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A-14

MDriveAC Plus Microstepping Hardware - Revision R052506

A-15

Appendices

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 MDrive34 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

MDrive 42

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

)

TBD

Table B2: Planetary Gearbox Inertia Moments

«
...
54
55
56
57
58
...
»

Содержание MDrive AC Plus 34

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

Страница 2: ...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 o...

Страница 3: ...ve42AC Plus Microstepping 1 11 Configuring 1 11 Features and Benefits 1 11 Section 1 2 MDrive42AC Plus Microstepping Detailed Specifications 1 13 General Specifications 1 13 Setup Parameters 1 13 Mech...

Страница 4: ...k Sum Calculation for SPI 2 17 SPI Commands and Parameters 2 18 SPI Communications Sequence 2 19 Appendices Appendix A MDriveAC Plus Microstepping Motor Performance A 3 MDrive34AC Plus Microstepping A...

Страница 5: ...re 2 3 2 IMS SPI Motor Interface Menu Options 2 11 Figure 2 3 3 IMS SPI Motor Interface Buttons 2 11 Figure 2 3 4 IMS SPI Motor Interface Motion Settings Screen 2 12 Figure 2 3 5 Microstep Resolution...

Страница 6: ...e D 2 Differential Encoder Signal Timing A 23 List of Tables Table GS 1 AC Wire Colors 1 1 Part 1 Hardware Specifications Table 1 2 1 Setup Parameters 1 7 Table 1 2 2 Pin Configuration 1 8 Table 1 4 1...

Страница 7: ...en Green Yellow 2 AC Line Black Brown 3 AC Neutral White Blue Table GS 1 AC Wire Colors Connect Opto Power and Logic Inputs See Section 2 1 for Details Using the recommended wire see the speci ficatio...

Страница 8: ...otor Interface is installed the MDriveAC Plus Microstepping settings can be checked and or set Once installed you can change the motor run current holding current microstep resolution and other config...

Страница 9: ...ng Product Introduction Section 1 2 MDrive34CAC Plus Microstepping Detailed Specifications Section 1 3 MDrive42AC Plus Microstepping Product Introduction Section 1 4 MDrive42AC Plus 65 Microstepping D...

Страница 10: ...1 4 MDriveAC Plus Microstepping Hardware Revision R052506 Page Intentionally Left Blank...

Страница 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...

Страница 12: ...ion 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 Differential Opti...

Страница 13: ...pecification IP65 Setup Parameters The following table illustrates the setup parameters These are easily configured using the IMS SPI Motor Interface configuration utility An optional Parameter Setup...

Страница 14: ...Power Neutral P1 I O COMM SPI CONNECTOR M23 Circular Male Function Function with Encoder Pin 1 Optocoupler Reference Optocoupler Reference Pin 2 Enable Input Enable Input Pin 3 No Connect Index Pin 4...

Страница 15: ...tia 0 04815 oz in sec2 3 4 kg cm2 Weight Motor Driver 11 0 lb 5 0 kg Options and Accessories Internal Encoder Internal differential optical encoders are offered factory installed with the MDrive34AC P...

Страница 16: ...nd is recommended with first order It connects to the MDrive s P1 19 pin male M23 connector Cordsets 19 pin M23 single ended cordsets are offered to speed prototyping of the MDrive34AC Plus Measuring...

Страница 17: ...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...

Страница 18: ...ion 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 Differential Opti...

Страница 19: ...Specification IP65 Setup Parameters The following table illustrates the setup parameters These are easily configured using the IMS SPI Motor Interface configuration utility An optional Parameter Setup...

Страница 20: ...Pin 6 No Connect No Connect Pin 7 No Connect Channel A Pin 8 SPI Master Out Slave In SPI Master Out Slave In Pin 9 SPI Chip Select SPI Chip Select Pin 10 5 VDC Output 5 VDC Output Pin 11 Communicatio...

Страница 21: ...come with an index mark unless noted Control Knob The MDrive42AC Plus is available with a factory mounted rear control knob for manual shaft positioning Not available with the Sealed 65 version Param...

Страница 22: ...1 16 MDriveAC Plus Microstepping Hardware Revision R052506 Page Intentionally Left Blank...

Страница 23: ...tion Section 2 2 SPI Interface and Connection Section 2 3 Configuring the MDriveAC Plus Microstepping Using the IMS SPI Motor Interface Section 2 4 Configuring the MDriveAC Plus Microstepping Using Us...

Страница 24: ...2 2 MDriveAC Plus Microstepping Hardware Revision R052506 Page Intentionally Left Blank...

Страница 25: ...e using Isolated Logic Input Characteristics Enable Input This input can be used to enable or disable the driver output circuitry Leaving the enable switch open Logic HIGH Disconnected for sinking or...

Страница 26: ...r decrement as long as step clock pluses are being received by the MDriveAC Plus Microstepping Input Timing The direction input and the microstep resolution inputs are internally synchronized to the p...

Страница 27: ...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 s...

Страница 28: ...Controller Output Controller Ground MDriveAC Plus Microstepping 5 to 24VDC Optocoupler Reference Input Controller Output Controller Ground NPN Open Collector Interface Sinking PNP Open Collector Inte...

Страница 29: ...impending over temperature and over temperature fault When the internal temperature of the device reaches the warning temperature set using the WARN TEMP Param eter the output will pulse at 1 second i...

Страница 30: ...is a voltage supply for the setup 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 transmi...

Страница 31: ...ck MOSI MISO CS2 SPI Clock MOSI MISO CS1 CS2 SPI Master MDriveAC Plus Microstepping MDriveAC Plus Microstepping 1 MDriveAC Plus Microstepping 2 Figure 2 2 3 SPI Master with a Single MDriveAC Plus Micr...

Страница 32: ...terface is installed the MDriveAC Plus Microstepping settings can be checked and or set Configuration Parameters and Ranges MDriveAC Plus Microstepping Setup Parameters Name Function Range Units Defau...

Страница 33: ...the MDriveAC Plus Microstepping firmware Help About IMS SPI Motor Interface Button Functions Factory Clicking the Factory button will load the MDriveAC Plus Microstepping unit s factory default setti...

Страница 34: ...microstep resolutions This setting specifies the number of microsteps per step the motor will move The MDriveAC Plus uses a 200 step 1 8 stepping motor which at the highest de fault resolution of 256...

Страница 35: ...the full output current of the driver If the hold current is set to 0 the output cir cuitry of the driver section will disable when the hold current setting becomes active The hold current setting bec...

Страница 36: ...utoff 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 S 294 1 kHz 3 3 S 151 kHz 6 5 S 76 9 kHz 12 9 S 38 8 kHz Table 2 3 3 Input Clock Filter Set...

Страница 37: ...arning Error Displayed Write to MDM Set Button All Fault Codes are OR ed together MDrive23Plus Microstepping and Larger Table 2 3 4 MDriveAC Plus Microstepping Fault Codes Upgrading the Firmware in th...

Страница 38: ...y steps shown are those requiring user action Welcome Message Welcome to the Motor Interface UPGRADER Click NEXT to continue Step 2 Select Upgrade File When this loads an explorer dialog will open ask...

Страница 39: ...MSb Most Significant 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 Figure 2 4 1 SPI Timing Diagram...

Страница 40: ...le in Section 2 4 for settings 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...

Страница 41: ...ONSE MISO WRITE MOSI WRITE ALL CMD READ ALL CMD CHECKSUM CALCULATION 80 49 4D 53 19 05 00 00 01 F4 00 00 50 CC BINARY 1100 1100 1 S COMPLEMENT 0011 0011 2 S COMPLEMENT 0011 0100 DEC 52 HEX 34 Figure 2...

Страница 42: ...2 20 MDriveAC Plus Microstepping Hardware Revision R052506 Page Intentionally Left Blank...

Страница 43: ...Appendices Appendix A MDriveAC Plus Microstepping Motor Performance Appendix B Gear Boxes Appendix C Optional Cables and Cordsets Appendix D Interfacing an Encoder Appendices TM TM Excellence in Moti...

Страница 44: ...A 2 MDriveAC Plus Microstepping Hardware Revision R052506 Page Intentionally Left Blank...

Страница 45: ...ve34AC Plus 120VAC Microstepping Speed Torque Curves MDrive34AC 120VAC MDrive34AC 240VAC Figure A 2 MDrive34AC Plus 240VAC Microstepping Speed Torque Curves Motor Specifications Single Length Holding...

Страница 46: ...ver 7 7 lb 3 5 kg Triple Length Holding Torque 750 oz in 529 N cm Detent Torque 19 83 oz in 10 0 N cm Rotor Inertia 0 04815 oz in sec2 3 4 kg cm2 Weight Motor Driver 11 0 lb 5 0 kg MDrive42AC Plus Mic...

Страница 47: ...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...

Страница 48: ...e life of a Planetary Gearbox is up to 10 000 hours The wide variety of potential applications prohibits generalizing values for the useful service life Lubrication All Planetary Gearbox are grease pa...

Страница 49: ...on 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 i...

Страница 50: ...e 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 mo...

Страница 51: ...onditions 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 nomi...

Страница 52: ...ere 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...

Страница 53: ...nd size of the cylindrical driving pulley or roller n The weight of the belt n The weight or mass and size of the idler roller or pulley on the opposite end n The angle or elevation of the belt n Any...

Страница 54: ...a system with a belt drive the following must be considered n The weight or mass and size of the driving pulley n The tension and or friction of the belt n The weight or mass and size of the driven pu...

Страница 55: ...on 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...

Страница 56: ...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...

Страница 57: ...5 88 1 G1A5 2 Stage 18 37 1 G1A6 2 Stage 19 20 1 G1A7 2 Stage 22 21 1 G1A8 2 Stage 25 01 1 G1A9 2 Stage 26 85 1 G1B1 2 Stage 28 93 1 G1B2 2 Stage 34 98 1 G1B3 2 Stage 45 56 1 G1B4 3 Stage 50 89 1 G1B5...

Страница 58: ...ion of two sets of drivers Drivers for the IMS USB to SPI Converter Hardware Drivers for the Virtual Communications Port VCP used to communicate to your IMS Product Therefore the Hardware Update wizar...

Страница 59: ...Browse to the MDrive CD Drive Letter Cable_Drivers MD CC303 000_DRIVERS c Click Next Figure C 5 7 The drivers will begin to copy 8 On the Dialog for Windows Logo Compatibility Testing click Continue A...

Страница 60: ...CC300 000 will automatically assign a VCP to the device during installation The VCP port number will be needed when IMS Terminal is set up in order that IMS Terminal will know where to find and commun...

Страница 61: ...Height 60 15 2 Figure C 12 MD ADP M23 Mechanical Specifications Adapter The MD ADP M23 Adapter provides connection capability between the MD CC300 000 Parameter Setup Cable and the 19 Pin M23 connecto...

Страница 62: ...ite Green Pin 18 Grey Brown Pin 9 White Yellow Pin 19 Brown Pin 10 White Grey Pin 12 makes an electrical contact to the M23 connector shell Table C 1 MD CS10x 000 Wire Color Chart Figure C 13 MD CS10x...

Страница 63: ...in either straight or right angle termination Euro AC Col or Code Oil resistant yellow PVC jacket IP68 and NEMA 6P rated Straight Termination MD CS200 000 Right Angle Termination MD CS201 000 Euro AC...

Страница 64: ...nal differential optical encoder Available line counts are MDrive34AC MDrive42AC Line Count Part Number Line Count Part Number 100 EA 100 EA 200 EB 200 EB 250 EC 256 EW 400 ED 400 ED 500 EH 500 EH 512...

Страница 65: ...etween channels A and B nominally 90 e Po Index Pulse Width Nominally 90 e Encoder Signals Differential Encoder Characteristics Parameter Symbol Min Typ Max Units Cycle Error 3 5 5 e Symmetry 130 180...

Страница 66: ...A 24 MDriveAC Plus Microstepping Hardware Revision R052506 Page Intentionally Left Blank...

Страница 67: ...mply 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 connectio...

Страница 68: ...268 0716 E mail mwietharn imshome com IMS MOTORS DIVISION 105 Copperwood Way Suite H Oceanside CA 92054 Phone 760 966 3162 Fax 760 966 3165 E mail motors imshome com IMS EUROPE GmbH Hahnstrasse 10 VS...

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