MDrive 17 & 23 Plus

Motion Control
Integrated Motor and Driver

TM
 MDrive17Plus and MDrive23Plus Motion Control Hardware Reference Change Log
Date Revision Changes
05/04/2006 R050406 Removed Ambient Temperature Specification
05/25/2006 R052506 Replaced USB to RS-422 Communications Cable driver installation instructions in Appendix F with instructions relevant
to Windows XP Service Pack 2.
07/28/2006 R072806 Minor corrections throughout. Added connector orientation drawings to each pinout diagram. Added new prototype
development cable wire color charts and diagrams.

10/13/2006 R101306 Major Revision, several usability enhancements throughout. Added Connector Pin Functional Descriptions. Added Func-
tional Descriptions for I/O functions. Added Equivalent circuit diagrams for Clock I/O and Capture/Trip I/O. Removed
Sections from Hardware Specifications relevant to CANopen MDrive.
01/11/2007 011107 Corrected Figure 2.2.3 on page 2-9
03/02/2007 030207 Added Section 2.2: Interfacing DC Power and Aux Lagic. Expanding Section 2.1 to include mounting drill patterns.
Added Appendix H: Linear Slides. Changed thermal specifications to: -40°C to +85°C max heat sink temperature, -40°C
to +100°C max motor temperature. Updates and modifications throughout.

09/10/2007 091007 Added information on new communication converter cables in Appendices F and G. Updated references to the cables
throughout the document.
06/17/2008 061708 Updated cable information to reflect new and upgraded cables. Added Appendix on communications ground loops.
Added CANopen hardware notes to appendices.
08/26/2008 082608 Added specifications for the Quad-Stack NEMA 23 MDrivePlus.
11/11/2008 111108 Added specifications for Quad length motor

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is
assumed for inaccuracies.

Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to
improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any liability arising out of the
application or use of any product or circuit described herein; neither does it convey any license under its patent rights of
others. Intelligent Motion Systems and are trademarks of Intelligent Motion Systems, Inc.
TM

Intelligent Motion Systems, Inc.’s general policy does not recommend the use of its products in life support or aircraft
applications wherein a failure or malfunction of the product may directly threaten life or injury. Per Intelligent Motion
Systems, Inc.’s terms and conditions of sales, the user of Intelligent Motion Systems, Inc., products in life support or
aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems, Inc., against all damages.

MDrivePlus Motion Control Hardware Reference Revision R111108

Copyright © Intelligent Motion Systems, Inc., All Rights Reserved
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).
This page intentionally left blank
 Contents
Getting Started - MDrivePlus Motion Control...................................................................................1-1
Before You Begin........................................................................................................................ 1-1
Tools and Equipment Required.................................................................................................. 1-1
Connecting the Power Supply.................................................................................................... 1-1
Connecting Communications.................................................................................................... 1-1
Install IMS Terminal Software.................................................................................................... 1-1
Establishing Communications.................................................................................................... 1-2
Apply Power to the MDrivePlus Motion Control....................................................................... 1-3
Testing the MDrivePlus Motion Control.................................................................................... 1-3
Make the MDrivePlus Motion Control Move............................................................................ 1-3
Motion Control Example Using Program Mode......................................................................... 1-4
Programming Notes................................................................................................................... 1-4

Part 1: Hardware Specifications

Section 1.1: MDrive17Plus Motion Control Product Introduction.....................................................1-7
Introduction to the MDrive17Plus Motion Control System....................................................... 1-7
Standard Feature Summary........................................................................................................ 1-7

Section 1.2: MDrive17Plus Detailed Specifications ...........................................................................1-9

General Specifications................................................................................................................ 1-9
Mechanical SpecificationsDimensions in Inches (mm)............................................................. 1-11
Pin Assignment And Description............................................................................................. 1-12
P1 Connector - Power and I/O............................................................................................ 1-12
P2 Connector - RS-422/485 Communications................................................................... 1-13
Options and Accessories...............................................................................................................14

Section 1.3: MDrive17Plus2 Detailed Specifications . ......................................................................1-15

General Specifications.............................................................................................................. 1-15
Mechanical SpecificationsDimensions in Inches (mm)............................................................. 1-18
Pin Assignment And Description............................................................................................. 1-19
P1 Connector - Power and I/O, Expanded I/O Configuration............................................ 1-19
P1 Connector - Power and I/O, Remote Encoder Configuration......................................... 1-19
P2 Connector - RS-422/485 Communications................................................................... 1-20
Options and Accessories........................................................................................................... 1-22

Section 1.4: MDrive17Plus2-65 Detailed Specifications....................................................................1-23

General Specifications.............................................................................................................. 1-23
Mechanical SpecificationsDimensions in Inches (mm)............................................................. 1-26
Pin Assignment and Description.............................................................................................. 1-27
P1 Connector - I/O and Power Connections, Expanded I/O Configuration........................ 1-27
P1 Connector - I/O and Power Connections, Remote Encoder Configuration.................... 1-28
P2 Connector - RS-422/485 Communications................................................................... 1-29
Options and Accessories........................................................................................................... 1-30

Section 1.5: MDrive23Plus Motion Control Product Introduction ..............................................1-31

Introduction to the MDrive23Plus Motion Control System..................................................... 1-31
Standard Feature Summary...................................................................................................... 1-31

Section 1.6: MDrive23Plus Detailed Specifications .........................................................................1-33

Mechanical SpecificationsDimensions in Inches (mm)............................................................. 1-35
Pin Assignment And Description............................................................................................. 1-36
P1 Connector - Power and I/O............................................................................................ 1-36
P2 Connector - RS-422/485 Communications................................................................... 1-37
Options and Accessories........................................................................................................... 1-38

i
 Section 1.7: MDrive23Plus2 Detailed Specifications.........................................................................1-39
General Specifications.............................................................................................................. 1-39
Mechanical SpecificationsDimensions in Inches (mm)............................................................. 1-42
Pin Assignment And Description............................................................................................. 1-43
P1 Connector - Expanded I/O Configuration..................................................................... 1-43
P1 Connector - Remote Encoder Configuration.................................................................. 1-43
P3 Connector - Power......................................................................................................... 1-44
P2 Connector - RS-422/485 Communications................................................................... 1-45
Options and Accessories........................................................................................................... 1-46

Section 1.8: MDrive23Plus2-65 Detailed Specifications....................................................................1-47

Mechanical SpecificationsDimensions in Inches (mm)............................................................. 1-50
Pin Assignment and Description.............................................................................................. 1-50
P1 Connector - I/O and Power Connections, Expanded I/O Configuration........................ 1-50
P1 Connector - I/O and Power Connections, Remote Encoder Configuration.................... 1-51
P2 Connector - RS-422/485 Communications................................................................... 1-52
Options and Accessories........................................................................................................... 1-53

Part 2: Connecting and Interfacing

Section 2.1: Mounting and Connection Recommendations ................................................................2-3
Mounting Recommendations..................................................................................................... 2-3
MDrive17Plus Motion Control............................................................................................. 2-3
MDrive23Plus Microstepping............................................................................................... 2-4
Layout and Interface Guidelines................................................................................................. 2-5
Rules of Wiring .................................................................................................................... 2-5
Rules of Shielding . ............................................................................................................... 2-5
Recommended Wiring.......................................................................................................... 2-6
Recommended Mating Connectors and Pins......................................................................... 2-6
Securing Power Leads and Logic Leads.................................................................................. 2-6

Section 2.2: Interfacing DC Power and Auxiliary Logic......................................................................2-7

Choosing a Power Supply for Your MDrive................................................................................ 2-7
DC Power Supply Recommendations......................................................................................... 2-8
MDrive17Plus....................................................................................................................... 2-8
MDrive23Plus....................................................................................................................... 2-8
Recommended IMS Power Supplies...................................................................................... 2-8
Connecting DC Power............................................................................................................... 2-9
MDrive17Plus....................................................................................................................... 2-9
MDrive23Plus..................................................................................................................... 2-10
Recommended Power and Cable Configurations . ................................................................... 2-11
Example A – Cabling Under 50 Feet, DC Power................................................................. 2-11
Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge............................ 2-11
Example C – Cabling 50 Feet or Greater, AC Power to Power Supply................................. 2-11
Recommended Power Supply Cabling...................................................................................... 2-12
Aux-Logic Supply Connection................................................................................................. 2-12

Section 2.3: Interfacing MDrivePlus Communications ....................................................................2-13

Available Communications Cables/Converters......................................................................... 2-13
Interfacing Single Mode Communications............................................................................... 2-13
Single Mode Communications Full Duplex (RS-422)......................................................... 2-13
Single Mode Communications Half Duplex (RS-485)........................................................ 2-15
Interfacing Party Mode Communications................................................................................. 2-16
Party Mode Setup Procedure............................................................................................... 2-16
Data Cable Termination Resistors........................................................................................ 2-16
MDrivePlus Motion Control Communication Format........................................................ 2-19
MDrivePlus Motion Control (MDI) Response to Echo Mode............................................. 2-19
Using Check Sum................................................................................................................ 2-20
MDrivePlus Motion Control Party Mode Sample Codes..................................................... 2-21
MDrivePlus Motion Control Immediate Party Mode Sample Codes................................... 2-22

ii
Section 2.4: Interfacing and Using the MDrivePlus Motion Control I/O..........................................2-23
The MDrivePlus Motion Control Digital I/O.......................................................................... 2-23
Standard I/O Set - All MDrivePlus Motion Control Models............................................... 2-23
Enhanced I/O Set - MDrivePlus2/Plus2-65......................................................................... 2-23
Uses of the Digital I/O............................................................................................................. 2-23
MDrivePlus Motion Control Digital Input Functions.............................................................. 2-24
Input Functions (I/O Points 1-4, 9-12)............................................................................... 2-24
Input Functions (Points 7 & 8 — Clock Inputs and Point 13 — Capture)......................... 2-25
Active States Defined........................................................................................................... 2-25
MDrivePlus Motion Control Digital Output Functions........................................................... 2-25
Output Functions................................................................................................................ 2-26
Output Functions (Points 7 & 8 — Clock Outputs and Point 13 — Trip).......................... 2-26
MDrivePlus Motion Control I/O Ratings................................................................................ 2-27
MDrivePlus Motion Control I/O Connections........................................................................ 2-27
I/O Usage Examples — MDrivePlus Standard I/O Set............................................................. 2-28
Input Interface Example - Switch Input Example (Sinking Input)....................................... 2-28
Input Interface Example - Switch Input Example (Sourcing Input)..................................... 2-29
Output Interface Example (Sinking Output)....................................................................... 2-30
General Purpose I/O Usage Examples — Enhanced I/O Set.................................................... 2-31
Input Interface Example - Switch Input Example (Sinking Input)....................................... 2-31
Input Interface Example - Switch Input Example (Sourcing Input)..................................... 2-32
Output Interface Example (Sinking Output)....................................................................... 2-33
Output Interface Example (Sourcing Output)..................................................................... 2-34
Dedicated Digital I/O - Enhanced I/O Set............................................................................... 2-35
Step/Direction/Clock I/O................................................................................................... 2-35
Capture/Trip....................................................................................................................... 2-36
Interfacing the Analog Input.................................................................................................... 2-37
Sample Usage...................................................................................................................... 2-37

Appendices
Appendix A: MDrivePlus Motion Control Motor Performance.......................................................... A-3
MDrive17Plus Speed-Torque.....................................................................................................A-3

Appendix B: Recommended Power and Cable Configurations .......................................................... A-4

Example A – Cabling Under 50 Feet, DC Power........................................................................A-4
Example B – Cabling 50 Feet or Greater, AC Power to Full Wave Bridge...................................A-4
Example C – Cabling 50 Feet or Greater, AC Power to Power Supply........................................A-4
Recommended IMS Power Supplies...........................................................................................A-5
Recommended Power Supply Cabling........................................................................................A-5

Appendix C: MDrive with Planetary Gearbox................................................................................... A-6

Section Overview.......................................................................................................................A-6
Product Overview......................................................................................................................A-6
Selecting a Planetary Gearbox....................................................................................................A-6
Calculating the Shock Load Output Torque (TAB)...............................................................A-7
System Inertia..........................................................................................................................A-10
MDrive17Plus with Planetary Gearbox....................................................................................A-14
MDrive17Plus Planetary Gearbox Parameters.....................................................................A-14
MDrive17Plus Gearbox Ratios and Inertia Moments..........................................................A-14
MDrive17Plus Planetary Gearbox.......................................................................................A-14
MDrive17Plus Planetary Gearbox With Optional NEMA Output Flange...........................A-15
MDrive23Plus with Planetary Gearbox....................................................................................A-15
MDrive23Plus Planetary Gearbox Parameters.....................................................................A-15
MDrive23Plus Gearbox Ratios and Inertia Moments..........................................................A-15
MDrive23Plus Planetary Gearbox.......................................................................................A-16
MDrive23Plus Planetary Gearbox With Optional NEMA Output Flange...........................A-16

Appendix D: I/O Application Guide................................................................................................ A-17

Standard I/O Set Interfacing and Application...........................................................................A-17
NPN Sinking Input.............................................................................................................A-17
PNP Sourcing Input............................................................................................................A-18
iii
 Sinking Output...................................................................................................................A-19
Mixed Input/Output Example.............................................................................................A-19
Enhanced I/O Set Interfacing and Application.........................................................................A-20
NPN Sinking Input.............................................................................................................A-20
PNP Sourcing Input............................................................................................................A-20
Sourcing Output.................................................................................................................A-21
Mixed Input/Output Example.............................................................................................A-22
Interfacing Inputs as a Group Example....................................................................................A-22
Interfacing Outputs as a Group Example.................................................................................A-23

Appendix E: MDrivePlus Motion Control Closed Loop Control....................................................... A-24

MDrive Motion Control Closed Loop Options........................................................................A-24
Internal Encoder..................................................................................................................A-24
Remote Encoder..................................................................................................................A-24

Appendix F: Connectivity................................................................................................................. A-25

MD-CC40x-001 Communications Cable................................................................................A-25
Electrical Specifications.......................................................................................................A-25
MD-CC400-001 Mechanical Specifications and Connector Details....................................A-25
MD-CC401-000 Mechanical Specifications and Connection..............................................A-27
MD-CC402-001 Mechanical Specifications and Connection..............................................A-28
Driver Installation Procedure for the MX-CC40x-001.............................................................A-30
Installing the Cable/VCP Drivers........................................................................................A-30
Determining the Virtual COM Port (VCP).........................................................................A-31
Prototype Development Cable PD10-1434-FL3 For Multi-Drop Communications.................A-32
Setup Instructions — Cable #1...........................................................................................A-32
Setup Instructions — Cable #2 and Subsequent MDrives...................................................A-32
MDrive17Plus2 Recommended Prototype Development Cable...............................................A-33
P1: PD16-1417-FL3 — Power and I/O..............................................................................A-33
MDrive23Plus2 Recommended Prototype Development Cables..............................................A-34
P1: PD14-2334-FL3 — I/O...............................................................................................A-34
MDrive17Plus2-65 and MDrive23Plus2-65 Cordsets..............................................................A-36
Pin Assignment and Wire Colors.........................................................................................A-36

Appendix G: Linear Slides............................................................................................................... A-39

Features....................................................................................................................................A-39
MDrive17Plus Linear Slide......................................................................................................A-39
MDrive17Plus Linear Slide Speed-Force Limitations†.........................................................A-39
MDrive17Plus Speed-Torque Curves...................................................................................A-39
MDrive17Plus Linear Slide Specifications...........................................................................A-40
MDrive17Plus Mechanical Specifications............................................................................A-40
MDrive23Plus Linear Slide......................................................................................................A-41
MDrive23Plus Linear Slide Speed-Force Limitations†.........................................................A-41
MDrive23Plus Speed-Torque Curves...................................................................................A-41
MDrive23Plus Linear Slide Specifications...........................................................................A-41
MDrive23Plus Mechanical Specifications............................................................................A-42

Appendix H: CANopen Communications......................................................................................... A-43

Features....................................................................................................................................A-43
Communications Specifications...............................................................................................A-43
Mechanical Specifications.........................................................................................................A-43
Pin Assignments.......................................................................................................................A-43
DB-9 Style Connector.........................................................................................................A-43
Interfacing The CAN Bus........................................................................................................A-44
CAN Bus Connections........................................................................................................A-44
Recommended CANopen Dongle............................................................................................A-44
Interface Cable Construction...................................................................................................A-45
Installation Instructions............................................................................................................A-45
CANopen Tester Quick Start....................................................................................................A-46
Installation..........................................................................................................................A-46
Getting Started....................................................................................................................A-46

iv
 List of Figures
Figure GS.1: CD Main Screen and Software Installation Screen................................................. 1-1
Figure GS.2: IMS Terminal Main Screen.................................................................................... 1-2
Figure GS.3: IMS Terminal Preferences Dialog........................................................................... 1-2
Figure GS.4: MDrivePlus Motion Control Sign-On Message..................................................... 1-3
Figure GS.5: Download the Program......................................................................................... 1-4

Part 1: Hardware Specifications

Figure 1.1.1: MDrive17Plus....................................................................................................... 1-7
Figure 1.1.2: MDrive17Plus2-65................................................................................................ 1-7
Figure 1.2.1: MDrive17Plus Mechanical Specifications............................................................ 1-11
Figure 1.2.2: MDrive17Plus – Flying Leads - I/O and Power................................................... 1-12
Figure 1.2.3: MDrive17Plus P1 Connector – 7-Pin Terminal Strip - I/O and Power............... 1-12
Figure 1.2.4: P2 Connector - RS-422/485 Communications.................................................... 1-13
Figure 1.3.1: MDrive17Plus2 Mechanical Specifications.......................................................... 1-18
Figure 1.3.2: P1 Connector, Power and I/O............................................................................. 1-20
Figure 1.3.3: P2 Connector - RS-422/485 Communications.................................................... 1-21
Figure 1.4.1: MDrive17Plus2-65 Motion Control.................................................................... 1-26
Figure 1.4.2: MDrive17Plus2 -65 P1 Connector, Power and I/O............................................... 1-28
Figure 1.4.3: MDrive17Plus2 -65 P2 Connector, RS-422/RS-485 Communications................. 1-29
Figure 1.5.1: MDrive23Plus..................................................................................................... 1-31
Figure 1.5.2: MDrive23Plus2-65.............................................................................................. 1-31
Figure 1.6.1: MDrive23Plus Mechanical Specifications............................................................ 1-35
Figure 1.6.2: P1 Connector — Power and I/O Connections.................................................... 1-36
Figure 1.6.3: P2 Connector - RS-422/485 Communications.................................................... 1-37
Figure 1.7.1: MDrive23Plus2 Mechanical Specifications.......................................................... 1-42
Figure 1.7.2: P1 and P3: Connector Orientation and Pin Assignment...................................... 1-44
Figure 1.7.3: P2 Connector - RS-422/485 Communications.................................................... 1-45
Figure 1.8.1: MDrive23Plus2-65 Motion Control.................................................................... 1-50
Figure 1.8.2: MDrive23Plus2 -65 P1 Connector, Power and I/O............................................... 1-51
Figure 1.8.3: MDrive23Plus2 -65 P2 Connector, RS-422/RS-485 Communications................. 1-52

Part 2: Connecting and Interfacing

Figure 2.1.1: MDrive17Plus Mounting Screw Depth................................................................. 2-3
Figure 2.1.2: MDrive23Plus Mounting Recommendations........................................................ 2-4
Figure 2.1.4: Grounding and Shielding for Logic Connections................................................... 2-5
Figure 2.1.5: Typical MDrive Shown with Leads Secured........................................................... 2-6
Figure 2.2.1: IMS ISP300 Switch Mode Power Supply............................................................... 2-7
Figure 2.2.2: MDrive23Plus Motion Control Current Requirements......................................... 2-8
Figure 2.2.3: DC Power Connections — MDrive17Plus............................................................ 2-9
Figure 2.2.4 DC Power Connections — MDrive23Plus........................................................... 2-10
Figure 2.2.5: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier.................. 2-11
Figure 2.2.6: AC Cabling - 50 Feet or Greater - AC To Power Supply...................................... 2-11
Figure 2.2.7 DC Cabling - Under 50 Feet................................................................................ 2-11
Figure 2.2.8: Aux-Logic Connection........................................................................................ 2-12
Figure 2.3.1: Full Duplex Communications (RS-422).............................................................. 2-14
Figure 2.3.2: Half Duplex 2 Wire Communications (RS-485)................................................. 2-15
Figure 2.3.3: RS-485 Interface, Multiple MDrivePlus Motion Control System........................ 2-17
Figure 2.3.4: Party Mode Connection to avoid Communications Ground Loops.........................18
Figure 2.4.1: Uses for the Digital I/O....................................................................................... 2-23
Figure 2.4.2: I/O Connection Map.......................................................................................... 2-27
Figure 2.4.3: Sinking Input Example using a Push Button Switch............................................ 2-28
Figure 2.4.4: Sourcing Input Example using a Push Button Switch.......................................... 2-29
Figure 2.4.5: Sinking Output Example..................................................................................... 2-30
Figure 2.4.6: Switch Interface to Input, Sinking....................................................................... 2-31
Figure 2.4.7 Sourcing Input Example using a Push Button Switch........................................... 2-32
Figure 2.4.8: Sinking Output Example..................................................................................... 2-33
Figure 2.4.9: Sourcing Output Example................................................................................... 2-34
Figure 2.4.10: MDrivePlus Motion Control Clock Functions.................................................. 2-35
Figure 2.4.11: Step Direction I/O Equivalent Circuit............................................................... 2-35
Figure 2.4.12: Capture/Trip I/O Equivalent Circuit................................................................. 2-36
Figure 2.4.13: Analog Input - Voltage Mode............................................................................ 2-37
Figure 2.4.14: Analog Input - Current Mode........................................................................... 2-38
v
 Appendices
Figure A.1: MDrive17Plus Motion Control Speed-Torque Curves.............................................A-3
Figure A.2: MDrive23Plus Motion Control Speed-Torque Curves.............................................A-3
Figure B.2: DC Cabling - 50 Feet or Greater - AC To Full Wave Bridge Rectifier.......................A-4
Figure B.3: AC Cabling - 50 Feet or Greater - AC To Power Supply...........................................A-4
Figure B.1: DC Cabling - Under 50 Feet....................................................................................A-4
Figure C.1: MDrive23 Torque-Speed Curve...............................................................................A-8
Figure C.2: Lead Screw System Inertia Considerations.............................................................A-10
Figure C.3: Rack and Pinion System Inertia Considerations.....................................................A-11
Figure C.4: Conveyor System Inertia Considerations...............................................................A-11
Figure C.5: Rotary Table System Inertia Considerations...........................................................A-12
Figure C.6: Chain Drive System Inertia Considerations...........................................................A-13
Figure C.7: Planetary Gearbox Specifications for MDrive17Plus..............................................A-14
Figure C.8: Planetary Gearbox Specifications for MDrive17Plus with NEMA Output Flange.. A-15
Figure C.9: Planetary Gearbox Specifications for MDrive23Plus..............................................A-16
Figure C.10: Planetary Gearbox Specifications for MDrive23Plus with NEMA Flange............A-16
Figure D.1: NPN Interface to an MDI Sinking Input..............................................................A-17
Figure D.2: PNP Interface to a Sourcing Input........................................................................A-18
Figure D.3: Sinking Output to Relay.......................................................................................A-19
Figure D.4: Mixed Output Example- Standard I/O Set............................................................A-19
Figure D.5: NPN Sinking Input on an MDrivePlus2 Motion Control . ..................................A-20
Figure D.6: PNP Sourcing Input on an MDrivePlus2 Motion Control....................................A-20
Figure D.7: Sourcing Output to Sourcing Input.......................................................................A-21
Figure D.8: Mixed Input/Output Example - Enhanced I/O.....................................................A-22
Figure D.9: TTL Interface to an Input Group..........................................................................A-22
Figure D.10: Outputs Interfaced to LED’s as a Group..............................................................A-23
Figure E.1: Connecting a Remote Encoder...............................................................................A-24
Figure F.1: MD-CC400-000 Mechanical Specifications and Connection.....................................25
Figure F.2: 10-Pin IDC................................................................................................................26
Figure F.3: Configuring the MD-CC400-001 for Multi-drop (Party Mode) Communications.....26
Figure F.4: MD-CC401-000 Mechanical Specifications and Connection.....................................27
Figure F.5: MD-CC402-000 Mechanical Specifications and Connection.....................................28
Figure F.6: 10-Pin Wire Crimp.....................................................................................................28
Figure F.7: Configuring the MD-CC402-001 for Multi-drop (Party Mode) Communications.....29
Figure F.8: Hardware Update Wizard...........................................................................................30
Figure F.9 Hardware Update Wizard Screen 2..............................................................................30
Figure F.10: Hardware Update Wizard Screen 3...........................................................................30
Figure F.11: Windows Logo Compatibility Testing.......................................................................31
Figure F.12: Hardware Update Wizard Finish Installation............................................................31
Figure F.13: Hardware Properties.................................................................................................31
Figure F.14: Windows Device Manager........................................................................................31
Figure F.15: PD16-1417-FL3 Prototype Development Cable.......................................................33
Figure F.16: 16-Pin Wire Crimp...................................................................................................33
Figure F.17: PD14-2334-FL3 Prototype Development Cable.......................................................34
Figure F.18: 16-Pin Wire Crimp...................................................................................................34
Figure F.19: PD02-2300-FL3.......................................................................................................35
Figure F.20: 2-Pin Wire Crimp.....................................................................................................35
Figure F.21: MD-CS10x-000 Prototype Development Cordset....................................................36
Figure F.22: 19-Pin M23 Circular Connector...............................................................................37
Figure G.1: MDrive17Plus Linear Slide ......................................................................................39
Speed Force Limitations...............................................................................................................39
Figure G.2: MDrive17Plus Speed Torque Curves.........................................................................39
Figure G.3: MDrive17Plus Linear Slide Mechanical Specifications...............................................40
Figure G.4: MDrive23Plus Linear Slide ......................................................................................41
Speed Force Limitations...............................................................................................................41
Figure G.5: MDrive23Plus Speed Torque Curves.........................................................................41
Figure G.6: MDrive23Plus Linear Slide Mechanical Specifications...............................................42
Figure H.2: DB-9 Pin Configuration...........................................................................................43
Figure H.1: DB-9 Mechanical Specifications................................................................................43
Figure H.3: 5-Pin M12 Pin Configuration...................................................................................44
Figure H.: CANOpen Network using MDrivePlus......................................................................44
Figure H.5: Communications Cable, Phytec PCAN-USB to MDrivePlus....................................45
Figure H.6: CANopen Tester Interface Showing Getting Started Sequence..................................46

vi
 List of Tables
Part 1: Hardware Specifications
Table 1.2.1: MDrive17Plus Electrical Specifications................................................................... 1-9
Table 1.2.2: MDrive17Plus Thermal Specifications.................................................................... 1-9
Table 1.2.3: MDrive17Plus I/O Specifications........................................................................... 1-9
Table 1.2.4: MDrive17Plus Communications Specifications...................................................... 1-9
Table 1.2.5: MDrive17Plus Motion Specifications................................................................... 1-10
Table 1.2.6: MDrive17Plus Software Specifications.................................................................. 1-11
Table 1.2.7: MDrive17Plus Motor Specifications.............................................................................
Table 1.2.8: P1 — Pin Assignment, Power and I/O.................................................................. 1-12
Table 1.2.9: P2 — Pin Assignment, RS-422/485 Communications......................................... 1-13
Table 1.3.1: MDrive17Plus2 Electrical Specifications................................................................ 1-15
Table 1.3.2: MDrive17Plus2 Thermal Specifications................................................................. 1-15
Table 1.3.3: MDrive17Plus2 I/O Specifications........................................................................ 1-15
Table 1.3.4: MDrive17Plus2 Communications Specifications................................................... 1-15
Table 1.3.5: MDrive17Plus2 Motion Specifications.................................................................. 1-16
Table 1.3.6: MDrive17Plus2 Software Specifications................................................................. 1-17
Table 1.3.7: MDrive17Plus2 Motor Specifications.................................................................... 1-17
Table 1.3.8: P1 — Pin Assignment, Expanded I/O Configuration........................................... 1-19
Table 1.3.9: P1 — Pin Assignment, Remote Encoder Configuration........................................ 1-19
Table 1.3.10: P2 — Pin Assignment, RS-422/485 Communications...................................... 1-20
Table 1.4.1: MDrive17Plus2-65 Electrical Specifications.......................................................... 1-23
Table 1.4.2: MDrive17Plus2-65 Environmental and Thermal Specifications............................. 1-23
Table 1.4.3: MDrive17Plus2-65 I/O Specifications................................................................... 1-23
Table 1.4.4: MDrive17Plus2-65 Communications Specifications.............................................. 1-23
Table 1.4.5: MDrive17Plus2-65 Motion Specifications............................................................. 1-24
Table 1.4.6: MDrive17Plus2-65 Software Specifications........................................................... 1-25
Table 1.4.7: MDrive17Plus2-65 Motor Specifications............................................................... 1-25
Table 1.4.8: P1 — Pin Assignment, Expanded I/O Configuration........................................... 1-27
Table 1.4.9: P1 — Pin Assignment, Remote Encoder Configuration........................................ 1-28
Table 1.4.10: MDrive17Plus2 -65 P2 Connector, RS-422/RS-485 Communications................ 1-29
Table 1.6.1: MDrive23Plus Electrical Specifications................................................................. 1-33
Table 1.6.2: MDrive23Plus Thermal Specifications.................................................................. 1-33
Table 1.6.3: MDrive23Plus I/O Specifications......................................................................... 1-33
Table 1.6.4: MDrive23Plus Communications Specifications.................................................... 1-33
Table 1.6.5: MDrive23Plus Motion Specifications................................................................... 1-34
Table 1.6.6: MDrive23Plus Software Specifications.................................................................. 1-34
Table 1.6.7: MDrive23Plus Motor Specifications..................................................................... 1-35
Table 1.6.8: P1 — I/O and Power Connections....................................................................... 1-36
Table 1.6.9: P2 — RS-422/485 Communications.................................................................... 1-37
Table 1.7.1: MDrive23Plus2 Electrical Specifications................................................................ 1-39
Table 1.7.2: MDrive23Plus2 Thermal Specifications................................................................. 1-39
Table 1.7.3: MDrive23Plus2 I/O Specifications........................................................................ 1-39
Table 1.7.4: MDrive23Plus2 Communications Specifications................................................... 1-39
Table 1.7.5: MDrive23Plus2 Motion Specifications.................................................................. 1-40
Table 1.7.6: MDrive23Plus2 Software Specifications................................................................. 1-41
Table 1.7.7: MDrive23Plus2 Motor Specifications.................................................................... 1-41
Table 1.7.8: P1 — Pin Assignment, Expanded I/O Configuration........................................... 1-43
Table 1.7.9: P1 — Pin Assignment, Remote Encoder Configuration........................................ 1-43
Table 1.7.10: P3 — Pin Assignment, Power............................................................................. 1-44
Table 1.7.11: P2 — Pin Assignment and Description, RS-422/485 Communications............. 1-45
Table 1.8.1: MDrive23Plus2-65 Electrical Specifications.......................................................... 1-47
Table 1.8.2: MDrive23Plus2-65 Thermal and Environmental Specifications............................. 1-47
Table 1.8.3: MDrive23Plus2-65 I/O Specifications................................................................... 1-47
Table 1.8.4: MDrive23Plus2-65 Communications Specifications . ......................................... 1-47
Table 1.8.5: MDrive23Plus2-65 Motion Specifications............................................................. 1-48
Table 1.8.6: MDrive23Plus2-65 Software Specifications........................................................... 1-49
Table 1.8.7: MDrive23Plus2-65 Motor Specifications............................................................... 1-49
Table 1.8.8: P1 — Pin Assignment, Expanded I/O Configuration........................................... 1-50
Table 1.8.9: P1 — Pin Assignment, Remote Encoder Configuration........................................ 1-51
Table 1.8.10: P2 — Pin Assignment, 5-Pin M12 RS-422/485 Communications..................... 1-52

vii
 Part 2: Connecting and Interfacing
Table 2.2.1: Recommended Supply Cables............................................................................... 2-12
Table 2.3.1: MDI Response to Echo Mode - Party and Check Sum are Zero (0)...................... 2-17
Table 2.3.2: MDI Response to Echo Mode - Party is One (1) and Check Sum is Zero (0) ...... 2-18
Table 2.3.3: MDI Response to Echo Mode - Party is Zero (0) and Check Sum is One (1) ...... 2-18
Table 2.3.4: MDI Response to Echo Mode - Party and Check Sum are One (1) ..................... 2-18
Table 2.4.1: Programmable Input Functions............................................................................ 2-24
Table 2.4.2: Dedicated Input Functions................................................................................... 2-25
Table 2.4.3: Programmable Output Functions......................................................................... 2-26
Table 2.4.4: Dedicated Output Functions................................................................................ 2-26
Table 2.4.5: MDrivePlus Motion Control I/O and Protection Ratings..................................... 2-27

Appendices
Table B.1: Recommended Supply Cables...................................................................................A-5
Table C.1: Planetary Gearbox Operating Factor.........................................................................A-9
Table C.2: MDrive17Plus Planetary Gearbox Parameters.........................................................A-14
Table C.3: MDrive17Plus Planetary Gearbox Ratios and Inertia Moments..............................A-14
Table C.4: MDrive23Plus Planetary Gearbox Parameters.........................................................A-15
Table C.5: MDrive23Plus Planetary Gearbox Ratios and Inertia Moments..............................A-15
Table D.1: Output Bit Weight Examples - Outputs set as a group............................................A-23
Table F.2: PD10-1434-FL3 Wire Color Codes.........................................................................A-30
Table F.3: PD16-1417-FL3 Wire Color Codes.........................................................................A-31
Table F.4: PD14-2334-FL3 Wire Color Codes.........................................................................A-32
Table F.5: PD14-2334-FL3 Wire Color Codes.........................................................................A-33
Table F.6: MD-CS10x-000 Wire Color Chart..........................................................................A-34
Table G.1: MDrive17Plus Linear Slide Specifications...............................................................A-38
Table G.2: MDrive23Plus Linear Slide Specifications...............................................................A-39
Table H.1: CANopen Communications Specifications.............................................................A-41
Table H.2: DB-9 Pin Assignments and Description.................................................................A-41
Table H.3: 5-Pin M12 Pin Assignments and Description.........................................................A-42

viii
Gettin g S ta rte d
WARNING! Please
Getting Started - MDrivePlus Motion Control ensure that you
read the sections of
the product manual
Before You Begin pertaining to the MDrivePlus
model you purchased in their
The Quick Start guide is designed to help get you connected and communicating with the MDrivePlus Mo-
entirety prior to placing the unit
tion Control. The following examples will help you get the motor turning for the fist time and introduce you into full operation.
to Immediate and Program modes of operation.

Tools and Equipment Required

• MDrivePlus Motion Control Unit
• Communications Converter Cable or equivalent (USB or Serial to RS-422)
• Product CD or Internet access to www.imshome.com
• An Unregulated Power Supply (See specifications for your exact MDrivePlus Motion Control and
required voltage.)
• Basic Tools: Wire Cutters / Strippers / Screwdriver
• Wire for Power Supply (See specifications for your exact MDrivePlus Motion Control.)
• Windows XP Service Pack 2
• A free USB or serial communications port

Connecting the Power Supply

Using the recommended wire (see the specifications for your MDrivePlus Motion Control), connect the DC
output of the power supply to the +V input of the connector appropriate for your MDrivePlus model.
Connect the power supply ground to the Power Ground pin appropriate for your MDrivePlus.

Connecting Communications
Connect the Host PC to the MDrivePlus Motion Control using the IMS Communications Converter Cable
or equivalent.

Install IMS Terminal Software

1. Download IMS Terminal from http://www.imshome.com/software_interfaces.html.
2. Install the software.
3. Once IMS Terminal is installed, the Communications Settings can be checked and/or set.

Part 1: Hardware Specifications 1-1

 WARNING: Establishing Communications
Do not connect
or disconnect 1. Open IMS Terminal by clicking Start>Programs>IMS Terminal>IMS Term. The Program Edit
DC input to the Window (left) and Terminal Window (right) will be displayed.
MDrivePlus with power
applied! Disconnect the AC
power side to power down
the DC Supply.

For battery operated Terminal Emulator

systems, conditioning Window
measures should be taken
to prevent device damage
caused by in-rush current
draws, transient arcs and
high voltage spikes.

Program Editor
Window

Figure GS.2: IMS Terminal Main Screen

2. On the Menu Bar click Edit / Preferences to open the Preferences dialog box.
3. Click on the Comm Settings tab to open the Comm Settings page.
a. Set Scroll Back to desired range of text lines to be displayed.
b. Under Device, verify that MDrive has been selected, and also verify the Comm Port being
used. Do not change any other settings. Click “OK”.

Figure GS.3: IMS Terminal Preferences Dialog

1-2 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Apply Power to the MDrivePlus Motion Control Note: Entering
MDrivePlus commands
1. Verify that all connections have been made, then apply power to the MDrivePlus Motion Control. directly into the Terminal
Click on the Phone icon or the Disconnect status box to establish communications between IMS Window is called
Terminal and the MDrivePlus. The following sign-on message should appear in the Terminal “Immediate Mode”.
Window:
The MDrivePlus Motion Control
command set is not case sensitive
“Copyright 2001-2006 by Intelligent Motion Systems, Inc.” except for command DN = < >

2. If you can see the sign-on message, then the MDrivePlus is properly powered-up and Warning: If you
communicating. have installed the
a. If the sign-on message does not appear, try using a software reset. Hold down the “Ctrl” key MDrivePlus to a load,
and press “C”. If the sign-on message still does not appear, check all connections, as well as all be sure the load can
hardware and software configurations, then start IMS Terminal again. safely be moved before testing.
3. You are now connected and communicating to the MDrivePlus Motion Control. Tip: A small piece of tape on the
Note: There are indicators at the bottom of the Terminal Window that show whether you are motor shaft is a visual aid to help
connected or disconnected, the current Baud Rate, and the type of device (MDrive) for which the see the shaft turning.
IMS Terminal is configured. These three items may be changed directly from this screen by double
clicking on each of them.

Testing the MDrivePlus Motion Control

1. Click in the Terminal Window, and type (followed by ENTER):
PR VM
2. The MDrivePlus Motion Control will return a value of 768000
3. Type the following in the Terminal Window (followed by ENTER):
VM=360000
PR VM
4. The MDrivePlus Motion Control will return a value of 360000
5. Type FD and press ENTER. (FD = Factory Defaults)

“Copyright 2001-2007 by Intelligent Motion Systems, Inc.”

should appear in the Terminal Window within a few seconds.

Copyright© 2001-2007 by Intelligent Motion Systems, Inc.

>|

Figure GS.4: MDrivePlus Motion Control Sign-On Message

Make the MDrivePlus Motion Control Move

1. Type MR 51200 into the Terminal Window and press ENTER. (MR = Move Relative)
a. With the default settings, the MDrive Motion Control should move one revolution in
approximately 0.066 seconds, or at a velocity of 15 revolutions per second.
2. Type SL 102400 and press ENTER. (SL = Slew)
a. With the default settings, the MDrivePlus Motion Control should run constantly at a speed of
approximately 2 revolutions per second or 120 revolutions per minute.
3. Type SL 0 and press ENTER. The MDrivePlus Motion Control should decelerate to a full stop.

Part 1: Hardware Specifications 1-3

 NOTE: Entering Motion Control Example Using Program Mode
MDrivePlus
commands into the 1. Click on drop-down menu View > New Edit Window to open the Program Edit Window.
Program Edit Window, 2. Type “XYZ Test” into the “Open a New file for editing” dialog box, and click “OK”.
to be edited and saved, is 3. Click anywhere within the Program Edit Window, and type (followed by ENTER):
called “Program Mode”.
VA LP=0 ‘user variable name LP = start count 0
NOTE: The program
A=100000 ‘set acceleration to 100000 steps/sec2
can be stopped by
D=100000 ‘set deceleration to 100000 steps/sec2
pressing the Escape Button or
PG 1 ‘enter program mode, start program at address 1
by pressing Ctrl+C.
LB AA ‘label program AA
MR 250000 ‘move motor 250000 steps in the positive direction
H ‘hold program execution until motion completes
H 1000 ‘hold 1000 milliseconds
MR –250000 ‘move motor 250000 steps in the negative direction
H ‘hold program execution until motion completes
H 1000 ‘hold 1000 milliseconds
IC LP ‘increment user variable LP
PR ” LP=”,LP; ‘print axis position, 4 characters used, the
‘terminal will display LP=1 LP=2 LP=3
BR AA, LP<3 ‘branch to process label AA, if user variable LP< 3
E ‘end program execution
PG ‘exit program, return to immediate mode

4. Type FD in the Terminal Window and press ENTER to clear the MDrive buffer to factory
defaults before downloading any program.
5. Click on drop-down menu Transfer > Download to transfer the program from the Program
Edit Window to the Terminal Window. (Under “Source Type” choose “Edit Window”.)
6. Type EX 1 in the Terminal Window and press ENTER to execute the program.
(EX = Execute at address 1.)
7. The MDrivePlus Motion Control will turn 250,000 microsteps in a clockwise direction,
accelerating at 100,000 microsteps per sec2, then decelerating at 100,000 microsteps per sec2,
pausing for 1000 milliseconds, then reversing the sequence in a counterclockwise direction,
repeating the motion cycle 3 times until the program ends.

Figure GS.5: Download the Program

Programming Notes
The example above demonstrates basic commands that verify that your MDrivePlus Motion Control is com-
municating with your PC. More complex commands and movement may require that your I/O and/or Analog
Input be interfaced and configured. Refer to MDrivePlus Motions Control Software Reference for details.
For more information on MDrivePlus Motion Control Programming and Command Control Sets, refer to the
Software Section of this manual.
 Excellence in Motion TM

TM

MOTION CONTROL

Part 1:
Hardware
Specifications
Section 1.1: MDrive17Plus Motion Control Product Introduction

Section 1.2: MDrive17Plus Motion Control Detailed Specifications

Section 1.3: MDrive17Plus2 Motion Control Detailed Specifications

Section 1.4: MDrive17Plus2-65 Motion Control Detailed Specifications

Section 1.5: MDrive23Plus Motion Control Product Introduction

Section 1.6: MDrive23Plus Motion Control Detailed Specifications

Section 1.7: MDrive23Plus2 Motion Control Detailed Specifications

Section 1.8: MDrive23Plus2-65 Motion Control Detailed Specifications

 This Page Intentionally Left Blank

1-6 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Note: The MDrivePlus
Sectio n 1 . 1 Motion Control is
available in a CAN
MDrive17Plus Motion Control Product Introduction communications configuration.
For more information and
Hardware Specifications see the
Introduction to the MDrive17Plus Motion Control System IMS Web site for the MDrivePlus
CANopen manual.
The MDrive17Plus Motion Control offers system
designers a low cost, intelligent motion controller For detailed descriptions of
integrated with a NEMA 17 high torque brushless supported CANopen objects
motor and a +12 to +48 volt microstepping driver. please refer to the MDrive
CANpen Software Reference.
The unsurpassed smoothness and performance
delivered by the MDrive17Plus Motion Control are
achieved through IMS's advanced 2nd generation
current control. 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.
The MDrive17Plus accepts a broad input voltage
range from +12 to +48 VDC, delivering enhanced
performance and speed. Oversized input capacitors Figure 1.1.1: MDrive17Plus
are used to minimize power line surges, reducing
problems that can occur with long runs and multiple
drive systems. An extended operating temperature range of –40° to +85°C provides long life, trouble free service
in demanding environments.
Standard features available in the MDrive17Plus Motion Control include four +5 to +24 volt general purpose
I/O lines, one 10 bit analog input, 0 to 5MHz step clock rate, 20 microstep resolutions up to 51,200 steps per
revolution, and full featured easy-to-program instruction set.
Expanded features in the MDrive17Plus2 version include up to eight +5 to +24 volt general purpose I/O lines
and the capability of electronic gearing by following a rotary or linear axis at an electronically controlled ratio,
or an output clock can be generated fixed to the internal step clock.
For use in environments where exposure to chemical, dust and liquids may occur, a sealed assembly MDrive-
17Plus2-65 version is designed to meet IP65 specifications.
All MDrive17Plus Motion Control are available with
optional closed loop control. This increases functionality by
adding stall detection, position maintenance and find index
mark.
The closed loop configuration is added via a 512 line (2048
edge) magnetic encoder with index mark, internal to the
unit so there is no increase in length. Or, for an expanded
choice of line counts and resolutions with MDrive17Plus2
versions only, closed loop control is available with an inter-
face to a remotely mounted user-supplied external encoder.
The MDrive communicates over RS-422/485 which allows
for point-to-point or multiple unit configurations utilizing
one communication port. Addressing and hardware support
up to 62 uniquely addressed units communicating over a
single line. Baud rate is selectable from 4.8 to 115.2kbps.
Figure 1.1.2: MDrive17Plus2-65
Available motor configurations are available in three motor
lengths. Interface connections are accomplished using 12.0”
(30.5cm) flying leads or a 7 position terminal strip. Plus2
versions come with pluggable locking wire crimp connectors. Plus2-65 sealed versions come with M12/M23
circular connectors.
The MDrive17Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and
assembly time for a large range of brushless motor applications

Standard Feature Summary

 Highly Integrated Microstepping Driver, Motion Controller and NEMA 17 High Torque Brushless
Motor
 Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
 Single Supply: +12 to +48 VDC
 Low Cost
 Extremely Compact
Part 1: Hardware Specifications 1-7
  Available Options:
- Internal Magnetic Encoder for Closed Loop Control
- Integrated Planetary Gearbox
- Control Knob for Manual Positioning
- Linear Slide
 Three Rotary Motor Lengths Available
 Auxiliary Logic Power Supply Input
 20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes
 Open or Optional Closed Loop Control
 Programmable Motor Run and Hold Currents
 Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs
 One 10 Bit Analog Input Selectable: 0 to +10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA
 0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments
 RS-422/485 Communications
 62 Software Addresses for Multi-Drop Communications
 Simple 1 to 2 Character Instructions
 Interface Options:
- Pluggable Terminal Strip
- 12.0” (30.5cm) Flying Leads

The MDrive17Plus Motion Control Key Differences and Enhanced Features

There are three different variants of the MDrive17Plus Motion Control, these are:

1. MDrive17Plus Motion Control

The MDrive17Plus Motion Control is the standard version of the MDrive17Plus and is drop-in
compatible with the legacy MDrive17 Motion Control product. The key feature additions from
the original MDrive17 Motion Control are:

 Improved current control.

 20 Microstep resolutions to 51,200 steps per rev including degrees, metric and arc minutes.
 4 +5 to +24 VDC I/O lines which accept sinking or sourcing inputs.
 One 0 to +10 VDC Analog input.
 Optional pluggable strip for interface.

See Section 1.2 of this document for detailed specifications on the MDrive17Plus Motion Control.

2. MDrive17Plus2 Motion Control

The MDrive17Plus2 Motion Control adds expanded functionality to the MDrive17Plus in the
form of:

 Enhanced and expanded I/O set (8 lines) which can be configured as sinking or sourcing inputs or
outputs.
 Remote Encoder option (Reduces I/O set to 4 lines).
 High speed position capture input or trip output.
 Pluggable wire crimp interface.
 Electronic gearing.

See Section 1.3 of this document for detailed specifications on the MDrive17Plus2 Motion Control.

3. MDrive17Plus 2 -65 Motion Control

The MDrive17Plus2-65 Motion Control adds protection against the ingress of fluids and dust to
the MDrive17Plus2 by changing the motor-drive enclosure to meet IP65 specifications. With this
change the connector configuration changes to industry standard M12/M23 circular connectors.

See Section 1.4 of this document for detailed specifications on the MDrive17Plus2-65 Motion Control.

1-8 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
SECTIO N 1 . 2
MDrive17Plus Detailed Specifications

General Specifications
WARNING! The
Electrical Specifications maximum +48 VDC
Input Voltage of the
Input Voltage (+V) Range* +12 to +48 VDC MDrive17Plus series
Max Power Supply Current (Per MDrive17Plus)* 2A includes motor Back EMF,
Aux-Logic Input Voltage** +12 to +24 VDC Power Supply Ripple and High
Line.
Max Aux-Logic Supply Current (Per MDrive17Plus) 161 mA
* Actual Power Supply Current will depend on Voltage and Load. WARNING! Because the
** Maintains power to control and feedback circuits [only] when input voltage is removed MDrivePlus consists of two
core components, a drive and a
Table 1.2.1: MDrive17Plus Electrical Specifications motor, close attention must be
paid to the thermal environment
Environmental Specifications where the device is used. See
Thermal Specifications.
Operating Temperature (non- Heat Sink -40°C to +85°C
condensing humidity) Motor -40°C to +100°C
Table 1.2.2: MDrive17Plus Thermal Specifications

I/O Specifications
General Purpose I/O - Number and Type
4 I/O points configurable as sinking
Plus (I/O Points 1-4)
or sourcing inputs or sinking outputs
General Purpose I/O - Electrical
Inputs TTL up to +24 VDC
Sinking Outputs (All) Up to +24 VDC
Output Sink Current (Plus) up to 600 mA (One Channel)
Logic Threshold (Logic 0) < 0.8 VDC
Logic Threshold (Logic 1) > 2.2 VDC
Protection (Sinking) Over Temp, Short Circuit
Transient Over Voltage, Inductive
Protection (Sourcing)
Clamp
Analog Input
Resolution 10 Bit
Range (Voltage Mode) 0 to +5 VDC, 0 to +10 VDC
Range (Current Mode) 4 to 20 mA, 0 to 20mA
Clock I/O
Step/Direction, Up/Down,
Types
Quadrature
+5 VDC TTL Input, TTL Output (with
Logic Threshold
2 kΩ Load to Ground)
Trip Output/Capture Input

Logic Threshold +5 VDC TTL Input, TTL Output (with

2 kΩ Load to Ground)

Table 1.2.3: MDrive17Plus I/O Specifications

Communications Specifications
Protocol RS-422/RS-485
BAUD Rate 4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps

Table 1.2.4: MDrive17Plus Communications Specifications

Part 1: Hardware Specifications 1-9

 WARNING!
When using the
MDrivePlus Motion
Control with optional
internal magnetic encoder, no
axial force may be applied to Motion Specifications
the motor shaft without use of a Microstep Resolution - Open Loop
load bearing isolation coupling. Number of Resolutions 20
Available Microsteps Per Revolution
200 400 800 1000 1600 2000 3200 5000 6400 10000
12800 20000 25000 25600 40000 50000 51200 360001 216002 254003

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

Microstep Resolution - Closed Loop Configuration (Optional)

Steps Per Revolution (Fixed) 51200
Position Resolution 2048
Optional Differential Encoder (Internally Mounted)
Type Internal, Magnetic
Resolution (Lines) 512
Resolution (Edges) 2048
Counters
Counter 1 (C1) Type Position
Counter 2 (C2) Type Encoder
Resolution 32 Bits
Maximum Edge Rate 5 MHz
Velocity
Range ±5,000,000 Steps/Sec.
Resolution 0.5961 Steps/Sec.
Acceleration/Deceleration
Range 1.5 x 109 Steps/Sec.2
Resolution 90.9 Steps/Sec.2
* Microstep Resolution must be set to 2x the Encoder Counts/Rev minimum.

Table 1.2.5: MDrive17Plus Motion Specifications

Software Specifications
Program Storage Type/Size Flash/6384 Bytes
User Registers (4) 32 Bit
User Program Labels and Variables 192
Math, Logic and Conditional
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Functions
Branch Functions Branch and Call (Conditional)
Party Mode Addresses 62
Encoder Functions Stall Detect, Position Maintenance, Find Index
Predefined I/O Functions
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog
Input Functions
Input
Output Functions Moving, Fault, Stall, Velocity Changing
Trip Functions Trip on Input, Trip on Position, Trip on Time, Trip Capture

Table 1.2.6: MDrive17Plus Software Specifications

1-10 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Motor Specifications
Single Length
Holding Torque 32 oz-in/22.6 N-cm
Detent Torque 1.66 oz-in/1.17 N-cm
Rotor Inertia 0.00053 oz-in-sec2/0.038 kg-cm2
Weight (Motor + Driver) 9.8 oz/277.8 g
Double Length
Holding Torque 60 oz-in/42.46 N-cm
Detent Torque 2.08 oz-in/1.47 N-cm
Rotor Inertia 0.00080 oz-in-sec2/0.057 kg-cm2
Weight (Motor + Driver) 10.5 oz/297.7 g
Triple Length
Holding Torque 74.9 oz-in/52.9 N-cm
Detent Torque 3.47 oz-in/2.45 N-cm
Rotor Inertia 0.00116 oz-in-sec2/0.082 kg-cm2
Weight (Motor + Driver) 15.1 oz/428.1 g

Table 1.2.7: MDrive17Plus Motor Specifications

Mechanical Specifications
Dimensions in Inches (mm)

1.19
(30.2)
Connector
Option 0.94 ±0.02
P1 (23.9 ±0.5)
0.08
(2.0)
0.59 ±0.02
Ø 0.1968 +0/-0.0005 (15.0 ±0.5)
(Ø 4.999 +0/-0.013)

Ø 0.866 +0/-0.002 2.30

(Ø 21.996 +0/-0.051) (58.3)
P2
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
Connector
4X M3x0.5 THREAD Option
0.177 ±0.002
x0.15 MIN DEEP
(4.49 ±0.05)

1.68 SQ.
(42.7 SQ.) LMAX
LMAX2

Control Knob Dimensions in inches (mm)

(LMAX2 Option) Motor Length LMAX1 (Single Shaft) LMAX2 (Control Knob)
Single 2.20 (55.9) 2.79 (70.9)

Ø 0.97 Double 2.43 (61.7) 3.02 (76.7)

(Ø 24.6)
Triple 2.77 (70.4) 3.37 (85.6)

P1 Connector Options P2 Connector Options

P2 P2
0.44
12 (11.2)
(304.8)

P1 P1

Flying Leads 7-Pin Terminal 10-Pin IDC 10-Pin Wire

Strip Crimp

Figure 1.2.1: MDrive17Plus Mechanical Specifications

Part 1: Hardware Specifications 1-11

 Pin Assignment And Description

P1 Connector - Power and I/O

Pin Assignment - P1 Power and I/O Connections
Flying Lead Wire 7-Pin Pluggable
Function Description
Color Terminal Strip
White/Yellow Pin 1 I/O 1 0 to +24 VDC Programmable I/O Point 1
White/Orange Pin 2 I/O 2 0 to +24 VDC Programmable I/O Point 2
White/Violet Pin 3 I/O 3 0 to +24 VDC Programmable I/O Point 3
White/Blue Pin 4 I/O 4 0 to +24 VDC Programmable I/O Point 4
0 to 10 V / 4 to 20 mA / 0 to 20 mA
Green Pin 5 AIN
Analog Input.
Black Pin 6 GND Power and Auxiliary Ground
Red Pin 7 +V +12 to +48 VDC Motor Power Supply input.
Table 1.2.8: P1 — Pin Assignment, Power and I/O

White/Yellow
White/Orange P1

White/Violet P1
White/Blue
Green

Black

Red

Figure 1.2.2: MDrive17Plus – Flying Leads - I/O and Power

P1

Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7

Figure 1.2.3: MDrive17Plus P1 Connector – 7-Pin Terminal Strip - I/O and Power

1-12 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 P2 Connector - RS-422/485 Communications WARNING! Because
the MDrive17Plus
Pin Assignment - P2 RS-422/485 Communications Motion Control DOES
10-Pin IDC 10-Pin Wire Crimp Function Description NOT have a Pin
Transmit +: Connects to Receive + of the Configuration label on the body
Pin 1 Pin 9 TX + of the device please ensure that
Communications Host.
all wiring connections are cross-
Transmit –: Connects to Receive – of the checked against these tables and
Pin 2 Pin 10 TX –
Communications Host. figures.
Receive +: Connects to Transmit + of the
Pin 3 Pin 7 RX +
Communications Host.
Receive –: Connects to Transmit – of the
Pin 4 Pin 8 RX –
Communications Host.
+12 to +24 VDC Auxiliary Logic Supply Input.
Pin 5 Pin 5 Aux-Logic This provides power to control and logic circuits NEED A CABLE?
if main power is removed. The following cables
Receive +: This point will typically be used to and converters are
Pin 6 Pin 6 RX + connect to RX+ of a second MDrivePlus for available to interface
Multidrop Communications. communications with
Receive –: This point will typically be used to P2:
Pin 7 Pin 3 RX – connect to RX – of a second MDrivePlus for
Multidrop Communications. USB to RS-422/485:
MD-CC400-001 10-Pin IDC)
Transmit –: This point will typically be used to MD-CC402-001 (10 Pin Wire-
Pin 8 Pin 4 TX – connect to TX – of a second MDrivePlus for Crimp)
Multidrop Communications.
Transmit –: This point will typically be used to Multi-Drop for 10-Pin Wire Crimp
Pin 9 Pin 1 TX + connect to TX + of a second MDrivePlus for Party-Mode
Multidrop Communications. PD10-1434-FL3
Communications Ground. This Ground is ONLY
COMM to be used to ground communications. Auxiliary
Pin 10 Pin 2
GND Logic Supply must be grounded at the motor
supply ground.
Recommended Recommended * For multi-drop communications systems IMS offers the
Converter/Cable Converter/Cable PD10-1434-FL3 Prototype Development Cable. See Cables
MD-CC400-000 MD-CC402-000 and Cordsets in the Appendices for more details.
Table 1.2.9: P2 — Pin Assignment, RS-422/485 Communications

10-Pin IDC 10-Pin Friction Lock

Wire Crimp

1 2 9 10
3 4 7 8

5 6 5 6

7 8 3 4
1 2
9 10
P2
P2

Recommended Cable: Recommended Cables:

P/N MD-CC400-000 P/N MD-CC402-000

Figure 1.2.4: P2 Connector - RS-422/485 Communications

Part 1: Hardware Specifications 1-13

 Connectivity

QuickStart Kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter,
prototype development cable(s), instructions and CD for MDrivePlus initial functional setup and
system testing.
Communication Converter Cables
These convenient 12.0’ (3.6m) accessory cables connect a PC’s USB Port to the MDrivePlus P2
Connector. An in-line RS-422 converter enables communications and programming to a single
MDrivePlus Motion Control. Cable purchase recommended with first orders. Versions include:
USB to 10-Pin IDC..................................................Part No. MD-CC401-001
USB to 10-Pin Wire Crimp .....................................Part No. MD-CC402-001
Cable Assembly for Party-Mode................................Part No. PD10-1434-FL3
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:
10-Pin Wire Crimp...................................................CK-02
Kit contains 5 mating connectors that press fi t onto ribbon cable. Cable not supplied.
10-Pin IDC...............................................................CK-01

Options and Accessories

Control Knob
The MDrive17Plus Motion Control 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 MDrive17Plus.
(For specifications and details see Appendix C: MDrive17Plus Planetary Gearbox Specification.)
Internal Encoder
All MDrive17Plus Motion Control versions are available with an optional internal 512-line (2048
count) magnetic encoder with index mark.
Linear Slide
Integrated linear slides are available factory installed for precision linear movement. Screw pitches
are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.
Contact factory for custom lengths.

1-14 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
SECTIO N 1 . 3
MDrive17Plus2 Detailed Specifications WARNING!
The maximum
+48 VDC Input
General Specifications Voltage of the
MDrive17Plus series includes
motor Back EMF, Power
Electrical Specifications Supply Ripple and High Line.
Input Voltage (+V) Range* +12 to +48 VDC
Max Power Supply Current (Per MDrive17Plus)* 2A WARNING! Because the
Aux-Logic Input Voltage** +12 to +24 VDC MDrivePlus consists of two
core components, a drive
Max Aux-Logic Supply Current (Per MDrive17Plus) 161 mA
and a motor, close attention
* Actual Power Supply Current will depend on Voltage and Load. must be paid to the thermal
** Maintains power to control and feedback circuits [only] when input voltage is removed environment where the
device is used. See Thermal
Table 1.3.1: MDrive17Plus2 Electrical Specifications Specifications.

Environmental Specifications
Operating Temperature (non- Heat Sink -40°C to +85°C
condensing humidity) Motor -40°C to +100°C
Table 1.3.2: MDrive17Plus2 Thermal Specifications

I/O Specifications
General Purpose I/O - Number and Type
8 I/O Points configurable as sinking
Plus2 (I/O Points 1-4, 9-12)
or sourcing inputs or outputs
General Purpose I/O - Electrical
Inputs TTL up to +24 VDC
Sinking Outputs (All) Up to +24 VDC
Sourcing Outputs (Plus2) +12 to +24 VDC
Output Sink Current (Plus) up to 600 mA (One Channel)
up to 600 mA (One Channel in each
Output Sink Current (Plus2)
I/O Bank)
Logic Threshold (Logic 0) < 0.8 VDC
Logic Threshold (Logic 1) > 2.2 VDC
Protection (Sinking) Over Temp, Short Circuit
Transient Over Voltage, Inductive
Protection (Sourcing)
Clamp
Analog Input
Resolution 10 Bit
Range (Voltage Mode) 0 to +5 VDC, 0 to +10 VDC
Range (Current Mode) 4 to 20 mA, 0 to 20mA
Clock I/O
Step/Direction, Up/Down,
Types
Quadrature
+5 VDC TTL Input, TTL Output (with
Logic Threshold
2 kΩ Load to Ground)
Trip Output/Capture Input
Logic Threshold +5 VDC TTL Input, TTL Output (with
2 kΩ Load to Ground)
Table 1.3.3: MDrive17Plus2 I/O Specifications

Communications Specifications
Protocol RS-422/RS-485
BAUD Rate 4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps
Table 1.3.4: MDrive17Plus2 Communications Specifications

Part 1: Hardware Specifications 1-15

 Motion Specifications
Microstep Resolution - Open Loop
Number of Resolutions 20
Available Microsteps Per Revolution
200 400 800 1000 1600 2000 3200 5000 6400 10000
12800 20000 25000 25600 40000 50000 51200 360001 216002 254003

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

Microstep Resolution - Closed Loop Configuration (Optional)

Steps Per Revolution (Fixed) 51200
Position Resolution 2048
Optional Differential Encoder (Internally Mounted)
Type Internal, Magnetic
Resolution (Lines) 512
Resolution (Edges) 2048
Counters
Counter 1 (C1) Type Position
Counter 2 (C2) Type Encoder
Resolution 32 Bits
Maximum Edge Rate 5 MHz
Velocity
Range ±5,000,000 Steps/Sec.
Resolution 0.5961 Steps/Sec.
Acceleration/Deceleration
Range 1.5 x 109 Steps/Sec.2
Resolution 90.9 Steps/Sec.2
Electronic Gearing (Plus2 Only) ‡
Range (Ratio) 0.001 to 2.000
Resolution 32 Bits
Voltage +5 VDC Logic Level
Input Filter Range 50 nS to 12.9 µS
Secondary Output Clock Range 1 to 1
High Speed I/O (Plus2 Only)
Position Capture Input - Resolution 32 Bits
Position Capture Input - Filtering 50 nS to 12.9 µS
Trip Output - Speed 150 nS
Trip Output - Resolution 32 Bits
Trip Output Voltage +5 VDC Logic Level
Optional Remote Encoder (Plus2 Only)‡
User Defined
Type
Differential
See Microstep
Steps Per Revolution
Resolution - Open Loop
Resolution User Defined*
* Microstep Resolution must be set to 2x the Encoder Counts/Rev minimum.
‡With Optional Remote Encoder the Encoder Inputs replace I/O Points 9-12 and the Step/Direction
Clock I/O Points. Electronic Gearing (following) is not available on remote encoder models.
Table 1.3.5: MDrive17Plus2 Motion Specifications

1-16 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Software Specifications
Program Storage Type/Size Flash/6384 Bytes
User Registers (4) 32 Bit
User Program Labels and Variables 192
Math, Logic and Conditional
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Functions
Branch Functions Branch and Call (Conditional)
Party Mode Addresses 62
Encoder Functions Stall Detect, Position Maintenance, Find Index
Predefined I/O Functions
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog
Input Functions
Input
Output Functions Moving, Fault, Stall, Velocity Changing
Trip Functions Trip on Input, Trip on Position, Trip on Time, Trip Capture

Table 1.3.6: MDrive17Plus2 Software Specifications

Motor Specifications
Single Length
Holding Torque 32 oz-in/22.6 N-cm
Detent Torque 1.66 oz-in/1.17 N-cm
Rotor Inertia 0.00053 oz-in-sec2/0.038 kg-cm2
Weight (Motor + Driver) 9.8 oz/277.8 g
Double Length
Holding Torque 60 oz-in/42.46 N-cm
Detent Torque 2.08 oz-in/1.47 N-cm
Rotor Inertia 0.00080 oz-in-sec2/0.057 kg-cm2
Weight (Motor + Driver) 10.5 oz/297.7 g
Triple Length
Holding Torque 74.9 oz-in/52.9 N-cm
Detent Torque 3.47 oz-in/2.45 N-cm
Rotor Inertia 0.00116 oz-in-sec2/0.082 kg-cm2
Weight (Motor + Driver) 15.1 oz/428.1 g

Table 1.3.7: MDrive17Plus2 Motor Specifications

Part 1: Hardware Specifications 1-17

 Mechanical Specifications
Dimensions in Inches (mm)
1.19
(30.2)
Connector
Option 0.94 ±0.02
P1 (23.9 ±0.5)
0.08
(2.0)
0.59 ±0.02
Ø 0.1968 +0/-0.0005 (15.0 ±0.5)
(Ø 4.999 +0/-0.013)

Ø 0.866 +0/-0.002 2.30

(Ø 21.996 +0/-0.051) (58.3)
P2
1.220 ±0.004 SQ.
(31.0 ±0.1 SQ.)
Connector
4X M3x0.5 THREAD Option
0.177 ±0.002
x0.15 MIN DEEP
(4.49 ±0.05)

1.68 SQ.
(42.7 SQ.) LMAX
LMAX2

Control Knob Dimensions in inches (mm)

(LMAX2 Option) Motor Length LMAX1 (Single Shaft) LMAX2 (Control Knob)
Single 2.20 (55.9) 2.79 (70.9)
Ø 0.97 Double 2.43 (61.7) 3.02 (76.7)
(Ø 24.6) Triple 2.77 (70.4) 3.37 (85.6)

P1 Connector Options P2 Connector Options

0.20 P2 P2
(5.0)
P1

0.14
(3.6)

16-Pin Locking 10-Pin IDC 10-Pin Wire

Wire Crimp Crimp

Figure 1.3.1: MDrive17Plus2 Mechanical Specifications

1-18 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Pin Assignment And Description

P1 Connector - Power and I/O, Expanded I/O Configuration

P1 - Expanded I/O Configuration
16-Pin Wire Crimp Function Description
I/O Power, used with sourcing inputs or outputs. See
Pin 1 I/O PWR
Section 2.3 for more details.
Pin 2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
Pin 3 I/O 1 0 to +24 VDC Programmable I/O Point 1
Pin 4 I/O 2 0 to +24 VDC Programmable I/O Point 2
Pin 5 I/O 3 0 to +24 VDC Programmable I/O Point 3
Pin 6 I/O 4 0 to +24 VDC Programmable I/O Point 4
Pin 7 I/O 9 0 to +24 VDC Programmable I/O Point 9
Pin 8 I/O 10 0 to +24 VDC Programmable I/O Point 10
Pin 9 I/O 11 0 to +24 VDC Programmable I/O Point 11
Pin 10 I/O 12 0 to +24 VDC Programmable I/O Point 12
High Speed Capture Input or Trip Output. +5 VDC Logic
Pin 11 Capture/Trip I/O
Level.
Pin 12 AIN 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
Step Clock I/O. Can also be configured as Quadrature or
Pin 13 SCLK
Clock Up/Down. +5 VDC Logic Level.
Direction I/O. Can also be configured as Quadrature or
Pin 14 DIR
Clock Up/Down. +5 VDC Logic Level.
Pin 15 +V +12 to +48 VDC Motor Power Supply Input.
Pin 16 GND Power and Auxiliary Ground
Recommended Cable
PD16-1417-FL3 - See Appendix G for Details
Table 1.3.8: P1 — Pin Assignment, Expanded I/O Configuration
P1 Connector - Power and I/O, Remote Encoder Configuration
P1 - Expanded I/O Configuration
16-Pin Wire Crimp Function Description
I/O Power, used with sourcing inputs or outputs. See
Pin 1 I/O PWR
Section 2.3 for more details.
Pin 2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
Pin 3 I/O 1 0 to +24 VDC Programmable I/O Point 1
Pin 4 I/O 2 0 to +24 VDC Programmable I/O Point 2
Pin 5 I/O 3 0 to +24 VDC Programmable I/O Point 3
Pin 6 I/O 4 0 to +24 VDC Programmable I/O Point 4
Pin 7 Channel A + Encoder Channel Channel A + Input. +5 VDC Logic Level.
Pin 8 Channel A – Encoder Channel Channel A – Input. +5 VDC Logic Level.
Pin 9 Channel B + Encoder Channel Channel B + Input. +5 VDC Logic Level.
Pin 10 Channel B – Encoder Channel Channel B – Input. +5 VDC Logic Level.
High Speed Capture Input or Trip Output. +5 VDC Logic
Pin 11 Capture/Trip I/O
Level.
Pin 12 AIN 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
Pin 13 Index + Encoder Index + Input. +5 VDC Logic Level.
Pin 14 Index – Encoder Index – Input. +5 VDC Logic Level.
Pin 15 +V +12 to +48 VDC Motor Power Supply Input.
Pin 16 GND Power and Auxiliary Ground
Recommended Cable
PD16-1417-FL3 - See Appendix G for Details
Table 1.3.9: P1 — Pin Assignment, Remote Encoder Configuration

Part 1: Hardware Specifications 1-19

 WARNING! Because
the MDrive17Plus2
Motion Control DOES
NOT have a Pin P1
P1
Configuration label on the body
of the device please ensure that
15 16
all wiring connections are cross-
checked against these tables. Pin 1 13 14
11 12
Connector 9 10
7 8
WARNING! Ensure Orientation
proper orientation of 5 6
P1, Pin 1 when creating
your own cabling!
16-Pin Locking Wire Crimp 3 4
MDrive17Plus2 Only 1 2
Recommended Cables:
P1: PD16-1417-FL3
NEED A CABLE?
The following
Figure 1.3.2: P1 Connector, Power and I/O
Prototype
Development cable is
available to interface
Power and I/O: P2 Connector - RS-422/485 Communications
Pin Assignment - P2 RS-422/485 Communications
Flying Leads to 16-Pin
Connector 10-Pin IDC 10-Pin Wire Crimp Function Description
PD16-1417-FL3 Transmit +: Connects to Receive + of the
Pin 1 Pin 9 TX +
Communications Host.
See Appendix F for description Transmit –: Connects to Receive – of the
and wire color chart. Pin 2 Pin 10 TX –
Communications Host.
Receive +: Connects to Transmit + of the
Pin 3 Pin 7 RX +
Communications Host.
Receive –: Connects to Transmit – of the
Pin 4 Pin 8 RX –
Communications Host.
+12 to +24 VDC Auxiliary Logic Supply Input.
Pin 5 Pin 5 Aux-Logic This provides power to control and logic circuits
if main power is removed.
Receive +: This point will typically be used to
Pin 6 Pin 6 RX + connect to RX+ of a second MDrivePlus for
Multidrop Communications.
Receive –: This point will typically be used to
Pin 7 Pin 3 RX – connect to RX – of a second MDrivePlus for
Multidrop Communications.
Transmit –: This point will typically be used to
Pin 8 Pin 4 TX – connect to TX – of a second MDrivePlus for
Multidrop Communications.
Transmit –: This point will typically be used to
Pin 9 Pin 1 TX + connect to TX + of a second MDrivePlus for
Multidrop Communications.
Communications Ground. This Ground is ONLY
COMM to be used to ground communications. Auxiliary
Pin 10 Pin 2
GND Logic Supply must be grounded at the motor
supply ground.
Recommended Recommended * For multi-drop communications systems IMS offers the
Converter/Cable Converter/Cable PD10-1434-FL3 Prototype Development Cable. See Cables
MD-CC400-000 MD-CC402-000 and Cordsets in the Appendices for more details.

Table 1.3.10: P2 — Pin Assignment, RS-422/485 Communications

1-20 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 NEED A CABLE?
10-Pin Friction Lock The following cables
10-Pin IDC and converters are
Wire Crimp
available to interface
communications with
1 2 9 10
P2:

3 4 7 8 USB to RS-422/485:
5 6 5 6 MD-CC400-001 (10-Pin IDC)
MD-CC402-001 (10-Pin Wire
7 8 3 4 Crimp)
1 2
9 10
P2 Multi-Drop for 10-Pin Wire Crimp
P2 Party-Mode
PD10-1434-FL3

See Appendix F for details.

Recommended Cable: Recommended Cables:

P/N MD-CC400-000 P/N MD-CC402-000

Figure 1.3.3: P2 Connector - RS-422/485 Communications

Part 1: Hardware Specifications 1-21

 Connectivity

QuickStart Kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter,
prototype development cable(s), instructions and CD for MDrivePlus initial functional setup and
system testing.
Communication Converter Cables
These convenient 12.0’ (3.6m) accessory cables connect a PC’s USB Port to the MDrive17Plus2
P2 Connector. An in-line RS-422 converter enables parameter setting to a single MDrive17Plus2
Motion Control. Cable purchase recommended with first orders. Versions include:

USB to 10-Pin IDC................................................................. Part No. MD-CC400-001

USB to 10-Pin Wire Crimp..................................................... Part No. MD-CC402-001
Cable Assembly for Party-Mode................................................Part No. PD10-1434-FL3
Prototype Development Cable
To speed prototyping of Plus2 versions, IMS recommends the following 10’ (3m) interface cable
with first orders:
16-pin Wire Crimp Cable......................................................... Part No. PD16-1417-FL3
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:
10-Pin Wire Crimp...................................................CK-02
Kit contains 5 mating connectors that press fi t onto ribbon cable. Cable not supplied.
10-Pin IDC...............................................................CK-01
16-Pin Wire Crimp...................................................CK-10

Options and Accessories

Control Knob
The MDrive17Plus2 Motion Control 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 MDrive17Plus2 (For
specifications and details see Appendix C: MDrive17Plus Planetary Gearbox Specification.)
Encoder
The MDrive17Plus2 Motion Control is available with an internal 512-line (2048 count) magnetic encoder
with index mark.
Remote Encoder
The MDrive17Plus2 Motion Control is available with differential encoder inputs for use with a remotely
mounted encoder (not supplied).
Linear Slide
Integrated linear slides are available factory installed for precision linear movement. Screw pitches
are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.
Contact factory for custom lengths.

1-22 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
SECTIO N 1 . 4 WARNING! The
MDrive17Plus2-65 Detailed Specifications
maximum +48 VDC
Input Voltage of the
MDrive17Plus series
General Specifications includes motor Back EMF,
Power Supply Ripple and High
Line.
Electrical Specifications
Input Voltage (+V) Range* +12 to +48 VDC WARNING! Because
Max Power Supply Current (Per MDrive17Plus)* 2A the MDrivePlus
consists of two
Aux-Logic Input Voltage** +12 to +24 VDC
core components,
Max Aux-Logic Supply Current (Per MDrive17Plus) 161 mA a drive and a motor, close
* Actual Power Supply Current will depend on Voltage and Load. attention must be paid to the
** Maintains power to control and feedback circuits [only] when input voltage is removed thermal environment where the
device is used. See Thermal
Table 1.4.1: MDrive17Plus2-65 Electrical Specifications Specifications.

Environmental Specifications
Operating Temperature (non- Heat Sink -40°C to +85°C
condensing humidity) Motor -40°C to +100°C
Sealing (Sealed against Dust, Water Jets) IP65
Table 1.4.2: MDrive17Plus2-65 Environmental and Thermal Specifications

I/O Specifications
General Purpose I/O - Number and Type
8 I/O Points configurable as sinking
Plus2 (I/O Points 1-4, 9-12)
or sourcing inputs or outputs
General Purpose I/O - Electrical
Inputs TTL up to +24 VDC
Sinking Outputs (All) Up to +24 VDC
Sourcing Outputs (Plus2) +12 to +24 VDC
Output Sink Current (Plus) up to 600 mA (One Channel)
up to 600 mA (One Channel in each
Output Sink Current (Plus2)
I/O Bank)
Logic Threshold (Logic 0) < 0.8 VDC
Logic Threshold (Logic 1) > 2.2 VDC
Protection (Sinking) Over Temp, Short Circuit
Transient Over Voltage, Inductive
Protection (Sourcing)
Clamp
Analog Input
Resolution 10 Bit
Range (Voltage Mode) 0 to +5 VDC, 0 to +10 VDC
Range (Current Mode) 4 to 20 mA, 0 to 20mA
Clock I/O
Step/Direction, Up/Down,
Types
Quadrature
TTL Input, TTL Output (with 2 kΩ
Logic Threshold
Load to Ground)
Trip Output/Capture Input
Logic Threshold TTL Input, TTL Output (with 2 kΩ
Load to Ground)
Table 1.4.3: MDrive17Plus2-65 I/O Specifications

Communications Specifications
Protocol RS-422/RS-485
BAUD Rate 4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps
Table 1.4.4: MDrive17Plus2-65 Communications Specifications

Part 1: Hardware Specifications 1-23

 Motion Specifications
Microstep Resolution - Open Loop
Number of Resolutions 20
Available Microsteps Per Revolution
200 400 800 1000 1600 2000 3200 5000 6400 10000
12800 20000 25000 25600 40000 50000 51200 360001 216002 254003

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

Microstep Resolution - Closed Loop Configuration (Optional)

Steps Per Revolution (Fixed) 51200
Position Resolution 2048
Optional Differential Encoder (Internally Mounted)
Type Internal, Magnetic
Resolution (Lines) 512
Resolution (Edges) 2048
Counters
Counter 1 (C1) Type Position
Counter 2 (C2) Type Encoder
Resolution 32 Bits
Maximum Edge Rate 5 MHz
Velocity
Range ±5,000,000 Steps/Sec.
Resolution 0.5961 Steps/Sec.
Acceleration/Deceleration
Range 1.5 x 109 Steps/Sec.2
Resolution 90.9 Steps/Sec.2
Electronic Gearing (Plus2 Only)‡
Range (Ratio) 0.001 to 2.000
Resolution 32 Bits
Voltage +5 VDC Logic Level
Input Filter Range 50 nS to 12.9 µS
Secondary Output Clock Range 1 to 1
High Speed I/O (Plus2 Only)
Position Capture Input - Resolution 32 Bits
Position Capture Input - Filtering 50 nS to 12.9 µS
Trip Output - Speed 150 nS
Trip Output - Resolution 32 Bits
Trip Output Voltage +5 VDC Logic Level
Optional Remote Encoder (Plus2 Only)‡
User Defined
Type
Differential
See Microstep
Steps Per Revolution
Resolution - Open Loop
Resolution User Defined*
* Microstep Resolution must be set to 2x the Encoder Counts/Rev minimum.
‡With Optional Remote Encoder the Encoder Inputs replace I/O Points 9-12 and the Step/Direction
Clock I/O Points. Electronic Gearing (following) is not available on Remote Encoder models.
Table 1.4.5: MDrive17Plus2-65 Motion Specifications

1-24 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Software Specifications
Program Storage Type/Size Flash/6384 Bytes
User Registers (4) 32 Bit
User Program Labels and Variables 192
Math, Logic and Conditional
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Functions
Branch Functions Branch and Call (Conditional)
Party Mode Addresses 62
Encoder Functions Stall Detect, Position Maintenance, Find Index
Predefined I/O Functions
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog
Input Functions
Input
Output Functions Moving, Fault, Stall, Velocity Changing
Trip Functions Trip on Input, Trip on Position, Trip on Time, Trip Capture

Table 1.4.6: MDrive17Plus2-65 Software Specifications

Motor Specifications
Single Length
Holding Torque 32 oz-in/22.6 N-cm
Detent Torque 1.66 oz-in/1.17 N-cm
Rotor Inertia 0.00053 oz-in-sec2/0.038 kg-cm2
Weight (Motor + Driver) 9.8 oz/277.8 g
Double Length
Holding Torque 60 oz-in/42.46 N-cm
Detent Torque 2.08 oz-in/1.47 N-cm
Rotor Inertia 0.00080 oz-in-sec2/0.057 kg-cm2
Weight (Motor + Driver) 10.5 oz/297.7 g
Triple Length
Holding Torque 74.9 oz-in/52.9 N-cm
Detent Torque 3.47 oz-in/2.45 N-cm
Rotor Inertia 0.00116 oz-in-sec2/0.082 kg-cm2
Weight (Motor + Driver) 15.1 oz/428.1 g

Table 1.4.7: MDrive17Plus2-65 Motor Specifications

Part 1: Hardware Specifications 1-25

 Mechanical Specifications
Dimensions in Inches (mm)
LMAX3*
1.38
(35.1)
0.80
(20.3)

0.49
0.64 (12.5)
(16.3) 0.94 ±0.02
P2 (23.9 ±0.5)
0.08
(2.0)
1.078 0.59 ±0.02
(27.4) (15.0 ±0.5)
2.792
Ø 0.866 +0/-0.002 (70.9)
(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)
4X M3x0.5 THREAD
x0.15 MIN DEEP 1.69 SQ. LMAX
(42.9 SQ.) LMAX2

Dimensions in inches (mm)

Motor Length LMAX1 LMAX2 LMAX3

Ø 0.53
Ø 0.87 Single 2.39 (60.71) 3.06 (77.72) 2.99 (75.95)
(Ø 13.5)
(Ø 22.1)
Double 2.62 (66.55) 3.29 (83.57) 3.22 (81.79)
Triple 2.96 (75.18) 3.63 (92.20) 3.56 (90.42)

5-Pin M12 Female 19-Pin M23 Male

(RS-422/485 (Power and I/O)
Communications)

Figure 1.4.1: MDrive17Plus2-65 Motion Control

1-26 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Pin Assignment and Description NEED A CABLE?
The following cordset
P1 Connector - I/O and Power Connections, Expanded I/O Configuration is available to
interface to the 19-Pin
P1 - Expanded I/O Configuration M23 Connector:
19-Pin M23 Function Description
Straight Termination
Pin 1 I/O 9 0 to +24 VDC Programmable I/O Point 9. MD-CS100-000
Pin 2 I/O 11 0 to +24 VDC Programmable I/O Point 11.
Step Clock I/O. Can also be configured as Quadrature or Right Angle Termination
Pin 3 SCLK
Clock Up/Down. +5 VDC Logic Level. MD-CS-101-000
Pin 4 I/O 1 0 to +24 VDC Programmable I/O Point 1.
See Appendix F for details.
Direction I/O. Can also be configured as Quadrature or
Pin 5 DIR
Clock Up/Down. +5 VDC Logic Level.
Pin 6 +V +12 to +48 VDC Motor Power Supply Input.
+12 to +24 VDC Auxiliary Logic Supply Input. This
Pin 7 Aux-Logic provides power to control and logic circuits if main power
is removed.
Pin 8 Aux-Ground Auxiliary Ground.
Pin 9 I/O 3 0 to +24 VDC Programmable I/O Point 3.
Pin 10 I/O GND Non-isolated I/O Ground. Common with Power Ground.
I/O Power, used with sourcing inputs or outputs. See
Pin 11 I/O PWR
Section 2.3 for more details.
Pin 12 Earth Ground Earth Ground, Connects to connector shell.
Pin 13 I/O 12 0 to +24 VDC Programmable I/O Point 12.
High Speed Capture Input or Trip Output. +5 VDC Logic
Pin 14 Capture/Trip I/O
Level.
Pin 15 AIN 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
Pin 16 I/O 2 0 to +24 VDC Programmable I/O Point 2.
Pin 17 I/O 4 0 to +24 VDC Programmable I/O Point 4.
Pin 18 I/O 10 0 to +24 VDC Programmable I/O Point 10.
Pin 19 GND Power Ground.
Recommended
Cordset
MD-CS100-000 or
MD-CS101-000
Table 1.4.8: P1 — Pin Assignment, Expanded I/O Configuration

Part 1: Hardware Specifications 1-27

 P1 Connector - I/O and Power Connections, Remote Encoder Configuration
P1 - Expanded I/O Configuration
19-Pin M23 Function Description
Pin 1 Channel A + Encoder Channel Channel A + Input. +5 VDC Logic Level.
Pin 2 Channel B + Encoder Channel Channel B + Input. +5 VDC Logic Level.
Pin 3 Index + Encoder Index + Input. +5 VDC Logic Level.
Pin 4 I/O 1 0 to +24 VDC Programmable I/O Point 1.
Pin 5 Index – Encoder Index – Input. +5 VDC Logic Level.
Pin 6 +V +12 to +48 VDC Motor Power Supply Input.
+12 to +24 VDC Auxiliary Logic Supply Input. This
Pin 7 Aux-Logic provides power to control and logic circuits if main power
is removed.
Pin 8 Aux-Ground Auxiliary Ground.
Pin 9 I/O 3 0 to +24 VDC Programmable I/O Point 3.
Pin 10 I/O GND Non-isolated I/O Ground. Common with Power Ground.
I/O Power, used with sourcing inputs or outputs. See
Pin 11 I/O PWR
Section 2.3 for more details.
Pin 12 Earth Ground Earth Ground, Connects to connector shell.
Pin 13 Channel B – Encoder Channel Channel B – Input. +5 VDC Logic Level.
High Speed Capture Input or Trip Output. +5 VDC Logic
Pin 14 Capture/Trip I/O
Level.
Pin 15 AIN 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
Pin 16 I/O 2 0 to +24 VDC Programmable I/O Point 2.
Pin 17 I/O 4 0 to +24 VDC Programmable I/O Point 4.
Pin 18 Channel A – Encoder Channel Channel A – Input. +5 VDC Logic Level.
Pin 19 GND Power Ground.
Recommended Cordset
MD-CS100-000 or MD-CS101-000

Table 1.4.9: P1 — Pin Assignment, Remote Encoder Configuration

Outside: Pins 1 -12 Inside: Pins 13 - 19

Pin 3 Pin 4 Pin 19
Pin 2 Pin 5
Pin 13 Pin 14
Pin 1 Pin 6
Pin 18
Pin 12 Pin 15
Pin 11 Pin 7 Pin 17
Pin 10
Pin 8 Pin 16
Pin 9
Figure 1.4.2: MDrive17Plus2 -65 P1 Connector, Power and I/O

1-28 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 P2 Connector - RS-422/485 Communications Note: To reduce
wiring time, please
Pin Assignment - P2 RS-422/485 order Part# MD-
Communications CC401-000, the USB
10-Pin IDC Function Description to M12 accessory cable with
inline RS-422 Converter.
Transmit –: This point will typically be used to
Pin 1 TX – connect to TX – of a second MDrivePlus for Multidrop
Communications.
Transmit +: Connects to Receive + of the
Pin 2 TX +
Communications Host.
Receive +: Connects to Transmit + of the
Pin 3 RX +
Communications Host.
Receive –: Connects to Transmit – of the Communications
Pin 4 RX –
Host.
Communications Ground. This Ground is ONLY to be
COMM
Pin 5 used to ground communications. Auxiliary Logic Supply
GND
must be grounded at the motor supply ground.
Recommended
Converter/Cable
MD-CC401-000

Table 1.4.10: MDrive17Plus2 -65 P2 Connector, RS-422/RS-485 Communications

Pin 3 Pin 4

Pin 5

Pin 2 Pin 1
Figure 1.4.3: MDrive17Plus2 -65 P2 Connector, RS-422/RS-485 Communications

Part 1: Hardware Specifications 1-29

 NEED A CABLE? Connectivity
The following
communications
converter/cable is QuickStart Kit
available: For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter,
prototype development cable(s), instructions
USB to RS-422/485 Converter
MD-CC401-001 Communication Converter Cable
See Appendix F for details. This convenient 12.0' (3.6m) accessory cable connects a PC’s USB Port to the MDrive17Plus2-65
P2 5-Pin M12 Connector. An in-line RS-422 converter enables parameter setting to a single
MDrive17Plus2-65 Motion Control. Cable purchase recommended with first orders.

USB to M12 Circular (sealed version)........................................... Part No. MD-CC401-001

Cordsets
19-Pin M23 single-ended cordsets are offered to speed prototyping of MDrive17Plus2-65 Motion Control
units. Measuring 13.0' (4.0m) long, they are available in either straight or right angle termination
and attach to the MDrivePlus P1 Connector. PVC jacketed cables come with a foil shield and
unconnected drain wire.

Straight Termination................................................................... Part No. MD-CS100-000

Right Angle Termination............................................................ Part No. MD-CS101-000

Options and Accessories

Planetary Gearbox
Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive17Plus2-
65(For specifications and details see Appendix D: MDrive17Plus Planetary Gearbox
Specification.)
Encoder
The MDrive17Plus2-65 Motion Control is available with an internal 512-line (2048 count) magnetic
encoder with index mark.

1-30 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Sectio n 1 . 5 Note: The
MDrivePlus Motion
MDrive23Plus Motion Control Product Introduction Control is available
in a CAN communications
configuration. For more
Introduction to the MDrive23Plus Motion Control System information and Hardware
Specifications see Appendix H
The MDrive23Plus Motion Control offers system designers a low of this document.
cost, intelligent motion controller integrated with a NEMA 23
high torque brushless motor and a +12 to +75* volt microstepping For detailed descriptions of
driver. supported CANopen objects
please refer to the MDrive
The unsurpassed smoothness and performance delivered by the CANpen Software Reference.
MDrive23Plus Motion Control are achieved through IMS's
advanced 2nd generation current control. 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.
The MDrive23Plus accepts a broad input voltage range from +12 to
+75* VDC, delivering enhanced performance and speed. Oversized
input capacitors are used to minimize power line surges, reducing Figure 1.5.1: MDrive23Plus
problems that can occur with long runs and multiple drive systems.
An extended operating temperature range of –40° to +85°C pro-
vides long life, trouble free service in demanding environments.
Standard features available in the MDrive23Plus Motion Control include four +5 to +24 volt general purpose
I/O lines, one 10 bit analog input, 0 to 5MHz step clock rate, 20 microstep resolutions up to 51,200 steps per
revolution, and full featured easy-to-program instruction set.
Expanded features in the MDrive23Plus2 version include up to eight +5 to +24 volt general purpose I/O lines
and the capability of electronic gearing by following a rotary or linear axis at an electronically controlled ratio,
or an output clock can be generated fixed to the internal step clock.
For use in environments where exposure to chemical, dust and liquids may occur, a sealed assembly MDrive-
23Plus2-65 version is designed to meet IP65 specifications.
All MDrive23Plus Motion Control are available with optional
closed loop control. This increases functionality by adding stall
detection, position maintenance and find index mark.
The closed loop configuration is added via a 512 line (2048 edge)
magnetic encoder with index mark, internal to the unit so there
is no increase in length. Or, for an expanded choice of line counts
and resolutions with MDrive23Plus2 versions only, closed loop
control is available with an interface to a remotely mounted user-
supplied external encoder.
The MDrive communicates over RS-422/485 which allows for
point-to-point or multiple unit configurations utilizing one Figure 1.5.2: MDrive23Plus2-65
communication port. Addressing and hardware support up to 62
uniquely addressed units communicating over a single line. Baud
rate is selectable from 4.8 to 115.2kbps.
Available motor configurations include a single shaft rotary motor and a linear actuator with long life Acme
screw. Rotary versions are available in three motor lengths. Interface connections are accomplished using 12.0”
(30.5cm) flying leads or a 7 position terminal strip. Plus2 versions come with pluggable locking wire crimp con-
nectors. Plus2-65 sealed versions come with M12/M23 circular connectors.
The MDrive23Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and
assembly time for a large range of brushless motor applications
* 12–75 VDC single, double & triple length motors;
12–60 VDC quad length motor.

Standard Feature Summary

 Highly Integrated Microstepping Driver, Motion Controller and NEMA 23 High Torque Brushless
Motor
 Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
 Single Supply: +12 to +75* VDC
 Low Cost
 Extremely Compact
 Available Options:
- Long Life Linear Actuator
Part 1: Hardware Specifications 1-31
 - Internal Magnetic Encoder for Closed Loop Control
- Integrated Planetary Gearbox
- Control Knob for Manual Positioning
- Linear Slide
 Three Rotary Motor Lengths Available
 Auxiliary Logic Power Supply Input
 20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes
 Open or Optional Closed Loop Control
 Programmable Motor Run and Hold Currents
 Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs
 One 10 Bit Analog Input Selectable: 0 to +10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA
 0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments
 RS-422/485 Communications
 62 Software Addresses for Multi-Drop Communications
 Simple 1 to 2 Character Instructions
 Interface Options:
- Pluggable Terminal Strip
- 12.0” (30.5cm) Flying Leads
* 12–75 VDC single, double & triple length motors;

12–60 VDC quad length motor.

The MDrive23Plus Motion Control Key Differences and Enhanced Features

There are three different variants of the MDrive23Plus Motion Control, these are:

1. MDrive23Plus Motion Control

The MDrive23Plus Motion Control is the standard version of the MDrive23Plus and is drop-in
compatible with the legacy MDrive23 Motion Control product. The key feature additions from
the original MDrive23 Motion Control are:

 Improved current control.

 20 Microstep resolutions to 51,200 steps per rev including degrees, metric and arc minutes.
 4 +5 to +24 VDC I/O lines which accept sinking or sourcing inputs.
 One 0 to +10 VDC Analog input.
 Optional pluggable strip for interface.

See Section 1.6 of this document for detailed specifications on the MDrive23Plus Motion Control.

2. MDrive23Plus2 Motion Control

The MDrive23Plus2 Motion Control adds expanded functionality to the MDrive23Plus in the
form of:

 Enhanced and expanded I/O set (8 lines) which can be configured as sinking or sourcing inputs or
outputs.
 Remote Encoder option (Reduces I/O set to 4 lines).
 High speed position capture input or trip output.
 14-pin locking wire crimp interface for I/O (P1).
 2-pin locking wire crimp for power.
 Electronic gearing.

See Section 1.7 of this document for detailed specifications on the MDrive23Plus2 Motion Control.

3. MDrive23Plus2-65 Motion Control

The MDrive23Plus2-65 Motion Control adds protection against the ingress of fluids and dust to
the MDrive23Plus2 by changing the motor-drive enclosure to meet IP65 specifications. With this
change the connector configuration changes to industry standard M12/M23 circular connectors.

See Section 1.8 of this document for detailed specifications on the MDrive23Plus2-65 Motion Control.

1-32 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
SECTIO N 1 . 6 WARNING!
The maximum
MDrive23Plus Detailed Specifications
+75 VDC Input
Voltage of the
MDrive23Plus series includes
Electrical Specifications motor Back EMF, Power
Input Voltage (+V) Range* (Single, Double and Triple Length) +12 to +75 VDC Supply Ripple and High Line.
Input Voltage (+V) Range* (Quad Length) +12 to +60 VDC
WARNING! Because the
Max Power Supply Current (Per MDrive23Plus)* 2A MDrivePlus consists of two
Aux-Logic Input Voltage** +12 to +24 VDC core components, a drive
Max Aux-Logic Supply Current (Per MDrive23Plus) 194 mA and a motor, close attention
must be paid to the thermal
* Actual Power Supply Current will depend on Voltage and Load.
environment where the
** Maintains power to control and feedback circuits [only] when input voltage is removed device is used. See Thermal
Table 1.6.1: MDrive23Plus Electrical Specifications Specifications.

Environmental Specifications
Operating Temperature (non- Heat Sink -40°C to +85°C
condensing humidity) Motor -40°C to +100°C WARNING!
Table 1.6.2: MDrive23Plus Thermal Specifications The maximum
+60 VDC Input
Voltage of the
MDrive23Plus Quad Size
I/O Specifications motor includes motor Back
General Purpose I/O - Number and Type EMF, Power Supply Ripple
4 I/O points configurable as sinking and High Line.
I/O Points 1-4
or sourcing inputs or sinking outputs
General Purpose I/O - Electrical
Inputs TTL up to +24 VDC
Sinking Outputs Up to +24 VDC
Output Sink Current up to 600 mA (One Channel)
Logic Threshold (Logic 0) < 0.8 VDC
Logic Threshold (Logic 1) > 2.2 VDC
Protection (Sinking) Over Temp, Short Circuit
Transient Over Voltage, Inductive
Protection (Sourcing)
Clamp
Analog Input
Resolution 10 Bit
Range (Voltage Mode) 0 to +5 VDC, 0 to +10 VDC
Range (Current Mode) 4 to 20 mA, 0 to 20mA
Clock I/O
Step/Direction, Up/Down,
Types
Quadrature
TTL Input, TTL Output (with 2 kΩ
Logic Threshold
Load to Ground)
Trip Output/Capture Input
Logic Threshold TTL Input, TTL Output (with 2 kΩ
Load to Ground)
Table 1.6.3: MDrive23Plus I/O Specifications

Communications Specifications
Protocol RS-422/RS-485
BAUD Rate 4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps
Table 1.6.4: MDrive23Plus Communications Specifications

Part 1: Hardware Specifications 1-33

 WARNING! Motion Specifications
When using the Microstep Resolution - Open Loop
MDrivePlus Motion Number of Resolutions 20
Control with
optional internal magnetic Available Microsteps Per Revolution
encoder, no axial force may 200 400 800 1000 1600 2000 3200 5000 6400 10000
be applied to the motor shaft 12800 20000 25000 25600 40000 50000 51200 360001 216002 254003
without use of a load bearing
isolation coupling. 1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

Microstep Resolution - Closed Loop Configuration (Optional)

Steps Per Revolution (Fixed) 51200
Position Resolution 2048
Optional Differential Encoder (Internally Mounted)
Type Internal, Magnetic
Resolution (Lines) 512
Resolution (Edges) 2048
Counters
Counter 1 (C1) Type Position
Counter 2 (C2) Type Encoder
Resolution 32 Bits
Maximum Edge Rate 5 MHz
Velocity
Range ±5,000,000 Steps/Sec.
Resolution 0.5961 Steps/Sec.
Acceleration/Deceleration
Range 1.5 x 109 Steps/Sec.2
Resolution 90.9 Steps/Sec.2

Table 1.6.5: MDrive23Plus Motion Specifications

Software Specifications
Program Storage Type/Size Flash/6384 Bytes
User Registers (4) 32 Bit
User Program Labels and Variables 192
Math, Logic and Conditional
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Functions
Branch Functions Branch and Call (Conditional)
Party Mode Addresses 62
Encoder Functions Stall Detect, Position Maintenance, Find Index
Predefined I/O Functions
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog
Input Functions
Input
Output Functions Moving, Fault, Stall, Velocity Changing
Trip Functions Trip on Input, Trip on Position, Trip on Time, Trip Capture

Table 1.6.6: MDrive23Plus Software Specifications

1-34 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Motor Specifications
Single Length
Holding Torque 90 oz-in/64 N-cm
Detent Torque 3.9 oz-in/2.7 N-cm
Rotor Inertia 0.0025 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) 21.6 oz/784.4 g
Double Length
Holding Torque 144 oz-in/102 N-cm
Detent Torque 5.6 oz-in/3.92 N-cm
Rotor Inertia 0.0037 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) 26.4 oz/784.4 g
Triple Length
Holding Torque 239 oz-in/169 N-cm
Detent Torque 9.7 oz-in/6.86 N-cm
Rotor Inertia 0.065 oz-in-sec2/0.46 kg-cm2
Weight (Motor + Driver) 39.2 oz/1111.3 g
Quad Length
Holding Torque 283 oz-in/200 N-cm
Detent Torque 14.2 oz-in/10.0 N-cm
Rotor Inertia 0.018 oz-in-sec2/0.76 kg-cm2
Weight (Motor + Driver) 61.6 oz/1746.3 g
Table 1.6.7: MDrive23Plus Motor Specifications

Mechanical Specifications
Dimensions in Inches (mm)

1.90
(48.3) 2.02
0.81 ±0.02 (51.2)
(20.6 ±0.5) 1.63
(41.4)
Connector
Option 0.06 ±0.00
P1/P3 (1.5 ±0.1) Single, Double & Triple
Length Motors:
0.59 ±0.008 Ø 0.2500 +0/-0.0005 Ø 0.197
(15.0 ±0.2) (Ø 6.350 +0/-0.013) (Ø 5.0)
Quad Length Motor:
Ø 0.315 +0/-0.0005
2.96 (Ø 8.0 +0/-0.013)
(75.2)
P2 1.856 ±0.008 SQ.
(47.1 ±0.2 SQ.)
Connector
Option

Single, Double & Triple CAN

Length Motors: Only
0.23 ±0.004
(5.8 ±0.1)
Quad Length Motor:
0.2756 ±0.004
1.34 (7.0 ±0.1) 0.425
(34.0) 0.19 (10.8)
Ø 1.500 ±0.002
(4.9) 2.22 SQ. (Ø 38.1 ±0.1)
LMAX (56.4 SQ.)

LMAX2 P1 Connector Options MDrivePlus

I/O & Power I/O & Power

MDrive Lengths Inches (mm)

12.00
+1.0/-0.0 0.44
LMAX LMAX2 (304.8) (11.2)
(+25.4/-0.0)
SINGLE SHAFT, INTERNAL
Motor CONTROL KNOB P1 P1
Length ENCODER or LINEAR
VERSION
ACTUATOR VERSION
Single 2.65 (67.31) 3.36 (85.34)
Double 3.02 (76.71) 3.73 (94.74) Flying Leads 7-Pin Pluggable Clamp
Triple 3.88 (98.55) 4.59 (116.59) Type Terminal Strip
Quad 5.28 (134.15) 5.99 (152.19) LMAX2 Options
Ø 0.97
(Ø 24.6)

Control Knob

Figure 1.6.1: MDrive23Plus Mechanical Specifications

Part 1: Hardware Specifications 1-35

 Pin Assignment And Description

P1 Connector - Power and I/O

Pin Assignment - P1 Power and I/O Connections
Flying Lead Wire 7-Pin Pluggable
Function Description
Color Terminal Strip
White/Yellow Pin 1 I/O 1 0 to +24 VDC Programmable I/O Point 1
White/Orange Pin 2 I/O 2 0 to +24 VDC Programmable I/O Point 2
White/Violet Pin 3 I/O 3 0 to +24 VDC Programmable I/O Point 3
White/Blue Pin 4 I/O 4 0 to +24 VDC Programmable I/O Point 4
0 to 10 V / 4 to 20 mA / 0 to 20 mA
Green Pin 5 AIN
Analog Input.
Black Pin 6 GND Power and Auxiliary Ground
Red Pin 7 +V +12 to +75 VDC Motor Power Supply input.
Table 1.6.8: P1 — I/O and Power Connections

P1
White/Yellow
White/Orange Pin 1
White/Violet
Pin 2
P1
Pin 3
White/Blue
Pin 4
Green
Pin 5
Black Pin 6
Pin 7
Red

Figure 1.6.2: P1 Connector — Power and I/O Connections

1-36 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 NEED A CABLE?
P2 Connector - RS-422/485 Communications The following cables
and converters are
Pin Assignment - P2 RS-422/485 Communications available to interface
10-Pin IDC 10-Pin Wire Crimp Function Description communications with
Transmit +: Connects to Receive + of the P2:
Pin 1 Pin 9 TX +
Communications Host.
Transmit –: Connects to Receive – of the USB to RS-422/485:
Pin 2 Pin 10 TX – MD-CC400-001 (10-Pin IDC)
Communications Host.
MD-CC402-001 (10-Pin Wire
Receive +: Connects to Transmit + of the
Pin 3 Pin 7 RX + Crimp)
Communications Host.
Receive –: Connects to Transmit – of the Multi-Drop for 10-Pin Wire Crimp
Pin 4 Pin 8 RX –
Communications Host. Party-Mode
+12 to +24 VDC Auxiliary Logic Supply Input. PD10-1434-FL3
Pin 5 Pin 5 Aux-Logic This provides power to control and logic circuits
if main power is removed. See Appendix F for details.
Receive +: This point will typically be used to
Pin 6 Pin 6 RX + connect to RX+ of a second MDrivePlus for
Multidrop Communications.
Receive –: This point will typically be used to
Pin 7 Pin 3 RX – connect to RX – of a second MDrivePlus for
Multidrop Communications.
Transmit –: This point will typically be used to
Pin 8 Pin 4 TX – connect to TX – of a second MDrivePlus for
Multidrop Communications.
Transmit –: This point will typically be used to
Pin 9 Pin 1 TX + connect to TX + of a second MDrivePlus for
Multidrop Communications.
Communications Ground. This Ground is ONLY
COMM to be used to ground communications. Auxiliary
Pin 10 Pin 2
GND Logic Supply must be grounded at the motor
supply ground.
Recommended Recommended * For multi-drop communications systems IMS offers the
Converter/Cable Converter/Cable PD10-1434-FL3 Prototype Development Cable. See Cables
MD-CC400-000 MD-CC402-000 and Cordsets in the Appendices for more details.
Table 1.6.9: P2 — RS-422/485 Communications

10-Pin IDC 10-Pin Friction Lock

Wire Crimp

1 2 9 10
3 4 7 8

5 6 5 6

7 8 3 4
1 2
9 10
P2
P2

Recommended Cable: Recommended Cables:

P/N MD-CC400-000 P/N MD-CC402-000
Figure 1.6.3: P2 Connector - RS-422/485 Communications

Part 1: Hardware Specifications 1-37

 Connectivity

QuickStart Kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter,
prototype development cable(s), instructions
Communication Converter Cables
These convenient 12.0’ (3.6m) accessory cables connect a PC’s USB Port to the MDrivePlus P2
Connector. An in-line RS-422 converter enables communications and programming to a single
MDrivePlus Motion Control. Cable purchase recommended with first orders. Versions include:
USB to 10-Pin IDC..................................................Part No. MD-CC401-001
USB to 10-Pin Wire Crimp .....................................Part No. MD-CC402-001
Cable Assembly for Party-Mode................................Part No. PD10-1434-FL3
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:
10-Pin Wire Crimp...................................................CK-02
Kit contains 5 mating connectors that press fi t onto ribbon cable. Cable not supplied.
10-Pin IDC...............................................................CK-01

Options and Accessories

Control Knob
The MDrive23Plus Motion Control 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 MDrive23Plus.
(For specifications and details see Appendix C: MDrivePlus Planetary Gearbox Specification.)
Encoder
The MDrive23Plus Motion Control is available with an internal 512-line (2048 count) magnetic encoder
with index mark.
Linear Slide
Integrated linear slides are available factory installed for precision linear movement. Screw pitches
are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.
Contact factory for custom lengths.

1-38 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
SECTIO N 1 . 7 WARNING!
The maximum

MDrive23Plus2 Detailed Specifications

+75 VDC Input
Voltage of the
MDrive23Plus series includes
motor Back EMF, Power
General Specifications Supply Ripple and High Line.

Electrical Specifications WARNING! Because the

Input Voltage (+V) Range* +12 to +75 VDC MDrivePlus consists of two
core components, a drive
Max Power Supply Current (Per MDrive23Plus)* 2A
and a motor, close attention
Aux-Logic Input Voltage** +12 to +24 VDC must be paid to the thermal
Max Aux-Logic Supply Current (Per MDrive23Plus) 194 mA environment where the
* Actual Power Supply Current will depend on Voltage and Load. device is used. See Thermal
Specifications.
** Maintains power to control and feedback circuits [only] when input voltage is removed
Table 1.7.1: MDrive23Plus2 Electrical Specifications

Environmental Specifications
Operating Temperature (non- Heat Sink -40°C to +85°C
condensing humidity) Motor -40°C to +100°C

Table 1.7.2: MDrive23Plus2 Thermal Specifications

I/O Specifications
General Purpose I/O - Number and Type
8 I/O Points configurable as sinking
I/O Points 1-4, 9-12
or sourcing inputs or outputs
General Purpose I/O - Electrical
Inputs TTL up to +24 VDC
Sinking Outputs Up to +24 VDC
Sourcing Outputs +12 to +24 VDC
up to 600 mA (One Channel in each
Output Sink Current
I/O Bank)
Logic Threshold (Logic 0) < 0.8 VDC
Logic Threshold (Logic 1) > 2.2 VDC
Protection (Sinking) Over Temp, Short Circuit
Transient Over Voltage, Inductive
Protection (Sourcing)
Clamp
Analog Input
Resolution 10 Bit
Range (Voltage Mode) 0 to +5 VDC, 0 to +10 VDC
Range (Current Mode) 4 to 20 mA, 0 to 20mA
Clock I/O
Step/Direction, Up/Down,
Types
Quadrature
+5 VDC TTL Input, TTL Output (with
Logic Threshold
2 kΩ Load to Ground)
Trip Output/Capture Input
Logic Threshold +5 VDC TTL Input, TTL Output (with
2 kΩ Load to Ground)

Table 1.7.3: MDrive23Plus2 I/O Specifications

Communications Specifications
Protocol RS-422/RS-485
BAUD Rate 4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps

Table 1.7.4: MDrive23Plus2 Communications Specifications

Part 1: Hardware Specifications 1-39

 Motion Specifications
WARNING!
When using the Microstep Resolution - Open Loop
MDrivePlus Motion Number of Resolutions 20
Control with
optional internal magnetic Available Microsteps Per Revolution
encoder, no axial force may 200 400 800 1000 1600 2000 3200 5000 6400 10000
be applied to the motor shaft 12800 20000 25000 25600 40000 50000 51200 360001 216002 254003
without use of a load bearing
1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep
isolation coupling.

Microstep Resolution - Closed Loop Configuration (Optional)

Steps Per Revolution (Fixed) 51200
Position Resolution 2048
Optional Differential Encoder (Internally Mounted)
Type Internal, Magnetic
Resolution (Lines) 512
Resolution (Edges) 2048
Counters
Counter 1 (C1) Type Position
Counter 2 (C2) Type Encoder
Resolution 32 Bits
Maximum Edge Rate 5 MHz
Velocity
Range ±5,000,000 Steps/Sec.
Resolution 0.5961 Steps/Sec.
Acceleration/Deceleration
Range 1.5 x 109 Steps/Sec.2
Resolution 90.9 Steps/Sec.2
Electronic Gearing ‡
Range (Ratio) 0.001 to 2.000
Resolution 32 Bits
Voltage +5 VDC Logic Level
Input Filter Range 50 nS to 12.9 µS
Secondary Output Clock Range 1 to 1
High Speed I/O
Position Capture Input - Resolution 32 Bits
Position Capture Input - Filtering 50 nS to 12.9 µS
Trip Output - Speed 150 nS
Trip Output - Resolution 32 Bits
Trip Output Voltage +5 VDC Logic Level
Optional Remote Encoder ‡
User Defined
Type
Differential
See Microstep
Steps Per Revolution
Resolution - Open Loop
Resolution User Defined*
* Microstep Resolution must be set to 2x the Encoder Counts/Rev minimum.
‡With Optional Remote Encoder the Encoder Inputs replace I/O Points 9-12 and the Step/Direction
Clock I/O Points. Electronic Gearing (following) not available on remote encoder models.
Table 1.7.5: MDrive23Plus2 Motion Specifications

1-40 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Software Specifications
Program Storage Type/Size Flash/6384 Bytes
User Registers (4) 32 Bit
User Program Labels and Variables 192
Math, Logic and Conditional
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Functions
Branch Functions Branch and Call (Conditional)
Party Mode Addresses 62
Encoder Functions Stall Detect, Position Maintenance, Find Index
Predefined I/O Functions
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog
Input Functions
Input
Output Functions Moving, Fault, Stall, Velocity Changing
Trip Functions Trip on Input, Trip on Position, Trip on Time, Trip Capture

Table 1.7.6: MDrive23Plus2 Software Specifications

Motor Specifications
Single Length
Holding Torque 90 oz-in/64 N-cm
Detent Torque 3.9 oz-in/2.7 N-cm
Rotor Inertia 0.0025 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) 21.6 oz/784.4 g
Double Length
Holding Torque 144 oz-in/102 N-cm
Detent Torque 5.6 oz-in/3.92 N-cm
Rotor Inertia 0.0037 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) 26.4 oz/784.4 g
Triple Length
Holding Torque 239 oz-in/169 N-cm
Detent Torque 9.7 oz-in/6.86 N-cm
Rotor Inertia 0.065 oz-in-sec2/0.46 kg-cm2
Weight (Motor + Driver) 39.2 oz/1111.3 g
Quad Length
Holding Torque 283 oz-in/200 N-cm
Detent Torque 14.2 oz-in/10.0 N-cm
Rotor Inertia 0.018 oz-in-sec2/0.76 kg-cm2
Weight (Motor + Driver) 61.6 oz/1746.3 g

Table 1.7.7: MDrive23Plus2 Motor Specifications

Part 1: Hardware Specifications 1-41

 Mechanical Specifications
Dimensions in Inches (mm)

1.90
(48.3) 2.02
(51.2)
0.81 ±0.02
(20.6 ±0.5) 1.63
(41.4)
Connector
Option 0.06 ±0.00
P1/P3 (1.5 ±0.1) Single, Double & Triple
Length Motors:
Ø 0.2500 +0/-0.0005 Ø 0.197
0.59 ±0.008 (Ø 6.350 +0/-0.013) (Ø 5.0)
(15.0 ±0.2)
Quad Length Motor:
Ø 0.315 +0/-0.0005
(Ø 8.0 +0/-0.013)
2.96
(75.2)
P2 1.856 ±0.008 SQ.
(47.1 ±0.2 SQ.)
Connector
Option

CAN
Single, Double & Triple Only
Length Motors:
0.23 ±0.004
(5.8 ±0.1)
Quad Length Motor:
0.2756 ±0.004 0.425
1.34 (7.0 ±0.1) (10.8)
(34.0) 0.19 Ø 1.500 ±0.002
(4.9) 2.22 SQ. (Ø 38.1 ±0.1)
LMAX (56.4 SQ.)

LMAX2

MDrive Lengths Inches (mm) P1 Connector Options MDrivePlus LMAX2 Options

LMAX LMAX2 Ø 0.97
0.50 (Ø 24.6)
SINGLE SHAFT, INTERNAL (12.7)
Motor CONTROL KNOB
Length ENCODER or LINEAR 0.13
VERSION (3.3)
ACTUATOR VERSION
Single 2.65 (67.31) 3.36 (85.34) 0.38 P1/P3
Double 3.02 (76.71) 3.73 (94.74) (9.7)
Triple 3.88 (98.55) 4.59 (116.59)
Control Knob
Quad 5.28 (134.15) 5.99 (152.19)

14- & 2-Pin Pluggable

Locking Wire Crimps

Figure 1.7.1: MDrive23Plus2 Mechanical Specifications

1-42 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Pin Assignment And Description WARNING! Because
the MDrive23Plus2
P1 Connector - Expanded I/O Configuration Motion Control DOES
NOT have a Pin
P1 - Expanded I/O Configuration Configuration label on the body
16-Pin Wire Crimp Function Description of the device please ensure that
all wiring connections are cross-
I/O Power, used with sourcing inputs or outputs. See
Pin 1 I/O PWR checked against these tables.
Section 2.3 for more details.
Pin 2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
Pin 3 I/O 1 0 to +24 VDC Programmable I/O Point 1
Pin 4 I/O 2 0 to +24 VDC Programmable I/O Point 2
Pin 5 I/O 3 0 to +24 VDC Programmable I/O Point 3
Pin 6 I/O 4 0 to +24 VDC Programmable I/O Point 4 WARNING! Ensure
Pin 7 I/O 9 0 to +24 VDC Programmable I/O Point 9 proper orientation
Pin 8 I/O 10 0 to +24 VDC Programmable I/O Point 10 of P1, Pin 1 when
creating your own
Pin 9 I/O 11 0 to +24 VDC Programmable I/O Point 11
cabling!
Pin 10 I/O 12 0 to +24 VDC Programmable I/O Point 12
High Speed Capture Input or Trip Output. +5 VDC Logic
Pin 11 Capture/Trip I/O
Level.
Pin 12 AIN 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
Step Clock I/O. Can also be configured as Quadrature or NEED A CABLE?
Pin 13 SCLK The following
Clock Up/Down. +5 VDC Logic Level.
Direction I/O. Can also be configured as Quadrature or Prototype
Pin 14 DIR Development cable is
Clock Up/Down. +5 VDC Logic Level.
available to interface
Recommended Cable Power and I/O:
PD14-2334-FL3 - See Appendix G for more details.
Table 1.7.8: P1 — Pin Assignment, Expanded I/O Configuration Power Interface
PD02-2300-FL3
P1 Connector - Remote Encoder Configuration
Logic Interface
P1 - Expanded I/O Configuration PD14-2334-FL3
16-Pin Wire Crimp Function Description
See Appendix F for description
I/O Power, used with sourcing inputs or outputs. See
Pin 1 I/O PWR and wire color chart.
Section 2.3 for more details.
Pin 2 I/O GND Non-isolated I/O Ground. Common with Power Ground.
Pin 3 I/O 1 0 to +24 VDC Programmable I/O Point 1
Pin 4 I/O 2 0 to +24 VDC Programmable I/O Point 2
Pin 5 I/O 3 0 to +24 VDC Programmable I/O Point 3
Pin 6 I/O 4 0 to +24 VDC Programmable I/O Point 4
Pin 7 Channel A + Encoder Channel Channel A + Input. +5 VDC Logic Level.
Pin 8 Channel A – Encoder Channel Channel A – Input. +5 VDC Logic Level.
Pin 9 Channel B + Encoder Channel Channel B + Input. +5 VDC Logic Level.
Pin 10 Channel B – Encoder Channel Channel B – Input. +5 VDC Logic Level.
High Speed Capture Input or Trip Output. +5 VDC Logic
Pin 11 Capture/Trip I/O
Level.
Pin 12 AIN 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
Pin 13 Index + Encoder Index + Input. +5 VDC Logic Level.
Pin 14 Index – Encoder Index – Input. +5 VDC Logic Level.
Recommended Cable
PD14-2334-FL3 - See Appendix G for more details.
Table 1.7.9: P1 — Pin Assignment, Remote Encoder Configuration

Part 1: Hardware Specifications 1-43

 P3 Connector - Power
P3 -Power
2-Pin Wire Crimp Function Description
Pin 1 +V +12 to +75 VDC Motor Power Supply Input
Pin 2 GND Power Ground.
Recommended Cable
PD02-2300-FL3 See Appendix G for more
details.
Table 1.7.10: P3 — Pin Assignment, Power

P1
13 14
11 12
9 10
7 8 Pin 1
5 6
3 4 Pin 1
1 2

2 1
Recommended Cables:
P3 P1: PD14-2334-FL3
P2: PD02-2300-FL3
14-Pin and 2-Pin
Locking Wire Crimp
Figure 1.7.2: P1 and P3: Connector Orientation and Pin Assignment

1-44 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 P2 Connector - RS-422/485 Communications NEED A CABLE?
The following cables
Pin Assignment - P2 RS-422/485 Communications and converters are
10-Pin IDC 10-Pin Wire Crimp Function Description available to interface
communications with
Transmit +: Connects to Receive + of the
Pin 1 Pin 9 TX + P2:
Communications Host.
Transmit –: Connects to Receive – of the USB to RS-422/485:
Pin 2 Pin 10 TX –
Communications Host. MD-CC400-001 (10-Pin IDC)
Receive +: Connects to Transmit + of the MD-CC402-001 (10-Pin Wire
Pin 3 Pin 7 RX +
Communications Host. Crimp)
Receive –: Connects to Transmit – of the
Pin 4 Pin 8 RX –
Communications Host. Multi-Drop for 10-Pin Wire Crimp
+12 to +24 VDC Auxiliary Logic Supply Input. Party-Mode
Pin 5 Pin 5 Aux-Logic This provides power to control and logic circuits PD10-1434-FL3
if main power is removed.
See Appendix F for details.
Receive +: This point will typically be used
Pin 6 Pin 6 RX + to connect to RX+ (Pin 3/7*) of a second
MDrivePlus for Multidrop Communications.
Receive –: This point will typically be used
Pin 7 Pin 3 RX – to connect to RX – (Pin 4/8*) of a second
MDrivePlus for Multidrop Communications.
Transmit –: This point will typically be used
Pin 8 Pin 4 TX – to connect to TX – (Pin 1/9*) of a second
MDrivePlus for Multidrop Communications.
Transmit –: This point will typically be used
Pin 9 Pin 1 TX + to connect to TX + (Pin 2/10*) of a second
MDrivePlus for Multidrop Communications.
Communications Ground. This Ground is ONLY
COMM to be used to ground communications. Auxiliary
Pin 10 Pin 2
GND Logic Supply must be grounded at the motor
supply ground.
Recommended Recommended * For multi-drop communications systems IMS offers the
Converter/Cable Converter/Cable PD10-1434-FL3 Prototype Development Cable. See Cables
MD-CC400-000 MD-CC402-000 and Cordsets in the Appendices for more details.
Table 1.7.11: P2 — Pin Assignment and Description, RS-422/485 Communications

10-Pin IDC 10-Pin Friction Lock

Wire Crimp

1 2 9 10
3 4 7 8

5 6 5 6

7 8 3 4
1 2
9 10
P2
P2

Recommended Cable: Recommended Cables:

P/N MD-CC400-000 P/N MD-CC402-000
Figure 1.7.3: P2 Connector - RS-422/485 Communications

Part 1: Hardware Specifications 1-45

 Options and Accessories

QuickStart Kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter,
prototype development cable(s), instructions
Control Knob
The MDrive23Plus Motion Control 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 MDrive23Plus.
(For specifications and details see Appendix C: MDrivePlus Planetary Gearbox Specification.)
Encoder
The MDrive23Plus Motion Control is available with an internal 512-line (2048 count) magnetic encoder
with index mark.
Linear Slide
Integrated linear slides are available factory installed for precision linear movement. Screw pitches
are 0.1", 0.2", 0.5" or 1.0" of travel per rev. Slides are 10.0" (25.4cm) to 36.0" (91.44cm) long.
Contact factory for custom lengths.
Communication Converter Cables
These convenient 12.0’ (3.6m) accessory cables connect a PC’s USB Port to the MDrive17Plus2
P2 Connector. An in-line RS-422 converter enables parameter setting to a single MDrive17Plus2
Motion Control. Cable purchase recommended with first orders. Versions include:

USB to 10-Pin IDC................................................................. Part No. MD-CC400-001

USB to 10-Pin Wire Crimp..................................................... Part No. MD-CC402-001
Cable Assembly for Party-Mode................................................Part No. PD10-1434-FL3
Prototype Development Cable
To speed prototyping of Plus2 versions, IMS recommends the following 10’ (3m) interface cable
with first orders:
2-pin Wire Crimp Cable........................................................... Part No. PD02-2300-FL3
14-pin Wire Crimp Cable......................................................... Part No. PD16-1417-FL3
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:
10-Pin Wire Crimp...................................................CK-02
Kit contains 5 mating connectors that press fi t onto ribbon cable. Cable not supplied.
10-Pin IDC...............................................................CK-01
14-Pin Wire Crimp...................................................CK-09
2-Pin Wire Crimp.....................................................CK-04

1-46 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
SECTIO N 1 . 8
MDrive23Plus2-65 Detailed Specifications
WARNING!
The maximum
+75 VDC Input
Electrical Specifications Voltage of the
Input Voltage (+V) Range* +12 to +75 VDC MDrive23Plus series includes
motor Back EMF, Power
Max Power Supply Current (Per MDrive23Plus)* 2A
Supply Ripple and High Line.
Aux-Logic Input Voltage** +12 to +24 VDC
Max Aux-Logic Supply Current (Per MDrive23Plus) 194 mA WARNING!
Because the
* Actual Power Supply Current will depend on Voltage and Load.
MDrivePlus
** Maintains power to control and feedback circuits [only] when input voltage is removed
consists of two
Table 1.8.1: MDrive23Plus2-65 Electrical Specifications core components, a drive
and a motor, close attention
must be paid to the thermal
Environmental Specifications environment where the
device is used. See Thermal
Heat Sink -40°C to +85°C Specifications.
Operating Temperature
Motor -40°C to +100°C
Humidity, non condensing 0 to 95%
Sealing (against dust and water jets) IP65

Table 1.8.2: MDrive23Plus2-65 Thermal and Environmental Specifications

I/O Specifications
General Purpose I/O - Number and Type
8 I/O Points configurable as sinking
Plus2 (I/O Points 1-4, 9-12)
or sourcing inputs or outputs
General Purpose I/O - Electrical
Inputs TTL up to +24 VDC
Sinking Outputs (All) Up to +24 VDC
Sourcing Outputs (Plus2) +12 to +24 VDC
up to 600 mA (One Channel in each
Output Sink Current (Plus2)
I/O Bank)
Logic Threshold (Logic 0) < 0.8 VDC
Logic Threshold (Logic 1) > 2.2 VDC
Protection (Sinking) Over Temp, Short Circuit
Transient Over Voltage, Inductive
Protection (Sourcing)
Clamp
Analog Input
Resolution 10 Bit
Range (Voltage Mode) 0 to +5 VDC, 0 to +10 VDC
Range (Current Mode) 4 to 20 mA, 0 to 20mA
Clock I/O
Step/Direction, Up/Down,
Types
Quadrature
+5 VDC TTL Input, TTL Output (with
Logic Threshold
2 kΩ Load to Ground)
Trip Output/Capture Input
Logic Threshold +5 VDC TTL Input, TTL Output (with
2 kΩ Load to Ground)

Table 1.8.3: MDrive23Plus2-65 I/O Specifications

Communications Specifications
Protocol RS-422/RS-485
BAUD Rate 4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps

Table 1.8.4: MDrive23Plus2-65 Communications Specifications

Part 1: Hardware Specifications 1-47

 Motion Specifications
Microstep Resolution - Open Loop
Number of Resolutions 20
Available Microsteps Per Revolution
200 400 800 1000 1600 2000 3200 5000 6400 10000
12800 20000 25000 25600 40000 50000 51200 360001 216002 254003

1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep

Microstep Resolution - Closed Loop Configuration (Optional)

Steps Per Revolution (Fixed) 51200
Position Resolution 2048
Optional Differential Encoder (Internally Mounted)
Type Internal, Magnetic
Resolution (Lines) 512
Resolution (Edges) 2048
Counters
Counter 1 (C1) Type Position
Counter 2 (C2) Type Encoder
Resolution 32 Bits
Maximum Edge Rate 5 MHz
Velocity
Range ±5,000,000 Steps/Sec.
Resolution 0.5961 Steps/Sec.
Acceleration/Deceleration
Range 1.5 x 109 Steps/Sec.2
Resolution 90.9 Steps/Sec.2
Electronic Gearing (Plus2 Only) ‡
Range (Ratio) 0.001 to 2.000
Resolution 32 Bits
Voltage +5 VDC Logic Level
Input Filter Range 50 nS to 12.9 µS
Secondary Output Clock Range 1 to 1
High Speed I/O (Plus2 Only)
Position Capture Input - Resolution 32 Bits
Position Capture Input - Filtering 50 nS to 12.9 µS
Trip Output - Speed 150 nS
Trip Output - Resolution 32 Bits
Trip Output Voltage +5 VDC Logic Level
Optional Remote Encoder (Plus2 Only)‡
User Defined
Type
Differential
See Microstep
Steps Per Revolution
Resolution - Open Loop
Resolution User Defined*
* Microstep Resolution must be set to 2x the Encoder Counts/Rev minimum.
‡With Optional Remote Encoder the Encoder Inputs replace I/O Points 9-12 and the Step/Direction
Clock I/O Points. Electronic Gearing (following) not available on remote encoder models.
Table 1.8.5: MDrive23Plus2-65 Motion Specifications

1-48 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Software Specifications
Program Storage Type/Size Flash/6384 Bytes
User Registers (4) 32 Bit
User Program Labels and Variables 192
Math, Logic and Conditional
+, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT
Functions
Branch Functions Branch and Call (Conditional)
Party Mode Addresses 62
Encoder Functions Stall Detect, Position Maintenance, Find Index
Predefined I/O Functions
Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog
Input Functions
Input
Output Functions Moving, Fault, Stall, Velocity Changing
Trip Functions Trip on Input, Trip on Position, Trip on Time, Trip Capture

Table 1.8.6: MDrive23Plus2-65 Software Specifications

Motor Specifications
Single Length
Holding Torque 90 oz-in/64 N-cm
Detent Torque 3.9 oz-in/2.7 N-cm
Rotor Inertia 0.0025 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) 21.6 oz/784.4 g
Double Length
Holding Torque 144 oz-in/102 N-cm
Detent Torque 5.6 oz-in/3.92 N-cm
Rotor Inertia 0.0037 oz-in-sec2/0.26 kg-cm2
Weight (Motor + Driver) 26.4 oz/784.4 g
Triple Length
Holding Torque 239 oz-in/169 N-cm
Detent Torque 9.7 oz-in/6.86 N-cm
Rotor Inertia 0.065 oz-in-sec2/0.46 kg-cm2
Weight (Motor + Driver) 39.2 oz/1111.3 g

Table 1.8.7: MDrive23Plus2-65 Motor Specifications

Part 1: Hardware Specifications 1-49

 Mechanical Specifications
Dimensions in Inches (mm)
2.02 Ø 0.2500 +0/-0.0005
(51.2) (Ø 6.350 +0/-0.013)
1.63 LMAX3*
(41.4)
2.042 0.81 ±0.02
(51.9) (20.6 ±0.5)
0.06
(1.5)
Ø 0.197 0.590 ±0.008
(Ø 5.0) (15.0 ±0.2)
2.96
(75.2) P2

1.078
(27.4)
1.856 ±0.008 SQ.
(47.1 ±0.2 SQ.)
P1

1.033 0.230 ±0.004

(26.2) (5.8 ±0.1)

1.480
(37.6)
Ø 1.500 ±0.002 LMAX1
2.22 SQ. (Ø 38.1 ±0.1)
(56.4 SQ.) LMAX2

Ø 0.53 Dimensions in inches (mm)

(Ø 13.5) Ø 0.87 Motor Length LMAX1 LMAX2 LMAX3
(Ø 22.1) Single 2.82 (71.63) 3.48 (88.39) 3.42 (86.87)
Double 3.16 (80.26) 3.82 (97.03) 3.76 (95.50)
Triple 4.02 (102.11) 4.67 (118.62) 4.62 (117.35)
5-Pin M12 Male 19-Pin M23 Male
(CAN Communications) (Power and I/O)

Figure 1.8.1: MDrive23Plus2-65 Motion Control

Pin Assignment and Description

P1 Connector - I/O and Power Connections, Expanded I/O Configuration

P1 - Expanded I/O Configuration
19-Pin M23 Function Description
Pin 1 I/O 9 0 to +24 VDC Programmable I/O Point 9.
Pin 2 I/O 11 0 to +24 VDC Programmable I/O Point 11.
Step Clock I/O. Can also be configured as Quadrature or
Pin 3 SCLK
Clock Up/Down. +5 VDC Logic Level.
Pin 4 I/O 1 0 to +24 VDC Programmable I/O Point 1.
Direction I/O. Can also be configured as Quadrature or
Pin 5 DIR
Clock Up/Down. +5 VDC Logic Level.
Pin 6 +V +12 to +75 VDC Motor Power Supply Input.
+12 to +24 VDC Auxiliary Logic Supply Input. This
Pin 7 Aux-Logic provides power to control and logic circuits if main power
is removed.
Pin 8 Aux-Ground Auxiliary Ground.
Pin 9 I/O 3 0 to +24 VDC Programmable I/O Point 3.
Pin 10 I/O GND Non-isolated I/O Ground. Common with Power Ground.
I/O Power, used with sourcing inputs or outputs. See
Pin 11 I/O PWR
Section 2.3 for more details.
Pin 12 Earth Ground Earth Ground, Connects to connector shell.
Pin 13 I/O 12 0 to +24 VDC Programmable I/O Point 12.
High Speed Capture Input or Trip Output. +5 VDC Logic
Pin 14 Capture/Trip I/O
Level.
Pin 15 AIN 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
Pin 16 I/O 2 0 to +24 VDC Programmable I/O Point 2.
Pin 17 I/O 4 0 to +24 VDC Programmable I/O Point 4.
Pin 18 I/O 10 0 to +24 VDC Programmable I/O Point 10.
Pin 19 GND Power Ground.
Recommended Cordset
MD-CS100-000 or MD-CS101-000
Table 1.8.8: P1 — Pin Assignment, Expanded I/O Configuration
1-50 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 P1 Connector - I/O and Power Connections, Remote Encoder Configuration
P1 - Expanded I/O Configuration
19-Pin M23 Function Description
Pin 1 Channel A + Encoder Channel Channel A + Input. +5 VDC Logic Level.
Pin 2 Channel B + Encoder Channel Channel B + Input. +5 VDC Logic Level.
Pin 3 Index + Encoder Index + Input. +5 VDC Logic Level.
Pin 4 I/O 1 0 to +24 VDC Programmable I/O Point 1.
Pin 5 Index – Encoder Index – Input. +5 VDC Logic Level.
Pin 6 +V +12 to +75 VDC Motor Power Supply Input.
+12 to +24 VDC Auxiliary Logic Supply Input. This
Pin 7 Aux-Logic provides power to control and logic circuits if main power
is removed.
Pin 8 Aux-Ground Auxiliary Ground.
Pin 9 I/O 3 0 to +24 VDC Programmable I/O Point 3.
Pin 10 I/O GND Non-isolated I/O Ground. Common with Power Ground.
I/O Power, used with sourcing inputs or outputs. See
Pin 11 I/O PWR
Section 2.3 for more details.
Pin 12 Earth Ground Earth Ground, Connects to connector shell.
Pin 13 Channel B – Encoder Channel Channel B – Input. +5 VDC Logic Level.
High Speed Capture Input or Trip Output. +5 VDC Logic
Pin 14 Capture/Trip I/O
Level.
Pin 15 AIN 0 to 10 V / 4 to 20 mA / 0 to 20 mA Analog Input.
Pin 16 I/O 2 0 to +24 VDC Programmable I/O Point 2.
Pin 17 I/O 4 0 to +24 VDC Programmable I/O Point 4.
Pin 18 Channel A – Encoder Channel Channel A – Input. +5 VDC Logic Level.
Pin 19 GND Power Ground.
Recommended Cordset
MD-CS100-000 or MD-CS101-000

Table 1.8.9: P1 — Pin Assignment, Remote Encoder Configuration

Outside: Pins 1 -12 Inside: Pins 13 - 19

Pin 3 Pin 4 Pin 19
Pin 2 Pin 5
Pin 13 Pin 14
Pin 1 Pin 6
Pin 18
Pin 12 Pin 15
Pin 11 Pin 7 Pin 17
Pin 10
Pin 8 Pin 16
Pin 9

Figure 1.8.2: MDrive23Plus2 -65 P1 Connector, Power and I/O

Part 1: Hardware Specifications 1-51

 NEED A CABLE?
P2 Connector - RS-422/485 Communications
The following
communications Pin Assignment - P2 RS-422/485
converter/cable is Communications
available:
10-Pin IDC Function Description
USB to RS-422/485 Converter Transmit –: This point will typically be used
MD-CC401-000 Pin 1 TX – to connect to TX – (Pin 1/9*) of a second
MDrivePlus for Multidrop Communications.
See Appendix F for details. Transmit +: Connects to Receive + of the
Pin 2 TX +
Communications Host.
Receive +: Connects to Transmit + of the
Pin 3 RX +
Communications Host.
Receive –: Connects to Transmit – of the
Pin 4 RX –
Communications Host.
Communications Ground. This Ground is ONLY
COMM to be used to ground communications. Auxiliary
Pin 5
GND Logic Supply must be grounded at the motor
supply ground.
Recommended
Converter/Cable
MD-CC401-000
Table 1.8.10: P2 — Pin Assignment, 5-Pin M12 RS-422/485 Communications

Pin 3 Pin 4

Pin 5

Pin 2 Pin 1

Figure 1.8.3: MDrive23Plus2 -65 P2 Connector, RS-422/RS-485 Communications

1-52 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Connectivy

Communication Converter Cable

Note: To reduce
This convenient 12.0’ (3.6m) accessory cable connects a PC’s USB Port to the MDrive23Plus2-65 P2 5-Pin
wiring time, please
M12 Connector. An in-line RS-422 converter enables parameter setting to a single MDrive23Plus2-65 order Part# MD-
Motion Control. Cable purchase recommended with first orders. CC401-000, the USB to M12
accessory cable with inline
RS-422 Converter.
USB to M12 Circular (sealed version)........................................... Part No. MD-CC401-001
Cordsets
NEED A CABLE?
19-Pin M23 single-ended cordsets are offered to speed prototyping of MDrive23Plus2-65 Motion Control The following cordset
units attaching to the P1 Connector. Measuring 13.0’ (4.0m) long, they are available in either is available to
straight or right angle termination. PVC jacketed cables come with a foil shield and unconnected interface to the 19-pin
drain wire. M23 Connector:

Straight Termination
Straight Termination................................................................... Part No. MD-CS100-000 MD-CS100-000
Right Angle Termination............................................................ Part No. MD-CS101-000
Right Angle Termination
Options and Accessories MD-CS-101-000

See Appendix F for details.

QuickStart Kit
For rapid design verifi cation, all-inclusive QuickStart Kits have communication converter,
prototype development cable(s), instructions
Planetary Gearbox
Efficient, low maintenance Planetary Gearboxes are offered assembled with the MDrive23Plus2-
65(For specifications and details see Appendix D: MDrive23Plus Planetary Gearbox
Specification.)
Encoder
The MDrive23Plus2-65 Motion Control is available with an internal 512-line (2048 count) magnetic
encoder with index mark.

Part 1: Hardware Specifications 1-53

 This Page Intentionally Left Blank

1-54 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Excellence in MotionTM

TM

MOTION CONTROL

Part 2:
Connecting and
Interfacing
Section 2.1: Mounting and Connection Recommendations

Section 2.2: Interfacing DC Power and Auxiliary Logic

Section 2.3: Interfacing Communications

Section 2.4: Interfacing and Using the MDrivePlus Motion Control I/O
 Page Intentionally Left Blank

2-2 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
SECTIO N 2 . 1 WARNING! The
mounting holes
in the MDrive17
Mounting and Connection Recommendations mounting flange
are not through holes. The
maximum length of the screw
Mounting Recommendations threads into the motor flange is
0.140” (3.5 mm).
MDrive17Plus Motion Control MAXIMUM
Care must be observed when installing the mounting screws on ALL MDrive17Plus versions. The mounting TORQUE! The
holes on the flange are not drilled through and have a maximum depth of 0.150” (3.81 mm). maximum torque
for the M3x0.5
The warning note and Figure below illustrate the maximum safe thread length and maximum torque for screw is 7.8 lb-in (9 kg-cm)
mounting all versions of the MDrive17Plus. with a thread engagement
of 5 threads (3.3 mm deep).
A lesser thread engagement
Maximum length of diminishes the maximum
screw threads into torque.
the motor housing
0.140" (3.5 mm) WARNING! DO
NOT connect
or disconnect
power leads
4 X M3-0.5 Screw when power is applied!
(not supplied) Disconnect the AC power
side to power down the DC
Length TBD
power supply.
by flange thickness

Maximum Tightening Torque:

Temperature sensor 7.8 lb-in (9 kg-cm)
should be attached
at the center of the Mounting Flange
MDrive17Plus Or Adapter Plate
motor body

Drill Pattern for Mounting Flange

or Adapter Plate

0.118 (3.0) Thru 4 Places

on a 1.725 (43.82) Circle Ø 0.866 (21.996)

1.220 SQ.
(31.0 SQ.)

Figure 2.1.1: MDrive17Plus Mounting Screw Depth

Part 2: Connecting and Interfacing 2-3

 MDrive23Plus Microstepping
Flange mounting holes are drilled and tapped to to take standard #10-32 (M5) screws. The length of the screw
used will be determined by the mounting flange or adapter plate thickness. When choosing a material for the
mounting adapter plate or flange, keep the maximum motor temperature of 100°C in mind.

Mounting Flange or Adapter Plate

(Material and thickness determined by user application
and thermal considerations)

Temperature sensor
should be attached
at the center of the
motor body

Mounting Hardware* Mounting Hardware (Metric)*

4 x #10-32 Screw 4 x M5 - 0.50 Screw
4 x #10 Split Lockwasher 4 x M5 Split Lockwasher
4 x #10 Flat Washer 4 x M5 Flat Washer
*Not Supplied

Drill Pattern

4 Places on a Ø 2.638 (Ø 67.00) Circle

Use #21 (4.5 mm) drill. Tap to
10-32 (M5-0.5)

1.856 ±0.008 SQ.

(47.1 ±02 SQ.)

Ø 1.500 ±0.002
(Ø 38.1 ±0.1)

Figure 2.1.2: MDrive23Plus Mounting Recommendations

2-4 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
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
Keep Unshielded terminate
Runs Short GND
Shield Drain
Wire Ground Braid
All other I/O (Short Run)
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 2.1.3: Grounding and Shielding for Logic Connections

Part 2: Connecting and Interfacing 2-5

 WARNING! DO NOT Recommended Wiring
bundle the logic leads
with the power leads The following wiring/cabling is recommended for use with the MDrivePlus:
as this could lead to Logic Wiring.......................................................................................................................22 AWG
noise induced errors.
Wire Strip Length.................................................................................................... 0.25” (6.0 mm)
Power and Ground ..................... See Appendix B: Recommended Power and Cable Configurations

NEED A CABLE?
Recommended Mating Connectors and Pins
The following
Prototype
Development Cables Communications
are available to 10-pin Friction Lock (P2)........................................................................... Hirose DF11-10DS-2C
interface Power and I/O
Crimp Contact for 10-pin Friction Lock (22 AWG)..................................................... DF11-22SC
MDI17Plus2 Crimp Contact for 10-pin Friction Lock (24 - 28 AWG).......................................... DF11-2428SC
PD16-1417-FL3 Crimp Contact for 10-pin Friction Lock (30 AWG)..................................................... DF11-30SC
MDI23Plus2 Power Logic and Power
PD02-2300-FL3
The following mating connectors are recommended for the MDrivePlus2 Units ONLY! Please contact a
MDI23Plus I/O
2 JST distributor for ordering and pricing information.
PD14-2334-FL3
MDrive17Plus2
See Appendix G for details.
16-pin Locking Wire Crimp Connector Shell............................................. JST PN PADP-16V-1-S
To Interface Communications: Crimp Pins...............................................................................................JST PN SPH-001T-P0.5L
MDrive23Plus2
USB to RS-422/485 14-pin Locking Wire Crimp Connector Shell............................................. JST PN PADP-14V-1-S
MD-CC400-000 (10-Pin IDC)
MD-CC401-000 (5-Pin M12) Crimp Pins...............................................................................................JST PN SPH-001T-P0.5L
MD-CC402-000 (10-Pin Wire Securing Power Leads and Logic Leads
Crimp)
Some applications may require that the MDrive move with the axis motion. If this is a requirement of your
10-Pin Wire Crimp (Multi-Drop) application, the motor leads (flying, pluggable or threaded) must be properly anchored. This will prevent
PD10-1434-FL3 flexing and tugging which can cause damage at critical connection points within the MDrive.
Cordsets for Sealed (-65) Models:
Power Leads
Straight Termination (M23)
MD-CS100-000

Right-Angle Termination (M23)

Adhesive Anchor
MD-CS101-000 & Tywrap

See Appendices F and G for

details.

Logic Leads

Adhesive Anchors
& Tywraps

Communication Leads
Figure 2.1.4: Typical MDrive Shown with Leads Secured

2-6 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
SECTIO N 2 . 2
Interfacing DC Power and Auxiliary Logic
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.
Figure 2.2.1: IMS ISP300 Switch Mode Power Supply
When traveling at high speeds there is less
time between steps to reach current. The
point where the rate of commutation does
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: Connecting and Interfacing 2-7

 DC Power Supply Recommendations
The power requirements for the MDrivePlus are:

MDrive17Plus
Output Voltage....................................................................+12 to +48 VDC (Includes Back EMF)
Current (max. per unit)................................................................................................................2A
(Actual power supply current requirement will depend upon voltage and load)
MDrive23Plus
Output Voltage (Single, Double and Triple Size)..................+12 to +75 VDC (Includes Back EMF)
Output Voltage (Quad Size).................................................+12 to +60 VDC (Includes Back EMF)
Current (max. per unit)................................................................................................................4A
(Actual power supply current requirement will depend upon voltage and load)

2.0

Current (Amp)
1.6

1.2
75 60 45 30 15
Voltage (VDC)

Figure 2.2.2: MDrive23Plus Motion Control Current Requirements

Recommended IMS Power Supplies

IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products.

IP402 Unregulated Linear Supply (MDrive17Plus)

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.........................................................................39 VDC @ 0 Amps
Continuous Output Rating..................................................................30 VDC @ 1.0 Amps
Peak Output Rating.............................................................................25 VDC @ 2.0 Amps
IP404 Unregulated Linear Supply (MDrive17Plus)
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.........................................................................43 VDC @ 0 Amps
Continuous Output Rating..................................................................32 VDC @ 1.5 Amps
Peak Output Rating................................................................................26 VDC @ 3 Amps
ISP200-4 Unregulated Switching Supply (MDrive17Plus, MDrive23Plus)
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.........................................................................41 VDC @ 0 Amps
Continuous Output Rating..................................................................38 VDC @ 1.5 Amps
Peak Output Rating................................................................................35 VDC @ 3 Amps
IP804 Unregulated Linear Supply (MDrive23Plus)
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

2-8 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 IP806 Unregulated Linear Supply (MDrive23Plus) NOTE: The length of the
DC power supply cable
Input Range to an MDrive should not
120 VAC Versions............................................................................................102-132 VAC exceed 50 feet.
240 VAC Versions............................................................................................204-264 VAC
Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz) NOTE: These
No Load Output Voltage.........................................................................76 VDC @ 0 Amps recommendations
will provide optimal
Half Load Output...................................................................................68 VDC @ 3 Amps
protection against EMI and
Full Load Output....................................................................................64 VDC @ 6 Amps RFI. The actual cable type,
ISP300-7 Unregulated Switching Supply (MDrive23Plus) wire gauge, shield type and
filtering devices used are
Input Range dependent on the customer’s
120 VAC Versions............................................................................................102-132 VAC application and system.
240 VAC Versions............................................................................................204-264 VAC
NOTE: Always use
Output (All Measurements were taken at 25˚C, 120 VAC, 60 Hz)
Shielded/Twisted Pairs
No Load Output Voltage.........................................................................68 VDC @ 0 Amps for the MDrive DC Supply
Continuous Output Rating.....................................................................63 VDC @ 2 Amps Cable and the AC Supply Cable.
Peak Output Rating................................................................................59 VDC @ 4 Amps

Connecting DC Power
Connect the DC Power Supply to your MDrivePlus in accordance with the following illustrations.

MDrive17Plus
12” Flying Leads
WARNING! Do not connect

!
Unregulated
Linear or or disconnect cabling while
Switching power is applied!
Power Supply
P1
Power –
Ground A Black
A
+VDC + B Red
Shielded Twisted Pair Cable B

Shield to 7-Pin Pluggable Terminal

Earth Ground

+V Voltage: +12 to +48* VDC P1

7 6 5 4 3 2 1

+V Current: 2A Max Per MDrive17Plus

Pin 6
A
Recommended IMS Power Supplies:
ISP200-4 Pin 7
IP402 B
IP404

*Includes Back EMF! 16-Pin Wire Crimp

19-Pin M23

Pin 19 Pin 16
A A
Pin 6 Pin 15
B B
Figure 2.2.3: DC Power Connections — MDrive17Plus

Part 2: Connecting and Interfacing 2-9

 MDrive23Plus

WARNING! Do not connect

!
Unregulated
Linear or or disconnect cabling while
Switching power is applied!
Power Supply

Power –
Ground A
+VDC + B
Shielded Twisted Pair Cable 12” Flying Leads

Shield to
Earth Ground
P1
+V Voltage: +12 to +75* VDC
+V Current: 2A Max Per MDrive23Plus
Black
Recommended IMS Power Supplies: A
ISP200-4 Red
IP402 B
IP404 7-Pin Pluggable Terminal
IP804
ISP300-4
P1
*Includes Back EMF!

7 6 5 4 3 2 1
Pin 6
A
Pin 7
B

2-Pin Wire Crimp

19-Pin M23

P3

Pin 19 Pin 2
A A
Pin 6 Pin 1
B B
Figure 2.2.4 DC Power Connections — MDrive23Plus

2-10 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
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

500 µf + -
To MDrive

Per Amp
- +
Shielded Twisted Pair Ferrite
Shield to Earth Ground
(Wire Size from Beads
on Supply End Only
MDrive Supply Cable AWG Table)

Figure 2.2.5: 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
π Type RFI Filter Shielded Twisted Pair in Example A to the output of
≥ Required Current (Wire Size from the Full Wave Bridge
MDrive Supply Cable AWG Table)
+
To Cable A
-

Shield to Earth Ground Full Wave Bridge

on Supply End Only Cable Length
as required

Figure 2.2.6: 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
π Type RFI Filter in Example A to the output of
≥ Required Current Shielded Twisted Pair the Power Supply
(Wire Size from
MDrive Supply Cable AWG Table) DC Volts Out
120 or 240 VAC + To Cable A
Dependent on
Power Supply -

Shield to Earth Ground

on Supply End Only Cable Length
as required

Power Supply

Figure 2.2.7: AC Cabling - 50 Feet or Greater - AC To Power Supply

Part 2: Connecting and Interfacing 2-11

 Recommended Power Supply Cabling

MDrivePlus Supply Cable AWG Table

1 Ampere (Peak)
Length (Feet) 10 25 50* 75* 100*
Minimun AWG 20 20 18 18 16
2 Amperes (Peak)
Length (Feet) 10 25 50* 75* 100*
Minimun AWG 20 18 16 14 14
*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 Supply Cables

Aux-Logic Supply Connection

The Auxiliary Logic input will maintain power to the Logic circuitry in the absence of motor power. The user
will still be able to communicate with the device, however motion commands will be ignored and the internal
counter will update by the number of pulses commanded. If stall detection is enabled a stall will register.

Supply
Aux-Logic Voltage: +12 to +24 VDC
Aux-Logic Current Requirement:
MDrive17Plus: 161 mA Max.
MDrive23Plus: 194 mA Max.

A Ground -------------- Power Ground of MDrivePlus

(Refer to DC Power Connection
Drawings for Pin Location)

B +12 to +24 VDC

B B A B
Pin 5 Pin 5

Pin 19 Pin 7
P2 P2

10-Pin IDC 10-Pin Wire 19-Pin M23

Crimp

DO NOT Ground the Logic Supply at Communications Ground or

! damage will occur to the drive. Ground Aux Logic at Power Ground.
This warning does not apply to MDrivePlus units with the
19-pin M23 connector at P1.
Figure 2.2.8: Aux-Logic Connection

2-12 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
SECTIO N 2 . 3 Note: See the
Specifications
Section of this
Interfacing MDrivePlus Communications document specific to the
MDrivePlus model you
purchased for detailed
Available Communications Cables/Converters connector and pin information.
To simplify the wiring and connection process IMS offers USB to RS-422 communications cables for each
WARNING! Do
of the MDrivePlus Motion Control models. These convenient 12.0' (3.6m) accessory cables connect a PC’s
not connect or
USB Port to the MDrivePlus P2 Connector. An in-line RS-422 converter enables parameter setting to a single disconnect the
MDrivePlus Motion Control. Cable purchase recommended with first orders. Versions include: Communications
Converter Cables while power
USB to 10-Pin IDC..................................................Part No. MD-CC400-000 is applied!
USB to 10-Pin Wire Crimp......................................Part No. MD-CC402-000
USB to M12 Circular (sealed version)...........................Part No. MD-CC401-000
10-Pin Wire Crimp for Multi-drop.............................Part No. PD10-1434-FL3

For more information on these cables please reference Appendix F: Optional Cables and Cordsets.

Interfacing Single Mode Communications

The MDrivePlus Motion Control communicate to the host using the RS-422/485 protocol. Communications
may be configured as either half duplex (RS-485) or full duplex (RS-422) using the EM (Echo Mode) Instruc-
tion. RS-422/485 may be used in two ways: either to communicate to a single MDrivePlus Motion Control, or
to address up to 62 individually named MDrivePlus nodes in a multidrop system.

Single Mode Communications Full Duplex (RS-422)

To interface the MDrivePlus Motion Control using RS-422 protocol you will need one of the following:
 A PC equipped with RS-422 Interface.
 A PC RS-232 to RS-422/485 Converter.
 The USB to RS-422 accessory cable appropriate to your MDrivePlus Motion Control model.

Use the following diagrams to connect RS-422 communications to the MDrivePlus Motion Control.
WARNING! If using
AUX-Logic, the
Power return MUST
be connected to
the Motor Power Ground. DO
NOT connect the return to
Communications Ground!

Part 2: Connecting and Interfacing 2-13

 NEED A CABLE?
The following 10-Pin IDC Connector
cables and
converters are
available to
interface communications with
P2: Pin 1: TX+ Pin 2: TX-
TX-
USB to RS-422/485: Host PC RS-422 RX- Pin 3: RX+ Pin 4: RX-
MD-CC400-000 (10-Pin IDC) USB/Serial Port RX+
MD-CC401-000 (5-Pin M12) Converter TX+
Drawing Oriented
MD-CC402-000 (10-Pin Wire COMM GND to Motor Shaft
Crimp)
P2
Multi-Drop for 10-Pin Wire
Crimp Party-Mode Pin 10: GND
PD10-1434-FL3

10-Pin Wire Crimp Connector

TX- P2
RX+ Drawing Oriented
Host PC RS-422 RX- to Motor Shaft
USB/Serial Port TX+
Converter
COMM GND Pin 6: RX+

Pin 3: RX- Pin 4: TX-

Pin 1: TX+ Pin 2: GND

5-Pin M12-F Circular

Pin 4: RX-

Pin 3: RX+ P2
TX-
TX+
Host PC RS-422 RX+
Pin 5: GND
USB/Serial Port RX-
Converter
COMM GND

Pin 2: TX+
Pin 1: TX-

COMMUNICATIONS GROUND

COMM GND

A 100Ω Resistor is
placed between COMM 100Ω
GND and MDrive Common
to prevent communications
ground loops. This resistor
is internal to the MDrivePlus.

COMM GND is ONLY to be used for grounding

communications. Grounding Aux-Logic or any other
device to COMM GND may damage the MDrivePlus!

Figure 2.3.1: Full Duplex Communications (RS-422)

2-14 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Single Mode Communications Half Duplex (RS-485)
The MDrivePlus Motion Control can be operated in a 2 wire RS-485 communication bus. Before connect-
ing the 2 wire RS-485, download your program and setup instructions using the standard 4 wire RS-422
Communications Cable. If a program is not being used, download and save any setup parameters. To ensure
the MDrivePlus responds only to commands specifically meant for it, set the unit in Party Mode (Please see
Party Mode below). The Echo Mode command (EM) must be set to the value of 1 (EM=1). This will set the
MDrivePlus communication into “half duplex” mode. Connect the driver in the 2 wire RS-485 configuration.
The following diagram illustrates how to connect the MDrivePlus 4 wire RS-485 to operate as a 2 wire system.

10-Pin IDC Connector

Pin 1: TX+ Pin 2: TX-

CH B
Host PC RS-485 Pin 3: RX+ Pin 4: RX-
USB/Serial Port CH A
Converter
Drawing Oriented
COMM GND to Motor Shaft

P2
Pin 10: GND

10-Pin Wire Crimp Connector

CH B P2
Drawing Oriented
Host PC RS-485 to Motor Shaft
USB/Serial Port CH A
Converter
COMM GND Pin 6: RX+

Pin 3: RX- Pin 4: TX-

Pin 1: TX+ Pin 2: GND

5-Pin M12-F Circular

Pin 4: RX-
P2
CH B Pin 3: RX+
Host PC RS-485 CH A
USB/Serial Port
Converter Pin 2: TX+
COMM GND
Pin 1: TX-
Pin 5: GND

COMMUNICATIONS GROUND
A 100Ω Resistor is placed between COMM GND and
MDrive Common to prevent communications ground loops. COMM GND
This resistor is internal to the MDrivePlus.

COMM GND is ONLY to be used for grounding communications. 100Ω

Grounding Aux-Logic or any other device to COMM GND may
damage the MDrivePlus!

Figure 2.3.2: Half Duplex 2 Wire Communications (RS-485)

Part 2: Connecting and Interfacing 2-15

 NEED A CABLE? Interfacing Party Mode Communications
The following
communications In systems with multiple controllers it is necessary to communicate with the control modules using party
converter and mode (PY=1). The MDrivePlus Motion Control nodes in the system are configured in software for this
prototype mode of operation by setting the Party Flag (PY) to True (1). It is necessary for all of the nodes in a system
development cable is available to have this configuration selected. When operating in party mode, each MDrive Motion Control in the
to interface multidrop system will need a unique address, or name, to identify it in the system. This is accomplished by using the
communications. These are
software command DN, or Device Name. For example, to set the name of an MDrive to “A” you would
used in combination with each
other.
use the following command: DN=65 or DN=”A” (65 is the ASCII decimal equivalent of uppercase A).
The factory default name is “!”. The asterisk character “*” is used to issue global commands to every device
USB to RS-422/485: in the system. NOTE: When using the asterisk “*” in Party Mode, typed entries and commands will not
MD-CC402-000 (10-Pin Wire be echoed. See Appendix B for ASCII table.
Crimp)
In setting up your system for party operation, the most practical approach is to observe the following
Multi-Drop for 10-Pin Wire steps:
Crimp Party-Mode
PD10-1434-FL3 Party Mode Setup Procedure
This combination is only 1. Connect the first MDrivePlus Motion Control to the Host PC configured for Single Mode
available if using the 10-Pin Wire Operation.
Crimp style connector at P2.
2. Establish communications and download program if required.
3. Using the command DN, name the MDrivePlus Motion Control. This can be any upper or lower case
ASCII character or number 0-9. (DN=”A”{enter}) (Note: The quotation marks before and after the
device name are required.)
4. Set the party flag PY=1{enter}.
5. Press CTRL+J to activate the Party Mode.
6. Type the letters AS and press CTRL+J (Save device name and Party Mode).
7. Remove power.
8. Repeat steps 1 through 7 for each additional MDrive in the system.
9. After all MDrives are assigned a Device Name the Multiple MDrive Interface can be configured as
shown in the following figure.

Data Cable Termination Resistors

Data Cable lengths greater than 15 feet (4.5 meters) are susceptible to signal reflection and/or noise. IMS
recommends 120 Ω termination resistors in series with 0.1µf capacitors at both ends of the Receive Lines of
the Communications Cables. An example of resistor placement is shown in Figure 2.2.3. For systems with Data
Cables 15 feet (4.5 meters) or less, the termination resistors are generally not required.

2-16 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 MDrivePlus Motion Control #1
(DN=A)

RX -

RX +

TX -

TX +

CGND
RS-422 Converter

TX-

TX+
Serial or MDrivePlus Motion Control #2
USB Port RX- (DN=B)
On Host PC
RX+
CGND
RX -

RX +

TX -
RTERMINATOR
TX +

XCGND
CTERMINATOR

Do Not Connect CGND on

additional MDrives to avoid
Ground Loops

Figure 2.3.3: RS-485 Interface, Multiple MDrivePlus Motion Control System

Part 2: Connecting and Interfacing 2-17

 Note 4 Note 2 Note 1

PC Motor AUX I/O

Power Power Power

COMM GND GND GND

GND
RS422
+V AUX I/O
PWR PWR
I/O PWR AUX-PWR +V
Electrically
Isolated

Note 3

Internal
Power Bridge
Supply

I/O I/O

RS422
Transciever

100Ω

COMM GND I/O GND PWR GND

UNIT #1
X
Do Not Use

AUX-PWR +V

Internal
Power Bridge
Supply

I/O I/O

RS422
Transciever

100Ω

COMM GND I/O GND PWR GND

UNIT #2-n
X Do Not Use
X

Note 1 Use AUX-PWR only if position information is needed when motor power is lost AND the MDrive has an encoder

Note 2 Use I/O Power only if sourcing outputs are required. I/O Power is only available on Plus2 model MDrives

Note 3 The isolated communication converter’s common MUST be connected to ONLY one MDrive.

Note 4 If Multiple Motor Power supplies are used connect the commons together and refer to note three.

Figure 2.3.4: Party Mode Connection to avoid Communications Ground Loops

2-18 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 MDrivePlus Motion Control Communication Format
The following communication formats, used by MDrivePlus Motion Control (MDI) units, began with firm-
ware version 1.043.
{} The contents between the {} symbols are transmitted.
{0D} Hex equivalent for a CR (Carriage Return).
{0A} Hex equivalent for a LF (Line Feed).
{DN} Represents the Device Name being sent.
{CS} Check Sum; {ACK} 06 Hex; {NAK} 15 Hex
EM = Echo Mode; PY = PartY Mode; CK= ChecK sum

The word {command} represents the immediate command sent to the MDI.
Command Execution Time (CET) is the time the MDI takes to execute a command. This varies from com-
mand to command and usually is in the 1-5 millisecond range.

MDrivePlus Motion Control (MDI) Response to Echo Mode

Dependent on how the Echo Mode (EM) is set in conjunction with Party Mode (PY) and Check Sum (CK),
the MDI will respond differently. The following tables illustrate the various responses based on how the EM,
PY and CK parameters are set.

Transmission to MDI Final

Parameter Setting MDI Initial Response Notes
MDI Response
(command)
Echoed back one
The last character
EM=0 & PY=0 CK=0 (command) (D) character at a time CET (0D) (0A)>
sent is the prompt >
as the character is
entered.
The last character
EM=1 & PY=0 CK=0 (command) (0D) − CET (0D) (0A)
sent is LF
No response
EM=2 & PY=0 CK=0 (command) (0D) − − except to PR and L
commands
Queued response.
CET command
EM=3 & PY=0 CK=0 (command) (0D) − The last character
(0D) (0A)
sent is the LF
Table 2.3.1: MDI Response to Echo Mode - Party and Check Sum are Zero (0)

MDI Initial MDI Final

Parameter Setting Transmission to MDI Notes
Response Response
(command)
Echoed back one The last
CET (0D)
EM=0 & PY=1 CK=0 (DN) (command) (0A) character at a time character sent
(0A)>
as the character is is the prompt >
entered.
The last
EM=1 & PY=1 CK=0 (DN) (command) (0A) − CET (0D) (0A) character sent
is LF
No response
except to
EM=2 & PY=1 CK=0 (DN) (command) (0A) − −
PR and L
commands
Queued
CET
response. The
EM=3 & PY=1 CK=0 (DN) (command) (0A) − command
last character
(0D) (0A)
sent is the LF

Table 2.3.2: MDI Response to Echo Mode - Party is One (1) and Check Sum is Zero (0)

Part 2: Connecting and Interfacing 2-19

 MDI Initial MDI Final
Parameter Setting Transmission to MDI Notes
Response Response
(command)
The last
Echoed back one
character sent
EM=0 & PY=0 CK=1 (DN) (command) (0A) character at a time CET (0D) (0A)>
is the prompt
as the character is
>
entered.
The last
EM=1 & PY=0 CK=1 (DN) (command) (0A) − CET (0D) (0A) character sent
is LF
No response
except to
EM=2 & PY=0 CK=1 (DN) (command) (0A) − −
PR and L
commands
Queued
CET command response. The
EM=3 & PY=0 CK=1 (DN) (command) (0A) −
(0D) (0A) last character
sent is the LF

Table 2.3.3: MDI Response to Echo Mode - Party is Zero (0) and Check Sum is One (1)

MDI Initial MDI Final

Parameter Setting Transmission to MDI Notes
Response Response
(command)
The last
Echoed back one
(DN) (command) CET (ACK) or character
EM=0 & PY=1 CK=1 character at a time
(CS) (0A) (NAK)> sent is the
as the character is
prompt >
entered.
The last
(DN) (command) CET (ACK) or character
EM=1 & PY=1 CK=1 −
(CS) (0A) (NAK)> sent is ACK or
NAK
No response
(DN) (command) except to
EM=2 & PY=1 CK=1 − −
(CS) (0A) PR and L
commands
Queued
response.
CET command
(DN) (command) The last
EM=3 & PY=1 CK=1 − (CS) (ACK)
(CS) (0A) character
(NAK)
sent is ACK or
NAK

Table 2.3.4: MDI Response to Echo Mode - Party and Check Sum are One (1)

Using Check Sum

For communication using Check Sum, the following 2 commands demonstrate sending and receiving.
1. Check Sum set to ZERO before first character is sent.
2. All characters (ASCII values) are added to Check Sum, including the Device Name DN (if PY=1), to the
end of the command, but not including terminator.
3. Check Sum is 2’s complement, then “OR” ed with Hex 80 (prevents Check Sum from being seen as
Command Terminator).

2-20 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 4. Terminator Sent. NOTE: When instructed
to type Ctrl+J, that is
the key + the
key. It will not display in the
MR (space) 1 Note: Any combination of upper/lower case may be used. In this Terminal Window so be certain
example, if a lower case <mr> were to be used, the decimal values you press the correct keys. CtrlJ
will change to 109 and 114. Subsequently the Result Check Sum activates the Party Mode.
va lu e w i ll c h ange. (Pos s i ble ent ri es : MR, mr, Mr,
m R . ) ( M = 77, R =82, m = 109, r = 114) (See ASCII table
appendix in MDI Software Manual.)
NOTE: Once you have
77 82 32 49 Decimal value of M, R, <space> and 1 activated Party Mode
4D 52 20 31 Hex with the first Ctrl+J you
77+82+32+49 = 240 Add decimal values together do not have to type it before
1111 0000 = 240 Change 240 decimal to binary each successive command.
0000 1111 1’s complement (invert binary) However, every command must
0001 0000 Add 1 [2’s complement] be followed with a Ctrl+J.
1000 0000 OR result with 128 (Hex 80)
1001 0000 144 Result Check Sum value
NOTE: The asterisk (*)
is a global command
Once the result is reached, add the check Sum value (144 in this example) to your string by typing: MR 1(Alt which addresses all
Key + 0144) (Use the symbol of 0144 in your string by holding down the alt key and typing 0144). You must units. Since three units can not
answer together, the asterisk
type the numbers from the Numlock key pad to the right of the keyboard. The numbers at the top of the (*) as well as other global
keyboard will not work. commands will not be displayed
in the Terminal Window.

1. Check Sum set to ZERO.

2. All characters are added to Check Sum.
3. When receiving a Command Terminator, the lower 7 bits of the Check Sum should be equal to
ZERO.
a) If not ZERO, the command is ignored and NAK echoed.
b) If ZERO, ACK is sent instead of CR/LF pair.
4. Responses to PR commands will be Check Summed as above, but the receiving device should NOT
respond with ACK or NAK.

MDrivePlus Motion Control Party Mode Sample Codes

1. Download this segment of code into the first MDrivePlus Motion Control. After downloading the
program to the unit, follow the Party Mode Setup Procedure described earlier. Be sure to set your
first unit with the unique Device Name of A (DN=”A”). The device name is case sensitive.

RC=25 ‘Run current

HC=5 ‘Hold current
MS=256 ‘Microstep selection
A=250000 ‘Acceleration
D=250000 ‘Deceleration
PG 1 ‘Enter program mode
S1=0,0 ‘Setup I/O 1 as an input low true
LB SU ‘Start program upon power up
LB AA ‘Label program AA
MR 104400 ‘Move relative 104400 counts
H ‘Hold program execution to complete the move
LB DD ‘Label program DD
BR DD,I1=0 ‘Branch to DD if I1=0
PR “Bex 1” ‘Print device name B to execute program
‘at address 1
H 2000 ‘Hold program execution 2000 milliseconds
PR “Cex 1” ‘Print device name C to execute program at
‘address 1
H 2000 ‘Hold program execution 2000 milliseconds
BR AA ‘Branch to label AA
E
PG ‘Exit program, return to immediate mode

Part 2: Connecting and Interfacing 2-21

 2. Download this segment of code into your second MDrivePlus Motion Control. After downloading
the program to the unit, follow the Party Mode Setup Procedure. Be sure to set your second unit
with the unique address of B (device name is case sensitive).

RC=25 ‘Run current

HC=5 ‘Hold current
MS=256 ‘Microstep selection
A=250000 ‘Acceleration
D=250000 ‘Deceleration
PG 1 ‘Enter program mode
LB BB ‘Label program BB
MR 208000 ‘Move relative 208000 counts
H ‘Hold program execution to complete the move
E
PG ‘Exit program, return to immediate mode

3. Download this segment of code into your third MDrivePlus Motion Control. After downloading
the program to the unit, follow the Party Mode Setup Procedure . Be sure to set your third unit
with the unique address of C (device name is case sensitive).

RC=25 ‘Run current

HC=5 ‘Hold current
MS=256 ‘Microstep selection
A=250000 ‘Acceleration
D=250000 ‘Deceleration
PG 1 ‘Enter program mode
LB CC ‘Label program CC
MR 300000 ‘Move relative 300000 counts
H ‘Hold program execution to complete the move
E
PG ‘Exit program, return to immediate mode

MDrivePlus Motion Control Immediate Party Mode Sample Codes

Once Party Mode has been defined and set up as previously described under the heading “Multiple MDrivePlus
Motion Control System (Party Mode)”, you may enter commands in the Immediate Mode in the IMS Termi-
nal Window. Some examples follow.
Move MDrive A, B or C 10000 Steps
Assuming there are three MDrives set up in Party Mode as shown in the Sample Codes above.
 To move MDrive Unit “A”, Press Ctrl+J and then type: AMR^10000 and press Ctrl+J. MDrive Unit
“A” will move 10000 steps.
 To print the position type: APR P and press Ctrl+J. The position of MDrive Unit “A” will be
printed.
 To move MDrive Unit “B” type: BMR 10000 and press Ctrl+J. MDrive Unit “B” will move 10000
steps.
 To move all three MDrives at the same time type: *MR 10000 and press Ctrl+J. All MDrives will
move 10000 steps.
 To change a Variable in the “C” unit type: C<variable name><number> and press Ctrl+J. The
variable will be changed. To verify the change type: CPR <variable name> and press Ctrl+J. The new
value will be displayed.
All Commands and Variables may be programmed in this manner.
 To take an MDrive out of Party Mode type: <device name>PY=0 and press Ctrl+J. That unit will be
taken out of Party Mode. To take all units out of Party Mode type: *PY=0 and press Ctrl+J. All units
will be taken out of Party Mode.

2-22 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
SECTIO N 2 . 4 NOTE: On the Standard
MDrivePlus, when

Interfacing and Using the MDrivePlus Motion Control I/O

configured as outputs,
the I/O set is sinking
ONLY! The Plus2 Models add
the functionality of I/O Power,
which enables the user to use all
The MDrivePlus Motion Control Digital I/O the outputs, both Standard and
Enhanced, as Sinking or Sourcing.
The MDrivePlus Motion Control product line is available with two digital I/O configurations, Standard and
Enhanced. NOTE: If the unit
purchased has the
The digital I/O may be defined as either active HIGH or active LOW. When the I/O is configured as active remote encoder option,
HIGH, the level is +5 to +24 VDC and the state will be read/set as a “1”. If the level is 0 VDC, then the state the additional points become
will be read/set as “0”. Inversely, if configured as active LOW, then the state of the I/O will be read/set as a “1” dedicated to encoder functions!
when the level is LOW, and “0” when the level is HIGH. The active HIGH/LOW state is configured by the
third parameter of the I/O Setup (S1-4, S9-12) variable. The goal of this I/O configuration scheme is to maxi-
mize compatibility between the MDrivePlus Motion Control and standard sensors and switches.
Standard................................................................................. All MDrivePlus Models
Available Points.................................................................. IO1, IO2, IO3, IO4 (Sinking or
Sourcing Inputs, Sinking
Outputs ONLY)

Enhanced................................................................................ Plus2, Plus2-65

Available Points.................................................................. IO1, IO2, IO3, IO4 (Sinking
Sourcing, Outputs/Inputs)
Additional Points................................................................ IO9, IO10, IO11, IO12 (Sinking
Sourcing, Outputs/Inputs)
Dedicated I/O.................................................................... Step/Clock Input, Step/Direction
I/O, Capture Input/Trip Output

Standard I/O Set - All MDrivePlus Motion Control Models

The MDrivePlus Motion Control comes standard with a set of four I/O — (4) sinking or sourcing 0 to +24
VDC inputs or (4) sinking 0 to +24 VDC outputs, which may be programmed individually as either general
purpose or dedicated inputs or outputs, or collectively as a group.

Enhanced I/O Set - MDrivePlus 2 /Plus 2 -65

The MDrivePlus2 Motion Control is equipped with a set of eight I/O — (8) sinking or sourcing 0 to +24
VDC inputs or (8) sinking or sourcing +12 to +24 VDC outputs, which may be programmed individually as
either general purpose or dedicated inputs or outputs, or collectively as a group. The eight I/O consist of two
separate banks of four points: Bank 1: IO1 - IO4, Bank 2: IO9 - IO12.

Uses of the Digital I/O

The I/O may be utilized to receive input from
INPUTS
external devices such as sensors, switches or PLC
• Sensors
outputs. When configured as outputs, devices such • Switches
as relays, solenoids, LEDs and PLC inputs may be • PLC Outputs
• Outputs of
controlled from the MDrivePlus Motion Control. Additional
System MDrive's
Each I/O point may be individually programmed to
any one of 9 dedicated input functions, 4 dedicated OUTPUTS

output functions, or as general purpose inputs or • Relays

• Solenoids
outputs. The I/O may be addressed individually, • LED's
or as a group. The active state of the line or group • PLC Inputs
• Inputs of
may also be set. All of these possible functions are Additional
accomplished with the I/O Setup Variable (S1-4, System MDrive's

S9-12)
Figure 2.4.1: Uses for the Digital I/O
When the level is HIGH. The active HIGH/LOW
state is configured by the second parameter of the
I/O Setup (S1-4, S9-12) variable. The goal of this I/O configuration scheme is to maximize compatibility
between the MDrivePlus Motion Control and standard sensors and switches.

Part 2: Connecting and Interfacing 2-23

 MDrivePlus Motion Control Digital Input Functions
The MDrivePlus Motion Control inputs may be interfaced to a variety of sinking or sourcing devices. An input
may be programmed to be a general purpose user input, or to one of nine dedicated input functions. These may
then be programmed to have an active state of either HIGH or LOW.
The inputs are configured using the “S” Variable (See MDrive Motion Control Software Reference Manual
for precise details on this command). The command is entered into the IMS terminal or program file as S<IO
point>=<IO Type>,<Active State><Sink/Source>.
Example:
S9=3,1,0 ‘set IO point 9 to be a Limit- input, Active HIGH, Sinking
S3=0,0,1 ‘set IO Point 3 to be a General Purpose input, Active LOW,
‘Sourcing

Input Functions (I/O Points 1-4, 9-12)

The following table lists the programmable input functions of the MDrive Motion Control.

MDrivePlus Motion Control Input Functions

Parameter Sink/
Function Description Active
(S1-S4, S9-S12) Source
General Purpose Input function
used to control program branches,
General Purpose subroutine calls or BCD functions 0 0/1 0/1
when input bank is used as a
group
Homing input. Will function as
Home specified by the Home (HM) 1 0/1 0/1
command.
Positive Limit Input. Will function
Limit + as specified by the Limit (LM) 2 0/1 0/1
Command.
Negative Limit Input. Will function
Limit – as specified by the Limit (LM) 3 0/1 0/1
Command.
G0 Input. Will run program located
G0 4 0/1 0/1
at address 1 on activation.
Soft Stop input. Stops motion with
Soft Stop deceleration and stops program 5 0/1 0/1
execution.
Pause/Resume program with
Pause 6 0/1 0/1
motion.
Will Jog motor in the positive
direction at Max. Velocity (VM).
Jog + 7 0/1 0/1
The Jog Enable (JE) Flag must be
set for this to function.
Will Jog motor in the negative
direction at Max. Velocity (VM).
Jog – 8 0/1 0/1
The Jog Enable (JE) Flag must be
set for this to function.
When set as RESET input, then
Reset the action is equivalent to a ^C 11 0/1 0/1
entered into a terminal.

Table 2.4.1: Programmable Input Functions

2-24 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Input Functions (Points 7 & 8 — Clock Inputs and Point 13 — Capture)
NOTE: On the Standard
MDrivePlus Motion Control Input Functions MDrivePlus, when
configured as outputs,
Parameter the I/O set is sinking
Function Description Active
(S7, S8) ONLY! The Plus2 Models add
Sets I/O 7 and 8 to receive step and the functionality of I/O Power,
direction inputs from an external source. which enables the user to use all
The motion will occur based on the input the outputs, both Standard and
Step/Direction frequency seen at I/O 7 in the Direction 33 0/1 Enhanced, as Sinking or Sourcing.
relative to the logic state of I/O 8. The
step rate will be based upon the ratio set
by Clock Ratio (CR)
Sets I/O 7 and 8 to receive Channel A
and Channel B Quadrature inputs from
Quadrature an external source such as an encoder. 34 0/1
The motion will follow the Quadrature
Input.
Sets I/O 7 and 8 to receive Clock
Up/Clock Down inputs from an external
source. The motion will occur based
Up/Down upon the input clock frequency in the 35 0/1
direction relative to the input being
clocked. The step rate will be based
upon the ratio set by Clock Ratio (CR)
Parameter
Function Description Active
(S13)
The Capture input is a momentary
high speed input that operates with
High Speed the Trip Capture (TC) variable to run
60 0/1
Capture a subroutine upon the trip. It feature
variable input filtering ranging from 50
nS to 12.9 µS
Table 2.4.2: Dedicated Input Functions

Active States Defined

The Active State determines at what voltage level the input will be active.
Active HIGH....................................................................... The input will be active when +5 top +24
VDC is applied to the input.
Active LOW......................................................................... The input will be active when it is grounded
(0 VDC).

IO 1 is to be configured as a Jog– input which will activate when a switch is toggled to ground (Sinking
Input):

S1=8,0,0 ‘set IO point 1 to Jog–, Active LOW, Sinking

IO 4 is to be configured as a Home input which will activate when instructed by a PLC (+24VDC Sourcing
Input):
S4=1,1,1 ‘set IO point 1 to Home, Active HIGH, Sourcing

MDrivePlus Motion Control Digital Output Functions

The MDrivePlus Motion Control Outputs may be configured as general purpose or set to one of two dedi-
cated functions, Fault or Moving. These outputs will sink up to 600 mA (one channel of two banks) and may
be connected to an external VDC source. See Output Functions Table and I/O Ratings Table.
The outputs are set using the “S” command (See MDrive Motion Control Software Reference Manual for
precise details on this command). The command is entered into the IMS terminal or program file as S<IO
point>=<IO Type>,<Active State><Sink/Source>.
Example:
S9=17,1,0 ‘set IO point 9 to be a Moving Output, Active HIGH, Sinking
S3=18,0,0 ‘set IO Point 3 to be a Fault Output, Active LOW, Sinking

Part 2: Connecting and Interfacing 2-25

 Output Functions
The MDrivePlus Motion Control Output functions may be programmed to be a general purpose user output
or to one of four output functions.

MDrivePlus Motion Control Input Functions

Parameter Sink/
Function Description Active
(S1-S4, S9-S12) Source
A general purpose output can be
set in a program or in immediate
General Purpose
mode to trigger external events. 16 0/1 0/1
User
When used as a group they can
be a BCD output.
Will be in the Active State when
Moving 17 0/1 0/1
the motor is moving.
Will be in the Active State when a
Fault error occurs. See Software Manual 18 0/1 0/1
for error code listing.
Will be in the Active State when
a stall is detected. Encoder
Stall 19 0/1 0/1
Required, Stall Detect Mode (SM)
must be enabled.
Will be in the Active State
when the velocity is changing.
Velocity Changing 20 0/1 0/1
Example: during acceleration and
deceleration.
Table 2.4.3: Programmable Output Functions

Output Functions (Points 7 & 8 — Clock Outputs and Point 13 — Trip)

MDrivePlus Motion Control Input Functions

Parameter
Function Description Active
(S7, S8)
Step clock pulses will be output from Point 7,
Direction from Point 8. The step clock output
rate will be based upon the Pulse Width set
Step/Direction 49 0/1
by Clock Width (CW). The logic state of the
Direction output will be with respect to the
direction of the motor.
Quadrature Will output Quadrature signals. 50 0/1
Will output Clock Up/Clock Down signals.
The step clock output rate will be based upon
Up/Down the Pulse Width set by Clock Width (CW). 51 0/1
The Active output will be based on the motor
direction.
Parameter
Function Description Active
(S13)
The trip output will activate on Position Trips
(TP) only. The output will pulse out at the trip
High Speed Trip 61 0/1
point. The pulse width will be determined by
Clock Width (CW)
Table 2.4.4: Dedicated Output Functions

2-26 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
MDrivePlus Motion Control I/O Ratings

MDrivePlus I/O Ratings

MDrivePlus Output Voltage (IOPWR) Rating 0 to +24 VDC
MDrivePlus2 Output Voltage (IOPWR) Rating +12 to +24 VDC (Sourcing) | 0 to +24 VDC (Sinking)
Load Rating* (equal current per I/O Point) I/O State I Continuous I Peak (D=0.84)
* Heatsink Temp = 85C 1 on, 3 off 550 mA 600 mA
2 on, 2 off 390 mA 425 mA
3 on, 1 off 320 mA 350 mA
4 on, 0 off 275 mA 300 mA
To compute FET dissipation for unequal loads, calculate the FET power for each I/O not to exceed 425
mW.
Continuous Current FET Power = Icont2 x 1.4
Peak Current FET Power = Ipeak2 x D x 1.4
Duty Cycle (D =T on /T period) = ≤ 1.0 seconds at 85˚C heat
sink temperature.
Protection Ratings
Independent Over-temperature
Current Limit 0.6A to 1.2 A
Clamp +45V, -20V
Table 2.4.5: MDrivePlus Motion Control I/O and Protection Ratings

MDrivePlus Motion Control I/O Connections

The P1 14-Pin Locking Wire Crimp Connector

MDrivePlus2 -65
! On MDrive23Plus2 Models has the same I/O Pin
Configuration as the 16-Pin Wire Crimp
MDrivePlus MDrivePlus 2

16-PIN
12" FLYING 7-PIN FRICTION LOCK
LEADS WIRE CRIMP 19-PIN M23
PLUGGABLE
STANDARD I/O SET

(14-PIN WIRE
TERMINAL
(All MDrivePlus Motion

CRIMP - MDI23)
Control Versions)

I/O1 White/Yellow Pin 1 Pin 3 Pin 4

I/O2 White/Orange Pin 2 Pin 4 Pin 16
I/O3 White/Violet Pin 3 Pin 5 Pin 9
MDRIVE PLUS MOTION CONTROL

I/O4 White/Blue Pin 4 Pin 6 Pin 17

ANALOG IN Green Pin 5 Pin 12 Pin 15
PWR GROUND Black Pin 6 USE I/O GND FOR I/O INTERFACING!

I/O POWER Pin 1 Pin 11

ENHANCED I/O SET

I/O GROUND Pin 2 Pin 10

(MDrivePlus2/Plus2-65

CAPTURE/TRIP Pin 11 Pin 14

Motion Control)

I/O9 CH A + Pin 7 Pin 1

I/O10 CH A - N/A Pin 8 Pin 18
I/O11 CH B + Pin 9 Pin 2
I/O12 CH B - Pin 10 Pin 13
STEP/CLK I/O INDEX + Pin 13 Pin 3
DIR/CLK I/O INDEX - Pin 14 Pin 5

USER SUPPLIED
8 I/O
CONFIGURATION -OR- REMOTE ENCODER
OPTION*
Connector P1
*See Appendix: MDrivePlus Closed Loop Control for encoder connection and configuration information

Figure 2.4.2: I/O Connection Map

Part 2: Connecting and Interfacing 2-27

 NOTE: On the Standard
MDrivePlus, power
I/O Usage Examples — MDrivePlus Standard I/O Set
ground is used to The circuit examples below illustrate possible interface examples for using the MDrivePlus Motion Control
ground the I/O interface.
Digital I/O. Additional diagrams and code snippets are available in Appendix D: I/O Application Guide.
The code samples included with these examples will also serve to introduce the user to MDrivePlus Motion
Control programming. Please reference the MDrive software manual for more information on the Instruc-
tions, Variables and Flags that make up the MDI command set as well as material on setting up and using the
NOTE: Advanced IMS Terminal.
I/O interface circuit
diagrams and application Input Interface Example - Switch Input Example (Sinking Input)
examples are available in
The following circuit example shows a switch connected between an I/O point and power ground.
Appendix D: I/O Applications
Guide.
Code Sample

Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Internal
Iil = 100 µA pull-up
voltage

3.3 V
65 - 160 uA

IOx 100k ohms

detect
logic
Iil 24.9k ohms

GND
MDrivePlus Sinking Input
Switch Input, Sinking Equivalent Circuit

Figure 2.4.3: Sinking Input Example using a Push Button Switch

For the code sample, this switch will be set up as a G0 sinking input, active when low. When pressed, the
switch will launch the program beginning at address 1 in MDrive memory:

***Setup Variables***
Sx=4,0,0 ‘set IO point x to be a G0 input, active when LOW, sinking

****Program***
PG1
MR 20000 ‘Move +20000 steps relative to current position
H ‘Hold program execution until motion completes
MR -20000 ‘Move -20000 steps
H ‘Hold program execution until motion completes
E
PG ‘End program, exit program mode

2-28 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Input Interface Example - Switch Input Example (Sourcing Input)
The following circuit example shows a switch connected between an I/O point and a voltage supply which will
source the input to perform a function.

Code Sample

Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA Internal The internal pull-up voltage
pull-up cannot provide output
voltage current / voltage

3.3 V

IOx 100k ohms

detect
logic
Iih 24.9k ohms

40 - 135 uA

+ Up to GND
+24 VDC

Switch Input, Sourcing MDrivePlus Sourcing Input Equivalent

Figure 2.4.4: Sourcing Input Example using a Push Button Switch

For the code sample, the switch will be set up as a Soft Stop sourcing input, active when HIGH. When
pressed, the switches will stop the motor.
S1=5,1,1 ‘set IO point 1 to be a Soft Stop input, active when HIGH,
‘sourcing
SL 200000 ‘enter this to slew the motor at 200000 µsteps/sec

When the switch is depressed the motor will decelerate to a stop.

Part 2: Connecting and Interfacing 2-29

 Output Interface Example (Sinking Output)
NOTE: On the Standard The following circuit example shows a load connected to an I/O point that will be configured as a sinking
MDrivePlus, when output.
configured as outputs,
the I/O set is sinking
ONLY! The Plus2 Models add
the functionality of I/O Power,
which enables the user to use MDrivePlus
all the outputs, both Standard
and Enhanced, as Sinking or
Internal
Sourcing. pull-up
Diode recommended for
voltage
always
65-160 µA inductive loads
off

LOAD
IOx
+
load current, sinking up to
24.9k ohms 24 V
switched GND

Sinking Output Equivalent Circuit Sinking Output

Figure 2.4.5: Sinking Output Example

For the code sample, the load will be an LED. The I/O point will be configured such that the LED will be
unlit while the velocity is changing. Use the switch set-up from the previous input, modified to be sinking,
example to soft stop the motor.
S1=5,0,0 ‘set IO point 1 to be a Soft Stop input, active when LOW,
‘sinking.
S1=20,0,0 ‘set IO point 2 to be a Velocity Changing output, active when
‘LOW
SL 2000000 ‘enter this to slew the motor at 200000 µsteps/sec

While the motor is accelerating the LED will be dark, but will light up when the motor reaches a constant
velocity. When the Soft Stop switch is depressed the motor will begin to decelerate, the LED will go dark again
while velocity is changing.

2-30 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
General Purpose I/O Usage Examples — Enhanced I/O Set NOTE: Advanced
I/O interface circuit
The MDrivePlus2 models add the functionality of either an additional 4 I/O points or an optional interface diagrams and application
for a user-defined remote encoder. Additionally, the I/O points, when configured as outputs have the added examples are available
functionality of being configured as sinking or sourcing outputs. in Appendix D: I/O Applications
Guide.
The circuit examples below illustrate possible interface examples for using the MDrivePlus2 Motion Control
Digital I/O. Additional diagrams and code samples are available in Appendix D: I/O Applications Guide.
The code samples included with these examples will also serve to introduce the user to MDrivePlus Motion
Control programming . Please reference the MDrive software manual for more information on the Instruc-
tions, Variables and Flags that make up the MDI command set as well as material on setting up and using the
IMS Terminal.

Input Interface Example - Switch Input Example (Sinking Input)

The following circuit example shows a switch connected between an I/O point and I/O Ground.

Code Sample

Vih = 2.31 V
Vil = 0.99 V MDrivePlus2
Threshold (nom) = 1.5 V
Iil = 100 µA
IOPWR Internal The internal pull-up voltage
pull-up cannot provide output
voltage current / voltage

3.3 V
65 - 160 uA

IOx 100k ohms

detect
logic
Iil 24.9k ohms

IOGND

Switch Input, Sinking Sinking Input Equivalent Circuit

Figure 2.4.6: Switch Interface to Input, Sinking

For the code sample, this switch will be set up as a G0 sinking input, active when low. When
pressed, the switch will launch the program beginning at address1 in MDrive memory:

***Setup Variables***
Sx=4,0,0 ‘set IO point x to be a G0 input, active when LOW, sinking

****Program***
PG1
MR 20000 ‘Move +20000 steps relative to current position
H ‘Hold program execution until motion completes
MR -20000 ‘Move -20000 steps
H ‘Hold program execution until motion completes
E
PG ‘End program, exit program mode

Part 2: Connecting and Interfacing 2-31

 Input Interface Example - Switch Input Example (Sourcing Input)
The following circuit example shows a switch connected between an I/O point and a voltage supply which will
source the input to perform a function.

Code Sample

Vih = 2.31 V
Vil = 0.99 V MDrivePlus2
Threshold (nom) = 1.5 V
Iih = -1.24 mA
IOPWR Internal The internal pull-up voltage
pull-up cannot provide output
voltage current / voltage

3.3 V

IOx 100k ohms

detect
logic
Iih
Switch Input, Sourcing 24.9k ohms

40 - 135 uA

IOGND

Figure 2.4.7 Sourcing Input Example using a Push Button Switch

For the code sample, the switch will be set up as a Soft Stop sourcing input, active when HIGH.
When pressed, the switches will stop the motor.

S1=5,1,1 ‘set IO point 1 to be a Soft Stop input, active when HIGH,

‘sourcing
SL 200000 ‘enter this to slew the motor at 200000 µsteps/sec

When the switch is depressed the motor will decelerate to a stop.

2-32 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Output Interface Example (Sinking Output)
The following circuit example shows a load connected to an I/O point that will be configured as a sinking
output.

MDrivePlus2
The internal pull-up voltage
cannot provide output
current / voltage

Internal IOPWR
pull-up
voltage Diode recommended for
always inductive loads
off
65-160 µA

LOAD
IOx
+
load current, sinking up to
24.9k ohms 24 V
switched IOGND

Sinking Output Equivalent Circuit Sinking Output

Figure 2.4.8: Sinking Output Example

Code Sample
For the code sample, the load will be an LED. The I/O point will be configured such that the LED will be
unlit while the velocity is changing. Use the switch set-up from the previous input, modified to be sinking,
example to soft stop the motor.

S1=5,0,0 ‘set IO point 1 to be a Soft Stop input, active when LOW,

‘sinking.
S1=20,0,0 ‘set IO point 2 to be a Velocity Changing output, active
‘when LOW
SL 2000000 ‘enter this to slew the motor at 200000 µsteps/sec

While the motor is accelerating the LED will be dark, but will light up when the motor reaches a constant
velocity. When the Soft Stop switch is depressed the motor will begin to decelerate, the LED will go dark
again while velocity is changing.

Part 2: Connecting and Interfacing 2-33

 Output Interface Example (Sourcing Output)
The following circuit example shows a load connected to an I/O point that will be configured as a sourcing
output.

MDrivePlus2
The internal pull-up voltage
cannot provide output
current / voltage

Internal IOPWR
pull-up
voltage
+
switched
load current, sourcing 12 to
24 V
IOx

LOAD
40-135 µA always 24.9k ohms
off IOGND

Sourcing Output Equivalent Circuit Sourcing Output

Figure 2.4.9: Sourcing Output Example

Code Sample
For the code sample, the load will be a relay. The output will be configured to be a General Purpose user out-
put that will be set active when a range of motion completes.

******Setup Variables******
S1=16,1,1 ‘set IO point 1 to be a user output, active when HIGH,
‘sourcing.

******Program******
PG 100 ‘Enter program at address 100
MR 2000000 ‘Move some distance in the positive direction
H ‘Hold execution until motion completes
MR -1000000 ‘Move some distance in the negative direction
H ‘Hold execution until motion completes
O1=1 ‘Set output 1 HIGH

Enter EX 100 to execute the program, the motion will occur and the output will set high.

2-34 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Dedicated Digital I/O - Enhanced I/O Set NOTE: Advanced I/O
interface circuit diagrams
Step/Direction/Clock I/O and application examples
are available in Appendix I/O
These dedicated I/O lines are used to Step/Direction Function Applications Guide.
receive clock inputs from an external device
or provide clock outputs to an exter- Input: S<7-8>=33, <active state>
nal device such as a counter or a second Output: S<7-8>=49,<active state>
MDrivePlus in a system. The Clock I/O can Step Clock
be configured as one of three clock types us-
ing the S7 and S8 variable: Direction NOTE: When using the
MDrivePlus2 with the
1. Step/Direction external encoder option,
2. Quadrature the step an direction I/O are not
Quadrature Function available! These I/O points become
3. Up/Down Index + and Index -. See Appendix:
Input: S<7-8>=34, <active state> MDrivePlus Motion Control
Step/Direction Output: S<7-8>=50,<active state>
Closed Loop Control for encoder
Channel A connection and configuration
The Step/Direction function would
information.
typically be used to receive step and
direction instructions from a second Channel B
system MDrivePlus or secondary
controller. When configured as outputs
Up/Down Function
the MDrivePlus Motion Control can
provide step and direction control to
Input: S<7-8>=35, <active state>
another system drive for electronic gear- Output: S<7-8>=51,<active state>
ing applications. CW

Quadrature
CCW
The Quadrature clock function would
typically be used for following applica-
tions where the MDrivePlus would Figure 2.4.10: MDrivePlus Motion Control Clock Functions
either be a master or slave in an applica-
tion that would require two MDrives to move the same distance and speed.

Up/Down
The Up/Down clock would typically be used in a dual-clock direction control application, or to incre-
ment/decrement an external counter.

Vin Max = +5 V
Vin Hi = 1.86 V
Vin Low = 0.9 V
Iin Hi = 1 mA
Iin Low = -0.8 mA MDrivePlus
Vo Min = 2 V
Vo Max = 5 V
Iosc Min = 35 mA Step Out
T
Iosc Max = 250 mA WARNING! The
STEP_IO Capture/Trip operates
Step Clock/Channel A/Clock Up at TTL levels. Do
not apply more than
Step In
R +5VDC.
ENABLE SDIO
Dir Out
T

Direction/Channel B/Clock Down

DIR_IO
Dir In
R
IOGND

Figure 2.4.11: Step Direction I/O Equivalent Circuit

Part 2: Connecting and Interfacing 2-35

 Capture/Trip
The Capture Input/Trip Output point is a high speed I/O point which can be used for time critical events in
motion applications.

Capture Input
When configured as a capture input I/O point 13 has programmable filtering with a range of
50nS to 12.9 µS and has a resolution of 32 bits.

To configure the Capture input

S13=60,<0/1> ‘configure IO13 as a capture input, <active HIGH/LOW>

FC <0-9> ‘set input filtering to <range>

Trip Output
When configured as a trip output I/O 13 trip speed is 150 nS with 32 bit resolution.

To configure the Trip output

S13=61,<0/1> ‘configure IO13 as a trip output, <active HIGH/LOW>

Vin Max = +5 V
Vin Hi = 1.86 V MDrivePlus
Vin Low = 0.9 V
Iin Hi = 1 mA
Iin Low = -0.8 mA
Vo Min = 2 V
Vo Max = 5 V
Iosc Min = 35 mA Trip Out
T TRIP_OUT
Iosc Max = 250 mA

Capture In/Trip Out ENABLE TO

Capt In
R CAPT_IN

IOGND

Figure 2.4.12: Capture/Trip I/O Equivalent Circuit

2-36 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Interfacing the Analog Input

The analog input of the MDrivePlus Motion Control is configured from the factory as a 0 to 5V, 10 bit resolu-
tion input (S5=9). This offers the user the ability to receive input from temperature, pressure, or other forms of
sensors, and then control events based upon the input.
The value of this input will be read using the I5 instruction, which has a range of 0 to 1023, where 0 = 0 volts
and 1024 = 5.0 volts. The MDrivePlus Motion Control may also be configured for a 4 to 20 mA or 0 to 20
mA Analog Input (S5 = 10). If used as a 4 to 20mA input the range is 0 to 800 units.

Sample Usage

‘***********Main Program**************

S5=9,0 ‘set analog input to read variable voltage (0 to +5VDC)

PG 100 ‘start prog. address 100
LB A1 ‘label program A1
CL A2, I5<500 ‘Call Sub A2, If I5 is less than 500
CL A3, I5>524 ‘Call Sub A3, If I5 is greater than 524
BR A1 ‘loop to A1

‘***********Subroutines**************

LB A2 ‘label subroutine A2
MA 2000 ‘Move Absolute 2000 steps
H ‘Hold program execution until motion ceases
RT ‘return from subroutine

LB A3 ‘label subroutine A3
MA -2000 ‘Move Absolute -2000 steps
H ‘Hold program execution until motion ceases
RT ‘return from subroutine
E ‘End
PG ‘Exit program

+V (0-5VDC/0-10VDC)

Analog Input
10 k Ohm Potentiometer

Ground
Voltage Mode
S5=9,0 'set input +VDC range to 0 - +5 VDC MDrive
M ePlus Motion Con
e ntroll
S5=9,1 'set input +VDC range to 0 - +10 VDC

Figure 2.4.13: Analog Input - Voltage Mode

Part 2: Connecting and Interfacing 2-37

 Analog Input
4 - 20 mA, 0 - 20 mA Source

Ground
Source Ground

Current Mode
S5=10,0 'set input I range to 0 to 20mA MDrive
M ePlus Motion Con
e ntroll
S5=10,1 'set input I range to 4 to 20mA

Figure 2.4.14 Analog Input - Current Mode

2-38 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Excellence in Motion
TM

TM

MOTION CONTROL

Appendices

Appendix A: MDrivePlus Motion Control Motor Performance

Appendix B: Recommended Power and Cable Configurations

Appendix C: Planetary Gearbox Specification and Application Guide

Appendix D: I/O Application Guide

Appendix E: MDrivePlus Motion Control Closed Loop Control

Appendix F: Connectivity

Appendix G: Linear Slides

Appendix H: CANopen Communications

 Page Intentionally Left Blank

A-2 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
append ix A
MDrivePlus Motion Control Motor Performance
MDrive17Plus Speed-Torque
Single Length Rotary Motor Double Length Rotary Motor
60 42 60 42

50 35 50 35

Torque in N-cm
Torque in Oz-In
Torque in N-cm
Torque in Oz-In

40 28 40 28

30 21 30 21

20 14 20 14
24 VDC 24 VDC
10 7 10 7
48 VDC 48 VDC
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
(300) (600) (900) (1200) (1500) (1800) (2100) (300) (600) (900) (1200) (1500) (1800) (2100)

Speed in Full Steps per Second (RPM) Speed in Full Steps per Second (RPM)

Triple Length Rotary Motor

60 42
50 35

Torque in N-cm
Torque in Oz-In

40 28

30 21

20 14
24 VDC
10 48 VDC 7

0
0 1000 2000 3000 4000 5000 6000 7000
(300) (600) (900) (1200) (1500) (1800) (2100)

Speed in Full Steps per Second (RPM)

Figure A.1: MDrive17Plus Motion Control Speed-Torque Curves

MDrive23Plus Speed-Torque

Single Length Rotary Motor Double Length Rotary Motor

225 159 225 159

200 24 VDC 141 200 24 VDC 141
45 VDC 45 VDC
175 124 175 124
Torque in N - cm

Torque in N - cm
Torque in Oz - In

Torque in Oz - In

75 VDC 75 VDC
150 106 150 106
125 88 125 88
100 71 100 71
75 53 75 53
50 35 50 35
25 18 25 18
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
(300) (600) (900) (1200) (1500) (1800) (2100) (300) (600) (900) (1200) (1500) (1800) (2100)
Speed in Full Steps per Second (RPM) Speed in Full Steps per Second (RPM)

Quad Length Rotary Motor

Triple Length Rotary Motor
225 159
200 24 VDC 141
45 VDC
175 124
Torque in N - cm
Torque in Oz - In

75 VDC
150 106
125 88
100 71
75 53
50 35
25 18
0
0 1000 2000 3000 4000 5000 6000 7000
(300) (600) (900) (1200) (1500) (1800) (2100)
Speed in Full Steps per Second (RPM)

Figure A.2: MDrive23Plus Motion Control Speed-Torque Curves

Appendices A-3
 a ppend i x B
NOTE: The length of
the DC power supply Recommended Power and Cable Configurations
cable to an MDrive
should not exceed 50 feet.
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
NOTE: These long. If cabling of 50 feet or longer is required, the additional length may be gained by adding an AC power
recommendations supply cable (see Examples B & C).
will provide optimal
protection against EMI Correct AWG wire size is determined by the current requirement plus cable length. Please see the MDrive Sup-
and RFI. The actual cable ply Cable AWG Table at the end of this Appendix.
type, wire gauge, shield
Example A – Cabling Under 50 Feet, DC Power
type and filtering devices
used are dependent on the Cable Length
customer’s application and less than 50 Feet
system.
π Type RFI Filter
NOTE: Always use DC Voltage from ≥ Required Current
Shielded/Twisted Power Supply
Pairs for the MDrive
DC Supply Cable and the AC 500 µf + -
To MDrive

Supply Cable. Per Amp

- +
Shielded Twisted Pair Ferrite
Shield to Earth Ground
(Wire Size from Beads
on Supply End Only
MDrive Supply Cable AWG Table)

Figure B.1: 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
π Type RFI Filter Shielded Twisted Pair in Example A to the output of
≥ Required Current (Wire Size from the Full Wave Bridge
MDrive Supply Cable AWG Table)
+
To Cable A
-

Shield to Earth Ground Full Wave Bridge

on Supply End Only Cable Length
as required

Figure B.2: 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
π Type RFI Filter in Example A to the output of
≥ Required Current Shielded Twisted Pair the Power Supply
(Wire Size from
MDrive Supply Cable AWG Table) DC Volts Out
120 or 240 VAC + To Cable A
Dependent on
Power Supply -

Shield to Earth Ground

on Supply End Only Cable Length
as required

Power Supply

Figure B.3: AC Cabling - 50 Feet or Greater - AC To Power Supply

A-4 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Recommended IMS Power Supplies
IMS unregulated linear and unregulated switching power supplies are the best fit for IMS drive products.

IP404 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.........................................................................43 VDC @ 0 Amps
Continuous Output Rating..................................................................32 VDC @ 1.5 Amps
Peak Output Rating................................................................................26 VDC @ 3 Amps
ISP200-4 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.........................................................................41 VDC @ 0 Amps
Continuous Output Rating..................................................................38 VDC @ 1.5 Amps
Peak Output Rating................................................................................35 VDC @ 3 Amps

Recommended Power Supply Cabling

MDrivePlus Supply Cable AWG Table

1 Ampere (Peak)
Length (Feet) 10 25 50* 75* 100*
Minimum AWG 20 20 18 18 16
2 Amperes (Peak)
Length (Feet) 10 25 50* 75* 100*
Minimum AWG 20 18 16 14 14
3 Amperes (Peak)
Length (Feet) 10 25 50* 75* 100*
Minimum AWG 18 16 14 12 12
4 Amperes (Peak)
Length (Feet) 10 25 50* 75* 100*
Minimum AWG 18 16 14 12 12
*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 B.1: Recommended Supply Cables

Appendices A-5
 A ppend i x C
MDrive with Planetary Gearbox

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 0 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

42 mm MDrive17
52 mm MDrive23

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.

A-6 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Calculating the Shock Load Output Torque (T AB )
Note: The MDrive23
Note: The following examples are based on picking “temporary variables” which may be adjusted. and the numbers and
The shock load output torque (TAB) is not the actual torque generated by the MDrive and Planetary Gearbox values used in these
combination, but is a calculated value that includes an operating factor (CB) to compensate for any shock examples have been chosen
loads applied to the Planetary Gearbox due to starting and stopping with no acceleration ramps, payloads and randomly for demonstration
directional changes. The main reason the shock load output torque (TAB) is calculated is to ensure that it does purposes. Be certain you
not exceed the maximum specified torque for a Planetary Gearbox. obtain the correct data for the
MDrive you have purchased.
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 compendium below to calculate the shock load output torque.

Factors
i = Reduction Ratio - The ratio of the Planetary Gearbox.
nM = Motor Speed - In Revolutions Per Minute (Full Steps/Second).
nAB = Output Speed - The speed at the output shaft of the Planetary Gearbox.
TN = 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 = Operating Factor - A value that is used to factor the shock load output torque.
sf = 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.

Appendices A-7
 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.
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.)

140 24 VDC 99
45 VDC
120 85

Torque in N - cm
Torque in Oz - In 75 VDC
100 71
80 56
60 42
40 28
20 14
0
0 1000 2000 3000 4000 5000 6000 7000
Speed in Full Steps per Second
Figure C.1: MDrive23 Torque-Speed Curve

The Speed/Torque Table above is for an MDrive23 Double Size. 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 conser-
vative.
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.

A-8 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 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 dy-
namic 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 calculat-
ing 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
maximum 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 specifi-
cation 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
motor 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 Load
Daily Operating Time
Rotation (Shocks)
3 Hours 8 Hours 24 Hours

Constant Low* CB=1.0 C B=1.1 CB=1.3

Medium** CB=1.2 CB=1.3 CB=1.5

Alternating Low† CB=1.3 CB=1.4 CB=1.6

Medium†† CB=1.6 CB=1.7 CB=1.9

* 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 C.1: Planetary Gearbox Operating Factor

Appendices A-9
 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
Planetary 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 Fuideways
 The weight of any parts

Weight of Weight of
table parts

Weight of Weight of
screw nut

Friction of Preload on
guideways leadscrew
Figure C.2: Lead Screw System Inertia Considerations

A-10 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 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

Friction of Weight of Preload or friction

rack in guide rack between pinion and rack

Weight of
pinion and shaft
Load on
rack
Gearbox

Motor

Figure C.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
Gearbox conveyor belt Weight and size
of idler roller

Weight and size

of drive roller

Friction
of belt

Weight of Elevation
parts
Figure C.4: Conveyor System Inertia Considerations

Appendices A-11
 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 theinertia

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
Weight and position size of table
of parts on table
Gearbox

Friction of any
bearing or support
Weight of
shaft
Friction created by
Weight and size
tension on belt
of driven pulley

Weight and size

of drive pulley

Figure C.5: Rotary Table System Inertia Considerations

A-12 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 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 C.6: Chain Drive System Inertia Considerations

Once the system inertia (JL) has been calculated in oz-in-sec2, 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).
Jref = JL ÷ Ζ2
Where:
JL = System Inertia in oz-in-sec2
Jref = Reflected Inertia in oz-in-sec2
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-sec2
Jref = Desired Reflected Inertia in oz-in-sec2 (Motor Inertia)

Appendices A-13
 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 Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle.
Planetary Gearbox may be combined with other MDrive17Plus options.

MDrive17Plus Planetary Gearbox Parameters

Output Side with Ball Bearing
Permitted Gearbox Maximum
Output Torque Efficiency Backlash Maximum Load Weight
(lb-force/N) (oz/g)
(oz-in/Nm)
Radial Axial Gearbox with Flange
1-STAGE 425/3.0 0.80 0.80º 36/60 11/50 14.3/406 14.8/420
2-STAGE 1062/7.5 0.75 0.85º 52/230 18/80 17.9/508 18.5/525
3-STAGE 2124/15.0 0.70 0.90º 67.5/300 25/110 21.5/609 22.2/630

Table C.2: MDrive17Plus Planetary Gearbox Parameters

MDrive17Plus Gearbox Ratios and Inertia Moments

Ratio Inertia Ratio Inertia

Planetary Planetary
Moments Moments
Gearbox Gearbox
(Rounded) (oz-in-sec2)* (Rounded) (oz-in-sec2)*
1-Stage 3.71:1 0.00006627 3-Stage 50.89:1 0.00006245
1-Stage 5.18:1 0.00004362 3-Stage 58.86:1 0.00005084
1-Stage 6.75:1 0.0003328 3-Stage 68.07:1 0.00005070
3-Stage 71.16:1 0.00004149
2-Stage 13.73:1 0.00006245 3-Stage 78.72:1 0.00005070
2-Stage 15.88:1 0.00005084 3-Stage 92.70:1 0.00003200
2-Stage 18.37:1 0.00005070 3-Stage 95.18:1 0.00004135
2-Stage 19.20:1 0.00004149 3-Stage 99.51:1 0.00004121
2-Stage 22.21:1 0.00004135 3-Stage 107.21:1 0.00003186
2-Stage 25.01:1 0.00003200 3-Stage 115.08:1 0.00004121
2-Stage 26.85:1 0.00004121 3-Stage 123.98:1 0.00003186
2-Stage 28.93:1 0.00003186 3-Stage 129.62:1 0.00003186
2-Stage 34.98:1 0.00003186 3-Stage 139.14:1 0.00004121
2-Stage 45.56:1 0.00003186 3-Stage 149.90:1 0.00003186
3-Stage 168.85:1 0.00003186
*To calculate the inertia in kg-cm2 3-Stage 181.25:1 0.00003186
(kilograms-centimeter squared) multiply 3-Stage 195.27:1 0.00003186
3-Stage 236.10:1 0.00003186
oz-in-sec2 by 70.6154.
3-Stage 307.55:1 0.00003186

Table C.3: MDrive17Plus Planetary Gearbox Ratios and Inertia Moments

MDrive17Plus Planetary Gearbox

Dimensions in Inches (mm)
(Ø 25.0 +0/-0.052)
Ø 0.984 +0/-0.002

Ø 0.315 +0/-0.0004
(Ø 8.0 +0/-0.009)

0.984
(25.0) k1 ±0.02 (±0.5)

M4 x 0.394 (10.0) Deep 0.08

(2.0)
M3 x 0.394 (10.0) Deep
MDrive17Plus
(42.1 SQ.)
1.657 SQ.

(Ø 42.0)
Ø 1.654

Ø 1.26 Ctrg. DIN 332-D M3

(Ø 32.0)
Key DIN 6885-A-3x3x16mm
Ø 1.417
(Ø 36.0)

Figure C.7: Planetary Gearbox Specifications for MDrive17Plus

A-14 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 MDrive17Plus Planetary Gearbox With Optional NEMA Output Flange
Dimensions in Inches (mm)

(Ø 22.0 +0/-0.052)
Ø 0.866 +0/-0.002

Ø 0.315 +0/-0.0004
(Ø 8.0 +0/-0.009)
0.846 k2 ±0.02 (±0.5)
(21.5)
0.08 1.20
M3 x 0.276 (7.0) Deep (2.0) (30.5)

MDRIVE17
(Ø 42.0)
Ø 1.654
(31.0)
1.22

1.22 Ctrg. DIN 332 - D M3

(31.0)
Key DIN 6885-A-3x3x16mm
1.657 SQ.
(42.1 SQ.)

Figure C.8: Planetary Gearbox Specifications for MDrive17Plus with NEMA Output Flange

MDrive23Plus with Planetary Gearbox

The MDrive23Plus 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 Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle.
Planetary Gearbox may be combined with other MDrive23Plus options.

MDrive23Plus Planetary Gearbox Parameters

Output Side with Ball Bearing
Permitted Gearbox Maximum
Output Torque Efficiency Backlash Maximum Load Weight
(lb-force/N) (oz/g)
(oz-in/Nm)
Radial Axial Gearbox with Flange
1-STAGE 566/4.0 0.80 0.70º 45/200 13/60 25.0/711 25.9/735
2-STAGE 1699/12.0 0.75 0.75º 72/320 22/100 32.2/914 33.3/945
3-STAGE 3540/25.0 0.70 0.80º 101/450 34/150 39.4/1117 40.7/1155

Table C.4: MDrive23Plus Planetary Gearbox Parameters

MDrive23Plus Gearbox Ratios and Inertia Moments

Ratio Inertia Ratio Inertia

Planetary Planetary
Moments Moments
Gearbox Gearbox
(Rounded) (oz-in-sec2)* (Rounded) (oz-in-sec2)*
1-Stage 3.71:1 0.00025986 3-Stage 50.89:1 0.00024230
1-Stage 5.18:1 0.00017461 3-Stage 58.86:1 0.00020406
1-Stage 6.75:1 0.00016030 3-Stage 68.07:1 0.00020335
3-Stage 71.16:1 0.00016512
2-Stage 13.73:1 0.00024230 3-Stage 78.72:1 0.00020335
2-Stage 15.88:1 0.00020406 3-Stage 92.70:1 0.00016441
2-Stage 18.37:1 0.00020335 3-Stage 95.18:1 0.00020335
2-Stage 19.20:1 0.00016512 3-Stage 99.51:1 0.00016441
2-Stage 22.21:1 0.00016469 3-Stage 107.21:1 0.00013425
2-Stage 25.01:1 0.00013453 3-Stage 115.08:1 0.00016441
2-Stage 26.85:1 0.00016441 3-Stage 123.98:1 0.00013425
2-Stage 28.93:1 0.00013425 3-Stage 129.62:1 0.00013411
2-Stage 34.98:1 0.00013411 3-Stage 139.14:1 0.00016441
2-Stage 45.56:1 0.00013411 3-Stage 149.90:1 0.00013411
3-Stage 168.85:1 0.00013411
*To calculate the inertia in kg-cm2 3-Stage 181.25:1 0.00013411
(kilograms-centimeter squared) multiply 3-Stage 195.27:1 0.00013411
3-Stage 236.10:1 0.00013411
oz-in-sec2 by 70.6154.
3-Stage 307.55:1 0.00013411

Appendices Table C.5: MDrive23Plus Planetary Gearbox Ratios and Inertia Moments A-15
 MDrive23Plus Planetary Gearbox
Dimensions in Inches (mm)

(Ø 32.0 +0/-0.039)
Ø 1.26 +0/-0.0015

Ø 0.472 +0/-0.0007
(Ø 12.0 +0/-0.018)
0.984 k1 ±0.02 (±0.5)
(25.0)
M5 x 0.394 (10.0) Deep 0.106
(2.7)

MDRIVE23
(Ø 52.0)
Ø 2.047
Ø 1.575 Ctrg. DIN 332-D M4x10
(Ø 40.0)
Key DIN 6885-A-4x4x16mm

Figure C.9: Planetary Gearbox Specifications for MDrive23Plus

MDrive23Plus Planetary Gearbox With Optional NEMA Output Flange

Dimensions in Inches (mm) (Ø 38.1 +0/-0.039)
Ø 1.50 +0/-0.0015

Ø 0.472 +0/-0.0007
(Ø 12.0 +0/-0.018)

0.925 k2 ±0.02 (±0.5)

4x Ø 0.197 (Ø 5) Hole (23.5)
0.06
(1.5)

MDRIVE23
(Ø 52.0)
Ø 2.047
(47.1)
1.854

Ctrg. DIN 332-D M4x10

1.854 0.236
(47.1) (6.0)
Key DIN 6885-A-4x4x16mm
2.22 SQ.
(56.4 SQ.)

Figure C.10: Planetary Gearbox Specifications for MDrive23Plus with NEMA Flange

A-16 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
a ppendix D
I/O Application Guide
Standard I/O Set Interfacing and Application

NPN Sinking Input

Application Example

Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Internal
Iil = 100 µA pull-up
voltage

3.3 V
65 - 160 uA

IOx 100k ohms

detect
+ NPN Iil
logic
24.9k ohms
up to
24 V
GND
MDrivePlus Sinking Input
NPN Input, Sinking Equivalent Circuit

Figure D.1: NPN Interface to an MDI Sinking Input

Proximity sensor will operate as a +Limit. When active LOW will index the motor to a specified
position.

‘[VARIABLES]
S1=2,0,0 ‘set IO1 to Limit+, Active LOW, sinking
‘[PROGRAMS]
PG 100 ‘enter program mode at address 100
LB AA ‘label program AA
MR 200000000 ‘move relative x distance
H ‘hold program execution until move completes
CL AB , I1 = 0 ‘call subroutine AB if I1 = 0 (limit reached)
BR AA , I1 = 1 ‘branch to AA if I1=1
LB AB ‘Label Sub AB
PR “Error 83, Positive Limit Reached”
ER=0
MA - 10000 ‘Absolute move to Pos. -10000
H ‘hold program execution until move completes
E ‘end program
PG ‘exit program.
‘[END]

Appendices A-17
 PNP Sourcing Input

Vih = 2.31 V
Vil = 0.99 V
Threshold (nom) = 1.5 V
Iih = -1.24 mA Internal The internal pull-up voltage
pull-up cannot provide output
voltage current / voltage
PNP
+ 3.3 V

up to
24 V IOx 100k ohms
detect
logic
Iih 24.9k ohms

40 - 135 uA

GND

PNP Input, Sourcing MDrivePlus Sourcing Input Equivalent

Figure D.2: PNP Interface to a Sourcing Input

Application Example

Will use this input as a general purpose input which will run a motion subroutine when HIGH.

‘[VARIABLES]
S1=0,1,1 ‘set IO1 Gen Purpose User, active HIGH, src
S2=0,1,1 ‘set IO1 Gen Purpose User, active HIGH, src
‘[PROGRAMS]
‘*****Main Program*****
PG 100
LB AA
CL SA,I1=1 ‘call sub SA if IO1=1
CL SB,I2=1 ‘call sub SB if IO2=1
BR AA
‘******Subroutines*******
LB SA ‘Subroutine will perform some motion
MR 200000
H
MR -200000
H
BR SA,I1=1 ‘conditional branch to beginning of sub
BR AA,I1=0 ‘Branch to main program if IO1=0
RT
LB SB ‘Subroutine will perform some motion
MR 10000
H
MR -10000
H
BR SB,I2=1 ‘conditional branch to beginning of sub
BR AA,I2=0 ‘Branch to main program if IO1=0
RT
E
PG
‘[END]

A-18 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Sinking Output

NOTE: On the
*External Resistor may be needed to
MDrivePlus
limit output sink current to 600mA Standard MDrivePlus,
when configured as
Internal
outputs, the I/O set
pull-up
voltage is sinking ONLY! The Plus2
always Models add the functionality of
off
65 - 160 µA I/O Power, which enables the
Sinking Output user to use all the outputs, both
IOx
Standard and Enhanced, as
Sinking or Sourcing.
24.9k ohms
switched GND

up to +
Sinking Output Equivalent Circuit
24 V

Figure D.3: Sinking Output to Relay

Application Example

Active LOW Output will be opem a relay, useful for Fault.

‘[VARIABLES]
S1=19,0,0 ‘Configure IO 1 as a Fault output.

Mixed Input/Output Example

S Parameter Settings
LOAD
S1 = 16,0 IO1
PNP +
GO
S2 = 4,1,1 IO2
up to
+ LIMIT
S3 = 2,0,0 IO3 +24 V
- LIMIT
S4 = 3,0,0 IO4

GND

Figure D.4: Mixed Output Example- Standard I/O Set

Appendices A-19
 Enhanced I/O Set Interfacing and Application

NPN Sinking Input

Vih = 2.31 V
Vil = 0.99 V MDrivePlus2
Threshold (nom) = 1.5 V
Iil = 100 µA
IOPWR Internal The internal pull-up voltage
pull-up cannot provide output
voltage current / voltage

3.3 V
+ 65 - 160 uA

12 to IOx 100k ohms

detect
24 V NPN logic
Iil 24.9k ohms

IOGND

NPN Input, Sinking Sinking Input Equivalent Circuit

Figure D.5: NPN Sinking Input on an MDrivePlus2 Motion Control

Application Example

Sensor using the HOME function.

‘[VARIABLES]
S2=1,1,0 ‘Configure IO2 as a Home Input, active HIGH, sinking.

Enter to IMS Terminal in Immediate mode or in a Program

HM 1 ‘Slew at VM - until IO2 = 1, Creep off + at VI

PNP Sourcing Input

Application Example

Sensor using the Jog+ function.

JE=1 ‘Enable Jog function

Vih = 2.31 V
Vil = 0.99 V MDrivePlus2
Threshold (nom) = 1.5 V
Iih = -1.24 mA
IOPWR Internal The internal pull-up voltage
pull-up cannot provide output
voltage current / voltage
PNP
3.3 V

12 to IOx 100k ohms

detect
logic
24 V
Iih 24.9k ohms

40 - 135 uA

IOGND

PNP Input, Sourcing

Figure D.6: PNP Sourcing Input on an MDrivePlus2 Motion Control

S11=7,1,1 ‘Configure IO11 as a Jog+ Input, active HIGH, sourcing

A-20 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Sourcing Output

Application Example

This application example will illustrate two MDrivePlus2 units in a system. In the program example
MDrivePlus2 #1 will be configured as a Fault Output, which when HIGH will trip an input on MDrivePlus2
#2 which will be configured as a Pause Input.
MDrive #1

The internal pull-up voltage Internal IOPWR

cannot provide output pull-up
current / voltage voltage

3.3 V

100k ohms IOx

Sourcing Input
detect
logic
24.9k ohms
Iih

40 - 135 uA

IOGND

Sourcing
Sou
urcin
u ng Input Equivalent Circ
Circuit
cuit
c

MDrivePlus2 #2

MDrivePlus2
The internal pull-up voltage
cannot provide output
current / voltage

Internal IOPWR
pull-up
voltage

switched

IOx

load current, sourcing

40 - 135 µA always 24.9k ohms
off IOGND

Sourcing Output
Sourcing Output Equivalent Circuit

MDrivePlus2 #1

Figure D.7: Sourcing Output to Sourcing Input

S9=18,1,1 ‘Configure IO9 as a Fault output, active HIGH, sourcing

MDrive #2
S9=6,1,1 ‘Configure IO9 as a Pause Input, active HIGH, sourcing.

Appendices A-21
 Mixed Input/Output Example

IOPWR PLC
MOVING
S1 = 17,0,0 IO1 IN (w / pullup)
STALL
S2 = 19,0,0 IO2 IN (w / pullup)
JOG +
S3 = 7,1,1 IO3 OUT (PNP)
JOG -
S4 = 8,1,1 IO4 OUT (PNP) +
S9 = 16,1,1 IO9 LOAD +12 to
+24 V
S10 = 16,1,1 IO10 LOAD
+ LIMIT
S11 = 2,0,0 IO11
- LIMIT
S12 = 3,0,0 IO12

IOGND

Figure D.8: Mixed Input/Output Example - Enhanced I/O

Interfacing Inputs as a Group Example

The MDrivePlus inputs may read as a group using the IL. IH and IN keywords. This will display as a decimal
between 0 to 15 representing the 4 bit binary number (IL, IH) or as a decimal between 0 and 255 representing the 8
bit binary number on the MDrivePlus2 models. The IN keyword will function on the Standard MDrivePlus but will
only read inputs 1 - 4. Inputs will be configured as user inputs (S<point>=0).
Standard MDrivePlus Motion Control
PR IN ‘Reads Inputs 4(MSB) through 1(LSB)
PR IN ‘Reads Inputs 4(MSB) through 1(LSB)
Enhanced MDrivePlus2
PR IL ‘Reads Inputs 4(MSB) through 1(LSB)
PR IH: ‘Reads Inputs 12(MSB) through 9(LSB)
PR IN: ‘Reads Inputs 12(MSB) - 9 amd 4 - 1(LSB)

+5 VDC MDrivePlus Motion Control

LSB IO1 LSB STANDARD

IO2
IL IO3

MSB IO4 IN
ENHANCED

LSB IO9

IO10
IH IO11

MSB IO12 MSB

GND

Figure D.9: TTL Interface to an Input Group

A-22 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Interfacing Outputs as a Group Example

The MDrivePlus inputs may be written to as a group using the OL, OH and OT keywords. This will set the out-
puts as a binary number representing the decimal between 0 to 15 representing the 4 bit binary number (OL, OH)
or as an 8 bit binary number representing the decimal 0 to 255 on the MDrivePlus2 models. The OT keyword will
function on the Standard MDrivePlus but will only set inputs 1 - 4. Outputs will be configured as user outputs
(S<point>=16).
Standard MDrivePlus Motion Control
OL=3 ‘set the binary state of the standard I/O to 0011
OT=13 ‘set the binary state of the standard I/O to 1101
Enhanced MDrivePlus2
OL=5 ‘set the binary state of the standard I/O to 0101
OH=9 ‘set the binary state of the expanded I/O to 1001
OT=223 ‘set the binary state of the combined I/O to 1101 1111

MDrivePlus Motion Control

+5 to +24 VDC

STANDARD
LSB IO1 LSB
IO2
OL IO3
MSB IO4 OT
LSB IO9 ENHANCED
IO10
OH IO11

MSB IO12 MSB

Figure D.10: Outputs Interfaced to LED’s as a Group

Output Bit Weight Examples

Enhanced (Plus2) Standard

I/O Set
IO12 IO11 IO10 IO9 IO4 IO3 IO2 IO1
(MSB) (LSB)

OL=13
NOT AVAILABLE
OT=13
1 1 0 1

OH=9 NOT ADDRESSED BY OH

1 0 0 1

OT=223
1 1 0 1 1 1 1 1

Table D.1: Output Bit Weight Examples - Outputs set as a group

Appendices A-23
 a ppend i x E
MDrivePlus Motion Control Closed Loop Control
MDrive Motion Control Closed Loop Options
The MDrive Motion control has two closed loop options: Internal magnetic encoder on all MDrivePlus models
or interface to a remote user supplied encoder on MDrivePlus2 models.

Internal Encoder
All models of the MDrivePlus motion control are available with an internal magnetic encoder, which adds the
functionality of Stall Detection, Position Maintenance and Home to Index.
The encoder itself has a resolution of 512 lines or 2048 edges per revolution.

Remote Encoder
The MDrivePlus2 models are available with the option of using a remote encoder through the enhanced I/O.
The advantage of using a remote encoder is that the encoder can be stationed directly on the load for increased
accuracy.

Set Up and Configuration

Remote Encoder CH A+
CH A-
CH B+
CH B-
Index +
RIndex -
Index -
Index +

CH B+

CH A-
CH B-
CH A+

Figure E.1: Connecting a Remote Encoder

A-24 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 WARNING! DO NOT
a ppendix F connect or disconnect
the Communications
Connectivity
Converter Cable from
MDrive while power is applied!

MD-CC40x-001 Communications Cable

The MD-CC40x-001 is an in-line USB to RS-422/4895 converter with attachable cable to interface with the
MDrivePlus P2 Communications connector. The included components will allow you to connect the USB
port of a PC directly to the MDrive Motion Control. The converter will automatically detect if RS422 or
RS485 is being used and configure itself accordingly
There are three variations of this cable, which can be used with the different P2 connector variations of the
MDrivePlus:
1. MD-CC400-001 USB to 10-Pin IDC connector.
2. MD-CC401-001 USB to 5-Pin M12 Circular connector.
3. MD-CC402-001 USB to 10-Pin Friction Lock Wire Crimp Connector. Note that this cable also has an
optional prototype development cable available to interface to multiple MDrives for party mode com-
munications. Part Number PD10-1430-FL3.
The MD-CC40x-001 communications converter cable is designed to be used with all MDrive, MDrivePlus
and MDrivePlus2 Motion Control devices that utilize an RS-422/485 interface.
Supplied Components: MD-CC40x-001 Communications Converter, Drive Interface Cable, USB Cable,
USB Drivers, IMS Terminal Interface Software.
Electrical Specifications

MD-CC400-001 Specifications
BAUD Rate Up to 115 kbps
Power Requirement Power from USB

Table F.1: MD-CC400-001 Electrical Specifications

MD-CC400-001 Mechanical Specifications and Connector Details

3.75 in
1.0 in (95.0 mm)
(25.0 mm)

USB
0.875 in
MD-CC4
(22.0 mm) USB to RS-422 Converter Cable www.imshome.com

USB Cable
To PC USB
Length 6.0 ft (1.8 m)

10 Pin IDC Connector To MDrive

Cable Length 6.0 ft (1.8 m)

Connection Diagram

Plug into
Computer USB
Port

MD-CC400-001 RS-422/485
Communications Converter

Figure F.1: MD-CC400-000 Mechanical Specifications and Connection

Appendices A-25
 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.
Connector Details

TX+ 1 2 TX-
RX+ 3 4 RX-
Aux-Logic 5 6 RX+
RX- 7 8 TX-
TX+ 9 10 Comm Gnd

Figure F.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 connec-
tor. 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
Ribbon Cable: AMP 1-57051-9

Using the MD-CC400-001 in MultiDrop Configuration

Required: MD-CC400-001 USB to RS-422 Communications Converter
Mating Connector Kit CK-01 or equivalent
1. Crimp the requred number of IDC connectors on the ribbon cable. If additional length is required,
cable extenders are available from SAMTEC or an interface ribbion cable may be made to the length
required. (IMS recommends not exceeding 15’ cable length with ribbon cable).
2. Remove the ground conductor (Pin 10) between all connectors except the connector for the first
MDrive in the daisy chain. This is to prevent communication errors and and potential damage due to
ground loops. See Figure F.3

MDrive #n MDrive #2 MDrive #1

Comm Ground

Cut and remove ground conductor

between connectors at both ends

Figure F.3: Configuring the MD-CC400-001 for Multi-drop (Party Mode) Communications

A-26 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 MD-CC401-000 Mechanical Specifications and Connection
No Mating Connector kit is available for this connector style. Compatible mating connectors may be
purchased from the following suppliers:
• Phoenix
• Turck
• RDE Connectors

RJ-45

3.75 in
1.0 in (95.0 mm)
(25.0 mm)

USB
0.875 in
MD-CC4
(22.0 mm) USB to RS-422 Converter Cable www.imshome.com

USB Cable
To PC USB
Length 6.0 ft (1.8 m)

M12 M Connector
To MDrivePlus
Cable Length 6.0 ft (1.8 m)

Connection Diagram
Plug into
Computer USB
Port

MD-CC401-001 RS-422/485
Communications Converter

Figure F.4: MD-CC401-000 Mechanical Specifications and Connection

Appendices A-27
 MD-CC402-001 Mechanical Specifications and Connection

RJ-45

3.75 in
1.0 in (95.0 mm)
(25.0 mm)

USB
0.875 in
MD-CC4
(22.0 mm) USB to RS-422 Converter Cable www.imshome.com

USB Cable
To PC USB
Length 6.0 ft (1.8 m)

10-Pin Friction Lock Wire Crimp Connector

Cable Length 6.0 ft (1.8 m) To MDrivePlus

Connection Diagram
Plug into
Computer USB
Port

MD-CC402-001 RS-422/485
Communications Converter

Figure F.5: MD-CC402-000 Mechanical Specifications and Connection

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

TX+ (Open) 9 10 TX- (Open) Pins 5-10 are left open to

RX+ (Open) 7 8 RX- (Open) facilitate use of the PD10-
Aux-Logic (Open) 5 6 RX+ 1434-FL3 for multi-drop
RX- 3 4 TX- communications and con-
TX+ 1 2 Comm Gnd nection of Aux-Logic.

Figure F.6: 10-Pin Wire Crimp

Mating Connector Kit p/n: CK-02

Description: 5 mating connector shells and crimp pins. Recommend Hirose Crimp tool (Not in-
cluded).
Hirose Parts: Shell: DF11-10DS-2C
Pins: DF11-2428SC
Crimp Tool: DF11-TA2428HC

A-28 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 PD-10-1434-FL3 and MD-CC402-001 in MultiDrop Configuration
Required: MD-CC402-001 USB to RS-422 Communications Converter
Prototype Development Cable PD10-1434-FL3
1. Connect crimp pins into the appropriate connector locations on the 10-pin wire crimp that are left
open on the MD-CC402-001 for this purpose.
2. Remove the ground conductor (Pin 10) between all connectors except the connector for the first
MDrive in the daisy chain. This is to prevent communication errors and and potential damage due
to ground loops. See Figure F.6

Remove Ground Wire

To MDrivePlus (White/Green Stripe)
10-pin friction lock
wire crimp connector Note: If not using Aux-Logic
Remove Wire (White/Red Stripe)

MDrive #n

MDrive #2
Wire Colors Function
White/Red Stripe Aux-Logic
White/Blue Stripe TX+
Blue/White Stripe TX-
White/Orange Stripe RX+
MDrive #1
Orange/White Stripe RX- Ground Connects
Green/White Stripe GND to 1st MDrive ONLY!

Figure F.7: Configuring the MD-CC402-001 for Multi-drop (Party Mode) Communications

Appendices A-29
 Driver Installation Procedure for the MX-CC40x-001
These Installation procedures are written for Microsoft Windows XP Service Pack 2. Users with earlier versions
of Windows please see the alternate installation instructions at the IMS web site (http://www.imshome.com).
The installation of the MD-CC40x-000 requires the installation of two sets of drivers:
 Drivers for the IMS USB to RS-422 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

1) Plug the USB Converter Cable into the USB port of the MD-CC40x-001.
2) Plug the other end of the USB cable into an open USB port on your PC.
3) Your PC will recognize the new hardware and open the Hardware Update dialog.
4) 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 F.8).
5) Select “Install from a list or specific location (Advanced)” on the radio buttons in answer to the
query “What do you want the wizard to do?” Click “Next” (Figure F.9).

Figure F.8: Hardware Update Wizard Figure F.9 Hardware Update Wizard Screen 2

6) Select “Search for the best driver in these locations.”

(a) Check “Include this location in the search.”
(b) Browse to the MDrive CD [Drive Letter]:\ Cable_
Drivers\MD CC40x000_DRIVERS.
(c) Click Next (Figure F.10).

Figure F.10: Hardware Update Wizard Screen 3

A-30 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 7) The drivers will begin to copy.
8) On the Dialog for Windows Logo Compatibility Testing, click “Continue Anyway” (Figure F.7).
9) The Driver Installation will proceed. When the Completing the Found New Hardware Wizard
dialog appears, Click “Finish” (Figure F.8).
10) Upon finish, the Welcome to the Hardware Update Wizard will reappear to guide you through
the second part of the install process. Repeat steps 1 through 9 above to complete the cable
installation.
11) Your IMS MD-CC40x-001 is now ready to use.

Figure F.11: Windows Logo Compatibility

Testing

Figure F.12: Hardware Update Wizard Finish Installation

Determining the Virtual COM Port (VCP)

The MD-CC40x-000 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-CC40x-000 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 F.12), Click the Button labeled “Device Manager”.
3) Look in the heading “Ports (COM & LPT)” IMS USB to RS422 Converter Cable (COMx) will
be listed (Figure F.12). The COM # will be the Virtual COM Port connected. You will enter this
number into your IMS Terminal Configuration.

Figure F.13: Hardware Properties

Figure F.14: Windows Device Manager

Appendices A-31
 Prototype Development Cable PD10-1434-FL3 For Multi-Drop Communications
The PD10-1434-FL3 is a 10’ (3.0 M) Prototype Development Cable used to connect multi-drop commu-
nications to the MDrivePlus Motion Control. The Flying Lead End connects to the user’s RS-422 Interface.
The Connector End connects to the 10-Pin Wire Crimp Connector located at P2 on the MDrive.

Setup Instructions — Cable #1

1. Cut crimp pins from Communications Wires and strip insula­tion back approximately 1/4”.
2. Connect receive (RX) and transmit (TX) lines as shown in the diagram and table above to your RS-
422/485 Host interface.
3. Connect Communications Ground line to the Comm Ground of your RS-422/485 Host.
4. Connect Aux-Power (if used) to the +VDC Output of a +12 to +24 VDC Supply.
5. Connect the return (GND) of the Aux-Supply to Power Ground of the MDrivePlus.
6. Plug the wire crimp connector of Cable #1 into P2 of the MDrivePlus #1.

Setup Instructions — Cable #2 and Subsequent MDrives

1. Insert the crimped transmit and receive lines into the 10-Pin wire crimp connector of Cable #1 as shown
in the diagram and table above.
2. Connect communications ground (May be daisy-chained).
3. Connect Aux-Supply at the +VDC output of the +12 to +24 VDC Supply (May NOT be daisy-
chained).
4. Plug the wire crimp connector of Cable #2 into P2 of MDrive­Plus #2
5. Repeat Steps 1-4 for each additional MDrivePlus in the sys­tem.

Wire Color Code

Pair Number Color Combination Communications Host MDrive Wire Crimp
(Cable/Pair) Connection Connection
White/Blue RX+ TX+
1/1
Blue/White RX+ TX-
White/Orange TX+ RX+
1/2
Orange/White TX- RX-
White/Green NC NC
1/3
Green/White COMM GND COMM GND
White/Blue TX+ TX+
2/1
Blue/White TX- TX-
White/Orange RX+ RX+
2/2
Orange/White RX- RX-
White/Green NC NC
2/3
Green/White COMM GND COMM GND
3 AUX Power AUX Power
Table F.2: PD10-1434-FL3 Wire Color Codes

A-32 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
MDrive17Plus2 Recommended Prototype Development Cable

P1: PD16-1417-FL3 — Power and I/O WARNING! DO NOT

The PD16-1417-FL3 is a 10’ (3.0 M) Prototype Development Cable used to connect to the 16-Pin Locking connect or disconnect
the Prototype
Wire Crimp Connector. The Connector end plugs into the P1 Connector of the MDrivePlus. The Flying Lead
Development Cables
end connects to a Control Interface such as a PLC and the users motor power supply. Cable from MDrive while power is
Wire Color Code applied!
Pair Number Color Combination Signal Name Signal Name (Remote P1 Pin
(Expanded I/O) Encoder) Number
Black Power Ground Power Ground 16
1
Red +V (+12 to +48 VDC) +V (+12 to +48 VDC) 15
Black Direction Index – 14
2 WARNING! Ensure
White Step Clock Index + 13 that the Black-Color
Black Analog In Analog In 12 pair is correctly
3 matched prior to
Green Capture In/Trip Out Capture In/Trip Out 11
power application.
Black I/O 12 Channel B – 10
4
Blue I/O 11 Channel B + 9
Black I/O 10 Channel A – 8
5
Yellow I/O 9 Channel A + 7
Black I/O 4 I/O 4 6
6
Brown I/O 3 I/O 3 5
Black I/O 2 I/O 2 4
7
Orange I/O 1 I/O 1 3
White I/O GND I/O GND 2
8
Red I/O Power I/O Power 1
Table F.3: PD16-1417-FL3 Wire Color Codes

To MDrivePlus 16-pin wire crimp

JST connector

To Power & I/O

10.0’ (3.0m)

Figure F.15: PD16-1417-FL3 Prototype Development Cable

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

+V 15 16 GND Remote Encoder Option

Step Clock 13 14 Direction Pin Function
Capture/Trip 11 12 Analog In 7 CH A +
I/O11 9 10 I/O12 8 CH A-
I/O9 7 8 I/O10 9 CH B+
I/O3 5 6 I/O4 10 CH B-
I/O1 3 4 I/O2 13 IDX +
I/O Power 1 2 I/O GND 14 IDX-

Figure F.16: 16-Pin Wire Crimp

Mating Connector Kit p/n: CK-10

Description: 5 mating connector shells and crimp pins. Recommend JST Crimp tool (Not included).
JST Parts: Shell: PADP-16V-1-S
Pins: SPH-001T-P0.5L
Crimp Tool: YHT2622

Appendices A-33
 WARNING! DO NOT MDrive23Plus2 Recommended Prototype Development Cables
connect or disconnect
the Prototype Development P1: PD14-2334-FL3 — I/O
Cables Cable from MDrive while
power is applied! IMS recommends the Prototype Development Cable PD14-2334-FL3 for interfacing I/O and Logic to the
MDrive23Plus2 Motion Control. IMS recommends the Prototype Development Cable PD14-2334-FL3 with
WARNING! Ensure that the first order of an MDrive23Plus2 Motion Control to mate with the 14-pin locking wire crimp connector P1.
the Black-Color pair is 14 (7 Twisted Pair) Flying Leads interface to the user’s control electronics at the un-terminated end of the cable.
correctly matched prior
to power application. Care should be observed to ensure that the black leads are connected in the correct location in relation to their
paired color.
Wire Color Code
Pair Number Color Combination Signal Name Signal Name (Remote P1 Pin
(Expanded I/O) Encoder) Number
Black Direction Index – 14
1
White Step Clock Index + 13
Black Analog In Analog In 12
2
Green Capture In/Trip Out Capture In/Trip Out 11
Black I/O 12 Channel B – 10
3
Blue I/O 11 Channel B + 9
Black I/O 10 Channel A – 8
4
Yellow I/O 9 Channel A + 7
Black I/O 4 I/O 4 6
5
Brown I/O 3 I/O 3 5
Black I/O 2 I/O 2 4
6
Orange I/O 1 I/O 1 3
White I/O GND I/O GND 2
7
Red I/O Power I/O Power 1
Table F.4: PD14-2334-FL3 Wire Color Codes

To MDrivePlus 14-pin wire crimp

JST connector

To Power & I/O

10.0’ (3.0m)

Figure F.17: PD14-2334-FL3 Prototype Development Cable

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

Direction Remote Encoder Option

Step Clock 13 14 Pin Function
Capture/Trip 11 12 Analog In
7 CH A +
I/O11 9 10 I/O12
8 CH A-
I/O9 7 8 I/O10
9 CH B+
I/O3 5 6 I/O4 10 CH B-
I/O1 3 4 I/O2 13 IDX +
I/O Power 1 2 I/O GND 14 IDX-

Figure F.18: 16-Pin Wire Crimp

Mating Connector Kit p/n: CK-10

Description: 5 mating connector shells and crimp pins. Recommend JST Crimp tool (Not included).
JST Parts: Shell: PADP-14V-1-S
Pins: SPH-001T-P0.5L
Crimp Tool: YHT2622

A-34 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 P3: PD02-2300-FL3 — I/O
IMS recommends the Prototype Development Cable PD02-2300-FL3 for interfacing power to the MDrive-
23Plus2 Motion Control.

Wire Color Code

Color Combination Signal Name P3 Pin
(Expanded I/O) Number
Black Power Ground 2
Red +V (+12 to +48 VDC) 1
Table F.5: PD14-2334-FL3 Wire Color Codes

To MDrivePlus
2-pin wire crimpTyco connector
To Power

10.0’ (3.0m)

Figure F.19: PD02-2300-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

2 GND
1 Power

Figure F.20: 2-Pin Wire Crimp

Mating Connector Kit p/n: CK-04

Description: 5 mating connector shells and crimp pins. Recommend JST Crimp tool (Not included).
Tyco Parts: Shell: 794617-2
Pins: 794610-1
Crimp Tool: 91501-1

Appendices A-35
 MDrive17Plus2-65 and MDrive23Plus2-65 Cordsets
19-pin M23 single-ended cordsets are offered to speed prototyping of sealed MDrivePlus2 units. Measuring
13.0’ (4.0m) long, either straight or right-angle termination is available. PVC jacketed cables come with a foil
shield and an unconnected drain wire.
Straight Termination.............................................................................................. MD-CS100-000
Right Angle Termination........................................................................................ MD-CS101-000

Pin Assignment and Wire Colors

P1 - Expanded I/O Configuration
Function Function (Remote
Cordset Wire Color MDrive P1
(Expanded I/O) Encoder)
Violet I/O 9 Channel A + Pin 1
Red I/O 11 Channel B + Pin 2
Grey Step Clock Index + Pin 3
Red/Blue I/O 1 I/O 1 Pin 4
Green Direction Index – Pin 5
Blue +V +V Pin 6
Gray/Pink Aux-Logic Aux-Logic Pin 7
White/Green Comm Ground Comm Ground Pin 8
White/Yellow I/O 3 I/O 3 Pin 9
White/Gray I/O GND I/O GND Pin 10
Black I/O PWR I/O PWR Pin 11
Green/Yellow Shell Connect Shell Connect Pin 12
Yellow/Brown I/O 12 Channel B – Pin 13
Brown/Green Capture/Trip Capture/Trip Pin 14
White AIN AIN Pin 15
Yellow I/O 2 I/O 2 Pin 16
Pink I/O 4 I/O 4 Pin 17
Gray/Brown I/O 10 Channel A – Pin 18
Brown GND GND Pin 19

Table F.6: MD-CS10x-000 Wire Color Chart

To MDrivePlus
19-pin M23 Connector To Power & I/O
MD-CS100-000

2.815”
(71.5 mm)

MD-CS101-000

2.37”
(60.2)

13.0’
(4.0 m)

Ensure adequate space is available within

your enclosure for the cordset connector!

Figure F.21: MD-CS10x-000 Prototype Development Cordset

A-36 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 Connector Details
Should you choose to create your own interface cable field solderable 19-pin M23 connectors are available
from a variety of suppliers referenced below.
• Lumberg
• Phoenix
• Turck
• RDE Connectors

Connector Details

Expanded I/O

Outside: Pins 1 -12 Inside: Pins 13 -19

Step Clock GND

I/O11 2 3 4 I/O1
I/O9 1 5 Direction I/O12 13 14 Capture/Trip
Shell 12 6 +V I/O10 18 19 15 Analog In
I/O Power 11 7 Aux-Logic I/O4 17 16 I/O2
I/O GND 10 9 8 Aux-Ground

I/O3

Remote Encoder
Index + GND

CH B+ 2 3 4 I/O1
CH A+ 1 5 Index - CH B- 13 14 Capture/Trip
Shell 12 6 +V CH A - 18 19 15 Analog In
I/O Power 11 7 Aux-Logic I/O4 17 16 I/O2
I/O GND 10 9 8 Aux-Ground

I/O3

Figure F.22: 19-Pin M23 Circular Connector

Appendices A-37
 Page Intentionally Left Blank

A-38 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
a ppendix G
Linear Slides
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 - 0.50" travel per revolution
- 0.20" 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 10.0" to 36.0" (MDrive17Plus) and 12.0” to 36.0” (MDrive23Plus), 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

MDrive17Plus Linear Slide

MDrive17Plus Linear Slide Speed-Force Limitations †

40 178 †Speed/Force correlating equations:

35
1.00" Screw Lead
0.50" Screw Lead
156 1 Axial Force = Ffriction + Facceleration + Fgravity
30 0.20" Screw Lead 133
Ffriction = (Weight)(0.09)
Axial Force in lbs

Axial Force in N

25 0.10" Screw Lead 111

20 89
Facceleration = (Weight)(Acceleration) / Accel. of gravity
Fgravity = 0 for horizontal application and 1 Weight for vertical application
15 67

10 44
(Axial Force)(Screw Lead)
5 22 2 Torque =
0 (0.393)(Screw Efficiency)
0 5 10 15 20 25 30 35 40 45 50
(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)
3 Full Steps (200 Full Steps/Rev)(Velocity)
=
Figure G.1: MDrive17Plus Linear Slide Second Lead
Speed Force Limitations
Lead in inches/rev; Velocity in inches/second

MDrive17Plus Speed-Torque Curves

60 42 Single Length Rotary Motor – 24 VDC
Single Length Rotary Motor – 48 VDC
50 35 Double Length Rotary Motor – 24 VDC
Double Length Rotary Motor – 48 VDC
Torque in N-cm
Torque in Oz-In

40 28 Triple Length Rotary Motor – 24 VDC

Triple Length Rotary Motor – 48 VDC
30 21

20 14

10 7

0
0 1000 2000 3000 4000 5000 6000 7000
(300) (600) (900) (1200) (1500) (1800) (2100)

Speed in Full Steps per Second (RPM)

Figure G.2: MDrive17Plus Speed Torque Curves
Appendices A-39
 MDrive17Plus Linear Slide Specifications

Screw Nom. Screw Max Drag Life @ ¼ Torque to Axial

Inch Lead Screw Inertia
Efficiency Diam. Torque Design Load Move Load Design Load
Screw inches oz inch inches oz inch/lb lbs oz.in.sec2/inch
% inches (mm)
Lead (mm) (Nm) (cm) (Nm/kg) (kg) (Kgm2/m)
100,000,000 0.3 x 10-5
0.10" 53 0.375” (9.5) 0.100 (2.54) 4.0 (0.03) 1.0 (0.016) 35 (16)
(254,000,000) (6.5 x 10-6)
100,000,000 0.3 x 10-5
0.20" 69 0.375” (9.5) 0.200 (5.08) 5.0 (0.04) 1.5 (0.023) 35 (16)
(254,000,000) (6.5 x 10-6)
100,000,000 0.3 x 10-5
0.50" 81 0.375” (9.5) 0.500 (12.70) 6.0 (0.04) 2.5 (0.039) 35 (16)
(254,000,000) (6.5 x 10-6)
100,000,000 0.3 x 10-5
1.00" 84 0.375” (9.5) 1.000 (25.40) 7.0 (0.05) 4.5 (0.070) 35 (16)
(254,000,000) (6.5 x 10-6)

Table G.1: MDrive17Plus Linear Slide Specifications

MDrive17Plus Mechanical Specifications

1.67
Dimensions in Inches (mm) (42.2)
1.125
(28.6)
End view
1 Motor Mounting Plate 0.36
(9.2)
2 Heli-Cal Coupling 0.57
(15.6)
3 Sunx P/N PM-L24 sensor or equivalent
(not supplied)
4 Optional Sensor Flag Kit 0.425
for use with U-channel sensor (10.8)
1.671 1.93
(details below) O (42.4) 1.39
P 0.83 (35.2) (48.9) 0.313
2.00
1.035 (50.8) 0.600 0.5120.80
(21.2) (7.9)
(26.3) (15.2) (13.0)
(20.3)
O 1.93
Side view 2.00 (48.9) 1 0.313
2.00 P
1.035 (50.8) (7.9)
(50.8) 0.80
(26.3) (20.3)

MDrive17
Plus
2
For reference only: 6-32 SHCS

Top view
4 x 6-32 1.50
0.500 1.1 3 4 SHCS (38.1)
0.500
(12.7) (27.9)
(12.7)

4 x 6-32 1.50

MDrive17
0.500 1.1 SHCS (38.1)
0.500
(27.9)

Plus
1.46
(12.7) (12.7)
(37.1)

1.46
(37.1) 0.750
(19.1)
1.50
(12.7)
0.750
(19.1) L
Travel distance = L – (O + P) [O + P = 2.80" (71.1 mm)]
1.50
(12.7)
Optical sensor – Sunx P/N PM-L24 or equivalent
Sensor Flag Kit Option L (not supplied)

P/N RSM06-K Includes:

A #2-56 X 1/4" Long BHCS D
B Sensor Holder (Qty. 3) C A
C #4-40 X 1/4" Long SHCS
D Flag for Optical Sensor

Figure G.3: MDrive17Plus Linear Slide Mechanical Specifications

A-40 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 MDrive23Plus Linear Slide

MDrive23Plus Linear Slide Speed-Force Limitations †

100 445 †Speed/Force correlating equations:

90
1.00" Screw Lead
400
1 Axial Force = Ffriction + Facceleration + Fgravity
80 0.50" Screw Lead 356
70 0.20" Screw Lead 311 Ffriction = (Weight)(0.09)
Axial Force in lbs

Axial Force in N
0.10" Screw Lead
60 267 Facceleration = (Weight)(Acceleration) / Accel. of gravity
50 222
Fgravity = 0 for horizontal application and 1 Weight for vertical application
40 178
30 133
(Axial Force)(Screw Lead)
20 89
2 Torque =
10 44 (0.393)(Screw Efficiency)
0
0 5 10 15 20 25 30 35 40 45 50
Force in lbs; Torque in oz-in, Lead in inches/rev
(127) (254) (381) (508) (635) (762) (889) (1016) (1143) (1270)

V Inches / sec (mm / sec) 3 Full Steps (200 Full Steps/Rev)(Velocity)

=
Figure G.4: MDrive23Plus Linear Slide Second Lead
Speed Force Limitations
Lead in inches/rev; Velocity in inches/second

MDrive23Plus Speed-Torque Curves

225 159 Single Length Rotary Motor
24 VDC
200 141 45 VDC
75 VDC

175 124
Double Length Rotary Motor
150 106 24 VDC
45 VDC
Torque in N-cm
Torque in Oz-In

88 75 VDC
125

100 71 Triple Length Rotary Motor

24 VDC
45 VDC
75 53
75 VDC

50 35

25 18

0
0 1000 2000 3000 4000 5000 6000 7000
(300) (600) (900) (1200) (1500) (1800) (2100)

Speed in Full Steps per Second (RPM)

Figure G.5: MDrive23Plus Speed Torque Curves

MDrive23Plus Linear Slide Specifications

Screw Nom. Screw Max Drag Life @ ¼ Torque to Axial

Inch Lead Screw Inertia
Efficiency Diam. Torque Design Load Move Load Design Load

Screw inches oz inch inches oz inch/lb lbs oz.in.sec2/inch

% inches (mm)
Lead (mm) (Nm) (cm) (Nm/kg) (kg) (Kgm2/m)
100,000,000 1.5 x 10-5
0.10" 40 0.625” (15.9) 0.100 (2.54) 5.0 (0.03) 1.3 (0.020) 100 (46)
(254,000,000) (4.8 x 10-4)
100,000,000 1.5 x 10-5
0.20" 53 0.625” (15.9) 0.200 (5.08) 6.0 (0.04) 2.0 (0.031) 100 (46)
(254,000,000) (4.8 x 10-4)
100,000,000 1.5 x 10-5
0.50" 76 0.625” (15.9) 0.500 (12.70) 7.0 (0.05) 3.0 (0.047) 100 (46)
(254,000,000) (4.8 x 10-4)
100,000,000 1.5 x 10-5
1.00" 81 0.625” (15.9) 1.000 (25.40) 8.5 (0.06) 6.5 (0.101) 100 (46)
(254,000,000) (4.8 x 10-4)

Table G.2: MDrive23Plus Linear Slide Specifications

Appendices A-41
 MDrive23Plus Mechanical Specifications
Dimensions in Inches (mm)

2.22
(56.4)
2.00
(50.8)
0.36
(9.2)
0.56
1 Motor Mounting Plate (14.3)
2 Heli-Cal Coupling
3 Sunx P/N PM-L24 sensor or equivalent 0.626
(15.9)
(not supplied) 2.336
(59.3) 2.14
4 Optional Sensor Flag Kit
1.23 (54.4)
for use with U-channel sensor O 1.000 0.688 (31.1) 2.16
(details below)
3.25
(25.4) P (17.5) (54.9) 0.50
1.560 (82.6) (12.7)
1.30
(39.6) (33.0)
3.38
(85.7) 1
O 2.16
3.25 P (54.9) 0.50
1.560 (82.6) (12.7)
1.30
(39.6) (33.0)

MDrive23
Plus
For reference only: 1/4-20 SHCS 2

4 x 1/4-20 1.50
0.750 1.1 SHCS (38.1)
0.750
(19.1) (27.9)
3 4 (19.1)

MDrive23
4 x 1/4-20 1.50
0.750 1.1 SHCS

Plus
2.6 0.750 (38.1)
(19.1) (27.9)
(66.0) (19.1)

2.6 1.250
(66.0) (31.8)

2.25
(57.2)

1.250
(31.8)
L
Travel distance = L – (O + P) [O + P = 4.55" (115.6 mm)]
2.25
(57.2)

Sensor Flag Kit Option L

Optical sensor – Sunx P/N PM-L24 or equivalent
(not supplied)
P/N RSM10-K Includes:
A
A #2-56 X 1/4" Long BHCS
D
B Sensor Holder (Qty. 3) C

C #4-40 X 1/2" Long SHCS

D Flag for Optical Sensor
B
E #6-32 X 1/2" Long SHCS
E

Figure G.6: MDrive23Plus Linear Slide Mechanical Specifications

A-42 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
ap pend ix H
NOTE: All other
CANopen Communications Specifications such
as power and I/O
Features are identical to the
MDrivePlus Motion Control with
RS-422/485 Communications
 CANopen DS-301 and DS-402 Interface.
 Galvanically Isolated Communications
 3 Dynamically Mappable Process Data Objects (PDO) The CANopen Model MDrivePlus
 Layer Setting Services to Establish Node ID and BAUD may not have all of the features/
functionality of its equivalent
 Node Guarding
MDrivePlus Motion Control, such
 Heartbeat Producer as the ability to store programs or
 Emergency Objects I/O functions.
 Upgradable Software
Communications Specifications
NOTE: See the IMS
Communications Specifications DSP-402 Application
Protocol CAN 2.0b Manual for supported
Communications Profile CiA DS-301 objects and modes of operation.
Device Profile CiA DSP-402
10, 20, 50, 125, 250, 500, 800 kBits/
BAUD Rate
s, 1MBit/s (default)
Table H.1: CANopen Communications Specifications

Mechanical Specifications
The DB-9 Connector at location P2 adds 0.425”
(10.79 mm) to the profile of the MDrive17Plus or
MDrive23Plus as views from the motor face. Please
allow additional space inside your enclosure for the
connector body.
The 5-Pin M12 connector does not change the
LMAX value.

0.425
(10.79)
Figure H.1: DB-9 Mechanical Specifications

Pin Assignments

DB-9 Style Connector

CAN -V (CAN_GND) P2 Connector - CAN Communications

CAN Shield DB9 Function Description
CAN Low
Pin 1 N/C No Connect
Pin 2 CAN LOW CAN_L bus line (dominant low)
1 2 3 4 5 Pin 3 CAN -V CAN Communications Ground
6 7 8 9 Pin 4 AUX-Logic Auxiliary Logic Supply
Pin 5 CAN Shield Optional CAN Shield
Pin 6 CAN -V Optional Ground
Pin 7 CAN HIGH CAN_H bus line (dominant high)
CAN +V
Pin 8 N/C No Connect
CAN High
Pin 9 CAN +V +7 to +30 VDC supply
Figure H.2: DB-9 Pin Configuration
Table H.2: DB-9 Pin Assignments and Description

Appendices A-43
 5-Pin M12 Connector

Pin 4 Pin 3 P2 Connector - CAN Communications

M12 Function Description
Pin 1 CAN Shield Optional CAN Shield
Pin 5
Pin 2 CAN +V +7 to +30 VDC supply
Pin 1 Pin 3 CAN -V CAN Communications Ground
Pin 2
Pin 4 CAN HIGH CAN_H bus line (dominant high)
Figure H.3: 5-Pin M12 Pin Pin 5 CAN LOW CAN_L bus line (dominant low)
Configuration Table H.3: 5-Pin M12 Pin Assignments and Description

Interfacing The CAN Bus

The MDrivePlus CANopen communicates using the CAN 2.0B Active Protocol and the CiA DS-301 Ap-
plication Layer and Communications Profile. The full DS-301 V4.02 Specification may be downloaded free at
http://www.can-cia.org. The default BAUD rate is 1 Mbit/Sec. The default Node ID is 41h.

CAN Bus Connections

Return
+V Supply
7 to 30 VDC

CAN +V

CAN +V

CAN +V
CAN -V

CAN -V

CAN -V
Pin 4: CAN HIGH Pin 3: CAN -V

3
CANopen MDrivePlus MDrivePlus
Controller CANopen CANopen
4

1 2

Node 1 Node x
Pin 1: Shield Pin 2: CAN +V

Pin 5: CAN LOW

CAN High

CAN Low

Shield

CAN High

CAN Low

Shield

CAN High

CAN Low

Shield
5-Pin M12 Male
CAN -V (CAN_GND)

CAN Low CAN Shield

1 2 3 4 5
6 7 8 9

CAN -V CAN +V
CAN High

DB-9
Figure H.: CANOpen Network using MDrivePlus.

Recommended CANopen Dongle

In order to use the IMS GUI and upgrade utility for the MDrivePlus CANopen you must purchase the MD-
CC500-000 Communications Cable. When purchased from IMS, the User Interface software for upgrading
and prototyping is included. This is required to upgrade the firmware in the MDrivePlus as CANopen updates
become available.
This device is also available from Phytec at: http://www.phytec.com/can/hardware/pccaninterface/peakusb.
htm, but does not include the IMS CANopen GUI and Upgrader software.

A-44 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
Interface Cable Construction NOTE: The MD-CC500-
000 USB to CAN Adapter
To connect the MD-CC500-000 dongle to the MDrivePlus CANopen product an interface cable will need to is required to upgrade
the firmware in the
be constructed. The figure below shows the parts required. MDrivePlus with CANOpen. Any
CAN adapter/Controller can be
Installation Instructions used to communicate to the device
using CANOpen Objects and
1. Install the MD-CC500-000 adapter per the Phytec PCAN-USB Operating Instructions included on the Indexes.
PEAK CD included with the product.
2. Install the IMS CANOpen_Tester Interface available online at http://www.imshome.com/canopen.html
3. Using the interface cable (not supplied), connect the MDrivePlus product to the MD-CC500-000.
4. Apply Power to the MDrivePlus CANopen product.

Interface Cable (Note Supplied)

+7 to +30 VDC
Power Supply

CAN +V

CAN -V (Ground)

MD-CC500-000

M12F DB-9F

P2
lus CAN-H
iveP
Dr 120Ω
M ort
To DB-9F CAN-L BP
US
120Ω Termination To
Resistor is REQUIRED
Between CAN-H and CAN-L
At the MDrivePlus
end of the cable.

DB-9F M12F
Connector Front View Connector Front View
Pin 5: CAN-L
Pin 3: CAN -V (Ground)
Pin 5: CAN-Shield Pin 2: CAN-L Pin 1: CAN Shield Pin 2: CAN +V

Pin 4: CAN-H Pin 3: CAN GND

Pin 9: CAN +V Pin 7: CAN-H

Figure H.5: Communications Cable, Phytec PCAN-USB to MDrivePlus

Appendices A-45
 CANopen Tester Quick Start

Installation
1. Open the CANopen CD using Windows Explorer.
2. Browse to the CANopen_Tester Folder.
3. Double-Click the Setup.exe file.
4. Follow the prompts to install the program.
To ensure you have the latest version of the IMS CANopen Tester, please visit the IMS web site at http://www.
imshome.com/canopen.html.

C F
B

E D
Figure H.6: CANopen Tester Interface Showing Getting Started Sequence

Getting Started
The below instructions are for IMS CANopen products being used with IMS’s MD-CC500-000, USB to
CANopen communication, and the IMS CANopen Tester software. Use the illustration above to follow along
with the usage steps. This getting started will step the user from initializing the CAN bus to moving the motor
in Profile Position mode.
Before applying power and launching software.
1) Install PEAK Drivers from CD
2) Run SetUp.exe from IMS CD
3) Connect power according to CANopen Hardware Reference Manual, Section 2.2 - Connecting
Power.
4) Connect communication according to this appendix.
You can now power the MDrive or MForce product and launch the CANopen Tester software.
With the MDrive or MForce powered and the CANopen Tester software launched, select through the following
sequence.
A. Click CAN Init
B. Click Background – Background Clock should start running and data fields should
be populated with current Index values.
C. Click Msg Window Scripts – This will open another window to allow the user to

A-46 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
 see data being sent to MDrive or MForce in the following steps.
D. Click Operation_Toggle three times (this steps through Index 0x6040 Control
Word ending with Operation Enabled). This enables the output bridge of the
driver.
E. Enter the number “1” in the Modes of Operations field, this places the MDrive
into Profile Position mode.
F. Enter 512000 into the IDX67AH field, strike the return (Enter) key on your key
board, the motor should move 10 revolutions.

Appendices A-47
 Page Intentionally Left Blank

A-48 MDrive 17 & 23 Plus Motion Control Hardware Manual Revision R111108
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.”
NOTE: MDrivePlus Motion Control electronics are not removable from the motor in the field.
The entire unit must be returned to the factory for repair.
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
Material Authorization (RMA) number must be obtained. Complete the form at http://www.imshome.com/rma.html after
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.
U.S.A. Sales offices IMS EUROPEAN SALES MANAGEMENT
Eastern Region 4 Quai Des Etroits
Tel. 862 208-9742 - Fax 973 661-1275 69005 Lyon, France
e-mail: jroake@imshome.com Tel. +33/4 7256 5113 - Fax +33/4 7838 1537
Central Region e-mail: bmartinez@imshome.com
Tel. 260 402-6016 - Fax 419 858-0375
e-mail: dwaksman@imshome.com IMS UK Ltd.
Western Region Sanderson Centre, 15 Lees Lane
Tel. 602 578-7201 Gosport, Hampshire PO12 3UL
e-mail: dweisenberger@imshome.com Tel. +44/0 2392-520775 - Fax +44/0 2392-502559
e-mail: mcheckley@imshome.com
IMS ASIA PACIFIC OFFICE
30 Raffles Pl., 23-00 Chevron House, Singapore TECHNICAL SUPPORT
048622 Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107
Tel. +65/6233/6846 - Fax +65/6233/5044 e-mail: etech@imshome.com
e-mail: wllee@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
http: //www.imshome.com

© Intelligent Motion Systems, Inc. All Rights Reserved. R111108

IMS Product Disclaimer and most recent product information at www.imshome.com.