Weidmüller UR20-1SM-50W-6DI2DO-P User manual
Remote-I/O-System u-remote UR20
Stepper motor module UR20-1SM-50W-6DI2DO-P
Manual
Letʼs connect.
Content
2575290000/03/03.2020 2Manual Stepper motor module UR20-1SM-50W-6DI2DO-P
1 About this documentation 3
1.1 Symbols and notes 3
1.2 Complete documentation 3
1.3 Standard data structure 4
2 Safety 5
2.1 General safety notice 5
2.2 Intended use 6
2.3 Use in a potentially explosive atmosphere 6
2.4 Legal notice 7
3 Module description 8
3.1 Device description 9
3.2 Connections 10
3.3 LED indicators 11
3.4 Block diagram 12
3.5 Technical data 13
3.6 Derating curves 16
3.7 Adjustable parameters 17
4 Assembly and installation 22
4.1 Connecting the external power supply 22
4.2 Connecting the stepper motor 22
4.3 Connecting the reference switch 23
4.4 Connecting the limit switch 23
4.5 Connecting the incremental rotary encoder 24
4.6 Connecting signalers for jog mode and tip mode 24
4.7 Connecting standard eld devices 24
5 Commissioning and operation 25
5.1 Requirements 25
5.2 Device description les 25
5.3 Integrating the module in the conguration 25
5.4 Parameterising the module for the drive system 26
5.5 Controlling the drive system 28
5.6 Register communication via process data 30
5.7 Creating motion proles with the conguration application 32
5.8 Acceleration types 35
5.9 Behaviour on interruption of power supply 37
6 Process data 38
6.1 Process input data 38
6.2 Process output data 39
6.3 Data width, dependent on the coupler used 40
7 Diagnostics and troubleshooting 41
7.1 Diagnostic data 41
7.2 LED indicators and troubleshooting 42
8 Disassembly and disposal 43
8.1 Disassembling a u-remote-Modul 43
8.2 Disposing of a u-remote-Modul 43
Manufacturer
Weidmüller Interface GmbH & Co. KG
Klingenbergstraße 16
D-32758 Detmold
T +49 5231 14-0
F +49 5231 14-292083
www.weidmueller.com
Dokument No. 2575290000
Revision 03/March 2020
1 About this documentation | Symbols and notes
3Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
1.1 Symbols and notes
The safety notices in this documentation are designed accor-
ding to the severity of the danger.
DANGER
Imminent danger to life!
Notes with the signal word “Danger” warn you
of situations that will result in serious injury
or death if you do not follow the instructions
given in this manual.
WARNING
Possible danger to life!
Notes with the signal word “Warning” warn
you of situations that may result in serious
injury or death if you do not follow the
instructions given in this manual..
CAUTION
Risk of injury!
Notes with the signal word “Caution” warn
you of situations that may result in injury if
you do not follow the instructions given in this
manual.
ATTENTION
Material damage!
Notes with the signal word “Attention” warn you of hazards
that may result in material damage.
Text next to this arrow are notes that are
not relevant to safety, but provide important
information about proper and effective work
procedures.
The situation-dependent safety notices may contain the fol-
lowing warning symbols:
Symbol Meaning
Warning against dangerous electrical voltage
Warning against explosive atmospheres
Warning against electrostatically charged com-
ponents
Warning against automatic startups
Observe the documentation
▶All instructions can be identified by the black triangles
next to the text.
–Lists are marked with a tick.
1.2 Complete documentation
The documentation is intended for trained elec-
tricians who are familiar with national and inter-
national laws, provisions and standards.
This manual contains product-specic informa-
tion and notes about the Stepper motor module
UR20-1SM-50W-6DI2DO-P. It supplements but
does not replace the u-remote IP20 manual
(document No. 1432790000).
The u-remote Web Server Manual
(document No. 2112220000) describes how to
use the web server application.
All documents are available to download on the
Weidmüller Website.
1 About this documentation
1 About this documentation | Standard data structure
4Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
1.3 Standard data structure
All given details of data structure (e.g. process
data, parameters) refer to the u-remote internal
mapping, when the standard data format is set in
the coupler parameters (see table below).
The way these data are represented by other
eldbus participants (e.g. the PLC), depends addi-
tionally on the eldbus specication and the data
format of the communicating device. Therefore
it might happen, that bytes are changed within a
word or words are changed within a double word.
Standard data formats
Fieldbus coupler Standard data format
UR20-FBC-PB-DP, UR20-FBC-PB-DP-V2
Motorola
UR20-FBC-PN-IRT, UR20-FBC-PN-IRT-V2,
UR20-FBC-PN-ECO
UR20-FBC-MOD-TCP, UR20-FBC-MOD-TCP-V2,
UR20-FBC-MOD-TCP-ECO
UR20-FBC-CAN
Intel
UR20-FBC-EC, UR20-FBC-EC-ECO
UR20-FBC-EIP
UR20-FBC-DN
UR20-FBC-PL
UR20-FBC-IEC61162-450
1.4 Software releases described
The present manual describes the following rmware releas-
es of the couplers:
Firmware releases
Order No. Fieldbus coupler Release
1334870000 UR20-FBC-PB-DP 01.09.00
2614380000 UR20-FBC-PB-DP-V2 01.09.00
1334880000 UR20-FBC-PN-IRT 01.08.00
2566380000 UR20-FBC-PN-IRT-V2 01.10.01
2659680000 UR20-FBC-PN-ECO 01.00.00
1334910000 UR20-FBC-EC, HW 01.xx.xx 01.11.00
1334910000 UR20-FBC-EC, HW 02.xx.xx 01.12.00
2659690000 UR20-FBC-EC-ECO 01.00.00
1334930000 UR20-FBC-MOD-TCP 02.07.00
2476450000 UR20-FBC-MOD-TCP-V2 02.08.00
2659700000 UR20-FBC-MOD-TCP-ECO 01.00.00
Firmware releases
Order No. Fieldbus coupler Release
1334920000 UR20-FBC-EIP, HW 01.xx.xx 01.08.00
1334920000 UR20-FBC-EIP, HW 02.xx.xx 02.09.00
1334900000 UR20-FBC-DN 01.08.00
1334890000 UR20-FBC-CAN 01.08.00
1334940000 UR20-FBC-PL 01.08.00
2661310000 UR20-FBC-IEC61162-450 01.01.00
Device description files
Fieldbus protocol Release
PROFIBUS UR20-FBC-PB-DP 2.93
UR20-FBC-PB-DP-V2 2.93
UR20-FBC-PN-ECO 20200227
PROFINET UR20-FBC-PN-IRT 20200105
UR20-FBC-PN-IRT-V2 20200207
EtherCAT UR20-FBC-EC 00011200
UR20-FBC-EC-ECO 00010000
Ethernet/IP 1.6
DeviceNet 1.3
CANopen 1.19
POWERLINK 1.0
Web server language files
Language Release Availablity
German 01.05.00 On delivery
English 01.05.00 On delivery
Chinese 01.05.00 On delivery
French 01.05.00 Available online
Italian 01.05.00 Available online
Spanish 01.05.00 Available online
Portuguese 01.05.00 Available online
Korean 01.05.00 Available online
Japanese 01.05.00 Available online
2 Safety | General safety notice
5Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
This chapter includes general safety instructions for hand-
ling the Stepper motor module UR20-1SM-50W-6DI2DO-P.
Specic warning notices for specic tasks and situations are
given at the appropriate places in the documentation. Failure
to observe the safety and warning notices can result in da-
mage to persons and material.
This manual contains product-specic informa-
tion and notes about the Stepper motor module
UR20-1SM-50W-6DI2DO-P. It supplements but
does not replace the u-remote IP20 manual
(document No. 1432790000). The manual is
available to download from the Weidmüller web-
site.
2.1 General safety notice
Work on the u-remote products may only be performed by
qualied electricians with the support of trained persons.
As a result of their professional training and experience, an
electrician is qualied to perform the necessary work and
identify any potential risks.
Before any work is carried out on the products (installation,
maintenance, retrotting), the power supply must be swit-
ched off and secured against being switched on again. Work
may be carried out with safety extra-low voltage (SELV/
PELV). When working during continued operations, the
emergency stop mechanisms must not be made ineffective.
The u-remote products do not comprehend any components
or parts that can be maintained by the operator. If a malfunc-
tion on a u-remote product cannot be xed after following
the recommended measures (seeChapter7), the product in
question must be sent back to Weidmüller. Weidmüller does
not assume any liability if the product has been tampered
with!
Electrostatic discharge
u-remote products can be damaged or destroyed by elect-
rostatic discharge. When handling the products, the neces-
sary safety measures against electrostatic discharge (ESD)
according to IEC61340-5-1 and IEC61340-5-2 must be
observed.
All devices are supplied in ESD-protected packaging. The
packing and unpacking as well as the installation and di-
sassembly of a device may only be carried out by qualied
personnel and in accordance with the ESD information.
Open equipment
u-remote products are open equipment that may only be ins-
talled and operated in lockable housings, cabinets or electri-
cal operations rooms. Only trained and authorised personnel
may access the equipment.
For applications requiring functional safety, the surrounding
housing must meet at least IP54. The standards and gui-
delines applicable for the assembly of switch cabinets and
the arrangement of data and supply lines must be complied
with.
Fuse protection
The operator must set up the equipment so that it is protec-
ted against overloading. The 24VDC power supply units
used must fulll the SELV category, no matter whether they
supply the system or feed-in modules. The output voltage of
the feed-in power supply has to fulll overvoltage category1
according to IEC61010. When connecting to outer current
circuits the respective overload category has to be regarded
for each single module of the u-remote station (see technical
data).
The main switch, the switches of the subsequent circuits,
the cable cross-sections and the fuse protection have to be
congured according to IEC61010. The current demand
must be caluclated separately for each single u-remote stati-
on as described in the u-remote IP20 manual.
In the case of modules without fused sensor/actuator power
supplies, all lines to the connected sensors/actuators must
be fused corresponding to their conductor cross-section (as
per DIN VDE0298 Part 4).
To meet UL-specications in accordance with UL248-14,
a UL-certied automatic fuse (e.g. ABB Type S201-B16)
or a 10A fuse with a medium time-lag (e.g. ESKA Part No.
522.227) must be used.
All connections of the u-remote components are protected
against voltage pulses and overcurrent in accordance with
IEC61131-2, ZoneB. The operator has to decide whether
additional overvoltage protection according to IEC62305
is required. Voltages that exceed +/-30V may cause the de-
struction of couplers and modules.
Earthing
Via an FE spring on its underside each coupler and each mo-
dule is electrically connected to the DIN rail. This connection
is only established certainly if the assembly is carried out
carefully and in accordance with the instructions (u-remote
IP20 manual). In order to ensure the earthing of the station
the DIN rail must be connected to the protective earth via the
earth terminals (PE).
2 Safety
2 Safety | Intended use
6Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
Shielding
Shielded lines are to be connected with shielded plugs and
xed on a shield bus in compliance with the relevant stan-
dard (see u-remote IP20 manual, Chapter 8).
2.2 Intended use
The stepper motor module UR20-1SM-50W-6DI2DO-P is an
I/O module from the u-remote series that is designed for use
in a u-remote station. The module can be used to connect
a two-phase stepper motor with the u-remote station. The
connected motor must have a nominal current of at least
200mA.
The motor and module electronics are supplied by an exter-
nal power supply (12–50VDC). If the stepper motor module
is used with a safe power-feed module (UR20-PF-O-X-SIL),
note that only the digital outputs on the stepper motor
module are safely switched off. The system operator must
ensure that the external power supply is disconnected in the
event of a fault.
The products of the u-remote series are intended for use in
industrial automation. A u-remote station with bus coupler
and connected modules is intended for the decentralised
control of systems or sub-systems. Via the eldbus coupler
every module of a station is integrated into a eldbus struc-
ture and connected to the superordinate control unit. The
u-remote products conform to protection class IP20 (in ac-
cordance with IEC60529).
The observance of the documentation is part of the intended
use. The products described in this manual may only be used
for the intended applications and only in connection with
certied third-party devices or components. The product-
specic protective measures can become ineffective in the
event of deviating use.
2.3 Use in a potentially explosive atmosphere
Unless otherwise noted, the u-remote products can be used
in potentially explosive atmospheres rated as Zone2 (as per
Directive 2014/34/EU). The u-remote products are suitable
for use in ClassI, Division2, Groups A to D according to
NFPA publication70.
If u-remote products are used in potentially explosive atmos-
pheres, the following notes are also applicable:
–Staff involved in assembly, installation and operation
must be qualified to perform safe work on electrical sys-
tems protected against potentially explosive atmospheres.
–The requirements according to IEC 60079-14 must be
observed.
–The substitution of any components may impair suitability
for ClassI, Divsion2.
–The equipment shall be installed in an enclosure that pro-
vides a degree of protection not less than IP54 in
accordance with IEC60079-15, accessible only by the
use of a tool.
–The housing enclosing must meet the requirements of
explosion protection type Exn or Exe.
–The u-remote station may only be installed in horizontal
orientation.
–Sensors and actuators that are located in Zone 2 or in a
safe zone can be connected to the u-remote station.
–If the ambient temperature under rated conditions exeeds
55°C, the cables used for feed-in (on the fieldbus coupler
and on power-feed modules) must be specified for at
least 90°C.
–If the temperature under rated conditions exceeds 70°C
at the cable or conduit entry point, or 80°C at the bran-
ching point of the conductors, the temperature specifica-
tion of the selected cable shall be in compliance with the
actual measured temperature values.
–The equipment shall only be used in an area of not more
than pollution degree2, as defined in IEC60664-1.
–A stabilised power supply with double or reinforced insu-
lation must be used (24V DC current for supplying the
u-remote station, 12–50V DC current for the separate
power supply).
–A visual inspection of the u-remote station is to be perfor-
med once per year.
–While explosive atmosphere is present:
–No electrical connection shall be separated in ener-
gized condition.
–The USB interface shall not be used.
–Dip-switches, binary-switches and potentiometers shall
not be actuated.
2 Safety | Legal notice
7Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
2.4 Legal notice
The stepper motor module UR20-1SM-50W-6DI2DO-P is CE-
compliant in accordance with Directive 2014/30/EU (EMC
Directive). It also meets the requirements of the ATEX Direc-
tive 2014/34/EU.
The results of the measurements according to CISPR16-2-3
should also be suitable to demonstrate the compliance of the
u-remote devices to the limits for radiated emissions as de-
ned by CFR47Part15, SubpartB, §15.109, ClassA (2010)
and ICES-003, Issue5, ClassA (2012).
Components of the following free software products are inte-
grated into the u-remote products:
Component Licence Link
eCos modied GPL http://ecos.sourceware.org/license-overview.
html
mongoose
WebServer MIT
http://web.archive.org/
web/20111015092802/http://code.google.
com/p/mongoose/source/browse/LICENSE
jQuery MIT https://github.com/jquery/jquery/blob/master/
LICENSE.txt
jQuery-cus-
tomSelect MIT https://github.com/jquery/jquery/blob/master/
LICENSE.txt
jQuery-i18n MIT https://github.com/jquery/jquery/blob/master/
LICENSE.txt
jQuery-
overscroll MIT https://github.com/jquery/jquery/blob/master/
LICENSE.txt
jQuery-ui MIT https://github.com/jquery/jquery/blob/master/
LICENSE.txt
JSZip MIT https://github.com/Stuk/jszip/blob/master/
LICENSE.markdown
md5 (as part
of CryptoJS) modied BSD https://code.google.com/archive/p/crypto-js/
wikis/License.wiki
snap-svg Apache
license 2.0
https://github.com/adobe-webplatform/Snap.
svg/blob/master/LICENSE
underscore MIT https://github.com/jashkenas/underscore/blob/
master/LICENSE
mustache MIT https://github.com/janl/mustache.js/blob/
master/LICENSE
3 Module description
8Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
UR20-1SM-50W-6DI2DO-P stepper motor module (order no. 2489830000)
The UR20-1SM-50W-6DI2DO-P stepper motor module with
integrated power amplier can directly control a two-phase
stepper motor. In addition, the module can record up to six
binary control signals and control up to two actuators each
with maximum 0.5A. Inputs DI4 and DI5 can process rota-
ry encoder signals (AB mode).
At each of the connectors 1 to 3, two sensors can be con-
nected in two-wire or three-wire systems. Two actuators can
be connected to connector 4 in two-wire systems. The step-
per motor is connected to connector7. An external power
supply is connected to connector8. A status LED is assigned
to each channel.
A conguration application on the web server can be used
to congure the drive system and to programme motion se-
quences.
The module electronics supply power to the sensors from
the input current path (IIN) and the actuators from the out-
put current path (IOUT). The module electronics and con-
nected motor are supplied by the external power supply
(12 ... 50V). The external power supply must be fused
against overcurrent separately.
An interruption to the power supply of less than
1ms has no impact. In the case of a longer inter-
ruption, the bus communication is switched off.
3 Module description
3 Module description | Device description
9Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
3.1 Device description
1
2
3
4
5
6
7
6
11
10
8
9
14
13
12
12
Stepper motor module UR20-1SM-50W-6DI2DO-P
1 Release lever for DIN rail fixing
2 System bus
3 System current path
4 Input current path
5 Output current path
6 Seats for module markers
7 Type designation
8 Connector frame unlocking device
9 Module status LED (collective message)
10 Connector
11 Channel status LED
12 Latching hook for latching onto module sides
13 DIN rail foot
14 Type plate
1
2
34
Stepper motor modules UR20-1SM-50W-6DI2DO-P components
1 Base modules
2 Elektronic unit
3 Plug-in unit PK1 for digital inputs and outputs
4 Plug-in unit PK2 for stepper motor and power supply
3 Module description | Connections
10Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
3.2 Connections
A detailed description of how devices can be connected to
the module is available in chapter 4.
1
2
3
4
2
1
3
4
1
2
3
4
2
4
3
1
2
4
3
1
6DI2DO-P
7
8
2
4
3
1
2
4
3
1
1SM-50W
M
DI 0
GND
24 V
DI 1
DI 2
GND
24 V
DI 3
DI 4
GND
24 V
DI 5
D0 0
GND
DO 1
GND Ext. 0VDC
Ext. +VDC
B–
A+
A–
B+
Ext. +VDC
Ext. 0VDC
12 ... 50 V
GND
Connection diagram UR20-1SM-50W-6DI2DO-P
Assignment Function/connection Assignment Function/connection
1.1 DI0 Digital input
1.2 GND 0V (UIN)
1.3 24V 24V (UIN)
1.4 DI1 Digital input
2.1 DI2 Digital input
2.2 GND 0V (UIN)
2.3 24V 24V (UIN)
2.4 DI3 Digital input
3.1 DI4 Digital input 7.1 A+ Motor, phase A, plus
3.2 GND 0V (UIN) 7.2 A- Motor, phase A, minus
3.3 24V 24V (UIN) 7.3 B+ Motor, phase B, plus
3.4 DI5 Digital input 7.4 B- Motor, phase B, minus
4.1 DO0 Digital output 8.1 Ext. +VDC 12V ...50V (external)
4.2 GND 0V (UOUT) 8.2 Ext. +VDC 12V ...50V (external)
4.3 DO1 Digital output 8.3 Ext. 0VDC 0V (external)
4.4 GND 0V (UOUT) 8.4 Ext. 0VDC 0V (external)
3 Module description | LED indicators
11Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
3.3 LED indicators
6DI2DO-P
Module status LED
Green: Communication on system bus
Red: Collective error diagnostics
1.1 Yellow: Input 0 active
1.4 Yellow: Input 1 active
2.1 Yellow: Input 2 active
2.4 Yellow: Input 3 active
3.1 Yellow: Input 4 active
3.4 Yellow: Input 5 active
4.1 Yellow: Output 0 active
4.4 Yellow: Output 1 active
LED indicators UR20-1SM-50W-6DI2DO-P, left, error messages see chapter7
1SM-50W
7.1 Yellow: Phase A active
7.2 Red: Phase A error
7.3 Yellow: Phase B active
7.4 Red: Phase B error
8.1 Green: external power supply OK
8.2 Red: external power supply error
LED indicators UR20-1SM-50W-6DI2DO-P, right, error messages see chapter7
3 Module description | Block diagram
12Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
3.4 Block diagram
A+
A-
B+
B-
1.2
2.2
3.2
1.3
2.3
3.3
DI 2
GND
24V
DI 3
DI 0
GND
24V
DI 1
DI 4
GND
24V
DI 5
D0 0
GND
DO 1
GND
System
bus
U
SYS
U
IN
U
OUT
µC
24V DC IN
GND IN
1
2
3
4
UR20-1SM-50W-6DI2DO-P
A+
A–
B+
B–
Ext. +VDC
Ext. +VDC
Ext. 0VDC
Ext. 0VDC
7
8
D0 0
D0 1
24V DC OUT
4.2
4.4
GND OUT
Typ 3
DI0
•
•
•
•
DI5
Ext. +VDC
Ext. +VDC
Ext. 0VDC
Ext. 0VDC
Block diagram UR20-1SM-50W-6DI2DO-P
3 Module description | Technical data
13Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
3.5 Technical data
Technical data UR20-1SM-50W-6DI2DO-P
System data
Data Process, parameter and diagnosticdata depend on the coupler used,
see table in section6.3
Interface u-remote system bus
System bus transfer rate 48 MBit/s
Modul diagnosis yes
Galvanic isolation 500 V DC between current paths
Stepper motor connections A+, A-, B+, B-
Number 1 channel, 2 phases
Supply, amplifier external power supply entry, external protection necessary
Power max. 50W
max. current load see derating curve (see section 3.6)
Over load protection yes
Short-circuit-proof yes
Individual channel diagnosis yes
Connection 4-wire
Cable length < 30 m, shielded
Inputs DI0...DI3
Number 4
Input type P-switching, for type 1 and 3 type 3 sensors as per IEC 61131-2
Input filter Input delay adjustable to 0 or 5 ms
Low input voltage -30 V…+5 V referred to GND
High input voltage +11 V...+30 V referred to GND
Low input current ≤ 1.5mA
High input current ≥ 2.5mA (2-wire sensor)
Sensor supply max. 1 A per plug
Sensor connection 2-wire, 3-wire
Reverse polarity protection yes
Cable length < 30 m, shielded
Individual channel diagnosis no
Inputs DI4...DI5
Number 2
Input type Input characteristics for sensor types 1 and 3 are in accordance with EN 61131-2, suitable incremen-
tal encoders, P-switching
Input filter Filter time adjustable to 0 or 5 ms
3 Module description | Technical data
14Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
Technical data UR20-1SM-50W-6DI2DO-P
Maximum input frequency 100 kHz
Mode of operation AB mode with 4-times sampling
Low input voltage -30 V … +5 V referred to GND
High input voltage + 11 V ...+30 V referred to GND
Low input current ≤ 1.5 mA
High input current ≥ 2.5mA (2-wire sensor)
Sensor supply max. 1 A per plug
Sensor connection 2-wire, 3-wire
Reverse polarity protection yes
Cable length < 30 m, shielded
Individual channel diagnosis no
Outputs DO0...DO1
Number 2
Output Type P-switching, as per IEC 61131-2
Type of load ohmic, inductive, lamp load
Response time low » high max. 100 μs; high » low max. 250 μs
Max output current per channel 0.5 A
per module 1 A
Breaking energy (inductiv) 150 mJ per channel
Switching frequency Ohmic load (min. 47 Ω) 1 kHz
Inductive load (DC 13) 0.2 Hz without free-wheeling diode
1kHz with suitable free-wheeling diode
Lamp load (12 W) 1kHz
Actuator connection 2-wire
High input voltage min. Uout - 1V
Low output current ≤ 0,5mA
High output current nominal 500 mA
Short-circuit-proof yes
Protective circuit Constant current with thermal switch-off and automatic restart
Response time of the current limiting circuit <100 μs
Individual channel diagnosis no
Reactionless yes
Can be used with PF-O-xDI-SIL yes
MTTF 53.74 years
3 Module description | Technical data
15Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
Technical data UR20-1SM-50W-6DI2DO-P
Supply
Supply voltage USYS 3.6 V DC ... 6.5 V DC
Supply voltage UIN 24 V DC +20 %/-15 %
Supply voltage UOUT 24 V DC +20 %/-15 %
External supply voltage 12 V DC ... 50 V DC
Current consumption from system current path ISYS 8 mA
Current consumption from input current path IIN 27 mA + sensor supply current
Current consumption from output current path IOUT 10mA + load
Current consumption from external power supply 35 mA + load (at 24 V DC)
General data
Type of connection “PUSH IN” Single-wired, ne-wired
Conductor cross-section 0.14 – 1.5mm2 (AWG
16 – 26)
Dimensions Height 120.0mm/ 4.72″
(with release lever 128.0mm/ 5.04″)
Width 23.0mm/ 0.9″
Depth 76.0mm/ 2.99″
Weight (operational status) 173g
Protection class (IEC60529) IP 20
Flammability rating UL94 V-0
Temperature data Operation -20°C ... +60 °C / - 4 ... +140°F
Storage, transport -40°C ... +85 °C / - 40 ... +185°F
Humidity Operation, storage, transport 5 % to 95 %, non-condensing as per IEC 61131-2
Air pressure Operation2) ≥ 795 hPa (altitude ≤ 2000m) as per IEC
61131-2
Storage, transport ≥ 700 hPa (altitude ≤ 3000m) as per IEC
61131-2
Potential isolation Test voltage 500V DC eld/system (as per EN60079-
15:2010)
Pollution severity level 2 (as per DIN EN 60664-1:2008)
Overvoltage category II (as per DIN EN 50178)
Vibration resistance 5Hz ≤ f ≤ 8.4Hz: 3.5-mm amplitude as per IEC 60068-2-6
8.4Hz ≤ f ≤ 150Hz: 1-g acceleration as per IEC 60068-2-6
Shock resistance 15 g over 11ms, half sinewave, as per IEC 60068-2-27
Approvals and standards cULus UL61010
Potentially explosive atmosphere Zone 2 ATEX Directive 2014/34/EU
EMC IEC61000
Explosion protection IEC 60079-0:2012, IEC 60079-15:2010, EN
60079-0:2012,
EN 60079-15:2010
PLC IEC 61131-2
3 Module description | Derating curves
16Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
3.6 Derating curves
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UR20-1SM-50W-6DI2DO-P derating curve with horizontal installation
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UR20-1SM-50W-6DI2DO-P derating curve with vertical installation
3 Module description | Adjustable parameters
17Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
3.7 Adjustable parameters
A detailed description for how to parameterise the
module is included in Section 5.4.
Overview of the editable parameters UR20-1SM-50W-6DI2DO-P
Channel Description Options1) Default Remark
8 Start/Stopp frequency fss 5(0)/ 10(1)/ 20(2)/ 50(3)/ 100(4)/ 200 (5)/ 500(6)/ 750(7)/ 1000(8)/
1250(9)/ 1500(10)/ 1750(11)/ 2000(12)/ 2500(13)
1000 in Hz
8 Factor fmax 1...255 1 fmax=fss×Factor
8 Max. acceleration 0...100 50 in %
8 Micro steps 1(0)/ 2(1)/ 4(2)/ 8(3)/ 16(4)/ 32(5)/ 64(6)/ 128(7)/ 256(8) 4 in increments
8 Traversing range -2147483648...2147483647 1000 in increments
8 Drive current 0...228 127 in10mA, max. 2.28A
8 Soft start factor2) 1...100 0in %
8 Factor break current ×1(0)/ ×1,25(1)/ ×1,5(2)/ ×1,75(3)/ ×2(4)/ ×2,25(5)/ ×2,5 (6) 1
8 Factor boost current ×1(0)/ ×1,25(1)/ ×1,5(2)/ ×1,75(3)/ ×2(4)/ ×2,25(5)/ ×2,5 (6) 1
8 Max. overcurrent duration 0(0)/ 5(1)/ 10(2)/ 20(3)/ 50(4)/ 100(5)/ 200(6)/ 500(7)/ 750(8)/
1000(9)/ 1250(10)/ 1500(11)/ 1750(12)/ 2000(13)/ 2500 (14)
0in ms
8 Axis mode Linear(0)/ Modulo2)(1) Linear
– Diagnostic alarm disabled(0)/ enabled(1) disabled
0Function DI Ref.switch left/ccw(0)/ Ref.switch right/cw(1)/ Digital input(2) Digital input
0Inversion disabled(0)/ enabled(1) disabled
0Filter time no(0)/ 5ms (1) no
1 Function DI Zero track (0)/ Digital input(1) Digital input
1 Inversion disabled(0)/ enabled(1) disabled
1 Filter time no(0)/ 5ms (1) no
2Function DI Jog right/cw(0)/ Tip right/cw(1)/ Digital input(2) Digital input
2Filter time no(0)/ 5ms (1) no
3Function DI Jog left/ccw(0)/ Tip left/ccw(1)/ Digital input(2) Digital input
3Filter time no(0)/ 5ms (1) no
4 Function DI Encoder Sig. A(0)/ Digital input(1)/ Limit switch right/cw(2) Digital input
4 Filter time no(0)/ 5ms (1) no
5Function DI Encoder Sig. B(0)/ Digital input(1)/ Limit switch left/ccw(2) Digital input
5Filter time no(0)/ 5ms (1) no
6 Function D0 Digital output(0)/ Position reached(1)/ Position not reached(2) Digital output
7Function D0 Digital output(0)/ Position reached(1)/ Position not reached(2) Digital output
1) Values in brackets for Modbus-TCP (firmware version 02.00.00 and higher), CANopen, EtherCAT and EtherNet/IP via module parameter class
2) Reserved for future firmware versions
3 Module description | Adjustable parameters
18Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
Overview of the editable parameters UR20-1SM-50W-6DI2DO-P
Channel Description Options1) Default Remark
8 Encoder function Enc.Pos. in process data(0)/ Contouring error monitoring(1)/ disabled(2) disabled
8 Homing Stop on Ref.switch 0➝1(0)/ Stop on Ref.switch 1➝0(1)/ Stop on homing bit
1➝0(2)
Stop on Ref.
switch 0➝1t
8 Encoder resolution 0...65535 1000 steps/revolution
8 Full steps stepper motor/rev. 0...65535 200
8 Contouring error 0...100 1 in % of the step resoluti-
on.of the motor
1) Values in brackets for Modbus-TCP (firmware version 02.00.00 and higher), CANopen, EtherCAT and EtherNet/IP via module parameter class
2) Reserved for future firmware versions
“Start/stop frequency FSS” parameter
The “start/stop frequency FSS” parameter is used to adjust the
start/stop frequency FSS of the stepper motor incl. coupled
external inertia.
5 ... 2,500 (default: 1,000)
The start/stop frequency FSS is 5 ... 2,500increments.
“Factor Fmax” parameter
The “factor Fmax” parameter is used to adjust the maximum
frequency Fmax of the stepper motor as a multiple of the start/
stop frequency FSS.
1 ... 255 (default: 1)
The maximum frequency is Fmax=1 ... 255×FSS.
“Max. acceleration” parameter
The “max. acceleration” parameter denes the maximum
acceleration as a percentage of the highest possible accele-
ration (65,535 incr./s²).
1 ... 100 (default: 50)
The maximum acceleration is amax=1% ... 100%(0.01 ... 1)
×65,535 incr./s².
“Micro steps” parameter
The “micro steps” parameter denes the step increments per
full step in the power of two.
1 ... 256 (default: 4)
The step increments per full step equate to 1 ... 256.
“Traversing range” parameter
The “traversing range” parameter is used to set the length
of the traversing range in increments. The traversing range
always begins with -2147483648.
-2147483648 ... 2147483647 (default: 1,000)
The traversing ranges extends to
-2147483648 ... 2147483647increments.
The traversing range is specied in increments. If
you double the value of the “micro steps” parame-
ter, you halve the actual traversing range.
“Drive current” parameter
The “drive current” parameter denes the motor current per
phase as a multiple of 10mA.
0 ... 228 (default: 127)
The current per phaseis idrive=0 ... 228×10mA.
If you set a very low current, the actual current
may differ considerably from the set value. The
connected motor must have a nominal current of
at least 200mA.
“Soft start factor” parameter
Reserved for future rmware versions.
3 Module description | Adjustable parameters
19Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
“Factor brake current” parameter
The “factor brake current” parameter denes the factor by
which the traversing current is increased during braking ope-
rations.
1 ... 2.5(default: 1)
The braking current is ibrake=1 ... 2.5 × idrive.
The brake current must not exceed 2.28A.
“Factor boost current” parameter
The “factor boost current” parameter denes the factor by
which the traversing current is increased during accelerating
operations.
1 ... 2.5(default: 1)
The accelerating current is iacc=1 ... 2.5 × idrive.
The accelerating current must not exceed 2.28A.
“Max. overcurrent duration” parameter
The “max. overcurrent duration” parameter denes how long
the traversing current is increased for during braking and ac-
celerating operations.
0 ... 2,500 (default: 0)
The traversing current is increased for a maximum of
0 ... 2,500ms during braking and accelerating operations.
“Axis mode” parameter
The “axis mode” parameter denes the specication of the
traversing range.
linear (default)
The traversing range is limited on both sides. Absolute positi-
oning is only possible within the traversing range. The traver-
sing range can be exited through relative positioning.
modulo
The traversing range is repeated. On passing the traversing
range limit, the internal position counting is continued from
the other traversing range limit.
“Diagnostic alarm” parameter
The “diagnostic alarm” parameter activates diagnostic
alarms.
Disabled (default)
Diagnostic alarms are deactivated.
Enabled
Diagnostic alarms are activated.
“Function DI” parameter
The “function DI” parameter denes the function of the asso-
ciated digital input.
Digital input
The input works as a general digital input.
Encoder sig. A
The input records the signal of a rotary encoder (channelA).
Encoder sig. B
The input records the signal of a rotary encoder (channelB).
Limit switch left/ccw
The input records the signal of a limit switch. The limit
switch is started up by the stepper motor in a counter-clock-
wise direction.
Limit switch right/cw
The input records the signal of a limit switch. The limit switch
is started up by the stepper motor in a clockwise direction.
Jog left/ccw
The input records the signal for triggering jog mode in a
counter-clockwise direction.
Jog right/ccw
The input records the signal for triggering jog mode in a
clockwise direction.
Zero track
The input records the zero track signal of a rotary encoder.
Ref. switch left/ccw
The input records the signal of a reference switch. The refe-
rence point is started up by the stepper motor in a counter-
clockwise direction.
Ref switch right/cw
The input records the signal of a reference switch. The refe-
rence point is started up by the stepper motor in a clockwise
direction.
3 Module description | Adjustable parameters
20Manual Stepper motor module UR20-1SM-50W-6DI2DO-P2575290000/03/03.2020
Tip left/ccw
The input records the signal for triggering tip mode in a
counter-clockwise direction.
Tip right/ccw
The input records the signal for triggering tip mode in a
clockwise direction.
“Inversion” parameter
The “inversion” parameter denes the logic of the input.
Disabled
A low level at the input generates a 0 in the process image.
A high level at the input generates a 1 in the process image.
This adjustment is ideal for sensors with NO contact switch
output.
Enabled
A low level at the input generates a 1 in the process image.
A high level at the input generates a 0 in the process image.
This adjustment is ideal for sensors with NC contact switch
output.
“Filter time” parameter
The “lter time” parameter denes the lter behaviour of an
input.
no (default)
Signals are not ltered.
5ms
Signals with a duration of less than 5ms are ltered.
“Function DO” parameter
The “function DO” parameter denes the function of the as-
sociated digital output.
Digital output
The output works as a general digital output.
Position reached
The output signal is low if the current position of the stepper
motor deviates from the target position. The output signal
switches to high once the motor has reached the target po-
sition.
Position not reached
The output signal is high if the current position of the step-
per motor deviates from the target position. The output sig-
nal switches to low once the motor has reached the target
position.
“Encoder function” parameter
The “encoder function” parameter denes the function of the
connected rotary encoder.
Enc.Pos. in process data
The rotary encoder position is illustrated in the process input
data.
Contouring error monitoring
The module calculates the contouring error as the difference
between the current motor position and the rotary encoder
position, and generates an error message if the contouring
error is larger than the permitted contouring error. The per-
missible contouring error is adjusted using the “contouring
error” parameter.
Disabled
The rotary encoder function is disabled.
“Homing” parameter
The “homing” parameter denes the type of reference run.
Stop on ref.switch 0➝1
The motor travels in the specied direction with start/stop
frequency. The reference run ends once the reference switch
has been triggered.
Stop on ref.switch 1➝0
The motor travels in the specied direction with start/stop
frequency. The reference run ends once the reference switch
has been triggered and the motor has been moved in the op-
posite direction with ¼ of the start/stop frequency.
Stop on homing bit 1➝0
The reference run ends when the “homing” bit changes from
1 to 0 in the output data.
“Encoder resolution” parameter
The “encoder resolution” parameter is used to adjust the re-
solution of the connected rotary encoder in increments.
0...65,535 (default: 1,000)
The connected rotary encoder has a resolution of
0 ... 65,535increments.
The stepper motor module always evaluates all
four anks of the rotary encoder signal.
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