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ACOPOSmicro User`s Manual

1. 3 SIS q AVAVAVA a 1 5 Y D4 5 Figure 4 Dimensions 30 ACOPOSmicro User s Manual V 0 10 System characteristics The ACOPOSmicro drive system 1 13 Software 1 13 1 Standardized programming The creation of PLCopen motion control function blocks ensures the support of a standard that can handle positioning tasks quickly easily and efficiently They can be programmed in the proven IEC 61131 standard programming languages Structured Text Instruction List Ladder Diagram or Sequential Function Chart In addition to these languages B amp R also supports programming in B amp R Automation Basic and C All motor types supported by the ACOPOSmicro drive system can be controlled with these PLCopen function blocks PLCopen function blocks The universal availability of PLCopen function blocks for all B amp R products makes it possible to optimize the component selection to match the performance demands of every application The PLCopen library is included in the Automation Studio package motion Selecting this library in the project automatically imports it and control makes the function blocks available for programming PLC open 1 13 2 Full integration in the CNC system With B amp R Automation Studio commissioning is easy as pie Stepper motors can be operated in single axis mode with an axis group or connected to other a
2. Register dec Variable assignments in Automation Studio Channel 1 Channel 2 Channel 1 Channel 2 Description 0 8 AbsPos01 AbsPos02 Set position speed 4 12 MpGenControl01 MpGenControl02 Control word 6 14 MpGenMode01 MpGenMode02 Mode 7 15 MpGenBrake01 MpGenBrake02 Motor brake 16 OptionsBoardControl D Set digital outputs control register counter 0 8 AbsPos01ActVal AbsPos02ActVal Current position cyclic 4 12 MpGenStatus01 MpGenStatus02 Status 6 InputStatus Input status 16 Counter01 D Counter 18 CounterLatched01 Counter latch 20 Digital_in_do_rb Status of digital inputs and outputs 42 UZKVoltage UZK DC bus voltage 44 CoolerTemperature Temperature of output stage 46 Temperature Temperature 48 112 ConfigOutput03a ConfigOutput06a Holding current 49 113 ConfigOutput04a ConfigOutput07a Rated current 50 114 ConfigOutput05a ConfigOutput08a Maximum current 52 116 MaxSpeed01pos MaxSpeed02pos Max speed 54 118 MaxAcc01 MaxAcc02 Max acceleration 56 120 MaxDec01 MaxDec02 Maximum deceleration 58 122 RevLoop01 RevLoop02 Turn around loop 60 124 FixedPos01a FixedPos02a Set position 1 64 128 FixedPos01b FixedPos02b Set position 2 68 132 RefSpeed01 RefSpeed02 Homing speed 70 134 RefConfig01 RefConfig02 Homing configuration 72 136 FullStepThreshold01 FullStepThreshold02 Full step threshold 75 139 JoltTime01 JoltTime02 Jolt time limitation 80 144 ControlReadback01 ControlReadback02 Read back control word 8
3. 50 5 Pin assignments Open Pin Name Wire colors Plugs 1 X2X Red 2 X2X White Shield 3 X2X Blue 1 For custom 4 X2X L Black wiring Plugs SHLD Shield 4 Coding for X3A Table 35 X20CA0X48 X2X Link attachment cable Measurements and pin assignments Cable lengths Model number Standard length dm Actual length cm Tolerance cm X20CA0X48 0010 10 100 2 5 X20CA0X48 0020 20 200 3 0 X20CA0X48 0050 50 500 5 0 X20CA0X48 0100 100 1000 10 0 X20CA0X48 0200 200 2000 10 0 Table 36 X20CA0X48 X2X Link attachment cable Cable lengths Information This cable is coded as attachment cable for the ACOPOSmicro connection to X2X Link input X3A In order to use this cable on the X2X Link output X3B of the ACOPOSmicro the coding must be changed accordingly see chapter 6 Wiring in the section 2 4 X3A X3B X2X Link connections on page 75 ACOPOSmicro User s Manual V 0 10 59 Chapter 3 Technical data Technical data Accessories 3 3 Accessories included in delivery Brief description of the accessories included in delivery Accessory set for ACOPOSmicro X2X for electromagnetic compatibility of the installation of the X2X Link cable and the PE connection Other information in this manual Usage of the accessory set in chapter 6 Wiring section 2 7 Protective ground connection PE on page 81 Electromagnetic Compatibility of the
4. Table 9 Required accessories Order data 38 ACOPOSmicro User s Manual V 0 10 Technical data ACOPOSmicro models 2 3 Basic components 2 3 1 Technical data Product ID Basic components Short description Stepper motor components Connection for one or two stepper motors each 2 phase bipolar full bridge Digital inputs Amount 2 Can be used as trigger input 2 channel model 2 1 channel model 1 Rated voltage 24 VDC Input filter Hardware 10 us Input circuit Sink Enable input Amount 1 Rated voltage 24 VDC Input circuit Sink X2X Link interface Design 4 pin plug Minimum cycle time on the X2X Link 250 us 24 VDC supply Input voltage 24 VDC 25 Power consumption CPU 6 0 W power consumption of other components X2X Link supply 0 0 W generated internally from the CPU supply Voltage monitoring Yes 18 VDC Table 10 Basic components Technical data ACOPOSmicro User s Manual V 0 10 39 Chapter 3 Technical data Technical data ACOPOSmicro models Product ID Basic components General information Status indicators Stepper motor function for each channel supply voltage bus function Diagnostics Module run error X2X Link Motor status Module cooling unit temperature Yes with status LED and software status Yes with status LED Yes with status LED and software status Yes with
5. Signal form Square wave pulse Evaluation configurable Pulse length gt 10 ps Length of pauses between pulses gt 10 ps Internal counter frequency configurable Counter size 16 bit Additional digital outputs Design HighSide FET positive switching outputs Switching voltage min nom max 18 24 30 VDC Supply voltage From the 24 VDC module supply Continuous current per output 0 5A Continuous current of all additional 1 0A Switching on after overload cutoff e g ca 10 ms depends on the module temperature Inductive load Switching delay 021 Max 250 ys 1250 Max 270 ps Switching frequency Resistive load 100 Hz See the section2 6 3 Switching inductive loads on page 48 at 90 duty cycle Braking voltage when switching off inductive loads 47 V Table 18 Additional digital inputs outputs Advanced technical data cont ACOPOSmicro User s Manual V 0 10 47 Chapter 3 Technical data Technical data ACOPOSmicro models 2 6 3 Switching inductive loads Coil inductance 100 H 10H 1000 1H o 2 S Q LI LIL LIL 8 100 mH D o 100 TTT TTT 10mH 50 0 1 1 10 100 Max operating cycles second at 90 duty cycle 48 Figure 9 Additional digital inputs outputs Switching inductive loads ACOPO
6. Model number Short description Number of Coding Usage Page poles 0TB1106 8010 Accessory terminal block 3 5 6 pin screw clamp 6 52 1 5 mme protection against vibration with the screw ange Connection of 0TB1106 8110 Accessory terminal block 3 5 6 pin cage clamp 6 additional I O 1 5 mmy protection against vibration with the screw ange 0TB1110 8010 Accessory terminal block 3 5 10 pin screw clamp 10 53 1 5 mmy protection against vibration with the screw ange 0TB1110 8110 Accessory terminal block 3 5 10 pin cage clamp 10 1 5 mm protection against vibration with the screw SORTIRA TD and CPU supply ange 0TB1310 3100 Accessory terminal block 3 5 3 x 10 pin cage 30 clamp 1 5 mme protected against vibration by the screw flange 0TB2105 4021 Accessory terminal block 5 08 5 pin AX1 coded 5 AX1 54 M P screw clamp 2 5 mm 0TB2105 4022 Accessory terminal block 5 08 5 pin AX2 coded 5 AX2 M P screw clamp 2 5 mm Motorconnection 0TB2105 4121 Accessory terminal block 5 08 5 pin AX1 coded 5 AX1 M P cage clamp 2 5 mm 0TB2105 4122 Accessory terminal block 5 08 5 pin AX2 coded 5 AX2 M P cage clamp 2 5 mm 0TB2105 9021 Accessory terminal block 5 08 5 pin DC coded 5 DC 55 M S screw clamp 2 5 mm Connection of 0TB2105 9121 Accessory terminal block 5 08 5 pin DC coded 5 DC powersupply Table 22 Terminal blocks Overview ACOPOSmicro User s Manual V 0 10 51 Chapter 3 Tech
7. 146 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master e 80SD100XD C044 01 Standard function model 2 5 StepperLatchConfig Latch configuration Variable assignments in Bit Automation Studio Description 0 StartLatch01 Tum on off latch function for position register 0 Negative edge Tum off latch function for position register 1 Positive edge Tum on latch function for position register 1 TriggerEdgePos01 Configure latch function for position register x Channel 1 2 TriggerEdgeNeg01 00 Unconditional latch position 01 Latch position at positive edge on trigger input 1 10 Latch position at negative edge on trigger input 1 11 Reserved 3 0 Reserved 4 StartLatch02 Turn on off latch function for position register 0 Negative edge Turn off latch function for position register 1 Positive edge Turn on latch function for position register 5 TriggerEdgePos02 Configure latch function for position register Channel 2 6 TriggerEdgeNeg02 00 Unconditional latch position 01 Latch position at positive edge on trigger input 2 10 Latch position at negative edge on trigger input 2 11 Reserved n 0 Reserved 2 6 TriggerConfig Trigger configuration Variable assignments in Bit Automation Studio Description 0 TriggerEdge01 0 Trigger 1 Trigger edge positive 1 Trigger 1 Trigger edge negative
8. 19 Eegend unie 18 BGS EE 25 SG4 asia ee ii 25 EE 25 Shutoff when over temperature occurs 44 when over voltage occurs 44 Standard function model 86 Register description 88 Register overview sesser 86 Standards ede eee 133 Status LEDS sse 42 Stepper motor components 43 Switching inductive loads 48 System characteristics 27 System Generation 3 4 Compact CPU 25 T Technical data A 35 Additional analog inputs 49 Additional digital inputs outputs 46 Basic components seeen 39 Encoder components 45 ACOPOSmicro User s Manual V 0 10 Index Stepper motor components 43 Terminal blocks 51 Connection for CPU supply 53 Connection for digital inputs outputs 53 Connection of additional inputs outputs 52 Connection of motors 54 Connection of the power supply 55 Terminology ii 25 Topologies sera 32 Transport itai here d 21 V Variable assignment in Automation Studio X2X Master 143 ACOPOSmicro User s Manual V 0 10 X1 connection power element supply X2 connection CPU supply X2 connection digital inputs o
9. 58 X20CA0X48 X2X Link attachment cable Measurements and pin assignments 59 X20CA0X48 X2X Link attachment cable Cable lengths 59 Accessories included in delivery A 60 Cable cross section of the mains supply line depending on the type of layout 67 Type of layout for the mains supply line ii 67 ACOPOSmicro connections Overview 71 X1 connection Power element supply i 72 X2 connection Supply for CPU and digital INPUts OUtputs eee 73 X3A X3B connections X2X LINK essen nemen 75 X4 X5 connections Motor 12 77 X6A X6B connections Incremental encoder 1 2 see 79 ACOPOSmicro User s Manual V 0 10 189 Table index Table index Table 46 Table 47 Table 48 Table 49 Table 50 Table 51 Table 52 Table 53 Table 54 Table 55 Table 56 Table 57 Table 58 Table 59 Table 60 Table 61 Table 62 Table 63 Table 64 Table 65 Table 66 Table 67 Table 68 Table 69 Table 70 Table 71 Table 72 Table 73 Table 74 Table 75 Table 76 Table 77 Table 78 Table 79 Table 80 Table 81 Table 82 Table 83 Table 84 190 X7 connection Additional mputsioutpute AA 82 Minimum cycle time onto kee nds a ul Ria 85 Minimum VO Update time isco as oerte rccte Bete e o rete eu 85 Standard function Model EE 86 Notes about motor identification i 91 Order of trace data from tw
10. Register dec Variable assignments in Automation Studio Channel1 Channel 2 Channel 1 Channel 2 Description 0 2 Position Sync Position2Sync Position 10 Error Error Status 12 14 Motoridentification01 Motoridentification02 Motor ID 16 24 Motor1Step0 Motor2Step0 Motor configuration MotorStep1 18 26 Motor1Step1 Motor2Step1 Motor configuration MotorStep2 20 28 Motor1Step2 Motor2Step2 Motor configuration MotorStep3 22 30 Motor1Step3 Motor2Step3 Motor configuration MotorStep4 33 36 ConfigOutput03 ConfigOutput06 Holding current 34 37 ConfigOutput04 ConfigOutput07 Rated current 35 38 ConfigOutput05 ConfigOutput08 Maximum current 46 ConfigOutput02 Module configuration 54 StatusOutput14 Error acknowledgement Digital output motor brake 60 62 PositiontLatched Position2Latched Position latch 68 70 usSinceTrigger01 usSinceTrigger02 usSinceTrigger 72 StepperLatchStatus Latch trigger status 73 LifeCnt Life cycle counter 76 StepperLatchConfig Latch configuration 78 TriggerConfig Trigger configuration 80 Temperature Temperature 81 MotorldentTrigger Motor ID trigger 84 86 ConfigOutput09 ConfigOutput10 Full step threshold 88 CoolerTemperature Cooler temperature 90 UZKVoltage DC bus voltage Table 77 Standard function model ACOPOSmicro User s Manual V 0 10 159 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD COXX 01 Standard function model 6 2 Erro
11. Figure 20 Stepper motor Diagram ACOPOSmicro User s Manual V 0 10 7T Wiring Description of connections 2 5 1 X4 X5 output circuit diagram for motor connection DC D e Output stage Jl DC n o A N i B Output stage 2 channel model n o A o B Figure 21 X4 X5 Output circuit diagram for motor connection 78 ACOPOSmicro User s Manual V 0 10 Wiring Description of connections 2 6 X6 Incremental encoder inputs 1 2 Figure 2 channel model 1 channel model Pin assignments Pin Name 1 A X6A X6B NC B e Oy NC R NC REY Incremental encoder 1 2 NC 24 VDC encoder supply output ojoj NI ol ol amp wy Pp GND GND CPU supply Table 45 X6A X6B connections Incremental encoder 1 2 ACOPOSmicro User s Manual V 0 10 79 Chapter 6 Wiring Wiring Description of connections 2 6 1 X6 Input circuit diagram for incremental encoder 24V Cable disturbance A gt A l o A gt 24V A 1 Cable disturbance B Channel 1 B o gt 24V 1 Cable disturbance R gt R o A gt Status gt 24V Monitoring 24vDC gt encoder supply PTC ACO
12. nca ced eee tet eren re a eis avant 63 3 1 Disassembly cios coe ote ecce ce eere ip dee tese lis 64 Chapter 5 Dimensioning rrrrreieei zii 65 UN Power ee Ei ir le ET 65 2 Nee e e NEE 67 10 ACOPOSmicro User s Manual V 0 10 Table of contents Chapter 6 Wiring icoiciiiinaicaicmc ri NEES EE inian 69 1 Electromagnetic Compatibility of the Installation seen 69 1 1 General information sz a dade dance eae Alpes 69 1 2 Installation Dee 5 hati e Ree bet 70 2 Description of CONNECTIONS sca eosin ee cho tilo Die ERO Ee 71 Ned mu 71 2 2 X1 Power element supply i 72 2 2 1 X1 diagram Power supply iii 72 2 3 X2 Supply for CPU and digital inputs outputs sene 73 2 3 1 X2 input output circuit diagram i 74 2 4 X3A X3B X2X Link connections i 75 2 5 X4 X5 Connection for motor 1 2 iii 77 2 5 1 X4 X5 output circuit diagram for motor connection 78 2 6 X6 Incremental encoder inputs 1 2 79 2 6 1 X6 Input circuit diagram for incremental encoder 80 2 7 Protective ground connection PE emen 81 2 8 X7 Additional inputs outputs AA 82 2 8 1 Input circuit diagram for additional digital inputs AA 82 2 8 2 Output circuit diagram for additional digital outputs ii 83 2 8 3 Input circuit diagram for additional
13. 2 e toe id 29 1 10 Modular cooling design eter ti ina 29 1 11 Operational and connection elements ssssseseeeen ene 30 1 12 Dimensions on th ei tet ai tak gala alata lan det rd ei 30 1 13 SoftWar ola EH 31 1 13 1 Standardized programming i 31 1 13 2 Full integration in the CNC system cnn anna cnn ncnin 31 kee ee e 32 2 1 Compact solution for small and mid sized machines 32 2 2 Custom fit system combinations sssssssssseeeeeneeneen nennen nennen nen 33 2 3 APC620 embedded for central control visualization and operation 34 Chapter 3 Technical data eere 35 1 General information 2 2 ome eti ee eode dte i ettet lario 35 2 AGOPOSnmicro models 2 ae ita 36 Ree E PELLI E 37 E Ree TEE 38 Ree 39 ACOPOSmicro User s Manual V 0 10 9 Table of contents 2 9 Technical idat sst a ctc ta 39 2 3 2 Additional technical data AAA 41 EE 42 2 3 4 Monitor for 24 VDC module supply iii 42 2 4 Stepper motor components ii 43 2 4 1 Technical data ccoo 43 2 4 2 Additional technical data AAA 44 2 4 3 Monitoring the power supply meer 44 2 4 4 Over temperature shut off A 44 2 5 Enicoder component geed dE ENEE eet a eon pcr EE 45 2 541 Technical data eee hec ees one eroe ire nes 45 2 5 2 Additional technical data AAA 45 2 6 Additiona
14. ACOPOSmicro User s Manual V 0 10 ACOPOSmicro User s Manual V 0 10 Table of contents Chapter 1 General information eere 17 Tz Manual history naar c ER A eate deg d 17 2 Safety g idelihes mood asia icone aa i eed itp ae ea 18 2 1 Organization of safety notices i 18 2 2 General information coii ete ti east eit Se a a D Ue Ute ala 19 2 9 Intended use et a ali Us AA es eee ee Hodie 20 2 4 Protection against electrostatic discharges AA 20 2 41 Packaging ied iere aeter git exer 20 2 4 2 Guidelines for proper ESD handling i 20 2 5 Transport and storage civic ia 21 2 6 Handling and installation senem 21 2 7 e EE 21 2 7 1 Protection against touching electrical parts AAA 21 2 7 2 Protection from dangerous movements i 23 2 7 3 Protection against burns meme nennen 24 Ss PORMINOOGY Pm 25 Chapter 2 System characteristics ss 27 1 The ACOPOSmicro drive system TP Elexibility 55 oes EE 1 2 Smallest dimensions ion ai Re ede De reete ene 1 3 Variable rated voltage ranges 1 4 Integrated VO cian ete c e REL ced e alii 1 5 Highlights of the ACOPOSmicro drive system i 28 1 6 Areas of application for stepper motor Control 29 1 7 Highiest resolutlon ehe t RARE ORE HE LARE 29 1 8 Ease of handling mireia ta 29 1 9 Godirig and identification
15. Table 78 Ramp function model 163 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD COXX 01 Ramp function model 7 2 Motor brake Variable assignments in Automation Studio Bit Channel 1 Channel 2 Description 0 MpGenBrake01 MpGenBrake02 Digital output state motor brake 1 7 0 Reserved The motor brake register is used to control the digital output motor brake On the 2 channel ACOPOSmicro model bit O of both registers Motor 1 and Motor 2 is linked with an OR function This means that the digital output is activated if the bit is set on one or both motors 164 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD COXX 21 Standard function model 8 80SD100XD COXX 21 Standard function model 8 1 Register overview Register dec Variable assignments in Automation Studio Channel 1 Channel 2 Channel 1 Channel 2 Description 0 2 Position1Sync Position2Sync Position 10 Error Error Status 12 14 Motoridentification01 Motoridentification02 Motor ID 16 24 Motor1Step0 Motor2Step0 Motor configuration MotorStep1 18 26 Motor1Step1 Motor2Step1 Motor configuration MotorStep2 20 28 Motor1Step2 Motor2Step2 Motor configuration MotorStep3 22 30 Motor1Step3 Motor2Step3 Motor configuratio
16. The value is only valid if bit 0 of the control register counter is set Overflow of counter 1 only valid if gate or period measurement is set in the counter configuration with bit 3 6 7 LatchDone State changes each time the counter state is successfully latched reset value 0 100 ACOPOSmicro User s Manual V 0 10 Register description Standard function model Set digital output s control register counter Bit Description 0 Disable re 0 0 Disable detection of counter overflow and reset the overflow bit on counter 1 1 Enable detection of counter overflow 1 0 Reserved 2 Referencing only valid in AB R mode see Bit 8 9 in counter configuration ferencing 1 Enable referencing Start coun 3 0 Reset counter to zero 1 er Note Only set after counter configuration is complete 4 5 0 Reserved 6 Set digital outpu t 1 7 Set digital outpu t2 Counter This register contains the present counter state Different counters event counter ABR counter etc are available depending on the configuration Counter latch The counter will be applied to this register at the next latch event see ABR mode in Counter configuration on page 102 ACOPOSmicro User s Manual V 0 10 101 Chapter 7 Register description Register description Standard function model Counter configuration B
17. Wiring Description of connections 2 3 X2 Supply for CPU and digital inputs outputs Figure Pin assignments Pin Name 1 Digital input 1 2 Digital input 1 GND View from below HE 3 Digital input 2 4 Digital input 2 GND 1 5 24 VDC brake supply voltage 1 6 24 VDC brake output S 7 Enable S 8 Enable GND e 9 CPU supply 24 VDC 10 CPU supply GND The supply connection for the CPU and the digital inputs outputs is made using a terminal block 0TB1110 8010 0TB1110 8110 or 0TB1310 3100 Information about these terminal blocks can be found in the section 3 1 2 Terminal blocks for connecting I O and CPU supply on page 53 in the chapter 3 Technical data Table 42 X2 connection Supply for CPU and digital inputs outputs 1 Reference potential CPU supply GND pin 10 The digital inputs 1 2 can be used as trigger inputs see section 2 3 1 Technical data on page 39 0TB1110 terminal blocks are single row terminal blocks In contrast the 0TB1310 3100 terminal has three rows 3x10 pins which makes it particularly well suited for connecting the inputs outputs and acting as jumper terminal Information The red and blue rows of pins on the 0TB1310 3100 are connected internally to simplify wiring The user only has to create two connections so that the GND potential blue and the 24 VDC potential re
18. 2 6 1 Technical data Product ID Additional digital inputs outputs Additional digital inputs Amount 4 Rated voltage 24 VDC Input filter Hardware lt 10 ys Input circuit Sink Additional functions for inputs Configurable as ABR incremental encoder event counter period or gate measurement Additional digital outputs Amount 2 Rated voltage 24 VDC Rated output current 0 5A Total current 1 0A Output circuit Source Output protection Overload and short circuit protection Table 17 Additional digital inputs outputs Technical data 2 6 2 Additional technical data Product ID Additional digital inputs outputs Additional digital inputs Input voltage 24 VDC 25 Input current at 24 VDC Typ 3 1 mA Input resistance Typ 7 8 KQ Switching threshold Low lt 5 VDC High gt 15 VDC Isolation voltage between input and bus 500 Var ABR incremental encoder Counter size 16 bit Input frequency Max 25 kHz Evaluation 4x Table 18 Additional digital inputs outputs Advanced technical data 46 ACOPOSmicro User s Manual V 0 10 Technical data ACOPOSmicro models Product ID Additional digital inputs outputs Event counter Number of counters 1 Signal form Square wave pulse Input frequency Max 50 kHz Counter size 16 bit Evaluation configurable Gate measurement Number of gate measurements 1
19. Sample Array index Channel 1 0 Analog input 1 1 Analog input 2 2 2 Analog input 1 3 Analog input 2 Table 54 Order of trace data from two analog channels Number of trace buffer The number of the local trace buffer must also be set on the CPU This number specifies how many trace recordings the CPU can save If a trigger event occurs even though the trace buffer is full then the respective sampling values will be lost The recorded trace data will be read out with the AsloTrc library Number of samples The number samples to be recorded on the ACOPOSmicro module must then be set Make sure that the trace buffer is made large enough for the trace data occurring on the module to be recorded If Infinite Trace was selected then the buffer must be read fast enough for analog values to be recorded at the set sampling rate Block sizes for asynchronous data transfer AsynSize A higher value will result in faster data transfer from the module to the CPU Number of data blocks sent before repetition AsynForward Every data block transferred must be confirmed by the X2X Link master If a confirmation has not been received after the number of data blocks defined here then all non confirmed data blocks will be sent again 126 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model Trace mode Trace mode Description Triggered Trace recording will start afte
20. 00 The digital input 4 reference enable input does not affect the R input The R input is always enabled 01 Reserved 10 R input is enabled if reference enable input is LOW 11 R input is enabled if reference enable input is HIGH 10 15 0 Reserved 122 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model 3 2 30 Register for ACOPOSmicro models with additional analog inputs Status of the analog inputs Bit Description 0 Analog input 1 1 Analog input 2 0 OK 1 Outside the valid range or open circuit 2 7 0 Reserved In addition to the status info the analog value of the corresponding input will also be set if an error occurs status bit 1 Error Analog value dec Analog value hex Wire break 32 767 Ox7FFF Input voltage gt 10 V 32 767 Ox7FFF Input voltage 10 V 32 767 0x8001 Invalid value 32 768 0x8000 Analog input 1 Analog input 2 These registers receive the analog value of the corresponding input Measurement range Input voltage Register value 10V 32 767 10V 32 768 ACOPOSmicro User s Manual V 0 10 123 Chapter 7 Register description Register description Ramp function model 3 3 Trace functions for ACOPOSmicro models with analog inputs 3 3 1 Trace register Trace control word Bit O of the trace control word is used to turn on off the trace funct
21. 52 ACOPOSmicro User s Manual V 0 10 Technical data Accessories 3 1 2 Terminal blocks for connecting I O and CPU supply Order data Model number Short description Figure 0TB1110 8010 Accessory terminal block 3 5 10 pin screw clamp 1 5 mm protection against vibration with the screw flange 0TB1110 8110 Accessory terminal block 3 5 10 pin cage clamp 1 5 mm protection against vibration with the screw flange 0TB1310 3100 Accessory terminal block 3 5 3 x 10 pin cage clamp 1 5 mm protected against vibration by the screw flange Table 25 Terminal blocks for connecting I O and CPU supply Order data Technical data Rated values according to UL Protected against vibration by the screw flange Product ID 0TB1110 8010 0TB1110 8110 0TB1310 3100 Number of pins 10 10 30 Type of terminal Screw clamps Cage clamps Cage clamps Distance between contacts 3 5 mm 3 5 mm 3 5 mm Contact resistance 4 2 MQ 42 MQ 4 2 ma Rated voltage 300 V 300 V 300 V Rated current 1 10 A contact 10 A contact 2 A contact Connection cross section AWG wire 28 14 AWG 26 14 AWG 26 14 AWG Solid wire line 0 20 1 50 mm 0 20 1 50 mm 0 20 1 50 mm Fine wire line without wire tip sleeves 0 20 1 50 mm 0 20 1 50 mm 0 20 1 50 mm Fine wire line with wire tip sleeves 0 20 1 50 mm 0 20 1 50 mm 0 20 1 50 mm Wire tip sleeves with plastic covering 0
22. 80SD100XD C044 01 144 B 149 80SD100XD C04X 13 151 B 157 80SD100XD COXX 01 159 163 B 86 108 80SD100XD COXX 21 165 171 80SD100XS C04X 01 175 179 80SD100XS COXX 01 181 184 All registers are covered in detail in Chapter 7 Register description This description provides a summary of the functionality for all ACOPOSmicro models The differences are noted in the respective register descriptions This Appendix B Variable assignment in Automation Studio X2X Master also provides the following information e Specific overview of the individual registers for each ACOPOSmicro model Variable assignment in Automation Studio X2X Master for all registers and data points individual bits within a few registers The descriptions for registers whose bits have no corresponding variable assignment were not covered again in this Appendix ACOPOSmicro User s Manual V 0 10 143 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master e 80SD100XD C044 01 Standard function model 2 80SD100XD C044 01 Standard function model 2 1 Register overview Register dec Variable assignments in Automation Studio Channel 1 Channel 2 Channel 1 Channel 2 Description 0 2 Position1Sync Position2Sync Position 10 Error Error Status 12 14 Motoridentification
23. Minimum cycle time n 85 Minimum I O update time 85 Module supply Monitoring i 42 Power consumption 50 Monitoring 24 VDC Module supply 42 Power supply ii 44 O Operating and connection elements 30 Order data imac fo diem datare 37 P PE Protective ground connection 81 Power consumption n 50 DIMENSIONING eeeeeneeene 65 Module supply i 50 Power supply een 50 Power supply Monitoring ii 44 Power CONSUMPTION 50 with transformer ii 50 Protective ground connection PE 81 192 R Ramp function model 108 Operation 128 Register description 110 Register overview 108 Register description 85 Ramp function model 110 Standard function model 88 Register overview Ramp function model 108 Standard function model 86 Required accessories 38 Requirements for emissions EMC 138 Requirements for immunity to disturbances EMG pee ten andai 136 S Safety notices n 18 General information
24. Register description Register description Ramp function model 3 2 15 Set position 1 Position to move to in the modes 124 when 1 is set on the digital input and 125 3 2 16 Set position 2 Position to move to in the modes 124 when 0 is set on the digital input and 126 3 2 17 Homing speed Speed for the homing modes 127 and 128 Units Microsteps 25 ms 3 2 18 Homing configuration Value dec Description 123 Homing at positive edge on the R input 124 Homing at negative edge on the R input 125 Homing at positive edge on the digital input 1 126 Homing at negative edge on the digital input D 127 Reserved 128 Immediate homing Everything else No effect 1 For motor 1 Digital input 1 connection X2 pin 1 For motor 2 Digital input 2 connection X2 pin 3 3 2 19 Full step threshold This register configures the speed unit microsteps 25 ms When this defined speed has been reached the drive will automatically change from micro steps to full step mode This makes it possible to optimize the torque at higher speeds while micro step mode ensures optimum concentricity at lower speeds The value 65 535 causes full step mode to be deactivated and the motor to always be run in micro step mode Example A set value of 3 200 micro steps per 25 ms is equal to 128 000 micro steps per second In the ramp function model one full step consists of 256 micro steps whereby the s
25. X2X Link connections Figure X2X Link connections The X2X Link connection is made using pre assembled cables Information about these cables can be found in the section 3 2 X2X Link cable on page 56 in the chapter 3 Technical data View from below X3A X2X Link input Information X3B Make sure that the X2X Link cable is properly connected X2X Link output and that input and output are not mixed up mistakenly Sockets and plugs are accordingly coded for this purpose X2X Link connections underneath swivel mount cover Table 43 X3A X3B connections X2X Link When using the pre assembled X2X Link device attachment cable X20CA0X48 the following assignments for the individual wires must be taken into consideration lt X2X GND black Re X2X red N S X2X white Xx X2X blue Shielding mesh Figure 18 X2X Link device attachment cable wire colors The X2X Link supply for the ACOPOSmicro is created internally from the 24 VDC supply which means that it does not have to be supplied via an upstream power supply e g X67PS1300 or X20BT9400 For subsequent modules the X2X Link supply X2X red wire on the X2X cable is fed through internally from X3A to X3B bridged ACOPOSmicro User s Manual V 0 10 75 Chapter 6 Wiring Wiring Description of connections Information By default the X2X Link device attachment cable see chapter 3 Technical data in
26. essen 161 6 5 StepperLatchConfig Latch configuration essen 161 6 6 TriggerConfig Trigger configuration ii 162 7 80SD100XD COXX 01 Ramp function model 163 7 1 Register OVetVIOW citado FH EE CAR DROP E 163 7 2 Motor brake cerent e aee dies dn devi vesc ara 164 8 80SD100XD COXX 21 Standard function model see 165 8 1 Register overview 8 2 Error Error Status 8 3 StatusOutput1 4 Error acknowledgement Digital output motor brake 167 8 4 StepperLatchStatus Latch trigger status sse 168 8 5 StepperLatchConfig Latch configuration iii 168 8 6 TriggerConfig Trigger configuration ii 169 8 7 Status of the analog inputs reet nter iii 169 8 8 Trace control word ia 169 8 9 Trace Status 2 uode aaa 170 9410 Trace trigger o imi pa 170 9 80SD100XD COXX 21 Ramp function model seen 171 9 1 Riegister OVOrvVIOW 3 te dd t rer cre ito bras 171 9 2 Motor brake 5 eed A RH EE cc rec EE a 172 9 3 Status of tlie analog Inputs cocer tepore rente dtr atacado ce 172 9 4 Trace control word wis aii eee ia 173 9 5 Tr ce Status ait LEER 173 9 6 Trace trigger oeiee ind ane eaten 174 10 80SD100XS C04X 01 Standard function model AA 175 10 1 Register overview enti aa RD e x stein 175 10 2 Error Error Stats usado rada 176 10 3 StatusOutput14 Error acknowledge
27. identification Bit Description 1 0 0 No effect 1 Positive edge triggers motor ID measurement for motor 1 1 0 No effect 1 Positive edge triggers motor ID measurement for motor 2 2 7 0 Reserved 1 On ACOPOSmicro 1 channel models none of the bits that affect motor 2 have any function 0 reserved 2 2 16 Full step threshold This register configures the speed unit steps second When this defined speed has been reached the drive will automatically change from micro steps to full step mode This makes it possible to optimize the torque at higher speeds while micro step mode ensures optimum concentricity at lower speeds It does not make sense to change to full step mode when at a standstill because fine positioning would then no longer be possible This is why the value 0 does not make sense in the Full Step Threshold register and is interpreted as deactivation of full step mode i e the motor will always be operated in micro step mode Example Micro step mode should change to full step at 500 steps seconds On a motor with 200 steps per revolution this would be equal to a speed of 1 _ 500 Steps Second Revolutions Te 2299 Steps Second_ EE 200 Steps Revolution 9 Second 50 1 min 2 2 17 Heat sink temperature This register indicates the temperature of the power board Units C Measurement range 10 to 125 C 2 2 18 DC bus voltage Contains the supply volta
28. s rra nncnnnnnnn 136 4 2 High frequency disturbances according to EN 61800 3 sse 136 4 2 1 Electrostatic discharge a i a a a a s 136 4 2 2 Electromagnetic flelds riesene trece e ine cer i ae en 136 42 3 BUSES iic t obe ee REED yo cr ce 136 AZA M mq E K 137 4 2 5 High frequency conducted disturbances AA 137 5 Requirements for emissions EMO i 138 5 1 High frequency emissions according to EN 61800 3 _ ii 138 5 1 1 Conducted emissions on the connections of the upstream power element for power cis N E a a e APA T ai a ete 138 5 1 2 Electromagnetic emissions i 138 6 Other environmental limit values according to IEC 61800 2 in 139 7 International certifications ii 140 Appendix A Abbreviations eren 141 T General information alia aria ea 141 2 OVelV oW LR aaa ae uto neum CIRC 141 Appendix B Variable assignment in Automation Studio X2X LLL Me i 143 Re VE 143 2 80SD100XD C044 01 Standard function model A 144 2 1 Register OVEFVIOW dr create E ED REESEN EES 144 2 2 Error Error talle 145 2 3 StatusOutput14 Error acknowledgement Digital output motor brake 146 2 4 StepperLatchStatus Latch trigger status i 146 2 5 StepperLatchConfig Latch configuration ii 147 2 6 TriggerConfig Trigger co
29. the measurement must be made under the following defined conditions a At a standstill b Motors must be in a half step position phase A with full current phase B with no current l e the internal step counter of the ACOPOSmicro see the section 2 2 1 Position on page 88 must appear as follows Full steps are divisible by 4 Microsteps 0 2 The condition 1 b is present after a ACOPOSmicro reset power up Immediately afterwards when the holding current is applied to the motor for the first time at a standstill the duration for applying the current is measured This is also a suitable time to read the motor identification register in the application 3 As operating range for determining the motor ID a current setting of at least 15 of the module s rated current 10 A is recommended for the rated current register see section 2 2 5 Holding current rated current maximum current on page 93 due to the lower relative inaccuracy at higher currents 4 Value range of the motor ID register Motor ID Register 12 14 Meaning 0 No motor identifier available after PowerUp as long as the measurement conditions are not met 1 32767 Valid value range of the motor ID register 65504 65519 Ground fault Measurement not possible 65531 Over current Measurement not possible 65532 Wire break Measurement not possible 65533 Motor position incorrect Measurement not possible 65534 Inva
30. 1 Channel 2 Channel 1 Channel 2 Description 0 8 AbsPos01 AbsPos02 Set position speed 4 12 MpGenControl01 MpGenControl02 Control word 6 14 MpGenMode01 MpGenMode02 Mode 7 15 MpGenBrake01 MpGenBrake02 Motor brake 0 8 AbsPos01ActVal AbsPos02ActVal Current position cyclic 4 12 MpGenStatus01 MpGenStatus02 Status 6 InputStatus Input status 42 UZKVoltage UZK DC bus voltage 44 CoolerTemperature Temperature of output stage 46 Temperature Temperature 48 112 ConfigOutput03a ConfigOutput06a Holding current 49 113 ConfigOutput04a ConfigOutput07a Rated current 50 114 ConfigOutput05a ConfigOutput08a Maximum current 52 116 MaxSpeed01pos MaxSpeed02pos Max speed 54 118 MaxAcc01 MaxAcc02 Max acceleration 56 120 MaxDec01 MaxDec02 Maximum deceleration 58 122 RevLoop01 RevLoop02 Turn around loop 60 124 FixedPos01a FixedPos02a Set position 1 64 128 FixedPos01b FixedPos02b Set position 2 68 132 RefSpeed01 RefSpeed02 Homing speed 70 134 RefConfig01 RefConfig02 Homing configuration 72 136 FullStepThreshold01 FullStepThreshold02 Full step threshold 75 139 JoltTime01 JoltTime02 Jolt time limitation 80 144 ControlReadback01 ControlReadback02 Read back control word 82 146 ModeReadback01 ModeReadback02 Read back mode 84 148 Motoridentification01 Motoridentification02 Motor ID 86 150 RefPos01CyclicCounter RefPos02CyclicCounter Homed zero position for cyclic counter 98 162 ErrorCode01 ErrorCode02 Error code ACOPOSmicro User s Manual V 0 10
31. 1 SS1 IF1 ST1 TRC1 Trace for analog input 2 SS1 IF1 ST1 TRC2 ACOPOSmicro User s Manual V 0 10 127 Chapter 7 Register description Register description Ramp function model 3 4 Ramp function model operation Control was based on the CANopen communication profile DS402 Commands are written to the control word for controlling the modules The current module state is returned to the Status register see section 3 2 6 Status on page 112 The function mode absolute position constant speed homing etc is set in the Mode register see the section 3 2 7 Mode on page 113 3 4 1 Control word Control word bits and their state for the state machine commands E ls S la 8 399 ep gt gt gt gt gt gt 9 o o S 9 9 s gm e IS S E o Ka 2 2 2 2 2 2 5 09 ls le EE 5 e Ri a gt 2 o Ee 2 ea 2 Ki o o 5 o Se E 5 S o S E E S8 S jo o amp S8 5 s o 3 o a o o o o e o o o gt o 2 i o E o o o g 7 o o o o o c o o E 5 5 las iis S 3 5 I 8 8 3 3 8 I8 3 5 Command c lt IS IS US a LS IS ju oO ju Bit 1 15 14 13 12 11 10 9 7 B 3 2 1 Shutdown x D D x 0 x x D D 1 1 Switch on D x x x D x x x 0 x x D 0 1 1 1 Disable voltage x x x x x x x x 0 x x x x x 0 x Quick stop x x x x D x x x 0 x x D D 0 1 x Disable operation x x x x x x x x 0 x x x 0 1 1 1 Enable operation x x x x x x x x
32. 1 StartTrigger01 Activate trigger 1 when changes occur 2 TriggerEdge02 0 Trigger 2 Trigger edge positive 1 Trigger 2 Trigger edge negative 3 StartTrigger02 Activate trigger 2 when changes occur 4 7 0 Reserved ACOPOSmicro User s Manual V 0 10 147 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master e 80SD100XD C044 01 Standard function model 2 7 StatusOutput15 ABR control register Variable assignments in Bit Automation Studio Description 0 ActivateReferencing03 0 Deactivate referencing of ABR counter 1 1 Activate referencing of ABR counter 1 positive edge activates referencing 1 3 0 Reserved 4 ActivateReferencing04 0 Deactivate referencing of ABR counter 2 1 Activate referencing of ABR counter 2 positive edge activates referencing 5 7 0 Reserved 148 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD C044 01 Ramp function model 3 805D100XD C044 01 Ramp function model 3 1 Register overview Register dec Variable assignments in Automation Studio Channel 1 Channel 2 Channel 1 Channel 2 Description 0 8 AbsPos01 AbsPos02 Set position speed 4 12 MpGenControl01 MpGenControl02 Control word 6 14 MpGenMode01 MpGenMode02 Mode 7 15 MpGe
33. 20 1 50 mm 0 20 1 00 mm 0 20 1 50 mm Holding torque min max 0 2 0 25 Nm Cable type Copper wires only no aluminum wires Comment Rated values according to UL Table 26 Terminal blocks for connecting I O and CPU supply Technical data 1 Important keep in mind the data limits for the I O modules ACOPOSmicro User s Manual V 0 10 53 Chapter 3 Technical data Technical data Accessories 3 1 3 Terminal blocks for the connection of motors M P cage clamp 2 5 mm Model number Short description Figure 0TB2105 4021 Accessory terminal block 5 08 5 pin AX1 coded M P screw clamp 2 5 mm 0TB2105 4022 Accessory terminal block 5 08 5 pin AX2 coded M P screw clamp 2 5 mm 0TB2105 4121 Accessory terminal block 5 08 5 pin AX1 coded M P cage clamp 2 5 mm 0TB2105 4122 Accessory terminal block 5 08 5 pin AX2 coded Table 27 Terminal blocks for the connection of motors Order data Technical data Product ID 0TB2105 4021 0TB2105 4022 0TB2105 4121 0TB2105 4122 Number of pins 5 5 5 5 Coding AX1 AX2 AX1 AX2 Type of terminal Screw clamps Screw clamps Cage clamps Cage clamps Distance between contacts 5 08 mm 5 08 mm 5 08 mm 5 08 mm Contact resistance lt 2 ma lt 2 ma lt 5 ma lt 5 MQ Rated voltage 300 V 300 V 300 V 300 V Rated current 1 15 A contact 15 A contact 15 A contact 15 A contac
34. 3 4 00 is specified then the motor is advanced by MotorStep1 until the next X2X cycle If 2 or 4 transfer values are specified then the X2X cycle is divided respectively Example X2X cycle 1 ms 1000 us Number of transfer values see 2 2 6 Module configuration on page 93 Time 1 bit 3 4 00 2 bit 3 4 01 4 bit 3 4 10 0 250 us Motor step 1 Motor step 1 250 500 us Motor step 2 Motor step 1 500 750 us Motor step 3 Motor step 2 750 1000 us Motor step 4 92 ACOPOSmicro User s Manual V 0 10 Register description Standard function model 2 2 5 Holding current rated current maximum current The holding current rated current and maximum current registers are used for configuring the desired motor current Units Percent of the module rated current 100 is equal to 10 A During runtime its possible to switch between the preconfigured current values using bits 14 15 in the MotorStepX registers see section 2 2 4 Motor configuration on page 92 It would make sense if Holding current rated current lt maximum current The motor rated current is entered in the rated current register according to the motor data sheet Register Description Holding current In situations requiring less torque e g at a standstill the device should be switched to holding current This reduces heating of the motor Rated current Current during normal o
35. Installation See chapter 6 Wiring on page 69 ACOPOSmicro multi language warning sticker Table 37 Accessories included in delivery 3 3 1 ACOPOSmicro multi language warning sticker Risque d lectrocution Risque d lectrocution Risk of Electric Shock Gef hrliche hohe Spannung 5 Avant toute intervention de i Before Servicing comet 5 Vor dem Arbeiten Versorgung H maintenance d brancher 3 VEER H ee abklemmen und 5 Minuten a l alimentation et attendre eeh FRE m i warten um sicherzustellen dass 5 minutes afin de s assurer que S pM E to be sure that the capacitors 3 i N e i condensatori si siano scaricati DANGER have discharged GEFAHR sich die Kondensatoren entladen DANGER les condensateurs sont bien a PERICOLO Seier di os insi eel a haben Vorschriften beachten H d charg s sz PAID jee instructions Se reporter aux instructions Riesgo de electrocuci n s a Riesgo de electrocuci n Kans op elektrische schok 7 Farlig sp nding spending Antes de toda operaci n de hi Antes de toda operaci n de 8 V r elk onderhoud haalt u de Afbryd forsyningsspeendingen b ee GE la n mantenimiento desconecte la 5 elektrische voeding van de 2 og vent mindst 5 minutter for at alimentaci n y espere 9 alimentaci n y espere 5 minutos H machine af Wacht 5 minuten ikker p E H d E v re sikker p at sp nd
36. Remove the supply voltage wait 5 minutes and make sure that the voltage on terminal X1 has dropped to below 42 VDC before beginning maintenance work The drive systems are labeled with the following warning Figure 1 Warning on the drive system ACOPOSmicro units are provided with labels in different languages for multi language identification see page 60 The connections for the signal voltages 5 to 30 V found on the drive system are isolated circuits Therefore the signal voltage connections and interfaces are only permitted to be connected to devices or electrical components that have sufficient isolation according to IEC 60364 4 41 or EN 50178 and that correspond to SELV PELV Never remove the electrical connections from the drive system with voltage applied In unfavorable conditions arcs can occur causing personal injury and damage to contacts 22 ACOPOSmicro User s Manual V 0 10 General information Safety guidelines 2 7 2 Protection from dangerous movements Danger Incorrect control of motors can cause unwanted and dangerous movements Such incorrect behavior can have various causes e Incorrect installation or an error when handling the components Incorrect or incomplete wiring Defective devices drive system motor position encoder cable brake e Incorrect control e g caused by software error Some of these causes can be recognized and prevented by the drive system using internal mo
37. Temperature 48 112 ConfigOutput03a ConfigOutput06a Holding current 49 113 ConfigOutput04a ConfigOutput07a Rated current 50 114 ConfigOutput05a ConfigOutput08a Maximum current 52 116 MaxSpeed01pos MaxSpeed02pos Max speed 54 118 MaxAcc01 MaxAcc02 Max acceleration 56 120 MaxDec01 MaxDec02 Maximum deceleration 58 122 RevLoop01 RevLoop02 Turn around loop 60 124 FixedPos01a FixedPos02a Set position 1 64 128 FixedPos01b FixedPos02b Set position 2 68 132 RefSpeed01 RefSpeed02 Homing speed 70 134 RefConfig01 RefConfig02 Homing configuration 72 136 FullStepThreshold01 FullStepThreshold02 Full step threshold 75 139 JoltTime01 JoltTime02 Jolt time limitation 80 144 ControlReadback01 ControlReadback02 Read back control word 82 146 ModeReadback01 ModeReadback02 Read back mode 84 148 Motoridentification01 Motoridentification02 Motor ID 86 150 RefPos01CyclicCounter RefPos02CyclicCounter Homed zero position for cyclic counter 98 162 ErrorCode01 ErrorCode02 Error code 1409 16 A Status ofthe analog inputs 1414 18 1 Analoginput01 A Analog input 1 1418 20 Analoginput02 A Analog input 2 ACOPOSmicro User s Manual V 0 10 Table 80 Ramp function model 171 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD COXX 21 Ramp function model Register dec Variable assignments in Automation Studio Channel 1 Channel 2 Channel 1 C
38. UZKStatus Status of supply voltage for power element Uy DC bus voltage 0 Supply voltage for power element not in the valid range 1 Supply voltage for power element OK 18 V lt Uzx lt 80 V ACOPOSmicro User s Manual V 0 10 153 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD C04X 13 Standard function model 4 3 StatusOutput14 Error acknowledgement Digital output motor brake Variable assignments in Bit Automation Studio Description 0 ClearError01 Error acknowledgement Motor 1 1 ClearError02 Error acknowledgement Motor 2 2 6 0 Reserved 7 DigitalOutput Status of digital output motor brake 0 Motor brake off 1 Motor brake on 4 4 StepperLatchStatus Latch trigger status Variable assignments in Bit Automation Studio Description 0 LatchInput01 Digital input for the latch event level Stepper motor 1 1 LatchDone01 State changes each time the counter state is successfully latched reset value 0 2 LatchInput02 Digital input for the latch event level Stepper motor 2 3 LatchDone02 State changes each time the counter state is successfully latched reset value 0 4 DigitalInput01 Status of digital input 1 Triggerlnput01 Status of trigger input 2 5 Digitallnput02 Status of digital input 2 Triggerlnput02 Status of trigger input 2 6 LatchDone03 S
39. X The purpose of this is to enable a virtual switch from the speed mode to the position mode which otherwise isn t possible because of the double use of the register for position and speed specification e Mode 125 Set position 1 e Mode 126 Set position 2 127 128 Positive negative homing The motor must be at a standstill before switching from another mode to one of the homing modes You must first specify in the homing configuration see the section 3 2 18 Homing configuration on page 116 whether homing should occur at low high level on the digital input via the R input or unconditionally Homing via R input or digital input Case 1 Active homing level not yet reached Motor not yet at end position Movement continues at homing speed in the homing direction until the active level for homing stop is on the input Case 2 Active homing level already reached Motor at end position Movement continues at homing speed against the homing direction until the active level for homing stop is no longer the digital input Movement continues at homing speed in the homing direction until the active level for homing stop is on the input again Homing unconditional immediate without motor movement If the homing condition occurs then the motor stops and the values of the position counter and ABR counter 2 valid at the moment when the homing condition occurs are entered in the Homed zero position registe
40. X67 X67 Remote I O systems X20 Figure 8 Topology APC620 embedded for central control visualization and operation Components and technologies Control system APC620 Automation PC Visualization and operation Power Panel Integrated control operation and visualization Automation Panel 800 Modular operation and visualization Automation Panel 900 Compact operation and visualization Motion control ACOPOSmicro Stepper motor drive system Stepper motors Remote I O systems X20 System Slice based I O and control system X67 System Remote I O with IP67 protection Table 6 Topology APC620 embedded for central control visualization and operation of the drive technology 34 ACOPOSmicro User s Manual V 0 10 Technical data General information Chapter 3 Technical data 1 General information ACOPOSmicro stepper motor modules are used to control up to two stepper motors with a rated voltage of 24 64 VDC 25 at a motor current up to 10 A 15 A peak By individually adjusting the coil currents the motor is only operated with the current it actually needs This simplifies the selection of the available motors and prevents unnecessary heating Because the latter reduces the energy consumption and thermal load the effects are positive on the lifespan of the entire system Complete flexibility is achieved by using the values for holding rated and maximum current boost current which are complet
41. analog inputs A 83 Chapter 7 Register description eese 85 T F nctiommodels incite nu ent eae ee a a 85 1 1 MINIMUM cycle MO iii t De Ere ER EO DR dee Left lai 85 1 2 Minimum I O update time E 85 1 3 Operation with bus controller eseseeeeeeeeeneneennenen nennen 85 2 Standard function model 4 aao iaa 86 2 1 Register Overview tte e Eat dei eee 86 2 2 Register description nia aaa aiar 88 2 2 A POSITION ciae eiie 88 2 2 2 EnrOr Status ais datada is entere 89 22 3 Motor ID cete eee cen De eds ec a evi nati 91 2 2 4 Motor Gonfiguratloni cosita i petiere d nad 92 2 2 5 Holding current rated current maximum current 93 2 2 6Module contigurationi cnt o orien ri Dr S eo ire Peng i 93 2 2 7 Error acknowledgement Digital output motor brake AA 94 2 2 8 Positlomlat eli Jeu eher e dte d Mt test 94 2 2 9 UsSinceTtrigger ico ilaele iate ai iaia ah 94 2 2 10 Latch trigger status deccm Li nor lilla 94 WE ee Ee IT EE 95 2 2 12 Lateh configuration WT 95 2 2 13 Trigger configuratloh EE 96 EE Saul MEI NEE 96 2 2 15 Motor ID trigget uio rai s 97 22 16 Full step threshold 2 5 22 AO ln 97 2 217 Heatsinktemperature enne eter e De dla 97 ACOPOSmicro User s Manual V 0 10 11 Table of contents 2 2 18 DG D S voltage dnte n e Ae ee 97 2 2 19 Register for ACOPOSmicro with encoder sene 98 2 2 20 Register for
42. brake 60 PositionLatched Position latch 68 UsSinceTrigger usSinceTrigger 72 StepperLatchStatus Latch trigger status 73 LifeCnt Life cycle counter 76 StepperLatchConfig Latch configuration 78 TriggerConfig Trigger configuration 80 Temperature Temperature 81 MotorldentTrigger Motor ID trigger 84 ConfigOutput09 Full step threshold 88 CoolerTemperature Cooler temperature 90 UZKVoltage DC bus voltage Table 83 Standard function model ACOPOSmicro User s Manual V 0 10 181 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XS COXX 01 Standard function model 12 2 Error Error Status Variable assignments in Bit Automation Studio Description 0 0 Reserved 1 OvertemperatureError E 0 Noerror 1 Error Overtemperature 2 CurrentError E 0 No error 1 Error Set current not reached 3 OvercurrentError E 0 No error 1 Error Overcurrent 4 7 0 Reserved 8 DrvOk S Status of drive 0 Not ready 1 Ready 9 12 0 Reserved 13 ModulePowerSupplyError E Module supply error 0 24 VDC OK 1 Error Under voltage 14 Enable S Enable status corresponds with Enable input 0 Disable 1 Enable OK 15 UZKStatus S Status of supply voltage for power element Uz DC bus voltage 0 Supply voltage for power element not in the valid range 1 Supply voltage for power element OK 18 V lt
43. certifications Requirements for emissions EMC 5 Requirements for emissions EMC 5 1 High frequency emissions according to EN 61800 3 These emissions tests are valid for industrial environments GT environment 5 1 1 Conducted emissions on the connections of the upstream power element for power supply Tests according to EN 55011 Continuous current on Frequency range MHz Quasi peak value Average motor 0 15 lt f lt 0 5 100 dB uV 90 dB uV 1 lt 100A 0 5 lt f lt 5 86 dB uV 76 dB uV 5 lt f lt 30 90 dB uV 80 dB V Table 68 Limits for conducted emissions on the power connections of the upstream power element for power supply 5 1 2 Electromagnetic emissions Tests according to EN 55011 Frequency range MHz Quasi peak value 30 lt f lt 230 40 dB V m measured at distance of 30 m 1 230 lt f lt 1000 50 dB V m measured at distance of 30 m Table 69 Limits for electromagnetic emissions 1 The limit values were increased by 10 dB V m when measuring from distances of 10 m 138 ACOPOSmicro User s Manual V 0 10 Standards and certifications Other environmental limit values according to 6 Other environmental limit values according to IEC 61800 2 IEC 61800 2 Degree of pollution according to IEC 61800 2 4 1 2 1 2 non conductive material Overvoltage cat according to IEC 60364 4 443 1999 Protection according to I
44. e e 193 Set digital outputs control register counter 101 USINT 1 e e 194 Counter 101 INT 1 e 196 Counter latch 101 INT 1 e 198 Counter configuration 102 UNT 1 e e Register for ACOPOSmicro models with additional analog inputs 1409 Status of the analog inputs 103 USINT 1 1414 Analog input 1 103 INT 1 1418 Analog input 2 103 INT 1 e Register for ACOPOSmicro models with additional analog inputs 1038 1166 Trace control word 104 UNT 1 ee 1090 1218 Trace status 104 UNT 1 e 1094 1222 Trace buffer status 104 UNT 1 e 1098 1226 Number of triggers executed 105 IN 1 0 e 1102 1230 Number of failed triggers 105 IN 1 0 e 1345 Trace trigger 105 USINT 1 e e Table 49 Standard function model cont ACOPOSmicro User s Manual V 0 10 87 Chapter 7 Register description Register description Standard function model 2 2 Register description 2 2 1 Position This register is used to read the internal position counter of a motor axis This is the equivalent to the position calculated by the ACOPOSmicro set position Each of these is a cyclic 16 bit counter for each channel The lowest 5 8 bits represent micro steps and the highest 8 11 bits represent full steps depending on bit 5 6 of the Module configuration on page 93 register Example of the internal position counter format 7 bit microsteps i e set bit 5 6 of the module configuration to binary 10
45. inputs sees 83 State machine Flow chat 131 ACOPOSmicro User s Manual V 0 10 187 Figure index Figure index 188 ACOPOSmicro User s Manual V 0 10 Table index Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 Table 31 Table 32 Table 33 Table 34 Table 35 Table 36 Table 37 Table 38 Table 39 Table 40 Table 41 Table 42 Table 43 Table 44 Table 45 Manual HIStory s ees ls o bd trt t i dtes 17 Description of the safety notices use 18 Ris Berg rn 25 Topology Compact solution for small and mid sized machines 32 Topology Tailored system combinations sse 33 Topology APC620 embedded for central control visualization and operation of the drive technology eene 34 Overview of available ACOPOSmicro ModelSs i 36 ACOPOSmicro stepper motor modules Order data n 37 Required accessories Order data 38 Basic components Technical data iii 39 Basic components Additional technical data 41 ECH RE 42 Stepper motor components Technical data 43 Stepper motor components Additional technical data 44
46. models 2 3 2 Additional technical data Product ID Basic components 24 VDC supply Integrated protection Reverse polarity protection Yes Digital inputs Input voltage 24 VDC 25 Input current at rated voltage Typ 10 mA Input resistance Typ 2 2 KQ Switching threshold Low 5V High 15V Isolation voltage between input and bus 500 Var Enable input Input voltage 24 VDC 25 Input current at rated voltage 100 mA Switching threshold Low lt 5V High gt 15V Isolation voltage between input and bus 500 Man General information B amp R ID codes 805D100XD C044 01 A781 80SD100XD C04X 13 A78D 80SD100XD COXX 01 A4A4 80SD100XD COXX 21 A78E 80SD100XS C04X 01 A780 80SD100XS COXX 01 A5AE Table 11 Basic components Additional technical data ACOPOSmicro User s Manual V 0 10 41 Chapter 3 Technical data Technical data ACOPOSmicro models 2 3 3 Status LEDs Figure Description LED Color Status indicators for module functionality ERR Red Off Module not supplied or ready for operation On Error or reset state module RDY Green Off Module supply not connected Single flash Reset mode Double flash Update mode firmware Blinking Preoperational mode On Run mode X2Xr X2Xe Status indicators for X2X connection Green Red Off Off X2X not supplied On Off Communication OK Off On Communication no
47. off Itis strongly recommended to only make this state change on a stopped motor because regeneration on a motor running idle can cause an over voltage error on the DC bus 0x3210 Operation enable Quick stop active This state change is brought on by the Quick stop command If in motion the motor is decelerated with the configured deceleration During the deceleration the state machine remains in the Quick Stop Active state Once the motor is at standstill the state automatically changes to the Switch on disabled state While the state machine is in the Quick Stop Active state then back to the Operation Enable state with the Enable operation command Fault reaction active This state change is brought on when an error occurs and cannot be triggered with a command by the user It can be triggered by error types listed as Error see section 3 2 26 Error code on page 118 Other error types listed as Warning only cause the Warning Bit to be set in the status word and do not cause a state change in the state machine Motor voltage is switched off and the state machine then changes immediately to the Fault state The type of error is listed in the error code register see the table in the section 3 2 26 Error code on page 118 The highest priority error is shown The priority corresponds to the order in the error code table Fault Switch on disabled This state change is brought on by the Fault R
48. the section 3 2 4 X20CA0X48 xxxx on page 59 is coded for the connection to the X2X Link input X3A In order to use this cable on the X2X Link output X3B of the ACOPOSmicro the coding must be changed accordingly Coding Coding Unlocking mechanism for X3B for X3A Coding tabs e Figure 19 X2X Link plug with coding tabs Coding 76 ACOPOSmicro User s Manual V 0 10 Wiring Description of connections 2 5 X4 X5 Connection for motor 1 2 Figure 2 channel model 1 channel mode View from below View from below X4 motor 1 X4 motor 1 AX1 coding X5 motor 2 AX1 coding AX2 coding Pin assignments Pin Name A Winding A A Winding AV X4 X5 B Winding B B Winding B B8884 cl PE ground AA BB The motor connection is made using the terminal block Motor 1412 0TB2105 Information about the 0TB2105 terminal block can be found in the section 3 1 3 Terminal blocks for the connection of motors on page 54 in the chapter 3 Technical data Table 44 X4 X5 connections Motor 1 2 Information Since the sockets for the motor connections are coded take care that the corresponding terminal blocks with the right coding are used For more information about this please refer to section 3 1 3 Terminal blocks for the connection of motors on page 54 in chapter 3 Technical data A Y B B Chapter 6 Wiring
49. with a ramp function that accounts for the defined maximum speeds and accelerations The set position can also be changed during an active positioning procedure The set position is specified in micro steps 1 256 full step 2 Speed mode Constant speed pos neg The value in the Set position speed register is now interpreted as set speed microsteps 25 ms Taking the maximum permissible acceleration into account the motor moves with a ramp to the desired set speed and maintains this speed until a new set speed is specified Values are allowed within the range from 65535 to 465535 When a value is entered outside of this range it is adjusted to these limits ACOPOSmicro User s Manual V 0 10 113 Chapter 7 Register description Register description Ramp function model Mode Description of the individual modes 121 Remaining distance mode like mode 1 The number of steps defined in the SetPosition 1 register are added to the current position and the resulting position is approached at a rising falling edge on the corresponding digital input 2 Note Not added to the target position but rather to the actual position at the moment of the trigger Negative values are also allowed for the offset defined in SetPosition 1 New target positions are no longer accepted in the Set position speed register after the trigger event To do this you must first switch to mode 0 and then back to mode 121
50. 0 A 2 analog inputs 10 V 13 bit LED status indicators 80SD100XS C04X 01 ACOPOSmicro stepper motor module X2X Link connection 24 64 VDC 25 supply 1 motor connections 10 A 1 x 24 V incremental encoder 2 digital inputs 24 VDC sink input 1 can be used as trigger input 1 digital output 24 VDC 1 0 A LED status indicators 80SD100XS COXX 01 ACOPOSmicro stepper motor module X2X Link connection 24 64 VDC 25 supply 1 motor connection 10 A 2 digital inputs 24 VDC sink input 1 can be used as trigger input 1 digital output 24 VDC 1 0 A LED status indicators Accessories included in delivery Accessory set for ACOPOSmicro X2X ACOPOSmicro multi language warning sticker Required accessories Terminal block and X2X Link cable must be ordered separately See Section 2 2 Required accessories on page 38 Table 8 ACOPOSmicro stepper motor modules Order data ACOPOSmicro User s Manual V 0 10 37 Chapter 3 Technical data Technical data ACOPOSmicro models 2 2 Required accessories The following accessories are required depending on the ACOPOSmicro model and how it will be used s 2 2 3 3 82 EO ov gt lt EE Ee Exe mec s g 8 8 8 2 S8 S3 S8 S38 S8 S e lajajalajala E 5 2 18 2 8 1218 Model number Short description uw 0 amp Page 0TB1106 8010 Accessory terminal block
51. 0 x x x 1 1 1 1 Fault reset x x x x x x x x T x x x x x x x ACOPOSmicro model 2 G 1 x Any Rising edge 2 Some commands are only available in certain ACOPOSmicro models G This command is only available if the respective channel also has an encoder 128 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model Information about the control word Bits 0 1 2 3 and 7 light gray in the previous table This bits control the status of the State Machine see the section 3 4 3 State machine on page 131 according to the command in the table above Bits 4 6 and 8 10 Reserved should only be written with 0 Motor ID trigger Rising edge activates the motor ID measurement Warning reset Rising edge resets warnings no effects on errors which are reset using Fault Reset the state machine is not effected by this bit Fault reset Rising edge resets errors and warnings see the section 3 4 3 State machine on page 131 Undercurrent detection 0 Undercurrent detection disabled active undercurrent warnings will be reset 1 Undercurrent detection enabled disabled ABR counter sync async 1 0 Internal position counter of the ramp generator on cyclic registers 0 8 Value of the ABR counter on acyclic registers 90 154 1 Internal position counter of the ramp generator on acyclic registers 90 154
52. 01 Motoridentification02 Motor ID 16 24 Motor1Step0 Motor2Step0 Motor configuration MotorStep1 18 26 Motor1Step1 Motor2Step1 Motor configuration MotorStep2 20 28 Motor1Step2 Motor2Step2 Motor configuration MotorStep3 22 30 Motor1Step3 Motor2Step3 Motor configuration MotorStep4 33 36 ConfigOutput03 ConfigOutput06 Holding current 34 37 ConfigOutput04 ConfigOutput07 Rated current 35 38 ConfigOutput05 ConfigOutput08 Maximum current 46 ConfigOutput02 Module configuration 54 StatusOutput14 Error acknowledgement Digital output motor brake 60 62 PositiontLatched Position2Latched Position latch 68 70 usSinceTrigger01 usSinceTrigger02 usSinceTrigger 72 StepperLatchStatus Latch trigger status 73 LifeCnt Life cycle counter 76 StepperLatchConfig Latch configuration 78 TriggerConfig Trigger configuration 80 Temperature Temperature 81 MotorldentTrigger Motor ID trigger 84 86 ConfigOutput09 ConfigOutput10 Full step threshold 88 CoolerTemperature Cooler temperature 90 UZKVoltage DC bus voltage Register for ACOPOSmicro with encoder 130 144 PosVal03 PosVal04 ABR counter 134 148 LatchVal03 LatchVal04 ABR counter latch 154 StatusOutput15 ABR control register 155 ConfigOutput11 ABR configuration 158 ConfigOutput13 ABR advanced configuration 144 Table 73 Standard function model ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master e 80SD100XD C044 01 Standard function model 2 2 Error Error Status Variable assig
53. 13 E Module supply error 0 24 VDC OK 1 Error Under voltage 14 S Enable status corresponds with Enable input 0 Disable 1 Enable OK 15 S Status of supply voltage for power element Uz DC bus voltage 0 Supply voltage for power element not in the valid range 1 Supply voltage for power element OK 18 V lt Uz lt 80 V 1 On ACOPOSmicro 1 channel models none of the bits that affect motor 2 have any function 0 reserved Depending on the ACOPOSmicro model the bits that affect the encoder have no function 0 reserved ACOPOSmicro User s Manual V 0 10 89 Chapter 7 Register description Register description Standard function model If an error indicated by E in the table is detected the corresponding error bit remains set until the error is acknowledged see 2 2 7 Error acknowledgement Digital output motor brake on page 94 Status bits S are not affected by the error acknowledgement Error Set current not reached bit 2 6 This error bit always occurs if the required current cannot be applied to the motor windings This can but doesn t have to be caused by a broken connection At higher speeds depending on the motor this error message can also appear even when a broken connection has not occurred if the desired current can no longer be provided in the motor windings Because of the Back EMF on the motor this bit is set at low speeds if the motor is operated with no load compared w
54. 172 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD COXX 21 Ramp function model 9 4 Trace control word Bit O of the trace control word is used to turn on off the trace functionality for the corresponding analoginput Variable assignments in Automation Studio Bit Channel 1 Channel 2 Description 0 TraceEnable01 TraceEnable02 0 Trace function is disabled 1 Trace function is enabled 0 Reserved A buffer overrun error can be cleared by resetting bit O 9 5 Trace status Variable assignments in Automation Studio Bit Channel 1 Channel 2 Description 0 TraceEnabled01 TraceEnabled02 0 Trace function is disabled 1 Trace function is enabled 1 0 Reserved 2 TraceWriteActive01 TraceWriteActive02 0 Trace data recording not active 1 Trace data recording active 3 TraceReadActive01 TraceReadActive02 0 Trace data sending is not active 1 Trace data sending is active 4 ReadyForTrigger01 ReadyForTrigger02 0 Not ready for trigger 1 Ready for trigger 5 TriggerActive01 TriggerActive02 Trigger active 0 No trigger active trace recording stopped 1 Trigger in process trace data is being recorded 6 TraceOK01 TraceOK02 Trace OK 0 Buffer overrun or trace function disabled for analog input 1 No buffer overrun error 7 TraceError01 TraceError02 Trace error 0 No buffer ove
55. 2 Trigger edge negative 3 StartTrigger02 Activate trigger 2 when changes occur 4 7 0 Reserved 8 7 Status of the analog inputs Variable assignments in Bit Automation Studio Description 0 Analoginput010K Analog input 1 0 OK 1 AnalogInput020K Analog input 2 1 Outside the valid range or open circuit 2 7 0 Reserved 8 8 Trace control word Variable assignments in Automation Studio Channel 1 Channel 2 Description TraceEnable01 TraceEnable02 0 Trace function is disabled 1 Trace function is enabled 0 Reserved ACOPOSmicro User s Manual V 0 10 169 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD COXX 21 Standard function model 8 9 Trace status Variable assignments in Automation Studio Bit Channel 1 Channel 2 Description 0 TraceEnabled01 TraceEnabled02 0 Trace function is disabled 1 Trace function is enabled 1 0 Reserved 2 TraceWriteActive01 TraceWriteActive02 0 Trace data recording not active 1 Trace data recording active 3 TraceReadActive01 TraceReadActive02 0 Trace data sending is not active 1 Trace data sending is active 4 ReadyForTrigger01 ReadyForTrigger02 0 Not ready for trigger 1 Ready for trigger 5 TriggerActive01 TriggerActive02 Trigger active 0 N
56. 2 146 ModeReadback01 ModeReadback02 Read back mode 84 148 Motoridentification01 Motoridentification02 Motor ID 86 150 RefPos01CyclicCounter RefPos02CyclicCounter Homed zero position for cyclic counter 90 154 AbsPos1ActValAcyclic AbsPos2ActValAcyclic G Current position acyclic 94 158 RefPos01AcyclicCounter G Homed zero position for acyclic counter 98 162 ErrorCode01 ErrorCode02 Error code 200 ConfigOutput12 D Counter configuration Table 76 Ramp function model ACOPOSmicro User s Manual V 0 10 157 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD C04X 13 Ramp function model 5 2 Motor brake Variable assignments in Automation Studio Bit Channel 1 Channel 2 Description 0 MpGenBrake01 MpGenBrake02 Digital output state motor brake 1 7 0 Reserved The motor brake register is used to control the digital output motor brake On the 2 channel ACOPOSmicro model bit O of both registers Motor 1 and Motor 2 is linked with an OR function This means that the digital output is activated if the bit is set on one or both motors 158 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD COXX 01 Standard function model 6 80SD100XD COXX 01 Standard function model 6 1 Register overview
57. 3 5 6 pin screw clamp 1 5 mm X7 e e 52 protection against vibration with the screw flange 0TB1106 8110 Accessory terminal block 3 5 6 pin cage clamp 1 5 mm protection X7 e e 52 against vibration with the screw flange 0TB1110 8010 Accessory terminal block 3 5 10 pin screw clamp 1 5 mm Xx jojojoejojoej eo 53 protection against vibration with the screw flange 0TB1110 8110 Accessory terminal block 3 5 10 pin cage clamp 1 5 mme Xx e e e e 53 protection against vibration with the screw flange 0TB1310 3100 Accessory terminal block 3 5 3 x 10 pin cage clamp 1 5 mm Xx jojojoejojoej eo 53 protected against vibration by the screw flange 0TB2105 4021 Accessory terminal block 5 08 5 pin AX1 coded M P screw xX4 e e e 09 0 54 clamp 2 5 mm 0TB2105 4022 Accessory terminal block 5 08 5 pin AX2 coded M P screw X55 e ej e e 54 clamp 2 5 mm 0TB2105 4121 Accessory terminal block 5 08 5 pin AX1 coded M P cage X4 e e 0 0e0 54 clamp 2 5 mm 0TB2105 4122 Accessory terminal block 5 08 5 pin AX2 coded M P cage x e ej e e 54 clamp 2 5 mm 0TB2105 9021 Accessory terminal block 5 08 5 pin DC coded M S screw Xijojojojojoej o 55 clamp 2 5 mm 0TB2105 9121 Accessory terminal block 5 08 5 pin DC coded M S cage Xi e e e e e e 55 clamp 2 5 mm X20CA0X48 xxxx X2X Link device attachment cable X3 ojojo ojojeo 56 X20CA0X68 xxxx X2X Link device connection cable Xx3 jojojojojoej o 56
58. 3 bit 80SD100XS C04X 01 1 1 x incremental encoder 80SD100XS COXX 01 1 Table 7 Overview of available ACOPOSmicro models The following section provides technical data for the individual components 36 ACOPOSmicro User s Manual V 0 10 Technical data ACOPOSmicro models 2 1 Order data Model number Short description 80SD100XD C044 01 ACOPOSmicro stepper motor module X2X Link connection 24 64 VDC 25 supply 2 motor connections 10 A 2 incremental encoders 24 V 2 digital inputs 24 VDC sink can be used as trigger inputs 1 digital output 24 VDC 1 0 A LED status indicators 80SD100XD C04X 13 ACOPOSmicro stepper motor module X2X Link connection 24 64 VDC 25 supply 2 motor connections 10 A 1 incremental encoder 24 V 2 digital inputs 24 VDC sink can be used as trigger inputs 4 digital inputs 24 VDC sink can be used as incremental encoders 1 digital output 24 VDC 1 0 A 2 digitaloutputs 24 VDC 0 5 A LED status indicators 80SD100XD COXX 01 ACOPOSmicro stepper motor module X2X Link connection 24 64 VDC 25 supply 2 motor connections 10 A 2 digital inputs 24 VDC sink can be used as trigger inputs 1 digital output 24 VDC 1 0 A LED status indicators 80SD100XD COXX 21 ACOPOSmicro stepper motor module X2X Link connection 24 64 VDC 25 supply 2 motor connections 10 A 2 digital inputs 24 VDC sink can be used as trigger inputs 1 digital output 24 VDC 1
59. 4 1 Packaging Electrical components with housing do not require special ESD packaging but must be handled properly 2 4 2 Guidelines for proper ESD handling Do not touch the connector contacts on connected cables Do not touch the contact tips on the circuit boards 20 ACOPOSmicro User s Manual V 0 10 General information Safety guidelines 2 5 Transport and storage During transport and storage devices must be protected from excessive stress mechanical load temperature humidity aggressive atmospheres etc Drive systems contain components sensitive to electrostatic charges which can be damaged by inappropriate handling It is therefore necessary to provide the required safety precautions against electrostatic discharges during installation or removal of drive systems 2 6 Handling and installation Warning Therefore during handling and installation of B amp R drive systems or motors there s danger of personal injury or damage to property shearing impact cutting or crushing Suitable protective equipment e g safety glasses protective gloves safety shoes etc should be used when necessary Installation must take place according to the user s manual using suitable equipment and tools Devices must be installed without voltage applied and by qualified personnel Before installation voltage to the switching cabinet should be switched off and prevented from being switched on again The general safety regulat
60. ACOPOSmicro User s Manual Version 0 10 December 2009 Model number MAACPMICRO1 ENG All information contained in this manual is current as of its creation publication We reserve the right to change the contents of this manual without warning The information contained herein is believed to be accurate as of the date of publication however Bernecker Rainer Industrie Elektronik Ges m b H makes no warranty expressed or implied with regards to the products or the documentation contained within this book In addition Bernecker Rainer Industrie Elektronik Ges m b H shall not be liable in the event of incidental or consequential damages in connection with or resulting from the furnishing performance or use of these products The software names hardware names and trademarks used in this document are registered by the respective companies ACOPOSmicro User s Manual V 0 10 1 ACOPOSmicro User s Manual V 0 10 Chapter 1 General information Chapter 2 System characteristics Chapter 3 Technical data Chapter 4 Installation Chapter 5 Dimensioning Chapter 6 Wiring ACOPOSmicro User s Manual V 0 10 ACOPOSmicro User s Manual V 0 10 Chapter 7 Register description Chapter 8 Standards and certifications Appendix A Abbreviations Appendix B Variable assignment in Automation Studio X2X Master Figure index Table index ACOPOSmicro User s Manual V 0 10 ACOPOSmicro User s Manual V 0 10 Index Model number index
61. ACOPOSmicro User s Manual V 0 10 Technical data ACOPOSmicro models 2 5 Encoder components Information Some ACOPOSmicro models have one and some have two encoder inputs The technical data is based on models with one encoder channel 2 5 1 Technical data Product ID Encoder components per channel Incremental encoder Encoder inputs 24 V asymmetrical Counter size 16 bit Input frequency Max 50 kHz Counter frequency 200 kHz Signal form Square wave pulse Evaluation 4x Encoder supply Module internal max 40 mA per channel General information Electrical isolation from the CPU No Additional power consumption CPU 1 0 W per channel Table 15 Encoder components Technical data 2 5 2 Additional technical data Product ID Encoder components Incremental encoder Input current at rated voltage Approx 4 mA Switching threshold Low lt 5 V High gt 15V Output for encoder supply 24 VDC from the 24 V CPU supply Protection of the encoder supply output Short circuit and overload protection via PTC Important 1 PLC for both encoder channels see 2 6 1 X6 Input circuit diagram for incremental encoder on page 80 Table 16 ACOPOSmicro User s Manual V 0 10 Encoder components Additional technical data 45 Chapter 3 Technical data Technical data ACOPOSmicro models 2 6 Additional digital inputs outputs
62. ACOPOSmicro models with additional digital inputs outputs 100 2 2 21 Register for ACOPOSmicro models with additional analog inputs 103 2 2 22 Trace functions for ACOPOSmicro models with analog inputs 104 3 Ramp function model ica etse date ets 108 3 1 Register OVOrVIOW 5 ire ia aio aa 108 3 2 Register description vermont ninia o aaa eri 110 3 2 1 Set positlon speed ird eR lid eines 110 3 2 2 Current position Cyclic 2 aaa arden 110 3 2 3 Current position acyclic A 110 3 24 Input statUs spire te t cd ree toda 110 3 2 5 Control word iii fep debel e A 111 A S 81S 5 cio As A Im cei Alena ER 112 32 7 Mode 21 113 3 28 Motor Drake s sicco rd ott te diee dido debe epa ave aes 115 3 2 9 UZK DG bus voltage cuida rte eoe retenir Enter 115 3 2 10 Temperature of output stage iii 115 3 2 11 Rule TEE 3 2 12 Maximum Speed ET 3 213 Max acceleration 3 niei ete ep e e eren EE 3 2 14 Maximum deceleration 3 2 15 Set position l iter i eee 3 2 16 Set posltion 2 ne de ee INC 3 2 17 Boming speed uoce i e ee eredi 3 2 18 Homing configuration sscan n 3 219 FulliStep threshold ccs dice dl tl 3 2 20 Jolt time limitation io A A A 3 2 21 Read back control word 3 2 22 Read back MOE recita REL Anaao 3 2 23 Homed zero position for cyclic counter i 117 3 2 24 Homed zero positio
63. Climate conditions temperature during storage IEC 60721 3 1 class 1K3 IEC 61800 2 Relative humidity during storage 5 95 non condensing 134 Table 61 Climate conditions humidity during storage ACOPOSmicro User s Manual V 0 10 Standards and certifications Environmental limits 3 2 3 Transport IEC 60721 3 2 class 2K3 IEC 61800 2 Transport temperature 25 to 70 C Relative humidity during transport 95 at 40 C Table 62 Climate conditions during transport ACOPOSmicro User s Manual V 0 10 135 Chapter 8 Standards and certifications Standards and certifications Requirements for immunity to disturbances EMC 4 Requirements for immunity to disturbances EMC 4 1 Evaluation criteria performance criteria Criteria A Test object not influenced during test Criteria B Test object only temporarily influenced during test Criteria C The system does not reboot automatically reset required 4 2 High frequency disturbances according to EN 61800 3 These immunity tests are valid for industrial environments GI environment 4 2 1 Electrostatic discharge Tests according to EN 61000 4 2 IEC 61800 3 Performance criteria Contact discharge to powder coated and bare metal housing parts 4kV E Discharge through the air to plastic housing parts 8kV Table 63 Limits for electrical discharge 4 2 2 Ele
64. Complete integration in Automation Studio i 31 Topology Compact solution for small and mid sized machines 32 Topology Tailored system combinations AA 33 Topology APC620 embedded for central control visualization and operation 34 Additional digital inputs outputs Switching inductive loads 48 Power supply Transformer i 50 Multi language warning sticker AAA 60 Dimension diagram and installation dimensions for ACOPOSmicro modules 62 Removing an ACOPOSmicro from the cold plate ii 64 Dimensioning Dissipated power from the power element for each axis provided with Current eb DTE 65 Xt diagram Power Supply iaia iaia ene 72 X2 CPU supply via the terminal 0TB1310 3100 eee 73 X2 Input output circuit dagram ene 74 X2X Link device attachment cable wire colors A 75 X2X Link plug with coding tabSs iii 76 Stepper motor Diagramm ee eire ett denen allie pai 77 X4 X5 Output circuit diagram for motor Copnpnechlon 78 X6 Input circuit diagram for incremental encoder sssssseeeeeeenesernnneesnrnneerenn ne 80 Connection of the PE condueior nennen nnns 81 Electromagnetically compatible X2X Link Connection 81 X7 Input circuit diagram for additional digital inputs AN 82 X7 Output circuit diagram for additional digital outputs 83 X7 Input circuit diagram for additional analog
65. EC 60529 IP20 Reduction of the continuous current at installation 10 per 1000 m altitudes over 500 m above sea level Maximum installation altitude 2000 m Table 70 Additional environmental limits 1 Additional requirements are to be arranged with B amp R ACOPOSmicro User s Manual V 0 10 139 Chapter 8 Standards and certifications Standards and certifications International certifications 7 International certifications B amp R products and services comply with applicable standards They are international standards from organizations such as ISO IEC and CENELEC as well as national standards from organizations such as UL CSA FCC VDE OVE etc We give special consideration to the reliability of our products in an industrial environment Certifications USA and Canada All important B amp R products are tested and listed by Underwriters Laboratories and checked quarterly by a UL inspector This mark is valid for the USA and Canada and simplifies certification of your machines and systems in these areas C US Europe All harmonized EN standards for the valid guidelines are met AX L CE x Russian Federation GOST R certification is available for the export of all ACOPOSmicro stepper motor modules in the Russian Federation Tr Table 71 International certifications 140 ACOPOSmicro User s Manual V 0 10 Abbreviations General information Appendix A Abbreviations 1 Gen
66. Encoder components Technical data i 45 Encoder components Additional technical data 45 Additional digital inputs outputs Technical data 46 Additional digital inputs outputs Advanced technical data 46 Additional analog inputs Technical data i 49 Additional analog inputs Advanced technical data 49 Power consumption of module suppl 50 Terminal blocks Overview nnne enne nere 51 Terminal block for connecting additional inputs outputs Order data 52 Terminal block for connecting additional inputs outputs Technical data 52 Terminal blocks for connecting I O and CPU supply Order data 53 Terminal blocks for connecting I O and CPU supply Technical data 53 Terminal blocks for the connection of motors Order data 54 Terminal blocks for the connection of motors Technical data 54 Terminal blocks for the connection of the power supply Order data 55 Terminal blocks for the connection of the power supply Technical data 55 X2X Link connection and attachment cable Overview n 56 X20CA0Xxx X2X Link cable Technical data 57 X20CA0X68 X2X Link device connection cable Measurements and pin assignments 58 X20CA0X01 X2X Link connection cable Cable lengths
67. Full steps Micro steps The contents of the ABR counter and of the internal position counter can be replaced on ACOPOSmicro models with incremental encoders by setting the bits 3 and or 7 in the ABR configuration register see section ABR configuration on page 99 Register ABR configuration Bit 3 channel 1 Bit 7 channel 2 0 Bit 3 channel 1 Bit 7 channel 2 1 Position Internal position counter ABR counter ABR counter ABR counter Internal position counter 88 ACOPOSmicro User s Manual V 0 10 Register description Standard function model 2 2 2 Error Status Each bit indicates an error E or status information S Bit Description 0 0 Reserved 1 E 0 No error 1 Error Overtemperature 2 E 0 No error 5 1 Error Set current not reached 2 3 E 0 No error 1 Error Overcurrent 4 0 Reserved 5 E 0 No error 1 Error Overtemperature 6 E 0 No error P 1 Error Set current not reached g 7 E 0 No error 1 Error Overcurrent 8 S Status of drive 1 0 Not ready E 1 Ready 9 S Status of drive 2 Si 0 Not ready 2 1 Ready 10 S Status of ABR encoder 1 0 Notready 1 Ready 11 E Encodersupply error 5 0 24 VDC OK 3 ta 1 Error Encoder supply not in the required range al 12 S Status of ABR encoder 2 0 Not ready 1 Ready
68. If the supply voltage on the module exceeds 95 V e g through feedback during generator operation then the motor output is switched off Also true in regard to the standard function model The motor output is reactivated as soon as the supply voltage is back in the valid range 2 4 4 Over temperature shut off Module temperature If the module temperature reaches or exceeds 1 85 e the application is notified via the Overtemperature error bit e the motor outputs are disabled Also true in regard to the standard function model The error bits are automatically cleared by the module and the outputs become operational again after the module temperature sinks to 83 C Heat sink temperature temperature on the power element If the module temperature on the power element reaches or exceeds 2 100 e the application is notified via the Overtemperature error bit e the motor outputs are disabled The error bits are automatically cleared by the module and the outputs become operational again after the module temperature on the power element sinks to 98 C 1 See Register description 2 2 14 Temperature on page 96 for the standard function model and 3 2 11 Temperature on page 115 for the ramp function model 2 See Register description 2 2 17 Heat sink temperature on page 97 for the standard function model and 3 2 10 Temperature of output stage on page 115 for the ramp function model 44
69. Model number components components inputs outputs consumption 80SD100XD C044 01 6 0 W 2x1 0W 8 0W 80SD100XD C04X 13 6 0W 1x1 0W 7 0W 80SD100XD COXX 01 6 0 W 6 0 W 80SD100XD COXX 21 6 0 W 6 0 W 80SD100XS C04X 01 6 0W 1x1 0W 7 0W 80SD100XS COXX 01 6 0 W 6 0 W 2 8 2 Power supply Table 21 Power consumption of module supply The power required for the stepper motor controller is generated externally and fed in via the power supply connection Further information can be found in the chapter 5 Dimensioning in the section 1 Power consumption on page 65 When using a low cost transformer with downstream unregulated rectification and smoothing via electrolytic capacitor make sure that the maximum output voltage is greater than the AC output voltage by a factor of 2 square root of 2 Furthermore voltage fluctuations from the mains also directly affect the output voltage o DC O DC Transformer Rectifier Capacitor Figure 10 Power supply Transformer Example 48 VAC output voltage from the transformer is rectified via a bridge connection The output voltage increases under the conditions of ideal diodes lossless lines and no load current 48 V x J2 67 9 VDC 50 ACOPOSmicro User s Manual V 0 10 Technical data Accessories 3 Accessories 3 1 Terminal blocks M S cage clamp 2 5 mm
70. N 1 0 e 1102 1230 A Number of failed triggers 125 IN 1 e e 1345 A Trace trigger 125 USINT 1 ee Table 52 Ramp function model 1 Some registers are only available in certain ACOPOSmicro models G These registers are only provided if the respective channel also has an encoder D These registers are only provided in models with additional digital inputs outputs A These registers are only provided in models with additional analog inputs outputs 2 Key DT Data type L Length R Read W Write C Cyclic A Acyclic 3 The CANIOBusController function model is nearly identical to the ramp function model However the registers for the analog values are in a different range values in parentheses 4 Trace functionality is not provided for the CANIOBusController function model ACOPOSmicro User s Manual V 0 10 109 Chapter 7 Register description Register description Ramp function model 3 2 Register description 3 2 1 Set position speed This synchronous register is used to set position or speed depending on the operating mode Position mode see the section 3 2 7 Mode on page 113 Synchronous setting of the set position signed long in microsteps In ramp mode one micro step is always 1 256 full step Speed mode see the section 3 2 7 Mode on page 113 In this mode this register is viewed as signed set speed 3 2 2 Current position cyclic The synchronous r
71. OPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD COXX 01 Standard function model 6 4 StepperLatchStatus Latch trigger status Variable assignments in Bit Automation Studio Description 0 LatchInput01 Digital input for the latch event level Stepper motor 1 1 LatchDone01 State changes each time the counter state is successfully latched reset value 0 2 LatchInput02 Digital input for the latch event level Stepper motor 2 3 LatchDone02 State changes each time the counter state is successfully latched reset value 0 4 StatusInput01 Status of digital input 1 Triggerlnput01 Status of trigger input 2 D StatusInput02 Status of digital input 2 Triggerlnput02 Status of trigger input 2 6 7 0 Reserved 6 5 StepperLatchConfig Latch configuration Variable assignments in Bit Automation Studio Description 0 StartLatch01 Tum on off latch function for position register 0 Negative edge Tum off latch function for position register 1 Positive edge Tum on latch function for position register 1 TriggerEdgePos01 Configure latch function for position register Channel 1 2 TriggerEdgeNeg01 00 Unconditional latch position 01 Latch position at positive edge on trigger input 1 10 Latch position at negative edge on trigger input 1 11 Reserved 3 0 Reserved 4 StartLatch02 Turn on off latch function for position registe
72. POSmicro internal GND T N GND A Te aol een eee Kee Channel 3 B O Like channel 1 R ao E la Es 24 VDC encoder supply GND Figure 22 X6 Input circuit diagram for incremental encoder Information The 24 VDC encoder supply is safeguarded using a PTC for both encoder supply lines Therefore the load must be completely separated after the PTC has been tripped e g due to a short circuit or overload to allow the PTC to cool down 80 ACOPOSmicro User s Manual V 0 10 Wiring Description of connections 2 7 Protective ground connection PE The wire cross section for the protective ground conductor is based on the selected cross section of the external line DC and DC In addition to the connection of the first protective ground conductor terminal X1 PE see section 2 2 X1 Power element supply on page 72 a second fixed immobile protective ground conductor might have to be connected to the respective protective ground connection on the ACOPOSmicro in the event of a gt 42 VDC power supply This must be done using a suitable M4 cable lug on the respective PE connection PE conductor connection using suitable M4 cable lug and M4 screw M4 screw thread Figure 23 Connection of the PE conductor Information To ensure electromagnetic compatibility of the installation the X2X Link cable and the PE connection must be fastened using the mounting set contained in the
73. Smicro User s Manual V 0 10 Technical data ACOPOSmicro models 2 7 Additional analog inputs 2 7 1 Technical data Product ID Additional analog inputs Additional analog inputs Amount 2 Input 10V Input type Differential input Digital converter resolution 13 bit Conversion time 50 us for both channels Output format INT Input impedance in signal range 20 MQ Input protection Protection against wiring with supply voltage 24 VDC supply Table 19 Additional analog inputs Technical data 2 7 2 Additional technical data Product ID Additional analog inputs Additional analog inputs Permitted input signal Max 30 V Output format INT 8001 7FFF 1 LSB 0001 305 176 pV Output of digital value under Overload conditions Above upper limit 7FFF Below lower limit 8001 Conversion method SAR Input filter Hardware Low pass 3rd order cut off frequency 10 kHz Common mode rejection DC 70 dB 50 Hz 70 dB Synchronized zone 12V Table 20 ACOPOSmicro User s Manual V 0 10 49 Additional analog inputs Advanced technical data Chapter 3 Technical data Technical data ACOPOSmicro models 2 8 Power consumption 2 8 1 Module supply The module s total power consumption CPU results from the following components Basic Encoder Additional Totalpower
74. The Target Reached bit in the Status register is not set to 1 until the end position after the trigger event has been reached The homing configuration determines whether the rising or falling edge is used as trigger on the digital input The turn around loop is not enabled in this mode any configured values not equal to 0 are ignored 122 Set actual position The target position set in the Set position speed register is accepted as the current actual position in the internal step counter when the state machine is in the Operation Enable state Before this mode is started the motor must be at a standstill and be physically located at the point that is valid for the position to be set 123 Move to target position when external input is set The set position defined in the Set position speed register is moved to when a rising edge occurs on the corresponding digital input UN A new set position is not accepted until another rising edge occurs on the corresponding digital input This can also occur during the active positioning procedure and will be applied immediately 124 Two position mode The positions SetPosition 1 and SetPosition 2 are defined in the asynchronous registers When 1 is set on the corresponding digital input 1 the SetPosition 1 is moved to When 0 is set then SetPosition 2 is moved to The changeover can also occur during an active positioning procedure 125 126 Move to set position
75. The new industrial PC generation Panel PC Operation and PC integrated Visualization and operation Panel PC Operation and PC integrated Automation Panel A new dimension in machine visualization Motion control ACOPOSmicro Stepper motor drive system Stepper motors ACOPOS Intelligent servo drives Synchronous Motors Dynamic precision drives Remote I O systems X20 System Slice based I O and control system X67 System Remote I O with IP67 protection Compact I O system and valve connections Economical usage of peripheral space Network and fieldbus modules Various fieldbus modules Table 5 Topology Tailored system combinations ACOPOSmicro User s Manual V 0 10 33 Chapter 2 System characteristics System characteristics Topologies 2 3 APC620 embedded for central control visualization and operation The control program runs on the APC620 embedded The visualization project is integrated with Visual Components A display unit is connected to the PC The PC is networked via Ethernet TCP IP additional Power Panel based operator terminals can also be connected via Ethernet Fieldbus systems CAN bus X2X Link are used to handle communication to I O systems with axis control Ethernet TCP IP APC620 Power Panel Power Panel Power Panel SDL Automation Panel Motion control Remote I O systems A a OC ee ebe X2X Link A a else le ik E a e E I SER SES EES ACOPOSmicro ACOPOSmicro X67
76. This state change is brought on by the command Disable Voltage or Quick Stop Switch on disabled No others actions are performed Switched on This state change is brought on by the command Disable Voltage or Quick Stop Switch on disabled Motor voltage switched off immediately Ready to Switch On This state change is brought on by the Switch on command Switched on Motor voltage switched on When this state change occurs for the first time since the module start the motor ID measurement is performed before the Switched on state is achieved This can take approximately 1 second Switched on gt Ready to switch on This state change is brought on by the Shutdown command Motor voltage switched off immediately Switched on gt Operation enable This state change is brought on by the Enable operation command Motor movements are now performed depending on the defined mode Operation enable gt Switched on This state change is brought on by the Disable operation command If in motion the motor is decelerated with the configured deceleration Motor voltage remains on in the Switched on state Operation enable Ready to switch on This state change is brought on by the Shutdown command Motor voltage switched off immediately Operation enable Switch on disabled This state change is brought on by the Disable voltage command Motor voltage switched
77. Trace status 1094 1222 FreeBufferSize01 FreeBufferSize02 Trace buffer status 1098 1226 TriggerCount01 TriggerCount02 Number of triggers executed 1102 1230 TriggerFailCount01 TriggerFailCount02 Number of failed triggers 1345 Trace trigger Table 79 Standard function model cont 166 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD COXX 21 Standard function model 8 2 Error Error Status Variable assignments in Bit Automation Studio Description 0 0 Reserved 1 OvertemperatureError01 E 0 No error 1 Error Overtemperature 2 CurrentError01 E 0 No error 5 1 Error Set current not reached 2 3 OvercurrentError01 E 0 No error 1 Error Overcurrent 4 0 Reserved D OvertemperatureError02 E 0 Noerror 1 Error Overtemperature 6 CurrentError02 E 0 Noerror P 1 Error Set current not reached In OvercurrentError02 E 0 Noerror 1 Error Overcurrent 8 DrvOk01 S Status of drive 1 a 0 Not ready 3 1 Ready 9 DrvOk02 S Status of drive 2 cu 0 Not ready E 1 Ready 10 12 0 Reserved 13 ModulePowerSupplyError E Module supply error 0 24 VDC OK 1 Error Under voltage 14 Enable S Enable status corresponds with Enable input 0 Disable 1 Enable OK 15 UZKStatus S Status of supply voltage for power element Uz DC bus voltage 0 Supply voltage for power eleme
78. UNT 1 e e 33 36 Holding current 93 USINT 1 e e 34 37 Rated current 93 USINT 1 e e 35 38 Maximum current 93 USINT 1 e e 46 Module configuration 93 UINT 1 e e 54 Error acknowledgement Digital output motor brake 94 USINT 1 e e 60 62 Position latch 94 INT 1 e e e 68 70 usSinceTrigger 94 UNT 1 e 72 Latch trigger status 94 USINT 1 e 73 Life cycle counter B5 SINT 1 0 e 76 Latch configuration 95 USINT 1 e 78 Trigger configuration 96 USINT 1 ee 80 Temperature 96 USINT 1 e e 81 Motor ID trigger 97 USINT 1 e e 84 86 Full step threshold 97 UNT 1 e e 88 Heat sink temperature 97 SINT 1 0 e 90 DC bus voltage 97 UNT 1 e 86 Table 49 Standard function model 1 Key DT Data type L Length R Read W Write C Cyclic A Acyclic ACOPOSmicro User s Manual V 0 10 Register description Standard function model Register dec Configuration Channel 1 Channel 2 Description Page DT L R W C A Register for ACOPOSmicro with encoder 130 144 ABR counter 98 INT 1 134 148 ABR counter latch 98 INT 1 154 ABR control register 98 USINT 1 e 155 ABR configuration 99 USINT 1 e 158 ABR advanced configuration 100 USINT 1 Register for ACOPOSmicro models with additional digital inputs outputs 192 Status of digital inputs and outputs 100 USINT 1 e
79. User s Manual V 0 10 177 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XS C04X 01 Standard function model 178 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XS C04X 01 Ramp function model 11 805D100XS C04X 01 Ramp function model 11 1 Register overview Register Variable assignments in dec Automation Studio Description 0 AbsPos01 Set position speed 4 MpGenControl01 Control word 6 MpGenMode01 Mode 7 MpGenBrake01 Motor brake 0 AbsPos01ActVal Current position cyclic 4 MpGenStatus01 Status 6 InputStatus Input status 42 UZKVoltage UZK DC bus voltage 44 CoolerTemperature Temperature of output stage 46 Temperature Temperature 48 ConfigOutput03a Holding current 49 ConfigOutput04a Rated current 50 ConfigOutput05a Maximum current 52 MaxSpeed01pos Max speed 54 MaxAcc01 Max acceleration 56 MaxDec01 Maximum deceleration 58 RevLoop01 Turn around loop 60 FixedPos01a Set position 1 64 FixedPos01b Set position 2 68 RefSpeed01 Homing speed 70 RefConfig01 Homing configuration 72 FullStepThreshold01 Full step threshold 75 JoltTime01 Jolt time limitation 80 ControlReadback01 Read back control word 82 ModeReadback01 Read back mode 84 Motoridentification01 Motor ID 86 RefPos01CyclicCounter Homed zero position for
80. Uzx lt 80 V 12 3 StatusOutput14 Error acknowledgement Digital output motor brake Variable assignments in Bit Automation Studio Description 0 ClearError Error acknowledgement for motor 1 6 0 Reserved 7 DigitalOutput Status of digital output motor brake 0 Motor brake off 1 Motor brake on 182 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XS COXX 01 Standard function model 12 4 StepperLatchStatus Latch trigger status Variable assignments in Bit Automation Studio Description 0 LatchInput Digital input for the latch event level 1 LatchDone State changes each time the counter state is successfully latched reset value 0 2 3 0 Reserved 4 StatusInput01 Status of digital input 1 Triggerlnput Status of trigger input 2 5 StatusInput02 Status of digital input 2 6 7 0 Reserved 12 5 StepperLatchConfig Latch configuration Variable assignments in Bit Automation Studio Description 0 StartLatch Turn on off latch function for position register 0 Negative edge Turn off latch function for position register 1 Positive edge Turn on latch function for position register 1 TriggerEdgePos Configure latch function for position register 2 TriggerEdgeNeg 00 Unconditional latch position 01 Latch position at positive edge on trigger input 10 Latch po
81. Value of the ABR counter on cyclic registers 0 8 1 This command is only available if the respective channel also has an encoder ACOPOSmicro User s Manual V 0 10 129 Chapter 7 Register description Register description Ramp function model 3 4 2 Status register The individual bits of the Status register see section 3 2 6 Status on page 112 and its states depend on the currently enabled status of the state machine 3 3 S a e E 2 3 3 3 1 8 o o o o z sis le l s S o e 5 5 JE lE IE la IE ls IE le HBHH 2 E fee aia lo S 2 e leis S e 2 S Sis aaa 1 1518 EEE Status e ja c E dc je l lo S Jo o le Bit 15 14 13 12 11 10 9 8 7 6 3 4 3 2 1 0 Not ready to switch on x x x 0 0 x 1 0 x 0 0 0 0 0 0 Switch on disabled D D D 0 0 x 1 0 x 1 D 0 0 0 0 0 Ready to switch on x x x 0 0 x 1 0 x 0 1 0 0 0 0 1 Switched on x x x 0 0 x 1 0 x 0 1 1 0 0 1 1 Operation enable x x x 0 0 x 1 0 x 0 1 i 0 1 1 1 Quick stop active x x x 0 0 x 1 0 x 0 0 1 0 d 1 1 Fault Reaction active x x x 0 0 x 1 0 x 0 x 0 1 1 1 1 Fault x x x 0 0 x 1 0 x 0 x 0 1 0 0 0 Information about status register Bits 0 1 2 3 5 and 6 These bits are set according to the currently enabled status of the state machine see the section 3 4 3 light gray in the previous table State machine on pa
82. acceleration cycles The cross section of the power mains and the rated current of the over current protection used are chosen according to current load so that the maximum current load for the cable cross section selected based on type of layout see table is greater than or equal to the current load in the power mains The rated current of the over current protection must be less than or equal to the maximum current load for the cable cross section selected based on type of layout see table Imains lo s Iz Network lt Fuse lt Line cable Line cross section mm Iz ly according to type of installation in an ambient air temperature of 40 C in accordance to IEC 60204 1 1 B1 B2 C E 15 13 5 13 0 13 1 10 0 15 2 13 0 16 1 16 0 25 18 3 16 0 16 5 16 0 21 0 20 0 22 0 20 0 40 24 0 24 0 23 0 20 0 28 0 25 0 30 0 25 0 6 0 32 0 32 0 29 0 25 0 36 0 32 0 37 0 32 0 Table 38 Cable cross section of the mains supply line depending on the type of layout 1 Iz A Current carrying capacity of the cable cross section Ip A Rated current for over current protection Type of layout according to IEC60204 1 Description B1 Wire in conduit or cable duct B2 Cable in conduit or cable duct C Cables or wires on walls E Cable or wires on open cable tray Table 39 Type of layout for the mains supply line ACOPOSmicro User s Manual V 0 10 67 Chapter 5 Dime
83. accessory set that was included in delivery If the included shield plate is used then the cable lug must be installed over it Cable lug for Mounting clip for PE connection X2X Link cable Figure 24 Electromagnetically compatible X2X Link connection ACOPOSmicro User s Manual V 0 10 81 Chapter 6 Wiring Wiring Description of connections 2 8 X7 Additional inputs outputs Figure View from below 1 2 3 4 5 6 Pin assignments 1 Additional digital inputs outputs Additional analog inputs 80SD100XD C04X 13 80SD100XD COXX 21 Pin Digital inputs outputs ABR incremental encoder Counter Pin Analog inputs 1 Digital output 1 1 Analog input 1 2 Digital output 2 2 Analog input 1 3 Digital input 1 A Counter input 1 3 Shield 4 Digital input 2 B 4 Analog input 2 5 Digital input 3 R External counter frequency 5 Analog input 2 6 Digital input 4 Reference for enable input 6 Shield The additional inputs outputs are connected using a terminal block 0TB1106 8010 or 0TB1106 8110 Information about these terminal blocks can be found in the section 3 1 1 Terminal block for connecting additional inputs outputs on page 52 in the chapter 3 Technical data Table 46 X7 connection Additional inputs outputs 1 Pin assignments according to ACOPOSmicro model 2 8 1 Input circuit diagram for additional digita
84. age 59 56 ACOPOSmicro User s Manual V 0 10 Technical data Accessories 3 2 2 Technical data Product ID X2X Link cable General information Supply lines Data cables Cable cross section mm 2 x 0 34 mm 2 x 0 24 mm AWG 2x22 AWG 2x 24 AWG Durability Flame resistant according to VW 1 and FT1 RoHS compliant Yes Lines wires Supply lines Data cables Signal lines 0 34 mm 22 AWG tinned Cu wire 0 24 mm 24 AWG tinned Cu wire Wire insulation SR PVC FOAM PE Wire colors Red black Blue white Cable structure Supply lines Data cables Signal lines Stranding Twisted pair wires Shield Paired shielding aluminum foil MYLAR 25 surface coverage Entire shielding With additional wire 28 AWG 7 x 36 AWG between interior exterior shielding Interior Aluminum foil MYLAR 25 surface coverage Exterior Tinned braided Cu shield gt 85 surface coverage Outer sheathing Material PVC Color Black P001 Labeling B amp R X20CA0Xxx xxxx REV xx Electrical characteristics Supply lines Data cables Conductor resistance loop lt 55 Q km at 20 C lt 93 2 O km at 20 C Insulation resistance gt 100 MQ km at 20 C and 500 VDC 210 MQ km at 20 C and 500 VDC Sweeping voltage test lt 500 VAC 0 15 s Dielectric Strength lt 750 VAC 15s Installed voltage Max 30 V Plugs Type 4 pin shielded blade connector Contact resistance lt 3Q Mechanical characteristics Protection
85. allation and commissioning and must be observed Danger Handling drive systems and motors incorrectly can cause severe personal injury or damage to property ACOPOSmicro User s Manual V 0 10 19 Chapter 1 General information General information Safety guidelines 2 3 Intended use Motor drives and motors are components designed to be installed in electrical systems or machines They are only permitted to be operated if the machine meets regulation 2006 42 EG machine directive as well as regulation 89 336 EWG EMC regulation Danger Before connecting the power lines it s necessary to check if the B amp R drive system being used is suitable for the respective mains It s absolutely necessary to comply with the specifications and restrictions in the documentation for the respective device series When used in living areas shops and small businesses additional measures must be implemented by the user Technical data as well as connection and environmental specifications can be found on the type plate and in the user s manual The connection and environmental specifications must be met Danger Electronic devices are generally not failsafe If the drive systems fails the user is responsible for making sure that the connected motors are placed in a secure state 2 4 Protection against electrostatic discharges Electrical components that are vulnerable to electrostatic discharge ESD must be handled accordingly 2
86. alog input 1 1 Analog input 2 2 2 Analog input 1 3 Analog input 2 Table 51 Order of trace data from two analog channels Number of trace buffer The number of the local trace buffer must also be set on the CPU This number specifies how many trace recordings the CPU can save If a trigger event occurs even though all configured trace buffers are full then the respective sampling values will be lost The recorded trace data buffer will be read out with the AsloTrc library Number of samples The number samples to be recorded on the ACOPOSmicro module must then be set Make sure that the trace buffer is made large enough for the trace data occurring on the module to be recorded If Infinite Trace was selected then the buffer must be read fast enough for analog values to be recorded at the set sampling rate The total number of samples from all channels channel 1 2 for trace 1 2 cannot be larger than 8192 Block sizes for asynchronous data transfer AsynSize A higher value will result in faster data transfer from the module to the CPU Number of data blocks sent before repetition AsynForward Every data block transferred must be confirmed by the X2X Link master If a confirmation has not been received after the number of data blocks defined here then all non confirmed data blocks will be sent again 106 ACOPOSmicro User s Manual V 0 10 Register description Standard function mode
87. annel using the AsloTrcGet library function Examples e Trace for trace instance 1 SS1 IF1 ST1 TRC1 e Trace for trace instance 2 SS1 IF1 ST1 TRC2 ACOPOSmicro User s Manual V 0 10 107 Chapter 7 Register description Register description Ramp function model 3 Ramp function model This function model was based on the CANopen communication profile DS402 The ramp function model is used if an ACOPOSmicro module is operated on a bus controller 3 1 Register overview Register dec Configuration 2 Channel 1 Channel 2 Description Page DT L R W C A 0 8 Set position speed 110 DINT 1 ee 4 12 Control word 111 UNT 1 ee 6 14 Mode 113 SINT 1 ojo 7 15 Motor brake 115 BOOL 1 ee 16 D Set digital outputs control register counter 121 USINT 1 ee 0 8 Current position cyclic 110 DINT 1 e e 4 12 Status 112 UINT 1 e 6 Input status 110 USINT 1 e 16 D Counter 121 INT 1 e e 18 D Counter latch 121 INT 1 0 e 20 D Status of digital inputs and outputs 121 USINT 1 e o 42 UZK DC bus voltage 115 UNT 1 e 44 Temperature of output stage 115 SINT 1 e e 46 Temperature 115 SINT 1 0 e 48 112 Holding current 119 USINT 1 e e 49 113 Rated current 119 USINT 1 e e 50 114 Maximum current 119 USINT 1 e e 52 116 Maximum speed 115 UINT 1 e e 54 118 Max accelera
88. ctromagnetic fields Tests according to EN 61000 4 3 IEC 61800 3 Performance criteria Housing completely wired 80 MHz 1 GHz 10 V m 80 amplitude modulation A at 1 kHz Table 64 Limits for electromagnetic fields 4 2 3 Burst Tests according to EN 61000 4 4 IEC 61800 3 Performance criteria Power connection 2 kV 1 min direct coupling Lines for measurement and control functions in the process 2 kV 1 min B environment Signal interfaces other lines 1 kV 1 min Table 65 Limits for burst 136 ACOPOSmicro User s Manual V 0 10 Standards and certifications Requirements for immunity to disturbances EMC 4 2 4 Surge Tests according to EN 61000 4 5 IEC 61800 3 Performance criteria Power connection 1 kV 20 1 DM symmetrical B 2 kV 12 0 CM unsymmetrical Table 66 Limits for surge 1 The impedance was added from EN 61000 4 5 because it is not defined in EN 61800 3 4 2 5 High frequency conducted disturbances Tests according to EN 61000 4 6 IEC 61800 3 Performance criteria Power connection NOE 0 15 80 MHz 10 V Lines for measurement and control functions in the process 80 amplitude modulation A environment at 1 kHz Signal interfaces other lines Table 67 Limits for conducted disturbances radio frequency ACOPOSmicro User s Manual V 0 10 137 Chapter 8 Standards and certifications Standards and
89. cyclic counter 90 AbsPos1ActValAcyclic Current position acyclic 94 RefPos01AcyclicCounter Homed zero position for acyclic counter 98 ErrorCode01 Error code Table 82 Ramp function model ACOPOSmicro User s Manual V 0 10 179 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XS C04X 01 Ramp function model 11 2 Motor brake Variable assignments Bit in Automation Studio Description 0 MpGenBrake01 Digital output state motor brake 1 7 0 Reserved This register is used to control the digital output motor brake 180 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XS COXX 01 Standard function model 12 805D100XS COXX 01 Standard function model 12 1 Register overview Register Variable assignments dec in Automation Studio Description 0 PositionSync Position 10 Error Error Status 12 Motoridentification Motor ID 16 MotorStep0 Motor configuration MotorStep1 18 MotorStep1 Motor configuration MotorStep2 20 MotorStep2 Motor configuration MotorStep3 22 MotorStep3 Motor configuration MotorStep4 33 ConfigOutput03 Holding current 34 ConfigOutput04 Rated current 35 ConfigOutput05 Maximum current 46 ConfigOutput02 Module configuration 54 StatusOutput14 Error acknowledgement Digital output motor
90. d can also supply the ACOPOSmicro CPU component on both rows of pins see following figure 123 45 6 7 8 9 10 gray red blue Figure 16 X2 CPU supply via the terminal 0TB1310 3100 ACOPOSmicro User s Manual V 0 10 73 Chapter 6 Wiring Wiring Description of connections 2 3 1 X2 input output circuit diagram X2 Digital input 1 RISO e e e gt Triggeri Trigger 1 EU A V 4 30V Digital input 1 GND Zei Digital input 2 396 e e D gt Trigger2 Trigger 2 i Eo 3 i 30V Digital input 2 GND s 24 VDC brake Supply voltage 5 Def 8 S 30V 1 Ae 30V x a A Enable Jee H Enable Enable GND sc bau 24V 24 VDC i Jo eo GND lea AL Figure 17 X2 Input output circuit diagram D Danger The brake controller integrated in the ACOPOSmicro modules and the holding brake integrated in the B amp R standard motors are sufficient for the Safety Category B in accordance to EN 954 1 Additional measures must be taken to achieve higher safety categories 74 ACOPOSmicro User s Manual V 0 10 Wiring Description of connections 2 4 X3A X3B
91. d motors have been designed developed and manufactured for conventional use in industry They were not designed developed and manufactured for any use involving serious risks or hazards that could lead to death injury serious physical damage or loss of any kind without the implementation of exceptionally stringent safety precautions Such risks include in particular the use of these devices to monitor nuclear reactions in nuclear power plants flight control systems flight safety the control of mass transportation systems medical life support systems and the control of weapons systems Danger Drive systems and motors can have bare parts with voltages applied e g terminals or hot surfaces Additional sources of danger result from moving machine parts Improperly removing the required covers inappropriate use incorrect installation or incorrect operation can result in severe personal injury or damage to property All tasks such as transport installation commissioning and service are only permitted to be carried out by qualified personnel Qualified personnel are persons familiar with transport mounting installation commissioning and operation of the product and have the respective qualifications e g IEC 60364 National accident prevention guidelines must be followed The safety guidelines connection descriptions type plate and documentation and limit values listed in the technical data are to be read carefully before inst
92. d power of the power element for each axis provided with current depending on the power supply voltage and motor current 20 0 175 10A a gt 150 2 a o oO g 125 S gt rz 10 0 e E oO o 75 6A Ka 9 50 o a 25 3A 0 0 20 25 30 35 40 45 50 55 60 65 70 75 80 Power element supply voltage V Figure 14 Dimensioning Dissipated power from the power element for each axis provided with current This diagram can be used to determine the expected maximum power dissipation from the ACOPOSmicro for a wide range of applications A majority of the dissipated heat from the power element is emitted to the ACOPOSmicro s heat spreader ACOPOSmicro User s Manual V 0 10 65 Chapter 5 Dimensioning Dimensioning Power consumption Example 1 ACOPOSmicro 2 channel model without encoder 80SD100XD COXX 01 60 VDC power supply 10 A applied to motor 1 3A applied to motor 2 Calculation Power consumption for Power consumption CPU including Enable input 6 0 watts Power element when idle 0 5 watts Motor 1 power element 17 3 watts Motor 2 power element 2 8 watts Sum 26 6 watts Example 2 ACOPOSmicro 1 channel model with encoder 80SD100XS C04X 01 60 VDC power supply 3A applied to motor Calculation Power consumption fo
93. ded for the bus cycle to be shut down without a communication error or malfunction occurring It should be noted that very fast cycles reduce the idle time needed for handling monitoring diagnostics and acyclic commands Minimum cycle time Standard function model 250 us Ramp function model 250 us Table 47 Minimum cycle time 1 2 Minimum I O update time The minimum I O update time refers to the minimum time it takes for the bus cycle to shut down so that in each cycle an l O update takes place Minimum UO update time Standard function model 250 us Ramp function model 250 us Table 48 Minimum UO update time 1 3 Operation with bus controller Information The ramp function model is used if the module ACOPOSmicro is operated on a bus controller ACOPOSmicro User s Manual V 0 10 85 Chapter 7 Register description Register description Standard function model 2 Standard function model 2 1 Register overview Register dec Configuration Channel1 Channel 2 Description Page DT L R W A 0 2 Position 88 INT 1 e e 10 Error Status 89 UNT 1 e e 12 14 Motor ID 91 UNT 1 e 16 24 Motor configuration MotorStep1 92 UNT 1 e e 18 26 Motor configuration MotorStep2 92 UNT 1 e e 20 28 Motor configuration MotorStep3 92 UNT 1 e e 22 30 Motor configuration MotorStep4 92
94. dy 9 0 Reserved 10 IncrementalEncoderOk Status of ABR encoder 0 Not ready 1 Ready 11 EncoderPowerSupplyError E Encoder supply error 0 24 VDC OK 1 Error Encoder supply not in the required range 12 0 Reserved 13 ModulePowerSupplyError E Module supply error 0 24 VDC OK 1 Error Under voltage 14 Enable S Enable status corresponds with Enable input 0 Disable 1 Enable OK 15 UZKStatus S Status of supply voltage for power element Uzx DC bus voltage 0 Supply voltage for power element not in the valid range 1 Supply voltage for power element OK 18 V lt Uz x 80 V 10 3 StatusOutput14 Error acknowledgement Digital output motor brake Variable assignments in Bit Automation Studio Description 0 ClearError01 Error acknowledgement for motor 1 6 0 Reserved 7 DigitalOutput01 Status of digital output motor brake 0 Motorbrake off 1 Motor brake on 176 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XS C04X 01 Standard function model 10 4 StepperLatchStatus Latch trigger status Variable assignments in Bit Automation Studio Description 0 LatchInput01 Digital input for the latch event level 1 LatchDone01 State changes each time the counter state is successfully latched reset value 0 2 3 0 Reserved 4 DigitalInput01 Status of digital input 1 Trigg
95. e the counter is stopped at 216 1 and retains this value until the next time the trigger function is activated The trigger function can be re activated at any time by changing the state of bit 1 or bit 3 regardless of if a trigger event has occurred or if usSinceTrigger has reached the maximum value 2 2 14 Temperature The internal module temperature on the controller board is output in C Measurement range 40 to 125 C Overtemperature shut off at 85 C If the module temperature reaches or exceeds 85 C e the application is notified via the Dvertemperature error bit all of the module s outputs are disabled turned off The error bits are automatically cleared by the module and the outputs are re enabled turned on after the module temperature sinks to 83 C The module temperature will not reach the cutoff limit when operating the module within the specified environmental conditions and the permissible output current range The temperature cutoff serves only to protect the module hardware and must not be misused for operating the module beyond the specified range as this can of course lower the life span 96 ACOPOSmicro User s Manual V 0 10 Register description Standard function model 2 2 15 Motor ID trigger An asynchronous measurement of the motor ID can be made by this register The application must ensure that the conditions for a measurement are fulfilled see table 50 Notes about motor
96. e drive architectures can be implemented linked together or even independent of one another It is also possible to include various machine versions in the configuration phase and to account for different models with alternating drive types A combination of stepper motors and servos is easy to implement This gives the machine manufacturer new levels of freedom in regard to flexibility 1 2 Smallest dimensions The compactness of the module is clearly evident in the two channel version The ACOPOSmicro requires a base surface of less than 50 cm per axis This not only saves space in the switching cabinet for applications with multiple axes but also provides advantages in wiring because the bus and supply voltage connection is only needed for every second motor A continuous current of 10 A and a 15 A peak current are possible for each stepper motor This power rating is sufficient to run even the largest stepper motors The module is protected against over current over temperature and other prohibited operating conditions The respective warnings and error messages can be output via the fieldbus 1 3 Variable rated voltage ranges To achieve higher torque values at high speeds the first voltage variation was designed for a rated voltage of 80 VDC A withstand capability is provided up to 100 VDC However the drive can also be utilized in the low voltage range with nearly no limitations This means that the ACOPOSmicro product line can be
97. e on the DC bus OxFFOO Warning Undercurrent OxFF10 Warning Encoder supply 2 OxFF11 Warning Encoder wire break 2 1 Undercurrent is only detected if bit 13 1 in the control word undercurrent detection enabled 2 Encoder error messages can only occur if the ACOPOSmicro model contains an encoder component 118 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model 3 2 27 Holding current rated current maximum current The holding current rated current and maximum current registers are used for configuring the desired motor current Units Percent of the module rated current 10096 is equal to 10 A It would make sense if Holding current rated current maximum current The motor rated current is entered in the rated current register according to the motor data sheet Register Description Holding current In situations requiring less torque e g at a standstill the device should be switched to holding current This reduces heating of the motor Rated current Current during normal operation Due to the lower relative inaccuracy at higher currents a current setting of at least 15 of the module s rated current 10 A is recommended for the rated current register Maximum current Should be selected if a higher motor torque is required during acceleration phases short term When the current changes to a weaker current value e g during transition from t
98. egister contains the current position signed long of the internal step counter In ACOPOSmicro models in which an encoder can also be connected for the motor this register can be switched to the ABR counter see bit 14 in the register Control word on page 111 3 2 3 Current position acyclic This register is only provided in ACOPOSmicro models in which an encoder can be connected for the motor The asynchronous register contains the current position signed long of the ABR counter This register can be switched to the internal step counter see bit 14 in the register Control word on page 111 3 2 4 Input status This register indicates the logical states of the digital inputs Bit Description 0 Digital input 1 connection X2 pin 1 1 Digital input 2 connection X2 pin 3 2 7 Reserved always 0 These digital inputs will be used as trigger input depending on the ACOPOSmicro model 110 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model 3 2 5 Control word Depending on the module s state this register can be used to issue commands see the section 3 4 Ramp function model operation on page 128 Bit Description 0 Switch on 1 Enable voltage 2 Quick stop 3 Enable operation 4 6 Mode specific 7 Fault reset 8 10 Mode specific 11 0 No effect 1 Rising edge Motor ID trigger 2 12 0 No effect 1 Rising edge Re
99. ely independent of each other The current for the microsteps is automatically adjusted to the configured current values The automatic motor detection system is an enormous help when standstills occur The stepper motor modules can identify the connected motors using their coil characteristics and generate feedback in the form of an analog value This makes it possible to detect not only wiring errors but incorrect motor types being used mistakenly as well 1 or 2 stepper motors 24 64 VDC 25 10 A 15 A peak Holding rated and maximum current boost current configured independent of each other 38 5 kHz PWM frequency Integrated motor detection 256 micro steps Complete integration in Automation Studio and CNC Ramp function model is based on the CANopen communication profile DS402 ACOPOSmicro User s Manual V 0 10 35 Chapter 3 Technical data Technical data ACOPOSmicro models 2 ACOPOSmicro models In addition to the basic components an ACOPOSmicro module also consists of various other components such as those for a stepper motor and encoder As a result different models are available for users Stepper motor Encoder Additional Model number components components inputs outputs 80SD100XD C044 01 2 2 x incremental encoder 80SD100XD C04X 13 2 1 x incremental encoder 4 digital inputs 24 V 2 digital outputs 24 V 0 5 A 80SD100XD COXX 01 2 80SD100XD COXX 21 2 2 analog inputs 10 V 1
100. ene ete lere 163 Standard function model 165 Rampifunction Models ee eo ani 171 Standard function MOdel ii 175 Ramptunction Model i iii ete ei 179 Standard function model 181 Ramp function model i emm re aaa 184 ACOPOSmicro User s Manual V 0 10 Index Numbers 24 VDC Module supply Monitoring 2 Eun 42 Power consumption 50 A Abbreviations i 141 e 51 Terminal blocks 51 X2X Link cable 56 ACOPOSmicro Additional analog inputs 49 Basic components esses 39 Connections sssssssseeeee 71 Encoder components 45 Order data inneni 37 Power consumption 50 Required accessories 38 Stepper motor components 43 TYPOS cas 36 Additional analog inputs 49 Additional digital inputs outputs 46 B Basic components 39 Bearings EE 21 C Cable X2X Link i 56 Certifications n 133 140 Cold plate Disassembly iii 64 Installation 63 Connection elements 30 Connections et geesde IU 71 PE Protective ground connection 81 X1 Power element supply 72 X2 CPU supply i 73 X2 Digital input
101. ent is measured This is also a suitable time to read the motor identification register in the application 3 As operating range for determining the motor ID a current setting of at least 15 of the module s rated current 10 A is recommended for the rated current register see section 3 2 27 Holding current rated current maximum current on page 119 due to the lower relative inaccuracy at higher currents 4 Value range of the motor ID register Motor ID Register 84 148 Meaning 0 No motor identifier available after PowerUp as long as the measurement conditions are not met 1 32767 Valid value range of the motor ID register 65504 65519 Ground fault Measurement not possible 65531 Over current Measurement not possible 65532 Wire break Measurement not possible 65533 Motor position incorrect Measurement not possible 65534 Invalid value Overflow 65535 Busy Measurement in progress Table 53 Notes about motor identification 120 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model 3 2 29 Register for ACOPOSmicro models with additional digital inputs outputs Status of digital inputs and outputs Bit Description Status of digital input 1 A Counter input 1 Status of digital input 2 B Status of digital input 3 R External counter frequency for counter input 1 Status of digital input 4 Reference for enable input Status of digital output 1 Sta
102. er s Manual are always available first for download in electronic form PDF from the B amp R homepage www br automation com Version Date Comment 0 10 November 2009 First edition Table 1 Manual history ACOPOSmicro User s Manual V 0 10 17 Chapter 1 General information General information Safety guidelines 2 Safety guidelines Information These safety guidelines the connection specifications type plate and documentation and limit values listed in the technical data are to be read carefully before installation and commissioning and must be observed These safety notices must be kept and included with the device if it s passed on to anyone else e g sold rented etc The user is responsible for the observance of all relevant international and national electrical standards 2 1 Organization of safety notices Safety notice Description Danger Disregarding the safety regulations and guidelines can be life threatening Warning Disregarding the safety regulations and guidelines can result in severe injury or major damage to material Caution Disregarding the safety regulations and guidelines can result in injury or damage to material Information Important information for preventing errors Table 2 Description of the safety notices used 18 ACOPOSmicro User s Manual V 0 10 General information Safety guidelines 2 2 General information B amp R drive systems an
103. eral information Abbreviations appear throughout the User s Manual for example in data tables or descriptions of pin assignments 2 Overview Abbreviation Stands for Description NC Normally closed A relay contact Also known as a normally closed N C contact Not connected Used in the description of pin assignments if a terminal or pin is not connected to a module ND Not defined In data tables this stands for a value that has not been defined Because a cable manufacturer does not provide certain technical data for example NO Normally open A relay contact Also known as a normally open N O contact TBD To be defined Used in the technical data tables when certain pieces of information are not yet available The value will be provided later Table 72 Abbreviations used in the User s Manual ACOPOSmicro User s Manual V 0 10 141 Appendix A Abbreviations Abbreviations Overview 142 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master Overview Appendix B Variable assignment in Automation Studio X2X Master 1 Overview This appendix provides an overview of the variable assignments in Automation Studio X2X Master for all ACOPOSmicro function models Standard function model Ramp function model Overview Overview ACOPOSmicro model Documentation Variable assignments Documentation Variable assignments
104. erlnput01 Status of trigger input 2 5 Digitallnput02 Status of digital input 2 6 LatchDone03 State changes each time ABR counter is successfully latched reset value 0 See ABR counter control register and ABR counter configuration register 7 0 Reserved 10 5 StepperLatchConfig Latch configuration Variable assignments in Bit Automation Studio Description 0 StartLatch01 Turn on off latch function for position register 0 Negative edge Turn off latch function for position register 1 Positive edge Turn on latch function for position register 1 TriggerEdgePos01 Configure latch function for position register 2 TriggerEdgeNeg01 00 Unconditional latch position 01 Latch position at positive edge on trigger input 10 Latch position at negative edge on trigger input 11 Reserved 3 7 0 Reserved 10 6 TriggerConfig Trigger configuration Variable assignments in Bit Automation Studio Description 0 TriggerEdge01 0 Trigger Trigger edge positive 1 Trigger Trigger edge negative 1 StartTrigger01 Activate trigger when changes occur 2 7 0 Reserved 10 7 StatusOutput15 ABR control register Variable assignments in Bit Automation Studio Description 0 ActivateReferencing03 0 Deactivate referencing of ABR counter 1 Activate referencing of ABR counter positive edge activates referencing 1 7 0 Reserved ACOPOSmicro
105. es not affect the R input The R input is always enabled 01 Reserved 10 R input is enabled if reference enable input is LOW 11 R input is enabled if reference enable input is HIGH 10 15 0 Reserved 102 ACOPOSmicro User s Manual V 0 10 Register description Standard function model 2 2 21 Register for ACOPOSmicro models with additional analog inputs Status of the analog inputs Bit Description 0 Analog input 1 1 Analog input 2 0 OK 1 Outside the valid range or open circuit 2 7 0 Reserved In addition to the status info the analog value of the corresponding input will also be set if an error occurs status bit 1 Error Analog value dec Analog value hex Wire break 32 767 Ox7FFF Input voltage gt 10 V 32 767 Ox7FFF Input voltage 10 V 32 767 0x8001 Invalid value 32 768 0x8000 Analog input 1 Analog input 2 These registers receive the analog value of the corresponding input Measurement range Input voltage Register value 10V 32 767 10V 32 768 ACOPOSmicro User s Manual V 0 10 103 Chapter 7 Register description Register description Standard function model 2 2 22 Trace functions for ACOPOSmicro models with analog inputs Trace register Trace control word Bit O of the trace control word is used to turn on off the trace functionality for the correspondi
106. eset command However the state only changes if no more errors are present when the command is written All errors and warnings are reset 0 is set again in the error code register otherwise a warning code remains if a warning is still present 132 Table 55 State machine State change ACOPOSmicro User s Manual V 0 10 Standards and certifications Valid European guidelines Chapter 8 Standards and certifications 1 Valid European guidelines EMC guidelines 89 336 EWG e Low voltage guidelines 73 23 EWG Machine directive 98 37 EG 2 Valid standards Standard Description IEC EN 61800 2 1998 Adjustable speed electrical power drive systems Part 2 General requirements Rating specifications for low voltage adjustable frequency AC power drive systems IEC EN 61800 3 2004 Adjustable speed electrical power drive systems Part 3 EMC requirements including specific test methods IEC 61800 5 1 Electrical drive systems with adjustable speed e Part 5 1 Safety requirements Electrical thermal and power requirements IEC 61800 5 1 2003 IEC EN 61131 2 2003 Programmable logic controllers Part 2 Equipment requirements and tests UL 508 C 2002 Industrial control equipment Part 6 Solid state motor controllers Table 56 Valid standards for ACOPOSmicro stepper motor module The limit values specified from section 3 Environmental limits to section 6 Other environmenta
107. et value is equal to 500 full steps per second On a motor with 200 steps per revolution the following speed is equal to 1 _ 500 Steps Seconds 22 Revolutions 200 Steps Revolution Seconds 150 Tmin 116 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model 3 2 20 Jolt time limitation If a value other than 0 is assigned to this register then jolt limitation is implemented by averaging the values for the steps to be carried out set speed in each 25 ms cycle with a FIFO The value of the register corresponds to the number of FIFO elements 0 to 16 If a value greater than 16 is entered then it is internally limited to 16 Changes made while a motor is running will be applied as soon as e the motor has reached the set position only positioning modes s the motor has stopped all modes 3 2 24 Read back control word Read back the register Control word see 3 2 5 Control word on page 111 3 2 22 Read back mode Read back the register Mode see 3 2 7 Mode on page 113 3 2 23 Homed zero position for cyclic counter After a homing procedure the homing point of the internal step counter can be read back here In ACOPOSmicro models in which an encoder can also be connected for the motor this register can be switched to the ABR counter see bit 14 in the register Control word described in the section 3 2 5 Control word on page 111 3 2 24 Homed zero position for acyclic counter T
108. ge 131 Voltage enabled Becomes 1 as soon as the motor is supplied with current Warning Becomes 1 if a warning is detected Over current Under current The type of warning is listed in the error code register see the table in the section 3 2 26 Error code on page 118 The highest priority error warning is shown The priority corresponds to the order in the mentioned table Warnings can be reset with a rising edge on the Warning Reset bit in the control word Remote Always 1 because there is no local mode on ACOPOSmicro Target reached n modes 1 123 124 125 126 absolute positioning Becomes 0 when positioning is started Becomes 1 when the target is reached n mode 2 constant speed Becomes 0 when the motor accelerates decelerates Becomes 1 when the set speed is reached n modes 127 128 homing Becomes 0 when homing is started Becomes 1 when homing is terminated n mode 122 Set actual position Changes briefly to 0 and immediately 1 again when the position is set Internal limit active Always 0 because no position range limit exists on the ACOPOSmicro 130 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model 3 4 3 State machine The motor is controlled according to the state machine illustrated below After the module is started the state machine automatically changes to the state Not ready to switch on The amp application then operates the state machine by writing c
109. ge in the power element in volts ACOPOSmicro User s Manual V 0 10 97 Chapter 7 Register description Register description Standard function model 2 2 19 Register for ACOPOSmicro with encoder ABR counter This counter is a cyclic 16 bit counter for each encoder input The relationship between this counter and the internal position counter depends on the resolution of the ABR encoder and the defined microsteps of the internal position counter The contents of the ABR counter and of the internal position counter can be replaced on ACOPOSmicro models with incremental encoders by setting the bits 3 and or 7 in the ABR configuration register see page 99 ABR configuration Register Bit 3 channel 1 Bit 7 channel 2 0 Bit 3 channel 1 Bit 7 channel 2 1 Position Internal position counter ABR encoder counter state ABR counter ABR encoder counter state Internal position counter ABR counter latch The ABR counter will be applied to this register at the next latch event see 2 2 10 Latch trigger status on page 94 On ACOPOSmicro models with incremental encoders the contents of this register can be replaced with the ABR counter register by setting the bits 3 and or 7 in the ABR configuration register see page99 ABR configuration Register Bit 3 channel 1 Bit 7 channel 2 0 Bit 3 channel 1 Bit 7 channel 2 1 Position latch Internal position counter latch ABR co
110. hannel 2 Description Trace register for ACOPOSmicro models with analog inputs 2 1038 1166 TraceEnable01 TraceEnable02 A Trace control word 1090 1218 A Trace status 1094 1222 FreeBufferSize01 FreeBufferSize02 A Trace buffer status 1098 1226 TriggerCount01 TriggerCount02 A Number of triggers executed 1102 1230 TriggerFailCount01 TriggerFailCount02 A Number of failed triggers 1345 A Trace trigger Table 80 Ramp function model 1 The CANIOBusController function model is nearly identical to the ramp function model However the registers for the analog values are in a different range values in parentheses 2 Trace functionality is not provided for the CANIOBusController function model 9 2 Motor brake Variable assignments in Automation Studio Bit Channel 1 Channel 2 Description 0 MpGenBrake01 MpGenBrake02 Digital output state motor brake 1 7 0 Reserved The motor brake register is used to control the digital output motor brake On the 2 channel ACOPOSmicro model bit 0 of both registers Motor 1 and Motor 2 is linked with an OR function This means that the digital output is activated if the bit is set on one or both motors 9 3 Status of the analog inputs Variable assignments in Bit Automation Studio Description 0 Analoginput010K Analog input 1 0 OK 1 Analoginput020K Analog input 2 1 Outside the valid range or open circuit 2 7 0 Reserved
111. he acceleration phase to the constant speed mode the respectively stronger current is maintained for an additional 100 ms This is done with following priority regardless of the actual defined values Maximum current before rated current before holding current ACOPOSmicro User s Manual V 0 10 119 Chapter 7 Register description Register description Ramp function model 3 2 28 Motor ID This register is used for practical differentiation and identification of the connected motor types for service purposes The value of this register equals the amount of time in us needed to trigger a current jump of Al 1 A in a motor winding This time depends on several factors Amplitude of operating voltage DC bus voltage Inductance and resistance of the motor winding Notes 1 To achieve reproducible results the measurement must be made under the following defined conditions a At a standstill b Motors must be in a half step position phase A with full current phase B with no current l e the internal step counter of the ACOPOSmicro see the section 3 2 2 Current position cyclic on page 110 must appear as follows Full steps are divisible by 4 Microsteps 0 2 The condition 1 b is present after a ACOPOSmicro reset power up Immediately afterwards when the holding current is applied to the motor for the first time at a standstill the duration for applying the curr
112. his register is only provided in ACOPOSmicro models in which an encoder can be connected for the motor After a homing procedure the homing point for the acyclic position counter can be read back here either the internal step counter or ABR counter depending on bit 14 of the Control word register see section 3 2 5 Control word on page 111 ACOPOSmicro User s Manual V 0 10 117 Chapter 7 Register description Register description Ramp function model 3 2 25 Turn around loop This parameter is only used in modes 1 123 124 125 126 absolute positioning modes If the value for the turn around loop is not 0 then the target position will be approached from the one direction and coming from the other direction the target position will initially be passed by the configured number of steps and then approached from the opposite direction This ensures that the target position is always approached from the same direction to avoid mechanical backlash The sign of the defined value determines which direction the turn around loop runs 3 2 26 Error code The cause can be read out here when an error or warning occurs Error code Error type Description 0x0000 No error 0xFF02 Error Module not enabled Enable input 0 0x3210 Error Over voltage on the DC bus 0x3100 Error Module supply voltage 0x4200 Error Over temperature 0x2300 Warning Overcurrent 0x3220 Error Under voltag
113. ing Yes Maximum over current limitation 8A Full load Response threshold for 18 VDC 0 10 undervoltagemonitoring Power supply Input voltage 24 64 VDC 25 Undervoltage cut off lt 18 VDC Overvoltage cut off gt 95 VDC Power consumption of power element Idle no motor supplied with current Max 0 5 W See diagram in chapter 5 Dimensioning section 1 Power consumption on page 65 Voltage measurement Yes Line protection Must be implemented externally See chapter 5 Dimensioning section 2 Fuse protection on page 67 Reverse polarity protection Yes Starting current limitation Yes Design PTC min 9 Q bridged during operation using relay contact Starting current Max 10A General information Electrical isolation from the CPU Yes Table 13 Stepper motor components Technical data ACOPOSmicro User s Manual V 0 10 43 Chapter 3 Technical data Technical data ACOPOSmicro models 2 4 2 Additional technical data Product ID Stepper motor components Motor brake connection Input voltage for motor holding brake Rated 24 VDC Maximum 30 VDC Table 14 Stepper motor components Additional technical data 2 4 3 Monitoring the power supply The power element s supply module is monitored The status can be read The error Module Power Supply Error occurs when the voltage Upc falls below 18 V or rises above 95 V Over voltage shut off
114. ingen 8 minutos para asegurar la gt para asegurar la descarga de los E totdat alle spanning van de E over kondensatorerne er afladet d PELIGRO descarga de los condensadores RO condensadores GEVAAR CE EE a FARE inden arbejdet p begyndes g iConsulte las instrucciones S iConsulte las instrucciones Raadpleeg de handleiding Se vejledningen Sl S inm f x 7 A Risk for elstotar for elst tar S hk iskuvaara o Nebezpe razu elektrick m proudem porazeni H EE Ennen huoltoa irrota virtal hde H CG EE 3 bort st Geer 2 E See H Przed rozpocz ciem czynnosci ort str mmen och v nta fem nap jeni potkejte 5 minut 2 i G s H miner frat vara sE p E yamistamises et E abyss Us e se Sensouych odaczy zasene VARNING e VAARA panes ZS NEPE loe why Varani Se laddats ur Se anvisningama Katso ohjeet k ytt oppaasta E roziadowane Zobacz instrukcje r Onacnocr or Tokos ynap A _Kivbuvos giereg nAekrporAngiad rj BEEK 5 pens ussspuisane Ha Elektril gi oht 2 Tli n vete o pBic D E H TEXHMNECKO o6cnyxbane rj ES hoslduetiid eo TY rapoyf 5 d HERE ud eng 4 fanatics a ips den Kai nepi vete 5 Aerrr awakaiire 5 MUHYTH H Via va PeBaweeire ort oi amp Hi 5 Aa 5 doi 5 minutit st veenduda E KINAYNOZ id A E Wat HAAS URB 3 BHMMAHME e kounen satopure ca ce d OHTLIK kondensaatorite tahjenemises o SE Gi o WS LAY m Sdn pente Vt juhiseid Elektrisk trieciena risks Elekt
115. ings Number of failed triggers This register contains the number of failed trigger events trace recordings This register will be increased by one when a trigger event occurs and under the following conditions Trace function is not enabled e Trace buffer is full two trigger events in short succession Pre trigger function If the configured number of recordings before the trigger event has not yet been reached Trace trigger This register can be used to start recording separately for each trace instance This is only possible if the trigger function has been enabled for the corresponding analog input Bit Description 0 Trigger for trace instance 1 The trigger event will be triggered at a positive edge bit changes from 0 gt 1 1 Trigger for trace instance 2 2 7 0 Reserved ACOPOSmicro User s Manual V 0 10 105 Chapter 7 Register description Register description Standard function model Trace runtime configuration The following points describe how the trace runtime configuration is performed in Automation Studio Turn on off trace for analog input X Trace Analoginput01 02 on off The trace function must first be turned on off for the respective analog channel If the trace function was turned on for both analog inputs then the recorded trace data will be provided by the AsloTrc library in the following order Sample Array index Channel 1 0 An
116. ionality for the corresponding analoginput Bit Description 0 0 Trace function is disabled 1 Trace function is enabled 1 15 0 Reserved A buffer overrun error can be cleared by resetting bit O Trace status Bit Description 0 0 Trace function is disabled 1 Trace function is enabled Reserved 0 2 0 Trace data recording not active 1 Trace data recording active 3 0 Trace data reading is not active 1 Trace data reading is active 4 0 Not ready for trigger 1 Ready for trigger 5 Trigger active 0 No trigger active trace recording stopped 1 Trigger in process trace data is being recorded 6 Trace OK 0 Buffer overrun or trace function disabled for analog input 1 No buffer overrun error 7 Trace error 0 No buffer overrun or trace function disabled for analog input 1 Buffer overrun error Trace buffer status This register contains the amount of buffer memory in bytes available for the trace recording The buffer must be large enough for the configured number of sampling values to be recorded If Infinite Trace was selected then the buffer must be read fast enough for analog values to be recorded at the set sampling rate 124 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model Number of triggers executed This register contains the number of successfully executed trigger even
117. ions and national accident prevention guidelines e g VBG 4 must be observed when working with high voltage systems The electrical installation must be carried out according to the relevant guidelines e g line cross section fuse protective ground connection also see chapter 5 Dimensioning 2 7 Operation 2 7 1 Protection against touching electrical parts Danger To operate drive systems it is necessary for certain parts to carry dangerous voltages over 42 VDC A life threatening electrical shock could occur if you come into contact with these parts This could result in death severe injury or material damage Before turning on a drive system make sure that the housing is properly connected to ground PE rail The ground connection must be made even when testing the drive system or when operating it for a short time ACOPOSmicro User s Manual V 0 10 21 Chapter 1 General information General information Safety guidelines Before turning the device on make sure that all parts with voltage applied are securely covered During operation all covers and switching cabinet doors must remain closed Control and high power contacts can have voltage applied even when the motor is not turning Touching the contacts when the device is switched on is not permitted Before working on drive systems they must be disconnected from the power mains and prevented from being switched on again Danger Risk of electric shock
118. it Description 0 1 Counter frequency only valid if set in gate or period measurement 00 Internal counter frequency 4 MHz 01 Internal counter frequency 31 25 kHz 10 External counter frequency digital input 3 11 Reserved 2 0 Reserved 3 6 Counter mode 0000 No counter 0001 Event counter positive edge 0010 Event counter negative edge 0011 Event counter both edges 0100 Period measurement between two consecutive negative edges 0101 Period measurement between two consecutive positive edges 0110 Gate measurement of the LOW level 0111 Gate measurement of the HIGH level 1000 AB counter without homing 1001 ABR counter with homing Counter set to zero at positive edge of R 1010 ABR counter with homing Counter set to zero at positive edge of R 1011 ABR counter with immediate homing Counter set to zero at positive edge of bit 2 of the counter control register 1100 AB counter without homing 1101 ABR counter with homing Counter state is applied to the counter latch register at positive edge of R 1110 ABR counter with homing Counter state is applied to the counter latch register at positive edge of R 1111 ABR counter with immediate homing Counter state is applied to the counter latch register at positive edge of bit 2 of the counter control register 7 0 Reserved 8 9 Configuration of reference enable input digital input 4 00 The digital input 4 reference enable input do
119. ith full or part loads Status of Drive X bit 8 9 These bits have the value 0 if at least one of the following conditions is present the supply voltage on the power element is not in the valid range e the module is not enabled Enable input over temperature error is present the corresponding motor is not being supplied with current Status of Status ABR encoder X bit 10 12 These bits have the value 0 if at least one of the following conditions is present e the encoder supply bit 11 is not OK broken connection on the ABR encoder if encoder monitoring 1 is enabled 1 Important Encoder monitoring is only available starting with a specific hardware revision and firmware version 80SD100XD C044 01 Hardware revision BO and firmware version 6 80SD100XS C04X 01 Hardware revision BO and firmware version 6 80SD100XD C04X 13 Hardware revision BO and firmware version 4 90 ACOPOSmicro User s Manual V 0 10 Register description Standard function model 2 2 3 Motor ID This register is used for practical differentiation and identification of the connected motor types for service purposes The value of this register equals the amount of time in us needed to trigger a current jump of Al 1 A in a motor winding This time depends on several factors Amplitude of operating voltage DC bus voltage Inductance and resistance of the motor winding Notes 1 To achieve reproducible results
120. l Trace mode Trace mode Description Triggered Trace recording will start after the trigger event see bit 0 1 of the Trace trigger register on page 105 Infinite Infinite trace can be started with bit 0 1 of the Trace trigger register see page105 X2X must be configured in such a way as to ensure that the amount of data generated can be transferred quickly enough The trace buffer must be read quickly to prevent an overflow in the module s local memory and to ensure that the samples can be recorded at the configured sampling rate Recording range of trace data Trace Start Stop Position This defines the number of samples that should be recorded before after the trigger event Trigger type Start position Stop position Beginning of recording End of recording Post trigger x20 y gt 0 x samples after trigger event y samples after start position Pre trigger x lt 0 y gt 0 x samples before trigger event y samples after trigger event Trace library The AsloTrc library must be used to read the recorded trace data see the Automation Studio help for more information The ACOPOSmicro module with additional analog inputs has two separate trace instances that can be triggered at different times independent of one another Each trace instance has a device name lt Hardware address of the module gt lt Trace instance gt This device name is used to read the trace data from the desired ch
121. l digital inputs outputs A 46 2 6 4 Technical data nat taa n eei tte adiens 46 2 6 2 Additional technical data AAA 46 2 6 3 Switching inductive loads i 48 2 7 Additional analog inputs i 49 2 7 1 Technical data ie dre needed editis 49 2 7 2 Additional technical data AAA 49 2 8 Power COMSUMPTION nacer O 50 2 8 1 Module supply is Rep i auch SR epica Dee 50 2 8 2 Power supply n one a et epe OE MEOS 50 Ie ACCOSSOMOS elm 51 3 1 Terminal blocks iii A eee 51 3 1 1 Terminal block for connecting additional inputs outputs AN 52 3 1 2 Terminal blocks for connecting I O and CPU Supply 53 3 1 3 Terminal blocks for the connection of motors ees 54 3 1 4 Terminal blocks for the connection of the power supply 55 9 2 X2 X Linkecable i non S Ue nemi P qae Eee 56 SC IS ie ci a pei at deed etre qae UB RM ARR URS 56 3 2 2 Technical e E EE 57 9 2 9 X206 A0X698 EE 58 3 2 4 X20 A0X48 3000 riattare nta elica e Pa ili 59 3 3 Accessories included in delivery i 60 3 3 1 ACOPOSmicro multi language warning sticker seeeee 60 Chapter 4 Installation rrcnrereeeeeeea iii 61 1 Generalinformatlor 2 ia Engel Oen ee pre ai ela 61 2 Dimension diagrams and installation dimensions e 62 2 1 Dimension diagram for ACOPOSmicro essen 62 3 Cold plate mounting
122. l inputs Status Digital input 1 40 gt Figure 25 X7 Input circuit diagram for additional digital inputs 82 ACOPOSmicro User s Manual V 0 10 Wiring Description of connections 2 8 2 Output circuit diagram for additional digital outputs 24 VDC Ly t Digital output 1 2 o e lu 30 VI Figure 26 X7 Output circuit diagram for additional digital outputs 2 8 3 Input circuit diagram for additional analog inputs A 15V Reference Analog input 1 2 E d A D Converter B Analog input 1 2 Figure 27 X7 Input circuit diagram for additional analog inputs ACOPOSmicro User s Manual V 0 10 83 Chapter 6 Wiring Wiring Description of connections 84 ACOPOSmicro User s Manual V 0 10 Register description Function models Chapter 7 Register description 1 Function models A function model describes the registers for the module memory model which are available for the application Only these registers are processed on the module during each cycle and transferred cyclically acyclically using the bus The function model is used to determine the module s functionality standard ramp 1 1 Minimum cycle time The minimum cycle time is the minimum time nee
123. l limit values according to IEC 61800 2 are taken from product standard EN 61800 or IEC 61800 for stepper motor modules in industrial environments and environment Stricter test procedures and limit values are used during the type tests for ACOPOSmicro stepper motor modules Additional information is available from B amp R ACOPOSmicro User s Manual V 0 10 133 Chapter 8 Standards and certifications Standards and certifications Environmental limits 3 Environmental limits 3 1 Mechanical conditions according to EN 61800 2 3 1 1 Operation IEC 60721 3 3 class 3M1 IEC 61800 2 Vibration during operation 2 lt f lt 9Hz 9 f 200Hz 0 3 mm amplitude 1 m s acceleration 3 1 2 Transport Table 57 Mechanical conditions during operation IEC 60721 3 2 class 2M1 IEC 61800 2 Vibration during transport 2 lt f lt 9Hz 9 lt f lt 200 Hz 200 lt f lt 500 Hz 3 5 mm amplitude 10 m s acceleration 15 m s acceleration Table 58 Mechanical conditions during transport 3 2 Climate conditions according to IEC 61800 2 3 2 1 Operation IEC 60721 3 3 class 3K3 IEC 61800 2 Ambient temperature during operation 5 to 45 C Relative humidity during operation 5 85 non condensing 3 2 2 Bearings Table 59 Climate conditions during operation IEC 60721 3 1 class 1K4 IEC 61800 2 Storage temperature 25 to 55 C Table 60
124. lStepThreshold01 Full step threshold 75 JoltTime01 Jolt time limitation 80 ControlReadback01 Read back control word 82 ModeReadback01 Read back mode 84 Motoridentification01 Motor ID 86 RefPos01CyclicCounter Homed zero position for cyclic counter 98 ErrorCode01 Error code 184 Table 84 Ramp function model ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master e 80SD100XS COXX 01 Ramp function model 13 2 Motor brake Variable assignments Bit in Automation Studio Description 0 MpGenBrake01 Digital output state motor brake 1 7 0 Reserved This register is used to control the digital output motor brake ACOPOSmicro User s Manual V 0 10 185 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master e 80SD100XS COXX 01 Ramp function model 186 ACOPOSmicro User s Manual V 0 10 Figure index Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Warning on the drive system ii 22 Label for Hot surface 3 pcs are included in delivery of the ACOPOSmicro 24 Operating and connection elements DIMENSIONS x c
125. lid value Overflow 65535 Busy Measurement in progress Table 50 Notes about motor identification ACOPOSmicro User s Manual V 0 10 91 Chapter 7 Register description Register description Standard function model 2 2 4 Motor configuration These four registers MotorStep1 to MotorStep4 are used to specify the amount and direction of steps that must be carried out by the module during the next X2X cycle and to select the motor current also see the section 2 2 5 Holding current rated current maximum current on page 93 Depending on the required resolution and maximum speed setting the Module configuration can be used to specify which bit position is used as the 1s position for full steps see bit 5 6 from the Module configuration on page 93 register Bit Description 0 12 Number of steps for the module to move during the next X2X cycle 13 Direction of movement 0 Positive 1 Negative 14 15 Motor current selection 00 Motor without current 01 Holding current 10 Rated current 11 Maximum current Example for 5 bit microsteps set bit 5 6 of the module configuration to binary 00 Full steps Micro steps The number of transfer values per X2X cycle is specified in the Module configuration by bit 3 4 see the section 2 2 6 Module configuration on page 93 If only one transfer value bit
126. ly latched reset value 0 See ABR control register on page 98 and the ABR configuration register on page 99 ABR counter 1 LatchDone State changes each time ABR counter 2 is successfully latched reset value 0 See ABR control register on page 98 and the ABR configuration register on page 99 ABR counter 2 1 On ACOPOSmicro 1 channel models none of the bits that affect stepper motor 2 and trigger 2 have any function 0 reserved 94 Depending on the ACOPOSmicro model the bits that affect the encoder have no function 0 reserved ACOPOSmicro User s Manual V 0 10 Register description Standard function model 2 2 11 Life cycle counter This value is incremented with each X2X cycle the counter starts back at zero if an overflow occurs and is used to detect a module error module failure or network failure 2 2 12 Latch configuration Bit Description D 0 Turn on off latch function for position register 0 Negative edge Turn off latch function for position register 1 Positive edge Turn on latch function for position register 1 2 Configure latch function for position register 00 Unconditional latch position 01 Latch position at positive edge on trigger input 1 10 Latch position at negative edge on trigger input 1 11 Reserved Channel 1 3 0 Reserved 4 Turn on off latch function for position register 0 Negative edge Turn off latch function fo
127. ment Digital output motor brake 176 10 4 StepperLatchStatus Latch trigger status narran nnnncnnno 177 10 5 StepperLatchConfig Latch configuration iii 177 14 ACOPOSmicro User s Manual V 0 10 Table of contents 10 6 TriggerConfig Trigger configuration i 177 10 7 StatusOutput15 ABR control register 177 11 80SD100XS C04X 01 Ramp function model i 179 tiA Register overview on eae Ela alli ee De ED ve ea ve 179 11 2 Motor EE 180 12 80SD100XS COXX 01 Standard function model sese 181 121 ele 181 12 2 Etrorz Error Status iia o aa 182 12 3 StatusOutput14 Error acknowledgement Digital output motor brake 182 12 4 StepperLatchStatus Latch trigger Status i 183 12 5 StepperLatchConfig Latch configuration seen 183 12 6 TriggerConfig Trigger configuration ii 183 13 80SD100XS COXX 01 Ramp function Model 184 19 1 BegisteroVvelviQW ciale I dedere ipee OP ur deese sete eed 184 13 2 Motor brake rec ERRARE ter Es 185 ACOPOSmicro User s Manual V 0 10 15 Table of contents 16 ACOPOSmicro User s Manual V 0 10 General information Manual history Chapter 1 General information 1 Manual history Information B amp R does its best to keep the printed versions of its user s manuals as current as possible However newer versions of the Us
128. mponents and technologies Control system Power Panel Integrated control operation and visualization Visualization and operation Power Panel Integrated control operation and visualization Motion control ACOPOSmicro Stepper motor drive system Stepper motors Remote I O systems X20 System Slice based I O and control system X67 System Remote I O with IP67 protection Compact I O system and valve connections Economical usage of peripheral space Table 4 Topology Compact solution for small and mid sized machines 32 ACOPOSmicro User s Manual V 0 10 System characteristics Topologies 2 2 Custom fit system combinations Optimized machine designs require customized implementation of fieldbus systems With the flexibility of the X67 system and the openness of B amp R s system components the automation can adapt ideally to the cost and performance demands of the application Control system visualization and operation L APC620 Remote I O systems Dac ere eje er re ebe eleje e eje OOL e eje eist ele e B NEM HM ee g QC ejeje C eje eje GOOI ii aa eMe lakel OC elale X67 x z E cc ui 3 X20 System ACOPOSmicro ACOPOSmicro a Motion control Motion control DIC i i de Hb 5 SE ACOPOS ACOPOS ACOPOS Bus controller ACOPOSmicro Figure 7 Topology Tailored system combinations Components and technologies Control system Automation PC APC620
129. n MotorStep4 33 36 ConfigOutput03 ConfigOutput06 Holding current 34 37 ConfigOutput04 ConfigOutput07 Rated current 35 38 ConfigOutput05 ConfigOutput08 Maximum current 46 ConfigOutput02 Module configuration 54 StatusOutput14 Error acknowledgement Digital output motor brake 60 62 PositiontLatched Position2Latched Position latch 68 70 usSinceTrigger01 usSinceTrigger02 usSinceTrigger 72 StepperLatchStatus Latch trigger status 73 LifeCnt Life cycle counter 76 StepperLatchConfig Latch configuration 78 TriggerConfig Trigger configuration 80 Temperature Temperature 81 MotorldentTrigger Motor ID trigger 84 86 ConfigOutput09 ConfigOutput10 Full step threshold 88 CoolerTemperature Cooler temperature 90 UZKVoltage DC bus voltage Table 79 Standard function model ACOPOSmicro User s Manual V 0 10 165 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD COXX 21 Standard function model Register dec Variable assignments in Automation Studio Channel 1 Channel 2 Channel 1 Channel 2 Description Register for ACOPOSmicro models with additional analog inputs 1409 Status of the analog inputs 1414 Analoginput01 Analog input 1 1418 Analoginput02 Analog input 2 Register for ACOPOSmicro models with additional analog inputs 1038 1166 TraceEnable01 TraceEnable02 Trace control word 1090 1218
130. n for acyclic counter 117 3 2 25 Turnaround loop EE 118 3 2 26 Error COdO Lian iii aria iii ite e dieta 118 3 2 27 Holding current rated current maximum current 119 3 2 28 Moto Door baaa 120 3 2 29 Register for ACOPOSmicro models with additional digital inputs outputs 121 3 2 30 Register for ACOPOSmicro models with additional analog inputs 123 3 3 Trace functions for ACOPOSmicro models with analog inputs 124 3 9 1 Trace register aupa 124 3 3 2 Trace runtime configuration omocnnnccnnncncnnoccnnnonnnnnnrnnnnnrnnnnnrn re nnn nar rn 126 Ree EE 127 3 4 Ramp function model operation i 128 EA Control e BEE 128 3 4 2 Stat s EE 130 3 4 9 State Ma EE 131 12 ACOPOSmicro User s Manual V 0 10 Table of contents Chapter 8 Standards and certifications 133 1 Valid European guidelines di nennen nnnm nnne 133 Ee Ener EE 133 3 Environmental limits iii da 134 3 1 Mechanical conditions according to EN 61800 2 sse 134 3 11 Operation iii d aie ee Pe Se ree 134 ER EE e LEE 134 3 2 Climate conditions according to IEC 61800 2 sse 134 3 2 heeten EE 134 3 2 2 Bea MOS iii oia nd 134 3 2 3 MANSO EE 135 4 Requirements for immunity to disturbances EMC esee 136 4 1 Evaluation criteria performance criteria
131. n model 149 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD C044 01 Ramp function model 3 2 Motor brake Variable assignments in Automation Studio Bit Channel 1 Channel 2 Description 0 MpGenBrake01 MpGenBrake02 Digital output state motor brake 1 7 0 Reserved The motor brake register is used to control the digital output motor brake On the 2 channel ACOPOSmicro model bit O of both registers Motor 1 and Motor 2 is linked with an OR function This means that the digital output is activated if the bit is set on one or both motors 150 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD C04X 13 Standard function model 4 80SD100XD C04X 13 Standard function model 4 1 Register overview Register dec Variable assignments in Automation Studio Channel1 Channel 2 Channel 1 Channel 2 Description 0 2 Position Sync Position2Sync Position 10 Error Error Status 12 14 Motoridentification01 Motoridentification02 Motor ID 16 24 Motor1Step0 Motor2Step0 Motor configuration MotorStep1 18 26 Motor1Step1 Motor2Step1 Motor configuration MotorStep2 20 28 Motor1Step2 Motor2Step2 Motor configuration MotorStep3 22 30 Motor1Step3 Motor2Step3 Motor configuration MotorStep4 33 36 ConfigOut
132. nBrake01 MpGenBrake02 Motor brake 0 8 AbsPos01ActVal AbsPos02ActVal Current position cyclic 4 12 MpGenStatus01 MpGenStatus02 Status 6 InputStatus Input status 42 UZKVoltage UZK DC bus voltage 44 CoolerTemperature Temperature of output stage 46 Temperature Temperature 48 112 ConfigOutput03a ConfigOutput06a Holding current 49 113 ConfigOutput04a ConfigOutput07a Rated current 50 114 ConfigOutput05a ConfigOutput08a Maximum current 52 116 MaxSpeed01pos MaxSpeed02pos Max speed 54 118 MaxAcc01 MaxAcc02 Max acceleration 56 120 MaxDec01 MaxDec02 Maximum deceleration 58 122 RevLoop01 RevLoop02 Turn around loop 60 124 FixedPos01a FixedPos02a Set position 1 64 128 FixedPos01b FixedPos02b Set position 2 68 132 RefSpeed01 RefSpeed02 Homing speed 70 134 RefConfig01 RefConfig02 Homing configuration 72 136 FullStepThreshold01 FullStepThreshold02 Full step threshold 75 139 JoltTime01 JoltTime02 Jolt time limitation 80 144 ControlReadback01 ControlReadback02 Read back control word 82 146 ModeReadback01 ModeReadback02 Read back mode 84 148 Motoridentification01 Motoridentification02 Motor ID 86 150 RefPos01CyclicCounter RefPos02CyclicCounter Homed zero position for cyclic counter 90 154 AbsPos1ActValAcyclic AbsPos2ActValAcyclic G Current position acyclic 94 158 RefPos01AcyclicCounter RefPos02AcyclicCounter G Homed zero position for acyclic counter 98 162 ErrorCode01 ErrorCode02 Error code ACOPOSmicro User s Manual V 0 10 Table 74 Ramp functio
133. nfigOutput04 Rated current 35 ConfigOutput05 Maximum current 46 ConfigOutput02 Module configuration 54 StatusOutput14 Error acknowledgement Digital output motor brake 60 Position1Latched Position latch 68 usSinceTrigger01 usSinceTrigger 72 StepperLatchStatus Latch trigger status 73 LifeCnt Life cycle counter 76 StepperLatchConfig Latch configuration 78 TriggerConfig Trigger configuration 80 Temperature Temperature 81 MotorldentTrigger Motor ID trigger 84 ConfigOutput09 Full step threshold 88 CoolerTemperature Cooler temperature 90 UZKVoltage DC bus voltage Register for ACOPOSmicro with encoder 130 PosVal03 ABR counter 134 LatchVal03 ABR counter latch 154 StatusOutput15 ABR control register 155 ConfigOutput11 ABR configuration 158 ConfigOutput13 ABR advanced configuration Table 81 Standard function model ACOPOSmicro User s Manual V 0 10 175 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XS C04X 01 Standard function model 10 2 Error Error Status Variable assignments in Bit Automation Studio Description 0 0 Reserved 1 OvertemperatureError01 E 0 No error 1 Error Overtemperature 2 CurrentError01 E 0 No error 1 Error Set current not reached 3 OvercurrentError01 E 0 No error 1 Error Overcurrent 4 7 0 Reserved 8 DrvOk01 S Status of drive 0 Not ready 1 Rea
134. nfiguration Variable assignments in Bit Automation Studio Description 0 TriggerEdge01 0 Trigger 1 Trigger edge positive 1 Trigger 1 Trigger edge negative 1 StartTrigger01 Activate trigger 1 when changes occur 2 TriggerEdge02 0 Trigger 2 Trigger edge positive 1 Trigger 2 Trigger edge negative 3 StartTrigger02 Activate trigger 2 when changes occur 4 7 0 Reserved 4 7 StatusOutput15 ABR control register Variable assignments in Bit Automation Studio Description 0 ActivateReferencing03 0 Deactivate referencing of ABR counter 1 1 Activate referencing of ABR counter 1 positive edge activates referencing 1 7 0 Reserved ACOPOSmicro User s Manual V 0 10 155 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD C04X 13 Standard function model 4 8 Digital_in_do_rb Status of digital inputs and outputs Variable assignments in Bit Automation Studio Description 0 Digitallnput03 Status of digital input 1 A Counter input 1 1 Digitallnput04 Status of digital input 2 2 Digitallnput05 Status of digital input 3 R External counter frequency for counter input 1 3 Digitallnput06 Status of digital input 4 Reference for enable input 4 DigitalOutputReadBack02 Status of digital output 1 5 DigitalOutputReadBack03 Status of digital output 2 6 Counte
135. nfiguration eene 147 2 7 StatusOutput15 ABR control register ii 148 3 80SD100XD C044 01 Ramp function model sese 149 3 1 Register overview ii 149 32 Motor Drake Ce 150 ACOPOSmicro User s Manual V 0 10 13 Table of contents 4 80SD100XD C04X 13 Standard function model 4 1 Register overview a E a a a aiea 4 2 Error Error Status iii 4 3 StatusOutput14 Error acknowledgement Digital output motor brake 154 4 4 StepperLatchStatus Latch trigger status ii 154 4 5 StepperLatchConfig Latch configuration ii 155 4 6 TriggerConfig Trigger configuration oooooonnnnninnnnconnncnncnnccnnccnn nc rara rnrn rara 155 4 7 StatusOutput15 ABR control register ii 155 4 8 Digital in do rb Status of digital inputs and outputs i 156 4 9 StatusOutput16 Set digital outputs control register counter 156 5 80SD100XD C04X 13 Ramp function model ssssessesesesestertsiesreeresirstnstrnsrnstnsrnenne 157 Dsl Register Overview eire E 157 5 2 Motor brake uti EE E SH C OU endete 158 6 80SD100XD COXX 01 Standard function model AA 159 6 1 Register overview ci 159 6 2 Error Error Status oso da dee rper lila 160 6 3 StatusOutput1 4 Error acknowledgement Digital output motor brake 160 6 4 StepperLatchStatus Latch trigger status
136. ng analoginput Bit Description 0 0 Trace function is disabled 1 Trace function is enabled 1 15 0 Reserved A buffer overrun error can be cleared by resetting bit 0 Trace status Bit Description 0 0 Trace function is disabled 1 Trace function is enabled Reserved 0 2 0 Trace data recording not active 1 Trace data recording active 3 0 Trace data reading is not active 1 Trace data reading is active 4 0 Not ready for trigger 1 Ready for trigger 5 Trigger active 0 No trigger active trace recording stopped 1 Trigger in process trace data is being recorded 6 Trace OK 0 Buffer overrun or trace function disabled for analog input 1 No buffer overrun error 7 Trace error 0 No buffer overrun or trace function disabled for analog input 1 Buffer overrun error Trace buffer status This register contains the amount of buffer memory in bytes available for the trace recording The buffer must be large enough for the configured number of sampling values to be recorded If Infinite Trace was selected then the buffer must be read fast enough for analog values to be recorded at the set sampling rate 104 ACOPOSmicro User s Manual V 0 10 Register description Standard function model Number of triggers executed This register contains the number of successfully executed trigger events trace record
137. nical data Technical data Accessories 3 1 1 Terminal block for connecting additional inputs outputs Order data Model number Short description Figure 0TB1106 8010 Accessory terminal block 3 5 6 pin screw clamp 1 5 mmy protection against vibration with the screw flange 0TB1106 8110 Accessory terminal block 3 5 6 pin cage clamp 1 5 mm protection against vibration with the screw flange Table 23 Terminal block for connecting additional inputs outputs Order data Technical data Product ID 0TB1106 8010 0TB1106 8110 Number of pins 6 6 Type of terminal Screw clamps Cage clamps Distance between contacts 3 5 mm 3 5 mm Contact resistance 42 MOQ 4 2 ma Rated voltage 300 V 300 V Rated current 1 10 A contact 10 A contact Connection cross section AWG wire 28 14 AWG 26 14 AWG Solid wire line 0 20 1 50 mm 0 20 1 50 mm Fine wire line without wire tip sleeves 0 20 1 50 mm 0 20 1 50 mm Fine wire line with wire tip sleeves 0 20 1 50 mm 0 20 1 50 mm Wire tip sleeves with plastic covering 0 20 1 50 mm 0 20 1 00 mm Holding torque min max 0 2 0 25 Nm Cable type Copper wires only no aluminum wires Comment Rated values according to UL Protected against vibration by the screw flange Table 24 Terminal block for connecting additional inputs outputs Technical data 1 Important keep in mind the data limits for the I O modules
138. nitoring However it is generally possible for the motor shaft to move every time the device is switched on Therefore protection of personnel and the machine can only be guaranteed using higher level safety precautions The movement area of machines must be protected to prevent accidental access This type of protection can be obtained by using stabile mechanical protection such as protective covers protective fences protective gates or photocells Removing bridging or bypassing these safety features and entering the movement area is prohibited A sufficient number of emergency stop switches are to be installed directly next to the machine The emergency stop equipment must be checked before commissioning the machine On free running motors remove shaft keys or prevent them from being catapulted The holding brake built into the motors cannot prevent hoists from allowing the load to sink ACOPOSmicro User s Manual V 0 10 23 Chapter 1 General information General information Safety guidelines 2 7 3 Protection against burns The surfaces of drive systems and motors can become very hot during operation Therefore drive systems and motors must be indicated using the included labels see page 60 Figure 2 Label for Hot surface 3 pcs are included in delivery of the ACOPOSmicro 24 ACOPOSmicro User s Manual V 0 10 General information Terminology 3 Terminology Term Explanation SG3 Sys
139. nments in Bit Automation Studio Description 0 0 Reserved 1 OvertemperatureError01 0 No error 1 Error Overtemperature 2 CurrentError01 0 No error 5 1 Error Set current not reached 2 3 OvercurrentError01 0 No error 1 Error Overcurrent 4 0 Reserved D OvertemperatureError02 0 No error 1 Error Overtemperature 6 CurrentError02 0 No error P 1 Error Set current not reached In OvercurrentError02 0 No error 1 Error Overcurrent 8 DrvOk01 Status of drive 1 a 0 Not ready 2 1 Ready 9 DrvOk02 Status of drive 2 cu 0 Not ready 2 1 Ready 10 IncrementalEncoderOk01 Status of ABR encoder 1 0 Not ready 1 Ready 11 EncoderPowerSupplyError Encoder supply error 3 0 24 VDC OK S gt 1 Error Encoder supply not in the required range uu 12 IncrementalEncoderOk02 Status of ABR encoder 2 0 Not ready 1 Ready 13 ModulePowerSupplyError Module supply error 0 24 VDC OK 1 Error Under voltage 14 Enable Enable status corresponds with Enable input 0 Disable 1 Enable OK 15 UZKStatus Status of supply voltage for power element Uzx DC bus voltage 0 Supply voltage for power element not in the valid range 1 Supply voltage for power element OK 18 V lt Uzx lt 80 V ACOPOSmicro User s Manual V 0 10 145 Appendix B Variable assignment in Automation Studio X2X Variable assignmen
140. nsioning Dimensioning Fuse protection 68 ACOPOSmicro User s Manual V 0 10 Wiring Electromagnetic Compatibility of the Installation Chapter 6 Wiring 1 Electromagnetic Compatibility of the Installation 1 1 General information If the guidelines for electromagnetic compatibility of the installation are followed the ACOPOSmicro drive system meets the following guidelines EMC guidelines 89 336 EWG Low voltage guidelines 73 23 EWG ACOPOSmicro drive systems also meet the requirements for harmonized EMC product standard IEC61800 3 1996 A11 2000 for industry second environment Additional EMC measures must be implemented by the manufacturer of machines or systems if the product standards for the machine has lower limits or if the machine should conform to generic standard IEC 61000 6 4 Proof of conformity to the necessary limits must be provided according to the documentation for use of the EMC guidelines from the manufacturer or distributor of the machine or system Additional EMC measures are needed when operating ACOPOSmicro drive systems in a living area or when connecting ACOPOSmicro drive systems to a low voltage system which supplies buildings in living areas without an intermediate transformer first environment ACOPOSmicro User s Manual V 0 10 69 Chapter 6 Wiring Wiring Electromagnetic Compatibility of the Installation 1 2 Installation notes 1 The switching cabinet or the system must be cons
141. nt not in the valid range 1 Supply voltage for power element OK 18 V lt Uzx lt 80 V 8 3 StatusOutput14 E rror acknowledgement Digital output motor brake Variable assignments in Bit Automation Studio Description 0 ClearError01 Error acknowledgement Motor 1 1 ClearError02 Error acknowledgement Motor 2 2 6 0 Reserved 7 DigitalOutput01 Status of digital output motor brake 0 Motorbrake off 1 Motor brake on ACOPOSmicro User s Manual V 0 10 167 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD COXX 21 Standard function model 8 4 StepperLatchStatus Latch trigger status Variable assignments in Bit Automation Studio Description 0 LatchInput01 Digital input for the latch event level Stepper motor 1 1 LatchDone01 State changes each time the counter state is successfully latched reset value 0 2 LatchInput02 Digital input for the latch event level Stepper motor 2 3 LatchDone02 State changes each time the counter state is successfully latched reset value 0 4 StatusInput01 Status of digital input 1 Triggerlnput01 Status of trigger input 2 D StatusInput02 Status of digital input 2 Triggerlnput02 Status of trigger input 2 6 7 0 Reserved 8 5 StepperLatchConfig Latch configuration Variable assignments in Bit Automa
142. ntal encoder 1 e e e 79 X6B Incremental encoder 2 e 79 X7 Additional digital inputs outputs e 82 X7 Additional analog inputs o 82 Table 40 ACOPOSmicro connections Overview ACOPOSmicro User s Manual V 0 10 71 Chapter 6 Wiring Wiring Description of connections 2 2 X1 Power element supply Figure Pin assignments Pin Name DC1 DC1 Ll PE ground DC2 DC2 The supply connection for the power element is made using the terminal block 0TB2105 9021 or 0TB2105 9121 e Information about this terminal block can be found in the section 3 1 4 Terminal blocks for the connection of the power supply on page 55 in the chapter 3 Technical data xi 2 2 ipo o Table 41 X1 connection Power element supply The connections DC1 and DC2 as well as DC1 and DC2 are connected together inside the ACOPOSmicro Therefore the supply connections can be used as follows DC1 as feed and DC to route the DC voltages DC1 and DC2 parallel to the feed at very high loads Information about safeguarding the lines can be found in the section 2 Fuse protection on page 67 in the chapter 5 Dimensioning 2 2 1 X1 diagram Power supply X1 DC sli 4 DC Sc PE se A Fx DC i Se e DC ec Figure 15 X1 diagram Power supply 72 ACOPOSmicro User s Manual V 0 10
143. o analog channels see 106 Ramp function model EE 108 Notes about motor identification i 120 Order of trace data from two analog channels esee 126 State machine State change A 132 Valid standards for ACOPOSmicro stepper motor module 133 Mechanical conditions during operation i 134 Mechanical conditions during Transport 134 Climate conditions during operation nene 134 Climate conditions temperature during etorage ii 134 Climate conditions humidity during storage iii 134 Climate conditions during transport i 135 Limits for electrical discharge ii 136 Limits for electromagnetic fields AAA 136 Limits OF DUST ria iaia iaia 136 Bremer 137 Limits for conducted disturbances radio frequency 137 Limits for conducted emissions on the power connections of the upstream power element for power Supp 138 Limits for electromagnetic emisesions ee 138 Additional environmental limits AAA 139 International certifications ethernet en aat 140 Abbreviations used in the User s Manual eem 141 Standard function model tni ne he EORR UT MEE 144 Ramp function model ipni crede epe iaia aio 149 SEE nennen nennen 151 Ramp furniction model 4 iretur ep iet dee coe tek pe n 157 Srandard f nctior model E 159 Ramp function model eee tete de e R
144. o modules are installed on a flat surface which is correctly dimensioned The dimensional diagram lists the number and type of mounting screws to be used ACOPOSmicro modules can only be installed in an environment which corresponds to a pollution degree of 2 non conductive material When installing the device make sure that the specifications for maximum operating temperature and protection level listed in the technical data are met see Chapter3 Technical data on page 35 ACOPOSmicro User s Manual V 0 10 61 Chapter 4 Installation Installation Dimension diagrams and installation dimensions 2 Dimension diagrams and installation dimensions Installation dimensions are the same for all ACOPOSmicro modules 2 1 Dimension diagram for ACOPOSmicro 945 min 80 A A Figure 12 Dimension diagram and installation dimensions for ACOPOSmicro modules Keep the swivel range of the connector covers on the front side of the ACOPOSmicro modules free when installed to prevent cabling problems with ACOPOSmicro modules For proper air circulation free space must be left above and below the ACOPOSmicro modules at least 50 mm above and at least 80 mm below The ACOPOSmicro modules can be arranged directly beside one another 62 ACOPOSmicro User s Manual V 0 10 Installation Cold plate mounting 3 Cold plate mounting The mounting surface for the mounting plate or f
145. ode for ACOPOSmicro o Target reached Depending on the mode Position reached Homing done Speed reached Internal limit active always 0 because this function does not exist on ACOPOSmicro e g Position range limit 12 15 0 Reserved 112 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model 3 2 7 Mode Value dec Description 1 Position mode Approach target position as soon as target position is changed 2 Speed mode Constant speed 121 Remaining distance mode 122 Set actual position 123 Move to target position when external input is set 124 Two position mode 125 Move to set position 1 position set asynchronous 126 Move to set position 2 position set asynchronous 127 Positive homing also see 3 2 18 Homing configuration on page 116 128 Negative homing also see 3 2 18 Homing configuration on page 116 Information Valid for all modes The Target Reached bit is set in the register Status see section 3 2 6 Status on page 112 when the current action is finished depending on the mode position or speed reached A new position or speed can be specified even before the current action is finished Mode Description of the individual modes 1 Position mode The new position is moved to as soon as the set position is set in the Set position speed register that is not equal to the current position This is done
146. oltage 300 V 300 V Rated current 15 A contact 15 A contact Connection cross section AWG wire 24 12 AWG 26 12 AWG Solid wire line 0 20 2 50 mm 0 20 2 50 mm Fine wire line without wire tip sleeves 0 20 2 50 mm 0 20 2 50 mm Fine wire line with wire tip sleeves 0 25 2 50 mm 0 20 1 50 mm Wire tip sleeves with plastic covering 0 25 2 50 mm 0 20 1 50 mm Holding torque min max 0 4 0 5 Nm Cable type Copper wires only no aluminum wires Comment Rated values according to UL Table 30 Terminal blocks for the connection of the power supply Technical data 1 Important keep in mind the data limits for the I O modules ACOPOSmicro User s Manual V 0 10 55 Chapter 3 Technical data Technical data Accessories 3 2 X2X Link cable 3 2 1 Overview Model number Short description Page Figure ACOPOSmicro connection cable X2X to X2X X20CA0X68 xxxx X2X Link device connection cable 58 eE ACOPOSmicro attachment cable X2X open X20CA0X48 xxxx X2X Link device attachment cable 59 _ Table 31 X2X Link connection and attachment cable Overview Information The digits xxxx in the model numbers X20CA0X68 xxxx and X20CA0X48 xxxx correspond to the length of the cable in decimeters dm The following sections list the cable lengths that are available for delivery e 3 2 3 X20CA0X68 xxxx on page 58 e 3 2 4 X20CA0X48 xxxx on p
147. ommands in the control word see the 5 section 3 4 1 Control word on page 128 The state machine achieves the successive states Ready to switch on Switched on and Operation Enable by writing the consecutive commands Shutdown Switch on and Enable Operation Information Motor movements are not performed until the Operation Enable state according to the setting in the Mode register see section 3 2 7 Mode on page 113 Module start Fault condition i e temperature too high Not Ready to Switch On Fault Reaction Active internal reset Switch On Disabled 4 Fault Reset Fault gt Disable Voltage Shutdown pr Quick Stop executed v gt Ready to Switch On A Disable Voltage A Quick Stop Switch On Shutdown v Switched On Quick Stop Active A Shutdown Enable Operation Disable Operation Enable Operation v Figure 28 State machine Flow chart ACOPOSmicro User s Manual V 0 10 131 Register description Register description Ramp function model State change Description Not ready to switch on Switch on disabled This state change occurs automatically after the module start and the internal initialization Switch on disabled This state change is brought on by the Shutdown command Ready to switch on No others actions are performed Ready to Switch On
148. onitoring 2 for ABR encoder 1 00 No encoder monitoring 01 Encoder monitoring of signals A and B Encoder 1 10 Encoder monitoring of signals A B and R 11 Reserved 2 3 0 Reserved 4 5 Encoder monitoring for ABR encoder 2 00 No encoder monitoring 01 Encoder monitoring of signals A and B Encoder 2 10 Encoder monitoring of signals A B and R 11 Reserved 6 7 0 Reserved 1 On ACOPOSmicro models with an encoder the bits 4 5 for ABR encoder 2 does not have any function 0 reserved 2 Important Encoder monitoring is only available starting with a specific hardware revision and firmware version 80SD100XD C044 01 Hardware revision BO and firmware version 6 80SD100XS C04X 01 Hardware revision BO and firmware version 6 80SD100XD C04X 13 Hardware revision BO and firmware version 4 2 2 20 Register for ACOPOSmicro models with additional digital inputs outputs Status of digital inputs and outputs Bit Description 0 Status of digital input 1 Counter input 1 1 Status of digital input 2 Status of digital input 3 External counter frequency for counter input 1 Status of digital input 4 Reference for enable input Status of digital output 1 Status of digital output 2 Oo EU wl rm 0 Counter value is within the counting range 0 to 7FFF 1 Counter overflow This bit is reset with Bit 0 of the control register counter
149. operated down to a voltage of 18 VDC ACOPOSmicro User s Manual V 0 10 27 Chapter 2 System characteristics System characteristics The ACOPOSmicro drive system 1 4 Integrated I O In addition to trigger inputs a 24 VDC output is also provided This can be used among other things to control external brakes and is available for other tasks If required additional options can be added via an optional module at a minimum cost and without taking up extra space This makes it possible to implement even extraordinary customer specific requirements The optional support of many different encoder systems even on the stepper motor variation illustrates this product line s high degree of flexibility 1 5 Highlights of the ACOPOSmicro drive system Innovative drive concept Wide range of use e Compact construction Flexible functionality Optional expansions ACOPOSmicro with encoder interface and heat spreader ACOPOSmicro with heat spreader 28 ACOPOSmicro User s Manual V 0 10 System characteristics The ACOPOSmicro drive system 1 6 Areas of application for stepper motor control Whereas earlier stepper motors were mainly reserved for simpler tasks today they are used to meet even complex CNC demands The particular advantage offered by these motors is their high level of torque in the low to middle speed range that can be implemented starting with very small motor designs The use of this
150. or the cold plate must provide sufficient stability and also be non flammable level and free of contaminants The distances that must be used for mounting and ventilation of ACOPOSmicro modules can be found in the sections 1 General information on page 61 and 2 Dimension diagrams and installation dimensions on page 62 Caution It is especially important that the mounting surface is level so that the entire surface of the heatspreader sits flat against it Mounting on uneven surfaces can reduce heat dissipation from the ACOPOSmicro modules Information When mounting ACOPOSmicro modules be sure not to scratch the heatspreader This would impair thermal dissipation to the mounting plate ACOPOSmicro User s Manual V 0 10 63 Chapter 4 Installation Installation Cold plate mounting 3 1 Disassembly If heat conductive paste was used when mounting the ACOPOSmicro to a cold plate then the drive module can be separated from the cold plate using an M6 screw Figure 13 Removing an ACOPOSmicro from the cold plate 64 ACOPOSmicro User s Manual V 0 10 Dimensioning Power consumption Chapter 5 Dimensioning 1 Power consumption The maximum total dissipated power for an ACOPOSmicro module results from the power consumed by the CPU see in Chapter 3 Technical data the Section 2 8 Power consumption on page 50 and the power element The following diagram displays the dissipate
151. otrigger active trace recording stopped 1 Trigger in process trace data is being recorded 6 TraceOK01 TraceOK02 Trace OK 0 Buffer overrun or trace function disabled for analog input 1 No buffer overrun error 7 TraceError01 TraceError02 Trace error 0 No buffer overrun or trace function disabled for analog input 1 Buffer overrun error 8 10 Trace trigger Variable assignments Bit in Automation Studio Description 0 TraceTrigger01 Trigger for trace instance 1 The trigger event will be triggered at a positive edge bit e 7 changes from 0 gt 1 1 TraceTrigger02 Trigger for trace instance 2 2 7 0 Reserved 170 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD COXX 21 Ramp function model 9 80SD100XD COXX 21 Ramp function model 9 1 Register overview Register dec Variable assignments in Automation Studio Channel 1 Channel 2 Channel 1 Channel 2 Description 0 8 AbsPos01 AbsPos02 Set position speed 4 12 MpGenControl01 MpGenControl02 Control word 6 14 MpGenMode01 MpGenMode02 Mode 7 15 MpGenBrake01 MpGenBrake02 Motor brake 0 8 AbsPos01ActVal AbsPos02ActVal Current position cyclic 4 12 MpGenStatus01 MpGenStatus02 Status 6 InputStatus Input status 42 UZKVoltage UZK DC bus voltage 44 CoolerTemperature Temperature of output stage 46 Temperature
152. peration Due to the lower relative inaccuracy at higher currents a current setting of at least 15 of the module s rated current 10 A is recommended for the rated current register Maximum current Maximum current should be selected if a higher motor torque is required during acceleration phases short term 2 2 6 Module configuration Bit Description 0 2 0 Reserved 3 4 Number of transfer values per X2X cycle see description of the registers MotorStep1 to MotorStep4 in section 2 2 4 Motor configuration on page 92 00 1 x As At Transfer values MotorStep1 01 2 x As At Transfer values MotorStep1 MotorStep2 10 4x As At Transfer values MotorStep1 MotorStep4 11 Reserved Information This setting applies to both channels in 2 channel models 5 6 Resolution of microsteps for MotorStepX and Position 00 5 bits Bit O 4 01 6 bits Bit O 5 10 7 bits Bit 0 6 11 8 bits Bit 0 7 See the sections 2 2 4 Motor configuration on page 92 and 2 2 1 Position on page 88 7 15 0 Reserved ACOPOSmicro User s Manual V 0 10 93 Chapter 7 Register description Register description Standard function model 2 2 7 Error acknowledgement Digital output motor brake Bit Description 0 Error acknowledgement Motor 1 1 Error acknowledgement Motor 2 2 6 0 Reserved 7 Status of digital output moto
153. put03 ConfigOutput06 Holding current 34 37 ConfigOutput04 ConfigOutput07 Rated current 35 38 ConfigOutput05 ConfigOutput08 Maximum current 46 ConfigOutput02 Module configuration 54 StatusOutput14 Error acknowledgement Digital output motor brake 60 62 PositiontLatched Position2Latched Position latch 68 70 usSinceTrigger01 usSinceTrigger02 usSinceTrigger 72 StepperLatchStatus Latch trigger status 73 LifeCnt Life cycle counter 76 StepperLatchConfig Latch configuration 78 TriggerConfig Trigger configuration 80 Temperature Temperature 81 MotorldentTrigger Motor ID trigger 84 86 ConfigOutput09 ConfigOutput10 Full step threshold 88 CoolerTemperature Cooler temperature 90 UZKVoltage DC bus voltage Table 75 Standard function model ACOPOSmicro User s Manual V 0 10 151 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD C04X 13 Standard function model Register dec Variable assignments in Automation Studio Channel 1 Channel 2 Channel 1 Channel 2 Description Register for ACOPOSmicro with encoder 130 PosVal03 ABR counter 134 LatchVal03 ABR counter latch 154 StatusOutput15 ABR control register 155 ConfigOutput11 ABR configuration 158 ConfigOutput13 ABR advanced configuration Register for ACOPOSmicro models with additional digital inputs outputs 192 Digital_in_do_rb Status of digital inputs and ou
154. r 1 For motor 1 Digital input 1 connection X2 pin 1 For motor 2 Digital input 2 connection X2 pin 3 2 The ABR counter is only available in ACOPOSmicro models with encoders 114 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model 3 2 8 Motor brake Bit Description 0 Digital output state motor brake 1 7 0 Reserved This register is used to control the digital output motor brake On the 2 channel ACOPOSmicro model bit O of both registers Motor 1 and Motor 2 is linked with an OR function This means that the digital output is activated if the bit is set on one or both motors 3 2 9 UZK DC bus voltage This register contains the current supply voltage of the power element Units V 3 2 10 Temperature of output stage This register contains the current module temperature of the power element Units C 3 2 11 Temperature This register contains the current module temperature Units C 3 2 12 Maximum speed Maximum speed for the absolute positioning modes 1 123 124 125 126 Does not work for the speed and homing modes 2 127 128 Units Microsteps 25 ms 3 2 13 Max acceleration Maximum acceleration also applies for homing modes Units Microsteps 25 ms 3 2 14 Maximum deceleration Maximum deceleration also applies for homing modes Units Microsteps 25 ms ACOPOSmicro User s Manual V 0 10 115 Chapter 7
155. r Power consumption CPU including Enable input 7 0 watts Power element when idle 0 5 watts Motor power element 2 8 watts Sum 10 3 watts Example 3 ACOPOSmicro 2 channel model with encoder 80SD100XD C044 01 60 VDC power supply 10 A applied to motor 1 3A applied to motor 2 Calculation Power consumption for Power consumption CPU including Enable input 8 0 watts Power element when idle 0 5 watts Motor 1 power element 17 3 watts Motor 2 power element 2 8 watts Sum 28 6 watts 66 ACOPOSmicro User s Manual V 0 10 Dimensioning Fuse protection 2 Fuse protection The power supply line should be protected by a circuit breaker or a fuse In general dimensioning of the supply line and the over current protection depends on the structure of the power supply ACOPOSmicro devices can be connected individually or in groups Information The effective current for the power supply depends on the load but is always less than the motor current Make sure the maximum rated current of 15 A per pin is not exceeded on the power supply terminals of the power element When choosing a suitable fuse the user must also account for properties such as aging effects temperature derating overcurrent capacity and the definition of the rated current which can vary by manufacturer and type Furthermore the fuse that is selected must also be able to handle application specific aspects e g overcurrents that occur in
156. r 0 Negative edge Turn off latch function for position register 1 Positive edge Turn on latch function for position register 5 TriggerEdgePos02 Configure latch function for position register Channel 2 6 TriggerEdgeNeg02 00 Unconditional latch position 01 Latch position at positive edge on trigger input 2 10 Latch position at negative edge on trigger input 2 11 Reserved 7 0 Reserved ACOPOSmicro User s Manual V 0 10 161 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD COXX 01 Standard function model 6 6 TriggerConfig Trigger configuration Variable assignments in Bit Automation Studio Description 0 TriggerEdge01 0 Trigger 1 Trigger edge positive 1 Trigger 1 Trigger edge negative 1 StartTrigger01 Activate trigger 1 when changes occur 2 TriggerEdge02 0 Trigger 2 Trigger edge positive 1 Trigger 2 Trigger edge negative 3 StartTrigger02 Activate trigger 2 when changes occur 4 7 0 Reserved 162 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD COXX 01 Ramp function model 7 80SD100XD COXX 01 Ramp function model 7 1 Register overview Register dec Variable assignments in Automation Studio Channel
157. r Error Status Variable assignments in Bit Automation Studio Description 0 0 Reserved 1 OvertemperatureError01 0 No error 1 Error Overtemperature 2 CurrentError01 0 No error 5 1 Error Set current not reached 2 3 OvercurrentError01 0 No error 1 Error Overcurrent 4 0 Reserved D OvertemperatureError02 0 No error 1 Error Overtemperature 6 CurrentError02 0 No error P 1 Error Set current not reached E 7 OvercurrentError02 0 No error 1 Error Overcurrent 8 DrvOk01 Status of drive 1 a 0 Not ready 3 1 Ready 9 DrvOk02 Status of drive 2 A 0 Not ready 3 1 Ready 10 12 0 Reserved 13 ModulePowerSupplyError Module supply error 0 24 VDC OK 1 Error Under voltage 14 Enable Enable status corresponds with Enable input 0 Disable 1 Enable OK 15 UZKStatus Status of supply voltage for power element Uy DC bus voltage 0 Supply voltage for power element not in the valid range 1 Supply voltage for power element OK 18 V lt Uzx lt 80 V 6 3 StatusOutput14 E rror acknowledgement Digital output motor brake Variable assignments in Bit Automation Studio Description 0 ClearError01 Error acknowledgement Motor 1 1 ClearError02 Error acknowledgement Motor 2 2 6 Reserved 7 DigitalOutput01 Status of digital output motor brake Motor brake off Motor brake on 160 AC
158. r brake 0 Motor brake off 1 Motor brake on 2 2 8 Position latch The position counter internal position counter will be applied to this register at the next latch event see 2 2 10 Latch trigger status on page 94 On ACOPOSmicro models with incremental encoders the contents of this register can be replaced with the register ABR counter latch see page 98 by setting the bits 3 and or 7 in the ABR configuration register see page 99 Register ABR configuration Bit 3 channel 1 Bit 7 channel 2 0 Bit 3 channel 1 Bit 7 channel 2 1 Position latch Internal position counter latch ABR counter latch ABR counter latch ABR counter latch Internal position counter latch 2 2 9 usSinceTrigger This register indicates the time in us that has passed since the trigger event occurred see 2 2 10 Latch trigger status on page 94 2 2 10 Latch trigger status Bit Description Latch input Digital input for the latch event level LatchDone State changes each time the counter state is successfully latched reset value 0 Stepper motor 1 Latch input Digital input for the latch event level LatchDone State changes each time the counter state is successfully latched reset value 0 Stepper motor 2 Trigger 1 Trigger input level Trigger 2 Trigger input level DO O Oo0o m LatchDone State changes each time ABR counter 1 is successful
159. r configuration Bit Description 0 1 Counter frequency only valid if set in gate or period measurement 00 Internal counter frequency 4 MHz 01 Internal counter frequency 31 25 kHz 10 External counter frequency digital input 3 11 Reserved 2 0 Reserved 3 6 Counter mode 0000 No counter 0001 Event counter positive edge 0010 Event counter negative edge 0011 Event counter both edges 0100 Period measurement between two consecutive negative edges 0101 Period measurement between two consecutive positive edges 0110 Gate measurement of the LOW level 0111 Gate measurement of the HIGH level 1000 AB counter without homing 1001 ABR counter with homing Counter set to zero at positive edge of R 1010 ABR counter with homing Counter set to zero at positive edge of R 1011 ABR counter with immediate homing Counter set to zero at positive edge of bit 2 of the counter control register 1100 AB counter without homing 1101 ABR counter with homing Counter state is applied to the counter latch register at positive edge of R 1110 ABR counter with homing Counter state is applied to the counter latch register at positive edge of R 1111 ABR counter with immediate homing Counter state is applied to the counter latch register at positive edge of bit 2 of the counter control register 7 0 Reserved 8 9 Configuration of reference enable input digital input 4
160. r position register 1 Positive edge Turn on latch function for position register 5 6 Configure latch function for position register 00 Unconditional latch position 01 Latch position at positive edge on trigger input 2 10 Latch position at negative edge on trigger input 2 11 Reserved Channel 2 d 0 Reserved 1 On ACOPOSmicro 1 channel models none of the bits that affect channel 2 have any function 0 reserved ACOPOSmicro User s Manual V 0 10 95 Chapter 7 Register description Register description Standard function model 2 2 13 Trigger configuration Bit Description 0 0 Trigger 1 Trigger edge positive 1 Trigger 1 Trigger edge negative 1 Activate trigger 1 when changes occur 2 0 Trigger 2 Trigger edge positive 1 Trigger 2 Trigger edge negative 3 Activate trigger 2 when changes occur 4 7 0 Reserved 1 On ACOPOSmicro 1 channel models none of the bits that affect trigger 2 have any function 0 reserved Trigger function procedure e Select the desire trigger edge using bit 0 Trigger 1 or bit 2 Trigger 1 e Activate the trigger function by changing the state of bit 1 Trigger 1 or bit 3 Trigger 1 When this bit changes usSinceTrigger us counter will be cleared When the trigger event occurs the us counter usSinceTrigger is started The counter usSinceTrigger cannot overrun i
161. r the trigger event see bit 0 1 of the Trace trigger register on page 125 Infinite Infinite trace can be started with bit 0 1 of the Trace trigger register see page125 X2X must be configured in such a way as to ensure that the amount of data generated can be transferred quickly enough The trace buffer must be read quickly to prevent an overflow in the module s local memory and to ensure that the samples can be recorded at the configured sampling rate Recording range of trace data Trace Start Stop Position This defines the number of samples that should be recorded before after the trigger event Trigger type Start position Stop position Beginning of recording End of recording Post trigger x20 y gt 0 x samples after trigger event y samples after start position Pre trigger x lt 0 y gt 0 x samples before trigger event y samples after trigger event 3 3 3 Trace library The AsloTrc library must be used to read the recorded trace data see the Automation Studio help for more information The ACOPOSmicro module with additional analog inputs has two separate trace instances that can be triggered at different times independent of one another Each trace instance has a device name lt Hardware address of the module gt lt Trace instance gt This device name is used to read the trace data from the desired channel using the AsloTrcGet library function Examples Trace for analog input
162. rOverflow01 Overflow of counter 1 only valid if gate or period measurement is set in the counter configuration with bit 3 6 0 Counter value is within the counting range 0 to 7FFF The value is only valid if bit 0 of the control register counter is set 1 Counter overflow This bit is reset with Bit 0 of the control register counter T CounterLatchDone01 State changes each time the counter state is successfully latched reset value 0 4 9 StatusOutput16 Set digital outputs control register counter Variable assignments in Bit Automation Studio Description 0 CounterOverflowDetectEnable01 0 Disable detection of counter overflow and reset the overflow bit on counter 1 1 Enable detection of counter overflow 1 0 Reserved 2 ActivateRefCounter01 Referencing only valid in AB R mode see Bit 8 9 in counter configuration 0 Disable referencing 1 Enable referencing 3 CounterEnable01 0 Reset counter to zero 1 Start counter Note Only set after counter configuration is complete 4 5 0 Reserved 6 DigitalOutput02 Set digital output 1 7 DigitalOutput03 Set digital output 2 156 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD C04X 13 Ramp function model 5 805D100XD C04X 13 Ramp function model 5 1 Register overview
163. ros sm gio pavojus E OnacHoctb nopaxenna Risc de soc electric a a N o a Pirms apkopes atvienojiet S Pries atlikdami o AMeKTPUNECKUM TOKOM 9 nainte de lucr rile de service IW i inci aptarnavimo darbus a Tlepea nposeneHvem ti CG EE 2 atjunkite tiekim ir 5 SEO eege e ame e ere E p laukite 5 minutes H ee si astenia 5 minute pentu a sa Y uzmanigu vai kondensatori ir S Pavosus et kad S BHMMAHME 5 waart uro6bi Veiane uro E PERICOL condensatoarele s se descarce izladejusies Kaes AEE D 3 Consulta i instructiunile ondensatoriai i sikrov KOHMGHCATODBI paspaannncs Skatiet instrukcijas Cu Waergamgd Riziko razu elektrick m pr dom Nevamost elektri nega udara Aramiit svesz ly Pred servisn m z sahom odpojte 4 Pred servisiranjem izklopite A Szervizel s el tt csatlakoztassal H Nap janie a pockajte 5 min t s elektri no napajanje in po akajte 8 le ramforr st majd v rjon ot S POZOR sre tony Pe free proni amar 2 O sd utas t sokat 7 2 3 G BRWACS1XX4509 For warning sticker usage please refer to chapter 1 General information in the sections 2 7 1 Protection against touching electrical parts on page 21 and 2 7 3 Protection against burns on page 24 60 Figure 11 Multi language warning sticker ACOPOSmicro User s Manual V 0 10 Installation General information Chapter 4 Installation 1 General information Make sure that the ACOPOSmicr
164. rrun or trace function disabled for analog input 1 Buffer overrun error ACOPOSmicro User s Manual V 0 10 173 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master 80SD100XD COXX 21 Ramp function model 9 6 Trace trigger This register can be used to start recording separately for each trace instance This is only possible if the trigger function has been enabled for the corresponding analog input Variable assignments Bit in Automation Studio Description 0 TraceTrigger01 Trigger for trace instance 1 The trigger event will be triggered at a positive edge bit 7 7 7 changes from 0 gt 1 1 TraceTrigger02 Trigger for trace instance 2 2 7 0 Reserved 174 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 805D100XS C04X 01 Standard function model 10 80SD100XS C04X 01 Standard function model 10 1 Register overview Register Variable assignments dec in Automation Studio Description 0 Position1 Sync Position 10 Error Error Status 12 Motoridentification01 Motor ID 16 Motor1Step0 Motor configuration MotorStep1 18 Motor1Step1 Motor configuration MotorStep2 20 Motor1Step2 Motor configuration MotorStep3 22 Motor1Step3 Motor configuration MotorStep4 33 ConfigOutput03 Holding current 34 Co
165. s outputs 73 X3 X2X Link connections 75 ACOPOSmicro User s Manual V 0 10 X4 Motor 1 connection 77 X5 Motor 2 connection 77 X6 Incremental encoder inputs 1 2 79 X7 Additional inputs outputs 82 D Danger warning eene 18 Dimension diagrams 62 Dimensioning crees 65 Fuse protection eeseeeeeese 67 Power consumption n 65 Dimensions esee 30 Disassembly iii 64 E EMC Requirements for emissions 138 Requirements for immunity to disturbances 136 Encoder components 45 ESD use ER tis 20 F Function models A 85 Default ated esed 86 Minimum cycle time 85 Minimum I O update time 85 Ramp initial dettes 108 Fuse protection gara 67 G Guidelines ii 133 Guidelines for ESD handling 20 l Incremental encoder inputs 1 2 79 Installation 61 69 191 Index Index Gold plate det 63 General information 21 Dorm P 70 Installation dimensions 62 L Legend Abbreviations i 141 Safety notices ii 18 Terminology eee 25 M Manual history ii 17
166. s to noticeable savings in energy and reduces power loss in the motor which further results in a longer life for all components 1 9 Coding and identification The possibility of using coded connection terminals is useful especially on the two channel version In particular this eliminates fatal errors that can occur by connecting the wrong drive axis during commissioning The possibility to easily label the ACOPOSmicro also helps to avoid errors 1 10 Modular cooling design The excessive heat generated in the device is mostly emitted to the heat spreader integrated in the ACOPOSmicro This excessive heat can then be dissipated in various way such as through a conventional heat sink on the cooling medium of an external water or oil cooled cold plate or passed on to machine parts ACOPOSmicro User s Manual V 0 10 29 Chapter 2 System characteristics System characteristics The ACOPOSmicro drive system 1 11 Operational and connection elements View from front View from below Power element supply Motor connections Incremental encoder only one two channel encoder models X2X Link Status indicators Insert slot for labeling Optional I Os PE ground connection 24 V connection and digital I Os Figure 3 Operating and connection elements 1 12 Dimensions 65 95 8 56
167. set warnings 13 0 Disable undercurrent detection default 1 Enable undercurrent detection 14 G Contents of the Current position cyclic acyclic register 0 Register Current position cyclic Internal position counter cyclic Register Current position acyclic ABR counter acyclic 1 Register Current position cyclic ABR counter cyclic Register Current position acyclic Internal position counter acyclic Default setting 0 15 0 Reserved 1 Some bits are only available in certain ACOPOSmicro models G This bit is only provided if the respective channel also has an encoder 2 A measurement of the motor ID can be made with this bit Take note that the application ensures that the conditions for a measurement see note in the section 3 2 28 Motor ID on page 120 are fulfilled ACOPOSmicro User s Manual V 0 10 111 Chapter 7 Register description Register description Ramp function model 3 2 6 Status The bits in Status represent the status of the State machine for a detailed description see the sections 3 4 2 Status register on page 130 and 3 4 3 State machine on page 131 Bit Description 0 Ready to switch on Switched on Operation enabled Fault error bit Voltage enabled Quick stop Switch on disabled Warning 0 Reserved ojoj ns ms a AJ w pr Remote always 1 because there is no local m
168. sition at negative edge on trigger input 11 Reserved 3 7 0 Reserved 12 6 TriggerConfig Trigger configuration Variable assignments in Bit Automation Studio Description 0 TriggerEdge 0 Trigger Trigger edge positive 1 Trigger Trigger edge negative 1 StartTrigger Activate trigger when changes occur 2 7 0 Reserved ACOPOSmicro User s Manual V 0 10 Appendix B Variable assignment in Automation Studio X2X Variable assignment in Automation Studio X2X Master e 80SD100XS COXX 01 Ramp function model 13 80SD100XS COXX 01 Ramp function model 13 1 Register overview Register Variable assignments in dec Automation Studio Description 0 AbsPos01 Set position speed 4 MpGenControl01 Control word 6 MpGenMode01 Mode 7 MpGenBrake01 Motor brake 0 AbsPos01ActVal Current position cyclic 4 MpGenStatus01 Status 6 InputStatus Input status 42 UZKVoltage UZK DC bus voltage 44 CoolerTemperature Temperature of output stage 46 Temperature Temperature 48 ConfigOutput03a Holding current 49 ConfigOutput04a Rated current 50 ConfigOutput05a Maximum current 52 MaxSpeed01pos Max speed 54 MaxAcc01 Max acceleration 56 MaxDec01 Maximum deceleration 58 RevLoop01 Turn around loop 60 FixedPos01a Set position 1 64 FixedPos01b Set position 2 68 RefSpeed01 Homing speed 70 RefConfig01 Homing configuration 72 Ful
169. software status Electrical isolation from the CPU X2X Link Digital inputs Enable input Motor holding brake 24 VDC supply Power supply Incremental Encoders 1 Additional inputs outputs Yes Yes Yes No Yes Yes No No Certification CE C UL US in development GOST R Operating conditions Operating temperature 0 to 45 C Relative humidity 5 to 85 non condensing Mounting orientation Vertical Degree of pollution according to EN 2 non conductive material 60664 1 Installation at altitudes above sea level 0 2000m No derating gt 2000 m Reduction of ambient temperature by 0 5 C per 100 m Protection type IP20 Storage and transport conditions Temperature 25 to 55 C Relative humidity 5 to 95 non condensing Mechanical characteristics Dimensions W x H x D 65 x 134 x 95 mm without mounting plate or cold plate Weight 650 700 g Mounting cooling Screw mounting with heat spreader on mounting plate or cold plate Backplane ACOPOSmicro must always be mounted to a conductive and grounded backplane Comment Please order terminal block and X2X Link cable separately See Section 2 2 Required accessories on page 38 Table 10 Basic compo 1 If present in the ACOPOSmicro model 2 Depends on the ACOPOSmicro model 40 nents Technical data cont ACOPOSmicro User s Manual V 0 10 Technical data ACOPOSmicro
170. ster 6 Homing mode 1 Set ABR counter to zero 0 Copy ABR counter to ABR counter latch Encoder 2 7 0 No effect Position c ABR counter 1 Replace contents of the following register from channel 2 Position latch lt gt ABR counter latch 1 On ACOPOSmicro models with an encoder the bits 4 7 for ABR counter 2 does not have any function 0 reserved Register ABR configuration Bit 3 channel 1 Bit 7 channel 2 0 Bit 3 channel 1 Bit 7 channel 2 1 Position Internal position counter ABR counter Position latch Internal position counter latch ABR counter latch ABR counter ABR counter Internal position counter ABR counter latch ABR counter latch Internal position counter latch The following is true regardless of this configuration bit 3 or bit 7 Homing of the ABR counter will always be configured with the bits O 2 and 4 6 of the ABR configuration register and enabled at the positive edge of bit 0 and bit 4 in the ABR control register The latch function for the internal position counter for the drive will always be checked and enabled using the bits 0 2 and 4 6 of the Latch configuration register ACOPOSmicro User s Manual V 0 10 99 Chapter 7 Register description Register description Standard function model ABR advanced configuration Bit Description 0 1 Encoder m
171. t Connection cross section AWG wire 24 12 AWG 24 12 AWG 26 12 AWG 26 12 AWG Solid wire line 0 20 2 50 mm 0 20 2 50 mm 0 20 2 50 mm 0 20 2 50 mm Fine wire line without wire tip sleeves 0 20 2 50 mm 0 20 2 50 mm 0 20 2 50 mm 0 20 2 50 mm Fine wire line with wire tip sleeves 0 25 2 50 mm 0 25 2 50 mm 0 20 1 50 mm 0 20 1 50 mm Wire tip sleeves with plastic covering 0 25 2 50 mm 0 25 2 50 mm 0 20 1 50 mm 0 20 1 50 mm Holding torque min max 0 4 0 5 Nm 0 4 0 5 Nm Cable type Copper wires only no aluminum wires Comment Rated values according to UL Table 28 Terminal blocks for the connection of motors Technical data 1 Important keep in mind the data limits for the I O modules 54 ACOPOSmicro User s Manual V 0 10 Technical data Accessories 3 1 4 Terminal blocks for the connection of the power supply Model number Short description Figure 0TB2105 9021 Accessory terminal block 5 08 5 pin DC coded M S screw clamp 2 5 mm 0TB2105 9121 Accessory terminal block 5 08 5 pin DC coded M S cage clamp 2 5 mm Table 29 Terminal blocks for the connection of the power supply Order data Technical data Product ID 0TB2105 9021 0TB2105 9121 Number of pins 5 5 Coding DC DC Type of terminal Screw clamps Cage clamps Distance between contacts 5 08 mm 5 08 mm Contact resistance lt 2 MOQ lt 5 ma Rated v
172. t OK On On Preoperational Module not initialized LED Color Status indicators for motors RUN Yellow Motor supplied with power U D Yellow Motor s specified direction of rotation gun Yellow Direction of rotation UP Green Opposite direction of rotation DOWN 1 channel model RUN and U D 2 channel model RUN1 RUN2 U D1 and U D2 Table 12 Status LEDs 2 3 4 Monitor for 24 VDC module supply The module supply voltage is continually monitored The status can be read The error Module Power Supply Error occurs when the voltage falls below 18 V 42 ACOPOSmicro User s Manual V 0 10 Technical data ACOPOSmicro models 2 4 Stepper motor components 2 4 1 Technical data Product ID Stepper motor components Motor connection Rated voltage 24 64 VDC 25 Rated current motor 10A Maximum current motor 15A 28 Controller frequency 38 5 kHz DC bus capacitance 940 uF Step resolution 256 micro steps per full step Motor cable length Max 25m Motor holding brake connection Continuous current 1 0A Maximum internal resistance 0 32 Rated voltage 24 VDC Reference potential GND for module supply terminal X2 pin 10 Protective measures safeguards Overload short circuit protection Maximum switching frequency 100 Hz Protective measures safeguards Overload and short circuit protection Yes Cable breakage monitoring No Undervoltage monitor
173. t in Automation Studio X2X Master e 80SD100XD C044 01 Standard function model 2 3 StatusOutput14 Error acknowledgement Digital output motor brake Variable assignments in Bit Automation Studio Description 0 ClearError01 Error acknowledgement Motor 1 1 ClearError02 Error acknowledgement Motor 2 2 6 0 Reserved 7 DigitalOutput Status of digital output motor brake 0 Motor brake off 1 Motor brake on 2 4 StepperLatchStatus Latch trigger status Variable assignments in Bit Automation Studio Description 0 LatchInput01 Digital input for the latch event level Stepper motor 1 1 LatchDone01 State changes each time the counter state is successfully latched reset value 0 2 LatchInput02 Digital input for the latch event level Stepper motor 2 3 LatchDone02 State changes each time the counter state is successfully latched reset value 0 4 DigitalInput01 Status of digital input 1 Triggerlnput01 Status of trigger input 2 5 Digitallnput02 Status of digital input 2 Triggerlnput02 Status of trigger input 2 6 LatchDone03 State changes each time ABR counter 1 is successfully latched reset value 0 ABR counter 1 See ABR counter control register and ABR counter configuration register 7 LatchDone04 State changes each time ABR counter 2 is successfully latched reset value 0 ABR counter 2 See ABR counter control register and ABR counter configuration register
174. tate changes each time ABR counter 1 is successfully latched reset value 0 ABR counter 1 See ABR counter control register and ABR counter configuration register 7 0 Reserved 154 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD C04X 13 Standard function model 4 5 StepperLatchConfig Latch configuration Bit Variable assignments in Automation Studio Description StartLatch01 Turn on off latch function for position register 0 Negative edge Turn off latch function for position register 1 Positive edge Tum on latch function for position register TriggerEdgePos01 TriggerEdgeNeg01 Configure latch function for position register 00 Unconditional latch position 01 Latch position at positive edge on trigger input 1 10 Latch position at negative edge on trigger input 1 11 Reserved Channel 1 0 Reserved StartLatch02 Turn on off latch function for position register 0 Negative edge Turn off latch function for position register 1 Positive edge Turn on latch function for position register a TriggerEdgePos02 TriggerEdgeNeg02 Configure latch function for position register 00 Unconditional latch position 01 Latch position at positive edge on trigger input 2 10 Latch position at negative edge on trigger input 2 11 Reserved Channel 2 0 Reserved 4 6 TriggerConfig Trigger co
175. technology is an economical solution within the torque limits 1 7 Highest resolution Depending on the stepper motor being used the ACOPOSmicro can handle a resolution in up to 102 400 partial steps This is possible due to the 256 micro steps supported by the system The basis stepping angle is automatically divided into the maximum possible micro steps according to the speed In addition to the possibility for increased positioning accuracy this also enables much smoother operation The common problem of accumulating resonance frequencies is significantly minimized by the fine grading of current changes The current controller s high frequency also plays a role in this Optional encoder feedback can help stepper motors achieve highly accurate positioning under a wide range of load torques 1 8 Ease of handling Of course no switches are needed for selecting the motor current on the device All module settings are software based The default values of all existing parameters are quickly and easily adapted to the project and overwritten at runtime Resolution of the current settings to approximately one percent the rated current meets all needs in regard to selecting a current value The module s main feature is that holding current rated current and maximum current boost current can each be defined separately This keeps thermal loss in the stepper motor to a minimum and the maximum torque is available exactly when it is needed All of this lead
176. tem Generation 3 SG3 CPUs with Motorola processors The following CPUs belong to this series CP260 IF161 IP161 XP152 CP100 CP104 CP152 CP153 CP200 CP210 CP430 CP470 CP474 CP476 CP770 CP774 PP15 PP21 PP35 PP41 SG4 System Generation 4 SG4 CPUs with Intel processors The following CPUs belong to this series CP1483 CP1483 1 CP1484 CP1484 1 CP1485 CP1485 1 CP1486 CP3484 CP3484 1 CP3485 CP3485 1 CP3486 PP45 PP100 200 PP300 400 MP100 200 CP340 CP360 CP380 CP382 CP570 EC20 EC21 AC140 AC141 AR000 ARO10 AR102 AR105 APC620 APC700 APC810 SGC System Generation Compact CPUs SGC CPUs with Motorola processors Embedded pP The following CPUs belong to this series CP0201 CP0291 CP0292 XC0201 XC0202 XC0292 ACOPOSmicro User s Manual V 0 10 25 Table 3 Definition of terms Chapter 1 General information General information Terminology 26 ACOPOSmicro User s Manual V 0 10 System characteristics The ACOPOSmicro drive system Chapter 2 System characteristics 1 The ACOPOSmicro drive system 1 1 Flexibility Ever changing fields of application and the necessity to integrate different types of drives in one machine often creates accordingly large challenges for the developers of the application Creating projects with B amp R Automation Studio makes it possible to operate a wide range of drive designs using the same tools That means that flexibl
177. tion 115 UINT 1 e e 56 120 Maximum deceleration 115 UINT 1 e e 58 122 Turn around loop 118 INT 1 e e 60 124 Set position 1 116 DINT 1 e e 64 128 Set position 2 116 DINT 1 e e 68 132 Homing speed 116 UINT 1 e e 70 134 Homing configuration 116 SINT 1 e e 72 136 Full step threshold 116 UINT 1 e e 75 139 Jolt time limitation 117 USINT 1 e e 80 144 Read back control word 117 UNT 1 e 82 146 Read back mode 117 SINT 1 e e 84 148 Motor ID 120 UINT 1 0 e 86 150 Homed zero position for cyclic counter 117 DINT e e 90 154 G Current position acyclic 110 DINT e e Table 52 Ramp function model 108 ACOPOSmicro User s Manual V 0 10 Register description Ramp function model Register dec Configuration 3 Channel 1 Channel2 Description Page DT L IR W C A 94 158 G Homedzero position for acyclic counter 117 DINT 1 e e 98 162 Error code 118 UNT 1 e 200 D Counter configuration 122 UNT 1 e e 1409 16 3 A Status of the analog inputs 123 USINT 1 1414 18 9 A Analog input 1 123 INT 1 1418 20 9 A Analog input 2 123 INT 1 Trace register for ACOPOSmicro models with analog inputs 3 1038 1166 A Trace control word 124 UINT 1 ee 1090 1218 A Trace status 124 UNT 1 e 1094 1222 A Trace buffer status 124 UNT 1 e 1098 1226 A Number of triggers executed 125 I
178. tion Studio Description 0 StartLatch01 Tum on off latch function for position register 0 Negative edge Tum off latch function for position register 1 Positive edge Tum on latch function for position register 1 TriggerEdgePos01 Configure latch function for position register Channel 1 2 TriggerEdgeNeg01 00 Unconditional latch position 01 Latch position at positive edge on trigger input 1 10 Latch position at negative edge on trigger input 1 11 Reserved 3 0 Reserved 4 StartLatch02 Turn on off latch function for position register 0 Negative edge Turn off latch function for position register 1 Positive edge Turn on latch function for position register 5 TriggerEdgePos02 Configure latch function for position register Channel 2 6 TriggerEdgeNeg02 00 Unconditional latch position 01 Latch position at positive edge on trigger input 2 10 Latch position at negative edge on trigger input 2 11 Reserved 7 0 Reserved 168 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD COXX 21 Standard function model 8 6 TriggerConfig Trigger configuration Variable assignments in Bit Automation Studio Description 0 TriggerEdge01 0 Trigger 1 Trigger edge positive 1 Trigger 1 Trigger edge negative 1 StartTrigger01 Activate trigger 1 when changes occur 2 TriggerEdge02 0 Trigger 2 Trigger edge positive 1 Trigger
179. tputs 193 StatusOutput16 Set digital outputs control register counter 194 Counter01 Counter 196 CounterLatched01 Counter latch 198 ConfigOutput12 Counter configuration Table 75 Standard function model cont 152 ACOPOSmicro User s Manual V 0 10 Variable assignment in Automation Studio X2X Master 80SD100XD C04X 13 Standard function model 4 2 Error Error Status Variable assignments in Bit Automation Studio Description 0 0 Reserved 1 OvertemperatureError01 0 No error 1 Error Overtemperature 2 CurrentError01 0 No error 5 1 Error Set current not reached 2 3 OvercurrentError01 0 No error 1 Error Overcurrent 4 0 Reserved D OvertemperatureError02 0 No error 1 Error Overtemperature 6 CurrentError02 0 No error P 1 Error Set current not reached In OvercurrentError02 0 No error 1 Error Overcurrent 8 DrvOk01 Status of drive 1 a 0 Not ready 3 1 Ready 9 DrvOk02 Status of drive 2 cu 0 Not ready 2 1 Ready 10 IncrementalEncoderOk Status of ABR encoder 0 Notready 1 Ready 3 S 11 EncoderPowerSupplyError Encoder supply error ke 0 24 VDC OK 1 Error Encoder supply not in the required range 12 0 Reserved 13 ModulePowerSupplyError Module supply error 0 24 VDC OK 1 Error Under voltage 14 Enable Enable status corresponds with Enable input 0 Disable 1 Enable OK 19
180. tructed appropriately 2 To prevent the effects of disturbances the following lines must be properly shielded motor lines encoder cables control lines data cables 3 Inductive switching elements such as contactors or relays are to be equipped with corresponding suppressor elements such as varistors RC elements or damping diodes 4 All electrical connections are to be kept as short as possible 5 Cable shields are to be attached to the designated shield terminals and the plug housing 6 Shielded cables with copper mesh or tinned copper mesh are to be used Twisting or extending the protective mesh using single conductors is not allowed 7 Unused cable conductors are to be grounded on both sides if possible 70 ACOPOSmicro User s Manual V 0 10 Wiring Description of connections 2 Description of connections 2 1 Overview The following connections are provided according to the ACOPOSmicro model being used B 2 5 8 5 5 gt 2s 2s os 2s 3 3 SII 1218 a a a a 7 wn Connection SiISiIS S S 85 FR 1 channel 2 channel alalalalal la model model Short description S ISS Page XI Power element supply ojojojojoj eo 72 x2 Supply for CPU and digital inputs outputs e v e 9 090 73 X3A X2X Link input ojojeojeojoejeo 75 X3B X2X Link output ojojojo joj eo 75 X4 Motor 1 ojojojojoj eo 77 X5 Motor 2 ojeojeoejeo 77 X6 X6A Increme
181. ts trace recordings Number of failed triggers This register contains the number of failed trigger events trace recordings This register will be increased by one when a trigger event occurs and under the following conditions Trace function is not enabled e Trace buffer is full two trigger events in short succession Inthe event of a Pre Trigger function if the number of scans before the trigger event did not record the required configured number of scans Trace trigger This register can be used to start recording separately for each analog input This is only possible if the trigger function has been enabled for the corresponding analog input Bit Description 0 Trigger for analog input 1 The trigger event will be triggered at a positive edge bit changes from 0 gt 1 1 Trigger for analog input 2 2 7 0 Reserved ACOPOSmicro User s Manual V 0 10 125 Chapter 7 Register description Register description Ramp function model 3 3 2 Trace runtime configuration The following points describe how the trace runtime configuration is performed in Automation Studio Turn on off trace for analog input X Trace AnaloginputXX on off The trace function must first be turned on off for the respective analog channel If the trace function was turned on for both analog inputs then the recorded trace data will be entered with the AsloTrc library in the following order
182. tus of digital output 2 o a uoj mn Overflow of counter 1 only valid if gate or period measurement is set in the counter configuration with bit 3 6 0 Counter value is within the counting range 0 to 7FFF The value is only valid if bit 0 of the control register counter is set 1 Counter overflow This bit is reset with Bit 0 of the control register counter LatchDone State changes each time the counter state is successfully latched reset value 0 Set digital outputs control register counter Bit Description 0 0 Disable detection of counter overflow and reset the overflow bit on counter 1 1 Enable detection of counter overflow 1 0 Reserved 2 Referencing only valid in AB R mode see Bit 8 9 in counter configuration 0 Disable referencing 1 Enable referencing 3 0 Reset counter to zero 1 Start counter Note Only set after counter configuration is complete 4 5 0 Reserved 6 Set digital output 1 7 Set digital output 2 Counter This register contains the present counter state Different counters event counter ABR counter etc are available depending on the configuration Counter latch The counter will be applied to this register at the next latch event see ABR mode in Counter configuration on page 122 ACOPOSmicro User s Manual V 0 10 121 Chapter 7 Register description Register description Ramp function model Counte
183. type IP20 Temperature range 80 C Outer diameter 7 0 mm 0 19 mm Flex radius 256 mm Table 32 X20CA0Xxx X2X Link cable Technical data 1 RoHS Restriction of the use of certain Hazardous Substances limits the use of the following substances in electrical and electronic devices Lead mercury cadmium chrome VI as well as the flame retardant polybrominated biphenyl PBB and polybrominated diphenyl ether PBDE ACOPOSmicro User s Manual V 0 10 57 Chapter 3 Technical data Technical data Accessories 3 2 3 X20CA0X68 xxxx Dimensions XXXX Pin assignments Plugs Pin Name Wire colors Plugs 1 X2X Red Shield 2 X2X White Shield 1 3 X2X Blue 1 4 X2X L Black Plugs SHLD Shield 4 4 Coding for X3B Coding for X3A Table 33 X20CA0X68 X2X Link device connection cable Measurements and pin assignments Cable lengths Model number Standard length dm Actual length cm Tolerance cm X20CA0X68 0003 3 30 2 0 X20CA0X68 0010 10 100 3 0 X20CA0X68 0020 20 200 25 0 X20CA0X68 0050 50 500 10 0 X20CA0X68 0100 100 1000 10 0 Table 34 X20CA0X01 X2X Link connection cable Cable lengths 58 ACOPOSmicro User s Manual V 0 10 Technical data Accessories 3 2 4 X20CA0X48 xxxx Dimensions XXXX Twisted shielding mesh with 5 mm 1 5 mm tinned gt FO SOO SS
184. unter latch ABR counter latch ABR counter latch Internal position counter latch ABR control register Bit Description 0 0 Deactivate referencing of ABR counter 1 1 Activate referencing of ABR counter 1 positive edge activates referencing 1 3 0 Reserved 4 0 Deactivate referencing of ABR counter 2 1 Activate referencing of ABR counter 2 positive edge activates referencing 5 7 0 Reserved 1 On ACOPOSmicro models with an encoder the bit 4 for ABR counter 2 does not have any function 0 reserved 98 ACOPOSmicro User s Manual V 0 10 Register description Standard function model ABR configuration Bit Description 00 No homing 0 1 Configure homing of ABR counter 1 01 Homing at positive edge on the R signal 0 Homing at negative edge on the R signal 11 Homing immediately at rising edge of bit O on the ABR control register see page 98 2 Homing mode 1 Set ABR counter to zero 0 Copy ABR counter to ABR counter latch Encoder 1 3 0 No effect Position lt gt ABR counter 1 Replace contents of the following register from channel 1 Position latch lt gt ABR counter latch 00 No homing 4 5 Configure homing of ABR counter 1 01 Homing at positive edge on the R signal 0 Homing at negative edge on the R signal 11 Homing immediately at rising edge of bit O on the ABR control regi
185. utputs X2X Link cable sseeeeeeeeeeens X3 connection X2X Link connections X4 connection motor 1 connection X5 connection motor 2 connection X6 connection oooccccccnccncccccccnnnoncnnnnnnnnnnnononnns X7 connection additional inputs outputs 193 72 73 73 56 75 77 77 79 82 Index Index 194 ACOPOSmicro User s Manual V 0 10 Model number index 0 0TB1106 8010 sess 52 OTB11060 8110 mte 52 0TB1110 8010 eens 53 0TBET110 8110 nonien 53 0TB1310 3100 sess 53 0TB2105 4021 ooo cece ere teres 54 0TB2105 4022 nite 54 0TB2105 4121 EE 54 0TB2105 4122 nete 54 0TB2105 9021 oo eee ere teres 55 0T B2105 9121 oso nete es 55 ACOPOSmicro User s Manual V 0 10 8 80SD100XD C044 01 se 37 80SD100XD C04X 13 ee 37 80SD100XD COXX 01 37 BOGD 1O0ND COX 21 37 80SD100XS C04X 01 37 80SD100XS COXX 01 37 X X20CAOXA4BKXXX nono nonononnnonanononononanns 56 A20OCADNDD vun 56 195 Model number index Model number index 196 ACOPOSmicro User s Manual V 0 10
186. xes The B amp R Soft CNC is able to handle up to 100 axes per interface The interfaces within a CNC channel can be mixed as needed BER Automation stu x EEE d atei Bearbeten Ansicht Einfogen ffnen projekt Test Objekt Extras Fenster Gr AE a osta fe oli ome pat E enc par Wen Einh EE e EI Eng goba I Trage aktiviert ts Objekt Subiekt Aion PEE bewegung 4 eng neGLOBAL Cent geen EECHELEN iei e INSCH neSATZ nes zm pa ncSIMULATION eme fa ncSIMULATION tt FKT 1000 0 Dr cken Sie FL um de Hifa aufzurufen r Figure 5 Complete integration in Automation Studio ACOPOSmicro User s Manual V 0 10 31 Chapter 2 System characteristics System characteristics Topologies 2 Topologies 2 1 Compact solution for small and mid sized machines The ACOPOSmicro is connected directly to a B amp R controller system This is the most compact solution for remote distributed I O systems The ACOPOSmicro X67 system Compact I O system X20 system and simple operating panels can be operated on the same line Control system visualization and operation Power Panel Remote I O systems Motion control Remote I O systems Remote I O systems X67 X67 ACOPOSmicro ACOPOSmicro X20 System X20 System Compact Compact UO system 1 0 system Figure 6 Topology Compact solution for small and mid sized machines Co

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