TM
MICROSTEPPING
DESCRIPTION
FEATURES
connections are accomplished us-
ing either a 1 2 position keyed and
locking pin and receptacle (C Con-
nector), a 7 position terminal strip,
or 1 2 .0 " (3 0 .5 cm) flying leads.
The MDrive NEMA 2 3 high torque
Inte gr a te d Motor a nd Dr ive r is
ideal for designers who want the
simplicity of a motor with on-board
e le ctronics , but without the e x-
pense of an indexer on each axis.
The low cost MDrive2 3 allows the
system designer to decide the best
method of control. The MDrive2 3 ’s
inte gra te d e le ctronics e lim ina te
the need to run the motor cabling
through the machine, reducing the
potential for problems due to elec-
trical noise.
• Integrated Microstepping Driver
and NEMA 2 3 High Torque 1 .8 °
Stepping Motor
• Input Voltage:
+1 2 to +4 8 VDC (MDrive2 3 -4 )
+2 4 to +7 5 VDC (MDrive2 3 -7 )
The MDrive2 3 is a compact, pow-
erful and inexpensive solution that
will reduce system cost, design and
assembly time for a large range of
stepping motor applications.
• Low Cost
• Extremely Compact
• Optically Isolated Logic Inputs
will Accept +5 to +2 4 VDC
Signals, Sourcing or Sinking
†
CONFIGURING
• Automatic Current Reduction
The IMS Motor Interface software
is an easy to install and use GUI
for configuring the MDrive2 3 from
a computer parallel/ SPI port. GUI
acces s is via the IMS SPI Inter-
face included on the CD s hipped
with the product, or download at
www.imshome.com. Optional cables
are available for ease of connecting
and configuring the MDrive.
• Configurable:
- Motor Run/ Hold Current
- Motor Direction vs. Direction
Input
- Microstep Resolution to 2 5 6
Microsteps/ Full Step
• Available Configurations:
- Single Shaft*
- Long Life Linear Actuator
- Optical Encoder*
- Control Knob for Manual
Positioning*
- Integrated Planetary Gearbox*
The MDrive2 3 uses a NEMA 2 3
frame size 1 .8 ° high torque step-
ping motor combined with a mic-
rostepping driver, and accepts up
to 1 4 resolution settings from ½
to 2 5 6 micros teps per full s tep.
Setup parameters include Micro-
step Resolution, Motor Run/ Hold
Current, and Motor Direction with
r e s pe c t to the dir e c tion input.
Thes e s ettings m ay be changed
o n -t h e -fly o r d o wn lo a d e d a n d
stored in nonvolatile memory with
the use of a simple GUI which is
provided. This eliminates the need
for external switches or resistors.
Pa ra m eters a re cha nged via a n
SPI port. Operating voltage for the
MDrive2 3 ranges from +1 2 to +4 8
VDC or +2 4 to +7 5 VDC.
The IMS Motor Interface features:
• Easy installation.
• Automatic detection of MDrive
version and communication
configuration.
• W ill not set out-of-range values.
• Tool-tips display valid range
setting for each option.
• Three Stack Sizes Available*
• Current and Resolution May Be
Switched On-The-Fly
• Single Supply
• Single screen interface (below).
• Interface Options:
- Keyed and Locking Pin and
Receptacle (C Connector)
The versatile, compact MDrive2 3 is
available in multiple configurations
to fit various system needs. These
include a s ingle s haft rotary mo-
tor, a dua l s ha ft r ota r y m otor
available with optical encoder or
control knob, a planetary gearbox,
or a long life Acme s crew linear
actuator. The rotary MDrive2 3 is
available in single, double and triple
stack sizes: 1 8 , 2 2 & 3 1 . Interface
- Pluggable Terminal Strip
- 1 2 .0 " (3 0 .5 cm) Flying Leads
• Graphical User Interface (GUI)
for Quick and Easy Parameter
Setup
*
†
Rotary Motor Only
The IMS Motor Interface GUI simplifies MDrive
configuring with a single screen interface.
(DIR feature with C Connector version only.)
C Connector Version Only. Other
Versions Require 5 Volt Sinking Outputs.
MDrive2 3 Microstepping Datasheet REV1 2 1 7 0 4
1
MDRIVE2 3 MOTOR SPECIFICATIONS
MD2 2 1 8 Single Stack
MD2 2 3 1 Triple Stack
Holding Torque ........................ 9 0 oz-in / 6 4 N-cm
Detent Torque ....................... 3 .9 oz-in / 2 .7 N-cm
Rotor Inertia ........ 0 .0 0 2 5 oz-in-sec2 / 0 .1 8 kg-cm2
Weight (Motor+Driver)............... 2 0 .1 oz / 5 6 9 .8 g
Holding Torque ..................... 2 3 9 oz-in / 1 6 9 N-cm
Detent Torque ...................... 9 .7 oz-in / 6 .8 6 N-cm
Rotor Inertia ..........0 .0 0 6 5 oz-in-sec2 / 0 .4 6 kg-cm2
Weight (Motor+Driver)............. 3 8 .5 oz / 1 0 9 1 .5 g
MD2 2 2 2 Double Stack
MD2 2 1 8 Linear Actuator
Holding Torque .................... 1 4 4 oz-in / 1 0 2 N-cm
Detent Torque ..................... 5 .6 oz-in / 3 .9 2 N-cm
Rotor Inertia ........ 0 .0 0 3 7 oz-in-sec2 / 0 .2 6 kg-cm2
Weight (Motor+Driver)............... 2 4 .4 oz / 6 9 1 .7 g
Maximum Thrust ......................... 2 0 0 lbs / 8 9 0 N
Maximum Screw Deflection ............................. ± 1 °
Backlash ............................ 0 .0 0 5 in / 0 .1 2 7 mm
Weight (without screw).............. 2 0 .4 oz / 5 7 8 .3 g
TORQUE-SPEED CURVES
Rotary Motor
FORCE-SPEED CURVES
Linear Actuator
MD2 2 1 8 Single Stack
2 4 VDC
Load Limit 200lbs / 890N
24 VDC
45 VDC
75 VDC
890
200
180
160
70
60
50
40
30
20
10
0
49
42
35
28
21
14
7
801
712
Screw F
Screw E
Screw D
Screw C
Screw B
Screw A
623
534
445
356
267
178
89
140
120
100
80
60
40
0
1000
2000
3000
4000
5000
6000
7000
20
Speed in Full Steps per Second
0
0
1000
2000
3000
4000
5000
6000
7000
Speed in Full Steps per Second
MD2 2 2 2 Double Stack
4 5 VDC
Load Limit 200lbs / 890N
24 VDC
45 VDC
75 VDC
890
99
85
71
56
42
28
14
200
180
160
140
120
100
80
801
712
Screw F
Screw E
Screw D
Screw C
Screw B
Screw A
623
534
445
356
267
178
89
140
120
100
80
60
40
20
60
0
40
0
1000
2000
3000
4000
5000
6000
7000
20
Speed in Full Steps per Second
0
0
1000
2000
3000
4000
5000
6000
7000
Speed in Full Steps per Second
MD2 2 3 1 Triple Stack
7 5 VDC
Load Limit 200lbs / 890N
24 VDC
45 VDC
75 VDC
890
200
180
160
225
200
159
141
Screw F
Screw E
801
712
Screw D
Screw C
Screw B
Screw A
124
106
88
175
150
125
100
75
623
534
445
356
267
178
89
140
120
100
80
71
53
60
35
50
40
20
18
25
0
0
0
1000
2000
3000
4000
5000
6000
7000
0
1000
2000
3000
4000
5000
6000
7000
Speed in Full Steps per Second
Speed in Full Steps per Second
MDrive2 3 Microstepping Datasheet REV1 2 1 7 0 4
3
MDRIVE2 3 W ITH PLANETARY GEARBOX
The MDrive2 3 is available with a Planetary Gearbox reduction ratios in 1 -, 2 - and 3 -stage configurations.
option developed to increase torque at lower speeds, An optional NEMA Flange allows mounting the Plan-
enable better inertia matching and produce finer etary Gearbox to the load using a standard NEMA
positional resolutions. These efficient, low mainte- bolt circle. Planetary Gearbox may be combined with
nance Planetary Gearbox come fully assembled with other MDrive2 3 options, however are unavailable on
the MDrive and are offered in a large number of Linear Actuator versions.
Parameters
1 -Stage
2 -Stage
3 -Stage
Permitted Output Torque (oz-in/ Nm)........................... 5 6 6 / 4 .0 ............1 6 9 9 / 1 2 .0 .........3 5 4 0 / 2 5 .0
Gearbox Efficiency....................................................... 0 .8 0 ....................0 .7 5 ...................0 .7 0
Maximum Backlash (degree)........................................ 0 .7 0 °................... 0 .7 5 °.................. 0 .8 0 °
Ouput Side with Ball Bearing
Maximum Load, Radial (lb-force/ N) ............................ 4 5 / 2 0 0 ............... 7 2 / 3 2 0 ............. 1 0 1 / 4 5 0
Maximum Load, Axial (lb-force/ N) ............................... 1 3 / 6 0 ................ 2 2 / 1 0 0 .............. 3 4 / 1 5 0
Weight - Gearbox Only (oz/ g).................................... 2 5 .0 / 7 1 1 ............3 2 .2 / 9 1 4 ..........3 9 .4 / 1 1 1 7
Weight - Gearbox & NEMA Flange (oz/ g) ................... 2 5 .9 / 7 3 5 ............3 3 .3 / 9 4 5 ..........4 0 .7 / 1 1 5 5
PLANETARY GEARBOX MECHANICAL SPECIFICATIONS
Dimensions in Inches (mm)
Gearbox Ratios (Rounded)
1 -Stage
3 .7 0 :1
5 .1 8 :1
6 .7 5 :1
2 -Stage
1 3 .7 3 :1
1 5 .8 8 :1
1 8 .3 6 :1
1 9 .2 0 :1
2 2 .2 0 :1
2 5 .0 1 :1
2 6 .8 5 :1
2 8 .9 3 :1
3 -Stage
5 0 .8 9 :1
5 8 .8 5 :1
6 8 .0 6 :1
7 1 .1 6 :1
7 8 .7 1 :1
9 2 .7 0 :1
9 5 .1 7 :1
9 9 .5 0 :1
Planetary Gearbox for MDrive2 3
0.984
(25.0)
k1 0.02 ( 0.5)
M5 x 0.394 (10.0) Deep
0.106
(2.7)
3 4 .9 7 :1 1 0 7 .2 0 :1
4 5 .5 6 :1 1 1 5 .0 7 :1
1 2 3 .9 7 :1
1 2 9 .6 2 :1
1 3 9 .1 3 :1
1 4 9 .9 0 :1
1 6 8 .8 4 :1
1 8 1 .2 4 :1
1 9 5 .2 6 :1
2 3 6 .0 9 :1
3 0 7 .5 4 :1
Ctrg. DIN 332-D M4x10
Key DIN 6885-A-4x4x16mm
Ø 1.575
(Ø 40.0)
Gearbox Lengths Inches (mm)
1 -Stage
2 -Stage
3 -Stage
4 .3 1 5
(1 0 9 .6 )
5 .1 6 9
(1 3 1 .3 )
6 .0 2 4
(1 5 3 .0 )
k1 Gearbox
k2 Gearbox w/
NEMA Flange
4 .4 3 3
(1 1 2 .6 )
5 .2 8 7
(1 3 4 .3 )
6 .1 4 2
(1 5 6 .0 )
Planetary Gearbox with Optional NEMA Output Flange
0.925
(23.5)
k2 0.02 ( 0.5)
4x Ø 0.197 (Ø 5) Hole
0.06
(1.5)
Ctrg. DIN 332-D M4x10
1.854
(47.1)
0.236
(6.0)
Key DIN 6885-A-4x4x16mm
2.22 SQ.
(56.4 SQ.)
MDrive2 3 Microstepping Datasheet REV1 2 1 7 0 4
4
MDRIVE2 3 MICROSTEPPING – MECHANICAL SPECIFICATIONS
Dimensions in Inches (mm)
Rotary MDrive2 3 : Single Shaft, Control Knob & Encoder Vers ions
1.63
(41.4)
1.50
(38.1)
Interface
Option
0.81 0.02
(20.6 0.5)
P1
4X Ø 0.197
(Ø 5.0)
0.06
(1.6)
0.59 0.008
(15.0 0.2)
0.23 0.004
(5.8 0.1)
2.92
(74.2)
P2
1.856 0.008 SQ.
(47.14 0.2 SQ.)
Ø 0.250 +0/-0.0005
(Ø 6.35 +0/-0.013)
0.19
(4.8)
Ø 1.500 0.002
(Ø 38.10 0.05)
2.22 SQ.
L
MAX
(56.4 SQ.)
L
MAX2
MDrive Lengths Inches (mm)
Interface Options
L
L
MAX2
MAX
0.44
(11.2)
CONTROL KNOB or
ENCODER VERSION
SINGLE SHAFT
VERSION
12.00
+1.0/-0.0
0.36
(9.1)
Stack Size
2 2 1 8
2 2 2 2
(304.8)
(+25.4/-0.0)
2 .6 3 (6 6 .8 )
3 .0 0 (7 6 .2 )
3 .8 6 (9 8 .0 )
3 .3 5 (8 5 .1 )
3 .7 0 (9 4 .0 )
4 .5 7 (1 1 6 .1 )
2 2 3 1
Pluggable Clamp
Type Terminal Strip
1.17
(29.7)
L
Options
Flying Leads
C Connector
MAX2
1.20
(30.4)
Differential
Adapter
3.00
(76.2)
1.90
(48.3)
Ø 0.97
(Ø 24.6)
2.22
(56.4)
1.42
(36.1)
.
1 0 0 - 1 0 0 0 Line Encoders
2 0 0 0 Line Encoder
Control Knob
Linear Actuator MDrive2 3
6.00
(152.4)
1.63
(41.4)
1.50
(38.1)
Interface
Option
P1
4X Ø 0.205
(Ø 5.21)
0.06
(1.6)
0.375
(9.52)
0.50
(12.7)
2.92
(74.2)
P2
1.856 0.008 SQ.
(47.14 0.2 SQ.)
1/4-20 UNC-2A
THREAD TO
WITHIN 0.05 (1.3)
OF SHOULDER
Ø 1.500 0.002
(Ø 38.10 0.05)
2.64
(67.1)
2.22 SQ.
(56.4 SQ.)
MDrive2 3 Microstepping Datasheet REV1 2 1 7 0 4
5
Screw C ............... 0 .0 0 0 5 ”/ full step
Screw D ............... 0 .0 0 0 4 1 6 7 ”/ full step
MDRIVE2 3 MICROSTEPPING – OPTIONS
Screw E. ............... 0 .0 0 0 3 1 2 5 ”/ full step
Control Knob
Standard screw length is 6 .0 ” (1 5 2 .4 mm) plus the
mounting end thread. Custom lengths from 2 .0 ” to
2 4 .0 ” are available without mounting end thread.
Linear Actuators are Non-Captive style. Contact the
factory regarding Captive Shaft or External styles.
The MDrive2 3 is available with a factory-mounted rear
control knob for manual shaft positioning.
Planetary Gearbox
Efficient, low maintenance Planetary Gearbox are of-
fered assembled with the MDrive2 3 . Details inside.
Parameter Setup Cable and Adapter
The optional 6 ' (1 .8 m) Parameter Setup Cable Part
No. MD-CC1 0 0 -0 0 0 eliminates the need to wire com-
munications and is recommended with first order. It
connects an MDrive's 1 0 pin pin-header (P2 ) to a
standard DB-2 5 PC Parallel/ SPI port and includes
built-in logic level shifting circuity to accommodate the
3 .3 v ports on some PCs. In addition, MDrives with
C Connector require an Adapter Part No. MD-ADP-
1 7 2 3 C to mate the Cable to the 1 2 position pin and
receptacle connector (P1 ).
Encoder
The MDrive2 3 is available with a factory-mounted
optical encoder. Available line counts are 1 0 0 , 2 0 0 ,
2 5 0 , 4 0 0 , 5 0 0 , 1 0 0 0 or 2 0 0 0 . All encoders, except
1 0 0 0 line, have an index mark. Encoders are avail-
able in both single-end and differential configurations.
Order optional Encoder Cables separately:
Single-end Cable (1 2 "/ 3 0 .5 cm) ... ES-CABLE-2 *
Differential Cable (3 6 "/ 9 1 .5 cm)... ED-CABLE-2 *
* Change "2 " to a "6 " when ordering 2 0 0 0 line encoder cable.
Prototype Development Cable
Linear Actuator
For testing and development of MDrives with C Con-
nector, the 1 2 " (3 0 .5 cm) Prototype Development
Cable plugs into the MD-ADP-1 7 2 3 C Adapter and
has flying leads for connection to the user interface.
Part No. ADP-3 5 1 2 -FL.
The MDrive2 3 with long life Acme Screw Linear Ac-
tuator is available with the following travel/ full step:
Screw F ............... 0 .0 0 2 ”/ full step
Screw A ............... 0 .0 0 1 ”/ full step
Screw B. .............. 0 .0 0 0 8 3 3 3 ”/ full step
ORDER INFORMATION
MDRIVE2 3 MICROSTEPPING
OPTIONS
Example #2: MDMC2222-4N
Adds a Control Knob
to the part shown in example #1.
Control
Knob
N
Stack Sizes
18†= Single Stack & Linear Actuator
22 = Double Stack
31 = Triple Stack
Example #3: MDMC2222-4G5
Rounding ratio to the nearest whole number,
the above adds a Planetary Gearbox with
Planetary
Gearbox
G
Gearbox Ratio
5.18:1 ratio to the part shown in example #1.
Rounded to Nearest Whole Number
Add -F if optional NEMA Flange is desired.
OPTION
Example #4: MDMC2222-4ED500
Adds a 500 line count Differential Encoder
to the part shown in example #1.
MDM
22
–
Encoder
E
S = Single End
D = Differential
Line Count: 100, 200, 250,
400, 500, 1000, 2000
Interface Options
Input Voltage
C = Pin & Receptacle*
F = 12" Flying Leads
P = Pluggable Clamp
Type Terminal Strip
4 = 48 VDC
7 = 75 VDC*
Example #5: MDMC2218-4LB10.5
MDrive23 Microstepping Linear Actuator
with a 0.0008333”/Full Step Acme
Screw custom cut to 10.5”.
Linear
Actuator
Screw Type (Travel/Full Step)
F = 0.002”
A = 0.001”
†
L
Custom Screw Length
Range 2.0” to 24.0”
Format XX.X
MAY NOT be combined with other options.
Example #1: Part Number MDMC2222-4 is an MDrive23
Microstepping with C Connector, NEMA 22 motor, stack size 22
and +12 to +48 VDC input voltage range.
B = 0.0008333”
C = 0.0005”
D = 0.0004167”
E = 0.0003125”
Note: MDrive23 Linear Actuator
Available ONLY in Stack Size 18
eg. 08.5 for an 8.5” Screw
(6.0” Screw Length Standard)
†Linear Actuator Available ONLY in Stack Size 18. (MDMX2218LX)
*MDrive 75 Volt version NOT Available with C Connector Interface Option.
TECHNICAL SUPPORT
IMS EUROPE GmbH
Eas tern U.S.
Hahnstrasse 1 0 , VS-Schwenningen
Germany D-7 8 0 5 4
Phone: 8 6 0 / 2 9 5 -6 1 0 2
Fax: 8 6 0 / 2 9 5 -6 1 0 7
E-mail: etech@imshome.com
Wes tern U.S.
Phone: 7 6 0 / 9 6 6 -3 1 6 2
Fax: 7 6 0 / 9 6 6 -3 1 6 5
E-mail: wtech@imshome.com
Phone: +4 9 / 7 7 2 0 / 9 4 1 3 8 -0
Fax: +4 9 / 7 7 2 0 / 9 4 1 3 8 -2
E-mail: info@imseuropehome.com
European Sales Management
4 Quai Des Etroits
P.O. Box 4 5 7 , 3 7 0 N. Main Street
Marlborough, CT 0 6 4 4 7 U.S.A.
Phone: 8 6 0 / 2 9 5 -6 1 0 2
Fax: 8 6 0 / 2 9 5 -6 1 0 7
E-mail: info@ims home.com
Home Page: www.ims home.com
6 9 0 0 5 Lyon, France
Phone: +3 3 / 4 7 2 5 6 5 1 1 3
Fax: +3 3 / 4 7 8 3 8 1 5 3 7
IMS MOTORS DIVISION
1 0 5 Copperwood Way, Suite H
Oceanside, CA 9 2 0 5 4
Phone: 7 6 0 / 9 6 6 -3 1 6 2
Fax: 7 6 0 / 9 6 6 -3 1 6 5
E-mail: bmartinez@imshome.com
German Sales / Technical Support
Phone: +4 9 / 3 5 2 0 5 / 4 5 8 7 -8
Fax: +4 9 / 3 5 2 0 5 / 4 5 8 7 -9
E-mail: hruhland@imshome.com
Distributed By:
E-mail: motors@imshome.com
Product information covered by IMS Product Disclaimer available at www.imshome.com.
Visit the IMS web site for the most up-to-date product information.
© 2 0 0 2 , 2 0 0 4 Intelligent Motion Systems, Inc. All Rights Reserved.
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