MDrive23Plus Integrated Motion Controller, Brushless Stepper Motor and Driver

MDrive 23 Plus Motion Control

The MDrive23Plus Motion Control is a NEMA size 23 high torque 1.8° stepper motor integrated with a microstepping driver and a full featured programmable motion controller.

Controller features include:

Communication versions
RS-422/485 serial interface
MODBUS/TCP RJ45 interface
Up to +75 VDC input range
Up to 283 oz-in (200 N-cm) holding torque
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
Step/Direction I/O for electronic gearing (Plus² models only)

Specifications
Options
Connectivity by P/N
Downloads

General
I/O
Comm
Motion
Software
Motor
Mechanical

Input voltage	Single, double and triple length	Range (includes back-EMF)	+12 to +75 VDC
Power supply current	Single, double and triple length	Max per MDrivePlus (depends on voltage and load)	2.0 A
Input voltage	Quad length	Range (includes back-EMF)	+12 to +60 VDC
Power supply current	Quad length	Max per MDrivePlus (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)	85°C
Operating temperature		Measured at motor (non-condensing humidity)	100°C

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
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

Expanded features (Plus²)

General purpose I/O (1)	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 (2)	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 (requires remote encoder) (2)	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)
	Encoder resolution	User-defined Note: μstep/rev 2X the encoder count/rev minimum

(1) MDrive Motion Control with MODBUS/TCP limited to four (4) sinking or sourcing inputs/outputs.
(2) Not available on MDrive Motion Control with MODBUS/TCP

RS-422/485 version

BAUD Rate

4.8 to 115.2 kbps

MODBUS/TCP version

Standard	Ethernet TCP/UDP
Default IP address	192.168.33.1
Default subnet mask	255.255.0.0
Bit rate	10/100 Mbps
Protocols (port)	MODBUS/TCP (502)
Protocols (port)	MCode/TCP (503)

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 (requires encoder option)	Type	Internal, differential, magnetic
	Steps per revolution	51200
	Encoder 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

RS-422/485 or MODBUS/TCP in MCode/TCP mode

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
Tripfunctions		Trip on input, trip on position, trip on time, trip capture, trip on relative position
Encoder functions		Stall detection, position maintenance, find index
Partymode addresses (1)		62

(1) Not applicable to MDrive Motion Control with MODBUS/TCP units in MCode/TCP mode

MODBUS/TCP version

MODBUS/TCP Supported Functions
Device 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
Manufaturer specific
65d (0x41)	Read I/O and trip configuration and parameters
66d (0x42)	Write I/O and trip configuration and parameters, enter upgrade mode.

Stack length		Single length	Double length	Triple length	Quad length
Holding torque	oz-in	90.0	144.0	239.0	283.0
Holding torque	N-cm	64.0	102.0	169.0	200.0
Detent torque	oz-in	2.7	5.6	9.7	14.2
Detent torque	N-cm	1.17	3.92	6.86	10.0
Rotor inertia	oz-in-sec2	0.0025	0.0037	0.0065	0.0108
Rotor inertia	kg-cm2	0.18	0.26	0.46	0.76
Weight	oz	21.6	26.4	39.2	61.6
Weight	grams	612.3	748.4	1111.3	1746.3

Torque/Speed Curves

MDrive23Plus Motion Control
Dimensions in inches (mm)

MDrive23Plus Motion Control with industrial connectors
Dimensions in inches (mm)

QuickStart Kit
Encoders
Connect: RS-422/485
Connect: MODBUS/TCP
Protection

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:

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⁽¹⁾

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

The user chooses 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.

(1) Not available on MDrive Motion Control with MODBUS/TCP

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

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
PD14-2334-FL3	14-Pin Locking Wire Crimp	I/O
PD02-2300-FL3	2-Pin Locking Wire Crimp	DC 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-09	14-Pin Locking Wire Crimp	JST: PADP-14V-1S	JST: SPH-001T-PO.5L
CK-04	2-Pin Locking Wire Crimp	Tyco: 794617-2	Tyco: 794610-1
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	--

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

Communications

MODBUS/TCP 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/N	Mating Connector Type	Signal Type
PD14-2334-FL3	14-Pin Locking Wire Crimp	I/O
PD02-2300-FL3	2-Pin Locking Wire Crimp	DC 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/N	Mating Connector Type	Shell Mfg. P/N	Crimp Pins Mfg. P/N
CK-09	14-Pin Locking Wire Crimp	JST: PADP-14V-1S	JST: SPH-001T-PO.5L
CK-04	2-Pin Locking Wire Crimp	Tyco: 794617-2	Tyco: 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.

> DPM75 datasheet/quick reference