Intelligent Motion Systems Home Safety Product MDrive23 User Manual

TM  
MICROSTEPPING  
DESCRIPTION  
FEATURES  
connections are accomplished us-  
ing either a 1 2 position keyed and  
locking pin and receptacle (C Con-  
nector), a 7 position terminal strip,  
or 1 2 .0 " (3 0 .5 cm) ying leads.  
The MDrive NEMA 2 3 high torque  
Inte gr a te d Motor a nd Dr ive r is  
ideal for designers who want the  
simplicity of a motor with on-board  
e le ctronics , but without the e x-  
pense of an indexer on each axis.  
The low cost MDrive2 3 allows the  
system designer to decide the best  
method of control. The MDrive2 3 s  
inte gra te d e le ctronics e lim ina te  
the need to run the motor cabling  
through the machine, reducing the  
potential for problems due to elec-  
trical noise.  
Integrated Microstepping Driver  
and NEMA 2 3 High Torque 1 .8 °  
Stepping Motor  
Input Voltage:  
+1 2 to +4 8 VDC (MDrive2 3 -4 )  
+2 4 to +7 5 VDC (MDrive2 3 -7 )  
The MDrive2 3 is a compact, pow-  
erful and inexpensive solution that  
will reduce system cost, design and  
assembly time for a large range of  
stepping motor applications.  
Low Cost  
Extremely Compact  
Optically Isolated Logic Inputs  
will Accept +5 to +2 4 VDC  
Signals, Sourcing or Sinking  
CONFIGURING  
Automatic Current Reduction  
The IMS Motor Interface software  
is an easy to install and use GUI  
for conguring the MDrive2 3 from  
a computer parallel/ SPI port. GUI  
acces s is via the IMS SPI Inter-  
face included on the CD s hipped  
with the product, or download at  
www.imshome.com. Optional cables  
are available for ease of connecting  
and conguring the MDrive.  
Congurable:  
- Motor Run/ Hold Current  
- Motor Direction vs. Direction  
Input  
- Microstep Resolution to 2 5 6  
Microsteps/ Full Step  
Available Congurations:  
- Single Shaft*  
- Long Life Linear Actuator  
- Optical Encoder*  
- Control Knob for Manual  
Positioning*  
- Integrated Planetary Gearbox*  
The MDrive2 3 uses a NEMA 2 3  
frame size 1 .8 ° high torque step-  
ping motor combined with a mic-  
rostepping driver, and accepts up  
to 1 4 resolution settings from ½  
to 2 5 6 micros teps per full s tep.  
Setup parameters include Micro-  
step Resolution, Motor Run/ Hold  
Current, and Motor Direction with  
r e s pe c t to the dir e c tion input.  
Thes e s ettings m ay be changed  
o n -t h e -fly o r d o wn lo a d e d a n d  
stored in nonvolatile memory with  
the use of a simple GUI which is  
provided. This eliminates the need  
for external switches or resistors.  
Pa ra m eters a re cha nged via a n  
SPI port. Operating voltage for the  
MDrive2 3 ranges from +1 2 to +4 8  
VDC or +2 4 to +7 5 VDC.  
The IMS Motor Interface features:  
Easy installation.  
Automatic detection of MDrive  
version and communication  
conguration.  
W ill not set out-of-range values.  
Tool-tips display valid range  
setting for each option.  
Three Stack Sizes Available*  
Current and Resolution May Be  
Switched On-The-Fly  
Single Supply  
Single screen interface (below).  
Interface Options:  
- Keyed and Locking Pin and  
Receptacle (C Connector)  
The versatile, compact MDrive2 3 is  
available in multiple congurations  
to t various system needs. These  
include a s ingle s haft rotary mo-  
tor, a dua l s ha ft r ota r y m otor  
available with optical encoder or  
control knob, a planetary gearbox,  
or a long life Acme s crew linear  
actuator. The rotary MDrive2 3 is  
available in single, double and triple  
stack sizes: 1 8 , 2 2 & 3 1 . Interface  
- Pluggable Terminal Strip  
- 1 2 .0 " (3 0 .5 cm) Flying Leads  
Graphical User Interface (GUI)  
for Quick and Easy Parameter  
Setup  
*
Rotary Motor Only  
The IMS Motor Interface GUI simplifies MDrive  
conguring with a single screen interface.  
(DIR feature with C Connector version only.)  
C Connector Version Only. Other  
Versions Require 5 Volt Sinking Outputs.  
MDrive2 3 Microstepping Datasheet REV1 2 1 7 0 4  
 
1
MDRIVE2 3 MOTOR SPECIFICATIONS  
MD2 2 1 8 Single Stack  
MD2 2 3 1 Triple Stack  
Holding Torque ........................ 9 0 oz-in / 6 4 N-cm  
Detent Torque ....................... 3 .9 oz-in / 2 .7 N-cm  
Rotor Inertia ........ 0 .0 0 2 5 oz-in-sec2 / 0 .1 8 kg-cm2  
Weight (Motor+Driver)............... 2 0 .1 oz / 5 6 9 .8 g  
Holding Torque ..................... 2 3 9 oz-in / 1 6 9 N-cm  
Detent Torque ...................... 9 .7 oz-in / 6 .8 6 N-cm  
Rotor Inertia ..........0 .0 0 6 5 oz-in-sec2 / 0 .4 6 kg-cm2  
Weight (Motor+Driver)............. 3 8 .5 oz / 1 0 9 1 .5 g  
MD2 2 2 2 Double Stack  
MD2 2 1 8 Linear Actuator  
Holding Torque .................... 1 4 4 oz-in / 1 0 2 N-cm  
Detent Torque ..................... 5 .6 oz-in / 3 .9 2 N-cm  
Rotor Inertia ........ 0 .0 0 3 7 oz-in-sec2 / 0 .2 6 kg-cm2  
Weight (Motor+Driver)............... 2 4 .4 oz / 6 9 1 .7 g  
Maximum Thrust ......................... 2 0 0 lbs / 8 9 0 N  
Maximum Screw Deection ............................. ± 1 °  
Backlash ............................ 0 .0 0 5 in / 0 .1 2 7 mm  
Weight (without screw).............. 2 0 .4 oz / 5 7 8 .3 g  
TORQUE-SPEED CURVES  
Rotary Motor  
FORCE-SPEED CURVES  
Linear Actuator  
MD2 2 1 8 Single Stack  
2 4 VDC  
Load Limit 200lbs / 890N  
24 VDC  
45 VDC  
75 VDC  
890  
200  
180  
160  
70  
60  
50  
40  
30  
20  
10  
0
49  
42  
35  
28  
21  
14  
7
801  
712  
Screw F  
Screw E  
Screw D  
Screw C  
Screw B  
Screw A  
623  
534  
445  
356  
267  
178  
89  
140  
120  
100  
80  
60  
40  
0
1000  
2000  
3000  
4000  
5000  
6000  
7000  
20  
Speed in Full Steps per Second  
0
0
1000  
2000  
3000  
4000  
5000  
6000  
7000  
Speed in Full Steps per Second  
MD2 2 2 2 Double Stack  
4 5 VDC  
Load Limit 200lbs / 890N  
24 VDC  
45 VDC  
75 VDC  
890  
99  
85  
71  
56  
42  
28  
14  
200  
180  
160  
140  
120  
100  
80  
801  
712  
Screw F  
Screw E  
Screw D  
Screw C  
Screw B  
Screw A  
623  
534  
445  
356  
267  
178  
89  
140  
120  
100  
80  
60  
40  
20  
60  
0
40  
0
1000  
2000  
3000  
4000  
5000  
6000  
7000  
20  
Speed in Full Steps per Second  
0
0
1000  
2000  
3000  
4000  
5000  
6000  
7000  
Speed in Full Steps per Second  
MD2 2 3 1 Triple Stack  
7 5 VDC  
Load Limit 200lbs / 890N  
24 VDC  
45 VDC  
75 VDC  
890  
200  
180  
160  
225  
200  
159  
141  
Screw F  
Screw E  
801  
712  
Screw D  
Screw C  
Screw B  
Screw A  
124  
106  
88  
175  
150  
125  
100  
75  
623  
534  
445  
356  
267  
178  
89  
140  
120  
100  
80  
71  
53  
60  
35  
50  
40  
20  
18  
25  
0
0
0
1000  
2000  
3000  
4000  
5000  
6000  
7000  
0
1000  
2000  
3000  
4000  
5000  
6000  
7000  
Speed in Full Steps per Second  
Speed in Full Steps per Second  
MDrive2 3 Microstepping Datasheet REV1 2 1 7 0 4  
 
3
MDRIVE2 3 W ITH PLANETARY GEARBOX  
The MDrive2 3 is available with a Planetary Gearbox reduction ratios in 1 -, 2 - and 3 -stage congurations.  
option developed to increase torque at lower speeds, An optional NEMA Flange allows mounting the Plan-  
enable better inertia matching and produce ner etary Gearbox to the load using a standard NEMA  
positional resolutions. These efcient, low mainte- bolt circle. Planetary Gearbox may be combined with  
nance Planetary Gearbox come fully assembled with other MDrive2 3 options, however are unavailable on  
the MDrive and are offered in a large number of Linear Actuator versions.  
Parameters  
1 -Stage  
2 -Stage  
3 -Stage  
Permitted Output Torque (oz-in/ Nm)........................... 5 6 6 / 4 .0 ............1 6 9 9 / 1 2 .0 .........3 5 4 0 / 2 5 .0  
Gearbox Efficiency....................................................... 0 .8 0 ....................0 .7 5 ...................0 .7 0  
Maximum Backlash (degree)........................................ 0 .7 0 °................... 0 .7 5 °.................. 0 .8 0 °  
Ouput Side with Ball Bearing  
Maximum Load, Radial (lb-force/ N) ............................ 4 5 / 2 0 0 ............... 7 2 / 3 2 0 ............. 1 0 1 / 4 5 0  
Maximum Load, Axial (lb-force/ N) ............................... 1 3 / 6 0 ................ 2 2 / 1 0 0 .............. 3 4 / 1 5 0  
Weight - Gearbox Only (oz/ g).................................... 2 5 .0 / 7 1 1 ............3 2 .2 / 9 1 4 ..........3 9 .4 / 1 1 1 7  
Weight - Gearbox & NEMA Flange (oz/ g) ................... 2 5 .9 / 7 3 5 ............3 3 .3 / 9 4 5 ..........4 0 .7 / 1 1 5 5  
PLANETARY GEARBOX MECHANICAL SPECIFICATIONS  
Dimensions in Inches (mm)  
Gearbox Ratios (Rounded)  
1 -Stage  
3 .7 0 :1  
5 .1 8 :1  
6 .7 5 :1  
2 -Stage  
1 3 .7 3 :1  
1 5 .8 8 :1  
1 8 .3 6 :1  
1 9 .2 0 :1  
2 2 .2 0 :1  
2 5 .0 1 :1  
2 6 .8 5 :1  
2 8 .9 3 :1  
3 -Stage  
5 0 .8 9 :1  
5 8 .8 5 :1  
6 8 .0 6 :1  
7 1 .1 6 :1  
7 8 .7 1 :1  
9 2 .7 0 :1  
9 5 .1 7 :1  
9 9 .5 0 :1  
Planetary Gearbox for MDrive2 3  
0.984  
(25.0)  
k1 0.02 ( 0.5)  
M5 x 0.394 (10.0) Deep  
0.106  
(2.7)  
3 4 .9 7 :1 1 0 7 .2 0 :1  
4 5 .5 6 :1 1 1 5 .0 7 :1  
1 2 3 .9 7 :1  
1 2 9 .6 2 :1  
1 3 9 .1 3 :1  
1 4 9 .9 0 :1  
1 6 8 .8 4 :1  
1 8 1 .2 4 :1  
1 9 5 .2 6 :1  
2 3 6 .0 9 :1  
3 0 7 .5 4 :1  
Ctrg. DIN 332-D M4x10  
Key DIN 6885-A-4x4x16mm  
Ø 1.575  
(Ø 40.0)  
Gearbox Lengths Inches (mm)  
1 -Stage  
2 -Stage  
3 -Stage  
4 .3 1 5  
(1 0 9 .6 )  
5 .1 6 9  
(1 3 1 .3 )  
6 .0 2 4  
(1 5 3 .0 )  
k1 Gearbox  
k2 Gearbox w/  
NEMA Flange  
4 .4 3 3  
(1 1 2 .6 )  
5 .2 8 7  
(1 3 4 .3 )  
6 .1 4 2  
(1 5 6 .0 )  
Planetary Gearbox with Optional NEMA Output Flange  
0.925  
(23.5)  
k2 0.02 ( 0.5)  
4x Ø 0.197 (Ø 5) Hole  
0.06  
(1.5)  
Ctrg. DIN 332-D M4x10  
1.854  
(47.1)  
0.236  
(6.0)  
Key DIN 6885-A-4x4x16mm  
2.22 SQ.  
(56.4 SQ.)  
MDrive2 3 Microstepping Datasheet REV1 2 1 7 0 4  
 
4
MDRIVE2 3 MICROSTEPPING – MECHANICAL SPECIFICATIONS  
Dimensions in Inches (mm)  
Rotary MDrive2 3 : Single Shaft, Control Knob & Encoder Vers ions  
1.63  
(41.4)  
1.50  
(38.1)  
Interface  
Option  
0.81 0.02  
(20.6 0.5)  
P1  
4X Ø 0.197  
(Ø 5.0)  
0.06  
(1.6)  
0.59 0.008  
(15.0 0.2)  
0.23 0.004  
(5.8 0.1)  
2.92  
(74.2)  
P2  
1.856 0.008 SQ.  
(47.14 0.2 SQ.)  
Ø 0.250 +0/-0.0005  
(Ø 6.35 +0/-0.013)  
0.19  
(4.8)  
Ø 1.500 0.002  
(Ø 38.10 0.05)  
2.22 SQ.  
L
MAX  
(56.4 SQ.)  
L
MAX2  
MDrive Lengths Inches (mm)  
Interface Options  
L
L
MAX2  
MAX  
0.44  
(11.2)  
CONTROL KNOB or  
ENCODER VERSION  
SINGLE SHAFT  
VERSION  
12.00  
+1.0/-0.0  
0.36  
(9.1)  
Stack Size  
2 2 1 8  
2 2 2 2  
(304.8)  
(+25.4/-0.0)  
2 .6 3 (6 6 .8 )  
3 .0 0 (7 6 .2 )  
3 .8 6 (9 8 .0 )  
3 .3 5 (8 5 .1 )  
3 .7 0 (9 4 .0 )  
4 .5 7 (1 1 6 .1 )  
2 2 3 1  
Pluggable Clamp  
Type Terminal Strip  
1.17  
(29.7)  
L
Options  
Flying Leads  
C Connector  
MAX2  
1.20  
(30.4)  
Differential  
Adapter  
3.00  
(76.2)  
1.90  
(48.3)  
Ø 0.97  
(Ø 24.6)  
2.22  
(56.4)  
1.42  
(36.1)  
.
1 0 0 - 1 0 0 0 Line Encoders  
2 0 0 0 Line Encoder  
Control Knob  
Linear Actuator MDrive2 3  
6.00  
(152.4)  
1.63  
(41.4)  
1.50  
(38.1)  
Interface  
Option  
P1  
4X Ø 0.205  
(Ø 5.21)  
0.06  
(1.6)  
0.375  
(9.52)  
0.50  
(12.7)  
2.92  
(74.2)  
P2  
1.856 0.008 SQ.  
(47.14 0.2 SQ.)  
1/4-20 UNC-2A  
THREAD TO  
WITHIN 0.05 (1.3)  
OF SHOULDER  
Ø 1.500 0.002  
(Ø 38.10 0.05)  
2.64  
(67.1)  
2.22 SQ.  
(56.4 SQ.)  
MDrive2 3 Microstepping Datasheet REV1 2 1 7 0 4  
 
5
Screw C ............... 0 .0 0 0 5 / full step  
Screw D ............... 0 .0 0 0 4 1 6 7 / full step  
MDRIVE2 3 MICROSTEPPING – OPTIONS  
Screw E. ............... 0 .0 0 0 3 1 2 5 / full step  
Control Knob  
Standard screw length is 6 .0 ” (1 5 2 .4 mm) plus the  
mounting end thread. Custom lengths from 2 .0 ” to  
2 4 .0 ” are available without mounting end thread.  
Linear Actuators are Non-Captive style. Contact the  
factory regarding Captive Shaft or External styles.  
The MDrive2 3 is available with a factory-mounted rear  
control knob for manual shaft positioning.  
Planetary Gearbox  
Efficient, low maintenance Planetary Gearbox are of-  
fered assembled with the MDrive2 3 . Details inside.  
Parameter Setup Cable and Adapter  
The optional 6 ' (1 .8 m) Parameter Setup Cable Part  
No. MD-CC1 0 0 -0 0 0 eliminates the need to wire com-  
munications and is recommended with rst order. It  
connects an MDrive's 1 0 pin pin-header (P2 ) to a  
standard DB-2 5 PC Parallel/ SPI port and includes  
built-in logic level shifting circuity to accommodate the  
3 .3 v ports on some PCs. In addition, MDrives with  
C Connector require an Adapter Part No. MD-ADP-  
1 7 2 3 C to mate the Cable to the 1 2 position pin and  
receptacle connector (P1 ).  
Encoder  
The MDrive2 3 is available with a factory-mounted  
optical encoder. Available line counts are 1 0 0 , 2 0 0 ,  
2 5 0 , 4 0 0 , 5 0 0 , 1 0 0 0 or 2 0 0 0 . All encoders, except  
1 0 0 0 line, have an index mark. Encoders are avail-  
able in both single-end and differential congurations.  
Order optional Encoder Cables separately:  
Single-end Cable (1 2 "/ 3 0 .5 cm) ... ES-CABLE-2 *  
Differential Cable (3 6 "/ 9 1 .5 cm)... ED-CABLE-2 *  
* Change "2 " to a "6 " when ordering 2 0 0 0 line encoder cable.  
Prototype Development Cable  
Linear Actuator  
For testing and development of MDrives with C Con-  
nector, the 1 2 " (3 0 .5 cm) Prototype Development  
Cable plugs into the MD-ADP-1 7 2 3 C Adapter and  
has ying leads for connection to the user interface.  
Part No. ADP-3 5 1 2 -FL.  
The MDrive2 3 with long life Acme Screw Linear Ac-  
tuator is available with the following travel/ full step:  
Screw F ............... 0 .0 0 2 / full step  
Screw A ............... 0 .0 0 1 / full step  
Screw B. .............. 0 .0 0 0 8 3 3 3 / full step  
ORDER INFORMATION  
MDRIVE2 3 MICROSTEPPING  
OPTIONS  
Example #2: MDMC2222-4N  
Adds a Control Knob  
to the part shown in example #1.  
Control  
Knob  
N
Stack Sizes  
18= Single Stack & Linear Actuator  
22 = Double Stack  
31 = Triple Stack  
Example #3: MDMC2222-4G5  
Rounding ratio to the nearest whole number,  
the above adds a Planetary Gearbox with  
Planetary  
Gearbox  
G
Gearbox Ratio  
5.18:1 ratio to the part shown in example #1.  
Rounded to Nearest Whole Number  
Add -F if optional NEMA Flange is desired.  
OPTION  
Example #4: MDMC2222-4ED500  
Adds a 500 line count Differential Encoder  
to the part shown in example #1.  
MDM  
22  
Encoder  
E
S = Single End  
D = Differential  
Line Count: 100, 200, 250,  
400, 500, 1000, 2000  
Interface Options  
Input Voltage  
C = Pin & Receptacle*  
F = 12" Flying Leads  
P = Pluggable Clamp  
Type Terminal Strip  
4 = 48 VDC  
7 = 75 VDC*  
Example #5: MDMC2218-4LB10.5  
MDrive23 Microstepping Linear Actuator  
with a 0.0008333”/Full Step Acme  
Screw custom cut to 10.5”.  
Linear  
Actuator  
Screw Type (Travel/Full Step)  
F = 0.002”  
A = 0.001”  
L
Custom Screw Length  
Range 2.0” to 24.0”  
Format XX.X  
MAY NOT be combined with other options.  
Example #1: Part Number MDMC2222-4 is an MDrive23  
Microstepping with C Connector, NEMA 22 motor, stack size 22  
and +12 to +48 VDC input voltage range.  
B = 0.0008333”  
C = 0.0005”  
D = 0.0004167”  
E = 0.0003125”  
Note: MDrive23 Linear Actuator  
Available ONLY in Stack Size 18  
eg. 08.5 for an 8.5” Screw  
(6.0” Screw Length Standard)  
Linear Actuator Available ONLY in Stack Size 18. (MDMX2218LX)  
*MDrive 75 Volt version NOT Available with C Connector Interface Option.  
TECHNICAL SUPPORT  
IMS EUROPE GmbH  
Eas tern U.S.  
Hahnstrasse 1 0 , VS-Schwenningen  
Germany D-7 8 0 5 4  
Phone: 8 6 0 / 2 9 5 -6 1 0 2  
Fax: 8 6 0 / 2 9 5 -6 1 0 7  
E-mail: etech@imshome.com  
Wes tern U.S.  
Phone: 7 6 0 / 9 6 6 -3 1 6 2  
Fax: 7 6 0 / 9 6 6 -3 1 6 5  
E-mail: wtech@imshome.com  
Phone: +4 9 / 7 7 2 0 / 9 4 1 3 8 -0  
Fax: +4 9 / 7 7 2 0 / 9 4 1 3 8 -2  
E-mail: info@imseuropehome.com  
European Sales Management  
4 Quai Des Etroits  
P.O. Box 4 5 7 , 3 7 0 N. Main Street  
Marlborough, CT 0 6 4 4 7 U.S.A.  
Phone: 8 6 0 / 2 9 5 -6 1 0 2  
Fax: 8 6 0 / 2 9 5 -6 1 0 7  
E-mail: info@ims home.com  
Home Page: www.ims home.com  
6 9 0 0 5 Lyon, France  
Phone: +3 3 / 4 7 2 5 6 5 1 1 3  
Fax: +3 3 / 4 7 8 3 8 1 5 3 7  
IMS MOTORS DIVISION  
1 0 5 Copperwood Way, Suite H  
Oceanside, CA 9 2 0 5 4  
Phone: 7 6 0 / 9 6 6 -3 1 6 2  
Fax: 7 6 0 / 9 6 6 -3 1 6 5  
E-mail: bmartinez@imshome.com  
German Sales / Technical Support  
Phone: +4 9 / 3 5 2 0 5 / 4 5 8 7 -8  
Fax: +4 9 / 3 5 2 0 5 / 4 5 8 7 -9  
E-mail: hruhland@imshome.com  
Distributed By:  
E-mail: motors@imshome.com  
Product information covered by IMS Product Disclaimer available at www.imshome.com.  
Visit the IMS web site for the most up-to-date product information.  
© 2 0 0 2 , 2 0 0 4 Intelligent Motion Systems, Inc. All Rights Reserved.  
REV1 2 1 7 0 4  
 

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