MDrive 23 Step Motor Linear Actuator

MDrive^® 23 Linear Actuator

with non-captive shaft

MDrive 23 Step Motor Linear Actuators feature high torque NEMA 23 (2.3"/56mm sq.) 1.8° brushless linear actuators integrated with electronics. A broad input voltage range from +12 up to +75 VDC and an extended operating range of –40° to +85°C provide long life, trouble free service in demanding environments.

These linear actuators deliver high accur

acy and unsurpassed repeatability with a load limit of up to 200lbs. Precision rolled lead screws are corrosion resistant stainless steel with an optional coating.

Two MDrive23 integrated motor + driver versions provide a choice of features and capabilities:

Microstepping — motor + driver, for step and direction input
Motion Control — motor + driver + programmable
controller

Specifications
Version Comparison
Microstepping
Motion Control

General
Motor
Mechanical
Screw Specifications

Input Voltage	Range (includes back-EMF)	+12 to +75 VDC
Power Supply Current Requirement	Max per MDrivePlus (depends on voltage and load)	3.0 A
Operating Temperature	Measured at heat sink (non-condensing humidity)	85°C
Operating Temperature	Measured at motor (non-condensing humidity)	100°C

		Single Length
Holding Torque oz-in (N-cm)		32 (22.6)
Rotor Inertia oz-in-sec² (kg-cm²)		0.0005 (0.035)
Maximum screw misalignment		± 1°
Weight (Motor+Driver) oz (g)		21.6 (612.3)
Maximum thrust	General purpose nut	200 lbs (91 kg)
	Anti-backlash nut	--
Maximum repeatability	General purpose nut	0.005" (0.127mm)
	Anti-backlash nut	--

Speed Force Curves

Standard screw

Screw end options

Lead options

inches (mm)	Travel/revolution	Travel/full step
Screw G	0.3750 (9.525)	0.001875 (0.0476)
Screw A	0.200 (5.08)	0.001 (0.0254)
Screw B	0.1670 (4.233)	0.000835 (0.0212)
Screw D	0.0833 (2.116)	0.0004165 (0.0106)

Screw coating

An optional teflon screw coating is available for smooth operation and extended life. Contact factory for availability.

		MDrive versions
		Microstepping	Motion Control
Highly integrated microstepping driver and NEMA 17 1.8° single length brushless step linear actuator motor		√	√
Integrated fully programmable motion controller		X	√
Integrated variable speed controller		X	X
Advanced 2nd generation current control for exceptional performance and smoothness		√	√
Single supply: +12 to +48 VDC		√	√
Low cost		√	√
Extremely compact		√	√
20 programmable microstep resolutions to 51,200 steps/rev including: Degrees, Metric, Arc Minutes		√	√
Premium stainless steel lead screws		√	√
Linear actuator styles	Non-captive shaft	√	√
Linear actuator styles	External shaft	√	√
Options	Internal magnetic encoder	√	√
	Anti-backlash (external linear actuators only)	√	√
	Coated screw	√	√
Interface connectors	Pluggable locking wire crimp connector	√ ⁵	√
	Pluggable terminal strip connector	√	√
	Flying leads — 12.0"/30.5cm long wires	√	√
Communications type		SPI	RS-422/485 or CANopen
Electronically configurable		√ ¹	√
Programmable motor run and hold currents		√	√
Interface software included		√	√
Parameters switchable on-the-fly		√	√
Current reduction		Automatic	Programmable
Noise reduction		Optically isolated input	Programmable filtering
Optically isolated logic input options ³		√	X
Up to eight +5 to +24 VDC I/O lines ⁴		X	√
Selectable 10-bit analog input for motion/speed control		X	√
High speed position capture input or trip output		X	√ ⁵
Auxiliary logic power supply input		X	√
0 to 5MHz step clock rate selectable in 0.59Hz increments		X	√
62 software addresses for multi-drop communications		X	√
¹ Includes: motor direction vs. direction input; clock type - step and direction, quadrature, step up and step down; programmable digital filtering for clock and direction inputs ² Select either universal +5 to +24 VDC signals (sourcing or sinking) or differential +5 VDC signals ³ MDrivePlus version offers four +5 to +24 VDC I/O line accepting sourcing or sinking outputs; MDrivePlus2 version with expanded features offer +24 VDC tolerant I/O lines sourcing or sinking, inputs and outputs with either 8 I/O lines with electronic gearing or 4 I/O lines with external/remote encoder for closed loop control ⁴ Only with MDrivePlus2 with expanded features

Comm
Motion
Parameters
Connectivity
Options
Downloads/Support

Protocol	Serial Peripheral Interface (SPI)
Isolation	Galvanic

Digital Filter Range		50 nS to 12.9 μS (10 MHz to 38.8 kHz)
Clock Types		Step/Direction, Step Up/Step Down, Quadrature
Step Frequency		2 MHz (Default) 5 MHz (Max)
Microstep Resolution	Number of Settings	20
Microstep Resolution	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)

	Function	Range	Units	Default
MHC	Motor Hold Current	0 to 100	Percent (%)	5
MRC	Motor Run Current	1 to 100	Percent (%)	25
MSEL	Microstep Resolution	See Spec Motion Settings Tab	µsteps/step	256
DIR	Motor Direction Override	CW/CCW	—	CW
HCDT	Hold Current Delay Time	0 or 2 to 65535	msec	500
CLK TYPE	Input Clock Type	Step/Dir, Up/Down, Quadrature	—	Step/Dir
CLK IOF	Clock and Direction Filter	50 nS to 12.9 μS (10 MHz to 38.8 kHz)	ns (MHz)	200 (2.5)
USER ID	User ID	1 to 3 characters	Viewable ASCII	IMS
EN ACT	Enable Active	High/Low	—	High

MDrive® Connectivity

View mating connector interface options by MDrive part number (p/n). Launch pictorial guides from the pull-down menu(s) below.

Quick Start Kit

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.

Encoder

The internal encoder option is a differential magnetic encoder: The internal magnetic encoder offers several key advantages:

Smaller footprint to the MDrive than an externally mounted encoder.
Available line counts: 100, 200, 250, 256, 400, 500, 512, 800, 1000.
Encoder in a closed environment, limited susceptibilty to dust contamination.
Robust output sink current of 20 mA.
May be connected as single-end or differential.
Encoder interfaces via connector P4, a 10-pin locking wire crimp. Avaialble connectivity accessories

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-CC300-001 (USB to SPI)	10-Pin IDC
MD-CC303-001 (USB to SPI)	12-Pin Tyco
MD-CC301-001 (USB to SPI)	19-Pin M23 Circular

If building your own cabling, you will need:

SPI inline converter or PC parallel port
Cabling with appropriate mating connectors for the MDrive model selected

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
PD12-1434-FL3	12-Pin Locking Wire Crimp	I/O, Power & Communications
MD-CS100-000	19-Pin M23 Circular (Straight)	I/O, Power & Communications

These Prototype Development Cables will ONLY be used if you are using your own SPI communications converter.

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-01	10-Pin IDC	Samtec: TCSD-0501-N	--
CK-03	12-Pin Locking Wire Crimp	Tyco: 1-794617-2	Tyco: 794610-1
CK-13	10-Pin JST Locking Wire Crimp for Internal Encoder	JST: PADP-10V-1S	JST: SPH-001T-P0.5L

Literature
Datasheet Quick Reference Hardware Manual

Downloads
SPI Motor Interface Firmware Cable drivers

Additional Resources
Interactive Tutorials Application Notes Example Programs 3D Product Models Glossary of Terms Other MDrive Linear Actuator Products

Comm
I/O
Motion
Software
Connectivity
Options
Downloads/Support

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)

Standard I/O (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 I/O (Plus²)

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

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

MDrive® Connectivity

View mating connector interface options by MDrive part number (p/n). Launch pictorial guides from the pull-down menu(s) below.

Quick Start Kit

Above photo represents a QuickStart Kit.
Kit cabling varies with MDrivePlus ordered.

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.

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.

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 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	--

Literature
Datasheet Quick Reference Hardware Manual MCode Software Manual CANopen Implementation

Downloads
IMS Terminal Firmware Cable drivers

Additional Resources
Interactive Tutorials Application Notes Example Programs 3D Product Models Glossary of Terms Other MDrive Linear Actuator Products

MDrive® motor+driver

Products

MDrive® 23 Linear Actuator

MDrive® Connectivity

Quick Start Kit

Encoder

Literature

Downloads

Additional Resources

Standard I/O (Plus)

Expanded I/O (Plus2)

Quick Start Kit

Encoder

Literature

Downloads

Additional Resources

MDrive^® 23 Linear Actuator

Expanded I/O (Plus²)