STEPPER MOTOR POSITION CONTROLS

  free programmable position controls with the interfaces
RS232, RS485, Profibus-DP or CANopen

  overview SERS
  overview SERS new functions
  special features
  SERS with PROFIBUS-DP interface
  SERS with PROFIdrive interface
  SERS with CANopen interface
  WSERS in compact housing
  SERS with encoder input

    versions:
  eurocard format for 19 inch mountage
  mains ready single- or multiple axis panel mount system

  operation modes
  overview programming with PC or SERS Programer
  SERS-Programer
  examples programming SERS drives
  download catalogue or single data sheets

 

   OVERVIEW SERS


 

Stepping Motor Positioning Control for 2-phases-Stepping Motors with RS232, RS485,
Profibus-DP or CANopen interface and features as follows:

 
 

  flexible but easy programmable running control with many special functions
cost effective single – or multiple axis control
microstepping – power amplifer with 12800 steps/revolution
easy programmable via standard-PC
  free programming software for SERS with RS232 interface
alternative programming and operation via hand programming device
  (4x16 character-display with 16-key folia keyboard)
eurocard-format for 19 inch 3HE systems for external DC-supply
  or complete panel mount or 19 inch rack systems
with integrated power supply (230VAC-50/60Hz)
flexible system due to modular design
  including up to 3 axis with power supply
or 5 axis without power supply in one rack
(up to 5 or 8 axis per rack for SERS with max. 2,8A/phase)
easy installation of the panel mount / 19 inch system
  because of screw terninals for all connections for
motor, mains and inputs for limit / reference and stop switches


  The SERS is a point to point stepping motor position control for 2-phases-stepping motors.
The SERS is available in different versions with:
  phase currents from 0 to14,5 A/phase (can be programmed via interface)
  power supply 24 VDC until 240 VDC
  optionally mains ready (230VAC 50Hz – optionally also for 115 VAC 60Hz)
    wall mountage system or standard 3 height unit 19 inch system
  The SERS is controlled and programmed via a serial interface (in standard version RS232C/V24).
Optionally there are versions with RS485, Profibus DP, PROFIdrive or CAN open interface

                


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      data sheet position control series SERS

 

   OVERVIEW NEW FUNCTIONS OF THE SERS  (versions delivered since July 2002)


  velocity profile running
    positioning with different velocities during one positioning job
  new additional syntax
    (e.g. "WAIT"-command) for still more easy writing of running programs
  optional I/O-extensions
    (only RS232 and RS485-versions) for total max. 16 digital inputs and 16 outputs
  new Profibus-protocol "extended binary mode 22/12 I/O"
 

 

 with 22 output bytes and 12 input bytes
(22 output bytes including: controlword, opcode, operand,
and acceleration, velocity and position command value)
  PROFIdrive interface
 

 

 based on Profibus DP/V1 and PROFIdrive protocol


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      data sheet position control series SERS

 

   SPECIAL FEATURES OF THE SERS  


  with the microstepping operation of 12800 steps/revolution the motor running is very smooth
    and low on vibrations – comparable with the running quality of a Servo Motor
  4 different phase current characteristics for matching different stepping motor characteristics,
    guarantee an excellent truth running of the stepping motor
  because of dynamical changing of step angle at higher velocities
    the control is able to create velocities from 0,12 until 10000 rpm
  SERS-controls designed as a modular system together with the panel mount / 19-inch system series ELK
    enable cost effective mains ready single and multiple axis controls
(up to 3 axis with integrated power supply or up to 5-axis with external power supply)
  SERS-controls are able to communicate among each other without additional higher ranking control
    via the implemented RS232-interface – working as a master-slave network
with one SERS as controlling master and the other SERS as controlled slaves.
For many multiple axis applications in that way an additional higher ranking control
(PC, PLC, ... ) is not neccessary anymore.
  8 free programmable inputs and 4 free programmable outputs (with up to 500mA load per output),
    additionally 2 limit switch-, 1 home switch-, 1 stop switch input, 1 analogue input (0 to 5 VDC , 8Bit)
and one general ouput 'ready signal'
  3 different scalings are selectable: linear, rotational and not scaled (incremental)
    – so the position-, velocity- and acceleration values can be referred directly to the application
e.g. to the movement at a linear axis – the calculation from steps and pulse frequency
into e.g. [mm] and [rpm] or [mm/min] is done by the SERS
  very easy learnable and understandable programming language (similar to BASIC)
    – e.g. 'ON' for switching on the motor current, or 'V=1000' to set the velocity to 1000 rpm
in case of rotational scaling or 1000 mm/min in case of linear scaling
(the preferred scaling can be selected via setting parameters)
  arithmetical functions (+, -, *, /, AND, OR, EXOR, NEG, NOT)
    with accumulator and 6 free usable registers
(any parameter – position, velocitiy, value of analogue input etc. – may be used in arithmetical functions)
  the programming of the SERS can be done with any PC with DOS- or Windows Operating System
    (Win95/98/Me/NT/2000/XP) – the programming software is included for every SERS.
– operating and controlling the SERS is also possible via any other operating system
like Linux or Macintosh via the standard serial interface RS232
  the complete programming and operation of a SERS is also possible via an optional
    available hand programing device which also includes functions like:
password may be defined for limitation of the access to parameters and running programm via
the SERS-Programer – single parameters and program lines may be enabled / disabled
for being displayed and edited


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      data sheet position control series SERS

 

   SERS WITH PROFIBUS-DP INTERFACE


  The SERS is available optionally with Profibus-DP interface. The characteristics of the SERS
(microstepping operation, different churrent characteristics, modular design, free programable,
scaled parameters, I/O's, ...) are identical to the version with RS232C/V24.

  The SERS with Profibus-DP interface additionally includes following features:
  transfer rate until 12MBaud
  complete galvanical isolated interface
  "gsd-file" provided on floppy disk

  Following protocol modes may be selected:
  ASCII-mode – write/read of ASCII-characters in the Profibus I/O-section
  binary mode 8/12-I/O – with "control word", "opcode" and "operand" in the output section
    and "status word", "result", "position" and "status digital inputs" in the Profibus input section
  extended binary mode 22/12-I/O – as 8/12-I/O mode but additionally "acceleration","velocity"
    and "position command value" direct writable in the Profibus output section.

  Order key of a SERS with Profibus-DP interface: SERS ... V04 PB-DP (e.g SERS 06.85 V04 PB-DP)


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      data sheet position control series SERS

 

   SERS WITH PROFIdrive INTERFACE


  The SERS is available optionally with PROFIdrive interface. The characteristics of the SERS
(microstepping operation, different churrent characteristics, modular design, free programable,
scaled parameters, I/O's, ...) are identical to the version with RS232C/V24.

  The SERS with PROFIdrive interface additionally includes following features:
  transfer rate until 12MBaud
  complete galvanical isolated interface
  "gsd-file" provided on floppy disk
  Profibus-DP/V1 with PROFIdrive Profile Version 3.1
  Applikation class 4 with speed control mode and actual position feedback
  Control with e.g. Siemens-Simotion control family

  Order key of a SERS with PROFIdrive interface: SERS ... V04 PD (e.g SERS 06.85 V04 PD)


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      data sheet position control series SERS

 

   SERS WITH CANopen INTERFACE


  The SERS is available optionally with CANopen interface. The characteristics of the SERS (microstepping operation,
different churrent characteristics, modular design, free programable, scaled parameters, I/O's, ...) are identical with
the RS232C/V24-version.

  The SERS with CANopen interface additionally includes following features:
  transfer rate until 1MBaud
  complete galvanical isolated interface
  protocol according to CANopen drives profile
    General (e.g. communication) parameter with index numbers until 0x1000 according to "CiA Draft standard 301"
(Application Layer and Communication Profile) from "CAN in Automation e. V.".
Additionally according to "CiA Draft Standard Proposal DSP-402" standard parameter of the "CANopen"
Device Profile for Drives and Motion Control" from index 0x6000
  "eds"-configuration file on floppy disc is provided

  Order key of a SERS with CANopen interface: SERS ... V04 CAN (e.g SERS 06.85 V04 CAN)


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   POSITION CONTROL WSERS 08.80 V01 AND WSERS 04.230 AC V01


 

Control of 2-Phases-stepper motors bipolar

With interfaces RS232, RS485, Profibus-DP, PROFIdrive and CANopen
In compact housing for panel mounting or DIN rail mounting
Version for direct mains connection 230VAC/50Hz (or 115VAC) without isolating transformer
  internal 325VDC motor operating voltage are created
  WSERS 04.230AC V01 with phase currents programmable until max 4A
  WSERS 06.230AC V01 with phase currents programmable until max 6A
Version for supply by 20 to 80VDC
  WSERS 04.80 V01 with phase currents programmable until max 4A
  WSERS 08.80 V01 with phase currents programmable until max 8A
Microstepping with 12800 steps/revolution for optimal and low of vibrations true running also at low speed
Very low heat dissapation due to newest Power-MOSFET-technology
Programming functions as standard SERS-control from STÖGRA

 
WSERS 08.80 V01
WSERS 08.80 V01


 WSERS 04.230AC V01

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      data sheet position control series WSERS

 

   SERS WITH ENCODER INPUT  


  The SERS is available optionally with an encoder input.
Signals from 2-channel-encoders (channels A and B and inverted signals) and RS422 outputs are accepted.
The resolution of the encoder (e.g. 2 x 50 or 2 x 1000 impulses per revolution or any other resolution) can be
defined in the SERS by a parameter.
In standard version 5VDC (max. 100mA) voltage supply for a 5VDC-encoder is provided by the SERS.
Optionally 24VDC encoder can be connected – 24VDC supply for the encoder must be provided externally.

  The encoder input can be used for following functions:

                  
               		 

  For the function 'control of load angle' there are options as follows :
     exceeding the max. load angle allowed (motor running is interrupted by a mechanical overload)
         will create a warning signal in the SERS
 

   exceeding the max. load angle allowed results in decelerating and motor stop and setting an error flag
     lost steps after exceeding the max. load angle allowed will be counted by the SERS and:
         – the actual position in the SERS can be corrected by taking into account the number of lost steps
       – or the lost steps can be executed again by sending a special start command
          (motor will run with lower speed until reaching the position command value)

  Ordering key for a SERS with encoder input :
  SERS ... V04 E50 (e.g SERS 06.85 V04 E50) for connecting a 5V encoder
  and
  SERS... V04 E50/24 (e.g SERS 06.85 V04 E50/24) for connecting a 24V encoder


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      data sheet position control series SERS

 

   SERS IN EUROCARD FORMAT FOR MOUNTING IN 3 HU – 19 INCH SYSTEMS


  The SERS is available in different power sizes.
The versions are different in the adjustable phase current ranges and the different voltage supply ranges.

 
  SERS 01.24 V04
SERS 02.24 V04
SERS 03.60 V04
SERS 06.24 V04
SERS 06.85 V04
SERS 06.120 V04 		SERS 12.85 V04
SERS 12.120 V04
SERS 12.240 V04


 

type
adjustable pase current
in A/phase
range of power supply
in VDC
 
SERS 01.24 V04
0 – 1,4
20 – 36
 
SERS 01.60 V04
0 – 1,4
45 – 70
 
SERS 02.24 V04
0 – 2,8
50 – 85
 
SERS 02.60 V04
0 – 2,8
45 – 70
 
SERS 03.24 V04
0 – 4,2
20 – 36
 
SERS 03.60 V04
0 – 4,2
45 – 70
 
SERS 06.24 V04
0 – 8,4
20 – 36
 
SERS 06.85 V04
0 – 8,4
45 – 85
 
SERS 06.120 V04
0 – 8,4
60 – 120
 
SERS 12.85 V04
0 – 14,5
45 – 85
 
SERS 12.120 V04
0 – 14,5
60 – 120
 
SERS 12.240 V04
0 – 14,5
120 – 240


  All SERS include:
  a 32 pole male connector – according to DIN 41612 type D – for the connections of
    •  voltage supply
    •  motor phases
    •  inputs limit switches, stop switch and home switch
    •  ready signal (motor current is switched on) – may be used e.g. to control a motor brake
 
  25-pole D-Sub connector for the digital Inputs and Outputs
  9-pole D-Sub male connector for the serial interface (RS232 / RS 485 / CANopen)
    – Profibus-DP: 9-pole D-Sub female connector
  frontpanel with grip
  7-Segment-display for indication of status and errors or warnings


    top        data sheet position control series SERS

 

   MAINS READY SINGEL OR MULTIPLE AXIS PANEL MOUNT SYSTEM 


  As standard versions are available 3 different sizes with 1, 2 or 3 SERS-plug ports:

 
 

ELK2
3HE-½ 19 Zoll
power supply and 1 plug port

 ELK3
3HE-¾ 19 Zoll
power supply and 2 plug ports		 ELK4
3HE 19 Zoll
power supply and 3 plug ports


  ELK-systems are available with following power supplies:
     350 VA or 500 VA
     voltage outputs: 24 VDC, 60 VDC, 85 VDC or 120 VDC

  ELK-systems are also available without internal power supply for external supply by an external power supply
and 4 or 5 plug ports for SERS-drives.
  Each SERS-plug port includes one ventilator plug port. Ventilator boards can be ordered together with the ELK
or they can be ordered later and installed easily by plugging into the ELK-rack.
(from about 6A adjusted phase current a forced draft for the SERS is necessary)
  ELK-systems are also available for small SERS-drives version "S" (SERS 02.24 V04 S or SERS 01.85 V04 S).
Here the racks including power supply can be ordered for max. 5 SERS-drives or without power supply
and max. 8 SERS-drives.
Also available are 19-inch-racks (series ELR) with all connections at the rearside of the rack to be installed
in 19-inch-switch cabinets. ELR rack versions can be ordered with the same configurations as series ELK
(but no version "S" is available)


    top        data sheet position control series SERS and ELK

 

   OPERATION MODES

All operation modes are implemented in all standard SERS controls.
The operation mode is selected by setting parameters and the way of programming.
serial mode

In the serial mode the SERS is controlled via the serial interface by a PC, PLC or NC. New positions (optionally with indication of velocity and acceleration, in case these values are changed) are sent via
the serial interface and the SERS is started by sending an "execution" command.
Inputs and outputs may be read and set any time.
Also stored subroutines in the E²prom of the SERS may be called and started via the serial interface.
By reading the corresponding parameters there can be checked any time, if the SERS is still busy with executing a positioning job or a called subroutine.


parallel mode

In this mode, different programms or just single commands are stored into the E²prom of the SERS. The stored programms/commands can be selected with up to 6 digital inputs (address lines) and be started by a start (strobe) signal. In that way a PLC may select via its digital outputs up to 64 different programms in a SERS.


master slave mode
 

2 or more SERS are connected via the RS232-interface. One of the SERS is configured as MASTER,
the other SERS as SLAVES. The MASTER-SERS controls the SERS-SLAVES via the serial interface.
The MASTER-SERS may send positioning jobs to the SLAVES and start them and at the same time execute a positioning job itself. Inputs and outputs of the SLAVES can be requested and set.
The MASTER-SERS is able to start subroutines stored in the other SERS units and may request the status of the SERS-SLAVES.


  standalone mode

  The SERS is operating independently of other controls or axis. A stored operational program in the E²prom of the SERS is executed after a programm start signal at an digital input or after power-on.
In the programm defined positions and commands are executed one after the other.
The running program may be programmed in a way, that it depends on digital inputs, and outputs
may be set or reset.


  manual (jog) mode
  The digital inputs can be defined as manual (jog) functions. When activating the inputs,
the corresponding functions are executed. Following functions are implemented:
     jog slow left and right
     Jog fast left and right
     homing procedure
     motor current ON – Motor current OFF
     Stop
     Start operational programm
  All manual functions are available in the other operation modes, too (e.g it can be defined that in
the serial mode jog slow functions are available at inputs 1 and 2 and the other inputs are free programmable)


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   PROGRAMMING THE SERS


  with a PC and a free programming software or
  with the hand programming device SERS PROGRAMER

          

  Programming features of the SERS:
  in standard version 2Kbyte E²Prom are usable for running programms
    (corresponds to about 300 lines – with single commands in the lines)
– larger programm memory (up to 8Kbyte) optionally available
  the positioning parameters (position command value, velocity and acceleration) may be set any time
    – e.g. for different values for each new positioning job
  8 digital inputs, 1 analogue input and 4 outputs are free programmable in all operation modes.
    (optionally there is avaialble an extension for additional 8 inputs and 12 outputs)
  3 counters and 3 markers are available for operational programs
    (e.g. for programming loops)
  absolute, relative and endless (positioning always into the same direction) positioning mode
    – selectable via a parameter
  programming of subroutines (GOSUB – RETURN) possible, for multiple calls of the same programm parts
  comments may be written into the programm (programm is stored into the PC,
    but comments are ignored by saving into the SERS – for saving E²Prom-space)
  arithmetical functions (+, -, *, /, AND, OR, EXOR, NOT, NEG) with accumulator
    and 6 free usable registers – usable for all SERS-parameters
  More than 100 different parameters implemented, which can be used for lots of different functions


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   SERS PROGRAMER


The SERS Programer is a simple programming device for programming and/or operating
SERS-positioning drives with RS232C/V24 interface.
  dimensions: 129mm (h) x 91mm (w) x 30mm (d)
  keyboard with16x4 character display and 16 keys with 3-colors for different keyboard level
  power supply via the SERS-positioning drive
  there may be connected multiple SERS positioning drives to one SERS-Programmer
  via a password the parameter- and program lines may be locked/enabled
    – e.g. within a complex running program only certain parameters for the
machine operator may be enabled (will be displayed and may be edited)
  additionally to the enabled parameters in the running programm
    there may be defined a text string which is displayed together with the parameter
(e.g: "speed v=100.0000" – the additionally defined text string here is "speed")
  model SERS Programmer: standalone progamming device with backside plastic housing
  model SERS Programmer R: without backside housing for integration into an ELK/ELR-rack,
    19-inch-systems or any front panel

   
    SERS Programer R SERS Programer


    top        data sheet position control series SERS and SERS PROGRAMER

 

   EXAMPLES PROGRAMMING SERS DRIVES


    syntax examples 
   ON  will switch on the motor phase current
   OFF  will switch off the motor phase current
   W=100  position command value is set to 100 (e.g. 100mm in case of linear scaling)
   V=1000  velocity is set to 1000 (e.g. 1000rpm in case of rotational scaling)
   A=2000  acceleration is set to 2000 (e.g. 2000rad/s2 in case of rotational scaling)
   E  execute – starts the positioning job with the actual set position command value
   S  motor Stop
   RS  right-slow – starts jog mode
   O3=1  output 3 will be set


The syntax of all standard commands is defined as clear text.
All other commands are specified as parameters.
    parameter examples
   P1010=4000 set motor phase current to 4000mA
   P1011=1 automatic current reduction at motor stand still
to 50% from adjusted phase current is activated
   P41=500 set homing velocity to 500 (e.g. 500rpm – depending on scaling)
   P1019=30 set jog slow velocity to 30 (e.g. 500rpm – depending on scaling)


   example standalone operational program:
    ON
    L1
    O1=1
    W=350 E
    O1=0
    WAIT I1=1
    W=-350 E
    GOTO1

  The programm first will switch on the phase current.
Then the output O1 will be set,
the next position command value is defined and the positioning job is started.
After finishing the positioning job, the output O1 will be reset.
Then the SERS waits for the input I1 being set externally.
Afterwards the distance "-350" will be executed and finally there is a program jump back to Label L1.


    top        data sheet position control series SERS
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