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Jenaer Antriebstechnik ECOSTEP 54 User Manual Download Page 39

Subject to change without notice!

User Manual ECOSTEP®54

39

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.

yes

                                      no

                 no

yes

                                                  no

yes

The objects to be written or to be read, resp. for the individual axes are (incl. sub index and length):

Axis 0

Axis 1

Axis 2

Axis 3

control word

60400010

68400010

70400010

78400010

status word

60410010

68410010

70410010

78410010

modes_of_operation

60600008

68600008

70600008

78600008

Set modes_of_operation = 0x06

Start homing and timeout:

control word = 0x001F

Reference found,

status word = 0x9437 ?

control word = 0x000F

Timeout?

Error

status word = 0x8437?

Error

Homing finished successfully!

Summary of Contents for ECOSTEP 54

Page 1: ...User Manual ECOSTEP 54 ...

Page 2: ......

Page 3: ...crofilm 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 regis...

Page 4: ...User Manual ECOSTEP 54 4 Subject to change without notice ...

Page 5: ...ditions 12 4 4 General technical data 13 4 5 Betriebsarten 13 4 6 Suitable types of motors 13 5 Installation 14 5 1 Mounting 14 5 1 1 Important notes 14 5 1 2 Dimensions 14 5 1 3 Assembly 15 5 2 Electrical Installation 16 5 2 1 Important notes 16 5 2 2 EMC compliant installation 16 6 Interfaces 17 6 1 Arrangement of the interfaces 17 6 2 Control signals 18 6 2 1 X5 Digital outputs 24 V 18 6 2 2 X1...

Page 6: ...effective immediately 40 9 1 3 Operation mode 1 Profile Positioning Mode Absolute positioning after setting the control word 41 9 1 4 Operation mode 1 Profile Positioning Mode Relative positioning 42 9 1 5 Operation mode 3 Profile Velocity Mode 43 9 2 Data Protocol of the RS232 Interface 44 9 2 1 Download Request Data Transfer from Host to Slave 45 9 2 2 Upload Request Data Transfer from Slave to Host...

Page 7: ...dling 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 Consequences General warning about danger Di...

Page 8: ...closed du ring operation The 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...

Page 9: ...and take ap propriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property If one or more servo amplifiers ECOSTEP 54 are built into machines or plants the intended opera tion of the servo amplifier is forbidden until it has been established that the machine or plant fulfills the requirements of the EC Machinery Directive 98 37 EC and the EMC Directive ...

Page 10: ...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 f...

Page 11: ...Subject to change without notice User Manual ECOSTEP 54 11 ...

Page 12: ...ication department in case of longer cables 4 2 Electrical connection data Table 4 2 Electrical connection data Logic supply VDC 20 30 max 200 mA Protection required for logic supply A 3 T Power supply UDC BUS VDC 24 45 Protection required for power supply A 10 slow acting if required use an UL certified automatic circuit breaker 10 A 60 VDC slow acting 4 3 Operating Conditions Table 4 3 Operating...

Page 13: ...sions and weight Dimensions and weight Unit Dimensions without heat sink w x h x d mm 240 x 62 x 170 without mating connector Dimensions with heat sink w x h x d mm 240 x 102 x 170 without mating connector Weight without heat sink kg 1 8 kg Weight with heat sink kg 3 4 kg 4 5 Modes for setpoint setting ECOSTEP 54 provides the following modes for setpoint setting Online positioning via field bus RS2...

Page 14: ...easures have to be taken installation of filters frequent cleaning Depending on the power losses an appropriate ventilation should be provided Observe the mounting spaces At installation locations with permanent vibrations or shocks damping measures should be taken into consideration The device contains electrostatic sensitive devices which can be damaged by improper usage 5 1 2 Dimensions Fig 5 1 ...

Page 15: ... stepper motor ampli fiers If a heat sink is used cf chap 8 1 1 the mounting space will increase by 40 mm The surface of the mounting plate has to be conductive e g zinc plated Varnished mounting plates must not be used To calculate the minimal mounting depth fig 5 3 dim A the form of the connectors cable outlet direction and the minimum bending radii of the connecting cables at the sub D connectors...

Page 16: ...have to be properly grounded The protective earth conductor must have at least the same diameter as the supply cables The stepper motor amplifier should be mounted onto a conductive not varnished metal mounting plate 5 2 2 EMC compliant installation The supply connection of the machine should be equipped with an appropriate RFI suppression filter Al ways use shielded cables Metal parts in the cabine...

Page 17: ...tor 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 Fig 6 1 Arrangement of the ECOSTEP 54 interfaces Status LEDs X7 CAN interface X8 RS232 interface X9 Analog inputs outputs X10 Digital inputs X11 Power supply X5 Digital outputs X1 X4 Stepper motor connect...

Page 18: ...lding brake motor 1 IOmax 0 5 A OUT6 6 Digital output 6 reserved for holding brake motor 2 IOmax 0 5 A OUT7 7 Digital output 7 reserved for holding brake motor 3 IO max 0 5 A OUT8 8 Digital output 8 reserved for holding brake motor 4 IO max 0 5 A O24V 7 24 V supply voltage for digital outputs OGND 8 24 V ground Fig 6 3 Connector X5 Circuit of the digital outputs Load res Load res External power su...

Page 19: ...t 7 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 Fig 6 5 Connector X10 Circuit of the digital inputs Control 24V IGND IGND IGND IGND External power supply 24V 24V ECOSTEP 54 Galvanic isolation IGND IGND Control signal DIN1 X10 DIN2 DIN3 DIN8 10 1 2 3 8 9 Control signal Control signal Control signal n c DIN4 DIN5 DIN6 DIN7 DI...

Page 20: ...4 0 5 V GND 5 Internal GND 5V 6 Internal 5 V supply max load 20 mA unprotected n c 7 n c DA0 8 Analog output 10 V GND 9 Internal GND Fig 6 7 Connector X9 Circuit of the analog inputs and the analog output 6 7 8 9 1 2 3 4 5 Fig 6 6 Mating connector X9 9 pole D Sub connector View of the solder or crimp side 5V GND Power supply 6 1 4 10k 1k 2V GND ECOSTEP 54 X9 Control GND 5 9 8 5V AN0 GND GND AN3 DA...

Page 21: ...Phase B 1 Stepper motor connection 24 V 5 Limit position switch supply Brake 6 Holding brake connection 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 Fig 6 9 Motor connection 6 7 8 9 1 2 3 4 5 Fig 6 8 Mating connector X1 to X4 9 pole D Sub connector View of the solder or crimp side Tab...

Page 22: ...ive 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 Signal Pin Description 24 V logic supply 24V Incoming supply voltage 20 30VDC max 0 2 A GND GND GND for logic supply DC link relay REL Switching on the DC link DC link relay REL Switching on the DC link Power supply DC BUS Incoming sup...

Page 23: ...evices working as communication slaves in a mono master network In that case the RS232 cabling must have a loop structure as follows 6 7 8 9 1 2 3 4 5 Fig 6 12 Mating connector X8 9 pole D Sub connector View of the solder or crimp side 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 Table 6 7...

Page 24: ...ID can be set via the appropriate CAN objects By default the ID is set to 1 The following baud rates are supported 1000 kBit s 500 kBit s 250 kBit s 125 kBit s 100 kBit s 50 kBit s If point of sampling and scan rate 86 7 3 times sampling at all Baud rates do not meet the demands please get in touch with the technical service of Jenaer Antriebstechnik 6 7 8 9 1 2 3 4 5 Fig 6 15 Mating connector X7 ...

Page 25: ...ly 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 Cont...

Page 26: ...r has to be rectified before commissioning Possible error causes Power supply voltage too low 15 V Heat sink temperature too high 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 Beg...

Page 27: ...t default 0 as the object node ID is predefined to 1 and cannot be changed IDs in the range 1 127 can be assigned whereas each ID must only be assigned once in one network If you wish to modify the address first set the node_offset accordingly After that the new value has to be stored permanently The new address is then assigned after the 24 V logic supply is switched on again Each device communicate...

Page 28: ...o the value 2047 Thus the value to be specified is calculated as follows current value from data sheet A value 2047 2 5 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 swi...

Page 29: ...gital inputs Limit config Bit 0 0 positive limit position axis 1 at motor connector Bit 0 1 positive limit position axis 1 at digital input 1 DIN1 Bit 1 0 negative limit position axis 1 at motor connector Bit 1 1 negative limit position axis 1 at digital input 2 DIN2 Bit 7 0 negative limit position axis 4 at motor connector Bit 7 1 negative limit position axis 4 at digital input 8 DIN8 Limit polar...

Page 30: ...ching on the power supply the DC link circuit relay can be switched on Therefore a voltage of 24V has to be applied across pins REL and REL of connector X11 12 Set Switch On bit in the control word The drive is switched on by software Menu Separate Axis DS402 Device Profile DS402 Ax Device State Control Fig 7 5 Control word and status word in the Device State Control window ECOSTEP54 is controlled ...

Page 31: ...g to the actual position 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 Homing acceleration and deceleration 16 inc s2 speed_for_switch Velocity of the search travel for the reference switch inc 64 s speed_for_zero Velocity of th...

Page 32: ...tion 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 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 operation mode Besides homing the following operation modes can be s...

Page 33: ...op decel Deceleration with Quick Stop 16 inc s2 motion_prof_type Acceleration profile 0 linear acceleration characteristics position_dem_value Position setpoint motion profile generator output inc position_act_value 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 EC...

Page 34: ...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 ...

Page 35: ...nd displayed in the Device Profile Error Flags window Shortcut F2 Fig 7 12 Display of the Error Flags F2 Table 7 8 Error states in the Error Flags window Name Error Description Measures FAULT_H8SWD_BIT Internal controller error Try to reset the fault condition cf page 36 If no success replace device FAULT_REGLERWD_BIT Internal controller error Replace device FAULT_OVERTEMP_BIT Heat sink temperature...

Page 36: ...ifying 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 default 0 Behaviour in case of Shutdown 0 Motor de energized 1 Brakes with profile_deceleration after that motor de energized disable_operation _option_code default 0 Be...

Page 37: ...ocket connector 6 pole WAGO type 231 306 as mating connector for X11 Strain relief bushing 20 mm and raised head screw M3 x 12 Strain relief and shield connection of the connection cables Software tools CD with commissioning and parameterization software HWIN54 including documentation for ECOSTEP 54 Cables and adapters ECO2USB Adapter RS232 to USB used for parameterization of the ECOSTEP 54 via th...

Page 38: ...8 1 Supplementary parts 8 1 1 Heat sink The heat sink set consists of 1 heat sink SMH41 for ECOSTEP 54 6 screws M5x16 6 serrated lock washers 5 3 mm Fig 8 1 Monting heat sink 6 x cylindrical screw M5x16 6 x serrated lock washer 5 3 mm Heat sink SMH41 ECOSTEP54 ...

Page 39: ...imeout yes no no yes no yes The objects to be written or to be read resp for the individual axes are incl sub index and length Axis 0 Axis 1 Axis 2 Axis 3 control word 60400010 68400010 70400010 78400010 status word 60410010 68410010 70410010 78410010 modes_of_operation 60600008 68600008 70600008 78600008 Set modes_of_operation 0x06 Start homing and timeout control word 0x001F Reference found stat...

Page 40: ... or to be read resp for the individual axes are incl sub index and length Axis 0 Axis 1 Axis 2 Axis 3 control word 60400010 68400010 70400010 78400010 status word 60410010 68410010 70410010 78410010 profile_velocity 60810020 68810020 70810020 78810020 target_position 607A0020 687A0020 707A0020 787A0020 modes_of_operation 60600008 68600008 70600008 78600008 profile_acceleration 60830020 68830020 70...

Page 41: ...p for the individual axes are incl sub index and length Axis 0 Axis 1 Axis 2 Axis 3 control word 60400010 68400010 70400010 78400010 status word 60410010 68410010 70410010 78410010 profile_velocity 60810020 68810020 70810020 78810020 target_position 607A0020 687A0020 707A0020 787A0020 modes_of_operation 60600008 68600008 70600008 78600008 profile_acceleration 60830020 68830020 70830020 78830020 pr...

Page 42: ...al axes are incl sub index and length Axis 0 Axis 1 Axis 2 Axis 3 control word 60400010 68400010 70400010 78400010 status word 60410010 68410010 70410010 78410010 profile_velocity 60810020 68810020 70810020 78810020 target_position 607A0020 687A0020 707A0020 787A0020 modes_of_operation 60600008 68600008 70600008 78600008 profile_acceleration 60830020 68830020 70830020 78830020 profile_deceleration...

Page 43: ...sub index and length Axis 0 Axis 1 Axis 2 Axis 3 control word 60400010 68400010 70400010 78400010 status word 60410010 68410010 70410010 78410010 target_velocity 60FF0020 68FF0020 70FF0020 78FF0020 modes_of_operation 60600008 68600008 70600008 78600008 profile_acceleration 60830020 68830020 70830020 78830020 profile_deceleration 60840020 68840020 70840020 78840020 control word 0x000F Set target_ve...

Page 44: ...ommunication 9600 baud 8 data bits no parity 1 stop bit The transport protocol uses a telegram with a fixed length of 10 bytes The host sends Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 ID 8 byte host data CHKS Der Host receives the echo RS232 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 ID 8 byte host data CHKS Der Host receives the answer Byte 0 ...

Page 45: ...t 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 Byte 5 Byte 6 Byte 7 RES INDEX LSB MSB SUBINDEX reserved RES displays slave response possible values are 0x60 data successfully sent 0x80 error bytes 4...

Page 46: ...ve answers Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 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 val...

Page 47: ...ransmitted into the servo amplifier s memory DC link voltage Smoothed DC voltage here UDC BUS EMC Electromagnetic compatibility ESD protection Protection against electrostatic discharge Fieldbus interface Here CAN Firmware Part of the software tha is stored to ROM read only memory the firmware contains the start up routines Ground fault Here electrically conductive connection between a power system ...

Page 48: ...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 61000 4 2 Electromagnetic compatibility EMC Part 4 2 Testing and measurement techniques Electrostatic discharg...

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