Transcript
intelligent motion systems, INC.
Excellence in Motion
17
MDrive17Plus MDrive17Plus2
QUICK REFERENCE 370 N. MAIN ST., PO BOX 457, MARLBOROUGH, CT 06447 PH: (860) 295-6102, FAX: (860) 295-6107 Internet: www.imshome.com, E-Mail:
[email protected]
The Pr oduct Manuals The MDrive17Plus Motion Control product manuals contain full details about the product and should be referenced before using your MDrivePlus Motion Control unit. There are two manuals associated with your product: Hardware Reference Manual Software Reference Manual
Notes and Warnings 2. 3. 4. 5. 6.
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Available Microsteps Per Revolution 1000 1600 2000 3200 25600 40000 50000 21500
800 25000
2=1 arc minute/µstep
Do not connect or disconnect power leads while power is applied! Disconnect the AC power side to power down the DC power supply. The maximum input voltage is +48 VDC. This includes motor back EMF, power supply ripple voltage and high line. 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. Do not run logic level cables parallel to power cables. Use shielded cabling for power and logic cables. The shield should be connected to Earth at the signal source. Power Supply cabling must be a twisted pair. Do not daisy chain power cabling, if more than one MDrive17Plus is being connected, run separate power cabling to each drive.
General Specifications
General Purpose I/O - Electrical Inputs Sinking Outputs (All) Sourcing Outputs (Plus2) Output Sink Current (Plus) Output Sink Current (Plus2) Logic Threshold (Logic 0) Logic Threshold (Logic 1) Protection (Sinking) Protection (Sourcing) Analog Input Resolution Range (Voltage Mode) Range (Current Mode) Clock I/O Types Logic Threshold Trip Output/Capture Input Logic Threshold
+12 to +48 VDC 2A +12 to +24 VDC
Program Storage Type/Size User Registers User Program Labels and Variables Math, Logic and Conditional Functions Branch Functions Party Mode Addresses Encoder Functions Predefined I/O Functions
Position Encoder 32 Bits 5 MHz ±5,000,000 Steps/Sec. 0.5961 Steps/Sec. 1.5 x 109 Steps/Sec.2 90.9 Steps/Sec.2 0.001 to 2.000 32 Bits +5 VDC Logic Level 50 nS to 12.9 µS 1 to 1 32 Bits 50 nS to 12.9 µS 150 nS 32 Bits +5 VDC Logic Level
Flash/6384 Bytes (4) 32 Bit 192 +, -, x, ÷, <, >, =, ≤, ≥, AND, OR, XOR, NOT Branch and Call (Conditional) 62 Stall Detect, Position Maintenance, Find Index Home, Limit+, Limit -, Go, Stop, Pause, Jog+, Jog-, Analog Input Moving, Fault, Stall, Velocity Changing Trip on Input, Trip on Position, Trip on Time, Trip Capture
Input Functions Output Functions Trip Functions
Mechanical Specifications Plus/Plus2
1.19 (30.2) Connector Option P1
0.94 (23.9) Ø 0.1968 (Ø 4.999)
2.30 (58.3) 1.220 SQ. (31.0 SQ.)
Ø 0.866 (Ø 21.996)
-40°C to +85°C IP-65 Compliant
P2
Connector Option
1.68 SQ. (42.7 SQ.)
TTL up to +24 VDC Up to +24 VDC +12 to +24 VDC up to 600 mA (One Channel) up to 600 mA (One Channel in each I/O Bank) < 0.8 VDC > 2.2 VDC Over Temp, Short Circuit Transient Over Voltage, Inductive Clamp
LMAX2
Motor Length LMAX1 (Single Shaft) Single 2.20 (55.9) Double 2.43 (61.7) Triple 2.77 (70.4)
Front Dimensions Same as in Drawing Above Except as Noted
LMAX2 (Control Knob) 2.79 (70.9) 3.02 (76.7) 3.37 (85.6)
L MAX3 1.38 (35.1)
0.49 (12.5)
P2
0.08 (2.0)
2.792 1.078 (70.9) (27.4)
0.94 (23.9)
P1 1.161 (29.5)
Step/Direction, Up/Down, Quadrature TTL Input, TTL Output (with 2 kΩ Load to Ground)
RS-422/RS-485 4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps
LMAX
Plus2-65 Sealed
10 Bit 0 to +5 VDC, 0 to +10 VDC 4 to 20 mA, 0 to 20mA
TTL Input, TTL Output (with 2 kΩ Load to Ground)
0.177 (4.49 )
Dimensions in inches (mm)
4 Sourcing or Sinking Inputs or 4 Sinking Outputs 8 Sourcing or Sinking Inputs or 8 Sourcing or Sinking Outputs (2 Banks of 4 Each)
Communications Specifications Protocol BAUD Rate
Internal, Magnetic 512 2048
Software Specifications
I/O Specifications
Plus2 (I/O Points 1-4, 9-12)
51200 2048
User Defined Differential See Microstep Resolution - Open Loop Resolution User Defined* * Microstep Resolution must be set to 2x the Encoder Counts/Rev minimum.
Environmental Specifications
Plus (I/O Points 1-4)
10000 254003
Steps Per Revolution
4X M3x0.5 THREAD x0.15 MIN DEEP
Input Voltage (+V) Range* Max Power Supply Current (Per MDrive17Plus)* Aux-Logic Input Voltage *Actual Power Supply Current will depend on Voltage and Load.
General Purpose I/O - Number and Type
6400 216002
3=0.001 mm/µstep
Microstep Resolution - Closed Loop Configuration (Optional) Steps Per Revolution (Fixed) Position Resolution Optional Differential Encoder (Internally Mounted) Type Resolution (Lines) Resolution (Edges) Counters Counter 1 (C1) Type Counter 2 (C2) Type Resolution Maximum Edge Rate Velocity Range Resolution Acceleration/Deceleration Range Resolution Electronic Gearing (Plus2 Only) Range (Ratio) Resolution Voltage Input Filter Range Secondary Output Clock Range High Speed I/O (Plus2 Only) Position Capture Input - Resolution Position Capture Input - Filtering Trip Output - Speed Trip Output - Resolution Trip Output Voltage Optional Remote Encoder (Plus2 Only)‡ Type
Electrical Specifications
Operating Temperature Sealing (Plus2-65 Only)
5000 360001
‡With Optional Remote Encoder the Encoder Inputs replace I/O Points 9-12 and the Step/ Direction Clock I/O Points.
These are available on the MDrivePlus CD which shipped with your product and from the IMS web site at http://www.imshome.com. 1.
400 20000
1=0.01 deg/µstep
MDrive17Plus2-65
2.
Microstep Resolution - Open Loop Number of Resolutions 200 12800
TM
MOTION CONTROL
1.
Motion Specifications
0.177 (4.49)
L MAX2
LMAX
Dimensions in inches (mm) Ø 0.53 (Ø 13.5)
Motor Length LMAX1 LMAX2 LMAX3 Single 2.39 (60.71) 3.06 (77.72) 2.99 (75.95) Double 2.62 (66.55) 3.29 (83.57) 3.22 (81.79) Triple 2.96 (75.18) 3.63 (92.20) 3.56 (90.42)
Ø 0.87 (Ø 22.1)
5-Pin M12 Female (RS-422/485 Communications)
19-Pin M23 Male (Power and I/O)
MDrive17Plus Motion Control Quick Reference R092906
Connector and Optional Cable Details - Plus/Plus 2 P1 Connector Options (Power and I/O) 7-Pin Pluggable Terminal
P1 Connector
16-Pin Locking Wire Crimp MDrive17Plus2 Only
P1
P1 1
15 13 11 9 7 5 3 1
2 3 4 5 6
P2 Connector
7
P2 Connector Options (RS-422/485 Comm)
10-Pin Friction Lock Wire Crimp
10-Pin IDC
1 2
9 10
3 4
7 8
5 6
5 6
7 8
3 4
P1 Connector Flying Lead and Pin Configuration 12” Flying Leads Wire Color White/Yellow White/Orange White/Violet White/Blue Green Black Red
P2
P2
Recommended Cables: P1: PD16-1417-FL3
P1 Plus Connector Configuration
1 2
9 10
See Hardware Manual for recommended Wire Gauge.
16 14 12 10 8 6 4 2
7-Pin Pluggable Terminal Strip Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7
Function I/O 1 I/O 2 I/O 3 I/O 4 Analog Input Power/Aux-Ground +V (+12 to +48 VDC)
P1 Plus2 Connector Configuration Recommended Cable: P/N MD-CC400-000
P2 Connector Configuration
Recommended Cables: P/N MD-CC400-000 P/N MD-ADP-H
P2 Connector Pin Configuration 10-Pin IDC
10-Pin Wire Crimp
Function
Pin 1 Pin 2 Pin 3 Pin 4
Pin 9 Pin 10 Pin 7 Pin 8
Pin 5
Pin 5
TX + TX RX + RX Aux-Logic (+12 to
Pin 6 Pin 7 Pin 8 Pin 9 Pin 10
Pin 6 Pin 3 Pin 4 Pin 1 Pin 2
+24VDC) RX + RX TX TX + Comm Ground
Note: The Auxiliary Supply Ground MUST not be connected to the Comm Ground. Connect to the Motor Power Supply Ground.
P2 Optional Mating Cables (Recommended) P2 10-Pin IDC: USB to RS-422 Converter Cable P2 10-Pin Friction Lock Wire Crimp: USB to RS-422 Converter Cable Required Adapter Multi-drop Systems: See Separate Cable Sheet
Prototype Development Cable PD16-1417-FL3
P1 Connector Pin Configuration
P/N MD-CC400-000
Connector P1 Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Pin 9 Pin 10 Pin 11 Pin 12 Pin 13 Pin 14 Pin 15 Pin 16
Function Expanded I/O I/O Power I/O Ground I/O 1 I/O 2 I/O 3 I/O 4 I/O 9 I/O 10 I/O 11 I/O 12 Capture/Trip Analog Input Step Clock Direction +V Power Ground
Function - Remote Encoder I/O Power I/O Ground I/O 1 I/O 2 I/O 3 I/O 4 Channel A+ Channel A Channel B+ Channel BCapture/Trip Analog Input Index + Index +V Power Ground
Pair Number
Wire Color Red White Orange Black Brown Black Yellow Black Blue Black Green Black White Black Red Black
8 7 6 5 4 3 2 1
P1 Optional Mating Cable (Recommended) P1 16-Pin Wire Crimp: Prototype Development Cable
P/N PD16-1417-FL3
P/N MD-CC400-000 P/N MD-ADP-H P/N PD10-1434-FL3
Connector and Optional Cordset Details - Plus 2 -65 (Sealed) P 1 P l u s 2- 6 5 C o n n e c t o r C o n f i g u r a t i o n
P2 Connector
Outside: Pins 1 -12 Pin 3
Inside: Pins 13 - 19 Pin 4
Pin 2
Pin 5
Pin 1
Pin 6
Pin 19 Pin 13
Pin 14
Pin 18
Pin 12 Pin 7
Pin 11
P1 Connector
Pin 15
Pin 17
Pin 10 Pin 8
Pin 9
Pin 16
P 2 P l u s 2- 6 5 C o n n e c t o r C o n f i g u r a t i o n P1 Connector (M23 Circular) Pin Configuration 19-Pin M23 Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Pin 9 Pin 10 Pin 11 Pin 12 Pin 13 Pin 14 Pin 15 Pin 16 Pin 17 Pin 18 Pin 19
Cordset MDCS10x-000
Function - Expanded I/O
Function - Remote Encoder
Wire Color
I/O 9 I/O 11 Step/Clock I/O 1 Direction/Clock +V(+12 to +75 VDC) Aux-Logic (+12 to +24 VDC) Comm Ground I/O 3 I/O Ground I/O Power Earth Ground I/O 12 Capture/Trip Analog In I/O 2 I/O 4 I/O 10 Power/Aux-Ground
Channel A+ Channel B+ Index+ I/O 1 Index +V(+12 to +75 VDC) Aux-Logic (+12 to +24 VDC) Comm Ground I/O 3 I/O Ground I/O Power Earth Ground Channel B Capture/Trip Analog In I/O 2 I/O 4 Channel A Power/Aux-Ground
Violet Red Gray Red/Blue Green Blue Gray/Pink White/Green White/Yellow White/Gray Black Green/Yellow Yellow/Brown Brown/Green White Yellow Pink Gray/Brown Brown
Copyright ©2006 Intelligent Motion Systems, Inc.
Pin 3
Pin 4 Pin 5
Pin 2
P2 Connector Pin Configuration 5-Pin M12
Function
Pin 1 Pin 2 Pin 3 Pin 4 Pin 5
TX TX + RX + RX Comm GND
Pin 1
Optional Mating Cordsets/Cables (Recommended) P1 19-Pin M23 Circular (Male): Cordset (Straight Termination) Cordset (Right Angle Termination) P2 5-Pin M12 Circular (Female): USB to RS-422 Converter
P/N MD-CS100-000 P/N MD-CS101-000 P/N MD-CC401-000
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TM
MOTION CONTROL
