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Weidmüller UR20-1SM-50W-6DI2DO-P, Manual

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Weidmüller UR20-1SM-50W-6DI2DO-P Manual Download Page 35

5 Commissioning and operation

 | Acceleration types

35

Manual Stepper motor module UR20-1SM-50W-6DI2DO-P

2575290000/03/03.2020

5.8  Acceleration types

Constant acceleration

M>PVó@

D>PVò@

Y>PV@

V>P@

W

D

V

Y

M

M

M

M

Jerk (j), velocity (v) and stroke (s) on contant acceleration (a)

During acceleration and braking procedures, the acceleration 

is constant.

Linear acceleration

M>PVó@

D>PVò@

Y>PV@

V>P@

W

D

V

Y

M

Jerk (j), velocity (v) and stroke (s) on linear acceleration (a)

During acceleration and braking procedures, the acceleration 

increases and decreases linear. The jerk is reduced com-

pared to constant acceleration. With the same maximum ac-

celeration, the travel time is increased compared to constant 

acceleration.

Summary of Contents for UR20-1SM-50W-6DI2DO-P

Page 1: ...Remote I O System u remote UR20 Stepper motor module UR20 1SM 50W 6DI2DO P Manual Let s connect...

Page 2: ...tip mode 24 4 7 Connecting standard field devices 24 5 Commissioning and operation 25 5 1 Requirements 25 5 2 Device description files 25 5 3 Integrating the module in the configuration 25 5 4 Parame...

Page 3: ...ge Text next to this arrow are notes that are not relevant to safety but provide important information about proper and effective work procedures The situation dependent safety notices may contain the...

Page 4: ...09 00 2614380000 UR20 FBC PB DP V2 01 09 00 1334880000 UR20 FBC PN IRT 01 08 00 2566380000 UR20 FBC PN IRT V2 01 10 01 2659680000 UR20 FBC PN ECO 01 00 00 1334910000 UR20 FBC EC HW 01 xx xx 01 11 00 1...

Page 5: ...rmation Open equipment u remote products are open equipment that may only be ins talled and operated in lockable housings cabinets or electri cal operations rooms Only trained and authorised personnel...

Page 6: ...d as Zone 2 as per Directive 2014 34 EU The u remote products are suitable for use in Class I Division 2 Groups A to D according to NFPA publication 70 If u remote products are used in potentially exp...

Page 7: ...rceware org license overview html mongoose WebServer MIT http web archive org web 20111015092802 http code google com p mongoose source browse LICENSE jQuery MIT https github com jquery jquery blob ma...

Page 8: ...can be connected to connector 4 in two wire systems The step per motor is connected to connector 7 An external power supply is connected to connector 8 A status LED is assigned to each channel A conf...

Page 9: ...path 4 Input current path 5 Output current path 6 Seats for module markers 7 Type designation 8 Connector frame unlocking device 9 Module status LED collective message 10 Connector 11 Channel status...

Page 10: ...ion diagram UR20 1SM 50W 6DI2DO P Assignment Function connection Assignment Function connection 1 1 DI 0 Digital input 1 2 GND 0 V UIN 1 3 24 V 24 V UIN 1 4 DI 1 Digital input 2 1 DI 2 Digital input 2...

Page 11: ...2 1 Yellow Input 2 active 2 4 Yellow Input 3 active 3 1 Yellow Input 4 active 3 4 Yellow Input 5 active 4 1 Yellow Output 0 active 4 4 Yellow Output 1 active LED indicators UR20 1SM 50W 6DI2DO P left...

Page 12: ...1 2 2 2 3 2 1 3 2 3 3 3 DI 2 GND 24V DI 3 DI 0 GND 24V DI 1 DI 4 GND 24V DI 5 D0 0 GND DO 1 GND System bus USYS UIN UOUT C 24VDC IN GND IN 1 2 3 4 UR20 1SM 50W 6DI2DO P A A B B Ext VDC Ext VDC Ext 0V...

Page 13: ...ion 3 6 Over load protection yes Short circuit proof yes Individual channel diagnosis yes Connection 4 wire Cable length 30 m shielded Inputs DI 0 DI 3 Number 4 Input type P switching for type 1 and 3...

Page 14: ...tput Type P switching as per IEC 61131 2 Type of load ohmic inductive lamp load Response time low high max 100 s high low max 250 s Max output current per channel 0 5 A per module 1 A Breaking energy...

Page 15: ...ht operational status 173 g Protection class IEC 60529 IP 20 Flammability rating UL 94 V 0 Temperature data Operation 20 C 60 C 4 140 F Storage transport 40 C 85 C 40 185 F Humidity Operation storage...

Page 16: ...tepper motor module UR20 1SM 50W 6DI2DO P 2575290000 03 03 2020 3 6 Derating curves GULYH 7DPE 9 9 9 UR20 1SM 50W 6DI2DO P derating curve with horizontal installation GULYH 7DPE 9 9 9 UR20 1SM 50W 6DI...

Page 17: ...2000 13 2500 14 0 in ms 8 Axis mode Linear 0 Modulo2 1 Linear Diagnostic alarm disabled 0 enabled 1 disabled 0 Function DI Ref switch left ccw 0 Ref switch right cw 1 Digital input 2 Digital input 0 I...

Page 18: ...multiple of the start stop frequency FSS 1 255 default 1 The maximum frequency is Fmax 1 255 FSS Max acceleration parameter The max acceleration parameter defines the maximum acceleration as a percent...

Page 19: ...passing the traversing range limit the internal position counting is continued from the other traversing range limit Diagnostic alarm parameter The diagnostic alarm parameter activates diagnostic ala...

Page 20: ...deviates from the target position The output sig nal switches to low once the motor has reached the target position Encoder function parameter The encoder function parameter defines the function of t...

Page 21: ...lculation of the permissible contouring error 0 65 535 default 200 The stepper motor has a step number of 0 65 535 full steps per revolution Contouring error parameter The contouring error parameter d...

Page 22: ...l cables to the con nected sensors actuators must be fused corres ponding to their conductor cross sections as per DIN EN 60204 1 Section 12 In addition always refer to the complete documentation in t...

Page 23: ...ration Connecting the bi polar eight wire stepper motor parallel Connect the stepper motor to connector 7 Connecting the bi polar eight wire stepper motor parallel operation 4 3 Connecting the referen...

Page 24: ...tion DI 5 If available connect the zero track channel Z of the rotary encoder to connection DI 1 Connect the supply voltage as shown in the figure 1 9 1 9 Connecting the incremental rotary encoder 4...

Page 25: ...n operation The u remote station must be completely assembled and wired The control unit and u remote station must be connected to each other and a PC laptop must also be connected The power supply mu...

Page 26: ...the max acceleration parameter to maximum accel eration Set the start stop frequency Fss parameter to the start stop frequency of the stepper motor incl connected exter nal inertia The stepper motor m...

Page 27: ...for limit switches Limit switches are integrated by setting the appropriate parameters for the stepper motor module For a detailed de scription of the adjustable parameters see Section 3 7 The limit s...

Page 28: ...switches espe cially mechanical switches To do this set the filter time parameter for the channel to 5 ms 5 5 Controlling the drive system Once you have parameterised the stepper motor module for the...

Page 29: ...ion changes to 1 in the process input data Relative positioning During relative positioning the drive system moves at a specified speed from the current position by a specified dis tance The drive sys...

Page 30: ...p mode Activate the signaler at DI 4 in order to travel in a coun ter clockwise direction in jog or tip mode Releasing the end position The signalers for tip mode must be connected correctly to the mo...

Page 31: ...ction register number to the number of the reg ister Set Read or write register to 0 for read only Set Read or write EEPROM to 0 To initiate the register access set Register access request to 1 Acknow...

Page 32: ...FBC PB DP V2 01 07 00 UR20 FBC PB DP 01 06 00 UR20 FBC PN IRT V2 01 08 00 UR20 FBC PN IRT 01 06 00 UR20 FBC EC HW 02 xx xx 01 08 00 UR20 FBC EC HW 01 xx xx 01 08 00 UR20 FBC MOD TCP V2 02 06 00 UR20 F...

Page 33: ...olution Threads per unit Number of threads per length unit Ball screw Lead length Threaded feed per revolution Timing belt Tooth pitch Spacing of the centre lines of two adja cent teeth on the pitch c...

Page 34: ...itten check the motion register setup Click on export to export the current register setup The current motion register setup is saved on your computer as configuration_UR20 1SM 50W 6DI 2DO json Writin...

Page 35: ...tant acceleration a During acceleration and braking procedures the acceleration is constant Linear acceleration M P V D P V Y P V V P W D V Y M Jerk j velocity v and stroke s on linear acceleration a...

Page 36: ...tion M P V D P V Y P V V P W D V Y M Jerk j velocity v and stroke s on optimal acceleration a During acceleration and braking procedures the acceleration describes a eine sin curve The jerk s harmonic...

Page 37: ...ed Case 2 Power supply of the u remote station is interrupted Requirement USYS UIN OFF UOUT ON UEXT ON Reaction DO0 and DO1 OFF The internal release for the motor driver is logically zero The module r...

Page 38: ...I 5 0 low 1 high IX8 6 State DO 0 0 low 1 high IX8 7 State DO 1 0 low 1 high IB9 Byte IX9 0 State homing 0 homing not made 1 homing made IX9 1 State moving 0 stopped 1 running IX9 2 State direction 0...

Page 39: ...3 QX8 4 Moving time optimized1 0 disabled 1 enabled QX8 5 Position change 0 off 1 on QX8 6 Set DO 0 0 low 1 high QX8 7 Set DO 1 0 low 1 high QB9 Byte QX9 0 Homing 0 disabled Edge 0 1 start homing QX9...

Page 40: ...IRT 4 25 47 17 17 1334930000 UR20 FBC MOD TCP 1 1 1 16 16 2476450000 UR20 FBC MOD TCP V2 1 1 1 16 16 1334910000 UR20 FBC EC 4 2 47 17 16 1334920000 UR20 FBC EIP 4 21 47 16 16 1334900000 UR20 FBC DN 4...

Page 41: ...0 5 Reserved 0 5 Vin error 0 7 Vout error 0 Channel type 4 0 Channel type 0x7D 1 1 0 2 1 3 1 4 1 5 1 6 1 7 Reserved 0 Diagnostic bits per channel 5 Number of diagnostic bit per channel 8 Number of ch...

Page 42: ...d adjust them as necessary Channel LED 1 1 Yellow Input 0 active 1 4 Yellow Input 1 active 2 1 Yellow Input 2 active 2 4 Yellow Input 3 active 3 1 Yellow Input 4 active 3 4 Yellow Input 5 active 4 1 Y...

Page 43: ...nd the fieldbus coupler either individually or in groups of three to four modu les Press all the release levers of a module group towards the mounting plate so that they click into place Slide the mod...

Page 44: ...arkets and know the technological challenges of tomorrow We are therefore continuously developing innovative sustainable and useful solutions for their individual needs Together we set standards in In...

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