STEPPING MOTOR CONTROLS - Motor Technology Ltd

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4 General procuct overview STÖGRA Stepping motor controls are designed as modular system as well as STÖGRA Stepping motors (see catalogue <strong>STEPPING</strong> <strong>MOTOR</strong>S) 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 position control with RS232, RS485 position control with SERCOS Power amplifier boards with control of step angle SE ... E50 V11/V13 Voltage supply Phase current Step resolution 24 - 240 VDC 1 - 14,5 A/Ph. 200 - 1000 steps/rev. catalogue page 6 to 8 Mikroschritt-Leistungsverstärkerkarten Serie SE P05 Voltage supply Phase current Step resolution 24 - 240 VDC 1 - 14,5 A/Ph. 200 - 12800 steps/rev. catalogue page 9 Positioniersteuerungen Serie SERS mit Schnittstellen RS232, RS485, Profibus-DP, CANopen, SERCOS Voltage supply Phase current Step resolution 24 - 240 VDC 1 - 14,5 A/Ph. 12800 steps/rev. catalogue page 16 to 23 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° mechanical 0.45° micro step electrical e.g. 4.5° mechanical e.g. 0.09° phase 2 half step electrical 45° mechanical 0.9° 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 zero position after 2. full step zero position after 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.
Page 1 and 2: STEPPING MOTOR CONTROLS Power ampli
Page 3: 3 index Seite General product overv
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 and 20: 19 Position control - series SERS P
Page 21 and 22: 21 Position control - series SERS O
Page 23: 23 Position control - series SERC a

STEPPING MOTOR CONTROLS - Motor Technology Ltd

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