MDrive17Plus Integrated Motion Controller, Brushless Step Motor and Driver - Intelligent Motion Systems Schneider Electric Motion

MDrive17Plus Motion Control

with optional CANopen

The MDrive17Plus Motion Control is a NEMA size 17 high torque 1.8° stepping motor integrated with a microstepping driver and a full featured programmable motion controller.

Controller features include:

RS-422/485 or CANopen communications
+12 to +48 VDC input voltage
Up to 74.9 oz-in (52.9 N-cm) holding torque
Robust programmable I/O (up to 12 general purpose points) with input filtering
Powerful instruction set with advanced math functions using 1-2 character mnemonics
Step/Direction I/O for electronic gearing

Specifications
Options / Accessories
Connector options by P/N
Downloads/Support

General
I/O
Comm
Motion
Software
Expanded I/O
Motor
Mechanical

Input Voltage	Range (includes back-EMF)	+12 to +48 VDC
Power Supply Current Requirement	Max per MDrivePlus (depends on voltage and load)	2.0 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
Operating Temperature	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
Dedicated I/O	Logic Range	0 to +5 VDC, TTL compatible
Analog Input	Resolution	10 bit
Analog Input	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
Open Loop Configuration	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
Counters	Edge Rate (Max)	5 MHz
Velocity	Range	+/- 5,000,000 Steps per Second
Velocity	Resolution	0.5961 Steps per Second
Acceleration/Deceleration	Range	1.5 X 10⁹ Steps per Second²
Acceleration/Deceleration	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	Double Length	Triple Length
Holding Torque oz-in (N-cm)	32 (22.6)	60 (42.4)	74.9 (52.9)
Detent Torque oz-in (N-cm)	1.66 (1.17)	2.08 (1.47)	3.47 (2.45)
Rotor Inertia oz-in-sec² (kg-cm²)	0.00053 (0.038)	0.00080 (0.057)	0.00116 (0.082)
Weight (Motor+Driver) oz (g)	10.4 (294.8)	12.0 (340.2)	15.2 (430.9)

Torque/Speed Curves

MDrive17Plus Motion Control

MDrive17Plus²-65 Motion Control

QuickStart Kit
Encoders
Linear Actuators
Gearboxes
Connectivity solutions

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 Communications 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:

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

Remote encoder interface
The remote encoder option, while adding additional wiring to the MDrivePlus, offers two key advantages:

The user can choose the type of encoder and line count.
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 step 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 MDrive17Plus 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)
	Permitted output torque (oz-in / Nm)	Gearbox efficiency	Maximum backlash	Radial	Axial	Gearbox	with Flange
1-stage	425 / 3.0	0.80	0.80°	36 / 160	11 / 50	14.8 / 406	14.8 / 420
2-stage	1062 / 7.5	0.75	0.85°	52 / 230	18 / 80	17.9 / 508	18.5 / 525
3-stage	2124 / 15.0	0.70	0.90°	67.5 / 300	25 / 110	21.5 / 609	22.2 / 630

See NEMA 17 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.

Communications 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-CC400-001 (USB to RS-422/485)	10-Pin IDC
MD-CC401-001 (USB to RS-422/485)	5-Pin M12 Circular
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
PD16-1417-FL3	16-Pin Locking Wire Crimp	I/O and Power
MD-CS100-000	19-Pin M23 Circular (Straight)	I/O and Power
MD-CS101-000	19-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/N	Mating Connector Type	Shell Mfg. P/N	Crimp Pins Mfg. P/N
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
CK-01	10-Pin IDC	Samtec: TCSD-0501-N	--