IS23x-DS Digital Stepper Motor - User Manual
Contents
1. 56 8 E 47142020 _ 938 1 0 03 EO ele BIT 7 6 35 AN 013 amp Pa 6 35 105 1 5 a y Lim Exe Sr AN uod E TZ MOS EE p KI Bl d amp E ve amp 1 ax s6 4 8 20 6 1 L 18231 18232 19233 All dimensions in mm 574 67 4 92 4 Figure 3 1 1523x DS Dimensions 5 Mating Connectors Connector Manufacturer and part number Molex 08 52 0123 Details Crimp pins 6 pcs Molex 22 01 3067 Connector housing 6 pins O Technosoft 2007 Fischer Elektronik CAB10 Jumpers 2 mm pitch 13 IS23x DS User Manual 6 Motion modes and scaling factors 6 1 Pulse Direction motion mode The Pulse amp Direction mode allows you to set the drives working with an external Pulse amp Direction command provided by another device The Pulse amp Direction command consists of 2 digital signals that must be connected to specially inputs of the drive e Pulse a sequence of pulses Each pulse represents a position unit The sum of the pulses indicates the position displacement to be performed The variation in number of pulses during one sampling period represents a speed reference e Direction a digital signal which indicates the reference sign motion direction Depending on the reference type 2 pulse amp direction modes are possible e Position pulse amp d2. Version 1 1 MESEN SUNE IS23x DS Intelligent Stepper Motor Intelligent Motor User Manual Preliminary O Technosoft 2007 TECHNOSOFT IS23x DS v1 1 User Manual P091 036 1523x DS UM 0307 Technosoft S A Buchaux 38 CH 2022 Bevaix NE Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 contact technosoftmotion com www technosoftmotion com Read This First About This Manual This book is the user manual for the IS23x DS family of motors with integrated electronic These motors incorporate in a single case both the motor and a high performance digital drive The manual describes the IS23x DS operation and explains how to set up IS23x DS motors using the EasySetUp commissioning software The 1523x DS family includes the following motors e 15231 DS e 15232 DS e 15233 DS Information about Cautions This book may contain caution statements CAUTION This is an example of a caution statement A caution statement describes a situation that could potentially cause harm to you or to the IS23x DS intelligent servo drive unit O Technosoft 2007 I IS23x DS User Manual If you Need Assistance If you want to Contact Technosoft at Visit Technosoft online World Wide Web http www technosoftmotion com Receive general information World Wide Web http www technosoftmotion com or assistance see Note Email contact technosoftmotion com Ask questions about Fax 41
3. Figure 2 2 IS23x DS v1 1 Analog inputs connection O Technosoft 2007 6 1523x DS User Manual 2 4 Digital I O connection Digital I O connections IS23x DS v1 1 IL ENABLE ENABLE B DIR REF E 0 c 2 0 READY 10mA max Figure 2 3 1523x DS v1 1 Digital input output connection O Technosoft 2007 IS23x DS User Manual 2 5 Pulse 8 Direction inputs connection Pulse 8 Direction Connection IS23x DS v1 1 Pulse amp Direction Generator 0 5V or 0 24V DIR REF Direction MotionChip Figure 2 4 IS23x DS v1 1 Pulse amp Direction inputs connection Technosoft 2007 8 1523x DS User Manual 2 6 Supply connection Power supply IS23x DS v1 1 connection E 2 E 0 9 2 Figure 2 5 IS23x DS v1 1 Supply connection O Technosoft 2007 IS23x DS User Manual 3 Electrical Specifications Electrical characteristics All parameters measured under the following conditions unless otherwise noted Tamb 25 C motor supply Vuor 24Vpc Motor Supply Input Min Typ Max Units Nominal values 12 48 Voc Absolute maximum values continuous 0 50 Voc Supply voltage including ripple Absolute maximum values surge 0 5 51 V duration lt 10mS Idle Vmor 24Vpc 35 60 mA Supply current Operating 6 5 2 8 6 5 A Digital Inputs Enable Pulse Dir Ref
4. Min Typ Max Units Logic LOW Vmor 0 1 6 Logic HIGH 4 5 V Input voltage 9 V Absolute maximum surge t 50 55 duration lt 1 S Logic LOW Internal pull 0 0 0 down to GND Input current Een HIGH Input voltage 0 1 0 2 mA Logic HIGH input voltage E 2 3 24V Pulse Dir 250 Input frequency KHz Enable 0 25 0 gt 1 gt 00r 1 gt 0 gt 1 2 us Pulse Dir Pulse width 0 gt 1 gt 00r 1 gt 0 gt 1 2 ms Enable ESD Rating Human body model C 100pF 1 2 KV R 1 5KQ Technosoft 2007 10 IS23x DS User Manual Digital Output Ready Min Typ Max Units Logic LOW Output crt 16mA 06 E Output voltage Absolute maximum ii t 0 5 Vmor 0 5V continuous Logic HIGH leakage current open collector output 15uA Output current voltage 24 V Logic LOW 16 50 100 mA Output voltage gt 0 5V or gt Vuor 0 5V Clamp diodes current Absolute maximum 100 100 t continuous Output frequency 220 Ohm External load to 5 V 0 500 KHz Pulse width 220 Ohm External load to 5 V 1 us i Human body model C 100pF ESD Rating R 1 5KQ 1 2 KV Analog Inputs REF Min Typ Max Units Resolution 10 bits Differential linearity Eagle 0 09 FS no missing codes Offset error 1 3 FS Gain error 2 6 FS Bandwidth 3dB 250 Hz Input voltage Operating r
5. REFIV external reference voltage applied to Dir Ref pin The scaling factor for the motor position is Motor position rot Kpos ust s V x REF V N st rot xRes ust st where Kpos 1656 57 ust V position scale factor Ns 200 steps rot number of steps Res 1 256 ust st resolution the number of microsteps step It depends by jumpers positions RESO RES1 RES2 and RES3 REF V external reference voltage applied to Dir Ref pin O Technosoft 2007 15 IS23x DS User Manual This page is empty O Technosoft 2007 16 1523x DS User Manual TECHNOSOFT
6. 32 732 55 04 product operation or report Email hotline technosoftmotion com suspected problems see Note Make suggestions about Mail Technosoft SA or report errors in Buchaux 38 documentation see Note CH 2022 Bevaix NE Switzerland Note You need to register your IS23x system in order to get assistance and support Use the License Number of the EasySetUp software O Technosoft 2007 IV IS23x DS User Manual Contents 1 Key Features 2 1523x DS Connection Diagrams 2 1 Connectors and label 2 2 Connector pins description 2 2 1 1 connector 2 2 2 J3 connector 2 3 Analog inputs connection 2 4 Digital I O connection 2 5 Pulse amp Direction inputs connection 2 6 Supply connection 3 Electrical Specifications 4 1523x DS Dimensions 5 Mating Connectors 6 Motion modes and scaling factors 6 1 Pulse amp Direction motion mode 6 2 Analog Reference motion mode O Technosoft 2007 GO N O A ANN gt oam AS ee ee gik do 0 aK b IS23x DS User Manual 1 Key Features e Fully digital servo drives and stepper motors embedded in the same case Cost efficient solution due to compactness and reduced wiring e Ideal replacement substitution of brushless axes without hardware or software changes of the indexing system e Available in 3 motor lengths offering from 55 to 189 Ncm of boosted holding torque models 15231 15232 15233 e Modes of operation e Position con
7. WM outputs Ready Ready digital output Vpc Power supply GND Ground The Dir line can be used as DIRECTION digital input in Pulse amp Direction motion mode if pins 1 2 of the J3 connector are left open and as Reference analogue input if pins 1 2 of the same connector are shorted O Technosoft 2007 3 IS23x DS User Manual 2 2 2 J3 connector Table 2 2 J3 Jumpers description State OPEN default Description Pulse amp Direction motion mode SHORT Analog Reference motion mode OPEN default SHORT OPEN default SHORT OPEN default SHORT See Table 2 3 Position Control the motor is controlled in position Speed Control the motor is controlled in speed Nominal Torque 2 5A Boosted Torque 2 8A The motor can be used at maximum ambient temperature of 25 C Stand by current is set to 100 In Stand by current is set to 25 ly Microstep Resolution See Table 2 3 O Technosoft 2007 4 1523x DS User Manual The following table explains how to set the resolution number of microsteps step using the RESO RES1 RES2 and RES3 jumpers Table 2 3 Jumpers combination for Resolution of microstep mode Res usteps step O Technosoft 2007 5 IS23x DS User Manual 2 3 Analog inputs connection Analog Inputs IS23x DS v1 1 Connection 10 10V E 2 X o c O 5 O
8. ange 10 10 14 Input voltage Absolute Maximum t REF 50 50 V continuous Input impedance REF 30 KO External potentiometer Recommended 1 5 10 KO resistance Others Min Typ Max Units Operating temperature 0 40 C 15231 DS 0 65 Weight 15232 DS 0 9 Kg 15233 DS 1 3 Storage temperature Not powered 40 85 C Humidity Non condensing 0 90 RH Technosoft 2007 11 IS23x DS User Manual Motor parameters IS231 DS IS232 DS 19233 DS Units Step angle 1 8 1 8 1 8 5 Step angle accuracy full step no load 5 5 5 Rated Voltage 2 2 3 3 2 V Current Phase 2 8 2 8 2 8 A Resistance Phase 0 7 0 83 1 13 Q Inductance Phase 1 4 2 2 3 6 mH Detent Torque 18 35 72 mNm Holding Torque 0 45 0 85 1 60 Nm Boosted Holding torque 0 5 1 0 1 8 Nm Rotor Inertia 120 276 480 g cm Weight 0 45 0 65 1 Kg Number of leads 4 4 4 n 1 FS stands for Full Scale T Stresses beyond those listed under absolute maximum ratings may cause permanent damage to the device Exposure to absolute maximum rated conditions for extended periods may affect device reliability For operation up to 25 C ambient temperature O Technosoft 2007 12 1523x DS User Manual 4 IS23x DS Dimensions 56 4 1 37 5 Digital Stepper Drive recunosorrC
9. irection the motor is controlled in position e Speed pulse amp direction the motor is controlled in speed These modes are selected by PP SP jumper The scaling factor for the motor position is 1 Ng st rot xRes ust st Motor position rot x No pls pulses where Ns 200 steps rot number of steps Res 1 256 ust st resolution the number of microsteps step It depends by jumpers positions RESO RES1 RES2 and RES3 No pls pulses the number of pulses applied to Pulse pin The scaling factor for the motor speed is 1 N st rot x Res ust st Motor speed rot s x No pls sec pulses s where Ns 200 steps rot number of steps Res 1 256 ust st resolution the number of microsteps step It depends by jumpers positions RESO RES1 RES2 and RES3 No pls sec pulses s the number of pulses per second applied to Pulse pin O Technosoft 2007 14 IS23x DS User Manual 6 2 Analog Reference motion mode In Analog Reference mode an external device provides the target reference as an analog voltage connected to the Dir Ref input The scaling factor for the motor speed is Motor speed rot s __Karo bidi x REF M N st rot xRes ust st where Kgpp 32324 3 ust s V speed scale factor Ns 200 steps rot number of steps Res 1 256 ust st resolution the number of microsteps step It depends by jumpers positions RESO RES1 RES2 and RES3
10. trol with 5 24 V pulse amp direction commands e Speed control with 10 V analogue input command e Integrated Protections short circuit over current over temperature over voltage and under voltage e Dedicated inputs outputs e PULSE input 5 24 V e DIRECTION input 5 24 V e ENABLE input 5 24 V e READY output 5 24 V e Logic and Motor power supply 12 48 VDC e Operating ambient temperature 0 40 C For operation up to 25 C ambient temperature O Technosoft 2007 1 IS23x DS User Manual 2 IS23x DS Connection Diagrams 2 1 Connectors and label J3 Connector J1 Connector oo oo oo DO DD oo oo DD Digital Stepper Drive recunosort C Figure 2 1 I523x DS v1 1 drawing backward view O Technosoft 2007 2 1523x DS User Manual 2 2 Connector pins description CAUTION BEFORE THE CONNECTING DISCONNECTING ANY OF THE SIGNALS PLEASE TURN OFF ALL POWER SUPPLIES ELSE SEVER DAMAGE MAY OCCUR 2 2 1 connector Table 2 1 J1 Connector pins description Pin name Function Alternate function Comments Pulse It is used as PULSE digital input in Pulse amp Direction motion mode digital input 5 24 V Dir Ref e Direction digital input 5 24 V in Pulse amp Direction motion mode e Reference analogue input 10 10V in Analog Reference motion mode Enable It is used as Enable digital input Connected to 5 24 V enable the P
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