Intelligent Motion Systems MDrive17Plus Application guide

Hardware
REFEREnCE
Excellence in Motion
www.imshome.com
TM
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17 TM
23TM

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
MDrivePlus Motion Control Hardware Reference Revision R052506
Copyright © 2006 Intelligent Motion Systems, Inc., All Rights Reserved
MDrive34Plus Motion Control Hardware Reference Change Log
Date Revision Changes
05/04/2006 R050406 Removed Ambient Temperature Specication
05/25/2006 R052506 Replaced USB to RS-422 Comminications Cable driver installation instructions in Appendix F with instructions relevant
to Windows XP Service Pack 2.

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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
Testing the MDrivePlus Motion Control................................................................................... 1-3
Apply Power to 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: MDrive17Plus Motion Control Product Introduction ....................................................1-6
Introduction to the MDrive17Plus Motion Control System...................................................... 1-6
Standard Feature Summary.................................................................................................... 1-6
The MDrive17Plus Motion Control Key Differences and Enhanced Features........................... 1-7
Section 1.2: MDrive17Plus Detailed Specifications ........................................................................1-8
Standard Electrical Specifications .............................................................................................. 1-8
Thermal Specifications.............................................................................................................. 1-8
Standard Motion Specifications................................................................................................. 1-8
Software Specifications .............................................................................................................. 1-9
Motor Specifications ................................................................................................................. 1-9
P1 Connector - I/O and Power Connections .......................................................................... 1-10
Mechanical Specifications........................................................................................................ 1-10
Pin/Wire Assignments............................................................................................................. 1-10
P2 Connector - RS-422/485 Communications ...................................................................... 1-11
Options and Accessories.......................................................................................................... 1-11
Section 1.3: MDrive17Plus2 Detailed Specifications ....................................................................1-12
Standard Electrical Specifications ............................................................................................ 1-12
Enhanced Electrical Specifications........................................................................................... 1-12
Thermal Specifications............................................................................................................ 1-12
Standard Motion Specifications............................................................................................... 1-13
Enhanced Motion Specifications ............................................................................................. 1-13
Software Specifications ............................................................................................................ 1-13
Motor Specifications ............................................................................................................... 1-14
Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-14
P1 Connector - I/O and Power Connections .......................................................................... 1-15
Pin/Wire Assignments............................................................................................................. 1-15
P2 Connector - RS-422/485 Communications ...................................................................... 1-15
Options and Accessories.......................................................................................................... 1-16
Section 1.4: MDrive17Plus2-65 Detailed Specifications ...............................................................1-17
Standard Electrical Specifications ............................................................................................ 1-17
Enhanced Electrical Specifications........................................................................................... 1-17
Thermal Specifications............................................................................................................ 1-17
Standard Motion Specifications............................................................................................... 1-18
Enhanced Motion Specifications ............................................................................................. 1-18
Software Specifications ............................................................................................................ 1-18
Motor Specifications ............................................................................................................... 1-19
Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-19
Pin/Wire Assignments............................................................................................................. 1-20
P1 Connector - I/O and Power Connections..................................................................1-20
P2 Connector - RS-422/485 Communications...............................................................1-21
Options and Accessories.......................................................................................................... 1-21

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Section 1.5: MDrive23Plus Motion Control Product Introduction ..................................................1-22
Introduction to the MDrive23Plus Motion Control System.................................................... 1-22
Standard Feature Summary ..................................................................................................... 1-22
The MDrive23Plus Motion Control Key Differences and Enhanced Features......................... 1-23
Section 1.6: MDrive23Plus Detailed Specifications ......................................................................1-24
Standard Electrical Specifications ............................................................................................ 1-24
Thermal Specifications............................................................................................................ 1-24
Standard Motion Specifications............................................................................................... 1-24
Software Specifications ............................................................................................................ 1-25
Motor Specifications ............................................................................................................... 1-25
Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-26
Pin/Wire Assignments............................................................................................................. 1-26
P1 Connector - I/O and Power Connections .......................................................................... 1-26
P2 Connector - RS-422/485 Communications ...................................................................... 1-27
Options and Accessories.......................................................................................................... 1-27
Section 1.7: MDrive23Plus2 Detailed Specifications ....................................................................1-28
Standard Electrical Specifications ............................................................................................ 1-28
Enhanced Electrical Specifications........................................................................................... 1-28
Thermal Specifications............................................................................................................ 1-28
Standard Motion Specifications............................................................................................... 1-29
Enhanced Motion Specifications ............................................................................................. 1-29
Software Specifications ............................................................................................................ 1-29
Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-30
Motor Specifications ............................................................................................................... 1-30
Pin/Wire Assignments............................................................................................................. 1-31
P1 Connector - I/O and Power Connections .......................................................................... 1-31
P2 Connector - RS-422/485 Communications ...................................................................... 1-31
Options and Accessories.......................................................................................................... 1-32
Section 1.8: MDrive23Plus2-65 Detailed Specifications ...............................................................1-33
Standard Electrical Specifications ............................................................................................ 1-33
Enhanced Electrical Specifications........................................................................................... 1-33
Thermal Specifications............................................................................................................ 1-33
Standard Motion Specifications............................................................................................... 1-34
Enhanced Motion Specifications ............................................................................................. 1-34
Software Specifications ............................................................................................................ 1-34
Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-35
Motor Specifications ............................................................................................................... 1-35
Pin/Wire Assignments............................................................................................................. 1-36
P1 Connector - I/O and Power Connections .......................................................................... 1-36
P2 Connector - RS-422/485 Communications ...................................................................... 1-37
Options and Accessories.......................................................................................................... 1-37
Section 1.9: MDrive17Plus CANopen ..............................................................................................1-38
Standard Electrical Specifications ............................................................................................ 1-38
Thermal Specifications............................................................................................................ 1-38
Motor Specifications ............................................................................................................... 1-38
Mechanical Specifications (Non-Sealed Versions)Dimensions in Inches (mm)......................... 1-39
P1 Connector - I/O and Power Connections - Plus Versions ................................................... 1-39
P1 Connector - I/O and Power Connections - Plus2 Versions ................................................. 1-40
P2 Connector - CANopen Communications .......................................................................... 1-40
Mechanical Specifications (Sealed -65 Version)........................................................................ 1-41
Pin/Wire Assignments............................................................................................................. 1-41
P1 Connector - I/O and Power Connections .......................................................................... 1-41
P2 Connector - CANOpen Communications......................................................................... 1-42
Section 1.10: MDrive23Plus CANopen ............................................................................................1-43
Standard Electrical Specifications ............................................................................................ 1-43
Thermal Specifications............................................................................................................ 1-43
Motor Specifications ............................................................................................................... 1-43
Mechanical SpecificationsDimensions in Inches (mm) ............................................................ 1-44

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P1 Connector - I/O and Power Connections - Plus Versions ................................................... 1-44
P1 Connector - I/O and Power Connections - Plus2 Versions ................................................. 1-45
P2 Connector - CANopen Communications .......................................................................... 1-45
Mechanical Specifications (Sealed -65 Version)........................................................................ 1-46
P1 Connector - I/O and Power Connections -65 Version........................................................ 1-46
P2 Connector - CANopen Communications - M12 Connector.............................................. 1-47
Part 2: Connecting and Interfacing
Section 2.1: MDrivePlus Mounting and Connection Recommendations ...........................................2-3
Mounting Recommendations.................................................................................................... 2-3
MDrive23Plus Microstepping................................................................................................. 2-3
DC Power Recommendations ................................................................................................... 2-3
MDrive17Plus Motion Control .............................................................................................. 2-3
MDrive23Plus Motion Control .............................................................................................. 2-3
Layout and Interface Guidelines................................................................................................ 2-3
Recommended Wiring ............................................................................................................ 2-4
Recommended Mating Connectors and Pins............................................................................. 2-4
Securing Power Leads and Logic Leads .................................................................................... 2-4
Section 2.2: Interfacing MDrivePlus Communications .....................................................................2-5
Available Communications Cables/Converters .......................................................................... 2-5
Interfacing Single Mode Communications ................................................................................ 2-5
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 ........................................................................................... 2-7
MDrivePlus Motion Control Communication Format ............................................................. 2-7
MDrivePlus Motion Control (MDI) Response to Echo Mode .................................................... 2-8
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 - All MDrivePlus Motion Control Models ................................................... 2-12
Enhanced I/O Set - MDrivePlus2/Plus2-65........................................................................... 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 Connection Map ................................................................ 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

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Appendices
Appendix A: MDrivePlus Motion Control Motor Performance ......................................................... A-3
MDrive17Plus Motor Specifications..........................................................................................A-3
MDrive17Plus Speed-Torque ....................................................................................................A-3
MDrive23Plus 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: MDrive with Planetary Gearbox.................................................................................. 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
MDrive17Plus with Planetary Gearbox ...................................................................................A-15
MDrive23Plus with Planetary Gearbox ...................................................................................A-16
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
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
Appendix E: MDrivePlus Motion Control Closed Loop Control...................................................... A-24
MDrive Motion Control Closed Loop Options.......................................................................A-24
Internal Encoder .......................................................................................................... A-24
Remote Encoder............................................................................................................ A-25
Appendix F: Optional Cables and Cordsets..................................................................................... A-25
Communications Converter Cables.........................................................................................A-25
USB to 10-Pin IDC (MD-CC400-000)...............................................................................A-25
USB to 5-Pin M12 (MD-CC401-000) (Sealed Version)........................................................A-26
Installation Procedure for the MX-CC40x-000 .......................................................................A-27
Installing the Cable/VCP Drivers..........................................................................................A-27
Determinig the Virtual COM Port (VCP).............................................................................A-29
Prototype Development Cable for MDrive17Plus2 - PN PD16-1417-FL3 .............................A-30
Cordsets (Sealed Version Only) ...............................................................................................A-31

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List of Figures
Part 1: Hardware Specifications
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
Figure 1.1.1: MDrive17Plus...................................................................................................... 1-6
Figure 1.1.2: MDrive17Plus2-65............................................................................................... 1-6
Figure 1.2.1: MDrive17Plus Mechanical Specifications ........................................................... 1-10
Figure 1.2.2: P1 - 12 in/304.8 cm Flying Leads....................................................................... 1-10
Figure 1.2.3: P1 7-Pin Pluggable Connector ........................................................................... 1-10
Figure 1.2.4: P2 10-Pin IDC Communications Connector ..................................................... 1-11
Figure 1.2.5: P2 10-Pin Wire Crimp Communications Connector ......................................... 1-11
Figure 1.3.1: MDrive17Plus2 Mechanical Specifications ......................................................... 1-14
Figure 1.3.2: P1 16-Pin Wire Crimp - Enhanced I/O Configuration ...................................... 1-15
Figure 1.3.3: P1 16-Pin Wire Crimp - Optional Remote Encoder Configuration.................... 1-15
Figure 1.3.4: P2 10-Pin IDC Communications Connector ..................................................... 1-15
Figure 1.3.5: P2 10-Pin Wire Crimp Communications Connector ......................................... 1-15
Figure 1.4.1: MDrive17Plus2-65 Motion Control................................................................... 1-19
Figure 1.4.2: P1 19-Pin M23 (male) - Enhanced I/O Configuration....................................... 1-20
Figure 1.4.3: P1 19-Pin M23 (male) - Optional Remote Encoder Configuration .................... 1-20
Figure 1.4.4: P2 5-Pin M12 (Female) RS-422/485 Communications Connector .................... 1-21
Figure 1.5.1: MDrive23Plus.................................................................................................... 1-22
Figure 1.5.2: MDrive23Plus2-65............................................................................................. 1-22
Figure 1.6.1: MDrive23Plus Mechanical Specifications ........................................................... 1-26
Figure 1.6.2: P1 12 in/304.8 cm Flying Leads......................................................................... 1-26
Figure 1.6.3: P1 7-Pin Pluggable Connector ........................................................................... 1-26
Figure 1.6.4: P2 10-Pin IDC Communications Connector ..................................................... 1-27
Figure 1.6.5: P2 10-Pin Wire Crimp Communications Connector ......................................... 1-27
Figure 1.7.1: MDrive23Plus2 Mechanical Specifications ......................................................... 1-30
Figure 1.7.2: P1 14 Pin Wire Crimp - Enhanced I/O Configuration...................................... 1-31
Figure 1.7.3: P1 14-Pin Wire Crimp - Optional Remote Encoder Configuration.................... 1-31
Figure 1.7.4: P2 10-Pin IDC Communications Connector ..................................................... 1-31
Figure 1.7.5: P2 10-Pin Wire Crimp Communications Connector ......................................... 1-31
Figure 1.8.1: MDrive23Plus2-65 Motion Control................................................................... 1-35
Figure 1.8.2: P1 19-Pin M23 (male) - Enhanced I/O Configuration....................................... 1-36
Figure 1.8.3: P1 19-Pin M23 (male) - Optional Remote Encoder Configuration .................... 1-36
Figure 1.8.4: P2 5-Pin M12 (Female) RS-422/485 Communications Connector .................... 1-37
Figure 1.9.1: MDrive17Plus Motion Control CANopen Mechanical Specifications................ 1-39
Figure 1.9.2: P1 - 12 in/304.8 cm Flying Leads....................................................................... 1-39
Figure 1.9.3: P1 7-Pin Pluggable Connector ........................................................................... 1-39
Figure 1.9.4: P1 16-Pin Wire Crimp - Enhanced I/O Configuration ...................................... 1-40
Figure 1.9.5: P1 16-Pin Wire Crimp - Optional Remote Encoder Configuration.................... 1-40
Figure 1.9.6: P2- DB-9 CANopen Communications............................................................... 1-40
Figure 1.9.7: CANopen Network using MDrivePlus Motion Control..................................... 1-40
Figure 1.9.8: MDrive17Plus2-65 Motion Control................................................................... 1-41
Figure 1.9.9: P1 19-Pin M23 (male) - Enhanced I/O Configuration....................................... 1-41
Figure 1.9.10: P1 19-Pin M23 (male) - Optional Remote Encoder Configuration .................. 1-41
Figure 1.9.11: P2 5-Pin M12 (Female) RS-422/485 Communications Connector .................. 1-42
Figure 1.10.2: P1 - 12 in/304.8 cm Flying Leads..................................................................... 1-44
Figure 1.10.1: MDrive23Plus2 Mechanical Specifications........................................................ 1-44
Figure 1.10.2: P1 - 12 in/304.8 cm Flying Leads..................................................................... 1-44
Figure 1.10.3: P1 7-Pin Pluggable Connector ......................................................................... 1-44
Figure 1.10.4: P1 14 Pin Wire Crimp - Enhanced I/O Configuration.................................... 1-45
Figure 1.10.5: P1 14-Pin Wire Crimp - Optional Remote Encoder Configuration,................. 1-45
Figure 1.10.6: P2- DB-9 CANopen Communications............................................................. 1-45
Figure 1.10.7: MDrive23Plus2-65 Motion Control................................................................. 1-46
Figure 1.10.8: P1 19-Pin M23 (male) - Enhanced I/O Configuration..................................... 1-46
Figure 1.10.9: P1 19-Pin M23 (male) - Optional Remote Encoder Configuration .................. 1-46
Figure 1.10.10: P2 5-Pin M12 (Male) CANopen Communications Connector ...................... 1-47
Figure 1.10.11: CANopen Network using MDrivePlus Motion Control................................. 1-47
Figure 2.1.2: MDrive23Plus Motion Control Current Requirements ........................................ 2-3
Figure 2.1.1: MDrive17Plus Mounting Screw Depth ................................................................ 2-3
Figure 2.1.3: MDrive Motion Control Power Connections ....................................................... 2-4
Figure 2.1.4: Typical MDrive Shown with Leads Secured .......................................................... 2-4

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Part 2: Connecting and Interfacing
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: I/O Connection Map ......................................................................................... 2-15
Figure 2.3.3: Sinking Input Example using a Push Button Switch ........................................... 2-16
Figure 2.3.4: Sourcing Input Example using a Push Button Switch ......................................... 2-17
Figure 2.3.5: Sinking Output Example.................................................................................... 2-18
Figure 2.3.6: Switch Interface to Input, Sinking ...................................................................... 2-19
Figure 2.3.7 Sourcing Input Example using a Push Button Switch .......................................... 2-20
Figure 2.3.8: Sinking Output Example.................................................................................... 2-21
Figure 2.3.9: Sourcing Output Example.................................................................................. 2-22
Figure 2.3.10: MDrivePlus Motion Control Clock Functions ................................................. 2-23
Figure 2.3.11: Analog Input - Voltage Mode ........................................................................... 2-24
Figure 2.3.12: Analog Input - Current Mode .......................................................................... 2-25
Appendices
Figure A.1: MDrive17Plus Motion Control Speed-Torque Curves ............................................A-3
Figure A.2: MDrive23Plus 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 MDrive17Plus.............................................A-15
Figure C.8: Planetary Gearbox Specifications for MDrive23Plus.............................................A-16
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-24
Figure F.1: MD-CC400-000 ...................................................................................................A-25
Figure F.2: MD-CC400-000 Mechanical Specifications ..........................................................A-25
Figure F.3: Typical Communications Interface.........................................................................A-26
Figure F.4: MD-CC401-000 ...................................................................................................A-26
Figure F.5: MD-CC401-000 Mechanical Specifications ..........................................................A-27
Figure F.6: Typical Communications Interface........................................................................A-27
Figure F.7: Hardware Update Wizard ......................................................................................A-27
Figure F.8: Hardware Update Wizard Screen 2 ........................................................................A-28
Figure F.9: Hardware Update Wizard Screen 3 ........................................................................A-28
Figure F.10: Windows Logo Compatibility Testing..................................................................A-28
Figure F.11: Hardware Update Wizard Finish Installation .......................................................A-28
Figure F.12: Hardware Properties ............................................................................................A-29
Figure F.13: Windows Device Manager ...................................................................................A-29
Figure F.14: Prototype Development Cable PD16-1417-FL3..................................................A-30
Figure F.15: Prototype Development Cable PD16-1417-FL3 Mechanical Specifications .........A-30
Figure E.9: MD-CS10x-000....................................................................................................A-31

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List Of Tables
Part 1: Hardware Specifications
Table 1.2.1: MDrive17Plus P1 I/O and Power ........................................................................ 1-10
Table 1.2.2: MDrive17Plus P2 RS-422/485 Communications................................................ 1-11
Table 1.3.1: MDrive17Plus2 P1 16-Pin Wire Crimp............................................................... 1-15
Table 1.3.2: MDrive17Plus2 P2 RS-422/485 Communications.............................................. 1-15
Table 1.4.1: MDrive17Plus2-65 P1 19-Pin M23 Connector................................................... 1-20
Table 1.4.2: MDrive17Plus2-65 P2 - RS-422/485 Communications ...................................... 1-21
Table 1.6.1: MDrive23Plus P1 I/O and Power ........................................................................ 1-26
Table 1.6.2: MDrive23Plus P2 RS-422/485 Communications................................................ 1-27
Table 1.7.1: MDrive23Plus2 P1 & P3 14-Pin Wire Crimp and 2-Pin Wire Crimp................. 1-31
Table 1.7.2: MDrive23Plus2 P2 RS-422/485 Communications.............................................. 1-31
Table 1.8.1: MDrive23Plus2-65 P1 19-Pin M23 Connector................................................... 1-36
Table 1.8.2: MDrive23Plus2-65 P2 RS-422/485 Communications......................................... 1-37
Table 1.9.1: MDrive17Plus P1 I/O and Power ........................................................................ 1-39
Table 1.9.2: MDrive17Plus2 P1 16-Pin Wire Crimp............................................................... 1-40
Table 1.9.3: MDrive17Plus P2 CANopen Communications ................................................... 1-40
Table 1.9.4: MDrive17Plus2-65 P2 - CANopen Communications.......................................... 1-42
Table 1.9.5: MDrive17Plus2-65 P1 19-Pin M23 Connector................................................... 1-42
Table 1.10.1: MDrive17Plus P1 I/O and Power ...................................................................... 1-45
Table 1.10.2: MDrive23Plus2 P1 & P3 14-Pin Wire Crimp and 2-Pin Wire Crimp............... 1-45
Table 1.10.3: MDrive23Plus P2 CANopen Communications ................................................. 1-45
Table 1.10.4: MDrive17Plus2-65 P1 19-Pin M23 Connector................................................. 1-47
Table 1.10.5: MDrive17Plus2-65 P2 - CANopen Communications........................................ 1-47
Part 2: Connecting and Interfacing
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 2.3.2: Programmable Input Functions ........................................................................... 2-13
Table 2.3.3: Dedicated Input Functions .................................................................................. 2-13
Table 2.3.4: Programmable Output Functions ........................................................................ 2-14
Table 2.3.5: Dedicated Output Functions ............................................................................... 2-14
Table 2.3.6: MDrivePlus Motion Control I/O and Protection Ratings.................................... 2-15
Appendices
Table B.1: Recommended Supply Cables ..................................................................................A-5
Table C.1: Planetary Gearbox Operating Factor ........................................................................A-9
Table C.2: Planetary Gearbox Inertia Moments.......................................................................A-14
Table D.1: Output Bit Weight Examples - Outputs set as a group...........................................A-23
Table F.1: MD-CC400-000 Electrical Specifications ...............................................................A-25
Table F.2: MD-CC401-000 Electrical Specifications ...............................................................A-26
Table F.3: PD16-1417-FL3 Wire Color Codes........................................................................A-30
Table E.4: MD-CS10x-000 Wire Color Chart ........................................................................A-31

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1-1
Part 1: Hardware Specications
Getting 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.
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 Unregulated Power Supply (See specifications for your exact MDrivePlus Motion Control and
required voltage.)
• Basic Tools: Wire Cutters / Strippers / Screwdriver
• Wire for Power Supply (See specifications for your exact MDrivePlus Motion Control.)
• A PC with Windows 9x, Windows 2000, Windows XP Service Pack 2
• 10 MB hard drive space
• A free serial communications 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.

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Part 1: Hardware Specications
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”.
W A R N I N G :
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

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Part 1: Hardware Specications
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

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Part 1: Hardware Specications
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

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Part 1: Hardware Specications
TM
Excellence in Motion
Section 1.1: MDrive17Plus Motion Control Product Introduction
Section 1.2: MDrive17Plus Motion Control Detailed Specications
Section 1.3: MDrive17Plus2 Motion Control Detailed Specications
Section 1.4: MDrive17Plus2-65 Motion Control Detailed Specications
Section 1.5: MDrive23Plus Motion Control Product Introduction
Section 1.6: MDrive23Plus Motion Control Detailed Specications
Section 1.7: MDrive23Plus2 Motion Control Detailed Specications
Section 1.8: MDrive23Plus2-65 Motion Control Detailed Specications
Part 1:
Hardware
Specifications
TM


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Part 1: Hardware Specications
Section 1.1
MDrive17Plus Motion Control Product Introduction
Introduction to the MDrive17Plus Motion Control System
The MDrive17Plus Motion Control offers system
designers a low cost, intelligent motion controller
integrated with a NEMA 17 high torque brushless
motor and a +12 to +48 volt microstepping driver.
The unsurpassed smoothness and performance
delivered by the MDrive17Plus Motion Control are
achieved through IMS's advanced 2nd generation
current control. By applying innovative techniques
to control current flow through the motor, resonance
is significantly dampened over the entire speed range
and audible noise is reduced.
The MDrive17Plus accepts a broad input voltage
range from +12 to +48 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 operating temperature range of –40° to +85°C provides long life, trouble free service
in demanding environments.
Standard features available in the MDrive17Plus 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
revolution, and full featured easy-to-program instruction set.
Expanded features in the MDrive17Plus2 version include up to 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 electronically controlled ratio,
or an output clock can be generated fixed to the internal step clock.
For use in environments where exposure to chemical, dust and liquids may occur, a sealed assembly
MDrive17Plus2-65 version is designed to meet IP65 speci-
fications.
All MDrive17Plus 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 MDrive17Plus2
versions only, closed loop control is available with an inter-
face 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 are available in three motor
lengths. Interface connections are accomplished using 12.0”
(30.5cm) flying leads or a 7 position terminal strip. Plus2 versions come with pluggable locking wire crimp con-
nectors. Plus2-65 sealed versions come with M12/M23 circular connectors.
The MDrive17Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and
assembly time for a large range of brushless motor applications
Standard Feature Summary
n Highly Integrated Microstepping Driver, Motion Controller and NEMA 17 High Torque Brushless
Motor
n Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
n Single Supply: +12 to +48 VDC
n Low Cost
n Extremely Compact
Note: The
MDrivePlus Motion
Control is available
in a CAN communications
conguration. For more
information and Hardware
Specications see Appendix G
of this document.
For detailed descriptions of
supported CANopen objects
please refer to the MDrive
CANpen Software Reference.
Figure 1.1.1: MDrive17Plus
Figure 1.1.2: MDrive17Plus2-65

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Part 1: Hardware Specications
n Available Options:
- Internal Magnetic Encoder for Closed Loop Control
- Integrated Planetary Gearbox
- Control Knob for Manual Positioning
- Linear Slide
n Three Rotary Motor Lengths Available
n Auxiliary Logic Power Supply Input
n 20 Microstep Resolutions up to 51,200 Steps Per Rev Including: Degrees, Metric, Arc Minutes
n Open or Optional Closed Loop Control
n Programmable Motor Run and Hold Currents
n Four +5 to +24 VDC I/O Lines Accept Sourcing or Sinking Outputs
n One 10 Bit Analog Input Selectable: 0 to +10 VDC, 0 to +5 VDC, 0-20 mA, 4-20 mA
n 0 to 5MHz Step Clock Rate Selectable in 0.59Hz Increments
n RS-422/485 Communications
n 62 Software Addresses for Multi-Drop Communications
n Simple 1 to 2 Character Instructions
n Interface Options:
- Pluggable Terminal Strip
- 12.0” (30.5cm) Flying Leads
The MDrive17Plus Motion Control Key Differences and Enhanced Features
There are three different variants of the MDrive17Plus Motion Control, these are:
1. MDrive17Plus Motion Control
The MDrive17Plus Motion Control is the standard version of the MDrive17Plus and is drop-in
compatible with the legacy MDrive17 Motion Control product. The key feature additions from
the original MDrive17 Motion Control are:
n Improved current control.
n 20 Microstep resolutions to 51,200 steps per rev including degrees, metric and arc minutes.
n 4 +5 to +24 VDC I/O lines which accept sinking or sourcing inputs.
n One 0 to +10 VDC Analog input.
n Optional pluggable strip for interface.
See Section 1.2 of this document for detailed specifications on the MDrive17Plus Motion Control.
2. MDrive17Plus2 Motion Control
The MDrive17Plus2 Motion Control adds expanded functionality to the MDrive17Plus in the
form of:
n Enhanced and expanded I/O set (8 lines) which can be configured as sinking or sourcing inputs or
outputs.
n Remote Encoder option (Reduces I/O set to 4 lines).
n High speed position capture input or trip output.
n Pluggable wire crimp interface.
n Electronic gearing.
See Section 1.3 of this document for detailed specifications on the MDrive17Plus2 Motion Control.
3. MDrive17Plus2-65 Motion Control
The MDrive17Plus2-65 Motion Control adds protection against the ingress of fluids and dust to
the MDrive17Plus2 by changing the motor-drive enclosure to meet IP65 specifications. With this
change the connector configuration changes to industry standard M12/M23 circular connectors.
See Section 1.4 of this document for detailed specifications on the MDrive17Plus2-65 Motion Control.

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Part 1: Hardware Specications
WARNING!
The maximum
+48 VDC Input
Voltage of the
MDrive17Plus 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.
SECTION 1.2
MDrive17Plus Detailed Specications
Standard Electrical Specifications
Input Voltage (+V)
Range....................................................................................................................+12 to +48 VDC
Power supply current requirements (max. per MDrive17Plus).....................................................2A
(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
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
Motor Temperature ............................................................................................100°C (maximum)
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, Magnetic
Resolution............................................................................512 Lines/2048 counts per Revolution

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Part 1: Hardware Specications
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 109 Steps 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................................................................................................ 32 oz-in/22.6 N-cm
Detent Torque............................................................................................... 1.66 oz-in/1.17 N-cm
Rotor Inertia ................................................................................0.00053 oz-in-sec2/0.038kg-cm2
Weight (Motor + Driver)...........................................................................................9.8 oz/277.8 g
Double Length
Holding Torque................................................................................................ 60 oz-in/42.4 N-cm
Detent Torque............................................................................................... 2.08 oz-in/1.47 N-cm
Rotor Inertia ................................................................................0.00080 oz-in-sec2/0.057kg-cm2
Weight (Motor + Driver).........................................................................................10.5 oz/297.7 g
Triple Length
Holding Torque............................................................................................. 74.9 oz-in/52.9 N-cm
Detent Torque............................................................................................... 3.47 oz-in/2.45 N-cm
Rotor Inertia ................................................................................0.00116 oz-in-sec2/0.082kg-cm2
Weight (Motor + Driver).........................................................................................15.1 oz/428.1 g
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.

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Part 1: Hardware Specications
Mechanical Specications
Dimensions in Inches (mm)
Pin/Wire Assignments
P1: I/O & POWER CONNECTOR
Pluggable
Terminal Strip
Flying Leads
Wire Colors Function
Pin 1 White/Yellow I/O 1
Pin 2 White/Orange I/O 2
Pin 3 White/Violet I/O 3
Pin 4 White/Blue I/O 4
Pin 5 Green Analog Input
Pin 6 Black Power/Aux-Ground
Pin 7 Red +V (+12 to +48 VDC)
P1 Connector Options
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LMAX LMAX2
Motor Length SINGLE SHAFT or
ENCODER VERSION
CONTROL
KNOB VERSION
Single 2.20 (55.9) 2.79 (70.9)
Double 2.43 (61.7) 3.02 (76.7)
Triple 2.77 (70.4) 3.37 (85.6)
MDrive17Plus Lengths Inches (mm)
Ø 0.97
(Ø 24.6)
Control Knob
LMAX2 Option
7-Pin Pluggable Clamp
Type Terminal Strip
Flying Leads
P2 Connector Options MDrivePlus
10-Pin IDC


10-Pin Friction Lock
Wire Crimp
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
Figure 1.2.1: MDrive17Plus Mechanical Specifications
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P1
1
2
3
4
5
6
7
+V (+12 to +48 VDC)
Power Ground
I/O 1
I/O 2
I/O 3
I/O 4
Analog Input
Table 1.2.1: MDrive17Plus P1 I/O and Power
Figure 1.2.2: P1 - 12 in/304.8 cm Flying Leads Figure 1.2.3: P1 7-Pin Pluggable Connector
P1 Connector - I/O and Power Connections