Product Overview Compact Drive Technology

Transcription

1 Product Overview Compact Drive Technology

2 Compact Drive Technology Overview Servomotor Stepper otor EtherCAT Terminals Bus Terminals EtherCAT Terminals EtherCAT Box IP 0 IP 0 IP 0 IP 67 I/O EL70 A KL. A KL A EL70. A EL70 A EP A EP70-00 A 0 0 Option EL970 KL970 EL970 otors A. A, 0.6 Nm AS00 AS00 AS00 AS00 AS060 A, A,. A, A, A, 0.8 Nm 0. Nm 0.6 Nm. Nm.0 Nm A. A, 0. Nm A.6 A, 0.6 Nm Gear units AG0 AG000-+P.x AG000- to AS00/AS00 +P8.x to AS060 Accessor. ZK70-0-xxx otor cable ZK7-00-xxx Resolver cable ZK xxx otor cable ZK xx Encoder cable ZK xxx otor cable ZK xx Encoder cable

3 DC motor Bus Terminals EtherCAT Terminals EtherCAT Box IP 0 IP 0 IP 67 EP70-00 EP70-00 KL KL EL7 EL7 EP7 A. A A A A. A. A KL970 EL970

4 9 0 Excitation + Excitation Sin + Sin Cos + Cos Resolver U V W ~ EL Brake + Brake UN + UN The shielding connection system enables the shielding to be located very close to the terminals of the shielded line. EL70 Servomotor terminal 0 V DC, A The EL70 servomotor EtherCAT Terminal, with integrated resolver interface, offers high servo performance in a very compact design. The fast control technology, based on field-oriented current and PI speed control, supports fast and highly dynamic positioning tasks. The monitoring of numerous parameters, such as overvoltage and undervoltage, overcurrent, terminal temperature or motor load via the calculation of a I²T model, offers maximum operational reliability. EtherCAT, as a high-performance system communication, and CAN-over-EtherCAT (CoE), as the application layer, enable ideal interfacing with PC-based control technology. The latest power semiconductors guarantee minimum power loss and enable feedback into the DC-Link when braking. 6 LEDs indicate status, warning and error messages as well as possibly active limitations. Technical data EL70 Number of channels servomotor, resolver, motor brake Connection method direct motor connection Load type permanent-magnet synchronous motors Nominal voltage 8 0 V DC Output current IN A Peak current IN 8 A, s Frequency range 0 khz PW clock frequency 6 khz Current controller frequency double PW clock frequency Rated speed controller frequ. 6 khz Output voltage motor brake V DC (+6 %/-0 %) Output current motor brake max. 0. A Current consumption typ. 0 ma + holding current motor brake power contacts Current consumption E-bus 0 ma www. beckhoff.com/el70 Accessories Shielding connection system Ordering information Description ZB800 clamp strap for shield connection with knurled screw, width mm, shield diameter max. 8 mm, packing unit = 0 ZB80 shield busbar 0 x mm, 000 mm galvanised Cu, packing unit = ZB8 shield busbar clamp 0 x mm for Bus Terminals/EtherCAT Terminals mm, packing unit = 0 ZB80 mounting rail holder for shield busbar (0 x mm), packing unit = ZB80 U-clamp terminal up to mm² for PE connection to the rail (0 x mm), packing unit = 0

5 Axx Synchronous Servomotors for servo terminal EL70 Auv-wxyz-000a Standstill Standstill Rated speed at rated supply voltage Rotor moment torque current V DC 8 V DC of inertia A Nm. A 000 min min kg cm² A Nm. A 000 min min kg cm² A Nm. A 00 min - 00 min kg cm² A Nm. A 00 min - 00 min kg cm² A Nm.6 A 900 min min - 0. kg cm² A Nm.6 A 900 min min kg cm² u: flange code, v: motor length Option w = 0: smooth shaft Option x = key number for rated speed Option y = 0: resolver Option z = 0: without holding brake, z = : with holding brake Option a = : cable 0. m, with mini CPC plug for power, plug for feedback www. beckhoff.com/axx AG0 Planetary gear units for Servomotors Axx Ordering information Acceleration torque Typ. combination with Axxx AG0-+PLE0-0-x-B max. Nm Ax AG0-+PLE60-0-x-B max. 0 Nm Ax AG0-+WPLE0-0-x-B max. 7. Nm Ax AG0-+WPLE60-0-x-B max. Nm Ax x = gear ratio,,, 7, 0 www. beckhoff.com/ag0 Accessories otor and resolver cables for servomotors Ordering information ZK ZK ZK ZK ZK Cable length motor cable, assembled at both ends for Axx to EL70, l = m, shielded motor cable, assembled at both ends for Axx to EL70, l = m, shielded motor cable, assembled at both ends for Axx to EL70, l = 0 m, shielded motor cable, assembled at both ends for Axx to EL70, l = m, shielded motor cable, assembled at both ends for Axx to EL70, l = 0 m, shielded Ordering information ZK ZK ZK ZK ZK Cable length resolver cable, assembled at both ends for Axx to EL70, l = m, shielded resolver cable, assembled at both ends for Axx to EL70, l = m, shielded resolver cable, assembled at both ends for Axx to EL70, l = 0 m, shielded resolver cable, assembled at both ends for Axx to EL70, l = m, shielded resolver cable, assembled at both ends for Axx to EL70, l = 0 m, shielded

6 Enc B B A A KL KL KL, KL Stepper otor Bus Terminals The KL Bus Terminal is intended for the direct connection of different small Stepper otors. The slimline PW output stage for two motor coils is located in the Bus Terminal together with two inputs for limit switches. The KL Bus Terminal is intended for Stepper otors with medium performance range. The PW output stages cover a wide range of voltages and currents. Together with two inputs for limit switches, they are located in the Bus Terminal. Together with a Stepper otor, the Bus Terminals represent an inexpensive small servo axis. 6-fold micro stepping ensures particularly quiet and precise motor operation. Technical data KL KS KL KS Connection technology direct motor connection Load type uni- or bipolar Stepper otors ax. output current. A A Number of outputs Stepper otor Stepper otor, encoder input Number of inputs for limit position, for an encoder system Nominal voltage V (- %/+0 %) 8 0 V DC Current consumption only load typ. ma power contacts Current consumption K-bus typ. 60 ma typ. 00 ma aximum step frequency,000 steps/s Step pattern full step, half step, up to 6-fold micro stepping Current controller frequency approx. khz Control resolution approx.,000 positions in typ. applications (per revolution) Encoder signal V, ma, single-ended Pulse frequency max. 00,000 increments/s (with -fold evaluation) Special features travel distance control travel distance control, encoder input Operating temperature 0 + C Approvals CE www. beckhoff.com/kl www. beckhoff.com/kl 6 For Stepper otors see page 9

7 Enc B B A A EL70 EL70 EL70, EL70 Stepper otor EtherCAT Terminals The EL70 EtherCAT Terminal is intended for the direct connection of different small Stepper otors. The slimline PW output stage for two motor coils is located in the EtherCAT Terminal together with two inputs for limit switches. The EL70 EtherCAT Terminal is intended for Stepper otors with medium performance range. The PW output stages cover a wide range of voltages and currents. Together with two inputs for limit switches, they are located in the EtherCAT Terminal. Together with a Stepper otor, the EtherCAT Terminals represent an inexpensive small servo axis. 6-fold micro stepping ensures particularly quiet and precise motor operation. Technical data EL70 ES70 EL70 ES70 Connection technology direct motor connection Load type uni- or bipolar Stepper otors ax. output current. A A Number of outputs Stepper otor, digital inputs Stepper otor, encoder input Number of inputs for limit position, for an encoder system Nominal voltage V DC (- %/+0 %) 8 0 V DC Current consumption typ. 0 ma + motor current typ. 0 ma power contacts Current consumption E-bus 0 ma typ. 0 ma typ. aximum step frequency,000,,000,,000 or 8,000 full steps/s (configurable) Step pattern 6-fold micro stepping Current controller frequency approx. khz approx. 0 khz Control resolution approx.,000 positions in typ. applications (per revolution) Encoder signal V, ma, single-ended Pulse frequency max. 00,000 increments/s (with -fold evaluation) Special features travel distance control travel distance control, encoder input Operating temperature 0 + C Approvals CE Special terminals EL for resonance-critical applications www. beckhoff.com/el70 www. beckhoff.com/el70 For Stepper otors see page 9 7

8 0 0 Stepper otor otor supply Digital inputs Encoder Tx+ Rx+ Rx- Tx- A A B B n. c., V motor, GND motor n. c. + V DC US Input B GND Input A Output GND V Enc A Enc B Enc C Enc + V DC US + V DC UP GNDS GNDP EP EP70-00 EP70-00 EP70-00 EP70-xxxx Stepper otor EtherCAT Box The EP70 EtherCAT Box is intended for the direct connection of different Stepper otors. The PW output stages for two motor coils with compact design are located in the module together with two inputs for limit switches and cover a wide voltage and current range. The EP70 can be adjusted to the motor and the application by changing just a few parameters. 6-fold micro-stepping ensures particularly quiet and precise motor operation. Connection of an incremental encoder enables a simple servo axis to be realised. Two digital inputs and a digital 0. A output enable connection of end switches and a motor brake. Technical data EP70-00 EP70-000, EP70-00 EP70-00 Connection method screw type Load type uni- or bipolar Stepper otors Number of outputs Stepper otor, digital V DC output Number of inputs digital inputs, encoder system ( V DC encoder) Nominal voltage 8 0 V DC Distributed clocks yes Protocol EtherCAT Output current x. A, x A peak current (overload- and short-circuit-proof) x. A, x A peak current (overload- and short-circuit-proof). A aximum step frequency,000,,000,,000 or 8,000 full steps/s (configurable) Step pattern 6-fold micro stepping Current controller frequency dynamic approx. 0 khz approx. 0 khz Resolution approx.,000 positions (per revolution, according to motor and encoder type) Current consumption from US 0 ma (without sensor current) Special features travel distance control, encoder input, load indication, travel distance control, encoder input travel distance control, encoder input for resonance-critical applications Operating temperature C Approvals CE, UL Protection class IP 6/66/67 (according to EN 609) 8 www. beckhoff.com/ep70

9 ASxxx Stepper otors for KL, KL, EL70, EL70 Stepper otor terminals and EP70 Stepper otor module Technical data AS AS00-0xyz AS AS00-0xyz AS060-wxyz Rated supply voltage 0 V DC Rated current (per phase).0 A.0 A. A.0 A.0 A Standstill torque 0.8 Nm 0. Nm 0.6 Nm. Nm.0 Nm Rotor moment of inertia 0.06 kg cm² 0.07 kg cm² 0. kg cm² 0.6 kg cm².0 kg cm² Resolution.8 /00 full steps Dimensions (r x length) mm x 9 mm mm x 8 mm 6 mm x mm 6 mm x 7 mm 86 mm x 97 mm Bus Terminal KL/EL70 EL70/EP70 KL/EL70 KL/EL70 KL/EL70 Option w = 0: smooth shaft with flats (AS00/AS00 only smooth shaft); w = : shaft with groove and feather key according to DIN 688 (only AS060) Option x = 0: single shaft, x = ; second shaft (only AS00/AS00/AS060) Option y = 0: no incremental encoder; y = : incremental encoder V DC, 00 inc/rev; y = :,0 inc/rev Option z = 0: standard; z = : customer-specific www. beckhoff.com/as00 AG000 Planetary gear unit for Stepper otors Ordering information AG000-+P.x to AS00/AS00 AG000-+P8.x to AS060 Rated torque Nm 0 Nm Acceleration torque 6 Nm 0 Nm Gear backlash x = : gear ratio : (more precisely.7 or 6/7 as a fraction), x = 7: gear ratio :7 (more precisely 6.7 or 7/ as a fraction) www. beckhoff.com/ag000 Accessories otor and encoder cables for Stepper otors Ordering information otor cables for AS000 Stepper otors to Bus Terminals KL/ or EtherCAT Terminals EL70x ZK motor cable, assembled at both ends for AS000 Stepper otors, x 0. mm², l = m, shielded ZK motor cable, assembled at both ends for AS000 Stepper otors, x 0. mm², l = m, shielded ZK motor cable, assembled at both ends for AS000 Stepper otors, x 0. mm², l = m, shielded ZK motor cable, assembled at both ends for AS000 Stepper otors, x 0. mm², l = 0 m, shielded The maximum motor cable length is 0 m. Ordering information Encoder cables for AS000 Stepper otors to KL/ or EL70x ZK encoder cable, assembled on both sides for AS000 Stepper otors, x 0. mm², l = m, shielded ZK encoder cable, assembled on both sides for AS000 Stepper otors, x 0. mm², l = m, shielded ZK encoder cable, assembled on both sides for AS000 Stepper otors, x 0. mm², l = m, shielded ZK encoder cable, assembled on both sides for AS000 Stepper otors, x 0. mm², l = 0 m, shielded Ordering information otor cables for AS000 Stepper otors to EP70 EtherCAT Box ZK motor cable, assembled at both ends for AS000 Stepper otors, x 0. mm², l = 0. m, shielded ZK motor cable, assembled at both ends for AS000 Stepper otors, x 0. mm², l = m, shielded ZK motor cable, assembled at both ends for AS000 Stepper otors, x 0. mm², l = m, shielded Ordering information Encoder cables for AS000 Stepper otors to EP70 EtherCAT Box ZK encoder cable, assembled on both sides for AS000 Stepper otors, x 0. mm², l = 0. m, shielded ZK encoder cable, assembled on both sides for AS000 Stepper otors, x 0. mm², l = m, shielded ZK encoder cable, assembled on both sides for AS000 Stepper otors, x 0. mm², l = m, shielded 9

10 Enc A A A A B B B B KL KL EL7 KL, KL DC motor output stages DC motors can replace the servomotors in many applications if they are operated with an intelligent controller. A DC motor can be integrated very simply into the control system using the KL and KL Bus Terminals. All parameters are adjustable via the fieldbus. The small, compact design and DIN rail mounting make the DC motor output stages suitable for a wide range of applications. The output stages are protected against overload and short circuit and offer an integrated feedback system for incremental encoders on a case-by-case basis. Two DC motors can be controlled by one DC motor output stage. The peak current may briefly significantly exceed the rated current and in this way makes the whole drive system very dynamic. In such dynamic applications, negative acceleration causes the feedback of energy, which leads to voltage peaks at the power supply unit. The KL970 or EL970 buffer capacitor terminal (see page ) protect from the effects of overvoltage, in that it absorbs some of the energy. If the voltage exceeds the capacity of the terminal, it gets rid of the excess energy via an external resistance. Technical data KL KS KL KS Connection technology direct motor connection Load type DC brush motors, inductive ax. output current x A (short-circuit-proof, thermal overload-proof for both channels together) x A (short-circuit-proof, thermal overload-proof for both channels together) Number of channels DC motors DC motors, encoder input Nominal voltage V DC (- %/+0 %) 8 0 V DC Current consumption typ. 0 ma + load typ. 0 ma power contacts Current consumption K-bus typ. 0 ma typ. 00 ma Distributed clocks PW clock frequency 0 khz with 80 phase shift each Duty factor 0 00 % (voltage-controlled) Control resolution max. 0 bits current, 6 bits speed Encoder signal V, ma, single-ended Pulse frequency max. 00,000 increments/s (with -fold evaluation) Special features travel distance control travel distance control, encoder input Operating temperature 0 + C Approvals CE Weight approx. g approx. 00 g 0 www. beckhoff.com/kl www. beckhoff.com/kl

11 Enc DC motor otor supply Encoder Encoder Tx+ Rx+ Rx- Tx- A A B B n. c., V motor, GND motor n. c. GND V Enc A Enc B Enc C Enc GND V Enc A Enc B Enc C Enc + V DC US + V DC UP GNDS GNDP 8 8 EL7 EP7-000 EL7xx, EP7 EtherCAT DC motor output stages DC motors can replace the servomotors in many applications if they are operated with an intelligent controller. A DC motor can be integrated very simply into the control system using the EL7 and EL7 EtherCAT Terminals in IP 0 or the EP7 EtherCAT Box in IP 67. All parameters are adjustable via the fieldbus. The small, compact design and DIN rail mounting make the EtherCAT DC motor output stages suitable for a wide range of applications. The output stages are protected against overload and short circuit and offer an integrated feedback system for incremental encoders on a case-by-case basis. Two DC motors can be controlled by one DC motor output stage. The peak current may briefly significantly exceed the rated current and in this way makes the whole drive system very dynamic. In such dynamic applications, negative acceleration causes the feedback of energy, which leads to voltage peaks at the power supply unit. The KL970 or EL970 buffer capacitor terminal (see page ) protect from the effects of overvoltage, in that it absorbs some of the energy. If the voltage exceeds the capacity of the terminal, it gets rid of the excess energy via an external resistance. Technical data EL7 ES7 EL7 ES7 EP7-000 Connection technology direct motor connection direct motor connection screw type Load type DC brush motors, inductive ax. output current x A x. A max. x. A (short-circuit-proof, common thermal overload warning for both output stages) per channel Number of channels DC motors, digital inputs DC motors, encoder input DC motors, encoder input Nominal voltage V DC (- %/+0 %) 8 0 V DC 8 0 V DC Current consumption typ. 0 ma typ. 70 ma + motor current power contacts Current consumption E-bus 0 ma typ. 00 ma typ. Distributed clocks yes PW clock frequency khz with 80 phase shift each Duty factor 0 00 % (voltage-controlled) Control resolution max. 0 bits current, 6 bits speed Encoder signal V, ma, single-ended V, single-ended Pulse frequency max. 00,000 increments/s (with -fold evaluation) max. 00,000 increments/s (with -fold evaluation) Special features travel distance control travel distance control, encoder input travel distance control, encoder input Operating temperature 0 + C 0 + C C Approvals CE CE CE, UL Weight approx. 0 g approx. 90 g approx. 6 g www. beckhoff.com/el7 www. beckhoff.com/el7 www. beckhoff.com/ep7

12 U V DC max. t Voltage spikes at the power supply unit 7 7 I 8 8 KL970 EL970 t KL970, EL970 Buffer capacitor terminals The buffer capacitor terminals KL970 (Bus Terminal) and EL970 (EtherCAT Terminal) contain high-performance capacitors for stabilising supply voltages. They can be used in conjunction with the terminals of the compact Drive Technology. Low internal resistance and high-pulsed current capability enable good buffering in parallel with a power supply unit. Return currents are stored, particularly in the context of drive applications, thereby preventing overvoltages. If the regenerative energy exceeds the capacity of the capacitors, the KL970/EL90 switches the load voltage through to the terminal points and. The energy is dissipated by the connection of an external ballast resistor. Occurrence of ripple currents U V DC Prevention of overvoltage t Technical data KL970 KS970 EL970 ES970 Technology buffer capacitor terminal Diagnostics Nominal voltage 0 V Capacity 00 µf Ripple current 0 A in continuous operation Internal resistance < 0 mω Surge voltage protection > 6 V Recommended 0 Ω, typ. 0 W ballast resistor Overvoltage control range ± V Ballast resistor clock rate load-dependent, -point control Electrical isolation,00 V (terminal/k-bus),00 V (terminal/e-bus) Operating temperature 0 + C Approvals CE, Ex Weight approx. 6 g approx. 90 g www. beckhoff.com/kl970 www. beckhoff.com/el970

13 Drive Technology for the medium and high-performance range up to 8 kw: Synchronous Servomotors www. beckhoff.com/servomotors Digital Compact Servo Drives www. beckhoff.com/servo-drives Linear Servomotors www. beckhoff.com/linear-motors Stepper otors www. beckhoff.com/stepper-motors

14 DK- Headquarters Beckhoff Automation GmbH Eiserstraße Verl Germany Phone: + 9 (0) 6 / info@beckhoff.com Beckhoff Drive Technology This flyer provides an overview over the compact Drive Technology. The complete product range up to 8 KW can be found on the Internet: www. beckhoff.com/drivetechnology Beckhoff, TwinCAT, EtherCAT, Safety over EtherCAT, TwinSAFE and XFC 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. Beckhoff Automation GmbH /0 The information provided in this brochure contains merely general descriptions or characteristics of performance which in case of actual application do not always apply as described or which may change as a result of further development of the products. An obligation to provide the respective characteristics shall only exist if expressively agreed in the terms of contract.