2 MDrive17Plus Speed Control REV060208
Holding Torque Detent Torque Rotor Inertia Weight (Motor+Driver)
SINGLE LENGTH
32 oz-in / 22.6 N-cm 1.66 oz-in / 1.17 N-cm 0.00053
oz-in-sec
2
/ 0.038
kg-cm
2
10.4 oz / 294.8 g
DOUBLE LENGTH
60 oz-in / 42.4 N-cm 2.08 oz-in / 1.47 N-cm 0.00080
oz-in-sec
2
/ 0.057
kg-cm
2
12.0 oz / 340.2 g
TRIPLE LENGTH
74.9 oz-in / 52.9 N-cm 3.47 oz-in / 2.45 N-cm 0.00116
oz-in-sec
2
/ 0.082
kg-cm
2
15.2 oz / 430.9 g
Optional encoder cables are available.
MOTOR SPEC I FI CA TIONS
ENCODER SPECIFICATIONS
DIFFERENTIAL ENCODER
with locking connector feature
SINGLE-END
ENCODER
Encoder Function Function
Pin 1
No Connect Ground
Pin 2 +5 VDC Input Index
Pin 3 Ground Channel A
Pin 4 No Connect +5 VDC Input
Pin 5 Channel A – Channel B
Pin 6 Channel A +
Pin 7 Channel B –
Pin 8 Channel B +
Pin 9 Index –
Pin 10 Index +
Line Counts and Part Numbers
Pin Assignments
DIFFERENTIAL ENCODER
with locking connector feature
SINGLE-END
ENCODER
Line Count Part Number Part Number
100
EAL
E1
200
EBL
E2
250
ECL
E3
256 EWL EP
400
EDL
E4
500
EHL
E5
512 EXL EQ
1000
EJL
E6
1024 EYL ER
MDrive
17Plus
SPEED CONTROL
INPUT VOLTAGE (+V)
Range
+12 to +48 VDC
Power supply current requirements = 2A (maximum) per MDrive17Plus.
Actual power supply current will depend on voltage and load.
SPEED CONTROL
Input 0 to +5 VDC*, 0 to +10 VDC, 4 to 20 mA, 0 to 20 mA or 15 to 25 kHz PWM
A/D Resolution 10 bit
LOGIC INPUT
Start/Stop and Direction
Low Level 0 to +0.8 VDC
High Level +2.0 to +5.0 VDC
Internal Pull-up Resistance (to +3.3 VDC)
20 kΩ
MOTION
Oscillator Frequency (Max) 5 MHz
Microstep Resolution
Number of Settings 20
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 (0.001mm/µstep)
THERMAL
Operating Temperature
Heat Sink –40° to +85°C (non-condensing)
Motor –40° to +100°C (non-condensing)
*10 k Ω potentiometer resistance.
STANDARD SPEC I FI CA TIONS
SETUP PARAMETERS
Function Range Units Default
A1
Analog Input Mode
0 to +5 VDC, 0 to +10 VDC,
4 to 20 mA, 0 to 20 mA, 15 to 25 kHz PWM
— 0 to +5 VDC
ACCL
Acceleration 91 to 1.5 X 10
9
steps/second
2
1,000,000
C
Joystick Center 1 to 1022 counts 0
DB
Analog Deadband 0 to 255 counts 1
DECL
Deceleration 91 to 1.5 X 10
9
steps/second
2
1,000,000
DIR
Motor Direction Override Clockwise (CW) / Counterclockwise (CCW) — CW
FAULT
Fault/Checksum Error Error Code — None
FS
Analog Full Scale 1 to 1023 counts 1023
HCDT
Hold Current Delay Time HCDT + MSDT <= 65535 milliseconds 500
IF
Analog Input Filter 1 to 1000 counts 1
MHC
Motor Hold Current 0 to 100 percent 5
MRC
Motor Run Current 1 to 100 percent 25
MSDT
Motor Settling Delay Time MSDT + HCDT <= 65535 milliseconds 0
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
SSD
Stop/Start Debounce 0 to 255 milliseconds 0
VI
Initial Velocity 0 to <VM steps/second 1000
VM
Maximum Velocity VI to 5,000,000 steps/second 768,000
USER ID
User ID Customizable 1–3 characters IMS
All parameters are set using the supplied IMS SPI Motor Interface GUI and may be changed on-the-fl y.
An optional Communication Converter is recommended with fi rst orders.
