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MDrive34Plus
Microstepping
Integrated Motor and Driver
TM
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MDrive34Plus Microstepping Hardware Reference Change Log Date Revision Changes 06/26/2006 R062606 Initial Release 03/12/2007 R031207 Changed Max Step Clock rate to 5 MHz, Min Pulse width to 100 ns, default input filter to 2.5 MHz (50 ns). Changed temperature spec to -0 to +75°C (non-condensing humidity, measured at the heat sink) and -0 to +90°C (non-condensing humidity, measured at the motor.) Added Section 2.1: Mounting and Interface Guidelines and Section 2.2: Interfacing DC Power. Added
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Important information The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specifically designed for safety functions are not approved for applications where the functioning of the drive could endan- ger persons. The possibility of unexpected or un-braked movements can never be totally excluded without additional safety equipment. For this re
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Table Of Contents Getting Started: MDrive34Plus Microstepping .......................................................................... 1-1 Before You Begin ....................................................................................................................... 1-1 Tools and Equipment Required ................................................................................................. 1-1 Connecting the Power Supply ..........................................................
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Minimum Required Connections ............................................................................................ 2-20 Section 2.4: Connecting SPI Communications ......................................................................... 2-21 Connecting the SPI Interface .................................................................................................. 2-21 SPI Signal Overview ..................................................................................................
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Encoder Connections ..............................................................................................................A-26 Encoder Signals .......................................................................................................................A-27 Encoder Cable .........................................................................................................................A-28 Recommended Encoder Mating Connectors ...............................................
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Figure 2.5.10: SPI Motor Interface Upgrade Utility ................................................................ 2-32 Figure 2.5.11: SPI Motor Interface Initialization ..................................................................... 2-33 Figure 2.5.12: SPI Motor Interface Port Menu ........................................................................ 2-33 Figure 2.6.1: SPI Timing .........................................................................................................
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List of Tables Part 1: Hardware Specifications Table 1.2.1: MDrive34Plus Microstepping Electrical Specifications .......................................... 1-7 Table 1.2.2: MDrive34Plus Microstepping Environmental Specifications ................................. 1-7 Table 1.2.3: MDrive34Plus Microstepping I/O Specifications ................................................... 1-7 Table 1.2.4: MDrive34Plus Microstepping Communications Specifications .............................. 1-7 Table 1.2.5:
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WARNING! The MDrive has Getting Started components which are sensitive to MDrive34Plus Microstepping Electrostatic Discharge (ESD). All handling should be done at an ESD protected workstation. Before You Begin WARNING! The Quick Start guide is designed to help quickly connect and begin using your MDrive34Plus Microstepping Hazardous voltage integrated motor and driver. The following examples will help you get the motor turning for the first time and levels may be introduce you to
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WARNING! Install the IMS SPI Motor Interface Because the MDrive consists The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDrive34Plus of two core Microstepping. It is available both on the MDrive34Plus CD that came with your product and on the IMS web components, a drive and site at http://www.imshome.com/software_interfaces.html. a motor, close attention must be paid to the thermal 1. Download the IMS SPI Motor Interface from http://ww
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TM MICROSTEPPING Part 1: Hardware Specifications Section 1.1: MDrive34Plus Microstepping Product Introduction Section 1.2: MDrive34Plus Microstepping Detailed Specifications Part 1: Hardware Specifications 1-3
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Page Intentionally Left Blank MDrive 34Plus Microstepping Hardware - Revision R071108 1-4 Relevant to Firmware Version 3.0.02
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SECTION 1.1 Introduction to the MDrive34Plus Microstepping The MDrive34Plus Microstepping high torque inte- grated motor and driver is ideal for designers who want the simplicity of a motor with on-board electronics. The integrated electronics of the MDrive34Plus eliminate the need to run motor cabling through the machine, reducing the potential for problems due to electrical noise. The unsurpassed smoothness and performance delivered by the MDrive34Plus Microstepping are achieved throug
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Motor Run/Hold Current Motor Direction vs. Direction Input Microstep Resolution Clock Type: Step and Direction, Quadrature, Step Up and Step Down Programmable Digital Filtering for Clock and Direction Inputs Available Options: Internal Optical Encoder Integrated Planetary Gearbox Control Knob for Manual Positioning 3 Rotary Motor Lengths Available Current and Microstep Resolution May Be Switched On-The-Fly Interface Options: Pluggable Locking Wire Crimp
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WARNING! Because the SECTION 1.2 MDrive consists of two core MDrive34Plus Microstepping components, a drive and a motor, close attention must be paid to the thermal General Specifications environment where the device is used. See Electrical Specifications Thermal Specifications. Input Voltage (+V) Range* +12 to +75 VDC Max Power Supply Current (Per MDrive34Plus)* 4 A * Actual Power Supply Current will depend on Voltage and Load. Table 1.2.1: MDrive34Plus Microstepping Electrical S
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Motor Specifications Single Length Holding Torque 381 oz-in/269 N-cm Detent Torque 10.9 oz-in/7.7 N-cm 2 2 Rotor Inertia 0.01416 oz-in-sec /1.0 kg-cm Weight (Motor + Driver) 4.1 lb/1.9 kg Double Length Holding Torque 575 oz-in/406 N-cm Detent Torque 14.16 oz-in/10.0 N-cm 2 2 Rotor Inertia 0.02266 oz-in-sec /1.6 kg-cm Weight (Motor + Driver) 5.5 lb/2.5 kg Triple Length Holding Torque 1061 oz-in/749 N-cm Detent Torque 19.83 oz-in/14.0 N-cm 2 2 Rotor Inertia 0.04815 oz-in-sec /3.4 kg-cm Weight (Mot
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Mechanical Specifications Dimensions in Inches (mm) 4X Ø 0.217 (Ø 5.51) Ø 0.5512 +0/-0.0004 (Ø 14.0 +0/-0.010) Ø 2.874 ±0.002 (Ø 73.0 ±0.05) 2.739 SQ. (69.57 SQ.) 3.39 SQ. (86.1 SQ.) 1.981 (50.32) 0.731 1.250 (18.57) (31.75) 0.394 (10.01) 1.46 ±0.04 (37.1 ±1.0) 0.984 ±0.01 (25.0 ±0.25) 3.727 (94.67) 0.512 +0/–0.004 (13.0 ±0.10) 0.079 (2.0) L MAX L MAX2 L Option - Control Knob MAX2 Ø 1.90 (Ø 48.3) Figure 1.2.1: MDrive34Plus Microstepping Dimensional Information Part 1: Hardware Specificatio
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Connector Options The MDrive34Plus Microstepping comes in three Connector Options 1. 12" (30.5 cm) Flying Leads 2. Locking Wire Crimp Connectors Connector Options Note: All Interface and Connection Illustrations in this document are shown from this perspective, Motor facing right. Flying Leads Locking Wire Crimp Locking Wire Crimp with Internal Optical Encoder Pin 1 Pin 1 P3 P3 Pin 1 P1 P4 Pin 1 Pin 1 Pin 1 P2 P1 P1 P1 P1 P1 Type: 12’ (30.5 cm) Flying Leads Type: 12-Pin Locking Wire Crimp Typ
