Intelligent Motion Systems MDI42 AC - Manual (Page 2)

2 MDrive42AC Plus2 Motion Control REV060208
MDrive42
AC Plus 2 MOTION CONTROL
Holding Torque Detent Torque Rotor Inertia Weight (Motor+Driver)
SINGLE LENGTH 1147 oz-in / 810 N-cm 35 oz-in / 25 N-cm 0.0917 oz-in-sec 2 / 6.5 kg-cm 2 14.07 lb / 6.38 kg
DOUBLE LENGTH 2294 oz-in / 1620 N-cm 84 oz-in / 59 N-cm 0.1833 oz-in-sec 2 / 13.0 kg-cm 2 21.25 lb / 9.64 kg
MOTOR SPECIFICATIONS
INPUT VOLTAGE Range
120 V MDrive – 95 to 132 VAC @ 50/60 Hz
240 V MDrive – 95 to 264 VAC @ 50/60 Hz
AUX. LOGIC INPUT VOLTAGE Range
+12 to +24 VDC
Maintains power to control and feedback circuits (only) when input voltage is removed.
ANALOG INPUT
Resolution 10 Bit
Voltage Range 0 to +5 VDC, 0 to +10 VDC, 0-20 mA or 4–20 mA
GENERAL PURPOSE I/O
Number/Type 8 Sourcing or Sinking (or 4 when Remote Encoder Option is Selected)
Logic Range
+5 to +24 VDC – Inputs and Sinking Outputs; Inputs TTL Level Compatible
+12 to +24 VDC – Sourcing Outputs
Output Sink/Source Current Up to 600 mA per Channel
Protection
Over Temp, Short Circuit, Transient Over Voltage, Over Voltage, Inductive Clamp
COMMUNICATION
Type (Standard) RS-422/485
Baud Rate 4800 to 115.2kbps
Type (Optional) CANopen DSP-402 (V2.0), DS-301 (V3.0), 2.0B Active
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, 36000 (0.01 deg/µstep),
21600 (1 arc minute/µstep), 25400 (0.001mm/µstep)
Closed Loop
Confi guration
(Optional)
Internal
Encoder
Type Internal, Optical
Steps Per Revolution 51200
Resolution 512 Lines/2048 Edges Per Rev
Remote
Encoder
Type User-Supplied Differential Encoder
Steps Per Revolution
200, 400, 800, 1000, 1600, 2000, 3200, 5000,
6400, 10000, 12800, 20000, 25000, 25600,
40000, 50000, 51200, 36000 (0.01 deg/µstep),
21600 (1 arc minute/µstep), 25400 (0.001mm/µstep)
Resolution
User-Defi ned
Note: µstep/rev 2X the encoder count/rev minimum
Counters
Type Position, En cod er/32 Bit
Edge Rate (Max) 5 MHz
Velocity
Range +/- 5,000,000 Steps Per Second
Resolution 0.5961 Steps Per Second
Accel/Decel
Range 1.5 x 10 9 Steps Per Second 2
Resolution 90.9 Steps Per Second 2
Electronic Gearing
Range‡/Resolution/Threshold
(External Clock In)
0.001 to 2.000/32 Bit/TTL
Input Filter Range 50 nS to 12.9 µS (10 MHz to 38.8 kHz)
Range‡ (Secondary Clock Out) 1 to 1
High Speed I/O
Position Capture
Input Filter 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/TTL
SOFTWARE
Program Storage Type/Size Flash/6384 Bytes
User Registers (4) 32 Bit
User Program Labels and
Variables
192
Math Functions +, –, Ч, ч, >, <, =, <=, >=, AND, OR, XOR, NOT
Branch Functions Branch & Call
General Purpose I/O
Functions Inputs
Home, Limit Plus, Limit Minus, Go, Stop, Pause, Jog
Plus, Jog Minus, Analog In, General Purpose
Outputs Moving, Fault, Stall, Velocity Change, General Purpose
Trip Functions Trip on Input, Trip on Position, Trip on Time, Trip Capture
Party Mode Addresses 62
Encoder Functions Stall Detection, Position Maintenance, Find Index
THERMAL Operating Temperature
Heat Sink –40° to +75°C (non-condensing)
Motor –40° to +90°C (non-condensing)
PROTECTION Type Thermal, Internal Fuse†
GENERAL SPEC I FI CA TIONS
† Designed for line-neutral systems.
‡ Adjusting the microstep resolution can increase the range.