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Beijer Electronics GT-5521 User Manual

Pulse output module, 2-phase bipolar step motor driver, 24 vdc, 1 a, cage clamp, 10 pt removable terminal
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User Manual
GT-5521 Pulse Output Module
2-phase bipolar step motor driver, 24 VDC, 1 A, cage clamp, 10 pt removable terminal
Doc ID: 147240
2025-02-20

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Summary of Contents for Beijer Electronics GT-5521

  • Page 1 User Manual GT-5521 Pulse Output Module 2-phase bipolar step motor driver, 24 VDC, 1 A, cage clamp, 10 pt removable terminal Doc ID: 147240 2025-02-20...
  • Page 2 The information in this document is subject to change without notice and is provided as available at the time of printing. Beijer Electronics AB reserves the right to change any information without updating this publication. Beijer Electronics AB assumes no responsibility for any errors that may appear in this document.

  • Page 3: Table Of Contents

    11. Hardware Setup ..................37 11.1. Space Requirements ................37 11.2. Mount Module to DIN Rail ..............38 11.3. Mount Removable Terminal Block ............40 11.4. Connect Cables to Removable Terminal Block ..........41 Beijer Electronics, Doc ID: 147240 2025-02...

  • Page 5: About This Manual

    About This Manual 1. About This Manual This manual contains information on the software and hardware features of the Beijer Electronics GT-5521 Pulse Output Module. It provides in-depth specifications, guidance on installation, setup, and usage of the product. 1.1. Symbols Used in This Manual This publication includes Warning, Caution, Note and Important icons where appropriate, to point out safety-related, or other important information.

  • Page 6: Safety

    Before using this product, please read this manual and other relevant manuals carefully. Pay full attention to safety instructions! In no event will Beijer Electronics be responsible or liable for damages resulting from the use of this product. The images, examples and diagrams in this manual are included for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Beijer Electronics cannot take responsibility or liability for actual use based on the examples and diagrams.

  • Page 7: About The G-Series System

    IP, EtherCAT, PROFINET, CC-Link IE Field, PROFIBUS, CANopen, DeviceNet, CC-Link, MODBUS/Serial etc. • Expansion Module - Expansion module types: Digital IO, Analog IO, and Special modules. • Messaging - The system uses two types of messaging: Service messaging and IO messaging. Beijer Electronics, Doc ID: 147240 2025-02...

  • Page 8: Io Process Data Mapping

    Valid parameter data depends on the modules in use. For example, analog modules have settings of either 0-20 mA or 4-20 mA, and temperature modules have settings such as PT100, PT200, and PT500. The documentation for each module provides a description of the parameter data. 2025-02 Beijer Electronics, Doc ID: 147240...

  • Page 9: Specifications

    Power dissipation: Max. 35 mA @ 24 VDC Wiring IO cable max. 2.0 mm² (AWG 14) Torque 0.8 Nm (7 lb-in) Weight 60 g Module size 12 mm x 99 mm x 70 mm Beijer Electronics, Doc ID: 147240 2025-02...

  • Page 10: Input Specifications

    Input signal delay OFF to ON: Max. 0.3 ms ON to OFF: Max. 0.3 ms Nominal input impedance 5.4 kΩ typical Encoder mode Incremental encoder support CAUTION * Hard stop: Stop motor when input is detected! 2025-02 Beijer Electronics, Doc ID: 147240...

  • Page 11: Stepper Motor Driver Power Element Specifications

    Max. 16 microsteps (full, half, 1/4, 1/8, 1/16) • Instant command mode Operation modes • Position table mode Function modes Position (absolute/relative), set point change, etc. Protection Over current / Over voltage reverse voltage protection Beijer Electronics, Doc ID: 147240 2025-02...

  • Page 12: Wiring Diagram

    Digital input Encoder mode Enc Bph Input channel 2 Digital input Encoder mode Hard stop * Input channel 3 Digital input Encoder mode Hard stop * Field power 24 V Field power 0 V 2025-02 Beijer Electronics, Doc ID: 147240...
  • Page 13 Wiring Diagram CAUTION * Hard stop: Stop motor when input is detected! WARNING Do not connect or disconnect a motor while the driver is energized. Beijer Electronics, Doc ID: 147240 2025-02...

  • Page 14: Led Indicator

    Input 2 is ON. Input 2 is OFF. Green Input 3 is ON. Input 3 is OFF. * If AL is green, troubleshoot the following: • Over voltage. • Under voltage. • Over current detection. 2025-02 Beijer Electronics, Doc ID: 147240...

  • Page 15: Function Commands

    After power on, the module will be ready, and motor is in neutral position (not stopped). Usually, GT-5521 is in “Instant Command Mode” which is activate function command from master (1). If function command (from master) of GT-5521 is done (2), GT-5521 is stay last command status and hold on position (3).

  • Page 16: Parameter Data

    Parameter Data 8. Parameter Data This section describes the individual parameters that is used to configure the GT-5521 stepper module: Name Description Type Acceleration Target phase current generated by Byte current controlling the amplitude of motor supply voltage that is assigned to the module.
  • Page 17 WH * Deceleration current WH * Holding current WH * Running current WH * Reserved Step mode & encoder/digital input selection WH * Step mode Enc/DI select Full Digit step inpu step Enco step step Beijer Electronics, Doc ID: 147240 2025-02...
  • Page 18 WH * Full step speed parameter 1 (Low) WH * Full step speed parameter 2 (High) WH * Full step speed parameter 3 (High) WH * * Writable only when outputs are in high impedance. 2025-02 Beijer Electronics, Doc ID: 147240...

  • Page 19: Mapping Data Into The Image Table

    DI 2 Encoder position input 2 byte DI 3 Encoder position input 3 byte * Last state in motor direction: Reverse (0), Forward (1). ** Commend Success (0), Commend Error (1), Commend Busy (2) Beijer Electronics, Doc ID: 147240 2025-02...
  • Page 20 SPD & POS output 3 / Position table no. **** Reserved Reserved * Position table index is only for “Position Table”-function. **INPUT_QUERY, GOTO_INDEX is only for “Position Table”-function. *** ”State change” is only for INPUT_QUERY. 2025-02 Beijer Electronics, Doc ID: 147240...
  • Page 21 **** ”Position table no.” is only for GOTO_INDEX. NOTE Since the initial state of the motor is in the high impedance state, it is recommended to change to the STOP operation state before other operations. Beijer Electronics, Doc ID: 147240 2025-02...

  • Page 22: Application Commands

    This section describes the output command modes and individual commands of the stepper module in detail. GT-5521 has two main output modes, “Instant Command Mode” and “Position Table”. It executes only one module output mode at once. The following chapters describes the module output modes: 10.1. Instant Command Mode...
  • Page 23 (full, half, quarter etc.). This command keeps the BUSY flag low until the target position is reached. This command can be given only when the previous motion command has been completed (BUSY flag released). Any Beijer Electronics, Doc ID: 147240 2025-02...
  • Page 24 (BUSY low) causes the command to be ignored. Command structure Command value Parameters (data type) Description 0x04 Byte / Enumeration. Op-code for GOTO_DP Command. 2025-02 Beijer Electronics, Doc ID: 147240...
  • Page 25 If a motion is in progress, the motor must be stopped, and it is then possible to perform a Move command. Any attempt to perform a Move command when the motor is running causes the command to be ignored. Beijer Electronics, Doc ID: 147240 2025-02...
  • Page 26 NOTE If the specified speed is lower than the configured Minimum Speed than the motor attains the target speed starting from zero to allow smooth operation of the motor. 2025-02 Beijer Electronics, Doc ID: 147240...
  • Page 27 This parameter specifies the method of Check Mode status change check mode (Off -> On – 1/ On -> Off – 0) used with this command. 32-bit integer This parameter is ignored by the module. Beijer Electronics, Doc ID: 147240 2025-02...
  • Page 28 (Soft stop – 0 / Hard stop – 1) used with this command. 32-bit integer This parameter is ignored by the module. Command code example (GOTO DP Forward / GOTO DP Reverse) Output mode Cmd parameter data erve Para Para Para3 Output byte 2025-02 Beijer Electronics, Doc ID: 147240...
  • Page 29 Byte / Enumeration. Op-code for CLEAR Command. Byte / Enumeration. This parameter is ignored by the module. Byte / Enumeration. This parameter is ignored by the module. 32-bit integer This parameter is ignored by the module. Beijer Electronics, Doc ID: 147240 2025-02...

  • Page 30: Position Table Mode

    Hard stop 10.2. Position Table mode Position Table mode has several commands. Each command are for position table function. Position commands consist of “Write”, “Save”, “Run”, “Read”. GT-5521 executes only one function command at once. 2025-02 Beijer Electronics, Doc ID: 147240...
  • Page 31 10.2.1. Position Table Write Description: This mode is used for creating “Position table” of GT-5521. With this mode, GT-5521 makes a position table list. GT-5521 provides 250 position table list. Table creation procedure is as following below: Define maximum index of position table.
  • Page 32 0 Position Table Save. Description: This mode is for saving then Position table of GT-5521. When “Position Table Write” procedure is finished, “Position Table Save” is necessary. In addition, it should be executed, before “Position Table Run”.

  • Page 33: How To Use "Position Table

    For command examples, see the following instructions: Position Table Create (define maximum table size). Create position table (max. index size: 12). Command code example Output Cmd parameter data mode Para3 Output byte write / Table create index 10 Beijer Electronics, Doc ID: 147240 2025-02...
  • Page 34 Move to 3200 step position on absolute position axis (index 0). Output Cmd parameter data mode Para3 Index If “Position Table Write”-procedure is finished, command “Position Table Save”. Command example (Position Table Save) Output Cmd parameter data mode Para3 2025-02 Beijer Electronics, Doc ID: 147240...
  • Page 35 Table 10.3.1. Position Table Run When “Position Table Run” is executed, GT-5521 will perform function commands following the position table list. If the final function command on the position table list is executed, the module will execute the first function command on the position table list.
  • Page 36 Application Commands If the module is stopped (1) and returns to “Position Table Run”-mode, the module will start at the first function command on the position table list (2). 2025-02 Beijer Electronics, Doc ID: 147240...

  • Page 37: Hardware Setup

    Installation position is valid vertical and horizontal. The drawings are illustrative and may be out of proportion. CAUTION NOT following the space requirements may result in damaging the product. Beijer Electronics, Doc ID: 147240 2025-02...

  • Page 38: Mount Module To Din Rail

    • GT-5XXX • GT-7XXX GN-9XXX modules have three locking levers, one at the bottom and two on the side. For mounting instructions, refer to Mount GN-9XXX Module. Mount to DIN rail Dismount from DIN rail 2025-02 Beijer Electronics, Doc ID: 147240...
  • Page 39 11.2.2. Mount GN-9XXX Module To mount or dismount a network adapter or programmable IO module with the product name GN-9XXX, for example GN-9251 or GN-9371, see the following instructions: Mount to DIN rail Dismount from DIN rail Beijer Electronics, Doc ID: 147240 2025-02...

  • Page 40: Mount Removable Terminal Block

    Hardware Setup 11.3. Mount Removable Terminal Block To mount or dismount a removable terminal block (RTB), see the instructions below. Mount a removable terminal block Dismount a removable terminal block 2025-02 Beijer Electronics, Doc ID: 147240...

  • Page 41: Connect Cables To Removable Terminal Block

    To connect/disconnect cables to/from the removable terminal block (RTB), see the instructions below. WARNING Always use the recommended supply voltage and frequency to prevent damage to the equipment and ensure optimal performance. Connect cable Disconnect cable Beijer Electronics, Doc ID: 147240 2025-02...