Beckhoff AS2000 Operating Instructions Manual
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Beckhoff AS2000 Operating Instructions Manual

Beckhoff AS2000 Operating Instructions Manual

Stepper motors
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Operating instructions | EN
AS2000
Stepper motors
2021/05/21 | Version 2.2

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Summary of Contents for Beckhoff AS2000

  • Page 1 Operating instructions | EN AS2000 Stepper motors 2021/05/21 | Version 2.2...

  • Page 3: Table Of Contents

    Version numbers...............................  7 Scope of the documentation .......................... 7 Staff qualification...............................  8 Safety and instruction .............................  10 Explanation of symbols ...........................  10 Beckhoff Services ............................ 12 For your safety.............................. 13 Safety pictograms ............................ 13 General safety instructions .......................... 14 Product overview...............................  16 Name plate..............................
  • Page 4 Gear unit .................................  72 Elastomer coupling ............................ 72 Fault correction.............................. 73 Decommissioning..............................  75 Disassembly.............................. 75 Disposal ................................ 76 Guidelines and Standards .......................... 77 Standards................................  77 Guidelines ...............................  77 Test centers .............................. 77 EU conformity .............................. 77 Index ...................................  78 ─── AS2000 Version: 2.2...

  • Page 5: Documentation Notes

    Documentation notes Disclaimer Beckhoff products are subject to continuous further development. We reserve the right to revise the operating instructions at any time and without prior announcement. No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in these operating instruc- tions.
  • Page 6 • Use of untrained personnel • Use of unauthorized spare parts Copyright © Beckhoff Automation GmbH & Co. KG, Germany 1.1.4 The copying, distribution and utilization of this document as well as the communication of its contents to others without express autho- rization is prohibited.

  • Page 7: Version Numbers

    Product properties Only the product properties specified in the current operating in- structions are valid. Further information given on the product pages of the Beckhoff homepage, in emails or in other publications is not authoritative. Scope of the documen- tation...

  • Page 8: Staff Qualification

    Trained specialists have received specific technical training and have specific technical knowledge and experience. Trained special- ists can: • apply relevant standards and directives • assess tasks that they have been assigned • recognize possible hazards • prepare and set up workplaces ─── AS2000 Version: 2.2...
  • Page 9 They are familiar with relevant standards and directives. Quali- fied electricians can: • independently recognize, avoid and eliminate sources of danger • implement specifications from the accident prevention regula- tions • assess the work environment • independently optimize and carry out their work Version: 2.2 AS2000 ───...

  • Page 10: Safety And Instruction

    1.6.1 DANGER Failure to observe will result in serious or fatal injuries. WARNING Failure to observe may result in serious or fatal injuries. CAUTION Failure to observe may result in minor or moderate injuries. ─── AS2000 Version: 2.2...
  • Page 11 In the case of documentation on a monitor screen, use the zoom function to enlarge the QR code and reduce the distance. Version: 2.2 AS2000 ───...

  • Page 12: Beckhoff Services

    Beckhoff and the worldwide partner companies offer comprehensive support and service. Support The Beckhoff Support offers technical advice on the use of individ- ual Beckhoff products and system planning. The employees support 1.7.1 you in the programming and commissioning of complex automation systems.

  • Page 13: For Your Safety

    Safety pictograms On Beckhoff products you will find attached or lasered safety pic- tograms, which vary depending on the product. They serve to pro- tect people and to prevent damage to the products. Safety pic- tograms must not be removed and must be legible for the user.

  • Page 14: General Safety Instructions

    Observe tightening torques Mount and repeatedly check connections and components, comply- ing with the prescribed tightening torques. Use the original packaging only When shipping, transporting, storing and packing, use the original packaging or conductive materials. ─── AS2000 Version: 2.2...
  • Page 15 After operation De-energize and switch off components before working on them 2.2.3 Check the functionality of all safety-relevant devices. Secure the working environment. Secure the machine or plant against being in- advertently started up. See chapter: "Decommissioning" Version: 2.2 AS2000 ───...

  • Page 16: Product Overview

    5.00 Nm ; 5.0 A 24/50 V ; IP 5 CE conformity 1024 Inc Country of manufacture Protection class Standstill current LOT number of the motor for product identification Resolution of the feedback Rated supply voltage Standstill torque ─── AS2000 Version: 2.2...

  • Page 17: Type Key

    Product overview Type key AS 20 uv – w x y z Explanation Product area Stepper motors Series AS2000 Flange size 2 = N2, 56 mm 4 = N3, 86 mm Overall length 1 = One stack 2 = Two stacks 3 = Three stacks...

  • Page 18: Product Characteristics

    Stepper motor terminals and stepper motor modules All motors from the AS2000 series are to be put into operation with Beckhoff motor terminals and modules for stepper motors. For fur- ther details at chapter "Electrical installation", [Page 61].

  • Page 19: Ordering Options

    A feather key transmits torque to an output element. The stepper motors of flange size N3 are equipped with feather key groove and fitted feather key according to DIN6885. The rotor is bal- anced with half feather according 21940-32:2012-08. Version: 2.2 AS2000 ───...

  • Page 20: Intended Use

    Beckhoff stepper motor output stages. The stepper motors from the AS2000 series may be operated exclu- sively for the activities foreseen and defined in this documentation, taking into account the prescribed environmental conditions.

  • Page 21: Technical Data

    Definitions Characteristic torque and speed curves Detailed information on characteristic curves can be found at: www.beckhoff.de -> Beckhoff motor curves www.beckhoff.de -> TC Motion Designer All data, with the exception of the voltage constant, are based on 40 °C ambient temperature and 100 K overtemperature of the wind- ing.

  • Page 22: Data For Operation And Environment

    At temperatures above 40 °C and encapsulated installation, the stepper motor may be damaged. Beckhoff products are designed for operation under certain environ- mental conditions, which vary depending on the product. The follow- ing specifications must be observed for operation and environment in order to achieve the optimum service life of the products.

  • Page 23: Step Mode And Limit Speeds

    Maximum speed of the Beckhoff AS2000 stepper motor The maximum speed is 3600 rpm if using a Beckhoff stepper motor from the AS2000 series with incremental encoder. In practice the maximum speed is limited by the design of the stepper motor.

  • Page 24: As202X

    Rotor moment of inertia [kg cm²] 0.210 0.360 0.490 Weight without encoder [kg] Weight with encoder [kg] Maximum winding temperature [°C] Flange size N2, NEMA 23/56 mm Protection class IP 54 Paint finishes Properties powder coated Color jet black / RAL 9005 ─── AS2000 Version: 2.2...
  • Page 25 Dimensional drawing • All figures in millimeters 4.4.1 20,6 Y(Z) ±1,5 4 x Ø4,5 Motor Z - encoder AS2021 64.10 mm 81.10 mm 91.80 mm AS2022 86.20 mm 103.10 mm 113.90 mm AS2023 105.10 mm 122.10 mm 132.80 mm View without encoder 4 x Ø4,5 Version: 2.2 AS2000 ───...
  • Page 26 "open loop" controlled operation and "vector control" field-oriented 4.4.2 speed curves control. AS2021-0D00 • "Open loop" controlled operation 1000 1200 -0,2 Speed [rpm] Curve Motor type Recording AS2021-0D00 24 V 1.5 A EL7037 AS2021-0D00 24 V 2 A EL7047 AS2021-0D00 48 V 2 A EL7047 ─── AS2000 Version: 2.2...
  • Page 27 Technical data AS2021-0D10 • "Vector control" field-oriented control 1000 1200 -0,2 Speed [rpm] Curve Motor type Recording AS2021-0D10 24 V 1.5 A EL7037 AS2021-0D10 24 V 2 A EL7047 AS2021-0D10 48 V 2 A EL7047 Version: 2.2 AS2000 ───...
  • Page 28 Technical data AS2022-0H00 • "Open loop" controlled operation 1000 1200 -0,2 Speed [rpm] Curve Motor type Recording AS2022-0H00 24 V 5.0 A EL7047 AS2022-0H00 48 V 5.0 A EL7047 AS2022-0H00 48 V 5.6 A EL7047+ZB8610 AS2022-0H00 24 V 5.6 A EL7047+ZB8610 ─── AS2000 Version: 2.2...
  • Page 29 Technical data AS2022-0H10 • "Vector control" field-oriented control 1000 1200 -0,2 Speed [rpm] Curve Motor type Recording AS2022-0H10 48 V 5.0 A EL7047 AS2022-0H10 48 V 5.6 A EL7047+ZB8610 AS2022-0H10 24 V 5.6 A EL7047+ZB8610 AS2022-0H10 24 V 5.0 A EL7047 Version: 2.2 AS2000 ───...
  • Page 30 Technical data AS2023-0H00 • "Open loop" controlled operation 1000 1200 -0,2 Speed [rpm] Curve Motor type Recording AS2023-0H00 48 V 5.0 A EL7047 AS2023-0H00 48 V 5.6 A EL7047+ZB8610 AS2023-0H00 24 V 5.6 A EL7047+ZB8610 AS2023-0H00 24 V 5.0 A EL7047 ─── AS2000 Version: 2.2...
  • Page 31 Technical data AS2023-0H10 • "Vector control" field-oriented control 1000 1200 -0,2 Speed [rpm] Curve Motor type Recording AS2023-0H10 48 V 5.0 A EL7047 AS2023-0H10 48 V 5.6 A EL7047+ZB8610 AS2023-0H10 24 V 5.6 A EL7047+ZB8610 AS2023-0H10 24 V 5.0 A EL7047 Version: 2.2 AS2000 ───...
  • Page 32 Technical data AS2023-0J00 • "Open loop" controlled operation 1000 1500 2000 Speed [rpm] Curve Motor type Recording AS2023-0J00 24 V 6.4 A EL7047+ZB8610 AS2023-0J00 48 V 6.4 A EL7047+ZB8610 ─── AS2000 Version: 2.2...
  • Page 33 Technical data AS2023-0J10 • "Vector control" field-oriented control 1000 1500 2000 -0,2 Speed [rpm] Curve Motor type Recording AS2023-0J10 24 V 6.4 A EL7047+ZB8610 AS2023-0J10 48 V 6.4 A EL7047+ZB8610 Version: 2.2 AS2000 ───...

  • Page 34: As204X

    Rotor moment of inertia [kg cm²] 1.48 3.00 4.50 Weight without encoder [kg] Weight with encoder [kg] Maximum winding temperature [°C] Flange size N3, NEMA 34/86 mm Protection class IP 54 Paint finishes Properties powder coated Color jet black / RAL 9005 ─── AS2000 Version: 2.2...
  • Page 35 Technical data Dimensional drawing • All figures in millimeters 4.5.1 Y(Z) ±1,5 4x Ø5,6 Motor Z - encoder AS2041 71.80 mm 89.30 mm 100.00 mm AS2042 102.25 mm 119.75 mm 130.45 mm AS2043 132.7 mm 150.20 mm 160.90 mm Feather key View without encoder 4x Ø5,6 Version: 2.2 AS2000 ───...
  • Page 36 "open loop" controlled operation and "vector control" field-oriented 4.5.2 speed curves control AS2041-1H00 • "Open loop" controlled operation 1000 1200 -0,5 Speed [rpm] Curve Motor type Recording AS2041-1H00 24 V 5.0 A EL7047 AS2041-1H00 24 V 5.6 A EL7047+ZB8610 AS2041-1H00 48 V 5.0 A EL7047 AS2041-1H00 48 V 5.6 A EL7047+ZB8610 ─── AS2000 Version: 2.2...
  • Page 37 Technical data AS2041-1H10 • "Open loop" controlled operation 1000 1200 Speed [rpm] Curve Motor type Recording AS2041-1H10 24 V 5.0 A EL7041-1000 Version: 2.2 AS2000 ───...
  • Page 38 Technical data AS2041-1H10 • "Vector control" field-oriented control 1000 1200 -0,5 Speed [rpm] Curve Motor type Recording AS2041-1H10 24 V 5.0 A EL7047 AS2041-1H10 24 V 5.6 A EL7047+ZB8610 AS2041-1H10 48 V 5.0 A EL7047 AS2041-1H10 48 V 5.6 A EL7047+ZB8610 ─── AS2000 Version: 2.2...
  • Page 39 Technical data AS2042-1H00 • "Open loop" controlled operation 1000 1200 Speed [rpm] Curve Motor type Recording AS2042-1H00 24 V 5.6 A EL7047+ZB8610 AS2042-1H00 24 V 5.0 A EL7047 AS2042-1H00 48 V 5.6 A EL7047+ZB8610 AS2042-1H00 48 V 5.0 A EL7047 Version: 2.2 AS2000 ───...
  • Page 40 Technical data AS2042-1H10 • "Open loop" controlled operation 1000 1200 Speed [rpm] Curve Motor type Recording AS2042-1H10 24 V 5.0 A EL7041-1000 AS2042-1H10 48 V 5.0 A EL7041-1000 ─── AS2000 Version: 2.2...
  • Page 41 Technical data AS2042-1H10 • "Vector control" field-oriented control 1000 1200 Speed [rpm] Curve Motor type Recording AS2042-1H10 24 V 5.0 A EL7047 AS2042-1H10 24 V 5.6 A EL7047+ZB8610 AS2042-1H10 48 V 5.0 A EL7047 AS2042-1H10 48 V 5.6 A EL7047+ZB8610 Version: 2.2 AS2000 ───...
  • Page 42 Technical data AS2043-1J00 • "Open loop" controlled operation 1000 1200 Speed [rpm] Curve Motor type Recording AS2043-1J00 24 V 6.5 A EL7047+ZB8610 AS2043-1J00 24 V 5.0 A EL7047 AS2043-1J00 48 V 5.0 A EL7047 AS2043-1J00 48 V 6.5 A EL7047+ZB8610 ─── AS2000 Version: 2.2...
  • Page 43 Technical data AS2043-1J10 • "Open loop" controlled operation 1000 1200 Speed [rpm] Curve Motor type Recording AS2043-1J10 24 V 5.0 A EL7041-1000 AS2043-1J10 48 V 5.0 A EL7041-1000 Version: 2.2 AS2000 ───...
  • Page 44 Technical data AS2043-1J10 • "Vector control" field-oriented control 1000 1200 Speed [rpm] Curve Motor type Recording AS2043-1J10 24 V 5.0 A EL7047 AS2043-1J10 24 V 6.5 A EL7047+ZB8610 AS2043-1J10 48 V 5.0 A EL7047 AS2043-1J10 48 V 6.5 A EL7047+ZB8610 ─── AS2000 Version: 2.2...

  • Page 45: Elastomer Coupling [+]

    Standard speed [rpm] 15000 Hub length H [mm] 16.7 Installation length A [mm] Maximum internal diameter of 10.2 elastomer ring D [mm] Offset Lateral [mm] 0.08 Angular [degrees] Axial [mm] ±1 Screws Thread E Tightening torque E [Nm] Version: 2.2 AS2000 ───...
  • Page 46 • All figures in millimeters 4.6.1.1 6.35 / 6.00 • Motor shaft diameter / output shaft diameter 16.7 Ø6 H7 Ø6.35 H7 6.35 / 6.35 • Motor shaft diameter / output shaft diameter 16.7 Ø6.35 H7 Ø6.35 H7 ─── AS2000 Version: 2.2...
  • Page 47 Technical data 6.35 / 8.00 • Motor shaft diameter / output shaft diameter 16.7 Ø8 H7 Ø6.35 H7 Version: 2.2 AS2000 ───...
  • Page 48 Distance F [mm] Standard speed [rpm] 13000 Hub length H [mm] 20.7 Installation length A [mm] Maximum inner diameter of elastomer 14.2 ring D [mm] Offset Lateral [mm] Angular [degrees] Axial [mm] ±1 Screws Thread Tightening torque [Nm] ─── AS2000 Version: 2.2...
  • Page 49 • Motor shaft diameter / output shaft diameter 10.5 20.7 10.5 Ø14 H7 Ø14 H7 10.3 10.3 14.00 / 16.00 • Motor shaft diameter / output shaft diameter 10.5 20.7 10.5 Ø16 H7 Ø14 H7 10.3 10.3 Version: 2.2 AS2000 ───...

  • Page 50: Scope Of Supply

    Please check that the delivery includes the following items: • Motor from the AS2000 series with yellow protective cap • Instruction leaflet for brief information Packaging...

  • Page 51: Transport And Storage

    AS2021 AS2022 AS2023 AS2041 AS2042 AS2043 Motor and gear unit AG2250 Stacking height of the original packaging [qty] AS2021 with PLE60/WPLE60 AS2022 with PLE60/WPLE60 AS2023 with PLE60/WPLE60 AS2041 with PLE80/WPLE80 AS2042 with PLE80/WPLE80 AS2043 with PLE80/WPLE80 Version: 2.2 AS2000 ───...

  • Page 52: Transport

    Use suitable means of transport and secure the motor against fall- ing. Falling and hard impacts will damage the motor and motor compo- nents. AS202x to AS204x Transport of the series AS202x to AS204x without aids. 6.2.1 ─── AS2000 Version: 2.2...

  • Page 53: Long-Term Storage

    Adhere to the condi- tions specified in the chapter: Transport and storage. The motors are protected against chemical and aggressive sub- stances, class 1C2, chemical substances and 1B2, biological condi- tions. Ensure the storage space is vibration-free. Version: 2.2 AS2000 ───...

  • Page 54: Technical Description

    In mounting position IM V1 liquid can escape. If you do not observe the maintenance intervals, the motor may overheat depending on the mounting position. Ingress and leakage of liquids may damage the motor. ─── AS2000 Version: 2.2...

  • Page 55: Feedback

    • Permissible values depend on the speed Axial forces • Pinion or pulley mounted on the shaft • For example, when operating angular gear units Preferred backlash-free coupling elements • Double-coned collets and metal bellows couplings Version: 2.2 AS2000 ───...

  • Page 56: Mechanical Installation

    The radial loads on the shaft must not be exceeded when using a toothed belt drive. The motor shaft may suffer a fatigue fracture due to excessive alternating loads. Please pay attention to chapter: "Technical data", [Page 21]. ─── AS2000 Version: 2.2...
  • Page 57 ► Insert washer 3 with screw 4 of strength class 8.8 and nut 5 into the locking thread 6 of the motor shaft ► Tighten nut 5 The output element is pulled onto the motor shaft by the nut. Version: 2.2 AS2000 ───...
  • Page 58 ► Screw puller 3 and intermediate disc 2 into the locking thread of the motor shaft ► Place the puller fully on the drive element 1 ► Pull the output element 1 with the puller 3 from the motor shaft ─── AS2000 Version: 2.2...

  • Page 59: Elastomer Coupling [+]

    The use of unsuitable lubricants can lead to incompatibility with the elastomer ring and impair the functionality. Facilitated assembly The bores in the coupling hub have an H7 fit. Beckhoff recom- mends play of 0.1 – 0.5 mm between the coupling hub and the shaft.
  • Page 60 Adhere to the concentricity and axial run-out accuracies and do not clamp to the hub bridges. For customer-specific special solutions and changes to the coupling hubs, contact our Applications Department. Beckhoff GmbH & Co. KG accepts no liability for unapproved, unauthorized conversions and modifications of the components.

  • Page 61: Electrical Installation

    Beckhoff supplies prefabricated power and feedback cables. Mating connectors are not included in the scope of supply. For the selection of the necessary cables, refer to the Beckhoff documentation for the connecting cables [+]. In the documentation you will find a complete overview of the available cables and information on the technical data.
  • Page 62 ► Make sure that the poles and the interior of the socket as well as the threads on the connector are not dirty or damaged ► Push connector 1 straight onto socket 2 on the motor ► Screw thread 3 into the socket ─── AS2000 Version: 2.2...
  • Page 63 ► Place washer 2 and spring washer 3 on bolt 4 ► Screw bolt 4 into the threaded hole provided to fasten the ring cable lug 1 ► Observe tightening torque: Bolt Tightening torque [Nm] 3, strength class 8.8 Version: 2.2 AS2000 ───...
  • Page 64 • ZB8610 fan cartridge required to achieve full rated motor power Motor cable • Order key: ZK4000-7700-xxxx • Preassembled at both ends and shielded: 4 x 0.75 mm² Encoder cable • Order key: ZK4000-5100-2xxx • Preassembled at both ends and shielded: 5 x 0.25 mm² ─── AS2000 Version: 2.2...
  • Page 65 Motor cable • Order key: ZK4000-7700-xxxx • Preassembled at both ends and shielded: 4 x 0.75 mm² Encoder cable • Order key: ZK4000-5100-2xxx • Preassembled at both ends and shielded: 5 x 0.25 mm² Version: 2.2 AS2000 ───...
  • Page 66 • For AS2021-0Dy0 with encoder for high-speed applications 9.1.6 Motor cable • Order key: ZK4000-6877-xxxx • Preassembled at both ends and shielded: 4 x 0.75 mm² Encoder cable • Order key: ZK4000-5151-0xxx • Preassembled at both ends and shielded: 5 x 0.35 mm² ─── AS2000 Version: 2.2...

  • Page 67: Commissioning

    • Observe information for environment and operation • Check protective measures against moving and live parts Configuration Beckhoff recommends the use of stepper motor terminals and mo- tors from Beckhoff in combinations and configuration in the Beckhoff TwinCAT DriveManager. Carry out the operating procedures in the operating instructions for stepper motor terminals: •...

  • Page 68: Prerequisites During Operation

    • Check for lubricant leakage • Observe recommended maintenance intervals • Check function of safety devices After operation WARNING 10.4 Make sure that the rotor comes to a complete stop. Rotating components can lead to serious injuries. ─── AS2000 Version: 2.2...

  • Page 69: Maintenance And Cleaning

    Carefully clean the components with a damp cloth or brush. 11.1 For cleaning, we provide an overview of cleaning agents to which the motors may be exposed up to a maximum concentration of 3%. You will also receive information about non-approved cleaning agents. Version: 2.2 AS2000 ───...
  • Page 70 NaOH Sodium peroxide Sulfuric acid Tartaric acid COOH; CHOH COOH Tin-II IV-chloride SnCl O SnCl Not approved Cleaning agents Chemical formula 11.1.2 Aniline hydrochloride Bromine Sodium hypochlorite; bleaching NaCIO solution Mercury (II) chloride HgCl Hydrochloric acid ─── AS2000 Version: 2.2...

  • Page 71: Intervals

    Replace cables Fan cover [+] half-yearly Perform visual inspection and check for damage In the event of unbalance: Clean fan Contact Beckhoff Service In case of damage: Contact Beckhoff Service Power box 500 mating cycles In case of damage: Contact Beckhoff Service...

  • Page 72: Accessories

    Elastomer coupling 12.3 12.3 You have the possibility to use the Beckhoff elastomer coupling for applications that are susceptible to vibrations and impacts. The elas- tomer ring between the coupling hubs has damping properties. Lateral, axial and angular shaft offsets can be compensated with the elastomer coupling.

  • Page 73: Fault Correction

    Power connector not fitted correctly Check the connectors on the power connector and on the motor Interruption in the feedback or motor cable Check cables for broken wire or crushing. Re- place defective cables, then measure and check Version: 2.2 AS2000 ───...
  • Page 74 Check the position of the feedback connector Loose fit of the feedback connector or no con- Check the connector assembly. Contact Beck- tact of the plug contacts with the power socket hoff Service if necessary of the motor. ─── AS2000 Version: 2.2...

  • Page 75: Decommissioning

    Leaking oil can cause slips and falls, resulting in serious or fatal injury. Hot oil can cause severe burns. Do not remove components from the products Only Beckhoff Automation GmbH & Co. KG is permitted to remove components. Contact Beckhoff Service if you have any questions.

  • Page 76: Disposal

    The trans- 14.2.1 port costs are borne by the sender. Send the used devices with the note "For disposal" to: Beckhoff Automation GmbH & Co. KG Gebäude „Service“ Stahlstraße 31 D-33415 Verl In addition, you have the option to contact a local certified specialist company for the disposal of used electrical and electronic appli- ances.

  • Page 77: Guidelines And Standards

    The EAC logo can be found on the name plate. EU conformity Provision 15.4 Beckhoff Automation GmbH & Co KG will be pleased to provide you with EU declarations of conformity and manufacturer's declara- tions for all products on request. Please send your request to: info@beckhoff.com Version: 2.2...

  • Page 78: Index

     63 Motor Flange  56 Commissioning  67 Transport  51 Dismantling  75 Disposal  76 Earthing  63 Electrical installation  61 Mechanical installation  56 Storage  51 Transport  51 Mounting position  54 Name plate  16 Operating Conditions  22 Ordering options  19 ─── AS2000 Version: 2.2...
  • Page 80 More Information: www.beckhoff.com/as2000 Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com...

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