Intelligent Motion Systems MDrive34AC Plus Microstepping Operating Instructions Manual Download

Page: 65 / 79

A-14

MDriveAC Plus Microstepping Hardware - Revision R121707

Relevant to Firmware Version 3.0.02

Figure B.7: Planetary Gearbox Specifications for MDrive34AC Plus2

Planetary Gearbox for MDrive34AC Plus2

MDrive34AC Plus

Planetary Gearbox Parameters

Permitted

Output Torque

(oz-in/Nm)

Gearbox

Efficiency

Maximum

Backlash

Output Side with Ball Bearing

Maximum Load

(lb-force/N)

Weight

(oz/g)

Radial

Axial

Gearbox

with Flange

1-STAGE

2832/20.0

0.80

1.0°

90/400

18/80

64.4/1827

66.7/1890

2-STAGE

8496/60.0

0.75

1.5°

135/600

27/120

89.5/2538

92.6/2625

3-STAGE

16992/120.0

0.70

2.0°

225/1000

45/200

92.6/2625

118.5/3360

Table B.2: Planetary Gearbox Specifications – PM81

PM81 Gearbox Ratios and Part Numbers

Planetary

Gearbox

Ratio

(Rounded)

Part

Number

Planetary

Gearbox

Ratio

(Rounded)

Part

Number

1-Stage

3.71:1

G1A1

3-Stage

50.89:1

G1B5

1-Stage

5.18:1

G1A2

3-Stage

58.86:1

G1B6

1-Stage

6.75:1

G1A3

3-Stage

68.07:1

G1B7

3-Stage

71.16:1

G1B8

2-Stage

13.73:1

G1A4

3-Stage

78.72:1

G1B9

2-Stage

15.88:1

G1A5

3-Stage

92.70:1

G1C1

2-Stage

18.37:1

G1A6

3-Stage

95.18:1

G1C2

2-Stage

19.20:1

G1A7

3-Stage

99.51:1

G1C3

2-Stage

22.21:1

G1A8

3-Stage

107.21:1

G1C4

2-Stage

25.01:1

G1A9

3-Stage

115.08:1

G1C5

2-Stage

26.85:1

G1B1

3-Stage

123.98:1

G1C6

2-Stage

28.93:1

G1B2

3-Stage

129.62:1

G1C7

2-Stage

34.98:1

G1B3

3-Stage

139.14:1

G1C8

2-Stage

45.56:1

G1B4

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

Table B.3: Planetary Gearbox Ratios and Part Numbers

Key DIN 6885-A-6x6x28mm

Ctrg. DIN 332-D M6x16

4x Ø 0.217 (Ø5.5) Hole

†

4x Ø 0.217 (Ø5.5) Hole

†

0.197*

(5.0)

K1 ±0.02 (±0.5)

Ø 2.56*

(Ø 65.0)

1.575

(40.0)

Ø 3.189 (Ø 81.0)

Ø 1.969 +0.0006/-0.0004* (Ø 50.0 +0.015/-0.010) or Ø 2.874 +0/-0.0012

†

(Ø 73.0 +0/-0.030)

Ø 0.748 +0/-0.0008 (Ø 19.0 +0/-0.021)

0.394

†

(10.0)

MDrive34Plus

3.386 SQ. (86.0 SQ.)

*Gearbox without Flange

†Gearbox with Flange

1.929*

(49.0)

1.811

†

(46.0)

M6 x 0.472 (12.0) Deep

0.079

†

(2.0)

2.739 SQ.

†

(69.58 SQ.)

Dimensions in inches (mm)

Stages

(Gearbox)

(NEMA 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)

Summary of Contents for MDrive34AC Plus Microstepping

Page 1: ...Operating Instructions TM mICROSTEPPING TM Excellence in Motion www imshome com 34 TM MICROSTEPPING 42 TM MICROSTEPPING...

Page 2: ...ble Active High Low parameter for SPI changed temperature specification to 40 C to 75 C non condensing humidity measured at the heat sink and 40 C to 90 C non condensing humidity measured on the motor...

Page 3: ...ve42AC Plus Microstepping 1 13 Configuring 1 13 Features and Benefits 1 13 Section 1 4 MDrive42AC Plus Microstepping Detailed Specifications 1 15 Setup Parameters 1 16 Pin Assignment and Description 1...

Page 4: ...Notes 2 21 Check Sum Calculation for SPI 2 21 SPI Commands and Parameters 2 22 SPI Communications Sequence 2 23 Appendices Appendix A MDriveAC Plus Microstepping Motor Performance A 3 MDrive34AC Plus...

Page 5: ...lus Microsteppings 2 11 Figure 2 3 1 SPI Motor Interface Color Coding 2 13 Figure 2 3 3 SPI Motor Interface View Menu 2 13 Figure 2 3 2 SPI Motor Interface File Menu 2 13 Figure 2 3 4 SPI Motor Interf...

Page 6: ...Curves A 25 Figure E 3 Mechanical Specifications A 26 List of Tables Table GS 1 AC Wire Colors 1 1 Part 1 Hardware Specifications Table 1 2 1 Setup Parameters 1 8 Table 1 2 2 P1 19 Pin M23 Pin Assignm...

Page 7: ...for AC Power and Logic Connections See Note in page margin A PC with Windows XP Service Pack 2 Connecting AC Power AC Power to Connector P3 AC Power To P3 P3 Function US Color Euro Color 1 Earth GND...

Page 8: ...Button in the top right navigation Area 4 Click the IMS SPI Interface link appropriate to your operating system 5 Click SETUP in the Setup dialog box and follow the on screen instructions 6 Once IMS...

Page 9: ...ostepping Product Introduction Section 1 2 MDrive34CAC Plus Microstepping Detailed Specifications Section 1 3 MDrive42AC Plus Microstepping Product Introduction Section 1 4 MDrive42AC Plus 65 Microste...

Page 10: ...1 4 MDriveAC Plus Microstepping Hardware Revision R121707 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank...

Page 11: ...or external switches or resistors Parameters are changed via an SPI port For use in environments where exposure to dust and liquids may occur a sealed MDrive34AC Plus Microstepping unit with circular...

Page 12: ...irection vs Direction Input Microstep Resolution Clock Type Step and Direction Quadrature Step Up and Step Down Programmable Digital Filtering for Clock and Direction Inputs Available Options Internal...

Page 13: ...e Range Sourcing or Sinking 5 to 24 VDC Current 5 VDC Max 8 7 mA Current 24 VDC Max 14 6 mA Communications Specifications Protocol SPI Motion Specifications Microstep Resolution Number of Resolutions...

Page 14: ...ters 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...

Page 15: ...9 79 0 87 22 1 0 87 22 1 Connectors Control Knob P1 19 Pin M23 P3 3 Pin Euro AC 1 90 48 3 LMAX 0 55 0 0 0005 14 0 0 0 013 0 08 0 004 2 0 0 1 0 40 10 1 0 87 0 010 22 0 25 1 46 0 039 37 0 1 0 LMAX2 2 70...

Page 16: ...Ground Pin 12 N C No Connect Pin 13 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 quadratu...

Page 17: ...Supply voltage for the MD CC300 000 Cable ONLY Pin 11 GND Communications Ground Pin 12 N C No Connect Pin 13 Direction Channel B Clock Down Direction input The axis direction will be with respect to...

Page 18: ...m long they are available in either straight or right angle termination PVC jacketed cables come with a foil shield and unconnected drain wire Straight Termination MD CS100 000 Right Angle Termination...

Page 19: ...vided This eliminates the need for external switches or resistors Parameters are changed via an SPI port For use in environments where exposure to dust and liquids may occur a sealed MDrive42AC Plus M...

Page 20: ...irection vs Direction Input Microstep Resolution Clock Type Step and Direction Quadrature Step Up and Step Down Programmable Digital Filtering for Clock and Direction Inputs Available Options Internal...

Page 21: ...tion 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 216002 254003 1 0 01 deg step 2 1 arc...

Page 22: ...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 steps per full step 256 DI...

Page 23: ...0 48 3 0 87 22 1 0 87 22 1 Connectors P1 19 Pin M23 P3 3 Pin Euro AC 0 75 19 05 0 059 1 5 0 49 12 5 2 17 55 0 1 375 34 9 LMAX LMAX2 P3 0 65 16 51 0 75 19 05 2 185 55 5 P1 0 83 21 08 4 50 114 3 0 1875...

Page 24: ...Ground Pin 12 N C No Connect Pin 13 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 quadratu...

Page 25: ...Supply voltage for the MD CC300 000 Cable ONLY Pin 11 GND Communications Ground Pin 12 N C No Connect Pin 13 Direction Channel B Clock Down Direction input The axis direction will be with respect to...

Page 26: ...in 19 Pin 18 Pin 17 Pin 14 Pin 15 Pin 16 Outside Pins 1 12 Inside Pins 13 19 Pin 3 Pin 12 Pin 6 Pin 9 Pin 13 Figure 1 4 2 P1 Connector Power and I O NEED A CORDSET The following cordset is available t...

Page 27: ...t available with the Sealed 65 version Parameter Setup Cable and Adapter The optional 12 0 3 6m parameter setup cable part number MD CC300 000 with adapter MD ADP M23 facilitates communications wiring...

Page 28: ...ection 2 1 Logic Interface and Connection Section 2 2 Connecting SPI Communications Section 2 3 Using the IMS SPI Motor Interface Section 2 4 Using User Defined SPI Part 2 Interfacing and Configuring...

Page 29: ...2 2 MDriveAC Plus Microstepping Hardware Revision R121707 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank...

Page 30: ...to operate the MDriveAC Plus Microstepping Isolated Logic Input Pins and Connections The following diagram illustrates the pins and connections for the MDriveAC Plus Microstepping family of prod ucts...

Page 31: ...input may be configured as sinking or sourcing based upon 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 softwar...

Page 32: ...Input Timing Symbol Parameter Type and Value Step Direction Step Up Down Quadrature Units TDSU T Direction Set Up 0 nS min TDH T Direction Hold 50 nS min TSH T Step High 250 250 nS min TSL T Step Low...

Page 33: ...he Inputs are to be configured as sinking or sourcing Optocoupler Reference Input Type Optocoupler Reference Connection Sinking 5 to 24 VDC Sourcing Controller Ground Table 2 1 2 Optocoupler Reference...

Page 34: ...ut Controller Ground NPN Open Collector Interface Sinking PNP Open Collector Interface Sourcing MDriveACPlus Microstepping MDriveACPlus Microstepping Input Connection Examples The following diagrams i...

Page 35: ...ostepping features an Open Drain Fault output located at Pin 19 of connector P1 This is an impending over temperature and over temperature fault When the internal temperature of the MDriveAC Plus reac...

Page 36: ...on Tables for the MDriveAC Plus Microstepping connector option you are using Figure 2 1 8 Minimum Required Connections Pin 1 Optocoupler Reference Pin 1 Earth Chassis Ground Pin 2 AC Line Pin 3 AC Neu...

Page 37: ...cable only It is not 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...

Page 38: ...5 2 3 4 PC Parallel SPI Port For Use ONLY with IMS Parameter Setup Cable Figure 2 2 4 SPI Master with a Single MDriveAC Plus Microstepping SPI Master with Multiple MDriveAC Plus Microstepping Itisposs...

Page 39: ...ercent 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 steps per full step 256 DIR Motor Direction Override 0 1 CW...

Page 40: ...erial 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 ha...

Page 41: ...rmware upgrader utility Help 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...

Page 42: ...croDrive 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...

Page 43: ...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 MDriveAC Plus Mic...

Page 44: ...s from 50 nS 10 MHz to 12 9 Sec 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...

Page 45: ...2 charac ter error code to indicate the type of fault The table below shows the error codes MDriveAC Plus Microstepping Fault Codes Binary Case Error Code Description Action To Clear None No Fault 4 C...

Page 46: ...ur 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 I...

Page 47: ...o connect to a compatible device 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 v...

Page 48: ...ficant 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 th...

Page 49: ...DIR_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...

Page 50: ...WARNTEMP EN_ACT CKSUM 0 0 80 00 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 WRIT...

Page 51: ...2 24 MDriveAC Plus Microstepping Hardware Revision R121707 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank...

Page 52: ...ices Appendix A MDriveAC Plus Microstepping Motor Performance Appendix B Gear Boxes Appendix C Optional Cables and Cordsets Appendix D Interfacing an Encoder Appendices TM mICROSTEPPING TM Excellence...

Page 53: ...A 2 MDriveAC Plus Microstepping Hardware Revision R121707 Relevant to Firmware Version 3 0 02 Page Intentionally Left Blank...

Page 54: ...000 3000 8000 2400 0 700 495 Triple Motor Length Double Motor Length Single Motor Length 300 400 500 600 200 100 Torque Oz In Torque in N cm 212 283 354 424 141 71 Speed Full Steps Second RPM 0 2000 6...

Page 55: ...orque Curves 600 800 1000 1200 400 200 Torque in Oz In Torque in N cm 424 565 706 847 282 141 Speed Full Steps Second RPM 0 2000 600 4000 1200 6000 1800 10000 3000 8000 2400 0 1400 1600 1800 989 1130...

Page 56: ...0 N cm Detent Torque 35 oz in 25 N cm Rotor Inertia 0 0917 oz in sec2 6 5 kg cm2 Weight Motor Driver 14 07 lb 6 38 kg Double Length Holding Torque 2294 oz in 1620 N cm Detent Torque 84 oz in 59 N cm R...

Page 57: ...de variety 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...

Page 58: ...orque 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...

Page 59: ...cond 600 RPM Please 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...

Page 60: ...itions 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...

Page 61: ...maximum Type 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...

Page 62: ...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 b...

Page 63: ...tia Belt Drive 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 t...

Page 64: ...ould 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 requ...

Page 65: ...13 73 1 G1A4 3 Stage 78 72 1 G1B9 2 Stage 15 88 1 G1A5 3 Stage 92 70 1 G1C1 2 Stage 18 37 1 G1A6 3 Stage 95 18 1 G1C2 2 Stage 19 20 1 G1A7 3 Stage 99 51 1 G1C3 2 Stage 22 21 1 G1A8 3 Stage 107 21 1 G...

Page 66: ...ages K1 Gearbox K1 NEMA Flange 1 Stage 5 73 145 5 5 90 149 9 2 Stage 7 07 179 6 7 13 181 0 3 Stage 8 41 213 7 8 35 212 0 PM105 Gearbox Ratios and Part Numbers Planetary Gearbox Ratio Rounded Part Numb...

Page 67: ...5 1 G2A3 2 Stage 13 73 1 G2A4 2 Stage 25 01 1 G2A9 2 Stage 45 56 1 G2B4 3 Stage 50 89 1 G2B5 3 Stage 92 70 1 G2C1 3 Stage 168 85 1 G2D1 3 Stage 307 55 1 G2D5 Table B 7 PM120 Planetary Gearbox Ratios I...

Page 68: ...ons 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 Inst...

Page 69: ...xt Figure C 5 7 The drivers will begin to copy 8 On the Dialog for Windows Logo Compatibility Testing click Continue Anyway Figure C 6 9 The Driver Installation will proceed When the Completing the Fo...

Page 70: ...rder 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 Ta...

Page 71: ...r protyping all three of these components or their equivalent are required MD ADP M23 Adapter Figure C 11 MD ADP M23 B100283 REV TM 1 0 58 14 7 1 59 40 4 1 83 46 5 0 15 3 8 0 84 21 3 1 00 25 4 Overall...

Page 72: ...low SPI Clock SPI Clock Pin 16 Pink MISO MISO Pin 17 Gray Brown Step Clock Channel A Clock Up Step Clock Channel A Clock Up Pin 18 Brown Fault Output Fault Output Pin 19 MD CS100 000 MD CS101 000 2 81...

Page 73: ...4 0m long they are available in either straight or right angle termination Euro AC Color Code Oil resistant yellow PVC jacket IP68 and NEMA 6P rated Straight Termination MD CS200 000 Right Angle Termi...

Page 74: ...EA 200 EB 200 EB 250 EC 256 EW 400 ED 400 ED 500 EH 500 EH 512 EX 512 EX 1000 EJ 1000 EJ 1024 EY 1024 EY Table D1 Available Encoder Line Counts and Part Numbers General Specifications Min Typ Max Unit...

Page 75: ...e Z Quadrature The phase lag or lead between channels A and B nominally 90 e Po Index Pulse Width Nominally 90 e Encoder Signals Differential Encoder Characteristics Parameter Symbol Min Typ Max Unit...

Page 76: ...h driven carriage Additional passive carriages or slides available to support cantilevered loads Easily mountable with provided mounting flange and holes Extrusions provided for sensor mounts MDrive34...

Page 77: ...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...

Page 78: ...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 res...

Page 79: ...rth East Fareham Hampshire PO15 5TT Phone 44 0 1489 889825 Fax 44 0 1489 889857 E mail mcheckley imshome com IMS ASIA PACIFIC OFFICE 30 Raffles Pl 23 00 Caltex House Singapore 048622 Phone 65 6233 684...

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