IMS MDrive 17 User manual

T
intelligent motion systems, inc.
Excellence in MotionTM
OPERATING INSTRUCTIONS
TM
Patent Pending

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.
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.
TM
MDrive Operating Instructions
Revision 042905
© Intelligent Motion Systems, Inc.
All Rights Reserved

1
Table of Contents
Notes and Warnings .....................................................................................5
IMPORTANT! READ THIS FIRST! .......................................................................5
The Product Manual ......................................................................................5
PART 1: General Connection and Configuration
Section 1.1: The MDrive Integral Motor+Driver ...............................................8
Section Overview ...........................................................................................8
Introduction to the Microstepping MDrive......................................................8
Features and Benefits of the Microstepping MDrive.....................................9
Introduction to the MDrive Speed Control ...................................................10
Features and Benefits of the MDrive Speed Control ..................................11
Section 1.2: Interfacing The Microstepping MDrive.......................................12
Section Overview .........................................................................................12
Layout and Interface Guidelines .................................................................12
Interfacing Power and Logic Inputs (Connector P1) ..................................13
Interfacing the MDrive SPI Interface (Connector P2) ..................................18
Minimum Required Connections ...............................................................19
Securing MDrive Power, Logic and Encoder Leads ...................................19
Section 1.3: Interfacing An Encoder ................................................................20
Section Overview .........................................................................................20
Factory-Mounted Encoder ...........................................................................20
General Specifications ................................................................................21
Pin Configuration ........................................................................................21
Encoder Signals..........................................................................................22
Single-End Encoder.............................................................................22
Differential Encoder .............................................................................22
Characteristics ............................................................................................22
Encoder Profiles..........................................................................................23
Encoder Cables ..........................................................................................26
Recommended Encoder Mating Connectors.............................................26
Section 1.4: Configuring The Microstepping MDrive .....................................27
Section Overview .........................................................................................27
The IMS Motor Interface ...............................................................................27
Installing the IMS SPI Interface ...................................................................27
Startup .........................................................................................................29
The IMS Motor Interface GUI Configuration Utility .......................................29
Changing Parameters ................................................................................30
Illegal Parameters/Tool Tips.......................................................................30
Returning to Factory Defaults .....................................................................31
Configuration Parameters ..........................................................................32
Microselect Values ......................................................................................33
Configuring the MDrive Using SPI ..............................................................33
Timing Notes...............................................................................................33
SPI Read/Write Example.............................................................................35

2
Section 1.5: Interfacing The MDrive Speed Control ....................................... 37
Section Overview ......................................................................................... 37
Layout and Interface Guidelines ................................................................. 37
Interfacing Power and Speed Control Inputs (Connector P1) ....................38
Interfacing the MDrive SPI Interface (Connector P2) .................................. 41
Minimum Required Connections ............................................................... 42
Securing MDrive Power, Logic and Encoder Leads ................................... 42
Section 1.6: Interfacing The MDrive17 And MDrive23 With “C Connector” 43
Section Overview ......................................................................................... 43
Interface Guidelines .................................................................................... 43
Interfacing the I/O ........................................................................................ 43
Minimum Required Connections ............................................................... 47
Connecting the SPI Interface ...................................................................... 48
Section 1.7: Configuring The MDrive Speed Control ..................................... 50
Section Overview ......................................................................................... 50
The IMS Analog Speed Control Utility .......................................................... 50
Installing the IMS SPI Interface ................................................................... 50
Configuration Parameters Explained ......................................................... 51
Setting the Configuration Parameters ........................................................54
Configuring the MDrive17/23 Speed Control with User Defined SPI ......... 58
PART 2: MDrive17 Integrated Motor and Electronics
Section 2.1: MDrive17 Power Supply & Thermal Requirements .................. 63
Power Supply Specifications ....................................................................... 63
Thermal Specifications ............................................................................... 63
Section 2.2: Rotary MDrive17 Specifications ................................................ 64
Section Overview ......................................................................................... 64
Mechanical Specifications ........................................................................... 64
Motor Specifications .................................................................................... 65
Electrical Specifications .............................................................................. 67
Section 2.3: Linear MDrive17 Specifications ................................................. 68
Section Overview ......................................................................................... 68
Mechanical Specifications ........................................................................... 68
Motor Specifications .................................................................................... 68
PART 3: MDrive23 Integrated Motor and Electronics
Section 3.1: MDrive23 Power & Thermal Requirements .............................. 72
Recommended IMS Power Supplies ......................................................... 72
Thermal Specifications ............................................................................... 72
Section 3.2: Rotary MDrive23 Specifications ................................................ 73
Section Overview ......................................................................................... 73
Mechanical Specifications ........................................................................... 73
Motor Specifications .................................................................................... 74
Electrical Specifications .............................................................................. 76
Section 3.3: Linear MDrive23 Specifications ................................................. 77
Section Overview ......................................................................................... 77
Mechanical Specifications ........................................................................... 77
Motor Specifications (Linear) ...................................................................... 77
APPENDIX A - Recommended Cable Configurations .................................... 80
ADDENDUM - MDrive with Planetary Gearbox .............................................. 84
PART 2: MDrive17 Integrated Motor and Electronics
PART 3: MDrive23 Integrated Motor and Electronics

3
List of Figures
Figure 1.2.1 Microstepping MDrive Block Diagram ................................................. 13
Figure 1.2.2 Connector P1 Pin Configuration for the Microstepping MDrive.......... 13
Figure 1.2.3 Optocoupler Inputs ............................................................................. 14
Figure 1.2.4 Open Collector Interface..................................................................... 16
Figure 1.2.5 TTL Interface....................................................................................... 17
Figure 1.2.6 Switch Interface ................................................................................. 17
Figure 1.2.7 Parameter Setup Cable for MDrive 17/23........................................... 18
Figure 1.2.8 SPI Interface Wiring and Connections ................................................ 18
Figure 1.2.9 SPI Logic Level Shifting and Conditioning Schematic ........................ 19
Figure 1.2.10 Minimum RequiredConnections.......................................................... 19
Figure 1.2.11 Typical MDrive17 with Power Leads, Data Leads and
Optional Encoder Leads Secured ...................................................... 19
Figure 1.3.1 Single-End Encoder Pin Configuration ................................................ 21
Figure 1.3.2 Differential Encoder Pin Configuration ............................................... 21
Figure 1.3.3 Single-EndEncoder SignalTiming ...................................................... 22
Figure 1.3.4 Differential Encoder Signal Timing ...................................................... 22
Figure 1.3.5 MDrive17 with Encoder, Side Profile .................................................. 23
Figure 1.3.6 MDrive23 with 100-1000 Line Encoder, Side Profile.......................... 23
Figure 1.3.7 MDrive17 with Encoder, Rear Profile ................................................. 24
Figure 1.3.8 MDrive23 with Encoder, Rear Profile ................................................. 24
Figure 1.3.9 MDrive23 with 2000 Line Encoder, Side Profile ................................. 25
Figure 1.3.10 MDrive23 with 2000 Line Encoder, Rear Profile ................................ 25
Figure 1.4.1 TheIMS CD MainIndex Page .............................................................. 28
Figure 1.4.2 The IMS CD Software Selection Page ................................................ 28
Figure 1.4.3 TheSPI SetupDialog Box ................................................................... 28
Figure 1.4.4 TypicalMDMF,MDMPGUI .................................................................... 29
Figure 1.4.5 Typical MDMCGUI ............................................................................... 30
Figure 1.4.6 Changing the Parameter Settings ....................................................... 30
Figure 1.4.7 IllegalParameters/ToolTips ................................................................ 31
Figure 1.4.8 Returning to Factory Defaults ............................................................ 31
Figure 1.4.9 SPIRead/Write .................................................................................... 35
Figure 1.4.10 SPI Waveforms& TimingDiagram ...................................................... 36
Figure 1.5.1 MDrive Speed Control Block Diagram ................................................. 38
Figure 1.5.2 P1 Pin Configuration for the MDrive Speed Control............................ 38
Figure 1.5.3 Interfacing the MDrive Speed Control
Using Switches and a Potentiometer................................. 39
Figure 1.5.4 Interfacing the MDrive Speed Control
Using a 4-20mA / 0-20mAAnalog or PWM Output............. 39
Figure 1.5.5 Parameter Setup Cable for MDrive 17/23........................................... 41
Figure 1.5.6 SPI Interface Wiring and Connections ................................................ 41
Figure 1.5.7 SPI Logic Level Shifting and Conditioning Schematic ........................ 42
Figure 1.5.8 MinimumRequired Connections.......................................................... 42
Figure 1.5.9 Typical MDrive17 with Power Leads, Data Leads and
Optional Encoder Leads Secured ...................................................... 42
Figure 1.6.1 Typical Setup, Adapter, Prototype Development Cable Connections
for MDrive17/23 with C Connector .................................... 44
Figure 1.6.2 I/O Interface Connections with C Connector ..................................... 45
Figure 1.6.3 Sourcing or Sinking the MDrive with C Connector............................. 47
Figure 1.6.4 Minimum Required Connections with C Connector ............................ 47
Figure 1.6.5 SPI Interface Connections with C Connector..................................... 48
Figure 1.6.6 SPI Master with Single MDrive17/23 .................................................. 49
Figure 1.6.7 SPI Master with Multiple MDrive17/23 ................................................ 49
Figure 1.7.1 Speed Control Configuration Utility Screen ........................................ 51
Figure 1.7.2 Changing Counts Readout to Volts..................................................... 55

4
List of Tables
Table 1.2.1 P1 Pin Descriptions for the Microstepping MDrive............................... 13
Table 1.2.2 Microstepping MDrive Logic Input Electrical Characteristics .............. 14
Table 1.2.3 LogicInput Timing ................................................................................. 16
Table 1.2.4 Recommended Input Current Limiting Resistor Values........................ 17
Table 1.2.5 P2 PinAssignment and Description ..................................................... 18
Table 1.4.1 FaultIndication ...................................................................................... 31
Table 1.4.2 Setup Parameters................................................................................. 32
Table 1.4.3 Microstep Resolution Settings.............................................................. 33
Table 1.4.4 SPICommandSummary ....................................................................... 34
Table 1.5.1 P1 Pin Description for the MDrive Speed Control................................. 38
Table 1.5.2 P2 PinAssignment and Description ..................................................... 41
Table 1.6.1 C Connector Contact and Tool Part Numbers ...................................... 45
Table 1.6.2 C Connector I/O PIn Assignment and Description................................ 45
Table 1.6.3 C Connector SPI PinAssignment and Description ............................... 48
Table 1.7.1 MDrive Speed Control Parameter Summary ......................................... 51
Table 1.7.2 RANGEParameter Settings.................................................................. 53
Table 1.7.3 MSELParameter Settings..................................................................... 53
Table 1.7.4 FaultIndication ...................................................................................... 58
Table 1.7.5 MDrive17&23Speed ControlSPI Command Summary......................... 59
Table 2.1.1 MDrive17 Recommended Power Supply Specifications ..................... 63
Table 2.2.1 Rotary MDrive1713 Motor Specifications ............................................ 65
Table 2.2.2 Rotary MDrive1715 Motor Specifications ............................................ 66
Table 2.2.3 Rotary MDrive1719 Motor Specifications ............................................ 66
Table 2.3.1 Linear Actuator MDrive 17 Motor Specifcations .................................. 68
Table 2.3.2 Acme Screws for the MDrive17 Linear Actuator................................ 69
Table 3.1.1 MDrive23 Recommended Power Supply Specifications ..................... 72
Table 3.2.1 Rotary MDrive2218 Motor Specifications ............................................ 74
Table 3.2.2 Rotary MDrive2222 Motor Specifications ............................................ 75
Table 3.2.3 Rotary MDrive2231 Motor Specifications ............................................ 75
Table 3.3.1 Linear Actuator MDrive23 Motor Specifcations ................................... 77
Table 3.3.2 Acme Screws for the MDrive23 Linear Actuator................................ 79
Figure 1.7.3 Illegal Parameters/ToolTips ................................................................ 55
Figure 1.7.4 Returning to Default Parameters ........................................................ 56
Figure 1.7.5 InitializationMode ................................................................................ 57
Figure 1.7.6 Accepting Analog Initialization Values ................................................ 57
Figure 1.7.7 SPI Waveforms & Timing Diagram ...................................................... 61
Figure 2.2.1 Rotary MDrive17 Mechanical Specifications ...................................... 64
Figure 2.2.2 Interface Options ................................................................................ 65
Figure 2.2.3 Rotary MDrive 1713 Torque/Speed Data ............................................ 65
Figure 2.2.4 Rotary MDrive 1715 Speed/Torque Data ........................................... 66
Figure 2.2.5 Rotary MDrive 1719 Speed/Torque Data ........................................... 66
Figure 2.3.1 Linear Actuator MDrive17 Mechanical Specifications........................ 68
Figure 2.3.2 Force/Speed Curve - 24VDC .............................................................. 69
Figure 2.3.3 Force/Speed Curve - 45VDC .............................................................. 69
Figure 2.3.4 MDrive17 Mounting Screw Depth....................................................... 70
Figure 3.2.1 Rotary MDrive23 Mechanical Specifications ...................................... 73
Figure 3.2.2 Interface Options ................................................................................ 74
Figure 3.2.3 Rotary MDrive 2218 Speed/Torque Data ............................................ 74
Figure 3.2.4 Rotary MDrive 2222 Speed/Torque Data ............................................ 75
Figure 3.2.5 Rotary MDrive 2231 Speed/Torque Data ............................................ 75
Figure 3.3.1 Linear Actuator MDrive23 Mechanical Specifications........................ 77
Figure 3.3.2 Force/Speed Curve - 24VDC .............................................................. 78
Figure 3.3.3 Force/Speed Curve - 45VDC .............................................................. 78
Figure 3.3.4 Force/Speed Curve - 75VDC .............................................................. 79

5
IMPORTANT! READ THIS FIRST!
Notes and Warnings
A characteristic of all motors is back EMF. Back EMF is a source of current that
can push the output of a power supply beyond the maximum operating voltage of
the driver. As a result, damage to the stepper driver could occur over a period of
time. Care should be taken so that the back EMF does not exceed the maximum
input voltage rating of the MDrive17 and MDrive23.
WARNING! The MDrive has components which are
sensitive to Electrostatic Discharge (ESD). All handling
should be done at an ESD protected workstation.
WARNING! Hazardous voltage levels may be present if
using an open frame power supply to power your MDrive
product.
WARNING! Ensure that the power supply output voltage
does not exceed the maximum input voltage of the MDrive
product that you are using!
The Product Manual
Using This Manual
This manual is divided into three parts:
Part 1 is General Information, which covers details common to the entire
MDrive product line such as operational theory, connection and interface
instructions, and troubleshooting.
Part 2 is MDrive17 Hardware Reference. This part contains sections with
information specific to each individual MDrive17 version. Here you will find
details such as mechanical, electrical and thermal specifications and other
product specific details.
Part 3 is MDrive23 Hardware Reference. This part contains sections with
information specific to each individual MDrive23 version. Here you will find
details such as mechanical, electrical and thermal specifications and other
product specific details.
Do not attempt to connect or use your MDrive without first consulting
the section specific to the type of MDrive you purchased!
WARNING! The maximum Input Voltage of the MDrive17 and MDrive23
includes Motor Back EMF, Power Supply Ripple and High Line.
As this document covers all of the variations of the MDrive, please use the
chart on the following page to help guide you through the sections of this
manual relevant to the version of the MDrive you purchased.

6
Microstepping MDrive Variants
MDrive Speed Control Variants
Microstepping MDrive
with Single-Shaft End
or Control Knob
Microstepping MDrive
with Factory Mounted
Encoder
Microstepping Linear
Actuator MDrive
MDrive Speed Control
with Single-Shaft End
or Control Knob
MDrive Speed
Control with
Factory Mounted
Encoder
MDrive Speed
Control Linear
Actuator
Section Page#
Section 1.1 .......... 8
Section 1.2 ......... 12
Section 1.4 ......... 23
Section 1.5.1 ...... 34
MDrive17
Section 2.1 ......... 48
Section 2.2 ......... 49
MDrive23
Section 3.1 ......... 56
Section 3.2 ......... 57
Section Page#
Section 1.1 .......... 8
Section 1.2 ......... 12
Section 1.5.1 ...... 34
MDrive17
Section 2.1 ......... 48
Section 2.2 ......... 49
MDrive23
Section 3.1 ......... 56
Section 3.2 ......... 57
Section Page#
Section 1.1 .......... 8
Section 1.2 ......... 12
Section 1.4 ......... 23
Section 1.5.1 ...... 34
MDrive17
Section 2.1 ......... 48
Section 2.2 ......... 49
MDrive23
Section 3.1 ......... 56
Section 3.2 ......... 57
Section Page#
Section 1.1 .......... 8
Section 1.5 ......... 28
Section 1.6 ......... 41
MDrive17
Section 2.1 ......... 48
Section 2.2 ......... 49
MDrive23
Section 3.1 ......... 56
Section 3.2 ......... 57
Section Page#
Section 1.1 .......... 8
Section 1.3 ......... 20
Section 1.5 ......... 28
Section 1.6 ......... 41
MDrive17
Section 2.1 ......... 48
Section 2.2 ......... 49
MDrive23
Section 3.1 ......... 56
Section 3.2 ......... 57
Section Page#
Section 1.1 .......... 8
Section 1.5 ......... 28
Section 1.6 ......... 41
MDrive17
Section 2.1 ......... 48
Section 2.2 ......... 49
MDrive23
Section 3.1 ......... 56
Section 3.2 ......... 57
Relevant Sections
of the Manual Relevant Sections of the Manual Relevant Sections of the Manual
Relevant Sections
of the Manual Relevant Sections of the Manual Relevant Sections of the Manual


USING THE MDRIVE PRODUCT MANUAL

7
PART I
MDrive
Integrated Motor and
Electronics
General Information

8
Section 1.1
The MDrive Integral Motor+Driver
Section Overview
The purpose of this section is to introduce the user to the MDrive integrated
high torque motor and microstepping driver. Covered are:
Introduction to the Microstepping MDrive
Microstepping MDrive Features and Benefits
Introduction to the Speed MDrive Control
MDrive Speed Control Features and Benefits
Introduction to the Microstepping MDrive
The MDrive high-torque Integrated Motor and Driver is ideal for designers
who want the simplicity of a motor with on-board electronics, but without the
expense of an indexer on each axis. The low cost MDrive puts the system
designer in the driver’s seat to decide the best method of control. The Drive’s
integrated electronics eliminates the need to run the motor cabling through the
machine, reducing the potential for problems due to electrical noise.
The MDrive uses a NEMA 17 or NEMA 23 1.8° motor combined with a
microstepping drive, and accepts up to 14 resolution settings from 1/2 to 256
microsteps per step. Setup parameters include Microstep Resolution, Run
and Hold currents, Motor Direction vs. Direction Input and can be changed
on-the-fly or downloaded and stored in non-volatile memory with the use of a
simple user interface program which is provided, eliminating the need for
external switches or resistors. Parameters are changed via an SPI (Serial
Peripheral Interface) port located on connector P2. This port connects to the
printer port on your PC. Operating voltage for the MDrive17 ranges from
+12 to +48 VDC. The MDrive23 is available in two voltage ranges, either +12
to +48 or +24 to +75 VDC.
The versatile, compact MDrive is available in multiple configurations to fit
various system needs including a single shaft stand-alone device, a rotary
motor with optical encoder, a planetary gearbox, an Acme screw linear
actuator, or with an optional rear knob for hand operation of the motor. The
rotary MDrive is available in three different stack lengths: 13, 15 & 19 for the
MDrive17; and 18, 22 & 31 for the MDrive23. Interface connections are
accomplished using either a 7 position terminal block, 12” (30.5cm) flying
leads, or optional 12-position keyed and locking pin and receptacle
(C Connector).
The MDrive is a small, powerful and inexpensive solution that will reduce
system cost, design and assembly time for a large range of stepping motor
applications.