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MDrive® Hybrid

Integrated motion systems with Hybrid Motion Technology™

Hybrid Motion Technology™ Changing the rules of motor control

negatives benefits negativesbenefitsbenefits

Hybrid Motion Technology™

StepperMotor Technology

ServoMotor Technology

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.

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

Performance The benefits of servo and stepper motor technologies, with unique capabilities and enhancements over both

Stepper motor maximumtorque rating

Green area represents motor torque performance range gain with HMT’s Variable Current Control

Standard stepper motorperformance range(design margin = 50% maximum torque as buffer against stalling)

Motor Speed

Tor

que

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 benefi ts include:

Torque ModeRegulates 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 SettingUses only the required current necessary to perform a task. This effi cient, energy-saving setting can save money and reduce motor heat.

Maximum Motor TorqueHMT 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.

MDrive® Hybrid Integrated motion systems with Hybrid Motion Technology™

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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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1 Microstepping drive

2 Stepper motor

3 Integrated controller

4 Hybrid Motion Technology™

5 Internal encoder

6 Up to 8 I/O lines

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2

3

4

5

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Hybrid Motion Technology™ A hardware-based system for real-time response, HMT continu-ally 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.

CompactnessMotor and electronics form a single, compact unit with small footprint that dramatically reduces the space requirements in an application.

SimplicityIntegration 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.

Ease of integrationVersions include Step • Torque • Speed, Motion Control and CANopen. This open communication concept allows for integration into existing system environments.

FlexibilityFit a wide range of applications with three fl ange sizes, DC and AC power supply, and communication protocols: RS-422/485, CANopen, Ethernet.

Ethernet nowavailable

Allows

100%use of a stepper motor’s maximum torque rating

Eliminates motorderating of up to

50%as buffer to avoidstalling in standardstepper motor systems

With

1000sof axes operated byMDrive Hybrid today,this technology isproving it is a motorcontrol rules changer

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

4© Schneider Electric Motion USA All Rights Reserved. REV100510 For the most recent product information, go to www.schneider-electric-motion.us

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. ........................................................................................ +00 (1) 860 295-6102Fax........................................................................................ +00 (1) 860 295-6107e-mail .................................................................................... [email protected]

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) 860 295-6102, or go to the Contact page at www.imshome.com.

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. ........................................................................................ +00 (1) 860 295-6102Fax........................................................................................ +00 (1) 860 295-6107e-mail .................................................................................... [email protected] site ................................................................................www.imshome.com

General MDrive® Hybrid

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Contents

Product overview Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 3 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 4

MDrive Hybrid Step • Torque • Speed

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 8 Specifi cations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 Specifi cations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 21 MDrive Hybrid Motion Control, fully programmable Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 22 Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 25 Part numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 28

MDrive Hybrid CANopen

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 32 Specifi cations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 33 MDrive Hybrid CANopen Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 34 Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 35 Part numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 36

System performance

Motor specifi cations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 41 Speed torque characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 42

MDrive®Hybrid systems, sizes: 17, 23, 34 and 34ac

MDrive® Hybrid

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Technology

Hybrid Motion Technology™Hybrid Motion Technology™ (HMT) combines the best of servo and stepper motor technologies, while delivering unique capabilities and enhancements over both.

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 benefi ts■ 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.

MDrive® Hybrid Product overview

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

negatives• tuning required• higher price point• error driven• higher complexity• servo dither

benefits• peak torque• high speed• torque mode• closed loop

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

HybridMotion Technology™

StepperMotor Technology

ServoMotor Technology

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Presentation

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

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4

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MDrive® Hybrid Product overview

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Product offerMDrive® 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 1.8° 2-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.

CompactnessMotor 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.

SimplicityIntegration 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 integrationMDrive 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.

FlexibilityMDrive Hybrid integrated motion control systems are available with 1.8° 2-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.

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Product groupings MAI17 MA•23 MAM34 MA•34ac

Step • Torque • SpeedMAM23 MAM34 MAM34ac

Holding torque range 90 ... 283 oz-in 381 ... 1061 oz-in 330 ... 750 oz-inCommunication for confi guration RS-422/485 RS-422/485 RS-422/485Clock types Step / Direction, Quadrature, Step Up / Step Down,

Clockwise / CounterclockwiseStep frequency 2 MHz default / 5 MHz maximumConfi guration Via IMS SPI Motor Interface software

Motion ControlMAI17 MAI23 — MAI34ac

Holding torque range 32 ... 75 oz-in 90 ... 283 oz-in 330 ... 750 oz-inCommunication for confi guration and programming RS-422/485 RS-422/485, Ethernet RS-422/485Operating modes Fully programmableConfi guration Via supplied software

CANopenMAI23 CAN

Holding torque range 90 ... 283 oz-inCommunication for confi guration CANopenOperating modes Profi le Position, Profi le Velocity, Homing ModeConfi guration Via supplied software

Presentation MDrive® Hybrid Product overview

MDrive® HybridStep • Torque • Speed

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PresentationThe 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 1.8° 2-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 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 areasThe 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 1.8° 2-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.

Description MDrive® Hybrid Step • Torque • Speed

MDrive®Hybrid Step • Torque • SpeedSizes: 23, 34 & 34ac

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Step • Torque • Speed specifi cationsMDrive 23 MDrive 34 MDrive 34 ac

Input power Voltage VDC 12 to 60 12 to 75 — —VAC — — 120 240

Current maximum (1) 3.5A 4A 95 to 132 VAC @ 50/60 Hz

95 to 264 VAC @ 50/60 Hz

Thermal Operating temp non-condensing

Heat sink – 40° to +85°C – 40° to +75°C – 40° to +75°C

Motor – 40° to +100°C – 40° to +90°C – 40° to +90°CTemp output warning Open-drain type not applicable +5 to +24 VDC, 50 mA current +5 to +24 VDC, 50 mA currentProtection Type not applicable not applicable - Thermal

- Over voltage / currentIsolated input Voltage range +5 to +24 VDC sourcing or sinkingMotion 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 downStep frequency 5 MHz maximum

100 ns minimum pulse widthMicrostep resolution

Number of settings 20Steps per revolution

Binary 200, 400, 800, 1600, 3200, 6400, 12800, 25600, 51200, 36000 (0.01 deg/μstep), 21600 (1 arc minute/μstep), 25400 (0.001 mm/μstep)

Decimal 1000, 2000, 5000, 10000, 20000, 25000, 40000, 50000Encoder Line counts 100, 200, 250, 256, 400, 500, 512, 1000

Communication Type RS-422/485Baud rate 4.8 to 115.2 kbps

Setup parameters (2)

DescriptionOperating 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 settingResolution: 0 – 100%Accuracy, to scale: ± 5%

Speed Control Operates as an independent velocity control device, no external controller requiredHybrid Motion Technology™ (HMT) settings

Setup / confi guration Turn HMT off / on in fi xed or variable mode; set and confi rm encoder line countOperation Set control bounds for motor torque and speed, lead, lag, and make-up of lost stepsHMT status Display status alerts of 8 pre-programmed fi elds, read-onlyCalibration To maintain synchronization, select options for motor’s rotor-to-stator physical position

General settings Analog Enable activeCommunication Set baud rate; enable / disable party mode and features; Check Sum integrity quality assuranceI/O Clock and fi lter settings; Attention Output with 11 pre-programmed fi elds to select amongMotion 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 agsDefaults 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.

Specifi cations

See User Manual for complete details: www.imshome.com/manuals.html

MDrive® Hybrid Step • Torque • Speed

Secondary settings

Primary settings

Operatingmodes

A system confi guration 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.

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Mechanical specifi cations, dimensions in inches (mm)

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.

1.90(48.3)

2.96(75.2)

0.063 ±0.008(1.6 ±0.2)

0.81 ±0.02(20.6 ±0.5)

0.59 ±0.008(15.0 ±0.2)

0.189 ±0.012(4.8 ±0.3)

1.34(34.0)

LMAXLMAX2

P2

P1

Single, Double & TripleLength Motors:0.230 ±0.004

(5.8 ±0.1)Quad Length Motor:

0.2756 ±0.004(7.0 ±0.1)

2.02(51.2)

Ø 1.500 ±0.002(Ø 38.1 ±0.1)

2.22( 56.4)

Ø 0.197 +0.012/-0(Ø 5.0 +0.3/-0)

1.63(41.4)

1.856 ±0.008 ( 47.1 ±0.2)

Single, Double & TripleLength Motors:

Ø 0.2500 +0/-0.0005(Ø 6.350 +0/-0.013)

Quad Length Motor:Ø 0.315 +0/-0.0005(Ø 8.0 +0/-0.013)

P3

P3

Dimensions

P1 connector

12-pin locking wire crimp connector

I/O & PowerP3 connector


Encoder

Ø 0.97(Ø 24.6)

control knob

Lmax2 option

MDrive® 23 Hybrid Step • Torque • Speed

P1

0.36(9.1)

P2

P2 connector

10-pin friction lock wire crimp connector

Communication


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P1: I/O, 12-pin locking wire crimp connectorP2: Communication, 10-pin friction lock wire crimp connectorP3: Power, 2-pin locking wire crimp connectorP4: Encoder, 10-pin locking wire crimp connector


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.

Ø 0.5512 +0/-0.0004(Ø 14.0 +0/-0.010)

4X Ø 0.217 (Ø 5.51)

2.739( 69.57)

3.39( 86.1)

Ø 2.874 ±0.002(Ø 73.0 ±0.05)

P1 / P2 / P3 / P4

0.875(22.24)

LMAX

0.394(10.01) 1.46 ±0.04

(37.1 ±1.0)

0.984 ±0.01(25.0 ±0.25)

0.512 +0/–0.004(13.0 ±0.10)

0.079(2.0)

0.731(18.57)

1.250(31.75)

1.981(50.32)

3.727(94.67)

LMAX2

Ø 1.90(Ø 48.3)

Dimensions

Connectors

control knob

Lmax2 option

P4

P1

P2

P3

Com

mI/O

Pow

er

Enc

oder



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MDrive® 34 ac Hybrid Step • Torque • Speed



2.70(68.4)

Ø 0.22(Ø 5.5)

0.63 +0/-0.017(16.0 +0/-0.432)

0.20 +0/-0.002(5.0 +0/-0.05)

5.76(146.2)

6.47(164.2)

3.46(87.8)

Ø 2.87 ±0.002(Ø 73.0 ±0.05)

0.71(18.0)

3.38( 85.8)

2.74 +0/-0.010( 69.58 +0/-0.25)

P3P1P2

LMAX

Ø 0.55 +0/-0.0005(Ø 14.0 +0/-0.013)

0.08 ±0.004(2.0 ±0.1)0.40

(10.1)

0.87 ±0.010(22 ±0.25)

1.46 ±0.039(37.0 ±1.0)

LMAX2

P3P1

P2

Ø 1.90(Ø 48.3)

Dimensions

Connectors

control knob

Lmax2 option

Ø 0.87(Ø 22.1)

P1: 19-pin M23 (male)industrial connector

P2: 5-pin M12 (female)industrial connector

Ø 0.87(Ø 22.1)

I/O & Encoder Communication Power

Ø 0.53(Ø 13.5)

P3: 3-pin Euro AC (male)industrial connector


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Connectivity

Installation accessoriesDescription Length

feet (m)Part number

QuickStart KitFor 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)

Communication converterElectrically 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-CC402-001

Prototype development cableSpeed 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

10.0 (3.0) PD12-1434-FL3

■ Mates to 10-pin friction lock wire crimp connector for communication

10.0 (3.0) PD10-1434-FL3

■ Mates to 10-pin locking wire crimp connector for encoder

6.0 (1.8) ED-CABLE-JST10

Mating connector kitConnectors 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

— CK-03

■ 10-pin friction lock wire crimp connector for communication

— CK-02

■ 10-pin locking wire crimp connector for encoder

— CK-13

Drive protection moduleLimits 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: www.imshome.com/connect.html

PD12-1434-FL3


USB connector

in-line converter

MDrive® Hybrid 10-pin friction lockmating connector

MD-CC402-001

PD10-1434-FL3

ED-CABLE-JST10

locking mating connector

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feet (m)Part number

QuickStart KitFor 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)


12.0 (3.6) MD-CC402-001

Prototype development cableSpeed test/development with pre-wired mating connector with other cable end open.■ Mates to 12-pin locking wire crimp connector for I/O

10.0 (3.0) PD12-1434-FL3


10.0 (3.0) PD10-1434-FL3

■ Mates to 2-pin locking wire crimp connector for power

10.0 (3.0) PD02-3400-FL3

■ Mates to 10-pin locking wire crimp connector for encoder

6.0 (1.8) ED-CABLE-JST10

Mating connector kitConnectors 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-03


— CK-02

■ 2-pin locking wire crimp connector for power — CK-05

■ 10-pin friction lock wire crimp connector for internal differential optical encoder

— CK-13

Drive protection moduleLimits 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

PD02-3400-FL3


PD12-1434-FL3


USB connector

in-line converter


MD-CC402-001

PD10-1434-FL3

ED-CABLE-JST10


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MDrive® 34 ac Hybrid Step • Torque • Speed


feet (m)Part number

QuickStart KitFor 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)

Communication converterElectrically 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-CC401-001

Prototype development cableSpeed test/development with pre-wired mating connector with other cable end open.■ Mates to 19-pin male M23 industrial connectorwith straight termination for I/O and encoder

13.0 (4.0) MD-CS100-000

■ Mates to 19-pin male M23 industrial connectorwith right angle termination for I/O and encoder

13.0 (4.0) MD-CS101-000

■ Mates to 3-pin male Euro AC industrial connector with straight termination for power

13.0 (4.0) MD-CS200-000

■ Mates to 3-pin male Euro AC industrial connector with right angle termination for power

13.0 (4.0) MD-CS201-000

(1) See page 16.

Connectivity


2.5” / 64.5 mm

3-pin Euro AC (female) industrial mating connector

MD-CS200-000

2.8” / 71.5 mm

19-pin M23 (female) industrial mating connector

MD-CS100-000

MD-CC401-001

USB connector

in-line converter

MDrive® Hybrid 5-pin M12 matingindustrial connector

5-pin M12 (male)

16

Part numbers

Easy MDrive part numbers via an interactive tool at: www.imshome.com/MDrivePlus.html

MDrive® Hybrid Step • Torque • Speed

Step • Torque • SpeedPart numbersExample: K M A M 3 C R L 2 3 A 6 – EAM – N

QuickStart KitK = kit option, or leave blank if not wanted

K M A M 3 C R L 2 3 A 6 – EAM – N

MDrive Hybrid versionMAM = Step•Torque•Speed

K M A M 3 C R L 2 3 A 6 – EAM – N

Type3 = HMT (1)4 = HMT with industrial connectors, IP54-rated (2)

K M A M 3 C R L 2 3 A 6 – EAM – N

P1 connectorC = wire crimp (1)M = M23 industrial connector (2)

C

CommunicationR = RS-422/485

K M A M 3 C R L 2 3 A 6 – EAM – N

P2 connector L = wire crimp (1)Q = industrial connector (2)

K M A M 3 C R L 2 3 A 6 – EAM – N

Motor size23 = NEMA 23 (2.3'' / 57 mm)34 = NEMA 34 (3.4''/ 86 mm)

K M A M 3 C R L 2 3 A 6 – EAM – N

Motor lengthA = single stackB = double stackC = triple stackD = quad stack (3)

K M A M 3 C R L 2 3 A 6 – EAM – N

Drive voltage6 = +12 to +60 VDC (3)7 = +12 to +75 VDC (4)1 = 120 VAC (2)2 = 240 VAC (2)

K M A M 3 C R L 2 3 A 6 – EAM – N

Encoder, differentialinternal 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

K M A M 3 C R L 2 3 A 6 – EAM – N

OptionsLeave blank if not wanted

– N = rear control knob for manual positioning

– 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.

MDrive® 34 Hybrid

MDrive® 23 Hybrid

P2: Communication10-pin friction lock wire crimp connector

P3: Encoder10-pin locking wire crimp connector (not visible)

P1: I/O and Power12-pin locking wire crimp connector

P1: I/O12-pin locking wire crimp connector

P2: Communication10-pin friction lock wire crimp connector

P3: Power2-pin locking wire crimp connector

P4: Encoder10-pin locking wire crimp connector

MDrive® 34ac Hybrid

P2: Communication5-pin Euro AC connector

P3: Power3-pin industrial connector

P1: I/O and Encoder19-pin M23 industrial connector

MDrive® HybridMotion Control

20

Description

MDrive®Hybrid Motion Control, fully programmableSizes: 17, 23 & 34ac

MDrive® Hybrid Motion Controlfully programmable

PresentationThe MDrive® Hybrid Motion Control is a very compact motion system that solves many servo applications with a low cost solution. The system includes a 1.8° 2-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-to-use terminal emulator program that is provided. Communication is via RS-422/485 or Ethernet. (1)

MDrive Hybrid systems with Ethernet are programmed with the same MCode instruc-tion 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.



Features

■ Highly integrated microstepping drive and high torque 1.8° 2-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.

21

Specifi cations MDrive® Hybrid Motion Controlfully programmable

Motion Control specifi cationsMDrive 17 MDrive 23 MDrive 34ac

Input power Voltage VDC 12 to 48 12 to 60 — —VAC — — 120 240

Current maximum (1) 2.0A 3.5A 95 to 132 VAC @ 50/60 Hz

95 to 264 VAC @ 50/60 Hz


Heat sink – 40° to + 85°C – 40° to +85°C – 40° to +75°CMotor – 40° to +100°C – 40° to + 100°C – 40° to + 90°C

Open-drain type not applicable not applicable +5 to +24 VDC, 50 mA currentProtection Type over temperature, short circuit, transient over voltage, over voltage, inductive clampAuxiliary logic input Voltage range (2) +12 to +24 VDCAnalog input Resolution 10 bit

Voltage range 0 to +5 VDC, 0 to +10 VDC, 0-20 mA, 4-20 mAGeneral purpose I/O Number 4 8

Type sourcing or sinking outputs / inputsLogic range Sourcing outputs +12 to +24 VDC

Inputs and sinking outputs tolerant to +24 VDC, inputs TTL level compatibleOutput sink / source current Up to 600 mA per channelProtection Over temp, short circuit, transient, over voltage, inductive clamp

Communication Type RS-422/485 or Ethernet (3)Baud rate 4.8 to 115.2 kbps (4)

Motion Closed loop confi guration with encoder

Encoder type Internal, magneticSteps per revolution 51200Encoder resolution 1000 lines / 4000 edges per rev

Counters Type position, en cod er / 32 bitEdge rate maximum 5 MHz

Velocity Range +/– 5,000,000 steps per secondResolution 0.5961 steps per second

Accel / Decel Range 1.5 x 109 steps per second2

Resolution 90.9 steps per second2

High speed I/OPosition capture

Input fi lter range 50 nS to 12.9 μS (10 MHz to 38.8 kHz)Resolution 32 bit

Trip Output Speed / resolution / threshold 150 nS / 32 bit / TTLSoftware Program storage Type / size fl ash / 6384 bytes

User registers Four 32 bitUser program labels & variables 192Math functions +, –, ×, ÷, >, <, =, <=, >=, AND, OR, XOR, NOTBranch functions Branch and CallGeneral 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 purposeTrip functions Trip on input, trip on position, trip on time, trip capture, trip on relative positionParty 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.

ProgrammingRS-422/485 MDrive Hybrid systemsFully 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 www.imshome.com.

Ethernet MDrive Hybrid systemsThese 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.


22

P2


Motor stack length Lmax Single 3.01 (76.45) Double 3.25 (82.55) Triple 3.65 (92.71)

2.30(58.3)

2.05(52.1)

LMAX

0.177 ±0.002(4.49 ±0.05)

0.08(2.0)

0.94 ±0.02(23.9 ±0.5)

0.59 ±0.02(15.0 ±0.5)

P2

P1/P3

Dimensions MDrive® 17 Hybrid Motion Controlfully programmable

P1 / P3 connectors

14- & 2-pin locking wire crimp connectors

I/O & Power

P1/P3

0.19(4.82)

P2 connector


Communication

Ø 0.866 +0/-0.002(Ø 21.996 +0/-0.051)

Ø 0.1968 +0/-0.0005(Ø 4.999 +0/-0.013)

1.68( 42.7)

0.29(7.4)

1.220 ±0.004( 31.0 ±0.1)

4X M3x0.5 THREADx0.15 MIN DEEP


23




P2

P1/P30.38(9.7)

0.50(12.7)

0.13(3.3)

Dimensions

P2 connectors

10-pin friction lock wire crimp connector

RS-422/485 Communication Ethernet Communication

P2

RJ45 connector forEthernet only

MDrive® 23 Hybrid Motion Controlfully programmable

P1 / P3 connectorsI/O & Power

Ø 0.97(Ø 24.6)

control knob

Lmax2 option

1.90(48.3)

2.96(75.2)

0.063 ±0.008(1.6 ±0.2)

0.81 ±0.02(20.6 ±0.5)

0.59 ±0.008(15.0 ±0.2)

0.189 ±0.012(4.8 ±0.3)

1.34(34.0)

LMAXLMAX2

P2Single, Double & Triple

Length Motors:0.230 ±0.004


0.2756 ±0.004(7.0 ±0.1)

P1/P3

2.02(51.2)

Ø 1.500 ±0.002(Ø 38.1 ±0.1)

2.22( 56.4)

Ø 0.197 +0.012/-0(Ø 5.0 +0.3/-0)

1.63(41.4)

1.856 ±0.008 ( 47.1 ±0.2)

0.93( 23.6)

0.86(21.8)

P2: RJ45


Ø 0.2500 +0/-0.0005(Ø 6.350 +0/-0.013)



24



2.70(68.4)

Ø 0.22(Ø 5.5)

0.63 +0/-0.017(16.0 +0/-0.432)

0.20 +0/-0.002(5.0 +0/-0.05)

5.76(146.2)

6.47(164.2)

3.46(87.8)

Ø 2.87 ±0.002(Ø 73.0 ±0.05)

0.71(18.0)

3.38( 85.8)

2.74 +0/-0.010( 69.58 +0/-0.25)

P3P1P2

LMAX

Ø 0.55 +0/-0.0005(Ø 14.0 +0/-0.013)

0.08 ±0.004(2.0 ±0.1)0.40

(10.1)

0.87 ±0.010(22 ±0.25)

1.46 ±0.039(37.0 ±1.0)

LMAX2

P3P1

P2

Dimensions

Connectors

MDrive® 34 ac Hybrid Motion Controlfully programmable

Ø 1.90(Ø 48.3)

control knob

Lmax2 option

Ø 0.87(Ø 22.1)

P1: 19-pin M23 (male)industrial connector

P2: 5-pin M12 (female)industrial connector

Ø 0.87(Ø 22.1)

I/O & Encoder Communication Power

Ø 0.53(Ø 13.5)

P3: 3-pin Euro AC (male)industrial connector


25

Connectivity



PD14-2334-FL3


PD02-2300-FL3



feet (m)Part number

QuickStart KitFor 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)

Communication converterElectrically 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-CC402-001


10.0 (3.0) PD14-2334-FL3

■ Mates to 10-pin locking wire crimp connector for communication

10.0 (3.0) PD10-1434-FL3


10.0 (3.0) PD02-2300-FL3


■ 10-pin locking wire crimp connector for communication

— CK-02


Drive protection moduleLimits 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.

PD10-1434-FL3


USB connector

in-line converter

MDrive® Hybrid 10-pin lockingmating connector

MD-CC402-001

26

PD14-2334-FL3


PD02-2300-FL3

Connectivity





feet (m)Part number

QuickStart KitFor 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)


12.0 (3.6) MD-CC402-001


10.0 (3.0) PD14-2334-FL3


10.0 (3.0) PD10-1434-FL3


10.0 (3.0) PD02-2300-FL3



— CK-02


Drive protection moduleLimits 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.

PD10-1434-FL3

friction lock mating connector

USB connector

in-line converter


MD-CC402-001

27

Connectivity


MDrive® 34 ac Hybrid Motion Controlfully programmable


feet (m)Part number

QuickStart KitFor 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)

Communication converterElectrically 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-CC401-001

Prototype development cableSpeed test/development with pre-wired mating connector with other cable end open.■ Mates to 19-pin male M23 industrial connectorwith straight termination for I/O

13.0 (4.0) MD-CS100-000

■ Mates to 19-pin male M23 industrial connectorwith right angle termination for I/O

13.0 (4.0) MD-CS101-000

■ Mates to 3-pin male Euro AC industrial connector with straight termination for power

13.0 (4.0) MD-CS200-000

■ Mates to 3-pin male Euro AC industrial connector with right angle termination for power

13.0 (4.0) MD-CS201-000

(1) See page 28.

2.5” / 64.5 mm

3-pin Euro AC (female) industrial mating connector

MD-CS200-000

2.8” / 71.5 mm

19-pin M23 (female) industrial mating connector

MD-CS100-000

MD-CC401-001

USB connector

in-line converter

MDrive® Hybrid 5-pin M12 matingindustrial connector

5-pin M12 (male)

28

Motion ControlPart numbersExample: K M A I 3 C R L 1 7 A 4 – EJM – N

QuickStart KitK = kit option, or leave blank if not wanted

K M A I 3 C R L 1 7 A 4 – EJM – N

MDrive Hybrid versionMAI = Motion Control

K M A I 3 C R L 1 7 A 4 – EJM – N

Type3 = HMT (1)4 = HMT with industrial connectors, IP54-rated (2)

K M A I 3 C R L 1 7 A 4 – EJM – N

P1 connectorC = wire crimp (1)M = M23 industrial connector (2)

K M A I 3 C R L 1 7 A 4 – EJM – N

CommunicationR = RS-422/485E = Ethernet (3)

K M A I 3 C R L 1 7 A 4 – EJM – N

P2 connector L = wire crimp (1)R = RJ45 (4)Q = industrial, IP54-rated (2)

K M A I 3 C R L 1 7 A 4 – EJM – N

Motor size17 = NEMA 17 (1.7" / 42 mm)23 = NEMA 23 (2.3'' / 57 mm)34 = NEMA 34 (3.4''/ 86 mm)

K M A I 3 C R L 1 7 A 4 – EJM – N

Motor lengthA = single stackB = double stackC = triple stackD = quad stack (3)

K M A I 3 C R L 1 7 A 4 – EJM – N

Drive voltage4 = +12 to +48 VDC (5)6 = +12 to +60 VDC (3)1 = 120 VAC (2)2 = 240 VAC (2)

K M A I 3 C R L 1 7 A 4 – EJM – N

Encoder, differential– EJM = 1000-line internal encoder

K M A I 3 C R L 1 7 A 4 – EJM – N

OptionLeave blank if not wanted

– N = rear control knob for manual positioning (6)

– 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.

MDrive® 17 Hybrid

P2: CommunicationL = RS-422/485 with 10-pin locking wire crimp connector


P1: I/OC = 14-pin locking wire crimp connector

MDrive® 23 Hybrid

P2: CommunicationL = RS-422/485 with 10-pin friction lock wire crimp connectorR = Ethernet with RJ45 locking connector



MDrive® 34ac Hybrid

P2: CommunicationQ = RS-422/485 with 5-pin M12 female industrial connector

P3: Power3-pin industrial connector

P1: I/OM = 19-pin M23 male industrial connector

MDrive® Hybrid Motion Controlfully programmable

Part numbers


MDrive® HybridCANopen

32

PresentationThe 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 1.8° 2-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.

IMS CANopen firmware is provided for MDrive Hybrid CANopen systems, in addition to CANopen Tester GUI software for interface with the MD-CC500-000 CANopen dongle.

MDrive Hybrid CANopen systems support CiA DS301 and DSP402 Device Profile for Drives and Motion Control.



Features

■ Highly integrated microstepping drive and high torque 1.8° 2-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.


Description

MDrive®Hybrid CANopenSize: 23

®

33

CANopen specifi cationsMDrive 23

Input power Voltage VDC 12 to 60Current maximum (1) 3.5A


Heat sink – 40° to + 85°CMotor – 40° to +100°C

Auxiliary logic input Voltage range (2) +12 to +24 VDCAnalog input Resolution 10 bit

Voltage range 0 to +5 VDC, 0 to +10 VDC, 0-20 mA, 4-20 mAGeneral purpose I/O Number 8

Type Sourcing or sinking outputs / inputsLogic range Sourcing outputs +12 to +24 VDC, inputs and sinking outputs tolerant to +24 VDC, inputs TTL level compatibleOutput sink current Up to 600 mAProtection Over temp, short circuit, transient, over voltage, inductive clamp

Communication Type CANopen CiA DS301 (V3.0), DSP402 (V2.0), 2.0B activeBaud rate Confi gurable 5 KB to 1 MbID 11 and / or 29 bitIsolation GalvanicFeatures Node guarding, heartbeat, SDOs, PDOs (variable mapping)

Motion Open loop confi guration Number of settings 20

Steps per revolution200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/μstep), 21600 (1 arc minute/μstep), 25400 (0.001mm/μstep)

Counters Type position, en cod er / 32 bitEdge rate maximum 5 MHz

Velocity Range +/- 5,000,000 steps per secondResolution 0.5961 steps per second

Accel / Decel Range 1.5 x 109 steps per second2

Resolution 90.9 steps per second2

Software Setup parameters Storable to nonvolatile memoryTransmit PDOs 3 dynamically mappableReceive PDOs 3 dynamically mappableManufacturer specifi c objects I/O confi guration, run / hold currentModes of operation Profi le position, homing mode, profi le velocityInput functions General purpose, homing mode profi lesOutput 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.


Specifi cations


34

P1/P30.38(9.7)

0.50(12.7)

0.13(3.3)

P2

DB9 (male)



1.90(48.3)

2.96(75.2)

0.063 ±0.008(1.6 ±0.2)

0.81 ±0.02(20.6 ±0.5)

0.59 ±0.008(15.0 ±0.2)

0.189 ±0.012(4.8 ±0.3)

1.34(34.0)

LMAXLMAX2

P2Single, Double & Triple

Length Motors:0.230 ±0.004


0.2756 ±0.004(7.0 ±0.1)

P1/P3

2.02(51.2)

Ø 1.500 ±0.002(Ø 38.1 ±0.1)

2.22( 56.4)

Ø 0.197 +0.012/-0(Ø 5.0 +0.3/-0)

1.63(41.4)

1.856 ±0.008 ( 47.1 ±0.2)

0.425(10.8)


Ø 0.2500 +0/-0.0005(Ø 6.350 +0/-0.013)


Dimensions

P1 / P3 connectors


I/O & Power

Ø 0.97(Ø 24.6)

control knob

Lmax2 optionP2 connectorCommunication

MDrive® 23 Hybrid CANopen


35

PD02-2300-FL3

PD14-2334-FL3


DB9M connector

USB connector

12 termination resistor is required between CAN-H and CAN-L at MDrive® end of cable

DB9F

DB9F

Interface cable (not supplied)

CAN-HCAN-L

12


Connectivity


feet (m)Part number

Communication converterElectrically 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-CC500-000


10.0 (3.0) PD14-2334-FL3


10.0 (3.0) PD02-2300-FL3



Drive protection moduleLimits 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.

MD-CC500-000


36

Part numbers

Part numbersExample: M A I 3 C C B 2 3 A 6 – EJM – N

MDrive Hybrid versionMAI = CANopen

M A I 3 C C B 2 3 A 6 – EJM – N

Type3 = HMT

M A I 3 C C B 2 3 A 6 – EJM – N

P1 connectorC = wire crimp

M A I 3 C C B 2 3 A 6 – EJM – N

CommunicationC = CANopen

M A I 3 C C B 2 3 A 6 – EJM – N

P2 connector B = DB9

M A I 3 C C B 2 3 A 6 – EJM – N

Motor size23 = NEMA 23 (2.3" / 57 mm)

M A I 3 C C B 2 3 A 6 – EJM – N

Motor lengthA = single stackB = double stackC = triple stackD = quad stack

M A I 3 C C B 2 3 A 6 – EJM – N

Drive voltage6 = +12 to +60 VDC

M A I 3 C C B 2 3 A 6 – EJM – N

Encoder, differential– EJM = 1000-line internal encoder

M A I 3 C C B 2 3 A 6 – EJM – N

OptionLeave blank if not wanted

– N = rear control knob for manual positioning

– N

MDrive® 23 Hybrid

P2: CommunicationB = CANopen with DB9 male connector





MDrive® HybridSystem performance

41

MDrive® Hybrid Motor specifi cations

Motor specifi cations MDrive 17 Hybrid

Holding torque Detent torque Rotor inertia Weight (motor + driver)

Motor stack length Single 32.2 oz-in / 22.7 N-cm

1.7 oz-in / 1.2 N-cm

0.00053 oz-in-sec2 / 0.038 kg-cm2 12.2 oz / 344.8 g

Double 52.6 oz-in / 37.1 N-cm

2.1 oz-in / 1.5 N-cm

0.00080 oz-in-sec2 / 0.057 kg-cm2 13.8 oz / 390.2 g

Triple 66.3 oz-in / 46.8 N-cm

3.5 oz-in / 2.5 N-cm

0.00116 oz-in-sec2 / 0.082 kg-cm2 17.0 oz / 480.9 g




3.9 oz-in / 2.7 N-cm

0.0025 oz-in-sec2 / 0.18 kg-cm2 21.6 oz / 612.3 g


5.6 oz-in / 3.92 N-cm

0.0037 oz-in-sec2 / 0.26 kg-cm2 26.4 oz / 748.4 g


9.7 oz-in / 6.86 N-cm

0.0065 oz-in-sec2 / 0.46 kg-cm2 39.2 oz / 1111.3 g

Quad 283.0 oz-in / 200.0 N-cm

14.2 oz-in / 10.0 N-cm

0.0108 oz-in-sec2 / 0.76 kg-cm2 61.6 oz / 1746.3 g




10.9 oz-in / 7.7 N-cm

0.01416 oz-in-sec2 / 1.0 kg-cm2 4.1 lb / 1.9 kg


14.16 oz-in / 10.0 N-cm



19.83 oz-in / 14.0 N-cm


Motor specifi cations MDrive 34ac Hybrid



10.9 oz-in / 7.7 N-cm



14.16 oz-in / 10.0 N-cm



19.83 oz-in / 14.0 N-cm


System performance

42

Stepper motor maximumtorque rating

Green area represents motor torque performance range gain with HMT’s Variable Current Control

Standard stepper motorperformance range(design margin = 50% maximum torque as buffer against stalling)

Motor Speed

Tor

que

Speed torque characteristics MDrive 23 HybridSingle stack length Double stack length

Torque in Oz-In / N-cm

Speed of rotation in full steps per second (rpm)



Triple stack length Quad stack length





Speed torque characteristics MDrive 17 HybridSingle stack length Double stack length Triple stack length







0

37/26

53/39

18/13

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

0

150/106

225/159

75/53

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

60 VDC

0

150/106

225/159

75/53

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

60 VDC

0

150/106

225/159

75/53

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

60 VDC

0

150/106

225/159

75/53

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

60 VDC

0

37/26

53/39

18/13

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

0

37/26

53/39

18/13

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

System performance

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.

MDrive® Hybrid Speed torque characteristics

43

Speed torque characteristics MDrive 34 HybridSingle stack length Double stack length Triple stack length







0

300/212

500/354

100/71

0 2000(600)

4000(1200)

6000(1800)

8000(2400)

700/495

240 VAC120 VAC

0

600/423

900/635

300/211

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

75 VDC

0

600/423

900/635

300/211

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

75 VDC

0

600/423

900/635

300/211

48 VDC24 VDC

0 2000(600)

4000(1200)

6000(1800)

75 VDC

0

300/212

500/354

100/71

0 2000(600)

4000(1200)

6000(1800)

8000(2400)

700/495

240 VAC120 VAC

0

300/212

500/354

100/71

0 2000(600)

4000(1200)

6000(1800)

8000(2400)

700/495

240 VAC120 VAC

System performance MDrive® Hybrid Speed torque characteristics

Speed torque characteristics MDrive 34ac HybridSingle stack length Double stack length Triple stack length







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 fi eld. 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 aris-ing 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 Ma-terial Authorization (RMA). If the Product was purchased directly from IMS Schneider Electric Motion USA, please contact Customer Service at [email protected] or 860-295-6102 (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.

Warranty

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.

© Schneider Electric Motion USA All Rights Reserved. REV100311Product Disclaimer and most recent product information online.

Schneider Electric Motion USA370 North Main Street, P.O. Box 457Marlborough, CT 06447 - U.S.A.Tel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107e-mail: [email protected]

USA SALES OFFICESEastern RegionTel. 862 208-9742 - Fax 973 661-1275e-mail: [email protected] RegionTel. 860 368-9703e-mail: [email protected] RegionTel. 860 295-6102e-mail: [email protected] RegionTel. 602 578-7201e-mail: [email protected]

IMS EUROPEAN SALES MANAGEMENT4 Quai Des Etroits69005 Lyon, FranceTel. +33/4 7256 5113 - Fax +33/4 7838 1537e-mail: [email protected]

TECHNICAL SUPPORTTel. +00 (1) 860 295-6102 - Fax +00 (1) 860 295-6107e-mail: [email protected]

Up to 2 standard MDrive productsship within 5 working days.

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