IMS MDrive 34 Plus Series Application guide

DRAFT COPY
Hardware
REFEREnCE
Excellence in Motion
www.imshome.com
34 TM
Motion control
Flying Leads Interface
Pluggable Interface

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 indemnies Intelligent Motion Systems, Inc., against all damages.
TM
MDrive34Plus Motion Control Hardware Reference Revision R080106
Copyright © 2006 Intelligent Motion Systems, Inc., All Rights Reserved
MDrive34Plus Motion Control Hardware Reference Change Log
Date Revision Changes
06/29/2006 R062906 Initial Release
08/01/2006 R080106 Added connector orientation drawings to Part 1: Hardware Specifications, added Cable info to Appendix F.

i
Table of 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: MDrive34Plus Motion Control Product Introduction ....................................................1-7
Introduction to the MDrive34Plus Motion Control System...................................................... 1-7
Standard Feature Summary ....................................................................................................... 1-7
The MDrive34Plus Motion Control Key Differences and Enhanced Features........................... 1-8
There are three different variants of the MDrive17Plus Motion Control, these are:................... 1-8
Section 1.2: MDrive34Plus Detailed Specifications ........................................................................1-9
Standard Electrical Specifications .............................................................................................. 1-9
Thermal Specifications .............................................................................................................. 1-9
Standard Motion Specifications................................................................................................. 1-9
Software Specifications ............................................................................................................ 1-10
Motor Specifications ............................................................................................................... 1-10
Mechanical Specifications........................................................................................................ 1-11
Pin/Wire Assignments............................................................................................................. 1-12
P1 Connector - I/O and Power Connections...................................................................... 1-12
P2 Connector - RS-422/485 Communications................................................................... 1-12
Options and Accessories.......................................................................................................... 1-12
Section 1.3: MDrive34Plus2 Detailed Specifications ....................................................................1-13
Standard Electrical Specifications ............................................................................................ 1-13
Enhanced Electrical Specifications........................................................................................... 1-13
Thermal Specifications ............................................................................................................ 1-13
Standard Motion Specifications............................................................................................... 1-13
Enhanced Motion Specifications ............................................................................................. 1-14
Software Specifications ............................................................................................................ 1-14
Motor Specifications ............................................................................................................... 1-15
Mechanical Specifications........................................................................................................ 1-15
Pin/Wire Assignments............................................................................................................. 1-16
P1 Connector - I/O and Power Connections...................................................................... 1-16
P2 Connector - RS-422/485 Communications................................................................... 1-16
P3 Connector - Power ........................................................................................................ 1-17
Options and Accessories.......................................................................................................... 1-17
Part 2: Connecting and Interfacing
Section 2.1: Mounting and Connection Recommendations ...............................................................2-3
Mounting Recommendations.................................................................................................... 2-3
DC Power Recommendations ................................................................................................... 2-3
MDrive34Plus Motion Control............................................................................................ 2-3
Layout and Interface Guidelines................................................................................................ 2-3
Recommended Wiring ......................................................................................................... 2-3
Recommended Mating Connectors and Pins........................................................................ 2-4
Securing Power Leads and Logic Leads ................................................................................. 2-4
Section 2.2: Interfacing Communications .........................................................................................2-5
Available Communications Cables/Converters .......................................................................... 2-5
Interfacing Single Mode Communications ................................................................................ 2-5

ii
Single Mode Communications Full Duplex (RS-422) .......................................................... 2-5
Single Mode Communications Half Duplex (RS-485) ......................................................... 2-6
Interfacing Party Mode Communications.................................................................................. 2-6
Data Cable Termination Resistors......................................................................................... 2-6
MDrivePlus Motion Control Communication Format......................................................... 2-7
MDrivePlus Motion Control (MDI) Response to Echo Mode.............................................. 2-7
Using Check Sum................................................................................................................. 2-9
MDrivePlus Motion Control Party Mode Sample Codes.................................................... 2-10
MDrivePlus Motion Control Immediate Party Mode Sample Codes .................................. 2-11
Section 2.3: Interfacing and Using the MDrivePlus Motion Control I/O .........................................2-12
The MDrivePlus Motion Control Digital I/O......................................................................... 2-12
Standard I/O Set ................................................................................................................ 2-12
Enhanced I/O Set - MDrive34Plus2................................................................................... 2-12
Uses of the Digital I/O............................................................................................................ 2-12
MDrivePlus Motion Control Digital Input Functions............................................................. 2-13
Programmable Input Functions .......................................................................................... 2-13
Dedicated Input Functions................................................................................................. 2-13
Active States Defined.......................................................................................................... 2-13
MDrivePlus Motion Control Digital Output Functions.......................................................... 2-14
Programmable Output Functions ....................................................................................... 2-14
Dedicated Output Functions.............................................................................................. 2-14
MDrivePlus Motion Control I/O Ratings ............................................................................... 2-15
MDrivePlus Motion Control I/O Connections ....................................................................... 2-15
I/O Usage Examples — MDrivePlus Standard I/O Set............................................................ 2-16
Input Interface Example - Switch Input Example (Sinking Input) ...................................... 2-16
Input Interface Example - Switch Input Example (Sourcing Input) .................................... 2-17
Output Interface Example (Sinking Output)...................................................................... 2-18
General Purpose I/O Usage Examples — Enhanced I/O Set ................................................... 2-19
Input Interface Example - Switch Input Example (Sinking Input) ...................................... 2-19
Input Interface Example - Switch Input Example (Sourcing Input) .................................... 2-20
Output Interface Example (Sinking Output)...................................................................... 2-21
Output Interface Example (Sourcing Output).................................................................... 2-22
Dedicated Digital I/O - Enhanced I/O Set.............................................................................. 2-23
Step/Direction/Clock I/O .................................................................................................. 2-23
Capture/Trip ...................................................................................................................... 2-23
Interfacing the Analog Input ................................................................................................... 2-24
Sample Usage ..................................................................................................................... 2-24
Appendices
Appendix A: MDrivePlus Motion Control Motor Performance ......................................................... A-3
Speed-Torque Curves/Motor Specifications ...............................................................................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: Planetary Gearboxes..................................................................................................... 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
Planetary Gearbox Inertia........................................................................................................A-14
MDrive34AC Plus2 with Planetary Gearbox...........................................................................A-15
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
Mixed Input/Output Example............................................................................................A-19
Sinking Output ..................................................................................................................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
MDrivePlus Motion Control Closed Loop Control.................................................................A-24
Appendix E: MDrive Motion Control Closed Loop Options............................................................ A-24
Internal Encoder.................................................................................................................A-24
Remote Encoder - MDrive34Plus2 (20-Pin Locking Wire Crimp).....................................A-25
Appendix F: Optional Cables and Cordsets..................................................................................... A-26
Communications Converter Cables.........................................................................................A-26
USB to 10-Pin IDC (MD-CC400-000).............................................................................A-26
Installation Procedure for the MX-CC40x-000 .......................................................................A-27
Installing the Cable/VCP Drivers .......................................................................................A-27
Determining the Virtual COM Port (VCP)........................................................................A-29
Prototype Development Cables ...............................................................................................A-29
Prototype Development Cable - PD14-2334-FL3 ..............................................................A-30
Prototype Development Cable - PD02-3400-FL3 ..............................................................A-30
Prototype Development Cable - PD10-1434-FL3 ..............................................................A-31
List of Figures
Figure GS.1: IMS Terminal Main Screen................................................................................... 1-2
Figure GS.2: IMS Terminal Prefrences Dialog ........................................................................... 1-2
Figure GS.3: MDrivePlus Motion Control Sign-On Message.................................................... 1-3
Figure GS.4: Download the Program ........................................................................................ 1-4
Part 1: Hardware Specifications
Figure 1.1.1: MDrive34Plus With Flying Leads ........................................................................ 1-7
Figure 1.1.2: MDrive34Plus2Locking Wire Crimp ................................................................... 1-7
Figure 1.2.1: MDrive34Plus Mechanical Specifications ........................................................... 1-11
Figure 1.2.2: P1 - 12 in/304.8 cm Flying Leads....................................................................... 1-12
Figure 1.2.3: P2 - 10-Pin IDC, RS-422/485 Communications ............................................... 1-12
Figure 1.3.1: Mechanical Specifications................................................................................... 1-16
Figure 1.3.2: P1 14-Pin Wire Crimp: Enhanced I/O.............................................................. 1-16
Figure 1.3.3: P1 20-Pin Wire Crimp: Enhanced I/O and External Remote Encoder .............. 1-16
Figure 1.3.4: P2 10-Pin Wire Crimp Communications Connector ......................................... 1-16
Figure 1.3.5: P3 2-Pin Locking Wire Crimp Power Connector................................................ 1-17
Part 2: Connecting and Interfacing
Figure 2.1.1: MDrive Motion Control Power Connections ....................................................... 2-3
Figure 2.1.2: Typical MDrive Shown with Leads Secured.......................................................... 2-4
Figure 2.2.1: Full Duplex Communications (RS-422)............................................................... 2-5
Figure 2.2.2: Half Duplex 2 Wire Communications (RS-485) .................................................. 2-6
Figure 2.2.3: RS-485 Interface, Multiple MDrivePlus Motion Control System ......................... 2-7
Figure 2.3.1: Uses for the Digital I/O...................................................................................... 2-12
Figure 2.3.2: P1 - 12 in/304.8 cm Flying Leads....................................................................... 2-15
Figure 2.3.3: Connector Orientation....................................................................................... 2-15
Figure 2.3.4: P1 14-Pin and 20-Pin Wire Crimp Connector Pin Configuration..................... 2-15
Figure 2.3.5: Sinking Input Example using a Push Button Switch ........................................... 2-16
Figure 2.3.6: Sourcing Input Example using a Push Button Switch ......................................... 2-17
Figure 2.3.7: Sinking Output Example.................................................................................... 2-18
Figure 2.3.8: Switch Interface to Input, Sinking ...................................................................... 2-19
Figure 2.3.9 Sourcing Input Example using a Push Button Switch .......................................... 2-20
Figure 2.3.10: Sinking Output Example.................................................................................. 2-21
Figure 2.3.11: Sourcing Output Example................................................................................ 2-22
Figure 2.3.12: MDrivePlus Motion Control Clock Functions ................................................. 2-23
Figure 2.3.13: Analog Input - Voltage Mode ........................................................................... 2-24
Figure 2.3.14: Analog Input - Current Mode .......................................................................... 2-25

iv
Appendices
Figure A.1: MDrive34Plus Motion Control Speed-Torque Curves ...........................................A-3
Figure B.1: DC Cabling - Under 50 Feet...................................................................................A-4
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 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 MDrive34Plus Motion Control...................A-15
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-25
Figure F.1: MD-CC400-000 ...................................................................................................A-26
Figure F.2: MD-CC400-000 Mechanical Specifications ..........................................................A-26
Figure F.3: Typical Communications Interface........................................................................A-27
Figure F.4: Hardware Update Wizard ......................................................................................A-27
Figure F.5: Hardware Update Wizard Screen 2 ........................................................................A-28
Figure F.6: Hardware Update Wizard Screen 3 ........................................................................A-28
Figure F.7: Windows Logo Compatibility Testing....................................................................A-28
Figure F.8: Hardware Update Wizard Finish Installation .........................................................A-28
Figure F.9: Hardware Properties...............................................................................................A-29
Figure F.10: Windows Device Manager ...................................................................................A-29
Figure F.11: PD14-2334-FL3..................................................................................................A-30
Figure F.12: PD02-3400-FL3..................................................................................................A-30
Figure F.13: PD10-1434-FL3..................................................................................................A-31
List Of Tables
Part 2: Connections and Interface
Table 2.2.1: MDI Response to Echo Mode - Party and Check Sum are Zero (0)....................... 2-8
Table 2.2.2: MDI Response to Echo Mode - Party is One (1) and Check Sum is Zero (0) ....... 2-8
Table 2.2.3: MDI Response to Echo Mode - Party is Zero (0) and Check Sum is One (1) ....... 2-8
Table 2.2.4: MDI Response to Echo Mode - Party and Check Sum are One (1) ....................... 2-9
Table 2.3.1: Programmable Input Functions............................................................................ 2-13
Table 2.3.2: Dedicated Input Functions .................................................................................. 2-13
Table 2.3.3: Programmable Output Functions ........................................................................ 2-14
Table 2.3.4: Dedicated Output Functions ............................................................................... 2-14
Table 2.3.5: MDrivePlus Motion Control I/O and Protection Ratings.................................... 2-15
Table 2.3.6: MDrive34Plus P1 I/O ......................................................................................... 2-15
Table 2.3.7: P1 Pin Descriptions ............................................................................................. 2-15
Appendices
Table B.1: Recommended Supply Cables ..................................................................................A-5
Table C.1: Planetary Gearbox Operating Factor ........................................................................A-9
Table B.2: Planetary Gearbox Inertia Moments.......................................................................A-14
Table B.3: Planetary Gearbox Specifications............................................................................A-15
Table B.4: Planetary Gearbox Ratios and Part Numbers ..........................................................A-15
Table D.1: Output Bit Weight Examples - Outputs set as a group...........................................A-23
Table F.1: MD-CC400-000 Electrical Specifications ...............................................................A-26
Table F.2: PD16-1423 Wire Color Codes................................................................................A-30
Table F.3 PD10-1434 Wire Color Codes.................................................................................A-31

1-1
Part 1: Hardware Specifications
Get t i n g Started
Getting Started - MDrivePlus Motion Control
Before You Begin
The Quick Start guide is designed to help get you connected and communicating with the MDrivePlus Mo-
tion Control. The following examples will help you get the motor turning for the fist time and introduce you
to Immediate and Program modes of operation.
Immediate Mode: In Immediate Mode, commands are issued and executed directly to the
MDrive34Plus Motion Control by user input into the terminal window.
Program Mode: Program mode is used to input user programs into the MDrive34Plus Motion
Control.
Tools and Equipment Required
• MDrivePlus Motion Control Unit.
• Communications Converter Cable or equivalent (USB to RS-422).
• MDrivePlus Product CD or Internet access to www.imshome.com.
• An +12 to +75 VDC Unregulated Power Supply .
• Basic Tools: Wire Cutters / Strippers / Screwdriver.
• 18 AWG Wire for Power Supply.
• A PC with Windows XP Service Pack 2.
• A free serial communications or USB 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. Insert the MDrive CD into the CD Drive of your PC.
If not available, go to http://www.imshome.com/software_interfaces.html.
2. The CD will autostart.
3. Click the Software Button in the top-right navigation Area.
4. Click the IMS Terminal link appropriate to your operating system.
5. Click SETUP in the Setup dialog box and follow the on-screen instructions.
6. Once IMS Terminal is installed, the Communications Settings can be checked and/or set.
WARNING! Please
ensure that you
read the sections of
the product manual
pertaining to the MDrivePlus
model you purchased in their
entirety prior to placing the unit
into full operation.
Note: Interactive
Tutorials covering
the installation and
use of the IMS Terminal are
located on the IMS Web Site
at http://www.imshome.com/
tutorials.html.

1-2 MDrive34Plus Motion Control Hardware Revision R080106
Establishing Communications
1. Open IMS Terminal by clicking Start>Programs>IMS Terminal>IMS Term. The Program Edit
Window (left) and Terminal Window (right) will be displayed.
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”.
WAR N I NG :
Do not connect
or disconnect
DC input to the
MDrivePlus with power
applied! Disconnect the AC
power side to power down
the DC Supply.
For battery operated
systems, conditioning
measures should be taken
to prevent device damage
caused by in-rush current
draws, transient arcs and
high voltage spikes.
Figure GS.1: IMS Terminal Main Screen
Figure GS.2: IMS Terminal Prefrences Dialog

1-3
Part 1: Hardware Specifications
Apply Power to the MDrivePlus Motion Control
1. Verify that all connections have been made, then apply power to the MDrivePlus Motion Control.
Click on the Phone icon or the Disconnect status box to establish communications between IMS
Terminal and the MDrivePlus. The following sign-on message should appear in the Terminal
Window:
“Copyright 2001-2006 by Intelligent Motion Systems, Inc.”
2. If you can see the sign-on message, then the MDrivePlus is properly powered-up and
communicating.
a. If the sign-on message does not appear, try using a software reset. Hold down the “Ctrl” key
and press “C”. If the sign-on message still does not appear, check all connections, as well as all
hardware and software configurations, then start IMS Terminal again.
3. You are now connected and communicating to the MDrivePlus Motion Control.
Note: There are indicators at the bottom of the Terminal Window that show whether you are
connected or disconnected, the current Baud Rate, and the type of device (MDrive) for which the
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 2001-2006 by Intelligent Motion Systems, Inc.”
should appear in the Terminal Window within a few seconds.
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.
Note: Entering
MDrivePlus
commands directly
into the Terminal Window is
called “Immediate Mode”.
The MDrivePlus Motion
Control command set is not
case sensitive except for
command DN = < >
Warning: If you
have installed the
MDrivePlus to a
load, be sure the
load can safely be moved
before testing.
Tip: A small piece of tape on
the motor shaft is a visual aid
to help see the shaft turning.
Figure GS.3: MDrivePlus Motion Control Sign-On Message

1-4 MDrive34Plus Motion Control Hardware Revision R080106
Motion Control Example Using Program Mode
1. Click on drop-down menu View > New Edit Window to open the Program Edit Window.
2. Type “XYZ Test” into the “Open a New file for editing” dialog box, and click “OK”.
3. Click anywhere within the Program Edit Window, and type (followed by ENTER):
VA LP=0 ‘user variable name LP = start count 0
A=100000 ‘set acceleration to 100000 steps/sec2
D=100000 ‘set deceleration to 100000 steps/sec2
PG 1 ‘enter program mode, start program at address 1
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.
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.
NOTE:Entering
MDrivePlus
commands into
the Program Edit
Window, to be edited and
saved, is called “Program
Mode”.
NOTE:The program
can be stopped by
pressing the Escape
Button or by pressing Ctrl+C.
Figure GS.4: Download the Program

1-5
Part 1: Hardware Specifications
TM
Excellence in Motion
Section 1.1: MDrive34Plus Motion Control Product Introduction
Section 1.2: MDrive34Plus Motion Control Detailed Specifications
Section 1.3: MDrive34Plus2Motion Control Detailed Specifications
Part 1:
Hardware
Specifications
34 TM
Motion control

1-6 MDrive34Plus Motion Control Hardware Revision R080106
Page Intentionally Left Blank

1-7
Part 1: Hardware Specifications
Section 1.1
MDrive34Plus Motion Control Product Introduction
Introduction to the MDrive34Plus Motion Control System
The MDrive34Plus Motion Control offers system designers
a low cost, intelligent motion controller integrated with a
NEMA 34 high torque brushless motor and a +12 to +75
volt microstepping driver.
The unsurpassed smoothness and performance delivered by
the MDrive34Plus Motion Control are achieved through
IMS's advanced 2nd generation current control. By apply-
ing innovative techniques to control current flow through
the motor, resonance is significantly dampened over the
entire speed range and audible noise is reduced.
The MDrive34Plus 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 problems that can occur with
long runs and multiple drive systems. An extended operat-
ing range of –40° to +85°C provides long life, trouble free service in demanding environments.
Standard features available in the MDrive34Plus 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 revo-
lution, and full featured easy-to-program instruction set.
Expanded features in the MDrive34Plus2 version include 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 elec-
tronically controlled ratio, or an output clock can be generated
fixed to the internal step clock.
All MDrive34Plus 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 MDrive34Plus2 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 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 with pluggable locking wire crimp connectors for Plus2versions only.
The MDrive34Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and assem-
bly time for a large range of brushless motor applications.
Standard Feature Summary
 Highly Integrated Microstepping Driver, Motion Controller and NEMA 34 High Torque Brushless
Motor
 Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
 Single Supply: +12 to +75 VDC
 Low Cost
 Extremely Compact
Note: The
MDrivePlus
Motion
Control is available in a
CAN communications
conguration. For more
information see IMS Web
Site.
Figure 1.1.1: MDrive34Plus With Flying Leads
Figure 1.1.2: MDrive34Plus2Locking Wire Crimp

1-8 MDrive34Plus Motion Control Hardware Revision R080106
 Available Options:
- Internal Optical Encoder for Closed Loop Control
- Integrated Planetary Gearbox
- Control Knob for Manual Positioning
 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 +10VDC, 0 to +5 VDC, 0-20 mA, 4-20mA
 0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments
 RS-422/485 or Optional CANopen* Communications
 62 Software Addresses for Multi-Drop Communications
 Simple 1 to 2 Character Instructions
 Interface Options:
- 12.0” (30.5cm) Flying Leads
Expanded Plus2Features
 8 I/O Lines, +24 VDC Tolerant Sourcing or Sinking, Inputs and Outputs:
 Electronic Gearing
 External/Remote Encoder for Closed Loop Control
 High Speed Position Capture Input or Trip Output
 Pluggable Locking Wire Crimp Interface
The MDrive34Plus Motion Control Key Differences and Enhanced Features
There are two different variants of the MDrive34Plus Motion Control, these are:
1. MDrive34Plus Motion Control
The MDrive34Plus Motion Control is the standard version of the MDrive34Plus and is drop-in
compatible with the legacy MDrive34 Motion Control product. The key additions in the new Plus
units are:
Improved current control.
20 Microstep resolutions to 51,200 steps per rev including degrees, metric and arc minutes.
Four+5 to +24 VDC I/O lines which accept sinking or sourcing inputs.
One 0 to +10 VDC Analog input.
See Section 1.2 of this document for detailed specifications on the MDrive34Plus Motion Control.
2. MDrive34Plus2Motion Control
The MDrive34Plus2Motion Control adds expanded functionality to the MDrive34Plus 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.
High speed position capture input or trip output.
Pluggable wire crimp interface.
Electronic gearing.

1-9
Part 1: Hardware Specifications
SECTION 1.2
MDrive34Plus Detailed Specifications
Standard Electrical Specifications
Input Voltage (+V)
Range....................................................................................................................+12 to +75 VDC
Aux. Logic Input Voltage
Range....................................................................................................................+12 to +24 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Analog Input (IN5)
Resolution..............................................................................................................................10 Bit
Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA
General Purpose I/O
Number/Type
Plus (1-4) ........................................................... 4 Sinking Outputs / 4 Sourcing or Sinking Inputs
Voltage Range
Input................................................................................... TTL level compatible, up to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Logic Threshold
Logic 0.............................................................................................................................<0.8VDC
Logic 1.............................................................................................................................>2.2VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
Communication
Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable
Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps
* See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O
Thermal Specifications
Operating Temperature .................................................................................................-40 to 85°C
Standard Motion Specifications
Microstep Resolution – Open Loop Configuration
Number of Microstep Resolution Settings................................................................................. 20
Available Microsteps Per Revolution
200 400 800 1000 1600 2000 3200 5000 6400 10000
12800 20000 25000 25600 40000 50000 51200 360001216002254003
1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep
Encoder (Optional)
Type .......................................................................................................................Internal, Optical
Resolution............................................................................512 Lines/2048 counts per Revolution
WARNING!
The maximum
+75 VDC Input
Voltage of the
MDrive34Plus series includes
motor Back EMF, Power
Supply Ripple and High Line.
WARNING! Because the
MDrivePlus consists of two
core components, a drive
and a motor, close attention
must be paid to the thermal
environment where the
device is used. See Thermal
Specications.

1-10 MDrive34Plus Motion Control Hardware Revision R080106
Counters
Type .................................................................................................... Position (C1), Encoder (C2)
Resolution..............................................................................................................................32 Bit
Edge Rate (Max) .................................................................................................................. 5 MHz
Velocity
Range................................................................................................. ±5,000,000 Steps per Second
Resolution................................................................................................. 0.5961 Steps per Second
Acceleration/Deceleration
Range................................................................................................... 1.5 x 109Steps per Second2
Resolution....................................................................................................90.9 Steps per Second2
† Adjusting the microstep resolution can increase the range.
Software Specifications
Program Storage, Type/Size ...................................................................................Flash/6384 Bytes
User Registers................................................................................................................... (4) 32 Bit
User Program Labels and Variables ............................................................................................ 192
Math, Logic and Conditional Functions ............. +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT
Branch Functions .......................................................Branch & Call (conditonal or unconditional)
Predefined I/O Functions...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,
Pause, Jog Plus, Jog Minus, Analog In
Outputs .................................................................................Moving, Fault, Stall, Velocity Change
Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture
Party Mode Addresses ................................................................................................................. 62
Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index
Motor Specifications
Single Length
Holding Torque............................................................................................... 381 oz-in/269 N-cm
Detent Torque................................................................................................. 10.9 oz-in/7.7 N-cm
Rotor Inertia ...................................................................................0.01416 oz-in-sec2/1.0 kg-cm2
Weight (Motor + Driver)............................................................................................. 4.1 lb/1.9 kg
Double Length
Holding Torque............................................................................................... 575 oz-in/406 N-cm
Detent Torque............................................................................................. 14.16 oz-in/10.0 N-cm
Rotor Inertia ...................................................................................0.02266 oz-in-sec2/1.6 kg-cm2
Weight (Motor + Driver)............................................................................................. 5.5 lb/2.5 kg
Triple Length
Holding Torque............................................................................................. 1061 oz-in/749 N-cm
Detent Torque............................................................................................. 19.83 oz-in/14.0 N-cm
Rotor Inertia ...................................................................................0.04815 oz-in-sec2/3.4 kg-cm2
Weight (Motor + Driver)............................................................................................. 8.8 lb/4.0 kg
WARNING!
When using the
MDrivePlus Motion
Control with
optional internal magnetic
encoder, no axial force may
be applied to the motor shaft
without use of a load bearing
isolation coupling.

1-11
Part 1: Hardware Specifications
P2
P1
12" (305)
Ø 0.5512 +0/-0.0004
(Ø 14.0 +0/-0.010)
4X Ø 0.217 (Ø 5.51)
2.739 SQ.
(69.57 SQ.)
3.39 SQ.
(86.1 SQ.)
Ø 2.874 ±0.002
(Ø 73.0 ±0.05)
Connector Options
Mechanical Specifications
Dimensions in Inches (mm)
LMAX LMAX2
Motor
Length
SINGLE SHAFT,
INTERNAL ENCODER
CONTROL KNOB
VERSION
Single 3.71 (94.23) 4.42 (112.27)
Double 4.50 (114.30) 5.21 (132.33)
Triple 6.07 (154.18) 6.78 (172.21)
MDrive Lengths Inches (mm)
Control Knob
LMAX2 Option
LMAX
0.394
(10.01) 1.46 ±0.04
(37.1 ±1.0)
0.984 ±0.01
(25.0 ±0.25)
0.512 +0/–0.004
(13.0 ±0.10)
0.079
(2.0)
0.731
(18.57)
1.250
(31.75)
1.981
(50.32)
3.727
(94.67)
LMAX2
Ø 1.90
(Ø 48.3)
Figure 1.2.1: Mechanical Specifications

1-12 MDrive34Plus Motion Control Hardware Revision R080106
Options and Accessories
Internal Encoder
All MDrive34Plus Motion Control versions are available with an optional internal 512-line (2048 count) optical
encoder with index mark.
Control Knob
The MDrive34Plus 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 MDrive34Plus. Refer to details
in Appendix C.
Communications Converter Cables
These convenient accessory cables connect a PC’s USB Port to the MDrive’s P2 Connector. Total cable length is
12.0' (3.6m). An in-line RS-422 converter enables parameter setting to a single MDrive Motion Control. Purchase
recommended with first orders.
USB to 10-Pin IDC....................................................................MD-CC400-000
Pin 1
Pin 7
Pin 5
Pin 3
Pin 9
Pin 2
Pin10
Pin 4
Pin 8
Pin 6
Pin 1
P2: COMM CONNECTOR
RS-422/485
10-Pin
IDC
Wire
Crimp Function
Pin 1 Pin 9 TX +
Pin 2 Pin 10 TX –
Pin 3 Pin 7 RX +
Pin 4 Pin 8 RX –
Pin 5 Pin 5
Aux-Logic (+12 to +24
VDC)
Pin 6 Pin 6 RX +
Pin 7 Pin 3 RX –
Pin 8 Pin 4 TX –
Pin 9 Pin 1 TX +
Pin 10 Pin 2 COMM Ground
Figure 1.2.2: P1 - 12 in/304.8 cm Flying Leads
P2
P1
White/Yellow I/O1
White/Orange I/O2
White/Violet I/O3
White/Blue I/O4
Green Analog Input
Black Power Ground
Red +V (+12 to +75 VDC)
Flying Leads - I/O and Power Connection
Wire Color Function
White/Yellow I/O 1
White/Orange I/O 2
White/Violet I/O 3
White/Blue I/O 4
Green Analog Input
Black Power/Aux-Ground
Red +V (+12 to +75 VDC)
P2 Connector - RS-422/485 Communications
Pin/Wire Assignments
P1 Connector - I/O and Power Connections
Figure 1.2.3: P2 - 10-Pin IDC, RS-422/485 Communications

1-13
Part 1: Hardware Specifications
SECTION 1.3
MDrive34Plus2Detailed Specifications
Standard Electrical Specifications
Input Voltage (+V)
Range....................................................................................................................+12 to +75 VDC
Power supply current requirements (max. per MDrive34Plus).....................................................4A
(Actual power supply current will depend on voltage and load)
Aux. Logic Input Voltage
Range....................................................................................................................+12 to +24 VDC
(Maintains power to control and feedback circuits [only] when input voltage is removed)
Analog Input (IN5)
Resolution..............................................................................................................................10 Bit
Voltage Range .................................................. 0 to +5 VDC, 0 to +10 VDC, 4 - 20mA, 0 - 20mA
Communication
Protocol (Standard) ....................................................RS-422/RS-485, Full/Half Duplex Selectable
Baud Rate ............................................................................... 4.8k, 9.6k, 19.2k, 38.4k, 115.2kbps
* See I/O Ratings on In Section 2.3: Interfacing the MDrivePlus Motion Control I/O
Enhanced Electrical Specifications
General Purpose I/O
Number/Type
Default Configuration (No external encoder) ........................... 8 Sinking/Sourcing Inputs/Outputs
Voltage Range
Input................................................................................... TTL level compatible, up to +24 VDC
Output ............................................................................................... (Sourcing) +12 to +24 VDC
Output ................................................................................................... (Sinking) up to +24 VDC
Output Sink/Source Current (per channel)*..............................................................Up to 600 mA
Logic Threshold
Logic 0.............................................................................................................................<0.8VDC
Logic 1.............................................................................................................................>2.2VDC
Output Sink Current (per channel)* .........................................................................Up to 600 mA
Protection...............................Over Temp, Short Circuit, Transient Over Voltage, Inductive Clamp
Thermal Specifications
Operating Temperature .................................................................................................-40 to 85°C
Standard Motion Specifications
Microstep Resolution – Open Loop Configuration
Number of Microstep Resolution Settings................................................................................... 20
Available Microsteps Per Revolution
200 400 800 1000 1600 2000 3200 5000 6400 10000
12800 20000 25000 25600 40000 50000 51200 360001216002254003
1=0.01 deg/µstep 2=1 arc minute/µstep 3=0.001 mm/µstep
WARNING!
The maximum
+75 VDC Input
Voltage of the
MDrive34Plus series includes
motor Back EMF, Power
Supply Ripple and High Line.
WARNING! Because the
MDrivePlus consists of two
core components, a drive
and a motor, close attention
must be paid to the thermal
environment where the
device is used. See Thermal
Specications.

1-14 MDrive34Plus Motion Control Hardware Revision R080106
Encoder (Optional)
Type .......................................................................................................................Internal, Optical
Resolution............................................................................512 Lines/2048 counts per Revolution
Counters
Type .................................................................................................... Position (C1), Encoder (C2)
Resolution..............................................................................................................................32 Bit
Edge Rate (Max) .................................................................................................................. 5 MHz
Velocity
Range................................................................................................. ±5,000,000 Steps per Second
Resolution...................................................................................................0.5961 Step per Second
Acceleration/Deceleration
Range...................................................................................................1.5 x 109Steps per Second2
Resolution................................................................................................... 90.9 Steps per Second2
Enhanced Motion Specifications
Electronic Gearing
Range..................................................................................................................... 0.001 to 2.000†
Resolution..............................................................................................................................32 Bit
Threshold (External clock in)...................................................................................................TTL
Input Filter Range ................................................................................................. 50 nS to 12.9 µS
Range (Secondary clock out) ................................................................................................ 1 to 1†
High Speed I/O
Position Capture ........................................ 32 Bit Resolution, 50 nS to 12.9 µS Input Filter Range
Trip Output Speed ................................................................................................................ 150nS
Trip Output Resolution..........................................................................................................32 Bit
Trip Output Threshold.............................................................................................................TTL
Remote Encoder (Optional)
Type ..........................................................................................User-Supplied Differential Encoder
Steps per Revolution...............................................See Microstep Resolutions - Open Loop, Above
Resolutions..................................................................................................................User-Defined
† Adjusting the microstep resolution can increase the range.
Software Specifications
Program Storage, Type/Size ...................................................................................Flash/6384 Bytes
User Registers................................................................................................................... (4) 32 Bit
User Program Labels and Variables ............................................................................................ 192
Math, Logic and Conditional Functions ............. +, –, x,÷, >, <, =, <=, >=, AND, OR, XOR, NOT
Branch Functions .......................................................Branch & Call (conditonal or unconditional)
Predefined I/O Functions...................................Inputs Home, Limit Plus, Limit Minus, Go, Stop,
Pause, Jog Plus, Jog Minus, Analog In
Outputs .................................................................................Moving, Fault, Stall, Velocity Change
Trip Functions ....................................Trip on Input, Trip on Position, Trip on Time, Trip Capture
Party Mode Addresses ................................................................................................................. 62
Encoder Functions ............................................Stall Detection, Position Maintenance, Find Index