' IMS, Mdrive 17 Plus CANopen
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Mdrive 17 Plus CANopen

SKU: info-ims-mdic17
Brand: IMS
The MDrive 17 Plus CANopen is a NEMA size 17 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. It is available in 3 different stack lengths and has up to 75 oz-in. of holding torque.

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 74.9 oz-in (52.9 N-cm) 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: mdriveice 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 17 Plus CANopen
Mdrive 17 Plus CANopen
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General

DC input voltage                             Range (includes back-EMF)              +12 to +48 VDC
               Power supply current requirement              Max per MDrivePlus (depends on voltage and load) 2.0
Aux-Logic supplyVoltage+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             

Standard features (Plus)

General purpose I/O Number/type4 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
ProtectionOver temp, short circuit, transient over voltage, over voltage, inductive clamp
Dedicated I/O TypeStep/clock, direction/clock, capture/trip
Logic range 0 to +5 VDC, TTL compatible
Analog input Resolution10 bit
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 clock in)
0.001 to 2.000/32 Bit/TTL
Input filter range50 nS to 12.9 u;S (10 MHz to 38.8 kHz)
Range‡ (secondary clock out) 1 to 1
High speed I/OCapture filter range 50 nS to 12.9 u;S (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)                
TypeUser 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 resolutionUser-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/O points.

           

ProtocolCANopen
Baude rate 10 kbps to 1.o Mbps
IsolationGalvanic
Application Layer DS301 V3.0
Bus 2.0B Active
mdriveice Profile DSP-402
Features Node Guarding, Heartbeat Producer, SDO, PDO (Variable mapping)

           

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)
TypeInternal, differential, magnetic
Steps per revolution 51200
Encoder resolution512 lines (2048 edges)
CountersType32 bit position and encoder
Edge rate (Max) 5 MHz
VelocityRange+/- 5,000,000 steps per second
Resolution0.5961 steps per second
Acceleration/decelerationRange1.5 X 109 steps per second2
Resolution90.9 steps per second2

           


Setup ParametersStorable to NVM
Transmit PDOs3 Dynamically Mappable
Receive PDOs3 Dynamically Mappable
Manufacturer Specific ObjectsI/O Configuration, Run/Hold Current
Modes of OperationProfile Position, Homing Mode, Profile Velocity
Input functionsGeneral purpose, homing mode profiles
Output funtionsGeneral purpose
Stack lengthSingle lengthDouble lengthTriple length
Holding torqueoz-in32.060.074.9
N-cm22.642.452.9
Detent torqueoz-in1.662.083.47
N-cm1.171.472.45
Rotor inertiaoz-in-sec20.000530.000800.00116
kg-cm20.0380.0570.082
Weightoz10.412.015.2
grams294.8340.2430.9

 

Torque/Speed Curves


Dimensions in inches (mm)

MDrive17PlusCANopen with industrial connectors

Dimensions in inches (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

If building your own cabling, you will need:

  • Cabling with appropriate mating connectors for the MDrive model selected
  • For information on Party Mode (Multidrop) communications view the product manual

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
MD-CS100-00019-Pin M23 Circular (Straight)I/O and Power
MD-CS101-00019-Pin M23 Circular (Right Angle)I/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 MDrivePlus (depends on voltage and load) 2.0
Aux-Logic supplyVoltage+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             

Standard features (Plus)

General purpose I/O Number/type4 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
ProtectionOver temp, short circuit, transient over voltage, over voltage, inductive clamp
Dedicated I/O TypeStep/clock, direction/clock, capture/trip
Logic range 0 to +5 VDC, TTL compatible
Analog input Resolution10 bit
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 clock in)
0.001 to 2.000/32 Bit/TTL
Input filter range50 nS to 12.9 u;S (10 MHz to 38.8 kHz)
Range‡ (secondary clock out) 1 to 1
High speed I/OCapture filter range 50 nS to 12.9 u;S (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)                
TypeUser 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 resolutionUser-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/O points.

           

ProtocolCANopen
Baude rate 10 kbps to 1.o Mbps
IsolationGalvanic
Application Layer DS301 V3.0
Bus 2.0B Active
mdriveice Profile DSP-402
Features Node Guarding, Heartbeat Producer, SDO, PDO (Variable mapping)

           

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)
TypeInternal, differential, magnetic
Steps per revolution 51200
Encoder resolution512 lines (2048 edges)
CountersType32 bit position and encoder
Edge rate (Max) 5 MHz
VelocityRange+/- 5,000,000 steps per second
Resolution0.5961 steps per second
Acceleration/decelerationRange1.5 X 109 steps per second2
Resolution90.9 steps per second2

           


Setup ParametersStorable to NVM
Transmit PDOs3 Dynamically Mappable
Receive PDOs3 Dynamically Mappable
Manufacturer Specific ObjectsI/O Configuration, Run/Hold Current
Modes of OperationProfile Position, Homing Mode, Profile Velocity
Input functionsGeneral purpose, homing mode profiles
Output funtionsGeneral purpose