Intelligent Motion Systems MDrive AC Plus Series User manual

Operating
Instructions
TM

TM
Excellence in Motion
www.imshome.com
34TM
MICROSTEPPING
42TM
MICROSTEPPING

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
MDriveAC Plus Microstepping
Revision R052506
Copyright © 2006 Intelligent Motion Systems, Inc.
All Rights Reserved
MDriveAC Plus Motion Control Hardware Reference Change Log
Date Revision Changes
03/07/2006 R030706 Initial Release
04/13/2006 R041306 Corrected Motor+Driver weight specication for MDM34AC Plus, added notes on recommended mating connector for
the M23 19-pin connector P1. Added MD-CS10x-000 and MD-CS-20x-000 To Appendix C.
05/04/2006 R050406 Removed Ambient Temperature Specication
05/25/2006 R052506 Replaced USB to SPI Cable Driver Installation with instructions relavent to Windows XP Service Pack 2.

i
Table Of Contents
Getting Started: MDriveAC Plus Microstepping........................................................................1-1
Before You Begin....................................................................................................................... 1-1
Connecting AC Power............................................................................................................... 1-1
Connect Opto Power and Logic Inputs (See Section 2.1 for Details)......................................... 1-1
Connecting Parameter Setup Cable (See Section 2.2 for Details)............................................... 1-1
Install the IMS SPI Motor Interface (See Section 2.3 for Details).............................................. 1-1
Part 1: Hardware Specifications
Section 1.1: Introduction to the MDrive34AC Plus Microstepping..............................................1-5
Configuring .............................................................................................................................. 1-5
Features and Benefits................................................................................................................. 1-5
Section 1.1: MDrive34AC Plus Microstepping Detailed Specifications.......................................1-7
General Specifications ............................................................................................................... 1-7
Setup Parameters....................................................................................................................... 1-7
Mechanical Specifications - Dimensions in Inches (mm)........................................................... 1-8
Connector Specifications........................................................................................................... 1-8
Motor Specifications ................................................................................................................. 1-9
Internal Encoder............................................................................................................... 1-9
Control Knob................................................................................................................... 1-9
Planetary Gearbox............................................................................................................ 1-9
Parameter Setup Cable and Adapter ................................................................................ 1-10
Cordsets ......................................................................................................................... 1-10
Section 1.1: Introduction to the MDrive42AC Plus Microstepping...........................................1-11
Configuring ............................................................................................................................ 1-11
Features and Benefits............................................................................................................... 1-11
Section 1.2: MDrive42AC Plus Microstepping Detailed Specifications.....................................1-13
General Specifications ............................................................................................................. 1-13
Setup Parameters..................................................................................................................... 1-13
Mechanical Specifications - Dimensions in Inches (mm)......................................................... 1-14
Connector Specifications......................................................................................................... 1-14
Motor Specifications ............................................................................................................... 1-15
Internal Encoder............................................................................................................. 1-15
Control Knob................................................................................................................. 1-15
Parameter Setup Cable and Adapter ................................................................................ 1-15
Cordsets ......................................................................................................................... 1-15
Section 1.3: Logic Interface and Connection ...............................................................................2-3
MDriveAC Plus Microstepping Optically Isolated Logic Inputs................................................ 2-3
Isolated Logic Input Pins and Connections ............................................................................... 2-3
Isolated Logic Input Characteristics........................................................................................... 2-3
Enable Input.................................................................................................................... 2-3
Clock Inputs..................................................................................................................... 2-3
Optocoupler Reference.............................................................................................................. 2-5
Input Connection Examples...................................................................................................... 2-5
Open Collector Interface Example...................................................................................... 2-6
Switch Interface Example.................................................................................................. 2-6
Minimum Required Connections.............................................................................................. 2-6
Fault Output............................................................................................................................. 2-6
Part 2: Interfacing and Configuration
Section 2.1: SPI Connection and Interface .................................................................................2-8
Connecting the SPI Interface .................................................................................................... 2-8
SPI Signal Overview.................................................................................................................. 2-8
SPI Pins and Connections......................................................................................................... 2-9
SPI Master with Multiple MDriveAC Plus Microstepping ........................................................ 2-9

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iii
Section 2.2: Configuring the MDriveAC Plus Microstepping Using the IMS SPI Motor Interface2-10
Installation .............................................................................................................................. 2-10
Configuration Parameters and Ranges ..................................................................................... 2-10
IMS SPI Motor Interface Menu Options ................................................................................ 2-11
IMS SPI Motor Interface Button Functions ............................................................................ 2-11
Motion Settings Configuration Screen .................................................................................... 2-12
MSEL (Microstep Resolution Selection)............................................................................ 2-12
HCDT (Hold Current Delay Time) ................................................................................ 2-13
MRC (Motor Run Current) ............................................................................................ 2-13
MHC (Motor Hold Current) .......................................................................................... 2-13
DIR (Motor Direction) ................................................................................................... 2-13
User ID ......................................................................................................................... 2-13
IO Settings Configuration Screen............................................................................................ 2-13
Input Clock Type ............................................................................................................ 2-14
Input Clock Filter........................................................................................................... 2-14
Warning Temperature ..................................................................................................... 2-14
IMS Part Number/Serial Number Screen ................................................................................ 2-14
Fault Indication....................................................................................................................... 2-15
Upgrading the Firmware in the MDriveAC Plus Microstepping.............................................. 2-15
The IMS SPI Upgrader Screen...................................................................................... 2-15
Upgrade Instructions..................................................................................................... 2-16
Section 2.3: Configuring the MDriveAC Plus Microstepping Using User-Defined SPI...............2-17
SPI Timing Notes.................................................................................................................... 2-17
Check Sum Calculation for SPI............................................................................................... 2-17
SPI Commands and Parameters .............................................................................................. 2-18
SPI Communications Sequence .................................................................................... 2-19
Appendices
Appendix A: MDriveAC Plus Microstepping Motor Performance ............................................... A-3
MDrive34AC Plus Microstepping.............................................................................................A-3
Speed-Torque Curves ........................................................................................................A-3
Motor Specifications .........................................................................................................A-3
MDrive42AC Plus Microstepping.............................................................................................A-4
Speed-Torque Curves ........................................................................................................A-4
Motor Specifications .........................................................................................................A-5
Appendix B: 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
MDrive34AC Plus2 with Planetary Gearbox...........................................................................A-15
Appendix C: Optional Cables and Cordsets.............................................................................. A-16
MD-CC300-000: USB to SPI Parameter Setup Cable ............................................................A-16
Installation Procedure for the MD-CC300-000 ......................................................................A-16
Installing the Cable/VCP Drivers ....................................................................................A-16
Detrmining the Virtual COM Port (VCP).......................................................................A-18
Adapter ...................................................................................................................................A-19
Cordsets ..................................................................................................................................A-20
MD-CS10x-000 ............................................................................................................A-20
MD-CS20x-000 ............................................................................................................A-21
Appendix D: Interfacing the Internal Differential Optical Encoder ....................................... A-22
Factory Mounted Encoder.......................................................................................................A-22
General Specifications .............................................................................................................A-22
Pin Configuration ...................................................................................................................A-22
Encoder Signals.......................................................................................................................A-23

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iii
List Of Figures
Figure GS.1: Minimum Logic and Power Connections ............................................................. 1-1
Figure GS.2: MDriveAC Plus CD............................................................................................. 1-1
Figure GS.3: IMS Motor Interface Showing Default Settings.................................................... 1-2
Part 1: Hardware Specifications
Figure 1.1.1: MDrive34AC Plus ............................................................................................... 1-5
Figure 1.2.1: MDrive34AC Plus Mechanical Specifications....................................................... 1-8
Figure 1.2.2: 19-Pin M23 (Male) Connector Pin Numbers....................................................... 1-9
Figure 1.2.3: P3 3-Pin Euro AC Connector............................................................................... 1-9
Figure 1.3.1: MDrive42AC Plus.............................................................................................. 1-11
Figure 1.4.1: MDrive42AC Plus Mechanical Specifications..................................................... 1-14
Figure 1.4.2: 19-Pin M23 (Male) Connector Pin Numbers..................................................... 1-15
Figure 1.4.3: P3 3-Pin Euro AC Connector............................................................................. 1-15
Part 2: Interfacing and Configuration
Figure 2.1.1: MDriveAC Plus Microstepping Block Diagram.................................................... 2-3
Figure 2.1.2: Isolated Logic Pins and Connections .................................................................... 2-3
Figure 2.1.3: Input Clock Functions ......................................................................................... 2-4
Figure 2.1.4: Clock Input Timing Characteristics...................................................................... 2-5
Figure 2.1.5: Optocoupler Input Circuit Diagram..................................................................... 2-5
Figure 2.1.6: Open Collector Interface Example........................................................................ 2-6
Figure 2.1.7: Switch Interface Example ..................................................................................... 2-6
Figure 2.1.8: Minimum Required Connections......................................................................... 2-6
Figure 2.1.9: Fault Output Interfaced to an LED ...................................................................... 2-7
Figure 2.2.1: MD-CC300-000 Parameter Setup Cable.............................................................. 2-8
Figure 2.2.2: SPI Pins and Connections .................................................................................... 2-9
Figure 2.2.3: SPI Master with a Single MDriveAC Plus Microstepping ..................................... 2-9
Figure 2.2.4: SPI Master with Multiple MDriveAC Plus Microstepping.................................... 2-9
Figure 2.3.1: MDriveAC Plus CD........................................................................................... 2-10
Figure 2.3.2: IMS SPI Motor Interface Menu Options............................................................ 2-11
Figure 2.3.3: IMS SPI Motor Interface Buttons....................................................................... 2-11
Figure 2.3.4: IMS SPI Motor Interface Motion Settings Screen............................................... 2-12
Figure 2.3.5: Microstep Resolution Select Settings .................................................................. 2-12
Figure 2.3.6: Hold Current Delay Time .................................................................................. 2-13
Figure 2.3.7: Motor Run Current............................................................................................ 2-13
Figure 2.3.8: Motor Hold Current .......................................................................................... 2-13
Figure 2.3.9: Motor Direction Override .................................................................................. 2-13
Figure 2.3.10: User ID ............................................................................................................ 2-13
Figure 2.3.11: IMS SPI Motor Interface IO Settings Screen.................................................... 2-13
Figure 2.3.12: Input Clock Type ............................................................................................. 2-14
Figure 2.3.13: Input Clock Filter............................................................................................. 2-14
Figure 2.3.14: Warning Temperature ....................................................................................... 2-14
Figure 2.3.15: IMS Part and Serial Number Screen ................................................................. 2-14
Figure 2.3.16: Fault Display .................................................................................................... 2-15
Figure 2.3.17: IMS SPI Upgrader Screen................................................................................. 2-15
Figure 2.4.1: SPI Timing Diagram .......................................................................................... 2-17
Figure 2.4.2: Read/Write Byte Order for Parameter Settings (Default Parameters Shown) ....... 2-19
Appendices
Figure A.1: MDrive34AC Plus 120VAC Microstepping Speed-Torque Curves..........................A-3
Figure A.2: MDrive34AC Plus 240VAC Microstepping Speed-Torque Curves..........................A-3
Figure A.3: MDrive42AC Plus 120VAC Microstepping Speed-Torque Curves..........................A-4
Figure A.4: MDrive42AC Plus 240VAC Microstepping Speed-Torque Curves..........................A-4
Figure B.1: MDrive23 Torque-Speed Curve ..............................................................................A-8
Figure B.2: Lead Screw System Inertia Considerations ............................................................A-10
Figure B.3: Rack and Pinion System Inertia Considerations ....................................................A-11
Figure B.4: Conveyor System Inertia Considerations...............................................................A-11
Figure B.5: Rotary Table System Inertia Considerations ..........................................................A-12
Figure B.6: Chain Drive System Inertia Considerations...........................................................A-13
Figure B.7: Planetary Gearbox Specifications for MDrive34AC Plus .......................................A-15

iv
Figure C.1: MD-CC300-000 ..................................................................................................A-16
Figure C.2: MD-CC300-000 Mechanical Specifications .........................................................A-16
Figure C.3: Hardware Update Wizard .....................................................................................A-16
Figure C.4: Hardware Update Wizard Screen 2 .......................................................................A-17
Figure C.5: Hardware Update Wizard Screen 3 .......................................................................A-17
Figure C.6: Windows Logo Compatibility Testing...................................................................A-17
Figure C.7: Hardware Update Wizard Finish Installation ........................................................A-18
Figure C.8: Hardware Properties .............................................................................................A-18
Figure C.9: Windows Device Manager ....................................................................................A-18
Figure C.10: Typical Setup, Adapter and Single-End Cordset..................................................A-19
Figure C.11: MD-ADP-M23 ..................................................................................................A-19
Figure C.12: MD-ADP-M23 Mechanical Specifications .........................................................A-19
Figure C.13: MD-CS10x-000 .................................................................................................A-20
Figure C.14: MD-CS20x-000 .................................................................................................A-21
Figure D.1: Internal Differential Encoder Pin Configuration ..................................................A-22
Figure D.2: Differential Encoder Signal Timing ......................................................................A-23
List of Tables
Table GS.1: AC Wire Colors..................................................................................................... 1-1
Part 1: Hardware Specifications
Table 1.2.1: Setup Parameters.................................................................................................... 1-7
Table 1.2.2: Pin Configuration.................................................................................................. 1-8
Table 1.4.1: Setup Parameters.................................................................................................. 1-13
Table 1.4.2: Pin Configuration................................................................................................ 1-14
Part 2: Interfacing and Configuration
Table 2.1.1: Input Clocks Timing Table .................................................................................... 2-4
Table 2.1.2: Optocouple Reference Connection ........................................................................ 2-5
Table 2.3.1: Setup Parameters and Ranges............................................................................... 2-10
Table 2.3.2: Microstep Resolution Settings.............................................................................. 2-12
Table 2.3.3: Input Clock Filter Settings................................................................................... 2-14
Table 2.3.4: MDriveAC Plus Microstepping Fault Codes........................................................ 2-15
Table 2.4.1: SPI Commands and Parameters ........................................................................... 2-18
Appendices
Table B.1: Planetary Gearbox Operating Factor.........................................................................A-9
Table B.2: Planetary Gearbox Inertia Moments.......................................................................A-14
Table C.1: MD-CS10x-000 Wire Color Chart........................................................................A-20
Table C.2: Euro AC Wire Color Chart....................................................................................A-21
Table D.1: Available Encoder Line Counts and Part Numbers.................................................A-22

1-1
Part 1: Hardware Specications
WARNING!
The MDrive has
components which
are sensitive to
Electrostatic Discharge (ESD).
All handling should be done at
an ESD protected workstation.
Getting Started
MDriveAC Plus Microstepping
Before You Begin
The Quick Start guide is designed to help quickly connect and begin using your MDriveAC Plus Microstepping
integrated motor and driver. The following examples will help you get the motor turning for the first time and
introduce you to the basic settings of the drive.
Tools and Equipment Required
+ MDriveAC Plus Microstepping Unit
+ Parameter setup cable MD-CC300-000 and Adapter MD-ADP-M23 or equivalent (USB to SPI)
+ MDriveAC Plus Product CD or Internet access to www.imshome.com
+ Control Device for Step/Direction
+ +5 to +24 VDC optocoupler supply
+ Basic Tools: Wire Cutters / Strippers / Screwdriver
+ Wiring/Cabling for AC Power and Logic Connections
+ A PC with Windows 9x, Windows 2000, Windows XP
+ 10 MB hard drive space
Connecting AC Power
AC Power to Connector P3.
AC Power To P3
P3 Function US
Color
Euro Color
1 Earth GND Green Green/
Yellow
2 AC Line Black Brown
3 AC Neutral White Blue
Table GS.1: AC Wire Colors
Connect Opto Power and Logic
Inputs (See Section 2.1 for Details)
Using the recommended wire (see the speci-
fications for your MDriveAC Plus), connect
the DC output of the optocoupler power supply to the P1, Pin 1 of your MDriveAC Plus Microstepping model.
Connect the opto supply ground to the Power Ground pin appropriate for your controller/control circuitry.
Connecting Parameter Setup Cable (See Section 2.2 for Details)
Connect the Host PC to the MDriveAC Plus Microstepping using the IMS Parameter Setup Cable or equivalent.
Install the IMS SPI Motor Interface (See Section 2.3 for Details)
The IMS SPI Motor Interface is a utility that easily allows you to set up the parameters of your MDriveAC Plus
Microstepping. It is available both on the MDriveAC Plus CD that came with your product and on the IMS web
site at http://www.imshome.com/software_interfaces.html.
+5 to +24
Opto Supply
+
Step Clock
Direction
Control Device
GND
MDriveAC
Plus Microstepping
P3
P1
}
}
AC Line*
AC Neutral*
Earth*
*Euro AC colors
- The live conductor must be brown
- The neutral is blue
- The earth ('safety ground') must be green/yellow
Figure GS.1: Minimum Logic and Power Connections
Figure GS.2: MDriveAC Plus CD

1-2 MDriveAC Plus Microstepping Hardware - Revision R052506
1-3
Part 1: Hardware Specications
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 auto-start.
3. Click the Software Button in the
top-right navigation Area.
4. Click the IMS SPI Interface link
appropriate to your operating
system.
5. Click SETUP in the Setup dialog
box and follow the on-screen
instructions.
6. Once IMS SPI Motor Interface
is installed, the MDriveAC Plus
Microstepping settings can be
checked and/or set.
Once installed you can change the motor run current, holding current, microstep resolution and other configura-
tion settings. By sending clock pulses to the drive you can now change these settings safely on the fly as the IMS
SPI Motor interface will not allow you to set an out of range value.
Figure GS.3: IMS Motor Interface Showing Default Settings
WARNING!
Because the
MDrive 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.

1-2 MDriveAC Plus Microstepping Hardware - Revision R052506
1-3
Part 1: Hardware Specications
TM

Section 1.1: MDrive34AC Plus Microstepping Product Introduction
Section 1.2: MDrive34CAC Plus Microstepping Detailed Specications
Section 1.3: MDrive42AC Plus Microstepping Product Introduction
Section 1.4: MDrive42AC Plus-65 Microstepping Detailed Specications
Part 1:
Hardware
Specifications
TM
Excellence in Motion

1-4 MDriveAC Plus Microstepping Hardware - Revision R052506
1-5
Part 1: Hardware Specications
Page Intentionally Left Blank

1-4 MDriveAC Plus Microstepping Hardware - Revision R052506
1-5
Part 1: Hardware Specications
SECTION 1.1
Introduction to the MDrive34AC Plus Microstepping
The MDrive34AC Plus Microstepping high torque inte-
grated motor and driver is ideal for designers who want the
simplicity of a motor with on-board electronics. The inte-
grated electronics of the MDrive34AC Plus eliminate the
need to run motor cabling through the machine, reducing
the potential for problems due to electrical noise.
The unsurpassed smoothness and performance delivered by
the MDrive34AC Plus Microstepping 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 MDrive34AC Plus accepts a broad input voltage range
from 95 to 264 VAC, 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.
The MDrive34AC Plus uses a NEMA 34 frame size high torque brushless motor combined with a microstepping
driver, and accepts up to 20 resolution settings from full to 256 microsteps per full step, including: degrees, metric
and arc minutes. 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.
For use in environments where exposure to dust and liquids may occur, a sealed MDrive34AC Plus Microstepping
unit with circular connectors meets IP65 specifications.
The versatile MDrive34AC Plus Microstepping is available in multiple configurations to fit various system needs.
Three rotary motor lengths are available as are optional: internal optical encoder; control knob for manual po-
sitioning; integrated planetary gearbox. A long life Acme screw linear actuator version is also available. Interface
connections are accomplished using standard industrial connectors.
The MDrive34AC Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and
assembly time for a large range of brushless motor applications.
Configuring
The IMS Motor Interface software is an easy to install and use GUI for configuring the MDrive34AC Plus from a
computer's USB port. GUI access is via the IMS SPI Motor Interface included on the CD shipped with the prod-
uct, or from www.imshome.com. Optional cables are available for ease of connecting and configuring the MDrive.
The IMS SPI 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.
+ Simple screen interfaces.
Features and Benefits
+ Highly Integrated Microstepping Driver and NEMA 34 High Torque Brushless Motor
+ Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
+ Single Supply: 120 or 240 VAC
+ Low Cost
+ Extremely Compact
Figure 1.1.1: MDrive34AC Plus Microstepping Integrated
Motor, Power Supply, and Drive Electronics

1-6 MDriveAC Plus Microstepping Hardware - Revision R052506
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Part 1: Hardware Specications
+ 20 Microstep Resolutions up to
! 51,200 Steps Per Rev Including:
! Degrees, Metric, Arc Minutes
+ 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. Direction Input
! Microstep Resolution
! Clock Type: Step and Direction, Quadrature, Step Up and Step Down
! Programmable Digital Filtering for Clock and Direction Inputs
+ Available Options:
! Internal Differential Optical Encoder
! Integrated Planetary Gearbox
! Control Knob for Manual Positioning
! IP65 Sealed Configuration
+ 3 Rotary Motor Lengths Available
+ Current and Microstep Resolution May Be Switched On-The-Fly
+ Interface Options:
! Circular 19-Pin M23
! Circular 3-Pin Euro AC
+ Graphical User Interface (GUI) for Quick and Easy Parameter Setup

1-6 MDriveAC Plus Microstepping Hardware - Revision R052506
1-7
Part 1: Hardware Specications
SECTION 1.2
MDrive34AC Plus Microstepping Detailed Specifications
General Specifications
Input Voltage (+V)
120V MDrive ......................................................................................95 to 132 VAC @ 50/60 Hz
240V MDrive ......................................................................................95 to 264 VAC @ 50/60 Hz
Isolated Input
Step Clock, Direction & Enable
Voltage Range (Sourcing or Sinking).............................................................+5 to +24 VDC
Current
+5 Volt (Max) ............................................................................................................8.7 mA
+24 Volt (Max).........................................................................................................14.6 mA
Motion
Digital Filter Range............................................................ 50 nS to 12.9µS (10MHz to 38.8 kHz)
Clock Types......................................................... Step/Direction, Quadrature, Step Up/Step Down
Step Frequency (Max) ..........................................................................................................2 MHz
Number of Microstep Settings..................................................................................................... 20
Step Frequency Minimum Pulse Width................................................................................ 250 nS
Steps per Revolution .................................... 200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400,
10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200,
36000 (0.01 deg/µstep), 21600 (1 arc minute/µstep),
25400 (0.001 mm/µstep)
Thermal
Motor Temperature ............................................................................................100°C (maximum)
Operating Tempurature...............................................................................................-40 to +85°C
Sealing (-65 Version)
Specification.............................................................................................................................IP65
Setup Parameters
The following table illustrates the setup parameters. These are easily configured using the IMS SPI Motor Interface
configuration utility. An optional Parameter Setup Cable is available and recommended with the first order.
MDriveAC Plus Microstepping 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
1, 2, 4, 5, 8, 10, 16, 25, 32, 50,
64, 100,108, 125, 127,128,
180, 200, 250, 256
µsteps per
full step 256
DIR Motor Direction Override 0/1 – CW
HCDT Hold Current Delay Time 0 or 2-65535 mSec 500
CLK TYPE Clock Type Step/Dir. Quadrature, Up/
Down – Step/Dir
CLK IOF Clock and Direction Filter 50 nS to 12.9 µS
(10 MHz to 38.8 kHz) nS (MHz) 50nS (10 MHz)
USER ID User ID Customizable 1-3 characters IMS
Table 1.2.1: Setup Parameters
WARNING!
Because the
MDrive 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.

1-8 MDriveAC Plus Microstepping Hardware - Revision R052506
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Part 1: Hardware Specications
MECHANICAL SPECIFICATIONS - Dimensions in Inches (mm)
Figure 1.2.1: MDrive34AC Plus Mechanical Specifications
LMAX2 Option


Ø 0.87
(Ø 22.1)
Connectors
P1: 19-Pin M23
(Male)
P3: 3-Pin Euro AC
(Male)


LMAX LMAX2
Motor
Length
SINGLE SHAFT,
ENCODER
CONTROL KNOB
VERSION
Single 6.1 (155.0) 7.1 (180.4)
Double 6.9 (174.3) 7.9 (199.7)
Triple 8.4 (214.3) 9.4 (239.7)
MDrive Lengths Inches (mm)
Control Knob
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



























Table 1.2.2: Pin Configuration
Connector Specifications
P3: POWER CONNECTOR
Euro AC (Male) Function
Pin 1 Chassis Ground
Pin 2 AC Power Line
Pin 3 AC Power Neutral
P1: I/O & COMM (SPI) CONNECTOR
M23 Circular (Male) Function Function with Encoder
Pin 1 Optocoupler Reference Optocoupler Reference
Pin 2 Enable Input Enable Input
Pin 3 No Connect Index +
Pin 4 No Connect Channel B +
Pin 5 No Connect Channel B –
Pin 6 No Connect No Connect
Pin 7 No Connect Channel A +
Pin 8 SPI Master Out – Slave In SPI Master Out – Slave In
Pin 9 SPI Chip Select SPI Chip Select
Pin 10 +5 VDC Output +5 VDC Output
Pin 11 Communications Ground Communications Ground
Pin 12 No Connect No Connect
Pin 13 CW/CCW Direction Input CW/CCW Direction Input
Pin 14 No Connect Index –
Pin 15 No Connect Channel A –
Pin 16 SPI Clock SPI Clock
Pin 17 SPI Master In – Slave Out SPI Master In – Slave Out
Pin 18 Step Clock Input Step Clock Input
Pin 19 Fault Output Fault Output

1-8 MDriveAC Plus Microstepping Hardware - Revision R052506
1-9
Part 1: Hardware Specications



















Figure 1.2.2: 19-Pin M23 (Male) Connector Pin
Numbers



Figure 1.2.3: P3 3-Pin Euro AC Connector
Motor Specifications
Single Length
Holding Torque............................................................................................... 330 oz-in/233 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)............................................................................................. 6.4 lb/2.9 kg
Double Length
Holding Torque............................................................................................... 500 oz-in/353 N-cm
Detent Torque............................................................................................. 14.16 oz-in/14.0 N-cm
Rotor Inertia ...................................................................................0.02266 oz-in-sec2/1.6 kg-cm2
Weight (Motor + Driver)............................................................................................. 7.7 lb/3.5 kg
Triple Length
Holding Torque............................................................................................... 750 oz-in/529 N-cm
Detent Torque............................................................................................. 19.83 oz-in/10.0 N-cm
Rotor Inertia ...................................................................................0.04815 oz-in-sec2/3.4 kg-cm2
Weight (Motor + Driver)........................................................................................... 11.0 lb/5.0 kg
Options and Accessories
Internal Encoder
Internal differential optical encoders are offered factory-installed with the MDrive34AC Plus Microstepping.
Refer to the Encoder Specifications section for available line counts. All encoders come with an index mark.
Control Knob
The MDrive34AC Plus is available with a factory-mounted rear control knob for manual shaft positioning.
Not available with Sealed (-65) versions.
Planetary Gearbox
Efficient, low maintenance planetary gearboxes are offered assembled with the MDrive34AC Plus. Refer to
gearbox Appendix for details and part numbers.
Note: Recommended Mating
Connector for the M23 19-
Pin P1:
Phoenix Order # 1000042
Female M23 Straight Solder
Cup Connector

1-10 MDriveAC Plus Microstepping Hardware - Revision R052506
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Part 1: Hardware Specications
Parameter Setup Cable and Adapter
The optional 12.0' (3.6m) parameter setup cable part number MD-CC300-000 with adapter MD-ADP-M23
facilitates communications wiring and is recommended with first order. It connects to the MDrive's P1 19-pin
male M23 connector.
Cordsets
19-pin M23 single-ended cordsets are offered to speed prototyping of the MDrive34AC Plus. Measuring 13.0'
(4.0m) long, they are available in either straight or right angle termination. PVC jacketed cables come with a
foil shield and unconnected drain wire.
Straight Termination ........................................................................................... MD-CS100-000
Right Angle Termination..................................................................................... MD-CS101-000

1-10 MDriveAC Plus Microstepping Hardware - Revision R052506
1-11
Part 1: Hardware Specications
SECTION 1.3
Introduction to the MDrive42AC Plus Microstepping
The MDrive42AC Plus Microstepping high torque
integrated motor and driver is ideal for designers
who want the simplicity of a motor with on-
board electronics. The integrated electronics of the
MDrive42AC Plus eliminate the need to run motor
cabling through the machine, reducing the potential
for problems due to electrical noise.
The unsurpassed smoothness and performance
delivered by the MDrive42AC Plus Microstepping
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 MDrive42AC Plus accepts a broad input voltage
range from 95 to 264 VAC, 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 range of –40°
to +85°C provides long life, trouble free service in
demanding environments.
The MDrive42AC Plus uses a NEMA 42 frame size high torque brushless motor combined with a microstepping
driver, and accepts up to 20 resolution settings from full to 256 microsteps per full step, including: degrees, metric
and arc minutes. 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.
For use in environments where exposure to dust and liquids may occur, a sealed MDrive42AC Plus Microstepping
unit with circular connectors meets IP65 specifications.
The versatile MDrive42AC Plus Microstepping is available in multiple configurations to fit various system needs.
Two rotary motor lengths are available as are optional: internal optical encoder; control knob for manual position-
ing; integrated planetary gearbox. Interface connections are accomplished using standard industrial connectors.
The MDrive42AC Plus is a compact, powerful and inexpensive solution that will reduce system cost, design and
assembly time for a large range of brushless motor applications.
Configuring
The IMS Motor Interface software is an easy to install and use GUI for configuring the MDrive42AC Plus from a
computer's USB port. GUI access is via the IMS SPI Motor Interface included on the CD shipped with the prod-
uct, or from www.imshome.com. Optional cables are available for ease of connecting and configuring the MDrive.
The IMS SPI 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.
+ Simple screen interfaces.
Features and Benefits
+ Highly Integrated Microstepping Driver and NEMA 42 High Torque Brushless Motor
+ Advanced 2nd Generation Current Control for Exceptional Performance and Smoothness
+ Single Supply: 120 or 240 VAC
+ Low Cost
+ Extremely Compact
Figure 1.3.1: MDrive42AC Plus Microstepping Integrated
Motor, Power Supply, and Drive Electronics

1-12 MDriveAC Plus Microstepping Hardware - Revision R052506
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Part 1: Hardware Specications
+ 20 Microstep Resolutions up to
! 51,200 Steps Per Rev Including:
! Degrees, Metric, Arc Minutes
+ 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. Direction Input
! Microstep Resolution
! Clock Type: Step and Direction, Quadrature, Step Up and Step Down
! Programmable Digital Filtering for Clock and Direction Inputs
+ Available Options:
! Internal Differential Optical Encoder
! Integrated Planetary Gearbox
! Control Knob for Manual Positioning
! IP65 Sealed Configuration
+ 3 Rotary Motor Lengths Available
+ Current and Microstep Resolution May Be Switched On-The-Fly
+ Interface Options:
! Circular 19-Pin M23
! Circular 3-Pin Euro AC
+ Graphical User Interface (GUI) for Quick and Easy Parameter Setup

1-12 MDriveAC Plus Microstepping Hardware - Revision R052506
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Part 1: Hardware Specications
SECTION 1.4
MDrive42AC Plus Microstepping Detailed Specifications
General Specifications
Input Voltage (+V)
120V MDrive ......................................................................................95 to 132 VAC @ 50/60 Hz
240V MDrive ......................................................................................95 to 264 VAC @ 50/60 Hz
Isolated Input
Step Clock, Direction & Enable
Voltage Range (Sourcing or Sinking).............................................................+5 to +24 VDC
Current
+5 Volt (Max) ............................................................................................................8.7 mA
+24 Volt (Max).........................................................................................................14.6 mA
Motion
Digital Filter Range............................................................ 50 nS to 12.9µS (10MHz to 38.8 kHz)
Clock Types......................................................... Step/Direction, Quadrature, Step Up/Step Down
Step Frequency (Max) ..........................................................................................................2 MHz
Number of Microstep Settings..................................................................................................... 20
Step Frequency Minimum Pulse Width................................................................................ 250 nS
Steps per Revolution .................................... 200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400,
10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200,
36000 (0.01 deg/µstep), 21600 (1 arc minute/µstep),
25400 (0.001 mm/µstep)
Thermal
Motor Temperature ............................................................................................100°C (maximum)
Operating Tempurature...............................................................................................-40 to +85°C
Sealing (-65 Version)
Specification.............................................................................................................................IP65
Setup Parameters
The following table illustrates the setup parameters. These are easily configured using the IMS SPI Motor Interface
configuration utility. An optional Parameter Setup Cable is available and recommended with the first order.
MDriveAC Plus Microstepping 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
1, 2, 4, 5, 8, 10, 16, 25, 32, 50,
64, 100,108, 125, 127,128,
180, 200, 250, 256
µsteps per
full step 256
DIR Motor Direction Override 0/1 – CW
HCDT Hold Current Delay Time 0 or 2-65535 mSec 500
CLK TYPE Clock Type Step/Dir. Quadrature, Up/
Down – Step/Dir
CLK IOF Clock and Direction Filter 50 nS to 12.9 µS
(10 MHz to 38.8 kHz) nS (MHz) 50nS (10 MHz)
USER ID User ID Customizable 1-3 characters IMS
Table 1.4.1: Setup Parameters
WARNING!
Because the
MDrive 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 MDriveAC Plus Microstepping Hardware - Revision R052506
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Part 1: Hardware Specications
MECHANICAL SPECIFICATIONS - Dimensions in Inches (mm)
Figure 1.4.1: MDrive42AC Plus Mechanical Specifications
Table 1.4.2: Pin Configuration
Connector Specifications
P3: POWER CONNECTOR
Euro AC (Male) Function
Pin 1 Chassis Ground
Pin 2 AC Power Line
Pin 3 AC Power Neutral
P1: I/O & COMM (SPI) CONNECTOR
M23 Circular (Male) Function Function with Encoder
Pin 1 Optocoupler Reference Optocoupler Reference
Pin 2 Enable Input Enable Input
Pin 3 No Connect Index +
Pin 4 No Connect Channel B +
Pin 5 No Connect Channel B –
Pin 6 No Connect No Connect
Pin 7 No Connect Channel A +
Pin 8 SPI Master Out – Slave In SPI Master Out – Slave In
Pin 9 SPI Chip Select SPI Chip Select
Pin 10 +5 VDC Output +5 VDC Output
Pin 11 Communications Ground Communications Ground
Pin 12 No Connect No Connect
Pin 13 CW/CCW Direction Input CW/CCW Direction Input
Pin 14 No Connect Index –
Pin 15 No Connect Channel A –
Pin 16 SPI Clock SPI Clock
Pin 17 SPI Master In – Slave Out SPI Master In – Slave Out
Pin 18 Step Clock Input Step Clock Input
Pin 19 Fault Output Fault Output
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
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
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

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











Control Knob


LMAX LMAX2
Motor
Length
SINGLE SHAFT or
ENCODER VERSION
CONTROL KNOB
VERSION
Single 7.4 (187.96) 9.4 (238.76)
Double 8.4 (213.36) 10.4 (264.16)
MDrive Lengths Inches (mm)
Ø 0.87
(Ø 22.1)
Connectors


P1: 19-Pin M23
(Male)
P3: 3-Pin Euro AC
(Male)