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Summary of Contents for phytron MSD2+
- Page 1 MSD2 Stepper Motor Power Stage with ServiceBus and Integrated Power Supply MANUAL 2126-A005 EN Extreme. Precision. Positioning.
- Page 2 MSD2 Stepper Motor Power Stage with ServiceBus and integrated Power Supply Hardware V3.0 TRANSLATION OF THE GERMAN ORIGINAL MANUAL 05/2019 Manual MA 2126–A005 EN...
- Page 3 / or the devices described herein without prior notification. We appreciate suggestions and criticisms for further improvement. Email address: doku@phytron.de You will find the updated version of this manual on the website of www.phytron.de. MA 2126–A005 EN...
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Page 4: Information
1 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 Manual MSD2 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 MSD2 WARNING - Danger of injury if touching the surface! The surface of the MSD2 reaches temperatures more than 105 °C during operation. Use protective gloves or avoid touching them. MA 2126–A005 EN...
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Page 8: Table Of Contents
2 Contents 1 Information ..........3 9 Putting into Service ........34 2 Contents............7 9.1 Diagnosis via LED Display ....37 9.1.1 Option „SB“ and „KS“ ...... 37 3 The MSD2 Power Stage ......8 9.1.2 Option „KS“ ........38 3.1 Accessories .......... -
Page 9: The Msd2 + Power Stage
Power Stage The power stages type MSD2 are used for bipolar control of two-phase stepper motors with Phytron´s well-tried technology, now with enhanced 4 quadrant chopper type current control. MSD2 includes a supply unit and therefore can directly be connected to the mains voltage... - Page 10 ServiceBus mode „SB“ Rotary switch mode „KS“ Operating mode Mounting wall rack wall rack mode 10022507 10022509 10020762 10020763 Ident number Motor currents from 1.1 to 15.4 A peak Option „SB“: Run and stop current can be individually set in 100 mA steps via ServiceBus.
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Page 11: Accessories
The MSD2 and ServiceBus-Comm manual or the ServiceBus-Comm software can be downloaded from the Phytron website www.phytron.de. The mating connectors are included in the scope of delivery (see chapter 8.2). Optional accessories are available: - USB-RS485 converter as stick (#10012295) -
Page 12: Directives And Standards
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. -
Page 13: Declaration Of Conformity
Manual MSD2 3.3 Declaration of Conformity MA 2126–A005 EN... -
Page 14: Technical Data
4 Technical Data 4.1 Mechanical Data Weight about 3 kg Wall mounting or plug-in board into the 19“ sub rack Mounting Mounting position vertical Fig. 2: Dimensions MSD2 for wall and rack mounting MA 2126–A005 EN... - Page 15 Manual MSD2 Mounting instructions The modules must be mounted to allow correct air circulation. Vertical mounting provides better ventilation. Rack mounting The front panel of the MSD2 19 sub rack-mounting version is 6 U high and 18 F wide. Wall mounting The MSD2 wall-mounting version is delivered with removable mounting brackets.
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Page 16: Features
4.2 Features Features Operating voltage 115 to 230 V , 50 to 60 Hz 120 V motor voltage is generated internally. Noise filter is integrated. Stepper motor Two-phase 4-, 6- or 8-lead stepper motor winding resistance < 10 Ohm Minimum inductance of a motor phase: 0.5 mH... - Page 17 Manual MSD2 Features Flash memory 10 000 write cycles under normal operating conditions Hardware error over current, detection short circuit 25.2.A overtemperature T>85 °C Interfaces Inputs The inputs are opto-decoupled. Control can be via push-pull or open collector. The input is active when current flows through the optocouplers.
- Page 18 Ambient Conditions Ambient Operation: 4 to +40 °C –25 to +55 °C temperatures Storage: Transport: –25 to +85 °C Built-in fan Forced cooling with a fan, which switches on at >50 °C or switches off again at <40 °C.
- Page 19 Manual MSD2 Wiring Min. 75 °C durable copper cables Communication and Programming Programming (only for via Phytron‘s programming environment ServiceBus–Comm „SB“ option) Communication The MSD2 power stage can communicate with a main controller of a higher level controller (i.e. phyMOTION...
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Page 20: Protective Measure For Power Stage Operation
Protective Measure for Power Stage Operation The MSD2 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 21: Configuration
Manual MSD2 6 Configuration 6.1 Insulation Overview Fig. 4: Insulation MSD2 The brake must be operated with protective measure PELV. The transformer should be constructed with reinforced or double insulation. The internally installed switching power supply has double insulation. The device has been designed for degree of pollution 2 acc. to EN 50178. The IO signals on connector X3 are optically insulated and safely insulated to withstand voltages up to 800 V MA 2126–A005 EN... -
Page 22: Shielding
Fig. 5: Motor cable shielding Phytron recommends the following ferrites to compensate for possible interferences: – enclose the motor cable with the 742 7122 Würth-Elektronik snap ferrite, –... -
Page 23: Cable
Manual MSD2 6.3 Cable Overview: max. cable min. cross shielded, length [m] section grounded on all sides Motor cable 0.1/1 A 0.2/1 A Signal interface 0.14 – ServiceBus cable Motor cable We recommend wiring the stepper motor with a 5-lead cable with shielding mesh. For optimum electromagnetic compatibility (EMC), the cable should not be interrupted by additional connectors or screw terminals. -
Page 24: Mechanical Installation
7 Mechanical Installation WARNING – Serious injury from electric shock! During electrical installation cables, connectors, etc. can be live. - Before starting wiring, make sure that the power supply is connected to the primary side of the mains supply. -
Page 25: Electrical Installation
Manual MSD2 8 Electrical Installation power stage is also designed for operating in a 19“ sub rack. The MSD2 8.1 Connectors - Overview Connector Numb Connector at the Mating Mating er of power stage connector connector poles Phoenix part number Motor Phoenix IC 2,5/4-G-5,08 FKIC 2,5 HC/ 5-... -
Page 26: Motor Connection
8.3 Motor Connection Fig. 7: 5-pole motor connector with PE screw 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 27: Wiring Schemes
Manual MSD2 8.3.1 Wiring Schemes Fig. 8: Connection diagrams for 4, (6) and 8 lead stepper motors MA 2126–A005 EN... -
Page 28: Motor Time Constant
8.3.2 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. -
Page 29: Io-Signal Connector
Manual MSD2 8.4 IO-Signal Connector Fig. 9: 25-pole IO connector- DSUB female IMPORTANT Only use shielded cables, please. MA 2126–A005 EN... -
Page 30: Option Rotary Switch Mode „Ks
8.5 Option Rotary Switch Mode „KS“ 8.5.1 Rotary Switches for Motor Current (I and I Stop Rotary switches run and stop current ((I and I Stop Switch Phase current in A r.m.s. position Factory settings: run current: F / stop current: 3 ... -
Page 31: Step Resolution And Current Shaping Rotary Switch
Manual MSD2 8.5.2 Step Resolution and Current Shaping Rotary Switch The rotary switch below the DIP switches is used to set the phase current profile. Step resolution and current shaping rotary switch Switch Current shaping position Full step Half step with DMA with CS Ministep... -
Page 32: Option „Sb" Servicebus Mode
8.6 Option „SB“ ServiceBus Mode 8.6.1 ServiceBus Connector The MSD2 power stage is activated in ServiceBus mode and can be parameterised by connecting it to the 6-pole ServiceBus connector. Fig. 10: ServiceBus connector, type Tyco Electronics 2-1761605-1/609-0607 8.6.2 Rotary Switch The rotary switch “Addr.“... -
Page 33: Connection
USB/RS 485 converter: Fig. 12: Connection PC MSD2 point-to-point operation via USB connection IMPORTANT When using the USB interface, the corresponding USB drivers must be installed on the PC, which can be downloaded from the Phytron website (www.phytron.de),. MA 2126–A005 EN... -
Page 34: Brake Control
8.7 Brake Control Fig. 13: ”Brake” connector (motor brake) The supply voltage for a motor brake mounted on the stepper motor must be applied externally to the “Brake” connector (max. 24 V ). The motor brake must not load the input with more than 1 A. -
Page 35: Putting Into Service
7. Set the desired step resolution and preferred direction of rotation at the „Step“ rotary switch. Continue with step 10. option ServiceBus mode („SB“): Download drivers and software from the 8. MSD2 Phytron website (https://www.phytron.eu/support/downloads/software-download/). 9. Install the communication software ServiceBus-Comm and start the program after successful installation. - Page 36 If the motor stops during acceleration, reduce the acceleration and/or maximum frequency values. This problem may also be caused by incorrect programming of the motor’s rated current. 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.
- Page 37 Manual MSD2 When MSD2 power stage is controlled by a phyMOTION controller, read the manual for basic commissioning information before putting-into-service: 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.
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Page 38: Diagnosis Via Led Display
9.1 Diagnosis via LED Display 9.1.1 Option „SB“ and „KS“ These LEDs indicate the status of the power stage by means of colours: left right green supply voltage OK ready for operation – orange motor is running / input signal is applied to „control... -
Page 39: Option „Ks
Manual MSD2 9.1.2 Option „KS“ These LEDs indicate the status and error of the MSD2 power stage by colours: shines Meaning Basic position green The output signal Basic position is (Zero Signal) generated. Overload Overload error in the MSD2 : A short- circuit over or between the motor phases or towards GND or +U has occurred. -
Page 40: Configuration In The Servicebus (Rs485-4-Wire)
10 Configuration in the ServiceBus (RS485-4-wire) The operating parameters in the MSD2 can be set by the RS 485 serial bus connection (ServiceBus). The instruction set and more information about the ServiceBus see chap.10.2. 10.1 Bus Connection A well-defined protocol should be followed to assure a safe data exchange:... -
Page 41: Power Stage Parameterising
Manual MSD2 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 separator The checksum is calculated as one 8-bit binary value (00 to FF ). - Page 42 The following table gives an overview: Additional Function Example Description Answer input to the instruction code f‚R/– MSD2+ Information about the Information about status’ instruction the instruction F Upper limit of the Stop current: number range highest value Lower limit of the...
- Page 43 Manual MSD2 Instruction Parameter Type Value Description code name fault values Boost R/W 0 to 1100 Boost current value from 0 to 11 A r.m.s. – Software <String> Read power stage software version version – FPGA <String> Read version of the FPGA version –...
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Page 44: Examples
Instruction Parameter Type Value Description code name fault values – Error 0 to 3 0=no error inquiry 1=undervoltage/overvoltage 2=overtemperature 3=overcurrent 4=deactivated Run current R/W 0 to 1100 Run current value from 0 to 11 A r.m.s. Stop R/W 0 to 1100... - Page 45 Manual MSD2 Instruction code Action Answer Read MSD2 status in decimal mode e.g. f1 Read MSD2 status in hexadecimal e.g. f01 mode (= 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...
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Page 46: Functions
11 Functions Push-pull controlling via RS422 assures best noise suppression, because always a current is flowing. Especially with long cables, this type of controlling should be preferred. The differential voltage between the input and the negated input must be greater than 2.5 V in order to activate the input safely. -
Page 47: Control Pulses Input
Manual MSD2 Permissible supply voltage: 2.5 to 5 V At supply voltages> 5 V, the opto-current must be limited to approx. 10 mA by means of a series resistor R – 620 12 V 24 V 1.8 k 11.1.1 Control Pulses Input Minimum pulse width: 1 s Maximum control pulses frequency: 500 kHz, A negative control pulse of 1 µs causes a motor step. -
Page 48: Motor Direction Input
11.1.2 Motor Direction Input This signal sets the direction of the motor. If the input optocoupler is not energised, the motor rotates in the preferential direction. If the input optocoupler is powered, the selected motor direction is reversed. The signal must only be modified when the motor is at a standstill or turns with the frequency within the start/stop frequency. -
Page 49: Boost Input
Manual MSD2 11.1.3 Boost Input If the optocoupler is energised, the MSD2 increases the run and stop current by the value programmed in the ServiceBus. This allows the motor to switch to boost current during the acceleration or deceleration phase and thus achieve a higher torque. As long as the boost input is activated, the higher current always flows. -
Page 50: Reset Input
11.1.5 Reset Input If current flows through the optocoupler (connect input), the power stage is set to a defined initial state, i.e. all error messages and the ring counter are reset. Then, the ring counter is in basic position. Both motor phases are energised by the same current value in basic position independent of the step resolution. -
Page 51: Outputs
Manual MSD2 11.2 Outputs Open-Collector-Darlington outputs insulated by means of optocoupler = 50 mA, U = 24 V, UCE at 50 mA < 0.3 V Fig. 18: Output wiring diagram If inductive loads (e.g. a relay, motor brake) are connected, a protective diode must be mounted. -
Page 52: Ready Output
11.2.2 Ready Output The "Ready" output is activated when the MSD2 power stage is ready to operate. For that, the power stage must be activated, i.e.: no signal on the "Deactivation" input. IMPORTANT After suppression of the Reset signal, a time lapse of approx. 500 ms is necessary before the power stage delivers the "Ready"... -
Page 53: Service
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 MSD2 HALF STEP The motor step resolution can be electronically multiplied by 2 by alternately energising 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 MSD2 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 MSD2 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 shaping (CS= 4 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 MSD2 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 MSD2 offers the possibility to select a current shaping as shown below. -
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 pulse until change to stop current is called current delay time. so that the motor’s oscillations are dying out after the last... -
Page 61: Index
Manual MSD2 15 Index AC 9 Ministep 55 Address 39 Motor cable 22 Motor connection 25 Motor current 9 Basic position 49 Motor direction 16, 47 Motor time constant 27 Blow up 58 Boost 16, 56 Brake 16, 33 Operating modes 30 Operating parameter 40 Checksum 40 Operating voltage 15... - Page 62 Phytron GmbH Industriestraße 12 – 82194 Gröbenzell T+49-8142-503-0 F +49-8142-503-190 www.phytron.eu...
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