IMS MDrive34 User manual

MDrive34 Microstepping Datasheet REV121704 1
FEATURES
•Integrated Microstepping Driver
and NEMA 34 High Torque 1.8°
Stepping Motor
•+24 to +75 VDC Input Voltage
•Low Cost
•Extremely Compact
•Optically Isolated Logic Inputs
will Accept +5 to +24 VDC
Signals, Sourcing or Sinking
•Automatic Current Reduction
•Configurable:
- Motor Run/Hold Current
- Motor Direction vs. Directio
Input
- Microstep Resolution to 256
Microsteps/Full Step
•Available Configurations:
- Single Shaft*
- Long Life Linear Actuator
- Internal Optical Encoder*
- Control Knob for Manual
Positioning*
- Integrated Planetary Gearbox*
•Three Stack Sizes Available*
•Current and Resolution May Be
Switched On-The-Fly
•Single Supply
•Interface Uses 12.0" (30.5cm)
Flying Leads
•Graphical User Interface (GUI)
for Quick and Easy Parameter
Setup
* Rotary Motor Only
DESCRIPTION
The MDrive NEMA 34 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 in-
dexer on each axis. The low cost
MDrive34 puts the system designer
in the driver’s seat to decide the best
method of control. The MDrive34’s
integrated electronics eliminate
the need to run the motor cabling
through the machine, reducing the
potential for problems due to elec-
trical noise.
The MDrive34 uses a NEMA 34
frame size 1.8° high torque mo-
tor combined with a microstep-
ping driver, and accepts up to 14
resolution settings from ½ to 256
microsteps per full step. Setup pa-
rameters include Microstep Resolu-
tion, Motor Run/Hold Current, and
Motor Direction with respect to the
direction input. These settings may
be changed on-the-fly or downloaded
and stored in nonvolatile memory
with the use of a simple GUI which
is provided. This eliminates the need
for external switches or resistors.
Parameters are changed via an SPI
port. MDrive34 operating voltage
ranges from +24 to +75 VDC.
The MDrive34 is available in multiple
configurations to fit various system
needs including a single shaft rotary
motor with optional internal optical
encoder, a dual shaft rotary motor
with control knob, a planetary gear-
box, or a long life Acme screw linear
actuator. The rotary MDrive34 is
available in single, double and triple
stack sizes: 24, 31 & 47. Interface
MI
C
R
OS
TEPPING
Patent Pending
The IMS Motor Interface GUI simplifies MDrive
configuring with a single screen interface.
connections are accomplished using
12.0" (30.5cm) flying leads.
The MDrive34 is a compact, pow-
erful and inexpensive solution that
will reduce system cost, design and
assembly time for a large range of
stepping motor applications.
CONFIGURING
The IMS Motor Interface software
is an easy to install and use GUI
for configuring the MDrive34 from
a computer parallel/SPI port. GUI
access is via the IMS SPI Inter-
face included on the CD shipped
with the product, or download at
www.imshome.com. An optional
cable is available for ease of con-
necting and configuring the MDrive.
.
The IMS Motor Interface features:
•Easy installation.
•Automatic detection of MDrive
version and communication
configuration.
•Will not set out-of-range values.
•Tool-tips display valid range
setting for each option.
•Single screen interface (below) .

MDrive34 Microstepping Datasheet REV121704 2
MDRIVE34 MICROSTEPPING SPECIFICATIONS
GENERAL SPECIFICATIONS
Input Voltage (+V) Range*.....................................................................................+24 to +75 VDC
Isolated Inputs..................................................................................Step Clock, Direction & Enable
Isolated Input Voltage Range (Sourcing or Sinking) ......................................................+5 to +24 VDC
Step Frequency (Max).........................................................................................................2 MHz
Steps per Revolution ..................................................400, 800, 1000, 1600, 2000, 3200, 5000,
6400, 10000, 12800, 25000, 25600, 50000, 51200
Heat Sink Temperature (Max) ...............................................................................................85° C
Motor Temperature (Max)..................................................................................................100° C
Protection ................................................................................................................Over Voltage
*Power supply current requirements = 4A (maximum) per MDrive34.
Actual power supply current will depend on voltage and load.
WIRE/PIN ASSIGNMENTS
CONNECTOR P1 – Flying Leads
WIRE COLOR FUNCTION
White OPTOCOUPLER REFERENCE
Orange STEP CLOCK INPUT
Blue CW/CCW DIRECTION INPUT
Brown ENABLE INPUT
Black POWER GROUND
Red +V (+24 TO +75 VDC)
CONNECTOR P2 (SPI) – 10 Pin Pin-Header
PIN FUNCTION
4 CHIP SELECT
5 GROUND
6 +5 VDC OUTPUT
7 MASTER OUT - SLAVE IN
8 CLOCK
10 MASTER IN - SLAVE OUT
SETUP PARAMETERS
NAME FUNCTION RANGE UNITS DEFAULT
MHC Motor Hold Current 0 to 100 percent 5
MRC Motor Run Current 1 to 100 percent 25
MSEL Microstep Resolution 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 125, 128, 250, 256 µsteps per step 256
DIR Motor Direction Override 0 / 1 -- CW
PARAMETERS
All parameters are set using the supplied IMS Motor Interface GUI and may be changed on-the-fly.
An optional Parameter Setup Cable is recommended with first orders.
ENCODER WIRE ASSIGNMENTS
ENCODER – Single-End ENCODER – Differential
WIRE COLOR FUNCTION WIRE COLOR FUNCTION
Yellow/Black GROUND Yellow/Black GROUND
Yellow/Violet INDEX Yellow/Violet INDEX +
Yellow/Blue CHANNEL A Yellow/Blue CHANNEL A +
Yellow/Red +5 VDC INPUT Yellow/Red +5 VDC INPUT
Yellow/Brown CHANNEL B Yellow/Brown CHANNEL B +
Yellow/Gray INDEX –
Yellow/Green CHANNEL A –
Yellow/Orange CHANNEL B –
NOTE: For recommended mating connector information, refer to the product's Quick Reference at www.imshome.com/quick.html

MDrive34 Microstepping Datasheet REV121704 3
300
250
200
150
100
50
0
1334
1112
890
667
445
222
0 1000 2000 3000 4000 5000 6000
Speed in Full Steps per Second
Force in lbs
Force in N
w D
w C
w B
w A
Scre
Scre
Scre
Scre
500
450
400
350
2224
2002
1779
1557
Load Limit 500lbs / 2224N
7000
w EScre
300
250
200
150
100
50
0
1334
1112
890
667
445
222
0 1000 2000 3000 4000 5000 6000
Speed in Full Steps per Second
Force in lbs
Force in N
w D
w C
w B
w A
Scre
Scre
Scre
Scre
500
450
400
350
2224
2002
1779
1557
Load Limit 500lbs / 2224N
7000
w EScre
300
250
200
150
100
50
0
1334
1112
890
667
445
222
0 1000 2000 3000 4000 5000 6000
Speed in Full Steps per Second
Force in lbs
Force in N
w D
w C
w B
w A
Scre
Scre
Scre
Scre
500
450
400
350
2224
2002
1779
1557
Load Limit 500lbs / 2224N
7000
w EScre
MDRIVE34 MOTOR SPECIFICATIONS
MD3424 Single Stack
Holding Torque.................381.0 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)............... 67.4 oz / 1909 g
MD3431 Double Stack
Holding Torque.................575.0 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)................92.1 oz / 2609 g
MD3447 Triple Stack
Holding Torque...............1061.0 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)..............148.5 oz / 4209 g
MD3429 Linear Actuator
Maximum Thrust .......................500 lbs / 2224 N
Maximum Screw Deflection ............................. ± 1°
Backlash ............................ 0.005 in / 0.127 mm
Weight (without screw)............... 89.0 oz / 2523 g
TORQUE-SPEED CURVES
Rotary Motor
MD3424 Single Stack
MD3431 Double Stack
MD3447 Triple Stack
FORCE-SPEED CURVES
Linear Actuator
24 VDC
48 VDC
75 VDC
400
350
300
250
200
150
100
50
0
282
247
211
170
141
106
71
35
0 1000 2000 3000 4000 5000 6000 7000
Speed in Full Steps per Second
Torque in Oz - In
Torque in N - cm
24 VDC
45 VDC
75 VDC
400
450
500
550
350
300
250
200
150
100
50
00 1000 2000 3000 4000 5000 6000 7000
S
p
eed in Full Ste
p
s
p
er Second
Torque in Oz - In
Torque in N - cm
24 VDC
45 VDC
75 VDC 282
247
211
423
353
318
170
141
106
71
35
900
1000
1100
1200
800
700
600
500
400
300
200
100
00 1000 2000 3000 4000 5000 6000 7000
Speed in Full Steps per Second
Torque in Oz - In
Torque in N - cm
45 VDC
75 VDC
465
494
423
777
847
706
635
353
282
211
140
71
24 VDC

MDrive34 Microstepping Datasheet REV121704 4
Key DIN 6885-A-6x6x28mm
Ctrg. DIN 332-D M6x16
M6 x 0.472 (12.0) DeepM6 x 0.472 (12.0) Deep
1.929
(49.0)
0.197
(5.0)
k1 ±0.02 (±0.5)
Ø 2.56
(Ø 65.0)
1.575
(40.0)
Ø 3.189 (Ø 81.0)
Ø 1.969 +0.0006/-0.0004 (Ø 50.0 +0.015/-0.010)
Ø 0.748 +0/-0.0008 (Ø 19.0 +0/-0.021)
MDRIVE34
3.386 SQ.
(86.0 SQ.)
The MDrive34 is available with a Planetary Gearbox
option developed to increase torque at lower speeds,
enable better inertia matching and produce finer
positional resolutions. These efficient, low mainte-
nance Planetary Gearbox come fully assembled with
the MDrive and are offered in a large number of
MDRIVE34 WITH PLANETARY GEARBOX
PLANETARY GEARBOX MECHANICAL SPECIFICATIONS
Dimensions in Inches (mm)
Planetary Gearbox for MDrive34
reduction ratios in 1-, 2- and 3-stage configurations.
An optional NEMA Flange allows mounting the Plan-
etary Gearbox to the load using a standard NEMA
bolt circle. Planetary Gearbox may be combined with
other MDrive34 options, however are unavailable on
Linear Actuator versions.
Planetary Gearbox with Optional NEMA Output Flange
Parameters 1-Stage 2-Stage 3-Stage
Permitted Output Torque (oz-in/Nm).......................2832/20.0........8496/60.0.......16992/120.0
Gearbox Efficiency..................................................... 0.80.................. 0.75...................0.70
Maximum Backlash (degree)....................................... 1.0° ...................1.5° ................... 2.0°
Ouput Side With Ball Bearing
Maximum Load, Radial (lb-force/N).......................... 90/400 ............135/600 .......... 225/1000
Maximum Load, Axial (lb-force/N)............................. 18/80 ..............27/120 ............. 45/200
Weight - Gearbox Only (oz/g).................................64.4/1827........89.5/2538........114.6/3248
Weight - Gearbox & NEMA Flange (oz/g) ................66.7/1890........92.6/2625........118.5/3360
1-Stage 2-Stage 3-Stage
3.70:1 13.73:1 50.89:1
5.18:1 15.88:1 58.85:1
6.75:1 18.36:1 68.06:1
19.20:1 71.16:1
22.20:1 78.71:1
25.01:1 92.70:1
26.85:1 95.17:1
28.93:1 99.50:1
34.97:1 107.20:1
45.56:1 115.07:1
123.97:1
129.62:1
139.13:1
149.90:1
168.84:1
181.24:1
195.26:1
236.09:1
307.54:1
Gearbox Ratios (Rounded)
Ctrg. DIN 332-D M6x16
Key DIN 6885-A-6x6x28mm
4x Ø 0.217 (Ø 5.5) Hole
1.575
(40.0)
1.811
(46.0)
0.079
(2.0)
Ø 0.748 +0/-0.0008 (Ø 19.0 +0/-0.021)
k2 ±0.02 (±0.5)
3.386 SQ.
(86.0 SQ.)
2.739
(69.58)
2.739
(69.58)
0.394
(10.0)
Ø 2.874 +0/-0.0012 (Ø 73.0 +0/-0.030)
Ø 3.189 (Ø 81.0)
MDRIVE34
Gearbox Lengths Inches (mm)
1-Stage 2-Stage 3-Stage
k1 Gearbox 4.315
(109.6) 5.169 (131.3) 6.024 (153.0)
k2 Gearbox w/
NEMA Flange 4.433 (112.6) 5.287 (134.3) 6.142 (156.0)

MDrive34 Microstepping Datasheet REV121704 5
Ø 0.5512 +0/-0.0005
(Ø 14.0 +0/-0.013)
LMAX
3.73
(94.7)
0.512 ±0.004
(13.0 ±0.1)
0.984 ±0.01
(25.0 ±0.25)
0.08 (2.0)
0.39
(10.0)
4X Ø 0.22 (Ø 5.5)
2.739 ±0.01 SQ.
(69.58 ±0.25 SQ.)
3.40 SQ.
(86.4 SQ.)
Ø 2.874 ±0.002
(Ø 73.0 ±0.05)
12.0" (30.5 cm)
Flying Leads
LMAX2
1.46 ±0.04
(37.0 ±1.0)
2.07
(52.6)
2.33
(59.2)
MDRIVE34 MICROSTEPPING – MECHANICAL SPECIFICATIONS
Dimensions in Inches (mm)
Rotary MDrive34: Single Shaft, Control Knob & Encoder Versions
Linear Actuator MDrive34
4X Ø 0.26
(Ø 6.6)
2.730 ±0.008 SQ.
(69.34 ±0.2 SQ.)
3.40 SQ.
(86.4 SQ.)
Ø 2.875 +0/-0.002
(Ø 73.03 +0/-0.05)
7/16-14
UNC-2A THREAD
0.625
(15.88)
4.46
(113.3)
3.73
(94.7)
0.06
(1.5)
0.39
(10.0)
12.0" (30.5 cm)
Flying Leads
6.00
(152.4)
2.33
(59.2)
2.07
(52.6)
0.71
(18.0)
0.1
(2.5)
Ø 0.30
(Ø 7.6)
MDrive Lengths Inches (mm)
LMAX LMAX2
SINGLE SHAFT or
ENCODER VERSION CONTROL KNOB VERSION
Stack Size
3424 3.81 (96.8) 4.97 (126.2)
3431 4.60 (116.8) 5.76 (146.3)
3447 6.17 (156.7) 7.34 (186.4)
LMAX2 –
Control Knob
Ø 1.90
(Ø 48.3)
P1P2
Flying Leads
10 Pin Connector
MDrive34 Top View

24 = Single Stack
†
B = 0.0025”
A = 0.005”
C = 0.00125”
MDMF 34
Stack Sizes
29 = Linear Actuator
31 = Double Stack
47 = Triple Stack
†
N
S = Single End
D = Differential
Line Count
100, 200, 250, 400, 500, 1000
L
E
Screw Type (Travel/Full Step)
Internal
Encoder
Control
Knob
Linear
Actuator
†
Stack Size 29 is only available as a Linear Actuator and is the ONLY size Linear Actuator offered. (MDMF3429LX)
MDRIVE34 MICROSTEPPING OPTIONS
Example #1: Part Number MDMF3431 is an MDrive34
Microstepping with Flying Leads, NEMA 34 motor, stack size 31.
Example #4: MDMF3431ED500
Adds a 500 line count internal Differential
Encoder to the part shown in example #1.
Example #2: MDMF3431N
Adds a Control Knob
to the part shown in example #1.
Example #5: MDMF3429LA10.5
MDrive34 Microstepping Linear Actuator
with a 0.005”/Full Step Acme
Screw custom cut to 10.5”.
MAY NOT be combined with other options.
Note: MDrive34 Linear Actuator
Available ONLY in Stack Size 29
Custom Screw Length
Range 2.0” to 24.0”
Format XX.X
eg. 08.5 for an 8.5” Screw
(6.0” Screw Length Standard)
OPTION
Planetary
Gearbox
Example #3: MDMF3431G5
Rounding ratio to the nearest whole number,
the above adds a Planetary Gearbox with
5.18:1 ratio to the part shown in example #1.
Add -F if optional NEMA Flange is desired.
D = 0.000625”
E = 0.0005”
G
Gearbox Ratio
Rounded to Nearest Whole Number
ORDER INFORMATION
Control Knob
The MDrive34 is available with a factory-mounted rear
control knob for manual shaft positioning.
Planetary Gearbox
Efficient, low maintenance Planetary Gearbox are of-
fered assembled with the MDrive34. Details inside.
Encoder
The MDrive34 is available with a factory-mounted in-
ternal optical encoder. Available line counts are 100,
200, 250, 400, 500 or 1000. All encoders, except
the 1000 line, have an index mark. Encoders are avail-
able in both single-end and differential configurations.
Linear Actuator
The MDrive34 with long life Acme Screw Linear Actua-
tor is available with the following travel/full step:
MDRIVE34 MICROSTEPPING – OPTIONS
Screw A ............. 0.005”/full step
Screw B .............0.0025”/full step
Screw C .............0.00125”/full step
Screw D .............0.000625”/full step
Screw E .............0.0005"/full step
Standard screw length is 6.0” (152.4mm) plus the
mounting end thread. Custom lengths up to 24.0”
are available without mounting end thread.
Linear Actuators are Non-Captive style. Contact the
factory regarding Captive Shaft or External styles.
Parameter Setup Cable
A low cost accessory which eliminates the need for
users to wire communications. This 6' (1.8m) cable
includes built-in logic level shifting circuitry to accom-
modate the 3.3v ports on some PCs and plugs in
easily to connect a standard DB-25 PC parallel/SPI
port to the MDrive's 10 pin pin-header (P2). Order
Cable Part No. MD-CC100-000.
© 2002, 2004 Intelligent Motion Systems, Inc. All Rights Reserved. REV121704
P.O. Box 457, 370 N. Main Street
Marlborough, CT 06447 U.S.A.
Phone: [phone]
Fax: [phone]
E-mail: [email protected]
Home Page: www.imshome.com
TECHNICAL SUPPORT
Eastern U.S.
Phone: [phone]
Fax: [phone]
E-mail: [email protected]
Western U.S.
Phone: [phone]
Fax: [phone]
E-mail: [email protected]
IMS MOTORS DIVISION
105 Copperwood Way, Suite H
Oceanside, CA 92054
Phone: [phone]
Fax: [phone]
E-mail: [email protected]
IMS EUROPE GmbH
Hahnstrasse 10, VS-Schwenningen
Germany D-78054
Phone: [phone]
Fax: [phone]
E-mail: [email protected]
European Sales Management
4 Quai Des Etroits
69005 Lyon, France
Phone: [phone]
Fax: [phone]
E-mail: bmar[email protected]
German Sales/Technical Support
Phone: [phone]
Fax: [phone]
E-mail: [email protected]
Product information covered by IMS Product Disclaimer available at www.imshome.com.
Visit the IMS web site for the most up-to-date product information.
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