Intelligent Motion Systems MDriveAC 1-8 , Setup Parameters

1-8 MDriveAC Plus Microstepping Hardware - Revision R121707

Relevant to Firmware Version 3.0.02

Motor Specifications

Single Length

Holding Torque 330 oz-in/233 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) 3.8 lb/2.9 kg

Double Length

Holding Torque 500 oz-in/353 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) 5.2 lb/3.5 kg

Triple Length

Holding Torque 750 oz-in/529 N-cm

Detent Torque 19.83 oz-in/10.0 N-cm

Rotor Inertia 0.04815 oz-in-sec2/3.4 kg-cm2

Weight (Motor + Driver) 8.6 lb/5.0 kg

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.

MDriveAC Plus Microstepping Setup Parameters

Name Function Range Units Default

MHC Motor Hold Current 0 to 100 percent 5

MRC Motor Run Current 1 to 100 percent 25

MSEL Microstep Resolution

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

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

180, 200, 250, 256

µsteps per

full step 256

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/Down – Step/Dir

CLK IOF Clock and Direction Filter 50 nS to 12.9 µS

(10 MHz to 38.8 kHz) nS (MHz) 200 nS

(2.5 MHz)

USER ID User ID 1-3 characters Viewable ASCII IMS

WARN TEMP Warning Temperature 0 to 125 Degrees

Celsius 80

EN ACT Enable Active State High/Low — High

Table 1.2.1: Setup Parameters

Contents

Main 34 42 Low Voltage Installation Information UL Application Details and Conditions of Acceptance i Table Of Contents ii iii List Of Figures iv List of Tables 1-1 Getting Started { MDriveAC Plus Microstepping Before You Begin Tools and Equipment Required Connecting AC Power Motion Settings Dialog Input Settings Dialog Connecting Parameter Setup Cable Install the IMS SPI Motor Interface Page Page 1-5 SECTION 1.1 Configuring Features and Benefits 1-6 1-7 SECTION 1.2 General Specifications 1-8 Setup Parameters 1-9 Mechanical Specifications Figure 1.2.1: MDrive34AC Plus Mechanical Specifications P3 Control Knob 1-10 Pin Assignment and Description P1 19-Pin M23 Connector - I/O and SPI Communications 1-11 P1 19-Pin M23 Connector - I/O, SPI Communications with Encoder Interface Option 3-Pin Euro AC Connector Outside: Pins 1 -12 Inside: Pins 13 - 19 1-13 SECTION 1.3 Configuring Features and Benefits 1-14 1-15 SECTION 1.4 1-16 Setup Parameters 1-17 Mechanical Specifications 1-18 Pin Assignment and Description P1 19-Pin M23 Connector - I/O and SPI Communications 1-19 P1 19-Pin M23 Connector - I/O, SPI Communications with Encoder Interface Option 3-Pin Euro AC Connector Outside: Pins 1 -12 Inside: Pins 13 - 19 1-21 Options and Accessories Page Page 2-3 SECTION 2.1 Optically Isolated Logic Inputs Isolated Logic Input Pins and Connections 2-4 Step/Direction Function Quadrature Function Up/Down Function 2-5 STEP/DIRECTION TIMING Table 2.1.1: Input Clocks Timing Table QUADRATURE TIMING UP/DOWN TIMING Figure 2.1.3: Clock Input Timing Characteristics Clock Input Timing MDriveACPlus Microstepping 2-7 NPN Open Collector Interface (Sinking) Figure 2.1.5: Open Collector Interface Example PNP Open Collector Interface (Sourcing) Input Connection Examples 2-8 Switch Interface (Sinking) Switch Interface (Sourcing) Fault (Temperature Warning) Output 2-9 Minimum Required Connections { P1: Pin 19 - Fault Output P1: Pin 11 - Comm Ground SECTION 2.2 Page 2-12 SECTION 2.3 Installation Configuration Parameters and Ranges Color Coded Parameter Values Page Page 2-15 Screen 1: The Motion Settings Configuration Screen Figure 2.3.7: SPI Motor Interface Motion Settings Screen 2-16 Factory Connected/Disconnected Indicator Set Exit 2-17 Screen 2: I/O Settings Configuration Screen 2-18 IMS Part Number/Serial Number Screen Fault Indication 2-19 Upgrading the Firmware in the MDriveAC Plus Microstepping 2-20 Initialization Screen Communications Port Operations 2-21 SECTION 2.4 SPI Timing Notes Check Sum Calculation for SPI 2-22 SPI Commands and Parameters Table 2.4.1: SPI Commands and Parameters 2-23 Figure 2.4.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown) SPI Communications Sequence See Timing Diagram and Byte Order figures. READ Write Page Appendices Excellence in Motion TM mICROSTEPPING Page A-3 appendix A Torque Oz - In Speed Full Steps/Second (RPM) Torque Oz - In Figure A.1: MDrive34AC Plus 120VAC Microstepping Speed-Torque Curves A-4 Double Length Figure A.4: MDrive42AC Plus 240VAC Microstepping Speed-Torque Curves Torque in Oz-In Speed Full Steps/Second (RPM) Page A-6 Appendix B MDrive with Planetary Gearbox Section Overview Product Overview Selecting a Planetary Gearbox A-7 A-8 A-9 Page A-11 Conveyor Belt A-12 A-13 A-14 Figure B.7: Planetary Gearbox Specifications for MDrive34AC Plus2 Planetary Gearbox for MDrive34AC Plus2 MDrive34AC Plus2 Planetary Gearbox Parameters Table B.2: Planetary Gearbox Specifications PM81 A-15 Planetary Gearbox for MDrive42AC Plus2 Figure B.8: PM105 Planetary Gearbox Specifications for MDrive42AC Plus2 Table B.5: PM105 Planetary Gearbox Ratios, Inertia Moments and Part Numbers MDrive42AC Plus2 Planetary Gearbox Parameters - PM105 A-16 MDrive42AC Plus2 Planetary Gearbox Parameters - PM120 Table B.6: Planetary Gearbox Specifications PM120 Table B.7: PM120 Planetary Gearbox Ratios, Inertia Moments and Part Numbers A-17 Appendix C Optional Cables and Cordsets MD-CC300-000: USB to SPI Parameter Setup Cable Installation Procedure for the MX-CC300-000 A-18 A-19 A-20 Figure C10: Typical Setup, Adapter and Single-End Cordset (or their equivalent) are required! CS ! MD-ADP-M23 Adapter Figure C.11: MD-ADP-M23 0.58 (14.7) 1.59 (40.4) 1.83 (46.5) 0.15 (3.8) A-21 Table C.1: MD-CS10x-000 Wire Color Chart Figure C.13: MD-CS10x-000 Prototype Development Cordset MD-CS101-000 Pin Assignment and Wire Colors A-22 MD-CS20x-000 Cordset MD-CS201-000 MD-CS200-000 A-23 Appendix D MDriveAC Plus Microstepping Factory Mounted Encoder General Specifications A-24 Encoder Signals A-25 Appendix E Features MDrive34Plus Linear Slide 1 A-26 Specifications Sensor Flag Kit Option Figure F.3: Mechanical Specifications Mounting Bracket Kit Option WARRANTY intelligent motion systems, INC. Excellence in Motion www.imshome.com