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phytron phyMOTION INAM01.1 Translation Of The German Original Manual

1 axis carrier module
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phytron
TM
phyMOTION
1 Axis Carrier Module
INAM01.1, INAM02.1 and INAM03.1
TRANSLATION OF THE GERMAN ORIGINAL MANUAL
9/2019
Manual MA 1275-A011 EN

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Summary of Contents for phytron phyMOTION INAM01.1

  • Page 1 1 Axis Carrier Module INAM01.1, INAM02.1 and INAM03.1 TRANSLATION OF THE GERMAN ORIGINAL MANUAL 9/2019 Manual MA 1275-A011 EN...
  • Page 2 We appreciate suggestions and criticisms for further improvement. Email address: doku@phytron.de Questions about the use of the product described in the manual that you cannot find answered here, please contact your representative of Phytron (http://www.phytron.de/) in your local agencies. MA 1275-A011 EN...

  • Page 3: 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 4 Manual INAM01 / INAM02 / INAM03 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 5 WARNING – Serious injury from electric shock! If the phyMOTION 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 6: Table Of Contents

    Manual INAM01 / INAM02 / INAM03 2 Contents 1 Information ......................3 2 Contents ........................6 3 INAM (Internal Amplifier-Module) – Module Overview .......... 7 4 Technical Data ......................10 4.1 Declaration of Incorporation: Modules gen. & External Supply ....10 4.2 Declaration of Conformity: Modules with Internal Supply INT......

  • Page 7: Inam (Internal Amplifier-Module) - Module Overview

    3 INAM (Internal Amplifier-Module) – Module Overview INAM01 is a carrier board for stepper motor power stages up to 5 A max. with the PEAK APS01 power stage or up to 9 A max. with the LPS01 power stage (as a sub module).
  • Page 8 Manual INAM01 / INAM02 / INAM03 Fig. 2: INAM03 front view MA 1275-A011 EN...
  • Page 9 Ordering code of the power stage carrier module (INAM01) for the LPS power stage (INAM01): Ordering code (example): INAM01-LPS01-ECAS01-PTS01 power stage carrier with LPS power stage, with integrated SSI encoder and Pt sensor Ordering code of the 1 axis stepper motor drive module (INAM03):...

  • Page 10: Technical Data

    Manual INAM01 / INAM02 / INAM03 4 Technical Data 4.1 Declaration of Incorporation: Modules gen. & External Supply MA 1275-A011 EN...
  • Page 11 MA 1275-A011 EN...

  • Page 12: Declaration Of Conformity: Modules With Internal Supply Int

    Manual INAM01 / INAM02 / INAM03 4.2 Declaration of Conformity: Modules with Internal Supply MA 1275-A011 EN...
  • Page 13 MA 1275-A011 EN...

  • Page 14: Mechanical Data

    Manual INAM01 / INAM02 / INAM03 4.3 Mechanical Data Dimensions 100 x 100 mm (without front panel) Weight INAM01: APS01: 94 g / 71 g (without / with front panel) LPS01: 95 g / 72 g (without / with front panel) INAM02: 75 g / 52 g (without / with front panel) INAM03: 118 g / 85 g (without / with front panel) Mounting...

  • Page 15: Features

    4.4 Features Performance Characteristics Stepper motor Suitable for bipolar control of 2 phase stepper motors with 4, (6) or 8 lead wiring Superior controller Modular phyMOTION controller 24…70 V Supply voltage with APS01/ Nominal voltage: 70 V LPS01 70…120 V...
  • Page 16 Manual INAM01 / INAM02 / INAM03 Current consumption with APS01 3.6 A at 5 A PEAK (max.) 250 mA (5 V internal) with LPS01 6.6 A bei 9.2 A PEAK >420 mA (3.3 V logic voltage) with MSX 10 A at 15 A PEAK 10 mA (24 V...
  • Page 17 - with ECES01 sub module: EnDat, incremental or SSI - with ECBS01 sub module: incremental, SSI or BiSS - with ECMS01 sub module: Resolver, LVDT or RVDT Communication and Programming Via Phytron‘s programming environment phyLOGIC Programming ToolBox Communication Master-slave communication. The INAM is slave and communicates with the MCM main controller module.

  • Page 18: Functions

    Manual INAM01 / INAM02 / INAM03 4.5 Functions INAM01: Integrated APS or LPS power stage with encoder and temperature module as option INAM02 or INAM03: Connected MSX power stage with encoder and temperature module as option  Relative and absolute positioning ...
  • Page 19 3 Limit/reference switches  Evaluation of up to three limit/reference switches (PNP NCC/NOC) Option: Encoder evaluation  The evaluation of the following encoders depends on the selected sub module: - with ECAS01 sub module: incremental or SSI - with ECES01 sub module: EnDat, incremental or SSI...

  • Page 20: Installation

    Manual INAM01 / INAM02 / INAM03 5 Installation Phytron always delivers the phyMOTION™ completely assembled in order to make sure you can start with the installation and the wiring right away. Further manual Detailed information on this subject is in a supporting manual: “phyMOTION...
  • Page 21 WARNING – Serious injury from electric shock! During electrical installation cables, connectors, etc. can be live. - Before starting wiring, make sure that none of the power supplies are connected to the primary side of the mains supply. Isolate the power supplies from the mains or remove the appropriate fuses.

  • Page 22: Inam02

    Manual INAM01 / INAM02 / INAM03 5.1.2 INAM02 / INAM03 The INAM02 module is only installed in Phytron’s plant. 5.2 Electrical Installation Ensure sufficient bending radius of the cables during installation. Do not lay the cables in tension or bend them.

  • Page 23: Pin Assignment

    5.2.2 Pin Assignment In the following the pin assignment: Fig. 3: }Pin assignment INAM01/02/03 encoder, limit switches and temperature evaluation Use the specified mating connectors for wiring. CAUTION – Possible damage! Damage of the module by wrong connection. - Do not exchange the 10-pin connector for limit switches with the 10-pin connector for the encoder evaluation.
  • Page 24 Manual INAM01 / INAM02 / INAM03 Fig. 4: Pin assignment INAM01 with Fig. 5: Pin assignment INAM02 with 4-pin motor connector (Phoenix) 5-pin motor connector (Phoenix) Fig. 6: Pin assignment INAM03 with (5+1)-pin motor connector (Harting) MA 1275-A011 EN...

  • Page 25: Stepper Motor Connection X5

    5.2.3 Stepper Motor Connection X5 Stepper motors with the INAM01 module can be driven with 0.1 to 5 A phase current at PEAK max. 70 V , with the INAM02 or INAM03 module motors up to 15.4 A phase current PEAK at max.
  • Page 26 Manual INAM01 / INAM02 / INAM03 Stepper motors with 8 leads can be connected with the windings wired in parallel (1) or series (2). For 6 lead stepper motors, wiring scheme (3) with series windings is recommended. If wiring scheme (3) cannot be used because of the motor construction, the motor may be operated with only two of the four windings energized according to wiring scheme (4).
  • Page 27 If motor voltage >70 V: all equipment must be grounded! WARNING – Serious injury from electric shock! If the phyMOTION 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...
  • Page 28 Manual INAM01 / INAM02 / INAM03 For stepper motor grounding the PE wire is connected to the PE clamp of the PEM01 module or the NETM01 module. Fig. 8: PE connection for 5-wire motor cable by the PEM01 module MA 1275-A011 EN...

  • Page 29: Limit Switch Connection X2

    5.2.4 Limit Switch Connection X2 Fig. 9: Pin assignment of the limit switches Fig. 10: Input wiring The module is designed for connection of up to three limit switches type PNP-NOC/NCC. A limit switch is determined for monitoring the movement in the + direction (limit switch +), the second in the –...

  • Page 30: Option: Encoder Connection X1

    Manual INAM01 / INAM02 / INAM03 5.2.5 Option: Encoder Connection X1  Suitable encoder types depend on the selected evaluation module: – with ECAS01 sub module: differential incremental encoder with quadrature signals or absolute encoder according to the SSI standard –...
  • Page 31 CAUTION – Possible damage! Damage of the module by wrong connection. - Do not exchange the 10 pin connector for limit switches with the 10 pin connector for the encoder evaluation. Module and encoder can be damaged. - Please observe the supply voltage of the encoder: 5 V or 15 V - Also ensure that the encoder is configured correctly in its programming.
  • Page 32 Manual INAM01 / INAM02 / INAM03 Wiring of the encoder Fig. 13: Wiring: SSI/Quadrature encoder Fig. 14: Wiring: EnDat/BiSS encoder Fig. 15: Wiring: EnDat/BiSS encoder Resolver wiring refer to chap. 5.2.6 MA 1275-A011 EN...
  • Page 33 Optional accessories: adapter cable for EnDat encoder Fig. 16: Adapter cable (ID no 10014905) MA 1275-A011 EN...

  • Page 34: Option: Resolver, Lvdt Or Rvdt Connection X1

    Manual INAM01 / INAM02 / INAM03 5.2.6 Option: Resolver, LVDT or RVDT Connection X1 Characteristics - Excitation amplitude: 5 to 10 V r.m.s - Excitation frequency: 10 kHz - Excitation current: up to 150 mA - Resolution: up to 8 arcmin (8/4096 increments/rev.) Fig.
  • Page 35 Operating modes of the encoders Resolver Fig. 18: Resolver wiring 4-wire-LVDT Fig. 19: 4-wire-LVDT/RVDT wiring (full bridge) MA 1275-A011 EN...
  • Page 36 Manual INAM01 / INAM02 / INAM03 Fig. 20: 4-wire-LVDT/RVDT-wiring (half bridge) 5/6-wire-LVDT Fig. 21: 5-wire-LVDT/RVDT-wiring MA 1275-A011 EN...
  • Page 37 Fig. 22: 6-wire-LVDT/RVDT-wiring MA 1275-A011 EN...
  • Page 38 Manual INAM01 / INAM02 / INAM03 Synchronisation Fig. 23: Synchronisation wiring MA 1275-A011 EN...

  • Page 39: Option: Motor Temperature Sensor Connection X3/X4

    Depending on the selected evaluation module (KTS01 or PTS01) thermal elements type K or platinum sensors PT100 can be used. The insulated temperature sensor in Phytron motors is integrated in the motor windings. The response time is very short, compared to temperature sensors mounted outside the motor housing.
  • Page 40 Manual INAM01 / INAM02 / INAM03 An accurate temperature can only be measured when the temperature at the reference junction (connector) is exactly known. This is not possible by the connection construction and und can cause indeterminate deviations of the temperature values. Software evaluation of the measuring values from -180 °C to +260 °C.

  • Page 41: Commissioning

    6 Commissioning Please read the manual for basic commissioning information of the INAM01 or INAM02 module: Further manual Detailed information on this subject is in a supporting manual: “phyMOTION Modular Multi-axis Controller for Stepper Motors” The programming environment phyLOGIC...

  • Page 42: Diagnostics By The Leds

    Manual INAM01 / INAM02 / INAM03 6.1 Diagnostics by the LEDs The LEDs indicate the status and error of the INAM module by colours and blinking: LEDs left right no logic power available Power stage not ready green logic power ready Power stage ready –...

  • Page 43: Parameterising The Module

    6.2 Parameterising the Module When using encoders, the corresponding phyLOGIC parameters P34 to P39 should be checked and set. For the power stage settings use the parameters P43 to P45. For a general overview of the parameters: Further manual Detailed information on this subject is in a supporting manual: “phyLOGIC...

  • Page 44: Principles Of Positioning

    Manual INAM01 / INAM02 / INAM03 7 Principles of Positioning Further manual Detailed information on this subject is in a supporting manual: “Principles of Positioning of the Stepper Motor Controllers“ MA 1275-A011 EN...

  • Page 45: Service

    - To send a module to Phytron use ESD packaging only. The INAM02 and INAM03 module can only be replaced in the Phytron’s plant. For this, the entire phyMOTION device must be sent.

  • Page 46: Warranty, Disclaimer And Registered Trademarks

    9 Warranty, Disclaimer and Registered Trademarks 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 47: Index

    Index Motor time constant 26 Cable 16 Copyright 2 Nominal voltage 15 Current consumption 16 Outputs 17 Encoder evaluation 19 Encoder-technical specification 31 Error detection 16 Parameterising 17 PE 28 PE clamp 28 Functions 18 Programming 17 Grounding 28...

This manual is also suitable for:

Phymotion inam02.1Phymotion inam03.1

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