Catalogue. Stepper motor drives SD3 15, D9

Transcription

1 Catalogue Stepper motor drives SD 5, D9

2 NI NORTHERN INDUSTRIAL ESTABLISHED IN 978 Northern Industrial Thwaites Close Blackburn Lancashire BB QQ United Kingdom NORTHERN INDUSTRIAL Northern Industrial is a leading global supplier of industrial automation parts and repairs based in the UK. We provide a wide range of automation solutions from sourcing obsolete parts to express repairs and new part upgrades. Visit nicontrols.com for more information. Cert No. 848 ISO 9: () info@nicontrols.com

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4 Stepper motor drives SD 5, D9 Table of contents Product overview Stepper motor drive SD 5 Product description Functions Wiring example Technical data Dimensional drawings Order number Stepper motor drive board D9 Product description Functions Wiring example Technical data Order numbers Stepper motor drive board D9 Product description Functions Wiring example Technical data Order numbers Stepper motor drive board D9 Product description Functions Wiring example Technical data Order numbers phase stepper motors Product quotation VRDM 6 stepper motors Technical data Dimensional drawings Type code VRDM 9 stepper motors Technical data Dimensional drawings Type code Options Holding brake Encoder Accessories Appendix Conversion tables Berger Lahr Catalogue stepper motor drives SD 5, D9

5 Product overview Stepper motor drives SD 5, D9 Product overview The SD 5 stepper motor drive and the D9 stepper motor drive boards are suitable for all applications. Reference values are set as pulse/direction signals by a master PLC or a Berger Lahr Motion Controller (e.g. TLM). This range of products can be used to control series VRDM 6 and VRDM 9 motors. The nominal torques of these motors range from.45 to 6 Nm. TLM Special features Compactness Due to their small size, the stepper motor drive boards require very little installation space. Simplicity Parameter switches allow for quick and easy commissioning. Commissioning software is not required. SD 5 D9 D9 D9 Flexibility Stepper motor drive boards are available as plug-in units for 9" rack mounting or a HU boards (D9, D9) for wall mounting or DIN rail mounting (SD 5), as well as a power module (D9) for integration of customer-specific electronics. VRDM Power is supplied via an external power supply unit e. g. 4 V DC (D9, D9, SD 5) or V DC (D9). 5 V or 4 V input signals are used to control the units. Application options The Berger Lahr stepper motor drive have excellent constant velocity characteristics which are required for applications such as scanning or exposure. Due to the high torque at low speeds, the stepper motor drive is particularly suited for short-distance positioning. Another advantage is its high holding torque at standstill. This allows for the highly economic implementation of automation tasks such as "pick and place". Catalogue stepper motor drives SD 5, D9 Berger Lahr

6 Stepper motor drives SD 5, D9 Product overview Assignment of stepper motors, stepper motor drives SD 5 and D9 -phase stepper motors SD 5 D9 D9 D9 Power supply 4 48 V DC, max. A 8 4 V DC, max. 4 A 8 4 V DC, max. 6 A 8 4 V DC, max. 5 A Motors with H winding VRDM 64 / 5L H Nm.5 /.45 ).5/.45.5/.45 VRDM 66 / 5L H Nm. /.9. /.9. /.9 VRDM 68 / 5L H Nm.7 /.5.7 /.5.7 /.5 VRDM 97 / 5L H Nm.6 /..9 /.7.9 /.7 VRDM 9 / 5L H Nm 4.8 / / /.7 VRDM 9 / 5L H Nm 6.5 / / 5. Motors with N winding VRDM 66 / 5L N Nm. /.9 VRDM 68 / 5L N Nm.7 /.5 VRDM 97 / 5L N Nm.6 /. VRDM 9 / 5L N Nm 4.5 / 4. VRDM 9 / 5L N Nm 6.78 / 6. ) The st value is the holding torque M H when the stepper motor is at a standstill, the nd value is the nominal torque M N when the motor is in operation. Berger Lahr Catalogue stepper motor drives SD 5, D9

7 Product description Stepper motor drive SD 5 Stepper motor drive SD 5 Product description The SD 5 stepper motor drive is used to control -phase stepper motors with H windings: VRDM6 LH and VRDM9 LH. Device overview () Power supply CN () LED (green) () LED (red) (4) Rotary switch S for adjustment of the current reduction (5) Parameter switch S (6) Parameter switch S (7) Signal interface CN (8) Motor connection CN (9) EMC mounting plate (accessories) () DIN rail adapter (accessories) () Nameplate with quick reference 8 Power supply CN Power is supplied via connection CN. The supply voltage VDC is at the same time the control voltage. The control voltage supply unit at the drive system has no inrush current limitation. If the voltage is applied via contacts, these may be destroyed. Signal interface CN The reference position of the stepper motor is preset as a pulse signal by a controller via the CN signal interface. One pulse corresponds to one step of the motor. In addition, the following functions can be activated via input signals: Enable/disable power amplifier or pulses Direction of rotation left/right Increase/decrease number of steps by a factor of Change motor current An electronic relay contact reports operating readiness. All input signals can be supplied as 5 V or 4 V signals via optocouplers. Motor connection CN Motor lines U, V and W and the shield connection are connected to motor connection CN. 4 Catalogue stepper motor drives SD 5, D9 Berger Lahr

8 F A B C D E Stepper motor drive SD 5 Functions LED LED S Current Functions Parameterisation The following functions can be activated via the parameter switch of the SD 5: Motor phase current Steps per revolution Current reduction during standstill "Softstep" Type of release ("ENABLE" or "GATE") S S Current reduction Softstep Speed ENABLE/G ATE Function C N PULSE_4 PULSE_5 PULSE_ DIR_4 DIR_5 DIR_ ENABLE_4 ENABLE_5 ENABLE_ ACTIVE_OUT_ C ACTIVE_OUT_N O Parameter switches S Setting motor phase current The motor phase current is set with rotary switch S. The set value should correspond to the nominal motor current I N, see motor nameplate. A low motor phase current produces a low torque. Adjustments with rotary switch S 9ABCDE F S S 4 4 OFF ON Switch setting S Motor phase current in A (factory setting) A 7.5 B 8 C 8.5 D 9 E 9.5 F Berger Lahr Catalogue stepper motor drives SD 5, D9 5

9 Functions Stepper motor drive SD 5 Setting current reduction If the full holding torque is not required at standstill, the "current reduction" function can be used to reduce the holding torque. Motor and electronics heat up less and the efficiency is improved. When the last pulse edge has been received, the motor phase current is reduced to the percentage value set with parameter switch S. Adjustments with parameter switch S OFF S CurRed CurRed/CurRed ON CurRed 67.5%.5% 75% 5% 87.5% 7.5% % 5% CurRed CurRed Setting current reduction Setting steps per revolution The resolution of the stepper motor drive is set via the number of steps. Example: At a number of steps of and at pulses, the stepper motor drive turns the motor exactly one complete revolution. At a pulse frequency of khz this results in a speed of 6 /min. Adjustments with parameter switch S Number of steps: / 4 / 5 / / / 4 / 5 / per revolution OFF S STEP STEP/STEP ON STEP STEP STEP Setting steps per revolution Activating the "Softstep" function If the "Softstep" function is activated, the reference value is internally set to a higher resolution. The motor then runs much more smoothly, in particular at low speeds or sudden changes in the reference value The motor accelerates and decelerates virtually without jerking. The transitions are smoothed, i.e. the motor can follow the reference values much more easily with fast changes of frequency. Adjustments with parameter switch S.4 Activate/deactivate "Softstep" function 6 Catalogue stepper motor drives SD 5, D9 Berger Lahr

10 Stepper motor drive SD 5 Functions Setting release type The release type can be set with parameter switch S.4. Switch setting S.4 OFF (factory setting) ON Description "ENABLE" function Activating and deactivating the power amplifier "GATE" function Enable or disable reference values Signal inputs and outputs All signal inputs are available as a 5 V or 4 V optocoupler inputs. ENABLE signal input Signal input ENABLE activates or deactivates the power amplifier. In addition, an error message is reset with a rising edge. Signal value Rising edge Falling edge Description Activate power amplifier Deactivate power amplifier and reset error message If no error condition is present, signal output ACTIVE_OUT signals readiness for operation approx. 5 ms after activation of the power amplifier. GATE signal input Signal input GATE blocks the signals at the signal interface without disabling the operating readiness. In a multi-axis system, you can select individual axes via GATE. Signal value Rising edge Falling edge Description Block signals Enable signals +GATE +PULSE >.5 ms >.5 ms >.5 ms >.5 ms Signal sequences in case of activation via GATE () Motor step () No motor steps () Motor steps No pulse may be applied for.5 ms before and after the GATE signal changes to ensure that the drive can follow the preset pulse step by step. Berger Lahr Catalogue stepper motor drives SD 5, D9 7

11 Functions Stepper motor drive SD 5 PULSE/DIR signal input The motor executes a motor step with the rising edge of the PULSE signal. The direction of rotation is controlled by the DIR signal. PULSE DIR >.5µs >.5µs >.µs >5µs "PULSE/DIR" interface mode Signal Signal value Description PULSE Rising edge Motor step DIR level level Positive rotation Negative rotation The maximum frequency is Hz. ACTIVE_OUT signal output The signal output ACTIVE_OUT indicates operating readiness. Signal value Open Closed Description Power amplifier deactivated, motor without current Power amplifier activated, motor has current Monitoring functions The monitoring functions are provided to protect the equipment. These monitoring functions are not designed to protect personnel. The following errors and limit values can be monitored: Monitoring Task Protective function Overvoltage and undervoltage Monitoring for overvoltage and undervoltage of the power supply Functional safety and device protection Overtemperature Monitoring device for overtemperature Device protection Short circuit Monitoring for short circuits between the motor Device protection phases 8 Catalogue stepper motor drives SD 5, D9 Berger Lahr

12 F A B C D E Stepper motor drive SD 5 Functions Status display 4 4 ERR OK Status display via LEDs The LEDs display the current operating status. A B C D E F G H J K OK s ERR s Flash codes of LED OK and LED ERR (A) No power supply. (B) Power amplifier is activated. (C) Reserved (D) Power amplifier is deactivated. (E) Reserved (F) Power amplifier overtemperature (G) Overvoltage, also in case of regeneration conditions. (H) Undervoltage (J) Reference signal frequency too high (K) Short circuit between two motor phases. Berger Lahr Catalogue stepper motor drives SD 5, D9 9

13 Mounting and installation Stepper motor drive SD 5 Mounting and installation Mounting distances and ventilation When selecting the position of the device in the control cabinet, note the following instructions: Adequate cooling of the device must be ensured by complying with the minimum installation distances. Prevent heat accumulation. The device must not be installed close to heat sources or mounted on flammable materials. The warm airflow from other devices and components must not heat the air used for cooling the device. The drive will switch off as a result of overtemperature when operated above the thermal limits. d d Installation distances and air circulation The specified continuous current is applicable if the following distances are maintained and the device is installed vertically. At least mm of free space is required in front of the device. At least 5 mm of free space is required above the device. For "d" ist mindestens mm Freiraum einzuhalten. At least mm of free space is required below the to ensure that cables can be routed without excessive bending. If other components are installed in these areas, the possible continuous current is reduced. The SD 5 stepper motor drive meets the EMC requirements for the second environment as per IEC 68-. An EMC-compliant design is required to maintain the specified limit values, see documentation. Catalogue stepper motor drives SD 5, D9 Berger Lahr

14 Stepper motor drive SD 5 Mounting and installation EMC-compliant installation The SD 5 stepper motor drive meets the EMC requirements for the second environment as per IEC 68-. An EMC-compliant design is required to maintain the specified limit values, see documentation. EMC measures for the SD 5 stepper motor drive Earthing t o neutral point Shield on mounting plate Control cabinet + - ~ S S CN System ground Neutral point for earthing S CN Machine bed CN Ground motor to machine bed M~ EMC measures Berger Lahr Catalogue stepper motor drives SD 5, D9

15 Wiring examples Stepper motor drive SD 5 Wiring examples CN PULSE_5 PULSE_.. M ~....4 U V W SHLD CN DIR_5 DIR_ ENABLE_ ENABLE_ VDC ~ VDC VDC CN ACTIVE_OUT_C ACTIVE_OUT_NO VDC ~ Wiring example with 5 V CN PULSE_4 PULSE_.. M ~....4 U V W SHLD CN DIR_4 DIR_ ENABLE_ ENABLE_ VDC ~ VDC VDC CN ACTIVE_OUT_C ACTIVE_OUT_NO.. + 4VDC - ~ Wiring example with 4 V Catalogue stepper motor drives SD 5, D9 Berger Lahr

16 Stepper motor drive SD 5 Technical data Technical data Mechanical data SD 5 Dimensions (W x H x D) mm 74.5 x 7 x.5 Weight kg.5 Type of cooling Free convection Electrical data Power supply at CN SD 5 Supply voltage V DC 4 48 Limit values V DC 9. 6 Max. current consumption A 7.5 Residual ripple % <5 Power loss W <7 Fuse, external A < Signal interface CN 5 V optocoupler input signals Logic (U high ) V Logic (U low ) V.4 Input current ma 5 Max. input frequency khz 4 V optocoupler input signals Logic (U high ) V Logic (U low ) V 5 Input current ma 7 Max. input frequency khz Signal output "Readiness" Electronic relay Max. switching voltage V DC Max. switching current ma Voltage drop at 5 ma load V Motor connection at CN Max. motor phase current A pk 4 A rms Number of phases Ambient conditions Operating / ambient temperature C... +5%, no icing allowed Transport and storage temperature C Pollution degree Relative humidity % %, no condensation allowed Installation height above mean sea level for % power m < Installation height m < at max. Ambient temperature 4 C, set up with gap at side of > mm Oscillation and vibration As per IEC/EN mm.5; sine... Hz m/s ; sine... 5 Hz Shock loading As per IEC/EN m/s 5; half-sine ms Degree of protection IP Berger Lahr Catalogue stepper motor drives SD 5, D9

17 Dimensional drawings Stepper motor drive SD 5 Dimensional drawings G G F B C D E A H J Dimensions SD 5 A mm.5 B mm 7 C mm 74.5 D mm 6 E mm.75 F mm 6.5 G mm 4.5 H mm J mm 4 4 Catalogue stepper motor drives SD 5, D9 Berger Lahr

18 Stepper motor drive SD 5 Order number Order number Type Order number SD 5D N B4 65 Berger Lahr Catalogue stepper motor drives SD 5, D9 5

19 4567 Product description D9 stepper motor drive board D9 stepper motor drive board Product description 5 The D9 stepper motor drive board is used to control -phase stepper motors with N windings: VRDM 6...LN and VRDM 9...LN. This board is available in two versions: D 9.5 (control with 4 V) D 9.5 (control with 5 V) Device overview 4 () Hook switch for setting the "Microstep" function () Parameter switch for setting the motor phase current () Parameter switch for setting the number of steps and the current reduction (4) 5 LEDs (5) Plug-in unit 9" rack mounting housing (HU) EF CD AB 9 Ready Not ready PULSE DIR GATE ZERO CURRENT MICROSTEP Ready relay Signal inputs D9 Switching unit power supply = +5V +5V -5V = VDC Ready Short-circuit Overtemperature Overvoltage Undervoltage Status indicators Monitoring logic Power amplifier with current controller Phase U Number of steps Current reduction Motor phase current DIP switch Selector Generation of references values Power amplifier with current controller Phase V -phase stepper motor Microstep Hook switch Power amplifier with current controller Phase W Block diagram D9 6 Catalogue stepper motor drives SD 5, D9 Berger Lahr

20 F ABCD E D9 stepper motor drive board Functions Ready Short-circuit Overtemperature Overvoltage Undervoltage Number of steps Current reduction OFF LED LED LED LED 4 LED 5 DIP switch S Functions Parameterisation The following functions can be set via the parameter switches of the stepper motor drive board: Motor phase current Steps per revolution Current reduction during standstill "Microstep" Setting motor phase current The motor phase current is set with rotary switch S. The set value should correspond to the nominal motor current I N, see motor nameplate. A low motor phase current produces a low torque. Motor phase current Rotary switch S Adjustments with rotary switch S Microstep Hook switch S Switch position S Motor phase current in A (factory setting) A 4.5 B 4.4 C 4.7 D 5. E 5. F 5.5 Berger Lahr Catalogue stepper motor drives SD 5, D9 7

21 Functions D9 stepper motor drive board Setting steps per revolution The resolution of the stepper motor drive is set via the step number. Example: With a step number of, the stepper motor drive performs exactly one revolution for pulses. With a pulse frequency of khz, the result is therefore a speed of rotation of 6 /min. Adjustments with parameter switches S and S Number of steps: / 4 / 5 / / / 4 / 5 / per revolution S ON OFF S STEP/STEP 5 4 STEP STEP 5 4 Setting steps per revolution The setting of hook switch S can be inverted via the input signal MICROSTEP. This increases or decreases the number of steps by a factor of. Activating the current reduction If the full holding torque is not required at standstill, the "current reduction" function can be used to reduce the holding torque. Motor and electronics heat up less and the efficiency is improved. The motor phase current is reduced to approximately 6% of the set current value after the last pulse edge was received. Adjustments with parameter switch S. Activate/deactivate current reduction Activating the "Microstep" function The "Microstep" function can be activated in two ways. Mechanically via hook switch S and digitally via the input signal at the MICROSTEP signal input. Activating the "Microstep" function increases the resolution and the number of motor steps by a factor of. Adjustments with hook switch S Activate/deactivate "Microstep" function 8 Catalogue stepper motor drives SD 5, D9 Berger Lahr

22 D9 stepper motor drive board Functions Signal inputs and outputs PULSE signal input In order to generate a rotary movement of the motor shaft, square pulses must be supplied at the pulse input. Each positive pulse edge triggers one motor step when the gate input is without current. The direction of rotation is controlled by the DIR input. DIR signal input When the DIR signal input is currentless, the motor turns clockwise, viewed from the front onto the motor shaft. If the signal input is live, the motor runs anticlockwise. It is possible to invert the direction of rotation by changing two motor phases. PULSE/DIR interface mode The motor executes an angular step with the rising edge of the PULSE signal. The direction of rotation is controlled by the DIR signal. The pulse maximum frequency is khz. PULSE DIR >.5µs >.5µs >.µs >5µs PULSE/DIR interface mode GATE signal input The "GATE" function blocks the pulses at the reference value input without switching off the operating readiness. In a multi-axis system, individual axes can be selected with the "Gate" function. +GATE +PULSE Follow diagram of WD, Page 8 >.5 ms >.5 ms >.5 ms >.5 ms Signal sequences in case of activation via the "GATE" function () Motor step () No motor steps () Motor steps MICROSTEP signal input The "MICROSTEP" function is selected via the MICROSTEP signal input or with the hook switch S. The time sequence of the MICROSTEP signal input and that of the GATE signal input are the same. Berger Lahr Catalogue stepper motor drives SD 5, D9 9

23 Mounting and installation D9 stepper motor drive board ZERO CURRENT signal input When the signal input is live, the motor phase current is switched off. At a standstill, the motor has no holding torque. Signal output If the board is working correctly, the operating readiness contact is closed and the ready for operation LED lights up. Status display LED The five LEDs on the board show the operating status and any malfunctions. LED : Readiness LED : Short circuit LED : Overtemperature LED 4: Overvoltage LED 5: Undervoltage Mounting and installation The board is mounted in a 9" rack mounting housing (HU). When mounting the board, make sure to keep a distance of at least 5 cm between the board and the housing wall or the next board. The board can be ventilated longitudinally or transversely. Ready relay c a +PULSE -PULSE +DIR -DIR +GATE -GATE + ZERO CURRENT NO (not ready) NO (ready) C - ZERO CURRENT - MICROSTEP + MICROSTEP Controller 6 8 Earth Supply voltage -phase stepper motor M Motor connecting U Motor connecting V Motor connecting W m max. twisted _ + Electrol. cap. >6 V >47 µf VDC supply voltage 85 V V 5 Hz Earth Wiring example D9 Catalogue stepper motor drives SD 5, D9 Berger Lahr

24 D9 stepper motor drive board Technical data Technical data Mechanical data Dimensions (W x H x D) mm x 6 x 5 Weight kg.5 Electrical data Power supply Supply voltage V DC 8 4 Max. current consumption A 4 Max. power loss W 4 Max. length supply cable, twisted m 5 Motor connection Motor phase current A Motor voltage V x Motor cable as per EN 64 Max. length m 5 Cross section at cable length m mm.75 Cross section at cable length > m mm.5 Shield connection at both ends Signal connection ) D9.5 D9.5 Voltage control Logic (U high ) V ) Logic (U low ) V Input current ma Current control Logic (I high ) ma Logic (I low ) ma Input voltage V 5.5 Input resistance Ω 5 Max. input frequency khz Readiness signal output Electronic relay (resistive load) Max. switching voltage V DC 6 Switching current ma... ) The PULSE, DIR, GATE, ZERO CURRENT, MICROSTEP signal inputs are optocoupled and protected against reverse polarity ) Pulse signal voltage.5 V to 5.5 V for pulse duration/pulse pause < µs Ambient conditions Operating / ambient temperature C... +5%, no icing allowed Transport and storage temperature C Pollution degree Relative humidity % %, no condensation allowed Installation height above mean sea level for % power m < Installation height m < at max. ambient temperature 4 C, set up with gap at side of > mm Oscillation and vibration As per IEC/EN mm.5; sine... Hz m/s ; sine... 5 Hz Shock loading As per IEC/EN m/s 5; half-sine ms Degree of protection IP Order numbers Type Order number D9.5 (4 V signal voltage) 695 D9.5 (5 V signal voltage) 695 Berger Lahr Catalogue stepper motor drives SD 5, D9

25 Product Description D9 stepper motor drive board D9 stepper motor drive board Product Description 5 The D9 stepper motor drive board is used to control -phase stepper motors with H windings: VRDM 6...LH and VRDM 9...LH. Device overview () Hook switch for setting the Microstep () Parameter switch for setting the motor phase current () Parameter switch for setting the number of steps and the current reduction (4) 5 LEDs (5) Plug-in unit 9" rack mounting housing (HU) 4 Ready Not ready PULSE DIR GATE/ENABLE ZERO CURRENT MICROSTEP Ready relay Signal inputs D9 Switching unit power supply = +5V +5V -5V = 4 VDC Ready Short-circuit Overtemperature Overvoltage Undervoltage Status indicators Monitoring logic Power amplifier with current controller Phase U Number of steps Current reduction Gate/Enable Motor phase current DIP switch Selector Generation of references values Power amplifier with current controller Phase V -phase stepper motor Microstep Hook switch Power amplifier with current controller Phase W Block diagram D9 Catalogue stepper motor drives SD 5, D9 Berger Lahr

26 F ABCD E D9 stepper motor drive board Functions Ready Short-circuit Overtemperature Overvoltage Undervoltage Number of steps Current reduction Gate/Enable OFF LED LED LED LED 4 LED 5 DIP switch S Functions Parameterisation The following functions can be set via the parameter switches of the stepper motor drive board: Motor phase current Steps per revolution Current reduction during standstill "Microstep" Setting motor phase current The motor phase current is set with rotary switch S. The set value should correspond to the nominal motor current I N, see motor nameplate. A low motor phase current produces a low torque. Motor phase current Rotary switch S Adjustments with rotary switch S Microstep Hook switch S Switch position S Motor phase current in A (factory setting) A 4.5 B 4.6 C 4.9 D 5. E 5.5 F 5.8 Berger Lahr Catalogue stepper motor drives SD 5, D9

27 Functions D9 stepper motor drive board Setting steps per revolution The resolution of the stepper motor drive is set via the step number. Example: With a step number of, the stepper motor drive performs exactly one revolution for pulses. With a pulse frequency of khz, the result is therefore a speed of rotation of 6 /min. Adjustments with parameter switches S and S Number of steps: / 4 / 5 / / / 4 / 5 / per revolution S ON OFF S STEP/STEP 5 4 STEP STEP 5 4 Setting steps per revolution The setting of hook switch S can be inverted via the input signal MICROSTEP. This increases or decreases the number of steps by a factor of. Activating the current reduction If the full holding torque is not required at standstill, the "current reduction" function can be used to reduce the holding torque. Motor and electronics heat up less and the efficiency is improved. The motor phase current is reduced to approximately 6% of the set current value after the last pulse edge was received. Adjustments with parameter switch S. Activate/deactivate current reduction Activating the "Microstep" function The "Microstep" function can be activated in two ways. Mechanically via hook switch S and digitally via the input signal at the MICROSTEP signal input. Activating the "Microstep" function increases the resolution and the number of motor steps by a factor of. Adjustments with hook switch S Activate/deactivate "Microstep" function 4 Catalogue stepper motor drives SD 5, D9 Berger Lahr

28 D9 stepper motor drive board Functions Signal inputs and outputs PULSE signal input In order to generate a rotary movement of the motor shaft, square pulses must be supplied at the pulse input. Each positive pulse edge triggers one motor step when the gate input is without current. The direction of rotation is controlled by the DIR input. DIR signal input When the DIR signal input is currentless, the motor turns clockwise, viewed from the front onto the motor shaft. If the signal input is live, the motor runs anticlockwise. It is possible to invert the direction of rotation by changing two motor phases. PULSE/DIR interface mode The motor executes an angular step with the rising edge of the PULSE signal. The direction of rotation is controlled by the DIR signal. The pulse maximum frequency is khz. PULSE DIR >.5µs >.5µs >.µs >5µs PULSE/DIR interface mode ENABLE signal input The ENABLE function enables the power amplifier to allow control of the motor. GATE signal input The "GATE" function blocks the pulses at the reference value input without switching off the operating readiness. In a multi-axis system, individual axes can be selected with the "Gate" function. +GATE +PULSE >.5 ms >.5 ms >.5 ms >.5 ms Follow diagram of WD, Page 8 Signal sequences in case of activation via the "GATE" function () Motor step () No motor steps () Motor steps MICROSTEP signal input The "MICROSTEP" function is selected via the MICROSTEP signal input or with the hook switch S. The time sequence of the MICROSTEP signal input and that of the GATE signal input are the same. Berger Lahr Catalogue stepper motor drives SD 5, D9 5

29 Mounting and installation D9 stepper motor drive board ZERO CURRENT signal input When the signal input is live, the motor phase current is switched off. At a standstill, the motor has no holding torque. Signal output If the board is working correctly, the operating readiness contact is closed and the ready for operation LED lights up. Status display LED The five LEDs on the board show the operating status and any malfunctions. LED : Readiness LED : Short circuit LED : Overtemperature LED 4: Overvoltage LED 5: Undervoltage Mounting and installation The board is mounted in a 9" rack mounting housing (HU). When mounting the board, make sure to keep a distance of at least 5 cm between the board and the housing wall or the next board. The board can be ventilated longitudinally or transversely. Ready relay c a +PULSE -PULSE +DIR -DIR +GATE/ENABLE -GATE/ENABLE + ZERO CURRENT NO (not ready) NO (ready) C - ZERO CURRENT - MICROSTEP + MICROSTEP Controller 6 8 Earth Supply voltage -phase stepper motor M Motor connecting U Motor connecting V Motor connecting W m max. twisted _ + Electrol. cap. >5 V >68 µf 4 VDC supply voltage 5 V V 5 Hz Earth Wiring example 6 Catalogue stepper motor drives SD 5, D9 Berger Lahr

30 D9 stepper motor drive board Technical data Technical data Mechanical data Dimensions (W x H x D) mm x 6 x 5 Weight kg.5 Electrical data Power supply Supply voltage V DC 8 4 Max. current consumption A 6 Max. power loss W Max. length supply cable, twisted m 5 Motor connection Motor phase current A Motor voltage V x 4 Motor cable as per EN 64 Max. length m 5 Cross section at cable length m mm.5 Capacitance per m nf Shield connection at both ends Signal connection ) D9.5 D9.5 Voltage control Logic (U high ) V ) Logic (U low ) V Input current ma Current control Logic (I high ) ma Logic (I low ) ma Input voltage V 5.5 Input resistance Ω 5 Max. input frequency khz Readiness signal output Electronic relay (resistive load) Max. switching voltage V DC 6 Switching current ma... ) The PULSE, DIR, GATE, ZERO CURRENT, MICROSTEP signal inputs are optocoupled and protected against reverse polarity ) Pulse signal voltage.5 V to 5.5 V for pulse duration/pulse pause < µs Ambient conditions Operating / ambient temperature C... +5%, no icing allowed Transport and storage temperature C Pollution degree Relative humidity % %, no condensation allowed Installation height above mean sea level for % power m < Installation height m < at max. ambient temperature 4 C, set up with gap at side of > mm Oscillation and vibration As per IEC/EN mm.5; sine... Hz m/s ; sine... 5 Hz Shock loading As per IEC/EN m/s 5; half-sine ms Degree of protection IP Order numbers Type Order number D9.5 (4 V signal voltage) 695 D9.5 (5 V signal voltage) 695 Berger Lahr Catalogue stepper motor drives SD 5, D9 7

31 Product description D9 stepper motor drive board D9 stepper motor drive board Product description The D9 stepper motor drive board is used to control -phase stepper motors with H windings: VRDM 6 LH and VRDM 9 LH. It is installed in a customer-specific electronic system as a power module. The D9 stepper motor drive board is available in two versions: with angled connecting pins, without fastening bracket with straight connecting pins and fastening bracket 5 4 Device overview () LED () Power transistors () Power resistors (4) Fastening brackets for solder mounting (5) Pin (6) Pin 4 6 5V Logicsupply Voltage controller Monitoring electronics Voltage controller PULSE 8V DC bis max. 4V DC DIR ENABLE POWER ON NUMBER OF STEPS ABS OFF R PHASE CURRENT SHORT CIRCUIT OVERTEMPERATURE OVERVOLTAGE interface Signal Signal processing and generation of references values Power amplifiers with current controller Phase U Phase V -phase stepper motor ERROR X READY Phase W Indicator D9 Block diagram D9 8 Catalogue stepper motor drive SD 5, D9 Berger Lahr

32 D9 stepper motor drive board Functions Functions Parameterisation The following functions can be set via the inputs of the stepper motor drive board: Motor phase current Steps per revolution Automatic current reduction function Setting motor phase current To set the motor phase current, a resistor must be earthed at the input R PHASE CURRENT. Alternatively, a resistor network consisting of 4 resistors can be used. This allows the nominal motor current to be adjusted in 6 steps. The set value should correspond to the nominal motor current I N, see motor nameplate. A low motor phase current produces a low torque. R external R PHASE CURRENT (Pin 5) Wiring suggestion Resistor circuit for 6 current settings: External resistor in kω Motor phase current in A Berger Lahr Catalogue stepper motor drive SD 5, D9 9

33 Functions D9 stepper motor drive board R R R R4 R's external R PHASE CURRENT (Pin 5) Wiring suggestion Resistor circuit an external resistor network consisting of four resistors. With the selected resistors, the motor phase current can be set in 6 steps using a hexadecimal switch. R ( kω) R (65 kω) R (8.5 kω) R4 (4. kω) Motor phase current in A Setting steps per revolution The resolution of the stepper motor drive is set via the step number. Example: With a step number of, the stepper motor drive performs exactly one revolution for pulses. With a pulse frequency of khz, the result is therefore a speed of rotation of 6 /min. Adjustments via the three signal inputs NUMBER OF STEPS Number of steps: / 4 / 5 / / / 4 / 5 / per revolution Resolution NUMBER OF STEPS NUMBER OF STEPS NUMBER OF STEPS Activating motor phase current reduction at standstill If the full holding torque is not required at standstill, the "current reduction" function can be used to reduce the holding torque. Motor and electronics heat up less and the efficiency is improved. The motor phase current is reduced to approximately 6% of the set current value after the last pulse edge was received. Adjustments with the signal input ABS OFF Activate/deactivate current reduction Catalogue stepper motor drive SD 5, D9 Berger Lahr

34 D9 stepper motor drive board Functions Signal inputs and outputs PULSE signal input In order to generate a rotary movement of the motor shaft, square pulses must be supplied at the pulse input. Each positive pulse edge triggers one motor step when the gate input is without current. The direction of rotation is controlled by the DIR input. DIR signal input When the DIR signal input is currentless, the motor turns clockwise, viewed from the front onto the motor shaft. If the signal input is live, the motor runs anticlockwise. It is possible to invert the direction of rotation by changing two motor phases. PULSE/DIR interface mode The motor executes an angular step with the rising edge of the PULSE signal. The direction of rotation is controlled by the DIR signal. The pulse maximum frequency is khz. PULSE DIR >.5µs >.5µs >.µs >5µs PULSE/DIR interface mode ENABLE signal input The ENABLE function enables the power amplifier to allow control of the motor. POWER ON signal input The power amplifier is enabled (signal =) or blocked (signal = ) via the signal input POWER ON. When the power amplifier is blocked, the motor current is switched off. The motor no longer has a holding torque. This status is not displayed. The stepper motor drive board remains ready for operation. Signal outputs The signals for malfunctions and operating readiness are provided at the signal outputs SHORT CIRCUIT, OVERTEMPERATURE, OVERVOLTAGE, ERROR X and READY. Berger Lahr Catalogue stepper motor drive SD 5, D9

35 . Mounting and installation D9 stepper motor drive board Mounting and installation The D9 stepper motor drive board is available in two versions: with angled connecting pins, without fastening bracket with straight connecting pins, with fastening bracket The two fastening brackets supplied are soldered onto the board. This supports the board laterally. Then the board is soldered onto the printed circuit board. The right angle (at Pin ) serves as an additional heat sink and is connected to supply potential ( V). Soldered contacts Pin grid dimensions mm.54 Contacts pins Diameter of holes for solder pins ( holes) mm Diameter of holes for bracket mm Pin Pin Fastening brackets D9 board with solder contacts 4x Ø D9 with straight connecting pins (for mounting with fastening brackets) 4x Ø D9 with angled connecting pins (for mounting without fastening brackets) Catalogue stepper motor drive SD 5, D9 Berger Lahr

36 D9 stepper motor drive board Wiring example Wiring example -phase stepper motor M Motor connecting U Motor connecting V Motor connecting W V DC Supply to control circuit Control circuit earth PULSE DIR ENABLE POWER ON NUMBER OF STEPS NUMBER OF STEPS NUMBER OF STEPS OPTION (May not be connected) OPTION (May not be connected) OPTION (May not be connected) ABS OFF R PHASE CURRENT SHORT CIRCUIT OVERTEMPERATURE OVERVOLTAGE FAULT X READY Elko >5 V>68 µf Earth supply voltage max..5 m twisted _ + 5 V V 5 Hz V DC Supply to power circuit Wiring example D9 Berger Lahr Catalogue stepper motor drive SD 5, D9

37 Technical data D9 stepper motor drive board Technical data Mechanical data Dimensions (W x H x D) mm 86.5 x 5 x Weight g 45 Electrical data Power circuit Supply voltage V DC 8 4 Max. ripple V SS.6 Max. current consumption A 5 Max. power loss W 5 External fuse A slow-blow Control circuit Supply voltage V 5 ± 5% Residual ripple mv SS Max. current consumption A. CMOS inputs: PULSE, DIR, ENABLE, POWER ON, STEP NUMBER... Max. signal voltage V 5.5 PULSE U high min. V. U low max. V.5 DIR, ENABLE, POWER ON, STEP NUMBER U high min. V. U low max. V.8 CMOS outputs: SHORT CIRCUIT, OVERTEMPERATURE, OVERVOLTAGE, ERROR X, READY Max. output current A ±.4 U high min. V.5 U low max. V.8 FET input: ABS OFF Max. signal voltage V U high min. V 6.5 U low max. V.8 OP input: R PHASE CURRENT Min. external resistance kω R min. kω 6.5 R max. as high as required Motor connection Motor phase current (operation) A Motor phase current (standstill) A DC 8. Motor chopper voltage V 4 Motor cable as per EN 64 Max. length m Cross section mm.5 Capacitance per m nf Shield connection at both ends Ambient conditions Operating / ambient temperature C... +5%, no icing allowed Transport and storage temperature C Pollution degree Relative humidity % %, no condensation allowed Installation height above mean sea level for % power m < Installation height m < at max. ambient temperature 4 C, set up with gap at side of > mm Oscillation and vibration As per IEC/EN mm.5; sine... Hz m/s ; sine... 5 Hz Shock loading As per IEC/EN m/s 5; half-sine ms Degree of protection IP 4 Catalogue stepper motor drive SD 5, D9 Berger Lahr

38 D9 stepper motor drive board Order numbers Order numbers Type Order number D9. with straight connecting pins 696 D9. with angled connecting pins 696 Berger Lahr Catalogue stepper motor drive SD 5, D9 5

39 Product offer -phase stepper motors Product offer 4 5 The -phase stepper motors from Berger Lahr are extremely robust, maintenancefree motors. They carry out precise step-by-step movements that are controlled by a stepper motor drive. A stepper motor drive system consists of a stepper motor and the matching stepper motor drive. Maximum performance can only be obtained if motor and electronics are perfectly tuned to each other. The -phase stepper motors can be operated at very high resolutions depending on the stepper motor drive. Options such as rotation monitoring and holding brake as well as robust, low-play planetary gears extend the application options. Special features Quiet As a result of the sine commutation and the special mechanical design of the motors, the stepper motors are very quiet and run virtually without resonance. Strong The optimised internal geometry of the motor ensures a high power density; Flexible With a flexible modular system and modern variant management, a wide variety of motor types can be manufactured and delivered in a very short time. Structure () Motor connection, here a version with an angular connector () Additional terminal for protective conductor () Housing, with black protective coating (4) Axial flange with four mounting points as per DIN 498 (5) Smooth shaft end as per DIN Catalogue stepper motor drives SD 5, D9 Berger Lahr

40 -phase stepper motors Product offer Product quotation -phase stepper motors VRDM 6 VRDM 9 Size 6 9 Max. torque M max Nm Holding torque M H Nm Number of steps z ) / 5 / / / 4 / 5 / Step angle α ).8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 ) With suitable control Berger Lahr Catalogue stepper motor drives SD 5, D9 7

41 Product offer -phase stepper motors Motor types Gearing Shaft Centring collar Winding Length Motor connection Options ) 4) Motortyp Length Winding ) Shaft Centring collar Motorconnection (Without shaft) ) Options Gearing VRDM 6 VRDM 64 4 (4 mm) H smooth Ø 6.5 mm Ø 8. mm Wires, Connector, th schaft end, Holding PLE 4, PLE 6, Terminal box brake, Encoder PLS 7 VRDM 66 6 (56 mm) H, N PLE 6, PLS 7 VRDM 68 8 (79 mm) Ø 8 mm VRDM 9 VRDM 97 7 (68 mm) H, N smooth, Ø 9.5 mm, Ø 6 mm, Wires, Connector, th schaft end, Holding PLE 8, PLS 9 VRDM 9 (98 mm) Woodruff Ø mm Ø 7 mm Terminal box brake, Encoder key VRDM 9 (8 mm) Ø 4 mm ) Winding type for nominal voltage : H = 4 / 5 V DC ; N = V DC ) In case of motors with terminal box, the terminal block is located inside the motor; the cable gland is sealed and EMC-tested ) Alternatively: nd shaft end or holding brake. Motors with encoder are only available in connector version; nd shaft end or holding brake are not possible with this version. 4) All PLE and PLS gearings are available with the gear ratios :, 5: and 8:. 8 Catalogue stepper motor drives SD 5, D9 Berger Lahr

42 -phase stepper motors Product offer Degree of protection Front of motor Motor connection Rear of motor Gearing Shaft bushing Wires Terminal box nd shaft end Holding brake PL, PLE PLS Connector Encoders IP 54 IP 65 IP 4 IP 56 (optional with VRDM 9 ) IP 4 IP 56 IP 4 IP 56 Motor connection U BK YE W W W WH BU V Motor connection wire version Designation Motor wire colour as per DIN IEC 757 Motor wire colour U BK and YE Black and yellow V WH and BU White and blue W OR and RD Orange and red OR RD W U V W () () () PE Motor connection in terminal box version Designation Pin Wire colour as per DIN IEC 757 Wire colour ) U BR Brown V BU Blue W BK Black PE GN/YE Green/yellow SHLD Shield ) Berger Lahr motor cable SHLD Motor connection in connector version Designation Pin U V W PE 4 Berger Lahr Catalogue stepper motor drives SD 5, D9 9

43 Technical data VRDM 6 VRDM 6 Technical data Motor type VRDM 64 VRDM 66 VRDM 68 Winding H H N H N Max. supply voltage U max V AC Max. voltage to PE V AC Nominal voltage DC bus U N V DC 4 / 6 / 48 4 / 6 / 48 4 / 6 / 48 Nominal torque M N Nm Holding torque M H Nm.5..7 Rotor inertia J R kgcm²...8 Number of steps z ) / 4 / 5 / / / 4 / 5 / Step angle α.8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 Systematic angle tolerance Δα ) s ±6 Max. starting frequency f Aom khz Nominal motor current I N A rms Winding resistance R W Ω Current rise time constantτ ms Mass m ) kg..6. Shaft load 4) Max. radial force st shaft end 5) N Max. radial force nd shaft end (optional) 6) N 5 / 4 Max. axial tensile force N Max. axial force pressure N 8.4 7) Nominal bearing service life L h h ) Depending on the control ) Measured at steps/revolution, unit: angular minutes ) Mass of the motor version with cable gland and connector 4) Conditions for shaft load: speed of rotation 6 min -, % duty cycle at nominal torque, ambient temperature 4 C (bearing 8 C) 5) Radial force acts at centre of shaft end 6) Radial force acts at centre of shaft end ; st value: motors with terminal box, connector or encoder; nd value: motors with wires 7) Operating hours at a probability of failure of % Ambient conditions Ambient temperature C Installation height without power reduction m a. MSL < Transport and storage temperature C Relative humidity % 75 (on annual average), 95 (in days, no condensation) Vibration grade in operation as per EN 64-4 A Continuous shocks as per DIN EN Number of shocks per direction Peak acceleration m/s Degree of protection as per EN 64-5 Total except shaft bushing IP 56 Shaft bushing without shaft seal ring IP 4 Therm class as per EN (F) Shaft wobble and perpendicularity As per EN 5 47 (IEC 67-) Maximum rotary acceleration rad/s 4 Catalogue stepper motor drives SD 5, D9 Berger Lahr

44 VRDM 6 Technical data Characteristic curves VRDM 64 / 5L H with D9 and D9 VRDM 64 / 5L H with SD 5 M[Nm] M[Nm],6.6 4 V DC,45 4 V DC.45 6 V DC, 6 V DC. 48 V DC,5.5, f S [khz]. f S [k H z ] J [kg cm²] n [/min] J[kgcm²] n[/m in] 4 4 VRDM 66 / 5L H with D9 and D9 VRDM 66 / 5L H with SD 5 M[Nm] M[Nm],. 4 V DC,9 4 V DC.9 6 V DC,6 6 V DC.6 48 V DC,., f S [khz]. f S [k H z ] J[kgcm²] n [/min] J[kgcm²] n[/m in] 4 4 Measurement at steps/revolution, nominal voltage DC bus U N and phase current I N () Pull-out torque () pull-in torque () Maximum load inertia Berger Lahr Catalogue stepper motor drives SD 5, D9 4

45 Technical data VRDM 6 Characteristic curves VRDM 68 / 5L H with D9 and D9 VRDM 68 / 5L H with SD 5 M[Nm],6 M[Nm].6 4 V DC, 4 V DC 6 V DC. 6 V DDC 48 V DC,8.8,4.4, f S [khz]. f S [k H z ] J[kgcm²] n [/min] J[kgcm²] n[/m in] VRDM 66 / 5L N with D9 VRDM 68 / 5L N with D9 M[Nm] M[Nm]..6.9 V DC. V DC f S [khz]. f S [khz] J[kgcm²] n [/min] J[kgcm²] n [/min] Measurement at steps/revolution, nominal voltage DC bus U N and phase current I N () Pull-out torque () Pull-in torque () Maximum load inertia 4 Catalogue stepper motor drives SD 5, D9 Berger Lahr

46 VRDM 6 Dimensional drawings Dimensional drawings Ø 8. ±.5 Shaft Ø -. 5 L ±.5 Ø 8 ± Ø 5. Rotor axially spring-loaded.6 With nd shaft end, only wires at sides are possible. R5 7.7 VRDM 64 VRDM 66 VRDM 68 Length L Shaft Ø phase stepper motor VRDM 6 in wire version Ø 8. ±.5 Ø 8 -. L ± Ø 8 ( ) Ø 5. Rotor.6 axially spring-loaded R5 Cable gland M x.5 for cable Ø 9 to Ø.5 ca. 49 L ± Ø5 Length L Shaft Ø VRDM Holding brake (optional) VRDM VRDM phase stepper motor VRDM 6 in terminal box version Berger Lahr Catalogue stepper motor drives SD 5, D9 4

47 Dimensional drawings VRDM 6 Dimensional drawings ca. 58 Ø 8. ±.5 Shaft Ø -. L ± Ø 8 ( ) Ø 5. ca. 58 Rotor.6 axially spring-loaded R5 Connector encoder (optional) -pin L ± Connector motor 6-pin with encoder (optional) 5 Ø 5 ca. 49 Holding brake (optional) ca. 49 L ± without encoder Ø 5 VRDM 64 Length L 4 Shaft Ø 6.5 VRDM Holding brake (optional) VRDM phase stepper motor VRDM 6 in connector version 44 Catalogue stepper motor drives SD 5, D9 Berger Lahr

48 VRDM 6 Type code Type code Example: VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO Number of phases VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO Size (flange) VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO 6 = 57. mm Length VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO 4 = 4 mm 6 = 56 mm 8 = 79 mm Number of pole pairs VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B B OOO 5 Rotor VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO L = laminated rotor plate Maximum voltage VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B B OOO H = 4 V AC (48 V DC ) N = 9 V AC ( V DC ) Connection type VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO A = Wires B = Terminal box C = Connector Position capture VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO E = Encoder ( increments/revolution) O = Without encoder Holding brake VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO B = Brake O = Without brake Degree of protection VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO IP4 = IP4 at shaft bushing Gearing type VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without gearing = PLE 4 = PLE 6 A = PLS 7 Gear ratio VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without gearing = : 5 = 5: 8 = 8: Shaft diameter* VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO D6 = 6.5 mm D8 = 8 mm DO = With gearing Shaft design front VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Smooth shaft or gearing Centring collar VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO 8 = 8. mm OO = with gearing Second shaft: VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = without = with Connection direction motor plug ) VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without, L = Left, R = Right B = Back, F = Front, S = Straight Coonection direction encoder plug ) VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without, L = Left, R = Right B = Back, F = Front, S = Straight Wire output VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without S = Side B = Back Wire length OOO = None xxx = xxx mm (max. 4 mm) VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO ) Connection direction viewed from front at st shaft end, connector up. * Note: Please note the description of the possible motor types on page 8. Berger Lahr Catalogue stepper motor drives SD 5, D9 45

49 Technical data VRDM 9 VRDM 9 Technical data Motor type VRDM 97 VRDM 9 VRDM 9 Winding H N H N H N Max. supply voltage U max V AC Max. voltage to PE V AC Nominal voltage DC bus U N V DC 4 / 6 / 48 4 / 6 / 48 4 / 6 / 48 Nominal torque M N Nm Holding torque M H Nm Rotor inertia J R kgcm²... Number of steps z ) / 4 / 5 / / / 4 / 5 / Step angle α.8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 Systematic angle tolerance Δα ) s ±6 Max. starting frequency f Aom khz Nominal motor current I N A rms Winding resistance R W Ω Current rise time constantτ ms ~7 ~9 ~ Mass m ) kg.. 4. Shaft load 4) Max. radial force st shaft end 5) N Max. radial force nd shaft end (optional) 6) N 5 / 75 Max. axial tensile force N 75 Max. axial force pressure N 7) Nominal bearing service life L h h ) Depending on the control ) Measured at steps/revolution, unit: angular minutes ) Mass of motor version with cable gland or connector 4) Conditions for shaft load: speed of rotation 6 min -, % duty cycle at nominal torque, ambient temperature 4 C (bearing temperature 8 C) 5) Radial force acts at centre of shaft end 6) Radial force acts at centre of shaft end ; st value: motors with terminal box, connector or encoder; nd value: motors with wires 7) Operating hours at a probability of failure of % Ambient conditions Ambient temperature C Installation height without power reduction m a. MSL < Transport and storage temperature C Relative humidity % 75 (on annual average), 95 (in days, no condensation) Vibration grade in operation as per EN 64-4 A Continuous shocks as per DIN EN Number of shocks per direction Peak acceleration m/s Degree of protection as per EN 64-5 Total except shaft bushing IP 56 Shaft bushing without shaft seal ring IP 4 Therm class as per EN (F) Shaft wobble and perpendicularity As per EN 5 47 (IEC 67-) Maximum rotary acceleration rad/s 46 Catalogue stepper motor drives SD 5, D9 Berger Lahr

50 VRDM 9 Technical data Characteristic curves VRDM 97 / 5L H with D9 and D9 VRDM 97 / 5L H with SD 5 M[Nm] M[Nm] 4 V DC.5 4 V DC :5 6 V DC 48 V DC 6 V DC.5 :5 4 V DC 6/48 V DC. f S [khz]. f S [k H z ] J[kgcm²] n [/min] J[kgcm²] n[/m in] /48 V DC 4 V DC VRDM 9 / 5L H with D9 and D9 VRDM 9 / 5L H with SD 5 M[Nm] 4 M[Nm] 4 4 V DC 4 V DC 6 V DC 48 V DC 6 V DC 4 V DC 6 V DC, f S [khz] 48 V DC, f S [k H z ] J[kgcm²] n [/min] J[kgcm²] n[/m in] 4 V DC 48 V DC 6 V DC Measurement at steps/revolution, nominal voltage DC bus U N and motor phase current I N () Pull-out torque () Pull-in torque () Maximum load inertia Berger Lahr Catalogue stepper motor drives SD 5, D9 47

51 Technical data VRDM 9 Characteristic curves VRDM 9 / 5L H with D9 VRDM 9 / 5L H with SD 5 M[Nm] M[Nm] V DC V DC V DC 48 V DC 6 V DC V DC 6 V DC. f S [khz] 48 V DC. f S [khz] J[kgcm²] n [/min] J[kgcm²] n [/min] 4 V DC 6 V DC 48 V DC Measurement at steps/revolution, nominal voltage DC bus U N and motor phase current I N () Pull-out torque () Pull-in torque () Maximum load inertia 48 Catalogue stepper motor drives SD 5, D9 Berger Lahr

52 VRDM 9 Technical data Characteristic curves VRDM 97 / 5L N with D9 VRDM 9 / 5L N with D9 M[Nm] M[Nm] 4.5 V DC V DC.5. f S [khz]. f S [khz] J[kgcm²] n [/min] J[kgcm²] n [/min] VRDM 9 / 5L N with D9 M[Nm] V DC.5. f S [khz] J[kgcm²] n [/min] Measurement at steps/revolution, nominal voltage DC bus U N and motor phase current I N () Pull-out torque () Pull-in torque () Maximum load inertia Berger Lahr Catalogue stepper motor drives SD 5, D9 49

53 Dimensional drawings VRDM 9 Dimensional drawings Centring collar Ø h8 Shaft Ø h6 Woodruff key DIN 6888 (optional) Shaft Ø 9.5 : x 5 Shaft Ø : 4 x 6.5 Shaft Ø 4 : 5 x 6.5 ± L ( ) -.8 ±.5 Ø 4 h Ø 6.5 Rotor axially spring-loaded With nd shaft end, only wires at sides are possible. 6.5 R8. Length L Shaft Ø Centring collar Ø VRDM VRDM VRDM phase stepper motor VRDM 9 in wire version Woodruff key DIN 6888 Shaft Ø 9.5 : x 5 Shaft Ø : 4 x 6.5 Shaft Ø 4 : 5 x 6.5 (optional) Centring collar Ø h8 Shaft Ø h6 ± L ( ) ±.5 Ø 4 h Ø 6.5 Rotor axially spring-loaded Cable gland M x.5 for cable Ø 9 to Ø R8. Holding brake (optional) +.6 L ( ) Ø 8.5 Length L Shaft Ø Centring collar Ø VRDM ca. 66 VRDM VRDM phase stepper motor VRDM 9 in terminal box version 5 Catalogue stepper motor drives SD 5, D9 Berger Lahr

54 VRDM 9 Dimensional drawings Dimensional drawings Woodruff key DIN 6888 (optional) Shaft Ø 9.5 : x 5 Shaft Ø : 4 x 6.5 Shaft Ø 4 : 5 x 6.5 ca. 7 Centring collar Ø h8 Shaft Ø h6 ± L ( ) 4 ± Ø 4 h6 Ø 6.5 ca. 7 Rotor axially spring-loaded +.6 L ( ) R8. Connector motor 6-pole Holding brake (optional) Connector encoder (optional) -pole Length L Shaft Ø Centring collar Ø VRDM VRDM VRDM ca. 6 -phase stepper motor VRDM 9 in connector version Berger Lahr Catalogue stepper motor drives SD 5, D9 5

55 Type code VRDM 9 Type code Example: VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO Number of phases Size (flange) 9 = 85 mm Motor length 7 = 68 mm = 98 mm = 8 mm Number of pole pairs 5 Rotor L = laminated rotor plate Maximum voltage H = 4 V AC (48 V DC ) N = 9 V AC ( V DC ) Connection type A = Wires B = Terminal box C = Connector Position capture E = Encoder ( increments/revolution) O = Without encoder Holding brake B = Brake O = Without brake Degree of protection IP4 = IP 4 at shaft bushing IP56 = IP 56 at front shaft bushing Gearing type O = Without gearing = PLE 8 B = PLS 9 Gear ratio O = Without gearing = : 5 = 5: 8 = 8: Shaft diameter* D9 = 9.5 mm D = mm D4 = 4 mm DO = With gearing Shaftdesignfront O = smooth shaft or gearing K = Woodruff key as per DIN 6888 Centring collar 6 = 6 mm 7 = 7 mm OO = Without gearing Second shaft O = without = with Connection direction motor plug ) O = Without, L = Left, R = Right B = Back, F = Front, S = Straight Coonection direction encoder plug ) O = Without, L = Left, R = Right B = Back, F = Front, S = Straight Wire output S = side B = back O = without Wire length OOO = without xxx = xxx mm (max. 4 mm) VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B B OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B B OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO ) Connection direction viewed from front at st shaft end, connector up. *Note: Please note the description of the possible motor types on page 8. 5 Catalogue stepper motor drives SD 5, D9 Berger Lahr

56 Stepper motors Options Options Holding brake The holding brake is an electromagnetic spring force brake and fixes the motor axis after switching off the motor current (e.g. in case of power failure or emergency stop). The shaft must be fixed with torque loads resulting from gravity, e.g. with Z-axes in handling technology. Technical data Holding brake for motor type VRDM 6 VRDM 9 Nominal voltage V 4 4 Holding torque Nm 6 Pull-in power W 8 4 Moment of inertia kgcm².6. Energise time (release brake) ms 58 4 Shutdown time (apply brake) ms 4 Mass kg Approx..5 Approx..5 Note: In order to ensure the safe function of the holding brake for Z-axes, the static load torque must be no greater than 5% of the holding torque of the motor. Wiring diagram The connector is a part of the scope of supply. Connector designation: Hirschmann Type G4 5M 4 V DC Non-polarised Wiring diagram of the connector for the holding brake Berger Lahr Catalogue stepper motors drives SD 5, D9 5

57 Options Stepper motors Encoder Three-phase stepper motors from Berger Lahr can be fitted with an encoder. If the stepper drive is fitted with rotation monitoring electronics, the encoder operates as a measurement system for reporting the actual position of the rotor. The rotation monitoring compares the setpoint and actual position of the motor and reports errors if the actual position deviates from the setpoint position. For example, this enables detection of mechanical overload of the motor. Note: an encoder can only be used with motors with connector. A temperature sensor is integrated to protect the encoder from high temperatures. Technical data Resolution Inc/rev. Index plus Inc/rev. Output RS 4 Signals A; B; I Signal shape Rectangular Supply voltage V 5 ± 5% Supply current A max..5 Wiring diagram () A A Wiring diagram of encoder plug on VRDM () Motor housing Pin Designation A A negated B 4 B negated 5 C, I 6 C negated, negated 7 5V GND SENSE +SENSE Temperature sensor not connected 54 Catalogue stepper motors drives SD 5, D9 Berger Lahr

58 Stepper motors Options Gearing Stepper motors from Berger Lahr can also be fitted with integrated planetary gear. The PLE gearings are economical planetary gears that meet most requirements for accuracy. The PLS gear is a high-quality gearing with very low torsional play. These gearings can be supplied with one of three gear ratios: :, 5: and 8:. The output torque of the gearing is determined by multiplying the torque of the motor with the gear ratio and the efficiency of the gearing (.96). The following table shows the recommended gearings for the motors. Motor type Gearing type VRDM 64 PLE 4, PLE 6 PLS 7 VRDM 66 PLE 6 PLS 7 VRDM 68 PLE 6 PLS 7 VRDM 9 PLE 8 PLS 9 Technical data PLE gearing PLE-gearing general Gear stages Bearing service life ) h Efficiency at full load % 96 Housing material aluminium Surface black anodised Shaft material C 45 Bearings roller bearing Operating temperature ) C , shortly + Degree of protection ) IP 54 Lubrication lifetime lubrication ) Life time with an output speed at /min and T = C ) Referring to the housing surface ) With mounting position IM V (drive shaft vertical, shaft end upward) only degree of potection IP 4 is guaranteed Size PLE Max. radial force ) ) N 5 95 Max. axial force ) N 6 8 Torsional play arcmin < < < <8 Max. drive speed /min Recommended drive speed /min Torsional stiffness Nm/arcmin.. 6 Weight kg ) The information refers to min. h bearing service life with an output speed of /min and application factor K = min and S-operating mode for electrical machines and T= C ) Refers to the centre of the drive shaft and 5% duty cycle. Attention: the actual output torque must be less than the nominal output torque of the gearing, otherwise the gearing may be destroyed. Technical data PLS gearing Size PLS 7 9 Max. radial force ) ) N 4 Max. axial force ) N 6 9 Torsional play arcmin < < Max. drive speed /min 4 Recommended drive speed /min 5 45 Torsional stiffness Nm/arcmin 6 9 Weight kg. 4. ) The values refer to a min. bearing service life of h at an output speed of /min and an application factor K = min and S operating mode for electrical machines and T = C ) Referring to centre of output shaft and 5% duty cycle Berger Lahr Catalogue stepper motors drives SD 5, D9 55

59 Options Stepper motors PLS gearing general Gear stages Life time ) h Efficiency at full load % 98 Housing material aluminium Surface black anodised Shaft material C 45 Bearings tapered roller bearings Operating temperature ) C , shortly +4 Degree of protection ) IP 65 Lubrication lifetime lubrication ) Life time with an output speed of /min and T = C ) Referring to the housing surface ) With mounting position IM V (drive shaft vertical, shaft end upward) only protection class IP 4 is guaranteed Dimensional drawings Lkr. Ø4 M4 x 6 Ø Ø Ø Parallel key DIN 5885 A x x 8 6. Ø h7( ) -.5 Ø6 h7( -. ) Centring hole DIN DS Mx9 PLE 4 gearing, single-stage M5 x 8 5 Ø Parallel key DIN 6885 A 5x5x5 Ø Ø4 h7( -.8 ) Ø7 Ø4 h7( -.5 ) Ø Centring hole DIN DS M5x PLE 6 gearing, single-stage 56 Catalogue stepper motors drives SD 5, D9 Berger Lahr

60 Stepper motors Options Dimensional drawings Parallel key DIN 6885 A 6x6x8 Centring hole DIN DS M6x6 M6 x Ø6 4 Ø Ø h7( -. ) Ø5 Ø6 h7( -. ) Ø8 PLE 8 gearing, single-stage Ø9 k6 Ø4 Ø6 h7 Ø75 7 PLS gearing Ø k6 5 Ø8 h7 Ø 8 PLS gearing 9 Berger Lahr Catalogue stepper motors drives SD 5, D9 57

61 Accessories Stepper motor drives SD 5, D Accessories Order data Designation Description Order number Motor cable Cable for -phase stepper motor 4 x.5 mm, shielded; m VWS5R Motor end with 6-pin circular plug; 5 m VWS5R5 other cable end open m VWS5R 5 m VWS5R5 m VWS5R 4 x.5 mm, shielded; m VWS5R both cable ends open 5 m VWS5R5 m VWS5R 5 m VWS5R5 m VWS5R Adapter plate for SD 5 For DIN rail mounting MNAMFDINR EMC kit for SD 5 For shield connection of shielded cable MNACS Spring clamp connector kit for SD 5D,4 and pins MNACS8 Spring clamp connector kit for SD 5O,4, and pins MNACS9 Connector for D9 and D9 Signal, motor and supply connection Catalogue stepper motor drives SD 5, D9 Berger Lahr

62 Appendix Conversion tables Conversion tables Rotor inertia lb in lb ft lb in s lb ft s slug ft kg cm kg cm s g cm g cm s oz in oz in s lb in 6.94 x -.59 x -.5 x x -.9 x x - lb ft x x lb in s x -.9 x.5.9 x 6.5 x 6.77 x 6 lb ft s 4.6 x.7.5 x x 7.8 x x 4 9 slug ft kg cm.47.7 x x x -6.9 x x - kg cm s x x x.887 g cm.47 x -4.7 x x x -8 x -. x -6. x x -.4 x -6 g cm s.5. x x x x x - oz in x -4.6 x -6.4 x x x - oz in s x - 5. x x x Torque lb in lb ft oz in Nm kg m kg cm g cm dyne cm lb in 8. x x x.9 x 6 lb ft x 4.55 x 7 oz in 6.5 x x x - 7. x x x 4 Nm x 4 x 7 kg m x 9.86 x x 7 kg cm x x x 5 g cm x x x x -5 x -5 x dyne cm 8.85 x x x x x -6.9 x -6 Power Length H.P. W in ft yd m cm mm H.P in W. x - ft yd m cm x -. mm x -.. Speed Mass /min (rpm) rad/sec deg./sec lb oz slug kg g /min (rpm).5 6. lb rad/sec oz 6.5 x -.9 x deg./sec x - slug x 4 kg g.5 x -.57 x x -5. Temperature Force F C lb oz gf dyne N F (ϑ - ) x 5 / 9 lb x C ϑ ¾ 9 / 5 + oz x 4.78 gf.5 x N.A. dyne.48 x x -6. x -. N N.A., Example for conversion: Conversion of inches to metres. Search for "in" (inches) in the left column of the "length" table and "m" (metres) in the header row. The box at the intersection of column and row gives you the conversion factor: ".54". Multiply inches by.54, and you have the value in metres: in x.54 =.54 m. Berger Lahr Catalogue stepper motor drives SD 5, D9 59

63 6 Catalogue stepper motor drives SD 5, D9 Berger Lahr

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65 Berger Lahr offers you the positioning and automation solutions you need, based on our technology and proven series of products. Our comprehensive engineering and consulting service is ready to support and advise you every step of the way. Berger Lahr is a member company of the Schneider Electric Group. With its Merlin Gerlin, Square D and Telemecanique brands, Schneider Electric is one of the leading providers of electrical and automationengineering solutions. Berger Lahr GmbH & Co. KG Breslauer Str. 7, D-779 Lahr GB8.7 reinisch AG Subject to technical changes Printed in Germany