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Extreme. Precision. Positioning.

MANUAL 2126-A005 EN

Stepper Motor Power Stage

with ServiceBus and Integrated Power Supply

MSD2

Summary of Contents for MSD2+

Page 1: ...Extreme Precision Positioning MANUAL 2126 A005 EN Stepper Motor Power Stage with ServiceBus and Integrated Power Supply MSD2...

Page 2: ...phytron 05 2019 Manual MA 2126 A005 EN MSD2 Stepper Motor Power Stage with ServiceBus and integrated Power Supply Hardware V3 0 TRANSLATION OF THE GERMAN ORIGINAL MANUAL...

Page 3: ...s been taken to ensure the accuracy of this technical manual All information contained in this manual is correct to the best of our knowledge and belief but cannot be guaranteed Furthermore we reserve...

Page 4: ...dicates a high risk of serious injury or death from electric shock WARNING Serious injury possible Indicates a possible risk of serious injury or death WARNING Serious injury from electric shock Indic...

Page 5: ...rained personnel must know all valid standards regulations and rules for the prevention of accidents which are necessary for working with the product Safety Instructions i Intended use The MSD2 is des...

Page 6: ...vered with front plates Never operate the equipment when open Do not plug or unplug the power stage while powered Do not plug or unplug the connectors while powered If the equipment was energised wait...

Page 7: ...anual MSD2 MA 2126 A005 EN 6 WARNING Danger of injury if touching the surface The surface of the MSD2 reaches temperatures more than 105 C during operation Use protective gloves or avoid touching them...

Page 8: ...Switches 30 8 6 Option SB ServiceBus Mode 31 8 6 1 ServiceBus Connector 31 8 6 2 Rotary Switch 31 8 6 3 Connection 32 8 7 Brake Control 33 9 Putting into Service 34 9 1 Diagnosis via LED Display 37 9...

Page 9: ...resolution motor direction of rotation are set via the rotary switches Options SB ServiceBus mode The of the power stage MSD2 stands for operation with ServiceBus The ServiceBus enables the configura...

Page 10: ...n be set using the DIP and rotary switches The MSD2 power stage automatically switches back to stop current if no control pulses arrive Supply voltage AC The 120 VDC motor voltage is generated from th...

Page 11: ...oring The power stage can easily and quickly be programmed by ServiceBus CommTM for Windows software see manual ServiceBus CommTM i The instruction set for parameterising the power stage is listed in...

Page 12: ...tibility 2014 30 EU applies to products which can cause electromagnetic interference or whose operation can be impaired by such interference The power stage s compliance with the EMC Directive cannot...

Page 13: ...Manual MSD2 MA 2126 A005 EN 12 3 3 Declaration of Conformity...

Page 14: ...3 MA 2126 A005 EN 4 Technical Data 4 1 Mechanical Data Weight about 3 kg Mounting Wall mounting or plug in board into the 19 sub rack Mounting position vertical Fig 2 Dimensions MSD2 for wall and rack...

Page 15: ...al mounting provides better ventilation Rack mounting The front panel of the MSD2 19 sub rack mounting version is 6 U high and 18 F wide Wall mounting The MSD2 wall mounting version is delivered with...

Page 16: ...mode Factory settings rotary switch run current IRun F rotary switch stop current IStop 3 2 4 to 8 4 Ar m s without Boost 3 1 to 10 9 Ar m s with Boost see chapter 8 5 ServiceBus mode Programmable val...

Page 17: ...ntial motor direction selected Boost When the input is active the run and stop current is increased by the value set in the ServiceBus Deactivation When the input is active the motor current is deacti...

Page 18: ...g to EN 60721 1995 09 class 3K3 5 to 85 no condensation permissible Degree of pollution 2 Device protection Degree of protection according to DIN EN 60529 2014 09 IP20 at operation in a 19 sub rack Wi...

Page 19: ...le copper cables Communication and Programming Programming only for SB option via Phytron s programming environment ServiceBus CommTM Communication The MSD2 power stage can communicate with a main con...

Page 20: ...herefore the motor power stage 0 V and each equipment has to be grounded When protection by automatic disconnection EN 61140 VDE 0100 part 410 is used for power stages with definite voltage 50 VAC or...

Page 21: ...asure PELV The transformer should be constructed with reinforced or double insulation The internally installed switching power supply has double insulation The device has been designed for degree of p...

Page 22: ...e MSD2 is installed should be connected to the ground by a central earthing tab Fig 5 Motor cable shielding i Phytron recommends the following ferrites to compensate for possible interferences enclose...

Page 23: ...etic compatibility EMC the cable should not be interrupted by additional connectors or screw terminals The PE conductor green yellow of the motor cable is connected to the PE contact of the 5 pole mot...

Page 24: ...ng wiring make sure that the power supply is connected to the primary side of the mains supply Do not plug or unplug the connectors while powered If the equipment was energised wait 3 minutes after po...

Page 25: ...02000732 Motor brake Brake 1x3 Phoenix MSTBA 2 5 3 G 5 08 MSTB 2 5 3 ST 5 08 10021739 Supply voltage Mains 1x3 Phoenix GMSTB 2 5 3 GF 7 62 GMSTB 2 5 3 STF 7 62 10021740 ServiceBus 1x6 Type Tyco Elect...

Page 26: ...r full power The winding inductance of one phase should not be lower than 0 5 mH Stepper motors with eight leads can be connected with the windings wired in parallel 1 or series 2 For 6 lead stepper m...

Page 27: ...Manual MSD2 MA 2126 A005 EN 26 8 3 1 Wiring Schemes Fig 8 Connection diagrams for 4 6 and 8 lead stepper motors...

Page 28: ...winding inductance in a parallel circuit because of interlinked inductances Ltotal 4 x L applies to a series circuit The result is an equal motor time constant for a serial and a parallel circuit Cir...

Page 29: ...Manual MSD2 MA 2126 A005 EN 28 8 4 IO Signal Connector Fig 9 25 pole IO connector DSUB female i IMPORTANT Only use shielded cables please...

Page 30: ...8 0 F 8 4 Factory settings run current F stop current 3 The stop current is normally set to 40 to 50 of the run current to keep the motor temperature as low as possible The table values refer to curr...

Page 31: ...20 without CS B Ministep sinusoidal 1 4 with CS and BLOW UP C Ministep sinusoidal 1 5 with CS and BLOW UP D Ministep sinusoidal 1 10 with CS and BLOW UP E Ministep sinusoidal 1 20 with CS and BLOW UP...

Page 32: ...and can be parameterised by connecting it to the 6 pole ServiceBus connector Fig 10 ServiceBus connector type Tyco Electronics 2 1761605 1 609 0607 8 6 2 Rotary Switch The rotary switch Addr on the f...

Page 33: ...eration A direct connection to the MSD2 from is made via USB RS 485 converter Fig 12 Connection PC MSD2 point to point operation via USB connection i IMPORTANT When using the USB interface the corresp...

Page 34: ...ied externally to the Brake connector max 24 VDC The motor brake must not load the input with more than 1 A The motor brake is also connected to the Brake connector If the input at the I O signal conn...

Page 35: ...tep 10 8 MSD2 option ServiceBus mode SB Download drivers and software from the Phytron website https www phytron eu support downloads software download 9 Install the communication software ServiceBus...

Page 36: ...supplied with the set Boost current Deactivate the Boost input i If the motor has high resonance effects the following measures may be considered select a higher step resolution modify the frequency m...

Page 37: ...us CommTM communication software are explained in the following manual Further Manual This manual is in addition to the following main manual ServiceBus CommTM Communication Software for Stepper Motor...

Page 38: ...lay 9 1 1 Option SB and KS These LEDs indicate the status of the power stage by means of colours LED left right green supply voltage OK ready for operation orange motor is running input signal is appl...

Page 39: ...ly voltage at the internal load capacitor has dropped under 40 V An electronic current limitation or a not adequate smoothing of the DC voltage can be the reason for a short time break of the supply v...

Page 40: ...top bit 1 parity bit Transmission rate 57600 Baud Permanent telegram format STX address_H address_L instruction value csh csl ETX STX Start of text character 02H address_H High order byte of the power...

Page 41: ...ksum bytes two X characters will be accepted by the power stage As well telegrams without checksum and also without separator will be accepted e g Example STX 1 R 4 0 X X ETX or Example STX 1 R 4 0 ET...

Page 42: ...lowest value r1 S Scale of current or temperature values 1 1 1 10 1 10 100 1 100 SS Read scale value of the stop current s100 E Unit of current and time values A mA ms s SE Read unit of the stop curr...

Page 43: ...tus R Read the MSD2 status 0001 to FFFF Hex Dec Va lency Description 0001 1 0 Error under overvoltage 0002 2 1 Error overtemperature 0003 3 1 Error short circuit 0008 8 3 Power stage is deactivated 00...

Page 44: ...or 1 0 activated 1 de activated 1 W Write EPROM X Write parameter into EPROM Z Motor test X or Self test one motor rotation with preset run current 10 4 Examples Instruction code Action Answer A A400...

Page 45: ...m12 m0 m12 PN PNAxis7 PN Read the axis name Store the axis name Delete the axis name pn String e g Axis4 pnAxis7 pn0 Q Error inquiry q0 q3 R R450 Read run current Set run current to 4 5 Ar m s e g r48...

Page 46: ...is flowing Especially with long cables this type of controlling should be preferred The differential voltage between the input and the negated input must be greater than 2 5 V in order to activate the...

Page 47: ...o control pulses is more than 40 ms the stop current is activated The control pulse sequence must not suddenly start or stop if the control pulse frequency is higher than the start stop frequency of t...

Page 48: ...The signal must only be modified when the motor is at a standstill or turns with the frequency within the start stop frequency Changing the motor direction when the motor is running will cause step lo...

Page 49: ...itch See also Appendix A2 In ServiceBus mode the boost current has the value programmed by the user from 0 to 11 Ar m s 11 1 4 Deactivation Input If the input is activated the motor current is switche...

Page 50: ...error messages and the ring counter are reset Then the ring counter is in basic position Both motor phases are energised by the same current value in basic position independent of the step resolution...

Page 51: ...diode must be mounted 11 2 1 Error Output If the following limit values are exceeded or not reached the Error output is switched At the same time the drive is deactivated Limit values Error message i...

Page 52: ...when the MSD2 power stage is ready to operate For that the power stage must be activated i e no signal on the Deactivation input i IMPORTANT After suppression of the Reset signal a time lapse of appro...

Page 53: ...uent editions 13 2 Warranty The MSD2 is subject to legal warranty Phytron will repair or exchange devices which show a failure due to defects in material or caused by the production process This warra...

Page 54: ...The functions Boost Current Shaping CS and Current Optimisation BLOW UP you will find in the second part 14 1 FULL STEP HALF STEP MINISTEP FULL STEP The FULL STEP mode is the operating mode in which a...

Page 55: ...de the torque delivered is almost the same Most of the resonance is suppressed The following diagram shows extent and direction of the holding torques of a 4 step motor during one revolution without a...

Page 56: ...EP MODE Various advantages are obtained by the MINISTEP MODE The torque undulation drops when the number of ministeps is increased Resonance and overshoot phenomena are greatly reduced the motor opera...

Page 57: ...tings steep ramps the motor current is too high during continuous operation and results in motor overheating However a lower phase current results in too flat acceleration and deceleration ramps There...

Page 58: ...g 22 for average speed Fig 23 Current Shaping CS These typical deformations can be observed for all types of curves They are caused by the stepper motor inductance and the generator feedback which inc...

Page 59: ...r less differs from this ideal shape Therefore the MSD2 offers the possibility to select a current shaping as shown below In function of the motor used it is possible to increase the motor performance...

Page 60: ...voided The current delay time is set to 40 ms Automatic change from run to stop current The ratio between both phase currents remains equal in the respective current feed pattern Changing from run to...

Page 61: ...L Lead cross section 17 22 M Ministep 55 Motor cable 22 Motor connection 25 Motor current 9 Motor direction 16 47 Motor time constant 27 O Operating modes 30 Operating parameter 40 Operating voltage...

Page 62: ...Phytron GmbH Industriestra e 12 82194 Gr benzell T 49 8142 503 0 F 49 8142 503 190 www phytron eu...

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