MForce Drives and Stepper Motors - KOCO MOTION€¦ · stepper motors, MForce is a very compact,...
Transcript of MForce Drives and Stepper Motors - KOCO MOTION€¦ · stepper motors, MForce is a very compact,...
MForce Drives and Stepper Motors
Catalog
NEMA 14, 17, 23 and 341.8° 2-phase stepper motors
MForce stepper motor drivesMicroDrive and PowerDrive
© Schneider Electric Motion USA All Rights Reserved. REV062512 For the most recent product information, go to www.motion.schneider-electric.com
Product offer Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 2
MForce Step/direction with SPI interface Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 6
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 8
Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 10
Part numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 11
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 12
MForce Motion Control, RS-422/485 programmable Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 14
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 16
Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 18
Part numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 19
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 20
MForce stepper motor drives for CANopen Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 22
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 24
Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 28
Part numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 29
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 30
2-phase stepper motors Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 32
Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 33
Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 35
Part numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 37
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 38
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 40
Accessories Interface software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 42
Connectivity For pulse/direction interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 43 For RS-422/485, programmable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 44 For CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 45
Contents MForce stepper motor drives
MForcestepper motor drivesOverview
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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 confi guring, 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
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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
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MForcestepper motor drivesStep/direction with SPI interface
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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
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MForce stepper motor drivesStep/direction with SPI interface
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" fl ying 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
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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 effi ciency 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.
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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 fi lter functionThe input fi lter is used to fi lter out high frequency electrical noise from the step/direction interface. This results in smooth motion and accurate positioning.
Settings via MForce Step/DirectionThe fi ltering 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).
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Certifi cationsConformity 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 fl uctuation emissions. (Proper use of power supply/mains fi lters 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 fi eld immunityIEC 61000-4-4, electrical fast transient / burst immunityIEC 61000-4-5, surge immunityIEC 61000-4-6, immunity to conducted disturbances induced by RF fi eldsIEC 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 fl anged 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
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MForce stepper motor drivesStep/direction with SPI interface
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 = fl ying 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
Supply voltageN7 = 75 VDC
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
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MForce stepper motor drivesStep/direction with SPI interface
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) fl ying leads
12-pin locking wire crimp connector (1)
P1
0.36(9.1)
I/O & Power I/O & Power I/O, Power & Communication
P2
P2 connector options
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
2-pin locking wirecrimp connector
Power
P4
P4 connector
4-pin locking wirecrimp connector
Motor
MForcestepper motor drivesMotion Control, RS-422/485 programmable
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MForce stepper motor drivesMotion Control, RS-422/485 programmable
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.
Power supply voltageMForce can be operated with a voltage range of:■ 12 to 48 V — MForce MicroDrive■ 12 to 75 V — MForce PowerDrive
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
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MForce stepper motor drivesMotion Control, RS-422/485 programmable
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 Motion Control
Connector Assignment StylesP1 Power input and
multifunction interface16-pin wire crimp (1), 7-pin terminal strip or 12" fl ying 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
P3 Power input 2-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
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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
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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.
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Characteristics MForce stepper motor drivesMotion Control, RS-422/485 programmable
Certifi cationsConformity 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 fl uctuation emissions. (Proper use of power supply/mains fi lters 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 fi eld immunityIEC 61000-4-4, electrical fast transient / burst immunityIEC 61000-4-5, surge immunityIEC 61000-4-6, immunity to conducted disturbances induced by RF fi eldsIEC 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 fl anged 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 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)
8 sourcing or sinking outputs/inputs (or 4 with remote encoder interface option)
When defi ned as inputs VDC 0 to +24Input current (typical at +24VDC) mA 1.75 maximum
When defi ned 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-specifi c
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
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MForce stepper motor drivesMotion Control, RS-422/485 programmable
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 = fl ying 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
MForce version17 = MicroDrive
M F I 1 F R D 1 7 N 4
Supply voltageN4 = 48 VDC
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
Supply voltageN7 = 75 VDC
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)
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)
P3
P1 P4
P2
16-pin locking wire crimp connector (1)
0.14(3.6)
0.20(5.0)
P1
MForce stepper motor drivesMotion Control, RS-422/485 programmable
Dimensions
(2) Products with optional remote encoder interface have a 20-pin connector at P1.
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)
P1
0.44(11.2)
P1
12.0(304.8)
P1 connector options
7-pin non-locking spring clamp terminal strip
12.0" (305mm) fl ying leads
I/O & Power I/O & Power Expanded I/O & Power
P2
P2 connector options
10-pin non-locking IDC connector
P3
P3 connector
4-pin locking wire crimp 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
12-pin locking wirecrimp connector
Communication
P3
P3 connector
2-pin locking wirecrimp connector
Power
P4
P4 connector
4-pin locking wirecrimp connector
Motor
P2
10-pin friction lock wire crimp connector
Communication Communication
MForcestepper motor drivesfor CANopen
22
MForce stepper motor drivesfor CANopen
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.
Power supply voltageMForce can be operated with a voltage range of:■ 12 to 48 V — MForce MicroDrive■ 12 to 75 V — MForce PowerDrive
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
P3 Power input 2-pin wire crimp
P4 Motor interface 4-pin wire crimp(2) Products with optional remote encoder interface have a 20-pin connector at P1.
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 CANopen
Connector Assignment StylesP1 Power input and
multifunction interface16-pin wire crimp (1), 7-pin terminal strip or 12" fl ying leads
P2 Communication interface DB9
P3 Motor interface 4-pin wire crimp(1) Products with expanded features have 16-pin connector at P1.
MForce stepper motor drivesfor CANopen
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
Profi le positionIn the operating mode "Profi le Position", the motor is positioned from a point A to apoint B with a positioning command.
SettingsThe positioning path can be specifi ed 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 fi eldbus for CANopen or PC.
1.200 Inc
500 Inc500 Inc
0700 Inc
0
Operating mode “Profi le Position”, absolute and relative
25
Functions MForce stepper motor drivesfor CANopen
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 defi ned position on the axis. Theposition is defi ned 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 fi rst movement counterclockwise■ Movement to HOME reference switch with fi rst 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
Functions MForce stepper motor drivesfor CANopen
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 defi ned 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.
Reference value settingThe reference value is set via fi eldbus for CANopen or PC.
Application exampleSetting a reference before switching to “Profi le Position” mode.
27
Functions MForce stepper motor drivesfor CANopen
Profi le velocityIn operating mode "Profi le 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 specifi ed or the operating mode is changed.
Reference value settingThe reference value is set via fi eldbus for CANopen or PC.
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
Profi le velocity
Additional functionsAdditional functions can be activated via fi eldbus for CANopen or PC:■ Programming inputs/outputs■ Setting motion profi le via profi le generator■ Triggering “Quick Stop” function■ Fast position capture via signal input (Capture)
28
Characteristics MForce stepper motor drivesfor CANopen
Certifi cationsConformity 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 fl uctuation emissions. (Proper use of power supply/mains fi lters 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 fi eld immunityIEC 61000-4-4, electrical fast transient / burst immunityIEC 61000-4-5, surge immunityIEC 61000-4-6, immunity to conducted disturbances induced by RF fi eldsIEC 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 fl anged 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 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)
8 sourcing or sinking outputs/inputs (or 4 with remote encoder interface option)
When defi ned as inputs VDC 0 to +24Input current (typical at +24VDC) mA 1.75 maximum
When defi ned 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)
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
29
MForce stepper motor drivesfor CANopen
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 = fl ying 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
MForce version17 = MicroDrive
M F I 1 F C B 1 7 N 4
Supply voltageN4 = 48 VDC
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
Supply voltageN7 = 75 VDC
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)
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)
P4
P3
P1
P2
16-pin locking wire crimp connector (1)
0.14(3.6)
0.20(5.0)
P1
MForce stepper motor drivesfor CANopen
Dimensions
(2) Products with optional remote encoder interface have a 20-pin connector at P1.
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)
P1
0.44(11.2)
P1
12.0(304.8)
P1 connector options
7-pin non-locking spring clamp terminal strip
12.0" (305mm) fl ying leads
I/O & Power I/O & Power Expanded I/O & Power
P2
P2 connector
DB9 connector
P3
P3 connector
4-pin locking wire crimp 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
2-pin locking wirecrimp connector
Power
P4
P4 connector
4-pin locking wirecrimp 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 fl at 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 fl ying leads
Round shaft Single-end or differential
M-17•Round shaft with single fl at 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 fl ying leads
Flat feature extending to rear end bell
Single-end or differential
M-22•Round shaft with single fl at feature
Ø 0.25 Ø 6.35 Ø 1.50 Ø 38 2.22 56.4 1.772.132.99
455476
2-phase full coil for bi-polar operation
4 fl ying leads
Flat feature extending to rear end bell (2)
Single-end or differential
M-34•Round shaft with single fl at feature
Ø 0.554 Ø 14.0 Ø 2.874 Ø 73 3.386 86.0 2.483.154.72
6380120
2-phase full coil for bi-polar operation
4 fl ying leads
Flat feature on round shaft
Single-end or differential
(1) Optional rear shaft available except for NEMA23 2.4amp motors. (2) Optional rear shaft on NEMA23 6.0amp motors is round without a fl at feature.
Characteristics Stepper motors1.8° 2-phase
34
Stepper motors1.8° 2-phase
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
Stepper motors1.8° 2-phase
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)
Speed in full steps per second (rpm)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
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)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
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)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
M-2218-3.0• (2) M-2222-3.0• (2) M-2231-3.0• (2)Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
225 (159)
175 (124)
125 (88)
75 (53)
25 (18)
00
24VDC45VDC75VDC
2000(600)
4000(1200)
6000(1800)
Stepper motors1.8° 2-phase
Performance
225 (159)
175 (124)
125 (88)
75 (53)
25 (18)
00
24VDC45VDC75VDC
2000(600)
4000(1200)
6000(1800)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
M-2218-6.0• (3) M-2222-6.0• (3) M-2231-6.0• (3)Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
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)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
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)
M-3424-6.3• (3) M-3431-6.3• (3) M-3447-6.3• (3)Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
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)
Torque in Oz-In (N-cm)
Speed in full steps per second (rpm)
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.
Stepper motors1.8° 2-phase
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)
Stepper motors1.8° 2-phase
Dimensions
NEMA14, dimensions in inches (mm)
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
NEMA23, dimensions in inches (mm)
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)
NEMA34, dimensions in inches (mm)
LM-3424-6.3• 2.48 (63)M-3431-6.3• 3.15 (80)M-3447-6.3• 4.72 (120)
Stepper motors1.8° 2-phase
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.
MForcestepper 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
■ P4 Motor interface 4-pin connector 10.0 (3.0) PD04-MF34-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
■ P4 Motor interface 4-pin connector 5 CK-07
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
Connector Style Assignment
P1 7-pin terminal strip or 12" fl ying leads
Power and multifunction
12-pin wire crimp* Power, multifunction and communication
P2 10-pin IDC or none*
Communication
P3 4-pin wire crimp Motor
*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
Connector Style Assignment
P1 7-pin terminal strip, 12" fl ying leads or 16-pin wire crimp
Power and multifunction
P2 10-pin wire crimp or 10-pin IDC
Communication
P3 4-pin wire crimp Motor
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 Step/Direction■ 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
■ P3 Motor interface 4-pin connector 10.0 (3.0) PD04-MF17-FL3
MForce PowerDrive Step/Direction■ 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
■ P4 Motor interface 4-pin connector 10.0 (3.0) PD04-MF34-FL3
Description Sold in lots of Part numberConnector kitsConnectors for assembly of cables. Cable not supplied.MForce MicroDrive Step/Direction■ 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
■ P3 Motor interface 4-pin connector 5 CK-06
MForce PowerDrive Step/Direction■ 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
■ P4 Motor interface 4-pin connector 5 CK-07
in-line converter
USB connector
10-pin connector
MD-CC400-001
P2
P1
P3
MForce PowerDrive Motion Control
Connector Style Assignment
P1 14- or 20-pin wire crimp Multifunction
P2 10-pin wire crimp Communication
P3 2-pin wire crimp Power
P4 4-pin wire crimp Motor
P2
P1
P4
P3
10-pin connector
in-line converter
USB connector
MD-CC402-001
45
P2
P1
P3
MForce MicroDrive CANopen
Connector Style Assignment
P1 7-pin terminal strip, 12" fl ying leads or 16-pin wire crimp
Power and multifunction
P2 DB9 Communication
P3 4-pin wire crimp Motor
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 fi eldbus 12.0 (3.6) MD-CC500-000
Description Length feet (m) Part numberCablesPre-wired mating connector with other cable end open.MForce MicroDrive Step/Direction■ P1 Power and multifunction
interface16-pin connector 10.0 (3.0) PD16-1417-FL3
■ P3 Motor interface 4-pin connector 10.0 (3.0) PD04-MF17-FL3
MForce PowerDrive Step/Direction■ 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
■ P4 Motor interface 4-pin connector 10.0 (3.0) PD04-MF34-FL3
Description Sold in lots of Part numberConnector kitsConnectors for assembly of cables. Cable not supplied.MForce MicroDrive Step/Direction■ P1 Power and multifunction
interface16-pin connector 5 CK-10
■ P3 Motor interface 4-pin connector 5 CK-06
MForce PowerDrive Step/Direction■ P1 Multifunction interface 14-pin connector 5 CK-09
20-pin connector 5 CK-11■ P3 Power interface 2-pin connector 5 CK-05
■ P4 Motor interface 4-pin connector 5 CK-07
DB9 connector
USB connector
CAN +VCAN -V(ground)+7 to +30 VDCpower supply
12 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
12
MD-CC500-000
MForce PowerDrive CANopen
Connector Style Assignment
P1 14- or 20-pin wire crimp Multifunction
P2 DB9 Communication
P3 2-pin wire crimp Power
P4 4-pin wire crimp Motor
P2
P1
P4
P3
46
TWENTY-FOUR MONTH LIMITED WARRANTY
Schneider Electric Motion USA warrants only to the purchaser of the Product from Schneider Electric Motion USA (the "Customer") that the product purchased from Schneider Electric Motion USA (the "Product") will be free from defects in materials and workmanship under the nor-mal use and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the Customer. Customer's exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company's sole option, of the Product, or any part of the Product, determined by Schneider Electric Motion USA to be defective. In order to exercise its warranty rights, Customer must notify Company in accordance with the instructions described under the heading "Obtaining Warranty Service".
NOTE: MDrive Motion Control electronics are not removable from the motor in the fi eld. The entire unit must be returned to the factory for repair.
This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the Product; installation, operation or use of the Product not made in strict accordance with the specifi cations and written instructions provided by Schneider Electric Motion USA; use of the Product for any purpose other than those for which it was designed; ordinary wear and tear; disasters or Acts of God; unauthorized attach-ments, alterations or modifi cations to the Product; the misuse or failure of any item or equipment connected to the Product not supplied by Schneider Electric Motion USA; improper maintenance or repair of the Product; or any other reason or event not caused by Schneider Electric Motion USA.
IMS SCHNEIDER ELECTRIC MOTION USA HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. CUSTOMER'S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS STATED ABOVE, AND IN NO EVENT WILL SCHNEIDER ELECTRIC MOTION USA BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES IN CON-NECTION WITH THE PRODUCT.
This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This Limited Warranty is the sole warranty offered by Schneider Electric Motion USA with respect to the Product. Schneider Electric Motion USA does not assume any other liability in connection with the sale of the Product. No representative of Schneider Electric Motion USA is authorized to extend this Limited Warranty or to change it in any manner whatsoever. No warranty applies to any party other than the original Customer.
Schneider Electric Motion USA and its directors, offi cers, employees, subsidiaries and affi liates shall not be liable for any damages arising from any loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production or profi ts, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages, whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory, or other losses or expenses incurred by the Customer or any third party.
OBTAINING WARRANTY SERVICE
If the Product was purchased from an Schneider Electric Motion USA Distributor, please contact that Distributor to obtain a Returned Material Authorization (RMA). If the Product was purchased directly from Schneider Electric Motion USA, please contact Customer Service at [email protected] or 860-295-6102 (Eastern Time Zone).
Customer shall prepay shipping charges for Products returned to Schneider Electric Motion USA for warranty service, and Schneider Electric Motion USA will pay for return of Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for Products returned to Schneider Electric Motion USA from outside the United States.
Warranty
DISCLAIMER: The information in this document has been care ful ly checked and is believed to be accurate; however, no responsibility is as sumed for inaccuracies.
Schneider Electric Motion USA reserves the right to make changes without further notice to any products herein to im prove reliability, function, or design. Schneider Electric Motion USA does not as sume any liability arising out of the application or use of any product or circuit de scribed herein; neither does it convey any license under its patent rights of others.
The general pol i cy of Schneider Electric Motion USA does not recommend the use of its products in life support or aircraft ap pli ca tions wherein a failure or mal func tion of the product may directly threaten life or in ju ry. Per the terms and conditions of sales of Schneider Electric Motion USA, the user of Schneider Electric Motion USA products in life support or aircraft ap pli ca tions assumes all risks of such use and indemnifi es Schneider Electric Motion USA against all damages.
© Schneider Electric Motion USA All Rights Reserved. REV062512Product Disclaimer and most recent product information online.
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