GND I/O GND
Black I/O Power I/O Power
Green/Yellow Shell Connect Shell Connect
Yellow/Brown I/O12 Channel B­Brown/Green Capture/Trip Capture/Trip
White Analog In Analog In
Yellow I/O2 I/O2
Pink I/O4 I/O4
Gray/Brown I/O10 I/O10
Brown N/C N/C

Function

Communications — RS-422/485

5-pin M12 circular connector (female)

Communications Converter p/n: MD-CC401-001

Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating
connector to conveniently program and set configuration parameters.

Mating Connector Recommendations

IMS converter MD-CC401-001 recommended with: 5-pin M12 connector.

For comparable connector only shop:

Vendors: Lumberg
Phoenix
Turck
RDE Connectors

Mating Connector Recommendations

IMS cable MD-CS100-000 recommended with: 19-pin M23 connector.

For comparable connector only shop:

Vendors: Lumberg
Phoenix
Turck
RDE Connectors

Prototype Development Cordset

p/n (straight connector): MD-CS200-000
p/n (right-angle connector): MD-CS201-000

Pre-wired mating connector interfaces to an MDrive’s 3-pin circular EuroAC con­nector, with flying leads other end, for quick test/development.

Note that this cable or equivalent Lumberg mating connector/cable must be
used to meet UL conditions of acceptabilty.

Mating Connector Recommendations

The following field-solderable mating connector is recommended for use with the

MDriveAC Plus. Use of this connector meets UL Acceptability requirements.

Lumberg: RKC 30/11

UL Conditions of Acceptability

For full description of the UL Conditions of Acceptability please visit http://www.
imshome.com/CE_conformity.html

Copyright © Intelligent Motion Systems, Inc. www.imshome.com

AC Power

3-pin Euro AC connector (male)

Wire Colors Function

Green/Yellow Earth
Brown AC Line
Blue AC Neutral

Communications — CANopen Option

5-pin M12 circular connector (male)

Communications Converter p/n: MD-CC500-000

Electrically isolated in-line USB to CANopen converter. USB “A” Type connector
to DB-9 (Male). An Interface cable must be constructed by the user to Interface

to the MDrivePlus.

Mating Cable Requirements

The following diagram illustrates the parts and connections for an interface cable
connecting the MD-CC500-000 to the MDrivePlus.

Parts Required Connectors: (1) DB-9 (female), (1) 5-pin M12
(female)
Power Supply: +7 to +30 VDC
Terminating Resistor: 120 Ω 1%