A product of Wild & Grabmaier Feinmechanik und Elektronik KG

STEPPING MOTOR
CONTROL AMPLIFIER BOARDS
AND EQUIPMENT
 YOU NEED TO
MOVE
CONTROL
POSITION ?

WE HAVE THE
IDEAL
SOLUTION FOR YOUR
MOTION APPLICATION!

Zebotronics Schrittmotoren GmbH

Machtlfinger Strasse 24 81379 München
Tel: (089) 15904070 Fax: (089) 15904079
E-Mail: info@zebotronics.de Internet: http://www.zebotronics.de

Edition: October 2000

All rights reserved
Without written approval we don’t allow any reprint and partial copying.
We reserve the right to make engineering changes, refinements and improvements to all products described herein.
Mechanical and electrical ratings and dimensions are, therefore, subject to change without notice.
No liability whatsoever is accepted.

A product of Wild & Grabmaier Feinmechanik und Elektronik KG

 Index 3

4 General product overview

4 Control amplifier boards

4 Overview stepping motor power amplifier boards

5 General function principle - step resolution and max. load angle (accuracy of positioning)

5 General specifications Zebotronics - power amplifier boards

6 Standard - series SE ... V1. and series SE ...E50 V1. (with control of load angle - E50)
( I : 0 until 12 A , U : 24 until 240 VDC , step angle : 200,400,500,800,1000 steps/rev. )

12 Microstepping series SE P05...

( I : 0 until 12 A , U : 24 until 240 VDC , step angle : 200 until 12800 steps/rev. )

14 Equipment

14 Mother boards for installing power amplifier boards into 19 inch / 3HE systems
RP2/L60 for power amplifier board series SE 2..

15 RP/L60 for standard power amplifier boards with 32-pole standard connector
RP/LE50 for power amplifier boards with 31-pole mixed connector

16 Power supplies from 24VDC/350VA until 120VDC/1000VA

17 Power amplifier boards with front panel series SEF... for installing into 19 inch systems

17 Board holder for power amplifier boards

18 Panel mount systems series ELK with power supply and plug ports for
power amplifier boards series SE... V. or position controls series SERS

19 Stepping motor - position controls

19 Series SERS
Free programmable with microstepping power amplifier (12800 steps/rev.)
( I : 0 until 12 A , U : 24 until 240 VDC , interfaces : RS232, RS485, Profibus-DP, CAN open, SERCOS )
4 General product over view

Overview stepping motor power amplifier boards

Overview power amplifier boards

 Zebotronics stepping motor power amplifier boards 5

General function principle - step resolution and max. load angle (accuracy of positioning)

Switching onwards the stator field - shown in a field-vector-diagram :

Current characteristics at
halfstep (400 steps/rev.)

Current characteristics at
microstep (12800 steps/rev.)

Switching onwards the stator field shown in a Load angle: Excursion ϑ of the rotor to the zero position determined
load angle - operating torque - diagram : by the stator field, in case of a torque Md at the motor shaft

A stepping motor having 50 teeth on the rotor surface (motor with 50 poles) At motor stand still, in case of a load (torque Md), the
produces every 7,2° (mechanically) a stabile position (zero position) at motor shaft will be moved the angle ϑ out of its zero
motor stand still - regardless the number of phases (2, 3 or 5 phases)! position. The maximum possible movement

The zero position is determined by the stator field. The stator field is moved away from the zero position is -1.8° at
-Mmax and +1.8° at Mmax
from the power amplifier »step by step« and the rotor follows the stator field.
independent of the step reso-
In case of big steps (full step - 200 steps/rev. , half step - 400 steps/rev.) and
lution and 2, 3 or 5 phases (!!!)
low speed the motor is running rough with strong vibrations. Smaller steps
(in case of a rotor with 50 teeth)
result in smoother running. At high step resolutions (e.g. 12800 steps/rev.)
there will be a very smooth true running without vibrations.

General specifications Zebotronics - power amplifier boards:

Q All boards can be configurated easily via solder bridges (e.g. selction of step angle, Low/High-active or enabling current
reduction at motor stand still)

Q The integrated load angle control of the series SE ... E50 V.. together with a stepping motor with mounted encoder E50
enables the control of a mechanical overload of the stepping motor. Therefore the load angle of the stepping motor will
be controlled.

Q LEDs provide easy diagnostics of error and status. During operation the phase status is indicated via four red LEDs.
An electrical error - short circuit, over temperature or under voltage - is indicated via a yellow LED.
At the series SE ...E50 V1 a mechanical error (exceeding the max. load angle e.g. in case of a mechanical overload)
will be indicated via an additional yellow LED.

Q Error signals (respective the ready signal) are provided as outputs free of potential (relay output).

Q Zebotronics power amplifer boards are plug compatible to each other and also to former series SE 11 ...60 and SE ...120.
Series SE ...E50 V1.. is compatible to the former series SE...E50 and SE...E50D. Series SE...V1.. is compatible to the
former standard series SE... (e.g. SE 400.06.60) and to the series SE...B2.
6 Stepping motor control amplifier board series SE...V1 and SE...E50 V1

General notes
Q Control of 2-phase-stepping motors
Q Compatible with Zebotronics standard amplifier boards series SE ...., SE ... E50, SE ... E50 D.
Q Supply voltage - nominal voltage : 24 VDC to 240 VDC
Q Phase current range 0 A/phase - 14,5 A/phase
Q Boards SE ... E50 V1.. with integrated load angle control
- together with Zebotronics E50 encoder (50 impulses per channel and revolution) at the motor
( also available SE ... E200 V1.. for HP H200 encoder - 200 impulse per channel and revolution)
Q Protection against shortcircuit, overtemperature and undervoltage
Q Via solder bridges adjustable step angles: 200, 400 , 500 , 800 and 1000 steps per revolution
Q EMC according to EN55011 class B and EN50082-2
Versions - connector system and signal level of the inputs
Q SE ... E50 V11 : Encoder connections via 9 pole D-Sub , all other signals and connections via 32 pole male connector
(DIN 41612 type D) and SPS(PLC)-input signal level
Q SE ... E50 V12 : All signals and connectors (incl. encoder signals) via 31 pole male connector (mixed connector)
(DIN 41612 type H7F24) and SPS(PLC)-input signal level
Q SE ... E50 V13 : Encoder connections via 9 pole D-Sub , all other signals and connections via 32 pole male connector
(DIN 41612 type D) and TTL-input signal level
Q SE ... E50 V14 : All signals and connectors (incl. encoder signals) via 31 pole male connector (mixed connector)
(DIN 41612 type H7F24) and TTL-input signal level
Q SE ... V11 : All signals and connections via 32 pole male connector (DIN 41612 type D) and SPS(PLC)-input signal level
Q SE ... V13 : All signals and connections via 32 pole male connector (DIN 41612 type D) and TTL-input signal level

SE... V11/13 Dimensions series SE... V11/13

SE...E50 V11/13 Dimensions series SE...E50 V11/13

 Stepping motor control amplifier board series SE...V1 and SE...E50 V1 7

Dimensions series SE...E50 V12/14 SE...E50 V12/14

Selectable adjustments
All adjustments can be made via (marked)
solder bridges on the rearside of the logic
board.

selectable adjustments series SE ...V1.. and SE ... E50 V1..

marker denotes standard adjustment

R open: automatic current reduction 50% standstill open

closed: no current reduction

W0,W1 step angle adjustment (see table below)

M open: a mechanical error will be signaled. open

(SE ... E50 V1..) closed: a mechanical error will be ignored.

M marker must be closed. closed

(SE ...V1..)

F internal function

L-H L open, H closed: input signals HIGH - active H closed

(The rising edge of the pulse signal is significant)
L closed, H open: input signals LOW-active
(The falling edge of the pulse signal is significant)
! Attention: Don’t close L and H !
( short circuit! )

Automatic current reduction ( marker »R« open )

The phase current - adjustable via potentiometer- is set for nominal operation. If marker »R« is open, the phase current will be redu-
ced by 50% at standstill of the motor. The first pulse increases the phase current again to the adjusted nominal value. At active Reset
input, the current reduction will be disabled.

Step angle adjustments W1 W0 steps per revolution

via marker W0 and W1 0 0 800
X = Marker closed 0 X 400
0 = Marker open
X 0 1000
X X 500
8 Stepping motor control amplifier board series SE...V1 and SE...E50 V1

Current adjustment
Ex factory the amplifier board is set to the nominal current. If required the motor phase current can be changed. To change the
phase current the Reset input has to be set. Then only LED »0« is active (see below figures with LEDs) !
When measuring point B against point GND there can be measured a voltage which is proportional to the phase current.
300 mV corresponds to the nominal current of the amplifier board. Meaning that the phase current is set to 4A/Ph. at an amplifier
board type SE 400.04.60 E50 V14, if the voltmeter shows 300mV. 225mV corresponds to 3A/Ph. The exceptions are amplifier
boards with a nominal current of 8 A/Ph. - see table below.
The phase current can be adjusted via the potentiometer on the board’s frontside.

SE ... V11 and SE ... V13

SE ... E50 V12 and SE ... E50 V14 (above)

SE ... E50 V11 and SE ... E50 V13 (below)

nominal current 1 A/Ph. 4 A/Ph. 6 A/Ph. 12 A/Ph. 8 A/Ph.

for example: SE 400.01.24 SE 400.04.85 SE 500.06.85 SE 800.12.120 SE 800.08.120
V13 E50 V12 V11 E50 V14 E50 V13

measured voltage phase cur rent

% [A/Ph] [A/Ph] [A/Ph] [A/Ph] measured volt. [A/Ph]

375 mV 125% 1,25 5 7,5 15 333 mV 10

300 mV 100% 1 4 6 12 267 mV 8
225 mV 75% 0,75 3 4,5 9 200 mV 6
150 mV 50% 0,50 2 3 6 133 mV 4
max. adjustable current A/Ph. 1.4 5.6 8.4 14.5 11.2

Supply voltage
Maximum allowed supply voltage: Nominal voltage of control amplifier board plus 15% (mains fluctuations!)
The nominal output voltage of the power pack unit ( = supply voltage of control amplifier board) may not be higher than the nomi-
nal supply voltage of the control amplifier board.
for example: Calculation of a power pack unit for a SE 800.06.120 E50 V13 :
Output voltage of power pack = 120 VDC (and not (!) 138 VDC = 120 VDC + 15%)

Working range - supply voltage (see diagram with Ready signal on page 9)

(Nominal-) supply voltage

UB [VDC] (Motor enabled) UM [VDC] (Motor current on)
control amplifier board [VDC]

24 18 16
60 and 85 43 32
UB and UM + 5%
120 50 38
240 120 100
 Stepping motor control amplifier board series SE...V1 and SE...E50 V1 9

Outputs
SE ... E50 V12 and SE ... E50 V14 :
electrical error / Ready signal: Is indicated in case of undervoltage, shortcircuit or overtemperature.
In non-error-condition the relay contact is closed.
mechanical error : Indicates a load angle error of the stepping motor (load angle > 7,2°).
In non-error-condition the relay contact is closed.
Phase zero: Indicates the electrical zero-position (every 7,2° - mechanically) - open collector output.
(no figure)
SE ... E50 V11 and SE ... E50 V13 :
Ready signal: Is indicated in case of an electrical or mechanical error
(for error definition see SE ... E50 V12)
In non error condition the relay is closed.
SE ... V11 und SE ... V13 :
electrical error / Ready signal: For error definition see SE ... E50 V12

a12 Ready signal

electrical error
potential free contact

I = 100mA
mechanical error
U = 50 VDC

c12

Output signal SE...E50 V11 and SE...V13

z2 Ready signal -
electrical error Timing Ready signal

a12 Ready signal - electrical error

I = 100mA electrical error potential free contact
U = 50 VDC
I = 100mA
b2 mechanical error U = 50 VDC
c12

Output signal SE...E50 V12 and SE... V14 Output signal SE...V11 and SE...V13

Inputs
Boost: Increases the phase current by 20%.
Disable: Switches off the phase current.
Reset: Sets the unit in zero position - phase zero. A pulse signal is ignored and errors are reset.
Direction: Controls the motor direction.
Pulse: With every pulse the motor will execute one step.
Step angle: Divides the step resolution by two from 1000 or 800 to 500 or 400 steps per revolution.
The input is always LOW-active - works only with open marker W0.
Change direction: Turns the motor direction - coordination between the motor direction and the signal Direction.
(only SE ... E50 V12 The signal is always Low-active.
and SE ... E50 V14)

Input circuit e.g.: HIGH-active Input signals SPS(PLC) - V11 and V12 Input signals TTL - V13 and V14

Circuits of the other

input signals are
equal to the circuit
of the signal
Direction

Rising time max.: 1µs , Fall time max.: 1µs , frequency pulse max.: 45 KHz Input signals
10 Stepping motor control amplifier board series SE...V1 and SE...E50 V1

Pin connection
1 A
2 +5VDC
3 n. c.
Output Ready signal 4 shield
potential-free contact 5 B
_
open: error (electrical or mechanical) 6 A
closed: no error
7 n. c.
8 GND
_
9 B

24

26

28

30

32

Compatible with motherboard RP/L 60 Connections SE ... E50 V11 and SE ... E50 V13
32 pole male connector DIN41612 type D

Compatible with motherboard RP/L E50 Connections SE ... E50 V12 and SE ... E50 V14
31 pole male connector DIN41612 type H7F24
 Stepping motor control amplifier board series SE...V1 and SE...E50 V1 11

Compatible with motherboard RP/L 60 Connections SE ... V11 and SE ... V13
32 pole male connector DIN41612 type D

Unused inputs of the series SE ... E50 V1.. and SE ... V1.. may stay open, there is no need to connect to an external potential.

Specifications

Protection of the device Noise immunity

Protection IP 00 In case of correct installation:
Protection against shortcircuit, according to EN50082-2:
overtemperature and undervoltage - at V13 and V14 (TTL-level) the signal inputs
are not immune to fast transients (burst)
Weight
nominal current 1 A/Ph 4 A/Ph 6 A/Ph 8 A/Ph 12 A/Ph
weight 0,2 Kg 0,52 Kg 0,77 Kg 1,1 Kg 1,1 Kg
Noise radiation
Ambient conditions In case of correct installation and shielding
or/and filtering of the lines and signals
Ambient temperature : 0°C to 50°C
according to EN55011 class B
max. heat sink temperature : 85°C
Forced draft: Necessary for power amplifier cards with nominal
current 8A and 12A

Available types: Example: SE 800.06.120 E50 V14 or SE 1000.04.85 V13

12 Series SE P05 - Microstep

Q Resolutions adjustable and externally switchable

Q Excellent truth micro stepping over the entire velocity range

Q Electrically and mechanically compatible to standard Zebotronics amplifier

boards (SE 11... , SE... , SE...V13..)

Q Shortcircuit, overtemperature and undervoltage protected

Q Voltage range from 24 VDC to 240 VDC

Q Current range from 0 A / Ph. to 14,5 A / Ph.

Q Constant torques in all pre-selected resolutions

Q Resolutions from 200 to 12800 steps per revolution

SE P05 Microstep

All dimensions, input- and output signals (except input circuits), current adjustments, supply voltage and connections are
identical to the series SE...V1... (see page 6 to 11)

Input circuits
Example: HIGH - active Inputs SPS(PLC)-level Inputs TTL-level

Input signals
The circuit and the levels of the other inputs are equivalent to »Direction«
Max. pulse frequency : 200 kHz

Adjustments
Via solder bridges on the rearside of the control board:

marking denotes
o

o
o
o
o
o

o
o

S0, S1 internal function

o

o
o
o

o o
o

o
o

C0 - C3 selection of step angle ( see table page 13 )

o
o

o
o

o
o

o
o
o
o

o
o

C4 internal function
o
o
o

o
o

o
o

o
o

W activates row »Pin a2 active« of step angle table on page 13

o

o
o
o
o
o

Pin a2 (external switching of step angle) is deactivated

o
o
o
o
o

o
o
o

o
o

SPS open: "TTL"- input level

o
o
o
o
o

closed: "SPS"- input level

o

o
o
o

R automatic current reduction (see SE...V1... page 7)

o
o

L open: signals High-active - closed signals : Low-active

selectable adjustments
 Series SE P05 - Microstep 13

Step angle adjustment on the board

Different step angles can be selected via the markings C0, C1, C2 and C3. With the input »step angle« (Pin a2) the step angle can
be switched externally between two values (only if marker »W« is open !). During motion, switching the step angle is possible within the
motor start-stop - frequency. When changing simultaneously the pulse frequency, switching the step angle is possible at any frequency.

Resolutions switchable externally

steps per revolution Markings for selection of step angle
PIN a2 X = Marking closed, else = Marking open

not active active C3 C2 C1 C0

200 X X X X
2000
400 X X X
2500 500 X X X
3200 800 X X
400 X X X
4000 800 X X
1000 X X
500 X
5000
1000 X X X
800 X X
8000
2000 X X
400 X
10000 1000 X X
2000 X There are available
800 X more step angles !
12800 Please ask at our
1600
sales office.

Specifications

Protection of the device Noise immunity

Protection IP 00 In case of correct installation:
Protection against shortcircuit, according to EN50082-2:
overtemperature and undervoltage - at TTL-level the signal inputs are
not immune to fast transients (burst)
Weight
nominal current 1 A/Ph 4 A/Ph 6 A/Ph 8 A/Ph 12 A/Ph
weight 0,2 Kg 0,52 Kg 0,77 Kg 1,1 Kg 1,1 Kg
Noise radiation
Ambient conditions In case of correct installation and shielding
or/and filtering of the lines and signals
Ambient temperature : 0°C to 50°C
according to EN55011 class B
max. heat sink temperature : 85°C
Forced draft: Necessary for power amplifier boards with adjusted
current from 5A

Available types:
Example: SE P05.06.85
14 Zebotronics mother boards

There are three different motherboards for mounting the control amplifier boards into 3 HE - 19’’ racks.

Type used for

RP2/L60 2-axis board SE 2.800.04.36

RP/L60 control amplifier board with 32 pole connectors

- series SE...V1.., SE...E50 V11, SE...E50 V13, SE P...

RP/LE50 control amplifier boards with 31 pole mixed connector - Series SE...E50 V12 and SE...E50 V14

RP2/L60

RP2/L60
Figure with mother board RP2/L60 and two stepping motors with cast connection box
 Zebotronics mother boards 15

RP/L60

Stepping
motor

RP/L60
Figure with mother board RP/L60 and a stepping motor with cast connecting box
(the shown colours of the leads refer to a stepping motor with leads)

RP/LE50

RPLE50
Figure with mother board RP/LE50 and a stepping motor with encoder (E50)
16 Zebotronics power supplies

NT-power supplies are non stabilized voltage supplies - fixed on an aluminium-mounting plate. A couple of control amplifier boards
can be supplied by one NT-power supply. The calculation of a power supply depends on the used motors - by taking into conside-
ration the maximum load current (which also depends on the motor speed).

Type Power Mains supply Output

NT 350 350 VA 230 VAC 50/60 Hz 24, 36, 60, 85 or 120 VDC

NT 500 500 VA 230 VAC 50/60 Hz 24, 36, 60, 85 or 120 VDC

NT 1000 1000 VA 230 VAC 50/60 Hz 60, 85 or 120 VDC

In the standard version a 120 VDC power suppliy includes a 60 VDC and a 120 VDC output.

NT 350...
NT 500...

NT 1000...

Power supply NT500.120 Dimensions NT

Power supply key:

Example: The order number of a power supply with output 120 VDC and 500 VA power is NT 500.120
Power supplies for 115 VAC 50/60 Hz mains supply are available, too.
 Zebotronics front panels and boards holder 17

Front panels
SEF-front panels for mounting 19 ’’ units (3 HE) are available for all Zebotronics control amplifier boards. In addition to the
optical board function control there are two further functions on the front panel for easy adjustments.
Q The adjustment of the motor current can be made direct on the front panel.

Q Simultaneously the motor current can be measured at two sockets.

Dimensions Control amplifier board with front panel

Front panel key:

Add a »F« to the type designation of the chosen control amplifier board.
Example: The type designation of a SE 400.06.85 V13 with front panel will be SEF 400.06.85 V13

Board holder KH D32

Q Comfortable mounting of control amplifier boards into a switch cupboard
Q Suitable for all Zebotronics control amplifier boards up to 12 A, with 32-pole connector.
Q Automatic locking
Q Easy mounting
Q Easy exchange of boards
Q Adjustment of current and LED indication are not covered
Q Ideal for test operation

Dimensions board holder - with control amplifier board

18 Zebotronics panel mount system series ELK

The panel mount (19 inch rack) system series ELK is a mains ready single or multiple axis stepping motor control which can be
mounted e.g. in a switch cabinet and can be connected easily via screw terminals. ELK-systems include plug ports for Zebotronics
amplifier boards series SE...[E50] V11/V13 with 32-pole connector VG (DIN 41612 type D).
SERS and SERC position controls from STÖGRA also can be pluged into ELK-racks.
Each power amplifier plug port additionally includes a plug port for a ventilator. In that way ventilators can be installed easily also
later.
All connections (mains, motor and control signals) are via screw terminals.
ELK racks are available with and without integrated power supply. (Connection to 230VAC/50Hz - also available for 115 VAC/60Hz).

Available versions:
ELK2 with 1 plug port and power supply:
 Zebotronics panel mount system series ELK 19

ELK3 with 2 plug ports and power supply:

Options for ELK3:

Q ELK3 without power supply and connection
for external DC-supply and 3 plug ports

ELK4 with 3 plug ports and power supply:

Options for ELK4:

Q ELK4 without power supply and connection

for external DC-supply and 4 plug ports
inclusive plug ports for ventilators

Q ELK4 without power supply and connection

for external DC-supply and 5 plug ports
without plug ports for ventilators

ELK type key:

20 Position controls - series SERS

Position control with Microstepping and RS232/RS485/Profibus-DP/CAN open or SERCOS-interface.

The stepping motor position controls series SERS are for driving 2-phases-stepping motors. A unit consists of a power amplifier,
microstepping power amplifier control and the position control. The position control can be programmed via the interface.
The SERS guarantees excellent truth running because of its microstepping operation with 12800 steps/revolution and the possibili-
ty to set the current characteristics to match the characteristics of the used stepping motor type. The rough step by step operation
of conventional stepping motor drives at low speed ranges has been improved extremely by the SERS to a very smooth running
(comparable with servo motors). In standard version the SERS can be operated in four different modes:

The four operating modes: Available versions:

Serial mode SERS 01.24 V01
Operation with a PC/PLC/NC as higher order control (master) Phase current: 0 until 1,4 A/Ph
and communication via the serial fieldbus with SERS - Slaves Power supply: 24 VDC
Q optionally SERS 01.85 V01
Master mode
with 85 VDC is available
Operation with a SERS as higher order intelligent control (mas-
ter), which controls other SERS - slaves via the serial interface.

Parallel mode SERS 06.85 V01

Operation with a PLC/NC as higher order control, which calls Phase current: 0 until 8,4 A/Ph
Power supply: 85 VDC
and starts different operational programs in the SERS via the
digital-parallel inputs. Up to 64 different operational programs
Q optionally SERS 06.24 V01
and SERS 06.120 V01 with
per SERS can be called.
24 VDC/120 VDC is available
Standalone mode
Operation with SERS - slaves as independent working axis, with SERS 12.120 V01
stored operational programs, controlled by events at the digital Phase current: 0 until 14,5 A/Ph
inputs - e.g. manual start switch, limit switch, light barriers. Power supply: 120 VDC
Q optionally SERS 12.85 V01
and SERS 12.240 V01 with
85 VDC/240 VDC is available
Optionally to control/program the SERS by PC, the hand
programming device “SERS-Programmer” is available.

Ordering key: Specifications

SERS X.Y V01 [RS485] [PB-DP] [CAN] Protection of device:

e.g. SERS 06.85 V01 or SERS 12.120 V01 PB-DP Protection class IP 00 (ELK: IP 20)
Protection against shortcircuit, overtemperature and undervoltage

X: Phase current [A]: 01, 06, 12 Weight:

SERS 01 SERS 06 SERS 12
0,37 kg 0,77 kg 1,1 kg
Y: Supply voltage [VDC]:
24, 85, 120, 240
Ambient conditions:
Ambient temperature: 0°C - 50°C
V01: Version 01
max. heat sink temperature: 85°C
Forced draft: Necessary from 6A phase current
RS485: with RS485
Noise immunity:
PB-DP: with Profibus-DP interface In case of correct installation: According to EN50082-2

CAN: with CAN open interface

Noise radiation:
In case of correct installation and shielding of the leads
without interface specification à
according to EN55011 class B
RS232C/V24
Zebotronics Schrittmotoren GmbH
Machtlfinger Str. 24
81379 München
Tel++49-89-15904070
Fax++49-89-15904079
E-Mail info@zebotronics.de
Internet URL http://www.zebotronics.de