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phytron phyMOTION INSM01.1 Translation Of The German Original Manual

Power stage carrier module with safe torque off
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phytron
TM
phyMOTION
Power Stage Carrier Module with Safe Torque Off
INSM01.1
TRANSLATION OF THE GERMAN ORIGINAL MANUAL
5/2019
Manual MA 1307-A004 EN

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Summary of Contents for phytron phyMOTION INSM01.1

  • Page 1 Power Stage Carrier Module with Safe Torque Off INSM01.1 TRANSLATION OF THE GERMAN ORIGINAL MANUAL 5/2019 Manual MA 1307-A004 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 1307-A004 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 INSM01 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 INSM01 2 Contents 1 Information ......................3 2 Contents ........................6 3 INSM (Internal STO Module) – Module Overview ..........8 4 Technical Data ......................10 4.1 Declaration of Conformity ................... 10 4.2 Mechanical Data ....................11 4.3 Features ......................12 4.4 Functions ......................
  • Page 7 11 Index ........................42 MA 1307-A004 EN...

  • Page 8: Insm (Internal Sto Module) - Module Overview

    Manual INSM01 3 INSM (Internal STO Module) – Module Overview INSM01 is a carrier board for stepper motor power stages up to 5 A with Safe Torque Off PEAK (STO)-Function). The STO function is suitable for applications that require an immediate interruption of the power supply to the drive element.
  • Page 9 Ordering code of the power INSM01 stage carrier module: Ordering code (example): INSM01-APS01-ECAS01: power stage carrier with APS power stage, with integrated SSI encoder MA 1307-A004 EN...

  • Page 10: Technical Data

    Manual INSM01 4 Technical Data 4.1 Declaration of Conformity MA 1307-A004 EN...

  • Page 11: Mechanical Data

    4.2 Mechanical Data Dimensions 100 x 100 mm (without front panel) Weight 157 g / 134 g (without / with front panel) Mounting Plug-in module into the modular stepper motor controller phyMOTION Mounting position Vertical MA 1307-A004 EN...

  • Page 12: Features

    Manual INSM01 4.3 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 Nominal voltage: 70 V Phase current 0.1 to 5 A , (short-circuit-proof, overload-proof) PEAK Current adjustment...
  • Page 13 - 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 INSM is slave and communicates with the MCM main controller module.

  • Page 14: Functions

    Manual INSM01 4.4 Functions INSM01: Integrated APS power stage with encoder as option  Relative and absolute positioning  Reference movements/ speed mode  Step frequency: up to 500,000 steps/sec. INSM01: Integrated 5 A power stage APS01 PEAK  Integrated 5 A / 24 to 70 V stepper motor power stage PEAK...

  • Page 15: The „Safe Torque Off" (Sto) Function

    5 The „Safe Torque Off“ (STO) Function This chapter describes the safety function "Safe Torque Off (STO)" integrated in the INSM01 module. The STO function is a functional safety device, i.e. it protects people from mechanical damage when properly designed, installed and operated. This function does not disconnect the system from the power supply.
  • Page 16 Manual INSM01 WARNING – Serious injury and property damage possible! - If the STO safety function is active, the motor cannot generate torque. This can cause gravity-loaded axes to sink. If the motor moves when STO is activated, it will coast uncontrolled. - Secure gravity loaded axes with brakes or other suitable measures.

  • Page 17: Standards

    5.2 Standards The STO function is designed to be used in accordance with the following standards: IEC 61508, parts 1-7 Functional safety of safety-related electrical/electronic/programmable electronic systems EN 61800-5-2 Adjustable speed electric power drive systems - Part 5-2: Safety...

  • Page 18: Functional Principle Of The Sto Function

    Manual INSM01 5.4 Functional principle of the STO Function In the INSM01 module, the STO function is created by disconnecting the supply of the 24 V input. This deactivates the motor: Fig. 2: Functional principle The STO input is a digital input designed for a nominal input voltage of 24 V , positive logic.

  • Page 19: Connection

    5.4.2 Connection Fig. 3: Pin assignment STO input 2-pole Phoenix MCDN1,5/2-G1-3,5P26 WARNING – Serious injury and property damage possible! - The STO inputs must always be controlled via a safety relay. MA 1307-A004 EN...

  • Page 20: Installation

    Manual INSM01 6 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 Modular Multi-axis Controller for Stepper Motors”...
  • 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: Electrical Installation

    Manual INSM01 6.2 Electrical Installation Ensure sufficient bending radius of the cables during installation. Do not lay the cables in tension or bend them. We recommend labelling the mating connectors to prevent interchanging the connectors. If all the connections are made, the last step is to plug in the power supply to the mains. 6.2.1 Connectors - Overview Connector Number...

  • Page 23: Pin Assignment

    6.2.2 Pin Assignment In the following the pin assignment: Fig. 4: Pin assignment INSM01 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: Stepper Motor Connection X4

    Manual INSM01 6.2.3 Stepper Motor Connection X4 Stepper motors with the INSM01 module can be driven with 0.1 to 5 A phase current at max. PEAK 70 V In the next chapter the connection of a 2 phase stepper motor with 4, (6), or 8 lead wiring is described.
  • Page 25 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 26: Limit Switch Connection X2

    Manual INSM01 6.2.4 Limit Switch Connection X2 Fig. 6: Pin assignment of the limit switches Fig. 7: 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 27: Option: Encoder Connection X1

    6.2.5 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 – with ECES01 sub module: EnDat, differential incremental encoder with quadrature signals or absolute encoder according to the SSI standard –...
  • Page 28 Manual INSM01 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 29 Wiring of the encoder Fig. 10: Wiring: SSI/Quadrature encoder Fig. 11: Wiring: EnDat/BiSS encoder Fig. 12: Wiring: EnDat/BiSS encoder Resolver wiring refer to chap. 6.2.6 MA 1307-A004 EN...
  • Page 30 Manual INSM01 Optional accessories: adapter cable for EnDat encoder Fig. 13: Adapter cable (ID no 10014905) MA 1307-A004 EN...

  • Page 31: Option: Resolver, Lvdt Or Rvdt Connection X1

    6.2.6 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. 14: Pin assignment of the encoder connector...
  • Page 32 Manual INSM01 Operating modes of the encoders Resolver Fig. 15: Resolver wiring 4-wire-LVDT Fig. 16: 4-wire-LVDT/RVDT wiring (full bridge) MA 1307-A004 EN...
  • Page 33 Fig. 17: 4-wire-LVDT/RVDT-wiring (half bridge) 5/6-wire-LVDT Fig. 18: 5-wire-LVDT/RVDT-wiring MA 1307-A004 EN...
  • Page 34 Manual INSM01 Fig. 19: 6-wire-LVDT/RVDT-wiring MA 1307-A004 EN...
  • Page 35 Synchronisation Fig. 20: Synchronisation wiring MA 1307-A004 EN...

  • Page 36: Commissioning

    Manual INSM01 7 Commissioning Please read the manual for basic commissioning information of the INSM01 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 ToolBox is explained in the following manual: Further manual Detailed information on this subject is in a supporting manual: “phyLOGIC...

  • Page 37: Diagnostics By The Leds

    7.1 Diagnostics by the LEDs The LEDs indicate the status and error of the INSM module by colours and blinking: LEDs left right no logic power available, Power stage not ready STO input is not active logic power is ready,...

  • Page 38: Parameterising The Module

    Manual INSM01 7.2 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 Controller”...

  • Page 39: Principles Of Positioning

    8 Principles of Positioning Further manual Detailed information on this subject is in a supporting manual: “Principles of Positioning of the Stepper Motor Controllers“ MA 1307-A004 EN...

  • Page 40: Service

    If you have problems to push the module for the last half centimetre, move the module to the front panel slightly to the left and to the right during sliding, so that the connector pins contact the backplane socket. - To send a module to Phytron use ESD packaging only. MA 1307-A004 EN...

  • Page 41: Warranty, Disclaimer And Registered Trademarks

    10 Warranty, Disclaimer and Registered Trademarks 10.1 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 42 Manual INSM01 Index Cable 12 Nominal voltage 12 Copyright 2 Current consumption 12 Outputs 13 Encoder evaluation 14 Encoder-technical specification 28 Parameterising 13 Error detection 13 PEM01 25 Programming 13 Functions 14 Resolution 12 Resolver 31 Inductance 25 Installation 20, 22 Service 20, 40 SSI 27 LED 37...

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