Lexium SD2 Motion Control

Transcription

1 Lexium SD2 Motion Control Catalogue September 29

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3 Contents Product offer Presentation page 2 SD28P stepper motor drive for RS 485, programmable Presentation page 4 Functions page 6 Description page 8 Characteristics page 9 References page Dimensions page SD28A stepper motor drive for CANopen Presentation page 2 Functions page 5 Description page 9 Characteristics page 2 References page 2 Dimensions page 22 SD25D stepper motor drive with pulse/direction interface Presentation page 22 Functions page 24 Description page 26 Characteristics page 27 References page 28 Dimensions page 29 BRS2 2-phase stepper motors Presentation page 3 Characteristics page 3 References page 34 Dimensions page 35 Accessories Commissioning software Lexium CT page 38 Accessories For SD28P for RS 485, programmable page 39 For SD28A for CANopen page 4 For SD25D for pulse/direction interface page 4

4 Product offer Presentation Pulse train (P/D, A/B, CW/CCW) SD25D Product offer The Schneider Electric stepper motor drive system comprises of an SD2 stepper motor drive and a BRS2 2-phase stepper motor. Reference values are set and, if applicable, monitored by a master PLC or a Schneider Electric Motion Controller (e.g. Lexium Motion Controller). Together with Schneider Electric BRS2 stepper motors, SD2 is a very compact, high performance drive system. BRS2 Compactness With its small dimensions, the SD2 stepper motor drive requires very little space in the control cabinet. Fully programmable I/O SD28P BRS2 Simplicity Simple cabling and parameterisation of the SD2 allow for easy and quick commissioning. The user-friendly PC commissioning software allows for rapid commissioning. Flexibility SD2 stepper motor drives are available in two power classes: 3. A and 5. A. The SD2 stepper motor drives are delivered as: programmable units for communication via RS 485 for communication via CANopen for communication via pulse/direction interface This open communication concept allows for integration into existing system environments. CANopen Fieldbus Application areas Due to the high torque at low speeds of rotation, the SD2 stepper drive system is particularly suited for short-distance positioning. Another advantage is its high holding torque at standstill. This allows for the highly economic implementation of automation tasks such as pick and place. PLC SD28A BRS2 2

5 Product offer (continued) Presentation Assignment of BRS2 2-phase stepper motors and SD2 stepper motor drives BRS2 2-phase stepper motors SD2 U2C SD2 U5C 24 to 48 V; 3 A 24 to 48 V; 5 A BRS236.7 Nm () BRS Nm BRS Nm Nm BRS Nm () Stepper motor holding torque. 3

6 Presentation SD28P stepper motor drives for RS 485, programmable Drive system The SD28P is a universally applicable stepper motor drive with on-board programmable motion controller. Reference values are set via RS 485 communications. Together with selected Schneider Electric stepper motors, SD28P is a very compact, high performance drive system that can be used without PLC. Control The SD28P can be parameterised and controlled via the RS 485 interface. Eight different 24 V signals are also available. They can be used as input or output. SD28PU5C stepper motor drive for RS 485, programmable Supply voltage SD28P can be operated with a voltage range of 24 to 48 V. Connection technologies The SD28P has the following connections: Power supply Multifunction interface Communication interface Motor interface SD28PU2C stepper motor drive for RS 485, programmable Multifunction interface The multifunction interface operates at the following signal levels: 5 to 24 V programmable signals, inputs or outputs, sinking or sourcing One analog input accepts to 5 V, to V, 4 to 2 ma or to 2 ma One to 5 V capture input or trip output signal Two to 5 V pulse/direction output signal 24 V I/O signals Eight 24 V I/O signals are available via the multifunction interface, which can be commissioned as sinking or sourcing inputs or outputs. They can be used for the following predefined functions: Input functions: home, limit +, limit -, go, stop, pause, jog +, jog -, general purpose Output functions: moving, error, stall, velocity changing, general purpose Analog input signal This input signal accepts interface to a range of input types in voltage or current mode. In voltage mode it will accept input from to 5 V or to V devices. In current mode it will accept input from 4 to 2 ma or to 2 ma devices. 5 V capture input/trip output signal The capture/trip I/O high speed signal can be used to capture the axis position when active, or to control an external event when commissioned as a trip output. 5 V pulse/direction signals The pulse/direction I/O signals can be used to control a secondary device with pulse/ direction inputs in an electronic gearing application. When commissioned as inputs they can be used to receive pulse/direction signals from a master controller. 4

7 Presentation (continued) SD28P stepper motor drives for RS 485, programmable Connection technologies (continued) Communication interface The communication interface is used to connect RS 485 for commissioning and programming purposes. A PC can be connected to the communication interface via a USB to RS 485 converter. The Lexium CT-ILP software can be used for commissioning functionality, creating programs and programming the Lexium SD28P (see accessories). Connectors The connectors are used for cabling machines with cable harnesses. Depending on the model SD28P it will have a combination of wire crimp connectors for interface. Overview of connectors SD28PU2C 2 3 Connector Style Assignment 6-pin wire crimp Supply voltage and multifunction interface 2 -pin wire crimp Communication interface 3 4-pin wire crimp Motor interface Overview of connectors SD28PU5C Connector Style Assignment 4-pin wire crimp Multifunction interface 2 -pin wire crimp Communication interface 3 2-pin wire crimp Supply voltage 4 4-pin wire crimp Motor interface 5

8 Functions SD28P stepper motor drives for RS 485, programmable Program Home Sequence Functions Overview All functions of the SD28P are set via the RS 485 interface using an ANSI terminal or the Lexium CT integrated terminal and program editor. These can be saved to non-volatile memory. The SD28P has two modes of operation: Immediate mode In immediate mode, commands and parameter settings are issued directly from a terminal such as the Lexium CT software tool to the controller. Condition Y N Program mode Program mode is used to store programs to the motion controller. RS 485 communications functions BAUD rate Address (only required if operating in party mode) Motion Sequence A Motion Sequence B Example of SD28P programming Motion functions Number of steps: 2 / 4 / 8 / / 6 / 2 / 32 / 5 / 64 / / 28 / 2 / 25 / 256 / 4 / 5 / 52 Special function steps: 36 (. degree/step) / 26 ( arc-minute/step) / 254 (. mm/step) Set initial velocity Set maximum velocity Set acceleration Set deceleration Move to absolute position Move to relative position Slew at velocity Move on move Home to home switch Home to index mark Limit switch modes Electronic gearing (industrial connectors version only) Current control functions Motor phase current (... % of nominal current) Idle current reduction (... % of nominal current) Idle current reduction time ( or msec) Motor settling delay time ( or msec) I/O functions Set I/O signal as input or output Set I/O signal as active high/low Set I/O signal as sinking or sourcing Set I/O signal to predefined input function: home, limit +, limit -, go, stop, pause, jog +, jog -, general purpose Set I/O signal to predefined output function: moving, error, stall, velocity changing, general purpose Set output to / Read input as / Set output group to BCD (Binary coded decimal) Read input group as BCD Set digital input filter Set ratio for pulse/direction I/O signal 6

9 Functions (continued) SD28P stepper motor drives for RS 485, programmable Program functions Branch to address/label Call subroutine address/label User labels for programs/subroutine Create user variables Create user flags Math functions Add Subtract Multiply Divide Greater than Less than Equal to Greater than, equal to Less than, equal to AND OR XOR NOT Trip functions Trip on input Trip on position Trip on time Trip capture Trip on relative position Encoder functions Stall detection Position maintenance Find index mark 7

10 Description SD28P stepper motor drives for RS 485, programmable Description SD28P combine a fully programmable motion controller with step and direction microstepping driver. Programming is accomplished over RS 485 using the Lexium CT software tool which allows for point-to-point or multiple unit confi gurations utilizing one communication port. SD28P are compact, powerful and cost effective motion control solutions delivering unsurpassed smoothness and performance that will reduce system cost, design and assembly time for a large range of 2-phase stepper motor applications. Fully programmable I/O SD28P BRS2 8

11 Characteristics SD28P stepper motor drives for RS 485, programmable Certifications Conformity to standards CE marking EMC immunity Conducted and radiated EMC emissions Lexium SD28P Drives have been developed to conform to the requirements of EN 55:27, A2:27 for Group, Class A, conducted and radiated emissions EN 6-3-2:26 harmonic current emissions EN 6-3-3:995, A:2, A2:25 voltage fl uctuation emissions. (Proper use of power supply/mains fi lters and shielding on power and interface cables is necessary to meet these requirements.) IEC 6-4-2, electrostatic discharge immunity IEC 6-4-3, radiated electromagnetic fi eld immunity IEC 6-4-4, electrical fast transient / burst immunity IEC 6-4-5, surge immunity IEC 6-4-6, immunity to conducted disturbances induced by RF fi elds IEC 6-4-, immunity to voltage dips and interruptions EN 55:27, A2:27 for Group, Class A The Lexium SD28P Drives are CE marked in accordance with the European EMC Directive (24/8/EEC). Ambient conditions Ambient temperature () C... 65; power reduction by 2%/ C at Transport and storage temperature C Installation height without power reduction m < m above mean sea level Relative humidity % (not condensing) () Limit values with fl anged motor mounted on a steel plate 3 x 3 x mm Electrical data Power supply connection Not protected against reverse polarity SD28PU2C SD28PU5C Supply voltage range (absolute limit values) VDC Nominal supply voltage VDC Ripple at nominal voltage V PP 2 2 Motor drive output current A rms Max. current consumption A Inrush current C=94 μf C=2 μf Fieldbus interfaces RS 485 Signal inputs/outputs According to RS 485, no galvanic isolation, 2-wire. Transmission rate kbaud 4.8 / 9.6 / 9.2 / 38.4 / 5 Transmission protocol Manufacturer-specifi c General purpose I/O When defined as inputs VDC to +24 Logic VDC <.8 Logic VDC > 2.2 Input current (typical at +24VDC) ma.75 maximum When defined as outputs VDC Up to +24 Sourcing/Sinking output current ma 6 (single channel, duty cycle =.8) ma 275 (four channels, continuous) Mechanical data SD28P Type of stepper motor drive SD28PU2C SD28PU5C Dimensions (W x H x D) mm 45 x 33 x x 54 x 99 Mass kg.8.34 Type of cooling Convection and conduction Convection 9

12 References SD28P stepper motor drives for RS 485, programmable References Example: S D 2 8 P U 2 C Product designation S D 2 8 P U 2 C SD2 = stepper motor drive 2-phase Product type S D 2 8 P U 2 C 8 = standard stepper motor drive Communication interface S D 2 8 P U 2 C P = Programmable RS 485 Max. nominal motor current U2 = 3. A U5 = 5. A S D 2 8 P U 2 C Supply voltage C = 48 VDC S D 2 8 P U 2 C

13 Dimensions SD28P stepper motor drives for RS 485, programmable SD28PU2C, dimensions in mm 59, 2X Ø 3,8 5, 42, 54,4 44,8 33, 36.6 SD28PU5C, dimensions in mm 99,,6 74,5 7,8 Ø 4,75 ±,25 (2x) M4 screws for end mount 88,2 75, 88,2 76,2 ±,25 Ø 4, ±,25 thru hole (4x) M3.5 screws for flat mount 4, ±,25 4,7 5,7 53,75

14 Presentation SD28A stepper motor drives for CANopen Drive system The SD28A is a universally applicable stepper motor drive with on-board motion controller with CANopen (DS42) interface. Together with selected Schneider Electric stepper motors, SD28A is a very compact, high performance drive system. Control The SD28A can be parameterised and controlled via the CANopen interface. Eight different 24 V signals are also available. They can be used as input or output. SD28AU5C stepper motor drive for CANopen Supply voltage SD28A can be operated with a voltage range of 24 to 48 V. Connection technologies The SD28A has the following connections: Power supply Multifunction interface Communication interface Motor interface SD28AU2C stepper motor drive for CANopen Multifunction interface The multifunction interface operates at the following signal levels: 5 to 24 V programmable signals, inputs or outputs, sinking or sourcing One analog input accepts to 5 V, to V, 4 to 2 ma or to 2 ma One to 5 V capture input or trip output signal Two to 5 V pulse/direction output signal 24 V I/O signals Eight 24 V I/O signals are available via the multifunction interface, which can be commissioned as sinking or sourcing inputs or outputs. They can be used for the following predefined functions: Input functions: home, limit +, limit -, go, stop, pause, jog +, jog -, general purpose Output functions: moving, error, stall, velocity changing, general purpose Analog input signal This input signal accepts interface to a range of input types in voltage or current mode. In voltage mode it will accept input from to 5 V or to V devices. In current mode it will accept input from 4 to 2 ma or to 2 ma devices. 5 V capture input/trip output signal The capture/trip I/O high speed signal can be used to capture the axis position when active, or to control an external event when commissioned as a trip output. 5 V pulse/direction signals The pulse/direction I/O signals can be used to control a secondary device with pulse/ direction inputs in an electronic gearing application. When commissioned as inputs they can be used to receive pulse/direction signals from a master controller. 2

15 Presentation (continued) SD28A stepper motor drives for CANopen Connection technologies (continued) Communication interface The communication interface is used to connect CANopen for commissioning and programming purposes. A PC can be connected to the communication interface via a USB to CANopen converter. The Lexium CT software can be used for commissioning functionality, creating programs and programming the Lexium SD28A (see accessories). Connectors The connectors are used for cabling machines with cable harnesses. Depending on the model SD28A it will have a combination of wire crimp connectors for interface plus DB9 connector for fieldbus for CANopen interface. Overview of connectors SD28AU2C 2 3 Connector Style Assignment 6-pin wire crimp Supply voltage and multifunction interface 2 DB9 Fieldbus for CANopen interface 3 4-pin wire crimp Motor interface Overview of connectors SD28AU5C Connector Style Assignment 4-pin wire crimp Multifunction interface 2 DB9 Fieldbus for CANopen interface 3 2-pin wire crimp Supply voltage 4 4-pin wire crimp Motor interface 3

16 Functions SD28A stepper motor drives for CANopen Operating modes Overview The following operating modes can be made at the SD28A stepper motor drive via the fieldbus for CANopen: Profile position Homing mode Profile velocity Profile position In the operating mode "Profi le Position", the motor is positioned from a point A to a point B with a positioning command. Settings The positioning path can be specifi ed in two ways: Absolute positioning Reference point is the zero point of the axis Relative positioning Reference point is the current position of the motor Reference value setting The reference value is set via fi eldbus for CANopen or PC. 5 Inc.2 Inc 5 Inc 7 Inc Operating mode Profi le Position, absolute and relative 4

17 Functions (continued) SD28A stepper motor drives for CANopen Homing mode There are two types of the Homing operating mode: Reference movement Specifying the dimension reference by approach to a limit or reference switch Position setting Specifying the position reference relative to the current motor position Reference movement During reference movement, the motor moves to a defi ned position on the axis. The position is defi ned by a mechanical switch: LIMP, LIMN limit switches HOME reference switch Types of reference movements There are six standard reference movements: Movement to negative limit switch LIMN Movement to positive limit switch LIMP Movement to HOME reference switch with fi rst movement counterclockwise Movement to HOME reference switch with fi rst movement clockwise Reference movement to index pulse with clockwise or counterclockwise rotation LIMN LIMP M 2 3 R- p_dishome p_outhome v_home v_outhome Operating mode Homing reference move to a limit switch Movement to limit switch at search speed 2 Movement to switching edge at clearance speed 3 Movement to distance from switching edge at clearance speed 5

18 Functions (continued) SD28A stepper motor drives for CANopen Homing mode (continued) Application example Position setting can be used to execute a continuous motor movement without overtraveling the positioning limits. M M M 2 Inc 2 "2" "" 3 2 Inc Positioning by 4 increments with position setting The motor is positioned 2 increments 2 The current motor position is set to position value by position setting to and the new zero point is defi ned at the same time 3 The new target position is 2 increments after triggering a new travel command by 2 increments This procedure prevents overtravel of the absolute position limits during positioning, because the zero point is continuously made to follow. Reference value setting The reference value is set via fi eldbus for CANopen or PC. Application example Setting a reference before switching to Profi le Position mode. 6

19 Functions (continued) SD28A stepper motor drives for CANopen Profile velocity In operating mode "Profi le velocity", a reference speed for the motor is set and a movement without a target position is started. This speed is maintained until a different reference speed is specifi ed or the operating mode is changed. Reference value setting The reference value is set via fi eldbus for CANopen or PC. v v 3 v 2 v t t 2 t 3 t 4 t 5 t 6 t 7 Start t 8 t 9 Stop t t, t 3, t 5 t 2, t 4, t 6, t 8 t 7, t 9 = acceleration = constant movement = deceleration Profi le velocity Additional functions Additional functions can be activated via fi eldbus for CANopen or PC: Programming inputs/outputs Setting motion profi le via profi le generator Triggering Quick Stop function Fast position capture via signal input (Capture) 7

20 Description SD28A stepper motor drives for CANopen Description SD28A combine a programmable motion controller with step and direction microstepping driver. SD28A communicate over CANopen and support CiA DS3 and DSP42 Device Profi le for Drives and Motion Control. SD28A are compact, powerful and cost effective motion control solutions delivering unsurpassed smoothness and performance that will reduce system cost, design and assembly time for a large range of 2-phase stepper motor applications. CANopen Fieldbus PLC SD28A BRS2 8

21 Characteristics SD28A stepper motor drives for CANopen Certifications Conformity to standards CE marking EMC immunity Conducted and radiated EMC emissions Lexium SD28A Drives have been developed to conform to the requirements of EN 55:27, A2:27 for Group, Class A, conducted and radiated emissions EN 6-3-2:26 harmonic current emissions EN 6-3-3:995, A:2, A2:25 voltage fl uctuation emissions. (Proper use of power supply/mains fi lters and shielding on power and interface cables is necessary to meet these requirements.) IEC 6-4-2, electrostatic discharge immunity IEC 6-4-3, radiated electromagnetic fi eld immunity IEC 6-4-4, electrical fast transient / burst immunity IEC 6-4-5, surge immunity IEC 6-4-6, immunity to conducted disturbances induced by RF fi elds IEC 6-4-, immunity to voltage dips and interruptions EN 55:27, A2:27 for Group, Class A The Lexium SD28A Drives are CE marked in accordance with the European EMC Directive (24/8/EEC). Ambient conditions Ambient temperature () C... 65; power reduction by 2%/ C at Transport and storage temperature C Installation height without power reduction m < m above mean sea level Relative humidity % (not condensing) () Limit values with fl anged motor mounted on a steel plate 3 x 3 x mm Electrical data Power supply connection Not protected against reverse polarity SD28AU2C SD28AU5C Supply voltage range (absolute limit values) VDC Nominal supply voltage VDC Ripple at nominal voltage V PP 2 2 Motor drive output current A rms Max. current consumption A Inrush current C=94 μf C=2 μf Fieldbus interfaces CANopen Signal inputs/outputs According to ISO 898 standard, galvanic isolation, externally powered. Transmission rate kbaud / 2 / 5 / / 25 / 25 / 8 / Transmission protocol CANopen as per DS3; IEC (CiA 42) General purpose I/O When defined as inputs VDC to +24 Logic VDC <.8 Logic VDC > 2.2 Input current (typical at +24VDC) ma.75 maximum When defined as outputs VDC Up to +24 Sourcing/Sinking output current ma 6 (single channel, duty cycle =.8) ma 275 (four channels, continuous) Mechanical data SD28A Type of stepper motor drive SD28AU2C SD28AU5C Dimensions (W x H x D) mm 45 x 33 x x 54 x 99 Mass kg.8.34 Type of cooling Convection and conduction Convection 9

22 References SD28A stepper motor drives for CANopen References Example: S D 2 8 A U 2 C Product designation SD2 = stepper motor drive 2-phase Product type 8 = standard stepper motor drive Communication interface A = CANopen Max. nominal motor current U2 = 3. A U5 = 5. A Supply voltage C = 48 VDC S D 2 8 A U 2 C S D 2 8 A U 2 C S D 2 8 A U 2 C S D 2 8 A U 2 C S D 2 8 A U 2 C 2

23 Dimensions SD28A stepper motor drives for CANopen SD28AU2C, dimensions in mm 59, 2X Ø 3,8 5, 42, 54,4 44,8 33, 36.6 SD28AU5C, dimensions in mm 99,,6 74,5 7,8 Ø 4,75 ±,25 (2x) M4 screws for end mount 88,2 75, 88,2 76,2 ±,25 Ø 4, ±,25 thru hole (4x) M3.5 screws for flat mount 4, ±,25 4,7 5,7 53,75 2

24 Presentation SD25D stepper motor drives with pulse/direction interface Drive system The SD25D is a universally applicable stepper motor drive with on-board control electronics. Pulse/direction signals of a master controller, e.g. a motion controller, are converted directly into motion. Together with selected Schneider Electric stepper motors, SD25D is a very compact, high performance drive system. Control The SD25D can be parameterised and controlled via SPI (Serial Peripheral Interface). SD25DU5C stepper motor drive with pulse/direction interface Supply voltage SD25D can be operated with a voltage range of 24 to 48 V. Connection technologies The SD25D has the following connections: Power supply Mulitfunction interface Communication interface Motor interface SD25DU2C stepper motor drive with pulse/direction interface Multifunction interface The multifunction interface operates at the following signal levels: 5 to 24 V opto-isolated, sinking or sourcing The reference pulses are supplied via two of the signal inputs as pulse/direction signals. The remaining signal inputs have the function power amplifier enable/pulse blocking and optocoupler reference, which establishes the inputs as sinking or sourcing. Opto reference 5 to 24V + Input Constant Current Source Circuit of signal inputs of SD25D, sinking Input 5 to 24V + Opto reference Constant Current Source Circuit of signal inputs of SD25D, sourcing Communication interface The communication interface is used to connect SPI communications for commissioning purposes. A PC can be connected to the communication interface via a USB to SPI converter. The Lexium CT Pulse-Direction commissioning software can be used for setting: Motor run/reduction current Step size Signal input filtering Input pulse type: step/direction, cw/ccw or quadrature Current reduction delay Motor direction override Enable active high/low 22

25 Presentation (continued) SD25D stepper motor drives with pulse/direction interface Connection technologies (continued) Connectors The connectors are used for cabling machines with cable harnesses. Depending on the model SD25D it will have a combination of wire crimp connectors for interface. Overview of connectors SD25DU2C 2 Connector Style Assignment 2-pin wire crimp Supply voltage, multifunction and communication interface 2 4-pin wire crimp Motor interface Overview of connectors SD25DU5C 2 3 Connector Style Assignment 2-pin wire crimp Multifunction and communication interface 2 2-pin wire crimp Supply voltage 3 4-pin wire crimp Motor interface 23

26 Functions SD25D stepper motor drives with pulse/direction interface Functions Overview The following functions can be set on the SD25D using the Lexium CT Pulse- Direction tool: Number of steps: 2 / 4 / 8 / / 6 / 2 / 32 / 5 / 64 / / 28 / 2 / 25 / 256 / 4 / 5 / 52 Special function steps: 36 (. degree/step) / 26 ( arc-minute/step) / 254 (. mm/step) Motor phase current (... % of nominal current) Idle current reduction (... % of nominal current) Idle current reduction time ( or msec) Input pulse type: pulse/direction, cw/ccw, A/B interface (quadrature) Input pulse filtering ( μs) Enable input active high / low Direction override cw / ccw Setting the number of steps The number of steps per revolution can be set via the microstep resolution function (MSEL) using the Lexium CT Pulse-Direction software tool. Example: At a number of steps of, the SD25D executes exactly one complete motor revolution at pulses. At a pulse frequency of khz this corresponds to a speed of 6 rpm. Settings via Lexium CT Pulse-Direction 2, 4, 8,, 6, 2, 32, 5, 64,, 28, 2, 25, 256, 4, 5, 52, 36 (. deg/step), 26 ( arc minute/step), 254 (.mm/step) Setting the motor phase current The motor phase current is set using the run current percent (MRC) function in the Lexium CT Pulse-Direction software tool. A high motor phase current generates a high motor torque. Settings via Lexium CT Pulse-Direction The motor phase current can be set to any value between and percent. Activating the motor phase reduction If the full motor torque is not required, the motor phase current reduction, or holding current (MHC), can be used to reduce the holding torque. Advantage: motor and electronics heat up less and effi ciency is improved. Settings via Lexium CT Pulse-Direction The motor phase current can be reduced from to percent of full current. The reduction current delay time (HCDT) can be set to (no delay) or 2 to milliseconds after the last pulse edge is received. 24

27 Functions (continued) SD25D stepper motor drives with pulse/direction interface Setting the function of input pulse The reference position values can be supplied to the multifunction interface as pulse/ direction signals, cw/ccw mode or A/B interface (quadrature) mode. The SD25D converts the input signals into a motor movement. The input modes are selected using the clock type parameter in the Lexium CT Pulse-Direction tool. PULSE/DIR interface mode The motor angle step with the rising edge of the pulse signal, the direction of rotation is controlled by the DIR signal. PULSE 5ns DIR ns ns ns Pulse/direction signals CW/CCW interface mode The motor angle step with the rising edge of the pulse signal, the direction of rotation is controlled by the input receiving pulses. CW CCW ns ns 2ns + + CW/CCW signals A/B (quadrature) interface mode In A/B interface mode, quadrature signals are supplied as reference values. A B 2ns + A/B quadrature signals Setting the input filter function The input fi lter is used to fi lter out high frequency electrical noise from the pulse/ direction interface. This results in smooth motion and accurate positioning. Settings via Lexium CT Pulse-Direction The fi ltering of the inputs is set using the CLOCK IOF parameter. This can be set to 5 ns to 2.9 μs ( MHz to 38.8 khz). 25

28 Description SD25D stepper motor drives with pulse/direction interface Description SD25D is a step and direction microstepping driver. SD25D settings may be changed on-the-fl y or downloaded and stored in nonvolatile memory using the Lexium CT software tool provided. This eliminates the need for external switches or resistors. Parameters are changed via an SPI port. SD25D are compact, powerful and cost effective motion control solutions delivering unsurpassed smoothness and performance that will reduce system cost, design and assembly time for a large range of 2-phase stepper motor applications. Pulse train (P/D, A/B, CW/CCW) SD25D BRS2 26

29 Characteristics SD25D stepper motor drives with pulse/direction interface Certifications Conformity to standards CE marking EMC immunity Conducted and radiated EMC emissions Lexium SD25D Drives have been developed to conform to the requirements of EN 55:27, A2:27 for Group, Class A, conducted and radiated emissions EN 6-3-2:26 harmonic current emissions EN 6-3-3:995, A:2, A2:25 voltage fl uctuation emissions. (Proper use of power supply/mains fi lters and shielding on power and interface cables is necessary to meet these requirements.) IEC 6-4-2, electrostatic discharge immunity IEC 6-4-3, radiated electromagnetic fi eld immunity IEC 6-4-4, electrical fast transient / burst immunity IEC 6-4-5, surge immunity IEC 6-4-6, immunity to conducted disturbances induced by RF fi elds IEC 6-4-, immunity to voltage dips and interruptions EN 55:27, A2:27 for Group, Class A The Lexium SD25D Drives are CE marked in accordance with the European EMC Directive (24/8/EEC). Ambient conditions Ambient temperature () C... 65; power reduction by 2%/ C at Transport and storage temperature C Installation height without power reduction m < m above mean sea level Relative humidity % (not condensing) () Limit values with fl anged motor mounted on a steel plate 3 x 3 x mm Electrical data Power supply connection Not protected against reverse polarity SD25DU2C SD25DU5C Supply voltage range (absolute limit values) VDC Nominal supply voltage VDC Ripple at nominal voltage V PP 2 2 Motor drive output current A rms Max. current consumption A Inrush current C=94 μf C=2 μf SPI interfaces Min. Max. Singal inputs High level input voltage Vih VDC 2. Low level input voltage Vil VDC.2 High level input current lih ua Low level input current lil ua - Signal outputs Signal inputs/outputs Voh VDC 2. Transmission rate Vol VDC.5 Transmission rate Ios ma -7 8 Isolated inputs: Step Clock, Direction, Enable High level output voltage VDC +5 to +24 Low level output voltage VDC 8.7 Output SC current ma 4.6 Mechanical data SD25D Type of stepper motor drive SD25DU2C SD25DU5C Dimensions (W x H x D) mm 45 x 33 x x 54 x 99 Mass kg.8.34 Type of cooling Convection and conduction Convection 27

30 References SD25D stepper motor drives with pulse/direction interface References Example: S D 2 5 D U 2 C Product designation S D 2 5 D U 2 C SD2 = stepper motor drive 2-phase Product type S D 2 5 D U 2 C 5 = standard stepper motor drive Communication interface S D 2 5 D U 2 C D = Pulse/direction Max. nominal motor current U2 = 3. A U5 = 5. A S D 2 5 D U 2 C Supply voltage C = 48 VDC S D 2 5 D U 2 C 28

31 Dimensions SD25D stepper motor drives with pulse/direction interface SD25DU2C, dimensions in mm 59, 2X Ø 3,8 5, 42, 54,4 44,8 33, SD25DU5C, dimensions in mm 99,,6 74,5 7,8 Ø 4,75 ±,25 (2x) M4 screws for end mount 88,2 75, 88,2 76,2 ±,25 Ø 4, ±,25 thru hole (4x) M3.5 screws for flat mount 4, ±,25 4,7 5,7 53,75 29

32 Presentation BRS2 2-phase stepper motors Presentation A stepper motor drive system consists of a stepper motor and the matching stepper drive. The 2-phase stepper motors from Schneider Electric are extremely robust, maintenance-free motors. They carry out precise step-by-step movements that are controlled by a stepper motor drive. Maximum power can only be obtained if motor and electronics are perfectly tuned to each other. The 2-phase stepper motors can be operated at very high resolutions depending on the stepper motor drive. Special features Quiet As a result of the sine commutation of the Schneider Electric SD2 drives and the special mechanical design of the motors, the stepper motors are very quiet and run virtually without resonance. Stepper motor drive systems Strong The optimised internal geometry of the motor ensures a high power density. 2 3 Description Motor connection, flying leads 2 Housing, with black protective coating 3 Axial flange with four mounting points as per NEMA motor standards 4 Smooth shaft end 4 3

33 Characteristics BRS2 2-phase stepper motors Product offer 2-phase stepper motors BRS236 BRS242 BRS257 BRS285 Size mm Holding torque Nm Number of full steps 2 per revolution Step angle α.8 Motor types Shaft version Centering collar Flange size Length (without shaft) BRS236 Round shaft with single fl at feature BRS242 Round shaft with single fl at feature BRS257 Round shaft with single fl at feature BRS285 Round shaft with single fl at feature Winding Ø 5. mm Ø 22. mm 35.3 mm 26 mm 2-phase full coil for bi-polar operation Ø 5. mm Ø 22. mm 42.3 mm 34 mm 4 mm 48 mm Ø 6.35 mm Ø 38. mm 56.4 mm 45 mm 54 mm 76 mm Ø 4. mm Ø 73. mm 86. mm 6 mm 8 mm 2 mm 2-phase full coil for bi-polar operation 2-phase full coil for bi-polar operation 2-phase full coil for bi-polar operation Motor connection Flying leads Flying leads Flying leads Flying leads 3

34 Characteristics BRS2 2-phase stepper motors Ambient conditions Ambient temperature C Max. installation height over m.s.l. without power loss m < Transport and C storage temperature Relative humidity % , no condensation allowed Thermal class 3 (B) Electrical and mechanical data BRS2 motor type BRS236 BRS242 BRS257 BRS285 A7 A5 2A5 3A5 A24 2A24 3A24 A3 2A3 3A3 A6 2A6 3A6 Holding torque Nm Rotor inertia kg cm Number of steps 2 Step angle.8 Phase current Amps Phase inductance mh Phase resistance Ω

35 Characteristics (continued) BRS2 2-phase stepper motors Characteristics curves BRS236A7 Torque in Nm VDC 48 VDC Speed of rotation in rpm BRS242A5 BRS2422A5 BRS2423A5 Torque in Nm Torque in Nm Torque in Nm VDC 48 VDC VDC 48 VDC VDC 48 VDC Speed of rotation in rpm Speed of rotation in rpm Speed of rotation in rpm BRS257A24 BRS2572A24 BRS2573A24 Torque in Nm Torque in Nm Torque in Nm.5 24 VDC 48 VDC.5 24 VDC 48 VDC.5 24 VDC 48 VDC Speed of rotation in rpm Speed of rotation in rpm Speed of rotation in rpm BRS257A3 BRS2572A3 BRS2573A3 Torque in Nm Torque in Nm Torque in Nm.5 24 VDC 48 VDC.5 24 VDC 48 VDC.5 24 VDC 48 VDC Speed of rotation in rpm Speed of rotation in rpm Speed of rotation in rpm BRS285A6 BRS2852A6 BRS2853A6 Torque in Nm Torque in Nm Torque in Nm VDC 48 VDC VDC 48 VDC VDC 48 VDC Speed of rotation in rpm Speed of rotation in rpm Speed of rotation in rpm 33

36 References BRS2 2-phase stepper motors References Example: B R S A 7 Motor type S = stepper motor Motor phases 2 = 2-phase stepper motor Flange size 36 = 36 mm (NEMA 4) 42 = 42 mm (NEMA 7) 57 = 57 mm (NEMA 23) 85 = 85 mm (NEMA 34) Motor length ( L ) = one stack 2 = two stack (not for size 36) 3 = three stack (not for size 36) Shaft A = single shaft Phase current 7 =.7 A (only for size 36) 5 =.5 A (only for size 42) 24 = 2.4 A (only for size 57) 3 = 3. A (only for size 57) 6 = 6. A (only for size 85) Encoder = without encoder B R S A 7 B R S A 7 B R S A 7 B R S A 7 B R S A 7 B R S A 7 34

37 Dimensions BRS2 2-phase stepper motors BRS236A7, dimensions in mm L 24, ±,5 5, ±,5 Ø M3 x.5 thread (4x) 4,5 ±,5 2, 4, Ø 5, Ø 22, + -,2 + -,52 26, 35,3 L BRS236A7 26. BRS242 A5, dimensions in mm L 23,88 ±.5 4,86 Ø M3 x.5 thread (4x) 4,52 ±,5 2,3 3, Ø 5, + -,2 Ø 22, + -,52 3, 42,3 L BRS242A5 34. BRS2422A5 4. BRS2423A

38 Dimensions (continued) BRS2 2-phase stepper motors BRS257 A, dimensions in mm L 5, 2,6 ±,5 5, ±,2 Ø 5, thru hole (4x) 5,8 ±, Ø 6,35 + -, Ø 38, ±,5 3,,6 47, 56,4 L BRS257A 45. BRS2572A 54. BRS2573A 76. BRS285 A6, dimensions in mm 37, ±, L, 25, ±,2 Ø 5,5 thru hole (4x) 3, + -, Ø 4, + -, Ø 73, + -,5 32, 2, 69,6 86, L BRS285A6 6. BRS285A6 8. BRS285A

39 37

40 Presentation, reference Option: Commissioning software "Lexium CT" Presentation Functions All tools needed to commission and program SD2 stepper motor drives are integrated into the Lexium CT commissioning software. Existing installations can be upgraded to support SD2 stepper motor drives. Additional modules: Lexium CT MCode programming Lexium CT SPI commissioning Lexium CT CANopen software tool Requirements and interfaces Lexium CT commissioning software runs on a PC under Microsoft Windows 2/ XP/Vista. Stepper motor drive/pc interface Stepper motor drive PC interface system interface RS 485 CANopen SPI USB USB USB Source The latest version of the Lexium CT PC commissioning software is available for download on our website at 38

41 References Accessories for SD28P stepper motor drives for RS 485, programmable VW3LR42 -pin connector in-line converter USB connector Installation accessories Description Length m Reference Weight kg Commissioning USB to RS cable Electrically isolated, in-line converters to set/program communication parameters. Pre-wired with USB and RS mating connectors. For SD28PUxC 3. VW3LR42,9 SD28PU2C 2 Connector Style Assignment 6-pin wire crimp Supply voltage and multifunction interface 2 -pin wire crimp Communication interface 3 Cables Pre-wired mating connector with other cable end open. SD28PU2C Supply voltage and multifunction interface 6-pin connector 3. VW3L3P2R3,8 2 Communication interface -pin connector 3. VW3L3D2R3,8 3 Motor interface 4-pin connector 3. VW3L3M2R3, pin wire crimp Motor interface SD28PU5C 2 3 SD28PU5C Multifunction interface 4-pin connector 3. VW3L3D5R3,35 2 Communication interface -pin connector 3. VW3L3D2R3,8 3 Supply voltage 2-pin connector 3. VW3L3P3R3,6 4 Motor interface 4-pin connector 3. VW3L3MR3,37 4 Connector Style Assignment 4-pin wire crimp Multifunction interface 2 -pin wire crimp Communication interface 3 2-pin wire crimp Supply voltage 4 4-pin wire crimp Motor interface Description Sold in lots of Reference Weight kg per piece Connector kits Connectors for assembly of cables. SD28PU2C Supply voltage and 6-pin connector 5 VW3L5CN5, multifunction interface 2 Communication interface -pin connector 5 VW3L5C2N5, 3 Motor interface 4-pin connector 5 VW3L5C6N5, SD28PU5C Multifunction interface 4-pin connector 5 VW3L5C9N5, 2 Communication interface -pin connector 5 VW3L5C2N5, 3 Supply voltage 2-pin connector 5 VW3L5C5N5, 4 Motor interface 4-pin connector 5 VW3L5C7N5, 39

42 References (continued) Accessories for SD28A stepper motor drives for CANopen VW3LA5 DB9 connector Interface cable (not supplied) DB-9F USB connector Installation accessories Description Length m Reference Weight kg Commissioning USB to CAN cable CANopen dongle to set/program communication parameters. Requires a mating connector adapter and power supply, not supplied. For SD28AUxC 3.6 VW3LA5,36 CAN-H CAN-L DB-9F 2Ω 2Ω termination resistor is required between CAN-H and CAN-L at Lexium end of cable CAN +V CAN -V (ground) +7 to +3 VDC power supply SD28AU2C Connector Style Assignment 6-pin wire crimp Supply voltage and multifunction interface 2 3 Cables Pre-wired mating connector with other cable end open. SD28AU2C Supply voltage and multifunction interface 6-pin connector 3. VW3L3P2R3,8 3 Motor interface 4-pin connector 3. VW3L3M2R3,22 SD28AU5C Multifunction interface 4-pin connector 3. VW3L3D5R3,35 3 Supply voltage 2-pin connector 3. VW3L3P3R3,6 4 Motor interface 4-pin connector 3. VW3L3MR3,37 2 DB9 Fieldbus for CANopen interface 3 4-pin wire crimp Motor interface SD28AU5C Description Sold in lots of Reference Weight kg per piece Connector kits Connectors for assembly of cables. SD28AU2C Supply voltage and 6-pin connector 5 VW3L5CN5, multifunction interface 3 Motor interface 4-pin connector 5 VW3L5C6N5, Connector Style Assignment 4-pin wire crimp Multifunction interface 2 DB9 Fieldbus for CANopen interface SD28AU5C Multifunction interface 4-pin connector 5 VW3L5C9N5, 3 Supply voltage 2-pin connector 5 VW3L5C5N5, 4 Motor interface 4-pin connector 5 VW3L5C7N5, 3 2-pin wire crimp Supply voltage 4 4-pin wire crimp Motor interface 4

43 References (continued) Accessories for SD25D stepper motor drives for pulse/direction interface VW3LV33 2-pin connector in-line converter USB connector Installation accessories Description Length m Reference Weight kg Commissioning USB to SPI cable Electrically isolated, in-line converters to set/program communication parameters. Pre-wired with USB and SPI mating connectors. For SD25DUxC 3.6 VW3LV33,42 SD25DU2C Connector Style Assignment 2-pin wire crimp Supply voltage, multifunction and communication interface 2 4-pin wire crimp Motor interface SD25DU5C 2 Cables Pre-wired mating connector with other cable end open. SD25DU2C Supply voltage, multifunction and communication interface 2-pin connector 3. VW3L3D3R3,33 2 Motor interface 4-pin connector 3. VW3L3M2R3,22 SD25DU5C Multifunction and 2-pin connector 3. VW3L3D3R3,33 communication interface 2 Supply voltage 2-pin connector 3. VW3L3P3R3,6 3 Motor interface 4-pin connector 3. VW3L3MR3, Connector Style Assignment 2-pin wire crimp Multifunction and communication interface 2 2-pin wire crimp Supply voltage 3 4-pin wire crimp Motor interface Description Sold in lots of Reference Weight kg per piece Connector kits Connectors for assembly of cables. SD25DU2C Supply voltage, 2-pin connector 5 VW3L5C3N5, multifunction and communication interface 2 Motor interface 4-pin connector 5 VW3L5C6N5, SD25DU5C Multifunction and 2-pin connector 5 VW3L5C3N5, communication interface 2 Supply voltage 2-pin connector 5 VW3L5C5N5, 3 Motor interface 4-pin connector 5 VW3L5C7N5, 4