mdrive speed control - koco motion€¦ · nual and the other relevant documentation are authorized...

MDrive® Speed Control

MDrive Speed Control Manual Revision R062910

Copyright © Schneider Electric Motion USA, All Rights Reserved

MDrive Speed Control Manual Change Log

Date Revision Changes

06/29/2010 R062910 Reformatted to current documentation standards and format.

The information in IMS Schneider Electric Motion USA product documen-tation and on this web site has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies.

IMS Schneider Electric Motion USA reserves the right to make changes without further notice to any products to improve reliability, function or design. IMS Schneider Electric Motion USA does not assume any liability arising out of the application or use of any product or circuit described; neither does it convey any license under its patent rights of others.

IMS Schneider Electric Motion USA’s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury. Per the terms and conditions of sales of IMS Schneider Electric Motion USA, the user of IMS Schneider Electric Motion USA products in life support or aircraft applications assumes all risks of such use and indemnifi es IMS Schneider Electric Motion USA against all damages. aircraft applications assumes all risks of such use and indemnifi es IMS Schneider Electric Mo-tion USA against all damages.

Important information

The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specifi cally designed for safety functions are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or un-braked movements can never be totally excluded without additional safety equipment. For this reason personnel must never be in the danger zone of the drives un-less additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also required.

Qualifi cation of personnel

Only technicians who are familiar with and understand the contents of this ma-nual and the other relevant documentation are authorized to work on and with this drive system. The technicians must be able to detect potential dangers that may be caused by setting parameters, changing parameter values and generally by the operation of mechanical, electrical and electronic equipment.

The technicians must have suffi cient technical training, knowledge and expe-rience to recognise and avoid dangers.

The technicians must be familiar with the relevant standards, regulations and safety regulations that must be observed when working on the drive system.

Intended Use

The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specifi cally designed for safety functions are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or unbraked movements can never be totally excluded without additional safety equipment.

For this reason personnel must never be in the danger zone of the drives un-less additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also required.

In all cases the applicable safety regulations and the specifi ed operating conditions, such as environmental conditions and specifi ed technical data, must be observed.

The drive system must not be commissioned and operated until completion of installation in accordance with the EMC regulations and the specifi cations in this manual. To prevent personal injury and damage to property damaged drive systems must not be installed or operated.

Changes and modifi cations of the drive systems are not permitted and if made all no warranty and liability will be accepted.

The drive system must be operated only with the specifi ed wiring and appro-ved accessories. In general, use only original accessories and spare parts.

The drive systems must not be operated in an environment subject to explo-sion hazard (ex area).

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Table of Contents

Part 1: General Usage

1 Introduction ................................................................................ 1-12 Safety .......................................................................................... 2-13 Interfacing power ....................................................................... 3-14 Interfacing communications ..................................................... 4-15 Using SPI Motor Interface ......................................................... 5-16 Interfacing I/O ............................................................................ 6-1

Part 2: Detailed specifi cations and connectivity information

MDrive17Plus 1 Introduction ................................................................................ 1-12 Specifi cations ............................................................................ 2-13 Mounting and connection recommendations ......................... 3-1

4 Connection and interface ......................................................... 4-1

MDrive23Plus 1 Introduction ................................................................................ 1-12 Specifi cations ............................................................................ 2-13 Mounting and connection recommendations ......................... 3-1

4 Connection and interface ......................................................... 4-1

MDrive34Plus 1 Introduction ................................................................................ 1-12 Specifi cations ............................................................................ 2-13 Mounting and connection recommendations ......................... 3-14 Connection and interface .......................................................... 41

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MDrive® Speed Control

Part 1: General Usage

Introduction1. Safety2. Interfacing power3. Interfacing communications4. Using SPI Motor Interface5. Interfacing the I/O6.



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Table of Contents

Important information ................................................................... 3Qualifi cation of personnel ............................................................ 3Intended Use ............................................................................... 3

1 Introduction ................................................................................ 1-11.1 MDrive versions ..............................................................1-11.2 Documentation reference ................................................1-21.3 Product software .............................................................1-2

1.3.1 Communications converter drivers ....................1-21.3.2 SPI motor interface ............................................1-2

2 Safety ............................................................................................. 12.1 Qualifi cation of personnel ................................................... 12.2 Intended Use ...................................................................... 12.3 Hazard Categories ............................................................. 22.4 General safety instructions ................................................. 2

3 Power supply selection and connection ................................. 3-13.1 Selecting a power supply (+V) ........................................3-2

3.1.1 Power supply — motor relationship ...................3-23.1.2 Power supply — driver relationship ...................3-23.1.3 Regulated vs unregulated ..................................3-2

3.3 Power supply cabling best practices and recommendations ............................................................3-3

3.3.1 DC Cabling Under 50’ (15.24 m) .......................3-43.3.2 50’ (15.24 m) or greater, AC power to full wave bridge 3-43.3.3 50’ (15.24 m) or greater, AC power DC supply ..3-53.3.4 Recommended power supply cable wire gauges ...............................................................3-5

3.4 Switching DC power (DPM75 accessory) .......................3-6

4 Communications and parameter setup ................................... 4-14.1 SPI communications interface .........................................4-1

4.1.1 SPI defi nition ......................................................4-14.1.3 SPI connection methods ....................................4-24.1.4 Logic level shifting circuit ...................................4-54.1.5 SPI Timing .........................................................4-6

5.2 SPI Commands and parameters .....................................4-75.2.1 SPI Communications sequence .........................4-8

5 Using SPI Motor Interface ......................................................... 5-15.1 Installation .......................................................................5-1

5.1.2 Converter driver installation ...............................5-15.2 SPI Motor Interface ............................................5-2

5.2 Setting parameters with SPI Motor Interface ...................5-35.2.1 Confi guration parameters ..................................5-35.2.2 SPI Motor Interface menu options .....................5-35.2.3 General features ................................................5-45.2.4 SPI Motor Interface button functions .................5-55.2.5 Analog Settings Confi guration Screen ...............5-65.2.6 Motion Settings Confi guration Screen ...............5-95.2.7 IO Settings Confi guration Screen ....................5-13

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5.2.8 Part Number/Serial Number Screen ................5-145.2.9 Fault Codes ....................................................5-145.2.10 Upgrading the fi rmware in the MDrive Speed Control .............................................................5-15

5 Interfacing the I/O ...................................................................... 6-16.1 Interfacing the speed control input ..................................6-2

6.1.1 Interface methods ..............................................6-26.2 Logic inputs (non-isolated) ..............................................6-46.3 Logic inputs (optically isolated — MDrive34Plus only) ....6-5

6.3.1 Isolated input overview ......................................6-56.3.2 Isolated input equivalent circuit ..........................6-56.3.3 Isolated input interface examples ......................6-6

6.4 Clock outputs (open-drain — MDrive34Plus only) ..........6-76.4.1 Interfacing the clock outputs ..............................6-7

List of Figures

Figure 3.1 DC power supply cabling under 50’ (15.24 m) ......................3-4Figure 3.2 50’ (15.24 m) or greater, AC power to full wave bridge ....3-5Figure 3.3 50’ (15.24 m) or greater, AC power to DC supply .............3-5Figure 3.4 DPM75 basic wiring and connection .....................................3-6Figure 5.1 Single SPI master - single MDrive slave ...............................4-2Figure 5.2 Single SPI master - Independent MDrive slaves ...................4-3Figure 5.3 Single SPI master - Cooperative MDrive slaves ...................4-4Figure 5.4 Logic level shifting and conditioning circuit ...........................4-5Figure 5.5 SPI Timing .............................................................................4-6Figure 5.1 Analog settings screen ..........................................................5-6Figure 5.2 Motion parameter settings screen ........................................5-9Figure 5:3 MSDT - HCDT relationship ..................................................5-11Figure 5.4 I/O parameter settings screen .............................................5-13Figure 6.1 Voltage mode 0 to 5 VDC ......................................................6-2Figure 6.2 Voltage mode 0 to 10 VDC ....................................................6-3Figure 6.3 Current mode interface ..........................................................6-3Figure 6.4 Interfacing the TTL logic inputs .............................................6-4Figure 6.5 Optically isolated input equivalent circuit...............................6-5Figure 6.6 Open collector sinking input ..................................................6-6Figure 6.7 Open collector sourcing input ................................................6-6Figure 6.8 Switch interface sinking input ................................................6-6Figure 6.9 Switch interface sourcing input ..............................................6-6Figure 6.10 Interfacing the clock outputs ..................................................6-7

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List of Tables

See the product detail section of this document for specifi c power supply voltage and current requirements and recommended power supplies. .....3-3Table 3.1 Power supply cable AWG recommendations ........................3-5Table 5.1 SPI Commands and Parameters ...........................................4-7Table 5.2: SPI Read All Byte Order and Defaults .....................................4-8Table 5.3: SPI Write All Byte Order and Defaults .....................................4-9Table 5.1 Confi guration parameters ......................................................5-3Table 5.2 Full scale ranges for analog input mode parameter ..............5-7Table 5.3 Range for the joystick center parameter ...............................5-7Table 5.4 Range for the joystick deadband parameter .........................5-8Table 5.5 Microstep resolution settings ...............................................5-10Table 6.1 TTL logic inputs .....................................................................6-4Table 6.2 Isolated logic inputs ...............................................................6-5

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Integrated Motor and Driver 1-1

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1 Introduction

The MDrive® Plus Speed Control integrated drive with programmable velocity control is a 1.8° 2-phase stepper motor with on-board control electronics. The velocity control uses voltage, current, or PWM input signals.

Settings for MDrive Plus Speed Control products may be changed on-the-fl y or downloaded and stored in nonvolatile memory using the IMS SPI Motor Interface software provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port.

The MDrive Plus Speed Control integrated drive with programmable velocity control is ideal for machine builders who want an optimized mo-tor with on-board electronics. The integrated electronics of the MDrive Plus Speed Control integrated drive with programmable velocity control reduces the potential for problems due to electrical noise in eliminating the cable between motor and drive.

These compact, powerful and cost effective motion control solutions de-liver unsurpassed smoothness and performance that will reduce system cost, design and assembly time for a large range of 2-phase stepper motor applications.

1.1 MDrive versions

MDriveThe MDrive is available in the following power ranges and fl ange sizes:

+12 to +48 VDC

NEMA 17

+12 to +75 VDC

NEMA 23

NEMA 34

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1.2 Documentation reference

The following user’s manuals are available for the MDrive:

Product hardware manual, describes the technical data, installation and confi guration of the product.

Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.

This documentation is also available for download from the IMS web site at http://www.imshome.com

1.3 Product software

1.3.1 Communications converter drivers

If using the IMS communications converter, drivers are required, these drivers are available for download from the IMS web site at http://www.imshome.com/downloads/cable_drivers.html.

1.3.2 SPI motor interface

The MDrive Speed Control is confi gured using the SPI motor interface, a GUI that grants access to all the features of the MDrive Speed Control and automatically detects the model MDrive being confi gured.

Installation and usages instructions are to be found in Section 5 of this document.

This software may be downloaded from http://www.imshome.com/down-loads/software_interfaces.html


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2 Safety

2.1 Qualifi cation of personnel

Only technicians who are familiar with and understand the contents of this manual and the other relevant documentation are authorized to work on and with this drive system. The technicians must be able to detect potential dangers that may be caused by setting param-eters, changing parameter values and generally by the operation of mechanical, electrical and electronic equipment.

The technicians must have suffi cient technical training, knowledge and experience to recognise and avoid dangers.

The technicians must be familiar with the relevant standards, regula-tions and safety regulations that must be observed when working on the drive system.

2.2 Intended Use

The drive systems described here are products for general use that conform to the state of the art in technology and are designed to pre-vent any dangers. However, drives and drive controllers that are not specifi cally designed for safety functions are not approved for appli-cations where the functioning of the drive could endanger persons. The possibility of unexpected or unbraked movements can never be totally excluded without additional safety equipment.

For this reason personnel must never be in the danger zone of the drives unless additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also re-quired.

In all cases the applicable safety regulations and the specifi ed op-erating conditions, such as environmental conditions and specifi ed technical data, must be observed.

The drive system must not be commissioned and operated until completion of installation in accordance with the EMC regulations and the specifi cations in this manual. To prevent personal injury and damage to property damaged drive systems must not be installed or operated.

Changes and modifi cations of the drive systems are not permitted and if made no warranty and liability will be accepted.

The drive system must be operated only with the specifi ed wiring and approved accessories. In general, use only original accessories and spare parts.

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The drive systems must not be operated in an environment subject to explosion hazard (ex area).

2.3 Hazard Categories

Safety notes and general information are indicated by hazard mes-sages in the manual. In addition there are symbols and instructions affi xed to the product that warn of possible hazards and help to operate the product safely.

Depending on the seriousness of the hazard, the messages are divided into three hazard categories.

! DANGER

DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death, serious injury, or equipment damage.

! WARNING

WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.

! CAUTION

CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage.

2.4 General safety instructions

! DANGER

EXPOSED SIGNALS

Hazardous voltage levels may be present if using an open frame power supply to power the product.

Failure to follow these instructions will result in death or serious injury.


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! WARNING

LOSS OF CONTROL

Observe the accident prevention regulations. (For USA see also NEMA ICS1.1 and NEMA ICS7.1)

The system manufacturer must take the potential error possibilities of the signals and the critical functions into account to ensure a safe status during and after errors. Some examples are: emergency stop, fi nal position limitation, power failure and restart.

The assessment of error possibilities must also include unexpected delays and the failure of signals or functions.

Suitable redundant control paths must be in place for danger- ous functions.

Check that measures taken are effective.

Failure to follow these instructions can result in death or serious injury.

! CAUTION

HOT PLUGGING!

Do not connect or disconnect power, logic, or communications while the device is in a powered state.

Remove DC power by powering down at the AC side of the DC power supply.

Failure to follow these instructions can result in equipment damage.

! CAUTION

UL CONFORMITY

To meet UL conformity specifi cation the MD-CS20x-000 cord-set or Lumberg equivalent AC power cord must be used.

This caution applies to 120 and 240 VAC MDrives only.

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3 Power supply selection and connection

! DANGER

EXPOSED SIGNALS



! CAUTION

MAXIMUM VOLTAGE INPUT

Do not exceed the maximum rated voltage of the device! Motor Back EMF, power supply ripple and high line must be taken into account when selecting a power supply voltage level.

Failure to follow these instructions may result in damage to system components!

! CAUTION

GENERAL POWER SUPPLY PRACTICE

Do not connect or disconnect the power supply while power is applied.

Disconnect the AC side to power down the DC supply.

For battery operated systems connect a “transient suppressor” across the switch to prevent arcs and high-voltage spikes.


! CAUTION

HOT PLUGGING!




Detailed specifi cations, voltage limits, current requirements and connec-tivity information are located in the product detail section corresponding to the MDrive linear actuator model you purchased.

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3.1 Selecting a power supply (+V)

Proper selection of a power supply to be used in a motion system is as important as selecting the drive itself. When choosing a power supply for a stepping motor driver, there are several performance issues that must be addressed. An undersized power supply can lead to poor per-formance and possibly even damage to your drive.

3.1.1 Power supply — motor relationship

Motor windings can basically be viewed as inductors. Winding resis-tance (R) and inductance (L) result in an L/R time constant that resists the change in current. To effectively manipulate the rate of charge, the voltage applied is increased. When traveling at high speeds, there is less time between steps to reach current. The point where the rate of commutation does not allow the driver to reach full current is referred to as voltage mode. Ideally you want to be in current mode, which is when the drive is achieving the desired current between steps. Simply stated, a higher voltage will decrease the time it takes to charge the coil and, therefore, will allow for higher torque at higher speeds.

Another characteristic of all motors is back EMF. Back EMF is a source of current that can push the output of a power supply beyond the maxi-mum operating voltage of the driver. As a result, damage to the stepper driver could occur over a period of time. This is especially prevalent with overhauling loads.

3.1.2 Power supply — driver relationship

The MDrive linear actuator is very current effi cient as far as the power supply is concerned. Once the motor has charged one or both windings of the motor, all the power supply has to do is replace losses in the sys-tem. The charged winding acts as an energy storage in that the current will recirculate within the bridge and in and out of each phase reservoir. This results in a less than expected current draw on the power supply.

Stepping motor drivers are designed with the intent that a user’s power supply output will ramp up to greater than or equal to the minimum operating voltage of the drive. The initial current surge is substantial and could damage the driver if the supply is undersized. The output of an un-dersized power supply could fall below the operating range of the driver upon a current surge. This could cause the power supply to start oscillat-ing in and out of the voltage range of the driver and result in damage to either the supply, the driver, or both.

There are two types of supplies commonly used, regulated and unregu-lated, both of which can be switching or linear. Each have advantages and disadvantages.

3.1.3 Regulated vs unregulated

An unregulated linear supply is less expensive and more resilient to current surges, however, the voltage decreases with increasing current draw. This may cause problems if the voltage drops below the working range of the drive.



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Fluctuations in line voltage are also a point of concern. These fl uctua-tions may cause the unregulated linear supply to be above or below the anticipated or acceptable voltage.

A regulated supply maintains a stable output voltage, which is good for high speed performance. These supplies are also not affected by line fl uctuations, however, they are more expensive. Depending on the cur-rent regulation, a regulated supply may crowbar or current clamp and lead to an oscillation that, as previously stated, can cause damage to the driver and/or supply. Back EMF can cause problems for regulated sup-plies as well. The current regeneration may be too large for the regulated supply to absorb. This could lead to an over voltage condition which could damage the output circuitry of the MDrive.

Non IMS switching power supplies and regulated linear supplies with over current protection are not recommended because of their inability to handle the surge currents inherit in stepping motor systems.

See the product detail section of this document for specifi c power supply voltage and current requirements and recommended power supplies.

3.3 Power supply cabling best practices and recommendations

! CAUTION

EMI and RFI

These recommendations will provide optimal protection against EMI and RFI. The actual cable type, wire gauge, shield type and fi ltering devices used are dependent on the customer’s application and system.

The length of the DC power supply cable to an MDrive should not exceed 50 feet.

Always use Shielded/Twisted Pairs for the MDrive DC Supply Cable and the AC Supply Cable.


Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive.

Figure 3.1 illustrates the recommended cable confi guration for DC power supply cabling under 50 feet long. If cabling of 50 feet or longer is required, the additional length may be gained by adding an AC power supply cable (see Figures 3.2 and 6.3).

Correct AWG wire size is determined by the current requirement plus



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cable length. Please see Table 3.1.

3.3.1 DC Cabling Under 50’ (15.24 m)

+-

+-

≤ 50’ (15.24 m)

A

A

B

B

C

C

D

D

Shield to Earth(Supply End Only)

Supply GND

+VDC Output

Type RFI Filter ≥ Required Current

Ferrite Bead

Shielded Twisted Pair (See AWG Table for Size)

Electrolytic Capacitor, 500μF per Amp

+V

GND

Figure 3.1 DC power supply cabling under 50’ (15.24 m)

3.3.2 50’ (15.24 m) or greater, AC power to full wave bridge

≥ 50’ (15.24 m)

A

A

B

B

C

C

D

D

Shield to Earth(Supply End Only) Type RFI Filter ≥ Required Current

Transformer: 10 to 28 VAC RMS


Full Wave Bridge Rectifier, Rectifier OutputConnects to Cable Shown in Figure 3.1

+-

To Cable inFigure 3.1



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Figure 3.2 50’ (15.24 m) or greater, AC power to full wave bridge

3.3.3 50’ (15.24 m) or greater, AC power DC supply

≥ 50’ (15.24 m)

A

B C

Shield to Earth(Supply End Only)

A

B

C

Type RFI Filter ≥ Required Current

120 or 240 VAC Dependant on DC PowerSupply AC Input Requirement


Unregulated DC Power Supply

DC Volts Out toCable Example A

+-

D

D

Figure 3.3 50’ (15.24 m) or greater, AC power to DC supply

3.3.4 Recommended power supply cable wire gauges

For cable lengths exceeding 50’ (15.2 meters), use the cable confi gura-tions shown in Sections 3.3.2 or 3.3.3.

Cable Length: Feet (meters) 10 (3.0) 25 (7.6) 50 (15.2) 75 (22.9) 100 (30.5)

Amps Peak Minimum AWG

1 Amp Peak 20 20 18 18 18

2 Amps Peak 20 18 16 14 14

3 Amps Peak 18 16 14 12 12

4 Amps Peak 18 16 14 12 12

Table 3.1 Power supply cable AWG recommendations

Detailed specifi cations, voltage limits and connectivity information are located in the product detail section corresponding to the MDrive linear actuator model you purchased.



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3.4 Switching DC power (DPM75 accessory)

! CAUTION

HOT PLUGGING!

Do not connect or disconnect power, logic, or communications while the device is in a powered state without additional protec-tion.



The function of the DPM75 Drive Protection Module is to limit the surge current and voltage to a safe level when DC input power is switched on and off to a motor drive. This provides the added protection necessary for reliable motor drive operation when switching the DC power, instead of the recommended AC power to the DC power supply. The device is designed to protect the motor drive when operating under all load condi-tions. This device does not protect the motor drive from wiring the power incorrectly.

The unit is capable of being used with 48, 60, and 75 volt rated motor drives. An external jumper selection is available so the user can match the circuit to their particular application. The DPM75 is capable of a steady state operating current of 4 amps.

The DPM75 can be used for any frame size motor drive, when properly confi gured. It can also be used for more than one unit provided the current and voltage do not exceed the DPM75’s ratings. The maximum DPM75 ratings are 75 volts and 4 amps.

Power requirements and wiring details are available in the product detail section pertaining to the MDrive product purchased.

A terminal power +

power –

drive –

drive +

B terminal

C terminal

Power supply

+–

Motor drive

+ –

SPSTswitch* Fuse**

* Do not switch negative side of supply**Fuse = 6.3 Amp slow blow (recommended: Bussman S505-6.3A or Littelfuse 215006.3). The fuse is optional.

Voltage set by wire jumper

Figure 3.4 DPM75 basic wiring and connection


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4 Communications and parameter setup

! CAUTION

HOT PLUGGING!




CONNECTOR OPTIONS

The MDrive Speed Control product family has an extensive set of con-nector options. The purpose of this section is to give a general overview of the SPI communications interface methods and practices.

Please see the section specifi c to the MDrive product you purchased in the second part of this document for connectors, pin confi gurations and connectivity options.

4.1 SPI communications interface

The MDrive Speed Control integrated motor and driver use the Serial Peripheral Interface (SPI) to confi gure the setup parameters.

Optionally available are parameter setup and logic interface cable with inline USB to SPI converter for each connector variation. Installation and connection of this covered in the product specifi c section in Part 2 of this document.

4.1.1 SPI defi nition

The Serial Peripheral Interface or SPI bus is a synchronous serial data link standard that operates in full duplex mode. Devices communicate in master/slave mode where the master device initiates the data frame. Multiple slave devices are allowed with individual slave select (chip select) lines.

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4.1.3 SPI connection methods

! CAUTION

HOT PLUGGING!

Do not connect or disconnect communications while the device is in a powered state.


! CAUTION

CHANGING PARAMETERS

Do not attempt to change parameter settings while the device is in operation. Parameters must be set while the device is in a disabled state. The motor cannot be in motion.


Typically, the parameters are set on a work bench prior to the instal-lation of the MDrive into a machine. The ideal accessory for this setup method is the IMS USB to SPI communications converter cable (see product specifi c section in Part 2 of this document). If a continuous con-nection to the SPI port is required, see the following fi gures. Figure 5.1 illustrates a single MDrive on the SPI bus. Figures 5.2 and 5.3 illustrate multi-drop confi gurations:

Independent: MDrives communicating independently with different setup parameters.

Cooperative: MDrives communicating simultaneously with identical setup parameters.

SPI connection: Single master - single MDrive slave

The single master - single MDrive slave is the most common connection method for the MDrive. It is also the only connection method which will allow use of the IMS SPI Motor Interface utility, which is used to setup and change the motion and current control parameters of the MDrive-14Plus.

CLK

MOSI

MISO

CS

CGND

CLK

MOSI

MISO

CS

CGND

SPIMaster

MDrive(SPI Slave)

Figure 5.1 Single SPI master - single MDrive slave



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SPI connection: Single master - Indepen-dent MDrive slaves

This connection method allows for multiple MDrives in a system to be continually connected to the SPI bus. This method is useful in systems using multiple size devices with different setup parameters.

Using this method the user will have to create a user interface to com-municate with the MDrives.

CLK

MOSI

MISO

CS1

CS2

CS3

CGND

SPIMaster

MDrive(SPI Slave)

MDrive(SPI Slave)

MDrive(SPI Slave)

CLK

MOSI

MISO

CS

CGND

CLK

MOSI

MISO

CS

CGND

CLK

MOSI

MISO

CS

CGND

Figure 5.2 Single SPI master - Independent MDrive slaves



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SPI connection: Single master - cooperative MDrive slaves

This connection method allows for multiple MDrives in a system to be continually connected to the SPI bus. This method is useful in systems using multiple devices where the setup parameters need to be identical in each device.

Using this method the user will have to create a user interface to com-municate with the MDrives.

CLK

MOSI

MISO

CS

CGND

SPIMaster

MDrive(SPI Slave)

MDrive(SPI Slave)

MDrive(SPI Slave)

CLK

MOSI

MISO

CS

CGND

CLK

MOSI

MISO

CS

P1:9 CGND

CLK

MOSI

MISO

CS

CGND

Figure 5.3 Single SPI master - Cooperative MDrive slaves



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4.1.4 Logic level shifting circuit

A logic level shifting and conditioning circuit may be required if commu-nicating to the MDrive using a notebook computer with 3.3 VDC parallel port. The schematic in Figure 5.4 shows this circuit.

U1:A

U1:B

U1:D

U1:C

HCT125

HCT125

HCT125

HCT1252

1

14

45

7

1312 11

10

8 9

6

32 R1

100

+5V

R2

49.9CLK

+5V

CS

MOSI

MISO

+5 VDC

GND

3

4

19

DB25: 2

DB25: 3

DB25: 4

DB25: 19

DB25: 15

15

C3330pFR9

100K

R10 100K R4

49.9

R6

49.9

C4 330pF

R3

100

R5

100 C5330pFR11

100K+5V

R12 100K

+5V

R8 4.9KR7

49.9+5V

C1 C2.1μF 1μF25V

+

Figure 5.4 Logic level shifting and conditioning circuit



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4.1.5 SPI Timing

MSb (Most Signifi cant bit) fi rst and MSB (Most Signifi cant Byte) 1) fi rst.

8 bit bytes.2)

25 kHz SPI Clock (SCK).3)

Data In (MOSI) on rising clock.4)

Data Out (MISO) on falling clock.5)

Figure 5.5 SPI Timing



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5.2 SPI Commands and parameters

SPI Commands and ParametersCommand/Parameter Hex Default Decimal

Default Hex Range Decimal Range # of Bytes Notes

USRID1 0x49 73 (ASCI: I) 0x20-0x7F, 0x80-0xFF 32-126, 128-255 1 Three Character User ID, may be any viewable ASCII character.

USRID2 0x4D 77(ASCII: M) 0x20-0x7F, 0x80-0xFF 32-126, 128-255 1

USRID3 0x53 83(ASCII: S) 0x20-0x7F, 0x80-0xFF 32-126, 128-255 1

FULL SCALE 0x03FF 1023 0x0001-0x003F 1-1023 2 Analog Input Full Scale

CENTER 0x0000 0 0x0000-0x03FE 0-1022 2 Analog Input Center

DEADBAND 0x01 1 0-255 0x00-0xFF 1 Center Point Deadband

INPUT MODE 0x00 0 0x01+0x02+0x04+0x08+0x40+0x80 1+2+4+8+64+128 1 Input Mode* See Table 2.5.4

ACCEL 0x000F4240 100000 0x0000005B-0x59682F00 90.9-1500000000 4 Acceleration

DECL 0x000F4240 100000 0x0000005B-0x59682F00 90.9-1500000000 4 Deceleration

VI 0x0003E8 1000 0x000000-0x4C4B40 0-5000000 3 Initial Velocity

VM 0x0BB800 768000 0x000001-0x4C4B40 1-5000000 3 Maximum Velocity

MRC 0x19 25 0x01-0x64 1-100 1 Motor Running Current

MHC 0x05 5 0x00-0x64 0-100 1 Motor Holding Current

HCDT 0x01F4 500 0x0000-0x7FFD 0-32765 2 Holding Current Delay Time

MSEL 0x00 0 (256 usteps/step) 0x00, 0x01 - 0xFF 1-256 1 Microstep Resolution

MSDT 0x0000 0 0x0000-0x7FFD 0-32765 2 Motor Settling Delay Time

OUT_CLKTYP 0x00 0 0x00-0x03 0 (off), 1-3 1 Output Clock Type

OUT_CLKWIDTH 0x0A 10 0x00-0xFF 0-255 1 Output Clock Width

SSD 0x00 0 0x00-0xFF 0-255 1 Stop Start Switch Debounce

WARN_TEMP 0x50 80 0x00-0x7D 0-125 1 Warning Temperature

ADC_AVG 0x0001 1 0x0001-0x03E8 1-1000 2 Analog Input Filter

Table 5.1 SPI Commands and Parameters



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5.2.1 SPI Communications sequence

See timing diagram and byte order fi gures.

SPI READ ALL byte orderThe table below shows the byte order for setting the parameters using user defi ned SPI software interface.

1. Send READ ALL command 0x40 down MOSI to the MDrive Speed Control followed by FF (38 Bytes).

2. Receive parameter settings from MISO MSB First (Device Type) and ending with LSB (Fault).

MO

SI

MIS

O

Default (Decimal) Parameter

LSB FF FF Not Used Not Used

FF FF Not Used Not UsedFF 00 0 FaultFF 01 1 Analog Input FilterFF 00FF 50 80 Warning TemperatureFF 00 0 Stop Start DebounceFF 0A 10 Output Clock WidthFF 00 0 Output Clock TypeFF 00 0 Motor Settling Delay timeFF 00FF 00 0 (256 usteps/step) Microstep ResolutionFF 01 500 (milliseconds) Hold Current Delay TimeFF F4FF 05 5 (%) Motor Hold CurrentFF 19 25 (%) Motor Run CurrentFF 0B

768000 Maximum VelocityFF B8FF 00FF 00

1000 Initial VelocityFF 03FF E8FF 00

1000000 DecelerationFF 0FFF 42FF 40FF 00

1000000 AccelerationFF 0FFF 42FF 40FF 01 1 (0 to +5 VDC) Input ModeFF 01 1 (Count) Dead BandFF 00 0 (Counts) Joystick CenterFF 00FF 03 1023 Analog Full ScaleFF FFFF 02 3.0.02 VersionFF 30FF 53

IMS User IDFF 4D49

MS

B

FF 75 u Device Type

Rea

d A

lll 40 XX

Table 5.2: SPI Read All Byte Order and Defaults



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SPI WRITE All Byte OrderThe table on the left shows the byte order for setting the parameters us-ing user defi ned SPI software interface.

1. Send WRITE ALL Command (0x80) down MOSI followed by Pa-rameter Bytes beginning with MSB (User ID) and ending with the LSB (Checksum of all parameter Bytes).

2. Response from MISO will be FF (39) Bytes.

MO

SI

MIS

O

Default (Decimal) Parameter

LSB FF FF Not Used Not Used

FF FF Not Used Not Used

56 FF 86 Checksum

01 FF1 Analog Input Filter

00 FF

50 FF 80 Warning Temperature

00 FF 0 Stop Start Debounce

0A FF 10 Output Clock Width

00 FF 0 Output Clock Type

00 FF0 Motor Settling Delay time

00 FF

00 FF 0 (256 usteps/step) Microstep Resolution

01 FF500 (milliseconds) Hold Current Delay Time

F4 FF

05 FF 5 (%) Motor Hold Current

19 FF 25 (%) Motor Run Current

0B FF

768000 Maximum VelocityB8 FF

00 FF

00 FF

1000 Initial Velocity03 FF

E8 FF

00 FF

1000000 Deceleration0F FF

42 FF

40 FF

00 FF

1000000 Acceleration0F FF

42 FF

40 FF

01 FF 1 (0 to +5 VDC) Input Mode

00 FF 1 (Count) Dead Band

00 FF0 (Counts) Joystick Center

00 FF

03 FF1023 Analog Full Scale

FF FF

53 FF

IMS User ID4D FF

MS

B 49 75

Writ

e A

ll

80 XXOn a write all command the device will initially respond with the

Table 5.3: SPI Write All Byte Order and Defaults



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Calculating the ChecksumStep 1: Add all bytes in the parameter string from the write command byte to the Analog Input Filter Byte

80+49+4D+53+FF+03+00+00+00+01+40+42+0F+00+40+42+0F+00+E8+03+00+00+B8+0B+19+05+F4+01+00+00+00+00+0A+00+50+01+00+56

= 0x6AA

Step 2: Convert to Binary

110 1010 1010

Step 3: One’s Complement

001 0101 0101

Step 4: Two’s Complement

001 0101 0110

Step 5: Convert To HEX

= 0x156

Step 6: AND 0xFF to 0x156 to remove upper byte:

Checksum = 0x56

Note: Once a write is performed, a read needs to be performed to see if there is a fault. The fault is the last byte of the read.


MDrive® Speed Control 5 Using SPI Motor InterfaceR

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5 Using SPI Motor Interface

5.1 Installation

5.1.2 Converter driver installation

The following installation instructions only apply to the MD-CC30X-001 USB ot SPI communications converter. If using another converter, follow the manufacturer instructions.

OPERATING SYSTEM COMPATIBILITY

These Installation procedures are written for Microsoft Windows XP Service Pack 2 or greater 32-bit operating systems.

They WILL NOT function with Microsoft Windows 7 64-bit systems.

The installation of the MD-CC30x-001 requires the installation of two sets of drivers, which may be downloaded from http://www.imshome.com/downloads/cable_drivers.html.

Drivers for the USB to SPI Converter Hardware.

Drivers for the Virtual Communications Port (VCP) used to communicate to your Product.

Therefore the Hardware Update wizard will run twice during the installa-tion process.

The full installation procedure will be a two-part process: Installing the Cable/VCP drivers and Determining the Virtual COM Port used.

Installing the Cable/VCP Drivers Download drivers from http://www.imshome.com/downloads/1) cable_drivers.html

Extract the driver fi les from the *.zip archive, remember the 2) extracted location.

Plug the USB Converter Cable into the USB port of the MD-3) CC30x-001.

Plug the other end of the USB cable into an open USB port on 4) your PC.

Your PC will recognize the new hardware and open the Hard-5) ware Update dialog.

Select “No, not this time” on the radio buttons in answer to the 6) query “Can Windows Connect to Windows Update to search for software?” Click “Next” .

Select “Install from a list or specifi c location (Advanced)” on the 7) radio buttons in answer to the query

Select “Search for the best driver in these locations.”8) (a) Check “Include this location in the search.”(b) Browse to the location of the extracted the fi les in Step #2.(c) Click Next.

The drivers will begin to copy.9)

MDrive® Speed Control5 Using SPI Motor Interface


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In the Dialog for Windows Logo Compatibility Testing, click 10) “Continue Anyway”.

The Driver Installation will proceed. When the Completing the 11) Found New Hardware Wizard dialog appears, Click “Finish”

Upon fi nish, the Welcome to the Hardware Update Wizard will 12) reappear to guide you through the second part of the install pro-cess. Repeat steps 3 through 11 above to complete the cable installation.

Your IMS MD-CC30x-001 is now ready to use.13)

5.2 SPI Motor Interface

SPI Motor Interface is the setup and confi guration utility developed to provide the customer with a Graphical User Interface (GUI) to easily confi gure products that communicate over the SPI bus.

System Requirements PC or notebook running Windows XP™ service pack 2 or greater.

Installation Download the installation package from http://www.im-1) shome.com/downloads/software_interfaces.html

Browse to the download location on your PC hard-drive 2) and extract the fi les from the zip fi le .

Double-click setup.exe.3)

Follow the installation prompts to complete the installation.4)



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5.2 Setting parameters with SPI Motor Interface

5.2.1 Confi guration parameters

Parameter Function Range Units Default

A1 (1) Analog input mode 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, or 15 to 25 kHz PWM — 0 to +5

VDCACCL Acceleration 91 to 1.5 X 109 steps / sec2 1,000,000

C (3) Joystick center 1 to 1022 counts 0

CLK OUT (2) Clock out none, step / dir, quadrature, up / down — noneDB (3) Analog deadband 0 to 255 counts 1DECL Deceleration 91 to 1.5 X 109 mSec 500DIR Motor direction override Clockwise (cw) / counterclockwise (ccw) — cwFAULT Fault / checksum error error code — noneFS (3) Analog full scale 1 to 1023 counts 1023HCDT Hold current delay time HCDT + MSDT <= 65535 milliseconds 500IF (3) Analog input fi lter 1 to 1000 counts 1

IMODE (2)Source A1 spd / A2 spd or PWM 15 to 25 kHz — A1&A2

Analog input, A1&A2 spds 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA

volts or cur-rent

0 to +5 VDC

MHC Motor hold current 0 to 100 percent 5MRC Motor run current 1 to 100 percent 25MSDT Motor settling delay time MSDT + HCDT <= 65535 milliseconds 0

MSEL Microstep resolution 1, 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 100, 108, 125, 127, 128, 180, 200, 250, 256

μsteps per full step 256

STEPW (2) Step width 0 (square wave), 100 nSec to 12.8 μSec nSec 550 nSecSSD Stop / start debounce 0 to 255 milliseconds 0VI Initial velocity 0 to <VM steps / sec 1000VM Maximum velocity VI to 5,000,000 steps / sec 768,000TEMP (2) Warning temperature 0 to 85°C °C 80°CUSER ID User ID customizable 1-3 characters IMS

(1) Only with MDrive17 & MDrive23 products.(2) Only with MDrive34 products.(3) Separate analog inputs for A1 and A2 speeds with MDrive 34 products.

Table 5.1 Confi guration parameters

The SPI Motor Interface will not allow the user to set out of range val-ues. If a value is out of range, it will display in the motor interface text fi eld in red text, hovering the mouse pointer over the fi eld will display the acceptable range in a tool tip.

5.2.2 SPI Motor Interface menu options

File Open: Opens a saved *.osc (speed control confi guration) fi le.

Save: Saves the current settings as a *.osc fi le for later re-use.

ave As.

Exit.

View



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Motion Settings: Displays the Motion Settings screen.

IO Settings: Displays the IO Settings Screen.

Part and Serial Number: Displays the MDM part and serial number.

Analog Initialize: Allows the user to set the Analog input parameters by exercising the penetrometer

The user will click the Initialize Item then will have 30 seconds to set the Upper range, lower range and center position by adjust-ing the potentiometer.

Recall! Retrieves the previously stored settings from the MDrive Speed Control.

Upgrade! Upgrades the MDrivePlus Speed Control fi rmware.

Help About.

5.2.3 General features

Color Coded Parameter Values The SPI Motor Interface features color coded text inside the parameter settings fi elds to assist the user in identifying the status of the param-eters. These are:

Blue: Changed value that has not been set.

Red: Out-of-range value cannot be set.

Black: Set or stored value.

Adjustable Units for Analog Parameters The SPI Motor interface allows the user to change units from counts to volts or milliamperes by clicking the unit beside the parameter fi eld. The default unit is counts, if using a voltage mode of operation the unit can be changed to volts. If using the current method of controlling velocity, the alternate unit is in milliamperes.

Only the Analog Input setup parameter units are changeable. The Input Filter is not. It is set to only display counts.



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5.2.4 SPI Motor Interface button functions

Factory Clicking the Factory button will load the MDrivePlus Speed Control unit’s factory default settings into the IMS SPI Motor Interface.

Connected/Disconnected Indicator Displays the connected/disconnected state of the communications port, and if connected, the communications port connected.

Set The Set button writes the new settings to the MDrive. Parameter set-tings which have not been set will display as blue text in the setting fi elds. Once set they will be in black text.

Exit Disconnects the communications and closes the program.



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5.2.5 Analog Settings Confi guration Screen

The SPI Motor Interface Software opens by default to the Analog Set-tings Screen shown in Figure 5.1.

There are eight basic parameters that may be set here:

FS: Analog Input Full Scale.1)

C: Joystick Center Position.2)

DB: Analog Input Deadband.3)

IF: Analog Input Filter.4)

Setup Analog: Selects the Input being confi gured.*5)

Source: Selects the Input Source*6)

A1 & A2: Sets the Analog Input Mode.7)

User ID: 3 ASCII Character User ID (The User ID Field is avail-8) able on all of the dialogs).

* A2 is only available and visible for MDrive34Plus Speed Control prod-ucts.

Reload Factory Defaults

Connection StatusSet Displayed Values

Exit Program

Speed ControlInput Mode

Full ScaleJoystick Center

Deadband

Input Filter

User ID - 3 ASCII

Fault Status Code

Analog Source

Analog Input Configuration Select

Figure 5.1 Analog settings screen



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FS: Analog Full Scale The Analog Full Scale Parameter sets the Full range of the speed con-trol input. The range will be contingent on the input mode specifi ed by the Input Mode Parameter A1 and the Units set by clicking the caption located at the right of the parameter input box.

Range for Full ScaleInput Mode Counts Volts Milliamperes0 to +5 VDC 1 to 1023 0.005 to 4.999 —0 to +10 VDC 1 to 1023 0.005 to 9.999 —4 to 20 mA 205 to 1023 — 4.00 to 19.980 to 20 mA 1 to 1023 — 0.02 to 19.98

Table 5.2 Full scale ranges for analog input mode parameter

C: Joystick Center Position The Speed control device can operate in two directional modes Uni-directional or Bidirectional. To use Bidirectional mode set the Joystick Center to the desired value. To use Unidirectional mode leave the Joystick Center at its default (0) setting. Control Axis direction with the Direction hardware input.

The Joystick Center parameter sets the center position for directional control of the speed control input. The range will be contingent on the input mode specifi ed by the Input Mode parameter A1 and the Units set by clicking the caption located at the right of the parameter input box. The axis direction will be one direction when below the center posi-tion and will change direction once the Center level is reached and the Deadband exceeded. The axis direction will be with respect to the logic state of the direction control input and the bit state of the Direction Over-ride Parameter on the Motion Settings Screen.

Range for Joystick CenterInput Mode Counts Volts Milliamperes0 to +5 VDC 0 to 1022 0.005 to 4.990 —0 to 1+0 VDC 0 to 1022 0.010 to 9.980 —4 to 20 mA 205 to 1022 — 4.00 to 19.960 to 20 mA 0 to 1022 — 0.02 to 19.96

Table 5.3 Range for the joystick center parameter



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DB: Joystick DeadBand The Joystick Deadband Parameter sets the deadband around the Joystick Center Position of the speed control input. The range will be contingent on the input mode specifi ed by the Input Mode Parameter A1 and the units set by clicking the caption located at the right of the parameter input box. The speed control input will ignore changes in voltage or current within that range.

Range for DeadbandInput Mode Counts Volts Milliamperes0 to 5 VDC 0 to 255 0 to 1.245 —0 to 10 VDC 0 to 255 0 to 2.490 —4 to 20 mA 0 to 255 — 0 to 4.980 to 20 mA 0 to 255 — 0 to 4.98

Table 5.4 Range for the joystick deadband parameter

IF: Analog Input Filter The Filter parameter for the Analog Speed Control Input. The fi lter range is 0 to 1000 counts.

Setup Analog: This parameter selects the Analog Input, A1 or A2, which is being confi gured. It DOES NOT select which input is active, this is done using a hardware input.

Source: This parameter selects the Source signal that will operate the velocity generator, A1/A2 or PWM. if PWM is selected, the confi guration options for A1 and A2 will disappear from the screen. When in PWM mode inputs A1 and A2 are disabled.

A1 & A2: Analog Input Operating Mode

The A1 parameter selects the mode for the speed control input. There are four input modes which may be selected:

0 to +5 VDC1)

0 to +10 VDC2)

4 to 20 mA3)

0 to 20 mA4)

The speed control input will also accept a PWM input. There is no set-ting required to use PWM, the input will automatically confi gure itself to that mode of operation.

NOTE: A2 is only available on MDrive34Plus Speed Control products.

UID: User ID Allows the user to enter a User ID or Device ID for the MDrivePlus Speed Control. The ID is 3 characters in length. The fi rst character must be alphanumeric, the remaining two may be any viewable ASCII character. This fi eld appears on all of the screens.



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5.2.6 Motion Settings Confi guration Screen

The Motion Settings screen is shown in Figure 2.4.9. There are ten basic parameters that may be set here:

VM: Maximum Velocity1)

VI: Initial Velocity2)

MSEL: Microstep Resolution Select3)

DIR: Direction Override4)

ACCL: Acceleration5)

DECL: Deceleration6)

MSDT: Motor Settling Delay Time7)

HCDT: Holding Current Delay Time8)

MRC: Motor Run Current9)

MHC: Motor Hold Current10)


Connection Status

Set Displayed Values

Exit Program

MicrostepResolution Select

Initial Velocity

Max. Velocity

AccelerationDeceleration

Direction Override

Motor Settling Delay Time

UserID

Motor Run Current

Motor HoldCurrent

Hold Current Delay Tme

Fault Code

Figure 5.2 Motion parameter settings screen



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VM: Maximum Velocity The Maximum Velocity parameter represents the velocity in steps per second of the Axis when the speed control input is at its upper end of the Full Scale value, or the upper and lower ends if the Joystick Center is used.

VI: Initial Velocity The Initial Velocity parameter represents the velocity of the Axis when the speed control input is at the lower end of the Full Scale value, or the Joystick Center position plus or minus the dead band setting if Bidirec-tional control is used.

MSEL: Microstep Resolution Selection The MDrive Speed Control features 20 microstep resolutions. This set-ting specifi es the number of microsteps per step the motor will move.

The MDrive uses a 200 step (1.8°) stepping motor which, at the highest (default) resolution of 256, will yield 51,200 steps per revolution of the motor shaft.

Binary Decimal

microsteps/step steps/revolution microsteps/step steps/revolution

1 200 5 1000

2 400 10 2000

4 800 25 5000

8 1600 50 10000

16 3200 100 20000

32 6400 125 25000

64 12800 200 40000

128 25600 250 50000

256 52100

Additional resolution settings

180 36000 (0.01°/μstep)

108 21600 (1 arc-min/μstep)

127 25400 (0.001 mm/μstep)

Table 5.5 Microstep resolution settings



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ACCL: Acceleration The ACCL Parameter set the acceleration of the axis in Steps per Second2. This setting is independent of the Analog Speed Control Input, regardless of how fast the voltage, current or PWM frequency ramps on the input, the axis will accelerate at this setting.

DECL: Deceleration The DECL Parameter set the Deceleration of the axis in Steps per Second2. This setting is independent of the Analog Speed Control Input, regardless of how fast the voltage, current or PWM frequency drops on the input, the axis will decelerate at this setting.

The deceleration setting will be active in three conditions: Stop Hard-ware Input, Change of Direction, whether initiated by the hardware input or by a Joystick Center, and when the input is at the lower Full Scale limit in unidirectional mode.

MSDT: Motor Settling Delay Time The MSDT parameter specifi es the time allocated in milliseconds for the motor to settle into position following a move. Note that MSDT is addi-tive with HCDT. The sum of the two cannot exceed 65535 milliseconds. See Figure 2.4.10 for the MSDT/HCDT Relationship.

HCDT: Hold Current Delay Time The HCDT Motor Hold Current Delay sets time in milliseconds for the Run Current to switch to Hold Current when motion is complete. When motion is complete, the MDrive will change to Hold Current when the specifi ed time elapses. Note that HCDT is additive with MSDT. The sum of the two cannot exceed 65535 milliseconds. See Figure 2.5.10 for the HCDT/MSDT Relationship.

Note that if HCDT=0, the unit will never go into hold current, but will stay in the set run current percent.

Time (milliseconds)

Cur

rent

(%) Run

Hold

HCDT = 2000

2 Seconds Between cessation of motion and shift to holding current %

Time (milliseconds)

Cur

rent

(%) Run

Hold

HCDT = 2000MSDT= 1000

MSDT= 0

3 Seconds Between cessation of motion and shift to holding current %

Figure 5:3 MSDT - HCDT relationship



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MRC: Motor Run Current The MRC Motor Run Current parameter sets the motor run current to a percentage of the full output current of the Speed Control MForce driver section.

MHC: Motor Hold Current The MHC parameter sets the motor holding current as a percentage of the full output current of the driver. If the hold current is set to 0, the output circuitry of the driver section will disable when the hold current setting becomes active. The hold current setting becomes active the clock pulse following the time in milliseconds specifi ed by MSDT+HCDT.

DIR: Motor Direction The DIR Motor Direction parameter changes the motor direction rela-tive to the direction input signal, adapting the direction of the MForce to operate as your system expects.



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5.2.7 IO Settings Confi guration Screen

To access the IO Settings Screen click “View > IO Settings Screen” There is one main parameters that can be set from this screen.

SSD: Start/Stop Switch Debounce1)

TEMP: Warning Temp2)

CLK OUT: Output Clock Type3)

STEPW: Output Clock Step Width4)

Invert Step/Direction5)


Connection Status

Set Displayed Values

Exit ProgramUserID

Fault Code

Stop/StartInput Filter

Warning Temp

Output ClockType

Output ClockStep Width

Invert StepInvert Direction

Figure 5.4 I/O parameter settings screen

SSD: Start/Stop Switch Debounce (Filtering) The SSD parameter sets the input fi ltering for the Start/Stop switch. The range is 0 to 255 milliseconds.

TEMP: Warning Temperature The Warning Temperature parameter sets the threshold temperature in degrees celsius which a fault will be set. When a temperature warning occurs it will display an error code in the fault fi eld of the IMS Analog Speed Control. The MForce itself will continue to operate until the shut-down temperature of 85°C is reached. The range is 0 to 85°C.



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CLK OUT: Output Clock Type This Parameter allows the selection of an output clock type. There are 4 available settings: None (Default), Step/Direction, Quadrature or Clock Up/Down.

STEPW: Output Clock Step Width The STEPW Parameter allows you to select the pulse width of the Ou-put Clock signal. The range is Square Wave, or 100nsec to 12.8 μsec.

Invert Step/Direction

Allows the step and/or direction output signal to be inverted.

5.2.8 Part Number/Serial Number Screen

The Part number serial number screen is a read-only screen that shows both the Part Number and the unit Serial Number. This is useful if the unit is installed in a remote location and cannot be readily accessed. These numbers may be required if requesting technical or applications support.

5.2.9 Fault Codes

All of the SPI Motor Interface screens has the Fault Field visible. This read only fi eld will display an error code to indicate the type of fault. The normal, operational code is “None” in green text, the fault code will display in Red.

Fault CodesBinary Case* Error Code Description Action To Clear

— None No Fault — —

4 CS SPI Checksum Error Error Displayed Write To MDO(Set Button)

8 SC/CS SPI Checksum Error/Sector Changing Error Displayed Write To MDO(Set Button)

16 DFLT Defaults Checksum Error Error Displayed Write To MDO(Set Button)

32 DATA Settings Checksum Error Error Displayed Write To MDO(Set Button)

64 TW Temperature Warning Error Displayed Write To MDO(Set Button)

*All Fault Codes are OR’ed together.

Table 5.6 Fault (error) codes



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5.2.10 Upgrading the fi rmware in the MDrive Speed Control

The SPI Upgrader New fi rmware releases are posted to the web site at http://www.im-shome.com.

The SPI Motor Interface is required to upgrade your MDrive Speed Con-trol product. To launch the Upgrader, click “Upgrade!” on the IMS SPI Motor Interface menu.

The Upgrader screen has 4 read-only text fi elds that will display the necessary info about your MDrive Speed Control.

Previous Version: this is the version of the fi rmware currently on your MDrive Speed Control.

Serial Number: the serial number of your unit.

Upgrade Version: will display the version number of the fi rmware being installed.

Messages: the messages text area will display step by step instructions through the upgrade process.

Upgrade Instructions Below are listed the upgrade instructions as they will appear in the message box of the SPI Upgrader. Note that some steps are not shown as they are accomplished internally, or are not relevant to the model product you are updating. The only steps shown are those requiring user action.

Welcome Message: Welcome to the Motor Interface UPGRADER! Click NEXT to continue.

Step 2: Select Upgrade File

When this loads, an explorer dialog will open asking you to browse for the fi rmware upgrade fi le. This fi le will have the extension *.ims.

Step 3: Connect SPI Cable

Step 4: Power up or Cycle Power to the MDrive

Step 6: Press Upgrade Button

Progress bar will show upgrade progress in blue, Message box will read “Resetting Motor Interface”

Step 8: Press DONE, then select Port/Reconnect.



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MDrive® Speed Control 6 Interfacing the I/OR

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5 Interfacing the I/O

! CAUTION

HOT PLUGGING!




! CAUTION

OVER VOLTAGE

The input voltage used with the logic inputs will vary depending on the NEMA size of the MDrive.

The inputs of MDrive 17 and 23 Speed control are NOT iso-lated and are TTL level tolerant only.

The inputs of the MDrive 34 Speed Control are optically iso-lated and tolerant to +24 VDC.

Refer to the individual specifi cations section of the model you are using.


! CAUTION

EMI and RFI

These recommendations will provide optimal protection against EMI and RFI. The actual cable type, wire gauge, shield type and fi ltering devices used are dependent on the customer’s application and system.

Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level cables and make your system unreliable.

Logic level cables must be shielded to reduce the chance of EMI induced noise. The shield needs to be grounded at the signal source to earth. The other end of the shield must not be tied to anything, but allowed to fl oat. This allows the shield to act as a drain.


MDrive® Speed Control6 Interfacing the I/O


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6.1 Interfacing the speed control input

The Analog Speed Control input, is used to control axis velocity using the following input modes and types, note that the input types MUST be set using the SPI Motor Interface or the appropriate bits set in the Input mode string if using your own confi guration interface over SPI. The default is Voltage Mode: 0 to +5VDC.

Voltage Mode 0 to +5 VDC

0 to +10 VDC

Velocity Control may be set using a 10kΩ Potentiometer is variable speed control is required. If the input is to be preset to a fi xed value, a voltage may be applied or a resistor connected between +5 VDC and the appropriate input to set the desired velocity.

Current Mode 4 to 20 mA

0 to 20 mA

Velocity Control may be set using a sensor with the appropriate current output using 4-20 mA current loop devices, which is an analog transmis-sion standard for industrial instrumentation, or if desired a 0 to 20 mA device.

In the case of the MDrive 34, which has 2 speed control inputs, only one input may be used at a time. The inputs may be switched on the fl y us-ing the Speed1/Speed2 select input.

6.1.1 Interface methods

NOTE: the dual speed inputs on the MDrive34Plus Speed Control are interfaced the same as the single speed input on the MDrive 17 and 23 Speed Control.

Voltage mode examples

Potentiometer interface(variable velocity)

Resistor interface(fixed velocity)

+5 VDC

Logic Ground

MDrivePlusSpeed Control


Speed Input

+5 VDC

Speed Input

10kΩ Potentiometer

Resistor value to 10kΩ

Note: The +5 VDC output is designedto bias the potentiometer or resistor ONLY.Do not use to power external devices.

Figure 6.1 Voltage mode 0 to 5 VDC



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Potentiometer interface(variable velocity)

Direct voltage input

+10 VDC

Logic Ground



Speed Input

Logic Ground

Speed Input

10kΩ Potentiometer

0 to +10 VDC

Figure 6.2 Voltage mode 0 to 10 VDC

Current mode examples

Figure 6.3 Current mode interface



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6.2 Logic inputs (non-isolated)

! CAUTION

OVER VOLTAGE

The input voltage used with the logic inputs will vary depending on the NEMA size of the MDrive.

The inputs of MDrive 17 and 23 Speed control are NOT iso-lated and are TTL level tolerant only.

The inputs of the MDrive 34 Speed Control are optically iso-lated and tolerant to +24 VDC.

Refer to the individual specifi cations section of the model you are using.


Function Description

S/SStop / start input. TTL input stops or starts the the internal clock pulse generator of the device. Active (started) when LOW.

DIR

TTL direction Input controls the clockwise/counterclockwise direction of the motor. The direction of rotation in relation to the HIGH/LOW state of the input is set by the motor direction override (DIR) parameter.

Table 6.1 TTL logic inputs

Of these inputs only step clock and direction are required to operate the MDrive Speed Control.

Stop/Start and CW/CCW Direction

+5 VDC

CW/CCW

Stop/Start

Logic Ground


Speed Input

10kΩ Potentiometer

Stop/Start Switch

Direction Switch

Figure 6.4 Interfacing the TTL logic inputs



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6.3 Logic inputs (optically isolated — MDrive34Plus only)

6.3.1 Isolated input overview

Function Description

OPTO Optocoupler reference input

STOP / START

Stop / start input. Stops or starts the the internal clock pulse generator of the device. Active (started) when LOW. It may be configured as sinking or sourcing depending on the state of the Optocoupler Reference.

CW/CCW

Controls the clockwise/counterclockwise direction of the motor. The direction of rotation in relation to the HIGH/LOW state of the input is set by the motor direction override (DIR) parameter. It may be configured as sinking or sourcing depending on the state of the Optocoupler Reference.

A1/A2 SELECT

Selects which speed control input (A1 / A2) is controlling the output of the internal clock pulse generator. It may be configured as sinking or sourcing depending on the state of the Optocoupler Reference.

Table 6.2 Isolated logic inputs

6.3.2 Isolated input equivalent circuit

ConstantCurrentSource

Optocoupler

+5 VDC

To Drive Logic

Input equivalent circuit

Input

MDrive P1

Opto Reference

Figure 6.5 Optically isolated input equivalent circuit



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6.3.3 Isolated input interface examples

NPN Sinking inputs

+-+5 to +24VDC

Opto Reference

InputSensor orController Output

Controller Ground

NPN

MDrive P1

Figure 6.6 Open collector sinking input

PNP sourcing inputs

MDrive P1

+-+5 to +24VDC

Opto Reference

Input

Sensor orController Output

Controller Ground

PNP

Figure 6.7 Open collector sourcing input

Sinking inputs

+-+5 to +24VDC

Opto Reference

Input

Figure 6.8 Switch interface sinking input

Sourcing inputs

MDrive P1

+-+5 to +24VDC

Opto Reference

Input

Figure 6.9 Switch interface sourcing input



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6.4 Clock outputs (open-drain — MDrive34Plus only)

The MDrive34Plus2 has the ability to mirror the output of the pulse generator and the axis direction to the open drain clock outputs. These outputs may be used to drive a second axis.

The signal seen on the clock outputs will be a 1:1 ratio of the output of the pulse generator.

The Output Clock Type can be confi gured using the SPI motor interface or user-coded interface communicating over SPI to one of the following clock types:

None (Outputs Disabled)

Step/Direction

Quadrature

Clock Up/Down

Additionally the step width may be set and the signal inverted. The Clock output must be have a clock type selected to be active. By default there is no clock signal on these pins. See Sections 2.4 and 2.5 of this document for details.

6.4.1 Interfacing the clock outputs

Following Application To illustrate the interface of the clock outputs we will show an MDrive-Plus Step / direction slaved to the MDrive34Plus2 Speed Control. The slaved axis will follow the velocity and direction of the master axis. The velocity of the slave axis may be ratioed using the Microstep Resolution parameter if desired.

Step Out

Direction Out

Step In

Direction In


(Master)

MDrivePlusMicrostepping

(Slave)

Logic Ground Logic Ground

Figure 6.10 Interfacing the clock outputs



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MDrive® 17 Speed Control

Introduction1. Speci cations2. Mounting Recommendations3. Interface and Connectivity4.


MDrive® 17 Speed Control Table of ContentsR

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Table of Contents

1 Introduction ................................................................................ 1-11.1 Product identi cation .......................................................1-11.2 Installation accessories ...................................................1-21.3 Documentation reference ................................................1-31.4 Product software .............................................................1-3

2 Specifi cations ............................................................................ 2-12.1 Mechanical speci cations ................................................2-12.2 General speci cations .....................................................2-2

2.2.1 Electrical speci cations ......................................2-22.22 Motor speci cations ...........................................2-22.2.3 Speed-force performance curves ......................2-2

2.2 Setup parameters ............................................................2-32.3 Connectivity speci cations/pin assignments - Communications ..............................................................2-4

2.3.1 SPI communications - connector P2 ..................2-42.4 Connectivity speci cations/pin assignments - power and ... logic .................................................................................2-6

2.4.1 Power and logic .................................2-6

3 Mounting and connection recommendations ......................... 3-13.1 Mounting ..........................................................................3-13.2 Layout and interface guidelines.......................................3-3

3.2.1 Rules of wiring ..................................................3-33.2.2 Rules of shielding .............................................3-3

3.3 Recommended wiring ......................................................3-43.3.1 Recommended mating connectors and pins .....3-4

3.4 Securing power leads and logic leads .............................3-4

4 Connection and interface ......................................................... 4-14.1 Connector orientation ......................................................4-24.2 Interfacing communications .............................................4-3

4.2.1 P2 - 10-pin IDC style connector .........................4-34.2.2 P2 - 10-pin wire crimp connector .......................4-4

4.3 Interfacing DC power .......................................................4-54.3.1 Recommended power supply characteristics ....4-54.3.2 Recommended wire gauge ................................4-54.3.3 P1 — 12’ (30.5 cm) ying leads interface ..........4-54.3.4 P1 — 7-pin pluggable terminal interface ............4-64.3.5 Power Interface using Drive Protection Module ..... DPM75 ...............................................................4-6

4.4 Interfacing Logic ..............................................................4-74.4.1 P1 — 12’ (30.5 cm) ying leads interface ..........4-74.4.2 P1 — 7-pin pluggable terminal interface ............4-7

4.5 Encoder interface ............................................................4-84.5.1 External encoder ................................................4-8

4.7 USB to SPI communications converters .........................4-94.7.1 USB to 10-pin wire crimp — MD-CC300-001 ....4-94.7.2 USB to 10-pin wire crimp — MD-CC302-001 ....4-9

4.8 Mating connector kits ....................................................4-10

MDrive® 17 Speed ControlTable of Contents


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List of Figures

Figure 2.1 MDrive 17 Mechanical Speci cations ....................................2-1Figure 2.2 Speed-force performance curves ..........................................2-2Figure 3.1 MDrive Speed Control mounting and drill pattern .................3-2Figure 3.2 Securing leads .......................................................................3-5’Figure 4.1 Connector orientation ............................................................4-2Figure 4.2 DPM75 Drive Protection Module ...........................................4-6Figure 4.3 MD-CC300-001 communications converter cable .................4-9Figure 4.4 MD-CC302-001 communications converter cable .................4-9



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List of Tables

Table 1.1 Standard product options ......................................................1-1Table 2.1 Electrical speci cations .........................................................2-2Table 2.2 Motor speci cations ...............................................................2-2Table 2.3 Setup parameters ..................................................................2-3Table 2.4 P2 communications, 10-pin locking wire crimp .....................2-4Table 2.5 P2 communications, 10-pin locking wire crimp .....................2-5Table 2.6 Power and logic interface - 12” (308.8.mm) ying leads .......2-6Table 2.7 Power and logic interface - 7-pin pluggable terminal ............2-6Table 4.1 Communications connections, P2 - 10-pin IDC .....................4-3Table 4.2 Communications connections, 10-pin wire crimp ..................4-4Table 4.3 Recommended power supply characteristics ........................4-5Table 4.4 Recommended power supply wire gauge .............................4-5Table 4.5 Power and ground connections, ying leads .........................4-5Table 4.6 Power and ground connections, 7-pin terminal .....................4-6Table 4.7 Logic and speed control input connections, ying leads .......4-7Table 4.8 Logic and speed control input connections, 7-pin terminal ...4-7Table 4.9 Optional external encoder pins.............................................4-8

Integrated Motor and Driver MDO17:1-1

MDrive® 17 Speed Control 1 IntroductionR

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1 Introduction

The MDrive® 17 Plus Speed Control integrated drive with program-mable velocity control is a 1.8° 2-phase stepper motor with on-board control electronics which operate at an input voltage of +12 to +48 VDC. The velocity control uses voltage, current, or PWM input signals.

Settings for MDrive Plus Speed Control products may be changed on-the- y or downloaded and stored in nonvolatile memory using the IMS SPI Motor Interface software provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port.

1.1 Product identifi cation

Part numbersExample: K M D O 1 F S D 1 7 A 4 – E1

QuickStart KitK = kit option, or leave blank if not wanted

K M D O 1 F S D 1 7 A 4 – E1

MDrive Plus versionMDO = Speed Control

K M D O 1 F S D 1 7 A 4 – E1

Input1 = Plus, standard features

K M D O 1 F S D 1 7 A 4 – E1

P1 connector — I/O & powerF = fl ying leadsP = pluggable

K M D O 1 F S D 1 7 A 4 – E1

CommunicationS = SPI

K M D O 1 F S D 1 7 A 4 – E1

P2 connector — communicationD = IDCL = wire crimp

K M D O 1 F S D 1 7 A 4 – E1

Motor size17 = NEMA 17 (1.7" / 42 mm)

K M D O 1 F S D 1 7 A 4 – E1

Motor lengthA = single stackB = double stackC = triple stack

K M D O 1 F S D 1 7 A 4 – E1

Drive voltage4 = +12 to +48 VDC

K M D O 1 F S D 1 7 A 4 – E1

OptionsLeave blank if not wantedMultiple options may be combined in one product, with any exceptions noted

– E___ = external optical encoder with index mark

– N = rear control knob for manual positioning

– E1

(1) For planetary gearbox details and complete part numbers, see pages 54 through 56.

Table 1.1 Standard product options

MDrive® 17 Plus

P2: CommunicationD = SPI with 10-pin IDC non-locking connectorL = SPI with 10-pin friction lock wire crimp connector

P1: I/O & PowerF = 12" flying leadsP = non-locking spring clamp terminal strip

MDrive® 17 Speed Control1 Introduction

Integrated Motor and DriverMDO17:1-2

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Installation accessoriesDescription Length

feet (m)Part number

QuickStart KitFor rapid design verifi cation, all-inclusive QuickStart Kits include connectivity, instructions and CD for MDrivePlus initial functional setup and system testing.■ For all MDrive17 Speed Control products. — add "K" to part number

Communication converterElectrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/program communication parameters for a single MDrivePlus via a PC's USB port.■ Mates to 10-pin non-locking IDC connector 12.0 (3.6) MD-CC300-001

■ Mates to 10-pin friction lock wire crimp connector 12.0 (3.6) MD-CC302-001

Mating connector kitConnectors for assembly of cables, cable material not supplied. Sold in lots of 5. Manufacturer's crimp tool recommended for crimp connectors.■ 10-pin non-locking IDC connector — CK-01

■ 10-pin friction lock wire crimp connector — CK-02

Encoder cablesPre-wired mating connector with other cable end open.■ For external single-end encoder 1.0 (0.3) ED-CABLE-2

■ For external differential encoder, locking cable 6.0 (1.8) ED-CABLE-6

Drive protection moduleLimits surge current and voltage to a safe level when DC input power is switched on-and-off to an MDrivePlus.■ For all MDrive17 Speed Control products — DPM75

1.2 Installation accessories

USB connector

in-line converter

MDrive® Plus integrated drivemating connector(non-locking IDC)

MD-CC300-001

USB connector

MDrive® Plus integrated drivemating connector

in-line converter

MD-CC302-001



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The following user’s manuals are available for the MDrive 17:

Product manual, describes the technical data, installation, con- guration and programming of the product.Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.

This documentation is also available for download from the web site at http://www.imshome.com.


The MDrive 17 Speed Control integrated motor and driver is con gured using the SPI motor interface graphical user interface. This free soft-ware may be downloaded from http://www.imshome.com/downloads/software_interfaces.html.

Installation and usages instructions are to be found in Part 1 of this document, Section 5.



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MDrive® 17 Speed Control 2 Specifi cationsR

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2 Specifi cations

2.1 Mechanical specifi cations

Ø 0.866 +0/-0.002(Ø 21.996 +0/-0.051)

Ø 0.1968 +0/-0.0005(Ø 4.999 +0/-0.013)

1.68( 42.7)

1.220 ±0.004( 31.0 ±0.1)

4X M3x0.5 THREADx0.15 MIN DEEP

P1

2.30(58.3)

P2

1.19(30.2)

LMAX2

LMAX

0.177 ±0.002(4.49 ±0.05)

0.08(2.0)

0.94 ±0.02(23.9 ±0.5)

0.59 ±0.02(15.0 ±0.5)

Motor stack length Lmax (1) Lmax2 (2) Single 2.20 (55.9) 2.79 (70.9) Double 2.43 (61.7) 3.02 (76.7) Triple 2.77 (70.4) 3.37 (85.6)(1) Single shaft.(2) Control knob or external encoder.

0.44(11.2)

P1

12.00 +1.0/-0.0 (304.8 +25.4/-0.0)

P1

P1 connector options

7-pin non-locking spring clamp terminal strip

12.0" (305mm)fl ying leads

I/O & Power I/O & Power

P2


10-pin non-locking IDC connector

P2

10-pin friction lockwire crimp connector

Communication Communication

1.20(30.4)

1.42(36.1)

2.04*(51.8)

differentialencoder*

.

1.22*(31.0)

.

single-endencoder

Ø 0.97(Ø 24.6)

control knob external encoder

Lmax2 options

Figure 2.1 MDrive 17 Mechanical Speci cations

MDrive® 17 Speed Control2 Specifi cations


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2.2 General specifi cations

2.2.1 Electrical specifi cations

Input voltageRange VDC 12 to 48Power supply current maximum (1) 2A per unit

Thermal Operating temp non-condensing

Heat sink –40° to +85°CMotor –40° to +100°C

Speed control Input0 to +5 VDC (4), 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, or 15 to 25 kHz PWM

A / D resolution 10 bit

Logic input

Low level 0 to +0.8 VDCHigh level +2.0 to +5.0 VDCInternal pull-up resistance 20 kΩ (to +3.3 VDC)Optically isolated noSourcing or sinking confi gurable

Motion

Oscillator frequency maximum 5 MHz

Microstep resolution

Number of settings 20

Steps per revolution

200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/μstep), 21600 (1 arc minute/μstep), 25400 (0.001mm/μstep)

(1) per MDrive 17, actual current depends on voltage and load

Table 2.1 Electrical speci cations

2.22 Motor specifi cations

Motor stack length Holding torque Detent torque Rotor inertia Weight (motor + driver)

Single 32.0 oz-in / 22.6 N-cm

1.66 oz-in / 1.17 N-cm

0.00053 oz-in-sec2 / 0.038 kg-cm2 10.4 oz / 294.8 g

Double 60.0 oz-in / 42.4 N-cm

2.08 oz-in / 1.47 N-cm

0.00080 oz-in-sec2 / 0.057 kg-cm2 12.0 oz / 340.2 g

Triple 74.9 oz-in / 52.9 N-cm

3.47 oz-in / 2.45 N-cm

0.00116 oz-in-sec2 / 0.082 kg-cm2 15.2 oz / 430.9 g

Table 2.2 Motor speci cations

2.2.3 Speed-force performance curves

Single stack length Double stack length Triple stack length

Torque in Oz-In / N-cm

Speed of rotation in full steps per second (rpm)



0

37/26

53/39

18/13

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)



0

37/26

53/39

18/13

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

0

37/26

53/39

18/13

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

Figure 2.2 Speed-force performance curves



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2.2 Setup parameters


A1 Analog input mode 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, or 15 to 25 kHz PWM — 0 to +5

VDC

ACCL Acceleration 91 to 1.5 X 109 steps / sec2 1,000,000

C Joystick center 1 to 1022 counts 0

DB Analog deadband 0 to 255 counts 1

DECL Deceleration 91 to 1.5 X 109 mSec 500

DIR Motor direction override Clockwise (cw) / counterclockwise (ccw) — cw

FAULT Fault / checksum error error code — none

FS Analog full scale 1 to 1023 counts 1023

HCDT Hold current delay time HCDT + MSDT <= 65535 milliseconds 500

IF Analog input fi lter 1 to 1000 counts 1

MHC Motor hold current 0 to 100 percent 5

MRC Motor run current 1 to 100 percent 25

MSDT Motor settling delay time MSDT + HCDT <= 65535 milliseconds 0



SSD Stop / start debounce 0 to 255 milliseconds 0

VI Initial velocity 0 to <VM steps / sec 1000

VM Maximum velocity VI to 5,000,000 steps / sec 768,000

USER ID User ID customizable 1-3 characters IMS

NOTE: All parameters are set using the supplied IMS SPI Motor Interface GUI and may be changed on-the- y. An optional Communication Converter is recommended with rst orders.

Table 2.3 Setup parameters



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2.3 Connectivity specifi cations/pin assignments - Communications

2.3.1 SPI communications - connector P2

! CAUTION

+5VDC OUTPUT

The +5 VDC output on connector P2 is for the express pur-pose of powering the IMS isolated communications converter cables. Do not use to power external devices.


10-pin IDC style connectorPin # Function Description

1 N/C Not connected

2 N/C Not connected

3 N/C Not connected

4 CS SPI chip select, selected when low.

5 GND Communications ground

6 +5V+ 5 VDC output. Used to power the IMS communications converter ONLY! Not for general purpose use.

7 MOSI SPI master out - slave in

8 CLK SPI clock

9 N/C Not connected

10 MISO SPI master in - slave out

Table 2.4 P2 communications, 10-pin locking wire crimp

P2

SPI

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Connectivity OptionsUSB to SPI Converter:MD-CC300-001

Mating connector kit:CK-01 (ribbon cable not included)

Mfg P/N: Shell SAMTEC TSD-05-01-N

Ribbon cable Tyco: 1-57051-9



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10-pin wire crimp connectorPin # Function Description

1 N/C Not connected



4 CLK SPI clock



7 N/C Not connected


9 N/C Not connected

10 N/C Not connected



Mating connector kit:CK-02

Mfg P/N: Shell Hirose DF11-10DS-2C

Pins Hirose: DF11-2428SC

P2

97531

108642



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2.4 Connectivity specifi cations/pin assignments - power and logic

2.4.1 Power and logic

12” (304.8 mm) fl ying leads Wire Color Function Description

Violet Stop / start Stop or start the clock generator

Blue CW / CCW direction CW/CCW direction input

Green Speed (A1) Analog speed control input (10 k potentiometer center-tap)

Yellow +5 VDC +5 VDC output (10k potentiometer +5V)

Gray Ground Speed control ground (10 k potentiometer ground)

Black GND Power supply return (ground)

Red +V Motor power (+12 to +48 VDC)

Table 2.6 Power and logic interface - 12” (308.8.mm) ying leads

7-pin pluggable terminalPin # Function Description

1 Stop / start Stop or start the clock generator

2 CW / CCW direction CW/CCW direction input

3 Speed (A1) Analog speed control input (10 k potentiometer center-tap)

4 +5 VDC +5 VDC output (10k potentiometer +5V)

5 Ground Speed control ground (10 k potentiometer ground)

6 GND Power supply return (ground)

7 +V Motor power (+12 to +48 VDC)

Table 2.7 Power and logic interface - 7-pin pluggable terminal

12.0” (304.8mm )

+1.0/-0.0

+25.4/-0.0

P1

I/O & Power

0.44”(11.2mm)

P1

I/O & Power

Top view

7

5

3

1

6

4

2


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3 Mounting and connection recommendations

! CAUTION

LEAD RESTRAINT

Some Speed Control mounting con gurations require that the MDrive move along the screw. Ensure that all cabling is prop-erly restrained to provide strain relief on connection points..


! CAUTION

MOUNTING SCREW TORQUE

When mounting the MDrive, do not exceed the maximum rec-ommended tightening torque of 7.8 lb-in (9 kg-cm).


3.1 Mounting

Care must be observed when installing the mounting screws on ALL MDrive 17 versions. The mounting holes on the ange are not drilled through and have a maximum depth of 0.150” (3.81 mm).

The warning note and Figure below illustrate the maximum safe thread length and maximum torque for mounting all versions of the MDrive 17.

MDrive® 17 Speed Control3 Mounting


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4 X M3-0.5 Screw(not supplied)Length TBDby flange thickness

Maximum length ofscrew threads intothe motor housing0.140" (3.5 mm)

1.220 SQ.(31.0 SQ.)

Ø 0.866 (21.996)0.118 (3.0) Thru 4 Placeson a 1.725 (43.82) Circle

Mounting FlangeOr Adapter Plate

MDrive17Plus

Maximum Tightening Torque:7.8 lb-in (9 kg-cm)

Drill Pattern for Mounting Flangeor Adapter Plate

Temperature sensorshould be attachedat the center of the

motor body

Figure 3.1 MDrive Speed Control mounting and drill pattern



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3.2 Layout and interface guidelines


Logic level cables must be shielded to reduce the chance of EMI induced noise. The shield needs to be grounded at the signal source to earth. The other end of the shield must not be tied to anything, but allowed to oat. This allows the shield to act as a drain.

Power supply leads to the MDrive 17 need to be twisted. If more than one driver is to be connected to the same power supply, run separate power and ground leads from the supply to each driver.

3.2.1 Rules of wiring

Power Supply and Motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires. A minimum of one twist per inch is recommended. Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better. Power ground return should be as short as possible to estab- lished ground. Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.

3.2.2 Rules of shielding

The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not effective if the signal is not earthed or grounded. Do not assume that Earth ground is a true Earth ground. De- pending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location. The shield must be connected so that shield currents drain to signal-earth connections. The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance. The shield should be tied to a single point to prevent ground loops. A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.



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3.3 Recommended wiring

The following wiring/cabling is recommended for use with the MDrive 17:

Logic and communications wiring........................................ 22 AWG

Wire strip length......................................................... 0.25” (6.0 mm)

Power and ground .............................................................. 20 AWG

3.3.1 Recommended mating connectors and pins

Communications 10-pin IDC (P2).......................................... SAMTEC TCSD-05-01-N

Recommended ribbon cable.....................................Tyco 1-57051-9

10-pin wire crimp (shell) ................................Hirose DF11-10DS-2C

10-pin wire crimp (pins) ...................................Hirose DF11-2428SC

3.4 Securing power leads and logic leads

Some applications may require that the MDrive move with the axis mo-tion. If this is a requirement of your application, the leads ( ying leads or pluggable) must be properly anchored. This will prevent exing and tugging which can cause damage at critical connection points within the MDrive.



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Logic leads

Adhesive anchor& tywrap

Adhesive anchors& tywrap

Communication leads

Power leads

Figure 3.2 Securing leads



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MDrive® 17 Speed Control 4 Connection and InterfaceR

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4 Connection and interface

! DANGER

EXPOSED SIGNALS



! CAUTION

SWITCHING DC POWER/HOT PLUGGING




MDrive® 17 Speed Control4 Connection and Interface


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4.1 Connector orientation

The illustration below shows the connector positions and orientation with regard to the location of pin 1.

All connector drawings in this section will show this orientation.

P2: 10-pin IDC (Communications) P1: 7-pin Terminal (Power and I/O)

Pin 1

Pin 7

Pin 1

Pin 10

Red conductor

P1

P2

P2: 10-pin wire crimp (Communications)

P2

97531

108642

’Figure 4.1 Connector orientation



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4.2 Interfacing communications

SPI communications may be interfaced using one of two possible con-nector options:

10-pin IDC connector at P21.

10-pin wire crimp connector at P22.

For general SPI communications methods and practices please see Part 1, Section 5 of this document.

4.2.1 P2 - 10-pin IDC style connector

Pin # Function Description

1 N/C Not connected

2 N/C Not connected

3 N/C Not connected





8 CLK SPI clock

9 N/C Not connected


Table 4.1 Communications connections, P2 - 10-pin IDC

Connectivity accessories Mating connector kit ................................................................CK-01(contains 5 connector shells, ribbon cable not included)

Communications converter cable (10’/3.0 m) ...........MD-CC300-001

Manufacturer (SAMTEC) part numbers Connector shell.......................................................... TCSD-05-01-N

Ribbon cable.............................................................Tyco 1-57051-9

Pin 1

Pin 10

Red conductor



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4.2.2 P2 - 10-pin wire crimp connector


1 N/C Not connected



4 CLK SPI clock



7 N/C Not connected


9 N/C Not connected


Table 4.2 Communications connections, 10-pin wire crimp

Connectivity accessories Mating connector kit ................................................................CK-02(contains 5 connector shells and pins for 5 cables)


2: MISO1: N/C 4: CLK3: MOSI5: GND7: N/C9: N/C

6:+5V8: CS10: N/C



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4.3 Interfacing DC power

See part 1 of this document, section 3, for recommended power cable con gurations.

! CAUTION

OVER VOLTAGE

The DC voltage range for the MDrive 17 is +12 to +48 VDC. Ensure that motor back EMF is factored into your power supply size calculations.

Allow 2.0 A maximum power supply output current per MDrive 17 in the system. Actual power supply current will depend on voltage and load.


4.3.1 Recommended power supply characteristics

Voltage range +12 to +48 VDC

Type Unregulated linear

Ripple ± 5%

Output current 2.0 A (per MDrive 17

Table 4.3 Recommended power supply characteristics

4.3.2 Recommended wire gauge



1 Amp Peak 20 20 18 18 18

2 Amps Peak 20 18 16 14 14

Table 4.4 Recommended power supply wire gauge

4.3.3 P1 — 12’ (30.5 cm) fl ying leads interface

Wire Color

Red +12 to +48 VDC supply

Black Power ground

Table 4.5 Power and ground connections, ying leads



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4.3.4 P1 — 7-pin pluggable terminal interface

Pin #

6 Power ground

7 +12 to +48 VDC supply

Table 4.6 Power and ground connections, 7-pin terminal

4.3.5 Power Interface using Drive Protection Module DPM75

The DPM75 Drive Protection Module will limit surge currents for up to three (3) MDrive 17 units at up to 48 VDC to allow switching DC Power.

A terminal power +

power –

drive –

drive +

B terminal

C terminal

Power supply

+–

MDrive

V+

SPSTswitch* Fuse**


Wire jumper A to B for 48 VDC Max.

GND

Figure 4.2 DPM75 Drive Protection Module

76

+VGND



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4.4 Interfacing Logic

See part 1 of this document, section 6, for logic interface con gurations and methods.


Wire Color Function Description






Table 4.7 Logic and speed control input connections, ying leads








Table 4.8 Logic and speed control input connections, 7-pin terminal

5

21

43

Stop/start

+5 VDC

Direction

Ground

Speed (A1)



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4.5 Encoder interface

4.5.1 External encoder

Differential Single-end

Pin # Signal Cable: ED-CABLE-6 Pin # Signal Cable: ES-CABLE-2

1 No connect – 1 Ground Brown

2 +5 VDC input Orange/White 2 Index Violet

3 Ground White/Orange 3 Channel A Blue

4 No connect – 4 +5 VDC input Orange

5 Channel A – White/Blue 5 Channel B Yellow

6 Channel A + Blue/White

7 Channel B – White/Green

8 Channel B + Green/White

9 Index – White/Brown

10 Index + Brown/White

Table 4.9 Optional external encoder pins

Connectivity accessories Differential cable ...........................................................RD-CABLE-6

Single-end cable ........................................................... ES-CABLE-2

Single-End

Differential

9 7 5 3 1

1 2 3 4 5

10 8 6 4 2



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4.7 USB to SPI communications converters

4.7.1 USB to 10-pin wire crimp — MD-CC300-001

Electrically isolated in-line USB to SPI converter pre-wired with mating connector to conveniently program and set con guration parameters.

To computer USB port

To MDrivePlusIDC connector

6.0’ (1.8m)

in-line converter

( )

Figure 4.3 MD-CC300-001 communications converter cable



To computer USB portTo MDrive P2

6.0’ (1.8m)

in-line converter

6.0’ (1.8m)




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4.8 Mating connector kits

Use to build your own cables. Kit contains 5 mating shells with pins. Cable not supplied. Manufacturer’s crimp tool recommended.

Mates to connector:

P2 10-pin IDC ..........................................................................CK-01

P4 10-pin wire crimp ...............................................................CK-02


Introduction1. Speci cations2. Mounting Recommendations3. Interface and Connectivity4.



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Table of Contents

1 Introduction ................................................................................ 1-11.1 Product identi cation .......................................................1-11.2 Installation accessories ...................................................1-21.3 Documentation reference ................................................1-31.4 Product software .............................................................1-3

2 Specifi cations ............................................................................ 2-12.1 Mechanical speci cations ................................................2-12.2 General speci cations .....................................................2-2

2.2.1 Electrical speci cations ......................................2-22.22 Motor speci cations ...........................................2-22.2.3 Speed-force performance curves ......................2-3

2.2 Setup parameters ............................................................2-42.3 Connectivity speci cations/pin assignments - Communications ..............................................................2-5

2.3.1 SPI communications - connector P2 ..................2-52.4 Connectivity speci cations/pin assignments - power and ... logic .................................................................................2-7

2.4.1 Power and logic .................................2-7





4 Connection and interface ......................................................... 4-14.1 Connector orientation ......................................................4-24.2 Interfacing communications .............................................4-3

4.2.1 P2 - 10-pin IDC style connector .........................4-34.2.2 P2 - 10-pin wire crimp connector .......................4-4

4.3 Interfacing DC power .......................................................4-54.3.1 Recommended power supply characteristics ....4-54.3.2 Recommended wire gauge ................................4-54.3.3 P1 — 12’ (30.5 cm) ying leads interface ..........4-54.3.4 P1 — 7-pin pluggable terminal interface ............4-64.3.5 Power Interface using Drive Protection Module ..... DPM75 ...............................................................4-6

4.4 Interfacing Logic ..............................................................4-74.4.1 P1 — 12’ (30.5 cm) ying leads interface ..........4-74.4.2 P1 — 7-pin pluggable terminal interface ............4-7

4.5 Encoder interface ............................................................4-84.5.1 External encoder ................................................4-8

4.7 USB to SPI communications converters .........................4-94.7.1 USB to 10-pin wire crimp — MD-CC300-001 ....4-94.7.2 USB to 10-pin wire crimp — MD-CC302-001 ....4-9

4.8 Mating connector kits ....................................................4-10



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List of Figures

Figure 2.1 MDrive 23 Mechanical Speci cations ....................................2-1Figure 2.2 Speed-force performance curves ..........................................2-2Figure 3.1 MDrive 23 Speed Control mounting and drill pattern ............3-2Figure 3.2 Securing leads .......................................................................3-5’Figure 4.1 Connector orientation ............................................................4-2Figure 4.2 DPM75 Drive Protection Module ...........................................4-6Figure 4.3 MD-CC300-001 communications converter cable .................4-9Figure 4.4 MD-CC302-001 communications converter cable .................4-9

List of Tables

Table 1.1 Standard product options ......................................................1-1Table 2.1 Electrical speci cations .........................................................2-2Table 2.2 Motor speci cations ...............................................................2-2Table 2.3 Setup parameters ..................................................................2-4Table 2.4 P2 communications, 10-pin locking wire crimp .....................2-5Table 2.5 P2 communications, 10-pin locking wire crimp .....................2-6Table 2.6 Power and logic interface - 12” (308.8.mm) ying leads .......2-7Table 2.7 Power and logic interface - 7-pin pluggable terminal ............2-7Table 4.1 Communications connections, P2 - 10-pin IDC .....................4-3Table 4.2 Communications connections, 10-pin wire crimp ..................4-4Table 4.3 Recommended power supply characteristics ........................4-5Table 4.4 Recommended power supply wire gauge .............................4-5Table 4.5 Power and ground connections, ying leads .........................4-5Table 4.6 Power and ground connections, 7-pin terminal .....................4-6Table 4.7 Logic and speed control input connections, ying leads .......4-7Table 4.8 Logic and speed control input connections, 7-pin terminal ...4-7Table 4.9 Optional external encoder pins.............................................4-8



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1 Introduction

The MDrive® 23 Plus Speed Control integrated drive with program-mable velocity control is a 1.8° 2-phase stepper motor with on-board control electronics which operate at an input voltage of +12 to +75 VDC. The velocity control uses voltage, current, or PWM input signals.

Settings for MDrivePlus Speed Control products may be changed on-the- y or downloaded and stored in nonvolatile memory using the IMS SPI Motor Interface software provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port.


Part numbersExample: K M D O 1 F S D 2 3 A 7 – E1

QuickStart KitK = kit option, or leave blank if not wanted

K M D O 1 F S D 2 3 A 7 – E1


K M D O 1 F S D 2 3 A 7 – E1

Input1 = Plus, standard features

K M D O 1 F S D 2 3 A 7 – E1

P1 connector — I/O & powerF = fl ying leadsP = pluggable

K M D O 1 F S D 2 3 A 7 – E1


K M D O 1 F S D 2 3 A 7 – E1

P2 connector — communicationD = IDCL = wire crimp

K M D O 1 F S D 2 3 A 7 – E1


K M D O 1 F S D 2 3 A 7 – E1

Motor lengthA = single stackB = double stackC = triple stackD = quad stack

K M D O 1 F S D 2 3 A 7 – E1

Drive voltage (1)7 = +12 to +75 VDC6 = +12 to +60 VDC

K M D O 1 F S D 2 3 A 7 – E1


– E___ = external optical encoder with index mark

line count 100 200 250 256 400 500 512 1000 1024single-end part# E1 E2 E3 EP E4 E5 EQ E6 ERdifferential part# EAL EBL ECL EWL EDL EHL EXL EJL EYL


– E1

(1) Only quad stack motors have +12 to +60 VDC drives, all other motors have +12 to +75 VDC drives.

Table 1.1 Standard product options

MDrive® 23 Plus

P2: CommunicationD = SPI with 10-pin IDC non-locking connectorL = SPI with 10-pin friction lock wire crimp connector

P1: I/O & PowerF = 12" flying leadsP = non-locking spring clamp terminal strip



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Installation accessoriesDescription Length

feet (m)Part number






Encoder cablesPre-wired mating connector with other cable end open.■ For external single-end encoder 1.0 (0.3) ED-CABLE-2

■ For external differential encoder, locking cable 6.0 (1.8) ED-CABLE-6



USB connector

in-line converter


MD-CC300-001

USB connector


in-line converter

MD-CC302-001



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Product manual, describes the technical data, installation, con- guration and programming of the product.Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.



The MDrive 23 Speed Control integrated motor and driver is con gured using the SPI motor interface graphical user interface. This free soft-ware may be downloaded from http://www.imshome.com/downloads/software_interfaces.html.




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2 Specifi cations

2.1 Mechanical specifi cations

1.90(48.3)

2.96(75.2)

0.063 ±0.008(1.6 ±0.2)

0.81 ±0.02(20.6 ±0.5)

0.59 ±0.008(15.0 ±0.2)

0.189 ±0.012(4.8 ±0.3)

1.34(34.0)

LMAXLMAX2

P2

P1

Single, Double & TripleLength Motors:0.230 ±0.004

(5.8 ±0.1)Quad Length Motor:

0.2756 ±0.004(7.0 ±0.1)

2.02(51.2)

Ø 1.500 ±0.002(Ø 38.1 ±0.1)

2.22( 56.4)

Ø 0.197 +0.012/-0(Ø 5.0 +0.3/-0)

1.63(41.4)

1.856 ±0.008 ( 47.1 ±0.2)

Single, Double & TripleLength Motors:

Ø 0.2500 +0/-0.0005(Ø 6.350 +0/-0.013)

Quad Length Motor:Ø 0.315 +0/-0.0005(Ø 8.0 +0/-0.013)

Motor stack length Lmax (1) Lmax2 (2) Single 2.65 (67.31) 3.36 (85.34) Double 3.02 (76.71) 3.73 (94.74) Triple 3.88 (98.55) 4.59 (116.59) Quad 5.28 (134.15) 5.99 (152.19)(1) Single shaft.(2) Control knob or external encoder.

Figure 2.1 MDrive 23 Mechanical Speci cations

external encoder12.0" (305mm)fl ying leads

P2P2

P1

0.44(11.2)

P1

12.00+1.0/-0.0

(304.8)(+25.4/-0.0)


7-pin non-locking spring clamp terminal strip

I/O & Power I/O & Power P2 connector options

10-pin non-locking IDC connector

10-pin friction lockwire crimp connector

Communication Communication

1.20(30.4)

1.42(36.1)

2.04*(51.8)

differentialencoder*

.

1.22*(31.0)

.

single-endencoder

Ø 0.97(Ø 24.6)

control knob

Lmax2 options



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Input voltageRange VDC 12 to 75 (2) 12 to 60 (3)Power supply current maximum (1) 2A per unit 3.5A per unit



Speed control Input0 to +5 VDC (4), 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, or 15 to 25 kHz PWM


Logic input

Low level 0 to +0.8 VDCHigh level +2.0 to +5.0 VDCInternal pull-up resistance 20 kΩ (to +3.3 VDC)Optically isolated noSourcing or sinking confi gurable

Motion






(1) per MDrive 23, actual current depends on voltage and load(2) Single, double and triple length motors(3) Quad length motors

Table 2.1 Electrical speci cations

2.22 Motor specifi cations



3.9 oz-in / 2.7 N-cm

0.0025 oz-in-sec2 / 0.18 kg-cm2 21.6 oz / 612.3 g


5.6 oz-in / 3.92 N-cm

0.0037 oz-in-sec2 / 0.26 kg-cm2 26.4 oz / 748.4 g


9.7 oz-in / 6.86 N-cm

0.0065 oz-in-sec2 / 0.46 kg-cm2 39.2 oz / 1111.3 g

Quad 283.0 oz-in / 200.0 N-cm

14.2 oz-in / 10.0 N-cm

0.0108 oz-in-sec2 / 0.76 kg-cm2 61.6 oz / 1746.3 g

Table 2.2 Motor speci cations

Figure 2.2 Speed-force performance curves



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2.2.3 Speed-force performance curves

Single stack length Double stack length





Triple stack length Quad stack length





0

150/106

225/159

75/53

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

75 VDC

0

150/106

225/159

75/53

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

75 VDC

0

150/106

225/159

75/53

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

75 VDC

0

150/106

225/159

75/53

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

60 VDC



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A1 Analog input mode 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, or 15 to 25 kHz PWM — 0 to +5

VDC

ACCL Acceleration 91 to 1.5 X 109 steps / sec2 1,000,000


DB Analog deadband 0 to 255 counts 1

DECL Deceleration 91 to 1.5 X 109 mSec 500

DIR Motor direction override Clockwise (cw) / counterclockwise (ccw) — cw

FAULT Fault / checksum error error code — none

FS Analog full scale 1 to 1023 counts 1023

HCDT Hold current delay time HCDT + MSDT <= 65535 milliseconds 500

IF Analog input fi lter 1 to 1000 counts 1

MHC Motor hold current 0 to 100 percent 5

MRC Motor run current 1 to 100 percent 25

MSDT Motor settling delay time MSDT + HCDT <= 65535 milliseconds 0



SSD Stop / start debounce 0 to 255 milliseconds 0

VI Initial velocity 0 to <VM steps / sec 1000

VM Maximum velocity VI to 5,000,000 steps / sec 768,000

USER ID User ID customizable 1-3 characters IMS

NOTE: All parameters are set using the supplied IMS SPI Motor Interface GUI and may be changed on-the- y. An optional Communication Converter is recommended with rst orders.




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! CAUTION

+5VDC OUTPUT



10-pin IDC style connectorPin # Function Description

1 N/C Not connected

2 N/C Not connected

3 N/C Not connected





8 CLK SPI clock

9 N/C Not connected



P213579

246810







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10-pin wire crimp connectorPin # Function Description

1 N/C Not connected



4 CLK SPI clock



7 N/C Not connected


9 N/C Not connected







97531

108642

P2



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2.4 Connectivity specifi cations/pin assignments - power and logic

2.4.1 Power and logic

12” (304.8 mm) fl ying leads Wire Color Function Description






Black GND Power supply return (ground)

Red +V Motor power (+12 to +48 VDC)

Table 2.6 Power and logic interface - 12” (308.8.mm) ying leads

7-pin pluggable terminalPin # Function Description






6 GND Power supply return (ground)

7 +V Motor power (+12 to +48 VDC)

Table 2.7 Power and logic interface - 7-pin pluggable terminal

I/O & Power

P1

12.00+1.0/-0.0

(304.8)(+25.4/-0.0)

I/O & Power

P1

0.44(11.2)

Top view

7

5

3

1

6

4

2



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! CAUTION

LEAD RESTRAINT

Some Speed Control mounting con gurations require that the MDrive move along the screw. Ensure that all cabling is prop-erly restrained to provide strain relief on connection points..




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3.1 Mounting

Care must be observed when installing the mounting screws on ALL MDrive 23 versions.

4 x #10-32 Screw4 x #10 Split Lockwasher4 x #10 Flat Washer

Mounting Hardware*4 x M5 - 0.50 Screw4 x M5 Split Lockwasher4 x M5 Flat Washer

Mounting Hardware (Metric)*

Drill Pattern*Not Supplied

1.856 ±0.008 SQ.(47.1 ±02 SQ.)

Ø 1.500 ±0.002(Ø 38.1 ±0.1)

4 Places on a Ø 2.638 (Ø 67.00) CircleUse #21 (4.5 mm) drill. Tap to10-32 (M5-0.5)

Mounting Flange or Adapter Plate(Material and thickness determined by user application

and thermal considerations)

Temperature sensorshould be attachedat the center of the motor body

Figure 3.1 MDrive 23 Speed Control mounting and drill pattern



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Logic level cables must be shielded to reduce the chance of EMI induced noise. The shield needs to be grounded at the signal source to earth. The other end of the shield must not be tied to anything, but allowed to oat. This allows the shield to act as a drain.

Power supply leads to the MDrive 23 need to be twisted. If more than one driver is to be connected to the same power supply, run separate power and ground leads from the supply to each driver.


Power Supply and Motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires. A minimum of one twist per inch is recommended. Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better. Power ground return should be as short as possible to estab- lished ground. Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.


The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not effective if the signal is not earthed or grounded. Do not assume that Earth ground is a true Earth ground. De- pending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location. The shield must be connected so that shield currents drain to signal-earth connections. The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance. The shield should be tied to a single point to prevent ground loops. A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.



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Logic and communications wiring........................................ 22 AWG

Wire strip length......................................................... 0.25” (6.0 mm)

Power and ground .............................................................. 20 AWG


Communications 10-pin IDC (P2).......................................... SAMTEC TCSD-05-01-N

Recommended ribbon cable.....................................Tyco 1-57051-9

10-pin wire crimp (shell) ................................Hirose DF11-10DS-2C

10-pin wire crimp (pins) ...................................Hirose DF11-2428SC



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Some applications may require that the MDrive move with the axis mo-tion. If this is a requirement of your application, the leads ( ying leads or pluggable) must be properly anchored. This will prevent exing and tugging which can cause damage at critical connection points within the MDrive.

Logic leads

Adhesive anchor& tywrap

Adhesive anchors& tywrap

Communication leads

Power leads




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! DANGER

EXPOSED SIGNALS



! CAUTION







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4.1 Connector orientation

The illustration below shows the connector positions and orientation with regard to the location of pin 1.

All connector drawings in this section will show this orientation.

P1

P2: 10-pin IDC (Communications) P1: 7-pin Terminal (Power and I/O)

Pin 1

Pin 7Pin 1

Pin 10

Red conductor

P2

P2: 10-pin wire crimp (Communications)

P2

97531

108642

’Figure 4.1 Connector orientation



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4.2.1 P2 - 10-pin IDC style connector


1 N/C Not connected

2 N/C Not connected

3 N/C Not connected





8 CLK SPI clock

9 N/C Not connected







Pin 1

Pin 10

Red conductor



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4.2.2 P2 - 10-pin wire crimp connector


1 N/C Not connected



4 CLK SPI clock



7 N/C Not connected


9 N/C Not connected





2: MISO1: N/C 4: CLK3: MOSI5: GND7: N/C9: N/C

6:+5V8: CS10: N/C



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See part 1 of this document, section 3, for recommended power cable con gurations.

! CAUTION

OVER VOLTAGE

The MDrive 23 is available in four stack lengths, single, double, triple and quad.

Single, double and triple length motors have an input voltage range of +12 to +75 VDC. Quad length motors have an input range of +12 to +60 VDC. Ensure that the proper power supply voltage is used before applying power to the device.



Voltage rangeSingle, double or triple length +12 to +75 VDC

Quad length +12 to +60 VDC


Ripple ± 5%

Output currentSingle, double or triple length 2.0 A (per MDrive 23)

Quad length 3.5 A (per MDrive 23)

Table 4.3 Recommended power supply characteristics




1 Amp Peak 20 20 18 18 18

2 Amps Peak 20 18 16 14 14

3 Amps Peak 18 16 14 12 12



Wire Color

Red +12 to +48 VDC supply

Black Power ground

Table 4.5 Power and ground connections, ying leads



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Pin #

6 Power ground

7 +12 to +48 VDC supply

Table 4.6 Power and ground connections, 7-pin terminal

4.3.5 Power Interface using Drive Protection Module DPM75

The DPM75 Drive Protection Module will limit surge currents for up to three (3) MDrive 23 units at up to 48 VDC to allow switching DC Power.

A terminal power +

power –

drive –

drive +

B terminal

C terminal

Power supply

+–

MDrive

V+

SPSTswitch* Fuse**


Wire jumper A to B for 48 VDC Max.

GND

Figure 4.2 DPM75 Drive Protection Module

76

+VGND



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4.4 Interfacing Logic

See part 1 of this document, section 6, for logic interface con gurations and methods.








Table 4.7 Logic and speed control input connections, ying leads








Table 4.8 Logic and speed control input connections, 7-pin terminal

5

21

43

Stop/start

+5 VDC

Direction

Ground

Speed (A1)



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4.5 Encoder interface

4.5.1 External encoder


Pin # Signal Cable: ED-CABLE-6 Pin # Signal Cable: ES-CABLE-2

1 No connect – 1 Ground Brown

2 +5 VDC input Orange/White 2 Index Violet

3 Ground White/Orange 3 Channel A Blue

4 No connect – 4 +5 VDC input Orange

5 Channel A – White/Blue 5 Channel B Yellow

6 Channel A + Blue/White

7 Channel B – White/Green

8 Channel B + Green/White

9 Index – White/Brown

10 Index + Brown/White

Table 4.9 Optional external encoder pins

Connectivity accessories Differential cable ...........................................................RD-CABLE-6

Single-end cable ........................................................... ES-CABLE-2

Single-End

Differential

9 7 5 3 1

1 2 3 4 5

10 8 6 4 2



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4.7 USB to SPI communications converters



To computer USB port

To MDrivePlusIDC connector

6.0’ (1.8m)

in-line converter

( )




To computer USB portTo MDrive P2

6.0’ (1.8m)

in-line converter

6.0’ (1.8m)




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4.8 Mating connector kits

Use to build your own cables. Kit contains 5 mating shells with pins. Cable not supplied. Manufacturer’s crimp tool recommended.

Mates to connector:

P2 10-pin IDC ..........................................................................CK-01

P4 10-pin wire crimp ...............................................................CK-02


Introduction1. Specifi cations2. Mounting Recommendations3. Interface and Connectivity4.



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Table of Contents

1 Introduction ................................................................................ 1-11.1 Product identifi cation .......................................................1-11.2 Installation accessories ...................................................1-21.3 Documentation reference ................................................1-31.4 Product software .............................................................1-3

2 Specifi cations ............................................................................ 2-12.1 Mechanical specifi cations .......................................... 2-12.2 General specifi cations .....................................................2-2

2.2.1 Electrical specifi cations ......................................2-22.2.2 Motor specifi cations ...........................................2-22.2.3 Torque-speed performance curves ....................2-3

2.3 Setup parameters ............................................................2-32.4 Connectivity specifi cations/pin assignments - Communications ..............................................................2-4

2.4.1 SPI communications - connector P2 ..................2-42.5 Connectivity specifi cations/pin assignments - power, I/O ... and encoder ....................................................................2-6

2.5.1 Power, I/O and encoder option .........................2-62.5.2 P3: DC motor power ..........................................2-72.5.3 P1: I/O - standard I/O (Plus) ..............................2-82.5.4 P1: I/O - expanded I/O (Plus2) ...........................2-9





4 Connection and interface ......................................................... 4-14.2 Interfacing communications .............................................4-1

4.1.1 P2 — 10-pin pressure-fi t IDCstyle connector ....4-24.1.2 P2 — 10-pin friction lock wire crimp ..................4-2

4.3 Interfacing DC power .......................................................4-34.3.1 Recommended power supply characteristics ....4-34.3.2 Recommended wire gauge ................................4-34.3.3 P1 — 12’ (30.5 cm) fl ying leads interface ..........4-44.3.4 P3 — 2-pin locking wire crimp interface ............4-44.4.1 P1 — 12’ (30.5 cm) fl ying leads interface ..........4-54.4.2 P1 — 12-pin locking wire crimp interface (standard I/O) 4-64.4.3 P1 — 20-pin locking wire crimp interface (encoder option installed) ..................................................4-7

MDrive® 34 Speed ControlrTable of Contents


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List of Figures

Figure 2.1 Standard and Expanded features mechanical specifi cations 2-1Figure 2.2 Torque-speed performance curves .......................................2-3Figure 3.1 MDrive 34 mounting and drill pattern ....................................3-2Figure 3.2 Securing leads .......................................................................3-5



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List of Tables

Table 2.1 Electrical specifi cations .........................................................2-2Table 2.2 Motor specifi cations ...............................................................2-2Table 2.3 Setup parameters ..................................................................2-3Table 2.4 P2 communications, 10-pin locking wire crimp .....................2-4Table 2.5 P2 communications, 10-pin locking wire crimp .....................2-5Table 2.6 Power and logic interface - 12” (308.8.mm) fl ying leads .......2-6Table 2.7 P3 DC power, 2-pin locking wire crimp .................................2-7Table 2.8 I/O interface - 12-pin locking wire crimp ................................2-8Table 2.9 I/O interface - 20-pin locking wire crimp ................................2-9Table 4.1 Communications connections, P2 - 10-pin IDC .....................4-2Table 4.2 Communications connections, 10-pin wire crimp ..................4-2Table 4.61 Recommended power supply wire gauge .............................4-3Table 4.7 Power and ground connections, fl ying leads .........................4-4Table 4.3 Power and ground connections, 12-pin locking wire crimp ...4-4Table 4.11 I/O connections, fl ying leads .................................................4-5Table 4.13 I/O connections, 16-pin locking wire crimp ............................4-6Table 4.14 I/O and remote encoder connections, 16-pin locking wire crimp 4-7

MDrive® 34 Speed ControlrTable of Contents


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1 Introduction

The MDrive® 34 Plus Speed Control integrated drive with programmable ve-locity control is a 1.8° 2-phase stepper motor with on-board control electron-ics which operate at an input voltage of +12 to +75 VDC. The velocity control uses voltage, current, or PWM input signals.

Settings for MDrivePlus Speed Control products may be changed on-the-fl y or downloaded and stored in nonvolatile memory using the IMS SPI Motor Interface software provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port


Example: K M D O 3 F S D 3 4 A 7 – E1QuickStart KitK = kit option, or leave blank if not wanted

K M D O 3 F S D 3 4 A 7 – E1


K M D O 3 F S D 3 4 A 7 – E1

Input3 = Plus2, expanded features

K M D O 3 F S D 3 4 A 7 – E1

Connector interfaceF = fl ying leadsC = pluggable

K M D O 3 F S D 3 4 A 7 – E1


K M D O 3 F S D 3 4 A 7 – E1

P2 connector — communicationD = only with F in position 6L = only with C in position 6

K M D O 3 F S D 3 4 A 7 – E1


K M D O 3 F S D 3 4 A 7 – E1

Motor lengthA = single stackB = double stackC = triple stack

K M D O 3 F S D 3 4 A 7 – E1

Drive voltage7 = +12 to +75 VDC

K M D O 3 F S D 3 4 A 7 – E1


– E___ = internal optical encoder with index mark (1)


– E1

(1) Products with pluggable interface available only with differential encoder.

line count 100 200 250 256 400 500 512 1000 1024single-end part# E1 E2 E3 EP E4 E5 EQ E6 ERdifferential part# EA EB EC EW ED EH EX EJ EY

MDrive® 34 Plus2

flying leads interface

P2: CommunicationD = SPI with 10-pin IDC non-locking connector

P1: I/O & PowerF = 12" flying leads

MDrive® 34 Plus2

pluggable interface

P2: CommunicationL = 10-pin friction lock wire crimp connector

P3: Power2-pin locking wire crimp connector

P1: I/O and optional encoderC = 12-pin locking wire crimp connector (20-pin with internal encoder option)



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Description Length feet (m)

Part number




Prototype development cableSpeed test/development with pre-wired mating connector with other cable end open.■ Mates to 12-pin locking wire crimp connector 10.0 (3.0) PD12B-2334-FL3

■ Mates to 20-pin locking wire crimp connector 10.0 (3.0) PD20B-3400-FL3

■ Mates to 2-pin locking wire crimp connector 10.0 (3.0) PD02-3400-FL3



■ 12-pin locking wire crimp connector — CK-08




locking mating connector

PD02-3400-FL3


PD20B-3400-FL3

USB connector

in-line converter



PD12B-3400-FL3

MD-CC300-001

USB connector


in-line converter

MD-CC302-001




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Product manual, describes the technical data, installation, confi guration and programming of the product.

Quick Reference, describes the basic wiring, connection and use of this product. The quick reference is shipped in printed form with the product.



The MDrive 34 Speed Control integrated motor and driver is confi gured using the SPI motor interface graphical user interface. This free soft-ware may be downloaded from http://www.imshome.com/downloads/software_interfaces.html.




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2 Specifi cations

2.1 Mechanical specifi cations Dimensions in inches (mm)

Motor stack length Lmax (1) Lmax2 (2) Single 3.81 (96.77) 4.52 (114.81) Double 4.60 (116.84) 5.31 (134.87) Triple 6.17 (156.72) 6.88 (174.75)(1) Single shaft or internal encoder.(2) Control knob.

Ø 0.5512 +0/-0.0004(Ø 14.0 +0/-0.010)

4X Ø 0.217 (Ø 5.51)

2.739( 69.57)

3.39( 86.1)

Ø 2.874 ±0.002(Ø 73.0 ±0.05)

P1 / P2 / P3 / P4

LMAX

0.394(10.01) 1.46 ±0.04

(37.1 ±1.0)

0.984 ±0.01(25.0 ±0.25)

0.512 +0/–0.004(13.0 ±0.10)

0.079(2.0)

0.731(18.57) 1.250

(31.75)

1.981(50.32)

3.727(94.67)

LMAX2

Connector options

P2

P1

P3

I/O, E

ncod

erP

ower

Com

m

Ø 1.90(Ø 48.3)

Flying leads interface version:12" (305mm) fl ying leads with 10-pin non-locking IDC connector

Pluggable interface version:12-pin* and 2-pin locking and 10-pin friction lock wire crimp connectors

* 12-pin replaced by 20-pin locking wire crimp connector when optional internal encoder is included

control knob

Lmax2 option

P2

P1

I/O &

Pow

er,

Enc

oder

Com

m

Figure 2.1 Standard and Expanded features mechanical specifi cations



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Input voltageRange VDC 12 to 75Power supply current maximum (3) 4A per unit



Speed control Input Speeds A1 and A2: 0 to +5 VDC (4), 0 to +10 VDC, 4 to 20 mA, or 0 to 20 mA


Logic input

Low level 0 to +0.8 VDCHigh level +5.0 to +24.0 VDCOptically isolated yesSourcing or sinking confi gurable

Logic output Step clock / direction

Open drain source maximum +100 VDC

Open drain current continuous 100 mA

Output pulse width 100 nSec to 12.8 μSec software confi gu-rable

Motion






Table 2.1 Electrical specifi cations

2.2.2 Motor specifi cations



10.9 oz-in / 7.7 N-cm

0.01416 oz-in-sec2 / 1.0 kg-cm2 4.1 lb / 1.9 kg


14.16 oz-in / 10.0 N-cm



19.83 oz-in / 14.0 N-cm


Table 2.2 Motor specifi cations



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2.2.3 Torque-speed performance curves

Single stack length Double stack length Triple stack length







0

600/423

900/635

300/211

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

75 VDC

0

600/423

900/635

300/211

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

75 VDC

0

600/423

900/635

300/211

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

75 VDC


Parameter Function Range Units DefaultACCL Acceleration 91 to 1.5 X 109 steps / sec2 1,000,000


CLK OUT Clock out none, step / dir, quadrature, up / down — noneDB Analog deadband 0 to 255 counts 1DECL Deceleration 91 to 1.5 X 109 mSec 500DIR Motor direction override Clockwise (cw) / counterclockwise (ccw) — cwFAULT Fault / checksum error error code — noneFS Analog full scale 1 to 1023 counts 1023HCDT Hold current delay time HCDT + MSDT <= 65535 milliseconds 500IF Analog input fi lter 1 to 1000 counts 1

IMODESource A1 spd / A2 spd or PWM 15 to 25 kHz — A1&A2

Analog input, A1&A2 spds 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA

volts or cur-rent

0 to +5 VDC

MHC Motor hold current 0 to 100 percent 5MRC Motor run current 1 to 100 percent 25MSDT Motor settling delay time MSDT + HCDT <= 65535 milliseconds 0



STEPW Step width 0 (square wave), 100 nSec to 12.8 μSec nSec 550 nSecSSD Stop / start debounce 0 to 255 milliseconds 0VI Initial velocity 0 to <VM steps / sec 1000VM Maximum velocity VI to 5,000,000 steps / sec 768,000TEMP Warning temperature 0 to 85°C °C 80°CUSER ID User ID customizable 1-3 characters IMS


Figure 2.2 Torque-speed performance curves



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! CAUTION

+5VDC OUTPUT



10-pin press-fi t (IDC style) only available on fl ying leads versions


1 N/C Not connected

2 N/C Not connected

3 N/C Not connected





8 CLK SPI clock

9 N/C Not connected







P2108642

97531



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10-pin friction lock wire crimp (only available on pluggable connector versions)


1 N/C Not connected



4 CLK SPI clock



7 N/C Not connected


9 N/C Not connected



P2

246810

13579







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2.5 Connectivity specifi cations/pin assignments - power, I/O and encoder

2.5.1 Power, I/O and encoder option

12” (304.8 mm) fl ying leads


White/Blue Direction Output

Open-Drain Direction Output. The signal on this output will follow the direction of the axis. May be configured as Step/Direction, Quadrature or Clock Up/Down.

White/Orange Step Clock Output

Open-drain Step Clock Output. If enabled, the internal oscillator clock will be available on this output to allow a secondary axis to follow the primary . May be configured as Step/Direction, Quadrature or Clock Up/Down. 1:1 Ratio/

White/Brown Speed Input Select/PWM

The state of this input will determine the active speed control input. If PWM Mode is being used the 15 to 25 khz signal will be applied here.

Violet Stop/StartThe Stop/Start input will stop (high/disconnected) or start (Active when Low) the internal pulse generator.

Blue Direction inputThe direction input will toggle the axis direction relative to the state of the Direction Override parameter.

Green Speed Control Input 10 to +5 VDC, 0 to +10 V, 0 to 20 mA, 4 to 20 mA speed control input 1.

White Opto Reference

The Signal applied to the Optocoupler Reference will determine the sinking/ or sourcing configuration of the inputs. To set the inputs for sinking operation, a +5 to +24 VDC supply is connected. If sourcing, the Opto Reference is connected to Ground

White Green Speed Control Input 20 to +5 VDC, 0 to +10 V, 0 to 20 mA, 4 to 20 mA speed control input 2.

Gray Logic GroundUsed with a 10kΩ Potentiometer to Speed Control Inputs

Yellow +5 VDC Output*Used with a 10kΩ Potentiometer to Speed Control Inputs

Black Power Ground Power supply return (ground)

Red +V +12 to +75 VDC power supply input

Encoder option installed


Yellow/Black Ground GroundEncoder Ground (common with power ground).

Yellow/Blue Channel A+ Channel AChannel A+ (Channel A Single End) Encoder Output.

Yellow/Green Channel A - — Channel A – Differential Encoder Output.

Yellow/Brown Channel B+ Channel BChannel B+ (Channel B Single End) Encoder Output.

Yellow/Orange Channel B - — Channel B – Differential Encoder Output.

Yellow/Violet Index + Index Index + (Index Single-End) Encoder Output.

Yellow/Gray Index - — Index – Differential Encoder Output.

Yellow/Red+5 VDC Input

+5 VDC Input

+5 VDC Encoder power input.

Table 2.6 Power and logic interface - 12” (308.8.mm) fl ying leads



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2.5.2 P3: DC motor power

2-pin friction lock wire crimp - separate power connector only on models with lock-

ing wire crimp connectors at P1 Pin # Function Description

1 +V +12 to +60 VDC motor power

2 Ground Power supply return (ground)

Table 2.7 P3 DC power, 2-pin locking wire crimp

Connectivity OptionsPrototype development cable PD-02-3400-FL3


Mfg P/N: Shell Molex 751067-0200

Pins Molex 750217-9101

P31

2



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2.5.3 P1: I/O - standard I/O (Plus)

12-pin locking wire crimp connector


1 Direction OutputOpen-Drain Direction Output. The signal on this output will follow the direction of the axis. May be configured as Step/Direction, Quadrature or Clock Up/Down.

2 Step Clock Output


3 Speed Input Select/PWMThe state of this input will determine the active speed control input. If PWM Mode is being used the 15 to 25 khz signal will be applied here.

4 Stop/StartThe Stop/Start input will stop (high/disconnected) or start (Active when Low) the internal pulse generator.

5 Direction inputThe direction input will toggle the axis direction relative to the state of the Direction Override parameter.

6 Speed Control Input 10 to +5 VDC, 0 to +10 V, 0 to 20 mA, 4 to 20 mA speed control input 1.

7 Opto Reference



9 Speed 1 Ground Used with a 10kΩ Potentiometer to Speed 1 Input

10 Speed 1 +5V Used with a 10kΩ Potentiometer to Speed 1 Input


12 Speed 2 +5 V Used with a 10kΩ Potentiometer to Speed 2 Input

Table 2.8 I/O interface - 12-pin locking wire crimp

P1

2468

1012

1357911

Connectivity OptionsPrototype development cable::PD12B-1434-FL3


Mfg P/N: Shell JST PADP-12V-1-S

Pins JST SPH-001T0.5L



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2.5.4 P1: I/O - expanded I/O (Plus2)

20-pin locking wire crimp connector


1 Direction OutputOpen-Drain Direction Output. The signal on this output will follow the direction of the axis. May be configured as Step/Direction, Quadrature or Clock Up/Down.

2 Step Clock Output


3 Speed Input Select/PWMThe state of this input will determine the active speed control input. If PWM Mode is being used the 15 to 25 khz signal will be applied here.

4 Stop/StartThe Stop/Start input will stop (high/disconnected) or start (Active when Low) the internal pulse generator.

5 Direction inputThe direction input will toggle the axis direction relative to the state of the Direction Override parameter.


7 Opto Reference




10 Speed 1 +5V Used with a 10kΩ Potentiometer to Speed 1 Input


12 Speed 2 +5 V Used with a 10kΩ Potentiometer to Speed 2 Input



13 Ground Ground Encoder Ground (common with power ground).

14 Channel A+ Channel A Channel A+ (Channel A Single End) Encoder Output.

15 Channel A - — Channel A – Differential Encoder Output.

16 Channel B+ Channel B Channel B+ (Channel B Single End) Encoder Output.

17 Channel B - — Channel B – Differential Encoder Output.

18 Index + Index Index + (Index Single-End) Encoder Output.

19 Index - — Index – Differential Encoder Output.

20 +5 V Input +5 V Input +5 VDC Encoder power input.

Table 2.9 I/O interface - 20-pin locking wire crimp

P1

2468101214161820

135791113151719

Connectivity OptionsPrototype development cable::PD20B-3400-FL3


Mfg P/N: Shell JST PADP-20V-1-S

Pins JST SPH-001T0.5L



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! DANGER

EXPOSED SIGNALS



! CAUTION





! CAUTION

LEAD RESTRAINT

Some MDrive mounting confi gurations require that the MDrive move along the screw. Ensure that all cabling is properly re-strained to provide strain relief on connection points..


! CAUTION

THERMAL MANAGEMENT

The mounting plate material should offer suffi cient mass and thermal conductivity to ensure that the motor temperature does not eceed 100°C.




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3.1 Mounting

Mounting Flange or Adapter Plate*

Lexium ILT2V85

Mounting Hole Pattern

Mounting Recommendation

4 x M5 - 0.80 Screw4 x M5 Split Lockwasher4 x M5 Flat Washer4 x M5 - 0.80 Lock Nuts

Mounting Hardware is notsupplied

Mounting Hardware (Metric)

Allow Top Clearance forWiring/Cabling

Ø 73.66

69.57 SQ.

4x Ø 5.51

Ø 98.37

Figure 3.1 MDrive 34 mounting and drill pattern



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Logic level cables must be shielded to reduce the chance of EMI induced noise. The shield needs to be grounded at the signal source to earth. The other end of the shield must not be tied to anything, but allowed to fl oat. This allows the shield to act as a drain.

Power supply leads to the MDrive need to be twisted. If more than one driver is to be connected to the same power supply, run separate power and ground leads from the supply to each driver.


Power supply and motor wiring should be shielded twisted pairs, and run separately from signal-carrying wires.

A minimum of one twist per inch is recommended.

Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5 feet, 18 gauge or better.

Power ground return should be as short as possible to estab- lished ground.

Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16 gauge for more than 4 amps DC.


The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is not effective if the signal is not earthed or grounded.

Do not assume that Earth ground is a true Earth ground. De- pending on the distance from the main power cabinet, it may be necessary to sink a ground rod at the critical location.

The shield must be connected so that shield currents drain to signal-earth connections.

The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance.

The shield should be tied to a single point to prevent ground loops.

A second shield can be used over the primary shield; however, the second shield is tied to ground at both ends.



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Logic Wiring ......................................................................... 22 AWG

Wire Strip Length ....................................................... 0.25” (6.0 mm)

Power, Ground ......................See Part 1 Section 3 of this document


CommunicationsPress-Fit IDC - P2 (MDrive 34 Only)

10-Pin IDC ..................................................Samtec: TCSD-05-01-N

Ribbon Cable .........................................................Tyco: 1-57051-9

Friction Lock Wire Crimp - P2

10-pin Friction Lock (MDI34Plus2) ................Hirose DF11-10DS-2C

Crimp Contact for 10-pin Friction Lock (22 AWG) .......... DF11-22SC

Crimp Contact for 10-pin Friction Lock (24 - 28 AWG) DF11-2428SC

Crimp Contact for 10-pin Friction Lock (30 AWG) .......... DF11-30SC

I/O, Power and EncoderThe following mating connectors are recommended for the MDrive 34 Units ONLY! Please contact a JST distributor for ordering and pricing information.

Manufacturer PNs

12-pin Locking Wire Crimp Connector Shell JST PN PADP-12V-1-S

Crimp Pins ................................................ JST PN SPH-001T-P0.5L

20-pin Locking Wire Crimp Shell ................. JST PN PADP-20V-1-S

Crimp Pins ................................................ JST PN SPH-001T-P0.5L

2-pin Locking Wire Crimp Connector Shell.......... Molex 51067-0200

Crimp Pins ................................................ Molex 50217-9101 Brass



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Some applications may require that the MDrive move with the axis mo-tion. If this is a requirement of your application, the motor leads (fl ying, pluggable or threaded) must be properly anchored. This will prevent fl exing and tugging which can cause damage at critical connection points within the MDrive.

Adhesive anchor/tywrap

P2: Communications

P1: Logic

P1: Power




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! DANGER

EXPOSED SIGNALS



! CAUTION












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4.1.2 P2 — 10-pin friction lock wire crimp


1 N/C Not connected



4 CLK SPI clock



7 N/C Not connected


9 N/C Not connected





4.1.1 P2 — 10-pin pressure-fi t IDCstyle connector


1 N/C Not connected

2 N/C Not connected

3 N/C Not connected





8 CLK SPI clock

9 N/C Not connected







1

Pin 1

Pin 10

Red conductor

2: MISO1: N/C4: CLK3: MOSI5: GND7: N/C9: N/C

6:+5V8: CS10: N/C



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See part 1 of this document, section 3, for recommended power cable confi gurations.

! CAUTION

OVER VOLTAGE

The DC voltage range for the MDrive23Plus is +12 to +60 VDC. Ensure that motor back EMF is factored into your power supply size calculations.

Allow 3.0 A maximum power supply output current per MDrive in the system. Actual power supply current will depend on volt-age and load.



Voltage range +12 to +75 VDC


Ripple ± 5%

Output current 4.0 A (per MDrive 34




1 Amp Peak 20 20 18 18 18

2 Amps Peak 20 18 16 14 14

3 Amps Peak 18 16 14 12 12

4 Amps Peak 16 14 12 12 12




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Wire Color

Red Motor power supply

Black Power ground

Table 4.7 Power and ground connections, fl ying leads

4.3.4 P3 — 2-pin locking wire crimp interface

Pin # Signal IMS cable wire colors

PD02-3400-FL3

1 +12 to +75 VDC supply Red

2 Power ground Black

Table 4.3 Power and ground connections, 12-pin locking wire crimp

Connectivity accessories Mating connector kit ................................................................CK-05(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)

Prototype development cable (10’/3.0 m) ................ PD02-3400-FL3

Manufacturer (Molex) part numbers Connector shell...............................................................51067-0200

Pins.................................................................................50217-9101

Pin 1 +V

Pin 2 GND



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Wire Color Signal

White/Blue Direction Output

White/Orange Step Clock Output

White/Brown Speed Input Select/PWM

Violet Stop/Start

Blue Direction input

Green Speed Control Input 1

White Opto Reference

White Green Speed Control Input 2

Gray Logic Ground

Yellow +5 VDC Output*

Black Power Ground

Red +V



Yellow/Black Ground Ground

Yellow/Blue Channel A+ Channel A

Yellow/Green Channel A - —

Yellow/Brown Channel B+ Channel B

Yellow/Orange Channel B - —

Yellow/Violet Index + Index

Yellow/Gray Index - —

Yellow/Red +5 VDC Input +5 VDC Input

Table 4.11 I/O connections, fl ying leads



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4.4.2 P1 — 12-pin locking wire crimp interface (standard I/O)

Pin Numbers

Signal Prototype development cable wire colors (twisted pairs)

1 Direction Output BlackPair

2 Step Clock Output Red

10 Speed 1 +5V BlackPair

9 Speed 1 Ground White

11 Speed 2 +5 V BlackPair

12 Speed 2 Ground Green

3 Speed Input Select/PWM BlackPair

7 Opto Reference Blue

4 Stop/Start BlackPair

5 Direction input Yellow

6 Speed Control Input 1 BlackPair

8 Speed Control Input 2 Brown

Table 4.13 I/O connections, 16-pin locking wire crimp

Connectivity accessories Mating connector kit ................................................................CK-09(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)

Prototype development cable (10’/3.0 m) .............. PD12B-1434-FL3

Manufacturer (JST) part numbers Connector shell..........................................................PADP-12V-1-S

Pins............................................................................ SPH-001T0.5L

1: DIR Out3: PWM5: DIR In7: Opto9: Speed 1 G11: Speed 2

2: SCLK Out4: Stop/Start6: Speed 18: Speed 210: Speed 1 +512: Speed 2 Gnd



evis

ion

R06

2910

4.4.3 P1 — 20-pin locking wire crimp interface (encoder option installed)

Pin Numbers Signal Prototype development cable wire colors (twisted pairs)Cable 1

1 Direction Output BlackPair

2 Step Clock Output Red

10 Speed 1 +5V BlackPair

9 Speed 1 Ground White

11 Speed 2 +5 V BlackPair

12 Speed 2 Ground Green

3 Speed Input Select/PWM BlackPair

7 Opto Reference Blue

4 Stop/Start BlackPair

5 Direction input Yellow

6 Speed Control Input 1 BlackPair

8 Speed Control Input 2 Brown

Cable 2

13 Encoder Ground White/brownPair

20 +5 VDC encoder power in Brown/white

14 Channel A + White/greenPair

15 Channel A - Green/white

16 Channel B + White/orangePair

17 Channel B - Orange/White

18 Index + White/bluePair

19 Index - Blue/white

Table 4.14 I/O and remote encoder connections, 16-pin locking wire crimp

Connectivity accessories Mating connector kit ................................................................. CK11(contains 5 connector shells and the appropriate quantity of pins to make 5 cables)

Prototype development cable (10’/3.0 m) .............. PD20B-3400-FL3

Manufacturer (JST) part numbers Connector shell..........................................................PADP-20V-1-S

Pins............................................................................ SPH-001T0.5L

13: Enc. Gro14: CH A +

17: CH B -19: IDX -20: Enc. +5V

15: CH A -16: CH B +18: IDX +

1: DIR Out3: PWM5: DIR In7: Opto9: Speed 1 11: Speed 2

2: SCLK Out4: Stop/Start6: Speed 18: Speed 210: Speed 1 +512: Speed 2 Gnd



Rev

isio

n R

0629

10


WARRANTYTWENTY-FOUR (24) MONTH LIMITED WARRANTYIMS Schneider Electric Motion USA warrants only to the purchaser of the Product from IMS Schneider Electric Motion USA (the “Customer”) that the product purchased from IMS Schneider Electric Motion USA (the “Product”) will be free from defects in materials and workmanship under the normal use and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the Customer. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s sole option, of the Product, or any part of the Product, determined by IMS Schneider Electric Motion USA to be defective. In order to exercise its warranty rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty Service”.

NOTE: MDrive Motion Control electronics are not removable from the motor in the fi eld. The entire unit must be returned to the factory for repair.

This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the Product; installation, operation or use of the Product not made in strict accordance with the speci cations and written instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modi cations to the Product; the misuse or failure of any item or equipment connected to the Product not supplied by IMS Schneider Electric Motion USA; improper maintenance or repair of the Product; or any other reason or event not caused by IMS Schneider Electric Motion USA.

IMS SCHNEIDER ELECTRIC MOTION USA HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS STATED ABOVE, AND IN NO EVENT WILL IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.

This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This Limited Warranty is the sole warranty offered by IMS Schneider Electric Motion USA with respect to the Product. IMS Schneider Electric Motion USA does not assume any other liability in connection with the sale of the Product. No representative of IMS Schneider Electric Motion USA is authorized to extend this Limited Warranty or to change it in any manner whatsoever. No warranty applies to any party other than the original Customer.

IMS Schneider Electric Motion USA and its directors, of cers, employees, subsidiaries and af liates shall not be liable for any damages arising from any loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production or pro ts, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages, whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory, or other losses or expenses incurred by the Customer or any third party.

OBTAINING WARRANTY SERVICEIf the Product was purchased from an IMS Schneider Electric Motion USA Distributor, please contact that Distributor to obtain a Returned Material Authorization (RMA). If the Product was purchased directly from IMS Schneider Electric Motion USA, please contact Customer Service at [email protected] or 860-295-6102 (Eastern Time Zone).

Customer shall prepay shipping charges for Products returned to IMS Schneider Electric Motion USA for warranty service and IMS Schneider Electric Motion USA shall pay for return of Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for Products returned to IMS Schneider Electric Motion USA from outside the United States.

© Schneider Electric Motion USA All Rights Reserved. REV062910Product Disclaimer and most recent product information at www.schneider-electric-motion.us.

Schneider Electric Motion USA370 North Main Street, P.O. Box 457Marlborough, CT 06447 - U.S.A.Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107e-mail: [email protected]://www.schneider-electric-motion.us

mdrive speed control - koco motion€¦ · nual and the other relevant documentation are authorized...

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