MForce Drives and Stepper Motors

Transcription

1 MForce Drives and Stepper Motors Catalog NEMA 14, 17, 23 and phase stepper motors MicroDrive and PowerDrive

2 Schneider Electric Motion USA All Rights Reserved. REV For the most recent product information, go to

3 Contents Product offer Overview...page 2 MForce Step/direction with SPI interface Description...page 6 Functions...page 8 Characteristics...page 10 Part numbers...page 11 Dimensions...page 12 MForce Motion Control, RS-422/485 programmable Description...page 14 Functions...page 16 Characteristics...page 18 Part numbers...page 19 Dimensions...page 20 for CANopen Description...page 22 Functions...page 24 Characteristics...page 28 Part numbers...page 29 Dimensions...page 30 2-phase stepper motors Description...page 32 Characteristics...page 33 Performance...page 35 Part numbers...page 37 Dimensions...page 38 Encoder...page 40 Accessories Interface software...page 42 Connectivity For pulse/direction interface...page 43 For RS-422/485, programmable... page 44 For CANopen...page 45

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5 MForce stepper motor drives Overview

6 Overview SPI Interface Pulse train (P/D, A/B, CW/CCW) RS-422/485 Fully programmable I/O MForce MicroDrive Step/Direction 2-phase stepper motor MForce MicroDrive Motion Control Presentation The Schneider Electric Motion USA stepper motor drive system is comprised of an MForce stepper motor drive and a 2-phase stepper motor for a very compact, high performance drive system. are offered in 3 versions: for communication via step/direction interface programmable units for communication via RS-422/485 for communication via CANopen This flexible, open communication concept allows for integration into existing system environments. MForce drives with SPI step/direction interface MForce Step/Direction microstepping drives communicate via SPI with a motion controller. Settings may be changed on-the-fly or downloaded and stored in nonvolatile memory using a supplied software tool, eliminating the need for external switches or resistors. MForce drives fully programmable via RS-422/485 MForce Motion Control combine a fully programmable motion controller with step and direction microstepping drive. Programming is accomplished over RS-422/485 with provided software for point-to-point or multiple unit configurations. MForce drives for CANopen MForce CANopen products support CiA DS301 and DSP402 Device Profile for Drives and Motion Control. Special features 2-phase stepper motor Compactness With its small dimensions, require very little space in the control cabinet. Simplicity Simple cabling and configuring, with user-friendly PC interface software, allows for easy and quick setup of the MForce drive system. CANopen Fieldbus PLC Flexibility are available in two power classes: 3.0 A and 5.0 A. MForce MicroDrive A MForce PowerDrive A Application areas Due to the high torque at low speeds of rotation, the MForce stepper drive system is particularly well 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. MForce MicroDrive MForce PowerDrive 2-phase stepper motors 2

7 Overview Assignment of 2-phase stepper motors and 2-phase stepper motors MForce MicroDrive MForce PowerDrive 12 to 48 V 12 to 75 V 3 A rms, 4.2 A peak 5 A rms, 7 A peak (1) oz-in N-cm oz-in N-cm M M M M (1) Stepper motor holding torque 3

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9 MForce stepper motor drives Step/direction with SPI interface

10 Description Step/direction with SPI interface Drive system MForce products are universally applicable stepper motor drives with on-board control electronics. Step/direction signals of a master controller, e.g. a motion controller, are converted directly into motion. Together with selected Schneider Electric Motion USA stepper motors, MForce is a very compact, high performance drive system. Control The MForce Step/Direction products can be setup and controlled via SPI (Serial Peripheral Interface). MForce PowerDrive stepper motor drive step/direction with SPI interface Power supply voltage MForce can be operated with a voltage range of: 12 to 48 V MForce MicroDrive 12 to 75 V MForce PowerDrive Connection technologies MForce with step/direction has the following connections: Power input Mulitfunction interface Communication interface Motor interface MForce MicroDrive stepper motor drive step/direction with SPI 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 sinking signal inputs Input 5 to 24V + Opto reference Constant Current Source Circuit of sourcing signal inputs Communication interface The communication interface is used to connect SPI communications for configuring purposes. A PC can be connected to the communication interface via a USB to SPI converter. The MForce Step/Direction software can be used to set: 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 6

11 Description Step/direction with SPI interface Connection technologies (continued) Connectors The connectors are used for cabling machines with cable harnesses. Depending on the MForce model, interface is accomplished via a combination of connectors. Overview of connectors MForce MicroDrive Step/Direction P2 P3 Connector Assignment Styles Power input and multifunction interface 12-pin wire crimp, 7-pin terminal strip or 12" flying leads P2 Communication interface 10-pin IDC P3 Motor interface 4-pin wire crimp Overview of connectors MForce PowerDrive Step/Direction P3 P4 Connector Assignment Styles Multifunction and 12-pin wire crimp communication interface P3 Power input 2-pin wire crimp P4 Motor interface 4-pin wire crimp 7

12 Functions Step/direction with SPI interface Functions Overview The following functions can be set on the MForce Step/Direction using the provided interface tool: Number of steps: 200 / 400 / 800 / 1000 / 1600 / 2000 / 3200 / 5000 / 6400 / / / / / / / / Special function steps: (0.01 degree/step) / (1 arc-minute/step) / (0.001 mm/step) Motor phase current ( % of nominal current) Idle current reduction ( % of nominal current) Idle current reduction time (0 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 provided interface tool. Example: At a number of steps of 1000, the MForce executes exactly one complete motor revolution at 1000 pulses. At a pulse frequency of 1 khz this corresponds to a speed of 60 rpm. Settings via MForce Step/Direction 200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, (0.01 deg/step), (1 arc minute/step), (0.001mm/step) Setting the motor phase current The motor phase current is set using the run current percent (MRC) function in the MForce interface tool. A high motor phase current generates a high motor torque. Settings via MForce Step/Direction The motor phase current can be set to any value between 1 and 100 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 efficiency is improved. Settings via MForce Step/Direction The motor phase current can be reduced from 0 to 100 percent of full current. The reduction current delay time (HCDT) can be set to 0 (no delay) or 2 to milliseconds after the last pulse edge is received. 8

13 Functions Step/direction with SPI 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 MForce converts the input signals into a motor movement. The input modes are selected using the clock type parameter in the MForce interface 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 ns DIR 1 100ns 100ns 100ns 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 CW/CCW signals 100ns 100ns 200ns + + A/B (quadrature) interface mode In A/B interface mode, quadrature signals are supplied as reference values. A B ns A/B quadrature signals + Setting the input filter function The input filter is used to filter out high frequency electrical noise from the step/direction interface. This results in smooth motion and accurate positioning. Settings via MForce Step/Direction The filtering of the inputs is set using the CLOCK IOF parameter. This can be set to 50 ns to 12.9 µs (10 MHz to 38.8 khz). 9

14 Characteristics Step/direction with SPI interface Certifications Conformity to standards CE marking EMC immunity Conducted and radiated EMC emissions MForce drives have been developed to conform to the requirements of EN 55011:2007, A2:2007 for Group 1, Class A, conducted and radiated emissions EN :2006 harmonic current emissions EN :1995, A1:2001, A2:2005 voltage fluctuation emissions. (Proper use of power supply/mains filters and shielding on power and interface cables is necessary to meet these requirements.) IEC , electrostatic discharge immunity IEC , radiated electromagnetic field immunity IEC , electrical fast transient / burst immunity IEC , surge immunity IEC , immunity to conducted disturbances induced by RF fields IEC , immunity to voltage dips and interruptions EN 55011:2007, A2:2007 for Group 1, Class A The MForce drives are CE marked in accordance with the European EMC Directive (2004/108/EEC). Ambient conditions Ambient temperature (1) C ; power reduction by 2%/ C at Transport and storage temperature C Installation height without power reduction m < 1000 m above mean sea level Relative humidity % (not condensing) (1) Limit values with flanged motor mounted on a steel plate 300 x 300 x 10 mm Electrical data Power supply connection Not protected against reverse polarity MForce MicroDrive MForce PowerDrive 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=200 µf SPI interfaces Min. Max. Singal inputs High level input voltage Vih VDC 2.0 Low level input voltage Vil VDC 1.2 High level input current lih ua 10 Low level input current lil ua -10 Signal outputs Signal inputs/outputs Voh VDC 2.1 Transmission rate Vol VDC 0.5 Transmission rate Ios ma -7 8 Universal inputs: Step Clock, Direction, Enable Type Opto-isolated High level output voltage VDC +5 to +24 Low level output voltage VDC 8.7 Output SC current ma 14.6 Differential inputs: Clockwise / Counterclockwise Type 5V TTL Non-isolated Mechanical data Type of stepper motor drive MForce MicroDrive MForce PowerDrive Dimensions (W x H x D) inches 1.8 x 1.3 x x 2.1 x 3.9 mm 45 x 33 x x 54 x 99 Mass oz 3 12 kg Type of cooling Convection and conduction Convection 10

15 Part numbers Step/direction with SPI interface PowerDrive Example: M F M 1 C S Z 3 4 N 7 Product designation M F M 1 C S Z 3 4 N 7 MFM = MForce step/direction drive 1CZS = standard connector interface M F M 1 C S Z 3 4 N 7 MForce version M F M 1 C S Z 3 4 N 7 34 = PowerDrive Supply voltage N7 = 75 VDC M F M 1 C S Z 3 4 N 7 MForce PowerDrive stepper motor drive step/direction with SPI interface MForce MicroDrive stepper motor drive step/direction with SPI interface MicroDrive Example: M F M 1 F S D 1 7 N 4 Product designation MFM = MForce step/direction drive Input 1 = universal - step clock, direction, enable 5 = differential - clockwise/counterclockwise connector style FSD = flying leads PSD = terminal strip CSZ = wire crimp MForce version 17 = MicroDrive Supply voltage N4 = 48 VDC M F M 1 F S D 1 7 N 4 M F M 1 F S D 1 7 N 4 M F M 1 F S D 1 7 N 4 M F M 1 F S D 1 7 N 4 M F M 1 F S D 1 7 N 4 11

16 Dimensions Step/direction with SPI interface MForce MicroDrive, dimensions in inches (mm) 2.33 (59.0) 2x Ø 0.15 (2x Ø 3.8) 0.20 (5.1) (54.4) (42.0) P (44.8) connector options I/O & Power I/O & Power I/O, Power & Communication P (33.0) P2 connector options Communication None P3 connector Motor P2 P (304.8) 0.44 (11.2) 0.36 (9.1) P3 12.0" (305mm) flying leads 7-pin non-locking spring clamp terminal strip 12-pin locking wire crimp connector (1) 10-pin non-locking IDC connector no connector (1) 4-pin locking wire crimp connector (1) 12-pin locking wire crimp connector at eliminates the P2 connector. MForce PowerDrive, dimensions in inches (mm) (3.9) (10.6) 2.93 (74.5) 0.31 (7.8) Ø 0.19 ±0.01 (Ø 4.75 ±0.25) [2x] M4 screws for end mount P3 P (75.0) (88.2) 3.47 (88.2) 3.0 ±0.01 (76.2 ±0.25) Ø 0.16 ±0.01 (Ø 4.0 ±0.25) thru hole [4x] #6 (M3.5) screws for flat mount 0.16 ±0.01 (4.1 ±0.25) 2.12 (53.8) 0.58 (14.7) 0.23 (5.7) connector I/O & Communication P3 connector Power P4 connector Motor P3 P4 12-pin locking wire crimp connector 2-pin locking wire crimp connector 4-pin locking wire crimp connector 12

17 MForce stepper motor drives Motion Control, RS-422/485 programmable

18 Description Motion Control, RS-422/485 programmable Drive system MForce products are universally applicable stepper motor drives with on-board programmable motion controller. Reference values are set via RS-422/485 communications. Together with selected Schneider Electric Motion USA stepper motors, MForce is a very compact, high performance drive system that can be used without PLC. Control The MForce Motion Control can be setup and controlled via the RS-422/485 interface. Up to eight different 24 V signals are also available. They can be used as input or output. MForce PowerDrive stepper motor drive programmable motion control for RS-422/485 Power supply voltage MForce can be operated with a voltage range of: 12 to 48 V MForce MicroDrive 12 to 75 V MForce PowerDrive Connection technologies The MForce has the following connections: Power input Multifunction interface Communication interface Motor interface MForce MicroDrive stepper motor drive programmable motion control for RS-422/485 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 0 to 5 V, 0 to 10 V, 4 to 20 ma or 0 to 20 ma One 0 to 5 V capture input or trip output signal Two 0 to 5 V pulse/direction output signal 24 V I/O signals Up to eight 24 V I/O signals are available via the multifunction interface, which can be configured 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 0 to 5 V or 0 to 10 V devices. In current mode it will accept input from 4 to 20 ma or 0 to 20 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 configured 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 configured as inputs they can be used to receive pulse/direction signals from a master controller. Communication interface The communication interface is used to connect RS-422/485 for setup and programming purposes. A PC can be connected to the communication interface via a USB to RS-422/485 converter. The provided software can be used for commissioning functionality, creating programs and programming the MForce drives (see accessories section). 14

19 Description Motion Control, RS-422/485 programmable Connection technologies (continued) Connectors The connectors are used for cabling machines with cable harnesses. Depending on the MForce model, interface is accomplished via a combination of connectors. Overview of connectors MForce MicroDrive Motion Control P2 P3 Connector Assignment Styles Power input and multifunction interface 16-pin wire crimp (1), 7-pin terminal strip or 12" flying leads P2 Communication interface 10-pin IDC or 10-pin wire crimp P3 Motor interface 4-pin wire crimp (1) Products with expanded features have 16-pin connector at. Overview of connectors MForce PowerDrive Motion Control P2 P3 P4 Connector Assignment Styles Multifunction interface 14-pin wire crimp (2) P2 Communication interface 10-pin wire crimp P3 Power input 2-pin wire crimp P4 Motor interface 4-pin wire crimp (2) Products with optional remote encoder interface have a 20-pin connector at. 15

20 Functions Motion Control, RS-422/485 programmable Program Home Sequence Functions Overview All functions of the MForce are set via the RS-422/485 interface using an ANSI terminal or the provided integrated terminal and program editor. These can be saved to non-volatile memory. The MForce has two modes of operation: Immediate mode In immediate mode, commands and parameter settings are issued directly from a terminal such as the provided software tool to the controller. Condition Y N Program mode Program mode is used to store programs to the motion controller. RS-422/485 communications functions BAUD rate 4.8 to kbps Address (only required if operating in party mode) Motion Sequence A Motion Sequence B Example of MForce programming Motion functions Number of steps: 200 / 400 / 800 / 1000 / 1600 / 2000 / 3200 / 5000 / 6400 / / / / / / / / Special function steps: (0.01 degree/step) / (1 arc-minute/step) / (0.001 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 Current control functions Motor phase current ( % of nominal current) Idle current reduction ( % of nominal current) Idle current reduction time (0 or msec) Motor settling delay time (0 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 1/0 Read input as 1/0 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 16

21 Functions Motion Control, RS-422/485 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 (1) Stall detection Position maintenance Find index mark (1) User-supplied differential encoder for optional closed-loop configuration. 17

22 Characteristics Motion Control, RS-422/485 programmable Certifications Conformity to standards MForce drives have been developed to conform to the requirements of EN 55011:2007, A2:2007 for Group 1, Class A, conducted and radiated emissions EN :2006 harmonic current emissions EN :1995, A1:2001, A2:2005 voltage fluctuation emissions. (Proper use of power supply/mains filters and shielding on power and interface cables is necessary to meet these requirements.) EMC immunity IEC , electrostatic discharge immunity IEC , radiated electromagnetic field immunity IEC , electrical fast transient / burst immunity IEC , surge immunity IEC , immunity to conducted disturbances induced by RF fields IEC , immunity to voltage dips and interruptions Conducted and radiated EN 55011:2007, A2:2007 for Group 1, Class A EMC emissions CE marking The MForce drives are CE marked in accordance with the European EMC Directive (2004/108/EEC). Ambient conditions Ambient temperature (1) C ; power reduction by 2%/ C at Transport and storage temperature C Installation height without power reduction m < 1000 m above mean sea level Relative humidity % (not condensing) (1) Limit values with flanged motor mounted on a steel plate 300 x 300 x 10 mm Electrical data Power supply connection Not protected against reverse polarity MForce MicroDrive MForce PowerDrive 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=200 µf General purpose I/O MForce MicroDrive MForce PowerDrive Number/Type Standard features Expanded features 4 sinking outputs / 4 sourcing or sinking inputs 8 sourcing or sinking outputs/ inputs (or 4 with remote encoder interface option) When defined as inputs VDC 0 to +24 Input current (typical at +24VDC) ma 1.75 maximum When defined as outputs VDC Up to +24 Sourcing/sinking output current ma 600 (single channel, duty cycle = 0.80) Communication interfaces RS-422/485 Signal inputs/outputs According to RS-422/485, no galvanic isolation, 2-wire Transmission rate kbaud 4.8 / 9.6 / 19.2 / 38.4 / 115 Transmission protocol Manufacturer-specific 8 sourcing or sinking outputs/inputs (or 4 with remote encoder interface option) Mechanical data Type of stepper motor drive MForce MicroDrive MForce PowerDrive Dimensions (W x H x D) inches 1.8 x 1.3 x x 2.1 x 3.9 mm 45 x 33 x x 54 x 99 Mass oz 3 12 kg Type of cooling Convection and conduction Convection 18

23 Part numbers Motion Control, RS-422/485 programmable MForce PowerDrive stepper motor drive programmable motion control for RS-422/485 PowerDrive Example: M F I 3 C R L 3 4 N 7 Product designation M F I 3 C R L 3 4 N 7 MFI = MForce programmable drive 3CRL = standard connector interface M F I 3 C R L 3 4 N 7 MForce version M F I 3 C R L 3 4 N 7 34 = PowerDrive Supply voltage M F I 3 C R L 3 4 N 7 N7 = 75 VDC Option EE = Interface for a remote encoder (not supplied) M F I 3 C R L 3 4 N 7 EE MForce MicroDrive stepper motor drive programmable motion control for RS-422/485 MicroDrive Example: M F I 1 F R D 1 7 N 4 Product designation MFI = MForce programmable drive Input 1 = standard features 3 = expanded features (1) connector style F = flying leads P = terminal strip C = wire crimp (1) P2 connector style RD = IDC RL = wire crimp MForce version 17 = MicroDrive Supply voltage N4 = 48 VDC Option (1) EE = Interface for a remote encoder (not supplied) M F I 1 F R D 1 7 N 4 M F I 1 F R D 1 7 N 4 M F I 1 F R D 1 7 N 4 M F I 1 F R D 1 7 N 4 M F I 1 F R D 1 7 N 4 M F I 1 F R D 1 7 N 4 M F I 1 F R D 1 7 N 4 EE (1) Only available on products with expanded features. 19

24 Dimensions Motion Control, RS-422/485 programmable MForce MicroDrive, dimensions in inches (mm) 2.33 (59.0) 2x Ø 0.15 (2x Ø 3.8) 0.20 (5.1) (54.4) (42.0) P (44.8) P (33.0) connector options I/O & Power I/O & Power Expanded I/O & Power 0.20 (5.0) 0.14 (3.6) P2 connector options Communication P2 Communication P2 P3 connector Motor 12.0 (304.8) 0.44 (11.2) P3 12.0" (305mm) flying leads 7-pin non-locking spring clamp terminal strip 16-pin locking wire crimp connector (1) 10-pin non-locking IDC connector 10-pin friction lock wire crimp connector 4-pin locking wire crimp connector (1) 16-pin locking wire crimp connector at only available on products with expanded features. MForce PowerDrive, dimensions in inches (mm) (3.9) (10.6) 2.93 (74.5) 0.31 (7.8) Ø 0.19 ±0.01 (Ø 4.75 ±0.25) [2x] M4 screws for end mount P (75.0) (88.2) 3.47 (88.2) P3 3.0 ±0.01 (76.2 ±0.25) P2 Ø 0.16 ±0.01 (Ø 4.0 ±0.25) thru hole [4x] #6 (M3.5) screws for flat mount 0.16 ±0.01 (4.1 ±0.25) 2.12 (53.8) 0.58 (14.7) 0.23 (5.7) connector I/O P2 connector Communication P3 connector Power P4 connector Motor P2 P3 P4 14-pin locking wire crimp connector (2) 12-pin locking wire crimp connector 2-pin locking wire crimp connector 4-pin locking wire crimp connector (2) Products with optional remote encoder interface have a 20-pin connector at. 20

25 MForce stepper motor drives for CANopen

26 Description for CANopen Drive system MForce products are universally applicable stepper motor drives with on-board motion controller for CANopen (DS402) interface. Together with selected Schneider Electric Motion USA stepper motors, MForce is a very compact, high performance drive system. Control The MForce Motion Control can be setup and controlled via the supplied CANopen interface. Up to eight different 24 V signals are also available. They can be used as input or output. MForce PowerDrive stepper motor drive for CANopen Power supply voltage MForce can be operated with a voltage range of: 12 to 48 V MForce MicroDrive 12 to 75 V MForce PowerDrive Connection technologies The MForce has the following connections: Power supply Multifunction interface Communication interface Motor interface MForce MicroDrive 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 0 to 5 V, 0 to 10 V, 4 to 20 ma or 0 to 20 ma One 0 to 5 V capture input or trip output signal Two 0 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 0 to 5 V or 0 to 10 V devices. In current mode it will accept input from 4 to 20 ma or 0 to 20 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. 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 provided software can be used for commissioning functionality, creating programs and programming the MForce drives (see accessories section). 22

27 Description for CANopen Connection technologies (continued) Connectors The connectors are used for cabling machines with cable harnesses. Depending on the MForce model, interface is accomplished via a combination of connectors. Overview of connectors MForce MicroDrive CANopen P2 P3 Connector Assignment Styles Power input and multifunction interface 16-pin wire crimp (1), 7-pin terminal strip or 12" flying leads P2 Communication interface DB9 P3 Motor interface 4-pin wire crimp (1) Products with expanded features have 16-pin connector at. Overview of connectors MForce PowerDrive CANopen P3 P4 P2 Connector Assignment Styles Multifunction interface 14-pin wire crimp (2) P2 Communication interface DB9 P3 Power input 2-pin wire crimp P4 Motor interface 4-pin wire crimp (2) Products with optional remote encoder interface have a 20-pin connector at. 23

28 Functions for CANopen Operating modes Overview The following operating modes can be made at the SD218A stepper motor drive via the fieldbus for CANopen: Profile position Homing mode Profile velocity Profile position In the operating mode "Profile Position", the motor is positioned from a point A to a point B with a positioning command. Settings The positioning path can be specified 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 fieldbus for CANopen or PC Inc Inc Inc 700 Inc Operating mode Profile Position, absolute and relative 24

29 Functions 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 defined position on the axis. The position is defined 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 first movement counterclockwise Movement to HOME reference switch with first movement clockwise Reference movement to index pulse with clockwise or counterclockwise rotation LIMN LIMP M R- p_dishome p_outhome v_home v_outhome Operating mode Homing reference move to a limit switch 1 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 25

30 Functions 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 Inc 2 "2000" "0" Inc Positioning by 4000 increments with position setting 1 The motor is positioned 2000 increments 2 The current motor position is set to position value 0 by position setting to 0 and the new zero point is defined at the same time 3 The new target position is 2000 increments after triggering a new travel command by 2000 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 fieldbus for CANopen or PC. Application example Setting a reference before switching to Profile Position mode. 26

31 Functions for CANopen Profile velocity In operating mode "Profile 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 specified or the operating mode is changed. Reference value setting The reference value is set via fieldbus for CANopen or PC. v v 3 v 2 v 1 0 t 1 t 2 t 3 t 4 t 5 t 6 t 7 Start t 8 t 9 Stop t t 1, t 3, t 5 t 2, t 4, t 6, t 8 t 7, t 9 = acceleration = constant movement = deceleration Profile velocity Additional functions Additional functions can be activated via fieldbus for CANopen or PC: Programming inputs/outputs Setting motion profile via profile generator Triggering Quick Stop function Fast position capture via signal input (Capture) 27

32 Characteristics for CANopen Certifications Conformity to standards MForce drives have been developed to conform to the requirements of EN 55011:2007, A2:2007 for Group 1, Class A, conducted and radiated emissions EN :2006 harmonic current emissions EN :1995, A1:2001, A2:2005 voltage fluctuation emissions. (Proper use of power supply/mains filters and shielding on power and interface cables is necessary to meet these requirements.) EMC immunity IEC , electrostatic discharge immunity IEC , radiated electromagnetic field immunity IEC , electrical fast transient / burst immunity IEC , surge immunity IEC , immunity to conducted disturbances induced by RF fields IEC , immunity to voltage dips and interruptions Conducted and radiated EN 55011:2007, A2:2007 for Group 1, Class A EMC emissions CE marking The MForce drives are CE marked in accordance with the European EMC Directive (2004/108/EEC). Ambient conditions Ambient temperature (1) C ; power reduction by 2%/ C at Transport and storage temperature C Installation height without power reduction m < 1000 m above mean sea level Relative humidity % (not condensing) (1) Limit values with flanged motor mounted on a steel plate 300 x 300 x 10 mm Electrical data Power supply connection Not protected against reverse polarity MForce MicroDrive MForce PowerDrive 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=200 µf General purpose I/O MForce MicroDrive MForce PowerDrive Number/Type Standard features Expanded features 4 sinking outputs / 4 sourcing or sinking inputs 8 sourcing or sinking outputs/ inputs (or 4 with remote encoder interface option) 8 sourcing or sinking outputs/inputs (or 4 with remote encoder interface option) When defined as inputs VDC 0 to +24 Input current (typical at +24VDC) ma 1.75 maximum When defined as outputs VDC Up to +24 Sourcing/sinking output current ma 600 (single channel, duty cycle = 0.80) Fieldbus interfaces CANopen Signal inputs/outputs According to ISO standard, galvanic isolation, externally powered. Transmission rate kbaud 10 / 20 / 50 / 100 / 125 / 250 / 800 / 1000 Transmission protocol CANopen as per DS301; IEC (CiA 402) Mechanical data Type of stepper motor drive MForce MicroDrive MForce PowerDrive Dimensions (W x H x D) inches 1.8 x 1.3 x x 2.1 x 3.9 mm 45 x 33 x x 54 x 99 Mass oz 3 12 kg Type of cooling Convection and conduction Convection 28

33 Part numbers for CANopen MForce PowerDrive stepper motor drive for CANopen PowerDrive Example: M F I 3 C C B 3 4 N 7 Product designation M F I 3 C C B 3 4 N 7 MFI = MForce CANopen drive 3CCB = standard connector interface M F I 3 C C B 3 4 N 7 MForce version M F I 3 C C B 3 4 N 7 34 = PowerDrive Supply voltage M F I 3 C C B 3 4 N 7 N7 = 75 VDC Option EE = Interface for a remote encoder (not supplied) M F I 3 C C B 3 4 N 7 EE MForce MicroDrive stepper motor drive for CANopen MicroDrive Example: M F I 1 F C B 1 7 N 4 Product designation MFI = MForce CANopen drive Input 1 = standard features 3 = expanded features (1) connector style F = flying leads P = terminal strip C = wire crimp (1) P2 connector style CB = DB9 MForce version 17 = MicroDrive Supply voltage N4 = 48 VDC Option (1) EE = Interface for a remote encoder (not supplied) M F I 1 F C B 1 7 N 4 M F I 1 F C B 1 7 N 4 M F I 1 F C B 1 7 N 4 M F I 1 F C B 1 7 N 4 M F I 1 F C B 1 7 N 4 M F I 1 F C B 1 7 N 4 M F I 1 F C B 1 7 N 4 EE (1) Only available on products with expanded features. 29

34 Dimensions for CANopen MForce MicroDrive, dimensions in inches (mm) 2.33 (59.0) 2x Ø 0.15 (2x Ø 3.8) 0.20 (5.1) (54.4) (42.0) P (44.8) connector options I/O & Power I/O & Power Expanded I/O & Power 0.20 (5.0) 0.14 (3.6) P (33.0) P2 connector Communication P2 P3 connector Motor 12.0 (304.8) 0.44 (11.2) P3 12.0" (305mm) flying leads 7-pin non-locking spring clamp terminal strip 16-pin locking wire crimp connector (1) DB9 connector 4-pin locking wire crimp connector (1) 16-pin locking wire crimp connector at only available with expanded I/O or remote encoder interface option. MForce PowerDrive, dimensions in inches (mm) (3.9) (10.6) 2.93 (74.5) 0.31 (7.8) Ø 0.19 ±0.01 (Ø 4.75 ±0.25) [2x] M4 screws for end mount P (75.0) (88.2) 3.47 (88.2) P3 P2 3.0 ±0.01 (76.2 ±0.25) Ø 0.16 ±0.01 (Ø 4.0 ±0.25) thru hole [4x] #6 (M3.5) screws for flat mount 0.16 ±0.01 (4.1 ±0.25) 2.12 (53.8) 0.58 (14.7) 0.23 (5.7) connector I/O P2 connector Communication P3 connector Power P4 connector Motor P2 P3 P4 14-pin locking wire crimp connector (2) DB9 connector 2-pin locking wire crimp connector 4-pin locking wire crimp connector (2) Products with optional remote encoder interface have a 20-pin connector at. 30

35 Stepper motors phase

36 Description Stepper motors phase Presentation The 2-phase stepper motors from Schneider Electric Motion USA are extremely robust, maintenance-free motors. They carry out precise step-by-step movements that are controlled by a stepper motor drive, such as MForce, to comprise a stepper motor drive system. The 2-phase stepper motors can be operated at very high resolutions, depending on the stepper motor drive. Maximum power can only be obtained if motor and electronics are perfectly tuned to each other. Special features Quiet As a result of the special mechanical design of the motors and the sine commutation of the MForce drives, the stepper motors are very quiet and run virtually without resonance. Stepper motors with MForce drives Strong The optimized internal geometry of the motor ensures a high power density Description 1 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 32

37 Characteristics Stepper motors phase Product offer 2-phase stepper motors M-14 M-17 M-22 M-34 Size NEMA Holding torque oz-in Number of full steps per revolution Step angle α 1.8 Number of leads 4 N-cm Motor types Shaft version Centering collar Flange size Lengths without shaft M-14 inches mm inches mm inches mm inches mm Round shaft with single flat feature M-17 Round shaft with single flat feature M-22 Round shaft with single flat feature M-34 Round shaft with single flat feature Winding Ø Ø 5.0 Ø Ø phase full coil for bi-polar operation Ø Ø 5.0 Ø Ø Ø 0.25 Ø 6.35 Ø 1.50 Ø Ø Ø 14.0 Ø Ø (1) Optional rear shaft available except for NEMA23 2.4amp motors. (2) Optional rear shaft on NEMA23 6.0amp motors is round without a flat feature 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 4 flying leads 4 flying leads 4 flying leads 4 flying leads Optional rear shaft (1) Round shaft Flat feature extending to rear end bell Flat feature extending to rear end bell (2) Flat feature on round shaft Optional encoder Single-end or differential Single-end or differential Single-end or differential Single-end or differential 33

38 Characteristics Stepper motors phase Ambient conditions Ambient temperature C Max. installation m < 1000 height over m.s.l. without power loss Transport and C storage temperature Relative humidity % , no condensation allowed Thermal class 130 (B) Electrical and mechanical data NEMA14 M (1) Stack length single Phase current amps 0.75 Holding torque oz-in 10 N-cm 7 Rotor inertia oz-in-sec kg-cm Phase inductance mh 4.0 Phase resistance Ω 4.3 Weight oz 4.2 grams 120 NEMA17 M (1) M (1) M (1) Stack length single double triple Phase current amps Holding torque oz-in N-cm Rotor inertia oz-in-sec kg-cm Phase inductance mh Phase resistance Ω Weight oz grams NEMA23 M S (2) M S (2) M S (2) M (2) M (2) M (2) M (3) M (3) M (3) Stack length single double triple single double triple single double triple Phase current amps Holding torque oz-in N-cm Rotor inertia oz-in-sec kg-cm Phase inductance mh Phase resistance Ω Weight oz grams NEMA34 M (3) M (3) M (3) Stack length single double triple Phase current amps Holding torque oz-in N-cm Rotor inertia oz-in-sec kg-cm Phase inductance mh Phase resistance Ω Weight oz grams (1) Recommended for use with MForce MicroDrives. (2) Recommended for use with MForce MicroDrives and PowerDrives. (3) Recommended for use with MForce PowerDrives. 34

39 Performance Stepper motors phase Speed-torque curves M (1) Torque in Oz-In (N-cm) 21 (15) 14 (10) 24VDC 48VDC 7 (5) (900) 6000 (1800) 9000 (2700) Speed in full steps per second (rpm) M (1) M (1) M (1) Torque in Oz-In (N-cm) Torque in Oz-In (N-cm) Torque in Oz-In (N-cm) 63 (45) 24VDC 48VDC 63 (45) 24VDC 48VDC 63 (45) 24VDC 48VDC 42 (30) 42 (30) 42 (30) 21 (15) 21 (15) 21 (15) (600) 4000 (1200) 6000 (1800) Speed in full steps per second (rpm) (600) 4000 (1200) 6000 (1800) Speed in full steps per second (rpm) (600) 4000 (1200) 6000 (1800) Speed in full steps per second (rpm) (1) Recommended for use with MForce MicroDrives. 35

40 Performance Stepper motors phase Speed-torque curves M S (2) M S (2) M S (2) Torque in Oz-In (N-cm) Torque in Oz-In (N-cm) Torque in Oz-In (N-cm) 225 (159) 175 (124) 24VDC 45VDC 75VDC 225 (159) 175 (124) 24VDC 45VDC 75VDC 225 (159) 175 (124) 24VDC 45VDC 75VDC 125 (88) 125 (88) 125 (88) 75 (53) 75 (53) 75 (53) 25 (18) 25 (18) 25 (18) (600) 4000 (1200) 6000 (1800) (600) 4000 (1200) 6000 (1800) (600) 4000 (1200) 6000 (1800) Speed in full steps per second (rpm) Speed in full steps per second (rpm) Speed in full steps per second (rpm) M (2) M (2) M (2) Torque in Oz-In (N-cm) Torque in Oz-In (N-cm) Torque in Oz-In (N-cm) 225 (159) 175 (124) 24VDC 45VDC 75VDC 225 (159) 175 (124) 24VDC 45VDC 75VDC 225 (159) 175 (124) 24VDC 45VDC 75VDC 125 (88) 125 (88) 125 (88) 75 (53) 75 (53) 75 (53) 25 (18) 25 (18) 25 (18) (600) 4000 (1200) 6000 (1800) (600) 4000 (1200) 6000 (1800) (600) 4000 (1200) 6000 (1800) Speed in full steps per second (rpm) Speed in full steps per second (rpm) Speed in full steps per second (rpm) M (3) M (3) M (3) Torque in Oz-In (N-cm) Torque in Oz-In (N-cm) Torque in Oz-In (N-cm) 225 (159) 175 (124) 24VDC 45VDC 75VDC 225 (159) 175 (124) 24VDC 45VDC 75VDC 225 (159) 175 (124) 24VDC 45VDC 75VDC 125 (88) 125 (88) 125 (88) 75 (53) 75 (53) 75 (53) 25 (18) 25 (18) 25 (18) (600) 4000 (1200) 6000 (1800) Speed in full steps per second (rpm) (600) 4000 (1200) 6000 (1800) Speed in full steps per second (rpm) (600) 4000 (1200) 6000 (1800) Speed in full steps per second (rpm) M (3) M (3) M (3) Torque in Oz-In (N-cm) Torque in Oz-In (N-cm) Torque in Oz-In (N-cm) 800 (565) 600 (423) 24VDC 45VDC 75VDC 800 (565) 600 (423) 24VDC 45VDC 75VDC 800 (565) 600 (423) 24VDC 45VDC 75VDC 400 (282) 400 (282) 400 (282) 200 (140) 200 (140) 200 (140) (600) 4000 (1200) 6000 (1800) (600) 4000 (1200) 6000 (1800) (600) 4000 (1200) 6000 (1800) Speed in full steps per second (rpm) Speed in full steps per second (rpm) Speed in full steps per second (rpm) (2) Recommended for use with MForce MicroDrives and PowerDrives. (2) Recommended for use with MForce PowerDrives. 36

41 Part numbers Stepper motors phase References Example: M S Motor type M = stepper motor Flange size 14 = nema14 (36 mm) 17 = nema17 (42 mm) 23 = nema23 (57 mm) 34 = nema34 (85 mm) Motor length 10 = nema14 single stack 13 = nema17 single stack 15 = nema17 double stack 19 = nema17 triple stack 18 = nema23 single stack 22 = nema23 double stack 31 = nema23 triple stack 24 = nema34 single stack 31 = nema34 double stack 47 = nema34 triple stack Phase current 0.75 = nema amp 1.5 = nema amp 2.4 = nema amp 3.0 = nema amp 6.0 = nema amp 6.3 = nema amp Shaft S = single shaft D = double shaft (1) Optional encoder (2) Selecting the encoder option replaces the shaft designator in the part number ES = single-end optical encoder with index mark (3) ED = differential optical encoder with index mark (3) 100 = line count 200 = line count 250 = line count 400 = line count 500 = line count 1000 = line count (3) (1) Not available with 2.4amp NEMA23 motors. (2) Not available for NEMA14 motors. (3) All encoders have an index mark, except the 1000 line count version. M S M S M S M S S ES100 37

42 Dimensions Stepper motors phase NEMA14, dimensions in inches (mm) 1.2 ±0.02 (30.44 ±0.5) 0.55 ±0.02 (14.0 ±0.5) L 0.95 ±0.02 (24.0 ±0.5) 0.59 ±0.02 (15.0 ±0.5) Ø M3 thread [4x] (3.5) deep minimum M1.2 [2x] 0.20 (5.1) deep minimum motor rear optional rear shaft Ø (Ø 4.0 ) Ø (Ø 5.0 ) (400.0) ±0.002 (4.5 ±0.05) (2.0) Ø (Ø 5.0 ) Ø (Ø 22.0 ) ( 26.0) 1.39 ( 35.3) 0.62 ±0.005 ) (15.75 ±0.13) L M (26) NEMA17, dimensions in inches (mm) L 0.94 ±0.02 (23.88 ±0.51 ) (14.86) Ø M3 x P0.5 thread [4x] (4.5) deep minimum motor rear 0.55 (14.0) optional rear shaft ±0.002 (4.52 ±0.05 ) M2 [2x] 0.20 (5.1) deep minimum ± (4.52 ± 0.05) Ø (Ø 5.0) flat extends to rear end bell 11.8 (300.0) 0.08 (2.03) Ø (Ø 5.0 ) Ø (Ø 22.0 ) ( 31.0) 1.67 ( 42.3) 0.75 ±0.005) (19.0 ±0.13) L M (34) M (40) M (48) 38

43 Dimensions Stepper motors phase NEMA23, dimensions in inches (mm) L (5.0) ±0.02 (20.6 ±0.5 ) Ø ±0.010 (Ø 5.0 ±0.25) [4x] eq.spaced on DBC (66.67) 0.56 (14.3) optional rear shaft 0.59 ±0.008 (15.0 ±0.02) 3amp: M2 [2x] 6amp: #2-56 [2x] UNC-2B x (3.18) deep motor rear ± (5.8 ± 0.1) Ø 0.25 (Ø 6.35) flat extends to rear end bell 11.8 (300.0) ±0.009 (5.8 ±0.1 ) (1.60) Ø (Ø 6.35 ) Ø 1.50 ±0.002 (Ø ±0.05 ) 1.85 ( 47.1) 2.22 ( 56.39) 3amp: M3 [2x] 6amp: #4-40 [2x] UNC-2B x (3.18) deep 0.75 ±0.008 (19.0 ±0.2) ±0.008 (46.0 ±0.2 ) L 2.4 amp motor 3.0 amp motor 6.0 amp motor M (45) 1.77 (45) 1.75 (44.5) M (54) 2.13 (54) 2.2 (56) M (76) 2.99 (76) 3.09 (79) NEMA34, dimensions in inches (mm) ±0.02 (22.5 ±0.5 ) ±0.01 (18.4 ±0.25 ) 0.1 ±0.02 (2.5 ±0.5) optional rear shaft ±0.004 (4.5 ±0.1) Ø (Ø 4.77 ) Ø (Ø ) 0.54 ±0.02 (13.7 ±0.5 ) L 1.46 ±0.04 (37.0 ±1.0 ) (10.0) ±0.01 (25.0 ±0.2 ) 12.6 (320.0) (2.0) Ø (Ø 13.0 ) Ø (Ø 14.0 ) Ø (Ø 73.0 ) Ø (Ø 6.5) [4x] eq.spaced on DBC (98.4) ( ± ±0.25) 3.39 ( 86.0) Ø 0.25 (Ø 6.35) Ø (Ø 5.0 ) Ø M2.5xP0.45 [2x] 0.24 (6.0) deep minimum Ø M2xP0.4 [2x] 0.16 (4.0) deep minimum motor rear 1.28 (32.51) 1.81 (46.0) L M (63) M (80) M (120) 39

44 Encoder Stepper motors Accessories Optical encoder, dimensions in inches (mm) Ø (Ø 1.98) [3x] eq.spaced on DBC (20.9) Ø (Ø 2.7) [2x] (19.0) (15.2) (36.0) (43.1) 0.69 (17.5) Encoder type single-end differential Number of signals 3 5 Line counts 100, 200, 250, 400, 500 or 1000 (1) (1) All encoders have an index mark, except the 1000 line count version. Encoder cables (2) Length feet (m) Part number Pre-wired mating connector with other cable end open. For single-end optical encoder 1.0 (0.3) ES-CABLE-2 For differential optical encoder 6.0 (1.8) ED-CABLE-6 (2) Cable is not included with single-end encoders and must be ordered separately. Cable is included with differential encoders. 40

45 MForce stepper motor drives Accessories

46 Accessories Interface software Presentation Functions All tools needed to setup and program are integrated into the interface software provided. Existing installations can be upgraded to support. Additional modules: SPI setup MCode programming CANopen software tool Requirements and interfaces The provided software runs on a PC under Microsoft Windows Stepper motor drive/pc interface Stepper motor drive PC interface system interface SPI RS-422/485 CANopen USB USB USB Source The latest software version is available for download on our website at schneider-electric.com. 42