Operation Manual
Stepper motor AS2000
1.0
2018-07-10
Version:
Date:
Table of content
Stepper motor AS2000 3
Version: 1.0
Table of content
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Documentation Issue Status..............................................................................................................6
1.3 Appropriate use .................................................................................................................................6
2 Guidelines and Standards ........................................................................................................................7
2.1 EU conformity ....................................................................................................................................7
3 For your safety...........................................................................................................................................8
3.1 Staff qualification ...............................................................................................................................8
3.2 Description of symbols ......................................................................................................................9
3.3 Notes on the AS2000 stepper motor ...............................................................................................10
4 Handling ...................................................................................................................................................11
4.1 Transport .........................................................................................................................................11
4.2 Packaging........................................................................................................................................11
4.3 Storage ............................................................................................................................................11
4.4 Maintenance / Cleaning...................................................................................................................12
4.5 Disposal...........................................................................................................................................12
5 Product overview.....................................................................................................................................13
5.1 AS2000 scope of delivery................................................................................................................13
5.2 AS2000 type plate ...........................................................................................................................13
5.3 AS2000 type key .............................................................................................................................14
6 Technical description..............................................................................................................................15
6.1 Design of the motors .......................................................................................................................15
6.2 General technical data.....................................................................................................................16
6.3 Standard features ............................................................................................................................16
6.3.1 Style................................................................................................................................. 16
6.3.2 Shaft end, A-side ............................................................................................................. 17
6.3.3 Flange.............................................................................................................................. 17
6.3.4 Connection technology .................................................................................................... 17
6.3.5 Feedback system............................................................................................................. 17
6.4 Transport, assembly and disassembly ............................................................................................17
7 Mechanical installation ...........................................................................................................................18
7.1 Important notes................................................................................................................................18
7.2 Installing the stepper motor .............................................................................................................19
8 Electrical installation...............................................................................................................................20
8.1 Important notes................................................................................................................................20
8.2 Connection of motors with preassembled cables ............................................................................21
8.3 Electrical components .....................................................................................................................22
8.3.1 Motor connector............................................................................................................... 22
8.3.2 Encoder connector........................................................................................................... 22
8.4 Connection diagram KL2531 ...........................................................................................................23
8.5 Connection diagram EL7031 ...........................................................................................................24
8.6 Connection diagram EL7037 ...........................................................................................................25
Table of content
Stepper motor AS20004
Version: 1.0
8.7 Connection diagram EL7041-1000..................................................................................................26
8.8 Connection diagram EL7047 ...........................................................................................................27
8.9 Connection diagram EP7041...........................................................................................................28
8.10 Connection diagram EPP7041 ........................................................................................................29
8.11 Connection diagram EJ7047 ...........................................................................................................30
9 Commissioning........................................................................................................................................31
9.1 Important notes................................................................................................................................31
9.2 Guide for commissioning .................................................................................................................31
9.3 Troubleshooting...............................................................................................................................32
10 Technical data..........................................................................................................................................33
10.1 Step mode and limit speeds ............................................................................................................33
10.2 AS202x ............................................................................................................................................34
10.2.1 Dimensional drawing AS202x with encoder .................................................................... 35
10.3 AS204x ............................................................................................................................................36
10.3.1 Dimensional drawing AS204x with encoder .................................................................... 37
Foreword
Stepper motor AS2000 5
Version: 1.0
1 Foreword
1.1 Notes on the documentation
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning the components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered
trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents:
EP1590927, EP1789857, DE102004044764, DE102007017835
with corresponding applications or registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and
patents:
EP0851348, US6167425 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
Foreword
Stepper motor AS20006
Version: 1.0
1.2 Documentation Issue Status
Origin of the document
This documentation was originally written in German. All other languages are derived from the German
original.
Product features
Only the product features specified in the current user documentation are valid. Further information given on
the product pages of the Beckhoff homepage, in emails or in other publications is not authoritative.
Issue Comment
1.0 First edition
1.3 Appropriate use
Beckhoff stepper motors from the AS2000 series are specially designed for use as actuators in handling
devices, textile machines, machine tools, packaging machines and similar machines. They are exclusively
intended to be operated by stepper motor output stages from Beckhoff Automation GmbH & Co. KG using
speed and/or position control.
CAUTION
Danger for persons, the environment or equipment
The motors are operated in the drive system in conjunction with Beckhoff stepper motor output stages.
Please observe the entire documentation which consists of:
• AS2000 documentation (this manual)
• Complete documentation (online and paper) for Beckhoff stepper motor output stages available at
www.beckhoff.com
.
• Complete machine documentation (provided by the machine manufacturer)
WARNING
Caution - Risk of injury!
Basically, electronic devices are not fail-safe. The machine manufacturer is responsible for
ensuring that the connected motors and the machine are brought into a safe state in the
event of a fault in the drive system.
Special safety instructions for the AS2000!
It is essential to follow the Notes on the AS2000 stepper motor when installing and commissioning
the components. Read this chapter carefully, attentively and completely!
The stepper motors from the AS2000 series are designed for installation as components in electrical
systems or machines and may be operated only as integrated system or machine components.
The motors may only be operated under the ambient conditions defined in this documentation.
Improper use
Beckhoff stepper motors from the AS2000 series are not suitable for use in the following areas:
• in ATEX zones without a suitable housing
• in areas with aggressive environments (e.g. aggressive gases or chemicals)
Guidelines and Standards
Stepper motor AS2000 7
Version: 1.0
2 Guidelines and Standards
CAUTION
Danger for persons, the environment or equipment
Stepper motors of the AS2000 series are not products as defined by the EC Machinery Directive. Operation of the stepper motors in machines or systems is only permitted once the machine or system manufacturer has provided evidence of CE conformity of the complete machine or system.
2.1 EU conformity
Provision of EU Declaration of Conformity:
Beckhoff Automation GmbH & Co. KG will be glad to provide you with EU declarations of conformity
and manufacturer's declarations for all products upon request to info@beckhoff.com.
For your safety
Stepper motor AS20008
Version: 1.0
3 For your safety
Read the section on safety and heed the notices to protect yourself against personal injury and material
damages.
Liability limitations
The entire components of the Beckhoff AS2000 stepper motors are delivered in certain hardware and
software configurations according to the application requirements. Unauthorized modifications to the
hardware and/or software configurations other than those described in the documentation are not permitted,
and nullify the liability of Beckhoff Automation GmbH & Co. KG.
In addition, the following actions are excluded from the liability of Beckhoff Automation GmbH & Co.
KG:
• Failure to comply with this documentation
• Improper use
• Use of untrained personnel
• Use of unauthorized spare parts
3.1 Staff qualification
All depicted work to be done on the Beckhoff software and hardware, and in particular on the AS2000
stepper motor, may be carried out only by technical personnel with knowledge of control and automation
technology.
The technical personnel must have knowledge of drive technology and electrical systems and must also
know how to work safely on electrical equipment and machines.
This also includes:
• production planning and
• securing of the working environment (e.g. securing the control cabinet against being switched on
again).
The technical personnel must be familiar with the current and necessary standards and directives for the
automation and drive environment.
For your safety
Stepper motor AS2000 9
Version: 1.0
3.2 Description of symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!
Symbols that warn of personal injury:
DANGER
Serious risk of injury!
This is an extremely dangerous situation. Disregarding the safety notice will lead to serious permanent injuries or even death.
WARNING
Risk of injury!
This is a dangerous situation. Disregarding the safety notice may lead to serious injuries.
CAUTION
Personal injuries!
This is a dangerous situation. Disregarding the safety notice may lead to minor injuries.
Symbols that warn of damage to property or equipment:
NOTE
Warning of damage to property or the environment!
This notice indicates disturbances in the operational procedure that could damage the product or the environment.
Symbols indicating further information or tips:
Tip or pointer!
This notice provides important information that will be of assistance in dealing with the product or
software. There is no immediate danger to product, people or environment.
UL note!
This symbol indicates important information regarding UL certification.
For your safety
Stepper motor AS200010
Version: 1.0
3.3 Notes on the AS2000 stepper motor
The notes are intended to avert danger and to provide instructions on the handling of the AS2000 stepper
motors. They must be followed during installation, commissioning, production, troubleshooting, maintenance
and trial or test assemblies.
The stepper motors from the AS2000 series cannot run as stand-alone devices. They must always be
installed in a machine or system. After installation the additional documentation and safety instructions
provided by the machine manufacturer must be read and followed.
WARNING
Serious burns due to hot surfaces on the devices!
The surface temperature of the devices can reach ≥ 100 °C during operation of the system. There is an
acute risk of sustaining burns to parts of the body and limbs.
Take the following measures to avert danger:
• Do not touch any components (housing, etc.) shortly after or during operation.
• Wait until all components have cooled sufficiently. At least 15 minutes.
• Check the surface temperature with a thermometer.
• DO NOT wear work gloves with a rubber coating. These can fuse with the skin on account of the high
temperature and cause serious injuries.
Notes on the operation of the AS2000 stepper motors:
• Please read this manual carefully before using the stepper motors. Notify the responsible sales
office immediately if any passages are not understandable. Refrain from working on the servo
drive.
NOTE
Damage to the environment or devices
• During installation it is essential to ensure that the specified ventilation clearances and climatic conditions are adhered to. Further information can be found in the "Technical data" and "Mechanical installation" sections.
• The stepper motor may only be put into operation when it has been established that the machine or
plant conforms to the latest edition of the EU Machinery Directive.
Handling
Stepper motor AS2000 11
Version: 1.0
4 Handling
4.1 Transport
• Climate category: 2K3 according to EN 60721
• Transport temperature: -20 °C to +65 °C, max. fluctuation 20 K/hour
• Transport humidity: relative humidity 5% - 95%, non-condensing
• The stepper motor may only be transported by qualified personnel and in the manufacturer's original
recyclable packaging.
• Avoid hard impacts, particularly at the shaft end.
• If the packaging is damaged, check the motor for visible damage. Inform the transport company and, if
necessary, the manufacturer.
4.2 Packaging
• Cardboard packaging
Motor without installed gear unit
Motor type Max. stacking height
AS2021 5
AS2022 5
AS2023 5
AS2041 5
AS2042 5
AS2043 5
Motor with installed gear unit
Motor and gear type Max. stacking height
AS2021 with AG2250-+PLE60 / WPLE60 3
AS2022 with AG2250-+PLE60 / WPLE60 3
AS2023 with AG2250-+PLE60 / WPLE60 2
AS2041 with AG2250-+PLE80 / WPLE80 2
AS2042 with AG2250-+PLE80 / WPLE80 2
AS2043 with AG2250-+PLE80 / WPLE80 2
4.3 Storage
• Climate category: 2K3 according to EN 60721
• Storage temperature: -20 °C to +65 °C, max. fluctuation 20 K/hour
• Air humidity: relative humidity 5% - 95%, non-condensing
• Max. stacking height: see table Packaging
• Storage time: without limitation
• Store only in the manufacturer’s original recyclable packaging.
Handling
Stepper motor AS200012
Version: 1.0
4.4 Maintenance / Cleaning
• Maintenance and cleaning only by qualified personnel.
• The ball bearings have a grease filling. The actual life of the bearings depends on various factors,
including the radial load, shear load, operating temperature and motor speed.
• Check the motor for bearing noise every 2,500 operating hours or once per year. If any noises are
heard, stop the operation of the motor. The bearings must be replaced.
• Opening the motor invalidates the warranty.
• Clean the housing with isopropanol or similar.
NOTE
Destruction of the stepper motor
Never immerse or spray the stepper motor.
4.5 Disposal
In accordance with the WEEE 2012/96/EG Directives we take old devices and accessories back for
professional disposal, provided the transport costs are taken over by the sender.
Send the devices with the note “For disposal” to:
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20
D-33415 Verl
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