MDrive17Plus Integrated Motion Controller, Brushless Stepper Motor and Driver

MDrive 17 Linear Actuator

CANopen

The MDrive 17 Linear Actuator CANopen is a NEMA size 17 high torque 1.8° stepper motor integrated with a microstepping driver and a full featured programmable motion controller.

Controller features include:

CiA DS301 and DSP402 Device Profile for Drives and Motion Control
+12 to +48 VDC input voltage
Up to 50 lbs 22 kg) thrust
Two available shaft styles: External and Non-captive shaft
Long-life precision rolled lead screws
Node ID and BAUD rate set by Layer Setting Services (LSS)
Capable of Standard Frequencies (10 kHz to 1 MHz)
Supports node monitoring via Node Guarding or Heartbeat Messages
Three PDO (Process Data Objects

Specifications
Options / Accessories
Connector options by P/N
Downloads/Support

General
I/O
Comm
Motion
Software
Motor
Mechanical
Leadscrews

Input Voltage	Range (includes back-EMF)	+12 to +48 VDC
Power Supply Current Requirement	Max per MDrivePlus (depends on voltage and load)	2.0 A
Aux-Logic Supply Voltage	Maintains power to logic circuitry in the absence of motor power	+12 to +24 VDC
Operating Temperature	Measured at heat sink (non-condensing humidity)	85°C
Operating Temperature	Measured at motor (non-condensing humidity)	100°C

Standard I/O (Plus)

General Purpose I/O	Number/Type	4 I/O points, programmable as sinking outputs or sinking and sourcing inputs
	Logic Range	Inputs and outputs tolerant to +24 VDC, inputs TTL compatible
	Output Sink Current	Up to 600 mA per channel
	Protection	Over Temp, Short Circuit, Transient Over Voltage, Over Voltage, Inductive Clamp
Dedicated I/O	Type	Step/Clock, Direction/Clock, Capture/Trip
Dedicated I/O	Logic Range	0 to +5 VDC, TTL compatible
Analog Input	Resolution	10 bit
Analog Input	Range (selectable)	0 to +5 VDC, 0 to 10 VDC, 0 to 20 mA, 4 to 20 mA

Expanded I/O (Plus2)

General Purpose I/O	Number/Type	8 I/O points, programmable as sinking or sourcing outputs or sinking and sourcing inputs (4 when remote encoder option is selected)
	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 per channel
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	Capture Filter Range	50 nS to 12.9 μS (10 MHz to 38.8 kHz)
	Capture Resolution	32 bit
	Trip Output Speed/Resolution/Threshold	150 ns/32 bit/TTL
Closed Loop Configuration (requires 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)
	Encoder resolution	User-Defined Note: μstep/rev 2X the encoder count/rev minimum

CANopen	BAUD Rate	5 kbps to 1 Mbps
	Application Layer	DS301 V3.0
	Bus	2.0B Active
	Device Profile	DSP-402
	Isolation	Galvanic
	Features	Node Guarding, Heartbeat Producer, SDO, PDO (Variable mapping)

Open Loop Configuration	Number of Microstep Resolutions	20
Open Loop Configuration	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 Configuration (requires encoder option)	Type	Differential, Magnetic
	Steps per Revolution	51200
	Encoder Resolution	512 lines (2048 edges)
Counters	Type	32 bit Position and Encoder
Counters	Edge Rate (Max)	5 MHz
Velocity	Range	+/- 5,000,000 Steps per Second
Velocity	Resolution	0.5961 Steps per Second
Acceleration/Deceleration	Range	1.5 X 10⁹ Steps per Second²
Acceleration/Deceleration	Resolution	90.9 Steps per Second²

Setup Parameters	Storable to NVM
Transmit PDOs	3 Dynamically Mappable
Receive PDOs	3 Dynamically Mappable
Manufacturer Specific Objects	I/O Configuration, Run/Hold Current
Modes of Operation	Profile Position, Homing Mode, Profile Velocity
Input functions	General purpose, homing mode profiles
Output funtions	General purpose

			Single Length
Holding Torque oz-in (N-cm)			29 (20)
Rotor Inertia oz-in-sec² (kg-cm²)			0.0005 (0.035)
Maximum screw misalignment			± 1°
Weight (Motor+Driver) oz (g)			9.6 (272.2)
Total Indicated Runout			0.005 in per rev (0.0127 cm per rev)
Non-captive shaft	Maximum thrust	General purpose nut	50 lbs (22 kg)
	Maximum repeatability	General purpose nut	0.005" (0.127mm)
External shaft	Maximum thrust	General purpose nut	25 lbs (11 kg)
		Anti-backlash nut	5 lbs (2 kg)
	Maximum repeatability	General purpose nut	0.005" (0.127mm)
		Anti-backlash nut	0.0005" (0.0127 mm)

Force - Speed Curves

Dimensions in inches (mm) mdi17

Screw specifications

Material

MDrive Linear Actuator precision rolled lead screws are designed specifically for motion control applications to deliver maximum life and quiet operation. Corrosion resistant and non-magnetic, screws are manufactured from premium grade stainless steel.

Mechanical

Screw lengths
specification	units	minimum	maximum
Length (1)	inches	3.0	24.0
Length (1)	mm	77.5	610.0
(1) Screw lengths are available in 0.1" (2.5mm) increments.

Screw lead/pitch options
thread	travel	per revolution	per full step
Screw A	inches	0.250	0.00125
Screw A	mm	6.350	0.0317
Screw B	inches	0.125	0.00063
Screw B	mm	3.175	0.0158
Screw C	inches	0.063	0.00031
Screw C	mm	1.588	0.0079
Screw D	inches	0.031	0.00016
Screw D	mm	0.794	0.0040

Screw ends

end type	units	specification
Threaded	metric end	M6 x 1.0 mm thread to within 0.03" / 0.76 mm of shoulder
Threaded	UNC end	#8-32 UNC-2A thread to within 0.03" / 0.76 mm of shoulder
Smooth	inches	Ø 0.1967 ±0.001
Smooth	mm	Ø 5 ±0.003
None	—	—

QuickStart Kit
Encoders
Connectivity
Protection

Above photo represents a QuickStart Kit.
Kit cabling varies with MDrivePlus ordered.

All-inclusive QuickStart Kits facilitate rapid design verification by bundling MDrive products with everything needed to connect quickly and conveniently, enabling engineers to confirm with confidence that their application’s design goals are met.

QuickStart Kits include: a single sheet instruction guide, software/manuals CD, and connection cabling including Communication Converter and Prototype Development Cable(s).

Order QuickStart Kits simply by placing a “K” at the beginning of an MDrive part number.

Connecting an MDrive has never been easier with readily available Communications Converters and Prototype Development Cables, in addition to Mating Connector Kits for use in building your own cables. Select the “Connectivity solutions” tab above for details on these connectivity options.

Internal encoder
The internal encoder option is a 512-line (2048 count) differential magnetic encoder. The internal magnetic encoder offers two key advantages:

Reduced connections externally, thus reduced system cabling, as encoder feedback is all internal to the MDrivePlus.
Smaller footprint to the MDrivePlus than an externally mounted encoder.

Remote encoder interface
The remote encoder option, while adding additional wiring to the MDrivePlus, offers two key advantages:

The user can choose the type of encoder and line count.
The encoder may be placed directly on the load rather than at the encoder shaft.

Note: The remote encoder interface reduces the number of available I/O points from 8 to 4. General purpose I/O 9-12 and Step and Direction I/O are replaced by differential encoder inputs.

NOTE: To view specific connectivity options for a particular MDrive model, see Connector options by P/N tab above.

Communication Converters

Electrically Isolated, in-line converters pre-wired with mating connectors to conveniently set parameters and program a single MDrivePlus via a PC USB port.

Converter Part Number	Mating Connector Type
MD-CC400-001 (USB to RS-422/485)	10-Pin IDC
MD-CC402-001 (USB to RS-422/485)	10-Pin Friction Lock Wire Crimp

If building your own cabling, you will need:

RS-422/485 inline converter or PC card
Cabling with appropriate mating connectors for the MDrive model selected
For information on Party Mode (Multidrop) communications view the product manual

Prototype Development Cables

Prototype development cables are designed to speed test/development with pre-wired mating connectors that have flying leads other end. No prototype development cables are available for the MDrivePlus using the 12' Flying Leads or Pluggable Clamp Terminal Strip.

Prototype Development Cable P/N	Mating Connector Type	Signal Type
PD16-1417-FL3	16-Pin Locking Wire Crimp	I/O and Power

If building your own cabling, you will need:

Appropriate mating connector and crimp pins if required (Mating connector kits are available for Locking Wire Crimp style connectors)
Crimp tooling
Shielded twisted pair cabling

Mating Connector Kits

Mating Connector Kits are used to build your own cables. Kits contain 5 mating connector shells with pins. Cable not supplied. Manufacturer crimp tooling recommended.

Mating Connector Kit P/N	Mating Connector Type	Shell Mfg. P/N	Crimp Pins Mfg. P/N
CK-10	16-Pin Locking Wire Crimp	JST: PADP-16V-1S	JST: SPH-001T-PO.5L
CK-02	10-Pin Friction Lock Wire Crimp	Hirose: DF-11-10DS-2C	Hirose: DF11-2428SC
CK-01	10-Pin IDC	Samtec: TCSD-0501-N	--

Drive Protection Module

The function of the DPM75 Drive Protection Module is to limit the surge current and voltage to a safe level when DC input power is switched on and off to a motor drive. This provides the added protection necessary for reliable motor drive operation when switching the DC power, instead of the recommended AC power to the DC power supply. The device is designed to protect the motor drive when operating under all load conditions. This device does not protect the motor drive from wiring the power incorrectly.

The unit is capable of being used with 48, 60, and 75 volt rated motor drives. An external jumper selection is available so the user can match the circuit to their particular application. The DPM75 is capable of a steady state operating current of 4 amps.

The DPM75 can be used for any frame size motor drive, when properly configured. It can also be used for more than one unit provided the current and voltage do not exceed the DPM75's ratings. The maximum DPM75 ratings are 75 volts and 4 amps.

> DPM75 datasheet/quick reference