TM
Excellence in Motion
TM
17
MICROSTEPPING
FEATURES
DESCRIPTION
• Highly Integrated Microstepping Driver
and NEMA 17 High Torque 1.8°
Brushless Step Motor
• Advanced 2nd Generation Current
Control for Exceptional Performance and
Smoothness
• Single Supply: +12 to +48 VDC
• Cost Effective
• Extremely Compact
The MDrive17Plus Microstepping high
torque integrated motor and step and
direction driver is ideal for designers who
want the simplicity of a motor with on-
board electronics. The integrated electron-
unit with 19-pin M23 circular connector
meets IP65 specifications.1
The versatile MDrive17Plus Microstep-
ping is available in multiple configurations
ics of the MDrive17Plus eliminate the need to fit various system needs. Rotary motor
to run motor cabling through the machine,
reducing the potential for problems due to
electrical noise.
versions come in three lengths and may in-
clude an encoder, control knob, planetary
gearbox or linear slide. Long life Acme
screw linear actuators** are also available.
The unsurpassed smoothness and per-
formance delivered by the MDrive17Plus
Microstepping are achieved through IMS's
advanced 2nd generation current con-
trol. By applying innovative techniques
to control current flow through the motor,
resonance is significantly dampened over
the entire speed range and audible noise
is reduced.
• 20 Microstep Resolutions up to
51,200 Steps Per Rev Including:
Degrees, Metric, Arc Minutes
• Optically Isolated Input Options:
- Universal +5 to +24 VDC Signals,
Sourcing or Sinking
- Differential +5 VDC Signals
• Automatic Current Reduction
• Configurable:
- Motor Run/Hold Current
- Motor Direction vs. Direction Input
- Microstep Resolution
- Clock Type: Step and Direction,
Quadrature, Step Up and Step Down,
Clockwise and Counterclockwise
- Programmable Digital Filtering for
Clock and Direction Inputs
Numerous connector styles give you
choices for the best fit and features. Select
from 12.0” (30.5cm) flying leads, pluggable
terminal strip, locking wire crimp connec-
tors1, and M23 circular connectors on IP65
sealed versions1.
MDrivePlus connectivity has never been
easier with options ranging from all-inclu-
sive QuickStart Kits to individual inter-
facing cables and mating connector kits
to build your own cables. See pg 5.
The MDrive17Plus accepts a broad input
voltage range from +12 to +48 VDC, deliv-
ering enhanced performance and speed.
Oversized input capacitors are used to
minimize power line surges, reducing
problems that can occur with long runs
and multiple drive systems. An extended
operating range of –40° to +85°C provides
long life, trouble free service in demanding
environments.
The MDrive17Plus is a compact, powerful
and cost effective motion control solution
that will reduce system cost, design and
assembly time for a large range
• Available Options:
of brushless step motor applications.
- Long Life Linear Actuators**
- Encoder: External Optical or
Internal Magnetic
- Integrated Planetary Gearbox
- Control Knob for Manual Positioning
- Linear Slide
- IP65 Sealed Configuration with
M23 Circular Connector
• 3 Rotary Motor Lengths Available
CONFIGURING
The MDrive17Plus uses a NEMA 17 frame
size high torque brushless step motor
integrated 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. Param-
eters are changed via an SPI port.
The IMS Motor Interface software is an
easy to install and use GUI for configuring
the MDrive17Plus from a computer's USB
port. GUI access is via the IMS SPI Motor
• Setup Parameters May Be Switched
On-The-Fly
The IMS SPI Motor Interface features:
• 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.
• Interface Options:
- Pluggable Locking Wire Crimp1
- Pluggable Terminal Strip
- 12.0” (30.5cm) Flying Leads
For use in environments where exposure
to chemical, dust and liquids may occur,
a sealed MDrive17Plus-65 Microstepping
• Graphical User Interface (GUI) for Quick
and Easy Parameter Setup
• Simple screen interfaces.
**Consult Factory for Availability.
1Not available with Differential Input option.
MOTOR PERFORMANCE — Speed-Torque
Single Length Rotary Motor
Double Length Rotary Motor
Triple Length Rotary Motor
60
50
42
35
28
21
60
50
42
35
28
60
50
42
35
28
21
40
30
20
40
30
20
40
30
21
14
7
14
7
20
14
7
24 VDC
48 VDC
24 VDC
48 VDC
24 VDC
48 VDC
10
0
10
10
0
0
0
1000
(300)
2000
(600)
3000
(900)
4000
5000
6000
7000
0
1000
(300)
2000
(600)
3000
(900)
4000
5000
(1200) (1500)
6000
7000
(1800) (2100)
0
1000
(300)
2000
(600)
3000
(900)
4000
5000
(1200) (1500)
6000
7000
(1800) (2100)
(1200) (1500)
(1800) (2100)
Speed in Full Steps per Second (RPM)
Speed in Full Steps per Second (RPM)
Speed in Full Steps per Second (RPM)
WIRE/PIN ASSIGNMENTS — MDrive17Plus Microstepping
Plus
Plus-65 (sealed)
P1: I/O, POWER & COMM CONNECTOR
P1: I/O & POWER CONNECTOR
M23 Circular
Function
Pluggable
Terminal
Strip
Flying
Leads
Pluggable
Locking Wire
Crimp**
Function
(Male)
Differential Input
Universal Input
Wire Colors
Pin 1
Pin 2
Pin 6
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 16
Pin 17
Pin 18
Pin 19
Optocoupler Reference
Enable Input
+V (+12 to +48 VDC)
SPI Master Out – Slave In
SPI Chip Select
+5 VDC Output
Communications Ground
Shell Connect
CW/CCW Direction Input
SPI Clock
SPI Master In – Slave Out
Step Clock Input
Clockwise/Counterclockwise
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
White
—
Orange
Blue
Brown
Black
Red
Pin 3
—
Optocoupler Reference
No Connect
CW +
No Connect
CW –
CCW –
CCW +
Pin 4
Pin 6
Pin 5
Pin 1
Pin 2
Pin 7
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Step Clock Input
CW/CCW Direction Input
Enable Input
Power Ground
Power Ground
+V (+12 to +48 VDC)
+V (+12 to +48 VDC)
+5 VDC Output
SPI Clock
12-pin pluggable
locking wire crimp
Communications Ground
SPI Master Out – Slave In
SPI Chip Select
connector not available
with Differential Input.
Power Ground
SPI Master In – Slave Out
Pins below are No Connect unless populated for encoder option.
Optional Internal Differential Encoder
P2: COMM CONNECTOR (SPI)**
Pin 3
Pin 4
Pin 5
Pin 7
Pin 14
Pin 15
Index +
Channel B +
Channel B –
Channel A +
Index –
10-Pin IDC
Function
No Connect
No Connect
No Connect
SPI Chip Select
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Channel A –
Communications Ground
+5 VDC Output
SPI Master Out – Slave In
SPI Clock
No Connect
SPI Master In – Slave Out
**The 12-Pin Pluggable Locking Wire Crimp connector at P1 eliminates the P2 connector.
P4: OPTIONAL INTERNAL DIFFERENTIAL ENCODER
10-Pin Wire Crimp
Pin 1
Function
Ground
Pin 2
Pin 3
Pin 4
Pin 5
Channel A +
Channel A –
Channel B +
Channel B –
Index +
Pin 6
Pin 7
Index –
Pin 8
Pin 9
No Connect
No Connect
No Connect
Pin 10
An optional encoder cable is available.
MDrive17Plus Microstepping REV060208
3
MECHANICAL SPECIFICATIONS
Dimensions in Inches (mm)
MDrive17Plus Microstepping
1.19
(30.2)
Connector
Option
P1
0.94 ±0.02
(23.9 ±0.5)
0.08
(2.0)
4X M3x0.5 THREAD
x0.15 MIN DEEP
0.59 ±0.02
(15.0 ±0.5)
Ø 0.1968 +0/-0.0005
(Ø 4.999 +0/-0.013)
0.20
(5.0)
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
2.30
(58.3)
P4
P2
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
0.177 ±0.002
(4.49 ±0.05)
1.68 SQ.
(42.7 SQ.)
L
MAX
L
MAX2
P1 Connector Options
I/O & Power
I/O & Power
I/O, Power & Comm
MDrive Lengths Inches (mm)
0.44
(11.2)
0.36
(9.1)
12.00
(304.8
+1.0/-0.0
L
L
MAX2
MAX
+25.4/-0.0)
SINGLE SHAFT,
INTERNAL ENCODER,
or LINEAR ACTUATOR
2.20 (55.9)
CONTROL KNOB or
Motor
Length
EXTERNAL ENCODER
P1
P1
P1
2.79 (70.9)
3.02 (76.7)
3.37 (85.6)
Single
Double
Triple
Differential
Encoder*
2.43 (61.7)
2.77 (70.4)
Flying Leads
7-Pin Pluggable Clamp
Type Terminal Strip
12-Pin Pluggable
Locking Wire Crimp**
2.04*
(51.8)
P2 Connector Options
L
Options
P4 Option
MAX2
Single-End
Encoder
Comm
Internal Encoder
P2
P2
1.42
(36.1)
Internal Encoder
Ø 0.97
(Ø 24.6)
P4
.
1.20
(30.4)
.
1.22*
(31.0)
Control Knob
External Encoder
10-Pin IDC
No Connector**
10-Pin Pluggable
Locking Wire Crimp
**12-Pin Pluggable Locking Wire Crimp connector at P1 eliminates the P2 connector.
MDrive17Plus-65 Microstepping (sealed)
1.38
(35.1)
0.80
(20.3)
0.49
(12.5)
0.64
(16.3)
0.94 ±0.02
(23.9 ±0.5)
0.08
(2.0)
4X M3x0.5 THREAD
x0.15 MIN DEEP
0.59 ±0.02
(15.0 ±0.5)
2.792
(70.9)
Ø 0.866 +0/-0.002
(Ø 21.996 +0/-0.051)
P1
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
1.161
(29.5)
0.177 ±0.002
(4.49 ±0.05)
Ø 0.1968 +0/-0.0020
(Ø 4.999 +0/-0.051)
1.69 SQ.
(42.9 SQ.)
L
MAX
L
MAX2
Connector
Sealed MDrive Lengths Inches (mm)
I/O, Power & Comm
Motor
L
L
MAX2
MAX
Length
Single
Double
Triple
Ø 0.87
(Ø 22.1)
2.39 (60.71)
2.62 (66.55)
2.96 (75.18)
3.06 (77.72)
3.29 (83.57)
3.63 (92.20)
19-Pin M23 (Male)
4
MDrive17Plus Microstepping REV060208
ORDER INFORMATION — MDrive17Plus Microstepping
CONNCEOCNTNIVEITCYTING
OPTIOONPSTIONS
QuickStart Kit
Linear Actuator**
For rapid design verification, all-inclusive QuickStart Kits have com-
The MDrive17Plus is offered with numerous linear actuator
styles and options to satisfy a broad range of linear motion
applications. Contact the factory for details or see:
munication converter, prototype development cable(s), instructions
and CD for MDrivePlus initial functional setup and system testing.
Communication Converters
Electrically isolated, in-line converters pre-wired with mating connec-
tors to conveniently set/program communication parameters for a
single MDrivePlus via a PC's USB port. Length 12.0' (3.6m).
Mates to connector:
External Encoder‡
External optical encoders, single-end or differential, are of-
fered factory-mounted with the MDrive17Plus. All encoders
come with an index mark. Refer to the table below.
10-Pin IDC ............................................MD-CC300-001
12-Pin Wire Crimp.................................MD-CC303-001
19-Pin M23 (sealed version).........................MD-CC301-001
Line Count
Single-End part#
Differential part# EAL EBL ECL EWL EDL EHL EXL EJL
Optional encoder cables are available. Order separately.
Single-end Cable (12.0"/30.5cm).........ES-CABLE-2
Differential Locking Cable (6.0'/1.8mm)...ED-CABLE-6
100 200 250 256 400 500 512 1000 1024
E1 E2 E3 EP E4 E5 EQ
E6
ER
EYL
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:
Internal Encoder
12-Pin Wire Crimp.................................PD12-1434-FL3
For IP65 sealed versions, single-ended cordsets are PVC jacketed
with foil shield and unconnected drain wire. Length 13.0' (4.0m).
19-Pin M23
Internal differential magnetic encoders with index mark are
available with regular and IP65 sealed versions.
Line Count
100 200 250 256 400 500 512 800 1000
EJM
Differential part# EAM EBM ECM EWM EDM EHM EXM EFM
Straight Termination ..........................MD-CS100-000
Right Angle Termination......................MD-CS101-000
An optional encoder cable, mating to the regular version's 10-
pin wire crimp connector, is available. Order separately.
Internal Encoder Cable (6.0'/1.8mm) ...ED-CABLE-JST10
Mating Connector Kits
Use to build your own cables. Kit contains 5 mating shells with pins.
Cable not supplied. Manufacturer's crimp tool recommended.
Mates to connector:
Control Knob‡
The MDrive17Plus is available with a factory-mounted rear
control knob for manual shaft positioning.
12-Pin Wire Crimp.................................CK-03
Kit contains 5 mating connectors that press fit onto ribbon cable.
Cable not supplied.
Planetary Gearbox
Efficient, low maintenance planetary gearboxes are
offered assembled with the MDrive17Plus. Refer to
details and part numbers on the back cover.
10-Pin IDC ............................................CK-01
**Consult Factory for Availability.
‡ Not Available with Sealed –65 Versions.
Linear Slide
Integrated linear slides are available factory installed for
precision linear movement. Screw leads are 0.1", 0.2", 0.5"
or 1.0" of travel per rev. Slides are 12.0" (30.5cm) to 36.0"
(91.44cm) long. Contact factory for custom lengths. Refer
to separate datasheet or web site for complete details.
PART NUMBERING
OPTIONS
OPTION
Linear
K
MDM
S
17 4 –
Motor
–L
Actuator**
Plus
QuickStart Kit
details above
base version
A = Single Length & Linear Actuator**
B = Double Length
C = Triple Length
For complete product specifications, see:
Input Version
1 = Universal
5 = Differential
External
–E
Encoder
Refer to external encoder table above for line counts and part numbers.
P1: I/O & Power
F = 12" Flying Leads
P = Pluggable Clamp
Type Terminal Strip
Example: MDM1PSD17A4–EHL adds an external 500-line count
differential optical encoder with index mark to example #1.
Not available with sealed –65 versions.
C = 12-Pin Locking Wire Crimp
(Includes I/O, Power & Comm)
Not available with Differential
Input Version
Internal
–E
P2: Communications
Encoder
D = SPI with 10-Pin IDC Connector
Refer to internal encoder table above for line counts and part numbers.
Z = None. Used with 12-Pin Locking Wire
Crimp in Position P1, which includes
Communications.
Example: MDM1PSD17A4–ECM adds an internal 250-line count
differential magnetic encoder with index mark to example #1.
Control
Example #1: Part Number MDM1PSD17A4 is an MDrive17Plus Microstepping
with pluggable I/O & power interface, SPI communications with 10-pin IDC
connector, and NEMA 17 single length motor.
–N
Knob
Example: MDM1PSD17A4–N adds a rear control knob for manual
positioning to example #1. Not available with sealed –65 versions.
Planetary
–G
– F
Gearbox
OPTION
K MDM2MSZ17
4
–
Refer to gearbox page for complete
table of ratios and part numbers.
Optional NEMA Flange
2
QuickStart Kit
details above
Plus -65
Motor
Example: MDM1PSD17A4–G1A2 adds a 1-stage planetary gearbox
with 5.18:1 ratio to example #1. Add –F for optional NEMA flange.
IP65 sealed
A = Single Length
B = Double Length
C = Triple Length
Linear
Slide
–R
P1: I/O, Power & Communications
19-Pin M23 Circular Connector
Screw Lead
Standard Screw Lengths
(inches/rev)
10", 12", 15", 18", 24" or 36"
For Custom Lengths, Consult Factory
A = 0.10” (2.54mm)
B = 0.20” (5.08mm)
C = 0.50” (12.7mm)
D = 1.00” (25.4mm)
NOTE: 10" lengths only with A or B leads.
15" lengths only with A, B or C leads.
36" lengths only with D leads.
Example #2: Part Number MDM2MSZ17B4 is an MDrive17Plus-65 Microstepping
sealed with IP65 rating, 19-pin M23 I/O, power and communications circular
connector, and NEMA 17 double length motor.
Example: MDM1PSD17A4–RA10 adds a Linear Slide with
0.10" screw lead, 10" long to example #1.
**Consult Factory for Availability.
MDrive17Plus Microstepping REV060208
5
MDRIVE17PLUS WITH PLANETARY GEARBOX
The MDrive17Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better inertia
matching and produce finer positional resolutions. These efficient, low maintenance Planetary Gearbox come fully assembled with
the MDrive and are offered in a large number of reduction ratios in 1-, 2- and 3-stage configurations. An optional NEMA Output
Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle. Planetary Gearbox may be combined
with other MDrive17Plus options, however are unavailable with Linear Actuators.
Ratios and Part Numbers
Planetary Gearbox Parameters
Planetary
Gearbox
Ratio
Part
Output Side with Ball Bearing
(Rounded) Number**
Permitted
Output Torque Efficiency Backlash
(oz-in/Nm)
Gearbox Maximum
Maximum Load
(lb-force/N)
Weight
(oz/g)
1-Stage
1-Stage
1-Stage
3.71:1
5.18:1
6.75:1
G1A1
G1A2
G1A3
Radial
Axial
Gearbox with Flange
1-STAGE
2-STAGE
3-STAGE
425/3.0
1062/7.5
2124/15.0
0.80
0.75
0.70
0.80°
0.85°
0.90°
36/160
52/230
11/50 14.3/406 14.8/420
18/80 17.9/508 18.5/525
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
G1A4
G1A5
G1A6
G1A7
G1A8
G1A9
G1B1
G1B2
G1B3
G1B4
67.5/300 25/110 18.5/525 22.2/630
Planetary Gearbox for MDrive17Plus
Dimensions in Inches (mm)
*Gearbox without Flange
Gearbox with Flange
†
0.984*
(25.0)
or
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
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
G1B5
G1B6
G1B7
G1B8
G1B9
G1C1
G1C2
G1C3
G1C4
G1C5
G1C6
G1C7
G1C8
G1C9
G1D1
G1D2
G1D3
G1D4
G1D5
†
M3 x 0.276 (7.0) Deep
†
0.846
(21.5)
k1 ±0.02 (±0.5)
M4 x 0.394 (10.0) Deep*
M3 x 0.394 (10.0) Deep*
1.20
(30.5)
0.08
(2.0)
Ø 1.26*
(Ø 32.0)
Ctrg.DIN 332-DM3
Key DIN 6885-A-3x3x16mm
Gearbox Lengths Inches (mm)
Ø 1.417*
(Ø 36.0)
k1
GEARBOX*
2.736 (69.5)
3.248 (82.5)
3.76 (95.5)
with FLANGE†
2.858 (72.6)
3.37 (85.6)
1-Stage
2-Stage
3-Stage
3.882 (98.6)
**Include optional planetary gearbox by adding –G plus
3 characters to the end of an MDrive part number.
U.S.A. SALES OFFICES
Eastern Region
Tel. 862 208-9742 - Fax 973 661-1275
e-mail: [email protected]
Central Region
IMS EUROPEAN SALES MANAGEMENT
4 Quai Des Etroits
69005 Lyon, France
Tel. +33/4 7256 5113 - Fax +33/4 7838 1537
e-mail: [email protected]
Tel. 260 402-6016 - Fax 419 858-0375
e-mail: [email protected]
Western Region
Tel. 602 578-7201
e-mail: [email protected]
IMS UK Ltd.
Sanderson Centre, 15 Lees Lane
Gosport, Hampshire PO12 3UL
Tel. +44/0 2392-520775 - Fax +44/0 2392-502559
e-mail: [email protected]
IMS ASIA PACIFIC OFFICE
30 Raffles Pl., 23-00 Caltex House, Singapore 048622
Tel. +65/6233/6846 - Fax +65/6233/5044
e-mail: [email protected]
TECHNICAL SUPPORT
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107
e-mail: [email protected]
Intelligent Motion Systems, Inc.
370 North Main Street, P.O. Box 457
Marlborough, CT 06447 - U.S.A.
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107
e-mail: [email protected]
© Intelligent Motion Systems, Inc. All Rights Reserved.
REV060208
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