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Manual I1AM01 / I1AM0a

 

 
MA 1269-A007 EN

 

34

 

 

7  Principles of Positioning 

 

Further manual  

Detailed information on this subject is in a supporting manual: 

“Principles of Positioning of the Stepper Motor Controllers“ 

 

 

i

 

A change of the frequency and target position during positioning is ignored 
and is only possible during the free run. 

-  Apply changes only at motor standstill. 

Содержание phyMOTION

Страница 1: ...ron 10 2015 Manual MA 1269 A007 EN phyMOTIONTM 1 Axis Stepper Motor Drive I1AM01 2 I1AM0a 2 Firmware Version V1 1 2 Loader V1 1 2 Loader V1 1 6 System V1 1 6 System TRANSLATION OF THE GERMAN ORIGINAL MANUAL ...

Страница 2: ...s manual Every possible care has 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 the right to make improvements and enhancements to the manual and or the devices described herein without prior notification We appreciate suggestions and criticisms fo...

Страница 3: ...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 i CAUTION Possible damage Indicates a possible risk of dama...

Страница 4: ...he 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 Further Manual This manual is addition to the following main manual phyMOTIONTM Modular Multi axis Controller for Stepper Motors First read the main manual and then continue with this manual i Intended use The phyMOTIONTM is d...

Страница 5: ...tc can be live Before starting wiring make sure that none of the power supplies are connected to the primary side of the mains supply Isolate the power supplies from the mains or remove the appropriate fuses All modules must be inserted and screwed into the phyMOTIONTM housing before powering up If necessary unoccupied module slots must be covered with the supplied blank front plates Never operate...

Страница 6: ... 2 1 Connectors Overview 17 5 2 2 Pin Assignment 18 5 2 3 Stepper Motor Connection 19 5 2 4 Limit Switch Connection 21 5 2 5 Option Encoder Connection 22 5 2 6 Option Resolver LVDT or RVDT Connection 25 5 2 7 Option Motor Temperature Sensor Connection 29 6 Commissioning 31 6 1 Diagnostics by the LEDs 32 6 2 Parameterising the Modules 33 7 Principles of Positioning 34 8 Service 35 9 Warranty Discla...

Страница 7: ...tly next to a MCM main controller module The module includes a mid performance indexer and a mid performance power stage Two limit switches and a third switch which can be wired as limit switch evaluation are included as standard In addition sub modules can be optionally selected for encoder evaluation ECAS01 ECES01 ECMS01 as well as motor temperature evaluation PTS01 and KTS01 Fig 1 I1AM01 I1AM0a...

Страница 8: ...M01 I1AM0a MA 1269 A007 EN 8 Ordering code of the 1 axis stepper motor drive module I1AM01 I1AM0a Ordering code example I1AM01 ECES01 PTS01 1 axis stepper motor drive module with integrated encoder and PT sensor ...

Страница 9: ...phytron 9 MA 1269 A007 EN 4 Technical Data 4 1 Declaration of Conformity ...

Страница 10: ...Manual I1AM01 I1AM0a MA 1269 A007 EN 10 ...

Страница 11: ... A007 EN 4 2 Mechanical Data Dimensions 100 x 100 mm without front panel Weight 109 g 124 g without with font panel Mounting Plug in module into the modular stepper motor controller phyMOTIONTM Mounting position Vertical ...

Страница 12: ...1 128 1 256 micro step Maximum step frequency 40 000 steps sec Physical resolution Approx 51 200 positions per revolution 0 007 step The optional encoder modules should be considered for very fine positioning Current consumption max 2 6 ADC at 3 5 APEAK 250 mA 5 VDC internal 10 mA 24 VDC I O 30 mA EnDat Encoder 5 VDC internal 20 mA Encoder 24 VDC I O 30 mA temperature module Mechanical output powe...

Страница 13: ...element needs sub module KTS01 PT100 sensor needs sub module PTS01 Digital inputs 3 Limit switches PNP NOC NCC Option Encoder evaluation SSI Quadrature needs sub module ECAS01 EnDat needs sub module ECES01 Resolver or LVDT RVDT needs ECMS01 Communication via backplane bus Proprietary phytron bus Communication and programming Programming Via phytron s programming environment phyLOGICTM ToolBox Comm...

Страница 14: ...o step Online power stage parameterisation and diagnostics 3 Limit reference switches Evaluation of up to three limit reference switches PNP NCC NOC Option Encoder evaluation The evaluation of a SSI quadrature encoder with ECAS01 sub module or EnDat with ECES01 sub module or resolver LVDT RVDT with ECMS01 sub module is possible depending on the selected sub module Option Motor temperature evaluati...

Страница 15: ...rea only CAUTION Possible damage by ESD The modules of the phyMOTIONTM consist of sensitive electronic components that can be destroyed by electrostatic discharge voltages Always store and transport single modules in ESD predective packaging Always handle the components in compliance with the ESD predection measures No liability is accepted for any consequences resulting from improper handling or ...

Страница 16: ...acitors to discharge and ensure that there are no residual charges on cables connectors and boards Make sure not to leave free slots in between modules so the module addressing sequence can work correctly Identify the correct slot position for your I1AM01 I1AM0a referring to your order and documentation The I1AM01 I1AM0a needs at least a preceding power module POWM01 POWM02 and the main controller...

Страница 17: ...he module Phoenix Mating connector Phoenix Mating connector ID number Motor 1x4 IC 2 5 4 G 5 08 IC 2 5 4 ST 5 08 10005390 Limit switches 1x10 MCDN1 5 10 G1 3 5P26 FMC1 5 10 ST 3 5 10013217 Encoder 1x10 MCDN1 5 10 G1 3 5P26 FMC1 5 10 ST 3 5 10013217 Temperature evaluation 2x2 MCDN1 5 2 G1 3 5P26 FMC1 5 2 ST 3 5 10007077 The mating connector is included in delivery of the module and is usually plugg...

Страница 18: ...ollowing the pin assignment Fig 2 Pin assignment Use the specified mating connectors for wiring i CAUTION Possible damage Damage of the module by wrong connection Do not exchange the 10 pin connector for limit switches with the 10 pin connector for the encoder evaluation ...

Страница 19: ...e next chapter the connection of a 2 phase stepper motor with 4 6 or 8 lead wiring is described Stepper motors with 0 1 to 3 5 APEAK can be controlled at maximum 48 VDC by the I1AM01 I1AM0a Wiring schemes Fig 3 Connection diagrams for 4 6 and 8 lead stepper motors ...

Страница 20: ...amage Destruction of the power stage by connecting a 5 phase stepper motor Do not connect any 5 phase stepper motors to avoid damage Motor time constant τ R L τ applies to the electrical motor time constant τ The total inductance Ltotal is equal to the 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 t...

Страница 21: ... movement in the direction limit switch the second in the direction limit switch The third switch centre switch for example can be used as a reference switch The switch type PNP NCC has the advantage that cable breaks can be detected Mechanical limit switches NCC can also be used i CAUTION Possible damage Damage of the module by wrong connection Do not exchange the 10 pin connector for limit switc...

Страница 22: ...e 5 or 5 5 VDC 200 mA max is generated by the controller Use shielded cables twisted pair for encoder connection The transmission mode includes no predection against faulty transmission values Wiring diagrams for the encoder types see next page i CAUTION Possible damage Damage of the module by wrong connection Do not exchange the 10 pin connector for limit switches with the 10 pin connector for th...

Страница 23: ...phytron 23 MA 1269 A007 EN Wiring of the encoder Fig 7 Wiring SSI Quadrature Fig 8 Wiring EnDat encoder ...

Страница 24: ...Manual I1AM01 I1AM0a MA 1269 A007 EN 24 Optional accessories adapter cable for EnDat encoder Fig 9 Adapter cable ID no 10014905 ...

Страница 25: ...mary sinusoidal voltage from 5 to 10 Vr m s in 1 V steps Ratio from 1 8 ro 2 1 8 1 4 1 2 1 and 2 only in the resolver or 5 6 wire LVDT mode Operating modes Resolver 4 wire LVDT and 5 6 wire LVDT The supply voltage for the ECSM module is provided by the controller i Use shielded cables twisted pair for encoder connection The transmission mode includes no predection against faulty transmission value...

Страница 26: ...Manual I1AM01 I1AM0a MA 1269 A007 EN 26 Operating modes of the encoders Resolver Fig 11 Resolver wiring 4 wire LVDT Fig 12 4 wire LVDT RVDT wiring full bridge ...

Страница 27: ...phytron 27 MA 1269 A007 EN Fig 13 4 wire LVDT RVDT wiring half bridge 5 6 wire LVDT Fig 14 5 wire LVDT RVDT wiring ...

Страница 28: ...Manual I1AM01 I1AM0a MA 1269 A007 EN 28 Fig 15 6 wire LVDT RVDT wiring ...

Страница 29: ...side the motor housing The temperature is measured all the time even if only one motor phase is powered at any one time Thermal element type K With the Type K NiCr Ni in vacuum and cryo stepper motors thermal elements in the temperature range from 270 to 1370 C accuracy class 1 are used The Type K is a metal thermal element with nickel based alloy conductors Temperature ranges accuracy and charact...

Страница 30: ...valuation and thus a damage of the motor or other system components by overheating Pt100 Resistor Sensor Pt100 resistor sensors are used with in vacuum and cryo stepper motors in the temperature range 200 to 300 C These precise sensors are used in extreme industrial and laboratory conditions They consist of a wound resistance wire that is mounted and unsupported inside a cylindrical ceramic case F...

Страница 31: ...or Controller For programming the sequential program please read Further manual Detailed information on this subject is in a supporting manual phyLOGICTM Command Reference for the phyMOTIONTM Controller Information about positioning you ll find in Further manual Detailed information on this subject is in a supporting manual Principles of Positioning of the Stepper Motor Controllers i CAUTION Possi...

Страница 32: ...urs and blinking LED Status of the I1AM left right ready and power stage is activated green green ready and power stage is NOT activated green off motor is running orange green module is not addressed green blinking red slowly about 2 Hz no power supply available on the 5 V bus off off Initiator or SFI error green blinking red fast about 5 Hz ...

Страница 33: ...e the parameters P43 to P45 For a general overview of the parameters Further manual Detailed information on this subject is in a supporting manual phyLOGICTM Command Reference for the phyMOTIONTM Controller Information about positioning you ll find in Further manual Detailed information on this subject is in a supporting manual Principles of Positioning of the Stepper Motor Controllers ...

Страница 34: ...al Detailed information on this subject is in a supporting manual Principles of Positioning of the Stepper Motor Controllers i A change of the frequency and target position during positioning is ignored and is only possible during the free run Apply changes only at motor standstill ...

Страница 35: ...ft and right edge of the module front panel which you want to remove Don t slide the blade between the front panels by no means When backfitting by our service the red seal tape is renewed Loosen the screw on top and the screw on the bottom of the module s front plate Pull the card carefully by the handle If you want to use the phyMOTION after removing a module the gap has to be sealed with a blan...

Страница 36: ...s 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 9 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 may not...

Страница 37: ...tions 14 I Inductance 20 Inputs 13 Installation 15 17 Interface 13 L LED 32 LVDT 26 M Mating connector 17 Motor connection 19 Motor time constant 20 N Nominal voltage 12 O Outputs 13 P Parameterisation 13 Platinsonde 30 Programming 13 R Resolution 12 Resolver 25 S Step resolution 12 Stepper motor 12 19 W Warranty 36 Wiring scheme 20 ...

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