Intelligent Motion Systems MDrive23 User Manual

TM

MICROSTEPPING

FEATURES

• Integrated Microstepping Driver
and NEMA 23 High Torque 1.8°
Stepping Motor

• Input Volt age:
+12 to +48 VDC (MDrive23-4)
+24 to +75 VDC (MDrive23-7)

• Low Cost

• Extremely Compact

• Optically Isolated Logic Inputs

will Accept +5 to +24 VDC
Signals, Sourcing or Sinking

• Automatic Current Re duc tion

• Confi gurable:

- Motor Run/Hold Current

- Motor Direction vs. Direction

Input

- Microstep Resolution to 256

Microsteps/Full Step

• Available Confi gurations:

- Single Shaft*

- Long Life Linear Actuator

- Optical En cod er*

- Control Knob for Manual

Positioning*

- Integrated Planetary Gearbox*

• Three Stack Sizes Available*

• Current and Resolution May Be

Switched On-The-Fly

• Single Supply

• Interface Options:

- Keyed and Locking Pin and

Receptacle (C Connector)

- Pluggable Terminal Strip

- 12.0" (30.5cm) Flying Leads

• Graphical User Interface (GUI)
for Quick and Easy Pa ram e ter
Setup

* Rotary Motor Only
† C Connector Version Only. Other

Versions Require 5 Volt Sinking Outputs.

†

DESCRIPTION

The MDrive NEMA 23 high torque
In te grat ed Motor and Driver is
ide al for designers who want the
sim plic i ty of a motor with on-board
elec tron ics, but without the ex­pense of an in dex er on each axis.
The low cost MDrive23 allows the
system de sign er to decide the best
meth od of con trol. The MDrive23’s
in te grat ed elec tron ics eliminate
the need to run the mo tor cabling
through the ma chine, reducing the
potential for prob lems due to elec­ tri cal noise.

The MDrive23 uses a NEMA 23
frame size 1.8° high torque step­ping motor com bined with a mic­rostepping driver, and ac cepts up
to 14 resolution set tings from ½
to 256 microsteps per full step.
Setup parameters in clude Micro­step Resolution, Motor Run/Hold
Current, and Motor Di rec tion with
respect to the di rec tion in put.
These set tings may be changed
on-the-fly or down load ed and
stored in nonvol a tile memory with
the use of a sim ple GUI which is
pro vid ed. This elim i nates the need
for ex ter nal switch es or re sis tors.
Pa ram e ters are changed via an
SPI port. Op er at ing volt age for the
MDrive23 ranges from +12 to +48
VDC or +24 to +75 VDC.

The versatile, compact MDrive23 is
available in multiple con fi g u ra tions
to fi t various system needs. These
include a single shaft rotary mo­tor, a dual shaft rotary mo tor
available with optical encoder or
control knob, a planetary gearbox,
or a long life Acme screw linear
actuator. The rotary MDrive23 is
available in single, double and triple
stack sizes: 18, 22 & 31. In ter face

Patent Pending

con nec tions are ac com plished us­ ing either a 12 position keyed and
locking pin and receptacle (C Con­nector), a 7 position terminal strip,
or 12.0" (30.5cm) fl ying leads.

The MDrive23 is a compact, pow­ er ful and inexpensive solution that
will reduce system cost, design and
as sem bly time for a large range of
step ping motor applications.

CONFIGURING

The IMS Motor Interface software
is an easy to in stall and use GUI
for con fi g ur ing the MDrive23 from
a computer parallel/SPI port. GUI
access is via the IMS SPI Inter­face included on the CD shipped
with the product, or download at
www .imshome.com. Optional cables
are avail able for ease of con nect ing
and con fi g ur ing the MDrive.

The IMS Motor Interface features:

• Easy installation.

• Automatic detection of MDrive

version and communication
confi guration.

• Will not set out-of-range values.

• Tool-tips display valid range

setting for each option.

• Single screen interface

The IMS Motor Interface GUI sim pli fi es MDrive
confi guring with a single screen in ter face.
(DIR feature with C Connector version only .)

(below)

.

MDrive23 Microstepping Datasheet REV121704 1

MDRIVE23 MICROSTEPPING SPECIFICATIONS

GENERAL SPECIFICATIONS

Input Voltage (+V) Range*..................................................................... +12 to +48/+24 to +75 VDC

Isolated Inputs.....................................................................................Step Clock, Direction & Enable

Isolated Input Voltage Range (Sourcing or Sinking – C Connector Version Only) .................. +5 to +24 VDC

Step Frequency (Max)........................................................................................................... 2 MHz

Steps per Revolution .......................................... 400, 800, 1000, 1600, 2000, 3200, 5000, 6400,

10000, 12800, 25000, 25600, 50000, 51200

Heat Sink Temperature (Max) ................................................................................................. 85° C

Motor Temperature (Max).................................................................................................... 100° C

* Graph illustrates power supply current requirements (maximum) per

MDrive23. Actual power supply current will depend on voltage and load.

PARAMETERS

SETUP PARAMETERS

NAME FUNCTION RANGE UNITS DEFAULT

MHC Motor Hold Current 0 to 100 percent 5
MRC Motor Run Current 1 to 100 percent 25

MSEL Microstep Resolution 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 125, 128, 250, 256 µsteps per step 256

DIR

Motor Direction Override

C Connector Version ONLY

All parameters are set using the supplied IMS Motor Interface GUI and may be changed on-the-fl y.
An optional Parameter Setup Cable is rec om mend ed with fi rst orders.

0/1 -- CW

PIN/WIRE ASSIGNMENTS

C Connector

CONNECTOR P1

PIN FUNCTION

1 POWER GROUND

(+12 TO +48/+24 TO +75 VDC)

2 +V
3 OPTOCOUPLER REFERENCE
4 STEP CLOCK INPUT
5 ENABLE INPUT
6 CW / CCW DIRECTION INPUT
7 +5 VDC OUTPUT
8 SPI CLOCK
9 COMMUNICATIONS GROUND

10 SPI MASTER IN - SLAVE OUT
11 SPI CHIP SELECT
12 SPI MASTER OUT - SLAVE IN

Pluggable Terminal Strip or Flying Leads

CONNECTOR P1

PIN FLYING LEADS FUNCTION

1 White +5 VDC OPTOCOUPLER SUPPLY
2 -- NO CONNECT
3 Orange STEP CLOCK INPUT
4 Blue CW / CCW DIRECTION INPUT
5 Brown ENABLE INPUT
6 Black POWER GROUND

7 Red

(+12 TO +48/+24 TO +75 VDC)

+V

CONNECTOR P2 (SPI) – 10 Pin Pin-Header

PIN FUNCTION

1 NO CONNECT
2 NO CONNECT
3 NO CONNECT
4 CHIP SELECT
5 GROUND
6 +5 VDC OUTPUT
7 MASTER OUT - SLAVE IN
8 CLOCK
9 NO CONNECT

10 MASTER IN - SLAVE OUT

ENCODER PIN ASSIGNMENTS

ENCODER – Single-End ENCODER – Differential

PIN FUNCTION PIN FUNCTION PIN FUNCTION

1 GROUND 1 NO CONNECT 6 CHANNEL A +
2 INDEX 2 +5 VDC INPUT 7 CHANNEL B –
3 CHANNEL A 3 GROUND 8 CHANNEL B +
4 +5 VDC INPUT 4 NO CONNECT 9 INDEX –
5 CHANNEL B 5 CHANNEL A – 10 INDEX +

Optional Encoder Cables available.
NOTE: For recommended mating connector information, refer to the product's Quick Reference at www.imshome.com/quick.html

MDrive23 Microstepping Datasheet REV121704 2

T

i
N

MDRIVE23 MOTOR SPECIFICATIONS

MD2218 Single Stack

Holding Torque ........................ 90 oz-in / 64 N-cm

Detent Torque ....................... 3.9 oz-in / 2.7 N-cm

2

Rotor Inertia ........ 0.0025 oz-in-sec

/ 0.18 kg-cm

Weight (Motor+Driver)...............20.1 oz / 569.8 g

MD2222 Double Stack

Holding Torque .................... 144 oz-in / 102 N-cm

Detent Torque ..................... 5.6 oz-in / 3.92 N-cm

Rotor Inertia ........ 0.0037 oz-in-sec2 / 0.26 kg-cm

Weight (Motor+Driver)...............24.4 oz / 691.7 g

TORQUE-SPEED CURVES

Rotary Motor
MD2218 Single Stack

70

60

50

40

30

20

Torque in Oz - In

10

0

0 1000 2000 3000 4000 5000 6000 7000

Speed in Full Steps per Second

MD2222 Double Stack

24 VDC
45 VDC
75 VDC

49

42

35

28

21

14

7

MD2231 Triple Stack

Holding Torque .....................239 oz-in / 169 N-cm

Detent Torque ......................9.7 oz-in / 6.86 N-cm

2

Rotor Inertia ..........0.0065 oz-in-sec

2

/ 0.46 kg-cm

Weight (Motor+Driver)............. 38.5 oz / 1091.5 g

MD2218 Linear Actuator

Maximum Thrust .........................200 lbs / 890 N

Maximum Screw Defl ection............................. ± 1°

2

Backlash ............................ 0.005 in / 0.127 mm

Weight (without screw).............. 20.4 oz / 578.3 g

FORCE-SPEED CURVES

Linear Actuator
24 VDC

Torque in N - cm

45 VDC

200

180

160

140

120

100

80

Force in lbs

60

40

20

0

0 1000 2000 3000 4000 5000 6000 7000

Load Limit 200lbs / 890N

Speed in Full Steps per Second

Screw F
Scre E
Scre
Scre
Scre
Scre

w
w D
w C
w B
w A

890

801

712

623

534

445

356

267

178

89

2

Force in N

140

120

100

80

60

40

Torque in Oz - In

20

0

0 1000 2000 3000 4000 5000 6000 7000

Speed in Full Steps per Second

MD2231 Triple Stack

225

200

175

150

125

100

75

Torque in Oz - In

50

25

0

0 1000 2000 3000 4000 5000 6000 7000

Speed in Full Steps per Second

24 VDC
45 VDC
75 VDC

24 VDC
45 VDC
75 VDC

99

orque

85

71

n

56

- cm

42

28

14

159

141

Torque in N - cm

124

106

88

71

53

35

18

75 VDC

200

180

160

140

120

100

80

Force in lbs

60

40

20

0

0 1000 2000 3000 4000 5000 6000 7000

Load Limit 200lbs / 890N

Screw F

Screw E
Screw D
Screw C
Screw B
Screw A

Speed in Full Steps per Second

200

180

160

140

120

100

80

Force in lbs

60

40

20

0

0 1000 2000 3000 4000 5000 6000 7000

Load Limit 200lbs / 890N

Speed in Full Steps per Second

Screw F

Screw E
Screw D
Screw C
Screw B
Screw A

890

801

712

623

534

445

356

267

178

89

890

801

712

623

534

445

356

267

178

89

Force in N

Force in N

MDrive23 Microstepping Datasheet REV121704 3

MDRIVE23 WITH PLANETARY GEARBOX

The MDrive23 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 Flange allows mounting the Plan­etary Gearbox to the load using a standard NEMA
bolt circle. Planetary Gearbox may be combined with
other MDrive23 options, however are unavailable on
Linear Actuator versions.

Parameters 1-Stage 2-Stage 3-Stage

Permitted Output Torque (oz-in/Nm)...........................566/4.0 ............1699/12.0 .........3540/25.0

Gearbox Effi ciency.......................................................0.80 ....................0.75 ...................0.70

Maximum Backlash (degree)........................................ 0.70°................... 0.75°..................0.80°

Ouput Side with Ball Bearing

Maximum Load, Radial (lb-force/N)............................ 45/200............... 72/320.............101/450

Maximum Load, Axial (lb-force/N)............................... 13/60................22/100..............34/150

Weight - Gearbox Only (oz/g)....................................25.0/711 ............32.2/914 ..........39.4/1117

Weight - Gearbox & NEMA Flange (oz/g) ...................25.9/735 ............33.3/945 ..........40.7/1155

PLANETARY GEARBOX MECHANICAL SPECIFICATIONS

Dimensions in Inches (mm)

Planetary Gearbox for MDrive23

0.984

M5 x 0.394 (10.0) Deep

2.22 SQ.
(56.4 SQ.)

Ø 1.575
(Ø 40.0)

Ø 1.26 +0/-0.0015

(Ø 32.0 +0/-0.039)

Ø 0.472 +0/-0.0007

(Ø 12.0 +0/-0.018)

Ctrg. DIN 332-D M4x10

Key DIN 6885-A-4x4x16mm

(25.0)

Planetary Gearbox with Optional NEMA Output Flange

0.106
(2.7)

k1 ±0.02 (±0.5)

Ø 2.047

(Ø 52.0)

k1 Gearbox
k2 Gearbox w/

NEMA Flange

Gearbox Ratios (Rounded)

1-Stage 2-Stage 3-Stage

3.70:1 13.73:1 50.89:1

5.18:1 15.88:1 58.85:1

6.75:1 18.36:1 68.06:1

MDRIVE23

Gearbox Lengths

1-Stage 2-Stage 3-Stage

4.315

(109.6)

4.433

(112.6)

19.20:1 71.16:1

22.20:1 78.71:1

25.01:1 92.70:1

26.85:1 95.17:1

28.93:1 99.50:1

34.97:1 107.20:1

45.56:1 115.07:1

5.169

(131.3)

5.287

(134.3)

123.97:1

129.62:1

139.13:1

149.90:1

168.84:1

181.24:1

195.26:1

236.09:1

307.54:1

Inches (mm)

6.024

(153.0)

6.142

(156.0)

4x Ø 0.197 (Ø 5) Hole

1.854

(47.1)

1.854
(47.1)

2.22 SQ.

(56.4 SQ.)

Ø 1.50 +0/-0.0015

(Ø 38.1 +0/-0.039)

Ø 0.472 +0/-0.0007

(Ø 12.0 +0/-0.018)

Ctrg. DIN 332-D M4x10

Key DIN 6885-A-4x4x16mm

0.925
(23.5)

0.236
(6.0)

0.06
(1.5)

k2 ±0.02 (±0.5)

Ø 2.047

(Ø 52.0)

MDRIVE23

MDrive23 Microstepping Datasheet REV121704 4

MDRIVE23 MICROSTEPPING – MECHANICAL SPECIFICATIONS

(

)

)

Dimensions in Inches (mm)

Rotary MDrive23: Single Shaft, Control Knob & Encoder Versions

1.63

(41.4)

Interface

Option

P1

2.92

(74.2)

MDrive Lengths

Stack Size

2218 2.63 (66.8) 3.35 (85.1)
2222 3.00 (76.2) 3.70 (94.0)
2231 3.86 (98.0) 4.57 (116.1)

L

Options

MAX2

Ø 0.97

(Ø 24.6)

SINGLE SHAFT

P2

Inches (mm)

L

MAX

VERSION

1.20

(30.4)

Differential

Adapter

L

1.42

(36.1)

L

MAX

MAX2

CONTROL KNOB or

ENCODER VERSION

1.90

(48.3

3.00

(76.2)

L

MAX2

0.06
(1.6)

1.17

(29.7)

2.22

(56.4)

Ø 0.250 +0/-0.0005

(Ø 6.35 +0/-0.013)

0.19
(4.8)

0.81 ±0.02
(20.6 ±0.5)

0.59 ±0.008
(15.0 ±0.2)

0.23 ±0.004
(5.8 ±0.1)

Ø 1.500 ±0.002

(Ø 38.10 ±0.05)

Interface Options

12.00

+1.0/-0.0

(304.8)

(+25.4/-0.0)

Flying Leads

1.50

(38.1)

2.22 SQ.

(56.4 SQ.)

0.36

(9.1)

C Connector

4X Ø 0.197
(Ø 5.0)

1.856 ±0.008 SQ.
(47.14 ±0.2 SQ.)

0.44

(11.2)

Pluggable Clamp

Type Terminal Strip

Control Knob

100 - 1000 Line Encoders

Linear Actuator MDrive23

0.375

2.92

(74.2)

(9.52)

.

2000 Line Encoder

6.00

(152.4)

Interface

Option

P1

P2

1.63

(41.4)

2.64

(67.1)

0.06
(1.6)

0.50

(12.7)

1/4-20 UNC-2A

THREAD TO

WITHIN 0.05 (1.3)

OF SHOULDER

1.50

(38.1)

2.22 SQ.

56.4 SQ.

4X Ø 0.205
(Ø 5.21)

1.856 ±0.008 SQ.
(47.14 ±0.2 SQ.)

Ø 1.500 ±0.002
(Ø 38.10 ±0.05)

MDrive23 Microstepping Datasheet REV121704 5

MDRIVE23 MICROSTEPPING – OPTIONS

Control Knob

The MDrive23 is available with a fac to ry-mount ed rear

control knob for man u al shaft positioning.

Planetary Gearbox

Effi cient, low maintenance Planetary Gearbox are of-

fered assembled with the MDrive23. Details inside.

Encoder

The MDrive23 is available with a factory-mount ed

op ti cal en cod er . Available line counts are 100, 200,
250, 400, 500, 1000 or 2000. All en cod ers, except
1000 line, have an in dex mark. Encoders are avail­able in both single-end and dif fer en tial confi gurations.

Order optional Encoder Cables separately:
Single-end Cable (12"/30.5cm) ... ES-CABLE-2*
Differential Cable (36"/91.5cm)...ED-CABLE-2*

*Change "2" to a "6" when ordering 2000 line encoder cable.

Screw C ...............0.0005”/full step

Screw D ...............0.0004167”/full step

Screw E................0.0003125”/full step

Standard screw length is 6.0” (152.4mm) plus the

mounting end thread. Cus tom lengths from 2.0” to

24.0” are available without mounting end thread.

Linear Actuators are Non-Captive style. Contact the

factory regarding Captive Shaft or External styles.

Parameter Setup Cable and Adapter

The optional 6' (1.8m) Parameter Setup Cable Part

No. MD-CC100-000 eliminates the need to wire com­munications and is recommended with fi rst order. It
connects an MDrive's 10 pin pin-header (P2) to a
standard DB-25 PC Parallel/SPI port and includes
built-in logic level shifting circuity to accommodate the

3.3v ports on some PCs. In addition, MDrives with
C Connector require an Adapter Part No. MD-ADP­1723C to mate the Cable to the 12 po si tion pin and
receptacle connector (P1).

Linear Actuator

The MDrive23 with long life Acme Screw Linear Ac-

tuator is avail able with the following trav el/full step:

Screw F ...............0.002”/full step

Screw A ...............0.001”/full step

Screw B. .............. 0.0008333”/full step

ORDER INFORMATION

MDRIVE23 MICROSTEPPING OPTIONS

Control

Stack Sizes

†

18 = Single Stack & Linear Actuator
22 = Double Stack
31 = Triple Stack

MDM 22 –

Interface Options

C = Pin & Receptacle*
F = 12" Flying Leads
P = Pluggable Clamp
Type Terminal Strip

Example #1: Part Number MDMC2222-4 is an MDrive23
Microstepping with C Connector, NEMA 22 motor, stack size 22
and +12 to +48 VDC input voltage range.

†

Linear Actuator Available ONLY in Stack Size 18. (MDMX2218LX)

Input Voltage

4 = 48 VDC
7 = 75 VDC*

OPTION

*MDrive 75 Volt version NOT Available with C Connector Interface Option.

Knob

Planetary
Gearbox

Encoder

Linear
Actuator

†

Screw Type (Travel/Full Step)

F = 0.002”

A = 0.001”
B = 0.0008333”
C = 0.0005”
D = 0.0004167”
E = 0.0003125”

Prototype Development Cable

For testing and development of MDrives with C Con-

nector, the 12" (30.5cm) Prototype Development
Cable plugs into the MD-ADP-1723C Adapter and
has fl ying leads for connection to the user interface.
Part No.

N

G

Gearbox Ratio

Rounded to Nearest Whole Number

E

S = Single End
D = Differential

L

ADP-3512-FL.

Line Count:

Custom Screw Length

eg. 08.5 for an 8.5” Screw

(6.0” Screw Length Standard)

100, 200, 250,

400, 500, 1000, 2000

Range 2.0” to 24.0”

Format XX.X

Example #2: MDMC2222-4N

Adds a Control Knob
to the part shown in example #1.

Example #3: MDMC2222-4G5

Rounding ratio to the nearest whole number,
the above adds a Planetary Gearbox with

5.18:1 ratio to the part shown in example #1.
Add -F if optional NEMA Flange is desired.

Example #4: MDMC2222-4ED500

Adds a 500 line count Differential Encoder
to the part shown in example #1.

Example #5: MDMC2218-4LB10.5

MDrive23 Microstepping Linear Actuator
with a 0.0008333”/Full Step Acme
Screw custom cut to 10.5”.

MAY NOT be combined with other options.

Note: MDrive23 Linear Actuator
Available ONLY in Stack Size 18

P.O. Box 457, 370 N. Main Street
Marlborough, CT 06447 U.S.A.

Phone: [phone]
Fax: [phone]
E-mail: [e-mail]
Home Page: www.imshome.com

Distributed By:

TECHNICAL SUPPORT

Eastern U.S.

Phone: [phone]
Fax: [phone]
E-mail: [e-mail]

Western U.S.

Phone: [phone]
Fax: [phone]
E-mail: [e-mail]

IMS MOTORS DIVISION

105 Copperwood Way, Suite H
Oceanside, CA 92054
Phone: [phone]
Fax: [phone]
E-mail: [e-mail]

Product information covered by IMS Product Disclaimer available at www.imshome.com.
Visit the IMS web site for the most up-to-date product information.

© 2002, 2004 Intelligent Motion Systems, Inc. All Rights Reserved. REV121704

IMS EUROPE

Hahnstrasse 10, VS-Schwenningen
Germany D-78054
Phone: [phone]
Fax: [phone]
E-mail: [e-mail]

European Sales Management

4 Quai Des Etroits
69005 Lyon, France
Phone: [phone]
Fax: [phone]
E-mail: [e-mail]

German Sales/Technical Support

Phone: [phone]
Fax: [phone]
E-mail: [e-mail]

GmbH