Schneider Electric SD315D Drive Product Manual

SD315D
Drive for stepper motors
Product manual
0098441113413, V2.00, 03.2011
V2.00, 03.2011
www.schneider-electric.com
Important information
SD315D
Important information
This manual is part of the product.
Carefully read this manual and observe all instructions.
Keep this manual for future reference.
Hand this manual and all other pertinent product documentation over to
all users of the product.
Carefully read and observe all safety instructions and the chapter "Before you begin - safety information".
Some products are not available in all countries.
For information on the availability of products, please consult the catalog.
All details provided are technical data which do not constitute warranted
qualities.
Most of the product designations are registered trademarks of their respective owners, even if this is not explicitly indicated.
2
Drive for stepper motors
0098441113413, V2.00, 03.2011
Subject to technical modifications without notice.
SD315D
Table of contents
Table of contents
Important information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
About this manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Further reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1
Device overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2
Scope of supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3
Components and interfaces . . . . . . . . . . . . . . . . . . . . . 11
1.4
Type code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2 Before you begin - safety information. . . . . . . . . . . . . . . . . . . 13
2.1
Qualification of personnel . . . . . . . . . . . . . . . . . . . . . . . 13
2.2
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3
Hazard categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.4
Basic information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.5
Standards and terminology . . . . . . . . . . . . . . . . . . . . . . 16
0098441113413, V2.00, 03.2011
3 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Drive for stepper motors
3.1
Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2
3.2.1
Mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.3
3.3.1
3.3.2
3.3.3
3.3.4
Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection overview . . . . . . . . . . . . . . . . . . . . . . . .
Supply voltage VDC at CN1 . . . . . . . . . . . . . . . . . . .
Signal interface at CN2. . . . . . . . . . . . . . . . . . . . . . .
Motor connection at CN3 . . . . . . . . . . . . . . . . . . . . .
20
20
21
22
22
3.4
3.4.1
3.4.2
3.4.3
Technical data accessories . . . . . . . . . . . . . . . . . . . . . .
Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Other accessories. . . . . . . . . . . . . . . . . . . . . . . . . . .
23
23
24
24
3.5
Conditions for UL 508C . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.6
Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.7
Declaration of conformity. . . . . . . . . . . . . . . . . . . . . . . . 26
3
Table of contents
SD315D
4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.1
Electromagnetic compatibility, EMC . . . . . . . . . . . . . . . 28
4.2
4.2.1
Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . 32
Mounting the device . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.3
4.3.1
4.3.2
4.3.3
4.3.4
4.3.5
Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of procedure. . . . . . . . . . . . . . . . . . . . . . .
Connection overview . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the power stage supply (CN1) . . . . . . .
Connecting the signal interface (CN2) . . . . . . . . . . .
Connecting the motor phases (CN3) . . . . . . . . . . . .
4.4
Checking installation. . . . . . . . . . . . . . . . . . . . . . . . . . . 44
34
34
35
36
39
42
5 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.1
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.2
5.2.1
5.2.2
5.2.3
5.2.4
5.2.5
5.2.6
5.2.7
Commissioning procedure . . . . . . . . . . . . . . . . . . . . . .
Overview of parameter switches . . . . . . . . . . . . . . .
Setting the nominal current . . . . . . . . . . . . . . . . . . .
Setting the current reduction . . . . . . . . . . . . . . . . . .
Setting the Softstep function . . . . . . . . . . . . . . . . . .
Setting the number of steps . . . . . . . . . . . . . . . . . . .
Setting the type of Enable . . . . . . . . . . . . . . . . . . . .
Test run of the drive . . . . . . . . . . . . . . . . . . . . . . . . .
47
47
48
49
50
51
52
53
6 Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6.1
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6.2
6.2.1
6.2.2
Enabling motor movements . . . . . . . . . . . . . . . . . . . . . 56
Enabling the power stage. . . . . . . . . . . . . . . . . . . . . 56
Block P/D signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
6.3
Performing motor movements. . . . . . . . . . . . . . . . . . . . 57
6.4
6.4.1
Signal outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Readiness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.5
Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
7 Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
7.1
Wiring examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
8.1
Status indication via LEDs . . . . . . . . . . . . . . . . . . . . . . 61
8.2
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9 Accessories and spare parts . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.1
4
Optional accessories . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Drive for stepper motors
0098441113413, V2.00, 03.2011
8 Diagnostics and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 61
SD315D
Table of contents
10 Service, maintenance and disposal . . . . . . . . . . . . . . . . . . . . 65
10.1
Service address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
10.2
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
10.3
Replacing devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
10.4
Shipping, storage, disposal . . . . . . . . . . . . . . . . . . . . . . 66
11 Extract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
11.1
Extract for installation . . . . . . . . . . . . . . . . . . . . . . . . . . 67
11.2
11.2.1
11.2.2
11.2.3
11.2.4
11.2.5
Extract for commissioning . . . . . . . . . . . . . . . . . . . . . . .
Setting the nominal current. . . . . . . . . . . . . . . . . . . .
Setting the current reduction. . . . . . . . . . . . . . . . . . .
Setting the Softstep function. . . . . . . . . . . . . . . . . . .
Setting the number of steps . . . . . . . . . . . . . . . . . . .
Setting the type of Enable. . . . . . . . . . . . . . . . . . . . .
70
70
71
72
73
74
12 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
12.1
12.1.1
12.1.2
12.1.3
12.1.4
12.1.5
12.1.6
12.1.7
12.1.8
12.1.9
Units and conversion tables . . . . . . . . . . . . . . . . . . . . .
Length. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Force. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Moment of inertia . . . . . . . . . . . . . . . . . . . . . . . . . . .
Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Conductor cross section . . . . . . . . . . . . . . . . . . . . . .
75
75
75
75
75
76
76
76
76
76
12.2
Terms and Abbreviations. . . . . . . . . . . . . . . . . . . . . . . . 77
0098441113413, V2.00, 03.2011
13 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Drive for stepper motors
5
SD315D
0098441113413, V2.00, 03.2011
Table of contents
6
Drive for stepper motors
SD315D
About this manual
About this manual
This manual is valid for SD315D standard products. Chapter 1 "Introduction" lists the type code for this product. The type code allows you to
identify whether your product is a standard product or a customized version.
The following manuals belong to this product:
Source manuals
•
Product manual, describes the technical data, installation, commissioning and the operating modes and functions.
•
Motor manual, describes the technical characteristics of the
motors, including correct installation and commissioning.
The latest versions of the manuals can be downloaded from the Internet
at:
http://www.schneider-electric.com
Source EPLAN Macros
For easier engineering, macro files and product master data are available for download from the Internet at:
http://www.schneider-electric.com
Corrections and suggestions
We always try to further optimize our manuals. We welcome your suggestions and corrections.
Please get in touch with us by e-mail:
[email protected].
Work steps
If work steps must be performed consecutively, this sequence of steps
is represented as follows:
쮿 Special prerequisites for the following work steps
왘 Step 1
컅 Specific response to this work step
왘 Step 2
If a response to a work step is indicated, this allows you to verify that the
work step has been performed correctly.
Unless otherwise stated, the individual steps must be performed in the
specified sequence.
Making work easier
Information on making work easier is highlighted by this symbol:
0098441113413, V2.00, 03.2011
Sections highlighted this way provide supplementary
information on making work easier.
SI units
SI units are the original values. Converted units are shown in brackets
behind the original value; they may be rounded.
Example:
Minimum conductor cross section: 1.5 mm2 (AWG 14)
Drive for stepper motors
7
About this manual
SD315D
Glossary
Index
Explanations of special technical terms and abbreviations.
List of keywords with references to the corresponding page numbers.
Further reading
0098441113413, V2.00, 03.2011
Recommended literature for further reading:
8
Drive for stepper motors
SD315D
1 Introduction
1
Introduction
1.1
Device overview
1
Figure 1.1
Device overview
This drive is used to control a 3-phase stepper motor.
Drive
The drive moves the motor as per the supplied external reference values.
0098441113413, V2.00, 03.2011
The external reference values are generated by a master controller and
supplied as P/D signals (PULSE/DIR).
Drive for stepper motors
9
1 Introduction
1.2
SD315D
Scope of supply
1
2
3
Figure 1.2
SD315D
DIN rail adapter with mounting screws (accessories)
EMC kit (accessories)
0098441113413, V2.00, 03.2011
(1)
(2)
(3)
Scope of supply
10
Drive for stepper motors
SD315D
1.3
1 Introduction
Components and interfaces
1
2
3
4
5
6
7
11
10
9
8
Figure 1.3
Connection CN1 power stage supply
LED OK (green)
LED ERR (red)
Parameter switch S1 motor phase current
Parameter switch S2 "Current Reduction" and "Softstep"
Parameter switch S3 number of steps and type of release
Connection CN2 signal interface
Connection CN3 motor
EMC mounting plate (accessories)
DIN rail adapter (accessories)
Nameplate
0098441113413, V2.00, 03.2011
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
Components and interfaces
Drive for stepper motors
11
1 Introduction
1.4
SD315D
Type code
SD3
15
•
N10
B4
••
Product designation
SD3 = Stepper motor drive 3-phase
Product design
15 = Stepper motor drive module
Interface
D = P/D signals
O = P/D signals with oscillator
Max. motor phase current
N10 = 10 A
Power stage supply
B4 = 24 ... 48 Vdc
Further options
00 = Standard
xx = Customized version
0098441113413, V2.00, 03.2011
If you have questions concerning the type code, contact your Schneider
Electric sales office. Contact your machine vendor if you have questions
concerning customized versions.
12
Drive for stepper motors
SD315D
2 Before you begin - safety information
2
Before you begin - safety information
2.1
Qualification of personnel
2
Only appropriately trained persons who are familiar with and understand
the contents of this manual and all other pertinent product documentation are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid hazards involved. These persons must have sufficient technical training,
knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the settings and by the mechanical, electrical and electronic equipment of the
entire system in which the product is used.
All persons working on and with the product must be fully familiar with all
applicable standards, directives, and accident prevention regulations
when performing such work.
2.2
Intended use
This product is a drive for 3-phase stepper motors and intended for industrial use according to these instructions.
The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical
data.
Prior to using the product, you must perform a risk assessment in view
of the planned application. Based on the results, the appropriate safety
measures must be implemented.
Since the product is used as a component in an entire system, you must
ensure the safety of persons by means of the design of this entire system (for example, machine design).
Operate the product only with the specified cables and accessories. Use
only genuine accessories and spare parts.
The product must NEVER be operated in explosive atmospheres (hazardous locations, Ex areas).
Any use other than the use explicitly permitted is prohibited and can result in hazards.
0098441113413, V2.00, 03.2011
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel.
Drive for stepper motors
13
2 Before you begin - safety information
2.3
SD315D
Hazard categories
Safety instructions to the user are highlighted by safety alert symbols in
the manual. In addition, labels with symbols and/or instructions are attached to the product that alert you to potential hazards.
Depending on the seriousness of the hazard, the safety instructions are
divided into 4 hazard categories.
@ DANGER
DANGER indicates an imminently hazardous situation, which, if not
avoided, will result in death or serious injury.
@ WARNING
WARNING indicates a potentially hazardous situation, which, if not
avoided, can result in death, serious injury, or equipment damage.
@ CAUTION
CAUTION indicates a potentially hazardous situation, which, if not
avoided, can result in injury or equipment damage.
CAUTION
0098441113413, V2.00, 03.2011
CAUTION used without the safety alert symbol, is used to address
practices not related to personal injury (e.g. can result in equipment
damage).
14
Drive for stepper motors
SD315D
2.4
2 Before you begin - safety information
Basic information
@ WARNING
LOSS OF CONTROL
•
The designer of any control scheme must consider the potential
failure modes of control paths and, for certain critical functions,
provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are emergency stop,
overtravel stop, power outage and restart.
•
Separate or redundant control paths must be provided for critical
functions.
•
System control paths may include communication links. Consideration must be given to the implication of unanticipated transmission delays or failures of the link.
•
Observe all accident prevention regulations and local safety
guidelines. 1)
•
Each implementation of the product must be individually and thoroughly tested for proper operation before being placed into service.
Failure to follow these instructions can result in death or serious
injury.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and
Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems”.
@ WARNING
UNEXPECTED BEHAVIOR AND DESTRUCTION OF SYSTEM COMPONENTS
When you work on the wiring and when you unplug or plug in connectors, this may cause unexpected behavior and destruction of system
components.
•
Switch the power supply off before working on the wiring.
0098441113413, V2.00, 03.2011
Failure to follow these instructions can result in death, serious
injury or equipment damage.
Drive for stepper motors
15
2 Before you begin - safety information
2.5
SD315D
Standards and terminology
Technical terms, terminology and the corresponding descriptions in this
manual are intended to use the terms or definitions of the pertinent
standards.
In the area of drive systems, this includes, but is not limited to, terms
such as "safety function", "safe state", "fault", "fault reset", "failure", "error", "error message", "warning", "warning message", etc.
Among others, these standards include:
•
IEC 61800 series: "Adjustable speed electrical power drive systems"
•
IEC 61158 series: "Industrial communication networks - Fieldbus
specifications"
•
IEC 61784 series: "Industrial communication networks - Profiles"
•
IEC 61508 series: "Functional safety of electrical/electronic/programmable electronic safety-related systems"
0098441113413, V2.00, 03.2011
Also see the glossary at the end of this manual.
16
Drive for stepper motors
SD315D
3
3 Technical Data
Technical Data
3
This chapter contains information on the ambient conditions and on the
mechanical and electrical properties of the product family and the accessories.
3.1
Ambient conditions
Ambient conditions transportation
and storage
The environment during transport and storage must be dry and free from
dust. The maximum vibration and shock load must be within the specified limits.
Temperature
Climatic environmental conditions
operation
[°C]
-25 ... 70
The maximum permissible ambient temperature during operation depends on the mounting distances between the devices and on the required power. Observe the pertinent instructions in the chapter 4
"Installation".
Ambient temperature (no icing,
non-condensing)
[°C]
0 ... 50
The following relative humidity is permissible during operation:
Relative humidity (non-condensing)
[%]
5 ... 85
As per IEC 60721-3-3, class 3K3
The installation altitude is defined as altitude above mean sea level.
Installation altitude without derating
[m]
Installation altitude if the following [m]
condition is met:
•
0098441113413, V2.00, 03.2011
Pollution degree and degree of
protection
Vibration and shock
Drive for stepper motors
<1000
1000 ... 2000
Reduction of the motor phase
current by 1% per 100 m
above 1000 m
Pollution degree
2
Degree of protection
IP 20
Vibration, sinusoidal
Type test with 10 runs as per
IEC 60068-2-6
1.5 mm (from 3 Hz ... 13 Hz)
10 m/s2 (from 13 Hz ... 150 Hz)
Shock, semi-sinusoidal
Type test with 3 shocks in each
direction as per IEC 60068-2-27
150 m/s2 (for 11 ms)
17
3 Technical Data
SD315D
Emission with shielded cables
IEC 61800-3: Category C2
IEC 61000-6-4
EN 55022: Class A
Emission with unshielded cables
IEC 61800-3: Category C3
IEC 61000-6-4
EN 55022: Class A
Immunity
IEC 61800-3: second environment
0098441113413, V2.00, 03.2011
EMC
18
Drive for stepper motors
SD315D
3.2
Mechanical data
3.2.1
Dimensions
3 Technical Data
d
d
e
H
f
c
a
b
B
T
g
j
0098441113413, V2.00, 03.2011
Figure 3.1
Dimensions
H
[mm]
117
B
[mm]
23.5
T
[mm]
74.5
a
[mm]
36
b
[mm]
23.5
c
[mm]
11.75
d
[mm]
4.5
e
[mm]
4.25
f
[mm]
108.5
g
[mm]
3
j
[mm]
4
Type of cooling
Mass
Drive for stepper motors
Free convection
[kg]
0.25
19
3 Technical Data
3.3
Electrical Data
3.3.1
Connection overview
SD315D
The illustration below shows an overview of the connections:
CN1
CN1
1
LED
ERR
CN2
CN3
1
1 2 3 4 1 2 3 4
S3
F0 1 2
S2
BCD
E
S1
7 8 9A
LED
OK
3456
2
1
2
3
4
5
6
7
8
9
10
11
2
3
4
CN3
Figure 3.2
Overview of signal connections
Assignment
CN1
Power stage supply
CN2
Signal interface
CN3
Motor
0098441113413, V2.00, 03.2011
Connection
20
Drive for stepper motors
SD315D
3.3.2
3 Technical Data
Supply voltage VDC at CN1
The power stage supply VDC is also the controller supply voltage.
Electrical data
Fuse to be connected upstream
Nominal voltage VDC
[Vdc]
24 ... 48
Limit values VDC
[Vdc]
19.2 ... 60
Residual ripple
[%]
<5
Input current
[A]
≤7.5
Power dissipation
[W]
≤7
Internal capacitors
[μF]
1100
Fuse to be connected upstream
[A]
≤10
The input current may increase greatly for a short periods in the case of
dynamic processes such as fast acceleration or brief load torque peaks.
Circuit breakers with thermal tripping are recommended.
For example type multi9 C60N by Schneider Electric, Cat.No.60110,
rated current 10 A, trip characteristic C.
Alternatively, circuit breakers with electronic tripping can be used.
For example type ESS20 by E-T-A.
0098441113413, V2.00, 03.2011
Select the nominal current of the circuit breaker depending on the wiring
and the input current.
Drive for stepper motors
21
3 Technical Data
3.3.3
SD315D
Signal interface at CN2
5V inputs
24V inputs
Output ACTIVE_OUT
3.3.4
The inputs are optocoupler inputs.
1 level (Uhigh)
V
2.5 ... 5.25
0 level (Ulow)
V
≤0.4
Input current
[mA]
≤25
Input frequency
[kHz] ≤200
The inputs are optocoupler inputs.
1 level (Uhigh)
V
15 ... 30
0 level (Ulow)
V
≤5
Input current
[mA]
≤7
Input frequency
[kHz] ≤200
The output is an electronic relay (bidirectional Mosfet). The output is not
short-circuit protected.
Switching voltage
[V]
≤30
Switching current
[mA]
≤200
Voltage drop at 50 mA load
[V]
≤1
Motor connection at CN3
Maximum motor phase current
[Apk]
[Arms]
14
10
Maximum motor phase current
without the function "Current
Reduction"
[Arms]
7.5
Number of phases
You can use motors from the motor series BRS36•F, BRS36•H,
BRS39•F and BRS39•H.
0098441113413, V2.00, 03.2011
Approved motors
3
22
Drive for stepper motors
SD315D
3 Technical Data
3.4
Technical data accessories
3.4.1
Cables
Cable specifications CN1
Cable specifications CN2
Cable specifications CN3
Shield:
Depends on EMC limit values, see
chapter 3.1 "Ambient conditions".
Twisted Pair:
Not required
PELV:
Required
Minimum conductor cross section:
Use a conductor with a sufficient cross
section according to the upstream
fuse and the cable length.
Maximum cable length:
-
Shield:
Required
Twisted Pair:
Required
PELV:
Required
Minimum conductor cross section:
0.2 mm2 (AWG 24)
Maximum cable length:
-
Shield:
Depends on EMC limit values, see
chapter 3.1 "Ambient conditions".
Twisted Pair:
Not required
PELV:
Required
Minimum conductor cross section:
0.75 mm2.
Use a conductor with a sufficient cross
section according to the upstream
fuse and the cable length.
50 m
0098441113413, V2.00, 03.2011
Maximum cable length:
Drive for stepper motors
23
3 Technical Data
3.4.2
SD315D
Connectors
The connectors are available as a connector kit. See chapter 9 "Accessories and spare parts".
Properties of connector CN1
Properties of connector CN2
Designation
Female header 2 pins 5.08, gold
contact, black
Type
BLZF 5.08/02/180F AU BK
(Weidmüller)
Maximum connection cross section
[mm2] 2.5 (AWG 14)
Stripping length
[mm] 10
Designation
Spring force connector, 11 pins
Type
FK-MCP 1,5/11-ST-3,81
(Phoenix Combicon)
[mm2] 1.5 (AWG 16)
Maximum connection cross section with wire ferrule without plastic
collar
Properties of connector CN3
3.5
[mm2] 0.5 (AWG 22)
Stripping length
[mm] 9
Designation
Female header 4 pins 5.08, gold
contact, black
Type
BLZF 5.08/04/180F AU BK
(Weidmüller)
Maximum connection cross section
[mm2] 2.5 (AWG 14)
Stripping length
[mm] 10
Other accessories
DIN rail adapter
The 35 mm DIN rail adapter is provided for a standard TH35 rail as per
IEC 60715. 2 fastening screws are included with this accessory.
EMC kit
The EMC kit improves the EMC characteristics. Shielded cables must
be used with the EMC kit. The scope of supply of the EMC kit includes
two fastening screws and two shield clamps.
Conditions for UL 508C
If the product is used to comply with UL 508C, the following conditions
must also be met:
PELV power supply
Wiring
24
Use only power supply units that are approved for overvoltage
category III.
Use at least 60/75 °C copper conductors.
Drive for stepper motors
0098441113413, V2.00, 03.2011
3.4.3
Maximum connection cross section with wire ferrule with plastic
collar
SD315D
3.6
3 Technical Data
Certifications
Product certifications:
Assigned number
UL
File E 153659
0098441113413, V2.00, 03.2011
Certified by
Drive for stepper motors
25
3 Technical Data
3.7
SD315D
Declaration of conformity
SCHNEIDER ELECTRIC MOTION DEUTSCHLAND GmbH
Breslauer Str. 7 D-77933 Lahr
EC DECLARATION OF CONFORMITY
YEAR 2011
according to EC Directive on Machinery 2006/42/EC
according to EC Directive EMC 2004/108/EC
according to EC Directive Low Voltage 2006/95/EC
We hereby declare that the products listed below meet the requirements of the EC
Directives indicated with respect to design, construction and version distributed by us. This
declaration becomes invalid in the case of any modification to the products not authorized
by us.
Designation:
Drive
Type:
SD315D, SD315O
Applied
harmonized
standards,
especially:
EN 61800-3:2004, second environment
Applied
national standards
and technical
specifications,
especially:
UL 508C
Product documentation
Company stamp:
25 January 2011
0098441113413, V2.00, 03.2011
Date/Signature:
Name/Department: Björn Hagemann/R & D
26
Drive for stepper motors
SD315D
4
4 Installation
Installation
4
@ WARNING
LOSS OF CONTROL
•
The designer of any control scheme must consider the potential
failure modes of control paths and, for certain critical functions,
provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are emergency stop,
overtravel stop, power outage and restart.
•
Separate or redundant control paths must be provided for critical
functions.
•
System control paths may include communication links. Consideration must be given to the implication of unanticipated transmission delays or failures of the link.
•
Observe all accident prevention regulations and local safety
guidelines. 1)
•
Each implementation of the product must be individually and thoroughly tested for proper operation before being placed into service.
Failure to follow these instructions can result in death or serious
injury.
0098441113413, V2.00, 03.2011
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and
Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems”.
Drive for stepper motors
27
4 Installation
4.1
SD315D
Electromagnetic compatibility, EMC
@ WARNING
SIGNAL AND DEVICE INTERFERENCE
Signal interference can cause unexpected responses of device.
•
Install the wiring in accordance with the EMC requirements.
•
Verify compliance with the EMC requirements.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
Limit values
This product meets the EMC requirements according to the standard
IEC 61800-3 if the measures described in this manual are implemented
during installation.
If the selected composition is not designed for category C1, note the following:
@ WARNING
HIGH-FREQUENCY INTERFERENCE
In a residential environment this product may cause high-frequency
interference that requires interference suppression.
Failure to follow these instructions can result in death or serious
injury.
An EMC-compliant design is required to meet the specified limit values.
Note the following requirements:
Control cabinet design
EMC measures
Objective
Use galvanised or chrome-plated mounting plates,
make large contact surface connections for metal
parts, remove paint from contact surfaces
Good conductivity due
to two-dimensional contacts
Ground the control cabinet, the control cabinet door Reduces emissions.
and the mounting plate with ground straps or
ground wires. The conductor cross section must be
at least 10 mm2 (AWG 6).
Fit switching devices such as power contactors,
Reduces mutual interferrelays or solenoid valves with interference suppres- ence
sion units or arc suppressors (for example, diodes,
varistors, RC circuits).
Reduces mutual interference
0098441113413, V2.00, 03.2011
Install power components and control components
separately.
28
Drive for stepper motors
SD315D
4 Installation
Shielded cables
EMC measures
Objective
Connect large surface areas of cable shields, use
cable clamps and ground straps.
Reduces emissions.
Use cable clamps to connect a large surface area of Reduces emissions.
the shields of all shielded cables to the mounting
plate at the control cabinet entry.
Ground shields of digital signal wires at both ends
by connecting them to a large surface or via conductive connector housings.
Reduces interference
affecting the signal
wires, reduces emissions
Ground the shields of analog signal wires directly at Reduces ground loops
the device (signal input); insulate the shield at the due to low-frequency
other cable end or ground it via a capacitor (for
interference.
example, 10 nF).
Diverts interference curUse only shielded motor cables with copper braid
and a coverage of at least 85%, ground a large sur- rents in a controlled way,
reduces emissions.
face area of the shield at both ends.
Cable installation
EMC measures
Objective
Reduces mutual interferDo not route fieldbus cables and signal wires in a
single cable duct together with lines with DC and AC ence
voltages of more than 60 V. (Fieldbus cables, signal
lines and analog lines may be in the same cable
duct)
Recommendation: Use separate cable ducts at
least 20 cm apart.
Keep cables as short as possible. Do not install
Reduces capacitive and
unnecessary cable loops, use short cables from the inductive interference.
central grounding point in the control cabinet to the
external ground connection.
Use equipotential bonding conductors in the follow- Reduces current in the
ing cases: wide-area installations, different voltage cable shield, reduces
supplies and installation across several buildings.
emissions.
Use equipotential bonding conductors with fine
wires
Diverts high-frequency
interference currents.
If motor and machine are not conductively conReduces emissions,
nected, for example by an insulated flange or a con- increases immunity.
nection without surface contact, you must ground
the motor with a ground strap or a ground wire. The
conductor cross section must be at least 10 mm2
(AWG 6).
0098441113413, V2.00, 03.2011
Power supply
Drive for stepper motors
Use twisted pair for the DC supply.
Reduces interference
affecting the signal
cables, reduces emissions.
EMC measures
Objective
Surge arrester if there is a risk of overvoltage.
Reduces the risk of
damage caused by overvoltage.
29
4 Installation
SD315D
Additional measures for EMC
improvement
Motor cables
An EMC-compliant design is required to meet the specified limit values.
Depending on the application, better results can be achieved with the
following measures:
EMC measures
Objective
Additional EMC measures design, for example
mounting in an closed control cabinet with 15 dB
shielding attenuation of radiated interference
Improves the EMC limit
values.
In terms of EMC, motor cables are especially critical. Use only pre-assembled cables (see chapter 9 "Accessories and spare parts") or cables
that comply with the specifications and implement the EMC measures
described below.
EMC measures
Objective
Do not install switching elements in motor cables.
Reduces interference.
Route the motor cable at a distance of at least
Reduces mutual interfer20 cm from the signal cable or use shielding plates ence
between the motor cable and signal cable.
For long lines, use equipotential bonding conductors.
Reduces current in the
cable shield.
Route the motor cable without cutting it. 1)
Reduces emission.
1) If a cable has to be cut for the installation, it has to be connected with shield connections and a metal housing at the point of the cut.
Equipotential bonding conductors
Potential differences can result in excessive currents on the cable
shields. Use equipotential bonding conductors to reduce currents on the
cable shields.
The equipotential bonding conductor must be rated for the maximum
current flowing. Practical experience has shown that the following conductor cross sections can be used:
16 mm2 (AWG 4) for equipotential bonding conductors up to a
length of 200 m
•
20 mm2 (AWG 4) for equipotential bonding conductors with a length
of more than 200 m
0098441113413, V2.00, 03.2011
•
30
Drive for stepper motors
SD315D
4 Installation
Control cabinet
+
CN1
~
Central
grounding point
Machine
CN2
CN3
Motor
M~
Motor (ground
to machine)
EMC measures
0098441113413, V2.00, 03.2011
Figure 4.1
Drive for stepper motors
31
4 Installation
4.2
SD315D
Mechanical installation
@ WARNING
HOT SURFACES
The heat sink at the product may heat up to over 100°C (212°F) during
operation.
•
Avoid contact with the hot heat sink.
•
Do not allow flammable or heat-sensitive parts in the immediate
vicinity.
•
Consider the measures for heat dissipation described.
Failure to follow these instructions can result in death or serious
injury.
4.2.1
Mounting the device
Control cabinet
The control cabinet must have a sufficient size so that the devices and
components can be permanently installed and wired in compliance with
the EMC requirements.
Sufficient ventilation of the control cabinet must be provided to remove
the heat generated by all devices and components operated in the control cabinet.
When selecting the position of the device in the control cabinet, note the
following:
•
Mount the device in a vertical position (±10°). This is required for
cooling the device.
•
Adhere to the minimum installation distances for required cooling.
Avoid heat accumulations.
•
Do not mount the device close to heat sources.
•
Do not mount the device on flammable materials.
•
The heated airflow from other devices and components must not
heat up the air used for cooling the device.
•
If the thermal limits are exceeded during operation, the drive
switches off (overtemperature).
0098441113413, V2.00, 03.2011
Mounting distances, ventilation
32
Drive for stepper motors
SD315D
4 Installation
d
Figure 4.2
d
Mounting distances and air circulation
The specified continuous current is applicable if the following distances
are maintained and the device is installed vertically.
•
At least 10 mm of free space is required in front of the device.
•
At least 50 mm of free space is required above the device.
•
At least 30 mm of free space is required for "d".
•
At least 200 mm of free space is required below the device to allow
for cable installation without bends.
If other parts are mounted in the areas mentioned, the possible continuous current is reduced.
Mounting the device
The product can be mounted directly via the narrow or wide mounting
surface with two M4 screws. The product can optionally be snapped
onto a standard TH35 rail (accessories) as per IEC 60715 (DIN rail 35
mm). See chapter 3.2.1 "Dimensions", for the dimensions of the mounting holes.
왘 Mount the device in a vertical position (±10°).
왘 Use connection elements (busbars, shield clamps or similar) to
route the cable and connect the shield.
0098441113413, V2.00, 03.2011
NOTE: Painted surfaces have an insulating effect. Before mounting the
device to a painted mounting plate, remove all paint across a large area
of the mounting points until the metal is completely bare.
Drive for stepper motors
33
4 Installation
4.3
SD315D
Electrical installation
@ WARNING
UNEXPECTED BEHAVIOR DUE TO EXTERNAL OBJECTS
External objects, deposits or humidity can cause unexpected behavior.
•
Do not use damaged products.
•
Prevent external objects such as chips, screws or wire clippings
from entering the product.
•
Do not use products that contain external objects.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
Suitability of the cables
4.3.1
Cables must not be twisted, stretched, crushed or bent. Use only cables
that comply with the cable specification. Consider the following in determining suitability of the cables:
•
Suitable for drag chain applications
•
Temperature range
•
Chemical resistance
•
Outdoor installation
•
Underground installation
Overview of procedure
왘 Connect the housing to the central ground point of the system.
왘 Verify compliance with the EMC requirements, see page 28.
왘 Finally, verify proper installation.
Page
4.3.3 "Connecting the power stage supply (CN1)"
36
4.3.4 "Connecting the signal interface (CN2)"
39
4.3.5 "Connecting the motor phases (CN3)"
42
0098441113413, V2.00, 03.2011
Chapter
34
Drive for stepper motors
SD315D
4.3.2
4 Installation
Connection overview
The illustration below shows an overview of the connections:
CN1
CN1
1
LED
ERR
CN2
CN3
1
1 2 3 4 1 2 3 4
S3
F0 1 2
S2
BCD
E
S1
7 8 9A
LED
OK
3456
2
1
2
3
4
5
6
7
8
9
10
11
2
3
4
CN3
Figure 4.3
Overview of signal connections
Assignment
CN1
Power stage supply
CN2
Signal interface
CN3
Motor
0098441113413, V2.00, 03.2011
Connection
Drive for stepper motors
35
4 Installation
4.3.3
SD315D
Connecting the power stage supply (CN1)
@ DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT POWER SUPPLY UNIT
The VDC supply voltage is connected with many exposed signal connections in the drive system.
•
Use a power supply unit that meets the PELV (Protective Extra
Low Voltage) requirements.
•
Connect the negative output of the power supply unit to PE
(ground).
Failure to follow these instructions will result in death or serious
injury.
@ WARNING
LOSS OF CONTROL DUE TO REGENERATION CONDITION
Regeneration conditions resulting from braking or external driving
forces may increase the VDC supply voltage to an unexpected level.
Components not rated for this voltage may be destroyed or cause misoperation.
•
Verify that all VDC consumers are rated for the voltage occurring
during regeneration conditions (for example limit switches).
•
Use only power supply units that will not be damaged by regeneration conditions.
•
If necessary, use a braking resistor controller.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
CAUTION
DAMAGE TO CONTACTS
The connection for the controller supply voltage at the product does
not have an inrush current limitation. If the voltage is switched on by
means of switching of contacts, damage to the contacts or contact
welding may result.
•
Use a power supply unit that limits the peak value of the output
current to a value permissible for the contact.
•
Switch the power input of the power supply unit instead of the
output voltage.
0098441113413, V2.00, 03.2011
Failure to follow these instructions can result in equipment damage.
36
Drive for stepper motors
SD315D
4 Installation
Wiring diagram CN1
CN1
BCD
01
EF 2
S1
7 8 9A
2
LED
LED ERR
OK
3 4 56
1
1234 1234
S2
S3
CN2
CN3
Figure 4.4
Reverse polarity protection
Fuse to be connected upstream
Pin
Signal
Meaning
1
VDC
Power stage supply
2
0VDC
Reference potential to VDC
The connection CN1 is not protected against reverse polarity.
See chapter 3.3.2 "Supply voltage VDC at CN1" for information on the
fuse to be connected upstream.
Shield:
Depends on EMC limit values, see
chapter 3.1 "Ambient conditions".
Twisted Pair:
Not required
PELV:
Required
Minimum conductor cross section:
Use a conductor with a sufficient cross
section according to the upstream
fuse and the cable length.
Maximum cable length:
-
0098441113413, V2.00, 03.2011
Cable specifications
Connector CN1
Drive for stepper motors
37
4 Installation
Properties of the connector
SD315D
The connector is available as a part of a connector kit. See chapter 9
"Accessories and spare parts".
Designation
Female header 2 pins 5.08, gold
contact, black
Type
BLZF 5.08/02/180F AU BK
(Weidmüller)
Maximum connection cross section
[mm2] 2.5 (AWG 14)
Stripping length
[mm] 10
0098441113413, V2.00, 03.2011
The terminals are approved for fine wire conductors and rigid conductors. Observe the maximum permissible connection cross section. Take
into account the fact that wire ferrules increase the conductor cross section.
38
Drive for stepper motors
SD315D
4.3.4
4 Installation
Connecting the signal interface (CN2)
@ WARNING
UNEXPECTED MOVEMENT
Incorrect or interfered signals as reference values can cause unexpected movements.
•
Use shielded twisted-pair cables.
•
If possible, operate the interface with push-pull signals.
•
Do not use signals without push-pull in critical applications or in
environments subject to interference.
•
Do not use signals without push-pull in the case of cable lengths
of more than 3 m and limit the frequency to 50 kHz
Failure to follow these instructions can result in death, serious
injury or equipment damage.
Schematic circuit diagram inputs
The following illustration provides a schematic overview of the opto-isolated inputs, using the example of the signal input PULSE.
PULSE(24) (+)
PULSE(5) (+)
PULSE(0) (-)
Figure 4.5
Schematic circuit diagram output
~2kΩ
~68Ω
~68Ω
Schematic circuit diagram inputs
The following illustration provides a schematic overview of the output
ACTIVE_OUT.
ACTIVE_OUT_C
ACTIVE_OUT_NO
Schematic circuit diagram output
0098441113413, V2.00, 03.2011
Figure 4.6
Drive for stepper motors
39
4 Installation
SD315D
Wiring diagram CN2
CN1
S1
3 4 56
1234 1234
S2
CN2
BCD
01
EF 2
7 8 9A
LED
LED ERR
OK
S3
1
2
3
4
5
6
7
8
9
10
11
CN3
Wiring diagram signal interface CN2
Pin
Signal
Meaning
5V/24V
I/O
1
PULSE(24)
Motor step
24V
I
2
PULSE(5)
Motor step
5V
I
3
PULSE(0)
Reference potential to
PULSE(24) and PULSE(5)
4
DIR(24)
Direction of movement
24V
I
5
DIR(5)
Direction of movement
5V
I
6
DIR(0)
Reference potential to
DIR(24) and DIR(5)
7
ENABLE(24)
or
GATE (24)
Enabling the power stage
or
Block P/D signals
24V
I
8
ENABLE(5)
or
GATE (5)
Enabling the power stage
or
Block P/D signals
5V
I
9
ENABLE(0)
or
GATE (0)
Reference potential to
ENABLE(24) and ENABLE(5)
or to GATE(24) and GATE(5)
10
ACTIVE_OUT_C
Readiness
O
11
ACTIVE_OUT_NO
Readiness
O
The 24 V input and 5 V input per signal, for example, PULSE(24) and
PULSE(5), must not be connected simultaneously.
40
Drive for stepper motors
0098441113413, V2.00, 03.2011
Figure 4.7
SD315D
4 Installation
Connecting the signal interface
왘 Verify that wiring and cables meet the PELV requirements.
왘 Connect the connector to CN2.
NOTE: The 5 V signal inputs must not be connected to 24 Vdc.
Cable specifications
Properties of the connector
Shield:
Required
Twisted Pair:
Required
PELV:
Required
Minimum conductor cross section:
0.2 mm2 (AWG 24)
Maximum cable length:
-
The connector is available as a part of a connector kit. See chapter 9
"Accessories and spare parts".
Designation
Spring force connector, 11 pins
Type
FK-MCP 1,5/11-ST-3,81
(Phoenix Combicon)
[mm2] 1.5 (AWG 16)
Maximum connection cross section with wire ferrule without plastic
collar
Maximum connection cross section with wire ferrule with plastic
collar
[mm2] 0.5 (AWG 22)
Stripping length
[mm] 9
0098441113413, V2.00, 03.2011
The terminals are approved for fine wire conductors and rigid conductors. Observe the maximum permissible connection cross section. Take
into account the fact that wire ferrules increase the conductor cross section.
Drive for stepper motors
41
4 Installation
4.3.5
SD315D
Connecting the motor phases (CN3)
@ DANGER
ELECTRIC SHOCK
High voltages at the motor connection may occur unexpectedly.
•
The motor generates voltage when the shaft is rotated. Prior to
performing any type of work on the drive system, block the motor
shaft to prevent rotation.
•
AC voltage can couple voltage to unused conductors in the motor
cable. Insulate both ends of unused conductors in the motor
cable.
•
The system integrator is responsible for compliance with all local
and national electrical code requirements as well as all other
applicable regulations with respect to grounding of all equipment.
Supplement the motor cable grounding conductor with an additional protective ground conductor to the motor housing.
Failure to follow these instructions will result in death or serious
injury.
Monitoring
The motor phases are monitored for short circuits between the phases.
Short circuits between a motor phase and VDC as well as short circuits
between a motor phase and 0VDC are not detected.
Wiring diagram CN3
CN1
LED
LED ERR
OK
7 8 9A
S2
1234 1234
3 4 56
S3
01
EF 2
BCD
S1
CN2
CN3
1
2
3
Figure 4.8
42
0098441113413, V2.00, 03.2011
4
Wiring diagram motor
Connection
Meaning
1
Motor phase U
2
Motor phase V
3
Motor phase W
4
Ground
Drive for stepper motors
SD315D
4 Installation
Assembling cables
A
50
1
2
BN
BU
BK
GN/YE
B
BN
3
BU
20
BK
GN/YE
A
Figure 4.9
(A)
(B)
Assembling motor cables
70 mm
60 mm
Connection
Meaning
Color 1)
U
Motor phase
Brown (BN)
V
Motor phase
Blue (BU)
W
Motor phase
Black (BK)
Ground
Ground
Green/yellow (GN/YE)
1) Color information relates to the cables available as accessories.
Cable specifications
Shield:
Depends on EMC limit values, see
chapter 3.1 "Ambient conditions".
Twisted Pair:
Not required
PELV:
Required
Minimum conductor cross section:
0.75 mm2.
Use a conductor with a sufficient cross
section according to the upstream
fuse and the cable length.
50 m
0098441113413, V2.00, 03.2011
Maximum cable length:
Drive for stepper motors
43
4 Installation
Properties of the connector
SD315D
The connector is available as a part of a connector kit. See chapter 9
"Accessories and spare parts".
Designation
Female header 4 pins 5.08, gold
contact, black
Type
BLZF 5.08/04/180F AU BK
(Weidmüller)
Maximum connection cross section
[mm2] 2.5 (AWG 14)
Stripping length
[mm] 10
The terminals are approved for fine wire conductors and rigid conductors. Observe the maximum permissible connection cross section. Take
into account the fact that wire ferrules increase the conductor cross section.
4.4
Checking installation
Verify proper installation:
왘 Did you properly install and connect all cables and connectors?
왘 Are there any live, exposed cables?
왘 Did you properly connect the signal wires?
0098441113413, V2.00, 03.2011
왘 Are all fuses correct?
44
Drive for stepper motors
SD315D
5
5 Commissioning
Commissioning
5
@ WARNING
UNEXPECTED MOVEMENT
When the drive is operated for the first time, there is a risk of unexpected movements caused by possible wiring errors or unsuitable parameters.
•
Run initial tests without coupled loads.
•
Verify that a functioning button for emergency stop is within
reach.
•
Anticipate movements in the incorrect direction or oscillation of
the motor.
•
Only start the system if there are no persons or obstructions in
the hazardous area.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
@ WARNING
MOTOR WITHOUT BRAKING EFFECT
If power outage, functions or errors cause the power stage to be
switched off, the motor is no longer decelerated in a controlled way
and may cause damage.
•
Verify the mechanical situation.
•
If necessary, use a cushioned mechanical stop or a suitable holding brake.
0098441113413, V2.00, 03.2011
Failure to follow these instructions can result in death, serious
injury or equipment damage.
Drive for stepper motors
45
5 Commissioning
SD315D
@ WARNING
UNINTENDED BEHAVIOR
Unsuitable settings or unsuitable data may trigger unexpected movements, trigger signals, damage parts and disable monitoring functions.
•
Do not operate the drive system with unknown settings or data.
•
Verify that the stored data and settings are correct.
•
When commissioning, carefully run tests for all operating states
and potential error situations.
•
Verify the functions after replacing the product and also after
making changes to the settings or data.
•
Only start the system if there are no persons or obstructions in
the hazardous area.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
@ WARNING
HOT SURFACES
The heat sink at the product may heat up to over 100°C (212°F) during
operation.
•
Avoid contact with the hot heat sink.
•
Do not allow flammable or heat-sensitive parts in the immediate
vicinity.
•
Consider the measures for heat dissipation described.
Failure to follow these instructions can result in death or serious
injury.
5.1
Overview
To be done
46
Chapter
Page
4.4 "Checking installation"
44
5.2.2 "Setting the nominal current"
48
5.2.3 "Setting the current reduction"
49
5.2.4 "Setting the Softstep function"
50
5.2.5 "Setting the number of steps"
51
5.2.6 "Setting the type of Enable"
52
5.2.7 "Test run of the drive"
53
Drive for stepper motors
0098441113413, V2.00, 03.2011
You must also re-commission an already configured
product if you want to use it under changed operating
conditions.
SD315D
5 Commissioning
5.2
Commissioning procedure
5.2.1
Overview of parameter switches
CN1
LED
ERR
BCD
E
3456
3456
BCD
F0 1 2
S2
S3
1 2 3 4
1 2 3 4
1 2 3 4 1 2 3 4
S1
E
F0 1 2
7 8 9A
LED
OK
CN2
7 8 9A
CN3
Figure 5.1
Overview of parameter switches
0098441113413, V2.00, 03.2011
The settings of the parameter switches S1, S2 and S3 only become active when the power stage is enabled. Changing the settings while the
power stage is enabled has no effect.
Drive for stepper motors
47
5 Commissioning
5.2.2
SD315D
Setting the nominal current
NOTE: Setting a nominal current higher than the nominal current of the
motor may damage or destroy the motor.
Parameter switch S1 allows you to set the nominal current.
왘 Set the nominal current of the motor by means of parameter switch
S1.
NOTE: If the nominal current of the motor is >7.5 A, you must set a
value of ≤67 % for the current reduction.
Switch setting S1
Nominal current of motor
[A]
3
1
[A]
3.7
2
[A]
4.4
3
[A]
4.8
4
[A]
5.2
5
[A]
5.5
6
[A]
5.8
7
[A]
6.2
8
[A]
6.6
9
[A]
7
A
[A]
7.5
B
[A]
8
C
[A]
8.5
D
[A]
9
E
[A]
9.5
F
[A]
10
0098441113413, V2.00, 03.2011
0 (factory setting)
48
Drive for stepper motors
SD315D
5.2.3
5 Commissioning
Setting the current reduction
If the full holding torque is not required at standstill, the "Current Reduction" function can be used to reduce the holding torque.
@ WARNING
FALLING LOAD AT STANDSTILL
If the current reduction is enabled, the motor torque at standstill is reduced; if external forces act on the drive (vertical axes), this may
cause the load to fall.
•
Verify that the load conditions allow for operation with current
reduction.
•
If necessary, deactivate the current reduction.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
Current reduction saves energy and reduces the temperature of the
drive and the motor.
The motor phase current is reduced to the set value 100 ms after the last
pulse edge. The set value relates to the set nominal current of the motor.
왘 Switch off all supply voltages. Verify that no voltages are present
(safety instructions).
왘 Use parameters switches S2.1 to S2.3 to set the current reduction.
NOTE: If the nominal current of the motor is >7.5 A, you must set a
value of ≤67 % for the current reduction.
OFF OFF OFF
S2
1 2 3 4OFF
ON
CurRed2
CurRed1
CurRed0
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
67%
OFF
ON
87%
100%
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
12%
25%
37%
50%
Current reduction to the set value
0098441113413, V2.00, 03.2011
Figure 5.2
75%
Drive for stepper motors
49
5 Commissioning
5.2.4
SD315D
Setting the Softstep function
Parameter switch S2.4 allows you to set the "Softstep" function.
If the function is active, the signals at the P/D signals are internally
smoothed. This results in smoother motor movements.
This results in a temporary position deviation during a motor movement.
The magnitude of the position deviation depends on the velocity. The position deviation increases in line with the velocity and may amount to as
much as one motor revolution.
You can calculate the position deviation using the following formula:
•
Position deviation in degrees:
Velocity in min-1 / 8
•
Position deviation in number of rotations:
Velocity in min-1 / 2880
Once the motor is at a standstill, the position deviation no longer exists.
왘 Switch off all supply voltages. Verify that no voltages are present
(safety instructions).
왘 Use parameter switch S2.4 to activate or deactivate the "Softstep"
function.
Meaning
OFF (factory setting)
Function "Softstep" deactivated
ON
"Softstep" function activated
0098441113413, V2.00, 03.2011
Switch setting S2.4
50
Drive for stepper motors
SD315D
5.2.5
5 Commissioning
Setting the number of steps
The resolution of the drive can be adjusted via the number of steps per
revolution.
왘 Switch off all supply voltages. Verify that no voltages are present
(safety instructions).
왘 Use parameter switches S3.1 to S3.3 to set the number of steps.
OFF OFF OFF
S3
1 2 3 4OFF
ON
STEP2
STEP1
STEP0
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
1000
OFF
ON
Examples: P/D signals
400
200
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
10000
Figure 5.3
500
5000
4000
2000
Number of steps per revolution
At a number of steps of 1000, the motor revolves once every 1000 P/D
signals. At a frequency of 1 kHz, this corresponds to a speed of rotation
of 60 min-1.
The table below shows examples of various frequencies:
Number of
steps
Frequency of
1 kHz
Frequency of
5 kHz
Frequency of
10 kHz
200
300 min-1
150 min-1
3000 min-1
400
150 min-1
750 min-1
1500 min-1
500
120 min-1
600 min-1
1200 min-1
1000 1)
60 min-1
300 min-1
600 min-1
2000
30 min-1
150 min-1
300 min-1
4000
15 min-1
75 min-1
150 min-1
5000
12 min-1
60 min-1
120 min-1
10000
6 min-1
30 min-1
60 min-1
0098441113413, V2.00, 03.2011
1) Factory setting
Drive for stepper motors
51
5 Commissioning
5.2.6
SD315D
Setting the type of Enable
Parameter switch S3.4 allows you to set the type of Enable.
See chapter 6.2 "Enabling motor movements" for a description of the
function.
왘 Switch off all supply voltages. Verify that no voltages are present
(safety instructions).
왘 Use parameter switch S3.4 to set the function to "ENABLE" or
"GATE".
Switch setting S3.4
Meaning
OFF (factory setting)
Function "ENABLE"
Enabling and disabling the power stage
ON
Function "GATE"
0098441113413, V2.00, 03.2011
Blocking and enabling P/D signals
52
Drive for stepper motors
SD315D
5.2.7
5 Commissioning
Test run of the drive
Function test
쮿 The type of Enable must be set to "ENABLE".
No signal may yet be available at the input ENABLE.
왘 Switch on the supply voltages.
왘 Check the status indication, see chapter 8.1 "Status indication via
LEDs".
컅 LED OK (green) flashes: Device is in the state "Disable".
왘 Enable the power stage via the input ENABLE.
컅 LED OK (green) is steady on.
Output ACTIVE_OUT signals readiness.
왘 Start the first test with a low frequency of the P/D signals. If the sig-
nal DIR has 0 level, the motor must perform a movement in positive
direction.
왘 Also perform movements with reversed direction of movement. A
reversal of the active edge at the signal input PULSE can cause displacement of the position when the direction is reversed.
The motor must follow the reference values correctly.
Temperature test
The maximum temperature of the motor must not be exceeded. The
temperature of the motor is not monitored by the drive.
왘 Perform a test of the motor under realistic conditions.
0098441113413, V2.00, 03.2011
왘 Check the temperature of the motor.
Drive for stepper motors
53
SD315D
0098441113413, V2.00, 03.2011
5 Commissioning
54
Drive for stepper motors
SD315D
6
6 Operation
Operation
6
The chapter "Operation" describes the basic functions of the device.
6.1
Overview
Drive
The drive moves the motor as per the supplied external reference values.
0098441113413, V2.00, 03.2011
The external reference values are generated by a master controller and
supplied as P/D signals (PULSE/DIR).
Drive for stepper motors
55
6 Operation
6.2
SD315D
Enabling motor movements
The motor movement can be enabled in 2 different ways.
•
Enabling the power stage
•
Block P/D signals
The setting for the input ENABLE is specified during commissioning, see
chapter 5.2.6 "Setting the type of Enable".
6.2.1
Enabling the power stage
The power stage is enabled and disabled via the input ENABLE.
An error message is also reset when the power stage is disabled.
signal state
Meaning
0 level
Disable power stage and reset error message
1 level
Enabling the power stage
If there is no error, the output ACTIVE_OUT signals ready for operation
approximately 500 ms after the power stage is enabled.
6.2.2
Block P/D signals
P/D signals are enabled and blocked via the input GATE. Individual axes
can be selected this way in a multi-axis system.
signal state
Meaning
0 level
Enable P/D signals
1 level
Block P/D signals
>1.5 ms >1.5 ms
>1.5 ms >1.5 ms
+GATE
1
0
+PULSE
1
0
1
(1)
(2)
(3)
Signal sequences in case of activation via GATE
Motor step
No motor steps
Motor steps
No pulse may be applied for a period of 1.5 ms before and after the GATE
signal changes so that the drive can correctly process the pulse.
56
Drive for stepper motors
0098441113413, V2.00, 03.2011
Figure 6.1
3
2
SD315D
6.3
6 Operation
Performing motor movements
The motor performs a motor step when the edge of the signal PULSE
rises. The direction of movement is controlled with the DIR signal.
1
>0.0µs
PULSE
0
1
>50µs
>2.5µs >2.5µs
DIR
0
+
+
-
Figure 6.2
P/D signals
Signal
signal state
Meaning
PULSE
Rising edge
Motor step
DIR
0 level
1 level
Positive direction of movement
Negative direction of movement
+
The maximum frequency is 200 kHz.
6.4
Signal outputs
6.4.1
Readiness
The output ACTIVE_OUT signals operational readiness.
Meaning
Open
Power stage disabled, motor without current
Closed
Power stage enabled, current is applied to the motor
0098441113413, V2.00, 03.2011
signal state
Drive for stepper motors
57
6 Operation
6.5
SD315D
Monitoring functions
The monitoring functions in the product can help to guard the system
and reduce the risks involved in a system misoperation. These monitoring functions may not be used to protect persons.
The following monitoring functions are available:
Overtemperature
If the maximum permissible temperature (>90°C) of the power stage is
exceeded, the power stage is disabled. The error is signaled by the
LED ERR (red).
After you have fixed the cause of the error, reset the error message with
a 0 level at the signal input ENABLE.
The motor temperature is not monitored.
Overvoltage
If an upper voltage limit (60 Vdc) is exceeded, the power stage is disabled. The error is signaled by the LED ERR (red).
After you have fixed the cause of the error, reset the error message with
a falling edge at the signal input ENABLE.
Undervoltage
If the voltage drops below a lower voltage limit (<18 V dc), the power
stage is disabled. The error is signaled by the LED ERR (red) if sufficient
voltage is still available.
After you have fixed the cause of the error, reset the error message with
a falling edge at the signal input ENABLE.
Short circuit
When the power stage is enabled, the device monitors the motor phases
for short circuit between the motor phases. In the case of a short circuit,
the power stage is disabled and the motor coasts down in an uncontrolled way. The error is signaled by the LED ERR (red).
After you have fixed the cause of the error, reset the error message with
a falling edge at the signal input ENABLE.
0098441113413, V2.00, 03.2011
Ground faults are not detected.
58
Drive for stepper motors
SD315D
7 Examples
7
Examples
7.1
Wiring examples
7
CN2
3.1
3.2
3.3
3.4
M
3~
24...48 +
Vdc
~
U
V
W
SHLD
CN3
CN1
1.1
VDC
1.2
0VDC
-
PULSE_24
2.1
PULSE_0
2.3
DIR_24
2.4
DIR_0
2.6
ENABLE_24
2.7
ENABLE_0
2.9
ACTIVE_OUT_C
2.10
ACTIVE_OUT_NO
2.11
+ 24Vdc
-
Figure 7.1
~
Wiring example with 24 V signal inputs
CN2
3.1
3.2
3.3
3.4
M
3~
0098441113413, V2.00, 03.2011
24...48 +
Vdc
~
-
U
V
W
SHLD
CN3
CN1
1.1
VDC
1.2
0VDC
PULSE_5
2.2
PULSE_0
2.3
DIR_5
2.5
DIR_0
2.6
ENABLE_5
2.8
ENABLE_0
2.9
ACTIVE_OUT_C
2.10
ACTIVE_OUT_NO
2.11
+ 5Vdc
-
Figure 7.2
Drive for stepper motors
~
Wiring example with 5 V signal inputs
59
SD315D
0098441113413, V2.00, 03.2011
7 Examples
60
Drive for stepper motors
8 Diagnostics and troubleshooting
8
Diagnostics and troubleshooting
8.1
Status indication via LEDs
LED
OK
8
LED
ERR
BCD
E
3456
Figure 8.1
F0 1 2
S1
7 8 9A
SD315D
Status indication via LEDs
The current operating state is indicated by means of the two LEDs.
ERR
OK
A
B
C
D
E
F
G
H
J
K
2s
Figure 8.2
0098441113413, V2.00, 03.2011
(A)
(B)
(C)
(D)
(E)
(F)
(G)
(H)
(J)
(K)
Drive for stepper motors
2s
Flash codes of LED OK (green) and LED ERR (red)
No power stage supply
Power stage is enabled
Reserved
Power stage is disabled
Reserved
Power stage overtemperature
Overvoltage, also in case of regeneration conditions
Undervoltage
Frequency of the external reference values too high
Short circuit between two motor phases
61
8 Diagnostics and troubleshooting
8.2
SD315D
Troubleshooting
Error
Cause
Troubleshooting
Motor does not rotate and
has no holding torque.
Motor phase interrupted
Check motor cable and connection. One or
more motor phases are not connected.
Signal input ENABLE is inactive.
Enable the power stage
Motor mechanically blocked.
Check coupled components.
Holding brake applied.
Check the holding brake controller
Overload.
Reduce load.
Motor damaged.
Replace motor.
Motor does not rotate, but
has holding torque
Motor rotates irregularly.
Motor rotates in the wrong Motor phases are inverted.
direction.
Signal input DIR has incorrect level.
Check motor phases.
Check signal input.
LED flash code A
No power stage supply.
Check power stage supply.
LED flash code E
Reserved.
Reserved.
LED flash code F
Power stage overtemperature (>90 °C).
Check the temperature in the control cabinet.
Check the motor phase current.
LED flash code G
Overvoltage (>60 Vdc), also in case of regen- If necessary, use a braking resistor controller
eration conditions.
(such as UBC60).
Error message must be reset.
LED flash code E
Undervoltage (<18 Vdc).
Check power supply.
Error message must be reset.
LED flash code J
Frequency of the external reference values
too high.
Check the frequency.
LED flash code A
Short circuit between two motor phases
Check connections.
Error message must be reset.
After you have fixed the cause of the error, reset the error message with
a falling edge at the signal input ENABLE.
0098441113413, V2.00, 03.2011
Resetting an error message
62
Drive for stepper motors
SD315D
9 Accessories and spare parts
9
Accessories and spare parts
9.1
Optional accessories
9
Description
Order no.
Adapter for DIN rail mounting
MNA3MFDINR1
EMC kit
MNA3CS013
Connector kit 2-pin, 4-pin,11-pin, spring terminals
MNA3CS008
Motor cable for stepper motor 4 x 1.5 shielded, motor end with 6-pin circular connector; other
cable end open; length 3 m
VW3S5101R30
Motor cable for stepper motor 4 x 1.5 shielded, motor end with 6-pin circular connector; other
cable end open; length 5 m
VW3S5101R50
Motor cable for stepper motor 4 x 1.5 shielded, motor end with 6-pin circular connector; other
cable end open; length 10 m
VW3S5101R100
Motor cable for stepper motor 4 x 1.5 shielded, motor end with 6-pin circular connector; other
cable end open; length 15 m
VW3S5101R150
Motor cable for stepper motor 4 x 1.5 shielded, motor end with 6-pin circular connector; other
cable end open; length 20 m
VW3S5101R200
Motor cable for stepper motor 4 x 1.5 shielded, both cable ends open; length 3 m
VW3S5102R30
Motor cable for stepper motor 4 x 1.5 shielded, both cable ends open; length 5 m
VW3S5102R50
Motor cable for stepper motor 4 x 1.5 shielded, both cable ends open; length 10 m
VW3S5102R100
Motor cable for stepper motor 4 x 1.5 shielded, both cable ends open; length 15 m
VW3S5102R150
Motor cable for stepper motor 4 x 1.5 shielded, both cable ends open; length 20 m
VW3S5102R200
Holding brake controller HBC
VW3M3103
Connector kit
The connectors listed can be purchased as connector kits.
Designation
Type
Power stage supply Female header 2 pins 5.08, BLZF 5.08/02/180F AU BK
(CN1)
gold contact, black
(Weidmüller)
Spring force connector,
11-pin
FK-MCP 1,5/11-ST-3,81
(Phoenix Combicon)
Motor (CN3)
Female header 4 pins 5.08, BLZF 5.08/04/180F AU BK
gold contact, black
(Weidmüller)
0098441113413, V2.00, 03.2011
Signal interface
(CN2)
Drive for stepper motors
63
SD315D
0098441113413, V2.00, 03.2011
9 Accessories and spare parts
64
Drive for stepper motors
SD315D
10
10 Service, maintenance and disposal
Service, maintenance and disposal
10
The product may only be repaired by a Schneider Electric
customer service center. No warranty or liability is
accepted for repairs made by unauthorized persons.
10.1
Service address
If you cannot resolve an error yourself please contact your sales office.
Have the following details available:
•
Nameplate (type, identification number, serial number, DOM, ...)
•
Type of error (with LED flash code or error number)
•
Previous and concomitant circumstances
•
Your own assumptions concerning the cause of the error
Also include this information if you return the product for inspection or repair.
If you have any questions please contact your sales office.
Your sales office staff will be happy to give you the name of
a customer service office in your area.
http://www.schneider-electric.com
10.2
Maintenance
0098441113413, V2.00, 03.2011
Check the product for pollution or damage at regular intervals.
Drive for stepper motors
65
10 Service, maintenance and disposal
10.3
SD315D
Replacing devices
@ WARNING
UNINTENDED BEHAVIOR
Unsuitable settings or unsuitable data may trigger unexpected movements, trigger signals, damage parts and disable monitoring functions.
•
Do not operate the drive system with unknown settings or data.
•
Verify that the stored data and settings are correct.
•
When commissioning, carefully run tests for all operating states
and potential error situations.
•
Verify the functions after replacing the product and also after
making changes to the settings or data.
•
Only start the system if there are no persons or obstructions in
the hazardous area.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
왘 Switch off all supply voltages. Verify that no voltages are present
(safety instructions).
왘 Label all connections and uninstall the product.
왘 Note the identification number and the serial number shown on the
product nameplate for later identification.
왘 Install the new product as per chapter 4 "Installation".
왘 Commission the product as per chapter 5 "Commissioning".
10.4
Shipping, storage, disposal
Note the ambient conditions in chapter 3.1 "Ambient conditions".
The product must be protected against shocks during transportation. If
possible, use the original packaging for shipping.
Storage
The product may only be stored in spaces where the specified permissible ambient conditions are met.
Protect the product from dust and dirt.
Disposal
The product consists of various materials that can be recycled. Dispose
of the product in accordance with local regulations.
0098441113413, V2.00, 03.2011
Shipping
66
Drive for stepper motors
SD315D
11
11 Extract
Extract
11
@ DANGER
UNEXPECTED HAZARDS
This chapter Extract does not replace the product manual. Unexpected hazards occur during installation, commissioning and maintenance.
•
You may only perform install, commission and maintain the product if you are a qualified and trained technician.
•
Carefully read and understand the entire product manual.
Failure to follow these instructions will result in death or serious
injury.
11.1
Extract for installation
Wiring diagram CN1
CN1
BCD
01
EF 2
S1
7 8 9A
2
LED
LED ERR
OK
3 4 56
1
1234 1234
S2
S3
CN2
0098441113413, V2.00, 03.2011
CN3
Figure 11.1
Drive for stepper motors
Connector CN1
Pin
Signal
Meaning
1
VDC
Power stage supply
2
0VDC
Reference potential to VDC
67
11 Extract
SD315D
Wiring diagram CN2
CN1
S1
3 4 56
1234 1234
S2
CN2
BCD
01
EF 2
7 8 9A
LED
LED ERR
OK
S3
1
2
3
4
5
6
7
8
9
10
11
CN3
Wiring diagram signal interface CN2
Pin
Signal
Meaning
5V/24V
I/O
1
PULSE(24)
Motor step
24V
I
2
PULSE(5)
Motor step
5V
I
3
PULSE(0)
Reference potential to
PULSE(24) and PULSE(5)
4
DIR(24)
Direction of movement
24V
I
5
DIR(5)
Direction of movement
5V
I
6
DIR(0)
Reference potential to
DIR(24) and DIR(5)
7
ENABLE(24)
or
GATE (24)
Enabling the power stage
or
Block P/D signals
24V
I
8
ENABLE(5)
or
GATE (5)
Enabling the power stage
or
Block P/D signals
5V
I
9
ENABLE(0)
or
GATE (0)
Reference potential to
ENABLE(24) and ENABLE(5)
or to GATE(24) and GATE(5)
10
ACTIVE_OUT_C
Readiness
O
11
ACTIVE_OUT_NO
Readiness
O
The 24 V input and 5 V input per signal, for example, PULSE(24) and
PULSE(5), must not be connected simultaneously.
68
Drive for stepper motors
0098441113413, V2.00, 03.2011
Figure 11.2
SD315D
11 Extract
Wiring diagram CN3
CN1
LED
LED ERR
OK
7 8 9A
S2
1234 1234
3 4 56
S3
01
EF 2
BCD
S1
CN2
CN3
1
2
3
4
Figure 11.3
Wiring diagram motor
Meaning
1
Motor phase U
2
Motor phase V
3
Motor phase W
4
Ground
0098441113413, V2.00, 03.2011
Connection
Drive for stepper motors
69
11 Extract
11.2
SD315D
Extract for commissioning
11.2.1 Setting the nominal current
NOTE: Setting a nominal current higher than the nominal current of the
motor may damage or destroy the motor.
Parameter switch S1 allows you to set the nominal current.
왘 Set the nominal current of the motor by means of parameter switch
S1.
NOTE: If the nominal current of the motor is >7.5 A, you must set a
value of ≤67 % for the current reduction.
Switch setting S1
Nominal current of motor
[A]
3
1
[A]
3.7
2
[A]
4.4
3
[A]
4.8
4
[A]
5.2
5
[A]
5.5
6
[A]
5.8
7
[A]
6.2
8
[A]
6.6
9
[A]
7
A
[A]
7.5
B
[A]
8
C
[A]
8.5
D
[A]
9
E
[A]
9.5
F
[A]
10
0098441113413, V2.00, 03.2011
0 (factory setting)
70
Drive for stepper motors
SD315D
11 Extract
11.2.2 Setting the current reduction
If the full holding torque is not required at standstill, the "Current Reduction" function can be used to reduce the holding torque.
@ WARNING
FALLING LOAD AT STANDSTILL
If the current reduction is enabled, the motor torque at standstill is reduced; if external forces act on the drive (vertical axes), this may
cause the load to fall.
•
Verify that the load conditions allow for operation with current
reduction.
•
If necessary, deactivate the current reduction.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
Current reduction saves energy and reduces the temperature of the
drive and the motor.
The motor phase current is reduced to the set value 100 ms after the last
pulse edge. The set value relates to the set nominal current of the motor.
왘 Switch off all supply voltages. Verify that no voltages are present
(safety instructions).
왘 Use parameters switches S2.1 to S2.3 to set the current reduction.
NOTE: If the nominal current of the motor is >7.5 A, you must set a
value of ≤67 % for the current reduction.
OFF OFF OFF
S2
1 2 3 4OFF
ON
CurRed2
CurRed1
CurRed0
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
67%
OFF
ON
87%
100%
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
12%
25%
37%
50%
Current reduction to the set value
0098441113413, V2.00, 03.2011
Figure 11.4
75%
Drive for stepper motors
71
11 Extract
SD315D
11.2.3 Setting the Softstep function
Parameter switch S2.4 allows you to set the "Softstep" function.
If the function is active, the signals at the P/D signals are internally
smoothed. This results in smoother motor movements.
This results in a temporary position deviation during a motor movement.
The magnitude of the position deviation depends on the velocity. The position deviation increases in line with the velocity and may amount to as
much as one motor revolution.
You can calculate the position deviation using the following formula:
•
Position deviation in degrees:
Velocity in min-1 / 8
•
Position deviation in number of rotations:
Velocity in min-1 / 2880
Once the motor is at a standstill, the position deviation no longer exists.
왘 Switch off all supply voltages. Verify that no voltages are present
(safety instructions).
왘 Use parameter switch S2.4 to activate or deactivate the "Softstep"
function.
Meaning
OFF (factory setting)
Function "Softstep" deactivated
ON
"Softstep" function activated
0098441113413, V2.00, 03.2011
Switch setting S2.4
72
Drive for stepper motors
SD315D
11 Extract
11.2.4 Setting the number of steps
The resolution of the drive can be adjusted via the number of steps per
revolution.
왘 Switch off all supply voltages. Verify that no voltages are present
(safety instructions).
왘 Use parameter switches S3.1 to S3.3 to set the number of steps.
OFF OFF OFF
S3
1 2 3 4OFF
ON
STEP2
STEP1
STEP0
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
1000
OFF
ON
Examples: P/D signals
400
200
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
10000
Figure 11.5
500
5000
4000
2000
Number of steps per revolution
At a number of steps of 1000, the motor revolves once every 1000 P/D
signals. At a frequency of 1 kHz, this corresponds to a speed of rotation
of 60 min-1.
The table below shows examples of various frequencies:
Number of
steps
Frequency of
1 kHz
Frequency of
5 kHz
Frequency of
10 kHz
200
300 min-1
150 min-1
3000 min-1
400
150 min-1
750 min-1
1500 min-1
500
120 min-1
600 min-1
1200 min-1
1000 1)
60 min-1
300 min-1
600 min-1
2000
30 min-1
150 min-1
300 min-1
4000
15 min-1
75 min-1
150 min-1
5000
12 min-1
60 min-1
120 min-1
10000
6 min-1
30 min-1
60 min-1
0098441113413, V2.00, 03.2011
1) Factory setting
Drive for stepper motors
73
11 Extract
SD315D
11.2.5 Setting the type of Enable
Parameter switch S3.4 allows you to set the type of Enable.
See chapter 6.2 "Enabling motor movements" for a description of the
function.
왘 Switch off all supply voltages. Verify that no voltages are present
(safety instructions).
왘 Use parameter switch S3.4 to set the function to "ENABLE" or
"GATE".
Switch setting S3.4
Meaning
OFF (factory setting)
Function "ENABLE"
Enabling and disabling the power stage
ON
Function "GATE"
0098441113413, V2.00, 03.2011
Blocking and enabling P/D signals
74
Drive for stepper motors
SD315D
12 Glossary
12
Glossary
12.1
Units and conversion tables
12
The value in the specified unit (left column) is calculated for the desired
unit (top row) with the formula (in the field).
Example: conversion of 5 meters [m] to yards [yd]
5 m / 0.9144 = 5.468 yd
12.1.1 Length
in
ft
yd
m
cm
mm
in
-
/ 12
/ 36
* 0.0254
* 2.54
* 25.4
ft
* 12
-
/3
* 0.30479
* 30.479
* 304.79
yd
* 36
*3
-
* 0.9144
* 91.44
* 914.4
m
/ 0.0254
/ 0.30479
/ 0.9144
-
* 100
* 1000
cm
/ 2.54
/ 30.479
/ 91.44
/ 100
-
* 10
mm
/ 25.4
/ 304.79
/ 914.4
/ 1000
/ 10
-
12.1.2 Mass
lb
oz
lb
oz
slug
kg
g
-
* 16
* 0.03108095
* 0.4535924
* 453.5924
* 0.02834952
* 28.34952
-
* 14.5939
* 14593.9
/ 16
-
*
-3
1.942559*10-3
slug
/ 0.03108095
/ 1.942559*10
kg
/ 0.45359237
/ 0.02834952
/ 14.5939
-
* 1000
g
/ 453.59237
/ 28.34952
/ 14593.9
/ 1000
-
lb
oz
p
dyne
N
lb
-
* 16
* 453.55358
* 444822.2
* 4.448222
oz
/ 16
-
* 28.349524
* 27801
* 0.27801
p
/ 453.55358
/ 28.349524
-
* 980.7
* 9.807*10-3
dyne
/ 444822.2
/ 27801
/ 980.7
-
/ 100*103
N
/ 4.448222
/ 0.27801
/ 9.807*10-3
* 100*103
-
0098441113413, V2.00, 03.2011
12.1.3 Force
12.1.4 Power
HP
W
HP
-
* 746
W
/ 746
-
Drive for stepper motors
75
12 Glossary
SD315D
12.1.5 Rotation
min-1 (RPM)
-1
min (RPM) -
rad/s
deg./s
* π / 30
*6
rad/s
* 30 / π
-
* 57.295
deg./s
/6
/ 57.295
-
12.1.6 Torque
lb·in
lb·ft
oz·in
Nm
kp·m
kp·cm
dyne·cm
lb·in
-
/ 12
* 16
* 0.112985
* 0.011521
* 1.1521
* 1.129*106
lb·ft
* 12
-
* 192
* 1.355822
* 0.138255
* 13.8255
* 13.558*106
oz·in
/ 16
/ 192
-
* 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5
Nm
/ 0.112985
/ 1.355822
/ 7.0616*10-3 -
* 0.101972
* 10.1972
* 10*106
kp·m
/ 0.011521
/ 0.138255
/ 720.07*10-6 / 0.101972
-
* 100
* 98.066*106
kp·cm
/ 1.1521
/ 13.8255
/ 72.007*10-3 / 10.1972
/ 100
-
* 0.9806*106
dyne·cm
/ 1.129*106
/ 13.558*106
/ 70615.5
/ 98.066*106
/ 0.9806*106
-
/ 10*106
12.1.7 Moment of inertia
lb·in2
lb·ft2
kg·m2
kg·cm2
kp·cm·s2
oz·in2
lb·in2
-
/ 144
/ 3417.16
/ 0.341716
/ 335.109
* 16
lb·ft2
* 144
-
* 0.04214
* 421.4
* 0.429711
* 2304
* 10.1972
* 54674
-
/ 980.665
* 5.46
kg·m2
* 3417.16
/ 0.04214
-
*
10*103
10*103
kg·cm2
* 0.341716
/ 421.4
/
kp·cm·s2
* 335.109
/ 0.429711
/ 10.1972
* 980.665
-
* 5361.74
oz·in2
/ 16
/ 2304
/ 54674
/ 5.46
/ 5361.74
-
12.1.8 Temperature
°F
°C
K
°F
-
(°F - 32) * 5/9
(°F - 32) * 5/9 + 273.15
°C
°C * 9/5 + 32
-
°C + 273.15
K
(K - 273.15) * 9/5 + 32
K - 273.15
-
AWG
1
2
3
4
5
6
7
8
9
10
11
12
13
mm2
42.4
33.6
26.7
21.2
16.8
13.3
10.5
8.4
6.6
5.3
4.2
3.3
2.6
AWG
14
15
16
17
18
19
20
21
22
23
24
25
26
mm2
2.1
1.7
1.3
1.0
0.82
0.65
0.52
0.41
0.33
0.26
0.20
0.16
0.13
76
Drive for stepper motors
0098441113413, V2.00, 03.2011
12.1.9 Conductor cross section
SD315D
12.2
12 Glossary
Terms and Abbreviations
See chapter 2.5 "Standards and terminology" for information on the pertinent standards on which many terms are based. Some terms and abbreviations may have specific meanings with regard to the standards.
AC
Alternating current
DC
Direct current
DOM
Degree of protection
Drive system
Date of manufacturing: The nameplate of the product shows the date of
manufacture in the format DD.MM.YY or in the format DD.MM.YYYY. Example:
31.12.09 corresponds to December 31, 2009
31.12.2009 corresponds to December 31, 2009
The degree of protection is a standardized specification for electrical
equipment that describes the protection against the ingress of foreign
objects and water (for example: IP 20).
System consisting of controller, drive and motor.
EMC
Electromagnetic compatibility
ESD
(electrostatic discharge) is the electrostatic discharge and describes
processes and effects occurring during the discharge of electric
charges.
Error
Discrepancy between a detected (computed, measured or signaled)
value or condition and the specified or theoretically correct value or condition.
LED
Light Emitting Diode
PELV
Protective Extra Low Voltage, low voltage with isolation. For more information: IEC 60364-4-41
PK
Peak value of a voltage (Vpk) or a current (Apk); abbreviation for "Peak".
PLC
Programmable logic controller
Parameter switch
The parameter switches are small switches adjacent to each other that
allow you to make settings.
Power stage
The power stage controls the motor. The power stage generates current
for controlling the motor on the basis of the positioning signals from the
controller.
"Root Mean Square" value of a voltage (Vrms) or a current (Arms)
0098441113413, V2.00, 03.2011
rms
Drive for stepper motors
77
SD315D
0098441113413, V2.00, 03.2011
12 Glossary
78
Drive for stepper motors
SD315D
13
13 Index
Index
13
A
Abbreviations 77
Accessories and spare parts 63
Ambient conditions 17
Assembling cables
Motor phases 43
B
Before you begin
Safety information 13
C
Cable installation - EMC requirements 29
Cables 23
Certifications 25
Commissioning 45
steps 47
Components and interfaces 11
Connection
Motor phases 42
Power stage supply 36
Signal interface (CN2) 39
Connection overview 20, 35
Control cabinet 32
Control cabinet design 28
D
Declaration of conformity 26
Degree of protection 17
Device
Mounting 32, 33
Device overview 9
Diagnostics 61
dimensional drawing, see dimensions
Dimensions 19
Disposal 65, 66
E
0098441113413, V2.00, 03.2011
Electrical installation 34
EMC 28
Cable installation 29
Improvement 30
Power supply 29
Shielded cables 29
Energy efficiency 49
EPLAN Macros 7
Equipotential bonding conductors 30
Drive for stepper motors
79
13 Index
SD315D
Examples 59
F
Functions
monitoring functions 58
Further reading 8
G
Glossary 75
H
Hazard categories 14
I
Improvement of EMC 30
Installation
electrical 34
mechanical 32
Intended use 13
Introduction 9
IP degree of protection 17
M
Macros EPLAN 7
Maintenance 65
Manuals
Source 7
Mechanical installation 32
Monitoring
Motor phases 42
Parameters 58
Monitoring functions 58
Mounting distances 32
Mounting, mechanical 32
O
Operation 55
Overview 46
Connections 20, 35
Procedure for electrical installation 34
Overvoltage 58
P
0098441113413, V2.00, 03.2011
PELV power supply UL 24
Pollution degree 17
Q
Qualification of personnel 13
S
Service 65
Service address 65
Shield - EMC requirements 29
Shipping 66
80
Drive for stepper motors
SD315D
13 Index
Short circuit 58
Signal interface
Connection 41
Source
EPLAN Macros 7
Manuals 7
Status indication via LEDs 61
Storage 66
T
Technical data 17
Terms 77
Troubleshooting 61, 62
Type code 12
U
UL, conditions for
PELV power supply 24
Wiring 24
Undervoltage 58
Units and conversion tables 75
V
Ventilation 32
W
0098441113413, V2.00, 03.2011
Wiring UL 24
Drive for stepper motors
81
SD315D
0098441113413, V2.00, 03.2011
13 Index
82
Drive for stepper motors

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