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Lexium MDrive 23

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Brand: IMS
Overview
The Lexium MDrive 23 is a Nema 23 stepper motor that is integrated with a built in driver and has numerous enhanced features for a complete motion control solution. The Lexium MDrive is available with a motion controller option and a pulse/ direction input option.

Lexium MDrive benefits
  • Delivering smooth operation at low speed
  • Performance at high speed
  • High starting torque
  • Torque mode
  • Protection against over voltage and DC switching
  • Isolated communication and I/O
  • LED status indicator


Closed loop hMTechnology
Closed loop hMTechnology blends stepper and servo motor benefits. Within the same compact integrated package, Lexium MDrive products with closed loop hMTechnology deliver enhanced motor performance including:

  • Lower energy consumption and cooler operating temperatures
  • Higher torque from smaller motors for economic efficiency
  • Real time closed-loop control, eliminating loss of synchronization
  • Lower cost option to servo motors in performance range
Price: $0.00
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Lexium MDrive 23
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Lexium MDrive 23

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The Lexium MDrive Pulse/direction input is an integrated motor + driver with numerous enhanced features for a complete motion control solution.

Communications interface

The LMDxP uses an isolated RS-422/485 communication interface with selectable BAUD rate ranging from 4.8 to 115 kilobits per second via a standard 9-pinD-subminiature connector. An optional USB to RS-422/485 Comm converter with cable is available and is compatible with all 32 and 64 bit operating systems.

Power and I/O

DC power and the I/O are interfaced via robust locking connectors: a 2-pin screw lock connector for power, and a pair of 7-pin spring-clamp terminal blocks with side-locking tabs for I/O.

The isolated I/O bank consists of +5 to +24 VDC inputs for step, direction and bridge enable/disable, one (1) 5.5 mA Attention output, a 12-bit analog input and six TTL level differential encoder outputs, which are not isolated. The clock and direction inputs may be programmable to multiple clock types in software, either pulse/direction, quadrature or CW/CCW

Selectable modes of operation

Unlike traditional pulse/direction devices, the Lexium MDrive Pulse/direction input may be configured to operate in the following modes of operation:

1.Pulse/direction mode:The LMDxP will perform motion in response to step clock and direction signals on the inputs.

2.Speed control mode:The LMDxP will intelligently control the axis velocity based upon parameter configuration in software and a signal applied to the analog input.

3.Torque control mode(Closed Loop Only!):The LMDCP will intelligently control the shaft torque based upon parameter configuration in software and a signal applied to the analog input.

4.Constant velocity mode:The LMDxP will intelligently control the axis velocity based upon parameter configuration in software and the value of a slew at velocity command sent over the RS-422/485 interface.

Software

The Lexium MDrive Pulse/direction uses the powerful, yet easy to use Pulse/direction Configuration Utility which is part of the Lexium MDrive Software Suite.

The Pulse/direction Configuration Utility is used to set all the available parameters of the LMDxP and can be used in either basic or advanced modes. Basic, for standard pulse/direction functionality with basic parameters, or Advanced, for configuring hMTecnology and advanced operating modes.

The Lexium MDrive Motion Control is an integrated motor + driver + programmable controller with numerous enhanced features for a complete motion control solution.

Communications interface

The LMDxM uses an isolatedRS-422/485 communication interface with selectable BAUD rate ranging from 4.8to 115 kilobits per second via a standard 9-pin D-sub miniature connector. An optional USB to RS-422/485 Comm converter with cable is available and is compatible with all 32 and 64 bit operating systems.

Power and I/O

DC power and the I/O are interfaced via robust locking connectors: a 2-pin screw lock connector for power, and a pair of 7-pin spring-clamp terminal blocks with side-locking tabs for I/O.

The isolated I/O bank consists off our (4) +5 to +24 VDC programmable inputs, two (2) 100mA, -24 to +24V dry contact outputs, one (1) 5.5 mA Trip output and a 12-bit analog input. All I/O points are programmable to multiple functions in software.


Software

The Lexium MDrive Motion Control uses the powerful and versatile MCode programming and control language. Users can take advantage of the 11, 120 bytes of flash memory and 336 user labels to write programs ranging from simple motion to complex interactions between motion, trip functions and I/O.

A powerful new Graphical User Interface (GUI), the Motion Control Programmer simplifies programming, simulating and debugging MCode application programs.


General

DC power

[+VDC] (includes back-EMF)+12...+60
Power supply current requirement[A] (max)3.5 A

Aux-Logic supply (Programmable Motion Control Model Only)

[+VDC]+12...+24
[mA] (max)194

Operating Temperature

[C] (heat sink)85
[C] (motor)100
IP RatingIP20

I/O (Pulse/direction Input)

Signal inputs (Two +5 to +24 VDCPulse and Direction)

Voltage range

[+VDC]

5 ... 24

Input current (5V)

[mA]

8.7

Input current (24V)

[mA]

14.6

Input frequency

[kHz]

5

Isolation


Galvanic

Protection class



Analog input (One 12-bit)

Voltage mode 0 - 5

[+VDC]

0 ... 5

Voltage mode 0 - 10

[+VDC]

0 ... 10

Current loop mode

[mA]

0 ... 20

Resolution

[Bits]

12

Impedance by mode

0 - 5 V

Ohm

5

0 - 10 V

Ohm

1.25

0 - 20 mA

Ohm

5

Isolation


None

Attention output (One 5.5 mA)

Voltage open-collector

[+VDC]

60

Voltage open-emitter

[+VDC]

7

Current open-collector

[mA]

5.5

Current open-emitter

[mA]

5.5

Isolation


Galvanic

Encoder outputs (Six TTL level differential)

Output characteristic


RS422

Channel frequency

[MHz]

1.25

Phase shift A->B, B->A

[ns]

800

Cycle duration

[ns]

400

Pulse duration

[ns]

200

Input-output delay

[ns]

125

Isolation


None

I/O (Programmable Motion Controller)

Signal inputs (Four +5 to +24 VDC)

Voltage range

[+VDC]

5 ... 24

Input current (5V)

[mA]

8.7

Input current (24V)

[mA]

14.6

Input frequency

[kHz]

5

Isolation


Galvanic

Protection class


III

Analog input (One 12-bit)

Voltage mode 0 - 5

[+VDC]

0 ... 5

Voltage mode 0 - 10

[+VDC]

0 ... 10

Current loop mode

[mA]

0 ... 20

Resolution

[Bits]

12

Impedance by mode

0 - 5 V

Ohm

5

0 - 10 V

Ohm

1.25

0 - 20 mA

Ohm

5

Isolation


None

Power outputs (Two 100 mA)

Voltage rating

[+VDC]

-24 ... +24

Current rating

[mA]

-100 ... +100

RDSON

Ohm

11 ... 14

TON(hardware)

[mS]

0.08 ... 2

TOFF(hardware)

[mS]

0.03 ... 0.5

O/C Level (+/-)

[mA]

230 ... 350

S/C Peak (+ or - @24V)

[mA]

2.2 (max)

Clamp voltage

[+VDC]

32 ... 38

Signal output (One 5.5 mA)

Voltage open-collector

[+VDC]

60

Voltage open-emitter

[+VDC]

7

Current open-collector

[mA]

5.5

Current open-emitter

[mA]

5.5

Isolation


Galvanic


Communication

Characteristic of serial data lines

RS485

Baud rate

[kbps]

4.8 ... 115

Isolation


Galvanic


Motion

Open loop

Microstep resolutions (steps/rev)

200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/ustep), 21600 (1 arc minute/ustep), 25400 (0.001mm/ustep)

Counter type

[32-bit]

Position

Counter edge rate (max.)

[MHz]

5

Velocity range

[steps/secRPM]

+/- 2560000+/- 3000

Velocity resolution

[steps/sec]

0.5961

Accel/Decel range

[steps/sec2]

1.5 X 109

Accel/Decel resolution

[steps/sec2]

90.9


Closed loop

Encoder type

Internal, magnetic

Encoder resolution

[Lines / Edges]

1000 / 4000

Scaling

[Encoder counts : Full step]

20:1

Counter type

[32-bit]

Encoder

Encoder functions

(Pulse/direction Input Model)

[hMTecnology OFF]

None

[hMTechnolgy ON]

Anti-stall

Variable current control

Torque mode

Position Make-up

Encoder functions

(Programmable Motion Control Model)

[hMTecnology OFF]

Stall detect

Position maintenance

Find index

[hMTechnolgy ON]

Anti-stall

Variable current control

Torque mode


Setup Parameters (Pulse/direction Input Model)

Operating Modes

Step & Direction, speed control, torque control or velocity control

Hybrid Settings

Setup/
Configuration

Turn Hybrid off or on in fixed or variable mode;
set and confirm encoder line count

Operation

Set control bounds for motor torque and speed, lead, lag, and make-up of lost steps

Hybrid Status

Display status alerts of 8 pre-programmed fields, read-only

Calibration

To maintain synchronization, select options for motor's rotor-to-stator physical position

Analog Settings

Set analog ranges, select input mode: 0-5V, 0-10V,
-10 to +10V (not applicable for Step mode)

Communication Settings

Set baud rate; enable/disable party mode and features;
Check Sum integrity quality assurance

I/O Settings

Clock and filter settings;
Attention Output with 11 pre-programmed fields to select among

Motion Settings

All operating modes

Set various motion settings, which vary with the operating mode selected ex. Current, MSEL

Speed control mode

Additional settings: for setting acceleration, deceleration, velocity and flags

Defaults

Restore system defaults or previously stored settings;
view current communication settings

*Closed loop models only


Software (Programmable Motion Control Model)

Program storage

[Bytes / Flash]

11,120

User registers

[Number / type]

4 / 32-bit

User labels and variables

336

Math functions

+, -, x, /, >, <, =, <=, >=, AND, OR, XOR, NOT

Branch functions

Branch & call

Input functions

Home, limit plus, limit minus, go, stop, pause, jog plus, jog minus, general purpose, capture

Output functions

Moving, error, velocity change,stall,locked rotor, moving position,hMT active, make-up active, encoder A, encoder B,trip, attention. general purpose,

Trip functions

Trip on input, trip on position, trip on time, trip capture, trip on relative position, trip on main power loss

Encoder functions

hMTechnology, stall detection, position maintenance, find index

Multi-drop addresses

62

*Closed loop models only


Motor Specifications



Single Length

Double Length

Triple Length

Holding torque

oz-in (N-cm)

103.4(73)

158.6 (112)

242.2 (171)

Detent torque

oz-in (N-cm)

3.89 (2.74)

5.55 (3.91)

9.72 (6.86)

Rotor inertia

oz-in-sec2(kg-cm2)

0.0025 (0.18)

0.0037 (0.26)

0.0065 (0.46)

Radial load limit

lb (kg) center of shaft flat

15 (6.8)

15 (6.8)

15 (6.8)

Axial load limit

lb (kg)@1500RPM

20 (9.0)

20 (9.0)

20 (9.0)

Weight

oz (g)

26.4 (748)

31.2 (885)

44.0 (1247.3)


Torque Performance Curves

Test condition:

  • HMT OFF: 100% current 0.84 oz damper, inertia: 0.18589 oz-in2
  • HMT ON: 100% current, No damper


Single Length



Double Length



Triple Length



Mechanical Diagrams

Side



Face



Rear



Isometric


Number


Function


P1

DC power


P2


I/O


P3


RS-422/485 communication



P1 - DC Power


Connector Pinout

Pin Number

Signal

Function

1

+VDC

Supply voltage +12 to +60 VDC

2

GND

0 VDC (power supply return)


Recommended Wiring

It is recommended that shielded twisted pair cabling be used for the supply voltage VDC connection.

Length (ft (m)

10 (3.0)

25 (7.6)

50 (15.2)

75 (22.9)

100 (30.5)

Amps (peak)

Minimum AWG (mm2)

1

20 (0.5)

20 (0.5)

18 (0.75)

18 (0.75)

18 (0.75)

2

20 (0.5)

18 (0.75)

16 (1.5)

14 (2.5)

14 (2.5)

3

18 (0.75)

16 (1.5)

14 (2.5)

12 (4.0)

12 (4.0)

4

18 (0.75)

16 (1.5)

14 (2.5)

12 (4.0)

12 (4.0)


Connecting the Cable

The connector mate is a screw lock type connector. The wire gauge is determined by the length of the conductor and the amount of current required. To interface:

  • Strip 0.25 (6.0 mm) insulation.
  • Insert into designated pin
  • Tighten screw to set the wire
  • Insert into P1 socket and tighten lock screws


P2 - I/O Points


Connector Pinout


Pulse/Direction I/O

Pin Number

Signal

Function

ConnectorP2a

1

OPTO_REFERENCE

Biases the input as sinking or sourcing

2

PULSE/MOTION

Pulse input for pulse/direction mode or stop/start for torque, speed and velocity modes

3

DIRECTION

Direction input

4

BRIDGE_ENABLE

Enable/disable the power stage

5

ATTENTION-

Minus (collector) output of the attention output

6

ATTENTION+

Plus(emitter) output of the attention output

7

ANALOG_IN

Analog input

Connector P2b

1

ENC_A+

Encoder A+ output

2

ENC_A-

Encoder A- output

3

ENC_B+

Encoder B+ output

4

ENC_B-

Encoder B- output

5

ENC_I+

Encoder index+ output

6

ENC_I-

Encoder index- output

7

GND

Logic ground


Programmable Motion Control I/O

Pin Number

Signal

Function

ConnectorP2a

1

INPUT_ REFERENCE

Biases the input as sinking or sourcing

2

IN1/CAPTURE

General purpose programmable input with the alternate function of being a dedicated CAPTURE input.

3

IN2

General purpose +5 to +24 VDC programmable input 2

4

IN3

General purpose +5 to +24 VDC programmable input 3

5

IN4

General purpose +5 to +24 VDC programmable input 4

6

ANALOG_IN

Analog input

7

LOGIC_GND

Logic ground (non-isolated) for analog input.

Connector P2b

1

AUX_PWR

0 ... 24V auxiliary power input maintains logic circuitry and position information in the event of SUPPLY VOLTAGE VDC power loss.

2

OUTPUT 1+

Output1 + polarity

3

OUTPUT 1-

Output 1 - polarity

4

OUTPUT 2+

Output 2 + polarity

5

OUTPUT 2-

Output 2 - polarity

6

TRIP_OUTPUT_ EMITTER

High speed trip output emitter

7

TRIP_OUTPUT_ COLLECTOR

High speed trip output collector


Recommended Wiring

  • Shielded cable
  • Twisted-pair cables
  • Grounding of the shield at both ends

Max cable length 1)

feet (m)

328 (100)

Minimum conductor cross section

AWG (mm2)

24 (0,14)

Maximum conductor cross section

AWG (mm2)

20 (0.6)

Stripping length

inches (mm)

0.25 (6.0)

1) The length depends on the conductor cross section and the driver circuit used


Connecting the Cable

The connector mate is a clamp type terminal strip.

To interface:

  • Insert into designated pin
  • Insert into P2 socket


P3 - RS-422/485 communication


Connector Pinout

.

Pin Number

Signal

Function

1

N/C

Not connected

2

TRANSMIT-

Minus transmit, or channel A- line

3

RECEIVE+

Plus receive, or channel B+ line

4

COMM_GND

Isolated communication ground

5

N/C

Not connected

6

COMM_GND

Isolated communication ground

7

TRANSMIT +

Plus transmit, or channel A+ line

8

RECEIVE-

Minus receive, or channel B- line

9

N/C

Not connected


Recommended Wiring

  • Shielded cable
  • Twisted-pair cables
  • Grounding of the shield at both ends

Max cable length 1)

feet (m)

1312 (400)

Minimum conductor cross section

AWG (mm2)

22 (0.25)

Maximum conductor cross section

AWG(mm2)

18 (1.0)

1) The length depends on the data rate and loading. See EIA485 Standard.


Connecting the Cable

We recommend using commercially available cable with female DB-9 end.

Both ends of the entire bus system must be terminated with a terminating resistor. The resistor value is 120Ω connected between the TX+ and TX- and RX+ and RX- lines.

The Lexium MDrive Pulse/direction input is an integrated motor + driver with numerous enhanced features for a complete motion control solution.

Communications interface

The LMDxP uses an isolated RS-422/485 communication interface with selectable BAUD rate ranging from 4.8 to 115 kilobits per second via a standard 9-pinD-subminiature connector. An optional USB to RS-422/485 Comm converter with cable is available and is compatible with all 32 and 64 bit operating systems.

Power and I/O

DC power and the I/O are interfaced via robust locking connectors: a 2-pin screw lock connector for power, and a pair of 7-pin spring-clamp terminal blocks with side-locking tabs for I/O.

The isolated I/O bank consists of +5 to +24 VDC inputs for step, direction and bridge enable/disable, one (1) 5.5 mA Attention output, a 12-bit analog input and six TTL level differential encoder outputs, which are not isolated. The clock and direction inputs may be programmable to multiple clock types in software, either pulse/direction, quadrature or CW/CCW

Selectable modes of operation

Unlike traditional pulse/direction devices, the Lexium MDrive Pulse/direction input may be configured to operate in the following modes of operation:

1.Pulse/direction mode:The LMDxP will perform motion in response to step clock and direction signals on the inputs.

2.Speed control mode:The LMDxP will intelligently control the axis velocity based upon parameter configuration in software and a signal applied to the analog input.

3.Torque control mode(Closed Loop Only!):The LMDCP will intelligently control the shaft torque based upon parameter configuration in software and a signal applied to the analog input.

4.Constant velocity mode:The LMDxP will intelligently control the axis velocity based upon parameter configuration in software and the value of a slew at velocity command sent over the RS-422/485 interface.

Software

The Lexium MDrive Pulse/direction uses the powerful, yet easy to use Pulse/direction Configuration Utility which is part of the Lexium MDrive Software Suite.

The Pulse/direction Configuration Utility is used to set all the available parameters of the LMDxP and can be used in either basic or advanced modes. Basic, for standard pulse/direction functionality with basic parameters, or Advanced, for configuring hMTecnology and advanced operating modes.