5 Commissioning and operation
| Parameterising the module for the drive system
26
Manual Stepper motor module UR20-1SM-50W-6DI2DO-P
2575290000/03/03.2020
5.4 Parameterising the module for the drive
system
The entire drive system is configured by setting the appropri
-
ate parameters for the stepper motor module.
Parameterising the module for the stepper motor
The stepper motor with connected mechanical system is
integrated by setting the appropriate parameters for the step-
per motor module. For a detailed description of the adjusta-
ble parameters, see Section 3.7.
The stepper motor must be connected correctly to the mod-
ule (see Section 4.2).
▶
Set the “axis mode” parameter to the desired mode.
▶
Set the “micro steps” parameter to the desired number of
steps.
▶
Set the length of the traversing range using the “travers-
ing range” parameter.
The traversing range is specified in increments.
If, for example,you double the value of the “micro
steps” parameter, you halve the actual traversing
range.
7UDYHUVLQJUDQJH
0LFURVWHSV
7UDYHUVLQJUDQJH
0LFURVWHSV
7UDYHUVLQJUDQJH
0LFURVWHSV
7UDYHUVLQJUDQJH
0LFURVWHSV
“Traversing range” parameter, “micro steps” parameter and actual traversing range
▶
Set the “max. acceleration” parameter to maximum accel-
eration.
▶
Set the “start/stop frequency F
ss
” parameter to the start/
stop frequency of the stepper motor incl. connected exter-
nal inertia.
The stepper motor module references with start/
stop frequency. Make sure that you select a start/
stop frequency that is low enough to prevent the
lever of the reference switch from being driven
over.
▶
Set the maximum frequency of the stepper motor incl.
connected external inertia using the “factor F
max
” parame-
ter.
The maximum frequency must not exceed 40
kHz.
The characteristic curve of a stepper motor chan-
ges with the number of micro steps. The start/
stop frequency, the maximum frequency and the
number of micro steps must be coordinated with
each other.
Y
L
W
Y>PV@
L>$@
L
EUDNH
L
DFF
L
GULYH
W
RF
W
RF
Parameterising the drive, brake and boost current
▶
Set the “drive current” parameter to the motor current per
phase i
drive
of the stepper motor.
If you set a very low current, the actual current
may differ considerably from the set value. The
connected motor must have a nominal current of
at least 200 mA.
▶
Set the “factor brake current” parameter to the desired
brake current i
brake
.
▶
Set the “factor boost current” parameter to the desired
boost current i
acc
.
▶
Set the “max. overcurrent duration” parameter to the
desired maximum overcurrent duration t
oc
.
The brake current and the boost current must not
exceed 2.28 A.
