Excellence in Motion

Excellence in MotionTM17TMSPEED CONTROLFEATURES• Highly Integrated Microstepping Driver,Intelligent Variable Speed Controller andNEMA 17 High Torque 1.8° BrushlessStep Motor• Advanced 2nd Generation CurrentControl for Exceptional Performance andSmoothness• Single Supply: +12 to +48 VDC• Cost Effective• Extremely Compact• 20 Microstep Resolutions up to51,200 Steps Per Rev Including:Degrees, Metric, Arc Minutes• 10-bit Analog Speed Control InputAccepts:- 0 to +5 VDC- 0 to +10 VDC- 4 to 20 mA- 0 to 20 mA- 15 to 25 kHz PWM• Automatic Current Reduction• Electronically Configurable:- Motor Run/Hold Current- Microstep Resolution- Acceleration/Deceleration- Initial and Max Velocity- Hold Current Delay Time/MotorSettling Delay Time- Programmable Filtering for theStart/Stop Input• Available Options:- Long Life Linear Actuators**- External Optical Encoder- Integrated Planetary Gearbox- Control Knob for Manual Positioning- Linear Slide• 3 Rotary Motor Lengths Available• Setup Parameters May Be SwitchedOn-The-Fly• Interface Options:- Pluggable Terminal Strip- 12.0” (30.5cm) Flying Leads• Graphical User Interface (GUI) for Quickand Easy Parameter SetupDESCRIPTIONThe MDrive17Plus Speed Control offerssystem designers cost effective, programmablevelocity control integrated with aNEMA 17 high torque 1.8° brushless stepmotor and a +12 to +48 volt microsteppingdriver.The MDrive17Plus Speed Control featuresa digital oscillator for accurate velocitycontrol with an output frequency of upto 5 Megahertz. Output frequency willvary with the signal applied to the speedcontrol input and can be limited by theamount specifi ed by the Maximum Velocityparameter.Speed can be adjusted using three modesof operation: voltage, current and PWM.The ranges are 0 to +5 volts and 0 to+10 volts in voltage mode, 0 to 20 mAand 4 to 20 mA in current mode, and 15to 25 kHz in PWM mode. This allows theMDrive17Plus Speed Control to be drivenby a wide variety of sensors and controldevices.There are two basic methods for controllingthe velocity: bidirectional and unidirectional.By moving the center point, bothspeed and direction are controlled by apotentiometer or joystick. By setting thecenter point to zero or the lower end of thepotentiometer, only velocity is controlledby the speed control input; direction iscontrolled by a separate digital input.The MDrive17Plus Speed Control has 18setup parameters, which may be configured using the supplied IMS AnalogSpeed Control GUI, or a user-developedfront-end communicating over SPI. Thesetup parameters enable the user to configure all MDrive operational parameterswhich are stored in nonvolatile memory.The versatile, compact MDrive17PlusSpeed Control is available in multipleconfi gurations to fi t various system needs.Rotary motor versions come in threelengths and may include an optical encoder,control knob, planetary gearbox orlinear slide. Long life Acme screw linearactuators** are also available.Connector style options give you choicesfor the best fi t and features. Select from12.0" (30.5cm) fl ying leads or pluggableterminal strip.MDrivePlus connectivity has never beeneasier with options ranging from all-inclusiveQuickStart Kits to individual interfacingcables and mating connector kitsto build your own cables. See pg 4.The MDrive17Plus is a compact, powerfuland cost effective motion control solutionthat will reduce system cost, design andassembly time for a large rangeof brushless step motor applications.CONFIGURINGnewThe IMS Analog Speed Control is a softwareGUI for quick and easy parametersetup of the MDrivePlus Speed Con trolfrom a computer's USB port. GUI accessis via the IMS SPI Motor In ter faceavailable at www.imshome.com. The IMSinterface is also used to upgrade MDrive-Plus Speed Control fi rmware.IMS Analog Speed Control features:• Easy installation.• Automatic detection of MDrivePlus versionand communication confi guration.• Will not set out-of-range values.• Tool-tips display valid range setting foreach option.• Simple screen interface.** Consult Factory for Availability.www.imshome.com

MDrive17Plus SPEED CONTROLSTANDARD SPEC I FI CA TIONSINPUT VOLTAGE (+V) Range+12 to +48 VDCPower supply current requirements = 2A (maximum) per MDrive17Plus.Actual power supply current will depend on voltage and load.SPEED CONTROLInput0 to +5 VDC*, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA or 15 to 25 kHz PWMA/D Resolution10 bitLow Level0 to +0.8 VDCLOGIC INPUT Start/Stop and Direction High Level+2.0 to +5.0 VDCInternal Pull-up Resistance (to +3.3 VDC) 20 kΩOscillator Frequency (Max) 5 MHzNumber of Settings 20MOTION200, 400, 800, 1000, 1600, 2000, 3200, 5000,Microstep Resolution6400, 10000, 12800, 20000, 25000, 25600,Steps Per Revolution40000, 50000, 51200, 36000 (0.01 deg/µstep),21600 (1 arc minute/µstep), 25400 (0.001mm/µstep)THERMAL Operating TemperatureHeat Sink–40° to +85°C (non-condensing)Motor–40° to +100°C (non-condensing)*10 k Ω potentiometer resistance.SETUP PARAMETERSFunction Range Units DefaultA1Analog Input Mode0 to +5 VDC, 0 to +10 VDC,4 to 20 mA, 0 to 20 mA, 15 to 25 kHz PWM— 0 to +5 VDCACCL Acceleration 91 to 1.5 X 10 9 steps/second 2 1,000,000C Joystick Center 1 to 1022 counts 0DB Analog Deadband 0 to 255 counts 1DECL Deceleration 91 to 1.5 X 10 9 steps/second 2 1,000,000DIR Motor Direction Override Clockwise (CW) / Counterclockwise (CCW) — CWFAULT Fault/Checksum Error Error Code — NoneFS Analog Full Scale 1 to 1023 counts 1023HCDT Hold Current Delay Time HCDT + MSDT

MOTOR PERFORMANCE — Speed-TorqueTorque in Oz-In6050403020100Single Length Rotary Motor Double Length Rotary Motor Triple Length Rotary Motor24 VDC48 VDC0 1000 2000 3000 4000 5000 6000 7000(300) (600) (900) (1200) (1500) (1800) (2100)Speed in Full Steps per Second (RPM)42352821147Torque in N-cmTorque in Oz-In605040302010024 VDC48 VDC0 1000 2000 3000 4000 5000 6000 7000(300) (600) (900) (1200) (1500) (1800) (2100)Speed in Full Steps per Second (RPM)42352821147Torque in N-cmTorque in Oz-In6050423540302028211410024 VDC48 VDC70 1000 2000 3000 4000 5000 6000 7000(300) (600) (900) (1200) (1500) (1800) (2100)Speed in Full Steps per Second (RPM)Torque in N-cmWIRE/PIN ASSIGNMENTS — MDrive17Plus Speed ControlPluggableTerminal StripP1: I/O & POWER CONNECTORFlying LeadsWire ColorsFunctionPin 1 Violet Start/ Stop InputPin 2 Blue CW/CCW Direction InputPin 3 Green Speed Control InputPin 4 Yellow +5 VDC OutputPin 5 Gray Logic GroundPin 6 Black Power GroundPin 7 Red +V (+12 to +48 VDC)P2: COMM CONNECTOR (SPI)10-Pin IDC 10-Pin Wire Crimp FunctionPin 1 Pin 9 No ConnectPin 2 Pin 10 No ConnectPin 3 Pin 7 No ConnectPin 4 Pin 8 SPI Chip SelectPin 5 Pin 5 Communications GroundPin 6 Pin 6 +5 VDC OutputPin 7 Pin 3 SPI Master Out – Slave InPin 8 Pin 4 SPI ClockPin 9 Pin 1 No ConnectPin 10 Pin 2 SPI Master In – Slave OutMECHANICAL SPECIFICATIONSDimensions in Inches (mm)1.19(30.2)ConnectorOptionP10.08(2.0)0.94 ±0.02(23.9 ±0.5)0.59 ±0.02(15.0 ±0.5)Ø 0.1968 +0/-0.0005(Ø 4.999 +0/-0.013)4X M3x0.5 THREADx0.15 MIN DEEP2.30(58.3)P2ConnectorOption0.177 ±0.002(4.49 ±0.05)L MAXL MAX2Ø 0.866 +0/-0.002(Ø 21.996 +0/-0.051)1.68 SQ.(42.7 SQ.)P1 Connector OptionsI/O & PowerI/O & Power1.220 ±0.004 SQ.(31.0 ±0.1 SQ.)MDrive Lengths Inches (mm)LMAXSINGLE SHAFT or LINEARACTUATOR VERSIONSingle 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)MotorLengthLMAX2CONTROL KNOB orENCODER VERSIONL MAX2 OptionsØ 0.97(Ø 24.6)DifferentialEncoder*Single-EndEncoder1.42(36.1)2.04*(51.8)P112.00 +1.0/-0.0(304.8 +25.4/-0.0)Flying LeadsP2 Connector OptionsP2CommP10.44(11.2)7-Pin Pluggable ClampType Terminal StripP2CommConnectivity details:www.imshome.com/cables_cordsets.htmlControl Knob.1.20(30.4).1.22*(31.0)Encoder10-Pin IDC10-Pin Friction LockWire CrimpMDrive17Plus Speed Control REV060208 3

ORDER INFORMATION — MDrive17Plus Speed ControlCONNECTIVITY CONNECTINGnewnewnewQuickStart KitFor rapid design verification, all-inclusive QuickStart Kits have communicationconverter, prototype development cable(s), instructionsand CD for MDrivePlus initial functional setup and system testing.Communication ConvertersElectrically isolated, in-line con vert ers pre-wired with mating connectorsto conveniently set/program communication parameters for asingle MDrivePlus via a PC's USB port. Length 12.0' (3.6m).Mates to connector:10-Pin IDC ............................................MD-CC300-00110-Pin Wire Crimp .................................MD-CC302-001Mating Connector KitsUse to build your own cables. Kit contains 5 mating shells with pins.Cable not supplied. Manufacturer's crimp tool recommended.Mates to connector:10-Pin Wire Crimp .................................CK-02Kit contains 5 mating connectors that press fit onto ribbon cable.Cable not supplied.10-Pin IDC ............................................CK-01** Consult Factory for Availability.Connectivity details: www.imshome.com/cables_cordsets.htmlPART NUMBERINGOPTIONS OPTIONSLinear Actuator**The MDrive17Plus is offered with numerous linear actuatorstyles and options to satisfy a broad range of linear motionapplications. Contact the factory for details or see:www.imshome.com/mdriveplus_linear_actuator.htmlExternal EncoderExternal optical encoders, single-end or differential, areoffered factory-mounted with the MDrive17Plus. Referto the Encoder Specifications section for available linecounts. All encoders come with an index mark.Optional encoder cables are available. Order separately.Single-end Cable (12.0"/30.5cm) ............ES-CABLE-2Differential Locking Cable (6.0'/1.8mm) ......ED-CABLE-6Control KnobThe MDrive17Plus Speed Control is available with a factorymountedrear control knob for manual shaft positioning.Planetary GearboxEfficient, low maintenance planetary gearboxes areoffered assembled with the MDrive17Plus. Refer todetails and part numbers on the back cover.Linear SlideIntegrated linear slides are available factory installed forprecision linear movement. Screw leads are 0.1", 0.2", 0.5"or 1.0" of travel per rev. Slides are 12.0" (30.5cm) to 36.0"(91.44cm) long. Contact factory for custom lengths. Referto separate datasheet or web site for complete details.Plusbase version**Consult Factory for Availability.KMDO1 S 17 4 –QuickStart Kitdetails aboveP1: I/O & PowerF = 12" Flying LeadsP = Pluggable ClampType Terminal StripOPTIONMotorA = Single Length & Linear Actuator**B = Double LengthC = Triple LengthP2: CommunicationsD = SPI with 10-Pin IDC ConnectorL = SPI with 10-Pin Friction Lock WireCrimp ConnectorExample #1: Part Number MDO1PSD17A4 is an MDrive17Plus SpeedControl with pluggable I/O & power interface, SPI communications with10-pin IDC connector, and NEMA 17 single length motor.OPTIONSLinearActuator** –LFor complete product specifications, see:www.imshome.com/mdriveplus_linear_actuator.htmlExternalEncoder –ERefer to encoder specifications section for line counts and part numbers.Example: MDO1PSD17A4–EHL adds an external 500-line countdifferential optical encoder with index mark to example #1.ControlKnob –NExample: MDO1PSD17A4–N adds a rear control knob for manualpositioning to example #1.PlanetaryGearbox – G – F Optional NEMA FlangeRefer to gearbox page for complete table of ratios and part numbers.Example: MDO1PSD17A4–G1A2 adds a 1-stage planetary gearboxwith 5.18:1 ratio to example #1. Add –F for optional NEMA flange.LinearSlide –RScrew Lead(inches/rev)A = 0.10” (2.54mm)B = 0.20” (5.08mm)C = 0.50” (12.7mm)D = 1.00” (25.4mm)Standard Screw Lengths10", 12", 15", 18", 24" or 36"For Custom Lengths, Consult FactoryNOTE: 10" lengths only with A or B leads.15" lengths only with A, B or C leads.36" lengths only with D leads.Example: MDO1PSD17A4–RA10 adds a Linear Slide with0.10" screw lead, 10" long to example #1.4 MDrive17Plus Speed Control REV060208

MDRIVE17PLUS WITH PLANETARY GEARBOXThe MDrive17Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better inertiamatching and produce finer positional resolutions. These efficient, low maintenance Planetary Gearbox come fully assembled withthe MDrive and are offered in a large number of reduction ratios in 1-, 2- and 3-stage configurations. An optional NEMA OutputFlange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle. Planetary Gearbox may be combinedwith other MDrive17Plus options, however are unavailable with Linear Actuators.Planetary Gearbox ParametersPermittedOutput Torque(oz-in/Nm)GearboxEfficiencyMaximumBacklashOutput Side with Ball BearingMaximum Load(lb-force/N)Weight(oz/g)Radial Axial Gearbox with Flange1-STAGE 425/3.0 0.80 0.80° 36/160 11/50 14.3/406 14.8/4202-STAGE 1062/7.5 0.75 0.85° 52/230 18/80 17.9/508 18.5/5253-STAGE 2124/15.0 0.70 0.90° 67.5/300 25/110 18.5/525 22.2/630Planetary Gearbox for MDrive17PlusDimensions in Inches (mm)*Gearbox without Flange† Gearbox with Flange0.984*(25.0)orM3 x 0.276 (7.0) Deep †M4 x 0.394 (10.0) Deep*0.08M3 x 0.394 (10.0) Deep*(2.0)1.657 SQ.(42.1 SQ.)1.22 †(31.0)Ø 1.26*(Ø 32.0)Ø 1.417*(Ø 36.0)Ø 0.984* or 0.866 †(Ø 25.0* or 22.0 †)+0/-0.002 (+0/-0.052)Ø 0.315 +0/-0.0004(Ø 8.0 +0/-0.009)Ctrg.DIN 332-DM3Key DIN 6885-A-3x3x16mm0.846 †(21.5) k1 ±0.02 (±0.5)Ø 1.654(Ø 42.0)1.20(30.5)MDrive17PlusGearbox Lengths Inches (mm)k1GEARBOX* with FLANGE †1-Stage 2.736 (69.5) 2.858 (72.6)2-Stage 3.248 (82.5) 3.37 (85.6)3-Stage 3.76 (95.5) 3.882 (98.6)Ratios and Part NumbersPlanetaryGearboxRatio(Rounded)PartNumber**1-Stage 3.71:1 G1A11-Stage 5.18:1 G1A21-Stage 6.75:1 G1A32-Stage 13.73:1 G1A42-Stage 15.88:1 G1A52-Stage 18.37:1 G1A62-Stage 19.20:1 G1A72-Stage 22.21:1 G1A82-Stage 25.01:1 G1A92-Stage 26.85:1 G1B12-Stage 28.93:1 G1B22-Stage 34.98:1 G1B32-Stage 45.56:1 G1B43-Stage 50.89:1 G1B53-Stage 58.86:1 G1B63-Stage 68.07:1 G1B73-Stage 71.16:1 G1B83-Stage 78.72:1 G1B93-Stage 92.70:1 G1C13-Stage 95.18:1 G1C23-Stage 99.51:1 G1C33-Stage 107.21:1 G1C43-Stage 115.08:1 G1C53-Stage 123.98:1 G1C63-Stage 129.62:1 G1C73-Stage 139.14:1 G1C83-Stage 149.90:1 G1C93-Stage 168.85:1 G1D13-Stage 181.25:1 G1D23-Stage 195.27:1 G1D33-Stage 236.10:1 G1D43-Stage 307.55:1 G1D5**Include optional planetary gearbox by adding –G plus3 characters to the end of an MDrive part number.U.S.A. SALES OFFICESEastern RegionTel. 862 208-9742 - Fax 973 661-1275e-mail: jroake@imshome.comCentral RegionTel. 260 402-6016 - Fax 419 858-0375e-mail: dwaksman@imshome.comWestern RegionTel. 602 578-7201e-mail: dweisenberger@imshome.comIMS ASIA PACIFIC OFFICE30 Raffles Pl., 23-00 Caltex House, Singapore 048622Tel. +65/6233/6846 - Fax +65/6233/5044e-mail: wllee@imshome.comIMS EUROPEAN SALES MANAGEMENT4 Quai Des Etroits69005 Lyon, FranceTel. +33/4 7256 5113 - Fax +33/4 7838 1537e-mail: bmartinez@imshome.comIMS UK Ltd.Sanderson Centre, 15 Lees LaneGosport, Hampshire PO12 3ULTel. +44/0 2392-520775 - Fax +44/0 2392-502559e-mail: mcheckley@imshome.comTECHNICAL SUPPORTTel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107e-mail: etech@imshome.comIntelligent Motion Systems, Inc.370 North Main Street, P.O. Box 457Marlborough, CT 06447 - U.S.A.Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107e-mail: info@imshome.comhttp: //www.imshome.com© Intelligent Motion Systems, Inc. All Rights Reserved. REV060208IMS Product Disclaimer and most recent product information at www.imshome.com.