TM
Excellence in Motion
TM
42
MOTION CONTROL
(with optional CANopen)
FEATURES
DESCRIPTION
Optional communication protocols
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 identifier.
• Highly Integrated Microstepping Driver/
Intelligent Motion Controller with Optional
Encoder/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
The MDrive42AC Plus2 Motion Control
system offers designers a cost effec-
tive, full featured programmable motion
controller integrated with a NEMA 42 high
torque 1.8° brushless step motor and a
microstepping driver operating at 120 or
240 VAC.
Unsurpassed smoothness and perfor-
mance delivered by the MDrive42AC are
achieved through IMS's advanced 2nd
generation current control. By applying
innovative techniques to control current
flow through the motor, resonance is sig-
nificantly dampened over the entire speed
range and audible noise is reduced.
The MDrive42AC Plus2 Motion Control
is available with optional closed loop
control. This increases functionality by
adding stall detection, position mainte-
nance and find index mark.
The closed loop configuration is added
via a 512 line (2048 edge) optical
encoder with index mark, internal to the
MDrive42AC 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 MDrive42AC 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:
- 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 Configuration**
• Two 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
In addition to encoder options, the
MDrive42AC 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 fixed to
the internal step clock.
The MDrive42AC 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 MDrive42AC 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 specifications is also available.
The sealed assembly allows the
MDrive42AC to be used in environ-
ments where exposure to chemical,
dust and liquids may occur.
Two rotary motor lengths are available
as are linear actuators with long life
Acme screw**.
• 62 Software Addresses for Multi-Drop
Communications
• High Speed Position Capture Input or Trip
Output
The MDrive42AC Plus2 Motion Control
system communicates over RS-422/485
which allows for point-to-point or multiple
unit configurations 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 5.
• Electronic Gearing
**Consult Factory for Availability.
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PIN ASSIGNMENTS
SPEED-TORQUE
P1: I/O CONNECTOR
MDrive42AC – 120VAC
Function
M23 Circular
1800
1600
1271
1130
989
847
706
565
424
282
141
(Male)
Expanded I/O
Remote Encoder Closed Loop Control
Double Motor Length
Single 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 –
1400
1200
1000
800
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
600
400
200
0
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)
MDrive42AC – 240VAC
1800
1600
1271
1130
989
847
706
565
424
282
141
Double Motor Length
Single Motor Length
1400
1200
1000
800
P2: COMM CONNECTOR
RS-422/485 CANopen
P3: POWER CONNECTOR
Euro AC
Function
(Male)
M12
Circular
(Female)
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
600
400
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
TX –
TX +
RX +
Shield
CAN +V
CAN –V
CAN High
CAN Low
200
0
0
2000
(600)
4000
(1200)
6000
(1800)
8000
(2400)
10000
(3000)
RX –
Speed in full steps per second (RPM)
Comm Ground
MECHANICAL SPECIFICATIONS
Dimensions in Inches (mm)
2
MDrive42AC Plus
3.0
(76.2)
LMAX2
LMAX
P1
P3
P2
2.17
(55.0)
0.65
(16.51)
1.375
(34.9)
7.4
(187.96)
6.75
0.335
(8.51)
(171.45)
Ø 2.185
(Ø 55.5)
3.50 SQ.
(88.88 SQ.)
Ø 0.75
(Ø 19.05)
4.331 SQ.
(110.0 SQ.)
0.1875
(4.76)
0.75
(19.05)
0.059
(1.5)
0.83
(21.08)
*CANopen option increases
overall height by 0.09"/2.0mm
0.49
(12.5)
4.50
(114.3)
MDrive Lengths Inches (mm)
L
Option
MAX2
Ø 1.90
(Ø 48.3)
L
L
MAX2
MAX
SINGLE SHAFT or CONTROL KNOB
ENCODER VERSION
Motor
Length
Connectors
VERSION
I/O
Comm
Power
Single
Double
7.4 (187.96)
9.4 (238.76)
9.4 (238.76)
11.4 (289.56)
Ø 0.53
(Ø 13.5)
Ø 0.87
(Ø 22.1)
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:
MDrive42AC Plus2 Motion Control REV060208
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3
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 finer positional resolutions. These efficient, 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 configurations. 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
Ratios and Part Numbers
‡
Output Side with Ball Bearing
Part Number
Planetary
Gearbox
Ratio
(Rounded)
Permitted
Gearbox Maximum
Maximum Load
(lb-force/N)
Weight
(lb/kg)
PM105 PM120
Output Torque Efficiency Backlash
(oz-in/Nm)
Model
Model
Radial Axial
Gearbox w/Flange
1-Stage
1-Stage
1-Stage
3.71:1 ** G1A1
5.18:1 G1A2
6.75:1** G1A3
G2A1
—
G2A3
1-STAGE
4956/35.0
0.80
0.75
0.70
0.80
0.75
0.70
1.0°
1.5°
135/600 27/120 9.7/4.4 10.0/4.5
202/900 40/180 13.2/6.0 13.6/6.2
337/1500 67/300 16.8/7.6 17.3/7.8
135/600 27/120 12.3/5.6 12.7/5.8
202/900 40/180 17.6/8.0 18.1/8.2
2-STAGE 14869/105.0
3-STAGE 27614/195.0
2.0°
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
13.73:1** G1A4
G2A4
—
—
—
—
G2A9
—
—
—
G2B4
15.88:1
18.37:1
19.20:1
22.21:1
G1A5
G1A6
G1A7
G1A8
1-STAGE
7080/50.0
0.55°
0.60°
2-STAGE 21242/150.0
3-STAGE 42484/300.0
0.65° 337/1500 67/300 22.9/10.4 23.5/10.7
25.01:1** G1A9
26.85:1
28.93:1
34.98:1
G1B1
G1B2
G1B3
Planetary Gearbox for MDrive42Plus
Dimensions in Inches (mm)
45.56:1** G1B4
PM105 Model
*Gearbox without Flange
†Gearbox with Flange
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** G1B5
G2B5
—
—
—
—
G2C1
—
—
—
—
—
—
—
—
G2D1
—
—
—
G2D5
58.86:1
68.07:1
71.16:1
78.72:1
G1B6
G1B7
G1B8
G1B9
2.33 0.02*
(59.1 0.5)
or
2.04 0.02
(51.7 0.5)
k1 0.02 ( 0.5)
†
M8 x 0.630 (16.0) Deep*
†
0.079
or
0.20*
(5.0)
†
4x 0.33 (Ø 8.5) Hole
(2.0)
92.70:1** G1C1
0.35*
(9.0)
95.18:1
99.51:1
G1C2
G1C3
G1C4
G1C5
G1C6
G1C7
G1C8
G1C9
107.21:1
115.08:1
123.98:1
129.62:1
139.14:1
149.90:1
168.85:1** G1D1
181.25:1
195.27:1
236.10:1
G1D2
G1D3
G1D4
Ctrg. DIN 332-D M10
3.35 0.004 SQ.*
(85.0 0.1 SQ.)
†
0.50
(12.7)
Key DIN 6885-A-8x7x40mm
†
Gearbox Lengths Inches (mm)
3.50
307.55:1** G1D5
(88.9)
k1
**Indicates limited ratios available for PM120 gearbox.
GEARBOX*
5.73 (145.5)
7.07 (179.6)
8.41 (213.7)
with FLANGE†
5.9 (149.9)
7.13 (181.0)
8.35 (212.0)
‡ Include optional planetary gearbox by adding –G plus
3 characters to the end of an MDrive part number.
1-Stage
2-Stage
3-Stage
PM120 Model
*Gearbox without Flange
†Gearbox with Flange
2.86 ±0.02*
(72.7 ±0.5)
or
2.53 ±0.02
(64.2 ±0.5)
k1 ±0.02 (±0.5)
M10 x 0.866 (22.0) Deep*
†
†
0.20*
(5.0)
0.079
(2.0)
or
†
4x 0.35 (Ø 9.0) Hole
†
0.24
0.59*
or
(15.0) (6.2)
Ctrg. DIN 332-D M12
0.59†
(15.0)
†
3.50 SQ.
(88.9 SQ.)
Key DIN 6885-A-10x8x50mm
Gearbox Lengths Inches (mm)
3.94 SQ.*
(100.0 SQ.)
k1
GEARBOX*
6.23 (158.2)
7.57 (192.4)
8.92 (226.6)
with FLANGE†
6.58 (167.2)
7.93 (201.4)
9.28 (235.6)
1-Stage
2-Stage
3-Stage
4
MDrive42AC Plus2 Motion Control
REV060208
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2
ORDER INFORMATION — MDrive42AC Plus Motion Control
CONNECTIVITY
CONNECTING
OPTIOONPSTIONS
QuickStart Kit
Internal Encoder
An internal 512-line (2048 count) differential optical
encoder with index mark is available factory-mounted.
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.
Remote Encoder
This MDrivePlus Motion Control is offered with differential en-
coder inputs for use with a remote encoder (not supplied).
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:
Control Knob
‡
For manual shaft positioning, a factory-mounted rear control
knob is available.
5-Pin M12 ............................................MD-CC401-001
5-Pin M12 CANopen ..............................MD-CC500-000*
*Requires mating connector adapter and power supply, not supplied.
Planetary Gearbox
Efficient, low maintenance planetary gearboxes are
offered factory-mounted. Refer to details and part num-
bers on the back cover.
Prototype Development Cables
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).
**Consult Factory for Availability.
‡ Not Available with Sealed –65 Versions.
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
PART NUMBERING
OPTIONS
OPTION
K MDI
M
Q42
–
QuickStart Kit
details above
2
Input Voltage
Internal
–EQ
Plus
Encoder
1 = 120 Volt
2 = 240 Volt
expanded features
MDrive Version
Example: MDI3MRQ42B2–EQ adds a 512-line internal
Communications
2
optical encoder with index mark to example #1.
3 = Plus
Motor
2
R = RS-422/485
C = CANopen
4 = Plus -65 (sealed)**
A = Single Length
B = Double Length
2
**
Remote
–EE
Plus -65
Encoder
IP65 sealed
Example: MDI3MRQ42B2–EE adds differential encoder inputs for
use with remote encoder (not supplied).
P1: I/O, 19-Pin M23 Circular Connector
P3: Power, 3-Pin Euro AC Connector
May not be combined with internal encoder option.
Control
Knob
–N
P2: Communications, 5-Pin M12
Circular Connector
Example: MDI3MRQ42B2–N adds a rear control knob to
example #1. Not available with sealed –65 versions.
Planetary
–G
– F
Gearbox
Example #1: Part Number MDI3MRQ42B2 is an
MDrive42AC Plus2 Motion Control with 19-pin M23
circular I/O interface, RS-422/485 communications
with 5-pin M12 circular connector, NEMA 42 double
length motor and 240 input voltage.
Refer to gearbox page for complete
table of ratios and part numbers.
Optional NEMA Flange
Example: MDI3MRQ42B2–G1A2 adds a PM105 1-stage
planetary gearbox with 5.18:1 ratio to example #1.
Add –F for optional NEMA flange.
**Consult Factory for Availability.
U.S.A. SALES OFFICES
Eastern Region
IMS EUROPEAN SALES MANAGEMENT
4 Quai Des Etroits
Tel. 862 208-9742 - Fax 973 661-1275
e-mail: [email protected]
Central Region
69005 Lyon, France
Tel. +33/4 7256 5113 - Fax +33/4 7838 1537
e-mail: [email protected]
Tel. 260 402-6016 - Fax 419 858-0375
e-mail: [email protected]
Western Region
Tel. 602 578-7201
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]
IMS ASIA PACIFIC OFFICE
30 Raffles Pl., 23-00 Caltex House, Singapore 048622
Tel. +65/6233/6846 - Fax +65/6233/5044
e-mail: [email protected]
TECHNICAL SUPPORT
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107
e-mail: [email protected]
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]
© Intelligent Motion Systems, Inc. All Rights Reserved.
REV060208
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