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A-7

Appendices

Nominal Output Torque

Calculate the nominal output torque using the torque values from the MDrive’s Speed/Torque Tables.

Nominal output torque (T

N

) is the actual torque generated at the Planetary Gearbox output shaft which

includes reduction ratio (i), gear efficiency (

η

) and the safety factor (s

f

) for the MDrive. Once the reduction

ratio (i) is determined, the nominal output torque (T

N

) can be calculated as follows:

T

N

= T

M

×

i

×

η ÷

s

f

or:

Motor torque

×

reduction ratio

×

gear efficiency

÷

safety factor = nominal output torque.

For gear efficiency (

η

) refer to the Mechanical Specifications for the 7:1 Planetary Gearbox designed for your

MDrive.

For motor torque (T

M

) see the appropriate MDrive Speed/Torque Table. Dependent on which

MDrive you have, the torque range will vary. The torque will fall between the high voltage line and the low
voltage line at the indicated speed for the MDrive. (See the example Speed/Torque Table below.)

The Speed/Torque Table above is for an MDrive23 Double Length Motor. This MDrive will produce a torque
range of 51 to 95 oz-in in the full voltage range at the speed of 2000 Full Steps/Second (600 RPM).

Please note that this is not the usable torque range. The torque output to the Planetary Gearbox must include
a safety factor (s

f

) to allow for any voltage and current deviations supplied to the MDrive.

The motor torque must include a safety factor (s

f

) 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 conserva-
tive.

Example:

The available motor torque (T

M

) is 51 to 95 oz-in.

NOTE:

You may specify a torque less than but not greater than the motor torque range.

For this example the motor torque (T

M

) will be 35 oz-in.

A 6.75:1 reduction ratio (i) has been determined.

Gear efficiency (

η

) = 80% from the appropriate table for the Planetary Gearbox which is used with

an MDrive23.

Nominal output torque would be:

Motor torque (T

M

= 35)

×

reduction ratio (i = 6.75)

×

gear efficiency (

η

= 0.8)

÷

safety factor (s

f

=

0.5 or 0.7)

35

×

6.75 = 236.25

×

0.8 = 189

÷

0.5 = 378 oz-in nominal output torque (T

N

)

or

35

×

6.75 = 236.25

×

0.8 = 189

÷

0.7 = 270 oz-in nominal output torque (T

N

)

With the safety factor (s

f

) and gear efficiency (

η

) included in the calculation, the nominal output torque (T

N

)

may be greater than the user requirement.

Figure B.1: MDrive34 Torque-Speed Curve

900

1000

800
700
600
500
400
300
200
100

0

0

1000
(300)

2000
(600)

3000
(900)

4000

(1200)

5000

(1500)

6000

(1800)

7000

(2100)

Speed in Full Steps per Second (RPM)

Torque in Oz - In

Torque in N - cm

465
494
423

706

635

353
282
211
140
71

45 VDC

75 VDC

24 VDC

«
...
71
72
73
74
75
...
»

Summary of Contents for MDrive34Plus

Page 1: ...MDrive34Plus Microstepping Integrated Motor and Driver TM ...

Page 2: ...l risks of such use and indemnifies Intelligent Motion Systems Inc against all damages TM MDrive34Plus Microstepping Revision R071108 Copyright Intelligent Motion Systems Inc All Rights Reserved MDrive34Plus Microstepping Hardware Reference Change Log Date Revision Changes 06 26 2006 R062606 Initial Release 03 12 2007 R031207 Changed Max Step Clock rate to 5 MHz Min Pulse width to 100 ns default i...

Page 3: ...served when working on the drive system Intended Use The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers However drives and drive controllers that are not specifically designed for safety functions are not approved for applications where the functioning of the drive could endanger persons The possi...

Page 4: ...This page intentionally left blank ...

Page 5: ...ng and Configuring Section 2 1 Mounting and Interface Guidelines 2 3 Mounting Recommendations 2 3 Layout and Interface Guidelines 2 4 Rules of Wiring 2 4 Rules of Shielding 2 4 Recommended Wiring 2 5 Recommended Mating Connectors and Pins 2 5 SPI Communications Flying Lead Version Only 2 5 Power 2 5 Internal Differential Encoder 2 5 12 Pin Locking Wire Crimp I O and SPI Communications 2 5 Securing...

Page 6: ...2 31 Upgrading the Firmware in the MDrivePlus Microstepping 2 32 The IMS SPI Upgrader Screen 2 32 Upgrade Instructions 2 32 Initialization Screen 2 33 Port Menu 2 33 Section 2 6 Using User Defined SPI 2 35 SPI Timing Notes 2 35 Check Sum Calculation for SPI 2 35 SPI Commands and Parameters 2 36 SPI Communications Sequence 2 37 Appendices Appendix A MDrive34Plus Microstepping Motor Performance A 3 ...

Page 7: ...ical MDrive Shown with Leads Secured 2 6 Figure 2 2 1 IMS ISP300 Switch Mode Power Supply 2 7 Figure 2 2 2 DC Power Connections 2 9 Figure 2 2 3 DC Cabling 50 Feet or Greater AC To Full Wave Bridge Rectifier 2 10 Figure 2 2 4 AC Cabling 50 Feet or Greater AC To Power Supply 2 10 Figure 2 2 5 DC Cabling Under 50 Feet 2 10 Figure 2 3 1 MDrivePlus Microstepping Block Diagram 2 13 Figure 2 3 2 Isolate...

Page 8: ...lanetary Gearbox Specifications for MDrive34Plus A 13 Figure C 1 MD CC300 001 Mechanical Specifications and Connection A 15 Figure C 2 10 Pin IDC A 16 Figure C 3 MD CC303 001 Mechanical Specifications and Connection A 17 Figure C 4 12 Pin Wire Crimp A 18 Figure C 5 Hardware Update Wizard A 19 Figure C 6 Hardware Update Wizard Screen 2 A 19 Figure C 7 Hardware Update Wizard Screen 3 A 20 Figure C 8...

Page 9: ...rnal Differential Encoder 1 15 Part 2 Interfacing and Configuring Table 2 1 1 12 Pin Locking Wire Crimp Connector Contact and Tool Part Numbers 2 5 Table 2 2 1 Recommended Wire Gauges 2 11 Table 2 3 1 Input Clocks Timing Table 2 16 Table 2 3 2 Optocoupler Reference Connection 2 17 Table 2 5 1 Setup Parameters and Ranges 2 25 Table 2 5 2 Microstep Resolution Settings 2 28 Table 2 5 3 Input Clock Fi...

Page 10: ...vi This Page Intentionally Left Blank ...

Page 11: ...rive34Plus Microstepping Unit MDM34 Parameter setup cable MD CC300 000 USB to SPI or equivalent and adapter MD ADP 1723C for pluggable interface Product CD or Internet access to www imshome com Control Device for Step Direction 5 to 24 VDC optocoupler supply An Unregulated 12 to 75 VDC Power Supply Basic Tools Wire Cutters Strippers Screwdriver 18 AWG Wire for Power Supply 22 28 AWG Wire for Logic...

Page 12: ...ve34Plus Microstepping settings can be checked and or set Once installed you can change the motor run current holding current microstep resolution and other configura tion settings By sending clock pulses to the drive you can now change these settings safely on the fly as the IMS SPI Motor interface will not allow you to set an out of range value The motor can be run using the default settings wit...

Page 13: ...3 Part 1 Hardware Specifications Section 1 1 MDrive34Plus Microstepping Product Introduction Section 1 2 MDrive34Plus Microstepping Detailed Specifications Part 1 Hardware Specifications TM MICROSTEPPING ...

Page 14: ...1 4 MDrive 34Plus Microstepping Hardware Revision R071108 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank ...

Page 15: ...vided This eliminates the need for external switches or resistors Parameters are changed via an SPI port The versatile MDrive34Plus Microstepping is available in multiple configurations to fit various system needs Ro tary motor versions come in three lengths and may include an internal optical encoder control knob or planetary gearbox Interface connections are accomplished with either a pluggable ...

Page 16: ...p Up and Step Down Programmable Digital Filtering for Clock and Direction Inputs Available Options Internal Optical Encoder Integrated Planetary Gearbox Control Knob for Manual Positioning 3 Rotary Motor Lengths Available Current and Microstep Resolution May Be Switched On The Fly Interface Options Pluggable Locking Wire Crimp 12 0 30 5 cm Flying Leads Graphical User Interface GUI for Quick and Ea...

Page 17: ...Current 24 VDC Max 14 6 mA Table 1 2 3 MDrive34Plus Microstepping I O Specifications Communications Specifications Protocol SPI Table 1 2 4 MDrive34Plus Microstepping Communications Specifications Motion Specifications Microstep Resolution Number of Resolutions 20 Available Microsteps Per Revolution 200 400 800 1000 1600 2000 3200 5000 6400 10000 12800 20000 25000 25600 40000 50000 51200 360001 21...

Page 18: ...DT Hold Current Delay Time 0 or 2 65535 mSec 500 CLK TYPE Clock Type Step Dir Quadrature Up Down CW CCW Step Dir CLK IOF Clock and Direction Filter 50 nS to 12 9 µS 10 MHz to 38 8kHz nS MHz 200 nS 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 Motor Specifications Single Length Holding Torque 381 oz in 269 N cm Det...

Page 19: ...ing Dimensional Information Ø 1 90 Ø 48 3 LMAX2 Option Control Knob 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 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 ...

Page 20: ...ower I O and SPI Comm P2 Type 10 Pin IDC Function SPI Communications P3 Type 2 Pin Locking Wire Crimp Function DC Power P1 Type 12 Pin Locking Wire Crimp Function Power I O and SPI Comm P3 Type 2 Pin Locking Wire Crimp Function DC Power P4 Type 10 Pin Wire Crimp Function Differential Encoder Outputs Flying Leads Locking Wire Crimp Locking Wire Crimp with Internal Optical Encoder Note All Interface...

Page 21: ...r It may also receive quadrature and clock up type inputs if so configured Brown Brown Enable Enable Disable Input will enable or disable the driver output to the motor In the disconnected state the driver outputs are enabled in either sinking or sourcing configuration Black Black GND Power Ground The return of the 12 to 75 VDC power supply Red Red V 12 to 75 VDC Motor Power Supply input Different...

Page 22: ...ed 5 VDC Input Yellow Brown Channel B Figure 1 2 4 MDrive34Plus Microstepping Flying Leads with Single End Encoder White OptoRef Orange Step Clock Blue Direction Brown Enable Black GND Red VDC Yellow Black Ground Yellow Violet Index Yellow Blue Channel A Yellow Red 5 VDC Input Yellow Brown Channel B Yellow Gray Index Yellow Green Channel A Yellow Orange Channel B Figure 1 2 5 MDrive34Plus Microste...

Page 23: ...s 10 Pin IDC Function Description Pin 1 No Connect Pin 2 No Connect Pin 3 No Connect Pin 4 CS SPI Chip Select This signal is used to turn communications on multiple MDM units on or off Pin 5 GND Communications Ground Pin 6 5 VDC Output Supply voltage for the MD CC300 000 Cable ONLY Pin 7 MOSI Master Out Slave In Carries output data from the SPI Master to the MDM Pin 8 SPI Clock The Clock is driven...

Page 24: ...ate the driver outputs are enabled in either sinking or sourcing configuration Enable can be configured as either active high or active when low in the parameters Pin 6 Direction Channel B Clock Down Direction input The axis direction will be with respect to the state of the Direction Override Parameter It may also receive quadrature and clock up type inputs if so configured Pin 7 5 VDC Output Sup...

Page 25: ... 75 VDC 4 Amps Maximum per MDrive34Plus Pin 2 GND Power Supply Return Table 1 2 11 P3 Connector Figure 1 2 8 P3 Connector DC Power 12 to 75 VDC 1 2 P3 Recommended Cable P N PD02 3400 FL3 NEED A CABLE The following cables and converters are available to interface with P3 2 Pin Locking Wire Crimp PD02 3400 FL3 WARNING Do not plug or unplug DC Power with power applied ...

Page 26: ...ial Encoder 10 Pin Friction Lock Wire Crimp Pin Assignment P2 SPI Communications 10 Pin Wire Crimp Function Description Pin 1 Ground Encoder Ground common with power ground Pin 2 Channel A Channel A Encoder Output Pin 3 Channel A Channel A Encoder Output Pin 4 Channel B Channel B Encoder Output Pin 5 Channel B Channel B Encoder Output Pin 6 Index Index Encoder Output Pin 7 Index Index Encoder Outp...

Page 27: ...hells with pins Cable not supplied Manufacturer s crimp tool recommended Mates to connector 12 Pin Wire Crimp CK 03 10 Pin Wire Crimp CK 02 2 Pin Wire Crimp CK 05 Kit contains 5 mating connectors that press fit onto ribbon cable Cable not supplied 10 Pin IDC CK 01 Options Internal Encoder Internal optical encoders are offered factory mounted with the MDrive34Plus Microstepping Refer to the Encoder...

Page 28: ...1 18 MDrive 34Plus Microstepping Hardware Revision R071108 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank ...

Page 29: ...Interface Guidelines Section 2 2 Interfacing DC Power Section 2 3 Interfacing Logic Inputs Section 2 4 Interfacing SPI Communications Section 2 3 Using the IMS SPI Motor Interface Section 2 4 Using User Defined SPI Part 2 Interfacing and Configuring TM MICROSTEPPING ...

Page 30: ...2 2 MDrive 34Plus Microstepping Hardware Revision R071108 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank ...

Page 31: ...rial and thickness keep the maximum MDrive34Plus temperature of 85 C in consideration 4 x 10 32 Screw 4 x 10 Split Lockwasher 4 x 10 Flat Washer 4 x 10 32 Lock Nuts Mounting Hardware MDrive34Plus Mounting Hole Pattern Mounting Recommendation 4 x M5 0 80 Screw 4 x M5 Split Lockwasher 4 x M5 Flat Washer 4 x M5 0 80 Lock Nuts Mounting Hardware is not supplied Mounting Hardware Metric Allow Top Cleara...

Page 32: ...sted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC Rules of Shielding The shield must be tied to zero signal reference potential It is necessary that the signal be earthed or grounded for the shield to become earthed or grounded Earthing or grounding the shield is not effective if the signal is not earthed or grounded Do not assume that Earth ground is a true Earth...

Page 33: ...and SPI Communications I O Communications P1 Mating Connector Kit CK 03 Communications Converter MD CC303 001 Prototype Development Cable PD12 1434 FL3 Manufacturer PNs 12 pin Locking Wire Crimp Connector Shell Tyco 1 794617 2 Crimp Pins Tyco 794610 0 1 Crimp Tool Tyco 91501 1 2 Pin Locking Wire Crimp Power The following mating connectors are recommended for the MDrive34Plus2 Units ONLY Please con...

Page 34: ...rap P1 Logic Wiring P3 Power Separation between Logic and Power Securing Power Leads and Logic Leads Some applications may require that the MDrive move with the axis motion If this is a requirement of your application the motor leads must be properly anchored This will prevent flexing and tugging which can cause damage at critical connection points within the MDrive ...

Page 35: ...f each phase reservoir While one phase is in the decaying stage of the variable chopping oscillator the other phase is in the charging stage this results in a less than expected current draw on the supply The MDrivePlus is designed with the intention that a user s power supply output will ramp up to greater or equal to the minimum operating voltage The initial current surge is quite substantial an...

Page 36: ...ns 204 264 VAC Output All Measurements were taken at 25 C 120 VAC 60 Hz No Load Output Voltage 76 VDC 0 Amps Half Load Output 65 VDC 2 Amps Full Load output 58 VDC 4 Amps IP806 Unregulated Linear 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 76 VDC 0 Amps Half Load Output 68 VDC 3 Amps Fu...

Page 37: ...s Unregulated Linear or Switching Power Supply Power Ground VDC Shield to Earth Ground WARNING Do not connect or disconnect cabling while power is applied Black Pin 1 Red A B B A A V Voltage 12 to 75 VDC V Current 4A Max Per MDrive34Plus Recommended IMS Power Supplies IP804 IP806 ISP300 7 Includes Back EMF Shielded Twisted Pair Cable 2 Pin Locking Wire Crimp 12 Flying Leads P3 Pin 2 B ...

Page 38: ...al length may be gained by adding an AC power supply cable see Examples B C Correct AWG wire size is determined by the current requirement plus cable length Please see the MDrive Sup ply Cable AWG Table at the end of this Appendix Example B Cabling 50 Feet or Greater AC Power to Full Wave Bridge Example A Cabling Under 50 Feet DC Power Shield to Earth Ground on Supply End Only DC Voltage from Powe...

Page 39: ...m AWG 20 20 18 18 16 Minimum AWG 18 16 14 12 12 2 Amperes Peak 4 Amperes Peak Length Feet 10 25 50 75 100 Length Feet 10 25 50 75 100 Minimum AWG 20 18 16 14 14 Minimum AWG 18 16 14 12 12 Use the alternative methods illustrated in examples B and C when cable length is 50 feet Also use the same current rating when the alternate AC power is used Table 2 2 1 Recommended Wire Gauges ...

Page 40: ...2 12 MDrive 34Plus Microstepping Hardware Revision R071108 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank ...

Page 41: ...troller or PLC These inputs are 1 Step Clock SCLK Quadrature CH A Clock UP 2 Direction DIR Quadrature CH B Clock DOWN 3 Enable EN Of these inputs only step clock and direction are required to operate the MDrivePlus Microstepping Isolated Logic Input Pins and Connections The following diagram illustrates the pins and connections for the MDrive 17 and 23 Plus Microstepping family of products Careful...

Page 42: ...in 4 Pin 6 A A B B C C D D D Step Clock Channel A Clock Up Direction Channel B Clock Down Enable Opto Reference B C A Inputs Configured as Sinking 5 to 24VDC A Inputs Configured as Sourcing Controller I O Ground See Input Configuration Input Configuration Constant Current Source Optocoupler 5 VDC To Drive Logic Optocoupler Reference Input Step Clock Direction Enable MDrivePlus Microstepping Figure...

Page 43: ...the state of the Optocoupler Refer ence The CW CCW rotation based upon the state of the input may be set using the IMS Motor Interface software included with the MDrivePlus Microstepping Quadrature The Quadrature clock function would typically be used for following applications where the MDrivePlus Microstepping would be slaved to an MDrivePlus Motion Control or other controller in an electronic g...

Page 44: ...NG Figure 2 3 5 Clock Input Timing Characteristics Clock Input Timing Symbol Parameter Type and Value Step Direction Step Up Down Quadrature Units TDSU T Direction Set Up 50 nS min TDH T Direction Hold 100 nS min TSH T Step High 100 100 nS min TSL T Step Low 100 100 nS min TDL T Direction Change 200 200 nS min TCHL T Channel High Low 400 nS min FSMAX F Step Maximum 5 5 MHz Max FCHMAX F Channel Max...

Page 45: ... Reference The MDrivePlus Microstepping Logic Inputs are optically isolated to prevent electrical noise being coupled into the inputs and causing erratic operation There are two ways that the Optocoupler Reference will be connected depending whether the Inputs are to be configured as sinking or sourcing Optocoupler Reference Input Type Optocoupler Reference Connection Sinking 5 to 24 VDC Sourcing ...

Page 46: ... Reference Input Controller Output Controller Ground NPN Open Collector Interface Sinking PNP Open Collector Interface Sourcing MDrivePlus Microstepping MDrivePlus Microstepping Input Connection Examples The following diagrams illustrate possible connection application of the MDrivePlus Microstepping Logic Inputs Open Collector Interface Example Figure 2 3 6 Open Collector Interface Example ...

Page 47: ...terface Example Switch Interface Sinking Switch Interface Sourcing 5 to 24VDC Opto Ref SPST Switch GND Enable Input 5 to 24VDC GND SPST Switch MDrivePlus Speed Control MDrivePlus Speed Control Input Input Opto Ref Figure 2 3 7 Switch Interface Example ...

Page 48: ...les for the MDrivePlus Microstepping connector option you are using Figure 2 3 8 Minimum Required Connections VDC Motor Supply 5 to 24 Opto Supply Step Clock Direction Control Device GND MDrive34Plus Microstepping P3 1 Wire Crimp Red Flying Lead P3 2 Wire Crimp Black Flying Lead P1 4 Wire Crimp Orange Flying Lead P1 6 Wire Crimp Blue Flying Lead P1 3 Wire Crimp White Flying Lead DO NOT use the 5VD...

Page 49: ...designed to power any external devices SPI Clock The Clock is driven by the Master and regulates the flow of the data bits The Master may transmit data at a variety of baud rates The Clock cycles once for each bit that is transferred Logic Ground This is the ground for all Communications MISO Master In Slave Out Carries output data from the MDrivePlus Microstepping units back to the SPI Master Onl...

Page 50: ...n 10 Pin 9 Pin 8 A A A B B B C C C D D D E E E 2 3 4 15 18 25 Comm GND MISO SPI Clock SPI Chip Select MOSI 5 VDC ONLY used for IMS MD CC300 000 Logic Level Shifting Circuit Only required if using a 3 3 volt output parallel port See Schematic on Following Page WARNING The Parallel SPI Port on your PC must be set to one of the following output only bi directional 1 EPP Extended Parallel 2 Port Try t...

Page 51: ...11 10 8 9 6 3 2 R1 100 5V R2 49 9 P2 8 CLK 5V P2 4 P2 7 P2 10 P2 6 P2 5 CS MOSI MISO 5 VDC GND 5 6 10 7 4 8 3 4 19 DB25 2 DB25 3 DB25 4 DB25 19 DB25 15 15 C3 330pF R9 100K R10 100K R4 49 9 R6 49 9 C4 330pF R3 100 R5 100 C5 330pF R11 100K 5V R12 100K 5V R8 4 9K R7 49 9 5V C1 C2 1µF 1µF 25V Figure 2 4 2 Logic Level Shifting and Conditioning Circuit NOTE If making your own parameter setup cable be ad...

Page 52: ...re 2 4 4 SPI Master with a Single MDrivePlus Microstepping SPI Master with Multiple MDrivePlus Microstepping Itispossible to link multipleMDrivePlusMicrosteppingunitsinanarrayfromasingleSPIMasterbywiringthesystemand programmingthe userinterfacetowritetomultiplechipselects Each MDrivePlusonthebuswillhaveadedicatedchipselect OnlyonesystemMDrivePluscanbecommunicatedwith Pa rameterschanged atatime Fig...

Page 53: ...n 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 CW CCW Step Dir CLK IOF Clock and Direction Filter 50 nS to 12 9 µS 10 MHz to 38 8kHz nS MHz 50nS 10 MHz USER ID User ID Customizable 1 3 characters IMS EN ACT Enable Active ...

Page 54: ...and Serial Number Displays the part and serial number Red Out of Range Value The Set Button will disable as the the Motor Interface will not allow an out of range value to be stored Blue New Value which has not yet been set to NVM Black This is the value Currently Stored in NVM Figure 2 5 1 SPI Motor Interface Color Coding Perform File Operation Open Motor Settings File mot Save Motor Settings Sav...

Page 55: ...IMS Internet Tutorials Link to an IMS Web Site page containing Interactive flash tutorials About Opens the About IMS and IMS SPI Motor Interface Screen Recall Last Stored Parameter Settings Figure 2 5 4 SPI Motor Interface Recall Menu Toggle MForce into Upgrade Mode for Firmware Upgrade Figure 2 5 5 SPI Motor Interface Upgrade Menu Figure 2 5 6 SPI Motor Interface Help Menu and About Screen Links ...

Page 56: ...will move The MDrivePlus uses a 200 step 1 8 stepping motor which at the highest default resolution of 256 will yield 51 200 steps per revolution of the motor shaft See Table 2 3 2 for available Microstep Resolutions Microstep Resolution Settings Binary µStep Resolution Settings Decimal µStep Resolution Settings MS µSteps Step Steps Revolution MS µSteps Step Steps Revolution 1 200 5 1000 2 400 10 ...

Page 57: ... HCDT setting mS following the last clock pulse DIR Motor Direction The DIR Motor Direction parameter changes the motor direction relative to the direction input signal adapting the direc tion of the MDrivePlus to operate as your system expects User ID The User ID is a three character viewable ASCII identifier which can be assigned by the user Default is IMS IMS SPI Motor Interface Button Function...

Page 58: ...ed using the Clock IOF pull down of the IMS SPI Motor Interface The filter range is from 50 nS 10 MHz to 12 9 µSec 38 8 kHz Table 2 4 3 shows the filter settings Input Clock Filter Settings Min Pulse Cutoff Frequency 50 nS 10 MHz 150 nS 3 3 MHz 200 nS 2 5 MHz 300 nS 1 67 MHz 500 nS 1 0 MHz 900 nS 555 kHz 1 7 µS 294 1 kHz 3 3 µS 151 kHz 6 5 µS 76 9 kHz 12 9 µS 38 8 kHz Table 2 5 3 Input Clock Filte...

Page 59: ...o indicate the type of fault The table below shows the error codes MDrive34Plus Microstepping Fault Codes Binary Case Error Code Description Action To Clear None No Fault 4 CS SPI Checksum Error Error Displayed Write to MDM Set Button 8 SC CS SPI Checksum Error Sector Changing Error Displayed Write to MDM Set Button 16 DFLT Defaults Checksum Error Error Displayed Write to MDM Set Button 32 DATA Se...

Page 60: ... the serial number of your unit 3 Upgrade Version will display the version number of the firmware being installed 4 Messages the messages text area will display step by step instructions through the upgrade process Upgrade Instructions Below are listed the upgrade instructions as they will appear in the message box of the IMS SPI Upgrader Note that some steps are not shown as they are accomplished...

Page 61: ...patible device 5 Port Menu The Port Menu allows the user to select the COM Port that the device is connected to either a parallel LPT Port or a Hardware Serial or Virtual Serial Port via USB The Reconnect option allows the user to reconnect to a unit using the previously used settings On open or reconnect the SPI Motor Interface will also try to auto seek for a connected device Figure 2 5 11 SPI M...

Page 62: ...2 34 MDrive 34Plus Microstepping Hardware Revision R071108 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank ...

Page 63: ...cant bit first and MSB Most Significant Byte first 2 8 bit bytes 3 25 kHz SPI Clock SCK 4 Data In MOSI on rising clock 5 Data Out MISO on falling clock Check Sum Calculation for SPI The values in the example below are 8 bit binary hexadecimal conversions for the following SPI parameters MRC 25 MHC 5 MSEL 256 HCDT 500 mSec WARNTEMP 80 The Check Sum is calculated as follows Hex 80 19 05 00 00 01 F4 ...

Page 64: ...IR_OVRID 0x00 0 no override 1 override dir Direction Override HCDT_HI 0x01 0 or 2 65535 Hold Current Delay Time High Byte HCDT_LO 0xF4 Hold Current Delay Time Low Byte CLKTYP 0x00 0 s d 1 quad 2 u d Input Clock Type CLKIOF 0x00 0 9 Clock Input Filtering WARNTEMP 0x50 OVER_TEMP 5 C EN_ACT 0x01 0 Low 1 High Enable Active High Low LSB FAULT 0x00 See Fault Table Section 2 4 WRITE ALL 0x80 Writes the h...

Page 65: ...OF WARNTEMP EN_ACT CKSUM 0 0 80 01 51 80 F4 00 01 00 01 50 33 XX FF FF FF FF FF FF FF FF FF FF FF FF FF FF 500 00 25 5 256 0 19 USR_ID1 USR_ID2 USR_ID3 I M S 49 4D 53 05 00 RESPONSE MISO WRITE MOSI WRITE ALL CMD Figure 2 6 2 Read Write Byte Order for Parameter Settings Default Parameters Shown SPI Communications Sequence See Timing Diagram and Byte Order figures READ 1 Send READ ALL Command 0x40 d...

Page 66: ...2 38 MDrive 34Plus Microstepping Hardware Revision R071108 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank ...

Page 67: ...ndices Appendix A MDrive34Plus Microstepping Motor Performance Appendix B Planetary Gearboxes Appendix C Connectivity Appendix D Interfacing an Encoder Appendix E Linear Slide Option Appendices TM MICROSTEPPING ...

Page 68: ...A 2 MDrive 34Plus Microstepping Hardware Revision R071108 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank ...

Page 69: ...y Motor 900 1000 800 700 600 500 400 300 200 100 0 0 1000 300 2000 600 3000 900 4000 1200 5000 1500 6000 1800 7000 2100 Speed in Full Steps per Second RPM Torque in Oz In Torque in N cm 465 494 423 706 635 353 282 211 140 71 45 VDC 75 VDC 24 VDC 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 ...

Page 70: ...n sec2 3 4 kg cm2 Weight Motor Driver 8 8 lb 4 0 kg 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 Triple Length Rotary Motor 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...

Page 71: ...ns 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 position Operating Temperatu...

Page 72: ...rque Tables η Gear Efficiency A value factored into the calculation to allow for any friction in the gears TAB Shock Load Output Torque A 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 requir...

Page 73: ...ue 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 conserva tive Example The available motor torque TM is 5...

Page 74: ...ng factor CB With the most extreme conditions 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 maxim...

Page 75: ... 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 the system be calculated b...

Page 76: ...llowing must be considered The weight and 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 ...

Page 77: ... 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 and position of parts on t...

Page 78: ...ec2 Z Gearbox Ratio The ideal situation 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 r...

Page 79: ...1A6 3 Stage 95 18 1 0 00147276 G1C2 2 Stage 19 20 1 0 00141612 G1A7 3 Stage 99 51 1 0 00148693 G1C3 2 Stage 22 21 1 0 00148693 G1A8 3 Stage 107 21 1 0 00124619 G1C4 2 Stage 25 01 1 0 00177015 G1A9 3 Stage 115 08 1 0 00148693 G1C5 2 Stage 26 85 1 0 00148693 G1B1 3 Stage 123 98 1 0 00124619 G1C6 2 Stage 28 93 1 0 00124619 G1B2 3 Stage 129 62 1 0 00124619 G1C7 2 Stage 34 98 1 0 001260345 G1B3 3 Stage...

Page 80: ...A 14 MDrive 34Plus Microstepping Hardware Revision R071108 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank ...

Page 81: ...PI interface Supplied Components MD CC30 communications converter Parameter Setup Cable USB Cable USB Drivers IMS SPI Interface Software MD CC300 001 The MD CC300 001 interfaces to the model MDrivePlus Microstepping with a 10 Pin IDC type connector at location P2 NEMA 17 Size MDrivePlus Microstepping shown in Figure below Connection for a NEMA 23 will be identical Figure C 1 MD CC300 001 Mechanica...

Page 82: ...les in small quantities These kits come with the connector shells and crimp pins if applicable to create five interface cables Connector Details Mating Connector Kit p n CK 01 Description 5 mating connector shells for making interface cables to MDrive s 10 pin IDC connector 2 piece connector shell crimps onto a 10 conductor AMP ribbon cable Ribbon Cable is not included IDC Parts Shell SAMTEC TCSD ...

Page 83: ...ations is also available Order P N PD12 1434 FL3 P1 MD CC303 001 USB to SPI Communications Converter Plug into Computer USB Port 6 1 8 m USB Cable 13 4 0 m MD CC3 USB to SPI Converter Cable www imshome com USB Cable Length 6 0 ft 1 8 m RJ 45 Cable Communications Length 6 0 ft 1 8 m Cable Power and I O Length 13 0 ft 4 0 m 1 0 in 25 0 mm 3 75 in 95 0 mm 0 875 in 22 0 mm USB To PC USB 6 1 8 m AMP 12...

Page 84: ...rts Shell 1 794617 2 Pins 794610 1 Crimp Tool 91501 1 Connector Detail and Mating Connector Kit Should you choose to create your own interface cable IMS now has mating connector kits available which assist you in creating interface cables in small quantities These kits come with the connector shells and crimp pins to create five interface cables N C Chip Select Comm Gnd Opto Ref Enable 5 VDC 11 9 ...

Page 85: ...ining the Virtual COM Port used Installing the Cable VCP Drivers 1 Download dirvers from http www imshome com cable_drivers html 2 Extract the driver files from the zip archive remember the extracted location 3 Plug the USB Converter Cable into the USB port of the MD CC30x 001 4 Plug the other end of the USB cable into an open USB port on your PC 5 Your PC will recognize the new hardware and open ...

Page 86: ...ility Testing click Continue Anyway Figure C 8 11 The Driver Installation will proceed When the Completing the Found New Hardware Wizard dialog appears Click Finish Figure C 9 12 Upon finish the Welcome to the Hardware Update Wizard will reappear to guide you through the second part of the install process Repeat steps 3 through 11 above to complete the cable installation 11 Your IMS MD CC30x 001 i...

Page 87: ...MS Terminal is set up in order that IMS Terminal will know where to find and communicate with your IMS Product To locate the Virtual COM Port 1 Right Click the My Computer Icon and select Properties 2 Browse to the Hardware Tab Figure D 9 Click the Button labeled Device Manager 3 Look in the heading Ports COM LPT IMS USB to SPI Converter Cable COMx will be listed Figure D 10 The COM will be the Vi...

Page 88: ...gure C 12 PD12 1434 FL3 To MDrivePlus 12 pin wire crimp Tyco connector 10 0 3 0m To I O Communications Cable 1 Cable 2 Cable 2 is N C and may be removed Connector Details Figure C 13 12 Pin Wire Crimp Mating Connector Kit p n CK 03 Description 5 mating connector shells and crimp pins Recommend Tyco Crimp tool Not included Tyco Parts Shell 1 794617 2 Pins 794610 1 Crimp Tool 91501 1 Connector Detai...

Page 89: ...e MDrive34Plus The Flying Lead end con nects to a Control Interface such as a PLC Wire Color Code Pair Number Cable Pair Color Combination Interface Signal MDrive Wire Crimp Connection Pin Number 1 1 White Blue Index 6 Blue White Index 7 1 2 White Orange Channel B 4 Orange White Channel B 5 1 3 White Green Channel A 2 Green White Channel B 3 1 4 White Brown Ground 1 Brown White 5 VDC Input 8 Table...

Page 90: ...n cluded Molex Parts Shell 510 67 0200 Pins 502 17 9101 Crimp Tool 63811 1200 Prototype Development Cable PD02 3400 FL3 Main Power IMS recommends the Prototype Development Cable PD02 3400 FL3 for interfacing power to the MDrive 34Plus2 Motion Control Wire Colors Function Black Power Ground Red V Power 1 2 GND side view front view pin details shell locking tab To MDrivePlus 2 pin wire crimp Molex c...

Page 91: ... SINGLE END ENCODER Line Count Part Number Part Number 100 EA E1 200 EB E2 250 EC E3 256 EW EP 400 ED E4 500 EH E5 512 EX EQ 1000 EJ E6 1024 EY ER Table D 1 Available Encoder Line Counts and Part Numbers Note The MDrive34Plus with Pluggable Interface is available with Differential Encoder only The MDrive34Plus with Flying Leads is available with both Single End or Differential Encoder General Spec...

Page 92: ...ow Gray Index Yellow Green Channel A Yellow Orange Channel B Yellow Black Ground Yellow Violet Index Yellow Blue Channel A Yellow Red 5VDC Input Yellow Brown Channel B Single End Encoder Flying Leads Differental Encoder Flying Leads Differental Encoder Pluggable Interface P1 P3 P4 1 Pin 2 Channel A Pin 1 Ground Pin 3 Channel A Pin 4 Channe B Pin 5 Channel B Pin 6 Index Pin 7 Index Pin 8 5VDC Input...

Page 93: ...lead between channels A and B nominally 90 e Po Index Pulse Width Nominally 90 e Encoder Signals Single End Encoder Available with Flying Leads Version only Differential Encoder Characteristics Parameter Symbol Min Typ Max Units Cycle Error 3 5 5 e Symmetry 130 180 230 e Quadrature 40 90 140 e Index Pulse Width Po 60 90 120 e Index Rise After CH B or CH A fall t1 300 100 250 ns Index Fall After CH...

Page 94: ...able Locking Wire Crimp interface The IMS Part Number is listed below Differential Encoder Cable 10 leads PD10 3400 FL3 Recommended Encoder Mating Connectors IMS recommends the following mating connectors or equivalent if you make your own cables Differential Encoder 10 Pin Friction Lock Wire Crimp Hirose DF11 10DS 2C Pins 22 AWG Hirose DF11 22SC 24 28 AWG Hirose DF11 2428SC 30 AWG Hirose DF11 30S...

Page 95: ...l passive carriages or slides available to support cantilevered loads Easily mountable with provided mounting flange and holes Extrusions provided for sensor mounts MDrive34Plus Linear Slide Speed Force correlating equations Axial Force Ffriction Facceleration Fgravity Ffriction Weight 0 09 Facceleration Weight Acceleration Accel of gravity Fgravity 0 for horizontal application and 1 Weight for ve...

Page 96: ...equivalent not supplied 4 Optional Sensor Flag Kit for use with U channel sensor details below Figure F 3 Mechanical Specifications 2 14 54 4 2 00 50 8 1 000 25 4 3 38 SQ 85 9 SQ 0 69 17 5 0 50 12 7 1 23 31 2 2 34 59 3 0 56 14 2 D 1 1 27 9 1 250 31 8 2 25 57 2 Mounting Holes Ø 0 26 6 6 THRU HOLE 4 x 1 4 20 SHCS 0 750 19 1 2 6 66 0 0 75 19 1 1 50 38 1 0 85 21 6 1 25 31 8 0 60 15 2 4 3 5 3 25 82 6 1...

Page 97: ...omply 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 manner whatsoever No warranty applies to any party other than the original...

Page 98: ...Region Tel 260 402 6016 Fax 419 858 0375 e mail dwaksman imshome com Western Region Tel 602 578 7201 e mail dweisenberger imshome com IMS ASIA PACIFIC OFFICE 30 Raffles Pl 23 00 Caltex House Singapore 048622 Tel 65 6233 6846 Fax 65 6233 5044 e mail wllee imshome com IMS EUROPEAN SALES MANAGEMENT 4 Quai Des Etroits 69005 Lyon France Tel 33 4 7256 5113 Fax 33 4 7838 1537 e mail bmartinez imshome com...

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