Intelligent Motion Systems MDrive34Plus User Manual

MDrive34Plus

TM

Microstepping
Integrated Motor and Driver

TM

MDrive34Plus Microstepping Hardware Reference Change Log

Date Revision Changes

06/26/2006 R062606 Initial Release

03/12/2007 R031207 Changed Max Step Clock rate to 5 MHz, Min Pulse width to 100 ns, default input filter to 2.5 MHz (50 ns). Changed

12/14/2007 R121407 Minor corrections and modifications. Relevant to Frimware Version 3.0.02

03/17/2008 R031708 Added CW/CCW to the list of clock option labels for the differential input version. Functionality is the same as the

07/11/2008 R030708 Updated to give visibility to isolated USB to SPI Communications Converter cables and new Mating Connector Kits.

temperature spec to -0 to +75°C (non-condensing humidity, measured at the heat sink) and -0 to +90°C (non-condensing
humidity, measured at the motor.) Added Section 2.1: Mounting and Interface Guidelines and Section 2.2: Interfacing
DC Power. Added new cables to Appendix D.

Major updates throughout.

up/down clock type. Added qualification os personnel and intended use statements to inside front.

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.

MDrive34Plus Microstepping

Revision R071108

Copyright © Intelligent Motion Systems, Inc.

All Rights Reserved

Important information

Qualication of personnel

The drive systems described here are products for general use that conform to the
state of the art in technology and are designed to prevent any dangers. However,

drives and drive controllers that are not specically designed for safety functions

are not approved for applications where the functioning of the drive could endan­ger persons. The possibility of unexpected or un-braked movements can never be
totally excluded without additional safety equipment. For this reason personnel must
never be in the danger zone of the drives unless additional suitable safety equip­ment prevents any personal danger. This applies to operation of the machine during
production and also to all service and maintenance work on drives and the machine.
The machine design must ensure personal safety. Suitable measures for prevention
of property damage are also required.

Only technicians who are familiar with and understand the contents of this manual
and the other relevant documentation are authorized to work on and with this drive
system. The technicians must be able to detect potential dangers that may be
caused by setting parameters, changing parameter values and generally by the
operation of mechanical, electrical and electronic equipment.

The technicians must have sufcient technical training, knowledge and experience

to recognise and avoid dangers.

The technicians must be familiar with the relevant standards, regulations and safety
regulations that must be observed when working on the drive system.

Intended Use

The drive systems described here are products for general use that conform to the
state of the art in technology and are designed to prevent any dangers. However,

drives and drive controllers that are not specically designed for safety functions

are not approved for applications where the functioning of the drive could endanger
persons. The possibility of unexpected or unbraked movements can never be totally
excluded without additional safety equipment.

For this reason personnel must never be in the danger zone of the drives unless
additional suitable safety equipment prevents any personal danger. This applies to
operation of the machine during production and also to all service and maintenance
work on drives and the machine. The machine design must ensure personal safety.
Suitable measures for prevention of property damage are also required.

In all cases the applicable safety regulations and the specied operating conditions,
such as environmental conditions and specied technical data, must be observed.

The drive system must not be commissioned and operated until completion of instal-

lation in accordance with the EMC regulations and the specications in this manual.

To prevent personal injury and damage to property damaged drive systems must
not be installed or operated.

Changes and modications of the drive systems are not permitted and if made all no

warranty and liability will be accepted.

The drive system must be operated only with the specied wiring and approved

accessories. In general, use only original accessories and spare parts.

The drive systems must not be operated in an environment subject to explosion
hazard (ex area).

This page intentionally left blank

Getting Started: MDrive34Plus Microstepping .......................................................................... 1-1

Before You Begin ....................................................................................................................... 1-1

Tools and Equipment Required ................................................................................................. 1-1

Connecting the Power Supply ..................................................................................................1-1

Connect Opto Power and Logic Inputs .................................................................................... 1-1

Connecting Parameter Setup Cable .......................................................................................... 1-1

Install the IMS SPI Motor Interface ......................................................................................... 1-2

Part 1: Hardware Specifications

Section 1.1: Introduction to the MDrive34Plus Microstepping...................................................1-5

Configuration Interface ............................................................................................................. 1-5

Features and Benefits ................................................................................................................. 1-5

Section 1.2: MDrive34Plus Microstepping Specifications .......................................................... 1-7

General Specifications ............................................................................................................... 1-7

Setup Parameters ....................................................................................................................... 1-8

Mechanical Specifications .......................................................................................................... 1-9

Pin Assignment And Description - Flying Leads Version ......................................................... 1-11

P1 Connector - Power, I/O and Internal Optical Encoder (Optional) ................................ 1-11

P2 Connector - SPI Communications ................................................................................ 1-13

Pin Assignment And Description - Pluggable Interface Version ............................................... 1-14

P1 Connector - I/O and SPI Communications, 12-Pin Locking Wire Crimp.....................1-14

P3 Connector - DC Power, 2-Pin Locking Wire Crimp...................................................... 1-15

P4 Connector - Differential Encoder, 10-Pin Friction Lock Wire Crimp ............................ 1-15

Connectivity ........................................................................................................................... 1-17

Options ................................................................................................................................... 1-17

Table Of Contents

Part 2: Interfacing and Configuring

Section 2.1: Mounting and Interface Guidelines ........................................................................ 2-3

Mounting Recommendations .................................................................................................... 2-3

Layout and Interface Guidelines ................................................................................................ 2-4

Rules of Wiring ................................................................................................................... 2-4

Rules of Shielding ................................................................................................................ 2-4

Recommended Wiring .........................................................................................................2-5

Recommended Mating Connectors and Pins ............................................................................. 2-5

SPI Communications (Flying Lead Version Only) ................................................................ 2-5

Power ................................................................................................................................... 2-5

Internal Differential Encoder ................................................................................................ 2-5

12-Pin Locking Wire Crimp (I/O and SPI Communications) .............................................. 2-5

Securing Power Leads and Logic Leads ...................................................................................... 2-6

Section 2.2: Interfacing DC Power ............................................................................................. 2-7

Choosing a Power Supply for Your MDrive ............................................................................... 2-7

DC Power Supply Recommendations ........................................................................................ 2-8

Recommended IMS Power Supplies ..................................................................................... 2-8

Recommended IMS Power Supplies ..................................................................................... 2-8

Connecting DC Power .............................................................................................................. 2-9

Recommended Power and Cable Configurations .................................................................... 2-10

Example A – Cabling Under 50 Feet, DC Power ................................................................ 2-10

Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge ...........................2-10

Example C – Cabling 50 Feet or Greater, AC Power to Power Supply ................................ 2-10

Section 2.3: Isolated Input Interface and Connection ............................................................... 2-13

Optically Isolated Logic Inputs ................................................................................................ 2-13

Isolated Logic Input Pins and Connections ............................................................................. 2-13

Isolated Logic Input Characteristics ......................................................................................... 2-15

Enable Input ...................................................................................................................... 2-15

Clock Inputs....................................................................................................................... 2-15

Optocoupler Reference ............................................................................................................ 2-17

Input Connection Examples .................................................................................................... 2-18

Open Collector Interface Example ...................................................................................... 2-18

Switch Interface Example ...................................................................................................2-19

i

Minimum Required Connections ............................................................................................ 2-20

Section 2.4: Connecting SPI Communications .........................................................................2-21

Connecting the SPI Interface .................................................................................................. 2-21

SPI Signal Overview ................................................................................................................ 2-21

SPI Pins and Connections ....................................................................................................... 2-22

Logic Level Shifting and Conditioning Circuit ........................................................................ 2-23

SPI Master with Multiple MDrivePlus Microstepping ............................................................. 2-24

Section 2.5: Using the IMS SPI Motor Interface ....................................................................... 2-25

Installation .............................................................................................................................. 2-25

Configuration Parameters and Ranges ..................................................................................... 2-25

Color Coded Parameter Values ................................................................................................ 2-25

IMS SPI Motor Interface Menu Options.................................................................................2-26

Screen 1: The Motion Settings Configuration Screen .............................................................. 2-27

MSEL (Microstep Resolution Selection) ............................................................................. 2-28

HCDT (Hold Current Delay Time) ................................................................................... 2-29

MRC (Motor Run Current) ...............................................................................................2-29

MHC (Motor Hold Current) ............................................................................................. 2-29

DIR (Motor Direction) ...................................................................................................... 2-29

User ID .............................................................................................................................. 2-29

IMS SPI Motor Interface Button Functions ....................................................................... 2-29

Screen 2: I/O Settings Configuration Screen ........................................................................... 2-30

Input Clock Type ............................................................................................................... 2-30

Input Clock Filter ............................................................................................................... 2-30

Enable Active High/Low ....................................................................................................2-30

Warning Temperature ......................................................................................................... 2-30

IMS Part Number/Serial Number Screen ................................................................................ 2-31

Fault Indication ....................................................................................................................... 2-31

Upgrading the Firmware in the MDrivePlus Microstepping .................................................... 2-32

The IMS SPI Upgrader Screen ........................................................................................... 2-32

Upgrade Instructions .......................................................................................................... 2-32

Initialization Screen ................................................................................................................. 2-33

Port Menu .......................................................................................................................... 2-33

Section 2.6: Using User-Defined SPI ........................................................................................ 2-35

Appendices

Appendix A: MDrive34Plus Microstepping Motor Performance .................................................A-3

Appendix B: Planetary Gearboxes ..............................................................................................A-5

Appendix C: Connectivity .........................................................................................................A-15

Appendix D: Interfacing an Encoder .......................................................................................A-25

SPI Timing Notes .................................................................................................................... 2-35

Check Sum Calculation for SPI ............................................................................................... 2-35

SPI Commands and Parameters...............................................................................................2-36

SPI Communications Sequence .......................................................................................... 2-37

Speed-Torque Curves ................................................................................................................A-3

Motor Specifications .................................................................................................................A-4

Section Overview ......................................................................................................................A-5

Product Overview .....................................................................................................................A-5

Selecting a Planetary Gearbox....................................................................................................A-5

System Inertia ...........................................................................................................................A-9

Planetary Gearbox for MDrive34Plus ......................................................................................A-13

PM81 Gearbox Ratios and Part Numbers ...........................................................................A-13

MD-CC30x-001: USB to SPI Converter and Parameter Setup Cable ..................................... A-15

Installation Procedure for the MD-CC30x-000 .......................................................................A-19

Installing the Cable/VCP Drivers .......................................................................................A-19

Determining the Virtual COM Port (VCP) ........................................................................A-21

Prototype Development Cable PD12-1434-FL3 ..................................................................... A-22

PD10-3400-FL3 - Internal Differential Encoder ................................................................ A-23

Prototype Development Cable PD02-3400-FL3 — Main Power.............................................A-24

Factory Mounted Internal Encoder .........................................................................................A-25

General Specifications .............................................................................................................A-25

ii

Encoder Connections ..............................................................................................................A-26

Encoder Signals .......................................................................................................................A-27

Encoder Cable .........................................................................................................................A-28

Recommended Encoder Mating Connectors ...........................................................................A-28

Appendix E: Linear Slide Option ............................................................................................ A-29

Features ...................................................................................................................................A-29

MDrive34Plus Linear Slide .....................................................................................................A-29

Speed-Force Limitations† ...................................................................................................A-29

Speed-Torque Curves ..........................................................................................................A-29

Specifications ......................................................................................................................A-30

Mechanical Specifications .............................................................................................................. A-30

Figure GS.1: Minimum Logic and Power Connections ............................................................. 1-1

Figure GS.3: IMS Motor Interface Showing Default Settings .................................................... 1-2

Figure GS.2: MDrivePlus CD ................................................................................................... 1-2

Part 1: Hardware Specifications

List Of Figures

Figure 1.1.1: MDrive34Plus Microstepping Integrated Motor and Driver Electronics ............... 1-5

Figure 1.2.1: MDrive34Plus

Figure 1.2.2: MDrive34Plus Microstepping Connector Options ............................................. 1-10

Figure 1.2.3: MDrive34Plus Microstepping Flying Leads ........................................................ 1-11

Figure 1.2.4: MDrive34Plus Microstepping Flying Leads with Single-End Encoder ................ 1-12

Figure 1.2.5: MDrive34Plus Microstepping Flying Leads with Differential Encoder ............... 1-12

Figure 1.2.6: P2 Connector - SPI Communications ................................................................ 1-13

Figure 1.2.7: P2 Connector - I/O and SPI Communications .................................................. 1-14

Figure 1.2.8: P3 Connector - DC Power +12 to +75 VDC ...................................................... 1-15

Figure 1.2.9: P4 Connector – Internal Differential Encoder Interface ..................................... 1-16

Microstepping Dimensional Information ...................................... 1-9

Part 2: Interfacing and Configuring

Figure 2.1.1: Mounting Recommendations and Drill Pattern .................................................... 2-3

Figure 2.1.2: Grounding and Shielding for Logic Connections .................................................. 2-4

Figure 2.1.3: Typical MDrive Shown with Leads Secured .......................................................... 2-6

Figure 2.2.1: IMS ISP300 Switch Mode Power Supply .............................................................. 2-7

Figure 2.2.2 DC Power Connections ........................................................................................ 2-9

Figure 2.2.3: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier ................. 2-10

Figure 2.2.4: AC Cabling - 50 Feet or Greater - AC To Power Supply ..................................... 2-10

Figure 2.2.5: DC Cabling - Under 50 Feet .............................................................................. 2-10

Figure 2.3.1: MDrivePlus Microstepping Block Diagram ........................................................ 2-13

Figure 2.3.2: Isolated Input Pins and Connections .................................................................. 2-14

Figure 2.3.3: Optocoupler Input Circuit Diagram ................................................................... 2-14

Figure 2.3.4: Input Clock Functions ....................................................................................... 2-15

Figure 2.3.5: Clock Input Timing Characteristics .................................................................... 2-16

Figure 2.3.6: Open Collector Interface Example ...................................................................... 2-18

Figure 2.3.7: Switch Interface Example ................................................................................... 2-19

Figure 2.3.8 Minimum Required Connections ........................................................................ 2-20

Figure 2.4.1: MD-CC300-000 Parameter Setup Cable ............................................................ 2-21

Figure 2.4.2: SPI Pins and Connection — All Connector Styles .............................................. 2-22

Figure 2.4.3: Logic Level Shifting and Conditioning Circuit ................................................... 2-23

Figure 2.4.4: SPI Master with a Single MDrivePlus Microstepping ......................................... 2-24

Figure 2.4.5: SPI Master with Multiple MDrivePlus Microstepping ........................................ 2-24

Figure 2.5.1: SPI Motor Interface Color Coding ..................................................................... 2-26

Figure 2.5.2: SPI Motor Interface File Menu ........................................................................... 2-26

Figure 2.5.3: SPI Motor Interface View Menu ......................................................................... 2-26

Figure 2.5.4: SPI Motor Interface Recall Menu ....................................................................... 2-27

Figure 2.5.5: SPI Motor Interface Upgrade Menu ................................................................... 2-27

Figure 2.5.6: SPI Motor Interface Help Menu and About Screen ............................................ 2-27

Figure 2.5.7: SPI Motor Interface Motion Settings Screen ....................................................... 2-28

Figure 2.5.8: SPI Motor Interface I/O Settings Screen ............................................................. 2-30

Figure 2.5.9: SPI Motor Interface Part and Serial Number Screen ........................................... 2-31

iii

Appendices

Figure 2.5.10: SPI Motor Interface Upgrade Utility ................................................................ 2-32

Figure 2.5.11: SPI Motor Interface Initialization ..................................................................... 2-33

Figure 2.5.12: SPI Motor Interface Port Menu ........................................................................ 2-33

Figure 2.6.1: SPI Timing ......................................................................................................... 2-35

Figure 2.6.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown) ....... 2-37

Figure A.1: MDrive34Plus Microstepping Single Length Speed-Torque Curves ........................A-3

Figure A.2: MDrive34Plus Microstepping Double Length Speed-Torque Curves ......................A-3

Figure A.3: MDrive34Plus Microstepping Triple Length Speed-Torque Curves .........................A-4

Figure B.1: MDrive34 Torque-Speed Curve ..............................................................................A-7

Figure B.2: Lead Screw System Inertia Considerations ..............................................................A-9

Figure B.3: Rack and Pinion System Inertia Considerations ....................................................A-10

Figure B.4: Conveyor System Inertia Considerations ...............................................................A-10

Figure B.5: Rotary Table System Inertia Considerations .......................................................... A-11

Figure B.6: Chain Drive System Inertia Considerations ...........................................................A-12

Figure B.7: Planetary Gearbox Specifications for MDrive34Plus .............................................A-13

Figure C.1: MD-CC300-001 Mechanical Specifications and Connection ............................... A-15

Figure C.2: 10-Pin IDC ..........................................................................................................A-16

Figure C.3: MD-CC303-001 Mechanical Specifications and Connection ............................... A-17

Figure C.4: 12-Pin Wire Crimp...............................................................................................A-18

Figure C.5: Hardware Update Wizard .....................................................................................A-19

Figure C.6: Hardware Update Wizard Screen 2 .......................................................................A-19

Figure C.7: Hardware Update Wizard Screen 3 .......................................................................A-20

Figure C.8: Windows Logo Compatibility Testing ...................................................................A-20

Figure C.9: Hardware Update Wizard Finish Installation ........................................................A-20

Figure C.10: Hardware Properties ...........................................................................................A-21

Figure C.11: Windows Device Manager ..................................................................................A-21

Figure C.12: PD12-1434-FL3 .................................................................................................A-22

Figure C.13: 12-Pin Wire Crimp.............................................................................................A-22

Figure C.14: PD10-3400-FL3 .................................................................................................A-23

Figure C.15: PD10-3400-FL3 .................................................................................................A-23

Figure C.16: PD02-3400-FL3 .................................................................................................A-24

Figure C.17: 2-Pin Wire Crimp...............................................................................................A-24

Figure D.1: Single-End and Differential Encoder Connections ...............................................A-26

Figure D.2: Single-End Encoder Signal Timing .......................................................................A-27

Figure D.3: Differential Encoder Signal Timing ......................................................................A-27

Figure E.1: Speed Force Limitations ........................................................................................A-29

Figure E.2: MDrive34Plus Speed Torque Curves .....................................................................A-29

Figure F.3: Mechanical Specifications ......................................................................................A-30

iv

Part 1: Hardware Specifications

Table 1.2.1: MDrive34Plus Microstepping Electrical Specifications .......................................... 1-7

Table 1.2.2: MDrive34Plus Microstepping Environmental Specifications ................................. 1-7

Table 1.2.3: MDrive34Plus Microstepping I/O Specifications ................................................... 1-7

Table 1.2.4: MDrive34Plus Microstepping Communications Specifications .............................. 1-7

Table 1.2.5: MDrive34Plus Microstepping Motion Specifications ............................................. 1-7

Table 1.2.6: MDrive34Plus Microstepping Motor Specifications ............................................... 1-8

Table 1.2.7: Setup Parameters .................................................................................................... 1-8

Table 1.2.8: P1 — Pin Assignment, Power and I/O ................................................................. 1-11

Table 1.2.9: P2 Connector – SPI Communications ................................................................. 1-13

Table 1.2.10: P1 Connector – I/O and SPI Communications ................................................. 1-14

Table 1.2.11: P3 Connecter ..................................................................................................... 1-15

Table 1.2.12: P4 Connector – Optional Internal Differential Encoder .................................... 1-15

Part 2: Interfacing and Configuring

Table 2.1.1: 12-Pin Locking Wire Crimp Connector Contact and Tool Part Numbers .............. 2-5

Table 2.2.1: Recommended Wire Gauges ............................................................................... 2-11

Table 2.3.1: Input Clocks Timing Table .................................................................................. 2-16

Table 2.3.2: Optocoupler Reference Connection ..................................................................... 2-17

Table 2.5.1: Setup Parameters and Ranges ............................................................................... 2-25

Table 2.5.2: Microstep Resolution Settings .............................................................................. 2-28

Table 2.5.3: Input Clock Filter Settings ................................................................................... 2-30

Table 2.5.4: MDrivePlus Microstepping Fault Codes .............................................................. 2-31

Table 2.6.1: SPI Commands and Parameters ........................................................................... 2-36

List of Tables

Appendices

Table B.1: Planetary Gearbox Operating Factor .........................................................................A-8

Table B.2: Planetary Gearbox Specifications – PM81 ..............................................................A-13

Table B.3: Planetary Gearbox Ratios, Inertia Moments and Part Numbers ..............................A-13

Table C.1: PD10-1434-FL3 Wire Color Codes .......................................................................A-22

Table C.2: PD10-3400-FL3 Wire Color Codes .......................................................................A-23

Table D.1: Available Encoder Line Counts and Part Numbers .................................................A-25

Table E.1: MDrive34Plus Linear Slide Specifications ..............................................................A-30

v

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vi

Ge t ti n g S ta r te d

+VDC

Motor Supply

+5 to +24

Opto Supply

+

+

Step Clock

Direction

Control Device

GND

MDrivePlus Microstepping

See Specifications and interface
information for the pin numbering
of your MDrivePlus model.

MDrive34Plus Microstepping

Before You Begin

The Quick Start guide is designed to help quickly connect and begin using your MDrive34Plus Microstepping
integrated motor and driver. The following examples will help you get the motor turning for the first time and
introduce you to the basic settings of the drive.

Tools and Equipment Required

 MDrive34Plus Microstepping Unit (MDM34).
 Parameter setup cable MD-CC300-000 (USB to SPI) or equivalent and adapter MD-ADP-1723C for

pluggable interface.

 Product CD or Internet access to www.imshome.com.
 Control Device for Step/Direction.
 +5 to +24 VDC optocoupler supply.
 An Unregulated +12 to +75 VDC Power Supply.
 Basic Tools: Wire Cutters / Strippers / Screwdriver.
 18 AWG Wire for Power Supply, 22-28 AWG Wire for Logic Connections (Not Required for Flying

Leads version).

 A PC with Windows XP SP2.

Connecting the Power Supply

Using the 18 AWG wire, connect the DC
output of the power supply to the +V input
of the MDrive34Plus

Connect the power supply ground to Power
Ground (P3:2 - Wire Crimp, Black Flying
Lead).

See Figure GS.1.

Connect Opto Power and Logic
Inputs

WARNING!
The MDrive has
components which

are sensitive to
Electrostatic Discharge (ESD).
All handling should be done at
an ESD protected workstation.

WARNING!

Hazardous voltage

levels may be

present if using an
open frame power supply to
power your MDrive product.

WARNING! Ensure
that the power
supply output

voltage does not
exceed the maximum input
voltage of the MDrive34Plus
(+75 VDC).

Note: A
characteristic of
all motors is back

EMF. Back EMF is
a source of current that can
push the output of a power
supply beyond the maximum
operating voltage of the driver.
As a result, damage to the
stepper driver could occur
over a period of time. Care
should be taken so that the
back EMF does not exceed
the maximum input voltage
rating of +75 VDC.

Using the recommended wire, connect the
following to your controller or PLC:

 Optocoupler Supply (+5 to +24

Figure GS.1: Minimum Logic and Power Connections

VDC)

 Step Clock Input
 Direction Input

Connecting Parameter Setup Cable

Connect the Host PC to the MDrive34Plus Microstepping using the IMS Parameter Setup Cable or equivalent.
See Appendix D of this document for Cable installation instructions.

Part 1: Hardware Specifications

1-1

WARNING!

Motion Settings Dialog Input Settings Dialog

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. Operating Range is

-40 to +75°C.

Note: Interactive
usage tutorials are
available at the IMS

Web Site at http://
www.imshome.com/tutorials.
html

Install the IMS SPI Motor Interface

The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDrive34Plus
Microstepping. It is available both on the MDrive34Plus CD that came with your product and on the IMS web
site at http://www.imshome.com/software_interfaces.html.

1. Download the IMS SPI Motor Interface from http://www.imshome.com/software_interfaces.html.

2. Extract to a location on you hard drive.

3. Double-Click the setup.exe file.

4. Follow the on-screen instructions.

5. Once IMS SPI Motor Interface is installed, the MDrive34Plus Microstepping settings can be checked
and/or set.

Once installed you can change the motor run current, holding current, microstep resolution and other configura­tion settings. By sending clock pulses to the drive you can now change these settings safely on-the-fly as the IMS
SPI Motor interface will not allow you to set an out-of-range value.

The motor can be run using the default settings without connecting communications or changing the parameters.

Figure GS.2: IMS Motor Interface Showing Default Settings

1-2

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Part 1:

TM

MICROSTEPPING

Hardware
Specifications

Section 1.1: MDrive34Plus Microstepping Product Introduction

Section 1.2: MDrive34Plus Microstepping Detailed Specifications

Part 1: Hardware Specifications

1-3

Page Intentionally Left Blank

1-4

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

SE C TI O N 1 .1

Introduction to the MDrive34Plus Microstepping

The MDrive34Plus Microstepping high torque inte­grated motor and driver is ideal for designers who want
the simplicity of a motor with on-board electronics. The
integrated electronics of the MDrive34Plus eliminate the
need to run motor cabling through the machine, reducing
the potential for problems due to electrical noise.

The unsurpassed smoothness and performance delivered
by the MDrive34Plus Microstepping are achieved through
IMS's advanced 2nd generation current control. By apply­ing innovative techniques to control current flow through
the motor, resonance is significantly dampened over the
entire speed range and audible noise is reduced.

The MDrive34Plus accepts a broad input voltage range
from +12 to +75 VDC, delivering enhanced performance
and speed. Oversized input capacitors are used to mini­mize power line surges, reducing problems that can occur
with long runs and multiple drive systems. An extended
operating range of –40° to +75°C (heat sink), –40° to
+90°C (Motor) provides long life, trouble free service in demanding environments.

The MDrive34Plus uses a NEMA 34 frame size high torque brushless motor combined with a microstepping
driver, and accepts up to 20 resolution settings from full to 256 microsteps per full step, including: degrees, metric
and arc minutes. These settings may be changed on-the-fly or downloaded and stored in nonvolatile memory with
the use of a simple GUI which is provided. This eliminates the need for external switches or resistors. Parameters
are changed via an SPI port.

The versatile MDrive34Plus Microstepping is available in multiple configurations to fit various system needs. Ro­tary motor versions come in three lengths and may include an internal optical encoder, control knob or planetary
gearbox. Interface connections are accomplished with either a pluggable locking wire crimp or 12.0" (30.5 cm)
flying leads.

The MDrive34Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and assem­bly time for a large range of brushless motor applications.

Figure 1.1.1: MDrive34Plus Microstepping Integrated Motor

and Driver Electronics

Configuration Interface

The IMS Motor Interface software is an easy to install and use GUI for configuring the MDrive34Plus from a
computer's USB port. GUI access is via the IMS SPI Motor Interface included on the CD shipped with the prod­uct, or from www.imshome.com. Optional cables are available for ease of connecting and configuring the MDrive.

 Easy installation.


Automatic detection of MDrive version

 Will not set out-of-range values.
 Tool-tips display valid range setting for each option.
 Simple screen interfaces.

and communication configuration.

Features and Benefits

 Highly Integrated Microstepping Driver and NEMA 34 High Torque Brushless Motor
 Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
Single Supply: +12 to +75 VDC

 Low Cost
 Extremely Compact

 20 Microstep Resolutions up to

 51,200 Steps Per Rev Including:
 Degrees, Metric, Arc Minutes

 Optically Isolated Logic Inputs will

 Accept +5 to +24 VDC Signals

 Sourcing or Sinking
Automatic Current Reduction
Configurable:

Part 1: Hardware Specifications

1-5

 Motor Run/Hold Current
 Motor Direction vs. Direction Input
 Microstep Resolution
 Clock Type: Step and Direction,
 Programmable Digital Filtering for Clock and Direction Inputs
Available Options:
 Internal Optical Encoder
 Integrated Planetary Gearbox
 Control Knob for Manual Positioning

 3 Rotary Motor Lengths Available
 Current and Microstep Resolution May Be Switched On-The-Fly
 Interface Options:

 Pluggable Locking Wire Crimp
 12.0” (30.5 cm) Flying Leads
 Graphical User Interface (GUI) for Quick and Easy Parameter Setup

Quadrature, Step Up and Step Down

1-6

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

SE C TI O N 1 .2

MDrive34Plus Microstepping

General Specifications

Electrical Specifications

Input Voltage (+V) Range* +12 to +75 VDC
Max Power Supply Current (Per MDrive34Plus)* 4 A

* Actual Power Supply Current will depend on Voltage and Load.

Table 1.2.1: MDrive34Plus Microstepping Electrical Specifications

Environmental Specifications

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

Table 1.2.2: MDrive34Plus Microstepping Environmental Specifications

I/O Specifications

Isolated Inputs — Step Clock, Direction and Enable

Resolution 10 Bit
Voltage Range (Sourcing or Sinking) +5 to +24 VDC
Current (+5 VDC Max) 8.7 mA
Current (+24 VDC Max) 14.6 mA

Table 1.2.3: MDrive34Plus Microstepping I/O Specifications

WARNING!
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. See

Thermal Specications.

Communications Specifications

Protocol SPI

Table 1.2.4: MDrive34Plus Microstepping Communications Specifications

Motion Specifications

Microstep Resolution

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

Digital Filter Range

Clock Types

Step Frequency (Max) 5.0 MHz

Step Frequency Minimum Pulse Width 100 nS

Available Microsteps Per Revolution

1

21600225400

50 nS to 12.9 µS

(10 MHz to 38.8kHz)

Step/Direction,

Quadrature, Clock

Up/Clock Down

3

Table 1.2.5: MDrive34Plus Microstepping Motion Specifications

Part 1: Hardware Specifications

1-7

Motor Specifications

Single Length

Holding Torque 381 oz-in/269 N-cm
Detent Torque 10.9 oz-in/7.7 N-cm

Rotor Inertia 0.01416 oz-in-sec2/1.0 kg-cm

Weight (Motor + Driver) 4.1 lb/1.9 kg

Double Length

Holding Torque 575 oz-in/406 N-cm
Detent Torque 14.16 oz-in/10.0 N-cm
Rotor Inertia 0.02266 oz-in-sec2/1.6 kg-cm
Weight (Motor + Driver) 5.5 lb/2.5 kg

Triple Length

Holding Torque 1061 oz-in/749 N-cm
Detent Torque 19.83 oz-in/14.0 N-cm
Rotor Inertia 0.04815 oz-in-sec2/3.4 kg-cm
Weight (Motor + Driver) 8.8 lb/4.0 kg

Table 1.2.6: MDrive34Plus Microstepping Motor Specifications

Setup Parameters

The following table illustrates the setup parameters. These are easily configured using the IMS SPI Motor Interface
configuration utility. An optional Parameter Setup Cable is available and recommended with the first order.

MDrive17Plus Microstepping 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

1, 2, 4, 5, 8, 10, 16, 25,

32, 50, 64, 100,108, 125,

127,128, 180, 200, 250, 256

µsteps per

full step

256

2

2

2

EN ACT Enable Active High/Low High/Low — High

DIR Motor Direction Override 0/1 — CW

HCDT Hold Current Delay Time 0 or 2-65535 mSec 500

CLK TYPE Clock Type

CLK IOF Clock and Direction Filter

WARN TEMP Warning Temperature 0 to +125 °C 80

USER ID User ID 1-3 characters Viewable ASCII IMS

Step/Dir. Quadrature, Up/

Down (CW/CCW)

50 nS to 12.9 µS

(10 MHz to 38.8kHz)

— Step/Dir

nS

(MHz)

200 nS

(2.5 MHz)

Table 1.2.7: Setup Parameters

1-8

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Mechanical Specifications

Ø 1.90

(Ø 48.3)

L

MAX2

Option - Control Knob

Ø 0.5512 +0/-0.0004
(Ø 14.0 +0/-0.010)

4X Ø 0.217 (Ø 5.51)

2.739 SQ.

(69.57 SQ.)

3.39 SQ.

(86.1 SQ.)

Ø 2.874 ±0.002
(Ø 73.0 ±0.05)

L

MAX

0.394

(10.01)

1.46

±0.04

(37.1 ±1.0)

0.984

±0.01

(25.0 ±0.25)

0.512

+0/–0.004

(13.0 ±0.10)

0.079
(2.0)

0.731

(18.57)

1.250

(31.75)

1.981

(50.32)

3.727

(94.67)

L

MAX2

Dimensions in Inches (mm)

Figure 1.2.1: MDrive34Plus Microstepping Dimensional Information

Part 1: Hardware Specifications

1-9

Connector Options

Connector

Options

P2

P1

P1

P3

P1

P3

P4

P1

Type: 12’ (30.5 cm) Flying Leads
Function: Power, I/O and Encoder
(optional)

P1

Type: 12-Pin Locking Wire Crimp
Function: Power, I/O and SPI Comm.

P2

Type: 10-Pin IDC
Function: SPI Communications

P3

Type: 2-Pin Locking Wire Crimp
Function: DC Power

P1

Type: 12-Pin Locking Wire Crimp
Function: Power, I/O and SPI Comm.

P3

Type: 2-Pin Locking Wire Crimp
Function: DC Power

P4

Type: 10-Pin Wire Crimp
Function: Differential Encoder Outputs

Flying Leads Locking Wire Crimp Locking Wire Crimp

with Internal Optical

Encoder

Note: All Interface and
Connection Illustrations
in this document are
shown from this
perspective, Motor facing
right.

Pin 1

Pin 1

Pin 1

Pin 1

Pin 1

Pin 1

The MDrive34Plus Microstepping comes in three Connector Options

12" (30.5 cm) Flying Leads1.

Locking Wire Crimp Connectors2.

1-10

Figure 1.2.2: MDrive34Plus Microstepping Connector Options

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Pin Assignment And Description - Flying Leads Version

White: OptoRef

Orange: Step Clock

Blue: Direction

Brown: Enable

Black: GND

Red: +VDC

P1 Connector - Power, I/O and Internal Optical Encoder (Optional)

Pin Assignment - P1 Power and I/O Connections

Flying Lead

Wire Color

White White Opto Reference

Orange Orange

Blue Blue

Brown Brown Enable

Black Black GND

Red Red +V +12 to +75 VDC Motor Power Supply input.

Wire Color

with Internal

Encoder

Step Clock/Channel A/ Clock

Direction/Channel B/ Clock

Differential Single-End

Yellow/Black Ground Ground

Yellow/Violet Index + Index Index + (Index Single-End) Encoder Output.

Yellow/Blue Channel A + Channel A Channel A+ (Channel A Single End) Encoder Output.

Yellow/Red +5 VDC Input +5 VDC Input +5 VDC Encoder power input.

Yellow/Brown Channel B + Channel B Channel B+ (Channel B Single End) Encoder Output.

Yellow/Gray Index – — Index – Differential Encoder Output.

Yellow/Green Channel A – — Channel A – Differential Encoder Output.

Yellow/Orange Channel B – — Channel B – Differential Encoder Output.

Function Description

The Signal applied to the Optocoupler Reference will
determine the sinking/ or sourcing configuration of
the inputs. To set the inputs for sinking operation, a
+5 to +24 VDC supply is connected. If sourcing, the
Reference is connected to Ground

Step Clock input. The step clock input will receive the

Up

Down

clock pulses which will step the motor 1 step for each
pulse. It may also receive quadrature and clock up
type inputs if so configured.

Direction input. The axis direction will be with respect
to the state of the Direction Override Parameter. It
may also receive quadrature and clock up type inputs
if so configured.

Enable/Disable Input will enable or disable the
driver output to the motor. In the disconnected state
the driver outputs are enabled in either sinking or
sourcing configuration.

Power Ground. The return of the +12 to +75 VDC
power supply.

Encoder Ground (common with power ground).

Table 1.2.8 P1 — Pin Assignment, Power and I/O

Part 1: Hardware Specifications

Figure 1.2.3: MDrive34Plus Microstepping Flying Leads

1-11

White: OptoRef

Orange: Step Clock

Blue: Direction

Brown: Enable

Black: GND

Red: +VDC

Yellow/Black: Ground

Yellow/Violet: Index

Yellow/Blue: Channel A

Yellow/Red: +5 VDC Input

Yellow/Brown: Channel B

Figure 1.2.4: MDrive34Plus Microstepping Flying Leads with Single-End Encoder

White: OptoRef

Orange: Step Clock

Blue: Direction

Brown: Enable

Black: GND

Red: +VDC

Yellow/Black: Ground

Yellow/Violet: Index+

Yellow/Blue: Channel A+

Yellow/Red: +5 VDC Input

Yellow/Brown: Channel B+

Yellow/Gray: Index -

Yellow/Green: Channel A -

Yellow/Orange: Channel B-

Figure 1.2.5: MDrive34Plus Microstepping Flying Leads with Differential Encoder

1-12

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

P2 Connector - SPI Communications

9
7
5
3
1

10

8
6
4
2

P2

Recommended Cable:

MD-CC300-000

Pin Assignment - P2 SPI Communications

10-Pin IDC Function Description

Pin 1 — No Connect
Pin 2 — No Connect
Pin 3 — No Connect

Pin 4 CS

Pin 5 GND Communications Ground.
Pin 6 +5 VDC Output Supply voltage for the MD-CC300-000 Cable ONLY!

Pin 7 MOSI

Pin 8 SPI Clock

Pin 9 — No Connect

Pin 10 MISO

Recommended

Converter/Cable

MD-CC300-000

SPI Chip Select. This signal is used to turn communications
on multiple MDM units on or off.

Master-Out/Slave-In. Carries output data from the SPI
Master to the MDM.

The Clock is driven by the SPI Master. The clock cycles
once for each data bit.

Master-In/Slave-Out. Carries output data from the MDM
back to the SPI Master.

Table 1.2.9: P2 Connector – SPI Communications

Note: The P2
Connector (10­Pin IDC, SPI

Communications)
is only available on the
Flying Leads version of the
MDrive34Plus Microstepping.
On the models with
pluggable connectors, SPI
Communications interfaces
to P1 (12-Pin Locking Wire
Crimp)

NEED A
CABLE?

The following
cables and

converters
are available to interface
communications with P2:

USB to SPI:

MD-C300-000

10 Pin IDC to 12-Pin Locking
Wire Crimp Adapter:

MD-ADP-1723C

See Appendix C for details.

Part 1: Hardware Specifications

Figure 1.2.6: P2 Connector - SPI Communications

1-13

NEED A CABLE?

11

9

7

5

3

1

12

10

8

6

4

2

Recommended Cable:

PD12-1434-FL3

The following
cables and
converters are
available to

interface with P1:

12-Pin Locking Wire Crimp

PD12-1434-FL3

Pin Assignment And Description - Pluggable Interface Version

P1 Connector - I/O and SPI Communications, 12-Pin Locking Wire Crimp

Pin Assignment - P1 Power, I/O and SPI
Connections

Pin # Function Description

Pin 1 N/C No Connect.
Pin 2 N/C No Connect.

The Signal applied to the Optocoupler Reference will

Pin 3 Opto Reference

Pin 4

Pin 5 Enable

Pin 6

Pin 7 +5 VDC Output Supply voltage for the MD-CC300-000 Cable ONLY!

Pin 8 SPI Clock

Pin 9 GND Communications Ground.

Pin 10 MOSI

Pin 11 CS

Pin 12 MISO

Step Clock/Channel

A/ Clock Up

Direction/Channel

B/ Clock Down

Table 1.2.10: P1 Connector – I/O and SPI Communications

determine the sinking/ or sourcing configuration of the inputs.
To set the inputs for sinking operation, a +5 to +24 VDC
supply is connected. If sourcing, the Reference is connected
to Ground

Step Clock input. The step clock input will receive the clock
pulses which will step the motor 1 step for each pulse. It
may also receive quadrature and clock up type inputs if so
configured.

Enable/Disable Input will enable or disable the driver output
to the motor. In the disconnected state the driver outputs are
enabled in either sinking or sourcing configuration. Enable can
be configured as either active high or active when low in the
parameters.

Direction input. The axis direction will be with respect to the
state of the Direction Override Parameter. It may also receive
quadrature and clock up type inputs if so configured.

The Clock is driven by the SPI Master. The clock cycles once
for each data bit.

Master-Out/Slave-In. Carries output data from the SPI Master
to the MDM.

SPI Chip Select. This signal is used to turn communications
on multiple MDM units on or off.

Master-In/Slave-Out. Carries output data from the MDM back
to the SPI Master.

1-14

Figure 1.2.7: P2 Connector - I/O and SPI Communications

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

P3 Connector - DC Power, 2-Pin Locking Wire Crimp

1
2

P3

Recommended Cable:

P/N PD02-3400-FL3

Pin Assignment - P3 Power

2-Pin Locking

Wire Crimp

Pin 1 +V +12 to +75 VDC, 4 Amps Maximum per MDrive34Plus.
Pin 2 GND Power Supply Return.

Function Description

Table 1.2.11: P3 Connector

NEED A CABLE?

The following

cables and

converters are

available to
interface with P3:

2-Pin Locking Wire Crimp

PD02-3400-FL3

WARNING! Do not
plug or unplug DC
Power with power
applied.

Figure 1.2.8: P3 Connector - DC Power +12 to +75 VDC

Part 1: Hardware Specifications

1-15

P4

Recommended Cable:

P/N PD10-3400-FL3

1
3
5
7
9

2
4
6
8

10

NEED A CABLE?

The following
cables and
converters are
available to

interface with P4:

10-Pin Friction Lock Wire
Crimp

PD10-3400-FL3

P4 Connector - Differential Encoder, 10-Pin Friction Lock Wire Crimp

Pin Assignment - P2 SPI Communications

10-Pin Wire

Crimp

Pin 1 Ground Encoder Ground, common with power ground.
Pin 2 Channel A+ Channel A + Encoder Output.
Pin 3 Channel A – Channel A – Encoder Output.
Pin 4 Channel B+ Channel B + Encoder Output.
Pin 5 Channel B – Channel B – Encoder Output.
Pin 6 Index + Index + Encoder Output.
Pin 7 Index – Index – Encoder Output.
Pin 8 +5 VDC +5 VDC Encoder Power.
Pin 9 N/C No connect

Pin 10 N/C No connect

Recommended

Cable

PD10-3400-FL3

Function Description

Table 1.2.12: P4 Connector – Optional Internal Differential Encoder

1-16

Figure 1.2.9: P4 Connector – Internal Differential Encoder Interface

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Connectivity

QuickStart Kit

For rapid design verification, all-inclusive QuickStart Kits have communication converter, prototype develop­ment cable(s), instructions and CD for MDrivePlus initial functional setup and system testing.

Communication Converters

Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program com­munication parameters for a single MDrivePlus via a PC's USB port. Length 12.0' (3.6m).

Mates to connector:

10-Pin IDC ...............................................................................................MD-CC300-001

12-Pin Wire Crimp....................................................................................MD-CC303-001

Prototype Development Cables

Speed test/development with pre-wired mating connectors that have flying leads other end. Length 10.0'
(3.0m).

Mates to connector:

12-Pin Wire Crimp.................................................................................... PD12-1434-FL3

10-Pin Wire Crimp.................................................................................... PD10-3400-FL3

2-Pin Wire Crimp...................................................................................... PD02-3400-FL3

Mating Connector Kits

Use to build your own cables. Kits contain 5 mating shells with pins. Cable not supplied. Manufacturer's
crimp tool recommended.

Mates to connector:

12-Pin Wire Crimp....................................................................................................CK-03

10-Pin Wire Crimp....................................................................................................CK-02

2-Pin Wire Crimp......................................................................................................CK-05

Kit contains 5 mating connectors that press fit onto ribbon cable. Cable not supplied.

10-Pin IDC ...............................................................................................................CK-01

Options

Internal Encoder

Internal optical encoders are offered factory-mounted with the MDrive34Plus Microstepping. Refer to the
Encoder Specifications section for available styles, line counts and part numbers. All encoders come with an
index mark.

Control Knob

The MDrive34Plus is available with a factory-mounted rear control knob for manual shaft positioning.

Planetary Gearbox

Efficient, low maintenance planetary gearboxes are
offered assembled with the MDrive34Plus. 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.

Part 1: Hardware Specifications

1-17

Page Intentionally Left Blank

1-18

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Part 2:

TM

MICROSTEPPING

Interfacing and
Configuring

Section 2.1: Mounting and Interface Guidelines

Section 2.2: Interfacing DC Power

Section 2.3: Interfacing Logic Inputs

Section 2.4: Interfacing SPI Communications

Section 2.3: Using the IMS SPI Motor Interface

Section 2.4: Using User-Defined SPI

Part 2: Interfacing and Configuring

2-1

Page Intentionally Left Blank

2-2

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

SE C TI O N 2 .1

Mounting Flange or Adapter Plate*

* When determining material and thickness keep the

maximum MDrive34Plus temperature of 85°C in consideration.

4 x #10-32 Screw
4 x #10 Split Lockwasher
4 x #10 Flat Washer
4 x #10-32 Lock Nuts

Mounting Hardware

MDrive34Plus

Mounting Hole Pattern

Mounting Recommendation

4 x M5 - 0.80 Screw
4 x M5 Split Lockwasher
4 x M5 Flat Washer
4 x M5 - 0.80 Lock Nuts

Mounting Hardware is not
supplied

Mounting Hardware (Metric)

Allow Top

Clearance for

Wiring/Cabling

Ø 2.900

(Ø 73.66)

2.739 SQ.

(69.57 SQ.)

4x Ø 0.217

(4x Ø 5.51)

Ø 3.873
(Ø 98.37)

Mounting and Interface Guidelines

Mounting Recommendations

Flange mounting holes are drilled through with a diameter of 0.217" (5.51mm) to take standard 10-32 (M5)
screws. The length of the screw used will be determined by the mounting flange width.

Figure 2.1.1: Mounting Recommendations and Drill Pattern

Part 2: Interfacing and Configuring

2-3

Layout and Interface Guidelines

MDrivePlus

Shielded Cable

Control Panel Back
Panel Earth Stud

Sand paint off panel

to ensure bare metal

contact.

Signal

Common

GND

IOx

Switch

Cut drain wire
here. Do not
terminate

Shield Drain

Wire

To Front Panel
of Enclosure

To Earth Ground

Ground Braid
(Short Run)

All other I/O

Drains Connect to

Common Point

Keep Unshielded
Runs Short

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 MDrivePlus 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.

Rules of Wiring

• PowerSupplyandMotorwiringshouldbeshieldedtwistedpairs,andrunseparatelyfromsignal-

carrying wires.

• Aminimumofonetwistperinchisrecommended.

• Motorwiringshouldbeshieldedtwistedpairsusing20gauge,orfordistancesofmorethan5

feet, 18 gauge or better.

• Powergroundreturnshouldbeasshortaspossibletoestablishedground.

• Powersupplywiringshouldbeshieldedtwistedpairsof18gaugeforlessthan4ampsDCand16

gauge for more than 4 amps DC.

Rules of Shielding

• Theshieldmustbetiedtozero-signalreferencepotential.Itisnecessarythatthesignalbeearthed

or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is
not effective if the signal is not earthed or grounded.

• DonotassumethatEarthgroundisatrueEarthground.Dependingonthedistancefromthe

main power cabinet, it may be necessary to sink a ground rod at the critical location.

• Theshieldmustbeconnectedsothatshieldcurrentsdraintosignal-earthconnections.

• Thenumberofseparateshieldsrequiredinasystemisequaltothenumberofindependent

signals being processed plus one for each power entrance.

• Theshieldshouldbetiedtoasinglepointtopreventgroundloops.

• Asecondshieldcanbeusedovertheprimaryshield;however,thesecondshieldistiedtoground

at both ends.

2-4

Figure 2.1.2: Grounding and Shielding for Logic Connections

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Recommended Wiring

The following wiring/cabling is recommended for use with the MDrivePlus:

Logic Wiring ......................................................................................................................22 AWG

Wire Strip Length ...................................................................................................0.25” (6.0 mm)

Power and Ground .....................................................................See Section 2.2: Interfacing Power

Recommended Mating Connectors and Pins

The recommended connector shells and pins are available from IMS as a kit consisting of five (5) connector shells
and crimp pins (if required) to construct 5 cable-ends. Also available are communications converters and Prototype
Development cables to aid in rapid design and prototyping. These connector kits and cables are detailed in Appen­dix E of this document.

SPI Communications (Flying Lead Version Only)

Press-Fit IDC - P2 (MDrive34Plus Only)

Mating Connector Kit ........................................................................... CK-01

Communications Converter .................................................................. MD-CC300-001

Manufacturer PNs

10-Pin IDC .......................................................................................... Samtec: TCSD-05-01-N

Ribbon Cable ....................................................................................... Tyco: 1-57051-9

12-Pin Locking Wire Crimp (I/O and SPI Communications)

I/O & Communications - P1

Mating Connector Kit ........................................................................... CK-03

Communications Converter .................................................................. MD-CC303-001

Prototype Development Cable ..............................................................PD12-1434-FL3

Manufacturer PNs

12-pin Locking Wire Crimp Connector Shell ....................................... Tyco 1-794617-2

Crimp Pins ............................................................................................ Tyco 794610-0-1

Crimp Tool ........................................................................................... Tyco 91501-1

2-Pin Locking Wire Crimp (Power)

The following mating connectors are recommended for the MDrive34Plus2 Units ONLY! Please contact a
JST distributor for ordering and pricing information.

Power - P3

Mating Connector Kit ........................................................................... CK-05

Prototype Development Cable ..............................................................PD02-3400-FL3

Manufacturer PNs

2-pin Locking Wire Crimp Connector Shell ......................................... Molex 51067-0200

Crimp Pins ............................................................................................ Molex 50217-9101 Brass

Crimp Tool ........................................................................................... Molex 63811-1200

10-Pin Friction Lock Wire Crimp (Internal Differential Encoder)

Friction Lock Wire Crimp - P4

10-pin Friction Lock) ............................................................................ Hirose DF11-10DS-2C

Crimp Contact for 10-pin Friction Lock (22 AWG).............................. DF11-22SC

Crimp Contact for 10-pin Friction Lock (24 - 28 AWG) ......................DF11-2428SC

Crimp Contact for 10-pin Friction Lock (30 AWG).............................. DF11-30SC

WARNING! DO NOT
bundle the logic leads
with the power leads
as this could lead to

noise induced errors.

Part 2: Interfacing and Configuring

2-5

A

dhesive Anchor/Tywrap

P1: Logic Wiring

P3: Power

Separation between
Logic and Power

Securing Power Leads and Logic Leads

Some applications may require that the MDrive move with the axis motion. If this is a requirement of your
application, the motor leads must be properly anchored. This will prevent flexing and tugging which can
cause damage at critical connection points within the MDrive.

Figure 2.1.3: Typical MDrive Shown with Leads Secured

2-6

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

SE C TI O N 2 .2

Interfacing DC Power

Choosing a Power Supply for Your MDrive

When choosing a power supply for your
MDrivePlus there are performance and
sizing issues that must be addressed. An
undersized power supply can lead to poor
performance and even possible damage to the
device, which can be both time consuming
and expensive. However, The design of the
MDrivePlus is quite efficient and may not re­quire as large a supply as you might suspect.

Motors have windings that are electrically
just inductors, and with inductors comes re­sistance and inductance. Winding resistance
and inductance result in a L/R time constant
that resists the change in current. It requires
five time constants to reach nominal current.
To effectively manipulate the di/dt or the rate
of charge, the voltage applied is increased.
When traveling at high speeds there is less
time between steps to reach current. The
point where the rate of commutation does
not allow the driver to reach full current is referred to as Voltage Mode. Ideally you want to be in Current Mode,
which is when the drive is achieving the desired current between steps. Simply stated, a higher voltage will de­crease the time it takes to charge the coil, and therefore will allow for higher torque at higher speeds.

Another characteristic of all motors is Back EMF, and though nothing can be done about back EMF, we can give
a path of low impedance by supplying enough output capacitance. Back EMF is a source of current that can push
the output of a power supply beyond the maximum operating voltage of the driver and as a result could damage
the MDrivePlus over time.

The MDrivePlus is very current efficient as far as the power supply is concerned. Once the motor has charged
one or both windings of the motor, all the power supply has to do is replace losses in the system. The charged
winding acts as an energy storage in that the current will re-circulate within the bridge, and in and out of each
phase reservoir. While one phase is in the decaying stage of the variable chopping oscillator, the other phase is in
the charging stage, this results in a less than expected current draw on the supply.

The MDrivePlus is designed with the intention that a user’s power supply output will ramp up to greater or equal
to the minimum operating voltage. The initial current surge is quite substantial and could damage the driver if
the supply is undersized. If a power supply is undersized, upon a current surge the supply could fall below the
operating range of the driver. This could cause the power supply to start oscillating in and out of the voltage
range of the driver and result in damaging either the supply, driver or both. There are two types of supplies com­monly used, regulated and unregulated, both of which can be switching or linear. All have their advantages and
disadvantages.

An unregulated linear supply is less expensive and more resilient to current surges, however, voltage decreases
with increasing current draw. This can cause serious problems if the voltage drops below the working range of the
drive. Also of concern is the fluctuations in line voltage. This can cause the unregulated linear supply to be above
or below the anticipated voltage.

A regulated supply maintains a stable output voltage, which is good for high speed performance. They are also
not bothered by line fluctuations, however, they are more expensive. Depending on the current regulation, a
regulated supply may crowbar or current clamp and lead to an oscillation that as previously stated can lead to
damage. Back EMF can cause problems for regulated supplies as well. The current regeneration may be too large
for the regulated supply to absorb and may lead to an over voltage condition.

Switching supplies are typically regulated and require little real-estate, which makes them attractive. However,
their output response time is slow, making them ineffective for inductive loads. IMS has designed a series of low
cost miniature non-regulated switchers that can handle the extreme varying load conditions which makes them
ideal for the MDrivePlus.

Figure 2.2.1: IMS ISP300 Switch Mode Power Supply

Part 2: Interfacing and Configuring

2-7

WARNING! DO NOT
Plug or unplug Power
with power applied!

DC Power Supply Recommendations

The power requirements for the Motion Control MDrive34Plus are:

Output Voltage ...................................................................+12 to +75 VDC (Includes Back EMF)

Current (max. per unit) ............................................................................................................... 4A

(Actual power supply current requirement will depend upon voltage and load)

Recommended IMS Power Supplies

IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products.

IP804 Unregulated Linear Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

No Load Output Voltage ........................................................................ 76 VDC @ 0 Amps

Half Load Output ..................................................................................65 VDC @ 2 Amps

Full Load output ....................................................................................58 VDC @ 4 Amps

IP806 Unregulated Linear Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

No Load Output Voltage ........................................................................ 76 VDC @ 0 Amps

Half Load Output ..................................................................................68 VDC @ 3 Amps

Full Load Output ................................................................................... 64 VDC @ 6 Amps

ISP300-7 Unregulated Switching Supply

Input Range

120 VAC Versions ...........................................................................................102-132 VAC

240 VAC Versions ...........................................................................................204-264 VAC

Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)

No Load Output Voltage ........................................................................ 68 VDC @ 0 Amps

Continuous Output Rating ....................................................................63 VDC @ 2 Amps

Peak Output Rating ............................................................................... 59 VDC @ 4 Amps

2-8

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Connecting DC Power

Unregulated

Linear or

Switching

Power Supply

Power

Ground

+VDC

Shield to

Earth Ground

+

–

!

WARNING! Do not connect
or disconnect cabling while
power is applied!

Black

Pin 1

Red

A
B

B

A

A

+V Voltage: +12 to +75* VDC
+V Current: 4A Max Per MDrive34Plus

Recommended IMS Power Supplies:
IP804
IP806
ISP300-7

*Includes Back EMF!

Shielded Twisted Pair Cable

2-Pin Locking Wire Crimp

12” Flying Leads

P3

Pin 2

B

Connect the DC Power Supply to your MDrivePlus in accordance with the following illustrations.

Figure 2.2.2 DC Power Connections

Part 2: Interfacing and Configuring

2-9

Shield to Earth Ground

on Supply End Only

π Type RFI Filter

≥ Required Current

120 or 240 VAC

Dependent on
Power Supply

Power Supply

+

-

To Cable A

DC Volts Out

Shielded Twisted Pair

(Wire Size from

MDrive Supply Cable AWG T a ble)

Cable Length

as required

NOTE:
Connect the cable illustrated
in Example A to the output of
the Power Supply

Recommended Power and Cable Configurations

Shield to Earth Ground

on Supply End Only

DC Voltage from

Power Supply

500 µf

Per Amp

+

-

Ferrite

Beads

π Type RFI Filter

≥ Required Current

+

-

To MDrive

Shielded Twisted Pair

(Wire Size from

MDrive Supply Cable AWG Ta ble)

Cable Length

less than 50 Feet

Shield to Earth Ground

on Supply End Only

π Type RFI Filter

≥ Required Current

Transformer - 10 to 28 VAC RMS for 48 VDC Systems

20 to 48 VAC RMS for 75 VDC Systems

Full Wave Bridge

+

-

To Cable A

Shielded Twisted Pair

(Wire Size from

MDrive Supply Cable AWG Table)

Cable Length

as required

NOTE:
Connect the cable illustrated
in Example A to the output of
the Full Wave Bridge

Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive.

Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet
long. If cabling of 50 feet or longer is required, the additional length may be gained by adding an AC power
supply cable (see Examples B & C).

Correct AWG wire size is determined by the current requirement plus cable length. Please see the MDrive Sup­ply Cable AWG Table at the end of this Appendix.

Example A – Cabling Under 50 Feet, DC Power

Figure 2.2.3: DC Cabling - Under 50 Feet

Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge

Figure 2.2.4: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier

Example C – Cabling 50 Feet or Greater, AC Power to Power Supply

2-10

Figure 2.2.5: AC Cabling - 50 Feet or Greater - AC To Power Supply

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

MDrive34Plus Recommended Power Supply Cable AWG

1 Amperes (Peak) 3 Amperes (Peak)

Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100*

Minimum AWG 20 20 18 18 16 Minimum AWG 18 16 14 12 12

2 Amperes (Peak) 4 Amperes (Peak)

Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100*

Minimum AWG 20 18 16 14 14 Minimum AWG 18 16 14 12 12

*Use the alternative methods illustrated in examples B and C when cable length is ≥ 50 feet. Also, use the same

current rating when the alternate AC power is used.

Table 2.2.1: Recommended Wire Gauges

Part 2: Interfacing and Configuring

2-11

Page Intentionally Left Blank

2-12

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

SE C TI O N 2 .3

Opto Ref.

Step Clock

Direction

Enable

Power

Microstep

Driver

Enhanced

To rque

Stepping

Motor

MDrivePlus Intergrated

Motor and Microstep Driver

ØA

ØB

Isolated Input Interface and Connection

Optically Isolated Logic Inputs

The MDrivePlus
Microstepping has
three optically iso­lated inputs which
are located at the
flying leads or on
connector P1. These
inputs are iso­lated to minimize or
eliminate electrical
noise coupled onto
the drive control
signals. Each input
is internally pulled­up to the level of
the optocoupler
supply and may be
connected to sinking
or +5 to +24 VDC
sourcing outputs on
a controller or PLC.
These inputs are:

1] Step Clock (SCLK)/Quadrature (CH A)/Clock UP

2] Direction (DIR)/Quadrature (CH B)/ Clock DOWN

3] Enable (EN)

Of these inputs only step clock and direction are required to operate the MDrivePlus Microstepping.

Figure 2.3.1: MDrivePlus Microstepping Block Diagram

Isolated Logic Input Pins and Connections

The following diagram illustrates the pins and connections for the MDrive 17 and 23 Plus Microstepping
family of products. Careful attention should be paid to verify the connections on the model MDrivePlus
Microstepping you are using.

Part 2: Interfacing and Configuring

2-13

Figure 2.3.2: Isolated Input Pins and Connections

12-Pin Locking Wire Crimp

12” Flying LeadsController

P1

White

Orange

Blue

Brown

A

Pin 3

Pin 5

Pin 4

Pin 6

A

A

B

B

C

C

D

D

D

Step Clock

Channel A

Clock Up

Direction

Channel B

Clock Down

Enable

Opto Reference

B

C

A

Inputs Configured as Sinking

+5 to +24VDC

A

Inputs Configured as Sourcing

Controller I/O

Ground

See Input Configuration

Input Configuration

Constant

Current

Source

Optocoupler

+5 VDC

To Drive Logic

Optocoupler

Reference

Input

(Step Clock,

Direction, Enable)

MDrivePlus

Microstepping

2-14

Figure 2.3.3: Optocoupler Input Circuit Diagram

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Isolated Logic Input Characteristics

Step Clock

Direction

Channel A

Channel B

CW

CCW

Step/Direction Function

Quadrature Function

Up/Down Function

Enable Input

This input can be used to enable or disable the driver output circuitry. Leaving the enable switch open (Logic
HIGH, Disconnected) for sinking or sourcing configuration, the driver outputs will be enabled and the step
clock pulses will cause the motor to advance. When this input switch is closed (Logic LOW) in both sinking
and sourcing configurations, the driver output circuitry will be disabled. Please note that the internal sine/cosine
position generator will continue to increment or decrement as long as step clock pluses are being received by the
MDrivePlus Microstepping.

Clock Inputs

The MDrivePlus Microstepping features the ability to configure the clock inputs based upon how the user will
desire to control the drive. By default the unit is configured for the Step/Direction function.

Step Clock

The step clock input is where the motion clock from your
control circuitry will be connected. The motor will advance
one microstep in the plus or minus direction (based upon
the state of the direction input) on the rising edge of each
clock pulse. The size of this increment or decrement will
depend on the microstep resolution setting.

Direction

The direction input controls the CW/CCW direction
of the motor. The input may be configured as sinking or
sourcing based upon the state of the Optocoupler Refer­ence. The CW/CCW rotation, based upon the state of the
input may be set using the IMS Motor Interface software
included with the MDrivePlus Microstepping.

Quadrature

The Quadrature clock function would typically be
used for following applications where the MDrivePlus
Microstepping would be slaved to an MDrivePlus Motion
Control (or other controller) in an electronic gearing ap­plication.

Up/Down

The Up/Down clock would typically be used in a dual­clock direction control application. This setting is also la­beled CW/CCW in the IMS SPI Motor Interface software.

Input Timing

The direction input and the microstep resolution inputs
are internally synchronized to the positive going edge of the
step clock input. When a step clock pulse goes HIGH, the
state of the direction input and microstep resolution set­tings are latched. Any changes made to the direction and/
or microstep resolution will occur on the rising edge of the
step clock pulse following this change. Run and Hold Current changes are updated immediately. The follow­ing figure and table list the timing specifications.

Input Filtering

The clock inputs may also be filtered using the Clock IOF pull down of the IMS SPI Motor Interface. The
filter range is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz).

The configuration parameters for the input filtering is covered in detail in Section 2.4: Configuring the
MDrivePlus Microstepping.

Figure 2.3.4: Input Clock Functions

Part 2: Interfacing and Configuring

2-15

T

DSU

T

DH

T

SH

T

SL

Direction

Step

T

DC

T

CHL

T

CHL

Channel A

Channel B

Direction Change

T

SH

T

SL

T

DC

T

SH

T

SL

T

DC

Step Up

Step Down

STEP/DIRECTION TIMING

QUADRATURE TIMING

UP/DOWN (CW/CCW) TIMING

Symbol Parameter

T

DSU

T

DH

T

T

T

T

CHL

F

SMAX

F

CHMAX

F

SH

SL

DL

ER

Figure 2.3.5: Clock Input Timing Characteristics

Clock Input Timing

Type and Value

Step/Direction Step Up/Down Quadrature Units

T Direction Set Up 50 — — nS min.

T Direction Hold 100 — — nS min.

T Step High 100 100 — nS min.

T Step Low 100 100 — nS min.

T Direction Change — 200 200 nS min.

T Channel High/Low — — 400 nS min.

F Step Maximum 5 5 — MHz Max

F Channel Maximum — — 1.25 MHz Max

F Edge Rate — — 5 MHz Max

Table 2.3.1: Input Clocks Timing Table

2-16

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Optocoupler Reference

The MDrivePlus Microstepping Logic Inputs are optically isolated to prevent electrical noise being coupled into
the inputs and causing erratic operation.

There are two ways that the Optocoupler Reference will be connected depending whether the Inputs are to be
configured as sinking or sourcing.

Optocoupler Reference

Input Type Optocoupler Reference Connection

Sinking +5 to +24 VDC

Sourcing Controller Ground

Table 2.3.2: Optocoupler Reference Connection

NOTE: When
connecting the
Optocoupler Supply,

it is recommended
that you do not use MDrive
DC Power Ground as Ground
as this will defeat the optical
isolation.

Ground the Opto supply at
the controller I/O ground.

Part 2: Interfacing and Configuring

2-17

+

+5 to +24VDC

Optocoupler Reference

Input

Controller Output

Controller Ground

+

+5 to +24VDC

Optocoupler Reference

Input

Controller Output

Controller Ground

NPN Open Collector Interface

(Sinking)

PNP Open Collector Interface

(Sourcing)

MDrivePlus
Microstepping

MDrivePlus
Microstepping

Input Connection Examples

The following diagrams illustrate possible connection/application of the MDrivePlus Microstepping Logic
Inputs.

Open Collector Interface Example

Figure 2.3.6: Open Collector Interface Example

2-18

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Switch Interface Example

Switch Interface

(Sinking)

Switch Interface

(Sourcing)

+

+5 to +24VDC

Opto Ref.

SPST

Switch

GND

+

Enable Input

+5 to +24VDC

GND

SPST

Switch

MDrivePlus

Speed Control

MDrivePlus

Speed Control

Input

Input

Opto Ref.

Figure 2.3.7: Switch Interface Example

Part 2: Interfacing and Configuring

2-19

Minimum Required Connections

+VDC

Motor Supply

+5 to +24

Opto Supply

+

+

Step Clock

Direction

Control Device

GND

MDrive34Plus Microstepping

P3:1 - Wire Crimp, Red Flying Lead

P3:2 - Wire Crimp, Black Flying Lead

P1:4 - Wire Crimp, Orange Flying Lead

P1:6 - Wire Crimp, Blue Flying Lead

P1:3 - Wire Crimp, White Flying Lead

!

DO NOT use the +5VDC Output P1:7 (Wire Crimp)

or P2:6 (Flying Lead) for Optocoupler Supply.
This voltage output is design to power the IMS
USB to SPI converter cable ONLY!

The connections shown are the minimum required to operate the MDrivePlus Microstepping. These are
illustrated in both Sinking and Sourcing Configurations. Please reference the Pin Configuration diagram and
Specification Tables for the MDrivePlus Microstepping connector option you are using.

Figure 2.3.8 Minimum Required Connections

2-20

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

SE C TI O N 2 .4

Connecting SPI Communications

Connecting the SPI Interface

The SPI (Serial Peripheral Interface) is the communications and configuration interface.

For prototyping we recommend the purchase of the parameter setup cable MD-CC300-000. For more information
on prototype development cables, please see Appendix: C: Cables and Cordsets

SPI Signal Overview

+5 VDC (Output)

This output is a voltage supply for the setup cable only. It is not designed to power any external devices.

SPI Clock

The Clock is driven by the Master and regulates the flow of the data bits. The Master may transmit data at a
variety of baud rates. The Clock cycles once for each bit that is transferred.

Logic Ground

This is the ground for all Communications.

MISO (Master In/Slave Out)

Carries output data from the MDrivePlus Microstepping units back to the SPI Master. Only one MDrivePlus
can transmit data during any particular transfer.

CS (SPI Chip Select)

This signal is used to turn communications to multiple MDrivePlus Microstepping units on or off.

MOSI (Master Out/Slave In)

Carries output data from the SPI Master to the MDrivePlus Microstepping.

Part 2: Interfacing and Configuring

2-21

12-Pin Locking Wire Crimp

10-Pin IDC (Only present on

models with Flying Lead)

PC Parallel Port

P1

P2

Pin 11

Pin 12

Pin 4

Pin 5

Pin 7

Pin 7

Pin 10

Pin 8

Pin 6

Pin 10

Pin 9

Pin 8

A

A

A

B

B

B

C

C

C

D

D

D

E

E

E

*

*

*

2 3 4

15 18 - 25

Comm GND

MISO

SPI Clock

SPI Chip Select

MOSI

+5 VDC ONLY used
for IMS MD-CC300-000

Logic Level Shifting Circuit

Only required if using

a 3.3 volt output parallel port.

See Schematic on Following

Page

WARNING! The
Parallel/SPI Port on
your PC must be set
to one of the following:

output only

bi-directional 1.
EPP (Extended Parallel 2.
Port)

Try the SPI connection using the
default parallel port setting first.
If necessary, the Parallel/SPI
port may be configured in the
bios of your PC.

SPI Pins and Connections

Figure 2.4.1: SPI Pins and Connection — All Connector Styles

2-22

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Logic Level Shifting and Conditioning Circuit

U1:A

U1:B

U1:D

U1:C

HCT125

HCT125

HCT125

HCT125

2

1

14

4

5

7

13

12

11

10

8

9

6

3

2

R1

100

+5V

R2

49.9

P2: 8

CLK

+5V

P2: 4

P2: 7

P2: 10

P2: 6

P2: 5

CS

MOSI

MISO

+5 VDC

GND

5

6

10

7

4

8

3

4

19

DB25: 2

DB25: 3

DB25: 4

DB25: 19

DB25: 15

15

C3

330pF

R9

100K

R10

100K

R4

49.9

R6

49.9

C4

330pF

R3

100

R5

100

C5

330pF

R 11

100K

+5V

R12

100K

+5V

R8

4.9K

R7

49.9
+5V

C1

C2

.1µF

1µF
25V

+

The following circuit diagram is of a Logic Level shifting and conditioning circuit. This circuit should be
used if you are making your own parameter cable and are using a laptop computer with 3.3 V output parallel
ports.

NOTE: If making your own
parameter setup cable, be
advised the 3.3V output

parallel ports on some
laptop PC’s may not be sufficient
to communicate with the device
without use of a logic level shifting
and conditioning Interface.

Figure 2.4.2: Logic Level Shifting and Conditioning Circuit

Part 2: Interfacing and Configuring

2-23

SPI Master

SPI Clock

MOSI

MISO

CS

SPI Clock

MOSI

MISO

CS1

CS2

SPI Master

MDriveACPlus

Microstepping

#1

MDriveACPlus

Microstepping

MDriveACPlus

Microstepping

#2

SPI Master with Multiple MDrivePlus Microstepping

It is possible to link multiple MDrivePlus Microstepping units in an array from a single SPI Master by wiring the system and
programming the user interface to write to multiple chip selects.

Each MDrivePlus on the bus will have a dedicated chip select. Only one system MDrivePlus can be communicated with/Pa­rameters changed at a time.

Figure 2.4.4: SPI Master with a Single MDrivePlus Microstepping

2-24

Figure 2.4.4: SPI Master with Multiple MDrivePlus Microstepping

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

SE C TI O N 2 .5

Using the IMS SPI Motor Interface

Installation

The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDrivePlus
Microstepping. It is available both on the CD that came with your product and on the IMS web site at http://
www.imshome.com/software_interfaces.html.

1. Insert the CD into the CD Drive of your PC.
If not available, go to http://www.imshome.com/software_interfaces.html.

2. The CD will auto-start.

3. Click the Software Button in the top-right navigation Area.

4. Click the IMS SPI Interface link appropriate to your operating system.

5. Click SETUP in the Setup dialog box and follow the on-screen instructions.

6. Once IMS SPI Motor Interface is installed, the MDrivePlus Microstepping settings can be
checked and/or set.

Configuration Parameters and Ranges

MDrivePlus Microstepping 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

DIR

HCDT

CLK TYPE Clock Type

CLK IOF

USER ID User ID Customizable 1-3 characters IMS

EN ACT

WARN TEMP

Microstep

Resolution

Motor Direction

Override

Hold Current Delay

Time

Clock and Direction

Filter

Enable Active

High/Low

Warning

Temperature

1, 2, 4, 5, 8, 10, 16, 25, 32, 50,

64, 100,108, 125, 127,128,

180, 200, 250, 256

0/1 – CW

0 or 2-65535 mSec 500

Step/Dir. Quadrature, Up/Down

(CW/CCW)

50 nS to 12.9 µS

(10 MHz to 38.8kHz)

High/Low — High

0 to + 125 °C 80

µsteps per

full step

– Step/Dir

nS (MHz)

256

50nS (10

MHz)

Table 2.5.1: Setup Parameters and Ranges

Color Coded Parameter Values

The SPI Motor Interface displays the parameter values using a predefined system of color codes to identify the
status of the parameter.

Black: the parameter settings currently stored in the device NVM will display as black.1.

Blue: Blue text indicates a changed parameter setting that has not yet been written to the 2.
device.

Red: Red text indicates an out-of-range value which cannot be written to the device. When 3.
an out-of-range parameter is entered into a field, the "set" button will disable, preventing the
value to be written to NVM. To view the valid parameter range, hover the mouse pointer over
the field. The valid range will display in a tool tip.

The color coding is illustrated in Figure 2.5.1.

Part 2: Interfacing and Configuring

2-25

Red: Out of Range Value.
The Set Button will disable
as the the Motor Interface will
not allow an out of range value
to be stored.

Blue: New Value which has not yet
been set to NVM.

Black: This is the value
Currently Stored in NVM

Figure 2.5.1: SPI Motor Interface Color Coding

Perform File

Operation

Open Motor Settings

File (*.mot)

Save Motor Settings

Save Motor Settings As

Exit the Motor Interface

View Settings

Screen

Motion Settings Screen

I/O Settings Screen

Read-Only Part

and Serial Number Screen

IMS SPI Motor Interface Menu Options

File

> Open: Opens a saved *.mot (Motor Settings) file.

> Save: Saves the current motor settings as a *.mot file for later re-use

> Save As

> Exit - Disconnects from the device and opens the Initialization Dialog.

Figure 2.5.2: SPI Motor Interface File Menu

2-26

View

> Motion Settings: Displays the Motion Settings screen

> IO Settings: Displays the IO Settings Screen

> Part and Serial Number: Displays the part and serial number

Figure 2.5.3: SPI Motor Interface View Menu

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Recall!

Recall Last Stored

Parameter Settings

Toggle MForce into

Upgrade Mode for

Firmware Upgrade

Links to the Software

Tutorial page of the

IMS Website

Retrieves the settings from the MDrivePlus Microstepping.

Figure 2.5.4: SPI Motor Interface Recall Menu

Upgrade!

Upgrades the MDrivePlus Microstepping firmware by placing the device in Upgrade Mode and launching the
firmware upgrader utility.

Figure 2.5.5: SPI Motor Interface Upgrade Menu

Help

> IMS Internet Tutorials: Link to an IMS Web Site page containing Interactive flash tutorials.

> About: Opens the About IMS and IMS SPI Motor Interface Screen.

Part 2: Interfacing and Configuring

Figure 2.5.6: SPI Motor Interface Help Menu and About Screen

2-27

Screen 1: The Motion Settings Configuration Screen

Load Factory

Default Settings

Exit Program

Store Settings

to NVM

Three Character

User ID

Microstep Resolution

Selection

Holding Current

Delay Time

Direction
Override

Motor Run
Current

Motor Holding
Current

Fault/Checksum
Error

Figure 2.5.7: SPI Motor Interface Motion Settings Screen

The IMS SPI Motor Interface Software opens by default to the Motion Settings Screen shown on the left.

There are six basic parameters that may be set here:

1. MSEL: Microstep Resolution Select.

2. HCDT: Holding Current Delay Time.

3. MRC: Motor Run Current

4. Motor Holding Current

5. User ID: 3-character ID

6. Direction Override: Allows the user to set the CW/CCW direction of the motor in relation to the
Direction Input from the SPI Motor Interface.

MSEL (Microstep Resolution Selection)

The MDrivePlus Microstepping features 20 microstep resolutions. This setting specifies the number of microsteps
per step the motor will move.

The MDrivePlus uses a 200 step (1.8°) stepping motor which at the highest (default) resolution of 256 will yield
51,200 steps per revolution of the motor shaft.

See Table 2.3.2 for available Microstep Resolutions.

2-28

Microstep Resolution Settings

Binary µStep Resolution Settings Decimal µStep Resolution Settings

MS=<µSteps/Step> Steps/Revolution MS=<µSteps/

1 200 5 1000

2 400 10 2000

4 800 25 5000

8 1600 50 10000

16 3200 100 20000

32 6400 125 25000

64 12800 200 40000

128 25600 250 50000

256 51200

Additional Resolution Settings

180 36000 (0.01°/µStep)

108 21600 (1 Arc Minute/µStep)

127 25400 (0.001 mm/µStep)

Table 2.5.2: Microstep Resolution Settings

MDrive 34Plus Microstepping Hardware - Revision R071108

Steps/Revolution

Step>

Relevant to Firmware Version 3.0.02

HCDT (Hold Current Delay Time)

The HCDT Motor Hold Current Delay sets time in milliseconds for the Run Current to switch to Hold Current when
motion is complete. When motion is complete, the MDrivePlus Microstepping will reduce the current in the windings of
the motor to the percentage specified by MHC when the specified time elapses.

MRC (Motor Run Current)

The MRC Motor Run Current parameter sets the motor run current to a percentage of the full output current of the
MDrivePlus driver section.

MHC (Motor Hold Current)

The MHC parameter sets the motor holding current as a percentage of the full output current of the driver. If the hold
current is set to 0, the output circuitry of the driver section will disable when the hold current setting becomes active. The
hold current setting becomes active HCDT setting mS following the last clock pulse.

DIR (Motor Direction)

The DIR Motor Direction parameter changes the motor direction relative to the direction input signal, adapting the direc­tion of the MDrivePlus to operate as your system expects.

User ID

The User ID is a three character (viewable ASCII) identifier which can be assigned by the user. Default is IMS.

IMS SPI Motor Interface Button Functions

The following appear on all of the IMS SPI Motor Interface screens, but will only be documented here.

Factory

Clicking the Factory button will load the MDrivePlus Microstepping unit's factory default settings into the IMS SPI
Motor Interface.

Connected/Disconnected Indicator

Displays the connected/disconnected state of the software , and if connected, the port connected on.

Set

Set writes the new settings to the MDrivePlus . Un-set settings will display as blue text in the setting fields. Once set
they will be in black text. Setting the Parameters will also clear most Fault Conditions.

Exit

Disconnects and opens the Initialization dialog.

Part 2: Interfacing and Configuring

2-29

Screen 2: I/O Settings Configuration Screen

Input Clock Type

(Step/Dir, Quadrature or

Up/Down)

Input Clock Filter

Active High/Low
State of the
Enable Input

Warning
Temperature

The I/O Settings screen may be accessed by clicking View > IO Settings on the menu bar. This screen is used to
configure the Input Clock type, the filtering and the Active High/Low State of the Enable Input.

Input Clock Type

The Input Clock Type translates the specified pulse source that the motor will use as a reference for establishing
stepping resolution based on the frequency.

Figure 2.5.8: SPI Motor Interface I/O Settings Screen

The three clock types supported are:

1. Step/Direction

2. Quadrature

3. Up/Down (CW/CCW)

The Clock types are covered in detail in Section 2.2: Logic Interface and Connection.

Input Clock Filter

The clock inputs may also be filtered using the Clock IOF pull down of the IMS SPI Motor Interface. The filter
range is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz). Table 2.4.3 shows the filter settings.

Input Clock Filter Settings

Min. Pulse Cutoff Frequency

50 nS 10 MHz

150 nS 3.3 MHz

200 nS 2.5 MHz

300 nS 1.67 MHz

500 nS 1.0 MHz

900 nS 555 kHz

1.7 µS 294.1 kHz

3.3 µS 151 kHz

6.5 µS 76.9 kHz

12.9 µS 38.8 kHz

Table 2.5.3: Input Clock Filter Settings

Enable Active High/Low

The parameter sets the Enable Input to be Active when High (Default, Disconnected) or Active when Low.

Warning Temperature

The parameter sets the temperature at which a TW, or temperature warning fault code will be generated. In the
warning condition the MDrivePlus will continue to operate as normal. The thermal shutdown is +85°C.

2-30

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

IMS Part Number/Serial Number Screen

IMS Part #

IMS Serial Number

The IMS Part Number and Serial Number screen is accessed by clicking "View > Part and Serial Numbers".

This screen is read-only and will display the part and serial number, as well as the fault code if existing. IMS may
require this information if calling the factory for support.

Figure 2.5.9: SPI Motor Interface Part and Serial Number Screen

Fault Indication

All of the IMS SPI Motor Interface Screens have the Fault field visible. This read-only field will display a 2 charac­ter error code to indicate the type of fault. The table below shows the error codes.

MDrive34Plus Microstepping Fault Codes

Binary
Case*

— None No Fault — —

4 CS SPI Checksum Error

8 SC/CS

16 DFLT

32 DATA

64 TW Temperature Warning

Error

Code

Description Action To Clear

Error

Displayed

SPI Checksum Error/

Sector Changing

Defaults Checksum

Error

Settings Checksum

Error

*All Fault Codes are OR'ed together

Error

Displayed

Error

Displayed

Error

Displayed

Error

Displayed

Write to MDM

(Set Button)

Write to MDM

(Set Button)

Write to MDM

(Set Button)

Write to MDM

(Set Button)

Write to MDM

(Set Button)

Table 2.5.4: MDrivePlus Microstepping Fault Codes

Part 2: Interfacing and Configuring

2-31

NOTE: Once entered
into Upgrade Mode,
you MUST complete

the upgrade. If
the upgrade process is
incomplete the IMS SPI Motor
Interface will continue to open
to the Upgrade dialog until the
process is completed!

Upgrading the Firmware in the MDrivePlus Microstepping

The IMS SPI Upgrader Screen

New firmware releases are posted to the IMS web site at http://www.imshome.com.

The IMS SPI Motor Interface is required to upgrade your MDrivePlus Microstepping product. To launch the
Upgrader, click "Upgrade!" on the IMS SPI Motor Interface menu.

The Upgrader screen has 4 read-only text fields that will display the necessary info about your MDrivePlus
Microstepping.

Figure 2.5.10: SPI Motor Interface Upgrade Utility

1. Previous Version: this is the version of the firmware currently on your MDrivePlus Microstepping.

2. Serial Number: the serial number of your unit.

3. Upgrade Version: will display the version number of the firmware being installed.

4. Messages: the messages text area will display step by step instructions through the upgrade process.

Upgrade Instructions

Below are listed the upgrade instructions as they will appear in the message box of the IMS SPI Upgrader.
Note that some steps are not shown as they are accomplished internally, or are not relevant to the model IMS
product you are updating. The only steps shown are those requiring user action.

Welcome Message: Welcome to the Motor Interface UPGRADER! Click NEXT to
continue.

Step 2: Select Upgrade File

When this loads, an explorer dialog will open asking you to browse for the firmware upgrade file. This
file will have the extension *.ims.

Step 3: Connect SPI Cable
Step 4: Power up or Cycle Power to the MDrivePlus
Step 6: Press Upgrade Button

Progress bar will show upgrade progress in blue, Message box will read "Resetting Motor Interface"

Step 8: Press DONE, then select Port/Reconnect.

2-32

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Initialization Screen

Communications

Port Operations

Select Parallel

(LPT) Port

Select Serial or

USB (VCP)

Auto-seek Port

and Reconnect

to device

This screen will be active under five conditions:

When the program initially starts up and seeks for a compatible device.1.

The User selects File > Exit when connected to the device.2.

The User clicks the Exit button while connected to the device.3.

The Upgrade Process completes.4.

The SPI Motor Interface is unable to connect to a compatible device.5.

Figure 2.5.11: SPI Motor Interface Initialization

Port Menu

The Port Menu allows the user to select the COM Port that the device is connected to, either a parallel (LPT) Port,
or a Hardware Serial or Virtual Serial Port via USB.

The Reconnect option allows the user to reconnect to a unit using the previously used settings.

On open or reconnect, the SPI Motor Interface will also try to auto seek for a connected device.

Figure 2.5.12: SPI Motor Interface Port Menu

Part 2: Interfacing and Configuring

2-33

Page Intentionally Left Blank

2-34

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

SE C TI O N 2 .6

Using User-Defined SPI

The MDrivePlus can be configured and operated through the end-user's SPI interface without using the IMS SPI
Motor Interface software and optional parameter setup cable.

An example of when this might be used is in cases where the machine design requires parameter settings to be
changed on-the-fly by a software program or multiple system MDrivePlus Microstepping units parameter states
being written/read.

SPI Timing Notes

1. MSb (Most Significant bit) first and MSB (Most Significant Byte) first.

2. 8 bit bytes.

3. 25 kHz SPI Clock (SCK).

4. Data In (MOSI) on rising clock.

5. Data Out (MISO) on falling clock.

Figure 2.6.1: SPI Timing

Check Sum Calculation for SPI

The values in the example below are 8-bit binary hexadecimal conversions for the following SPI parameters:
MRC=25%, MHC=5%, MSEL=256, HCDT=500 mSec, WARNTEMP=80.

The Check Sum is calculated as follows:
(Hex) 80+19+05+00+00+01+F4+50

Sum = E3 1110 0011

1’s complement = 1C 0001 1100 (Invert)

2’s complement = 1D 0001 1101 (Add 1)

Send the check sum value of 1D
Note: 80 is always the first command on a write.

Note: Once a write is performed, a read needs to be performed to see if there is a fault. The fault is the last byte of
the read.

Part 2: Interfacing and Configuring

2-35

SPI Commands and Parameters

Use the following table and figure found on the following page together as the Byte order read and written from
the MDrivePlus Microstepping, as well as the checksum at the end of a WRITE is critical.

SPI Commands and Parameters

Command/

Parameter

READ ALL 0x40 — Reads the hex value of all parameters

MSB Device (M) 0x4D — M Character precedes every READ

Version_MSB 0x10 <1-8>.<0-9> Firmware Version.Sub-version, eg 1.0

Version_LSB 0x00 <0-99>

USR_ID1 0x49 — Uppercase Letter <I>

USR_ID2 0x4D — Uppercase Letter <M>

USR_ID3 0x53 — Uppercase Letter <S>

MRC 0x19 1-67% Motor Run Current

MHC 0x05 0-67% Motor Hold Current

MSEL 0x00

DIR_OVRID 0x00

HCDT_HI 0x01

HCDT_LO 0xF4 Hold Current Delay Time Low Byte

CLKTYP 0x00

CLKIOF 0x00 <0-9> Clock Input Filtering

WARNTEMP 0x50 OVER_TEMP - 5° C

EN_ACT 0x01

LSB FAULT 0x00 — See Fault Table, Section 2.4

WRITE ALL 0x80 —

MSB USR_ID1 0x49 — Uppercase Letter <I>

USR_ID2 0x4D — Uppercase Letter <M>

USR_ID3 0x53 — Uppercase Letter <S>

MRC 0x19 1-100% Motor Run Current

MHC 0x05 0-100% Motor Hold Current

MSEL 0x00

DIR_OVRID 0x00

HCDT_HI 0x01

HCDT_LO 0xF4 Hold Current Delay Time Low Byte

CLKTYP 0x00

CLKIOF 0x00 <0-9> Clock Input Filtering

WARNTEMP 0x50 OVER_TEMP - 5° C

EN_ACT 0x01

LSB CKSUM 34

HEX

(Default)

Range Notes

Firmware Version Appends to Version_

0*, 1-259

*0=256

0=no override
1=override dir

0 or 2-65535

0=s/d,

1=quad,

2=u/d

0=Low

1=High,

0*, 1-259

*0=256

0=no override
1=override dir

0 or 2-65535

0=s/d,

1=quad,

2=u/d

0=Low

1=High

Microstep Resolution (See Table in Section

2.4 for settings)

Direction Override

Hold Current Delay Time High Byte

Input Clock Type

Enable Active High/Low

Writes the hex value to the following

Microstep Resolution (See Table in Section

2.4 for settings)

Direction Override

Hold Current Delay Time High Byte

Input Clock Type

Enable Active High/Low

MSB, eg.00

parameters.

2-36

Table 2.6.1: SPI Commands and Parameters

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

WARNTEMP
CLKIOF
CLKTYP
HCDT_LO
HCDT_HI
DIR_OVRID
MSEL
MHC
MRC
USR_ID3
USR_ID2
USR_ID1
VERSION
DEVICE

80
0
0

0
256
5
25
S
M
I

1.0.00
M

FF

FF FF

40

FFFFFFFFFFFFFFFFFFFFFFFFFF

104D

00 49 4D 53 19 05 00 00 01 F4 00 00

50 01

XX

500

00
01

00

FAULT
EN_ACT

RESPONSE (MISO):

WRITE (MOSI):

READ ALL CMD

CHECKSUM CALCULATION

80+49+4D+53+19+05+00+00+01+F4+00+00+50+01=CD

BINARY = 1100 1101

1'S COMPLEMENT = 0011 0010

2'S COMPLEMENT = 0011 0011

DEC = 51

HEX = 33

MRC
MHC
MSEL
DIR_OVRID

HCDT_HI
HCDT_LO
CLKTYP
CLKIOF
WARNTEMP
EN_ACT
CKSUM

0
0
80
01
51

80

F4 00

01

00

0150

33

XX

FFFFFFFF

FF FF FF FF FF FF FF FF FF FF

500

00

25
5
256
0

19

USR_ID1
USR_ID2
USR_ID3

I
M
S

49 4D 53

05 00

RESPONSE (MISO):

WRITE (MOSI):

WRITE ALL CMD

SPI Communications Sequence

See Timing Diagram and Byte Order figures.

Figure 2.6.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown)

READ

1. Send READ ALL Command 0x40 down MOSI to MDrivePlus Microstepping followed by
FF (15 Bytes).

2. Receive Parameter settings from MISO MSB First (M-Device) and ending with LSB (Fault).

Write

1. Send WRITE ALL Command (0x80) down MOSI followed by Parameter Bytes beginning with MSB
(MRC) and ending with the LSB (Checksum of all parameter Bytes).

2. Response from MISO will be FF (10) Bytes.

Part 2: Interfacing and Configuring

2-37

Page Intentionally Left Blank

2-38

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Appendices

TM

MICROSTEPPING

Appendix A: MDrive34Plus Microstepping Motor Performance

Appendix B: Planetary Gearboxes

Appendix C: Connectivity

Appendix D: Interfacing an Encoder

Appendix E: Linear Slide Option

Appendices

A-1

Page Intentionally Left Blank

A-2

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

appendix A

900

1000

800

700

600

500

400

300

200

100

0

0 1000

(300)

2000
(600)

3000
(900)

4000

(1200)

5000

(1500)

6000

(1800)

7000

(2100)

Speed in Full Steps per Second (RPM)

Torque in Oz - In

T

orque in N - cm

465

494

423

706

635

353

282

211

140

71

45 VDC
75 VDC

24 VDC

900

1000

800

700

600

500

400

300

200

100

0

Torque in Oz - In

T
orque in N - cm

465

494

423

706

635

353

282

211

140

71

45 VDC
75 VDC

24 VDC

0 1000

(300)

2000
(600)

3000
(900)

4000

(1200)

5000

(1500)

6000

(1800)

7000

(2100)

Speed in Full Steps per Second (RPM

)

Speed-Torque Curves

Single Length Rotary Motor

Figure A.1: MDrive34Plus Microstepping Single Length Speed-Torque Curves

Double Length Rotary Motor

MDrive34Plus Microstepping Motor Performance

Appendices

Figure A.2: MDrive34Plus Microstepping Double Length Speed-Torque Curves

A-3

Triple Length Rotary Motor

900

1000

800

700

600

500

400

300

200

100

0

Torque in Oz - In

T
orque in N - cm

465

494

423

706

635

353

282

211

140

71

45 VDC
75 VDC

24 VDC

0 1000

(300)

2000
(600)

3000
(900)

4000

(1200)

5000

(1500)

6000

(1800)

7000

(2100)

Speed in Full Steps per Second (RPM)

Figure A.3: MDrive34Plus Microstepping Triple Length Speed-Torque Curves

Motor Specifications

A-4

Single Length

Holding Torque ............................................................................................... 381 oz-in/269 N-cm

Detent Torque ................................................................................................. 10.9 oz-in/7.7 N-cm

Rotor Inertia ...................................................................................0.01416 oz-in-sec2/1.0 kg-cm

Weight (Motor + Driver) ............................................................................................. 4.1 lb/1.9 kg

Double Length

Holding Torque ............................................................................................... 575 oz-in/406 N-cm

Detent Torque ............................................................................................. 14.16 oz-in/14.0 N-cm

Rotor Inertia ...................................................................................0.02266 oz-in-sec2/1.6 kg-cm

Weight (Motor + Driver) ............................................................................................. 5.5 lb/2.5 kg

Triple Length

Holding Torque ............................................................................................. 1061 oz-in/749 N-cm

Detent Torque ............................................................................................. 19.83 oz-in/10.0 N-cm

Rotor Inertia ...................................................................................0.04815 oz-in-sec2/3.4 kg-cm

Weight (Motor + Driver) ............................................................................................. 8.8 lb/4.0 kg

2

2

2

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Appendix B

Planetary Gearboxes

Section Overview

This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox,
and may include product sizes not relevant to this manual.

Shown are:

 Product Overview

 Selecting a Planetary Gearbox

 Mechanical Specications

Product Overview

All gearboxes are factory installed.

Mode of Function

Optional Planetary Gearbox operate as their name implies: the motor-driven sun wheel is in the center,
transmitting its movement to three circumferential planet gears which form one stage. They are arranged
on the bearing pins of a planet carrier. The last planet carrier in each sequence is rigidly linked to the out­put shaft and so ensures the power transmission to the output shaft. The planet gears run in an internally
toothed outer ring gear.

Service Life

Depending on ambient and environmental conditions and the operational specification of the driving
system, the useful service life of a Planetary Gearbox is up to 10,000 hours. The wide variety of potential
applications prohibits generalizing values for the useful service life.

Lubrication

All Planetary Gearbox are grease-packed and therefore maintenance-free throughout their life. The best
possible lubricant is used for our MDrive/Planetary Gearbox combinations.

Mounting Position

The grease lubrication and the different sealing modes allow the Planetary Gearbox to be installed in any
position.

Operating Temperature

The temperature range for the Planetary Gearbox is between –30 and +140° C. However, the temperature
range recommended for the Heat Sink of the MDrive is -40 to +85º C.

Overload Torque

The permitted overload torque (shock load) is defined as a short-term increase in output torque, e.g. dur­ing the start-up of a motor. In these all-metal Planetary Gearbox, the overload torque can be as much as

1.5 times the permitted output torque.

Available Planetary Gearbox

The following lists available Planetary Gearbox, diameter and corresponding MDrive.

Gearbox Diameter MDrive

81 mm MDrive34Plus

Selecting a Planetary Gearbox

There are many variables and parameters that must be considered when choosing an appropriate reduction
ratio for an MDrive with Planetary Gearbox. This Addendum includes information to assist in determining a
suitable combination for your application.

Appendices

A-5

Calculating the Shock Load Output Torque (TAB)

Note: The following examples are based on picking “temporary variables” which may be adjusted.

The shock load output torque (TAB) is not the actual torque generated by the MDrive and Planetary Gearbox
combination, but is a calculated value that includes an operating factor (CB) to compensate for any shock
loads applied to the Planetary Gearbox due to starting and stopping with no acceleration ramps, payloads and
directional changes. The main reason the shock load output torque (TAB) is calculated is to ensure that it does
not exceed the maximum specified torque for a Planetary Gearbox.

Note: There are many variables that affect the calculation of the shock load output torque. Motor speed, motor
voltage, motor torque and reduction ratio play an important role in determining shock load output torque.
Some variables must be approximated to perform the calculations for the first time. If the result does not meet
your requirements, change the variables and re-calculate the shock load output torque. Use the equation com­pendium below to calculate the shock load output torque.

Factors

i = Reduction Ratio - The ratio of the Planetary Gearbox.

nM = Motor Speed - In Revolutions Per Minute (Full Steps/Second).

nAB = Output Speed - The speed at the output shaft of the Planetary Gearbox.

TN = Nominal Output Torque - The output torque at the output shaft of the Planetary

Gearbox.

TM = Motor Torque - The base MDrive torque. Refer to MDrive Speed Torque Tables.

η = Gear Efficiency - A value factored into the calculation to allow for any friction in the

gears.

TAB = Shock Load Output Torque - A torque value calculated to allow for short term loads

greater than the nominal output torque.

CB = Operating Factor - A value that is used to factor the shock load output torque.

sf = Safety Factor - A 0.5 to 0.7 factor used to create a margin for the MDrive torque

requirement.

Reduction Ratio

Reduction ratio (i) is used to reduce a relatively high motor speed (nM) to a lower output speed (nAB).

With: i = nM ÷ n

or: motor speed ÷ output speed = reduction ratio

AB

Example:

The required speed at the output shaft of the Planetary Gearbox is 90 RPM.

You would divide motor speed (nM) by output speed (nAB) to calculate the proper gearbox ratio.

The MDrive speed you would like to run is approximately 2000 full steps/second or 600 RPM.

NOTE: In reference to the MDrive speed values, they are given in full steps/second on the Speed/Torque
Tables. Most speed specifications for the Planetary Gearbox will be given in RPM (revolutions per min­ute). To convert full steps/second to RPM, divide by 200 and multiply by 60.

Where: 200 is the full steps per revolution of a 1.8° stepping motor.

2000 full steps/second ÷ 200 = 10 RPS (revolutions per second) × 60 Seconds = 600 RPM

For the Reduction Ratio (i), divide the MDrive speed by the required Planetary Gearbox output speed.

600 RPM ÷ 90 = 6.67:1 Reduction Ratio

Referring to the Available Ratio Table at the end of this section, the reduction ratio (i) of the Planetary
Gearbox will be 7:1. The numbers in the left column are the rounded ratios while the numbers in the
right column are the actual ratios. The closest actual ratio is 6.75:1 which is the rounded ratio of 7:1. The
slight difference can be made up in MDrive speed.

A-6

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Nominal Output Torque

900

1000

800

700

600

500

400

300

200

100

0

0 1000

(300)

2000
(600)

3000
(900)

4000

(1200)

5000

(1500)

6000

(1800)

7000

(2100)

Speed in Full Steps per Second (RPM)

Torque in Oz - In

T

orque in N - cm

465

494

423

706

635

353

282

211

140

71

45 VDC
75 VDC

24 VDC

Calculate the nominal output torque using the torque values from the MDrive’s Speed/Torque Tables.

Nominal output torque (TN) is the actual torque generated at the Planetary Gearbox output shaft which
includes reduction ratio (i), gear efficiency (η) and the safety factor (sf) for the MDrive. Once the reduction
ratio (i) is determined, the nominal output torque (TN) can be calculated as follows:

T

= TM × i × η÷ sf or:

N

Motor torque × reduction ratio × gear efficiency ÷ safety factor = nominal output torque.

For gear efficiency (η) refer to the Mechanical Specifications for the 7:1 Planetary Gearbox designed for your
MDrive.

Appendices

Figure B.1: MDrive34 Torque-Speed Curve

For motor torque (TM) see the appropriate MDrive Speed/Torque Table. Dependent on which
MDrive you have, the torque range will vary. The torque will fall between the high voltage line and the low
voltage line at the indicated speed for the MDrive. (See the example Speed/Torque Table below.)

The Speed/Torque Table above is for an MDrive23 Double Length Motor. This MDrive will produce a torque
range of 51 to 95 oz-in in the full voltage range at the speed of 2000 Full Steps/Second (600 RPM).

Please note that this is not the usable torque range. The torque output to the Planetary Gearbox must include
a safety factor (sf) to allow for any voltage and current deviations supplied to the MDrive.

The motor torque must include a safety factor (sf) ranging from 0.5 to 0.7. This must be factored into the
nominal output torque calculation. A 0.5 safety factor is aggressive while a 0.7 safety factor is more conserva­tive.

Example:

The available motor torque (TM) is 51 to 95 oz-in.

NOTE: You may specify a torque less than but not greater than the motor torque range.

For this example the motor torque (TM) will be 35 oz-in.

A 6.75:1 reduction ratio (i) has been determined.

Gear efficiency (η) = 80% from the appropriate table for the Planetary Gearbox which is used with
an MDrive23.

Nominal output torque would be:

Motor torque (TM = 35) × reduction ratio (i = 6.75) ×gear efficiency (η = 0.8) ÷ safety factor (sf =

0.5 or 0.7)

35 × 6.75 = 236.25 × 0.8 = 189 ÷ 0.5 = 378 oz-in nominal output torque (TN)

or

35 × 6.75 = 236.25 × 0.8 = 189 ÷ 0.7 = 270 oz-in nominal output torque (TN)

With the safety factor (sf) and gear efficiency (η) included in the calculation, the nominal output torque (TN)
may be greater than the user requirement.

A-7

Shock Load Output Torque

Determining the Operating Factor (CB)

Direction of

Rotation

Load

(Shocks)

Daily Operating Time

3 Hour s8 Hours 24 Hours

Constant Low* C

B

=1.0 CB=1.1 CB=1.3

Medium** C

B

=1.2 CB=1.3 CB=1.5

AlternatingLow† C

B

=1.3 CB=1.4 CB=1.6

Medium†† C

B

=1.6 CB=1.7 CB=1.9

The nominal output torque (TN) is the actual working torque the Planetary Gearbox will generate. The shock
load output torque (TAB) is the additional torque that can be generated by starting and stopping with no
acceleration ramps, payloads, inertia and directional changes. Although the nominal output torque (TN) of
the Planetary Gearbox is accurately calculated, shock loads can greatly increase the dynamic torque on the
Planetary Gearbox.

Each Planetary Gearbox has a maximum specified output torque. In this example a 7:1 single stage MD23
Planetary Gearbox is being used. The maximum specified output torque is 566 oz-in. By calculating the shock
load output torque (TAB) you can verify that value is not exceeding the maximum specified output torque.

When calculating the shock load output torque (TAB), the calculated nominal output torque (TN) and the
operating factor (CB) are taken into account. CB is merely a factor which addresses the different working
conditions of a Planetary Gearbox and is the result of your subjective appraisal. It is therefore only meant as a
guide value. The following factors are included in the approximate estimation of the operating factor (CB):

  Direction of rotation (constant or alternating)

  Load (shocks)

  Daily operating time

Note: The higher the operating factor (CB), the closer the shock load output torque (TAB) will be to the maxi-
mum specified output torque for the Planetary Gearbox. Refer to the table below to calculate the approximate
operating factor (CB).

With the most extreme conditions which would be a CB of 1.9, the shock load output torque (TAB) is over the
maximum specified torque of the Planetary Gearbox with a 0.5 safety factor but under with a 0.7 safety factor.

The nominal output torque (TN) × the operating factor (CB) = shock load or maximum output torque (TAB).

With a 0.5 safety factor, the shock load output torque is greater than the maximum output torque specifica­tion of the MDrive23 Planetary Gearbox.

(378 × 1.9 = 718.2 oz-in.)

With a 0.7 safety factor the shock load output torque is within maximum output torque specification of the
MDrive23 Planetary Gearbox.

(270 × 1.9 = 513 oz-in.)

The 0.5 safety factor could only be used with a lower operating factor (CB) such as 1.5 or less, or a lower mo­tor torque.

Note: All published torque specifications are based on CB = 1.0. Therefore, the shock load output torque
(TAB) = nominal output torque (TN).

WARNING! Excessive torque may damage your Planetary Gearbox. If the MDrive/Planetary Gearbox should
hit an obstruction, especially at lower speeds (300 RPM or 1000 Full Steps/Second), the torque generated
will exceed the maximum torque for the Planetary Gearbox. Precautions must be taken to ensure there are no
obstructions in the system.

A-8

* Low Shock = Motor turns in one direction and has ramp up at start.
** Medium Shock = Motor turns in one direction and has no ramp up at start.
† Low Shock = Motor turns in both directions and has ramp up at start.
†† Medium Shock = Motor turns in both directions and has no ramp up at start.

Table B.1: Planetary Gearbox Operating Factor

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

System Inertia

Preload on

leadscrew

Weight of

table

Weight of

parts

Friction of

guideways

Weight of

nut

Weight of

screw

System inertia must be included in the selection of an MDrive and Planetary Gearbox. Inertia is the resistance an
object has relative to changes in velocity. Inertia must be calculated and matched to the motor inertia. The Plan­etary Gearbox ratio plays an important role in matching system inertia to motor inertia. There are many variable
factors that affect the inertia. Some of these factors are:

 The type of system being driven.

 Weight and frictional forces of that system.

 The load the system is moving or carrying.

The ratio of the system inertia to motor inertia should be between 1:1 and 10:1. With 1:1 being ideal, a 1:1 to 5:1
ratio is good while a ratio greater than 5:1 and up to 10:1 is the maximum.

Type of System

There are many systems and drives, from simple to complex, which react differently and possess varied
amounts of inertia. All of the moving components of a given system will have some inertia factor which must
be included in the total inertia calculation. Some of these systems include:

 Lead screw

  Rack and pinion

  Conveyor belt

  Rotary table

 Belt drive

 Chain drive

Not only must the inertia of the system be calculated, but also any load that it may be moving or carrying.
The examples below illustrate some of the factors that must be considered when calculating the inertia of a
system.

Lead Screw

In a system with a lead screw, the following must be considered:

  The weight and preload of the screw

  The weight of the lead screw nut

  The weight of a table or slide

  The friction caused by the table guideways

  The weight of any parts

Figure B.2: Lead Screw System Inertia Considerations

Appendices

A-9

Rack and Pinion

Weight of

pinion and shaft

Preload or friction

between pinion and rack

Load on

rack

Weight of

rack

Friction of

rack in guide

Gearbox

Motor

Weight and size

of drive roller

Weight and size

of idler roller

Weight of

conveyor belt

Weight of

parts

Friction

of belt

Elevation

Motor

Gearbox

In a system with a rack and pinion, the following must be considered:

  The weight or mass of the pinion

  The weight or mass of the rack

  The friction and/or preload between the pinion and the rack

  Any friction in the guidance of the rack

  The weight or mass of the object the rack is moving

Figure B.3: Rack and Pinion System Inertia Considerations

Conveyor Belt

In a system with a conveyor belt, the following must be considered:

  The weight and size of the cylindrical driving pulley or roller

  The weight of the belt

  The weight or mass and size of the idler roller or pulley on the opposite end

  The angle or elevation of the belt

  Any load the belt may be carrying

Figure B.4: Conveyor System Inertia Considerations

A-10

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Rotary Table

Weight and size

of drive pulley

Weight and size

of driven pulley

Friction created by

tension on belt

Weight of

shaft

Weight and

size of table

Weight and position

of parts on table

The position of parts relative

to the center of the

rotary table is important

Friction of any

bearing or support

Motor

Gearbox

In a system with a rotary table, the following must be considered:

  The weight or mass and size of the table

  Any parts or load the table is carrying

  The position of the load on the table, the distance from the center of the table will af-

fect the inertia

  How the table is being driven and supported also affects the inertia

Belt Drive

In a system with a belt drive, the following must be considered:

  The weight or mass and size of the driving pulley

  The tension and/or friction of the belt

  The weight or mass and size of the driven pulley

  Any load the system may be moving or carrying

Appendices

Figure B.5: Rotary Table System Inertia Considerations

A-11

Chain Drive

Weight of

chain

Weight and size

of drive

sprocket and hub

Weight and size

of driven sprocket,

shaft and any material

or parts being moved

In a system with a chain drive, the following must be considered:

  the weight and size of drive sprocket and any attaching hub

  the weight and size of the driven sprocket and shaft

  the weight of the chain

  the weight of any material or parts being moved

Figure B.6: Chain Drive System Inertia Considerations

Once the system inertia (JL) has been calculated in oz-in-sec2, it can be matched to the motor inertia. To
match the system inertia to the motor inertia, divide the system inertia by the square of the gearbox ratio.
The result is called Reflected Inertia or (J

J

= JL ÷Ζ

ref

2

).

ref

Where:

J

J

= System Inertia in oz-in-sec

L

= Reflected Inertia in oz-in-sec

ref

2

2

Z = Gearbox Ratio

The ideal situation would be to have a 1:1 system inertia to motor inertia ratio. This will yield the best
positioning and accuracy. The reflected inertia (J

) must not exceed 10 times the motor inertia.

ref

Your system may require a reflected inertia ratio as close to 1:1 as possible. To achieve the 1:1 ratio, you
must calculate an Optimal Gearbox Ratio (Z
desired J

. In this case since you want the system inertia to match the motor inertia with a 1:1 ratio, J

ref

) which would be the square root of JL divided by the

opt

would be equal to the motor inertia.

Z

= JL ÷ J

opt

ref

Where:

Z

J

J

= Optimal Gearbox Ratio

opt

= System Inertia in oz-in-sec

L

= Desired Reflected Inertia in oz-in-sec2 (Motor Inertia)

ref

2

ref

A-12

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Planetary Gearbox for MDrive34Plus

Key DIN 6885-A-6x6x28mm

Ctrg. DIN 332-D M6x16

4x Ø 0.217 (Ø5.5) Hole

†

4x Ø 0.217 (Ø5.5) Hole

†

0.197*
(5.0)

K1 ±0.02 (±0.5)

Ø 2.56*

(Ø 65.0)

1.575

(40.0)

Ø 3.189

(Ø 81.0)

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)

0.394

†

(10.0)

MDrive34Plus

3.386 SQ.

(86.0 SQ.)

*Gearbox without Flange
†

Gearbox with Flange

1.929*
(49.0)

or

1.811

†

(46.0)

M6 x 0.472 (12.0) Deep

*

0.079

†

(2.0)

or

2.739 SQ.

†

(69.58 SQ.)

Dimensions in inches (mm)

Stages K1

(Gearbox)

K1

(NEMA Flange)

1-Stage 4.315 (109.6)

4.433 (112.6)

2-Stage 5.169 (131.3)

5.287 (134.3)

3-Stage 6.024 (153.0)

6.142 (156.0)

MDrive34Plus Planetary Gearbox Parameters

Permitted

Output Torque

(oz-in/Nm)

1-STAGE 2832/20.0 0.80 1.0° 90/400 18/80
2-STAGE 8496/60.0 0.75 1.5° 135/600 27/120
3-STAGE 16992/120.0 0.70 2.0°

Gearbox

Efficiency

Maximum

Backlash

Maximum Load

(lb-force/N)

Radial Axial Gearbox with Flange

225/1000

45/200

Table B.2: Planetary Gearbox Specifications – PM81

Output Side with Ball Bearing

Weight

(oz/g)

64.4/1827

89.5/2538

92.6/2625

66.7/1890

92.6/2625

118.5/3360

PM81 Gearbox Ratios and Part Numbers

Planetary

Gearbox

1-Stage 3.71:1 0.00233660 G1A1 3-Stage 50.89:1 0.00218082 G1B5
1-Stage 5.18:1 0.00154357 G1A2 3-Stage 58.86:1 0.00178431 G1B6
1-Stage 6.75:1 0.00128867 G1A3 3-Stage 68.07:1 0.00179847 G1B7

2-Stage 13.73:1 0.00219499 G1A4 3-Stage 78.72:1 0.00179847 G1B9
2-Stage 15.88:1 0.00179847 G1A5 3-Stage 92.70:1 0.00124619 G1C1
2-Stage 18.37:1 0.00182679 G1A6 3-Stage 95.18:1 0.00147276 G1C2
2-Stage 19.20:1 0.00141612 G1A7 3-Stage 99.51:1 0.00148693 G1C3
2-Stage 22.21:1 0.00148693 G1A8 3-Stage 107.21:1 0.00124619 G1C4
2-Stage 25.01:1 0.00177015 G1A9 3-Stage 115.08:1 0.00148693 G1C5
2-Stage 26.85:1 0.00148693 G1B1 3-Stage 123.98:1 0.00124619 G1C6
2-Stage 28.93:1 0.00124619 G1B2 3-Stage 129.62:1 0.00124619 G1C7
2-Stage 34.98:1 0.001260345 G1B3 3-Stage 139.14:1 0.00144444 G1C8
2-Stage 45.56:1 0.00126035 G1B4 3-Stage 149.90:1 0.00124619 G1C9

(Rounded)

Figure B.7: Planetary Gearbox Specifications for MDrive34Plus

Ratio

Inertia

Moments

Part

Number

Planetary

Gearbox

3-Stage 71.16:1 0.00147276 G1B8

3-Stage 168.85:1 0.00126035 G1D1
3-Stage 181.25:1 0.00124619 G1D2
3-Stage 195.27:1 0.00126035 G1D3
3-Stage 236.10:1 0.00126035 G1D4
3-Stage 307.55:1 0.00126035 G1D5

(Rounded)

Table B.3: Planetary Gearbox Ratios, Inertia Moments and Part Numbers

Ratio

Inertia

Moments

Part

Number

Appendices

A-13

Page Intentionally Left Blank

A-14

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Appendix C

MD-CC3

USB to SPI Converter Cable

www.imshome.com

USB Cable

Length 6.0 ft (1.8 m)

1.0 in

(25.0 mm)

3.75 in

(95.0 mm)

0.875 in

(22.0 mm)

USB

To PC USB

10 Pin IDC Connector

Cable Length 6.0 ft (1.8 m)

To MDrive

Connection Diagram

Plug into
Computer USB
Port

MD-CC300-001 USB to SPI
Communications Converter

6’ (1.8 m)
USB Cable

6.0’ (1.8 m)
Ribbon Cable

Connectivity

MD-CC30x-001: USB to SPI Converter and Parameter Setup Cable

The MD-CC30x-001 USB to SPI Parameter Setup Cable provides a communication connection between the
Microstepping MDrives and the USB port on a PC.

IMS SPI Interface Software communicates to the Parameter Setup Cable through the PC's USB port.

The Parameter Setup Cable interprets SPI commands and sends these commands to the MDrivePlus through the
SPI interface.

Supplied Components: MD-CC30 communications converter, Parameter Setup Cable, USB Cable, USB Drivers,
IMS SPI Interface Software.

MD-CC300-001

The MD-CC300-001 interfaces to the model MDrivePlus Microstepping with a 10-Pin IDC type connector
at location P2.

NEMA 17 Size MDrivePlus Microstepping shown in Figure below. Connection for a NEMA 23 will be
identical.

WARNING! DO
NOT connect or

disconnect the MD­CC300-001 Communications
Converter Cable from MDrive
while power is applied!

Appendices

Figure C.1: MD-CC300-001 Mechanical Specifications and Connection

A-15

Note: Interactive

MISO

+5 VDC Out*

Chip Select

MOSI

SPI Clock

GND

1
3
5
7
9

2
4
6
8

10

pins not labeled are no connect.

*used to power the MD-CC300-001 only.

installation tutorials
are available at

the IMS Web Site
at http://www.imshome.com/
tutorials.html

Connector Detail and Mating Connector Kit

Should you choose to create your own interface cable IMS now has mating connector kits available which
assist you in creating interface cables in small quantities. These kits come with the connector shells and crimp
pins (if applicable) to create five interface cables.

Connector Details

Figure C.2: 10-Pin IDC

Mating Connector Kit p/n: CK-01

Description: 5 mating connector shells for making interface cables to MDrive’s 10-pin IDC connector.

2-piece connector shell crimps onto a 10 conductor AMP ribbon cable. Ribbon Cable is
not included.

IDC Parts: Shell: SAMTEC TCSD-05-01-N

Ribbon Cable: AMP 1-57051-9

A-16

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

MD-CC303-001

Connection Diagram

*A Prototype Development cable with out integrated communications is also available.
Order P/N PD12-1434-FL3

P1

MD-CC303-001 USB to SPI
Communications Converter

Plug into
Computer
USB Port

6’ (1.8 m)
USB Cable

13’ (4.0 m)

MD-CC3

USB to SPI Converter Cable

www.imshome.com

USB Cable

Length 6.0 ft (1.8 m)

RJ-45 Cable - Communications

Length 6.0 ft (1.8 m)

Cable - Power and I/O

Length 13.0 ft (4.0 m)

1.0 in

(25.0 mm)

3.75 in

(95.0 mm)

0.875 in

(22.0 mm)

USB

To PC USB

6’ (1.8 m)

AMP

12

RJ-45

Flying Leads

Wire Colors Function

Orange Enable
Blue Direction
White Opto Ref
Green Step Clock

Red and Black wires are N/C

The MD-CC3030-001 interfaces to the model MDrivePlus Microstepping with a 12-Pin locking wire crimp
type connector at location P1. This cable consists of two joined cables:

6' (1.8m) RJ-45 Cable which plugs into the RJ-45 Jack of the converter body.1.

13' (4.0 m) for I/O and Power connection.2.

Figure C.3: MD-CC303-001 Mechanical Specifications and Connection

Appendices

A-17

Connector Detail and Mating Connector Kit

N/C

Chip Select
Comm Gnd

Opto Ref

Enable

+5 VDC

11

9
7
5
3
1

12
10

8
6
4
2

N/C

Step Clock

Direction

SPI Clock

SPI MOSI

SPI MISO

Should you choose to create your own interface cable IMS now has mating connector kits available which
assist you in creating interface cables in small quantities. These kits come with the connector shells and
crimp pins to create five interface cables.

Connector Details

Figure C.4: 12-Pin Wire Crimp

Mating Connector Kit p/n: CK-03

Description: 5 mating connector shells and crimp pins. Recommend Tyco Crimp tool (Not included).

Tyco Parts: Shell: 1-794617-2

Pins: 794610-1
Crimp Tool: 91501-1

A-18

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Installation Procedure for the MD-CC30x-000

These Installation procedures are written for Microsoft Windows XP Service Pack 2 or greater.

The installation of the MD-CC30x-001 requires the installation of two sets of drivers, which may be downloaded
from http://www.imshome.com:

 Drivers for the IMS USB to SPI Converter Hardware.

 Drivers for the Virtual Communications Port (VCP) used to communicate to your IMS Product.

Therefore the Hardware Update wizard will run twice during the installation process.

The full installation procedure will be a two-part process: Installing the Cable/VCP drivers and Determining the
Virtual COM Port used.

Installing the Cable/VCP Drivers

1) Download dirvers from http://www.imshome.com/cable_drivers.html.

2) Extract the driver files from the *.zip archive, remember the extracted location.

3) Plug the USB Converter Cable into the USB port of the MD-CC30x-001.

4) Plug the other end of the USB cable into an open USB port on your PC.

5) Your PC will recognize the new hardware and open the Hardware Update dialog.

6) Select “No, not this time” on the radio buttons in answer to the query “Can Windows Connect to
Windows Update to search for software?” Click “Next” (Figure C.5).

7) Select “Install from a list or specific location (Advanced)” on the radio buttons in answer to the query

Figure C.5: Hardware Update Wizard

“What do you want the wizard to do?” Click “Next” (Figure C.6).

Figure C.6: Hardware Update Wizard Screen 2

Appendices

A-19

86) Select “Search for the best driver in these locations.”
(a) Check “Include this location in the search.”
(b) Browse to the location where you extracted the files in Step #2.
(c) Click Next (Figure C.7).

Figure C.7: Hardware Update Wizard Screen 3

9) The drivers will begin to copy.

10) On the Dialog for Windows Logo Compatibility Testing, click “Continue Anyway” (Figure C.8).

11) The Driver Installation will proceed. When the Completing the Found New Hardware Wizard dialog

Figure C.8: Windows Logo Compatibility

Testing

appears, Click “Finish” (Figure C.9).

Figure C.9: Hardware Update Wizard Finish Installation

12) Upon finish, the Welcome to the Hardware Update Wizard will reappear to guide you through the
second part of the install process. Repeat steps 3 through 11 above to complete the cable installation.

11) Your IMS MD-CC30x-001 is now ready to use.

A-20

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Determining the Virtual COM Port (VCP)

The MD-CC30x-001 uses a Virtual COM Port to communicate through the USB port to the MDrive. A VCP is a
software driven serial port which emulates a hardware port in Windows.

The drivers for the MD-CC30x-001 will automatically assign a VCP to the device during installation. The VCP
port number will be needed when IMS Terminal is set up in order that IMS Terminal will know where to find and
communicate with your IMS Product.

To locate the Virtual COM Port.

1) Right-Click the “My Computer” Icon and select “Properties”.

2) Browse to the Hardware Tab (Figure D.9), Click the Button labeled “Device Manager”.

3) Look in the heading “Ports (COM & LPT)” IMS USB to SPI Converter Cable (COMx) will be listed
(Figure D.10). The COM # will be the Virtual COM Port connected. You will enter this number into

your IMS SPI Motor Interface Configuration.

Figure C.10: Hardware Properties

Figure C.11: Windows Device Manager

Appendices

A-21

Prototype Development Cable PD12-1434-FL3

To MDrivePlus
12-pin wire crimp
Tyco connector

10.0’ (3.0m)

To I/O &
Communications

Cable 1

Cable 2

Cable #2 is N/C and
may be removed

N/C

Chip Select
Comm Gnd

Opto Ref

Enable

+5 VDC

11

9
7
5
3
1

12
10

8
6
4
2

N/C

Step Clock

Direction

SPI Clock

SPI MOSI

SPI MISO

Wire Color Code

Pair Number

(Cable/Pair)

1/1

1/2

1/3

1/4

1/5

2/1

Color Combination Interface Signal MDrive Wire Crimp

White/Blue Opto Reference 3

Blue/White Step Clock 4

White/Orange Enable 5

Orange/White Direction 6

White/Green SPI Clock 8

Green/White COMM GND 9

White/Brown +5VDC 7

Brown/White Master In - Slave Out 12

White/Gray Master Out - Slave In 10

Gray//White SPI Chip Select 11

Black N/C 1

Red N/C 2

Table C.1: PD10-1434-FL3 Wire Color Codes

Connection Pin Number

A-22

Figure C.12: PD12-1434-FL3

Connector Detail and Mating Connector Kit

Should you choose to create your own interface cable IMS now has mating connector kits available which
assist you in creating interface cables in small quantities. These kits come with the connector shells and
crimp pins to create five interface cables.

Connector Details

Figure C.13: 12-Pin Wire Crimp

Mating Connector Kit p/n: CK-03

Description: 5 mating connector shells and crimp pins. Recommend Tyco Crimp tool (Not included).

Tyco Parts: Shell: 1-794617-2

Pins: 794610-1
Crimp Tool: 91501-1

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

PD10-3400-FL3 - Internal Differential Encoder

CH A+

CH B-

CH B+

N/C

IDX+

CH A-

+5VDC

IDX-

GND

N/C

9
7
5
3
1

10

8
6
4
2

10.0’ (3.0m)

Flying leads

To Controller or PLC

To MDrivePlus 10-pin friction lock
wire crimp connector

The PD10-3400-FL3 is a 10' (3.0 M) Prototype Development Cable used to interface the encoder signals to the
user's controller. The Connector end plugs into the P4 Connector of the MDrive34Plus. The Flying Lead end con­nects to a Control Interface such as a PLC.

Wire Color Code

Pair Number

(Cable/Pair)

1/1

1/2

1/3

1/4

Color Combination Interface Signal MDrive Wire Crimp

Connection Pin Number

White/Blue Index + 6

Blue/White Index – 7

White/Orange Channel B + 4

Orange/White Channel B – 5

White/Green Channel A + 2

Green/White Channel B – 3

White/Brown Ground 1

Brown/White +5 VDC Input 8

Table C.2: PD10-3400-FL3 Wire Color Codes

Connector Detail and Mating Connector Kit

Should you choose to create your own interface cable IMS now has mating connector kits available which
assist you in creating interface cables in small quantities. These kits come with the connector shells and crimp
pins to create five interface cables.

Connector Details

Mating Connector Kit p/n: CK-02

Description: 5 mating connector shells and crimp pins. Recommend Hirose Crimp tool (Not included).

Appendices

Hirose Parts: Shell: DF11-10DS-2C

Figure C.14: PD10-3400-FL3

Figure C.15: PD10-3400-FL3

Pins: DF11-2428SC
Crimp Tool: DF11-TA2428HC

A-23

Prototype Development Cable PD02-3400-FL3 — Main Power

Power

1

2

GND

side view front view pin details

shell

locking tab

To MDrivePlus
2-pin wire crimp
Molex connector

To Power

10.0’ (3.0m)

IMS recommends the Prototype Development Cable PD02-3400-FL3 for interfacing power to the MDrive­34Plus2 Motion Control.

Wire Colors Function

Black Power Ground
Red +V

Figure C.16: PD02-3400-FL3

Connector Details

Figure C.17: 2-Pin Wire Crimp

Mating Connector Kit p/n: CK-05

Description: 5 mating connector shells and crimp pins. Recommend Molex Crimp tool (Not in-

cluded).

Molex Parts: Shell: 510-67-0200

Pins: 502-17-9101
Crimp Tool: 63811-1200

A-24

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Ap p en d ix D

Interfacing an Encoder

Factory Mounted Internal Encoder

The MDrivePlus Microstepping are available with a factory-mounted internal optical encoder. See Table E.1 for
available line counts. Encoders are available in both single-end and differential configurations. All encoders have an
index mark.

Use of the encoder feedback feature of this product requires a controller such as an IMS MicroLYNX or PLC.

The encoder has a 100 kHz maximum output frequency.

DIFFERENTIAL

ENCODER

Line Count Part Number Part Number

100 EA E1
200 EB E2
250 EC E3
256 EW EP
400 ED E4
500 EH E5

512 EX EQ
1000 EJ E6
1024 EY ER

Table D.1: Available Encoder Line Counts and Part Numbers

Note: The MDrive34Plus with Pluggable Interface is available with Differential Encoder only. The MDrive34Plus
with Flying Leads is available with both Single-End or Differential Encoder.

SINGLE-END

ENCODER

General Specifications

Min Typ Max Units

Supply Voltage (VDC) ......................... -0.5 ........................................................... 7 ......................Volts

Supply Current ......................................30............................. 57 .......................... 85 ..................... mA

Output Voltage .................................... -0.5 ......................................................... Vcc ................... Volts

Output Current (Per Channel) ............. -1.0 ........................................................... 5 ....................... mA

Maximum Frequency ................................................................................................................. 100kHz

Inertia ............................................................................................... 0.565 g-cm2 (8.0 x 10-6 oz-in-sec2)

Temperature

Operating ................................................................................................................ -40 to +100° C

Storage ..................................................................................................................... -40 to +100° C

Humidity ............................................................................................................ 90% (non-condensing)

Appendices

A-25

Yellow/Black: Ground

Yellow/Violet: Index+

Yellow/Blue: Channel A+

Yellow/Red: +5VDC Input

Yellow/Brown: Channel B+

Yellow/Gray: Index -

Yellow/Green: Channel A-

Yellow/Orange: Channel B-

Yellow/Black: Ground

Yellow/Violet: Index

Yellow/Blue: Channel A

Yellow/Red: +5VDC Input

Yellow/Brown: Channel B

Single-End Encoder

Flying Leads

Differental Encoder

Flying Leads

Differental Encoder

Pluggable Interface

P1

P3

P4

1

Pin 2: Channel A+

Pin 1: Ground

Pin 3: Channel A -

Pin 4: Channe; B+

Pin 5: Channel B -

Pin 6: Index+

Pin 7: Index -

Pin 8: +5VDC Input

Note: The MDM34
with Pluggable
Interface is only
available with a

differential encoder.

Encoder Connections

A-26

Figure D.1: Single-End and Differential Encoder Connections

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

C

t1

t2

Po

X

Y

Z

2.4 V

0.4 V

2.4 V

0.4 V

2.4 V

0.4 V

Channel A

Channel B

Index

Rotation:
CW – B Leads A
CCW – A Leads B

C

t1

t2

Po

X

Y

Z

2.4 V

0.4 V

2.4 V

0.4 V

2.4 V

0.4 V

2.4 V

0.4 V

2.4 V

0.4 V

2.4 V

0.4 V

Channel A +

Channel B +

Index +

Channel A -

Channel B -

Index -

Rotation:
CW – B Leads A
CCW – A Leads B

Encoder Signals

Single-End Encoder (Available with Flying Leads Version only)

Figure D.2: Single-End Encoder Signal Timing

Differential Encoder

Appendices

Figure D.3: Differential Encoder Signal Timing

Note: Rotation is as viewed from the cover side.

(C) One Cycle: 360 electrical degrees (°e)

(X/Y) Symmetry: A measure of the relationship between X and Y, nominally 180°e.

(Z) Quadrature: The phase lag or lead between channels A and B, nominally 90°e.

(Po) Index Pulse Width: Nominally 90°e.

Characteristics

Parameter Symbol Min Typ Max Units

Cycle Error ................................................................................................ 3 .................... 5.5 .................°e

Symmetry ............................................................................. 130 ............ 180 .................. 230 ................°e

Quadrature ............................................................................ 40 .............. 90 ................... 140 ................°e

Index Pulse Width ..............................................Po .............. 60 .............. 90 ...................120 ................°e

Index Rise After CH B or CH A fall ................... t1 ..............-300 ...........100 ..................250 ................ns

Index Fall After CH A or CH B rise ................... t2 ............... 70 ............. 150 ................. 1000 ...............ns

Over recommended operating range. Values are for worst error over a full rotation.

A-27

Encoder Cable

IMS offers an assembled cable for use with the Differential Encoder on MDM34 with the Pluggable Locking Wire
Crimp interface . The IMS Part Number is listed below.

Differential Encoder Cable (10' leads) ......................................................................... PD10-3400-FL3

Recommended Encoder Mating Connectors

IMS recommends the following mating connectors (or equivalent) if you make your own cables.

Differential Encoder

10-Pin Friction Lock Wire Crimp ................................................................Hirose DF11-10DS-2C

Pins

22 AWG ............................................................................................................Hirose DF11-22SC

24/28 AWG ...................................................................................................Hirose DF11-2428SC

30 AWG ............................................................................................................Hirose DF11-30SC

A-28

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

Ap p en d ix E

100

90

80

70

60

50

40

30

20

10

0

0

5

10

15 20

25 30 35 40 45 50

44

89

133

178

222

267

356

400

445

311

Axial Force in N

(127)

(254)

(381) (508)

(635) (762) (889) (1016) (1143) (1270)

Axial Force in lbs

1.00" Screw Lead

0.50" Screw Lead

0.20" Screw Lead

0.10" Screw Lead

V Inches / sec (mm / sec)

900

1000

800

700

600

500

400

300

200

100

0

0 1000

(300)

2000
(600)

3000
(900)

4000

(1200)

5000

(1500)

6000

(1800)

7000

(2100)

Speed in Full Steps per Second (RPM)

Torque in Oz - In

T
orque in N - cm

465

494

423

706

635

353

282

211

140

71

45 VDC
75 VDC

24 VDC

C

B

A

C

B

A

Single Stack

Double Stack

Triple Stack

Linear Slide Option

Features

• Screwdrivenslideofferingexceptionallinearspeed,accuratepositioningandlonglifeatacompelling

value

• Highbidirectionalrepeatabilityofupto50micro-inches(1.25microns)

• Positionalleadaccuracyof0.0006"/in.–accuraciesto0.0001"/in.available

• Linearspeedsnotlimitedbycriticalscrewspeed

• Standardleads:

- 0.10" travel per revolution - 0.50" travel per revolution

- 0.20" travel per revolution - 1.00" travel per revolution

• Achievespeedsthatexceed60.0"/secondwhileofferingexcellentrepeatability,accuracyandaxial

stiffness

• Optionalsensorflagkitavailableforhome,limitsandgeneralpurposeinputs

• Assemblyincludesaprecisionaluminumguideandcarriagewhichisdrivenbyaprecisionrolled

stainless steel lead screw

• SlidingcontactareascoatedwithTFE(Teflon)permanentlubricationtoofferalow0.09coefficientof

friction

• Exceptionaltorsionalstiffnessandstability

• Standardlengthsfrom12.0"to42.0",longersizesavailableuponrequest

• Comesstandardwithwear-compensating,anti-backlashdrivencarriage

• Additionalpassivecarriagesorslidesavailabletosupportcantileveredloads

• Easilymountablewithprovidedmountingflangeandholes

• Extrusionsprovidedforsensormounts

MDrive34Plus Linear Slide

Speed-Force Limitations

Figure E.1: Speed Force Limitations

Speed-Torque Curves

Appendices

†

†

Speed/Force correlating equations:

Axial Force = F

1

F

friction

F

acceleration

F

gravity

2

Torque =

Force in lbs; Torque in oz-in, Lead in inches/rev

Full Steps (200 Full Steps/Rev)(Velocity)

3

Second Lead

Lead in inches/rev; Velocity in inches/second

Figure E2: MDrive34Plus Speed Torque Curves

friction

+ F

acceleration

+ F

gravity

= (Weight)(0.09)

= (Weight)(Acceleration) / Accel. of gravity

= 0 for horizontal application and 1 Weight for vertical application

(Axial Force)(Screw Lead)

(0.393)(Screw Efficiency)

=

A-29

Specifications

2.14

(54.4)

2.00

(50.8)

1.000

(25.4)

3.38 SQ.

(85.9 SQ.)

0.69

(17.5)

0.50

(12.7)

1.23

(31.2)

2.34

(59.3)

0.56

(14.2)

D

1.1

(27.9)

1.250
(31.8)

2.25

(57.2)

Mounting Holes
Ø 0.26 (6.6)
THRU HOLE

4 x 1/4-20
SHCS

0.750

(19.1)

2.6

(66.0)

0.75

(19.1)

1.50

(38.1)

0.85

(21.6)

1.25

(31.8)

0.60

(15.2)

43

5

3.25

(82.6)

1.56

(39.6)

1.30

(33.0)

2.20

(55.9)

0.95

(24.1)

1

2

L

O

P

E

D

A

C

B

G

F

5.15 (130.8)

Screw

Lead

Screw

Efficiency

%

Nom. Screw

Diam.

inches

(mm)

Inch Lead

inches (mm)

Max Drag

Torque

oz inch

(Nm)

0.10" 40 0.625 (15.9) 0.100 (2.54) 5.0 (0.04)

0.20" 53 0.625 (15.9) 0.200 (5.08) 6.0 (0.04)

0.50" 76 0.625 (15.9) 0.500 (12.70) 7.0 (0.05)

1.00" 81 0.625 (15.9) 1.000 (25.40) 8.5 (0.06)

Table E.1: MDrive34Plus Linear Slide Specifications

Mechanical Specifications

Dimensions in Inches (mm)

1 Motor Mounting Plate

2 Heli-Cal Coupling

3 Sunx P/N PM-L24 sensor or equivalent
(not supplied)

4 Optional Sensor Flag Kit
for use with U-channel sensor
(details below)

SIDE VIEW

Life @ ¼

Design Load

inches

(cm)

100,000,000

(254,000,000)

100,000,000

(254,000,000)

100,000,000

(254,000,000)

100,000,000

(254,000,000)

Torque to

Move Load

oz inch/lb

(Nm/kg)

Axial

Design Load

lbs

(kg)

1.3 (0.020) 100 (46)

2.0 (0.031) 100 (46)

3.0 (0.047) 100 (46)

6.5 (0.101) 100 (46)

END VIEW

Screw Inertia

oz.in.sec2/inch

(Kgm2/m)

14.2 x 10

-5

(3.9 x 10-5)

14.2 x 10

-5

(3.9 x 10-5)

14.2 x 10

-5

(3.9 x 10-5)

14.2 x 10

-5

(3.9 x 10-5)

TOP VIEW

Sensor Flag Kit Option

P/N RSM10-K Includes:

A #2-56 X 1/4" Long BHCS (6)

B Sensor Holder (3)

C #4-40 X 1/2" Long SHCS (3)

D Flag for Optical Sensor (1)

E #6-32 X 1/2" Long SHCS (2)

Travel distance = L – (O + P)

Optical sensor – Sunx P/N PM-L24
or equivalent (not supplied)

MDrive34

MDrive34

[O + P = 4.55" (115.6 mm)]

Mounting Bracket Kit Option

P/N RMB10-K Includes:

F Mounting Bracket (2)

G #1/4-20 X 3/4" Long SHCS (4)

Plus

Plus

Mounting Holes

Slide

Max Hole

Distance

D

Extra Hole

Sets (not

shown)

2X M8 SHCS

(not supplied)

2X M8 steel washer

(not supplied)

Length

L

12" 10.5" none 10.5"

18" 16.5" 1 8.25"

24" 22.5" 2 7.5"

36" 34.5" 2 11.5"

42" 40.5" 2 13.5"

Equal

Space

Between

Holes

A-30

Figure F.3: Mechanical Specifications

MDrive 34Plus Microstepping Hardware - Revision R071108

Relevant to Firmware Version 3.0.02

WARRANTY

TWENTY-FOUR (24) MONTH LIMITED WARRANTY

Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the
product purchased from IMS (the “Product”) will be free from defects in materials and workmanship under the normal use
and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the
Customer. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s
sole option, of the Product, or any part of the Product, determined by IMS to be defective. In order to exercise its warranty
rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty
Service.”

This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or
misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the

Product; installation, operation or use of the Product not made in strict accordance with the specications and written

instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary

wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modications to the Product; the misuse

or failure of any item or equipment connected to the Product not supplied by IMS; improper maintenance or repair of the
Product; or any other reason or event not caused by IMS.

IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY
LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS
FOR ANY PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS
STATED ABOVE, AND IN NO EVENT WILL THE IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR
INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.

This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This
Limited Warranty is the sole warranty offered by IMS with respect to the Product. IMS does not assume any other liability in
connection with the sale of the Product. No representative of IMS is authorized to extend this Limited Warranty or to change
it in any manner whatsoever. No warranty applies to any party other than the original Customer.

IMS and its directors, ofcers, employees, subsidiaries and afliates shall not be liable for any damages arising from any

loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production

or prots, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages,

whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory,
or other losses or expenses incurred by the Customer or any third party.

OBTAINING WARRANTY SERVICE

Warranty service may obtained by a distributor, if the Product was purchased from IMS by a distributor, or by the Customer
directly from IMS, if the Product was purchased directly from IMS. Prior to returning the Product for service, a Returned
Material Authorization (RMA) number must be obtained. Complete the form at http://www.imshome.com/rma.html after
which an RMA Authorization Form with RMA number will then be faxed to you. Any questions, contact IMS Customer
Service [phone].

Include a copy of the RMA Authorization Form, contact name and address, and any additional notes regarding the Product
failure with shipment. Return Product in its original packaging, or packaged so it is protected against electrostatic discharge
or physical damage in transit. The RMA number MUST appear on the box or packing slip. Send Product to: Intelligent Motion
Systems, Inc., 370 N. Main Street, Marlborough, CT 06447.

Customer shall prepay shipping changes for Products returned to IMS for warranty service and IMS shall pay for return of
Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for
Products returned to IMS from outside the United States.

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Tel. [phone] - Fax [phone]
e-mail: [e-mail]
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TECHNICAL SUPPORT

Tel. [phone] - Fax [phone]
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Intelligent Motion Systems, Inc.

370 North Main Street, P.O. Box 457
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e-mail: [e-mail]
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© Intelligent Motion Systems, Inc. All Rights Reserved. REV071108

IMS Product Disclaimer and most recent product information at www.imshome.com.