Intelligent Motion Systems Home Safety Product MDI42 AC User Manual

TM  
Excellence in Motion  
TM  
42  
MOTION CONTROL  
(with optional CANopen)  
FEATURES  
DESCRIPTION  
Optional communication protocols  
include CANopen. The CAN bus is 2.0B  
active (11 and/or 29 bit) and is capable  
of all standard frequencies from 10 kHz  
to 1 MHz. CANopen features include  
node guarding, heartbeat producer,  
SDOs and PDOs. Highlights include  
variable PDO mapping and extended  
node identier.  
• Highly Integrated Microstepping Driver/  
Intelligent Motion Controller with Optional  
Encoder/NEMA 42 High Torque 1.8°  
Brushless Step Motor  
• Advanced 2nd Generation Current  
Control for Exceptional Performance  
and Smoothness  
• Single Supply: 120 or 240 VAC  
• Cost Effective  
• Extremely Compact  
• High Positioning Accuracy  
• No Tuning Required  
• Stable at Low Speeds  
• No Dithering at Zero Speed  
• High Starting Torque  
• Allows for Greater Inertia Mismatch  
• Built-in Regeneration Circuitry  
The MDrive42AC Plus2 Motion Control  
system offers designers a cost effec-  
tive, full featured programmable motion  
controller integrated with a NEMA 42 high  
torque 1.8° brushless step motor and a  
microstepping driver operating at 120 or  
240 VAC.  
Unsurpassed smoothness and perfor-  
mance delivered by the MDrive42AC are  
achieved through IMS's advanced 2nd  
generation current control. By applying  
innovative techniques to control current  
ow through the motor, resonance is sig-  
nicantly dampened over the entire speed  
range and audible noise is reduced.  
The MDrive42AC Plus2 Motion Control  
is available with optional closed loop  
control. This increases functionality by  
adding stall detection, position mainte-  
nance and nd index mark.  
The closed loop conguration is added  
via a 512 line (2048 edge) optical  
encoder with index mark, internal to the  
MDrive42AC so there is no increase in  
length. Or, for an expanded choice of  
line counts and resolutions, closed loop  
control is available with an interface  
to a remotely mounted user-supplied  
external encoder.  
The MDrive42AC accepts a broad input  
voltage range from 95 to 264 VAC, deliv-  
ering enhanced performance and speed.  
Oversized input capacitors are used to  
minimize power line surges, reducing  
problems that can occur with long cable  
runs and multiple drive systems. An ex-  
tended operating range of –40° to +75°C  
provides long life, trouble free service in  
demanding environments.  
• Available Options:  
- Integral Optical Encoder for Closed  
Loop Control  
- External/Remote Encoder (not supplied)  
for Closed Loop Control  
- Control Knob for Manual Positioning  
- Integrated Planetary Gearbox  
- IP65 Sealed Conguration**  
• Two Motor Lengths Available  
• Auxiliary Logic Power Supply Input  
• Up to 5 MHz Step Clock Rate  
• 20 Microstep Resolutions up to  
51,200 Steps Per Rev Including:  
Degrees, Metric, Arc Minutes  
• Open or Optional Closed Loop Control  
• Programmable Motor Current  
• Up to Eight +24 VDC Tolerant I/O Lines,  
Sourcing or Sinking  
• One 10 Bit Analog Input Selectable: 0 to +5  
VDC, 0 to +10 VDC, 0-20 mA, 4-20 mA  
• RS-422/485 or Optional CANopen  
Communications  
In addition to encoder options, the  
MDrive42AC Plus2 Motion Control has  
the capability of electronic gearing by  
following a rotary or linear axis at an  
electronically controlled ratio, or an  
output clock can be generated xed to  
the internal step clock.  
The MDrive42AC Plus2 Motion Control  
system adds a versatile array of functions  
by combining a full featured program-  
mable motion controller with our compact  
and cost effective MDrive42AC Micro-  
stepping products, adding little cost and  
no increase in size. Standard offerings  
include up to 8 general purpose I/O lines  
(sourcing or sinking) that operate to +24  
VDC, one 10 bit analog input, electronic  
gearing, high speed position capture  
input/trip output, microstep resolutions up  
to 51,200 steps per revolution, 0 to 5 MHz  
step clock rate, and a full featured easy-  
to-program instruction set.  
A sealed version designed to meet  
IP65 specications is also available.  
The sealed assembly allows the  
MDrive42AC to be used in environ-  
ments where exposure to chemical,  
dust and liquids may occur.  
Two rotary motor lengths are available  
as are linear actuators with long life  
Acme screw**.  
• 62 Software Addresses for Multi-Drop  
Communications  
• High Speed Position Capture Input or Trip  
Output  
The MDrive42AC Plus2 Motion Control  
system communicates over RS-422/485  
which allows for point-to-point or multiple  
unit congurations utilizing one commu-  
nication port. Addressing and hardware  
support multiple uniquely addressed units  
communicating over a single line.  
Interface connections are accomplished  
using standard industrial circular con-  
nectors. And connectivity has never  
been easier with options ranging from  
all-inclusive QuickStart Kits to indi-  
vidual interfacing cables. See pg 5.  
• Electronic Gearing  
**Consult Factory for Availability.  
 
PIN ASSIGNMENTS  
SPEED-TORQUE  
P1: I/O CONNECTOR  
MDrive42AC – 120VAC  
Function  
M23 Circular  
1800  
1600  
1271  
1130  
989  
847  
706  
565  
424  
282  
141  
(Male)  
Expanded I/O  
Remote Encoder Closed Loop Control  
Double Motor Length  
Single Motor Length  
Pin 1  
Pin 2  
Pin 3  
Pin 4  
Pin 5  
Pin 6  
Pin 7  
Pin 8  
Pin 9  
Pin 10  
Pin 11  
Pin 12  
Pin 13  
Pin 14  
Pin 15  
Pin 16  
Pin 17  
Pin 18  
Pin 19  
I/O 9  
I/O 11  
Step/Clock I/O  
I/O 1  
Channel A +  
Channel B +  
Index +  
I/O 1  
Index –  
1400  
1200  
1000  
800  
Direction/Clock I/O  
No Connect  
Aux-Logic (+12 to +24 VDC)  
Aux-Ground  
I/O 3  
No Connect  
Aux-Logic (+12 to +24 VDC)  
Aux-Ground  
I/O 3  
600  
400  
200  
0
I/O Ground  
I/O Power  
Shell Connect  
I/O 12  
Capture/Trip I/O  
Analog In  
I/O 2  
I/O 4  
I/O 10  
No Connect  
I/O Ground  
I/O Power  
Shell Connect  
Channel B –  
Capture/Trip I/O  
Analog In  
I/O 2  
I/O 4  
Channel A –  
No Connect  
0
2000  
(600)  
4000  
6000  
8000  
(2400)  
10000  
(3000)  
(1200)  
(1800)  
Speed – Full Steps/Second (RPM)  
MDrive42AC – 240VAC  
1800  
1600  
1271  
1130  
989  
847  
706  
565  
424  
282  
141  
Double Motor Length  
Single Motor Length  
1400  
1200  
1000  
800  
P2: COMM CONNECTOR  
RS-422/485 CANopen  
P3: POWER CONNECTOR  
Euro AC  
Function  
(Male)  
M12  
Circular  
(Female)  
M12  
Circular  
(Male)  
Pin 1  
Pin 2  
Pin 3  
Pin 4  
Pin 5  
Pin 1  
Pin 2  
Pin 3  
Chassis Ground  
AC Power Line  
AC Power Neutral  
Function  
Function  
600  
400  
Pin 1  
Pin 2  
Pin 3  
Pin 4  
Pin 5  
TX –  
TX +  
RX +  
Shield  
CAN +V  
CAN –V  
CAN High  
CAN Low  
200  
0
0
2000  
(600)  
4000  
(1200)  
6000  
(1800)  
8000  
(2400)  
10000  
(3000)  
RX –  
Speed in full steps per second (RPM)  
Comm Ground  
MECHANICAL SPECIFICATIONS  
Dimensions in Inches (mm)  
2
MDrive42AC Plus  
3.0  
(76.2)  
LMAX2  
LMAX  
P1  
P3  
P2  
2.17  
(55.0)  
0.65  
(16.51)  
1.375  
(34.9)  
7.4  
(187.96)  
6.75  
0.335  
(8.51)  
(171.45)  
Ø 2.185  
(Ø 55.5)  
3.50 SQ.  
(88.88 SQ.)  
Ø 0.75  
(Ø 19.05)  
4.331 SQ.  
(110.0 SQ.)  
0.1875  
(4.76)  
0.75  
(19.05)  
0.059  
(1.5)  
0.83  
(21.08)  
*CANopen option increases  
overall height by 0.09"/2.0mm  
0.49  
(12.5)  
4.50  
(114.3)  
MDrive Lengths Inches (mm)  
L
Option  
MAX2  
Ø 1.90  
(Ø 48.3)  
L
L
MAX2  
MAX  
SINGLE SHAFT or CONTROL KNOB  
ENCODER VERSION  
Motor  
Length  
Connectors  
VERSION  
I/O  
Comm  
Power  
Single  
Double  
7.4 (187.96)  
9.4 (238.76)  
9.4 (238.76)  
11.4 (289.56)  
Ø 0.53  
(Ø 13.5)  
Ø 0.87  
(Ø 22.1)  
Ø 0.87  
(Ø 22.1)  
P1: 19-Pin M23  
(Male)  
P2: 5-Pin M12 (Female) P3: 3-Pin Euro AC  
(or CANopen – Male) (Male)  
Control Knob  
Connectivity details:  
MDrive42AC Plus2 Motion Control REV060208  
 
3
MDRIVE42AC PLUS WITH PLANETARY GEARBOX  
The MDrive42AC Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better  
inertia matching and produce ner positional resolutions. These efcient, low maintenance Planetary Gearbox come fully assembled  
with the MDrive and are offered in a large number of reduction ratios in 1-, 2- and 3-stage congurations. An optional NEMA Output  
Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle. Planetary Gearbox may be combined  
with other MDrive42AC Plus options, however are unavailable with Linear Actuators.  
Planetary Gearbox Parameters  
Ratios and Part Numbers  
Output Side with Ball Bearing  
Part Number  
Planetary  
Gearbox  
Ratio  
(Rounded)  
Permitted  
Gearbox Maximum  
Maximum Load  
(lb-force/N)  
Weight  
(lb/kg)  
PM105 PM120  
Output Torque Efficiency Backlash  
(oz-in/Nm)  
Model  
Model  
Radial Axial  
Gearbox w/Flange  
1-Stage  
1-Stage  
1-Stage  
3.71:1 ** G1A1  
5.18:1 G1A2  
6.75:1** G1A3  
G2A1  
G2A3  
1-STAGE  
4956/35.0  
0.80  
0.75  
0.70  
0.80  
0.75  
0.70  
1.0°  
1.5°  
135/600 27/120 9.7/4.4 10.0/4.5  
202/900 40/180 13.2/6.0 13.6/6.2  
337/1500 67/300 16.8/7.6 17.3/7.8  
135/600 27/120 12.3/5.6 12.7/5.8  
202/900 40/180 17.6/8.0 18.1/8.2  
2-STAGE 14869/105.0  
3-STAGE 27614/195.0  
2.0°  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
2-Stage  
13.73:1** G1A4  
G2A4  
G2A9  
G2B4  
15.88:1  
18.37:1  
19.20:1  
22.21:1  
G1A5  
G1A6  
G1A7  
G1A8  
1-STAGE  
7080/50.0  
0.55°  
0.60°  
2-STAGE 21242/150.0  
3-STAGE 42484/300.0  
0.65° 337/1500 67/300 22.9/10.4 23.5/10.7  
25.01:1** G1A9  
26.85:1  
28.93:1  
34.98:1  
G1B1  
G1B2  
G1B3  
Planetary Gearbox for MDrive42Plus  
Dimensions in Inches (mm)  
45.56:1** G1B4  
PM105 Model  
*Gearbox without Flange  
†Gearbox with Flange  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
3-Stage  
50.89:1** G1B5  
G2B5  
G2C1  
G2D1  
G2D5  
58.86:1  
68.07:1  
71.16:1  
78.72:1  
G1B6  
G1B7  
G1B8  
G1B9  
2.33 0.02*  
(59.1 0.5)  
or  
2.04 0.02  
(51.7 0.5)  
k1 0.02 ( 0.5)  
M8 x 0.630 (16.0) Deep*  
0.079  
or  
0.20*  
(5.0)  
4x 0.33 (Ø 8.5) Hole  
(2.0)  
92.70:1** G1C1  
0.35*  
(9.0)  
95.18:1  
99.51:1  
G1C2  
G1C3  
G1C4  
G1C5  
G1C6  
G1C7  
G1C8  
G1C9  
107.21:1  
115.08:1  
123.98:1  
129.62:1  
139.14:1  
149.90:1  
168.85:1** G1D1  
181.25:1  
195.27:1  
236.10:1  
G1D2  
G1D3  
G1D4  
Ctrg. DIN 332-D M10  
3.35 0.004 SQ.*  
(85.0 0.1 SQ.)  
0.50  
(12.7)  
Key DIN 6885-A-8x7x40mm  
Gearbox Lengths Inches (mm)  
3.50  
307.55:1** G1D5  
(88.9)  
k1  
**Indicates limited ratios available for PM120 gearbox.  
GEARBOX*  
5.73 (145.5)  
7.07 (179.6)  
8.41 (213.7)  
with FLANGE†  
5.9 (149.9)  
7.13 (181.0)  
8.35 (212.0)  
‡ Include optional planetary gearbox by adding –G plus  
3 characters to the end of an MDrive part number.  
1-Stage  
2-Stage  
3-Stage  
PM120 Model  
*Gearbox without Flange  
†Gearbox with Flange  
2.86 ±0.02*  
(72.7 ±0.5)  
or  
2.53 ±0.02  
(64.2 ±0.5)  
k1 ±0.02 (±0.5)  
M10 x 0.866 (22.0) Deep*  
0.20*  
(5.0)  
0.079  
(2.0)  
or  
4x 0.35 (Ø 9.0) Hole  
0.24  
0.59*  
or  
(15.0) (6.2)  
Ctrg. DIN 332-D M12  
0.59†  
(15.0)  
3.50 SQ.  
(88.9 SQ.)  
Key DIN 6885-A-10x8x50mm  
Gearbox Lengths Inches (mm)  
3.94 SQ.*  
(100.0 SQ.)  
k1  
GEARBOX*  
6.23 (158.2)  
7.57 (192.4)  
8.92 (226.6)  
with FLANGE†  
6.58 (167.2)  
7.93 (201.4)  
9.28 (235.6)  
1-Stage  
2-Stage  
3-Stage  
4
MDrive42AC Plus2 Motion Control  
REV060208  
 
2
ORDER INFORMATION — MDrive42AC Plus Motion Control  
CONNECTIVITY  
CONNECTING  
OPTIOONPSTIONS  
QuickStart Kit  
Internal Encoder  
An internal 512-line (2048 count) differential optical  
encoder with index mark is available factory-mounted.  
For rapid design verification, all-inclusive QuickStart Kits have com-  
munication converter, prototype development cable(s), instructions  
and CD for MDrivePlus initial functional setup and system testing.  
Remote Encoder  
This MDrivePlus Motion Control is offered with differential en-  
coder inputs for use with a remote encoder (not supplied).  
Communication Converter  
Electrically isolated, in-line converter pre-wired with mating connec-  
tor to conveniently set/program communication parameters for a  
single MDrivePlus via a PC's USB port. Length 12.0' (3.6m).  
Mates to connector:  
Control Knob  
For manual shaft positioning, a factory-mounted rear control  
knob is available.  
5-Pin M12 ............................................MD-CC401-001  
5-Pin M12 CANopen ..............................MD-CC500-000*  
*Requires mating connector adapter and power supply, not supplied.  
Planetary Gearbox  
Efficient, low maintenance planetary gearboxes are  
offered factory-mounted. Refer to details and part num-  
bers on the back cover.  
Prototype Development Cables  
Speed test/development with pre-wired mating connectors that  
have flying leads other end. Single-ended cordsets are PVC jack-  
eted with foil shield and unconnected drain wire. Length 13.0'  
(4.0m).  
**Consult Factory for Availability.  
‡ Not Available with Sealed –65 Versions.  
Mates to connector:  
19-Pin M23  
Straight Termination ..........................MD-CC100-000  
Right Angle Termination .....................MD-CC101-000  
3-Pin Euro AC  
Straight Termination ..........................MD-CC200-000  
Right Angle Termination .....................MD-CC201-000  
PART NUMBERING  
OPTIONS  
OPTION  
K MDI  
M
Q42  
QuickStart Kit  
details above  
2
Input Voltage  
Internal  
EQ  
Plus  
Encoder  
1 = 120 Volt  
2 = 240 Volt  
expanded features  
MDrive Version  
Example: MDI3MRQ42B2–EQ adds a 512-line internal  
Communications  
2
optical encoder with index mark to example #1.  
3 = Plus  
Motor  
2
R = RS-422/485  
C = CANopen  
4 = Plus -65 (sealed)**  
A = Single Length  
B = Double Length  
2
**  
Remote  
EE  
Plus -65  
Encoder  
IP65 sealed  
Example: MDI3MRQ42B2–EE adds differential encoder inputs for  
use with remote encoder (not supplied).  
P1: I/O, 19-Pin M23 Circular Connector  
P3: Power, 3-Pin Euro AC Connector  
May not be combined with internal encoder option.  
Control  
Knob  
–N  
P2: Communications, 5-Pin M12  
Circular Connector  
Example: MDI3MRQ42B2–N adds a rear control knob to  
example #1. Not available with sealed –65 versions.  
Planetary  
–G  
– F  
Gearbox  
Example #1: Part Number MDI3MRQ42B2 is an  
MDrive42AC Plus2 Motion Control with 19-pin M23  
circular I/O interface, RS-422/485 communications  
with 5-pin M12 circular connector, NEMA 42 double  
length motor and 240 input voltage.  
Refer to gearbox page for complete  
table of ratios and part numbers.  
Optional NEMA Flange  
Example: MDI3MRQ42B2–G1A2 adds a PM105 1-stage  
planetary gearbox with 5.18:1 ratio to example #1.  
Add –F for optional NEMA flange.  
**Consult Factory for Availability.  
U.S.A. SALES OFFICES  
Eastern Region  
IMS EUROPEAN SALES MANAGEMENT  
4 Quai Des Etroits  
Tel. 862 208-9742 - Fax 973 661-1275  
Central Region  
69005 Lyon, France  
Tel. +33/4 7256 5113 - Fax +33/4 7838 1537  
Tel. 260 402-6016 - Fax 419 858-0375  
Western Region  
Tel. 602 578-7201  
IMS UK Ltd.  
Sanderson Centre, 15 Lees Lane  
Gosport, Hampshire PO12 3UL  
Tel. +44/0 2392-520775 - Fax +44/0 2392-502559  
IMS ASIA PACIFIC OFFICE  
30 Rafes Pl., 23-00 Caltex House, Singapore 048622  
Tel. +65/6233/6846 - Fax +65/6233/5044  
TECHNICAL SUPPORT  
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107  
Intelligent Motion Systems, Inc.  
370 North Main Street, P.O. Box 457  
Marlborough, CT 06447 - U.S.A.  
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107  
© Intelligent Motion Systems, Inc. All Rights Reserved.  
REV060208  
 

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