Stepper motor drive systems SD3 15, D9pp

Transcription

1 Stepper motor drive systems SD 5, D9pp Catalogue January 9

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3 Stepper motor drives SD 5, D9 Table of contents Product overview Stepper motor drive SD 5 Product description Functions Mounting and installation Technical data Dimensional drawings Order numbers Stepper motor drive board D9 Product description Functions Mounting and installation Technical data Order numbers Stepper motor drive board D9 Product description Functions Mounting and installation Technical data Order numbers Stepper motor drive board D9 Product description Functions Mounting and installation Technical data Order numbers phase stepper motors Product offer BRS 6 stepper motors Technical data Dimensional drawings Type code BRS 9 stepper motors Technical data Dimensional drawings Type code Options Holding brake Encoder Accessories GBX planetary gearboxes Appendix Conversion tables Schneider Electric Motion Catalogue stepper motor drives SD 5, D9

4 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 Schneider Electric Motion Controller (e.g. TLM). This range of products can be used to control series BRS 6 and BRS 9 motors. The nominal torques of these motors range from.45 to 6 Nm. 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. 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. 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 Schneider Electric Motion 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 Schneider Electric Motion

5 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 F winding BRS 64F Nm,46 /,4 ) BRS 66F Nm,9 /,8 BRS 68F Nm,5 /, BRS 97F Nm, /,85 BRS 9AF Nm 4, /,4 BRS 9BF Nm 5,55 / 4,8 Motors with H winding BRS 64H Nm.5 /.45 ).5/.45.5/.45 BRS 66H Nm. /.9. /.9. /.9 BRS 68H Nm.7 /.5.7 /.5.7 /.5 BRS 97H Nm.6 /..9 /.7.9 /.7 BRS 9AH Nm 4.8 / / /.7 BRS 9BH Nm 6.5 / / 5. Motors with N winding BRS 66N Nm. /.9 BRS 68N Nm.7 /.5 BRS 97N Nm.6 /. BRS 9AN Nm 4.5 / 4. BRS 9BN 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. Schneider Electric Motion Catalogue stepper motor drives SD 5, D9

6 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: BRS6...H, BRS6...F and BRS9...H, BRS9...F. SD 5 is available in two versions: Pulse/direction without oscillator (SD 5D) Pulse/direction with oscillator (SD 5O) SD 5D 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 simplified manual 8 SD 5O device overview () CN power supply connection () LED ERR (red) () LED OK (green) (4) Parameter switch S motor phase current (5) Potentiometer R: f_high (6) Potentiometer R: f_low (7) Potentiometer R: Acc (8) Potentiometer R4: Dec (9) Parameter switch S4 "analogue signal source" () Parameter switch S "current reduction" and "Softstep" () Parameter switch S number of steps and type of release () CN signal interface connection () CN4 signal interface connection oscillator (4) CN motor connection (5) EMC mounting plate (accessories) (6) DIN rail adapter (accessories) (7) Nameplate with simplified manual 4 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

7 Stepper motor drive SD 5 Product description 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. The CN4 signal interface is only available at SD 5O. Motor connection CN Motor lines U, V and W and the shield connection are connected to motor connection CN. Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 5

8 F A B C D E 9ABCDE F8 Functions Stepper motor drive SD LED LED S Current 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 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") Set source of analogue signal (SD 5O only) 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 Signalanschlüsse SD 5D CN CN 4 LED OK LED ERR S S S CN CN CN Switch setting S Motor phase current in A (factory setting) A 7.5 B 8 C 8.5 D 9 E 9.5 F Signalanschlüsse SD 5O 6 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

9 Stepper motor drive SD 5 Functions 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: The stepper motor drive runs exactly one complete motor revolution at pulses at a step number of. 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 S STEP STEP STEP OFF OFF OFF 4 OFF ON 4 OFF ON 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 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 7

10 Functions Stepper motor drive SD 5 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 Set source of analogue signal (SD 5O) Use parameter switch S4. to determine the source of the analogue signal for oscillator mode. You can either use the integrated potentiometers f_high and f_low or an external potentiometer. Switch setting S4. OFF (factory setting) ON Description Integrated potentiometers f_high and f_low External potentiometer at ANAL Setting f_high and f_low potentiometers (SD 5O) The two integrated potentiometers f_high and f_low are used to set the frequency for fast and slow movement. Direction of rotation Clockwise Counter-clockwise Description Higher frequency (max. khz) Lower frequency Maximum speed of rotation (at f_high = khz) Steps per revolution Step Step Step Speed of rotation in /min Setting Acc and Dec potentiometers (SD 5O) The acceleration and deceleration ramps for fast and slow travel are set using the two integrated potentiometers Acc and Dec. Acc and Dec can be set in the range of msec and 6 sec. Direction of rotation Clockwise Counter clockwise Description Steeper ramp Less steep ramp 8 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

11 Stepper motor drive SD 5 Functions 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. Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 9

12 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 The maximum frequency is Hz. Positive rotation Negative rotation START signal input (SD 5O) The START signal input activates the oscillator and the conversion of the analogue signals into a rotary movement. For a motor movement to take place, either the power amplifier must be activated via the ENABLE signal input or the GATE signal input must be released. Signal value Description level Oscillator deactivated level Oscillator activated F_HIGH signal input (SD 5O) The F_HIGH signal input activates fast movement. The frequencies for the fast and slow movement are set using the integrated potentiometers f_high and f_how. This function is not available if an external potentiometer is used. Signal value Description level Slow movement; Frequency of f_low is analysed level Fast movement; Frequency of f_high is analysed ANA signal input (SD 5O) You can connect an external potentiometer to the ANA signal input. Depending on the switch setting of S4., the analogue signal is set for the oscillator via ANA. If an external potentiometer is used, the integrated potentiometer and the F_HIGH signal input do not have a function. 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 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

13 Stepper motor drive SD 5 Functions PULS_OUT_NO signal output (SD 5O) The PULS_OUT_NO signal output provides the pulse signal generated by the oscillator. The signal output is polarised. The corresponding reference potential is connected to V_EXT. DIR_OUT_NO signal output (SD 5O) The DIR_OUT_NO signal output switches in accordance with the direction of rotation of the motor. The signal output is polarised. The corresponding reference potential is connected to V_EXT. Signal value Open Closed Description Clockwise rotation Counter clockwise rotation 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 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9

14 F A B C D E Functions Stepper motor drive SD 5 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. Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

15 Stepper motor drive SD 5 Mounting and installation 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. Schneider Electric Motion Catalogue stepper motor drives SD 5, D9

16 Mounting and installation Stepper motor drive SD 5 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 4 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

17 Stepper motor drive SD 5 Wiring examples 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 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 5

18 Wiring examples Stepper motor drive SD 5 CN M ~....4 U V W SHLD CN DIR_5 DIR_ ENABLE_ VDC ~ VDC VDC CN ENABLE_ ACTIVE_OUT_C ACTIVE_OUT_NO VDC CN4 START_5 START_ F_HIGH_ F_HIGH_ PULS_OUT_NO DIR_OUT_NO V_EXT VDC V_OUT 4.9 ANA_V ANA kω + - 5VDC ~ Wiring example SD 5O with 5 V 6 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

19 Stepper motor drive SD 5 Wiring examples CN M ~....4 U V W SHLD CN DIR_4 DIR_ ENABLE_ VDC ~ VDC VDC CN ENABLE_ ACTIVE_OUT_C ACTIVE_OUT_NO VDC CN4 START_4 START_ F_HIGH_ F_HIGH_ PULS_OUT_NO DIR_OUT_NO V_EXT VDC V_OUT 4.9 kω ANA_V ANA VDC - ~ Wiring example SD 5O with 4 V Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 7

20 Technical data Stepper motor drive SD 5 Technical data Mechanical data 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 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 Internal capacitors μf 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 ANAL signal input (SD 5O) Measuring range V DC... Zero voltage window mv 5 Max. Input voltage V DC Input resistance kω 5 Resolution Bit PULS_OUT_NO and DIR_OUT_NO signal output (SD 5O) Polarised; not short-circuit protected Max. switching voltage V Max. switching current ma 5 Voltage drop at 5 ma load V.5 Signal output "Readiness" Electronic relay Max. switching voltage V DC Max. switching current ma Voltage drop at 5 ma load V V_OUT signal output (SD 5O) For external potentiometer; not short-circuit protected Max. switching voltage V DC Max. switching current ma Potentiometer resistance kω Motor connection at CN Max. motor phase current A pk 4 A rms Max. Motor phase current without the "current reduction"function A rms 7.5 Number of phases 8 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

21 Stepper motor drive SD 5 Dimensional drawings 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 Dimensional drawings d d e H f g T a c b B j Dimensions SD 5 H mm 7 B mm T mm 74.5 a mm 6 b mm,5 c mm.75 d mm 4.5 e mm 4.5 f mm 8.5 g mm j mm 4 Type of cooling Free convection Weight kg. Order numbers Type Order number SD 5D N B4 65 SD 5O N B4 65 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 9

22 4567 Product description D9 stepper motor drive board 5 D9 stepper motor drive board Product description The D9 stepper motor drive board is used to control -phase stepper motors with N windings: BRS 6...N and BRS 9...N. 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 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

23 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 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9

24 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 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

25 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. Schneider Electric Motion Catalogue stepper motor drives SD 5, D9

26 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 4 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

27 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 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 5

28 Product Description D9 stepper motor drive board 5 D9 stepper motor drive board Product Description The D9 stepper motor drive board is used to control -phase stepper motors with H windings: BRS 6 H, BRS 6...F and BRS 9 H, BRS 9...F. 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 6 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

29 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 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 7

30 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 Schneider Electric Motion

31 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. Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 9

32 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 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

33 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 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9

34 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: BRS 6 H, BRS 6...F and BRS 9 H, BRS 9...F. 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 Catalogue stepper motor drive SD 5, D9 Schneider Electric Motion

35 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 Schneider Electric Motion Catalogue stepper motor drive SD 5, D9

36 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 4 Catalogue stepper motor drive SD 5, D9 Schneider Electric Motion

37 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. Schneider Electric Motion Catalogue stepper motor drive SD 5, D9 5

38 . 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) 6 Catalogue stepper motor drive SD 5, D9 Schneider Electric Motion

39 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 Schneider Electric Motion Catalogue stepper motor drive SD 5, D9 7

40 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 8 Catalogue stepper motor drive SD 5, D9 Schneider Electric Motion

41 D9 stepper motor drive board Order numbers Order numbers Type Order number D9. with straight connecting pins 696 D9. with angled connecting pins 696 Schneider Electric Motion Catalogue stepper motor drive SD 5, D9 9

42 Product offer -phase stepper motors Product offer 4 5 The -phase stepper motors from Schneider Electric Motion are extremely robust, maintenance-free 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 Schneider Electric Motion

43 -phase stepper motors Product offer Product quotation -phase stepper motors BRS 6 BRS 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 Motor types Gearing Shaft Centring collar Winding Length Motor connection Options ) 4) Motortyp Length Winding ) Shaft Centring collar Motorconnection (Without shaft) ) Options Gearing BRS 6 BRS 64 4 (4 mm) H, F, N smooth Ø 6.5 mm Ø 8. mm Wires, Connector, th schaft end, Holding GBX 4 Terminal box brake, Encoder BRS 66 6 (56 mm) BRS 68 8 (79 mm) Ø 8 mm GBX 6 BRS 9 BRS 97 7 (68 mm) H, F, N smooth, Ø 9.5 mm, Ø 6 mm, Wires, Connector, th schaft end, Holding GBX 8 BRS 9A (98 mm) Woodruff Ø mm Ø 7 mm Terminal box brake, Encoder key BRS 9B (8 mm) Ø 4 mm ) Winding type for nominal voltage : H = 4 / 6 / 48 V DC; F = 4 / 6 / 48 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 GBX gearings are only available as accessories (see accessories). Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 4

44 Product offer -phase stepper motors Degree of protection Front of motor Motor connection Rear of motor Gearing Shaft bushing Wires Terminal box nd shaft end Holding brake IP 54 IP 4 IP 56 (optional with BRS 9 ) Motor connection Connector Encoders IP 4 IP 56 IP 4 IP 56 U YE W WH 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 BK W W BU OR W RD 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 ) Schneider Electric Motion motor cable SHLD Motor connection in connector version Designation Pin U V W PE 4 4 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

45 BRS 6 Technical data BRS 6 Technical data Motor type BRS 64 BRS 66 BRS 68 Winding F H F H N F 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...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 ~.9 ~. ~.6 ~. ~.9 ~4.6 Mass m ) kg Shaft load 4) Max. radial force st shaft end 5) N 4 5 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) 5) Conditions for shaft load: speed of rotation 6 min -, % duty cycle at nominal torque, ambient temperature 4 C (bearing 8 C) 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 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 4

46 Technical data BRS 6 Characteristic curves BRS 64F with SD 5 BRS 64H with SD 5 M[Nm] M[Nm] V DC.45 4 V DC 6 V DC 6 V DC. 48 V DC. 48 V DC.5.5. f S [k H z ]. f S [k H z ] J[kgcm²] n[/m in] J[kgcm²] n[/m in] 4 4 BRS 64H with D9 and D9 M[Nm],6,45 4 V DC, 6 V DC,5, f S [khz] J[kgcm²] n [/min] 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 44 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

47 BRS 6 Technical data Characteristic curves BRS 66F with SD 5 BRS 66H with SD 5 M[Nm] M[Nm].. 4 V DC.9 4 V DC.9 6 V DC 6 V DC 48 V DC V DC.... f S [k H z ] J[kgcm²] n[/m in] J[kgcm²] n[/m in] 4 4 BRS 66H with D9 and D9 BRS 66N with D9 M[Nm] M[Nm],.,9.9 V DC 4 V DC,6 6 V DC.6,., f S [khz]. f S [khz] J[kgcm²] n [/min] J[kgcm²] n [/min] 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 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 45

48 Technical data BRS 6 Kennlinien BRS 68F with SD 5 BRS 68H with SD 5 M[Nm] M[Nm].6,6 4 V DC. 4 V DC 6 V DC, 48 V DC 6 V DDC.8 48 V DC,8.4,4. f S [k H z ]. f S [k H z ] J[kgcm²] n[/m in] J[kgcm²] n[/m in] BRS 68H with D9 and D9 BRS 68N D9 M[Nm],6 M[Nm].6 4 V DC,. 6 V DC V DC,8.8,4.4, 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 46 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

49 BRS 6 Dimensional drawings Dimensional drawings Ø 8. ±.5 Shaft Ø -. 5 L ±.5 Ø 8 ± Ø 5. Rotor axially spring-loaded.6 R5 wires (4) 7.7 BRS 64 BRS 66 BRS 68 Length L Shaft Ø phase stepper motor BRS 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 BRS Holding brake (optional) BRS BRS phase stepper motor BRS 6 in terminal box version Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 47

50 5 5 Dimensional drawings BRS 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) Ø 5 ca. 49 Holding brake (optional) ca. 49 L ± without encoder Ø 5 BRS 64 Length L 4 Shaft Ø 6.5 BRS Holding brake (optional) BRS phase stepper motor BRS 6 in connector version 48 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

51 BRS 6 Type code Type code Example: BRS 6 8 H A C A Product familie BRS 6 8 H A C A Brushless motors S = Stepper motor Number of pole pairs BRS 6 8 H A C A Size (flange) BRS 6 8 H A C A 6 = 57. mm Length BRS 6 8 H A C A 4 = 4 mm 6 = 56 mm 8 = 79 mm Winding BRS 6 8 H A C A H = 4 V AC (48 V DC ) F = 4 V AC (48 V DC ) N = 9 V AC ( V DC ) Shaft designfront* / Degree of protection: shaft, housing BRS 6 8 H A C A = Smooth shaft 6.5 mm / IP4, IP56 (BRS64 and BRS66) = Smooth shaft 8 mm / IP4, IP56 (BRS68) S = Customer specific Centring collar BRS 6 8 H A C A = 8 mm Position capture BRS 6 H A C A = Without encoder = With encoder ( increments/resolution) Holding brake BRS 6 8 H A C A A = Without brake F = With brake Connection type BRS 6 8 H A C A A = Wires B = Terminal box C = Connector Second shaft A = Without second shaft B = With second shaft BRS 6 8 H A C A * Note: Please note the description of the possible motor types on page 8. Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 49

52 Technical data BRS 9 BRS 9 Technical data Motor type BRS 97 BRS 9A BRS 9B Winding F H N F H N F 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,85,4 4 4,8 5,75 6 Holding torque M H Nm,,6,8 4,8 4,5 5,4 6,5 6,78 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 ~4 ~7 ~5 ~9 ~6 ~ 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) 5) Conditions for shaft load: speed of rotation 6 min -, % duty cycle at nominal torque, ambient temperature 4 C (bearing temperature 8 C) 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 5 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

53 BRS 9 Technical data Characteristic curves BRS 97F with SD 5 BRS 97H with SD 5 M[Nm] M[Nm] 4 V DC 4 V DC 6 V DC.5 48 V DC.5 6 V DC 48 V DC V DC 6/48 V DC. f S [k H z ]. f S [k H z ] J[kgcm²] n[/m in] J[kgcm²] n[/m in] /48 V DC 4 V DC BRS 97H with D9 and D9 BRS 97N with D9 M[Nm] M[Nm].5 4 V DC.5 V DC 6 V DC.5.5. 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 motor phase current I N () Pull-out torque () Pull-in torque () Maximum load inertia Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 5

54 Technical data BRS 9 Characteristic curves BRS 9AF with SD 5 BRS 9AH with SD 5 M[Nm] M[Nm] V DC 4 V DC 6 V DC 48 V DC 6 V DC 48 V DC 4 V DC 6 V DC. f S [k H z ], 48 V DC f S [k H z ] J[kgcm²] n[/m in] J[kgcm²] n[/m in] 4 V DC 48 V DC BRS 9AH with D9 and D9 BRS 9AN with D9 6 V DC M[Nm] 4 M[Nm] 4 4 V DC V DC 6 V DC, f S [khz]. f S [khz] J[kgcm²] n [/min] kg cm²] 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 5 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

55 BRS 9 Technical data Characteristic curves BRS 9BF with SD 5 BRS 9BH with SD 5 M[Nm] M[Nm] V DC V DC 6 V DC V DC 48 V DC 48 V DC V DC 6 V DC. f S [khz] 48 V DC. f S [khz] [kg cm²] n [/min] J[kgcm²] n [/min] 4 V DC 6 V DC 48 V DC BRS 9BH with D9 BRS 9BN with D9 M[Nm] 6 M[Nm] 6 4 V DC V DC V DC.5.5. f S [khz]. f S [khz] kg cm²] n [/min] 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 Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 5

56 Dimensional drawings BRS 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 wires (4) 6.5 R8. Length L Shaft Ø Centring collar Ø BRS BRS 9A BRS 9B phase stepper motor BRS 9 in wire version Woodruff key DIN 6888 (optional) Shaft Ø 9.5 : x 5 Shaft Ø : 4 x 6.5 Shaft Ø 4 : 5 x 6.5 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 BRS ca. 66 BRS 9A BRS 9B phase stepper motor BRS 9 in terminal box version 54 Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

57 BRS 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 BRS BRS 9A BRS 9B ca. 6 -phase stepper motor BRS 9 in connector version Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 55

58 Type code BRS 9 Type code Example: BRS 9 7 H 6 A C A Product family BRS 9 7 H 6 A C A Brushless motors S = Stepper motor Number of pole pairs BRS 9 7 H 6 A C A Size (flange) BRS 9 7 H 6 A C A 9 = 85 mm Length BRS 9 7 H 6 A C A 7 = 68 mm A = 98 mm B = 8 mm Winding BRS 9 7 H 6 A C A H = 4 V AC (48 V DC ) F = 4 V AC (48 V DC ) N = 9 V AC ( V DC ) Shaft designfront* / Degree of protection: shaft, housing BRS 9 7 H 6 A C A = Smooth shaft 9.5 mm / IP4, IP56 (BRS 97 und BRS 9A) = Smooth shaft mm / IP4, IP56 (BRS 97 und BRS 9A) 4 = Smooth shaft 4 mm / IP4, IP56 (BRS 9B) 5 = Woodruff key 9.5 mm / IP4, IP56 (BRS 97 und BRS 9A) 6 = Woodruff key mm / IP4, IP56 (BRS 97 und BRS 9A) 7 = Woodruff key 4 mm / IP4, IP56 (BRS 9B) A = Smooth shaft 9.5 mm / IP56, IP56 (BRS 97 und BRS 9A) B = Smooth shaft mm / IP56, IP56 (BRS 97 und BRS 9A) C = Smooth shaft 4 mm / IP56, IP56 (BRS 9B) K = Woodruff key 9.5 mm / IP56, IP56 (BRS 97 und BRS 9A) L = Woodruff key mm / IP56, IP56 (BRS 97 und BRS 9A) M= Woodruff key 4 mm / IP56, IP56 (BRS 9B) S = Customer specific Centring collar BRS 9 7 H 6 A C A 6 = 6 mm 7 = 7 mm Position capture BRS 9 7 H 6 A C A = Without encoder = With encoder ( increments/resolution) Holding brake BRS 9 7 H 6 A C A A = Without brake F = With brake Connection type BRS 9 7 H 6 A C A A = Wires B = Terminal box C = Connector Second shaft A = Without second shaft B = With second shaft BRS 9 7 H 6 A C A *Note: Please note the description of the possible motor types on page Catalogue stepper motor drives SD 5, D9 Schneider Electric Motion

59 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 BRS 6 BRS 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 Schneider Electric Motion Catalogue stepper motors drives SD 5, D9 57

60 Options Stepper motors Encoder Three-phase stepper motors from Schneider Electric Motion 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 reference and actual positions of the motor and signals errors if the actual position deviates from the reference 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 pulse 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 BRS () 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 58 Catalogue stepper motors drives SD 5, D9 Schneider Electric Motion

61 Accessories GBX planetary gearboxes Accessories GBX planetary gearboxes Presentation In many cases the axis controller requires the use of a planetary gearbox for adjustment of speed of rotation and torque; the accuracy required by the application must be maintained. Schneider Electric has chosen to use GBX gearboxes (made by Neugart) with the BRS range of stepper motors. These gearboxes are lubricated for life and are designed for applications which are not susceptible to mechanical backlash. The fact that their use in combination with BRS stepper motors has been fully verified and that they are easily assembled, ensures simple, risk-free operation. Available in sizes (GBX 4, GBX 6, GBX 8), the planetary gearboxes are offered in ten reduction ratios (: 5:), see table below. The values for the continuous torque and the peak torque at standstill which are available at the output shaft, are calculated by multiplying the motor characteristics with the gear ratio and the effi ciency of the gearing (.96 or.94 depending on the gear ratio). The following table shows the optimum combination of BRS stepper motor and GBX planetary gearbox. BRS stepper motors/gbx gearbox combinations BRS ) Reduction ratio : 5: 8: 9: : 5: 6: : 5: BRS 64 / BRS 66 GBX 4 GBX 4 GBX 4 GBX 4 GBX 4 GBX 4 GBX 4 GBX 4 GBX 4 (W = 6,5 mm, Z = 8 mm) BRS 68 GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 (W = 8 mm, Z = 8 mm) BRS 97 6 / BRS 9A 6 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 (W = 9,5 mm, Z = 6 mm) BRS 97 6 / BRS 9A 6 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 (W = mm, Z = 6 mm) BRS 9B 46 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 (W = 4 mm, Z = 6 mm) BRS 97 A6 / BRS 9A A6 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 (W = 9,5 mm, Z = 6 mm) BRS 97 B6 / BRS 9A B6 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 (W = mm, Z = 6 mm) BRS 9B C6 (W = 4 mm, Z = 6 mm) GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 ) GBX planetary gearboxes can be mounted to stepper motors with the specifi ed shaft version (W) and the specifi ed centring collar (Z). Schneider Electric Motion Catalogue stepper motor drives SD 5, D9 59