MDrive® motor+driver

AC Input Voltage (50/60 Hz)	120 VAC MDrive	95 to 132 VAC
	240 VAC MDrive	95 to 264 VAC
Power Supply Current Requirement	Max per MDrivePlus (depends on voltage and load)	4.0 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)	-40° to 75°C
	Measured at motor (non-condensing humidity)	-40° to 90°C

General Purpose I/O	Number/Type	8 I/O points, programmable as sinking or sourcing outputs or sinking and sourcing inputs.
	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 (requires 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)
	Encoder resolution	User-Defined Note: μstep/rev 2X the encoder count/rev minimum

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)
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

Setup Parameters	Storable to NVM
Transmit PDOs	3 Dynamically Mappable
Receive PDOs	3 Dynamically Mappable
Manufacturer Specific Objects	I/O Configuration, Run/Hold Current
Modes of Operation	Profile Position, Homing Mode, Profile Velocity
Input functions	General purpose, homing mode profiles
Output funtions	General purpose

Stack length		Single length	Double length	Triple length
Holding torque	oz-in	330.0	500.0	750.0
	N-cm	233.0	353.0	529.0
Detent torque	oz-in	10.9	14.16	19.83
	N-cm	7.7	10.0	14.0
Rotor inertia	oz-in-sec2	0.01416	0.02266	0.04815
	kg-cm2	1.0	1.6	3.4
Weight	oz	6.4	7.7	11.0
	grams	2.9	3.5	5.0

 

Torque/Speed Curve

MDrive34ac Plus CANopen

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

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-CC500-000 (CANopen)	Interface cable required - view details

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.

Prototype Development Cable P/N	Mating Connector Type	Signal Type
MD-CS100-000	19-Pin Circular (Straight)	I/O
MD-CS101-000	19-Pin Circular (Right-Angle)	I/O
MD-CS-200-000	3-Pin Euro-AC (Straight)	Power
MD-CS-201-000	3-Pin Euro-AC (Right-Angle)	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)
• Field Solderable circular connector
• Shielded twisted pair cabling

 

Mating Connector Kits
There are no mating connector kits available for this product.