' IMS, MDrive 23 Plus Ethernet/IP
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MDrive 23 Plus Ethernet/IP

SKU: info-ims-maie23
Brand: IMS

The MDrive Plus EtherNet/IP is a NEMA size 23 high torque 1.8 degree stepper motor integrated with an advanced, high resolution microstepping driver and a full featured EtherNet/IP adapter class controller.

MDrive 23 is 2.3 inches square with 4 stack lengths available and a holding torque of up to 283 oz-in. Operation at up to 75 volts is possible for high speed performance. Accustep is also available in this frame size for the best in stepper performance.

Features include:

  • NEMA 23 1.8 degree brushless stepper motor
  • Microstepping driver
  • +12 to +75 VDC input range (+12 to +60 - quad length motor)
  • ODVA compliant adapter class device
  • Explicit and implicit messaging
  • Simplified networking over TCP/IP
  • Optional magnetic encoder with index mark, internal to the unit
  • 4 motor length choices
  • MCode/TCP and MODBUS/TCP included
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MDrive 23 Plus Ethernet/IP
MDrive 23 Plus Ethernet/IP
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General

Input voltage

Single, double and triple length

Range (includes back-EMF)

+12 to +75 VDC

Power supply current

Maximum per MDrive Plus (depends on voltage and load)

2.0 A

Input voltage

Quad length

Range (includes back-EMF)

+12 to +60 VDC

Power supply current

Maximum per device (depends on voltage and load)

3.5 A

Aux-logic supply voltage

Maintains power to logic circuitry in the absence of motor power

+12 to +24 VDC

Operating temperature

Measured at heat sink (non-condensing humidity)

-40° to 85C

Measured at motor (non-condensing humidity)

100C



I/O

General purpose I/O

Number/Type

4 I/O points, programmable as sinking or sourcing 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

10 bit

Range (selectable)

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

 

Comm

Ethernet

Bit rate

10/100 Mbps

Protocol

EtherNet/IP, MODBUS/TCP and MCode/TCP

Configuration port

TCP/IP Configuration Utility required

503

Default IP address

192.

100

Default subnet mask

Output (O --> T)

112

 

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

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

EtherNet/IP industrial protocol

Object model

0x01

Identity object

0x04

Assembly object (parameters mappable)

0x05

TCP object

0xF6

Ethernet object

Manufacturer specific object classes

0x64

Setup instructions

0x65

Miscellaneous instructions and flags

0x66

Motion instructions and flags

0x67

I/O instruction variables and flags

0x68

Position related instructions and flags

0x69

Encoder related instructions and flags

 

MODBUS/TCP supported functions

mdriveice ID

43/14d (0x2B/0x0E)

Read device identification

Public

02d (0x02)

Read digital inputs

01d (0x01)

Read coils (digital outputs)

05d (0x05)

Write single coil (digital output)

03d (0x03)

Read holding register

16d (0x10)

Write multiple registers

Manufacturer specific

65d (0x41)

Read I/O and trip configuration and parameters

66d (0x42)

Write I/O and trip configuration and parameters, enter upgrade mode.

 

MCode/TCP

Program storage

Type/size

Flash/6384 bytes

User registers

(4) 32-bit

User program labels and variables

192

Math functions

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

Branch functions

Branch & call

General purpose I/O Functions

Inputs

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

Outputs

Moving, fault, velocity change, general purpose

Trip functions

Trip on input, trip on position, trip on time, trip capture, trip on relative position

Stack lengthSingle lengthDouble lengthTriple lengthQuad length
Holding torqueoz-in90.0144.0239.0283.0
N-cm64.0102.0169.0200.0
Detent torqueoz-in2.75.69.714.2
N-cm1.173.926.8610.0
Rotor inertiaoz-in-sec20.00250.00370.00650.0108
kg-cm20.180.260.460.76
Weightoz21.626.439.261.6
grams612.3748.41111.31746.3
Torque/Speed Curves


MDrive Plus EtherNet/IP 
Dimensions in inches (mm)

Quickstart Kit
 

All-inclusive QuickStart Kits facilitate rapid design verification by bundling MDrive products with everything needed to connect quickly and conveniently, enabling engineers to confirm with confidence that their application's design goals are met.

QuickStart Kits include: a single sheet instruction guide, software/manuals CD, and connection cabling including Communication Converter and Prototype Development Cable(s).

Order QuickStart Kits simply by placing a K" at the beginning of an MDrive part number.
Connecting an MDrive has never been easier with readily available Communications Converters and Prototype Development Cables, in addition to Mating Connector Kits for use in building your own cables. Select the Connectivity solutions" tab above for details on these connectivity options.
 

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.

 

Communications

Ethernet communication utilizes a standard RJ45 connector and CAT5/6 cabling. This cabling is readily available from multiple sources.

Prototype Development Cables

Prototype development cables are designed to speed test/development with pre-wired mating connectors that have flying leads other end.

Prototype Development Cable P/NMating Connector TypeSignal Type
PD14-2334-FL314-Pin Locking Wire CrimpI/O
PD02-2300-FL32-Pin Locking Wire CrimpDC 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)
  • 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-0914-Pin Locking Wire CrimpJST: PADP-14V-1SJST: SPH-001T-PO.5L
CK-042-Pin Locking Wire CrimpTyco: 794617-2Tyco: 794610-1


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.

 
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General

Input voltage

Single, double and triple length

Range (includes back-EMF)

+12 to +75 VDC

Power supply current

Maximum per MDrive Plus (depends on voltage and load)

2.0 A

Input voltage

Quad length

Range (includes back-EMF)

+12 to +60 VDC

Power supply current

Maximum per device (depends on voltage and load)

3.5 A

Aux-logic supply voltage

Maintains power to logic circuitry in the absence of motor power

+12 to +24 VDC

Operating temperature

Measured at heat sink (non-condensing humidity)

-40° to 85C

Measured at motor (non-condensing humidity)

100C



I/O

General purpose I/O

Number/Type

4 I/O points, programmable as sinking or sourcing 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

10 bit

Range (selectable)

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

 

Comm

Ethernet

Bit rate

10/100 Mbps

Protocol

EtherNet/IP, MODBUS/TCP and MCode/TCP

Configuration port

TCP/IP Configuration Utility required

503

Default IP address

192.

100

Default subnet mask

Output (O --> T)

112

 

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

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

EtherNet/IP industrial protocol

Object model

0x01

Identity object

0x04

Assembly object (parameters mappable)

0x05

TCP object

0xF6

Ethernet object

Manufacturer specific object classes

0x64

Setup instructions

0x65

Miscellaneous instructions and flags

0x66

Motion instructions and flags

0x67

I/O instruction variables and flags

0x68

Position related instructions and flags

0x69

Encoder related instructions and flags

 

MODBUS/TCP supported functions

mdriveice ID

43/14d (0x2B/0x0E)

Read device identification

Public

02d (0x02)

Read digital inputs

01d (0x01)

Read coils (digital outputs)

05d (0x05)

Write single coil (digital output)

03d (0x03)

Read holding register

16d (0x10)

Write multiple registers

Manufacturer specific

65d (0x41)

Read I/O and trip configuration and parameters

66d (0x42)

Write I/O and trip configuration and parameters, enter upgrade mode.

 

MCode/TCP

Program storage

Type/size

Flash/6384 bytes

User registers

(4) 32-bit

User program labels and variables

192

Math functions

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

Branch functions

Branch & call

General purpose I/O Functions

Inputs

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

Outputs

Moving, fault, velocity change, general purpose

Trip functions

Trip on input, trip on position, trip on time, trip capture, trip on relative position