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SCHUNK Motion protocol 

 

05/STM-48V/en/2011-04-01/CW 

63

 

Miscellaneous:

 When all errors have been successfully ac-

knowledged, after sending "OK" (0x4F4B), an info message 
"INFO NO ERROR" is also sent.  

 

 

D-Len 

Cmd 

Param 

Meaning 

M ► S 

0x01 

0x8B 

 

 

S ► M 

0x03 

0x8B 

0x4F 0x4B 

OK 

Table 32 Example for CMD ACK 

 

Notes 

For further information, refer to the MotionControl.pdf document 
on the DVD supplied. 

 

Содержание STM 48V

Страница 1: ...05 V01 A STM 48V en 2011 04 01 CW Document last updated 2011 04 01 Electrical Rotary Module SCHUNK Torque Motor Type STM 48V Assembly and Operating Manual...

Страница 2: ...2 05 STM 48V en 2011 04 01 CW...

Страница 3: ...achining results to the customer s complete satisfaction SCHUNK products are inspiring Our detailed assembly and operation manual will support you Do you have further questions You may contact us at a...

Страница 4: ...modifications 11 2 3 4 After sales service 12 2 4 Obligations of the manufacturer operator 12 2 4 1 Choice of personnel and personnel qualifications 12 2 4 2 Organizational measures 12 2 4 3 Disposal...

Страница 5: ...on and commissioning of the STM with the SCHUNK controller MCS 12 34 9 1 1 Scope of delivery of the MCS 12 controller 34 9 1 2 Technical Data of the MCS 12 controller 34 9 1 3 Design and description o...

Страница 6: ...3 1 4 Bearing noise 66 13 1 5 Error message for the winding temperature 67 13 2 MCS 12 controller 67 13 2 1 Software error messages 67 13 2 2 Electrical signals are not transmitted 68 13 2 3 No LED li...

Страница 7: ...About this manual 05 STM 48V en 2011 04 01 CW 7 16 Drawing 73 16 1 STM 135 73 16 2 STM 170 74 16 3 STM 210 75 17 Translation of original EC declaration of incorporation 76 18 Contact 78...

Страница 8: ...safety notes and warnings Skilled personnel fitter Read observe and follow this manual and the applicable documents especially the safety notes and warnings Table 1 1 3 Applicable documents You can fi...

Страница 9: ...anation or to optimize the work processes Prerequisite for a handling instruction Handling instruction also measures in a warning or note 1 2 3 Step by step handling instruction Observe the order Comp...

Страница 10: ...ity for damage resulting from such use To use this module as intended it is also essential to comply with the manufacturer s specifications regarding commissioning as sembly operation and ambient cond...

Страница 11: ...uipment must comply with the requirements of the EC Machinery Directive and IEC EN 60204 1 The STM s housing must be grounded via the controller 2 3 2 Special standards The following harmonized standa...

Страница 12: ...e that the personnel are adequately and appropriately trained to perform work on the module assigned to them 2 4 2 Organizational measures Make sure that at least one copy of this manual is kept in th...

Страница 13: ...all protective equipment has been fitted and is in full working order Check the module at least once per shift for externally visible damage and faults Report any changes including changes in operatio...

Страница 14: ...d when the energy supply is connected Do not reach into the open mechanism or the movement area of the module Remove the energy supplies before installation modification maintenance or adjustment work...

Страница 15: ...ast 40 C 104 F before working on the module Measure the surface temperature before touching the module Wear protective gloves if necessary Risk of electric shock due to contact with live parts Before...

Страница 16: ...under warranty are excluded when repair or intervention is carried out by persons not authorized to do so If accessories are used which are not designed for the module 4 Scope of delivery The scope o...

Страница 17: ...ng with a center bore The STM has an integrated measuring system A temperature sensor is integrated in the motor winding The STM belongs to the category of torque motors The typical characteristics of...

Страница 18: ...00 operating hours is sufficient The mechanical interfaces are shown on the drawing in chap ter 16 page 73 5 1 3 Electrical interface Figure 2 STM schematic diagram An incremental encoder TTL signals...

Страница 19: ...on S with plug connection for power component and en coder cable brake N without brake B with brake IP protection class 40 IP40 protection class The nameplate is attached to one of the broad sides of...

Страница 20: ...arts kg m 0 001431 max mass moment of inertia kg m 0 05 rotation range 360 turning endlessly positioning accuracy 1 0 02 1 Distribution of the end positions of 100 successive motions When approaching...

Страница 21: ...mH 4 77 electrical time constant T ms 1 49 numbers of pole pairings N 15 Specifications for the integrated measuring system type 5V TTL Signal Incremental magnetic measuring system with reference tra...

Страница 22: ...tions and number of wire strands power mm 3 x 1 grounding mm 1 x 1 shaft encoder mm 8 x 0 25 temperature sensor mm 2 x 0 25 specifications for the integrated motor motor type synchronous switching sta...

Страница 23: ...rts kg m 0 011278 max mass moment of inertia kg m 0 39472 rotation range 360 turning endlessly positioning accuracy 1 0 02 1 Distribution of the end positions of 100 successive motions When approachin...

Страница 24: ...ings N 16 Specifications for the integrated measuring system Type 5V TTL Signal Incremental magnetic measuring system with reference track power supply V 5 10 mean current input mA 65 pulse number per...

Страница 25: ...ween brake pad and rotor 2 Pre loaded brake piston with brake pad Table 10 Legend of Figure 3 6 3 1 Technical data for brake valve MV15 Figure 4 Valve assembly Reference value Values Permissible mediu...

Страница 26: ...is a high level signal from the controller pending on the valve the electropneumatic brake valve is opened In this state the brake is inactive 6 3 2 Connection to MCS 12 When the two vales were screwe...

Страница 27: ...he load the STM develops a very large heat quantity that needs to be dissipated Mount the motor on heat conducting materials To achieve the IP protection class 40 Design the connection structure so th...

Страница 28: ...at the zero pulse is in the middle of the moving range Figure 5 Zero pulse alignment Item Description 1 Zero point markings on rotor and base body 2 Maximum possible moving range Table 15 The interfac...

Страница 29: ...ensions of the drawings can be taken from our internet site under CAD data service 1 Fastening screws M10 3 Centering pin D5 H7 2 Centering pin D12 H7 4 Fastening screws M12 Figure 6 View of the assem...

Страница 30: ...customer has to take care that the dynamic energy will be discharged We recommend to use our brake chopper Type ACC3EA001 Id No 9951 504 Note Cables are electrical components which can receive and tr...

Страница 31: ...d to a controller The cable colors and designations in the following tables apply to the SCHUNK connection cable Observe the cable assignment Function Signal Cable designation Power U black U V black...

Страница 32: ...and material damage when the machine system moves unexpectedly Only allow configuration work to be carried out by authorized specialist personnel Observe the information in the operating manual for t...

Страница 33: ...0 If the STM is used in a multiple axis system it is recommended to put the axes into operation individually To avoid collisions prior to the first movement check the align ment of the STM the set dir...

Страница 34: ...issioning tool Operating manual in PDF format MotionControl software manual in PDF format 9 1 2 Technical Data of the MCS 12 controller Size MCS 12 ID 307 010 Logic voltage supply at controller 24V DC...

Страница 35: ...strip X2 digital inputs and outputs Terminal strip X3 connection for re solver Connection RS232 Connection CAN Connection Profibus DP Terminal strip X1 motor and power sup ply for controller Display...

Страница 36: ...8 Position of X1 terminal strip motor and power supply for controller Figure 9 dimension and mounting the MCS 12 controller The MCS 12 controller is mounted by means of the metal base bar 90 on the m...

Страница 37: ...set to the factory setting 1 Module address 12 2 Communication RS232 3 Data rate 9 600 Baud New firmware is loaded on to the module using the SCHUNK controller Notes Further information on the BOOT fu...

Страница 38: ...6 1 page 20 9 2 2 Connecting the STM to the MCS12 controller Note It is recommended to implement the power supply for the logic via an external power supply source Equipotential bonding is to be perf...

Страница 39: ...the adapter cable with a 15 pin SUB D connector and a 16 pin terminal strip for the connection of the en coder cable The following terminals are required to connect the STM for the position of the te...

Страница 40: ...lled via these interfaces using the SCHUNK Motion Protocol SMP All communication interfaces may be connected simultaneously However only one communication interface may be active Note The RS232 interf...

Страница 41: ...ure 7 page 35 Figure 12 Connector assignment for Profibus DP connection to MCS 12 Note Depending on the field bus system up to 255 modules can be connected to each other It is recommended to use T con...

Страница 42: ...required for this is sent back to the controller from the sensors The temperature sensor can be evaluated via the controller if it supports the function and KTY84 As an alternative the evalua tion can...

Страница 43: ...nge with the module Information for this see chapter 11 page 59 see MotionControl pdf operating manual on the DVD for the MCS 12 controller This document contains a more detailed description of the MC...

Страница 44: ...ti clockwise and about 30 40 clockwise The controller is connected to a PC The supplied DVD is inserted 1 Copy MCDemo from the enclosed DVD Figure 15 Start the DVD and click on Software Then click on...

Страница 45: ...011 04 01 CW 45 2 Save the file and unpack the file Figure 16 3 Start MC Demo by double clicking on Figure 17 4 Configure the communication interface choice between RS232 CAN or Profibus Figure 18 Sel...

Страница 46: ...Start up with PC 46 05 STM 48V en 2011 04 01 CW Figure 19 Select RS232 5 Search for the module Figure 20 Select Module Search bus Figure 21...

Страница 47: ...11 04 01 CW 47 6 Enter or change parameters Figure 22 Control window of the module found Select the Parameters tab and adjust the parameters see Motion Control document 7 Perform a reference run Figur...

Страница 48: ...w Note A password is required to change the control referencing and device parameters It is Schunk See Motion Control documentation 10 2 3 Commissioning of the digital inputs Refer to the chapter enti...

Страница 49: ...0 3 0 015 120 0 055 0 325 0 02 145 0 07 0 35 0 025 170 0 085 0 375 0 03 195 0 1 0 4 0 035 220 0 115 0 425 0 04 245 0 13 0 45 0 045 270 0 145 0 475 0 05 295 0 16 0 5 Table 23 Figure 25 0 50 100 150 20...

Страница 50: ...ller TN readjustment time Mass moment of inertia kgm2 STM 135 Readjustment time of the speed controller according to the mass moment of inertia 0 2 0 7 1 2 1 7 2 2 2 7 3 2 3 7 0 005 0 01 0 015 0 02 0...

Страница 51: ...kgm2 STM 135 Speeds to be set according to the mass moment of inertia to be moved and the angle to be rotated 90 180 270 360 10 000 20 000 30 000 40 000 50 000 60 000 70 000 0 005 0 015 0 025 0 035 0...

Страница 52: ...6 0 10 11 0 06 17 0 11 11 0 065 17 0 11 11 0 07 18 0 12 11 0 075 18 0 13 11 0 08 19 0 14 11 0 085 19 0 15 11 0 09 20 0 16 11 0 095 21 0 17 11 0 1 21 0 17 11 0 105 22 0 18 11 0 11 22 0 19 11 0 115 23 0...

Страница 53: ...8V en 2011 04 01 CW 53 Figure 30 0 5 10 15 20 25 30 0 055 0 075 0 095 0 115 0 135 0 155 Speed amplifier KR Mass moment of inertia kgm2 STM 170 48V Amplification of the speed controller according to th...

Страница 54: ...ller TN readjustment time Mass moment of inertia kgm2 STM 170 48V Readjustment time of the speed controller according to the mass moment of inertia 0 2 4 6 8 10 12 0 0 02 0 04 0 06 0 08 0 1 0 12 0 14...

Страница 55: ...0 000 0 0 05 0 1 0 15 0 2 max acceleration s Mass moment of inertia kgm STM170 48V Acceleration values to be set for a maximum torque according to the mass moment of inertia to be moved STM 170 48V Sp...

Страница 56: ...0 11 4 5 0 24 8 0 12 4 5 0 28 8 5 0 13 4 5 0 32 9 0 14 4 5 0 36 9 5 0 15 4 5 0 40 10 0 16 4 5 Table 25 Figure 35 0 2 4 6 8 10 12 14 0 00 0 10 0 20 0 30 0 40 0 50 0 60 Speed amplifier KR Mass moment of...

Страница 57: ...troller TN readjustment time Mass moment of inertia kgm STM 210 48V Readjustment time of the speed controller according to the mass moment of inertia 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 5 0 00 0 10 0 20 0 3...

Страница 58: ...m STM 210 48V 9860 Speeds to be set according to the mass moment of inertia to be moved and the angle to be rotated 90 180 270 360 5 000 10 000 15 000 20 000 25 000 30 000 35 000 40 000 45 000 50 000...

Страница 59: ...always followed by the command code con sisting of one byte If necessary the command code is followed by the relevant parameters required If required a master com mand can be extended with a sub comma...

Страница 60: ...2 Description A referencing is executed Parameters Master Slave None Response Slave Master OK 0x4F4B if successful The module executes the command Miscellaneous Spontaneous response possible D Len Cmd...

Страница 61: ...ful The module executes the command Miscellaneous Spontaneous message is possible D Len Cmd Param Meaning M S 0x05 0xB3 0x00 0x00 0x60 0x40 Execute current move with 3 5 A S M 0x05 0xB3 0x4F 0x4B Tabl...

Страница 62: ...ption The module is stopped as quickly as possible If a brake is fitted and appropriately configured it is activated imme diately The motor phases are short circuited Parameters Master Slave None Resp...

Страница 63: ...ve been successfully ac knowledged after sending OK 0x4F4B an info message INFO NO ERROR is also sent D Len Cmd Param Meaning M S 0x01 0x8B S M 0x03 0x8B 0x4F 0x4B OK Table 32 Example for CMD ACK Note...

Страница 64: ...llow the module to cool down 1 Stop the motor and exit the active sequential program 2 Activate the emergency stop function 3 Switch off the entire energy supply for MCS 12 and STM 4 Check whether the...

Страница 65: ...er 7 1 page 27 Shaft encoder defective Check shaft encoder and its connection If a defect is detected the STM must be sent to SCHUNK with a repair order Short circuit between turns in the motor Check...

Страница 66: ...ower supply component Table 34 13 1 3 STM oscillates Possible cause Corrective action Motor overload Check the dimensioning Reduce the load Check the controller settings Controller settings not ideal...

Страница 67: ...nents Check the evenness at the mounting surface see chapter 7 1 page 27 Encoder signals are faulty encoder line shielding is not corrected Check the encoder s power supply Check the encoder signals a...

Страница 68: ...medial measures There is no voltage Connect the output power supply for the MCS 12 see chapter 9 2 3 page 39 Table 40 13 2 5 RDY LED green on the controller is not flashing Possible cause Remedial mea...

Страница 69: ...the lubricants will harden faster Lubrication and maintenance works have to be carried out more often We recommend that maintenance and seal replacement is done by SCHUNK because the rotor must be ali...

Страница 70: ...1 page 27 Loud and uneven noise motor not running smoothly The motor is not set up correctly check the evenness of the mounting surfaces see chapter 7 1 page 27 or bearings defective Consult your SCHU...

Страница 71: ...amaged themselves Comply with climatic category 2K3 in accordance with EN50178 Transport temperature 5 C 23 F to 60 C 140 F with maximum fluctuations of 20 K hour Transport air humidity relative humid...

Страница 72: ...ventilated No outdoor storage permitted No condensation permitted Comply with climatic category 1K4 in accordance with EN50178 Observe the maximum stacking height of three packaged modules 15 4 Dispos...

Страница 73: ...Drawing 05 STM 48V en 2011 04 01 CW 73 16 Drawing 16 1 STM 135 Figure 41 Dimensions of the STM 135 torque motor...

Страница 74: ...Drawing 74 05 STM 48V en 2011 04 01 CW 16 2 STM 170 Figure 42 Dimensions of the STM 170 torque motor...

Страница 75: ...Drawing 05 STM 48V en 2011 04 01 CW 75 16 3 STM 210 Figure 43 Dimensions of the STM 210 torque motor...

Страница 76: ...be installed with the provisions of the Machinery Directive 2006 42 EC is confirmed Applied harmonized standards especially EN ISO 12100 1 Safety of machines Basic terminology general design guideline...

Страница 77: ...Translation of original EC declaration of incorporation 05 STM 48V en 2011 04 01 CW 77...

Страница 78: ...6 21 51760266 Fax 86 21 51760267 info cn schunk com www cn schunk com FRANCE SCHUNK Intec SARL Parc d Activit s des Trois Noyers 15 Avenue James de Rothschild Ferri res en Brie 77614 Marne la Vall e C...

Страница 79: ...schunk com RUSSIA OOO SCHUNK Intec ul Samojlovoj 5 lit C St Petersburg 192102 Tel 7 812 326 78 35 Fax 7 812 326 78 38 info ru schunk com www ru schunk com SPAIN PORTUGAL SCHUNK Intec S L U Foneria 27...

Страница 80: ...80 05 STM 48V en 2011 04 01 CW...

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