TM
Excellence in Motion
TM
34
mOTION CONTROL
(with optional CANopen)
FEATURES
DESCRIPTION
Optional communication protocols
• Highly Integrated Microstepping Driver/
Intelligent Motion Controller with Optional
Encoder/NEMA 34 High Torque 1.8°
Brushless Step Motor
• Advanced 2nd Generation Current
Control for Exceptional Performance
and Smoothness
• Single Supply: 120 or 240 VAC
• Cost Effective
• Extremely Compact
• High Positioning Accuracy
• No Tuning Required
• Stable at Low Speeds
• No Dithering at Zero Speed
• High Starting Torque
• Allows for Greater Inertia Mismatch
• Built-in Regeneration Circuitry
The MDrive34AC Plus2 Motion Control
system offers designers a cost effec-
tive, full featured programmable motion
controller integrated with a NEMA 34 high
torque 1.8° brushless step motor and a
microstepping driver operating at 120 or
240 VAC.
include CANopen. The CAN bus is 2.0B
active (11 and/or 29 bit) and is capable
of all standard frequencies from 10 kHz
to 1 MHz. CANopen features include
node guarding, heartbeat producer,
SDOs and PDOs. Highlights include
variable PDO mapping and extended
node identifier.
Unsurpassed smoothness and perfor-
mance delivered by the MDrive34AC are
achieved through IMS's advanced 2nd
generation current control. By applying
innovative techniques to control current
flow through the motor, resonance is sig-
nificantly dampened over the entire speed
range and audible noise is reduced.
The MDrive34AC Plus2 Motion Control
is available with optional closed loop
control. This increases functionality by
adding stall detection, position mainte-
nance and find index mark.
The closed loop configuration is added
via a 512 line (2048 edge) optical
encoder with index mark, internal to the
MDrive34AC so there is no increase in
length. Or, for an expanded choice of
line counts and resolutions, closed loop
control is available with an interface
to a remotely mounted user-supplied
external encoder.
The MDrive34AC accepts a broad input
voltage range from 95 to 264 VAC, deliv-
ering enhanced performance and speed.
Oversized input capacitors are used to
minimize power line surges, reducing
problems that can occur with long cable
runs and multiple drive systems. An ex-
tended operating range of –40° to +75°C
provides long life, trouble free service in
demanding environments.
• Available Options:
- Long Life Linear Actuators**
- Integral Optical Encoder for Closed
Loop Control
- External/Remote Encoder (not supplied)
for Closed Loop Control
- Control Knob for Manual Positioning
- Integrated Planetary Gearbox
- IP65 Sealed Configuration
- Linear Slide
• Three Motor Lengths Available
• Auxiliary Logic Power Supply Input
• Up to 5 MHz Step Clock Rate
• 20 Microstep Resolutions up to
51,200 Steps Per Rev Including:
Degrees, Metric, Arc Minutes
• Open or Optional Closed Loop Control
• Programmable Motor Current
• Up to Eight +24 VDC Tolerant I/O Lines,
Sourcing or Sinking
• One 10 Bit Analog Input Selectable: 0 to +5
VDC, 0 to +10 VDC, 0-20 mA, 4-20 mA
• RS-422/485 or Optional CANopen
Communications
• 62 Software Addresses for Multi-Drop
Communications
In addition to encoder options, the
MDrive34AC Plus2 Motion Control has
the capability of electronic gearing by
following a rotary or linear axis at an
electronically controlled ratio, or an
output clock can be generated fixed to
the internal step clock.
The MDrive34AC Plus2 Motion Control
system adds a versatile array of functions
by combining a full featured program-
mable motion controller with our compact
and cost effective MDrive34AC Micro-
stepping products, adding little cost and
no increase in size. Standard offerings
include up to 8 general purpose I/O lines
(sourcing or sinking) that operate to +24
VDC, one 10 bit analog input, electronic
gearing, high speed position capture
input/trip output, microstep resolutions up
to 51,200 steps per revolution, 0 to 5 MHz
step clock rate, and a full featured easy-
to-program instruction set.
A sealed version designed to meet
IP65 specifications is also available.
The sealed assembly allows the
MDrive34AC to be used in environ-
ments where exposure to chemical,
dust and liquids may occur.
Three rotary motor lengths are avail-
able as are linear actuators with long
life Acme screw**.
The MDrive34AC Plus2 Motion Control
system communicates over RS-422/485
which allows for point-to-point or multiple
unit configurations utilizing one commu-
nication port. Addressing and hardware
support multiple uniquely addressed units
communicating over a single line.
Interface connections are accomplished
using standard industrial circular con-
nectors. And connectivity has never
been easier with options ranging from
all-inclusive QuickStart Kits to indi-
vidual interfacing cables. See pg 4.
• High Speed Position Capture Input or Trip
Output
• Electronic Gearing
**Consult Factory for Availability.
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PIN ASSIGNMENTS
SPEED-TORQUE
P1: I/O CONNECTOR
MDrive34AC – 120VAC
Function
M23 Circular
(Male)
Expanded I/O
Remote Encoder Closed Loop Control
700
600
500
400
300
200
100
0
495
Triple Motor Length
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Pin 15
Pin 16
Pin 17
Pin 18
Pin 19
I/O 9
I/O 11
Step/Clock I/O
I/O 1
Channel A +
Channel B +
Index +
I/O 1
Index –
Double Motor Length 424
Single Motor Length
354
283
212
141
71
Direction/Clock I/O
No Connect
Aux-Logic (+12 to +24 VDC)
Aux-Ground
I/O 3
No Connect
Aux-Logic (+12 to +24 VDC)
Aux-Ground
I/O 3
I/O Ground
I/O Power
Shell Connect
I/O 12
Capture/Trip I/O
Analog In
I/O 2
I/O 4
I/O 10
No Connect
I/O Ground
I/O Power
Shell Connect
Channel B –
Capture/Trip I/O
Analog In
I/O 2
I/O 4
Channel A –
No Connect
0
2000
(600)
4000
6000
8000
(2400)
10000
(3000)
(1200)
(1800)
Speed – Full Steps/Second (RPM)
MDrive34AC – 240VAC
700
600
500
400
300
200
100
0
495
Triple Motor Length
Double Motor Length 424
Single Motor Length
354
P2: COMM CONNECTOR
RS-422/485 CANopen
P3: POWER CONNECTOR
Euro AC
Function
(Male)
283
212
141
71
M12
Circular
(Female)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
M12
Circular
(Male)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 1
Pin 2
Pin 3
Chassis Ground
AC Power Line
AC Power Neutral
Function
Function
TX –
TX +
RX +
Shield
CAN +V
CAN –V
CAN High
CAN Low
0
2000
(600)
4000
(1200)
6000
(1800)
8000
(2400)
10000
(3000)
RX –
Comm Ground
Speed – Full Steps/Second (RPM)
MECHANICAL SPECIFICATIONS
Dimensions in Inches (mm)
2
MDrive34AC Plus
L
2.70
(68.4)
MAX2
L
P1
MAX
P2
P3
0.71
(18.0)
1.46 ±0.039
(37.0 ±1.0)
6.47*
(164.2)
Ø 0.22
(Ø 5.5)
5.76
(146.2)
0.87 ±0.010
(22 ±0.25)
0.20 +0/-0.002
(5.0 +0/-0.05
)
3.38 SQ.
(85.8 SQ.)
Ø 2.87 ±0.002
(Ø 73.0 ±0.05)
2.74 +0/-0.010 SQ.
(69.58 +0/-0.25 SQ.)
Ø 0.55 +0/-0.0005
(Ø 14.0 +0/-0.013)
0.08 ±0.004
(2.0 ±0.1)
0.40
(10.1)
0.63 +0/-0.017
(16.0 +0/-0.432)
*CANopen option increases
overall height by 0.09"/2.0mm
3.46
MDrive Lengths Inches (mm)
L
Option
(87.8)
MAX2
Ø 1.90
(Ø 48.3)
L
L
MAX2
MAX
SINGLE SHAFT,
ENCODER or
LINEAR ACTUATOR
VERSION
Connectors
CONTROL KNOB
VERSION
Motor
Length
I/O
Comm
Power
Ø 0.53
(Ø 13.5)
Ø 0.87
(Ø 22.1)
Single
Double
Triple
6.1 (155.0)
6.9 (174.3)
8.4 (214.3)
7.1 (180.4)
7.9 (199.7)
9.4 (239.7)
Ø 0.87
(Ø 22.1)
P1: 19-Pin M23
(Male)
P2: 5-Pin M12 (Female) P3: 3-Pin Euro AC
(or CANopen – Male) (Male)
Control Knob
Connectivity details:
MDrive34AC Plus2 Motion Control REV051208
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3
2
ORDER INFORMATION — MDrive34AC Plus Motion Control
CONNECTIVITY
CONNECTING
OPTIOONPSTIONS
QuickStart Kit
Linear Actuator**
For rapid design verification, all-inclusive QuickStart Kits have com-
munication converter, prototype development cable(s), instructions
and CD for MDrivePlus initial functional setup and system testing.
The MDrive34AC Plus2 is offered with numerous linear ac-
tuator styles and options to satisfy a broad range of linear
motion applications. Contact the factory for details or see:
Communication Converter
Electrically isolated, in-line converter pre-wired with mating connec-
tor to conveniently set/program communication parameters for a
single MDrivePlus via a PC's USB port. Length 12.0' (3.6m).
Mates to connector:
Internal Encoder
An internal 512-line (2048 count) differential optical
encoder with index mark is available factory-mounted.
5-Pin M12 ............................................MD-CC401-001
5-Pin M12 CANopen ..............................MD-CC500-000*
*Requires mating connector adapter and power supply, not supplied.
Remote Encoder
This MDrivePlus Motion Control is offered with differential en-
coder inputs for use with a remote encoder (not supplied).
Prototype Development Cables
Control Knob‡
For manual shaft positioning, a factory-mounted rear control
knob is available.
Speed test/development with pre-wired mating connectors that
have flying leads other end. Single-ended cordsets are PVC jack-
eted with foil shield and unconnected drain wire. Length 13.0'
(4.0m).
Planetary Gearbox
Mates to connector:
19-Pin M23
Straight Termination ..........................MD-CC100-000
Right Angle Termination .....................MD-CC101-000
3-Pin Euro AC
Efficient, low maintenance planetary gearboxes are
offered factory-mounted. Refer to details and part num-
bers on the back cover.
Linear Slide
Straight Termination ..........................MD-CC200-000
Right Angle Termination .....................MD-CC201-000
Integrated linear slides are available factory installed for
precision linear movement. Screw leads are 0.1", 0.2", 0.5"
or 1.0" of travel per rev. Slides are 12.0" (30.5cm) to 42.0"
(106.7cm) long. Contact factory for custom lengths. Refer
to separate datasheet or web site for complete details.
**Consult Factory for Availability.
‡ Not Available with Sealed –65 Versions.
PART NUMBERING
OPTIONS
OPTION
K MDI M Q34
–
Linear
Actuator**
–L
QuickStart Kit
details above
2
Plus
Input Voltage
For complete product specifications, see:
expanded features
1 = 120 Volt
2 = 240 Volt
MDrive Version
3 = Plus
4 = Plus-65 (sealed)
Internal
Encoder
–EQ
2
Plus -65
Motor
Example: MDI3MRQ34A2–EQ adds a 512-line internal
optical encoder with index mark to example #1.
IP65 sealed
A = Single Length &
Linear Actuator**
B = Double Length
C = Triple Length
Communications
R = RS-422/485
C = CANopen
Remote
Encoder
–EE
Example: MDI3MRQ34A2–EE adds differential encoder inputs for
use with remote encoder (not supplied).
May not be combined with internal encoder option.
Control
Knob
–N
P3: Power, 3-Pin Euro AC Connector
Example: MDI3MRQ34A2–N adds a rear control knob to
example #1. Not available with sealed –65 versions.
P1: I/O, 19-Pin M23 Circular Connector
Planetary
Gearbox
–G
– F
P2: Communications, 5-Pin M12 Circular Connector
Refer to gearbox page for complete
table of ratios and part numbers.
Optional NEMA Flange
Example: MDI3MRQ34A2–G1A2 adds a 1-stage planetary gearbox
with 5.18:1 ratio to example #1. Add –F for optional NEMA flange.
Linear
Slide
–R
Example #1: Part Number MDI3MRQ34A2 is an
MDrive34AC Plus2 Motion Control with 19-pin M23
circular I/O interface, RS-422/485 communications
with 5-pin M12 circular connector, NEMA 34 single
length motor and 240 input voltage.
Screw Lead
Standard Screw Lengths
(inches/rev)
12", 18", 24", 36" or 42”
For Custom Lengths, Consult Factory
A = 0.10” (2.54mm)
B = 0.20” (5.08mm)
C = 0.50” (12.7mm)
D = 1.00” (25.4mm)
Example: MDI3MRQ34A2–RA12 adds a Linear Slide with
0.10" screw lead, 12" long to example #1.
**
Consult Factory for Availability.
4
MDrive34AC Plus2 Motion Control
REV060208
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MDRIVE34AC PLUS WITH PLANETARY GEARBOX
The MDrive34AC Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better
inertia matching and produce finer positional resolutions. These efficient, low maintenance Planetary Gearbox come fully assembled
with the MDrive and are offered in a large number of reduction ratios in 1-, 2- and 3-stage configurations. An optional NEMA Output
Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle. Planetary Gearbox may be combined
with other MDrive34AC Plus options, however are unavailable with Linear Actuators.
Ratios and Part Numbers
Planetary Gearbox Parameters
Planetary
Gearbox
Ratio
Part
Output Side with Ball Bearing
(Rounded) Number**
Permitted
Output Torque Efficiency Backlash
(oz-in/Nm)
Gearbox Maximum
Maximum Load
(lb-force/N)
Weight
(oz/g)
1-Stage
1-Stage
1-Stage
3.71:1
5.18:1
6.75:1
G1A1
G1A2
G1A3
Radial Axial
Gearbox
with Flange
1-STAGE
2-STAGE
3-STAGE
2832/20.0
8496/60.0
0.80
0.75
0.70
1.0°
1.5°
2.0°
90/400 18/80 64.4/1827 66.7/1890
135/600 27/120 89.5/2538 92.6/2625
225/1000 45/200 114.6/3248 118.5/3360
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
13.73:1
15.88:1
18.37:1
19.20:1
22.21:1
25.01:1
26.85:1
28.93:1
34.98:1
45.56:1
G1A4
G1A5
G1A6
G1A7
G1A8
G1A9
G1B1
G1B2
G1B3
G1B4
16992/120.0
Planetary Gearbox for MDrive34AC Plus
Dimensions in Inches (mm)
*Gearbox without Flange
†
Gearbox with Flange
1.929*
(49.0)
or
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
50.89:1
58.86:1
68.07:1
71.16:1
78.72:1
92.70:1
95.18:1
99.51:1
107.21:1
115.08:1
123.98:1
129.62:1
139.14:1
149.90:1
168.85:1
181.25:1
195.27:1
236.10:1
307.55:1
G1B5
G1B6
G1B7
G1B8
G1B9
G1C1
G1C2
G1C3
G1C4
G1C5
G1C6
G1C7
G1C8
G1C9
G1D1
G1D2
G1D3
G1D4
G1D5
k1 ±0.02 (±0.5)
†
†
†
1.811
4x Ø 0.217 (Ø5.5) Hole
(46.0)
0.197*
0.079
(2.0)
M6 x 0.472 (12.0) Deep*
or
(5.0)
1.575
(40.0)
†
0.394
Ø 2.56*
(Ø 65.0)
Ctrg. DIN 332-D M6x16
Key DIN 6885-A-6x6x28mm
(10.0)
†
2.739 SQ.
(69.58 SQ.)
Gearbox Lengths Inches (mm)
k1
GEARBOX*
4.315 (109.6)
5.169 (131.3)
6.024 (153.0)
with FLANGE†
4.433 (112.6)
5.287 (134.3)
6.142 (156.0)
1-Stage
2-Stage
3-Stage
**Include optional planetary gearbox by adding –G plus
3 characters to the end of an MDrive part number.
U.S.A. SALES OFFICES
Eastern Region
Tel. 862 208-9742 - Fax 973 661-1275
e-mail: [email protected]
Central Region
IMS EUROPEAN SALES MANAGEMENT
4 Quai Des Etroits
69005 Lyon, France
Tel. +33/4 7256 5113 - Fax +33/4 7838 1537
e-mail: [email protected]
Tel. 260 402-6016 - Fax 419 858-0375
e-mail: [email protected]
Western Region
Tel. 602 578-7201
e-mail: [email protected]
IMS UK Ltd.
Sanderson Centre, 15 Lees Lane
Gosport, Hampshire PO12 3UL
Tel. +44/0 2392-520775 - Fax +44/0 2392-502559
e-mail: [email protected]
IMS ASIA PACIFIC OFFICE
30 Raffles Pl., 23-00 Caltex House, Singapore 048622
Tel. +65/6233/6846 - Fax +65/6233/5044
e-mail: [email protected]
TECHNICAL SUPPORT
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107
e-mail: [email protected]
Intelligent Motion Systems, Inc.
370 North Main Street, P.O. Box 457
Marlborough, CT 06447 - U.S.A.
Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107
e-mail: [email protected]
© Intelligent Motion Systems, Inc. All Rights Reserved.
REV060208
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