Intelligent Motion Systems MDO17Plus Specification Sheet

system designers cost effective, program- mable velocity control integrated with a NEMA 17 high torque 1.8° brushless step motor and a +12 to +48 volt microstepping driver. The MDrive17Plus Speed Control features a digital oscillator for accurate velocity control with an output frequency of up to 5 Megahertz. Output frequency will vary with the signal applied to the speed control input and can be limited by the amount specifi ed by the Maximum Veloc- ity parameter. Speed can be adjusted using three modes of operation: voltage, current and PWM. The ranges are 0 to +5 volts and 0 to +10 volts in voltage mode, 0 to 20 mA and 4 to 20 mA in current mode, and 15 to 25 kHz in PWM mode. This allows the MDrive17Plus Speed Control to be driven by a wide variety of sensors and control devices. There are two basic methods for control- ling the velocity: bidirectional and unidi- rectional. By moving the center point, both speed and direction are controlled by a potentiometer or joystick. By setting the center point to zero or the lower end of the potentiometer, only velocity is controlled by the speed control input; direction is controlled by a separate digital input. The MDrive17Plus Speed Control has 18 setup parameters, which may be con- fi gured using the supplied IMS Analog Speed Control GUI, or a user-developed front-end communicating over SPI. The setup parameters enable the user to con- fi gure all MDrive operational parameters which are stored in nonvolatile memory. The versatile, compact MDrive17Plus Speed Control is available in multiple FEATURES • Highly Integrated Microstepping Driver, Intelligent Variable Speed Controller and NEMA 17 High Torque 1.8° Brushless Step Motor • Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness • Single Supply: +12 to +48 VDC • Cost Effective • Extremely Compact • 20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes • 10-bit Analog Speed Control Input Accepts: - 0 to +5 VDC - 0 to +10 VDC - 4 to 20 mA - 0 to 20 mA - 15 to 25 kHz PWM • Automatic Current Reduction • Electronically Confi gurable: - Motor Run/Hold Current - Microstep Resolution - Acceleration/Deceleration - Initial and Max Velocity - Hold Current Delay Time/Motor Settling Delay Time - Programmable Filtering for the Start/Stop Input • Available Options: - Long Life Linear Actuators** - External Optical Encoder - Integrated Planetary Gearbox - Control Knob for Manual Positioning - Linear Slide • 3 Rotary Motor Lengths Available • Setup Parameters May Be Switched On-The-Fly • Interface Options: - Pluggable Terminal Strip - 12.0” (30.5cm) Flying Leads • Graphical User Interface (GUI) for Quick and Easy Parameter Setup ** Consult Factory for Availability. www.imshome.com confi gurations to fi t various system needs. Rotary motor versions come in three lengths and may include an optical en- coder, control knob, planetary gearbox or linear slide. Long life Acme screw linear actuators** are also available. Connector style options give you choices for the best fi t and features. Select from 12.0" (30.5cm) fl ying leads or pluggable terminal strip. MDrivePlus connectivity has never been easier with options ranging from all-inclu- sive QuickStart Kits to individual inter- facing cables and mating connector kits to build your own cables. See pg 4. The MDrive17Plus is a compact, powerful and cost effective motion control solution that will reduce system cost, design and assembly time for a large range of brushless step motor applications. CONFIGURING The IMS Analog Speed Control is a soft- ware GUI for quick and easy parameter setup of the MDrivePlus Speed Con trol from a computer's USB port. GUI ac- cess is via the IMS SPI Motor In ter face available at www.imshome.com. The IMS interface is also used to upgrade MDrive- Plus Speed Control fi rmware. IMS Analog Speed Control features: • Easy installation. • Automatic detection of MDrivePlus ver- sion and communication confi guration. • Will not set out-of-range values. • Tool-tips display valid range setting for each option. • Simple screen interface. Excellence in Motion new

Holding Torque Detent Torque Rotor Inertia Weight (Motor+Driver) SINGLE LENGTH 32 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 LENGTH 60 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 LENGTH 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 Optional encoder cables are available. MOTOR SPEC I FI CA TIONS ENCODER SPECIFICATIONS DIFFERENTIAL ENCODER with locking connector feature SINGLE-END ENCODER Encoder Function Function Pin 1 No Connect Ground Pin 2 +5 VDC Input Index Pin 3 Ground Channel A Pin 4 No Connect +5 VDC Input Pin 5 Channel A – Channel B Pin 6 Channel A + Pin 7 Channel B – Pin 8 Channel B + Pin 9 Index – Pin 10 Index + Line Counts and Part Numbers Pin Assignments DIFFERENTIAL ENCODER with locking connector feature SINGLE-END ENCODER Line Count Part Number Part Number 100 EAL E1 200 EBL E2 250 ECL E3 256 EWL EP 400 EDL E4 500 EHL E5 512 EXL EQ 1000 EJL E6 1024 EYL ER MDrive17Plus SPEED CONTROL INPUT VOLTAGE (+V) Range +12 to +48 VDC Power supply current requirements = 2A (maximum) per MDrive17Plus. Actual power supply current will depend on voltage and load. SPEED CONTROL Input 0 to +5 VDC*, 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 Start/Stop and Direction Low Level 0 to +0.8 VDC High Level +2.0 to +5.0 VDC Internal Pull-up Resistance (to +3.3 VDC) 20 kΩ MOTION Oscillator Frequency (Max) 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) THERMAL Operating Temperature Heat Sink –40° to +85°C (non-condensing) Motor –40° to +100°C (non-condensing) *10 k Ω potentiometer resistance. STANDARD SPEC I FI CA TIONS SETUP PARAMETERS Function Range Units Default A1 Analog Input Mode 0 to +5 VDC, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA, 15 to 25 kHz PWM — 0 to +5 VDC ACCL Acceleration 91 to 1.5 X 10 9 steps/second 2 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 10 9 steps/second 2 1,000,000 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 Filter 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 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 SSD Stop/Start Debounce 0 to 255 milliseconds 0 VI Initial Velocity 0 to

WIRE/PIN ASSIGNMENTS — MDrive17Plus Speed Control P1: I/O & POWER CONNECTOR Pluggable Terminal Strip Flying Leads Wire Colors Function Pin 1 Violet Start/ Stop Input Pin 2 Blue CW/CCW Direction Input Pin 3 Green Speed Control Input Pin 4 Yellow +5 VDC Output Pin 5 Gray Logic Ground Pin 6 Black Power Ground Pin 7 Red +V (+12 to +48 VDC) MOTOR PERFORMANCE — Speed-Torque Single Length Rotary Motor Double Length Rotary Motor Triple Length Rotary Motor Torque in Oz-In Torque in N-cm Speed in Full Steps per Second (RPM) 0 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) 50 60 40 30 20 10 0 35 42 28 21 14 7 24 VDC 48 VDC Torque in Oz-In Torque in N-cm Speed in Full Steps per Second (RPM) 0 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) 50 60 40 30 20 10 0 24 VDC 48 VDC 42 35 28 21 14 7 Torque in Oz-In Torque in N-cm Speed in Full Steps per Second (RPM) 0 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) 50 60 40 30 20 10 0 35 42 28 21 14 7 24 VDC 48 VDC P2: COMM CONNECTOR (SPI) 10-Pin IDC 10-Pin Wire Crimp Function Pin 1 Pin 9 No Connect Pin 2 Pin 10 No Connect Pin 3 Pin 7 No Connect Pin 4 Pin 8 SPI Chip Select Pin 5 Pin 5 Communications Ground Pin 6 Pin 6 +5 VDC Output Pin 7 Pin 3 SPI Master Out – Slave In Pin 8 Pin 4 SPI Clock Pin 9 Pin 1 No Connect Pin 10 Pin 2 SPI Master In – Slave Out 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 SQ. (42.7 SQ.) 1.220 ±0.004 SQ. (31.0 ±0.1 SQ.) 4X M3x0.5 THREAD x0.15 MIN DEEP P1 Connector Option 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) Connector Option MECHANICAL SPECIFICATIONS Dimensions in Inches (mm) LMAX LMAX2 Motor Length SINGLE SHAFT or LINEAR ACTUATOR VERSION CONTROL KNOB or ENCODER VERSION 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) MDrive Lengths Inches (mm) Ø 0.97 (Ø 24.6) Control Knob 1.20 (30.4) 1.42 (36.1) 2.04* (51.8) Differential Encoder* . 1.22* (31.0) . Single-End Encoder Encoder LMAX2 Options 0.44 (11.2) P1 12.00 +1.0/-0.0 (304.8 +25.4/-0.0) P1 P1 Connector Options 7-Pin Pluggable Clamp Type Terminal Strip Flying Leads P2 P2 Connector Options 10-Pin IDC P2 10-Pin Friction Lock Wire Crimp Connectivity details: www.imshome.com/cables_cordsets.html I/O & Power I/O & Power Comm Comm

B = 0.20” (5.08mm) C = 0.50” (12.7mm) D = 1.00” (25.4mm) –R Screw Lead Standard Screw Lengths 10", 12", 15", 18", 24" or 36" For Custom Lengths, Consult Factory Linear Slide Example: MDO1PSD17A4–RA10 adds a Linear Slide with 0.10" screw lead, 10" long to example #1. NOTE: 10" lengths only with A or B leads. 15" lengths only with A, B or C leads. 36" lengths only with D leads. Example #1: Part Number MDO1PSD17A4 is an MDrive17Plus Speed Control with pluggable I/O & power interface, SPI communications with 10-pin IDC connector, and NEMA 17 single length motor. –N –E External Encoder Control Knob Example: MDO1PSD17A4–N adds a rear control knob for manual positioning to example #1. Refer to encoder specifications section for line counts and part numbers. OPTIONS – G Planetary Gearbox Example: MDO1PSD17A4–G1A2 adds a 1-stage planetary gearbox with 5.18:1 ratio to example #1. Add –F for optional NEMA flange. – F Optional NEMA Flange Refer to gearbox page for complete table of ratios and part numbers. Example: MDO1PSD17A4–EHL adds an external 500-line count differential optical encoder with index mark to example #1. For complete product specifications, see: www.imshome.com/mdriveplus_linear_actuator.html –L Linear Actuator** Plus base version **Consult Factory for Availability. B = Double Length C = Triple Length OPTION P1: I/O & Power F = 12" Flying Leads P = Pluggable Clamp Type Terminal Strip P2: Communications D = SPI with 10-Pin IDC Connector L = SPI with 10-Pin Friction Lock Wire Crimp Connector A = Single Length & Linear Actuator** MDO1 S 17 4 – Motor QuickStart Kit details above K ORDER INFORMATION — MDrive17Plus Speed Control 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 Converters Electrically isolated, in-line con vert ers pre-wired with mating connec- tors to conveniently set/program communication parameters for a single MDrivePlus via a PC's USB port. Length 12.0' (3.6m). Mates to connector: 10-Pin IDC ............................................MD-CC300-001 10-Pin Wire Crimp .................................MD-CC302-001 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: 10-Pin Wire Crimp .................................CK-02 Kit contains 5 mating connectors that press fi t onto ribbon cable. Cable not supplied. 10-Pin IDC ............................................CK-01 OPTIONS Linear Actuator** The MDrive17Plus is offered with numerous linear actuator styles and options to satisfy a broad range of linear motion applications. Contact the factory for details or see: www.imshome.com/mdriveplus_linear_actuator.html External Encoder External optical encoders, single-end or differential, are offered factory-mounted with the MDrive17Plus. Refer to the Encoder Specifi cations section for available line counts. All encoders come with an index mark. Optional encoder cables are available. Order separately. Single-end Cable (12.0"/30.5cm) ............ES-CABLE-2 Differential Locking Cable (6.0'/1.8mm) ......ED-CABLE-6 Control Knob The MDrive17Plus Speed Control is available with a factory- mounted rear control knob for manual shaft positioning. Planetary Gearbox Effi cient, low maintenance planetary gearboxes are offered assembled with the MDrive17Plus. Refer to details and part numbers on the back cover. Linear Slide 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 36.0" (91.44cm) long. Contact factory for custom lengths. Refer to separate datasheet or web site for complete details. PART NUMBERING CONNECTIVITY OPTIONS new new new ** Consult Factory for Availability. Connectivity details: www.imshome.com/cables_cordsets.html 4 MDrive17Plus Speed Control REV060208

Maximum Load (lb-force/N) Weight (oz/g) Radial Axial Gearbox with Flange 1-STAGE 425/3.0 0.80 0.80° 36/160 11/50 14.3/406 14.8/420 2-STAGE 1062/7.5 0.75 0.85° 52/230 18/80 17.9/508 18.5/525 3-STAGE 2124/15.0 0.70 0.90° 67.5/300 25/110 18.5/525 22.2/630 Planetary Gearbox for MDrive17Plus Dimensions in Inches (mm) Key DIN 6885-A-3x3x16mm Ctrg.DIN 332-DM3 *Gearbox without Flange †Gearbox with Flange 0.08 (2.0) Ø 0.315 +0/-0.0004 (Ø 8.0 +0/-0.009) Ø 0.984* or 0.866† (Ø 25.0* or 22.0†) +0/-0.002 (+0/-0.052) 0.984* (25.0) or 0.846† (21.5) k1 ±0.02 (±0.5) Ø 1.654 (Ø 42.0) 1.20 (30.5) M4 x 0.394 (10.0) Deep* M3 x 0.394 (10.0) Deep* Ø 1.26* (Ø 32.0) Ø 1.417* (Ø 36.0) 1.657 SQ. (42.1 SQ.) 1.22† (31.0) M3 x 0.276 (7.0) Deep† MDrive17Plus Planetary Gearbox Parameters Gearbox Lengths Inches (mm) k1 GEARBOX* with FLANGE† 1-Stage 2.736 (69.5) 2.858 (72.6) 2-Stage 3.248 (82.5) 3.37 (85.6) 3-Stage 3.76 (95.5) 3.882 (98.6) © Intelligent Motion Systems, Inc. All Rights Reserved. REV060208 IMS Product Disclaimer and most recent product information at www.imshome.com. The MDrive17Plus 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 MDrive17Plus options, however are unavailable with Linear Actuators. MDRIVE17PLUS WITH PLANETARY GEARBOX Ratios and Part Numbers Planetary Gearbox Ratio (Rounded) Part Number** 1-Stage 3.71:1 G1A1 1-Stage 5.18:1 G1A2 1-Stage 6.75:1 G1A3 2-Stage 13.73:1 G1A4 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 2-Stage 26.85:1 G1B1 2-Stage 28.93:1 G1B2 2-Stage 34.98:1 G1B3 2-Stage 45.56:1 G1B4 3-Stage 50.89:1 G1B5 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 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 3-Stage 181.25:1 G1D2 3-Stage 195.27:1 G1D3 3-Stage 236.10:1 G1D4 3-Stage 307.55:1 G1D5 **Include optional planetary gearbox by adding –G plus 3 characters to the end of an MDrive part number. 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]