Download Quick Reference - Schneider Electric Motion USA

Quick Reference
MForce PowerDrive
Motion Control
General Specifications
Electrical Specifications
Input Voltage (+V) Range*
Max Power Supply Current (Per MForce PowerDrive)*
Output Current (RMS)
Output Current (Peak)
Aux-Logic Input Voltage**
Aux-Logic Input Current**
*Actual Power Supply Current will depend on voltage and load.
**Used to power logic circuitry in the absence of +V.
+12 to +75 VDC
4A
5.0 Amps
7.0 Amps
+12 to +24 VDC
230 mA Max
Environmental Specifications
Operating Temperature — measured at the heat sink
(non-condensing)
-40°C to +85°C
I/O Specifications
General Purpose I/O - Number and Type
8 I/O programmable as inputs or
outputs (sinking or sourcing)
I/O Points 1-4, 9-12
General Purpose I/O - Electrical
Inputs
Sinking Outputs
Sourcing Outputs
TTL up to +24 VDC
Up to +24 VDC
+12 to +24 VDC
up to 600 mA
(One Channel in each I/O Bank)
< 0.8 VDC
> 2.2 VDC
Over Temp, Short Circuit
Transient Over Voltage,
Inductive Clamp
Output Sink Current
Logic Threshold (Logic 0)
Logic Threshold (Logic 1)
Protection (Sinking)
Protection (Sourcing)
Analog Input
Resolution
Range (Voltage Mode)
Range (Current Mode)
Clock I/O
Types
Notes and Warnings
Installation, configuration and maintenance must be carried out by qualified
technicians only. You must have detailed information to be able to carry out this
work. This information can be found in the user manuals.
• Unexpected dangers may be encountered when working with this product!
• Incorrect use may destroy this product and connected components!
The user manuals are not included, but may be obtained from the Internet at:
http://www.imshome.com/downloads/manuals.html.
Required for Setup*
•
PC running Microsoft® Windows XP Service Pack 2 or greater.
•
IMS Terminal integrated program editor and terminal emulator (available
online).
•
+12 to +75 VDC unregulated linear or switching power supply.
•
NEMA size 23 or 34 stepping motor.
•
RS-422/485 communications interface (recommended: MD-CC402-001
communication converter). CANopen communications converter (recommended: MD-CC500-000).
Depending on your connector configuration, you may also need:
•
I/O or I/O and encoder interface to 14-pin or 20-pin wire crimp connector
(recommended: PD14-2334-FL3 or PD20-3400-FL3 prototype development cable).
•
Power interface to 2-pin wire crimp connector (recommended: PD023400-FL3 prototype development cable).
•
Motor interface to 4-pin wire crimp connector (recommended: PD04MF34-FL3 prototype development cable).
* If you purchased your MForce PowerDrive with a QuickStart Kit, you have
received all of the connecting cables needed for initial functional setup and
system testing.
10 Bit
0 to +5 VDC, 0 to +10 VDC
4 to 20 mA, 0 to 20mA
Step/Direction, Up/Down, Quadrature
+5V TTL Input, TTL Output
(with 2 kΩ Load to Ground)
Logic Threshold
Trip Output/Capture Input
+5V TTL Input, TTL Output
(with 2 kΩ Load to Ground)
Logic Threshold
Communications Specifications
Protocol
BAUD Rate
CANopen Option
Protocol
Communications Profile
BAUD Rate
Note: 800 kbps not supported by the MD-CC500-000
USB to CANopen dongle.
RS-422/RS-485
4.8k, 9.6k, 19.2k, 38.4k, 115.2 kbps
CAN 2.0B Active
CiA DS-301
10, 20, 50, 125, 250, 500, 800 kBit/s,
1MBit/s (default)
Motion Specifications
Microstep Resolution - Open Loop
Number of Resolutions
200
400
12800
20000
1=0.01 deg/μstep
20
Available Microsteps Per Revolution
800
1000
1600
2000
3200
5000
25000 25600 40000
50000
51200
360001
2=1 arc minute/μstep 3=0.001 mm/μstep
6400
216002
10000
254003
Software Specifications
Program Storage Type/Size
User Program Labels and Variables
Party Mode Addresses
Flash/6384 Bytes
192
62
Mechanical Specifications
FRONT VIEW
3.473
(88.21)
Getting Started
All documentation, software and resources are available online at:
http://www.imshome.com/products/mforce_overview.html.
Connecting the Motor, Power and I/O
Your MForce PowerDrive is configured with power, I/O and motor on separate
connectors. Please refer to the opposite side of this document for connecting
details and available connectivity options including prototype development
cables and mating connector kits.
Connecting Communications — RS-422/485
1.
Connect RS-422/485 communications converter to MForce and PC.
2.
Install the communication converter drivers onto PC (available online).
3.
Install and open IMS Terminal.
4.
Apply power to MForce PowerDrive.
5.
Within IMS Terminal, Click into the terminal window (shown below).
6.
Key in CTRL+C. The sign-on message: “Copyright 2001-2008 by Intelligent Motion Systems, Inc.” should appear, verifying that communications
is active.
2.116
(53.75)
Connector Options
Ø 0.187 ±0.01
(Ø 4.75 ±0.25)
2X #8 Screws
for End Mount
2X 0.580
(2X 14.73)
0.225
(5.72)
3.00 ±0.01
(76.2 ±0.25)
BOTTOM VIEW
0.308 TYP.
(7.82 TYP.)
0.160 ±0.01
(4.06 ±0.25)
3.897
(98.98)
Ø 0.160 ±0.01 Thru
(Ø 4.06 ±0.25 Thru)
4X #6 Screws
for Flat Mount
2.931 TYP.
(74.45 TYP.)
Program Editor
Window
Terminal Emulator
Window
>Copyright 2001-2008 by Intelligent Motion Systems. Inc.
Connecting Communications — CANopen
A “Getting Started” tutorial using the CANopen Tester GUI with the
MD-CC500-000 USB to CANopen dongle is located in the CANopen implementation manual, available online.
All documentation, software, program examples and resources are available
online at: http://www.imshome.com/products/mforce_overview.html.
0.417 TYP.
(10.59 TYP.)
2.950
(74.93)
3.473
(88.21)
MForce PowerDrive Motion Control Quick Reference R020410
Connector Style
MForce PowerDrive
Motion Control
Connectivity Options
P1
P3
P2
P4
P1
14-pin Wire Crimp....................... I/O
20-pin Wire Crimp....................... I/O and Remote Encoder
P2
10-pin Wire Crimp....................... Communications
DB-9F ........................................ Communications
(CANopen version)
P3
P4
P1
I/O
P2
14-pin wire crimp
Step Clock
Capture/Trip
I/O11
I/O9
I/O3
I/O1
I/O Power
13
11
9
7
5
3
1
Pair Wire
Colors
White
1
Black
Green
2
Black
Blue
3
Black
Yellow
4
Black
Brown
5
Black
Orange
6
Black
Red
7
Black
To I/O
10.0’ (3.0m)
P1
6.0’ (1.8m)
in-line converter
Prototype Development Cable p/n: PD10-1434-FL3
Speed test and development with pre-wired mating connector. Recommended
for multi-drop systems, can be used in conjunction with the MD-CC402-001.
To MForce PowerDrive
10-pin friction lock
wire crimp connector
To Communications
10.0’ (3.0m)
19
17
15
13
11
9
7
5
3
1
Wire Colors
White/Red Stripe
White/Blue Stripe
Blue/White Stripe
White/Orange Stripe
Orange/White Stripe
Green/White Stripe
Function
Aux-Logic
TX+
TXRX+
RXGND
Mating Connector Kit p/n: CK-02
Use to make your own cables, kit contains 5 mating connector shells with crimp
pins. Hirose crimp tool recommended.
IDXCH BCH ADirection
Analog In
I/O12
I/O10
I/O4
I/O2
I/O GND
20
18
16
14
12
10
8
6
4
2
Hirose Parts
P3
Prototype Development Cable p/n: PD20-3400-FL3
Speed test and development with pre-wired mating connector.
To MForce PowerDrive
20-pin wire crimp
JST connector
To Encoder
Cable 2
Cable 1
To I/O
Both 10.0’ (3.0m)
Pair Wire Colors
Cable 1
White
1
Black
Green
2
Black
Blue
3
Black
Yellow
4
Black
Brown
5
Black
Orange
6
Black
Red
7
Black
Step Clock
Direction
Capt/Trip
Analog In
I/O11
I/O12
I/O9
I/O10
I/O3
I/O4
I/O1
I/O2
I/O Power
I/O Ground
Cable 2
White w/Blue Stripe
1
Blue w/White Stripe
White w/Orange Stripe
2
Orange w/White Stripe
White w/Green Stripe
3
Green w/White Stripe
CH A+
CH ACH B+
CH BIDX+
IDX-
Communications — CANopen Version
DB-9 (female)
Communications Converter p/n: MD-CC500-000
Electrically isolated in-line USB to CANopen converter. USB “A” Type connector
to DB-9 (male). An interface cable must be constructed by the user.
Mating Cable Requirements
Parts required: (2) DB-9 (female) connectors, +7 to +30 VDC power supply and
(1)120 Ω 1% terminating resistor.
DB-9F
Pin 2: CAN-L
Pin 7: CAN-H
CAN +V
(+7 to +30 VDC)
CAN -V (Ground)
DB-9F
CAN +V
CAN -V
CAN-H
CAN-L
MForce
P2
Copyright © Schneider Electric Motion USA
Power Supply
2-pin wire crimp
GND
Power
Prototype Development Cable p/n: PD02-3400-FL3
Function: Power Interface
To MForce PowerDrive
2-pin wire crimp
Molex connector
To Power
MD-CC500-000
www.schneider-electric-motion.us
Function
Power Ground
+V
10.0’ (3.0m)
Molex Parts
P4
Shell: 510-67-0200
Pins: 502-17-91011
Motor
4-pin wire crimp
ØA
1
2
ØA
ØB
3
4
ØB
ENSURE PROPER CONNECTION OF
THE MOTOR PHASES!
Prototype Development Cable p/n: PD04-MF347-FL3
Function: Motor Interface
To MForce PowerDrive
4-pin wire crimp
Molex connector
10.0’ (3.0m)
Termination Resistor
Required
Wire Colors
Black
Red
Mating Connector Kit p/n: CK-05
Use to make your own cables, kit contains 5 mating connector shells with crimp
pins. Tyco crimp tool recommended.
DB-9F
CAN-H
CAN-L
120Ω
Power
2
1
Shell: PADP-20V-1-S
Pins: SPH-001T-P0.5L
Connector Front View
Shell: DF11-10DS-2C
Pins: DF11-2428SC
Function
Mating Connector Kit p/n: CK-11
Use to make your own cables, kit contains 5 mating connector shells with crimp
pins. JST crimp tool recommended.
Pin 9: CAN +V
To computer
USB port
Flying leads terminated by crimp pins for multidrop
connection (see product manual)
20-pin wire crimp
Pin 3: CAN -V
Pin 5: CAN-Shield
6.0’ (1.8m)
To MForce PowerDrive
10-pin friction lock
wire crimp connector
I/O & Remote Encoder
JST Parts
TXRXRX+
TXComm Gnd
9 10
7 8
5 6
3 4
1 2
Function
Step Clock
Direction
Capt/Trip
Analog In
I/O11
I/O12
I/O9
I/O10
I/O3
I/O4
I/O1
I/O2
I/O Power
I/O Ground
Shell: PADP-14V-1-S
Pins: SPH-001T-P0.5L
IDX +
CH B+
CH A+
Step Clock
Capture/Trip
I/O11
I/O9
I/O3
I/O1
I/O Power
P2
10-pin wire crimp
Communications Converter p/n: MD-CC402-001
Electrically isolated in-line USB to RS-422/485 converter pre-wired with mating
connector to conveniently program and set configuration parameters.
Mating Connector Kit p/n: CK-09
Use to make your own cables, kit contains 5 mating connector shells with crimp
pins. JST crimp tool recommended.
JST Parts
4-Pin Wire Crimp......................... Motor
TX+
RX+
Aux-Logic
RXTX+
Prototype Development Cable p/n: PD14-2334-FL3
Speed test and development with pre-wired mating connector.
To MForce PowerDrive
14-pin wire crimp
JST connector
2-Pin Wire Crimp......................... Power
Communications — RS-422/485
Direction
Analog In
I/O12
I/O10
I/O4
I/O2
I/O GND
14
12
10
8
6
4
2
Function
To Motor
Wire Colors
Black (Pair 1)
White (Pair 1)
Black (Pair 2)
White (Pair 2)
Function
Phase B
Phase B\
Phase A
Phase A\
Note that pairs are marked with
the pair number.
Mating Connector Kit p/n: CK-07
Use to make your own cables, kit contains 5 mating connector shells with crimp
pins. Molex crimp tool recommended.
Molex Parts
Shell: 39-01-2045
Pins: 44476-3112