Intelligent Motion Systems Home Safety Product MDI34 User Manual

TM  
Excellence in Motion  
TM  
34  
mOTION CONTROL  
(with optional CANopen)  
FEATURES  
DESCRIPTION  
Optional communication protocols  
• Highly Integrated Microstepping Driver/  
Intelligent Motion Controller with Optional  
Encoder/NEMA 34 High Torque 1.8°  
Brushless Step Motor  
• Advanced 2nd Generation Current  
Control for Exceptional Performance  
and Smoothness  
• Single Supply: 120 or 240 VAC  
• Cost Effective  
• Extremely Compact  
• High Positioning Accuracy  
• No Tuning Required  
• Stable at Low Speeds  
• No Dithering at Zero Speed  
• High Starting Torque  
• Allows for Greater Inertia Mismatch  
• Built-in Regeneration Circuitry  
The MDrive34AC Plus2 Motion Control  
system offers designers a cost effec-  
tive, full featured programmable motion  
controller integrated with a NEMA 34 high  
torque 1.8° brushless step motor and a  
microstepping driver operating at 120 or  
240 VAC.  
include CANopen. The CAN bus is 2.0B  
active (11 and/or 29 bit) and is capable  
of all standard frequencies from 10 kHz  
to 1 MHz. CANopen features include  
node guarding, heartbeat producer,  
SDOs and PDOs. Highlights include  
variable PDO mapping and extended  
node identier.  
Unsurpassed smoothness and perfor-  
mance delivered by the MDrive34AC are  
achieved through IMS's advanced 2nd  
generation current control. By applying  
innovative techniques to control current  
ow through the motor, resonance is sig-  
nicantly dampened over the entire speed  
range and audible noise is reduced.  
The MDrive34AC Plus2 Motion Control  
is available with optional closed loop  
control. This increases functionality by  
adding stall detection, position mainte-  
nance and nd index mark.  
The closed loop conguration is added  
via a 512 line (2048 edge) optical  
encoder with index mark, internal to the  
MDrive34AC so there is no increase in  
length. Or, for an expanded choice of  
line counts and resolutions, closed loop  
control is available with an interface  
to a remotely mounted user-supplied  
external encoder.  
The MDrive34AC accepts a broad input  
voltage range from 95 to 264 VAC, deliv-  
ering enhanced performance and speed.  
Oversized input capacitors are used to  
minimize power line surges, reducing  
problems that can occur with long cable  
runs and multiple drive systems. An ex-  
tended operating range of –40° to +75°C  
provides long life, trouble free service in  
demanding environments.  
• Available Options:  
- Long Life Linear Actuators**  
- Integral Optical Encoder for Closed  
Loop Control  
- External/Remote Encoder (not supplied)  
for Closed Loop Control  
- Control Knob for Manual Positioning  
- Integrated Planetary Gearbox  
- IP65 Sealed Conguration  
- Linear Slide  
• Three Motor Lengths Available  
• Auxiliary Logic Power Supply Input  
• Up to 5 MHz Step Clock Rate  
• 20 Microstep Resolutions up to  
51,200 Steps Per Rev Including:  
Degrees, Metric, Arc Minutes  
• Open or Optional Closed Loop Control  
• Programmable Motor Current  
• Up to Eight +24 VDC Tolerant I/O Lines,  
Sourcing or Sinking  
• One 10 Bit Analog Input Selectable: 0 to +5  
VDC, 0 to +10 VDC, 0-20 mA, 4-20 mA  
• RS-422/485 or Optional CANopen  
Communications  
• 62 Software Addresses for Multi-Drop  
Communications  
In addition to encoder options, the  
MDrive34AC Plus2 Motion Control has  
the capability of electronic gearing by  
following a rotary or linear axis at an  
electronically controlled ratio, or an  
output clock can be generated xed to  
the internal step clock.  
The MDrive34AC Plus2 Motion Control  
system adds a versatile array of functions  
by combining a full featured program-  
mable motion controller with our compact  
and cost effective MDrive34AC Micro-  
stepping products, adding little cost and  
no increase in size. Standard offerings  
include up to 8 general purpose I/O lines  
(sourcing or sinking) that operate to +24  
VDC, one 10 bit analog input, electronic  
gearing, high speed position capture  
input/trip output, microstep resolutions up  
to 51,200 steps per revolution, 0 to 5 MHz  
step clock rate, and a full featured easy-  
to-program instruction set.  
A sealed version designed to meet  
IP65 specications is also available.  
The sealed assembly allows the  
MDrive34AC to be used in environ-  
ments where exposure to chemical,  
dust and liquids may occur.  
Three rotary motor lengths are avail-  
able as are linear actuators with long  
life Acme screw**.  
The MDrive34AC Plus2 Motion Control  
system communicates over RS-422/485  
which allows for point-to-point or multiple  
unit congurations utilizing one commu-  
nication port. Addressing and hardware  
support multiple uniquely addressed units  
communicating over a single line.  
Interface connections are accomplished  
using standard industrial circular con-  
nectors. And connectivity has never  
been easier with options ranging from  
all-inclusive QuickStart Kits to indi-  
vidual interfacing cables. See pg 4.  
• High Speed Position Capture Input or Trip  
Output  
• Electronic Gearing  
**Consult Factory for Availability.  
 
PIN ASSIGNMENTS  
SPEED-TORQUE  
P1: I/O CONNECTOR  
MDrive34AC – 120VAC  
Function  
M23 Circular  
(Male)  
Expanded I/O  
Remote Encoder Closed Loop Control  
700  
600  
500  
400  
300  
200  
100  
0
495  
Triple Motor Length  
Pin 1  
Pin 2  
Pin 3  
Pin 4  
Pin 5  
Pin 6  
Pin 7  
Pin 8  
Pin 9  
Pin 10  
Pin 11  
Pin 12  
Pin 13  
Pin 14  
Pin 15  
Pin 16  
Pin 17  
Pin 18  
Pin 19  
I/O 9  
I/O 11  
Step/Clock I/O  
I/O 1  
Channel A +  
Channel B +  
Index +  
I/O 1  
Index –  
Double Motor Length 424  
Single Motor Length  
354  
283  
212  
141  
71  
Direction/Clock I/O  
No Connect  
Aux-Logic (+12 to +24 VDC)  
Aux-Ground  
I/O 3  
No Connect  
Aux-Logic (+12 to +24 VDC)  
Aux-Ground  
I/O 3  
I/O Ground  
I/O Power  
Shell Connect  
I/O 12  
Capture/Trip I/O  
Analog In  
I/O 2  
I/O 4  
I/O 10  
No Connect  
I/O Ground  
I/O Power  
Shell Connect  
Channel B –  
Capture/Trip I/O  
Analog In  
I/O 2  
I/O 4  
Channel A –  
No Connect  
0
2000  
(600)  
4000  
6000  
8000  
(2400)  
10000  
(3000)  
(1200)  
(1800)  
Speed – Full Steps/Second (RPM)  
MDrive34AC – 240VAC  
700  
600  
500  
400  
300  
200  
100  
0
495  
Triple Motor Length  
Double Motor Length 424  
Single Motor Length  
354  
P2: COMM CONNECTOR  
RS-422/485 CANopen  
P3: POWER CONNECTOR  
Euro AC  
Function  
(Male)  
283  
212  
141  
71  
M12  
Circular  
(Female)  
Pin 1  
Pin 2  
Pin 3  
Pin 4  
Pin 5  
M12  
Circular  
(Male)  
Pin 1  
Pin 2  
Pin 3  
Pin 4  
Pin 5  
Pin 1  
Pin 2  
Pin 3  
Chassis Ground  
AC Power Line  
AC Power Neutral  
Function  
Function  
TX –  
TX +  
RX +  
Shield  
CAN +V  
CAN –V  
CAN High  
CAN Low  
0
2000  
(600)  
4000  
(1200)  
6000  
(1800)  
8000  
(2400)  
10000  
(3000)  
RX –  
Comm Ground  
Speed – Full Steps/Second (RPM)  
MECHANICAL SPECIFICATIONS  
Dimensions in Inches (mm)  
2
MDrive34AC Plus  
L
2.70  
(68.4)  
MAX2  
L
P1  
MAX  
P2  
P3  
0.71  
(18.0)  
1.46 ±0.039  
(37.0 ±1.0)  
6.47*  
(164.2)  
Ø 0.22  
(Ø 5.5)  
5.76  
(146.2)  
0.87 ±0.010  
(22 ±0.25)  
0.20 +0/-0.002  
(5.0 +0/-0.05  
)
3.38 SQ.  
(85.8 SQ.)  
Ø 2.87 ±0.002  
(Ø 73.0 ±0.05)  
2.74 +0/-0.010 SQ.  
(69.58 +0/-0.25 SQ.)  
Ø 0.55 +0/-0.0005  
(Ø 14.0 +0/-0.013)  
0.08 ±0.004  
(2.0 ±0.1)  
0.40  
(10.1)  
0.63 +0/-0.017  
(16.0 +0/-0.432)  
*CANopen option increases  
overall height by 0.09"/2.0mm  
3.46  
MDrive Lengths Inches (mm)  
L
Option  
(87.8)  
MAX2  
Ø 1.90  
(Ø 48.3)  
L
L
MAX2  
MAX  
SINGLE SHAFT,  
ENCODER or  
LINEAR ACTUATOR  
VERSION  
Connectors  
CONTROL KNOB  
VERSION  
Motor  
Length  
I/O  
Comm  
Power  
Ø 0.53  
(Ø 13.5)  
Ø 0.87  
(Ø 22.1)  
Single  
Double  
Triple  
6.1 (155.0)  
6.9 (174.3)  
8.4 (214.3)  
7.1 (180.4)  
7.9 (199.7)  
9.4 (239.7)  
Ø 0.87  
(Ø 22.1)  
P1: 19-Pin M23  
(Male)  
P2: 5-Pin M12 (Female) P3: 3-Pin Euro AC  
(or CANopen – Male) (Male)  
Control Knob  
Connectivity details:  
MDrive34AC Plus2 Motion Control REV051208  
 
3
2
ORDER INFORMATION — MDrive34AC Plus Motion Control  
CONNECTIVITY  
CONNECTING  
OPTIOONPSTIONS  
QuickStart Kit  
Linear Actuator**  
For rapid design verification, all-inclusive QuickStart Kits have com-  
munication converter, prototype development cable(s), instructions  
and CD for MDrivePlus initial functional setup and system testing.  
The MDrive34AC Plus2 is offered with numerous linear ac-  
tuator styles and options to satisfy a broad range of linear  
motion applications. Contact the factory for details or see:  
Communication Converter  
Electrically isolated, in-line converter pre-wired with mating connec-  
tor to conveniently set/program communication parameters for a  
single MDrivePlus via a PC's USB port. Length 12.0' (3.6m).  
Mates to connector:  
Internal Encoder  
An internal 512-line (2048 count) differential optical  
encoder with index mark is available factory-mounted.  
5-Pin M12 ............................................MD-CC401-001  
5-Pin M12 CANopen ..............................MD-CC500-000*  
*Requires mating connector adapter and power supply, not supplied.  
Remote Encoder  
This MDrivePlus Motion Control is offered with differential en-  
coder inputs for use with a remote encoder (not supplied).  
Prototype Development Cables  
Control Knob‡  
For manual shaft positioning, a factory-mounted rear control  
knob is available.  
Speed test/development with pre-wired mating connectors that  
have flying leads other end. Single-ended cordsets are PVC jack-  
eted with foil shield and unconnected drain wire. Length 13.0'  
(4.0m).  
Planetary Gearbox  
Mates to connector:  
19-Pin M23  
Straight Termination ..........................MD-CC100-000  
Right Angle Termination .....................MD-CC101-000  
3-Pin Euro AC  
Efficient, low maintenance planetary gearboxes are  
offered factory-mounted. Refer to details and part num-  
bers on the back cover.  
Linear Slide  
Straight Termination ..........................MD-CC200-000  
Right Angle Termination .....................MD-CC201-000  
Integrated linear slides are available factory installed for  
precision linear movement. Screw leads are 0.1", 0.2", 0.5"  
or 1.0" of travel per rev. Slides are 12.0" (30.5cm) to 42.0"  
(106.7cm) long. Contact factory for custom lengths. Refer  
to separate datasheet or web site for complete details.  
**Consult Factory for Availability.  
‡ Not Available with Sealed –65 Versions.  
PART NUMBERING  
OPTIONS  
OPTION  
K MDI M Q34  
Linear  
Actuator**  
–L  
QuickStart Kit  
details above  
2
Plus  
Input Voltage  
For complete product specifications, see:  
expanded features  
1 = 120 Volt  
2 = 240 Volt  
MDrive Version  
3 = Plus  
4 = Plus-65 (sealed)  
Internal  
Encoder  
EQ  
2
Plus -65  
Motor  
Example: MDI3MRQ34A2–EQ adds a 512-line internal  
optical encoder with index mark to example #1.  
IP65 sealed  
A = Single Length &  
Linear Actuator**  
B = Double Length  
C = Triple Length  
Communications  
R = RS-422/485  
C = CANopen  
Remote  
Encoder  
EE  
Example: MDI3MRQ34A2–EE adds differential encoder inputs for  
use with remote encoder (not supplied).  
May not be combined with internal encoder option.  
Control  
Knob  
–N  
P3: Power, 3-Pin Euro AC Connector  
Example: MDI3MRQ34A2–N adds a rear control knob to  
example #1. Not available with sealed –65 versions.  
P1: I/O, 19-Pin M23 Circular Connector  
Planetary  
Gearbox  
–G  
– F  
P2: Communications, 5-Pin M12 Circular Connector  
Refer to gearbox page for complete  
table of ratios and part numbers.  
Optional NEMA Flange  
Example: MDI3MRQ34A2–G1A2 adds a 1-stage planetary gearbox  
with 5.18:1 ratio to example #1. Add –F for optional NEMA flange.  
Linear  
Slide  
–R  
Example #1: Part Number MDI3MRQ34A2 is an  
MDrive34AC Plus2 Motion Control with 19-pin M23  
circular I/O interface, RS-422/485 communications  
with 5-pin M12 circular connector, NEMA 34 single  
length motor and 240 input voltage.  
Screw Lead  
Standard Screw Lengths  
(inches/rev)  
12", 18", 24", 36" or 42”  
For Custom Lengths, Consult Factory  
A = 0.10” (2.54mm)  
B = 0.20” (5.08mm)  
C = 0.50” (12.7mm)  
D = 1.00” (25.4mm)  
Example: MDI3MRQ34A2–RA12 adds a Linear Slide with  
0.10" screw lead, 12" long to example #1.  
**  
Consult Factory for Availability.  
4
MDrive34AC Plus2 Motion Control  
REV060208  
 
MDRIVE34AC PLUS WITH PLANETARY GEARBOX  
The MDrive34AC Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better  
inertia matching and produce ner positional resolutions. These efcient, low maintenance Planetary Gearbox come fully assembled  
with the MDrive and are offered in a large number of reduction ratios in 1-, 2- and 3-stage congurations. An optional NEMA Output  
Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle. Planetary Gearbox may be combined  
with other MDrive34AC Plus options, however are unavailable with Linear Actuators.  
Ratios and Part Numbers  
Planetary Gearbox Parameters  
Planetary  
Gearbox  
Ratio  
Part  
Output Side with Ball Bearing  
(Rounded) Number**  
Permitted  
Output Torque Efficiency Backlash  
(oz-in/Nm)  
Gearbox Maximum  
Maximum Load  
(lb-force/N)  
Weight  
(oz/g)  
1-Stage  
1-Stage  
1-Stage  
3.71:1  
5.18:1  
6.75:1  
G1A1  
G1A2  
G1A3  
Radial Axial  
Gearbox  
with Flange  
1-STAGE  
2-STAGE  
3-STAGE  
2832/20.0  
8496/60.0  
0.80  
0.75  
0.70  
1.0°  
1.5°  
2.0°  
90/400 18/80 64.4/1827 66.7/1890  
135/600 27/120 89.5/2538 92.6/2625  
225/1000 45/200 114.6/3248 118.5/3360  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
13.73:1  
15.88:1  
18.37:1  
19.20:1  
22.21:1  
25.01:1  
26.85:1  
28.93:1  
34.98:1  
45.56:1  
G1A4  
G1A5  
G1A6  
G1A7  
G1A8  
G1A9  
G1B1  
G1B2  
G1B3  
G1B4  
16992/120.0  
Planetary Gearbox for MDrive34AC Plus  
Dimensions in Inches (mm)  
*Gearbox without Flange  
Gearbox with Flange  
1.929*  
(49.0)  
or  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
50.89:1  
58.86:1  
68.07:1  
71.16:1  
78.72:1  
92.70:1  
95.18:1  
99.51:1  
107.21:1  
115.08:1  
123.98:1  
129.62:1  
139.14:1  
149.90:1  
168.85:1  
181.25:1  
195.27:1  
236.10:1  
307.55:1  
G1B5  
G1B6  
G1B7  
G1B8  
G1B9  
G1C1  
G1C2  
G1C3  
G1C4  
G1C5  
G1C6  
G1C7  
G1C8  
G1C9  
G1D1  
G1D2  
G1D3  
G1D4  
G1D5  
k1 ±0.02 (±0.5)  
1.811  
4x Ø 0.217 (Ø5.5) Hole  
(46.0)  
0.197*  
0.079  
(2.0)  
M6 x 0.472 (12.0) Deep*  
or  
(5.0)  
1.575  
(40.0)  
0.394  
Ø 2.56*  
(Ø 65.0)  
Ctrg. DIN 332-D M6x16  
Key DIN 6885-A-6x6x28mm  
(10.0)  
2.739 SQ.  
(69.58 SQ.)  
Gearbox Lengths Inches (mm)  
k1  
GEARBOX*  
4.315 (109.6)  
5.169 (131.3)  
6.024 (153.0)  
with FLANGE†  
4.433 (112.6)  
5.287 (134.3)  
6.142 (156.0)  
1-Stage  
2-Stage  
3-Stage  
**Include optional planetary gearbox by adding –G plus  
3 characters to the end of an MDrive part number.  
U.S.A. SALES OFFICES  
Eastern Region  
Tel. 862 208-9742 - Fax 973 661-1275  
Central Region  
IMS EUROPEAN SALES MANAGEMENT  
4 Quai Des Etroits  
69005 Lyon, France  
Tel. +33/4 7256 5113 - Fax +33/4 7838 1537  
Tel. 260 402-6016 - Fax 419 858-0375  
Western Region  
Tel. 602 578-7201  
IMS UK Ltd.  
Sanderson Centre, 15 Lees Lane  
Gosport, Hampshire PO12 3UL  
Tel. +44/0 2392-520775 - Fax +44/0 2392-502559  
IMS ASIA PACIFIC OFFICE  
30 Rafes Pl., 23-00 Caltex House, Singapore 048622  
Tel. +65/6233/6846 - Fax +65/6233/5044  
TECHNICAL SUPPORT  
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107  
Intelligent Motion Systems, Inc.  
370 North Main Street, P.O. Box 457  
Marlborough, CT 06447 - U.S.A.  
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107  
© Intelligent Motion Systems, Inc. All Rights Reserved.  
REV060208  
 

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