Jenaer ecostep 200 User manual

ECOSTEP200
ECOLIN200
Safety Instructions
Technical Specifications
Installation
JenaerAntriebstechnikGmbH
Buchaer Straße 1 .D-07745Jena
Tel.:[phone] .
Fax: [phone]
E-Mail:[email protected]
www.ecostep.de

Jenaer Antriebstechnik GmbH ECOSTEP200 S2 (13)
SafetyInstructions/Technical Specifications/Installation, Date09/2007
Safety Instructions
General
•Alltransportation,storage,assembly,installation,connection,comissioningandservice
work must only be carried out by qualified skilled personnel taking the following into
account the relevant documentation, regulations and requirements pertaining to the
equipmentconcerned as wellas national andregional safety andaccident prevention
regulations.
Qualifiedskilled personnelare persons whohave arelevant vocational qualificationand
haveproperknowledge of theexecutionoftheabove-mentioned work.
•Readthe documentation carefullybeforeinstallation and comissioning.Serious injury
to persons and equipment may result through improper use of the device or incorrect
installationoroperation.Alltechnicalspecificationsand conditions mustbeadheredto
inall cases.
•The device contains electrostatic sensitive components, which may be damaged by
improper handling. Discharge yourself before you touch the device. Avoid contact to
highisolatingmaterials (e.g. syntheticfibres,plasticfilms,etc.).
•Controlandpowerconnectors may be energizedevenwhenthemotordoes not move.
•Allelectricalconnectors of thedevicemustnot be neitherpluggedinnor disconnected
undervoltage since electricarcsmaydemage personsandconnectors.
•Donot touch componentswhichare energized duringoperationimmediatelyafter dis-
connectionfromsupply.Waitafterdisconnectionofthedevicefromthepowersupply at
least 6 minutes before you touch components which are energized during operation.
The DC-Bus capacitor remains charged to dangerous voltages up to 6 minutes after
power-off.Thistime could behigherdepending on theexternalpowersupply. For your
safety,measure the DC-Busvoltageand waituntilit is lowerthan40V.
Proper Use
Thedevice ECOSTEPis intended foruse in commercialequipment andcomplywith the
aplicable standards and regulations and meets the requirements of the Low Voltage
Directive73/23/EEC.Alltechnicalspecificationsandpermissibleconditions mentioned in
thedocumentationmust be adheredtoinallcases.ThedeviceECOSTEPisacomponent
intendedforinstallationinmachinery.Comissioning(startingoperationinaccordance with
the intended use) is prohibited until such time as the machine’s conformity with EMC
Directive89/336/EEC andMachinery Directive 89/392/EEC has beenestablished (note
EN60204).
Thefollowingareprohibited, unless expresslyprovidedotherwise:
•useinhazardous areas
•usenear oils, acids,gases,vapours, dust, radiation,etc.

Jenaer Antriebstechnik GmbH ECOSTEP200 S3 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007
Guidelines for Mounting and Installation
Uponmountingandinstallation,note the following points:
•ensurethatthe equipment isinstalledona suitable, low-vibrationsubstructureor in
anelectric cabinet,
•allowunhinderedventilation,
•makesurethereis sufficient clearancebetweenadjacentunits,
•becarefulwhenhandlingcomponentstoavoidinjurytopersonsorequipment(donot
touch,bendordamageelectroniccomponentsandcontacts,donotchangeisolating
clearances).
Electrical Connection
Allinstallationinstructionsmentionedinthedocumentationmustbeconsidered.Allwork
mustbecarriedoutonly when
•the electric equipment is disconnected from the power supply and prevented from
beingswitchedon accidentally,
•youhavedouble-checked that theequipmentisde-energized
•youhaveensured thatanyadditionalmonitoringandprotectivefeaturesareproperly
installed.
Whenconnectingtheequipmenttothe power supply, ensure that
•theapplicable standards andregulationsarecomplied with,
•thepowerconnectionsarepermanently secured,
•theEMC-compliantinstallation (e.g. screening,earthing,arrangementof filters and
layingof cables) isrealized.
Notethatthemachinemanufacturerisresponsibleforthecomplienceofthefinalmachine
withalllimitsof the validEMCregulations.
Operation
Donot disablemonitoring and protectivefeatures duringthe trial run.Covers, electric
cabinetdoors etc.must always beclosed during operation.In theevent of changesin
the operating state, switch off the equipment in case of doubt and try to establish the
cause.Contactthemanufacturerifnecessary.
Further documentation for software commissioning and operation
For software commissioning of the ECOSTEP200, follow the guideline “Software
Commissioning ECOVARIO and ECOSTEP” which is provided on the CD-ROM
deliveredtogetherwiththedevice.Furthermore,youwillfinddocumentationonoperation
andapplication of theECOSTEP200 on thisCD-ROM.

Technical Specifications
Operating Modes
Online positioning drive by fieldbus CAN, RS485 or RS232
Positioning drive by PLC interface digital PLC I/O
Positioning drive by pulse/direction RS422, 24 V or 5 V signals
Speed controller by analog command 10 Bit analog input
Master/Slave positioning drive RS422 or 24 V encoder signals
Controller Loop Data
Sampling time digital speed loop 0.25 ms (4 kHz)
Sampling time digital position loop 1.0 ms (1 kHz)
Power Stage Specifications
Max. RMS phase current 8.5 Arms
Max. phase current 12 ADC
Max. output voltage UDC-BUS
Max. output power 1.8 kW
Short-circuit protection of motor output motor phases to DC-BUS and amongst
Min. inductance of motor winding ≥0.5 mH (UDC-BUS ≤70V)
≥1.0 mH (UDC-BUS ≤170V)
Length of motor cable max. 10 m (otherwise consult supplier)
Frequency of output current ripple 16.4 kHz
Electrical Specifications
Control logic supply 18 ... 30 VDC, ripple < 10%
Fuse of control logic supply (recommended) 3 A T
Bus power supply (UDC-BUS)24 ... 170 VDC
Fuse of bus power supply (recommended) 10 A T
Operating Conditions
Operating temperature 0 ... 40°C
Storage temperature -10. .. 70°C
Humidity (non-condensing) 5. .. 95% (RH-2 according to IEC 61131-2)
Pollution degree 2 (according to IEC 61131-2)
Protection class IP20
Place of installation dust-free, dry, lockable (e.g. electrical cabinet)
Mounting position vertical (refer to “ECOSTEP Installation“)
Installation altitude up to 1000 m above sea level (full ratings)
Power loss dissipation:
@ 5,7Arms (UDC-BUS ≤170V)
@ 7,5Arms (UDC-BUS ≤100V)
@ 8,5Arms (UDC-BUS ≤170V)
≤40 W
≤40 W
≤70 W
Cooling convection
heat sink required if cont. power loss dissipation >40W
Jenaer Antriebstechnik GmbH ECOSTEP200 S4 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007

Mechanical Specifications
Housing aluminium, passivated, conforming to RoHS
Dimensions without heat sink (H x W x D mm) 240 x 62 x 170 (without mating connectors )
Dimensions with heat sink (H x W x D mm) 240 x 102 x 170 (without mating connectors )
Mass (without heat sink) 1.8 kg
Mass (with heat sink) 3.4 kg
Cable mounting and strain relief metal clips, max. cable diameter 15 mm
Connector for CAN (X1) Sub-D 9-pole plug (male)
Connectors for:
RS485 (X2), RS232 (X5),
Encoder Out (X6),
Master Encoder (X7),
Encoder In (X8)
Sub-D 9-pole socket (female)
I/O connectors (X3, X4) plug-and-screw terminal Phönix MC-1,5//3,81
Motor connector (X9) plug-and-screw terminal Phönix IC-2,5//5,08
Bus power supply connectors (X10) plug-and-screw terminal Phönix MSTB-2,5//5,08
Communication Interfaces
CAN CANopen according to DS301, DSP402
max. 1 MBaud, max. 15 nodes
max. cable length 40 m @ 1 MBaud
max. cable length 1 km @ 50 kBaud
RS232 public JAT-protocol (similar to CANopen DS301)
9.6kBaud, max. 15 nodes
max. cable length 10 m
RS485 (2/4-wire) public JAT protocol (similar to CANopen DS301)
38.4 kBaud, max. 15 nodes
max. cable length 400 m
protocol JETWAY-R (comp. JETTER AG)
max. 38.4 kBaud, max. 14 nodes
max. cable length 400 m
Profibus DP max. 12 MBaud, max. 15 nodes
Motor Encoder Input
Motor encoder supply 5 VDC, max. 0.2 A
Signal specification differential TTL line driver (RS422: A, B, N, /A, /B, /N)
Input frequency max. 2 MHz
Edge clearance min. 0.1 µs
Pulse width min. 0.125 µs
Galvanic isolation none
Motor Encoder Output
External supply 4.8 .. .5.2 VDC (max. 0.15 A)
Signal specification differential TTL line driver (RS422: A, B, N, /A, /B, /N)
Output frequency max. 2 MHz
Galvanic isolation yes
Jenaer Antriebstechnik GmbH ECOSTEP
200 S5 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007

Master Encoder Input
Master encoder supply 5 VDC (max. 0.2 A) or 24 VDC (max. 0.1 A)
Signal specification differential TTL line driver (RS422: A, B, N, /A, /B, /N)
or
24 V signals (A, B, N)
Input frequency max. 2 MHz
Edge clearance min. 0.1 µs
Pulse width min. 0.125 µs
Galvanic isolation none
Digital Inputs
Number of inputs 10, thereoff 8 programmable
Rated input voltage 24 VDC
Input voltage range 20 ... 30 V
Input current approx. 4 mA
Input resistance 5 kΩ
Input delay approx. 1 ms
Input voltage for state “ON“ > 13 V
Input voltage for state “OFF“ < 4 V
Galvanic isolation none
Digital Outputs
Number of outputs 3, thereoff 2 programmable
Type of outputs highside-driver to + 24 V
Rated output voltage 24 V DC
Output voltage range 20 ... 30 V
Output current max. 0.5 A
Holding brake output 24 V, max. 1.0 / 0.5 A (100 ms / continuous)
Protection circuits against thermical overload and short-circuit to GND
Regeneration energy of inductive loads max. 0.2 J (internal Z-diodes provide fast
demagnetization of inductive loads)
Galvanic isolation none
Analog Input
Input voltage range ±10 V (differential input)
Input voltage max. 15 V
Input resistance approx.100 kΩ
Input delay approx. 0.1 ms
Resolution 10 Bit
Galvanic isolation none
CE Conformance
EMC Directive
(test conditions in accordance to “EMC Installation Scheme“)
pursuant to EC Directive 89/336/EEC
applied harmonized standards:
EN 50082.2 (Interference Immunity)
EN 55011, Class B (RFI-Emission)
Low Voltage Directive pursuant to EC Directive 73/23/EEC
applied harmonized standards:
EN 60204.1 / VDE113, EN 50178 / VDE160
Jenaer Antriebstechnik GmbH ECOSTEP200 S6 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007

Mechanical Outline [mm]
Jenaer Antriebstechnik GmbH ECOSTEP200 S7 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007
6.5
5
225
240
31
62
strain relief
conducting cable braid
Connectors for motor (X9) and
power supply (X10)
depth 170 (without mating connectors)
Jenaer
Antriebstechnik
ECOSTEP 200
X1 X5
X2
X3
X6
X7
X4
X8
FIELD BUS 1
RS232
FIELD BUS 2
ENCODER OUT MASTER ENCODER ENCODER IN
OUT1
OUT2
DIN1
DIN2
DIN3
DIN4
DIN5
DIN6
DIN7
DIN8
GND
AIN+
AIN-
GND
MON1
MON2
READY
RESET
ENABLE
GND
+24V
GND
S0
S1
S2
S3
24V ERR
BUS RUN
M5
40
205
optional
heatsink

Jenaer Antriebstechnik GmbH ECOSTEP200 S8 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007
OUT 1
OUT 2
DIN 1
DIN 2
DIN 3
DIN 4
DIN 5
DIN 6
DIN 7
DIN 8
GND
AN +
AN -
GND
Output 1
Output 2
Input 1
Input 2
Input 3
Input 4
Input 5
Limit switch positive
Limitswitchnegative
Home switch
Signal ground
Analog input +
Analog input -
Signal ground
Inputs / Outputs
Power supply
DC Bus -
DC Bus +
Motor
Brake +
Brake -
Motor Phase A
Motor Phase /A
Motor Phase B
Motor Phase /B
Monitor1
Monitor2
Ready
Error reset
Enable Powerstage
Signal ground
Supply+ 24V
Supply ground
MON1
MON2
READY
RESET
ENABLE
GND
+ 24V
GND
BRAKE +
BRAKE -
GND
MOTOR A
MOTOR/A
MOTOR B
MOTOR/B
DC BUS -
DC BUS +
GND
X 4
X 3
Phönix MC -1,5//3,81
X9
X10
Phönix IC -2,5//5,08
Phönix MSTB -2,5//5,08
24V
4mA
1ms
digital I/O PLC interface for
running configurable motion profiles
controlling/monitoring of
motion ranges/ profiles,
homing
+
-
1ms analog command
input for position and velocity
10 bit resolution
10 K
1ms
24V
4mA
1ms
24V =
5 V =
2 analog monitors
scalable, configurable,
8 bit resolution
digital inputs:
powerstage enable
error reset
monitoring supply voltage,
reset logic
60 V 24V
0,8A
&
2-Phase-Powerstage
galvanic
insulation
control of the powerstage
short circuit protection
monitoring overvoltage,
undervoltage and overtemperature
powerstage
intelligent brake control providing
automatic voltage reduction
24...170VDC
Phönix MC -1,5//3,81
- 10...+10 V
24 V
0,5A
24 V
0,5Adigital output ready
10 K

RS232 1:1 direct connection to a PC COM
RS232 serial interface for
parameter setting,
configuration, controlling
interface for setup by a PC
Fieldbus interface
CANopen, DS 402
Fieldbus interface, RS485 ,
published protocol
ID setting for
serial network operation
4 LEDs for indication of
device status
quadrature encoder input
for commutation, torque,
speed and positioning control
quadrature encoder input
configurable for pulse and direction
command for electronic gear
functions
Optional:
absolute value encoder input
(SSI)
max. 2 MHz RS422
TTL
max. 2 MHz RS422
TTL
Pin Signal at PC COM
1DCD
2RxD
3TxD
4DTR
5GND
6DSR
7RTS
8CTS
9RI
D-Sub 9 pin
X 5
RS232
CAN
TTL
RS485
TTL
galvanic insulation
only with Profibus
S0
S1
S2
S3
24 V (gn)
BUS (gn)
RS422
TTL
D-Sub 9 pin male
X 1 CAN
Pin Signal
1nc
2CAN_L
3CAN_GND
4nc
5nc
6GND
7CAN_H
8nc
9CAN_V+
FIELDBUS1
D-Sub 9 pin
X 2
FIELDBUS2
Code Switch
for Network-ID
0...15
Status-LED
ERR (rd)
D-Sub 9 pin
X 7 Master encoder input
Pin Signal
1+5V, max. 200 mA
2A (Clock)
3B (Direction)
4N
5+24V
6GND
7/ A (/Clock)
8/ B (/ Direction)
9/N
MASTER ENCODER
D-Sub 9 pin
X 6 Motor encoder output
Pin Signal
1+5V
2A
3B
4N
5nc
6GND
7/ A
8/ B
9/N
ENCODER OUT
D-Sub 9 pin
X 8 Motor encoder input
Pin Signal
1+5V
2A
3B
4N
5nc
6GND
7/ A
8/ B
9/N
ENCODER IN
RUN(gn)
Jenaer Antriebstechnik GmbH ECOSTEP200 S9 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007
RS485 Profibus DP
Pin Signal Signal
1frei frei
2Rx + frei
3Tx + RxD/TxD-P
4frei CNTR-P
5GND DGND
6+5V VP (+5V)
7Rx -frei
8Tx -RxD/TxD-N
9frei frei

Jenaer Antriebstechnik GmbH ECOSTEP200 S10 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007
Incoming Supply

Jenaer Antriebstechnik GmbH ECOSTEP200 S11 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007
Terminal Connection of ECOBRAX / ECOSTEP

EMV-Installationsschema
Jenaer Antriebstechnik GmbH ECOSTEP200 S12 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007

Jenaer Antriebstechnik GmbH ECOSTEP200 S13 (13)
SafetyInstructions /Technical Specifications/Installation, Date09/2007
Cable Assignment
• ECOSTEP®motors series 17 (partly), 23
• ECOLIN®motors series SLM
• Motor cable MOT43
Colour Connection
ECOSTEP / ECOLIN (X9)
Black A
Orange /A
Red B
Brown /Yellow
/B
Green/Yellow
PE
• ECOSTEP®motors series 34, 42
• Motor cable MOT33
Lead No. Connection ECOSTEP (X9)
3A
1/A
4B
2/B
Green/Yellow
PE
• Brake cable BRM39
Colour Connection ECOSTEP (X9)
Brown BRAKE+
White BRAKE-
• Motor encoder cable ENC47
Colour Signal Connection
ECOSTEP (X9)
Red +5V Pin 1
Blue GND Pin 6
White APin 2
Brown /A Pin 7
Green BPin 3
Yellow /B Pin 8
Grey NPin 4
Pink /N Pin 9
Bare Shield Pin Socket
• ECOSTEP®motors series 17 (partly)
Colour Connection ECOSTEP (X9)
White A
Yellow /A
Red B
Blue /B
• ECOSTEP®motors series 17 (partly), 23
• Motor / brake cable MOT34
Lead No. Connection ECOSTEP (X9)
3A
1/A
4B
2/B
5BRAKE+
6BRAKE-
Green/Yellow
PE