Manuel d'utilisation / d'entretien du produit MDrive34AC du fabricant Intelligent Motion Systems
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Operating Instructions TM mICROSTEPPING TM Excellence in Motion www .imshome.com 34 TM MICROSTEPPING 42 TM MICROSTEPPING.
The information in this book has been carefully checked and is believed to be accurate; however , no responsibility is assumed for inaccuracies. Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability , function or design.
Important information The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers.
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i T able Of Contents Getting S tar ted: MDriveA C Plus Micr ostepping .......................................................................... 1-1 Before Y ou Begin ....................................................................................
ii Section 2.3: U sing the IMS SPI Motor Interface ........................................................................2-12 Installation ..............................................................................................................
iii List Of Figures F igure GS.1: Minimum Logic and P o wer Connections ............................................................. 1-1 F igure GS.2: MDriv eAC Plus CD .................................................................................
iv F igure B.2: Lead Screw S ystem Inertia Considerations ............................................................ A-10 F igure B.3: Rack and Pinion S ystem Inertia Considerations .................................................... A-11 F igure B.
1-1 P ar t 1: Hardwar e Specifications W ARNING! The MDrive has components which are sensitive to Electrostatic Discharge (ESD). All handling should be done at an ESD protected workstation.
1-2 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Connecting Parameter Setup Cable Connect the Host PC to the MD riveAC Plus M icrostepping using the IMS Parameter S etup Cable or equivalent.
1-3 P ar t 1: Hardwar e Specifications TM mICROSTEPPING Section 1.1: MDrive34AC Plus Microstepping Pr oduct Intr oduction Section 1.2: MDrive34CAC Plus Microstepping Detailed Specifications Section 1.3: MDrive42AC Plus Microstepping Pr oduct Intr oduction Section 1.
1-4 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank.
1-5 P ar t 1: Hardwar e Specifications SECTION 1.1 Introduction to the MDrive34AC Plus Microstepping The MDrive34A C Plus Microstepping high tor que inte- grated motor and driver is ideal for designers who want the simplicity of a motor with on-board electronics.
1-6 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 20 Microstep R esolutions up to 51,200 Steps P er Rev I ncluding: Degrees, M etric, Arc.
1-7 P ar t 1: Hardwar e Specifications SECTION 1.2 MDrive34AC Plus Microstepping Detailed Specifications General Specifications Electrical Specifications Input V oltage (+V AC) Range (120 V AC MDrive) 95 to 132 V AC @ 50/60 Hz Input Current (120 V AC MDrive) 4.
1-8 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Motor Specifications Single Length Holding T orque 330 oz-in/233 N-cm Detent T orque 10.9 oz-in/7.7 N-cm Rotor Inertia 0.01416 oz-in-sec 2 /1.0 kg-cm 2 Weight (Motor + Driver) 3.
1-9 P ar t 1: Hardwar e Specifications Mechanical Specifications Dimensions in Inches (mm) Dimensions in inches (mm) Motor Length LMAX1 (Single Shaft) LMAX2 (Control Knob) Single 6.1 (155.0) 7.1 (180.4) Double 6.9 (174.3) 7.9 (199.7) T riple 8.4 (214.
1-10 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Pin Assignment and Description P1 19-Pin M23 Connector - I/O and SPI Communications Pin Assignment.
1-1 1 P ar t 1: Hardwar e Specifications P1 19-Pin M23 Connector - I/O, SPI Communications with Encoder Interface Option Pin Assignment - P1 I/O, SPI and Encoder Connections Pin # Function Description Pin 1 Opto Reference The signal applied to the Optocoupler Reference will determine the sinking/ or sourcing configuration of the inputs.
1-12 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Options and Accessories Internal Encoder Internal differential optical encoders ar e offered factory-installed with the MDrive34AC P lus Microstepping.
1-13 P ar t 1: Hardwar e Specifications SECTION 1.3 Introduction to the MDrive42AC Plus Microstepping The MDrive42A C Plus Microstepping high tor que integrated motor and driver is ideal for designers who want the simplicity of a motor with on- board electronics.
1-14 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 20 Microstep R esolutions up to 51,200 Steps P er Rev I ncluding: Degrees, M e.
1-15 P ar t 1: Hardwar e Specifications SECTION 1.4 MDrive42AC Plus Microstepping Detailed Specifications Electrical Specifications Input V oltage (+V AC) Range (120 V AC MDrive) 95 to 132 V AC @ 50/60 Hz Input Current (120 V AC MDrive) 5.
1-16 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Setup Parameters The following table illustrates the setup parameters. These are easily configured using the IMS SPI M otor Interface configuration utility .
1-17 P ar t 1: Hardwar e Specifications Dimensions in inches (mm) Motor Length LMAX1 (Single Shaft) LMAX2 (Control Knob) Single 7.4 (187.96) 9.4 (238.76) Double 9.4 (2238.76) 11.4 (289.56) Control Knob Ø 1.90 (Ø 48.3) Ø 0.87 (Ø 22.1) Ø 0.87 (Ø 22.
1-18 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Pin Assignment and Description P1 19-Pin M23 Connector - I/O and SPI Communications Pin Assignment.
1-19 P ar t 1: Hardwar e Specifications P1 19-Pin M23 Connector - I/O, SPI Communications with Encoder Interface Option Pin Assignment - P1 I/O, SPI and Encoder Connections Pin # Function Description Pin 1 Opto Reference The signal applied to the Optocoupler Reference will determine the sinking/ or sourcing configuration of the inputs.
1-20 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 P3 Connector - AC Power Pin Assignment - P3 AC Power Euro AC Circular (Male) Function Description Pin 1 Chassis Ground Chassis Ground of the system. Pin 2 AC Power Line AC Power Line.
1-21 P ar t 1: Hardwar e Specifications Options and Accessories Internal Encoder Internal differential optical encoders ar e offered factory-installed with the MDrive42AC P lus Microstepping. Refer to the Encoder S pecifications section for available line counts.
2-1 P ar t 2: Interfacing and Configuring Section 2.1: Logic Interface and Connection Section 2.2: Connecting SPI Communications Section 2.3: Using the IMS SPI Motor Interface Section 2.
2-2 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank.
2-3 P ar t 2: Interfacing and Configuring SECTION 2.1 Logic Interface and Connection Optically Isolated Logic Inputs The MDriveA C Plus Microstepping has thr ee optically isolated logic inputs which are located on connector P1. These inputs are isolated to minimize or eliminate electrical noise coupled onto the drive control signals.
2-4 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Isolated Logic Input Characteristics Enable Input This input can be used to enable or disable the driver output circuitry .
2-5 P ar t 2: Interfacing and Configuring T DSU T DH T SH T SL Direction Step T DC T CHL T CHL Channel A Channel B Direction Change T SH T SL T DC T SH T SL T DC Step Up Step Down STEP/DIRECTION TIMING QUADRA TURE TIMING UP/DOWN (CW/CCW) TIMING Figur e 2.
2-6 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Optocoupler Reference The MDriveA C Plus Microstepping Logic I nputs are optically isolated to prevent electrical noise being coupled into the inputs and causing erratic operation.
2-7 P ar t 2: Interfacing and Configuring + +5 to +24VDC Optocoupler Reference Input Controller Output Controller Ground + +5 to +24VDC Optocoupler Reference Input Controller Output Controller Ground.
2-8 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Switch Interface Example Switch Interface (Sinking) Switch Interface (Sourcing) + +5 to +24VDC Opto.
2-9 P ar t 2: Interfacing and Configuring Minimum Required Connections The connections shown are the minimum r equired to operate the MDriv eAC Plus M icrostepping.
2-10 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 SECTION 2.2 Connecting SPI Communications Connecting the SPI Interface The SPI (Serial P eripheral Interface) is the com- munications and configuration interface.
2-1 1 P ar t 2: Interfacing and Configuring SPI Master SPI Clock MOSI MISO CS SPI Clock MOSI MISO CS1 CS2 SPI Master MDriveACPlus Microstepping #1 MDriveACPlus Microstepping MDriveACPlus Microstepping #2 SPI Pins and Connections Figur e 2.
2-12 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 SECTION 2.3 Using the IMS SPI Motor Interface Installation The IMS SPI M otor Interface is a utility that easily allows you to set up the parameters of your MDriveA C Plus Microstepping.
2-13 P ar t 2: Interfacing and Configuring The color coding is illustrated in F igure 2.3.1. IMS SPI Motor Interface Menu Options File > Open: Opens a saved *.
2-14 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Recall! Retrieves the settings from the MD riveAC Plus Microstepping. Upgrade! U pgrades the MDriveA C Plus Microstepping firmwar e by placing the device in U pgrade Mode and launching the firmware upgrader utility .
2-15 P ar t 2: Interfacing and Configuring Screen 1: The Motion Settings Configuration Screen The IMS SPI M otor Interface Software opens by default to the M otion Settings Screen sho wn on the left. There are six basic parameters that may be set her e: 1.
2-16 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 HC DT (H ol d C ur re nt De lay Ti me) Th e HCD T M ot or H ol d Cu rr ent D el ay s ets t i me i n m il l is ec ond s f or t he Ru n C ur r ent t o s wi tch t o H o ld C ur re nt wh e n mo ti on is co mp let e.
2-17 P ar t 2: Interfacing and Configuring Screen 2: I/O Settings Configuration Screen The I/O Settings screen may be accessed b y clicking View > IO S ettings on the menu bar . This screen is used to configure the Input Clock type, the filtering and the A ctive H igh/Low S tate of the Enable Input.
2-18 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 IMS Part Number/Serial Number Screen The IMS P ar t N umber and Serial N umber screen is accessed by clicking "View > P ar t and Serial N umbers".
2-19 P ar t 2: Interfacing and Configuring NOTE: Once entered into Upgrade Mode, you MUST complete the upgrade. If the upgrade process is incomplete the IMS SPI Motor Interface will continue to open .
2-20 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Initialization Screen This screen will be active under five conditions: When the program initially starts up and seeks for a compatible device. The U ser selects F ile > Exit when connected to the device.
2-21 P ar t 2: Interfacing and Configuring SECTION 2.4 Using User -Defined SPI The MDriveA C Plus can be configured and operated through the end-user's SP I interface without using the IMS SPI M otor Interface software and optional parameter setup cable.
2-22 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 SPI Commands and Parameters U se the following table and figure found on the follo wing page together as the Byte or der read and written from the MDriveA C Plus Microstepping, as w ell as the checksum at the end of a WRITE is critical.
2-23 P ar t 2: Interfacing and Configuring W A RNTEMP CLKIOF CLKTYP HCDT_LO HCDT_HI DIR_OVRID MSEL MHC MRC USR_ID3 USR_ID2 USR_ID1 VERSION DEVICE 80 0 0 0 256 5 25 S M I 1.
2-24 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank.
A-1 Appendices Appendix A: MDriveAC Plus Microstepping Motor Per for mance Appendix B: Gear Boxes Appendix C: Optional Cables and Cordsets Appendix D: Interfacing an Encoder Appendices TM mICROSTEPPIN.
A-2 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 P age Intentionally Left Blank.
A-3 Appendices appendix A MDriveAC Plus Microstepping Motor Perfor mance MDrive34AC Plus Microstepping Speed-T or que Curves Figur e A.1: MDrive34A C Plus 120V A C Microstepping Speed-T or que Curves .
A-4 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Double Length Holding T orque ............................................................................................... 500 oz-in/353 N-cm Detent T orque .
A-5 Appendices Motor Specifications Single Length Holding T orque ............................................................................................. 1147 oz-in/810 N-cm Detent T orque ........................................................
A-6 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Appendix B MDrive with Planetary Gearbox Section Overview This section contains guidelines and specifications for MDrives equipped with an optional Planetary Gearbox, and may include product sizes not relev ant to this manual.
A-7 Appendices Calculating the Shock Load Output T or que (T A B ) N ote: The following examples are based on picking “ temporary variables ” which may be adjusted.
A-8 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Nominal Output Torque Calculate the nominal output torque using the torque values from the MD rive’ s Speed/T orque T ables.
A-9 Appendices Shock Load Output Torque The nominal output torque (T N ) is the actual working torque the Planetary Gearbox will generate. The shock load output torque (T AB ) is the additional torque that can be generated by starting and stopping with no acceleration ramps, payloads, inertia and directional changes.
A-10 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 System Inertia System inertia must be included in the selection of an MDrive and P lanetary Gearbox. Inertia is the resistance an object has relative to changes in velocity .
A-1 1 Appendices Rack and Pinion In a system with a rack and pinion, the following must be consider ed: The weight or mass of the pinion The weight or mass of the rack .
A-12 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Rotary Table In a system with a rotary table, the following must be considered: The we.
A-13 Appendices Chain Drive In a system with a chain drive, the follo wing must be considered: the weight and size of drive sprocket and any attaching hub the weight and size o.
A-14 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Figur e B.7: Planetary Gearbox S pecifications for MDrive34A C Plus 2 Planetary Gearbox for MDrive.
A-15 Appendices Planetary Gearbox for MDrive42AC Plus 2 MDrive42AC Plus 2 Planetary Gearbox Parameters - PM105 Permitted Output T orque (oz-in/Nm) Gearbox Efficiency Maximum Backlash Output Side with Ball Bearing Maximum Load (lb-force/N) Weight (lb/kg) Radial Axial Gearbox with Flange 1-ST AGE 4956/35.
A-16 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 MDrive42AC Plus 2 Planetary Gearbox Parameters - PM120 Permitted Output T orque (oz-in/Nm) Gearbox Efficiency Maximum Backlash Output Side with Ball Bearing Maximum Load (lb-force/N) Weight (lb/kg) Radial Axial Gearbox with Flange 1-ST AGE 7080/50.
A-17 Appendices Appendix C Optional Cables and Cordsets MD-CC300-000: USB to SPI Parameter Setup Cable The MD-CC300-000 USB to SPI P arameter Setup Cable with adapter MD-ADP-M23 provides a communication connection between the 19-pin M23 connector on the MDriveA C Plus Microstepping and the USB port on a PC.
A-18 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 5) Select “Install fr om a list or specific location (Advanced)” on the radio buttons in answer to the query “What do you want the wizard to do?” Click “N ext” (F igure C.
A-19 Appendices Determining the V irtual COM Port (VCP) The MD-CC300-000 uses a Virtual COM P ort to communicate through the USB port to the MDrive. A VCP is a software driven serial port which emulates a hardwar e port in Windo ws. The drivers for the MD-CC300-000 will automatically assign a V CP to the device during installation.
A-20 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Figur e C10: T ypical Setup, Adapter and Single-E nd Cordset 12 3 9 1 2 4 5 6 7 8 10 1 1 15 18 19 .
A-21 Appendices T able C.1: MD-CS10x-000 Wir e Color Chart Pin Assignment and W ire Colors P1 - Expanded I/O Configuration Cordset Wire Color Function (Expanded I/O) Function (Optical Encoder) MDrive .
A-22 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 W ARNING! Do not plug or unplug AC Power at the Motor with the power on! Note: UL Recognition requires the use of the MD-CS20x-000 or Lumberg Equivalent AC Power Cordset.
A-23 Appendices Appendix D Interfacing the Internal Dif ferential Optical Encoder Factory Mounted Encoder Encoders are available in differ ential configurations. All encoders have an index mark, except the MD rive42AC 400 line count. U se of the encoder feedback feature of this product requir es a controller such as an IMS MicroL YNX or PLC.
A-24 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 C t1 t2 Po X Y Z 2.4 V 0.4 V 2.4 V 0.4 V 2.4 V 0.
A-25 Appendices Appendix E Linear Slide Option Features • Screw driven slide offering exceptional linear speed, accurate positioning and long life at a compelling value • High bidir ectional repeatability of up to 50 micro-inches (1.25 microns) • P ositional lead accuracy of 0.
A-26 MDriveA C Plus Microstepping H ardware - R evision R031808 Relevant to F irmware V ersion 3.0.02 Specifications Screw Efficiency Nom. Screw Diam. Inch Lead Max Drag T orque Life @ ¼ Design Load T orque to Move Load Axial Design Load Screw Inertia Screw Lead % inches (mm) inches (mm) oz inch (Nm) inches (cm) oz inch/lb (Nm/kg) lbs (kg) oz.
W ARRANTY TWENTY -FOUR (24) MONTH LIMITED W ARRANTY Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased.
intelligent motion systems, IN C. Excellence in Motion www.imshome.com IMS EUROPE GmbH Niedereschacher Strasse 54 78083 Dauchingen, Germany Phone: +49/7720/995858-0 Fax: +49/7720/995858-9 E-mail: info@imseuropehome.
Un point important après l'achat de l'appareil (ou même avant l'achat) est de lire le manuel d'utilisation. Nous devons le faire pour quelques raisons simples:
Si vous n'avez pas encore acheté Intelligent Motion Systems MDrive34AC c'est un bon moment pour vous familiariser avec les données de base sur le produit. Consulter d'abord les pages initiales du manuel d'utilisation, que vous trouverez ci-dessus. Vous devriez y trouver les données techniques les plus importants du Intelligent Motion Systems MDrive34AC - de cette manière, vous pouvez vérifier si l'équipement répond à vos besoins. Explorant les pages suivantes du manuel d'utilisation Intelligent Motion Systems MDrive34AC, vous apprendrez toutes les caractéristiques du produit et des informations sur son fonctionnement. Les informations sur le Intelligent Motion Systems MDrive34AC va certainement vous aider à prendre une décision concernant l'achat.
Dans une situation où vous avez déjà le Intelligent Motion Systems MDrive34AC, mais vous avez pas encore lu le manuel d'utilisation, vous devez le faire pour les raisons décrites ci-dessus,. Vous saurez alors si vous avez correctement utilisé les fonctions disponibles, et si vous avez commis des erreurs qui peuvent réduire la durée de vie du Intelligent Motion Systems MDrive34AC.
Cependant, l'un des rôles les plus importants pour l'utilisateur joués par les manuels d'utilisateur est d'aider à résoudre les problèmes concernant le Intelligent Motion Systems MDrive34AC. Presque toujours, vous y trouverez Troubleshooting, soit les pannes et les défaillances les plus fréquentes de l'apparei Intelligent Motion Systems MDrive34AC ainsi que les instructions sur la façon de les résoudre. Même si vous ne parvenez pas à résoudre le problème, le manuel d‘utilisation va vous montrer le chemin d'une nouvelle procédure – le contact avec le centre de service à la clientèle ou le service le plus proche.
