Operation Manual Version: Date: 1.1 2019-01-25
Table of content Table of content 1 Foreword... 5 1.1 Notes on the documentation... 5 1.2 Documentation Issue Status... 6 1.3 Appropriate use... 6 2 Guidelines and Standards... 7 2.1 EU conformity... 7 3 For your safety... 8 3.1 Staff qualification... 8 3.2 Description of symbols... 9 3.3 Notes on the AS2000 stepper motor... 10 4 Handling... 11 4.1 Transport... 11 4.2 Packaging... 11 4.3 Storage... 11 4.4 Maintenance / Cleaning... 12 4.5 Disposal... 12 5 Product overview... 13 5.1 AS2000 scope of delivery... 13 5.2 AS2000 type plate... 13 5.3 AS2000 type key... 14 6 Technical description... 15 6.1 Design of the motors... 15 6.2 General technical data... 16 6.3 Standard features... 16 6.3.1 Style... 16 6.3.2 Shaft end, A-side... 17 6.3.3 Flange... 17 6.3.4 Connection technology... 17 6.3.5 Feedback system... 17 6.4 Transport, assembly and disassembly... 17 7 Mechanical installation... 18 7.1 Important notes... 18 7.2 Installing the stepper motor... 19 8 Electrical installation... 20 8.1 Important notes... 20 8.2 Connection of motors with preassembled cables... 21 8.3 Electrical components... 22 8.3.1 Motor connector... 22 8.3.2 Encoder connector... 22 8.4 Connection diagram KL2531... 23 8.5 Connection diagram EL7031... 24 8.6 Connection diagram EL7037... 25 Version: 1.1 3
Table of content 8.7 Connection diagram EL7041-1000... 26 8.8 Connection diagram EL7047... 27 8.9 Connection diagram EP7041... 28 8.10 Connection diagram EPP7041... 29 8.11 Connection diagram EJ7047... 30 9 Commissioning... 31 9.1 Important notes... 31 9.2 Guide for commissioning... 31 9.3 Troubleshooting... 32 10 Technical data... 33 10.1 Step mode and limit speeds... 33 10.2 AS202x... 34 10.2.1 Dimensional drawing AS202x with encoder... 35 10.2.2 Speed/torque characteristic curve... 36 10.3 AS204x... 40 10.3.1 Dimensional drawing AS204x with encoder... 41 10.3.2 Speed/torque characteristic curve... 42 11 Support and Service... 48 4 Version: 1.1
Foreword 1 Foreword 1.1 Notes on the documentation This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning the components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning. The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards. Disclaimer The documentation has been prepared with care. The products described are, however, constantly under development. We reserve the right to revise and change the documentation at any time and without prior announcement. No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation. Trademarks Beckhoff, TwinCAT, EtherCAT, EtherCAT P, Safety over EtherCAT, TwinSAFE, XFC and XTS are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners. Patent Pending The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or registrations in various other countries. The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries. EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design. Version: 1.1 5
Foreword 1.2 Documentation Issue Status Origin of the document This documentation was originally written in German. All other languages are derived from the German original. Product features Only the product features specified in the current user documentation are valid. Further information given on the product pages of the Beckhoff homepage, in emails or in other publications is not authoritative. Issue Comment 1.1 Chapter update: Technical data AS202x 10.2; Technical data AS204x 10.3 1.0 First edition New chapter: Speed/torque characteristic curve AS202x and AS204x 10.2.2; 10.3.2 1.3 Appropriate use Beckhoff stepper motors from the AS2000 series are specially designed for use as actuators in handling devices, textile machines, machine tools, packaging machines and similar machines. They are exclusively intended to be operated by stepper motor output stages from Beckhoff Automation GmbH & Co. KG using speed and/or position control. CAUTION Danger for persons, the environment or equipment The motors are operated in the drive system in conjunction with Beckhoff stepper motor output stages. Please observe the entire documentation which consists of: AS2000 documentation (this manual) Complete documentation (online and paper) for Beckhoff stepper motor output stages available at www.beckhoff.com. Complete machine documentation (provided by the machine manufacturer) Caution - Risk of injury! WARNING Basically, electronic devices are not fail-safe. The machine manufacturer is responsible for ensuring that the connected motors and the machine are brought into a safe state in the event of a fault in the drive system. Special safety instructions for the AS2000! It is essential to follow the Notes on the AS2000 stepper motor when installing and commissioning the components. Read this chapter carefully, attentively and completely! The stepper motors from the AS2000 series are designed for installation as components in electrical systems or machines and may be operated only as integrated system or machine components. The motors may only be operated under the ambient conditions defined in this documentation. Improper use Beckhoff stepper motors from the AS2000 series are not suitable for use in the following areas: in ATEX zones without a suitable housing in areas with aggressive environments (e.g. aggressive gases or chemicals) 6 Version: 1.1
Guidelines and Standards 2 Guidelines and Standards CAUTION Danger for persons, the environment or equipment Stepper motors of the AS2000 series are not products as defined by the EC Machinery Directive. Operation of the stepper motors in machines or systems is only permitted once the machine or system manufacturer has provided evidence of CE conformity of the complete machine or system. 2.1 EU conformity Provision of EU Declaration of Conformity: Beckhoff Automation GmbH & Co. KG will be glad to provide you with EU declarations of conformity and manufacturer's declarations for all products upon request to info@beckhoff.com. Version: 1.1 7
For your safety 3 For your safety Read the section on safety and heed the notices to protect yourself against personal injury and material damages. Liability limitations The entire components of the Beckhoff AS2000 stepper motors are delivered in certain hardware and software configurations according to the application requirements. Unauthorized modifications to the hardware and/or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. In addition, the following actions are excluded from the liability of Beckhoff Automation GmbH & Co. KG: Failure to comply with this documentation Improper use Use of untrained personnel Use of unauthorized spare parts 3.1 Staff qualification All depicted work to be done on the Beckhoff software and hardware, and in particular on the AS2000 stepper motor, may be carried out only by technical personnel with knowledge of control and automation technology. The technical personnel must have knowledge of drive technology and electrical systems and must also know how to work safely on electrical equipment and machines. This also includes: production planning and securing of the working environment (e.g. securing the control cabinet against being switched on again). The technical personnel must be familiar with the current and necessary standards and directives for the automation and drive environment. 8 Version: 1.1
For your safety 3.2 Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note. The safety instructions must be read carefully and followed without fail! Symbols that warn of personal injury: Serious risk of injury! DANGER This is an extremely dangerous situation. Disregarding the safety notice will lead to serious permanent injuries or even death. Risk of injury! WARNING This is a dangerous situation. Disregarding the safety notice may lead to serious injuries. Personal injuries! CAUTION This is a dangerous situation. Disregarding the safety notice may lead to minor injuries. Symbols that warn of damage to property or equipment: NOTE Warning of damage to property or the environment! This notice indicates disturbances in the operational procedure that could damage the product or the environment. Symbols indicating further information or tips: Tip or pointer! This notice provides important information that will be of assistance in dealing with the product or software. There is no immediate danger to product, people or environment. UL note! This symbol indicates important information regarding UL certification. Version: 1.1 9
For your safety 3.3 Notes on the AS2000 stepper motor The notes are intended to avert danger and to provide instructions on the handling of the AS2000 stepper motors. They must be followed during installation, commissioning, production, troubleshooting, maintenance and trial or test assemblies. The stepper motors from the AS2000 series cannot run as stand-alone devices. They must always be installed in a machine or system. After installation the additional documentation and safety instructions provided by the machine manufacturer must be read and followed. WARNING Serious burns due to hot surfaces on the devices! The surface temperature of the devices can reach 100 C during operation of the system. There is an acute risk of sustaining burns to parts of the body and limbs. Take the following measures to avert danger: Do not touch any components (housing, etc.) shortly after or during operation. Wait until all components have cooled sufficiently. At least 15 minutes. Check the surface temperature with a thermometer. DO NOT wear work gloves with a rubber coating. These can fuse with the skin on account of the high temperature and cause serious injuries. Notes on the operation of the AS2000 stepper motors: Please read this manual carefully before using the stepper motors. Notify the responsible sales office immediately if any passages are not understandable. Refrain from working on the servo drive. Damage to the environment or devices NOTE During installation it is essential to ensure that the specified ventilation clearances and climatic conditions are adhered to. Further information can be found in the "Technical data" and "Mechanical installation" sections. The stepper motor may only be put into operation when it has been established that the machine or plant conforms to the latest edition of the EU Machinery Directive. 10 Version: 1.1
Handling 4 Handling 4.1 Transport Climate category: 2K3 according to EN 60721 Transport temperature: -20 C to +65 C, max. fluctuation 20 K/hour Transport humidity: relative humidity 5% - 95%, non-condensing The stepper motor may only be transported by qualified personnel and in the manufacturer's original recyclable packaging. Avoid hard impacts, particularly at the shaft end. If the packaging is damaged, check the motor for visible damage. Inform the transport company and, if necessary, the manufacturer. 4.2 Packaging Cardboard packaging Motor without installed gear unit Motor type Max. stacking height AS2021 5 AS2022 5 AS2023 5 AS2041 5 AS2042 5 AS2043 5 Motor with installed gear unit Motor and gear type Max. stacking height AS2021 with AG2250-+PLE60 / WPLE60 3 AS2022 with AG2250-+PLE60 / WPLE60 3 AS2023 with AG2250-+PLE60 / WPLE60 2 AS2041 with AG2250-+PLE80 / WPLE80 2 AS2042 with AG2250-+PLE80 / WPLE80 2 AS2043 with AG2250-+PLE80 / WPLE80 2 4.3 Storage Climate category: 2K3 according to EN 60721 Storage temperature: -20 C to +65 C, max. fluctuation 20 K/hour Air humidity: relative humidity 5% - 95%, non-condensing Max. stacking height: see table Packaging Storage time: without limitation Store only in the manufacturer s original recyclable packaging. Version: 1.1 11
Handling 4.4 Maintenance / Cleaning Maintenance and cleaning only by qualified personnel. The ball bearings have a grease filling. The actual life of the bearings depends on various factors, including the radial load, shear load, operating temperature and motor speed. Check the motor for bearing noise every 2,500 operating hours or once per year. If any noises are heard, stop the operation of the motor. The bearings must be replaced. Opening the motor invalidates the warranty. Clean the housing with isopropanol or similar. Destruction of the stepper motor Never immerse or spray the stepper motor. NOTE 4.5 Disposal In accordance with the WEEE 2012/96/EG Directives we take old devices and accessories back for professional disposal, provided the transport costs are taken over by the sender. Send the devices with the note For disposal to: Beckhoff Automation GmbH & Co. KG Huelshorstweg 20 D-33415 Verl 12 Version: 1.1
Product overview 5 Product overview 5.1 AS2000 scope of delivery Please check that the delivery includes the following items: Motor from the AS2000 series Online documentation at www.beckhoff.de Scope of supply The M12 mating connectors are not included in the scope of delivery. The following accessories are available on request: Preassembled motor and feedback cable Planetary gear units from the AG2250-+PLE60 series for flange sizes N2 (NEMA 23) Planetary gear units from the AG2250-+PLE80 series for flange sizes N3 (NEMA 34) Planetary gear units from the AG2250-+WPLE60 series for flange sizes N2 (NEMA 23) Planetary gear units from the AG2250-+WPLE80 series for flange sizes N3 (NEMA 34) 5.2 AS2000 type plate Item no. Name 1 Article description 2 Standstill torque 3 Rated supply voltage 4 Product identification code 5 UL certification 6 EAC certification 7 CE certification 8 Protection class 9 Standstill current Version: 1.1 13
Product overview 5.3 AS2000 type key 14 Version: 1.1
Technical description 6 Technical description 6.1 Design of the motors Beckhoff stepper motors from the AS2000 series are highly scalable. They are characterized by a high holding torque and are adapted to international standards in the flange sizes N2 (NEMA23) and N3 (NEMA34). The step angle of 1.8 significantly reduces the performance gap to the AM8000 high performance servo motor. The performance range extends from a standstill torque of 0.8 Nm to 8 Nm. The new design of the AS2000 series is tailored more strongly to industrial requirements. Due to the protection class IP54 the motors are resistant to splash water, touching and dust. The standardized highpower M12 connecting plugs integrated in the stepper motor enable the simple cabling of power and encoder. On account of the torsionally rigid encoder (1024 inc/rev), the motor is usable for the closed loop control for stepper motors supported by Beckhoff Automation. Resonances as well as the development of heat and noise are considerable reduced by means of field-oriented control. All motors from the AS2000 series are to be put into operation with Beckhoff stepper motor terminals and modules. For further details, please refer to the chapter: "Electrical installation [} 20]". The stepper motors are available with a smooth shaft or feather key groove (N3 only). Shielded motor and encoder cables are also available in suitable lengths. Low-backlash planetary gear units from the AG2250 series, incremental encoders and elastic couplings are available for simple mounting on machines. Beckhoff stepper motors are used as actuators or auxiliary axes in machine construction and automation applications. Version: 1.1 15
Technical description 6.2 General technical data Technical data Insulation class Temperature change at rated current Insulation resistance Value [symbol and unit] Class F according to IEC60085 Max. 100 K 100 MΩ Permissible ambient temperature (operation) -10 C to +50 C Permissible ambient temperature (transport) -20 C to +65 C Permissible air humidity Permissible level of contamination Corrosion protection Resolution 20% to 90%, non-condensing Contamination level 2 according to EN60204/ EN50178 Under extreme operating conditions, special measures must be agreed with the manufacturer, and implemented by the user. 1.8 /200 full steps Rated supply voltage 24 48 V Coating/surface matt black paint, RAL 9005 Service life Permissible operating altitude Max. cable length Special operating conditions Correct installation position Ventilation L 10h = 30,000 operating hours of the ball bearing Up to 1000 m above sea level 10 m Protection class (doesn t apply to shaft bushing) IP54 The applicability of the Beckhoff AS2000 stepper motor is to be determined for each individual case. Application in harsh operating or environmental conditions requires coordination between manufacturer and user. Horizontal or vertical Ensure adequate ventilation of the motors. 6.3 Standard features 6.3.1 Style The AS20xx stepper motors are flange mounted in accordance with the mounting positions IM B5, IM V1 and IM V3. The permitted mounting positions are specified in the technical data. NOTE Destruction of the motors Mounting positions IM V1 and IM V3 may result in liquid entering the motor and associated damage. 16 Version: 1.1
Technical description 6.3.2 Shaft end, A-side The force is transmitted by means of a claw coupling (friction-locked/backlash-free), via the cylindrical shaft end A or optionally as a friction-locked connection by means of feather key groove according to DIN6885 P1 (AS204x only). Radial force If the motors drive via pinions or toothed belts, then high radial forces will occur. Axial force Axial forces are applied when mounting pinions or pulleys on the shaft. Coupling Double-coned collets, possibly in association with metal bellows couplings, have proven themselves as excellent, zero backlash coupling elements. 6.3.3 Flange Flange dimensions according to NEMA 23 (AS202x) and NEMA 34 (AS204x), fit j6, accuracy according to DIN 60034-7 Tolerance class: N 6.3.4 Connection technology AS20xx: The motors are equipped with M12 high-power connecting plugs (4-pin) for the power supply and M12 connecting plugs (5-pin) for the feedback signals (encoder only). The mating connectors are not included in the scope of supply. Ready-made extension cables in different lengths are available as accessories. 6.3.5 Feedback system Feedback system Resolution Comment Incremental encoders 1,024 increments AS20xx 6.4 Transport, assembly and disassembly Personal injuries! CAUTION Protective clothing, protective gloves and safety boots must be worn at all times during transport, assembly and disassembly. Do not step under suspended motors. The motors of the AS2000 series can be moved without auxiliary equipment. Version: 1.1 17
Mechanical installation 7 Mechanical installation 7.1 Important notes NOTE Destruction of the motors Protect the motors from unacceptable stresses. Take care, especially during transport and handling, that components are not bent and that insulation clearances are not altered. The site must be free of conductive and aggressive material. For V1/V3-mounting (shaft end upwards), make sure that no liquids can enter the bearings. If an encapsulated assembly is required, please consult our applications department beforehand. Ensure unhindered ventilation of the motors and observe the permissible ambient and flange temperatures. For ambient temperatures above 50 C please consult our applications department beforehand. Stepper motors are precision devices. The flange and shaft are especially vulnerable during storage and assembly. It is important to use the locking thread which is provided to tighten up couplings, gear wheels or pulleys and warm up the drive components, where possible. Blows or the use of force will lead to damage to the ball bearings, the shaft, the holding brake and the feedback system. Wherever possible, use only backlash-free, frictionally-locking collets or couplings. Ensure correct alignment of the couplings. A displacement will cause unacceptable vibration and the destruction of the ball bearings and the coupling. For toothed belts, it is vital to observe the permissible radial forces. An excessive radial load on the shaft will significantly shorten the service life of the motor. Avoid axial loads on the motor shaft, as far as possible. Axial loading significantly shortens the service life of the motor and can result in malfunction of the brake. In any case, avoid creating a mechanically constrained motor shaft mounting by using a rigid coupling with additional external bearings (e.g. in a gearbox). Check compliance with the permitted radial and axial loads FR and FA. When using a toothed belt drive, the minimum permitted diameter of the pinion follows from the equation: 18 Version: 1.1
Mechanical installation 7.2 Installing the stepper motor When assembling, make sure that the fastening of the stepper motor is not mechanically overdetermined. Avoid warping, particularly when assembling the shaft. Version: 1.1 19
Electrical installation 8 Electrical installation 8.1 Important notes Serious risk of injury through electric shock! DANGER Only staff qualified and trained in electrical engineering are allowed to wire up the motor. Check the assignment of the stepper motor output stage and the motor. Compare the rated voltage and the rated current of the devices. Always make sure that the motors are de-energized during assembly and wiring, i.e. no operating voltage may be switched on for any piece of equipment which is to be connected. Ensure that the control cabinet remains turned off (barrier, warning signs etc.). The individual voltages will only be turned on again during commissioning. Control and power leads may be live, even if the motor is not running. Smooth operation NOTE Ensure that the motor is grounded properly. See below for further information regarding EMC shielding and earthing. Earth the mounting plate and motor housing. Information about the connection method can be found in Section 7.3.4 Use only cables approved by Beckhoff for the operation of the AS2000 stepper motors. Wiring: ð Connecting the feedback cable (optional) ð Connect the motor cable ð Shielding at both ends (shield terminal or EMC plug) HF interference NOTE The ground symbol, which you will find in the circuit diagrams, indicates that you must provide an electrical connection, with as large a surface area as possible, between the unit indicated and the mounting plate in the control cabinet. This connection is to suppress HF interference and must not be confused with the PE (protective earth) symbol (protective measure according to EN 60204). 20 Version: 1.1
Electrical installation 8.2 Connection of motors with preassembled cables Beckhoff offers preassembled motor and feedback cables for safe, faster and flawless installation of the motors. Beckhoff cables have been tested with regard to the materials, shielding and connection method used. They ensure proper functioning and compliance with statutory regulations such as EMC, UL etc. The use of other cables may lead to unexpected interference and invalidate the warranty. Carry out the wiring in accordance with the valid standards and regulations. Only use our preassembled shielded cables for the power and feedback connections. The shielding should match the specifications in sections 8.4 to 8.10. Incorrectly installed shielding inevitably leads to EMC interference. Version: 1.1 21
Electrical installation 8.3 Electrical components 8.3.1 Motor connector M12 high-power connecting plug (4-pin) for power supply. Contact Signal Round connector 4-pin 1 Phase A1 2 Phase A2 3 Phase B1 4 Phase B2 8.3.2 Encoder connector M12 connecting plug (5-pin) for feedback cable. Pin Signal Round connector 5-pin 1 0 V 2 + Ub 3 Track A 4 Track B 5 Track 0 22 Version: 1.1
Electrical installation 8.4 Connection diagram KL2531 Version: 1.1 23
Electrical installation 8.5 Connection diagram EL7031 24 Version: 1.1
Electrical installation 8.6 Connection diagram EL7037 Version: 1.1 25
Electrical installation 8.7 Connection diagram EL7041-1000 26 Version: 1.1
Electrical installation 8.8 Connection diagram EL7047 Version: 1.1 27
Electrical installation 8.9 Connection diagram EP7041 28 Version: 1.1
Electrical installation 8.10 Connection diagram EPP7041 Version: 1.1 29
Electrical installation 8.11 Connection diagram EJ7047 30 Version: 1.1
Commissioning 9 Commissioning 9.1 Important notes Serious risk of injury! DANGER Only specialist personnel with extensive knowledge in the areas of electrical engineering / drive technology are allowed to install and commission the equipment. The surface temperature of the motor can exceed 100 C in operation. Check (measure) the temperature of the motor. Wait until the motor has cooled down below 40 C before touching it. Make sure that, even if the drive starts to move unintentionally, no danger can result for personnel or machinery. Overload of the gear unit! NOTE In the case of motor/gear unit combinations, the gear unit may be overloaded in the event of a fault (mechanical blockage of the drivetrain) due to high gear ratios. To prevent this, make sure that the rated and peak motor torque is limited in the servo drive. Example: Rated / peak motor torque: 1 Nm / 5 Nm Rated / peak gear unit torque: 15 Nm / 24 Nm Gear ratio: i = 10 The rated motor torque is not limited. The peak motor torque is limited to 2.4 Nm. 9.2 Guide for commissioning The procedure for commissioning is described as an example. A different method may be appropriate or necessary, depending on the application of the equipment. Check the assembly and orientation of the motor. Check the drive components (coupling, gear unit, pulley) for the correct seating and setting (observe the permissible radial and axial forces). Check the wiring and connections on the motor and stepper motor terminal. Check that the earthing is correct. Check whether the rotor of the motor rotates freely. Listen out for grinding noises. Check that all the required measures against accidental contact with live and moving parts have been carried out. Carry out any further tests which are specifically required for your system. Now commission the motor according to the commissioning instructions. Version: 1.1 31
Commissioning 9.3 Troubleshooting The following table is to be seen as a First Aid box. There can be a large number of different reasons for a fault, depending on the particular conditions in your system. The fault causes described below are mostly those which directly influence the motor. Our applications department can give you further help with your problems. Error Possible cause Measures to remove the cause of the fault Motor doesn t rotate Break in setpoint lead Motor phases in wrong sequence Drive is mechanically blocked Check setpoint lead Correct the phase sequence Check mechanism Motor runs away Motor phases in wrong sequence Correct the phase sequence Motor oscillates Error message: output stage fault Error message: feedback Break in the shielding of the feedback cable Amplification to high Motor cable has short circuit or earth leakage Motor has short circuit or earth leakage Connector is not properly plugged in Break in cable, cable crushed or similar Replace the feedback cable Use motor default values Replace motor cable Replace motor Check the plug connector Check cables 32 Version: 1.1
Technical data 10 Technical data All data valid for 40 C ambient temperature and 100 K overtemperature of the winding. The data can have a tolerance of +/- 10%. If a gear unit is attached the power may be reduced by up to 20 %. This loss in performance has thermal reasons, since a gear unit that is subject to warming is installed at the motor flange intended for heat dissipation. Term definitions Standstill torque M0 [Nm] The standstill torque can be maintained indefinitely at a speed n<100 rpm and rated ambient conditions. Rotor moment of inertia J [kgcm²] The constant J is a measure of the acceleration capability of the motor. For instance, at I0 the acceleration time tb from 0 to 3000 rpm is given as: with M0 in Nm and J in kgcm2 Winding inductance L [mh] The winding inductance indicates the motor inductance. It is the average value for one motor revolution, with two energized phases, at 1 khz. Saturation of the motor must be taken into account. 10.1 Step mode and limit speeds The Beckhoff stepper motor terminals are capable of approx. 125,000 steps per second. Beckhoff stepper motors have a step angle of 1.8 or 200 steps per revolution. Step mode Full step 1/2 1/4 1/8 1/16 1/32 1/64 Limit speed [rpm] 37,500 (theoretical) 18,750 (theoretical) 9,375 (theoretical) 4,688 (theoretical) 2,344 1,171 585 Max. speed of the Beckhoff AS2000 stepper motor: The max. speed is 3600 rpm if using a Beckhoff stepper motor from the AS2000 series with incremental encoder. In practice, however, the max. speed is limited by the design of the stepper motor. Beckhoff stepper motors from the AS2000 series are usually used only for applications with nominal speeds of well below 1000 rpm. Version: 1.1 33
Technical data 10.2 AS202x Electrical data Flange size Symbol [Unit] AS2021 AS2022 AS2023-H AS2023-J N2 (NEMA 23/56 mm) Rated supply voltage V 24 50 Nominal current A 2.0 5.6 6.4 Standstill torque M o [Nm] 0.83 1.53 1.8 2.3 Breakdown torque M p [Nm] 0.63 1.17 1.45 1.9 Winding resistance Ph-Ph R 25 [Ω] 0.8 0.24 0.32 0.32 Winding inductance Ph-Ph L [mh] 3.8 0.9 0.97 0.97 Rotor moment of inertia J [kg cm²] 0.210 0.360 0.490 0.490 EtherCAT terminal EL7037 / EL7031 EtherCAT plug-in module EL7047 / EL7041-1000 EJ7047 EtherCAT Box EP7041-1002 EP7041-3002 Bus Terminal KL2531 KL2541 Resolution [steps] 1.8 / 200 full steps Insulation material class Max. temperature increase Class F 100 K Max. winding temperature 120 C Protection class IP 54 Coating/surface matt black paint, RAL 9005 Connection technology Round connector M12 high power, M12 feedback Approvals CE, UL (in preparation) CE Mechanical data Symbol [Unit] AS2021 AS2022 AS2023 Axial load [N] 15 15 15 Radial load 0 mm from the shaft end [N] 63 50 43 Moment of inertia [kgcm²] 0.21 0.36 0.49 Bearing life [h] 30,000 Weight without encoder [kg] 0.8 1.1 1.4 Weight with encoder [kg] 0.9 1.2 1.5 34 Version: 1.1
Technical data 10.2.1 Dimensional drawing AS202x with encoder Version: 1.1 35
Technical data 10.2.2 Speed/torque characteristic curve For the design of your application. The characteristic curves were recorded with controlled operation (open loop) and field-oriented control (vector control). AS2021-0D00 Controlled operation (open loop) 1 0,8 0,6 Torque [Nm] 0,4 0,2 0 0 200 400 600 800 1000 1200-0,2 Speed [rpm] AS2021-0D00 24 V 1,5 A EL7037 AS2021-0D00 24 V 2 A EL7047 AS2021-0D00 48 V 2 A EL7047 AS2021-0D10 Field-oriented control (vector control) 1 0,8 0,6 Torque [Nm] 0,4 0,2 0 0 200 400 600 800 1000 1200-0,2 Speed [rpm] AS2021-0D10 24 V 1,5 A EL7037 AS2021-0D10 24 V 2 A EL7047 AS2021-0D10 48 V 2 A EL7047 36 Version: 1.1
Technical data AS2022-0H00 Controlled operation (open loop) 1,6 1,4 1,2 1 Torque [Nm] 0,8 0,6 0,4 0,2 0 0 200 400 600 800 1000 1200-0,2 Speed [rpm] AS2022-0H00, AS2022-0H00, 24 V 5,0 A 24 V 5,6 A, EL7047 EL7047+ZB8610 AS2022-0H00, 48 V 5,0 A EL7047 AS2022-0H00, 48 V 5,6 A EL7047+ZB8610 AS2022-0H10 Field-oriented control (vector control) 1,6 1,4 1,2 1 Torque [Nm] 0,8 0,6 0,4 0,2 0 0 200 400 600 800 1000 1200-0,2 Speed [rpm] AS2022-0H10 24 V 5,0 A EL7047 AS2022-0H10 24 V 5,6 A EL7047+ZB8610 AS2022-0H10 48 V 5,0 A EL7047 AS2022-0H10 48 V 5,6 A EL7047+ZB8610 Version: 1.1 37
Technical data AS2023-0H00 Controlled operation (open loop) 2 1,8 1,6 1,4 1,2 Torque [Nm] 1 0,8 0,6 0,4 0,2 0 0 200 400 600 800 1000 1200-0,2 Speed [rpm] AS2023-0H00 24 V 5,0 A EL7047 AS2023-0H00 24 V 5,6 A EL7047+ZB8610 AS2023-0H00 48 V 5,0 A EL7047 AS2023-0H00 48 V 5,6 A EL7047+ZB8610 AS2023-0H10 Field-oriented control (vector control) 2 1,8 1,6 1,4 1,2 Torque [Nm] 1 0,8 0,6 0,4 0,2 0 0 200 400 600 800 1000 1200-0,2 Speed [rpm] AS2023-0H10 24 V 5,0 A EL7047 AS2023-0H10 24 V 5,6 A EL7047+ZB8610 AS2023-0H10 48 V 5,0 A EL7047 AS2023-0H10 48 V 5,6 A EL7047+ZB8610 38 Version: 1.1
Technical data AS2023-0J00 Controlled operation (open loop) 2,4 2,2 2 1,8 1,6 1,4 Torque [Nm] 1,2 1 0,8 0,6 0,4 0,2 0 0 500 1000 1500 2000 Speed [rpm] AS2023-0J00 24 V 6,4 A EL7047+ZB8610 AS2023-0J00 48 V 6,4 A EL7047+ZB8610 AS2023-0J10 Field-oriented control (vector control) 2,4 2,2 2 1,8 1,6 1,4 Torque [Nm] 1,2 1 0,8 0,6 0,4 0,2 0 0 500 1000 1500 2000-0,2 Speed [rpm] AS2023-0J10 24 V 6,4 A EL7047+ZB8610 AS2023-0J10 48 V 6,4 A EL7047+ZB8610 Version: 1.1 39
Technical data 10.3 AS204x Electrical data Symbol [Unit] AS2041 AS2042 AS2043 Flange size N3 (NEMA 34/86 mm) Rated supply voltage V 24 50 Nominal current A 5.6 6.5 Standstill torque M o [Nm] 3.3 6.4 8.0 Breakdown torque M p [Nm] 2.2 4.2 5.5 Winding resistance Ph-Ph R 20 [Ω] 0.3 0.41 0.38 Winding inductance Ph-Ph L [mh] 1.48 3.0 4.5 Rotor moment of inertia J [kg cm²] 0.148 0.300 0.450 EtherCAT terminal EtherCAT plug-in module EtherCAT Box Bus Terminal EL7047 / EL7041-1000 EJ7047 EP7041-3002 KL2541 Resolution [steps] 1.8 / 200 full steps Insulation material class Max. temperature increase Class F 100 K Max. winding temperature 120 C Protection class IP 54 Coating/surface matt black paint, RAL 9005 Connection technology Approvals Round connector M12 high power, M12 feedback CE, UL (in preparation) Mechanical data Symbol [Unit] AS2041 AS2042 AS2043 Axial load [N] 60 60 60 Radial load 0 mm from the shaft end [N] 200 176 129 Moment of inertia [kgcm²] 1.48 3.00 4.50 Bearing life [h] 30,000 Weight with encoder [kg] 1.9 3.0 4.1 Weight without encoder [kg] 2.0 3.1 4.2 40 Version: 1.1
Technical data 10.3.1 Dimensional drawing AS204x with encoder Version: 1.1 41
Technical data 10.3.2 Speed/torque characteristic curve For the design of your application. The characteristic curves were recorded with controlled operation (open loop) and field-oriented control (vector control). AS2041-1H00 Controlled operation (open loop) 3,5 3 2,5 2 Torque [Nm] 1,5 1 0,5 0 0 200 400 600 800 1000 1200-0,5 Speed [rpm] AS2041-1H00 24 V 5,0 A EL7047 AS2041-1H00 24 V 5,6 A EL7047+ZB8610 AS2041-1H00 48 V 5,0 A EL7047 AS2041-1H00 48 V 5, 6 A EL7047+ZB8610 AS2041-1H10 Field-oriented control (vector control) 3,5 3 2,5 2 Torque [Nm] 1,5 1 0,5 0 0 200 400 600 800 1000 1200-0,5 Speed [rpm] AS2041-1H10 24 V 5,0 A EL7047 AS2041-1H10 24 V 5,6 A EL7047+ZB8610 AS2041-1H10 48 V 5,0 A EL7047 AS2041-1H10 48 V 5,6 A EL7047+ZB8610 42 Version: 1.1
Technical data AS2041-1H10 Field-oriented control (vector control) 3,5 3 2,5 Torque [Nm] 2 1,5 1 0,5 0 0 200 400 600 800 1000 1200 Speed [rpm] AS2041-1H10 24 V, 5,0 A EP7041 Version: 1.1 43
Technical data AS2042-1H00 Controlled operation (open loop) 7 6 5 4 Torque [Nm] 3 2 1 0 0 200 400 600 800 1000 1200-1 Speed [rpm] AS2024-1H00 24 V 5,0 A EL7047 AS2042-1H00 24 V 5,6 A EL7047+ZB8610 AS2042-1H00 48 V 5,0 A EL7047 AS2042-1H00 48 V 5,6 A EL7047+ZB8610 AS2042-1H10 Field-oriented control (vector control) 7 6 5 4 Torque [Nm] 3 2 1 0 0 200 400 600 800 1000 1200-1 Speed [rpm] AS2042-1H10 24 V 5,0 A EP7041 AS2042-1H10 48 V 5,0 A EP7041 44 Version: 1.1
Technical data AS2042-1H10 Field-oriented control (vector control) 7 6 5 4 Torque [Nm] 3 2 1 0 0 200 400 600 800 1000 1200-1 Speed [rpm] AS2042-1H10 24 V, 5,0A EL7047 AS2042-1H10 24 V 5,6 A EL7047+ZB8610 AS2042-1H10 48 V 5,0 A EL7047 AS2042-1H10 48 V 5,6 A EL7047+ZB8610 Version: 1.1 45
Technical data AS2043-1J00 Controlled operation (open loop) 9 8 7 6 5 Torque [Nm] 4 3 2 1 0 0 200 400 600 800 1000 1200-1 Speed [rpm] AS2043-1J00 AS2043-1J00 AS2043-1J00 AS2043-1J00 24 V 5,0 A 24 V 6,5 A 48 V 5,0 A 48 V 6,5 A EL7047 EL7047+ZB8610 EL7047 EL7047+ZB8610 AS2043-1J10 Field-oriented control (vector control) 9 8 7 6 5 Torque [Nm] 4 3 2 1 0 0 200 400 600 800 1000 1200-1 Speed [rpm] AS2043-1J10 24 V 5,0A EP7041 AS2043-1J10 48 V 5,0 A EP7041 46 Version: 1.1
Technical data AS2043-1J10 Field-oriented control (vector control) 9 8 7 6 5 Torque [Nm] 4 3 2 1 0 0 200 400 600 800 1000 1200-1 Speed [rpm] AS2043-1J10 24 V 5,0 A EL7047 AS2043-1J10 24 V 6,5 A EL7047+ZB8610 AS2043-1J10 48 V 5,0 A EL7047+ZB8610 AS2043-1J10 48 V 6,5 A EL7047+ZB8610 Version: 1.1 47
Support and Service 11 Support and Service Beckhoff and their partners around the world offer comprehensive support and service, making available fast and competent assistance with all questions related to Beckhoff products and system solutions. Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there. Beckhoff Headquarters Beckhoff Automation GmbH & Co. KG Huelshorstweg 20 33415 Verl Germany Phone: +49(0)5246/963-0 Fax: +49(0)5246/963-198 e-mail: info@beckhoff.com Beckhoff Support Support offers you comprehensive technical assistance, helping you not only with the application of individual Beckhoff products, but also with other, wide-ranging services: support design, programming and commissioning of complex automation systems and extensive training program for Beckhoff system components Hotline: +49(0)5246/963-157 Fax: +49(0)5246/963-9157 e-mail: support@beckhoff.com Beckhoff Service The Beckhoff Service Center supports you in all matters of after-sales service: on-site service repair service spare parts service hotline service Hotline: +49(0)5246/963-460 Fax: +49(0)5246/963-479 e-mail: service@beckhoff.com 48 Version: 1.1