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MA 2128-A004 EN

14.3 Current Shaping CS

Current Shaping (CS) is a circuitry method for delivering a true phase current which
corresponds for a wide range of frequencies to a selected current shape (CS= four
quadrant current regulation).

If the stepper motor is driven without CS, the true current differs from the specified current,
even in the lower speed frequencies.

The 1/20 sine wave mode results in a current deviation as shown in fig. 23, for average
speed:

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 that increases with the motor
speed.

The resulting ‚current queue’ makes precise current regulation possible Current Shaping
(CS= 4 quadrant current regul

ation), only. The amplitude of the ‚current queue’ varies

strongly during one revolution and may provoke a motor resonance effect that causes step
losses or desynchronisation of the motor.

If the CS function is activated, the ‚current queue’ disappears and the resulting current is
close to the ideal shape.

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Содержание MSX+ 152/120 48F SBM-485

Страница 1: ...Extreme Precision Positioning MANUAL 2128 A004 EN Stepper Motor Power Stage with ServiceBus MSX 152 120 ...

Страница 2: ...phytron 5 2019 Manual MA 2128 A004 EN MSX 152 120 Stepper Motor Power Stage with ServiceBus Hardware V1 0 TRANSLATION OF THE GERMAN ORIGINAL MANUAL ...

Страница 3: ...e 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 the right to make improvements and enhancements to the manual and or the devices described herein without prior notification We appreciate suggestions and criticisms for further improvement Please send your comments to t...

Страница 4: ...k Indicates 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 Indicates a possible risk of serious injury or death from electric shock CAUTION Possible injury Indicates a possible risk of personal injury CAUTION Possible damage Indicates a possible risk of damage...

Страница 5: ...e provided The trained 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 power stage is designed for operating in a stepper motor drive system An installation is allowed only if the requirements of the EC Machinery and EMC Directives are conformed with i Part of a mac...

Страница 6: ...covered 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 has been energised wait 3 minutes after power off to allow the capacitors to discharge and ensure that there are no residual charges on cables connectors and boards ATTENTION Risk of damage by false motor current set...

Страница 7: ...Manual MSX MA 2128 A004 EN 6 WARNING Danger of injury if touching the surface The surface of the MSX reaches temperatures more than 105 C during operation Use protective gloves or avoid touching them ...

Страница 8: ...S485 4 wire 37 10 1 Bus Connection 37 10 1 1 ServiceBus via plug in connection on the front 37 10 1 2 ServiceBus via Backplane 37 10 2 Bus Connection 38 10 3 Operating Parameters 39 10 4 Examples 43 11 Functions 45 11 1 Inputs 45 11 1 1 MSX 5 V Standard and MSX 5 V RESET Inputs 45 11 1 2 MSX 24 V Input 45 11 1 3 pulse Control Input 46 11 1 4 Motor Direction Input 46 11 1 5 Boost Input 47 11 1 6 Ac...

Страница 9: ...ent step resolution and preferential direction can be set either by rotary switches rotary switch mode or by ServiceBus ServiceBus mode The ServiceBus enables configuration programming and diagnostic via PC Motor currents from 1 1 to 15 4 APeak Supply voltage from 60 to 120 VDC Step resolution from full step to 1 20 step Configuration of the power stage in ServiceBus Short circuit proof over and b...

Страница 10: ...Basic and Error are optically insulated from the motor voltage type open collector Darlington Easy to mount and EMC compliant The power stage MSX is designed for mounting in 19 3U racks All wiring is connected to one 48 pin connector according to DIN 41612 version F to operate the power stage in the ServiceBus ServiceBus mode The ServiceBus offers the following possibilities Power stage parameter ...

Страница 11: ... ID number 5V input 10018906 24 V input 10021653 5V output RESET 10015450 Ordering code of the MSX power stage Ordering code example MSX 152 120 485 Reset power stage with 15 4 APEAK 120 VDC power supply with ServiceBus and 5 V and Reset input ...

Страница 12: ...tron website www phytron eu Supplementary parts are available ServiceBus cable 48 pin connector 10015811 USB RS485 converter as stick 10012295 G MSX V3 0 adaptor board for easy connecting the MSX with connectors for motor cable signal leads and supply voltage 10018387 Damping SB 234 module for 90 V 02000748 Damping SB 234 module for 120 V 02002165 ...

Страница 13: ...compatibility 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 be assessed until it has been installed into a machine or installation The instructions provided in Installation must be complied with to guarantee that the power stage is EMC compliant when fitt...

Страница 14: ...phytron 13 MA 2128 A004 EN 4 Technical Data 4 1 Declaration of Incorporation ...

Страница 15: ...ual MSX MA 2128 A004 EN 14 4 2 Mechanical Data Weight about 940 g Mounting plug in board into phyMOTIONTM modular stepper motor controller or into the 19 sub rack SLS Mounting position vertical Dimensions ...

Страница 16: ...o connected to 0 V_Opto 5 V or 24 VDC Phase currents The ServiceBus can set run Boost and stop current independently without Boost 0 8 to 8 4 Ar m s with Boost 1 0 to 10 9 Ar m s Imax 15 4 Apeak Current adjustment 100 mA steps Step resolution and current shaping 1 1 1 2 1 4 1 5 1 10 1 20 of a full step with or without torque compensation DMA current shaping CS BLOW UP Maximum step frequency 500 00...

Страница 17: ...ts 30 m if longer max 100 m shielded cable and connect the cable shield close to the power stage Diagnostics via ServiceBus Flash memory 10 000 write cycles under normal operating conditions Hardware error detection over current short circuit 25 2 A overtemperature T 85 C ...

Страница 18: ...stop current by 30 The Boost function can permanently be activated by the DIP switch Activation When the optocoupler is energised the motor current is activated Reset Is available only when J1 jumper is plugged in position RESET on the board The power stage is set to an initial state A signal Basic position is generated for each Reset Outputs Optically insulated from the motor voltage Type Open Co...

Страница 19: ...e 25 to 55 C Transport 25 to 85 C We recommend an additional cooling in case of higher operation temperatures Admissible heat sink temperature Max 85 C The power stage is deactivated when the permissible heat sink temperature is exceeded The LED switches to red Relative humidity The relative humidity is certified while in operation as follows According to EN 60721 1995 09 class 3K3 5 to 85 no cond...

Страница 20: ...onnector Signal I O 48 pin acc to DIN 41 612 type F ServiceBus 6 pin type Tyco Electronics 2 1761605 1 609 0607 Wiring Min 75 C durable copper cables Communication and Programming Programming via Phytron s programming environment ServiceBus CommTM Communication Master slave communication The MSX power stage is slave and communicates with a main controller of a higher level controller i e phyMOTION...

Страница 21: ... Therefore 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 UB 70 VDC it is necessary Only use motors which are checked according to EN 60034 1 500 VAC twice determined voltage The motors must have a protective conductor clamp EN 60034 ...

Страница 22: ...B must be connected to the pins 12a 12e 14a and 14e 2 The cable cross section of the supply wires depends on the motor current We recommend 0 1 mm2 per one Ampere motor current If possible twist into pairs the mains supply leads and the phase leads 3 If the supply leads between the mains and the MSX are longer than 500 mm connect a capacitor C2 approx 68 μF 200 V refer to figure 8 as close as poss...

Страница 23: ... obtainable with a transformer regulation of 3 5 Rectifier The rectifier must be adapted to dissipation losses up to 2 Watts per Amp If necessary mount a heat sink 6 SB 234 damping module The operating voltage range of the power stage is wide enough compared to the nominal voltage Even in case of high voltage variations or voltage drops motor feeds energy back and the load capacitor voltage increa...

Страница 24: ...0 V or rise over 160 V not even for a short time 1 msec If the limits are exceeded the error output opens The drive is deactivated at the same time Mains supply unit A line filter is recommended with the following insert loss at 50 in the range of 0 15 30 MHz f MHz 0 15 0 5 1 2 5 10 20 30 a dB line to ground asymmetr signals 36 47 42 42 40 42 42 45 a dB line to line symmetr signals 52 70 70 70 65 ...

Страница 25: ...nsulation for safe operation The insulation of the MSX fulfils the requirements of a basic insulation for non mains circuits for voltages up to 200 V The device has been designed for degree of pollution 2 acc to EN 61800 5 1 The IO signals on connector X3 are optically insulated and safely insulated to withstand voltages up to 800 VDC ...

Страница 26: ...rbances affecting the wires and instruments installed close to the drive system we recommend using shielded cables The power supply unit in which the MSX is built in and the motor should be connected to ground by a central earthing tab Motor lead shielding ...

Страница 27: ...X plug in power stage unit The green yellow wire should be connected to the motor s earthing screw at the other motor cable end Overview max cable length m min cross section mm2 shielded grounded on all sides twisted pair Motor cable The length depends on the cable resistance Rcable 0 2 x Rphase Dependent on the maximum current of the motor and the motor cable length is suitable 25 0 1 per 1 Amper...

Страница 28: ...d also be connected on a large surface to the motor housing Use EMC type conduit fittings All parts of the motor should be conductively connected with each other We recommend using EMC conduit fittings at the motor side In case of motors without adapted conduit fittings the cable shielding must be connected as near to the motor as possible and has to be applied to PE Important Motor leads not used...

Страница 29: ...amage Before integrating or switching power stage modules always make sure that the stepper motor controller of the SLS is shut down and the power supplies are disconnected WARNING Serious injury from electric shock During electrical installation cables connectors etc can be live Before starting wiring make sure that none of the power supplies is connected to the primary side of the mains supply I...

Страница 30: ...be less than 10 ohm for 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 motors wiring scheme 3 with series windings is recommended If wiring scheme 3 cannot be used because of the motor construction the motor may be operated with only two of the four ...

Страница 31: ...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 Circuit series parallel Resistance Rtotal 2 x R 2 R Inductance Ltotal 4 x L L Motor time constant R L x 2 R x 2 L x 4 series R L x 2 R 2 L τparallel ...

Страница 32: ...phytron 31 MA 2128 A004 EN 8 2 Wiring Schemes Connection diagrams for 4 6 and 8 lead stepper motors ...

Страница 33: ...Tyco Electronics 2 1761605 1 609 0607 Connection The connection of the MSX power stage acc to RS 485 4 wire operation A direct connection to the MSX from is made via USB RS 485 converter Connection PC MSX point to point operation via USB connection i When using the USB interface the corresponding USB drivers which can be downloaded from the Phytron website www phytron de must be installed on the P...

Страница 34: ...phytron 33 MA 2128 A004 EN 8 4 VG Connector 48 pin male multipoint connector acc to DIN 41612 version F ...

Страница 35: ... the input Control pulses and Direction 8 Check that the supply voltage is the same as on the MSX module s identification plate 9 Power on the mains 10 Start now WARNING Risk of damage due to incorrect motor current setting The motor gets too hot Deactivate the Boost function if it is used continuously Adjust the motor current setting to the motor type see motor s data DANGER Danger of electric ar...

Страница 36: ...eived on the Control pulses input Check also for excessive acceleration and deceleration values Too fast deceleration causes the motor causes the motor to be mis positioned by a multiple of 4 full steps desynchronisation i IMPORTANT If all parameters are set correctly but several red diagnostic LEDs via ServiceBus CommTM light up after switching on or the green LED Basic status does not light up t...

Страница 37: ... Further Manual This manual is in addition to the following main manual ServiceBus CommTM Communication Software for Stepper Motor Power Stages with ServiceBus First read the main manual and then continue with this manual i CAUTION Possible damage Some modules are set to a default value on delivery So e g the motor current must be set to the corresponding value see the motor data from the motor ma...

Страница 38: ...3 0 adapter board sets the address of the power stage in the ServiceBus Important Each address 0 F must only be used once The instruction set and more information about the ServiceBus see chap 10 2 10 1Bus Connection The connection of the MSX power stage acc to RS 485 4 wire operation 10 1 1 ServiceBus via plug in connection on the front A direct connection from the PC to the MSX via USB RS485 con...

Страница 39: ... 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 stage address 00H 0FH 0D 15D Admissible characters 0 F address_L Low order byte of the power stage address 00H 0FH 0D 15D Admissible characters 0 F instruction Instruction byte A Z value Data byte Colon as se...

Страница 40: ...be accepted by the power stage As well telegrams without checksum and without separator will be accepted e g Example STX 1 R 4 0 X X ETX or Example STX 1 R 4 0 ETX 10 3Operating Parameters The operating parameters are stored in a permanent memory of the power stage In the following table the operating parameters are defined with W for write R for read and X for execute For current values reading o...

Страница 41: ...re values 1 1 1 10 1 10 100 1 100 SS Read scale value of the stop current s10 E Unit of current and time values A mA ms s SE Read unit of the stop current eA Read the preset value R Display run current 2 5 A r25 value Set the value S50 Stop current 0 5 A s50 Important If the instruction input values are faulty the actual preset value will be the answer If an instruction code is entered which is no...

Страница 42: ... E Delete EPROM X Delete user s parameters in the EPROM F MSX status R Read the MSX 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 2000 8192 13 Boost is activated 4000 16384 15 Motor is running G Pref direction R W 0 or 1 1 preferential direction 0 contrary to pref dir...

Страница 43: ...40 characters Assign or read an axis name into the EPROM Q Error inquiry R 0 to 3 0 no error 1 undervoltage overvoltage 2 overtemperature 3 overcurrent 4 deactivated R Run current R W 0 to 1100 Run current values from 0 to 11 Ar m s 0 S Stop current R W 0 to 1100 Stop current values from 0 to 11 Ar m s 0 U4 Power stage deactivation R W 0 or 1 0 activated 1 deactivated 1 W Write EPROM X Write param...

Страница 44: ...est one motor rotation with preset run current 10 4Examples Instruction code Action Answer A A400 Read Boost current Set Boost current to 4 0 Ar m s e g a500 5 0 Ar m s a400 B Read power stage software version b String e g bMSX V1 0 BF Read the FPGA version bf String e g bfMSX V1 0 C Reset power stage c1 E Delete EPROM e1 ...

Страница 45: ...Axis7 PN Read the axis name Store the axis name Delete the axis name pn String e g axis 4 pnAchse7 pn0 Q Error inquiry q0 q3 R R450 Read run current Set run current to 4 5 Ar m s e g r480 4 8 Ar m s r450 S S270 Read stop current Set stop current to 2 7 Ar m s e g s18 1 8 A r m s s270 U U0 or U1 Read deactivation of the power stage Set deactivation of the power stage e g u0 or u1 u0 or u1 W Write E...

Страница 46: ...1 1 MSX 5 V Standard and MSX 5 V RESET Inputs All inputs include an optocoupler with series resistors 2 x 180 The MSX inputs are controlled via open collector The supply voltage of the optocouplers 5 or 24 V is connected to pin 10ac admissible range 4 32 VDC Open Collector controlling 5 V 11 1 2 MSX 24 V Input All inputs include an optocoupler with series resistors 2 x 2 2 k The MSX inputs are con...

Страница 47: ...for the start stop frequency are 200 to 2000 Hz The exact value depends on the load torque and the load inertia of the motor shaft If the motor is to be operated above the start stop frequency range the indexer has to generate frequency ramps to accelerate and decelerate the motor 11 1 4 Motor Direction Input If the input optocoupler is not energised the motor rotates in the preferential direction...

Страница 48: ...o switch the power stage off without having to disconnect it physically from the mains It is possible now to rotate the motor by hand slowly WARNING The Activation input is not in conformance with the professional emergency stop circuit requirements The Activation input may also be used to avoid the inevitable electrical noise emissions of the power stage e g if you have to perform sensitive elect...

Страница 49: ...ugh the optocoupler the power stage is set to a defined initial state That means that all 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 Motor phases in basic position half step ...

Страница 50: ... internal ring counter passes through zero after the unit is switched on and after a reset Every is generated for the step resolution 4th control pulses Full step 8th control pulses Half step 16th control pulses 1 4 step 20th control pulses 1 5 step 40th control pulses 1 10 step 80th control pulses 1 20 step The position Basic signal can be used in combination with a limit switch to determine the ...

Страница 51: ... LED OVERLOAD shines e g in case of motor short circuit or if the time delay during deceleration is too long The red LED SUPPLY FAILURE shines when the supply voltage is out of the admissible range 40 160 V Danger of destroying the component in case of 200 V supply voltage The power stage needs sufficient time for cooling in case of OVERTEMPERATURE 85 C The supply voltage must be powered off to re...

Страница 52: ...ree to ask our support team for help We are pleased to assist you tel 0049 8142 503252 local rate Removal of a MSX module Switch off the supply voltage controller mains SLS Disconnect the supply voltage First loosen the front screws of the MSD2 module Then pull the MSX module carefully out of the housing by the handle To send a module to Phytron use ESD packaging only ...

Страница 53: ...devices which show a failure due to defects in material or caused by the production process This warranty does not include damage caused by the customer for example not intended use unauthorized modifications incorrect handling or wiring 13 3 Registered Trademarks In this manual several trademarks are used which are no longer explicitly marked as trademarks within the text The lack of these signs ...

Страница 54: ...pter The functions Boost Current Shaping CS and Current Optimisation BLOW UP you will find in the second part 14 1FULL STEP HALF STEP MINISTEP FULL STEP The FULL STEP mode is the operating mode in which a 200 step motor for example drives 200 steps per revolution In the full step mode both stepper motor phases are permanently energised Phase current curves ...

Страница 55: ...p mode 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 and with torque compensation In the full step position two phases in the half step position only one phase is energised The total moment is the result of super positioning both phase moments The mo...

Страница 56: ...NISTEP 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 operation is almost resonance free The motor noise also drops when the number of ministeps is increased Ministep 1 10 of a full step ...

Страница 57: ... settings 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 Therefore different phase currents should be used Continuous operation run current During acceleration and deceleration Boost current The Boost signal is activated either by the Boost input or by Servi...

Страница 58: ... in fig 23 for average speed 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 that increases with the motor speed The resulting current queue makes precise current regulation possible Current Shaping CS 4 quadrant current regulation only The amplitude of the current queue varies strongly...

Страница 59: ...or less differs from this ideal shape Therefore the MSX offers the possibility to select a current shape as shown in figure 24 In function of the motor used it is possible to increase the motor performance during run and acceleration Optimization of the current shape BLOW UP The optimum current shape must be determined by a test of the complete system control unit motor load ...

Страница 60: ...ng is avoided 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 stop current is synchronously for both motor phases In the following figure the next motor step follows every falling control pulses edge Decrease to stop current after the last control pulses ...

Страница 61: ...ectors for the motor cable ST3 the signal lead S2 ST2 VG1 and the supply voltage UB GND The open collector control signals are connected to the S2 or ST2 connector the ServiceBus to ST1 Basic position or auxiliary voltage are activated by the J1 jumper the 5 24 VDC opto coupler supply by J2 jumper G MSX top side connections 10 pin connector S2 connection to the SLS male ...

Страница 62: ...ector male Jumper positions J1 jumper plugged function to pin 1 2 5 24 VDC auxiliary voltage VG1 22 S2 4 2 3 basic position VG1 22 S2 4 function to pin J2 plugged 5 24 VDC for opto coupler ST2 19 20 J2 not plugged G MSX bottom side connections ...

Страница 63: ...m side is used to address the MSX power stage in bus mode BU1 supplies a fan with 24 VDC i IMPORTANT Recommended free space between the board solder and component side and other components and housings 6 mm minimum Recommended free space left right below and above the board 1 6 mm ...

Страница 64: ...s 9 17 Instruction code 40 Insulation 24 J Jumper 47 48 L Lead cross section 19 26 Load capacitor 21 M Ministep 55 Motor cable 26 Motor connection 29 Motor current 8 Motor direction 17 46 Motor time constant 30 O Operating parameter 39 Operating voltage 15 Outputs 17 49 Overtemperature 50 P Phase current 15 Pin assignment 33 Power supply 23 Preferential motor direction 46 Programming 9 39 Pulse wi...

Страница 65: ...Manual MSX MA 2128 A004 EN 64 W Warranty 52 Winding inductance 29 Winding resistance 29 Wiring scheme 29 ...

Страница 66: ...Phytron GmbH Industriestraße 12 82194 Gröbenzell T 49 8142 503 0 F 49 8142 503 190 www phytron eu ...

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