STEPPING MOTOR CONTROLS - Motor Technology Ltd

STEPPING MOTOR CONTROLS 

Power amplifier boards 

Position controls 

Equipment

DRIVING 

MOTION CONTROLING 

POSITIONING 

All rights reserved 

Without written approval we don’t allow any reprint and partial copying. 

We reserve the right to make engineering changes, refinements and improvements 

to all products described herein. 

Mechanical and electrical ratings and dimensions are, therefore, subject to 

change without notice. 

No liability whatsoever is accepted. 

Edition: April 2002

3 index 

Seite 

General product overview 

Stepping motor controls 

general explanations 

Stepping Motor power amplifier boards 

series SE...V1 and SE...E50 V1 

series SE P05 microstepping 

Power supplies 

Front panels and board holder 

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

Position controls 

series SERS 

Series SERC and SERS equipment 

4 

5 

6 

9 

10 

11 

12 

16 

23

4 General procuct overview 

STÖGRA Stepping motor controls are designed as modular system as well as STÖGRA Stepping motors (see catalogue 

STEPPING MOTORS) 

RS232 

RS485 

Profibus-DP 

CANopen 

SERCOS 

PC 

PLC 

CNC 

board holder 

KHD32 

panel mountage/ 

19 inch rack system 

optionally with powersupply 

1 until 8 plug ports for drives 

ELK/ELR 

powersupply 

NT 

PC 

PLC 

CNC 

including 

position control 

pulse 

direction 

position control with 

power amplifier 

series SERS... 

SM56 SM87 SM107 SM168 

stepper motors 

series SM... 

power amplifier boards 

series SE... 

Overview Controls 

Power amplifier boards 

Series SE... V11/13 

Voltage supply Phase current Step resolution 

24 - 240 VDC 1 - 14,5 A/Ph. 200 - 1000 steps/rev. 

catalogue page 6 to 8 


with RS232, 

RS485 


with SERCOS 

Power amplifier boards with control of step angle 

SE ... E50 V11/V13 




Mikroschritt-Leistungsverstärkerkarten 

Serie SE P05 



catalogue page 9 

Positioniersteuerungen 

Serie SERS mit Schnittstellen 

RS232, RS485, Profibus-DP, CANopen, SERCOS 


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


interface 

Profibus-DP 

CANopen 

control board 

with interface 

to position control 

encoder/ 

handwheel board 

power amplifier board 

heat sink with power semiconductors 

heat sink KR6 

KR12 

control board with 

pulse / direction 

interface 

STÖGRA Stepping motor controls are designed as modular system The power stage with the power semi conductors is used 

for the power amplifier boards as well as for the Position controls. The different field bus interfaces for the position controls are realized 

by internal plug boards. This enables a great type variety for the most different requirements and many different control systems 

and never the less the possibility to keep most parts (basic components) on stock and cost effective production due to the low quantity 

of different basic types.

5 STÖGRA Stepping motor controls 

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

Ι 

vector after 

1. full step 

phase 2 

ϑ 

full step 

electrical 90° 

mechanical 1.8° 

zero position 

part phase 2 

phase 1 

quarter step 

electrical 22.5° 


micro step 

electrical e.g. 4.5° 

mechanical e.g. 0.09° 

phase 2 

half step 

electrical 45° 


zero position 

phase 1 

phase current at half step 

(400 steps/rev.) 

Ι 

t 

t 

part phase 1 

vector after 

2. full step 

vector after 

3. full step 

phase current at micro step 

(12800 steps/rev.) 

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

Md 

ϑ = 1,8° 

ϑ = 0.9° 

ϑ = 0.45° 

Mmax 

Md 

M[Nm] 

zeroposition 

1.8 3.6 5.4 

ϑ[°] 

-3.6 -1.8 0 1.8 3.6 5.4 7.2 

ϑ 

ϑ[°] 

zero position after 

1. full step 


2. full step 


half / full steps 

Mmax 

Switching onwards the stator field shown in a 

load angle - operating torque - diagram : 

Load angle: Excursion . . of the rotor in reference to the zero position determined 

by the stator field, in case of a torque Md at the motor shaft 

A stepping motor having 50 teeth on the rotor surface (motor with 50 

poles) produces every 7,2° (mechanically) a stabile position (zero position) 

at motor stand still - regardless the number of phases (2, 3 or 5 

phases)! The zero position is determined by the stator field. 

The stator field is moved from the power amplifier »step by step« and 

the rotor follows the stator field. In case of big steps (full step - 200 

steps/rev. , half step - 400 steps/rev.) and low speed the motor is running 

rough with strong vibrations. Smaller steps result in smoother running. 

At high step resolutions (e.g. 12800 steps/rev.) there will be a very 

smooth true running without vibrations. 

At motor stand still, in case of a load (torque Md), the 

motor shaft will be moved the angle ϑ out of its zero 

position. The maximum possible movement away 

from the zero position is -1.8° at -Mmax and +1.8° at 

Mmax independent of the step resolution and 2, 3 

or 5 phases (!!!) (in case of a rotor with 50 teeth) 

Practically in most applications there can be achieved 

between 0.1 ° and 0.9° accuracy of positioning 

(in case of sufficient step resolution of the control), 

depending on the mechanics (friction, etc.) and the 

calcukation of the motor. 

ϑ 

Md 

General specifications of STÖGRA Stepping motor amplifier boards: 

Q All boards can be configurated easily via solder bridges (e.g. selection of step angle, signals Low/High-active or activating of 

phase current reduction) 

Q The integrated control of step angle in series SE ... E50 V.. together with a stepping motor with mounted encoder E50 enables 

the evaluation of a mechanical overload (synchronous running interrupted) at the stepping motor. Therfore the load angle of the 

stepping motor is controlled. 

Q LEDs enable quick and easy diagnostics of error and status. During operation the status of the phases is displayed by four 

red LEDs. An electrical error - short circuit (motor phases), over temperature (amplifer) or undervoltage - is displayed by a yellow 

LED. At series SE ...E50 V1 a mechanical error (exceeding of the max. load angle e.g. in case of mechanical overload at 

the stepping motor) is displayed by another yellow LED. 

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

Q STÖGRA power amplifier boards are plug compatible to each other, also to former series SE 11 ...60 and SE ...120. 

Series SE ...E50 V1.. is compatible to the former series SE...E50 and SE...E50D. Series SE...V1.. is compatible tothe former 

series standard series SE... (e.g. SE 400.06.60) and to series SE...B2.

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

General notes 

Q Control of 2-phase-stepping motors 

Q Compatible with STÖGRA and Zebotronics standard amplifier boards series SE ...., SE ... E50, SE ... E50 D.. 

Q Supply voltage - nominal voltage : 24 VDC to 240 VDC 

Q Phase current range 0 A/phase - 14,5 A/phase 

Q Boards SE ... E50 V1.. with integrated load angle control 

- together with Zebotronics E50 encoder (50 impulses per channel and revolution) at the motor 

( also available SE ... E200 V1.. for HP H200 encoder - 200 impulse per channel and revolution) 

Q Protection against shortcircuit, overtemperature and undervoltage 

Q Via solder bridges adjustable step angles: 200, 400 , 500 , 800 and 1000 steps per revolution 

Q EMC according to EN55011 class B and EN50082-2 

Versions - connector system and signal level of the inputs 

Q SE ... E50 V11 : Encoder connections via 9 pole D-Sub, all other signals and connections via 32 pole male connector 

(DIN 41612 type D) and SPS(PLC)-input signal level 

Q SE ... E50 V13 : Encoder connections via 9 pole D-Sub , all other signals and connections via 32 pole male connector 

(DIN 41612 type D) and TTL-input signal level 

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

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

Dimensions 

yellow LED: 

electrical error 

yellow LED: 

mechanical error 

(for"E50") 

46 

34 

19 19 

4A per phase 

6A per phase 

8A/12A per phase 

160 

172 

182 

32 - pole male connector 

DIN 41612 type D 

potentiometer 

type label 

90 

100 

4 res LEDs: 

state of excitation 

phases I and II 

9-pole D-Sub 

only for "E50" 

heat sink 

depending on 

phase current 

(1A and 2A 

without 

heat sink 

SE 400.04.85 V13 

SE 400.01.85 V13 

SE 400.02.24 V13 

Dimensions series SE... V11/13 

SE 400.04.85.E50 V13 

SE 400.08.120 V13 

SE 400.12.120 V13 

Selectable adjustments 

All adjustments can be made via 

(marked) solder bridges on the rearside 

of the logic board. 

L 

H R W0 W1 M F 

selectable adjustments series SE ...V1.. / SE ... E50 V1.. 

marker 

R 

W0,W1 

L-H 

denotes 

open: automatic current reduction 50% standstill 

closed: no current reduction 

step angle adjustment (see table below) 

L open, H closed: input signals HIGH - active 

(The rising edge of the pulse signal is significant) 

L closed, H open: input signals LOW-active 

(The falling edge of the pulse signal is significant) 

! Attention: Don’t close L and H ! ( short circuit! ) 

Step angle adjustments 

X = marker closed 

0 = marker open 

SE 400... V1. SE 200... V1. 

W1 W0 steps/rev. steps/rev. 

0 0 800 200 

0 X 400 400 

X 0 1000 - 

X X 500 - 

Automatic current reduction 

( marker »R« open ) 

The phase current - adjustable via potentiometer- is set for nominal 

operation. If marker »R« is open, the phase current will be 

reduced by 50% at standstill of the motor. The first pulse increases 

the phase current again to the adjusted nominal value. At 

active Reset input, the current reduction will be disabled.


Supply voltage (working range) 

(Nominal) supply voltage [VDC] 

Working range [VDC] 

U B [VDC] (motor enabled) 

U M [VDC] 

(motor current ON) 

24 

20 - 36 

18 

16 

60 u. 85 

120 

50 - 85 

60 - 120 

43 

50 

32 

38 

U B and U M 

+ 5% 

240 

130 - 240 

120 

100 

Current adjustment 

Ex factory the amplifier board is set to nominal current. Via the potentiometer at the board frontside the phase current can be 

adjusted (the board must be in Reset state -> input signal Reset is set or power-ON Reset -> only LED "0" is lightning (see figure 

below). The voltage between measuring point B and point GND is proportional to the phase current (see table below) 

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

SE ... V11 and SE ... V13 

Nominal phase current 

Typ 

1 A/Ph. 

SE ...01... 

2 A/Ph. 

SE ...02... 

4 A/Ph. 

SE ...04... 

6 A/Ph. 

SE ...06... 

12 A/Ph. 

SE ...12... 

8 A/Ph. 

SE ...08... 

measured voltage 

adjusted phase current 

% 

300 mV 

100% 

150 mV 

50% 

max. adjustable current 

[A/Ph] 

1 

0,75 

1.4 

[A/Ph] 

2 

1 

2.8 

[A/Ph] 

4 

2 

5.6 

[A/Ph] 

6 

3 

8.4 

[A/Ph] 

12 

6 

14.5 

measured voltage 

267 mV 

133 mV 

[A/Ph] 

8 

4 

11.2 

Output signals 

SE ... [E50] V11 and SE ... [E50] V13 : 

Ready signal: Indication of an electrical error or a mechanical 

error (at SE...E50 V..). 

In non error state the relay contact is closed. 

electrical error/ 

mechanical error 

a12 

c12 

ready signal 

-electrical error / mechanical error 

potential free contact 

I = 100 mA 

U = 50 VDC 

Input signals 

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

Boost: Increases the phase current by 20%. 

Disable: Switches off the phase current. 

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

Direction: Controls the motor direction. 

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

Step angle: Divides the step resolution by two from 1000 or 800 to 500 or 400 steps per revolution. 

The input is always LOW-active - works only with open marker W0. 

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

signal input 

4K7 

L 

H 

direction 

0V 

13,5 - 30V 

max. 7V 

> 5µs > 5µs 

direction 

0V 

3,5 - 24V 

max. 1V 

> 5µs > 5µs 

Specification of 

other input signals 

is as 

»direction« 

4K7 

680 pF 

1 1 

pulse 

0V 

13,5 - 30V 

max. 7V 

pulse 

0V 

3,5 - 24V 

max. 1V 

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


Technical specifications 

Protection of the device 

Protection IP 00 

Protection against shortcircuit, overtemperature and undervoltage 

Weight 

Nominal current 1 A/Ph 2 A/Ph 4 A/Ph 6 A/Ph 8 A/Ph 12 A/Ph 

Weight 0,2 Kg 0,2 Kg 0,52 Kg 0,77 Kg 1,1 Kg 1,1 Kg 

Ambient conditions 

Ambient temperature : 0°C to 50°C 

max. heat sink temperature : 85°C 

Forced draft : for amplifier boards with nominal current 8A and 12A 

Noise immunity 

In case of correct installation: 

according to EN50082-2: 

- at V13 (TTL-level) the signal inputs 

are not immune to fast transients (burst) 

Noise radiation 

In case of correct installation and shielding 

or/and filtering of the lines and signals 

according to EN55011 class B 

Connections 

direction 

step angle 

boost 

disable (phase current off) 

reset 

pulse 

voltage supply 

output ready signal 

potential free contact 

open: error (electr. or. mech.) 

closed: no error 

phase 1 

c a 

2 

4 

6 

8 

10 

12 

14 

16 

18 

20 

step motor with 

encoder E50 

1 

_ 

+ B 

2 

_ 

A 

B 

A 

3 

_ 

shield 

4 

1 

6 

7 8 9 

2 3 4 5 

cin connection 

1 A 

2 +5VDC 

3 not connected 

4 shield 

5 B 

6 A _ 

7 not connected 

8 GND 

9 B _ 

22 

24 

phase 2 

26 

28 

GND 

30 

32 

connection to motor body 

rack / switch cup board with power amplifier board 

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

SE . . [ ] V1 

200 400 500 800 1000 

steps per revolution 

01 02 04 06 08 12 

nominal current per phase [A] 

24 60 85 120 240 

nominal voltage supply [VDC] 

1 

3 

V1 

E50 

level input signals: TTL 

level input signals: PLC(SPS) 

EMV - design version 1 

option: 

integratet control of 

step angle E50 

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

9 Series SE P05 - Microstep 

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

Q Excellent truth micro stepping over the entire velocity range 

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

Q Shortcircuit, overtemperature and undervoltage protected 

Q Voltage range from 24 VDC to 240 VDC 

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

Q Constant torques for all pre-selected resolutions 

SE P05 Mikroschritt 

Step angle adjustment on the board 

Different step angles can be selected via the markings C0, C1, C2 and C3. With the input »step angle« (Pin a2) the step angle 

can be switched externally between two values (marker »W« must be open!). During motion, switching the step angle is possible 

within the motor start-stop-frequency (when changing simultaneously the pulse frequency and step angle - at any frequency). 

steps / revolution 

Resolution switchable externally - PIN a2 

marker for step angle selection 

X = marker closed, else = marker open 

not active 

active 

C3 

C2 

C1 

C0 

2000 

2500 

200 

400 

500 

X 

X 

X 

X 

X 

X 

X 

X 

X 

X 

3200 

800 

X 

X 

4000 

5000 

8000 

400 

800 

1000 

500 

1000 

800 

2000 

X 

X 

X 

X 

X 

X 

X 

X 

X 

X 

X 

X 

X 

X 

X 

There are available 

more step angles ! 

Please ask at our 

sales office. 

10000 

12800 

400 

1000 

2000 

800 

1600 

X 

X 

X 

X 

X 

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

S0 

S1 

C0 

C1 

C2 

C3 

C4 

W 

SPS 

R 

L 

selectable adjustments 

marking denotes 

S0 

Phase current characteristics 

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

S0, C4 internal functions 

W 

activates row »Pin a2 active« of above step angle table 

Pin a2 (external switching of step angle) is deactivated 

SPS 

open: "TTL"- input level 

closed: "SPS"- input level (PLC signal level) 

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

L 

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

Sonstige Daten : 

Abmasse, 

Eingangssignale, 

Ausgangssignale, 

Stromeinstellung, 

Versorgungsspannung, 

Technische Daten 

wie SE ... V11/V13 

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

SE P05. . 

nominal 

phase current 

[A] 

01 

02 

04 

06 

08 

12 

24 

85 

120 

240 

nominal 

voltage supply 

[VDC] 

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

10 STÖGRA power supplies 

NT-power supplies are non stabilized voltage supplies - fixed on an aluminium-mounting plate. 

A couple of control amplifier boards can be supplied by one NT-power supply. 

The calculation of a power supply depends on the used motors - by taking into consideration the maximum load current (which also 

depends on the motor speed). 

Type Power Input Output 

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

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

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

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

20 

ca. 95 

20 

ca. 95 

3 

3 

NT 350... 

NT 500... 

300 

400 

NT 1000... 

designation field 

150 

designation field 

Power supply NT500.120 

235 

Dimensions NT 

Power supply key: 

BExample: The order number of a power supply with output 120 VDC and 500 VA power is NT 500.120 

Power supplies for 115 VAC 50/60 Hz mains supply are available, too. 

NT 

power supply 

24 

power [VA] 

350 

500 

1000 

36 

60 

85 

120 

output voltage 

[VDC]

11 STÖGRA front panels and board holder 

Front panels 

SEF-Frontpanels for mounting 19 ’’ units (3 HE) are available for all STÖGRA power amplifier boards. 

In addition to the optical board function control there are two further functions on the front panel for easy adjustments. 

Q The adjustment of the motor current can be made direct on the front panel. 

Q Simultaneously the motor current can be measured at two sockets. 

power amplifier board 

100 

129 3,25 

60,7 81 

45,7 

66 

Fehler 

Phase 0 

1 

2 

3 

frontpanel for 

4A power amplifier 


Fehler 

Phase 0 

1 

2 

3 

frontpanel for 



V 

- 

V 

- 

15 

3 

11,6 

173,5 

3,25 3 

10 

10 

20 5,35 

Power amplifer board with front panel 

Dimensions 

Front panel key: 

Add a »F« to the type designation of the chosen control amplifier board. 

Example: The type designation of a SE 400.06.85 V13 with front panel will be SEF 400.06.85 V13 

Board holder KHD 32 

Q Comfortable mounting of power amplifier boards series SE... and position controls series SERS... in a switch cabinet 

Q Suitable for all STÖGRA power amplifier boards and position controls until 12 A, with 32-pole standard connector. 

Q Automatic locking 

Q Easy mounting 

Q Easy exchange of boards 

Q Adjustment of current and LED indication (for power amplifer boards SE...) are not covered and easy accessible 

Q Ideal for test operation 

Q All connections via screw terminals 

192,5 B 

52,5 

36 

160 

116,6 

Board holder KHD32 with SE 

Board holder KHD32 with SERS 

Dimensions board holder - with power amplifer board

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

The panel mount / 19 inch rack system series ELK/ELR is a mains ready single or multiple axis stepping motor control which can 

be mounted e.g. in a switch cabinet and can be connected easily via screw terminals. ELK/ELR-systems include plug ports for 

STÖGRA amplifier boards series SE...[E50] V11/V13 with 32-pole connector VG (DIN 41612 type D) or position controls series 

SERS. 

Each power amplifier plug port additionally includes a plug port for a ventilator. In that way ventilators can be installed easily also 

afterwards. 

All connections (mains, motor and control signals) are via screw terminals. 

ELK/ELR racks are available with and without integrated power supply (connection to 230VAC/50Hz - also available for 115 

VAC/60Hz).All ELK-/ELR-racks with power supply include in standard version a second (galvanical isolated) 24VDC output. 

ELK... front side 

ELR... rear side 

ELR... front side 

230VAC / 50Hz 

230VAC / 50Hz 

Stepper motor 

Stepper motor 

feed back 

ready signal 

control signals 

pulse, dirction,... 

5 

RS232 

RS485 

Profibus-DP 

CANopen 

SERCOS 

ELK 

SE... 

PC 

PLC 

NC 

ELK 

I/O 

RS232 

SERS... 

PC 

PLC 

NC 

ELK... with SE...front side 

ELK... with SERS front side 

ELK-panel mount system 

ELR-19 inch rack 

transformator 

350/500VAC 

power supply 

board 

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

optionally with ventilator board


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

ELK1.u/E.1... 

1 axis 

ext. supply 

ventilator optional 

ELK2.u/E.2... 

2 axis 

ext. supply 


ELK2.n.u.1... 

1 axis 

with power supply 


ELK3.n.u.2... 

2 axis 



ELK3.u/E.3... 

3 axis 

ext. supply 


ELK4.n.u.3... 

ELR4.n.u.3... 

3 axis 



ELK4.u/E.4... 

ELR4.u/E.4... 

4 axis 

ext. supply 


ELK4.n/E.5... 

ELR4.n/E.5... 

5 axis 

Ext. Einspeisung 

no ventilators possible 

ELK .. S for SE ...01... and SERS ...01...S 

(boards with max. 1,4 A / 85 VDC or 2,8A / 40 VDC - phase current / voltage supply) 

ELK1.24/24.2 S 

2 axis 

ext. 24 VDC 

ELK2.u/E.3 S... 

3 axis 

ext. supply 

ELK2.24/24.4 S 

4 axis 

ext. 24 VDC 

ELK3.n.u.3 S... 

3 axis 


ELK3.u/E.5 S... 

5 axis 

ext. supply 

ELK4.n.u.5 S... 

5 axis 


ELK4.u.5/E.8 S 

8 axis 

ext. supply 

Other versions for ELK- and ELR-racks: 

Q Less plug ports than physically possible in the rack R e.g. ELR4.n.u.1 (ELR4.350.60/24.1) 

R 19 inch rack ELR4 with power supply and only 1 plug port for SE or SERS 

Q External connections for motor voltage supply option "E" also for ELK-/ELR-racks with power supply 

R e.g. ELK4.500.85/24/E.3 A3 

for the common voltage supply of multiple ELK-/ELR-racks via one power supply of one ELK-/ELR-rack 

Q ELR-rack ELR1, ELR2 and ELR3


ELK dimensions and connections 

8.15 

A B 

ELK 1 147 110 

ELK 2 270 233 

ELK 3 376 339 

ELK 4 483,5 446,6 

10.3 x 6.8 

A 

57.15 

132.5 

157 

L1 N PE 

GND (24 VDC) 

GND (VCC) 

PE 

192 

phase 1 phase 2 

PE 1 2 3 4 

SE... 

5 ready signal (+) 

6 pulse 

7 disable limit 

8 step angle 

9 GND 

10 24 VDC 

11 ready signal (-) 

12 reset home 

13 boost limit 

14 direction 

15 GND 

16 24 VDC 

SERS 

ready signal (+) 

STOP switch 

switch right 

opto GND 

GND (24VDC) 

24 VDC 

ready signal (-) 

switch 

switch left 

service switch ext. 

GND (24 VDC) 

24 VDC 

B 

screw terminals 

ELR dimensions and connections 

8.15 

10.3 x 6.8 

57.15 

132.5 

A 

185 

205 

48 

47 

46 

45 

44 

43 

42 

41 

40 

39 

38 

37 

36 

35 

34 

33 

32 

31 

30 

29 

28 

27 

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 

N 

L1 

PE 

PE 

0V (24 VDC) 

0V (60 VDC) 

+ VDC 

0V GND 

A B 

ELR 1 147 110 

ELR 2 270 233 

ELR 3 376 339 

ELR 4 483,5 446,6 

B 

interface for SERS 

with option R4 or R5 

connection RS232 

R 9-pole D-Subconnector 

I/O-signals for SERS with 

option R1 or R2 

Pin 1 

Pin 4 

Pin 6 

Pin 7 

24 VDC 

VCC OUT 

GND OUT 

GND (24 VDC) 

24 VDC 

GND IN 

GND (24 VDC) 

ADC neg 

ADC pos 

I1 I2 

I/O-signals 

Pin 2 

Pin 3 

Pin 5 

Pin 9 

Pin 8 

O4 

O3 

O2 

O1 

I8 

I7 

I6 

I5 

I4 

I3 

16 

10 

15 

9 

14 

8 

13 

7 

12 

6 

11 5 

4 

3 

2 

1 

phase 2 - 

phase 2 + 

phase 1 - 

phase 1 - 

connection 

SE... 

5 ready signal 

6 GND (VCC) 

7 pulse 

8 boost 

9 step angle 

10 GND (24 V) 

11 ready signal 

12 GND (VCC) 

13 direction 

14 disable 

15 Reset 

16 +24 VDC 

SERS 

GND (VCC) 

STOP 

limit switch right 

Opto-GND 

GND (24V) 

GND (VCC) 

home switch 

limit switch left 

service switch 

+24 VDC


PC 

PC 

ELK.350.85/24.312 

ELK4.350.85/24.31 

SERS SERS SERS 

RS232 

1:1 cablel 

RS232 

1:1 cable 

Option "I" for ELK (for SERS with RS232): 

Common interface connection for all 

SERS in a ELK-rack - when connecting 

an ELK-rack with SERS units to one 

common RS232-interface of a control. 

Connection PC-ELK via a 1:1 cable. 

The SERS boards must be ordered with 

option R4 or R5. 

ELK4.350.85/24.31 

Option "I2" for ELK (for SERS with RS232): 

2 common interface connections for all SERS 

in a ELK-rack R RS232 - input and output 

when operating multiple ELK-racks with SERS 

at one common RS232-interface of a control. 

Connection PC-ELK-ELK is via 1:1 cabel. 

SERS boards must be ordered with option 

R4 or R5. 

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

Option "P" for ELK or ELR for integrating 

a SERS-Programmer into the rack 

(at front side) - the SERS-Programmer 

must be ordered seperately. 

When using ELK-racks the SERS 

boards must be ordered with option R4 

or R5, when using ELR-racks the SERS 

boards need option R1 or R2. 

Option S: Small plug ports for SERS ... S position controls or SE 01.85 .. / SE 02.24 ... power anmplifier boards. 

Option V: For the use with SE ... power amplifier boards (type designation without "V" for the use with SERS-position controls) 

Covers of ELK / ELR racks: 

Upside and down side: Aluminium plates with ventilation slots. 

Rear side: ELK-racks with 10 mm plastics plate - ELR-Einschüben with 1 mm plastics cover 

Front side: SERS-boards in standard version with front panels - SE-power amplifier boards without front side panels 

Technical specifications: 

class of protection IP20 

Weight: Typ ELK/ELR with power supply ELK/ELR without power supply 

weight 6,2 - 7 kg 1,8 - 2,6 kg 

(depending on version) 

ELK type key 

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

K 

panel mountage 

ELK 

R 

19 inch rack 

ELR 

1 2 3 4 

size / version see page 14/15 

350 500 

power supply VA 

24 60 85 120 

internal voltage supply VDC 

2 

P 

1 

2 

3 

4 

1 

2 

3 

4 

5 

option 

common 

interface 

quantily 

installed 

ventilators 

quantily 

plug ports 

SE / SERS 

Ordering examples: ELK2.350.85/24.1 V 

ELK3.500.120/24.2 A2 I 

ELK3.60/24/E.5 I2 S 

ELR4.350.85/24.3 A3 P

16 Position control - series SERS 

The stepping motor position control series SERS controls 2-phases stepping motors. A unit consists of a power amplifier, a 

microstepping power amplifier control and the position control. The comunication with the position control is made via an interface 

RS232C/V24, RS485, Profibus-DP, CANopen (DSP 402) or SERCOS. 

The SERS guarantees an optimal, free of vibrations true running due to its microstepping operation with 12800 steps/revolution and 

the possibility to select different phase current characteristics to match the characteristic of the used stepping motor type. The rough 

step by step operation of conventional stepping motor drives at low speed ranges has been improved extremely by the SERS to a 

very smooth running (comparable with servo motors). In standard version the SERS can be operated in four different modes: 

Serial operation 

~ 

AC 

DC 

inputs 

outputs 

RS232/RS485/Profibus-DP/CANopen 

inputs 

outputs 

SERS 

slave 1 

inputs 

outputs 

SERS 

slave 2 

SERS 

slave 3 

PC 

SPS 

NC 

NT... 

Profibus-DP 

CANopen 

RS485 

RS232 

SM 

SM 

SM 

230VAC/ 

50Hz 

120VDC 

ELK/ 

ELR 

Operation with PC/PLC/NC as higher order control (master) 

and communication via a fieldbus / serial interface with 

SERS-Slaves 

230VAC/ 

50Hz 

PC/NC 

RS232 

I/O 

SM 1 

sensors/ 

limit switches/ 

I/O 

ELK/ELR 

SM 1 

SM 2 

sensors/ 


SM 2 

Standalone operation 

230VAC/ 

50Hz 

~ 

AC 

DC 

optionally 

with operation panel 

SERS Programmer 

I/O 

24VDC 

inputs 

outputs 

inputs 

outputs 

inputs 

outputs 

NT350.24 

SERS 

axis 1 

SERS 

axis 2 

SERS 

axis 3 

SERS 2 

SM 

SM 

SM 

SERS 1 

Operation with SERS - slaves as independent working axis, with stored 

operational programs, controlled by events at the digital inputs - e.g. 

manual start switch, limit switch, light barriers. 

sensors/ 


KHD32 

SM 2 

SM 1


Parallel operation 

Master operation 

~ 

AC 

DC 

PC 

SPS 

NC 

~ 

AC 

DC 

RS232 

inputs 

outputs 

1 start 

6 address lines 

inputs 

outputs 

SERS 

slave 1 

1 start 


inputs 

outputs 

SERS 

slave 2 

1 start 


SERS 

slave 3 

inputs 

outputs 

inputs 

outputs 

SERS 

master 

inputs 

outputs 

SERS 

slave 1 

SERS 

slave 2 

SM 

SM 

SM 

SM 

SM 

SM 

Operation with a PLC/NC or simple switches as higher order control, 

which call and start different operational programs in the SERS via 

the digital-parallel inputs (binary mode). Up to 64 different operational 

programs per SERS can be called. 

Operation with a SERS as higher order intelligent control (mas-ter), 

which controls other SERS - slaves via the serial interface. 

No other ( higher ranking ) control necessary ! 

max. 6 adress lines 

+ 1 start per axis 

1: X 10, Y 35, Z 2 

2: X 120, Y 0, Z 45 

( ) 

max. 64 

different 

positions 

per axis 

NT... 

I/O 

230VAC/ 

50Hz 

7 

7 

7 

230VAC/ 

50Hz 

85VDC 

ELK/ 

ELR 

ELK/ 

ELR 

SM 2 

sensors/ 


I/O 

SM 4 

sensors/ 


SM 3 

SM 2 

SM 5 

SM 3 

SM 1 

SM 1


Power amplifer: 

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

characteristics, which can be selected for matching different stepping motor types 

Q phase current 0 - 1.4 A/phase (SERS 01), 0 - 8.4 A (SERS 06) and 0 - 14.5 A (SERS 12) – programmable via interface 

Q power supply depending on version from 24 to 240 VDC 

Q protection against short circuit, over temperature and under voltage, additional pre-warning of temperature and under voltage 

Inputs and outputs: 

Q 8 digital inputs, configurable low-/high-active (pull up or pull down input resistors), TTL (5V) or PLC (24V) - signal level 

Q 2 limit switch inputs and 1 home switch input and 1 STOP switch input – optoisolated for 24 VDC signal level 

Q 4 digital outputs, each max. 500 mA / 24 VDC – optoisolated for external 24 VDC supply and protected against short circuit 

Q 1 potential free output - relay max. 100mA / 24 VDC - usable e.g. as ready signal 

Q 1 analogue input - 8 Bit, 0 - 5 VDC 

Q Optional I/O - extension : additional 8 digital inputs and 12 outputs (each max. 100mA / 24VDC) 

Optionally step angle control / connection of hand wheel 

Q control of motor step angle, together with a two channel encoder (signals A, A _ ,B, B) _ mounted on the motor - 5VDC or 24VDC encoders 

Q closed position loop - lost steps (because of mechanical overload at motor) can be corrected - encoder controls real motor position 

Q connection of a hand wheel (with two channel encoder signals), via the optionally encoder evaluation logic or via two digital standard inputs 

Interface: 

Q RS232C/V24 ( standard-PC COM-interface), with or without hardware handshake (selectable by software) 

Q optional RS485, Profibus-DP and CANopen 

Q via DIP-switch adjustable baudrate from 2400 to 38400 Baud (RS232) and drive adress from 0 to 127 

Q Profibus-DP with baud rate until 12 MBaud , a GSD-file is provided , CANopen with baud rate until 1 MBaud , a EDS file provided 

Structural shape and connections: 

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

(e.g. ELK-/ELR-systems- see pages 12 until 15) 

Q motor leads, power supply, connections for limit and home switches via 32 pole connector, or via screw terminals 

in case of using ELK / ELR - panel mount / rack – systems. 

Q digital inputs and outputs via 25-pole D-Sub female connector or optionally via additional 32 pole connector (DIN 41612) - in case of 

using an ELR rack system and the SERS with additional 32 pole connector, the I/Os are connected to spring terminal blocks 

Q interface via 9-pole D-Sub connector or optionally via 32 pole connector (DIN 41612) 

- if using ELR racks also available via spring terminal blocks 

Position control: 

Q communication by sending and receiving ASCII characters via the interface (RS232, RS485) 

Q simple and easy understandable syntax for all standard commands and parameters (see table on next page) 

Q I programming of operational programms similar to BASIC 

Q 3 different kinds of scaling selectable for all position, speed and acceleration dates 

((incremental e.g. 5000 steps, rotational e.g. 1000 rpm and linear e.g 20 mm/min) 

Q Velocities from 0,12 until 10000 rpm (stepping motor usable until max. 1000 - 4000 rpm, depending on motor and supply) 

Q acceleration from 2 until 15600 U/s 2 and linear, exponential or sinus acceleration characteristics 

Q 2 KByte E 2 Prom-memory (depending on program up to 300 lines, optionally 8 KByte for up to 1200 lines) for 

storing an operating program in standalone mode and master-slave mode or for storing programs in the parallel mode 

Q backlash function for using e.g. gears, or spindles with backlash 

Q arithmetical operations: +, -, * , /, AND, OR, EXCL-OR, NOT, NEG - usable with alle SERS parameters 

1 acumulator for calculating and 6 free usable registers 

Q all SERS parameters can be programmed and changed anytime in an operational program 

Q more functions for an operational program: program jumps, »if« command (e.g. for executing commands 

depening on inputs or drive status), delay function, counters (e.g. for creating loops), subroutines, and many more... 

Q parameters gear factor and feeding constant for linear value assignement of position, speed and acceleration 

Q positioning with velocity profiles = positioning with different velocities within the positioning operation 

Q manual drive functions - hand control via the digital inputs or commands via the interface - with variable velocity 

Q diagnostics - all errors and warnings can be requested any time via the interface 

Q selection of language for the communication with the SERS (e.g. error messages and parameter designations) 

- german or english


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

Software for programming a SERS via a PC: 

A free programming software in DOS-version and Windows-version 

(Win95/98/NT/2000) is provided via floppy disc and also can be downloaded 

from the internet. 

Additionally to the manual (pdf-file on floppy disc) an online help (windows 

help file) with explanations of most of the SERS-functions is included 

in the delivery of a SERS. 

When opening the online help during running the programming software, 

the corresponding explanations will be displayed directly. 

SERS programmiing-software (Win95/98/ME/NT/2000) 

included in standard version 

Typical standard commands in the serial operation mode: 

- ON switch on motor current 

- OFF switch off motor current 

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

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

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

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

- S stop 

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

Example operational program (e.g. standalone mode) 

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

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

3: O1=0 output O1=0 

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

5: W=10 position = 10 

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

7: O1=1 output O1=1 

8: GOTO 1 Jump to program label L1 

SERS-Programmer: 

Q Low cost programming device - e.g. in case no PC is available. 

Q Easy to use operation panel e.g. for changing parameters or 

program lines in a production plant 

Special characteristics of the SERS-Programmer: 

Q The key pad with integrated display is an optimal solution especially 

for dirty environments (front side of the SERS Programmer is IP 65) 

Q The 3 different key levels are clearly marked by colors 

Q Possibility to lock or enable certain parameters and program lines 

via a password 

Q Any text to be displayed with the parameters to be changed can be defined 

The SERS Programmer is avaliable with housing as external programming 

device, or for integrating into 19 inch systems ( e.g. ELK-racks ) 

or any operation panel. 

SERS Programmer 

as external programming 

device with plastics housing 

DURCHMESSER 

W=100 

LAENGE 

R1=72 

SERS Programmer R 

for integrating into any 

front panel or 3-HE racks 

(e.g. ELK/ELR systems)

16 bit µ-controller 

E 2 PROM 

SERS-logic 

POWER AMPLIFIER 

encoderinput 

motorconnection 

limit switches 

stop switch 

home switch 

RAM 

interface 

I/O-port 2 

8 digitale 

inputs 

12 digital 

outputs 

(100 mA) 

parameter 

operstional 

programm 

I/O-port 

8 digitali nputs 

1 ADC (8 Bit, 0 - 5 VDC) 

4 digital outputs 

(500 mA) 

c a 

2 

4 

6 

8 

10 

12 

14 

16 

18 

20 

22 

24 

26 

28 

30 

32 

5 

4 

3 

2 

1 

5 

4 

3 

2 

1 

10 

11 

12 

13 

10 

11 

12 

13 

9 

8 

7 

6 

9 

8 

7 

6 

14 

15 

16 

17 

18 

19 

20 

21 

22 

23 

24 

25 

14 

15 

16 

17 

18 

19 

20 

21 

22 

23 

24 

25 

1 

2 

3 

4 

5 

6 

7 

8 

9 

1 

2 

3 

4 

5 

6 

7 

8 

9 


SERS block diagramm 

SERS with Profibus-DP interface - protocol: 

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

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

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

control word 

Bit 0: SLOW_LEFT Jog 

Bit 1: SLOW_RIGHT Jog 

Bit 2: FAST_LEFT Jog 

Bit 3: FAST_RIGHT Jog 

Bit 4: HOMING 

Bit 5: PHASE_CURRENT_ON 

Bit 6: STOP 

Bit 7: START_PROGRAM 

Bit 8: START_POSITIONING 

Bit 9 - 12: Outputs O1 until O4 

Bit 13,14: Reset warnings / error 

operation code and operand 

input of parameters (operation code 

= SERS-parameter number and 

operand = value), starting of a 

request of a parameter value and 

writing of operational programms 

status word 

Explanation of the single bits: 

- motor phase current is on 

- error 

- warning 

- handshake (Operation code executed) 

- motor in position (after a positioning job) 

- load angle error (at encoder version) 

- excession of software limit switch 

- operational program is aktive 

- homing procedure finished succesfully 

SERS with CANopen interface: 

General (e.g. communication) parameters with index numbers until 0x1000 : 

according to "CiA Draft Standard 301" (Application Layer and Communication Profile) from "CAN in Automation e. V." 

Q standard parameter of the "CANopen Device Profile for Drives and Motion Control" ab Index 0x6000"CiA nach Draft 

Standard Proposal DSP-402" 

Q 11 Bit identifier used 

Q PDOs - Receive (3 x controlword (6040) ): 

1. 16 Bit / 2. modes_of_operation (6060), 8 Bit / 3. target_position (607a), 32 Bit 

Q Transmit PDO: statusword (6041), 16 Bit / position_actual_value (6064), 32 Bit 

LIMIT_SWITCH_DIGIN (2420), 16 Bit (Limit switches and digital inputs I1 to I8) 

Q Positioning modes (“modes_of_operation" (6060) ) : 1 "Profile Position Mode" and 6 "Homing Mode"


Option E50 encoder connection 

The SERS-stepping motor control is available optionally with encoder input (SERS...V02 E50). 

2-channel encoders (A, B and A _ , B _ ) with any resolution (e.g. 2 x 50 impulses/rev. or 2 x 1000 impulses/rev.) can be connected. 

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

Q Encoder input 1 (9-pole D-Sub female connector at the SERS-front panel): 

The signals are evaluated 4 times (with recognition of direction). Out of the signals of e.g. a 1000 puls encoder there are 

created 4000 increments. The signals pass a RS422-input circuit and analogue and digital filters. 

This guarantees a very high level of noise immunity. 

The encoder input can be used for the control of step angle (with complete correction of lost steps after a mechanical overload 

at the motor - correction of actual position or driving to the target position with lower velocity) or for connecting a hand wheel or 

an other motor (with encoder output) for realizing an electrical master-slave motor system. 

Q Encoder input 2 (inputs I3 and I4 of the digital inputs): 

Signals A and B are evaluated 4-times (no evaluation of the inverted signals) . This encoder input can be used for realizing 

a hand wheel function respective a electrical master-slave function. 

Control of load angle 

The signals of an encoder mounted at the stepping motor are connected to the 

SERS. Die SERS compares the position created by the encoder signals with the 

internal actual position command value. 

If the difference between both values is to big (difference value adjustable), then 

an error message (or warning - selectable) will be created and the motor will 

immediately decelerate until stop (if error is preselected). 

Correction of position (closed loop) 

After a load angle error the lost steps can be corrected (driving with homing velocity 

to the position command value / target position) or position command value is 

set to the real actual motor position (given by the encoder). 

Hand wheel function / electrical master slave function 

The signals of a hand wheel or of an encoder mounted on another motor or any 

other rotating shaft are connected to the SERS. The SERS (respective the motor 

controlled by the SERS) follows these encoder signals. The relation between the 

number of encoder signals (movment of the handwheel / other motor / shaft) and 

the movement of the stepping motor (controlled by the SERS) can be adjusted. 

Load angle control and hand wheel function / 

electrical master-slave function 

To encoder input 1 the encoder of the controlled stepping motor is connected and 

a control of load angle is realized. 

To encoder input 2 the encoder of the hand wheel / other motor / shaft is connected. 

The stepping motor follows the signals at encoder input 2. 

Pulse input 

Encoder input 1 and encoder input 2 also may be used as pulse inputs. 

There are two possibilities: 

1. Signal pulse and signal direction 

2. Signal pulse in positive direction and signal pulse in negative direction 

The movement (distance) related to one pulse can be selected via a parameter 

in the SERS. 

In case of a pulse chain with high frequency without ramp the pulses will be puffered 

in the SERS and the SERS creates the ramp with the preselected parameters 

acceleration “a” and maximum velocity “v”. 

load angle control 

SERS...E50 

ENC 

encoder 

phases 

step motor 

handwheel function / electr. master-slave 

handwheel 

with encoder SERS...E50 

encoder 

ENC 

motor 

phases 

step motor 

master axis 

load angle control and 

handwheel function / electr. master-slave 

handwheel 

with SERS...E50 

encoder 

phases 

encoder 

I/O 

motor 

pulse input 

pulse 

dir. 

or 

pulse + 

pulse - 

ENC 

encoder 

SERS... 

I/O 

step motor 

phases 

step motor


SERS 01.24 V01 

phase current: 0 - 1,4 A/Ph 

voltage supply: 24 VDC 

- optionally SERS 01.85 V01 

with 85 VDC 

SERS 02.24 V01 



SERS 06.85 V01 




and SERS 06.120 V01 with 

24 VDC / 120 VDC 

SERS 12.120 V01 




and SERS 12.240 V01 with 

85 VDC respective 240 VDC 

Dimensions 

DIP-switch 1: 

selection baud rate, 

enable jog 

und Pegel 

level input signas 

connector X1: 

32-pole male connector 


SERS 06 / SERS 12 

KR 6 

KR 12 

160 

32-pole male connector 


1 

on 

8 

172 

indication 

of status 

reset switch 

(short circuit) 

STOEGRA 

STATUS 

connector X2 

connector X3: 

interface connection 

RS232 / RS485 / Profibus-DP/CANopen 

(depends on version) 

I/O 

RS 232 

SERS 06 V01 

81 

50,8 for option S 

129 

connector X4: encoder connection 

inputs I1 until I8 (only for option E50) 

analogue-input 

outputs O1 until O4 

Option H: 

SERS für Montage im Kartenhalter 

KHD32 (siehe Seite 11) 

z.B. SERS 06.24 H K6 

(Kartenhalter KHD32 muss 

seperat bestellt werden. 

DIP-switch 2: 

selection 

drive adress 

enable auto start 

1 

on 

8 

100 

connector type 

denotes 

X1 DIN41612 I/O + Interface 

X2 4-pole Interface (only RS232) 

X3 9-pole D-Sub Interface 

X4 25-pole D-SUB I/O 

Wandmontagegehäuse mit Netzteil und 

EInschübe für SERS-Steuerungen 

R siehe ELK/ELR Seite 12 - 15 

Connector optiones 

option / conn. X1 X2 X3 X4 denotes 

R1 x x for ELR-racks - I/Os + interface via connector X1+ interface via 9-pol. D-Sub at frontside 

R2 x for ELR-racks - I/Os + interface via connector X1 

R3 x for ELR-racks - I/Os + interface via connector X1- without front panel 

R4 x x for ELK-racks with option “I” or “I2” or “P” - interface at rear side via X2 

R5 x x x for ELK-racks with option “I” or “I2” or “P” - interface at front side and rear side 

ohne Angabe x x standard version 

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

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

01 02 06 12 

nominal phase current [A] 

24 85 120 240 

nominal voltage supply [VDC] 

option encoder input 

RS232 

empty 

RS485 

Profibus DP PB-DP 

CANopen 

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

smali front panel 

K6 

K12 

heat sink KR6 / KR12 

for mounting in board holder KHD32 

R1 

R2 

R3 

R4 

R5 

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

option connector

23 Position control - series SERC and SERS equipment 

Stepping motor power amplifier boards series SERC drive 2-phases stepping motors. A unit includes the power amplifier, the power 

amplifier control and the position control with SERCOS-interface. 

SERC is connected to a SERCOS master via a fibre optical interface. The communication protocol is specified through the SER- 

COS- standard IEC61491. SERC accepts new position command values from the SERCOS master cyclically every 2 ms. Protocol 

cycle times (Tscyc) of 0,5 ms and 1 ms are supported. 

SERCOS-interface and parameter 

Q All parameter of a class B - positioning drive are available 

Q Additional S-parameters e.g. gear ratio 

Q Additional manufacturer specific parameters e.g. stepping motor phase current, current parameters (current reduction 

at stand still, boost during accelerating), parameters for the optimal adaption to the stepping motor running profiles 

Q Via DIP - switch easy adjustable 

Q drive address ( 1 - 254 ) 

Q baudrate: 2MBaud or 4MBaud 

Q adaption of the fibre optical interface to different optical wave guide lengths 

Power amplifier and structural shape: 

The dates of the SERC - microstepping, phase current, power supply and structural shape - are identical to the dates 

of the SERS (position control with RS232/485 interface) - see pages before. 

Inputs and outputs: 

Q 2 limit switch inputs and 1 home switch input - optoisolated for 24 VDC level 

Q 1 potentialfree output - relay max. 100mA / 24 VDC - usable e.g. as ready signal or for controlling a motor brake 

Load angle control - option E50: 

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

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

Specifications SERS / SERC 

Protection of device: 

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

Q protection against short circuit, over temperature 

and under voltage 

Weight: 

SERS 01/02 SERS 06 SERS 12 

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

Ambient conditions: 

Q ambient temperature: 0°C - 50°C 

Q forced draft: 

necessary from 6A adjusted phasen current 

Noise radiation: 

if correct installed according to EN 50082-2 

Noise immunity: 

if correct installed and shielded lines 

according to EN 55011 class B 

Overview available versions: 

SERC 01.24 V01 



- optionally SERC 01.85 V01 

with 85 VDC 

SERC 06.85 V01 




and SERC 06.120 V01 with 

24 VDC / 120 VDC 

SERC 12.120 V01 




and SERC 12.240 V01 with 

85 VDC / 240 VDC 

ELK 3.500.85/24.2 

SERC-controls are available also in mains ready 

panel mountage and 19 inch systems in different 

sizes (see ELK-/ELR-systems pages 12 - 15). 

Photo above: 2-axis-SERCOS panel mountage 

rack with 500 VA power supply and internal 

85 VDC voltage supply. 

Zubehör zu SERS Positioniersteuerungen 

Screw terminal block for rail mountage with 25-pole 

D-Sub-connector for comfortable connection of 

SERS input-/output signals via screw terminals 

Ordering key: KBDS25 

Cabel (2m) with 9-pole D-Sub connector and 1:1 

wiring for the connection of the RS232-interface of a 

SERS to a PC with RS232-interface. 

Ordering key: LDS9 

Cabel (2m) with 25-pole D-Sub connector for connecting 

the I/Os of a SERS with a screw terminal 

block - Ordering key: LDS25

STEPPING MOTOR CONTROLS - Motor Technology Ltd

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