Intelligent Motion Systems 17 manual MDrive23 Motion Control Specifications, MDI2218

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Section 1 . 4

MDrive23 Motion Control Specifications

S e c t i o n O v e r v i e w

This section contains mechanical, motor and electrical specifications specific to each version of the MDrive23 Motion Control. Shown are:

!Rotary Motor Specifications

!Linear Motor Specifications

!General Specifications

!Power Supply Requirements

!Thermal Specifications

R o t a r y M o t o r S p e c i f i c a t i o n s

M e c h a n i c a l S p e c i f i c a t i o n s - D i m e n s i o n s i n I n c h e s ( m m )

Interface

Option

1.625

(41.28)

0.060

(1.53)

2.907

(73.84)

L MAX

L MAX2

0.810 ± .030

(20.57 ±.76)

0.590

(14.86)

0.230 ± .005

(5.84 ± .127 )

0.2500 (6.35)

Ø0.2495 (6.34)

Ø1.500 ±.002 (Ø 38.10 ±.05)

1.500

(38.10)

4 x Ø 0.205 (5.21) ±.010 (.25) HOLES EQ. SPACED ON A 2.625 (66.68) DBC.

1.860 SQ.

(47.24 SQ.)

2.22SQ.

(56.39 SQ.)

Standard Rotary Motor (LMAX)

Stack	In (mm)
2218	2.632	(66.85)
2222	3.000	(76.20)
2231	3.960 (100.58)

Control Knob (LMAX2)

Stack	In (mm)
2218	3.088	(78.44)
2222	3.537	(89.84)
2231	4.416 (112.17)

Figure 1.8: Rotary MDrive23 Motion Control Mechanical Specifications

M D r i v e M o t i o n C o n t r o l 2 2 1 8 M o t o r S p e c s a n d S p e e d / To r q u e C u r v e s

MDI2218

	Holding Torque oz-in (N-cm)	90	(64)
	Detent Torque oz-in (N-cm)	3.5	(2.5)
	Rotor Inertia oz-in-sec2(kg-cm2)	0.0025 (0.18)
	Weight (Motor+Driver) oz (gm)	20.1 (569.8)

Table 1.6: Rotary MDI2218 Motor Specifications

	70			24 VDC	49
				24 VDC
				45 VDC
	60			45 VDC	42	Torque
-OzIn

	50				35
	50				35
in	40				28	in
	40				28
	30				21
Torque						Ncm-

	20				14
	20				14
	10				7
	10				7

0

0 1000 2000 3000 4000 5000 6000 7000

Speed in Full Steps per Second

Figure 1.9: Rotary MDrive Motion Control 2218 Speed/Torque Data

12

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Contents Operating Instructions Intelligent Motion Systems, Inc All Rights Reserved Table of Contents List of Figures Part 1 General Information and Hardware Specifications Intentionally Left Blank A t u r e S u m m a r y Standard Rotary Motor Lmax T a r y M o t o r Specification sC t i o n O v e r v i e w Control Knob LMAX2MDI1719 N e a r M o t o r Specification sMDI1715 E e d F o r c e C u r v e 4 5 V D C MDI17 Linear ActuatorE e d F o r c e C u r v e 2 4 V D C MDI17 Acme Screws N e r a l Specification sR i v e 1 7 M o t i o n C o n t r o l a C M E S c r e w C o m m e n d e d I M S P o w e r S u p p l i e s E r m a l Specification sW e r S u p p l y R e q u i r e m e n t s A t u r e S u m m a r y MDrive23 Motion Control Specifications MDI2218MDI2222 MDI2231MDI23 Linear Actuator Refer to .10 for screw pitch informationR i v e 2 3 M o t i o n C o n t r o l a C M E S c r e w MDI23 Acme ScrewsIP404MDI23 Page Intentionally Left Blank N C o n f i g u r a t i o n a n d D e s c r i p t i o n s Connector P1Y o u t a n d I n t e r f a c e G u i d e l i n e s C o m m e n d e d W i r i n gT e r f a c i n g R S 4 8 5 C o m m u n i c a t i o n s Connector P2 10 Pin HeaderT e r f a c i n g P o w e r N g l e M D r i v eRS-485 Interface, Multiple MDrive Motion Control System T e r f a c i n g I n p u t s T e r f a c i n g t h e D i g i t a l I / OE s o f t h e D i g i t a l I / O Input FunctionsTTL Interface to Input Group Truth Table I/O Used as a GroupT e r f a c i n g O u t p u t s T e r f a c i n g a S i n g l e O u t p u t E x a m p l e sT e r f a c i n g t h e a n a l o g I n p u t M p l e U s a g eS t e m R e q u i r e m e n t s Install i n g a n d U s i n g I M S Te r m i n a lInstallation I n g t h e I M S Te r m i n a l S o f t w a r e 13 IMS Terminal Upgrader Window S t r u c t i o n s R i v e M o t i o n C o n t r o l P r o g r a m m i n gE r a t i o n a l M o d e s R i a b l e sA g s Y w o r d sT h F u n c t i o n s T i o n C o m m a n d sRead IO1 Setup PR S1 Read IO2 Setup PR S2 C o m m a n d sPlease Note Any program labeled SU will execute on power-up VAR CT Mnemonic Function Unit Range Syntax Example BaudI n s t r u c t i o n s , Va r i a b l e s a n d F l a g s Symbol Function T h e m a t i c a l F u n c t i o n sRetrieve All Parameters Variable Baud Rate Setup VariableAcceleration Motion Variable Branch Program Instruction Busy Flag Read Only Motion FlagClear Program Program Instruction Set Counter 2 Encoder Counts Motion VariableCall Subroutine Program Instruction Deceleration Motion Variable Set Encoder Deadband Setup VariableD1-D5 Digital Input Filtering Variable End Program Execution Program Instruction Drive Enable Flag Setup FlagDevice Name Setup Variable Read-Only Error Flag Status Flag Encoder Enable Flag Setup FlagEcho Mode Flag Setup Flag Error Number Variable Status Variable Execute Program Program InstructionHold Program Execution Program Instruction Home to Index Mark Variable Setup VariableHold Current Setup Variable Read Input Variable Home to Home Switch Variable Setup VariableHold Current Delay Time Setup Variable Increment Variable Program Instruction Read Analog Input VariableRead Encoder Index Mark Variable Initialize Parameters Instruction Joystick Enable Flag Setup FlagRead Inputs 1-4 As 1 Value Variable Label Program/Subroutine Instruction Lock User Program Setup FlagList Program Space Instruction Motion Instruction Move To Relative Position Motion InstructionMicrostep Resolution Motion Variable PR MSO1 O4 Set/Print Output Logic State Variable Motor Settling Delay Time Motion VariableOn Error Handler Instruction Set Ouputs 1-4 As 1 Value Variable Set/Print Position Counter InstructionPrint Selected Data/Text Instruction Postition Maintenance Enable Setup FlagEnter/Exit Program Mode Program Instruction Party Mode Enable Flag Setup Flag Pause Program InstructionRun Current Setup Variable R1 R4 User Registers User VariableSave to EEProm Instruction Resume Program InstructionReturn From Subroutine Instruction S1 S4 Set/Print I/O Point Type/Active State Instruction Set/Print I/O Point InstructionStall Detection Mode Variable Encoder Variable Encoder VariableTrip on Input Variable Trip Enable Flag Setup FlagRead Only Stall Flag Encoder Flag Read User Variables Upgrade Firmware InstructionTrip on Position Variable Read Only Velocity Variable Motion Variable Create User Variable Name InstructionRead Only Firmware Version Factory Variable Appendix a Data Errors Error Code FaultErrors Program ErrorsTWENTY-FOUR Month Limited Warranty Western Region