phytron phyMOTIONT I1AM02.1 User manual

phytron
5/2019 Manual MA 1296-A010 EN
phyMOTIONTM
1 Axis Stepper Motor Drive
I1AM02.1 / I1AM0b.1
Firmware Version:
V1.1.0 (Loader)
V1.1.0 (Loader)
V1.1.14 (System)
V1.1.14 (System)
TRANSLATION OF THE GERMAN ORIGINAL MANUAL

Manual I1AM02
MA 1296-A010 EN 2
Version
Modification
10
BiSS encoder wiring
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: 1 Axis Stepper Motor Drive I1AM02 and its variants.
This manual is supplementary to the “phyMOTIONTM Modular Multi-axis Controller for
Stepper Motors“ manual.
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.

phytron
3 MA 1296-A010 EN
1 Legal 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.
i
”Any heading“
Refers to an important paragraph in the
manual.

Manual I1AM02
MA 1296-A010 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 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).

phytron
5 MA 1296-A010 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
isolation 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 I1AM02
MA 1296-A010 EN 6
2 Contents
1Legal Information....................................................................................................3
2Contents...................................................................................................................6
3Module Overview - I1AM02 .....................................................................................7
4Technical Data.........................................................................................................9
4.1 Declaration of Incorporation.................................................................................9
4.2 Mechanical Data.................................................................................................11
4.3 Features.............................................................................................................12
4.4 Functions............................................................................................................15
5Installation..............................................................................................................16
5.1 Mechanical Installation.......................................................................................16
5.2 Electrical Installation...........................................................................................18
5.2.1 Connectors - Overview................................................................................18
5.2.2 Pin Assignment............................................................................................19
5.2.3 Stepper Motor Connection...........................................................................20
5.2.4 Limit Switch Connection ..............................................................................22
5.2.5 Option: Encoder Connection........................................................................23
5.2.6 Option: Resolver, LVDT or RVDT Connection X1.......................................27
5.2.7 Option: Motor Temperature Sensor Connection...........................................32
6Commissioning ......................................................................................................34
6.1 Diagnostics by the LEDs.....................................................................................35
6.2 Parameterising the Modules...............................................................................36
7Principles of Positioning .......................................................................................37
8Heating of the I1AM02 Module...............................................................................38
8.1 with APS Power Stage .......................................................................................38
8.2 with LPS Power Stage........................................................................................39
9Service ....................................................................................................................40
10Warranty, Disclaimer and Registered Trademarks ..............................................41
10.1 Disclaimer......................................................................................................41
10.2 Warranty........................................................................................................41
10.3 Registered Trademarks.................................................................................41
11Index........................................................................................................................42

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7 MA 1296-A010 EN
3 Module Overview - I1AM02
I1AM02 stands for “1 Axis Indexer with Integrated Power Stage (amplifier)”. This module is
a full stepper motor drive up to 5 APEAK (APS power stage) or 9 APEAK
(LPS power stage). It can be connected directly next to a MCM (main controller module).
The module includes a mid-performance indexer and a slot for a high performance power
stage.
Two limit switches and a third switch, which can be wired as limit 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 I1AM02 Vorderansicht der Frontplatte

Manual I1AM02
MA 1296-A010 EN 8
Ordering code of the 1 axis stepper motor drive module (I1AM02):
Ordering code (example): I1AM02-APS01-ECAS01-PTS01
1 axis stepper motor drive module (APS power stage) with
integrated encoder and PT sensor

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9 MA 1296-A010 EN
4 Technical Data
4.1 Declaration of Incorporation

Manual I1AM02
MA 1296-A010 EN 10

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11 MA 1296-A010 EN
4.2 Mechanical Data
Dimensions
100 x 100 mm (without front panel)
Weight
91 g / 113 g (without / with font panel)
Mounting
Plug-in module into the modular stepper motor controller
phyMOTIONTM
Mounting position
Vertical

Manual I1AM02
MA 1296-A010 EN 12
4.3 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
Integrated power stages
APS (up to 5 APEAK) or LPS (up to 9 APEAK)
Supply voltage
24…70 VDC
Nominal voltage: 70 VDC
APS: 5 VDC internal
LPS: 3.3 VDC logic voltage
Phase current
APS: 0.1 to 5 APEAK (0…3.5 Ar.m.s.)
LPS: 0.1 to 9.2 APEAK (0…6.5 Ar.m.s.)
Current adjustment
APS: 10 mA steps
LPS: 20 mA steps
Step resolutions
APS: 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 micro step
LPS: full step, half step, 1/4, 1/8, 1/16,
1/32,1/64,1/128,1/256 micro step
Maximum step frequency
APS: 500.000 steps/s
LPS: 250.000 steps/s
Physical resolution
APS: approx. 102 400 positions per rev. (0.0035° / step)
LPS: approx. 51 200 positions per rev (0.0070° / step)
The optional encoder modules should be considered for
very fine positioning.

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13 MA 1296-A010 EN
Performance Characteristics
Current consumption
(max.)
APS: 3.6 ADC at 5 APEAK
250 mA (5 VDC internal)
LPS: 6.6 ADC at 9,2 APEAK
>420 mA (3.3 VDC logic voltage)
250 mA (5 VDC internal)
10 mA (24 VDC I/O)
30 mA (EnDat Encoder 5 VDC internal)
20 mA + Encoder (24 VDC I/O)
30 mA (temperature module)
Axis supply: 24-70 V
1 A (limit switch)
Mechanical output power
APS: up to 70 V / 5 A
LPS: up to 70 V / 9 A
Nominal power of the
motor voltage supply
APS: 100 W
LPS: 460 W
Cable length –motor
Shielded: max. 50 m
Cable length –digital
inputs
30 m;
if longer (100 m max.) use shielded cable and contact
shield close to the controller.
Diagnostics
2 Status LEDs on the front panel
Support of linear and
rotary axes
Yes
Hardware error detection
APS: Over current, short circuit > 10 A spike at the power
stage
LPS: no

Manual I1AM02
MA 1296-A010 EN 14
Interfaces
Analogue outputs
A, B, C, D for a 2 phase stepper motor
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 via
backplane bus
Proprietary phytron bus
Kommunikation und Programmierung
Programming
Via phytron‘s programming environment phyLOGICTM
ToolBox
Communication
Master-slave communication. The I1AM02 is slave and
communicates with the MCM main controller module.

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15 MA 1296-A010 EN
4.4 Functions
Integrated stepper motor indexer for standard functions
Relative and absolute positioning
Reference movements/ speed mode
Step frequency: APS up to 500,000 steps/sec
LPS up to 250,000 steps/sec
Integrated 5 APEAK power stage (APS)
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
Integrated 5 APEAK power stage (LPS)
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
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 I1AM02
MA 1296-A010 EN 16
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
In case you receive an individually packed I1AM02 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 I1AM02 module is designed for a maximum supply voltage of 70VDC. If it
is supplied with >70 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.

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17 MA 1296-A010 EN
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.
Make sure not to leave free slots in between modules so the module addressing sequence
can work correctly.
Identify the correct slot position for your I1AM02 referring to your order and
documentation. The I1AM02 needs at least a preceding power module (POWM01,
POWM02) and the main controller module (MCM01).
Push the module carefully into the guide rail until the rear contacts the housing frame of
the phyMOTIONTM.
In the last few millimetres the module’s plug has to match with the backplane’s socket. You
should be able to push in the module with light pressure. In case you experience problems
move the module’s front plate slightly to the left and to the right while pushing in the
module, so that the plug’s pins can slide into the backplane’s socket.
As soon as the module’s front plate contacts the housing’s frame the module is integrated
properly and can be fixed with two electro-conductive bolts.
Now you can start with the electrical installation.

Manual I1AM02
MA 1296-A010 EN 18
5.2 Electrical Installation
Ensure sufficient bending radius of the cables during installation. Do not lay the cables in
tension or bend them.
We recommend labelling the mating connectors to prevent interchanging the connectors.
If all the connections are made, the last step is to plug in the power supply to the mains.
5.2.1 Connectors - Overview
Connector
Number
of pins
Connector on the
module (Phoenix)
Mating connector
(Phoenix)
Mating connector
ID number
Motor
1x4
IC 2,5/4-G-5,08
IC 2,5/4-ST-5,08
10005390
Limit
switches
1x10
MCDN1,5/10-G1-
3,5P26
FMC1,5/10-ST-3,5
10013217
Encoder
1x10
MCDN1,5/10-G1-
3,5P26
FMC1,5/10-ST-3,5
10013217
Temperature
evaluation
2x2
MCDN1,5/2-G1-
3,5P26
FMC1,5/2-ST-3,5
10007077
The mating connector is included in delivery of the module and is usually plugged into the
module at the factory.
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CAUTION –Possible damage!
Damage of the module by wrong connection.
- Do not exchange the 10-pin connector for limit switches with the
10-pin connector for the encoder evaluation.

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19 MA 1296-A010 EN
5.2.2 Pin Assignment
In the following the pin assignment:
Fig.2 Pin assignment
Use the specified mating connectors for wiring.
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CAUTION –Possible damage!
Damage of the module by wrong connection.
- Do not exchange the 10-pin connector for limit switches with the
10-pin connector for the encoder evaluation.

Manual I1AM02
MA 1296-A010 EN 20
5.2.3 Stepper Motor Connection
In the next chapter the connection of a 2 phase stepper motor with 4, (6), or 8 lead wiring
is described.
Stepper motors with 0.1 to 5 APEAK (APS) or 0.1 to 9 APEAK (LPS) can be controlled at
maximum 70 VDC by the I1AM02.
Wiring schemes
Fig.3 Connection diagrams for 4,(6) and 8 lead stepper motors