Pluse Input Type Integrated Step Motor STM-R Series

Transcription

1 Pluse Input Type Step Motor Series Step Motor The is an integrated Drive+Motor, fusing step motor and drive technologies into a single device, offering savings on space, wiring and cost over conventional motor and drive solutions. Features Anti-Resonance/Electronic Damping Step motor systems have a natural tendency to resonate at certain speeds. The drive+motor automatically calculates the system s natural frequency and applies damping to the control algorithm. This greatly improves midrange stability, allows for higher speeds, greater torque utilization and also improves settling times. Delivers better motor performance and higher speeds Microstep Emulation With Microstep Emulation, low resolution systems can still provide smooth motion. The drive can take low-resolution step pulses and create fine resolution micro-step motion. Delivers smoother motion in any application Torque Ripple Smoothing All step motors have an inherent low speed torque ripple that can affect the motion of the motor. By analyzing this torque ripple the system can apply a negative harmonic to negate this effect, which gives the motor much smoother motion at low speed. Delivers smoother motion at lower speeds Command Signal Smoothing Command Signal smoothing can soften the effect of immediate changes in velocity and direction, making the motion of the motor less jerky. An added advantage is that it can reduce the wear on mechanical components. Improves overall system performance Advanced Anti-Resonance Torque Ripple Smoothing Microstep Emulation Self Test & Auto Setup At start-up the drive measures motor parameters, including the resistance and inductance, then uses this information to optimize the system performance. 1.8 Steps Synthesized Microsteps Step-Servo Step Motor 2-Phase Step Motor Drive 3-Phase Step Motor Drive Step Motor Appendix M 2-Phase 3-Phase Power Supplier Cable Software Glossary 91

2 Step Motor 17R - Type Step Motor The 17R Motor is a cost effective, high performance, motor with the drive built in. It is based on advanced digital current control technology, and features high torque, low noise, and low vibration. Operational parameters are switch selectable. M 3-Phase Step Motor Drive 2-Phase Step Motor Drive Step Motor Step-Servo Specifications Amplifier Type Power Supply Input Voltage Range Protection Idle Current Reduction Ambient Temperature Humidity Speed Range Auto Setup Encoder Feedback Step Input EP+/- Direction Input DIR+/- Enable Input EN+/- Output OUT+/- Dual H-Bridge, 4 Quadrant 4 state PWM at 16 KHz Power Amplifier External volt power supply required 1-52 volts min/max (nominal volts) Over-voltage, over-current, under-voltage, over-temp, internal motor shorts (phase-tophase, phase-to-ground) Switch selectable for reduction to 5% or 9% of running current - 4 C (32-14 F) when mounted to a suitable heat sink 9% non-condensing Controller Advanced digital current control provides excellent high speed torque Speeds up to 3 rpm Measures motor parameters to configure current control and anti-resonance gain settings Optional 1 line external encoder, A/B/Z Differential Output Inputs: optically isolated, 5-24 volts, min. pulse width 25 ns., max. pulse frequency 2 MHz; motor executes one step on the falling edge of the EP input signal direction of rotation is controlled by the DIR input state Inputs: optically isolated, 5-24 volts, min. pulse width 1 us., max. pulse frequency 1 KHz; enables or disables the drive amplifier Open Collector, 3 volts, 1 ma max, max. pulse frequency 1 KHz; closes when the drive encounters an error, open when the drive is operating normally Switch Selections SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 Running Current SW9 SW1 SW11 SW12 Idle Current Self Test Step Noise Filter Step Smoothing Filter Load Inertia Step Pulse Type Glossary Software Cable Power Supplier 3-Phase 2-Phase 92 Step Motor Appendix Microstepping Running current - output current is set by SW1 & SW2 with a total of 4 settings: 5%, 7%, 9% and 1% of the running current. Idle Current - can be set by SW3 for 5% of running value to reduce motor and drive heating, or for 9% when a high holding torque is required. Self test - set by SW4 to check the physical operation of the motor. Input Noise Filter - set by SW5 this filters out unwanted electrical noise. The frequency of the filter can be set to 15KHz or 2MHz. Step Smoothing Filter - also called microstep emulation, smooth motion can be obtained from coarse command signals by setting SW6 to ON. Anti-Resonance/Electronic Damping - setting SW7 for the proper inertia load, low (OFF) or high (ON), can greatly improve the motor s performance. Step Pulse Type - SW8 allows the motor to be used with either CW/CCW pulse type command signals (ON), or EP/DIR pulse type signals (OFF). Microstep resolution - SW9, SW1, SW11, and SW12 set the microstep resolution at one of 16 settings: 2, 4, 8, 16, 32, 64, 128, 256, 1, 2, 4, 5, 8, 1, 2, or 25 steps/rev. 17R-1: 28 g Mass 17R-2: 36 g 17R-3: 44 g 17R-1: 38 gcm 2 Rotor Inertia 17R-2: 57 gcm 2 17R-3: 82 gcm 2

3 Encoder Option models can be ordered with an optional 1 line incremental encoder mounted to the rear shaft of the unit. This encoder can be connected to the external controller for position verification and enhanced performance, depending on the features of the controller. Electrical Specification Resolution Supply Current (no load) Output Voltage Low Output Voltage High 4 Counts/Rev(1 Line) Typ 56mA/Max 59mA.4V@2mA Max. 2.4V@-2mA Min. A leads B for clockwise shaft rotation, and B leads A for counterclockwise rotation viewed from direction H Mating Connectors Housing: Molex# Crimp: Molex# Crimp Tool: Molex# Encoder cable packed together with motor P/N:11-1 Housing(Molex ) Terminal(Molex ) Dimensions(Unit:mm) Visit to get the 3D drawing. 56 Ø5 1±2 4.5 Flat UL2464 AWG L± Flat Ø5 Ø22 H PIN MAX Model L Length 17R R R-3 67 Rear Shaft external encoder View A 4-M MAX PIN 1 PIN 1 PIN 2 PIN Sign Color 1 NC 2 Ground Green White 3 I- Orange White 4 I+ Orange 5 A- Blue White 6 A+ Blue 7 +5V DC Green 8 NC 9 B- Brown 1 B+ Brown Step-Servo Step Motor 2-Phase Step Motor Drive 3-Phase Step Motor Drive Step Motor Appendix Step Motor M 2-Phase 3-Phase Power Supplier Cable Software Glossary 93

4 Step Motor M Step-Servo Step Motor Torque Curves Torque(N.m) R-1 12V 24V 48V Numbering System Series Torque(N.m) Fram Size R-2 17 R-2 E R= Type 12V 24V 48V Torque 1=.23N m max 2=.38N m max 3=.48N m max Glossary Software Cable Power Supplier 3-Phase 2-Phase Torque(N.m) 2-Phase Step Motor Drive 3-Phase Step Motor Drive Appendix Step Motor Option Blank=Standard D=Double Shaft E=External Encoder 17R-3 12V 24V 48V Ordering Information Model Standard Double shaft External Encoder 17R-1 17R-1D 17R-1E 17R-2 17R-2D 17R-2E 17R-3 17R-3D 17R-3E 94

5 23R - Type Step Motor Step Motor The 23R Motor is a cost effective, high performance, motor with the drive built in. It is based on advanced digital current control technology, and features high torque, low noise, and low vibration. Operational parameters are switch selectable. Specifications Amplifier Type Power Supply Input Voltage Range Protection Idle Current Reduction Ambient Temperature Humidity Speed Range Auto Setup Encoder Feedback Step Input EP+/- Direction Input DIR+/- Enable Input EN+/- Output OUT+/- Dual H-Bridge, 4 Quadrant 4 state PWM at 16 KHz Power Amplifier External 12-7 volt power supply required 1-75 volts min/max (nominal 12-7 volts) Over-voltage, over-current, under-voltage, over-temp, internal motor shorts (phase-tophase, phase-to-ground) Switch selectable for reduction to 5% or 9% of running current - 4 C (32-14 F) when mounted to a suitable heat sink 9% non-condensing Controller Advanced digital current control provides excellent high speed torque Speeds up to 3 rpm Measures motor parameters to configure current control and anti-resonance gain settings Optional 1 line external encoder, A/B/Z Differential Output Inputs: optically isolated, 5-24 volts, min. pulse width 25 ns., max. pulse frequency 2 MHz; motor executes one step on the falling edge of the EP input signal direction of rotation is controlled by the DIR input state Inputs: optically isolated, 5-24 volts, min. pulse width 1 us., max. pulse frequency 1 KHz; enables or disables the drive amplifier Open Collector, 3 volts, 1 ma max, max. pulse frequency 1 KHz; closes when the drive encounters an error, open when the drive is operating normally Switch Selections SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 Running Current SW9 SW1 SW11 SW12 Microstepping Idle Current Self Test Running current - output current is set by SW1 & SW2 with a total of 4 settings: 5%, 7%, 9% and 1% of the running current. Idle Current - can be set by SW3 for 5% of running value to reduce motor and drive heating, or for 9% when a high holding torque is required. Self test - set by SW4 to check the physical operation of the motor. Step Noise Filter Step Smoothing Filter Load Inertia Step Pulse Type Input Noise Filter - set by SW5 this filters out unwanted electrical noise. The frequency of the filter can be set to 15KHz or 2MHz. Step Smoothing Filter - also called microstep emulation, smooth motion can be obtained from coarse command signals by setting SW6 to ON. Anti-Resonance/Electronic Damping - setting SW7 for the proper inertia load, low (OFF) or high (ON), can greatly improve the motor s performance. Step Pulse Type - SW8 allows the motor to be used with either CW/CCW pulse type command signals (ON), or EP/DIR pulse type signals (OFF). Microstep resolution - SW9, SW1, SW11, and SW12 set the microstep resolution at one of 16 settings: 2, 4, 8, 16, 32, 64, 128, 256, 1, 2, 4, 5, 8, 1, 2, or 25 steps/rev. Step-Servo Step Motor 2-Phase Step Motor Drive 3-Phase Step Motor Drive Step Motor Appendix M 2-Phase 3-Phase Power Supplier Cable Software Glossary Mass 23R-2: 85 g 23R-3: 12 g Rotor Inertia 23R-2: 26 gcm 2 23R-3: 46 gcm 2 95

6 Step Motor M Step-Servo Step Motor Encoder Option models can be ordered with an optional 1 line incremental encoder mounted to the rear shaft of the unit. This encoder can be connected to the external controller for position verification and enhanced performance, depending on the features of the controller. Electrical Specification Resolution Supply Current (no load) Output Voltage Low Output Voltage High 4 Counts/Rev(1 Line) Typ 56mA/Max 59mA.4V@2mA Max. 2.4V@-2mA Min. A leads B for clockwise shaft rotation, and B leads A for counterclockwise rotation viewed from direction H Mating Connectors Housing: Molex# Crimp: Molex# Crimp Tool: Molex# Encoder cable packed together with motor P/N:11-1 Housing(Molex ) Terminal(Molex ) PIN 9 View A PIN 1 PIN 1 PIN 2 PIN Sign Color 1 NC 2 Ground Green White 3 I- Orange White 4 I+ Orange 5 A- Blue White 6 A+ Blue 7 +5V DC Green 8 NC 9 B- Brown 1 B+ Brown Glossary Software Cable Power Supplier 3-Phase 2-Phase Appendix 2-Phase Step Motor Drive 3-Phase Step Motor Drive Step Motor UL2464 AWG24 4 1±2 Dimensions(Unit:mm) Visit to get the 3D drawing Ø5 4.5Flat L± Ø 38.1 H 4- Ø MAX MAX Flat Ø Model 23R R-3 17 Rear Shaft external encoder 96

7 Torque Curves Step Motor 23R-2 12V 24V 48V 7V 23R-3 12V 24V 48V 7V Torque(N m) Numbering System Ordering Information 23R-2 23 R-2 E Model Standard Double shaft External Encoder 23R-2D 23R-2E 23R-3 23R-3D 23R-3E Series Torque(N m) Frame Size R- Type Torque 2=.9N m max 3=1.5N m max Option Blank=Standard D=Double Shaft E=External Encoder Step-Servo Step Motor 2-Phase Step Motor Drive 3-Phase Step Motor Drive Step Motor Appendix M 2-Phase 3-Phase Power Supplier Cable Software Glossary 97