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Brochure Lexium SD3 - BERGER

1. BRS368 BRS397 BRS39A Torque in Nm Torque in Nm Torque in Nm 1 6 Se eee 2 4 1 2 3 1 5 i 3 L 2 0 8 1 S 2 2 0 4 0 5 1 0 0 0 0 1 1 10 100 0 1 1 10 100 0 1 1 10 100 Frequency in kHz Frequency in kHz Frequency in kHz G 10 2 3455 8910 2 34 56 891000 2 3 4 5 6000 5 10 2 5450789100 2 54 507891000 2 4 50000 G 10 2 34 56789100 2 5 4 50 891000 2 5 4 5 6000 J kgcm Speed of rotation in rpm J kgcm Speed of rotation in rpm J kgem Speed of rotation in rpm 30 30 8 6 20 20 3 3 3 4 10 10 2 0 0 0 BRS39B BRS3AC BRS3AD Torque in Nm Torque in Nm Torque in Nm 6 12 16 1 1 1 4 5 2 9
2. Overview Designation Description Length For SD3 Reference 26 28A 28B m EMC filter EMC filter single phase 9A 115 230 Vac x x VW3A31401 CANopen machine bus CANopen cables Both ends with 1 RJ45 connector 0 3 x VW3CANCARRO3 1 VW3CANCARR1 CANopen cable With 1 9 pole SubD socket with integrated 1 x VW3M3805R010 terminating resistor and 1 RJ45 connector CANopen cables IP 20 Standard cable C marking zero halogen 50 x TSXCANCA50 flame retardant IEC 60332 1 100 X TSXCANCA100 300 D TSXCANCA300 UL approved C marking flame retardant 50 x TSXCANCB50 IEC 60332 1 100 x TSXCANCB100 300 x TSXCANCB300 For difficult ambient conditions 1 or 50 x TSXCANCD50 portable installations C marking low 100 x TSXCANCD100 smoke zero halogen flame retardant IEC 60332 1 300 D TSXCANCD300 CANopen junction box With 2 RJ45 ports for trunk line junction for x VW3CANTAP2 connection via RJ45 cable Terminal adapter With 3 RJ45 connectors and 1 cable 0 3 x TCSCTN023F13M03 SubD connector IP 20 CANopen Twido end 90 angled 9 pole SubD socket x TSXCANKCDF90T Switch for adapting to wire end Modbus serial link Modbus junction box 3 screw terminal strips RC terminal x TSXSCA50 adapter for connection with VW3A8306D30 cable Modbus 2 way junction box 2 15 pole SubD sockets 2 screw terminal x TSXSCA62 strips RC terminal adapter for connection with VW3A8306 cable Modbus connection m
3. Type of gearbox GBX 60 GBX 80 GBX 120 GBX 160 Version Planetary gearbox with straight teeth Backlash 3 1 8 1 arcmin lt 16 9 8 6 9 1 25 1 20 14 12 10 Torsional rigidity 3 1 8 1 Nm 2 3 6 12 38 9 1 25 1 GEN ES 6 5 13 41 Noise level 1 dB A 58 60 65 70 Casing Black anodized aluminium Shaft material C45 Shaft output dust and damp protection IP 54 Lubrication Lubricated life Average service life 2 h 30 000 Mounting position Any position Operating temperature c 25 90 Efficiency 3 1 8 1 0 96 9 1 25 1 0 94 Maximum permitted radial Lig 10 000 h N 500 950 2000 6000 force 2 3 Lion 30 000 h N 340 650 1500 4200 Maximum permitted axial Lion 10 000 h N 600 1200 2800 8000 force 2 Lion 30 000 h N 450 900 2100 6000 Moment of inertia of 3 1 kgcm2 0 135 0 77 2 63 12 14 gearbox 4 1 kgcm 0 093 0 52 1 79 7 78 5 1 kgcm 0 078 0 45 1 53 6 07 8 1 kgem 0 065 0 39 1 32 4 63 9 1 kgcm2 0 131 0 74 2 62 12 1 kgem 0 127 0 72 2 56 12 37 15 1 kgcm2 0 077 0 71 2 53 12 35 16 1 kgcm 0 088 0 50 1 75 7 47 20 1 kgem 0 075 0 44 1 50 6 65 25 1 kgem 0 075 0 44 1 49 5 81 Continuous output 3 1 Nm 28 85 115 400 torque 2 4 1 Nm 38 115 155 450 5 1 Nm 40 110 195 450 8 1 Nm 18 50 120 450 9 1 Nm 44 130 210 12 1 Nm 44 120 260 800 15 1 Nm 44 110 230 700 16 1 Nm 44 120 260 800 20 1 Nm 44 120 260 800 25 1 Nm 40 110 230 700 Maxium outpu
4. ANA_ offset ANA win ANA n scale OSCLreference ANA IN1 Signal 0V rocessing Ne Profile Motor generator controller 1 OSCL n target i i RAMPn max i RAMPacc 1 RAMPdecel 77777777777777 4E Overview of Oscillator operating mode Electronic gear In Electronic Gear operating mode the reference signals are supplied from an encoder A B signals or a controller pulse direction signals and a new position reference value is calculated using an adjustable gear ratio Reference value setting The reference values are supplied as pulse direction or A B encoder signals Application example Synchronisation of motion sequences e g cutting material on a conveyor belt NC 200Ine gt t Z 1 0 lstdrive system i gt ON 1 200 Inc gt D M M M 1 02 3 2nd drive system rH 0 N 2 300 Inc gt i l l t Z2 23 __ 3rd drive system N 1 600 Inc E gt Electronic gear operating mode 5 26 Schneider Electric Functions continued START DataSet 0 Ref LIMN DataSet 1 Pos absolut START 1 DataSet 2 Pos absolut START 1 y DataSet_3 Pos relativ START 1 Example of sequential selection of movement commands DataSet 1 DataSet 2 Blended movement Lexium SD3 motion control SD328 stepper motor drives Motion Sequence operating mod
5. Length L Shaft diameter OW Centring collar OZ BRS397 67 5 9 5h6 12h6 60h8 73h8 BRS39A 97 5 9 5h6 12h6 60h8 73h8 BRS39B 127 5 14 h6 60h8 73h8 1 Woodruff key DIN 6888 optional shafts 29 5 3x5 shafts 12 4 x 6 5 shafts 14 5 x 6 5 2 Cable gland M20 x 1 5 for cable 9 13 3 Holding brake optional BRS39e 3 phase stepper motor in connector version L 0 6 an 198 43 30 10 22 4x 6 5 14 r6 ca 72 2 3 Length L Shaft diameter OW Centring collar OZ BRS397 67 5 9 5h6 12h6 60h8 73h8 BRS39A 97 5 9 5h6 12h6 60h8 73h8 BRS39B 127 5 14 h6 60h8 73h8 1 Woodruff key DIN 6888 optional shafts 9 5 3x5 shafts 12 4 x 6 5 shafts 14 5x 6 5 2 Holding brake optional 3 Motor connection 6 poles 4 Motor connection optional 12 poles Schneider Electric 5 47 Dimensions continued Lexium SD3 motion control BRS3 3 phase stepper motors BRS3Ae 3 phase stepper motor in terminal box version 40 La 40 15 56 Length L BRS3AC 180 BRS3AD 228 1 Parallel key DIN6885 A6 x 6 x 25 2 Cable gland M20 x 1 5 for cable 9 13 3 Holding brake optional 5 48 Schneider Electric BRS3AC 180 Dimensions continued Lexium SD3 motion control BRS3 3 phas
6. ES ES 1 e CN1 QsvsE QACTIVE CN1 CN5 CN2 L Reference value adapter RVA connections 24VDC OVDC Dimensions W x H x D mm 77 x 135 x 37 Input Supply voltage VE 19 2 30 Current consumption mA 15 150 5VSE no load mA 50 5VSE 300 mA mA 150 Output encoder Sense controlled short circuit proof overload proof 5VSE V 4 75 5 25 Max output current mA 300 Designation Description Length Reference m Reference value adapter For distribution of A B encoder signals or pulse VW3M3101 direction signals to 5 devices with 24 V power supply unit for 5 V encoder power supply for mounting to DIN rail Cascading cable For reference value adapter VW3M3101 0 5 VW3M8211R05 Schneider 5 61 Electric Presentation characteristics references i VB IH Caj 29 P LT RS 422 interface adapter USIC Lexium SD3 motion control Option RS 422 interface adapter USIC for stepper motor drives SD328 The USIC Universal Signal Interface Converter is an interface adapter which is used for universal adaptation of pulse direction interface to a master controller e g PLC AUSIC is recommended in the following cases m f 24 V signals are to be connected to 5 V signal inputs m Ifthe signals must be galvanically isolated e g incorrect reference potential strong interference in environment m f signals with an o
7. Lexium SD3 motion control recommendations SD32e stepper motor drive continued Mounting in housing or control cabinet Please observe the instructions on mounting in Mounting distances and ventilation i page 5 38 Proceed as follows to ensure adequate ventilation of the stepper motor drive m Provide air inlet vents on the housing i m The air inlet vents per stepper motor drive must allow an air flow of a minimum of l T 0 3 m min SD32eeU25S2 or 0 55 m min SD32eeU68S2 If the air throughput is less external ventilation units must be installed m Use IP 54 special filter m Remove the cover on the top of the stepper motor drive m The throughput of the fan must be at least 0 3 m min Steel sheet housing and control cabinet degree of protection IP 54 The SD3 stepper motor drive must be installed in a sealed housing under the following ambient conditions dust corrosive gases high humidity with the danger of condensation and surface water etc Observe the maximum permissible ambient temperature of the stepper motor drive when installing it in a sealed housing Calculation of housing dimensions Maximum heat resistance Ro in C W Rin 0 69 P 0 maximum temperature C inside the housing 08 maximum outside temperature C P total power loss W in the housing See Characteristics for the power loss of the stepper motor drives Consider the power loss of the other components Usab
8. x x x VW3S8214 with crimp contacts Fan kit Fan kit 24 V x x x VW353101 Technical documentation CD ROM multilingual x x x VW3M8703 Contents m Technical documentation multilingual Lexium CT commissioning software EPlan macros CAD drawings u u u m EDS and GSD files Schneider Electric 5 69
9. 23 max 63 59 words Read device ID 43 Diagnostics 08 Communication monitoring Monitoring function node guarding can be activated The timeout can be set from 0 1 s to 10 s 5 32 Schneider Electric Characteristics continued Lexium SD3 motion control SD328 stepper motor drives Protection Ofthe machine Safe Torque Off safety function which forces stopping and or prevents unintended restarting of the motor conforming to standard ISO 13849 1 performance level d PL d and standard IEC EN 61800 5 2 Safe Torque Off safety function which forces stopping and or prevents unintended restarting of the motor conforming to standard IEC EN 61508 level SIL2 and standard IEC EN 61800 5 2 Ofthe system process SD328eU25 SD328eU28 Dimensions W x H x D mm 72x145x 140 Mass kg 1 1 1 2 Type of cooling Convection Fan Max speed of rotation of rpm 3000 motor Schneider 5 33 Electric References Lexium SD3 motion control SD328 stepper motor drives Example SD3 28 A U25 S2 Product designation SD3 stepper motor drive 3 phase Product type 28 standard stepper motor drive for fieldbus Interfaces A CANopen fieldbus Modbus fieldbus and analogue input B PROFIBUS DP fieldbus Max motor phase current U25 2 5A U68 6 8A Power amplifier supply voltage S2 1 115 Vzz 230 V switching SD328 stepper motor drive 5 34 Schne
10. Interface CN4 is an RJ45 connector A CANopen bus consists of several networked participants are interconnected via one bus cable Every network participant must be configured before it can operate on the network The baud rate must be the same for all devices on the fieldbus Address and baud rate are set during commissioning The devices at the two ends of a bus cable must be terminated with terminating resistors A terminating resistor is integrated in the stepper motor drive the resistor is activated with the S1 switch Designation Description Length Reference m CANopen cables Both ends with 1 RJ45 connector 0 3 VW3CANCARR03 1 VW3CANCARR1 With 1 9 pole SubD socket with integrated terminating 1 VW3M3805R010 resistor and 1 RJ45 connector CANopen cables IP 20 Standard cable C marking zero halogen 50 TSXCANCA50 flame retardant IEC 60332 1 100 TSXCANCA100 300 TSXCANCA300 UL approved C marking flame retardant 50 TSXCANCB50 IEC 60332 1 100 TSXCANCB100 300 TSXCANCB300 For difficult environments 1 or portable installations 50 TSXCANCD50 C marking low smoke zero halogen flame retardant 100 TSXCANCD100 IEC 60332 1 300 TSXCANCD300 CANopen junction box With 2 RJ45 ports for trunk line junction for connection VW3CANTAP2 via RJ45 cable Terminal adapter With 3 RJ45 connectors and 1 cable 3 TCSCTN023F13M03 SubD connector IP 20 CANopen Twido end 90 angled 9 pole SubD socket TSXCANKC
11. 2 12 3 6 6 1 5 3 4 0 0 0 0 1 1 10 100 0 1 1 0 00 0 1 10 100 Frequency in kHz Frequency in kHz Frequency in kHz 6 10 2 3455610900 2 5456760100 2 5 6000 b 10 2 54 96788100 5450 80100 2 3 4 56000 b 10 2 3456799400 53456180100 2 3 15000 J kgem Speed of rotation in rpm J kgem Speed of rotation in rpm J kgem Speed of rotation in rpm 30 80 80 20 3 60 3 60 3 40 40 10 20 20 0 0 0 1 Pull outtorque 2 Pull in torque 3 Maximum load inertia Measurement at 1000 steps revolution nominal voltage DC bus Uy and phase current ly Scbneider 5 43 d Electric References Lexium SD3 motion control BRS3 3 phase stepper motors Example B Motor type B S stepper motor Motor phases B 3 3 phase stepper motor Size B 6 57 2 mm Motor length B 8 79 mm Maximum voltage B W 230 V 325 V Shaft version B BRS368 3 phase stepper motor 0 smooth shaft 6 35mm IP 41 1 smooth shaft 8mm IP 41 Centring collar B 3 38 mm Position capture B 0 without encoder 1 with encoder 1000 inc rev Holding brake B A without holding brake B with holding brake Connection type B B terminal box C connector Second shaft B A without second shaft B with second shaft Example B Motor type B S stepper motor Motor phases B 3 3 phase stepper motor Size B 9 85 mm Motor length B 7 68 mm A 98mm B 128mm Maximum voltage B W 230 V 325
12. 50 Voltage drop at 50 mA load V lt 1 Pulse direction interface CN5 Symmetrical As per RS 422 Resistance kQ 5 Pulse direction frequency kHz lt 200 AIB frequency kHz 400 CANopen interface CN1 or CN4 SD328A only Connections RJ45 connector CN4 spring terminals CN1 Network management Slave Baud rate kbps 125 250 500 1024 Address node ID 1 127 configurable with the integrated control panel HMI or the Lexium CT PC commissioning software Max number of connected stepper motor drives 127 Polarisation A switchable line terminal resistor is integrated into the stepper motor drives Device file The EDS device file can be downloaded from www schneider electric com 1 Without load at the outputs 2 Except for PWRR A PWRR B CAP1 and CAP2 Schneider 5 31 Electric Characteristics continued Lexium SD3 motion control SD328 stepper motor drives Services PDO Process Data Objects Implicit exchange of PDOs Process Data Objects m 3 PDOs as per DSP 402 operating modes Profile Position and Profile Velocity m 1 PDO with freely configurable assignment PDO operating modes Event triggering time triggering remotely requested sync cyclic and acyclic PDO mapping 1 PDO configurable SDO Explicit exchange of SDOs Service Data Objects m 2 SDO receive m 2 SDO send Emergency Yes Profile CiA DSP 402 CANopen device profile drives and axis control Profile Position and Profile Velocity ope
13. 60721 3 3 class 3K3 5 85 no condensation allowed Vibration test conforming to IEC EN 60068 2 6 3 13 Hz 1 5mm peak 13 150 Hz 1 gn peak Shock test conforming to IEC EN 60068 2 27 75 Q factory standard 15 gn for 11 ms 1 No icing Designation Description Length Reference m USIC Universal Signal Interface Converter For adaptation of control signals to RS 422 standard VW3M3102 Pulse direction connection cables for Shielded USIC end with SubD15 socket 0 5 VW3M8210R05 connecting a PLC to USIC other cable end open 15 VW3M8210R15 3 VW3M8210R30 5 VW3M8210R50 5 62 Schneider Electric Presentation Lexium SD3 motion control Option GBX planetary gearboxes 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 To meet these requirements Schneider Electric has decided to use the Neugart GBX planetary gears which are specially tuned to the BRS stepper motors This planetary gearbox features lifetime lubrication GBX planetary gears are easy to install and operate GBX planetary gearbox The planetary gears are depending on the power of the stepper motors available in four sizes GBX 60 GBX160 and with ten gear ratios 3 1 25 1 see table below The values for the continuous torque and the peak torque at standstill available at the output shaf
14. 8 5 53 4 7 Phase current In Arms 0 9 175 2 2 25 4 1 4 75 Winding resistance Rw Q 25 6 5 5 8 6 5 1 8 19 Current rise time constant 6 ms 4 6 7 9 10 22 22 Mass 2 m kg 2 0 2 3 2 4 3 8 2 11 2 Shaft load 3 Max radial force N 50 100 110 300 1st shaft end 4 Max radial force N 25 50 150 2nd shaft end optional 4 Max axial tensile force N 100 175 330 Max axial force pressure N 8 4 30 60 Nominal bearing service life 5 Lion h 20000 20000 20000 1 Measured at 1000 steps revolution 2 Mass of the motor version with cable gland and connector 3 Conditions for shaft load speed of rotation 600 rom 100 duty cycle at nominal torque ambient temperature 40 C bearing temperature 80 C 4 Point of application of radial force centre of shaft end 5 Operating hours with a probability of failure of 1096 5 42 Electric Schneider Characteristics continued Lexium SD3 motion control BRS3 3 phase stepper motors Characteristic curves
15. end and holding brake options cannot be selected in combination An encoder can only be used with motors with connector type motor connection 3 Conforming to DIN 6888 4 Conforming to DIN 6885 5 9 5mm and 12 mm with BRS397 and BRS39A 14 mm with BRS39B Schneider 5 41 Electric Characteristics Lex ium SD3 motion control BRS3 3 phase stepper motors Ambient temperature C 25 40 Max installation height over m s l without power loss m lt 1000 Transport and storage temperature C 25 70 Relative humidity 15 85 no condensation allowed Vibration grade during operation A conforming to IEC EN 60034 14 Max vibration load m s 20 Degree of protection Total except shaft bushing IP 56 conforming to Shaft bushing IP 41 IEC EN 60034 5 Thermal class 155 F Shaft wobble and perpendicularity DIN EN 50 347 IEC 60072 1 Max rotary acceleration rad s 200000 BRS motor type 368 397 39A 39B 3AC 3AD Max supply voltage Umax V 230 Nominal voltage DC bus Un mM 325 Nominal torque Mn Nm 1 50 2 4 6 12 16 5 Holding torque My Nm 1 70 2 26 4 52 6 78 13 5 19 7 Rotor inertia Jg kgcm 0 38 1 1 2 2 3 3 10 5 16 Number of steps z 200 400 500 1000 2000 4000 5000 10000 Step angle a d 1 8 0 9 0 72 0 36 0 18 0 09 0 072 0 036 Systematic angle tolerance 1 Aa arcmin 6 Max starting frequency faom kHz
16. pole Molex plug 10 x x e VW3S8101R100 15 D D D VW3S8101R150 20 D D D VW358101R200 5 68 Schneider Electric References continued Lexium SD3 motion control Options and accessories Overview Designation Description Length For SD3 Reference 26 28A 28B m Programming cable RJ45 programming cable with RS 485 RS 232 adapter 3 x x VW3A8106 Reference value adapter RVA Reference value adapter RVA For distribution of A B encoder signals or x x VW3M3101 pulse direction signals to 5 devices with 24 VDC power supply unit for 5b VDC encoder power supply for mounting to DIN rail Cascading cable For reference value adapter VW3M3101 0 5 x x VW3M8211R05 RS 422 interface adapter USIC RS 422 interface adapter USIC Universal Signal Interface For adaptation of control signals to x x VW3M3102 Converter RS 422 standard Pulse direction connection cables for Shielded USIC end with SubD15 0 5 x x VW3M8210R05 connecting a PLC to USIC socket other cable end open 15 x x VW3M8210R15 3 D D VW3M8210R30 5 D D VW3M8210R50 Other accessories Remote terminal Incl cable with 2 connectors seal and x x VW3A31101 Screws for mounting to control cabinet door degree of protection IP 65 Mounting plate For mounting to DIN rail x x x VW3A11851 Connector kit With 5 24 pole Molex plugs x x x VW3S8212 with crimp contacts With 5 12 pole Molex plugs x x x VW3S8213 with crimp contacts With 5 10 pole Molex plugs
17. the fieldbus Modbus cable depending on the types of control unit or PLC Designation Description Length Reference m Modbus junction box 3 screw terminal strips RC terminal adapter TSXSCA50 for connection with VW3A8306D30 cable Modbus 2 way junction box 2 15 pole SubD sockets 2 screw terminal TSXSCA62 strips RC terminal adapter for connection with VW3A8306 cable Modbus connection module 10 RJ45 connectors 1 screw terminal strip LU9GC3 Modbus RC terminal adapters For RJ45 connectors 1200 1nF VW3A8306RC 1509 VW3A8306R For screw terminal strip 1200 1nF VW3A8306DRC 1500 VW3A8306DR Modbus T junction modules With integrated cable 0 3 VW3A8 306TF03 1 VW3A8306TF10 Modbus cables With 1 RJ45 connector 1 end stripped for 3 VW3A8306D30 Modbus junction box TSXSCA50 With 1 RJ45 connector 1 15 pole SubD 3 VW3A8306 connector for Modbus 2 way junction box TSXSCA62 2 RJ45 connectors 0 3 VW3A8306R03 1 VW3A8306R10 3 VW3A8306R30 4 wire shielded and twisted RS 485 without 100 TSXCSA100 connector 200 TSXCSA200 500 TSXCSA500 Schneider Electric 5 55 Presentation references Lexium SD3 motion control Pulse direction interface for stepper motor drives SD328 SD328 1 PLC 2 Connection cable VW3M8210Ree 3 RS 422 interface adapter USIC VW3M3102 4 Cascading cable VW3M8211R05 5 Reference value adapter VW3M3101 6 Connection cable VW3M8209Ree Th
18. with 10 pole 3 VW3M8205R30 to Siemens programmable controller S5 IP247 Molex connector IP247 end with SubD9 connector Pulse direction connection cable Device end with 10 pole 3 VW3M8206R30 to Siemens programmable controller S5 IP267 Molex connector IP267 end with SubD9 connector Pulse direction connection cable Device end with 10 pole 3 VW3M8207R30 to Siemens programmable controller S7 300 FM353 Molex connector FM353 end with SubD15 connector Pulse direction connection cables A B to reference value Device end with 10 pole Molex connector other cable 0 5 VW3M8209R05 adapter USIC end with SubD15 socket 15 VW3M8209R15 3 VW3M8209R30 5 VW3M8209R50 5 56 Schneider Electric Presentation Lexium SD3 motion control references Signal interface for stepper motor drives SD326 SD326 SD328A 1 PLC or Motion Controller 2 CANopen cable 3 Connection cable VW3S8208Ree The CN1 signal interface of the SD326 stepper motor drive is used for supplying the reference signals pulse direction Designation Description Length Reference m Pulse direction cables 5 V shielded 0 5 VW3S8201R05 Device end with 24 pole Molex plug 1 5 VW3S8201R15 other cable end open 3 VW3S8201R30 5 VW3S8201R50 24 V shielded 0 5 VW358202R05 Device end with 24 pole Molex plug 1 5 VW3S8202R15 other cable end open 3 VW3S8202R30 5 VW358202R50 Pulse direction connection cables t
19. x 72 mm x 140 mm the SD3 stepper motor drive requires very little space in the control cabinet Simplicity Simple cabling and parameterisation of the SD326 allow for easy and quick commissioning Commissioning software is not required The SD328 drives are convenient to configure via the integrated control panel HMI via fieldbus or with the Lexium CT PC commissioning software Flexibility SD3 stepper motor drives are available in two power classes 2 5 A and 6 8 A The SD3 stepper motor drives are delivered with the following components depending on the device type m An opto isolated signal interface for 5 V and 24 V input signals SD326 m An RS422 interface for pulse direction signals or A B encoder signals SD328 m A fieldbus interface for SD328 CANopen and Modbus SD328A or PROFIBUS DP SD328B The CANopen interface of the SD328A can be used for connection to a CANopen AutomationBus or a CANopen MotionBus Movements of up to eight drive axes can be synchronously controlled by one Motion Controller e g Lexium Motion Controller via the CANopen MotionBus m Analogue reference value input 10 V SD328 m A power supply unit for single phase mains voltages of 115 V and 230 Va m Integrated mains filter The SD326 can optionally be shipped with an electronic system for rotation monitoring and brake control Application areas A stepper motor drive system from Schneider Motion has excellent constant velocity characteristi
20. 05 SILcI2 m Safety of machinery safety related parts of control systems Part 1 General principles for design ISO 13849 1 2006 PL d Category 3 Ambient temperature 1 C 0 50 Transport and storage C 25 70 temperature Pollution degree Level 2 Relative humidity 5 85 no condensation allowed Installation height over m s l without power loss m 1000 m lt 2000 at max ambient temperature 40 C no protective film and a lateral distance of gt 50mm Vibration test as per IEC EN 60068 2 6 3 13 Hz 1 5mm peak 13 150Hz 1gn Shock test as per IEC EN 60068 2 27 15 gn for 11 ms Degree of protection IP 20 IP 40 restricted only from above without removal of protective film Mains supply SD328eU25 SD328eU28 Nominal voltage switchable V 115 230 17 115 230 1 Current consumption 115 V 230 V A 4 3 7 5 Max nominal motor current A 25 6 8 Max speed of rotation of motor rpm 3000 3000 Nominal power 115 V 230 V W 180 270 280 420 Max permissible short circuit current of mains kA 0 5 0 5 Power loss Ww lt 26 lt 65 Fuse to be connected upstream 115V 230V 2 A 6 6 10 6 Voltage range and 115V7 V 100 15 120 10 tolerance 230 V V 200 1595 240 10 Frequency Hz 50 5 60 5 Transient overvoltages Overvoltage category III Inrush current A lt 60 Leakage current mA lt 30 as per IEC 60990 3 motor cable length lt 10
21. AIB I p u no SD328A connection example with fieldbus control CANopen Schneider 5 19 Electric Schemes continued Lexium SD3 motion control SD328 stepper motor drives SD328B connection example with fieldbus control NO FAULT OUT ACTIVE1 OUT HALT REF LIMN LIMP PWRR_B PWRR A BRAKE OUT BRAKE OUT 24VDC OVDC 24VDC RxD TxD P IN RxD TxD N IN RxD TxD P OUT RxD TxD N OUT E un SD328B connection example with fieldbus control PROFIBUS DP 5 20 Schneider Electric 24 V PROFIBUS DP PULSE DIR AIB I Functions Lexium SD3 motion control SD328 stepper motor drives The following tools can be used to commission the device m Integrated control panel HMI m Remote terminal m Lexium CT PC commissioning software m Fieldbus Two important commissioning functions of the SD328A are explained below Please refer to the documentation for the stepper motor drive for a detailed description of the commissioning functions Control via fieldbus or local SD328A only When the stepper motor drive is started for the first time the user must specify whether access and parameterisation will be via local control or via fieldbus This setting can only be modified by restoring the factory settings The operating modes available for the stepper motor drive also depend on this setting In the case of local
22. AN The SD326 is a universally applicable stepper motor drive Reference values are typically preset and monitored by a master PLC or a motion controller Together with selected Schneider Electric stepper motors SD326 is a very compact high performance drive system The reference value is supplied incrementally as a pulse signal via the signal interface Control signals are also sent to enable the power amplifier and to change the step resolution and the current reference value An output signal reports operating readiness If a stepper motor with integrated encoder is connected the following functions can be activated m Rotation monitoring The calculated reference position and the actual position of the motor are compared If a defined deviation is exceeded a rotation monitoring error is signalled Line monitoring The encoder cable is monitored by a line monitoring system A cable error is signalled if a defective or missing cable is detected Motor temperature monitoring The stepper motor drive shuts off if the temperature is too high Rotation monitoring is an optional feature of the SD326 stepper motor drive The controller supply voltage 24 V must be connected if rotation monitoring is used The SD326 stepper motor drive has an output for direct connection of an optional holding brake The controller supply voltage 24 V must be connected if a holding brake is used 5 4 Schneider Electric Schemes Lexium SD3
23. Contents 5 Lexium SD3 motion control Product offer m Presentation br LE ERR ta ep dex a du SD326 stepper motor drives m Descriptioni scusa emet pede meet d halted he M SChEm S sas encre eos e m e eds cede rc td e RCM a cR DR e ere B FUNCHONS eem e emer m sale Oe SERA TE ROE ch en m Characteristics ode eme e e Re Ree oce ec odes B References ose e ehe RE RU EE E Ra a tus B DIMENSIONS xem bas Hald ao secet e ain ra n v d ion ad said Mounting and installation recommendations SD328 stepper motor drives B DESCHPUON aske pe tex edt ahs ene Gd ded Be les la SChEMES varsel dose er eM Me Vai lue Ci ke bare te FUNCHIONS rc crm B Characteristics ss arkas kau oase eh ei ain RR RE a iR RETRO e B References ieee gt d sse eee ems ER faer das qoe e ee dose m Dimensions e isses roommate de E Reg e Eme ns Mounting and installation recommendations BRS3 3 phase stepper motors m Presentation description m Characteristics rsen Ree bare nhe tn BRGICKENCES Luer ie skogene khas bt et he roe ene dees B DIMENSIONS i epe es ee eek de RR MEN hia ee m Options niHoldingibrake 21x cree deae mrt re Rho Ear dones m il Gol Options and accessories m For stepper motor drives SD3 O Integrated and optional EMC filters O Mounting plate ee o Planetary gearboxes GX O Options and accessories overview 0000 eee ee aes m For stepper motor drives
24. DF90T Switch for adapting to wire end 1 Difficult ambient conditions Resistant to hydrocarbons industrial oils cleaning agents solder splash Relative humidity up to 10096 Saline environment High temperature variations Operating temperatures between 10 C and 70 C Electric 5 54 Schneider Presentation references SD328A Connection via connection modules and RJ45 connectors 1 1 PLC 2 Modbus cable depending on the types of control unit or PLC 3 Modbus LU9GC3 connection module 4 Modbus cable VW3A8306Ree 5 RC terminal adapter VW3A8306RC 6 1 Connection via screw terminals Modbus T junction module VW3A8306TFee Lexium SD3 motion control Communication and networks Modbus serial link for stepper motor drives SD328A SD328A Connection via junction boxes 1 PLC Modbus cable TSX CSAeee Modbus junction box TSXSCA50 Modbus cable VW3A8306 Modbus cable VW3A8306D30 zl OO OO P GAMM In this case one Modbus VW3A8306D30 cable and one RC VW3A8306DRC terminal adapter are required Modbus 2 way junction box TSXSCA62 The SD328A stepper motor drive can be connected directly to a Modbus fieldbus via the CNA interface In a Modbus bus several networked participants are interconnected via one bus cable Every network participant must be configured before it can operate on the network Every device is assigned a unique node address The baud rate must be the same for all devices on
25. EN 61800 3 environments 1 and 2 categories C2 C3 W Devices without external mains filter C3 up to 10 m motor cable length Devices without external mains filter C2 up to 20 m motor cable length C3 up to 50 m motor cable length o mie i CE marking The drives are C marked in accordance with the European low voltage 2006 95 EC and EMC 89 336 EEC directives Product certification UL USA cUL Canada Operating temperature 1 0 50 Operating temperature when used in accordance with UL 1 0 40 Transport and storage temperature 25 70 Pollution degree Level 2 Relative humidity 5 85 no condensation allowed Max installation height over m s l without power loss 1000 lt 2000 at max ambient temperature 40 C no protective film and a lateral distance of gt 50mm Vibration test as per IEC EN 60068 2 6 3 13 Hz 1 5mm peak 13 150 Hz 1 gn Shock test as per IEC EN 60068 2 27 15 gn for 11 ms Degree of protection IP 20 IP 40 restricted only from above without removal of protective film Mains supply SD326eU25 SD326eU28 Nominal voltage switchable V 115 230 13 Max nominal motor current A 2 5 6 8 Nominal power 115 V 230 V Ww 180 270 280 420 Max permissible short circuit current of mains kA 0 5 0 5 Fuse to be connected upstream 115V 230V A 6 6 10 6 Voltage range and t
26. Holding brake B BRS3Ae 3 phase stepper motor A without holding brake F with holding brake Connection type B B terminal box C connector Second shaft B A without second shaft end B with second shaft end Electric Schneider 5 45 Dimensions Lexium SD3 motion control BRS3 3 phase stepper motors BRS368 3 phase stepper motor in terminal box version 21 79 37 20 5 oo o CH El Q ca 49 79 5 37 41 51 Shaft diameter OW BRS368 6 35 0 013 8 10 013 1 Cable gland M20 x 1 5 for cable 9 13 2 Holding brake optional BRS368 3 phase stepper motor in connector version 7 38 1 30 025 ca 58 79 5 37 41 7955 37 41 with encoder optional without encoder Shaft diameter W BRS368 6 35 0 013 8 0 013 1 Plug connection encoder optional 12 poles 2 Plug connection motor 6 poles 3 Holding brake optional 5 46 Schneider Electric Dimensions continued Lexium SD3 motion control BRS3 3 phase stepper motors BRS39e 3 phase stepper motor in terminal box version 30 Los o 304 10 14 h6 L 0 6 HE a
27. NABLE VD L ENABLE FAULT_RESET PWRR A PWRR B Example category 0 stop 5 28 Schneider Electric Functions continued Lexium SD3 motion control SD328 stepper motor drives Examples of applications of the safety function 24V 24V 24V 24V 24V 24V 4 4 4 D EMERGENCY STOP FAULT A1 31 821 822 32 03 13 23 37 47 57 Y RESET ENABLE Sr Ze man MAA zd o A2 811812 513 514 04 14 24 38 48 58 Y64 Y74 Y84 ENABLE FAULT RESET HALT PWRR A PWRR B EELER Example category 1 stop Additional monitoring and operating functions can be activated via fieldbus the Lexium CT PC commissioning software or the integrated control panel HMI m Setting motor phase current m Monitoring functions O Status monitoring during movements o Monitoring of axis signals D Monitoring of internal device signals D Earth ground fault and short circuit monitoring m Scaling for conversion of user defined units to internal units m Setting motion profile via profile generator m Triggering Quick Stop function m Setting HALT signal m Fast position capture m Velocity window m Triggering brake functions for motors with holding brake m Configurable inputs and outputs m Reversing direction of rotation of motor m Restoring default values 1 Preventa XPS AV please refer to the Safety functions and solutions using Preventa catalogue Electric Schneider 5 29 Charac
28. SD326 ri Signal interface sieh peewee ded rbd HE Re RR ean m For stepper motor drives SD328 O Pulse direction interface o Remote display terminal 0 000 0c eee eee eee o Lexium CT commissioning software o Reference value adapter RVA cee e eee eee eee O RS 422 interface adapter UIGIC 022 c eee m For stepper motor drives SD328A 0 CANopen machine bus O Modbus serial bus 0000 cece eee Schneider Electric page 5 12 page 5 14 page 5 15 page 5 36 page 5 16 page 5 18 page 5 21 page 5 30 page 5 34 page 5 35 page 5 36 page 5 40 page 5 42 page 5 44 page 5 46 page 5 50 page 5 51 page 5 53 page 5 60 page 5 63 page 5 67 page 5 57 page 5 56 page 5 58 page 5 59 page 5 61 page 5 62 page 5 54 page 5 55 5 1 Product offer Fieldbus EE D EN Lexium Motion Controller ee h N Pulse train P D A B CW CCW Imm Dad ie SD326 5 2 Lexium SD3 motion control Lexium stepper motor drives A Schneider Electric stepper motor drive system comprises of an SD3 stepper motor drive and a BRS3 3 phase stepper motor Reference values are set and if applicable monitored by a master PLC or a Schneider Electric Motion Controller e g Lexium Motion Controller Together with Schneider Electric BRS3 stepper motors SD3 is a very compact high performance drive system Compactness With its small dimensions H x W x D 145 mm
29. Schneider Electric Functions continued Lexium SD3 motion control SD328 stepper motor drives Example 2 position setting Position setting can be used to execute a continuous motor movement without overtravelling the positioning limits 2000 2 y S 0 2000 Inc Positioning by 4000 increments with position setting 1 The motor is positioned by 2000 increments 2 The current motor position is set to position value 0 by position setting to 0 and the new zero point is defined at the same time 3 The new target position is 2000 increments after a new movement command by 2000 increments is triggered This procedure prevents overtravel of the absolute position limits during positioning because the zero point is set continuously Reference value setting The reference values are set via fieldbus or with the Lexium CT PC commissioning software Application example Prior to absolute positioning in Profile Position mode Schneider 5 25 Electric Functions continued Lexium SD3 motion control SD328 stepper motor drives Oscillator SD328A only In Oscillator operating mode the speed of rotation of the motor is set via a 10 V analogue signal or via fieldbus parameters Reference value setting The reference values are set via fieldbus with the Lexium CT PC commissioning software or 10 V analogue signals Application example Roller control in roller conveyors
30. The STEP2 INV signal input can be used if a high positioning accuracy is required but the output frequency of the master controller is limited The number of steps can be increased or reduced by a factor of 10 with the STEP2 INV signal Sl nmg 21 5ms 21 5ms gt 1 5ms 1 e a r pe Pe STEP2_INV RES AT E 1 PULSE 1 Fl i 0 roy try Bk T TI M 3 2 3 Signal sequences when the STEP2 INV signal changes 1 Large motor step 2 Number of motor steps reduced by a factor of 10 3 Large motor steps Controlling the motor phase current via the PWM signal input The motor phase current can be changed between 0 and 100 of the maximum current set with the rotary switch by means of the pulse pause ratio of a rectangular signal at the signal input PWM PWM pulse width modulation The frequency of the rectangular signal must be between 6 kHz and 25 kHz No motor phase current flows at constant 1 level current set to zero The motor operates at the specified maximum motor phase current at constant 0 level 5 10 Schneider Electric Functions continued Lexium SD3 motion control SD326 stepper motor drives The following signal outputs are available m Electronic ACTIVE OUT relay contact to signal operating readiness W 24 V signal output BRAKE OUT to control a motor holding brake optional only for SD326R m 24 V signal output RM FAULT OUT to signal an error during rotation monitoring opti
31. V Shaft version 7 B 2 smooth shaft 9 5mm IP 41 3 smooth shaft 12 mm IP 41 4 smooth shaft 14 mm IP 41 5 woodruff key 9 5 mm IP 41 BRS39e 3 phase stepper motor 6 woodruff key 12mm IP 41 7 woodruff key 14 mm IP 41 A smooth shaft 9 5 mm IP 56 B smooth shaft 12mm IP 56 C smooth shaft 14 mm IP 56 K woodruff key 14 mm IP 56 L woodruff key 9 5mm IP 56 M woodruff key 12mm IP 56 Centring collar B 6 60 mm 7 73 mm Position capture B 0 without encoder 1 with encoder 1000 Inc rev Holding brake B A without holding brake F with holding brake Connection type B B terminal box C connector Second shaft B A 7 without second shaft end B with second shaft end 1 Possible combinations of motor length and shaft version motor length 7 2 3 5 6A B K L motor length A 2 3 5 A B K L motor length B 7 4 7 C M Electric 5 44 Schneider References continued Lexium SD3 motion control BRS3 3 phase stepper motors Example B Motor type B S stepper motor Motor phases B 3 3 phase stepper motor Size B A 110mm Motor length B C 180mm D 230mm Maximum voltage B W 230 V7 325V Shaft version B 8 parallel key 19mm IP 41 Centring collar B 5 56 mm Position capture B 0 without encoder 1 with encoder 1000 Inc rev
32. Voltage drop at 50 mA load V lt 1 SD326eU25 SD326eU28 Dimensions W xH x D mm 72x145x 140 Mass kg 1 1 1 2 Type of cooling Convection Fan Max speed of rotation of motor rpm 3000 Schneider 5 13 Electric References Lexium SD3 motion control SD326 stepper motor drives Example SD3 26 D U25 S2 Product designation SD3 stepper motor drive 3 phase Product type 26 standard stepper motor drive Interfaces D pulse direction without rotation monitoring R 7 pulse direction with rotation monitoring and holding brake connection Max nominal motor current U25 2 5A U68 6 8A Power amplifier supply voltage S2 1 115 Vzz 230 V switchable SD326 stepper motor drive Electric 5 14 Schneider Dimensions Lexium SD3 motion control SD326 stepper motor drives SD326 dimensions in mm EMC mounting plate included VIT HA 140 72 Schneider 5 15 Description Lexium SD3 motion control SD328 stepper motor drives Components and interfaces 12 pole socket CN2 for motor encoder I O signal connection CN1 spring terminals Analogue reference value input 10 V in oscillator operating mode SD328A only CANopen for fieldbus control SD328A only PROFIBUS DP for fieldbus control SD328B only Eight digital inputs outputs The assignment depends on the selected operating mode Connection CN3 for 24 V power supply and holding brake RJ45
33. W3M8209R05 AIB to reference value adapter USIC or TLM2 other cable end with SubD15 socket 15 X x VW3M8209R15 3 D D VW3M8209R30 5 D D VW3M8209R50 Signal interface Pulse direction cables 5 V shielded 0 5 x VW3S8201R05 Device end with 24 pole Molex plug 1 5 x VW3S8201R15 other cable end open 3 xX VW3S8201R30 5 D VW358201R50 24 V shielded 0 5 D VW3S8202R05 Device end with 24 pole Molex plug 1 5 x VW3S8202R15 other cable end open 3 S VW358202R30 5 D VW3S8202R50 Pulse direction connection cables Device end with 24 pole Molex plug 1 5 x VW3S8204R15 to Schneider Electric Premium motion control CFY end with 15 pole modules TSX CFY SubD connector 3 0 x VW3S8204R30 Pulse direction connection cables Device end with 24 pole Molex plug 1 5 x VW3S8206R15 to Siemens programmable controller S7 300 FM353 FM353 end with SubD15 socket 3 x VW3S8206R30 Pulse direction connection cables Device end with 24 pole Molex plug 0 5 x VW3S8208R05 on Schneider Electric motion controller TLM2 other cable end with SubD15 socket 15 x VW3S8208R15 3 D VW3S8208R30 5 D VW3S8208R50 Motor cables Cables for 3 phase stepper motor 4 x 1 5 mm shielded 3 x x x VW355101R30 motor end with 6 pole circular connector 5 x x x VW3S5101R50 other cablsend open 10 X x x VW3S5101R100 15 D D D VW3S5101R150 20 D D D VW355101R200 Encoder cables Encoder cables Configured for stepper motor 3 x x x VW3S8101R30 See PT 5 X X x VW3S8101R50 motor end wi pole encoder plug device end with 12
34. continued Lexium SD3 motion control SD326 stepper motor drives Setting number of steps The resolution of the stepper motor drive system is set via the number of steps Example At anumber of steps of 1000 and at 1000 pulses the stepper motor drive turns the motor exactly one complete revolution At a pulse frequency of 1 kHz this results in a speed of rotation of 60 rpm Settings via parameter switch Number of steps 200 400 500 1000 2000 4000 5000 10000 per revolution S1 STEP2 STEP1 STEPO 23 23 23 23 gt 2000 4000 5000 10000 gt 200 400 500 1000 STEPO STEP1 STEP2 Setting the number of steps Activating motor phase current reduction at standstill If the full holding torque is not required at standstill the motor phase 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 60 of the set current value 100 ms after the last pulse edge is received Settings via parameter switch Activate deactivate motor phase current reduction 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 trans
35. control the integrated control panel HMI the remote terminal equivalent to the integrated control panel in terms of functions or the Lexium CT PC commissioning software is used for parameterisation Movements are then preset with a 10 V analogue signal or with RS 422 signals pulse direction signals Limit switches or reference switches cannot be connected in the case of local control In fieldbus control mode all communication takes place via fieldbus commands Determining the logic type of signals SD328A only The signal logic positive or negative of the 24 V inputs and outputs can be defined during commissioning This setting affects the wiring and the way sensors are controlled and must be clarified in the engineering phase with regard to the application The SD328A can switch the 24 V signal inputs and outputs as follows m Source logic type signal output supplies current current flows into the signal input m Sink logic type signal output draws current current flows from the signal input By default the device is set to the Source logic type The PWRR Aand PWRR B signal inputs for the Safe Torque Off safety function Power Removal PWRR always have the Source logic type regardless of the setting 24V 24V NO FAULT OUT ov ov Logic type Source Logic type Sink Schneider 5 21 Electric Functions continued 5 22 Lexium SD3 motion control SD328 stepper motor drives Overview
36. cs which are required for applications such as scanning or exposure Due to the high torque at low speeds of rotation the SD3 stepper drive system 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 Schneider Electric Product offer continued Lexium SD3 motion control Lexium stepper motor drives Assignment of BRS3 3 phase stepper motors and SD3 stepper motor drives SES BRS397 BRS20A BRS208 ie BRS3AD 1 The 1st value is the holding torque M when the stepper motor is at a standstill the 2nd value is the nominal torque My when the motor is in operation Schneider 5 3 Electric Description Lexium SD3 motion control SD326 stepper motor drives LED for status display Parameter switch for configuration of the stepper motor drive Rotary switch for adjustment of the motor current CN2 rotation monitoring 12 pole socket optional 24 V CN3 interface spring terminals optional 24 V controller supply voltage 24 V outputs holding brake and encoder errors CN1 signal interface 24 pole socket 5 V inputs opto isolated 24 V inputs opto isolated Output Readiness Screw terminals for connecting the mains supply Screw terminals for connecting the motor EMC mounting plate included 10 Fan included with SD326eU68 11 Heat sink O ONEEN PETE ORG
37. e Presentation In the Motion Sequence operating mode up to 16 data sets with movement commands can be activated directly or sequentially with a PC fieldbus or digital inputs The movement commands can include reference movements or positioning commands This way a motion sequence can be saved in the drive system and controlled via a master PLC The Lexium CT PC commissioning software or the fieldbus is used to enter data sets and parameterise the drive system Direct selection of movement commands The direct selection of movement commands is used if a master controller e g PLC controls the time coordination of the various data sets The data set to be processed is selected via signal inputs and then activated by a start signal Sequential selection of movement commands Sequential selection of the movement commands is used for processing simple motion sequences The time coordination is programmed in the individual data sets via specification of a wait time a transition condition and the subsequent data set A transition condition can be for instance a rising edge at the START signal input A motion sequence can also be executed cyclically with or without return to the initial position Processing status of a movement command The processing status of a movement command can be output via the handshake output In addition an internal processing status such as drive system in motion can be output via an additional signal ou
38. e SD328 stepper motor drives can be externally supplied with reference values in the form of pulse direction signals This is required for the Electronic Gear operating mode In this case the CN5 pulse direction interface is used for supplying the reference signals pulse direction or A B encoder signals Designation Description Length Reference m Reference value adapter For distribution of A B encoder signals or pulse VW3M3101 direction signals to 5 devices with 24 V power supply unit for 5 V encoder power supply for mounting to DIN rail Cascading cable For reference value adapter RVA VW3M3101 with 2 0 5 VW3M8211R05 15 pole SubD15 sockets RS 422 interface adapter For adaptation of control signals to RS 422 standard VW3M3102 USIC Universal Signal Interface Converter Pulse direction connection cables Shielded USIC end with SubD15 socket other cable 0 5 VW3M8210R05 for connecting a PLC to USIC end open 15 VW3M8210R15 3 VW3M8210R30 5 VW3M8210R50 Cables for pulse direction ESIM A B Device end with 10 pole 0 5 VW3M8201R05 Molex connector other cable end open 15 VW3M8201R15 3 VW3M8201R30 5 VW3M8201R50 Pulse direction connection cables Device end with 10 pole Molex plug CFY end with 15 0 5 VW3M8204R05 to Schneider Electric Premium motion control pole SubD connector 15 VW3M8204R15 modules TSX CFY 3 VW3M8204R30 5 VW3M8204R50 Pulse direction connection cable Device end
39. e stepper motors BRS3Ae 3 phase stepper motor in connector version 40 L 40 15 110 4 25 x st M 1 e 9 i Q 56 7 AER 1 Fog LI ca 77 EA 52 7 103 ca 77 LengthL BRS3AD 228 1 2 3 4 Parallel key DIN6885 A 6 x 6 x 25 Holding brake optional Plug connection encoder optional 12 poles Plug connection motor 6 poles Schneider 5 49 Presentation Lexium SD3 motion control characterisitics BRS3 3 phase stepper motors Option Holding brake The holding brake is an electromagnetic spring force brake and fixes the motor shaft after the motor current is switched off e g in case of power failure or Emergency stop The motor shaft must be fixed if torque loads resulting from weights act on it e g in the case of Z axes in handling systems Holding brake Holding brake for motor type BRS368 BRS39e BRS3Ae Nominal voltage V 24 24 24 Holding torque Nm 1 6 16 Electrical pull in power Ww 8 24 28 Moment of inertia kgcm 0 016 0 2 0 35 Brake release time ms 58 40 60 Brake application time ms 14 20 30 Mass kg 0 5 1 5 2 0 Note In order to ensure the safe function of the holding brake for Z axes the static load torque must be no greater than 2596 of the holding torque of the motor The connector is part of the scope of delivery Connector designation Hi
40. edagbare Sonate Zeta ota frr amsn a c egene 185 Designation Length Reference m RJ45 programming cable with RS 485 RS 232 adapter 3 VW3A8106 Schneider 5 59 Electric Presentation Lexium SD3 motion control references Accessory Mounting plate for dimensions stepper motor drives SD3 The mounting plate is used for mounting the SD3 to a DIN rail Designation Description Reference Mounting plate For mounting to DIN rail VW3A11851 143 6 37 9 Schneider Presentation Lexium SD3 motion control characteristics Option Reference value adapter RVA for references stepper motor drives SD328 Reference signals from a master can be sent simultaneously to up to five devices using the RVA Reference Value Adapter This adapter also provides the supply voltage 5V monitored with SENSE lines for the encoder Correct power supply is indicated by a 5VSE LED An external encoder A B signals or an encoder simulation ESIM can be used as a master Pulse direction signals can also be sent from a master controller The RVA reference value adapter is supplied with 24 V via the CN9 connections A master controller pulse direction can be connected to CN6 An external encoder or an ESIM signal can be supplied via CN7 Connections e e e e O Qo 00000000 Qo co 00000000 3 00000000 00000000 9 0000005 00000000 0000000 60000000 9 9 0 00 0 0 9 0000 05 99 00000 0 99 00000 oj or
41. encoder power supply for mounting to DIN rail Cascading cable For reference value adapter VW3M3101 0 5 x x VW3M8211R05 RS 422 interface adapter USIC Universal Signal Interface For adaptation of control signals to RS 422 x x VW3M3102 Converter standard Pulse direction connection cables for Shielded USIC end with SubD15 0 5 x x VW3M8210R05 connecting a PLC to USIC socket other cable end open 15 X X VW3M8210R15 3 D D VW3M8210R30 5 D D VW3M8210R50 Cables for pulse direction ESIM A B Device end with 10 pole 0 5 x x VW3M8201R05 Molex connector other cable end open 15 X x VW3M8201R15 3 D D VW3M8201R30 5 D D VW3M8201R50 Pulse direction connection cables Device end with 10 pole 0 5 x x VW3M8204R05 to Schneider Electric Premium motion control Molex connector CFY end with 1 5 VW3M8204R15 modules TSX CFY 15 pole SubD connector x a 3 x D VW3M8204R30 5 D D VW3M8204R50 Pulse direction connection cable Device end with 10 pole 3 x x VW3M8205R30 to Siemens programmable controller S5 IP247 Molex connector IP247 end with SubD9 connector Pulse direction connection cable Device end with 10 pole 3 x x VW3M8206R30 to Siemens programmable controller S5 IP267 Molex connector IP267 end with SubD9 connector Pulse direction connection cable Device end with 10 pole 3 x x VW3M8207R30 to Siemens programmable controller S7 300 FM353 Molex connector FM353 end with SubD15 connector Pulse direction connection cables Device end with 10 pole Molex connector 0 5 x x V
42. executes a clockwise angle step with the rising edge of the CW signal The motor executes a counterclockwise angular step with the rising edge of the CCW signal 1 1 1 i cw I 22 55 22 5ps 4 le 0 D i i 1 22 5us 22 5ps CCW e a i n O 0 9 Settings via parameter switches Setting the function of the PULSE DIR or CW CCW signal input 5 8 Schneider Electric Functions continued Lexium SD3 motion control SD326 stepper motor drives Setting the function of the ENABLE GATE signal input The ENABLE GATE signal input can have two functions ENABLE function enable disable power amplifier The ENABLE function enables the power amplifier to allow control of the motor GATE function enable disable the pulse input The GATE function blocks the pulses of the reference value input without disabling the operating readiness In a multi axis system individual axes can be selected with the GATE function 21 5 ms 21 5ms 21 5ms gt 1 5ms ATT Pe GATE 1 i 0 ci Ee PULSE i I I A I i H Signal sequences in case of activation via the GATE function 1 Motor step 2 No motor steps 3 Motor steps Settings via parameter switch Setting the function of the ENABLE GATE signal input Schneider 5 9 Electric Functions continued Lexium SD3 motion control SD326 stepper motor drives Changing the number of steps with the STEP2 INV signal input
43. f combinations with BRS stepper motor on page 5 63 Special tools are not required for mounting the GBX planetary gearbox to the motor Note the following requirements 1 Clean grease off contact surfaces and seals 2 If possible mount the motor in a vertical position Fit motor into gearing 3 Motor flange must be in contact with gearing flange Tighten screws crosswise 4 Tighten clamping ring with torque spanner More information can be found in the user s manual supplied with the product Schneider Electric Dimensions Lexium SD3 motion control Option GBX planetary gearboxes Mounting at motor side 4x 4 4x 6 GBX c A a1 a2 a3 a4 a5 h g 1 LR 93 94 95 Oe 7 060 003 008 60 106 5 24 5 47 35 30 2 5 16 5 60 40h7 14h7 M5x8 52 M5x12 63 060 009 025 60 118 5 245 59 35 30 2 5 16 5 60 40h7 14h7 M5x8 52 M5x12 63 080 003 008 90 134 33 5 60 5 40 36 4 225 6 80 60h7 20h7 M6x10 70 M6x15 100 080 009 025 90 151 33 5 77 5 40 36 4 225 6 80 60h7 20h7 M6x10 70 M6x15 100 120 003 008 115 176 5 47 5 74 55 50 5 28 8 115 80h7 25h7 M10x16 100 M8x20 115 120 009 025 115 208 5 47 5 101 55 50 5 28 8 115 80h7 25h7 M10x16 100 M8x20 115 160 025 140 305 645 153 5 87 80 8 43 12 160 130h7 40h7 M12x20 145 M10x25 165 Electric 5 66 Schneider References Lexium SD3 motion control Options and accessories
44. he following functions can be activated m Rotation monitoring The calculated reference position and the actual position of the motor are compared If a defined deviation is exceeded a rotation monitoring error is signalled m Line monitoring A cable error is signalled if a defective or missing cable is detected m Motortemperature monitoring The device shuts off if the motor temperature is too high Holding brake output The stepper motor drive has an output for direct connection of an optional holding brake Safe Torque Off safety function Power Removal PWRR The integrated Safe Torque Off safety function enables a category 0 or 1 stop as per IEC EN 60204 1 without external power contactors The supply voltage does not have to be interrupted This reduces the system costs and response times The drive system fulfils the requirements of IEC EN 61508 SIL2 as well as of ISO 13849 1 performance level d PL d and IEC EN 61800 5 2 STO 5 16 Schneider Electric Description continued Integrated control panel HMI Remote terminal Lexium CT PC commissioning software Lexium SD3 motion control SD328 stepper motor drives Overview The SD328 stepper motor drive can be operated locally as follows W integrated control panel HMI Human Machine Interface an the SD328 with keys and display m Remote terminal m Lexium CT PC commissioning software Integrated control panel HMI The integrated contro
45. ider Electric Dimensions Lexium SD3 motion control SD328 stepper motor drives SD328 dimensions in mm EMC mounting plate included vl 72 Schneider 5 35 Mounting and installation recommendations EMC measures for SD3 stepper motor drive systems Control cabinet D Earth ground to neutral point Shield to l mounting plate System earth ground Neutral point A to earth ground Machine base Motor cable Encoder cable Lexium SD3 motion control SD32e stepper motor drives EMC compliant installation The SD3 stepper motor drive meets the EMC requirements for the second environment as per IEC 61800 3 An EMC compliant design is required to comply with the specified limit values Depending on the application better results can be achieved with the following measures m Upstream mains reactors Information on current harmonics can be obtained on request m Upstream external mains filters particularly to comply with the limit values for the first environment residential area category C2 m EMC compliant design e g in an enclosed control cabinet with 15 dB damping of radiated interference Mains filter optional Fieldbus Signal cable 5 36 Schneider Electric Mounting and installation recommendations continued Lexium SD3 motion control SD32e stepper motor drives Operation in IT mains An IT mains
46. is characterised by a neutral conductor that is isolated or earthed through a high impedance If permanent isolation monitoring is used it must be suitable for non linear loads e g type XM200 from Schneider Electric If an error is signalled in spite of correct wiring the earth connection of the Y capacitors of products with an integrated mains filter can be disconnected deactivate Y capacitors In the case of all other mains systems except for IT mains the earth connection via the Y capacitors remain effective If the earth connection of the Y capacitors is disconnected the specifications for radiation of electromagnetic interference are no longer complied with Always ensure compliance with national regulations and standards by means of separate measures ER L e gt EY NZ i Operation in IT mains Isolation monitoring error 1 Y capacitors of the internal filter effective standard 2 Y capacitors ofthe internal filter deactivated IT mains Schneider 5 37 Electric Mounting and installation Lexium SD3 motion control recommendations SD32e stepper motor drives continued Mounting distances and ventilation The SD32eeU25 stepper motor drives are ventilated by air circulation from bottom to top Afan is included with the SD32eeU668 stepper motor drives which must be mounted to the bottom side of the stepper motor drive Note the following when positioning the stepper motor drive in the c
47. itions are smoothed i e the motor can follow the reference values much more easily with fast changes of frequency Settings via parameter switch Activate deactivate Softstep function Activating the rotation monitoring function only for SD326R with rotation monitoring The calculated reference position and the actual position of the motor are compared for rotation monitoring If a defined deviation is exceeded a rotation monitoring error is signalled For rotation monitoring the stepper motor must be equipped with electronics for rotation monitoring and the stepper motor must have an encoder with a resolution of 1000 increments rotation Settings via parameter switch Activate deactivate Rotation monitoring function Schneider 5 7 Electric Functions continued Lexium SD3 motion control SD326 stepper motor drives All signal inputs are available as 5 V or 24 V optocoupler signal inputs Reference value setting via the PULSE DIR or CW CCW signal input The reference value can alternatively be set via one of the two following interface modes m PULSE DIR m CW CCW The maximum pulse frequency is 200 kHz PULSE DIR interface mode The motor executes an angler step with the rising edge of the PULSE signal The direction of rotation is controlled by the DIR signal 1 PULSE i i i i i i i i DIR i i i i i i i i 0 n O O 9 PULSE DIR interface mode Interface mode CW CCW The motor
48. ives SD3 EMC filter A filter is integrated in the SD3 as standard equipment so the devices complies with the IEC EN 61800 3 electromagnetic compatibility EMC standards These standards must be complied with for C marking under the EMC directive With the additional filter it is possible to meet more rigid requirements This drive system meets the EMC requirements for the second environment according to IEC 61800 3 if the described measures are taken into account during installation If the device is not used within the context of this application area the following must be noted Better values can be achieved depending on the device and the application as well as the design e g if the unit is mounted in a closed control cabinet If the limit values for the first environment public mains category C2 are required external filters must be connected upstream The following limit values for conducted interference are met if the design is EMC compatible Without external filter C3 up to 10 m motor cable length With external filter C2 up to 20 m motor cable length C3 up to 50 m motor cable length The owner operator must ensure compliance with the EMC directives Usage depending on the mains type This filter can only be used in TN networks connection to neutral conductor and TT networks neutral conductor connected to earth ground The filters cannot be used in IT mains isolated neutral conductor or neutral co
49. l panel HMI allows the user to edit parameters It is also possible to display the results of diagnostics functions Among other things the integrated control panel HMI provides the following features m Initial settings Motor selection Fieldbus address and baud rate Logic type of digital inputs and outputs SD328A only m Device settings Special ratios Phase current components for standstill acceleration and constant movement m Device configuration Processing the motor encoder position Signal selection at position interface Definition of direction of rotation Time delay for releasing and applying the holding brake m Jog motor manually Error display m Status information Status of digital inputs and outputs Actual speed of rotation and actual position of the motor DC bus voltage of power amplifier supply voltage Temperature of stepper motor drive and motor Saved warnings and monitoring signals Operating hours counter Remote terminal Aremote terminal can be connected to the SD328 stepper motor drive which can be mounted to a control cabinet door with a seal with IP 65 degree of protection The remote terminal has a display and enables access to the same functions as the control panel HMI integrated into the stepper motor drive Lexium CT PC commissioning software The Windows based Lexium CT PC commissioni
50. le heat dissipation surface of housing A in m for wall mounting side surfaces top front Az K Ry K heat resistance based on the housing surface Steel sheet housing K 0 12 with fan K 0 15 without fan Note because of the poor heat dissipation insulating material housings must not be used Schneider 5 39 Electric Presentation Lexium SD3 motion control description BRS3 3 phase stepper motors A stepper motor drive system consists of a stepper motor and the matching stepper drive The 3 phase stepper motors from Schneider Electric are extremely robust maintenance free motors They carry out precise step by step movements that are controlled by a stepper motor drive Maximum power can only be obtained if motor and electronics are perfectly tuned to each other The 3 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 planetary gears with little backlash extend the application possibilities Special features Quiet As aresult 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 309 SE With the flexible modular system and modern variant management a wide variety of motor types can be manufactured and delivered i
51. m Fan Input voltage v 24 Current consumption mA 130 1 No icing 2 Fuses class CC fuses or as per UL 248 4 alternatively automatic circuit breakers with B or C characteristic 5 30 Schneider Electric Characteristics continued Lexium SD3 motion control SD328 stepper motor drives Signal interface CN1 Analogue input signals SD328A only Differential input voltage range V 10 10 Resistance kQ 210 Resolution ANA1 bit 14 Sampling time ANA1 ms 0 25 Interface for rotation monitoring CN2 ENC 5V_OUT signal output sense controlled short circuit proof overload proof Supply voltage V 4 75 5 25 Max output current mA 100 Signal input ENG A ENC B ENC I Voltage symmetrical V As per RS 422 Input frequency A B kHz 400 Input frequency pulse direction kHz lt 200 24V interface CN3 24 V control voltage As per IEC 61131 2 Input voltage V 24 15 20 Current consumption 1 A lt 0 2 Residual ripple lt 5 24 V input signals As per IEC 61131 2 Logic 1 U high V Al coe 10 Logic 0 U iow V 3 5 Input current typical mA lt 10 Debounce time 2 ms 165455 Debounce time PWRR Aand PWRR B ms 1m5 Max time offset until detection of signal differences s lt 1 between PWRR_A and PWRR_B Debounce time CAP1 and CAP2 us 1010 24 V output signals As per IEC 61131 2 Output voltage V 30 Max switching current mA
52. motion control SD326 stepper motor drives SD326 connection example CN1 ACTIVE1 OUT C ACTIVE1 OUT NO ENABLE 5 ENABLE 5 DIR 5 DIR 5 x D wo N A Ri oa N e PULSE 5 PULSE 5 Schneider 5 5 Electric Functions Lexium SD3 motion control SD326 stepper motor drives Parameterisation The following functions can be activated via the parameter switch of the SD326 m Motor phase current m Number of steps m Current reduction during standstill m SOFTSTEP m Rotation monitoring only for device version SD236R with rotation monitoring m Function of signal inputs o ENABLE GATE O PULSE DIR or CW CCW z ABABABUE KO b 69 t S1 82 Parameter switches Setting motor phase current The motor phase current is set with rotary switch S2 The motor phase current should not exceed the nominal current of the motor because the motor may otherwise overheat A low motor phase current produces a low torque Settings with rotary switch Switch position S2 Motor phase current A SD326eU25 SD326eU68 0 factory setting 0 6 1 7 1 0 8 2 0 2 0 9 2 4 3 1 0 2 7 4 1 1 3 1 5 1 3 3 4 6 1 4 3 7 7 1 5 4 1 8 1 6 4 4 9 1 8 4 8 A 1 9 5 1 B 2 0 5 4 C 2 1 5 8 D 2 3 6 1 E 2 4 6 5 F 2 5 6 8 5 6 Schneider Electric Functions
53. motor drives Homing There are two types of homing m Reference movement Specifying the dimension reference by approach to a limit or reference switch m Position setting Specifying the position reference relative to the current motor position Reference movement During reference movement the motor moves to a defined position on the axis The defined position is defined with a mechanical switch m LIMN and LIMP limit switches m REF reference switch Types of reference movements 4 standard reference movements are available m Movement to negative limit switch LIMN m Movement to positive limit switch LIMP m Movement to reference switch REF with counterclockwise direction of rotation m Movement to reference switch REF with clockwise direction of rotation In addition a reference movement can be with or without index pulse m Reference movement without index pulse m Movement from switching edge to a parameterisable distance from the switching edge m Reference movement with index pulse m Movement from the switching edge to the physical index pulse of the motor Example 1 Reference movement to limit switch P 2 3 OR r L HMdisusr gt gt HMn HMoutdisusr gt HMn out Operating mode Homing reference movement to the negative limit switch 1 Movement to limit switch at search speed 2 Movement to switching edge at clearance speed 3 Movement to distance from switching edge at clearance speed 5 24
54. n Installation in residential area sale e g through hardware shop First environment limited availability category C2 Installation in residential area sale through specialised dealer only Second environment category C3 Operation in industrial mains 5 52 Schneider Electric References Lexium SD3 motion control dimensions Integrated and optional additional EMC filters for stepper motor drives SD3 Designation Description Reference EMC filter EMC filter single phase 9 A 115 230 V VW3A31401 Mounting of the filter behing the stepper motor Mounting of the filter next to the stepper motor drive drive 4 x 2 x M4 AMI AI Schneider 5 53 Electric Presentation Lexium SD3 motion control references Communication and networks CANopen machine bus for stepper motor drives SD328A SD328A SD328A CANopen MotionBus connection CANopen connection with junction box 1 Motion controller e g LMC 1 PLC e g Twido or Premium 2 CANopen cable VW3M3805R010 2 TSXCANee cable with SubD connector TSX CAN KCDF 90T 3 CANopen cable TSXCANee 3 CANopen cable TSXCANee 4 CANopen junction box VW3CANTAP2 5 CANopen cable VW3CANCARRee The SD328A stepper motor drive can be connected directly to a CANopen fieldbus via two interfaces CN1 or CNA Interface CN1 provides three pins as spring clamp terminals and three connections
55. n a very short time Stepper motor drive system 1 Motor connection here a version with an angular connector 2 Additional terminal for protective conductor 3 Housing with black protective coating 4 Axial flange with four mounting points as per DIN 42918 5 Smooth shaft end as per DIN 42918 5 40 Schneider Electric Presentation continued Lexium SD3 motion control BRS3 3 phase stepper motors 3 phase stepper motors BRS368 Size Max torque M max Nm 2 0 6 0 12 0 16 5 Holding torque My Nm 2 26 6 78 13 5 19 7 Number of steps z 1 200 500 1000 2000 4000 5000 10000 Step angle a 7 E 1 8 0 9 0 72 0 36 0 18 0 09 0 072 0 036 Planetary Shaft version Centring Flange size Length Winding Motor Options 2 gearox 1 collar without shaft connection BRS368 GBX 60 Smooth shaft 26 35 mm 4038 1 mm 6 57 2 mm 8 79 mm Ww Terminal box 2nd shaft end 8 mm Connector Holding brake Encoder BRS39e GBX 80 Smooth shaft 9 5mm 5 60 mm 9 85 mm 7 68 mm Ww Terminal box 2nd shaft end with 12 mm 5 73 mm 10 98 mm Connector Holding brake woodruff key 14 mm 5 13 128 mm Encoder 3 BRS3Ae GBX 120 Smooth shaft 19 mm 56 mm 11 110 mm 17 180 mm Ww Terminal box 2nd shaft end GBX 160 with parallel 22 228 mm Connector Holding brake key 4 Encoder 1 Planetary gearbox with various ratios available as accessory see page 5 65 2 The 2 shaft
56. nductor earthed grounded via high impedance IEC 61800 3 Annex D2 1 states that the filters may not be used for this mains type because correct operation of the isolation monitoring equipment cannot be guaranteed In addition the efficiency of the filter in this mains type depends on the type of impedance between neutral conductor and earth ground Therefore the efficiency is not predictable An isolating transformer is required for machines that must be installed in an IT mains to allow the machine to be operated locally as ina TN or TT system Compliance with the standards EN 133200 Degree of protection IP 21 and IP 41 in upper section Maximum relative humidity 93 without condensation and surface water accumulation conforming to IEC 60068 2 3 Ambient temperature Operating temperature C 0 50 Transport and storage temperature C 25 70 Max Installation height over m s l without power loss m 1000 above 1000 m decrease the current by 196 per additional 100 m Vibration test conforming to IEC EN 80068 2 6 3 13Hz 1 5mm peak 13 150 Hz 1 gn peak Shock test conforming to IEC EN 60068 2 27 15 gn for 11 ms Maximum rated voltage 50 60 Hz single phase V 240 10 50 60 Hz 3 phase V 240 10 500 10 600 10 Application case category EN 61800 3 2001 02 IEC 61800 3 Ed 2 First environment general availability category C1 Descriptio
57. ng software is used for easy commissioning parameterisation simulation and diagnostics of the SD328 stepper motor drive The Lexium CT PC commissioning software allows the user to load and save controller parameters and motor data As compared to the integrated control panel HMI the Lexium CT PC commissioning software offers additional features such as Graphical user interface for parameterisation and status display Comprehensive diagnostics tools for optimisation and maintenance Long term recording as an aid to assessing operational behaviour Testing input and output signals Tracking signal sequences on the monitor Archiving of all device settings and recordings with export functions for data processing Schneider 5 17 Electric Schemes Lexium SD3 motion control SD328 stepper motor drives SD328A connection example with local control FAULT RESET ENABLE HALT BRAKE OUT BRAKE OUT OVDC 24VDC RM FAULT OUT GE CANopen PULSE DIR i B 7 E A BII SD328A connection example with local control via 10 V analogue signals Electric 5 18 Schneider Schemes continued Lexium SD3 motion control SD328 stepper motor drives SD328A connection example with fieldbus control NO_FAULT_OUT ACTIVE1_OUT HALT BRAKE_OUT BRAKE_OUT OVDC 24VDC RM FAULT OUT PULSE DIR
58. o Device end with 24 pole Molex plug 1 5 VW3S8204R15 Schneider Electric Premium motion control CFY end with 15 pole SubD connector 3 VW3S8204R30 modules TSX CFY Pulse direction connection cables to Device end with 24 pole Molex plug 1 5 VW3S8206R15 Siemens programmable controller S7 300 FM353 FM353 end with SubD15 socket 3 VW3S8206R30 Pulse direction connection cables to Device end with 24 pole Molex plug 0 5 VW3S8208R05 Schneider Electric motion controller TLM2 other cable end with SubD15 socket 1 5 VW3S8208R15 3 VW3S8208R30 5 VW3S8208R50 Electric Schneider 5 57 Presentation Lexium SD3 motion control references Option Remote display terminal for dimensions stepper motor drives SD328 A remote terminal can be connected to the SD328 stepper motor drive which can be attached to a control cabinet door with an IP 65 seal The terminal has a display and enables access to the same functions as the control panel of the stepper motor drive HMI Display Four 7 segment displays Display of numeric values and codes Save values when display flashes Flashing display on device fault ESC Exit a menu or parameter Return from currently displayed to most recently saved value Red LED lights up DC bus under voltage ENT Display a menu or parameter Save the displayed value Quick Stop Software Stop Error reset Continue No function Down arrow Go to next menu or parameter Decrease the displayed value Up arrow Go to pre
59. odule 10 RJ45 connectors 1 screw terminal strip x LU9GC3 Modbus RC terminal adapters For RJ45 connectors 1200 x VW3A8306RC 1 nF 1500 x VW3A8306R For screw terminal strip 1200 x VW3A8306DRC 1nF 1500 D VW3A8306DR Modbus T junction modules With integrated cable 0 3 x VW3A8306TF03 1 D VW3A8306TF10 Modbus cables With 1 RJ45 connector 1 end stripped 3 x VW3A8306D30 for Modbus junction box TSXSCA50 With 1 RJ45 connector 1 15 pole SubD 3 x VW3A8306 connector for Modbus 2 way junction box TSXSCA62 2 RJ45 connectors 0 3 x VW3A8306R03 1 D VW3A8306R10 3 D VW3A8306R30 4 wire shielded and twisted RS 485 100 x TSXCSA100 without connector 200 x TSXCSA200 500 D TSXCSA500 1 Difficult ambient conditions Resistant to hydrocarbons industrial oils cleaning agents solder splash Relative humidity up to 10096 Saline environment High temperature variations Operating temperatures between 10 C and 70 C Schneider Electric 5 67 References continued Lexium SD3 motion control Options and accessories Overview Designation Description Length For SD3 Reference 26 28A 28B m Pulse direction interface Reference value adapter For distribution of A B encoder signals or x x VW3M3101 pulse direction signals to 5 devices with 24 VDC power supply unit for 5 VDC
60. of operating modes Operating mode with SD3 Control via Reference value set via 28A 28B Fieldbus Local Jog Fieldbus Lexium CT PC commissioning software integrated control panel HMI Oscillator Fieldbus Lexium CT PC commissioning software 10V analogue signals Pulse direction signals A B encoder signals Fieldbus Lexium CT PC commissioning software Fieldbus Lexium CT PC commissioning software Fieldbus Lexium CT PC commissioning software Fieldbus Lexium CT PC commissioning software Electronic gear Profile position mode Profile velocity Homing Motion sequence mq Operating mode available deeg Operating mode not available Jog The motor moves by one distance unit or at constant speed in continuous operation The length of the distance unit the speed levels and the change over time in continuous operation can be adjusted manually Reference value setting The reference values are set via fieldbus with the Lexium CT PC commissioning software or the integrated control panel HMI Application example Setting up a machine during commissioning 1 Parameter startMan BitO 0 1 Parameter i e startMan Bit2 0 i i i 1 i Motor Parameter 1 stateMan Bit14 0 el Jog slow and fast 1 JOGstepusr 2 t JOGtime 3 t JOGtime 4 Continuous operation Jog distance wait time and jog speed can be set If the jog di
61. olerance 115 V V 100 15 120 1096 230V V 200 1596 240 10 Frequency Hz 47 63 Transient overvoltages Overvoltage category III Inrush current A 60 Leakage current as per IEC 60990 3 mA 30 Signal interface CN1 5V optocoupler input signals Logic 1 U ven V 2 5 5 25 Logic 0 U ow V 0 5 Input current mA lt 25 Max input frequency kHz lt 200 24V optocoupler input signals Logic 1 U hign V PT cos SOLO Logic 0 U iow V lt 5 Input current mA lt 7 Max input frequency kHz lt 200 Readiness signal output Electronic relay Max switching voltage zV lt 30 Max switching current mA lt 200 Voltage drop at 50 mA load V lt 1 Rotation monitoring interface CN2 option ENC_A ENC_B signal input Voltage symmetrical V As per RS 422 Input frequency kHz lt 400 ENC 5V_OUT signal output Sense controlled short circuit proof overload proof Supply voltage V 4 75 5 25 Max output current mA lt 100 Voltage drop at 50 mA load V lt 1 1 No icing 5 12 Schneider Electric Characteristics continued Lexium SD3 motion control SD326 stepper motor drives 24 V interface CN3 option 24 V control voltage As per IEC 61131 2 Input voltage V 24 15 20 Current consumption A 0 2 Residual ripple lt 5 24 V output signals As per IEC 61131 2 Output voltage V 30 Max Switching current RM FAULT OUT V 50 Max switching current BRAKE OUT A lt 1 7
62. onal only for SD326R Status indication The LEDs indicate the current operating status OVER LOW RM READY FAULT TEMP VOLT VOLT FAULT 0A A A sb E ENCODER o Status indication LED Description READY Ready power amplifier enabled motor with current 1 level at ENABLE input signal FAULT Short circuit between two motor phases or between motor phase and PE ground TEMP static Power amplifier overtemperature TEMP flashing 1 Motor overtemperature OVER VOLT Overvoltage gt 410 V LOW VOLT Undervoltage lt 200 V RM FAULT 1 Error signal from rotation monitoring OVER VOLT LOW VOLT Power amplifier disabled motor without current FAULT TEMP OVER VOLT Frequency at signal interface too high LOW VOLT 1 SD326R only Electric Schneider 5 11 Characteristics Lexium SD3 motion control SD326 stepper motor drives Conformity to standards Lexium Stepper Motor Drive SD3 have been developed to conform to the strictest international standards and with the recommendations for electronic control systems in the industry specifically low voltage switchgear IEC EN 61800 5 1 IEC EN 50178 IEC EN 61800 3 noise immunity to conducted and radiated high frequency signals EMC immunity IEC EN 61800 3 environments 1 and 2 IEC EN 61000 4 2 level 3 IEC EN 61000 4 3 level 3 IEC EN 61000 4 4 level 4 IEC EN 61000 4 5 level 3 Conducted and radiated EMC emissions IEC
63. ontrol cabinet m Adequate cooling of the stepper motor drive must be ensured by complying with the minimum installation distances Prevent heat accumulation m The stepper motor drive must not be installed close to heat sources or mounted on flammable materials m The warm airflow from other devices and components must not heat the air used for cooling the stepper motor drive m The stepper motor drive will switch off as a result of overtemperature when operated above the thermal limits J Su E 8 Ambient temperature Mounting distances Mounting recommendations Without protective film 1 With protective film 0 40 C d 50mm None None d 50mm None d 10mm 40 50 C d gt 50mm None Reduce nominal current and continuous current by 2 2 per C above 40 C d lt 50mm Reduce nominal current and continuous Operation not possible current 1 Recommendation remove protective film after installation The connector cables are routed out of the housing at the bottom At least 200 mm of free space is required below the stepper motor drive to ensure that cables can be routed without excessive bending An alternative to fastening the unit directly to the control cabinet mounting plate is a mounting plate accessory for snap mounting to DIN rails In this case EMC filters cannot be attached directly beside or behind the stepper motor drive Electric 5 38 Schneider Mounting and installation
64. pen collector are connected over distances greater than 3 m or ifthe frequency is greater than 50 kHz The USIC has the following features m 24Vor5V signal inputs optocoupler are available as required m Control signals are adapted for products with inputs according to RS 422 m Galvanic isolation of signals Note A power supply 24 V corresponding to PELV must be provided by the customer Dimensions W x H x D mm 77 x 135 x 37 Degree of protection conforming to EN 60529 IP 00 Supply voltage V 20 30 Current consumption A 15 150 Residual ripple Vss 2 Signal inputs Opto isolated protected against reverse polarity Resistance network plugged Level 5V level Us 2 5 5 25 V Max input voltage V 525 Turn on voltage Ue V 25 Turn off voltage Ua V 0 4 Typical input current at mA 10 nominal voltage Resistance network Level 24v level Us 20 30V Max input voltage V 30 Turn on voltage Ug V 20 Turn off voltage Ua mA 3 Typical input current at 10 nominal voltage Signal outputs Open collector outputs Max output voltage Open collector outputs short circuit protected Short circuit protected V 30 Max output current mA 50 RS 422 signal outputs Ambient conditions Short circuit protected Operating temperature 7 c 0 50 Transport and storage temperature c 25 70 Pollution degree Step 2 Rel humidity conforming to IEC
65. rating modes Communication monitoring Node monitoring Node Guarding Heartbeat Diagnostics PROFIBUS DP interface CN1 SD328B only Signals Modbus interface CN4 SD328A only 2 LED RUN operation and ERR error on integrated control panel HMI Errors are displayed on the integrated control panel HMI with the 7 segment display complete diagnostics data with the Lexium CT PC commissioning software The PROFIBUS DP signals comply with the Profibus standard and are short circuit protected Connections RJ45 connector CN4 Physical interface 2 wire multipoint RS 485 Transmission mode RTU Baud rate bps 9600 19200 38400 Address node ID 1 247 configurable with the integrated control panel HMI or the Lexium CT PC commissioning software Max number of connected stepper motor drives 31 Polarisation No polarisation impedance Must be supplied by the wiring system e g in master Format Configurable with the integrated control panel HMI or the Lexium CT PC commissioning software W 8 bit odd parity 1 stop bit W 8 bit even parity 1 stop bit m 8 bit no parity 1 stop bit m 8 bit no parity 2 stop bits Diagnostics Errors are displayed by the 7 segment display on the integrated HMI Message administration Read hold register 03 max 63 words Write single register 06 Write multiple registers 16 max 61 words Read write multiple registers
66. rschmann type G4 A 5M 5 50 Schneider Electric Presentation characteristics Encoder Lexium SD3 motion control BRS3 3 phase stepper motors Option Encoder The BRS3 3 phase stepper motors from Schneider Electric can be fitted with an encoder If the stepper motor drive is fitted with rotation monitoring electronics the encoder operates as a measurement system for signalling the actual position of the rotor The calculated reference position and the actual position of the motor are compared If a defined deviation is exceeded a rotation monitoring error is signalled 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 Resolution Inc rev 1000 Index pulse Inc rev 1 Output RS 422 Signals A Bil Signal shape Rectangular Supply voltage V 5 5 Supply current A Max 0 125 Wiring diagram of encoder plug on BRS3ee 1 Motor housing Pin Designation A Anegated B B negated C C negated negated 5 Venn 5 SENSE SENSE Temperature sensor Not connected o jo o o 25 o tN e s Se N Schneider 5 51 Electric Presentation characteristics Lexium SD3 motion control Integrated and optional additional EMC filters for stepper motor dr
67. setup recommendations could inhibit the SIL capability of the Safe Torque Off Power Removal safety function m Complies with the product standard IEC EN 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Functional for both stop functions O Safe Torque Off STO corresponds to Category 0 stop according to IEC EN 60204 1 Standstill by immediate power shutdown to the machine drive elements i e an uncontrolled stop o Safe Stop 1 SS1 corresponds to Category 1 stop according to IEC EN 60204 1 A controlled stop in which the machine drive elements are retained to effect the standstill The final shutdown is ensured by an external Emergency stop module with safe time delay e g Preventa XPS AV 1 The Safe Torque Off Power Removal safety function has a redundant electronic architecture which is monitored continuously by a diagnostics function 2 This PL d and SIL2 safety function is certified as conforming to these standards by the T V certification body in the context of a voluntary certification 1 Please refer to the Safety functions and solutions using Preventa catalogue 2 Redundant Consists of mitigating the effects of the failure of one component by means of the correct operation of another assuming that faults do not occur simultaneously on both Examples of applications of the safety function 24V 24V 24V A A EMERGENCY FAULT STOP RESET E
68. socket CN4 for connection of Fieldbus Modbus or CANopen SD328A only PC with Lexium CT commissioning software Remote terminal 10 pole socket CN5 for input of pulse direction or A B encoder signals in electronic gear operating mode Screw terminals for connecting the mains supply Screw terminals for connecting the motor and external braking resistors EMC mounting plate 9 Fan SD328eU68 only 10 Base for fastening of the EMC mounting plate 11 Heat sink CR NW Web Su WW WS OND Drive system The SD328 is a universally applicable stepper motor drive Reference values are typically preset and monitored by a master PLC or a Schneider Electric Motion Controller e g LMC Together with selected Schneider Electric stepper motors the unit is a very compact high performance drive system Control Reference values are supplied via m CANopen Modbus SD328A or PROFIBUS DP SD328B The CANopen interface of the SD328A can be used for connection of a CANopen AutomationBus or CANopen MotionBus Movements of up to eight drive axes can be synchronously controlled by one Motion Controller e g Lexium Motion Controller via the CANopen MotionBus m 10 V analogue signals for Oscillator operating mode SD328A m Pulse direction signals or A B encoder signals for implementing an electronic gear Rotation monitoring motor monitoring If a stepper motor with integrated encoder is connected to the stepper motor drive t
69. stance is zero jog starts directly with continuous movement irrespective of the wait time Schneider Electric Functions continued Lexium SD3 motion control SD328 stepper motor drives Profile position mode In the operating mode Profile Position the motor is positioned from a point Ato a point B with a positioning command Settings The positioning path can be specified in two ways m Absolute positioning reference point is the zero point of the axis m Relative positioning reference point is the current position of the motor Operating mode Profile Position absolute and relative Reference value setting The reference values are set via fieldbus or with the Lexium CT PC commissioning software Application example Pick and place with a linear robot Profile velocity In operating mode Profile velocity a reference speed for the motor is set and a movement without a target position is started This speed is maintained until a different reference speed is specified or the operating mode is changed Reference value setting The reference values are set via fieldbus or with the Lexium CT PC commissioning software Application example Paint application in CD manufacture M Profile velocity t1 t3 t5 acceleration t2 t4 t6 t8 constant movement t7 t9 braking Schneider 5 23 Electric Functions continued Lexium SD3 motion control SD328 stepper
70. t are calculated by multiplying the characteristic values of the motor by the gear ratio and the efficiency of the gearing 0 96 or 0 94 depending on the gear ratio The following table shows the optimum combination of BRS stepper motor and GBX planetary gearbox Stepper motor 1 Reduction ratio 3 1 4 1 5 1 8 1 9 1 12 1 15 1 16 1 20 1 25 1 BRS368W13 GBX 60 GBX 60 GBX 60 GBX 60 GBX 60 GBX 60 GBX 60 GBX 60 GBX 60 GBX 60 W 8mm Z 38 mm BRS397W36 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 W 12 mm Z 60mm BRS39AW36 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 W 12 mm Z 60mm BRS39BW46 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 W 14mm Z 60 mm BRS3ACW85 GBX120 GBX120 GBX120 GBX120 GBX120 GBX120 GBX120 GBX120 GBX120 W 19 mm Z 56mm BRS3ADW85 GBX120 GBX120 GBX120 GBX120 GBX120 GBX120 GBX120 GBX120 GBX 160 W 19mm Z 56mm 1 GBX planetary gearboxes can be mounted to stepper motors with the specified shaft version W and the specified centring collar Z GBX80 For these combinations you must check that the application will not exceed the maximum output torque of the gearbox see page 5 64 Electric Schneider 5 63 Characteristics Lexium SD3 motion control Option GBX planetary gearboxes
71. t torque 2 3 1 Nm 45 136 184 640 4 1 Nm 61 184 248 720 5 1 Nm 64 176 312 720 8 1 Nm 29 80 192 720 9 1 Nm 70 208 336 12 1 Nm 70 192 416 1280 15 1 Nm 70 176 368 1120 16 1 Nm 70 192 416 1280 20 1 Nm 70 192 416 1280 25 1 Nm 64 176 368 1120 1 Value measured at a distance of 1 m at no load for a servo motor speed of 3000 rpm and a reduction ratio of 5 1 2 Values given for an output shaft speed of 100rpm in S1 mode cyclic ratio 1 on electrical machines for an ambient temperature of 30 C 3 Force applied at mid distance from the output shaft Electric 5 64 Schneider References Lexium SD3 motion control mounting and intallation Option GBX planetary gearboxes recommendations Size Reduction ratio Reference Weight 1 kg GBX 60 3 1 8 1 GBX 060 eee eee eS 0 900 9 1 25 1 GBX 060 eee eee eS 1 100 GBX 80 3 1 8 1 GBX 080 eee eee eS 2 100 9 1 25 1 GBX 080 eee eee eS 2 600 GBX 120 3 1 8 1 GBX 120 eee eee eS 6 000 9 1 25 1 GBX 120 eee eee eS 8 000 GBX 160 25 1 GBX 160 eee eee eS 22 000 GBX planetary gearbox 1 To order a GBX planetary gearbox complete each reference above with GBX KEE eco KEE e S Size Diameter of casing 2 60mm 80mm 120mm 160mm Reduction ratio 3 1 4 1 5 1 8 1 9 1 12 1 15 1 16 1 20 1 25 1 Associated stepper motor Type BRS36e BRS39e BRS3Ae Model BRS368 BRS397 BRS39A BRS39B BRS3AC BRS3AD BRS stepper motor adaptation 2 See table o
72. teristics Conformity to standards Lexium SD3 motion control SD328 stepper motor drives Lexium Stepper Motor Drive SD3 have been developed to conform to the strictest international standards and with the recommendations for electronic control systems in the industry IEC EN specifically low voltage switchgear IEC EN 61800 5 1 IEC EN 50178 IEC EN 61800 3 noise immunity to conducted and radiated high frequency signals EMC immunity IEC EN 61800 3 environments 1 and 2 IEC EN 61000 4 2 level 3 IEC EN 61000 4 3 level 3 IEC EN 61000 4 4 level 4 IEC EN 61000 4 5 level 3 Conducted and radiated EMC emissions IEC EN 61800 3 2001 02 IEC 61800 3 ed 2 m Devices without external mains filter C3 up to 10m motor cable length Devices without external mains filter C2 up to 20m motor cable length C3 up to 50m motor cable length ooga C marking The drives are C marked in accordance with the European low voltage 2006 95 EC and EMC 89 336 EEC directives Product certification UL USA cUL Canada T V certification SD328 stepper motor drives are T V certified for device safety and medical devices The certification includes m Functional safety of electrical electronic programmable safety related electronic Systems IEC 61508 2000 SIL 2 m Safety of machinery functional safety of safety related electrical and electronic and programmable electronic control systems IEC 62061 20
73. tput Selection of the motion profile Speeds and accelerations are saved in motion profiles One of the motion profiles can be assigned to every movement command data set Blended movement In the case of sequential selection of movement commands a blended movement can be specified as a transition condition in the data set When the target position is reached the drive accelerates or decelerates to the speed of the subsequent data set There are two types of blended movement Blended movement a After reaching the target position the drive switches to the speed of the subsequent data set Blended movement b When the target position is reached the drive is to have speed of the subsequent data set Schneider 5 27 Electric Functions continued Lexium SD3 motion control SD328 stepper motor drives The SD328 stepper motor drive integrates the Safe Torque Off Power Removal safety function which prevents unintended operation of the servo motor The servo motor no longer produces any torque if the safety function is active This safety function m Complies with the machine safety standard ISO 13849 1 perfomance level d PL d m Complies with the standard for functional safety IEC EN 61508 SIL2 capability safety control signalling applied to processes and systems The SIL Safety Integrity Level capability depends on the connection diagram for the servo drive and for the safety function Failure to observe the
74. vious menu or parameter Increase the displayed value N o a EE ONENE ONOONE AONNE NEEEN gt Designation Description Reference Remote terminal Incl cable with 2 connectors seal and screws for VW3A31101 mounting to control cabinet door degree of protection IP 65 SE 4x 3 5 36 Schneider Electric Presentation Lexium SD3 motion control references Option Lexium CT commissioning software for stepper motor drives SD328 Description The Windows based Lexium CT commissioning software is used for easy commissioning parameterisation simulation and diagnostics of the SD328 stepper motor drive As compared to the integrated control panel HMI the Lexium CT commissioning software offers additional features such as Graphical user interface for parameterisation and status display Comprehensive diagnostics tools for optimisation and maintenance Long term recording as an aid to assessing operational behaviour Testing input and output signals Tracking signal sequences on the monitor Archiving of all device settings and records with export functions for data processing System requirements You will need a PC or laptop with a free serial interface and MS Windows 2000 or later Download The current version of the Lexium CT commissioning software can be downloaded from www schneider electric com EE 09 so wo so ap 350 w 3X0 8 80 ma Zeh Zoe V

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