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User Manual ECOSTEP®54 - Jenaer Antriebstechnik GmbH

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1. 39 Flowcharts for PLC programming ODE 5 ces eseuase cise sea DEUM OO CURE E EGRE REED AUR RECURRING ATE DUE E cot tes 39 Operation mode 1 Profile Positioning Mode Direct absolute positioning effective immediately romanisant e PR PHI RR GUN OHIO RERO URS EN aeta 40 Operation mode 1 Profile Positioning Mode Absolute positioning after setting the control word M DD r o rh p r GL H d URN EO GERENS DEDE Rad ceeseas Operation mode 1 Profile Positioning Mode Relative positioning Operation mode 3 Profile Velocity Mode Data Protocol of the RS232 Interface sse Subject to change without notice Jonas Antriebstochnik A GmbH User Manual ECOSTEP 54 1 About this manual This user manual describes the stepper amplifier series ECOSTEP 54 It concerns all persons who install commission and operate ECOSTEP 54 drives Further information Operation using ECO Studio ECO Studio Operation Manual ECOVARIO ECOSTEP ECOMPACT Programming manual Object Dictionary ECOVARIO ECOSTEP ECOMPACT Motor data Data sheets series 17S and 23S stepper motors This manual makes the following demands on qualified personnel Transport Personnel trained in handling electrostatic sensitive devices Installation Electrotechnically qualified personnel who know the security directives of electrical enginee ring and automation Setup Commissionin
2. Pin Signal Description 1 nic 2 TxD RS232 TxD 3 RxD RS232 RxD 4 n c 5 GND Digital ground 6 n c 7 n c 8 n c 9 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 DCD 1 gt gt gt 1 RxD 2 gt gt d from transmitter TxD 2y gt to receiver DTR 4s S49 GND 5 gt gt gt 5 I DSR 6y 5 6 RTS Ty st CTS 8y sy 8 RI 92y s Fig 6 13 Lines necessary for RS232 communication Fig 6 12 Mating connector X8 9 pole D Sub connector View of the solder or crimp side The communication protocol provides network operation of up to 15 ECOSTEP 54 devices working as communication slaves in a mono master network In that case the RS232 cabling must have a loop structure as follows RxD GND TxD Hostcomputer 352 35 2 X8 X8 ID 1 ID 2 ECOSTEP 54 ECOSTEP 54 Fig 6 14 RS232 network as loop structure Subject to change without notice 352 T X8 ID n ECOSTEP 54 23 User Manual ECOSTEP 54 6 5 X7 CAN interface Die CAN interface of the ECOSTEP 54 is based on the communication profile CiA DS 301 and the device profile CiA DSP 402 drives and motion control It must be supplied with an external voltage Terminating resistors for busses are not built in the ECOSTEP 54 A CAN bus has to be terminated with a 120 Q resistor at the beginning and at th
3. gt 80 C Switch off device Check heat dissipation Power supply voltage too low 15 V Check voltage Bus error Check bus connection and device function Note Fault conditions always lead to the shutdown of the drive After the error cause has been fixed fault conditions can be reset After that the red ERR LED should go out and the Fault bit in the status word should not be set Otherwise a fault condition is still present after the reset attempt Before the drive can be switched on again the Switch On bit in the control word has to be reset and then set again In the navigation area under Option Codes the behaviour of the drive in case of shutdown Quick Stop and fault conditions is specified ption Codes Jenaer Antriebstechnik Ar GmbH Switch off behaviour at Quick Stop 0 Drive is switched off and axis coasts down no braking ramp v Shutdown Drive is switched off and the motor is free to rotate R Disable Operation D Drive is switched off and coasts down 4 Stop Hall Drive is switched off and the motor is hee torotate _______ isi Fault D Drive is switched off and axis coasts down no braking ramp v Abort CAN Communication 0 Sending out an emergency telegram only v Braking Effect h Off Delay of the Power Stage Slow Down Ramp 1000 00 mm s Quick Stop Ramp 1000 00 mm s Limit Switch Limit Switch Used FF hex Fig 7 9 Specifying the behaviour of the drive in case of quick stop shutdown and
4. 0x60 data successfully sent 0x80 error bytes 4 7 contain error cause INDEX 16 bit value index in object dictionary copy of index in host telegram SUBINDEX 8 bit value subindex of index in object dictionary copy of index in host telegram reserved not used or error cause depending on RES Table 9 1 Example Writing to the control word 6040 00 value 0x06 axis off Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Transmit Ox2B 0x40 0x60 0x00 0x06 0x00 0x00 0x00 Receive 0x60 0x40 0x60 0x00 0x00 0x00 0x00 0x00 Subject to change without notice 45 User Manual ECOSTEP 54 Jonas Antriebstochnik A GmbH 9 2 2 46 Upload Request Data Transfer from Slave to Host Upload from not existing objects is responded with an error message The host sends Byte 0 Byte 1 Byte2 Byte 3 Byte 4 Byte5 Byte6 Byte 7 CMD INDEX SUBINDEX reserved CMD specifies the direction of data transfer 0x40 read access always INDEX 16 bit value index in object dictionary where requested data reside SUBINDEX 8 bit value subindex of index in object dictionary where requested data reside reserved byte 4 7 not used The slave answers Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte5 Byte 6 Byte7 RES INDEX LSB MSB SUBINDEX Data LSB MSB RES displays slave response possible values are 0x43 bytes 4 7 contain 32 bit value Ox4B bytes 4 and 5 contain 16 bit value Ox4F byte 4 contains 8 bit value 0x80 error bytes 4 7 contain error cause INDEX 16 bit
5. default setting Communication error is set and displayed drive is switched off without slow down ramp and motor is free to rotate Drive is switched off immediately motor is free to rotate no error display no emergency telegram Behaviour as specified in the Quick Stop selection list box Function disabled no action Setting the deceleration for the slow down ramp normal braking case Setting the deceleration for the quick stop ramp It can be specified whether for the detection of the respective limit position a limit position switch is used concerning the assignment cf Inputs Outputs gt Digital Inputs Subject to change without notice 97 User Manual ECOSTEP 54 Jonas Antriebstechnik GmbH 8 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 CD with commissioning and parameterization software HWIN54 including documentation for ECOSTEP 54 Cables and adapters ECO2USB Adapter RS232 to USB used for parameterization of the ECOSTEP 54 via the USB interface of the PC 8 1 Supplementary parts 8 1 1 Heat sink The heat sink set consists of gt 1 heat sink SMH41 for EC
6. 2 5 Steps rev 12 800 Voc Usceus Cf table 4 2 Ww 4x 100 current limiting in case of short circuit of motor phases against each other and against U mH min 1 m max 10 dependent on current and inductance 20 30 max 200 mA 3T 24 45 10 slow acting if required use an UL certified automatic circuit breaker 10 A 60 V slow acting 4 3 Operating Conditions Table 4 3 Operating conditions Ambient temperature Storage temperature Air humidity non condensing Pollution severity Protection class Mounting position Installation altitude Power loss if 4 axes traverse with 2 5 A AC 0 40 se EO 0 5 95 RH 2 acc to IEC 61131 2 2 acc to IEC 61131 2 IP20 vertical up to 1000 m above mean sea level w o restriction Ww approx 30 Cooling by means of convection Heat sink required in case of restricted convection Subject to change without notice Jonas Antriebstochnik A GmbH 4 4 4 5 ECOSTEP 54 provides the following modes for setpoint setting 4 6 General technical data Table 4 4 General technical data control signals No Table 4 5 General technical data dimensions and weight Control signal 24 V supply current draw without outputs Digital control signal inputs user programmable or as limit switch inputs Control signal DC link relay REL REL Digital control signal outputs 4 user programmable 4 resereved for holding brakes Analog inpu
7. 8 n c 9 n c IGND 10 external 24V ground Digital inputs can be used e g for limit position switches X10 Control DIN1 DIN2 DIN3 GND 8 DIN8 signal IGND i IGND 9 n c Galvanic d External isolation 10 icND power supply 24V ECOSTEP 4 Fig 6 5 Connector X10 Circuit of the digital inputs Subject to change without notice 19 User Manual ECOSTEP 54 20 6 2 3 X9 Analog inputs analog output Table 6 3 Pin assignment connector X9 Signal ANO AN1 AN2 AN3 GND 5V n c DAO GND Pin Description O Uu A U N N Analog input 1 Analog input 2 Analog input 3 Analog input 4 Internal GND Internal 5 V supply n c Analog output Internal GND Value 0 5V 0 5V 0 so max load 20 mA Fig 6 6 Mating connector X9 9 pole D Sub connector unprotected View of the solder or crimp side 10V X9 5V Power supply 5V 1k GND 5V TIT ANO al lt wm 0 10k 5V TI AN3 lt C 10k GND 880k 1 0 5V Ji DAO Analog value DAC 220k 2 2V GND ECOSTEF 54 GND Fig 6 7 Connector X9 Circuit of the analog inputs and the analog output Subject to change without notice Jonas Antriebstochnik A GmbH User Manual ECOSTEP 54 6 3 Power connection 6 3 1 X1 to X4 Motor connector Tabl
8. Resolution step resolution per motor pole gt please take from motor data sheet Example step resolution 256 at 50 pole motor results in 12800 steps resolution gt Switch Velocity Velocity value at which switching from sine to rectangular commutation takes place By switching from sine to rectangular commutation an increase of the torque value is achieved because at rectangular commutation the motor characteristic can be fully utilized Unit is mm s At the value 0 sine commutation is activated gt Start Stop Velocity Velocity after the target position has been reached normally 0 Note The resulting motor current is limited to the Maximum Current in any case even if the sum of Holding Current and Additional Travel Current exceeds the Maximum Current 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 ly 28 Subject to change without notice Jonas Antriebstochnik A GmbH User Manual ECOSTEP 54 8 Configure limit position switches If the limit position switches at the motor connection X1 X4 shall not be used the limit positions can be configured under Inputs Outputs gt Digital Inputs Inputs Outputs Jenaer Antriebstechnik 7 GmbH Digital Inputs Digital Outputs 1 4 Digital Outputs 5 8 Analog Input Analog Output Inputs Inver
9. distance of control cables Subject to change without notice Jonas Antriebstochnik A GmbH User Manual ECOSTEP 54 6 Interfaces 6 1 Arrangement of the interfaces X1 X4 Stepper motor connector 1 4 jm ______ Status LEDs B X7 CAN interface 8 xs e xs e J DE E X8 RS232 interface X5 Digital outputs X10 Digital inputs we TT X11 Power supply Fig 6 1 Arrangement of the ECOSTEP 54 interfaces A mating connector for interface X11 socket connector 6 pole WAGO type 231 306 is contained in the connector kit SMK40 siehe Kap 9 Note The width of the of the D Sub mating connector handle must not exceed 31 5 mm e g Harting type 09 67 009 0443 Subject to change without notice 17 User Manual ECOSTEP 54 6 2 Control signals The control signals are programmable cf manual Object Dictionary ECOVARIO ECOSTEP 6 2 1 X5 Digital outputs 24 V Table 6 1 Pin assignment connector X5 Signal Pin OUT1 1 OUT2 2 OUT3 3 OUT4 4 OUT5 5 OUT6 6 OUT7 7 OUT8 8 024V 9 OGND 10 Description Digital output 1 PLC output 0 5A Omax Digital output 2 PLC output 0 5A Omax Digital output 3 PLC output 0 5A Omax Digital output 4 PLC output loma 0 5 A Digital output 5 reserved for holding brake motor 1 lomay 0 5 A Omax Digital output 6 reserved for holding brake motor 2 eye COS JAN Omax Digital output 7 reserved for holdi
10. terminology methodology DIN EN ISO 12100 2 Safety of machinery Basic concepts general principles for design Part 2 Technical principles IEC 61000 4 2 Electromagnetic compatibility EMC Part 4 2 Testing and measurement techniques Electrostatic discharge immunity test IEC 61000 4 4 Electromagnetic compatibility EMC Part 4 4 Testing and measurement techniques Electrical fast transient burst immunity test 2006 42 EC Directive of the European Parliament and the Council on the approximation of the laws of the Member States relating to machinery 2006 95 EC Council Directive on the harmonization of laws of Member States relating to electrical equip ment designed for use within certain voltage limits 2004 108 EC Council Directive on the approximation of the laws of the Member States relating to Electro magnetic Compatibility 48 Subject to change without notice
11. to negative limit position axis 4 If the connected limit position switch works as a normally open contact do not set check box Invert DE aa If the connected limit position switch works as a normally closed contact set check box Status Green A limit position event occured Limit position switch has been triggered and limit position detection is activated in the stepper motor amplifier Use for Limit Po It can be specified whether for the detection of the respective limit position a limit position switch us sition used Subject to change without notice 29 User Manual ECOSTEP 54 Jonas Antriebstechnik A GmbH 9 Configure holding brake If the holding brake shall be connected alternatively to connector X5 OUTS 8 the mapping of the respec tive output has to be set to object 0x21240020 AndMask and CmpMask specify the respective output The settings are done under Inputs Outputs gt Digital Outputs 5 8 Inputs Outputs Jenaer Antriebstechnik AM cmon Digital Inputs Digital Outputs 1 4 Digital Outputs 5 8 Analog Input Analog Output r Output 5 r Output 5 Data Source Mapping Data Source Mapping T E 21240020 break_flags 21240020 break_flags Offset Ls ME Offset agacocoo Teli AND Mask 00100000 hex AND Mask 00200000 hex Compare Value 00100000 hex Compare Value 00200000 hes Polarity C inverting 000
12. 00000 Polarity inverting 00000000 Auxiliary Value 00000000 hex Result C Auxiliary Value 00000000 hex Result C Output 7 r Output 8 Data Source Mapping Data Source Mapping 21240020 break_flags Ca 21240020 break flags E Offset _ 00000000 hex Offset 00000000 hex AND Mask 00400000 hex AND Mask 00800000 hex Compare Value 00400000 hex Compare Value oo8o00000 hex Polarity C inverting 00000000 Polarity C inverting 00000000 Auxiliary Value 00000000 hex Resut C Auxilary Value 00000000 hex Result C Fig 7 4 Configuring the holding brake in the window Digital Outputs 5 8 10 Switch on power supply 11 Switch on DC link circuit 0 5 s after switching on the power supply the DC link circuit relay can be switched on Therefore a voltage of 24V has to be applied across pins REL and REL of connector X11 12 Set Switch On bit in the control word The drive is switched on by software Click the Switch on Device button in the left area of the main win dow ECOSTEP54 is controlled via the control word and the status word Under Device Status the bits of both are displayed for each axis separately and the control word can be modified 30 Subject to change without notice Jonas Antriebstochnik amp GmbH User Manual ECOSTEP 54 Device Status Jenae Antriebstechnik A amor Status word Axis 1 2 3 4 Axis 1 2 3 4 Control word 0437
13. Heat sink temperature too high gt 80 C gt internal controller error For further information on the proceeding in case of an error refer to chap 7 3 1 5 Start setup software Install the commisioning and operation software ECO Studio provided on the adjoined CD ROM to a PC for the system requirements please refer to the ECO Studio manual Connect a PC to the RS232 interface of the ECOSTEP 54 and start ECO Studio For the operation of ECO Studio please observe the online do cumentation or the ECO Studio Operation Manual respectively Context sensitive help is also provided via the F1 key 6 Communication PC ECOSTEP54 device address After ECO Studio has been started the Communication Connect Disconnect window is shown In the In terface selection list box select the RS232 interface In the Parameters group box specify the serial interface of the PC used for the connection default COM1 and the baud rate default 9600 Baud Click the connect button in order to establish the connection 26 Subject to change without notice Jonas Antriebstochnik A GmbH Communication Connect Disconnect Interface R5485 CAN via ESD USB Dongle CAN via PEAK USB Dongle CAN via PEAK Parallel Port Dongle CAN via PEAK PCI CAN via PEAK PCI2 USB direct ETHERNET ETHERCAT OFFLINE Generate Data Set ID User Manual ECOSTEP 54 Jenaer Antriebstechnik AA GmbH Parameters Port COM1 v Baud Rate Baud 9600 v Descriptio
14. Jenaer Antriebstechnik A GmbH User Manual ECOSTEP 54 Jonas Antriebstochnik A GmbH Published editions Edition Dec 2008 June 2009 May 2011 Feb 2012 Comment First English edition Revision Commissioning and parameterization with ECO Studio Update of Declaration of Conformity Revision Connection of holding brakes All rights reserved Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena User Manual ECOSTEP 54 No parts of this documentation may be translated reprinted or reproducted on microfilm or in other ways without written permission by Jenaer Antriebstechnik GmbH The content of this document has been worked out and checked carefully Nevertheless differences from the real state of the hard and software can never be fully excluded 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 Subject to change without notice User Manual ECOSTEP 54 Subject to change without notice Jonas Antriebstochnik amp GmbH User Manual ECOSTEP 54 Contents 1 About this manual 2 Safety instructions 2 Symbols sse 22 Generalnotes 2 3 Dangerous voltages 24 Danger by hot SUrfaces au saei ertet Ro bv E DAR eR XD Po EC ekr eyek eray e eg 8 2 5 Danger by unintentional mec
15. OSTEP 54 gt 6 screws M5x16 gt 6 serrated lock washers 5 3 mm 6 x cylindrical screw l M5x16 i 6 x serrated lock washer f 5 3 mm Heat sink SMH41 ECOSTEP54 Fig 8 1 Monting heat sink 38 Subject to change without notice Jonas Antriebstochnik amp GmbH User Manual ECOSTEP 54 9 Annex 9 1 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 yes gt Error Timeout Reference found status word 0x9437 wy yes control word 0x000F v status word 0x8437 no Error yes Homing finished successfully The objects to be written or to be read resp for the individual axes are incl sub index and length Axis 0 Axis 1 Axis 2 Axis 3 control word 60400010 68400010 70400010 78400010 status word 60410010 68410010 70410010 78410010 modes of operation 60600008 68600008 70600008 78600008 Subject to change without notice 39 User Manual ECOSTEP 54 9 1 2 effective immediately Jonas Antriebstechnik A GmbH Operation mode 1 Profile Positioning Mode Direct absolute positioning Flowchart po
16. XXXXXX mM n Drive operates status word 0xX537 Modify velocity yes Stop drive target velocity 0x000 rc Drive stopped status word 0xX437 yes Continue drive operation no yes no yes no Switch off drive yes no control word 0x0006 Error Error The objects to be written or to be read resp for the individual axes are incl sub index and length Axis 0 Axis 1 Axis 2 Axis 3 control word 60400010 68400010 70400010 78400010 status word 60410010 68410010 70410010 78410010 target_velocity 60FF0020 68FF0020 70FF0020 78FF0020 modes of operation 60600008 68600008 70600008 78600008 profile acceleration 60830020 68830020 70830020 78830020 profile deceleration 60840020 68840020 70840020 78840020 Subject to change without notice 43 User Manual ECOSTEP 54 Jonas Antriebstechnik A GmbH 9 2 44 Data Protocol of the RS232 Interface Generally the behaviour of the RS232 interface is according to the CAN standard The 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 RS232 communication uses a strictly master slave relation The host computer only can initiate any data transfer sending a data telegram to the ECOSTEP 54 device listening on the TxD line of the host This device imm
17. am of Jenaer Antriebstechnik gt Power supply 24 V switch mode power supply ML70 100 Puls GmbH 3 5A gt Power suppy 45 V switch mode power supply SL10 101 Puls GmbH 48 V limit to 45 V Switching on the DC link The DC link is switched on by applying a voltage of 24V across REL und REL 2 phase powerstage Supply 24 V 24V Supply GND GND DC bus relay REL DC bus relay REL DC bus DC BUS DC bus GND GND Fig 6 11 Connector X11 circuit Line filter The user has to make sure to conform to the regulations of the EMC Directive 2004 108 EC by appropriate measures external line filter EMC compliant wiring Fusing For external fusing please consider the general technical data cf chapter 4 2 202 Subject to change without notice Jonas Antriebstochnik amp GmbH 6 4 X8 RS232 interface User Manual ECOSTEP 54 The stepper motor amplifier ECOSTEP 54 can be completely programmed and parameterized by a PC via the RS232 interface The connector X8 provides a pinout for direct cabling to a standard PC COM interface Fat drawn wires are necessary for communication other wires are for handshaking simulations for special PC programs The transceiver inside ECOSTEP 54 meets the EIA 232E and CCITT V 28 specifications and provides ESD protection to IEC1000 4 2 801 2 Table 6 7 Pin assignment connector X8 R232 interface
18. amp drive stays in quick stop 6 7 8 Slow down on quick stop ramp drive stays 0 in quick stop Drive is switched off and axis coasts down default setting 1 Slow down on slow down ramp drive function is switched off and locked 0 Drive is switched off and and axis coasts down 1 default setting Slow down on slow down ramp drive function is switched off and locked Behaviour of the servo amplifier if bit 8 of the control word is set to 1 Fixed setting is that drive is swit ched off and the motor is free to rotate Behaviour of the servo amplifier if a fault occurs in the drive Guarantees a controlled stop of the drive in case of a fault Especially with vertical axes z axes make sure that the quick stop ramp is configured with a sufficient deceleration c f Braking Effect If the quick stop ramp is configured too flat move ments could occur with high velocity towards the lower limit position in case of quick stop Behaviour of the servo amplifier if the CAN connection is aborted Used with faults in the synchronous mode and in nodeguarding Drive is switched off and axis coasts down no braking ramp default setting Slow down on quick stop ramp until standstill drive is switched off and the motor is free to rotate 2 3 4 Slow down on slow down ramp until stand 3 4 still drive is switched off and the motor is free to rotate Sending out an emergency telegram only
19. bility Protection against electrostatic discharge Here CAN Part of the software tha is stored to ROM read only memory the firmware contains the start up routines Here electrically conductive connection between a power system or motor phase and the PE conductor Computer in a multi computer system that controls the whole system Identification number of a special device in a bus structure Part of the software that can be stored to the flash memory of the servo ampli fier Device connection in a bus structure Root mean square Here electrically conductive connection between two power systems or motor phases Supervisory software 47 User Manual ECOSTEP 54 Jonas Antriebstechnik A GmbH 9 4 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 field 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 specific test methods DIN EN 61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety requirements Elec trical thermal and energy DIN EN ISO 12 100 1 Safety of machinery Basic concepts general principles for design Part 1 Basic
20. conductor has to be properly applied before applying a voltage During operation logic and power conductors are live Never undo electrical connections while they are live After disconnecting the device wait at least 3 minutes before touching contacts Capacitors can still have dangerous voltages present up to 3 minutes after switching off the supply volta ge To be sure measure the DC link circuit and wait till it has fallen below 40 V Danger by hot surfaces Hot surfaces may cause burns to the skin As the housing of the ECOSTEP 54 serves also as heat sink during operation the surface temperature may rise to more than 70 C Danger by unintentional mechanical movements Unintentional movements of motors tools or axes may lead to death or serious injuries ECOSTEP 54 drives can produce strong mecanical powers and high accelerations Avoid staying in the danger zone of the machine Never switch off safety equipment Malfunctions should be repaired by qualified personnel immediately Subject to change without notice Jonas Antriebstochnik A GmbH User Manual ECOSTEP 54 2 6 3 1 Prescribed use The stepper motor amplifiers 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 dust
21. e 6 4 Pin assignment connectors X1 to X4 Signal Pin Description Phase A 4 Stepper motor connection Phase A 3 Stepper motor connection e E 3 d Phase B 2 Stepper motor connection 00000 Phase B 1 Stepper motor connection 2s 24V 5 Limit position switch supply Seen a ee Brake 6 Holding brake connection View of the solder or crimp side Limit position 7 PLC input limit position Brake 8 Holding brake connection Limit position 9 PLC input limit position Shield shroud connected to GND via housing ECOSTEP 54 GND 24V 4 r 9 24v da externa 10 GND power supply 24V Fig 6 9 Motor connection Note For power supply of the holding brakes a voltage of 24 V has to be applied to X5 between Pin 9 24V and Pin 10 GND Subject to change without notice 2 User Manual ECOSTEP 54 Jonas Antriebstochnik A GmbH 6 3 2 X11 Supply voltage Table 6 5 Pin assignment connector X11 Signal Pin Description 24V logic supply 24V Incoming supply voltage 20 30V max 0 2 A GND GND GND for logic supply DC link relay REL Switching on the DC link DC link relay REL Switching on the DC link Power supply DCBUS Incoming supply 24V 45V lt max 8 A Fig 6 10 Connector X6 6 pole cage clamp GND GND GND for power supply terminal max cable diameter 1 5 Appropriate power supply modules for stepper motor amplifier ECOSTEP 54 from the progr
22. e end If the ECOSTEP 54 is operated as first or last participant at a CAN bus it is use ful to solder the terminating resistor in the mating connector of X7 between the pins 2 and 7 The manual Object Dictionary ECOVARIO and ECOSTEP contains a detailed description of all available functions Pin Fig 6 15 Mating connector X7 9 pole D Sub socket View of the solder or crimp side Table 6 8 Pin assignment connector X7 Signal Description The Baud rate und the device ID can be set via the m appropriate CAN objects By default the ID is set to 1 2 CAN L CAN data L The following baud rates are supported 1000 kBit s 500 kBit s GAN ND E wau 250 kBit s 125 kBit s 100 kBit s 50 kBit s If point of sampling c n A eke and scan rate 86 7 3 times sampling at all Baud rates do not a E ne meet the demands please get in touch with the technical service 5 i n c of Jenaer Antriebstechnik 6 CAN GND reference potential to CAN V 7 CAN H CAN data H 8 2 n c 9 CAN V4 8 18 VDC max 50 mA X7 CAN_H Le CANC i 3 4 CAN V Galvanic isolation _ CAN GND ECOSTEP 54 H V Fig 6 16 Circuit X7 CAN interface i ig i 2 2 ae CAN V O ee of CAN GNDO o o HOT ooo DD hie c d T kk 2 k a Master in X7 X7 X7 X7 CAN Bus Axis 1 4 Axis 5 8 Axis 9 12 Axis n Fig 6 17 Dimensioning terminating resistors R depending on line impedance de
23. ediately echoes this byte i e every received byte is transmitted to the next device in the loop ensuring that each slave in loop will receive the host telegram At the end of the loop the host will receive the data which was sent The addressed ECOSTEP 54 device computes the received data and sends an answer telegram Depending on the device position in the communication loop this telegram is transported via echo from one device to the next and finally to the host RS232 communication requires the following interface settings e asynchronous communication e 9600 baud 8 data bits e no parity e 1 stop bit The transport protocol uses a telegram with a fixed length of 10 bytes The host sends ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 Byte9 ID 8 byte host data CHKS Der Host receives the echo RS232 ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 Byte9 ID 8 byte host data CHKS Der Host receives the answer ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 Byte9 ID 8 byte slave data CHKS ID is the ID No of the addressed slave CHKS is the telegram checksum CHKS X byte 0 byte 8 Note Each 10 byte telegram has its own checksum If the host sends a telegram with an unused ID data will pass the loop but no slave answer will re turn In that case the host will receive 10 bytes only The slave finding its own ID in host telegram checks the CHKS value If the checksum does not match the slave would not
24. es out a relative positioning according to the al ita defaults in the tab Positioning Mode xx101xxx Xx011xxx New absolute target positions become effective immediately In the Velocity Mode the following parameters can be configured Motion Jenaer Antriebstechnik A GmbH Homing Positioning Mode Velocity Mode Torque Mode Target Velocity profile ire 50 0000 mm s Actual Target Velocity 0 0000 mm s Settings Acceleration Ramp 1000 00 mm s Deceleration Ramp 1000 00 mm s Jerk Filte Position Window 0 0500 mm Position Window Time Limits Maximum Profile Velocity 120 0000 mm s Following Error Window Fig 7 8 Parameters in the Velocity Mode The parameters are described in the following table 34 Subject to change without notice Jonas Antriebstochnik A GmbH User Manual ECOSTEP 54 Table 7 6 Parameters in the Velocity Mode for ECOSTEP54 Parameter Description A target velocity is specified The travel mode can be speci fied either with velocity profile by using the acceleration and Target Velocity deceleration ramps selection profile or without velocity profile selection direct and becomes valid by clicking the Start button Target velocity valid at the moment Might deviate from the specification in the Target Velocity field if the Start button has not yet been clicked after a new value has been entered Actual Target Velocity Maximum acceleration within the trapezoidal profile in order Accelerat
25. fault R 120 Q 24 Subject to change without notice Jonas Antriebstochnik MA GmbH 7 1 A 7 2 User Manual ECOSTEP 54 Commissioning Notes before commissioning Only qualified personnel with a broad knowlege of the fields of electrical engineering auto mation and drives are allowed to commission the stepper motor amplifier ECOSTEP 54 If required Jenaer Antriebstechnik GmbH offers trainings The 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 Check the wiring for completeness short circuits and ground fault All live parts must be protected safely against touching Never pull the connectors while they are live If there are several axes in one machine commission one axis after the other The axes already commisioned should be switched off During operation the temperature of the heat sink and the housing may rise up to over 70 C Before touching these parts after switching off the unit wait until the temperature has fallen down to 40 C Control and display elements At the front side of the ECOSTEP 54 4 LEDs are located which display status and error messages gt LED 24V green on 24 V logic supply applied gt LED BUS green communication display On if the first character of a telegram has been received Goes out as soon as the telegram is p
26. fault conditions 36 Subject to change without notice Jonas Antriebstochnik A GmbH User Manual ECOSTEP 54 Table 7 8 Specifying the behaviour of the drive in case of quick stop shutdown and fault conditions Name Quick Stop Shutdown Disable Operation Stop Halt Fault Abort CAN Connection Slow Down Ramp Quick Stop Ramp Limit Switch Used Description Behaviour in case of Quick Stop Note Default setting is the switching off of the drive in case of quick stop The axis coasts down without controlled braking Especially with vertical axes z axes make sure that the quick stop ramp is configured with a sufficient deceleration c f Braking Effect If the quick stop ramp is configured too flat move ments could occur with high velocity towards the lower limit position in case of quick stop Behaviour of the servo amplifier at the transition OPERATION ENABLE gt READY TO SWITCH ON i e Bit 0 of the control word is set to 0 Behaviour of the servo amplifier at the transition OPERATION ENABLE gt SWITCHED ON i e Bit 3 of the control word is set to 0 Options 0 Drive is switched off and axis coasts down no braking ramp default setting 1 Slow down on slow down ramp normal braking case until standstill drive is switched off and the motor is free to rotate 2 3 4 Slow down on quick stop ramp drive is 5 switched off and axis rotates freely Slow down on slow down r
27. file deceleration 60840020 68840020 70840020 78840020 40 Subject to change without notice Jonas Antriebstochnik A GmbH 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 Set modes of operation 0x01 Optional profile acceleration OxXXXXXXXX profile deceleration OxXXXXXXXX v profile velocity OxXXXXXXXX target position OxXXXXXXXX Start positioning with timeout control word 0x001F y no Target position acknowledged Error and not yet reached status word 0x9137 yes control word 0x000F Timeout es Position reached status word 0x8437 yes yes Further positioning no v Switch off drive control word 0x0006 The objects to be written or to be read resp for the individual axes are incl sub index and length Axis 0 Axis 1 Axis 2 Axis 3 contro
28. g Qualified personnel with a broad knowlege of the fields of electrical engineering automation and drives 2 Safety instructions 2 1 Symbols Table 2 1 Symbols Pictogram Warning Consequences General warning about danger Disregarding this warning may lead to death or serious injuries Warning about dangerous electri Disregarding this warning may cal voltages lead to death or serious injuries Warning about hot surfaces Disregarding this warning may lead to burns to the skin Subject to change without notice y User Manual ECOSTEP 54 Jonas Antriebstochnik A GmbH 2 2 2 3 2 4 2 5 General notes Only properly qualified personnel are permitted to perform activities such as transport in stallation commissioning and maintenance of the ECOSTEP 54 The 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 In case of modifications or retrofits with components of manufacturers other than Jenaer An triebstechnik please contact us to clarify that those components are suitable to be assembled with our devices Emergency off equipment must be workable in all operation modes especially during setup and maintenance Dangerous voltages Never open the units during operation Covers and cabinet doors have to be kept closed du ring operation The protective earth
29. generate an answer Acces to the object dictionary via RS232 will work in the same way as CANopen SDO excluding segmented data transfer The 8 byte data of the SDO protocol are extended by 1 byte address node ID and 1 byte checksum The arrangement of the 8 byte data is described in the following Application of the PDO SYNC EMCY and NMT objects is not possible via RS232 Subject to change without notice Jonas Antriebstochnik A GmbH 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 The host sends Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte5 Byte6 Byte7 CMD INDEX LSB MSB SUBINDEX DATA LSB MSB CMD specifies the direction of data transfer and the size of data object possible values are 0x23 sending 4 bytes data bytes 4 7 contain 32 bit value 0x2B sending 2 bytes data byte 4 and 5 contain 16 bit value 0x2F sending 1 byte data byte 4 contains 8 bit value INDEX 16 bit value index in object dictionary where data should be placed SUBINDEX 8 bit value subindex of index in object dictionary where data should be placed DATA 8 16 or 32 bit value The slave answers Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte5 Byte6 Byte7 RES INDEX LSB MSB SUBINDEX reserved RES displays slave response possible values are
30. hanical movements seen 8 26 _ Prescribed d M 9 3 HT IRI C ess 9 Beli Terms Of eliver L sesedes 9 NEC T eM 10 3 3 Standards and directives ette tet inire de teta iste cots cies epa erit eite eee dedi 10 3 3 1 UL CSA compliance acc to UL 5086 enden tabo tta l n n Nae n n n dani l 10 rae P p m 10 4 Neh ODLIBDTI D 12 4 Technical data of the power stage tenete tentent tte ntenttnnte nennen 12 42 Electrical connection data 43 Operating Conditions 44 General technical data 45 Betriebsarten eee 46 Suitable types of motors 5 Installation 14 Dall Mounting aee RUIIRPDUT CRIT TRIER GETREIDE ERUNT E TEE 14 5 1 1 Important notes eec tiere rra i diet la t Fe f Ha l dr dta ERS Ee 5 R93 HUWE ed 14 5 1 2 DiMONSIONS T e n k 14 EC ad I 15 b ZEl ctricalInstallationzonsosiioiee ni DD DD r rmn UNI ETE 16 5 2 1 Important notes since casse tni eher aedi ei la KEWA A f u WA AER Fat dia W V WBA HAH 16 5 2 2 EMC compliant installation nere ereree erxek erer xer tntent HH HAH tentent tentent 16 6 Titeriaces E E E A E A E E 6l Arrangement of the iiterfacesascascissts cssesess
31. ion Ram i 9 P toreachthe target velocity Deceleration Ramp Maximum decelaration within the trapezoidal profile Specification of the position window symmetrical value range around the target position If the actual position is within the position window the target reached flag is set in the stauts word Position Window Maximum Profile Velocity limit of the positioning Depends on the mechanical Velocity characteristics ot the complete system For PLC programming in positioning mode and velocity mode please refer to the flowcharts in the Annex Chap 9 1 Commissioning of the ECOSTEP 54 is now finished Further configurable parameters e g communication via CANopen and sequence programming are described in detail in the ECO Studio help system and in the manual Object Dictionary ECOVARIO ECOSTEP ECOMPACT Subject to change without notice 35 User Manual ECOSTEP 54 Jonas Antriebstochnik GmbH 7 3 1 Error case If an error occurs the red ERR LED on the front side of the ECOSTEP54 goes on and in the status word Device Status the Fault bit is set Fault conditions are evaluated individually for each axis and are displayed in the Device Errors tab at the bottom of the main window Table 7 7 Error messages in the Device Errors window Error Message Measures Try to reset the fault condition see below Internal controller error If no success replace device Heat sink temperature too high
32. l word 60400010 68400010 70400010 78400010 status word 60410010 68410010 70410010 78410010 profile_velocity 60810020 68810020 70810020 78810020 target position 607A0020 687A0020 707A0020 787A0020 modes of operation 60600008 68600008 70600008 78600008 profile acceleration 60830020 68830020 70830020 78830020 profile deceleration 60840020 68840020 70840020 78840020 Subject to change without notice Al User Manual ECOSTEP 54 9 1 4 Jonas Antriebstechnik A GmbH 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 Set modes of operation 0x01 y Optional profile acceleration OxXXXXXXXX profile deceleration OxXXXXXXXX HERNE GERE profile velocity OxXXXXXXXX rel target position OxXXXXXXXX Start positioning with timeout control word 0x005F Target position acknowledged and not yet reached status word 0x9137 yes control word 0x004F no Timeout REEL ER Position reached
33. n This interface provides an RS232 connection ID Device Name Serial Number Firmware Version ECOSTEPS4 SMS10 0000 0003 0002 11 05 2005 co Options Connection C Connection Guard Fig 7 1 Communication Connect Disconnect window connect gt ID The device address ID of an ECOSTEP54 is adjusted to 1 by default and results from the sum of object node ID Ox100B 00 and object node offset Ox2F80 00 The ID can only be changed via the object node offset default 0 as the object node ID is predefined to 1 and cannot be changed IDs in the range 1 127 can be assigned whereas each ID must only be assigned once in one network If you wish to modify the address first set the node offset accordingly After that the new value has to be stored permanently The new address is then assigned after the 24 V logic supply is switched on again Each device communicates also via the Joker ID 127 7Fh independent of the ID adjusted at the given instant of time so that even in the event of a false or unknown configuration a single device can be accessed 6 Set parameters The parameters have to be adjusted to each individual application Incorrect parameter set tings can cause damage or destruction of machine parts The correct setting of the following parameters is especially important The settings can be done for all 4 motor outputs Axis 1 to Axis 4 via the navigation area i
34. ng brake motor 3 lo mmay 0 5 A Omax Digital output 8 reserved for holding brake motor 4 lomo 0 5 A Omax 24V supply voltage for digital outputs Also supplies holding brake outputs on X1 X4 24V ground Holding brake output in parallel to X1 X4 cf chap 6 3 1 If no holding brake is used OUT5 OUT8 can be used as free programmable digital outputs Settings via ECO Studio cf chap 7 3 item 9 18 Load res Load res Load res 24 V TF Galvanic isolation ECOSTEP4 gj OUT8 G Load res 4 g 24 V External power supply 24 Voc Fig 6 3 Connector X5 Circuit of the digital outputs OUT 1 OUT 2 OUT 3 OUT 4 OUT 5 OUT 6 OUT 7 OUT 8 024V OGND Fig 6 2 Connector X5 10 pole cage clamp terminal cable diameter max 0 75 Subject to change without notice Jonas Antriebstechnik A GmbH User Manual ECOSTEP 54 6 2 2 X10 Digital inputs Tabelle 6 2 Pin assignment connector X10 Signal Pin Description DINI DIN1 1 Digital input 1 DIN2 DIN3 DIN2 2 Digital input 2 DIN4 E DIN5 DIN3 3 Digital input 3 DING DIN4 4 Digital input 4 DINZ DIN8 DIN5 5 Digital input 5 n c IGND DIN6 6 Digital input 6 NIWS Fig 6 4 Connector X10 DIN7 7 Digital input 7 10 pole cage clamp terminal ES cable diameter max 0 75 DIN8 8 Digital input
35. nting plate Cubicla door with conductive surface 30 170 U ig U U Cylindric screw M5 DIN912 II 240 Cable conduct Fig 5 3 Mounting dimensions cabinet width and depth mm Subject to change without notice 15 U 16 ser Manual ECOSTEP 54 Jonas Antriebstechnik A GmbH 5 2 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 a 45V The guarding of the DC supply and the 24 V logic voltage should be carried out by the user Stepper motor amplifier and motor have to be properly grounded The protective earth conductor must have at least the same diameter as the supply cables The stepper motor amplifier should be mounted onto a conductive not varnished metal mounting plate 5 2 2 EMC compliant installation The supply connection of the machine should be equipped with an appropriate RFI suppression filter Al ways use shielded cables Metal parts in the cabinet have to be interconnected extensively and and be con ductive regarding HF Used relays contactors solenoids etc have to be protected against overvoltage Supply cables and motor cables must be laid in a proper
36. o the actual position Subject to change without notice 31 User Manual ECOSTEP 54 Jonas Antriebstechnik A GmbH Motion Jenaer Antriebstechnik GmbH Homing Positioning Mode Velocity Mode Torque Mode Homing Method is 34 Homing to actual position Homing Parameters Zero Shift 0 0000 mm Reference Switch Search Velacity 0 9766 mm s Reference Point Search Velocity 0 9766 mms Homing Acceleration E 100 00 mm s Fig 7 6 Homing settings The following homing parameters can be set in the window Table 7 3 Homing parameters at ECOSTEP54 Parameter Description j After homing has been finished the home position can be Zero shit shifted with this parameter Reference Switch Velocity of the search travel for the reference switch Search Velocity mm s Rte aer Velocity of the search travel for the home position mm s Search Velocity Homing Acceleration and deceleration during the homing process Acceleration mm s Homing is started with the specified parameters by clicking the Start Homing button As soon as the refe rence has been found Reference found is displayed in the message area In the window area Device Status the Referenced box is displayed in green colour Homing can be interrupted by clicking the Stop Homing button For PLC programming of the homing procedure you find a flowchart in the Annex Chap 9 1 32 Subject to change without notice Jonas Antrieb
37. o031 0031 0031 000F 0006 ooo6 poos Internal limit active Berea SISE Setpoint acknowledge Control word LOW axis 1 4 Status word LOW axis 1 4 Status word HIGH axis 1 4 Reserved 31313137 hex 00000004 hex Commutation found Switch on L1 E E Ready to switch on v IV Enable voltage Switched on E E E Quick Stop Operation enable go E E Enable operation E 4 L1 Fault E oO go Fj New setpoint L1 L1 go o Voltage enabled v vl Direct setpoint setting L1 E L1 oO Quick Stop go L1 oO E Absolute relative setpoint El E E L1 Switch on disable E FI L1 E Reset fault E E go go Warning E g g g Halt o g E go Manufacturer specific g g go E Reserved 1 go E go go Reserved go g L1 E Reserved 2 E E go g Target reached go go E AHH El El m m El El EV EV m El EV E P E El E D Reference found Fig 7 5 Control word and status word in the Device Status window 13 Set Enable Operation bit in the control word The drive is ready now for further commands The drive can be switched off any time by resetting the Ope ration enable bit 14 Carry out homing procedure The homing procedure can be carried out according to the following methods The homing method is se lected under Motion gt Homing Table 7 2 Homing methods of ECOSTEP54 Value Description 17 Homing to the negative limit position 18 Homing to the positive limit position 34 Homing t
38. rocessed completely gt LED RUN green flashes software running stepper motor amplifier ready for operation gt LED ERR red on error message cf chap 7 3 step 4 Subject to change without notice 25 User Manual ECOSTEP 54 Jonas Antriebstochnik GmbH 7 3 Work schedule commissioning 1 Check installation The stepper motor amplifier 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 COMI or COM2 of a PC is required On PC side also a USB interface can be used In this case the ECO2USB cable has to be applied which is available as an accessory cf chap 8 2 Switch off DC link relay At the socket X11 no voltage must be applied between the pins REL and REL 3 Switch on 24 V supply Apply the 24 V logic supply at the connector X11 between the pins GND and 24 V after an initializing phase of about 3 s the LEDs show the operation mode of the stepper motor amplifier Normally the green LED RUN flashes and the green LED 24V is on If this is not the case check again the logic supply and reset the stepper motor amplifier by switching off and on again the logic supply 4 Rectify eventual errors If the LEDs show an error i e the red ERR LED is on the error has to be rectified before commissioning Possible error causes gt Power supply voltage too low lt 15 V gt
39. s radiati ons etc is prohibited if it is not explicitly allowed The manufacturer of the machine must generate a hazard analysis for the machine and take ap propriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property If one or more servo amplifiers ECOSTEP 54 are built into machines or plants the intended opera tion of the servo amplifier is forbidden until it has been established that the machine or plant fulfills the requirements of the EC Machinery Directive 2006 42 EC and the EMC Directive 2004 108 EC Further EN 60204 and EN ISO 12100 parts 1 and 2 have to be observed Legal notes Terms of delivery Our terms of delivery are based on the Ihe General Terms of Delivery for Products and Services of the Electrical Industry German ALB ZVEI of the Central Association of the Electrical and Electronics Industry ZVEI e V in their current version Subject to change without notice 9 User Manual ECOSTEP 54 Jonas Antriebstechnik A GmbH 3 2 Liability The circuits and procedures in this manual are proposals Every user has to check the suitability for every special case Jenaer Antriebstechnik GmbH is not responsible for suitability Especially Jenaer Antriebstech nik is not responsible for the following damage causes gt disregarding the instructions of this manual or other documents concerning ECOSTEP 54 gt unauthorized modifications of drive motor or accessories g
40. sitioning 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 yes t Set modes_of_operation 0x01 Optional profile acceleration OxXXXXXXXX profile deceleration OxXXXXXXXX profile velocity OxXXXXXXXX Y control word 0x003F Start timeout and target position OxXXXXXXXX t Target position acknowledged and not yet reached status word 0xX137 Timeout Position reached status word 0xX437 Y yes r Further positioning uu Switch off drive control word 0x0006 es The objects to be written or to be read resp for the individual axes are incl sub index and length Axis 0 Axis 1 Axis 2 Axis 3 control word 60400010 68400010 70400010 78400010 status word 6041001 0 68410010 70410010 78410010 profile velocity 60810020 68810020 70810020 78810020 target position 607A0020 687A0020 707A0020 787A0020 modes of operation 60600008 68600008 70600008 78600008 profile acceleration 60830020 68830020 70830020 78830020 pro
41. ssive gas etc Eventually appropri ate countermeasures have to be taken installation of filters frequent cleaning Depending on the power losses an appropriate ventilation should be provided Observe the mounting spaces At installation locations with permanent vibrations or shocks damping measures should be taken into consideration The device contains electrostatic sensitive devices which can be damaged by improper usage e 000 O00 5 1 2 Dimensions a i 8 xs m 240 vs Fig 5 1 Dimensions of ECOSTEP 54 mm 14 Subject to change without notice Jonas Antriebstochnik AA GmbH User Manual ECOSTEP 54 5 1 3 Assembly When mounting the ECOSTEP 54 into the cabinet cable clamps contained in connector kit AMKAO 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 flow is not disturbed by components above or below the stepper motor ampli fiers If a heat sink is used cf chap 8 1 1 the mounting space will increase by 40 mm The surface of the mounting plate has to be conductive e g zinc plated Varnished mounting plates must not be used To calculate the minimal mounting depth fig 5 3 dim A the form ofthe connectors cable outlet direction and the minimum bending radii of the connecting cables at the sub D connectors have to be regarded Cable conduct Mou
42. stochnik A GmbH 15 Select operation mode Besides homing the following operation modes can be selected for the ECOSTEP54 in the navigation area under Motion gt Positioning Mode gt Velocity Mode In the Positioning Mode the following parameters can be configured for the 4 controlled axes in the na vigation area under Motion gt Positioning Mode switching between the axes is done via the menu item ECOSTEP54 Motion Jenae Antriebstechnik Aron Homing Positioning Mode Velocity Mode Torque Mode Target Position absolute relative Valid Target Position Velocity Profile Velocity Actual Profile Velocity Settings Acceleration Ramp Deceleration Ramp lerk Filter Position Window Position Window Time Limits Maximum Profile Velocity Positive Software Limit Pos Negative Software Limit Pos Following Error Window Fig 7 7 Operation mode Positioning Mode mms mm s 1000 00 mm s 1000 00 mm s 0 0631 mm 0 0000 mm The parameters are described in the following table Table 7 4 Parameters in Positioning Mode for ECOSTEP54 Parameter Description User Manual ECOSTEP 54 Target Position Profile Velocity Actual Profile Velocity Acceleration Ramp Deceleration Ramp Subject to change without notice A target position is specified The value can be entered either absolute or relative to the actual position with a resolution of 0 1 um The en
43. t operating or dimensioning faults gt Improper use of the ECOSTEP 54 components 3 3 Standards and directives Stepper motor amplifiers ECOSTEP 54 are components intended to be built in machines or plants for in dustrial purposes ECOSTEP54 complies to the standards and directives listet in the appendix chapter 9 4 3 3 1 UL CSA compliance acc to UL 508C The stepper motor amplifiers ECOSTEP 54 are designed in compliance with UL or cUL respectively For further information see UL file number E244038 at www ul com 3 3 30 CE compliance Stepper motor amplifiers ECOSTEP 54 are components that are intended to be built into electrical plant and machines for industrial use The manufacturer of the machine is responsible that the machine or plant fulfills the requirements of the EMC directive The stepper motor amplifiers ECOSTEP 54 have been tested by an authorized testing laboratory in a defined configuration with the system components which are described in this documentation Any divergence from the configuration and installation described in this manual means that you will be responsible for carrying out new measurements to ensure that the regulatory requirements are fulfilled 10 Subject to change without notice Jenaer Antriebstechnik User Manual ECOSTEP 54 GmbH Buchaer Stra e 1 07745 Jena Germany Tel 49 0 3641 6 3376 55 Fax 49 0 3641 6 3376 26 Declaration of Conformity We the company declare
44. t Status DIN1 E El DIN2 L1 LJ DIN3 E a DIN4 E E DINS E E DING n Ei DIN E a DINS oO Ej Limit Switch Axis 4 Axis 3 Axis 2 Axis 1 Configuration El El El El BFI FI FI PFI Invert El El El El El El El El Status m m m gm m m i E Lise for Limit Position Fig 7 3 Configuring the limit position switches in the Digital Inputs window Table 7 1 Parameters and possible settings of digital inputs and limit position switches Parameter Description Window area Inputs If the check box is checked the applied digital input signal is inverted l e the input is set to active Invert by a LOW level signal without inverting the signal a HIGH level sets the input Status State of the digital inputs grey inactive green active Windows area Limit Switch It can be specified whether the digital inputs DIN1 to DIN8 or the inputs at the motor connectors should be used as limit position inputs If DIN1to DIN8 should be used the respective check boxes have to be checked The inputs at the motor connectors are galvanically not isolated DIN1 corresponds to positive limit position axis 1 DIN2 corresponds to negative limit position axis 1 Configuration DIN3 corresponds to positive limit position axis 2 DIN4 corresponds to negative limit position axis 2 DIN5 corresponds to positive limit position axis 3 DIN6 corresponds to negative limit position axis 3 DIN7 corresponds to positive limit position axis 4 DIN8 corresponds
45. tem Output Mode gt Stepper Motor Subject to change without notice 27 User Manual ECOSTEP 54 Jonas Antriebstechnik A GmbH Dulput Mode Jenaer Antriebstechnik M cmon Stepper Motor Polarity Torque Current Axis 1 Axis 2 Axis 3 Axis 4 Maximum Current 1 768 Arms 1 768 Ams 1 768 Ams 1 768 Ams Holding Current 1 412 Ams 1 412 Arms 1 412 Arms 1 412 Arms Additional Travel Current 2 827 Arms 2 827 Arms 2 827 Aims 2 827 Arms Resolution Steps per Pole 256 dec 256 dec 256 dec 256 dec Delay at mE EM TT Tr Switchover from Travel Current to Stop Current i00 m 100 ms T 100 m 100 m Switch off Power Stage after Activation Holding Brake 100 ms 100 ms 100 ms 100 ms Voltage Reduction Holding Brake after Unblocking Holding Brake 100 ms 100 ms i00 ms 100 ms Velocity Switch Velocity 0 0000 mm s 0 0000 mm s 0 0000 mm s 0 0000 mm s Start Stop Velocity 0 0000 mms 0 0000 mms 0 0000 mms 0 0000 mms Fig 7 2 Parameter settings for motor and holding brake Window Output Mode Stepper Motor gt Maximum Current maximum motor current gt please take from motor data sheet gt Holding Current phase current at standstill gt please take from motor data sheet gt Additional Travel Current run current effective in addition to the phase current at stand still gt please take from the motor data sheet gt
46. tered value becomes only valid when Start has been clicked Target velocity within the trapezoidal profile Actual target velocity within the trapezoid profile Maximum acceleration within the trapezoidal profile in order to reach the target velocity Maximum deceleration within the trapezoidal profile 33 User Manual ECOSTEP 54 Jonas Antriebstochnik A GmbH Specification of the position window symmetrical value range around the target position If the actual position is within the position window the target reached flag is set in the status word Position Window Limit position in positive direction determined by the me chanics of the machine or by setting a positive software limit position Positive Software Limit Pos Limit position in negative direction determined by the mechanics of the machine or by setting a negative software limit position Negative Software Limit Pos To start positioning mode with the selected parameters click the Start button Background information The positioning mode is controlled by means of 3 bits of the control word Table 7 5 Control word in Positioning Mode for ECOSTEP54 Control word binary Description XXXXOXXXX The target position can be set without immediate positioning Transition from xx000xxx to xx001xxx The drive carries out an absolute positioning according to the defaults in the tab Positioning Mode Transition from n m WE The drive carri
47. the conformity of the product Designation Type with the following directives EC Directive 2004 108 EC Applied harmonized standards EC Directive 2006 95 EC Applied harmonized standards Issued by Place date Legally binding signature This declaration does not guarantee specific features Subject to change without notice Can Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena Germany Stepper Motor Amplifier ECOSTEP 54 XX XXX XXX EMC Directive EN 61800 3 EMI Disturbance EN 61800 3 EMI Immunity Low Voltage Directive EN 61800 5 1 EN 60204 Jenaer Antriebstechnik GmbH Dipl Ing FH Stephan Preu General Manager Jena 18 05 2011 Jenaer Antriebstechnik GmbH Buchaer Str 1 07745 Jena Tel 03641 63376 0 Fax 63376 99 11 User Manual ECOSTEP 54 12 4 Technical Data 4 1 Technical data of the power stage Table 4 1 Technical data of the power stage Number of motor outputs Max phase currrent Step resolution Max output voltage Max output power Short circuit strength of motor output Minimum inductance of motor winding Length of motor cable Frequency of output current ripple Please consult our application department in case of longer cables 4 2 Electrical connection data Table 4 2 Electrical connection data Logic supply Protection required for logic supply Power supply U ber Protection required for power supply 4 A
48. tietsessosessnesvevecssesssseusctdossedessensitestvootsosdeisesstdeleogsssendsbeoeveotossdusies 62 Control signals is sir kin nn datas on rta ene E RE UHR shes IRE KE HU NE RER use e ERRE 62 Maso ital GUL DU LS 24 Vous censeat EOD mE EDEN REFUND BI EUN ERA 6 2 2 KUO Digital inpUtS icit ER ROREM IUE N n HENE USER dayevapeoossassvasduaueetaonsvecnts 6 2 3 X9 Analog inputs analog outp L i 44 4504 41444408054440 itrtretetei tatit tie trit ruta e ya s c ren teen 6 3 Power Connection ncs i te er d ia 54 KA i d W C SEE ER ra db bad q He ESA i a dra WE 6 3 1 X1 to X4 Motor connector 6 3 2 X11 Supply voltage 64 X8 RS232 interface 65 XV CAN nterface ieieoidotenmte tene d edo ee ne die assis nad na EE di 7 n 7 1 Notes before commissioning 7 2 Control and display elements 7 3 Work schedule commissioning i Ai l y Alle tirs tte tette khen tt esi sen ed eai Poe vi eara n i Zanka Error GA SO Hek MO e n INE N MN NENE E dpa dut udis tui nndis Hisce c NT Subject to change without notice 5 User Manual ECOSTEP 54 Jonas Antriebstochnik A GmbH 8 1 8 1 1 9 1 9 1 1 9 1 2 9 1 4 9 1 5 9 2 9 2 1 9 2 2 9 3 9 4 j 37 Supplementary pacts eese tdt oie neun atiis du dte e re LU 38 Heat Sin kuy ye M 38 j
49. ts Analog output Dimensions and weight Unit Dimensions without heat sink mm wxhxd Dimensions with heat sink mm wxhxd Weight without heat sink kg Weight with heat sink kg Modes for setpoint setting kQ gt Online positioning via field bus RS232 CANopen gt Positioning control via SPS interface digital inputs outputs gt Joystick operation analog inputs resolution 10 bit Suitable types of motors User Manual ECOSTEP 54 24 10 96 0 8 LOW 0 4 HIGH 13 30 34 24 at 24 V 7 20 24 50 24 20 30 0 5 Holding brake max 0 8 0 4 A 100 ms continuous OV 5 V 10 bit resolution at DC R gt 250 atf gt 250 Hz R 15 10 V 10 V 8 bit resolution 240 x 62 x 170 without mating connector 240 x 102 x 170 without mating connector 1 8 kg 3 4kg With ECOSTEP 54 stepper motor amplifier various types of stepper motors can be operated among others the stepper motor series 17S und 23 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 Subject to change without notice 13 User Manual ECOSTEP 54 Jonas Antriebstochnik A GmbH 5 Installation 5 1 Mounting 5 1 1 Important notes Make sure that transport and storage did no damage to the units The ambient air must not be polluted by dust greases aggre
50. value index in object dictionary copy of index in host telegram SUBINDEX 8 bit value subindex of index in object dictionary copy of index in host telegram DATA data or error cause depending on RES Table 9 2 Example Reading the status word 0x6041 00 ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Transmit 40 41 60 00 00 00 00 00 Receive 4B 41 60 00 37 40 00 00 Value of the status word 0x4037 axis switched on no error Subject to change without notice Jonas Antriebstochnik amp GmbH 9 3 Glossary Baud rate Bitrate Bootloader mode DC link voltage EMC ESD protection Fieldbus interface Firmware Ground fault Host ID number Loadware Node RMS Short circuit Watchdog Subject to change without notice User Manual ECOSTEP 54 Unit of measure for the transmission rate of data in serial interfaces The baud rate indicates the number of possible changes of state of the transmitted signal per second 1 baud 1 state change s The baud rate can be lower than the bit rate one bit is coded in several signal states Baud rate in this document refers to signals in which one bit is defined with the two signal states HIGH and LOW In this case the bit rate equals the baud rate Transmission rate of information in bit second State of the servo amplifier in which a new loadware can be transmitted into the servo amplifier s memory Smoothed DC voltage here U egus Electromagnetic compati
51. yes status word 0x8437 Ls J i yes r Further positioning Switch off drive ____r __ _ control word 0x0006 Error The objects to be written or to be read resp for the individual axes are incl sub index and length Axis 0 Axis 1 Axis 2 Axis 3 control word 60400010 68400010 70400010 78400010 status word 60410010 68410010 70410010 78410010 profile velocity 60810020 68810020 70810020 78810020 target_position 607A0020 687A0020 707A0020 787A0020 modes of operation 60600008 68600008 70600008 78600008 profile acceleration 60830020 68830020 70830020 78830020 profile deceleration 60840020 68840020 70840020 78840020 42 Subject to change without notice Jonas Antriebstochnik amp GmbH 9 1 5 Operation mode 3 Profile Velocity Mode Flowchart velocity mode 3 for ECO54 axis Stauts control word 0x0006 status word 0x0031 User Manual ECOSTEP 54 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 VUE ee input etc exists control word 0x000F Set target velocity 0x00000000 and modes of operation 0x03 ___ _ t En Optional profile acceleration OxXXXXXXXX profile deceleration OxXXXXXXXX o F target velocity OxXX

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