STEPPING MOTOR CONTROLS - Motor Technology Ltd

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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 20 Position control - series SERS 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"
21 Position control - series SERS 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
Page 1 and 2: STEPPING MOTOR CONTROLS Power ampli
Page 3 and 4: 3 index Seite General product overv
Page 5 and 6: 5 STÖGRA Stepping motor controls G
Page 7 and 8: 7 Stepping motor control amplifier
Page 9 and 10: 9 Series SE P05 - Microstep Q Step
Page 11 and 12: 11 STÖGRA front panels and board h
Page 13 and 14: 13 STÖGRA panel mount / 19 inch -
Page 15 and 16: 15 STÖGRA panel mount / 19 inch -
Page 17 and 18: 17 Position control - series SERS P
Page 19: 19 Position control - series SERS P
Page 23: 23 Position control - series SERC a

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