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ECOSTEP® 100 - Servo Amplifiers 8-6

Equipment
• RS232 interface
• RS485 interface
• CANopen, or
• Profibus DP
• 10 digital inputs (8 programmable)
• 3 digital outputs (2 programmable)
• Clock/direction interface
• 2 Encoder inputs (incremental)

DC Supply Functions
Power supply VDC 24 ... 70 • Operation of 2-phase brushless synchronous motors
Recommended fuse for power supply A 10 (slow) • Operation of 2-phase synchronous linear motors
Logic supply VDC 24 (18-30) • Operation of brushed DC servo motors
Recommended fuse for logic supply A 3 (slow) • Operation of stepper motors
Data of Power Output Stage • Torque, force, speed, and positioning control
Maximum effective current per phase ARMS 5.6 • Interpolation via CANopen
Maximum phase current ADC 8
Rated output current ARMS 4.2
Maximum output voltage VDC 70 Control Signals
Rated output voltage VDC 60 Digital inputs V 24
Minimum inductivity of motor winding mH 0.5 mA 2
Maximum length of motor cable m 10 Digital outputs V 24
Frequency of output current ripple kHz 16.4 A 0,5
Data of Brake Control Analogue input -10 V ... +10 V
Output voltage (depending on logic supply) VDC 24 10 bit resolution
Output voltage reduced VDC 12 Analogue monitor outputs 0 ... 5 V
Output current 100 ms/permanent A 0.8 / 0.5 8 bit resolution

Dimensions and Weights

Dimensions W x H x D mm 87 x 200 x 50 (without mating connector)

Weight kg 0.5
Housing Aluminium passivated, in conformance with RoHS
Cable clamping and strain relief metal clamps, max. cable diameter 15 mm
Ambient Conditions
Class 3K3 acc. to EN 50178
Ambient temperature during operation with rated load 5 ... 40 °C
Storage temperature - 10 ... 70 °C
Degree of humidity (non-condensing) max. 95% of rel. humidity
Cooling mounting on supporting plate
Installation altitude max. 1500 m above mean sea level without power reduction
Mounting position The technical data refer to a vertical mounting position
Protection class IP20, pollution degree 2
Applied standards for CE EMC acc. to EN61800-3, safety acc. to EN61800-5-1
Applied standards for UL UL508C

Subject to change without notice 10/2012

 ECOSTEP® 100 - Servo Amplifiers

Basic Functions Mechanical Outlines

• Digital speed and position control with position, speed, and torque 5.5 mm

3 mm
limiting
• Digital filter functions effective on resonant loads
• Parameterisable velocity profiles with jerk limiting Jenaer X1
Antr iebstechnik

• Short-circuit, voltage, temperature, encoder, tracking error and

FIELD BUS
I2xt monitoring ECOSTEP®100

• Parameterisation via RS232, RS485, CANopen, or Profibus DP

• Scalable analogue input for any setpoint
X5
• Scalable analogue monitors for any actual value
S0
S1

RS232
• Intelligent control of a holding brake with automatic voltage S2
S3
reduction 24V ERR
BUS RUN
• Limit switch and reference sensor evaluation, various reference X3 OUT1
point approach modes OUT2
DIN1
X7

MASTER ENCODER
DIN2

200 mm
191 mm
• Enabling of output stage and reset of fault conditions via digital DIN3
DIN4
inputs DIN5
DIN6
• Readiness for operation message via digital output DIN7
DIN8
GND
• Setting of field bus node address via DIP switch AN+
AN-
• Status indication via 4 LEDs GND X8
X4 MON1

ENCODER IN
MON2
READY
RESET
Positioning Control on Field Bus ENABLE
+24V
GND X9 X10
• Setpoint setting via RS232, RS485, CANopen, or Profibus DP

+24V
GND

GND

GND

GND
BR AKE MOTOR

+DC
/B
B
/A
A
+

• Point-to-point control
• Path interpolation via CANopen

Master / Slave Positioning

• Parameterisable electric gearbox 43.5 mm
87 mm
• Master position via encoder signals or CANopen

depth approx. 50 mm (without mating connectors)

Positioning with Clock / Direction Setpoint
• Scalable setpoint setting via RS422 for clock / direction signals

Positioning with Digital I/O Interface

• 256 motion profiles storable
• 8 digital inputs
• 2 digital outputs
• Event-based control concept

Joystick Operation
• Parameterisable joystick table for speed or position with 256 entries
• Joystick connection to +/-10 V analogue input

Speed Setting with Analogue Setpoint

• Scalable speed setpoint via +/-10 V analogue input
• 10 bit resolution
 ECOSTEP® 100 - Servo Amplifiers

Connections
X3
Output 1 OUT 1
24 V
Output 2 OUT 2 • digital I/O PLC interface
Input 1 DIN 1 0.5 A
• running configurable motion
Input 2 DIN 2 profiles
Input 3 DIN 3 24 V
• controlling/monitoring of
DIN 4 4 mA motion ranges / profiles,
Input 4
1 ms homing
Input 5 DIN 5
Limit switch pos. DIN 6
Limit switch neg. DIN 7
Home switch DIN 8
Signal ground GND 10 k analog command input
1 ms
Analog input + AN + + for position and velocity
-10...+10 V -
Analog input - AN - 10 bit resolution
10 k
Signal ground GND
WAGO,series 735
®
Versions ECOSTEP 100 -xJ-xxx
Phoenix MCVW 1,5/14-ST-3,81
X4 1 ms
2 analog monitors
scalable, configurable
Monitor 1 MON1
8 bit resolution
Monitor 2 MON2 24 V
Ready READY digital inputs and outputs:
0.5 A
Error reset RESET 24 V
• powerstage enable
Enable powerstage ENABLE 4 mA • error reset
Supply +24 V + 24V
1 ms • ready
Supply ground GND
WAGO,series 735
Versions ECOSTEP 100®-xJ-xxx
Phoenix MCVW 1,5/7-ST-3,81
24 VDC
monitoring supply voltage,
reset logic
5 VDC

X9
Brake + BRAKE + intelligent brake control providing
24 V &
Brake - BRAKE - 60 V automatic voltage reduction
0.8 A
GND
Motor phase A MOTOR A
Motor phase /A MOTOR/A
Motor phase B MOTOR B 2-phase powerstage
control of the powerstage
enable
Motor phase /B MOTOR/B
monitoring:
WAGO,series 235
Versions ECOSTEP® 100-xJ-xxx
• short circuit
Phoenix MVSTBR 2,5/7-ST • overvoltage and undervoltage,
• overtemperature powerstage

X10
Supply ground GND

Supply 24 V +24V

DC bus ground GND

DC bus + +DC 24.. 70 VDC

GND
WAGO, series 235
Versions ECOSTEP® 100-xJ-xxx
Phoenix MVSTBR 2,5/5-ST
 ECOSTEP® 100 - Servo Amplifiers

Interfaces
RS232 CAN
1:1 direct connection
X5 to a PC COM X1
Pin Signal at PC Pin Signal
1 DCD 1 nc
2 RxD 2 CAN_L

FIELD BUS 1
3 TxD 3 CAN_GND

RS 232
RS232 serial interface 4 DTR 4 nc
for parameter setting, 5 GND 5 nc
configuration, control, 6 DSR 6 GND
interface for setup by 7 RTS 7 CAN_H
a PC 8 CTS 8 nc
9 RI 9 CAN_V+
D-Sub 9 pin female D-Sub 9 pin male

Field bus interface:

CANopen (DS 402), RS485 Profibus DP
RS 485 (published X1
protocols) or TTL Pin Signal Signal
Profibus DP 1 nc nc
galvanic insulation only with
2 Rx + nc

FIELD BUS 2
CANopen or Profibus
3 Tx + RxD/TxD-P
4 nc CNTR-P
5 GND DGND
6 +5V VP (+5V)
7 Rx - nc
8 Tx - RxD/TxD-N
9 nc nc
D-Sub 9 pin female
S0 Code switch
ID setting for serial S1 for Network-ID
network operation S2
S3 0...15

S tatus LED
4 LEDs for indication 24 V (gn) ERR (red)
of device status BUS (gn) RUN (gn)

Input Master Encoder

X7
Pin Incremental Clock/direction
1 +5V, max. 200 mA
MASTER ENCODER

quadrature encoder 2 A Clock

input: RS422
3 B Direction
configurable electronic max. 2 MHz 4 N
gear box 5
TTL 6 GND GND
or clock/direction
7 /A /Clock
8 /B /Direction
9 /N
D-Sub 9 pin female

Input Motor Encoder

X8
Pin Signal
1 +5V
quadrature encoder 2 A
ENCODER IN

input: 3 B
RS422 4 N
for commutation, max. 2 MHz
5 nc
current, speed and 6 GND
TTL
postion control 7 /A
8 /B
9 /N
D-Sub 9 pin female

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