Intelligent Motion Systems MFM Motion Detector User Manual

FORCE

POWER DRIVE

MOTION CONTROL

[with optional CANopen]

Excellence in Motion

TM

TM

FEATURES

• Highly Integrated, High Performance
Microstepping Driver and Motion Controller

• Advanced 2nd Generation Current
Control for Exceptional Performance
and Smoothness

• Single Supply: +12 to +75 VDC

• Low Cost

• Compact Package

• High Output Current up to 5 Amps RMS,

7 Amps Peak (Per Phase)

• Auxiliary Logic Power Supply Input

• 20 Microstep Resolutions up to

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

• Open or Optional Closed Loop Control

Programmable Motor Run and Hold Currents

•

• One 10 Bit Analog Input Selectable: 0 to

+10 VDC

• 0 to 5MHz Step Clock Rate
Selectable in 0.59Hz In cre ments

• RS-422/485 or Optional CANopen*
Communications

• 62 Software Addresses for
Multi-Drop Communications

• Simple 1 to 2 Character Instructions

• 8 I/O Lines, +24 VDC Tolerant,
Sourcing or Sinking, Inputs and Outputs

• Electronic Gearing

• Open Loop or Optional External/Remote
Encoder for Closed Loop Control

• High Speed Position Capture Input or
Trip Output

• Dual Mounting Confi gurations

• Pluggable Locking Wire Crimp Interface

*CANopen may not support some objects.

, 0 to +5 VDC, 0-20 mA, 4-20 mA

DESCRIPTION

The Motion Control MForce PowerDrive
offers system designers a low cost,
high performance microstepping driver
integrated with an in tel li gent, program­mable motion con trol ler.

The unsurpassed smoothness and
performance delivered by MForce Pow­erDrives are achieved through IMS's
advanced 2nd generation current
control. By applying innovative tech­niques to control current fl ow through
the motor, resonance is signifi cantly
dampened over the entire speed range
and audible noise is reduced.

Motion Control MForce PowerDrives
accept 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
+85°C provides long life, trouble free
service in demanding environments.

A high, per phase output current of up
to 5 Amps RMS, 7 Amps Peak, allows
the compact MForce PowerDrive to
control a broad array of motors from
size 23 to size 42.

Standard features include eight +5 to
+24 volt general pur pose I/O lines and
the capability of electronic gearing by
following a rotary or linear axis at an
electronically controlled ratio, or an
output clock can be generated fi xed to
the internal step clock. Also included
are one 10 bit analog in put, 0 to
5MHz step clock rate, 20 microstep
res o lu tions up to 51,200 steps per
rev o lu tion, and full fea tured easy-to­program in struc tion set.

MForce PowerDrives are available
with optional closed loop con trol. This
increases functionality by adding stall
detection, position main te nance and
fi nd index mark. The closed loop con­fi guration offers an expanded choice of
line counts and resolutions by interfac­ing to a remotely mounted user-sup­plied external encoder.

Motion Control MForce PowerDrives
com mu ni cate over RS-422/485 which
al lows for point-to-point or multiple unit
con fi g u ra tions utilizing one com mu ni c­a tion port. Addressing and hard ware
support up to 62 uniquely addressed
units com mu ni cat ing over a single line.
Baud rate is selectable from 4.8 to

115.2kbps.

Optional communication protocols
include CANopen. The CAN bus is

2.0B active (11 and/or 29 bit) and
is capable of all standard frequencies
from 10kHz to 1MHz. CANopen fea­tures include node guarding, heartbeat
producer, SDOs and PDOs. Highlights
include variable PDO mapping and ex­tended node identifi er.*

The versatile Motion Control MForce
PowerDrive comes with dual mounting
confi gurations to fi t various system
needs. All in ter face con nec tions are ac­complished using pluggable locking wire
crimp connectors, with the exception of
the CANopen option which uses a DB9
connector. Optional cables are available
for ease of connecting and confi guring
the MForce, and are recommended
with fi rst order.

The Motion Control MForce PowerDrive
is a compact, powerful and inexpensive
solution that will reduce system cost,
design and assembly time for a large
range of applications.

www.imshome.com

MForce PowerDrive

–

STANDARD SPEC I FI CA TIONS

MOTION CONTROL

INPUT VOLTAGE (+V)

AUX. LOGIC INPUT VOLTAGE

OUTPUT CURRENT

ANALOG INPUT

GENERAL PURPOSE I/O

COMMUNICATION

MOTION

SOFTWARE

‡

THERMAL

Adjusting the microstep resolution can increase the range.

Range +12 to +75 VDC

Range

RMS (Max) 5 Amps

Peak (Per Phase) 7 Amps

Resolution 10 Bit

Voltage Range 0 to +5 VDC, 0 to +10 VDC,

Number/Type 8 Sourcing or Sinking Outputs/Inputs

Logic Range

Output Sink Current Up to 600 mA per Channel

Protection Over Temp, Short Circuit, Transient Over Voltage, Over Voltage, Inductive Clamp

Type (Standard) RS-422/485

Baud Rate 4.8 to 115.2kbps

Type (Optional) CANopen DSP-402 (V2.0), DS-301 (V3.0), 2.0B Active

ID 11 and/or 29 Bit

Isolation Galvanic

Features Node Guarding, Heartbeat, SDOs, PDOs (Variable Mapping)

Open Loop Confi guration or
Optional Closed Loop Confi guration

Optional Remote Encoder
Closed Loop Confi guration

Counters

Velocity

Accel/Decel

Electronic Gearing

High Speed I/O

Program Storage Type/Size Flash/6384 Bytes

User Registers (4) 32 Bit

User Program Labels and Variables 192

Math Functions +, –, ×, ÷, >, <, =, <=, >=, AND, OR, XOR, NOT

Branch Functions Branch & Call

General Purpose I/O
Functions

Trip Functions Trip on Input, Trip on Position, Trip on Time, Trip Capture

Party Mode Addresses 62

Encoder Functions Stall Detection, Position Maintenance, Find Index

Heat Sink Temperature –40° to +85°C

+12 to +24 VDC

Maintains power to control and feedback circuits (only) when input voltage is removed.

0-20 mA, 4-20 mA

Sourcing Outputs +12 to +24 VDC, Inputs and Sinking Outputs Tolerant to +24 VDC,
Inputs TTL Level Compatible

Number of Settings 20

200,

400, 800, 1000, 1600, 2000, 3200, 5000,

Steps Per Revolution

Type User-Supplied Differential Encoder

Resolution

Type Position, En cod er/32 Bit

Edge Rate (Max) 5 MHz

Range +/- 5,000,000 Steps Per Second

Resolution 0.5961 Steps Per Second

Range 1.5 x 10

Resolution 90.9 Steps Per Second

Range‡/Resolution/Threshold
(External Clock In)

Input Filter Range 50 nS to 12.9 µS (10 MHz to 38.8 kHz)

Range‡ (Secondary Clock Out) 1 to 1

Position
Capture

Trip Output –
Speed/Resolution/Threshold

Inputs

Outputs Moving, Fault, Stall, Velocity Change, General Purpose

Input Filter Range 50 nS to 12.9

Resolution 32 Bit

6400, 10000, 12800,
40000, 50000, 51200, 36000 (0.01 deg/µstep),
21600 (1 arc minute/µstep), 25400 (0.001mm/µstep)

User-Defi ned
Note: µstep/rev 2X the encoder count/rev minimum

9

Steps Per Second

0.001 to 2.000/32 Bit/TTL

150 nS/32 Bit/TTL

Home, Limit Plus, Limit Minus, Go, Stop, Pause, Jog
Plus, Jog Minus, Analog In, General Purpose

20000

, 25000, 25600,

2

2

µ

S (10 MHz to 38.8 kHz)

MOTOR RECOMMENDATIONS

IMS PART NUMBERS

SINGLE LENGTH

DOUBLE LENGTH

TRIPLE LENGTH

2 MForce PowerDrive – Motion Control REV052307

Size 23 (2.4 Amps) Size 23 (3.0 Amps) Size 23 (6.0 Amps) Size 34 (6.4 Amps)

M-2218-2.4 M-2218-3.0 M-2218-6.0 M-3424-6.3

M-2222-2.4 M-2222-3.0 M-2222-6.0 M-3431-6.3

M-2231-2.4 M-2231-3.0 M-2231-6.0 M-3447-6.3

MOTOR PERFORMANCE — Speed-Torque

NEMA 23 — 2.4 Amps RMS

225

200

C

175

150

B

125

100

75

A

Torque in Oz - In

50

25

0

0

1000

2000

3000

(300)

(600)

(900)

4000

(1200)

5000

(1500)

24 VDC
45 VDC
75 VDC

(1800)

6000

7000

(2100)

159

141

124

106

88

71

53

35

18

NEMA 23 — 3.0 Amps RMS

225

Torque in N - cm

200

175

150

125

100

75

Torque in Oz - In

50

25

0

Speed in Full Steps per Second (RPM)

NEMA 23 — 6.0 Amps RMS

225

200

C

175

150

B

125

100

A

75

Torque in Oz - In

50

25

0

0

1000

2000

3000

(300)

(600)

(900)

4000

(1200)

5000

(1500)

24 VDC
45 VDC
75 VDC

(1800)

6000

7000

(2100)

159

141

124

106

88

71

53

35

18

NEMA 34 — 6.3 Amps RMS

1000

Torque in N - cm

900

800

700

600

500

400

300

orque in Oz - In
T

200

100

0

Speed in Full Steps per Second (RPM)

PIN ASSIGNMENTS

P1: I/O CONNECTOR

Pluggable Locking

Wire Crimp

Standard

Pin 1 I/O Power I/O Power
Pin 2 I/O Ground I/O Ground
Pin 3 I/O 1 I/O 1
Pin 4 I/O 2 I/O 2
Pin 5 I/O 3 I/O 3
Pin 6 I/O 4 I/O 4
Pin 7 I/O 9 I/O 9
Pin 8 I/O 10 I/O 10

Pin 9 I/O 11 I/O 11
Pin 10 I/O 12 I/O 12
Pin 11 Capture/Trip I/O Capture/Trip I/O
Pin 12 Analog In Analog In
Pin 13 Step/Clock I/O Step/Clock I/O
Pin 14 Direction/Clock I/O Direction/Clock I/O
Pin 15
Pin 16 Channel A –
Pin 17 Channel B +
Pin 18 Channel B –

not applicable

Pin 19 Index +
Pin 20 Index –

P2: COMM CONNECTOR

RS-422/485

Friction Lock Wire Crimp Function DB9 Function

Pin 1 TX +
Pin 2 Comm Ground
Pin 3 RX – Pin 3 CAN –V
Pin 4 TX – Pin 4 Aux Power
Pin 5

Aux-Logic (+12 to +24 VDC)
Pin 6 RX +
Pin 7 RX + Pin 7 CAN High
Pin 8 RX – Pin 8 No Connect
Pin 9 TX + Pin 9 CAN +V

Pin 10 TX –

P3: POWER CONNECTOR

Wire Crimp Function

Pin 1 +V (+12 to +75 VDC)
Pin 2 Power/Aux Ground

Function

With Optional Remote

Encoder Closed Loop Control

Channel A +

CANopen

Pin 1 No Connect
Pin 2 CAN Low

Pin 5 Shield
Pin 6 CAN –V

P4: MOTOR CONNECTOR

Wire Crimp

Pin

1 Phase A

Function

Pin 2 Phase /A
Pin 3 Phase B
Pin 4 Phase /B

C

B

A

0

1000

2000
(600)

3000
(900)

(300)

Speed in Full Steps per Second (RPM)

C

B

A

0 1000

2000
(600)

3000
(900)

(300)

Speed in Full Steps per Second (RPM)

MECHANICAL SPECIFICATIONS

Dimensions in Inches (mm)

FRONT VIEW

2.116

(53.75)

BOTTOM VIEW

3.897

(98.98)

0.417 TYP .

(10.59 TYP .)

Connector Options

P2

Pluggable Locking Wire Crimp

4000

(1200)

4000

(1200)

2X 0.580

(2X 14.73)

0.225
(5.72)

2.931 TYP .

(74.45 TYP .)

P3 P1

5000

(1500)

5000

(1500)

0.308 TYP .
(7.82 TYP .)

P4

24 VDC
45 VDC
75 VDC

(1800)

(1800)

159

141

124

106

88

71

53

35

18

6000

7000

(2100)

706

635

24 VDC

465

45 VDC

494

75 VDC

423

353

282

211

140

6000

71

7000

(2100)

3.473

(88.21)

Connector Options

3.00 ±0.01

(76.2 ±0.25)

2.950

(74.93)

(88.21)

P2

P3 P1

Remote Encoder Option

Torque in N - cm

T
orque in N - cm

3.473

P4

Single Stack

A

Double Stack

B

Triple Stack

C

0.160 ±0.01
(4.06 ±0.25)

Ø 0.160 ±0.01 Thru
(Ø 4.06 ±0.25 Thru)
4X #6 Screws
for Flat Mount

CANopen with DB9

Ø 0.187 ±0.01
(Ø 4.75 ±0.25)
2X #8 Screws
for End Mount

P3 P1

P2

MForce PowerDrive – Motion Control REV052307 3

P4

MForce PowerDrive

–

MOTION CONTROL

OPTIONS

Remote Encoder

For optional closed loop control, Motion Control MForce

PowerDrives are available with differential encoder inputs
for use with a remote encoder (not supplied).

Motors and Encoders

IMS offers a wide range of motors, encoders and accessories

recommended for interface with the Motion Control MForce
PowerDrive. For complete specifi cations on these products,
please visit the IMS web site at www.imshome.com.

Power Supplies

IMS recommends the following power supplies for operat-

ing the MForce PowerDrive: IP804, IP806, ISP300-7. For
complete power supply specifi cations, visit the IMS web site
at www.imshome.com.

ORDER INFORMATION

FORCE

POWER DRIVE

MOTION CONTROL

TM

P2: Communications
RL = RS-422/485 with 10-Pin Friction Lock Wire Crimp
CB = CANopen with DB9 Connector

P3: Power
2-Pin Locking Wire Crimp

P1: I/O
14-Pin Locking Wire Crimp
(20-Pin with Remote Encoder)

Example: Part Number MFI3CRL34N7
with 14-pin I/O interface, 2-pin power interface, RS-422/485 communications with
10-pin friction lock wire crimp connector and 4-pin motor interface.

Option: Include -EE to part number for optional interface to remote encoder (not supplied).

ACCESSORIES

Communications Converter Cable and Adapter

With an in-line RS-422 converter, this optional 12.0' (3.6m)
cable and adapter, MD-CC400-000 and MD-ADP-H, facilitate
the parameter setting of a single Motion Control MForce Pow­erDrive from its P2 connector to a PC's USB port with plug­gable mating connectors. Recommended with fi rst order.

Prototype Development Cables

To speed prototyping, 10.0' (3.0m) development cables are
available with pluggable locking wire crimp mates to:

I/O: 14-pin Connector ....................... PD14-2334-FL3

I/O:

20-pin Remote Encoder Connector

.... PD20-3400-FL3

Power: 2-pin Connector ..................... PD02-3400-FL3

Comm: 10-pin Connector ................... PD10-1434-FL3

Motor Interface: 4-pin

Accessories details at: www.imshome.com/cables_cordsets.html

Connector ........... PD04-MF34-FL3

OPTION

MFI3C 34N7 – EE

Remote Encoder Interface
For Closed Loop Control
(Encoder Not Supplied)

P4: Motor Interface
4-Pin Locking Wire Crimp

is a Motion Control MForce PowerDrive

www.imshome.com

370 N. Main St., P.O. Box 457
Marlborough, CT 06447 U.S.A.
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DISTRIBUTED BY:

intelligent motion systems, INC.

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Excellence in Motion

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Fareham, Hampshire PO15 5TT
Phone: [phone]
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© Intelligent Motion Systems, Inc. All Rights Reserved. REV052307

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