MDrive® motor+driver

Input Voltage	Range (includes back-EMF)	+12 to +48 VDC
Power Supply Current Requirement	Max per MDrivePlus (depends on voltage and load)	1.0 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)	85°C
	Measured at motor (non-condensing humidity)	100°C

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	10 bit
	Range (selectable)	0 to +5 VDC, 0 to 10 VDC, 0 to 20 mA, 4 to 20 mA

RS-422/485	BAUD Rate	4.8 to 115.2 kbps
CANopen	Application Layer	DS301 V3.0
	Bus	2.0B Active
	Device Profile	DSP-402
	Isolation	Galvanic
	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/μstep), 21600 (1 arc minute/μstep), 25400 (0.001mm/μstep)
Closed Loop Configuration (Optional Internal Encoder)	Type	Differential, Magnetic
	Steps per Revolution	51200
	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 109 Steps per Second2
	Resolution	90.9 Steps per Second2

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
Encoder Functions		Stall Detection, Position Maintenance, Find Index
Party Mode Addresses		62

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 Range	50 nS to 12.9 μS (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 (Optional - Remote Encoder)	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/μstep), 21600 (1 arc minute/μstep), 25400 (0.001mm/μstep)
	Resolution	User-Defined Note: μstep/rev 2X the encoder count/rev minimum

	Single Length	Triple Length
Holding Torque oz-in (N-cm)	18.0 (12.71)	36.0 (25.0)
Detent Torque oz-in (N-cm)	2.0 (1.4)	4.4 (3.1)
Rotor Inertia oz-in-sec2 (kg-cm2)	0.000241 (0.0170)	0.000801 (0.0566)
Weight (Motor+Driver) oz (g)	5.29 (150.0)	12.8 (380.0)

 

Torque/Speed Curve

Above photo represents a QuickStart Kit. Kit cabling varies with MDrivePlus ordered.

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 MDrivePlus.
2. Smaller footprint to the MDrivePlus than an externally mounted encoder.

Remote encoder (not supplied)
The remote encoder option, while adding additional wiring to the MDrivePlus, offers two key advantages:

1. The user can choose 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.

Combining leading all-in-one integrated stepper motor+driver technology with linear motion to deliver long life, high accuracy and unsurpassed repeatability, all in a package that is extremely compact and affordable.

>   Non-captive shaft
>   External shaft

Planetary gearbox
Efficient, low maintenance Planetary Gearbox come fully assembled with the MDrive23Plus, and are offered in a large number of reduction ratios in 1-, 2- and 3-stage configurations.

	Permitted output torque (oz-in / Nm)	Gearbox efficiency	Maximum backlash	Maximum load (lb-force / N) Output side with ball bearing		Weight (oz / g)
				Radial	Axial	Gearbox	with Flange
1-stage	106 / 0.75	0.80	1.5°	9.0 / 40	2.2 / 10	5.7  / 162	5.9 / 168
2-stage	318  / 2.25	0.75	2.0°	15.7 / 70	4.5 / 20	7.5 / 213	7.8 / 221
3-stage	637  / 4.50	0.70	2.5°	22.0 / 100	6.7 / 30	9.3 / 264	9.6 / 273

See NEMA 14 Planetary Gearbox for ratios and mechanical specifications.

NOTE: To view specific connectivity options for a particular MDrive model, see Connector options by P/N tab above.

Communication Converters

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

Converter Part Number	Mating Connector Type
MD-CC403-001 (USB to RS-422/485)	12-Pin Locking Wire Crimp
MD-CC402-001 (USB to RS-422/485)	10-Pin Friction Lock Wire Crimp
MD-CC500-000 (CANopen)	Interface cable required - view details

If building your own cabling, you will need:

• RS-422/485 inline converter or PC card
• 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 MDrivePlus using the 12' Flying Leads or Pluggable Clamp Terminal Strip.

Prototype Development Cable P/N	Mating Connector Type	Signal Type
PD12B-1417-FL3	12-Pin Locking Wire Crimp	I/O, Power & Communications
PD16-1417-FL3	16-Pin Locking Wire Crimp	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/N	Mating Connector Type	Shell Mfg. P/N	Crimp Pins Mfg. P/N
CK-08	12-Pin Locking Wire Crimp	JST:   PADP-12V-1S	JST:  SPH-001T-PO.5L
CK-10	16-Pin Locking Wire Crimp	JST:   PADP-16V-1S	JST:  SPH-001T-PO.5L
CK-02	10-Pin Friction Lock Wire Crimp	Hirose:   DF-11-10DS-2C	Hirose:  DF11-2428SC

 

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.

> DPM75 datasheet/quick reference