Jenaer Antriebstechnik ECOSTEP 54 User Manual
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Jenaer Antriebstechnik ECOSTEP 54 User Manual

Stepper amplifier
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User Manual ECOSTEP®54

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Summary of Contents for Jenaer Antriebstechnik ECOSTEP 54

  • Page 1 User Manual ECOSTEP®54...
  • Page 3 Necessary corrections will be carried out in the next edition. ECOSTEP® is a registered trademark of Jenaer Antriebstechnik GmbH, Jena. Windows® is a registered trademark of Microsoft Corporation in the United States and other countries.
  • Page 4 User Manual ECOSTEP®54 Subject to change without notice!

  • Page 5: Table Of Contents

    User Manual ECOSTEP®54 Inhalt About this manual ......................... 7 Safety instructions ......................... 7 Symbols ................................. 7 General notes ..............................8 Dangerous voltages ............................8 Danger by hot surfaces ..........................8 Danger by unintentional mechanical movements ................... 8 Prescribed use ............................... 9 Legal notes ............................
  • Page 6 User Manual ECOSTEP®54 Accessories ........................... 37 Supplementary parts ............................ 38 8.1.1 Heat sink ................................ 38 Annex ............................39 Flowcharts for PLC programming 9.1.1 Homing ................................39 9.1.2 Operation mode 1 (Profi le Positioning Mode): Direct absolute positioning (eff ective immediately) ..........................40 9.1.3 Operation mode 1 (Profi...

  • Page 7: About This Manual

    User Manual ECOSTEP®54 About this manual Th is user manual describes the stepper amplifi er series ECOSTEP®54. It concerns all persons who install, commission and operate ECOSTEP®54 drives. Further information: Programming: manual „Object Dictionary ECOVARIO® and ECOSTEP®“ Motor data: Data sheets series 17S and 23S (stepper motors). Th is manual makes the following demands on qualifi...

  • Page 8: General Notes

    User Manual ECOSTEP®54 General notes Only properly qualifi ed personnel are permitted to perform activities such as transport, in- stallation, commissioning and maintenance of the ECOSTEP®54. Th e manufacturer of the machine must generate a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property.

  • Page 9: Prescribed Use

    User Manual ECOSTEP®54 Prescribed use Th e stepper motor amplifi ers ECOSTEP®54 are components which are built into electrical equip- ment or machines and can only be used as integral components of such equipment. All notes about technical data and ambient conditions have to be observed. Using the unit in hazardous locations and in ambients containing oil, gas, vapours, dusts, radiati- ons etc.

  • Page 10: Liability

    ECOSTEP54 complies to the standards and directives listet in the appendix, chapter 9.4. 3.3.1 UL/CSA compliance acc. to UL 508C Th e stepper motor amplifi ers ECOSTEP 54 are designed in compliance with UL or cUL respectively. For further information see UL fi le number E244038 at www.ul.com. 3.3.2 CE compliance Stepper motor amplifi...
  • Page 11 User Manual ECOSTEP®54 Subject to change without notice!

  • Page 12: Technical Data

    User Manual ECOSTEP®54 Technical Data Technical data of the power stage Table 4.1: Technical data of the power stage Number of motor outputs Max. phase currrent Step resolution Steps/rev. 12,800 Max. output voltage , cf. table 4.2 DC-BUS Max. output power 4 x 100 Short-circuit strength of motor output current limiting in case of short circuit of motor...

  • Page 13: General Technical Data

    With ECOSTEP®54 stepper motor amplifi er various types of stepper motors can be operated, among others the stepper motor series 17S und 23S of Jenaer Antriebstechnik GmbH. Technical data and regulations in this manual only refer to these motors. Technical data of the motors can be retrieved from the motor data sheets or from our homepage www.jat-gmbh.de.

  • Page 14: Installation

    User Manual ECOSTEP®54 Installation Mounting 5.1.1 Important notes Make sure that transport and storage did no damage to the units.  Th e ambient air must not be polluted by dust, greases, aggressive gas etc. Eventually appropri-  ate countermeasures have to be taken (installation of fi lters, frequent cleaning). Depending on the power losses an appropriate ventilation should be provided.

  • Page 15: Assembly

    User Manual ECOSTEP®54 5.1.3 Assembly When mounting the ECOSTEP®54 into the cabinet cable clamps (contained in connector kit AMK40, cf. chap. 8) assure that the connecting cables are laid EMC conform by connecting the cable shield extensively to chassis earth. Maximum cable diameter is 15 mm. It is important that the air fl...

  • Page 16: Electrical Installation

    User Manual ECOSTEP®54 Electrical Installation 5.2.1 Important notes All installation work may only be carried out if the machine or plant is not live and protected against re- start. Never exceed the maximum rated voltage at the connector X11 (power supply) X11! U = 45V Th e guarding of the DC supply and the 24 V logic voltage should be carried out by the user Stepper motor amplifi...

  • Page 17: Interfaces

    User Manual ECOSTEP®54 Interfaces Arrangement of the interfaces X1 - X4: Stepper motor connector 1 ... 4 Status LEDs X7: CAN interface X8: RS232 interface X9: Analog inputs/outputs X5: Digital outputs X10: Digital inputs X11: Power supply Fig. 6.1: Arrangement of the ECOSTEP®54 interfaces Fig.

  • Page 18: Control Signals

    Load res. 3 OUT3 Load res. +24 V 8 OUT8 Load res. +24 V +24 V Galvanic +24 V External isolation power supply 24 V ECOSTEP 54 Fig. 6.3: Connector X5: Circuit of the digital outputs Subject to change without notice!

  • Page 19: X10: Digital Inputs

    Control signal IGND DIN2 Control signal IGND DIN3 Control signal IGND DIN8 Control signal IGND IGND n.c. Galvanic External isolation power supply IGND 24V= ECOSTEP 54 Fig. 6.5: Connector X10: Circuit of the digital inputs Subject to change without notice!

  • Page 20: X9: Analog Inputs, Analog Output

    View of the solder or crimp side n.c. n.c. Analog output +/- 10 V Internal GND Control Power supply 880k 0...5V Analog value 220k ECOSTEP 54 Fig. 6.7: Connector X9: Circuit of the analog inputs and the analog output Subject to change without notice!

  • Page 21: Power Connection

    User Manual ECOSTEP®54 Power connection 6.3.1 X1 to X4: Motor connector Table 6.4: Pin assignment connectors X1 to X4 Signal Description Phase A Stepper motor connection Phase /A Stepper motor connection Phase B Stepper motor connection Phase /B Stepper motor connection Fig.

  • Page 22: X11: Supply Voltage

    User Manual ECOSTEP®54 6.3.2 X11: Supply voltage Table 6.5: Pin assignment connector X11 Signal Description 24 V logic supply +24V Incoming supply voltage +20 ... 30V max. 0.2 A GND for logic supply DC link relay + REL+ Switching on the DC link DC link relay - REL - Switching on the DC link...

  • Page 23: X8: Rs232 Interface

    View of the solder or crimp side n.c. n.c. n.c. shroud Shield connected to GND via housing PC COM ECOSTEP 54 X8 D-Sub 9-pole male 1:1 cabling D-Sub 9-pole female from transmitter to receiver Fig. 6.13: Lines necessary for RS232 communication Th e communication protocol provides network operation of up to 15 ECOSTEP®54 devices working as...

  • Page 24: X7: Can Interface

    250 kBit/s, 125 kBit/s, 100 kBit/s, 50 kBit/s. If point of sampling n.c. and scan rate (86.7 %, 3-times sampling at all Baud rates) do not meet the demands please get in touch with the technical service n.c. of Jenaer Antriebstechnik. CAN_GND reference potential to CAN_V+ CAN_H CAN data H n.c.

  • Page 25: Commissioning

    Only qualifi ed personnel with a broad knowlege of the fi elds of electrical engineering, auto- mation and drives are allowed to commission the stepper motor amplifi er ECOSTEP®54. If required, Jenaer Antriebstechnik GmbH off ers trainings. Th e manufacturer of the machine must generate a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property.

  • Page 26: Work Schedule Commissioning

    User Manual ECOSTEP®54 Work schedule commissioning 1. Check installation Th e stepper motor amplifi er is disconnected from the supply. Check the wiring for completeness, short cir- cuits and ground faults. For commissioning an RS232 connection via a 1:1 cable from socket X8 to COM1 or COM2 of a PC is required.
  • Page 27 User Manual ECOSTEP®54 „Direct Object Editor“ window „Reset“ window „Homing Mode“ window Quit HWIN An overview of the available shortcuts is also provided via the F1 key. 6. Communication PC - ECOSTEP54, device address In the main menu select the fi rst menu option „PC Adjustment“. Fig.
  • Page 28 User Manual ECOSTEP®54 Fig. 7.2: Parameter settings for motor and holding brake „Profile Torque Mode“ (F7) tc_commu_length: step resolution per motor pole -> please take from motor data sheet  (Example: step resolution 256 at 50-pole motor results in 12800 steps/resolution). max_current: maximum motor current ->...
  • Page 29 User Manual ECOSTEP®54 7. Check safety equipment Before switching on the voltage it is vital to check if all safety equipment that protects from touching live parts and from the consequences of indeliberate movements functions proper- 8. Confi gure limit position switches If the limit position switches at the motor connection X1 ...
  • Page 30 User Manual ECOSTEP®54 9. Confi gure holding brake If the holding brake shall be connected alternatively to connector X5 OUT5 ... 8, the mapping of the respec- tive output has to be set to 0x21240020. AndMask and CmpMask specify the respective output. Th e settings are done in the menu „Device Confi...
  • Page 31 User Manual ECOSTEP®54 14. Carry out homing procedure Th e homing procedure can be carried out according to the following methods. Th e homing method is selec- ted in the menu „Device Profi le DS402 -> Homing mode“ (Shortcut „h“): Table 7.3: Homing methods of ECOSTEP54 (homing_method) Value Description...
  • Page 32 User Manual ECOSTEP®54 Fig. 7.7: Selecting the mode of operation: Homing (F9) Homing is started by setting the control word to 001F. Homing can be interrupted by setting the control word to 000F. By means of the digital outputs you can check whether the reference has been found successfully. In the window „Device Confi...
  • Page 33 User Manual ECOSTEP®54 Fig. 7.9: Operation mode Profile Position Mode (F5) Th e parameters are described in the following table. Table 7.5: Parameters in Profile Position Mode for ECOSTEP54 Parameter Description target_position Target position [inc] min_position_limit Negative software limit position [inc] max_position_limit Positive software limit position [inc] position_window...
  • Page 34 User Manual ECOSTEP®54 In the Profi le Velocity Mode the following parameters can be confi gured: Fig. 7.10: Parameters in the Profile Velocity Mode (F6) Th e parameters are described in the following table. Table 7.7: Parameters in the Profile Velocity Mode for ECOSTEP54 Parameter Description target_velocity...

  • Page 35: Error Case

    User Manual ECOSTEP®54 7.3.1 Error case If an error occurs the red „ERR“ LED goes on and in the status word (menu „Separate Axis DS402 - Device Profi le DS402 - Ax -> Device State Control“) the „Fault“ bit is set. Fig.
  • Page 36 User Manual ECOSTEP®54 Th e individual error controls can be selected and activated or deactivated with ENTER. Note: Fault conditions always lead to the shutdown of the drive, provided that error monitoring is activated for the respective fault condition. Th erefore, fault monitoring should be deactivated only in exceptional cases.

  • Page 37: Accessories

    User Manual ECOSTEP®54 Accessories Table 8.1: Survey of ECOSTEP®54 accessories Order key Description Heat sink SMH41 Heat sink for ECOSTEP®54 with mounting elements Connector Kit SMK40 Socket connector 6-pole (WAGO type 231-306) as mating connector for X11 Strain relief bushing 20 mm and raised-head screw M3 x 12 (Strain relief and shield connection of the connection cables) Software tools...

  • Page 38: Supplementary Parts

    User Manual ECOSTEP®54 Supplementary parts 8.1.1 Heat sink Th e heat sink set consists of: 1 heat sink SMH41 for ECOSTEP®54  6 screws M5x16  6 serrated lock washers 5,3 mm  6 x cylindrical screw M5x16 6 x serrated lock washer 5,3 mm Heat sink SMH41 ECOSTEP54...

  • Page 39: Annex

    User Manual ECOSTEP®54 Annex Flowcharts for PLC programming 9.1.1 Homing Flowchart homing for ECO54 axis, initial situation after power-on: control word = 0x0006, status word = 0x0031. For safety reasons every movement of an axis should be monitored by the PLC via timeout. Set modes_of_operation = 0x06 Start homing and timeout: control word = 0x001F...

  • Page 40: Operation Mode 1 (Profi Le Positioning Mode): Direct Absolute Positioning (Eff Ective Immediately)

    User Manual ECOSTEP®54 9.1.2 Operation mode 1 (Profile Positioning Mode): Direct absolute positioning (effective immediately) Flowchart positioning mode absolute direct (1) after homing for ECO54 axis. Status: control word = 0x000F, status word = 0x8437 For safety reasons every movement of an axis should be monitored by the PLC via timeout. The relevant parameters profile_velocity, profile_acceleration, profile_deceleration, quick_stop_deceleration and target_position cannot be manipulated by the PLC if a mapping to other controller parameters (analog input, etc.) exists!

  • Page 41: Operation Mode 1 (Profi Le Positioning Mode): Absolute Positioning Aft Er Setting The Control Word

    User Manual ECOSTEP®54 9.1.3 Operation mode 1 (Profile Positioning Mode): Absolute positioning after setting the control word Flowchart positioning mode absolute (1) after homing for ECO54 axis 0. Status: control word = 0x000F, status word = 0x8437 For safety reasons every movement of an axis should be monitored by the PLC via timeout. The relevant parameters profile_velocity, profile_acceleration, profile_deceleration, quick_stop_deceleration and target_position cannot be manipulated by the PLC if a mapping to other controller parameters (analog input, etc.) exists!

  • Page 42: Operation Mode 1 (Profi Le Positioning Mode): Relative Positioning

    User Manual ECOSTEP®54 9.1.4 Operation mode 1 (Profile Positioning Mode): Relative positioning Flowchart positioning mode relative (1) after homing for ECO54 axis 0, Status: control word = 0x000F, status word = 0x8437 For safety reasons every movement of an axis should be monitored by the PLC via timeout. The relevant parameters profile_velocity, profile_acceleration, profile_deceleration, quick_stop_deceleration and target_position cannot be manipulated by the PLC if a mapping to other controller parameters (analog input, etc.) exists!

  • Page 43: Operation Mode 3 (Profi Le Velocity Mode)

    User Manual ECOSTEP®54 9.1.5 Operation mode 3 (Profile Velocity Mode) Flowchart velocity mode (3) for ECO54 axis, Stauts: control word = 0x0006, status word = 0x0031 For safety reasons every movement of an axis should be monitored by the PLC via timeout. The relevant parameter target_velocity cannot be manipulated by the PLC if a mapping to other controller parameters (analog input, etc.) exists! target_velocity = 0x00000000...

  • Page 44: Data Protocol Of The Rs232 Interface

    User Manual ECOSTEP®54 Data Protocol of the RS232 Interface Generally, the behaviour of the RS232 interface is according to the CAN standard. Th e CAN pro- tocol is „tunneled“, i.e., the data is transported within the CAN protocol via the serial interface. As device address the CAN Node ID is used.

  • Page 45: Download Request (Data Transfer From Host To Slave)

    User Manual ECOSTEP®54 9.2.1 Download Request (Data Transfer from Host to Slave) Any access to object dictionary is checked for validity by slave. Downloads to not existing objects, readonly objects or data type mismatches are denied and responded with error messages. Th e host sends: Byte 0 Byte 1...

  • Page 46: Upload Request (Data Transfer From Slave To Host)

    User Manual ECOSTEP®54 9.2.2 Upload Request (Data Transfer from Slave to Host) Upload from not existing objects is responded with an error message. Th e host sends: Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 INDEX SUBINDEX...

  • Page 47: Glossary

    User Manual ECOSTEP®54 Glossary Baud rate Unit of measure for the transmission rate of data in serial interfaces. Th e baud rate indicates the number of possible changes of state of the transmitted signal per second (1 baud = 1 state change/s). Th e baud rate can be lower than the bit rate (one bit is coded in several signal states).

  • Page 48: Index Of Standards And Directives

    User Manual ECOSTEP®54 Index of standards and directives DIN EN 954-1: Safety of machinery - Safety related parts of control systems - Part 1: general principles for design DIN EN 50170: General purpose fi eld communication system DIN EN 50178: Electronic equipment for use in power installations DIN EN 60 204: Safety of machinery - electrical equipment of machines - Part 1: General requirements DIN EN 61 800-3: Adjustable speed electrical power drive systems - Part 3: EMC product standard inclu- ding specifi...

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