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Commissioning

Version: 2.2

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67

AS2000

Observe the operating instructions for the stepper motor ter-
minals and stepper motor modules

For commissioning, read the operating instructions for stepper mo-
tor terminals and stepper motor modules .Then perform the steps
according to the commissioning instructions.

Commissioning example

The procedure for commissioning is described as an example. A
different method may be appropriate or necessary, depending on
the application of the components.

10.1

Before commissioning

• Check drive for damage

• Check installation and alignment

• Tighten screw connections correctly

• Installing mechanical, thermal and electrical protective devices

• Check the wiring, connection and proper earthing of the drive

and stepper motor terminal

• Check emergency stop functions

10.2

During commissioning

• Make sure that all fittings were checked for function and adjust-

ment

• Observe information for environment and operation

• Check protective measures against moving and live parts

Configuration

Beckhoff recommends the use of stepper motor terminals and mo-
tors from Beckhoff in combinations and configuration in the Beckhoff
TwinCAT DriveManager.

Carry out the operating procedures in the operating instructions for
stepper motor terminals:

• Build Project and Choose Target System

• Implement devices by scanning or manually

• Configure devices, determine and set motor type

• Create axis configuration

• Set scaling factor and speeds

• Check status and activate control system

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Содержание AS2000 Series

Страница 1: ...Operating instructions EN AS2000 Stepper motors 2021 05 21 Version 2 2...

Страница 2: ......

Страница 3: ...21 Definitions 21 Data for operation and environment 22 Step mode and limit speeds 23 AS202x 24 AS204x 34 Elastomer coupling 45 Scope of supply 50 Packaging 50 Transport and storage 51 Conditions 51 T...

Страница 4: ...0 Accessories 72 Connection cables 72 Gear unit 72 Elastomer coupling 72 Fault correction 73 Decommissioning 75 Disassembly 75 Disposal 76 Guidelines and Standards 77 Standards 77 Guidelines 77 Test c...

Страница 5: ...T EtherCAT G EtherCAT G10 EtherCAT P Safety over EtherCAT TwinSAFE XFC XTS und XPlanar are registered and licensed trademarks of Beckhoff Automation GmbH The use of other brand names or designations b...

Страница 6: ...nullify the liability of Beckhoff Automation GmbH Co KG The following is excluded from the liability Failure to observe these operating instructions Improper use Use of untrained personnel Use of unau...

Страница 7: ...ns were originally written in German All other languages are derived from the German original Product properties Only the product properties specified in the current operating in structions are valid...

Страница 8: ...irements including all appli cable laws regulations provisions and standards Instructed person Instructed persons have a clearly defined task area and have been informed about the work to be carried o...

Страница 9: ...technical train ing They have an understanding of control technology and automa tion They are familiar with relevant standards and directives Quali fied electricians can independently recognize avoid...

Страница 10: ...ment The triangle indicates instructions that you should execute The bullet point indicates an enumeration The square parentheses indicate cross references to other text passages in the document The p...

Страница 11: ...ode via which you can watch videos or animations Internet access is required in order to use it You can read the QR code for example with the camera of your Smartphone or Tablet PC If your camera does...

Страница 12: ...mises Hotline 49 0 5246 963 5000 Fax 49 0 5246 963 95000 E mail training beckhoff com Web www beckhoff de training 1 7 3Service The Beckhoff Service Center supports you with after sales services such...

Страница 13: ...towards other peo ple 2 1Safety pictograms On Beckhoff products you will find attached or lasered safety pic tograms which vary depending on the product They serve to pro tect people and to prevent d...

Страница 14: ...own and secure the machine or plant Shut down the machine or plant Secure the machine or plant against being inadvertently started up Correctly ground electrical components or modules Avoid electric s...

Страница 15: ...he components to cool sufficiently after switching off Avoid overheating Operate the motor according to the technical specifications Please refer to chapter Technical data Activate and monitor the tem...

Страница 16: ...50 V IP 5 DC 1024 Inc LOT AS2022 0H00 AS2023 0H00 1024 Inc 24 50 V IP 5 DC LOT Stepper Motor 1 8 Nm 5 6 A 0 38 Nm 1 0 A 24 50 V IP 5 DC Stepper Motor LOT AS1010 0000 0 60 Nm 1 5 A LOT Stepper Motor AS...

Страница 17: ...s AS2000 u Flange size 2 N2 56 mm 4 N3 86 mm v Overall length 1 One stack 2 Two stacks 3 Three stacks w Shaft versions 0 Smooth shaft for AS202x only 1 Shaft with feather key for AS204x only x Winding...

Страница 18: ...encoder 1024 inc rev for closed loop control By means of the field oriented control resonances are significantly decreased and the development of heat and noise on the motor is reduced Stepper motor...

Страница 19: ...rately The listed components cannot be retrofitted 3 4 1Feather key 3 4 1 A feather key transmits torque to an output element The stepper motors of flange size N3 are equipped with feather key groove...

Страница 20: ...ed components of the system or machine Read the entire drive system documentation Translation of the original instructions Original operating instructions for the stepper motor terminals and stepper m...

Страница 21: ...engine heat via the A flange is dissipated into the machine bed Due to heating of the gearbox this is not possible for thermal reasons This configuration leads to a reduction of the rated output 4 1 1...

Страница 22: ...operation 20 to 90 relative humidity no condensation Permissible air humidity at transport and storage 90 relative humidity no condensation Specifications for intended use Insulation material class B...

Страница 23: ...formation on the limit speeds can be found in the chapters Characteristic torque and speed curves Page 26 and Charac teristic torque and speed curves Page 36 in each case at the end of the technical d...

Страница 24: ...T Terminal EL7037 EL7031 EL7047 EL7041 1000 EtherCAT Box EP7041 1002 EP7041 3002 Bus Terminal KL2531 KL2541 Resolution steps 1 8 200 full steps Motor connector Round connector M12 high power M12 feedb...

Страница 25: ...igures in millimeters Y Z 1 5 X 20 6 5 1 5 6 35 0 0 013 6 6 6 7 3 8 1 0 0 25 56 1 4 x 4 5 24 21 5 22 Motor X Y Z encoder AS2021 64 10 mm 81 10 mm 91 80 mm AS2022 86 20 mm 103 10 mm 113 90 mm AS2023 10...

Страница 26: ...recorded with open loop controlled operation and vector control field oriented control AS2021 0D00 Open loop controlled operation 2 0 2 0 0 2 0 4 0 6 0 8 1 0 200 400 600 800 1000 1200 Torque Nm Speed...

Страница 27: ...D10 Vector control field oriented control 0 2 0 0 2 0 4 0 6 0 8 1 0 200 400 600 800 1000 1200 Torque Nm Speed rpm 1 2 3 Curve Motor type Recording 1 AS2021 0D10 24 VDC 1 5 A EL7037 2 AS2021 0D10 24 VD...

Страница 28: ...ation 600 800 1000 1200 Speed rpm 400 0 2 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 0 200 Torque Nm 1 2 3 4 Curve Motor type Recording 1 AS2022 0H00 24 VDC 5 0 A EL7047 2 AS2022 0H00 48 VDC 5 0 A EL7047 3 AS202...

Страница 29: ...control Torque Nm 0 2 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 0 200 400 600 800 1000 1200 Speed rpm 1 2 4 3 Curve Motor type Recording 1 AS2022 0H10 48 VDC 5 0 A EL7047 2 AS2022 0H10 48 VDC 5 6 A EL7047 ZB86...

Страница 30: ...on Torque Nm 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 2 1200 0 2 0 200 400 600 800 1000 Speed rpm 0 0 2 1 2 4 3 Curve Motor type Recording 1 AS2023 0H00 48 VDC 5 0 A EL7047 2 AS2023 0H00 48 VDC 5 6 A EL7047 ZB86...

Страница 31: ...ntrol Torque Nm 0 2 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 2 0 200 400 600 800 1000 1200 Speed rpm 1 2 4 3 Curve Motor type Recording 1 AS2023 0H10 48 VDC 5 0 A EL7047 2 AS2023 0H10 48 VDC 5 6 A EL7047 Z...

Страница 32: ...023 0J00 Open loop controlled operation Torque Nm 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 2 2 2 2 4 0 500 1000 1500 2000 Speed rpm 1 2 Curve Motor type Recording 1 AS2023 0J00 24 VDC 6 4 A EL7047 ZB8610 2...

Страница 33: ...J10 Vector control field oriented control 0 2 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 2 2 2 2 4 0 500 1000 1500 2000 Torque Nm Speed rpm 1 2 Curve Motor type Recording 1 AS2023 0J10 24 VDC 6 4 A EL7047 ZB...

Страница 34: ...minal EL7047 EL7041 1000 EtherCAT Box EP7041 3002 Bus Terminal KL2541 Resolution steps 1 8 200 full steps Motor connector Round connector M12 high power M12 feedback Mechanical data AS2041 AS2042 AS20...

Страница 35: ...n millimeters 24 22 21 5 86 7 3 0 2 5 0 0 2 5 4x 5 6 9 8 4 3 8 1 5 14 0 018 0 Y Z 1 5 30 25 1 X Motor X Y Z encoder AS2041 71 80 mm 89 30 mm 100 00 mm AS2042 102 25 mm 119 75 mm 130 45 mm AS2043 132 7...

Страница 36: ...olled operation and vector control field oriented control AS2041 1H00 Open loop controlled operation 0 5 0 0 5 1 1 5 2 2 5 3 3 5 0 200 400 600 800 1000 1200 Torque Nm Speed rpm 3 4 1 2 Curve Motor typ...

Страница 37: ...data Version 2 2 37 AS2000 AS2041 1H10 Open loop controlled operation 0 0 5 1 1 5 2 2 5 3 3 5 0 200 400 600 800 1000 1200 Torque Nm Speed rpm 1 Curve Motor type Recording 1 AS2041 1H10 24 VDC 5 0 A EL...

Страница 38: ...nted control 0 5 0 0 5 1 1 5 2 2 5 3 3 5 0 200 400 600 800 1000 1200 Torque Nm Speed rpm 3 1 2 4 Curve Motor type Recording 1 AS2041 1H10 24 VDC 5 0 A EL7047 2 AS2041 1H10 24 VDC 5 6 A EL7047 ZB8610 3...

Страница 39: ...lled operation Torque Nm 1 0 1 2 3 4 5 6 7 0 200 400 600 800 1000 1200 Speed rpm 3 2 1 4 Curve Motor type Recording 1 AS2042 1H00 24 VDC 5 6 A EL7047 ZB8610 2 AS2042 1H00 24 VDC 5 0 A EL7047 3 AS2042...

Страница 40: ...2 AS2000 AS2042 1H10 Open loop controlled operation Torque Nm 1 0 1 2 3 4 5 6 7 0 200 400 600 800 1000 1200 Speed rpm 1 2 Curve Motor type Recording 1 AS2042 1H10 24 VDC 5 0 A EL7041 1000 2 AS2042 1H...

Страница 41: ...oriented control Torque Nm 1 0 1 2 3 4 5 6 7 0 200 400 600 800 1000 1200 Speed rpm 4 1 2 3 Curve Motor type Recording 1 AS2042 1H10 24 VDC 5 0 A EL7047 2 AS2042 1H10 24 VDC 5 6 A EL7047 ZB8610 3 AS20...

Страница 42: ...ed operation 1 0 1 2 3 4 5 6 7 8 9 0 200 400 600 800 1000 1200 Speed rpm Torque Nm 2 1 4 3 Curve Motor type Recording 1 AS2043 1J00 24 VDC 6 5 A EL7047 ZB8610 2 AS2043 1J00 24 VDC 5 0 A EL7047 3 AS204...

Страница 43: ...AS2000 AS2043 1J10 Open loop controlled operation Torque Nm 1 0 1 2 3 4 5 6 7 8 9 0 200 400 600 800 1000 1200 Speed rpm 1 2 Curve Motor type Recording 1 AS2043 1J10 24 VDC 5 0 A EL7041 1000 2 AS2043...

Страница 44: ...riented control Torque Nm 1 0 1 2 3 4 5 6 7 8 9 0 200 400 600 800 1000 1200 Speed rpm 4 1 2 3 Curve Motor type Recording 1 AS2043 1J10 24 VDC 5 0 A EL7047 2 AS2043 1J10 24 VDC 6 5 A EL7047 ZB8610 3 AS...

Страница 45: ...Max torque TKMAX Nm 18 Spacing distance A mm 9 Fit length C mm 8 External diameter B mm 25 External diameter of bolt head BS mm 25 Moment of inertia per hub J1 J2 kg cm2 0 02 0 02 Approx mass kg 0 02...

Страница 46: ...4 6 1 1Dimensional drawing All figures in millimeters 6 35 6 00 Motor shaft diameter output shaft diameter 6 H7 8 26 8 8 4 4 16 7 25 6 35 H7 8 6 35 6 35 Motor shaft diameter output shaft diameter 6 3...

Страница 47: ...Technical data Version 2 2 47 AS2000 6 35 8 00 Motor shaft diameter output shaft diameter 8 H7 8 26 8 8 4 4 16 7 25 6 35 H7 8...

Страница 48: ...KMAX Nm 25 Spacing distance A mm 11 5 Fit length C mm 10 3 External diameter B mm 32 External diameter of bolt head BS mm 32 Moment of inertia per hub J1 J2 kg cm2 0 03 0 03 Approx mass kg 0 05 Center...

Страница 49: ...ensional drawing All figures in millimeters 14 00 14 00 Motor shaft diameter output shaft diameter 14 H7 10 5 32 10 3 10 3 5 5 20 7 32 14 H7 10 5 14 00 16 00 Motor shaft diameter output shaft diameter...

Страница 50: ...mediately Please check that the delivery includes the following items Motor from the AS2000 series with yellow protective cap Instruction leaflet for brief information 5 1Packaging Instructions for ha...

Страница 51: ...perature 25 C to 65 C maximum fluctuation 20 K hour Humidity relative humidity 5 to 95 no condensation Use of suitable means of transport The device should be transported and stored in a horizontal po...

Страница 52: ...re the motor against falling If the motor falls down this can lead to serious or even fatal acci dents Avoid hard impacts on the motor Use suitable means of transport and secure the motor against fall...

Страница 53: ...ied out will af fect the service life of the installed components and parts Prevent the formation of condensation Keep the ambient temperature constant Avoid solar radiation and high humidity Condensa...

Страница 54: ...nance intervals and mounting positions Carry out maintenance at regular intervals In the vertically mount ing position IM V3 liquid which has been left on the flange for a longer period can penetrate...

Страница 55: ...ieved by means of a coupling and a cylindrical shaft end according to DIN 748 3 with a centering bore at the front according to DIN 332 2 Alternatively forces can be trans mitted via a frictional conn...

Страница 56: ...ote vibration qualities and vibration resistance If necessary provide additional support for the motor An impermissible load on the components can have a negative ef fect on the performance of the mot...

Страница 57: ...s centered and straight on the motor shaft An offset will cause unacceptable vibration and the destruction of the ball bearings and the coupling Warm up the output element according to the vendor s in...

Страница 58: ...locked collets gear pullers or suitable couplings to dismount the output elements Degrease the motor shaft Screw puller 3 and intermediate disc 2 into the locking thread of the motor shaft Place the p...

Страница 59: ...ionality Facilitated assembly The bores in the coupling hub have an H7 fit Beckhoff recom mends play of 0 1 0 5 mm between the coupling hub and the shaft The fitting tolerance and the oiling of the sh...

Страница 60: ...o the hub bridges For customer specific special solutions and changes to the coupling hubs contact our Applications Department Beckhoff GmbH Co KG accepts no liability for unapproved unauthorized conv...

Страница 61: ...ical data 9 1 1Cables Avoid soiling and damage When connecting the socket and connector make sure that the poles and the inside of the component are not soiled or damaged Failure to do so may adversel...

Страница 62: ...9 1 2Rotary joints 9 1 2 Feedback 1 2 3 Make sure that the poles and the interior of the socket as well as the threads on the connector are not dirty or damaged Push connector 1 straight onto socket 2...

Страница 63: ...protective earth Establish an electrically conductive bond with a large area Ensure that there is an electrically conductive bond with a large area between the stepper motor and the mounting plate in...

Страница 64: ...ith encoder for field oriented control ZB8610 fan cartridge required to achieve full rated motor power Motor cable Order key ZK4000 7700 xxxx Preassembled at both ends and shielded 4 x 0 75 mm Encoder...

Страница 65: ...0421Hy0 and AS2043 1Jy0 with encoder for field oriented control ZB8610 fan cartridge required to achieve full rated motor power Motor cable Order key ZK4000 7700 xxxx Preassembled at both ends and shi...

Страница 66: ...tepper motor mod ule For AS2021 0Dy0 with encoder for high speed applications Motor cable Order key ZK4000 6877 xxxx Preassembled at both ends and shielded 4 x 0 75 mm Encoder cable Order key ZK4000 5...

Страница 67: ...lectrical protective devices Check the wiring connection and proper earthing of the drive and stepper motor terminal Check emergency stop functions 10 2During commissioning Make sure that all fittings...

Страница 68: ...elopment Always check drive surfaces and lines for dirt leakages mois ture or dust Check temperature development Check for lubricant leakage Observe recommended maintenance intervals Check function of...

Страница 69: ...r with a cleaner and a cloth Cleaning by immersion may result in surface and motor damage and leakage problems as a result of impermissible solutions Contamination dust or chips can have a negative ef...

Страница 70: ...ride gas HCI Chromic acid CrO3 Iron III chloride FeCl3 Hydrogen fluoride HF Carnallite KCIMgCl2 6H2O Aqua regia HCL HNO3 Magnesium chloride MgCl2 6H2O Monochloroacetic acid CH2CICOOH Sodium chloride c...

Страница 71: ...aft sealing ring 5000 operating hours Perform visual inspection Lubricate the shaft sealing ring Recommended lubricants MobilgreaseTM FM22 from Mobil In case of damage and pressure drop Replace shaft...

Страница 72: ...ng of the motor shaft at high temperatures Directly mounted bevel gears or helical gear wheels can exceed the axial load of the floating bearing on the shaft end A A gear unit serves to transmit a mom...

Страница 73: ...r module not enabled Set ENABLE signal and enable the stepper mo tor terminal or stepper motor module Motor overload Check load and reduce if necessary then restart and enable the stepper motor termin...

Страница 74: ...d out by the manufacturer Rotating parts chafing on the housing or motor components Examine chafing parts and adjust if necessary Defective bearings irreparable bearing damage Send in motor The repair...

Страница 75: ...ol down before starting work Soak up any leaked oil with approved binding agents Mark the danger spot Leaking oil can cause slips and falls resulting in serious or fatal injury Hot oil can cause sever...

Страница 76: ...nd rechargeable batteries Batteries and rechargeable batteries may also be marked with the crossed out trash can symbol You must separate these compo nents from the waste and are legally obliged to re...

Страница 77: ...rective 2014 30 EU RoHS Directive 2011 65 EU 15 3Test centers 15 3 The motors do not fall within the scope of the Machinery Direc tive However Beckhoff products are designed and evaluated in full comp...

Страница 78: ...51 Transport 51 Mounting position 54 N Name plate 16 O Operating Conditions 22 Ordering options 19 Feather key 19 Output elements Dismantling 58 Mounting 57 P Pictograms 10 Power connector Connection...

Страница 79: ......

Страница 80: ...Beckhoff Automation GmbH Co KG H lshorstweg 20 33415 Verl Germany Phone 49 5246 9630 info beckhoff com www beckhoff com More Information www beckhoff com as2000...

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