Stogra Stepper Motor Controls

STEPPING MOTOR CONTROLS

Power amplifier boardsPosition controls

Equipment

All rights reservedWithout written approval we don’t allow any reprint and partial copying.We reserve the right to make engineering changes, refinements and impro-vements to all products described herein.Mechanical and electrical ratings and dimensions are, therefore, subject tochange without notice.No liability whatsoever is accepted.

STÖGRA Antriebstechnik GmbHMachtlfinger Strasse 24D-81379 MünchenTel: +49 89 15 90 40 00Fax: +49 89 15 90 40 09E-Mail: [email protected]:http://www.stoegra.de

Edition: April 2002

DRIVING

MOTION CONTROLING

POSITIONING

General product overview

Stepping motor controlsgeneral explanations

Stepping Motor power amplifier boards series SE...V1 and SE...E50 V1

series SE P05 microstepping

Power supplies

Front panels and board holder

Panel mountage-/ 19 inch-system series ELK / ELR

Position controlsseries SERS

Series SERC and SERS equipment

Seite

4

5

69

10

11

12

1623

3 index

STÖGRA Stepping motor controls are designed as modular system as well as STÖGRA Stepping motors (see catalo-gue STEPPING MOTORS)

4 General procuct overview

PC

PLC

CNC

RS232

RS485

Profibus-DP

CANopen

SERCOS

position control with

power amplifier

series SERS...

SM56 SM87 SM107 SM168

stepper motors

series SM...

power amplifier boards

series SE...

pulse

direction

including

position control

PC

PLC

CNC

powersupply

NT

ELK/ELR

board holder

KHD32

panel mountage/

19 inch rack system

optionally with powersupply

1 until 8 plug ports for drives

position control

with RS232,

RS485

position control

with SERCOS

encoder/

handwheel board

control board with

pulse / direction

interface

heat sink KR6

heat sink with power semiconductors

power amplifier board

control board

with interface

to position control

interface

Profibus-DP

CANopen

KR12

Power amplifier boards Series SE... V11/13Voltage supply Phase current Step resolution24 - 240 VDC 1 - 14,5 A/Ph. 200 - 1000 steps/rev.

catalogue page 6 to 8

Power amplifier boards with control of step angleSE ... E50 V11/V13Voltage supply Phase current Step resolution24 - 240 VDC 1 - 14,5 A/Ph. 200 - 1000 steps/rev.


Mikroschritt-LeistungsverstärkerkartenSerie SE P05Voltage supply Phase current Step resolution24 - 240 VDC 1 - 14,5 A/Ph. 200 - 12800 steps/rev.

catalogue page 9

PositioniersteuerungenSerie SERS mit Schnittstellen RS232, RS485, Profibus-DP, CANopen, SERCOSVoltage supply Phase current Step resolution

24 - 240 VDC 1 - 14,5 A/Ph. 12800 steps/rev.


Overview Controls

STÖGRA Stepping motor controls are designed as modular system The power stage with the power semi conductors is usedfor the power amplifier boards as well as for the Position controls. The different field bus interfaces for the position controls are rea-lized by internal plug boards. This enables a great type variety for the most different requirements and many different control systemsand never the less the possibility to keep most parts (basic components) on stock and cost effective production due to the low quan-tity of different basic types.

Md

ϑ

At motor stand still, in case of a load (torque Md), themotor shaft will be moved the angle ϑ out of its zeroposition. The maximum possible movement awayfrom the zero position is -1.8° at -Mmax and +1.8° atMmax independent of the step resolution and 2, 3or 5 phases (!!!) (in case of a rotor with 50 teeth)Practically in most applications there can be achie-ved between 0.1 ° and 0.9° accuracy of positioning(in case of sufficient step resolution of the control),depending on the mechanics (friction, etc.) and thecalcukation of the motor.

General specifications of STÖGRA Stepping motor amplifier boards:Q All boards can be configurated easily via solder bridges (e.g. selection of step angle, signals Low/High-active or activating of

phase current reduction)

Q The integrated control of step angle in series SE ... E50 V.. together with a stepping motor with mounted encoder E50 enables the evaluation of a mechanical overload (synchronous running interrupted) at the stepping motor. Therfore the load angle of thestepping motor is controlled.

Q LEDs enable quick and easy diagnostics of error and status. During operation the status of the phases is displayed by four red LEDs. An electrical error - short circuit (motor phases), over temperature (amplifer) or undervoltage - is displayed by a yel-low LED. At series SE ...E50 V1 a mechanical error (exceeding of the max. load angle e.g. in case of mechanical overload atthe stepping motor) is displayed by another yellow LED.

Q Error signals respective a ready signal can be used externally via a potential free output.

Q STÖGRA power amplifier boards are plug compatible to each other, also to former series SE 11 ...60 and SE ...120. Series SE ...E50 V1.. is compatible to the former series SE...E50 and SE...E50D. Series SE...V1.. is compatible tothe former series standard series SE... (e.g. SE 400.06.60) and to series SE...B2.

General function principle - Step resolution and max. load angle (accuracy of positioning)

vector after

1. full step

vector after

2. full stepvector after

3. full step

part phase 1

part phase 2

phase 1

zero position

full stepelectrical 90°mechanical 1.8°phase 2

quarter stepelectrical 22.5°mechanical 0.45°

micro stepelectrical e.g. 4.5°mechanical e.g. 0.09°

half stepelectrical 45°mechanical 0.9°phase 2

phase 1

zero positionphase current at half step(400 steps/rev.)

phase current at micro step(12800 steps/rev.)

ϑ

t

t

Ι

Ι

Md

ϑ = 1,8° ϑ = 0.9°

ϑ = 0.45°

ϑ [°]

zero-position

zero position after

1. full step

zero position after

2. full step

zero position after

half / full steps

1.8 3.6 5.4

M[Nm]

Mmax

Md

Mmax

ϑ

ϑ [°]-3.6 -1.8 0 1.8 3.6 5.4 7.2

Switching onwards the stator field shown in aload angle - operating torque - diagram :

Load angle: Excursion . . of the rotor in reference to the zero position determinedby the stator field, in case of a torque Md at the motor shaft

A stepping motor having 50 teeth on the rotor surface (motor with 50poles) produces every 7,2° (mechanically) a stabile position (zero posi-tion) at motor stand still - regardless the number of phases (2, 3 or 5phases)! The zero position is determined by the stator field.The stator field is moved from the power amplifier »step by step« andthe rotor follows the stator field. In case of big steps (full step - 200steps/rev. , half step - 400 steps/rev.) and low speed the motor is run-ning rough with strong vibrations. Smaller steps result in smoother run-ning. At high step resolutions (e.g. 12800 steps/rev.) there will be a verysmooth true running without vibrations.

Switching onwards the stator field - shown in a field-vector-diagram :

5 STÖGRA Stepping motor controls

6 Stepping motor control amplifier board series SE...V1 and SE...E50 V1

General notesQ Control of 2-phase-stepping motorsQ Compatible with STÖGRA and Zebotronics standard amplifier boards series SE ...., SE ... E50, SE ... E50 D..Q Supply voltage - nominal voltage : 24 VDC to 240 VDCQ Phase current range 0 A/phase - 14,5 A/phaseQ Boards SE ... E50 V1.. with integrated load angle control

- together with Zebotronics E50 encoder (50 impulses per channel and revolution) at the motor( also available SE ... E200 V1.. for HP H200 encoder - 200 impulse per channel and revolution)

Q Protection against shortcircuit, overtemperature and undervoltageQ Via solder bridges adjustable step angles: 200, 400 , 500 , 800 and 1000 steps per revolutionQ EMC according to EN55011 class B and EN50082-2

Versions - connector system and signal level of the inputsQ SE ... E50 V11 : Encoder connections via 9 pole D-Sub, all other signals and connections via 32 pole male connector

(DIN 41612 type D) and SPS(PLC)-input signal levelQ SE ... E50 V13 : Encoder connections via 9 pole D-Sub , all other signals and connections via 32 pole male connector

(DIN 41612 type D) and TTL-input signal levelQ SE ... V11 : All signals and connections via 32 pole male connector (DIN 41612 type D) and SPS(PLC)-input signal levelQ SE ... V13 : All signals and connections via 32 pole male connector (DIN 41612 type D) and TTL-input signal level

32 - pole male connector

DIN 41612 type D

4A per phase

6A per phase

8A/12A per phase

160

172

182

46 3

4 19

19

90

100

heat sink

depending on

phase current

(1A and 2A

without

heat sink

9-pole D-Sub

only for "E50"

yellow LED:

mechanical error

(for"E50")

4 res LEDs:

state of excitation

phases I and II

yellow LED:

electrical error

potentiometer

type label

Dimensions series SE... V11/13

SE 400.04.85 V13 SE 400.04.85.E50 V13

X = marker closed0 = marker open

W1 W0 steps/rev. steps/rev.

0 0 800 200

0 X 400 400

X 0 1000 -

X X 500 -

L

H R W0 W1 M F

Selectable adjustmentsAll adjustments can be made via(marked) solder bridges on the rearsi-de of the logic board.

marker denotes

R open: automatic current reduction 50% standstill closed: no current reduction

W0,W1 step angle adjustment (see table below)

L-H L open, H closed: input signals HIGH - active (The rising edge of the pulse signal is significant)L closed, H open: input signals LOW-active(The falling edge of the pulse signal is significant)

! Attention: Don’t close L and H ! ( short circuit! )selectable adjustments series SE ...V1.. / SE ... E50 V1..

Automatic current reduction( marker »R« open ) The phase current - adjustable via potentiometer- is set for nomi-nal operation. If marker »R« is open, the phase current will bereduced by 50% at standstill of the motor. The first pulse increa-ses the phase current again to the adjusted nominal value. Atactive Reset input, the current reduction will be disabled.

SE 400.01.85 V13SE 400.02.24 V13

SE 400.08.120 V13 SE 400.12.120 V13

Dimensions

Step angle adjustments SE 400... V1. SE 200... V1.

Output signalsSE ... [E50] V11 and SE ... [E50] V13 :Ready signal: Indication of an electrical error or a mecha-nical error (at SE...E50 V..). In non error state the relay contact is closed.

Current adjustmentEx factory the amplifier board is set to nominal current. Via the potentiometer at the board frontside the phase current can beadjusted (the board must be in Reset state -> input signal Reset is set or power-ON Reset -> only LED "0" is lightning (see figurebelow). The voltage between measuring point B and point GND is proportional to the phase current (see table below)

SE ... E50 V11 and SE ... E50 V13

UB and UM+ 5%

(Nominal) supply voltage [VDC]

24

60 u. 85

120

240

UB [VDC] (motor enabled)

18

43

50

120

UM [VDC]

16

32

38

100

(motor current ON)

Supply voltage (working range)

electrical error/

mechanical error

a12

c12

ready signal

-electrical error / mechanical error

potential free contact

I = 100 mA

U = 50 VDC

Output circuit SE...V11 / SE...V13 and SE...E50 V11 / SE...E50 V13

SE ... V11 and SE ... V13

signal input

680 pF

4K7

4K7

L

H

1 1

direction

pulse

0V

0V

> 5µs > 5µs

13

,5 -

30

V

13

,5 -

30

V

max. 7V

max. 7V

pulse

direction

0V

0V

> 5µs > 5µs

3,5

- 2

4V

max. 1V

max. 1V

3,5

- 2

4V

signal rise time max.: 1µs , signal fall time max.: 1µs , frequency pulse max.: 45 KHz

Input signalsBoost: Increases the phase current by 20%.

Disable: Switches off the phase current.Reset: Sets the unit in zero position - phase zero. A pulse signal is ignored and errors are reset.

Direction: Controls the motor direction.Pulse: With every pulse the motor will execute one step.

Step angle: Divides the step resolution by two from 1000 or 800 to 500 or 400 steps per revolution. The input is always LOW-active - works only with open marker W0.

Specification ofother input sig-

nals is as »direction«

Input signals e.g.: HIGH-active Input signals SPS - V11 Input signals TTL - V13

Working range [VDC]

20 - 36

50 - 85

60 - 120

130 - 240

[A/Ph]1

0,751.4

%100%50%

measured voltage

300 mV150 mV

[A/Ph]42

5.6

[A/Ph]63

8.4

[A/Ph]126

14.5

[A/Ph]84

11.2

measured voltage 267 mV133 mV

Nominal phase currentTyp

1 A/Ph.SE ...01...

4 A/Ph.SE ...04...

6 A/Ph.SE ...06...

12 A/Ph.SE ...12...

8 A/Ph.SE ...08...

max. adjustable current

[A/Ph]21

2.8

2 A/Ph.SE ...02...

adjusted phase current



direction

step angle

boost

disable (phase current off)

reset

pulse

voltage supply

phase 1

phase 2

output ready signal

potential free contact

open: error (electr. or. mech.)

closed: no error

GND

c a

2

4

6

8

10

12

14

16

20

18

22

24

26

28

30

32

step motor withencoder E50

connection to motor body

rack / switch cup board with power amplifier board

1

2

3

4

+ B_

BA A__

shie

ld

6

1

7 8 9

2 3 4 5

cin connection

1 A

2 +5VDC

3 not connected

4 shield

5 B

6 A_

7 not connected

8 GND

9 B_

Connections

Technical specifications

200 400 500 800 1000

steps per revolution

nominal current per phase [A]

01 02 04 06 08 12

nominal voltage supply [VDC]

24 60 85 120 240

1

3

V1

E50

level input signals: TTL

EMV - design version 1

option:

integratet control of

step angle E50

SE . . [ ] V1

level input signals: PLC(SPS)

Available versions: Example: SE 800.06.120 E50 V14 or SE 1000.04.85 V13

Protection of the device

Protection IP 00Protection against shortcircuit, overtemperature and undervoltage

Weight

Nominal current 1 A/Ph 2 A/Ph 4 A/Ph 6 A/Ph 8 A/Ph 12 A/PhWeight 0,2 Kg 0,2 Kg 0,52 Kg 0,77 Kg 1,1 Kg 1,1 Kg

Ambient conditions

Ambient temperature : 0°C to 50°Cmax. heat sink temperature : 85°CForced draft : for amplifier boards with nominal current 8A and 12A

Noise immunityIn case of correct installation:according to EN50082-2: - at V13 (TTL-level) the signal inputs

are not immune to fast transients (burst)

Noise radiation

In case of correct installation and shielding or/and filtering of the lines and signals according to EN55011 class B

Limitation in possible combinations 01 A only with 24 VDC and 85 VDC , 02 A only with 24 VDC , 240 VDC only with 08 A and 12 A

Q Step resolution adjustable from 200 to 12800 steps / rev. and externally switchable

Q Excellent truth micro stepping over the entire velocity range

Q Electrically and mechanically compatible to standard amplifier (SE 11... , SE... , SE...V13..)

Q Shortcircuit, overtemperature and undervoltage protected

Q Voltage range from 24 VDC to 240 VDC

Q Current range from 0 A / Ph. to 14,5 A / Ph.

Q Constant torques for all pre-selected resolutionsSE P05 Mikroschritt

Adjustments via solder bridges on the rearside of the control board:

marking denotes

S0 Phase current characteristics

C0 - C3 selection of step angle ( see table above )

S0, C4 internal functions

W activates row »Pin a2 active« of above step angle table Pin a2 (external switching of step angle) is deactivated

SPS open: "TTL"- input levelclosed: "SPS"- input level (PLC signal level)

R automatic current reduction (see SE...V1... page 6)

L offen : Signale High-Aktiv - geschlossen Signale : Low-Aktiv

S0

S1

C0

C1

C2

C3

C4

W

SPS

R

L

selectable adjustments

Step angle adjustment on the board Different step angles can be selected via the markings C0, C1, C2 and C3. With the input »step angle« (Pin a2) the step anglecan be switched externally between two values (marker »W« must be open!). During motion, switching the step angle is possiblewithin the motor start-stop-frequency (when changing simultaneously the pulse frequency and step angle - at any frequency).

marker for step angle selectionX = marker closed, else = marker open

steps / revolutionResolution switchable externally - PIN a2

C3

XXXXXXXX

not active

2000

25003200

4000

5000

8000

10000

12800

active

200400500800400800

1000500

1000800

2000400

10002000800

1600

C2

XXXX

XXXX

C1

XX

XX

XX

XX

C0

X

X

X

X

X

X

X

X

There are availablemore step angles !Please ask at oursales office.

nominal

phase current

[A]

01

02

04

06

08

12

nominal

voltage supply

[VDC]

24

85

120

240

SE P05. .

Available versions: (e.g.: SE P05.06.85)

Sonstige Daten :Abmasse,Eingangssignale,Ausgangssignale,Stromeinstellung,Versorgungsspannung,Technische Daten wie SE ... V11/V13

Limitation in possible combinations 01 A only with 24 VDC and 85 VDC , 02 A only with 24 VDC , 240 VDC only with 08 A and 12 A

9 Series SE P05 - Microstep

10 STÖGRA power supplies

3

20 ca

. 9

53

00

150

235

40

0

3

20 c

a. 9

5

designation field

designation field

Power supply key:BExample: The order number of a power supply with output 120 VDC and 500 VA power is NT 500.120Power supplies for 115 VAC 50/60 Hz mains supply are available, too.

power supply

power [VA]

350

500

1000

24

36

60

85

120

output voltage

[VDC]

NT

NT 1000...

NT-power supplies are non stabilized voltage supplies - fixed on an aluminium-mounting plate.A couple of control amplifier boards can be supplied by one NT-power supply.The calculation of a power supply depends on the used motors - by taking into consideration the maximum load current (which alsodepends on the motor speed).

NT 350...NT 500...

Type Power Input Output

NT 350 350 VA 230 VAC 50/60 Hz 24, 36, 60, 85 or 120 VDC

NT 500 500 VA 230 VAC 50/60 Hz 24, 36, 60, 85 or 120 VDC

NT 1000 1000 VA 230 VAC 50/60 Hz 60, 85 or 120 VDC

In standard version a 120 VDC power suppliy includes a 60 VDC and a 120 VDC output.

Dimensions NT

Power supply NT500.120

Front panelsSEF-Frontpanels for mounting 19 ’’ units (3 HE) are available for all STÖGRA power amplifier boards.In addition to the optical board function control there are two further functions on the front panel for easy adjustments.

Q The adjustment of the motor current can be made direct on the front panel.Q Simultaneously the motor current can be measured at two sockets.

power amplifier board

frontpanel for

4A power amplifier

6A power amplifier

frontpanel for

8A power amplifier

12A power amplifier

173,5

11,6

315

10

0

3,25 320 5,35

12

93

,25

45,7

60,7 81

66

Fehler

Phase 0

1

2

3

Fehler

Phase 0

1

2

3

10

10

V V --

192,5 B52,5

36

16

0

11

6,6

Board holder KHD 32Q Comfortable mounting of power amplifier boards series SE... and position controls series SERS... in a switch cabinetQ Suitable for all STÖGRA power amplifier boards and position controls until 12 A, with 32-pole standard connector.Q Automatic lockingQ Easy mountingQ Easy exchange of boardsQ Adjustment of current and LED indication (for power amplifer boards SE...) are not covered and easy accessibleQ Ideal for test operationQ All connections via screw terminals

Front panel key:Add a »F« to the type designation of the chosen control amplifier board.Example: The type designation of a SE 400.06.85 V13 with front panel will be SEF 400.06.85 V13

Dimensions board holder - with power amplifer board

DimensionsPower amplifer board with front panel

Board holder KHD32 with SE Board holder KHD32 with SERS

11 STÖGRA front panels and board holder

12 STÖGRA panel mount / 19 inch - systems series ELK / ELR

ELK-panel mount system ELR-19 inch rack

transformator

350/500VAC

power supply board

SERS... / SE... SERS... / SE... SERS... / SE...

optionally with ventilator board

The panel mount / 19 inch rack system series ELK/ELR is a mains ready single or multiple axis stepping motor control which canbe mounted e.g. in a switch cabinet and can be connected easily via screw terminals. ELK/ELR-systems include plug ports forSTÖGRA amplifier boards series SE...[E50] V11/V13 with 32-pole connector VG (DIN 41612 type D) or position controls seriesSERS. Each power amplifier plug port additionally includes a plug port for a ventilator. In that way ventilators can be installed easily alsoafterwards.All connections (mains, motor and control signals) are via screw terminals. ELK/ELR racks are available with and without integrated power supply (connection to 230VAC/50Hz - also available for 115VAC/60Hz).All ELK-/ELR-racks with power supply include in standard version a second (galvanical isolated) 24VDC output.

230VAC / 50Hz

ELK SE...

Stepper motor

feed back

ready signal

control signals

pulse, dirction,...

PC

PLC

NC

ELK... front side

ELK... with SE...front side

230VAC / 50Hz

ELK SERS...

Stepper motor

RS232RS485Profibus-DPCANopenSERCOS

PC

PLC

NC

RS232

5I/O

ELK... with SERS front side

ELR... front sideELR... rear side

Other versions for ELK- and ELR-racks:Q Less plug ports than physically possible in the rack R e.g. ELR4.n.u.1 (ELR4.350.60/24.1)

R 19 inch rack ELR4 with power supply and only 1 plug port for SE or SERSQ External connections for motor voltage supply option "E" also for ELK-/ELR-racks with power supply

R e.g. ELK4.500.85/24/E.3 A3for the common voltage supply of multiple ELK-/ELR-racks via one power supply of one ELK-/ELR-rack

Q ELR-rack ELR1, ELR2 and ELR3

ELK .. S for SE ...01... and SERS ...01...S (boards with max. 1,4 A / 85 VDC or 2,8A / 40 VDC - phase current / voltage supply)

ELK and ELR for SE... or SERS...


ELK1.u/E.1...1 axisext. supplyventilator optional


ELK2.n.u.1...1 axiswith power supplyventilator optional

ELK3.n.u.2...2 axiswith power supplyventilator optional


ELK4.n.u.3...ELR4.n.u.3...3 axiswith power supplyventilator optional

ELK4.u/E.4...ELR4.u/E.4...4 axisext. supplyventilator optional

ELK4.n/E.5...ELR4.n/E.5...5 axisExt. Einspeisungno ventilators possible

ELK1.24/24.2 S2 axisext. 24 VDC

ELK2.u/E.3 S...3 axisext. supply

ELK2.24/24.4 S4 axisext. 24 VDC

ELK3.n.u.3 S...3 axiswith power supply

ELK3.u/E.5 S...5 axisext. supply

ELK4.n.u.5 S...5 axiswith power supply

ELK4.u.5/E.8 S8 axisext. supply


A

8.15

10

.3 x

6.8

57

.15

13

2.5

15

7192

B

L1 N PE

PE

GND (24 VDC)

GND (VCC)

PE 1 2 3 4

phase 1 phase 2

screw terminals

SE...

5 ready signal (+)

6 pulse

7 disable limit

8 step angle

9 GND

10 24 VDC

11 ready signal (-)

12 reset home

13 boost limit

14 direction

15 GND

16 24 VDC

SERS

ready signal (+)

STOP switch

switch right

opto GND

GND (24VDC)

24 VDC

ready signal (-)

switch

switch left

service switch ext.

GND (24 VDC)

24 VDC

B

A

8.15

10.3

x 6

.8

57

.15

13

2.5

185

205

4847464544

4342414039383736353433

3231302928

161514131211

1098765

4321

2726252423222120191817

NL1PE

PE0V (24 VDC)0V (60 VDC)

+ VDC0V GND

interface for SERS

with option R4 or R5

connection RS232

R 9-pole D-Sub-

connector

I/O-signals for SERS with

option R1 or R2

Pin 1Pin 4Pin 6Pin 7

24 VDCVCC OUTGND OUT

GND (24 VDC)24 VDC

GND INGND (24 VDC)

ADC negADC pos

I1

I/O-signals

Pin 2Pin 3Pin 5Pin 9Pin 8

O4O3O2O1I8I7I6I5I4I3I2

161514131211

1098765

4321

phase 2 -phase 2 +phase 1 -phase 1 -

connection SE...

5 ready signal

6 GND (VCC)

7 pulse

8 boost

9 step angle

10 GND (24 V)

11 ready signal

12 GND (VCC)

13 direction

14 disable

15 Reset

16 +24 VDC

SERS

GND (VCC)

STOP

limit switch right

Opto-GND

GND (24V)

GND (VCC)

home switch

limit switch left

service switch

+24 VDC

ELR dimensions and connections

ELK dimensions and connections

A B

ELK 1 147 110

ELK 2 270 233

ELK 3 376 339

ELK 4 483,5 446,6

A B

ELR 1 147 110

ELR 2 270 233

ELR 3 376 339

ELR 4 483,5 446,6

PC

ELK4.350.85/24.31

RS2321:1 cable

SERS SERS SERS

PC

RS2321:1 cablel

ELK.350.85/24.312

ELK4.350.85/24.31

Option S: Small plug ports for SERS ... S position controls or SE 01.85 .. / SE 02.24 ... power anmplifier boards.Option V: For the use with SE ... power amplifier boards (type designation without "V" for the use with SERS-position controls)

Covers of ELK / ELR racks:Upside and down side: Aluminium plates with ventilation slots.Rear side: ELK-racks with 10 mm plastics plate - ELR-Einschüben with 1 mm plastics coverFront side: SERS-boards in standard version with front panels - SE-power amplifier boards without front side panels

Option "I" for ELK (for SERS with RS232):Common interface connection for allSERS in a ELK-rack - when connectingan ELK-rack with SERS units to onecommon RS232-interface of a control.Connection PC-ELK via a 1:1 cable. The SERS boards must be ordered withoption R4 or R5.

Option "I2" for ELK (for SERS with RS232):2 common interface connections for all SERSin a ELK-rack R RS232 - input and outputwhen operating multiple ELK-racks with SERSat one common RS232-interface of a control.Connection PC-ELK-ELK is via 1:1 cabel.SERS boards must be ordered with optionR4 or R5.

Option "P" for ELK or ELR for integra-ting a SERS-Programmer into the rack(at front side) - the SERS-Programmermust be ordered seperately.When using ELK-racks the SERSboards must be ordered with option R4or R5, when using ELR-racks the SERSboards need option R1 or R2.

panel mountageELK

19 inch rackELR

K R

1 2 3 4

size / version see page 14/15

350 500

power supply VA

internal voltage supply VDC

24 60 85 120

optioncommoninterface

quantilyinstalled

ventilators

quantilyplug portsSE / SERS

1

2

3

4

5

1

2

3

4

2

P

EL .[ ]. /24. [A ] [ ] [s][V]

Weight: Typ ELK/ELR with power supply ELK/ELR without power supplyweight 6,2 - 7 kg 1,8 - 2,6 kg

(depending on version)

ELK2.350.85/24.1 P with SERS ... R5 and Programmer

Ordering examples: ELK2.350.85/24.1 VELK3.500.120/24.2 A2 IELK3.60/24/E.5 I2 SELR4.350.85/24.3 A3 P

ELK type key

Technical specifications:

class of protection IP20


16 Position control - series SERS

SM 1

ELK/ELR

PC/NC

230VAC/50Hz

sensors/limit switches/

RS232

I/O

SM 1

NT...

230VAC/50Hz 120VDC

ELK/ELR

Profibus-DPCANopen

RS485RS232


I/O

SM 2

SM 2

The stepping motor position control series SERS controls 2-phases stepping motors. A unit consists of a power amplifier, amicrostepping power amplifier control and the position control. The comunication with the position control is made via an interfaceRS232C/V24, RS485, Profibus-DP, CANopen (DSP 402) or SERCOS.The SERS guarantees an optimal, free of vibrations true running due to its microstepping operation with 12800 steps/revolution andthe possibility to select different phase current characteristics to match the characteristic of the used stepping motor type. The roughstep by step operation of conventional stepping motor drives at low speed ranges has been improved extremely by the SERS to avery smooth running (comparable with servo motors). In standard version the SERS can be operated in four different modes:

SM 1

230VAC/50Hz


I/O

SM 2

NT350.24

24VDC

SERS 2

SERS 1

KHD32

optionallywith operation panelSERS Programmer

Operation with SERS - slaves as independent working axis, with storedoperational programs, controlled by events at the digital inputs - e.g.manual start switch, limit switch, light barriers.

Operation with PC/PLC/NC as higher order control (master)and communication via a fieldbus / serial interface withSERS-Slaves

Serial operation

Standalone operation

ACDC

inputsoutputs

inputsoutputs

inputsoutputs

SERSslave 1

SERSslave 2

SERSslave 3

SMSMSM

RS232/RS485/Profibus-DP/CANopen

PCSPSNC

ACDC

inputsoutputs

inputsoutputs

inputsoutputs

SERSaxis 1

SERSaxis 2

SERSaxis 3

SMSMSM

~

~

SM 1


I/O

ELK/ELR

230VAC/50Hz

max. 6 adress lines+ 1 start per axis

1: X 10, Y 35, Z 22: X 120, Y 0, Z 45

max. 64differentpositionsper axis

SM 2

SM 3

77

7

( )

SM 2

SM 1


ELK/ELR

230VAC/50Hz

NT...

85VDC

I/O

SM 4

SM 3

SM 5

Operation with a PLC/NC or simple switches as higher order control,which call and start different operational programs in the SERS viathe digital-parallel inputs (binary mode). Up to 64 different operationalprograms per SERS can be called.

Operation with a SERS as higher order intelligent control (mas-ter),which controls other SERS - slaves via the serial interface.

No other ( higher ranking ) control necessary !

Parallel operation Master operation


ACDC

inputsoutputs

inputsoutputs

inputsoutputs

SERSslave 1

SERSslave 2

SERSslave 3

SMSMSM

PCSPSNC

1 start6 address lines



~AC

DC

inputsoutputs

inputsoutputs

inputsoutputs

SERSmaster

SERSslave 1

SERSslave 2

SMSMSM

RS232~


Power amplifer:Q excellent truth running because of microstepping operation at 12800 steps/revolution and four different phase current

characteristics, which can be selected for matching different stepping motor types Q phase current 0 - 1.4 A/phase (SERS 01), 0 - 8.4 A (SERS 06) and 0 - 14.5 A (SERS 12) – programmable via interface Q power supply depending on version from 24 to 240 VDCQ protection against short circuit, over temperature and under voltage, additional pre-warning of temperature and under voltage

Inputs and outputs:Q 8 digital inputs, configurable low-/high-active (pull up or pull down input resistors), TTL (5V) or PLC (24V) - signal levelQ 2 limit switch inputs and 1 home switch input and 1 STOP switch input – optoisolated for 24 VDC signal levelQ 4 digital outputs, each max. 500 mA / 24 VDC – optoisolated for external 24 VDC supply and protected against short circuitQ 1 potential free output - relay max. 100mA / 24 VDC - usable e.g. as ready signalQ 1 analogue input - 8 Bit, 0 - 5 VDCQ Optional I/O - extension : additional 8 digital inputs and 12 outputs (each max. 100mA / 24VDC)

Optionally step angle control / connection of hand wheel

Q control of motor step angle, together with a two channel encoder (signals A, _A ,B,

_B) mounted on the motor - 5VDC or 24VDC encoders

Q closed position loop - lost steps (because of mechanical overload at motor) can be corrected - encoder controls real motor positionQ connection of a hand wheel (with two channel encoder signals), via the optionally encoder evaluation logic or via two digital standard inputs

Interface:Q RS232C/V24 ( standard-PC COM-interface), with or without hardware handshake (selectable by software)Q optional RS485, Profibus-DP and CANopenQ via DIP-switch adjustable baudrate from 2400 to 38400 Baud (RS232) and drive adress from 0 to 127 Q Profibus-DP with baud rate until 12 MBaud , a GSD-file is provided , CANopen with baud rate until 1 MBaud , a EDS file provided

Structural shape and connections:Q euro card format (100x160), front panel and 32 pole connector (DIN 41612) for mounting into 3 HE 19 inch systems

(e.g. ELK-/ELR-systems- see pages 12 until 15) Q motor leads, power supply, connections for limit and home switches via 32 pole connector, or via screw terminals

in case of using ELK / ELR - panel mount / rack – systems. Q digital inputs and outputs via 25-pole D-Sub female connector or optionally via additional 32 pole connector (DIN 41612) - in case of

using an ELR rack system and the SERS with additional 32 pole connector, the I/Os are connected to spring terminal blocksQ interface via 9-pole D-Sub connector or optionally via 32 pole connector (DIN 41612)

- if using ELR racks also available via spring terminal blocks

Position control:Q communication by sending and receiving ASCII characters via the interface (RS232, RS485)Q simple and easy understandable syntax for all standard commands and parameters (see table on next page)Q �programming of operational programms similar to BASICQ 3 different kinds of scaling selectable for all position, speed and acceleration dates

((incremental e.g. 5000 steps, rotational e.g. 1000 rpm and linear e.g 20 mm/min)Q Velocities from 0,12 until 10000 rpm (stepping motor usable until max. 1000 - 4000 rpm, depending on motor and supply)Q acceleration from 2 until 15600 U/s2 and linear, exponential or sinus acceleration characteristicsQ 2 KByte E2Prom-memory (depending on program up to 300 lines, optionally 8 KByte for up to 1200 lines) for

storing an operating program in standalone mode and master-slave mode or for storing programs in the parallel modeQ backlash function for using e.g. gears, or spindles with backlashQ arithmetical operations: +, -, * , /, AND, OR, EXCL-OR, NOT, NEG - usable with alle SERS parameters

1 acumulator for calculating and 6 free usable registersQ all SERS parameters can be programmed and changed anytime in an operational programQ more functions for an operational program: program jumps, »if« command (e.g. for executing commands

depening on inputs or drive status), delay function, counters (e.g. for creating loops), subroutines, and many more...Q parameters gear factor and feeding constant for linear value assignement of position, speed and accelerationQ positioning with velocity profiles = positioning with different velocities within the positioning operationQ manual drive functions - hand control via the digital inputs or commands via the interface - with variable velocityQ diagnostics - all errors and warnings can be requested any time via the interfaceQ selection of language for the communication with the SERS (e.g. error messages and parameter designations)

- german or english

Typical standard commands in the serial operation mode:

- ON switch on motor current

- OFF switch off motor current

- V=1000 set motor velocity to 1000 (depending on adjusted scaling - e.g. rotational 1000 rpm)

- W=100 set position command value to 100 - e.g. 100 mm in case of linear scaling

absolute position in case of absolute positioning or distance in case of relative positioning mode

- E start positioning / execute positioning job - the drive starts positioning to the set position command value

- S stop

- POS? request to the SERS, if the motor reached its position - the SERS will return “POS = 0” or “POS = 1”

Software for programming a SERS via a PC:A free programming software in DOS-version and Windows-version(Win95/98/NT/2000) is provided via floppy disc and also can be downlo-aded from the internet.Additionally to the manual (pdf-file on floppy disc) an online help (win-dows help file) with explanations of most of the SERS-functions is inclu-ded in the delivery of a SERS.When opening the online help during running the programming software,the corresponding explanations will be displayed directly.

Programming a SERS with RS232-interface via a PC or the SERS-Programmer

Example operational program (e.g. standalone mode)

1: L1 program label L1 (program label for jump commands)

2: WAIT I1=1 wait until input I1 is set

3: O1=0 output O1=0

4: W=55 E position command value = 55 and start positioning (‘E’ = execute)

5: W=10 position = 10

6: IF I2=0 E If input I2 is not set, then start positioning

7: O1=1 output O1=1

8: GOTO 1 Jump to program label L1

SERS-Programmer:Q Low cost programming device - e.g. in case no PC is available.Q Easy to use operation panel e.g. for changing parameters or

program lines in a production plant

Special characteristics of the SERS-Programmer:Q The key pad with integrated display is an optimal solution especially

for dirty environments (front side of the SERS Programmer is IP 65)Q The 3 different key levels are clearly marked by colorsQ Possibility to lock or enable certain parameters and program lines

via a passwordQ Any text to be displayed with the parameters to be changed can be definedThe SERS Programmer is avaliable with housing as external program-ming device, or for integrating into 19 inch systems ( e.g. ELK-racks )or any operation panel.

SERS Programmer Rfor integrating into anyfront panel or 3-HE racks (e.g. ELK/ELR systems)

SERS Programmer as external programmingdevice with plastics housing

SERS programmiing-software (Win95/98/ME/NT/2000)included in standard version

D U R C H M E S S E RW = 1 0 0L A E N G ER 1 = 7 2


16 bit µ-controller

E2 PROM

parameter

operstional

programm

I/O-port

8 digitali nputs

1 ADC (8 Bit, 0 - 5 VDC)

4 digital outputs

(500 mA)encoder-

input

I/O-port 2

8 digitale

inputs

12 digital

outputs

(100 mA)interface

limit switches

stop switch

home switchmotor-

connection

PO

WE

R A

MP

LIF

IE

R

RAM

SERS-logic

246810

12

14

16

18

20

22

24

26

28

30

32

c a

5 4 3 2 1 5 4 3 2 1 1 2 3 4 5 6 7 8 9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

1 2 3 4 5 6 7 8 9

10

11

12

13

9 8 7 6 9 8 7 6 14

15

16

17

18

19

20

21

22

23

24

25

SERS block diagramm

control wordBit 0: SLOW_LEFT JogBit 1: SLOW_RIGHT JogBit 2: FAST_LEFT JogBit 3: FAST_RIGHT JogBit 4: HOMINGBit 5: PHASE_CURRENT_ONBit 6: STOPBit 7: START_PROGRAMBit 8: START_POSITIONINGBit 9 - 12: Outputs O1 until O4Bit 13,14: Reset warnings / error

SERS with Profibus-DP interface - protocol:

operation code and operandinput of parameters (operation code= SERS-parameter number andoperand = value), starting of arequest of a parameter value andwriting of operational programms

status wordExplanation of the single bits:- motor phase current is on- error- warning- handshake (Operation code executed)- motor in position (after a positioning job)- load angle error (at encoder version)- excession of software limit switch- operational program is aktive- homing procedure finished succesfully

SERS with CANopen interface:General (e.g. communication) parameters with index numbers until 0x1000 : according to "CiA Draft Standard 301" (Application Layer and Communication Profile) from "CAN in Automation e. V."Q standard parameter of the "CANopen Device Profile for Drives and Motion Control" ab Index 0x6000"CiA nach Draft

Standard Proposal DSP-402"Q 11 Bit identifier usedQ PDOs - Receive (3 x controlword (6040) ):

1. 16 Bit / 2. modes_of_operation (6060), 8 Bit / 3. target_position (607a), 32 BitQ Transmit PDO: statusword (6041), 16 Bit / position_actual_value (6064), 32 Bit

LIMIT_SWITCH_DIGIN (2420), 16 Bit (Limit switches and digital inputs I1 to I8)Q Positioning modes (“modes_of_operation" (6060) ) : 1 "Profile Position Mode" and 6 "Homing Mode"

Output section control word (2 Byte) operation code (2 Byte) operand (4 Byte)

Input section status word (2 Byte) result of parameter value request (4 Byte) actual position (4 Byte) inputs (2 Byte)

Diagnostics error (2 Byte) warnings (2 Byte) error no. (1 Byte - code for more than 100 detailed error messages)


Option E50 encoder connectionThe SERS-stepping motor control is available optionally with encoder input (SERS...V02 E50).2-channel encoders (A, B and A

_, B

_) with any resolution (e.g. 2 x 50 impulses/rev. or 2 x 1000 impulses/rev.) can be connected.

The SERS... V02 E50 includes 2 different encoder signal inputs:

Q Encoder input 1 (9-pole D-Sub female connector at the SERS-front panel):The signals are evaluated 4 times (with recognition of direction). Out of the signals of e.g. a 1000 puls encoder there are created 4000 increments. The signals pass a RS422-input circuit and analogue and digital filters.This guarantees a very high level of noise immunity.The encoder input can be used for the control of step angle (with complete correction of lost steps after a mechanical overload at the motor - correction of actual position or driving to the target position with lower velocity) or for connecting a hand wheel or an other motor (with encoder output) for realizing an electrical master-slave motor system.

Q Encoder input 2 (inputs I3 and I4 of the digital inputs):Signals A and B are evaluated 4-times (no evaluation of the inverted signals) . This encoder input can be used for realizing a hand wheel function respective a electrical master-slave function.

load angle control

encoder

step motor

phases

SERS...E50

ENC

Control of load angleThe signals of an encoder mounted at the stepping motor are connected to theSERS. Die SERS compares the position created by the encoder signals with theinternal actual position command value. If the difference between both values is to big (difference value adjustable), thenan error message (or warning - selectable) will be created and the motor willimmediately decelerate until stop (if error is preselected).

Correction of position (closed loop)After a load angle error the lost steps can be corrected (driving with homing velo-city to the position command value / target position) or position command value isset to the real actual motor position (given by the encoder).

Hand wheel function / electrical master slave functionThe signals of a hand wheel or of an encoder mounted on another motor or anyother rotating shaft are connected to the SERS. The SERS (respective the motorcontrolled by the SERS) follows these encoder signals. The relation between thenumber of encoder signals (movment of the handwheel / other motor / shaft) andthe movement of the stepping motor (controlled by the SERS) can be adjusted.

Load angle control and hand wheel function / electrical master-slave functionTo encoder input 1 the encoder of the controlled stepping motor is connected anda control of load angle is realized.To encoder input 2 the encoder of the hand wheel / other motor / shaft is connec-ted. The stepping motor follows the signals at encoder input 2.

Pulse inputEncoder input 1 and encoder input 2 also may be used as pulse inputs.There are two possibilities:1. Signal pulse and signal direction2. Signal pulse in positive direction and signal pulse in negative directionThe movement (distance) related to one pulse can be selected via a parameter in the SERS.In case of a pulse chain with high frequency without ramp the pulses will be puf-fered in the SERS and the SERS creates the ramp with the preselected parame-ters acceleration “a” and maximum velocity “v”.

handwheel function / electr. master-slave

handwheel with encoder

encoder

motor

step motor

phases

SERS...E50

ENC

master axis

load angle control and

handwheel function / electr. master-slave

handwheel with

encoder

encoder

encodermotor step motor

phases

SERS...E50

I/O

ENC

pulse input

step motor

phases

pulse +

pulse -

or

pulsedir.

SERS...

I/O


SERS 01.24 V01phase current: 0 - 1,4 A/Phvoltage supply: 24 VDC- optionally SERS 01.85 V01

with 85 VDC


and SERS 06.120 V01 with24 VDC / 120 VDC


and SERS 12.240 V01 with85 VDC respective 240 VDC

SERS 02.24 V01phase current: 0 - 2,8 A/Phvoltage supply: 24 VDC

01 02 06 12

24 85 120 240

nominal phase current [A]

nominal voltage supply [VDC]

option encoder input

empty

RS485

PB-DP

CANopen

RS232

Profibus DP

only for SERS 01... and SERS 02...

smali front panel

K6

K12heat sink KR6 / KR12

for mounting in board holder KHD32

I/O-extension (8 IN + 12 OUT)

option connector

R1

R2

R3

R4

R5

SERS . V02[E50] [ ] [ ] [IO] [H] [K ] [S]

DIP-switch 1:

selection baud rate,

enable jog

und Pegel

level input signas

DIP-switch 2:

selection

drive adress

enable auto start

connector X1:

32-pole male connector

DIN 41612 type D

32-pole male connector

DIN 41612 type Dconnector X4:

inputs I1 until I8

analogue-input

outputs O1 until O4

connector X2

connector X3:

interface connection

RS232 / RS485 / Profibus-DP/CANopen

(depends on version)

indication

of status

reset switch

(short circuit)

50,8 for option S

encoder connection

(only for option E50)

160

SERS 06 / SERS 12KR 6KR 12

172

129

81

10

0

SERS 06 / SERS 12KR 6KR 12

ST

OE

GR

A

ST

AT

US

RS

23

2

I/O

SE

RS

06

V0

1

on

on

1

8

1

8

DimensionsOption H:SERS für Montage im Karten-halter KHD32 (siehe Seite 11)z.B. SERS 06.24 H K6 (Kartenhalter KHD32 muss seperat bestellt werden.

Ordering key (e.g. SERS 12.120 V02 or SERS 02.24 V02 E50 S or SERS 06.85 V02 R2 K6)

Connector optiones

connector type denotesX1 DIN41612 I/O + InterfaceX2 4-pole Interface (only RS232)X3 9-pole D-Sub InterfaceX4 25-pole D-SUB I/O

Wandmontagegehäuse mit Netzteil undEInschübe für SERS-Steuerungen R siehe ELK/ELR Seite 12 - 15

option / conn. X1 X2 X3 X4 denotesR1 x x for ELR-racks - I/Os + interface via connector X1+ interface via 9-pol. D-Sub at frontsideR2 x for ELR-racks - I/Os + interface via connector X1R3 x for ELR-racks - I/Os + interface via connector X1- without front panelR4 x x for ELK-racks with option “I” or “I2” or “P” - interface at rear side via X2R5 x x x for ELK-racks with option “I” or “I2” or “P” - interface at front side and rear sideohne Angabe x x standard version


Stepping motor power amplifier boards series SERC drive 2-phases stepping motors. A unit includes the power amplifier, the poweramplifier control and the position control with SERCOS-interface.SERC is connected to a SERCOS master via a fibre optical interface. The communication protocol is specified through the SER-COS- standard IEC61491. SERC accepts new position command values from the SERCOS master cyclically every 2 ms. Protocolcycle times (Tscyc) of 0,5 ms and 1 ms are supported.

SERCOS-interface and parameterQ All parameter of a class B - positioning drive are availableQ Additional S-parameters e.g. gear ratio Q Additional manufacturer specific parameters e.g. stepping motor phase current, current parameters (current reduction

at stand still, boost during accelerating), parameters for the optimal adaption to the stepping motor running profiles Q Via DIP - switch easy adjustable

Q drive address ( 1 - 254 )Q baudrate: 2MBaud or 4MBaudQ adaption of the fibre optical interface to different optical wave guide lengths

Power amplifier and structural shape:The dates of the SERC - microstepping, phase current, power supply and structural shape - are identical to the datesof the SERS (position control with RS232/485 interface) - see pages before.

Inputs and outputs:Q 2 limit switch inputs and 1 home switch input - optoisolated for 24 VDC levelQ 1 potentialfree output - relay max. 100mA / 24 VDC - usable e.g. as ready signal or for controlling a motor brake

Load angle control - option E50:Q Optionally control of load angle - input for an encoder type E50 (incremental encoder with 2 x 50 pulses/rev.)

via 9-pole D-Sub female connector at front panel - ordering key SERC with E50: SERC ... E50 V01 (e.g: SERC 06.85 V01 E50)

SERC-controls are available also in mains readypanel mountage and 19 inch systems in differentsizes (see ELK-/ELR-systems pages 12 - 15).Photo above: 2-axis-SERCOS panel mountagerack with 500 VA power supply and internal 85 VDC voltage supply.

Protection of device:

Q protection class IP00 ( ELK/ELR: IP 20 )

Q protection against short circuit, over tempera-ture and under voltage

Weight:SERS 01/02 SERS 06 SERS 12

0,37 kg 0,77 kg 1,1 kg

Ambient conditions:

Q ambient temperature: 0°C - 50°C

Q forced draft: necessary from 6A adjusted phasen current

Noise radiation:if correct installed according to EN 50082-2

Noise immunity:if correct installed and shielded linesaccording to EN 55011 class B

SERC 12.120 V01phase current: 0 - 14,5 A/Ph voltage supply: 120 VDC- optionally SERC 12.85 V01

and SERC 12.240 V01 with 85 VDC / 240 VDC

SERC 06.85 V01phase current: 0 - 8,4 A/Ph voltage supply: 85 VDC - optionally SERC 06.24 V01

and SERC 06.120 V01 with 24 VDC / 120 VDC

SERC 01.24 V01phase current: 0 - 1,4 A/Ph voltage supply: 24 VDC - optionally SERC 01.85 V01

with 85 VDC

Overview available versions:Specifications SERS / SERC

ELK 3.500.85/24.2

Zubehör zu SERS PositioniersteuerungenScrew terminal block for rail mountage with 25-poleD-Sub-connector for comfortable connection ofSERS input-/output signals via screw terminals Ordering key: KBDS25

Cabel (2m) with 25-pole D-Sub connector for con-necting the I/Os of a SERS with a screw terminalblock - Ordering key: LDS25

Cabel (2m) with 9-pole D-Sub connector and 1:1wiring for the connection of the RS232-interface of aSERS to a PC with RS232-interface.Ordering key: LDS9

23 Position control - series SERC and SERS equipment

München

Zentrum

Isar

Passau

Mittlerer

Ring

Salzburg/

KufsteinSalzburg

Machtlfinger

Straße

Boschetsrieder Straße

Drygalski

Allee Garmisch-

Partenkirchen

Autobahnausfahrt

M-Kreuzhof

Lindau Fürstenrieder Straße

Stuttgart

Mittlerer Ring

Nürnberg

A8

A96

A9

A94

A8A995A95

Internet URL http://www.stoegra.de

STÖGRA ANTRIEBSTECHNIK GmbH Machtlfinger Straße 24

D-81379 München

Tel++49-89-15 90 40 00Fax++49-89-15 90 40 09E-Mail [email protected]

presented by:

Stogra Stepper Motor Controls

Documents

power amplifier boardsseries

power stage

catalogue page

power semi conductors

control of step anglese

mdat motor stand

different control systemsand

internal plug boards