Datasheet - Mclennan Servo Supplies Ltd.
Contents
1. The I O break out box features screw terminals to enable the 16 Digital I O to be easily connected The unit is DIN rail mounted so that it can be Sited next to a typical PLC control unit Typical Output Line wep ow current Relay WP com Diode com VLL ov A Typical Input Line RP RP com VLL OV Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk CO Mclennan Page 15 16 HPE Series Low backlash gearheads for Sim Step system HPE series gearheads provide a combination of reduced backlash and economic prices They are specifically designed for applications that require long life high dynamic repetitive cycle operation and high positional accuracy Dimensions mm Gearhead _HPE5O _ Version HPE50 S HPE50 D Gearbox Diameter so soo D2 12 k6 12 k6 Output shaft diameter Gearbox mounting register_ D3 Gearbox mounting holes d4 mounting hole PCD 44 Shaft fixing bolt diameter D5 Gearbox Length 74 5 Overall Output Shaft length L2 24 5 L3 4 18 Gearbox register length Free shaft length Adaptor length L6 4 h9 Output shaft Key length L7 Key distance to shaft end 57 2 Suitable steppermotors 23HS X 23HS X A i k pS Output shaft key width L8 2 Shaft fixing tapped length L9 a 8 O HS series HPE series stepper motor F T7 GEARHEAD f Performance Gear Ratio Max Typical Maxim2. optional rear shaft 23 HS eee ete eee Series F 38 1 0 025 i 19 dimension L 147 2 23HS 108 L 52 mm 20 6 257 2 23HS 309 L 67 mm High speed size 34 motors Dimensions mm 300 foal S t 2 max optional rear shaft 86 A O 83 73 02 17HS series 17HS series 16 5 G 14 12 2 10 ry 8 a 6 17HS 020 ce 4 17HS 240 2 0 0 2000 4000 6000 8000 10000 12000 half steps per sec 0 9 degrees 23HS series 23HS Mk 2 Series 35 30 5 25 a z 20 23HS 108 S 15 23HS 309 10 5 0 0 5000 10000 15000 20000 half steps sec 0 9 degrees 34HS series S4HS 109 100 g 8 5 6 S 40 a 20 0 5000 10000 15000 20000 half steps per sec 0 9 degrees Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk Lr Mclennan Page 7 16 Packaged System HSX series motor options with leads HSX series motor features Choice of 2 frame sizes Hybrid construction featuring high energy magnets 400 step rev resolution using packaged drive Optimised for high torque output Options with encoders for closed loop control Choice of gearhead options for increased torque amp resolution Matched cable and connector box for simplified connections
3. High torque size 23 motors NUIT i i Ep optional rear shaft 38 1 0 05 H l 19 47 2 lt dimension L sl joe 20 6 0157 2 Dimension L Ds 23HSX 206 55 mm 6 35 23HSX 306 78 5mm 8 0 High torque size 34 motors optional rear shaft 34 HSX ae Free Ti dimension L asi e Dimension L 34HSX 108 67 mm 34HSX 208 94 mm 23HS series 23HSX Series 100 90 4 _ 80 E 70 Ss 60 ry 50 key au 23HSX 206 30 20 23HSX 306 10 0 0 2000 4000 6000 8000 10000 half steps per sec 0 9 degrees 34HSX series 34HSX Series 250 z E 34HSX 108 z S 100 c 50 0 0 1000 2000 3000 4000 5000 6000 half steps per sec 0 9 degrees Ensure the drive current is set appropriately for the rating of the motor Standard configuration is set at 3 5 Amps Refer to section 6 of the Sim Step user manual which can be downloaded from www mclennan co uk technicalmanuals html SimStep Single Axis Stepper Drive Manual Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk G Mctennan Page 8 16 Packaged system HSX series motors with encoders When specifying a stepper motor with encoder add the part number of the encoder to that of the motor Eg Stepper mot
4. System Accessories Sim Step Connecting motors to the junction box MSA 889 Limit datum connections OVLL VLL over travel limit Upper Limit VLL over travel limit Lower Limit Limits datum cable VLL datum approach 507 LDC series Datum App VLL datum stop Datum stop VLL Abort stop k C5 Allow sufficient deceleration over travel deceleration deceleration zone working zone zone C C C Notes on connection of datum amp limits terminals General All limit and datum signal inputs should utilise normally closed contacts Note The datum approach signal is not always required This is the case when a The motor is operated at slow creep speed since it is not necessary to decelerate before stopping at the datum point In this case the datum approach terminals should not be connected b When the controller is configured to utilise the high speed datum registration feature In this case the datum approach connections should be linked Note This connection enables an external open contact to abort a move However for this feature to be utilised it is necessary to remove an internal link LK8 within the controller Using Over travel limits as datum inputs In applications where space is limited the end of travel limit OVLL switches may also be used as the datum stop switch In the VLL example shown the lower limit switch is als
5. the sequence can be made to continuously repeat EMclennan Page 4 16 Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk Es Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk Packaged Stepper Motor System Programming Guide The control systems utilise a powerful motion controller per axis that provide accurate motion control and integration with other lt i ai machine functions The system may be programmed via an RS232 fae ey interface to provide motion in real time on receipt of a movement O command ne Alternatively a series of sequences can be programmed to enable o the unit to operate as a stand alone system interfaced to other machine functions Commands are shown below Table of commands N Display Next Page INitialise A Query All eee re ESC Soft Stop AB Command ABort QM Query Mode S ID IDentify Version OA Output Actual position Encoder 1 OV Output Velocity OF Output Following Error QP Query Positions L Query Privelge Level a ee ER lt numerator gt lt denominator gt Set Encoder Ratio CR lt steps gt Set CReep steps SE lt time ms gt Set SEitling time Wl lt steps gt Set settling Window CR TO lt value ms gt Set Time Out time OD Output Datum position MD Move to Datum Position DM lt mode gt Set Datum Mode He a CP lt value gt Set Command Position E SD lt decel
6. Bi polar high efficiency chopped constant current Phase current Amps Internally adjustable 0 5 to 3 5 per phase Motor Drive rail Vdc 40 Protection Short circuit over temperature Motion control communication RS232 or RS485 Number of axes Up to 99 units may be connected to single communication port Internal communication set up options Baud rate amp axis address code up to 99 Programmable Motion control functions Open loop or closed loop using scaled encoder feedback Motion control parameters Acceleration deceleration velocity relative amp absolute moves creep distance amp speed sequences amp I O states Max acceleration rate Steps sec 500 000 Max deceleration rate Steps sec 500 000 Max velocity Steps sec 1 200 000 20 000 Typical with 23HS Motor Max move length Steps 2 000 million Max creep speed Steps sec 800 max recommended start stop rate Sequences amp programmable I O Number of pre programmed sequences 8 stored in non volatile memory for off line operation Number of commands per sequence 127 Number of user programmable inputs 8 Optically isolated digital inputs Number of user programmable outputs 8 Optically isolated digital outputs Limits datum amp registration inputs End of travel limit protection Direction sensitive via normally closed direction limits or optional software limits avoid program
7. LP Display HElp Pages Display Previous Page Help with Status output message Display Next Page Help with Modes Commands Help with Control Modes i I 0 vm IJI I ozz PRIVILEGE LEVEL NP lt new PIN gt New Pin Set Privilege Level Enter PIN Query Privilege Level oj 24 BACKUP Backup All Backup Digiloop parameters n Backup Sequences wo Refer to the Sim Step and PM600 manuals for further details these can be downloaded from this link www mclennan co uk technicalmanuals html Sim Step user manual SimStep Single Axis Stepper Drive Manual PM600 manual PM600 Motion Controller Manual Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk Mclennan Page 6 16 Packaged System HS series motor options with leads HS series motor features Choice of 3 frame sizes High quality hybrid construction 400 step rev resolution using packaged drive Optimised for high speed performance Options with encoders for closed loop control Choice of gearhead options for increased torque amp resolution Matched cable and connector box for simplified connections Size 17 motors Two models provide a choice of body lengths amp performance Dimensions mm L Rear shaft 2 studs 17HS 020E L 34 mm 55 long 17HS 240E L 46 mm High speed size 23 motors Two models provide a choice of body lengths amp performance T 4 K eae l 5 2 4 en Oy 4 48 gt
8. Packaged Stepper Motor System Sim Step A complete system solution Plug amp run simplicity Programmable positioning Optional closed loop control Matching size 17 34 frame motors Motor torque ratings up to 1 5 Nm Singl Axis Steppe Optional planetary gearheads Geared motor options up to 100Nm AC Supply Digital I O Sim Step Manual contro Manual control Stepper motor interface Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk Mclennan Page 1 16 Packaged Stepper Motor System Sim Step The Sim Sitep integrated stepper motor controller provides a cost effective solution to a wide range of applications that require accurate manipulation of the driven LLLLLSSSSSS AA vs SPA ttt ed i al mechanism The unit is plug amp run package that greatly reduces j oa installation time Simply connect the intelligent drive to a a ee PC motor travel limits etc amp an ac supply using cables j e provided and the system is fully operational ii Features Integrated Power supply for direct connection to AC Supply Choice of 115 or 230 Vac 50 or 60Hz operation Integrated high efficiency Bi polar drive stage 400 step rev motor resolution provides increased smoothness Internally adjustable phase current from 0 5 3 5 Amps Integrated motion controller RS232 or RS485 communication Up to 99 units can be daisy chained to a single port Internal memory stores sequ
9. connector OR Plug amp run simplicity Note For connections to HT type motor the winding configuration is set by the cable Parallel 507MOCxx922 Series 507MOCxx944 Where xx is the cable length in meters Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk EO Mclennan Page 10 16 Packaged System Accessories Sim Step Connecting motors to the junction box MSA 889 Depending on the motor selected it will have either 4 or 8 leads which can be identified as shown below 4 lead 17HS series motor 8 lead 23 amp 34 frame size motors White Red Yellow Blue Colour Code for 8 lead motors Motor Lead identification 1 1 2 2 3 3 4 4 HS Series Red White Red White Yellow Yellow Black White Black White Orange Orange 23HSX Red White Red White Yellow Yellow Orange White Orange White Brown Brown 34HSX Red White Red White Yellow Yellow Black White Black White Orange Orange The motor is connected into the junction box as shown below Motor Lead connections 4 Lead motors Link for parallel Operation Motor Lead 507 MOC series Motor leads lid di oo ARWONNDA I HS amp 34 HSX 23HSX Junction Box MSA889 Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk Mclennan Page 11 16 Packaged
10. ences for stand line operation Programmable position acceleration deceleration amp velocity 8 input amp 8 output Digital I O to interface with other process functions Optional jog box for manual operation Choice of matched size 17 23 amp 34 frame motors All connections by plug amp socket for Plug amp Run operation Modular construction for improved serviceability Dimensions mm Encoder I O signals Diagnostics display Power switch Fuses Th ahs Limits RS 232 293 AC Supply Jog Not including handle or connectors Installation Rack mounting installation front Base mounting front Up to 3 units may be installed in a single 3U high rack installation or alternatively the drive may be base mounted using the mounting bracket as shown i i 10 e 000 Part s ga fi OO len 0 OD iin 00 506RAC10001 Simrack 1 506RAC00002 Simrack 2 483 19 in i a0 506RAC00003 Simrack 3 Rear Mounting using base bracket Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk CO Mclennan Page 2 16 Specification Sim Step Supply Vac 115 or 230 50 or 60Hz internally selectable Motor Drive type 2 phase
11. eration gt Set Deceleration LD lt deceleration gt Set Limit Deceleration Mclennan Page 5 16 MOVES BO lt steps gt Set BackOff Steps CR lt steps gt Set Creep steps MA lt position gt Move Absolute MR lt position gt Move Relative Move to Datum Position HD lt direction gt Go Home to Datum DE lt time gt Set DElay time o SOFT LIMITS LL lt position gt Set Lower soft Limit SL lt mode gt Set Soft Limits UL lt position gt Set Upper soft Limit END OF MOVE SE lt steps gt Set SEttling time l lt steps gt Set end of move Window Wait for End of current move BO lt steps gt Number of Back Off steps m READ amp WRITE PORTS Read Port WA lt bit pattern gt WAit for input event IT lt bit pattern gt Do next command Ff True WP lt bit pattern gt Write Port IF lt bit pattern gt Do next command F False v JOG JOYSTICK JM lt mode gt Set Jog Mode SJ lt speed gt Set slow Jog speed SF lt speed gt Set Fast jog speed JC lt value gt Set Joystick Centre Position JR lt value gt Set Joystick Range JS lt speed gt Set Joystick Speed JT lt value gt Set Joystick Threshold QJ Query Joystick Settings SEQUENCES AE lt sequence no gt Auto Execute sequence AD Auto Execute Disable DS lt sequence no gt Define Sequence ES End Sequence definition LS lt sequence no gt List Sequence XS lt sequence no gt EXecute Sequence Backup Sequences US lt sequence no gt Undefine Sequence w wn HE
12. his type is specified Encoder cables Order Code Cable length 507ENC01893 im 507ENC02893 2m 507ENC03893 3m Y 4 507ENC05893 5m Limit Datum Limit 507ENC10893 10m xe a Motor encoder Note Specify connector on encoder Lead motors equipped with encoders The following stepper motors are equipped with leads for connection to the MSA889 junction box amp encoders equipped with connectors for direct connection to the Sim Step controller via a 507ENC cable The use of the MSA889 junction box also provides a convenient way of terminating limits amp datum signals as previously described Motor encoder options Frame size Motor encoder Order Code Size 17 17HS 240 Cl 500L 301HSE00052 Size 23 23HSX 206 CI 500L 301HSE00053 23HSX 306 Cl 500L 301HSE00054 Size 34 34HSX 108 RI 500L 301HSE00055 34HSX 208 RI 500L 301HSE00056 Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk CO Mclennan Page 14 16 Packaged System Accessories Sim Step I O cable and Break out box An I O cable complete with break out DIN rail mounting terminal box may be specified 040906056060 Limit ze Pe _ __ 6 CONTACT TTT l O Break out box 506MSC00891 Connections Motor Output Lines Input Lines WP1 WP2 WP3 WP4 WP5 WP6 WP7 WP8 WP com Diode com VLL oV RP1 RP2 RP3 RP4 RP5 RP6 RP7 RP8 RP com N C VLL OV
13. itioning using ma command The use of the ma command enables the absolute position of a driven mechanism to be programmed Eg 1ma 6000 1ma4000 2000 4000 6000 1ma0 Relative moves using mr command The use of the mr command controls the move distance relative to the last position Eg 1mr6000 1mr 2000 1mr 4000 2000 4000 6000 Using digital I O in sequences Digital O ports may be programmed by the user and Yess OE incorporated in pre programmed sequences to ETEA signals interface with other machine functions when using the controller in stand alone applications used as g a Eg 1ds1 define sequence 1 1wa00000001 wait for 1 signal on input port 1 to start sequence 1ma 6000 move instruction OSDCOOO 1we wait for end of move Tie 1wp00000001 write 1 signal on output port 1 1wa00000010 wait for 1 signal on input T port 2 1ma4000 move instruction 1we wait for end of move 1wp00000010 write 1 signal on output port 2 1wa00000100 wait for 1 signal on input port 3 1ma0 1we wait for end of move 1wp00000100 write 1 signal on output port 3 1de1000 dwell for 1 second 1we wait for end of delay 4000 6000 1wp00000000 reset output ports les end sequence By sending command 1xs1 execute sequence one the above motion programme is executed once By adding a 1xs1 command at the end of a sequence before the 1es command
14. ming errors Limit activation Programmable choice of Hard Limit Stop ramp Independently programmable deceleration on Limit activation Datum search Via approach signal input amp datum stop signal normally open Or single datum switch or encoder index using high speed capture Registration High speed datum registration up to 1 200 000 steps sec Abort stop input Normally closed signal aborts move Typical programmable velocity profile Programmable positioning features Set velocity Set acceleration mr Relative move distance Position ma Absolute move position Set deceleration Set creep sd speed cr creep distance Alternative Over travel Limit operation Ramped limits give reliable position memory for high speed stopping Reliable stopping slow speed pee detected Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk Overshoot gt z pie High speed datum registration Datum always approached in same direction NT Auto return Datum acquisition with auto ramp amp return Auto return gt 4 lt p FMctennan Page 3 16 Packaged Stepper Motor System Sim Step Up to 99 drives may be controlled from single comms port The Sim Step unit may be internally pre set during commissioning with a unique axis address code so that up to 99 units may be addressed from a single comms port Absolute pos
15. nstallations For single axis drives specify JC100 Jog box and connect it to the green D connector on the Sim Step as shown Dual axis installations For dual axis drives specify JC200 Jog box and connect it to the green D connector on Sim Step hn Wie oN e fi Oe a the Sim Step as shown iy oo oT Use jog link cable L 3 15 axis installations For 3 15 axes drives specify JC809 Jog box and connect it to the green D connector on Note Jog link cable is handed identified by the colour of the screw heads as shown the Sim Step as shown E e Tag i Dig e O O Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk in a D 2 2 Fit terminator Supplied with JC809 Mctennan Page 13 16 Packaged System Accessories Sim Step Encoder cables 507ENC Series The Sim Step control module module may be connected to the encoder via an encoder cable that is equipped with connectors at each end One connector plugs into the controller the other into the motor encoder extension cable as shown Alternatively the cable is plugged directly into the motor s connector box when a motor of t
16. o connected to the Ebest Limit datum stop input and the controller is configured to utilise the high foe Limit speed datum approach facility VLL DAM Approach It should be noted that the end of travel limit switches should be VLL 0 placed sufficiently within the total travel area to allow the motor to Datum Stop decelerate from high speed VLL Abort stop Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk Mclennan Page 12 16 Packaged System Accessories Manual Jog Boxes Sim Step JC Series JC Series Jog boxes provide a convenient way to manually control motor control systems which are equipped Sim Step Three models are available which provide the following manual control functions e Bi directional single step jog function by momentary depression of or buttons e Slow speed continuous operation in desired direction by the depression amp holding of the or buttons Programmable during commissioning to meet the user s exact requirements programmed in the controller using sj command e Fast speed continuous operation in desired direction by depressing amp holding the F button together with either the or button The fast positioning rates are programmable during commissioning to meet the user s exact requirements programmed in the controller using sf command Single axis i
17. or encoder 23HSX 206 CI 500L 23HSX 306 CI 500L 34HSX 108 RI 500L 34HSX 208 RI 500L Dimensions mm motor rear face Stepper motor ribbon cable on Fitted with Cl L encoder Cl Encoder or RI L Encoder DIMENSIONS mm Model 23HT G o075 a 7 0 075 4 Model 34HT 73 0230 05 o 69 620 2 08620 23 L 0 075 4 Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk CO Mclennan Page 9 16 Packaged System Accessories Sim Step Motor datum amp limit cables Motor amp datum limit cables fitted with connectors to plug into the rear panel of the controller may be specified with alternative lengths Note Alternative cable lengths up to 30m may be specified to special order Datum limit cables Junction Box type Type MSA889 Motor cable Motor cable options Length type 1m 507MOC01892 Limit 2m 507MOC02892 3m 507MOC03892 A a TTT 5m 507MOC05892 10m 507MOC10892 Note Limit switches must be normally closed type Junction box Motor cable Sim Step controller The motor cable is provided with a connector that either plugs into the junction box or a motor HSX motor with leads equipped with a
18. um Options Backlash Input Emergency Friction arc min Nm n 1 Nm Nm Kg pees te pepe tT ey ge Pe 10 5 5 25 6 5 HPE50 D 50 lt 15 0 04 gt 95 6 5 28 1 0 100 5 5 g 77 10 16 5 25 18 HPE 70 D 50 lt 15 0 12 gt 95 18 75 2 5 16 5 25 45 82 HPE 90 D 50 lt 15 0 51 gt 95 45 82 200 5 3 100 40 72 General specification Max Radial Max Axial Torsional Max input Lubrication Noise Level Load Load Rigidity speed Paint Finish 3000 rpm N N Nm Arc min rom Input _ dB A HPE 50 HPE 70 1650 1600 6 000 HPE 90 2600 2000 6 6000 8 000 Stoved epoxy gloss Mclennan Servo Supplies Ltd Tel 44 0 8707 700 700 www mclennan co uk Mclennan Page 16 16
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