phytron MSD2+ User manual

Extreme. Precision. Positioning.
MANUAL 2126-A005 EN
Stepper Motor Power Stage
with ServiceBus and Integrated Power Supply
MSD2+

phytron
05/2019 Manual MA 2126–A005 EN
MSD2+
Stepper Motor Power Stage with ServiceBus and
integrated Power Supply
Hardware V3.0
TRANSLATION OF THE GERMAN ORIGINAL MANUAL

Manual MSD2+
MA 2126–A005 EN 2
Version
Modification
3
further option: operating mode “rotary switch”
4
Motor and mains connector, address switch
5
Input circuit
2019
All rights with:
Phytron GmbH
Industriestraße 12
82194 Gröbenzell, Deutschland
Tel.: [phone]
Fax: [phone]
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]
You will find the updated version of this manual on the website of www.phytron.de.

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3 MA 2126–A005 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 MSD2+
MA 2126–A005 EN 4
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
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Intended use:
The MSD2+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).
i
Deactivation and Reset Inputs:
Clearing the inputs Deactivation and Reset is no safe separation in the
emergency case.
- The voltage supply has to be interrupted for switching off the drive
safely.

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5 MA 2126–A005 EN
WARNING –Serious injury from electric shock!
If the power stage 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.
- The MSD2+ must be operated with protective measure in chap. 5
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 is
connected to the primary side of the mains supply. Isolate the power
supplies from the mains or remove the appropriate fuses.
- All power stages must be inserted and screwed into the controller or
SLS housing before powering up. If necessary, unoccupied slots must
be covered with front plates. Never operate the equipment when open.
- Do not plug or unplug the power stage 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.
ATTENTION
Risk of damage by false motor current setting!
The MSD2+power stage is set to a defined current on delivery!
The motor current must be set to the designated value before installation (see
data of the motor).
DANGER - Danger of electric arcing!
During electrical installation the cable, connector or similar may be energised.
- Always switch off the supply voltage before connecting or disconnecting any
wires or connectors at the power stage. Do not unplug the connector while
powered
DANGER - Danger of touch voltages!
During electrical installation the cable, connector or similar may be energised.
- The transformer must be constructed with reinforced or double insulation to
avoid dangerous touch voltages (50 VAC and 120 VDC) in case of isolation
error in the transformer.

Manual MSD2+
MA 2126–A005 EN 6
WARNING - Danger of injury if touching the surface!
The surface of the MSD2+reaches temperatures more than 105 °C during
operation.
- Use protective gloves or avoid touching them.

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7 MA 2126–A005 EN
2 Contents
1Information.................................................. 3
2Contents...................................................... 7
3The MSD2+Power Stage............................ 8
3.1 Accessories.......................................... 10
3.2 Directives and Standards...................... 11
3.3 Declaration of Conformity ..................... 12
4Technical Data........................................... 13
4.1 Mechanical Data................................... 13
4.2 Features............................................... 15
5Protective Measure for Power Stage
Operation.................................................... 19
6Configuration.............................................. 20
6.1 Insulation Overview .............................. 20
6.2 Shielding............................................... 21
6.3 Cable.................................................... 22
7Mechanical Installation............................... 23
8Electrical Installation .................................. 24
8.1 Connectors - Overview ......................... 24
8.2 Mains connection.................................. 24
8.3 Motor Connection ................................. 25
8.3.1 Wiring Schemes.............................. 26
8.3.2 Motor time constant  ..................... 27
8.4 IO-Signal Connector............................. 28
8.5 Option Rotary Switch Mode „KS“ .......... 29
8.5.1 Rotary Switches for Motor Current
(IRun and IStop)................................... 29
8.5.2 Step Resolution and Current
Shaping Rotary Switch.................... 30
8.5.3 DIP Switches................................... 30
8.6 Option „SB“ ServiceBus Mode .............. 31
8.6.1 ServiceBus Connector..................... 31
8.6.2 Rotary Switch.................................. 31
8.6.3 Connection...................................... 32
8.7 Brake Control........................................ 33
9Putting into Service .................................... 34
9.1 Diagnosis via LED Display.................... 37
9.1.1 Option „SB“ and „KS“ ...................... 37
9.1.2 Option „KS“ ..................................... 38
10 Configuration in the ServiceBus
(RS485-4-wire)..................................... 39
10.1 Bus Connection............................. 39
10.2 Power Stage Parameterising......... 40
10.3 Operating Parameters ................... 40
10.4 Examples ...................................... 43
11 Functions............................................. 45
11.1.1 Control Pulses Input........................ 46
11.1.2 Motor Direction Input....................... 47
11.1.3 Boost Input...................................... 48
11.1.4 Deactivation Input ........................... 48
11.1.5 Reset Input...................................... 49
11.2 Outputs.......................................... 50
11.2.1 Error Output .................................... 50
11.2.2 Ready Output.................................. 51
12 Service................................................. 52
13 Warranty, Disclaimer and
Registered Trademarks....................... 52
13.1 Disclaimer...................................... 52
13.2 Warranty........................................ 52
13.3 Registered Trademarks................. 52
14 Technical Details ................................. 53
14.1 FULL STEP / HALF STEP /
MINISTEP..................................... 53
14.2 Boost............................................. 56
14.3 Current Shaping CS ...................... 57
14.4 Optimisation of the Current Shape -
BLOW UP...................................... 58
14.5 Current Delay Time ....................... 59
15 Index.................................................... 60

Manual MSD2+
MA 2126–A005 EN 8
3 The MSD2+Power Stage
The power stages type MSD2+are used for bipolar control of two-phase stepper motors
with Phytron´s well-tried technology, now with enhanced 4 quadrant chopper type current
control.
MSD2+ includes a supply unit and therefore can directly be connected to the mains voltage
(115 or 230 VAC).
In addition, the MSD2+ enables the control of an attached (permanent magnet) motor
brake.
The MSD2+ is available in two operating modes:
Option "KS" (rotary switch mode): the operating parameters - e.g. run current, step
resolution, motor direction of rotation - are set via the rotary switches.
Options "SB" (ServiceBus mode): The + of the power stage MSD2+ stands for "operation
with ServiceBus". The ServiceBus enables the configuration, programming and
diagnostics of the power stage with the free downloadable software ServiceBus-CommTM
for Windows®via the PC.
Motor current
1.1 up to 15.4 Apeak
Mains voltage from115 up to 230 VAC
120 VDC supply voltage
Step resolution from full step to
1/20 step
Option “SB”: Configuration of the
power stage via ServiceBus
Option „KS“: Setting of operating
parameters via rotary switches
Short-circuit proof over and between
the phases and towards ground
Rack- or wall mounting
Brake control
Fig. 1: Front view of the MSD2+with the front panel

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9 MA 2126–A005 EN
Operating
mode
ServiceBus mode „SB“
Rotary switch mode „KS“
Mounting
mode
wall
rack
wall
rack
Ident
number
10022507
10022509
10020762
10020763
Motor currents from 1.1 to 15.4 Apeak
Option „SB“: Run and stop current can be individually set in 100 mA steps via
ServiceBus. The Boost current is activated via ServiceBus, too.
Option „KS“: All operating parameters can be set using the DIP and rotary switches.
The MSD2+ power stage automatically switches back to stop current if no control pulses
arrive.
Supply voltage AC
The 120 VDC motor voltage is generated from the 115 to 230 VAC mains voltage.
Electrical isolation
The inputs and outputs are optically isolated from the MSD2+power supply.
Inputs
The inputs can be controlled with push-pull or open collector circuitry.
Outputs
Both outputs of the MSD2+, Ready and Error, are open collector outputs.
Easy to mount
Compact and stable design for wall mounting with brackets or 19" sub rack mounting.

Manual MSD2+
MA 2126–A005 EN 10
ServiceBus
The ServiceBus is connected by the 6-pole connector “ServiceBus” on the front panel and
offers the following possibilities:
configuration by software via 4-wire RS 485 bus
power stage parameter programming:
run and boost current, step resolution, preferential motor direction, etc.
parameter memory to hold data safely in the power stage EPROM
detailed error analysis
temperature monitoring
The power stage can easily and quickly be programmed by ServiceBus-CommTM for
Windowssoftware (see manual ServiceBus-CommTM).
i
The instruction set for parameterising the power stage is listed
in chapter 10.
The rotary switch “Addr.”is used to set the device address.
3.1 Accessories
The MSD2+ and ServiceBus-CommTM manual or the ServiceBus-CommTM software can be
downloaded from the Phytron website www.phytron.de.
The mating connectors are included in the scope of delivery (see chapter 8.2).
Optional accessories are available:
- USB-RS485 converter as stick (#10012295)
- ServiceBus cable on request
- Ready-made cable on request

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11 MA 2126–A005 EN
3.2 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 Machine Directive
The drive system, described here, isn´t a machine in the sense
of the EC machine directive (2006/42/EC), but a component 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, which can cause
electromagnetic 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
installation. The instructions provided in “Installation” must be
complied with to guarantee that the power stage 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
observing the EMC
limit values
EN 61000-3-2: EMC
EN 61000-6-1,3,4: Emission standard
EN 61000-6-2:2005: EMC Immunity for industrial environments
Standards for
measuring methods of
observing EMC limit
values
EN 55011 class B: Noise field and voltage measuring
EN 61000-4-2...6,11 Emission standard test

Manual MSD2+
MA 2126–A005 EN 12
3.3 Declaration of Conformity

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13 MA 2126–A005 EN
4 Technical Data
4.1 Mechanical Data
Weight
about 3 kg
Mounting
Wall mounting or plug-in board into the 19“ sub rack
Mounting position
vertical
Fig. 2: Dimensions MSD2+for wall and rack mounting

Manual MSD2+
MA 2126–A005 EN 14
Mounting instructions
The modules must be mounted to allow correct air circulation. Vertical mounting provides
better ventilation.
Rack mounting
The front panel of the MSD2+ 19 sub rack-mounting version is 6 U high and 18 F wide.
Wall mounting
The MSD2+wall-mounting version is delivered with removable mounting brackets. The
mounting holes must be drilled at a 260 mm distance.
.
Fig. 3: Hole pattern for wall mounting

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15 MA 2126–A005 EN
4.2 Features
Features
Operating voltage
115 to 230 VAC, 50 to 60 Hz
120 VDC motor voltage is generated internally.
Noise filter is integrated.
Stepper motor
Two-phase 4-, 6- or 8-lead stepper motor
winding resistance < 10 Ohm
Minimum inductance of a motor phase: 0.5 mH
Brake control
Stepper motors with (permanent magnet) motor brake 24 VDC /
1 A max. The supply voltage for the brake must be supplied.
The braking effect is controlled via an input.
Phase currents
Run and stop current can be set independently.
Rotary switch mode
Factory settings:
rotary switch run current IRun: ‚F‘
rotary switch stop current IStop: ‚3‘
2.4 to 8.4 Ar.m.s. (without Boost)
3.1 to 10.9 Ar.m.s. (with Boost) (see chapter 8.5)
ServiceBus mode
Programmable values: 0.1 to 10.9 Ar.m.s. in 100 mA steps
Imax
15.4 APeak
Step resolution and
current shaping
The step resolution and current curve form are set using the
rotary switch (see chap. Fehler! Verweisquelle konnte nicht
gefunden werden.):
Step resolution 1/1, 1/2, 1/4, 1/5, 1/10, 1/20 of a full step, with
and without torque compensation (DMA), current shaping (CS)
and blow up.
Factory setting:
rotary switch ‚6‘: half step with DMA without CS
Maximum step
frequency
500.000 steps/s
Nominal power of the
motor voltage supply
830 W maximum
Diagnostics
via ServiceBus

Manual MSD2+
MA 2126–A005 EN 16
Features
Flash memory
10 000 write cycles under normal operating conditions
Hardware error
detection
over current,
short circuit 25.2.A
overtemperature T>85 °C
Interfaces
Inputs
The inputs are opto-decoupled. Control can be via push-pull or
open collector. The input is active when current flows through
the optocouplers.
Control pulses
maximum control pulses frequency: 500 kHz
minimum pulse width: 1 s
The step is executed with the falling flank of the control pulses.
Motor direction
When the input is active, the motor rotates in the reverse
direction of the preferential motor direction selected.
Boost
When the input is active, the run and stop current is increased
by the value set in the ServiceBus.
Deactivation
When the input is active, the motor current is deactivated.
Reset
The power stage is set to a defined initial state and the ring
counter is in basic position.
Brake
When the input is active, the brake supply voltage is delivered
Outputs
Optocoupler, open-collector Darlington type output
Imax = 50 mA, Umax = 24 V, UCE sat at 50 mA < 0.3 V
Error
Supply failure
Overtemperature (T > 85° C)
Overcurrent, short circuit
The power stage is deactivated if an error occurs.
Ready
This output indicates that the MSD2+ is ready to operate. For
that, the power stage must be activated, i.e.: no signal on the
"Deactivation" input.
Analogue outputs
A, B, C, D for two-phase stepper motor

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17 MA 2126–A005 EN
Ambient Conditions
Ambient
temperatures
Operation: 4 to +40 °C
Storage: –25 to +55 °C
Transport: –25 to +85 °C
Built-in fan
Forced cooling with a fan, which switches on at >50 °C or
switches off again at <40 °C.
Admissible heat sink
temperature
85 °C maximum
The power stage is deactivated, when the permissible heat sink
temperature is exceeded.
Relative humidity
The relative humidity is certified while in operation as follows:
According to EN 60721:1995-09, class 3K3
5% to 85%, no condensation permissible
Degree of pollution
2
Device protection
Degree of protection according to DIN EN 60529:2014-09
IP20 at operation in a 19“ sub rack
Wiring
Max. motor lead length
Shielded: max. 50 m
Lead cross section of
the motor cable
Dependent on the motor current and the motor lead length:
0.1 mm2per 1 A motor current
Connector
Signal I/O
25-pole D-SUB connector female
Motor
5-pole Phoenix connector IC 2,5 HC/ 5-GF-
5,08
Brake
3-pole Phoenix connector MSTBA 2,5/ 3-G-
5,08
Mains
3-pole Phoenix connector GMSTB 2,5/ 3-GF-
7,62
ServiceBus
6-pole connector, type Tyco Electronics 2-
1761605-1/609-0607

Manual MSD2+
MA 2126–A005 EN 18
Wiring
Min. 75 °C durable copper cables
Communication and Programming
Programming (only for
„SB“ option)
via Phytron‘s programming environment ServiceBus–CommTM
Communication
The MSD2+power stage can communicate with a main
controller of a higher level controller (i.e. phyMOTIONTM)

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19 MA 2126–A005 EN
5 Protective Measure for Power Stage Operation
The MSD2+must be operated according to VDE 0100 part 200 with protection by
automatic disconnection. Therefore, the motor, power stage, `0 V` and each equipment
has to be grounded.
When protection by automatic disconnection (EN 61140, VDE 0100,
part 410) is used for power stages with definite voltage
> 50 VAC or +UB> 70 VDC, it is necessary:
Only use motors, which are checked according to EN 60034-1
(500 VAC + twice determined voltage).
The motors must have a protective conductor clamp (EN 60034).