phytron phyMOTION INAM01.1 User manual

phytron
9/2019 Manual MA 1275-A011 EN
phyMOTIONTM
1 Axis Carrier Module
INAM01.1, INAM02.1 and INAM03.1
TRANSLATION OF THE GERMAN ORIGINAL MANUAL

Manual INAM01 / INAM02 / INAM03
MA 1275-A011 EN 2
Version
Modification
10
INAM02 and INAM03 modules
11
Pin assignment of the Harting motor connector
2019
All rights with:
Phytron GmbH
Industriestraße 12
82194 Gröbenzell, Deutschland
Tel.: [phone]
Fax: [phone]
In this manual you will find the descriptions of the features and specifications of the
phyMOTIONTM module: INAM01 1 Axis Carrier Module for APS or LPS Power Stage or
INAM02 / INAM03 for integrated MSX+power stage.
This manual is supplementary to the “phyMOTIONTM Modular Multi-axis Controller for
Stepper Motors”manual.
In the manual phyMOTIONTM Modular Multi-axis Controller for Stepper Motors
(http://www.phytron.de/phyMOTION) are the descriptions of the features and specifications
for the phyMOTIONTM stepper motor controller.
Every possible care has been taken to ensure the accuracy of this technical manual. All
information contained in this manual is correct to the best of our knowledge and belief but
cannot be guaranteed. Furthermore, we reserve the right to make improvements and
enhancements to the manual and / or the devices described herein without prior
notification.
We appreciate suggestions and criticisms for further improvement.
Email address: [email protected]
Questions about the use of the product described in the manual that you cannot find
answered here, please contact your representative of Phytron (http://www.phytron.de/) in
your local agencies.

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3 MA 1275-A011 EN
1 Information
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This manual:
Read this manual very carefully before mounting, installing and operating the
device and if necessary further manuals related to this product.
- Please pay special attention to instructions that are marked as follows:
DANGER –
Serious injury!
Indicates a high risk of serious injury or
death!
DANGER –
Serious injury from
electric shock!
Indicates a high risk of serious injury or
death from electric shock!
WARNING –
Serious injury
possible!
Indicates a possible risk of serious injury
or death!
WARNING –
Serious injury from
electric shock!
Indicates a possible risk of serious injury
or death from electric shock!
CAUTION –
Possible injury!
Indicates a possible risk of personal
injury.
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CAUTION –
Possible damage!
Indicates a possible risk of damage to
equipment.
CAUTION –
Possible damage
due to ESD!
Refers to a possible risk of equipment
damage from electrostatic discharge.
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”Any heading“
Refers to an important paragraph in the
manual.

Manual INAM01 / INAM02 / INAM03
MA 1275-A011 EN 4
Observe the following safety instructions!
Qualified personnel
WARNING –Serious injury possible!
Serious personal injury or serious damage to the machine and drives could
be caused by insufficiently trained personnel!
Without proper training and qualifications damage to devices and injury
might result!
- Design, installation and operation of systems may only be performed
by qualified and trained personnel.
- These persons should be able to recognize and handle risks
emerging from electrical, mechanical or electronic system parts.
- The qualified personnel must know the content of this manual and be
able to understand all documents belonging to the product. Safety
instructions are to be provided.
- The trained personnel must know all valid standards, regulations and
rules for the prevention of accidents, which are necessary for
working with the product.
Safety Instructions
Further Manual
This manual is in addition to the following main manual:
“phyMOTIONTM Modular Multi-axis Controller for Stepper Motors”
- First, read the main manual and then continue with this manual.
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Intended use:
The phyMOTIONTM is designed for operating in a drive system.
- An installation is allowed only if the requirements of the EC Machinery
and EMC Directives are conformed with.
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Part of a machine:
This product is used as a part of a complete system, therefore risk
evaluations concerning the specific application must be made before using
the product.
- Safety measures have to be taken according to the results and be
verified.
- Personnel safety must be ensured by the concept of this overall system
(e.g. machine concept).

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5 MA 1275-A011 EN
WARNING –Serious injury from electric shock!
If the phyMOTIONTM is not operated with SELV/PELV voltages, the risk of
dangerous voltages may be on the device. Touching these components
carrying high voltages can cause serious injury or death from electric shock:
- Always observe the safety concept SELV / PELV to ensure safe
insulation and separation of low voltage supplies from the mains.
WARNING –Serious injury from electric shock!
During electrical installation cables, connectors, etc. can be live.
- Before starting wiring, make sure that none of the power supplies are
connected to the primary side of the mains supply. Isolate the power
supplies from the mains or remove the appropriate fuses.
- All modules must be inserted and screwed into the phyMOTIONTM
housing before powering up. If necessary, unoccupied module slots
must be covered with the supplied blank front plates.
Never operate the equipment when open.
- Do not plug or unplug the modules while powered.
- Do not plug or unplug the connectors while powered.
- If the equipment was energised, wait 3 minutes after power off to allow
the capacitors to discharge and ensure that there are no residual
charges on cables, connectors and boards.

Manual INAM01 / INAM02 / INAM03
MA 1275-A011 EN 6
2 Contents
1Information ..............................................................................................................3
2Contents...................................................................................................................6
3INAM (Internal Amplifier-Module) –Module Overview..........................................7
4Technical Data........................................................................................................10
4.1 Declaration of Incorporation: Modules gen. & External Supply EXT....................10
4.2 Declaration of Conformity: Modules with Internal Supply INT..............................12
4.3 Mechanical Data.................................................................................................14
4.4 Features.............................................................................................................15
4.5 Functions............................................................................................................18
5Installation..............................................................................................................20
5.1 Mechanical Installation.......................................................................................20
5.1.1 INAM01 .......................................................................................................20
5.1.2 INAM02 .......................................................................................................22
5.2 Electrical Installation...........................................................................................22
5.2.1 Connectors - Overview................................................................................22
5.2.2 Pin Assignment............................................................................................23
5.2.3 Stepper Motor Connection X5......................................................................25
5.2.4 Limit Switch Connection X2.........................................................................29
5.2.5 Option: Encoder Connection X1...................................................................30
5.2.6 Option: Resolver, LVDT or RVDT Connection X1.......................................34
5.2.7 Option: Motor Temperature Sensor Connection X3/X4................................39
6Commissioning ......................................................................................................41
6.1 Diagnostics by the LEDs.....................................................................................42
6.2 Parameterising the Module.................................................................................43
7Principles of Positioning .......................................................................................44
8Service ....................................................................................................................45
9Warranty, Disclaimer and Registered Trademarks ..............................................46
9.1 Disclaimer ..........................................................................................................46
9.2 Warranty.............................................................................................................46
9.3 Registered Trademarks......................................................................................46
10Index........................................................................................................................47

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7 MA 1275-A011 EN
3 INAM (Internal Amplifier-Module) –Module Overview
INAM01 is a carrier board for stepper motor power stages up to 5 APEAK max. with the
APS01 power stage or up to 9 APEAK max. with the LPS01 power stage (as a sub module).
INAM02 or INAM03 is a 1-axis module for the MSX+ power stage (up to 15 APEAK) which is
only available in phyMOTION® configurations with integrated power supply INT. INAM02
differs from INAM03 by the motor connector type.
All INAM modules need an Indexer (e.g. I4XM01) in front.
Two limit switches and a third switch, which can be wired as a reference switch evaluation,
are included as standard.
In addition, sub modules can be optionally selected for encoder evaluation (ECAS01,
ECES01, ECMS01, ECBS01) as well as motor temperature evaluation (PTS01 and
KTS01).
Fig. 1: INAM01 / INAM02 front view

Manual INAM01 / INAM02 / INAM03
MA 1275-A011 EN 8
Fig. 2: INAM03 front view

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9 MA 1275-A011 EN
Ordering code of the power stage carrier module (INAM01) for the LPS power stage
(INAM01):
Ordering code (example): INAM01-LPS01-ECAS01-PTS01
power stage carrier with LPS power stage, with integrated SSI
encoder and Pt sensor
Ordering code of the 1 axis stepper motor drive module (INAM03):
Ordering code (example): INAM03-MSX+-ECAS01-PTS01
Module with connected MSX+power stage, integrated encoder SSI and Pt sensor

Manual INAM01 / INAM02 / INAM03
MA 1275-A011 EN 10
4 Technical Data
4.1 Declaration of Incorporation: Modules gen. & External Supply EXT

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11 MA 1275-A011 EN

Manual INAM01 / INAM02 / INAM03
MA 1275-A011 EN 12
4.2 Declaration of Conformity: Modules with Internal Supply INT

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13 MA 1275-A011 EN

Manual INAM01 / INAM02 / INAM03
MA 1275-A011 EN 14
4.3 Mechanical Data
Dimensions
100 x 100 mm (without front panel)
Weight
INAM01: APS01: 94 g / 71 g (without / with front panel)
LPS01: 95 g / 72 g (without / with front panel)
INAM02: 75 g / 52 g (without / with front panel)
INAM03: 118 g / 85 g (without / with front panel)
Mounting
Plug-in module into the modular stepper motor controller
phyMOTIONTM
Mounting position
Vertical

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15 MA 1275-A011 EN
4.4 Features
Performance Characteristics
Stepper motor
Suitable for bipolar control of 2 phase stepper motors with
4, (6) or 8 lead wiring
Superior controller
Modular phyMOTIONTM controller
Supply voltage
with APS01/
LPS01
with MSX+
24…70 VDC Nominal voltage: 70 VDC
70…120 VDC Nominal voltage: 120 VDC
I/O voltage 24 VDC
APS01: 5 VDC internal
LPS01: 3.3 VDC logic voltage
Phase current
with APS01
with LPS01
with MSX+
0.1 to 5 APEAK (short-circuit-, overload-proof)
0.1 to 9 APEAK
0.8 to 15.4 APEAK
Current adjustment
with APS01
with LPS01
with MSX+
10 mA steps
20 mA steps
100 mA steps
Step resolutions
with APS01
with LPS01
with MSX+
Full step, half step, 1/2,5, 1/4, 1/5, 1/8, 1/10,
1/16, 1/20, 1/32,1/64,1/128,1/256,1/512
Full step, half step, 1/4, 1/8, 1/16, 1/32, 1/64,
1/128, 1/256
Full step, half step,1/4, 1/5, 1/10, 1/20
Maximum step frequency
with APS01
with LPS01
with MSX+
500,000 steps/sec.
250,000 steps/sec.
500,000 steps/sec.
Physical resolution
with APS01
with LPS01
Approx. 102,400 positions per revolution
(0.00035° / step)
Approx. 51,200 positions per revolution
(0.00070° / step)
The optional encoder modules should be
considered for very fine positioning
with MSX+
about 4000 (0.09° / step)

Manual INAM01 / INAM02 / INAM03
MA 1275-A011 EN 16
Current consumption
(max.)
with APS01
with LPS01
with MSX+
3.6 ADC at 5 APEAK
250 mA (5 VDC internal)
6.6 ADC bei 9.2 APEAK
>420 mA (3.3 VDC logic voltage)
10 ADC at 15 APEAK
10 mA (24 VDC I/O)
30 mA (EnDat Encoder 5 VDC internal)
20 mA + Encoder (24 VDC I/O)
30 mA (temperature module)
1 A (limit switch)
Mechanical output power
with APS01
with LPS01
with MSX+
up to 70 V / 5 A
up to 70 V / 9 A
up to 120 V / 15 A
Nominal power of the
motor voltage supply
with APS01
with LPS01
with MSX+
100 W
460 W
1200 W
Cable length –motor
Shielded: 50 m max.
Cable length –digital
inputs
30 m;
if longer (100 m max.) use shielded cable and contact
shield close to the controller.
Diagnostics
Possibility for connection via 2 signal cables with 3.3 V logic
level:
LED1: power stage ready
LED2: error
Support of linear and
rotary axes
Yes
Hardware error detection
with APS01
with LPS01
with MSX+
Over current, short circuit > 10 A
Over temperature T>85 °C
None
Over current, short circuit > 25.2 A
Over temperature T>85 °C

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17 MA 1275-A011 EN
Interfaces
Analogue outputs
A, B, C, D for a 2 phase stepper motor
INAM01: 4-pin Phoenix connector EXT
INAM02: 5-pin Phoenix connector INT (on demand)
INAM03: (5+1)-pin Harting connector INT
Analogue inputs
Option: Motor temperature evaluation
- K thermal element (needs sub module: KTS01)
- Pt100 sensor (needs sub module: PTS01)
Digital inputs
3 Limit switches: PNP- NOC/NCC
Option: Encoder evaluation
- with ECAS01 sub module: incremental or SSI
- with ECES01 sub module: EnDat, incremental or SSI
- with ECBS01 sub module: incremental, SSI or BiSS
- with ECMS01 sub module: Resolver, LVDT or RVDT
Communication and Programming
Programming
Via Phytron‘s programming environment phyLOGICTM
ToolBox
Communication
Master-slave communication. The INAM is slave and
communicates with the MCM main controller module.

Manual INAM01 / INAM02 / INAM03
MA 1275-A011 EN 18
4.5 Functions
INAM01: Integrated APS or LPS power stage with encoder and temperature module
as option
INAM02 or INAM03: Connected MSX+power stage with encoder and temperature
module as option
Relative and absolute positioning
Reference movements/ speed mode
Step frequency: APS01 up to 500,000 steps/sec.
LPS01 up to 250,000 steps/sec.
MSX+up to 500,000 steps/sec.
INAM01: Integrated 5 APEAK power stage APS01
Integrated 5 APEAK / 24 to 70 VDC stepper motor power stage
Selectable step resolution up to 1/512 micro step
Online power stage parameterisation and diagnostics
INAM01: Integrated 9 APEAK power stage LPS01
Integrated 9 APEAK / 24 to 70 VDC stepper motor power stage
Selectable step resolution up to 1/256 micro step
Online power stage parameterisation and diagnostics
Option: INAM02 INT: Connected 15.4 APEAK power stage MSX+with 5-pin Phoenix
motor connector
15.4 APEAK / 70 or 120 VDC stepper motor power stage
Selectable step resolution up to 1/20 micro step
Online power stage parameterisation and diagnostics
INAM03 INT: Connected 15.4 APEAK power stage MSX+with (5+1)-pin Harting motor
connector (standard)
15.4 APEAK / 70 or 120 VDC stepper motor power stage
Selectable step resolution up to 1/20 micro step
Online power stage parameterisation and diagnostics

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19 MA 1275-A011 EN
3 Limit/reference switches
Evaluation of up to three limit/reference switches (PNP NCC/NOC)
Option: Encoder evaluation
The evaluation of the following encoders depends on the selected sub module:
- with ECAS01 sub module: incremental or SSI
- with ECES01 sub module: EnDat, incremental or SSI
- with ECBS01 sub module: BiSS, incremental or SSI
- with ECMS01 sub module: Resolver, LVDT or RVDT
Option: Motor temperature evaluation
The evaluation of Pt100 temperature sensors (with PTS01 sub module) or K types
(with KTS01 sub module) is possible depending on the selected sub module.

Manual INAM01 / INAM02 / INAM03
MA 1275-A011 EN 20
5 Installation
Phytron always delivers the phyMOTION™ completely assembled in order to make sure you can
start with the installation and the wiring right away.
Further manual
Detailed information on this subject is in a supporting manual:
“phyMOTIONTM Modular Multi-axis Controller for Stepper Motors”
5.1 Mechanical Installation
5.1.1 INAM01
In case you receive an individually packed INAM01 as an expansion module or after repair
or service unpack the module in ESD protected area only.
CAUTION –Possible damage by ESD!
The modules of the phyMOTIONTM consist of sensitive electronic
components that can be destroyed by electrostatic discharge voltages.
- Always store and transport single modules in ESD protective
packaging.
- Always handle the components in compliance with the ESD protection
measures.
- No liability is accepted for any consequences resulting from improper
handling or non-ESD-friendly packaging.
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CAUTION –Possible damage!
The INAM01 module is designed for a maximum supply voltage of 48 VDC. If
it is supplied with >48 VDC the card might be damaged.
- Make sure that a power module (POWM01, POWM02) is supplied on
the left with less than 48 VDC to avoid damage.
Before integrating or switching modules always make sure that the phyMOTION™ is shut
down and the power supplies are disconnected.