X20SM General information. 2 Order data X20SM1436

Transcription

1 X20SM General information The stepper motor module is used to control stepper motors with a rated voltage of 24 to 39 VDC (±25%) at a motor current up to 3 A (3.5 A peak). Additionally, this module has four digital inputs that can be used as limit switches or as encoder inputs. By individually adjusting the coil currents, the motor is only operated with the current it actually needs. This simplifies the selection of the available motors and prevents unnecessary heating. Because the latter reduces energy consumption and thermal load, the effects are positive on the lifespan of the complete system. Complete flexibility is achieved by using the values for holding current, maximum current and rated current, which are completely independent of each other. The current for the microsteps is automatically adjusted to the configured current values. The automatic motor identification system is an enormous help during standstills. The stepper motor modules can identify the connected motors using their coil characteristics and generate feedback in the form of an analog value. This makes it possible to detect not only wiring errors, but also incorrect motor types being used mistakenly. A stall detection mechanism is integrated to analyze the motor load. The stall is recognized using a configurable threshold. This allows an overload or motor standstill to be detected precisely in many different types of applications. 1 stepper motor, 24 to 39 VDC ±25%, 3 A (3.5 A peak) Resolution of current values at 1% Boost, rated and holding current configured independent of each other 38.5 khz PWM frequency Integrated motor detection 256 micro-steps Stall detection Complete integration in Automation Studio and CNC applications 4 inputs, 24 VDC, can be configured as ABR Ramp function model based on the CANopen communication profile DS402 2 Order data Model number Short description Figure Motor controllers X20SM1436 X20 stepper motor module, module supply VDC ±25%, 1 motor connection, 3 A continuous current, 3.5 A peak current, 4 digital inputs 24 VDC, sink, can be configured as incremental encoder Required accessories Bus modules X20BM31 X20 bus module for double-width modules, 24 VDC keyed, internal I/O supply continuous Terminal blocks X20TB12 X20 terminal block, 12-pin, 24 VDC keyed Table 1: X20SM Order data Data sheet V

2 3 Technical data Product ID X20SM1436 Short description I/O module 1 full bridge for controlling stepper motors General information B&R ID code 0x2682 Status indicators I/O function per channel, operating state, module status Diagnostics Module run/error Yes, using status LED and software Output Yes, using status LED and software I/O supply Yes, using software Power consumption Bus 0.01 W Internal I/O - External I/O 24 VDC 2.45 W 48 VDC 3.15 W Additional power dissipation caused by the actuators - (resistive) [W] Electrical isolation Channel - Bus Yes Channel - I/O supply No Certification CE Yes culus Yes ATEX Zone 2 1) Yes KC Yes GOST-R Yes Motor bridge - Power unit Quantity 1 Type 2-phase bipolar stepper motor (full bridge) Nominal voltage 24 to 39 VDC ±25% Nominal current 3 A Maximum current 3,5 A for 2 s (after a recovery time of at least 10 s at maximal 3 A) Controller frequency 38.4 khz DC bus capacitance 100 µf Step resolution Max. 256 microsteps per step Module supply Supply External Fuse Required line fuse: Max. 16 A, slow-blow Output protection No reverse polarity protection for supply voltage Digital inputs Quantity 4 Nominal voltage 24 VDC Input filter Hardware <5 µs Software - Connection type 1-wire connections Input circuit Sink Additional functions 1x ABR incremental encoder Input resistance Typ kω ABR incremental encoder Quantity 1 Encoder inputs 24 V, asymmetrical Counter size 16-bit Input frequency Max. 50 khz Evaluation 4x Operating conditions Mounting orientation Horizontal Yes Installation at elevations above sea level 0 to 2000 m No limitations >2000 m Reduction of ambient temperature by 0.5 C per 100 m EN protection IP20 Environmental conditions Temperature Operation Horizontal installation 0 to 50 C Vertical installation Not allowed Derating - Storage -25 to 70 C Transport -25 to 70 C Table 2: X20SM Technical data 2 Data sheet V 1.32

3 Product ID Relative humidity Operation Storage Transport Mechanical characteristics Note Spacing Table 2: X20SM Technical data X20SM to 95%, non-condensing 5 to 95%, non-condensing 5 to 95%, non-condensing Order 1x X20TB12 terminal block separately Order 1x X20BM31 bus module separately mm 1) Ta min.: 0 C Ta max.: See environmental conditions 4 LED status indicators For a description of the various operating modes, see section "re LEDs" in chapter 2 "System characteristics" of the X20 system user's manual. Figure LED Color Status Description r Green Off No power to module Single flash RESET mode Double flash BOOT mode (during firmware update) 1) Blinking PREOPERATIONAL mode On RUN mode e Red Off No power to module or everything OK On Error or reset state e + r Red on / Green single flash Invalid firmware 1-4 Green Input state of the corresponding digital input M Orange On Motor is active 1) Depending on the configuration, a firmware update can take up to several minutes. 5 Pinout In accordance with the EN standard, a cable cross section of 0.75 mm² or larger must be used for the motor outputs in order to handle the maximum motor current of 3.5 A. To ensure full motor power, voltage drops that could result from the cable length and the electrical connections must also be taken into consideration when selecting the attachment cable. Warning! The terminal block is not permitted to be plugged in or unplugged during operation. Information: Shielded motor cables must be used in order to meet the limits according to the EN55011 standard (emissions). X20 SM 1436 r e M DI 1 DI 3 DI 2 DI 4 A A\ B B\ VDC VDC GND GND Data sheet V

4 6 Connection example Information: This module can only be operated if supplied with power via the terminal block. SM Sensor 1 Sensor 3 Sensor 2 Sensor 4 Winding A Winding B +24 VDC GND +24 VDC GND 16 A slow-blow + _ VDC _ VDC 7 Connection options for digital inputs Standard function model Channel Function DI 1 Digital input A DI 2 Digital input B DI 3 Digital input R DI 4 Digital input Trigger input Ramp function model Channel Function DI 1 Digital input A A DI 2 Digital input B B DI 3 Digital input R Negative limit switch DI 4 Digital input Digital input Positive limit switch 4 Data sheet V 1.32

5 8 Input circuit diagram Input x VDR Input status GND I/O status GND LED (green) 9 Output circuit diagram 24 V - 39 V Motor Controller HA A HB Motor Controller B LA LB HA\ HB\ A\ B\ LA\ LB\ Current comparator A Current comparator B 24 V - 39 V External supply 24 V - 39 V External supply Voltage monitoring Transil diode 10 Overvoltage motor cutoff The module supply voltage is continually monitored. Its status can be read. The error "Module power supply error" occurs when the voltage is above or below the limits. If the supply voltage on the module rises or falls outside the limit values (e.g. due to regeneration), then the motor output is switched off. The outputs are reactivated as soon as the supply voltage is back in the valid range and the error bit is reset. Supply voltage limit values Drive is switched off Drive is switched back on Lower limit <18 V >19.5 V Upper limit >50 V <49 V Data sheet V

6 11 Overtemperature cutoff (at 85 C) If the module temperature reaches or exceeds the limit value of 85 C, then the module executes the following actions: Setting the "overtemperature" error bit The outputs are switched off (short-circuited) As soon as the temperature sinks back down below 85 C, the error must be acknowledged with OvertemperatureAcknowledge so that the channels can be switched on again. 12 Power supply dimensioning The motor's current consumption depends on the defined motor currents, the available power and the actual motor being used. Example Motor model number Defined current in the motor module Motor module supply voltage Motor load 80MPD5.300S A 48 VDC 1 Nm Table 3: Power supply dimensioning example - Basic data I eff 1.50 P out Key: I eff P out Figure 1: Power supply dimensioning example - Power/speed dependency The example is based on a constant load throughout the entire speed range. An increase in the motor load causes an increase in the effective current of the module supply. 6 Data sheet V 1.32

7 13 Protection The power supply line should be protected by a circuit breaker or a fuse. In general, dimensioning the supply line and overcurrent protection depends on the structure of the power supply (modules can be connected individually or in groups). Information: The effective current for the power supply depends on the load but is always less than the motor current. Make sure the maximum nominal current of 10 A is not exceeded on the power supply terminals of the power unit. When choosing a suitable fuse, the user must also account for characteristics such as aging effects, temperature derating, overcurrent capacity and the definition of the rated current, which can vary by manufacturer and type. In addition, the fuse that is selected must also be able to handle application-specific characteristics (e.g. overcurrent that occurs in acceleration cycles). The cross section of the power mains and the rated current of the overcurrent protection used are chosen according to the current load so that the maximum current load for the cable cross section selected (based on the type of wiring, see table) is greater than or equal to the current load in the power mains. The rated current of the overcurrent protection must be less than or equal to the maximum current load for the cable cross section selected (based on the type of wiring, see table): I Mains I b I Z Mains Fuse Line/cable Maximum current load for cable cross section I Z / rated current for overcurrent protection I b [A] depending on the type of wiring at an ambient air temperature of 40 C in accordance with IEC Wire cross section [mm²] B1 B2 C E / / / / / / / / 20 Table 4: Cable cross section of the mains supply line depending on the type of wiring The tripping current of the fuse must not exceed the rated current for overcurrent protection I b. Type of wiring B1 B2 C E Description Wires in conduit or cable duct Cables in conduit or cable duct Cables or wires on walls Cables or wires on open-ended cable tray Table 5: Type of wiring used for the mains supply line Data sheet V

8 14 Derating Modules next to the SM module can have a maximum power consumption of 1 W. To ensure proper operation, the derating values listed below must be adhered to: Power loss derating for neighboring modules Modules directly next to the SM module can have a power loss of 1 W. If the SM module is operated at the rated load over the entire temperature range (3 A rated current), the power loss of neighboring modules must be derated starting at 45 C. X20 module Power loss 1.8 W Neighboring module Derating of power loss SM Module Operation with current derating (3 A) Neighboring module Derating of power loss X20 module Power loss 1.8 W Figure 2: Operating the SM module over the entire temperature range at 3 A rated current Power loss of neighboring module [W] Ambient temperature [ C] Figure 3: Power loss derating for directly neighboring modules 8 Data sheet V 1.32

9 Current derating of the SM module X20SM1436 If the power loss of the neighboring modules to the SM module is 1 W, then the current of the SM module must be derated starting at 45 C. X20 module Power loss 1.8 W X20 module Power loss = 1 W SM module Operation with current derating X20 module Power loss = 1 W X20 module Power loss 1.8 W Figure 4: Neighboring modules to the SM module have a power loss of 1 W Rated current [A] Hardware configuration for multiple SM modules Ambient temperature [ C] Figure 5: Current derating of the SM module If three or more SM modules are operated in a cluster, a dummy module must be inserted between the SM modules. There is no derating in this configuration. X20 module Power loss 1.8 W SM module Dummy module SM module Dummy module SM module Dummy module Figure 6: Operating three or more SM modules in a cluster Data sheet V

10 15 Register description 15.1 General data points In addition to the registers listed in the register description, the module also has other more general data points. These registers are not specific to the module but contain general information such as serial number and hardware version. These general data points are listed in the "General data points" section of chapter 4 "X20 system modules" in the X20 system user's manual Function model 0 - Standard without SDC Register Name Read Write Cyclic Non-cyclic Cyclic Non-cyclic Configuration 44 Stall threshold UINT 46 Module configuration 1 UINT 33 Holding current USINT 34 Nominal current USINT 35 Maximum current USINT 32 Counter configuration USINT 52 Mixed decay threshold UINT 81 Motor ID trigger USINT 84 Full step threshold UINT 92 Minimum speed for stall detection UINT Reads the configuration 33 Holding current USINT 34 Nominal current USINT 35 Maximum current USINT Communication 6 Position sync/async UINT 64 Position latched sync/async INT 12 Motor ID UINT Index* MotorStepN (Index N = 0 to 3) UINT 0 Position sync/async INT 86 Position sync 2 INT 4 Input counter state USINT ModulePowerSupplyError Bit 0 StatusInput01 Bit 2 StatusInput02 Bit 3 StatusInput03 Bit 4 StatusInput04 Bit 5 10 Error status USINT StallError Bit 0 OvertemperatureError Bit 1 CurrentError Bit 2 OvercurrentError Bit 3 60 Position latched sync/async INT 68 ussincetrigger UINT 54 Module configuration 2 USINT StartLatch Bit 0 TriggerEdgePos Bit 1 TriggerEdgeNeg Bit 2 TriggerEdge Bit 3 StartTrigger Bit 4 ClearError Bit 5 72 Stepper latch trigger status USINT LatchInput Bit 0 LatchDone Bit 1 TriggerInput Bit 4 74 Measuring motor load USINT 10 Data sheet V 1.32

11 15.3 Function model 0 - Standard with SDC Register Name Read Write Cyclic Non-cyclic Cyclic Non-cyclic Configuration 44 Stall threshold UINT - Module configuration 1 UINT 33 Holding current USINT 34 Nominal current USINT 35 Maximum current USINT 32 Counter configuration USINT 52 Mixed decay threshold UINT 81 Motor ID trigger USINT 84 Full step threshold UINT 92 Minimum speed for stall detection UINT 102 SDC configuration USINT 103 Motor settling time USINT 107 Turn-off delay USINT Reads the configuration 33 Holding current USINT 34 Nominal current USINT 35 Maximum current USINT Communication 6 Position sync/async UINT 12 Motor ID UINT 112 SDC life sign monitoring INT 100 Motor current USINT DriveEnable01 Bit 0 BoostCurrent01 Bit 1 StandstillCurrent01 Bit 2 74 Measuring motor load USINT 73 Life cycle counter SINT 0 Position sync/async INT 4 Input counter state USINT ModulePowerSupplyError Bit 0 StatusInput01 Bit 2 StatusInput02 Bit 3 StatusInput03 Bit 4 StatusInput04 Bit 5 10 Error status USINT StallError01 Bit 0 OvertemperatureError01 Bit 1 CurrentError01 Bit 2 OvercurrentError01 Bit 3 DrvOk01 Bit 4 54 Error acknowledgment USINT ClearError01 Bit 5 16 Motor1Step0 INT Home position Home position INT Reference pulse counter Reference pulse counter 220 Net time of the position value INT 208 Trigger timestamp INT 216 Trigger counter SINT SNT Data sheet V

12 15.4 Function model Bus controller and function model 3 - Ramp Register Offset 1) Name Read Write Cyclic Non-cyclic Cyclic Non-cyclic Configuration 48 - Holding current USINT 49 - Nominal current USINT 50 - Maximum current USINT 72 - Full step threshold UINT 52 - Maximum speed UINT 54 - Maximum acceleration UINT 56 - Maximum deceleration UINT 58 - Reversing loop INT 60 - Fixed position A DINT 64 - Fixed position B DINT 68 - Homing speed UINT 74 - Stall recognition delay USINT 75 - Jolt time USINT 78 - Minimum speed for stall detection UINT 70 - Homing configuration SINT 51 - Stall detection configuration / Mixed decay USINT General configuration USINT Limit switch configuration USINT Software limit DINT Software limit DINT Reads the configuration 48 - Holding current USINT 49 - Nominal current USINT 50 - Maximum current USINT Communication 0 0 Set position/speed DINT 4 4 Control word UINT 6 6 Mode SINT 0 0 Current position (cyclic) DINT 4 4 Status word UINT 6 6 Input status USINT 84 - Motor ID UINT 86 - Homed zero position DINT 94 - Homed zero position DINT 90 - Current position (acyclic) DINT 80 - Reads the extended control word UINT 82 - Read back mode SINT 98 - Error code UINT 1) The offset specifies the position of the register within the CAN object Operation with bus controller The following function model can be used when the SM module is used together with a bus controller. Bus controller X20BC0083, X20BC1083, X20BC8083, X20BC8084 All others Function model All function models Function model Bus controller (identical to Ramp function model) CAN I/O bus controller The module occupies 1 analog logical slot on CAN-I/O Data sheet V 1.32

13 15.5 Register description: Standard functional model, shared registers Configuration registers Stall threshold ConfigOutput01 The SM module features integrated sensorless load measurement for the motor axis. This is especially useful for detecting a "stall condition" (e.g. if the motor moves to the end point during a homing procedure). It cannot be used for torque monitoring during dynamic movements. With the "stall threshold" register, a threshold can be defined according to the motor load, and the module detects a stall condition started at this threshold (see "Error status"). This threshold value must be determined on a case-by-case basis, since the results of load measurement are influenced by a variety of factors. Motor speed: A higher speed results in higher measurement values Speeds that cause motor resonances (which interfere with load measurement) are to be avoided Motor accelerations that create a dynamic load (and also affect the measurement) should also be avoided It is especially important to be aware that mixed decay mode must be optimized for reliable stall detection (see "Mixed decay threshold") The higher the load measurement value, the lower the load. This means that a stall condition is detected if the load measurement value drops below the trigger threshold for stall detection. UINT Bit Description Information 0-2 Trigger threshold for stall detection 0 Stall detection is disabled 1 Minimum sensitivity for stall detection 2 to 6 Setting the sensitivity of stall detection 7 Maximum sensitivity for stall detection 3-15 Reserved 0 Data sheet V

14 Mixed decay threshold ConfigOutput16 The mixed decay threshold is configured in this register. This value must be adjusted according to the motor being used, current and voltage when using stall detection. Otherwise, the default value 15 will be used. UINT Bit Description Information 0-3 Mixed Decay Threshold 0 Mixed decay disabled 1 to 14 Setting for mixed decay threshold 15 Mixed decay always enabled 4-15 Reserved - Mixed decay modules provide a greatly optimized sinusoidal current profile in the individual phases of the stepper motor, especially for fast current changes and low current values. Mixed decay interferes with reliable stall detection, however. For this reason, mixed decay mode can be disabled during stall detection (motor load measurement) using the mixed decay threshold. The smaller the configured mixed decay threshold, the larger the range in which mixed decay is disabled while motor load measurement takes place. Mixed decay mode is always enabled if the mixed decay threshold is set to 15. Relationship between stall detection and mixed decay Depending on the application and the motor used, satisfactorily smooth operation can be achieved while using stall detection by setting the mixed decay threshold to a value between 1 and 14. This is a compromise between smooth operation and stall detection quality and must be fine tuned during commissioning. Stall detection Quality Smooth running Mixed decay threshold Minimum speed for stall detection StallDetectMinSpeed01 If the motor speed exceeds the value set in this register, then stall detection is enabled and the configured mixed decay threshold is used. The value 15 is always used for the mixed decay threshold below this threshold value, and no stall error is reported. This means that mixed decay mode is always enabled at low speeds where stall detection principally does not work. Information UINT 0 to Minimum speed in steps per second. 14 Data sheet V 1.32

15 Full step threshold FullStepThreshold01 This register is used to configure a rotational speed. When this defined speed has been reached, the drive will automatically change from microsteps to full step mode. This makes it possible to optimize the torque at higher speeds, while microstep mode ensures optimum concentricity at lower speeds. It does not make sense to change to full step mode when at a standstill because fine positioning would then no longer be possible. This is why the value "0" does not make sense in the full step threshold register and is interpreted as disabling full step mode (i.e. the motor will always be operated in microstep mode). Information UINT 0 Full step mode disabled 1 to 65,535 steps/second Example Microstep mode should change to full step mode at 500 steps/second. On a motor with 200 steps per revolution, this would be equal to a speed of: Holding current, rated current and maximum current ConfigOutput03 (holding current) ConfigOutput04 (rated current) ConfigOutput05 (maximum current) The holding current, nominal current and maximum current registers are used to configure the desired motor current. Reasonable values are: Holding current < Nominal current < Maximum current The motor's nominal current is entered in the nominal current register according to the motor's data sheet. Register Nominal current Maximum current Holding current Description Current during normal operation Should be selected if a higher motor torque is required briefly during acceleration phases. The holding current should be used in situations when less torque is required (e.g. at a standstill). This reduces the amount of heat generated by the motor. Switching between preset current values (holding current, rated current, maximum current): Function model Default Standard with enabled SDC information Switching between preset current values at runtime Using bits 14 and 15 in the registers Motor StepX Using the register Motor current Unit USINT 0 to 120 Percent of the module's rated current 100% corresponds to the rated current of the motor bridge power unit listed in the technical data 120% corresponds to the maximum current of the motor bridge power unit listed in the technical data Data sheet V

16 Counter configuration ConfigOutput09 USINT Bit Description Information 0 ABR latch function 0 Negative edge: Disable ABR latch function. 1 Positive edge: Enable latch ABR latch function. After a latch event has occurred, the latch function can be started again with a new rising edge. 1-2 Definition of the latch mode 00 Latch ABR counter state unconditionally 01 Latch ABR counter state at a positive edge on the R input 10 Latch ABR counter state at a negative edge on the R input 11 Reserved 3 0 Position sync: Internal position counter Position async: ABR counter state Position latched sync: Internal position counter Position latched async: ABR counter state 1 Position sync: ABR counter state Position async: Internal position counter Position latched sync: ABR counter state Position latched async: Internal position counter 4-7 Reserved 1) These registers are not available in the standard function model with SDC information enabled Motor ID trigger MotorIdentTrigger This register can be used to trigger acyclic motor identification (see "Motor ID"). The application must ensure that the conditions for reading the motor ID are fulfilled (see "Notes" under ). USINT Bit Description Information 0 0 No effect 1 Rising edge triggers motor identifier measurement 1-7 Reserved Register for reading back the configuration Read ing the holding current, rated current and maximum current ConfigOutput03Read (holding current) ConfigOutput04Read (rated current) ConfigOutput05Read (maximum current) These registers are used to read the respective current values in percent. Register Nominal current Maximum current Holding current Description Current during operation at constant speed Current during acceleration phases Current when motor is at standstill Unit USINT 0 to 255 Percent of the module's rated current (100% corresponds to the rated current of the motor bridge power unit listed in the technical data) 16 Data sheet V 1.32

17 Communication registers Measuring motor load MotorLoad This register contains the current measured load value for stall detection. This can be used to tune stall detection. USINT Bit Description Information 0-2 Motor 0 to 7 Motor load value 3-8 Reserved Module configuration 1 ConfigOutput02 The number of transfer values and the resolution of microsteps for the drive can be configured in this register. UINT Bit Description Information 0 The setting for these two bits determines the meaning of bits 2 x and 3 in the "Input counter state" register. 1-2 Reserved Number of transfer values per X2X cycle (See "Motor StepX".) 5-6 Resolution of microsteps for the following registers: "Motor StepX" "Position sync/async" 00 1 x Δs / Δt (transfer values: MotorStep0) 01 2 x Δs / Δt (transfer values: MotorStep0 - MotorStep x Δs / Δt (transfer values: MotorStep0 - MotorStep3 11 Reserved 00 Resolution: 5 bits (bit 0-4) microsteps; 8 bits (bit 5-13) full steps 01 Resolution: 6 bits (bit 0-5) microsteps; 7 bits (bit 6-13) full steps 10 Resolution: 7 bits (bit 0-6) microsteps; 6 bits (bit 7-13) full steps 11 Resolution: 8 bits (bit 0-7) microsteps; 5 bits (bit 8-13) full steps 7-15 Reserved 0 Data sheet V

18 Position sync/async PositionSync Positionasync Depending on the Counter configuration, these registers can be used to read either the internal position counter or the counter state of the ABR input. INT to Register Counter configuration Bit 3 0 Bit 3 1 Position sync Internal position counter ABR counter Position async ABR counter Internal position counter Internal position counter The internal position counter is the position calculated by the SM module (set position). This is a cyclic 16-bit counter. The lowest 5 to 8 bits represent microsteps, while the highest 8 to 11 bits represent full steps (depending on bits 5 and 6 of the register Module configuration 1). In the standard function model with SDC, this value is set to "8- bit microsteps" and can not be changed. Example of the internal position counter format (7-bit micro steps, i.e. set bit 5 and 6 of the module configuration to binary 10): Full steps Microsteps ABR counter This counter is a cyclic 16-bit counter. The relationship between this counter and the internal position counter depends on the resolution of the ABR encoder and the microsteps defined for the internal position counter. 18 Data sheet V 1.32

19 Motor ID Motoridentification01 This register is used to identify the connected motor type for service purposes and to differentiate between motors in the application. Following measurement, this register contains the time [µs] needed to apply a current increase of ΔI = 1 A to a motor winding. This depends on: Operating voltage The inductance and resistance of the motor winding Notes 1) To achieve reproducible results, the measurement must be made under the following defined conditions: a) Motor is at standstill b) The motor must be in a half-step position (phase A fully powered, phase B not powered). This means the internal position counter on the SM module must have a value that fulfills the following conditions: Full steps are divisible by 4 Microsteps = 0 2) Condition 1b) is fulfilled after a the SM module is reset or powered on. Immediately afterwards, when the holding current is applied to the motor for the first time (at standstill), the duration for applying the current is measured. This is therefore a suitable time to read the motor identification register in the application. 3) The current range from approximately 1/3 of the rated current up to the rated current is used as operating range for determining the motor identifier. Motor ID values Function UINT 0 No motor identifier available (after turning on for as long as the measurement conditions are not met) 1 to Valid range of values for the motor ID register (in µs) to Ground fault: Motor identification not possible Motor ID trigger not possible Ground fault detection Motor has no power applied Motor in movement Rated current is set to 0A Ground fault present Invalid value: Underflow Overtemperature: Measurement not possible Open line: Measurement not possible Motor position incorrect: Measurement not possible Invalid value: Overrun Measurement in progress When the motor is powered on, a ground fault check is performed before motor identification. Error numbers have been added in the motor identification register for the event of a ground fault error (values to in the table above). Data sheet V

20 Error status The names of the bits are different depending on whether SDC information is enabled or disabled. Without SDC With SDC StallError StallError01 Overtemperature Overtemperature01 ErrorCurrentError ErrorCurrentError01 OvercurrentError OvercurrentError01 - DrvOK01 The current error status of the drive is indicated in this register. Each bit indicates a certain error or status. If an error is registered in bits 0 to 3, then the corresponding bit remains set until the error has been acknowledged (see "Module configuration 2" and "Error acknowledgment"). UINT Bit Description Information 0 StallError(01) 0 No stall 1 Stall 1 Overtemperature error 0 No overtemperature OvertemperatureError(01) 1 Overtemperature 2 Current error 0 No current error CurrentError(01) 1 Current error 3 Overcurrent error 0 No overcurrent OvercurrentError(01) 1 Overcurrent 4 Status of the drive 0 An error was triggered for the motor axis DrvOk0 1) 1 The drive is running error-free 5-15 Reserved 0 1) Only when SDC information is enabled Overtemperature error The "Overtemperature" error bit can be set for the following reasons: A specific temperature was exceeded near the channel due to overload Module temperature exceeds 85 C Current error This error bit occurs whenever the required current cannot be supplied to the motor windings. This can be (but is not necessarily) caused by an open line. At higher speeds (depending on the motor), this error can also occur without an open line. In this case it is simply no longer possible to supply the desired current to the motor windings. Because of the Back-EMF on the motor, this bit is set at slightly lower speeds if the motor is operated with no load compared with full or partial loads. Overcurrent error Overcurrent occurs if the motor current measured in the motor windings is twice as high as it should be (e.g. short circuit). Status of the drive The status of the drive is only shown when SDC information is enabled. The drive bit is 1 when the following conditions are met: Motor turned on (see "Motor current") Ground fault detection is completed and OK MotorID measurement is completed Motor is supplied with current Motor settling time has passed Supply voltage is in the valid range No overtemperature fault Preset position value is valid (see "SDC life sign monitoring") 20 Data sheet V 1.32

21 15.6 Register description: Standard functional model without SDC information Communication registers Motor StepX MotorStep0 to MotorStep3 These registers are used to specify the number and direction of steps that must be carried out by the module during the next X2X cycle, and to select the motor current (see also "Holding current, rated current and maximum current"). UINT Bit Description Information 0-12 Number of steps for the module to move during the next X2X cycle x 13 Direction of movement 0 Positive 1 Negative Selection of motor current 00 Motor not powered 01 Holding current 10 Rated current 11 Maximum current Depending on the required resolution and maximum configurable speed, "Module configuration 1" can be used to specify which bit position is used as the 1's position for full steps (see bits 5 and 6 of Module configuration 1). Example for 5-bit microsteps (set bits 5 and 6 of the module configuration to binary 00): Full steps Microsteps The number of transfer values per X2X cycle is specified by bits 3 and 4 in "Module configuration 1" (see "Module configuration 1"). If only one transfer value (bits 3 and 4 = 00) is specified, then the motor is advanced by MotorStep0 until the next X2X cycle. If 2 or 4 transfer values are specified, then the X2X cycle is divided accordingly. Example: X2X cycle = 1 ms (1000 μs) Time Number of transfer values (see Module configuration 1) 1 (bits 3-4 = 00) 2 (bits 3-4 = 01) 4 (bits 3-4 = 10) μs) MotorStep0 MotorStep0 MotorStep μs) MotorStep μs) MotorStep1 MotorStep μs) MotorStep3 Data sheet V

22 Position latched sync/async PositionLatchedSync PositionLatchedASync The position counter (internal position counter or ABR counter) is applied at the latch event (see "Module configuration 2"). Bits 3 and 7 of the Counter configuration register are used to determine which counter state (internal position counter or ABR encoder) should be saved in the registers "Position latched sync" and "Position latched async". INT to Register Counter configuration Bit 3 0 Bit 3 1 Position sync Internal position counter ABR counter Position async ABR counter Internal position counter Internal position counter The internal position counter is the position calculated by the SM module (set position). This is a cyclic 16-bit counter. The lowest 5 to 8 bits represent microsteps, while the highest 8 to 11 bits represent full steps (depending on bits 5 and 6 of the register Module configuration 1). Example of the internal position counter format (7-bit micro steps, i.e. set bit 5 and 6 of the module configuration to binary 10): Full steps Microsteps ABR counter This counter is a cyclic 16-bit counter. The relationship between this counter and the internal position counter depends on the resolution of the ABR encoder and the microsteps defined for the internal position counter ussincetrigger ussincetrigger This register indicates the time (in µs) that has passed since the trigger event occurred (see "Module configuration 2"). Information: The absolute timing of the trigger can be delayed up to 5 μs depending on the input filter for the digital inputs. UINT 0 to Data sheet V 1.32

23 Stepper latch trigger status LatchInput LatchDone TriggerInput USINT Bit Description Information 0 Latch input: x Digital input for the latch event (level) 1 LatchDone x State changes each time the counter state is successfully latched (reset value = 0) 2-3 Reserved - 4 TriggerInput x Trigger input (level) 5-7 Reserved Input counter state ModulePowerSupplyError StatusInput01 to StatusInput04 This register is used to indicate the status of the digital inputs and counters. USINT Bit Description Information 0 ModulePowerSupplyError 0 OK 1 Module supply error 1 Reserved 0 2 StatusInput01 When bit 0 in Module configuration 1 = 0 0 or 1 Input state - Digital input 1 When bit 0 in Module configuration 1 = 1 x Ref toggle bit for counter 1: 3 StatusInput02 The state of this bit is changed after the homing procedure is complete. When bit 0 in Module configuration 1 = 0 0 or 1 Input state - Digital input 2 When bit 0 in Module configuration 1 = 1 0 Homing of ABR counter active 1 Homing of ABR counter complete 4 StatusInput03 0 or 1 Input state - Digital input 3 5 StatusInput04 0 or 1 Input state - Digital input Reserved 0 Data sheet V

24 Configuration registers Module configuration 2 StartLatch TriggerEdgePos TriggerEdgeNeg StartTrigger TriggerEdge ClearError The trigger functions for the stepper motor can be configured with this register. USINT Bit Description Information 0 Latch function for stepper motor Latch byte 1-2 Latch mode for stepper motor TriggerEdgePos (Bit 1) TriggerEdgeNeg (Bit 2) 3 TriggerEdge 4 Enable trigger (when changes occur) StartTrigger 5 ClearError 0 The latch function for stepper motor position is deactivated at the negative edge of this bit 1 The latch function for stepper motor position is deactivated at the positive edge of this bit 00 Latch position of stepper motor, unconditional 01 Latch position of stepper motor at positive edge on input DI 3 10 Latch position of stepper motor at negative edge on input DI 3 11 Reserved 0 Trigger edge (input DI 4) = positive 1 Trigger edge (input DI 4) = negative x 0 No effect 1 Error acknowledgment for the motor (for more info, see "Error status") 6-7 Reserved - Trigger function procedure: Select the desired trigger edge using bit 3 Enable the trigger function by changing the state of bit 4. When this bit changes, ussincetrigger (µs counter) is cleared. When the trigger event occurs, ussincetrigger (µs counter) is started. The ussincetrigger counter cannot overrun, i.e. it is stopped at 2 16 and retains this value until the next time the trigger function is activated. The trigger function can be re-activated at any time by changing the state of bit 4, regardless of whether a trigger event has occurred or if ussincetrigger has reached the maximum value Position sync 2 PositionSync02 Depending on Counter configuration (bit 3), this register contains the state of either the position counter or the ABR counter. It's an exact complement to the Position sync register. If the position sync register contains the position counter, then the PositionSync02 register contains the ABR counter state and vice versa. By default, the register cannot be seen in the I/O map; instead, it has to first be activated in the I/O configuration. INT to Data sheet V 1.32

25 15.7 Register description: Standard functional model with SDC information Configuration registers SDC configuration SDCConfig01 This register can be used to enable/disable additional SDC information. The additional cyclic registers are hidden or shown depending on whether SDC information is disabled or enabled. It is comparable to the two variants of the standard function model with and without SDC information. USINT Bit Description Information 0 Trigger edge 0 Rising trigger edge 1 Falling trigger edge 1-5 Reserved 0 6 SDC life sign monitoring 0 Disabled 1 Enabled 7 SDC information 1) 0 Disabled 1 Enabled 1) When the "SDC information" bit is enabled, the "EncOK01" bit is shown in the Automation Studio I/O mapping. This bit is linked to the ModulOK bit and always indicates its value. Note: Neither SDC information nor SDC life sign monitoring is permitted to be changed at runtime Module configuration 1 with SDC The Module configuration 1 register is ignored in the standard function model with SDC information enabled. The module behaves as if the module configuration were described as follows: UINT Bit Description Information 0 Meaning of bits 2 and 3 in the register "Input counter state" 1-2 Reserved Number of transfer values per X2X cycle 00 1x Δs / Δt (transfer values: Motor settings Motor1Step0) 5-6 Resolution of microsteps 11 8-bit microsteps 7-15 Reserved Motor settling time MotorSettlingTime01 This register determines the motor setting time. The motor settling time determines the minimum time between when the motor is powered on to when the DrvOk bit is set (see "Error status"). The setting is made in steps of 10 ms. Information USINT 1 to ms to 2.55 s, default: 10 ms Turn-off delay DelayedCurrentSwitchOff01 When the SDC life sign monitoring is triggered (i.e. the net time timestamp is in the past) the motor is decelerated at nominal current with speed setpoint = 0. Then the motor is switched off after the delay configured with this register. Information USINT 0 to to 25.5 ms in steps of 100 ms (default: 100 ms) Data sheet V

26 Communication registers SDC life sign monitoring SetTime01 The module uses SDC life sign monitoring to check whether valid values have been received for the speed setpoint. SDC life sign monitoring is activated in the SDC configuration register by setting bit 6 (SDCSetTime = on). If the specified NetTime timestamp is in the past, then an error is triggered for the motor axis (only when the motor is switched on). The module performs the following steps: 1) The CPU is informed of the error using the Drive bit (DrvOk) = 0 2) Braking at configured rated current with speed setpoint = 0 3) Wait for configured turn-off delay to expire 4) Power off motor When the timestamp is back in the valid range, the motor can be powered on again by a rising edge on the DriveEnable bit (see "Motor current"). INT to Motor current DriveEnable01 BoostCurrent01 StandstillCurrent01 Bits 0 to 2 of this register can be used to control the motor's current supply. USINT Bit Description Information 0 DriveEnable01 x Motor powered 1 BoostCurrent01 x Maximum current 2 StandstillCurrent01 x Holding current 3-7 Reserved 0 The possible status of bits 0 to 2 StandstillCurrent01 BoostCurrent01 DriveEnable01 Description x x 0 Motor not supplied with current Rated current supplied to motor Maximum current supplied to motor Holding current supplied to motor Holding current supplied to motor Life cycle counter LifeCnt This register is incremented by one with each X2X Link cycle. SINT -128 to Data sheet V 1.32

27 Input counter state ModulePowerSupplyError StatusInput01 to StatusInput04 This register is used to indicate the status of the digital inputs and counters. USINT Bit Description Information 0 ModulePowerSupplyError 0 OK 1 Module supply error 1 Reserved 0 2 StatusInput01 When bit 0 in Module configuration 1 = 0 0 or 1 Input state - Digital input 1 When bit 0 in Module configuration 1 = 1 x Ref toggle bit for counter 1: 3 StatusInput02 The state of this bit is changed after the homing procedure is complete. When bit 0 in Module configuration 1 = 0 0 or 1 Input state - Digital input 2 When bit 0 in Module configuration 1 = 1 0 Homing of ABR counter active 1 Homing of ABR counter complete 4 StatusInput03 0 or 1 Input state - Digital input 3 5 StatusInput04 0 or 1 Input state - Digital input Reserved Error acknowledgment ClearError01 This register can be used to acknowledge errors that have occurred on the motor. For more info, see "Error status". USINT Bit Description Information 0-4 Reserved 0 5 ClearError01 0 No effect 1 Error acknowledgment for motor 6-7 Reserved Motor1Step0 Motor1Step0 This registers is used to specify the number and direction of steps that should be carried out by the module during the next X2X cycle. The value is specified with a resolution of 1/256 of a full step (corresponds to 8-bit microsteps). The direction of movement is derived from the value's sign: Information INT >0 Movement in positive direction in 1/256 full steps <0 Movement in negative direction in 1/256 full steps Unlike the standard function model without enabled SDC information, the motor current is selected using a separate register (see Motor current). Data sheet V

28 Home position RefPulsePos01 These 2 registers contain the following: Register Home position of the internal position counter Home position for the ABR counter Description This register indicates the home position of the internal position counter. This register indicates the home position of the ABR counter. INT to The "Position Sync" setting in the Automation Studio I/O configuration can be used to select which of the two registers is be addressed by the variable RefPulsePos01. Variables in Automation Studio I/O configuration, Counter 01, "Position Sync" option Stepper counter 01 shown at ActPos01 ABR counter 01 shown at ActPos01 RefPulsePos01 Home position of internal position counter Home position of ABR counter The "Position Sync" option also sets bit 3 in the Counter configuration register for Counter 1: Bit 3 (counter 1) Reference pulse counter RefPulseCnt01 These 2 registers contain the following: Register Reference pulse counter for the internal position counter Reference pulse counter for the ABR counter Description The reference pulses of the internal position counter are counted in this register. The reference pulses of the ABR counter are counted in this register. SINT -128 to 127 The "Position Sync" setting in the Automation Studio I/O configuration can be used to select which of the two registers is addressed by the variable RefPulseCnt01. Variables in Automation Studio I/O configuration, Counter 01, "Position Sync" option Stepper counter 01 shown at ActPos01 ABR counter 01 shown at ActPos01 RefPulseCnt01 Reference pulse counter for internal position counter Reference pulse counter of ABR counter The "Position Sync" option also sets bit 3 in the Counter configuration register for Counter 1: Bit 3 (counter 1) Net time of the position value ActTime01 This register contains the net time of the most recent valid position value. INT to Trigger counter TriggerCnt01 This register contains a cyclic counter that is incremented with each trigger event. SINT -128 to Data sheet V 1.32

29 Trigger timestamp TriggerTime01 This register indicates the point in time (net time) of the most recent trigger event. The trigger edge must be configured in the "SDC configuration" register. Information: The absolute timing of the trigger can be delayed up to 5 μs depending on the input filter for the digital inputs. INT to Register description: Function model Bus controller and function model 3 - Ramp Configuration registers Holding current, rated current and maximum current ConfigOutput03a (holding current) ConfigOutput04a (rated current) ConfigOutput05a (maximum current) The holding current, nominal current and maximum current registers are used to configure the desired motor current. Reasonable values are: Holding current < Nominal current < Maximum current The motor's nominal current is entered in the nominal current register according to the motor's data sheet. Register Nominal current Maximum current Holding current Description Current during operation at constant speed Current during acceleration phases. In the mode "Homing during stall", the rated current is always used instead of the maximum current, even in acceleration phases. Current when motor is at standstill When the current changes to a weaker value (e.g. when transitioning from the acceleration phase to the constant speed mode), the stronger current is maintained for an additional 100 ms. This is done according to the following priority regardless of the actual defined values: maximum current before nominal current before holding current. Unit USINT 0 to 120 Percent of the module's rated current 100% corresponds to the rated current of the motor bridge power unit listed in the technical data 120% corresponds to the maximum current of the motor bridge power unit listed in the technical data Full step threshold FullStepThreshold01 This register defines the threshold speed, above which the motor is operated in full step mode, and below which it is operated in microstep mode. Information UINT 1 to Speed in microsteps / cycle Motor is always operated in microstep mode Data sheet V

30 Maximum speed MaxSpeed01pos This register defines the maximum speed for the absolute positioning modes (1, -123, -124, -125, -126). Information: The setting does not apply to the speed and homing modes (2, -127, -128). Information UNIT 0 to 65,535 Speed in microsteps / cycle Maximum acceleration MaxAcc01 This register defines the maximum acceleration (also applies for homing modes). Information UINT 0 to 65,535 Acceleration in microsteps / cycle² Maximum deceleration MaxDec01 This register defines the maximum deceleration (also applies for homing modes). Information UINT 0 to 65,535 Deceleration in microsteps / cycle² Reversing loop RevLoop01 This parameter is only used in mode 1, -123, -124, -125, -126 (absolute positioning modes). If the value for the reversing loop is not equal to 0, the position setpoint is approached directly when coming from one direction; when coming from the other direction, the position setpoint is initially exceeded by the configured number of steps before finally moving to the position setpoint. This ensures that the position setpoint is always approached from the same direction (to avoid mechanical backlash). The sign of the defined value determines the direction in which the reversing loop runs. Sign Positive Negative Effective direction Reversing loop in positive direction of movement Reversing loop in negative direction of movement INT to Fixed position A FixedPos01a This register defines the position to move to in modes -124 (when 1 is set at the digital input) and DINT -2,147,483,648 to 2,147,483, Fixed position B FixedPos01b This register defines the position to move to in modes -124 (when 0 is set at the digital input) and DINT -2,147,483,648 to 2,147,483, Data sheet V 1.32