stepping motor control amplifier

S T E P P I N G M O TO RC O N T R O L A M P L I F I E R B OA R D S

A N D E Q U I P M E N T

A product of Wild & Grabmaier Feinmechanik und Elektronik KG

YOU NEED TOMOVE

CONTROLPOSITION ?

WE HAVE THE IDEAL

SOLUTION FOR YOUR MOTION APPLICATION!

Edition: October 2000All rights reserved

Without written approval we don’t allow any reprint and partial copying.We reserve the right to make engineering changes, refinements and improvements to all products described herein.

Mechanical and electrical ratings and dimensions are, therefore, subject to change without notice.No liability whatsoever is accepted.

A product of Wild & Grabmaier Feinmechanik und Elektronik KG

Zebotronics Schrittmotoren GmbHMachtlfinger Strasse 24 81379 München

Tel: (089) 15904070 Fax: (089) 15904079

E-Mail: [email protected] Internet: http://www.zebotronics.de

3Index

4 General product overview

4 Control amplifier boards

4 Overview stepping motor power amplifier boards

5 General function principle - step resolution and max. load angle (accuracy of positioning)

5 General specifications Zebotronics - power amplifier boards

6 Standard - series SE ... V1. and series SE ...E50 V1. (with control of load angle - E50)( I : 0 until 12 A , U : 24 until 240 VDC , step angle : 200,400,500,800,1000 steps/rev. )

12 Microstepping series SE P05... ( I : 0 until 12 A , U : 24 until 240 VDC , step angle : 200 until 12800 steps/rev. )

14 Equipment

14 Mother boards for installing power amplifier boards into 19 inch / 3HE systemsRP2/L60 for power amplifier board series SE 2..

15 RP/L60 for standard power amplifier boards with 32-pole standard connector RP/LE50 for power amplifier boards with 31-pole mixed connector

16 Power supplies from 24VDC/350VA until 120VDC/1000VA

17 Power amplifier boards with front panel series SEF... for installing into 19 inch systems

17 Board holder for power amplifier boards

18 Panel mount systems series ELK with power supply and plug ports forpower amplifier boards series SE... V. or position controls series SERS

19 Stepping motor - position controls

19 Series SERSFree programmable with microstepping power amplifier (12800 steps/rev.) ( I : 0 until 12 A , U : 24 until 240 VDC , interfaces : RS232, RS485, Profibus-DP, CAN open, SERCOS )

General product overview4

Overview stepping motor power amplifier boards

Overview power amplifier boards

General specifications Zebotronics - power amplifier boards:

Q All boards can be configurated easily via solder bridges (e.g. selction of step angle, Low/High-active or enabling currentreduction at motor stand still)

Q The integrated load angle control of the series SE ... E50 V.. together with a stepping motor with mounted encoder E50enables the control of a mechanical overload of the stepping motor. Therefore the load angle of the stepping motor willbe controlled.

Q LEDs provide easy diagnostics of error and status. During operation the phase status is indicated via four red LEDs. An electrical error - short circuit, over temperature or under voltage - is indicated via a yellow LED.At the series SE ...E50 V1 a mechanical error (exceeding the max. load angle e.g. in case of a mechanical overload) will be indicated via an additional yellow LED.

Q Error signals (respective the ready signal) are provided as outputs free of potential (relay output).

Q Zebotronics power amplifer boards are plug compatible to each other and also to former series SE 11 ...60 and SE ...120.Series SE ...E50 V1.. is compatible to the former series SE...E50 and SE...E50D. Series SE...V1.. is compatible to theformer standard series SE... (e.g. SE 400.06.60) and to the series SE...B2.

5Zebotronics stepping motor power amplifier boards

General function principle - step resolution and max. load angle (accuracy of positioning)

At motor stand still, in case of a load (torque Md), the

motor shaft will be moved the angle ϑϑ out of its zero

position. The maximum possible movement

away from the zero position is -1.8° at

-Mmax and +1.8° at Mmax

independent of the step reso-lution and 2, 3 or 5 phases (!!!)(in case of a rotor with 50 teeth)

Switching onwards the stator field shown in a load angle - operating torque - diagram :

Load angle: Excursion ϑϑ of the rotor to the zero position determinedby the stator field, in case of a torque Md at the motor shaft

Current characteristics at halfstep (400 steps/rev.)

Current characteristics atmicrostep (12800 steps/rev.)

A stepping motor having 50 teeth on the rotor surface (motor with 50 poles)produces every 7,2° (mechanically) a stabile position (zero position) atmotor stand still - regardless the number of phases (2, 3 or 5 phases)!The zero position is determined by the stator field. The stator field is movedfrom the power amplifier »step by step« and the rotor follows the stator field.In case of big steps (full step - 200 steps/rev. , half step - 400 steps/rev.) andlow speed the motor is running rough with strong vibrations. Smaller stepsresult in smoother running. At high step resolutions (e.g. 12800 steps/rev.)there will be a very smooth true running without vibrations.

Switching onwards the stator field - shown in a field-vector-diagram :

Stepping motor control amplifier board series SE...V1 and SE...E50 V16

General notes

Q Control of 2-phase-stepping motors

Q Compatible with Zebotronics standard amplifier boards series SE ...., SE ... E50, SE ... E50 D.

Q Supply voltage - nominal voltage : 24 VDC to 240 VDC

Q Phase current range 0 A/phase - 14,5 A/phase

Q Boards SE ... E50 V1.. with integrated load angle control - together with Zebotronics E50 encoder (50 impulses per channel and revolution) at the motor ( also available SE ... E200 V1.. for HP H200 encoder - 200 impulse per channel and revolution)

Q Protection against shortcircuit, overtemperature and undervoltage

Q Via solder bridges adjustable step angles: 200, 400 , 500 , 800 and 1000 steps per revolution

Q EMC according to EN55011 class B and EN50082-2

Versions - connector system and signal level of the inputs

Q SE ... E50 V11 : Encoder connections via 9 pole D-Sub , all other signals and connections via 32 pole male connector (DIN 41612 type D) and SPS(PLC)-input signal level

Q SE ... E50 V12 : All signals and connectors (incl. encoder signals) via 31 pole male connector (mixed connector) (DIN 41612 type H7F24) and SPS(PLC)-input signal level

Q SE ... E50 V13 : Encoder connections via 9 pole D-Sub , all other signals and connections via 32 pole male connector (DIN 41612 type D) and TTL-input signal level

Q SE ... E50 V14 : All signals and connectors (incl. encoder signals) via 31 pole male connector (mixed connector) (DIN 41612 type H7F24) and TTL-input signal level

Q SE ... V11 : All signals and connections via 32 pole male connector (DIN 41612 type D) and SPS(PLC)-input signal level

Q SE ... V13 : All signals and connections via 32 pole male connector (DIN 41612 type D) and TTL-input signal level

Dimensions series SE... V11/13

Dimensions series SE...E50 V11/13

SE... V11/13

SE...E50 V11/13

Dimensions series SE...E50 V12/14

Selectable adjustmentsAll adjustments can be made via (marked)solder bridges on the rearside of the logicboard.

marker denotes standard adjustment

R open: automatic current reduction 50% standstill openclosed: no current reduction

W0,W1 step angle adjustment (see table below)

M open: a mechanical error will be signaled. open(SE ... E50 V1..) closed: a mechanical error will be ignored.

M marker must be closed. closed(SE ...V1..)

F internal function

L-H L open, H closed: input signals HIGH - active H closed(The rising edge of the pulse signal is significant)L closed, H open: input signals LOW-active(The falling edge of the pulse signal is significant)

! Attention: Don’t close L and H ! ( short circuit! )

Automatic current reduction ( marker »R« open )The phase current - adjustable via potentiometer- is set for nominal operation. If marker »R« is open, the phase current will be redu-ced by 50% at standstill of the motor. The first pulse increases the phase current again to the adjusted nominal value. At active Resetinput, the current reduction will be disabled.

Step angle adjustmentsvia marker W0 and W1

X = Marker closed0 = Marker open

W1 W0 steps per revolution

0 0 8000 X 400X 0 1000X X 500

selectable adjustments series SE ...V1.. and SE ... E50 V1..

7Stepping motor control amplifier board series SE...V1 and SE...E50 V1

SE...E50 V12/14


Current adjustment

Ex factory the amplifier board is set to the nominal current. If required the motor phase current can be changed. To change thephase current the Reset input has to be set. Then only LED »0« is active (see below figures with LEDs) ! When measuring point B against point GND there can be measured a voltage which is proportional to the phase current. 300 mV corresponds to the nominal current of the amplifier board. Meaning that the phase current is set to 4A/Ph. at an amplifierboard type SE 400.04.60 E50 V14, if the voltmeter shows 300mV. 225mV corresponds to 3A/Ph. The exceptions are amplifierboards with a nominal current of 8 A/Ph. - see table below. The phase current can be adjusted via the potentiometer on the board’s frontside.

Supply voltageMaximum allowed supply voltage: Nominal voltage of control amplifier board plus 15% (mains fluctuations!)The nominal output voltage of the power pack unit ( = supply voltage of control amplifier board) may not be higher than the nomi-nal supply voltage of the control amplifier board.for example: Calculation of a power pack unit for a SE 800.06.120 E50 V13 :

Output voltage of power pack = 120 VDC (and not (!) 138 VDC = 120 VDC + 15%)

Working range - supply voltage (see diagram with Ready signal on page 9)

UB and UM + 5%

SE ... V11 and SE ... V13

[A/Ph]

1,251

0,750,50

1.4

%

125%100%75%50%

measured voltage

375 mV300 mV225 mV150 mV

[A/Ph]

5432

5.6

[A/Ph]

7,56

4,53

8.4

[A/Ph]

151296

14.5

[A/Ph]

10864

11.2

measured volt.

333 mV 267 mV200 mV133 mV

phase cur rent

nominal currentfor example:

1 A/Ph.SE 400.01.24

V13

4 A/Ph.SE 400.04.85

E50 V12

6 A/Ph.SE 500.06.85

V11

12 A/Ph.SE 800.12.120

E50 V14

8 A/Ph.SE 800.08.120

E50 V13

(Nominal-) supply voltagecontrol amplifier board [VDC]

24

60 and 85

120

240

UB [VDC] (Motor enabled)

18

43

50

120

UM [VDC]

16

32

38

100

8

SE ... E50 V12 and SE ... E50 V14 (above)SE ... E50 V11 and SE ... E50 V13 (below)

max. adjustable current A/Ph.

(Motor current on)


Rising time max.: 1µs , Fall time max.: 1µs , frequency pulse max.: 45 KHz

Ready signal potential free contact

mechanical error

electrical error

mechanical error

a12

z2

Ready signal - electrical errorpotential free contact

OutputsSE ... E50 V12 and SE ... E50 V14 :

electrical error / Ready signal: Is indicated in case of undervoltage, shortcircuit or overtemperature. In non-error-condition the relay contact is closed.

mechanical error : Indicates a load angle error of the stepping motor (load angle > 7,2°). In non-error-condition the relay contact is closed.

Phase zero: Indicates the electrical zero-position (every 7,2° - mechanically) - open collector output.(no figure)

SE ... E50 V11 and SE ... E50 V13 :Ready signal: Is indicated in case of an electrical or mechanical error

(for error definition see SE ... E50 V12)In non error condition the relay is closed.

SE ... V11 und SE ... V13 :electrical error / Ready signal: For error definition see SE ... E50 V12

c12

a12

c12b2

Inputs

Boost: Increases the phase current by 20%.Disable: Switches off the phase current.

Reset: Sets the unit in zero position - phase zero. A pulse signal is ignored and errors are reset.Direction: Controls the motor direction.

Pulse: With every pulse the motor will execute one step.Step angle: Divides the step resolution by two from 1000 or 800 to 500 or 400 steps per revolution.

The input is always LOW-active - works only with open marker W0. Change direction: Turns the motor direction - coordination between the motor direction and the signal Direction.

(only SE ... E50 V12 The signal is always Low-active.and SE ... E50 V14)

Circuits of the otherinput signals are

equal to the circuitof the signal

Direction

I = 100mAU = 50 VDC

Output signal SE...E50 V11 and SE...V13

Output signal SE...E50 V12 and SE... V14

9

Output signal SE...V11 and SE...V13

Timing Ready signal

I = 100mAU = 50 VDC

I = 100mAU = 50 VDC

Input signals

Input circuit e.g.: HIGH-active Input signals SPS(PLC) - V11 and V12 Input signals TTL - V13 and V14

electrical error

Ready signal - electrical error


24

26

28

30

32

Output Ready signalpotential-free contactopen: error (electrical or mechanical)closed: no error

Connections SE ... E50 V11 and SE ... E50 V1332 pole male connector DIN41612 type D

Connections SE ... E50 V12 and SE ... E50 V1431 pole male connector DIN41612 type H7F24

Compatible with motherboard RP/L E50

Compatible with motherboard RP/L 60

Pin connection

1 A

2 +5VDC

3 n. c.

4 shield

5 B

6 A_

7 n. c.

8 GND

9 B_

Stepping motor control amplifier board series SE...V1 and SE...E50 V1 11

Connections SE ... V11 and SE ... V1332 pole male connector DIN41612 type D

Unused inputs of the series SE ... E50 V1.. and SE ... V1.. may stay open, there is no need to connect to an external potential.

Protection of the deviceProtection IP 00Protection against shortcircuit, overtemperature and undervoltage

Weight nominal current 1 A/Ph 4 A/Ph 6 A/Ph 8 A/Ph 12 A/Phweight 0,2 Kg 0,52 Kg 0,77 Kg 1,1 Kg 1,1 Kg

Ambient conditions

Ambient temperature : 0°C to 50°Cmax. heat sink temperature : 85°CForced draft: Necessary for power amplifier cards with nominalcurrent 8A and 12A

Available types: Example: SE 800.06.120 E50 V14 or SE 1000.04.85 V13

Noise immunityIn case of correct installation:according to EN50082-2: - at V13 and V14 (TTL-level) the signal inputs

are not immune to fast transients (burst)

Noise radiation In case of correct installation and shielding or/and filtering of the lines and signals according to EN55011 class B

Specifications

Compatible with motherboard RP/L 60

Series SE P05 - Microstep12

Q Resolutions adjustable and externally switchable

Q Excellent truth micro stepping over the entire velocity range

Q Electrically and mechanically compatible to standard Zebotronics amplifier boards (SE 11... , SE... , SE...V13..)

Q Shortcircuit, overtemperature and undervoltage protected

Q Voltage range from 24 VDC to 240 VDC

Q Current range from 0 A / Ph. to 14,5 A / Ph.

Q Constant torques in all pre-selected resolutions

Q Resolutions from 200 to 12800 steps per revolution

AdjustmentsVia solder bridges on the rearside of the control board:

Input circuits

The circuit and the levels of the other inputs are equivalent to »Direction« Max. pulse frequency : 200 kHz

All dimensions, input- and output signals (except input circuits), current adjustments, supply voltage and connections areidentical to the series SE...V1... (see page 6 to 11)

Example: HIGH - active Inputs SPS(PLC)-level Inputs TTL-level

marking denotes

S0, S1 internal function

C0 - C3 selection of step angle ( see table page 13 )

C4 internal function

W activates row »Pin a2 active« of step angle table on page 13 Pin a2 (external switching of step angle) is deactivated

SPS open: "TTL"- input levelclosed: "SPS"- input level

R automatic current reduction (see SE...V1... page 7)

L open: signals High-active - closed signals : Low-active

o

o

oo

oo

oo

oo

oo

oo

oo

oo

oo

o

o

ooo

oo

oo

oo

o

oo

oo

oo

o

oo

oo

oo

oo

oo

oo o

ooo

oo

oo

oo

oo

oo

oo

o

o o

o

o o

o

Input signals

SE P05 Microstep

selectable adjustments

Series SE P05 - Microstep 13

Step angle adjustment on the boardDifferent step angles can be selected via the markings C0, C1, C2 and C3. With the input »step angle« (Pin a2) the step angle canbe switched externally between two values (only if marker »W« is open !). During motion, switching the step angle is possible within themotor start-stop - frequency. When changing simultaneously the pulse frequency, switching the step angle is possible at any frequency.

Markings for selection of step angleX = Marking closed, else = Marking open

Resolutions switchable externallysteps per revolution

PIN a2

C3

XXXXXXXX

not active

2000

25003200

4000

5000

8000

10000

12800

active

200400500800400800

1000500

1000800

2000400

10002000800

1600

C2

XXXX

XXXX

C1

XX

XX

XX

XX

C0

X

X

X

X

X

X

X

X

Available types:Example: SE P05.06.85

Protection of the deviceProtection IP 00Protection against shortcircuit, overtemperature and undervoltage

Weight nominal current 1 A/Ph 4 A/Ph 6 A/Ph 8 A/Ph 12 A/Phweight 0,2 Kg 0,52 Kg 0,77 Kg 1,1 Kg 1,1 Kg

Ambient conditions

Ambient temperature : 0°C to 50°Cmax. heat sink temperature : 85°CForced draft: Necessary for power amplifier boards with adjustedcurrent from 5A

Noise immunityIn case of correct installation:according to EN50082-2: - at TTL-level the signal inputs are

not immune to fast transients (burst)

Noise radiation In case of correct installation and shielding or/and filtering of the lines and signals according to EN55011 class B

Specifications

There are availablemore step angles !Please ask at oursales office.

There are three different motherboards for mounting the control amplifier boards into 3 HE - 19’’ racks.

RP2/L60

Figure with mother board RP2/L60 and two stepping motors with cast connection box

Zebotronics mother boards14

Type used for

RP2/L60 2-axis board SE 2.800.04.36

RP/L60 control amplifier board with 32 pole connectors - series SE...V1.., SE...E50 V11, SE...E50 V13, SE P...

RP/LE50 control amplifier boards with 31 pole mixed connector - Series SE...E50 V12 and SE...E50 V14

RP2/L60

Figure with mother board RP/L60 and a stepping motor with cast connecting box(the shown colours of the leads refer to a stepping motor with leads)

Figure with mother board RP/LE50 and a stepping motor with encoder (E50)

RP/LE50

RP/L60

Zebotronics mother boards 15

RP/L60

RPLE50

Stepping motor

Power supply key:Example: The order number of a power supply with output 120 VDC and 500 VA power is NT 500.120Power supplies for 115 VAC 50/60 Hz mains supply are available, too.

NT 1000...

NT-power supplies are non stabilized voltage supplies - fixed on an aluminium-mounting plate. A couple of control amplifier boardscan be supplied by one NT-power supply. The calculation of a power supply depends on the used motors - by taking into conside-ration the maximum load current (which also depends on the motor speed).

NT 350...NT 500...

Zebotronics power supplies16

Type Power Mains supply Output

NT 350 350 VA 230 VAC 50/60 Hz 24, 36, 60, 85 or 120 VDC

NT 500 500 VA 230 VAC 50/60 Hz 24, 36, 60, 85 or 120 VDC

NT 1000 1000 VA 230 VAC 50/60 Hz 60, 85 or 120 VDC

In the standard version a 120 VDC power suppliy includes a 60 VDC and a 120 VDC output.

Dimensions NTPower supply NT500.120

Zebotronics front panels and boards holder 17

Front panelsSEF-front panels for mounting 19 ’’ units (3 HE) are available for all Zebotronics control amplifier boards. In addition to the optical board function control there are two further functions on the front panel for easy adjustments.

Q The adjustment of the motor current can be made direct on the front panel.

Q Simultaneously the motor current can be measured at two sockets.

Board holder KH D32Q Comfortable mounting of control amplifier boards into a switch cupboard

Q Suitable for all Zebotronics control amplifier boards up to 12 A, with 32-pole connector.

Q Automatic locking

Q Easy mounting

Q Easy exchange of boards

Q Adjustment of current and LED indication are not covered

Q Ideal for test operation

Front panel key:Add a »F« to the type designation of the chosen control amplifier board.Example: The type designation of a SE 400.06.85 V13 with front panel will be SEF 400.06.85 V13

Dimensions board holder - with control amplifier board

Dimensions Control amplifier board with front panel

The panel mount (19 inch rack) system series ELK is a mains ready single or multiple axis stepping motor control which can bemounted e.g. in a switch cabinet and can be connected easily via screw terminals. ELK-systems include plug ports for Zebotronicsamplifier boards series SE...[E50] V11/V13 with 32-pole connector VG (DIN 41612 type D).SERS and SERC position controls from STÖGRA also can be pluged into ELK-racks. Each power amplifier plug port additionally includes a plug port for a ventilator. In that way ventilators can be installed easily alsolater.All connections (mains, motor and control signals) are via screw terminals.ELK racks are available with and without integrated power supply. (Connection to 230VAC/50Hz - also available for 115 VAC/60Hz).

Zebotronics panel mount system series ELK18

Available versions:ELK2 with 1 plug port and power supply:

Options for ELK3:

Q ELK3 without power supply and connection for external DC-supply and 3 plug ports

Options for ELK4:

Q ELK4 without power supply and connection for external DC-supply and 4 plug ports inclusive plug ports for ventilators

Q ELK4 without power supply and connection for external DC-supply and 5 plug ports without plug ports for ventilators

Zebotronics panel mount system series ELK 19

ELK4 with 3 plug ports and power supply:

ELK type key:

ELK3 with 2 plug ports and power supply:

Position controls - series SERS20

Position control with Microstepping and RS232/RS485/Profibus-DP/CAN open or SERCOS-interface.The stepping motor position controls series SERS are for driving 2-phases-stepping motors. A unit consists of a power amplifier, microstepping power amplifier control and the position control. The position control can be programmed via the interface.The SERS guarantees excellent truth running because of its microstepping operation with 12800 steps/revolution and the possibili-ty to set the current characteristics to match the characteristics of the used stepping motor type. The rough step by step operationof conventional stepping motor drives at low speed ranges has been improved extremely by the SERS to a very smooth running(comparable with servo motors). In standard version the SERS can be operated in four different modes:

Serial modeOperation with a PC/PLC/NC as higher order control (master)and communication via the serial fieldbus with SERS - Slaves

Master modeOperation with a SERS as higher order intelligent control (mas-ter), which controls other SERS - slaves via the serial interface.

Parallel modeOperation with a PLC/NC as higher order control, which callsand starts different operational programs in the SERS via thedigital-parallel inputs. Up to 64 different operational programsper SERS can be called.

Standalone modeOperation with SERS- slaves as independent working axis, with stored operational programs, controlled by events at the digitalinputs - e.g. manual start switch, limit switch, light barriers.

Optionally to control/program the SERS by PC, the handprogramming device “SERS-Programmer” is available.

SERS 01.24 V01Phase current: 0 until 1,4 A/PhPower supply: 24 VDC

Q optionally SERS 01.85 V01with 85 VDC is available


Q optionally SERS 06.24 V01and SERS 06.120 V01 with24 VDC/120 VDC is available


Q optionally SERS 12.85 V01and SERS 12.240 V01 with85 VDC/240 VDC is available

Ordering key:

Protection of device:Protection class IP 00 (ELK: IP 20)Protection against shortcircuit, overtemperature and undervoltage

Weight:SERS 01 SERS 06 SERS 120,37 kg 0,77 kg 1,1 kg

Ambient conditions:

Ambient temperature: 0°C - 50°Cmax. heat sink temperature: 85°CForced draft: Necessary from 6A phase current

Noise immunity:In case of correct installation: According to EN50082-2

Noise radiation:In case of correct installation and shielding of the leadsaccording to EN55011 class B

Specifications

Available versions:The four operating modes:

SERS X.Y V01 [RS485] [PB-DP] [CAN]

e.g. SERS 06.85 V01 or SERS 12.120 V01 PB-DP

X: Phase current [A]: 01, 06, 12

Y: Supply voltage [VDC]: 24, 85, 120, 240

V01: Version 01

RS485: with RS485

PB-DP: with Profibus-DP interface

CAN: with CAN open interface

without interface specification �RS232C/V24

Zebotronics Schrittmotoren GmbH Machtlfinger Str. 24

81379 München Tel++49-89-15904070

Fax++49-89-15904079E-Mail [email protected]

Internet URL http://www.zebotronics.de

Documents

stepping motor control amplifier