mforce drives and stepper motors · mforce . drives and stepper motors. c. atalog. nema 14, 17, 23...

MForce Drives and Stepper Motors

Catalog

NEMA 14, 17, 23 and 341.8° 2-phase stepper motors

MForce stepper motor drivesMicroDrive and PowerDrive

Product offern Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 2

MForce Step/direction with SPI interfacen Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 6

n Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 8

n Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 10

n Part numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 11

n Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 12

MForce Motion Control, RS-422/485 programmablen Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 14

n Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 16




MForce stepper motor drives for CANopenn Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 22

n Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 24




2-phase stepper motorsn Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 32


n Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 35



n Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 40

Accessoriesn Interface software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 42

n Connectivity ¨ For pulse/direction interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 43 ¨ For RS-422/485, programmable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 44 ¨ For CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 45

Contents MForce stepper motor drives

MForce stepper motor drivesOverview

2

Overview MForce stepper motor drives

PresentationThe Schneider Electric Motion USA stepper motor drive system is comprised of an MForce stepper motor drive and a 2-phase stepper motor for a very compact, high performance drive system. MForce stepper motor drives are offered in 3 versions: for communication via step/direction interface programmable units for communication via RS-422/485 for communication via CANopen

This flexible, open communication concept allows for integration into existing system environments.

MForce drives with SPI step/direction interfaceMForce Step/Direction microstepping drives communicate via SPI with a motion controller. Settings may be changed on-the-fly or downloaded and stored in nonvolatile memory using a supplied software tool, eliminating the need for external switches or resistors.

MForce drives fully programmable via RS-422/485 MForce Motion Control combine a fully programmable motion controller with step and direction microstepping drive. Programming is accomplished over RS-422/485 with provided software for point-to-point or multiple unit configurations.

MForce drives for CANopen MForce CANopen products support CiA DS301 and DSP402 Device Profile for Drives and Motion Control.

Special features

CompactnessWith its small dimensions, MForce stepper motor drives require very little space in the control cabinet.

SimplicitySimple cabling and configuring, with user-friendly PC interface software, allows for easy and quick setup of the MForce drive system.

Flexibility MForce stepper motor drives are available in two power classes: 3.0 A and 5.0 A. MForce MicroDrive -- 3.0 A MForce PowerDrive -- 5.0 A

Application areasDue to the high torque at low speeds of rotation, the MForce stepper drive system is particularly well suited for short-distance positioning.Another advantage is its high holding torque at standstill. This allows for the highly economic implementation of automation tasks such as pick-and-place.

RS-422/485

Fully programmable I/O

2-phase steppermotor

MForceMicroDriveMotion Control

SPI Interface

Pulse train(P/D, A/B, CW/CCW)

2-phase steppermotor

MForceMicroDriveStep/Direction

2-phasestepper motors

PLC

MForce PowerDrive

CANopen Fieldbus

MForce MicroDrive

3

Assignment of 2-phase stepper motors and MForce stepper motor drives2-phase stepper motors MForce MicroDrive MForce PowerDrive

12 to 48 V 12 to 75 V3 A rms, 4.2 A peak 5 A rms, 7 A peak

(1)oz-in N-cm oz-in N-cm

M-14• 10 7 — — M-17• 32 ... 75 23 ... 53 — — M-23• 90 ... 239 64 ... 169 90 ... 239 64 ... 169 M-34• — — 408 ... 1090 288 ... 770

(1) Stepper motor holding torque

Overview MForce stepper motor drives

MForce stepper motor drivesStep/direction with SPI interface

6

Description MForce stepper motor drivesStep/direction with SPI interface

Connection technologiesMForce with step/direction has the following connections: Power input Mulitfunction interface Communication interface Motor interface

Multifunction interfaceThe multifunction interface operates at the following signal levels: 5 to 24 V opto-isolated, sinking or sourcingThe reference pulses are supplied via two of the signal inputs as pulse/direction signals. The remaining signal inputs have the function “power amplifier enable/pulse blocking” and optocoupler reference, which establishes the inputs as sinking or sourcing.

ConstantCurrentSource

Input

Opto reference

5 to 24V +

–

Circuit of sinking signal inputs

ConstantCurrentSource

Input

Opto reference

5 to 24V +

–

Circuit of sourcing signal inputs

Communication interfaceThe communication interface is used to connect SPI communications for configuring purposes. A PC can be connected to the communication interface via a USB to SPI converter. The MForce Step/Direction software can be used to set: Motor run/reduction current Step size Signal input filtering Input pulse type: step/direction, cw/ccw or quadrature Current reduction delay Motor direction override Enable active high/low

Drive systemMForce products are universally applicable stepper motor drives with on-board control electronics. Step/direction signals of a master controller, e.g. a motion controller, are converted directly into motion. Together with selected Schneider Electric Motion USA stepper motors, MForce is a very compact, high performance drive system.

ControlThe MForce Step/Direction products can be setup and controlled via SPI (Serial Peripheral Interface).

Power supply voltageMForce can be operated with a voltage range of: 12 to 48 V — MForce MicroDrive 12 to 75 V — MForce PowerDrive

MForce MicroDrive stepper motor drivestep/direction with SPI interface

MForce PowerDrive stepper motor drive step/direction with SPI interface

7


Connection technologies (continued)ConnectorsThe connectors are used for cabling machines with cable harnesses. Depending on the MForce model, interface is accomplished via a combination of connectors.

Overview of connectors — MForce MicroDrive Step/Direction

Connector Assignment StylesP1 Power input and

multifunction interface12-pin wire crimp, 7-pin terminal strip or 12" flying leads

P2 Communication interface 10-pin IDC

P3 Motor interface 4-pin wire crimp

Description

Overview of connectors — MForce PowerDrive Step/Direction

Connector Assignment StylesP1 Multifunction and

communication interface12-pin wire crimp

P3 Power input 2-pin wire crimp

P4 Motor interface 4-pin wire crimp

P3

P3

P4

P1

P1

P2

8

Functions MForce stepper motor drivesStep/direction with SPI interface

FunctionsOverview

The following functions can be set on the MForce Step/Direction using the provided interface tool: Number of steps: 200 / 400 / 800 / 1000 / 1600 / 2000 / 3200 / 5000 / 6400 / 10000 / 12800 / 20000 / 25000 / 25600 / 40000 / 50000 / 51200 Special function steps: 36000 (0.01 degree/step) / 21600 (1 arc-minute/step) / 25400 (0.001 mm/step) Motor phase current (1 ... 100% of nominal current) Idle current reduction (0 ... 100% of nominal current) Idle current reduction time (0 or 2 ... 65535 msec) Input pulse type: pulse/direction, cw/ccw, A/B interface (quadrature) Input pulse filtering (50 ... 12.9 µS) Enable input active high / low Direction override cw / ccw

Setting the number of stepsThe number of steps per revolution can be set via the microstep resolution function (MSEL) using the provided interface tool.

Example: At a number of steps of 1000, the MForce executes exactly one complete motor revolution at 1000 pulses. At a pulse frequency of 1 kHz this corresponds to a speed of 60 rpm.

Settings via MForce Step/Direction200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/step), 21600 (1 arc minute/step), 25400 (0.001mm/step)

Setting the motor phase currentThe motor phase current is set using the run current percent (MRC) function in the MForce interface tool. A high motor phase current generates a high motor torque.

Settings via MForce Step/DirectionThe motor phase current can be set to any value between 1 and 100 percent.

Activating the motor phase reductionIf the full motor torque is not required, the motor phase current reduction, or holding current (MHC), can be used to reduce the holding torque. Advantage: motor and electronics heat up less and efficiency is improved.

Settings via MForce Step/DirectionThe motor phase current can be reduced from 0 to 100 percent of full current. The reduction current delay time (HCDT) can be set to 0 (no delay) or 2 to 65535 milliseconds after the last pulse edge is received.

9

Functions MForce stepper motor drivesStep/direction with SPI interface

Setting the function of input pulseThe reference position values can be supplied to the multifunction interface as pulse/direction signals, cw/ccw mode or A/B interface (quadrature) mode. The MForce converts the input signals into a motor movement.The input modes are selected using the clock type parameter in the MForce interface tool.

PULSE/DIR interface modeThe motor angle step with the rising edge of the pulse signal, the direction of rotation is controlled by the DIR signal.

0

1

0

1

+++ –

PULSE

DIR≥100ns ≥100ns ≥100ns

≥50ns

Pulse/direction signals

CW/CCW interface modeThe motor angle step with the rising edge of the pulse signal, the direction of rotation is controlled by the input receiving pulses.

0

1

0

1

++ – –

CW

CCW

≥100ns ≥100ns ≥200ns

CW/CCW signals

A/B (quadrature) interface modeIn A/B interface mode, quadrature signals are supplied as reference values.

≥200ns

A0

1

0

1B

+ –

A/B quadrature signals

Setting the input filter functionThe input filter is used to filter out high frequency electrical noise from the step/direction interface. This results in smooth motion and accurate positioning.

Settings via MForce Step/DirectionThe filtering of the inputs is set using the CLOCK IOF parameter. This can be set to 50 ns to 12.9 µs (10 MHz to 38.8 kHz).

10

CertificationsConformity to standards MForce drives have been developed to conform to the requirements of EN

55011:2007, A2:2007 for Group 1, Class A, conducted and radiated emissionsEN 61000-3-2:2006 harmonic current emissionsEN 61000-3-3:1995, A1:2001, A2:2005 voltage fluctuation emissions. (Proper use of power supply/mains filters and shielding on power and interface cables is necessary to meet these requirements.)

EMC immunity IEC 61000-4-2, electrostatic discharge immunityIEC 61000-4-3, radiated electromagnetic field immunityIEC 61000-4-4, electrical fast transient / burst immunityIEC 61000-4-5, surge immunityIEC 61000-4-6, immunity to conducted disturbances induced by RF fieldsIEC 61000-4-11, immunity to voltage dips and interruptions

Conducted and radiated EMC emissions EN 55011:2007, A2:2007 for Group 1, Class A

CE marking The MForce drives are CE marked in accordance with the European EMC Directive (2004/108/EEC).

Ambient conditionsAmbient temperature (1) °C 0 ... 65; power reduction by 2%/°C at 50 ... 65Transport and storage temperature °C -25 ... +70Installation height without power reduction m < 1000 m above mean sea levelRelative humidity % 15 ... 85 (not condensing)(1) Limit values with flanged motor mounted on a steel plate 300 x 300 x 10 mm

Electrical dataPower supply connection Not protected against reverse polarity

MForce MicroDrive MForce PowerDriveSupply voltage range (absolute limit values) VDC 12 ... 48 12 ... 75Nominal supply voltage VDC 24 ... 48 24 ... 48Ripple at nominal voltage VPP 2 2Motor drive output current A rms 3.0 5.0Max. current consumption A 4.2 7.0Inrush current C=94 µF C=200 µFSPI interfaces

Min. Max.Singal inputs High level input voltage Vih VDC 2.0

Low level input voltage Vil VDC 1.2High level input current lih uA 10Low level input current lil uA -10

Signal outputs Signal inputs/outputs Voh VDC 2.1Transmission rate Vol VDC 0.5Transmission rate Ios mA -7 8

Universal inputs: Step Clock, Direction, EnableType Opto-isolatedHigh level output voltage VDC +5 to +24Low level output voltage VDC 8.7Output SC current mA 14.6

Differential inputs: Clockwise / CounterclockwiseType 5V TTL Non-isolated

Mechanical dataType of stepper motor drive MForce MicroDrive MForce PowerDrive

Dimensions (W x H x D) inches 1.8 x 1.3 x 2.3 3.0 x 2.1 x 3.9mm 45 x 33 x 59 76 x 54 x 99

Mass oz 3 12kg 0.08 0.34

Type of cooling Convection and conduction Convection

Characteristics MForce stepper motor drivesStep/direction with SPI interface

11


Part numbers

MicroDriveExample: M F M 1 F S D 1 7 N 4

Product designationMFM = MForce step/direction drive

M F M 1 F S D 1 7 N 4

Input1 = universal - step clock, direction, enable5 = differential - clockwise/counterclockwise

M F M 1 F S D 1 7 N 4

P1 connector styleFSD = flying leadsPSD = terminal stripCSZ = wire crimp

M F M 1 F S D 1 7 N 4

MForce version17 = MicroDrive

M F M 1 F S D 1 7 N 4

Supply voltageN4 = 48 VDC

M F M 1 F S D 1 7 N 4

PowerDriveExample: M F M 1 C S Z 3 4 N 7

Product designationMFM = MForce step/direction drive

M F M 1 C S Z 3 4 N 7

1CZS = standard connector interface M F M 1 C S Z 3 4 N 7MForce version34 = PowerDrive

M F M 1 C S Z 3 4 N 7


M F M 1 C S Z 3 4 N 7

MForce MicroDrive stepper motor drive step/direction with SPI interface

MForce PowerDrive stepper motor drive step/direction with SPI interface

12


Dimensions

MForce MicroDrive, dimensions in inches (mm)

1.66(42.0)

2.14(54.4)

2.33(59.0)

1.77(44.8)

0.20(5.1)2x Ø 0.15

(2x Ø 3.8)

1.30(33.0)

P3

P2

P1

MForce PowerDrive, dimensions in inches (mm)

3.47(88.2)

Ø 0.16 ±0.01 (Ø 4.0 ±0.25) thru hole [4x]#6 (M3.5) screws for flat mount

0.31(7.8)

0.42 (10.6)

0.16 ±0.01(4.1 ±0.25)

2.95(75.0)

(3.9) 99.0

2.93 (74.5)

3.47(88.2)

Ø 0.19 ±0.01 (Ø 4.75 ±0.25) [2x]M4 screws for end mount

3.0 ±0.01(76.2 ±0.25)

0.23(5.7)

2.12(53.8)

0.58(14.7)

P1

P3 P4

P1

0.44(11.2)

P1

12.0(304.8)

P1 connector options

7-pin non-locking spring clamp terminal strip

12.0" (305mm) flying leads

12-pin locking wire crimp connector (1)

P1

0.36(9.1)

I/O & Power I/O & Power I/O, Power & Communication

P2


10-pin non-locking IDC connector

P2

no connector (1)

Communication None

P3

P3 connector

4-pin locking wire crimp connector

Motor

(1) 12-pin locking wire crimp connector at P1 eliminates the P2 connector.

P1

P1 connector

12-pin locking wirecrimp connector

I/O & Communication

P3

P3 connector


Power

P4

P4 connector


Motor

MForce stepper motor drivesMotion Control, RS-422/485 programmable

14


MForce MicroDrive stepper motor drive programmable motion control for RS-422/485

MForce PowerDrive stepper motor drive programmable motion control for RS-422/485

Drive systemMForce products are universally applicable stepper motor drives with on-board programmable motion controller. Reference values are set via RS-422/485 communications. Together with selected Schneider Electric Motion USA stepper motors, MForce is a very compact, high performance drive system that can be used without PLC.

ControlThe MForce Motion Control can be setup and controlled via the RS-422/485 interface.Up to eight different 24 V signals are also available. They can be used as input or output.


Connection technologiesThe MForce has the following connections: Power input Multifunction interface Communication interface Motor interface

Multifunction interfaceThe multifunction interface operates at the following signal levels: 5 to 24 V programmable signals, inputs or outputs, sinking or sourcing One analog input accepts 0 to 5 V, 0 to 10 V, 4 to 20 mA or 0 to 20 mA One 0 to 5 V capture input or trip output signal Two 0 to 5 V pulse/direction output signal

24 V I/O signalsUp to eight 24 V I/O signals are available via the multifunction interface, which can be configured as sinking or sourcing inputs or outputs.They can be used for the following predefined functions:Input functions: home, limit +, limit -, go, stop, pause, jog +, jog -, general purpose.Output functions: moving, error, stall, velocity changing, general purpose.

Analog input signalThis input signal accepts interface to a range of input types in voltage or current mode. In voltage mode it will accept input from 0 to 5 V or 0 to 10 V devices. In current mode it will accept input from 4 to 20 mA or 0 to 20 mA devices.

5 V capture input/trip output signalThe capture/trip I/O high speed signal can be used to capture the axis position when active, or to control an external event when configured as a trip output.

5 V pulse/direction signalsThe pulse/direction I/O signals can be used to control a secondary device with pulse/direction inputs in an electronic gearing application. When configured as inputs they can be used to receive pulse/direction signals from a master controller.

Communication interfaceThe communication interface is used to connect RS-422/485 for setup and programming purposes. A PC can be connected to the communication interface via a USB to RS-422/485 converter. The provided software can be used for commissioning functionality, creating programs and programming the MForce drives (see accessories section).

Description

15



Overview of connectors — MForce MicroDrive Motion Control


multifunction interface16-pin wire crimp (1), 7-pin terminal strip or 12" flying leads

P2 Communication interface 10-pin IDC or 10-pin wire crimp

P3 Motor interface 4-pin wire crimp(1) Products with expanded features have 16-pin connector at P1.

Overview of connectors — MForce PowerDrive Motion Control

Connector Assignment StylesP1 Multifunction interface 14-pin wire crimp (2)

P2 Communication interface 10-pin wire crimp


P4 Motor interface 4-pin wire crimp(2) Products with optional remote encoder interface have a 20-pin connector at P1.

P3

P1

P4

P3

P1P2

Description

P2

16

Functions MForce stepper motor drivesMotion Control, RS-422/485 programmable

FunctionsOverview

All functions of the MForce are set via the RS-422/485 interface using an ANSI terminal or the provided integrated terminal and program editor. These can be saved to non-volatile memory. The MForce has two modes of operation:

Immediate mode In immediate mode, commands and parameter settings are issued directly from a terminal such as the provided software tool to the controller.

Program modeProgram mode is used to store programs to the motion controller.

RS-422/485 communications functions BAUD rate 4.8 to 115.2 kbps Address (only required if operating in party mode)

Motion functions Number of steps: 200 / 400 / 800 / 1000 / 1600 / 2000 / 3200 / 5000 / 6400 / 10000 / 12800 / 20000 / 25000 / 25600 / 40000 / 50000 / 51200 Special function steps: 36000 (0.01 degree/step) / 21600 (1 arc-minute/step) / 25400 (0.001 mm/step) Set initial velocity Set maximum velocity Set acceleration Set deceleration Move to absolute position Move to relative position Slew at velocity Move on move Home to home switch Home to index mark Limit switch modes

Current control functions Motor phase current (1 ... 100% of nominal current) Idle current reduction (0 ... 100% of nominal current) Idle current reduction time (0 or 2 ... 65535 msec) Motor settling delay time (0 or 2 ... 65535 msec)

I/O functions Set I/O signal as input or output Set I/O signal as active high/low Set I/O signal as sinking or sourcing Set I/O signal to predefined input function: home, limit +, limit -, go, stop, pause, jog +, jog -, general purpose Set I/O signal to predefined output function: moving, error, stall, velocity changing, general purpose Set output to 1/0 Read input as 1/0 Set output group to BCD (Binary coded decimal) Read input group as BCD Set digital input filter Set ratio for pulse/direction I/O signal

Home Sequence

Motion Sequence A

Motion Sequence B

Program

Condition

Y

N

Example of MForce programming

17

Functions MForce stepper motor drivesMotion Control, RS-422/485 programmable

Program functions Branch to address/label Call subroutine address/label User labels for programs/subroutine Create user variables Create user flags

Math functions Add Subtract Multiply Divide Greater than Less than Equal to Greater than, equal to Less than, equal to AND OR XOR NOT

Trip functions Trip on input Trip on position Trip on time Trip capture Trip on relative position

Encoder functions (1) Stall detection Position maintenance Find index mark

(1) User-supplied differential encoder for optional closed-loop configuration.

18

Characteristics MForce stepper motor drivesMotion Control, RS-422/485 programmable

CertificationsConformity to standards MForce drives have been developed to conform to the requirements of EN 55011:2007,

A2:2007 for Group 1, Class A, conducted and radiated emissionsEN 61000-3-2:2006 harmonic current emissionsEN 61000-3-3:1995, A1:2001, A2:2005 voltage fluctuation emissions. (Proper use of power supply/mains filters and shielding on power and interface cables is necessary to meet these requirements.)






MForce MicroDrive MForce PowerDriveSupply voltage range (absolute limit values) VDC 12 ... 48 12 ... 75Nominal supply voltage VDC 24 ... 48 24 ... 48Ripple at nominal voltage VPP 2 2Motor drive output current A rms 3.0 5.0Max. current consumption A 4.2 7.0Inrush current C=94 µF C=200 µFGeneral purpose I/O

MForce MicroDrive MForce PowerDriveNumber/Type Standard features Expanded features

4 sinking outputs / 4 sourcing or sinking inputs

8 sourcing or sinking outputs/inputs (or 4 with remote encoder interface option)


When defined as inputs VDC 0 to +24Input current (typical at +24VDC) mA 1.75 maximum

When defined as outputs VDC Up to +24Sourcing/sinking output current mA 600 (single channel, duty cycle = 0.80)

Communication interfacesRS-422/485 Signal inputs/outputs According to RS-422/485, no galvanic isolation, 2-wire

Transmission rate kBaud 4.8 / 9.6 / 19.2 / 38.4 / 115Transmission protocol Manufacturer-specific



Mass oz 3 12kg 0.08 0.34


19


Part numbers

MicroDriveExample: M F I 1 F R D 1 7 N 4

Product designationMFI = MForce programmable drive

M F I 1 F R D 1 7 N 4

Input1 = standard features3 = expanded features (1)

M F I 1 F R D 1 7 N 4

P1 connector styleF = flying leadsP = terminal stripC = wire crimp (1)

M F I 1 F R D 1 7 N 4

P2 connector styleRD = IDCRL = wire crimp

M F I 1 F R D 1 7 N 4


M F I 1 F R D 1 7 N 4


M F I 1 F R D 1 7 N 4

Option (1)–EE = Interface for a remote encoder (not supplied)

M F I 1 F R D 1 7 N 4 –EE

(1) Only available on products with expanded features.

PowerDriveExample: M F I 3 C R L 3 4 N 7

Product designationMFI = MForce programmable drive

M F I 3 C R L 3 4 N 7

3CRL = standard connector interface M F I 3 C R L 3 4 N 7MForce version34 = PowerDrive

M F I 3 C R L 3 4 N 7


M F I 3 C R L 3 4 N 7

Option–EE = Interface for a remote encoder (not supplied)

M F I 3 C R L 3 4 N 7 –EE

MForce MicroDrive stepper motor drive programmable motion control for RS-422/485

MForce PowerDrive stepper motor drive programmable motion control for RS-422/485

20

3.47(88.2)


0.31(7.8)

0.42 (10.6)

0.16 ±0.01(4.1 ±0.25)

2.95(75.0)

(3.9) 99.0

2.93 (74.5)

3.47(88.2)


3.0 ±0.01(76.2 ±0.25)

0.23(5.7)

2.12(53.8)

0.58(14.7)

P3

P1 P4

P2


0.14(3.6)

0.20(5.0)

P1


Dimensions

(2) Products with optional remote encoder interface have a 20-pin connector at P1.


1.66(42.0)

2.14(54.4)

2.33(59.0)

1.77(44.8)

0.20(5.1)2x Ø 0.15

(2x Ø 3.8)

1.30(33.0)

P3

P2

P1


P1

0.44(11.2)

P1

12.0(304.8)




I/O & Power I/O & Power Expanded I/O & Power

P2


10-pin non-locking IDC connector

P3

P3 connector


Motor

(1) 16-pin locking wire crimp connector at P1 only available on products with expanded features.

P1

P1 connector

14-pin locking wirecrimp connector (2)

I/O

P2

P2 connector


Communication

P3

P3 connector


Power

P4

P4 connector


Motor

P2

10-pin friction lock wire crimp connector

Communication Communication

MForce stepper motor drivesfor CANopen

22


MForce MicroDrive stepper motor drive for CANopen

MForce PowerDrive stepper motor drive for CANopen

Drive systemMForce products are universally applicable stepper motor drives with on-board motion controller for CANopen (DS402) interface. Together with selected Schneider Electric Motion USA stepper motors, MForce is a very compact, high performance drive system.

ControlThe MForce Motion Control can be setup and controlled via the supplied CANopen interface. Up to eight different 24 V signals are also available. They can be used as input or output.


Connection technologiesThe MForce has the following connections: Power supply Multifunction interface Communication interface Motor interface

Multifunction interfaceThe multifunction interface operates at the following signal levels: 5 to 24 V programmable signals, inputs or outputs, sinking or sourcing One analog input accepts 0 to 5 V, 0 to 10 V, 4 to 20 mA or 0 to 20 mA One 0 to 5 V capture input or trip output signal Two 0 to 5 V pulse/direction output signal

24 V I/O signalsEight 24 V I/O signals are available via the multifunction interface, which can be commissioned as sinking or sourcing inputs or outputs.They can be used for the following predefined functions:Input functions: home, limit +, limit -, go, stop, pause, jog +, jog -, general purposeOutput functions: moving, error, stall, velocity changing, general purpose

Analog input signalThis input signal accepts interface to a range of input types in voltage or current mode. In voltage mode it will accept input from 0 to 5 V or 0 to 10 V devices. In current mode it will accept input from 4 to 20 mA or 0 to 20 mA devices.

5 V capture input/trip output signalThe capture/trip I/O high speed signal can be used to capture the axis position when active, or to control an external event when commissioned as a trip output.

5 V pulse/direction signalsThe pulse/direction I/O signals can be used to control a secondary device with pulse/direction inputs in an electronic gearing application. When commissioned as inputs they can be used to receive pulse/direction signals from a master controller.

Communication interfaceThe communication interface is used to connect CANopen for commissioning and programming purposes. A PC can be connected to the communication interface via a USB to CANopen converter. The provided software can be used for commissioning functionality, creating programs and programming the MForce drives (see accessories section).

Description

23

Overview of connectors — MForce PowerDrive CANopen

Connector Assignment StylesP1 Multifunction interface 14-pin wire crimp (2)

P2 Communication interface DB9


P4 Motor interface 4-pin wire crimp(2) Products with optional remote encoder interface have a 20-pin connector at P1.


Overview of connectors — MForce MicroDrive CANopen


multifunction interface16-pin wire crimp (1), 7-pin terminal strip or 12" flying leads

P2 Communication interface DB9

P3 Motor interface 4-pin wire crimp(1) Products with expanded features have 16-pin connector at P1.


P3

P1

P4

P3

P1P2

Description

P2

24

Functions MForce stepper motor drivesfor CANopen

Operating modesOverview

The following operating modes can be made at the SD218A stepper motor drive via the fieldbus for CANopen: Profile position Homing mode Profile velocity

Profile positionIn the operating mode "Profile Position", the motor is positioned from a point A to apoint B with a positioning command.

SettingsThe positioning path can be specified in two ways: Absolute positioning Reference point is the zero point of the axis Relative positioning Reference point is the current position of the motor

Reference value settingThe reference value is set via fieldbus for CANopen or PC.

1.200 Inc

500 Inc500 Inc

0700 Inc

0

Operating mode “Profile Position”, absolute and relative

25


Homing modeThere are two types of the “Homing” operating mode: Reference movement Specifying the dimension reference by approach to a limit or reference switch Position setting Specifying the position reference relative to the current motor position

Reference movementDuring reference movement, the motor moves to a defined position on the axis. Theposition is defined by a mechanical switch: LIMP, LIMN limit switches HOME reference switch

Types of reference movementsThere are six standard reference movements: Movement to negative limit switch LIMN Movement to positive limit switch LIMP Movement to HOME reference switch with first movement counterclockwise Movement to HOME reference switch with first movement clockwise Reference movement to index pulse with clockwise or counterclockwise rotation

LIMN LIMP

M

R-

p_outHomev_Homep_disHome

v_outHome

1

2

3

Operating mode “Homing” reference move to a limit switch

1 Movement to limit switch at search speed2 Movement to switching edge at clearance speed3 Movement to distance from switching edge at clearance speed

26


Homing mode (continued)

Application examplePosition setting can be used to execute a continuous motor movement without overtraveling the positioning limits.

M MM

0

0"0"

2000 Inc

"2000"

2000 Inc

22

1

3

Positioning by 4000 increments with position setting

1 The motor is positioned 2000 increments2 The current motor position is set to position value 0 by position setting to 0 and the new zero point is defined at the same time3 The new target position is 2000 increments after triggering a new travel command by 2000 increments

This procedure prevents overtravel of the absolute position limits during positioning,because the zero point is continuously made to follow.


Application exampleSetting a reference before switching to “Profile Position” mode.

27


Profile velocityIn operating mode "Profile velocity", a reference speed for the motor is set and amovement without a target position is started. This speed is maintained until adifferent reference speed is specified or the operating mode is changed.


v

t Start Stop

t1 t2 t3 t4 t5 t6 t7

0v1

v2

v3

t8 t9

t1, t3, t5 = accelerationt2, t4, t6, t8 = constant movementt7, t9 = deceleration

Profile velocity

Additional functionsAdditional functions can be activated via fieldbus for CANopen or PC: Programming inputs/outputs Setting motion profile via profile generator Triggering “Quick Stop” function Fast position capture via signal input (Capture)

28

Characteristics MForce stepper motor drivesfor CANopen

CertificationsConformity to standards MForce drives have been developed to conform to the requirements of EN 55011:2007,

A2:2007 for Group 1, Class A, conducted and radiated emissionsEN 61000-3-2:2006 harmonic current emissionsEN 61000-3-3:1995, A1:2001, A2:2005 voltage fluctuation emissions. (Proper use of power supply/mains filters and shielding on power and interface cables is necessary to meet these requirements.)






MForce MicroDrive MForce PowerDriveSupply voltage range (absolute limit values) VDC 12 ... 48 12 ... 75Nominal supply voltage VDC 24 ... 48 24 ... 48Ripple at nominal voltage VPP 2 2Motor drive output current A rms 3.0 5.0Max. current consumption A 4.2 7.0Inrush current C=94 µF C=200 µFGeneral purpose I/O

MForce MicroDrive MForce PowerDriveNumber/Type Standard features Expanded features

4 sinking outputs / 4 sourcing or sinking inputs



When defined as inputs VDC 0 to +24Input current (typical at +24VDC) mA 1.75 maximum

When defined as outputs VDC Up to +24Sourcing/sinking output current mA 600 (single channel, duty cycle = 0.80)

Fieldbus interfacesCANopen Signal inputs/outputs According to ISO 11898 standard, galvanic isolation, externally powered.

Transmission rate kBaud 10 / 20 / 50 / 100 / 125 / 250 / 800 / 1000Transmission protocol CANopen as per DS301; IEC61800-7-201 (CiA 402)



Mass oz 3 12kg 0.08 0.34


29


Part numbers

MicroDriveExample: M F I 1 F C B 1 7 N 4

Product designationMFI = MForce CANopen drive

M F I 1 F C B 1 7 N 4

Input1 = standard features3 = expanded features (1)

M F I 1 F C B 1 7 N 4

P1 connector styleF = flying leadsP = terminal stripC = wire crimp (1)

M F I 1 F C B 1 7 N 4

P2 connector styleCB = DB9

M F I 1 F C B 1 7 N 4


M F I 1 F C B 1 7 N 4


M F I 1 F C B 1 7 N 4

Option (1)–EE = Interface for a remote encoder (not supplied)

M F I 1 F C B 1 7 N 4 –EE

(1) Only available on products with expanded features.

PowerDriveExample: M F I 3 C C B 3 4 N 7

Product designationMFI = MForce CANopen drive

M F I 3 C C B 3 4 N 7

3CCB = standard connector interface M F I 3 C C B 3 4 N 7MForce version34 = PowerDrive

M F I 3 C C B 3 4 N 7


M F I 3 C C B 3 4 N 7

Option–EE = Interface for a remote encoder (not supplied)

M F I 3 C C B 3 4 N 7 –EE

MForce MicroDrive stepper motor drive for CANopen

MForce PowerDrive stepper motor drive for CANopen

30

3.47(88.2)


0.31(7.8)

0.42 (10.6)

0.16 ±0.01(4.1 ±0.25)

2.95(75.0)

(3.9) 99.0

2.93 (74.5)

3.47(88.2)


3.0 ±0.01(76.2 ±0.25)

0.23(5.7)

2.12(53.8)

0.58(14.7)

P4

P3

P1

P2


0.14(3.6)

0.20(5.0)

P1


Dimensions

(2) Products with optional remote encoder interface have a 20-pin connector at P1.


1.66(42.0)

2.14(54.4)

2.33(59.0)

1.77(44.8)

0.20(5.1)2x Ø 0.15

(2x Ø 3.8)

1.30(33.0)

P3

P2

P1


P1

0.44(11.2)

P1

12.0(304.8)




I/O & Power I/O & Power Expanded I/O & Power

P2

P2 connector

DB9 connector

P3

P3 connector


Motor

(1) 16-pin locking wire crimp connector at P1 only available with expanded I/O or remote encoder interface option.

P1

P1 connector

14-pin locking wirecrimp connector (2)

I/O

P2

P2 connector

DB9 connector

Communication

P3

P3 connector


Power

P4

P4 connector


Motor

Communication

Stepper motors1.8° 2-phase

32

Description Stepper motors1.8° 2-phase

PresentationThe 2-phase stepper motors from Schneider Electric Motion USA are extremely robust, maintenance-free motors. They carry out precise step-by-step movements that are controlled by a stepper motor drive, such as MForce, to comprise a stepper motor drive system.

The 2-phase stepper motors can be operated at very high resolutions, depending on the stepper motor drive. Maximum power can only be obtained if motor and electronics are perfectly tuned to each other.

Special featuresQuietAs a result of the special mechanical design of the motors and the sine commutation of the MForce drives, the stepper motors are very quiet and run virtually without resonance.

StrongThe optimized internal geometry of the motor ensures a high power density.

Description1 Motor connection, flying leads2 Housing, with black protective coating3 Axial flange with four mounting points as per NEMA motor standards4 Smooth shaft end

Stepper motors with MForce drives

1

2

3

4

33

Product offer2-phase stepper motors M-14• M-17• M-22• M-34•

Size NEMA 14 17 23 34Holding torque oz-in 10 32 ... 75 90 ... 239 408 ... 1090

N-cm 7 23 ... 53 64 ... 169 288 ... 770Number of full steps per revolution

200

Step angle α ° 1.8Number of leads 4

Motor types

Shaft version Centering collar

Flange size Lengths without shaft

Winding Motor connection

Optional rear shaft (1)

Optionalencoder

M-14• inches mm inches mm inches mm inches mm

Round shaft with single flat feature

Ø 0.197 Ø 5.0 Ø 0.866 Ø 22 1.39 35.3 1.02 26 2-phase full coil for bi-polar operation

4 flying leads

Round shaft Single-end or differential

M-17•Round shaft with single flat feature

Ø 0.197 Ø 5.0 Ø 0.866 Ø 22 1.67 42.3 1.341.571.89

344048

2-phase full coil for bi-polar operation

4 flying leads

Flat feature extending to rear end bell

Single-end or differential


Ø 0.25 Ø 6.35 Ø 1.50 Ø 38 2.22 56.4 1.772.132.99

455476


4 flying leads

Flat feature extending to rear end bell (2)



Ø 0.554 Ø 14.0 Ø 2.874 Ø 73 3.386 86.0 2.483.154.72

6380120


4 flying leads

Flat feature on round shaft


(1) Optional rear shaft available except for NEMA23 2.4amp motors. (2) Optional rear shaft on NEMA23 6.0amp motors is round without a flat feature.

Characteristics Stepper motors1.8° 2-phase

34


Characteristics

Ambient conditionsAmbient temperature °C -25 ... +40Max. installation height over m.s.l. without power loss

m < 1000

Transport and storage temperature

°C -25 ... +70

Relative humidity % 15 ... 85, no condensation allowedThermal class 130 (B)

Electrical and mechanical dataNEMA14 M-1410-0.75• (1)

Stack length singlePhase current amps 0.75Holding torque oz-in 10

N-cm 7Rotor inertia oz-in-sec2 0.00017

kg-cm2 0.012Phase inductance mH 4.0Phase resistance Ω 4.3Weight oz 4.2

grams 120NEMA17 M-1713-1.5• (1) M-1715-1.5• (1) M-1719-1.5• (1)

Stack length single double triplePhase current amps 1.5 1.5 1.5Holding torque oz-in 32 60 75

N-cm 23 42 53Rotor inertia oz-in-sec2 0.000538 0.0008037 0.0011562

kg-cm2 0.038 0.057 0.082Phase inductance mH 2.1 5.0 3.85Phase resistance Ω 1.3 2.1 2.0Weight oz 7.4 8.1 12.7

grams 210 230 360NEMA23 M-2218-2.4S (2) M-2222-2.4S (2) M-2231-2.4S (2) M-2218-3.0• (2) M-2222-3.0• (2) M-2231-3.0• (2) M-2218-6.0• (3) M-2222-6.0• (3) M-2231-6.0• (3)

Stack length single double triple single double triple single double triplePhase current amps 2.4 2.4 2.4 3.0 3.0 3.0 6.0 6.0 6.0Holding torque oz-in 90 144 239 90 144 239 100 150 257

N-cm 64 102 169 64 102 169 71 106 181Rotor inertia oz-in-sec2 0.00255 0.00368 0.0065 0.00255 0.00368 0.0065 0.0017 0.00397 0.0068

kg-cm2 0.18 0.26 0.46 0.18 0.26 0.46 0.12 0.28 0.48Phase inductance mH 2.4 4.0 5.4 1.5 2.6 3.36 0.47 0.73 1.04Phase resistance Ω 0.95 1.2 1.5 0.65 0.85 0.95 0.16 0.19 0.23Weight oz 16.9 21.2 35.3 16.9 21.2 35.3 16.6 24.7 35.3

grams 480 600 1000 480 600 1000 470 700 1000NEMA34 M-3424-6.3• (3) M-3431-6.3• (3) M-3447-6.3• (3)

Stack length single double triplePhase current amps 6.3 6.3 6.3Holding torque oz-in 408 574 1090

N-cm 288 405 770Rotor inertia oz-in-sec2 0.01275 0.01924 0.03849

kg-cm2 0.90 1.35 2.70Phase inductance mH 1.9 3.3 6.2Phase resistance Ω 0.30 0.32 0.56Weight oz 60.0 84.7 141.1

grams 1700 2400 4000(1) Recommended for use with MForce MicroDrives.(2) Recommended for use with MForce MicroDrives and PowerDrives.(3) Recommended for use with MForce PowerDrives.

35


Performance

Speed-torque curvesM-1410-0.75• (1)

Torque in Oz-In (N-cm)

Speed in full steps per second (rpm)

M-1713-1.5• (1) M-1715-1.5• (1) M-1719-1.5• (1)Torque in Oz-In (N-cm)




00

24VDC48VDC

3000(900)

6000(1800)

9000(2700)

21 (15)

14 (10)

7 (5)

00

24VDC48VDC

2000(600)

4000(1200)

6000(1800)

63 (45)

42 (30)

21 (15)

00

24VDC48VDC

2000(600)

4000(1200)

6000(1800)

63 (45)

42 (30)

21 (15)



00

24VDC48VDC

2000(600)

4000(1200)

6000(1800)

63 (45)

42 (30)

21 (15)

(1) Recommended for use with MForce MicroDrives.

36

Speed-torque curvesM-2218-2.4S (2) M-2222-2.4S (2) M-2231-2.4S (2)







225 (159)

175 (124)

125 (88)

75 (53)

25 (18)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)


Performance

225 (159)

175 (124)

125 (88)

75 (53)

25 (18)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)







225 (159)

175 (124)

125 (88)

75 (53)

25 (18)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)

225 (159)

175 (124)

125 (88)

75 (53)

25 (18)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)







225 (159)

175 (124)

125 (88)

75 (53)

25 (18)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)

225 (159)

175 (124)

125 (88)

75 (53)

25 (18)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)

225 (159)

175 (124)

125 (88)

75 (53)

25 (18)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)

225 (159)

175 (124)

125 (88)

75 (53)

25 (18)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)

225 (159)

175 (124)

125 (88)

75 (53)

25 (18)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)





800 (565)

600 (423)

400 (282)

200 (140)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)

800 (565)

600 (423)

400 (282)

200 (140)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)



800 (565)

600 (423)

400 (282)

200 (140)

00

24VDC45VDC75VDC

2000(600)

4000(1200)

6000(1800)

(2) Recommended for use with MForce MicroDrives and PowerDrives.(2) Recommended for use with MForce PowerDrives.

37

ReferencesExample: M - 1 4 1 0 - 0 . 7 5 S

Motor typeM = stepper motor

M - 1 4 1 0 - 0 . 7 5 S

Flange size14 = nema14 (36 mm)17 = nema17 (42 mm)23 = nema23 (57 mm)34 = nema34 (85 mm)

M - 1 4 1 0 - 0 . 7 5 S

Motor length10 = nema14 single stack13 = nema17 single stack15 = nema17 double stack19 = nema17 triple stack18 = nema23 single stack22 = nema23 double stack31 = nema23 triple stack24 = nema34 single stack31 = nema34 double stack47 = nema34 triple stack

M - 1 4 1 0 - 0 . 7 5 S

Phase current0.75 = nema14 0.75 amp1.5 = nema17 1.5 amp2.4 = nema23 2.4 amp3.0 = nema23 3.0 amp6.0 = nema23 6.0 amp6.3 = nema34 6.3 amp

M - 1 4 1 0 - 0 . 7 5 S

ShaftS = single shaftD = double shaft (1)

S

Optional encoder (2)Selecting the encoder option replaces the shaft designator in the part number

ES = single-end optical encoder with index mark (3) ED = differential optical encoder with index mark (3)

100 = line count 200 = line count 250 = line count 400 = line count 500 = line count1000 = line count (3)

ES100

(1) Not available with 2.4amp NEMA23 motors.(2) Not available for NEMA14 motors.(3) All encoders have an index mark, except the 1000 line count version.


Part numbers

38

NEMA17, dimensions in inches (mm)

LM-1713-1.5• 1.34 (34)M-1715-1.5• 1.57 (40)M-1719-1.5• 1.89 (48)

1.67( 42.3)

Ø M3 x P0.5 thread [4x] 0.177 (4.5) deep minimum

1.22( 31.0)

0.590 (14.86)

0.177 ±0.002

(4.52 ±0.05)

0.94 ±0.02

(23.88 ±0.51)

0.08 (2.03)11.8 (300.0)

(Ø 5.0 )+0-0.012

L

Ø 0.197 +0-0.001

(Ø 22.0 )+0-0.052

Ø 0.866 +0-0.002

M2 [2x] 0.20 (5.1)deep minimum

0.75 ±0.005)(19.0 ±0.13)

motor rear

optional rear shaft

0.55 (14.0)

Ø 0.197 (Ø 5.0)flat extends to rear end bell

0.177 ± 0.002

(4.52 ± 0.05)


Dimensions


LM-1410-0.75• 1.02 (26)

1.39( 35.3)

Ø M3 thread [4x]0.138 (3.5) deep minimum

1.02( 26.0)

0.59 ±0.02 (15.0 ±0.5)

0.177 ±0.002

(4.5 ±0.05)

0.95 ±0.02

(24.0 ±0.5)

0.079 (2.0)15.75 (400.0)

(Ø 5.0 )+0-0.012

L

optional rear shaftØ 0.197 +0

-0.005

(Ø 22.0 )+0-0.052

Ø 0.866 +0-0.002

M1.2 [2x]0.20 (5.1)deep minimum

0.62 ±0.005)(15.75 ±0.13)

0.55 ±0.02 (14.0 ±0.5)

(Ø 4.0 )+0-0.012

Ø 0.156 +0-0.001

(Ø 5.0 )+0-0.012

Ø 0.197 +0-0.0005

1.2 ±0.02 (30.44 ±0.5)

motor rear

39


L 2.4 amp motor 3.0 amp motor 6.0 amp motor

M-2218• 1.77 (45) 1.77 (45) 1.75 (44.5)M-2226• 2.13 (54) 2.13 (54) 2.2 (56)M-2231• 2.99 (76) 2.99 (76) 3.09 (79)


LM-3424-6.3• 2.48 (63)M-3431-6.3• 3.15 (80)M-3447-6.3• 4.72 (120)


Dimensions

2.22( 56.39)

1.85( 47.1)

0.59 ±0.008 (15.0 ±0.02)

0.228 ±0.009

(5.8 ±0.1)

0.811 ±0.02

(20.6 ±0.5)

0.063 (1.60)11.8 (300.0)

(Ø 6.35 )+0-0.013

L

optional rear shaft

Ø 0.25 +0-0.001

Ø 1.50 ±0.002

(Ø 38.10 ±0.05)0.75 ±0.008

(19.0 ±0.2)

0.56 (14.3)

motor rear

1.811 ±0.008

(46.0 ±0.2)

Ø 0.197 ±0.010 (Ø 5.0 ±0.25) [4x]eq.spaced on DBC 2.625 (66.67)0.197 (5.0)

Ø 0.25 (Ø 6.35)flat extends to rear end bell

0.228 ± 0.009

(5.8 ± 0.1)

3amp: M2 [2x]6amp: #2-56 [2x] UNC-2B x0.125 (3.18) deep

3amp: M3 [2x]6amp: #4-40 [2x] UNC-2B x0.125 (3.18) deep

(Ø 14.0 )

(Ø 13.0 )

1.46 ±0.04

(37.0 ±1.0)L0.394 (10.0) 0.984 ±0.01

(25.0 ±0.2)

+0-0.10

Ø 0.512 +0-0.004

0.889 ±0.02

(22.5 ±0.5)

0.724 ±0.01

(18.4 ±0.25)

optional rear shaft

(Ø 4.77 )+0-0.05

Ø 0.188 +0-0.002

(Ø 5.0 )Ø 0.197 +0

-0.0004+0-0.011 0.54 ±0.02

(13.7 ±0.5)

0.177 ±0.004

(4.5 ±0.1)

12.6 (320.0)

0.079 (2.0)

3.39( 86.0)

Ø 0.551 +0-0.0005

(Ø 73.0 )+0-0.025

Ø 2.874 +0-0.001

Ø 0.256 (Ø 6.5) [4x]eq.spaced on DBC 3.874 (98.4)

Ø M2xP0.4 [2x]0.16 (4.0)deep minimum

motor rear

Ø M2.5xP0.45 [2x]0.24 (6.0)deep minimum

1.28(32.51)

1.81(46.0)

(Ø 5.0 )Ø 0.197 +0

-0.0004+0-0.011

Ø 0.25(Ø 6.35)

0.1 ±0.02

(2.5 ±0.5)

+0-0.013 2.739 ±0.01

( 69.57 ±0.25)

40

Optical encoder, dimensions in inches (mm)

Encoder type single-end differentialNumber of signals 3 5Line counts 100, 200, 250, 400, 500 or 1000 (1)

(1) All encoders have an index mark, except the 1000 line count version.

Stepper motorsAccessories

Encoder

1.420(36.0)

Ø 0.109 (Ø 2.7) [2x]

Ø 0.078 (Ø 1.98) [3x]eq.spaced on DBC 0.823 (20.9)

0.750(19.0)

0.600(15.2)

1.700(43.1)

0.69(17.5)

Encoder cables (2) Length feet (m)

Part number

Pre-wired mating connector with other cable end open. For single-end optical encoder 1.0 (0.3) ES-CABLE-2

For differential optical encoder 6.0 (1.8) ED-CABLE-6

(2) Cable is not included with single-end encoders and must be ordered separately. Cable is included with differential encoders.

MForce stepper motor drivesAccessories

42

MForce stepper motor drivesInterface software

Accessories

Presentation FunctionsAll tools needed to setup and program MForce stepper motor drives are integrated into the interface software provided. Existing installations can be upgraded to support MForce stepper motor drives. Additional modules: SPI setup MCode programming CANopen software tool

Requirements and interfacesThe provided software runs on a PC under Microsoft Windows®

Stepper motor drive/PC interfaceStepper motor drive PC interfacesystem interface

SPI USBRS-422/485 USBCANopen USB

SourceThe latest software version is available for download on our website at www.motion.schneider-electric.com.

43

Installation accessoriesDescription Length feet (m) Part numberCommunication converterElectrically isolated, in-line converters to set/program communication parameters.Pre-wired with USB and RS mating connectors. For MForce with 10-pin IDC connector 12.0 (3.6) MD-CC300-001

For MForce with 12-pin wire crimp connector 12.0 (3.6) MD-CC303-001

Description Length feet (m) Part numberCablesPre-wired mating connector with other cable end open.MForce MicroDrive Step/Direction P1 Power, multifunction and

communication interface12-pin connector 10.0 (3.0) PD12-1434-FL3

P3 Motor interface 4-pin connector 10.0 (3.0) PD04-MF17-FL3

MForce PowerDrive Step/Direction P1 Multifunction and

communication interface12-pin connector 10.0 (3.0) PD12-1434-FL3

P3 Power interface 2-pin connector 10.0 (3.0) PD02-3400-FL3


Description Sold in lots of Part numberConnector kitsConnectors for assembly of cables. Cable not supplied.MForce MicroDrive Step/Direction P1 Power, multifunction and

communication interface12-pin connector 5 CK-03

P2 Communication interface 10-pin connector 5 CK-01

P3 Motor interface 4-pin connector 5 CK-06

MForce PowerDrive Step/Direction P1 Multifunction and

communication interface12-pin connector 5 CK-03

P3 Power interface 2-pin connector 5 CK-05


MForce PowerDrive Step/Direction

Connector Style Assignment

P1 12-pin wire crimp Multifunction and communication

P3 2-pin wire crimp Power

P4 4-pin wire crimp Motor

MForce MicroDrive Step/Direction


P1 7-pin terminal strip or 12" flying leads

Power and multifunction

12-pin wire crimp* Power, multifunction and communication

P2 10-pin IDC or none*

Communication


*With a P1 12-pin connector, the P2 connector is eliminated

P3

P1

P2

12-pin connector

in-line converter

USB connector

MD-CC303-001

MForce stepper motor drivesStep/direction with SPI interface Connectivity

Accessories

10-pin connector

in-line converter

USB connector

MD-CC300-001

P1

P3

P4

44

MForce stepper motor drivesMotion Control, RS-422/485 programmableConnectivity

Accessories

MForce MicroDrive Motion Control


P1 7-pin terminal strip, 12" flying leads or 16-pin wire crimp


P2 10-pin wire crimp or 10-pin IDC

Communication


Installation accessoriesDescription Length feet (m) Part numberCommunication converterElectrically isolated, in-line converters to set/program communication parameters.Pre-wired with USB and RS mating connectors. For MForce with 10-pin IDC connector 12.0 (3.6) MD-CC400-001

For MForce with 10-pin wire crimp connector 12.0 (3.6) MD-CC402-001

Description Length feet (m) Part numberCablesPre-wired mating connector with other cable end open.MForce MicroDrive Motion Control P1 Power and multifunction

interface16-pin connector 10.0 (3.0) PD16-1417-FL3

P2 Communication interface 10-pin crimp connector 10.0 (3.0) PD10-1434-FL3


MForce PowerDrive Motion Control P1 Multifunction interface 14-pin connector 10.0 (3.0) PD14-2334-FL3

20-pin connector 10.0 (3.0) PD20-3400-FL3 P2 Communication interface 10-pin connector 10.0 (3.0) PD10-1434-FL3

P3 Power interface 2-pin connector 10.0 (3.0) PD02-3400-FL3


Description Sold in lots of Part numberConnector kitsConnectors for assembly of cables. Cable not supplied.MForce MicroDrive Motion Control P1 Power and multifunction

interface16-pin connector 5 CK-10

P2

Communication interface 10-pin crimp connector 5 CK-0210-pin IDC connector 5 CK-01


MForce PowerDrive Motion Control P1 Multifunction interface 14-pin connector 5 CK-09

20-pin connector 5 CK-11 P2 Communication interface 10-pin connector 5 CK-02

P3 Power interface 2-pin connector 5 CK-05


in-line converter

USB connector

10-pin connector

MD-CC400-001

P2

P1

P3

MForce PowerDrive Motion Control


P1 14- or 20-pin wire crimp Multifunction

P2 10-pin wire crimp Communication



P2

P1

P4

P3

10-pin connector

in-line converter

USB connector

MD-CC402-001

45

P2

P1

P3

MForce MicroDrive CANopen


P1 7-pin terminal strip, 12" flying leads or 16-pin wire crimp


P2 DB9 Communication


MForce stepper motor drivesfor CANopenConnectivity

Accessories

Installation accessoriesDescription Length feet (m) Part numberCommunication converterCANopen dongle to set/program communication parameters.Requires a mating connector adapter and power supply, not supplied. For MForce with CANopen fieldbus 12.0 (3.6) MD-CC500-000

Description Length feet (m) Part numberCablesPre-wired mating connector with other cable end open.MForce MicroDrive CANopen P1 Power and multifunction

interface16-pin connector 10.0 (3.0) PD16-1417-FL3


MForce PowerDrive CANopen P1 Multifunction interface 14-pin connector 10.0 (3.0) PD14-2334-FL3

20-pin connector 10.0 (3.0) PD20-3400-FL3 P3 Power interface 2-pin connector 10.0 (3.0) PD02-3400-FL3


Description Sold in lots of Part numberConnector kitsConnectors for assembly of cables. Cable not supplied.MForce MicroDrive CANopen P1 Power and multifunction

interface16-pin connector 5 CK-10


MForce PowerDrive CANopen P1 Multifunction interface 14-pin connector 5 CK-09

20-pin connector 5 CK-11 P3 Power interface 2-pin connector 5 CK-05


DB9 connector

USB connector

CAN +VCAN -V(ground)+7 to +30 VDCpower supply

120Ω termination resistor is required between CAN-H and CAN-L at MForce end of cable

DB-9F

DB-9F

Interface cable (not supplied)

CAN-HCAN-L

120Ω

MD-CC500-000

MForce PowerDrive CANopen


P1 14- or 20-pin wire crimp Multifunction

P2 DB9 Communication



P2

P1

P4

P3

WARRANTYReference the web site at www.motion.schneider-electric.com for the latest warranty and product information.

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

Schneider Electric Motion USA

370 N. Main Street Owing to changes in standards and equipment, the characteristics given in the text and images Marlborough, CT 06447 USA in this document are not binding until they have been confirmed with us. Print: Schneider Electric Motion USA www.motion.schneider-electric.com Photos: Schneider Electric Motion USA

Date : 03 / 2014

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