How it Works
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MSX+ 152/120 48F SPI
User Manual
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phytron MSX+ 152/120 48F SBM-485, MSX+ 152/120 Series, MSX+ 152/120 48F SPI, MSX+ 152/120V User Manual

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Extreme. Precision. Positioning.
MSX+ 152-120
Stepper Motor Power Stage with ServiceBus
MANUAL 2128-A004 EN
Version
Content
1
new
2
Correction: adjustment of phase currents
3
Correction: adjustment of step width
4
Correction I/Os, accessories
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This manual:
Read this manual very carefully before mounting, installing and operating the device and if necessary further manuals related to this product.
- Please pay special attention to instructions that are marked as follows:
DANGER – Serious injury!
Indicates a high risk of serious injury or death!
DANGER – Serious injury from electric shock!
Indicates a high risk of serious injury or death from electric shock!
WARNING – Serious injury possible!
Indicates a possible risk of serious injury or death!
WARNING – Serious injury from electric shock!
Indicates a possible risk of serious injury or death from electric shock!
CAUTION – Possible injury!
Indicates a possible risk of personal injury.
CAUTION – Possible damage!
Indicates a possible risk of damage to equipment.
CAUTION – Possible damage due to ESD!
Refers to a possible risk of equipment damage from electrostatic discharge.
”Any heading“
Refers to an important paragraph in the manual.
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WARNING – Serious injury possible!
Serious personal injury or serious damage to the machine and drives could be caused by insufficiently trained personnel!
Without proper training and qualifications, damage to devices and injury might result!
- Design, installation and operation of systems may only be performed by qualified and trained personnel.
- These persons should be able to recognize and handle risks emerging from electrical, mechanical or electronic system parts.
- The qualified personnel must know the content of this manual and be able to understand all documents belonging to the product. Safety instructions are to be provided.
- The trained personnel must know all valid standards, regulations and rules for the prevention of accidents, which are necessary for working with the product.
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Intended use:
The power stage is designed for operating in a stepper motor drive system.
- An installation is allowed only if the requirements of the EC Machinery and EMC Directives are conformed with.
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Part of a machine:
This product is used as a part of a complete system, therefore risk evaluations concerning the specific application must be made before using the product.
- Safety measures have to be taken according to the results and be verified.
- Personnel safety must be ensured by the concept of this overall system (e.g. machine concept).
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Activation
and
Reset
:
Activating the
Activation
or
Reset
inputs is no safe separation in the
emergency case.
- The voltage supply has to be interrupted for switching off the drive safely
WARNING – Serious injury from electric shock!
If the power stage is not operated with SELV/PELV voltages, the risk of dangerous voltages may be on the device. Touching these components carrying high voltages can cause serious injury or death from electric shock:
- Always observe the safety concept SELV / PELV to ensure safe insulation and separation of low voltage supplies from the mains.
- The MSX+ must be operated with protective measure in chap. 3.3
WARNING – Serious injury from electric shock!
During electrical installation cables, connectors, etc. can be live.
- Before starting wiring, make sure that none of the power supplies is connected to the primary side of the mains supply. Isolate the power supplies from the mains or remove the appropriate fuses.
- All power stages must be inserted and screwed into the controller or SLS housing before powering up. If necessary, unoccupied slots must be covered with front plates. Never operate the equipment when open.
- Do not plug or unplug the power stage while powered.
- Do not plug or unplug the connectors while powered.
- If the equipment has been energised, wait 3 minutes after power off to allow the capacitors to discharge and ensure that there are no residual charges on cables, connectors and boards.
ATTENTION Risk of damage by false motor current setting!
The power stage is set to a defined current on delivery!
- The motor current must be set to the designated value before installation (see data of the motor).
DANGER - Danger of electric arcing!
During electrical installation the cable, connector or similar may be energised.
- Always switch off the supply voltage before connecting or disconnecting any wires or connectors at the power stage. Do not unplug the connector while powered
DANGER - Danger of touch voltages!
During electrical installation the cable, connector or similar may be energised.
- The transformer must be constructed with reinforced or double insulation to avoid dangerous touch voltages (50 VAC and 120 VDC) in case of isolation error in the transformer.
WARNING - Danger of injury if touching the surface!
The surface of the MSX+ reaches temperatures more than 105 °C during operation.
Use protective gloves or avoid touching them.
pulse Control
Boost
Activation
Reset
position Basic
Motor currents from 1.1 to 15.4 A
Peak
Supply voltage from 60 to 120 VDC  Step resolution from full step to
1/20 step
Configuration of the power stage in
ServiceBus
Short-circuit proof over and between
the phases and towards ground
48-pin connector
acc. to DIN 41612, version F
pulse Control
Boost
Activation
Reset
positionBasic
ID number
5V input
10018906
24 V input
10021653
5V output RESET
10015450
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The MSX+ and ServiceBus-CommTM manual and the ServiceBus-CommTM software can be downloaded from the Phytron website www.phytron.eu.
CE Mark
With the declaration of conformity and the CE Mark on the product, the manufacturer certifies that the product complies with the requirements of the relevant EC directives. The unit, described here, can be used anywhere in the world.
EC Machine Directive
The drive system, described here, isn´t a machine in the sense of the EC machine directive (2006/42/EC), but a component of a machine for installation. They have no functional moving parts. However, they can be part of a machine or equipment. The conformity of the complete system in accordance with the machine guideline is to be certified by the manufacturer with the CE marking.
EC EMC Directive
The EC Directives on electromagnetic compatibility (2014/30/EU) applies to products, which can cause electromagnetic interference or whose operation can be impaired by such interference.
The power stage’s compliance with the EMC Directive cannot
be assessed until it has been installed into a machine or
installation. The instructions provided in “Installation” must be
complied with to guarantee that the power stage is EMC compliant when fitted in the machine or installation and before use of the device is permitted.
Standards for safe operation
EN 60204-1: 2007-6: Electrical equipment of machines,
degree of pollution 2 must be observed
EN 60529: 2014-09: IP Degree of protection
Standards for observing the EMC limit values
EN 61000-3-2: EMC EN 61000-6-1,3,4: Emission standard EN 61000-6-2:2005: EMC Immunity for industrial
environments
Standards for measuring methods of observing EMC limit values
EN 55011 class B: Noise field and voltage measuring EN 61000-4-2...6,11 Emission standard test
Weight
about 940 g
Mounting
plug-in board into phyMOTIONTM modular stepper motor controller or into the 19“ sub rack SLS
Mounting position
vertical
Characteristics
Stepper motor
Two-phase 4-, 6- or 8-lead stepper motor winding resistance < 10 Ohm
Minimum inductance of a motor phase: 0.5 mH
Superior controller
Modular phyMOTIONTM controller
Operating voltage +UB
nominal: +60 to 120 V
DC
Admissible range: 40 to 160 VDC Reinforced or double isolation between mains and secondary
circuit.
Supply voltage Optocoupler
+5/24 V_Opto connected to 0 V_Opto: 5 V or 24 VDC
Phase currents
The ServiceBus can set run-, Boost- and stop current independently.
without Boost
0.8 to 8.4 A
r.m.s
with Boost
1.0 to 10.9 A
r.m.s.
I
max
15.4 A
peak
Current adjustment
100 mA steps
Step resolution and current shaping
1/1, 1/2, 1/4, 1/5, 1/10, 1/20 of a full step with or without torque compensation (DMA), current shaping (CS), BLOW UP
Maximum step frequency
500.000 steps/s
Physical resolution
Approx. 4000 positions per revolution (0.09° / step).
Mechanical output power
up to 120 V / 15 A
Nominal power of the motor voltage supply
max.1000 W
Cable length – motor
Shielded: max. 50 m
Characteristics
Cable length – digital inputs
30 m if longer (max. 100 m), shielded cable and connect the cable shield close to the power stage.
Diagnostics
via ServiceBus
Flash memory
10 000 write cycles under normal operating conditions
Hardware error detection
over current, short circuit 25.2.A overtemperature T>85 °C
Interfaces
Inputs
All inputs include an optocoupler with series resistors for 5 V or 24 V-supply voltage.
The signals are active, when the optocoupler is energised. Optocoupler input current is about
10 mA for MSX+ 5 V standard version or 5 mA for MSX+ 24 V version
pulse Control
Maximum step frequency: 500 kHz Minimum pulse width: 1 s
The step is executed with the falling flank of the control pulses.
Motor direction
When the optocoupler is energised, the motor rotates in the reverse direction (as compared to the preferential motor direction selected).
Boost
When the optocoupler is energised, the MSX+ increases the run and stop current by 30%.The Boost function can permanently be activated by the DIP switch.
Activation
When the optocoupler is energised, the motor current is activated.
Reset
Is available only, when J1 jumper is plugged in position RESET on the board. The power stage is set to an initial state. A signal Basic position is generated for each Reset.
Outputs
Optically insulated from the motor voltage, Type Open­Collector I
max
= 20 mA, U
max
= 45 V, U
CE sat
at 20 mA < 0.6 V
The outputs are active when the transistor is conducting.
positionBasic
Zero crossing of the internal ring counter is signalized; active LOW (see chap. 9.1)
Full step
Half step
1/4 step
1/5 step 1/10 step 1/20 step
Basic position signal after every 4th control pulses every 8th control pulses every 16th control pulses every 20th control pulses every 40th control pulses every 80th control pulses
Interfaces
Error
Supply voltage < 40 V
DC
or > 160 V
DC
Overtemperature (T > 85° C) Overcurrent, short circuit The power stage is deactivated in case of an error message.
Analogue outputs
A, B, C, D for two-phase stepper motor
Ambient Conditions
Cooling
Forced cooling with a fan (50 m3/h)
Ambient temperatures
Operation: 4 to +40 °C *) Storage: –25 to +55 °C Transport: –25 to +85 °C
*) We recommend an additional cooling in case of higher operation temperatures.
Admissible heat sink temperature
Max. 85 °C The power stage is deactivated, when the permissible heat sink
temperature is exceeded. The LED switches to red.
Relative humidity
The relative humidity is certified while in operation as follows: According to EN 60721:1995-09, class 3K3 5% to 85%, no condensation permissible
Degree of pollution
2
Device protection
Degree of protection according to DIN EN 60529:2014-09 IP20 at operation in a 19“ sub rack
Wiring
Max. motor lead length
50 m maximum
Lead cross section of the motor cable
Dependent on the motor current and the motor lead length:
0.1 mm2 per 1 Ampere motor current
Connector
Signal I/O
48-pin. acc. to DIN 41 612, type F
ServiceBus
6-pin, type Tyco Electronics 2-1761605-1/609­0607
Wiring
Min. 75 °C durable copper cables
Communication and Programming
Programming
via Phytron‘s programming environment ServiceBus–CommTM
Communication
Master-slave communication. The MSX+ power stage is slave and communicates with a main controller of a higher level controller (i.e. phyMOTIONTM)
When protection by automatic disconnection (EN 61140, VDE 0100, part 410) is used for power stages with definite voltage > 50 VAC or +UB > 70 VDC, it is necessary:
Only use motors, which are checked according to EN 60034-1 (500 VAC + twice-determined voltage).
The motors must have a protective conductor clamp (EN 60034).
The transformer must be constructed with reinforced or double insulation.
The calculation of the fuse F2 depends on the preset phase current and the motor load:
Withstand voltage >= 200 V
Recommended values:
T10 A
For the load capacitor, a value of 1,000 μF per Ampere of motor current should
be calculated.
Transformer U I
85 V
AC
14
A
Load capacitor C1
10 000 μF
f/MHz
0.15
0.5 1 2 5 10
20
30
a/dB (line-to-ground) (asymmetr. signals)
36
47
42
42
40
42
42
45
a/dB (line-to-line) (symmetr. signals)
52
70
70
70
65
55
50
60
max. cable length [m]
min. cross section [mm2]
shielded, grounded on all sides
twisted pair
Motor cable
The length depends on the cable resistance:
R
cable
< 0.2 x
R
phase
Dependent on the maximum current of the motor and the motor cable length is suitable:
25
0.1 per 1 Ampere motor current
X
X
50
0.2 per 1 Ampere motor current
X
X
Signal interface
100
0.14 X
ServiceBus cable
2 –
For best electromagnetic compatibility (EMC), you should connect the shielding mesh to the MSD2+ housing. Use the cable clamps on the rear side of the MSD2+ power supply unit. The free cable ends must be as short as possible.
The shielding mesh should also be connected on a large surface to the motor housing. Use EMC-type conduit fittings. All parts of the motor should be conductively connected with each other. We recommend using EMC conduit fittings at the motor side.
In case of motors without adapted conduit fittings, the cable shielding must be connected as near to the motor as possible and has to be applied to PE.
Important: Motor leads not used should be insulated separately (important if using wiring scheme 3 or 4)!
CAUTION – Possible damage by ESD!
The power stage consists of sensitive electronic components that can be
destroyed by electrostatic discharge voltages.
- Always store and transport single modules in ESD protective packaging.
- Always handle the components in compliance with the ESD protection measures.
- No liability is accepted for any consequences resulting from improper handling or non-ESD-friendly packaging.
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CAUTION – Possible damage!
The MSX+ is designed for a maximum supply voltage of 120 VDC. If it is supplied with >120 VDC the card might be damaged.
- Make sure that a mains unit with no more than 120 V
DC
to prevent
damage.
WARNING – Serious injury from electric shock!
During electrical installation cables, connectors, etc. can be live.
- Before starting wiring, make sure that none of the power supplies is connected to the primary side of the mains supply. Isolate the power supplies from the mains or remove the appropriate fuses.
- All modules must be inserted and screwed into the controller`s or SLS’s housing. If necessary, unoccupied module slots must be covered with the supplied blank front plates. Never operate the equipment when open.
- Do not plug or unplug the power stages while powered.
- Do not plug or unplug the connectors while powered.
- If the equipment was energised, wait 3 minutes after power off to allow the capacitors to discharge and ensure that there are no residual charges on cables, connectors and boards.
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The MSX+ power stage is also designed for operating in a 19“ sub rack!
Damage of the power stage! 5-lead stepper motors must not be connected to the MSX+.
Both 5-lead stepper motor and MSD2+ might be damaged.
R
L
=
Circuit
series
parallel
Resistance R
total
2 x R
2
R
Inductance L
total
4 x L
L
Motor time constant
R
L x 2
R x 2
L x 4
series
R
L x 2
R/2
L
= τparallel
Connection PC  MSX+ point-to-point operation via USB connection
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When using the USB interface, the corresponding USB drivers, which can be downloaded from the Phytron website (www.phytron.de), must be installed on the PC.
WARNING – Risk of damage due to incorrect motor current setting!
The motor gets too hot!
- Deactivate the Boost function if it is used continuously.
- Adjust the motor current setting to the motor type (see motor’s data).
DANGER - Danger of electric arcing!
During electrical installation the cable, connector or similar may be energised.
- Always switch off the supply voltage before connecting or disconnecting any wires or connectors at the power stage. Do not unplug the connector while powered
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IMPORTANT
If the motor stops during acceleration, reduce the acceleration and/or maximum frequency values. Incorrect programming of the motor’s rated current may also cause this problem.
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IMPORTANT
If the power stage does not return to the stop current, when the motor is at a standstill, this is probably caused by the Boost input activation. In this case, the motor is always supplied with the set Boost current. Deactivate the Boost input.
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IMPORTANT
If the motor has high resonance effects, the following measures may be considered:
- select a higher step resolution
- modify the frequency
- modify the acceleration
- reduce the motor current
Resonances increasingly occur in full-step mode.
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IMPORTANT
If the motor does not position correctly, there can be disturbances received on the Control pulses input. Check also for excessive acceleration and deceleration values. Too fast deceleration causes the motor causes the motor to be mis-positioned by a multiple of 4 full steps (desynchronisation).
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IMPORTANT
If all parameters are set correctly, but several red diagnostic LEDs via ServiceBus-Comm
TM
light up after switching on, or the green LED' Basic status'
does not light up, the module is probably defective.
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IMPORTANT
If the supply unit is equipped with a regulation transformer, the voltage of which
increases slowly, a ‘supply voltage’ error can appear. The same error may
appear when using a regulated supply unit with current limitation.
Further Manual
This manual is in addition to the following main manual:
“phyMOTION
TM
Modular Multi-axis Controller for Stepper Motors”
- First, read the main manual and then continue with this manual.
Further Manual
This manual is in addition to the following main manual:
“ServiceBus-Comm
TM
Communication Software for Stepper Motor Power
Stages with ServiceBus”
- First, read the main manual and then continue with this manual.
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CAUTION – Possible damage!
Some modules are set to a default value on delivery. So e.g., the motor current must be set to the corresponding value (see the motor data from the motor manufacturer). Connected components like motors can be damaged by incorrectly set values.
- Please check if the parameters are correct before starting.
Connection PC  MSX+ with the A-B cable
<STX>
Start-of-text character, 02H
<address_H>
High-order byte of the power stage address 00H...0FH, 0
D
…15
D;
Admissible characters: 0…F
<address_L>
Low-order byte of the power stage address 00H...0FH, 0
D
…15
D;
Admissible characters: 0…F
<instruction>
Instruction byte: A....Z
<value>
Data byte
:
Colon as separator, to distinguish between usable data and checksum
<csh>
Upper byte of the 8 bit checksum value
<csl>
lower byte of the 8 bit checksum value
< ETX>
End-of-text character, 03H
Additional input to the
Function
Example
Description
Answer
instruction code
I
Information about the
instruction
FI
Information about the instruction F
fR/–MSX+ status
U
Upper limit of the
number range
SU
Stop current: highest value
s63
L
Lower limit of the
number range
RL
Run current: lowest value
r1
S
Scale of current or temperature values: 1=1:1 10=1:10 100=1:100
SS
Read scale value of the stop current
s10
E
Unit of current- and time values:
A, mA, ms, s
SE
Read unit of the stop current
eA
?
Read the preset value
R?
Display run current: 2.5 A
r25
<value>
Set the value
S50
Stop current
0.5 A
s50
Instruction code
Parameter name
Type
Value
Description
De­fault values
A
Boost
R/W
0 to 1100
Boost current from 0 to 11 A
r.m.s
0
B
Software version
R
<String>
Read power stage software version
–
BF
Version FPGA
R
<String>
Read the FPGA version
– C
Reset X –
Power stage reset
–
E
Delete EPROM
X
–
Delete user’s parameters in
the EPROM
–
F
MSX+ status
R
Read the MSX+ status (0001 to FFFF)
–
Hex.
Dec.+)
va-
lency
description
0001 1 0
Error under-/overvoltage
0002 2 1
Error overtemperature
0003 3 1
Error short circuit
0008 8 3
Power stage is deactivated
2000
8192
13
Boost is activated
4000
16384
15
Motor is running
G
Pref. direction
R/W
0 or 1
1=preferential direction 0=contrary to pref. direction
0
Instruction code
Parameter name
Type
Value
Description
De­fault values
M
Step width
R/W
0 to 15
0= 1/1 1= 1/2 with TC1) and CS2) 2= 1/4 with CS 3= 1/5 with CS 4= 1/10 with CS 5= 1/20 with CS 6= 1/2 with TC 7= 1/4 without CS 8= 1/5 without CS 9= 1/10 without CS 10= 1/20 without CS 11=
1/4 with CS and BLOW UP3)
12=
1/5 with CS and BLOW UP
13=
1/10 with CS and BLOW UP
14=
1/20 with CS and BLOW UP
15= 1/2
3
PN
Axis name
R/W
<String> max.40 characters
Assign or read an axis name into the EPROM
–
Q
Error inquiry
R
0 to 3
0=no error 1=undervoltage/overvoltage 2=overtemperature 3=overcurrent 4=deactivated
–
R
Run current
R/W
0 to 1100
Run current values from 0 to 11 A
r.m.s
0 S Stop current
R/W
0 to 1100
Stop current values from 0 to 11 A
r.m.s
0
U4
Power stage deactivation
R/W
0 or 1
0 = activated 1 = deactivated
1 W Write EPROM
X – Write parameter into EPROM
–
1
2
3
4
Activation
Instruction code
Parameter name
Type
Value
Description
De­fault values
Z
Motor test
X
+ or –
Self-test: one motor rotation with preset run current
–
Instruction code
Action
Answer
A? A400
Read Boost current Set Boost current to 4.0 A
r.m.s.
e.g. a500 (= 5.0 A
r.m.s.
)
a400
B?
Read power stage software version
b<String> (e. g. bMSX+V1.0)
BF?
Read the FPGA version
bf<String> (e.g. bfMSX+V1.0)
C
Reset power stage
c1
E
Delete EPROM
e1
F? FH?
Read MSX+ status in decimal mode Read MSX+ status in hexadecimal mode
e. g. f1 e. g. f01 (= Error undervoltage/ overvoltage)
G? G1 or G0
Read preferential direction Set preferential direction
g0 or g1 g1 or g0
M0...M12 M?
Set step width Read step width
m0...m12 m0...m12
PN? PNAxis7 PN/
Read the axis name Store the axis name Delete the axis name
pn<String> (e.g. axis 4) pnAchse7 pn0
Q?
Error inquiry
q0...q3
R? R450
Read run current Set run current to 4.5 A
r.m.s.
e.g. r480 (= 4.8 A
r.m.s.
)
r450
S? S270
Read stop current Set stop current to 2.7 A
r.m.s.
e.g. s18 (= 1.8 A
r.m.s.
)
s270
U? U0 or U1
Read deactivation of the power stage Set deactivation of the power stage
e. g. u0 or u1 u0 or u1
W
Write EPROM
w1
Z+, Z-
Do the motor self-test
z1
pulse Control
Boost
Activation
Reset
Boost
WARNING!
The
Activation
input is not in conformance with the professional emergency
stop circuit requirements!
Activation
Activation
Reset
Reset
Jumper position Activation:
Jumper position Reset:
Every …. is generated
for the step resolution
4th control pulses
Full step
8th control pulses
Half step
16th control pulses
1/4-step
20th control pulses
1/5- step
40th control pulses
1/10- step
80th. control pulses
1/20- step
positionBasic
positionBasic
Limits
Error message displayed in ServiceBus:
Motor current
> 25.2 A
overload
Supply voltage
< 40 V or > 160 V
power supply fault
Heat sink temperature
> 85°C
overtemperature
Reset
Boost
J1 jumper plugged
function
to pin
1 – 2
+ 5 / 24 V
DC
auxiliary voltage
VG1.22/S2.4
2 – 3
basic position
VG1.22/S2.4
function
to pin
J2 plugged
+5/24 VDC for opto coupler
ST2.19/20
J2 not plugged
–
–
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IMPORTANT
Recommended free space between the board (solder and component side) and other components and housings: 6 mm minimum. Recommended free space left, right, below and above the board: 1.6 mm
Phytron GmbH
Industriestraße 12 – 82194 Gröbenzell
T+49-8142-503-0 F +49-8142-503-190
www.phytron.eu
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