Intelligent Motion Systems MDriveAC manual

Operating Instructions TM mICROSTEPPING TM Excellence in Motion www .imshome.com 34 TM MICROSTEPPING 42 TM MICROSTEPPING[...]

The information in this book has been carefully checked and is believed to be accurate; however , no responsibility is assumed for inaccuracies. Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability , function or design. Intelligent Motion Systems, Inc., does not as[...]

i T able Of Contents Getting S tar ted: MDriveA C Plus Micr ostepping .......................................................................... 1-1 Before Y ou Begin ....................................................................................................................... 1-1 Connecting AC P ower ......................................[...]

ii Section 2.3: U sing the IMS SPI Motor Interface ........................................................................2-12 Installation .............................................................................................................................. 2-12 Configuration P arameters and Ranges ........................................[...]

iii List Of Figures F igure GS.1: Minimum Logic and P o wer Connections ............................................................. 1-1 F igure GS.2: MDriv eAC Plus CD ............................................................................................. 1-2 F igure GS.3: IMS M otor Interface Showing Default Settings ......................[...]

iv F igure B.2: Lead Screw S ystem Inertia Considerations ............................................................ A-10 F igure B.3: Rack and Pinion S ystem Inertia Considerations .................................................... A-11 F igure B.4: Conveyor S ystem Inertia Considerations .......................................................[...]

1-1 P ar t 1: Hardwar e Specifications W ARNING! The MDrive has components which are sensitive to Electrostatic Discharge (ESD). All handling should be done at an ESD protected workstation. Getting Started MDriveAC Plus Microstepping Before Y ou Begin The Quick S tart guide is designed to help quickly connect and begin using your MDriveAC P lus Mi[...]

1-2 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Connecting Parameter Setup Cable Connect the Host PC to the MD riveAC Plus M icrostepping using the IMS Parameter S etup Cable or equivalent. Install the IMS SPI Motor Interface The IMS SPI M otor Interface is a utility that easily allows you to set[...]

1-3 P ar t 1: Hardwar e Specifications TM mICROSTEPPING Section 1.1: MDrive34AC Plus Microstepping Pr oduct Intr oduction Section 1.2: MDrive34CAC Plus Microstepping Detailed Specifications Section 1.3: MDrive42AC Plus Microstepping Pr oduct Intr oduction Section 1.4: MDrive42AC Plus-65 Microstepping Detailed Specifications Part 1: Hardware Spec[...]

1-4 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank[...]

1-5 P ar t 1: Hardwar e Specifications SECTION 1.1 Introduction to the MDrive34AC Plus Microstepping The MDrive34A C Plus Microstepping high tor que inte- grated motor and driver is ideal for designers who want the simplicity of a motor with on-board electronics. The inte- grated electronics of the MDrive34A C Plus eliminate the need to run motor [...]

1-6 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02  20 Microstep R esolutions up to  51,200 Steps P er Rev I ncluding:  Degrees, M etric, Arc Minutes  Optically I solated Logic Inputs will  Accept +5 to +24 VDC S ignals,  Sourcing or S inking  Automatic C urrent Reduction [...]

1-7 P ar t 1: Hardwar e Specifications SECTION 1.2 MDrive34AC Plus Microstepping Detailed Specifications General Specifications Electrical Specifications Input V oltage (+V AC) Range (120 V AC MDrive) 95 to 132 V AC @ 50/60 Hz Input Current (120 V AC MDrive) 4.2 A Maximum Input V oltage (+V AC) Range (240 V AC MDrive) 95 to 264 V AC @ 50/60 Hz Inp[...]

1-8 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Motor Specifications Single Length Holding T orque 330 oz-in/233 N-cm Detent T orque 10.9 oz-in/7.7 N-cm Rotor Inertia 0.01416 oz-in-sec 2 /1.0 kg-cm 2 Weight (Motor + Driver) 3.8 lb/2.9 kg Double Length Holding T orque 500 oz-in/353 N-cm Detent T o[...]

1-9 P ar t 1: Hardwar e Specifications Mechanical Specifications Dimensions in Inches (mm) Dimensions in inches (mm) Motor Length LMAX1 (Single Shaft) LMAX2 (Control Knob) Single 6.1 (155.0) 7.1 (180.4) Double 6.9 (174.3) 7.9 (199.7) T riple 8.4 (214.3) 9.4 (2 3 9 . 7 9) Ø 0.87 (Ø 22.1) Ø 0.87 (Ø 22.1) Connectors Control Knob P1 19-Pin M23 P3 [...]

1-10 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Pin Assignment and Description P1 19-Pin M23 Connector - I/O and SPI Communications Pin Assignment - P1 I/O and SPI Connections Pin # Function Description Pin 1 Opto Reference The signal applied to the Optocoupler Reference will determine the sinki[...]

1-1 1 P ar t 1: Hardwar e Specifications P1 19-Pin M23 Connector - I/O, SPI Communications with Encoder Interface Option Pin Assignment - P1 I/O, SPI and Encoder Connections Pin # Function Description Pin 1 Opto Reference The signal applied to the Optocoupler Reference will determine the sinking/ or sourcing configuration of the inputs. T o set th[...]

1-12 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Options and Accessories Internal Encoder Internal differential optical encoders ar e offered factory-installed with the MDrive34AC P lus Microstepping. Refer to the Encoder S pecifications section for available line counts. All encoders come with a[...]

1-13 P ar t 1: Hardwar e Specifications SECTION 1.3 Introduction to the MDrive42AC Plus Microstepping The MDrive42A C Plus Microstepping high tor que integrated motor and driver is ideal for designers who want the simplicity of a motor with on- board electronics. The integrated electronics of the MDrive42A C Plus eliminate the need to run motor ca[...]

1-14 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02  20 Microstep R esolutions up to    51,200 Steps P er Rev I ncluding:  Degrees, M etric, Arc Minutes  Optically I solated Logic Inputs will  Accept +5 to +24 VDC S ignals,  Sourcing or S inking  Automatic C urrent Redu[...]

1-15 P ar t 1: Hardwar e Specifications SECTION 1.4 MDrive42AC Plus Microstepping Detailed Specifications Electrical Specifications Input V oltage (+V AC) Range (120 V AC MDrive) 95 to 132 V AC @ 50/60 Hz Input Current (120 V AC MDrive) 5.6 A Maximum Input V oltage (+V AC) Range (240 V AC MDrive) 95 to 264 V AC @ 50/60 Hz Input Current (240 V AC M[...]

1-16 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Setup Parameters The following table illustrates the setup parameters. These are easily configured using the IMS SPI M otor Interface configuration utility . An optional Parameter Setup Cable is av ailable and recommended with the first order . MDr[...]

1-17 P ar t 1: Hardwar e Specifications Dimensions in inches (mm) Motor Length LMAX1 (Single Shaft) LMAX2 (Control Knob) Single 7.4 (187.96) 9.4 (238.76) Double 9.4 (2238.76) 11.4 (289.56) Control Knob Ø 1.90 (Ø 48.3) Ø 0.87 (Ø 22.1) Ø 0.87 (Ø 22.1) Connectors P1 19-Pin M23 P3 3-Pin Euro AC 0.75 (19.05) 0.059 (1.5) 0.49 (12.5) 2.17 (55.0) 1.[...]

1-18 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Pin Assignment and Description P1 19-Pin M23 Connector - I/O and SPI Communications Pin Assignment - P1 I/O and SPI Connections Pin # Function Description Pin 1 Opto Reference The signal applied to the Optocoupler Reference will determine the sinki[...]

1-19 P ar t 1: Hardwar e Specifications P1 19-Pin M23 Connector - I/O, SPI Communications with Encoder Interface Option Pin Assignment - P1 I/O, SPI and Encoder Connections Pin # Function Description Pin 1 Opto Reference The signal applied to the Optocoupler Reference will determine the sinking/ or sourcing configuration of the inputs. T o set the[...]

1-20 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 P3 Connector - AC Power Pin Assignment - P3 AC Power Euro AC Circular (Male) Function Description Pin 1 Chassis Ground Chassis Ground of the system. Pin 2 AC Power Line AC Power Line. Pin 3 AC Power Neutral AC Power Neutral. T able 1.4.4: P3 - AC P[...]

1-21 P ar t 1: Hardwar e Specifications Options and Accessories Internal Encoder Internal differential optical encoders ar e offered factory-installed with the MDrive42AC P lus Microstepping. Refer to the Encoder S pecifications section for available line counts. All encoders come with an index mark, unless noted. Control Knob The MDrive42A C Plus[...]

2-1 P ar t 2: Interfacing and Configuring Section 2.1: Logic Interface and Connection Section 2.2: Connecting SPI Communications Section 2.3: Using the IMS SPI Motor Interface Section 2.4: Using User -Defined SPI Part 2: Interfacing and Configuring TM mICROSTEPPING TM Excellence in Motion[...]

2-2 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank[...]

2-3 P ar t 2: Interfacing and Configuring SECTION 2.1 Logic Interface and Connection Optically Isolated Logic Inputs The MDriveA C Plus Microstepping has thr ee optically isolated logic inputs which are located on connector P1. These inputs are isolated to minimize or eliminate electrical noise coupled onto the drive control signals. Each input is[...]

2-4 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Isolated Logic Input Characteristics Enable Input This input can be used to enable or disable the driver output circuitry . Leaving the enable switch open (Logic HIGH, Disconnected) for sinking or sourcing configuration, the driver outputs will be e[...]

2-5 P ar t 2: Interfacing and Configuring T DSU T DH T SH T SL Direction Step T DC T CHL T CHL Channel A Channel B Direction Change T SH T SL T DC T SH T SL T DC Step Up Step Down STEP/DIRECTION TIMING QUADRA TURE TIMING UP/DOWN TIMING Figur e 2.1.3: Clock Input T iming Characteristics Clock Input Timing Symbol Parameter T ype and V alue Step/Dire[...]

2-6 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Optocoupler Reference The MDriveA C Plus Microstepping Logic I nputs are optically isolated to prevent electrical noise being coupled into the inputs and causing erratic operation. There are two ways that the Optocoupler R eference will be connected[...]

2-7 P ar t 2: Interfacing and Configuring + +5 to +24VDC Optocoupler Reference Input Controller Output Controller Ground + +5 to +24VDC Optocoupler Reference Input Controller Output Controller Ground NPN Open Collector Interface (Sinking) PNP Open Collector Interface (Sourcing) MDriveACPlus Microstepping MDriveACPlus Microstepping Input Connection[...]

2-8 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Switch Interface Example Switch Interface (Sinking) Switch Interface (Sourcing) + +5 to +24VDC Optocoupler Reference Enable Input SPST Switch GND + Enable Input +5 to +24VDC Optocoupler Reference GND SPST Switch Enable Input MDriveACPlus Microsteppi[...]

2-9 P ar t 2: Interfacing and Configuring Minimum Required Connections The connections shown are the minimum r equired to operate the MDriv eAC Plus M icrostepping. These are illus- trated in both Sinking and Sour cing Configurations. Please reference the P in Configuration diagram and Specifica- tion T ables for the MDriveAC Plus Micr ostepping c[...]

2-10 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 SECTION 2.2 Connecting SPI Communications Connecting the SPI Interface The SPI (Serial P eripheral Interface) is the com- munications and configuration interface. F or prototyping we recommend the purchase of the parameter setup cable MD-CC300-000.[...]

2-1 1 P ar t 2: Interfacing and Configuring SPI Master SPI Clock MOSI MISO CS SPI Clock MOSI MISO CS1 CS2 SPI Master MDriveACPlus Microstepping #1 MDriveACPlus Microstepping MDriveACPlus Microstepping #2 SPI Pins and Connections Figur e 2.2.2: SPI Pins and Connections, 10-Pin IDC P1: I/O COMM GND +5 VDC OUT CHIP SELECT MASTER IN/SLA VE OUT SPI CLO[...]

2-12 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 SECTION 2.3 Using the IMS SPI Motor Interface Installation The IMS SPI M otor Interface is a utility that easily allows you to set up the parameters of your MDriveA C Plus Microstepping. I t is available both on the CD that came with your product a[...]

2-13 P ar t 2: Interfacing and Configuring The color coding is illustrated in F igure 2.3.1. IMS SPI Motor Interface Menu Options File > Open: Opens a saved *.mot (M otor Settings) file. > Save: Sav es the current motor settings as a *.mot file for later re-use > Save As > Exit - Disconnects from the device and opens the I nitializatio[...]

2-14 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Recall! Retrieves the settings from the MD riveAC Plus Microstepping. Upgrade! U pgrades the MDriveA C Plus Microstepping firmwar e by placing the device in U pgrade Mode and launching the firmware upgrader utility . Help > IMS Internet T utoria[...]

2-15 P ar t 2: Interfacing and Configuring Screen 1: The Motion Settings Configuration Screen The IMS SPI M otor Interface Software opens by default to the M otion Settings Screen sho wn on the left. There are six basic parameters that may be set her e: 1. MSEL: Microstep R esolution Select. 2. HCDT : H olding Curr ent Delay T ime. 3. MR C: Motor [...]

2-16 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 HC DT (H ol d C ur re nt De lay Ti me) Th e HCD T M ot or H ol d Cu rr ent D el ay s ets t i me i n m il l is ec ond s f or t he Ru n C ur r ent t o s wi tch t o H o ld C ur re nt wh e n mo ti on is co mp let e. Wh en m oti on is c o mp le t e, t h[...]

2-17 P ar t 2: Interfacing and Configuring Screen 2: I/O Settings Configuration Screen The I/O Settings screen may be accessed b y clicking View > IO S ettings on the menu bar . This screen is used to configure the Input Clock type, the filtering and the A ctive H igh/Low S tate of the Enable Input. Input Clock T ype The Input Clock T ype trans[...]

2-18 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 IMS Part Number/Serial Number Screen The IMS P ar t N umber and Serial N umber screen is accessed by clicking "View > P ar t and Serial N umbers". This screen is read-only and will display the part and serial number , as well as the fa[...]

2-19 P ar t 2: Interfacing and Configuring NOTE: Once entered into Upgrade Mode, you MUST complete the upgrade. If the upgrade process is incomplete the IMS SPI Motor Interface will continue to open to the Upgrade dialog until the process is completed! Upgrading the Firmware in the MDriveAC Plus Microstepping The IMS SPI Upgrader Screen N ew firmw[...]

2-20 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Initialization Screen This screen will be active under five conditions: When the program initially starts up and seeks for a compatible device. The U ser selects F ile > Exit when connected to the device. The U ser clicks the Exit button while c[...]

2-21 P ar t 2: Interfacing and Configuring SECTION 2.4 Using User -Defined SPI The MDriveA C Plus can be configured and operated through the end-user's SP I interface without using the IMS SPI M otor Interface software and optional parameter setup cable. An example of when this might be used is in cases where the machine design requir es par[...]

2-22 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 SPI Commands and Parameters U se the following table and figure found on the follo wing page together as the Byte or der read and written from the MDriveA C Plus Microstepping, as w ell as the checksum at the end of a WRITE is critical. SPI Command[...]

2-23 P ar t 2: Interfacing and Configuring W A RNTEMP CLKIOF CLKTYP HCDT_LO HCDT_HI DIR_OVRID MSEL MHC MRC USR_ID3 USR_ID2 USR_ID1 VERSION DEVICE 80 0 0 0 256 5 25 S M I 1.0.00 M FF FF FF 40 FF FF FF FF FF FF FF FF FF FF FF FF FF 10 4D 00 49 4D 53 19 05 00 00 01 F4 00 00 50 01 XX 500 00 00 00 F AUL T EN_ACT RESPONSE (MISO): WRITE (MOSI): READ ALL [...]

2-24 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank[...]

A-1 Appendices Appendix A: MDriveAC Plus Microstepping Motor Per for mance Appendix B: Gear Boxes Appendix C: Optional Cables and Cordsets Appendix D: Interfacing an Encoder Appendices TM mICROSTEPPING TM Excellence in Motion[...]

A-2 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank[...]

A-3 Appendices appendix A MDriveAC Plus Microstepping Motor Perfor mance MDrive34AC Plus Microstepping Speed-T or que Curves Figur e A.1: MDrive34A C Plus 120V A C Microstepping Speed-T or que Curves MDrive34AC – 120VAC MDrive34AC – 240VAC 300 400 500 600 200 100 Torque – Oz - In Torque in N - cm 212 283 354 424 141 71 Speed – Full Steps/Se[...]

A-4 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Double Length Holding T orque ............................................................................................... 500 oz-in/353 N-cm Detent T orque .........................................................................................[...]

A-5 Appendices Motor Specifications Single Length Holding T orque ............................................................................................. 1147 oz-in/810 N-cm Detent T orque ..................................................................................................... 35 oz-in/25 N-cm Rotor Inertia ......................[...]

A-6 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Appendix B MDrive with Planetary Gearbox Section Overview This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox, and may include product sizes not relev ant to this manual. Shown ar e:  Pro[...]

A-7 Appendices Calculating the Shock Load Output T or que (T A B ) N ote: The following examples are based on picking “ temporary variables ” which may be adjusted. The shock load output torque (T AB ) is not the actual torque generated by the MDrive and P lanetary Gearbox combination, but is a calculated value that includes an operating factor[...]

A-8 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Nominal Output Torque Calculate the nominal output torque using the torque values from the MD rive’ s Speed/T orque T ables. N ominal output torque (T N ) is the actual torque generated at the Planetary Gearbox output shaft which includes reductio[...]

A-9 Appendices Shock Load Output Torque The nominal output torque (T N ) is the actual working torque the Planetary Gearbox will generate. The shock load output torque (T AB ) is the additional torque that can be generated by starting and stopping with no acceleration ramps, payloads, inertia and directional changes. Although the nominal output tor[...]

A-10 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 System Inertia System inertia must be included in the selection of an MDrive and P lanetary Gearbox. Inertia is the resistance an object has relative to changes in velocity . Inertia must be calculated and matched to the motor inertia. The Planetar[...]

A-1 1 Appendices Rack and Pinion In a system with a rack and pinion, the following must be consider ed:    The weight or mass of the pinion    The weight or mass of the rack    The friction and/or preload between the pinion and the rack    Any friction in the guidance of the rack    The weight or mass of[...]

A-12 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Rotary Table In a system with a rotary table, the following must be considered:    The weight or mass and size of the table    Any parts or load the table is carrying    The position of the load on the table, the distance[...]

A-13 Appendices Chain Drive In a system with a chain drive, the follo wing must be considered:    the weight and size of drive sprocket and any attaching hub    the weight and size of the driven sprocket and shaft    the weight of the chain    the weight of any material or parts being moved Once the system inerti[...]

A-14 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Figur e B.7: Planetary Gearbox S pecifications for MDrive34A C Plus 2 Planetary Gearbox for MDrive34AC Plus 2 MDrive34AC Plus 2 Planetary Gearbox Parameters Permitted Output T orque (oz-in/Nm) Gearbox Efficiency Maximum Backlash Output Side with Ba[...]

A-15 Appendices Planetary Gearbox for MDrive42AC Plus 2 MDrive42AC Plus 2 Planetary Gearbox Parameters - PM105 Permitted Output T orque (oz-in/Nm) Gearbox Efficiency Maximum Backlash Output Side with Ball Bearing Maximum Load (lb-force/N) Weight (lb/kg) Radial Axial Gearbox with Flange 1-ST AGE 4956/35.0 0.80 1.0° 135/600 27/120 64.4 /182 7 9.7/4.[...]

A-16 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 MDrive42AC Plus 2 Planetary Gearbox Parameters - PM120 Permitted Output T orque (oz-in/Nm) Gearbox Efficiency Maximum Backlash Output Side with Ball Bearing Maximum Load (lb-force/N) Weight (lb/kg) Radial Axial Gearbox with Flange 1-ST AGE 7080/50.[...]

A-17 Appendices Appendix C Optional Cables and Cordsets MD-CC300-000: USB to SPI Parameter Setup Cable The MD-CC300-000 USB to SPI P arameter Setup Cable with adapter MD-ADP-M23 provides a communication connection between the 19-pin M23 connector on the MDriveA C Plus Microstepping and the USB port on a PC. IMS SPI Interface S oftware communicates [...]

A-18 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 5) Select “Install fr om a list or specific location (Advanced)” on the radio buttons in answer to the query “What do you want the wizard to do?” Click “N ext” (F igure C.4). 6) Select “Sear ch for the best driver in these locations.?[...]

A-19 Appendices Determining the V irtual COM Port (VCP) The MD-CC300-000 uses a Virtual COM P ort to communicate through the USB port to the MDrive. A VCP is a software driven serial port which emulates a hardwar e port in Windo ws. The drivers for the MD-CC300-000 will automatically assign a V CP to the device during installation. The VCP port num[...]

A-20 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Figur e C10: T ypical Setup, Adapter and Single-E nd Cordset 12 3 9 1 2 4 5 6 7 8 10 1 1 15 18 19 13 14 17 16 MDrivePlus T o Customer PC USB Port T o Controller Interface MD-CS100/101-000 Single-End Cordset MD-CC300-000 Parameter Setup Cable USB Ca[...]

A-21 Appendices T able C.1: MD-CS10x-000 Wir e Color Chart Pin Assignment and W ire Colors P1 - Expanded I/O Configuration Cordset Wire Color Function (Expanded I/O) Function (Optical Encoder) MDrive P1 Violet Opto Reference Opto Reference Pin 1 Red Enable Enable Pin 2 Grey N/C Index + Pin 3 Red/Blue N/C Channel B + Pin 4 Green N/C Channel B – Pi[...]

A-22 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 W ARNING! Do not plug or unplug AC Power at the Motor with the power on! Note: UL Recognition requires the use of the MD-CS20x-000 or Lumberg Equivalent AC Power Cordset. MD-CS20x-000 Cordset The single-end three conductor cordsets ar e used with t[...]

A-23 Appendices Appendix D Interfacing the Internal Dif ferential Optical Encoder Factory Mounted Encoder Encoders are available in differ ential configurations. All encoders have an index mark, except the MD rive42AC 400 line count. U se of the encoder feedback feature of this product requir es a controller such as an IMS MicroL YNX or PLC. The en[...]

A-24 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 C t1 t2 Po X Y Z 2.4 V 0.4 V 2.4 V 0.4 V 2.4 V 0.4 V 2.4 V 0.4 V 2.4 V 0.4 V 2.4 V 0.4 V Channel A + Channel B + Index + Channel A - Channel B - Index - Rotation: CW – B Leads A CCW – A Leads B (C) One C ycle: 360 electrical degrees (°e) (X/Y)[...]

A-25 Appendices Appendix E Linear Slide Option Features • Screw driven slide offering exceptional linear speed, accurate positioning and long life at a compelling value • High bidir ectional repeatability of up to 50 micro-inches (1.25 microns) • P ositional lead accuracy of 0.0006"/in. – accuracies to 0.0001"/in. available • Li[...]

A-26 MDriveA C Plus Microstepping H ardware - R evision R121707 Relevant to F irmware V ersion 3.0.02 Specifications Screw Efficiency Nom. Screw Diam. Inch Lead Max Drag T orque Life @ ¼ Design Load T orque to Move Load Axial Design Load Screw Inertia Screw Lead % inches (mm) inches (mm) oz inch (Nm) inches (cm) oz inch/lb (Nm/kg) lbs (kg) oz.in.s[...]

W ARRANTY TWENTY -FOUR (24) MONTH LIMITED W ARRANTY Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased from IMS (the “Product”) will be free from defects in materials and workmanship under the normal use and service for which the Product was design[...]

intelligent motion systems, IN C. Excellence in Motion www.imshome.com IMS EUROPE GmbH Niedereschacherstrasse.54 78083 Dauchingen Germany Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 E-mail: info@imseuropehome.com European Sales Management 4 Quai Des Etroits 69005 L yon, France Phone: +33/4 7256 5113 Fax: +33/4 7838 1537 E-mail: bmartinez@imshome.[...]