' IMS, MDrive 14 Plus CANopen
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MDrive 14 Plus CANopen

SKU: info-ims-mdic14
Brand: IMS
The MDrive 14 Plus CANopen is a NEMA size 14 high torque 1.8 degree stepper motor integrated with an advanced, high resolution microstepping driver and a full featured CANopen interface supporting CiA DS301 and DSP402 Device Profile for Drives and Motion Control. The size 14 motor is the smallest MDrive available and has the highest speed capability.  This is great for optimizing your instrumentation applications. It has up to 36 oz-in holding torque and is available in two stack lengths. At 48 VDC it still delivers one third of it's holding torque at 9000 RPM.
MDrive CANopen products function as nodes on a system with central control such as a PLC. Note: they do not include the full programmability of the RS-422/485 Motion Control products.

Features include:

  • Node ID and BAUD rate set by Layer Setting Services (LSS)
  • +12 to +48 VDC input voltage
  • Up to 36 oz-in holding torque
  • Capable of Standard Frequencies (10 kHz to 1 MHz)
  • Supports node monitoring via Node Guarding or Heartbeat Messages
  • Conforms to CiA DSP-402: mdrive device Profile for Drives and Controls
  • Three PDO (Process Data Objects) which support variable PDO mapping
  • Robust programmable I/O (up to 8 general purpose points) with input filtering
  • Powerful instruction set with advanced math functions using 1-2 character mnemonics
  • Supported Modes of Operation
    • Profile Position
    • Homing Mode
    • Profile Velocity
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MDrive 14 Plus CANopen
MDrive 14 Plus CANopen
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General

 

DC input voltage

Range (includes back-EMF)

+12 to +48 VDC

Power supply current requirement

Max per MDrive Plus (depends on voltage and load)

1.0

Aux-Logic supply

Voltage

+12 to +24 VDC

Current requirement (max)

194 mA

Operating Temperature

Measured at heat sink (non-condensing humidity)

85C

Measured at motor (non-condensing humidity)

100C


I/O


 Standard features(Plus)

General purpose I/O

Number/type

4 I/O points, programmable as sinking outputs or sinking and sourcing inputs

Logic range

Inputs and outputs tolerant to +24 VDC, inputs TTL compatible

Output sink current

Up to 600 mA per channel

Protection

Over temp, short circuit, transient over voltage, over voltage, inductive clamp

Dedicated I/O

Type

Step/clock, direction/clock, capture/trip

Logic range

0 to +5 VDC, TTL compatible

Analog input

Resolution

10bit

Range (selectable)

0 to +5 VDC, 0 to 10 VDC, 0 to 20 mA, 4 to 20 mA

 

Expanded features (Plus2)

 

General purpose I/O

Number/type

8 I/O points, programmable as sinking or sourcing outputs or sinking and sourcing inputs (4 when remote encoder option is selected)

Logic range

Sourcing outputs +12 to +24 VDC, inputs and sinking outputs tolerant to +24 VDC, inputs TTL level compatible

Output sink current

Up to 600 mA per channel

Electronic gearing

Range‡/resolution/threshold
(external clockin)

0.001 to 2.000/32 Bit/TTL

Input filter range

50 nS to 12.9µS (10 MHz to 38.8 kHz)

Range‡ (secondary clock out)

1 to 1

High speed I/O

Capture filter range

50 nS to 12.9 µS (10 MHz to 38.8 kHz)

Capture resolution

32 bit

Trip output speed/resolution/threshold

150 ns/32 bit/TTL

Closed loop configuration
(requires remote encoder) (see note 1)

Type

User supplied differential encoder

Steps per revolution

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)

Encoder resolution

User-defined
Note:ustep/rev 2X the encoder count/rev minimum

 

(Note 1) The remote encoder option replaces the following with TTL level differential encoder inputs: General purpose I/O points 9-12, Step / direction I/Opoints.


Comm


Protocol

CANopen

Baude rate

10 kkbps to 1.o Mbps

Isolation

Galvanic

Application Layer

DS301 V3.0

Bus

2.0B Active

mdriveice Profile

DSP-402

Features

Node Guarding, Heartbeat Producer, SDO, PDO (Variable mapping)

 

Motion

 

Open loop configuration

Number of microstep resolutions

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/ustep), 21600 (1 arc minute/ustep), 25400 (0.001mm/ustep)

Closed loop configuration
(requires encoder option)

Type

Internal, differential, magnetic

Steps per revolution

51200

Encoder resolution

512 lines (2048 edges)

Counters

Type

32 bit position and encoder

Edge rate (Max)

5 MHz

Velocity

Range

+/- 5,000,000 steps per second

Resolution

0.5961 steps per second

Acceleration/deceleration

Range

1.5 X 109steps per second2

Resolution

90.9 steps per second2

 

Software


Setup Parameters

Storable to NVM

Transmit PDOs

3 Dynamically Mappable

Receive PDOs

3 Dynamically Mappable

Manufacturer Specific Objects

I/O Configuration, Run/Hold Current

Modes of Operation

Profile Position, Homing Mode, Profile Velocity

Input functions

General purpose, homing mode profiles

Output functions

General purpose

Stack lengthSingle lengthTriple length
Holding torqueoz-in18.036.0
N-cm12.7125.00
Detent torqueoz-in2.04.4
N-cm1.43.1
Rotor inertiaoz-in-sec20.0002780.000801
kg-cm20.01990.0566
Weightoz5.2912.8
grams150.0380.0

 

Torque/Speed Curve



Dimensions in mm


Internal encoder


The internal encoder option is a 512-line (2048 count)differential magnetic encoder. The internal magnetic encoder offers two key advantages:

1.  Reduced connections externally, thus reduced system cabling, as encoder feedback is all internal to the MDrive Plus.
2.  Smaller footprint to the MDrive Plus than an externally mounted encoder.


Remote encoder interface(1)


The remote encoder option, while adding additional wiring to the MDrive Plus, offers two key advantages:

1.  The user chooses the type of encoder and line count.
2.  The encoder may be placed directly on the load rather than at the encoder shaft.

Note: The remote encoder interface reduces the number of available I/O points from 8 to 4. General purpose I/O 9-12 and Step and Direction I/O are replaced by differential encoder inputs.

Communication Converters

Electrically Isolated, in-line converters pre-wired with mating connectors to conveniently set parameters and program a single MDrive Plus via a PC USB port.


Converter Part NumberMating Connector Type
MD-CC500-000 (CANopen)Interface cable required


Prototype Development Cables


Prototype development cables are designed to speed test/development with pre-wired mating connectors that have flying leads other end. No prototype development cables are available for the MDrive Plus using the 12' Flying Leads or Pluggable Clamp Terminal Strip.


Prototype Development Cable P/NMating Connector TypeSignal Type
PD16-1417-FL316-Pin Locking Wire CrimpI/O and Power


If building your own cabling, you will need:

  • Appropriate mating connector and crimp pins if required (Mating connector kits are available for Locking Wire Crimp style connectors)
  • Crimp tooling (Locking Wire Crimp) or solder station (19-Pin M23)
  • Shielded twisted pair cabling


Mating Connector Kits

Mating Connector Kits are used to build your own cables. Kits contain 5 mating connector shells with pins. Cable not supplied. Manufacturer crimp tooling recommended.

Mating Connector Kit P/NMating Connector TypeShell Mfg. P/NCrimp Pins Mfg. P/N
CK-1016-Pin Locking Wire CrimpJST: PADP-16V-1SJST: SPH-001T-PO.5L


Drive Protection Module

The function of the DPM75 Drive Protection Module is to limit the surge current and voltage to a safe level when DC input power is switched on and off to a motor drive. This provides the added protection necessary for reliable motor drive operation when switching the DC power, instead of the recommended AC power to the DC power supply. The device is designed to protect the motor drive when operating under all load conditions. This device does not protect the motor drive from wiring the power incorrectly.

The unit is capable of being used with 48, 60, and 75 volt rated motor drives. An external jumper selection is available so the user can match the circuit to their particular application. The DPM75 is capable of a steady state operating current of 4 amps.

The DPM75 can be used for any frame size motor drive, when properly configured. It can also be used for more than one unit provided the current and voltage do not exceed the DPM75's ratings. The maximum DPM75 ratings are 75 volts and 4 amps.

General

 

DC input voltage

Range (includes back-EMF)

+12 to +48 VDC

Power supply current requirement

Max per MDrive Plus (depends on voltage and load)

1.0

Aux-Logic supply

Voltage

+12 to +24 VDC

Current requirement (max)

194 mA

Operating Temperature

Measured at heat sink (non-condensing humidity)

85C

Measured at motor (non-condensing humidity)

100C


I/O


 Standard features(Plus)

General purpose I/O

Number/type

4 I/O points, programmable as sinking outputs or sinking and sourcing inputs

Logic range

Inputs and outputs tolerant to +24 VDC, inputs TTL compatible

Output sink current

Up to 600 mA per channel

Protection

Over temp, short circuit, transient over voltage, over voltage, inductive clamp

Dedicated I/O

Type

Step/clock, direction/clock, capture/trip

Logic range

0 to +5 VDC, TTL compatible

Analog input

Resolution

10bit

Range (selectable)

0 to +5 VDC, 0 to 10 VDC, 0 to 20 mA, 4 to 20 mA

 

Expanded features (Plus2)

 

General purpose I/O

Number/type

8 I/O points, programmable as sinking or sourcing outputs or sinking and sourcing inputs (4 when remote encoder option is selected)

Logic range

Sourcing outputs +12 to +24 VDC, inputs and sinking outputs tolerant to +24 VDC, inputs TTL level compatible

Output sink current

Up to 600 mA per channel

Electronic gearing

Range‡/resolution/threshold
(external clockin)

0.001 to 2.000/32 Bit/TTL

Input filter range

50 nS to 12.9µS (10 MHz to 38.8 kHz)

Range‡ (secondary clock out)

1 to 1

High speed I/O

Capture filter range

50 nS to 12.9 µS (10 MHz to 38.8 kHz)

Capture resolution

32 bit

Trip output speed/resolution/threshold

150 ns/32 bit/TTL

Closed loop configuration
(requires remote encoder) (see note 1)

Type

User supplied differential encoder

Steps per revolution

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)

Encoder resolution

User-defined
Note:ustep/rev 2X the encoder count/rev minimum

 

(Note 1) The remote encoder option replaces the following with TTL level differential encoder inputs: General purpose I/O points 9-12, Step / direction I/Opoints.


Comm


Protocol

CANopen

Baude rate

10 kkbps to 1.o Mbps

Isolation

Galvanic

Application Layer

DS301 V3.0

Bus

2.0B Active

mdriveice Profile

DSP-402

Features

Node Guarding, Heartbeat Producer, SDO, PDO (Variable mapping)

 

Motion

 

Open loop configuration

Number of microstep resolutions

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/ustep), 21600 (1 arc minute/ustep), 25400 (0.001mm/ustep)

Closed loop configuration
(requires encoder option)

Type

Internal, differential, magnetic

Steps per revolution

51200

Encoder resolution

512 lines (2048 edges)

Counters

Type

32 bit position and encoder

Edge rate (Max)

5 MHz

Velocity

Range

+/- 5,000,000 steps per second

Resolution

0.5961 steps per second

Acceleration/deceleration

Range

1.5 X 109steps per second2

Resolution

90.9 steps per second2

 

Software


Setup Parameters

Storable to NVM

Transmit PDOs

3 Dynamically Mappable

Receive PDOs

3 Dynamically Mappable

Manufacturer Specific Objects

I/O Configuration, Run/Hold Current

Modes of Operation

Profile Position, Homing Mode, Profile Velocity

Input functions

General purpose, homing mode profiles

Output functions

General purpose