2 MDrive17Plus Speed Control
REV060208
Holding Torque
Detent Torque
Rotor Inertia
Weight (Motor+Driver)
SINGLE LENGTH
32 oz-in / 22.6 N-cm
1.66 oz-in / 1.17 N-cm
0.00053 oz-in-sec
2
/ 0.038 kg-cm
2
10.4 oz / 294.8 g
DOUBLE LENGTH
60 oz-in / 42.4 N-cm
2.08 oz-in / 1.47 N-cm
0.00080 oz-in-sec
2
/ 0.057 kg-cm
2
12.0 oz / 340.2 g
TRIPLE LENGTH
74.9 oz-in / 52.9 N-cm
3.47 oz-in / 2.45 N-cm
0.00116 oz-in-sec
2
/ 0.082 kg-cm
2
15.2 oz / 430.9 g
Optional encoder cables are available.
MOTOR SPEC I FI CA TIONS
ENCODER SPECIFICATIONS
DIFFERENTIAL ENCODER
with locking connector feature
SINGLE-END
ENCODER
Encoder
Function
Function
Pin 1
No Connect
Ground
Pin 2
+5 VDC Input
Index
Pin 3
Ground
Channel A
Pin 4
No Connect
+5 VDC Input
Pin 5
Channel A –
Channel B
Pin 6
Channel A +
Pin 7
Channel B –
Pin 8
Channel B +
Pin 9
Index –
Pin 10
Index +
Line Counts and Part Numbers
Pin Assignments
DIFFERENTIAL ENCODER
with locking connector feature
SINGLE-END
ENCODER
Line Count
Part Number
Part Number
100
EAL
E1
200
EBL
E2
250
ECL
E3
256
EWL
EP
400
EDL
E4
500
EHL
E5
512
EXL
EQ
1000
EJL
E6
1024
EYL
ER
MDrive17
Plus
SPEED CONTROL
INPUT VOLTAGE (+V)
Range
+12 to +48 VDC
Power supply current requirements = 2A (maximum) per MDrive17Plus.
Actual power supply current will depend on voltage and load.
SPEED CONTROL
Input
0 to +5 VDC*, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA or 15 to 25 kHz PWM
A/D Resolution
10 bit
LOGIC INPUT
Start/Stop and Direction
Low Level
0 to +0.8 VDC
High Level
+2.0 to +5.0 VDC
Internal Pull-up Resistance (to +3.3 VDC) 20 k
Ω
MOTION
Oscillator Frequency (Max) 5 MHz
Microstep Resolution
Number of Settings
20
Steps Per Revolution
200, 400, 800, 1000, 1600, 2000, 3200, 5000,
6400, 10000, 12800, 20000, 25000, 25600,
40000, 50000, 51200, 36000 (0.01 deg/µstep),
21600 (1 arc minute/µstep), 25400 (0.001mm/µstep)
THERMAL
Operating Temperature
Heat Sink
–40° to +85°C (non-condensing)
Motor
–40° to +100°C (non-condensing)
*10 k
Ω
potentiometer resistance.
STANDARD SPEC I FI CA TIONS
SETUP PARAMETERS
Function
Range
Units
Default
A1
Analog Input Mode
0 to +5 VDC, 0 to +10 VDC,
4 to 20 mA, 0 to 20 mA, 15 to 25 kHz PWM
—
0 to +5 VDC
ACCL
Acceleration
91 to 1.5 X 10
9
steps/second
2
1,000,000
C
Joystick Center
1 to 1022
counts
0
DB
Analog Deadband
0 to 255
counts
1
DECL
Deceleration
91 to 1.5 X 10
9
steps/second
2
1,000,000
DIR
Motor Direction Override
Clockwise (CW) / Counterclockwise (CCW)
—
CW
FAULT
Fault/Checksum Error
Error Code
—
None
FS
Analog Full Scale
1 to 1023
counts
1023
HCDT
Hold Current Delay Time
HCDT + MSDT <= 65535
milliseconds
500
IF
Analog Input Filter
1 to 1000
counts
1
MHC
Motor Hold Current
0 to 100
percent
5
MRC
Motor Run Current
1 to 100
percent
25
MSDT
Motor Settling Delay Time
MSDT + HCDT <= 65535
milliseconds
0
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
SSD
Stop/Start Debounce
0 to 255
milliseconds
0
VI
Initial Velocity
0 to <VM
steps/second
1000
VM
Maximum Velocity
VI to 5,000,000
steps/second
768,000
USER ID
User ID
Customizable
1–3 characters
IMS
All parameters are set using the supplied IMS SPI Motor Interface GUI and may be changed on-the-fl y.
An optional Communication Converter is recommended with fi rst orders.
