Applied Motion SWM24IP-3EE User Manual

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SWM24

Hardware Manual

920-0068B 10/31/2013

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SWM24 Hardware Manual

Contents

Introduction .............................................................................................................................................................................................................................................3

Features ......................................................................................................................................................................................................................................................3

List of SWM24 Model Numbers .................................................................................................................................................................................................3

Block Diagram (-SF and -QF) ..........................................................................................................................................................................................................4

Block Diagram (-S, -Q and -IP)........................................................................................................................................................................................................5

Safety Instructions .................................................................................................................................................................................................................................6

Geing Started .......................................................................................................................................................................................................................................7

Mounting the SWM24 .......................................................................................................................................................................................................................7

Choosing a Power Supply ...............................................................................................................................................................................................................8

Voltage ...............................................................................................................................................................................................................................................8

Current ...............................................................................................................................................................................................................................................9

Connecting the Power Supply ...................................................................................................................................................................................................11

Installation Requirements for CE Compliance ...........................................................................................................................................................11

+5V Keep-Alive Feature: .......................................................................................................................................................................................................12

Connecting the SWM24 Communications .........................................................................................................................................................................13

Connecting to a PC Using RS-232 ...................................................................................................................................................................................13

Connecting to a Host Using Ethernet ............................................................................................................................................................................14

Addresses, Subnets, and Ports .......................................................................................................................................................................................14

Option 1: Connect a Drive to Your Local Area Network ............................................................................................................................. 16

Option 2: Connect a Drive Directly to Your PC ................................................................................................................................................18

Option 3: Use Two Network Interface Cards (NICs) .....................................................................................................................................20

Inputs and Outputs (-SF and -QF) ...........................................................................................................................................................................................21

Inputs and Outputs (-S, -Q, -IP)..................................................................................................................................................................................................22

Connecting Step and Direction Signals .................................................................................................................................................................................23

Connecting Other Signals .............................................................................................................................................................................................................24

Analog Input .........................................................................................................................................................................................................................................25

Programmable Output ...................................................................................................................................................................................................................26

Reference Materials ..........................................................................................................................................................................................................................27

Mechanical Outline ..................................................................................................................................................................................................................27

Technical Specications .........................................................................................................................................................................................................28

Torque-Speed Curves ............................................................................................................................................................................................................31

Drive/Motor Heating ...............................................................................................................................................................................................................32

Mating Connectors and Accessories ..............................................................................................................................................................................33

LED Error Codes ........................................................................................................................................................................................................................34

Contacting Applied Motion Products ...........................................................................................................................................................................36

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Introduction

ank you for selecting the Applied Motion Products SWM24 Drive+Motor. We hope our dedication to performance, quality and economy will make your motion control project successful. If there’s anything we can do to improve our products or help you use them beer, please call or fax. We’d like to hear from you. Our phone number is (800) 525-1609, or you can reach us by fax at (831) 761-6544. You can also email support@applied-motion.com.

Features

• IP65 environmental protection

• Programmable, micro-stepping digital step Drive+Motor in an integrated package

• Operates from a 12 to 70 volt DC power supply

• Operates in velocity or position mode

• Mid-band anti-resonance

• Accepts analog signals, digital signals and streaming serial commands

• Step input signal smoothing

• Communication options: RS-232, Ethernet UDP/TCP, EtherNet/IP

• Encoder feedback

• Delivers up to 340 oz-in holding torque

• -SF & -QF: four optically isolated, 5 to 24 volt digital “ex I/O” points (each can be congured as an input or

an output)

• -S, -Q, -IP: three optically isolated, 5 to 24 volt digital inputs, one optically isolated 30V, 100mA digital output

• Input ltering both hardware and soware

• 0 to 5V analog input for speed and position control

List of SWM24 Model Numbers

SWM24SF-3AE SWM24QF-3AE SWM24S-3EE SWM24Q-3EE SWM24IP-3EE

Notes: Last digit indicates 1000 line internal encoder. E: encoder is included, N: no encoder

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12-70 VDC

External

Power Supply

I/O 1+

Status

I/O 1-

I/O 2+ I/O 2-

I/O 3+ I/O 3-

I/O 4+ I/O 4-

AIN

GND

+5VDC

+5V

RS-232

TX, RX, GND,+5V

Digital

Filter

Optical

Isolation

Software

Filter

Digital

Filter

Optical

Isolation

Software

Filter

Digital

Filter

Optical

Isolation

Software

Filter

Optical

Isolation

Software

Filter

I/O Connector

Power

Conn

Comm

Conn

motor

encoder

MOSFET

PWM

Power

Amplifier

5 Volt DC

Power Supply

3.3VDC Logic

Supply

Voltage &

Temp

Monitor

DSP

Driver

Controller

Over-

Current

Monitor

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Block Diagram (-SF and -QF)

SWM24 Hardware Manual

I/O Functions (congure in software)

I/O 1 I/O 2 I/O 3 I/O 4

Step Input Direction Input Jog CW Input Jog CCW Input Limit CW Input Limit CCW Input Enable Input Alarm Reset Input Enable Input Alarm Reset Input Start/Stop Input Change Speed Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input Brake Output Brake Output Brake Output Brake Output Fault Output Fault Output Fault Output Fault Output Motion Output Motion Output Motion Output Motion Output Tach Output Tach Output Tach Output Tach Output General Purpose Output General Purpose Output General Purpose Output General Purpose Output

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12-70 VDC

External

Power Supply

Voltage &

Temp

Monitor

motor

encoder

5 Volt DC

Power Supply

DSP

Driver

Controller

3.3VDC Logic

Supply

IN1+

Status

IN1-

IN2+ IN2

IN3+ IN3

OUT+ OUT

GND

+5VDC

+5V

Power

Conn

I/O Connector

Ethernet Network

COMM

Conn

Ethernet

MAC/PHY

Digital

Filter

Optical

Isolation

Software

Filter

Digital

Filter

Optical

Isolation

Software

Filter

Digital

Filter

Optical

Isolation

Software

Filter

Optical

Isolation

Software

Filter

Over-

Current

Monitor

MOSFET

PWM

Power

Amplifier

SWM24 Hardware Manual

Block Diagram (-S, -Q and -IP)

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I/O Functions (congure in software)

IN1 IN2 IN3 OUT

Clockwise Limit Counterclockwise Limit Home Sensor Fault General Purpose Input General Purpose Input Enable Input Brake Master Encoder Ch.A Master Encoder Ch.B General Purpose Input Motion

Tach General Purpose Output

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SWM24 Hardware Manual

Safety Instructions

Only qualied personnel are permied to transport, assemble, commission, and maintain this equipment. Properly qualied personnel are persons who are familiar with the transport, assembly, installation, commissioning and operation of motors, and who have the appropriate qualications for their jobs. e qualied personnel must know and observe the following standards and regulations: IEC 364 resp. CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National regulations for safety and accident prevention or VBG 4

To minimize the risk of potential safety problems, you should follow all applicable local and national codes that regulate

the installation and operation of your equipment. ese codes vary from area to area and it is your responsibility to determine which codes should be followed, and to verify that the equipment, installation, and operation are in compliance with the latest revision of these codes. Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards. We do not guarantee the products described in this publication are suitable for your particular application, nor do we assume any responsibility for your product design, installation, or operation.

• Read all available documentation before assembly and commissioning. Incorrect handling of products in this

manual can result in injury and damage to persons and machinery. Strictly adhere to the technical information on the installation requirements.

• It is vital to ensure that all system components are connected to earth ground. Electrical safety is impossible

without a low-resistance earth connection.

• e SWM24 drives contain electrostatically sensitive components that can be damaged by incorrect handling. Discharge yourself before touching the product. Avoid contact with high insulating materials (articial fabrics, plastic lm, etc.). Place the product on a conductive surface.

• During operation keep all covers and cabinet doors shut. Otherwise, there are deadly hazards that could

possibility cause severe damage to health or the product.

• In operation, depending on the degree of enclosure protection, the product can have bare components

that are live or have hot surfaces. Control and power cables can carry a high voltage even when the motor is not rotating.

• Never pull out or plug in the product while the system is live. ere is a danger of electric arcing and danger

to persons and contacts.

• Aer powering down the product, wait until both LEDs are completely dark before touching live sections of

the equipment or undoing connections (e.g., contacts, screwed connections). To be safe, measure the contact points with a meter before touching.

Be alert to the potential for personal injury. Follow the recommended precautions and safe operating practices included with the alert symbols. Safety notices in this manual provide important information. Read and be familiar with these instructions before aempting installation, operation, or maintenance. e purpose of this section is to alert users to

possible safety hazards associated with this equipment and the precautions that need to be taken to reduce the risk of

personal injury and damage to the equipment. Failure to observe these precautions could result in serious bodily injury, damage to the equipment, or operational difculty.

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Geing Started

is manual describes the use of four dierent drive models. What you need to know and what you must have depends on the drive model. For all models, you’ll need the following:

• a 12 - 70 volt DC power supply. Please read the section entitled Choosing a Power Supply for help in choosing the right power supply.

• a small at blade screwdriver for tightening the connectors (included).

• a personal computer running Microso Windows 98, 2000, NT, Me , XP, Vista or 7 (32 or 64 bit).

•

ST Congurator

ucts/soware.

• Mating cables are available from Applied Motion, see the Accessories section for part numbers)

If you’ve never used an SWM24 drive you’ll need to get familiar with the drive and the set up soware before you try to

deploy the system in your application. We strongly recommend the following:

™ and

Q Programmer

™ soware applications, available at www.applied-motion.com/prod-

1. For -Q drives, download and install the

motion.com/products/soware.

2. Launch the soware by clicking Start...Programs...Applied Motion...

3. Connect the drive to your PC using the programming cable.

4. Connect the drive to the power supply.

5. Apply power to the drive.

6. e soware will recognize your drive, display the model and rmware version and be ready for action.

ST Congurator

™ soware applications, available at www.applied-

Mounting the SWM24

As with any stepper motor the SWM24 must be mounted so as to provide maximum heat-sinking and air-ow. Keep space around the Drive+Motor to allow convected air-ow.

• Never use your Drive+Motor in a space where there is no air ow or where other devices cause the sur- rounding air to be more than 40°C.

• Always provide airow around the Drive+Motor .

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SWM24X-3 Max Duty Cycle vs Speed

6A/phase, 40°C Ambient

Mounted on a 162 x 162 x 6 (mm)

Aluminum Plate

10 0

0 10 20 30 40 50

Speed (RPS)

e l c y C y t u D %

12V Dut y Cy cle

24V Dut y Cy cle

48V Dut y Cy cle

65V Dut y Cy cle

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SWM24 Hardware Manual

Choosing a Power Supply

When choosing a power supply, there are many things to consider. If you are manufacturing equipment that will be sold

to others, you probably want a supply with all the safety agency approvals. If size and weight are an issue use a switching

supply.

You must also decide what size of power supply (in terms of voltage and current) is needed for your application.

Voltage

e SWM24 is designed to give optimum performance between 24 and 70 volts DC. Choosing the voltage depends on the performance needed and Drive+Motor heating that is acceptable and/or does not cause a drive over-temperature. Higher voltages will give higher speed performance but will cause the Drive+Motor to operate at higher temperatures. Using power supplies with voltage outputs that are near the drive maximum may reduce the operational duty-cycle signicantly. See the chart below to determine thermal performance at dierent power supply voltages

If you choose an unregulated power supply, make sure the no load voltage of the supply does not exceed the drive’s maximum input voltage specication.

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SWM24-3 12V Power Supply Current

Motor Current: 6A/phase

0.5

1.5

2.5

0 10 20 30 40 50

Speed(RPS)

Torque(N.m

)

0.00

0.50

1.00

1.50

2.00

2.50

3.00

3.50

4.00

4.50

Amps

Torque

Supply Current

No Load

SWM24-3 24V Power Supply Current

0.5

1.5

2.5

0 10 20 30 40 50

Speed(RPS)

Torque(N.m)

0.00

0.50

1.00

1.50

2.00

2.50

3.00

3.50

4.00

4.50

Amps

Torque

Supply Current

No Load

Motor Current: 6A/phase

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Current

e maximum supply current required by the SWM24 is shown in the chart below with dierent power supply voltage inputs. You will note in the chart that the Drive+Motor does not draw as much current as the motor itself. at’s because the SWM24 uses switching ampliers, converting a high voltage and low current into lower voltage and higher current. e more the power supply voltage exceeds the motor voltage, the less current you’ll need from the power supply.

Also note that the current draw is signicantly dierent at higher speeds depending on the torque load to the motor. Estimating your current needs may require a good analysis of the load the motor will encounter.

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SWM24-3 48V Power Supply Current

0.5

1.5

2.5

0 10 20 30 40 50

Speed(RPS)

Torque(N.m)

0.00

0.50

1.00

1.50

2.00

2.50

3.00

3.50

4.00

4.50

5.00

Amps

Torque

Supply Current

No Load

Motor Current: 6A/phase

SWM24-3 70V Power Supply Current

0.5

1.5

2.5

0 10 20 30 40 50

Speed(RPS)

Torque(N.m)

0.00

0.50

1.00

1.50

2.00

2.50

3.00

3.50

4.00

4.50

5.00

Amps

Torque

Supply Current

Motor Current: 6A/phase

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EMI Filter

AC Power Input

LINE

LOAD

P/N:092.00823.00 (LCR)

POWER

DC POWER SUPPLY

V-

V+

GND

SHIELD

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Connecting the Power Supply

If you need information about choosing a power supply, please read “Choosing a Power Supply” located above in this

manual.

e SWM24 contains an internal fuse that connects to the power supply + terminal. is fuse is not user replaceable. If you want to install a user serviceable fuse in your system install a 5 amp fast acting fuse in line with the + power supply lead.

Be careful not to reverse the wires. Reverse connection may open the internal fuse on your driver and void your warranty.

Installation Requirements for CE Compliance

In order to meet the EMC Directive of CE, a line lter must be installed between AC power and the DC power supply as shown below.

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If you plan to use a regulated power supply you may encounter a problem with regeneration. If you rapidly decelerate a load from a high speed, much of the kinetic energy of that load is transferred back to the power supply. is can trip the

over-voltage protection of a switching power supply, causing it to shut down. We oer the RC-050 “regeneration clamp” to solve this problem. If in doubt, buy an RC-050 for your rst installation. If the “regen” LED on the RC-050 never ashes,

you don’t need the clamp.

SWM24 Hardware Manual

RC-050 Regen Clamp

+5V Keep-Alive Feature:

+5Volts can be fed to the +5V terminal to keep the logic alive when the DC bus voltage is removed. is is very useful when an encoder is present, as the position of the system is then known when the DC bus is re-applied. An internal voltage fault will have to be cleared and the motor re-enabled when the DC bus is re-applied. A .4 Amp or larger supply is required for the keep-alive supply.

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Connecting the SWM24 Communications

e SWM24 is available with two types of serial communication: RS-232 (SWM24x-xAx) or Ethernet. Each type requires a dierent hardware connection for interface to a PC or other host system. Below are descriptions of how to interface the SWM24 to a PC.

Connecting to a PC Using RS-232

• Locate your computer within 8 feet of the Drive+Motor.

• Your drive was shipped with a communication cable. Plug the large end into the serial port of your PC and

the small end into the RS-232 jack (M12 connector) on your drive. Secure the cable to the PC with the screws on the sides.

NOTE: If the PC does not have an RS-232 serial port, a USB Serial Converter will be needed.

e RS-232 circuitry does not have any extra electrical “hardening” and care should be taken when connecting to the RS-

232 port as hot plugging could result in circuit failure.

Do not plug or unplug the RS-232 connection while power is applied to the drive. is is known as “hot plugging” and should be avoided.

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Connecting to a Host Using Ethernet

is process requires three steps

• Physically connect the drive to your network (or directly to the PC)

• Set the drive’s IP address

• Set the appropriate networking properties on your PC.

Note: the following pages are an excerpt from the “eSCL Communication Reference Guide”. For more

information, please read the rest of the guide.

Addresses, Subnets, and Ports

Every device on an Ethernet network must have a unique IP address. In order for two devices to communicate with each other, they must both be connected to the network and they must have IP addresses that are on the same subnet. A subnet is a logical division of a larger network. Members of one subnet are generally not able to communicate with members of another unless they are connected through special network equipment (e.g. router). Subnets are dened by the choices of IP addresses and subnet masks. If you want to know the IP address and subnet mask of your PC, select Start…All Programs…Accessories…Com-

mand Prompt. en type “ipcong” and press Enter. You should see something like this:

If your PC’s subnet mask is set to 255.255.255.0, a common seing known as a Class C subnet mask, then your machine can only talk to another network device whose IP address matches yours in the rst three octets. (e numbers between the dots in an IP address are called octets.) For example, if your PC is on a Class C subnet and has an IP address of 192.168.0.20, it can talk to a device at 192.168.0.40, but not one at 192.168.1.40. If you change your subnet mask to 255.255.0.0 (Class B) you can talk to any device whose rst two octets match yours. Be sure to ask your system administrator before doing this. Your network may be segmented for a reason.

Your drive’s IP Address is stored internally in nonvolatile memory. e factory default address is 10.10.10.10.

is address can be changed using our ST Congurator soware. See Edit IP Address Table under the Drive

menu.

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If someone were to change the seing and not write it down or tell anyone (I’m not naming names here, but you

know who I’m talking about) then you will not be able to communicate with your drive. e only way to “recover”

it is to apply power to the SWM24 with the network cable unplugged. e SWM24 will detect this condition and revert to a recovery address of 10.10.10.10. You may then connect your cable to the network and use ST Congurator to upload and change the stored address (using Edit IP Address Table under the Drive menu).

Your PC, or any other device that you use to communicate with the drive, will also have a unique address.

Use the standard class B subnet mask (i.e. “255.255.0.0”). e mask for the recovery address is the standard class A (i.e. “255.0.0.0”).

One of the great features of Ethernet is the ability for many applications to share the network at the same time.

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Ports are used to direct trac to the right application once it gets to the right IP address. e UDP eSCL port in our drives is 7775. To send and receive commands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application. You will also need to choose an open (unused) port number for your application. Our drive doesn’t care what that is; when the rst command is sent to the drive, the drive will make note of the IP address and port number from which it originated and direct any responses there. e drive will also refuse any trac from other IP addresses that is headed for the eSCL port. e rst application to

talk to a drive “owns” the drive. is lock is only reset when the drive powers down.

If you need help choosing a port number for your application, you can nd a list of commonly used port numbers at

One nal note: Ethernet communication can use one or both of two “transport protocols”: UDP and TCP. eSCL

commands can be sent and received using either protocol. UDP is simpler and more ecient than TCP, but TCP is more reliable on large or very busy networks where UDP packets might occasionally be dropped.

Option 1: Connect a Drive to Your Local Area Network

If you have a spare port on a switch or router and if you are able to set your drive to an IP address that is compatible with your network, and not used by anything else, this is a simple way to get connected. is technique also allows you to connect multiple drives to your PC. If you are on a corporate network, please check with your system administrator before connecting anything new to the network. He or she should be able assign you a suitable address and help you get going.

hp://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xhtml.

SWM24 Hardware Manual

If you are not sure which addresses are already used on your network, you can nd out using “Angry IP scanner”,

which can be downloaded free from

LAN DRIVE

appear to be unused because a computer or other device is currently turned o. And many networks use dy-

namic addressing where a DHCP server assigns addresses “on demand”. e address you choose for your drive

might get assigned to something else by the DHCP server at another time.

hp://www.angryip.org/w/Download

PC NIC

SWITCH

ROUTER

. But be careful: an address might

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Enter the desired IP address in ST Congurator by using the Edit IP Address Table under the Drive menu. If your network uses addresses starting with 192.168.0, the most common subnet, you will want to assign an address beginning with 192.168.0.

To change your PC’s subnet mask:

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1. On Windows XP, right click on “My Network Places” and select properties. On Windows 7, click Computer. Scroll down the le pane until you see “Network”. Right click and select properties. Select “Change adapter seings”

2. You should see an icon for your network interface card (NIC). Right click and select properties.

3. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties buon. On Windows 7 and Vista, look for “(TCP/IPv4)”

4. If the option “Obtain an IP address automatically” is selected, your PC is geing an IP address and a subnet

mask from the DHCP server. Please cancel this dialog and proceed to the next section of this manual: “Using

DHCP”.

5. If the option “Use the following IP address” is selected, life is good. Change the subnet mask to “255.255.0.0” and click OK.

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Option 2: Connect a Drive Directly to Your PC

When you rst receive your SWM24 from the factory, you will need to do this:

1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the other into the drive.

You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make

the necessary physical layer changes.

2. Set the IP address on the drive to “10.10.10.10”.

3. To set the IP address of your PC:

a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the le pane until you see “Network”. Right click and

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SWM24 Hardware Manual

select properties. Select “Change adapter seings”

4. You should see an icon for your network interface card (NIC). Right click and select properties.

a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties

buon.

b. On Windows 7 and Vista, look for “(TCP/IPv4)”

5. Select the option “Use the following IP address”. en enter the address “10.10.10.11”. is will give

your PC an IP address that is on the same subnet as the drive. Windows will know to direct any trac intended for the drive’s IP address to this interface card.

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6. Next, enter the subnet mask as “255.255.255.0”.

7. Be sure to leave “Default gateway” blank. is will prevent your PC from looking for a router on this

subnet.

8. Because you are connected directly to the drive, anytime the drive is not powered on, your PC will

annoy you with a small message bubble in the corner of your screen saying “e network cable is unplugged.”

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Option 3: Use Two Network Interface Cards (NICs)

is technique allows you to keep your PC connected to your LAN, but keeps the drive o the LAN, preventing

possible IP conicts or excessive trac.

1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it directly to the

PC NIC1 NIC2 LAN DRIVE

drive using a CAT5 cable. You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make the necessary physical layer changes.

2. If you use a laptop and only connect to your LAN using wireless networking, you can use the built-in RJ45 Ethernet connection as your second NIC.

3. Set the IP address on the drive to “10.10.10.10”.

4. To set the IP address of the second NIC:

a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the le pane until you see “Network”. Right click and

select properties. Select “Change adapter seings”

5. You should see an icon for your newly instated NIC. Right click again and select properties.

a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties

buon.

b. On Windows 7 and Vista, look for “(TCP/IPv4)”

6. Select the option “Use the following IP address”. en enter the address “10.10.10.11”. is will give

your PC an IP address that is on the same subnet as the drive. Windows will know to direct any trac intended for the drive’s IP address to this interface card.

7. Next, enter the subnet mask as “255.255.255.0”. Be sure to leave “Default gateway” blank. is will

prevent your PC from looking for a router on this subnet.

8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will

annoy you with a small message bubble in the corner of your screen saying “e network cable is unplugged.”

SWM24 Hardware Manual

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Inputs and Outputs (-SF and -QF)

e SWM24SF and SWM24QF have four “ex I/O” points. Each can be congured as a digital input or a digital output. In addition, pre-dened functions such as motor enable or fault output can be assigned, providing the exibility to

handle a diverse range of applications.

ST Congurator™

functions to each I/O point, or functions can be assigned “on the y” from SCL streaming commands or stored Q programs. Example connection diagrams can be found on the following pages.

I/O Functions (congure in software)

I/O 1 I/O 2 I/O 3 I/O 4

is used to set each ex I/O point as an input or output.

SWM24 Connectors

ST Congurator™

can also be used to assign

Refer to connection charts at the end of this manual for wire colors on mating cables.

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inside drive

I/O+

I/O

I/O Connector

Equivalent Circuit: Flex I/O Point

Set as Input

I/O PIN

1+ 1

1- 3

2+ 5

2- 8

3+ 6

3- 4

4+ 11

4- 12

PIN 9

+5V

inside drive

50 mA max

SWM24 Hardware Manual

inside drive

I/O+

I/O

I/O Connector

Equivalent Circuit: Flex I/O Point

Set as Output

PIN 10

PIN 7

AIN

GND

Signal

Conditioning

Equivalent Circuit: Analog Input (page 35 for details)

Inputs and Outputs (-S, -Q, -IP)

e SWM24S, SWM24Q, and SWM24IP have have three digital inputs and one digital output. IN1 and IN2 are high speed inputs that can be congured for a number of dierent functions. Typically these inputs connect to an external

controller that provides step & direction command signals. You can also connect a master encoder to the high-speed inputs for “following” applications. IN3 may be congured as an Enable/Disable input or a general purpose input. All 3

inputs can be congured in ST Congurator for use with Wait Input, If Input, Feed to Sensor, Seek Home and other SCL or Q commands. e output (OUT) can be congured for dierent functions also. See table below. Example connection diagrams can be found on the following pages.

inside SWM24IP

PIN 1

PIN 3

PIN 5

PIN 8

IN1+

IN1

IN2+

IN2

PIN 6

PIN 4

PIN 11

PIN 12

IN3+

IN3

OUT+

OUT

Equivalent Circuit (page 35 for details)

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I/O Functions (congure in software)

IN1 IN2 IN3 OUT

Clockwise Limit Counterclockwise Limit Home Sensor Fault General Purpose Input General Purpose Input Enable Input Brake Step Input Direction Input General Purpose Input Motion Jog CW Input Jog CCW Input Tach Enable Input Alarm Reset Input General Purpose Output Start/Stop Input

Connecting Step and Direction Signals

All SWM24 drives include two high-speed inputs that can accept 5 to 24 volt single-ended or dierential signals, up to

3 MHz. ese inputs can be connected to an external controller that provides step & direction (or step CW and step CCW) command signals. You can also connect a master encoder to the high-speed inputs for “following” applications. Or

you can use these inputs with Wait Input, If Input, Feed to Sensor, Seek Home and other SCL or Q commands.

Connection diagrams follow.

Indexer

with

5-24 VDC

DIR I/O 2

I/O 2+

Sinking

Outputs

STEP I/O 1

I/O 1+

Connecting to indexer with Sinking Outputs

Indexer

COM

with

DIR I/O 2+

Sourcing

O utputs

STEP I/O 2+

Connecting to indexer with Sourcing Outputs

DIR+

I/O 2+

Indexer

with

DIR- I/O 2

Differential

Outputs

STEP+

STEP-

I/O 1+

I/O 1

I/O 2

I/O 1

SWM24

Connecting to Indexer with Dierential Outputs

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SWM24 Hardware Manual

Master

Encoder

B+

B- I/O 2

A+

A-

I/O 2+

I/O 1+

I/O 1

SWM24

GND GND

Wiring for Encoder Following

Connecting Other Signals

Note: If current is owing into or out of an input, the logic state of that input is low or closed. If no current is owing, or the input is not connected, the logic state is high or open.

I/O+

5-24 VDC

Power

Supply

Switch or Relay

(closed = logic Low)

I/O

SWM24

Using Mechanical Switches

5-24 VDC

Power

Supply

NPN

Proximity

Sensor

output

–

I/O+

I/O

SWM24

Connecting an NPN Type Proximity Sensor to an Input

(When prox sensor activates, input goes low).

5-24 VDC

Power

Supply

PNP

Proximity

Sensor

output

–

I/O+

I/O

SWM24

Connecting an PNP Type Proximity Sensor to an Input

(When prox sensor activates, input goes low).

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Analog Input

All SWM24 drives feature an analog input. e input can accept a signal range of 0 to 5 VDC. e drive can be congured to operate at a speed or position that is proportional to the incoming analog signal. Use the

soware to set the signal range, oset, dead-band and lter frequency. e SWM24 provides a +5VDC 50ma output

that can be used to power external devices such as potentiometers. It is not the most accurate supply for reference; for more precise readings use an external supply that can provide the desired accuracy.

inside drive

+5V

50 mA max

ST Congurator™

Signal

Conditioning

I/O Conne ctor

AIN

GND

Analog Input Circuit

+5V OUT

1-10k 

pot

cc w

AIN

GND

Connecting a Potentiometer to the Analog Input

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SWM24 Hardware Manual

Programmable Output

e SWM24SF and SWM24QF include four “ex I/O” points which can be individually congured to act as digital outputs. e SWM24Q, SWM24S and SWM24IP includes one dedicated digital output. Each output can be set to automatically control a motor brake, to signal a fault condition, to indicate when the motor is moving or to provide an output frequency proportional to motor speed (tach signal). An output can also be turned on and o by program instructions like Set Output. An output can be used to drive LEDs, relays and the inputs of other electronic devices like PLCs and counters. e “OUT+” (collector) and “OUT-” (emier) terminals of the transistor are available at the connector. is allows you to congure the output for current sourcing or sinking.

Diagrams of various connection types follow.

Do not connect the output to more than 30VDC. e current through the output terminal must not exceed 40ma.

5-24 VDC

Power Supply

+ –

OUT+

Load

SWM24

OUT

Connecting a Sinking Output

OUT+

SWM24

OUT

Load

Connecting a Sourcing Output

5-24 VDC

Power Supply

+ –

Page 27

SWM24 Hardware Manual

OUT+

relay

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5-24 VDC

Power Supply

+ –

SWM24

1N4935 suppression diode

OUT

Connecting to a load with a coil

Note - A suppression diode should be placed in parallel with the coil when driving any inductive load such as

a relay coil, a valve coil, a solenoid coil, etc

Reference Materials

Mechanical Outline

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SWM24 Hardware Manual

Technical Specications

POWER AMPLIFIER: All Models

AMPLIFIER TYPE Dual H-Bridge, 4 quadrant CURRENT CONTROL 4 state PWM at 20 kHz OUTPUT TORQUE 340 oz-in with suitable power supply POWER SUPPLY External 12 - 70 VDC power supply required INPUT VOLTAGE RANGE 10 - 75 min/max (nominal 12 - 70 VDC) PROTECTION Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-

to-phase, phase-to-ground)

IDLE CURRENT REDUCTION Reduction range of 0 – 90% of running current after delay selectable

in milliseconds

PHYSICAL AND ENVIRONMENTAL

MASS 1.58 kg (56 oz) ROTOR INERTIA 900 g-cm AMBIENT TEMPERATURE 0 to 40°C (32 - 104°F) when mounted to suitable heatsink HUMIDITY 90% non-condensing AXIAL BEARING LOAD RATING 3.37 Lbs RADIAL BEARING LOAD RATING 15.96 Lbs

2 (

1.27 x 10-2 oz-in-sec2)

CONTROLLER: All Models

MICROSTEP RESOLUTION Software selectable from 200 to 51200 steps/rev in increments of 2

steps/rev SPEED RANGE 0.00416 to 50 revolutions/second DISTANCE RANGE Up to 10,000,000 revolutions (at 200 steps/rev) ANTI-RESONANCE

(Electronic Damping)

TORQUE RIPPLE SMOOTHING Allows for ne adjustment of phase current waveform harmonic con-

AUTO SETUP Measures motor parameters and congures motor current control

SELF TEST Checks internal & external power supply voltages. Diagnoses open

MICROSTEP EMULATION Performs high resolution stepping by synthesizing ne microsteps

COMMAND SIGNAL SMOOTHING

ENCODER 1000 lines (4000 counts/revolution). Index pulse mapped to input

Raises the system damping ratio to eliminate midrange instability

and allow stable operation throughout the speed range and improves

settling time.

tent to reduce low-speed torque ripple in the range 0.25 to 1.5 rps

and anti-resonance gain settings

motor phases and motor resistance changes >40%.

from coarse steps (Step & Direction mode only)

Software congurable ltering reduces jerk and excitation of extrane-

ous system resonances (Step & Direction mode only).

“0”. See Host Command Reference for more information.

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SWM24 Hardware Manual

CONTROLLER: SF & QF Models

MODES OF OPERATION Step & direction, CW/CCW pulse, A/B quadrature, oscillator, joystick,

SCL streaming commands, stored programs (Q only).

I/O 1 (STEP) INPUT:

Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter. Function: Step, CW Step, A quadrature, CW jog, Start/stop (oscillator

mode), motor enable, general purpose Input. OUTPUT: Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz max. Function: fault, motion, tach, brake, general purpose

I/O 2 (DIR) INPUT:

Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter. Function: direction (step & direction or oscillator modes), CCW step, B quadrature, alarm reset, CCW jog, sensor, gen-

eral purpose input. OUTPUT: Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz max. Function: fault, motion, tach, brake, general purpose

I/O 3 INPUT:

Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter. Function: speed change (oscillator mode), CW limit,

sensor, motor enable, general purpose input. OUTPUT: Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz max. Function: fault, motion, tach, brake, general purpose

I/O 4 INPUT:

Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter.

Function: Alarm reset, CCW limit, sensor, general purpose input. OUTPUT: Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz

max. Function: fault, motion, tach, brake, general purpose ANALOG INPUT RANGE (AIN) 0 to 5VDC ANALOG INPUT RESOLUTION 12 bits COMMUNICATION RS-232 5 VOLT USER OUTPUT 4.8 to 5.0 VDC, 50 mA maximum

10/31/2013

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920-0068B 10/31/2013

CONTROLLER: -S, -Q, -IP Models

IN1 Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter

Function: CW limit, general purpose input.

IN2 Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter

Function: CCW limit, general purpose input.

IN3 Optically isolated, 5-24 V, 8-12 mA.

Function: home sensor, general purpose input.

OUT Optically isolated, 30V, 40mA MAX. open emitter/collector.

Function: fault, motion, alarm, tach or general purpose

SWM24 Hardware Manual

Page 31

350

6A/phase

V24V48V70V

250

300

150

200

oz-in

100

0 10 20 30 40 50

rps

SWM24X-3

SWM24 Hardware Manual

Torque-Speed Curves

Note: all torque curves were measured at 20,000 steps/rev.

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Page 32

SWM24X-3 Max Duty Cycle vs Speed

6A/phase, 40°C Ambient

Mounted on a 162 x 162 x 6 (mm)

Aluminum Plate

100

0 1 0 20 30 40 5 0

Speed (RPS)

e l c y C y t u D %

12V D ut y Cy c le

24V D ut y Cy c le

48V D ut y Cy c le

65V D ut y Cy c le

920-0068B 10/31/2013

Drive/Motor Heating

Step motors convert electrical power from the driver into mechanical power to move a load. Because step motors are not perfectly ecient, some of the electrical power turns into heat on its way through the motor. is heating is not so much dependent on the load being driven but rather the motor speed and power supply voltage. ere are certain combinations of speed and voltage at which a motor cannot be continuously operated without damage.

We have characterized the SWM24 in our lab and provided curves showing the maximum duty cycle versus speed for

commonly used power supply voltages. Please refer to these curves when planning your application.

Please also keep in mind that a step motor typically reaches maximum temperature aer 30 to 45 minutes of operation.

If you run the motor for one minute then let it sit idle for one minute, that is a 50% duty cycle. Five minutes on and ve minutes o is also 50% duty. However, one hour on and one hour o has the eect of 100% duty because during the rst hour the motor will reach full (and possibly excessive) temperature.

e actual temperature of the motor depends on how much heat is conducted, convected or radiated out of it. Our

measurements were made in a 40°C (104°F) environment with the motor mounted to an aluminum plate sized to provide

a surface area consistent with the motor power dissipation. Your results may vary.

SWM24 Hardware Manual

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Mating Connectors and Accessories

Connector Part Number - Manufacturer

DC Power (4 Pin A-Coded M12 Male) 1523450 - Phoenix I/O (12 Pin A-Coded M12 Female) 1556252 - Phoenix RS-232 (5 Pin A-Coded M12 Female) 1542729 - Phoenix Ethernet (4 Pin D-Coded M12 Female) 1535202 - Phoenix

Accessories

Serial programming cable for programming units with RS-232 ports (SWM24x-xAx): P/N 3004-278-xM (see Mating Cables list below)

Note: Prolic-based USB serial adapters do not work with Vista 64 or Windows 7 64 bit operating systems. Suggested serial adapters are Applied Motion Products 3004-235, 8500-003 or Byterunner USB-COM-CBL.

DC Power Supplies

24 V, 150 W switching power supply, P/N PS150A24 48 V, 320 W switching power supply, P/N PS320A48 Regeneration clamp for use with high inertial loads: RC-050

Mating Cables

Usually available from stock in 5 meter (16.4 foot) lengths

DC Power Cable - AMP 3004-277-xM RS-232 Cable - AMP 3004-278-xM Ethernet Cable - AMP 3004-280-xM I/O Cable - AMP 3004-290-xM

Page 34

Code Error

solid green no alarm, motor disabled flashing green no alarm, motor enabled fast green Q program running 1 red, 1 green motor disabled after a stall condition occurred 1 red, 2 green move attempted while drive disabled 2 red, 1 green ccw limit 2 red, 2 green cw limit 3 red, 1 green drive overheating 3 red, 2 green internal voltage out of range 3 red, 3 green blank Q segment 4 red, 1 green power supply overvoltage 4 red, 2 green power supply undervoltage 4 red, 3 green flash memory backup error 5 red, 1 green over current / short circuit 5 red, 2 green I/O occupied 6 red, 1 green open motor winding 6 red, 2 green bad encoder signal 7 red, 1 green serial communication error 7 red, 2 green flash memory error

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SWM24 Hardware Manual

LED Error Codes

Status LED SWM

e SWM24 drive+motor includes a red/green LED to indicate status. When the motor is enabled, the LED ashes green

slowly. When the green LED is solid, the motor is disabled.

Errors are indicated by combinations of red and green “ashes” as follows:

Page 35

SWM24 Hardware Manual

SWM24x-3x Connector Pin Diagrams

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SWM24x-3x Cable Connection Charts

Ethernet cable (3004-280-xM) is used on all SWM24x-3EE models.

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Contacting Applied Motion Products

Corporate Headquarters 404 Westridge Drive Watsonville, CA 95076 (831) 761-6555 fax (831) 761-6544 web www.applied-motion.com support@applied-motion.com

SWM24 Hardware Manual