MDrive34Plus
Microstepping
Integrated Motor and Driver
TM
MDrive34Plus Microstepping Hardware Reference Change Log
Date |
Revision |
Changes |
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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 |
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temperature spec to -0 to +75°C (non-condensing humidity, measured at the heat sink) and -0 to +90°C (non-condensing |
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humidity, measured at the motor.) Added Section 2.1: Mounting and Interface Guidelines and Section 2.2: Interfacing |
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DC Power. Added new cables to Appendix D. |
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Major updates throughout. |
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12/14/2007 |
R121407 |
Minor corrections and modifications. Relevant to Frimware Version 3.0.02 |
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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 |
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up/down clock type. Added qualification os personnel and intended use statements to inside front. |
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07/11/2008 |
R030708 |
Updated to give visibility to isolated USB to SPI Communications Converter cables and new Mating Connector Kits. |
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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 
TM 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
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 specifically 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.
Qualification of personnel
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 sufficient 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 specifically 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 specified operating conditions, such as environmental conditions and specified technical data, must be observed.
The drive system must not be commissioned and operated until completion of installation in accordance with the EMC regulations and the specifications in this manual.
To prevent personal injury and damage to property damaged drive systems must not be installed or operated.
Changes and modifications 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 specified 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).
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Table Of Contents |
|
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 |
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 |
SPI Timing Notes.................................................................................................................... |
2-35 |
Check Sum Calculation for SPI............................................................................................... |
2-35 |
SPI Commands and Parameters............................................................................................... |
2-36 |
SPI Communications Sequence........................................................................................... |
2-37 |
Appendices |
|
Appendix A: MDrive34Plus Microstepping Motor Performance.................................................. |
A-3 |
Speed-Torque Curves................................................................................................................. |
A-3 |
Motor Specifications.................................................................................................................. |
A-4 |
Appendix B: Planetary Gearboxes............................................................................................... |
A-5 |
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 |
Appendix C: Connectivity......................................................................................................... |
A-15 |
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 |
Appendix D: Interfacing an Encoder ........................................................................................ |
A-25 |
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 |
List Of Figures
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 |
|
Figure 1.1.1: MDrive34Plus Microstepping Integrated Motor and Driver Electronics............... |
1-5 |
Figure 1.2.1: MDrive34Plus Microstepping Dimensional Information...................................... |
1-9 |
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 |
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
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 |
Appendices |
|
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
List of Tables |
|
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 |
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
GETTING STARTED
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
Using the recommended wire, connect the following to your controller or PLC:
Optocoupler Supply (+5 to +24 VDC)
Step Clock Input
Direction Input
Connecting Parameter Setup Cable
Control Device
+VDC Motor Supply
+
Step Clock 
Direction
GND
+
+5 to +24 Opto Supply
See Specifications and interface information for the pin numbering of your MDrivePlus model.
MDrivePlus Microstepping
Figure GS.1: Minimum Logic and Power Connections
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.
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.
Part 1: Hardware Specifications |
1-1 |
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. Operating Range is
-40 to +75°C.
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.
Note: Interactive usage tutorials are available at the IMS
Web Site at http:// www.imshome.com/tutorials. html
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.
Motion Settings Dialog Input Settings Dialog
Figure GS.2: IMS Motor Interface Showing Default Settings
1-2 |
MDrive 34Plus Microstepping Hardware - Revision R071108 |
|
Relevant to Firmware Version 3.0.02 |
TM
MICROSTEPPING
PART 1:
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 |
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Relevant to Firmware Version 3.0.02 |
SECTION 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.
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 and communication configuration.
Will not set out-of-range values.
Tool-tips display valid range setting for each option.
Simple screen interfaces.
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, Quadrature, Step Up and Step Down
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
1-6 |
MDrive 34Plus Microstepping Hardware - Revision R071108 |
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Relevant to Firmware Version 3.0.02 |
SECTION 1.2
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MDrive34Plus Microstepping |
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General Specifications |
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Electrical Specifications |
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Input Voltage (+V) Range* |
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+12 to +75 VDC |
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Max Power Supply Current (Per MDrive34Plus)* |
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* 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) |
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-40°C to +75°C |
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Motor Temperature (non-condensing humidity) |
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-40°C to +90°C |
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Table 1.2.2: MDrive34Plus Microstepping Environmental Specifications |
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I/O Specifications |
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Isolated Inputs — Step Clock, Direction and Enable |
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Resolution |
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10 Bit |
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Voltage Range (Sourcing or Sinking) |
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+5 to +24 VDC |
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Current (+5 VDC Max) |
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8.7 mA |
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Current (+24 VDC Max) |
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14.6 mA |
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Table 1.2.3: MDrive34Plus Microstepping I/O Specifications |
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Communications Specifications |
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Protocol |
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SPI |
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Table 1.2.4: MDrive34Plus Microstepping Communications Specifications |
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Motion Specifications |
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Microstep Resolution |
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Number of Resolutions |
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20 |
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Available Microsteps Per Revolution |
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200 |
400 |
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800 |
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1000 |
1600 |
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2000 |
3200 |
5000 |
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6400 |
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10000 |
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12800 |
20000 |
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25000 |
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25600 |
40000 |
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50000 |
51200 |
360001 |
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216002 |
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254003 |
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1 = 0 . 0 1 d e g / µ s t e p |
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2 = 1 a r c m i n u t e / µ s t e p |
3 = 0 . 0 0 1 m m / µ s t e p |
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Digital Filter Range |
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50 nS to 12.9 µS |
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(10 MHz to 38.8kHz) |
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Step/Direction, |
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Clock Types |
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Quadrature, Clock |
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Up/Clock Down |
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Step Frequency (Max) |
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5.0 MHz |
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Step Frequency Minimum Pulse Width |
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100 nS |
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Table 1.2.5: MDrive34Plus Microstepping Motion 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 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-cm2 |
Weight (Motor + Driver) |
4.1 lb/1.9 kg |
Double Length |
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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-cm2 |
Weight (Motor + Driver) |
5.5 lb/2.5 kg |
Triple Length |
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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-cm2 |
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 |
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MHC |
Motor Hold Current |
0 to 100 |
percent |
5 |
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MRC |
Motor Run Current |
1 to 100 |
percent |
25 |
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1, 2, 4, 5, 8, 10, 16, 25, |
µsteps per |
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MSEL |
Microstep Resolution |
32, 50, 64, 100,108, 125, |
256 |
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full step |
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127,128, 180, 200, 250, 256 |
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EN ACT |
Enable Active High/Low |
High/Low |
— |
High |
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DIR |
Motor Direction Override |
0/1 |
— |
CW |
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HCDT |
Hold Current Delay Time |
0 or 2-65535 |
mSec |
500 |
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CLK TYPE |
Clock Type |
Step/Dir. Quadrature, Up/ |
— |
Step/Dir |
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Down (CW/CCW) |
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CLK IOF |
Clock and Direction Filter |
50 nS to 12.9 µS |
nS |
200 nS |
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(10 MHz to 38.8kHz) |
(MHz) |
(2.5 MHz) |
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WARN TEMP |
Warning Temperature |
0 to +125 |
°C |
80 |
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USER ID |
User ID |
1-3 characters |
Viewable ASCII |
IMS |
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Table 1.2.7: Setup Parameters
1-8 |
MDrive 34Plus Microstepping Hardware - Revision R071108 |
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Relevant to Firmware Version 3.0.02 |
Mechanical Specifications
Dimensions in Inches (mm)
4X Ø 0.217 (Ø 5.51)
Ø 0.5512 +0/-0.0004 (Ø 14.0 +0/-0.010)
Ø 2.874 ±0.002 (Ø 73.0 ±0.05)
2.739 SQ.
(69.57 SQ.) 
3.39 SQ.
(86.1 SQ.)
1.981
(50.32)
0.731 |
1.250 |
(18.57) |
(31.75) |
0.394
(10.01)
3.727
(94.67)
LMAX
LMAX2
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)
LMAX2 Option - Control Knob
Ø 1.90 
(Ø 48.3) 
Figure 1.2.1: MDrive34Plus Microstepping Dimensional Information
Part 1: Hardware Specifications |
1-9 |
Connector Options
The MDrive34Plus Microstepping comes in three Connector Options
1.12" (30.5 cm) Flying Leads
2.Locking Wire Crimp Connectors
Connector
Options
Note: All Interface and Connection Illustrations in this document are shown from this perspective, Motor facing right.
Flying Leads |
Locking Wire Crimp |
P1
Pin 1
P2
P1
Type: 12’ (30.5 cm) Flying Leads Function: Power, I/O and Encoder
(optional)
P2
Type: 10-Pin IDC
Function: SPI Communications
Pin 1
P3
Pin 1
P1
P1
Type: 12-Pin Locking Wire Crimp
Function: Power, I/O and SPI Comm.
P3
Type: 2-Pin Locking Wire Crimp
Function: DC Power
Locking Wire Crimp with Internal Optical Encoder
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Pin 1 |
P3 |
Pin 1 |
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P4 |
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Pin 1 |
P1 |
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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
Figure 1.2.2: MDrive34Plus Microstepping Connector Options
1-10 |
MDrive 34Plus Microstepping Hardware - Revision R071108 |
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Relevant to Firmware Version 3.0.02 |
Pin Assignment And Description - Flying Leads Version
P1 Connector - Power, I/O and Internal Optical Encoder (Optional)
Pin Assignment - P1 Power and I/O Connections
Flying Lead |
Wire Color |
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with Internal |
Function |
Description |
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Wire Color |
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Encoder |
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The Signal applied to the Optocoupler Reference will |
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White |
White |
Opto Reference |
the inputs. To set the inputs for sinking operation, a |
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+5 to +24 VDC supply is connected. If sourcing, the |
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Reference is connected to Ground |
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Step Clock input. The step clock input will receive the |
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Orange |
Orange |
Step Clock/Channel A/ Clock |
clock pulses which will step the motor 1 step for each |
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Up |
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pulse. It may also receive quadrature and clock up |
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type inputs if so configured. |
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Direction input. The axis direction will be with respect |
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Blue |
Blue |
Direction/Channel B/ Clock |
to the state of the Direction Override Parameter. It |
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Down |
may also receive quadrature and clock up type inputs |
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if so configured. |
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Enable/Disable Input will enable or disable the |
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Brown |
Brown |
Enable |
driver output to the motor. In the disconnected state |
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the driver outputs are enabled in either sinking or |
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sourcing configuration. |
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Black |
Black |
GND |
Power Ground. The return of the +12 to +75 VDC |
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power supply. |
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Red |
Red |
+V |
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+12 to +75 VDC Motor Power Supply input. |
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Differential |
Single-End |
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Yellow/Black |
Ground |
Ground |
Encoder Ground (common with power ground). |
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Yellow/Violet |
Index + |
Index |
Index + (Index Single-End) Encoder Output. |
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Yellow/Blue |
Channel A + |
Channel A |
Channel A+ (Channel A Single End) Encoder Output. |
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Yellow/Red |
+5 VDC Input |
+5 VDC Input |
+5 VDC Encoder power input. |
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Yellow/Brown |
Channel B + |
Channel B |
Channel B+ (Channel B Single End) Encoder Output. |
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Yellow/Gray |
Index – |
— |
Index – Differential Encoder Output. |
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Yellow/Green |
Channel A – |
— |
Channel A – Differential |
Encoder Output. |
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Yellow/Orange |
Channel B – |
— |
Channel B – Differential |
Encoder Output. |
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Table 1.2.8 P1 — Pin Assignment, Power and I/O
White: OptoRef
Orange: Step Clock
Blue: Direction
Brown: Enable
Black: GND
Red: +VDC
Figure 1.2.3: MDrive34Plus Microstepping Flying Leads
Part 1: Hardware Specifications |
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 |
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Relevant to Firmware Version 3.0.02 |
P2 Connector - SPI Communications
Pin Assignment - P2 SPI Communications
10-Pin IDC |
Function |
Description |
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Pin 1 |
— |
No Connect |
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Pin 2 |
— |
No Connect |
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Pin 3 |
— |
No Connect |
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Pin 4 |
CS |
SPI Chip Select. This signal is used to turn communications |
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Pin 5 |
GND |
Communications Ground. |
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Pin 6 |
+5 VDC Output |
Supply voltage for the MD-CC300-000 Cable ONLY! |
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Pin 7 |
MOSI |
Master-Out/Slave-In. Carries output data from the SPI |
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Master to the MDM. |
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Pin 8 |
SPI Clock |
The Clock is driven by the SPI Master. The clock cycles |
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once for each data bit. |
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Pin 9 |
— |
No Connect |
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Pin 10 |
MISO |
Master-In/Slave-Out. Carries output data from the MDM |
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back to the SPI Master. |
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Recommended |
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Converter/Cable |
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MD-CC300-000 |
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Table 1.2.9: P2 Connector – SPI Communications
Recommended Cable:
MD-CC300-000
10 9 P2
8 7
6 5
4 3
2 1
Note: The P2
Connector (10-
Pin 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.
Figure 1.2.6: P2 Connector - SPI Communications
Part 1: Hardware Specifications |
1-13 |
NEED A CABLE?
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 |
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Pin 1 |
N/C |
No Connect. |
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Pin 2 |
N/C |
No Connect. |
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The Signal applied to the Optocoupler Reference will |
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determine the sinking/ or sourcing configuration of the inputs. |
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Pin 3 |
Opto Reference |
To set the inputs for sinking operation, a +5 to +24 VDC |
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supply is connected. If sourcing, the Reference is connected |
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to Ground |
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Step Clock input. The step clock input will receive the clock |
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Pin 4 |
Step Clock/Channel |
pulses which will step the motor 1 step for each pulse. It |
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A/ Clock Up |
may also receive quadrature and clock up type inputs if so |
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configured. |
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Enable/Disable Input will enable or disable the driver output |
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to the motor. In the disconnected state the driver outputs are |
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Pin 5 |
Enable |
enabled in either sinking or sourcing configuration. Enable can |
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be configured as either active high or active when low in the |
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parameters. |
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Direction/Channel |
Direction input. The axis direction will be with respect to the |
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Pin 6 |
state of the Direction Override Parameter. It may also receive |
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B/ Clock Down |
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quadrature and clock up type inputs if so configured. |
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Pin 7 |
+5 VDC Output |
Supply voltage for the MD-CC300-000 Cable ONLY! |
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Pin 8 |
SPI Clock |
The Clock is driven by the SPI Master. The clock cycles once |
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for each data bit. |
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Pin 9 |
GND |
Communications Ground. |
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Pin 10 |
MOSI |
Master-Out/Slave-In. Carries output data from the SPI Master |
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to the MDM. |
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Pin 11 |
CS |
SPI Chip Select. This signal is used to turn communications |
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on multiple MDM units on or off. |
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Pin 12 |
MISO |
Master-In/Slave-Out. Carries output data from the MDM back |
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to the SPI Master. |
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Table 1.2.10: P1 Connector – I/O and SPI Communications
Recommended Cable:
PD12-1434-FL3
11 12
9 10
7 8
5 6
3 4
1 2
Figure 1.2.7: P2 Connector - I/O and SPI Communications
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MDrive 34Plus Microstepping Hardware - Revision R071108 |
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Relevant to Firmware Version 3.0.02 |
P3 Connector - DC Power, 2-Pin Locking Wire Crimp
Pin Assignment - P3 Power
2-Pin Locking |
Function |
Description |
|
Wire Crimp |
|||
|
|
||
Pin 1 |
+V |
+12 to +75 VDC, 4 Amps Maximum per MDrive34Plus. |
|
Pin 2 |
GND |
Power Supply Return. |
Table 1.2.11: P3 Connector
Recommended Cable:
P/N PD02-3400-FL3
1 
P3
2
Figure 1.2.8: P3 Connector - DC Power +12 to +75 VDC
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.
Part 1: Hardware Specifications |
1-15 |
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 |
Function |
Description |
|
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 |
|
|
Table 1.2.12: P4 Connector – Optional Internal Differential Encoder
Recommended Cable:
P/N PD10-3400-FL3
2 |
1 |
|
P4 |
|
|||
6 |
5 |
|
|
4 |
3 |
|
|
8 |
7 |
|
|
10 9
Figure 1.2.9: P4 Connector – Internal Differential Encoder Interface
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MDrive 34Plus Microstepping Hardware - Revision R071108 |
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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 |
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MDrive 34Plus Microstepping Hardware - Revision R071108 |
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Relevant to Firmware Version 3.0.02 |
TM
MICROSTEPPING
PART 2:
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
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MDrive 34Plus Microstepping Hardware - Revision R071108 |
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Relevant to Firmware Version 3.0.02 |
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