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10 Stepping motor parameters and characteristics

02.05

© Siemens AG 1998 All Rights Reserved

10-2

FM-STEPDRIVE/SIMOSTEP (FB)

A number of certain parameters and characteristics must be known for
examining and selecting a stepping motor. Each stepping motor has its
specific properties in conjunction with the power controller used; these
properties are represented by characteristic curves. To facilitate an
understanding of their contents and meaning, the essential parameters
and the usage of the characteristics are explained here.

10.1 Basic

concepts

Step angle

A step refers to a motor shaft rotation by the step angle ; the step is
initiated by a control pulse.

Number of steps

The number of steps specifies the number of steps the rotor performs per
revolution. The number of steps can be adjusted for a 3-phase stepping
motor.

Holding torque

The rotor is held in each step position due to the DC excitation of the coils
unless its holding torque M

H

is exceeded on the motor shaft.

Systematic angle
tolerance

The systematic angle tolerance per step

∆α

s

specifies the maximum

number of angular minutes a step may deviate from the nominal step
angle.

Control and stepping
frequency

With a continuous sequence of control pulses at a control frequency f

S

,

the motor shaft will also execute a sequence of steps at the (same)
stepping frequency f

Z

.

Speed

From a specific control frequency onwards (depending on motor type and
mechanical load) the step-by-step movement of the motor shaft verges
into a continuous rotary movement. The following then applies fro the
speed n of the motor:

n

=

α

/360° · f

Z

· 60 r.p.m. (f

z

[Hz])

Torques

If the rotating motor shaft is subjected to a load torque M

L

, the motor will

continue to follow the control frequeny synchronously unless the load
torque exceeds a certain limit, i.e. the maximum torque at maximum slew
stepping rate M

Bm

.

In this case, the rotor cannot follow the control frequency any more, and a
step “loss” will occur, where control frequency and stepping frequency are
no longer identical.

Such a situation can be avoided by selecting the correct motor and by
controlling it correctly

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Содержание 1FL3041-0AC31-0BJ0

Страница 1: ...Description of Functions 02 2005 Edition simatic FM Stepdrive SIMOSTEP Power Controller and 3 Phase Stepping Motors ...

Страница 2: ......

Страница 3: ...ion 4 Mounting 5 Wiring 6 Setup 7 Status indicators and troubleshooting 8 SIMOSTEP specifications 9 Stepping motor parameters and characteristics 10 SIMATIC FM STEPDRIVE SIMOSTEP Power Controller and 3 Phase Stepping Motors Functional description FM STEPDRIVE SIMOSTEP Edition 02 05 ...

Страница 4: ...smission or use of this document or its contents is not permitted without express written authority Offanders will be liable for damages All rights including rights created by patent grant or registration of a utility modal or design are reserved Siemens AG 1998 All Rights Reserved Other functions not described in this documentation might be executable in the control This does not however represen...

Страница 5: ...ant part of the documentation Qualified personnel Start up and operation of the unit shall only be carried out by qualified personnel Qualified personnel in the sense of the safety information in this manual are those persons who are authorized for setting up earthing and tagging equipment systems and circuits according to established safety practices Intended use The following should be noted War...

Страница 6: ...II ...

Страница 7: ...terface 4 2 4 2 Signal interface 4 3 4 3 Signal timing diagrams 4 4 Mounting 5 1 Wiring 6 1 6 1 FM STEPDRIVE and SIMOSTEP wiring 6 2 6 2 Wiring example for FM 353 and FM NC FM357 6 4 6 3 Wiring layout for control cabinet 6 6 6 4 Network wiring for several axes 6 7 6 5 Operating an axis in a safe working area 6 10 6 6 Accessories 6 12 Setup 7 1 Status indicators and troubleshooting 8 1 SIMOSTEP spe...

Страница 8: ...IV ...

Страница 9: ... Siemens AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 1 1 Overview 1 ...

Страница 10: ...0 A 1FL3042 0AC31 0BK0 SIMOSTEP 1FL3043 6 Nm 2 3 A 1FL3043 0AC31 0BG0 SIMOSTEP 1FL3061 10 Nm 4 1 A 1FL3061 0AC31 0BG0 SIMOSTEP 1FL3062 15 Nm 4 8 A 1FL3062 0AC31 0BG0 Motor type with brake Nominal torque Nominal current Order number SIMOSTEP 1FL3041 2 Nm 1 8 A 1FL3041 0AC31 0BJ0 SIMOSTEP 1FL3042 4 Nm 2 0 A 1FL3042 0AC31 0BJ0 SIMOSTEP 1FL3043 6 Nm 2 3 A 1FL3043 0AC31 0BH0 SIMOSTEP 1FL3061 10 Nm 4 1 ...

Страница 11: ... Siemens AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 2 1 Functional description 2 ...

Страница 12: ...ck DIR sense of rotation ENABLE enables the amplifier PWM current control Output signal READY1_N readiness Signal interface The GATE_N input of the signal interface can be used for enabling or disabling the clock signals for motor control fed to the PULSE input The ENABLE_N input has the same function as the ENABLE input for the pulse interface although it is activated via 24 V In addition the ZER...

Страница 13: ...voltage power controller overtemperature no GATE_N signal Fan A fan is installed in the FM STEPDRIVE power controller The block diagram shown in figure 2 2 illustrates the most important functional groups of the FM STEPDRIVE power controller 115 V or 230 V Intermediate circuit voltage Fuse FM STEPDRIVE 3 24 V supply PULSE ENABLE DIR PWM READY1_N Positioning or control unit e g FM 353 SIMOSTEP moto...

Страница 14: ...2 Functional description 02 05 Siemens AG 1998 All Rights Reserved 2 4 FM STEPDRIVE SIMOSTEP FB ...

Страница 15: ...s AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 3 1 FM STEPDRIVE specifications 3 1 Electrical data 3 2 3 2 Mechanical data 3 5 3 3 Ambient conditions 3 5 3 4 Applicable standards regulations laws 3 6 3 ...

Страница 16: ...Maximum power loss 80 W Intermediate circuit connection Intermediate circuit voltage 160 V to 485 V DC Open close cycle during operation and after fault rectification 5 s Motor connection Phase current 1 7 A to 6 8 A 6 8 A max at an ambient temperature of 50 C and vertical mounting position 4 8 A max at an ambient temperature of 60 C and vertical mounting position 4 8 A max at an ambient temperatu...

Страница 17: ...high min 2 5 V Uhigh max 5 25 V Ulow max 0 4 V Ulow min 5 25 V Imax 30 mA Current control Ihigh min 7 mA Ihigh max 25 mA Ilow max 0 2 mA Ilow min 25 mA Umax 5 25 V Note It is recommended to use push pull control for reasons of noise suppression Uce GND_S Pulse interface output READY1_N readiness For a signal description see chapter 4 Optocoupler output no reverse polarity protection not short circ...

Страница 18: ...al interface outputs READY2 readiness ZERO ring counter zero signal MSTILL Motor standstill For a signal description see chapter 4 24 V standard PLC output READY2 overload and short circuit protected Uhigh 24 V supply voltage Voltage drop 3 V max at 70 mA Output current 70 mA Sustained short circuit current 0 6 A max Peak current 5 A max for 50 ms Ulow Output open Leakage current 150 µA max 24 V s...

Страница 19: ...phase current and ambient temperature Non condensing Transport and storage temperature 40 C to 70 C Vibration strain during operation 10 Hz to 58 Hz 0 075 mm deflection over 58 Hz to 500 Hz 8 9 m s2 Vibration strain during transport packaged 5 Hz to 9 Hz 3 5 mm deflection over 9 Hz to 500 Hz 10 m s2 Shock 15 g 11 ms Free fall non packaged 100 mm packaged 500 mm Drop and topple admissible Continuou...

Страница 20: ... machines Safety related parts of control systems General design guidelines If you intend to use the FM STEPDRIVE power drive in a residential area the limit values of the following standards must also be observed EN 60555 Disturbances in electricity supply networks caused by household appliances and similar equipment EN 55022 Class B Limit values and measurement methods for information technology...

Страница 21: ... Siemens AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 4 1 Signal description 4 1 Pulse interface 4 2 4 2 Signal interface 4 3 4 3 Signal timing diagrams 4 4 4 ...

Страница 22: ...anging two motor phase leads ENABLE enable When the ENABLE input is energized the power controller is enabled After approx 500 ms the power controller reports readiness via the READY1_N and READY2 outputs and the motor is energized If 24 V are present at the GATE_N input of the signal interface clock pulses can be supplied to the PULSE input PWM current control The set motor phase current can be m...

Страница 23: ...g counter zero signal When the internal ring counter is zero 24 V are present on the ZERO output Reference movements with step accuracy can be performed by evaluating the ZERO signal At a motor speed of 300 revolutions minute the pulse width of the ZERO signal is equivalent to the duration of the PULSE signal period At a higher motor speed the pulse width of the ZERO signal is reduced READY2 readi...

Страница 24: ...he timing diagrams below illustrate the timing of the input output signals of the pulse and signal interfaces Figure 4 1 ENABLE READY timing diagram Figure 4 2 PULSE DIR GATE_N timing diagram Figure 4 3 PWM or ENABLE and motor phase current timing diagram 100ms 180ms GATE_N MSTILL Figure 4 4 GATE_N MSTILL timing diagram ...

Страница 25: ... Siemens AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 5 1 Mounting 5 ...

Страница 26: ...RIVE power controller Mount the FM STEPDRIVE as follows 1 Hook the FM STEPDRIVE to the mounting rail and let it down 2 Fasten the FM STEPDRIVE using the two screws at the bottom of the unit Note A fan is installed in the power controller When mounting leave 5 cm of space for the air flow at the top and bottom of the unit Units must not be mounted on top of each other without a partition ...

Страница 27: ... FB 6 1 Wiring 6 1 FM STEPDRIVE and SIMOSTEP wiring 6 2 6 2 Wiring example for FM 353 and FM NC FM357 6 4 6 3 Wiring layout for control cabinet 6 6 6 4 Network wiring for several axes 6 7 6 5 Operating an axis in a safe working area 6 10 6 6 Accessories 6 12 6 ...

Страница 28: ... ENABLE_N PWM_N GND GND READY1_N PULSE DIR ENABLE PWM GND GND Not used GND 1 15 24 V L Shield connection Strain relief spring Shield connection Mounting plate Shield connection Motor cable gland Mains filter READY2 ZERO MSTILL GATE_N M 24V GND L 24 V ENABLE_N PE PE Schild connection as short as possible Figure 6 1 FM STEPDRIVE and SIMOSTEP wiring Danger The supply voltage must be disconnected when...

Страница 29: ...nductor connection on the motor is usually established via the motor fastening components If this connection should be insufficient the protective conductor may be connected to the external terminal of the motor A shielded 3 wire standard cable can be used for connecting the motor see accessory table chapter 6 6 The cable shield must be clamped with the motor cable gland on the motor and connected...

Страница 30: ...t used M GND READY_N Sub D Sub D Cable 8 x 2 x 0 18 15 pin female 15 pin female shielded READY1_N Figure 6 2 Connecting the FM STEPDRIVE power controller to FM 353 The FM 353 positioning module can evaluate the READY2 or ZERO output signals refer to manual on SIMATIC S7 positioning module FM 353 order no 6ES7 353 1AH00 7AG0 Depending on the operating mode used on the FM 353 the RM P input of the 2...

Страница 31: ...red white blue 39 8 43 37 10 10 10 orange violet brown orange white violet 18 20 26 3 3 3 yellow grey white red 19 21 27 11 11 11 green white white orange DIR1 DIR2 DIR3 BS4 DIR DIR DIR DIR1_N DIR2_N DIR3_N SW4 DIR_N DIR_N DIR_N ENABLE1 ENABLE2 ENABLE3 ENABLE ENABLE ENABLE ENABLE1_N ENABLE2_N ENABLE3_N ENABLE_N ENABLE_N ENABLE_N Sub D Sub D Sub D Sub D 50 pin female 15 pin female 15 pin female 15 ...

Страница 32: ... Figure 6 5 Wiring layout for control cabinet Note For reasons of noise immunity the mains motor and signal cables must be run separately and shielded on both ends The mounting rail and the mains filter must be mounted surface to surface with the mounting plate Note For FM STEPDRIVE and SIMOSTEP wiring see figure 6 1 ...

Страница 33: ...s filter types for 115 V B84142 B16 R for 2 axes max for 230 V B84142 B16 R for 3 axes max Figure 6 6 Multi axis wiring with single phase mains connection Note The intermediate circuit connections DC and DC can be inter connected for energy exchange between the power controllers if considerable masses must be accelerated and decelerated within a short time Note The mains connection cables must be ...

Страница 34: ...B84299 K53 Figure 6 7 Multi axis wiring with a three phase mains connection 115 V or 230 V between phase and neutral Note The intermediate circuit connections DC and DC of the power controllers must not be interconnected Note The mains connection cables must be shielded on both ends Danger In order to avoid overvoltage the three phase power supply requires that the individual phases and neutral be...

Страница 35: ...5 230 N PE MS Mains filter L1 L2 L3 PE Main filter types for 230 V B84143 B8 R Figure 6 8 Multi axis wiring with a three phase mains connection 230 V between phases without neutral Note The intermediate circuit connections DC and DC of the power controllers must not be interconnected Note The mains connection cables must be shielded on both ends ...

Страница 36: ...g 02 05 Siemens AG 1998 All Rights Reserved 6 10 FM STEPDRIVE SIMOSTEP FB 6 5 Operating an axis in a safe working area Figure 6 9 Wiring example for an NC axis with stepping motor drive in a safe working area ...

Страница 37: ...02 05 6 Wiring Siemens AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 6 11 Figure 6 10 Sequence for obtaining the Safe stop status proggramming example ...

Страница 38: ...onnector without neutral for 115 V B84142 B16 R for 230 V B84142 B16 R for 115 V B84299 K55 for 230 V B84299 K53 for 230 V B84143 B8 R Motor cable non terminated Length 10 m Length 20 m Length 50 m 6FX5008 5AA00 1BA0 6FX5008 5AA00 1CA0 6FX5008 5AA00 1FA0 Cable for pulse interface For FM 353 terminated max length 35 m For FM NC FM357 FM STEPDRIVE end non terminated max length 35 m 6FX2002 3AC02 1xx...

Страница 39: ... Siemens AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 7 1 Setup 7 ...

Страница 40: ...s than those specified above are not permitted since they may cause motor overheating Lower phase current settings are admissible however they will result in a lower motor torque 2 Set the number of steps and the current reduction at standstill to 60 after 100ms I RED Current reduction at standstill active OFF Current reduction inactive ON ON No of steps Not used No of steps Switch 1 Switch 2 500 ...

Страница 41: ... Siemens AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 8 1 Status indicators and troubleshooting 8 ...

Страница 42: ...s voltage and mains connection Reduce feedback energy of the motor or dissipate the feedback energy via the intermediate circuit connection LV LOW VOLT lights Undervoltage 1 Check mains voltage and mains connection 2 Adjust the voltage TMP TEMP lights Overtemperature 1 Ensure sufficient air supply or reduce ambient temperature 2 After cooling down Switch mains voltage or ENABLE signal off and on a...

Страница 43: ...olding torque No clock signal present on PULSE input Supply clock signal to PULSE input Motor turns in incorrect direction Motor phases interchanged Connect the motor phases properly DIR signal input set incorrectly Invert signal on DIR input Motor torque is too low motor slips Motor phase current set too low Set phase current correctly Acceleration ramp too steep Reduce acceleration ramp on contr...

Страница 44: ...8 Status indicators and troubleshooting 02 05 Siemens AG 1998 All Rights Reserved 8 4 FM STEPDRIVE SIMOSTEP FB ...

Страница 45: ... Siemens AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 9 1 SIMOSTEP specifications 9 ...

Страница 46: ...4 1 4 75 Resistance coil Rw Ω 6 5 5 8 6 5 1 8 1 9 Current rise time constant τ ms 7 9 10 22 22 Admissible dynamic axial N 60 60 60 60 60 shaft load 2 radial N 100 100 110 300 300 Weight approx G kg 2 05 3 1 4 2 8 0 11 Motor voltage U V 325 325 325 325 325 1 Measured at 1000 steps revolution 2 Applied at half way from shaft exit motor flange Characteristics common to all type sizes Test voltage acc...

Страница 47: ...STEP 1FL3043 170 14 d mm Order number 1FL3041 0AC31 0BK0 1FL3042 0AC31 0BK0 1FL3043 0AC31 0BG0 L mm Figure 9 1 SIMOSTEP 1FL3041 1FL3042 1FL3043 dimension drawings for motors without brake Order number 1FL3061 0AC31 0BG0 1FL3062 0AC31 0BG0 Feather key A6 x 6 x 25 DIN 6885 19 j6 40 0 3 L 1 13 56 h7 3 1 25 6 9 110 89 89 110 Motor type L mm SIMOSTEP 1FL3061 180 SIMOSTEP 1FL3062 228 Figure 9 2 SIMOSTEP...

Страница 48: ...L3042 140 12 SIMOSTEP 1FL3043 170 14 d mm Order number 1FL3041 0AC31 0BJ0 1FL3042 0AC31 0BJ0 1FL3043 0AC31 0BH0 L mm Figure 9 3 SIMOSTEP 1FL3041 1FL3042 1FL3043 dimension drawings for motors with brake 52 7 103 Order number 1FL3061 0AC31 0BH0 1FL3062 0AC31 0BH0 19 j6 40 0 3 L 1 13 56 h7 3 1 25 6 9 110 89 89 110 Motor type L mm SIMOSTEP 1FL3061 180 SIMOSTEP 1FL3062 228 Figure 9 4 SIMOSTEP 1FL3061 1...

Страница 49: ...ned as electromagnetic spring pressure brakes In order to disengage the brake it must be electrically excited when the motor current is switched on To avoid high temperature of the brake the current for the brake is reduced to holding voltage when the brake is still disengaged see figure 9 5 4700 µF 18 V for 1FL304X U3 V Starting voltage Holding voltage t 24 75 50 24 V Brake 0 V U3 1 N 4001 6800 µ...

Страница 50: ...ontroller The characteristic curves were measured at the nominal values of the supply voltages 115 V 50 Hz and 230 V 50 Hz The following formula reflects the relationship between the control frequency fs the number of steps z and the speed n of the motor n 1 z fs 60 r p m The following characteristics are illustrated in each case c Slew curve d Start stop curve start frequency as a function of the...

Страница 51: ...02 05 9 SIMOSTEP specifications Siemens AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 9 7 Figure 9 7 SIMOSTEP 1FL3042 torque characteristics Figure 9 8 SIMOSTEP 1FL3043 torque characteristics ...

Страница 52: ... 02 05 Siemens AG 1998 All Rights Reserved 9 8 FM STEPDRIVE SIMOSTEP FB Torque Load inertia 1 2 3 Figure 9 9 SIMOSTEP 1FL3061 torque characteristics Torque Load inertia 1 2 3 Figure 9 10 SIMOSTEP 1FL3062 torque characteristics ...

Страница 53: ... Siemens AG 1998 All Rights Reserved FM STEPDRIVE SIMOSTEP FB 10 1 Stepping motor parameters and characteristics 10 1 Basic concepts 10 2 10 2 Torque characteristics 10 3 10 ...

Страница 54: ... exceeded on the motor shaft Systematic angle tolerance The systematic angle tolerance per step αs specifies the maximum number of angular minutes a step may deviate from the nominal step angle Control and stepping frequency With a continuous sequence of control pulses at a control frequency fS the motor shaft will also execute a sequence of steps at the same stepping frequency fZ Speed From a spe...

Страница 55: ...onicity The starting range is limited by the characteristic curve of the starting limit frequency fAm start stop characteristic Without load the motor can start at the maximum starting frequency fAom with a load the starting frequency is reduced Load inertia The size of the starting range also depends on the load inertia JL exerted by the load on the motor shaft With JL increasing the start stop c...

Страница 56: ...10 Stepping motor parameters and characteristics 02 05 Siemens AG 1998 All Rights Reserved 10 4 FM STEPDRIVE SIMOSTEP FB ...

Страница 57: ...nd 3 Phase Stepping Motors Supplier Documentation From Name Functional description Order No 6SN1197 0AA70 0YP5 Edition 02 05 Address of your company department Street etc ZIP _____________ City Phone ___________ Fax _____________ Should you come across any printing errors when reading this publication please notify us on this sheet Suggestions for improvement are also welcome ...

Страница 58: ......

Страница 59: ......

Страница 60: ... without prior notice Order No 6SN1197 0AA70 0YP5 Printed in the Federal Republic of Germany Siemens AG Automation and Drives Motion Control Systems Postfach 3180 D 91050 Erlangen Bundesrepublik Deutschland www siemens com motioncontrol ...

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