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MDrive34Plus Motion Control Hardware Manual Revision R080106

Planetary Gearbox Inertia

In addition to System Inertia, the Planetary Gearbox inertia must also be included when matching system
inertia to motor inertia. The Planetary Gearbox inertia varies with the ratio and the number of stages.
The table below lists the inertia values for the MDrive14, 17, 23 and 34 Planetary Gearbox. The values
are in oz-in-sec

2

(ounce-inches-second squared). To calculate the inertia in kg-cm

2

(kilograms-centimeter

squared) multiply oz-in-sec

2

by 70.6154.

Stages

Rounded

Ratio

1-Stage

4:1

5:1
7:1

2-Stage

14:1
16:1
18:1
19:1

22:1
25:1
27:1
29:1
35:1

46:1

3-Stage

51:1

59:1
68:1

71:1

79:1
93:1
95:1

100:1
107:1

115:1

124:1
130:1
139:1
150:1
169:1

181:1

195:1

236:1
308:1

MDrive 34

Gearbox

0.00233660
0.00154357
0.00128867
0.00219499
0.00179847
0.00182679
0.00141612
0.00148693
0.00177015
0.00148693
0.00124619
0.00126035
0.00126035
0.00218082
0.00178431
0.00179847
0.00147276
0.00179847
0.00124619
0.00147276
0.00148693
0.00124619
0.00148693
0.00124619
0.00124619
0.00144444
0.00124619
0.00126035
0.00124619
0.00126035
0.00126035
0.00126035

Planetary Gearbox Inertia Moments (oz-in-sec

2

)

Table B.2: Planetary Gearbox Inertia Moments

«
...
62
63
64
65
66
...
»

Summary of Contents for MDrive 34 Plus Series

Page 1: ...DRAFT COPY Hardware REFEREnCE Excellence in Motion www imshome com 34 TM Motion control Flying Leads Interface Pluggable Interface ...

Page 2: ...Inc s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury Per Intelligent Motion Systems Inc s terms and conditions of sales the user of Intelligent Motion Systems Inc products in life support or aircraft applications assumes all risks of such use and indemnifies Inte...

Page 3: ...cifications 1 10 Motor Specifications 1 10 Mechanical Specifications 1 11 Pin Wire Assignments 1 12 P1 Connector I O and Power Connections 1 12 P2 Connector RS 422 485 Communications 1 12 Options and Accessories 1 12 Section 1 3 MDrive34Plus2 Detailed Specifications 1 13 Standard Electrical Specifications 1 13 Enhanced Electrical Specifications 1 13 Thermal Specifications 1 13 Standard Motion Spec...

Page 4: ...xample Switch Input Example Sourcing Input 2 17 Output Interface Example Sinking Output 2 18 General Purpose I O Usage Examples Enhanced I O Set 2 19 Input Interface Example Switch Input Example Sinking Input 2 19 Input Interface Example Switch Input Example Sourcing Input 2 20 Output Interface Example Sinking Output 2 21 Output Interface Example Sourcing Output 2 22 Dedicated Digital I O Enhanced...

Page 5: ...1 11 Figure 1 2 2 P1 12 in 304 8 cm Flying Leads 1 12 Figure 1 2 3 P2 10 Pin IDC RS 422 485 Communications 1 12 Figure 1 3 1 Mechanical Specifications 1 16 Figure 1 3 2 P1 14 Pin Wire Crimp Enhanced I O 1 16 Figure 1 3 3 P1 20 Pin Wire Crimp Enhanced I O and External Remote Encoder 1 16 Figure 1 3 4 P2 10 Pin Wire Crimp Communications Connector 1 16 Figure 1 3 5 P3 2 Pin Locking Wire Crimp Power C...

Page 6: ...cations Interface A 27 Figure F 4 Hardware Update Wizard A 27 Figure F 5 Hardware Update Wizard Screen 2 A 28 Figure F 6 Hardware Update Wizard Screen 3 A 28 Figure F 7 Windows Logo Compatibility Testing A 28 Figure F 8 Hardware Update Wizard Finish Installation A 28 Figure F 9 Hardware Properties A 29 Figure F 10 Windows Device Manager A 29 Figure F 11 PD14 2334 FL3 A 30 Figure F 12 PD02 3400 FL3...

Page 7: ...e recommended wire see the specifications for your MDrivePlus Motion Control connect the DC output of the power supply to the V input of the connector appropriate for your MDrivePlus model Connect the power supply ground to the Power Ground pin appropriate for your MDrivePlus Connecting Communications Connect the Host PC to the MDrivePlus Motion Control using the IMS Communications Converter Cable...

Page 8: ...oll Back to desired range of text lines to be displayed b Under Device verify that MDrive has been selected and also verify the Comm Port being used Do not change any other settings Click OK W A R N I N G Do not connect or disconnect DC input to the MDrivePlus with power applied Disconnect the AC power side to power down the DC Supply For battery operated systems conditioning measures should be ta...

Page 9: ...inal Window and type followed by ENTER PR VM 2 The MDrivePlus Motion Control will return a value of 768000 3 Type the following in the Terminal Window followed by ENTER VM 360000 PR VM 4 The MDrivePlus Motion Control will return a value of 360000 5 Type FD and press ENTER FD Factory Defaults Copyright 2001 2006 by Intelligent Motion Systems Inc should appear in the Terminal Window within a few sec...

Page 10: ...e MDrive buffer to factory defaults before downloading any program 5 Click on drop down menu Transfer Download to transfer the program from the Program Edit Window to the Terminal Window Under Source Type choose Edit Window 6 Type EX 1 in the Terminal Window and press ENTER to execute the program EX Execute at address 1 7 The MDrivePlus Motion Control will turn 250 000 microsteps in a clockwise di...

Page 11: ...in Motion Section 1 1 MDrive34Plus Motion Control Product Introduction Section 1 2 MDrive34Plus Motion Control Detailed Specifications Section 1 3 MDrive34Plus2 Motion Control Detailed Specifications Part 1 Hardware Specifications 34 TM Motion control ...

Page 12: ...1 6 MDrive34Plus Motion Control Hardware Revision R080106 Page Intentionally Left Blank ...

Page 13: ...nternal step clock All MDrive34Plus Motion Control are available with optional closed loop control This increases functionality by adding stall detection position maintenance and find index mark The closed loop configuration is added via a 512 line 2048 edge magnetic encoder with index mark internal to the unit so there is no increase in length Or for an expanded choice of line counts and resoluti...

Page 14: ...Closed Loop Control High Speed Position Capture Input or Trip Output Pluggable Locking Wire Crimp Interface The MDrive34Plus Motion Control Key Differences and Enhanced Features There are two different variants of the MDrive34Plus Motion Control these are 1 MDrive34Plus Motion Control The MDrive34Plus Motion Control is the standard version of the MDrive34Plus and is drop in compatible with the leg...

Page 15: ...22 RS 485 Full Half Duplex Selectable Baud Rate 4 8k 9 6k 19 2k 38 4k 115 2kbps See I O Ratings on In Section 2 3 Interfacing the MDrivePlus Motion Control I O Thermal Specifications Operating Temperature 40 to 85 C Standard Motion Specifications Microstep Resolution Open Loop Configuration Number of Microstep Resolution Settings 20 Available Microsteps Per Revolution 200 400 800 1000 1600 2000 32...

Page 16: ...g In Outputs Moving Fault Stall Velocity Change 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 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 Le...

Page 17: ...hes mm LMAX LMAX2 Motor Length SINGLE SHAFT INTERNAL ENCODER CONTROL KNOB VERSION Single 3 71 94 23 4 42 112 27 Double 4 50 114 30 5 21 132 33 Triple 6 07 154 18 6 78 172 21 MDrive Lengths Inches mm Control Knob LMAX2 Option LMAX 0 394 10 01 1 46 0 04 37 1 1 0 0 984 0 01 25 0 0 25 0 512 0 0 004 13 0 0 10 0 079 2 0 0 731 18 57 1 250 31 75 1 981 50 32 3 727 94 67 LMAX2 Ø 1 90 Ø 48 3 Figure 1 2 1 Mec...

Page 18: ...otion Control Purchase recommended with first orders USB to 10 Pin IDC MD CC400 000 Pin 1 Pin 7 Pin 5 Pin 3 Pin 9 Pin 2 Pin10 Pin 4 Pin 8 Pin 6 Pin 1 P2 COMM CONNECTOR RS 422 485 10 Pin IDC Wire Crimp Function Pin 1 Pin 9 TX Pin 2 Pin 10 TX Pin 3 Pin 7 RX Pin 4 Pin 8 RX Pin 5 Pin 5 Aux Logic 12 to 24 VDC Pin 6 Pin 6 RX Pin 7 Pin 3 RX Pin 8 Pin 4 TX Pin 9 Pin 1 TX Pin 10 Pin 2 COMM Ground Figure 1 ...

Page 19: ...ts Voltage Range Input TTL level compatible up to 24 VDC Output Sourcing 12 to 24 VDC Output Sinking up to 24 VDC Output Sink Source Current per channel Up to 600 mA Logic Threshold Logic 0 0 8VDC Logic 1 2 2VDC Output Sink Current per channel Up to 600 mA Protection Over Temp Short Circuit Transient Over Voltage Inductive Clamp Thermal Specifications Operating Temperature 40 to 85 C Standard Moti...

Page 20: ...ut Filter Range Trip Output Speed 150nS Trip Output Resolution 32 Bit Trip Output Threshold TTL Remote Encoder Optional Type User Supplied Differential Encoder Steps per Revolution See Microstep Resolutions Open Loop Above Resolutions User Defined Adjusting the microstep resolution can increase the range Software Specifications Program Storage Type Size Flash 6384 Bytes User Registers 4 32 Bit Use...

Page 21: ... N cm Rotor Inertia 0 04815 oz in sec2 3 4 kg cm2 Weight Motor Driver 8 8 lb 4 0 kg Ø 0 5512 0 0 0004 Ø 14 0 0 0 010 4X Ø 0 217 Ø 5 51 2 739 SQ 69 57 SQ 3 39 SQ 86 1 SQ Ø 2 874 0 002 Ø 73 0 0 05 Mechanical Specifications Dimensions in Inches mm LMAX LMAX2 Motor Length SINGLE SHAFT INTERNAL ENCODER CONTROL KNOB VERSION Single 3 71 94 23 4 42 112 27 Double 4 50 114 30 5 21 132 33 Triple 6 07 154 18 ...

Page 22: ...in 20 P1 I O CONNECTOR Wire Crimp Function Expanded I O Remote Encoder Closed Loop Control 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...

Page 23: ...nputs for use with a remote encoder not supplied Control Knob The MDrive34Plus2 is available with a factory mounted rear control knob for manual shaft positioning Planetary Gearbox Efficient low maintenance planetary gearboxes are offered assembled with the MDrive34Plus Refer to details in Appendix C Communications Converter Cables These convenient accessory cables connect a PC s USB Port to the M...

Page 24: ...1 18 MDrive34Plus Motion Control Hardware Revision R080106 Page Intentionally Left Blank ...

Page 25: ... TM Excellence in Motion 34 TM Motion control Section 2 1 Mounting and Connection Recommendations Section 2 2 Interfacing Communications Section 2 3 Interfacing and Using the MDrivePlus Motion Control I O Part 2 Connecting and Interfacing ...

Page 26: ...2 2 MDrive34Plus Motion Control Hardware Revision R080106 ...

Page 27: ...em unreliable Logic level cables must be shielded to reduce the chance of EMI induced noise The shield needs to be grounded at the signal source to earth The other end of the shield must not be tied to anything but allowed to float This allows the shield to act as a drain Power supply leads to the MDrivePlus need to be twisted If more than one driver is to be connected to the same power supply run...

Page 28: ... Locking Wire Crimp Connector Shell JST PN PADP 14V 1 S Crimp Pins JST PN SPH 001T P0 5L Enhance I O with Remote Encoder P2 20 pin Locking Wire Crimp Connector Shell JST PN PADP 20V 1 S Crimp Pins JST PN SPH 001T P0 5L Power P3 2 pin Locking Wire Crimp Connector Shell Molex 51067 0200 Crimp Pins Molex 50217 9101 Brass Securing Power Leads and Logic Leads Some applications may require that the MDri...

Page 29: ...or to address up to 62 indi vidually named MDrivePlus nodes in a multidrop system Single Mode Communications Full Duplex RS 422 To interface the MDrivePlus Motion Control using RS 422 protocol you will need one of the following A PC equipped with RS 422 Interface A PC RS 232 to RS 422 485 Converter The USB to RS 422 accessory cable appropriate to your MDrivePlus Motion Control model Use the follow...

Page 30: ...and DN or Device Name For example to set the name of an MDrive to A you would use the following command DN 65 or DN A 65 is the ASCII decimal equivalent of uppercase A The factory default name is The asterisk character is used to issue global commands to every device in the system NOTE When using the asterisk in Party Mode typed entries and commands will not be echoed See Appendix A of the Softwar...

Page 31: ...shown in Figure 2 2 3 above For systems with Data Cables 15 feet 4 5 meters or less the termination resistors are generally not required MDrivePlus Motion Control Communication Format The following communication formats are used by the MDrive34Plus Motion Control The contents between the symbols are transmitted 0D Hex equivalent for a CR Carriage Return 0A Hex equivalent for a LF Line Feed DN Repr...

Page 32: ...ime as the character is entered CET 0D 0A The last character sent is the prompt EM 1 PY 1 CK 0 DN command 0A CET 0D 0A The last character sent is LF EM 2 PY 1 CK 0 DN command 0A No response except to PR and L commands EM 3 PY 1 CK 0 DN command 0A CET command 0D 0A Queued response The last character sent is the LF Table 2 2 2 MDI Response to Echo Mode Party is One 1 and Check Sum is Zero 0 Paramete...

Page 33: ...combination of upper lower case may be used In this example if a lower case mr were to be used the decimal values will change to 109 and 114 Subsequently the Result Check Sum value will change Possible entries MR mr Mr mR M 77 R 82 m 109 r 114 See ASCII table appendix in MDI Software Manual 77 82 32 49 Decimal value of M R space and 1 4D 52 20 31 Hex 77 82 32 49 240 Add decimal values together 111...

Page 34: ...00 milliseconds BR AA Branch to label AA E PG Exit program return to immediate mode 2 Download this segment of code into your second MDrivePlus Motion Control After downloading the program to the unit follow the previous party mode instructions Be sure to set your second unit with the unique address of B device name is case sensitive RC 25 Run current HC 5 Hold current MS 256 Microstep selection A...

Page 35: ...inal Window Some examples follow Move MDrive A B or C 10000 Steps Assuming there are three MDrives set up in Party Mode as shown in the Sample Codes above To move MDrive Unit A Press Ctrl J and then type AMR 10000 and press Ctrl J MDrive Unit A will move 10000 steps To print the position type APR P and press Ctrl J The position of MDrive Unit A will be printed To move MDrive Unit B type BMR 10000 ...

Page 36: ...nputs Dedicated I O Step Clock Input Step Direction I O Capture Input Trip Output Remote Encoder I O Channel A Channel B Index Standard I O Set The MDrivePlus Motion Control comes standard with a set of four I O 4 sinking or sourcing 0 to 24 VDC inputs or 4 sinking 0 to 24 VDC outputs which may be pro grammed individually as either general purpose or dedicated inputs or outputs or collectively as ...

Page 37: ... MDrive Motion Control Sofware Reference Manual for precise de tails on this command The command is entered into the IMS terminal or program file as S IO point IO Type Active State Sink Source Example S9 3 1 0 set IO point 9 to be a Limit input Active HIGH Sourcing S3 0 0 1 set IO Point 3 to be a General Purpose input Active LOW Sinking Programmable Input Functions The following table lists the pr...

Page 38: ...S terminal or program file as S IO point IO Type Active State Sink Source Example S9 17 1 0 set IO point 9 to be a Moving Output Active HIGH Sinking S3 18 0 0 set IO Point 3 to be a Fault Output Active LOW Sinking Programmable Output Functions The MDrivePlus Motion Control Output functions may be programmed to be a general purpose user output or to one of five output functions MDrivePlus Motion Co...

Page 39: ...t I O3 White Blue I O4 Green Analog Input MDrive34Plus Motion Control P1 I O CONNECTOR Wire Crimp Function Expanded I O Remote Encoder Closed Loop Control 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...

Page 40: ...and power ground Code Sample For the code sample this switch will be set up as a G0 sinking input active when low When pressed the switch will launch the program beginning at address1 in MDrive memory Setup Variables Sx 4 0 0 set IO point x to be a G0 input active when LOW sinking Program PG1 MR 20000 Move 20000 steps relative to current position H Hold program execution until motion completes MR ...

Page 41: ...witches will stop the motor S1 5 1 1 set IO point 1 to be a Soft Stop input active when HIGH sourcing SL 200000 enter this to slew the motor at 200000 µsteps sec When the switch is depressed the motor will decelerate to a stop Switch Input Sourcing Internal pull up voltage detect logic 40 135 uA 24 9k ohms 100k ohms 3 3 V The internal pull up voltage cannot provide output current voltage IOx GND I...

Page 42: ...ps sec While the motor is accelerating the LED will be dark but will light up when the motor reaches a constant velocity When the Soft Stop switch is depressed the motor will begin to decelerate the LED will go dark again while velocity is changing S1 16 1 0 Output Active HIGH Sinking O1 1 Sink OFF Hi Z O1 0 Sink ON S1 16 1 1 Output Active LOW Sourcing O1 1 Sink ON O1 0 Sink OFF Hi Z Internal pull...

Page 43: ...rminal Input Interface Example Switch Input Example Sinking Input The following circuit example shows a switch connected between an I O point and I O Ground Code Sample For the code sample this switch will be set up as a G0 sinking input active when low When pressed the switch will launch the program beginning at address1 in MDrive memory Setup Variables Sx 4 0 0 set IO point x to be a G0 input ac...

Page 44: ...en HIGH When pressed the switches will stop the motor S1 5 1 1 set IO point 1 to be a Soft Stop input active when HIGH sourcing SL 200000 enter this to slew the motor at 200000 µsteps sec When the switch is depressed the motor will decelerate to a stop Figure 2 3 9 Sourcing Input Example using a Push Button Switch Switch Input Sourcing Internal pull up voltage detect logic 40 135 uA 24 9k ohms 100...

Page 45: ...tive when LOW SL 2000000 enter this to slew the motor at 200000 µsteps sec While the motor is accelerating the LED will be dark but will light up when the motor reaches a constant velocity When the Soft Stop switch is depressed the motor will begin to decelerate the LED will go dark again while velocity is changing S1 16 1 0 Output Active HIGH Sinking O1 1 Sink OFF Hi Z O1 0 Sink ON S1 16 1 1 Outp...

Page 46: ...000000 Move some distance in the positive direction H Hold execution until motion completes MR 1000000 Move some distance in the negative direction H Hold execution until motion completes O1 1 Set output 1 HIGH Enter EX 100 to execute the program the motion will occur and the output will set high S1 16 1 1 Output Active HIGH Sourcing O1 1 Source ON O1 0 Source OFF Hi Z S1 16 0 1 Output Active LOW ...

Page 47: ...re Trip The Capture Input Trip Output point is a high speed I O point which can be used for time critical events in motion applications Capture Input When configured as a capture input I O point 13 has programmable filtering with a range of 50nS to 12 9 µS and has a resolution of 32 bits To configure the Capture input S13 60 0 1 configure IO13 as a capture input active HIGH LOW FC 0 9 set input fi...

Page 48: ...t S5 10 Sample Usage Main Program S5 9 0 set analog input to read variable voltage 0 to 5VDC PG 100 start prog address 100 LB A1 label program A1 CL A2 I5 500 Call Sub A2 If I5 is less than 500 CL A3 I5 524 Call Sub A3 If I5 is greater than 524 BR A1 loop to A1 Subroutines LB A2 label subroutine A2 MA 2000 Move Absolute 2000 steps H Hold program execution until motion ceases RT return from subrout...

Page 49: ...erface Current Mode trol ePlus Motion Con MDrive n e l M M Analog Input Ground S5 10 0 set input I range to 0 to 20mA S5 10 1 set input I range to 4 to 20mA 4 20 mA 0 20 mA Source Source Ground Figure 2 3 14 Analog Input Current Mode ...

Page 50: ...2 26 MDrive34Plus Motion Control Hardware Revision R080106 Page Intentionally Left Blank ...

Page 51: ...s Appendix A MDrivePlus Motion Control Motor Performance Appendix B Recommended Power and Cable Configurations Appendix C Planetary Gearboxes Appendix D I O Application Guide Appendix E MDrivePlus Motion Control Closed Loop Control Appendix F Optional Cables and Cordsets ...

Page 52: ...A 2 MDrive34Plus Motion Control Hardware Manual Revision R080106 Page Intentionally Left Blank ...

Page 53: ...RPM 900 1000 800 700 600 500 400 300 200 100 0 Torque in Oz In Torque in N cm 465 494 423 706 635 353 282 211 140 71 45 VDC 75 VDC 24 VDC 0 1000 300 2000 600 3000 900 4000 1200 5000 1500 6000 1800 7000 2100 Speed in Full Steps per Second RPM Single Length Double Length 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 W...

Page 54: ...s will provide optimal protection against EMI and RFI The actual cable type wire gauge shield type and filtering devices used are dependent on the customer s application and system NOTE The length of the DC power supply cable to an MDrive should not exceed 50 feet NOTE These recommendations will provide optimal protection against EMI and RFI The actual cable type wire gauge shield type and filteri...

Page 55: ... Load Output Voltage 76 VDC 0 Amps Half Load Output 68 VDC 3 Amps Full Load Output 64 VDC 6 Amps ISP300 7 Unregulated Switching Supply Input Range 120 VAC Versions 102 132 VAC 240 VAC Versions 204 264 VAC Output All Measurements were taken at 25 C 120 VAC 60 Hz No Load Output Voltage 68 VDC 0 Amps Continuous Output Rating 63 VDC 2 Amps Peak Output Rating 59 VDC 4 Amps Recommended Power Supply Cabl...

Page 56: ...iety of potential applications prohibits generalizing values for the useful service life Lubrication All Planetary Gearbox are grease packed and therefore maintenance free throughout their life The best possible lubricant is used for our MDrive Planetary Gearbox combinations Mounting Position The grease lubrication and the different sealing modes allow the Planetary Gearbox to be installed in any ...

Page 57: ... torque value calculated to allow for short term loads greater than the nominal output torque CB Operating Factor A value that is used to factor the shock load output torque sf Safety Factor A 0 5 to 0 7 factor used to create a margin for the MDrive torque requirement Reduction Ratio Reduction ratio i is used to reduce a relatively high motor speed nM to a lower output speed nAB With i nM nAB or m...

Page 58: ...se note that this is not the usable torque range The torque output to the Planetary Gearbox must include a safety factor sf to allow for any voltage and current deviations supplied to the MDrive The motor torque must include a safety factor sf ranging from 0 5 to 0 7 This must be factored into the nominal output torque calculation A 0 5 safety factor is aggressive while a 0 7 safety factor is more...

Page 59: ...ditions which would be a CB of 1 9 the shock load output torque TAB is over the maximum specified torque of the Planetary Gearbox with a 0 5 safety factor but under with a 0 7 safety factor The nominal output torque TN the operating factor CB shock load or maximum output torque TAB With a 0 5 safety factor the shock load output torque is greater than the maximum output torque specifi cation of the...

Page 60: ... of System There are many systems and drives from simple to complex which react differently and possess varied amounts of inertia All of the moving components of a given system will have some inertia factor which must be included in the total inertia calculation Some of these systems include Lead screw Rack and pinion Conveyor belt Rotary table Belt drive Chain drive Not only must the inertia of t...

Page 61: ...d size of the cylindrical driving pulley or roller The weight of the belt The weight or mass and size of the idler roller or pulley on the opposite end The angle or elevation of the belt Any load the belt may be carrying Weight of pinion and shaft Preload or friction between pinion and rack Load on rack Weight of rack Friction of rack in guide Gearbox Motor Weight and size of drive roller Weight a...

Page 62: ... In a system with a belt drive the following must be considered The weight or mass and size of the driving pulley The tension and or friction of the belt The weight or mass and size of the driven pulley Any load the system may be moving or carrying Weight and size of drive pulley Weight and size of driven pulley Friction created by tension on belt Weight of shaft Weight and size of table Weight an...

Page 63: ... would be to have a 1 1 system inertia to motor inertia ratio This will yield the best positioning and accuracy The reflected inertia Jref must not exceed 10 times the motor inertia Your system may require a reflected inertia ratio as close to 1 1 as possible To achieve the 1 1 ratio you must calculate an Optimal Gearbox Ratio Zopt which would be the square root of JL divided by the desired Jref I...

Page 64: ...ed multiply oz in sec2 by 70 6154 Stages Rounded Ratio 1 Stage 4 1 5 1 7 1 2 Stage 14 1 16 1 18 1 19 1 22 1 25 1 27 1 29 1 35 1 46 1 3 Stage 51 1 59 1 68 1 71 1 79 1 93 1 95 1 100 1 107 1 115 1 124 1 130 1 139 1 150 1 169 1 181 1 195 1 236 1 308 1 MDrive 34 Gearbox 0 00233660 0 00154357 0 00128867 0 00219499 0 00179847 0 00182679 0 00141612 0 00148693 0 00177015 0 00148693 0 00124619 0 00126035 0 ...

Page 65: ... G1C4 3 Stage 115 08 1 G1C5 3 Stage 123 98 1 G1C6 3 Stage 129 62 1 G1C7 3 Stage 139 14 1 G1C8 3 Stage 149 90 1 G1C9 3 Stage 168 85 1 G1D1 3 Stage 181 25 1 G1D2 3 Stage 195 27 1 G1D3 3 Stage 236 10 1 G1D4 3 Stage 307 55 1 G1D5 Planetary Gearbox Parameters Gearbox Lengths Inches mm k1 GEARBOX with FLANGE 1 Stage 4 315 109 6 4 433 112 6 2 Stage 5 169 131 3 5 287 134 3 3 Stage 6 024 153 0 6 142 156 0 ...

Page 66: ...A 16 MDrive34Plus Motion Control Hardware Manual Revision R080106 Page Intentionally Left Blank ...

Page 67: ...tive x distance H hold program execution until move completes CL AB I1 0 call subroutine AB if I1 0 limit reached BR AA I1 1 branch to AA if I1 1 LB AB Label Sub AB PR Error 83 Positive Limit Reached ER 0 MA 10000 Absolute move to Pos 10000 H hold program execution until move completes E end program PG exit program END NPN Input Sinking Internal pull up voltage detect logic 24 9k ohms 100k ohms 3 ...

Page 68: ...ne will perform some motion MR 200000 H MR 200000 H BR SA I1 1 conditional branch to beginning of sub BR AA I1 0 Branch to main program if IO1 0 RT LB SB Subroutine will perform some motion MR 10000 H MR 10000 H BR SB I2 1 conditional branch to beginning of sub BR AA I2 0 Branch to main program if IO1 0 RT E PG END PNP Input Sourcing Internal pull up voltage detect logic 40 135 uA 24 9k ohms 100k ...

Page 69: ...eeded to limit output sink current to 600mA up to 24 V Figure D 3 Sinking Output to Relay NOTE On the Standard MDrivePlus when configured as outputs the I O set is sinking ONLY The Plus2 Models add the functionality of I O Power which enables the user to use all the outputs both Standard and Enhanced as Sinking or Sourcing IO1 IO2 IO3 IO4 GND S1 16 0 S2 4 1 1 S3 2 0 0 S4 3 0 0 GO LIMIT LIMIT LOAD ...

Page 70: ...IGH sourcing Internal pull up voltage detect logic 24 9k ohms 100k ohms 3 3 V The internal pull up voltage cannot provide output current voltage IOPWR IOGND Iil 65 160 uA MDrivePlus2 IOx Vih 2 31 V Vil 0 99 V Threshold nom 1 5 V Iil 100 µA NPN Input Sinking Sinking Input Equivalent Circuit NPN 12 to 24 V Figure D 5 NPN Sinking Input on an MDrivePlus2 Motion Control PNP Input Sourcing Internal pull...

Page 71: ...9 6 1 1 Configure IO9 as a Pause Input active HIGH sourcing Internal pull up voltage The internal pull up voltage cannot provide output current voltage 24 9k ohms Sourcing Output Equivalent Circuit always off switched IOPWR IOx IOGND MDrivePlus2 load current sourcing Sourcing Output Sourcing Input cuit g Input Equivalent Circ urcin Sou n c u Internal pull up voltage detect logic 40 135 uA 24 9k oh...

Page 72: ...r inputs S point 0 Standard MDrivePlus Motion Control PR IN Reads Inputs 4 MSB through 1 LSB PR IN Reads Inputs 4 MSB through 1 LSB Enhanced MDrivePlus2 PR IL Reads Inputs 4 MSB through 1 LSB PR IH Reads Inputs 12 MSB through 9 LSB PR IN Reads Inputs 12 MSB 9 amd 4 1 LSB IO1 IO2 IO3 IO4 IOGND S1 17 0 0 S2 19 0 0 S3 7 1 1 S4 8 1 1 STALL JOG JOG LOAD MOVING IO9 IO10 IO11 IO12 S9 16 1 1 S10 16 1 1 S1...

Page 73: ...rol OL 3 set the binary state of the standard I O to 0011 OT 13 set the binary state of the standard I O to 1101 Enhanced MDrivePlus2 OL 5 set the binary state of the standard I O to 0101 OH 9 set the binary state of the expanded I O to 1001 OT 223 set the binary state of the combined I O to 1101 1111 Output Bit Weight Examples I O Set Enhanced Plus2 Standard IO12 MSB IO11 IO10 IO9 IO4 IO3 IO2 IO1...

Page 74: ... loop options Internal magnetic encoder on all MDrivePlus models or interface to a remote user supplied encoder on MDrivePlus2 models Internal Encoder All models of the MDrivePlus motion control are available with an internal magnetic encoder which adds the functionality of Stall Detection Position Maintenance and Home to Index The encoder itself has a resolution of 512 lines or 2048 edges per rev...

Page 75: ...tion of using a remote encoder through the enhanced I O The advantage of using a remote encoder is that the encoder can be stationed directly on the load for increased accuracy Set Up and Configuration CH A CH B CH A CH B Index RIndex Remote Encoder CH A CH B CH A CH B Index Index Figure E 1 Connecting a Remote Encoder ...

Page 76: ...the 10 pin IDC connector on the Communications Con verter Cable to a 10 pin friction lock wire crimp interface used on the Plus2 units Adapter Part MD ADP H If your PC is already equipped with RS 422 the MD CC400 000 cable is not required Electrical Specifications Mechanical Specifications NOTE The USB drivers must be installed before the Communications Converter Cable is plugged into the computer...

Page 77: ...onverter Hardware Drivers for the Virtual Communications Port VCP used to communicate to your IMS Product Therefore the Hardware Update wizard will run twice during the installation process The full installation procedure will be a two part process Installing the Cable VCP drivers and Determining the Virtual COM Port used Installing the Cable VCP Drivers 1 Plug the USB Converter Cable into the USB...

Page 78: ...go Compatibility Testing click Continue Anyway Figure F 7 9 The Driver Installation will proceed When the Completing the Found New Hardware Wizard dialog appears Click Finish Figure F 8 10 Upon finish the Welcome to the Hardware Update Wizard will reappear to guide you through the second part of the install process Repeat steps 1 through 9 above to complete the cable installation 11 Your IMS MD CC...

Page 79: ...duct To locate the Virtual COM Port 1 Right Click the My Computer Icon and select Properties 2 Browse to the Hardware Tab Figure F 9 Click the Button labeled Device Manager 3 Look in the heading Ports COM LPT IMS USB to RS422 Converter Cable COMx will be listed Figure F 10 The COM will be the Virtual COM Port connected You will enter this number into your IMS Terminal Configuration Figure F 9 Hard...

Page 80: ... Copper Braid 10 ft 3 0 m 22 AWG Stranded 7 Twisted Pairs Wire Color Code Pair Number Color Combination Signal Name Color 1 Black Paired with White Direction Black Step Clock White 2 Black Paired with Green Analog In Black Capture Trip Green 3 Black Paired with Blue I O 12 Black I O 11 Blue 4 Black Paired with Yellow I O 10 Black I O 9 Yellow 5 Black Paired with Brown I O 4 Black I O 3 Brown 6 Bla...

Page 81: ...gure F 13 PD10 1434 FL3 Prototype Development Cable PD10 1434 FL3 All MDrivePlus Motion Control The PD10 1434 FL3 is used to connect to the 10 pin wire crimp option for interfacing RS 422 485 Com munications It also features and additional cable attached for multi drop communications systems It is important to note that Cable 1 will connect to the Communications host Cable 2 will be used to inter ...

Page 82: ...A 32 MDrive34Plus Motion Control Hardware Manual Revision R080106 Page Intentionally Left Blank ...

Page 83: ...E PRODUCT This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty This Limited Warranty is the sole warranty offered by IMS with respect to the Product IMS does not assume any other liability in connection with the sale of the Product No representative of IMS is authorized to extend this Limited Warranty or to change it in any ma...

Page 84: ... 33 4 7838 1537 E mail bmartinez imshome com Germany Sales Phone 49 35205 4587 8 Fax 49 35205 4587 9 E mail hruhland imshome com Germany UK Technical Support Phone 49 7720 94138 0 Fax 49 7720 94138 2 E mail mweber imshome com U S A Sales offices Eastern Region Phone 862 208 9742 Fax 973 661 1275 E mail jroake imshome com Central Region Phone 260 402 6016 Fax 419 858 0375 E mail dwaksman imshome co...

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