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Manual Intelligent Motion Systems MDrive34Plus

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  • Intelligent Motion Systems MDrive34Plus - page 1

    MDrive34Plus Microstepping Integrated Motor and Driver TM ...

  • Intelligent Motion Systems MDrive34Plus - page 2

    The information in this book has been car efully check ed and is believed to be accurate; howe ver , no r esponsibility is assumed for inaccuracies . Intelligent Motion Systems, Inc., reser ves the right to mak e changes without further notice to any pr oducts herein to impr ove reliability , function or design. Intelligent Motion Systems, Inc., do ...

  • Intelligent Motion Systems MDrive34Plus - page 3

    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 specically designed for safety functions are not approved for applications where the functioning of the drive could enda ...

  • Intelligent Motion Systems MDrive34Plus - page 4

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  • Intelligent Motion Systems MDrive34Plus - page 5

    i T able Of Contents Getting S tarted: MDrive34Plus Microstepping .......................................................................... 1-1 Before Y ou Begin ....................................................................................................................... 1-1 T ools and Equipment Requir ed ................................ ...

  • Intelligent Motion Systems MDrive34Plus - page 6

    ii Minimum Requir ed Connections ............................................................................................ 2-20 Section 2.4: Connecting SP I Communications ......................................................................... 2-21 Connecting the SPI Interface ................................................................... ...

  • Intelligent Motion Systems MDrive34Plus - page 7

    iii Encoder Connections .............................................................................................................. A-26 Encoder Signals ....................................................................................................................... A-27 Encoder Cable ....................................................... ...

  • Intelligent Motion Systems MDrive34Plus - page 8

    iv F igure 2.5.10: SPI M otor Interface U pgrade Utility ................................................................ 2-32 F igure 2.5.11: SPI M otor Interface Initialization ..................................................................... 2-33 F igure 2.5.12: SPI M otor Interface P or t M enu .............................................. ...

  • Intelligent Motion Systems MDrive34Plus - page 9

    v List of T ables Part 1: Hardware Specifications T able 1.2.1: MDrive34Plus M icrostepping Electrical S pecifications .......................................... 1-7 T able 1.2.2: MDrive34Plus M icrostepping Environmental S pecifications ................................. 1-7 T able 1.2.3: MDrive34Plus M icrostepping I/O Specifications ............. ...

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    1-1 P art 1: Hardware S pecifications Note: A 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 maximum operating voltage of the driver . As a result, damage to the stepper driver could occur over a period of time. Care should be taken so that the back EMF does not exce ...

  • Intelligent Motion Systems MDrive34Plus - page 12

    1-2 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Install the IMS SPI Motor Interface The IMS SPI M otor Interface is a utility that easily allows you to set up the parameters of your MD rive34Plus Microstepping. I t is available both on the MDrive34P lus CD that came with your product and on the IM ...

  • Intelligent Motion Systems MDrive34Plus - page 13

    1-3 P art 1: Hardware S pecifications Section 1.1: MDrive34Plus Microstepping Product Introduction Section 1.2: MDrive34Plus Microstepping Detailed Specifications Part 1: Hardware Specifications TM MICROSTEPPING ...

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    1-4 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank ...

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    1-5 P art 1: Hardware S pecifications SECTION 1.1 Introduction to the MDrive34Plus Microstepping The MDrive34Plus M icrostepping high torque inte- grated motor and driver is ideal for designers who want the simplicity of a motor with on-board electronics. The integrated electronics of the MDrive34P lus eliminate the need to run motor cabling throu ...

  • Intelligent Motion Systems MDrive34Plus - page 16

    1-6 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02  Motor R un/Hold C urrent  Motor Dir ection vs. Direction Input  Microstep R esolution  Clock T ype: Step and D irection, Quadrature, S tep U p and Step Do wn  P rogrammable Digital F iltering for Clock and Direction I nputs  A v ...

  • Intelligent Motion Systems MDrive34Plus - page 17

    1-7 P art 1: Hardware S pecifications SECTION 1.2 MDrive34Plus Microstepping General Specifications Electrical Specifications Input V oltage (+V) Range* +12 to +75 VDC Max Power Supply Current (Per MDrive34Plus)* 4 A * Actual Power Supply Current will depend on Voltage and Load. T able 1.2.1: MDrive34Plus Microstepping E lectrical Specifications E ...

  • Intelligent Motion Systems MDrive34Plus - page 18

    1-8 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 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 P arameter Setup Cable is available and r ecommended with the first order . MDri ...

  • Intelligent Motion Systems MDrive34Plus - page 19

    1-9 P art 1: Hardware S pecifications Mechanical Specifications Dimensions in Inches (mm) Figur e 1.2.1: MDrive34Plus Microstepping Dimensional I nformation Ø 1.90 (Ø 48.3) L MAX2 Option - Control Knob Ø 0.5512 +0/-0.0004 (Ø 14.0 +0/-0.010 ) 4X Ø 0.217 (Ø 5.51) 2.739 SQ. (69.57 SQ.) 3.39 SQ. (86.1 SQ.) Ø 2.874 ±0.002 (Ø 73.0 ±0.05 ) L MA ...

  • Intelligent Motion Systems MDrive34Plus - page 20

    1-10 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Connector Options The MDrive34Plus M icrostepping comes in three Connector Options 12" (30.5 cm) Flying Leads 1. Locking Wir e Crimp Connectors 2. Connector Options P2 P1 P1 P3 P1 P3 P4 P1 T ype: 12’ (30.5 cm) Flying Leads Function: Power , I ...

  • Intelligent Motion Systems MDrive34Plus - page 21

    1-1 1 P art 1: Hardware S pecifications Pin Assignment And Description - Flying Leads V ersion P1 Connector - Power , I/O and Internal Optical Encoder (Optional) Pin Assignment - P1 Power and I/O Connections Flying Lead Wire Color Wire Color with Internal Encoder Function Description White White Opto Reference The Signal applied to the Optocoupler ...

  • Intelligent Motion Systems MDrive34Plus - page 22

    1-12 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 White: OptoRef Orange: Step Clock Blue: Direction Brown: Enable Black: GND Red: +VDC Y ellow/Black: Ground Y ellow/Violet: Index Y ellow/Blue: Channel A Y ellow/Red: +5 VDC Input Y ellow/Brown: Channel B Figur e 1.2.4: MDrive34Plus Microstepping F l ...

  • Intelligent Motion Systems MDrive34Plus - page 23

    1-13 P art 1: Hardware S pecifications Note: The P2 Connector (10- Pin IDC, SPI Communications) is only available on the Flying Leads version of the MDrive34Plus Microstepping. On the models with pluggable connectors, SPI Communications interfaces to P1 (12-Pin Locking Wire Crimp) NEED A CABLE? The following cables and converters are available to ...

  • Intelligent Motion Systems MDrive34Plus - page 24

    1-14 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Pin Assignment And Description - Pluggable Interface V ersion P1 Connector - I/O and SPI Communications, 12-Pin Locking W ire Crimp Pin Assignment - P1 Power , I/O and SPI Connections Pin # Function Description Pin 1 N/C No Connect. Pin 2 N/C No Con ...

  • Intelligent Motion Systems MDrive34Plus - page 25

    1-15 P art 1: Hardware S pecifications P3 Connector - DC Power , 2-Pin Locking W ire Crimp Pin Assignment - P3 Power 2-Pin Locking Wire Crimp Function Description Pin 1 +V +12 to +75 VDC, 4 Amps Maximum per MDrive34Plus. Pin 2 GND Power Supply Return. T able 1.2.11: P3 Connector Figur e 1.2.8: P3 Connector - DC P ower +12 to +75 VDC 1 2 P3 Recomme ...

  • Intelligent Motion Systems MDrive34Plus - page 26

    1-16 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Figur e 1.2.9: P4 Connector – Internal Differ ential Encoder I nterface P4 Recommended Cable: P/N PD10-3400-FL3 1 3 5 7 9 2 4 6 8 10 NEED A CABLE? The following cables and converters are available to interface with P4: 10-Pin Friction Lock Wire Cr ...

  • Intelligent Motion Systems MDrive34Plus - page 27

    1-17 P art 1: Hardware S pecifications Connectivity QuickStart Kit F or rapid design verification, all-inclusive QuickS tart Kits have communication converter , prototype develop- ment cable(s), instructions and CD for MDrivePlus initial functional setup and system testing. Communication Converters Electrically isolated, in-line converters pre-wir ...

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    1-18 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank ...

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    2-1 P art 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 2.4: Using User-Defined SPI Part 2: Interfacing and Configuring TM MICROSTEPPING ...

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    2-2 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age I ntentionally Left Blank ...

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    2-3 P art 2: Interfacing and Configuring SECTION 2.1 Mounting and Interface Guidelines Mounting Recommendations Flange mounting holes ar e 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 Flange or Adapter Plate* * When ...

  • Intelligent Motion Systems MDrive34Plus - page 32

    2-4 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Layout and Interface Guidelines Logic level cables must not run parallel to power cables. P ower 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 ...

  • Intelligent Motion Systems MDrive34Plus - page 33

    2-5 P art 2: Interfacing and Configuring Recommended W iring The following wiring/cabling is recommended for use with the MD rivePlus: Logic Wiring ......................................................................................................................22 A WG Wire S trip Length ........................................................ ...

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    2-6 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Figur e 2.1.3: T ypical MDrive Shown with Leads S ecured A dhesive Anchor/T ywrap P1: Logic Wiring P3: Power Separation between Logic and Power Securing Power Leads and Logic Leads Some applications may requir e that the MDrive mov e with the axis mo ...

  • Intelligent Motion Systems MDrive34Plus - page 35

    2-7 P art 2: Interfacing and Configuring SECTION 2.2 Interfacing DC Power Choosing a Power Supply for Y our MDrive When choosing a power supply for your MDrivePlus ther e 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 c ...

  • Intelligent Motion Systems MDrive34Plus - page 36

    2-8 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 DC Power Supply Recommendations The power r equirements for the Motion Contr ol MDrive34Plus are: Output V oltage ...................................................................+12 to +75 VDC (Includes B ack EMF) Curr ent (max. per unit) ........ ...

  • Intelligent Motion Systems MDrive34Plus - page 37

    2-9 P art 2: Interfacing and Configuring Connecting DC Power Connect the DC P ow er Supply to your MD rivePlus in accordance with the follo wing illustrations. Figure 2.2.2 DC Power Connections Unregulated Linear or Switching Power Supply Power Ground +VDC Shield to Earth Ground + – ! W ARNING! Do not connect or disconnect cabling while power is ...

  • Intelligent Motion Systems MDrive34Plus - page 38

    2-10 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Example C – Cabling 50 Feet or Greater , AC Power to Power Supply Shield to Earth Ground on Supply End Only π T ype RFI Filter ≥ Required Current 120 or 240 V AC Dependent on Power Supply Power Supply + - T o Cable A DC V olts Out Shielded T wi ...

  • Intelligent Motion Systems MDrive34Plus - page 39

    2-1 1 P art 2: Interfacing and Configuring MDrive34Plus Recommended Power Supply Cable A WG 1 Amperes (Peak) 3 Amperes (Peak) Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100* Minimum A WG 20 20 18 18 16 Minimum A WG 18 16 14 12 12 2 Amperes (Peak) 4 Amperes (Peak) Length (Feet) 10 25 50* 75* 100* Length (Feet) 10 25 50* 75* 100* M ...

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    2-13 P art 2: Interfacing and Configuring SECTION 2.3 Isolated Input Interface and Connection Optically Isolated Logic Inputs The MDrivePlus Microstepping has three optically iso- lated inputs which are located at the flying leads or on connector P1. These inputs are iso- lated to minimize or eliminate electrical noise coupled onto the drive contr ...

  • Intelligent Motion Systems MDrive34Plus - page 42

    2-14 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Figur e 2.3.2: Isolated I nput Pins and Connections 12-Pin Locking Wire Crimp 12” Flying Leads Controller P1 White Orange Blue Brown A Pin 3 Pin 5 Pin 4 Pin 6 A A B B C C D D D Step Clock Channel A Clock Up Direction Channel B Clock Down Enable Op ...

  • Intelligent Motion Systems MDrive34Plus - page 43

    2-15 P art 2: Interfacing and Configuring 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 a ...

  • Intelligent Motion Systems MDrive34Plus - page 44

    2-16 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 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 (CW/CCW) TIMING Figur e 2.3.5: Clock Input Timing Char acteris ...

  • Intelligent Motion Systems MDrive34Plus - page 45

    2-17 P art 2: Interfacing and Configuring 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. Ground the Opto supply at the controller I/O ground. Optocoupler Reference The MDrivePlus M icrostepping Logic Inputs are optically isolated to pr ...

  • Intelligent Motion Systems MDrive34Plus - page 46

    2-18 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 + +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) MDrivePlus M ...

  • Intelligent Motion Systems MDrive34Plus - page 47

    2-19 P art 2: Interfacing and Configuring Switch Interface Example Switch Interface (Sinking) Switch Interface (Sourcing) + +5 to +24VDC Opto Ref. SPST Switch GND + Enable Input +5 to +24VDC GND SPST Switch MDrivePlus Speed Control MDrivePlus Speed Control Input Input Opto Ref. Figur e 2.3.7: Switch I nterface Example ...

  • Intelligent Motion Systems MDrive34Plus - page 48

    2-20 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Minimum Required Connections The connections shown are the minimum r equired to operate the MDrivePlus M icrostepping. These are illustrated in both Sinking and Sour cing Configurations. Please reference the P in Configuration diagram and Specificat ...

  • Intelligent Motion Systems MDrive34Plus - page 49

    2-21 P art 2: Interfacing and Configuring SECTION 2.4 Connecting SPI Communications Connecting the SPI Interface The SPI (Serial P eripheral Interface) is the communications and configuration interface. F or prototyping we recommend the purchase of the parameter setup cable MD-CC300-000. F or more information on prototype development cables, pleas ...

  • Intelligent Motion Systems MDrive34Plus - page 50

    2-22 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 SPI Pins and Connections Figur e 2.4.1: SPI Pins and Connection — A ll Connector Styles 12-Pin Locking Wire Crimp 10-Pin IDC (Only present on models with Flying Lead) PC Parallel Port P1 P2 Pin 1 1 Pin 12 Pin 4 Pin 5 Pin 7 Pin 7 Pin 10 Pin 8 Pin 6 ...

  • Intelligent Motion Systems MDrive34Plus - page 51

    2-23 P art 2: Interfacing and Configuring Logic Level Shifting and Conditioning Circuit The following circuit diagram is of a Logic Level shifting and conditioning cir cuit. This circuit should be used if you are making your o wn parameter cable and are using a laptop computer with 3.3 V output parallel ports. U1:A U1:B U1:D U1:C HCT125 HCT125 HCT ...

  • Intelligent Motion Systems MDrive34Plus - page 52

    2-24 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 SPI Master SPI Clock MOSI MISO CS SPI Clock MOSI MISO CS1 CS2 SPI Master MDriveACPlus Microstepping #1 MDriveACPlus Microstepping MDriveACPlus Microstepping #2 Figur e 2.4.4: SPI Master with a Single MDriv ePlus Microstepping SPI Master with Multipl ...

  • Intelligent Motion Systems MDrive34Plus - page 53

    2-25 P art 2: Interfacing and Configuring SECTION 2.5 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 MD rivePlus Microstepping. I t is available both on the CD that came with your product and on the IMS web site at http:// www .imshome.com/software_in ...

  • Intelligent Motion Systems MDrive34Plus - page 54

    2-26 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 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 nitia ...

  • Intelligent Motion Systems MDrive34Plus - page 55

    2-27 P art 2: Interfacing and Configuring Recall! Retrieves the settings from the MD rivePlus Microstepping. Upgrade! U pgrades the MDrivePlus Micr ostepping firmware by placing the device in U pgrade Mode and launching the firmware upgrader utility . Help > IMS Internet T utorials: Link to an IMS W eb Site page containing Interactive flash tut ...

  • Intelligent Motion Systems MDrive34Plus - page 56

    2-28 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Screen 1: The Motion Settings Configuration Screen The IMS SPI M otor Interface Software opens b y default to the Motion Settings Scr een shown on the left. There are six basic parameters that may be set her e: 1. MSEL: Microstep R esolution Select. ...

  • Intelligent Motion Systems MDrive34Plus - page 57

    2-29 P art 2: Interfacing and Configuring HCDT (Hold Current Delay T ime) The HCDT Motor H old Curr ent Delay sets time in milliseconds for the Run Curr ent to switch to Hold C urrent when motion is complete. When motion is complete, the MDriv ePlus Microstepping will reduce the curr ent in the windings of the motor to the percentage specified by ...

  • Intelligent Motion Systems MDrive34Plus - page 58

    2-30 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Screen 2: I/O Settings Configuration Screen The I/O Settings screen may be accessed b y clicking View > IO Settings on the menu bar . This screen is used to configure the Input Clock type, the filtering and the A ctive High/Lo w State of the Enab ...

  • Intelligent Motion Systems MDrive34Plus - page 59

    2-31 P art 2: Interfacing and Configuring IMS Part Number/Serial Number Screen The IMS P art Number and S erial Number scr een is accessed by clicking "View > P art and Serial N umbers". 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 cal ...

  • Intelligent Motion Systems MDrive34Plus - page 60

    2-32 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 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 MDrivePlu ...

  • Intelligent Motion Systems MDrive34Plus - page 61

    2-33 P art 2: Interfacing and Configuring Initialization Screen This screen will be active under five conditions: When the program initially starts up and seeks for a compatible device. 1. The U ser selects File > E xit when connected to the device. 2. The U ser clicks the Exit button while connected to the device. 3. The U pgrade Process compl ...

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    2-34 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank ...

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    2-35 P art 2: Interfacing and Configuring SECTION 2.6 Using User -Defined SPI The MDrivePlus can be configur ed and operated through the end-user's SPI interface without using the IMS SPI Motor I nterface software and optional parameter setup cable. An example of when this might be used is in cases where the machine design requir es paramete ...

  • Intelligent Motion Systems MDrive34Plus - page 64

    2-36 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 SPI Commands and Parameters U se the following table and figure found on the following page together as the B yte order read and written fr om the MDrivePlus M icrostepping, as well as the checksum at the end of a WRITE is critical. SPI Commands and ...

  • Intelligent Motion Systems MDrive34Plus - page 65

    2-37 P art 2: Interfacing and Configuring WA 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 01 00 F AUL T EN_ACT RESPONSE (MISO): WRITE (MOSI): READ ALL CM ...

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  • Intelligent Motion Systems MDrive34Plus - page 67

    A-1 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 TM MICROSTEPPING ...

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    A-2 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age I ntentionally Left Blank ...

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    A-3 Appendices appendix A MDrive34Plus Microstepping Motor Perfor mance Speed-T or que Curves Figur e A.1: MDrive34Plus Microstepping S ingle Length Speed-T orque Curves Figur e A.2: MDrive34Plus Microstepping D ouble Length Speed-T orque C urves Single Length Rotary Motor Double Length Rotary Motor 900 1000 800 700 600 500 400 300 200 100 0 0 1000 ...

  • Intelligent Motion Systems MDrive34Plus - page 70

    A-4 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Double Length Holding T orque ............................................................................................... 575 oz-in/406 N-cm Detent T orque .......................................................................................... ...

  • Intelligent Motion Systems MDrive34Plus - page 71

    A-5 Appendices 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 relev ant to this manual. Shown ar e:  Product Overview  Selecting a Planetary Gearbox  Mechanical Specications Product Ove ...

  • Intelligent Motion Systems MDrive34Plus - page 72

    A-6 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Calculating the Shock Load Output T orque (T AB ) 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 lanetar ...

  • Intelligent Motion Systems MDrive34Plus - page 73

    A-7 Appendices 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 reduction ratio (i), gear efficiency ( η ) and the safety factor (s f ) for the MDriv e. Onc ...

  • Intelligent Motion Systems MDrive34Plus - page 74

    A-8 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 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 accelerat ...

  • Intelligent Motion Systems MDrive34Plus - page 75

    A-9 Appendices System Inertia System inertia must be included in the selection of an MDrive and P lanetar y Gearbo x. Inertia is the resistance an object has relative to changes in velocity . Inertia must be calculated and matched to the motor inertia. The Plan- etary Gearbox ratio plays an important role in matching system inertia to motor inertia ...

  • Intelligent Motion Systems MDrive34Plus - page 76

    A-10 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 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 ? ...

  • Intelligent Motion Systems MDrive34Plus - page 77

    A-1 1 Appendices 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 from the center of the table will af- fect the inertia    Ho w the table is ...

  • Intelligent Motion Systems MDrive34Plus - page 78

    A-12 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 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 cha ...

  • Intelligent Motion Systems MDrive34Plus - page 79

    A-13 Appendices Figur e B.7: Planetary Gearbox Specifications for MDriv e34Plus Planetary Gearbox for MDrive34Plus MDrive34Plus Planetary Gearbox Parameters Permitted Output T orque (oz-in/Nm) Gearbox Efficiency Maximum Backlash Output Side with Ball Bearing Maximum Load (lb-force/N) Weight (oz/g) Radial Axial Gearbox with Flange 1-ST AGE 2832/20.0 ...

  • Intelligent Motion Systems MDrive34Plus - page 80

    A-14 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 P age I ntentionally Left Blank ...

  • Intelligent Motion Systems MDrive34Plus - page 81

    A-15 Appendices WARN ING! DO NOT connect or disconnect the MD- CC300-001 C o m m un ic at i o n s C o n v er te r C a b l e f ro m MD r i v e w h i l e po we r i s applied! Appendix C Connectivity MD-CC30x-001: USB to SPI Converter and Parameter Setup Cable The MD-CC30x-001 USB to SPI P arameter Setup Cable pr ovides a communication connection betw ...

  • Intelligent Motion Systems MDrive34Plus - page 82

    A-16 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 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 cr eate your own interface cable IMS now has mating connector kits a ...

  • Intelligent Motion Systems MDrive34Plus - page 83

    A-17 Appendices MD-CC303-001 The MD-CC3030-001 interfaces to the model MDrivePlus M icrostepping with a 12-Pin locking wire crimp type connector at location P1. This cable consists of two joined cables: 6' (1.8m) RJ-45 Cable which plugs into the RJ-45 J ack of the converter body . 1. 13' (4.0 m) for I/O and P ow er connection. 2. Connecti ...

  • Intelligent Motion Systems MDrive34Plus - page 84

    A-18 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Connector Details Figur e C.4: 12-Pin Wire Crimp Mating Connector Kit p/n: CK-03 Description: 5 m atin g co nnec tor shel ls a nd c rimp pin s. R eco mmen d T yco Crim p to ol ( N ot i nclu ded) . T yco P arts: Shell: 1-794617-2 Pins: 794610-1 Crimp ...

  • Intelligent Motion Systems MDrive34Plus - page 85

    A-19 Appendices Installation Procedure for the MD-CC30x-000 These Installation procedur es are written for Microsoft Windows XP Service P ack 2 or greater . The installation of the MD-CC30x-001 requires the installation of two sets of drivers, which may be do wnloaded from http://www .imshome.com:  Drivers for the IMS USB to SP I Converter Ha ...

  • Intelligent Motion Systems MDrive34Plus - page 86

    A-20 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 86) S elect “Search for the best driver in these locations.” (a) Check “I nclude this location in the search.” (b) B rowse to the location where you extracted the files in S tep #2. (c) Click N ext (F igure C.7). 9) The drivers will begin to ...

  • Intelligent Motion Systems MDrive34Plus - page 87

    A-21 Appendices Determining the V irtual COM Port (VCP) The MD-CC30x-001 uses a Virtual COM P ort to communicate through the USB port to the MDrive. A V CP is a software driven serial port which emulates a hardwar e port in Windows. The drivers for the MD-CC30x-001 will automatically assign a V CP to the device during installation. The V CP port nu ...

  • Intelligent Motion Systems MDrive34Plus - page 88

    A-22 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Prototype Development Cable PD12-1434-FL3 Wire Color Code Pair Number (Cable/Pair) Color Combination Interface Signal MDrive Wire Crimp Connection Pin Number 1/1 White/Blue Opto Reference 3 Blue/White Step Clock 4 1/2 White/Orange Enable 5 Orange/Wh ...

  • Intelligent Motion Systems MDrive34Plus - page 89

    A-23 Appendices Connector Details Connector Detail and Mating Connector Kit Should you choose to cr eate 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. Figur e C.14: PD10- ...

  • Intelligent Motion Systems MDrive34Plus - page 90

    A-24 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Connector Details Figur e C.16: PD02-3400-FL3 Mating Connector Kit p/n: CK-05 Description: 5 m atin g co nnec tor shel ls a nd c rimp pin s. R eco mmen d M ole x C rimp too l (N ot in - cluded). Molex P arts: Shell: 510-67-0200 Pins: 502-17-9101 Cri ...

  • Intelligent Motion Systems MDrive34Plus - page 91

    A-25 Appendices Appendix D Interfacing an Encoder Factory Mounted Internal Encoder The MDrivePlus M icrostepping are available with a factory-mounted internal optical encoder . See T able E.1 for available line counts. Encoders are av ailable in both single-end and differential configurations. All encoders have an index mark. U se of the encoder fe ...

  • Intelligent Motion Systems MDrive34Plus - page 92

    A-26 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Encoder Connections Figur e D.1: Single-End and Differ ential Encoder Connections Yellow /Black: Ground Yellow /Violet: Index+ Yellow /Blue: Channel A+ Yellow /Red: +5VDC Input Yellow /Brown: Channel B+ Yellow /Gray: Index - Yellow /Green: Channel A ...

  • Intelligent Motion Systems MDrive34Plus - page 93

    A-27 Appendices 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 Channel A Channel B Index Rotation: CW – B Leads A CCW – A Leads B 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 yc ...

  • Intelligent Motion Systems MDrive34Plus - page 94

    A-28 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 Relevant to F irmware V ersion 3.0.02 Encoder Cable IMS offers an assembled cable for use with the Differential E ncoder on MDM34 with the Pluggable Locking Wir e Crimp interface . The IMS P art Number is listed belo w . Differential E ncoder Cable (10' leads) ..................... ...

  • Intelligent Motion Systems MDrive34Plus - page 95

    A-29 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o ...

  • Intelligent Motion Systems MDrive34Plus - page 96

    A-30 MDrive 34Plus M icrostepping Hardwar e - Revision R071108 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.se ...

  • Intelligent Motion Systems MDrive34Plus - page 97

    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 MDrive34Plus - page 98

    © Intelligent Motion Systems, Inc. All Rights Reserved. REV071 108 IMS Product Disclaimer and most recent product information at www .imshome.com. Intelligent Motion Systems, Inc. 370 North Main Street, P .O. Box 457 Marlborough, CT 06447 - U.S.A. T el. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107 e-mail: info@imshome.com http: //www .imshome.c ...

Manufacturer Intelligent Motion Systems Category Home Safety Product

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A manual, also referred to as a user manual, or simply "instructions" is a technical document designed to assist in the use Intelligent Motion Systems MDrive34Plus by users. Manuals are usually written by a technical writer, but in a language understandable to all users of Intelligent Motion Systems MDrive34Plus.

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