Lexium Motion Controller Catalog

Lexium Motion Controller Catalog
Lexium® Motion Controller
Motion control
Catalogue
April
07
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12345652578
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Contents
0
Lexium® Motion Controller
motion control
1
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 2
Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 8
References
Lexium Motion Controller
LMC 10, LMC 20 and LMC 20A130*. . . . . . . . . . . . . . . . . . . . . . . . . . . page 14
Graphic HMI terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 15
Telefast® I/O connection bases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 17
Communication buses and networks
Modbus® serial link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 18
CANopen machine bus dedicated to Motion bus. . . . . . . . . . . . . . . . . page 19
CANopen machine bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 19
Examples of connection to Motion bus and to
CANopen bus machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 20
Connection accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 21
Profibus DP and DeviceNet fieldbuses . . . . . . . . . . . . . . . . . . . . . . . . page 22
Ethernet TCP/IP network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 23
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 24
Schemes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 26
Software solution
EasyMotion mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MotionPro mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Comparative table of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application function block library . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
page 28
page 30
page 32
page 34
Lexium PAC solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 36
1
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Presentation
Lexium® Motion Controller
motion control
0
Motion bus
2
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Presentation (continued)
Lexium® Motion Controller
motion control
0
Presentation
536411
The Lexium Controller (LMC) delivers optimized solutions for axes control and
positioning, including automation functions. It meets the needs of a wide range of
applications in all sectors of industry.
With Lexium Controller , Lexium 05 and Lexium 15 servo drives and BSH or BDH
servo motors, Schneider Electric offers a complete, high-performance and economical
solution, called Lexium PAC.
The Lexium PAC solution can be adapted and integrated on most automation
platforms - Schneider Electric or third party.
The software solution provided by LMC offers very quick and easy start-up of the
machine, thanks to the application template and function block library.
LMC 10, LMC 20 and LMC 20A130* Lexium Controllers
Lexium Motion Controllers are particularly suited to small machines, thanks to:
- Their compact dimensions
- The limited number of models and the integration of function blocks
- Their ease of installation
- The fact that the application can be put into operation immediately thanks to the
application template and remote graphic display terminal
- Reduced installation and start-up costs
Furthermore, they satisfy the performance requirements of specialized and modular
machines thanks to:
- Their expansion capability (input/output etc.)
- Their modular software functions
- Their ease of integration into standard automation systems thanks to the
possibility of connection to buses and networks available on the market such as
CANopen, Modbus®, Profibus DP, DeviceNet and Ethernet TCP/IP.
Applications
The LMC guarantees coordination and synchronization of axes, via a fieldbus, for
applications requiring control of up to 8 synchronized axes.
It includes standard motion control functions:
- Speed and torque control
- Relative or absolute positioning
- Cam profiles for slave axes and programmable cam switch control
- Electronic gearing function for speed and position
- Linear and circular interpolations (2½ dimensions)
- Master axis via external encoder
- Distance measurement and position capture at high-speed (30µs) discrete input
- Position movement control with a preset end speed (blending)
It is dedicated to the following types of application:
- Handling equipment (conveyors, palletizers, storage and retrieval systems) and
transfer machines (gantry cranes etc.)
- Assembly machines (shrink fitting, clamping)
- Inspection and quality control machines
- Machines for working “on the fly” (flying shear, printing, marking etc.)
3
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Lexium® Motion Controller
motion control
Presentation (continued)
0
Integration in automation platforms
Lexium Motion Controller (LMC) can easily be integrated into the standard
automation architectures available on the market.
Modicon M340 PLC
Ethernet
network
Modbus
serial link
Magelis XBT
display unit
LMC 20 or
LMC 20A130p
Lexium controller
In this way, the LMC makes all the axis data which it controls accessible to PLCs,
Magelis® HMI terminals or any other client.
CANopen machine bus
Motion bus
CANopen machine bus
ATV 31
I/O
OTB
It can be connected directly via the communication ports on the front panel to the
following buses and networks: Modbus®, Profibus DP, DeviceNet and
Ethernet TCP/IP.
A CANopen machine bus is used with the Lexium Motion Controllers LMC 20 and
LMC 20A130*.
This machine bus is now very widely used in industry because of its high
performance. In accordance with international standard ISO 11898 promoted by the
“CAN in Automation” association of users and manufacturers, it guarantees a high
level of openness and interoperability thanks to its standardized communication and
equipment profiles.
Lexium 05
Lexium 15
Example of integration of Lexium Controller
in an automation platform
The CANopen machine bus is directly accessible via two integrated communication
ports conforming to standard CiA DSP 301 V4.0:
- One port dedicated to the Motion bus for coordination and synchronization of the
servo drives (conforming to standard CiA DSP 402, “Device Profile Drives &
Motion Control”)
- One port intended for expansion of the automation capabilities, such as I/O,
servo drives, encoders etc.
(See characteristics page 11).
Remote graphic display terminal (Not yet available in US)
536392
The optional remote diagnostic and debugging terminal, used in conjunction with the
EasyMotion application template, allows to:
- Carry out diagnostics on the LMC or its servo drives
- Adjust the Lexium Controller motion controller or the servo drive parameters
- Perform debugging
- Back up and restore the application data
The user is closer to the machine, resulting in better performance and higher
efficiency.
Ergonomically designed, the navigation button gives direct access to drop-down
menus.
Remote graphic display terminal
This graphic terminal offers two configurable levels of access:
- Maintenance (limited access)
- Development (allowing access to configurable data)
4
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Presentation (continued)
Lexium® Motion Controller
motion control
0
Software solution
The LMC range offers two application development modes depending on the
requirements:
- EasyMotion mode which relies on an application template and integrated graphic
interface to configure the motion control functions
- MotionPro mode to configure and program motion control and automation
functions using a language conforming to standard IEC 31161.
The Lexium Motion Controller range also offers a function block library so that you
can start to use your application immediately.
EasyMotion mode (Not yet released)
The LMC is supplied with an application template pre-installed. It allows immediate
start-up of the whole Lexium PAC system (motion controller, servo drive and motor)
and automatic execution of the configured function.
The following services are available:
- Configuration of axes
- Adjustment and diagnostics of servo drives
- Adjustment and diagnostics of motion controller
- Creation of position registers via teach function
- Management of axis operating modes (Auto-Man.)
- Manual axis control
- Configuration of positioning tasks (Motion Tasks)
- Editing of cam profiles (8 profiles of 16 points of type XYVA)
- Backup and recovery of the application
Example of application template screen
See page 28.
MotionPro mode
MotionPro mode gives the user complete freedom to develop the application.
While retaining the benefits offered by EasyMotion mode for motion control, it allows
you to add automation functions using the integrated programming editor.
The entire application, motion control functions and automation functions can be
realized with this editor.
See page 30.
Example of IEC 61131 compliant programming editor
Application function block library
To simplify application programming and improve machine performance, the
EasyMotion and MotionPro modes have an application function block library.
These functions considerably reduce the time taken to program and debug the whole
installation.
The available function blocks are very widely used in the industrial world:
- Flying shear
- Rotary knife
- Grouping/ungrouping
- Clamping with torque control
With its ergonomic, PLCopen design, this library has been developed so as to
accommodate many different mechanical variants and application types.
See page 34.
Example of application function block
5
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Lexium® Motion Controller
motion control
Description
0
Description
The Lexium Motion Controller range offers three levels of integration in automation
systems depending on the available references:
- LMC 10: This is an economical product with a dedicated Motion bus
- LMC 20: In addition to the characteristics of the LMC 10, it offers a connection to
the Ethernet TCP/IP network for integration in automation architectures; its
CANopen connection extends its capabilities in terms of I/O and the control of other
devices.
536412
- LMC 20A130*: In addition to the characteristics of the LMC 20, it offers a
connection to the Profibus DP and DeviceNet fieldbuses.
1
2
3
4
5
6
Lexium Controller LMC 10
1 Front display unit with status LED:
- Indication of status of the LMC
- Indication of communication status of the CANopen machine bus and of the
dedicated Motion bus
2 3-pin connector for power supply of master encoder
3 Lexium Motion Controller reinitialize button
4 High-density 15-way female SUB-D connector for connection of incremental
encoder or SSI serial absolute encoder
5 RJ45 connector for connection of Modbus or RS 485 serial link, with status LED
6 9-way male SUB-D connector for connection to the Motion bus
7 HE 10 connector (26-way) for connection of I/O via Telefast® connection bases or
via a supplied female connector
8 24 V DC power supply of the Lexium Motion Controller via 3-pin connector
7
8
536413
LMC 10
1
2
3
4
5
6
7
8
9
Lexium Controller LMC 20
1 Front display unit with status LED:
b Indication of status of the Lexium Controller
b Indication of communication status of the CANopen machine bus and of the
dedicated Motion bus
2 3-pin connector for power supply of master encoder
3 RJ45 connector for connection to the Ethernet TCP/IP network
4 Lexium Controller reinitialize button
5 High-density 15-way female SUB-D connector for connection of incremental
encoder or SSI serial absolute encoder
6 RJ45 connector for connection of Modbus® or RS 485 serial link, with status LED
7 9-way male SUB-D connector for connection to the Motion bus
8 HE 10 connector (26-way) for connection of I/O via Telefast® connection bases or
via a supplied female connector
9 24 V c power supply of the Lexium Controller via 3-pin connector.
10 CANopen 9-way male SUB-D communication port for extending the configuration
(discrete or analogue I/O, servo drives, encoders, other equipment).
10
LMC 20
6
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536414
Description (continued)
1
2
3
4
5
6
7
8
9
10
13
11
12
LMC 20A130*
Lexium® Motion Controller
motion control
0
Lexium Controller LMC 20A1307 and LCM 20A1309
1 Front display unit with status LED:
- Indication of status of the Lexium Controller
- Indication of communication status of the CANopen machine bus and of the
dedicated Motion bus
2 3-pin connector for power supply of master encoder
3 RJ45 connector for connection to the Ethernet TCP/IP network
4 Lexium Controller reinitialize button
5 High-density 15-way female SUB-D connector for connection of incremental
encoder or SSI serial absolute encoder
6 RJ45 connector for connection of Modbus® or RS 485 serial link, with status LED
7 Diagnostic LEDs for the Profibus DP or DeviceNet communication card
8 9-way male SUB-D connector for connection to the Motion bus
9 HE 10 connector (26-way) for connection of I/O via Telefast® connection bases or
via a supplied female connector
10 24 V DC power supply of the Lexium Controller via 3-pin connector
11 9-way male SUB-D connector for connection of Profibus DP bus or removable
5-way screw terminal for connection to the DeviceNet bus
12 Terminal with 8 microswitches for configuration of slave address on the
Profibus DP or DeviceNet bus
13 CANopen 9-way male SUB-D communication port for extending the configuration
(discrete or analogue I/O, servo drives, encoders, other equipment)
7
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Lexium® Motion Controller
motion control
Characteristics
0
Environmental characteristics
Controller type
LMC 10
Conforming to standards
Product certifications
Lexium Controllers have been developed to conform to the strictest international
standards and the recommendations relating to electrical industrial control devices (IEC,
EN), in particular: low voltage, IEC/EN 61800-5-1, IEC/EN 61800-3 (conducted and
radiated EMC immunity and emissions).
IEC/EN 61800-3, environments 1 and 2
IEC/EN 61000-4-2 level 3
IEC/EN 61000-4-3 level 3
IEC/EN 61000-4-4 level 4
IEC/EN 61000-4-5 level 3
The motion controllers have CE marking in accordance with the European directives
on low voltage (73/23/EEC and 93/68/EEC) and EMC (89/336/EEC).
UL, CSA, C-Tick, GOST and CCC (pending)
Degree of protection
IP 20
Withstand to vibrations
1.5 mm peak to peak from 5…13 Hz, 1 gn from 13…200 Hz, in compliance with
IEC/EN 60068-2-6
Shock resistance
15 gn for 11 ms conforming to IEC/EN 60068-2-27
EMC immunity
CE marking
Withstand to electrostatic
discharge
Withstand to HF interference
Relative humidity
Ambient air temperature
around the unit
Maximum altitude
LMC 20
LMC 20A130*
Immunity to electrostatic
discharge
Immunity to radiated
electromagnetic fields
Immunity to fast transients/
bursts
Surge immunity
Compliance with standard EN 61000-4-2, level 3
Operation
10…95% without condensation
Storage
5…95% without condensation, in compliance with IEC 61131-2
Compliance with standard EN 61000-4-3, level 3
Compliance with standard EN 61000-4-4, level 4
Compliance with standard EN 61000-4-5, level 3
Operation
°C
0…60
Storage
°C
- 25…+ 70, in compliance with IEC 61131-2
Operation
m
0…2000
Nominal voltage
V
24 DC
Limit values
V
19…30 DC (including ripple)
Nominal input current
mA
300
Maximum inrush current
A
< 10 for 0.2 ms
0…50
Electrical characteristics
Power supply (1)
400
500
(1) Use of a regulated switch mode power supply, such as Phaseo ABL 7, is recommended.
8
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Characteristics (continued)
Lexium® Motion Controller
motion control
0
Characteristics of discrete and event-triggered inputs
Number of input channels
Connection
8 positive logic (Source)
2
24 DC
7
1 HE 10 connector
Common
1
Power supply
Discrete
Event-triggered
Nominal input voltage
Nominal input current
V
mA
Input limit values
V
19…30 DC (including ripple)
Input impedance
for nominal U
Filtering time
kΩ
3
µs
µs
15
70
None
Isolation with internal logic via optical coupler
Isolation
At state 1
At state 0
Between channels
Characteristics of Touch Probe inputs
Number of input channels
Power supply
2
Nominal input voltage
Nominal input current
V
mA
Connection
24 DC
7
1 HE 10 connector
Common
1
Input limit values
V
19…30 DC (including ripple)
Input impedance
for nominal U
Filtering time
kΩ
3
µs
µs
1
0.5
None
Isolation with internal logic via optical coupler
Isolation
At state 1
At state 0
Between channels
Characteristics of the master encoder compatible with XCC 1 and XCC 3 encoders
Power supply
Nominal voltage
Nominal current
V
mA
Voltage
Current
V
mA
kΩ
5 DC or 24 DC
500
One 9-way female SUB-D connector for the encoder input and
one stripped end
30 DC
12
2
V
2500
Connection
Input limit values
Input impedance
for nominal U
Isolation
Incremental encoder
Signal type
SSI serial absolute encoder
Maximum operating frequency
Number of bits
_
_
_
A, A , B, B , Z, Z
Clock frequency
kHz
250 kHz as input x 4, or 1 MHz as counter
32, with configurable frame (number of revolutions, number of bits/revolution, binary
or gray format, parity, etc)
200
Clock voltage
V
5
9
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Characteristics (continued)
Lexium® Motion Controller
motion control
0
Output characteristics
Number of output channels
8
Output logic
2 positive logic outputs (Source)
Power supply
Nominal voltage
Nominal current
V
mA
24 DC
200
1
Output limit values
Voltage
V
19…30 DC (including ripple)
Response time
At state 1
At state 0
µs
µs
A
150
250
1
Common
Short-circuit current
limiting
Isolation
Between channels
None
Isolation with internal logic via optical coupler
Processor characteristics
Memory
Data storage
(NV/RAM)
Application in RAM
Kb
60
MB
1
Application in Flash EPROM
MB
1
RTC
Autonomy
days
20
Application structure
Master task
1
Auxiliary task
1
Event-triggered tasks
2
Cycle time
Typical program code
execution time
ms
For 1000 lines,
in structured language:
60 % Boolean,
20 % numerical,
20 % floating point
µs
2 maximum for 4 synchronized axes
4 maximum for 8 synchronized axes
< 120
Communication port characteristics
Modbus® protocol
Structure
Connector
RJ45 type
Physical interface
2-wire RS 485
Transmission mode
Binary
Transmission speed
Can be configured at 19.6 kbps or 38.4 kbps using MotionPro software
Access method
Master/slave
Isolation between the internal
circuit and serial port
Format
–
Polarization
–
Address
1 to 247, can be configured by the graphic display terminal or using EasyMotion and
MotionPro software
Read Holding Registers (03), 62 words maximum
Write Single Register (06)
Write Multiple Registers (16), 62 words maximum
Read Device Identification (43)
Diagnostics (08)
–
Configurable time out
An activity LED on the front panel relating to the RJ45 connector
Services
Messaging
Diagnostics
Communication
monitoring
Using LEDs
8 bits, no parity, 1 stop
10
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Characteristics (continued)
Lexium® Motion Controller
motion control
0
Communication port characteristics (continued)
CANopen protocol for the dedicated Motion bus
Structure
Services
Connector
9-way male SUB-D
Transmission speed
Can be configured at 500 kbps or 1 Mbps using EasyMotion and MotionPro software
Access method
Master
Address (Node ID)
8 Lexium 05 or Lexium 15 servo drives
Number of PDOs
2 PDOs per slave (1 transmit and 1 receive)
Number of SDOs
2 SDOs per cycle (1 read and 1 write)
Emergency
Yes
CANopen application layer
Functional profile
CiA DSP 301 V4.02
DSP 405
Control of devices with CiA DSP 402 profile (Device Profile for Drives and Motion Control)
Node Guarding, Heartbeat
Communication
monitoring
Length of bus
Diagnostics
Using LEDs
15 m maximum (the bus must always be wired in a daisy-chain)
An activity LED on the front panel
CANopen protocol for I/O extensions, servo drives, etc
Structure
Services
Diagnostics
Connector
9-way male SUB-D
Transmission speed
Can be configured from 10 kbps to 1 Mbps using MotionPro software
Access method
Master
Address (Node ID)
1 to 32, can be configured using MotionPro software
Number of PDOs
2 PDOs per slave (1 transmit and 1 receive)
Number of SDOs
2 SDOs per cycle (1 read and 1 write)
CANopen application layer
CiA DSP 301 V4.02
Functional profile
DSP 405
Communication
monitoring
Using LEDs
Node Guarding, Heartbeat
An activity LED on the front panel
11
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Characteristics (continued)
Lexium® Motion Controller
motion control
0
Communication port characteristics (continued)
Profibus DP fieldbus
Structure
Services
Diagnostics
Connector
9-way male SUB-D
Transmission speed
Autodetected by the Lexium Controller
Addresses
1 to 126, can be configured using a microswitch
Periodic exchanges
Communication
monitoring
Type 5 PPO format cyclic frame
- PZD service:
Communication scanner exchanging 8 input words and 8 output words periodically
- PKW service:
Read/write access to the whole Lexium Controller %MW zone
Can be inhibited
Time out can be set via the Profibus DP network configurator
Using LEDs
An activity LED on the front panel
Description file
A single gsd file is supplied on the documentation CD-ROM for the whole range or can be
downloaded from www.telemecanique.com. This file does not contain a description of the
motion controller parameters.
DeviceNet fieldbus
Structure
Services
Diagnostics
Description file
Connector
Screw-type, 5 contacts at intervals of 5.08
Transmission speed
Can be configured at 125 kbps, 250 kbps or 500 kbps by a microswitch
Address
1 to 63, can be configured by a microswitch
Periodic variables
Communication scanner assemblies 100 and 101
Periodic exchange mode
Inputs: Polled, Change of state, Cyclic
Outputs: Polled
Auto Device Replacement
No
Communication
monitoring
Can be inhibited
Time out can be set via the DeviceNet network configurator
Using LEDs
An activity LED on the front panel
A single eds file is supplied on the documentation CD-ROM for the whole range or can be
downloaded from www.telemecanique.com. This file contains a description of the motion
controller parameters.
12
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Characteristics (continued)
Lexium® Motion Controller
motion control
0
Communication port characteristics (continued)
Ethernet TCP/IP network
Structure
Connector
RJ45 type
Physical interface
2-wire RS 485
Transmission mode
Half duplex and full duplex
Transmission speed
10/100 Mbps, autodetected by the Lexium Controller
IP addressing
- Manual assignment via the display terminal or MotionPro software
- BOOTP (dynamic IP address server depending on the IEEE address)
- DHCP (dynamic address server depending on the Device Name) with automatic reiteration
Ethernet 2
Physical
Services
Link
LLC: IEEE 802.2
MAC: IEEE 802.3
Network
IP (RFC791)
ICMP client for supporting certain IP services such as the "ping" command
Transport
TCP (RFC793), UDP
The maximum number of connections is 8 (port 502)
Transparent Ready class (1)
C20
Web server
Simultaneous access via three Web browsers (more, depending on the number of connections
used)
Server is factory-configured and modifiable
The factory-configured server contains the following pages:
- Lexium Controller viewer: display of the Lexium Controller status and the state of its I/O
- Data viewer: display and password-protected modification of the Lexium Controller
parameters, arranged in order of %MW words
- Lexium Controller chart: oscilloscope type display
- Security: configuration of passwords for viewing and modification
- I/O scanner: configuration for exchanging periodic data (10 input words, 10 output words)
- Ethernet statistics: identification of the Lexium Controller and communication statistics
Messaging
Diagnostics
Network management
Read Holding Registers (03), 62 words maximum
Write Single Register (06)
Write Multiple Registers (16), 62 words maximum
Read Device Identification (43)
Diagnostics (08)
SNMP
File transfer
FTP for Web server and TFTP for FDR
Communication
monitoring
Using LEDs
Can be inhibited
Time out adjustable from 0.5…60 s via the embedded Web server
An activity LED on the front panel relating to the RJ45 connector
Using the graphic display
terminal
Via the Web server
Command word received
Reference received
Number of frames received
Number of incorrect frames
(1) Please consult our "Ethernet TCP/IP Transparent Ready®" catalog.
13
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Lexium® Motion Controller
motion control
References
0
LMC 10, LMC 20 and LMC 20A130*
Lexium Controllers (1)
536413
Power supply Number
of I/O
V
24 DC
Max. number of
synchronized
axes (via
Motion bus) (2)
8/8 24 V DC 8
Integrated communication
CANopen Modbus® Ethernet
machine
serial link network
bus (3)
Third party
bus
Reference
Weight
–
Yes
–
–
LMC 10
kg
0.666
Yes
Yes
Yes
–
LMC 20
0.697
Yes
Yes
Yes
Profibus
LMC 20A1307
1.076
Yes
Yes
Yes
DeviceNet LMC 20A1309
1.079
Software and documentation pack
Description
LMC 20
Software and
documentation pack
Composition
Reference
VW3 M8 702
The pack consists of:
- EasyMotion software
- MotionPro software
- Application function blocks library
- Technical documentation for setting up hardware and
software
Weight
kg
–
Connection accessories
Designation
Description
Length
m
Reference
Weight
kg
3
VW3 M4 701
–
One 25-way male SUB-D connector
1 RJ45 connector
3
XBT Z938
–
1 RJ45 connector
One 9-way female SUB-D connector
2 RJ45 connectors
3
VW3 M8 701 R030
–
3
490 NTC 00003
–
5
490 NTC 00005
–
For SSI serial incremental encoders or absolute encoders (4)
Cable for master encoder
input
1 high density 15-way male SUB-D connector
1 stripped end
For display units and Magelis graphic terminals (5)
Cable for display unit or
Magelis graphic terminal
input
For PC serial port
Cable for PC serial port
via serial link
Crossed shielded
twisted pair cables
(1) Lexium Motion Controllers are supplied as standard with an HE 10 female connector for connection of I/O and
with two 3-pin female connectors for the power supply of the LMC and the encoder.
Transparent Ready® class: C20.
(2) Cycle time: 2 ms for 4 synchronized axes and 4 ms for 8 synchronized axes
(3) CANopen machine bus for I/O extension, servo drives etc. or connection of third party products
(4) SSI series incremental encoders or absolute encoders: Please refer to the “Osicoder” catalog or visit www.telemecanique.com
(5) Display units and Magelis® graphic terminals: Please refer to the “Human-Machine interfaces” catalog or visit
www.telemecanique.com
14
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Lexium® Motion Controller
motion control
Presentation,
description,
references
0
Option: graphic HMI terminal
Graphic HMI terminal
536392
Presentation
The HMI terminal (available as an option with the Lexium Motion Controller) brings
the user as close as possible to the machine so that user can:
- Carry out diagnostics on the motion controller or servo drives
- Adjust the Lexium Controller motion controller or the servo drive parameters
- Carry out debugging
- Backup and restore application data
1
2
3
7
4
6
5
The main debugging functions are as follows:
- Management of “Auto-Manu” mode, of the axes
- Fine adjustment and validation of axes
- In manual mode:
- Control the position, speed and homing of the axis
- JOG functions
- In Auto mode, controlling the execution of positioning tasks
- Creation of position registers via teach function
The principal maintenance functions are as follows:
- Diagnostics of motion controller or servo drives
- Quick restart of the machine after a stoppage
- Transfer of programs
- Backup and recovery of configuration of servo drives
It is multilingual, supplied with 6 languages installed as standard (English, French,
German, Italian, Spanish and Chinese). Other languages can be downloaded to the
flash memory.
It is connected to the Lexium Controller via cable which must be ordered separately
(see below).
The terminal maximum operating temperature is 60°C and it features IP 54
protection.
Description
The front panel of the remote graphic terminal has the following features:
1 Graphic display unit:
- 8 lines, 240 x 160 pixels
- large digits that can be read from 5 m away
2 Dynamic function keys F1, F2, F3 and F4:
- application functions: Auto/Man.
- system functions: “RUN”, “STOP”, “RESET”
- Navigation functions
3 “ESC” key: Aborts a value or a parameter to return to the previous selection
4 “JOG
” key: Turns the axis in the negative direction
5 Navigation button:
- Press: Saves the current value (ENT)
- Turn +/-: Increases or decreases the value, takes you to the next or previous line
6 “JOG
” key: Turns the axis in the positive direction
7 Key to return to welcome screen
Reference
3
Description
1
Remote graphic display terminal
No.
Reference
1
VW3 M1 701
Weight
kg
–
Remote graphic display terminal accessories
2
The following accessories are available:
- A cable equipped with two RJ45 connectors to connect the graphic display
terminal to the Lexium Motion Controller (available in lengths of 1, 3 and 5 metres)
- An angled female/female RJ45 adapter to connect the VW3 M1 701 graphic
terminal to the VW3 A1 104 R** cable
Reference
Description
No.
Remote cables
equipped with 2
RJ45 connectors
2
Female/female
RJ45 adapter
3
Length
m
1
3
5
–
Reference
VW3 A1 104 R10
VW3 A1 104 R30
VW3 A1 104 R50
VW3 A1 105
Weight
kg
0.050
0.150
0.250
0.010
15
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Lexium® Motion Controller
motion control
Presentation,
characteristics
Telefast®
0
I/O connection bases
Presentation
The Telefast® connection base is an interface for connecting the I/O of the Lexium
Motion Controller (LMC) to the operational section.
It guarantees a quick, reliable and economic connection.
It also allows:
- Distribution of common signals on inputs
- Disconnection of outputs per channel
- Protection of the 24 V DC power supply of the LMC using fuses
Depending on the model, it also provides:
- Visual indication of I/O status via LEDs
- Protection of each channel using fuses
It is connected directly to the HE 10 connector of the LMC via cable.
Characteristics
Power supply characteristics
Supply voltage
Conforming to IEC 61131-2
Maximum supply current per
sub-base
Voltage drop on supply fuse
Supply overload and short-circuit
protection
by quick-blow fuse (included)
V DC
19…30 (Un = 24)
A DC
2
V DC
A
0.3
2
Characteristics of the control circuit for one channel
Sub-base type
Number of channels
Passive input
Passive connection sub-bases for discrete signals
ABE 7B20MPN20
ABE 7B20MPN22
12
Passive output
8
Rated voltage at Ue
V DC
24
Min/max voltage
Conforming to IEC 61131-2
V DC
20.4/26.4
Internal current per channel
at Ue
Passive input
mA
–
3.2
Passive output
mA
–
3.2
Conformity
Conforming to IEC 61131-2
Type 1
Output circuit characteristics
Sub-base type
Number of channels
Passive output
Rated voltage at Ue
Passive output
Passive connection sub-bases for discrete signals
ABE 7B20MPN20
ABE 7B20MPN22
8
V DC
24
Current switched per I/O channel Passive input/output
mA
15/300
Maximum current per common
A
2
Rated insulation voltage
V
Not isolated
Channel fuse protection
mA
–
Passive output
315
Other characteristics (at ambient temperature of 20°C)
Sub-base type
Permissible leakage current
without illuminating the channel
LED
mA
Passive connection sub-bases for discrete signals
ABE 7B20MPN20
ABE 7B20MPN22
–
1.5
16
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References
Lexium® Motion Controller
motion control
Telefast®
0
I/O connection bases
References (1)
Telefast® I/O connection bases
Number
of I/O
20
Number,
type of
inputs
12,
sink,
24 V DC
Number,
type of
outputs
8,
source,
24 V DC
LED
Fuse
per
channel
No
No
Reference
ABE 7B20MPN20
0.430
Yes
ABE 7B20MPN22
0.430
Yes
Weight
kg
ABE 7B20MPN20
Connection cables for Telefast® sub-bases
Type of
signal
Discrete
inputs/outputs
Type of connection
Lexium
Controller
side
HE 10
26-way
Telefast®
side
Gauge/ Length
cross- (2)
section
HE 10
26-way
AWG/
mm2
28/
0.08
Reference
Weight
m
kg
0.5
ABF T26B050
0.080
1
ABF T26B100
0.110
2
ABF T26B200
0.180
Unit
reference
ABE 7BV20
0.060
Accessories
Description
Optional
snap-on
terminal
blocks
Quick-blow
fuses
5 x 20,
250 V, UL
Number
of shunted
terminals
20
Characteristics
–
Sold
in
lots of
5
Weight
kg
12 + 8
–
5
ABE 7BV20TB
0.060
–
0.125 A
10
ABE 7FU012
0.010
0.315 A
10
ABE 7FU030
0.010
1A
10
ABE 7FU100
0.010
2A
10
ABE 7FU200
0.010
(1) For further information about Telefast® I/O connection bases, please refer to the “Twido®
programmable controllers” catalog, or visit www.telemecanique.com.
(2) For lengths over 2 metres, please consult your Regional Sales Office.
17
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Presentation
Lexium® Motion Controller
motion control
0
Communication buses and networks
Modbus® serial link
Presentation
The Modbus protocol is of master/slave type, consisting of a master station and slave
stations. Lexium Motion Controllers: LMC 10, LMC 20 and LMC 20A130* have the
Modbus protocol integrated as standard: These are slave stations.
Two exchange mechanisms are possible:
- Request/response: The request from the master is addressed to a given slave.
The master then waits for the response from the slave which has been interrogated.
- Broadcasting: The master broadcasts a request to all the slave stations on the
bus, which execute the command without transmitting a response.
The Modbus protocol allows:
- Programming and configuration of the LMC with EasyMotion and MotionPro
software or with the remote graphic terminal
- Connection of an HMI terminal (Magelis® XBT GT graphic terminal, Magelis
XBT N alphanumeric display or Magelis XBT R alphanumeric terminal)
- An economical connection point for sharing application data with a PLC or any
other type of client
Architecture
Magelis XBT N display unit
Modbus serial link
or
LMC *0 or
LMC 20A130*
Lexium controller
Programming PC
Modicon® M340 PLC
Example of architecture with Modbus serial link
CANopen machine bus
Presentation
The CANopen machine bus is a fieldbus based on CAN low layers and components.
It complies with standard ISO 11898. Thanks to its standard communication profiles,
the CANopen bus can be used to ensure openness and interoperability with various
devices (servo drives, motor starters, smart sensors, etc.).
The CANopen bus is a multi-master bus based on the master/slave principle, which
guarantees secure access to realtime automation device data. The CSMA/CA type
protocol is based on broadcast exchanges, transmitted cyclically or on event, which
guarantee optimum use of the bandwidth. A messaging channel is also used to
parameterize the slave devices.
A staged CANopen connectivity solution reduces costs and optimizes the realization
of your architecture, thanks to:
- Reduced cabling time
- Greater reliability of the cabling
- Flexibility, should you need to add or remove equipment.
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Presentation (continued)
Lexium® Motion Controller
motion control
0
Communication buses and networks
Architecture
CANopen machine bus dedicated to Motion bus
The CANopen connection dedicated to the Motion bus allows the possibility of
connecting up to 8 Lexium 05 or Lexium 15 servo drives.
The Motion bus allows motion control in these 8 axes.
The network cycle ensures updating of the position setpoints so as to guarantee
synchronization of axes.
Lexium Controllers LMC 10, LMC 20 and LMC 20A130* have the CANopen protocol
dedicated to the Motion bus integrated as standard.
To guarantee the performance of the Motion bus, it is advisable to create a bus in a
daisy-chain formation, without branches; our range of connection accessories has
been extended with this in mind.
LMC *0 or
LMC 20A130*
Lexium controller
Motion bus
Lexium 05
Lexium 05
Lexium 05
Lexium 05
Lexium 15 Lexium 15
Example of architecture with CANopen machine bus dedicated to the Motion bus
CANopen machine bus
Thanks to their CANopen connection, Lexium Controllers LMC 20 and
LMC 20A130* extend their capabilities to include applications requiring the control of
a greater number of I/O, control devices or motor starters.
Telemecanique® or Berger Lahr® products which can be connected to the CANopen
machine bus are:
- TeSys™ U-motor starters
- Advantys™ OTB and STB distributed I/O
- Advantys FTB and FTM I/O splitter boxes
- Altivar® variable speed drives ATV31/21/61/71
- XCC incremental or absolute rotary encoders
- Berger Lahr’s IclA® - the intelligent compact drives
LMC 20 or
LMC 20A130*
Lexium controller
CANopen machine bus
IcLA
I/O
OTB
ATV 31
Osicoder
TeSys U
starter-controller
ATV 71
Example of architecture with CANopen machine bus
19
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Lexium® Motion Controller
motion control
Connections
0
Communication buses and networks
Examples of connection to Motion bus
For Lexium 05 and Lexium 15, for customer assembly
LMC *0 or
LMC 20A130*
Lexium Controller
11
11
5
1
Lexium 05
Lexium 05
Lexium 15
For Lexium 05, prewired
LMC *0 or
LMC 20A130*
Lexium Controller
7
7
5
2
2
Lexium 05
Lexium 05
Lexium 05
Example of connection to CANopen machine bus
LMC 20 or
LMC 20A130*
Lexium Controller
Altivar 31
Altivar 31
7
6
8
9
12
3
8
6
4
11
6
10
11
+ 24 V
14
13
IcLA
Advantys FTB
splitter box
Advantys FTB
splitter box
Advantys OTB
I/O
TeSys U
starter-controller
Altivar 71
20
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Lexium® Motion Controller
motion control
References
0
Communication buses and networks
Connection accessories
Connectors and junction boxes
Description
Connector 9-way female SUB-D with screw terminals
and line terminator
Daisy chain tap with 3 RJ45 connectors
and a 0.3 m cable
CANopen IP 20 tap junctions
With 4 SUB-D ports. Screw terminals for
connection of trunk cables.
Line terminator
With 2 RJ45 ports
Description
Use
No.
Reference
Connection of Lexium 15
1
VW3 M3 802
Daisy-chain connection of Lexium 05
2
TCS CTN023F13M03
Tapping of trunk cable for SUB-D cabling
3
TSX CAN TDM4
0.196
Tapping of trunk cable for RJ45 cabling
4
VW3 CAN TAP2
–
Use
From
No.
Length Reference
m
5
1
VW3 M3 805R010
–
6
0.5
1
3
TCS CCN4F3M05T
TCS CCN4F3M1T
TCS CCN4F3M3T
–
–
–
7
0.3
VW3 CAN CARR 03
–
1
VW3 CAN CARR 1
–
8
0.3
1
3
5
TSX CAN CADD 03
TSX CAN CADD 1
TSX CAN CADD 3
TSX CAN CADD 5
0.091
0.143
0.295
0.440
0.3
0.6
1
2
3
5
3
5
FTX CN 3203
FTX CN 3206
FTX CN 3210
FTX CN 3220
FTX CN 3230
FTX CN 3250
FTX CN 3130
FTX CN 3150
0.040
0.070
0.100
0.160
0.220
0.430
–
–
50
100
300
50
100
300
50
100
300
TSX CAN CA 50
TSX CAN CA 100
TSX CAN CA 300
TSX CAN CB 50
TSX CAN CB 100
TSX CAN CB 300
TSX CAN CD 50
TSX CAN CD 100
TSX CAN CD 300
To
Weight
kg
–
–
Weight
kg
Connecting cables
Cable with
one 9-way female SUB-D connector with integrated line
terminator and one RJ45 connector
Cables with
one 9-way female SUB-D connector and
one RJ45 connector
CANopen cables (1) with
1 RJ45 connector at each end
CANopen IP 20 cables (1) with
one 9-way female SUB-D connector
at each end
Standard cable, CE marking
Low smoke emission, halogen-free
Flame retardant (IEC 60332-1)
CANopen IP 67 cables (1) with
2 x 5-way angled M12 connectors, A coding
(1 female connector and 1 male connector)
CANopen IP 67 cables (1) with
one 5-way female M12 connector, A coding,
and one stripped end
LMC Lexium controller Lexium 05
TCS CTN023F13M03
daisy chain tap
TSX CAN TDM4
ATV 31 drive
junction box
ATV 71 drive
Advantys OTB I/O
TSX CAN TAP2
junction box
TCS CTN023F13M03 TCS CTN023F13M03
daisy chain tap
daisy chain tap
VW3 CAN TAP2
ATV 31 drive
junction box
LMC Lexium controller TSX CAN TDM4
junction box
TSX CAN TDM4
junction box
TeSys U-motor starter
Advantys FTB
splitter box
Advantys FTB
splitter box
9
IcLA compact drive
Advantys FTB
splitter box
10
Connection cables
CANopen IP 20 cables (1)
Standard cables, CE marking
Low smoke emission, halogen-free
Flame retardant (IEC 60332-1)
11
UL certification, CE marking
Flame retardant (IEC 60332-2)
Cable for harsh environments (2) or mobile installation,
CE marking
Low smoke emission, halogen-free
Flame retardant (IEC 60332-1)
4.930
8.800
24.560
3.580
7.840
21.870
3.510
7.770
21.700
Connection accessories
IP 67 line terminator with
one M12 connector (for end of bus)
Power supply cables 24 V DC
with two 5-way 7/8 connectors
Power supply cables 24 V DC
with one 5-way 7/8 connector and
one stripped end
–
–
12
Advantys FTB
splitter box
Advantys FTB
splitter box
13
Phaseo ABL 7
power supply
Advantys FTB
splitter box
14
0.6
1
2
5
1.5
3
5
FTX CNTL12
0.010
FTX DP2206
FTX DP2210
FTX DP2220
FTX DP2250
FTX DP2115
FTX DP2130
FTX DP2150
0.150
0.190
0.310
0.750
0.240
0.430
0.700
(1) Please refer to the “Machines and installations with CANopen” catalog.
(2) Harsh environments:
- resistance to hydrocarbons, industrial oils, detergents, solder splashes
- relative humidity up to 100%
- saline atmosphere
- significant temperature variations
- operating temperature between - 10°C and + 70°C.
21
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Presentation (continued)
Lexium® Motion Controller
motion control
0
Communication buses and networks
Profibus DP and DeviceNet fieldbuses
Presentation
The Profibus DP bus is a fieldbus that meets industrial communication requirements.
Profibus DP has linear bus topology with a master/slave-type centralized access
procedure.
The physical link is made by a single shielded twisted pair, although optical interfaces
are available for establishing tree, star or ring structures.
The DeviceNet fieldbus is an open low-end type bus system, used in various
industrial applications. It is based on CAN technology (layers OSI 1 and 2).
The DeviceNet fieldbus is based on the master/slave principle. The physical link is
composed of 2 shielded twisted pairs to which it is possible to connect up to
63 slaves. Each end must have a line terminator.
The connection to the Profibus DP and DeviceNet fieldbuses allows the
LMC 20A1307 and LMC 20A1309 motion controllers to standardize the motion
control solutions, while remaining independent of the system controlling the
automation of the machine.
Architecture
Third-party
control system
Profibus DP or DeviceNet fieldbus
LMC 20A130*
Lexium controller
LMC 20A130*
Lexium controller
Example of architecture with Profibus DP or DeviceNet fieldbus
Connection accessories
Use
Description
For Profibus DP fieldbus
9-way male SUB-D connector 490 NAD 911
For DeviceNet fieldbus
Removable 5-way screw terminal.
22
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Presentation (continued)
Lexium® Motion Controller
motion control
0
Communication buses and networks
Ethernet TCP/IP network
Presentation
Introduced by Schneider Electric, the Transparent Ready® concept enables
transparent communication between control system devices, production and
management. Network technologies and the associated new services are used to
share and distribute data between sensors, PLCs, workstations and third-party
devices in an increasingly efficient manner.
This concept is based on the Ethernet TCP/IP industrial standard which proposes a
single network that meets most communication requirements from sensors/actuators
through to production management systems. Where a variety of communication
systems are usually required, Transparent Ready standard technologies can result
in significant cost savings in the areas of definition, installation, maintenance or
training.
Transparent Ready is based on:
- Ethernet TCP/IP-based services meeting control system requirements in terms
of functions, performance and quality of services
- Products including motion controllers, several ranges of PLC, distributed I/O,
industrial terminals, variable speed drives, gateways and an increasing number of
partner products
- The ConneXium range of cabling accessories: hubs, switches, cables adapted to
the environment and to the requirements of industrial conditions.
Lexium Controllers LMC 20 and LMC 20A130* are connected to the Ethernet
TCP/IP network via an RJ45 connector.
They are supplied with an integrated Web server which users can adapt according
to the application. This can be used to:
- Access configuration data transparently
- Perform remote diagnostics or maintenance
- Incorporate simple human/machine interface functions.
The Ethernet TCP/IP link thus provides a convenient connection for the
programming, configuration and debugging of your Lexium PAC:
Lexium Controllers LMC 20 and LMC 20A130*, Lexium 05 and Lexium 15
servo drives and BSH and BDH servo motors.
Architecture
Supervision
PC
Modicon M340 PLC
Magelis XBT GT
terminal
RAS
Remote
access
Ethernet TCP/IP network
LMC 20 or
LMC 20A130*
Lexium controller
Example of architecture with Ethernet TCP/IP network
23
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Dimensions
0
Lexium® Motion Controller
motion control
0
Lexium Controller LMC 10 (1)
Screw fixing
14
132
4
25,6
40
151
151
140
5
Mounting on 35 mm DIN rail
2xØ5,5
40
Lexium Controller LMC 20 (1)
Screw fixing
132
4
40
25,6
6
14
151
151
140
5
Mounting on 35 mm DIN rail
2xØ5,5
40
Lexium Controller LMC 20A1307 and LMC 20A1309 (1)
Screw fixing
14
132
4
74
27
=
17
151
151
140
6
Mounting on 35 mm DIN rail
=
40
3xØ5,5
74
(1) Leave 50 mm free space above and below the unit for cooling purposes.
24
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Lexium® Motion Controller
motion control
Dimensions (continued)
0
Telefast® connection bases ABE 7B20MPN2*
Mounting on 35 mm DIN rail
83
41,5
130
13,5
(1)
62,5
67,5
Screw fixing (retractable lugs)
93
99
113
(1)
62,5
2xØ4
(1) ABE 7BV20, ABE 7BV20TB (please refer to the “Programmable controller Twido®” catalogue or visit “www.telemecanique.com”).
25
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Lexium® Motion Controller
motion control
Schemes
0
Example of connection of the Lexium Controller motion controller
1
LMC 20
Lexium Controller
++ – –
Encoder power supply
5 V DC or 24 V DC
2
3
++ – –
Power supply 24 V DC
auxiliary I/O sensor
++ – –
4
Telefast® connection base
ABE 7B20MPN2*
or
5
Components for use with the Altivar
No.
1
2
3
4
5
I/O
Description
Incremental encoder type XCC 1 or SSI series absolute encoder type XCC 3. Please refer to the
“Osicoder” catalogue or visit “www.telemecanique.com”.
VW3 M4 701 cable
Phaseo (TBTS) 24 V DC power supply. Please refer to the “Power supplies & transformers Phaseo” catalogue or visit “www.telemecanique.com”.
ABF T26B*** cable
Cable (not supplied) for direct connection to HE 10 female connector supplied with
Lexium Controller LMC **
26
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Lexium® Controller
motion control
Schemes (continued)
Telefast®
0
I/O connection bases
Telefast® I/O connection bases
ABE 7B20MPN20
HE10
BJ1
BJ2-5
26
I0
I1
I2
I3
I4
I5
I6
I7
I8
I9
I10
I11
0V
26 25
24 23
22 21
20 19
18 17
16 15
14 13
12 11
10
9
8
7
6
5
4
3
2
1
Q0
Q1
Q2
Q3
Q4
Q5
Q6
Q7
+ 24 V
+ 24 V
+ 24 V
0V
0V
24
BJ1-11
BJ2-15
BJ2-5
BJ2-16
0V
+24V
BJ1
10
9
7
6
Q5 Q6 Q7
5
Q1 Q2 Q3 Q4
3
25
23
BJ1-15
20
22
BJ1-17
19
BJ1-13
BJ1-19
18
24
8
BJ1-21
17
23
21
BJ2-6
21 22
BJ2-17
BJ2-7
20
BJ2-18
BJ2-8
BJ1-23
19
I10 I11 Q0
2
I9
BJ4
18
4
16
BJ2-19
BJ2-9
BJ2-20
BJ1-25
15
BJ2-21
BJ1-4
BJ2-10
17
14
BJ1-10
11
16
BJ1-6
BJ1-12
10
I8
10
15
13
BJ1-14
9
I7
9
8
I6
14
1
BJ1-16
6
5
I5
13
BJ1-8
BJ1-18
BJ2-22
11 12
8
BJ1-22
10
7
BJ1-24
5
9
BJ1-20
I4
I2 I3
4
8
6
BJ1-26
4
I1
3
+24V I0
2
BJ3
1
0V
3
2
1
BJ2
7
12
6
BJ2-11
5
BJ2-12
4
BJ2-13
3
7
2
BJ2-14
1
BJ2-3
0 V-4
0 V-3
24 V-2
24 V-1
HE 10, 26-way
CI10 CI11 CQ0 CQ1 CQ2 CQ3CQ4 CQ5 CQ6 CQ7
CI0 CI1 CI2 CI3 CI4 CI5 CI6 CI7 CI8 CI9
(1)
(1)
ABE 7B20MPN22
18
19
20 21
22
23
24
25 26
I0
I1
I2
I3
I4
I5
I6
I7
I8
I9
I10
I11
0V
BJ1-4
15 16 17
BJ1-6
14
BJ1-8
13
BJ1-10
12
BJ1-11
11
BJ1-12
10
BJ1-13
9
BJ1-14
8
BJ1-15
7
BJ1-16
6
BJ1-17
5
BJ1-18
4
BJ1-19
3
BJ1-20
BJ1-22
BJ1-23
BJ1
2
BJ1-21
0 V-3
0 V-4
BJ1-24
24 V-2
HE10
1
BJ1-25
BJ1-26
24 V-1
HE 10, 26-way
26 25
24 23
22 21
20 19
18 17
16 15
14 13
12 11
10
9
8
7
6
5
4
3
2
1
Q0
Q1
Q2
Q3
Q4
Q5
Q6
Q7
+ 24 V
+ 24 V
+ 24 V
0V
0V
9
0V +24V
10
8
24
BJ2-14
22
23
21
20
BJ2-13
6
5
4
Q5 Q6 Q7
7
19
BJ2-12
BJ2-11
18
17
BJ2-22
16
Q1 Q2 Q3 Q4
3
2
9
CI0 CI1 CI2 CI3 CI4 CI5 CI6 CI7 CI8 CI9
15
BJ2-10
I10 I11 Q0
1
13
I9
BJ4
14
BJ2-21
12
I8
10
11
BJ2-9
BJ2-20
10
I6 I7
9
8
I5
7
8
BJ2-8
BJ2-19
I4
6
7
BJ2-7
6
5
I2 I3
5
4
BJ2-18
4
BJ2-6
3
3
I1
2
BJ2-17
2
I0
BJ2-5
0V +24V
BJ3
1
BJ2
1
BJ2-16
BJ2-4
BJ2-15
BJ2-3
BJ1
CI10 CI11 CQ0 CQ1 CQ2 CQ3 CQ4 CQ5 CQ6 CQ7
(1)
(1)
(1) Example of output connections.
For an inductive load, a diode or varistor is required.
27
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Presentation,
description
Lexium® Motion Controller
motion control
0
Software solution
The Lexium Motion Controller (LMC) range offers two levels of application
implementation:
EasyMotion mode for configuration and MotionPro mode for configuration and
programming.
EasyMotion mode is intended for applications in which the LMC handles the
positioning functions, while a third-party device, such as a PLC, controls the machine
automation functions.
MotionPro mode is for applications in which the Lexium Controller handles both the
motion control functions and the automation functions.
EasyMotion mode
Presentation
Supplied preinstalled in Lexium Controller, the application template associated with
the EasyMotion software is an ergonomic tool which allows:
- Rapid configuration of axes
- Implementation of the first movements in manual mode (JOG+/-)
- Creation of a Motion task table
- Control of execution of this table in automatic mode
- Diagnostics of the motion controller and of the different axes
- Backup and recovery of the machine parameters.
This tool optimizes debugging times, whether it involves a new installation, a
prototype or on-site set-up.
Configuration
Configuration of axes
Example of configuration with the application template
Configuration involves defining the physical parameters of the axis:
- Rotary or linear axis
- Maximum and minimum limits
- User units
- Principal parameters of the Lexium 05 and Lexium 15 servo drives
Manual control
One control panel per axis enables the first movements to be implemented manually,
so that the mechanical constraints of the machine can be identified very quickly.
The available functions are:
- Validation drive variables
- Speed control
- Position control
- JOG+/JOG- Homing
- Creation of position registers via the teach function.
Manual control mode
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Presentation,
description (continued)
Lexium® Motion Controller
motion control
0
Software solution
Motion Task Editor
The Motion Task editor allows you to define a motion task table and configure each
task.
These functions conform to the PLCopen standard.
The principal configurable functions are as follows:
Single-axis:
- Absolute positioning
- Relative positioning
- Additive positioning
- Homing
- Speed control
Motion Task Editor
Multi-axis:
- Cam profile
- Phasing
- Electronic gearing
For the application function blocks:
- Flying shear
- Rotary knife
- Grouping/ungrouping
- Clamping with torque control
In addition, logical functions (waiting for conditions, time delay etc.) allow you to
create a complete positioning sequence.
Automatic control
Automatic control mode allows execution of Motion Task table.
This step ensures debugging of program sequences and parameters.
Thanks to the control panel, it is possible:
- To visualize the behaviour of all the axes
- To control the execution of the function table (stop, pre-positioning etc.).
Complementary functions
Automatic control mode
Configuration in EasyMotion mode also allows:
Editing of cam profiles (8 profiles of 16 points of type XYVA)
Backup and recovery:
- of the machine parameters (configuration of axes, positioning function table)
- of the complete configuration of the Lexium 05 and Lexium 15 servo drives, to
reduce the time taken to replace a device
- of the Motion Task table
Access to on-line help
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Presentation,
description (continued)
Lexium® Motion Controller
motion control
0
Software solution
MotionPro mode
Presentation
MotionPro mode provides a graphical development environment for configuring,
programming and managing motion controller applications.
It relies on a standard interface, CoDeSys®, offering the convenience of the familiar
Windows® environment: windows, toolbars, pop-up menus, contextual help etc.
As in EasyMotion mode, the application template can be used to configure the
positioning functions. The automation functions are then added in the program
organization units (POU).
In this way, MotionPro allows you to create an application perfectly adapted to your
needs.
Programming in MotionPro
Creating a project
The application is structured using function modules, function blocks or programs.
An ergonomic browser gives you an overall view of the different components of the
application.
Configuration
The MotionPro software allows you to configure:
- I/O (discrete, capture or event-triggered)
- Tasks (master, auxiliary or event-triggered)
- Networks (Ethernet TCP/IP)
- Fieldbuses (Profibus DP or DeviceNet)
- A CANopen machine bus and CANopen dedicated to the Motion bus
Programming conforming to standard IEC 61131
The MotionPro software offers six programming languages of which two are text
languages and four are graphical languages.
The text languages are:
- IL: Instruction List
- ST: Structured Text language
The graphical languages include:
- LD: Ladder Diagram (FBD reversible)
- FBD: Function Block Diagram (LD reversible)
- SFC: Sequential Function Chart (Grafcet)
- CFC: Continuous Function Chart
Multitask structure
Example of sequential function chart (Grafcet)
The master task, which controls the synchronization of axes, is sequenced from
1 to 8 ms. This cycle time is linked to the number of configured servo drives to be
synchronized. One auxiliary, non-priority task can be configured to process the
automation functions.
To be able to manage reflex actions in response to external events, it is also possible
to configure two event-triggered tasks.
Library manager
The library manager lists all the libraries integrated into the project.
Example of continuous sequential function chart
Standard library
The main functions are as follows:
- Processing on character string
- Time delay
- Counting
- Bistable
- Data type conversion
- Mathematical calculation functions
- System
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Presentation,
description (continued)
Lexium® Motion Controller
motion control
0
Software solution
Library manager (continued)
Motion library
This library is based on the 3S SoftMotion function library and conforms to the
PLCopen standard.
It is composed of administrative function blocks (read/write parameters, statuses
etc.) and single-axis and multi-axis function blocks.
The main functions are as follows:
- “Power On”, stop, reset
- Absolute, relative or additive positioning
- Continuous positioning (reaching position at a predetermined speed)
- Velocity control
- Velocity profile
- Position profile
- Cam profile
- Electronic gearing
- Phasing
- Programmable cam switch
- Linear or circular interpolation
This library also includes application function blocks:
- Flying shear
- Rotary knife
- Grouping/ungrouping
- Clamping with torque control
See pages 34 and 35.
User library
With MotionPro software, it is very easy to create your own function blocks (user
library) so as to reduce programming time.
Creating a user library simplifies the standardization and reuse of programs and also
allows you to protect your know-how.
Debugging tools
Example of trace recording
MotionPro software offers tools to help the user debug his applications, including:
Dynamic animation of program blocks
Breakpoints which allow you to run the program step by step
Display screens:
- Direct access to the variables of the Lexium Controller
- Command buttons
- Visualization of dynamic values
- Animation of diagrams
Trace recording
In trace recording, the sequence of variable values is logged during a particular
period.
The values are written into a ring memory (trace buffer).
When the memory is full, the oldest values are overwritten. It is possible to record a
maximum of 20 variables, each with up to 500 values, at the same time.
Cam profile editor
Two graphic editors are incorporated into the programming interface of the
MotionPro software:
- A cam profile editor
- An interpolation profile editor
Example of cam profile
These editors allow you to create, back up and restore profiles.
31
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Presentation,
description (continued)
Lexium® Motion Controller
motion control
0
Software solution
Comparative table of functions
Functions
Graphic display
EasyMotion mode MotionPro mode
terminal
With application template
Without
application
template
Configuration of axes and servo drives
Mechanical parameters
User units
Configuration of master encoder
Servo drive parameters
To be
programmed
Manual mode functionalities
Power On/Off
To be
programmed
To be
programmed
To be
programmed
To be
programmed
To be
programmed
To be
programmed
To be
programmed
JOG+/JOGAbsolute or relative positioning
Velocity reference
Position teaching
Set position
Homing
Automatic mode functionalities
Execution of motion task table
Pre-positioning of motion task table
Diagnostics
Motion functions
Configuration
Configuration of motion task table
Status of motion task table
Backup and restore motion task table
Programming conforming to
standard IEC 61131
Cam profile functionalities
Creation of “CAM” function
To be
programmed
Cam profile editor
XYVA profiles
Equidistant point profiles
Number of cam profiles
8
Programmable cam switch
Function accessible
Unlimited
To be
programmed
To be
programmed
Unlimited
To be
programmed
Function not accessible
Not applicable
32
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Presentation,
description (continued)
Lexium® Motion Controller
motion control
0
Software solution
Comparative table of functions (continued)
Functions
Graphic display
EasyMotion mode MotionPro mode
terminal
With application template
Without
application
template
I/O functionalities
Input forcing and display
Output forcing and display
Logical functions and combinations
Dedicated output: power control
To be
programmed
Position capture
(by Touch Probe input)
Distance measurement
(by Touch Probe input)
Event-triggered tasks
Up/Downloading
Applications (data and program)
(data)
Table of motion tasks
Configuration of servo drives
To be
programmed
Programming of logical functions
conforming to standard IEC 61131
Programming of motion control
functions conforming
to standard IEC 61131
Programming of linear and circular
interpolation function blocks
in 2½ dimensions
CANopen machine bus
Configuration of slave devices
Configuration of Lexium Motion Controller
IP address
Modbus bus address
Profibus DP/DeviceNet bus addresses
(via terminal with 8 microswitches)
RUN/STOP Lexium Controller
Configurable automatic “RUN” mode
(default: no)
User management
Password creation
Access limited by password
Function accessible
Function not accessible
Not applicable
33
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Presentation,
description (continued)
Lexium® Motion Controller
motion control
0
Software solution
Application function block library
Presentation
This library is a function library developed specifically by Schneider Electric.
It contains application functions currently encountered in applications used in the
fields of:
- Assembly
- Material handling
- Cutting to length
Each function block comprises a large number of mechanical and application
variants.
The use of function blocks:
- Saves programming time
- Saves set-up time
- Makes reading easier
The function blocks available in the library are:
- Flying shear
- Rotary knife
- Grouping/ungrouping
- Clamping with torque control
“Flying shear” function block
This function block optimises the production performance of machines. It enables an
operation to be performed on a product without stopping the flow.
The “Flying shear” function block guarantees synchronization of two linear axes, the
master axis conveying the product and the slave axis performing the operation.
Once the operation is finished, the slave axis returns to its home position and is
resynchronized for the next operation.
This function block is suitable for such diverse applications as:
- Cutting (thick or hard products)
- Gluing
- Inspection
- Assembly
- ...
To meet a wide range of applications, the “Flying shear” function block incorporates
numerous mechanical and functional variants:
- Continuous or discontinuous flow
- With or without mark detection
- With or without tolerance window on mark detection
- Dynamic length modification
- Immediate cutting
- Master/slave coefficient
34
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Presentation,
description (continued)
Lexium® Motion Controller
motion control
0
Software solution
“Rotary knife” function block
Like “Flying shear” function block, this function block optimizes the production
performance of machines. It enables an operation to be performed on a product
without stopping the flow.
It guarantees synchronization of a linear master axis conveying the product and of a
rotary slave axis performing the operation. Once the operation is finished, the slave
axis carries on turning to its home position before being resynchronized for the next
operation.
This function block is suitable for such diverse applications as:
- Cutting (fine products, flexible products etc.)
- Printing of motifs
- Marking
-…
To meet a wide range of applications, the “Rotary knife” function block incorporates
numerous mechanical and functional variants:
- Continuous or discontinuous flow
- With or without mark detection
- With or without tolerance window on mark detection
- Dynamic length modification
- Immediate cutting
- Master/slave coefficient
“Grouping/ungrouping” function block
The “Grouping/Ungrouping” function is very widely used in manufacturing and the
handling sector.
It synchronizes several linear axes so that products can be sorted and grouped on a
conveyor, with defined spacing between products/groups.
The function is suitable for applications requiring handling:
- Of products of different sizes
- Of fragile products
- With low acceleration/deceleration to avoid products sliding on the conveyor.
To meet a wide range of applications, the “Grouping/ungrouping” function block
takes account of numerous mechanical and functional variants:
- Different groups of products possible
- Fixed or variable spacing between groups and products
- Number and type of conveyors that can be adapted to the application
requirements
“Clamping” function block
This function block provides automatic tightening of a part with torque control to avoid
marking the part.
The logical sequence is carried out in three steps:
- Rapid approach
- Tightening
- Rapid release
This function block is suitable for such diverse applications as:
- Shoeing/welding
- Machine tool chucking
- Inspection
- Assembly/shrink fitting
-…
To meet a wide range of applications, the “Clamping” function block incorporates
numerous mechanical and functional variants:
- Automatic measurement of approach distance
- With or without teach function
35
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Presentation
0
Lexium® Motion Controller
motion control
0
Lexium PAC solution
Presentation of Lexium 05 and Lexium 15 servo drives
Presentation of Lexium 05 servo drive (1)
The range of Lexium 05 servo drives that are compatible with BSH servo motors
constitutes a compact and dynamic combination for machines across a wide power
and supply voltage range:
Lexium 05 servo drive:
- 100…120 V single phase, 0.4 to 1.4 kW
- 200…240 V single phase, 0.75 to 2.5 kW
- 200…240 V three phase, 0.75 to 3.2 kW
- 380…480 V three phase, 1.4 to 6 kW
BSH servo motor:
- Nominal torque: 0.42 to 33.5 Nm
- Nominal speed: 1250 to 6000 rpm
Lexium 05 servo drive
The Lexium 05 range is enhanced by GBX planetary gearboxes. These are easy to
mount, lubricated for life and available in 12 reduction ratios: 3:1 to 40:1.
GBX gearboxes are economical, and designed for applications requiring very limited
backlash.
Lexium 05 servo drives comply with EN 50178 and IEC/EN 61800-3 international
standards and carry UL (USA), cUL (Canada) approvals and CE marking.
The combination of Lexium 05 servo drives with Lexium Controllers constitutes a
simple, cost-effective solution that offers the exact level of performance required for
compact or modular machines.
Presentation of Lexium 15 servo drive (2)
The control capabilities of the Lexium 15 servo drive combined with a very wide
range of power ratings and power supplies make it the ideal solution to meet the
requirements of all kinds of application.
The Lexium 15 servo drive range comprises three models:
A Lexium 15 LP (Low Power) model:
- 0.9 to 4.3 kW
- 1.5 A, 3 A and 6 A in three-phase operation from 200 V to 480 V
- 3 A, 6 A and 10 A in single-phase or three-phase operation at 230 V
A Lexium 15 MP (Medium Power) model:
- 5.7 to 11.4 kW
- 10 A, 14 A and 20 A in three-phase operation from 200 V to 480 V
Lexium 15 servo drive
A Lexium 15 HP (High Power) model:
- 22.3 to 42.5 kW
- 40 A and 70 A in three-phase operation from 200 V to 480 V
With control loops for use in high-performance applications as well as the option of
connecting an external encoder for position feedback, these drives are the perfect
match for the most complex machines.
The Lexium 15 range of servo drives can meet very specific requirements, with its
two servo motor offers:
- The BSH servo motor offer, satisfying demands for dynamics and
high-performance
- The BDH servo motor offer, satisfying demands for compactness and
adaptability
The option of connecting any type of synchronous motor (rotary, linear, torque motor,
etc) to Lexium 15 servo drives makes this range the perfect solution for easy
integration of a drive chain.
The combination of Lexium 15 servo drives with Lexium Controllers brings both
adaptability and precision to all types of synchronized multi-axis solutions.
(1) For further information, please refer to the “Motion control - Lexium 05” catalogue or visit
“www.telemecanique.com”.
(2) For further information, please refer to the “Motion control - Lexium 15” catalogue or visit
“www.telemecanique.com”.
36
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Presentation (continued)
0
Lexium® Motion Controller
motion control
0
Lexium PAC solution
Presentation of BSH and BDH servo motors
BSH and BDH servo motors (1)
BSH and BDH servo motors are synchronous three phase motors.
They feature an integrated sensor, which can be a Resolver (BDH servo motor only)
or a Hiperface® SinCos absolute encoder.
They can be supplied with or without a parking brake.
BSH 1001, BSH 1401 servo motors
Two ranges of motors are offered to meet specific application requirements:
- BSH servo motors satisfy the demands for dynamics and high-performance
- BDH servo motors satisfy the demands for compactness and adaptability
BSH servo motors: Dynamics and high-performance
Thanks to their new winding technology based on salient poles, BSH servo motors
are compact and offer a high power density.
The rotor's low inertia and the slight notching effect make it possible to meet
the demands of both precision and dynamics.
BDH 0701, BDH 1882 servo motors
The dynamics are enhanced by the fast sampling time of the Lexium 15 servo drive
control loops:
- 62.5 µs for the current loop
- 250 µs for the speed loop
- 250 µs for the position loop
BDH servo motors: Compactness and adaptability
The design of the windings based on salient poles has been optimized for BDH
servo motors to achieve one of the best torque/size ratios available on the market.
This compactness is available across 7 different flange sizes and, when combined
with various measuring systems, offers optimum adaptability when designing your
machines.
Lexium PAC: Telemecanique’s motion
control offer
(1) For further information, please refer to the “Motion control - Lexium 05” and “Motion control Lexium 15” catalogs or visit www.telemecanique.com or www.us.telemecanique.com.
37
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Combinations
0
Lexium® Motion Controller
motion control
0
Lexium PAC solution
With Lexium 05 servo drives and BSH servo motors
BSH servo motors
Lexium 05 single phase servo drives (1)
BSH 0551T
115 V single phase,
with integrated EMC input filter
230 V single phase,
with integrated EMC input filter
LXM 05*
LXM 05*
D10F1
D17F1
D28F1
0.65 kW
1.4 kW
M0
nN
0.4 kW
0.5 Nm
3000 rpm
1.4 Nm
D10M2
D17M2
D28M2
nN
0.75 kW
1.2 kW
2.5 kW
6000 rpm
1.4 Nm
BSH 0552M 0.9 Nm
1500 rpm
2.3 Nm
BSH 0552P
0.9 Nm
4000 rpm
2.7 Nm
BSH 0552T
0.9 Nm
6000 rpm
1.77 Nm
BSH 0553M 1.3 Nm
1500 rpm
4.2 Nm
BSH 0553P
1.3 Nm
4000 rpm
3.18 Nm
BSH 0553T
1.3 Nm
BSH 0701P
1.4 Nm
BSH 0701T
1.4 Nm
3000 rpm
1.77 Nm
3000 rpm
2.7 Nm
3.31 Nm
6000 rpm
3000 rpm
2500 rpm
2.42 Nm
2.2 Nm
BSH 0702T
2.12 Nm 2500 rpm
3.2 Nm
5000 rpm
BSH 0702M 2.1 Nm
BSH 0702P
3.31 Nm
4.14 Nm
3.19 Nm
1500 rpm
6.8 Nm
3000 rpm
5.37 Nm
6000 rpm
BSH 0703M 2.8 Nm
1500 rpm
3000 rpm
7.55 Nm
4.14 Nm
6.8 Nm
7.28 Nm
10.3 Nm
10 Nm
BSH 0703P
3.1 Nm
BSH 0703T
2.8 Nm
2500 rpm
7.38 Nm
6000 rpm
7.38 Nm
BSH 1001T
3.4 Nm
2500 rpm
8.5 Nm
4000 rpm
8.5 Nm
BSH 1002P
5.8 Nm
2000 rpm
18.3 Nm
BSH 1003P
7.8 Nm
2000 rpm
22.79 Nm
Where:
M0 = stall torque
nN = maximum nominal speed
1.4 Nm
1.4 Nm
Peak stall torque that can be supplied by the BSH servo motor and Lexium 05 servo drive
combination
(1) In the reference, replace * with A for the CANopen (Motion bus) version with analog inputs,
and with B for the Profibus DP version.
38
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Combinations (continued)
0
Lexium® Motion Controller
motion control
0
Lexium PAC solution
With Lexium 05 servo drives and BSH servo motors
BSH servo motors
Lexium 05 three phase servo drives (1)
BSH 0551T
230 V three phase,
without integrated EMC input filter
400/480 V three phase,
with integrated EMC input filter
LXM 05* (1)
LXM 05* (1)
D10M3X
D17M3X
D42M3X
1.4 kW
3.2 kW
M0
nN
0.75 kW
0.5 Nm
6000 rpm
1.4 Nm
BSH 0552M 0.9 Nm
1500 rpm
2.3 Nm
BSH 0552P
0.9 Nm
4000 rpm
2.7 Nm
BSH 0552T
0.9 Nm
6000 rpm
1.77 Nm
BSH 0553M 1.3 Nm
1500 rpm
4.2 Nm
BSH 0553P
1.3 Nm
4000 rpm
3.18 Nm
BSH 0553T
1.3 Nm
6000 rpm
BSH 0701M 1.4 Nm
1500 rpm
3.2 Nm
BSH 0701P
1.4 Nm
3000 rpm
3.2 Nm
BSH 0701T
1.4 Nm
6000 rpm
2.41 Nm
BSH 0702M 2.1 Nm
1500 rpm
6.8 Nm
BSH 0702P
2.2 Nm
3000 rpm
5.37 Nm
BSH 0702T
2.12 Nm 4500 rpm
BSH 0703M 2.8 Nm
1500 rpm
BSH 0703P
3.1 Nm
3000 rpm
BSH 0703T
2.8 Nm
6000 rpm
D14N4
D22N4
D34N4
D57N4
nN
1.4 kW
2.0 kW
3.0 kW
6.0 kW
6000 rpm
2.7 Nm
6000 rpm
3.87 Nm
6000 rpm
7.55 Nm
3000 rpm
10.3 Nm
3.31 Nm
3.19 Nm
7.55 Nm
6.8 Nm
10 Nm
7.28 Nm
6000 rpm
BSH 1001M 3.4 Nm
2000 rpm
BSH 1001P
3.3 Nm
2000 rpm
BSH 1001T
3.4 Nm
4000 rpm
9.45 Nm
2000 rpm
BSH 1002T
5.52 Nm 4000 rpm
9.45 Nm
8.5 Nm
2000 rpm
5.8 Nm
8.5 Nm
4000 rpm
BSH 1002M 5.5 Nm
BSH 1002P
8.92 Nm
10.25 Nm
12.35 Nm
16 Nm
4000 rpm
15.43 Nm
2000 rpm
27.8 Nm
16 Nm
BSH 1003M 7.8 Nm
BSH 1003P
8 Nm
2000 rpm
28.3 Nm
4000 rpm
26.97 Nm
BSH 1004P
10 Nm
1500 rpm
30.41 Nm
3000 rpm
22.53 Nm 30.41 Nm
BSH 1401P
11.1 Nm
2500 rpm
26.2 Nm
BSH 1401T
11.1 Nm 2500 rpm
1250 rpm
57.1 Nm
24.77 Nm
BSH 1402M 19.5 Nm
BSH 1402P
19.5 Nm 1500 rpm
46.72 Nm
BSH 1402T
14.73 Nm 2000 rpm
25.04 Nm
3000 rpm
57.42 Nm
BSH 1403M 27.8 Nm
1500 rpm
BSH 1403P
27.8 Nm
3000 rpm
57.24 Nm
BSH 1404M 33.4 Nm
1500 rpm
126.45 Nm
BSH 1404P
3000 rpm
60.04 Nm
1500 rpm
68.3Nm
33.4 Nm
BSH 2051M 36 Nm
76.66 Nm
88.17 Nm
Where:
M0 = stall torque
nN = maximum nominal speed )
1.4 Nm
1.4 Nm
Peak stall torque that can be supplied by the BSH servo motor and Lexium 05 servo drive
combination
(1) In the reference, replace * with A for the CANopen (Motion bus) version with analog inputs,
and with B for the Profibus DP version.
39
Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Combinations (continued)
0
Lexium® Motion Controller
motion control
0
Lexium PAC solution
With LP servo drives and B*H servo motors
Lexium 15 LP servo drive/BDH or BSH servo motor combinations
Servo motors
Lexium 15 LP servo drives
BDH
BSH
Max.
(IP 54 or IP 67) (IP 40 or IP 65) speed
Supply voltage 200…240 V three phase
Supply voltage 208…480 V three phase
LXM 15LD28M3
LXM 15LU60N4
LXM 15LD10N4
LXM 15LD17N4
10 A
1.5 A
3A
6A
BDH 0401B
rpm
8000
LXM 15LD13M3 LXM 15LD21M3
Continuous output current (RMS)
3A
6A
0.18/0.61 Nm
BDH 0402C
8000
0.31/1.08 Nm
BDH 0403C
8000
0.41/1.46 Nm
BSH 0551P
6880
0.5/1.4 Nm
BSH 0551T
8000
0.5/1.4 Nm
BDH 0582C
8000
BDH 0582E
8000
0.84/2.34 Nm
0.87/2.42 Nm
BSH 0552M
6160
BSH 0552P
5920
0.9/2.7 Nm
BSH 0552T
8000
0.9/2.54 Nm
BDH 0583C
8000
BDH 0583D
8000
BDH 0583F
8000
BSH 0553M
4880
BSH 0553P
8000
0.5/1.4 Nm
0.9/2.25 Nm
0.9/2.26 Nm
1.13/3.2 Nm
1.16/3.58 Nm
1.16/3.58 Nm
1.18/3.52 Nm
1.3/3.5 Nm
1.3/4.2 Nm
1.3/3.87 Nm
8000
BDH 0584C
1.38/3.94 Nm
BSH 0701T
8000
1.4/3.19 Nm
BSH 0701P
4880
1.41/2.66 Nm
BDH 0584D
8000
1.41/4.4 Nm
BDH 0584F
8000
BDH 0701C
8000
BDH 0701E
8000
BDH 0702C
5120
BDH 0702D
7760
BDH 0702H
8000
BDH 0703C
3840
BDH 0703E
6480
BDH 0703H
6630
BDH 0841C
5280
BDH 0841E
6000
BDH 0841H
6000
1.4/3.19 Nm
1.4/2.91 Nm
1.41/2.66 Nm
1.41/4.4 Nm
1.42/4.46 Nm
1.15/3.34 Nm
1.2/3.24 Nm
2.00/5.74 Nm
2.04/6.51 Nm
2.04/6.51 Nm
2.1/5.36 Nm
2.71/7.83 Nm
2.79/8.55 Nm
2.79/8.55 Nm
2.88/7.35 Nm
1.95/5.12 Nm
2.02/5.33 Nm
2.02/5.13 Nm
2.06/4.78 Nm
BSH 0702M
4960
BSH 0702P
8000
2.12/5.63 Nm
BSH 0702T
8000
2.12/5.45 Nm
BSH 0703P
8000
2.83/9.28 Nm
BSH 0703T
8000
2.2/5.63 Nm
2.2/4.85 Nm
2.12/4.47 Nm
2.83/7.71 Nm
2.83/7.38 Nm
0.18/0.61 Nm
The 1st value corresponds to the continuous torque on stopping. The 2nd value corresponds to the peak torque on stopping.
Selection example:
combined with servo drive LXM 15LD13M3 meets the requirements of applications needing a maximum of 0.18 Nm
The servo motor BDH 0401B
continuous torque on stopping, 0.61 Nm peak torque on stopping and 8000 rpm mechanical speed.
40
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Combinations (continued)
0
Lexium® Motion Controller
motion control
0
Lexium PAC solution
With LP servo drives and B*H servo motors
Lexium 15 LP servo drive/BDH or BSH servo motor combinations (continued)
Servo motors
Lexium 15 LP servo drives
BDH
BSH
Max.
(IP 54 or IP 67) (IP 40 or IP 65) speed
rpm
3000
BDH 0842C
BSH 1001P
3780
BSH 1001T
6000
BDH 0842E
5640
BDH 0842G
6000
BDH 0842J
6000
BDH 0843E
4140
BDH 0843G
6000
BDH 0843K
6000
BSH 1002P
6000
BSH 1002T
5340
BDH 0844E
3480
BDH 0844G
6000
BDH 0844J
4980
BDH 1081E
4200
BDH 1081G
6000
BDH 1081K
6000
BSH 1003M
2640
BSH 1003P
3060
BDH 1082E
2580
BDH 1082G
3960
BDH 1082K
3660
BSH 1004M
Supply voltage 200…240 V three phase
Supply voltage 208…480 V three phase
LXM 15LD13M3 LXM 15LD21M3
Continuous output current (RMS)
3A
6A
LXM 15LD28M3
LXM 15LU60N4
LXM 15LD10N4
LXM 15LD17N4
10 A
1.5 A
3.35/9.37 Nm
3A
6A
3.39/7.08 Nm
3.39/6.19 Nm
3.39/8.5 Nm
3.42/9.72 Nm
3.42/9.41 Nm
3.53/9.56 Nm
3.53/8.66 Nm
3.56/7.56 Nm
4.7/11.7 Nm
4.8/13.2 Nm
4.8/11.68 Nm
4.9/9.02 Nm
5.8/14.79 Nm
5.8/12.13 Nm
5.5/11.59 Nm
5.76/14.1 Nm
5.88/16.1 Nm
5.88/13.97 Nm
6/12.18 Nm
4.7/10.71 Nm
4.75/10.82 Nm
4.75/10.82 Nm
4.9/9.22 Nm
7.76/15.19 Nm
8.34/18.08 Nm
8.43/19.51 Nm
8.43/19.51 Nm
8.6/16.9 Nm
2400
BDH 1083G
3000
BDH 1083K
2820
BDH 1084G
2460
BDH 1084K
2280
BDH 1382G
2880
BDH 1382K
2700
BDH 1383G
1920
BDH 1383K
2000
7.76/22.95 Nm
7.8/19.69 Nm
9.31/19.8 Nm
9.31/29.87 Nm
11.4/25.8 Nm
11.6/22.9 Nm
14.3/31.7 Nm
14.4/28.1 Nm
11.9/25.6 Nm
12.2/22.7 Nm
16.5/38.4 Nm
16.8/31 Nm
3.35/9.37 Nm
The 1st value corresponds to the continuous torque on stopping. The 2nd value corresponds to the peak torque on stopping.
Selection example:
combined with servo drive LXM 15LU60N4 meets the requirements of applications needing a maximum of 3.35 Nm
The servo motor BDH 0842C
continuous torque on stopping, 9.37 Nm peak torque on stopping and 3000 rpm mechanical speed.
41
Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Combinations (continued)
0
Lexium® Motion Controller
motion control
0
Lexium PAC solution
With MP servo drives and B*H servo motors
Lexium 15 MP servo drive/BDH or BSH servo motor combinations
Servo motors
Lexium 15 MP servo drives
Supply voltage 208…480 V three phase
BDH
(IP 54 or IP 67)
BSH
(IP 40 or IP 65)
BDH 0842J
BDH 0843K
BDH 0844J
BDH 1081K
BSH 1003P
BDH 1082K
BDH 1082M
BSH 1004M
BSH 1004P
BSH 1004T
BDH 1083K
BDH 1083M
BDH 1083P
BSH 1401M
BSH 1401P
BSH 1401T
BDH 1084K
BDH 1084L
BDH 1084N
BDH 1382K
BDH 1382M
BDH 1382P
BDH 1383K
BDH 1383M
BDH 1383N
BSH 1402M
BSH 1402P
BDH 1384K
BDH 1384L
BDH 1384P
BDH 1385K
BDH 1385M
BDH 1385N
BSH 1403M
BSH 1403P
BDH 1882K
BDH 1882M
BDH 1882P
BSH 1404M
BSH 2051M
BDH 1883M
BDH 1883P
BDH 1884L
BDH 1884P
Max.
speed
rpm
6000
6000
4980
6000
6000
3660
5160
2400
4800
4080
2820
4000
5700
2360
4000
3920
2280
3000
4260
2700
6000
5220
2000
5760
6000
2360
4000
3120
4260
6000
2820
3840
5160
2200
4000
2220
3060
4500
2040
2200
2280
3360
1740
5520
LXM 15MD28N4
LXM 15MD40N4
Continuous output current (RMS)
10 A
14 A
3.56/7.56 Nm
4.9/9.02 Nm
6/12.18 Nm
4.9/9.22 Nm
7.8/19.69 Nm
7.8/23.17 Nm
8.6/16.9 Nm
8.6/16.7 Nm
9.31/34.17 Nm
9.31/25.7 Nm
9.31/33.83 Nm
9.31/21.04 Nm
11.6/22.9 Nm
11.4/22.1 Nm
LXM 15MD56N4
20 A
11.4/22.2 Nm
11.1/26 Nm
11.1/23.33 Nm
11.1/23.33 Nm
11.1/23.33 Nm
14.4/28.1 Nm
14.1/27.28 Nm
14.1/25.5 Nm
12.2/22.7 Nm
12.2/22.8 Nm
12.3/23.2 Nm
16.8/31 Nm
17/31.4 Nm
17/34.8 Nm
19.5/47.5 Nm
19.5/39.33 Nm
19.5/47.5 Nm
20.8/41.2 Nm
21/41.9 Nm
20.4/40.2 Nm
24.8/46.8 Nm
25/47.6 Nm
24.3/50.2 Nm
27.8/71.67 Nm
27.8/57.32 Nm
29.7/59.4 Nm
30/59.8 Nm
33.4/82.32 Nm
36/68.33 Nm
42/80.7 Nm
29.4/58.4 Nm
33.4/95 Nm
36/68.33 Nm
41.6/79.4 Nm
53/108 Nm
52.5/106 Nm
3.56/7.75 Nm
The 1st value corresponds to the continuous torque on stopping. The 2nd value corresponds to the peak torque on stopping.
Selection example:
combined with servo drive LXM 15MD28N4 meets the requirements of applications needing a maximum of 3.56 Nm
The servo motor BDH 0842J
continuous torque on stopping, 7.56 Nm peak torque on stopping and 6000 rpm mechanical speed.
42
Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
Combinations (continued)
0
Lexium® Motion Controller
motion control
0
Lexium PAC solution
With HP servo drives and BSH servo motors
Lexium 15 HP servo drive/BSH servo motor combinations
Servo motors
Lexium 15 HP servo drives
Supply voltage 208…480 V three phase
BSH
(IP 40 or IP 65)
BSH 2051M
BSH 2051P
BSH 2052M
BSH 2052P
BSH 2053M
BSH 2053P
Max. speed
rpm
2200
3500
2190
3000
2190
3000
LXM 15HC11N4X
Continuous output current (RMS)
40 A
36/68.33 Nm
36/82 Nm
65/200 Nm
65/118.54 Nm
90/227.18 Nm
LXM 15HC20N4X
70 A
65/200 Nm
65/193.45 Nm
90/300 Nm
90/202.96 Nm
36/68.33 Nm
The 1st value corresponds to the continuous torque on stopping. The 2nd value corresponds to the peak torque on stopping.
Selection example:
combined with servo drive LXM 15HC11N4X meets the requirements of applications needing a maximum of 36 Nm
The servo motor BSH 2051M
continuous torque on stopping, 68.33 Nm peak torque on stopping and 2200 rpm mechanical speed.
43
Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
The efficiency of Telemecanique®
branded solutions
Used in combination, Telemecanique products provide quality solutions,
meeting all your Automation & Control applications requirements.
A worldwide presence
Constantly available
1 More than 5000 points of sale in 190 countries.
1 You can be sure to find the range of products that are right for you and which
complies fully with the standards in the country where they are used.
Technical assistance wherever you are
1 Our technicians are at your disposal to assist you in finding the optimum
solution for your particular needs.
1 Schneider Electric provides you with all necessary technical assistance,
throughout the world.
Schneider Electric Motion
Simply Smart !
Due to evolution of standards and equipment, the characteristics indicated in texts and images of this
document do not constitute a commitment on our part without confirmation.
Design: Schneider Electric
[email protected] Photos: Schneider Electric
Copyright © 2007 Schneider Electric. All Rights Reserved.
www.us.schneider-electric.com
ART. 960165
DIA7ED2070410US
www.us.telemecanique.com
04/2007
Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
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