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MDrive® Speed Control
MDrive Speed Control Manual Revision R062910
Copyright © Schneider Electric Motion USA, All Rights Reserved
MDrive Speed Control Manual Change Log
Date Revision Changes
06/29/2010 R062910 Reformatted to current documentation standards and format.
The information in IMS Schneider Electric Motion USA product documen-tation and on this web site has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies.
IMS Schneider Electric Motion USA reserves the right to make changes without further notice to any products to improve reliability, function or design. IMS Schneider Electric Motion USA does not assume any liability arising out of the application or use of any product or circuit described; neither does it convey any license under its patent rights of others.
IMS Schneider Electric Motion USA’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 the terms and conditions of sales of IMS Schneider Electric Motion USA, the user of IMS Schneider Electric Motion USA products in life support or aircraft applications assumes all risks of such use and indemnifi es IMS Schneider Electric Motion USA against all damages. aircraft applications assumes all risks of such use and indemnifi es IMS Schneider Electric Mo-tion USA against all damages.
Important information
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 specifi cally designed for safety functions are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or un-braked movements can never be totally excluded without additional safety equipment. For this reason personnel must never be in the danger zone of the drives un-less additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also required.
Qualifi cation of personnel
Only technicians who are familiar with and understand the contents of this ma-nual and the other relevant documentation are authorized to work on and with this drive system. The technicians must be able to detect potential dangers that may be caused by setting parameters, changing parameter values and generally by the operation of mechanical, electrical and electronic equipment.
The technicians must have suffi cient technical training, knowledge and expe-rience to recognise and avoid dangers.
The technicians must be familiar with the relevant standards, regulations and safety regulations that must be observed 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 specifi cally designed for safety functions are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or unbraked movements can never be totally excluded without additional safety equipment.
For this reason personnel must never be in the danger zone of the drives un-less additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also required.
In all cases the applicable safety regulations and the specifi ed operating conditions, such as environmental conditions and specifi ed technical data, must be observed.
The drive system must not be commissioned and operated until completion of installation in accordance with the EMC regulations and the specifi cations in this manual. To prevent personal injury and damage to property damaged drive systems must not be installed or operated.
Changes and modifi cations of the drive systems are not permitted and if made all no warranty and liability will be accepted.
The drive system must be operated only with the specifi ed wiring and appro-ved accessories. In general, use only original accessories and spare parts.
The drive systems must not be operated in an environment subject to explo-sion hazard (ex area).
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Table of Contents
Part 1: General Usage
1 Introduction ................................................................................ 1-12 Safety .......................................................................................... 2-13 Interfacing power ....................................................................... 3-14 Interfacing communications ..................................................... 4-15 Using SPI Motor Interface ......................................................... 5-16 Interfacing I/O ............................................................................ 6-1
Part 2: Detailed specifi cations and connectivity information
MDrive17Plus 1 Introduction ................................................................................ 1-12 Specifi cations ............................................................................ 2-13 Mounting and connection recommendations ......................... 3-1
4 Connection and interface ......................................................... 4-1
MDrive23Plus 1 Introduction ................................................................................ 1-12 Specifi cations ............................................................................ 2-13 Mounting and connection recommendations ......................... 3-1
4 Connection and interface ......................................................... 4-1
MDrive34Plus 1 Introduction ................................................................................ 1-12 Specifi cations ............................................................................ 2-13 Mounting and connection recommendations ......................... 3-14 Connection and interface .......................................................... 41
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MDrive® Speed Control
Part 1: General Usage
Introduction1. Safety2. Interfacing power3. Interfacing communications4. Using SPI Motor Interface5. Interfacing the I/O6.
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Table of Contents
Important information ................................................................... 3Qualifi cation of personnel ............................................................ 3Intended Use ............................................................................... 3
1 Introduction ................................................................................ 1-11.1 MDrive versions ..............................................................1-11.2 Documentation reference ................................................1-21.3 Product software .............................................................1-2
1.3.1 Communications converter drivers ....................1-21.3.2 SPI motor interface ............................................1-2
2 Safety ............................................................................................. 12.1 Qualifi cation of personnel ................................................... 12.2 Intended Use ...................................................................... 12.3 Hazard Categories ............................................................. 22.4 General safety instructions ................................................. 2
3 Power supply selection and connection ................................. 3-13.1 Selecting a power supply (+V) ........................................3-2
3.1.1 Power supply — motor relationship ...................3-23.1.2 Power supply — driver relationship ...................3-23.1.3 Regulated vs unregulated ..................................3-2
3.3 Power supply cabling best practices and recommendations ............................................................3-3
3.3.1 DC Cabling Under 50’ (15.24 m) .......................3-43.3.2 50’ (15.24 m) or greater, AC power to full wave bridge 3-43.3.3 50’ (15.24 m) or greater, AC power DC supply ..3-53.3.4 Recommended power supply cable wire gauges ...............................................................3-5
3.4 Switching DC power (DPM75 accessory) .......................3-6
4 Communications and parameter setup ................................... 4-14.1 SPI communications interface .........................................4-1
4.1.1 SPI defi nition ......................................................4-14.1.3 SPI connection methods ....................................4-24.1.4 Logic level shifting circuit ...................................4-54.1.5 SPI Timing .........................................................4-6
5.2 SPI Commands and parameters .....................................4-75.2.1 SPI Communications sequence .........................4-8
5 Using SPI Motor Interface ......................................................... 5-15.1 Installation .......................................................................5-1
5.1.2 Converter driver installation ...............................5-15.2 SPI Motor Interface ............................................5-2
5.2 Setting parameters with SPI Motor Interface ...................5-35.2.1 Confi guration parameters ..................................5-35.2.2 SPI Motor Interface menu options .....................5-35.2.3 General features ................................................5-45.2.4 SPI Motor Interface button functions .................5-55.2.5 Analog Settings Confi guration Screen ...............5-65.2.6 Motion Settings Confi guration Screen ...............5-95.2.7 IO Settings Confi guration Screen ....................5-13
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5.2.8 Part Number/Serial Number Screen ................5-145.2.9 Fault Codes ....................................................5-145.2.10 Upgrading the fi rmware in the MDrive Speed Control .............................................................5-15
5 Interfacing the I/O ...................................................................... 6-16.1 Interfacing the speed control input ..................................6-2
6.1.1 Interface methods ..............................................6-26.2 Logic inputs (non-isolated) ..............................................6-46.3 Logic inputs (optically isolated — MDrive34Plus only) ....6-5
6.3.1 Isolated input overview ......................................6-56.3.2 Isolated input equivalent circuit ..........................6-56.3.3 Isolated input interface examples ......................6-6
6.4 Clock outputs (open-drain — MDrive34Plus only) ..........6-76.4.1 Interfacing the clock outputs ..............................6-7
List of Figures
Figure 3.1 DC power supply cabling under 50’ (15.24 m) ......................3-4Figure 3.2 50’ (15.24 m) or greater, AC power to full wave bridge ....3-5Figure 3.3 50’ (15.24 m) or greater, AC power to DC supply .............3-5Figure 3.4 DPM75 basic wiring and connection .....................................3-6Figure 5.1 Single SPI master - single MDrive slave ...............................4-2Figure 5.2 Single SPI master - Independent MDrive slaves ...................4-3Figure 5.3 Single SPI master - Cooperative MDrive slaves ...................4-4Figure 5.4 Logic level shifting and conditioning circuit ...........................4-5Figure 5.5 SPI Timing .............................................................................4-6Figure 5.1 Analog settings screen ..........................................................5-6Figure 5.2 Motion parameter settings screen ........................................5-9Figure 5:3 MSDT - HCDT relationship ..................................................5-11Figure 5.4 I/O parameter settings screen .............................................5-13Figure 6.1 Voltage mode 0 to 5 VDC ......................................................6-2Figure 6.2 Voltage mode 0 to 10 VDC ....................................................6-3Figure 6.3 Current mode interface ..........................................................6-3Figure 6.4 Interfacing the TTL logic inputs .............................................6-4Figure 6.5 Optically isolated input equivalent circuit...............................6-5Figure 6.6 Open collector sinking input ..................................................6-6Figure 6.7 Open collector sourcing input ................................................6-6Figure 6.8 Switch interface sinking input ................................................6-6Figure 6.9 Switch interface sourcing input ..............................................6-6Figure 6.10 Interfacing the clock outputs ..................................................6-7
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List of Tables
See the product detail section of this document for specifi c power supply voltage and current requirements and recommended power supplies. .....3-3Table 3.1 Power supply cable AWG recommendations ........................3-5Table 5.1 SPI Commands and Parameters ...........................................4-7Table 5.2: SPI Read All Byte Order and Defaults .....................................4-8Table 5.3: SPI Write All Byte Order and Defaults .....................................4-9Table 5.1 Confi guration parameters ......................................................5-3Table 5.2 Full scale ranges for analog input mode parameter ..............5-7Table 5.3 Range for the joystick center parameter ...............................5-7Table 5.4 Range for the joystick deadband parameter .........................5-8Table 5.5 Microstep resolution settings ...............................................5-10Table 6.1 TTL logic inputs .....................................................................6-4Table 6.2 Isolated logic inputs ...............................................................6-5
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1 Introduction
The MDrive® Plus Speed Control integrated drive with programmable velocity control is a 1.8° 2-phase stepper motor with on-board control electronics. The velocity control uses voltage, current, or PWM input signals.
Settings for MDrive Plus Speed Control products may be changed on-the-fl y or downloaded and stored in nonvolatile memory using the IMS SPI Motor Interface software provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port.
The MDrive Plus Speed Control integrated drive with programmable velocity control is ideal for machine builders who want an optimized mo-tor with on-board electronics. The integrated electronics of the MDrive Plus Speed Control integrated drive with programmable velocity control reduces the potential for problems due to electrical noise in eliminating the cable between motor and drive.
These compact, powerful and cost effective motion control solutions de-liver unsurpassed smoothness and performance that will reduce system cost, design and assembly time for a large range of 2-phase stepper motor applications.
1.1 MDrive versions
MDriveThe MDrive is available in the following power ranges and fl ange sizes:
+12 to +48 VDC
NEMA 17
+12 to +75 VDC
NEMA 23
NEMA 34
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1.2 Documentation reference
The following user’s manuals are available for the MDrive:
Product hardware manual, describes the technical data, installa- tion and confi guration of the product.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the IMS web site at http://www.imshome.com
1.3 Product software
1.3.1 Communications converter drivers
If using the IMS communications converter, drivers are required, these drivers are available for download from the IMS web site at http://www.imshome.com/downloads/cable_drivers.html.
1.3.2 SPI motor interface
The MDrive Speed Control is confi gured using the SPI motor interface, a GUI that grants access to all the features of the MDrive Speed Control and automatically detects the model MDrive being confi gured.
Installation and usages instructions are to be found in Section 5 of this document.
This software may be downloaded from http://www.imshome.com/down-loads/software_interfaces.html
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2 Safety
2.1 Qualifi cation of personnel
Only technicians who are familiar with and understand the contents of this manual and the other relevant documentation are authorized to work on and with this drive system. The technicians must be able to detect potential dangers that may be caused by setting param-eters, changing parameter values and generally by the operation of mechanical, electrical and electronic equipment.
The technicians must have suffi cient technical training, knowledge and experience to recognise and avoid dangers.
The technicians must be familiar with the relevant standards, regula-tions and safety regulations that must be observed when working on the drive system.
2.2 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 pre-vent any dangers. However, drives and drive controllers that are not specifi cally designed for safety functions are not approved for appli-cations where the functioning of the drive could endanger persons. The possibility of unexpected or unbraked movements can never be totally excluded without additional safety equipment.
For this reason personnel must never be in the danger zone of the drives unless additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also re-quired.
In all cases the applicable safety regulations and the specifi ed op-erating conditions, such as environmental conditions and specifi ed technical data, must be observed.
The drive system must not be commissioned and operated until completion of installation in accordance with the EMC regulations and the specifi cations in this manual. To prevent personal injury and damage to property damaged drive systems must not be installed or operated.
Changes and modifi cations of the drive systems are not permitted and if made no warranty and liability will be accepted.
The drive system must be operated only with the specifi ed wiring and approved accessories. In general, use only original accessories and spare parts.
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The drive systems must not be operated in an environment subject to explosion hazard (ex area).
2.3 Hazard Categories
Safety notes and general information are indicated by hazard mes-sages in the manual. In addition there are symbols and instructions affi xed to the product that warn of possible hazards and help to operate the product safely.
Depending on the seriousness of the hazard, the messages are divided into three hazard categories.
! DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death, serious injury, or equipment damage.
! WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.
! CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage.
2.4 General safety instructions
! DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
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! WARNING
LOSS OF CONTROL
Observe the accident prevention regulations. (For USA see also NEMA ICS1.1 and NEMA ICS7.1)
The system manufacturer must take the potential error pos- sibilities of the signals and the critical functions into account to ensure a safe status during and after errors. Some examples are: emergency stop, fi nal position limitation, power failure and restart.
The assessment of error possibilities must also include unex- pected delays and the failure of signals or functions.
Suitable redundant control paths must be in place for danger- ous functions.
Check that measures taken are effective.
Failure to follow these instructions can result in death or serious injury.
! CAUTION
HOT PLUGGING!
Do not connect or disconnect power, logic, or communications while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
! CAUTION
UL CONFORMITY
To meet UL conformity specifi cation the MD-CS20x-000 cord-set or Lumberg equivalent AC power cord must be used.
This caution applies to 120 and 240 VAC MDrives only.
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3 Power supply selection and connection
! DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
! CAUTION
MAXIMUM VOLTAGE INPUT
Do not exceed the maximum rated voltage of the device! Motor Back EMF, power supply ripple and high line must be taken into account when selecting a power supply voltage level.
Failure to follow these instructions may result in damage to system components!
! CAUTION
GENERAL POWER SUPPLY PRACTICE
Do not connect or disconnect the power supply while power is applied.
Disconnect the AC side to power down the DC supply.
For battery operated systems connect a “transient suppressor” across the switch to prevent arcs and high-voltage spikes.
Failure to follow these instructions may result in damage to system components!
! CAUTION
HOT PLUGGING!
Do not connect or disconnect power, logic, or communications while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions may result in damage to system components!
Detailed specifi cations, voltage limits, current requirements and connec-tivity information are located in the product detail section corresponding to the MDrive linear actuator model you purchased.
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3.1 Selecting a power supply (+V)
Proper selection of a power supply to be used in a motion system is as important as selecting the drive itself. When choosing a power supply for a stepping motor driver, there are several performance issues that must be addressed. An undersized power supply can lead to poor per-formance and possibly even damage to your drive.
3.1.1 Power supply — motor relationship
Motor windings can basically be viewed as inductors. Winding resis-tance (R) and inductance (L) result in an L/R time constant that resists the change in current. To effectively manipulate the rate of charge, the voltage applied is increased. When traveling at high speeds, there is less time between steps to reach current. The point where the rate of commutation does not allow the driver to reach full current is referred to as voltage mode. Ideally you want to be in current mode, which is when the drive is achieving the desired current between steps. Simply stated, a higher voltage will decrease the time it takes to charge the coil and, therefore, will allow for higher torque at higher speeds.
Another characteristic of all motors is back EMF. Back EMF is a source of current that can push the output of a power supply beyond the maxi-mum operating voltage of the driver. As a result, damage to the stepper driver could occur over a period of time. This is especially prevalent with overhauling loads.
3.1.2 Power supply — driver relationship
The MDrive linear actuator is very current effi cient as far as the power supply is concerned. Once the motor has charged one or both windings of the motor, all the power supply has to do is replace losses in the sys-tem. The charged winding acts as an energy storage in that the current will recirculate within the bridge and in and out of each phase reservoir. This results in a less than expected current draw on the power supply.
Stepping motor drivers are designed with the intent that a user’s power supply output will ramp up to greater than or equal to the minimum operating voltage of the drive. The initial current surge is substantial and could damage the driver if the supply is undersized. The output of an un-dersized power supply could fall below the operating range of the driver upon a current surge. This could cause the power supply to start oscillat-ing in and out of the voltage range of the driver and result in damage to either the supply, the driver, or both.
There are two types of supplies commonly used, regulated and unregu-lated, both of which can be switching or linear. Each have advantages and disadvantages.
3.1.3 Regulated vs unregulated
An unregulated linear supply is less expensive and more resilient to current surges, however, the voltage decreases with increasing current draw. This may cause problems if the voltage drops below the working range of the drive.
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Fluctuations in line voltage are also a point of concern. These fl uctua-tions may cause the unregulated linear supply to be above or below the anticipated or acceptable voltage.
A regulated supply maintains a stable output voltage, which is good for high speed performance. These supplies are also not affected by line fl uctuations, however, they are more expensive. Depending on the cur-rent regulation, a regulated supply may crowbar or current clamp and lead to an oscillation that, as previously stated, can cause damage to the driver and/or supply. Back EMF can cause problems for regulated sup-plies as well. The current regeneration may be too large for the regulated supply to absorb. This could lead to an over voltage condition which could damage the output circuitry of the MDrive.
Non IMS switching power supplies and regulated linear supplies with over current protection are not recommended because of their inability to handle the surge currents inherit in stepping motor systems.
See the product detail section of this document for specifi c power supply voltage and current requirements and recommended power supplies.
3.3 Power supply cabling best practices and recommendations
! CAUTION
EMI and RFI
These recommendations will provide optimal protection against EMI and RFI. The actual cable type, wire gauge, shield type and fi ltering devices used are dependent on the customer’s application and system.
The length of the DC power supply cable to an MDrive should not exceed 50 feet.
Always use Shielded/Twisted Pairs for the MDrive DC Supply Cable and the AC Supply Cable.
Failure to follow these instructions may result in damage to system components!
Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive.
Figure 3.1 illustrates the recommended cable confi guration for DC power supply cabling under 50 feet long. If cabling of 50 feet or longer is required, the additional length may be gained by adding an AC power supply cable (see Figures 3.2 and 6.3).
Correct AWG wire size is determined by the current requirement plus
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cable length. Please see Table 3.1.
3.3.1 DC Cabling Under 50’ (15.24 m)
+-
+-
≤ 50’ (15.24 m)
A
A
B
B
C
C
D
D
Shield to Earth(Supply End Only)
Supply GND
+VDC Output
Type RFI Filter ≥ Required Current
Ferrite Bead
Shielded Twisted Pair (See AWG Table for Size)
Electrolytic Capacitor, 500μF per Amp
+V
GND
Figure 3.1 DC power supply cabling under 50’ (15.24 m)
3.3.2 50’ (15.24 m) or greater, AC power to full wave bridge
≥ 50’ (15.24 m)
A
A
B
B
C
C
D
D
Shield to Earth(Supply End Only) Type RFI Filter ≥ Required Current
Transformer: 10 to 28 VAC RMS
Shielded Twisted Pair (See AWG Table for Size)
Full Wave Bridge Rectifier, Rectifier OutputConnects to Cable Shown in Figure 3.1
+-
To Cable inFigure 3.1
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Figure 3.2 50’ (15.24 m) or greater, AC power to full wave bridge
3.3.3 50’ (15.24 m) or greater, AC power DC supply
≥ 50’ (15.24 m)
A
B C
Shield to Earth(Supply End Only)
A
B
C
Type RFI Filter ≥ Required Current
120 or 240 VAC Dependant on DC PowerSupply AC Input Requirement
Shielded Twisted Pair (See AWG Table for Size)
Unregulated DC Power Supply
DC Volts Out toCable Example A
+-
D
D
Figure 3.3 50’ (15.24 m) or greater, AC power to DC supply
3.3.4 Recommended power supply cable wire gauges
For cable lengths exceeding 50’ (15.2 meters), use the cable confi gura-tions shown in Sections 3.3.2 or 3.3.3.
Cable Length: Feet (meters) 10 (3.0) 25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Amps Peak Minimum AWG
1 Amp Peak 20 20 18 18 18
2 Amps Peak 20 18 16 14 14
3 Amps Peak 18 16 14 12 12
4 Amps Peak 18 16 14 12 12
Table 3.1 Power supply cable AWG recommendations
Detailed specifi cations, voltage limits and connectivity information are located in the product detail section corresponding to the MDrive linear actuator model you purchased.
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3.4 Switching DC power (DPM75 accessory)
! CAUTION
HOT PLUGGING!
Do not connect or disconnect power, logic, or communications while the device is in a powered state without additional protec-tion.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions may result in damage to system components!
The function of the DPM75 Drive Protection Module is to limit the surge current and voltage to a safe level when DC input power is switched on and off to a motor drive. This provides the added protection necessary for reliable motor drive operation when switching the DC power, instead of the recommended AC power to the DC power supply. The device is designed to protect the motor drive when operating under all load condi-tions. This device does not protect the motor drive from wiring the power incorrectly.
The unit is capable of being used with 48, 60, and 75 volt rated motor drives. An external jumper selection is available so the user can match the circuit to their particular application. The DPM75 is capable of a steady state operating current of 4 amps.
The DPM75 can be used for any frame size motor drive, when properly confi gured. It can also be used for more than one unit provided the current and voltage do not exceed the DPM75’s ratings. The maximum DPM75 ratings are 75 volts and 4 amps.
Power requirements and wiring details are available in the product detail section pertaining to the MDrive product purchased.
A terminal power +
power –
drive –
drive +
B terminal
C terminal
Power supply
+–
Motor drive
+ –
SPSTswitch* Fuse**
* Do not switch negative side of supply**Fuse = 6.3 Amp slow blow (recommended: Bussman S505-6.3A or Littelfuse 215006.3). The fuse is optional.
Voltage set by wire jumper
Figure 3.4 DPM75 basic wiring and connection
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4 Communications and parameter setup
! CAUTION
HOT PLUGGING!
Do not connect or disconnect power, logic, or communications while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions may result in damage to system components!
CONNECTOR OPTIONS
The MDrive Speed Control product family has an extensive set of con-nector options. The purpose of this section is to give a general overview of the SPI communications interface methods and practices.
Please see the section specifi c to the MDrive product you purchased in the second part of this document for connectors, pin confi gurations and connectivity options.
4.1 SPI communications interface
The MDrive Speed Control integrated motor and driver use the Serial Peripheral Interface (SPI) to confi gure the setup parameters.
Optionally available are parameter setup and logic interface cable with inline USB to SPI converter for each connector variation. Installation and connection of this covered in the product specifi c section in Part 2 of this document.
4.1.1 SPI defi nition
The Serial Peripheral Interface or SPI bus is a synchronous serial data link standard that operates in full duplex mode. Devices communicate in master/slave mode where the master device initiates the data frame. Multiple slave devices are allowed with individual slave select (chip select) lines.
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4.1.3 SPI connection methods
! CAUTION
HOT PLUGGING!
Do not connect or disconnect communications while the device is in a powered state.
Failure to follow these instructions may result in damage to system components!
! CAUTION
CHANGING PARAMETERS
Do not attempt to change parameter settings while the device is in operation. Parameters must be set while the device is in a disabled state. The motor cannot be in motion.
Failure to follow these instructions may result in damage to system components!
Typically, the parameters are set on a work bench prior to the instal-lation of the MDrive into a machine. The ideal accessory for this setup method is the IMS USB to SPI communications converter cable (see product specifi c section in Part 2 of this document). If a continuous con-nection to the SPI port is required, see the following fi gures. Figure 5.1 illustrates a single MDrive on the SPI bus. Figures 5.2 and 5.3 illustrate multi-drop confi gurations:
Independent: MDrives communicating independently with different setup parameters.
Cooperative: MDrives communicating simultaneously with identical setup parameters.
SPI connection: Single master - single MDrive slave
The single master - single MDrive slave is the most common connection method for the MDrive. It is also the only connection method which will allow use of the IMS SPI Motor Interface utility, which is used to setup and change the motion and current control parameters of the MDrive-14Plus.
CLK
MOSI
MISO
CS
CGND
CLK
MOSI
MISO
CS
CGND
SPIMaster
MDrive(SPI Slave)
Figure 5.1 Single SPI master - single MDrive slave
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SPI connection: Single master - Indepen-dent MDrive slaves
This connection method allows for multiple MDrives in a system to be continually connected to the SPI bus. This method is useful in systems using multiple size devices with different setup parameters.
Using this method the user will have to create a user interface to com-municate with the MDrives.
CLK
MOSI
MISO
CS1
CS2
CS3
CGND
SPIMaster
MDrive(SPI Slave)
MDrive(SPI Slave)
MDrive(SPI Slave)
CLK
MOSI
MISO
CS
CGND
CLK
MOSI
MISO
CS
CGND
CLK
MOSI
MISO
CS
CGND
Figure 5.2 Single SPI master - Independent MDrive slaves
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SPI connection: Single master - cooperative MDrive slaves
This connection method allows for multiple MDrives in a system to be continually connected to the SPI bus. This method is useful in systems using multiple devices where the setup parameters need to be identical in each device.
Using this method the user will have to create a user interface to com-municate with the MDrives.
CLK
MOSI
MISO
CS
CGND
SPIMaster
MDrive(SPI Slave)
MDrive(SPI Slave)
MDrive(SPI Slave)
CLK
MOSI
MISO
CS
CGND
CLK
MOSI
MISO
CS
P1:9 CGND
CLK
MOSI
MISO
CS
CGND
Figure 5.3 Single SPI master - Cooperative MDrive slaves
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4.1.4 Logic level shifting circuit
A logic level shifting and conditioning circuit may be required if commu-nicating to the MDrive using a notebook computer with 3.3 VDC parallel port. The schematic in Figure 5.4 shows this circuit.
U1:A
U1:B
U1:D
U1:C
HCT125
HCT125
HCT125
HCT1252
1
14
45
7
1312 11
10
8 9
6
32 R1
100
+5V
R2
49.9CLK
+5V
CS
MOSI
MISO
+5 VDC
GND
3
4
19
DB25: 2
DB25: 3
DB25: 4
DB25: 19
DB25: 15
15
C3330pFR9
100K
R10 100K R4
49.9
R6
49.9
C4 330pF
R3
100
R5
100 C5330pFR11
100K+5V
R12 100K
+5V
R8 4.9KR7
49.9+5V
C1 C2.1μF 1μF25V
+
Figure 5.4 Logic level shifting and conditioning circuit
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4.1.5 SPI Timing
MSb (Most Signifi cant bit) fi rst and MSB (Most Signifi cant Byte) 1) fi rst.
8 bit bytes.2)
25 kHz SPI Clock (SCK).3)
Data In (MOSI) on rising clock.4)
Data Out (MISO) on falling clock.5)
Figure 5.5 SPI Timing
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5.2 SPI Commands and parameters
SPI Commands and ParametersCommand/Parameter Hex Default Decimal
Default Hex Range Decimal Range # of Bytes Notes
USRID1 0x49 73 (ASCI: I) 0x20-0x7F, 0x80-0xFF 32-126, 128-255 1 Three Character User ID, may be any viewable ASCII character.
USRID2 0x4D 77(ASCII: M) 0x20-0x7F, 0x80-0xFF 32-126, 128-255 1
USRID3 0x53 83(ASCII: S) 0x20-0x7F, 0x80-0xFF 32-126, 128-255 1
FULL SCALE 0x03FF 1023 0x0001-0x003F 1-1023 2 Analog Input Full Scale
CENTER 0x0000 0 0x0000-0x03FE 0-1022 2 Analog Input Center
DEADBAND 0x01 1 0-255 0x00-0xFF 1 Center Point Deadband
INPUT MODE 0x00 0 0x01+0x02+0x04+0x08+0x40+0x80 1+2+4+8+64+128 1 Input Mode* See Table 2.5.4
ACCEL 0x000F4240 100000 0x0000005B-0x59682F00 90.9-1500000000 4 Acceleration
DECL 0x000F4240 100000 0x0000005B-0x59682F00 90.9-1500000000 4 Deceleration
VI 0x0003E8 1000 0x000000-0x4C4B40 0-5000000 3 Initial Velocity
VM 0x0BB800 768000 0x000001-0x4C4B40 1-5000000 3 Maximum Velocity
MRC 0x19 25 0x01-0x64 1-100 1 Motor Running Current
MHC 0x05 5 0x00-0x64 0-100 1 Motor Holding Current
HCDT 0x01F4 500 0x0000-0x7FFD 0-32765 2 Holding Current Delay Time
MSEL 0x00 0 (256 usteps/step) 0x00, 0x01 - 0xFF 1-256 1 Microstep Resolution
MSDT 0x0000 0 0x0000-0x7FFD 0-32765 2 Motor Settling Delay Time
OUT_CLKTYP 0x00 0 0x00-0x03 0 (off), 1-3 1 Output Clock Type
OUT_CLKWIDTH 0x0A 10 0x00-0xFF 0-255 1 Output Clock Width
SSD 0x00 0 0x00-0xFF 0-255 1 Stop Start Switch Debounce
WARN_TEMP 0x50 80 0x00-0x7D 0-125 1 Warning Temperature
ADC_AVG 0x0001 1 0x0001-0x03E8 1-1000 2 Analog Input Filter
Table 5.1 SPI Commands and Parameters
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5.2.1 SPI Communications sequence
See timing diagram and byte order fi gures.
SPI READ ALL byte orderThe table below shows the byte order for setting the parameters using user defi ned SPI software interface.
1. Send READ ALL command 0x40 down MOSI to the MDrive Speed Control followed by FF (38 Bytes).
2. Receive parameter settings from MISO MSB First (Device Type) and ending with LSB (Fault).
MO
SI
MIS
O
Default (Decimal) Parameter
LSB FF FF Not Used Not Used
FF FF Not Used Not UsedFF 00 0 FaultFF 01 1 Analog Input FilterFF 00FF 50 80 Warning TemperatureFF 00 0 Stop Start DebounceFF 0A 10 Output Clock WidthFF 00 0 Output Clock TypeFF 00 0 Motor Settling Delay timeFF 00FF 00 0 (256 usteps/step) Microstep ResolutionFF 01 500 (milliseconds) Hold Current Delay TimeFF F4FF 05 5 (%) Motor Hold CurrentFF 19 25 (%) Motor Run CurrentFF 0B
768000 Maximum VelocityFF B8FF 00FF 00
1000 Initial VelocityFF 03FF E8FF 00
1000000 DecelerationFF 0FFF 42FF 40FF 00
1000000 AccelerationFF 0FFF 42FF 40FF 01 1 (0 to +5 VDC) Input ModeFF 01 1 (Count) Dead BandFF 00 0 (Counts) Joystick CenterFF 00FF 03 1023 Analog Full ScaleFF FFFF 02 3.0.02 VersionFF 30FF 53
IMS User IDFF 4D49
MS
B
FF 75 u Device Type
Rea
d A
lll 40 XX
Table 5.2: SPI Read All Byte Order and Defaults
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SPI WRITE All Byte OrderThe table on the left shows the byte order for setting the parameters us-ing user defi ned SPI software interface.
1. Send WRITE ALL Command (0x80) down MOSI followed by Pa-rameter Bytes beginning with MSB (User ID) and ending with the LSB (Checksum of all parameter Bytes).
2. Response from MISO will be FF (39) Bytes.
MO
SI
MIS
O
Default (Decimal) Parameter
LSB FF FF Not Used Not Used
FF FF Not Used Not Used
56 FF 86 Checksum
01 FF1 Analog Input Filter
00 FF
50 FF 80 Warning Temperature
00 FF 0 Stop Start Debounce
0A FF 10 Output Clock Width
00 FF 0 Output Clock Type
00 FF0 Motor Settling Delay time
00 FF
00 FF 0 (256 usteps/step) Microstep Resolution
01 FF500 (milliseconds) Hold Current Delay Time
F4 FF
05 FF 5 (%) Motor Hold Current
19 FF 25 (%) Motor Run Current
0B FF
768000 Maximum VelocityB8 FF
00 FF
00 FF
1000 Initial Velocity03 FF
E8 FF
00 FF
1000000 Deceleration0F FF
42 FF
40 FF
00 FF
1000000 Acceleration0F FF
42 FF
40 FF
01 FF 1 (0 to +5 VDC) Input Mode
00 FF 1 (Count) Dead Band
00 FF0 (Counts) Joystick Center
00 FF
03 FF1023 Analog Full Scale
FF FF
53 FF
IMS User ID4D FF
MS
B 49 75
Writ
e A
ll
80 XXOn a write all command the device will initially respond with the
Table 5.3: SPI Write All Byte Order and Defaults
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Calculating the ChecksumStep 1: Add all bytes in the parameter string from the write command byte to the Analog Input Filter Byte
80+49+4D+53+FF+03+00+00+00+01+40+42+0F+00+40+42+0F+00+E8+03+00+00+B8+0B+19+05+F4+01+00+00+00+00+0A+00+50+01+00+56
= 0x6AA
Step 2: Convert to Binary
110 1010 1010
Step 3: One’s Complement
001 0101 0101
Step 4: Two’s Complement
001 0101 0110
Step 5: Convert To HEX
= 0x156
Step 6: AND 0xFF to 0x156 to remove upper byte:
Checksum = 0x56
Note: Once a write is performed, a read needs to be performed to see if there is a fault. The fault is the last byte of the read.
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5 Using SPI Motor Interface
5.1 Installation
5.1.2 Converter driver installation
The following installation instructions only apply to the MD-CC30X-001 USB ot SPI communications converter. If using another converter, follow the manufacturer instructions.
OPERATING SYSTEM COMPATIBILITY
These Installation procedures are written for Microsoft Windows XP Service Pack 2 or greater 32-bit operating systems.
They WILL NOT function with Microsoft Windows 7 64-bit systems.
The installation of the MD-CC30x-001 requires the installation of two sets of drivers, which may be downloaded from http://www.imshome.com/downloads/cable_drivers.html.
Drivers for the USB to SPI Converter Hardware.
Drivers for the Virtual Communications Port (VCP) used to com- municate to your Product.
Therefore the Hardware Update wizard will run twice during the installa-tion 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 Download drivers from http://www.imshome.com/downloads/1) cable_drivers.html
Extract the driver fi les from the *.zip archive, remember the 2) extracted location.
Plug the USB Converter Cable into the USB port of the MD-3) CC30x-001.
Plug the other end of the USB cable into an open USB port on 4) your PC.
Your PC will recognize the new hardware and open the Hard-5) ware Update dialog.
Select “No, not this time” on the radio buttons in answer to the 6) query “Can Windows Connect to Windows Update to search for software?” Click “Next” .
Select “Install from a list or specifi c location (Advanced)” on the 7) radio buttons in answer to the query
Select “Search for the best driver in these locations.”8) (a) Check “Include this location in the search.”(b) Browse to the location of the extracted the fi les in Step #2.(c) Click Next.
The drivers will begin to copy.9)
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In the Dialog for Windows Logo Compatibility Testing, click 10) “Continue Anyway”.
The Driver Installation will proceed. When the Completing the 11) Found New Hardware Wizard dialog appears, Click “Finish”
Upon fi nish, the Welcome to the Hardware Update Wizard will 12) reappear to guide you through the second part of the install pro-cess. Repeat steps 3 through 11 above to complete the cable installation.
Your IMS MD-CC30x-001 is now ready to use.13)
5.2 SPI Motor Interface
SPI Motor Interface is the setup and confi guration utility developed to provide the customer with a Graphical User Interface (GUI) to easily confi gure products that communicate over the SPI bus.
System Requirements PC or notebook running Windows XP™ service pack 2 or greater.
Installation Download the installation package from http://www.im-1) shome.com/downloads/software_interfaces.html
Browse to the download location on your PC hard-drive 2) and extract the fi les from the zip fi le .
Double-click setup.exe.3)
Follow the installation prompts to complete the installation.4)
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5.2 Setting parameters with SPI Motor Interface
5.2.1 Confi guration parameters
Parameter Function Range Units Default
A1 (1) Analog input mode 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, or 15 to 25 kHz PWM — 0 to +5
VDCACCL Acceleration 91 to 1.5 X 109 steps / sec2 1,000,000
C (3) Joystick center 1 to 1022 counts 0
CLK OUT (2) Clock out none, step / dir, quadrature, up / down — noneDB (3) Analog deadband 0 to 255 counts 1DECL Deceleration 91 to 1.5 X 109 mSec 500DIR Motor direction override Clockwise (cw) / counterclockwise (ccw) — cwFAULT Fault / checksum error error code — noneFS (3) Analog full scale 1 to 1023 counts 1023HCDT Hold current delay time HCDT + MSDT <= 65535 milliseconds 500IF (3) Analog input fi lter 1 to 1000 counts 1
IMODE (2)Source A1 spd / A2 spd or PWM 15 to 25 kHz — A1&A2
Analog input, A1&A2 spds 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
volts or cur-rent
0 to +5 VDC
MHC Motor hold current 0 to 100 percent 5MRC Motor run current 1 to 100 percent 25MSDT Motor settling delay time MSDT + HCDT <= 65535 milliseconds 0
MSEL Microstep resolution 1, 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 100, 108, 125, 127, 128, 180, 200, 250, 256
μsteps per full step 256
STEPW (2) Step width 0 (square wave), 100 nSec to 12.8 μSec nSec 550 nSecSSD Stop / start debounce 0 to 255 milliseconds 0VI Initial velocity 0 to <VM steps / sec 1000VM Maximum velocity VI to 5,000,000 steps / sec 768,000TEMP (2) Warning temperature 0 to 85°C °C 80°CUSER ID User ID customizable 1-3 characters IMS
(1) Only with MDrive17 & MDrive23 products.(2) Only with MDrive34 products.(3) Separate analog inputs for A1 and A2 speeds with MDrive 34 products.
Table 5.1 Confi guration parameters
The SPI Motor Interface will not allow the user to set out of range val-ues. If a value is out of range, it will display in the motor interface text fi eld in red text, hovering the mouse pointer over the fi eld will display the acceptable range in a tool tip.
5.2.2 SPI Motor Interface menu options
File Open: Opens a saved *.osc (speed control confi guration) fi le.
Save: Saves the current settings as a *.osc fi le for later re-use.
ave As.
Exit.
View
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Motion Settings: Displays the Motion Settings screen.
IO Settings: Displays the IO Settings Screen.
Part and Serial Number: Displays the MDM part and serial number.
Analog Initialize: Allows the user to set the Analog input parameters by exercising the penetrometer
The user will click the Initialize Item then will have 30 seconds to set the Upper range, lower range and center position by adjust-ing the potentiometer.
Recall! Retrieves the previously stored settings from the MDrive Speed Control.
Upgrade! Upgrades the MDrivePlus Speed Control fi rmware.
Help About.
5.2.3 General features
Color Coded Parameter Values The SPI Motor Interface features color coded text inside the parameter settings fi elds to assist the user in identifying the status of the param-eters. These are:
Blue: Changed value that has not been set.
Red: Out-of-range value cannot be set.
Black: Set or stored value.
Adjustable Units for Analog Parameters The SPI Motor interface allows the user to change units from counts to volts or milliamperes by clicking the unit beside the parameter fi eld. The default unit is counts, if using a voltage mode of operation the unit can be changed to volts. If using the current method of controlling velocity, the alternate unit is in milliamperes.
Only the Analog Input setup parameter units are changeable. The Input Filter is not. It is set to only display counts.
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5.2.4 SPI Motor Interface button functions
Factory Clicking the Factory button will load the MDrivePlus Speed Control unit’s factory default settings into the IMS SPI Motor Interface.
Connected/Disconnected Indicator Displays the connected/disconnected state of the communications port, and if connected, the communications port connected.
Set The Set button writes the new settings to the MDrive. Parameter set-tings which have not been set will display as blue text in the setting fi elds. Once set they will be in black text.
Exit Disconnects the communications and closes the program.
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5.2.5 Analog Settings Confi guration Screen
The SPI Motor Interface Software opens by default to the Analog Set-tings Screen shown in Figure 5.1.
There are eight basic parameters that may be set here:
FS: Analog Input Full Scale.1)
C: Joystick Center Position.2)
DB: Analog Input Deadband.3)
IF: Analog Input Filter.4)
Setup Analog: Selects the Input being confi gured.*5)
Source: Selects the Input Source*6)
A1 & A2: Sets the Analog Input Mode.7)
User ID: 3 ASCII Character User ID (The User ID Field is avail-8) able on all of the dialogs).
* A2 is only available and visible for MDrive34Plus Speed Control prod-ucts.
Reload Factory Defaults
Connection StatusSet Displayed Values
Exit Program
Speed ControlInput Mode
Full ScaleJoystick Center
Deadband
Input Filter
User ID - 3 ASCII
Fault Status Code
Analog Source
Analog Input Configuration Select
Figure 5.1 Analog settings screen
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FS: Analog Full Scale The Analog Full Scale Parameter sets the Full range of the speed con-trol input. The range will be contingent on the input mode specifi ed by the Input Mode Parameter A1 and the Units set by clicking the caption located at the right of the parameter input box.
Range for Full ScaleInput Mode Counts Volts Milliamperes0 to +5 VDC 1 to 1023 0.005 to 4.999 —0 to +10 VDC 1 to 1023 0.005 to 9.999 —4 to 20 mA 205 to 1023 — 4.00 to 19.980 to 20 mA 1 to 1023 — 0.02 to 19.98
Table 5.2 Full scale ranges for analog input mode parameter
C: Joystick Center Position The Speed control device can operate in two directional modes Uni-directional or Bidirectional. To use Bidirectional mode set the Joystick Center to the desired value. To use Unidirectional mode leave the Joystick Center at its default (0) setting. Control Axis direction with the Direction hardware input.
The Joystick Center parameter sets the center position for directional control of the speed control input. The range will be contingent on the input mode specifi ed by the Input Mode parameter A1 and the Units set by clicking the caption located at the right of the parameter input box. The axis direction will be one direction when below the center posi-tion and will change direction once the Center level is reached and the Deadband exceeded. The axis direction will be with respect to the logic state of the direction control input and the bit state of the Direction Over-ride Parameter on the Motion Settings Screen.
Range for Joystick CenterInput Mode Counts Volts Milliamperes0 to +5 VDC 0 to 1022 0.005 to 4.990 —0 to 1+0 VDC 0 to 1022 0.010 to 9.980 —4 to 20 mA 205 to 1022 — 4.00 to 19.960 to 20 mA 0 to 1022 — 0.02 to 19.96
Table 5.3 Range for the joystick center parameter
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DB: Joystick DeadBand The Joystick Deadband Parameter sets the deadband around the Joystick Center Position of the speed control input. The range will be contingent on the input mode specifi ed by the Input Mode Parameter A1 and the units set by clicking the caption located at the right of the parameter input box. The speed control input will ignore changes in voltage or current within that range.
Range for DeadbandInput Mode Counts Volts Milliamperes0 to 5 VDC 0 to 255 0 to 1.245 —0 to 10 VDC 0 to 255 0 to 2.490 —4 to 20 mA 0 to 255 — 0 to 4.980 to 20 mA 0 to 255 — 0 to 4.98
Table 5.4 Range for the joystick deadband parameter
IF: Analog Input Filter The Filter parameter for the Analog Speed Control Input. The fi lter range is 0 to 1000 counts.
Setup Analog: This parameter selects the Analog Input, A1 or A2, which is being confi gured. It DOES NOT select which input is active, this is done using a hardware input.
Source: This parameter selects the Source signal that will operate the velocity generator, A1/A2 or PWM. if PWM is selected, the confi guration options for A1 and A2 will disappear from the screen. When in PWM mode inputs A1 and A2 are disabled.
A1 & A2: Analog Input Operating Mode
The A1 parameter selects the mode for the speed control input. There are four input modes which may be selected:
0 to +5 VDC1)
0 to +10 VDC2)
4 to 20 mA3)
0 to 20 mA4)
The speed control input will also accept a PWM input. There is no set-ting required to use PWM, the input will automatically confi gure itself to that mode of operation.
NOTE: A2 is only available on MDrive34Plus Speed Control products.
UID: User ID Allows the user to enter a User ID or Device ID for the MDrivePlus Speed Control. The ID is 3 characters in length. The fi rst character must be alphanumeric, the remaining two may be any viewable ASCII character. This fi eld appears on all of the screens.
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5.2.6 Motion Settings Confi guration Screen
The Motion Settings screen is shown in Figure 2.4.9. There are ten basic parameters that may be set here:
VM: Maximum Velocity1)
VI: Initial Velocity2)
MSEL: Microstep Resolution Select3)
DIR: Direction Override4)
ACCL: Acceleration5)
DECL: Deceleration6)
MSDT: Motor Settling Delay Time7)
HCDT: Holding Current Delay Time8)
MRC: Motor Run Current9)
MHC: Motor Hold Current10)
Reload Factory Defaults
Connection Status
Set Displayed Values
Exit Program
MicrostepResolution Select
Initial Velocity
Max. Velocity
AccelerationDeceleration
Direction Override
Motor Settling Delay Time
UserID
Motor Run Current
Motor HoldCurrent
Hold Current Delay Tme
Fault Code
Figure 5.2 Motion parameter settings screen
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VM: Maximum Velocity The Maximum Velocity parameter represents the velocity in steps per second of the Axis when the speed control input is at its upper end of the Full Scale value, or the upper and lower ends if the Joystick Center is used.
VI: Initial Velocity The Initial Velocity parameter represents the velocity of the Axis when the speed control input is at the lower end of the Full Scale value, or the Joystick Center position plus or minus the dead band setting if Bidirec-tional control is used.
MSEL: Microstep Resolution Selection The MDrive Speed Control features 20 microstep resolutions. This set-ting specifi es the number of microsteps per step the motor will move.
The MDrive 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.
Binary Decimal
microsteps/step steps/revolution microsteps/step steps/revolution
1 200 5 1000
2 400 10 2000
4 800 25 5000
8 1600 50 10000
16 3200 100 20000
32 6400 125 25000
64 12800 200 40000
128 25600 250 50000
256 52100
Additional resolution settings
180 36000 (0.01°/μstep)
108 21600 (1 arc-min/μstep)
127 25400 (0.001 mm/μstep)
Table 5.5 Microstep resolution settings
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ACCL: Acceleration The ACCL Parameter set the acceleration of the axis in Steps per Second2. This setting is independent of the Analog Speed Control Input, regardless of how fast the voltage, current or PWM frequency ramps on the input, the axis will accelerate at this setting.
DECL: Deceleration The DECL Parameter set the Deceleration of the axis in Steps per Second2. This setting is independent of the Analog Speed Control Input, regardless of how fast the voltage, current or PWM frequency drops on the input, the axis will decelerate at this setting.
The deceleration setting will be active in three conditions: Stop Hard-ware Input, Change of Direction, whether initiated by the hardware input or by a Joystick Center, and when the input is at the lower Full Scale limit in unidirectional mode.
MSDT: Motor Settling Delay Time The MSDT parameter specifi es the time allocated in milliseconds for the motor to settle into position following a move. Note that MSDT is addi-tive with HCDT. The sum of the two cannot exceed 65535 milliseconds. See Figure 2.4.10 for the MSDT/HCDT Relationship.
HCDT: Hold Current Delay Time The HCDT Motor Hold Current Delay sets time in milliseconds for the Run Current to switch to Hold Current when motion is complete. When motion is complete, the MDrive will change to Hold Current when the specifi ed time elapses. Note that HCDT is additive with MSDT. The sum of the two cannot exceed 65535 milliseconds. See Figure 2.5.10 for the HCDT/MSDT Relationship.
Note that if HCDT=0, the unit will never go into hold current, but will stay in the set run current percent.
Time (milliseconds)
Cur
rent
(%) Run
Hold
HCDT = 2000
2 Seconds Between cessation of motion and shift to holding current %
Time (milliseconds)
Cur
rent
(%) Run
Hold
HCDT = 2000MSDT= 1000
MSDT= 0
3 Seconds Between cessation of motion and shift to holding current %
Figure 5:3 MSDT - HCDT relationship
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MRC: Motor Run Current The MRC Motor Run Current parameter sets the motor run current to a percentage of the full output current of the Speed Control MForce driver section.
MHC: Motor Hold Current The MHC parameter sets the motor holding current as a percentage of the full output current of the driver. If the hold current is set to 0, the output circuitry of the driver section will disable when the hold current setting becomes active. The hold current setting becomes active the clock pulse following the time in milliseconds specifi ed by MSDT+HCDT.
DIR: Motor Direction The DIR Motor Direction parameter changes the motor direction rela-tive to the direction input signal, adapting the direction of the MForce to operate as your system expects.
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5.2.7 IO Settings Confi guration Screen
To access the IO Settings Screen click “View > IO Settings Screen” There is one main parameters that can be set from this screen.
SSD: Start/Stop Switch Debounce1)
TEMP: Warning Temp2)
CLK OUT: Output Clock Type3)
STEPW: Output Clock Step Width4)
Invert Step/Direction5)
Reload Factory Defaults
Connection Status
Set Displayed Values
Exit ProgramUserID
Fault Code
Stop/StartInput Filter
Warning Temp
Output ClockType
Output ClockStep Width
Invert StepInvert Direction
Figure 5.4 I/O parameter settings screen
SSD: Start/Stop Switch Debounce (Filtering) The SSD parameter sets the input fi ltering for the Start/Stop switch. The range is 0 to 255 milliseconds.
TEMP: Warning Temperature The Warning Temperature parameter sets the threshold temperature in degrees celsius which a fault will be set. When a temperature warning occurs it will display an error code in the fault fi eld of the IMS Analog Speed Control. The MForce itself will continue to operate until the shut-down temperature of 85°C is reached. The range is 0 to 85°C.
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CLK OUT: Output Clock Type This Parameter allows the selection of an output clock type. There are 4 available settings: None (Default), Step/Direction, Quadrature or Clock Up/Down.
STEPW: Output Clock Step Width The STEPW Parameter allows you to select the pulse width of the Ou-put Clock signal. The range is Square Wave, or 100nsec to 12.8 μsec.
Invert Step/Direction
Allows the step and/or direction output signal to be inverted.
5.2.8 Part Number/Serial Number Screen
The Part number serial number screen is a read-only screen that shows both the Part Number and the unit Serial Number. This is useful if the unit is installed in a remote location and cannot be readily accessed. These numbers may be required if requesting technical or applications support.
5.2.9 Fault Codes
All of the SPI Motor Interface screens has the Fault Field visible. This read only fi eld will display an error code to indicate the type of fault. The normal, operational code is “None” in green text, the fault code will display in Red.
Fault CodesBinary Case* Error Code Description Action To Clear
— None No Fault — —
4 CS SPI Checksum Error Error Displayed Write To MDO(Set Button)
8 SC/CS SPI Checksum Error/Sector Changing Error Displayed Write To MDO(Set Button)
16 DFLT Defaults Checksum Error Error Displayed Write To MDO(Set Button)
32 DATA Settings Checksum Error Error Displayed Write To MDO(Set Button)
64 TW Temperature Warning Error Displayed Write To MDO(Set Button)
*All Fault Codes are OR’ed together.
Table 5.6 Fault (error) codes
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5.2.10 Upgrading the fi rmware in the MDrive Speed Control
The SPI Upgrader New fi rmware releases are posted to the web site at http://www.im-shome.com.
The SPI Motor Interface is required to upgrade your MDrive Speed Con-trol product. To launch the Upgrader, click “Upgrade!” on the IMS SPI Motor Interface menu.
The Upgrader screen has 4 read-only text fi elds that will display the necessary info about your MDrive Speed Control.
Previous Version: this is the version of the fi rmware currently on your MDrive Speed Control.
Serial Number: the serial number of your unit.
Upgrade Version: will display the version number of the fi rmware being installed.
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 SPI Upgrader. Note that some steps are not shown as they are accomplished internally, or are not relevant to the model product you are updating. The only 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 asking you to browse for the fi rmware upgrade fi le. This fi le will have the extension *.ims.
Step 3: Connect SPI Cable
Step 4: Power up or Cycle Power to the MDrive
Step 6: Press Upgrade Button
Progress bar will show upgrade progress in blue, Message box will read “Resetting Motor Interface”
Step 8: Press DONE, then select Port/Reconnect.
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5 Interfacing the I/O
! CAUTION
HOT PLUGGING!
Do not connect or disconnect power, logic, or communications while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions may result in damage to system components!
! CAUTION
OVER VOLTAGE
The input voltage used with the logic inputs will vary depending on the NEMA size of the MDrive.
The inputs of MDrive 17 and 23 Speed control are NOT iso-lated and are TTL level tolerant only.
The inputs of the MDrive 34 Speed Control are optically iso-lated and tolerant to +24 VDC.
Refer to the individual specifi cations section of the model you are using.
Failure to follow these instructions may result in damage to system components!
! CAUTION
EMI and RFI
These recommendations will provide optimal protection against EMI and RFI. The actual cable type, wire gauge, shield type and fi ltering devices used are dependent on the customer’s application and system.
Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level cables and make your system 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 fl oat. This allows the shield to act as a drain.
Failure to follow these instructions may result in damage to system components!
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6.1 Interfacing the speed control input
The Analog Speed Control input, is used to control axis velocity using the following input modes and types, note that the input types MUST be set using the SPI Motor Interface or the appropriate bits set in the Input mode string if using your own confi guration interface over SPI. The default is Voltage Mode: 0 to +5VDC.
Voltage Mode 0 to +5 VDC
0 to +10 VDC
Velocity Control may be set using a 10kΩ Potentiometer is variable speed control is required. If the input is to be preset to a fi xed value, a voltage may be applied or a resistor connected between +5 VDC and the appropriate input to set the desired velocity.
Current Mode 4 to 20 mA
0 to 20 mA
Velocity Control may be set using a sensor with the appropriate current output using 4-20 mA current loop devices, which is an analog transmis-sion standard for industrial instrumentation, or if desired a 0 to 20 mA device.
In the case of the MDrive 34, which has 2 speed control inputs, only one input may be used at a time. The inputs may be switched on the fl y us-ing the Speed1/Speed2 select input.
6.1.1 Interface methods
NOTE: the dual speed inputs on the MDrive34Plus Speed Control are interfaced the same as the single speed input on the MDrive 17 and 23 Speed Control.
Voltage mode examples
Potentiometer interface(variable velocity)
Resistor interface(fixed velocity)
+5 VDC
Logic Ground
MDrivePlusSpeed Control
MDrivePlusSpeed Control
Speed Input
+5 VDC
Speed Input
10kΩ Potentiometer
Resistor value to 10kΩ
Note: The +5 VDC output is designedto bias the potentiometer or resistor ONLY.Do not use to power external devices.
Figure 6.1 Voltage mode 0 to 5 VDC
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Potentiometer interface(variable velocity)
Direct voltage input
+10 VDC
Logic Ground
MDrivePlusSpeed Control
MDrivePlusSpeed Control
Speed Input
Logic Ground
Speed Input
10kΩ Potentiometer
0 to +10 VDC
Figure 6.2 Voltage mode 0 to 10 VDC
Current mode examples
Figure 6.3 Current mode interface
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6.2 Logic inputs (non-isolated)
! CAUTION
OVER VOLTAGE
The input voltage used with the logic inputs will vary depending on the NEMA size of the MDrive.
The inputs of MDrive 17 and 23 Speed control are NOT iso-lated and are TTL level tolerant only.
The inputs of the MDrive 34 Speed Control are optically iso-lated and tolerant to +24 VDC.
Refer to the individual specifi cations section of the model you are using.
Failure to follow these instructions may result in damage to system components!
Function Description
S/SStop / start input. TTL input stops or starts the the internal clock pulse generator of the device. Active (started) when LOW.
DIR
TTL direction Input controls the clockwise/counterclockwise direction of the motor. The direction of rotation in relation to the HIGH/LOW state of the input is set by the motor direction override (DIR) parameter.
Table 6.1 TTL logic inputs
Of these inputs only step clock and direction are required to operate the MDrive Speed Control.
Stop/Start and CW/CCW Direction
+5 VDC
CW/CCW
Stop/Start
Logic Ground
MDrivePlusSpeed Control
Speed Input
10kΩ Potentiometer
Stop/Start Switch
Direction Switch
Figure 6.4 Interfacing the TTL logic inputs
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6.3 Logic inputs (optically isolated — MDrive34Plus only)
6.3.1 Isolated input overview
Function Description
OPTO Optocoupler reference input
STOP / START
Stop / start input. Stops or starts the the internal clock pulse generator of the device. Active (started) when LOW. It may be configured as sinking or sourcing depending on the state of the Optocoupler Reference.
CW/CCW
Controls the clockwise/counterclockwise direction of the motor. The direction of rotation in relation to the HIGH/LOW state of the input is set by the motor direction override (DIR) parameter. It may be configured as sinking or sourcing depending on the state of the Optocoupler Reference.
A1/A2 SELECT
Selects which speed control input (A1 / A2) is controlling the output of the internal clock pulse generator. It may be configured as sinking or sourcing depending on the state of the Optocoupler Reference.
Table 6.2 Isolated logic inputs
6.3.2 Isolated input equivalent circuit
ConstantCurrentSource
Optocoupler
+5 VDC
To Drive Logic
Input equivalent circuit
Input
MDrive P1
Opto Reference
Figure 6.5 Optically isolated input equivalent circuit
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6.3.3 Isolated input interface examples
NPN Sinking inputs
+-+5 to +24VDC
Opto Reference
InputSensor orController Output
Controller Ground
NPN
MDrive P1
Figure 6.6 Open collector sinking input
PNP sourcing inputs
MDrive P1
+-+5 to +24VDC
Opto Reference
Input
Sensor orController Output
Controller Ground
PNP
Figure 6.7 Open collector sourcing input
Sinking inputs
+-+5 to +24VDC
Opto Reference
Input
Figure 6.8 Switch interface sinking input
Sourcing inputs
MDrive P1
+-+5 to +24VDC
Opto Reference
Input
Figure 6.9 Switch interface sourcing input
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6.4 Clock outputs (open-drain — MDrive34Plus only)
The MDrive34Plus2 has the ability to mirror the output of the pulse generator and the axis direction to the open drain clock outputs. These outputs may be used to drive a second axis.
The signal seen on the clock outputs will be a 1:1 ratio of the output of the pulse generator.
The Output Clock Type can be confi gured using the SPI motor interface or user-coded interface communicating over SPI to one of the following clock types:
None (Outputs Disabled)
Step/Direction
Quadrature
Clock Up/Down
Additionally the step width may be set and the signal inverted. The Clock output must be have a clock type selected to be active. By default there is no clock signal on these pins. See Sections 2.4 and 2.5 of this document for details.
6.4.1 Interfacing the clock outputs
Following Application To illustrate the interface of the clock outputs we will show an MDrive-Plus Step / direction slaved to the MDrive34Plus2 Speed Control. The slaved axis will follow the velocity and direction of the master axis. The velocity of the slave axis may be ratioed using the Microstep Resolution parameter if desired.
Step Out
Direction Out
Step In
Direction In
MDrivePlusSpeed Control
(Master)
MDrivePlusMicrostepping
(Slave)
Logic Ground Logic Ground
Figure 6.10 Interfacing the clock outputs
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MDrive® 17 Speed Control
Introduction1. Speci cations2. Mounting Recommendations3. Interface and Connectivity4.
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Table of Contents
1 Introduction ................................................................................ 1-11.1 Product identi cation .......................................................1-11.2 Installation accessories ...................................................1-21.3 Documentation reference ................................................1-31.4 Product software .............................................................1-3
2 Specifi cations ............................................................................ 2-12.1 Mechanical speci cations ................................................2-12.2 General speci cations .....................................................2-2
2.2.1 Electrical speci cations ......................................2-22.22 Motor speci cations ...........................................2-22.2.3 Speed-force performance curves ......................2-2
2.2 Setup parameters ............................................................2-32.3 Connectivity speci cations/pin assignments - Communications ..............................................................2-4
2.3.1 SPI communications - connector P2 ..................2-42.4 Connectivity speci cations/pin assignments - power and ... logic .................................................................................2-6
2.4.1 Power and logic .................................2-6
3 Mounting and connection recommendations ......................... 3-13.1 Mounting ..........................................................................3-13.2 Layout and interface guidelines.......................................3-3
3.2.1 Rules of wiring ..................................................3-33.2.2 Rules of shielding .............................................3-3
3.3 Recommended wiring ......................................................3-43.3.1 Recommended mating connectors and pins .....3-4
3.4 Securing power leads and logic leads .............................3-4
4 Connection and interface ......................................................... 4-14.1 Connector orientation ......................................................4-24.2 Interfacing communications .............................................4-3
4.2.1 P2 - 10-pin IDC style connector .........................4-34.2.2 P2 - 10-pin wire crimp connector .......................4-4
4.3 Interfacing DC power .......................................................4-54.3.1 Recommended power supply characteristics ....4-54.3.2 Recommended wire gauge ................................4-54.3.3 P1 — 12’ (30.5 cm) ying leads interface ..........4-54.3.4 P1 — 7-pin pluggable terminal interface ............4-64.3.5 Power Interface using Drive Protection Module ..... DPM75 ...............................................................4-6
4.4 Interfacing Logic ..............................................................4-74.4.1 P1 — 12’ (30.5 cm) ying leads interface ..........4-74.4.2 P1 — 7-pin pluggable terminal interface ............4-7
4.5 Encoder interface ............................................................4-84.5.1 External encoder ................................................4-8
4.7 USB to SPI communications converters .........................4-94.7.1 USB to 10-pin wire crimp — MD-CC300-001 ....4-94.7.2 USB to 10-pin wire crimp — MD-CC302-001 ....4-9
4.8 Mating connector kits ....................................................4-10
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List of Figures
Figure 2.1 MDrive 17 Mechanical Speci cations ....................................2-1Figure 2.2 Speed-force performance curves ..........................................2-2Figure 3.1 MDrive Speed Control mounting and drill pattern .................3-2Figure 3.2 Securing leads .......................................................................3-5’Figure 4.1 Connector orientation ............................................................4-2Figure 4.2 DPM75 Drive Protection Module ...........................................4-6Figure 4.3 MD-CC300-001 communications converter cable .................4-9Figure 4.4 MD-CC302-001 communications converter cable .................4-9
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List of Tables
Table 1.1 Standard product options ......................................................1-1Table 2.1 Electrical speci cations .........................................................2-2Table 2.2 Motor speci cations ...............................................................2-2Table 2.3 Setup parameters ..................................................................2-3Table 2.4 P2 communications, 10-pin locking wire crimp .....................2-4Table 2.5 P2 communications, 10-pin locking wire crimp .....................2-5Table 2.6 Power and logic interface - 12” (308.8.mm) ying leads .......2-6Table 2.7 Power and logic interface - 7-pin pluggable terminal ............2-6Table 4.1 Communications connections, P2 - 10-pin IDC .....................4-3Table 4.2 Communications connections, 10-pin wire crimp ..................4-4Table 4.3 Recommended power supply characteristics ........................4-5Table 4.4 Recommended power supply wire gauge .............................4-5Table 4.5 Power and ground connections, ying leads .........................4-5Table 4.6 Power and ground connections, 7-pin terminal .....................4-6Table 4.7 Logic and speed control input connections, ying leads .......4-7Table 4.8 Logic and speed control input connections, 7-pin terminal ...4-7Table 4.9 Optional external encoder pins.............................................4-8
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1 Introduction
The MDrive® 17 Plus Speed Control integrated drive with program-mable velocity control is a 1.8° 2-phase stepper motor with on-board control electronics which operate at an input voltage of +12 to +48 VDC. The velocity control uses voltage, current, or PWM input signals.
Settings for MDrive Plus Speed Control products may be changed on-the- y or downloaded and stored in nonvolatile memory using the IMS SPI Motor Interface software provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port.
1.1 Product identifi cation
Part numbersExample: K M D O 1 F S D 1 7 A 4 – E1
QuickStart KitK = kit option, or leave blank if not wanted
K M D O 1 F S D 1 7 A 4 – E1
MDrive Plus versionMDO = Speed Control
K M D O 1 F S D 1 7 A 4 – E1
Input1 = Plus, standard features
K M D O 1 F S D 1 7 A 4 – E1
P1 connector — I/O & powerF = fl ying leadsP = pluggable
K M D O 1 F S D 1 7 A 4 – E1
CommunicationS = SPI
K M D O 1 F S D 1 7 A 4 – E1
P2 connector — communicationD = IDCL = wire crimp
K M D O 1 F S D 1 7 A 4 – E1
Motor size17 = NEMA 17 (1.7" / 42 mm)
K M D O 1 F S D 1 7 A 4 – E1
Motor lengthA = single stackB = double stackC = triple stack
K M D O 1 F S D 1 7 A 4 – E1
Drive voltage4 = +12 to +48 VDC
K M D O 1 F S D 1 7 A 4 – E1
OptionsLeave blank if not wantedMultiple options may be combined in one product, with any exceptions noted
– E___ = external optical encoder with index mark
– N = rear control knob for manual positioning
– E1
(1) For planetary gearbox details and complete part numbers, see pages 54 through 56.
Table 1.1 Standard product options
MDrive® 17 Plus
P2: CommunicationD = SPI with 10-pin IDC non-locking connectorL = SPI with 10-pin friction lock wire crimp connector
P1: I/O & PowerF = 12" flying leadsP = non-locking spring clamp terminal strip
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Installation accessoriesDescription Length
feet (m)Part number
QuickStart KitFor rapid design verifi cation, all-inclusive QuickStart Kits include connectivity, instructions and CD for MDrivePlus initial functional setup and system testing.■ For all MDrive17 Speed Control products. — add "K" to part number
Communication converterElectrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/program communication parameters for a single MDrivePlus via a PC's USB port.■ Mates to 10-pin non-locking IDC connector 12.0 (3.6) MD-CC300-001
■ Mates to 10-pin friction lock wire crimp connector 12.0 (3.6) MD-CC302-001
Mating connector kitConnectors for assembly of cables, cable material not supplied. Sold in lots of 5. Manufacturer's crimp tool recommended for crimp connectors.■ 10-pin non-locking IDC connector — CK-01
■ 10-pin friction lock wire crimp connector — CK-02
Encoder cablesPre-wired mating connector with other cable end open.■ For external single-end encoder 1.0 (0.3) ED-CABLE-2
■ For external differential encoder, locking cable 6.0 (1.8) ED-CABLE-6
Drive protection moduleLimits surge current and voltage to a safe level when DC input power is switched on-and-off to an MDrivePlus.■ For all MDrive17 Speed Control products — DPM75
1.2 Installation accessories
USB connector
in-line converter
MDrive® Plus integrated drivemating connector(non-locking IDC)
MD-CC300-001
USB connector
MDrive® Plus integrated drivemating connector
in-line converter
MD-CC302-001
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1.3 Documentation reference
The following user’s manuals are available for the MDrive 17:
Product manual, describes the technical data, installation, con- guration and programming of the product.Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the web site at http://www.imshome.com.
1.4 Product software
The MDrive 17 Speed Control integrated motor and driver is con gured using the SPI motor interface graphical user interface. This free soft-ware may be downloaded from http://www.imshome.com/downloads/software_interfaces.html.
Installation and usages instructions are to be found in Part 1 of this document, Section 5.
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2 Specifi cations
2.1 Mechanical specifi cations
Ø 0.866 +0/-0.002(Ø 21.996 +0/-0.051)
Ø 0.1968 +0/-0.0005(Ø 4.999 +0/-0.013)
1.68( 42.7)
1.220 ±0.004( 31.0 ±0.1)
4X M3x0.5 THREADx0.15 MIN DEEP
P1
2.30(58.3)
P2
1.19(30.2)
LMAX2
LMAX
0.177 ±0.002(4.49 ±0.05)
0.08(2.0)
0.94 ±0.02(23.9 ±0.5)
0.59 ±0.02(15.0 ±0.5)
Motor stack length Lmax (1) Lmax2 (2) Single 2.20 (55.9) 2.79 (70.9) Double 2.43 (61.7) 3.02 (76.7) Triple 2.77 (70.4) 3.37 (85.6)(1) Single shaft.(2) Control knob or external encoder.
0.44(11.2)
P1
12.00 +1.0/-0.0 (304.8 +25.4/-0.0)
P1
P1 connector options
7-pin non-locking spring clamp terminal strip
12.0" (305mm)fl ying leads
I/O & Power I/O & Power
P2
P2 connector options
10-pin non-locking IDC connector
P2
10-pin friction lockwire crimp connector
Communication Communication
1.20(30.4)
1.42(36.1)
2.04*(51.8)
differentialencoder*
.
1.22*(31.0)
.
single-endencoder
Ø 0.97(Ø 24.6)
control knob external encoder
Lmax2 options
Figure 2.1 MDrive 17 Mechanical Speci cations
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2.2 General specifi cations
2.2.1 Electrical specifi cations
Input voltageRange VDC 12 to 48Power supply current maximum (1) 2A per unit
Thermal Operating temp non-condensing
Heat sink –40° to +85°CMotor –40° to +100°C
Speed control Input0 to +5 VDC (4), 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, or 15 to 25 kHz PWM
A / D resolution 10 bit
Logic input
Low level 0 to +0.8 VDCHigh level +2.0 to +5.0 VDCInternal pull-up resistance 20 kΩ (to +3.3 VDC)Optically isolated noSourcing or sinking confi gurable
Motion
Oscillator frequency maximum 5 MHz
Microstep resolution
Number of settings 20
Steps per revolution
200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/μstep), 21600 (1 arc minute/μstep), 25400 (0.001mm/μstep)
(1) per MDrive 17, actual current depends on voltage and load
Table 2.1 Electrical speci cations
2.22 Motor specifi cations
Motor stack length Holding torque Detent torque Rotor inertia Weight (motor + driver)
Single 32.0 oz-in / 22.6 N-cm
1.66 oz-in / 1.17 N-cm
0.00053 oz-in-sec2 / 0.038 kg-cm2 10.4 oz / 294.8 g
Double 60.0 oz-in / 42.4 N-cm
2.08 oz-in / 1.47 N-cm
0.00080 oz-in-sec2 / 0.057 kg-cm2 12.0 oz / 340.2 g
Triple 74.9 oz-in / 52.9 N-cm
3.47 oz-in / 2.45 N-cm
0.00116 oz-in-sec2 / 0.082 kg-cm2 15.2 oz / 430.9 g
Table 2.2 Motor speci cations
2.2.3 Speed-force performance curves
Single stack length Double stack length Triple stack length
Torque in Oz-In / N-cm
Speed of rotation in full steps per second (rpm)
Torque in Oz-In / N-cm
Speed of rotation in full steps per second (rpm)
0
37/26
53/39
18/13
48 VDC24 VDC
0 2000(600)
4000(1200)
6000(1800)
Torque in Oz-In / N-cm
Speed of rotation in full steps per second (rpm)
0
37/26
53/39
18/13
48 VDC24 VDC
0 2000(600)
4000(1200)
6000(1800)
0
37/26
53/39
18/13
48 VDC24 VDC
0 2000(600)
4000(1200)
6000(1800)
Figure 2.2 Speed-force performance curves
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2.2 Setup parameters
Parameter Function Range Units Default
A1 Analog input mode 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, or 15 to 25 kHz PWM — 0 to +5
VDC
ACCL Acceleration 91 to 1.5 X 109 steps / sec2 1,000,000
C Joystick center 1 to 1022 counts 0
DB Analog deadband 0 to 255 counts 1
DECL Deceleration 91 to 1.5 X 109 mSec 500
DIR Motor direction override Clockwise (cw) / counterclockwise (ccw) — cw
FAULT Fault / checksum error error code — none
FS Analog full scale 1 to 1023 counts 1023
HCDT Hold current delay time HCDT + MSDT <= 65535 milliseconds 500
IF Analog input fi lter 1 to 1000 counts 1
MHC Motor hold current 0 to 100 percent 5
MRC Motor run current 1 to 100 percent 25
MSDT Motor settling delay time MSDT + HCDT <= 65535 milliseconds 0
MSEL Microstep resolution 1, 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 100, 108, 125, 127, 128, 180, 200, 250, 256
μsteps per full step 256
SSD Stop / start debounce 0 to 255 milliseconds 0
VI Initial velocity 0 to <VM steps / sec 1000
VM Maximum velocity VI to 5,000,000 steps / sec 768,000
USER ID User ID customizable 1-3 characters IMS
NOTE: All parameters are set using the supplied IMS SPI Motor Interface GUI and may be changed on-the- y. An optional Communication Converter is recommended with rst orders.
Table 2.3 Setup parameters
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2.3 Connectivity specifi cations/pin assignments - Communications
2.3.1 SPI communications - connector P2
! CAUTION
+5VDC OUTPUT
The +5 VDC output on connector P2 is for the express pur-pose of powering the IMS isolated communications converter cables. Do not use to power external devices.
Failure to follow these instructions may result in damage to system components!
10-pin IDC style connectorPin # Function Description
1 N/C Not connected
2 N/C Not connected
3 N/C Not connected
4 CS SPI chip select, selected when low.
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 MOSI SPI master out - slave in
8 CLK SPI clock
9 N/C Not connected
10 MISO SPI master in - slave out
Table 2.4 P2 communications, 10-pin locking wire crimp
P2
SPI
13579
2468
10
Connectivity OptionsUSB to SPI Converter:MD-CC300-001
Mating connector kit:CK-01 (ribbon cable not included)
Mfg P/N: Shell SAMTEC TSD-05-01-N
Ribbon cable Tyco: 1-57051-9
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10-pin wire crimp connectorPin # Function Description
1 N/C Not connected
2 MISO SPI master in - slave out
3 MOSI SPI master out - slave in
4 CLK SPI clock
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 N/C Not connected
8 CS SPI chip select, selected when low.
9 N/C Not connected
10 N/C Not connected
Table 2.5 P2 communications, 10-pin locking wire crimp
Connectivity OptionsUSB to SPI Converter:MD-CC302-001
Mating connector kit:CK-02
Mfg P/N: Shell Hirose DF11-10DS-2C
Pins Hirose: DF11-2428SC
P2
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2.4 Connectivity specifi cations/pin assignments - power and logic
2.4.1 Power and logic
12” (304.8 mm) fl ying leads Wire Color Function Description
Violet Stop / start Stop or start the clock generator
Blue CW / CCW direction CW/CCW direction input
Green Speed (A1) Analog speed control input (10 k potentiometer center-tap)
Yellow +5 VDC +5 VDC output (10k potentiometer +5V)
Gray Ground Speed control ground (10 k potentiometer ground)
Black GND Power supply return (ground)
Red +V Motor power (+12 to +48 VDC)
Table 2.6 Power and logic interface - 12” (308.8.mm) ying leads
7-pin pluggable terminalPin # Function Description
1 Stop / start Stop or start the clock generator
2 CW / CCW direction CW/CCW direction input
3 Speed (A1) Analog speed control input (10 k potentiometer center-tap)
4 +5 VDC +5 VDC output (10k potentiometer +5V)
5 Ground Speed control ground (10 k potentiometer ground)
6 GND Power supply return (ground)
7 +V Motor power (+12 to +48 VDC)
Table 2.7 Power and logic interface - 7-pin pluggable terminal
12.0” (304.8mm )
+1.0/-0.0
+25.4/-0.0
P1
I/O & Power
0.44”(11.2mm)
P1
I/O & Power
Top view
7
5
3
1
6
4
2
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3 Mounting and connection recommendations
! CAUTION
LEAD RESTRAINT
Some Speed Control mounting con gurations require that the MDrive move along the screw. Ensure that all cabling is prop-erly restrained to provide strain relief on connection points..
Failure to follow these instructions can result in equipment damage.
! CAUTION
MOUNTING SCREW TORQUE
When mounting the MDrive, do not exceed the maximum rec-ommended tightening torque of 7.8 lb-in (9 kg-cm).
Failure to follow these instructions can result in equipment damage.
3.1 Mounting
Care must be observed when installing the mounting screws on ALL MDrive 17 versions. The mounting holes on the ange are not drilled through and have a maximum depth of 0.150” (3.81 mm).
The warning note and Figure below illustrate the maximum safe thread length and maximum torque for mounting all versions of the MDrive 17.
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4 X M3-0.5 Screw(not supplied)Length TBDby flange thickness
Maximum length ofscrew threads intothe motor housing0.140" (3.5 mm)
1.220 SQ.(31.0 SQ.)
Ø 0.866 (21.996)0.118 (3.0) Thru 4 Placeson a 1.725 (43.82) Circle
Mounting FlangeOr Adapter Plate
MDrive17Plus
Maximum Tightening Torque:7.8 lb-in (9 kg-cm)
Drill Pattern for Mounting Flangeor Adapter Plate
Temperature sensorshould be attachedat the center of the
motor body
Figure 3.1 MDrive Speed Control mounting and drill pattern
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3.2 Layout and interface guidelines
Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level cables and make your system 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 oat. This allows the shield to act as a drain.
Power supply leads to the MDrive 17 need to be twisted. If more than one driver is to be connected to the same power supply, run separate power and ground leads from the supply to each driver.
3.2.1 Rules of wiring
Power Supply and Motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires. A minimum of one twist per inch is recommended. Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better. Power ground return should be as short as possible to estab- lished ground. Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.
3.2.2 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 ground. De- pending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location. The shield must be connected so that shield currents drain to signal-earth connections. The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance. The shield should be tied to a single point to prevent ground loops. A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.
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3.3 Recommended wiring
The following wiring/cabling is recommended for use with the MDrive 17:
Logic and communications wiring........................................ 22 AWG
Wire strip length......................................................... 0.25” (6.0 mm)
Power and ground .............................................................. 20 AWG
3.3.1 Recommended mating connectors and pins
Communications 10-pin IDC (P2).......................................... SAMTEC TCSD-05-01-N
Recommended ribbon cable.....................................Tyco 1-57051-9
10-pin wire crimp (shell) ................................Hirose DF11-10DS-2C
10-pin wire crimp (pins) ...................................Hirose DF11-2428SC
3.4 Securing power leads and logic leads
Some applications may require that the MDrive move with the axis mo-tion. If this is a requirement of your application, the leads ( ying leads or pluggable) must be properly anchored. This will prevent exing and tugging which can cause damage at critical connection points within the MDrive.
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Logic leads
Adhesive anchor& tywrap
Adhesive anchors& tywrap
Communication leads
Power leads
Figure 3.2 Securing leads
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4 Connection and interface
! DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
! CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communications while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
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4.1 Connector orientation
The illustration below shows the connector positions and orientation with regard to the location of pin 1.
All connector drawings in this section will show this orientation.
P2: 10-pin IDC (Communications) P1: 7-pin Terminal (Power and I/O)
Pin 1
Pin 7
Pin 1
Pin 10
Red conductor
P1
P2
P2: 10-pin wire crimp (Communications)
P2
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’Figure 4.1 Connector orientation
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4.2 Interfacing communications
SPI communications may be interfaced using one of two possible con-nector options:
10-pin IDC connector at P21.
10-pin wire crimp connector at P22.
For general SPI communications methods and practices please see Part 1, Section 5 of this document.
4.2.1 P2 - 10-pin IDC style connector
Pin # Function Description
1 N/C Not connected
2 N/C Not connected
3 N/C Not connected
4 CS SPI chip select, selected when low.
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 MOSI SPI master out - slave in
8 CLK SPI clock
9 N/C Not connected
10 MISO SPI master in - slave out
Table 4.1 Communications connections, P2 - 10-pin IDC
Connectivity accessories Mating connector kit ................................................................CK-01(contains 5 connector shells, ribbon cable not included)
Communications converter cable (10’/3.0 m) ...........MD-CC300-001
Manufacturer (SAMTEC) part numbers Connector shell.......................................................... TCSD-05-01-N
Ribbon cable.............................................................Tyco 1-57051-9
Pin 1
Pin 10
Red conductor
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4.2.2 P2 - 10-pin wire crimp connector
Pin # Function Description
1 N/C Not connected
2 MISO SPI master in - slave out
3 MOSI SPI master out - slave in
4 CLK SPI clock
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 N/C Not connected
8 CS SPI chip select, selected when low.
9 N/C Not connected
10 N/C Not connected
Table 4.2 Communications connections, 10-pin wire crimp
Connectivity accessories Mating connector kit ................................................................CK-02(contains 5 connector shells and pins for 5 cables)
Communications converter cable (10’/3.0 m) ...........MD-CC302-001
2: MISO1: N/C 4: CLK3: MOSI5: GND7: N/C9: N/C
6:+5V8: CS10: N/C
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4.3 Interfacing DC power
See part 1 of this document, section 3, for recommended power cable con gurations.
! CAUTION
OVER VOLTAGE
The DC voltage range for the MDrive 17 is +12 to +48 VDC. Ensure that motor back EMF is factored into your power supply size calculations.
Allow 2.0 A maximum power supply output current per MDrive 17 in the system. Actual power supply current will depend on voltage and load.
Failure to follow these instructions can result in equipment damage.
4.3.1 Recommended power supply characteristics
Voltage range +12 to +48 VDC
Type Unregulated linear
Ripple ± 5%
Output current 2.0 A (per MDrive 17
Table 4.3 Recommended power supply characteristics
4.3.2 Recommended wire gauge
Cable Length: Feet (meters) 10 (3.0) 25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Amps Peak Minimum AWG
1 Amp Peak 20 20 18 18 18
2 Amps Peak 20 18 16 14 14
Table 4.4 Recommended power supply wire gauge
4.3.3 P1 — 12’ (30.5 cm) fl ying leads interface
Wire Color
Red +12 to +48 VDC supply
Black Power ground
Table 4.5 Power and ground connections, ying leads
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4.3.4 P1 — 7-pin pluggable terminal interface
Pin #
6 Power ground
7 +12 to +48 VDC supply
Table 4.6 Power and ground connections, 7-pin terminal
4.3.5 Power Interface using Drive Protection Module DPM75
The DPM75 Drive Protection Module will limit surge currents for up to three (3) MDrive 17 units at up to 48 VDC to allow switching DC Power.
A terminal power +
power –
drive –
drive +
B terminal
C terminal
Power supply
+–
MDrive
V+
SPSTswitch* Fuse**
* Do not switch negative side of supply**Fuse = 6.3 Amp slow blow (recommended: Bussman S505-6.3A or Littelfuse 215006.3). The fuse is optional.
Wire jumper A to B for 48 VDC Max.
GND
Figure 4.2 DPM75 Drive Protection Module
76
+VGND
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4.4 Interfacing Logic
See part 1 of this document, section 6, for logic interface con gurations and methods.
4.4.1 P1 — 12’ (30.5 cm) fl ying leads interface
Wire Color Function Description
Violet Stop / start Stop or start the clock generator
Blue CW / CCW direction CW/CCW direction input
Green Speed (A1) Analog speed control input (10 k potentiometer center-tap)
Yellow +5 VDC +5 VDC output (10k potentiometer +5V)
Gray Ground Speed control ground (10 k potentiometer ground)
Table 4.7 Logic and speed control input connections, ying leads
4.4.2 P1 — 7-pin pluggable terminal interface
Pin # Function Description
1 Stop / start Stop or start the clock generator
2 CW / CCW direction CW/CCW direction input
3 Speed (A1) Analog speed control input (10 k potentiometer center-tap)
4 +5 VDC +5 VDC output (10k potentiometer +5V)
5 Ground Speed control ground (10 k potentiometer ground)
Table 4.8 Logic and speed control input connections, 7-pin terminal
5
21
43
Stop/start
+5 VDC
Direction
Ground
Speed (A1)
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4.5 Encoder interface
4.5.1 External encoder
Differential Single-end
Pin # Signal Cable: ED-CABLE-6 Pin # Signal Cable: ES-CABLE-2
1 No connect – 1 Ground Brown
2 +5 VDC input Orange/White 2 Index Violet
3 Ground White/Orange 3 Channel A Blue
4 No connect – 4 +5 VDC input Orange
5 Channel A – White/Blue 5 Channel B Yellow
6 Channel A + Blue/White
7 Channel B – White/Green
8 Channel B + Green/White
9 Index – White/Brown
10 Index + Brown/White
Table 4.9 Optional external encoder pins
Connectivity accessories Differential cable ...........................................................RD-CABLE-6
Single-end cable ........................................................... ES-CABLE-2
Single-End
Differential
9 7 5 3 1
1 2 3 4 5
10 8 6 4 2
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4.7 USB to SPI communications converters
4.7.1 USB to 10-pin wire crimp — MD-CC300-001
Electrically isolated in-line USB to SPI converter pre-wired with mating connector to conveniently program and set con guration parameters.
To computer USB port
To MDrivePlusIDC connector
6.0’ (1.8m)
in-line converter
( )
Figure 4.3 MD-CC300-001 communications converter cable
4.7.2 USB to 10-pin wire crimp — MD-CC302-001
Electrically isolated in-line USB to SPI converter pre-wired with mating connector to conveniently program and set con guration parameters.
To computer USB portTo MDrive P2
6.0’ (1.8m)
in-line converter
6.0’ (1.8m)
Figure 4.4 MD-CC302-001 communications converter cable
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4.8 Mating connector kits
Use to build your own cables. Kit contains 5 mating shells with pins. Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin IDC ..........................................................................CK-01
P4 10-pin wire crimp ...............................................................CK-02
MDrive® 23 Speed Control
Introduction1. Speci cations2. Mounting Recommendations3. Interface and Connectivity4.
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Table of Contents
1 Introduction ................................................................................ 1-11.1 Product identi cation .......................................................1-11.2 Installation accessories ...................................................1-21.3 Documentation reference ................................................1-31.4 Product software .............................................................1-3
2 Specifi cations ............................................................................ 2-12.1 Mechanical speci cations ................................................2-12.2 General speci cations .....................................................2-2
2.2.1 Electrical speci cations ......................................2-22.22 Motor speci cations ...........................................2-22.2.3 Speed-force performance curves ......................2-3
2.2 Setup parameters ............................................................2-42.3 Connectivity speci cations/pin assignments - Communications ..............................................................2-5
2.3.1 SPI communications - connector P2 ..................2-52.4 Connectivity speci cations/pin assignments - power and ... logic .................................................................................2-7
2.4.1 Power and logic .................................2-7
3 Mounting and connection recommendations ......................... 3-13.1 Mounting ..........................................................................3-23.2 Layout and interface guidelines.......................................3-3
3.2.1 Rules of wiring ..................................................3-33.2.2 Rules of shielding .............................................3-3
3.3 Recommended wiring ......................................................3-43.3.1 Recommended mating connectors and pins .....3-4
3.4 Securing power leads and logic leads .............................3-5
4 Connection and interface ......................................................... 4-14.1 Connector orientation ......................................................4-24.2 Interfacing communications .............................................4-3
4.2.1 P2 - 10-pin IDC style connector .........................4-34.2.2 P2 - 10-pin wire crimp connector .......................4-4
4.3 Interfacing DC power .......................................................4-54.3.1 Recommended power supply characteristics ....4-54.3.2 Recommended wire gauge ................................4-54.3.3 P1 — 12’ (30.5 cm) ying leads interface ..........4-54.3.4 P1 — 7-pin pluggable terminal interface ............4-64.3.5 Power Interface using Drive Protection Module ..... DPM75 ...............................................................4-6
4.4 Interfacing Logic ..............................................................4-74.4.1 P1 — 12’ (30.5 cm) ying leads interface ..........4-74.4.2 P1 — 7-pin pluggable terminal interface ............4-7
4.5 Encoder interface ............................................................4-84.5.1 External encoder ................................................4-8
4.7 USB to SPI communications converters .........................4-94.7.1 USB to 10-pin wire crimp — MD-CC300-001 ....4-94.7.2 USB to 10-pin wire crimp — MD-CC302-001 ....4-9
4.8 Mating connector kits ....................................................4-10
MDrive® 23 Speed ControlTable of Contents
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List of Figures
Figure 2.1 MDrive 23 Mechanical Speci cations ....................................2-1Figure 2.2 Speed-force performance curves ..........................................2-2Figure 3.1 MDrive 23 Speed Control mounting and drill pattern ............3-2Figure 3.2 Securing leads .......................................................................3-5’Figure 4.1 Connector orientation ............................................................4-2Figure 4.2 DPM75 Drive Protection Module ...........................................4-6Figure 4.3 MD-CC300-001 communications converter cable .................4-9Figure 4.4 MD-CC302-001 communications converter cable .................4-9
List of Tables
Table 1.1 Standard product options ......................................................1-1Table 2.1 Electrical speci cations .........................................................2-2Table 2.2 Motor speci cations ...............................................................2-2Table 2.3 Setup parameters ..................................................................2-4Table 2.4 P2 communications, 10-pin locking wire crimp .....................2-5Table 2.5 P2 communications, 10-pin locking wire crimp .....................2-6Table 2.6 Power and logic interface - 12” (308.8.mm) ying leads .......2-7Table 2.7 Power and logic interface - 7-pin pluggable terminal ............2-7Table 4.1 Communications connections, P2 - 10-pin IDC .....................4-3Table 4.2 Communications connections, 10-pin wire crimp ..................4-4Table 4.3 Recommended power supply characteristics ........................4-5Table 4.4 Recommended power supply wire gauge .............................4-5Table 4.5 Power and ground connections, ying leads .........................4-5Table 4.6 Power and ground connections, 7-pin terminal .....................4-6Table 4.7 Logic and speed control input connections, ying leads .......4-7Table 4.8 Logic and speed control input connections, 7-pin terminal ...4-7Table 4.9 Optional external encoder pins.............................................4-8
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1 Introduction
The MDrive® 23 Plus Speed Control integrated drive with program-mable velocity control is a 1.8° 2-phase stepper motor with on-board control electronics which operate at an input voltage of +12 to +75 VDC. The velocity control uses voltage, current, or PWM input signals.
Settings for MDrivePlus Speed Control products may be changed on-the- y or downloaded and stored in nonvolatile memory using the IMS SPI Motor Interface software provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port.
1.1 Product identifi cation
Part numbersExample: K M D O 1 F S D 2 3 A 7 – E1
QuickStart KitK = kit option, or leave blank if not wanted
K M D O 1 F S D 2 3 A 7 – E1
MDrive Plus versionMDO = Speed Control
K M D O 1 F S D 2 3 A 7 – E1
Input1 = Plus, standard features
K M D O 1 F S D 2 3 A 7 – E1
P1 connector — I/O & powerF = fl ying leadsP = pluggable
K M D O 1 F S D 2 3 A 7 – E1
CommunicationS = SPI
K M D O 1 F S D 2 3 A 7 – E1
P2 connector — communicationD = IDCL = wire crimp
K M D O 1 F S D 2 3 A 7 – E1
Motor size23 = NEMA 23 (2.3" / 57 mm)
K M D O 1 F S D 2 3 A 7 – E1
Motor lengthA = single stackB = double stackC = triple stackD = quad stack
K M D O 1 F S D 2 3 A 7 – E1
Drive voltage (1)7 = +12 to +75 VDC6 = +12 to +60 VDC
K M D O 1 F S D 2 3 A 7 – E1
OptionsLeave blank if not wantedMultiple options may be combined in one product, with any exceptions noted
– E___ = external optical encoder with index mark
line count 100 200 250 256 400 500 512 1000 1024single-end part# E1 E2 E3 EP E4 E5 EQ E6 ERdifferential part# EAL EBL ECL EWL EDL EHL EXL EJL EYL
– N = rear control knob for manual positioning
– E1
(1) Only quad stack motors have +12 to +60 VDC drives, all other motors have +12 to +75 VDC drives.
Table 1.1 Standard product options
MDrive® 23 Plus
P2: CommunicationD = SPI with 10-pin IDC non-locking connectorL = SPI with 10-pin friction lock wire crimp connector
P1: I/O & PowerF = 12" flying leadsP = non-locking spring clamp terminal strip
MDrive® 23 Speed Control1 Introduction
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Installation accessoriesDescription Length
feet (m)Part number
QuickStart KitFor rapid design verifi cation, all-inclusive QuickStart Kits include connectivity, instructions and CD for MDrivePlus initial functional setup and system testing.■ For all MDrive17 Speed Control products. — add "K" to part number
Communication converterElectrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/program communication parameters for a single MDrivePlus via a PC's USB port.■ Mates to 10-pin non-locking IDC connector 12.0 (3.6) MD-CC300-001
■ Mates to 10-pin friction lock wire crimp connector 12.0 (3.6) MD-CC302-001
Mating connector kitConnectors for assembly of cables, cable material not supplied. Sold in lots of 5. Manufacturer's crimp tool recommended for crimp connectors.■ 10-pin non-locking IDC connector — CK-01
■ 10-pin friction lock wire crimp connector — CK-02
Encoder cablesPre-wired mating connector with other cable end open.■ For external single-end encoder 1.0 (0.3) ED-CABLE-2
■ For external differential encoder, locking cable 6.0 (1.8) ED-CABLE-6
Drive protection moduleLimits surge current and voltage to a safe level when DC input power is switched on-and-off to an MDrivePlus.■ For all MDrive23 Speed Control products — DPM75
1.2 Installation accessories
USB connector
in-line converter
MDrive® Plus integrated drivemating connector(non-locking IDC)
MD-CC300-001
USB connector
MDrive® Plus integrated drivemating connector
in-line converter
MD-CC302-001
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1.3 Documentation reference
The following user’s manuals are available for the MDrive 23:
Product manual, describes the technical data, installation, con- guration and programming of the product.Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the web site at http://www.imshome.com.
1.4 Product software
The MDrive 23 Speed Control integrated motor and driver is con gured using the SPI motor interface graphical user interface. This free soft-ware may be downloaded from http://www.imshome.com/downloads/software_interfaces.html.
Installation and usages instructions are to be found in Part 1 of this document, Section 5.
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2 Specifi cations
2.1 Mechanical specifi cations
1.90(48.3)
2.96(75.2)
0.063 ±0.008(1.6 ±0.2)
0.81 ±0.02(20.6 ±0.5)
0.59 ±0.008(15.0 ±0.2)
0.189 ±0.012(4.8 ±0.3)
1.34(34.0)
LMAXLMAX2
P2
P1
Single, Double & TripleLength Motors:0.230 ±0.004
(5.8 ±0.1)Quad Length Motor:
0.2756 ±0.004(7.0 ±0.1)
2.02(51.2)
Ø 1.500 ±0.002(Ø 38.1 ±0.1)
2.22( 56.4)
Ø 0.197 +0.012/-0(Ø 5.0 +0.3/-0)
1.63(41.4)
1.856 ±0.008 ( 47.1 ±0.2)
Single, Double & TripleLength Motors:
Ø 0.2500 +0/-0.0005(Ø 6.350 +0/-0.013)
Quad Length Motor:Ø 0.315 +0/-0.0005(Ø 8.0 +0/-0.013)
Motor stack length Lmax (1) Lmax2 (2) Single 2.65 (67.31) 3.36 (85.34) Double 3.02 (76.71) 3.73 (94.74) Triple 3.88 (98.55) 4.59 (116.59) Quad 5.28 (134.15) 5.99 (152.19)(1) Single shaft.(2) Control knob or external encoder.
Figure 2.1 MDrive 23 Mechanical Speci cations
external encoder12.0" (305mm)fl ying leads
P2P2
P1
0.44(11.2)
P1
12.00+1.0/-0.0
(304.8)(+25.4/-0.0)
P1 connector options
7-pin non-locking spring clamp terminal strip
I/O & Power I/O & Power P2 connector options
10-pin non-locking IDC connector
10-pin friction lockwire crimp connector
Communication Communication
1.20(30.4)
1.42(36.1)
2.04*(51.8)
differentialencoder*
.
1.22*(31.0)
.
single-endencoder
Ø 0.97(Ø 24.6)
control knob
Lmax2 options
MDrive® 23 Speed Control2 Specifi cations
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2.2 General specifi cations
2.2.1 Electrical specifi cations
Input voltageRange VDC 12 to 75 (2) 12 to 60 (3)Power supply current maximum (1) 2A per unit 3.5A per unit
Thermal Operating temp non-condensing
Heat sink –40° to +85°CMotor –40° to +100°C
Speed control Input0 to +5 VDC (4), 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, or 15 to 25 kHz PWM
A / D resolution 10 bit
Logic input
Low level 0 to +0.8 VDCHigh level +2.0 to +5.0 VDCInternal pull-up resistance 20 kΩ (to +3.3 VDC)Optically isolated noSourcing or sinking confi gurable
Motion
Oscillator frequency maximum 5 MHz
Microstep resolution
Number of settings 20
Steps per revolution
200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/μstep), 21600 (1 arc minute/μstep), 25400 (0.001mm/μstep)
(1) per MDrive 23, actual current depends on voltage and load(2) Single, double and triple length motors(3) Quad length motors
Table 2.1 Electrical speci cations
2.22 Motor specifi cations
Motor stack length Holding torque Detent torque Rotor inertia Weight (motor + driver)
Single 90.0 oz-in / 64.0 N-cm
3.9 oz-in / 2.7 N-cm
0.0025 oz-in-sec2 / 0.18 kg-cm2 21.6 oz / 612.3 g
Double 144.0 oz-in / 102.0 N-cm
5.6 oz-in / 3.92 N-cm
0.0037 oz-in-sec2 / 0.26 kg-cm2 26.4 oz / 748.4 g
Triple 239.0 oz-in / 169.0 N-cm
9.7 oz-in / 6.86 N-cm
0.0065 oz-in-sec2 / 0.46 kg-cm2 39.2 oz / 1111.3 g
Quad 283.0 oz-in / 200.0 N-cm
14.2 oz-in / 10.0 N-cm
0.0108 oz-in-sec2 / 0.76 kg-cm2 61.6 oz / 1746.3 g
Table 2.2 Motor speci cations
Figure 2.2 Speed-force performance curves
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2.2.3 Speed-force performance curves
Single stack length Double stack length
Torque in Oz-In / N-cm
Speed of rotation in full steps per second (rpm)
Torque in Oz-In / N-cm
Speed of rotation in full steps per second (rpm)
Triple stack length Quad stack length
Torque in Oz-In / N-cm
Speed of rotation in full steps per second (rpm)
Torque in Oz-In / N-cm
Speed of rotation in full steps per second (rpm)
0
150/106
225/159
75/53
48 VDC24 VDC
0 2000(600)
4000(1200)
6000(1800)
75 VDC
0
150/106
225/159
75/53
48 VDC24 VDC
0 2000(600)
4000(1200)
6000(1800)
75 VDC
0
150/106
225/159
75/53
48 VDC24 VDC
0 2000(600)
4000(1200)
6000(1800)
75 VDC
0
150/106
225/159
75/53
48 VDC24 VDC
0 2000(600)
4000(1200)
6000(1800)
60 VDC
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2.2 Setup parameters
Parameter Function Range Units Default
A1 Analog input mode 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, or 15 to 25 kHz PWM — 0 to +5
VDC
ACCL Acceleration 91 to 1.5 X 109 steps / sec2 1,000,000
C Joystick center 1 to 1022 counts 0
DB Analog deadband 0 to 255 counts 1
DECL Deceleration 91 to 1.5 X 109 mSec 500
DIR Motor direction override Clockwise (cw) / counterclockwise (ccw) — cw
FAULT Fault / checksum error error code — none
FS Analog full scale 1 to 1023 counts 1023
HCDT Hold current delay time HCDT + MSDT <= 65535 milliseconds 500
IF Analog input fi lter 1 to 1000 counts 1
MHC Motor hold current 0 to 100 percent 5
MRC Motor run current 1 to 100 percent 25
MSDT Motor settling delay time MSDT + HCDT <= 65535 milliseconds 0
MSEL Microstep resolution 1, 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 100, 108, 125, 127, 128, 180, 200, 250, 256
μsteps per full step 256
SSD Stop / start debounce 0 to 255 milliseconds 0
VI Initial velocity 0 to <VM steps / sec 1000
VM Maximum velocity VI to 5,000,000 steps / sec 768,000
USER ID User ID customizable 1-3 characters IMS
NOTE: All parameters are set using the supplied IMS SPI Motor Interface GUI and may be changed on-the- y. An optional Communication Converter is recommended with rst orders.
Table 2.3 Setup parameters
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2.3 Connectivity specifi cations/pin assignments - Communications
2.3.1 SPI communications - connector P2
! CAUTION
+5VDC OUTPUT
The +5 VDC output on connector P2 is for the express pur-pose of powering the IMS isolated communications converter cables. Do not use to power external devices.
Failure to follow these instructions may result in damage to system components!
10-pin IDC style connectorPin # Function Description
1 N/C Not connected
2 N/C Not connected
3 N/C Not connected
4 CS SPI chip select, selected when low.
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 MOSI SPI master out - slave in
8 CLK SPI clock
9 N/C Not connected
10 MISO SPI master in - slave out
Table 2.4 P2 communications, 10-pin locking wire crimp
P213579
246810
Connectivity OptionsUSB to SPI Converter:MD-CC300-001
Mating connector kit:CK-01 (ribbon cable not included)
Mfg P/N: Shell SAMTEC TSD-05-01-N
Ribbon cable Tyco: 1-57051-9
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10-pin wire crimp connectorPin # Function Description
1 N/C Not connected
2 MISO SPI master in - slave out
3 MOSI SPI master out - slave in
4 CLK SPI clock
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 N/C Not connected
8 CS SPI chip select, selected when low.
9 N/C Not connected
10 N/C Not connected
Table 2.5 P2 communications, 10-pin locking wire crimp
Connectivity OptionsUSB to SPI Converter:MD-CC302-001
Mating connector kit:CK-02
Mfg P/N: Shell Hirose DF11-10DS-2C
Pins Hirose: DF11-2428SC
97531
108642
P2
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2.4 Connectivity specifi cations/pin assignments - power and logic
2.4.1 Power and logic
12” (304.8 mm) fl ying leads Wire Color Function Description
Violet Stop / start Stop or start the clock generator
Blue CW / CCW direction CW/CCW direction input
Green Speed (A1) Analog speed control input (10 k potentiometer center-tap)
Yellow +5 VDC +5 VDC output (10k potentiometer +5V)
Gray Ground Speed control ground (10 k potentiometer ground)
Black GND Power supply return (ground)
Red +V Motor power (+12 to +48 VDC)
Table 2.6 Power and logic interface - 12” (308.8.mm) ying leads
7-pin pluggable terminalPin # Function Description
1 Stop / start Stop or start the clock generator
2 CW / CCW direction CW/CCW direction input
3 Speed (A1) Analog speed control input (10 k potentiometer center-tap)
4 +5 VDC +5 VDC output (10k potentiometer +5V)
5 Ground Speed control ground (10 k potentiometer ground)
6 GND Power supply return (ground)
7 +V Motor power (+12 to +48 VDC)
Table 2.7 Power and logic interface - 7-pin pluggable terminal
I/O & Power
P1
12.00+1.0/-0.0
(304.8)(+25.4/-0.0)
I/O & Power
P1
0.44(11.2)
Top view
7
5
3
1
6
4
2
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3 Mounting and connection recommendations
! CAUTION
LEAD RESTRAINT
Some Speed Control mounting con gurations require that the MDrive move along the screw. Ensure that all cabling is prop-erly restrained to provide strain relief on connection points..
Failure to follow these instructions can result in equipment damage.
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3.1 Mounting
Care must be observed when installing the mounting screws on ALL MDrive 23 versions.
4 x #10-32 Screw4 x #10 Split Lockwasher4 x #10 Flat Washer
Mounting Hardware*4 x M5 - 0.50 Screw4 x M5 Split Lockwasher4 x M5 Flat Washer
Mounting Hardware (Metric)*
Drill Pattern*Not Supplied
1.856 ±0.008 SQ.(47.1 ±02 SQ.)
Ø 1.500 ±0.002(Ø 38.1 ±0.1)
4 Places on a Ø 2.638 (Ø 67.00) CircleUse #21 (4.5 mm) drill. Tap to10-32 (M5-0.5)
Mounting Flange or Adapter Plate(Material and thickness determined by user application
and thermal considerations)
Temperature sensorshould be attachedat the center of the motor body
Figure 3.1 MDrive 23 Speed Control mounting and drill pattern
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3.2 Layout and interface guidelines
Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level cables and make your system 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 oat. This allows the shield to act as a drain.
Power supply leads to the MDrive 23 need to be twisted. If more than one driver is to be connected to the same power supply, run separate power and ground leads from the supply to each driver.
3.2.1 Rules of wiring
Power Supply and Motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires. A minimum of one twist per inch is recommended. Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better. Power ground return should be as short as possible to estab- lished ground. Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.
3.2.2 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 ground. De- pending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location. The shield must be connected so that shield currents drain to signal-earth connections. The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance. The shield should be tied to a single point to prevent ground loops. A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.
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3.3 Recommended wiring
The following wiring/cabling is recommended for use with the MDrive 23:
Logic and communications wiring........................................ 22 AWG
Wire strip length......................................................... 0.25” (6.0 mm)
Power and ground .............................................................. 20 AWG
3.3.1 Recommended mating connectors and pins
Communications 10-pin IDC (P2).......................................... SAMTEC TCSD-05-01-N
Recommended ribbon cable.....................................Tyco 1-57051-9
10-pin wire crimp (shell) ................................Hirose DF11-10DS-2C
10-pin wire crimp (pins) ...................................Hirose DF11-2428SC
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3.4 Securing power leads and logic leads
Some applications may require that the MDrive move with the axis mo-tion. If this is a requirement of your application, the leads ( ying leads or pluggable) must be properly anchored. This will prevent exing and tugging which can cause damage at critical connection points within the MDrive.
Logic leads
Adhesive anchor& tywrap
Adhesive anchors& tywrap
Communication leads
Power leads
Figure 3.2 Securing leads
MDrive® 23 Speed Control3 Mounting
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4 Connection and interface
! DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
! CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communications while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
MDrive® 23 Speed Control4 Connection and Interface
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4.1 Connector orientation
The illustration below shows the connector positions and orientation with regard to the location of pin 1.
All connector drawings in this section will show this orientation.
P1
P2: 10-pin IDC (Communications) P1: 7-pin Terminal (Power and I/O)
Pin 1
Pin 7Pin 1
Pin 10
Red conductor
P2
P2: 10-pin wire crimp (Communications)
P2
97531
108642
’Figure 4.1 Connector orientation
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4.2 Interfacing communications
SPI communications may be interfaced using one of two possible con-nector options:
10-pin IDC connector at P21.
10-pin wire crimp connector at P22.
For general SPI communications methods and practices please see Part 1, Section 5 of this document.
4.2.1 P2 - 10-pin IDC style connector
Pin # Function Description
1 N/C Not connected
2 N/C Not connected
3 N/C Not connected
4 CS SPI chip select, selected when low.
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 MOSI SPI master out - slave in
8 CLK SPI clock
9 N/C Not connected
10 MISO SPI master in - slave out
Table 4.1 Communications connections, P2 - 10-pin IDC
Connectivity accessories Mating connector kit ................................................................CK-01(contains 5 connector shells, ribbon cable not included)
Communications converter cable (10’/3.0 m) ...........MD-CC300-001
Manufacturer (SAMTEC) part numbers Connector shell.......................................................... TCSD-05-01-N
Ribbon cable.............................................................Tyco 1-57051-9
Pin 1
Pin 10
Red conductor
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4.2.2 P2 - 10-pin wire crimp connector
Pin # Function Description
1 N/C Not connected
2 MISO SPI master in - slave out
3 MOSI SPI master out - slave in
4 CLK SPI clock
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 N/C Not connected
8 CS SPI chip select, selected when low.
9 N/C Not connected
10 N/C Not connected
Table 4.2 Communications connections, 10-pin wire crimp
Connectivity accessories Mating connector kit ................................................................CK-02(contains 5 connector shells and pins for 5 cables)
Communications converter cable (10’/3.0 m) ...........MD-CC302-001
2: MISO1: N/C 4: CLK3: MOSI5: GND7: N/C9: N/C
6:+5V8: CS10: N/C
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4.3 Interfacing DC power
See part 1 of this document, section 3, for recommended power cable con gurations.
! CAUTION
OVER VOLTAGE
The MDrive 23 is available in four stack lengths, single, double, triple and quad.
Single, double and triple length motors have an input voltage range of +12 to +75 VDC. Quad length motors have an input range of +12 to +60 VDC. Ensure that the proper power supply voltage is used before applying power to the device.
Failure to follow these instructions can result in equipment damage.
4.3.1 Recommended power supply characteristics
Voltage rangeSingle, double or triple length +12 to +75 VDC
Quad length +12 to +60 VDC
Type Unregulated linear
Ripple ± 5%
Output currentSingle, double or triple length 2.0 A (per MDrive 23)
Quad length 3.5 A (per MDrive 23)
Table 4.3 Recommended power supply characteristics
4.3.2 Recommended wire gauge
Cable Length: Feet (meters) 10 (3.0) 25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Amps Peak Minimum AWG
1 Amp Peak 20 20 18 18 18
2 Amps Peak 20 18 16 14 14
3 Amps Peak 18 16 14 12 12
Table 4.4 Recommended power supply wire gauge
4.3.3 P1 — 12’ (30.5 cm) fl ying leads interface
Wire Color
Red +12 to +48 VDC supply
Black Power ground
Table 4.5 Power and ground connections, ying leads
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4.3.4 P1 — 7-pin pluggable terminal interface
Pin #
6 Power ground
7 +12 to +48 VDC supply
Table 4.6 Power and ground connections, 7-pin terminal
4.3.5 Power Interface using Drive Protection Module DPM75
The DPM75 Drive Protection Module will limit surge currents for up to three (3) MDrive 23 units at up to 48 VDC to allow switching DC Power.
A terminal power +
power –
drive –
drive +
B terminal
C terminal
Power supply
+–
MDrive
V+
SPSTswitch* Fuse**
* Do not switch negative side of supply**Fuse = 6.3 Amp slow blow (recommended: Bussman S505-6.3A or Littelfuse 215006.3). The fuse is optional.
Wire jumper A to B for 48 VDC Max.
GND
Figure 4.2 DPM75 Drive Protection Module
76
+VGND
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4.4 Interfacing Logic
See part 1 of this document, section 6, for logic interface con gurations and methods.
4.4.1 P1 — 12’ (30.5 cm) fl ying leads interface
Wire Color Function Description
Violet Stop / start Stop or start the clock generator
Blue CW / CCW direction CW/CCW direction input
Green Speed (A1) Analog speed control input (10 k potentiometer center-tap)
Yellow +5 VDC +5 VDC output (10k potentiometer +5V)
Gray Ground Speed control ground (10 k potentiometer ground)
Table 4.7 Logic and speed control input connections, ying leads
4.4.2 P1 — 7-pin pluggable terminal interface
Pin # Function Description
1 Stop / start Stop or start the clock generator
2 CW / CCW direction CW/CCW direction input
3 Speed (A1) Analog speed control input (10 k potentiometer center-tap)
4 +5 VDC +5 VDC output (10k potentiometer +5V)
5 Ground Speed control ground (10 k potentiometer ground)
Table 4.8 Logic and speed control input connections, 7-pin terminal
5
21
43
Stop/start
+5 VDC
Direction
Ground
Speed (A1)
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4.5 Encoder interface
4.5.1 External encoder
Differential Single-end
Pin # Signal Cable: ED-CABLE-6 Pin # Signal Cable: ES-CABLE-2
1 No connect – 1 Ground Brown
2 +5 VDC input Orange/White 2 Index Violet
3 Ground White/Orange 3 Channel A Blue
4 No connect – 4 +5 VDC input Orange
5 Channel A – White/Blue 5 Channel B Yellow
6 Channel A + Blue/White
7 Channel B – White/Green
8 Channel B + Green/White
9 Index – White/Brown
10 Index + Brown/White
Table 4.9 Optional external encoder pins
Connectivity accessories Differential cable ...........................................................RD-CABLE-6
Single-end cable ........................................................... ES-CABLE-2
Single-End
Differential
9 7 5 3 1
1 2 3 4 5
10 8 6 4 2
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4.7 USB to SPI communications converters
4.7.1 USB to 10-pin wire crimp — MD-CC300-001
Electrically isolated in-line USB to SPI converter pre-wired with mating connector to conveniently program and set con guration parameters.
To computer USB port
To MDrivePlusIDC connector
6.0’ (1.8m)
in-line converter
( )
Figure 4.3 MD-CC300-001 communications converter cable
4.7.2 USB to 10-pin wire crimp — MD-CC302-001
Electrically isolated in-line USB to SPI converter pre-wired with mating connector to conveniently program and set con guration parameters.
To computer USB portTo MDrive P2
6.0’ (1.8m)
in-line converter
6.0’ (1.8m)
Figure 4.4 MD-CC302-001 communications converter cable
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4.8 Mating connector kits
Use to build your own cables. Kit contains 5 mating shells with pins. Cable not supplied. Manufacturer’s crimp tool recommended.
Mates to connector:
P2 10-pin IDC ..........................................................................CK-01
P4 10-pin wire crimp ...............................................................CK-02
MDrive® 34 Speed Control
Introduction1. Specifi cations2. Mounting Recommendations3. Interface and Connectivity4.
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Table of Contents
1 Introduction ................................................................................ 1-11.1 Product identifi cation .......................................................1-11.2 Installation accessories ...................................................1-21.3 Documentation reference ................................................1-31.4 Product software .............................................................1-3
2 Specifi cations ............................................................................ 2-12.1 Mechanical specifi cations .......................................... 2-12.2 General specifi cations .....................................................2-2
2.2.1 Electrical specifi cations ......................................2-22.2.2 Motor specifi cations ...........................................2-22.2.3 Torque-speed performance curves ....................2-3
2.3 Setup parameters ............................................................2-32.4 Connectivity specifi cations/pin assignments - Communications ..............................................................2-4
2.4.1 SPI communications - connector P2 ..................2-42.5 Connectivity specifi cations/pin assignments - power, I/O ... and encoder ....................................................................2-6
2.5.1 Power, I/O and encoder option .........................2-62.5.2 P3: DC motor power ..........................................2-72.5.3 P1: I/O - standard I/O (Plus) ..............................2-82.5.4 P1: I/O - expanded I/O (Plus2) ...........................2-9
3 Mounting and connection recommendations ......................... 3-13.1 Mounting ..........................................................................3-23.2 Layout and interface guidelines.......................................3-3
3.2.1 Rules of wiring ..................................................3-33.2.2 Rules of shielding .............................................3-3
3.3 Recommended wiring ......................................................3-43.3.1 Recommended mating connectors and pins .....3-4
3.4 Securing power leads and logic leads .............................3-5
4 Connection and interface ......................................................... 4-14.2 Interfacing communications .............................................4-1
4.1.1 P2 — 10-pin pressure-fi t IDCstyle connector ....4-24.1.2 P2 — 10-pin friction lock wire crimp ..................4-2
4.3 Interfacing DC power .......................................................4-34.3.1 Recommended power supply characteristics ....4-34.3.2 Recommended wire gauge ................................4-34.3.3 P1 — 12’ (30.5 cm) fl ying leads interface ..........4-44.3.4 P3 — 2-pin locking wire crimp interface ............4-44.4.1 P1 — 12’ (30.5 cm) fl ying leads interface ..........4-54.4.2 P1 — 12-pin locking wire crimp interface (standard I/O) 4-64.4.3 P1 — 20-pin locking wire crimp interface (encoder option installed) ..................................................4-7
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List of Figures
Figure 2.1 Standard and Expanded features mechanical specifi cations 2-1Figure 2.2 Torque-speed performance curves .......................................2-3Figure 3.1 MDrive 34 mounting and drill pattern ....................................3-2Figure 3.2 Securing leads .......................................................................3-5
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List of Tables
Table 2.1 Electrical specifi cations .........................................................2-2Table 2.2 Motor specifi cations ...............................................................2-2Table 2.3 Setup parameters ..................................................................2-3Table 2.4 P2 communications, 10-pin locking wire crimp .....................2-4Table 2.5 P2 communications, 10-pin locking wire crimp .....................2-5Table 2.6 Power and logic interface - 12” (308.8.mm) fl ying leads .......2-6Table 2.7 P3 DC power, 2-pin locking wire crimp .................................2-7Table 2.8 I/O interface - 12-pin locking wire crimp ................................2-8Table 2.9 I/O interface - 20-pin locking wire crimp ................................2-9Table 4.1 Communications connections, P2 - 10-pin IDC .....................4-2Table 4.2 Communications connections, 10-pin wire crimp ..................4-2Table 4.61 Recommended power supply wire gauge .............................4-3Table 4.7 Power and ground connections, fl ying leads .........................4-4Table 4.3 Power and ground connections, 12-pin locking wire crimp ...4-4Table 4.11 I/O connections, fl ying leads .................................................4-5Table 4.13 I/O connections, 16-pin locking wire crimp ............................4-6Table 4.14 I/O and remote encoder connections, 16-pin locking wire crimp 4-7
MDrive® 34 Speed ControlrTable of Contents
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Integrated Motor and Driver MDO34:1-1
MDrive® 34 Speed Control 1 IntroductionR
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1 Introduction
The MDrive® 34 Plus Speed Control integrated drive with programmable ve-locity control is a 1.8° 2-phase stepper motor with on-board control electron-ics which operate at an input voltage of +12 to +75 VDC. The velocity control uses voltage, current, or PWM input signals.
Settings for MDrivePlus Speed Control products may be changed on-the-fl y or downloaded and stored in nonvolatile memory using the IMS SPI Motor Interface software provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port
1.1 Product identifi cation
Example: K M D O 3 F S D 3 4 A 7 – E1QuickStart KitK = kit option, or leave blank if not wanted
K M D O 3 F S D 3 4 A 7 – E1
MDrive Plus versionMDO = Speed Control
K M D O 3 F S D 3 4 A 7 – E1
Input3 = Plus2, expanded features
K M D O 3 F S D 3 4 A 7 – E1
Connector interfaceF = fl ying leadsC = pluggable
K M D O 3 F S D 3 4 A 7 – E1
CommunicationS = SPI
K M D O 3 F S D 3 4 A 7 – E1
P2 connector — communicationD = only with F in position 6L = only with C in position 6
K M D O 3 F S D 3 4 A 7 – E1
Motor size34 = NEMA 34 (3.4" / 86 mm)
K M D O 3 F S D 3 4 A 7 – E1
Motor lengthA = single stackB = double stackC = triple stack
K M D O 3 F S D 3 4 A 7 – E1
Drive voltage7 = +12 to +75 VDC
K M D O 3 F S D 3 4 A 7 – E1
OptionsLeave blank if not wantedMultiple options may be combined in one product, with any exceptions noted
– E___ = internal optical encoder with index mark (1)
– N = rear control knob for manual positioning
– E1
(1) Products with pluggable interface available only with differential encoder.
line count 100 200 250 256 400 500 512 1000 1024single-end part# E1 E2 E3 EP E4 E5 EQ E6 ERdifferential part# EA EB EC EW ED EH EX EJ EY
MDrive® 34 Plus2
flying leads interface
P2: CommunicationD = SPI with 10-pin IDC non-locking connector
P1: I/O & PowerF = 12" flying leads
MDrive® 34 Plus2
pluggable interface
P2: CommunicationL = 10-pin friction lock wire crimp connector
P3: Power2-pin locking wire crimp connector
P1: I/O and optional encoderC = 12-pin locking wire crimp connector (20-pin with internal encoder option)
MDrive® 34 Speed Control1 Introduction
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Description Length feet (m)
Part number
QuickStart KitFor rapid design verifi cation, all-inclusive QuickStart Kits include connectivity, instructions and CD for MDrivePlus initial functional setup and system testing.■ For all MDrive34 Speed Control products. — add "K" to part number
Communication converterElectrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/program communication parameters for a single MDrivePlus via a PC's USB port.■ Mates to 10-pin non-locking IDC connector 12.0 (3.6) MD-CC300-001
■ Mates to 10-pin friction lock wire crimp connector 12.0 (3.6) MD-CC302-001
Prototype development cableSpeed test/development with pre-wired mating connector with other cable end open.■ Mates to 12-pin locking wire crimp connector 10.0 (3.0) PD12B-2334-FL3
■ Mates to 20-pin locking wire crimp connector 10.0 (3.0) PD20B-3400-FL3
■ Mates to 2-pin locking wire crimp connector 10.0 (3.0) PD02-3400-FL3
Mating connector kitConnectors for assembly of cables, cable material not supplied. Sold in lots of 5. Manufacturer's crimp tool recommended for crimp connectors.■ 10-pin non-locking IDC connector — CK-01
■ 10-pin friction lock wire crimp connector — CK-02
■ 12-pin locking wire crimp connector — CK-08
■ 20-pin locking wire crimp connector — CK-11
■ 2-pin locking wire crimp connector — CK-05
Drive protection moduleLimits surge current and voltage to a safe level when DC input power is switched on-and-off to an MDrivePlus.■ For all MDrive34 Speed Control products — DPM75
locking mating connector
PD02-3400-FL3
locking mating connector
PD20B-3400-FL3
USB connector
in-line converter
MDrive® Plus integrated drivemating connector(non-locking IDC)
locking mating connector
PD12B-3400-FL3
MD-CC300-001
USB connector
MDrive® Plus integrated drivemating connector
in-line converter
MD-CC302-001
1.2 Installation accessories
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1.3 Documentation reference
The following user’s manuals are available for the MDrive 34:
Product manual, describes the technical data, installation, con- fi guration and programming of the product.
Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.
This documentation is also available for download from the web site at http://www.imshome.com.
1.4 Product software
The MDrive 34 Speed Control integrated motor and driver is confi gured using the SPI motor interface graphical user interface. This free soft-ware may be downloaded from http://www.imshome.com/downloads/software_interfaces.html.
Installation and usages instructions are to be found in Part 1 of this document, Section 5.
MDrive® 34 Speed Control1 Introduction
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2 Specifi cations
2.1 Mechanical specifi cations Dimensions in inches (mm)
Motor stack length Lmax (1) Lmax2 (2) Single 3.81 (96.77) 4.52 (114.81) Double 4.60 (116.84) 5.31 (134.87) Triple 6.17 (156.72) 6.88 (174.75)(1) Single shaft or internal encoder.(2) Control knob.
Ø 0.5512 +0/-0.0004(Ø 14.0 +0/-0.010)
4X Ø 0.217 (Ø 5.51)
2.739( 69.57)
3.39( 86.1)
Ø 2.874 ±0.002(Ø 73.0 ±0.05)
P1 / P2 / P3 / P4
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
Connector options
P2
P1
P3
I/O, E
ncod
erP
ower
Com
m
Ø 1.90(Ø 48.3)
Flying leads interface version:12" (305mm) fl ying leads with 10-pin non-locking IDC connector
Pluggable interface version:12-pin* and 2-pin locking and 10-pin friction lock wire crimp connectors
* 12-pin replaced by 20-pin locking wire crimp connector when optional internal encoder is included
control knob
Lmax2 option
P2
P1
I/O &
Pow
er,
Enc
oder
Com
m
Figure 2.1 Standard and Expanded features mechanical specifi cations
MDrive® 34 Speed Control2 Specifi cations
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2.2 General specifi cations
2.2.1 Electrical specifi cations
Input voltageRange VDC 12 to 75Power supply current maximum (3) 4A per unit
Thermal Operating temp non-condensing
Heat sink –40° to +75°CMotor –40° to +90°C
Speed control Input Speeds A1 and A2: 0 to +5 VDC (4), 0 to +10 VDC, 4 to 20 mA, or 0 to 20 mA
A / D resolution 10 bit
Logic input
Low level 0 to +0.8 VDCHigh level +5.0 to +24.0 VDCOptically isolated yesSourcing or sinking confi gurable
Logic output Step clock / direction
Open drain source maximum +100 VDC
Open drain current continuous 100 mA
Output pulse width 100 nSec to 12.8 μSec software confi gu-rable
Motion
Oscillator frequency maximum 5 MHz
Microstep resolution
Number of settings 20
Steps per revolution
200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/μstep), 21600 (1 arc minute/μstep), 25400 (0.001mm/μstep)
Table 2.1 Electrical specifi cations
2.2.2 Motor specifi cations
Motor stack length Holding torque Detent torque Rotor inertia Weight (motor + driver)
Single 381.0 oz-in / 269.0 N-cm
10.9 oz-in / 7.7 N-cm
0.01416 oz-in-sec2 / 1.0 kg-cm2 4.1 lb / 1.9 kg
Double 575.0 oz-in / 406.0 N-cm
14.16 oz-in / 10.0 N-cm
0.02266 oz-in-sec2 / 1.6 kg-cm2 5.5 lb / 2.5 kg
Triple 1061.0 oz-in / 749.0 N-cm
19.83 oz-in / 14.0 N-cm
0.04815 oz-in-sec2 / 3.4 kg-cm2 8.8 lb / 4.0 kg
Table 2.2 Motor specifi cations
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2.2.3 Torque-speed performance curves
Single stack length Double stack length Triple stack length
Torque in Oz-In / N-cm
Speed of rotation in full steps per second (rpm)
Torque in Oz-In / N-cm
Speed of rotation in full steps per second (rpm)
Torque in Oz-In / N-cm
Speed of rotation in full steps per second (rpm)
0
600/423
900/635
300/211
48 VDC24 VDC
0 2000(600)
4000(1200)
6000(1800)
75 VDC
0
600/423
900/635
300/211
48 VDC24 VDC
0 2000(600)
4000(1200)
6000(1800)
75 VDC
0
600/423
900/635
300/211
48 VDC24 VDC
0 2000(600)
4000(1200)
6000(1800)
75 VDC
2.3 Setup parameters
Parameter Function Range Units DefaultACCL Acceleration 91 to 1.5 X 109 steps / sec2 1,000,000
C Joystick center 1 to 1022 counts 0
CLK OUT Clock out none, step / dir, quadrature, up / down — noneDB Analog deadband 0 to 255 counts 1DECL Deceleration 91 to 1.5 X 109 mSec 500DIR Motor direction override Clockwise (cw) / counterclockwise (ccw) — cwFAULT Fault / checksum error error code — noneFS Analog full scale 1 to 1023 counts 1023HCDT Hold current delay time HCDT + MSDT <= 65535 milliseconds 500IF Analog input fi lter 1 to 1000 counts 1
IMODESource A1 spd / A2 spd or PWM 15 to 25 kHz — A1&A2
Analog input, A1&A2 spds 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA
volts or cur-rent
0 to +5 VDC
MHC Motor hold current 0 to 100 percent 5MRC Motor run current 1 to 100 percent 25MSDT Motor settling delay time MSDT + HCDT <= 65535 milliseconds 0
MSEL Microstep resolution 1, 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 100, 108, 125, 127, 128, 180, 200, 250, 256
μsteps per full step 256
STEPW Step width 0 (square wave), 100 nSec to 12.8 μSec nSec 550 nSecSSD Stop / start debounce 0 to 255 milliseconds 0VI Initial velocity 0 to <VM steps / sec 1000VM Maximum velocity VI to 5,000,000 steps / sec 768,000TEMP Warning temperature 0 to 85°C °C 80°CUSER ID User ID customizable 1-3 characters IMS
Table 2.3 Setup parameters
Figure 2.2 Torque-speed performance curves
MDrive® 34 Speed Control2 Specifi cations
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2.4 Connectivity specifi cations/pin assignments - Communications
2.4.1 SPI communications - connector P2
! CAUTION
+5VDC OUTPUT
The +5 VDC output on connector P2 is for the express pur-pose of powering the IMS isolated communications converter cables. Do not use to power external devices.
Failure to follow these instructions may result in damage to system components!
10-pin press-fi t (IDC style) only available on fl ying leads versions
Pin # Function Description
1 N/C Not connected
2 N/C Not connected
3 N/C Not connected
4 CS SPI chip select, selected when low.
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 MOSI SPI master out - slave in
8 CLK SPI clock
9 N/C Not connected
10 MISO SPI master in - slave out
Table 2.4 P2 communications, 10-pin locking wire crimp
Connectivity OptionsUSB to SPI Converter:MD-CC300-001
Mating connector kit:CK-01 (ribbon cable not included)
Mfg P/N: Shell SAMTEC TSD-05-01-N
Ribbon cable Tyco: 1-57051-9
P2108642
97531
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10-pin friction lock wire crimp (only available on pluggable connector versions)
Pin # Function Description
1 N/C Not connected
2 MISO SPI master in - slave out
3 MOSI SPI master out - slave in
4 CLK SPI clock
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 N/C Not connected
8 CS SPI chip select, selected when low.
9 N/C Not connected
10 N/C Not connected
Table 2.5 P2 communications, 10-pin locking wire crimp
P2
246810
13579
Connectivity OptionsUSB to SPI Converter:MD-CC302-001
Mating connector kit:CK-02
Mfg P/N: Shell Hirose DF11-10DS-2C
Pins Hirose: DF11-2428SC
MDrive® 34 Speed Control2 Specifi cations
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2.5 Connectivity specifi cations/pin assignments - power, I/O and encoder
2.5.1 Power, I/O and encoder option
12” (304.8 mm) fl ying leads
Wire Color Function Description
White/Blue Direction Output
Open-Drain Direction Output. The signal on this output will follow the direction of the axis. May be configured as Step/Direction, Quadrature or Clock Up/Down.
White/Orange Step Clock Output
Open-drain Step Clock Output. If enabled, the internal oscillator clock will be available on this output to allow a secondary axis to follow the primary . May be configured as Step/Direction, Quadrature or Clock Up/Down. 1:1 Ratio/
White/Brown Speed Input Select/PWM
The state of this input will determine the active speed control input. If PWM Mode is being used the 15 to 25 khz signal will be applied here.
Violet Stop/StartThe Stop/Start input will stop (high/disconnected) or start (Active when Low) the internal pulse generator.
Blue Direction inputThe direction input will toggle the axis direction relative to the state of the Direction Override parameter.
Green Speed Control Input 10 to +5 VDC, 0 to +10 V, 0 to 20 mA, 4 to 20 mA speed control input 1.
White Opto Reference
The Signal applied to the Optocoupler Reference will determine the sinking/ or sourcing configuration of the inputs. To set the inputs for sinking operation, a +5 to +24 VDC supply is connected. If sourcing, the Opto Reference is connected to Ground
White Green Speed Control Input 20 to +5 VDC, 0 to +10 V, 0 to 20 mA, 4 to 20 mA speed control input 2.
Gray Logic GroundUsed with a 10kΩ Potentiometer to Speed Control Inputs
Yellow +5 VDC Output*Used with a 10kΩ Potentiometer to Speed Control Inputs
Black Power Ground Power supply return (ground)
Red +V +12 to +75 VDC power supply input
Encoder option installed
Differential Single-end
Yellow/Black Ground GroundEncoder Ground (common with power ground).
Yellow/Blue Channel A+ Channel AChannel A+ (Channel A Single End) Encoder Output.
Yellow/Green Channel A - — Channel A – Differential Encoder Output.
Yellow/Brown Channel B+ Channel BChannel B+ (Channel B Single End) Encoder Output.
Yellow/Orange Channel B - — Channel B – Differential Encoder Output.
Yellow/Violet Index + Index Index + (Index Single-End) Encoder Output.
Yellow/Gray Index - — Index – Differential Encoder Output.
Yellow/Red+5 VDC Input
+5 VDC Input
+5 VDC Encoder power input.
Table 2.6 Power and logic interface - 12” (308.8.mm) fl ying leads
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2.5.2 P3: DC motor power
2-pin friction lock wire crimp - separate power connector only on models with lock-
ing wire crimp connectors at P1 Pin # Function Description
1 +V +12 to +60 VDC motor power
2 Ground Power supply return (ground)
Table 2.7 P3 DC power, 2-pin locking wire crimp
Connectivity OptionsPrototype development cable PD-02-3400-FL3
Mating connector kit:CK-05
Mfg P/N: Shell Molex 751067-0200
Pins Molex 750217-9101
P31
2
MDrive® 34 Speed Control2 Specifi cations
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2.5.3 P1: I/O - standard I/O (Plus)
12-pin locking wire crimp connector
Pin # Function Description
1 Direction OutputOpen-Drain Direction Output. The signal on this output will follow the direction of the axis. May be configured as Step/Direction, Quadrature or Clock Up/Down.
2 Step Clock Output
Open-drain Step Clock Output. If enabled, the internal oscillator clock will be available on this output to allow a secondary axis to follow the primary . May be configured as Step/Direction, Quadrature or Clock Up/Down. 1:1 Ratio/
3 Speed Input Select/PWMThe state of this input will determine the active speed control input. If PWM Mode is being used the 15 to 25 khz signal will be applied here.
4 Stop/StartThe Stop/Start input will stop (high/disconnected) or start (Active when Low) the internal pulse generator.
5 Direction inputThe direction input will toggle the axis direction relative to the state of the Direction Override parameter.
6 Speed Control Input 10 to +5 VDC, 0 to +10 V, 0 to 20 mA, 4 to 20 mA speed control input 1.
7 Opto Reference
The Signal applied to the Optocoupler Reference will determine the sinking/ or sourcing configuration of the inputs. To set the inputs for sinking operation, a +5 to +24 VDC supply is connected. If sourcing, the Opto Reference is connected to Ground
8 Speed Control Input 20 to +5 VDC, 0 to +10 V, 0 to 20 mA, 4 to 20 mA speed control input 2.
9 Speed 1 Ground Used with a 10kΩ Potentiometer to Speed 1 Input
10 Speed 1 +5V Used with a 10kΩ Potentiometer to Speed 1 Input
11 Speed 2 Ground Used with a 10kΩ Potentiometer to Speed 2 Input
12 Speed 2 +5 V Used with a 10kΩ Potentiometer to Speed 2 Input
Table 2.8 I/O interface - 12-pin locking wire crimp
P1
2468
1012
1357911
Connectivity OptionsPrototype development cable::PD12B-1434-FL3
Mating connector kit:CK-08
Mfg P/N: Shell JST PADP-12V-1-S
Pins JST SPH-001T0.5L
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2.5.4 P1: I/O - expanded I/O (Plus2)
20-pin locking wire crimp connector
Pin # Function Description
1 Direction OutputOpen-Drain Direction Output. The signal on this output will follow the direction of the axis. May be configured as Step/Direction, Quadrature or Clock Up/Down.
2 Step Clock Output
Open-drain Step Clock Output. If enabled, the internal oscillator clock will be available on this output to allow a secondary axis to follow the primary . May be configured as Step/Direction, Quadrature or Clock Up/Down. 1:1 Ratio/
3 Speed Input Select/PWMThe state of this input will determine the active speed control input. If PWM Mode is being used the 15 to 25 khz signal will be applied here.
4 Stop/StartThe Stop/Start input will stop (high/disconnected) or start (Active when Low) the internal pulse generator.
5 Direction inputThe direction input will toggle the axis direction relative to the state of the Direction Override parameter.
6 Speed Control Input 10 to +5 VDC, 0 to +10 V, 0 to 20 mA, 4 to 20 mA speed control input 1.
7 Opto Reference
The Signal applied to the Optocoupler Reference will determine the sinking/ or sourcing configuration of the inputs. To set the inputs for sinking operation, a +5 to +24 VDC supply is connected. If sourcing, the Opto Reference is connected to Ground
8 Speed Control Input 20 to +5 VDC, 0 to +10 V, 0 to 20 mA, 4 to 20 mA speed control input 2.
9 Speed 1 Ground Used with a 10kΩ Potentiometer to Speed 1 Input
10 Speed 1 +5V Used with a 10kΩ Potentiometer to Speed 1 Input
11 Speed 2 Ground Used with a 10kΩ Potentiometer to Speed 2 Input
12 Speed 2 +5 V Used with a 10kΩ Potentiometer to Speed 2 Input
Encoder option installed
Differential Single-end
13 Ground Ground Encoder Ground (common with power ground).
14 Channel A+ Channel A Channel A+ (Channel A Single End) Encoder Output.
15 Channel A - — Channel A – Differential Encoder Output.
16 Channel B+ Channel B Channel B+ (Channel B Single End) Encoder Output.
17 Channel B - — Channel B – Differential Encoder Output.
18 Index + Index Index + (Index Single-End) Encoder Output.
19 Index - — Index – Differential Encoder Output.
20 +5 V Input +5 V Input +5 VDC Encoder power input.
Table 2.9 I/O interface - 20-pin locking wire crimp
P1
2468101214161820
135791113151719
Connectivity OptionsPrototype development cable::PD20B-3400-FL3
Mating connector kit:CK-11
Mfg P/N: Shell JST PADP-20V-1-S
Pins JST SPH-001T0.5L
MDrive® 34 Speed Control2 Specifi cations
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3 Mounting and connection recommendations
! DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
! CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communications while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
! CAUTION
LEAD RESTRAINT
Some MDrive mounting confi gurations require that the MDrive move along the screw. Ensure that all cabling is properly re-strained to provide strain relief on connection points..
Failure to follow these instructions can result in equipment damage.
! CAUTION
THERMAL MANAGEMENT
The mounting plate material should offer suffi cient mass and thermal conductivity to ensure that the motor temperature does not eceed 100°C.
Failure to follow these instructions can result in equipment damage.
MDrive® 34 Speed Control3 Mounting
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3.1 Mounting
Mounting Flange or Adapter Plate*
Lexium ILT2V85
Mounting Hole Pattern
Mounting Recommendation
4 x M5 - 0.80 Screw4 x M5 Split Lockwasher4 x M5 Flat Washer4 x M5 - 0.80 Lock Nuts
Mounting Hardware is notsupplied
Mounting Hardware (Metric)
Allow Top Clearance forWiring/Cabling
Ø 73.66
69.57 SQ.
4x Ø 5.51
Ø 98.37
Figure 3.1 MDrive 34 mounting and drill pattern
Integrated Motor and Driver MDO34:3-3
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3.2 Layout and interface guidelines
Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level cables and make your system 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 fl oat. This allows the shield to act as a drain.
Power supply leads to the MDrive need to be twisted. If more than one driver is to be connected to the same power supply, run separate power and ground leads from the supply to each driver.
3.2.1 Rules of wiring
Power supply and motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires.
A minimum of one twist per inch is recommended.
Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better.
Power ground return should be as short as possible to estab- lished ground.
Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.
3.2.2 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 ground. De- pending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location.
The shield must be connected so that shield currents drain to signal-earth connections.
The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance.
The shield should be tied to a single point to prevent ground loops.
A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.
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3.3 Recommended wiring
The following wiring/cabling is recommended for use with the MDrive 34:
Logic Wiring ......................................................................... 22 AWG
Wire Strip Length ....................................................... 0.25” (6.0 mm)
Power, Ground ......................See Part 1 Section 3 of this document
3.3.1 Recommended mating connectors and pins
CommunicationsPress-Fit IDC - P2 (MDrive 34 Only)
10-Pin IDC ..................................................Samtec: TCSD-05-01-N
Ribbon Cable .........................................................Tyco: 1-57051-9
Friction Lock Wire Crimp - P2
10-pin Friction Lock (MDI34Plus2) ................Hirose DF11-10DS-2C
Crimp Contact for 10-pin Friction Lock (22 AWG) .......... DF11-22SC
Crimp Contact for 10-pin Friction Lock (24 - 28 AWG) DF11-2428SC
Crimp Contact for 10-pin Friction Lock (30 AWG) .......... DF11-30SC
I/O, Power and EncoderThe following mating connectors are recommended for the MDrive 34 Units ONLY! Please contact a JST distributor for ordering and pricing information.
Manufacturer PNs
12-pin Locking Wire Crimp Connector Shell JST PN PADP-12V-1-S
Crimp Pins ................................................ JST PN SPH-001T-P0.5L
20-pin Locking Wire Crimp Shell ................. JST PN PADP-20V-1-S
Crimp Pins ................................................ JST PN SPH-001T-P0.5L
2-pin Locking Wire Crimp Connector Shell.......... Molex 51067-0200
Crimp Pins ................................................ Molex 50217-9101 Brass
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3.4 Securing power leads and logic leads
Some applications may require that the MDrive move with the axis mo-tion. If this is a requirement of your application, the motor leads (fl ying, pluggable or threaded) must be properly anchored. This will prevent fl exing and tugging which can cause damage at critical connection points within the MDrive.
Adhesive anchor/tywrap
P2: Communications
P1: Logic
P1: Power
Figure 3.2 Securing leads
MDrive® 34 Speed Control3 Mounting
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4 Connection and interface
! DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open frame power supply to power the product.
Failure to follow these instructions will result in death or serious injury.
! CAUTION
SWITCHING DC POWER/HOT PLUGGING
Do not connect or disconnect power, logic, or communications while the device is in a powered state.
Remove DC power by powering down at the AC side of the DC power supply.
Failure to follow these instructions can result in equipment damage.
4.2 Interfacing communications
SPI communications may be interfaced using one of two possible con-nector options:
10-pin IDC connector at P21.
10-pin wire crimp connector at P22.
For general SPI communications methods and practices please see Part 1, Section 5 of this document.
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4.1.2 P2 — 10-pin friction lock wire crimp
Pin # Function Description
1 N/C Not connected
2 MISO SPI master in - slave out
3 MOSI SPI master out - slave in
4 CLK SPI clock
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 N/C Not connected
8 CS SPI chip select, selected when low.
9 N/C Not connected
10 N/C Not connected
Table 4.2 Communications connections, 10-pin wire crimp
Connectivity accessories Mating connector kit ................................................................CK-02(contains 5 connector shells and pins for 5 cables)
Communications converter cable (10’/3.0 m) ...........MD-CC302-001
4.1.1 P2 — 10-pin pressure-fi t IDCstyle connector
Pin # Function Description
1 N/C Not connected
2 N/C Not connected
3 N/C Not connected
4 CS SPI chip select, selected when low.
5 GND Communications ground
6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.
7 MOSI SPI master out - slave in
8 CLK SPI clock
9 N/C Not connected
10 MISO SPI master in - slave out
Table 4.1 Communications connections, P2 - 10-pin IDC
Connectivity accessories Mating connector kit ................................................................CK-01(contains 5 connector shells, ribbon cable not included)
Communications converter cable (10’/3.0 m) ...........MD-CC300-001
Manufacturer (SAMTEC) part numbers Connector shell.......................................................... TCSD-05-01-N
Ribbon cable.............................................................Tyco 1-57051-9
1
Pin 1
Pin 10
Red conductor
2: MISO1: N/C4: CLK3: MOSI5: GND7: N/C9: N/C
6:+5V8: CS10: N/C
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4.3 Interfacing DC power
See part 1 of this document, section 3, for recommended power cable confi gurations.
! CAUTION
OVER VOLTAGE
The DC voltage range for the MDrive23Plus is +12 to +60 VDC. Ensure that motor back EMF is factored into your power supply size calculations.
Allow 3.0 A maximum power supply output current per MDrive in the system. Actual power supply current will depend on volt-age and load.
Failure to follow these instructions can result in equipment damage.
4.3.1 Recommended power supply characteristics
Voltage range +12 to +75 VDC
Type Unregulated linear
Ripple ± 5%
Output current 4.0 A (per MDrive 34
4.3.2 Recommended wire gauge
Cable Length: Feet (meters) 10 (3.0) 25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)
Amps Peak Minimum AWG
1 Amp Peak 20 20 18 18 18
2 Amps Peak 20 18 16 14 14
3 Amps Peak 18 16 14 12 12
4 Amps Peak 16 14 12 12 12
Table 4.61 Recommended power supply wire gauge
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4.3.3 P1 — 12’ (30.5 cm) fl ying leads interface
Wire Color
Red Motor power supply
Black Power ground
Table 4.7 Power and ground connections, fl ying leads
4.3.4 P3 — 2-pin locking wire crimp interface
Pin # Signal IMS cable wire colors
PD02-3400-FL3
1 +12 to +75 VDC supply Red
2 Power ground Black
Table 4.3 Power and ground connections, 12-pin locking wire crimp
Connectivity accessories Mating connector kit ................................................................CK-05(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) ................ PD02-3400-FL3
Manufacturer (Molex) part numbers Connector shell...............................................................51067-0200
Pins.................................................................................50217-9101
Pin 1 +V
Pin 2 GND
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4.4.1 P1 — 12’ (30.5 cm) fl ying leads interface
Wire Color Signal
White/Blue Direction Output
White/Orange Step Clock Output
White/Brown Speed Input Select/PWM
Violet Stop/Start
Blue Direction input
Green Speed Control Input 1
White Opto Reference
White Green Speed Control Input 2
Gray Logic Ground
Yellow +5 VDC Output*
Black Power Ground
Red +V
Encoder option installed
Differential Single-end
Yellow/Black Ground Ground
Yellow/Blue Channel A+ Channel A
Yellow/Green Channel A - —
Yellow/Brown Channel B+ Channel B
Yellow/Orange Channel B - —
Yellow/Violet Index + Index
Yellow/Gray Index - —
Yellow/Red +5 VDC Input +5 VDC Input
Table 4.11 I/O connections, fl ying leads
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4.4.2 P1 — 12-pin locking wire crimp interface (standard I/O)
Pin Numbers
Signal Prototype development cable wire colors (twisted pairs)
1 Direction Output BlackPair
2 Step Clock Output Red
10 Speed 1 +5V BlackPair
9 Speed 1 Ground White
11 Speed 2 +5 V BlackPair
12 Speed 2 Ground Green
3 Speed Input Select/PWM BlackPair
7 Opto Reference Blue
4 Stop/Start BlackPair
5 Direction input Yellow
6 Speed Control Input 1 BlackPair
8 Speed Control Input 2 Brown
Table 4.13 I/O connections, 16-pin locking wire crimp
Connectivity accessories Mating connector kit ................................................................CK-09(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) .............. PD12B-1434-FL3
Manufacturer (JST) part numbers Connector shell..........................................................PADP-12V-1-S
Pins............................................................................ SPH-001T0.5L
1: DIR Out3: PWM5: DIR In7: Opto9: Speed 1 G11: Speed 2
2: SCLK Out4: Stop/Start6: Speed 18: Speed 210: Speed 1 +512: Speed 2 Gnd
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4.4.3 P1 — 20-pin locking wire crimp interface (encoder option installed)
Pin Numbers Signal Prototype development cable wire colors (twisted pairs)Cable 1
1 Direction Output BlackPair
2 Step Clock Output Red
10 Speed 1 +5V BlackPair
9 Speed 1 Ground White
11 Speed 2 +5 V BlackPair
12 Speed 2 Ground Green
3 Speed Input Select/PWM BlackPair
7 Opto Reference Blue
4 Stop/Start BlackPair
5 Direction input Yellow
6 Speed Control Input 1 BlackPair
8 Speed Control Input 2 Brown
Cable 2
13 Encoder Ground White/brownPair
20 +5 VDC encoder power in Brown/white
14 Channel A + White/greenPair
15 Channel A - Green/white
16 Channel B + White/orangePair
17 Channel B - Orange/White
18 Index + White/bluePair
19 Index - Blue/white
Table 4.14 I/O and remote encoder connections, 16-pin locking wire crimp
Connectivity accessories Mating connector kit ................................................................. CK11(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)
Prototype development cable (10’/3.0 m) .............. PD20B-3400-FL3
Manufacturer (JST) part numbers Connector shell..........................................................PADP-20V-1-S
Pins............................................................................ SPH-001T0.5L
13: Enc. Gro14: CH A +
17: CH B -19: IDX -20: Enc. +5V
15: CH A -16: CH B +18: IDX +
1: DIR Out3: PWM5: DIR In7: Opto9: Speed 1 11: Speed 2
2: SCLK Out4: Stop/Start6: Speed 18: Speed 210: Speed 1 +512: Speed 2 Gnd
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WARRANTYTWENTY-FOUR (24) MONTH LIMITED WARRANTYIMS Schneider Electric Motion USA warrants only to the purchaser of the Product from IMS Schneider Electric Motion USA (the “Customer”) that the product purchased from IMS Schneider Electric Motion USA (the “Product”) will be free from defects in materials and workmanship under the normal use and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the Customer. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s sole option, of the Product, or any part of the Product, determined by IMS Schneider Electric Motion USA to be defective. In order to exercise its warranty rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty Service”.
NOTE: MDrive Motion Control electronics are not removable from the motor in the fi eld. The entire unit must be returned to the factory for repair.
This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the Product; installation, operation or use of the Product not made in strict accordance with the speci cations and written instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modi cations to the Product; the misuse or failure of any item or equipment connected to the Product not supplied by IMS Schneider Electric Motion USA; improper maintenance or repair of the Product; or any other reason or event not caused by IMS Schneider Electric Motion USA.
IMS SCHNEIDER ELECTRIC MOTION USA HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS STATED ABOVE, AND IN NO EVENT WILL IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES IN CONNECTION WITH THE 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 Schneider Electric Motion USA with respect to the Product. IMS Schneider Electric Motion USA does not assume any other liability in connection with the sale of the Product. No representative of IMS Schneider Electric Motion USA 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 Customer.
IMS Schneider Electric Motion USA and its directors, of cers, employees, subsidiaries and af liates shall not be liable for any damages arising from any loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production or pro ts, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages, whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory, or other losses or expenses incurred by the Customer or any third party.
OBTAINING WARRANTY SERVICEIf the Product was purchased from an IMS Schneider Electric Motion USA Distributor, please contact that Distributor to obtain a Returned Material Authorization (RMA). If the Product was purchased directly from IMS Schneider Electric Motion USA, please contact Customer Service at [email protected] or 860-295-6102 (Eastern Time Zone).
Customer shall prepay shipping charges for Products returned to IMS Schneider Electric Motion USA for warranty service and IMS Schneider Electric Motion USA shall pay for return of Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for Products returned to IMS Schneider Electric Motion USA from outside the United States.
© Schneider Electric Motion USA All Rights Reserved. REV062910Product Disclaimer and most recent product information at www.schneider-electric-motion.us.
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