Summary of Contents for phytron MSX+ 152/120 48F SBM-485
- Page 1 152-120 Stepper Motor Power Stage with ServiceBus MANUAL 2128-A004 EN Extreme. Precision. Positioning.
- Page 2 152-120 Stepper Motor Power Stage with ServiceBus Hardware V1.0 TRANSLATION OF THE GERMAN ORIGINAL MANUAL 5/2019 Manual MA 2128-A004 EN...
- Page 3 / or the devices described herein without prior notification. We appreciate suggestions and criticisms for further improvement. Please send your comments to the following e-mail address: doku@phytron.de You will find the updated version of this manual on the website of www.phytron.de. MA 2128-A004 EN...
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Page 4: Legal Information
1 Legal Information This manual: Read this manual very carefully before mounting, installing and operating the device and if necessary further manuals related to this product. Please pay special attention to instructions that are marked as follows: DANGER –... -
Page 5: Safety Instructions
Manual MSX Observe the following safety instructions! Qualified personnel WARNING – Serious injury possible! Serious personal injury or serious damage to the machine and drives could be caused by insufficiently trained personnel! Without proper training and qualifications, damage to devices and injury might result! - Design, installation and operation of systems may only be performed by qualified and trained personnel. - Page 6 WARNING – Serious injury from electric shock! If the power stage is not operated with SELV/PELV voltages, the risk of dangerous voltages may be on the device. Touching these components carrying high voltages can cause serious injury or death from electric shock: - Always observe the safety concept SELV / PELV to ensure safe insulation and separation of low voltage supplies from the mains.
- Page 7 Manual MSX WARNING - Danger of injury if touching the surface! The surface of the MSX reaches temperatures more than 105 °C during operation. Use protective gloves or avoid touching them. MA 2128-A004 EN...
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Page 8: Table Of Contents
2 Contents 1 Legal Information ........3 10.4 Examples ........43 2 Contents ............ 7 11 Functions ..........45 3 Short Overview – the MSX Power Stage .. 8 11.1 Inputs ..........45 3.1 Accessories ........11 11.1.1 5 V Standard and 5 V RESET Inputs .. -
Page 9: Short Overview - The Msx
Power Stage The power stage type MSX is used for bipolar control of two-phase stepper motors at 15 and 60 to 120 V with Phytron´s well-tried technology, the enhanced 4 quadrant PEAK chopper type current control. The MSX is designed for 19"/3U racks and connected by a 48-pin connector (type F) acc. - Page 10 DC Supply voltage A DC voltage from 60 to 120 V can be connected to the supply voltage pins. Admissible range: 40 to 160 V Electrical isolation The inputs and outputs are optically isolated from the MSD2 power supply.
- Page 11 Manual MSX Options ID number 5V input 10018906 24 V input 10021653 5V output 10015450 RESET Ordering code of the MSX power stage: Ordering code (example): MSX+–152–120–485-Reset power stage with 15.4 A , 120 V power supply, with PEAK ServiceBus and 5 V- and Reset input MA 2128-A004 EN...
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Page 12: Accessories
3.1 Accessories The MSX+ and ServiceBus-Comm manual and the ServiceBus-Comm software can be downloaded from the Phytron website www.phytron.eu. Supplementary parts are available: ServiceBus cable 48-pin connector #10015811 USB-RS485 converter as stick (#10012295) G-MSX V3.0 adaptor board for easy connecting the MSX... -
Page 13: Directives And Standards
Manual MSX 3.2 Directives and Standards CE Mark With the declaration of conformity and the CE Mark on the product, the manufacturer certifies that the product complies with the requirements of the relevant EC directives. The unit, described here, can be used anywhere in the world. EC Machine Directive The drive system, described here, isn´t a machine in the sense of the EC machine directive (2006/42/EC), but a... -
Page 14: Technical Data
4 Technical Data 4.1 Declaration of Incorporation MA 2128-A004 EN... -
Page 15: Mechanical Data
Manual MSX 4.2 Mechanical Data Weight about 940 g Mounting plug-in board into phyMOTION modular stepper motor controller or into the 19“ sub rack SLS Mounting position vertical Dimensions MA 2128-A004 EN... -
Page 16: Features
4.3 Features Characteristics Stepper motor Two-phase 4-, 6- or 8-lead stepper motor winding resistance < 10 Ohm Minimum inductance of a motor phase: 0.5 mH Superior controller Modular phyMOTION controller Operating voltage +U nominal: +60 to 120 V Admissible range: 40 to 160 V Reinforced or double isolation between mains and secondary circuit. - Page 17 Manual MSX Characteristics Cable length – digital 30 m inputs if longer (max. 100 m), shielded cable and connect the cable shield close to the power stage. Diagnostics via ServiceBus Flash memory 10 000 write cycles under normal operating conditions Hardware error over current, detection...
- Page 18 Interfaces Inputs All inputs include an optocoupler with series resistors for 5 V or 24 V-supply voltage. The signals are active, when the optocoupler is energised. Optocoupler input current is about 10 mA for MSX 5 V standard version or...
- Page 19 Manual MSX Interfaces Error Supply voltage < 40 V or > 160 V Overtemperature (T > 85° C) Overcurrent, short circuit The power stage is deactivated in case of an error message. Analogue outputs A, B, C, D for two-phase stepper motor Ambient Conditions Cooling Forced cooling with a fan (50 m...
- Page 20 6-pin, type Tyco Electronics 2-1761605-1/609- 0607 Wiring Min. 75 °C durable copper cables Communication and Programming via Phytron‘s programming environment ServiceBus–Comm Programming Communication Master-slave communication. The MSX power stage is slave and communicates with a main controller of a higher level controller (i.e.
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Page 21: Protective Measure For Power Stage Operation
Manual MSX 5 Protective Measure for Power Stage Operation The MSX must be operated according to VDE 0100 part 200 with protection by automatic disconnection. Therefore, the motor, power stage, `0 V` and each equipment has to be grounded. When protection by automatic disconnection (EN 61140, VDE 0100, part 410) is used for power stages with definite voltage >... -
Page 22: Configuration
Configuration 6.1 Calculation and Connection For calculation and connection of the supply unit, please observe the following instructions: The transformer must be constructed with reinforced or double insulation. The calculation of the fuse F2 depends on the preset phase current and the motor load: Withstand voltage >= 200 V... - Page 23 Manual MSX The power indications for the transformer and the load capacitor are "worst-case" values, i.e.: computed for a maximum motor power, permanent BOOST function, activation and a 100 % load factor. The true values must be determined in function of the real operating conditions. For the load capacitor, a value of 1,000 μF per Amp of motor current can be used.
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Page 24: Mains Supply Unit
6.2 Mains Supply Unit The MSX power stage can be supplied by means of an unregulated filtered DC voltage from 60 to 120 V Admissible voltage range: 40 to 160 V The voltage must not drop under 40 V or rise over 160 V, not even for a short time (>... -
Page 25: Insulation Overview
Manual MSX 6.3 Insulation Overview Insulation MSX The transformer should be constructed with reinforced or double insulation for safe operation. The insulation of the MSX fulfils the requirements of a basic insulation for non-mains- circuits for voltages up to 200 V. The device has been designed for degree of pollution 2 acc. -
Page 26: Shielding
6.4 Shielding To avoid disturbances affecting the wires and instruments installed close to the drive system, we recommend using shielded cables. The power supply unit in which the MSX is built-in and the motor should be connected to ground by a central earthing tab. -
Page 27: Motor Cable
Manual MSX 6.5 Motor Cable We recommend wiring the stepper motor with a 5-lead cable with shielding mesh. For optimum electromagnetic compatibility (EMC), additional connectors or screw terminals should not interrupt the cable. The protective earth wire (green/yellow) of the motor cable should be connected to the earthing screw near the motor connector of the MSX plug-in power stage unit. - Page 28 For best electromagnetic compatibility (EMC), you should connect the shielding mesh to the MSD2 housing. Use the cable clamps on the rear side of the MSD2 power supply unit. The free cable ends must be as short as possible.
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Page 29: Mechanical Installation
Manual MSX 7 Mechanical Installation In case you receive an individually packed MSX as an expansion module or after repair or service, unpack the module in ESD protected area only. CAUTION – Possible damage by ESD! The power stage consists of sensitive electronic components that can be destroyed by electrostatic discharge voltages. -
Page 30: Electrical Installation
8 Electrical Installation power stage is also designed for operating in a 19“ sub rack! The MSX 8.1 Motor Connection The following chapter describes how to wire different types of two-phase stepper motors. The stepper motor power stages may be connected to stepper motors with 1.1 to 15.4 phase current. - Page 31 Manual MSX Motor time constant applies to the electric motor time constant The total inductance L is equal to the winding inductance in a parallel circuit, total because of interlinked inductances. = 4 x L applies to a series circuit. total The result is an equal motor time constant ...
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Page 32: Wiring Schemes
8.2 Wiring Schemes Connection diagrams for 4,(6) and 8 lead stepper motors MA 2128-A004 EN... -
Page 33: Servicebus Connector
USB/RS 485 converter: Connection PC MSX point-to-point operation via USB connection When using the USB interface, the corresponding USB drivers, which can be downloaded from the Phytron website (www.phytron.de), must be installed on the MA 2128-A004 EN... -
Page 34: Vg Connector
8.4 VG Connector 48-pin male multipoint connector acc. to DIN 41612, version F MA 2128-A004 EN... -
Page 35: Putting Into Service
3. 2. All connectors and screw terminals must only be connected or removed when the module is disconnected from the mains. 3. Download driver and software from the Phytron website (https://www.phytron.eu/support/downloads/software-download/). 4. Install the driver and the communication software ServiceBus-Comm 5. - Page 36 IMPORTANT If the power stage does not return to the stop current, when the motor is at a standstill, this is probably caused by the Boost input activation. In this case, the motor is always supplied with the set Boost current. Deactivate the Boost input.
- Page 37 Manual MSX Further Manual This manual is in addition to the following main manual: “phyMOTION Modular Multi-axis Controller for Stepper Motors” First, read the main manual and then continue with this manual. The MSD2 power stage settings with the ServiceBus-Comm communication software are explained in the following manual: Further Manual...
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Page 38: Configuration In The Servicebus (Rs485-4-Wire)
10 Configuration in the ServiceBus (RS485-4-wire) The operating parameters in the MSX can be set by the RS 485 serial bus connection (ServiceBus). If more than one MSX is operated (max.16), the RS 485 bus (4-wire operation) is best choice. -
Page 39: Bus Connection
Manual MSX 10.2 Bus Connection The bus connection is defined as follows: RS485: 4 wire connection, also point to point connection possible Signal input: R+ R- Signal output: T+ T- insulated from the motor voltage by means of optocoupler A well-defined protocol should be followed to assure a safe data exchange: Asynchronous transmission, 8 bits/byte, 1 stop bit, 1 parity bit Transmission rate: 57600 Baud... -
Page 40: Operating Parameters
The checksum is defined by summing up all bytes, beginning with the address byte and including the separator (:) in an exclusive-OR-operation () : CS = address_H address_L data byte 1 data byte 2 . . . data byte n ... - Page 41 Manual MSX instruction code fR/–MSX status Information about the Information about instruction the instruction F Upper limit of the Stop current: number range highest value Lower limit of the Run current: number range lowest value Scale of current or Read scale value temperature values: of the stop current 1=1:1...
- Page 42 Instruction Parameter Type Value Description code name fault values Boost 0 to 1100 Boost current from 0 to 11 A r.m.s – Software <String> Read power stage software version version – Version <String> Read the FPGA version FPGA –...
- Page 43 Manual MSX Instruction Parameter Type Value Description code name fault values 0= 1/1 Step width 0 to 15 1= 1/2 with TC and CS 2= 1/4 with CS 3= 1/5 with CS 4= 1/10 with CS 5= 1/20 with CS 6= 1/2 with TC 7= 1/4 without CS 8= 1/5 without CS...
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Page 44: Examples
Instruction Parameter Type Value Description code name fault values + or – – Motor test Self-test: one motor rotation with preset run current 10.4 Examples Instruction code Action Answer Read Boost current e.g. a500 (= 5.0 A r.m.s. A400 Set Boost current to 4.0 A... - Page 45 Manual MSX Read MSX status in decimal mode e. g. f1 Read MSX status in hexadecimal mode e. g. f01 (= Error undervoltage/ overvoltage) Read preferential direction g0 or g1 G1 or G0 Set preferential direction g1 or g0 M0...M12 Set step width m0...m12 Read step width...
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Page 46: Functions
11 Functions 11.1 Inputs , Motor direction, Boost , Activation and Reset inputs are electrically Control pulse insulated by optocoupler from the MSX supply voltage (+U ). This assures best noise suppression between control and power circuit. The signals are active, when current flows through the optocoupler. -
Page 47: Control Pulse
Manual MSX 11.1.3 Input Maximum step frequency: 500 kHz Minimum pulse width: one µs A negative control pulses of 1 µs causes a motor step. The step is done with the falling flank of the control pulses and the current is changed from run to stop current. If the time between two control pulses is more than 40 ms, the stop current is activated. -
Page 48: Input
11.1.5 Input If current flows through the optocoupler, the MSX increases the run and stop current for by the value programmed in the ServiceBus. Thus, a higher torque can be reached during the acceleration and deceleration time of the motor by changing to Boost current. -
Page 49: Activation
Manual MSX Jumper position Jumper position Reset: Activation: Board with J1 jumper When the current passes through the optocoupler, the power stage is set to a defined initial state. That means that all error messages and the ring counter are reset. Then, the ring counter is in basic position. -
Page 50: Outputs
11.2 Outputs Open-Collector-Darlington outputs insulated by means of optocoupler = 20 mA, U = 45 V, UCE at 20 mA < 0.6 V The outputs are active when the transistor is conducting. Output wiring diagram If inductive loads (e.g. a relay, motor brake) are connected, a protective diode must be mounted. -
Page 51: Error Output
Manual MSX 11.2.2 Error Output If the following limit values are exceeded or not reached, the output is activated. At the same time, the motor current is switched off: Limits Error message displayed in ServiceBus: Motor current > 25.2 A overload Supply voltage <... -
Page 52: Service
- Disconnect the supply voltage. - First, loosen the front screws of the MSD2 module. - Then pull the MSX module carefully out of the housing by the handle. To send a module to Phytron use ESD packaging only. MA 2128-A004 EN... -
Page 53: Warranty, Disclaimer And Registered Trademarks
13 Warranty, Disclaimer and Registered Trademarks 13.1 Disclaimer Phytron GmbH has verified the contents of the manual to match with the hardware and software. However, errors and omissions are exempt and Phytron GmbH assumes no responsibility for complete compliance. The information contained in this publication is reviewed regularly and any necessary corrections are included in subsequent editions. -
Page 54: Technical Details
14 Technical Details A stepper motor can be used with different step resolutions, which are described in the first part of this chapter. The functions Boost, Current Shaping CS and Current Optimisation BLOW UP you will find in the second part. - Page 55 Manual MSX HALF STEP The motor step resolution can be electronically multiplied by 2 by alternately energizing the stepper motor’s phases 1, 1+2, 2 etc. This is the HALF STEP mode. The torque, however, is reduced in the half step mode, compared to the full step mode. To compensate this lack of torque, the operating mode HALF STEP MODE WITH TORQUE COMPENSATION was developed: the current is increased by in the active...
- Page 56 MINISTEP The MSX power stage increases the step resolution by a factor 2, 4, 5, 10 or 20 of a full step – MINISTEP MODE. Various advantages are obtained by the MINISTEP MODE The torque undulation drops when the number of ministeps is increased.
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Page 57: Boost
Manual MSX 14.2 Boost The motor torque required during acceleration and deceleration is higher than that required during continuous motor operation (f ). For fast acceleration and deceleration settings, (steep ramps), the motor current is too high during continuous operation and results in motor overheating. -
Page 58: Current Shaping Cs
14.3 Current Shaping CS Current Shaping (CS) is a circuitry method for delivering a true phase current which corresponds for a wide range of frequencies to a selected current shape (CS= four quadrant current regulation). If the stepper motor is driven without CS, the true current differs from the specified current, even in the lower speed frequencies. -
Page 59: Optimisation Of The Current Shape - Blow Up
Manual MSX 14.4 Optimisation of the Current Shape - BLOW UP For an ideal stepper motor, the holding torque is a true sine wave. In practice, the torque curve more or less differs from this ideal shape. Therefore, the MSX offers the possibility to select a current shape as shown in figure 24. -
Page 60: Current Delay Time
14.5 Current Delay Time After the last control pulses the stop current is activated after a waiting time. The waiting time after the last control pulses until change to stop current is called current delay time. so that the motor’s oscillations are dying out after the last... -
Page 61: Msx V3.0 Adapter Board
Manual MSX 15 G-MSX V3.0 Adapter Board The MSX+ power stage can be directly plugged on the G-MSX+ adapter board. The G-MSX+ adapter board contains the connectors for the motor cable (ST3), the signal lead (S2, ST2, VG1) and the supply voltage (+UB, GND). The open-collector control signals are connected to the S2 or ST2 connector, the ServiceBus to ST1. - Page 62 ST1 6 pin connector (male) Jumper positions J1 jumper plugged function to pin 1 – 2 + 5 / 24 V auxiliary voltage VG1.22/S2.4 2 – 3 basic position VG1.22/S2.4 function to pin J2 plugged +5/24 V for opto coupler ST2.19/20...
- Page 63 Manual MSX The rotary switch (16-step, 0...F setting) on the bottom side is used to address the MSX power stage in bus mode. BU1 supplies a fan with 24 V IMPORTANT Recommended free space between the board (solder and component side) and other components and housings: 6 mm minimum.
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Page 64: Index
16 Index Activation 17, 47 Lead cross section 19, 26 Address 38 Load capacitor 21 Basic position 17, 48 Ministep 55 Blow up 58 Motor cable 26 Boost 17, 47, 56 Motor connection 29 Motor current 8 Motor direction 17, 46... - Page 65 Manual MSX Winding resistance 29 Wiring scheme 29 Warranty 52 Winding inductance 29 MA 2128-A004 EN...
- Page 66 Phytron GmbH Industriestraße 12 – 82194 Gröbenzell T+49-8142-503-0 F +49-8142-503-190 www.phytron.eu...
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