MDrive Hybrid Integrated motion systems with Hybrid Motion Technology

Transcription

1 MDrive Hybrid Integrated motion systems with Hybrid Motion Technology

2 Hybrid Motion Technology Changing the rules of motor control Hy brid Defi nition: refers to products that combine two or more different technologies. Hy brid Mo tion Tech nol o gy Defi nition: refers to products that combine the benefi ts of servo and stepper motor technologies, while delivering unique capabilities and enhancements over both. Stepper Motor Technology Hybrid Motion Technology Servo Motor Technology negatives benefits benefits benefits negatives

3 Applications Obvious advantages for a wide range of motion applications in a very compact, low cost package Web tensioning Conveyors Bottle capping Medical automation Clamping Feeders Cut-to-length Form, fill and seal Package sorter Pick and place

4 Performance The benefits of servo and stepper motor technologies, with unique capabilities and enhancements over both Hybrid Motion Technology A hardware-based system for real-time response, Hybrid Motion Technology (HMT) continually monitors the relationship between the motor s rotor and stator at sub-microsecond intervals, and will not allow that relationship to exceed the point where synchronization is lost. Delivering smooth movement while eliminating unintentional stalling, HMT will never lose functional control of the motor. Other benefits include: Torque Mode Regulates and maintains torque at a set level. Torque mode is a unique benefi t for stepper motors, and puts HMT systems on par with small to mid-size servo motors, up to 2500 rpm, at a lower cost and without requiring tuning. Variable Current Setting Uses only the required current necessary to perform a task. This effi cient, energy-saving setting can save money and reduce motor heat. Maximum Motor Torque HMT allows full use of the motor s max torque rating, eliminating derating of up to 50% as a buffer to prevent stalling stepper motors. HMT systems enable smaller, lower cost motors to outperform larger motors. Stepper motor maximum torque rating Green area represents motor torque performance range gain with HMT s Variable Current Control Standard stepper motor performance range (design margin = 50% maximum torque as buffer against stalling) Torque Motor Speed

5 MDrive Hybrid Integrated motion systems with Hybrid Motion Technology Microstepping drive 2 Stepper motor 3 Integrated controller 4 Hybrid Motion Technology 5 Internal encoder 6 Up to 8 I/O lines 10 Top reasons why a wide variety of motion applications are using MDrive Hybrid integrated systems: 1 torque mode 2 precise positioning 3 settable speed 4 anti-stall feature 5 handling of transient loads 6 coordinated motion 7 cool motor operation 8 lower energy consumption 9 clutch capability 10 no tuning required

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7 MDrive Hybrid Integrated motion systems with Hybrid Motion Technology Integral to MDrive Hybrid motion systems, Hybrid Motion Technology solves many servo applications with a compact, low cost stepper solution Hybrid Motion Technology A hardware-based system for real-time response, HMT continually monitors the relationship between the motor s rotor and stator at sub-microsecond intervals, and will not allow that relationship to exceed the point where synchronization is lost. Delivering smooth movement while eliminating unintentional stalling, HMT will never lose functional control of the motor. Compactness Motor and electronics form a single, compact unit with small footprint that dramatically reduces the space requirements in an application. Simplicity Integration of motor and electronics reduces installation costs and the potential for problems due to electrical noise by eliminating the cable between motor and drive. User-friendly PC commissioning software allows for rapid setup and confi guration. Allows 100% use of a stepper motor s maximum torque rating Eliminates motor derating of up to 50% as buffer to avoid stalling in standard stepper motor systems With 1000s of axes operated by MDrive Hybrid today, this technology is proving it is a motor control rules changer Ease of integration Versions include Step Torque Speed, Motion Control and CANopen. This open communication concept allows for integration into existing system environments. Flexibility Fit a wide range of applications with three fl ange sizes, DC and AC power supply, and communication protocols: RS-422/485, CANopen, Ethernet. Ethernet now available

8 General MDrive Hybrid Technical Support We pride ourselves on our ability to pro vide fi rst-rate technical support. Our friend ly and helpful technical staff have both the knowl edge and desire to an swer all your tech ni cal inquiries. Tel (1) Fax (1) Ordering We have an extensive network of Distributors throughout the world. In addition to sales, they offer local ap pli ca tions support. For the name of an authorized Dis trib u tor near you, call IMS Schneider Electric Motion USA Customer Service at +00 (1) , or go to the Contact page at Customer Service The IMS Schneider Electric Motion USA Customer Service Department is open from 8:30 A.M. to 5:00 P.M., Mon day through Friday, Eastern Time. Tel (1) Fax (1) info@imshome.com web site Schneider Electric Motion USA All Rights Reserved. REV For the most recent product information, go to

9 Contents MDrive Hybrid Product overview Technology page 3 Presentation page 4 MDrive Hybrid Step Torque Speed MDrive Hybrid systems, sizes: 17, 23, 34 and 34ac Description page 8 Specifications page 9 MDrive Hybrid with step, torque, and speed input Dimensions page 10 Connectivity page 13 Part numbers page 16 MDrive Hybrid Motion Control fully programmable Description page 20 Specifications page 21 MDrive Hybrid Motion Control, fully programmable Dimensions page 22 Connectivity page 25 Part numbers page 28 MDrive Hybrid CANopen Description page 32 Specifications page 33 MDrive Hybrid CANopen Dimensions page 34 Connectivity page 35 Part numbers page 36 System performance Motor specifications page 41 Speed torque characteristics page 42 1

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11 Technology MDrive Hybrid Product overview Hybrid Motion Technology Hybrid Motion Technology (HMT) combines the best of servo and stepper motor technologies, while delivering unique capabilities and enhancements over both. Stepper Motor Technology Hybrid Motion Technology Servo Motor Technology negatives loss of synchronization/ stalling 50% torque margin post move corrections constant torque/current excessive heating benefits smooth motion high torque at starting and low speed cost effective no tuning stiffness at standstill benefits variable current/ torque real time control optimum torque at all speeds lower energy use eliminates loss of synchronization never loses functional control of motor reduced motor heating benefits peak torque high speed torque mode closed loop negatives tuning required higher price point error driven higher complexity servo dither HMT is hardware based for real-time response. It continually monitors the relationship between a motor s rotor and stator at sub-microsecond intervals, and will not allow that relationship to exceed the point where synchronization is lost. Delivering smooth movement while eliminating unintentional stalling, HMT will never lose functional control of the motor. System benefits Quick reaction to large changes in loads without loss of synchronization No tuning required Higher inertia mismatch allowed High starting torque Smooth motion, even at extremely slow speeds Minimized impact of system resonance Enhanced motor performance Real time closed loop control intervenes as required Eliminates loss of synchronization Allows full use of motor s torque Never loses functional control of the motor Controllable motor torque via Torque Mode Variable current control applies only the current needed thereby reducing motor heating, lowering energy consumption and saving money HMT is included in MDrive Hybrid motion systems which solve many servo applications with a low cost stepper solution. These integrated motion systems with HMT technology are changing the rules of motor control. 3

12 Presentation MDrive Hybrid Product overview Product offer MDrive Hybrid integrated motion control systems consist of a motor and electronics with Hybrid Motion Technology (HMT). HMT combines the best of servo and stepper motor technologies, while delivering unique capabilities and enhancements over both MDrive Hybrid integrated motion control systems are changing the rules of motor control. These advanced, low cost motion systems are ideal for machine builders who want an optimized motor with on-board electronics. In addition to HMT s numerous benefits, the integrated electronics of MDrive Hybrid systems reduce the potential for problems due to electrical noise by eliminating the cable between motor and drive. MDrive Hybrid systems use phase stepper motors integrated with microstepping drive and internal encoder integral to system operation, and accept up to 20 resolution settings from full to 256 microsteps per full step, including: degrees, metric and arc minutes. 1 microstepping drive 2 stepper motor 3 integrated controller 4 Hybrid Motion Technology 5 internal encoder 6 up to 8 I/O lines 7 communication protocols: RS-422/485, Ethernet, CANopen Compactness Motor and electronics form a single, compact unit with small footprint. No space at all is required for the control electronics in the control cabinet and only very little space in the machine. Simplicity Integration of motor and electronics reduces installation costs and the potential for problems due to electrical noise by eliminating the cable between motor and drive. User-friendly PC commissioning software allows for rapid setup and confi guration. All-inclusive MDrive Hybrid QuickStart kits are available to simplify initial functional setup and system testing. Ease of integration MDrive Hybrid integrated motion control systems are available in three versions: Step Torque Speed: motor integrated with drive systems have three operating modes including optically isolated step and direction, torque/force, and velocity/speed inputs, all with RS-422/485 communication Motion Control: motor, drive and fully programmable controller with up to 8 I/O lines, configurable 10-bit analog input, and RS-422/485 or Ethernet communication CANopen: motor, drive and controller with CANopen interface support CiA DS301 and DSP402 Device Profile for Drives and Motion Control This open communication concept allows for integration into existing system environments. Flexibility MDrive Hybrid integrated motion control systems are available with phase stepper motors. Three flange sizes are offered: NEMA 17 (42mm), NEMA 23 (57mm) and NEMA 34 (86mm). Rotary stepper motors are available in all sizes, with linear actuator motors also available for size 23 (1). Each motor size and style offers specific advantages so that MDrive Hybrid systems can be used in a wide range of applications. MDrive Hybrid integrated motion control systems are available in two power versions: DC and AC. The DC version is available in all three motor sizes with a power range from +12 VDC up to +75 VDC. The AC version is available only for NEMA 34 (86mm) motors and includes a 120 or 240 VAC built-in power supply. (1) See separate documentation. 4

13 Presentation MDrive Hybrid Product overview Product groupings MAI17 MA 23 MAM34 MA 34ac Step Torque Speed MAM23 MAM34 MAM34ac Holding torque range oz-in oz-in oz-in Communication for configuration RS-422/485 RS-422/485 RS-422/485 Clock types Step frequency Configuration Step / Direction, Quadrature, Step Up / Step Down, Clockwise / Counterclockwise 2 MHz default / 5 MHz maximum Via IMS SPI Motor Interface software Motion Control MAI17 MAI23 MAI34ac Holding torque range oz-in oz-in oz-in Communication for configuration and programming RS-422/485 RS-422/485, Ethernet RS-422/485 Operating modes Fully programmable Configuration Via supplied software CANopen Holding torque range Communication for configuration Operating modes Configuration MAI23 CAN oz-in CANopen Profi le Position, Profile Velocity, Homing Mode Via supplied software 5

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15 MDrive Hybrid Step Torque Speed

16 Description MDrive Hybrid Step Torque Speed Presentation The MDrive Hybrid Step Torque Speed is a very compact motion system that solves many servo applications with a low cost solution. The system includes a phase stepper motor integrated with a high performance microstepping drive, internal encoder integral to system operation, and Hybrid Motion Technology (HMT). HMT combines the best of servo and stepper motor technologies, while delivering unique capabilities and enhancements over both. MDrive Hybrid Step Torque Speed Sizes: 23, 34 & 34ac MDrive Hybrid integrated motion control systems use RS-422/485 communications. The MDrive Hybrid Step Torque Speed systems can be confi gured to operate in one of four modes: Step in Step / Direction mode, the MDrive Hybrid is controlled by an external step clock signal. Torque in Torque Control mode, the MDrive Hybrid maintains a constant, preset torque output of the motor. The torque may be set in software, or controlled via the analog input using a 0 to +5 V, 0 to +10 V or -10 to +10 V signal. Speed in Speed Control mode, the MDrive Hybrid operates as an intelligent speed control, with velocity being controlled via the analog input by a 0 to +5 V, 0 to +10 V or -10 to +10 V signal. Velocity in Velocity Control mode, the MDrive Hybrid operates at a constant velocity commanded by the slew parameter. MDrive Hybrid Step Torque Speed system settings are via a supplied configuration GUI featuring: Easy installation via web interface Automatic communication configuration Tool-tips display valid range settings for each option Application areas The MDrive Hybrid is ideal for machine builders who want a low cost alternative to servo motors and brushed DC motors. The highly compact, integrated electronics of the MDrive Hybrid reduce the potential for problems due to electrical noise by eliminating the cable between motor and drive. This stepper-based system requires no tuning, and provides real-time closed loop control through an internal encoder. These compact, powerful and cost effective motion control solutions deliver unsurpassed smoothness and performance that will reduce system cost, design and assembly time for a large range of motor applications both servo and stepper. Features Highly integrated microstepping drive and high torque phase stepper motor HMT control for exceptional performance Internal encoder, with signals available for external use Single supply: from +12 up to +75 VDC or 120 and 240 VAC Cost effective Extremely compact 20 microstep resolutions up to 51,200 steps per rev including: Degrees, Metric, Arc Minutes Several motor stack lengths available Available options: Long life linear actuator (1) Rear control knob for manual position QuickStart Kit Drive Protection Module Graphical user interface provided for quick and easy parameter setup (1) Only available with MDrive 23 Hybrid systems. See separate documentation. 8

17 Specifi cations MDrive Hybrid Step Torque Speed Step Torque Speed specifications MDrive 23 MDrive 34 MDrive 34 ac Input power Voltage VDC 12 to to 75 VAC Thermal Current maximum (1) 95 to 132 VAC 3.5A 50/60 Hz Operating temp Heat sink non-condensing 40 to +85 C 40 to +75 C 40 to +75 C Motor 40 to +100 C 40 to +90 C 40 to +90 C 95 to /60 Hz Temp output warning Open-drain type not applicable +5 to +24 VDC, 50 ma current +5 to +24 VDC, 50 ma current Protection Type - Thermal not applicable not applicable - Over voltage / current Isolated input Voltage range +5 to +24 VDC sourcing or sinking Motion Digital fi lter range 50 ns to 12.9 μs (10 MHz to 38.8 khz) Clock types (Step mode) Step / direction, quadrature, step up / step down Step frequency 5 MHz maximum 100 ns minimum pulse width Microstep Number of settings 20 resolution Steps per Binary 200, 400, 800, 1600, 3200, 6400, 12800, 25600, 51200, (0.01 deg/μstep), revolution (1 arc minute/μstep), (0.001 mm/μstep) Decimal 1000, 2000, 5000, 10000, 20000, 25000, 40000, Encoder Line counts 100, 200, 250, 256, 400, 500, 512, 1000 Communication Type RS-422/485 Baud rate 4.8 to kbps Setup parameters (2) A system configuration GUI is provided for ease of setup and confi guring your device. The image (right) depicts the GUI's main screen with choice of operating mode, primary and secondary parameter settings. Note that available settings vary with each one of the three operating modes. Shown below is an overview of all settings with general descriptions. More detailed information is covered in the product manual. Operating modes Primary settings Secondary settings Description Operating modes Step & Direction For point-to-point positioning, clock types: step / direction, quadrature, step up / step down Torque Control Operates in relation to an analog input for positioning to torque setting Resolution: 0 100% Accuracy, to scale: ± 5% Speed Control Operates as an independent velocity control device, no external controller required Hybrid Motion Setup / configuration Turn HMT off / on in fi xed or variable mode; set and confi rm encoder line count Technology (HMT) Operation Set control bounds for motor torque and speed, lead, lag, and make-up of lost steps settings HMT status Display status alerts of 8 pre-programmed fi elds, read-only Calibration To maintain synchronization, select options for motor s rotor-to-stator physical position General settings Analog Enable active Communication Set baud rate; enable / disable party mode and features; Check Sum integrity quality assurance I/O Clock and fi lter settings; Attention Output with 11 pre-programmed fi elds to select among Motion Set various motion settings which vary with the operating mode selected, ex. Current, MSEL The Speed Control Mode also includes settings for acceleration, deceleration, velocity and fl ags Defaults Restore system defaults or previously stored settings; view current communication settings (1) Actual power supply current will depend on voltage and load. (2) All parameters are set using the supplied system confi guration GUI. An optional Communication Converter is recommended with fi rst orders. See User Manual for complete details: 9

18 Dimensions MDrive 23 Hybrid Step Torque Speed Mechanical specifications, dimensions in inches (mm) P (48.3) ±0.008 (1.6 ±0.2) 0.81 ±0.02 (20.6 ±0.5) 2.02 (51.2) 1.63 (41.4) 0.59 ±0.008 (15.0 ±0.2) Ø /-0 (Ø /-0) 2.96 (75.2) P (34.0) L MAX2 L MAX Single, Double & Triple Length Motors: ±0.004 (5.8 ±0.1) Quad Length Motor: ±0.004 (7.0 ±0.1) ±0.012 (4.8 ±0.3) Single, Double & Triple Length Motors: Ø / (Ø /-0.013) Quad Length Motor: Ø / (Ø /-0.013) 2.22 ( 56.4) P ±0.008 ( 47.1 ±0.2) Ø ±0.002 (Ø 38.1 ±0.1) Motor stack length Lmax (1) Lmax2 (2) Single 2.65 (67.31) 3.36 (85.34) Double 3.02 (76.71) 3.73 (94.74) Triple 3.88 (98.55) 4.59 (116.59) Quad 5.28 (134.15) 5.99 (152.19) (1) Single shaft. (2) Control knob. P1 connector I/O & Power P2 connector Communication P3 connector Encoder Lmax2 option 0.36 (9.1) P2 P3 Ø 0.97 (Ø 24.6) P1 12-pin locking wire crimp connector 10-pin friction lock wire crimp connector 10-pin locking wire crimp connector control knob See User Manual for complete details: 10

19 Dimensions MDrive 34 Hybrid Step Torque Speed Mechanical specifications, dimensions in inches (mm) (18.57) (50.32) (31.75) (10.01) 1.46 ±0.04 (37.1 ±1.0) 4X Ø (Ø 5.51) P1 / P2 / P3 / P (22.24) ±0.01 (25.0 ±0.25) (94.67) (2.0) / (13.0 ±0.10) Ø / (Ø /-0.010) Ø ±0.002 (Ø 73.0 ±0.05) L MAX2 L MAX ( 69.57) 3.39 ( 86.1) Motor stack length Lmax (1) Lmax2 (2) Single 3.81 (96.77) 4.52 (114.81) Double 4.60 (116.84) 5.31 (134.87) Triple 6.17 (156.72) 6.88 (174.75) (1) Single shaft. (2) Control knob. Connectors Lmax2 option Ø 1.90 (Ø 48.3) P3 P2 P1 Comm I/O Power P4 Encoder control knob P1: I/O, 12-pin locking wire crimp connector P2: Communication, 10-pin friction lock wire crimp connector P3: Power, 2-pin locking wire crimp connector P4: Encoder, 10-pin locking wire crimp connector See User Manual for complete details: 11

20 Dimensions MDrive 34 ac Hybrid Step Torque Speed Mechanical specifications, dimensions in inches (mm) L MAX2 L MAX P1 P (68.4) P2 P3 P1 P (18.0) 1.46 ±0.039 (37.0 ±1.0) 0.87 ±0.010 (22 ±0.25) Ø 0.22 (Ø 5.5) Ø 2.87 ±0.002 (Ø 73.0 ±0.05) / (5.0 +0/-0.05) 3.38 ( 85.8) 5.76 (146.2) 6.47 (164.2) Ø / (Ø /-0.013) / ( /-0.25) 0.40 (10.1) 0.08 ±0.004 (2.0 ±0.1) / ( /-0.432) 3.46 (87.8) Motor stack length Lmax (1) Lmax2 (2) Single 6.1 (155.0) 7.1 (180.4) Double 6.9 (174.3) 7.9 (199.7) Triple 8.4 (214.3) 9.4 (239.7) (1) Single shaft. (2) Control knob. Connectors I/O & Encoder Communication Power Lmax2 option Ø 1.90 (Ø 48.3) Ø 0.87 (Ø 22.1) Ø 0.53 (Ø 13.5) Ø 0.87 (Ø 22.1) P1: 19-pin M23 (male) industrial connector P2: 5-pin M12 (female) industrial connector P3: 3-pin Euro AC (male) industrial connector control knob See User Manual for complete details: 12

21 Connectivity MDrive 23 Hybrid Step Torque Speed MDrive Hybrid 10-pin friction lock mating connector MD-CC in-line converter USB connector Installation accessories Description QuickStart Kit Length feet (m) Part number For rapid design verifi cation, all-inclusive QuickStart Kits include connectivity, instructions and CD for MDrive Hybrid initial functional setup and system testing. For all MDrive23 Step Torque Speed systems add "K" to part number (1) PD FL3 Communication converter Electrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/ program communication parameters for a single MDrive Hybrid via a PC's USB port. Mates to 10-pin friction lock wire crimp connector 12.0 (3.6) MD-CC PD FL3 locking mating connector Prototype development cable Speed test/development with pre-wired mating connector with other cable end open. Mates to 12-pin locking wire crimp connector for I/O and power Mates to 10-pin friction lock wire crimp connector for communication Mates to 10-pin locking wire crimp connector for encoder 10.0 (3.0) PD FL (3.0) PD FL3 6.0 (1.8) ED-CABLE-JST10 ED-CABLE-JST10 Mating connector kit Connectors for assembly of cables, cable material not supplied. Sold in lots of 5. Manufacturer's crimp tool recommended for crimp connectors. 12-pin locking wire crimp connector for I/O and power 10-pin friction lock wire crimp connector for communication 10-pin locking wire crimp connector for encoder CK-03 CK-02 CK-13 Drive protection module Limits surge current and voltage to a safe level when DC input power is switched on-and-off to an MDrive Hybrid. For all MDrive23 Step Torque Speed systems DPM75 (1) See page 16. Connectivity details: 13

22 Connectivity MDrive 34 Hybrid Step Torque Speed MDrive Hybrid 10-pin friction lock mating connector MD-CC in-line converter USB connector Installation accessories Description QuickStart Kit Length feet (m) Part number For rapid design verifi cation, all-inclusive QuickStart Kits include connectivity, instructions and CD for MDrive Hybrid initial functional setup and system testing. For all MDrive34 Step Torque Speed systems add "K" to part number (1) PD FL3 Communication converter Electrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/ program communication parameters for a single MDrive Hybrid via a PC's USB port. Mates to 10-pin friction lock wire crimp connector 12.0 (3.6) MD-CC PD FL3 PD FL3 locking mating connector Prototype development cable Speed test/development with pre-wired mating connector with other cable end open. Mates to 12-pin locking wire crimp connector for I/O Mates to 10-pin friction lock wire crimp connector for communication Mates to 2-pin locking wire crimp connector for power Mates to 10-pin locking wire crimp connector for encoder 10.0 (3.0) PD FL (3.0) PD FL (3.0) PD FL3 6.0 (1.8) ED-CABLE-JST10 locking mating connector ED-CABLE-JST10 Mating connector kit Connectors for assembly of cables, cable material not supplied. Sold in lots of 5. Manufacturer's crimp tool recommended for crimp connectors. 12-pin locking wire crimp connector for I/O CK pin friction lock wire crimp connector for communication CK-02 2-pin locking wire crimp connector for power CK pin friction lock wire crimp connector for internal differential optical encoder CK-13 Drive protection module Limits surge current and voltage to a safe level when DC input power is switched on-and-off to an MDrive Hybird. For all MDrive34 Step Torque Speed systems DPM75 (1) See page 16. Connectivity details: 14

23 Connectivity MDrive 34 ac Hybrid Step Torque Speed MDrive Hybrid 5-pin M12 mating industrial connector 5-pin M12 (male) MD-CC in-line converter USB connector Installation accessories Description QuickStart Kit Length feet (m) Part number For rapid design verifi cation, all-inclusive QuickStart Kits include connectivity, instructions and CD for MDrive Hybrid initial functional setup and system testing. For MDrive34ac Step Torque Speed systems add "K" to part number (1) 19-pin M23 (female) industrial mating connector 2.8 / 71.5 mm Communication converter Electrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/ program communication parameters for a single MDrive Hybrid via a PC's USB port. Mates to 5-pin female M12 industrial connector 12.0 (3.6) MD-CC MD-CS pin Euro AC (female) industrial mating connector 2.5 / 64.5 mm MD-CS Prototype development cable Speed test/development with pre-wired mating connector with other cable end open. Mates to 19-pin male M23 industrial connector with straight termination for I/O and encoder Mates to 19-pin male M23 industrial connector with right angle termination for I/O and encoder Mates to 3-pin male Euro AC industrial connector with straight termination for power Mates to 3-pin male Euro AC industrial connector with right angle termination for power (1) See page (4.0) MD-CS (4.0) MD-CS (4.0) MD-CS (4.0) MD-CS Connectivity details: 15

24 Part numbers MDrive Hybrid Step Torque Speed MDrive 23 Hybrid MDrive 34 Hybrid MDrive 34ac Hybrid P1: I/O and Power 12-pin locking wire crimp connector P3: Encoder 10-pin locking wire crimp connector (not visible) P2: Communication 10-pin friction lock wire crimp connector P3: Power 2-pin locking wire crimp connector P4: Encoder 10-pin locking wire crimp connector P2: Communication 10-pin friction lock wire crimp connector P1: I/O 12-pin locking wire crimp connector P1: I/O and Encoder 19-pin M23 industrial connector P3: Power 3-pin industrial connector P2: Communication 5-pin Euro AC connector Step Torque Speed Part numbers Example: K M A M 3 C R L 2 3 A 6 EAM N QuickStart Kit K = kit option, or leave blank if not wanted MDrive Hybrid version MAM = Step Torque Speed Type 3 = HMT (1) 4 = HMT with industrial connectors, IP54-rated (2) P1 connector C = wire crimp (1) M = M23 industrial connector (2) Communication R = RS-422/485 P2 connector L = wire crimp (1) Q = industrial connector (2) Motor size 23 = NEMA 23 (2.3'' / 57 mm) 34 = NEMA 34 (3.4'' / 86 mm) Motor length A = single stack B = double stack C = triple stack D = quad stack (3) Drive voltage 6 = +12 to +60 VDC (3) 7 = +12 to +75 VDC (4) 1 = 120 VAC (2) 2 = 240 VAC (2) Encoder, differential internal encoder with index mark, signals available for external use (5) EAM = 100 line count EBM = 200 line count ECM = 250 line count EWM = 256 line count EDM = 400 line count EHM = 500 line count EXM = 512 line count EJM = 1000 line count Options Leave blank if not wanted N = rear control knob for manual positioning K M A M 3 C R L 2 3 A 6 EAM N K M A M 3 C R L 2 3 A 6 EAM N K M A M 3 C R L 2 3 A 6 EAM N C K M A M 3 C R L 2 3 A 6 EAM N K M A M 3 C R L 2 3 A 6 EAM N K M A M 3 C R L 2 3 A 6 EAM N K M A M 3 C R L 2 3 A 6 EAM N K M A M 3 C R L 2 3 A 6 EAM N K M A M 3 C R L 2 3 A 6 EAM N N (1) Only available with size 23 and 34 systems. (2) Only available with size 34ac systems. (3) Only available with size 23 systems. (4) Only available with size 34 systems. (5) Size 23 and 34 systems have magnetic encoders, while 34ac systems have optical encoders. NOTE: system performance is optimized with higher encoder resolution selections. Easy MDrive part numbers via an interactive tool at: 16

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27 MDrive Hybrid Motion Control

28 Description MDrive Hybrid Motion Control fully programmable Presentation The MDrive Hybrid Motion Control is a very compact motion system that solves many servo applications with a low cost solution. The system includes a phase stepper motor integrated with a fully programmable controller, high performance microstepping drive, internal encoder integral to system operation, and Hybrid Motion Technology (HMT). HMT combines the best of servo and stepper motor technologies, while delivering unique capabilities and enhancements over both. These stand-alone motion control solutions can be used without any external controller. With MDrive Hybrid integrated motion control systems, point-to-point positioning, torque mode and velocity control are all user programmed with pre-installed MCode software, a simple language that uses 1 to 2 character instructions, and an easy-touse terminal emulator program that is provided. Communication is via RS-422/485 or Ethernet. (1) MDrive Hybrid Motion Control, fully programmable Sizes: 17, 23 & 34ac MDrive Hybrid systems with Ethernet are programmed with the same MCode instruction set used for the RS-422/485 products. Ethernet products also support MODBUS/ TCP application protocol, per specification Version 1.1b, with operation in immediate mode, not as programmable products. A USB to RS-422/485 Communications Converter is available for ease of connecting to a user s PC. Connectivity options range from all-inclusive QuickStart Kits to individual interfacing cables and mating connector kits to build your own cables. Application areas The MDrive Hybrid is ideal for machine builders who want a low cost alternative to servo motors and brushed DC motors. The highly compact, integrated electronics of the MDrive Hybrid reduce the potential for problems due to electrical noise by eliminating the cable between motor and drive. This stepper-based system requires no tuning, and provides real-time closed loop control through an internal encoder. These compact, powerful and cost effective motion control solutions deliver unsurpassed smoothness and performance that will reduce system cost, design and assembly time for a large range of motor applications both servo and stepper. Features Highly integrated microstepping drive and high torque phase stepper motor Fully programmable motion controller HMT control for exceptional performance Internal encoder Single supply: from +12 up to +75 VDC or 120 and 240 VAC Cost effective Extremely compact 20 microstep resolutions up to 51,200 steps per rev including: Degrees, Metric, Arc Minutes Several motor stack lengths available Available options: Long life linear actuator (2) Rear control knob for manual position QuickStart Kit Drive Protection Module Graphical user interface provided for quick and easy configuration and programming (1) Ethernet only available with MDrive 23 Hybrid systems. (2) Only available with MDrive 23 Hybrid systems. See separate documentation. 20

29 Specifi cations MDrive Hybrid Motion Control fully programmable Motion Control specifications MDrive 17 MDrive 23 MDrive 34ac Input power Voltage VDC 12 to to 60 VAC Current maximum (1) 95 to 132 VAC 95 to 264 VAC 2.0A 50/60 50/60 Hz Thermal Operating temp non-condensing Heat sink 40 to + 85 C 40 to +85 C 40 to +75 C Motor 40 to +100 C 40 to C 40 to + 90 C Open-drain type not applicable not applicable +5 to +24 VDC, 50 ma current Protection Type over temperature, short circuit, transient over voltage, over voltage, inductive clamp Auxiliary logic input Voltage range (2) +12 to +24 VDC Analog input Resolution 10 bit Voltage range 0 to +5 VDC, 0 to +10 VDC, 0-20 ma, 4-20 ma General purpose I/O Number 4 8 Type sourcing or sinking outputs / inputs Logic range Sourcing outputs +12 to +24 VDC Inputs and sinking outputs tolerant to +24 VDC, inputs TTL level compatible Output sink / source current Up to 600 ma per channel Protection Over temp, short circuit, transient, over voltage, inductive clamp Communication Type RS-422/485 or Ethernet (3) Baud rate 4.8 to kbps (4) Motion Closed loop confi guration Encoder type Internal, magnetic with encoder Steps per revolution Encoder resolution 1000 lines / 4000 edges per rev Counters Type position, en cod er / 32 bit Edge rate maximum 5 MHz Velocity Range +/ 5,000,000 steps per second Resolution steps per second Accel / Decel Range 1.5 x 10 9 steps per second 2 Resolution 90.9 steps per second 2 High speed I/O Input fi lter range 50 ns to 12.9 μs (10 MHz to 38.8 khz) Position capture Resolution 32 bit Trip Output Speed / resolution / threshold 150 ns / 32 bit / TTL Software Program storage Type / size fl ash / 6384 bytes User registers Four 32 bit User program labels & variables 192 Math functions +,,,, >, <, =, <=, >=, AND, OR, XOR, NOT Branch functions Branch and Call General purpose I/O functions Inputs home, limit plus, limit minus, go, stop, pause, jog plus, jog minus, general purpose Outputs moving, fault, stall, velocity change, general purpose Trip functions Trip on input, trip on position, trip on time, trip capture, trip on relative position Party mode addresses 62 (4) Encoder functions Find index (1) Actual power supply current will depend on voltage and load. (2) When input voltage is removed, maintains power only to control and feedback circuits. (3) Ethernet only available with MDrive 23 Hybrid systems. (4) Only with RS-422/485 systems. Programming RS-422/485 MDrive Hybrid systems Fully programmable. Users can quickly communicate and program via a PC using IMS Terminal, an integrated ASCII terminal emulator and program editor available for download at Ethernet MDrive Hybrid systems These products support two protocols in a single package: MCode/TCP These fully programmable systems utilize Schneider Electric Motion USA s proprietary MCode programming language, developed for MDrive Motion Control products, which has been adapted to utilize TCP/IP message formatting. MODBUS/TCP A standard open industrial protocol supported by a variety of machine components such as programmable controllers, drives and controls, I/O modules and switches. See User Manual for complete details: 21

30 Dimensions MDrive 17 Hybrid Motion Control fully programmable Mechanical specifications, dimensions in inches (mm) P1/P (2.0) 0.94 ±0.02 (23.9 ±0.5) 0.59 ±0.02 (15.0 ±0.5) Ø / (Ø /-0.013) 4X M3x0.5 THREAD x0.15 MIN DEEP 2.05 (52.1) 2.30 (58.3) P2 Ø / (Ø /-0.051) ±0.004 ( 31.0 ±0.1) ±0.002 (4.49 ±0.05) L MAX 0.29 (7.4) 1.68 ( 42.7) Motor stack length Lmax Single 3.01 (76.45) Double 3.25 (82.55) Triple 3.65 (92.71) P1 / P3 connectors I/O & Power 0.19 (4.82) P2 connector Communication P2 P1/P3 14- & 2-pin locking wire crimp connectors 10-pin locking wire crimp connector See User Manual for complete details: 22

31 Dimensions MDrive 23 Hybrid Motion Control fully programmable Mechanical specifications, dimensions in inches (mm) 2.96 (75.2) P1/P (48.3) ±0.008 (1.6 ±0.2) 0.81 ±0.02 (20.6 ±0.5) 0.59 ±0.008 (15.0 ±0.2) Single, Double & Triple Length Motors: Ø / (Ø /-0.013) Quad Length Motor: Ø / (Ø /-0.013) 2.02 (51.2) 1.63 (41.4) Ø /-0 (Ø /-0) P (34.0) L MAX2 L MAX Single, Double & Triple Length Motors: ±0.004 (5.8 ±0.1) Quad Length Motor: ±0.004 (7.0 ±0.1) ±0.012 (4.8 ±0.3) 0.93 ( 23.6) 0.86 (21.8) P2: RJ ( 56.4) ±0.008 ( 47.1 ±0.2) Ø ±0.002 (Ø 38.1 ±0.1) Motor stack length Lmax (1) Lmax2 (2) Single 2.65 (67.31) 3.36 (85.34) Double 3.02 (76.71) 3.73 (94.74) Triple 3.88 (98.55) 4.59 (116.59) Quad 5.28 (134.15) 5.99 (152.19) (1) Single shaft. (2) Control knob. P1 / P3 connectors I/O & Power 0.50 (12.7) 0.13 (3.3) P2 connectors RS-422/485 Communication P2 Ethernet Communication P2 Lmax2 option Ø 0.97 (Ø 24.6) 0.38 (9.7) P1/P3 14- & 2-pin locking wire crimp connectors 10-pin friction lock wire crimp connector RJ45 connector for Ethernet only control knob See User Manual for complete details: 23

32 Dimensions MDrive 34 ac Hybrid Motion Control fully programmable Mechanical specifications, dimensions in inches (mm) L MAX2 L MAX P1 P (68.4) P2 P3 P1 P (18.0) 1.46 ±0.039 (37.0 ±1.0) 0.87 ±0.010 (22 ±0.25) Ø 0.22 (Ø 5.5) Ø 2.87 ±0.002 (Ø 73.0 ±0.05) / (5.0 +0/-0.05) 3.38 ( 85.8) 5.76 (146.2) 6.47 (164.2) Ø / (Ø /-0.013) / ( /-0.25) 0.40 (10.1) 0.08 ±0.004 (2.0 ±0.1) / ( /-0.432) 3.46 (87.8) Motor stack length Lmax (1) Lmax2 (2) Single 6.1 (155.0) 7.1 (180.4) Double 6.9 (174.3) 7.9 (199.7) Triple 8.4 (214.3) 9.4 (239.7) (1) Single shaft. (2) Control knob. Connectors I/O & Encoder Communication Power Lmax2 option Ø 1.90 (Ø 48.3) Ø 0.87 (Ø 22.1) Ø 0.53 (Ø 13.5) Ø 0.87 (Ø 22.1) P1: 19-pin M23 (male) industrial connector P2: 5-pin M12 (female) industrial connector P3: 3-pin Euro AC (male) industrial connector control knob See User Manual for complete details: 24

33 Connectivity MDrive 17 Hybrid Motion Control fully programmable MDrive Hybrid 10-pin locking mating connector MD-CC in-line converter USB connector Installation accessories Description QuickStart Kit Length feet (m) Part number For rapid design verifi cation, all-inclusive QuickStart Kits include connectivity, instructions and CD for MDrive Hybrid initial functional setup and system testing. For all MDrive17 Motion Control systems add "K" to part number (1) locking mating connector PD FL3 Communication converter Electrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/ program communication parameters for a single MDrive Hybrid via a PC's USB port. Mates to 10-pin locking wire crimp connector 12.0 (3.6) MD-CC PD FL3 locking mating connector locking mating connector Prototype development cable Speed test/development with pre-wired mating connector with other cable end open. Mates to 14-pin locking wire crimp connector for I/O Mates to 10-pin locking wire crimp connector for communication Mates to 2-pin locking wire crimp connector for power 10.0 (3.0) PD FL (3.0) PD FL (3.0) PD FL3 PD FL3 Mating connector kit Connectors for assembly of cables, cable material not supplied. Sold in lots of 5. Manufacturer's crimp tool recommended for crimp connectors. 14-pin locking wire crimp connector for I/O CK pin locking wire crimp connector for communication CK-02 2-pin locking wire crimp connector for power CK-04 Drive protection module Limits surge current and voltage to a safe level when DC input power is switched on-and-off to an MDrive Hybrid. For all MDrive17 Motion Control systems DPM75 (1) See page 28. Connectivity details: 25

34 Connectivity MDrive 23 Hybrid Motion Control fully programmable MDrive Hybrid 10-pin friction lock mating connector MD-CC in-line converter USB connector Installation accessories Description QuickStart Kit Length feet (m) Part number For rapid design verifi cation, all-inclusive QuickStart Kits include connectivity, instructions and CD for MDrive Hybrid initial functional setup and system testing. For all MDrive23 Motion Control systems add "K" to part number (1) locking mating connector PD FL3 Communication converter Electrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/ program communication parameters for a single MDrive Hybrid via a PC's USB port. Mates to 10-pin friction lock wire crimp connector 12.0 (3.6) MD-CC PD FL3 friction lock mating connector locking mating connector Prototype development cable Speed test/development with pre-wired mating connector with other cable end open. Mates to 14-pin locking wire crimp connector for I/O Mates to 10-pin friction lock wire crimp connector for communication Mates to 2-pin locking wire crimp connector for power 10.0 (3.0) PD FL (3.0) PD FL (3.0) PD FL3 PD FL3 Mating connector kit Connectors for assembly of cables, cable material not supplied. Sold in lots of 5. Manufacturer's crimp tool recommended for crimp connectors. 14-pin locking wire crimp connector for I/O CK pin friction lock wire crimp connector for communication CK-02 2-pin locking wire crimp connector for power CK-04 Drive protection module Limits surge current and voltage to a safe level when DC input power is switched on-and-off to an MDrive Hybrid. For all MDrive23 Motion Control systems DPM75 (1) See page 28. Connectivity details: 26

35 Connectivity MDrive 34 ac Hybrid Motion Control fully programmable MDrive Hybrid 5-pin M12 mating industrial connector 5-pin M12 (male) MD-CC in-line converter USB connector Installation accessories Description QuickStart Kit Length feet (m) Part number For rapid design verifi cation, all-inclusive QuickStart Kits include connectivity, instructions and CD for MDrive Hybrid initial functional setup and system testing. For MDrive34ac Motion Control systems add "K" to part number (1) 19-pin M23 (female) industrial mating connector 2.8 / 71.5 mm Communication converter Electrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/ program communication parameters for a single MDrive Hybrid via a PC's USB port. Mates to 5-pin female M12 industrial connector 12.0 (3.6) MD-CC MD-CS pin Euro AC (female) industrial mating connector 2.5 / 64.5 mm MD-CS Prototype development cable Speed test/development with pre-wired mating connector with other cable end open. Mates to 19-pin male M23 industrial connector with straight termination for I/O Mates to 19-pin male M23 industrial connector with right angle termination for I/O Mates to 3-pin male Euro AC industrial connector with straight termination for power Mates to 3-pin male Euro AC industrial connector with right angle termination for power 13.0 (4.0) MD-CS (4.0) MD-CS (4.0) MD-CS (4.0) MD-CS (1) See page 28. Connectivity details: 27

36 Part numbers MDrive Hybrid Motion Control fully programmable MDrive 17 Hybrid MDrive 23 Hybrid MDrive 34ac Hybrid P1: I/O C = 14-pin locking wire crimp connector P3: Power 2-pin locking wire crimp connector P2: Communication L = RS-422/485 with 10-pin locking wire crimp connector P1: I/O C = 14-pin locking wire crimp connector P3: Power 2-pin locking wire crimp connector P2: Communication L = RS-422/485 with 10-pin friction lock wire crimp connector R = Ethernet with RJ45 locking connector P1: I/O M = 19-pin M23 male industrial connector P3: Power 3-pin industrial connector P2: Communication Q = RS-422/485 with 5-pin M12 female industrial connector Motion Control Part numbers Example: K M A I 3 C R L 1 7 A 4 EJM N QuickStart Kit K = kit option, or leave blank if not wanted MDrive Hybrid version MAI = Motion Control Type 3 = HMT (1) 4 = HMT with industrial connectors, IP54-rated (2) P1 connector C = wire crimp (1) M = M23 industrial connector (2) Communication R = RS-422/485 E = Ethernet (3) P2 connector L = wire crimp (1) R = RJ45 (4) Q = industrial, IP54-rated (2) Motor size 17 = NEMA 17 (1.7" / 42 mm) 23 = NEMA 23 (2.3'' / 57 mm) 34 = NEMA 34 (3.4'' / 86 mm) Motor length A = single stack B = double stack C = triple stack D = quad stack (3) Drive voltage 4 = +12 to +48 VDC (5) 6 = +12 to +60 VDC (3) 1 = 120 VAC (2) 2 = 240 VAC (2) Encoder, differential EJM = 1000-line internal encoder Option Leave blank if not wanted N = rear control knob for manual positioning (6) K M A I 3 C R L 1 7 A 4 EJM N K M A I 3 C R L 1 7 A 4 EJM N K M A I 3 C R L 1 7 A 4 EJM N K M A I 3 C R L 1 7 A 4 EJM N K M A I 3 C R L 1 7 A 4 EJM N K M A I 3 C R L 1 7 A 4 EJM N K M A I 3 C R L 1 7 A 4 EJM N K M A I 3 C R L 1 7 A 4 EJM N K M A I 3 C R L 1 7 A 4 EJM N K M A I 3 C R L 1 7 A 4 EJM N N (1) Only available with size 17 and 23 systems. (2) Only available with size 34ac systems. (3) Only available with size 23 systems. (4) Only available with systems with Ethernet protocol. (5) Only available with size 17 systems. (6) Unavailable with size 17 systems. Easy MDrive part numbers via an interactive tool at: 28

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39 MDrive Hybrid CANopen

40 Description MDrive Hybrid CANopen Presentation The MDrive Hybrid with CANopen interface is a very compact motion system that solves many servo applications with a low cost solution. The system includes a phase stepper motor integrated with a controller and high performance microstepping drive, internal encoder integral to system operation, and Hybrid Motion Technology (HMT). HMT combines the best of servo and stepper motor technologies, while delivering unique capabilities and enhancements over both. MDrive Hybrid CANopen Size: 23 IMS CANopen firmware is provided for MDrive Hybrid CANopen systems, in addition to CANopen Tester GUI software for interface with the MD-CC CANopen dongle. MDrive Hybrid CANopen systems support CiA DS301 and DSP402 Device Profile for Drives and Motion Control. Application areas The MDrive Hybrid is ideal for machine builders who want a low cost alternative to servo motors and brushed DC motors. The highly compact, integrated electronics of the MDrive Hybrid reduce the potential for problems due to electrical noise by eliminating the cable between motor and drive. This stepper-based system requires no tuning, and provides real-time closed loop control through an internal encoder. These compact, powerful and cost effective motion control solutions deliver unsurpassed smoothness and performance that will reduce system cost, design and assembly time for a large range of motor applications both servo and stepper. Features Highly integrated microstepping drive and high torque phase stepper motor HMT control for exceptional performance Internal encoder CANopen communication Single supply: from +12 to +60 VDC Cost effective Extremely compact 20 microstep resolutions up to 51,200 steps per rev including: Degrees, Metric, Arc Minutes Four motor stack lengths available Available options: Long life linear actuator (1) Rear control knob for manual position Drive Protection Module Graphical user interface provided for quick and easy configuration and programming (1) Only available with MDrive 23 Hybrid systems. See separate documentation. 32

41 Specifi cations MDrive Hybrid CANopen CANopen specifications MDrive 23 Input power Voltage VDC 12 to 60 Current maximum (1) 3.5A Thermal Operating temp Heat sink 40 to + 85 C non-condensing Motor 40 to +100 C Auxiliary logic input Voltage range (2) +12 to +24 VDC Analog input Resolution 10 bit Voltage range 0 to +5 VDC, 0 to +10 VDC, 0-20 ma, 4-20 ma General purpose I/O Number 8 Type Sourcing or sinking outputs / 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 Protection Over temp, short circuit, transient, over voltage, inductive clamp Communication Type CANopen CiA DS301 (V3.0), DSP402 (V2.0), 2.0B active Baud rate Confi gurable 5 KB to 1 Mb ID 11 and / or 29 bit Isolation Galvanic Features Node guarding, heartbeat, SDOs, PDOs (variable mapping) Motion Open loop confi guration Number of settings 20 Steps per revolution 200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, (0.01 deg/μstep), (1 arc minute/μstep), (0.001mm/μstep) Counters Type position, en cod er / 32 bit Edge rate maximum 5 MHz Velocity Range +/- 5,000,000 steps per second Resolution steps per second Accel / Decel Range 1.5 x 10 9 steps per second 2 Resolution 90.9 steps per second 2 Software Setup parameters Storable to nonvolatile memory Transmit PDOs 3 dynamically mappable Receive PDOs 3 dynamically mappable Manufacturer specifi c objects I/O confi guration, run / hold current Modes of operation Profi le position, homing mode, profi le velocity Input functions General purpose, homing mode profi les Output functions General purpose (1) Actual power supply current will depend on voltage and load. (2) When input voltage is removed, maintains power only to control and feedback circuits. See User Manual for complete details: 33

42 Dimensions MDrive 23 Hybrid CANopen Mechanical specifications, dimensions in inches (mm) 2.96 (75.2) P1/P (48.3) ±0.008 (1.6 ±0.2) 0.81 ±0.02 (20.6 ±0.5) 0.59 ±0.008 (15.0 ±0.2) Single, Double & Triple Length Motors: Ø / (Ø /-0.013) Quad Length Motor: Ø / (Ø /-0.013) 2.02 (51.2) 1.63 (41.4) Ø /-0 (Ø /-0) ±0.008 ( 47.1 ±0.2) P (34.0) L MAX Single, Double & Triple Length Motors: ±0.004 (5.8 ±0.1) Quad Length Motor: ±0.004 (7.0 ±0.1) ±0.012 (4.8 ±0.3) (10.8) 2.22 ( 56.4) Ø ±0.002 (Ø 38.1 ±0.1) L MAX2 Motor stack length Lmax (1) Lmax2 (2) Single 2.65 (67.31) 3.36 (85.34) Double 3.02 (76.71) 3.73 (94.74) Triple 3.88 (98.55) 4.59 (116.59) Quad 5.28 (134.15) 5.99 (152.19) (1) Single shaft. (2) Control knob. P1 / P3 connectors I/O & Power 0.38 (9.7) 0.50 (12.7) P1/P (3.3) P2 connector Communication P2 Lmax2 option Ø 0.97 (Ø 24.6) 14- & 2-pin locking wire crimp connectors DB9 (male) control knob See User Manual for complete details: 34

43 Connectivity MDrive 23 Hybrid CANopen DB9M connector MD-CC locking mating connector PD FL3 PD FL3 Interface cable (not supplied) DB9F CAN-L CAN-H DB9F termination resistor is required between CAN-H and CAN-L at MDrive end of cable USB connector Installation accessories Description Length feet (m) Part number Communication converter Electrically isolated, in-line con vert er pre-wired with mating connector to conveniently set/ program communication parameters for a single MDrive Hybrid via a PC's USB port. Mates to DB9 connector (1) 12.0 (3.6) MD-CC Prototype development cable Speed test/development with pre-wired mating connector with other cable end open. Mates to 14-pin locking wire crimp connector for I/O Mates to 2-pin locking wire crimp connector for power 10.0 (3.0) PD FL (3.0) PD FL3 Mating connector kit Connectors for assembly of cables, cable material not supplied. Sold in lots of 5. Manufacturer's crimp tool recommended for crimp connectors. 14-pin locking wire crimp connector for I/O CK-09 2-pin locking wire crimp connector for power CK-04 Drive protection module Limits surge current and voltage to a safe level when DC input power is switched on-and-off to an MDrive Hybrid. For all MDrive23 CANopen products DPM75 (1) Requires mating connector adapter, not supplied. Connectivity details: 35

44 Part numbers MDrive 23 Hybrid CANopen MDrive 23 Hybrid P1: I/O C = 14-pin locking wire crimp connector P3: Power 2-pin locking wire crimp connector P2: Communication B = CANopen with DB9 male connector Part numbers Example: M A I 3 C C B 2 3 A 6 EJM N MDrive Hybrid version MAI = CANopen Type 3 = HMT P1 connector C = wire crimp Communication C = CANopen P2 connector B = DB9 Motor size 23 = NEMA 23 (2.3" / 57 mm) Motor length A = single stack B = double stack C = triple stack D = quad stack Drive voltage 6 = +12 to +60 VDC Encoder, differential EJM = 1000-line internal encoder Option Leave blank if not wanted N = rear control knob for manual positioning M A I 3 C C B 2 3 A 6 EJM N M A I 3 C C B 2 3 A 6 EJM N M A I 3 C C B 2 3 A 6 EJM N M A I 3 C C B 2 3 A 6 EJM N M A I 3 C C B 2 3 A 6 EJM N M A I 3 C C B 2 3 A 6 EJM N M A I 3 C C B 2 3 A 6 EJM N M A I 3 C C B 2 3 A 6 EJM N M A I 3 C C B 2 3 A 6 EJM N N Easy MDrive part numbers via an interactive tool at: 36

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47 MDrive Hybrid System performance

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49 System performance MDrive Hybrid Motor specifi cations Motor specifications MDrive 17 Hybrid Holding torque Detent torque Rotor inertia Weight (motor + driver) Motor stack length Single 32.2 oz-in / 22.7 N-cm Double 52.6 oz-in / 37.1 N-cm Triple 66.3 oz-in / 46.8 N-cm 1.7 oz-in / 1.2 N-cm 2.1 oz-in / 1.5 N-cm 3.5 oz-in / 2.5 N-cm oz-in-sec 2 / kg-cm oz / g oz-in-sec 2 / kg-cm oz / g oz-in-sec 2 / kg-cm oz / g Motor specifications MDrive 23 Hybrid Holding torque Detent torque Rotor inertia Weight (motor + driver) Motor stack length Single 90.0 oz-in / 64.0 N-cm Double oz-in / N-cm Triple oz-in / N-cm Quad oz-in / N-cm 3.9 oz-in / 2.7 N-cm 5.6 oz-in / 3.92 N-cm 9.7 oz-in / 6.86 N-cm 14.2 oz-in / 10.0 N-cm oz-in-sec 2 / 0.18 kg-cm oz / g oz-in-sec 2 / 0.26 kg-cm oz / g oz-in-sec 2 / 0.46 kg-cm oz / g oz-in-sec 2 / 0.76 kg-cm oz / g Motor specifications MDrive 34 Hybrid Holding torque Detent torque Rotor inertia Weight (motor + driver) Motor stack length Single oz-in / N-cm Double oz-in / N-cm Triple oz-in / N-cm 10.9 oz-in / 7.7 N-cm oz-in / 10.0 N-cm oz-in / 14.0 N-cm oz-in-sec 2 / 1.0 kg-cm lb / 1.9 kg oz-in-sec 2 / 1.6 kg-cm lb / 2.5 kg oz-in-sec 2 / 3.4 kg-cm lb / 4.0 kg Motor specifications MDrive 34ac Hybrid Holding torque Detent torque Rotor inertia Weight (motor + driver) Motor stack length Single oz-in / N-cm Double oz-in / N-cm Triple oz-in / N-cm 10.9 oz-in / 7.7 N-cm oz-in / 10.0 N-cm oz-in / 14.0 N-cm oz-in-sec 2 / 1.0 kg-cm lb / 2.9 kg oz-in-sec 2 / 1.6 kg-cm lb / 3.5 kg oz-in-sec 2 / 3.4 kg-cm lb / 5.0 kg 41

50 System performance MDrive Hybrid Speed torque characteristics Hybrid Motion Technology allows full use of a stepper motor's maximum torque rating; eliminates derating of up to 50% as buffer against stalling of standard stepper motor systems. Stepper motor maximum torque rating Green area represents motor torque performance range gain with HMT s Variable Current Control Standard stepper motor performance range (design margin = 50% maximum torque as buffer against stalling) Torque Motor Speed Speed torque characteristics MDrive 17 Hybrid Single stack length Double stack length Triple stack length Torque in Oz-In / N-cm 53/39 Torque in Oz-In / N-cm 53/39 Torque in Oz-In / N-cm 53/39 37/26 37/26 37/26 18/ (600) 4000 (1200) 24 VDC 48 VDC 6000 (1800) Speed of rotation in full steps per second (rpm) 18/ (600) 4000 (1200) 24 VDC 48 VDC 6000 (1800) Speed of rotation in full steps per second (rpm) 18/ (600) 4000 (1200) 24 VDC 48 VDC 6000 (1800) Speed of rotation in full steps per second (rpm) Speed torque characteristics MDrive 23 Hybrid Single stack length Double stack length Torque in Oz-In / N-cm Torque in Oz-In / N-cm 225/ / VDC 48 VDC 60 VDC 225/ / VDC 48 VDC 60 VDC 75/53 75/ (600) 4000 (1200) 6000 (1800) Speed of rotation in full steps per second (rpm) (600) 4000 (1200) 6000 (1800) Speed of rotation in full steps per second (rpm) Triple stack length Quad stack length Torque in Oz-In / N-cm Torque in Oz-In / N-cm 225/ / VDC 48 VDC 60 VDC 225/ / VDC 48 VDC 60 VDC 75/53 75/ (600) (1200) (1800) Speed of rotation in full steps per second (rpm) (600) (1200) (1800) Speed of rotation in full steps per second (rpm) 42

51 System performance MDrive Hybrid Speed torque characteristics Speed torque characteristics MDrive 34 Hybrid Single stack length Double stack length Triple stack length Torque in Oz-In / N-cm Torque in Oz-In / N-cm Torque in Oz-In / N-cm 900/ / VDC 48 VDC 75 VDC 900/ / VDC 48 VDC 75 VDC 900/ / VDC 48 VDC 75 VDC 300/ / / (600) (1200) (1800) Speed of rotation in full steps per second (rpm) (600) 4000 (1200) 6000 (1800) Speed of rotation in full steps per second (rpm) (600) (1200) (1800) Speed of rotation in full steps per second (rpm) Speed torque characteristics MDrive 34ac Hybrid Single stack length Double stack length Triple stack length Torque in Oz-In / N-cm Torque in Oz-In / N-cm Torque in Oz-In / N-cm 700/ / VAC 240 VAC 700/ / VAC 240 VAC 700/ / VAC 240 VAC 300/ / / / (600) (1200) (1800) (2400) Speed of rotation in full steps per second (rpm) 100/ (600) 4000 (1200) 6000 (1800) 8000 (2400) Speed of rotation in full steps per second (rpm) 100/ (600) (1200) (1800) (2400) Speed of rotation in full steps per second (rpm) 43

52 Warranty TWENTY-FOUR MONTH LIMITED WARRANTY IMS Schneider Electric Motion USA warrants only to the purchaser of the Product from IMS Schneider Electric Motion USA (the "Customer") that the product purchased from IMS Schneider Electric Motion USA (the "Product") will be free from defects in materials and workmanship under the normal use and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the Customer. Customer's exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company's sole option, of the Product, or any part of the Product, determined by IMS Schneider Electric Motion USA to be defective. In order to exercise its warranty rights, Customer must notify Company in accordance with the instructions described under the heading "Obtaining Warranty Service". NOTE: MDrive Motion Control electronics are not removable from the motor in the field. The entire unit must be returned to the factory for repair. This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the Product; installation, operation or use of the Product not made in strict accordance with the specifi cations and written instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modifi - cations to the Product; the misuse or failure of any item or equipment connected to the Product not supplied by IMS Schneider Electric Motion USA; improper maintenance or repair of the Product; or any other reason or event not caused by IMS Schneider Electric Motion USA. IMS SCHNEIDER ELECTRIC MOTION USA HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. CUSTOMER'S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS STATED ABOVE, AND IN NO EVENT WILL IMS SCHNEIDER ELECTRIC MOTION USA BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT. This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This Limited Warranty is the sole warranty offered by IMS Schneider Electric Motion USA with respect to the Product. IMS Schneider Electric Motion USA does not assume any other liability in connection with the sale of the Product. No representative of IMS Schneider Electric Motion USA is authorized to extend this Limited Warranty or to change it in any manner whatsoever. No warranty applies to any party other than the original Customer. IMS Schneider Electric Motion USA and its directors, offi cers, employees, subsidiaries and affi liates shall not be liable for any damages arising from any loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production or profi ts, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages, whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory, or other losses or expenses incurred by the Customer or any third party. OBTAINING WARRANTY SERVICE If the Product was purchased from an IMS Schneider Electric Motion USA Distributor, please contact that Distributor to obtain a Returned Material Authorization (RMA). If the Product was purchased directly from IMS Schneider Electric Motion USA, please contact Customer Service at info@imshome.com or (Eastern Time Zone). Customer shall prepay shipping charges for Products returned to IMS Schneider Electric Motion USA for warranty service, and IMS Schneider Electric Motion USA will pay for return of Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for Products returned to IMS Schneider Electric Motion USA from outside the United States. DISCLAIMER: The information in this document has been care ful ly checked and is believed to be accurate; however, no responsibility is as sumed for inaccuracies. IMS Schneider Electric Motion USA reserves the right to make changes without further notice to any products herein to im prove reliability, function, or design. IMS Schneider Electric Motion USA does not as sume any liability arising out of the application or use of any product or circuit de scribed herein; neither does it convey any license under its patent rights of others. The general pol i cy of IMS Schneider Electric Motion USA does not recommend the use of its products in life support or aircraft ap pli ca tions wherein a failure or mal func tion of the product may directly threaten life or in ju ry. Per the terms and conditions of sales of IMS Schneider Electric Motion USA, the user of IMS Schneider Electric Motion USA products in life support or aircraft ap pli ca tions assumes all risks of such use and indemnifi es IMS Schneider Electric Motion USA against all damages.

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