MDrive® motor+driver

Input Voltage	Range (includes back-EMF)	+12 to +75 VDC
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 (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
	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
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

CANopen	BAUD Rate	5 kbps to 1 Mbps
	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	381.0	575.0	1061.0
	N-cm	269.0	406.0	749.0
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	4.1	5.5	8.8
	grams	1.9	2.5	4.0

 

Torque/Speed Curve

MDrive34Plus 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.

Remote encoder interface
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.

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-CC500-001 (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. 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
PD02-3400-FL3	2-Pin Locking Wire Crimp	DC Power
PD20-3400-FL3	20-Pin Locking Wire Crimp	I/O and Remote Encoder

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-P0.5L
CK-05	2-Pin Locking Wire Crimp	Molex:  510-67-0200	Molex:  502-17-9101
CK-11	20-Pin Locking Wire Crimp	JST:  PADP-20V-1S	JST:  SPH-001T-P0.5L

 

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.

> DPM75 datasheet/quick reference