Beckhoff AS2000 series Operation Manuals

Brand: Beckhoff

Model: AS2000 series

Type: Operation Manuals

Beckhoff AS2000 series

The Beckhoff AS2000 series stepper motors are designed for a wide range of applications in factory and building automation, as well as machine building. They are available in a variety of sizes and configurations to meet the specific requirements of your application.

All AS2000 series stepper motors feature:

High torque and speed
Precise positioning
Smooth and quiet operation
Long service life
Easy installation and maintenance

AS2000 series stepper motors are ideal for use in applications such as:

Conveyor systems
Packaging machines
Robotics
Medical devices

Beckhoff AS2000 series

All AS2000 series stepper motors feature:

High torque and speed
Precise positioning
Smooth and quiet operation
Long service life
Easy installation and maintenance

AS2000 series stepper motors are ideal for use in applications such as:

Conveyor systems
Packaging machines
Robotics
Medical devices

Operation Manual

Stepper motor AS2000

1.0

2018-07-10

Version:

Date:

Table of content

Stepper motor AS2000 3

Version: 1.0

Table of content

1 Foreword ....................................................................................................................................................5

1.1 Notes on the documentation..............................................................................................................5

1.2 Documentation Issue Status..............................................................................................................6

1.3 Appropriate use .................................................................................................................................6

2 Guidelines and Standards ........................................................................................................................7

2.1 EU conformity ....................................................................................................................................7

3 For your safety...........................................................................................................................................8

3.1 Staff qualification ...............................................................................................................................8

3.2 Description of symbols ......................................................................................................................9

3.3 Notes on the AS2000 stepper motor ...............................................................................................10

4 Handling ...................................................................................................................................................11

4.1 Transport .........................................................................................................................................11

4.2 Packaging........................................................................................................................................11

4.3 Storage ............................................................................................................................................11

4.4 Maintenance / Cleaning...................................................................................................................12

4.5 Disposal...........................................................................................................................................12

5 Product overview.....................................................................................................................................13

5.1 AS2000 scope of delivery................................................................................................................13

5.2 AS2000 type plate ...........................................................................................................................13

5.3 AS2000 type key .............................................................................................................................14

6 Technical description..............................................................................................................................15

6.1 Design of the motors .......................................................................................................................15

6.2 General technical data.....................................................................................................................16

6.3 Standard features ............................................................................................................................16

6.3.1 Style................................................................................................................................. 16

6.3.2 Shaft end, A-side ............................................................................................................. 17

6.3.3 Flange.............................................................................................................................. 17

6.3.4 Connection technology .................................................................................................... 17

6.3.5 Feedback system............................................................................................................. 17

6.4 Transport, assembly and disassembly ............................................................................................17

7 Mechanical installation ...........................................................................................................................18

7.1 Important notes................................................................................................................................18

7.2 Installing the stepper motor .............................................................................................................19

8 Electrical installation...............................................................................................................................20

8.1 Important notes................................................................................................................................20

8.2 Connection of motors with preassembled cables ............................................................................21

8.3 Electrical components .....................................................................................................................22

8.3.1 Motor connector............................................................................................................... 22

8.3.2 Encoder connector........................................................................................................... 22

8.4 Connection diagram KL2531 ...........................................................................................................23

8.5 Connection diagram EL7031 ...........................................................................................................24

8.6 Connection diagram EL7037 ...........................................................................................................25

Table of content

Stepper motor AS20004

Version: 1.0

8.7 Connection diagram EL7041-1000..................................................................................................26

8.8 Connection diagram EL7047 ...........................................................................................................27

8.9 Connection diagram EP7041...........................................................................................................28

8.10 Connection diagram EPP7041 ........................................................................................................29

8.11 Connection diagram EJ7047 ...........................................................................................................30

9 Commissioning........................................................................................................................................31

9.1 Important notes................................................................................................................................31

9.2 Guide for commissioning .................................................................................................................31

9.3 Troubleshooting...............................................................................................................................32

10 Technical data..........................................................................................................................................33

10.1 Step mode and limit speeds ............................................................................................................33

10.2 AS202x ............................................................................................................................................34

10.2.1 Dimensional drawing AS202x with encoder .................................................................... 35

10.3 AS204x ............................................................................................................................................36

10.3.1 Dimensional drawing AS204x with encoder .................................................................... 37

Foreword

Stepper motor AS2000 5

Version: 1.0

1 Foreword

1.1 Notes on the documentation

This description is only intended for the use of trained specialists in control and automation engineering who

are familiar with the applicable national standards.

It is essential that the documentation and the following notes and explanations are followed when installing

and commissioning the components.

It is the duty of the technical personnel to use the documentation published at the respective time of each

installation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all the

requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under

development.

We reserve the right to revise and change the documentation at any time and without prior announcement.

No claims for the modification of products that have already been supplied may be made on the basis of the

data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff

, TwinCAT

, EtherCAT

, Safety over EtherCAT

, TwinSAFE

, XFC

and XTS

are registered

trademarks of and licensed by Beckhoff Automation GmbH.

Other designations used in this publication may be trademarks whose use by third parties for their own

purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and

patents:

EP1590927, EP1789857, DE102004044764, DE102007017835

with corresponding applications or registrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications and

patents:

EP0851348, US6167425 with corresponding applications or registrations in various other countries.

EtherCAT

is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

Germany

The reproduction, distribution and utilization of this document as well as the communication of its contents to

others without express authorization are prohibited.

patent, utility model or design.

Foreword

Stepper motor AS20006

Version: 1.0

1.2 Documentation Issue Status

Origin of the document

This documentation was originally written in German. All other languages are derived from the German

original.

Product features

Only the product features specified in the current user documentation are valid. Further information given on

the product pages of the Beckhoff homepage, in emails or in other publications is not authoritative.

Issue Comment

1.0 First edition

1.3 Appropriate use

Beckhoff stepper motors from the AS2000 series are specially designed for use as actuators in handling

devices, textile machines, machine tools, packaging machines and similar machines. They are exclusively

intended to be operated by stepper motor output stages from Beckhoff Automation GmbH & Co. KG using

speed and/or position control.

CAUTION

Danger for persons, the environment or equipment

The motors are operated in the drive system in conjunction with Beckhoff stepper motor output stages.

Please observe the entire documentation which consists of:

• AS2000 documentation (this manual)

• Complete documentation (online and paper) for Beckhoff stepper motor output stages available at

www.beckhoff.com

• Complete machine documentation (provided by the machine manufacturer)

WARNING

Caution - Risk of injury!

Basically, electronic devices are not fail-safe. The machine manufacturer is responsible for

ensuring that the connected motors and the machine are brought into a safe state in the

event of a fault in the drive system.

Special safety instructions for the AS2000!

It is essential to follow the Notes on the AS2000 stepper motor when installing and commissioning

the components. Read this chapter carefully, attentively and completely!

The stepper motors from the AS2000 series are designed for installation as components in electrical

systems or machines and may be operated only as integrated system or machine components.

The motors may only be operated under the ambient conditions defined in this documentation.

Improper use

Beckhoff stepper motors from the AS2000 series are not suitable for use in the following areas:

• in ATEX zones without a suitable housing

• in areas with aggressive environments (e.g. aggressive gases or chemicals)

Guidelines and Standards

Stepper motor AS2000 7

Version: 1.0

2 Guidelines and Standards

CAUTION

Danger for persons, the environment or equipment

Stepper motors of the AS2000 series are not products as defined by the EC Machinery Directive. Opera-

tion of the stepper motors in machines or systems is only permitted once the machine or system manufac-

turer has provided evidence of CE conformity of the complete machine or system.

2.1 EU conformity

Provision of EU Declaration of Conformity:

Beckhoff Automation GmbH & Co. KG will be glad to provide you with EU declarations of conformity

and manufacturer's declarations for all products upon request to [email protected].

For your safety

Stepper motor AS20008

Version: 1.0

3 For your safety

Read the section on safety and heed the notices to protect yourself against personal injury and material

damages.

Liability limitations

The entire components of the Beckhoff AS2000 stepper motors are delivered in certain hardware and

software configurations according to the application requirements. Unauthorized modifications to the

hardware and/or software configurations other than those described in the documentation are not permitted,

and nullify the liability of Beckhoff Automation GmbH & Co. KG.

In addition, the following actions are excluded from the liability of Beckhoff Automation GmbH & Co.

KG:

• Failure to comply with this documentation

• Improper use

• Use of untrained personnel

• Use of unauthorized spare parts

3.1 Staff qualification

All depicted work to be done on the Beckhoff software and hardware, and in particular on the AS2000

stepper motor, may be carried out only by technical personnel with knowledge of control and automation

technology.

The technical personnel must have knowledge of drive technology and electrical systems and must also

know how to work safely on electrical equipment and machines.

This also includes:

• production planning and

• securing of the working environment (e.g. securing the control cabinet against being switched on

again).

The technical personnel must be familiar with the current and necessary standards and directives for the

automation and drive environment.

For your safety

Stepper motor AS2000 9

Version: 1.0

3.2 Description of symbols

In this documentation the following symbols are used with an accompanying safety instruction or note. The

safety instructions must be read carefully and followed without fail!

Symbols that warn of personal injury:

DANGER

Serious risk of injury!

This is an extremely dangerous situation. Disregarding the safety notice will lead to serious permanent in-

juries or even death.

WARNING

Risk of injury!

This is a dangerous situation. Disregarding the safety notice may lead to serious injuries.

CAUTION

Personal injuries!

This is a dangerous situation. Disregarding the safety notice may lead to minor injuries.

Symbols that warn of damage to property or equipment:

NOTE

Warning of damage to property or the environment!

This notice indicates disturbances in the operational procedure that could damage the product or the envi-

ronment.

Symbols indicating further information or tips:

Tip or pointer!

This notice provides important information that will be of assistance in dealing with the product or

software. There is no immediate danger to product, people or environment.

UL note!

This symbol indicates important information regarding UL certification.

For your safety

Stepper motor AS200010

Version: 1.0

3.3 Notes on the AS2000 stepper motor

The notes are intended to avert danger and to provide instructions on the handling of the AS2000 stepper

motors. They must be followed during installation, commissioning, production, troubleshooting, maintenance

and trial or test assemblies.

The stepper motors from the AS2000 series cannot run as stand-alone devices. They must always be

installed in a machine or system. After installation the additional documentation and safety instructions

provided by the machine manufacturer must be read and followed.

WARNING

Serious burns due to hot surfaces on the devices!

The surface temperature of the devices can reach ≥ 100 °C during operation of the system. There is an

acute risk of sustaining burns to parts of the body and limbs.

Take the following measures to avert danger:

• Do not touch any components (housing, etc.) shortly after or during operation.

• Wait until all components have cooled sufficiently. At least 15 minutes.

• Check the surface temperature with a thermometer.

• DO NOT wear work gloves with a rubber coating. These can fuse with the skin on account of the high

temperature and cause serious injuries.

Notes on the operation of the AS2000 stepper motors:

• Please read this manual carefully before using the stepper motors. Notify the responsible sales

office immediately if any passages are not understandable. Refrain from working on the servo

drive.

NOTE

Damage to the environment or devices

• During installation it is essential to ensure that the specified ventilation clearances and climatic condi-

tions are adhered to. Further information can be found in the "Technical data" and "Mechanical installa-

tion" sections.

• The stepper motor may only be put into operation when it has been established that the machine or

plant conforms to the latest edition of the EU Machinery Directive.

Handling

Stepper motor AS2000 11

Version: 1.0

4 Handling

4.1 Transport

• Climate category: 2K3 according to EN 60721

• Transport temperature: -20 °C to +65 °C, max. fluctuation 20 K/hour

• Transport humidity: relative humidity 5% - 95%, non-condensing

• The stepper motor may only be transported by qualified personnel and in the manufacturer's original

recyclable packaging.

• Avoid hard impacts, particularly at the shaft end.

• If the packaging is damaged, check the motor for visible damage. Inform the transport company and, if

necessary, the manufacturer.

4.2 Packaging

• Cardboard packaging

Motor without installed gear unit

Motor type Max. stacking height

AS2021 5

AS2022 5

AS2023 5

AS2041 5

AS2042 5

AS2043 5

Motor with installed gear unit

Motor and gear type Max. stacking height

AS2021 with AG2250-+PLE60 / WPLE60 3

AS2022 with AG2250-+PLE60 / WPLE60 3

AS2023 with AG2250-+PLE60 / WPLE60 2

AS2041 with AG2250-+PLE80 / WPLE80 2

AS2042 with AG2250-+PLE80 / WPLE80 2

AS2043 with AG2250-+PLE80 / WPLE80 2

4.3 Storage

• Climate category: 2K3 according to EN 60721

• Storage temperature: -20 °C to +65 °C, max. fluctuation 20 K/hour

• Air humidity: relative humidity 5% - 95%, non-condensing

• Max. stacking height: see table Packaging

• Storage time: without limitation

• Store only in the manufacturer’s original recyclable packaging.

Handling

Stepper motor AS200012

Version: 1.0

4.4 Maintenance / Cleaning

• Maintenance and cleaning only by qualified personnel.

• The ball bearings have a grease filling. The actual life of the bearings depends on various factors,

including the radial load, shear load, operating temperature and motor speed.

• Check the motor for bearing noise every 2,500 operating hours or once per year. If any noises are

heard, stop the operation of the motor. The bearings must be replaced.

• Opening the motor invalidates the warranty.

• Clean the housing with isopropanol or similar.

NOTE

Destruction of the stepper motor

Never immerse or spray the stepper motor.

4.5 Disposal

In accordance with the WEEE 2012/96/EG Directives we take old devices and accessories back for

professional disposal, provided the transport costs are taken over by the sender.

Send the devices with the note “For disposal” to:

Beckhoff Automation GmbH & Co. KG

Huelshorstweg 20

D-33415 Verl

Product overview

Stepper motor AS2000 13

Version: 1.0

5 Product overview

5.1 AS2000 scope of delivery

Please check that the delivery includes the following items:

• Motor from the AS2000 series

• Online documentation at www.beckhoff.de

Scope of supply

The M12 mating connectors are not included in the scope of delivery.

The following accessories are available on request:

• Preassembled motor and feedback cable

• Planetary gear units from the AG2250-+PLE60 series for flange sizes N2 (NEMA 23)

• Planetary gear units from the AG2250-+PLE80 series for flange sizes N3 (NEMA 34)

• Planetary gear units from the AG2250-+WPLE60 series for flange sizes N2 (NEMA 23)

• Planetary gear units from the AG2250-+WPLE80 series for flange sizes N3 (NEMA 34)

5.2 AS2000 type plate

Item no. Name

1 Article description

2 Standstill torque

3 Rated supply voltage

4 Product identification code

5 UL certification

6 EAC certification

7 CE certification

8 Protection class

9 Standstill current

Product overview

Stepper motor AS200014

Version: 1.0

5.3 AS2000 type key

Technical description

Stepper motor AS2000 15

Version: 1.0

6 Technical description

6.1 Design of the motors

Beckhoff stepper motors from the AS2000 series are highly scalable. They are characterized by a high

holding torque and are adapted to international standards in the flange sizes N2 (NEMA23) and N3

(NEMA34). The step angle of 1.8° significantly reduces the performance gap to the AM8000 high

performance servo motor. The performance range extends from a standstill torque of 0.8 Nm to 8 Nm.

The new design of the AS2000 series is tailored more strongly to industrial requirements. Due to the

protection class IP54 the motors are resistant to splash water, touching and dust. The standardized high-

power M12 connecting plugs integrated in the stepper motor enable the simple cabling of power and

encoder. On account of the torsionally rigid encoder (1024 inc/rev), the motor is usable for the closed loop

control for stepper motors supported by Beckhoff Automation. Resonances as well as the development of

heat and noise are considerable reduced by means of field-oriented control.

All motors from the AS2000 series are to be put into operation with Beckhoff stepper motor terminals and

modules. For further details, please refer to the chapter: "Electrical installation [

}20]".

The stepper motors are available with a smooth shaft or feather key groove (N3 only). Shielded motor and

encoder cables are also available in suitable lengths. Low-backlash planetary gear units from the AG2250

series, incremental encoders and elastic couplings are available for simple mounting on machines.

Beckhoff stepper motors are used as actuators or auxiliary axes in machine construction and automation

applications.

Technical description

Stepper motor AS200016

Version: 1.0

6.2 General technical data

Technical data Value [symbol and unit]

Insulation class Class F according to IEC60085

Temperature change at rated current Max. 100 K

Insulation resistance ≥ 100 MΩ

Permissible ambient temperature (operation) -10°C to +50°C

Permissible ambient temperature (transport) -20 °C to +65 °C

Permissible air humidity 20% to 90%, non-condensing

Permissible level of contamination Contamination level 2 according to EN60204/

EN50178

Corrosion protection Under extreme operating conditions, special

measures must be agreed with the manufacturer, and

implemented by the user.

Resolution 1.8°/200 full steps

Rated supply voltage 24…48 V

Coating/surface matt black paint, RAL 9005

Service life L

10h

= 30,000 operating hours of the ball bearing

Permissible operating altitude Up to 1000 m above sea level

Max. cable length 10 m

Special operating conditions The applicability of the Beckhoff AS2000 stepper

motor is to be determined for each individual case.

Application in harsh operating or environmental

conditions requires coordination between

manufacturer and user.

Correct installation position Horizontal or vertical

Ventilation Ensure adequate ventilation of the motors.

Protection class (doesn’t apply to shaft bushing) IP54

6.3 Standard features

6.3.1 Style

The AS20xx stepper motors are flange mounted in accordance with the mounting positions IM B5, IM V1 and

IM V3.

The permitted mounting positions are specified in the technical data.

NOTE

Destruction of the motors

Mounting positions IM V1 and IM V3 may result in liquid entering the motor and associated damage.

Technical description

Stepper motor AS2000 17

Version: 1.0

6.3.2 Shaft end, A-side

The force is transmitted by means of a claw coupling (friction-locked/backlash-free), via the cylindrical shaft

end A or optionally as a friction-locked connection by means of feather key groove according to DIN6885 P1

(AS204x only).

Radial force

If the motors drive via pinions or toothed belts, then high radial forces will occur.

Axial force

Axial forces are applied when mounting pinions or pulleys on the shaft.

Coupling

Double-coned collets, possibly in association with metal bellows couplings, have proven themselves as

excellent, zero backlash coupling elements.

6.3.3 Flange

Flange dimensions according to NEMA 23 (AS202x) and NEMA 34 (AS204x), fit j6, accuracy according to

DIN 60034-7

Tolerance class: N

6.3.4 Connection technology

AS20xx:

The motors are equipped with M12 high-power connecting plugs (4-pin) for the power supply and M12

connecting plugs (5-pin) for the feedback signals (encoder only).

The mating connectors are not included in the scope of supply. Ready-made extension cables in different

lengths are available as accessories.

6.3.5 Feedback system

Feedback system Resolution Comment

Incremental encoders 1,024 increments AS20xx

6.4 Transport, assembly and disassembly

CAUTION

Personal injuries!

Protective clothing, protective gloves and safety boots must be worn at all times during transport, assembly

and disassembly. Do not step under suspended motors.

The motors of the AS2000 series can be moved without auxiliary equipment.

Mechanical installation

Stepper motor AS200018

Version: 1.0

7 Mechanical installation

7.1 Important notes

NOTE

Destruction of the motors

• Protect the motors from unacceptable stresses. Take care, especially during transport and handling,

that components are not bent and that insulation clearances are not altered.

• The site must be free of conductive and aggressive material. For V1/V3-mounting (shaft end upwards),

make sure that no liquids can enter the bearings. If an encapsulated assembly is required, please con-

sult our applications department beforehand.

• Ensure unhindered ventilation of the motors and observe the permissible ambient and flange tempera-

tures. For ambient temperatures above 50 °C please consult our applications department beforehand.

• Stepper motors are precision devices. The flange and shaft are especially vulnerable during storage

and assembly. It is important to use the locking thread which is provided to tighten up couplings, gear

wheels or pulleys and warm up the drive components, where possible. Blows or the use of force will

lead to damage to the ball bearings, the shaft, the holding brake and the feedback system.

• Wherever possible, use only backlash-free, frictionally-locking collets or couplings. Ensure correct align-

ment of the couplings. A displacement will cause unacceptable vibration and the destruction of the ball

bearings and the coupling.

• For toothed belts, it is vital to observe the permissible radial forces. An excessive radial load on the

shaft will significantly shorten the service life of the motor.

• Avoid axial loads on the motor shaft, as far as possible. Axial loading significantly shortens the service

life of the motor and can result in malfunction of the brake.

• In any case, avoid creating a mechanically constrained motor shaft mounting by using a rigid coupling

with additional external bearings (e.g. in a gearbox).

• Check compliance with the permitted radial and axial loads F

and F

. When using a toothed belt drive,

the minimum permitted diameter of the pinion follows from the equation:

Mechanical installation

Stepper motor AS2000 19

Version: 1.0

7.2 Installing the stepper motor

When assembling, make sure that the fastening of the stepper motor is not mechanically overdetermined.

Avoid warping, particularly when assembling the shaft.

Electrical installation

Stepper motor AS200020

Version: 1.0

8 Electrical installation

8.1 Important notes

DANGER

Serious risk of injury through electric shock!

• Only staff qualified and trained in electrical engineering are allowed to wire up the motor.

• Check the assignment of the stepper motor output stage and the motor. Compare the rated voltage and

the rated current of the devices.

• Always make sure that the motors are de-energized during assembly and wiring, i.e. no operating volt-

age may be switched on for any piece of equipment which is to be connected. Ensure that the control

cabinet remains turned off (barrier, warning signs etc.). The individual voltages will only be turned on

again during commissioning.

• Control and power leads may be live, even if the motor is not running.

NOTE

Smooth operation

• Ensure that the motor is grounded properly. See below for further information regarding EMC shielding

and earthing. Earth the mounting plate and motor housing. Information about the connection method

can be found in Section 7.3.4

• Use only cables approved by Beckhoff for the operation of the

AS2000 stepper motors.

• Wiring:

ð Connecting the feedback cable (optional)

ð Connect the motor cable

ð Shielding at both ends (shield terminal or EMC plug)

NOTE

HF interference

• The ground symbol, which you will find in the circuit diagrams, indicates that you must provide an elec-

trical connection, with as large a surface area as possible, between the unit indicated and the mounting

plate in the control cabinet. This connection is to suppress HF interference and must not be confused

with the PE (protective earth) symbol (protective measure according to EN 60204).

Page is loading ...

Beckhoff AS2000 series Operation Manuals

Brand: Beckhoff

Model: AS2000 series

Type: Operation Manuals

Beckhoff AS2000 series

All AS2000 series stepper motors feature:

High torque and speed
Precise positioning
Smooth and quiet operation
Long service life
Easy installation and maintenance

AS2000 series stepper motors are ideal for use in applications such as:

Conveyor systems
Packaging machines
Robotics
Medical devices

Download PDF

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Beckhoff AS2000 series Operation Manuals

Beckhoff AS2000 series Operation Manuals

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