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Справочник Пользователя для Intelligent Motion Systems MDI42 AC

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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
+, –, ×, ÷, >, <, =, <=, >=, 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.