MDrive34Plus Microstepping Integrated Motor and Driver TM
MDrive34Plus Microstepping Hardware Reference Change Log Date Revision Changes 06/26/2006 R062606 Initial Release 03/12/2007 R031207 Changed Max Step Clock rate to 5 MHz, Min Pulse width to 100 ns, default input filter to 2.5 MHz (50 ns). Changed temperature spec to -0 to +75°C (non-condensing humidity, measured at the heat sink) and -0 to +90°C (non-condensing humidity, measured at the motor.) Added Section 2.1: Mounting and Interface Guidelines and Section 2.2: Interfacing DC Power.
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 specifically 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.
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Table Of Contents Getting Started: MDrive34Plus Microstepping........................................................................... 1-1 Before You Begin........................................................................................................................ 1-1 Tools and Equipment Required.................................................................................................. 1-1 Connecting the Power Supply .......................................................................
Minimum Required Connections............................................................................................. 2-20 Section 2.4: Connecting SPI Communications.......................................................................... 2-21 Connecting the SPI Interface................................................................................................... 2-21 SPI Signal Overview...............................................................................................................
Encoder Connections...............................................................................................................A-26 Encoder Signals........................................................................................................................A-27 Encoder Cable..........................................................................................................................A-28 Recommended Encoder Mating Connectors............................................................
Figure 2.5.10: SPI Motor Interface Upgrade Utility................................................................. 2-32 Figure 2.5.11: SPI Motor Interface Initialization...................................................................... 2-33 Figure 2.5.12: SPI Motor Interface Port Menu......................................................................... 2-33 Figure 2.6.1: SPI Timing..........................................................................................................
List of Tables Part 1: Hardware Specifications Table 1.2.1: MDrive34Plus Microstepping Electrical Specifications........................................... 1-7 Table 1.2.2: MDrive34Plus Microstepping Environmental Specifications.................................. 1-7 Table 1.2.3: MDrive34Plus Microstepping I/O Specifications.................................................... 1-7 Table 1.2.4: MDrive34Plus Microstepping Communications Specifications............................... 1-7 Table 1.2.
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Gettin g S ta rte d MDrive34Plus Microstepping Before You Begin The Quick Start guide is designed to help quickly connect and begin using your MDrive34Plus Microstepping integrated motor and driver. The following examples will help you get the motor turning for the first time and introduce you to the basic settings of the drive. Tools and Equipment Required MDrive34Plus Microstepping Unit (MDM34).
WARNING! Because the MDrive consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. Operating Range is -40 to +75°C. Note: Interactive usage tutorials are available at the IMS Web Site at http:// www.imshome.com/tutorials. html Install the IMS SPI Motor Interface The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDrive34Plus Microstepping.
TM MICROSTEPPING Part 1: Hardware Specifications Section 1.1: MDrive34Plus Microstepping Product Introduction Section 1.
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SECTIO N 1 . 1 Introduction to the MDrive34Plus Microstepping The MDrive34Plus Microstepping high torque integrated motor and driver is ideal for designers who want the simplicity of a motor with on-board electronics. The integrated electronics of the MDrive34Plus eliminate the need to run motor cabling through the machine, reducing the potential for problems due to electrical noise.
1-6 Motor Run/Hold Current Motor Direction vs. Direction Input Microstep Resolution Clock Type: Step and Direction, Quadrature, Step Up and Step Down Programmable Digital Filtering for Clock and Direction Inputs Available Options: Internal Optical Encoder Integrated Planetary Gearbox Control Knob for Manual Positioning 3 Rotary Motor Lengths Available Current and Microstep Resolution May Be Switched On-The-Fly Interface Options: Pluggable Locking Wire Crimp 12.0” (30.
SECTIO N 1 . 2 MDrive34Plus Microstepping General Specifications Electrical Specifications Input Voltage (+V) Range* Max Power Supply Current (Per MDrive34Plus)* WARNING! Because the MDrive consists of two core components, a drive and a motor, close attention must be paid to the thermal environment where the device is used. See Thermal Specifications. +12 to +75 VDC 4A * Actual Power Supply Current will depend on Voltage and Load. Table 1.2.
Motor Specifications Single Length Holding Torque Detent Torque Rotor Inertia Weight (Motor + Driver) Double Length Holding Torque Detent Torque Rotor Inertia Weight (Motor + Driver) Triple Length Holding Torque Detent Torque Rotor Inertia Weight (Motor + Driver) 381 oz-in/269 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 575 oz-in/406 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 1061 oz-in/749 N-cm 19.83 oz-in/14.0 N-cm 0.04815 oz-in-sec2/3.4 kg-cm2 8.
Mechanical Specifications Dimensions in Inches (mm) 4X Ø 0.217 (Ø 5.51) Ø 0.5512 +0/-0.0004 (Ø 14.0 +0/-0.010) Ø 2.874 ±0.002 (Ø 73.0 ±0.05) 3.39 SQ. (86.1 SQ.) 2.739 SQ. (69.57 SQ.) 1.981 (50.32) 0.731 (18.57) 1.250 (31.75) 0.394 (10.01) 1.46 ±0.04 (37.1 ±1.0) 0.984 ±0.01 (25.0 ±0.25) 3.727 (94.67) 0.512 +0/–0.004 (13.0 ±0.10) 0.079 (2.0) LMAX LMAX2 LMAX2 Option - Control Knob Ø 1.90 (Ø 48.3) Figure 1.2.
Connector Options The MDrive34Plus Microstepping comes in three Connector Options 1. 12" (30.5 cm) Flying Leads 2. Locking Wire Crimp Connectors Connector Options Note: All Interface and Connection Illustrations in this document are shown from this perspective, Motor facing right. Flying Leads Locking Wire Crimp Locking Wire Crimp with Internal Optical Encoder Pin 1 Pin 1 P3 P3 P1 P4 Pin 1 P2 Pin 1 P1 Pin 1 P1 P1 Pin 1 P1 P1 Type: 12’ (30.
Pin Assignment And Description - Flying Leads Version P1 Connector - Power, I/O and Internal Optical Encoder (Optional) Pin Assignment - P1 Power and I/O Connections Wire Color Flying Lead with Internal Function Wire Color Encoder White White Opto Reference Orange Orange Step Clock/Channel A/ Clock Up Blue Blue Direction/Channel B/ Clock Down Brown Brown Enable Black Black GND Red Red +V Differential Single-End Ground Ground Index + Index Channel A + Channel A +5 VDC Input +5 VDC Input Chan
White: OptoRef Orange: Step Clock Blue: Direction Brown: Enable Black: GND Red: +VDC Yellow/Black: Ground Yellow/Violet: Index Yellow/Blue: Channel A Yellow/Red: +5 VDC Input Yellow/Brown: Channel B Figure 1.2.
P2 Connector - SPI Communications Pin Assignment - P2 SPI Communications 10-Pin IDC Function Description Pin 1 — No Connect Pin 2 — No Connect Pin 3 — No Connect SPI Chip Select. This signal is used to turn communications Pin 4 CS on multiple MDM units on or off. Pin 5 GND Communications Ground. Pin 6 +5 VDC Output Supply voltage for the MD-CC300-000 Cable ONLY! Master-Out/Slave-In. Carries output data from the SPI Pin 7 MOSI Master to the MDM. The Clock is driven by the SPI Master.
NEED A CABLE? The following cables and converters are available to interface with P1: 12-Pin Locking Wire Crimp PD12-1434-FL3 Pin Assignment And Description - Pluggable Interface Version P1 Connector - I/O and SPI Communications, 12-Pin Locking Wire Crimp Pin Assignment - P1 Power, I/O and SPI Connections Pin # Function Description Pin 1 N/C No Connect. Pin 2 N/C No Connect. The Signal applied to the Optocoupler Reference will determine the sinking/ or sourcing configuration of the inputs.
P3 Connector - DC Power, 2-Pin Locking Wire Crimp Pin Assignment - P3 Power 2-Pin Locking Function Wire Crimp Pin 1 +V Pin 2 GND Description +12 to +75 VDC, 4 Amps Maximum per MDrive34Plus. Power Supply Return. Table 1.2.11: P3 Connector Recommended Cable: P/N PD02-3400-FL3 1 2 NEED A CABLE? The following cables and converters are available to interface with P3: 2-Pin Locking Wire Crimp PD02-3400-FL3 WARNING! Do not plug or unplug DC Power with power applied. P3 Figure 1.2.
NEED A CABLE? The following cables and converters are available to interface with P4: 10-Pin Friction Lock Wire Crimp PD10-3400-FL3 P4 Connector - Differential Encoder, 10-Pin Friction Lock Wire Crimp Pin Assignment - P2 SPI Communications 10-Pin Wire Function Description Crimp Pin 1 Ground Encoder Ground, common with power ground. Pin 2 Channel A+ Channel A + Encoder Output. Pin 3 Channel A – Channel A – Encoder Output. Pin 4 Channel B+ Channel B + Encoder Output.
Connectivity QuickStart Kit For rapid design verification, all-inclusive QuickStart Kits have communication converter, prototype development cable(s), instructions and CD for MDrivePlus initial functional setup and system testing. Communication Converters Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program communication parameters for a single MDrivePlus via a PC's USB port. Length 12.0' (3.6m). Mates to connector: 10-Pin IDC...............................
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TM MICROSTEPPING Part 2: Interfacing and Configuring Section 2.1: Mounting and Interface Guidelines Section 2.2: Interfacing DC Power Section 2.3: Interfacing Logic Inputs Section 2.4: Interfacing SPI Communications Section 2.3: Using the IMS SPI Motor Interface Section 2.
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SECTIO N 2 . 1 Mounting and Interface Guidelines Mounting Recommendations Flange mounting holes are drilled through with a diameter of 0.217" (5.51mm) to take standard 10-32 (M5) screws. The length of the screw used will be determined by the mounting flange width. Mounting Recommendation Allow Top Clearance for Wiring/Cabling MDrive34Plus Mounting Flange or Adapter Plate* * When determining material and thickness keep the maximum MDrive34Plus temperature of 85°C in consideration.
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 float. This allows the shield to act as a drain. Power supply leads to the MDrivePlus need to be twisted.
Recommended Wiring The following wiring/cabling is recommended for use with the MDrivePlus: Logic Wiring.......................................................................................................................22 AWG Wire Strip Length.................................................................................................... 0.25” (6.0 mm) Power and Ground ......................................................................See Section 2.
Securing Power Leads and Logic Leads Some applications may require that the MDrive move with the axis motion. If this is a requirement of your application, the motor leads must be properly anchored. This will prevent flexing and tugging which can cause damage at critical connection points within the MDrive. P3: Power P1: Logic Wiring Adhesive Anchor/Tywrap Separation between Logic and Power Figure 2.1.
SECTIO N 2 . 2 Interfacing DC Power Choosing a Power Supply for Your MDrive When choosing a power supply for your MDrivePlus there are performance and sizing issues that must be addressed. An undersized power supply can lead to poor performance and even possible damage to the device, which can be both time consuming and expensive. However, The design of the MDrivePlus is quite efficient and may not require as large a supply as you might suspect.
WARNING! DO NOT Plug or unplug Power with power applied! DC Power Supply Recommendations The power requirements for the Motion Control MDrive34Plus are: Output Voltage....................................................................+12 to +75 VDC (Includes Back EMF) Current (max. per unit)................................................................................................................
Connecting DC Power Connect the DC Power Supply to your MDrivePlus in accordance with the following illustrations.
Recommended Power and Cable Configurations Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive. Example A demonstrates the recommended cable configuration 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 Examples B & C). Correct AWG wire size is determined by the current requirement plus cable length.
MDrive34Plus Recommended Power Supply Cable AWG 1 Amperes (Peak) Length (Feet) Minimum AWG 3 Amperes (Peak) 10 25 50* 75* 100* Length (Feet) 20 20 18 18 16 Minimum AWG 2 Amperes (Peak) 10 25 50* 75* 100* 18 16 14 12 12 4 Amperes (Peak) Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100* Minimum AWG 20 18 16 14 14 Minimum AWG 18 16 14 12 12 *Use the alternative methods illustrated in examples B and C when cable length is ≥ 50 feet.
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SECTIO N 2 . 3 Isolated Input Interface and Connection Optically Isolated Logic Inputs The MDrivePlus Microstepping has three optically isolated inputs which are located at the flying leads or on connector P1. These inputs are isolated to minimize or eliminate electrical noise coupled onto the drive control signals. Each input is internally pulledup to the level of the optocoupler supply and may be connected to sinking or +5 to +24 VDC sourcing outputs on a controller or PLC. These inputs are: Opto Ref.
Controller 12” Flying Leads A Opto Reference Step Clock Channel A Clock Up See Input Configuration B Direction Channel B Clock Down C Enable D A B C D White Orange Blue Brown 12-Pin Locking Wire Crimp Input Configuration Inputs Configured as Sourcing D A A Controller I/O Ground B Inputs Configured as Sinking C +5 to +24VDC P1 Pin 5 Pin 3 Pin 4 Pin 6 A Figure 2.3.
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 enabled and the step clock pulses will cause the motor to advance. When this input switch is closed (Logic LOW) in both sinking and sourcing configurations, the driver output circuitry will be disabled.
STEP/DIRECTION TIMING TDH Direction TDSU Step TSL TSH QUADRATURE TIMING Direction Change TCHL Channel A TDC Channel B TCHL UP/DOWN (CW/CCW) TIMING Step Up TSH TSL TDC TDC Step Down TSH TSL Figure 2.3.5: Clock Input Timing Characteristics Clock Input Timing Type and Value Symbol Parameter Step/Direction Step Up/Down Quadrature Units TDSU T Direction Set Up 50 — — nS min. TDH T Direction Hold 100 — — nS min. TSH T Step High 100 100 — nS min.
Optocoupler Reference The MDrivePlus Microstepping Logic Inputs are optically isolated to prevent electrical noise being coupled into the inputs and causing erratic operation. There are two ways that the Optocoupler Reference will be connected depending whether the Inputs are to be configured as sinking or sourcing. Optocoupler Reference Input Type NOTE: When connecting the Optocoupler Supply, it is recommended that you do not use MDrive DC Power Ground as Ground as this will defeat the optical isolation.
Input Connection Examples The following diagrams illustrate possible connection/application of the MDrivePlus Microstepping Logic Inputs. Open Collector Interface Example NPN Open Collector Interface (Sinking) +5 to +24VDC + Optocoupler Reference MDrivePlus Microstepping Controller Output Input Controller Ground PNP Open Collector Interface (Sourcing) +5 to +24VDC + Controller Output Optocoupler Reference MDrivePlus Microstepping Input Controller Ground Figure 2.3.
Switch Interface Example Switch Interface (Sinking) +5 to +24VDC + GND Opto Ref. MDrivePlus Speed Control SPST Switch Input Switch Interface (Sourcing) +5 to +24VDC GND + Opto Ref. MDrivePlus Speed Control SPST Switch Enable Input Input Figure 2.3.
Minimum Required Connections The connections shown are the minimum required to operate the MDrivePlus Microstepping. These are illustrated in both Sinking and Sourcing Configurations. Please reference the Pin Configuration diagram and Specification Tables for the MDrivePlus Microstepping connector option you are using. +VDC Motor Supply + ! DO NOT use the +5VDC Output P1:7 (Wire Crimp) or P2:6 (Flying Lead) for Optocoupler Supply.
SECTIO N 2 . 4 Connecting SPI Communications Connecting the SPI Interface The SPI (Serial Peripheral Interface) is the communications and configuration interface. For prototyping we recommend the purchase of the parameter setup cable MD-CC300-000. For more information on prototype development cables, please see Appendix: C: Cables and Cordsets SPI Signal Overview +5 VDC (Output) This output is a voltage supply for the setup cable only. It is not designed to power any external devices.
WARNING! The Parallel/SPI Port on your PC must be set to one of the following: output only 1. 2. SPI Pins and Connections * 2 +5 VDC ONLY used for IMS MD-CC300-000 3 4 E 15 A D 18 - 25 Logic Level Shifting Circuit Try the SPI connection using the default parallel port setting first. If necessary, the Parallel/SPI port may be configured in the bios of your PC.
Logic Level Shifting and Conditioning Circuit The following circuit diagram is of a Logic Level shifting and conditioning circuit. This circuit should be used if you are making your own parameter cable and are using a laptop computer with 3.3 V output parallel ports. 2 100 DB25: 2 3 1 R1 2 330pF C3 R9 DB25: 3 100 DB25: 4 C4 5 330pF 8 49.9 4 100K R10 R3 4 100K +5V R2 3 U1:A HCT125 14 +5V P2: 8 R4 6 U1:B HCT125 7 4 49.
SPI Master with Multiple MDrivePlus Microstepping It is possible to link multiple MDrivePlus Microstepping units in an array from a single SPI Master by wiring the system and programming the user interface to write to multiple chip selects. Each MDrivePlus on the bus will have a dedicated chip select. Only one system MDrivePlus can be communicated with/Parameters changed at a time. SPI Clock SPI Master MOSI MISO MDriveACPlus Microstepping CS Figure 2.4.
SECTIO N 2 . 5 Using the IMS SPI Motor Interface Installation The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDrivePlus Microstepping. It is available both on the CD that came with your product and on the IMS web site at http:// www.imshome.com/software_interfaces.html. 1. 2. 3. 4. 5. 6. Insert the CD into the CD Drive of your PC. If not available, go to http://www.imshome.com/software_interfaces.html. The CD will auto-start.
Blue: New Value which has not yet been set to NVM. Red: Out of Range Value. The Set Button will disable as the the Motor Interface will not allow an out of range value to be stored. Black: This is the value Currently Stored in NVM Figure 2.5.1: SPI Motor Interface Color Coding IMS SPI Motor Interface Menu Options File > Open: Opens a saved *.mot (Motor Settings) file. > Save: Saves the current motor settings as a *.
Recall! Retrieves the settings from the MDrivePlus Microstepping. Recall Last Stored Parameter Settings Figure 2.5.4: SPI Motor Interface Recall Menu Upgrade! Upgrades the MDrivePlus Microstepping firmware by placing the device in Upgrade Mode and launching the firmware upgrader utility. Toggle MForce into Upgrade Mode for Firmware Upgrade Figure 2.5.5: SPI Motor Interface Upgrade Menu Help > IMS Internet Tutorials: Link to an IMS Web Site page containing Interactive flash tutorials.
Screen 1: The Motion Settings Configuration Screen Motor Run Current Microstep Resolution Selection Holding Current Delay Time Direction Override Motor Holding Current Load Factory Default Settings Exit Program Fault/Checksum Error Three Character User ID Store Settings to NVM Figure 2.5.7: SPI Motor Interface Motion Settings Screen The IMS SPI Motor Interface Software opens by default to the Motion Settings Screen shown on the left. There are six basic parameters that may be set here: 1. 2. 3. 4. 5.
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 MDrivePlus Microstepping will reduce the current in the windings of the motor to the percentage specified by MHC when the specified time elapses. 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 MDrivePlus driver section.
Screen 2: I/O Settings Configuration Screen The I/O Settings screen may be accessed by clicking View > IO Settings on the menu bar. This screen is used to configure the Input Clock type, the filtering and the Active High/Low State of the Enable Input. Input Clock Type The Input Clock Type translates the specified pulse source that the motor will use as a reference for establishing stepping resolution based on the frequency.
IMS Part Number/Serial Number Screen The IMS Part Number and Serial Number screen is accessed by clicking "View > Part and Serial Numbers". This screen is read-only and will display the part and serial number, as well as the fault code if existing. IMS may require this information if calling the factory for support. IMS Part # IMS Serial Number Figure 2.5.9: SPI Motor Interface Part and Serial Number Screen Fault Indication All of the IMS SPI Motor Interface Screens have the Fault field visible.
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 MDrivePlus Microstepping The IMS SPI Upgrader Screen New firmware releases are posted to the IMS web site at http://www.imshome.com. The IMS SPI Motor Interface is required to upgrade your MDrivePlus Microstepping product.
Initialization Screen This screen will be active under five conditions: 1. When the program initially starts up and seeks for a compatible device. 2. The User selects File > Exit when connected to the device. 3. The User clicks the Exit button while connected to the device. 4. The Upgrade Process completes. 5. The SPI Motor Interface is unable to connect to a compatible device. Figure 2.5.
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SECTIO N 2 . 6 Using User-Defined SPI The MDrivePlus can be configured and operated through the end-user's SPI interface without using the IMS SPI Motor Interface software and optional parameter setup cable. An example of when this might be used is in cases where the machine design requires parameter settings to be changed on-the-fly by a software program or multiple system MDrivePlus Microstepping units parameter states being written/read. SPI Timing Notes 1. 2. 3. 4. 5.
SPI Commands and Parameters Use the following table and figure found on the following page together as the Byte order read and written from the MDrivePlus Microstepping, as well as the checksum at the end of a WRITE is critical. SPI Commands and Parameters MSB LSB Command/ Parameter HEX (Default) Range Notes READ ALL 0x40 — Reads the hex value of all parameters Device (M) 0x4D — M Character precedes every READ Version_MSB 0x10 <1-8>.<0-9> Firmware Version.Sub-version, eg 1.
READ ALL CMD WRITE (MOSI): 40 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF RESPONSE (MISO): XX 4D 10 00 49 4D 53 19 05 00 00 01 F4 00 00 50 01 00 00 01 80 0 0 FAULT EN_ACT WARNTEMP CLKIOF CLKTYP HCDT_LO HCDT_HI DIR_OVRID MSEL MHC MRC USR_ID3 USR_ID2 USR_ID1 VERSION DEVICE 500 0 256 5 25 S M I 1.0.
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TM MICROSTEPPING Appendices Appendix A: MDrive34Plus Microstepping Motor Performance Appendix B: Planetary Gearboxes Appendix C: Connectivity Appendix D: Interfacing an Encoder Appendix E: Linear Slide Option Appendices A-1
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a ppend ix A MDrive34Plus Microstepping Motor Performance Speed-Torque Curves Single Length Rotary Motor 706 1000 24 VDC 45 VDC 75 VDC 800 700 635 465 494 600 423 500 353 400 282 300 211 200 140 100 71 0 0 1000 (300) 2000 (600) 3000 (900) 4000 (1200) 5000 (1500) 6000 (1800) Torque in N - cm Torque in Oz - In 900 7000 (2100) Speed in Full Steps per Second (RPM) Figure A.
Triple Length Rotary Motor 706 1000 24 VDC 45 VDC 75 VDC 800 700 635 465 494 600 423 500 353 400 282 300 211 200 140 100 71 0 0 1000 (300) 2000 (600) 3000 (900) 4000 (1200) 5000 (1500) 6000 (1800) Torque in N - cm Torque in Oz - In 900 7000 (2100) Speed in Full Steps per Second (RPM) Figure A.3: MDrive34Plus Microstepping Triple Length Speed-Torque Curves Motor Specifications Single Length Holding Torque............................................................................
Appendix B Planetary Gearboxes Section Overview This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox, and may include product sizes not relevant to this manual. Shown are: Product Overview Selecting a Planetary Gearbox Mechanical Specifications Product Overview All gearboxes are factory installed.
Calculating the Shock Load Output Torque (T AB ) Note: The following examples are based on picking “temporary variables” which may be adjusted. The shock load output torque (TAB) is not the actual torque generated by the MDrive and Planetary Gearbox combination, but is a calculated value that includes an operating factor (CB) to compensate for any shock loads applied to the Planetary Gearbox due to starting and stopping with no acceleration ramps, payloads and directional changes.
Nominal Output Torque Calculate the nominal output torque using the torque values from the MDrive’s Speed/Torque Tables. Nominal output torque (TN) is the actual torque generated at the Planetary Gearbox output shaft which includes reduction ratio (i), gear efficiency (η) and the safety factor (sf) for the MDrive.
Shock Load Output Torque The nominal output torque (TN) is the actual working torque the Planetary Gearbox will generate. The shock load output torque (TAB) 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 torque (TN) of the Planetary Gearbox is accurately calculated, shock loads can greatly increase the dynamic torque on the Planetary Gearbox.
System Inertia System inertia must be included in the selection of an MDrive and Planetary Gearbox. Inertia is the resistance an object has relative to changes in velocity. Inertia must be calculated and matched to the motor inertia. The Planetary Gearbox ratio plays an important role in matching system inertia to motor inertia. There are many variable factors that affect the inertia. Some of these factors are: The type of system being driven. Weight and frictional forces of that system.
Rack and Pinion In a system with a rack and pinion, the following must be considered: 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 the object the rack is moving Weight of rack Friction of rack in guide Preload or friction between pinion and rack Weight of pinion and shaft Load on rack Gearbox Motor Figure B.
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 fect the inertia The position of the load on the table, the distance from the center of the table will afHow the table is being driven and supported also affects the inertia Belt Drive In a system with a belt drive, the following must be considered: The weight or mass and size of the driving pulley The tension and/or friction of
Chain Drive In a system with a chain drive, the following 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 Weight of chain Weight and size of drive sprocket and hub Weight and size of driven sprocket, shaft and any material or parts being moved Figure B.
Planetary Gearbox for MDrive34Plus MDrive34Plus Planetary Gearbox Parameters Permitted Output Torque Gearbox Efficiency Maximum Backlash 0.80 0.75 0.70 1.0° 1.5° 2.0° Output Side with Ball Bearing Maximum Load Weight (lb-force/N) (oz/g) Radial Axial Gearbox with Flange 90/400 18/80 64.4/1827 66.7/1890 135/600 27/120 89.5/2538 92.6/2625 225/1000 45/200 92.6/2625 118.5/3360 (oz-in/Nm) 1-STAGE 2-STAGE 3-STAGE 2832/20.0 8496/60.0 16992/120.0 4x Ø 0.217 (Ø5.5) Hole† 1.575 (40.0) K1 ±0.02 (±0.5) 0.
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A pp endix C Connectivity MD-CC30x-001: USB to SPI Converter and Parameter Setup Cable WARNING! DO NOT connect or disconnect the MDCC300-001 Communications Converter Cable from MDrive while power is applied! The MD-CC30x-001 USB to SPI Parameter Setup Cable provides a communication connection between the Microstepping MDrives and the USB port on a PC. IMS SPI Interface Software communicates to the Parameter Setup Cable through the PC's USB port.
Note: Interactive installation tutorials are available at the IMS Web Site at http://www.imshome.com/ tutorials.html Connector Detail and Mating Connector Kit Should you choose to create your own interface cable IMS now has mating connector kits available which assist you in creating interface cables in small quantities. These kits come with the connector shells and crimp pins (if applicable) to create five interface cables.
MD-CC303-001 The MD-CC3030-001 interfaces to the model MDrivePlus Microstepping with a 12-Pin locking wire crimp type connector at location P1. This cable consists of two joined cables: 1. 6' (1.8m) RJ-45 Cable which plugs into the RJ-45 Jack of the converter body. 2. 13' (4.0 m) for I/O and Power connection. RJ-45 3.75 in (95.0 mm) 1.0 in (25.0 mm) 0.875 in (22.0 mm) To PC USB USB MD-CC3 USB to SPI Converter Cable www.imshome.com USB Cable Length 6.0 ft (1.
Connector Detail and Mating Connector Kit Should you choose to create your own interface cable IMS now has mating connector kits available which assist you in creating interface cables in small quantities. These kits come with the connector shells and crimp pins to create five interface cables. Connector Details Chip Select Comm Gnd +5 VDC Enable Opto Ref N/C 11 9 7 5 3 1 12 10 8 6 4 2 SPI MISO SPI MOSI SPI Clock Direction Step Clock N/C Figure C.
Installation Procedure for the MD-CC30x-000 These Installation procedures are written for Microsoft Windows XP Service Pack 2 or greater. The installation of the MD-CC30x-001 requires the installation of two sets of drivers, which may be downloaded from http://www.imshome.com: Drivers for the IMS USB to SPI Converter Hardware. Drivers for the Virtual Communications Port (VCP) used to communicate to your IMS Product. Therefore the Hardware Update wizard will run twice during the installation process.
) Select “Search for the best driver in these locations.” (a) Check “Include this location in the search.” (b) Browse to the location where you extracted the files in Step #2. (c) Click Next (Figure C.7). Figure C.7: Hardware Update Wizard Screen 3 9) The drivers will begin to copy. 10) On the Dialog for Windows Logo Compatibility Testing, click “Continue Anyway” (Figure C.8). 11) The Driver Installation will proceed. When the Completing the Found New Hardware Wizard dialog Figure C.
Determining the Virtual COM Port (VCP) The MD-CC30x-001 uses a Virtual COM Port to communicate through the USB port to the MDrive. A VCP is a software driven serial port which emulates a hardware port in Windows. The drivers for the MD-CC30x-001 will automatically assign a VCP to the device during installation. The VCP port number will be needed when IMS Terminal is set up in order that IMS Terminal will know where to find and communicate with your IMS Product. To locate the Virtual COM Port.
Prototype Development Cable PD12-1434-FL3 Wire Color Code Pair Number (Cable/Pair) 1/1 1/2 1/3 1/4 1/5 2/1 Color Combination Interface Signal MDrive Wire Crimp Connection Pin Number White/Blue Opto Reference 3 Blue/White Step Clock 4 White/Orange Enable 5 Orange/White Direction 6 White/Green SPI Clock 8 Green/White COMM GND 9 White/Brown +5VDC 7 Brown/White Master In - Slave Out 12 White/Gray Master Out - Slave In 10 Gray//White SPI Chip Select 11 Black N/C 1 Red N/C 2
PD10-3400-FL3 - Internal Differential Encoder The PD10-3400-FL3 is a 10' (3.0 M) Prototype Development Cable used to interface the encoder signals to the user's controller. The Connector end plugs into the P4 Connector of the MDrive34Plus. The Flying Lead end connects to a Control Interface such as a PLC.
Prototype Development Cable PD02-3400-FL3 — Main Power IMS recommends the Prototype Development Cable PD02-3400-FL3 for interfacing power to the MDrive34Plus2 Motion Control. To MDrivePlus 2-pin wire crimp Molex connector To Power Wire Colors Black Red Function Power Ground +V 10.0’ (3.0m) Figure C.16: PD02-3400-FL3 Connector Details side view front view pin details 2 Power GND 1 locking tab shell Figure C.
Appen d i x D Interfacing an Encoder Factory Mounted Internal Encoder The MDrivePlus Microstepping are available with a factory-mounted internal optical encoder. See Table E.1 for available line counts. Encoders are available in both single-end and differential configurations. All encoders have an index mark. Use of the encoder feedback feature of this product requires a controller such as an IMS MicroLYNX or PLC. The encoder has a 100 kHz maximum output frequency.
Encoder Connections Note: The MDM34 with Pluggable Interface is only available with a differential encoder.
Encoder Signals Single-End Encoder (Available with Flying Leads Version only) C Y X 2.4 V Channel A 0.4 V Z Rotation: CW – B Leads A CCW – A Leads B 2.4 V Channel B 0.4 V t1 t2 2.4 V Index 0.4 V Po Figure D.2: Single-End Encoder Signal Timing Differential Encoder C Y X Z t1 t2 Po 2.4 V 0.4 V Channel A + 2.4 V 0.4 V Channel A - 2.4 V 0.4 V Channel B + 2.4 V 0.4 V Channel B - 2.4 V 0.4 V Index + 2.4 V 0.4 V Index - Rotation: CW – B Leads A CCW – A Leads B Figure D.
Encoder Cable IMS offers an assembled cable for use with the Differential Encoder on MDM34 with the Pluggable Locking Wire Crimp interface . The IMS Part Number is listed below. Differential Encoder Cable (10' leads).......................................................................... PD10-3400-FL3 Recommended Encoder Mating Connectors IMS recommends the following mating connectors (or equivalent) if you make your own cables. Differential Encoder 10-Pin Friction Lock Wire Crimp.......................
Appen d i x E Linear Slide Option Features • • • • • • • • • • • • • • • Screw driven slide offering exceptional linear speed, accurate positioning and long life at a compelling value High bidirectional repeatability of up to 50 micro-inches (1.25 microns) Positional lead accuracy of 0.0006"/in. – accuracies to 0.0001"/in. available Linear speeds not limited by critical screw speed Standard leads: 0.10" travel per revolution - 0.50" travel per revolution 0.20" travel per revolution - 1.
Specifications Screw Efficiency Nom. Screw Diam. Inch Lead Max Drag Torque Life @ ¼ Design Load Torque to Move Load Axial Design Load Screw Lead % inches (mm) inches (mm) oz inch (Nm) inches (cm) oz inch/lb (Nm/kg) lbs (kg) 0.10" 40 0.625 (15.9) 0.100 (2.54) 5.0 (0.04) 100,000,000 (254,000,000) 1.3 (0.020) 100 (46) 0.20" 53 0.625 (15.9) 0.200 (5.08) 6.0 (0.04) 100,000,000 (254,000,000) 2.0 (0.031) 100 (46) 0.50" 76 0.625 (15.9) 0.500 (12.70) 7.0 (0.
WARRANTY TWENTY-FOUR (24) MONTH LIMITED WARRANTY 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 designed for a period of 24 months from the date of purchase of the Product by the Customer.
U.S.A. Sales offices Eastern Region Tel. 862 208-9742 - Fax 973 661-1275 e-mail: jroake@imshome.com Central Region Tel. 260 402-6016 - Fax 419 858-0375 e-mail: dwaksman@imshome.com Western Region Tel. 602 578-7201 e-mail: dweisenberger@imshome.com IMS ASIA PACIFIC OFFICE 30 Raffles Pl., 23-00 Caltex House, Singapore 048622 Tel. +65/6233/6846 - Fax +65/6233/5044 e-mail: wllee@imshome.com IMS EUROPEAN SALES MANAGEMENT 4 Quai Des Etroits 69005 Lyon, France Tel.
