Beckhoff AS2000 Series User manual

Operating instructions | EN
AS2000
Stepper motors
2023-10-20 | Version 2.6.1

Table of contents
Version: 2.6.1 ─── 3AS2000
Table of contents
Documentation notes .......................................................................................................................................... 5
Disclaimer ......................................................................................................................................................... 5
Version numbers............................................................................................................................................... 7
Scope of the documentation ............................................................................................................................. 7
Staff qualification .............................................................................................................................................. 8
Safety and instruction ..................................................................................................................................... 10
Explanation of symbols................................................................................................................................... 10
Beckhoff Services ........................................................................................................................................... 12
For your safety................................................................................................................................................... 14
Safety pictograms ........................................................................................................................................... 14
General safety instructions ............................................................................................................................. 15
Product overview............................................................................................................................................... 17
Name plate ..................................................................................................................................................... 17
Type key ......................................................................................................................................................... 18
Product characteristics ................................................................................................................................... 19
Ordering options ............................................................................................................................................. 20
Intended use ................................................................................................................................................... 21
Technical data.................................................................................................................................................... 22
Definitions ....................................................................................................................................................... 22
Data for operation and environment ............................................................................................................... 23
Step mode and limit speeds ........................................................................................................................... 24
AS202x ........................................................................................................................................................... 25
AS204x ........................................................................................................................................................... 35
Elastomer coupling [+] .................................................................................................................................... 46
Scope of supply ................................................................................................................................................. 51
Packaging ....................................................................................................................................................... 51
Transport and storage....................................................................................................................................... 52
Conditions....................................................................................................................................................... 52
Transport ........................................................................................................................................................ 53
Long-term storage .......................................................................................................................................... 54
Technical description........................................................................................................................................ 55
Mounting position............................................................................................................................................ 55
Feedback ........................................................................................................................................................ 56
Shaft end A ..................................................................................................................................................... 56
Mechanical installation ..................................................................................................................................... 57
Flange mounting ............................................................................................................................................. 57
Output elements ............................................................................................................................................. 57
Elastomer coupling [+] .................................................................................................................................... 60
Electrical installation......................................................................................................................................... 62
Connection technology ................................................................................................................................... 62
Commissioning.................................................................................................................................................. 68
Before commissioning .................................................................................................................................... 68
During commissioning .................................................................................................................................... 68
Prerequisites during operation........................................................................................................................ 69
After operation ................................................................................................................................................ 69
Maintenance and cleaning ................................................................................................................................ 70
Cleaning materials .......................................................................................................................................... 70
Intervals .......................................................................................................................................................... 72

Table of contents
4 ─── Version: 2.6.1AS2000
Accessories........................................................................................................................................................ 73
Connection cables .......................................................................................................................................... 73
Gear unit ......................................................................................................................................................... 73
Elastomer coupling ......................................................................................................................................... 73
Fault correction.................................................................................................................................................. 74
Decommissioning.............................................................................................................................................. 76
Disassembly ................................................................................................................................................... 76
Disposal .......................................................................................................................................................... 77
Guidelines and Standards ................................................................................................................................ 78
Standards ....................................................................................................................................................... 78
Guidelines....................................................................................................................................................... 78
Test centers .................................................................................................................................................... 78
EU conformity ................................................................................................................................................. 78
Index ................................................................................................................................................................... 79

Documentation notes
Version: 2.6.1 ─── 5AS2000
1.1Disclaimer
Beckhoff products are subject to continuous further development.
We reserve the right to revise the operating instructions at any time
and without prior announcement. No claims for the modification of
products that have already been supplied may be made on the basis
of the data, diagrams and descriptions in these operating instruc-
tions.
1.1.1Trademarks
Beckhoff®, TwinCAT®, TwinCAT/BSD®, TC/BSD®, EtherCAT®, Ether-
CATG®, EtherCATG10®, EtherCATP®,
SafetyoverEtherCAT®, TwinSAFE®, XFC®, XTS® and XPlanar® are
registered and licensed trademarks of Beckhoff Automation GmbH.
The use of other brand names or designations by third parties may
lead to an infringement of the rights of the owners of the corre-
sponding designations.
1.1.2Patents
The EtherCAT technology is protected by patent rights through the
following registrations and patents with corresponding applications
and registrations in various other countries:
• EP1590927
• EP1789857
• EP1456722
• EP2137893
• DE102015105702
EtherCAT® is a registered trademark and patented technology, li-
censed by Beckhoff Automation GmbH.

Documentation notes
6 ─── Version: 2.6.1AS2000
1.1.3Limitation of liability
All components in this product as described in the operating instruc-
tions are delivered in a specific configuration of hardware and soft-
ware, depending on the application regulations. Modifications and
changes to the hardware or software configuration that go beyond
the documented options are prohibited and nullify the liability of
Beckhoff Automation GmbH & Co. KG.
The following is excluded from the liability:
• Failure to observe these operating instructions
• Improper use
• Use of untrained personnel
• Use of unauthorized spare parts
1.1.4Copyright
© Beckhoff Automation GmbH & Co. KG, Germany
The copying, distribution and utilization of this document as well as
the communication of its contents to others without express autho-
rization is prohibited. Offenders will be held liable for the payment of
damages.
We reserve all rights in the event of registration of patents, utility
models and designs.

Documentation notes
Version: 2.6.1 ─── 7AS2000
1.2Version numbers
Provision of revision levels
On request, you can obtain a list of revision levels for changes in
the operating instructions.
• Send your request to: [email protected]
Origin of the document
These operating instructions were originally written in German. All
other languages are derived from the German original.
Product features
Only the product properties specified in the current operating in-
structions are valid. Further information given on the product pages
of the Beckhoff homepage, in emails or in other publications is not
authoritative.
1.3Scope of the documenta-
tion
Apart from these operating instructions, the following documents are
part of the overall documentation:
AS2000 Definition
Short information Document with instructions for handling the
motors

Documentation notes
8 ─── Version: 2.6.1AS2000
1.4Staff qualification
These operating instructions are intended for trained control and au-
tomation specialists with knowledge of the applicable and required
standards and directives.
Specialists must have knowledge of drive technology and electrical
equipment as well as knowledge of safe working on electrical sys-
tems and machines. This includes knowledge of proper setup and
preparation of the workplace as well as securing the working envi-
ronment for other persons.
The operating instructions published at the respective time of each
installation and commissioning is to be used. The products must be
used in compliance with all safety requirements, including all appli-
cable laws, regulations, provisions and standards.
Instructed person
Instructed persons have a clearly defined task area and have been
informed about the work to be carried out. Instructed persons are fa-
miliar with:
• the necessary protective measures and protective devices
• the intended use and risks that can arise from use other than for
the intended purpose
Trained person
Trained persons meet the requirements for instructed persons.
Trained persons have additionally received training from the ma-
chine builder or vendor:
• machine-specific or
• plant-specific
Trained specialists
Trained specialists have received specific technical training and
have specific technical knowledge and experience. Trained special-
ists can:
• apply relevant standards and directives
• assess tasks that they have been assigned
• recognize possible hazards
• prepare and set up workplaces

Documentation notes
Version: 2.6.1 ─── 9AS2000
Qualified electricians
Qualified electricians have comprehensive technical knowledge
gained from a course of study, an apprenticeship or technical train-
ing. They have an understanding of control technology and automa-
tion. They are familiar with relevant standards and directives. Quali-
fied electricians can:
• independently recognize, avoid and eliminate sources of danger
• implement specifications from the accident prevention regula-
tions
• assess the work environment
• independently optimize and carry out their work

Documentation notes
10 ─── Version: 2.6.1AS2000
1.5Safety and instruction
Read the contents that refer to the activities you have to perform
with the product. Always read the chapter For your safety in the op-
erating instructions. Observe the warnings in the chapters so that
you can handle and work with the product as intended and safely.
1.6Explanation of symbols
Various symbols are used for a clear arrangement:
► The triangle indicates instructions that you should execute.
• The bullet point indicates an enumeration.
[…] The square brackets indicate cross-references to other text
passages in the document.
[1] The number in the square brackets refers to the position in the
adjacent figure.
[+] The plus sign in square brackets indicates ordering options
and accessories.
In order to make it easier for you to find text passages, pictograms
and signal words are used in warning notices:
DANGER
Failure to observe will result in serious or fatal injuries.
WARNING
Failure to observe may result in serious or fatal injuries.
CAUTION
Failure to observe may result in minor or moderate injuries.

Documentation notes
Version: 2.6.1 ─── 11AS2000
Notes are used for important information on the product. The possi-
ble consequences of failure to observe these include:
• Malfunctions of the product
• Damage to the product
• Damage to the environment
Information
This sign indicates information, tips and notes for dealing with the
product or the software.
Examples
This symbol shows examples of how to use the product or soft-
ware.
QR-Codes
This symbol shows a QR code, via which you can watch videos or
animations. Internet access is required in order to use it.
You can read the QR code, for example, with the camera of your
smartphone or tablet. If your camera doesn't support this function
you can download a free QR code reader app for your smartphone.
Use the Appstore for Apple operating systems or the Google Play
Store for Android operating systems.
If you cannot read the QR code on paper, make sure that the light-
ing is adequate and reduce the distance between the reading de-
vice and the paper. In the case of documentation on a monitor
screen, use the zoom function to enlarge the QR code and reduce
the distance.

Documentation notes
12 ─── Version: 2.6.1AS2000
1.7Beckhoff Services
Beckhoff and the worldwide partner companies offer comprehensive
support and service.
1.7.1Support services
Beckhoff Support offers technical advice on the use of individual
Beckhoff products and system planning. Our support engineers offer
you competent assistance, for comprehension questions as well as
for commissioning.
+495246963-157
[email protected]
www.beckhoff.com/en-en/support/our-support-services/
1.7.2Training offerings
We offer worldwide training courses for our products and technolo-
gies, always concentrating on direct local contact with our cus-
tomers. Please note that we offer both classroom and online training
courses.
+495246963-5000
[email protected]
www.beckhoff.com/en-en/support/training-offerings/
1.7.3Service offerings
Our service experts support you worldwide in all areas of after-sales
service.
+495246963-157
[email protected]
www.beckhoff.com/en-en/support/our-service-offerings/

Documentation notes
Version: 2.6.1 ─── 13AS2000
1.7.4Headquarters Germany
Beckhoff Automation GmbH & Co. KG
Hülshorstweg 20
33415 Verl, Germany
+495246963-0
[email protected]
www.beckhoff.com/en-en/
A detailed overview of our worldwide locations can be found online
at Global presence.
www.beckhoff.com/en-en/company/global-presence/
1.7.5Downloadfinder
Our download finder contains all the files we offer for download:
from our application reports to our technical documentation and con-
figuration files.
www.beckhoff.com/documentations

For your safety
14 ─── Version: 2.6.1AS2000
Read this chapter containing general safety information. The chap-
ters in these operating instructions also contain warning notices. Al-
ways observe the safety instructions for your own safety, the safety
of other persons and the safety of the product.
When working with control and automation products, many dangers
can result from careless or incorrect use. Work particularly thor-
oughly, not under time pressure and responsibly towards other peo-
ple.
2.1Safety pictograms
On Beckhoff products you will find attached or lasered safety pic-
tograms, which vary depending on the product. They serve to pro-
tect people and to prevent damage to the products. Safety pic-
tograms must not be removed and must be legible for the user.
Warning of a hot surface
During and after operation there is a risk of burns at the motor hous-
ing due to hot surfaces over 60°C. Allow the motor housing to cool
down for the specified time, at least 15 minutes.
Avoid shocks to the shaft
on the shaft may cause the maximum permissible axial and radial
values to be exceeded. Optical encoder systems can thus be de-
stroyed.

For your safety
Version: 2.6.1 ─── 15AS2000
2.2General safety instructions
In this chapter you will find notes on safety when handling the mo-
tors. They cannot run independently. The motors are therefore re-
garded as incomplete machines. They must be installed in a ma-
chine / plant by the machine manufacturer. The documentation cre-
ated by the machine manufacturer must be read.
2.2.1Before operation
Protective equipment
Do not remove or bypass any protective devices. Check all protec-
tive devices before operation. Make sure that all emergency
switches are present at all times and can be reached by you and
other people. People could be seriously or fatally injured by unpro-
tected machine parts.
Shut down and secure the machine or plant
Shut down the machine or plant. Secure the machine or plant
against being inadvertently started up.
Correctly ground electrical components or modules
Avoid electric shocks due to improper grounding of electrical compo-
nents or modules. Ground all conductive components according to
the specifications in the chapters "Electrical Installation" and "Me-
chanical Installation".
Keep the immediate environment clean
Keep your workplace and the surrounding area clean. Ensure safe
working.
Check safety pictograms
Check whether the designated pictograms are on the product. Re-
place missing or illegible stickers.
Observe tightening torques
Mount and repeatedly check connections and components, comply-
ing with the prescribed tightening torques.
Use the original packaging only
When shipping, transporting, storing and packing, use the original
packaging or non-conductive materials.

For your safety
16 ─── Version: 2.6.1AS2000
2.2.2During operation
Do not work on live electrical parts
Never carry out any work on the motor or motor cable when they are
live. Measure the voltage on the DC link test contacts DC+ und DC-.
Only work on the motor when the voltage has dropped to < 50 V.
Ensure that the protective conductor is connected properly. Never
loosen electrical connections when live. Disconnect all components
from the mains and secure them against being switched on again.
Do not touch hot surfaces
Check the cooling of the surfaces with a thermometer. Do not touch
the components during and immediately after operation. Allow the
components to cool sufficiently after switching off.
Avoid overheating
Operate the motor according to the technical specifications. Refer
here to the chapter: "Technical data". Activate and monitor the tem-
perature contact of the motor. Provide for sufficient cooling. Switch
off the motor immediately if the temperature is too high.
Do not touch any moving or rotating components
Do not touch any moving or rotating components. Fasten all parts or
components on the machine or plant.
2.2.3After operation
De-energize and switch off components before working on
them
Check the functionality of all safety-relevant devices. Secure the
working environment. Secure the machine or plant against being in-
advertently started up. Observe the chapter: "Decommissioning".

Product overview
Version: 2.6.1 ─── 17AS2000
3
12
3
4
5
6
Item number Explanation
1 Feedback connection
2 Power connection
3 Ground connection
4 Motor shaft
5 Name plate
6 Motor housing
3.1Name plate
3.1
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
A 1000 S
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
A 2000 S
LOT
AS2021-0D00
0.8 Nm ; 2.0 A
24/50 V ; IP 54
DC
Stepper Motor
1024 Inc
LOT
AS2021-0D10
24/50 V ; IP 54
DC
1024 Inc
Stepper Motor
0.8 Nm ; 2.0 A
1.5 Nm ; 5.6 A
Stepper Motor
24/50 V ; IP 54
DC
1024 Inc
LOT
AS2022-0H00 AS2022-0H10
1024 Inc
Stepper Motor
LOT
24/50 V ; IP 54
DC
1.5 Nm ; 5.6 A
AS2023-0H00
1024 Inc
24/50 V ; IP 54
DC
LOT
Stepper Motor
1.8 Nm ; 5.6 A
Stepper Motor
AS2023-0H10
1.8 Nm ; 5.6 A
24/50 V ; IP 54
DC
LOT
1024 Inc
AS2041-1H00
24/50 V ; IP 54
DC
LOT
Stepper Motor
3.3 Nm ; 5.6 A
1024 Inc
6.4 Nm ; 5.6 A
1024 Inc
AS2042-1H00
LOT
Stepper Motor
24/50 V ; IP 54
DC
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
24/50 V ; IP 54
DC
Stepper Motor
AS2042-1H10
6.4 Nm ; 5.6 A
1024 Inc
LOT
AS2043-1J00
8.0 Nm ; 6.5 A
24/50 V ; IP 54
DC
Stepper Motor
LOT
1024 Inc
8.0 Nm ; 6.5 A
AS2043-1J10
1024 Inc
LOT
24/50 V ; IP 54
DC
Stepper Motor
0.38 Nm ; 1.0 A
24/50 V ; IP 54
DC
Stepper Motor
LOT
AS1010-0000
LOT
Stepper Motor
AS1020-0000
24/50 V ; IP 54
DC
0.50 Nm ; 1.0 A
Stepper Motor
24/50 V ; IP 54
DC
AS1020-0110
200 Inc
0.50 Nm ; 1.0 A
LOT LOT
Stepper Motor
AS1020-0120
1024 Inc
0.50 Nm ; 1.0 A
24/50 V ; IP 54
DC
0.60 Nm ; 1.5 A
LOT
Stepper Motor
AS1030-0000
24/50 V ; IP 54
DC
AS1050-0000
24/50 V ; IP 54
DC
1.20 Nm ; 5.0 A
LOT
Stepper Motor
1.20 Nm ; 5.0 A
Stepper Motor
AS1050-0110
24/50 V ; IP 54
DC
LOT
200 Inc 1024 Inc
24/50 V ; IP 54
DC
LOT
1.20 Nm ; 5.0 A
Stepper Motor
AS1050-0120
Stepper Motor
AS1060-0000
24/50 V ; IP 54
DC
LOT
5.00 Nm ; 5.0 A
Stepper Motor
24/50 V ; IP 54
DC
LOT
AS1060-1000
5.00 Nm ; 5.0 A
Stepper Motor
LOT
200 Inc
AS1060-0110
24/50 V ; IP 54
DC
5.00 Nm ; 5.0 A
AS1060-1110
24/50 V ; IP 54
DC
LOT
Stepper Motor
200 Inc
5.00 Nm ; 5.0 A
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
BECKHOFF Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
24/50 V ; IP 54
DC
LOT
1024 Inc
Stepper Motor
AS1060-0120
5.00 Nm ; 5.0 A
Stepper Motor
AS1060-1120
LOT
24/50 V ; IP 54
DC
1024 Inc
5.00 Nm ; 5.0 A
2
3
4
5
8
9
10
1
67
11
Item number Explanation
1 Article description
2 UL conformity, as cURus component, in preparation
3 EAC conformity
4 CE conformity
5 Country of manufacture
6 Protection class
7 Standstill current
8 LOT number of the motor for product identification
9 Resolution of the feedback
10 Nominal supply voltage
11 Holding torque

Product overview
18 ─── Version: 2.6.1AS2000
3.2Type key
AS 20 uv – w x y z Explanation
AS Product area
Stepper motors
20 Series
AS2000
u Flange size
2 = N2, 56mm
4 = N3, 86mm
v Overall length
1 = one stack
2 = two stacks
3 = three stacks
w Shaft versions
0 = smooth shaft, only for AS202x
1 = shaft with feather key, only for AS204x
x Winding type
D = 2A
H = 5A … 6A
J = < 8A
y Feedback system
0 = no encoder
1 = encoder 24VDC, 1,024 increments
z Holding brake
0 = no holding brake

Product overview
Version: 2.6.1 ─── 19AS2000
3.3Product characteristics
Standardized NEMA flange sizes
Adaptation to international standards through flange sizes N2,
NEMA23 and N3, NEMA34.
Step angle and power range
The power gap to the AM8000 synchronous servomotor is consider-
ably reduced through a step angle of 1.8°.
High protection class
The IP54 protection class protects the stepper motors against
splash water, contact and dust.
Extended features
• Integrated M12 power connector and feedback socket
• Integrated torsion-proof encoder, 1024 inc/rev, for closed-loop
control
By means of the field-oriented control, resonances are significantly
decreased and the development of heat and noise is reduced.
Stepper motor terminals and stepper motor modules
All motors of the AS2000 series can be commissioned with the
Beckhoff stepper motor terminals and stepper motor modules. For
further details, please refer to the chapter "Electrical installation",
[Page62].
Ordering options and accessories
Flange size Product characteristic
2 = N2 Smooth shaft
4 = N3 Shaft with feather key
Preassembled cables for power and feedback are available as ac-
cessories.
Further accessories:
• Low-backlash planetary gear from the AG2250 series
• Elastomer couplings of the AX2090-+ECxx series

Product overview
20 ─── Version: 2.6.1AS2000
3.4Ordering options
Ordering options are defined via the type key and must be ordered
separately. The listed components cannot be retrofitted.
3.4.1Feather key
3.4.1
A feather key transmits torque to an output element.
The stepper motors of flange size N3 are equipped with feather key
groove and inserted feather key according to DIN6885. The rotor is
balanced with half a feather key according to DIN ISO
21940-32:2012-08.