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.

9
IMS Motor Interface Software
The IMS Motor Interface Software is accessed through the IMS SPI Interface
which is an easy to install and use software program. The SPI Interface is
included on the CD that ships with the MDrive or is available for download at
www.imshome.com. Use of this utility and the optional 6 foot MD-CC100-
000 Parameter Setup Cable is the suggested method of configuring the
MDrive17 and MDrive23. Purchase of this cable is recommended with the
first order as it includes built-in logic level shifting circuitry to make the
MDrive17/23 SPI port compatible with all PC LPT (printer) port voltage
levels. The Cable Part # is MD-CC100-000.
Features include:
Easy installation.
Ease of use via single screen interface.
Automatic communication configuration.
Will not allow out-of-range values to be set.
Tool-tips display valid range settings for each option.
Features and Benefits of the Microstepping
MDrive
Integrated Microstepping Drive/NEMA 17 or 23 Motor
+12 to +48 VDC (MD17)/+12 to +48 or +24 to +75 VDC (MD23)
Input Voltage
Low Cost
ExtremelyCompact
Optically Isolated Logic Inputs
Automatic Current Reduction
Configurable:
Motor Run/Hold Current
Microstep Resolution to 256 Microsteps/Step
Available Configurations:
Single Shaft*
Planetary Gearbox*
Linear Actuator
Factory-Mounted Optical Encoder*
Double Shaft End with Knob For Manual Positioning*
Available in Three Stack Sizes*
Current and Resolution May Be Switched On-The-Fly
Single Supply
Interface Uses a Pluggable Terminal Strip, 12” (30.5 cm) Flying
Leads, or 12-Position Keyed and Locking Pin and Receptacle
(C Connector)
Graphical User Interface (GUI) for Quick and Easy Parameter
Setup
*Rotary Motor Only

10
Introduction to the MDrive Speed Control
The MDrive Speed Control offers the system designer low cost, intelligent
velocity control integrated with a NEMA 17 or NEMA 23 enhanced torque
stepping motor and a +12 to +48 (MD17 and MD23-4) or +24 to +75
(MD23-7) volt microstepping drive.
The MDrive Speed Control features a digital oscillator for accurate velocity
control with an output frequency of up to 100 kilohertz. Output frequency
will vary with the voltage level on the speed control input. The speed control
input can be adjusted by using one of the following methods:
10kPotentiometer.
0 to +5V applied directly to the input.
15 - 25kHz (0 to 100% duty cycle) PWM applied to the input.
4 - 20mA or 0 - 20mA applied to input.
There are two basic modes of operation: bidirectional and unidirectional. In
bidirectional mode, both speed and direction are controlled by the analog
speed control input. In unidirectional mode, only velocity is controlled by the
speed control input; direction is controlled by a separate digital input.
The MDrive Speed Control has 12 setup parameters which are configured by
using the included IMS Speed Control Interface. These enable the user to
configure all of the operational parameters of the MDrive which are stored in
non-volatile memory.
The versatile, compact MDrive Speed Control is available in multiple
configurations to fit various system needs. These options include: a single
shaft stand-alone device, a rotary motor with optical encoder, a planetary
gearbox, control knob, or an Acme screw linear actuator. The rotary MDrive
Speed Control is also available in three different stack lengths: 13, 15 and 19
for the MD17 and 18, 22 & 31 for the MD23. Interface connections are
accomplished using either a 7 position terminal block or optional 12” (30.5cm)
flying leads.
Speed Control Interface
The IMS Speed Control Interface Software is accessed through the IMS SPI
Interface which is easy to install and use graphical user interface (GUI) for
configuring the MDrive from the parallel/SPI port on your computer. It is
required for configuring your MDrive Speed Control and is included on a CD
with the product, or it may be downloaded at www.imshome.com.
The IMS Speed Control Interface Software features include:
Easy installation.
Automatic communication configuration.
Will not set out-of-range values.
Tool-tips display valid range setting for each option.
Ease of use via single screen interface.

11
Features and Benefits of the MDrive Speed Control
Integrated Speed Control, Driver and NEMA17 or 23 Motor
+12 to +48 (MDO17 and MDO23-4) or +24 to +75 VDC (MDO23-7)
Input Voltage
Digital Oscillator for Accurate Speed Control
Low Cost
ExtremelyCompact
Available Configurations:
Single Shaft*
Planetary Gearbox*
Linear Actuator
Factory-Mounted Optical Encoder*
Double Shaft End with Knob For Manual Positioning*
Available in Three Stack Sizes*
Electronically Configurable (Eliminates Potentiometers):
Motor Run/Hold Current
Acceleration/Deceleration
Initial and Max Velocity
Microstep Resolution to 256 Microsteps/Step
2 Modes of Operation: Bidirectional or Unidirectional
0 to +5 VDC, 4 - 20mA, 0 - 20mA or 15 - 25kHz PWM Speed
Control Input with programmable center point
Single Supply
Interface Uses Pluggable Terminal Strip or Optional 12” (30.5 cm)
Flying Leads
Graphical User Interface (GUI) for Quick and Easy Parameter
Setup
*Rotary Motor Only

12
Section 1.2
Interfacing The Microstepping MDrive
Section Overview
This section will acquaint the user with connecting and using the microstepping
MDrive products. If your MDrive is equipped with a factory mounted encoder,
also refer to Section 1.3: Interfacing an Encoder. Covered in this section are:
Layout and Interface Guidelines
Interfacing Power and Logic Inputs (Connector P1)
Interfacing the SPI Interface (Connector P2)
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 AC ground. 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 driver 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.
Recommended Wiring
The following wiring/cabling is recommended for use with the MDrive:
Recommended Wire Size
Logic Wiring...........................................................................................22 AWG
Power and Ground............................. See Appendix A “Recommended Cable
Configurations”
General Practices
The following wire strip length is recommended:
Wire Strip Length................................................................... 0.250” (6.0 mm)
NOTE: Wire and insulation type are subject to the user’s application and environment.
WARNING! DO NOT connect or disconnect power leads when
power is applied! Disconnect the AC power side to power down
the DC power supply. For battery operated systems, connect a
“transient suppressor” across the power switch to prevent arcs
and high voltage spikes.
WARNING! See Part II for power supply requirements for the
MDrive17, Part III for the MDrive23.

13
OPTO
SPPLY
NC
SCLK
DIR
EN
GND
+V
PIN 1
Table 1.2.1: P1 Pin Descriptions for the Microstepping MDrive
Interfacing Power and Logic Inputs
(Connector P1)
Figure 1.2.2: Connector P1 Pin Configuration for the Microstepping MDrive
Enhanced
Torque
Stepping
Motor
Microstep
Driver
ØA
ØB
Opto Spply
Step Clock
Direction
Enable
Power
MDrive Integrated
Motor and Microstep
Driver
Figure 1.2.1: Microstepping MDrive Block Diagram
MDrive Connector P1 Configuration
Pin # Flying
Lead Wire
Size Function and Description
1 White AWG 22 +5 VDC Optocoupler Supply: This input is used to supply power to the
isolated logic inputs. A higher voltage may be used but care must be
taken to limit the current through the Optocoupler.
2Not Connected
3Orange AWG 22 Step Clock: A positive going edge on this input advances the
motor one increment. The size of the increment is dependant on the
Microstep Resolution Setting.
4Blue AWG 22 CW/CCW Direction Input: This input changes the direction of the motor
logic. A HIGH state (open) = Clockwise.
5 Brown AWG 22
Enable Input: The input enables or disables the output section of the
driver. A logic HIGH (open) enables the outputs. However, this input does
not inhibit the Step Clock. The outputs will update by the number of clock
pulses (if any) applied while the driver was disabled.
6Power Ground
7Red AWG 20* +V: +12 to +48 VDC (MD17, MD23-4) / +24 to +75 VDC (MD23-7)
* For supplies 10 feet or less.
---
Black
AWG 22
AWG 20*

14
Interfacing the MDrive Logic Inputs
Logic Input Electrical Specifications
HCPL0630
HCPL0630
PS2701-1
470W
470W
750W
Optocoupler Supply P1:1
+5VDC
Step Clock P1:3
CW/CCW Direction P1:4
Enable/Disable P1:5
Figure 1.2.3: Optocoupler Inputs
Optically Isolated Logic Inputs
The MDrive has 3 optically isolated logic inputs which are located on
connector P1. These inputs are isolated to minimize or eliminate electrical
noise coupled onto the drive control signals. Each input is internally pulled-up
to the level of the optocoupler supply and may be connected to sinking
outputs on a controller such as the IMS LYNX or a PLC. These inputs are:
1] Step Clock (P1:3)
2] Direction (P1:4)
3] Enable (P1:5)
Of these inputs only step clock and direction are required to operate the
MDrive.
The schematic below illustrates the inputs.
Table 1.2.2: Microstepping MDrive Logic Input Electrical Characteristics
MDrive Logic Input Electrical
Specification Test Conditon Min Typ Max Unit
Input Foward Current Step Clock and Direction 7.0 15 mA
Input Forward Voltage Step Clock and Direction 1.4 1.7 V
Input Forward Current Enable 5.0 9.4 mA
Input Forward Voltage Enable 1.1 1.4 V
Input Reverse Breakdown
Voltage Isolated Inputs 5V

15
Powering the Optocouplers
In order to maintain isolation, the optocouplers must be powered by an
external power supply connected to P1:1, with the opto supply ground
connected to the ground of the input control circuitry. The logic inputs are
internally limited to allow for a +5VDC power supply.
A power supply in excess of +5 volts may be used, however a current limiting
resistor MUST be placed in series with the input to limit the input forward
current to the recommended 7 milliamps. At no time can the input forward
current exceed 15 milliamps or damage may occur to the driver portion of the
MDrive.
Isolated Logic Input Characteristics
Step Clock (P1:3)
The step clock input is where the motion clock from your control circuitry
will be connected. The motor will advance one microstep in the plus or minus
direction (based upon the state of the direction input) on the rising edge of
each clock pulse. The size of this increment or decrement will depend on the
microstep resolution setting.
Direction (P1:4)
The direction input controls the CW/CCW direction of the motor. A logic
HIGH (default, unconnected) will cause the motor to rotate in the CW
direction (seen while looking at the face of the motor).Alogic LOW on the
input will cause the motor to rotate in the CCW direction. This input is
synchronized to the positive going edge of the Step Clock input.
Enable (P1:5)
This input can be used to enable or disable the driver output circuitry. When
in a logic HIGH (default, unconnected) state the driver outputs will be enabled
and step clock pulses will cause the motor to advance. When this input is
pulled LOW, by means of a switch or sinking output, the driver output
circuitry will be disabled. Please note that the internal sine/cosine position
generator will continue to increment or decrement as long as step clock pulses
are being received by the MDrive.
This input is asynchronous to any other input and may be changed at any
time.
WARNING! The isolated logic inputs on the MDrive are internally
limited to allow for an optocoupler supply voltage of +5 VDC. If
using a higher voltage supply, a current limiting resistor must be
placed in series with the input or damage will occur to the
MDrive’s input circuitry, rendering the drive inoperable.

16
Input Timing
The direction input and the microstep resolution inputs are internally
synchronized to the positive going edge of the step clock input. When a step
clock pulse goes HIGH, the state of the direction input and microstep
resolution settings are latched. Any changes made to the direction and/or
microstep resolution will occur on the rising edge of the step clock pulse
following this change.
Run and Hold Current changes are updated immediately.
The table below lists the timing specifications.
Table 1.2.3: Logic Input Timing
Interface Options
Open Collector Interface
The figure below shows an open collector interface connected to the direction
input (P1:3). This interface method may be used with any of the logic inputs.
Remember that a current limiting resistor must be used in series with the input
if an opto supply voltage greater than +5 volts is used. Refer to next table for
resistor values.
PIN 1
OPTO
SPPLY
NC
SCLK
DIR
EN
GND
+V
+VDC
Controller
Output R
¼W1%
LIMIT
W
Opto Supply P1:1
Direction P1:4
Shown Connected to the Direction Input.
All other Inputs will be interfaced the same.
OPEN COLLECTOR INTERFACE
Figure 1.2.4: Open Collector Interface
MDrive Logic Input Timing
Specification Input Time
Minimum Pulse Width Step Clock 400 nS
Max. Frequency Step Clock 2.0 MHz

17
Table 1.2.4: Recommended Input Current Limiting Resistor Values
TTL Interface
PIN 1
OPTO
SPPLY
NC
SCLK
DIR
EN
GND
+V
Shown Connected to the Direction Input.
All other Inputs will be interfaced the same.
TTL INTERFACE
+5 VDC
Opto Supply P1:1
Direction P1:4
Figure 1.2.5: TTL Interface
Switch Interface
PIN 1
OPTO
SPPLY
NC
SCLK
DIR
EN
GND
+V
Shown Connected to the Enable Input.
The Direction input may be interfaced the same.
TTL INTERFACE
+5 VDC
Supply
Opto Supply P1:1
SPST Switch
Enable P1:5
Figure 1.2.6: Switch Interface
Isolated Input Current Limiting Resistors
Opto Supply
(+VDC) Resistor Value
(Ohms 5%) Resistor Value (Ohms 1%)
5--
10 680 681
12 1000 1000
15 1300 1300
24 2700 2670

18
GND - PIN 5
MOSI - PIN 7
PIN 4 - CS
PIN 6 +5VDC OUT*
PIN 10 - MISO
PIN 8 - CLOCK
10 Pin Header
P2
DB25 Standard
PC Parallel / SPI Port
Ground
PIN 1
23
4
15
19
Logic Level
Shifting and
Conditioning
Interface
*Use ONLY to power IMS MD-CC100-000
The SPI communication wiring may
require a logic level shifting interface.
Figure 1.2.8: SPI Interface Wiring and Connections
MDrive Connector P2 (SPI Interface)
Pin # Pin Name
No Connect1 N/C
N/C
N/C
N/C
2
3
4
5
6
7
8
9
10
AWG 22
AWG 22
AWG 22
AWG 22
AWG 22
AWG 22
No Connect
No Connect
Description
Wire Size
GND
+5 VDC
MOSI
CLK
MISO
Chip Select
Communications Ground
+5 VDC Output (See Warning Below)
Master Out/Slave In
Clock
No Connect
Master In/Slave Out
CS
Table 1.2.5: P2 Pin Assignment and Description
Interfacing the MDrive SPI Interface
(Connector P2)
The MDrive’s SPI communications connector is a 10 pin IDC header. The
recommended means of connecting to the header is with the 6 foot (1.8m)
Parameter Setup Cable MD-CC100-000.
The setup cable eliminates the need for the
user to wire communications to the MDrive.
In addition to offering ease of connection,
this cable features a built-in logic level
shifter for PC’s that run on 3.3V output
ports. This cable plugs in easily to connect a
standard DB-25 PC Parallel/SPI port to the
MDrive’s 10 pin pin-header (P2).
To MDrive
To Customer PC
Parallel/SPI Port
MD-CC100-000
Parameter Setup Cable
DB-25
Figure 1.2.7: Parameter Setup Cable for MDrive 17/23
WARNING! The +5VDC output on connector P2 is used for the setup
cable ONLY! This output is not designed to power external devices!
WARNING! The Parallel/SPI Port on your PC must be set to one of the following:
output only bi-directional EPP (Extended Parallel Port)
Try the SPI connection using the default parallel port setting first. If necessary, the
Parallel/SPI port may be configured in the bios of your PC.