MDrive42AC Plus Motion Control
The MDrive42AC Plus Motion Control is a NEMA size 42 high torque 1.8° stepper motor integrated with a microstepping driver, a 120 or 240 VAC power supply and a full featured programmable motion controller.
Controller features include:
- 120 or 240 VAC input voltage
- RS-422/485 or CANopen communications
- Up to 1850 oz-in (1307 N-cm) of output 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
- Motor
- Mechanical
| 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 (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 |
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 |
| 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 |
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| Encoder Functions | Stall Detection, Position Maintenance, Find Index | |
| Party Mode Addresses | 62 | |
| Single Length | Double Length | |
| Holding Torque oz-in (N-cm) |
1110 (784) | 1850 (1307) |
| Detent Torque oz-in (N-cm) |
35 (25) | 84 (59) |
| Rotor Inertia oz-in-sec2 (kg-cm2) |
0.0917 (6.5) | 0.1833 (13.0) |
| Weight (Motor+Driver) lb (kg) |
14.07 (6.38) | 21.25 (9.64) |
| Torque/Speed Curve |
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120 VAC Version
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240 VAC Version
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Base and IP65 Versions
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- QuickStart Kit
- Encoders
- 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.
Planetary gearbox
Efficient, low maintenance Planetary Gearbox come fully assembled with the MDrive42Plus, and are offered in a large number of reduction ratios in 1-, 2- and 3-stage configurations. Two different gearbox models are offered for the MDrive42Plus — PM105 and PM120.
| PM105 Model |
Permitted output torque (oz-in / Nm) |
Gearbox efficiency |
Maximum backlash |
Maximum load (lb-force / N) Output side with ball bearing |
Weight (oz / kg) | ||
| Radial | Axial | Gearbox | with Flange | ||||
| 1-stage | 4956 / 35.0 | 0.80 | 1.0° | 135 / 600 | 27 / 120 | 9.7 / 4.4 | 10.0 / 4.5 |
| 2-stage | 14869 / 105.0 | 0.75 | 1.5° | 202 / 900 | 40 / 180 | 13.2 / 6.0 | 13.6 / 6.2 |
| 3-stage | 27614 / 195.0 | 0.70 | 2.0° | 337 / 1500 | 67 / 300 | 16.8 / 7.6 | 17.3 / 7.8 |
| PM120 Model |
Permitted output torque (oz-in / Nm) |
Gearbox efficiency |
Maximum backlash |
Maximum load (lb-force / N) Output side with ball bearing |
Weight (oz / kg) | ||
| Radial | Axial | Gearbox | with Flange | ||||
| 1-stage | 7080 / 50.0 | 0.80 | 0.55° | 135 / 600 | 27 / 120 | 12.3 / 5.6 | 12.7 / 5.8 |
| 2-stage | 21242 / 150.0 | 0.75 | 0.60° | 202 / 900 | 40 / 180 | 17.6 / 8.0 | 18.1 / 8.2 |
| 3-stage | 42484 / 300.0 | 0.70 | 0.65° | 337 / 1500 | 67 / 300 | 22.9 / 10.4 | 23.5 / 10.7 |
See NEMA 42 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-CC401-001 (USB to RS-422/485) | 5-Pin M12 Male Circular |
| 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.
| 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.
View mating connector interface options by MDrive part number (P/N). |
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