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Intelligent Motion Systems MDrive34Plus Setup Parameters, Motor Specifications, Single Length

Models: MDrive34Plus

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Motor Specifications

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
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
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

	MHC	Motor Hold Current	0 to 100	percent	5

	MRC	Motor Run Current	1 to 100	percent	25

			1, 2, 4, 5, 8, 10, 16, 25,	µsteps per
	MSEL	Microstep Resolution	32, 50, 64, 100,108, 125,	µsteps per	256
	MSEL	Microstep Resolution	32, 50, 64, 100,108, 125,	full step	256
			127,128, 180, 200, 250, 256	full step
			127,128, 180, 200, 250, 256

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	Step/Dir. Quadrature, Up/	—	Step/Dir
	CLK TYPE	Clock Type	Down (CW/CCW)	—	Step/Dir
			Down (CW/CCW)
	CLK IOF	Clock and Direction Filter	50 nS to 12.9 µS	nS	200 nS
	CLK IOF	Clock and Direction Filter	(10 MHz to 38.8kHz)	(MHz)	(2.5 MHz)
			(10 MHz to 38.8kHz)	(MHz)	(2.5 MHz)
	WARN TEMP	Warning Temperature	0 to +125	°C	80

	USER ID	User ID	1-3 characters	Viewable ASCII	IMS

Table 1.2.7: Setup Parameters

1-8	MDrive 34Plus Microstepping Hardware - Revision R071108
	Relevant to Firmware Version 3.0.02

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Intelligent Motion Systems MDrive34Plus MDrive17Plus Microstepping Setup Parameters, Motor Specifications, Name, Range

Contents

MDrive34Plus Microstepping Integrated Motor and DriverMDrive34Plus Microstepping Revision R071108 Important information Qualification of personnelIntended Use This page intentionally left blank Part 2 Interfacing and Configuring Table Of ContentsPart 1 Hardware Specifications Section 2.2 Interfacing DC PowerSection 2.5 Using the IMS SPI Motor Interface AppendicesSection 2.4 Connecting SPI Communications Section 2.6 Using User-DefinedSPIPart 2 Interfacing and Configuring List Of FiguresPart 1 Hardware Specifications Appendix E Linear Slide OptionAppendices 2-32Part 2 Interfacing and Configuring List of TablesPart 1 Hardware Specifications AppendicesThis Page Intentionally Left Blank Connecting Parameter Setup Cable Connecting the Power SupplyConnect Opto Power and Logic Inputs GETTING STARTEDInstall the IMS SPI Motor Interface Motion Settings DialogInput Settings DialogPART HARDWARE SPECIFICATIONS MICROSTEPPINGPage Intentionally Left Blank Relevant to Firmware VersionIntroduction to the MDrive34Plus Microstepping Features and BenefitsSECTION Configuration InterfaceMotor Run/Hold Current Environmental Specifications General SpecificationsElectrical Specifications I/O SpecificationsMotor Specifications Setup ParametersMDrive17Plus Microstepping Setup Parameters DefaultMechanical Specifications LMAX2 Option - Control KnobConnector Options Locking Wire Crimp with Internal Optical EncoderLocking Wire Crimp Flying LeadsFunction Pin Assignment - P1 Power and I/O ConnectionsWire Color with Internal Encoder DescriptionWhite OptoRef Orange Step Clock Blue Direction P2 Connector - SPI Communications Recommended CableMD-CC300-000 Figure 1.2.6: P2 Connector - SPI CommunicationsRecommended Cable 12-PinLocking Wire CrimpPin Assignment - P1 Power, I/O and SPI PD12-1434-FL3P3 Connector - DC Power, 2-PinLocking Wire Crimp 1 P3P/N PD02-3400-FL3 Pin Assignment - P3 PowerRecommended Cable P/N PD10-3400-FL3QuickStart Kit Mating Connector KitsConnectivity Communication ConvertersPage Intentionally Left Blank Relevant to Firmware VersionSection 2.3 Using the IMS SPI Motor Interface PART INTERFACING AND CONFIGURINGSection 2.2 Interfacing DC Power Section 2.4 Using User-DefinedSPIPage Intentionally Left Blank Relevant to Firmware VersionAllow Top Clearance for Wiring/Cabling Mounting and Interface GuidelinesMounting Recommendations SECTIONRules of Shielding Layout and Interface GuidelinesRules of Wiring Shielded Cable2-PinLocking Wire Crimp Power Recommended Mating Connectors and PinsRecommended Wiring Power - P3Logic and Power P3 PowerP1 Logic Wiring Securing Power Leads and Logic LeadsInterfacing DC Power Choosing a Power Supply for Your MDriveSECTION IP804 Unregulated Linear Supply DC Power Supply RecommendationsISP300-7Unregulated Switching Supply IP806 Unregulated Linear SupplyConnecting DC Power Recommended Power and Cable Configurations Example A - Cabling Under 50 Feet, DC PowerMDrive34Plus Recommended Power Supply Cable AWG Table 2.2.1 Recommended Wire GaugesPage Intentionally Left Blank Relevant to Firmware VersionOptically Isolated Logic Inputs Isolated Logic Input Pins and ConnectionsIsolated Input Interface and Connection SECTIONInput Configuration See Input ConfigurationD A B C 12-PinLocking Wire CrimpDirection Isolated Logic Input CharacteristicsStep Clock QuadratureUP/DOWN CW/CCW TIMING STEP/DIRECTION TIMINGQUADRATURE TIMING Figure 2.3.5 Clock Input Timing CharacteristicsOptocoupler Reference Optocoupler ReferencePNP Open Collector Interface Sourcing NPN Open Collector Interface SinkingMDrivePlus Microstepping Input Connection ExamplesSwitch Interface Example Switch Interface SinkingSwitch Interface Sourcing GND + SPST Switch+MDrive34Plus Microstepping Minimum Required ConnectionsSPI Signal Overview Connecting SPI CommunicationsConnecting the SPI Interface +5 VDC OutputLogic SPI Pins and ConnectionsShifting 12-PinLocking Wire CrimpLogic Level Shifting and Conditioning Circuit Part 2 Interfacing and ConfiguringMicrostepping #2 MDriveACPlus MicrosteppingMDriveACPlus Microstepping #1 MDriveACPlus SPI Master MOSIMISOColor Coded Parameter Values Using the IMS SPI Motor Interface InstallationConfiguration Parameters and Ranges MDrivePlus Microstepping Setup ParametersFile View Settings ScreenIMS SPI Motor Interface Menu Options Perform File OperationHelp UpgradeRecall 2-271.MSEL: Microstep Resolution Select MSEL Microstep Resolution SelectionExit Connected/Disconnected IndicatorFactory HCDT Hold Current Delay TimeEnable Active High/Low Screen 2 I/O Settings Configuration ScreenInput Clock Filter Settings Warning TemperatureFault Indication IMS Part Number/Serial Number ScreenMDrive34Plus Microstepping Fault Codes The IMS SPI Upgrader Screen Upgrade Instructions2.Serial Number the serial number of your unit Initialization Screen Communications Port OperationsPort Menu Page Intentionally Left Blank Relevant to Firmware VersionCheck Sum Calculation for SPI Using User-DefinedSPISPI Timing Notes SECTIONTable 2.6.1 SPI Commands and Parameters SPI Commands and Parameters2-36 Relevant to Firmware VersionREAD WriteSPI Communications Sequence Page Intentionally Left Blank Relevant to Firmware VersionAppendix C Connectivity APPENDICESAppendix B Planetary Gearboxes Appendix D Interfacing an EncoderRelevant to Firmware Version APPENDIX A MDrive34Plus Microstepping Motor PerformanceSpeed-TorqueCurves Double Length Motor SpecificationsSingle Length Triple LengthSection Overview APPENDIX BPlanetary Gearboxes Product OverviewCalculating the Shock Load Output Torque TAB Figure B.1 MDrive34 Torque-SpeedCurve Table B.1 Planetary Gearbox Operating Factor Weight of Conveyor Belt A-10A-11 A-12 MDrive34Plus Planetary Gearbox Parameters Planetary Gearbox for MDrive34PlusA-13 PM81 Gearbox Ratios and Part NumbersA-14 Relevant to Firmware VersionAPPENDIX C ConnectivityMD-CC300-001 Mating Connector Kit p/n CK-01 Connector Detail and Mating Connector KitConnector Details A-16A-17 MD-CC303-001Mating Connector Kit p/n CK-03 Connector Detail and Mating Connector KitConnector Details A-18Installation Procedure for the MD-CC30x-000 Installing the Cable/VCP DriversA-19 A-20 A-21 Determining the Virtual COM Port VCPPrototype Development Cable PD12-1434-FL3 12-pinwire crimpTyco connector To MDrivePlusN/C +5VDC IDX+ CH B+ CH A+ N/C IDX CH B- CH A GND910 78 Connector Detail and Mating Connector KitMolex connector To Power2-pinwire crimp Connector DetailsFactory Mounted Internal Encoder APPENDIX DInterfacing an Encoder General SpecificationsDifferental Encoder Flying Leads Encoder ConnectionsA-26 Single-EndEncoder Flying LeadsEncoder Signals Differential EncoderDifferential Encoder Recommended Encoder Mating ConnectorsEncoder Cable A-28Linear Slide Option FeaturesAPPENDIX E MDrive34Plus Linear SlideMechanical Specifications A-30Specifications ScrewTWENTY-FOUR24 MONTH LIMITED WARRANTY OBTAINING WARRANTY SERVICEWARRANTY IMS EUROPEAN SALES MANAGEMENT Intelligent Motion Systems, IncU.S.A. 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