phytron TM StepDrive 1x24..48V/5A User manual

Extreme. Precision. Positioning.
Manual 1303-A007EN
Stepper Motor Module for the SIMATIC®ET 200®SP
TM StepDrive 1x24..48V/5A

04/2021 Manual MA 1303-A007 EN
phytron
TM StepDrive 1x24..48V/5A
for SIMATIC®ET 200®SP
Module Description
and Commissioning
TRANSLATION OF THE GERMAN ORIGINAL MANUAL

Technology Module TM StepDrive 1x24..48V/5A
MA 1303-A007 EN 2
Version
Content
7
Operation with low inductance motor
6
filter; isochronous
5
common-mode rejection filter
4
product photo, figures, power supply (p.33)
3
EMC filters, supplements warnings
2
derating
1
new
2021
All rights with:
Phytron GmbH
Industriestraße 12
82194 Gröbenzell, Deutschland
Tel.: [phone]
Fax: [phone]
In this manual, you will find the feature descriptions and specifications of the ET 200®SP
module for positioning of a stepper motor: TM StepDrive 1x24..48V/5A
(phytron 10020273).
This manual is supplementary to the SIMATIC ET 200SP Distributed I/O system.
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 en-
hancements to the manual and / or the devices described herein without prior notification.
We appreciate suggestions and criticisms for further improvement.
Email address: [e-mail]

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Questions about the use of the product described in the manual that you cannot find an-
swered here, please contact your representative of Phytron (http://www.phytron.de/) in
your local agencies.
Further manuals
All current manuals for SIMATIC products are available for free download on
the Internet: (https://support.industry.siemens.com/cs/start?lc=en-DE)
Helpful documentation for commissioning the TM StepDrive 1x24..48V/5A
technology module in which you will find detailed information on hardware con-
figuration, configuration, wiring, commissioning, diagnostics and the technical
data of the ET 200®SP decentralized peripheral system:
–SIMATIC ET 200SP Distributed I/O system
(https://support.industry.siemens.com/cs/mdm/58649293?c=104269682827&t
=1&s=BaseUnit&lc=en-DE)
–Device Manuals Interface module
(https://support.industry.siemens.com/cs/products?dtp=Manual&mfn=ps&pnid=
14034&lc=en-DE)
–Operating Manual for ET 200®SP BaseUnit 6ES7-193-6BP20-0BB1
compatible with TM StepDrive 1x24..48V/5A ET 200SP BaseUnits
(https://support.industry.siemens.com/cs/mdm/59753521?c=104409187595&t
=1&s=ET%20200SP%20BaseUnit&lc=en-DE)
–Function manual SIMATIC PROFINET with STEP 7
(https://support.industry.siemens.com/cs/mdm/49948856?c=106491543819&t
=1&s=PROFINET%20with%20STEP%207%20V13%20SP1&lc=en-DE)

Technology Module TM StepDrive 1x24..48V/5A
MA 1303-A007 EN 4
Content
1TM StepDrive 1x24..48V/5A........................6
1.1 Short Overview........................................6
1.2 Overview of the most important features of
the StepDrive technology module:...........7
1.3 Overview of the Data Interfaces...............8
1.4 Directives and Standards.........................9
1.5 Declaration of Conformity......................10
2To Consider Before Installation .................11
2.1 Qualified Personnel...............................11
2.2 Safety Instructions.................................11
2.3 Ambient Conditions ...............................13
3Safety Concept..........................................14
3.1 Safety Measures ...................................14
3.2 EMC Measures......................................15
3.3 Shielding ...............................................16
4Technical Data ..........................................17
4.1 Mechanical Data....................................17
4.2 Features................................................18
5Installation.................................................24
5.1 Sizing of the Power Supply....................25
5.2 Mechanical Installation..........................26
5.3 Temperature Behaviour of the TM
StepDrive under Typical Operating
Conditions.............................................27
5.4 Electrical Installation..............................28
5.4.1 Connection Type “Power stage“........28
5.4.2 Connection Type “Indexer“ ...............29
5.4.3 Motor Connection .............................30
5.5 Wiring Schemes....................................32
5.6 Diagnostics by the LEDs .......................33
6Commissioning..........................................34
6.1 Configuration of the Module via TIA
Portal®...................................................34
6.2 Configuration of the Module Using the
GSD Description File.............................35
6.3 Operating Modes of the StepDrive
Technology Module............................... 36
6.4 Potential Group.....................................36
6.5 Configuration of the Module.................. 37
6.5.1 Basic Parameters.............................37
6.5.2 Diagnosis......................................... 39
6.5.3 Indexer Configuration....................... 40
6.5.4 Inputs............................................... 43
6.5.5 Power Stage Configuration ..............45
6.5.6 I/O Addresses..................................48
6.6 Configuration of the Module via TIA
Portal®...................................................49
6.7 Parameterising of the Module via TIA
Portal®...................................................51
6.7.1 Parameter (DS128)..........................52
6.7.2 Causes of Parameter Setting Errors. 52
6.7.3 Demo Project ...................................52
7Program Control and Feedback Interface .53
7.1 Control Interface in the PM mode.......... 54
7.1.1 Control Value...................................54
7.1.2 Operating Command........................54
7.1.3 Feedback Mode Setting ...................55
7.1.4 Error Reset....................................... 55
7.1.5 Offset for Reference Search............. 55
7.1.6 Consider Reference Switch for
Reference Search............................ 55
7.2 Feedback Interface in PM Mode ........... 55
7.2.1 Position............................................55
7.2.2 Feedback Value............................... 56
7.2.3 Set Feedback Value.........................56
7.2.4 Feedback Bits in Byte 9 ...11............56
7.3 Data Record Transfer ........................... 58
8Operation of the TM StepDrive as a
positioning controller (PM mode)...............59
8.1 Traversing Curve ..................................59

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8.2 Run Commands ....................................62
8.2.1 Moving to Absolute Position..............62
8.2.2 Moving a Relative Distance ..............62
8.2.3 Search for Reference........................63
8.2.4 Free Run with Variable Velocity........66
8.2.5 Set Position ......................................67
8.2.6 Motor Stop........................................67
8.2.7 Emergency Stop...............................68
8.3 Stop Conditions.....................................69
8.3.1 Directed Hold Traversing Job............69
8.3.2 Hold Traversing job in Exceptional
Cases...............................................69
8.4 Functions of the Integrated Power Stage70
8.4.1 Phase Currents (Run, Stop, Boost
Current)............................................70
8.4.2 Reaction to CPU STOP ....................72
8.4.3 Step Resolution................................73
8.4.4 Current Delay Time...........................77
9ESD Protective Measures .........................78
10Disclaimer .................................................78
11Warranty and Trade Marks .......................78
12Appendix: Parameters and Data Record... 79
12.1 Data Record 128 (DS128): Read and
Write Parameters.................................. 79
12.2 Data Record 245: Module Parameters
PROFIBUS ...........................................81
12.2.1Positioning Mode (PM mode).......... 81
12.2.2Technology Object Mode (TO mode)82
13Appendix: Assignment of the Control and
Feedback Interface...................................83
13.1 Assignment of the Control Interface (PM
mode) ...................................................83
13.2 Assignment of the Feedback Interface
(PM mode)............................................83
14Appendix: Error Message and Diagnostic
Alarm........................................................ 84
14.1 Error Messages when Writing Data
Records................................................84
14.2 Diagnosis Notifications........................85
15Glossary ................................................... 86
16Index.........................................................90

Technology Module TM StepDrive 1x24..48V/5A
MA 1303-A007 EN 6
1 TM StepDrive 1x24..48V/5A
1.1 Short Overview
Fig. 1: The TM StepDrive technology module
The TM StepDrive 1x24..48V/5A technology module is a stepper motor controller with in-
tegrated power stage. It is specially developed for application in the decentralised SIMAT-
IC®ET 200®SP peripheral system.
2-phase stepper motors in the 200 W power range up to 5 APEAK with a supply voltage
from 24 to 48 VDC can be controlled by this technology module.
Modes of operation
It can be operated in two different operating modes, as an autonomous system which re-
ceives motion commands from the CPU and then executes them (positioning mode, PM
mode), or as a frequency controller which is controlled by a technology object (frequency
mode, TO mode).
In PM mode, three parameterisable digital inputs are available as limit or reference switch-
es; in TO mode, one input can be used as reference switch.
Connection types
The function of the TM StepDrive module can be defined differently by the two connection
types:
“Power stage" connection type: The TM module uses the integrated output stage to sup-
ply a stepper motor.
“Indexer” connection type: The TM module provides the control signals control pulses and
direction for a separate external power stage.

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1.2 Overview of the most important features of the StepDrive
technology module:
2-phase stepper motor controller with integrated power stage for SIMATIC®ET
200®SP
200 W power range up to 5 APEAK at 24 to 48 VDC
up to 1/256 micro step
maximum run frequency 250 kHz
operating modes:
opositioning mode (PM mode) for linear- and circular axes:
Moving to absolute position
Moving by relative distance
reference point run
free run with variable velocity
set position
motor stop
emergency stop
ofrequency mode (TO mode)
connection types:
opower stage
oindexer
Function and active levels of the three digital inputs S1, S2 and S3 can be parame-
terised
Feedback values adjustable in the feedback interface (position and distance-to-go
or position and frequency)
Setting of the power stage parameters at system start and during operation: e.g.
run, stop, boost current, step resolution, run current delay time, etc.
Online power stage diagnosis
Parameterisation with STEP®7 TIA Portal®from V15 or via GSD file for PROFIBUS or
PROFINET

Technology Module TM StepDrive 1x24..48V/5A
MA 1303-A007 EN 8
1.3 Overview of the Data Interfaces
Configuration transfer: Configuration of the module with STEP®7: all parameters of the
TM StepDrive technology module can be set by mouse click and transmitted.
See chap. 6.5
Control / Feedback interface: So-called control values can be transmitted and statuses
can be read clock synchronously with the clock of the control and feedback interface
See chap. 7
Data record transfer: A user program can read or write the complete parameter set of the
module (e.g. run current, stop current or run frequency). Reading the data record and sta-
tus query is possible independently of the traversing job. New parameters can also be writ-
ten while a traversing job is running.
See chap. 7.3

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1.4 Directives and Standards
CE Mark
With the declaration of conformity and the CE Mark on the
product, the manufacturer certifies that the product complies
with the requirements of the relevant EC directives. The unit,
described here, can be used anywhere in the world.
EC Machinery Di-
rective
The drive system, described here, is not a machine in the
sense of the EC Machinery Directive (2006/42/EC), but a com-
ponent of a machine for installation. They have no functional
moving parts, but they can be part of a machine or equipment.
The conformity of the complete system in accordance with the
machine guideline is to be certified by the manufacturer with
the CE marking.
EC EMC Directive
The EC Directives on electromagnetic compatibility
(2014/30/EU) applies to products that can cause electromag-
netic interference or whose operation can be impaired by such
interference.
The power stage’s compliance with the EMC Directive cannot
be assessed until it has been installed into a machine or instal-
lation. The instructions provided in “Installation” (chap. 5) must
be complied with to guarantee that the TM is EMC compliant
when fitted in the machine or installation and before use of the
device is permitted.
Standards for safe
operation
EN 60204-1: 2007-6: Electrical equipment of machines, degree
of pollution 2 must be observed
EN 60529: 2014-09: IP Degree of protection
Standards for observ-
ing the EMC limit val-
ues
EN 61000-3-2: EMC
EN 61000-6-1,3,4: Interference immunity and emission
EN 61000-6-2:2005: Immunity for industrial environments
Standards for measur-
ing methods of ob-
serving EMC limit val-
ues
EN 55011 class B: Noise field and voltage measuring
EN 61000-4-2...6,11 Emission standard test

Technology Module TM StepDrive 1x24..48V/5A
MA 1303-A007 EN 10
1.5 Declaration of Conformity

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2 To Consider Before Installation
Read this manual very carefully before installing and operating the TM StepDrive.
Observe the safety instructions in the following chapter!
2.1 Qualified Personnel
Design, installation and operation of systems using the TM StepDrive may only
be performed by qualified and trained personnel.
These persons should be able to recognize and handle risks emerging from elec-
trical, mechanical or electronic system parts.
The qualified personnel must know the content of this manual and be able to un-
derstand all documents belonging to the product. Safety instructions are to be
planned.
The trained personnel must know all valid standards, regulations and rules for the
accident prevention of accidents, which are necessary for working with the
product.
WARNING
Without proper training and qualifications, damage to devices and injury might
result!
2.2 Safety Instructions
i
The TM StepDrive is designed for operating in a SIMATIC®ET 200®SP System.
An installation is allowed only if the requirement of the EC Machine Directive and
EMC are conformed with. See chap.1.4.
i
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. Safe-
ty measures have to be taken according to the results and be verified.
Personnel safety must be ensured by the concept of this complete system
(e.g. machine concept).
i
In any application, the reliability of operation of the software products can be im-
paired by adverse factors, e.g. differences in electrical power supply or, computer
hardware malfunctions.
To avoid damage by system failures the user must take appropriate safety
measures, including back-up or shutdown mechanism.

Technology Module TM StepDrive 1x24..48V/5A
MA 1303-A007 EN 12
i
Malfunctions are possible while programming the instruction codes –e.g. sudden
running of a connected motor, braking etc.
Please test the program flow step by step!
i
Each end user system is customised and differs from the testing platform.
Therefore, the user or application designer is responsible for verifying and vali-
dating the suitability of the application.
WARNING
Injury or damage by overvoltage!
Operate the module only in accordance with the protective measures in chap.3.
ATTENTION
Risk of damage by incorrect motor current setting!
The TM StepDrive s set to a default current on delivery!
The motor current must be set to the designated value before installation (see
data of the motor).
DANGER
Danger of electrical arcing!
Always switch off the supply voltage before connecting or disconnecting any
wires or connectors at the power stage.
DANGER
Danger of electrical arcing!
Do not unplug the connector while powered!
Load voltage must be powered off by external switches or by a removable fuse
link!
DANGER
Danger of electric shock!
Up to 3 minutes after turning off the supply voltage, dangerous voltages may still
exist at the connectors or on the board.
i
Energising the input DIS or in the case of a CPU STOP (see 6.5.1.4) the power
stage is not safe in the case of an emergency stop.
The voltage supply has to be interrupted for safe isolation of the drive.

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i
The DIS input is not a safety-operating mode according to IEC61800-5-2 such as
"Safe Torque Off" (ST0) by pulse pattern inhibition.
2.3 Ambient Conditions
Operating temperature
0 °C to +60 °C
Storage and transport
temperatures
- 40 °C to +70 °C
Relative humidity
95 % max. no dew
Degree of pollution
level 2
Protection class
IP 20
EMC tests
acc. to EN 55011
acc. to EN 61000-2,3,4,5,6
Approval
CE

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MA 1303-A007 EN 14
3 Safety Concept
3.1 Safety Measures
The following measures are vital to the safety of the system. Carry out the safety
measures with particular care and adapt them to meet the requirements of the system.
WARNING
Safety operating modes such as SafeTorqueOff (STO) from IEC61508-2 cannot
be implemented directly!
WARNING
To prevent personal injury and damage to equipment please observe the
following points:
Install an emergency stop system in keeping with current technical stand-
ards (for example, European norms EN 60204, EN 418, etc.).
Make sure that no one has access to areas of the system with moving
parts.
Install, for example, hardware limit switches for the end positions of the ax-
es that switch off the power control system directly.
Install devices and take steps to protect motors and power electronics.
Fig. 2: Design of a positioning system with a stepper motor

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3.2 EMC Measures
Preset for EMC: Motor cable
The motor cable is a source of interference and must be positioned carefully.
Use the cables recommended by Phytron. They are tested for EMC safety and are suita-
ble for movement.
The shield of the motor cable must be connected to the BaseUnit and to the motor with
low impedance or flat.
Connect the motor cables without interruption (do not use switches) from the motor to
the device. If a cable must be interrupted, use shielded connections and metal hous-
ings to avoid interferences.
Lay the motor cable at a distance of at least 20 cm from the signal cables. If they are
laid closer together, motor cable and signal wiring must be shielded and grounded.
Use potential equalization cables with suitable cross section when the cables are long.
Potential equalisation cables
Connect the shielding on all sides for protection from interference.
The difference of potential can cause incorrect currents on the shielding and must be
avoided by potential equalization cables.
The TM StepDrive must be operated with protective measure PELV/SELV.
Preset for EMC: Filters
i
If there is no DC/DC power supply unit in the direct vicinity of the ET 200®SP unit,
the use of the common-mode rejection filters developed by Phytron may be
necessary. The distance between power supply and TM StepDrive should not ex-
ceed 1 m without filter.

Technology Module TM StepDrive 1x24..48V/5A
MA 1303-A007 EN 16
Fig. 3: Connection of a common-mode rejection filter 24 VDC or 24 to 48 VDC
Common-mode rejection filter 24 VDC: (order ID: 10023524)
Common-mode rejection filter 24 to 48 VDC:(order ID: 10022069)
i
A common-mode rejection filter should be used with motor cable lengths >5 m and
a current setting >50 % of the rated current of the TM StepDrive.
In addition to the use of Phytron filters, other possibly central measures can also
contribute to compliance with the EMC requirements.
3.3 Shielding
To avoid interference affecting the wires and instruments installed close to the drive sys-
tem, we recommend the use of shielded cables.
The shield must be connected on both sides. Use a shield strip of the switch cabinet to
connect the shield.
i
The shield contact element of Siemens (order no. 6ES7193-6SC00-1AM0) does
not contact the base unit B1.

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4 Technical Data
4.1 Mechanical Data
Type
SIMATIC®ET 200®SP plastic housing
Dimensions
20 x 73 x 58 mm (W x H x D)
Weight
about 62 g
Mounting
Pluggable in SIMATIC®ET 200®SP system with connections
according to ET 200®SP specification
(BaseUnit BU20-P12+A0+4B)
Mounting position
optional (power loss see chap. 5.2)
Fig. 4: Dimensions
The dimension drawing of the BaseUnit B1 (BU20-P12+A0+4B) peripheral module can be
found in the SIEMENS device manual SIMATIC ET 200SP BaseUnits.

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4.2 Features
Features
Stepper motors
Suitable for bipolar control of 2-phase stepper motors with
4, (6) or 8 lead wiring
Superior main station
SIMATIC®ET 200®SP
Power supply
24 to 48 VDC
Nominal voltage: 48 VDC
Phase current
5 APEAK
Motor current adjust-
ment
100 mA increments
Step resolutions
Full step, half step, 1/4, 1/8, 1/16, 1/32,1/64,1/128,1/256 mi-
cro step
Maximum step
frequency
250.000 steps/sec
Remark: the frequency generation is digital, only values can
be generated which result from dividing the processor fre-
quency by an integer divider.
Physical resolution
Approx. 51.200 positions per revolution (0.007°/step). An
encoder with a counter should be considered for very fine
positioning.
Current consumption
(max.)
3 ADC at 5 APEAK
Mechanical output
power
Up to the 200 W range
Nominal power of the
motor voltage supply
168 W
Cable length - motor
Shielded: 50 m max.
Cable length - digital in-
puts
3 m max.

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Diagnostic LEDs
DIAG
DIS (power stage disabled)
S1 (switch 1 is active)
S2 ((switch 2 is active)
S3 ((switch 3 is active)
RUN (motor is running)
PWR (load voltage is present)
Motion commands in PM
mode
moving to absolute position
moving by relative distance
reference point run
free run with variable velocity
set position
motor stop
emergency stop
Safety modes
Safety modes, such as e.g. Safe Torque Off (STO) from IEC
61508-2 can only be realised with this controller with external
components.
Mechanism of the
communication via
backplane bus
Synchronous: control interface, feedback interface
Asynchronous –PLC in STOP mode: Base parameterising
Asynchronous –PLC in RUN mode: Parameterising with
DS128
Hardware error detection
Over temperature at the power stage T>105 °C
Refresh rate
1 ms