Description of Functions 02/2005 Edition
simatic
FM-Stepdrive/SIMOSTEP
Power Controller and 3-Phase Stepping Motors
Overview 1
Functional description 2
FM-STEPDRIVE
specifications 3
Signal description 4
Mounting 5
Wiring 6
Setup 7
Status indicators and
troubleshooting 8
SIMOSTEP
specifications 9
Stepping motor
parameters and
characteristics
10
SIMATIC
FM-STEPDRIVE/SIMOSTEP
Power Controller and 3-Phase
Stepping Motors
Functional description
FM-STEPDRIVE/SIMOSTEP
Edition 02.05
SINUMERIK® Documentation
Printing history
Brief details of this editor and previous editions are listed below.
The status of each edition is shown by the code in the "Remarks" column.
Status code in "Remarks" column:
A .... New documentation
B .... Unrevised reprint with new order No.
C .... Revised edition with new status
If factual changes have been made on the page since the last editon, this is
indicated by a new edition coding in the header on that page.
Edition Order No. Remarks
01.96 6SN1197-0AA70-0YP0 A
01.97 6SN1197-0AA70-0YP1 C
01.97 6SN1197-0AA70-0YP2 C
11.98 6SN1197-0AA70-0YP3 C
01.01 6SN1197-0AA70-0YP4 C
02.05 6SN1197-0AA70-0YP5 C
This documentation was created using WinWord V 7.0,
Designer V 7 and Doc-To-Help V 1.6.
The reproduction, transmission or use of this document or its contents is not
permitted without express written authority. Offanders will be liable for damages.
All rights, including rights created by patent grant o r registration of a utility modal or
design, are reserved.
© Siemens AG 1998. All Rights Reserved.
Other functions not described in this documentation might be executable in the
control. This does not, however, represent an obligation to supply such functions
with a new control or when servicing.
The contents of this publication has been verified for correspondence with the
hardware and software described. Nevertheless there may still be some
deviations. The information contained herein is verified on a regular basis, and
any corrections will be included in the subsequent editions. We should appreciate
any suggestions for improvement.
Subject to technical modifications.
Order no. 6SN1197-0AA70-0YP5
Printed in the Federal Republic of Germany
Siemens AG
I
Safety information This manual contains safety texts which you should always observe for
your personal safety and to avoid damage. These texts are identified and
emphasized by a symbol and a heading which varies according to the
degree of danger:
! Danger
means that death, serious injury or severe damage will result if proper
precautions are not taken.
! Warning
means that death, serious injury or severe damage may result if proper
precautions are not taken.
! Caution
means that minor injury or damage may result if proper precautions are
not taken.
Note
is used to give special emphasis to important information on the product,
handling the product or the relevant part of the documentation.
Qualified personnel Start-up and operation of the unit shall only be carried out by qualified
personnel. Qualified personnel in the sense of the safety information in
this manual are those persons who are authorized for setting up, earthing
and tagging equipment, systems and circuits according to established
safety practices.
Intended use The following should be noted:
! Warning
This equipment may only be used for the individual applications specified
in the catalog and in this documentation and only in conjunction with
Siemens approved or recommended third-party equipment and
components.
Adequate transport, storage, installation and mounting as well as careful
use and thorough maintenance are prerequisites for safe and reliable
operation of the product.
Trademarks SIMATIC® and SINEC® are registered trademarks of the SIEMENS AG.
II
02.05 Contents
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) III
Contents
Page
Overview....................................................................................................................................1-1
Functional description.............................................................................................................2-1
FM-STEPDRIVE specifications ...............................................................................................3-1
3.1 Electrical data...................................................................................................3-2
3.2 Mechanical data................................................................................................3-5
3.3 Ambient conditions ...........................................................................................3-5
3.4 Applicable standards, regulations, laws...........................................................3-6
Signal description ....................................................................................................................4-1
4.1 Pulse interface..................................................................................................4-2
4.2 Signal interface.................................................................................................4-3
4.3 Signal timing diagrams .....................................................................................4-4
Mounting ...................................................................................................................................5-1
Wiring ........................................................................................................................................6-1
6.1 FM-STEPDRIVE and SIMOSTEP wiring..........................................................6-2
6.2 Wiring example for FM-353 and FM-NC/FM357..............................................6-4
6.3 Wiring layout for control cabinet.......................................................................6-6
6.4 Network wiring for several axes........................................................................6-7
6.5 Operating an axis in a safe working area.......................................................6-10
6.6 Accessories ....................................................................................................6-12
Setup..........................................................................................................................................7-1
Status indicators and troubleshooting..................................................................................8-1
SIMOSTEP specifications........................................................................................................9-1
Stepping motor parameters and characteristics................................................................10-1
10.1 Basic concepts................................................................................................10-2
10.2 Torque characteristics....................................................................................10-3
IV
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 1-1
Overview 1
1 Overview 02.05
© Siemens AG 1998 All Rights Reserved
1-2 FM-STEPDRIVE/SIMOSTEP (FB)
The FM-STEPDRIVE is a power controller for controlling a Siemens
SIMOSTEP 3-phase stepping motor . The FM-STEPDRIVE has been
designed as a module for the SIMATIC S7-300 automation system.
The SIMOSTEP motor series includes the following 3-phase stepping
motors:
Table 1-1 SIMOSTEP series stepping motors
Motor type
w i thout brake Nominal
torque Nominal
current Order number
SIMOSTEP 1FL3041 2 Nm 1.8 A 1FL3041-0AC31-0BK0
SIMOSTEP 1FL3042 4 Nm 2.0 A 1FL3042-0AC31-0BK0
SIMOSTEP 1FL3043 6 Nm 2.3 A 1FL3043-0AC31-0BG0
SIMOSTEP 1FL3061 10 Nm 4.1 A 1FL3061-0AC31-0BG0
SIMOSTEP 1FL3062 15 Nm 4.8 A 1FL3062-0AC31-0BG0
Motor type
with brake Nominal
torque Nominal
current Order number
SIMOSTEP 1FL3041 2 Nm 1.8 A 1FL3041-0AC31-0BJ0
SIMOSTEP 1FL3042 4 Nm 2.0 A 1FL3042-0AC31-0BJ0
SIMOSTEP 1FL3043 6 Nm 2.3 A 1FL3043-0AC31-0BH0
SIMOSTEP 1FL3061 10 Nm 4.1 A 1FL3061-0AC31-0BH0
SIMOSTEP 1FL3062 15 Nm 4.8 A 1FL3062-0AC31-0BH0
Figure 1-1 FM-STEPDRIVE power controller and SIMOSTEP motor
Reference literature Elektrische Schrittmotoren und -Antriebe
Prof. Dr. Erich Rummich, TH Wien
Dr.-Ing. Ralf Gförer, SIG Positec BERGERLAHR GmbH&Co.KG
and two co-authors.
Expert-Verlag: ISBN 3-8169-0678-8
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 2-1
Functional description
2
2 Functional description 02.05
© Siemens AG 1998 All Rights Reserved
2-2 FM-STEPDRIVE/SIMOSTEP (FB)
The FM-STEPDRIVE power controller has interfaces, switches and
indicating elements arranged on the front panel as shown in figure 2-1.
The interfaces and parameter switches are visible when the front doors
are opened.
Figure 2-1 FM-STEPDRIVE power controller
Pulse interface The pulse interface can be used for controlling the power controller from
the master positioning unit using clock signals. With each clock pulse, the
motor moves one step. In addition, a PWM signal can be used for
adjusting the phase current of the stepping motor between 0 and 100 %.
Input signals: PULSE (clock), DIR (sense of rotation), ENABLE
(enables the amplifier), PWM (current control).
Output signal: READY1_N (readiness).
Signal interface The GATE_N input of the signal interface can be used for enabling or
disabling the clock signals for motor control fed to the PULSE input. The
ENABLE_N input has the same function as the ENABLE input for the
pulse interface although it is activated via 24 V. In addition, the ZERO
output can be used for evaluating the zero signal of the internal ring
counter.
Input signals: GATE_N (enabling/disabling the clock signal)
ENABLE_N (enables the amplifier)
Output signals: ZERO (ring counter zero signal), READY2
(readiness),
MSTILL (Motor standstill)
Mains and
intermediate circuit
connection
The mains connection supplies the power controller with 115 V or 230 V
AC. The intermediate circuit connection may be used for dissipating
surplus recovery energy of the motor.
02.05 2 Functional description
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 2-3
Motor connection A 3-phase stepping motor of the SIMOSTEP series can be connected to
the motor connection.
Current and
parameter switches These switches are used for setting the motor phase current, the number
of steps (500, 1000, 5000, 10 000 steps/revolution) and the current
reduction
(to 60 % at motor standstill).
LED status
indicators To indicate readiness and any malfunctions (short-circuit between motor
phases, supply overvoltage/undervoltage, power controller
overtemperature, no GATE_N signal).
Fan A fan is installed in the FM-STEPDRIVE power controller.
The block diagram shown in figure 2-2 illustrates the most important
functional groups of the FM-STEPDRIVE power controller.
115 V
or 230 V
Intermediate
circuit voltage
Fuse
FM-STEPDRIVE
3
24 V
supply
PULSE
ENABLE
DIR
PWM
READY1_N
Positioning
or
control unit
e.g.: FM 353
SIMOSTEP
motor
SM
Mains and intermediate
circuit connection
Power
supply unit
Power
amplifiers
with
current
control
Monitoring
circuits
Signal
processing
and
setpoint
generation
(ring
connector)
Fan
FLT
OV
LV
TMP
RDY
Pulse interface
Signal interface
Motor connection
READY2
ZERO
GATE_N
MSTILL
ENABLE_N
GTE
Figure 2-2 FM-STEPDRIVE block diagram
2 Functional description 02.05
© Siemens AG 1998 All Rights Reserved
2-4 FM-STEPDRIVE/SIMOSTEP (FB)
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 3-1
FM-STEPDRIVE specifications
3.1 Electrical data..........................................................................3-2
3.2 Mechanical data.......................................................................3-5
3.3 Ambient conditions ..................................................................3-5
3.4 Applicable standards, regulations, laws..................................3-6
3
3 FM-STEPDRIVE specifications 02.05
© Siemens AG 1998 All Rights Reserved
3-2 FM-STEPDRIVE/SIMOSTEP (FB)
3.1 Electrical data
Mains connection Mains voltage 115 V or 230 V AC
Tolerance: -20% / +15%
Frequency range: 47 Hz to 63 Hz
External back-up fuse 16 A max. ("K" or "C" characteristic)
Input current 8 A max. at 115 V/4.5 A at 230 V
Starting current 75 A max.
Mains buffering time > 10 ms at motor standstill
Maximum power loss 80 W
Intermediate circuit
connection Intermediate circuit voltage 160 V to 485 V DC
Open-close cycle (during operation and after fault rectification) > 5 s
Motor connection Phase current 1.7 A to 6.8 A
6.8 A max. at an ambient temperature of 50°C
and vertical mounting position
4.8 A max. at an ambient temperature of 60°C
and vertical mounting position
4.8 A max. at an ambient temperature of 40°C
and horizontal mounting position
Motor voltage 3 x 325 V (connected to mains)
Motor cable Trailing cable with double shield 3 x 1.5 CC
Length 50 m max.
Wire cross-section 3 x 1.5 mm2
02.05 3 FM-STEPDRIVE specifications
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 3-3
Pulse interface
Note
All signals are PELV (protected extra low voltage) signals as defined by
VDE 0160.
Pulse interface inputs
PULSE (clock), DIR (sense of rotation), ENABLE (power controller
enable),
PWM (current control). For a signal description, see chapter 4.
5 V optocoupler inputs:
Voltage control:
Uhigh, min = 2.5 V
Uhigh, max = 5.25 V
Ulow, max = 0.4 V
Ulow, min = -5.25 V Imax = 30 mA
Current control:
Ihigh, min = 7 mA
Ihigh, max = 25 mA
Ilow, max = 0.2 mA
Ilow, min = -25 mA Umax = 5.25 V
Note
It is recommended to use push-pull control for reasons of noise
suppression.
Uce
GND_S
Pulse interface output
READY1_N (readiness). For a signal description, see chapter 4.
Optocoupler output (no reverse-polarity protection, not short-circuit
protected):
Uce: 30 V max.
Uce,sat: < 1.0 V at 10 mA
!
Warning
This output is not short-circuit protected and does not feature reverse-
polarity protection.
GND_S: System ground, internally connected
3 FM-STEPDRIVE specifications 02.05
© Siemens AG 1998 All Rights Reserved
3-4 FM-STEPDRIVE/SIMOSTEP (FB)
Signal interface
Note
Alls signals are PELV (protected extra low voltage) signals as defined in
VDE 0160.
Signal interface input
GATE_N (enable/disable the clock signal). ENABLE_N (enables the
amplifier). For a signal description, see chapter 4.
24 V standard PLC optocoupler input:
Uhigh, min = 15 V Ihigh, min = 2 mA
Uhigh, max = 30 V Ihigh, max = 15 mA
Ulow, max = 5 V Ilow, max = 0.2 mA Input open corresponds
Ulow, min = -3 V Ilow, min = -15 mA to low signal.
Max. transient overvoltage 35 V/500 ms
Signal interface outputs
READY2 (readiness), ZERO (ring counter zero signal), MSTILL (Motor
standstill). For a signal description, see chapter 4.
24 V standard PLC output READY2 (overload and short-circuit protected):
Uhigh 24 V supply voltage
Voltage drop 3 V max. at 70 mA
Output current 70 mA
Sustained short-circuit current 0.6 A max.
Peak current 5 A max. for 50 ms
Ulow Output open
Leakage current 150 µA max.
24 V standard PLC output ZERO (overload and short-circuit protected):
Voltage drop 3 V max. at 30 mA
Output current 30 mA max.
other data as for output READY2
External 24 V supply for signal interface
Note
The 24 V voltage supply must meet the specifications of DIN 19240.
Voltage range 18.5 V to 30.2 V DC
Ripple 3.6 Vpp
Input current 1.5 A max.
Transient overvoltage 35 V / 500 ms max.
02.05 3 FM-STEPDRIVE specifications
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 3-5
3.2 Mechanical data
Dimensions (H x W x D) 125 x 80 x 117 mm
Weight 890 g
3.3 Ambient conditions
Figure 3-1 Interrelation between phase current and ambient temperature
Non-condensing
Transport and storage temperature -40°C to +70 °C
Vibration strain during operation
10 Hz to 58 Hz 0.075 mm deflection
over 58 Hz to 500 Hz 8.9 m/s2
Vibration strain during transport (packaged)
5 Hz to 9 Hz 3.5 mm deflection
over 9 Hz to 500 Hz 10 m/ s2
Shock 15 g 11 ms
Free fall non-packaged 100 mm
packaged 500 mm
Drop and topple admissible
Continuous sound pressure level <50 dB(A)
3 FM-STEPDRIVE specifications 02.05
© Siemens AG 1998 All Rights Reserved
3-6 FM-STEPDRIVE/SIMOSTEP (FB)
3.4 Applicable standards, regulations, laws
The following standards, regulations and laws must be observed
when operating the FM-STEPDRIVE:
• DIN EN 60204 Part 1 (VDE 0113) Electrical equipment of machines
• DIN VDE 0100 Erection of power installations with
nominal voltages up to 1000 V
• DIN VDE 0106 Protection against electric shock
• DIN VDE 0470 (and: IEC 529) IP degrees of protection
• DIN VDE 0875 (EN 55011) Radio interference suppression of
electrical appliances and systems
• DIN EN 954-1 Safety of machines
Safety-related parts of
control systems
General design guidelines
If you intend to use the FM-STEPDRIVE power drive in a residential area,
the limit values of the following standards must also be observed:
• EN 60555 Disturbances in electricity supply
networks caused by household
appliances and similar equipment
• EN 55022, Class B Limit values and measurement
methods for information technology
equipment
• DIN EN 61000 Part 3-2 Electromagnetic compatibility
In case of high interference levels, additional measures must be taken.
We recommend to provide for EMC design of cabinets, e.g. 8MC
cabinets,
(-> catalog NV 21).
The following standards, regulations and laws have been observed
when developing the FM-STEPDRIVE:
• UL 508 Industrial control equipment
• CSA C22.2 No 142 Process control equipment
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 4-1
Signal description
4.1 Pulse interface.........................................................................4-2
4.2 Signal interface........................................................................4-3
4.3 Signal timing diagrams ............................................................4-4
4
4 Signal description 02.05
© Siemens AG 1998 All Rights Reserved
4-2 FM-STEPDRIVE/SIMOSTEP (FB)
The signals and timing diagrams for the pulse and signal interfaces are
described in the following sections.
4.1 Pulse interface
The pulse interface has four 5 V optocoupler inputs and one optocoupler
output.
Note
The technical data of the pulse interface are described in chapter 3.
The signal timing of the inputs/outputs is described in chapter 4.3.
Inputs:
PULSE (clock) To start motor shaft rotation, rectangular clock pulses must be supplied to
the PULSE input. Each positive pulse edge triggers one motor step if the
power controller is in ready status and the GATE_N input is energized
(24 V).
The sense of rotation is preset with the direction input (DIR).
DIR (sense of rotation) When the DIR signal input is deenergized, the motor turns in a clockwise
direction (as seen from front towards motor shaft). When this signal input
is energized, the motor turns in a counterclockwise direction (as seen
from front towards motor shaft). The sense of rotation can also be
inverted by interchanging two motor phase leads.
ENABLE (enable) When the ENABLE input is energized, the power controller is enabled.
After approx. 500 ms, the power controller reports readiness via the
READY1_N and READY2 outputs and the motor is energized. If 24 V are
present at the GATE_N input of the signal interface, clock pulses can be
supplied to the PULSE input.
PWM (current control) The set motor phase current can be modified using a pulse width
modulation signal on the PWM input in the range from 0% to 100%
(frequency range 10 kHz to 20 kHz). The phase current is determined by
the pulse/pause ratio of the PWM signal. If the signal input is
deenergized, the set phase current flows. If the signal input is energized,
the motor phase current is switched off. When the motor is stopped, it
does not have any holding torque.
Output:
READY1_N (readiness) When the ENABLE input is activated, the power controller reports readiness
via the READY1_N output. When the power controller is ready, the
READY1_N output has low resistance. If 24 V are present at the GATE_N
input of the signal interface, clock pulses can be supplied to the PULSE
input.
In case of a power controller fault, or if a power controller enable signal
has not been received via the ENABLE input, the READY1_N output has
high resistance.
02.05 4 Signal description
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 4-3
4.2 Signal interface
The signal interface has two 24 V optocoupler inputs and two optocoupler
outputs.
READY2
ZERO
MSTILL
GATE_N
M (24 V GND)
L+ (24 V)
ENABLE_N
Note
The technical data of the pulse interface are described in chapter 3.
The signal timing of the inputs/outputs is described in chapter 4.3.
Inputs:
GATE_N
(enable/disable
pulses)
With 24 V at the GATE_N input, the pulses active on the PULSE input are
used for controlling the stepping motor. With 0 V or open input GATE_N,
active pulses are disabled. This function can be used in a multi-axis
system for selecting individual axes.
This input is displayed via the GTE LED (see page 8-2).
ENABLE_N (enabling
the amplifier) When the ENABLE_N input is energized, the power controller is enabled.
After approx. 500 ms, the power controller reports readiness via the
READY1_N and READY2 outputs and the motor is energized. If 24 V are
present at the GATE_N input of the signal interface, clock pulses can be
supplied to the PULSE input.
Outputs:
ZERO (ring counter
zero signal) When the internal ring counter is zero, 24 V are present on the ZERO
output. Reference movements with step accuracy can be performed by
evaluating the ZERO signal. At a motor speed of 300 revolutions/minute,
the pulse width of the ZERO signal is equivalent to the duration of the
PULSE signal period.
At a higher motor speed, the pulse width of the ZERO signal is reduced.
READY2
(readiness) When the ENABLE input is activated, the power controller reports
readiness via the READY2 output. When the power controller is ready,
24 V are present on the READY2 output. If 24 V are present at the
GATE_N input of the signal interface, clock pulses can be supplied to the
PULSE input. In case of a power controller fault, or if a power controller
enable signal has not been received via the ENABLE input, the READY2
output has high resistance.
MSTILL
(Motor standstill) With the GATE_N input, the clock signal at the PULSE input can be
disabled so that the motor is brought to a standstill.
The motor standstill enforced by GATE_N is acknowledged by the
MSTILL signal.
At 0 V or if the GATE_N input is open, 24 V are present at the MSTILL
output; the motor shaft cannot move.
Applying 24 V to the GATE_N input is acknowledged by 0 V on the
MSTILL output, and the motor shaft can move again.
4 Signal description 02.05
© Siemens AG 1998 All Rights Reserved
4-4 FM-STEPDRIVE/SIMOSTEP (FB)
4.3 Signal timing diagrams
The timing diagrams below illustrate the timing of the input/output signals
of the pulse and signal interfaces.
Figure 4-1 ENABLE/READY timing diagram
Figure 4-2 PULSE/DIR/GATE_N timing diagram
Figure 4-3 PWM or ENABLE and motor phase current timing diagram
100ms 180ms
GATE_N
MSTILL
Figure 4-4 GATE_N/MSTILL timing diagram
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 5-1
Mounting 5
5 Mounting 02.05
© Siemens AG 1998 All Rights Reserved
5-2 FM-STEPDRIVE/SIMOSTEP (FB)
!
Danger
Voltage must be disconnected whenever mounting work is carried out.
Figure 5-1 Mounting the FM-STEPDRIVE power controller
Mount the FM-STEPDRIVE as follows:
1. Hook the FM-STEPDRIVE to the mounting rail and let it down.
2. Fasten the FM-STEPDRIVE using the two screws at the bottom of the
unit.
Note
A fan is installed in the power controller. When mounting, leave 5 cm of
space for the air flow at the top and bottom of the unit.
Units must not be mounted on top of each other without a partition.
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 6-1
Wiring
6.1 FM-STEPDRIVE and SIMOSTEP wiring.................................6-2
6.2 Wiring example for FM-353 and FM-NC/FM357.....................6-4
6.3 Wiring layout for control cabinet..............................................6-6
6.4 Network wiring for several axes...............................................6-7
6.5 Operating an axis in a safe working area................................6-10
6.6 Accessories .............................................................................6-12
6
6 Wiring 02.05
© Siemens AG 1998 All Rights Reserved
6-2 FM-STEPDRIVE/SIMOSTEP (FB)
6.1 FM-STEPDRIVE and SIMOSTEP wiring
Wire the FM-STEPDRIVE power controller and the SIMOSTEP series
motor in accordance with figure 6-1.
Motor connection
Mains/intermediate
circuit connection
Pulse interface
Control unit
Control unit
Supply
SIMOSTEP motor
115 VAC
or
230 VAC
N
PE
Fuse
DC
+
DC
-
115
230
N
PE
MS
UU
VV
WW
(W)3
(V) 2
(U) 1
456789
0
Signal interface
FM-STEPDRIVE
PULSE_N
DIR_N
ENABLE_N
PWM_N
GND
GND
READY1_N
PULSE
DIR
ENABLE
PWM
GND
GND
Not used
GND
1
15
24 V
L
Shield connection
Strain relief spring
Shield connection
Mounting plate
Shield connection
Motor cable gland
Mains
filter
READY2
ZERO
MSTILL
GATE_N
M (24V GND)
L+ (24 V)
ENABLE_N
PE
PE Schild connection
as short as possible
Figure 6-1 FM-STEPDRIVE and SIMOSTEP wiring
!
Danger
The supply voltage must be disconnected whenever wiring work is carried
out. When the supply voltage is connected, high voltages are present on
the mains, intermediate circuit and motor connections. Never touch these
connections when the unit is switched on, since this constitutes a danger
of death or severe injuries.
02.05 6 Wiring
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 6-3
Mains connection The unit must be protected by an external 16 a type Kor C standard fuse.
!
Danger
If the neutral conductor is connected, the three-phase power supply
requires that the individual phases and neutral be
connected/disconnected simultaneously. In order to avoid overvoltage.
In order to fulfil the EMC requirements, a mains filter must be inserted into
the mains supply line (see chapter 6.4).
Intermediate circuit
connection With multi-axis wiring and single-phase mains connection, the
intermediate circuit connections DC+ and DC- can be interconnected for
energy exchange between the power controllers. This is recommended
when considerable masses must be accelerated and decelerated within a
short time.
Motor wiring For the cable connection in the motor terminal panel, unscrew the four
Phillips screws of the terminal panel.
The PE wire and the shield of the motor cable must be connected on the
motor and the device end as shown in figure 6-1.
The protective conductor connection on the motor is usually established
via the motor fastening components. If this connection should be
insufficient, the protective conductor may be connected to the external
terminal of the motor.
A shielded 3-wire standard cable can be used for connecting the motor
(see accessory table, chapter 6.6).
The cable shield must be clamped with the motor cable gland on the
motor and connected to the strain relief spring on the power controller
(remove the sheath at the strain relief element).
Behind the strain relief element, the cable sheath should reach as far as
possible to the motor connection on the FM-STEPDRIVE.
At the cable entry into the cabinet, the cable shield must be connected to
a grounded shield terminal (remove the sheath at the terminal).
Pulse interface Ready-made cables with sub-D connectors can be used for connecting
the pulse interface of the FM-STEPDRIVE power controller to the
positioning module FM-353 or the FM-NC/FM357 controller (see
accessory table, chapter 6.6).
For a wiring example, see chapter 6.2.
Signal interface The signal interface must be supplied with 24 V DC from an external
power supply unit.
The 24 V supply must meet the requirements of the DIN VDE 19240
standard. For a wiring example, see chapter 6.2.
6 Wiring 02.05
© Siemens AG 1998 All Rights Reserved
6-4 FM-STEPDRIVE/SIMOSTEP (FB)
6.2 Wiring example for FM-353 and FM-NC/FM357
Wiring with FM-353
positioning module The following figure illustrates the wiring layout for connecting the pulse
interface to the FM-353 positioning module:
Pulse interface cable for FM-353
Order no.: 6FX2002-3AC02-1xx0
(xx is the length in m),
see NC60.1 or NCZ catalogues
PULSE_N PULSE_N
PULSE
FM-353 FM-STEPDRIVE
PULSE
11bk
99br
22rd
10 10or
33ye
11 11gn
44bu
12 12vio
55
13 13
66
14 14
77
88gy
15 15wh
DIR DIR
DIR_N DIR_N
ENABLE ENABLE
ENABLE_N ENABLE_N
PWM/BOOST PWM
PWM_N/BOOST_N PWM_N
M GND
GND
GND
GND
M
M
M
Not used Not used
M GND
READY_N
Sub-D Sub-DCable 8 x 2 x 0.18
15 pin female 15 pin femaleshielded
READY1_N
Figure 6-2 Connecting the FM-STEPDRIVE power controller to FM-353
The FM-353 positioning module can evaluate the READY2 or ZERO
output signals (refer to manual on SIMATIC S7 positioning module FM
353, order no. 6ES7 353-1AH00-7AG0). Depending on the operating
mode used on the FM-353, the RM-P input of the 20-pin front panel
connector of the FM-353 must be wired to the ZERO output or to the
READY2 output of the signal interface on the FM-STEPDRIVE power
controller. The following figure illustrates the wiring layout of the signal
interface with common voltage supply:
FM-STEPDRIVEFM-353
Common 24 V
supply
Signal interface
19
20
10
9
X1
L+
L+M
M
RM_N
RM_P
READY2
ZERO
MSTILL
GATE_N
M (24 V GND)
L+ (24 V)
ENABLE_N
Figure 6-3 Signal interface wiring layout for connection to FM-353
02.05 6 Wiring
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 6-5
Multi-axis wiring
with FM-NC/FM357
controller
The following figure illustrates the wiring layout for connecting three FM-
STEPDRIVE power controllers and one drive with a ±10V interface to the
FM-NC/FM357 controller:
PULS1_N
PULS2_N
PULS3_N
RF4.2
PULSE_N
PULSE_N
PULSE_N
PULS1
PULS2
PULS3
RF4.1
FM-NC/FM357 FM-STEPDRIVE
FM-STEPDRIVE
FM-STEPDRIVE
PULSE
PULSE
PULSE
5
40
9
17
1
1
1
black
white/grey
white/black
white/yellow
38
7
42
50
9
9
9
brown
brown/black
white/brown
white/green
6
41
10
4
2
2
2
red
blue
brown/red
white/blue
39
8
43
37
10
10
10
orange
violet
brown/orange
white/violet
18
20
26
3
3
3
yellow
grey
white/red
19
21
27
11
11
11
green
white
white/orange
DIR1
DIR2
DIR3
BS4
DIR
DIR
DIR
DIR1_N
DIR2_N
DIR3_N
SW4
DIR_N
DIR_N
DIR_N
ENABLE1
ENABLE2
ENABLE3
ENABLE
ENABLE
ENABLE
ENABLE1_N
ENABLE2_N
ENABLE3_N
ENABLE_N
ENABLE_N
ENABLE_N
Sub-D
Sub-D
Sub-D
Sub-D
50 pin female
15 pin female
15 pin female
15 pin female
Drive with
±10 V interface
Cable 12 x 2 x 0.14
shielded
Pulse interface cable for FM-NC/FM357
Order no.: 6FX2002-3AD02-1xx0 (xx is the length in m),
see NC60.1 or NCZ catalogues
Figure 6-4 Connecting three FM-STEPDRIVEs and one drive with ±10 V interface to the
FM-NC/FM357 controller
Note
24 V must be applied on the GATE_N input of the FM-STEPDRIVE signal
interface for pulse enabling.
6 Wiring 02.05
© Siemens AG 1998 All Rights Reserved
6-6 FM-STEPDRIVE/SIMOSTEP (FB)
6.3 Wiring layout for control cabinet
Figure 6-5 Wiring layout for control cabinet
Note
For reasons of noise immunity, the mains, motor and signal cables must
be run separately and shielded on both ends. The mounting rail and the
mains filter must be mounted surface to surface with the mounting plate.
Note
For FM-STEPDRIVE and SIMOSTEP wiring, see figure 6-1.
02.05 6 Wiring
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 6-7
6.4 Network wiring for several axes
FM-STEPDRIVES
DC
+
DC
-
115
230
N
PE
MS
DC
+
DC
-
115
230
N
PE
MS
DC
+
DC
-
115
230
N
PE
MS
Mains
filter
L
N
PE
Mains filter types:
for 115 V = B84142-B16-R for 2 axes max.
for 230 V = B84142-B16-R for 3 axes max.
Figure 6-6 Multi-axis wiring with single-phase mains connection
Note
The intermediate circuit connections (DC+ and DC-) can be inter-
connected for energy exchange between the power controllers if
considerable masses must be accelerated and decelerated within a
short time.
Note
The mains connection cables must be shielded on both ends.
6 Wiring 02.05
© Siemens AG 1998 All Rights Reserved
6-8 FM-STEPDRIVE/SIMOSTEP (FB)
DC
+
DC
-
115
230
N
PE
MS
DC
+
DC
-
115
230
N
PE
MS
DC
+
DC
-
115
230
N
PE
MS
L1
L2
L3
N
PE
Mainsfilter types:
Mains
filter
FM-STEPDRIVES
for115 V=B84299-K55
for230 V=B84299-K53
Figure 6-7 Multi-axis wiring with a three-phase mains connection (115 V or 230 V between phase and neutral)
Note
The intermediate circuit connections (DC+ and DC-) of the power
controllers must not be interconnected!
Note
The mains connection cables must be shielded on both ends.
!
Danger
In order to avoid overvoltage, the three-phase power supply requires that
the individual phases and neutral be connected / disconnected
simultaneously.
02.05 6 Wiring
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 6-9
FM-STEPDRIVES
DC
+
DC
-
115
230
N
PE
MS
DC
+
DC
-
115
230
N
PE
MS
DC
+
DC
-
115
230
N
PE
MS
Mains
filter
L1
L2
L3
PE
Main filter types:
for230 V=B84143-B8-R
Figure 6-8 Multi-axis wiring with a three-phase mains connection (230 V between phases, without neutral)
Note
The intermediate circuit connections (DC+ and DC-) of the power
controllers must not be interconnected!
Note
The mains connection cables must be shielded on both ends.
6 Wiring 02.05
© Siemens AG 1998 All Rights Reserved
6-10 FM-STEPDRIVE/SIMOSTEP (FB)
6.5 Operating an axis in a safe working area
Figure 6-9 Wiring example for an NC axis with stepping motor drive in a safe working area
02.05 6 Wiring
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 6-11
Figure 6-10 Sequence for obtaining the “Safe stop” status, proggramming example
6 Wiring 02.05
© Siemens AG 1998 All Rights Reserved
6-12 FM-STEPDRIVE/SIMOSTEP (FB)
6.6 Accessories
Accessories Order number
Ordering
information
Mains filter for one axis with single-phase power
supply for 115 V = B84142-B8-R
for 230 V = B84113-C-B60 SIEMENS
component service
catalogue
Mains filter for several axes:
For single-phase mains connection for 2 axes
For single-phase mains connection for 3 axes
For three-phase mains connection with neutral
For three-phase mains connector without
neutral
for 115 V = B84142-B16-R
for 230 V = B84142-B16-R
for 115 V = B84299-K55
for 230 V = B84299-K53
for 230 V = B84143-B8-R
Motor cable (non-terminated):
Length 10 m
Length 20 m
Length 50 m
6FX5008-5AA00-1BA0
6FX5008-5AA00-1CA0
6FX5008-5AA00-1FA0
Cable for pulse interface:
For FM-353 (terminated, max. length 35 m)
For FM-NC/FM357 (FM-STEPDRIVE end
non-terminated, max. length 35 m)
6FX2002-3AC02-1xx0
6FX2002-3AD02-1xx0
SIEMENS
automation
systems catalogue:
NC60.1 or ST70, or
for NCZ
accessories
External back-up fuse:
e.g. line circuit breaker
16 A with C characteristic
32 A with C characteristic
5SX2 116-7
5SX2 132-7
SIEMENS
catalogue
of circuit breaker
and fuse systems
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 7-1
Setup 7
7 Setup 02.05
© Siemens AG 1998 All Rights Reserved
7-2 FM-STEPDRIVE/SIMOSTEP (FB)
After mounting and wiring, and with the mains voltage disconnected,
make the following adjustments on the power controller:
!
Caution
The settings may only be made with the power supply disconnected.
1. .Set the motor phase current on the selector switch
Note
For the relationship between phase current and ambient temperature,
see chapter 3.3.
Position 0 1 2 3 4 5 6 7
Current [A] 1.7 2.0 2.4 2.7 3.1 3.4 3.7 4.1
Position 8 9 A B C D E F
Current [A] 4.4 4.8 5.1 5.4 5.8 6.1 6.5 6.8
Recommended switch positions for motors:
SIMOSTEP 1FL3041 1FL3042 1FL3043 1FL3061 1FL3062
Position 0 1 2 7 9
!
Warning
Higher phase current settings than those specified above are not
permitted since they may cause motor overheating.
Lower phase current settings are admissible, however, they will result in a
lower motor torque
2. Set the number of steps and the current reduction at standstill (to 60%
after 100ms)
I-RED Current reduction at standstill active OFF*
Current reduction inactive ON
ON
No. of steps
Not used
No. of steps Switch 1 Switch 2
500
1000*
5000
10000 ON
OFF*
ON
OFF
ON*
ON
OFF
OFF
* Default
OFF
3. Connect the mains voltage and the 24 V supply of the signal interface.
4. Activate the ENABLE input of the pulse interface or the ENABLE_N
input of the signal interface.
When the power controller operates properly, the LED RDY lights and
the READY1_N and READY2 outputs indicate readiness.
5. Activate the GATE_N input. The GTE LED lights
6. Clock pulses can now be supplied to the PULSE input.
With each clock pulse, the motor performs one step.
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 8-1
Status indicators and troubleshooting
8
8 Status indicators and troubleshooting 02.05
© Siemens AG 1998 All Rights Reserved
8-2 FM-STEPDRIVE/SIMOSTEP (FB)
!
Danger
If a malfunction occurs, the motor is deenergized and the power controller
indicates not ready status (LED RDY goes out). The READY1_N and
READY2 outputs have high resistance.
A motor does not have any holding torque when deenergized. This may
cause undesirable effects.
Indication Cause Rectification
FLT (FAULT)
lights Short-circuit betweeen
motor phases
1. Switch off mains
voltage.
2. Check motor wiring;
replace motor if
necessary.
3. Switch on mains
voltage.
OV (OVER-VOLT)
lights Overvoltage
or
motor's feedback energy
too great
Check mains voltage
and mains connection.
Reduce feedback energy
of the motor or dissipate
the feedback energy via
the intermediate circuit
connection.
LV (LOW-VOLT)
lights Undervoltage 1. Check mains voltage
and mains connection.
2. Adjust the voltage.
TMP (TEMP)
lights Overtemperature 1. Ensure sufficient air
supply, or reduce
ambient temperature.
2. After cooling down:
Switch mains voltage
or ENABLE signal off
and on again.
GTE (GATE_N)
not lighting GATE input not activated
motor not moving Activate GATE_N input.
RDY (READY)
lights Unit is ready for
operation. -
OV (OVER-VOLT)
and
LV (LOW-VOLT
light
ENABLE input is
inactive. Activate ENABLE input.
FLT
OV
LV
TMP
RDY
GTE
OV (OVER-VOLT),
LV (LOW-VOLT),
FLT (FAULT) and
TMP (TEMP) light
Excessive clock
frequency on PULSE
input or
high-frequency
interference
1. Check clock
frequency.
2. Switch mains voltage
or ENABLE signal off
and on again.
02.05 8 Status indicators and troubleshooting
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 8-3
Malfunction Cause Rectification
None of the LEDs
light Mains voltage not
available Check mains voltage
and mains connection
wiring.
Motor does not
rotate and does not
have a holding
torque
PWM signal input active Set PWM input to
inactive.
Motor line(s) interrupted With the mains voltage
disconnected, check the
motor wiring.
Motor does not
rotate but does
have a holding
torque
No clock signal present
on PULSE input Supply clock signal to
PULSE input.
Motor turns in
incorrect direction Motor phases
interchanged Connect the motor
phases properly.
DIR signal input set
incorrectly Invert signal on DIR
input.
Motor torque is too
low (motor slips) Motor phase current set
too low Set phase current
correctly.
Acceleration ramp too
steep Reduce acceleration
ramp on control unit.
The drive is
mechanically blocked Eliminate mechanical
blocking.
Other malfunctions
which are not
indicated
Connected motor's rating
is insufficient Connect a more powerful
motor.
!
Caution
Before replacing the power controller, check motor and wiring for a
ground fault!
8 Status indicators and troubleshooting 02.05
© Siemens AG 1998 All Rights Reserved
8-4 FM-STEPDRIVE/SIMOSTEP (FB)
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 9-1
SIMOSTEP specifications 9
9 SIMOSTEP specifications 02.05
© Siemens AG 1998 All Rights Reserved
9-2 FM-STEPDRIVE/SIMOSTEP (FB)
Specifications SIMOSTEP
1FL3041 1FL3042 1FL3043 1FL3061 1FL3062
Max. torque Mm [Ncm] 200 400 600 1000 1500
Holding torque MH [Ncm] 226 452 678 1130 1695
Rotor inertia JR [kgcm²] 1.1 2.2 3.3 10.5 16
Number of steps z 500 / 1000 / 5000 / 10000
Step angle α [ ° 0.72 / 0.36 / 0.072 / 0.036
Systematic angle tolerance
per step 1) ∆αs [ ' ] ±6
Max. starting frequency 1) f
Aom [kHz] 5.3 4.3
Nominal current/supply
line Iw [A] 1.75 2.0 2.25 4.1 4.75
Resistance/coil Rw [Ω] 6.5 5.8 6.5 1.8 1.9
Current rise time constant τ [ms] ~7 ~9 ~10 ~22 ~22
Admissible dynamic axial [N] ~60 ~60 ~60 ~60 ~60
shaft load 2) radial [N] ~100 ~100 ~110 ~300 ~300
Weight (approx.) G [kg] 2.05 3.1 4.2 8.0 11
Motor voltage U [V] 325 325 325 325 325
1) Measured at 1000 steps/revolution
2) Applied at half-way from shaft exit (motor flange).
Characteristics common to all type sizes
• Test voltage acc. to VDE 0530
• Degree of protection IP41 at front shaft exit
• Degree of protection IP56 on terminal box
• Insulation class F
• Shaft runout and axial runout acc. to DIN 42955 N
• Ambient temperature, operating -20°C to +40°C*
• Transport and storage temperature -40°C to +70°C
* Only if flange-mounting is correct
02.05 9 SIMOSTEP specifications
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 9-3
Dimension drawings for motors without brake
30
d h6
L70
85
22.6
6.
5
10
73 h8
2
-1
+ 0.7
70
85
Motor type
SIMOSTEP 1FL3041 110 12
SIMOSTEP 1FL3042 140 12
SIMOSTEP 1FL3043 170 14
d [mm] Order nu mb er
1FL3041-0AC31-0BK0
1FL3042-0AC31-0BK0
1FL3043-0AC31-0BG0
L [mm ]
Figure 9-1 SIMOSTEP 1FL3041, 1FL3042, 1FL3043 dimension drawings (for motors without brake)
Order number
1FL3061-0AC31-0BG0
1FL3062-0AC31-0BG0
Feather key
A6 x 6 x 25, DIN 6885
19 j6
40 ± 0.3
L ± 1
13
56 h7
3 ± 1
25.6
9
110
89
89
110
Motor type L [mm]
SIMOSTEP 1FL3061 180
SIMOSTEP 1FL3062 228
Figure 9-2 SIMOSTEP 1FL3061, 1FL3062 dimension drawings (for motors without brake)
9 SIMOSTEP specifications 02.05
© Siemens AG 1998 All Rights Reserved
9-4 FM-STEPDRIVE/SIMOSTEP (FB)
Dimension drawings for motors with brake
d h6
L
30
46.5
22.6
10
73 h8
2
-1
+ 0.7
70
85
6.5
83.5
85
Motor type
SIMOSTEP 1FL3041 110 12
SIMOSTEP 1FL3042 140 12
SIMOSTEP 1FL3043 170 14
d [mm] Order number
1FL3041-0AC31-0BJ0
1FL3042-0AC31-0BJ0
1FL3043-0AC31-0BH0
L [ mm ]
Figure 9-3 SIMOSTEP 1FL3041, 1FL3042, 1FL3043 dimension drawings (for motors with brake)
52.7
103
Order number
1FL3061-0AC31-0BH0
1FL3062-0AC31-0BH0
19 j6
40 ± 0.3
L ± 1
13
56 h7
3 ± 1
25.6
9
110
89
89
110
Motor type L [mm]
SIMOSTEP 1FL3061 180
SIMOSTEP 1FL3062 228
Figure 9-4 SIMOSTEP 1FL3061, 1FL3062 dimension drawings (for motors with brake)
02.05 9 SIMOSTEP specifications
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 9-5
3-phase stepping
motors with holding
brake
The holding brakes are used to hold the motor in position when the motor
current is switched off. In cases of emergency, e.g. power failure or
EMERGENCY OFF, they stop the drive, thus contributing to the safety of
the system. The brakes are required for applications in which gravity
forces play a role, e.g. Z-axes in handling systems.
!
Caution
In order to ensure reliable functioning of the Z axes with holding brakes,
the statical loading torque should not exceed a maximum of 25% of the
motor holding torque.
Function
The holding brakes are designed as electromagnetic spring pressure
brakes. In order to disengage the brake, it must be electrically excited
when the motor current is switched on. To avoid high temperature of the
brake, the current for the brake is reduced to holding voltage when the
brake is still disengaged (see figure 9-5).
4700 µF/18 V
for 1FL304X
U
3
[V]
Starting voltage
Holding voltage
t
24
75%
50%
24 V
Brake
0 V
U
3
+
1 N 4001
6800 µF/18 V
for 1FL306X
24 Ωmin. 6 W
for 1FL304X
18 Ω8 W
for 1FL306X
Figure 9-5 Example of a circuit to reduce dissipation of the holding brake
Performance data of holding brake
Specifications Motor-size
90 110
Nominal voltage
(power supply via pin 1 and 2) 24 V 24 V
Holding torque 6 Nm 16 Nm
Power consumption 24 W 32 W
Moment of inertia 0,2 kgcm2 0,35 kgcm2
Sw itching times
On (disengage brake) 35 ms 65 ms
13
2
24VDC
non-polarized
Terminalassigment
Off (engage brake) 15 ms 15 ms
9 SIMOSTEP specifications 02.05
© Siemens AG 1998 All Rights Reserved
9-6 FM-STEPDRIVE/SIMOSTEP (FB)
Torque
characteristics The torque of a motor depends on the speed of the rotor and on the
motor phase current set on the power controller.
For the torque characteristic curve measurements, 1000 steps per
revolution and the appropriate nominal motor current were set on the FM-
STEPDRIVE power controller *. The characteristic curves were measured
at the nominal values of the supply voltages 115 V/50 Hz and 230 V/50
Hz.
The following formula reflects the relationship between the control
frequency fs, the number of steps z and the speed n of the motor:
n = 1/z · fs · 60 r.p.m.
The following characteristics are illustrated in each case:
c Slew curve
d Start/stop curve (start frequency as a function of the load torque)
e Load inertia curve
Figure 9-6 SIMOSTEP 1FL3041 torque characteristics
* For 500/5000/10000 numbers of steps, the fs scale must be multiplied wit the
factors 0.5/5/10, respectively.
02.05 9 SIMOSTEP specifications
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 9-7
Figure 9-7 SIMOSTEP 1FL3042 torque characteristics
Figure 9-8 SIMOSTEP 1FL3043 torque characteristics
9 SIMOSTEP specifications 02.05
© Siemens AG 1998 All Rights Reserved
9-8 FM-STEPDRIVE/SIMOSTEP (FB)
Torque
Load inertia
1
2
3
Figure 9-9 SIMOSTEP 1FL3061 torque characteristics
Torque
Load inertia
1
2
3
Figure 9-10 SIMOSTEP 1FL3062 torque characteristics
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 10-1
Stepping motor parameters and
characteristics
10.1 Basic concepts.........................................................................10-2
10.2 Torque characteristics.............................................................10-3
10
10 Stepping motor parameters and characteristics 02.05
© Siemens AG 1998 All Rights Reserved
10-2 FM-STEPDRIVE/SIMOSTEP (FB)
A number of certain parameters and characteristics must be known for
examining and selecting a stepping motor. Each stepping motor has its
specific properties in conjunction with the power controller used; these
properties are represented by characteristic curves. To facilitate an
understanding of their contents and meaning, the essential parameters
and the usage of the characteristics are explained here.
10.1 Basic concepts
Step angle A step refers to a motor shaft rotation by the step angle ; the step is
initiated by a control pulse.
Number of steps The number of steps specifies the number of steps the rotor performs per
revolution. The number of steps can be adjusted for a 3-phase stepping
motor.
Holding torque The rotor is held in each step position due to the DC excitation of the coils
unless its holding torque MH is exceeded on the motor shaft.
Systematic angle
tolerance The systematic angle tolerance per step ∆αs specifies the maximum
number of angular minutes a step may deviate from the nominal step
angle.
Control and stepping
frequency With a continuous sequence of control pulses at a control frequency fS,
the motor shaft will also execute a sequence of steps at the (same)
stepping frequency fZ.
Speed From a specific control frequency onwards (depending on motor type and
mechanical load) the step-by-step movement of the motor shaft verges
into a continuous rotary movement. The following then applies fro the
speed n of the motor:
n = α/360° · fZ · 60 r.p.m. (fz[Hz])
Torques If the rotating motor shaft is subjected to a load torque ML, the motor will
continue to follow the control frequeny synchronously unless the load
torque exceeds a certain limit, i.e. the maximum torque at maximum slew
stepping rate MBm.
In this case, the rotor cannot follow the control frequency any more, and a
step “loss” will occur, where control frequency and stepping frequency are
no longer identical.
Such a situation can be avoided by selecting the correct motor and by
controlling it correctly
02.05 10 Stepping motor parameters and characteristics
© Siemens AG 1998 All Rights Reserved
FM-STEPDRIVE/SIMOSTEP (FB) 10-3
10.2 Torque characteristics
The maximum torque at maximum slew stepping rate MBm of a stepping
motor depends on its type size, on the type of electrical control and, in
particular, on the stepping frequency. This relationship is specified as a
characteristic curve for each stepping motor system.
The maximum torque at maximum slew stepping rate MBm can be output
by the motor at low stepping frequencies; the higher the stepping
frequency, the lower the maximum torque at maximum slew stepping
rate.
The operating range of the motor given by the maximum torque at
maximum slew stepping rate is divided into the starting range and the
acceleration range. In the starting range, the motor is able to follow a
suddenly activated or interrupted control frequency without a stepping
error; in the acceleration range, the control frequency may only be
changed gradually (frequency ramp) in order to prevent the motor from
losing synchronicity.
The starting range is limited by the characteristic curve of the starting limit
frequency fAm (start/stop characteristic): Without load, the motor can start
at the maximum starting frequency fAom; with a load, the starting
frequency is reduced.
Load inertia The size of the starting range also depends on the load inertia JL exerted
by the load on the motor shaft. With JL increasing, the start/stop
characteristic shifts towards lower frequencies. The start/stop
characteristic shows the maximum starting frequency fAom as a function of
the load inertia JL. If a load inertia and a load torque are present at the
same time, the starting limit frequency fAm is determined by moving the
start/stop characteristic in the torque diagram in parallel to the left until
the maximum starting frequency fAom corresponds to the one determined
in the JL diagram (see figure).
Start-stop
(J > 0)
L
M
Bm
Start-stop
(J = 0)
L
f
Am
f
Aom
f
Bom
f
Aom
f [Hz]
n[r.p.m.]
s
f [Hz]
n[r.p.m.]
s
M
L
J
L
Torque
Load inertia
Figure 10-1 Elements of the torque characteristic
Elements of the torque
characteristic
MBm = Max. torque at max.
slew stepping rate
ML = Load torque
fs = Control frequency
fAm = Starting limit frequency
fAom = Max. starting frequency
fBom = Max. operating frequency
JL = Load inertia
10 Stepping motor parameters and characteristics 02.05
© Siemens AG 1998 All Rights Reserved
10-4 FM-STEPDRIVE/SIMOSTEP (FB)
Siemens AG Suggestions
Corrections
A&D MC BMS
P.O. Box 31 80
For Publication/Manual:
SIMATIC
D-91050 Erlangen
Federal Republic of Germany
FM-STEPDRIVE/SIMOSTEP
Power Controller and 3-Phase Stepping
Motors
Supplier Documentation
From:
Name:
Functional description
Order No.: 6SN1197-0AA70-0YP5
Edition: 02.05
Address of your company/department
Street etc.:
ZIP: _____________ City:
Phone: ___________ /
Fax: _____________ /
Should you come across any printing errors
when reading this publication, please notify us
on this sheet. Suggestions for improvement
are also welcome.
©
Siemens AG 2005
Subject to change without prior notice
Order No.: 6SN1197-0AA70-0YP5
Printed in the Federal Republic of Germany
Siemens AG
Automation and Drives
Motion Control Systems
Postfach 3180, D – 91050 Erlangen
Bundesrepublik Deutschland
www.siemens.com/motioncontrol
