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MA 1303-A007 EN

8.4.3 Step Resolution

Full step

The “full step“ mode is the operating mode in which a 200-step motor, for example, drives
200 steps per revolution. The physical resolution of the motor is achieved in the full step
mode. Any further increase of the step resolution (e.g. half step, quarter step, etc.) is done
electronically. In the full step mode, both stepper motor phases are permanently ener-
gised.

.

Fig. 20: Phase current curves

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Содержание TM StepDrive 1x24..48V/5A

Страница 1: ...Extreme Precision Positioning Manual 1303 A007 EN Stepper Motor Module for the SIMATIC ET 200 SP TM StepDrive 1x24 48V 5A...

Страница 2: ...04 2021 Manual MA 1303 A007 EN phytron TM StepDrive 1x24 48V 5A for SIMATIC ET 200 SP Module Description and Commissioning TRANSLATION OF THE GERMAN ORIGINAL MANUAL...

Страница 3: ...and specifications of the ET 200 SP module for positioning of a stepper motor TM StepDrive 1x24 48V 5A phytron 10020273 This manual is supplementary to the SIMATIC ET 200SP Distributed I O system Ever...

Страница 4: ...n wiring commissioning diagnostics and the technical data of the ET 200 SP decentralized peripheral system SIMATIC ET 200SP Distributed I O system https support industry siemens com cs mdm 58649293 c...

Страница 5: ...34 6 1 Configuration of the Module via TIA Portal 34 6 2 Configuration of the Module Using the GSD Description File 35 6 3 Operating Modes of the StepDrive Technology Module 36 6 4 Potential Group 36...

Страница 6: ...P 72 8 4 3 Step Resolution 73 8 4 4 Current Delay Time 77 9 ESD Protective Measures 78 10 Disclaimer 78 11 Warranty and Trade Marks 78 12 Appendix Parameters and Data Record 79 12 1 Data Record 128 DS...

Страница 7: ...in two different operating modes as an autonomous system which re ceives motion commands from the CPU and then executes them positioning mode PM mode or as a frequency controller which is controlled b...

Страница 8: ...reference point run free run with variable velocity set position motor stop emergency stop o frequency mode TO mode connection types o power stage o indexer Function and active levels of the three dig...

Страница 9: ...ack interface So called control values can be transmitted and statuses can be read clock synchronously with the clock of the control and feedback interface See chap 7 Data record transfer A user progr...

Страница 10: ...ity 2014 30 EU applies to products that can cause electromag netic interference or whose operation can be impaired by such interference The power stage s compliance with the EMC Directive cannot be as...

Страница 11: ...Technology Module TM StepDrive 1x24 48V 5A MA 1303 A007 EN 10 1 5 Declaration of Conformity...

Страница 12: ...for working with the product WARNING Without proper training and qualifications damage to devices and injury might result 2 2 Safety Instructions i The TM StepDrive is designed for operating in a SIMA...

Страница 13: ...epDrive s set to a default current on delivery The motor current must be set to the designated value before installation see data of the motor DANGER Danger of electrical arcing Always switch off the...

Страница 14: ...as Safe Torque Off ST0 by pulse pattern inhibition 2 3 Ambient Conditions Operating temperature 0 C to 60 C Storage and transport temperatures 40 C to 70 C Relative humidity 95 max no dew Degree of p...

Страница 15: ...directly WARNING To prevent personal injury and damage to equipment please observe the following points Install an emergency stop system in keeping with current technical stand ards for example Europe...

Страница 16: ...least 20 cm from the signal cables If they are laid closer together motor cable and signal wiring must be shielded and grounded Use potential equalization cables with suitable cross section when the...

Страница 17: ...etting 50 of the rated current of the TM StepDrive In addition to the use of Phytron filters other possibly central measures can also contribute to compliance with the EMC requirements 3 3 Shielding T...

Страница 18: ...about 62 g Mounting Pluggable in SIMATIC ET 200 SP system with connections according to ET 200 SP specification BaseUnit BU20 P12 A0 4B Mounting position optional power loss see chap 5 2 Fig 4 Dimensi...

Страница 19: ...1 16 1 32 1 64 1 128 1 256 mi cro step Maximum step frequency 250 000 steps sec Remark the frequency generation is digital only values can be generated which result from dividing the processor fre qu...

Страница 20: ...un with variable velocity set position motor stop emergency stop Safety modes Safety modes such as e g Safe Torque Off STO from IEC 61508 2 can only be realised with this controller with external comp...

Страница 21: ...can be configured as limit switches in for ward reverse direction or as reference switches One of the inputs can be configured as reference switch All switches can be parameterised as normally open no...

Страница 22: ...moving by relative distance o reference point run o free run with variable velocity o set position o motor stop o emergency stop Required parameters for operation with technology object control word...

Страница 23: ...the control interface and feedback interface can be transmitted clock synchronously isochronously However this does not mean that for example if a new fre quency value is specified it will immediatel...

Страница 24: ...record transfer to the TM StepDrive asynchronous Diagnostics Feedback of the following driver parameters asynchronous to the main station read back the power stage parameters error overtemperature pa...

Страница 25: ...ary for the connection of the TM StepDrive ET 200 SP station with a controller with PN or DP master 24 to 48 VDC supply BaseUnit type B1 BU20 P12 A0 4B Siemens article number 6ES7 193 6BP20 0BB1 TM St...

Страница 26: ...ften sufficient Refer to the technical data of the stepper motor manufacturer for information about the required performance with 24 V These usually indicate torque characteristics dependent on the su...

Страница 27: ...is horizontal mounting on a vertical wall Restrictions of the ambient temperature are possible in certain installation positions Further information can be found in chap 5 of the SIMATIC ET 200SP Dis...

Страница 28: ...Measuring conditions or procedure TM StepDrive Module vertical arranged 48 VDC supply voltage Motor type ZSH 87 200 6 5 Temperatures are normalised i e relatively to the ambient temperature The power...

Страница 29: ...Pin assignment for the connection type power stage i The following applies for connecting the motor voltage at terminals L and M An internal protection circuit protects the technology module from dama...

Страница 30: ...power supply at L terminal is not necessary If voltage is applied to L terminal a failure of the I O voltage will not be de tected Fig 8 Pin assignment for the connection type Indexer i The following...

Страница 31: ...cted motor must not be energised either set motor current to zero or switch off load voltage 5 4 3 Motor Connection The following chapter describes how to wire different types of 2 phase stepper motor...

Страница 32: ...tance 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 parallel The values for L and R can be found in the technical data sheet of the connected...

Страница 33: ...Technology Module TM StepDrive 1x24 48V 5A MA 1303 A007 EN 32 5 5 Wiring Schemes Fig 9 Connection diagrams for 4 6 and 8 wire stepper motors...

Страница 34: ...or is pending blinks green The technology module is not configured shines green The technology module is configured and there is no module error DIS green The DISABLE input is activated S1 green Digit...

Страница 35: ...for PROFIBUS or GSDML file for PROFINET The TIA Portal is described here 6 1 Configuration of the Module via TIA Portal Drag and drop the TM StepDrive from the hardware catalogue into a rack image In...

Страница 36: ...nt is shown in the following table Bit value Current A Bit value Current A 0x00 0 0 0x10 1 6 0x01 0 1 0x11 1 7 0x02 0 2 0x12 1 8 0x03 0 3 0x13 1 9 0x04 0 4 0x14 2 0 0x05 0 5 0x15 2 1 0x06 0 6 0x16 2 2...

Страница 37: ...BaseUnit to the right and left of the TM StepDrive and requires its own power supply at terminal L for the connection type power stage In order to avoid repercussions on adjacent modules it is strongl...

Страница 38: ...de Positioning or positioning mode PM mode Control via technology object TO mode 6 5 1 2 Connection Type Selecting a connection type Power stage The TM StepDrive uses the integrated power stage to sup...

Страница 39: ...PU STOP This parameter defines the behaviour of the module in the event of a CPU STOP during a motor run Motor stop deactivation the motor is stopped and the power stage is deactivated de energised Mo...

Страница 40: ...s exceeded deactivated 740 Power stage error Error in the power stage e g power stage driver is not accessible due to a defect deactivated 741 DIS input active A running traversing job was cancelled b...

Страница 41: ...lso chap 14 2 Diagnosis Notifications 6 5 3 Indexer Configuration 6 5 3 1 Start Stop Frequency only for PM Mode The start stop frequency is the maximum frequency at which the stepper motor can start o...

Страница 42: ...onship between motor speed n and reference frequency of the stepper motor module is as follows fREF n s m 60 sec min or n fREF 60 sec min s m fREF reference frequency in Hz n velocity in rpm s physica...

Страница 43: ...ation axis With a linear axis the maximum traverse range can be set here which activates a limita tion of the axis by software In addition to the limit switches the movement of the axis can be limited...

Страница 44: ...ne input Value adjustable NO Limit switch Limit switch Reference switch The Type of input S1 2 3 parameter determines whether you want to wire normally closed NC or normally open NO for the limit swit...

Страница 45: ...closed contact has opened or when a normally open contact has closed Parameterisation of the limit switches By means of parameterisation you determine whether you wire normally closed NC or normally o...

Страница 46: ...al that means the full step resolution can be enhanced When the resolution is doubled it is known as half step mode The 200 step motor can now resolve 400 steps at the motor shaft Additional to the ad...

Страница 47: ...djustable in 100 mA increments 0 allowed 1 0 1 Ar m s 35 3 5 Ar m s 6 5 5 4 Boost Current in PM mode only This parameter defines the motor current during acceleration and braking processes if boost is...

Страница 48: ...cceleration and braking than for movement with constant frequency This is set with the parameter Boost current 6 5 5 7 Steps per Revolution in TO Mode Only This parameter is used to inform the CPU whi...

Страница 49: ...I addresses Output addresses Q addresses Positioning 12 byte 8 byte Technology object 18 byte 10 byte Output Addresses Start address Assign of a start address up to 8 or 10 bytes Q addresses for the...

Страница 50: ...T200SP TM STEP DRIVE from the CD HSP TIA and click on Open 7 After the file was copied mark it in the selection list and click on Install 8 If the file has been successfully installed the TM StepDrive...

Страница 51: ...Technology Module TM StepDrive 1x24 48V 5A MA 1303 A007 EN 50...

Страница 52: ...phytron 51 MA 1303 A007 EN 6 7 Parameterising of the Module via TIA Portal The next step sets the parameters for the TM StepDrive with TIA Portal...

Страница 53: ...ogram see chap 12 The parameters are explained in chapter 6 5 6 7 2 Causes of Parameter Setting Errors Invalid combination of the functions of the digital inputs two limit switches are as signed the s...

Страница 54: ...7 EN 7 Program Control and Feedback Interface Data is written from the CPU to the module and data from the module is read out by the CPU optionally synchronous via the control and feedback interface F...

Страница 55: ...rol value The direction of positioning results from the set point control value and actual value current motor position 2 drive a relative distance control value The direction of positioning is determ...

Страница 56: ...n offset After successful search of the reference point this offset is approached away from the switch The position counter remains unchanged 7 1 6 Consider Reference Switch for Reference Search If th...

Страница 57: ...rrently output by the motor controller 7 2 3 Set Feedback Value Here the setting of byte 5 of the control interface is displayed data type 8 Bit DEZ ad dress IB8 7 2 4 Feedback Bits in Byte 9 11 Bit N...

Страница 58: ...curs which switched off the power stage for self protection undervolt age detected exceed temperature of 105 C I10 7 Positioning error is set if a software or hardware limit switch is crossed dur ing...

Страница 59: ...meters of the data record 128 DS128 are preset by the configuration The complete data record of the power stage can also be transferred in the run time to the TM StepDrive technology module The parame...

Страница 60: ...0 sec min s m fRUN run frequency in Hz n speed in rpm s physical full step resolution of the stepper motor typical 200 steps rev For further information refer to the technical data for the stepper mot...

Страница 61: ...n influence on the speed of the mo tor but is not transmitted with a run command Start Stop Frequency fss The fss start stop frequency is the frequency to which the motor can be accelerated under load...

Страница 62: ...n the load to be moved The motor must reach a torque high enough to accelerate or deceleration the load without loss of step Further criteria for determining acceleration or deceleration such as smoot...

Страница 63: ...g the position i If the Travel range parameter has a value other than zero the TM StepDrive checks the specified travel distance for the parameterised limit values Travel range parameter The distance...

Страница 64: ...position has been reached If the positioning is interrupted this can be recognised from the error bits e g limit switch error 8 2 3 Search for Reference Description of the function The home position...

Страница 65: ...ence point approach there are different sequence patterns of the movement around the REF C reference point a optionally to reach the offset REF indicates the reference switch in the graphic illustrati...

Страница 66: ...oach M0P reference sensor offset in positive direction Referencing with Offset 1 and Referencing to reference sensor 1 in pos di rection start position is to the left of the reference signal If the re...

Страница 67: ...aversing job for frequency mode The traversing job contains the following information Nominal frequency Direction setting by the sign of the nominal frequency positive forward Mode of operation 4 for...

Страница 68: ...point search the command is suitable for setting the reference point of the drive system to a new value to which following positioning and the position value in the feedback interface refer e g zero T...

Страница 69: ...un command the acceleration set by the acceleration or deceleration parameter is not used but a ramp with 10 times the slope The position counter has only limited validity after the stop be cause the...

Страница 70: ...sation Incorrect operation of the control interface during a traversing job Voltage loss of the IM CPU loss Station stop Impacts If one of the reasons for stopping the current positioning occurs it is...

Страница 71: ...he motor must hold a load and you reduce the current once the system is sta tionary without a load in order to minimise power consumption and motor heating These parameters are available at any time t...

Страница 72: ...ustment at the power stage During the acceleration deceleration phases it is automatically switched to the Boost Cur rent IBOOST According to a time set in the parameter Run Current Delay Time tDELAY...

Страница 73: ...hout current and there fore without torque Set stop current of the power stage if the drive should be holding with stop current In addition you can define whether a running positioning job is to be co...

Страница 74: ...otor for example drives 200 steps per revolution The physical resolution of the motor is achieved in the full step mode Any further increase of the step resolution e g half step quarter step etc is do...

Страница 75: ...step mode the torque delivered is almost the same and most of the resonance is suppressed The following diagram shows the magnitude and direction of the holding torques of a 4 step motor during one r...

Страница 76: ...ershoot phenomena are greatly reduced the motor operation is al most resonance free The motor noise also drops when the number of micro steps is increased Fig 22 Schematic profile of the phase current...

Страница 77: ...Technology Module TM StepDrive 1x24 48V 5A MA 1303 A007 EN 76...

Страница 78: ...er the stop current is applied the ratio between both phase currents remains the same in the respective current feed pattern Changing from run to stop current is achieved syn chronously In the followi...

Страница 79: ...verified the contents of the manual to match with the hardware and software However errors and omissions are exempt and Phytron GmbH assumes no re sponsibility for complete compliance The information...

Страница 80: ...an be read without restriction Bit 7 6 5 4 3 2 1 0 Byte HEADER 0 reserved 0 MajorVersion 1 MinorVersion 0 1 Length of the following channel parameter block byte 2 35 34 Byte DIAGNOSIS 2 Position Error...

Страница 81: ...27 PM mode Boost current TO mode reserved BASIC PARAMETERS 28 Reaction to CPU STOP PM mode Power stage TO mode reserved PM mode Boost with accelera tion TO mode reserved Connec tion type reserved Mod...

Страница 82: ...MinorVersion 0 1 Length of the following channel parameter block byte 2 9 8 byte DRIVER CONFIGURATION BEHAVIOR DI 2 5 Traversing range 6 Mode 0 Power stage Accelera tion with Boost Reserved Step reso...

Страница 83: ...6 5 4 3 2 1 0 Byte HEADER 0 reserved 0 MajorVersion 1 MinorVersion 0 1 Length of the following channel parameter block byte 2 8 7 byte DRIVER CONFIGURATION BEHAVIOR DI 2 5 Steps per revolution 6 Mode...

Страница 84: ...3 2Assignment of the Feedback Interface PM mode Bit 7 6 5 4 3 2 1 0 Byte 0 3 Position 4 7 Feedback value 8 Feedback mode 9 Motor is running Ramp deactivat ed Referenc ing active Referenc ing suc cessf...

Страница 85: ...n 100 100000000 X X 33 0x21 Start stop frequency 1 250000 X 34 0x22 Run frequency 1 250000 X 35 0x23 M0P frequency 1 250000 X 36 0x24 Stop current 0 35 X X 37 0x25 Run current 1 35 X X 38 0x26 Boost c...

Страница 86: ...is active Power stage error 741 The power stage has reported an error Possible cause can be The switch off temperature has been reached The power stage driver is not responsive due to a de fect It was...

Страница 87: ...etting such as frequencies acceleration ramps or waiting times are required which are referred to as pa rameters to operate the controller Basic parameters are stored at delivery with which the con tr...

Страница 88: ...insert the hardware modules according to the S7 project HW module hardware module Electronic module e g TM StepDrive which is plugged onto a terminal module Current delay time The current delay time...

Страница 89: ...automation products are electronic program mable logic controllers PLC The control functions are stored as firmware in a part of the CPU module The SIMAT IC is programmed by using the SIMATIC programm...

Страница 90: ...EN Term Meaning Behaviour at CPU STOP This can be used to configure how the module behaves in the event of CPU failure cable breakage etc Cancel or continue current positioning deactivate output stage...

Страница 91: ...d traversing job 69 I Inductance 31 Inductivity 30 Inputs 20 Isolation 36 M Maximum frequency velocity of the axis fmax 60 Micro step 7 Mini step 75 Motor connection 30 Motor stop 67 Motor time consta...

Страница 92: ...Phytron GmbH Industriestra e 12 82194 Gr benzell T 49 8142 503 0 F 49 8142 503 190 www phytron eu...

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