MDrive34Plus
Microstepping
Integrated Motor and Driver
TM
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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 reason personnel must
never be in the danger zone of the drives unless additional suitable safety equip-
ment prevents any personal danger. This applies to operation of the machine during
production and also to all service and maintenance work on drives and the machine.
The machine design must ensure personal safety. Suitable measures for prevention
of property damage are also required.
Qualification of personnel
Only technicians who are familiar with and understand the contents of this manual
and the other relevant documentation are authorized to work on and with this drive
system. The technicians must be able to detect potential dangers that may be
caused by setting parameters, changing parameter values and generally by the
operation of mechanical, electrical and electronic equipment.
The technicians must have sufficient technical training, knowledge and experience
to recognise and avoid dangers.
The technicians must be familiar with the relevant standards, regulations and safety
regulations that must be observed when working on the drive system.
Intended Use
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 endanger
persons. The possibility of unexpected or unbraked movements can never be totally
excluded without additional safety equipment.
For this reason personnel must never be in the danger zone of the drives unless
additional suitable safety equipment prevents any personal danger. This applies to
operation of the machine during production and also to all service and maintenance
work on drives and the machine. The machine design must ensure personal safety.
Suitable measures for prevention of property damage are also required.
In all cases the applicable safety regulations and the specified operating conditions,
such as environmental conditions and specified technical data, must be observed.
The drive system must not be commissioned and operated until completion of instal-
lation in accordance with the EMC regulations and the specifications in this manual.
To prevent personal injury and damage to property damaged drive systems must
not be installed or operated.
Changes and modifications of the drive systems are not permitted and if made all no
warranty and liability will be accepted.
The drive system must be operated only with the specified wiring and approved
accessories. In general, use only original accessories and spare parts.
The drive systems must not be operated in an environment subject to explosion
hazard (ex area).
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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 .................................................................................................. 1-1
Connect Opto Power and Logic Inputs .................................................................................... 1-1
Connecting Parameter Setup Cable .......................................................................................... 1-1
Install the IMS SPI Motor Interface ......................................................................................... 1-2
Part 1: Hardware Specifications
Section 1.1: Introduction to the MDrive34Plus Microstepping................................................... 1-5
Configuration Interface............................................................................................................. 1-5
Features and Benefits................................................................................................................. 1-5
Section 1.2: MDrive34Plus Microstepping Specifications .......................................................... 1-7
General Specifications ............................................................................................................... 1-7
Setup Parameters....................................................................................................................... 1-8
Mechanical Specifications.......................................................................................................... 1-9
Pin Assignment And Description - Flying Leads Version......................................................... 1-11
P1 Connector - Power, I/O and Internal Optical Encoder (Optional) ................................ 1-11
P2 Connector - SPI Communications ................................................................................ 1-13
Pin Assignment And Description - Pluggable Interface Version............................................... 1-14
P1 Connector - I/O and SPI Communications, 12-Pin Locking Wire Crimp..................... 1-14
P3 Connector - DC Power, 2-Pin Locking Wire Crimp...................................................... 1-15
P4 Connector - Differential Encoder, 10-Pin Friction Lock Wire Crimp............................ 1-15
Connectivity ........................................................................................................................... 1-17
Options................................................................................................................................... 1-17
Part 2: Interfacing and Configuring
Section 2.1: Mounting and Interface Guidelines ........................................................................ 2-3
Mounting Recommendations.................................................................................................... 2-3
Layout and Interface Guidelines................................................................................................ 2-4
Rules of Wiring ................................................................................................................... 2-4
Rules of Shielding ................................................................................................................ 2-4
Recommended Wiring ......................................................................................................... 2-5
Recommended Mating Connectors and Pins............................................................................. 2-5
SPI Communications (Flying Lead Version Only)................................................................ 2-5
Power ................................................................................................................................... 2-5
Internal Differential Encoder................................................................................................ 2-5
12-Pin Locking Wire Crimp (I/O and SPI Communications).............................................. 2-5
Securing Power Leads and Logic Leads...................................................................................... 2-6
Section 2.2: Interfacing DC Power............................................................................................. 2-7
Choosing a Power Supply for Your MDrive............................................................................... 2-7
DC Power Supply Recommendations........................................................................................ 2-8
Recommended IMS Power Supplies ..................................................................................... 2-8
Recommended IMS Power Supplies ..................................................................................... 2-8
Connecting DC Power.............................................................................................................. 2-9
Recommended Power and Cable Configurations .................................................................... 2-10
Example A – Cabling Under 50 Feet, DC Power................................................................ 2-10
Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge ........................... 2-10
Example C – Cabling 50 Feet or Greater, AC Power to Power Supply ................................ 2-10
Section 2.3: Isolated Input Interface and Connection............................................................... 2-13
Optically Isolated Logic Inputs................................................................................................ 2-13
Isolated Logic Input Pins and Connections ............................................................................. 2-13
Isolated Logic Input Characteristics......................................................................................... 2-15
Enable Input ...................................................................................................................... 2-15
Clock Inputs....................................................................................................................... 2-15
Optocoupler Reference............................................................................................................ 2-17
Input Connection Examples.................................................................................................... 2-18
Open Collector Interface Example...................................................................................... 2-18
Switch Interface Example ................................................................................................... 2-19
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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................................................................................................................ 2-21
SPI Pins and Connections....................................................................................................... 2-22
Logic Level Shifting and Conditioning Circuit........................................................................ 2-23
SPI Master with Multiple MDrivePlus Microstepping............................................................. 2-24
Section 2.5: Using the IMS SPI Motor Interface....................................................................... 2-25
Installation.............................................................................................................................. 2-25
Configuration Parameters and Ranges..................................................................................... 2-25
Color Coded Parameter Values................................................................................................ 2-25
IMS SPI Motor Interface Menu Options................................................................................. 2-26
Screen 1: The Motion Settings Configuration Screen .............................................................. 2-27
MSEL (Microstep Resolution Selection)............................................................................. 2-28
HCDT (Hold Current Delay Time)................................................................................... 2-29
MRC (Motor Run Current) ............................................................................................... 2-29
MHC (Motor Hold Current)............................................................................................. 2-29
DIR (Motor Direction) ...................................................................................................... 2-29
User ID .............................................................................................................................. 2-29
IMS SPI Motor Interface Button Functions ....................................................................... 2-29
Screen 2: I/O Settings Configuration Screen ........................................................................... 2-30
Input Clock Type ............................................................................................................... 2-30
Input Clock Filter............................................................................................................... 2-30
Enable Active High/Low .................................................................................................... 2-30
Warning Temperature......................................................................................................... 2-30
IMS Part Number/Serial Number Screen ................................................................................ 2-31
Fault Indication....................................................................................................................... 2-31
Upgrading the Firmware in the MDrivePlus Microstepping.................................................... 2-32
The IMS SPI Upgrader Screen ........................................................................................... 2-32
Upgrade Instructions.......................................................................................................... 2-32
Initialization Screen................................................................................................................. 2-33
Port Menu.......................................................................................................................... 2-33
Section 2.6: Using User-Defined SPI........................................................................................ 2-35
SPI Timing Notes.................................................................................................................... 2-35
Check Sum Calculation for SPI............................................................................................... 2-35
SPI Commands and Parameters............................................................................................... 2-36
SPI Communications Sequence.......................................................................................... 2-37
Appendices
Appendix A: MDrive34Plus Microstepping Motor Performance.................................................A-3
Speed-Torque Curves ................................................................................................................A-3
Motor Specifications .................................................................................................................A-4
Appendix B: Planetary Gearboxes..............................................................................................A-5
Section Overview ......................................................................................................................A-5
Product Overview .....................................................................................................................A-5
Selecting a Planetary Gearbox....................................................................................................A-5
System Inertia ...........................................................................................................................A-9
Planetary Gearbox for MDrive34Plus......................................................................................A-13
PM81 Gearbox Ratios and Part Numbers...........................................................................A-13
Appendix C: Connectivity.........................................................................................................A-15
MD-CC30x-001: USB to SPI Converter and Parameter Setup Cable .....................................A-15
Installation Procedure for the MD-CC30x-000.......................................................................A-19
Installing the Cable/VCP Drivers .......................................................................................A-19
Determining the Virtual COM Port (VCP)........................................................................A-21
Prototype Development Cable PD12-1434-FL3 .....................................................................A-22
PD10-3400-FL3 - Internal Differential Encoder ................................................................A-23
Prototype Development Cable PD02-3400-FL3 — Main Power.............................................A-24
Appendix D: Interfacing an Encoder .......................................................................................A-25
Factory Mounted Internal Encoder .........................................................................................A-25
General Specifications .............................................................................................................A-25
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Encoder Connections..............................................................................................................A-26
Encoder Signals.......................................................................................................................A-27
Encoder Cable.........................................................................................................................A-28
Recommended Encoder Mating Connectors...........................................................................A-28
Appendix E: Linear Slide Option ............................................................................................A-29
Features...................................................................................................................................A-29
MDrive34Plus Linear Slide .....................................................................................................A-29
Speed-Force Limitations† ...................................................................................................A-29
Speed-Torque Curves..........................................................................................................A-29
Specifications......................................................................................................................A-30
Mechanical Specifications .............................................................................................................. A-30
List Of Figures
Figure GS.1: Minimum Logic and Power Connections ............................................................. 1-1
Figure GS.3: IMS Motor Interface Showing Default Settings.................................................... 1-2
Figure GS.2: MDrivePlus CD................................................................................................... 1-2
Part 1: Hardware Specifications
Figure 1.1.1: MDrive34Plus Microstepping Integrated Motor and Driver Electronics............... 1-5
Figure 1.2.1: MDrive34Plus Microstepping Dimensional Information...................................... 1-9
Figure 1.2.2: MDrive34Plus Microstepping Connector Options............................................. 1-10
Figure 1.2.3: MDrive34Plus Microstepping Flying Leads........................................................ 1-11
Figure 1.2.4: MDrive34Plus Microstepping Flying Leads with Single-End Encoder................ 1-12
Figure 1.2.5: MDrive34Plus Microstepping Flying Leads with Differential Encoder ............... 1-12
Figure 1.2.6: P2 Connector - SPI Communications ................................................................ 1-13
Figure 1.2.7: P2 Connector - I/O and SPI Communications.................................................. 1-14
Figure 1.2.8: P3 Connector - DC Power +12 to +75 VDC...................................................... 1-15
Figure 1.2.9: P4 Connector – Internal Differential Encoder Interface ..................................... 1-16
Part 2: Interfacing and Configuring
Figure 2.1.1: Mounting Recommendations and Drill Pattern.................................................... 2-3
Figure 2.1.2: Grounding and Shielding for Logic Connections.................................................. 2-4
Figure 2.1.3: Typical MDrive Shown with Leads Secured.......................................................... 2-6
Figure 2.2.1: IMS ISP300 Switch Mode Power Supply.............................................................. 2-7
Figure 2.2.2 DC Power Connections ........................................................................................ 2-9
Figure 2.2.3: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier................. 2-10
Figure 2.2.4: AC Cabling - 50 Feet or Greater - AC To Power Supply ..................................... 2-10
Figure 2.2.5: DC Cabling - Under 50 Feet.............................................................................. 2-10
Figure 2.3.1: MDrivePlus Microstepping Block Diagram........................................................ 2-13
Figure 2.3.2: Isolated Input Pins and Connections.................................................................. 2-14
Figure 2.3.3: Optocoupler Input Circuit Diagram................................................................... 2-14
Figure 2.3.4: Input Clock Functions ....................................................................................... 2-15
Figure 2.3.5: Clock Input Timing Characteristics.................................................................... 2-16
Figure 2.3.6: Open Collector Interface Example...................................................................... 2-18
Figure 2.3.7: Switch Interface Example ................................................................................... 2-19
Figure 2.3.8 Minimum Required Connections........................................................................ 2-20
Figure 2.4.1: MD-CC300-000 Parameter Setup Cable............................................................ 2-21
Figure 2.4.2: SPI Pins and Connection — All Connector Styles.............................................. 2-22
Figure 2.4.3: Logic Level Shifting and Conditioning Circuit................................................... 2-23
Figure 2.4.4: SPI Master with a Single MDrivePlus Microstepping ......................................... 2-24
Figure 2.4.5: SPI Master with Multiple MDrivePlus Microstepping........................................ 2-24
Figure 2.5.1: SPI Motor Interface Color Coding..................................................................... 2-26
Figure 2.5.2: SPI Motor Interface File Menu........................................................................... 2-26
Figure 2.5.3: SPI Motor Interface View Menu......................................................................... 2-26
Figure 2.5.4: SPI Motor Interface Recall Menu ....................................................................... 2-27
Figure 2.5.5: SPI Motor Interface Upgrade Menu ................................................................... 2-27
Figure 2.5.6: SPI Motor Interface Help Menu and About Screen ............................................ 2-27
Figure 2.5.7: SPI Motor Interface Motion Settings Screen....................................................... 2-28
Figure 2.5.8: SPI Motor Interface I/O Settings Screen............................................................. 2-30
Figure 2.5.9: SPI Motor Interface Part and Serial Number Screen........................................... 2-31
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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......................................................................................................... 2-35
Figure 2.6.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown)....... 2-37
Appendices
Figure A.1: MDrive34Plus Microstepping Single Length Speed-Torque Curves ........................A-3
Figure A.2: MDrive34Plus Microstepping Double Length Speed-Torque Curves ......................A-3
Figure A.3: MDrive34Plus Microstepping Triple Length Speed-Torque Curves.........................A-4
Figure B.1: MDrive34 Torque-Speed Curve ..............................................................................A-7
Figure B.2: Lead Screw System Inertia Considerations ..............................................................A-9
Figure B.3: Rack and Pinion System Inertia Considerations....................................................A-10
Figure B.4: Conveyor System Inertia Considerations...............................................................A-10
Figure B.5: Rotary Table System Inertia Considerations ..........................................................A-11
Figure B.6: Chain Drive System Inertia Considerations...........................................................A-12
Figure B.7: Planetary Gearbox Specifications for MDrive34Plus .............................................A-13
Figure C.1: MD-CC300-001 Mechanical Specifications and Connection...............................A-15
Figure C.2: 10-Pin IDC ..........................................................................................................A-16
Figure C.3: MD-CC303-001 Mechanical Specifications and Connection...............................A-17
Figure C.4: 12-Pin Wire Crimp...............................................................................................A-18
Figure C.5: Hardware Update Wizard .....................................................................................A-19
Figure C.6: Hardware Update Wizard Screen 2.......................................................................A-19
Figure C.7: Hardware Update Wizard Screen 3.......................................................................A-20
Figure C.8: Windows Logo Compatibility Testing...................................................................A-20
Figure C.9: Hardware Update Wizard Finish Installation ........................................................A-20
Figure C.10: Hardware Properties ...........................................................................................A-21
Figure C.11: Windows Device Manager..................................................................................A-21
Figure C.12: PD12-1434-FL3.................................................................................................A-22
Figure C.13: 12-Pin Wire Crimp.............................................................................................A-22
Figure C.14: PD10-3400-FL3.................................................................................................A-23
Figure C.15: PD10-3400-FL3.................................................................................................A-23
Figure C.16: PD02-3400-FL3.................................................................................................A-24
Figure C.17: 2-Pin Wire Crimp...............................................................................................A-24
Figure D.1: Single-End and Differential Encoder Connections ...............................................A-26
Figure D.2: Single-End Encoder Signal Timing.......................................................................A-27
Figure D.3: Differential Encoder Signal Timing......................................................................A-27
Figure E.1: Speed Force Limitations........................................................................................A-29
Figure E.2: MDrive34Plus Speed Torque Curves.....................................................................A-29
Figure F.3: Mechanical Specifications ......................................................................................A-30
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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: MDrive34Plus Microstepping Motion Specifications............................................. 1-7
Table 1.2.6: MDrive34Plus Microstepping Motor Specifications............................................... 1-8
Table 1.2.7: Setup Parameters.................................................................................................... 1-8
Table 1.2.8: P1 — Pin Assignment, Power and I/O................................................................. 1-11
Table 1.2.9: P2 Connector – SPI Communications................................................................. 1-13
Table 1.2.10: P1 Connector – I/O and SPI Communications ................................................. 1-14
Table 1.2.11: P3 Connecter..................................................................................................... 1-15
Table 1.2.12: P4 Connector – Optional Internal Differential Encoder .................................... 1-15
Part 2: Interfacing and Configuring
Table 2.1.1: 12-Pin Locking Wire Crimp Connector Contact and Tool Part Numbers.............. 2-5
Table 2.2.1: Recommended Wire Gauges ............................................................................... 2-11
Table 2.3.1: Input Clocks Timing Table .................................................................................. 2-16
Table 2.3.2: Optocoupler Reference Connection..................................................................... 2-17
Table 2.5.1: Setup Parameters and Ranges............................................................................... 2-25
Table 2.5.2: Microstep Resolution Settings.............................................................................. 2-28
Table 2.5.3: Input Clock Filter Settings................................................................................... 2-30
Table 2.5.4: MDrivePlus Microstepping Fault Codes .............................................................. 2-31
Table 2.6.1: SPI Commands and Parameters........................................................................... 2-36
Appendices
Table B.1: Planetary Gearbox Operating Factor.........................................................................A-8
Table B.2: Planetary Gearbox Specifications – PM81 ..............................................................A-13
Table B.3: Planetary Gearbox Ratios, Inertia Moments and Part Numbers..............................A-13
Table C.1: PD10-1434-FL3 Wire Color Codes.......................................................................A-22
Table C.2: PD10-3400-FL3 Wire Color Codes.......................................................................A-23
Table D.1: Available Encoder Line Counts and Part Numbers.................................................A-25
Table E.1: MDrive34Plus Linear Slide Specifications ..............................................................A-30
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WARNING!
The MDrive has
components which
Getting Started
are sensitive to
MDrive34Plus Microstepping
Electrostatic Discharge (ESD).
All handling should be done at
an ESD protected workstation.
Before You Begin
WARNING!
Hazardous voltage
levels may be
The Quick Start guide is designed to help quickly connect and begin using your MDrive34Plus Microstepping
integrated motor and driver. The following examples will help you get the motor turning for the first time and
introduce you to the basic settings of the drive.
present if using an
open frame power supply to
power your MDrive product.
Tools and Equipment Required
MDrive34Plus Microstepping Unit (MDM34).
Parameter setup cable MD-CC300-000 (USB to SPI) or equivalent and adapter MD-ADP-1723C for
pluggable interface.
WARNING! Ensure
that the power
supply output
voltage does not
Control Device for Step/Direction.
+5 to +24 VDC optocoupler supply.
An Unregulated +12 to +75 VDC Power Supply.
Basic Tools: Wire Cutters / Strippers / Screwdriver.
18 AWG Wire for Power Supply, 22-28 AWG Wire for Logic Connections (Not Required for Flying
Leads version).
exceed the maximum input
voltage of the MDrive34Plus
(+75 VDC).
A PC with Windows XP SP2.
Note: A
characteristic of
all motors is back
EMF. Back EMF is
Connecting the Power Supply
See Specifications and interface
information for the pin numbering
of your MDrivePlus model.
Using the 18 AWG wire, connect the DC
output of the power supply to the +V input
of the MDrive34Plus
+VDC
Motor Supply
a source of current that can
push the output of a power
supply beyond the maximum
operating voltage of the driver.
As a result, damage to the
stepper driver could occur
over a period of time. Care
should be taken so that the
back EMF does not exceed
the maximum input voltage
rating of +75 VDC.
+
Connect the power supply ground to Power
Ground (P3:2 - Wire Crimp, Black Flying
Lead).
Step Clock
Direction
See Figure GS.1.
GND
Connect Opto Power and Logic
Inputs
MDrivePlus Microstepping
+
+5 to +24
Opto Supply
Using the recommended wire, connect the
following to your controller or PLC:
Figure GS.1: Minimum Logic and Power Connections
Optocoupler Supply (+5 to +24
VDC)
Step Clock Input
Direction Input
Connecting Parameter Setup Cable
Connect the Host PC to the MDrive34Plus Microstepping using the IMS Parameter Setup Cable or equivalent.
See Appendix D of this document for Cable installation instructions.
Part 1: Hardware Specifications
1-1
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WARNING!
Because the
Install the IMS SPI Motor Interface
MDrive consists
of two core
The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDrive34Plus
Microstepping. It is available both on the MDrive34Plus CD that came with your product and on the IMS web
components, a drive and
a motor, close attention
must be paid to the thermal
environment where the device
is used. Operating Range is
-40 to +75°C.
2. Extract to a location on you hard drive.
3. Double-Click the setup.exe file.
4. Follow the on-screen instructions.
5. Once IMS SPI Motor Interface is installed, the MDrive34Plus Microstepping settings can be checked
and/or set.
Once installed you can change the motor run current, holding current, microstep resolution and other configura-
tion settings. By sending clock pulses to the drive you can now change these settings safely on-the-fly as the IMS
SPI Motor interface will not allow you to set an out-of-range value.
Note: Interactive
usage tutorials are
available at the IMS
Web Site at http://
html
The motor can be run using the default settings without connecting communications or changing the parameters.
Motion Settings Dialog
Input Settings Dialog
Figure GS.2: IMS Motor Interface Showing Default Settings
MDrive 34Plus Microstepping Hardware - Revision R071108
Relevant to Firmware Version 3.0.02
1-2
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TM
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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MDrive 34Plus Microstepping Hardware - Revision R071108
Relevant to Firmware Version 3.0.02
1-4
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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 through
IMS's advanced 2nd generation current control. By apply-
ing innovative techniques to control current flow through
the motor, resonance is significantly dampened over the
entire speed range and audible noise is reduced.
The MDrive34Plus accepts a broad input voltage range
from +12 to +75 VDC, delivering enhanced performance
and speed. Oversized input capacitors are used to mini-
mize power line surges, reducing problems that can occur
with long runs and multiple drive systems. An extended
operating range of –40° to +75°C (heat sink), –40° to
Figure 1.1.1: MDrive34Plus Microstepping Integrated Motor
and Driver Electronics
+90°C (Motor) provides long life, trouble free service in demanding environments.
The MDrive34Plus uses a NEMA 34 frame size high torque brushless motor combined with a microstepping
driver, and accepts up to 20 resolution settings from full to 256 microsteps per full step, including: degrees, metric
and arc minutes. These settings may be changed on-the-fly 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.
The versatile MDrive34Plus Microstepping is available in multiple configurations to fit various system needs. Ro-
tary motor versions come in three lengths and may include an internal optical encoder, control knob or planetary
gearbox. Interface connections are accomplished with either a pluggable locking wire crimp or 12.0" (30.5 cm)
flying leads.
The MDrive34Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and assem-
bly time for a large range of brushless motor applications.
Configuration Interface
The IMS Motor Interface software is an easy to install and use GUI for configuring the MDrive34Plus from a
computer's USB port. GUI access is via the IMS SPI Motor Interface included on the CD shipped with the prod-
Easy installation.
Automatic detection of MDrive version and communication configuration.
Will not set out-of-range values.
Tool-tips display valid range setting for each option.
Simple screen interfaces.
Features and Benefits
Highly Integrated Microstepping Driver and NEMA 34 High Torque Brushless Motor
Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
Single Supply: +12 to +75 VDC
Low Cost
Extremely Compact
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
Configurable:
Part 1: Hardware Specifications
1-5
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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
12.0” (30.5 cm) Flying Leads
Graphical User Interface (GUI) for Quick and Easy Parameter Setup
MDrive 34Plus Microstepping Hardware - Revision R071108
1-6
Relevant to Firmware Version 3.0.02
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WARNING!
Because the
MDrive consists
SECTION 1.2
of two core
MDrive34Plus Microstepping
components, a drive and
a motor, close attention
must be paid to the thermal
environment where the
device is used. See
Thermal Specifications.
General Specifications
Electrical Specifications
Input Voltage (+V) Range*
+12 to +75 VDC
4 A
Max Power Supply Current (Per MDrive34Plus)*
* Actual Power Supply Current will depend on Voltage and Load.
Table 1.2.1: MDrive34Plus Microstepping Electrical Specifications
Environmental Specifications
Heat Sink Temperature (non-condensing humidity)
Motor Temperature (non-condensing humidity)
-40°C to +75°C
-40°C to +90°C
Table 1.2.2: MDrive34Plus Microstepping Environmental Specifications
I/O Specifications
Isolated Inputs — Step Clock, Direction and Enable
Resolution
10 Bit
+5 to +24 VDC
8.7 mA
Voltage Range (Sourcing or Sinking)
Current (+5 VDC Max)
Current (+24 VDC Max)
14.6 mA
Table 1.2.3: MDrive34Plus Microstepping I/O Specifications
Communications Specifications
Protocol
SPI
Table 1.2.4: MDrive34Plus Microstepping Communications Specifications
Motion Specifications
Microstep Resolution
Number of Resolutions
20
Available Microsteps Per Revolution
200
400
800
25000
1000
25600
1600
40000
2000
50000
3200
51200
5000
6400
10000
12800 20000
360001
216002
254003
1=0.01 deg/µstep
2=1 arc minute/µstep
3=0.001 mm/µstep
50 nS to 12.9 µS
(10 MHz to 38.8kHz)
Digital Filter Range
Step/Direction,
Quadrature, Clock
Up/Clock Down
Clock Types
Step Frequency (Max)
5.0 MHz
100 nS
Step Frequency Minimum Pulse Width
Table 1.2.5: MDrive34Plus Microstepping Motion Specifications
Part 1: Hardware Specifications
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Motor Specifications
Single Length
Holding Torque
Detent Torque
381 oz-in/269 N-cm
10.9 oz-in/7.7 N-cm
2
2
Rotor Inertia
0.01416 oz-in-sec /1.0 kg-cm
Weight (Motor + Driver)
Double Length
Holding Torque
Detent Torque
4.1 lb/1.9 kg
575 oz-in/406 N-cm
14.16 oz-in/10.0 N-cm
2
2
Rotor Inertia
0.02266 oz-in-sec /1.6 kg-cm
Weight (Motor + Driver)
Triple Length
5.5 lb/2.5 kg
Holding Torque
Detent Torque
1061 oz-in/749 N-cm
19.83 oz-in/14.0 N-cm
2
2
Rotor Inertia
0.04815 oz-in-sec /3.4 kg-cm
8.8 lb/4.0 kg
Weight (Motor + Driver)
Table 1.2.6: MDrive34Plus Microstepping Motor Specifications
Setup Parameters
The following table illustrates the setup parameters. These are easily configured using the IMS SPI Motor Interface
configuration utility. An optional Parameter Setup Cable is available and recommended with the first order.
MDrive17Plus Microstepping Setup Parameters
Name
MHC
MRC
Function
Range
0 to 100
1 to 100
Units
percent
percent
Default
Motor Hold Current
Motor Run Current
5
25
1, 2, 4, 5, 8, 10, 16, 25,
32, 50, 64, 100,108, 125,
127,128, 180, 200, 250, 256
µsteps per
full step
MSEL
Microstep Resolution
256
EN ACT
Enable Active High/Low
High/Low
—
High
DIR
Motor Direction Override
Hold Current Delay Time
0/1
—
CW
500
HCDT
0 or 2-65535
mSec
Step/Dir. Quadrature, Up/
Down (CW/CCW)
50 nS to 12.9 µS
(10 MHz to 38.8kHz)
CLK TYPE
CLK IOF
Clock Type
—
Step/Dir
nS
(MHz)
200 nS
(2.5 MHz)
Clock and Direction Filter
WARN TEMP
USER ID
Warning Temperature
User ID
0 to +125
°C
80
1-3 characters
Viewable ASCII
IMS
Table 1.2.7: Setup Parameters
MDrive 34Plus Microstepping Hardware - Revision R071108
Relevant to Firmware Version 3.0.02
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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
(18.57)
1.250
(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 Specifications
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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
P2
P4
Pin 1
Pin 1
Pin 1
P1
P1
P1
P1
P1
Type: 12’ (30.5 cm) Flying Leads Type: 12-Pin Locking Wire Crimp
Type: 12-Pin Locking Wire Crimp
Function: Power, I/O and Encoder Function: Power, I/O and SPI Comm. Function: Power, I/O and SPI Comm.
(optional)
P2
P3
P3
Type: 10-Pin IDC
Function: SPI Communications
Type: 2-Pin Locking Wire Crimp
Function: DC Power
Type: 2-Pin Locking Wire Crimp
Function: DC Power
P4
Type: 10-Pin Wire Crimp
Function: Differential Encoder Outputs
Figure 1.2.2: MDrive34Plus Microstepping Connector Options
MDrive 34Plus Microstepping Hardware - Revision R071108
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Pin Assignment And Description - Flying Leads Version
P1 Connector - Power, I/O and Internal Optical Encoder (Optional)
Pin Assignment - P1 Power and I/O Connections
Wire Color
with Internal
Encoder
Flying Lead
Wire Color
Function
Description
The Signal applied to the Optocoupler Reference will
determine the sinking/ or sourcing configuration of
the inputs. To set the inputs for sinking operation, a
+5 to +24 VDC supply is connected. If sourcing, the
Reference is connected to Ground
White
White
Opto Reference
Step Clock input. The step clock input will receive the
Step Clock/Channel A/ Clock clock pulses which will step the motor 1 step for each
Orange
Blue
Orange
Blue
Up
pulse. It may also receive quadrature and clock up
type inputs if so configured.
Direction input. The axis direction will be with respect
to the state of the Direction Override Parameter. It
may also receive quadrature and clock up type inputs
if so configured.
Direction/Channel B/ Clock
Down
Enable/Disable Input will enable or disable the
driver output to the motor. In the disconnected state
the driver outputs are enabled in either sinking or
sourcing configuration.
Brown
Brown
Enable
Power Ground. The return of the +12 to +75 VDC
power supply.
Black
Red
Black
Red
GND
+V
+12 to +75 VDC Motor Power Supply input.
Differential
Ground
Single-End
Ground
Yellow/Black
Yellow/Violet
Yellow/Blue
Yellow/Red
Encoder Ground (common with power ground).
Index + (Index Single-End) Encoder Output.
Channel A+ (Channel A Single End) Encoder Output.
Index +
Index
Channel A +
Channel A
+5 VDC Input +5 VDC Input +5 VDC Encoder power input.
Yellow/Brown
Yellow/Gray
Yellow/Green
Channel B +
Index –
Channel B
Channel B+ (Channel B Single End) Encoder Output.
Index – Differential Encoder Output.
—
—
—
Channel A –
Channel A – Differential Encoder Output.
Channel B – Differential Encoder Output.
Yellow/Orange Channel B –
Table 1.2.8 P1 — Pin Assignment, Power and I/O
White: OptoRef
Orange: Step Clock
Blue: Direction
Brown: Enable
Black: GND
Red: +VDC
Figure 1.2.3: MDrive34Plus Microstepping Flying Leads
Part 1: Hardware Specifications
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White: OptoRef
Orange: Step Clock
Blue: Direction
Brown: Enable
Black: GND
Red: +VDC
Yellow/Black: Ground
Yellow/Violet: Index
Yellow/Blue: Channel A
Yellow/Red: +5 VDC Input
Yellow/Brown: Channel B
Figure 1.2.4: MDrive34Plus Microstepping Flying Leads with Single-End Encoder
White: OptoRef
Orange: Step Clock
Blue: Direction
Brown: Enable
Black: GND
Red: +VDC
Yellow/Black: Ground
Yellow/Violet: Index+
Yellow/Blue: Channel A+
Yellow/Red: +5 VDC Input
Yellow/Brown: Channel B+
Yellow/Gray: Index -
Yellow/Green: Channel A -
Yellow/Orange: Channel B-
Figure 1.2.5: MDrive34Plus Microstepping Flying Leads with Differential Encoder
MDrive 34Plus Microstepping Hardware - Revision R071108
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Note: The P2
Connector (10-
Pin IDC, SPI
P2 Connector - SPI Communications
Pin Assignment - P2 SPI Communications
Communications)
is only available on the
Flying Leads version of the
MDrive34Plus Microstepping.
On the models with
10-Pin IDC
Pin 1
Function
Description
No Connect
No Connect
No Connect
—
—
—
Pin 2
Pin 3
pluggable connectors, SPI
Communications interfaces
to P1 (12-Pin Locking Wire
Crimp)
SPI Chip Select. This signal is used to turn communications
on multiple MDM units on or off.
Pin 4
CS
Pin 5
Pin 6
GND
Communications Ground.
+5 VDC Output
Supply voltage for the MD-CC300-000 Cable ONLY!
Master-Out/Slave-In. Carries output data from the SPI
Master to the MDM.
Pin 7
MOSI
The Clock is driven by the SPI Master. The clock cycles
once for each data bit.
NEED A
CABLE?
The following
cables and
converters
Pin 8
Pin 9
SPI Clock
—
No Connect
Master-In/Slave-Out. Carries output data from the MDM
back to the SPI Master.
Pin 10
MISO
are available to interface
communications with P2:
Recommended
Converter/Cable
MD-CC300-000
USB to SPI:
MD-C300-000
Table 1.2.9: P2 Connector – SPI Communications
10 Pin IDC to 12-Pin Locking
Wire Crimp Adapter:
MD-ADP-1723C
Recommended Cable:
MD-CC300-000
See Appendix C for details.
P2
109
8 7
6 5
4 3
2 1
Figure 1.2.6: P2 Connector - SPI Communications
Part 1: Hardware Specifications
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NEED A CABLE?
The following
cables and
converters are
available to
Pin Assignment And Description - Pluggable Interface Version
P1 Connector - I/O and SPI Communications, 12-Pin Locking Wire Crimp
Pin Assignment - P1 Power, I/O and SPI
Connections
interface with P1:
Pin #
Pin 1
Pin 2
Function
N/C
Description
No Connect.
No Connect.
12-Pin Locking Wire Crimp
PD12-1434-FL3
N/C
The Signal applied to the Optocoupler Reference will
determine the sinking/ or sourcing configuration of the inputs.
To set the inputs for sinking operation, a +5 to +24 VDC
supply is connected. If sourcing, the Reference is connected
to Ground
Pin 3
Pin 4
Opto Reference
Step Clock input. The step clock input will receive the clock
Step Clock/Channel pulses which will step the motor 1 step for each pulse. It
A/ Clock Up
may also receive quadrature and clock up type inputs if so
configured.
Enable/Disable Input will enable or disable the driver output
to the motor. In the disconnected state the driver outputs are
enabled in either sinking or sourcing configuration. Enable can
be configured as either active high or active when low in the
parameters.
Pin 5
Pin 6
Enable
Direction input. The axis direction will be with respect to the
state of the Direction Override Parameter. It may also receive
quadrature and clock up type inputs if so configured.
Direction/Channel
B/ Clock Down
Pin 7
Pin 8
Pin 9
Pin 10
+5 VDC Output
SPI Clock
GND
Supply voltage for the MD-CC300-000 Cable ONLY!
The Clock is driven by the SPI Master. The clock cycles once
for each data bit.
Communications Ground.
Master-Out/Slave-In. Carries output data from the SPI Master
to the MDM.
MOSI
SPI Chip Select. This signal is used to turn communications
on multiple MDM units on or off.
Pin 11
Pin 12
CS
Master-In/Slave-Out. Carries output data from the MDM back
to the SPI Master.
MISO
Table 1.2.10: P1 Connector – I/O and SPI Communications
Recommended Cable:
PD12-1434-FL3
11
9
12
10
8
7
5
6
3
4
1
2
Figure 1.2.7: P2 Connector - I/O and SPI Communications
MDrive 34Plus Microstepping Hardware - Revision R071108
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NEED A CABLE?
The following
cables and
P3 Connector - DC Power, 2-Pin Locking Wire Crimp
Pin Assignment - P3 Power
converters are
available to
2-Pin Locking
Wire Crimp
Function
Description
interface with P3:
Pin 1
+V
+12 to +75 VDC, 4 Amps Maximum per MDrive34Plus.
Power Supply Return.
Pin 2
GND
2-Pin Locking Wire Crimp
PD02-3400-FL3
Table 1.2.11: P3 Connector
WARNING! Do not
plug or unplug DC
Power with power
applied.
Recommended Cable:
P/N PD02-3400-FL3
P3
1
2
Figure 1.2.8: P3 Connector - DC Power +12 to +75 VDC
Part 1: Hardware Specifications
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NEED A CABLE?
The following
cables and
P4 Connector - Differential Encoder, 10-Pin Friction Lock Wire Crimp
Pin Assignment - P2 SPI Communications
converters are
available to
interface with P4:
10-Pin Wire
Function
Description
Crimp
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Ground
Channel A+
Channel A –
Channel B+
Channel B –
Index +
Encoder Ground, common with power ground.
Channel A + Encoder Output.
Channel A – Encoder Output.
Channel B + Encoder Output.
Channel B – Encoder Output.
Index + Encoder Output.
Index – Encoder Output.
+5 VDC Encoder Power.
No connect
10-Pin Friction Lock Wire
Crimp
PD10-3400-FL3
Index –
+5 VDC
N/C
N/C
No connect
Recommended
Cable
PD10-3400-FL3
Table 1.2.12: P4 Connector – Optional Internal Differential Encoder
Recommended Cable:
P/N PD10-3400-FL3
2 1
4 3
6 5
P4
8 7
10 9
Figure 1.2.9: P4 Connector – Internal Differential Encoder Interface
MDrive 34Plus Microstepping Hardware - Revision R071108
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Connectivity
QuickStart Kit
For rapid design verification, all-inclusive QuickStart Kits have communication converter, prototype develop-
ment cable(s), instructions and CD for MDrivePlus initial functional setup and system testing.
Communication Converters
Electrically isolated, in-line converters pre-wired with mating connectors to conveniently set/program com-
munication 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
12-Pin Wire Crimp....................................................................................MD-CC303-001
Prototype Development Cables
Speed test/development with pre-wired mating connectors that have flying leads other end. Length 10.0'
(3.0m).
Mates to connector:
12-Pin Wire Crimp.................................................................................... PD12-1434-FL3
10-Pin Wire Crimp.................................................................................... PD10-3400-FL3
2-Pin Wire Crimp...................................................................................... PD02-3400-FL3
Mating Connector Kits
Use to build your own cables. Kits contain 5 mating shells with pins. Cable not supplied. Manufacturer's
crimp tool recommended.
Mates to connector:
12-Pin Wire Crimp....................................................................................................CK-03
10-Pin Wire Crimp....................................................................................................CK-02
2-Pin Wire Crimp......................................................................................................CK-05
Kit contains 5 mating connectors that press fit onto ribbon cable. Cable not supplied.
10-Pin IDC ...............................................................................................................CK-01
Options
Internal Encoder
Internal optical encoders are offered factory-mounted with the MDrive34Plus Microstepping. Refer to the
Encoder Specifications section for available styles, line counts and part numbers. All encoders come with an
index mark.
Control Knob
The MDrive34Plus is available with a factory-mounted rear control knob for manual shaft positioning.
Planetary Gearbox
Efficient, low maintenance planetary gearboxes are
offered assembled with the MDrive34Plus. 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 42.0" (106.7cm) long. Contact factory for custom
lengths. Refer to separate datasheet or web site for complete details.
Part 1: Hardware Specifications
1-17
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MDrive 34Plus Microstepping Hardware - Revision R071108
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TM
Part 2:
Interfacing and
Configuring
Section 2.1: Mounting and Interface Guidelines
Section 2.2: Interfacing DC Power
Section 2.3: Interfacing Logic Inputs
Section 2.4: Interfacing SPI Communications
Section 2.3: Using the IMS SPI Motor Interface
Section 2.4: Using User-Defined SPI
Part 2: Interfacing and Configuring
2-1
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MDrive 34Plus Microstepping Hardware - Revision R071108
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SECTION 2.1
Mounting and Interface Guidelines
Mounting Recommendations
Flange mounting holes are drilled through with a diameter of 0.217" (5.51mm) to take standard 10-32 (M5)
screws. The length of the screw used will be determined by the mounting flange width.
Mounting Recommendation
Allow Top
Clearance for
Wiring/Cabling
MDrive34Plus
Mounting Hardware
4 x #10-32 Screw
4 x #10 Split Lockwasher
4 x #10 Flat Washer
Mounting Flange or Adapter Plate*
4 x #10-32 Lock Nuts
* When determining material and thickness keep the
Mounting Hardware (Metric)
maximum MDrive34Plus temperature of 85°C in consideration.
4 x M5 - 0.80 Screw
4 x M5 Split Lockwasher
4 x M5 Flat Washer
Mounting Hole Pattern
4 x M5 - 0.80 Lock Nuts
Mounting Hardware is not
supplied
4x Ø 0.217
(4x Ø 5.51)
Ø 2.900
(Ø 73.66)
Ø 3.873
(Ø 98.37)
2.739 SQ.
(69.57 SQ.)
Figure 2.1.1: Mounting Recommendations and Drill Pattern
Part 2: Interfacing and Configuring
2-3
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Layout and Interface Guidelines
Logic level cables must not run parallel to power cables. Power cables will introduce noise into the logic level
cables and make your system unreliable.
Logic level cables must be shielded to reduce the chance of EMI induced noise. The shield needs to be grounded
at the signal source to earth. The other end of the shield must not be tied to anything, but allowed to float. This
allows the shield to act as a drain.
Power supply leads to the MDrivePlus need to be twisted. If more than one driver is to be connected to the
same power supply, run separate power and ground leads from the supply to each driver.
Rules of Wiring
•
Power Supply and Motor wiring should be shielded twisted pairs, and run separately from signal-
carrying wires.
•
•
A minimum of one twist per inch is recommended.
Motor wiring should be shielded twisted pairs using 20 gauge, or for distances of more than 5
feet, 18 gauge or better.
•
•
Power ground return should be as short as possible to established ground.
Power supply wiring should be shielded twisted pairs of 18 gauge for less than 4 amps DC and 16
gauge for more than 4 amps DC.
Rules of Shielding
•
The shield must be tied to zero-signal reference potential. It is necessary that the signal be earthed
or grounded, for the shield to become earthed or grounded. Earthing or grounding the shield is
not effective if the signal is not earthed or grounded.
•
Do not assume that Earth ground is a true Earth ground. Depending on the distance from the
main power cabinet, it may be necessary to sink a ground rod at the critical location.
The shield must be connected so that shield currents drain to signal-earth connections.
The number of separate shields required in a system is equal to the number of independent
signals being processed plus one for each power entrance.
•
•
•
•
The shield should be tied to a single point to prevent ground loops.
A second shield can be used over the primary shield; however, the second shield is tied to ground
at both ends.
Switch
Shielded Cable
Signal
MDrivePlus
Common
IOx
Cut drain wire
here. Do not
terminate
Keep Unshielded
Runs Short
GND
Shield Drain
Ground Braid
(Short Run)
Wire
All other I/O
Drains Connect to
Common Point
Control Panel Back
Panel Earth Stud
Sand paint off panel
to ensure bare metal
contact.
To Front Panel
of Enclosure
To Earth Ground
Figure 2.1.2: Grounding and Shielding for Logic Connections
MDrive 34Plus Microstepping Hardware - Revision R071108
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Recommended Wiring
The following wiring/cabling is recommended for use with the MDrivePlus:
Logic Wiring......................................................................................................................22 AWG
Wire Strip Length ...................................................................................................0.25” (6.0 mm)
Power and Ground .....................................................................See Section 2.2: Interfacing Power
Recommended Mating Connectors and Pins
The recommended connector shells and pins are available from IMS as a kit consisting of five (5) connector shells
and crimp pins (if required) to construct 5 cable-ends. Also available are communications converters and Prototype
Development cables to aid in rapid design and prototyping. These connector kits and cables are detailed in Appen-
dix E of this document.
SPI Communications (Flying Lead Version Only)
Press-Fit IDC - P2 (MDrive34Plus Only)
Mating Connector Kit........................................................................... CK-01
Communications Converter.................................................................. MD-CC300-001
Manufacturer PNs
10-Pin IDC .......................................................................................... Samtec: TCSD-05-01-N
Ribbon Cable ....................................................................................... Tyco: 1-57051-9
12-Pin Locking Wire Crimp (I/O and SPI Communications)
I/O & Communications - P1
Mating Connector Kit........................................................................... CK-03
Communications Converter.................................................................. MD-CC303-001
Prototype Development Cable .............................................................. PD12-1434-FL3
Manufacturer PNs
12-pin Locking Wire Crimp Connector Shell ....................................... Tyco 1-794617-2
Crimp Pins............................................................................................ Tyco 794610-0-1
Crimp Tool ........................................................................................... Tyco 91501-1
2-Pin Locking Wire Crimp (Power)
The following mating connectors are recommended for the MDrive34Plus2 Units ONLY! Please contact a
JST distributor for ordering and pricing information.
Power - P3
WARNING! DO NOT
bundle the logic leads
with the power leads
as this could lead to
Mating Connector Kit........................................................................... CK-05
Prototype Development Cable .............................................................. PD02-3400-FL3
noise induced errors.
Manufacturer PNs
2-pin Locking Wire Crimp Connector Shell ......................................... Molex 51067-0200
Crimp Pins............................................................................................ Molex 50217-9101 Brass
Crimp Tool ........................................................................................... Molex 63811-1200
10-Pin Friction Lock Wire Crimp (Internal Differential Encoder)
Friction Lock Wire Crimp - P4
10-pin Friction Lock)............................................................................ Hirose DF11-10DS-2C
Crimp Contact for 10-pin Friction Lock (22 AWG).............................. DF11-22SC
Crimp Contact for 10-pin Friction Lock (24 - 28 AWG) ...................... DF11-2428SC
Crimp Contact for 10-pin Friction Lock (30 AWG).............................. DF11-30SC
Part 2: Interfacing and Configuring
2-5
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Securing Power Leads and Logic Leads
Some applications may require that the MDrive move with the axis motion. If this is a requirement of your
application, the motor leads must be properly anchored. This will prevent flexing and tugging which can
cause damage at critical connection points within the MDrive.
P3: Power
P1: Logic Wiring
Separation between
Logic and Power
Adhesive Anchor/Tywrap
Figure 2.1.3: Typical MDrive Shown with Leads Secured
MDrive 34Plus Microstepping Hardware - Revision R071108
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SECTION 2.2
Interfacing DC Power
Choosing a Power Supply for Your MDrive
When choosing a power supply for your
MDrivePlus there are performance and
sizing issues that must be addressed. An
undersized power supply can lead to poor
performance and even possible damage to the
device, which can be both time consuming
and expensive. However, The design of the
MDrivePlus is quite efficient and may not re-
quire as large a supply as you might suspect.
Motors have windings that are electrically
just inductors, and with inductors comes re-
sistance and inductance. Winding resistance
and inductance result in a L/R time constant
that resists the change in current. It requires
five time constants to reach nominal current.
To effectively manipulate the di/dt or the rate
of charge, the voltage applied is increased.
When traveling at high speeds there is less
time between steps to reach current. The
point where the rate of commutation does
Figure 2.2.1: IMS ISP300 Switch Mode Power Supply
not allow the driver to reach full current is referred to as Voltage Mode. Ideally you want to be in Current Mode,
which is when the drive is achieving the desired current between steps. Simply stated, a higher voltage will de-
crease the time it takes to charge the coil, and therefore will allow for higher torque at higher speeds.
Another characteristic of all motors is Back EMF, and though nothing can be done about back EMF, we can give
a path of low impedance by supplying enough output capacitance. Back EMF is a source of current that can push
the output of a power supply beyond the maximum operating voltage of the driver and as a result could damage
the MDrivePlus over time.
The MDrivePlus is very current efficient as far as the power supply is concerned. Once the motor has charged
one or both windings of the motor, all the power supply has to do is replace losses in the system. The charged
winding acts as an energy storage in that the current will re-circulate within the bridge, and in and out of each
phase reservoir. While one phase is in the decaying stage of the variable chopping oscillator, the other phase is in
the charging stage, this results in a less than expected current draw on the supply.
The MDrivePlus is designed with the intention that a user’s power supply output will ramp up to greater or equal
to the minimum operating voltage. The initial current surge is quite substantial and could damage the driver if
the supply is undersized. If a power supply is undersized, upon a current surge the supply could fall below the
operating range of the driver. This could cause the power supply to start oscillating in and out of the voltage
range of the driver and result in damaging either the supply, driver or both. There are two types of supplies com-
monly used, regulated and unregulated, both of which can be switching or linear. All have their advantages and
disadvantages.
An unregulated linear supply is less expensive and more resilient to current surges, however, voltage decreases
with increasing current draw. This can cause serious problems if the voltage drops below the working range of the
drive. Also of concern is the fluctuations in line voltage. This can cause the unregulated linear supply to be above
or below the anticipated voltage.
A regulated supply maintains a stable output voltage, which is good for high speed performance. They are also
not bothered by line fluctuations, however, they are more expensive. Depending on the current regulation, a
regulated supply may crowbar or current clamp and lead to an oscillation that as previously stated can lead to
damage. Back EMF can cause problems for regulated supplies as well. The current regeneration may be too large
for the regulated supply to absorb and may lead to an over voltage condition.
Switching supplies are typically regulated and require little real-estate, which makes them attractive. However,
their output response time is slow, making them ineffective for inductive loads. IMS has designed a series of low
cost miniature non-regulated switchers that can handle the extreme varying load conditions which makes them
ideal for the MDrivePlus.
Part 2: Interfacing and Configuring
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WARNING! DO NOT
Plug or unplug Power
with power applied!
DC Power Supply Recommendations
The power requirements for the Motion Control MDrive34Plus are:
Output Voltage ...................................................................+12 to +75 VDC (Includes Back EMF)
Current (max. per unit)...............................................................................................................4A
(Actual power supply current requirement will depend upon voltage and load)
Recommended IMS Power Supplies
IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products.
IP804 Unregulated Linear Supply
Input Range
120 VAC Versions ...........................................................................................102-132 VAC
240 VAC Versions ...........................................................................................204-264 VAC
Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)
No Load Output Voltage........................................................................76 VDC @ 0 Amps
Half Load Output..................................................................................65 VDC @ 2 Amps
Full Load output....................................................................................58 VDC @ 4 Amps
IP806 Unregulated Linear Supply
Input Range
120 VAC Versions ...........................................................................................102-132 VAC
240 VAC Versions ...........................................................................................204-264 VAC
Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)
No Load Output Voltage........................................................................76 VDC @ 0 Amps
Half Load Output..................................................................................68 VDC @ 3 Amps
Full Load Output...................................................................................64 VDC @ 6 Amps
ISP300-7 Unregulated Switching Supply
Input Range
120 VAC Versions ...........................................................................................102-132 VAC
240 VAC Versions ...........................................................................................204-264 VAC
Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)
No Load Output Voltage........................................................................68 VDC @ 0 Amps
Continuous Output Rating....................................................................63 VDC @ 2 Amps
Peak Output Rating ...............................................................................59 VDC @ 4 Amps
MDrive 34Plus Microstepping Hardware - Revision R071108
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Connecting DC Power
Connect the DC Power Supply to your MDrivePlus in accordance with the following illustrations.
Unregulated
Linear or
WARNING! Do not connect
Switching
or disconnect cabling while
Power Supply
!
power is applied!
–
+
Power
A
B
Ground
12” Flying Leads
+VDC
Shielded Twisted Pair Cable
Black
Red
A
Shield to
Earth Ground
B
+V Voltage: +12 to +75* VDC
+V Current: 4A Max Per MDrive34Plus
Recommended IMS Power Supplies:
IP804
IP806
ISP300-7
2-Pin Locking Wire Crimp
P3
*Includes Back EMF!
Pin 1
Pin 2
B
A
Figure 2.2.2 DC Power Connections
Part 2: Interfacing and Configuring
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Recommended Power and Cable Configurations
Cable length, wire gauge and power conditioning devices play a major role in the performance of your MDrive.
Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet
long. If cabling of 50 feet or longer is required, the additional length may be gained by adding an AC power
supply cable (see Examples B & C).
Correct AWG wire size is determined by the current requirement plus cable length. Please see the MDrive Sup-
ply Cable AWG Table at the end of this Appendix.
Example A – Cabling Under 50 Feet, DC Power
Cable Length
less than 50 Feet
π Type RFI Filter
DC Voltage from
≥ Required Current
Power Supply
To MDrive
-
+
500 µf
Per Amp
-
+
Ferrite
Beads
Shielded Twisted Pair
(Wire Size from
MDrive Supply Cable AWG Table)
Shield to Earth Ground
on Supply End Only
Figure 2.2.3: DC Cabling - Under 50 Feet
Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge
Transformer - 10 to 28 VAC RMS for 48 VDC Systems
20 to 48 VAC RMS for 75 VDC Systems
NOTE:
Connect the cable illustrated
in Example A to the output of
the Full Wave Bridge
π Type RFI Filter
Shielded Twisted Pair
(Wire Size from
≥ Required Current
MDrive Supply Cable AWG Table)
+
To Cable A
-
Full Wave Bridge
Shield to Earth Ground
on Supply End Only
Cable Length
as required
Figure 2.2.4: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier
Example C – Cabling 50 Feet or Greater, AC Power to Power Supply
NOTE:
Connect the cable illustrated
in Example A to the output of
π Type RFI Filter
Shielded Twisted Pair
the Power Supply
(Wire Size from
MDrive Supply Cable AWG Ta ble)
≥ Required Current
DC Volts Out
+
-
120 or 240 VAC
Dependent on
Power Supply
To Cable A
Shield to Earth Ground
on Supply End Only
Cable Length
as required
Power Supply
Figure 2.2.5: AC Cabling - 50 Feet or Greater - AC To Power Supply
MDrive 34Plus Microstepping Hardware - Revision R071108
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MDrive34Plus Recommended Power Supply Cable AWG
1 Amperes (Peak)
3 Amperes (Peak)
10 25 50*
18 16 14
4 Amperes (Peak)
Length (Feet)
10
20
25
20
50*
18
75* 100*
18 16
Length (Feet)
75*
12
100*
12
Minimum AWG
Minimum AWG
2 Amperes (Peak)
Length (Feet)
10
20
25
18
50*
16
75* 100*
14 14
Length (Feet)
10
18
25
16
50*
14
75*
12
100*
12
Minimum AWG
Minimum AWG
*Use the alternative methods illustrated in examples B and C when cable length is ≥ 50 feet. Also, use the same
current rating when the alternate AC power is used.
Table 2.2.1: Recommended Wire Gauges
Part 2: Interfacing and Configuring
2-11
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MDrive 34Plus Microstepping Hardware - Revision R071108
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SECTION 2.3
Isolated Input Interface and Connection
Optically Isolated Logic Inputs
The MDrivePlus
Microstepping has
three optically iso-
lated inputs which
Opto Ref.
ØA
ØB
Enhanced
Torque
Stepping
Motor
Step Clock
are located at the
flying leads or on
connector P1. These
inputs are iso-
lated to minimize or
Direction
Microstep
Driver
Enable
eliminate electrical
noise coupled onto
the drive control
signals. Each input
is internally pulled-
up to the level of
MDrivePlus Intergrated
Motor and Microstep Driver
Power
the optocoupler
supply and may be
connected to sinking
or +5 to +24 VDC
sourcing outputs on
a controller or PLC.
These inputs are:
Figure 2.3.1: MDrivePlus Microstepping Block Diagram
1] Step Clock (SCLK)/Quadrature (CH A)/Clock UP
2] Direction (DIR)/Quadrature (CH B)/ Clock DOWN
3] Enable (EN)
Of these inputs only step clock and direction are required to operate the MDrivePlus Microstepping.
Isolated Logic Input Pins and Connections
The following diagram illustrates the pins and connections for the MDrive 17 and 23 Plus Microstepping
family of products. Careful attention should be paid to verify the connections on the model MDrivePlus
Microstepping you are using.
Part 2: Interfacing and Configuring
2-13
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Controller
12” Flying Leads
White
Opto Reference
A
A
See Input Configuration
Step Clock
Channel A
Clock Up
Orange
Blue
B
C
D
B
C
D
Direction
Channel B
Clock Down
Brown
Enable
12-Pin Locking Wire Crimp
Input Configuration
Inputs Configured as Sourcing
P1
Pin 5
D
A
A
Pin 3
Pin 4
Pin 6
Controller I/O
Ground
B
C
Inputs Configured as Sinking
+5 to +24VDC
A
Figure 2.3.2: Isolated Input Pins and Connections
+5 VDC
Optocoupler
Reference
Optocoupler
Constant
Current
Source
To Drive Logic
Input
(Step Clock,
Direction, Enable)
MDrivePlus
Microstepping
Figure 2.3.3: Optocoupler Input Circuit Diagram
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Isolated Logic Input Characteristics
Enable Input
This input can be used to enable or disable the driver output circuitry. Leaving the enable switch open (Logic
HIGH, Disconnected) for sinking or sourcing configuration, the driver outputs will be enabled and the step
clock pulses will cause the motor to advance. When this input switch is closed (Logic LOW) in both sinking
and sourcing configurations, the driver output circuitry will be disabled. Please note that the internal sine/cosine
position generator will continue to increment or decrement as long as step clock pluses are being received by the
MDrivePlus Microstepping.
Clock Inputs
The MDrivePlus Microstepping features the ability to configure the clock inputs based upon how the user will
desire to control the drive. By default the unit is configured for the Step/Direction function.
Step Clock
The step clock input is where the motion clock from your
Step/Direction Function
control circuitry will be connected. The motor will advance
one microstep in the plus or minus direction (based upon
the state of the direction input) on the rising edge of each
clock pulse. The size of this increment or decrement will
depend on the microstep resolution setting.
Step Clock
Direction
Direction
The direction input controls the CW/CCW direction
of the motor. The input may be configured as sinking or
sourcing based upon the state of the Optocoupler Refer-
Quadrature Function
ence. The CW/CCW rotation, based upon the state of the
input may be set using the IMS Motor Interface software
included with the MDrivePlus Microstepping.
Channel A
Quadrature
The Quadrature clock function would typically be
Channel B
used for following applications where the MDrivePlus
Microstepping would be slaved to an MDrivePlus Motion
Control (or other controller) in an electronic gearing ap-
plication.
Up/Down Function
Up/Down
The Up/Down clock would typically be used in a dual-
clock direction control application. This setting is also la-
beled CW/CCW in the IMS SPI Motor Interface software.
CW
Input Timing
CCW
The direction input and the microstep resolution inputs
are internally synchronized to the positive going edge of the
step clock input. When a step clock pulse goes HIGH, the
state of the direction input and microstep resolution set-
tings are latched. Any changes made to the direction and/
or microstep resolution will occur on the rising edge of the
Figure 2.3.4: Input Clock Functions
step clock pulse following this change. Run and Hold Current changes are updated immediately. The follow-
ing figure and table list the timing specifications.
Input Filtering
The clock inputs may also be filtered using the Clock IOF pull down of the IMS SPI Motor Interface. The
filter range is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz).
The configuration parameters for the input filtering is covered in detail in Section 2.4: Configuring the
MDrivePlus Microstepping.
Part 2: Interfacing and Configuring
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STEP/DIRECTION TIMING
TDH
Direction
Step
TDSU
TSH
TSL
QUADRATURE TIMING
Direction Change
TCHL
Channel A
Channel B
TDC
TCHL
UP/DOWN (CW/CCW) TIMING
Step Up
TSH
TSL
TDC
TDC
Step Down
TSH
TSL
Figure 2.3.5: Clock Input Timing Characteristics
Clock Input Timing
Type and Value
Step/Direction Step Up/Down Quadrature
Symbol
Parameter
Units
T
T Direction Set Up
T Direction Hold
T Step High
50
100
100
100
—
—
—
—
—
nS min.
DSU
T
nS min.
nS min.
DH
T
100
100
200
—
—
SH
T
T Step Low
—
nS min.
SL
T
T Direction Change
T Channel High/Low
F Step Maximum
F Channel Maximum
F Edge Rate
200
400
—
nS min.
DL
T
—
nS min.
CHL
F
5
5
MHz Max
MHz Max
MHz Max
SMAX
F
—
—
1.25
5
CHMAX
F
—
—
ER
Table 2.3.1: Input Clocks Timing Table
MDrive 34Plus Microstepping Hardware - Revision R071108
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NOTE: When
connecting the
Optocoupler Reference
Optocoupler Supply,
it is recommended
that you do not use MDrive
DC Power Ground as Ground
as this will defeat the optical
isolation.
The MDrivePlus Microstepping Logic Inputs are optically isolated to prevent electrical noise being coupled into
the inputs and causing erratic operation.
There are two ways that the Optocoupler Reference will be connected depending whether the Inputs are to be
configured as sinking or sourcing.
Ground the Opto supply at
the controller I/O ground.
Optocoupler Reference
Input Type
Sinking
Optocoupler Reference Connection
+5 to +24 VDC
Sourcing
Controller Ground
Table 2.3.2: Optocoupler Reference Connection
Part 2: Interfacing and Configuring
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Input Connection Examples
The following diagrams illustrate possible connection/application of the MDrivePlus Microstepping Logic
Inputs.
Open Collector Interface Example
NPN Open Collector Interface
(Sinking)
+5 to +24VDC
Optocoupler Reference
+
MDrivePlus
Microstepping
Controller Output
Input
Controller Ground
PNP Open Collector Interface
(Sourcing)
+5 to +24VDC
Optocoupler Reference
+
MDrivePlus
Controller Output
Microstepping
Input
Controller Ground
Figure 2.3.6: Open Collector Interface Example
MDrive 34Plus Microstepping Hardware - Revision R071108
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Switch Interface Example
Switch Interface
(Sinking)
+5 to +24VDC
Opto Ref.
GND
+
MDrivePlus
Speed Control
Input
SPST
Switch
Switch Interface
(Sourcing)
+5 to +24VDC
Opto Ref.
GND
+
MDrivePlus
Speed Control
Input
SPST
Switch
Figure 2.3.7: Switch Interface Example
Part 2: Interfacing and Configuring
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Minimum Required Connections
The connections shown are the minimum required to operate the MDrivePlus Microstepping. These are
illustrated in both Sinking and Sourcing Configurations. Please reference the Pin Configuration diagram and
Specification Tables for the MDrivePlus Microstepping connector option you are using.
DO NOT use the +5VDC Output P1:7 (Wire Crimp)
or P2:6 (Flying Lead) for Optocoupler Supply.
This voltage output is design to power the IMS
USB to SPI converter cable ONLY!
+VDC
Motor Supply
!
+
P3:1 - Wire Crimp, Red Flying Lead
P3:2 - Wire Crimp, Black Flying Lead
Step Clock
P1:4 - Wire Crimp, Orange Flying Lead
P1:6 - Wire Crimp, Blue Flying Lead
Direction
GND
P1:3 - Wire Crimp, White Flying Lead
+
MDrive34Plus Microstepping
+5 to +24
Opto Supply
Figure 2.3.8 Minimum Required Connections
MDrive 34Plus Microstepping Hardware - Revision R071108
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SECTION 2.4
Connecting SPI Communications
Connecting the SPI Interface
The SPI (Serial Peripheral Interface) is the communications and configuration interface.
For prototyping we recommend the purchase of the parameter setup cable MD-CC300-000. For more information
on prototype development cables, please see Appendix: C: Cables and Cordsets
SPI Signal Overview
+5 VDC (Output)
This output is a voltage supply for the setup cable only. It is not designed to power any external devices.
SPI Clock
The Clock is driven by the Master and regulates the flow of the data bits. The Master may transmit data at a
variety of baud rates. The Clock cycles once for each bit that is transferred.
Logic Ground
This is the ground for all Communications.
MISO (Master In/Slave Out)
Carries output data from the MDrivePlus Microstepping units back to the SPI Master. Only one MDrivePlus
can transmit data during any particular transfer.
CS (SPI Chip Select)
This signal is used to turn communications to multiple MDrivePlus Microstepping units on or off.
MOSI (Master Out/Slave In)
Carries output data from the SPI Master to the MDrivePlus Microstepping.
Part 2: Interfacing and Configuring
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WARNING! The
SPI Pins and Connections
Parallel/SPI Port on
your PC must be set
to one of the following:
output only
10-Pin IDC (Only present on
models with Flying Lead)
PC Parallel Port
1. bi-directional
2. EPP (Extended Parallel
Port)
+5 VDC ONLY used
for IMS MD-CC300-000
P2
Try the SPI connection using the
default parallel port setting first.
If necessary, the Parallel/SPI
port may be configured in the
bios of your PC.
Pin 4
E
2
3
4
Pin 5
Pin 7
A
D
15
18 - 25
Pin 10
Pin 8
Pin 6
B
C
Comm GND
MISO
A
B
C
SPI Clock
MOSI
12-Pin Locking Wire Crimp
Pin 11
Pin 9
Pin 7
D
E
E
A
SPI Chip Select
Only required if using
a 3.3 volt output parallel port.
See Schematic on Following
Page
P1
Pin 8
C
Pin 10
Pin 12
B
D
Figure 2.4.1: SPI Pins and Connection — All Connector Styles
MDrive 34Plus Microstepping Hardware - Revision R071108
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NOTE: If making your own
parameter setup cable, be
Logic Level Shifting and Conditioning Circuit
advised the 3.3V output
parallel ports on some
laptop PC’s may not be sufficient
to communicate with the device
without use of a logic level shifting
and conditioning Interface.
The following circuit diagram is of a Logic Level shifting and conditioning circuit. This circuit should be
used if you are making your own parameter cable and are using a laptop computer with 3.3 V output parallel
ports.
1
R1
R2
2
3
8
4
2
5
CLK
U1:A
100
HCT125
+5V
49.9
P2: 8
DB25: 2
DB25: 3
14
C3
330pF
100K
+5V
3
R9
C4
4
100K
R10
R4
R3
4
6
U1:B
7
CS
100
HCT125
DB25: 4
49.9
P2: 4
P2: 7
P2: 10
330pF
19
DB25: 19
13
U1:D
R6
R5
7
12
11
MOSI
100
49.9
HCT125
C5
330pF
100K
R8
R11
+5V
4.9K
+5V
100K
10
R12
R7
15
10
8
9
MISO
U1:C
49.9
DB25: 15
HCT125
+5V
6
5
+5 VDC
GND
+
1µF
25V
P2: 6
P2: 5
.1µF
C1
C2
Figure 2.4.2: Logic Level Shifting and Conditioning Circuit
Part 2: Interfacing and Configuring
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SPI Master with Multiple MDrivePlus Microstepping
It is possible to link multiple MDrivePlus Microstepping units in an array from a single SPI Master by wiring the system and
programming the user interface to write to multiple chip selects.
Each MDrivePlus on the bus will have a dedicated chip select. Only one system MDrivePlus can be communicated with/Pa-
rameters changed at a time.
SPI Clock
MDriveACPlus
Microstepping
MOSI
MISO
CS
SPI Master
Figure 2.4.4: SPI Master with a Single MDrivePlus Microstepping
SPI Clock
MDriveACPlus
MOSI
Microstepping
#1
MISO
CS1
SPI Master
CS2
MDriveACPlus
Microstepping
#2
Figure 2.4.4: SPI Master with Multiple MDrivePlus Microstepping
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SECTION 2.5
Using the IMS SPI Motor Interface
Installation
The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDrivePlus
Microstepping. It is available both on the CD that came with your product and on the IMS web site at http://
1. Insert the CD into the CD Drive of your PC.
2. The CD will auto-start.
3. Click the Software Button in the top-right navigation Area.
4. Click the IMS SPI Interface link appropriate to your operating system.
5. Click SETUP in the Setup dialog box and follow the on-screen instructions.
6. Once IMS SPI Motor Interface is installed, the MDrivePlus Microstepping settings can be
checked and/or set.
Configuration Parameters and Ranges
MDrivePlus Microstepping Setup Parameters
Name
MHC
MRC
Function
Range
0 to 100
1 to 100
Units
percent
percent
Default
Motor Hold Current
Motor Run Current
5
25
1, 2, 4, 5, 8, 10, 16, 25, 32, 50,
64, 100,108, 125, 127,128,
180, 200, 250, 256
µsteps per
full step
Microstep
Resolution
MSEL
256
Motor Direction
Override
Hold Current Delay
Time
DIR
0/1
–
mSec
–
CW
500
HCDT
0 or 2-65535
Step/Dir. Quadrature, Up/Down
(CW/CCW)
CLK TYPE
Clock Type
Step/Dir
Clock and Direction
Filter
50 nS to 12.9 µS
(10 MHz to 38.8kHz)
50nS (10
MHz)
CLK IOF
USER ID
EN ACT
nS (MHz)
1-3 characters
—
User ID
Customizable
IMS
Enable Active
High/Low
High/Low
High
Warning
Temperature
WARN TEMP
0 to + 125
°C
80
Table 2.5.1: Setup Parameters and Ranges
Color Coded Parameter Values
The SPI Motor Interface displays the parameter values using a predefined system of color codes to identify the
status of the parameter.
1. Black: the parameter settings currently stored in the device NVM will display as black.
2. Blue: Blue text indicates a changed parameter setting that has not yet been written to the
device.
3. Red: Red text indicates an out-of-range value which cannot be written to the device. When
an out-of-range parameter is entered into a field, the "set" button will disable, preventing the
value to be written to NVM. To view the valid parameter range, hover the mouse pointer over
the field. The valid range will display in a tool tip.
The color coding is illustrated in Figure 2.5.1.
Part 2: Interfacing and Configuring
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Blue: New Value which has not yet
been set to NVM.
Red: Out of Range Value.
The Set Button will disable
as the the Motor Interface will
not allow an out of range value
to be stored.
Black: This is the value
Currently Stored in NVM
Figure 2.5.1: SPI Motor Interface Color Coding
IMS SPI Motor Interface Menu Options
File
>
>
>
>
Open: Opens a saved *.mot (Motor Settings) file.
Save: Saves the current motor settings as a *.mot file for later re-use
Save As
Exit - Disconnects from the device and opens the Initialization Dialog.
Perform File
Operation
Open Motor Settings
File (*.mot)
Save Motor Settings
Save Motor Settings As
Exit the Motor Interface
Figure 2.5.2: SPI Motor Interface File Menu
View
>
>
>
Motion Settings: Displays the Motion Settings screen
IO Settings: Displays the IO Settings Screen
Part and Serial Number: Displays the part and serial number
View Settings
Screen
Motion Settings Screen
I/O Settings Screen
Read-Only Part
and Serial Number Screen
Figure 2.5.3: SPI Motor Interface View Menu
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Recall!
Retrieves the settings from the MDrivePlus Microstepping.
Recall Last Stored
Parameter Settings
Figure 2.5.4: SPI Motor Interface Recall Menu
Upgrade!
Upgrades the MDrivePlus Microstepping firmware by placing the device in Upgrade Mode and launching the
firmware upgrader utility.
Toggle MForce into
Upgrade Mode for
Firmware Upgrade
Figure 2.5.5: SPI Motor Interface Upgrade Menu
Help
>
>
IMS Internet Tutorials: Link to an IMS Web Site page containing Interactive flash tutorials.
About: Opens the About IMS and IMS SPI Motor Interface Screen.
Links to the Software
Tutorial page of the
IMS Website
Figure 2.5.6: SPI Motor Interface Help Menu and About Screen
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Screen 1: The Motion Settings Configuration Screen
Motor Run
Current
Microstep Resolution
Selection
Holding Current
Delay Time
Direction
Override
Motor Holding
Current
Load Factory
Default Settings
Exit Program
Fault/Checksum
Error
Three Character
User ID
Store Settings
to NVM
Figure 2.5.7: SPI Motor Interface Motion Settings Screen
The IMS SPI Motor Interface Software opens by default to the Motion Settings Screen shown on the left.
There are six basic parameters that may be set here:
1. MSEL: Microstep Resolution Select.
2. HCDT: Holding Current Delay Time.
3. MRC: Motor Run Current
4. Motor Holding Current
5. User ID: 3-character ID
6. Direction Override: Allows the user to set the CW/CCW direction of the motor in relation to the
Direction Input from the SPI Motor Interface.
MSEL (Microstep Resolution Selection)
The MDrivePlus Microstepping features 20 microstep resolutions. This setting specifies the number of microsteps
per step the motor will move.
The MDrivePlus uses a 200 step (1.8°) stepping motor which at the highest (default) resolution of 256 will yield
51,200 steps per revolution of the motor shaft.
See Table 2.3.2 for available Microstep Resolutions.
Microstep Resolution Settings
Binary µStep Resolution Settings
Decimal µStep Resolution Settings
MS=<µSteps/Step>
Steps/Revolution
MS=<µSteps/
Step>
Steps/Revolution
1
2
200
400
5
1000
2000
10
4
8
800
25
50
5000
10000
20000
25000
1600
3200
6400
16
32
100
125
64
12800
25600
51200
200
250
40000
50000
128
256
Additional Resolution Settings
180
108
36000 (0.01°/µStep)
21600 (1 Arc Minute/µStep)
127
25400 (0.001 mm/µStep)
Table 2.5.2: Microstep Resolution Settings
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HCDT (Hold Current Delay Time)
The HCDT Motor Hold Current Delay sets time in milliseconds for the Run Current to switch to Hold Current when
motion is complete. When motion is complete, the MDrivePlus Microstepping will reduce the current in the windings of
the motor to the percentage specified by MHC when the specified time elapses.
MRC (Motor Run Current)
The MRC Motor Run Current parameter sets the motor run current to a percentage of the full output current of the
MDrivePlus driver section.
MHC (Motor Hold Current)
The MHC parameter sets the motor holding current as a percentage of the full output current of the driver. If the hold
current is set to 0, the output circuitry of the driver section will disable when the hold current setting becomes active. The
hold current setting becomes active HCDT setting mS following the last clock pulse.
DIR (Motor Direction)
The DIR Motor Direction parameter changes the motor direction relative to the direction input signal, adapting the direc-
tion of the MDrivePlus to operate as your system expects.
User ID
The User ID is a three character (viewable ASCII) identifier which can be assigned by the user. Default is IMS.
IMS SPI Motor Interface Button Functions
The following appear on all of the IMS SPI Motor Interface screens, but will only be documented here.
Factory
Clicking the Factory button will load the MDrivePlus Microstepping unit's factory default settings into the IMS SPI
Motor Interface.
Connected/Disconnected Indicator
Displays the connected/disconnected state of the software , and if connected, the port connected on.
Set
Set writes the new settings to the MDrivePlus . Un-set settings will display as blue text in the setting fields. Once set
they will be in black text. Setting the Parameters will also clear most Fault Conditions.
Exit
Disconnects and opens the Initialization dialog.
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Screen 2: I/O Settings Configuration Screen
The I/O Settings screen may be accessed by clicking View > IO Settings on the menu bar. This screen is used to
configure the Input Clock type, the filtering and the Active High/Low State of the Enable Input.
Input Clock Type
The Input Clock Type translates the specified pulse source that the motor will use as a reference for establishing
stepping resolution based on the frequency.
Active High/Low
State of the
Enable Input
Input Clock Type
(Step/Dir, Quadrature or
Up/Down)
Input Clock Filter
Warning
Temperature
Figure 2.5.8: SPI Motor Interface I/O Settings Screen
The three clock types supported are:
1. Step/Direction
2. Quadrature
3. Up/Down (CW/CCW)
The Clock types are covered in detail in Section 2.2: Logic Interface and Connection.
Input Clock Filter
The clock inputs may also be filtered using the Clock IOF pull down of the IMS SPI Motor Interface. The filter
range is from 50 nS (10 MHz) to 12.9 µSec. (38.8 kHz). Table 2.4.3 shows the filter settings.
Input Clock Filter Settings
Min. Pulse
50 nS
Cutoff Frequency
10 MHz
150 nS
200 nS
300 nS
500 nS
900 nS
1.7 µS
3.3 MHz
2.5 MHz
1.67 MHz
1.0 MHz
555 kHz
294.1 kHz
151 kHz
3.3 µS
6.5 µS
76.9 kHz
38.8 kHz
12.9 µS
Table 2.5.3: Input Clock Filter Settings
Enable Active High/Low
The parameter sets the Enable Input to be Active when High (Default, Disconnected) or Active when Low.
Warning Temperature
The parameter sets the temperature at which a TW, or temperature warning fault code will be generated. In the
warning condition the MDrivePlus will continue to operate as normal. The thermal shutdown is +85°C.
MDrive 34Plus Microstepping Hardware - Revision R071108
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IMS Part Number/Serial Number Screen
The IMS Part Number and Serial Number screen is accessed by clicking "View > Part and Serial Numbers".
This screen is read-only and will display the part and serial number, as well as the fault code if existing. IMS may
require this information if calling the factory for support.
IMS Part #
IMS Serial Number
Figure 2.5.9: SPI Motor Interface Part and Serial Number Screen
Fault Indication
All of the IMS SPI Motor Interface Screens have the Fault field visible. This read-only field will display a 2 charac-
ter error code to indicate the type of fault. The table below shows the error codes.
MDrive34Plus Microstepping Fault Codes
Binary
Case*
Error
Code
Description
Action
To Clear
—
—
None
No Fault
—
Error
Displayed
Write to MDM
(Set Button)
4
CS
SPI Checksum Error
SPI Checksum Error/
Sector Changing
Error
Displayed
Write to MDM
(Set Button)
8
SC/CS
DFLT
DATA
TW
Defaults Checksum
Error
Error
Displayed
Write to MDM
(Set Button)
16
32
64
Settings Checksum
Error
Error
Displayed
Write to MDM
(Set Button)
Error
Displayed
Write to MDM
(Set Button)
Temperature Warning
*All Fault Codes are OR'ed together
Table 2.5.4: MDrivePlus Microstepping Fault Codes
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NOTE: Once entered
into Upgrade Mode,
you MUST complete
the upgrade. If
Upgrading the Firmware in the MDrivePlus Microstepping
The IMS SPI Upgrader Screen
the upgrade process is
incomplete the IMS SPI Motor
Interface will continue to open
to the Upgrade dialog until the
process is completed!
The IMS SPI Motor Interface is required to upgrade your MDrivePlus Microstepping product. To launch the
Upgrader, click "Upgrade!" on the IMS SPI Motor Interface menu.
The Upgrader screen has 4 read-only text fields that will display the necessary info about your MDrivePlus
Microstepping.
Figure 2.5.10: SPI Motor Interface Upgrade Utility
1. Previous Version: this is the version of the firmware currently on your MDrivePlus Microstepping.
2. Serial Number: the serial number of your unit.
3. Upgrade Version: will display the version number of the firmware being installed.
4. Messages: the messages text area will display step by step instructions through the upgrade process.
Upgrade Instructions
Below are listed the upgrade instructions as they will appear in the message box of the IMS SPI Upgrader.
Note that some steps are not shown as they are accomplished internally, or are not relevant to the model IMS
product you are updating. The only steps shown are those requiring user action.
Welcome Message: Welcome to the Motor Interface UPGRADER! Click NEXT to
continue.
Step 2: Select Upgrade File
When this loads, an explorer dialog will open asking you to browse for the firmware upgrade file. This
file will have the extension *.ims.
Step 3: Connect SPI Cable
Step 4: Power up or Cycle Power to the MDrivePlus
Step 6: Press Upgrade Button
Progress bar will show upgrade progress in blue, Message box will read "Resetting Motor Interface"
Step 8: Press DONE, then select Port/Reconnect.
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Initialization Screen
This screen will be active under five conditions:
1. When the program initially starts up and seeks for a compatible device.
2. The User selects File > Exit when connected to the device.
3. The User clicks the Exit button while connected to the device.
4. The Upgrade Process completes.
5. The SPI Motor Interface is unable to connect to a compatible device.
Figure 2.5.11: SPI Motor Interface Initialization
Port Menu
The Port Menu allows the user to select the COM Port that the device is connected to, either a parallel (LPT) Port,
or a Hardware Serial or Virtual Serial Port via USB.
The Reconnect option allows the user to reconnect to a unit using the previously used settings.
On open or reconnect, the SPI Motor Interface will also try to auto seek for a connected device.
Communications
Port Operations
Select Parallel
(LPT) Port
Select Serial or
USB (VCP)
Auto-seek Port
and Reconnect
to device
Figure 2.5.12: SPI Motor Interface Port Menu
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SECTION 2.6
Using User-Defined SPI
The MDrivePlus can be configured and operated through the end-user's SPI interface without using the IMS SPI
Motor Interface software and optional parameter setup cable.
An example of when this might be used is in cases where the machine design requires parameter settings to be
changed on-the-fly by a software program or multiple system MDrivePlus Microstepping units parameter states
being written/read.
SPI Timing Notes
1. MSb (Most Significant bit) first and MSB (Most Significant Byte) first.
2. 8 bit bytes.
3. 25 kHz SPI Clock (SCK).
4. Data In (MOSI) on rising clock.
5. Data Out (MISO) on falling clock.
Figure 2.6.1: SPI Timing
Check Sum Calculation for SPI
The values in the example below are 8-bit binary hexadecimal conversions for the following SPI parameters:
MRC=25%, MHC=5%, MSEL=256, HCDT=500 mSec, WARNTEMP=80.
The Check Sum is calculated as follows:
(Hex) 80+19+05+00+00+01+F4+50
Sum = E3
1110 0011
1’s complement = 1C
2’s complement = 1D
Send the check sum value of 1D
0001 1100 (Invert)
0001 1101 (Add 1)
Note: 80 is always the first command on a write.
Note: Once a write is performed, a read needs to be performed to see if there is a fault. The fault is the last byte of
the read.
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SPI Commands and Parameters
Use the following table and figure found on the following page together as the Byte order read and written from
the MDrivePlus Microstepping, as well as the checksum at the end of a WRITE is critical.
SPI Commands and Parameters
Command/
Parameter
HEX
(Default)
Range
—
Notes
READ ALL
0x40
Reads the hex value of all parameters
MSB
Device (M)
0x4D
0x10
—
M Character precedes every READ
Firmware Version.Sub-version, eg 1.0
Version_MSB
<1-8>.<0-9>
Firmware Version Appends to Version_
MSB, eg.00
Version_LSB
0x00
<0-99>
USR_ID1
USR_ID2
USR_ID3
MRC
0x49
0x4D
0x53
0x19
0x05
—
—
Uppercase Letter <I>
Uppercase Letter <M>
Uppercase Letter <S>
Motor Run Current
—
1-67%
0-67%
MHC
Motor Hold Current
0*, 1-259
*0=256
Microstep Resolution (See Table in Section
2.4 for settings)
MSEL
0x00
0x00
0=no override
1=override dir
DIR_OVRID
Direction Override
HCDT_HI
HCDT_LO
0x01
0xF4
Hold Current Delay Time High Byte
Hold Current Delay Time Low Byte
0 or 2-65535
0=s/d,
1=quad,
2=u/d
CLKTYP
0x00
Input Clock Type
CLKIOF
0x00
0x50
<0-9>
Clock Input Filtering
OVER_TEMP - 5° C
WARNTEMP
0=Low
1=High,
EN_ACT
FAULT
0x01
0x00
0x80
Enable Active High/Low
LSB
—
See Fault Table, Section 2.4
Writes the hex value to the following
parameters.
WRITE ALL
—
MSB
USR_ID1
USR_ID2
USR_ID3
MRC
0x49
0x4D
0x53
0x19
0x05
—
—
Uppercase Letter <I>
Uppercase Letter <M>
Uppercase Letter <S>
Motor Run Current
—
1-100%
0-100%
MHC
Motor Hold Current
0*, 1-259
*0=256
Microstep Resolution (See Table in Section
2.4 for settings)
MSEL
0x00
0x00
0=no override
1=override dir
DIR_OVRID
Direction Override
HCDT_HI
HCDT_LO
0x01
0xF4
Hold Current Delay Time High Byte
Hold Current Delay Time Low Byte
0 or 2-65535
0=s/d,
1=quad,
2=u/d
CLKTYP
0x00
Input Clock Type
CLKIOF
0x00
0x50
<0-9>
Clock Input Filtering
OVER_TEMP - 5° C
WARNTEMP
0=Low
1=High
EN_ACT
CKSUM
0x01
Enable Active High/Low
34
LSB
Table 2.6.1: SPI Commands and Parameters
MDrive 34Plus Microstepping Hardware - Revision R071108
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READ ALL CMD
WRITE (MOSI):
40 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
RESPONSE (MISO):
XX 4D 10 00 49 4D 53 19 05 00 00 01 F4 00 00
50 01
00
00
01
FAULT
EN_ACT
WARNTEMP
CLKIOF
80
0
CLKTYP
HCDT_LO
HCDT_HI
DIR_OVRID
MSEL
0
500
0
256
MHC
5
MRC
25
USR_ID3
USR_ID2
USR_ID1
VERSION
DEVICE
S
M
I
1.0.00
M
USR_ID1
USR_ID2
USR_ID3
I
M
S
25
5
MRC
MHC
256
0
MSEL
DIR_OVRID
HCDT_HI
HCDT_LO
CLKTYP
CLKIOF
WARNTEMP
EN_ACT
CKSUM
500
0
0
80
01
51
WRITE ALL CMD
WRITE (MOSI): 80 49 4D 53 19 05 00 00 01 F4 00 00 50 01 33
FF FF FF FF FF FF FF FF FF FF FF FF FF FF
RESPONSE (MISO): XX
CHECKSUM CALCULATION
80+49+4D+53+19+05+00+00+01+F4+00+00+50+01=CD
BINARY = 1100 1101
1'S COMPLEMENT = 0011 0010
2'S COMPLEMENT = 0011 0011
DEC = 51
HEX = 33
Figure 2.6.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown)
SPI Communications Sequence
See Timing Diagram and Byte Order figures.
READ
1. Send READ ALL Command 0x40 down MOSI to MDrivePlus Microstepping followed by
FF (15 Bytes).
2. Receive Parameter settings from MISO MSB First (M-Device) and ending with LSB (Fault).
Write
1. Send WRITE ALL Command (0x80) down MOSI followed by Parameter Bytes beginning with MSB
(MRC) and ending with the LSB (Checksum of all parameter Bytes).
2. Response from MISO will be FF (10) Bytes.
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TM
Appendices
Appendix A: MDrive34Plus Microstepping Motor Performance
Appendix B: Planetary Gearboxes
Appendix C: Connectivity
Appendix D: Interfacing an Encoder
Appendix E: Linear Slide Option
Appendices
A-1
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appendix A
MDrive34Plus Microstepping Motor Performance
Speed-Torque Curves
Single Length Rotary Motor
706
1000
900
800
700
600
500
400
300
200
100
0
635
465
494
423
353
282
211
140
71
24 VDC
45 VDC
75 VDC
0
1000
(300)
2000
(600)
3000
(900)
4000
5000
6000
7000
(1200) (1500) (1800) (2100)
Speed in Full Steps per Second (RPM)
Figure A.1: MDrive34Plus Microstepping Single Length Speed-Torque Curves
Double Length Rotary Motor
706
1000
900
800
700
600
500
400
300
200
100
0
635
465
494
423
353
282
211
140
71
24 VDC
45 VDC
75 VDC
0
1000
(300)
2000
(600)
3000
(900)
4000
5000
6000
7000
(1200) (1500) (1800) (2100)
Speed in Full Steps per Second (RPM)
Figure A.2: MDrive34Plus Microstepping Double Length Speed-Torque Curves
Appendices
A-3
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Triple Length Rotary Motor
706
1000
900
800
700
600
500
400
300
200
100
0
635
465
494
423
353
282
211
140
71
24 VDC
45 VDC
75 VDC
0
1000
(300)
2000
(600)
3000
(900)
4000
5000
6000
7000
(1200) (1500) (1800) (2100)
Speed in Full Steps per Second (RPM)
Figure A.3: MDrive34Plus Microstepping Triple Length Speed-Torque Curves
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/14.0 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/10.0 N-cm
2
2
Rotor Inertia ...................................................................................0.04815 oz-in-sec /3.4 kg-cm
Weight (Motor + Driver)............................................................................................. 8.8 lb/4.0 kg
MDrive 34Plus Microstepping Hardware - Revision R071108
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Appendix B
Planetary Gearboxes
Section Overview
This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox,
and may include product sizes not relevant to this manual.
Shown are:
Product Overview
Selecting a Planetary Gearbox
Mechanical Specifications
Product Overview
All gearboxes are factory installed.
Mode of Function
Optional Planetary Gearbox operate as their name implies: the motor-driven sun wheel is in the center,
transmitting its movement to three circumferential planet gears which form one stage. They are arranged
on the bearing pins of a planet carrier. The last planet carrier in each sequence is rigidly linked to the out-
put shaft and so ensures the power transmission to the output shaft. The planet gears run in an internally
toothed outer ring gear.
Service Life
Depending on ambient and environmental conditions and the operational specification of the driving
system, the useful service life of a Planetary Gearbox is up to 10,000 hours. The wide variety of potential
applications prohibits generalizing values for the useful service life.
Lubrication
All Planetary Gearbox are grease-packed and therefore maintenance-free throughout their life. The best
possible lubricant is used for our MDrive/Planetary Gearbox combinations.
Mounting Position
The grease lubrication and the different sealing modes allow the Planetary Gearbox to be installed in any
position.
Operating Temperature
The temperature range for the Planetary Gearbox is between –30 and +140° C. However, the temperature
range recommended for the Heat Sink of the MDrive is -40 to +85º C.
Overload Torque
The permitted overload torque (shock load) is defined as a short-term increase in output torque, e.g. dur-
ing the start-up of a motor. In these all-metal Planetary Gearbox, the overload torque can be as much as
1.5 times the permitted output torque.
Available Planetary Gearbox
The following lists available Planetary Gearbox, diameter and corresponding MDrive.
Gearbox Diameter
MDrive
81 mm
MDrive34Plus
Selecting a Planetary Gearbox
There are many variables and parameters that must be considered when choosing an appropriate reduction
ratio for an MDrive with Planetary Gearbox. This Addendum includes information to assist in determining a
suitable combination for your application.
Appendices
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Calculating the Shock Load Output Torque (T
)
AB
Note: The following examples are based on picking “temporary variables” which may be adjusted.
The shock load output torque (T ) is not the actual torque generated by the MDrive and Planetary Gearbox
AB
combination, but is a calculated value that includes an operating factor (C ) to compensate for any shock
B
loads applied to the Planetary Gearbox due to starting and stopping with no acceleration ramps, payloads and
directional changes. The main reason the shock load output torque (T ) is calculated is to ensure that it does
AB
not exceed the maximum specified torque for a Planetary Gearbox.
Note: There are many variables that affect the calculation of the shock load output torque. Motor speed, motor
voltage, motor torque and reduction ratio play an important role in determining shock load output torque.
Some variables must be approximated to perform the calculations for the first time. If the result does not meet
your requirements, change the variables and re-calculate the shock load output torque. Use the equation com-
pendium below to calculate the shock load output torque.
Factors
i
=
=
=
=
Reduction Ratio - The ratio of the Planetary Gearbox.
nM
nAB
TN
Motor Speed - In Revolutions Per Minute (Full Steps/Second).
Output Speed - The speed at the output shaft of the Planetary Gearbox.
Nominal Output Torque - The output torque at the output shaft of the Planetary
Gearbox.
TM
=
=
Motor Torque - The base MDrive torque. Refer to MDrive Speed Torque Tables.
η
Gear Efficiency - A value factored into the calculation to allow for any friction in the
gears.
TAB
=
Shock Load Output Torque - A torque value calculated to allow for short term loads
greater than the nominal output torque.
CB
sf
=
=
Operating Factor - A value that is used to factor the shock load output torque.
Safety Factor - A 0.5 to 0.7 factor used to create a margin for the MDrive torque
requirement.
Reduction Ratio
Reduction ratio (i) is used to reduce a relatively high motor speed (nM) to a lower output speed (nAB).
With: i = nM ÷ nAB or: motor speed ÷ output speed = reduction ratio
Example:
The required speed at the output shaft of the Planetary Gearbox is 90 RPM.
You would divide motor speed (nM) by output speed (nAB) to calculate the proper gearbox ratio.
The MDrive speed you would like to run is approximately 2000 full steps/second or 600 RPM.
NOTE: In reference to the MDrive speed values, they are given in full steps/second on the Speed/Torque
Tables. Most speed specifications for the Planetary Gearbox will be given in RPM (revolutions per min-
ute). To convert full steps/second to RPM, divide by 200 and multiply by 60.
Where: 200 is the full steps per revolution of a 1.8° stepping motor.
2000 full steps/second ÷ 200 = 10 RPS (revolutions per second) × 60 Seconds = 600 RPM
For the Reduction Ratio (i), divide the MDrive speed by the required Planetary Gearbox output speed.
600 RPM ÷ 90 = 6.67:1 Reduction Ratio
Referring to the Available Ratio Table at the end of this section, the reduction ratio (i) of the Planetary
Gearbox will be 7:1. The numbers in the left column are the rounded ratios while the numbers in the
right column are the actual ratios. The closest actual ratio is 6.75:1 which is the rounded ratio of 7:1. The
slight difference can be made up in MDrive speed.
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Nominal Output Torque
Calculate the nominal output torque using the torque values from the MDrive’s Speed/Torque Tables.
Nominal output torque (TN) is the actual torque generated at the Planetary Gearbox output shaft which
includes reduction ratio (i), gear efficiency (η) and the safety factor (sf) for the MDrive. Once the reduction
ratio (i) is determined, the nominal output torque (TN) can be calculated as follows:
TN = TM × i × η ÷ sf or:
Motor torque × reduction ratio × gear efficiency ÷ safety factor = nominal output torque.
For gear efficiency (η) refer to the Mechanical Specifications for the 7:1 Planetary Gearbox designed for your
MDrive.
706
1000
900
800
700
600
500
400
300
200
100
0
635
465
494
423
353
282
211
140
71
24 VDC
45 VDC
75 VDC
0
1000
(300)
2000
(600)
3000
(900)
4000
5000
6000
7000
(1200) (1500) (1800) (2100)
Speed in Full Steps per Second (RPM)
Figure B.1: MDrive34 Torque-Speed Curve
For motor torque (TM) see the appropriate MDrive Speed/Torque Table. Dependent on which
MDrive you have, the torque range will vary. The torque will fall between the high voltage line and the low
voltage line at the indicated speed for the MDrive. (See the example Speed/Torque Table below.)
The Speed/Torque Table above is for an MDrive23 Double Length Motor. This MDrive will produce a torque
range of 51 to 95 oz-in in the full voltage range at the speed of 2000 Full Steps/Second (600 RPM).
Please note that this is not the usable torque range. The torque output to the Planetary Gearbox must include
a safety factor (sf) to allow for any voltage and current deviations supplied to the MDrive.
The motor torque must include a safety factor (sf) ranging from 0.5 to 0.7. This must be factored into the
nominal output torque calculation. A 0.5 safety factor is aggressive while a 0.7 safety factor is more conserva-
tive.
Example:
The available motor torque (TM) is 51 to 95 oz-in.
NOTE: You may specify a torque less than but not greater than the motor torque range.
For this example the motor torque (TM) will be 35 oz-in.
A 6.75:1 reduction ratio (i) has been determined.
Gear efficiency (η) = 80% from the appropriate table for the Planetary Gearbox which is used with
an MDrive23.
Nominal output torque would be:
Motor torque (TM = 35) × reduction ratio (i = 6.75) × gear efficiency (η = 0.8) ÷ safety factor (sf =
0.5 or 0.7)
35 × 6.75 = 236.25 × 0.8 = 189 ÷ 0.5 = 378 oz-in nominal output torque (TN)
or
35 × 6.75 = 236.25 × 0.8 = 189 ÷ 0.7 = 270 oz-in nominal output torque (TN)
With the safety factor (sf) and gear efficiency (η) included in the calculation, the nominal output torque (TN)
may be greater than the user requirement.
Appendices
A-7
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Shock Load Output Torque
The nominal output torque (TN) is the actual working torque the Planetary Gearbox will generate. The shock
load output torque (TAB) is the additional torque that can be generated by starting and stopping with no
acceleration ramps, payloads, inertia and directional changes. Although the nominal output torque (TN) of
the Planetary Gearbox is accurately calculated, shock loads can greatly increase the dynamic torque on the
Planetary Gearbox.
Each Planetary Gearbox has a maximum specified output torque. In this example a 7:1 single stage MD23
Planetary Gearbox is being used. The maximum specified output torque is 566 oz-in. By calculating the shock
load output torque (TAB) you can verify that value is not exceeding the maximum specified output torque.
When calculating the shock load output torque (TAB), the calculated nominal output torque (TN) and the
operating factor (CB) are taken into account. CB is merely a factor which addresses the different working
conditions of a Planetary Gearbox and is the result of your subjective appraisal. It is therefore only meant as a
guide value. The following factors are included in the approximate estimation of the operating factor (CB):
Direction of rotation (constant or alternating)
Load (shocks)
Daily operating time
Note: The higher the operating factor (CB), the closer the shock load output torque (TAB) will be to the maxi-
mum specified output torque for the Planetary Gearbox. Refer to the table below to calculate the approximate
operating factor (CB).
With the most extreme conditions which would be a CB of 1.9, the shock load output torque (TAB) is over the
maximum specified torque of the Planetary Gearbox with a 0.5 safety factor but under with a 0.7 safety factor.
The nominal output torque (TN) × the operating factor (CB) = shock load or maximum output torque (TAB).
With a 0.5 safety factor, the shock load output torque is greater than the maximum output torque specifica-
tion of the MDrive23 Planetary Gearbox.
(378 × 1.9 = 718.2 oz-in.)
With a 0.7 safety factor the shock load output torque is within maximum output torque specification of the
MDrive23 Planetary Gearbox.
(270 × 1.9 = 513 oz-in.)
The 0.5 safety factor could only be used with a lower operating factor (CB) such as 1.5 or less, or a lower mo-
tor torque.
Note: All published torque specifications are based on CB = 1.0. Therefore, the shock load output torque
(TAB) = nominal output torque (TN).
WARNING! Excessive torque may damage your Planetary Gearbox. If the MDrive/Planetary Gearbox should
hit an obstruction, especially at lower speeds (300 RPM or 1000 Full Steps/Second), the torque generated
will exceed the maximum torque for the Planetary Gearbox. Precautions must be taken to ensure there are no
obstructions in the system.
Determining the Operating Factor (CB)
Direction of
Rotation
Load
(Shocks)
Daily Operating Time
3 Hours
8 Hours
CB=1.1
CB=1.3
CB=1.4
CB=1.7
24 Hours
Constant
Low*
Medium**
Low†
CB=1.0
CB=1.2
CB=1.3
CB=1.3
CB=1.5
CB=1.6
CB=1.9
Alternating
Medium†† CB=1.6
* Low Shock = Motor turns in one direction and has ramp up at start.
** Medium Shock = Motor turns in one direction and has no ramp up at start.
† Low Shock = Motor turns in both directions and has ramp up at start.
†† Medium Shock = Motor turns in both directions and has no ramp up at start.
Table B.1: Planetary Gearbox Operating Factor
MDrive 34Plus Microstepping Hardware - Revision R071108
Relevant to Firmware Version 3.0.02
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System Inertia
System inertia must be included in the selection of an MDrive and Planetary Gearbox. Inertia is the resistance an
object has relative to changes in velocity. Inertia must be calculated and matched to the motor inertia. The Plan-
etary Gearbox ratio plays an important role in matching system inertia to motor inertia. There are many variable
factors that affect the inertia. Some of these factors are:
The type of system being driven.
Weight and frictional forces of that system.
The load the system is moving or carrying.
The ratio of the system inertia to motor inertia should be between 1:1 and 10:1. With 1:1 being ideal, a 1:1 to 5:1
ratio is good while a ratio greater than 5:1 and up to 10:1 is the maximum.
Type of System
There are many systems and drives, from simple to complex, which react differently and possess varied
amounts of inertia. All of the moving components of a given system will have some inertia factor which must
be included in the total inertia calculation. Some of these systems include:
Lead screw
Rack and pinion
Conveyor belt
Rotary table
Belt drive
Chain drive
Not only must the inertia of the system be calculated, but also any load that it may be moving or carrying.
The examples below illustrate some of the factors that must be considered when calculating the inertia of a
system.
Lead Screw
In a system with a lead screw, the following must be considered:
The weight and preload of the screw
The weight of the lead screw nut
The weight of a table or slide
The friction caused by the table guideways
The weight of any parts
Weight of
table
Weight of
parts
Weight of
screw
Weight of
nut
Friction of
guideways
Preload on
leadscrew
Figure B.2: Lead Screw System Inertia Considerations
Appendices
A-9
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Rack and Pinion
In a system with a rack and pinion, the following must be considered:
The weight or mass of the pinion
The weight or mass of the rack
The friction and/or preload between the pinion and the rack
Any friction in the guidance of the rack
The weight or mass of the object the rack is moving
Weight of
rack
Preload or friction
between pinion and rack
Friction of
rack in guide
Weight of
pinion and shaft
Load on
rack
Gearbox
Motor
Figure B.3: Rack and Pinion System Inertia Considerations
Conveyor Belt
In a system with a conveyor belt, the following must be considered:
The weight and size of the cylindrical driving pulley or roller
The weight of the belt
The weight or mass and size of the idler roller or pulley on the opposite end
The angle or elevation of the belt
Any load the belt may be carrying
Motor
Weight of
conveyor belt
Gearbox
Weight and size
of idler roller
Weight and size
of drive roller
Friction
of belt
Weight of
parts
Elevation
Figure B.4: Conveyor System Inertia Considerations
MDrive 34Plus Microstepping Hardware - Revision R071108
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Rotary Table
In a system with a rotary table, the following must be considered:
The weight or mass and size of the table
Any parts or load the table is carrying
The position of the load on the table, the distance from the center of the table will af-
fect the inertia
How the table is being driven and supported also affects the inertia
Belt Drive
In a system with a belt drive, the following must be considered:
The weight or mass and size of the driving pulley
The tension and/or friction of the belt
The weight or mass and size of the driven pulley
Any load the system may be moving or carrying
The position of parts relative
to the center of the
rotary table is important
Motor
Weight and
size of table
Weight and position
of parts on table
Gearbox
Friction of any
bearing or support
Weight of
shaft
Friction created by
tension on belt
Weight and size
of driven pulley
Weight and size
of drive pulley
Figure B.5: Rotary Table System Inertia Considerations
Appendices
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Chain Drive
In a system with a chain drive, the following must be considered:
the weight and size of drive sprocket and any attaching hub
the weight and size of the driven sprocket and shaft
the weight of the chain
the weight of any material or parts being moved
Weight of
chain
Weight and size
of drive
sprocket and hub
Weight and size
of driven sprocket,
shaft and any material
or parts being moved
Figure B.6: Chain Drive System Inertia Considerations
2
Once the system inertia (JL) has been calculated in oz-in-sec , it can be matched to the motor inertia. To
match the system inertia to the motor inertia, divide the system inertia by the square of the gearbox ratio.
The result is called Reflected Inertia or (Jref).
2
Jref = JL ÷ Ζ
Where:
2
JL = System Inertia in oz-in-sec
2
Jref = Reflected Inertia in oz-in-sec
Z = Gearbox Ratio
The ideal situation would be to have a 1:1 system inertia to motor inertia ratio. This will yield the best
positioning and accuracy. The reflected inertia (Jref) must not exceed 10 times the motor inertia.
Your system may require a reflected inertia ratio as close to 1:1 as possible. To achieve the 1:1 ratio, you
must calculate an Optimal Gearbox Ratio (Zopt) which would be the square root of JL divided by the
desired Jref. In this case since you want the system inertia to match the motor inertia with a 1:1 ratio, Jref
would be equal to the motor inertia.
Zopt
=
JL ÷ Jref
Where:
Zopt = Optimal Gearbox Ratio
JL = System Inertia in oz-in-sec
2
2
Jref = Desired Reflected Inertia in oz-in-sec (Motor Inertia)
MDrive 34Plus Microstepping Hardware - Revision R071108
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Planetary Gearbox for MDrive34Plus
MDrive34Plus Planetary Gearbox Parameters
Output Side with Ball Bearing
Permitted
Gearbox
Maximum
Backlash
Maximum Load
(lb-force/N)
Radial
Weight
(oz/g)
Output Torque
Efficiency
(oz-in/Nm)
Axial
18/80
Gearbox
64.4/1827
89.5/2538
92.6/2625
with Flange
1-STAGE
2-STAGE
3-STAGE
2832/20.0
8496/60.0
16992/120.0
0.80
0.75
0.70
1.0°
1.5°
2.0°
90/400
135/600
225/1000
66.7/1890
92.6/2625
118.5/3360
27/120
45/200
Table B.2: Planetary Gearbox Specifications – PM81
*Gearbox without Flange
†
Gearbox with Flange
1.929*
(49.0)
or
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*
Ctrg. DIN 332-D M6x16
Key DIN 6885-A-6x6x28mm
(10.0)
(Ø 65.0)
Dimensions in inches (mm)
†
2.739 SQ.
K1
Stages
K1
(Gearbox)
(69.58 SQ.)
(NEMA Flange)
4.433 (112.6)
5.287 (134.3)
6.142 (156.0)
1-Stage
4.315 (109.6)
5.169 (131.3)
6.024 (153.0)
2-Stage
3-Stage
Figure B.7: Planetary Gearbox Specifications for MDrive34Plus
PM81 Gearbox Ratios and Part Numbers
Ratio
Part
Ratio
Part
Planetary
Gearbox
Inertia
Planetary
Gearbox
Inertia
Moments
Moments
(Rounded)
3.71:1
5.18:1
Number
G1A1
G1A2
(Rounded)
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
Number
G1B5
G1B6
G1B7
G1B8
G1B9
G1C1
G1C2
G1C3
G1C4
G1C5
G1C6
G1C7
G1C8
G1C9
G1D1
G1D2
G1D3
G1D4
G1D5
1-Stage
1-Stage
1-Stage
0.00233660
0.00154357
0.00128867
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
0.00218082
0.00178431
0.00179847
0.00147276
0.00179847
0.00124619
0.00147276
0.00148693
0.00124619
0.00148693
0.00124619
0.00124619
0.00144444
0.00124619
0.00126035
0.00124619
0.00126035
0.00126035
0.00126035
6.75:1
G1A3
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
0.00219499
0.00179847
0.00182679
0.00141612
0.00148693
0.00177015
0.00148693
0.00124619
0.001260345
0.00126035
G1A4
G1A5
G1A6
G1A7
G1A8
G1A9
G1B1
G1B2
G1B3
G1B4
Table B.3: Planetary Gearbox Ratios, Inertia Moments and Part Numbers
Appendices
A-13
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Page Intentionally Left Blank
MDrive 34Plus Microstepping Hardware - Revision R071108
Relevant to Firmware Version 3.0.02
A-14
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WARNING! DO
NOT connect or
disconnect the MD-
Appendix C
CC300-001 Communications
Converter Cable from MDrive
while power is applied!
Connectivity
MD-CC30x-001: USB to SPI Converter and Parameter Setup Cable
The MD-CC30x-001 USB to SPI Parameter Setup Cable provides a communication connection between the
Microstepping MDrives and the USB port on a PC.
IMS SPI Interface Software communicates to the Parameter Setup Cable through the PC's USB port.
The Parameter Setup Cable interprets SPI commands and sends these commands to the MDrivePlus through the
SPI interface.
Supplied Components: MD-CC30 communications converter, Parameter Setup Cable, USB Cable, USB Drivers,
IMS SPI Interface Software.
MD-CC300-001
The MD-CC300-001 interfaces to the model MDrivePlus Microstepping with a 10-Pin IDC type connector
at location P2.
NEMA 17 Size MDrivePlus Microstepping shown in Figure below. Connection for a NEMA 23 will be
identical.
3.75 in
(95.0 mm)
1.0 in
(25.0 mm)
USB
0.875 in
MD-CC3
USB to SPI Converter Cable
(22.0 mm)
USB Cable
Length 6.0 ft (1.8 m)
To PC USB
10 Pin IDC Connector
To MDrive
Cable Length 6.0 ft (1.8 m)
Connection Diagram
Plug into
Computer USB
Port
6’ (1.8 m)
USB Cable
MD-CC300-001 USB to SPI
Communications Converter
6.0’ (1.8 m)
Ribbon Cable
Figure C.1: MD-CC300-001 Mechanical Specifications and Connection
Appendices
A-15
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Note: Interactive
installation tutorials
are available at
Connector Detail and Mating Connector Kit
Should you choose to create your own interface cable IMS now has mating connector kits available which
assist you in creating interface cables in small quantities. These kits come with the connector shells and crimp
pins (if applicable) to create five interface cables.
the IMS Web Site
tutorials.html
Connector Details
1
3
5
7
2
4
6
8
Chip Select
+5 VDC Out*
SPI Clock
MISO
GND
MOSI
9 10
pins not labeled are no connect.
*used to power the MD-CC300-001 only.
Figure C.2: 10-Pin IDC
Mating Connector Kit p/n: CK-01
Description: 5 mating connector shells for making interface cables to MDrive’s 10-pin IDC connector.
2-piece connector shell crimps onto a 10 conductor AMP ribbon cable. Ribbon Cable is
not included.
IDC Parts:
Shell:
SAMTEC TCSD-05-01-N
AMP 1-57051-9
Ribbon Cable:
MDrive 34Plus Microstepping Hardware - Revision R071108
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MD-CC303-001
The MD-CC3030-001 interfaces to the model MDrivePlus Microstepping with a 12-Pin locking wire crimp
type connector at location P1. This cable consists of two joined cables:
1. 6' (1.8m) RJ-45 Cable which plugs into the RJ-45 Jack of the converter body.
2. 13' (4.0 m) for I/O and Power connection.
RJ-45
3.75 in
1.0 in
(95.0 mm)
(25.0 mm)
USB
0.875 in
MD-CC3
USB to SPI Converter Cable
(22.0 mm)
USB Cable
Length 6.0 ft (1.8 m)
To PC USB
RJ-45 Cable - Communications
Length 6.0 ft (1.8 m)
Flying Leads
AMP
Cable - Power and I/O
Length 13.0 ft (4.0 m)
Connection Diagram
13’ (4.0 m)
Wire Colors Function
Orange
Blue
White
Green
Enable
Direction
Opto Ref
Step Clock
Red and Black wires are N/C
P1
6’ (1.8 m)
USB Cable
Plug into
Computer
USB Port
MD-CC303-001 USB to SPI
Communications Converter
6’ (1.8 m)
*A Prototype Development cable with out integrated communications is also available.
Order P/N PD12-1434-FL3
Figure C.3: MD-CC303-001 Mechanical Specifications and Connection
Appendices
A-17
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Connector Detail and Mating Connector Kit
Should you choose to create your own interface cable IMS now has mating connector kits available which
assist you in creating interface cables in small quantities. These kits come with the connector shells and
crimp pins to create five interface cables.
Connector Details
Chip Select
SPI MISO
11 12
9 10
Comm Gnd
+5 VDC
Enable
Opto Ref
N/C
SPI MOSI
SPI Clock
Direction
Step Clock
N/C
7
5
3
1
8
6
4
2
Figure C.4: 12-Pin Wire Crimp
Mating Connector Kit p/n: CK-03
Description: 5 mating connector shells and crimp pins. Recommend Tyco Crimp tool (Not included).
Tyco Parts:
Shell:
Pins:
Crimp Tool:
1-794617-2
794610-1
91501-1
MDrive 34Plus Microstepping Hardware - Revision R071108
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Installation Procedure for the MD-CC30x-000
These Installation procedures are written for Microsoft Windows XP Service Pack 2 or greater.
The installation of the MD-CC30x-001 requires the installation of two sets of drivers, which may be downloaded
from http://www.imshome.com:
Drivers for the IMS USB to SPI Converter Hardware.
Drivers for the Virtual Communications Port (VCP) used to communicate to your IMS Product.
Therefore the Hardware Update wizard will run twice during the installation process.
The full installation procedure will be a two-part process: Installing the Cable/VCP drivers and Determining the
Virtual COM Port used.
Installing the Cable/VCP Drivers
2) Extract the driver files from the *.zip archive, remember the extracted location.
3) Plug the USB Converter Cable into the USB port of the MD-CC30x-001.
4) Plug the other end of the USB cable into an open USB port on your PC.
5) Your PC will recognize the new hardware and open the Hardware Update dialog.
6) Select “No, not this time” on the radio buttons in answer to the query “Can Windows Connect to
Windows Update to search for software?” Click “Next” (Figure C.5).
7) Select “Install from a list or specific location (Advanced)” on the radio buttons in answer to the query
Figure C.5: Hardware Update Wizard
“What do you want the wizard to do?” Click “Next” (Figure C.6).
Figure C.6: Hardware Update Wizard Screen 2
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86) Select “Search for the best driver in these locations.”
(a) Check “Include this location in the search.”
(b) Browse to the location where you extracted the files in Step #2.
(c) Click Next (Figure C.7).
Figure C.7: Hardware Update Wizard Screen 3
9) The drivers will begin to copy.
10) On the Dialog for Windows Logo Compatibility Testing, click “Continue Anyway” (Figure C.8).
11) The Driver Installation will proceed. When the Completing the Found New Hardware Wizard dialog
Figure C.8: Windows Logo Compatibility
Testing
appears, Click “Finish” (Figure C.9).
Figure C.9: Hardware Update Wizard Finish Installation
12) Upon finish, the Welcome to the Hardware Update Wizard will reappear to guide you through the
second part of the install process. Repeat steps 3 through 11 above to complete the cable installation.
11) Your IMS MD-CC30x-001 is now ready to use.
MDrive 34Plus Microstepping Hardware - Revision R071108
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Determining the Virtual COM Port (VCP)
The MD-CC30x-001 uses a Virtual COM Port to communicate through the USB port to the MDrive. A VCP is a
software driven serial port which emulates a hardware port in Windows.
The drivers for the MD-CC30x-001 will automatically assign a VCP to the device during installation. The VCP
port number will be needed when IMS Terminal is set up in order that IMS Terminal will know where to find and
communicate with your IMS Product.
To locate the Virtual COM Port.
1) Right-Click the “My Computer” Icon and select “Properties”.
2) Browse to the Hardware Tab (Figure D.9), Click the Button labeled “Device Manager”.
3) Look in the heading “Ports (COM & LPT)” IMS USB to SPI Converter Cable (COMx) will be listed
(Figure D.10). The COM # will be the Virtual COM Port connected. You will enter this number into
your IMS SPI Motor Interface Configuration.
Figure C.10: Hardware Properties
Figure C.11: Windows Device Manager
Appendices
A-21
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Prototype Development Cable PD12-1434-FL3
Wire Color Code
Pair Number
(Cable/Pair)
Color Combination
Interface Signal
MDrive Wire Crimp
Connection Pin Number
White/Blue
Blue/White
White/Orange
Orange/White
White/Green
Green/White
White/Brown
Brown/White
White/Gray
Gray//White
Black
Opto Reference
Step Clock
Enable
3
4
1/1
1/2
1/3
1/4
1/5
2/1
5
Direction
6
SPI Clock
8
COMM GND
+5VDC
9
7
Master In - Slave Out
Master Out - Slave In
SPI Chip Select
N/C
12
10
11
1
Red
N/C
2
Table C.1: PD10-1434-FL3 Wire Color Codes
To MDrivePlus
12-pin wire crimp
Tyco connector
To I/O &
Communications
Cable #2 is N/C and
may be removed
Cable 2
Cable 1
10.0’ (3.0m)
Figure C.12: PD12-1434-FL3
Connector Detail and Mating Connector Kit
Should you choose to create your own interface cable IMS now has mating connector kits available which
assist you in creating interface cables in small quantities. These kits come with the connector shells and
crimp pins to create five interface cables.
Connector Details
Chip Select
SPI MISO
11 12
9 10
Comm Gnd
+5 VDC
Enable
Opto Ref
N/C
SPI MOSI
SPI Clock
Direction
Step Clock
N/C
7
5
3
1
8
6
4
2
Figure C.13: 12-Pin Wire Crimp
Mating Connector Kit p/n: CK-03
Description: 5 mating connector shells and crimp pins. Recommend Tyco Crimp tool (Not included).
Tyco Parts:
Shell:
Pins:
Crimp Tool:
1-794617-2
794610-1
91501-1
MDrive 34Plus Microstepping Hardware - Revision R071108
Relevant to Firmware Version 3.0.02
A-22
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PD10-3400-FL3 - Internal Differential Encoder
The PD10-3400-FL3 is a 10' (3.0 M) Prototype Development Cable used to interface the encoder signals to the
user's controller. The Connector end plugs into the P4 Connector of the MDrive34Plus. The Flying Lead end con-
nects to a Control Interface such as a PLC.
Wire Color Code
Pair Number
(Cable/Pair)
Color Combination
Interface Signal
MDrive Wire Crimp
Connection Pin Number
White/Blue
Blue/White
Index +
Index –
6
7
4
5
2
3
1
8
1/1
1/2
1/3
1/4
White/Orange
Orange/White
White/Green
Green/White
White/Brown
Brown/White
Channel B +
Channel B –
Channel A +
Channel B –
Ground
+5 VDC Input
Table C.2: PD10-3400-FL3 Wire Color Codes
To MDrivePlus 10-pin friction lock
wire crimp connector
To Controller or PLC
Flying leads
10.0’ (3.0m)
Figure C.14: PD10-3400-FL3
Connector Detail and Mating Connector Kit
Should you choose to create your own interface cable IMS now has mating connector kits available which
assist you in creating interface cables in small quantities. These kits come with the connector shells and crimp
pins to create five interface cables.
Connector Details
N/C
N/C
9 10
7
5
3
1
8
6
4
2
+5VDC
IDX+
IDX-
CH B-
CH A-
GND
CH B+
CH A+
Figure C.15: PD10-3400-FL3
Mating Connector Kit p/n: CK-02
Description: 5 mating connector shells and crimp pins. Recommend Hirose Crimp tool (Not included).
Hirose Parts: Shell:
Pins:
DF11-10DS-2C
DF11-2428SC
Crimp Tool:
DF11-TA2428HC
Appendices
A-23
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Prototype Development Cable PD02-3400-FL3 — Main Power
IMS recommends the Prototype Development Cable PD02-3400-FL3 for interfacing power to the MDrive-
34Plus2 Motion Control.
To MDrivePlus
2-pin wire crimp
Molex connector
To Power
Wire Colors
Black
Red
Function
Power Ground
+V
10.0’ (3.0m)
Figure C.16: PD02-3400-FL3
Connector Details
side view
front view pin details
GND
2
1
Power
locking tab
shell
Figure C.17: 2-Pin Wire Crimp
Mating Connector Kit p/n: CK-05
Description: 5 mating connector shells and crimp pins. Recommend Molex Crimp tool (Not in-
cluded).
Molex Parts: Shell:
Pins:
510-67-0200
502-17-9101
63811-1200
Crimp Tool:
MDrive 34Plus Microstepping Hardware - Revision R071108
Relevant to Firmware Version 3.0.02
A-24
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Appendix D
Interfacing an Encoder
Factory Mounted Internal Encoder
The MDrivePlus Microstepping are available with a factory-mounted internal optical encoder. See Table E.1 for
available line counts. Encoders are available in both single-end and differential configurations. All encoders have an
index mark.
Use of the encoder feedback feature of this product requires a controller such as an IMS MicroLYNX or PLC.
The encoder has a 100 kHz maximum output frequency.
DIFFERENTIAL
ENCODER
SINGLE-END
ENCODER
Line Count
100
Part Number
Part Number
EA
EB
EC
EW
ED
EH
EX
EJ
E1
E2
E3
EP
E4
E5
EQ
E6
ER
200
250
256
400
500
512
1000
1024
EY
Table D.1: Available Encoder Line Counts and Part Numbers
Note: The MDrive34Plus with Pluggable Interface is available with Differential Encoder only. The MDrive34Plus
with Flying Leads is available with both Single-End or Differential Encoder.
General Specifications
Min
Typ
Max
Units
Supply Voltage (VDC)......................... -0.5 ........................................................... 7......................Volts
Supply Current ......................................30............................. 57..........................85 ..................... mA
Output Voltage .................................... -0.5 ......................................................... Vcc...................Volts
Output Current (Per Channel)............. -1.0 ........................................................... 5....................... mA
Maximum Frequency ................................................................................................................. 100kHz
Inertia ............................................................................................... 0.565 g-cm2 (8.0 x 10-6 oz-in-sec2)
Temperature
Operating ................................................................................................................ -40 to +100° C
Storage..................................................................................................................... -40 to +100° C
Humidity............................................................................................................ 90% (non-condensing)
Appendices
A-25
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Encoder Connections
Note: The MDM34
with Pluggable
Interface is only
available with a
Yellow/Black: Ground
Yellow/Violet: Index+
Yellow/Blue: Channel A+
Yellow/Red: +5VDC Input
differential encoder.
Yellow/Brown: Channel B+
Yellow/Gray: Index -
Yellow/Green: Channel A-
Yellow/Orange: Channel B-
Differental Encoder
Flying Leads
Yellow/Black: Ground
Yellow/Violet: Index
Yellow/Blue: Channel A
Yellow/Red: +5VDC Input
Yellow/Brown: Channel B
Single-End Encoder
Flying Leads
Pin 2: Channel A+
Pin 4: Channe; B+
Pin 1: Ground
P3
Pin 3: Channel A -
1
Pin 6: Index+
Pin 5: Channel B -
Pin 7: Index -
P4
P1
Pin 8: +5VDC Input
Differental Encoder
Pluggable Interface
Figure D.1: Single-End and Differential Encoder Connections
MDrive 34Plus Microstepping Hardware - Revision R071108
Relevant to Firmware Version 3.0.02
A-26
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Encoder Signals
Single-End Encoder (Available with Flying Leads Version only)
C
Y
X
Rotation:
CW – B Leads A
CCW – A Leads B
2.4 V
0.4 V
Channel A
Channel B
Index
Z
2.4 V
0.4 V
t1
t2
2.4 V
0.4 V
Po
Figure D.2: Single-End Encoder Signal Timing
Differential Encoder
C
Rotation:
CW – B Leads A
CCW – A Leads B
Y
X
2.4 V
0.4 V
Channel A +
Channel A -
2.4 V
0.4 V
Z
2.4 V
0.4 V
Channel B +
Channel B -
Index +
2.4 V
0.4 V
t1
t2
2.4 V
0.4 V
Po
2.4 V
0.4 V
Index -
Figure D.3: Differential Encoder Signal Timing
Note: Rotation is as viewed from the cover side.
(C)
One Cycle: 360 electrical degrees (°e)
(X/Y)
(Z)
Symmetry: A measure of the relationship between X and Y, nominally 180°e.
Quadrature: The phase lag or lead between channels A and B, nominally 90°e.
(Po) Index Pulse Width: Nominally 90°e.
Characteristics
Parameter
Symbol
Min
Typ
Max
Units
Cycle Error................................................................................................ 3.................... 5.5.................°e
Symmetry............................................................................. 130............ 180..................230................°e
Quadrature............................................................................ 40.............. 90...................140................°e
Index Pulse Width..............................................Po .............. 60.............. 90...................120................°e
Index Rise After CH B or CH A fall................... t1..............-300........... 100..................250................ns
Index Fall After CH A or CH B rise................... t2............... 70............. 150.................1000...............ns
Over recommended operating range. Values are for worst error over a full rotation.
Appendices
A-27
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Encoder Cable
IMS offers an assembled cable for use with the Differential Encoder on MDM34 with the Pluggable Locking Wire
Crimp interface . The IMS Part Number is listed below.
Differential Encoder Cable (10' leads)......................................................................... PD10-3400-FL3
Recommended Encoder Mating Connectors
IMS recommends the following mating connectors (or equivalent) if you make your own cables.
Differential Encoder
10-Pin Friction Lock Wire Crimp................................................................Hirose DF11-10DS-2C
Pins
22 AWG ............................................................................................................Hirose DF11-22SC
24/28 AWG...................................................................................................Hirose DF11-2428SC
30 AWG ............................................................................................................Hirose DF11-30SC
MDrive 34Plus Microstepping Hardware - Revision R071108
A-28
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Appendix E
Linear Slide Option
Features
•
Screw driven slide offering exceptional linear speed, accurate positioning and long life at a compelling
value
•
•
•
•
High bidirectional repeatability of up to 50 micro-inches (1.25 microns)
Positional lead accuracy of 0.0006"/in. – accuracies to 0.0001"/in. available
Linear speeds not limited by critical screw speed
Standard leads:
-
-
0.10" travel per revolution
0.20" travel per revolution
- 0.50" travel per revolution
- 1.00" travel per revolution
•
Achieve speeds that exceed 60.0"/second while offering excellent repeatability, accuracy and axial
stiffness
•
•
Optional sensor flag kit available for home, limits and general purpose inputs
Assembly includes a precision aluminum guide and carriage which is driven by a precision rolled
stainless steel lead screw
•
Sliding contact areas coated with TFE (Teflon) permanent lubrication to offer a low 0.09 coefficient of
friction
•
•
•
•
•
•
Exceptional torsional stiffness and stability
Standard lengths from 12.0" to 42.0", longer sizes available upon request
Comes standard with wear-compensating, anti-backlash driven carriage
Additional passive carriages or slides available to support cantilevered loads
Easily mountable with provided mounting flange and holes
Extrusions provided for sensor mounts
MDrive34Plus Linear Slide
†
Speed-Force Limitations
445
100
90
400
356
†
Speed/Force correlating equations:
1.00" Screw Lead
0.50" Screw Lead
0.20" Screw Lead
0.10" Screw Lead
80
70
Axial Force = Ffriction + Facceleration + Fgravity
1
311
267
222
178
133
89
60
50
Ffriction = (Weight)(0.09)
Facceleration = (Weight)(Acceleration) / Accel. of gravity
Fgravity = 0 for horizontal application and 1 Weight for vertical application
40
30
20
10
0
(Axial Force)(Screw Lead)
Torque =
44
2
0
5
10
15
20
25
30
35
40
45
50
(0.393)(Screw Efficiency)
(127) (254) (381) (508) (635) (762) (889) (1016) (1143) (1270)
Force in lbs; Torque in oz-in, Lead in inches/rev
V Inches / sec (mm / sec)
Full Steps (200 Full Steps/Rev)(Velocity)
=
3
Second
Lead
Figure E.1: Speed Force Limitations
Lead in inches/rev; Velocity in inches/second
Speed-Torque Curves
706
635
1000
Single Stack
Double Stack
Triple Stack
A
B
C
C
900
800
700
600
24 VDC
45 VDC
75 VDC
465
494
423
353
282
211
140
71
B
500
400
300
A
200
100
0
0
1000
(300)
2000
(600)
3000
(900)
4000
5000
6000
7000
(1200) (1500) (1800) (2100)
Speed in Full Steps per Second (RPM)
Figure E2: MDrive34Plus Speed Torque Curves
Appendices
A-29
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Specifications
Screw
Efficiency
Nom. Screw
Diam.
Max Drag
Torque
Life @ ¼
Design Load
Torque to
Move Load
Axial
Design Load
Inch Lead
inches (mm)
0.100 (2.54)
0.200 (5.08)
0.500 (12.70)
1.000 (25.40)
Screw Inertia
2
Screw
Lead
inches
(mm)
oz inch
(Nm)
inches
(cm)
oz inch/lb
(Nm/kg)
lbs
(kg)
oz.in.sec /inch
%
40
53
76
81
2
(Kgm /m)
-5
14.2 x 10
100,000,000
(254,000,000)
0.10"
0.625 (15.9)
0.625 (15.9)
0.625 (15.9)
0.625 (15.9)
5.0 (0.04)
6.0 (0.04)
7.0 (0.05)
8.5 (0.06)
1.3 (0.020)
2.0 (0.031)
3.0 (0.047)
6.5 (0.101)
100 (46)
100 (46)
100 (46)
100 (46)
-5
(3.9 x 10
)
-5
)
100,000,000
(254,000,000)
14.2 x 10
0.20"
0.50"
1.00"
-5
(3.9 x 10
-5
100,000,000
(254,000,000)
14.2 x 10
(3.9 x 10
-5
)
-5
)
100,000,000
(254,000,000)
14.2 x 10
(3.9 x 10
-5
Table E.1: MDrive34Plus Linear Slide Specifications
Mechanical Specifications
Dimensions in Inches (mm)
2.00
(50.8)
0.56
(14.2)
END VIEw
1
2
3
Motor Mounting Plate
Heli-Cal Coupling
1.000
(25.4)
Sunx P/N PM-L24 sensor or equivalent
(not supplied)
0.69
(17.5)
4
Optional Sensor Flag Kit
for use with U-channel sensor
(details below)
2.34
(59.3)
2.14
(54.4)
SIDE VIEw
1.23
(31.2)
3.38 SQ.
L
(85.9 SQ.)
1
0.50
(12.7)
0.95
(24.1)
O
3.25
(82.6)
2.20
(55.9)
P
1.30
(33.0)
1.56
(39.6)
5
1.25
(31.8)
2
TOP VIEw
0.85 0.60
(21.6) (15.2)
Mounting Holes
D
1.50
(38.1)
0.750
(19.1)
1.1
(27.9)
4 x 1/4-20
SHCS
Slide
Length
Max Hole Extra Hole
Equal
Space
3
4
0.75
(19.1)
Distance
Sets (not
shown)
Between
Holes
L
D
12"
18"
24"
36"
42"
10.5"
16.5"
22.5"
34.5"
40.5"
none
10.5"
8.25"
7.5"
1
2
2
2
2.6
(66.0)
11.5"
13.5"
1.250
(31.8)
Mounting Holes
Ø 0.26 (6.6)
THRU HOLE
[O + P = 4.55" (115.6mm)]
Travel distance = L – (O + P)
2.25
(57.2)
Mounting Bracket Kit Option
Sensor Flag Kit Option
Optical sensor – Sunx P/N PM-L24
or equivalent (not supplied)
P/N RSM10-K Includes:
P/N RMB10-K Includes:
A
B
C
D
E
#2-56 X 1/4" Long BHCS (6)
Sensor Holder (3)
F
Mounting Bracket (2)
G
#1/4-20 X 3/4" Long SHCS (4)
A
D
#4-40 X 1/2" Long SHCS (3)
Flag for Optical Sensor (1)
#6-32 X 1/2" Long SHCS (2)
G
C
2X M8 SHCS
(not supplied)
B
2X M8 steel washer
F
(not supplied)
E
Figure F.3: Mechanical Specifications
MDrive 34Plus Microstepping Hardware - Revision R071108
Relevant to Firmware Version 3.0.02
A-30
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WARRANTY
TWENTY-FOUR (24) MONTH LIMITED WARRANTY
Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the
product purchased from IMS (the “Product”) will be free from defects in materials and workmanship under the normal use
and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the
Customer. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s
sole option, of the Product, or any part of the Product, determined by IMS to be defective. In order to exercise its warranty
rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty
Service.”
This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or
misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the
Product; installation, operation or use of the Product not made in strict accordance with the specifications and written
instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary
wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modifications to the Product; the misuse
or failure of any item or equipment connected to the Product not supplied by IMS; improper maintenance or repair of the
Product; or any other reason or event not caused by IMS.
IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY
LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS
FOR ANY PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS
STATED ABOVE, AND IN NO EVENT WILL THE IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR
INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.
This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This
Limited Warranty is the sole warranty offered by IMS with respect to the Product. IMS does not assume any other liability in
connection with the sale of the Product. No representative of IMS is authorized to extend this Limited Warranty or to change
it in any manner whatsoever. No warranty applies to any party other than the original Customer.
IMS and its directors, officers, employees, subsidiaries and affiliates shall not be liable for any damages arising from any
loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production
or profits, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages,
whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory,
or other losses or expenses incurred by the Customer or any third party.
OBTAINING WARRANTY SERVICE
Warranty service may obtained by a distributor, if the Product was purchased from IMS by a distributor, or by the Customer
directly from IMS, if the Product was purchased directly from IMS. Prior to returning the Product for service, a Returned
which an RMA Authorization Form with RMA number will then be faxed to you. Any questions, contact IMS Customer
Service (860) 295-6102.
Include a copy of the RMA Authorization Form, contact name and address, and any additional notes regarding the Product
failure with shipment. Return Product in its original packaging, or packaged so it is protected against electrostatic discharge
or physical damage in transit. The RMA number MUST appear on the box or packing slip. Send Product to: Intelligent Motion
Systems, Inc., 370 N. Main Street, Marlborough, CT 06447.
Customer shall prepay shipping changes for Products returned to IMS for warranty service and IMS shall pay for return of
Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for
Products returned to IMS from outside the United States.
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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: jroake@imshome.com
Central Region
69005 Lyon, France
Tel. +33/4 7256 5113 - Fax +33/4 7838 1537
e-mail: bmartinez@imshome.com
Tel. 260 402-6016 - Fax 419 858-0375
e-mail: dwaksman@imshome.com
Western Region
Tel. 602 578-7201
e-mail: dweisenberger@imshome.com
IMS UK LTD.
Sanderson Centre, 15 Lees Lane
Gosport, Hampshire PO12 3UL
Tel. +44/0 2392-520775 - Fax +44/0 2392-502559
e-mail: mcheckley@imshome.com
IMS ASIA PACIFIC OFFICE
30 Raffles Pl., 23-00 Caltex House, Singapore
048622
Tel. +65/6233/6846 - Fax +65/6233/5044
e-mail: wllee@imshome.com
TECHNICAL SUPPORT
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107
e-mail: etech@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: info@imshome.com
© Intelligent Motion Systems, Inc. All Rights Reserved.
REV071108
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