ECAT-2091S
Single Axis Stepper Motor Controller/Driver
Features
• 1 x Stepper motor (2-phase bipolar stepper motor)
• Drive capability up to 1.5 A/phase coil current (with proper cooling and airflow up to 2.0 A/phase)
• Voltage range of the motor: 6 to 46 VDC
• 1 x 5V power supply for encoder. Limitation: the output current should not exceed 150 mA
• 1 x Encoder interfaces (A, B, Z), differential
• 2 x Digital input: Reference switch input, latch input
• 1 x Digital output
• Highest resolution: 256 microsteps per full step
• Automatic current reduction to reduce heat when motor is not moving
• Over-temperature protection
• Optically isolated I/O
• LED indicators for I/O, EtherCAT and motion status
• EtherCAT:
‣ 2 x RJ-45 bus interface
‣ Distance between stations up to 100 m (100BASE-TX)
‣ Support daisy chain connection
‣ EtherCAT conformance test tool verified
‣ Supports Free-Run, SM synchron and Distributed Clock (DC) operation modes
• Removable terminal block connector
• Drive capability up to 1.5 A/phase coil current (with proper cooling and airflow up to 2.0 A/phase)
• Voltage range of the motor: 6 to 46 VDC
• 1 x 5V power supply for encoder. Limitation: the output current should not exceed 150 mA
• 1 x Encoder interfaces (A, B, Z), differential
• 2 x Digital input: Reference switch input, latch input
• 1 x Digital output
• Highest resolution: 256 microsteps per full step
• Automatic current reduction to reduce heat when motor is not moving
• Over-temperature protection
• Optically isolated I/O
• LED indicators for I/O, EtherCAT and motion status
• EtherCAT:
‣ 2 x RJ-45 bus interface
‣ Distance between stations up to 100 m (100BASE-TX)
‣ Support daisy chain connection
‣ EtherCAT conformance test tool verified
‣ Supports Free-Run, SM synchron and Distributed Clock (DC) operation modes
• Removable terminal block connector
Introduction
The ECAT-2091S stepper motor controller is a cost-effective, two-phase bipolar stepper driver. A motor voltage range between 6 and 46V DC and a peak motor coil current of 1.5 A/phase without cooling is being supported. When operating in a properly ventilated environment (cooling fan) the ECAT-2091S can drive the axis at a current level of up to 2.0 A/phase. The maximum running motor current, microstep resolution and other motion parameters are software selectable.
The ECAT-2091S is a standard EtherCAT SubDevice and an EtherCAT MDevice is required to operate the device. The ECAT-2091S supports three operation modes: Free-Run, SM synchron and Distributed Clock (DC).
Two-phase bipolar stepper motors can be directly connected to the ECAT-2091S device. The device is designed to operate in a open loop. Configuration and motion control has to be done by the EtherCAT MDevice and the application program. The coil current and step control is beina done by a stepper motor driver IC. An integrated ramp generator automatically calculates the acceleration and deceleration distance. In position mode the controller drives the motor to the target position and in velocity mode accelerates the motor to the target velocity. A minimum set of configuration data consists of acceleration, deceleration and maximum motion velocity. After receiving the target position the motor driver starts controlling the motion movement. All motion parameters can be changed on the fly.
The ECAT-2091S has a 32 bit high frequency encoder counter which counts the input signal of an external incremental encoder. The encoder can for example be used for homing purposes and for consistency checks.
High resolution of up to 256 microsteps per full step is supported for a ensuring smooth and precise motor operation.
Two digital input channels are provided. The digital inputs can be set to act as a simple DI, as a left and right hardware limit switch which automatically stops the motor when activated, or a latch trigger for latching the current motor and encoder position.
The module must be supplied by two power sources. A motor supply and a 24Vdc control supply.
The ECAT-2091S is a standard EtherCAT SubDevice and an EtherCAT MDevice is required to operate the device. The ECAT-2091S supports three operation modes: Free-Run, SM synchron and Distributed Clock (DC).
Two-phase bipolar stepper motors can be directly connected to the ECAT-2091S device. The device is designed to operate in a open loop. Configuration and motion control has to be done by the EtherCAT MDevice and the application program. The coil current and step control is beina done by a stepper motor driver IC. An integrated ramp generator automatically calculates the acceleration and deceleration distance. In position mode the controller drives the motor to the target position and in velocity mode accelerates the motor to the target velocity. A minimum set of configuration data consists of acceleration, deceleration and maximum motion velocity. After receiving the target position the motor driver starts controlling the motion movement. All motion parameters can be changed on the fly.
The ECAT-2091S has a 32 bit high frequency encoder counter which counts the input signal of an external incremental encoder. The encoder can for example be used for homing purposes and for consistency checks.
High resolution of up to 256 microsteps per full step is supported for a ensuring smooth and precise motor operation.
Two digital input channels are provided. The digital inputs can be set to act as a simple DI, as a left and right hardware limit switch which automatically stops the motor when activated, or a latch trigger for latching the current motor and encoder position.
The module must be supplied by two power sources. A motor supply and a 24Vdc control supply.
Applications
• Automated Test Equipment
• Surveillance Systems
• Labeling Machinery
• Packaging
• Semiconductor Manufacturing
• Engraving Machine
• Automatic Feeding Machine
• Surveillance Systems
• Labeling Machinery
• Packaging
• Semiconductor Manufacturing
• Engraving Machine
• Automatic Feeding Machine
Ordering Information
| PRODUCT SERIES | DESCRIPTION | QNT. | INQUIRY |
|---|---|---|---|
This combination include other products.
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| EMS Protection | |
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| EFT (IEC 61000-4-4) | Signal: 1 KV Class A; Power: 1 KV Class A |
| ESD (IEC 61000-4-2) | 4 KV Contact for each channel |
| Surge (IEC 61000-4-5) | 1 KV Class A |
| LED Indicators | |
|---|---|
| Status | 1 x Power 1 x Operation State 2 x Communication 2 x DI status 1 x DO status 6 x Motion status |
| Encoder Input | |
|---|---|
| No. of Axes | 1, differential |
| Mode | A/B phase, CW/CCW, Pules/Dir |
| Frequency | 4 MHz Max. |
| Motor Output | |
|---|---|
| No. of Axes | 1x Stepper motor, 2 phases |
| Current Controller Frequency | 24.5 kHz |
| Microsteps Per Step | 256, 128, 64, 32, 16, 8, 4, 2 |
| Output Current | Peak 1.5 A/phase (with proper airflow up to 2.0 A/phase) |
| Step Frequency | 8.388 MHz Max. |
| Voltage Range of The Motor Output | 6 to 46 VDC |
| Digital Input | |
|---|---|
| Channels | 2 x Limit position |
| Type | Wet Contact |
| ON Voltage Level | 19 ~ 30 VDC |
| OFF Voltage Level | 11 VDC Max. |
| Isolation | 3750 VDC |
| Digital Output | |
|---|---|
| Channels | 1 |
| Type | Open collector |
| Load Voltage | +5 to 30 VDC |
| Load Current | 100 mA |
| Isolation | 3750 VDC |
| EtherCAT | |
|---|---|
| Ports | 2 x RJ-45 |
| Distance Between Stations | 100 m Max. (100Base-TX) |
| Data Transfer Medium | Ethernet/EtherCAT Cable (Min. CAT 5), Shielded |
| Cycle Time | 0.5 Millisecond (1.0 Miliseconds -if all PDOs are selected ) |
| Distributed Clocks | Yes |
| Power | |
|---|---|
| Input Range | +20 VDC ~ +30 VDC |
| Mechanical | |
|---|---|
| Casing | Metal |
| Dimensions (mm) | DIN-rail mounting: 33 x 120 x 116 (W x L x H) Wall mounting: 33 x 159 x 110 (W x L x H) |
| Installation | DIN-rail mounting or wall mounting |
| Environment | |
|---|---|
| Operating Temperature | -25 ~ +40 °C |
| Storage Temperature | -30 ~ +80 °C |
| Humidity | 10 ~ 90% RH, Non-condensing |
