User Manual ECOSTEP®54 - Jenaer Antriebstechnik GmbH
Contents
1. 12800 inc rev 64 Note The resulting motor current is limited to max current in any case even if the sum of tc stop current and added run current exceeds the max current value 28 Subject to change without notice Jonas Antriebstechnik A GmbH 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 ly 8 Configure limit position switches If the limit position switches at the motor connection X1 X4 shall be used the limit positions can be con figured in the Device Configuration gt Digital Input Configuration menu Shortcut F3 I HWINS4 Rs232 v2 24 exit with key end i ni x Programm HWINS4 JEMBer ANTRIEBSTECHNIK GmbH Input polarity mask Input state Limit config Limit polarity mask Limit switch state Limit switch used Fig 7 3 Configuring the limit position switches in the Digital Input Configuration window F3 The following table describes the parameters and the possible settings Table 7 2 Parameters of the digital inputs Parameter Description m T Bit x 0 gt Input x 1 is A contact xe A contact normally open contact PARE y Bit x 1 gt Input x 1 is B contact B contact break contact Input state State of the digital inputs Bit 0 0 gt positive limit position a2. control word 0x0006 D n The objects to be written or to be read resp for the individual axes are incl sub index and length ais 0 Axis i Axis 2 Axis 3 profile acceleration 60830020 68830020 70830020 78830020 profile deceleration 60840020 68840020 70840020 78840020 Subject to change without notice 43 User Manual ECOSTEP 54 Jonas Antriebstechnik amp 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 ECOVARIO device listening on the TxD line of the host This device immediatly echoes this byte i e every received byte is transmited 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 was sent The adressed ECOVARIO device computes the received data and sends an answer telegram Depending on device position in the communicati on loop this telegram is transported via echo from one device to next and finally to the host RS232 communication requires the following interface settings e asynchronous communication e 9600 baud 8
3. 1 SER ons DIN2 2 Digital input 2 DIN4 MET bins DIN3 3 Digital input 3 ping DIN DIN4 4 Digital input 4 bins DIN5 5 Digital input 5 n c Soc i 9 DIN6 6 Digital input 6 ae Fig 6 4 Connector X10 DIN7 7 Digital input 7 10 pole cage clamp terminal nm cable diameter max 0 75 DIN8 8 Digital input 8 n C 9 n C IGND 6 external 24V ground Digital inputs can be used e g for limit position switches X10 Control 1 DIN1 Control py signal l IGND 2 DIN2 l ey IGND 3 DIN3 l l Control py signal nm IGND 8 DIN8 l i Control signal jy 24V l IGND l IGND T Galvanic A EC 4 External isolation IGND power supply 7 24V ECOSTEP 4 Fig 6 5 Connector X10 Circuit of the digital inputs Subject to change without notice 19 User Manual ECOSTEP 54 6 2 3 X9 Analog inputs analog output Table 6 3 Pin assignment connector X9 Jonas Antriebstechnik d GmbH Signal Pin Description Value ANO 1 Analog input 1 0 5V AN1 2 Analog input 2 0 5V AN2 3 Analog input 3 0 5V AN3 4 Analog input 4 0 5V GND 5 Internal GND 5V 6 Internal 5 V supply max loa
4. Jenaer Antriebstechnik GmbH User Manual ECOSTEP 54 Jonas Antriebstechnik d GmbH User Manual ECOSTEP 54 Published editions Edition Comment Dec 2008 First English edition All rights reserved Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena 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 3 User Manual ECOSTEP 54 Subject to change without notice Jonas Antriebstechnik d GmbH User Manual ECOSTEP 54 Inhalt 1 About tS TAD D 7 2 Sir sal akena TN T OTT 7 2222 00 7 PPXEMM CIO CUNT TITO EUER 8 2 BAIS LOS Ol db NE EE yore URENIREIMIBU OHIO M REUS EDO IHESU RERO NIRE 8 DA WAC ry ob S yy rJ UMEN END 8 2 5 Danger by unintentional mechanical movements eese nettes 8 2 0 PresctiDed aS CP N cou ed bu PG IU IM ye r rrr 9 3 n AU MO
5. Council Directive on the approximation of the laws of the Member States relating to Electro magnetic Compatibility 48 Subject to change without notice
6. Description Digital output 1 PLC output lo ma 0 5 A Digital output 2 PLC output loma 0 5 A Digital output 3 PLC output loma 0 5 A Digital output 4 PLC output Il 0 5 A Digital output 5 reserved for holding brake motor 1 Le HOSE Om Digital output 6 reserved for holding brake motor 2 USES Omax Digital output 7 reserved for holding brake motor 3 lL E 05 A O max Digital output 8 reserved for holding brake motor 4 0 5 A O max 24V supply voltage for digital outputs 24V ground Control Load res 2 JOUT2 24 V Load res l 3 OUT3 Load res 24 V fk gj OUT8 G Galvanic isolation ECOSTEP54 Load res A A 9 24 V External 0 GND power supply gt O 24 Voc Fig 6 3 Connector X5 Circuit of the digital outputs gt lt 5 OUT 1 OUT 2 OUT 3 OUT 4 OUT 5 OUT 6 OUT 7 OUT 8 O24V 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 m X 10 Signal Pin Description boni FIT DIN1 1 Digital input 1 DIN2
7. target position OxXXXXXXXX Start positioning with timeout control word 0x005F Target position acknowledged Error and not yet reached status word 0x9137 yes control word Ox004F es no Position reached status word 0x8437 yes yes Further positioning no 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 control word status word profile velocity target position modes of operation profile acceleration 42 Subject to change without notice Jonas Antriebstechnik A GmbH 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 Set target velocity 0x00000000 and modes of operation 0x03 control word 0x000F Optional profile acceleration OxXXXXXXXX profile deceleration OxXXXXXXXX target velocity OxXXXXXXXX 0xX537 He status word yes Modify velocity Stop drive yes ji no yes target velocity 0x000 OxX437 status word yes Continue drive operation Switch off drive no
8. xe id TN La WW id C LL NE Master in X7 X7 X7 XT CAN Bus Axis 1 4 Axis 5 8 Axis 9 12 Axis n 24 Fig 6 17 Dimensioning terminating resistors R depending on line impedance default R 120 O Subject to change without notice Jonas Antriebstechnik d GmbH User Manual ECOSTEP 54 7 Commissioning 7 1 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 7 2 Control and display elements At the front side of the ECOSTEP 54 4 LEDs are located which display status and error messages LED 24V green on 24 V log
9. 0 axis 1 object 68410010 to Output 1 axis 2 object 70410010 to Output 2 axis 3 object 78410010 to Output 3 As value for the AND operation enter 0000943F in the AndMask fields As value for the compare mask enter 00009437 in the CmpMask fields As soon as the reference for the axis has been found the respective output is set EN HWIN54 Rs232 v2 24 exit with key end Output H Mapping 66416618 Offset Hid AndMask HHBAT43F GnpMask Hip 437 Modus Hann TempReg Inin ninininini Value r r riririri 31 Output 4 Mapping 21246828 Offset SSS 151515 AndMask 6166668 CnpMask Hid1 66H Modus STEP SIS ji 7515 TempReg BBE BB Bi li fi Value Hiding 65 21 Output 1 66416018 Hamm Hid 43F Hiapa43 7 Inininininininit n ninininininit Hipp 1 Output 5 212468828 HHBBHHHA niz rr pz HH pH HHdHHBBBH HHdHHBBBBH Ra lt SFF gt Output 2 71418818 AHAHAHAH HAH 43F Him 437 HAHA 5050505 rir riririri31 Output 6 21246828 nami HH460008 HH46000H Hid HHHHHBBH S155 1515051515 43 G15 15 5 SSS FI FP r r r ririri31 Output 7 21248828 HHBBHHHA api nnpnn HHS BABA pri HHdHBHBBBHH HHdHmBBBBHH 65 8H BH BH BH Software Version BBBH WHmmm BBB2 11 05 2005 65 21 H5 HH HH HH HH E B H 328 2165 86 Fig 7 8 Configuration of the digital outputs F8 For PLC programming of the homing procedure you find a flowchart in the Annex Chap 9 1 15 Select op
10. data bits e no parity e lstopbit The transport protocol uses a telegram with a fixed length of 10 bytes The host sends Byte 0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 Byte9 ID 8 byte host data CHKS Der Host receives the echo RS232 Byte 0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 Byte9 ID 8 byte host data CHKS Der Host receives the answer Byte 0 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 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 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 Antriebstechnik A GmbH User Manual ECOSTEP 54 9 2 1 Download Request Data Transfer from Host to Slave Any access to object dictionary is checked f
11. 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 program of Jenaer Antriebstechnik Power supply 24 V switch mode power supply ML70 100 Puls GmbH 3 5A 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 pc 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 89 336 EEC by appropriate measures external line filter EMC compliant wiring Fusing For external fusing please consider the general technical data cf chapter 4 2 22 Subject to change without notice Jonas Antriebstechnik d 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 comm
12. 12 Set Switch On bit in the control word The drive is switched on by software Menu Separate Axis DS402 gt Device Profile DS402 Ax gt Device State Control E HWINS4 Rs232 v2 22 exit with key end Control Word Status Word Ready to Switch On Switched On Operation Enable Disable Voltage Quick Stop Enable Operation Fault Setpoint Hes Start Home Voltage Disabled Immed Res Res Quick Stop ahe rel Hes Hes Switch On Disable Reset Fault Warning Halt In Motion Reserved 1 Remote Target Reached Internal Limit Active Setp Ack y Hom att Res Hom Err Hanufacturer specific Reference Found Reserver 2 Hanufacturer specific Manufacturer specific Manufacturer specific Manufacturer specific Manufacturer specific fe Eu EU ku Cu Eu Eu Ku Ku Ee Cu Wa CU CU Ea EWA EA e EE EU Ee Ee EL EZ PAP Ez Ee Ez A us bl jek A 67F gt 446 41 646 HH HO BH AH BA Ra CSPPO 4B 41 68 6H 31 SS ID FF Software Version BHBH BBHH89 BHHH2 C11 85 28855 E A 24s 6641 68 Fig 7 5 Control word and status word in the Device State Control window ECOSTEP54 is controlled via the control word and the status word In this menu the bits of both are dis played for each axis separately and the control word can be modified 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
13. DS402 Device Profile DS402 Ax gt Device State Control the Fault bit is set Switch On Disable Voltage Quick Sto Set point Immed abs rel Reset Fault Halt Reserved 1 Reserver 2 nad HWIN54 Rs232 v2 22 exit with key end Control Word Manufacturer specific Manufacturer specific Manufacturer specific Manufacturer specific Manufacturer specific Switched On Fault Start Home Res Quick Stop Res Switch On Disable Warning In Motion Remote Target Reached E ED EL EA EA EA Ez Ez Ez Ez gheee PT a cab Status Word Ready to Switch On Operation Enable Unltage Disabled Internal Limit Active Setp fick u H Foll Err Res Manufacturer specific 2 Reference Found 1 1 1 4 1 1 H H T H 1 T J Hom att A Homn Err H B B 46 46 658 6H 6H HH Hn BH Software Uersion ANHA BABI BAR2 Ci1 85 2885 Ra SFF gt 4B 46 66 Hid HF Bi HA B E B H 22 s 6O40 An Fig 7 11 Device State Control window with bit by bit representation of the control and status word Fault conditions are evaluated individually for each axis and displayed in the Device Profile gt Error Flags window Shortcut F2 FRULT H88UD BIT FAULT _REGLERWD_BIT FAULT RESERVED H2 FAULT RESERVED H3 FAULT RESERUED H4 FRULT OUERTEMP BIT FRULT UUMESS BIT FRULT RESERUED H7 FAULT RESERUED H8 FAULT RESERUED H9 FRULT RESERUED 1H FRULT RESERU
14. Direct absolute positioning CTE CUES TIC CT ANCL PPP Operation mode 1 Profile Positioning Mode Absolute positioning after setting RAD CO T B I0 Ta NM HD Operation mode 1 Profile Positioning Mode Relative positioning esses Operation mode 3 Profle Velocity Mod J a lc 2 1 u i clin d de emia ntur bete sb ek van kenda k ne Ramp ala Data Protocol of the RS232 Inter lace L 4 1 xy yy w le arye RIS aq re Saa N Re eV Aw a E ANA A aw k aren v nne kiwa ek WER Download Request Data Transfer from Host to Slave 4 keke keke keke keke r k e A Upload Request Data Transfer from Slave to Host esses eene erc Index of standards and Git CCLIV ES sesssescasersirers enti ies en eiT E NERE e E4 EJ PURSE juomu uWMuDMT A Subject to change without notice Jonas Antriebstechnik d GmbH 1 About this manual User Manual ECOSTEP 54 This user manual describes the stepper amplifier 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 This manual makes the following demands on qualified personnel Transport Personnel trained in handling
15. ED 11 FAULT RESERUED 12 FAULT RESERUED 13 FAULT RESERUED 14 FRULT RESERUED 15 FRULT RBORT COMM BIT E HWIN54 Rs232 v2 22 exit with key end amo Ubi Pubs o funi H enable A enable H enable Hl enable M H enable H enable B enable HB enable H enable A enable B enable H enable M H enable H enable B enable B enable NS H enable H enable B enable HB enable NS H enable H enable H enable H enable H enable H enable H enable H enable NS H enable H enable H enable H enable H enable H enable H enable H enable NS H enable H enable H enable H enable H enable A enable H enable H enable M BH enable A enable B enable H enable NS BH enable Hl enable B enable H enable NS H enable H enable B enable H enable NS BH enable A enable B enable H enable NS H enable H enable H enable H enable IBI x Ix C67F gt 46 41 26 Ai HH 4H BH AA Ra lt SFF gt 43 lii ID ZE Software Version BHBmBm BHB Bi7 HBB2 611 85 _2085 gt 26 A2 AH A 44 HA B H 16s 25H1 H1 Fig 7 12 Display of the Error Flags F2 Table 7 8 Error states in the Error Flags window Name FAULT H8SWD BIT FAULT REGLERWD BIT FAULT OVERTEMP BIT FAULT UVMESS BIT FAULT ABORT CONN BIT Subject to change without notice Error Description Internal controller error Internal controller error Heat sink temperature too high 80 C Power supply voltage too low 15 V Bus error Measures Try to reset the fault condi
16. LU e M 9 au MTHS OE o aaa eees ce tssn cape E SU TOI IIR PRIUS 9 MTU ana nar T k 10 sra aa dla t OGEIUE Lease tund eexXx ssxxxxxxxxxx22ngngxxggbgguxzxrpxxxaaeaxrbprppP2mmxmnmru_x 10 231 DDCSScomplancedce 10 W508 RD DD bbgbmnmD mmmmm mzggggggm g g g npn 2 amp RNg 10 20 2 o Dd mmmm _ mggg _ a j 10 4 Te eat iT en Dali 12 4 1 Technical data of the power stage uuEEE rrr erkeke eker keke ke keke kK AKA KA KAKA KAKA KA KAKA KHAN KAKA KHK KHK TR 12 HA Dal sa s entendre e NERE aai aaa ei NEE eE eieaa Tat 12 43 Operating CONGO UR 12 AA GOEMET Al LECMMICAL AL N 13 LS odo occ ioopen EEA EEn rrr rrr r rr REO 2mm 13 46 Suitable types ol ay TP xxx e _ __oo o eoe ea ww gt w gt x2x ax2 22x V vx AVES WHERE Sue EU RUE NIEVE 13 5 ritur E 14 ZIR MOGN 14 SLE aa ua OCS rage esac cen ted cater acta _ _ g m mm gerr g _2VPV 14 ou Euri M 14 SE ME Cc pesca 15 B sBIeetecalTeastolldtl Ol oem T EE RS tr INST MNIESUEERIRPISIUSSDIR MURUS M NEU A 16 Dd aa naa da SN MD rrr rrr ll epa eso Ge e Penso cM MdDe P g _ 0 _ 16 5 2 2 EMC compliant installatiOpi iiic ite tetur ttti etia cesi iU Fe keke
17. ch travel for the home position inc 64 s Homing is activated however not yet started in the menu Device Profile DS402 gt Device Control Shortcut F9 by setting the modes of operation for the respective axis to 6 31 Subject to change without notice User Manual ECOSTEP 54 EW HWIN54 Rs232 v2 24 exit with key end i j i m x E EUN UU EE 2 fixis fixis 1 fixis 2 fixis 3 X controlword HAG nah HAG HAE S statusword HAS1 HeAS1 HA31 HA31 S shutdown option code B BH BH 4 S disable operation opt BH BH H HB S quick stop option code BH BH 4 B stop_option_code H BH H H x fault reaction option BH BH BH 4 modes of operation 1 1 1 modez of operation disp BH 4 B 4 D controlword low Achse BH 3 i6 B6 B6 B6 statusword low Achse 6 3 31313131 x statusword high Achse amp 3 HRABARAR 6 YF ID FF Software Version BHWBHB BHB BB7 BHBBHZ C11 85 2885 46 5D 66 48 6H HA HA BA Ra CSPF gt 4B 5A 686 48 E 32 5 65H5D HH Fig 7 7 Selecting the mode of operation Homing F9 Homing is started by setting the control word to 001E 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 Configuration gt Digital Output Configuration Shortcut F8 map the status word axis 0 object 60410010 to Output
18. d 20 mA oe ity CORRER 2 unprotected View of the solder or crimp side n C 7 n C DAO 8 Analog output 10V GND 9 Internal GND X9 e sv A Power supply 5V 1k E GND E IN a 1 ANO pP lt W L 10k Ra voy L L 27 TT 4 AN3 TE jJ a LL to TE M s i 8 DAO Analog value EN gt 2 010 7 ECOSTEF 54 GND doo ud Fig 6 7 Connector X9 Circuit of the analog inputs and the analog output 20 Subject to change without notice Jonas Antriebstechnik d GmbH User Manual ECOSTEP 54 6 3 Power connection 6 3 1 X1 to X4 Motor connector Table 6 4 Pin assignment connectors X1 to X4 Signal Pin Description Phase A 4 Stepper motor connection Phase A 3 Stepper motor connection Phase B 2 Stepper motor connection Phase B 1 Stepper motor connection 24V 5 Limit position switch supply M AOIWWWIIWDFMD al ee Brake 6 Holding brake connection MIMO T08 eke a d 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 X1 X4 Motor 2 phase Brake ECOSTEP 54 Fig 6 9 Motor connection Subject to change without notice 21 User Manual ECOSTEP 54 Jonas Antriebstechnik d GmbH 6 3 2 X11 Supply voltage Table 6 5 Pin assignment connector X11 Signal Pin Description 24 V logic supply 24V Incoming supply voltage 20 30V max 0 2 A GND GND GND for logic
19. des 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 he protective earth 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 Antriebstechnik d GmbH User Manual ECOSTEP 54 2 6 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 compon
20. e 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 inputs Analog output Dimensions and weight Unit Dimensions without heat sink mm w xh xd Dimensions with heat sink mm w xh xd Weight without heat sink kg Weight with heat sink kg Modes for setpoint setting kO Online positioning via field bus RS232 CANopen Positioning control via SPS interface digital inputs outputs 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 250 atf 250Hz R 15 10 V 10 V 8 bit resolution 240 x62x 170 without mating connector 240 x 102 x 170 without mating connector 1 8 kg 3 4 kg With ECOSTEP 54 stepper motor amplifier 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 Subject to change without notice 13 User Manual ECOSTEP 54 Jena Antriebstechnik d GmbH 5 Installatio
21. e B BH iH HH stop_option_code H BH H H D fault reaction _opt ion BH BH BH 4 modes_of _operat ion 1 1 1 D modez of operation disp BH i BH 4 S controlword low Achse H 3 I6 H6 Hb Hb statusword low Achse H 3 31313131 S statusword high Achse H 3 HEAR _i j j j nh 1010101 A ya L ER 46 5D 68 6H 86 FA BA AA ha SEFF 46 5A 66 48 AA AN HA BA D 7F Software Version HBHBBBH BBH9 HBHH2 11 65 2085 gt E H 32 5 6850 88 Bild 7 13 Specifying the behaviour of the drive in case of quick stop shutdown and fault conditions F9 Table 7 8 Specifying the behaviour of the drive in case of quick stop shutdown and fault conditions Name Description Options shutdown_opt_code Behaviour in case of 0 Motor de energized default 0 Shutdown 1 Brakes with profile_deceleration after that motor de energized P Behaviour in case of 0 Motor de energized a Disable Operation 1 Brakes with profile_deceleration after that motor de energized default 0 0 Motor de energized 1 Brakes with profile_deceleration after that motor de energized 2 3 4 Brakes with Quick Stop deceleration after that motor quick_stop_option_code Behaviour in case of de energized default 0 Quick Stop 5 Brakes with profile deceleration motor remains current carrying 6 Brakes with Quick Stop deceleration motor remains current carrying stop option code default 0 Behaviour in case of Stop 0 Motor de
22. ebstechnik d GmbH User Manual ECOSTEP 54 F10 Direct Object Editor window r Reset window h Homing Mode window End 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 first menu option PC Adjustment EP HWINS4 Rs232 v2 24 exit with key end BH T O x Frogramm HWINS4 JENAer ANTRIEBSTECHNIK GmbH Device Mo ECO ID Port Speed 7660 Baud COM 1 Serial Interface Use echo Wait to Send Max Retrys SES N SE aS ECCiH ID ZE an Rs232 Port enabled Fig 7 1 Communication settings PC Adjustment at RS232 interface Set the used COM port Adapt the baud rate to the interface settings on your PC By default the baud rate is set to 9600 Baud For Use Echo enter 1 The settings of the parameters Wait to Send and Max Retrys normally do not need to be modified Setting Device No ECO 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 n
23. electrostatic sensitive devices Installation Electrotechnically qualified personnel who know the security directives of electrical enginee ring and automation Setup Commissioning 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 General warning about danger Warning about dangerous electri cal voltages Warning about hot surfaces Subject to change without notice Consequences Disregarding this warning may lead to death or serious injuries Disregarding this warning may lead to death or serious injuries Disregarding this warning may lead to burns to the skin User Manual ECOSTEP 54 Jonas Antriebstechnik d 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 clarity that those components are suitable to be assembled with our devices Emergency off equipment must be workable in all operation mo
24. energized 0 Motor de energized 1 Brakes with profile_deceleration after that motor de energized 2 3 4 Brakes with Quick Stop deceleration after that motor de energized fault_reaction _option_code Behaviour in case of errors default 0 36 Subject to change without notice Jonas Antriebstechnik A GmbH User Manual ECOSTEP 54 8 Accessories Table 8 1 Survey of ECOSTEP 54 accessories Order key Heat sink SMH41 Connector Kit SMK40 Software tools Cables and adapters ECO2USB Subject to change without notice Description Heat sink for ECOSTEP 54 with mounting elements 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 CD with commissioning and parameterization software HWIN54 including documentation for ECOSTEP 54 Adapter RS232 to USB used for parameterization of the ECOSTEP 54 via the USB interface of the PC 37 User Manual ECOSTEP 54 8 1 8 1 1 Supplementary parts Heat sink The heat sink set consists of 38 2 1 heat sink SMH41 for ECOSTEP 54 2 6 screws M5x16 2 6serrated lock washers 5 3 mm 6 x cylindrical screw M5x16 6 x serrated lock washer li 5 3 mm Heat sink SMH41 ECOSTEP54 Fig 8 1 Monting heat sink Jenao Antriebstechnik d GmbH Subject to change without notice Jonas Antriebstechn
25. ents 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 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 ofthe servo amplifier is forbidden until it has been established that the machine or plant fulfills the requirements of the EC Machinery Directive 98 37 EC and the EMC Directive 89 336 EEC Further EN 60204 and EN ISO 12100 parts 1 and 2 have to be observed 3 Legal notes 3 1 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 ZV EI e V in their current version Subject to change without notice 9 User Manual ECOSTEP 54 Jonas Antriebstechnik amp GmbH 3 2 Liability he 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 t
26. 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 distance of control cables 16 Subject to change without notice Jonas Antriebstechnik d GmbH User Manual ECOSTEP 54 6 Interfaces 6 1 Arrangement of the interfaces X1 X4 Stepper motor connector 1 4 Status LEDs Bi X7 CAN interface xu a X8 RS232 interface e XA age Xu fe X9 Analog inputs outputs X5 Digital outputs X10 Digital inputs Seo c 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 18 6 2 Control signals Jenao Antriebstechnik d GmbH The control signals are programmable cf manual Object Dictionary ECOVARIO ECOSTEP 6 2 1 X5 Digital outputs 24V Table 6 1 Pin assignment connector X5 Signal OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 O24V OGND Pin Ui A WwW N
27. eration mode Besides homing the following operation modes can be selected for the ECOSTEP54 in the menu Device Profile DS402 Device Control Shortcut F9 2 Profile Position Mode gt set modes of operation to 1 Profile Velocity Mode gt set modes of operation to 3 In the Profile Position Mode the following parameters can be configured for the 4 controlled axes in the menu Device Profile DS402 gt Profile Position Mode axis 0 to axis 3 corresponds to motor output 1 to 4 32 Subject to change without notice target position min position limit max position limit position window max profile velac profile velocity profile accel profile decel quickstop decel motion prof tupe position dem value E HWIN54 Rs232 v2 24 exit with key end User Manual ECOSTEP 54 ini xi Axis H Axis 1 Axis 2 Axis 3 B B A inc H BH BH H inc BH B B A inc 1H 1H 1H i inc BH B BH H inc 64 s H BH H H inc 64 188A 100A 1 BAR 186808 i6inc s7 184808 18H 18H 1HHHHH ibince s 186A 188608 1H 1HHBHBH i in cs B B B A inc B B B A inc position act value 46 81 68 AH AA AH AH AH Ha F Software Uersion BWHBBH BHBB BBB2 C11 5 2885 E HET Li LEH 43 YF 63 AH HA AH BH HH B H 347s B5881 HH Fig 7 9 Operation mode Profile Position Mode F5 The parameters are described in the following table Table 7 5 Parameters in Profile Posit
28. ew 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 configu ration a single device can be accessed 6 Set parameters he 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 0 to Axis 3 via Device Profile DS402 gt Profile Torque Mode Shortcut F7 Subject to change without notice 27 User Manual ECOSTEP 54 Jonas Antriebstechnik d GmbH E HWINS4 Rs232 v2 24 exit with key end Programm HWINS4 JENAer ANTRIEBSTECHNIK GmbH fixis A fixis 1 Axis 2 fixis 3 max current 2647 2647 2647 tc_commu_length 2 256 256 256 tc stop current 511 511 511 511 added run current 1823 1823 1823 1823 tc stop delav 16H 18H 18H 16H ms tc_brake_delay 168 168 168 166 ms tc hrake chop delay 16H 168 188 168 ms tc commu limit 4 BH H H inc 64s 40 Fe 7A HB BH AH AN HH Ra lt SFPS 4B F 7A 46 64 HA AA HH ID FF Software Version BHBHHB BB889 HHH2 11 85 2085 gt E 0 A 345 7BF6 HB Fig 7 2 Parameter settings for motor and holding brake Profile T
29. fy the respective output The settings are done in the menu Device Configuration gt Digital Output Configuration Mapping Offset AndMask CnpMas k Modus TempReg Value Mapping Of Fset findMask GnpMas k Modus TempReg Value nad HWIN54 Rs23 v2 24 exit with key end ala Taya lala i La 46610008 44616808 Hina HARRAH la nininininin n Output 4 21240020 In ininininininin 61 HHH 61 BFI HHBHBHHH In ininininininit mimm Output 1 68FEB12H Hamm HHdH2BBHH 86620808 AHAHAHAH AHAHAHAH HHBRBAAA Output 5 21248828 In ininininininit H2 mim r 2 ppm HHBHBHHH n ininininininit In ininininininir Output 2 7HFEH128 Bim BHHB4HBHBB Bimndpmnnng Bim pimp Bim Output 6 21248826 T5105 HH46b008 HH466008 AHAHAHAH HARA Bim Output 3 78FEH128 Bimmmmmmg HABE HAA HHS HHH Bini pimp pimp Output 7 21248026 in ninininininit HHE HHH Bam HHH n ninininininit in ninininininit Jenaw Antriebstechnik d GmbH 46 66 271 86 FA AH HA HA Ra 4SFF gt 43 66 21 66 HH AH HA HA E 5 ID YF Software Version BHBHBH BB889 HHB2 C11 85 28855 t A 34 s 2166 46 Fig 7 4 Configuring the holding brake in the window Digital Output Configuration F8 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
30. he following damage causes disregarding the instructions of this manual or other documents concerning ECOSTEP 54 2 unauthorized modifications of drive motor or accessories operating or dimensioning faults 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 2 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 Jonas Antriebstechnik d GmbH Jenaer Antr
31. ic supply applied 2 LED BUS green communication display On if the first character of a telegram has been received Goes out as soon as the telegram is processed completely LED RUN green flashes software running stepper motor amplifier ready for operation 2 LED ERR red on error message cf chap 7 3 step 4 Subject to change without notice 25 User Manual ECOSTEP 54 Jonas Antriebstechnik q GmbH 7 3 Work schedule commissioning 1 Check installation he 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
32. iebstechnik User Manual ECOSTEP 54 Buchaer Stra e 1 07745 Jena Germany Tel 49 0 3641 6088 90 Fax 49 0 3641 608901 DECLARATION OF CONFORMITY declare that the product Product Group Type is in conformity with the EU Directive 89 336 EWG Applied harmonised standards EU Directive 73 23 EWG Applied harmonised standards Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena Germany Servo Drive 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 and with the following international standards Power Conversion Equipment USA Industrial Control Equipment Canada Issued by Location Date Signature Subject to change without notice UL 508C File No E244038 CSA C22 2 No 14 M05 Jenaer Antriebstechnik GmbH Dipl Ing Udo Penndorf Jena 20 02 2007 User Manual ECOSTEP 54 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 supp
33. ik d 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 Timeout Error no Reference found status word 0x9437 yes control word 0x000F 110 status word 0x8437 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 i Axis 2 Tasis 3 60400010 68400010 70400010 78400010 60410010 68410010 70410010 78410010 modes of operation 60600008 68600008 70600008 78600008 Subject to change without notice 39 User Manual ECOSTEP 54 Jonas Antriebstechnik q GmbH 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 O0Ox000F 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 parameter
34. ion Mode for ECOSTEP54 Parameter target position min position limit max position limit position window max profile velo profile velocity profile accel profile decel quickstop decel motion prof type position dem value position act value Description Target position inc Negative software limit position inc Positive software limit position inc Target window symmetrical around the target position inc Limitation of the profile velocity inc 64 s Profile velocity inc 64 s Profile acceleration 16 inc s Profile deceleration 16 inc s Deceleration with Quick Stop 16 inc s Acceleration profile 0 linear acceleration characteristics Position setpoint motion profile generator output inc Actual position identical with position dem value inc The Profile Position Mode is controlled by means of 3 bits of the control word Table 7 6 Control word in Profile Position Mode for ECOSTEP54 Control word binary XXXXOXXXX Transition from xx000xxx to xx001xxx Transition from xx100xxx to xx101xxx Xx01 1xxx Subject to change without notice Description The target position can be set without immediate positioning The drive carries out an absolute positioning according to the defaults in the menu Profile Position Mode The drive carries out a relative positioning according to the defaults in the menu Profile Position Mode New absolute target positions become effective immediate
35. keke keke keke keke keke keke KE vb SE vol KAKA KAKA KAKA KA KARAR AKRE 16 6 TL Or ac T O VNN 17 61 Arrangement of the interfaces asa urges Gate ek uota iom p emu d e karn kaban SIUE SEDE NU kn ebe ne G RE HA WA 17 MEE Gres UI nln a ern n karine m mmm 18 O21 Goa Blea lal 2A V rg jpg ern rte 18 Jove bl eee er 19 6 2 3 X9 Analog inputs analog output r rnek qun Pe EU UN MUN SU KA KHK KHK KAK Tre Ts 20 D2 Ada Dena EYN Mr w2 ry 21 03L AlO Ad Zl lue cer EN 21 nc A ll D YO LL T 22 04 Se N ic M G M 23 JOMED UL N NH DD cL 24 7 Sonne 25 zh Notes toe comis ionima uon esp eminem e RUE Didi ccr ame om _ nm2 mxn 25 Ta Contoland display elemente sesioetan nod aU ru aa adam U PE naa Fogaa eiei mm 25 L3 Morkbschedule Omnis ONNE a n on stum deme rM UN o EERE A Ree 26 o EO CASO ar n A E AAEE A EEE E EEEE 35 Subject to change without notice 5 User Manual ECOSTEP 54 8 1 8 1 1 9 1 9 1 1 L2 9 1 4 9 1 5 9 2 9 2 1 2 2 2 9 3 9 4 PROCESS ca NO E o e o NE POUR GU SG OU TE eda Dei ea Ea RATA ua eae Ed s Dupplenieht JE g i N iie teu muitis PUREMENT Ims E Ud vice sae oat TTRTERNTNR m Operation mode 1 Profile Positioning Mode
36. lated 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 Mounting plate with conductive surface Cable conduct Cubicle door 30 y y y E Cylindric screw M5 DIN912 240 30 65 a 65 105 Cable conduct Fig 5 3 Mounting dimensions cabinet width and depth mm Subject to change without notice 15 User Manual ECOSTEP 54 Jonas Antriebstechnik d 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 45V pc 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
37. ler parameters analog input etc exists Set modes of operation 0x01 Optional profile acceleration OxXXXXXXXX profile deceleration OxXXXXXXXX profile velocity OxXXXXXXXX target position OxXXXXXXXX Start positioning with timeout control word 0x001F Target position acknowledged Error and not yet reached status word 0x9137 yes control word 0x000F es no Position reached status word 0x8437 yes yes Further positioning no 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 iso xisi Axis 2 Axis 38 O Subject to change without notice A User Manual ECOSTEP 54 Jonas Antriebstechnik q GmbH 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 Ox000F 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 profile velocity OxXXXXXXXX rel
38. ltage 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 cgus Electromagnetic compatibility 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 connecti
39. ly 33 User Manual ECOSTEP 54 Jenao Antriebstechnik MA GmbH In the Profile Velocity Mode the following parameters can be configured EF HWINS4 Rs232 v2 24 exit with key end Programm HWINS4 JENAer ANTRIEBSTECHNIK GmbH fixis A fixis 1 fixis 2 fixis 3 target velocity H H A inc 64s velocity demand val A H H H inc 64s velocity actual val HB H H H inc 64s 46 6C 68 4A BH AH AA HA Ra lt SFPS 43 6C 68 40 6H AH AA HH ID 7F Software Version POOO 0002 0002 11 85 2085 gt E A 264s 685C HH Fig 7 10 Parameters in the Profile Velocity Mode F6 The parameters are described in the following table Table 7 7 Parameters in the Profile Velocity Mode for ECOSTEP54 Parameter Description target_velocity Target velocity in the operation modes 3 3 and 4 inc s velocity demand val Demanded velocity at the moment inc s velocity actual val Actual velocity value inc s 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 communica tion via CANopen and sequence programming are described in detail in the manual Objektverzeichnis ECOSTEP und ECOVARIO 34 Subject to change without notice 7 3 1 Error case User Manual ECOSTEP 54 If an error occurs the red ERR LED goes on and in the status word menu Separate Axis
40. ly Protection required for logic supply Power supply U sexe Protection required for power supply Jenas Antriebstechnik 4 GmbH 4 A 25 Steps rev 12 800 v U caus Cf table 4 2 W 4x100 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 g e Me 20 30 max 200 mA A 3T V 24 45 A 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 Re 0 40 ZE 10 70 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 W approx 30 Cooling by means of convection Heat sink required in case of restricted convection 12 Subject to change without notice Jonas Antriebstechnik 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 programmabl
41. n 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 aggressive 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 2 he device contains electrostatic sensitive devices which can be damaged by improper usage 5 1 2 Dimensions 5 i X3 fe xa m 8 Ell x K aa Ta e Ta es Ti fey J a d e Hi EX JEI a ow 4 E n e 170 Fig 5 1 Dimensions of ECOSTEP 54 mm 14 Subject to change without notice Jonas Antriebstechnik A 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 he surface of the mounting plate has to be conductive e g zinc p
42. on between two power systems or motor phases Supervisory software 47 User Manual ECOSTEP 54 Jonas Antriebstechnik amp 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 60204 Safety of machinery electrical equipment of machines Part 1 General requirements DIN EN 61800 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 12100 1 Safety of machinery Basic concepts general principles for design Part 1 Basic terminology methodology DIN EN ISO 12100 2 Safety of machinery Basic concepts general principles for design Part 2 Technical principles IEC 61 000 4 2 Electromagnetic compatibility EMC Part 4 2 Testing and measurement techniques Electrostatic discharge immunity test IEC 61 000 4 4 Electromagnetic compatibility EMC Part 4 4 Testing and measurement techniques Electrical fast transient burst immunity test 98 37 EG Directive of the European Parliament and the Council on the approximation of the laws of the Member States relating to machinery 89 336 EWG
43. or 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 Ox2B sending 2 bytes data byte 4 and 5 contain 16 bit value Ox2F 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 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 Byte 0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Transmit Ox2B 0x40 0x60 0x00 0x06 0x00 0x00 0x00 Receive 0x60 0x40 Ox60 0x00 0x00 0x00 0x00 0x00 Subject to change without notice 45 Use
44. orque Mode F7 z 000 o 000 tc commu length 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 max current maximum motor current please take from motor data sheet tc stop current phase current at standstill gt please take from motor data sheet added run current run current effective in addition to the phase current at standstill please take from the motor data sheet Note The specification of all current values is scaled to the maximum phase current the ECOSTEP54 can provide per motor output This current amounts to 2 5 A und corresponds to the value 2047 Thus the value to be specified is calculated as follows current value from data sheet A tc stop delay Delay in ms switchover from run current to stop current tc brake delay Delay in ms holding brake release after motor current release tc brake chop delay Delay in ms holding brake voltage reduction after holding brake re lease tc commu limit Speed 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 inc 64s At the value 0 sine commutation is activated The value to be specified is cal culated as follows speed in rpm value
45. ot built in the ECOSTEP 54 A CAN bus has to be terminated with a 120 Q resistor at the beginning and at the end If Fig 6 15 Mating connector X7 9 pole D Sub socket View of the ECOSTEP 54 is operated as first or last participant ata CAN bus itis use the solder or crimp side 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 Table 6 8 Pin assignment connector X7 contains a detailed description of all available functions Pin Signal Description The Baud rate und the device ID can be set via the i 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 SARLIEBUD ipis RIS 250 kBit s 125 kBit s 100 kBit s 50 kBit s If point of sampling areas and scan rate 86 7 3 times sampling at all Baud rates do not a i dake 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 V4 7 CAN H CAN data H 8 n C 9 CAN_V 8 18 VDC max 50 mA XT CAN H SCAN L CAN V Galvanic isolation _i CAN GND ECOSTEP 54 y X Fig 6 16 Circuit X7 CAN interface CN og CN io CS ig CN 7 CAN_H Q Q O ooo R RI CAN L l 2 v Ia od 2 CAN_V O uo SC b od CAN GND QB of QS sg 5 i
46. r Manual ECOSTEP 54 Jonas Antriebstechnik amp GmbH 9 2 2 Upload Request Data Transfer from Slave to Host Upload from not existing objects is responded with an error message The host sends Byte 0 Byte1 Byte2 Byte 3 Byte 4 Byte 5 Byte 6 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 Byte6 Byte7 RES INDEX LSB MSB SUBINDEX Data LSB MSB RES displays slave response possible values are 0x43 bytes 4 7 contain 32 bit value 0x4B bytes 4 and 5 contain 16 bit value 0x4F byte 4 contains 8 bit value 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 DATA data or error cause depending on RES Table 9 2 Example Reading the status word 0x604 1 00 ByteO Bytel 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 46 Subject to change without notice Jonas Antriebstechnik A GmbH 9 3 Glossary Paud rate Bitrate Bootloader mode DC link vo
47. s analog input etc exists Set modes of operation 0x01 Optional profile acceleration OxXXXXXXXX profile deceleration OxXXXXXXXX profile velocity OxXXXXXXXX control word O0Ox003F Start timeout and target position OxXXXXXXXX Target position acknowledged Error and not yet reached status word 0xX137 yes es no Position reached status word OxX437 Further positioning Switch off drive control word 0x0006 yes no The objects to be written or to be read resp for the individual axes are incl sub index and length ais 0 Axis 1 Axis 2 Axis 8 O modes of operation 60600008 68600008 70600008 78600008 profile acceleration 60830020 6883002 0 70830020 78830020 target position 607A0020 687A0020 707A0020 787A0020 profile deceleration 60840020 68840020 70840020 78840020 40 Subject to change without notice Jonas Antriebstechnik 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 OxO000F 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 control
48. the En able Operation bit 30 Subject to change without notice Jonas Antriebstechnik d GmbH User Manual ECOSTEP 54 14 Carry out homing procedure The homing procedure can be carried out according to the following methods The homing method is selec ted in the menu Device Profile DS402 gt Homing mode Shortcut h Table 7 3 Homing methods of ECOSTEP54 homing_method Value Description 17 Homing to the negative limit position 18 Homing to the positive limit position 34 Homing to the actual position EF HWINS4 Rs232 v2 24 exit with key end E E Frogramm HUIH54 JEMNAer ANTRIEBSTECHMIK GmbH fixis H Axis 1 Axis 2 fixis 3 home offset A H inc homing method 1 1 7 speed for switch 168666 166688 160668 166668 inc b4s speed for zero ijn innnan innnan 166668 inc bh4s homing acceleration 188A 186 188A 16688 16inc s 7 s Ta 46 78 42 BH AA AB AN Ra CSPP 43 99 78 Ai AH 36 Ni AH ID FF Software Version BBBHBH HB889 BHBH2 11 85 2085 gt E H 38 s 7899 82 Fig 7 6 Homing Mode settings h The following homing parameters can be set in the window Table 7 4 Homing parameters at ECOSTEP54 Parameter Description home offset Reference position shifting in inc Homing acceleration and deceleration homing acceleration 16 inc s 2 Velocity of the search travel for the reference switch speed_for_switch i inc 64 s speed_for_zero Velocity of the sear
49. the red ERR LED is on the error has to be rectified before commissioning Possible error causes 2 Power supply voltage too low 15 V Heat sink temperature too high gt 80 C internal controller error For further information on the proceeding in case of an error refer to chap 7 3 1 5 Start setup software Connect a PC to the RS232 interface of the ECOSTEP 54 and start the parameter setup software HWIN54 provided on the adjoined CD ROM Beginning from the main menu the individual submenus can be accessed HWIN54 is operated via the keyboard by means of the following keys Table 7 1 Keys for the operation of HWIN Name Description Cursor keys Selection of the respective menu option Acceptance of a selected menu option and acceptance of an entered value A new value ENTER key or entered is first shaded with a black bar Accepted values are always shaded with a green Cursor key gt Bar ESC key In the menu navigation return to the next higher level menu or In edit boxes the old value can be restored until the new value is accepted by pressing Cursor key ENTER Blank key Freeze window Shortcuts F2 Error Flags window F3 Digital Input Configuration window F4 S Save F5 Profile Position Mode window F6 Profile Velocity Mode window F7 Profile Torque Mode window F8 Digital Output Configuration window F9 Device Control window 26 Subject to change without notice Jonas Antri
50. tion cf page 36 If no success replace device Replace device Switch off device Check heat dissipation Check voltage Check bus connection and device function 35 User Manual ECOSTEP 54 Jonas Antriebstechnik d GmbH The 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 Therefore fault monitoring should be deactivated only in exceptional cases After the error cause has been fixed fault conditions can be reset by a 0 gt 1 transition of the Reset Fault bit in the control word or by a controller reset Shortcut r 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 Device Profile DS402 gt Device Control window Shortcut F9 the behaviour of the drive in case of shutdown Quick Stop and fault conditions is specified E HWIN54 Rs232 v2 24 exit with key end Programm HUIH54 Axis H Axis 1 Axis 2 Axis j controlword HAAG HAG HAAG HAAG statusword HAJ rr31 pazi HAS1 shutdown option code B BH BH HH S disable operation opt BH BH H HH S quick stop option cod
51. unication 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 Pin Signal Description 1 n C 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 from transmitter to receiver RTS G GI 8s a RI 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 ECOSTEP 54 ECOSTEP54 Fig 6 14 RS232 network as loop structure Subject to change without notice 4 5 2 X8 ID2n ECOSTEP 54 23 User Manual ECOSTEP 54 Jonas Antriebstechnik d GmbH 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 n
52. xis 1 at motor connector Bit 0 1 gt positive limit position axis 1 at digital input 1 DIN1 Bit 1 0 gt negative limit position axis 1 at motor connector Limit config Bit 1 1 gt negative limit position axis 1 at digital input 2 DIN2 Bit 7 0 gt negative limit position axis 4 at motor connector Bit 7 1 gt negative limit position axis 4 at digital input 8 DIN8 Bit 0 0 gt positive limit position axis 1 is A contact Bit 0 1 gt positive limit position axis 1 is B contact Bit 1 0 gt negative limit position axis 1 is A contact Bit 1 2 1 negative limit position axis 1 is B contact Limit polarity mask Bit 7 0 gt negative limit position axis 4 is A contact Bit 7 1 gt negative limit position axis 4 is B contact Limit switch state Status of the limit position switches see Limit switch used Bit 0 0 gt positive limit position axis 1 not used Bit 0 2 1 positive limit position axis 1 used RN Bit 1 0 gt negative limit position axis 1 not used Bit 1 2 1 negative limit position axis 1 used Limit switch used g p g p Bit 7 0 gt negative limit position axis 4 not used Bit 7 1 gt negative limit position axis 4 used Subject to change without notice 29 User Manual ECOSTEP 54 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 0x21240020 AndMask and CmpMask speci
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