Intelligent Motion Systems MDM42 AC Product Data

Patent Pending a sealed MDrive42AC Plus Microstepping unit with circular connectors meets IP65 specifi cations.** The versatile MDrive42AC Plus Micro- stepping is available in multiple con fi g u- ra tions to fi t various system needs. Two rotary motor lengths are available and may include an internal optical encoder, a control knob for manual positioning or an integrated planetary gearbox. In ter face con nec tions are ac com plished using standard industrial circular connec- tors. And connectivity has never been easier with options ranging from all-in- clusive QuickStart Kits to individual interfacing cables. See pg 5. The MDrive42AC Plus is a compact, pow- erful and cost effective solution that will reduce system cost, design and assembly time for a large range of brushless step motor applications. CONFIGURING The IMS Motor Interface software is an easy to in stall and use GUI for con fi g ur ing the MDrive42AC Plus from a computer's USB port. GUI access is via the IMS SPI Motor Interface available at www.imshome.com. The IMS SPI Motor Interface features: • Easy installation. • Automatic detection of MDrive version and communication confi guration. • Will not set out-of-range values. • Tool-tips display valid range setting for each option. • Simple screen interfaces. DESCRIPTION The MDrive42AC Plus Microstepping high torque integrated motor and step and direction driver is ideal for designers who want the simplicity of a motor with on- board electronics. The integrated electron- ics of the MDrive42AC Plus eliminate the need to run motor cabling through the ma- chine, reducing the potential for problems due to electrical noise. The unsurpassed smoothness and per- formance delivered by the MDrive42AC Plus Microstepping are achieved through IMS's advanced 2nd generation current control. By applying innovative techniques to control current fl ow through the motor, resonance is signifi cantly dampened over the entire speed range and audible noise is reduced. The MDrive42AC Plus accepts a broad input voltage range from 95 to 264 VAC, delivering enhanced performance and speed. Oversized input capacitors are used to minimize power line surges, re- ducing problems that can occur with long runs and multiple drive systems. An ex- tended operating range of –40° to +75°C provides long life, trouble free service in demanding environments. The MDrive42AC Plus uses a NEMA 42 frame size high torque brushless step mo- tor combined with a microstepping driver, and accepts up to 20 resolution settings from full to 256 microsteps per full step, in- cluding: degrees, metric and arc minutes. These settings may be changed on-the-fl y or downloaded and stored in nonvolatile memory with the use of a simple GUI which is provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port. For use in environments where exposure to chemical, dust and liquids may occur, FEATURES • Highly Integrated Microstepping Driver and NEMA 42 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 • 20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes • Optically Isolated Logic Inputs will Accept +5 to +24 VDC Signals, Sourcing or Sinking • Automatic Current Reduction • Confi gurable: - 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 Differential Optical Encoder - Integrated Planetary Gearbox - Control Knob for Manual Positioning - IP65 Sealed Confi guration** • 2 Rotary Motor Lengths Available • Setup Parameters May Be Switched On-The-Fly • Standard Industrial Connectors: - Circular 19-Pin M23 - Circular 3-Pin Euro AC • Graphical User Interface (GUI) for Quick and Easy Parameter Setup **Consult Factory for Availability. new

MDrive42AC Plus MICROSTEPPING Holding Torque Detent Torque Rotor Inertia Weight (Motor+Driver) SINGLE LENGTH 1147 oz-in / 810 N-cm 35 oz-in / 25 N-cm 0.0917 oz-in-sec2 / 6.5 kg-cm2 14.07 lb / 6.38 kg DOUBLE LENGTH 2294 oz-in / 1620 N-cm 84 oz-in / 59 N-cm 0.1833 oz-in-sec2 / 13.0 kg-cm2 21.25 lb / 9.64 kg MOTOR SPEC I FI CA TIONS INPUT VOLTAGE Range 120 V MDrive – 95 to 132 VAC @ 50/60 Hz 240 V MDrive – 95 to 264 VAC @ 50/60 Hz ISOLATED INPUT Step Clock, Direction and Enable Voltage Range +5 to +24 VDC Sourcing or Sinking MOTION Digital Filter Range 50 nS to 12.9 µS (10 MHz to 38.8 kHz) Clock Types Step/Direction, Quadrature, Step Up/Step Down Step Frequency (Max) 2 MHz 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) TEMP OUTPUT WARNING Open-Drain Type +5 to +24 VDC 50 mA Current THERMAL Operating Temperature Heat Sink –40° to +75°C (non-condensing) Motor –40° to +90°C (non-condensing) PROTECTION Type Thermal, Internal Fuse† STANDARD SPEC I FI CA TIONS SETUP PARAMETERS Function Range Units Default MHC Motor Hold Current 0 to 100 percent 5 MRC Motor Run Current 1 to 100 percent 25 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 DIR Motor Direction Override 0/1 — CW HCDT Hold Current Delay Time 0 or 2–65535 mSec 500 CLK TYPE Clock Type Step/Dir, Quadrature, Up/Down — Step/Dir CLK IOF Clock and Direction Filter 50 nS to 12.9 µS (10 MHz to 38.8 kHz) nS (MHz) 200 nS (2.5 MHz) USER ID User ID Customizable 1–3 characters IMS EN ACT Enable Active High/Low — High WARN TEMP Over Temperature Warning 0 to 125°C °C 80°C All parameters are set using the supplied IMS SPI Motor Interface GUI and may be changed on-the-fl y. An optional Communication Converter is recommended with fi rst orders. ENCODER SPECIFICATIONS Note: All encoders come with an index mark, except the 400 line count. INTERNAL DIFFERENTIAL OPTICAL ENCODER Pin Assignments 19-Pin M23 Connector Function Pin 3 Index + Pin 4 Channel B + Pin 5 Channel B – Pin 7 Channel A + Pin 14 Index – Pin 15 Channel A – Line Count Part Number 100 EA 200 EB 400 ED 500 EH 512 EX 1000 EJ 1024 EY † Designed for line-neutral systems.

P3: POWER CONNECTOR Euro AC (Male) Function Pin 1 Chassis Ground Pin 2 AC Power Line Pin 3 AC Power Neutral P1: I/O & COMM (SPI) CONNECTOR M23 Circular (Male) Function Function with Encoder Pin 1 Optocoupler Reference Optocoupler Reference Pin 2 Enable Input Enable Input Pin 3 No Connect Index + Pin 4 No Connect Channel B + Pin 5 No Connect Channel B – Pin 6 No Connect No Connect Pin 7 No Connect Channel A + Pin 8 SPI Master Out – Slave In SPI Master Out – Slave In Pin 9 SPI Chip Select SPI Chip Select Pin 10 +5 VDC Output +5 VDC Output Pin 11 Communications Ground Communications Ground Pin 12 Shell Connect Shell Connect Pin 13 CW/CCW Direction Input CW/CCW Direction Input Pin 14 No Connect Index – Pin 15 No Connect Channel A – Pin 16 SPI Clock SPI Clock Pin 17 SPI Master In – Slave Out SPI Master In – Slave Out Pin 18 Step Clock Input Step Clock Input Pin 19 Temp Output Warning Temp Output Warning LMAX2 Option Ø 1.90 (Ø 48.3) Ø 0.87 (Ø 22.1) Connectors P1: 19-Pin M23 (Male) P3: 3-Pin Euro AC (Male) Ø 0.87 (Ø 22.1) MDrive Lengths Inches (mm) Control Knob P3 0.65 (16.51) Ø 0.75 (Ø 19.05) Ø 2.185 (Ø 55.5) P1 0.83 (21.08) 4.50 (114.3) 0.1875 (4.76) 6.75 (171.45) 7.4 (187.96) 0.335 (8.51) 3.0 (76.2) 4.331 SQ. (110.0 SQ.) 3.50 SQ. (88.88 SQ.) 0.75 (19.05) 0.059 (1.5) 0.49 (12.5) 2.17 (55.0) 1.375 (34.9) LMAX LMAX2 600 800 1000 1200 400 200 Torque in Oz-In Torque in N-cm 424 565 706 847 282 141 Speed – Full Steps/Second (RPM) 0 2000 (600) 4000 (1200) 6000 (1800) 10000 (3000) 8000 (2400) 0 1400 1600 1800 989 1130 1271 Double Motor Length Single Motor Length MECHANICAL SPECIFICATIONS Dimensions in Inches (mm) MDrive42AC Plus SPEED-TORQUE MDrive42AC – 120VAC MDrive42AC – 240VAC LMAX LMAX2 Motor Length SINGLE SHAFT or ENCODER VERSION CONTROL KNOB VERSION Single 7.4 (187.96) 9.4 (238.76) Double 9.4 (238.76) 11.4 (289.56) 600 800 1000 1200 400 200 Torque in Oz-In Torque in N-cm 424 565 706 847 282 141 Speed in full steps per second (RPM) 0 2000 (600) 4000 (1200) 6000 (1800) 10000 (3000) 8000 (2400) 0 1400 1600 1800 989 1130 1271 Double Motor Length Single Motor Length PIN ASSIGNMENTS Connectivity details: www.imshome.com/cables_cordsets.html I/O & Comm Power

Dimensions in Inches (mm) Permitted Output Torque (oz-in/Nm) Gearbox Effi ciency Maximum Backlash Output Side with Ball Bearing Maximum Load (lb-force/N) Weight (lb/kg) Radial Axial Gearbox w/Flange PM105 1-STAGE 4956/35.0 0.80 1.0° 135/600 27/120 9.7/4.4 10.0/4.5 2-STAGE 14869/105.0 0.75 1.5° 202/900 40/180 13.2/6.0 13.6/6.2 3-STAGE 27614/195.0 0.70 2.0° 337/1500 67/300 16.8/7.6 17.3/7.8 PM120 1-STAGE 7080/50.0 0.80 0.55° 135/600 27/120 12.3/5.6 12.7/5.8 2-STAGE 21242/150.0 0.75 0.60° 202/900 40/180 17.6/8.0 18.1/8.2 3-STAGE 42484/300.0 0.70 0.65° 337/1500 67/300 22.9/10.4 23.5/10.7 Ratios and Part Numbers Planetary Gearbox Ratio (Rounded) Part Number‡ PM105 Model PM120 Model 1-Stage 3.71:1 ** G1A1 G2A1 1-Stage 5.18:1 G1A2 — 1-Stage 6.75:1** G1A3 G2A3 2-Stage 13.73:1** G1A4 G2A4 2-Stage 15.88:1 G1A5 — 2-Stage 18.37:1 G1A6 — 2-Stage 19.20:1 G1A7 — 2-Stage 22.21:1 G1A8 — 2-Stage 25.01:1** G1A9 G2A9 2-Stage 26.85:1 G1B1 — 2-Stage 28.93:1 G1B2 — 2-Stage 34.98:1 G1B3 — 2-Stage 45.56:1** G1B4 G2B4 3-Stage 50.89:1** G1B5 G2B5 3-Stage 58.86:1 G1B6 — 3-Stage 68.07:1 G1B7 — 3-Stage 71.16:1 G1B8 — 3-Stage 78.72:1 G1B9 — 3-Stage 92.70:1** G1C1 G2C1 3-Stage 95.18:1 G1C2 — 3-Stage 99.51:1 G1C3 — 3-Stage 107.21:1 G1C4 — 3-Stage 115.08:1 G1C5 — 3-Stage 123.98:1 G1C6 — 3-Stage 129.62:1 G1C7 — 3-Stage 139.14:1 G1C8 — 3-Stage 149.90:1 G1C9 — 3-Stage 168.85:1** G1D1 G2D1 3-Stage 181.25:1 G1D2 — 3-Stage 195.27:1 G1D3 — 3-Stage 236.10:1 G1D4 — 3-Stage 307.55:1** G1D5 G2D5 PM105 Model PM120 Model **Indicates limited ratios available for PM120 gearbox. ‡ Include optional planetary gearbox by adding –G plus 3 characters to the end of an MDrive part number. 4.20 SQ. (106.7 SQ.) 3.35 ±0.004 SQ.* (85.0 ±0.1 SQ.) k1 ±0.02 (±0.5) M8 x 0.630 (16.0) Deep* 4x 0.33 (Ø 8.5) Hole *Gearbox without Flange †Gearbox with Flange Ctrg. DIN 332-D M10 Key DIN 6885-A-8x7x40mm 0.20* (5.0) 0.079 (2.0) 2.33 ±0.02* (59.1 ±0.5) 2.04 ±0.02 (51.7 ±0.5) Ø 2.76* (Ø 70.0) Ø 0.98 (Ø 25.0) Ø 4.13 (Ø 105.0) MDrive42AC Plus 0.35* (9.0) † † † Ø 2.187 (Ø 55.54) † † 3.50 (88.9) or or 0.50 (12.7) † or MDrive42AC Plus *Gearbox without Flange †Gearbox with Flange Ø 3.15* (Ø 80.0) Ø 2.187 (Ø 55.54) or M10 x 0.866 (22.0) Deep* 4x 0.35 (Ø 9.0) Hole† † † † or or k1 ±0.02 (±0.5) Ctrg. DIN 332-D M12 Key DIN 6885-A-10x8x50mm 0.20* (5.0) † 0.079 (2.0) † 0.24 (6.2) 0.59* (15.0) 2.86 ±0.02* (72.7 ±0.5) 2.53 ±0.02 (64.2 ±0.5) Ø 1.26 (Ø 32.0) Ø 4.72 (Ø 120.0) 4.33 SQ. (110.0 SQ.) 3.94 SQ.* (100.0 SQ.) 3.50 SQ. (88.9 SQ.) or 0.59 (15.0) † MDRIVE42AC PLUS WITH PLANETARY GEARBOX The MDrive42AC Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better inertia matching and produce fi ner positional resolutions. These effi cient, 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 confi gurations. 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 MDrive42AC Plus options, however are unavailable with Linear Actuators. Planetary Gearbox Parameters Gearbox Lengths Inches (mm) k1 GEARBOX* with FLANGE† 1-Stage 5.73 (145.5) 5.9 (149.9) 2-Stage 7.07 (179.6) 7.13 (181.0) 3-Stage 8.41 (213.7) 8.35 (212.0) Gearbox Lengths Inches (mm) k1 GEARBOX* with FLANGE† 1-Stage 6.23 (158.2) 6.58 (167.2) 2-Stage 7.57 (192.4) 7.93 (201.4) 3-Stage 8.92 (226.6) 9.28 (235.6) 4 MDrive42AC Plus Microstepping REV060208

IMS Product Disclaimer and most recent product information at www.imshome.com. Intelligent Motion Systems, Inc. 370 North Main Street, P.O. Box 457 Marlborough, CT 06447 - U.S.A. Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107 e-mail: [email protected] http: //www.imshome.com U.S.A. SALES OFFICES Eastern Region Tel. 862 208-9742 - Fax 973 661-1275 e-mail: [email protected] Central Region Tel. 260 402-6016 - Fax 419 858-0375 e-mail: [email protected] Western Region Tel. 602 578-7201 e-mail: [email protected] IMS ASIA PACIFIC OFFICE 30 Raffl es Pl., 23-00 Caltex House, Singapore 048622 Tel. +65/6233/6846 - Fax +65/6233/5044 e-mail: [email protected] IMS EUROPEAN SALES MANAGEMENT 4 Quai Des Etroits 69005 Lyon, France Tel. +33/4 7256 5113 - Fax +33/4 7838 1537 e-mail: [email protected] IMS UK Ltd. Sanderson Centre, 15 Lees Lane Gosport, Hampshire PO12 3UL Tel. +44/0 2392-520775 - Fax +44/0 2392-502559 e-mail: [email protected] TECHNICAL SUPPORT Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107 e-mail: [email protected] –N Control Knob Example: MDM1MSZ42B2–N adds a rear control knob to example #1. Not available with sealed –65 versions. –E Internal Encoder OPTIONS Example: MDM1MSQ42B2–EX adds an internal 512-line differential optical encoder with index mark to example #1. Refer to encoder specifications section for line counts and part numbers. –G Planetary Gearbox Example: MDM1MSZ42B2–G1A2 adds a PM105 1-stage planetary gearbox with 5.18:1 ratio to example #1. Add –F for optional NEMA flange. Refer to gearbox page for complete table of ratios and part numbers. – F Optional NEMA Flange MDM MSZ42 – A = Single Length B = Double Length Example #1: Part Number MDM1MSZ42B2 is an MDrive42AC Plus Microstepping with 19-pin M23 circular I/O & SPI communications interface, NEMA 42 double length motor and 240 input voltage. OPTION Input Voltage 1 = 120 Volt 2 = 240 Volt MDrive Version P1: I/O & Communications, 19-Pin M23 Circular Connector P3: Power, 3-Pin Euro AC Connector **Consult Factory for Availability. Motor Plus base version Plus2-65 ** IP65 sealed QuickStart Kit details above K 1 = Plus 2 = Plus-65 (sealed)** ORDER INFORMATION — MDrive42AC Plus Microstepping CONNECTING QuickStart Kit For rapid design verifi cation, all-inclusive QuickStart Kits have com- munication converter, prototype development cable(s), instructions and CD for MDrivePlus initial functional setup and system testing. Communication Converter Electrically isolated, in-line con vert er 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: 5-Pin M12 ............................................MD-CC301-001 Prototype Development Cables Speed test/development with pre-wired mating connectors that have fl ying leads other end. Single-ended cordsets are PVC jack- eted with foil shield and unconnected drain wire. Length 13.0' (4.0m). Mates to connector: 19-Pin M23 Straight Termination ..........................MD-CC100-000 Right Angle Termination .....................MD-CC101-000 3-Pin Euro AC Straight Termination ..........................MD-CC200-000 Right Angle Termination .....................MD-CC201-000 OPTIONS Internal Encoder An internal 512-line (2048 count) differential optical encoder with index mark is available factory-mounted. Control Knob‡ For manual shaft positioning, a factory-mounted rear control knob is available. Planetary Gearbox Effi cient, low maintenance planetary gearboxes are offered factory-mounted. Refer to details and part num- bers on the back cover. ‡ Not Available with Sealed –65 Versions. Connectivity details: www.imshome.com/cables_cordsets.html PART NUMBERING CONNECTIVITY OPTIONS new new