Beckhoff AS2021 Series Operating Instructions Manual

Brand: Beckhoff

Model: AS2021 Series

Type: Operating Instructions Manual

AS2000

Stepper motor

Operating instructions | EN

9/10/2019 | Version 2.1

Table of content

Version: 2.1 ─── 3AS2000

Table of content

Documentation notes .......................................................................................................................................... 5

Disclaimer ......................................................................................................................................................... 5

Version numbers............................................................................................................................................... 7

Scope of the documentation ............................................................................................................................. 7

Staff qualification............................................................................................................................................... 7

Safety and instruction ....................................................................................................................................... 8

Explanation of symbols ..................................................................................................................................... 8

Beckhoff Services ............................................................................................................................................. 9

For your safety................................................................................................................................................... 10

Safety pictograms ........................................................................................................................................... 10

General safety instructions ............................................................................................................................. 11

Product overview............................................................................................................................................... 13

Name plate...................................................................................................................................................... 13

Type key ......................................................................................................................................................... 14

Product characteristics.................................................................................................................................... 14

Ordering options ............................................................................................................................................. 15

Intended use ................................................................................................................................................... 15

Technical data.................................................................................................................................................... 16

Definitions ....................................................................................................................................................... 16

Data for operation and environment ............................................................................................................... 17

Step mode and limit speeds............................................................................................................................ 18

AS202x ........................................................................................................................................................... 18

AS204x ........................................................................................................................................................... 24

Elastomer coupling [+] .................................................................................................................................... 32

Scope of supply ................................................................................................................................................. 36

Packaging ....................................................................................................................................................... 36

Transport and storage....................................................................................................................................... 37

Conditions ....................................................................................................................................................... 37

Transport......................................................................................................................................................... 38

Long-term storage........................................................................................................................................... 38

Technical description........................................................................................................................................ 39

Mounting position............................................................................................................................................ 39

Feedback ........................................................................................................................................................ 39

Shaft end A ..................................................................................................................................................... 39

Mechanical installation ..................................................................................................................................... 40

Flange mounting ............................................................................................................................................. 40

Output elements.............................................................................................................................................. 40

Elastomer coupling [+] .................................................................................................................................... 43

Electrical installation......................................................................................................................................... 45

Connection technology ................................................................................................................................... 45

Commissioning.................................................................................................................................................. 50

Before commissioning..................................................................................................................................... 50

During commissioning..................................................................................................................................... 50

Prerequisites during operation ........................................................................................................................ 51

After operation ................................................................................................................................................ 51

Maintenance and cleaning ................................................................................................................................ 52

Cleaning materials .......................................................................................................................................... 52

Intervals .......................................................................................................................................................... 53

Table of content

4 ─── Version: 2.1AS2000

Accessories........................................................................................................................................................ 54

Connection cables .......................................................................................................................................... 54

Gear unit ......................................................................................................................................................... 54

Elastomer coupling ......................................................................................................................................... 54

Fault correction.................................................................................................................................................. 55

Decommissioning.............................................................................................................................................. 57

Disassembly.................................................................................................................................................... 57

Disposal .......................................................................................................................................................... 57

Guidelines and Standards ................................................................................................................................ 58

Standards........................................................................................................................................................ 58

Guidelines ....................................................................................................................................................... 58

Test centers .................................................................................................................................................... 58

EU conformity ................................................................................................................................................. 58

Index ................................................................................................................................................................... 59

Documentation notes

Version: 2.1 ─── 5AS2000

Documentation notes

Disclaimer

The documentation has been prepared with care. Beckhoff products

are subject to continuous further development.

We reserve the right to revise the documentation at any time and

without notice.

No claims for the modification of products that have already been

supplied may be made on the basis of the data, diagrams and de-

scriptions in this documentation.

Trademarks

Beckhoff

, TwinCAT

, EtherCAT

, EtherCAT P

, Safety over Ether-

CAT

, TwinSAFE

, XFC

and XTS

are registered and licensed

brands of Beckhoff Automation GmbH & Co. KG.

The use of other brand names or designations by third parties may

lead to an infringement of the rights of the owners of the corre-

sponding designations.

Patents

The EtherCAT technology is protected by patent rights through the

following registrations and patents with corresponding applications

and registrations in various other countries:

• EP1590927

• EP1789857

• DE102004044764

• DE102007017835

The TwinCAT technology is protected by patent rights through the

following registrations and patents with corresponding applications

and registrations in various other countries:

• EP0851348

• US6167425

EtherCAT

is a registered trademark and patented technology, li-

censed by Beckhoff Automation GmbH & Co. KG, Germany.

Documentation notes

6 ─── Version: 2.1AS2000

Limitation of liability

All components of this product described in the original operating in-

structions are delivered in a hardware and software configuration,

depending on the application requirements. Modifications and

changes to the hardware and/or software configuration that go be-

yond the documented options are prohibited and nullify the liability

of Beckhoff Automation GmbH & Co. KG.

In addition, the following are excluded from the liability:

• Failure to comply with this documentation

• Improper use

• Use of untrained personnel

• Use of unauthorized spare parts

The copying, distribution and utilization of this document as well as

the communication of its contents to others without express autho-

rization is prohibited.

Offenders will be held liable for the payment of damages. We re-

serve all rights in the event of registration of patents, utility models

and designs.

Documentation notes

Version: 2.1 ─── 7AS2000

Version numbers

Origin of the document

These operating instructions were originally written in German. All

other languages are derived from the German original.

Product features

The product features specified in the latest version of the original

operating instructions are always applicable. Further information

given on the product pages of the Beckhoff homepage, in emails or

in other publications is not authoritative.

Issue Comment

2.1 Chapter update:

For your safety; Type key; Improper use; Technical data; Transport and

storage; Connection technology

2.0 Complete revision, new version

1.0 First edition

Scope of the documen-

tation

The complete documentation consists of the following documents:

AS2000 Definition

This documentation; translation of the

original instructions

Description of the mechanical and electri-

cal characteristics as well as all the infor-

mation required for operating the motors

Motor instruction leaflet Accompanying document with general

notes on handling the motors

Staff qualification

These operating instructions are intended for trained control and au-

tomation specialists with knowledge of the applicable and required

standards and directives.

Qualified personnel must have knowledge of drive technology and

electrical equipment as well as knowledge of safe working on electri-

cal systems and machines. This includes knowledge of proper setup

and preparation of the workplace as well as securing the working

environment for other persons.

The documentation published at the time must be used for each in-

stallation and commissioning. The products must be used in compli-

ance with all safety requirements, including all applicable laws, regu-

lations, provisions and standards.

Designation of the target groups Explanation

Instructed person This target group has been informed about the possible dangers of improper use.

The assigned scope of duties is clearly defined. Training will be provided for any

tasks outside this scope. Instructions on the required protective measures and de-

vices were provided.

Trained user This target group meets all the requirements of an instructed person. In addition,

machine or plant-specific training has taken place at the machine builder or manu-

facturer.

Trained specialists Users who, based on their training, knowledge and experience, are able to assess

the tasks assigned to them and recognize potential hazards, are regarded as

trained specialists. Work experience over several years in a relevant field can also

be considered as part of the technical training.

Qualified electricians Qualified electricians are able to work on electrical machines or systems based on

their specialist training (university degree, apprenticeship, specialist training). Possi-

ble sources of danger are automatically identified and avoided.

Qualified electricians are specially trained for the working environment and are fa-

miliar with the relevant standards and guidelines. Knowledge of control engineering

and automation is required. The provisions of the accident prevention regulations

must be complied with.

Customer service Customer service is provided by technicians who have been demonstrably trained

and authorized by Beckhoff or the machine manufacturer to work on the respective

machine or plant.

Documentation notes

8 ─── Version: 2.1AS2000

Safety and instruction

Read the contents, that refer to the activities you have to perform

with the product. Always read the chapter "For your safety", [Page

10] in the operating instructions. Observe the warning notes in the

chapters so that you can handle and work properly and safely with

the product.

Explanation of symbols

Various symbols are used for a clear arrangement:

► The triangle indicates instructions that you should execute

• The bullet point indicates an enumeration

[…] The square parentheses indicate cross-references to other

text passages in the document

[+] The plus sign in square brackets indicates ordering options

and accessories

Pictograms

Pictograms are used to identify important text passages:

The warning triangle indicates warning notes.

The possible consequences of failure to observe these include:

• Damage and/or serious injuries

• Fatal injuries

The warnings are shown at the points in the documentation where

it is important to observe them in order to prevent accidents and

injuries.

Notes are used for important information on the product.

The possible consequences of failure to observe these include:

• Malfunctions of the product

• Damage to the product

• Damage to the environment

Information

This sign indicates information, tips and notes for dealing with the

product or the software.

Example

This symbol shows examples of how to use the product or soft-

ware.

Documentation notes

Version: 2.1 ─── 9AS2000

Beckhoff Services

Beckhoff and its international partner companies offer comprehen-

sive support and service.

Support

The Beckhoff Support offers technical advice on the use of individ-

ual Beckhoff products and system planning. Staff provide assistance

for programming and commissioning complex automation systems

and offer a comprehensive training program.

Hotline: +49(0)5246/963-157

Fax: +49(0)5246/963-199

E-mail: [email protected]

Web: www.beckhoff.de/support

Training

Training in Germany takes place in our training center at the Beck-

hoff headquarters in Verl, at branch offices or, by arrangement, at

the customer's premises.

Hotline: +49(0)5246/963-5000

Fax: +49(0)5246/963-95000

E-mail: [email protected]

Web: www.beckhoff.de/training

Service

The Beckhoff Service Centre supports you in all aspects of after-

sales service like on-site service, repair service and spare parts ser-

vice.

Hotline: +49(0)5246/963-460

Fax: +49(0)5246/963-479

E-mail: [email protected]

Web: www.beckhoff.de/service

Download area

In the download area you will find product information, software up-

dates, the TwinCAT automation suite, documentation and much

more.

Web: www.beckhoff.de/download

Headquarters

Beckhoff Automation GmbH & Co. KG

Hülshorstweg 20

33415 Verl

Germany

Phone: +49(0)5246/963-0

Fax: +49(0)5246/963-198

E-mail: [email protected]

Web: www.beckhoff.de

The addresses of the international Beckhoff branch offices can be

found on the Beckhoff website: http://www.beckhoff.de

For your safety

10 ─── Version: 2.1AS2000

For your safety

Read this chapter containing general safety information. The chap-

ters in these operating instructions also contain warning notices. Al-

ways observe the safety instructions for your own safety, the safety

of other persons and the safety of the product.

When working with control and automation products, many dangers

can result from careless or incorrect use. Work particularly thor-

oughly, not under time pressure and responsibly towards other peo-

ple.

Safety pictograms

On Beckhoff products you will find attached or lasered safety pic-

tograms, which vary depending on the product. They serve to pro-

tect people and to prevent damage to the products. Safety pic-

tograms must not be removed and must be legible for the user.

Warning of a hot surface

During and after operation there is a risk of burns at the motor hous-

ing due to hot surfaces over 60°C. Allow the motor housing to cool

down for the specified time, at least 15 minutes.

Avoid shocks to the shaft

on the shaft may cause the maximum permissible axial and radial

values to be exceeded. Optical encoder systems can thus be de-

stroyed.

For your safety

Version: 2.1 ─── 11AS2000

General safety instruc-

tions

In this chapter you will find notes on safety when handling the mo-

tors. They cannot run independently. The motors are therefore re-

garded as incomplete machines. They must be installed in a ma-

chine / plant by the machine manufacturer. The documentation cre-

ated by the machine manufacturer must be read.

Before operation

Keep the surroundings clean

Keep your workplace and the surrounding area clean. Ensure safe

working. Prevent dirt from penetrating into the components.

Secure the control cabinet

When working on machines, secure the control cabinet against inad-

vertent power-up.

Do not use defective motors

Observe the specifications in the technical data during storage,

transport and operation. Do not use damaged motors.

Check safety pictograms

Check whether the designated pictograms are on the product. Re-

place missing or illegible stickers.

Observe tightening torques

Install connections and components in compliance with the specified

tightening torques and check them regularly.

Earth electrical components or modules correctly

Do not touch electrical components or assemblies unless you are

wearing protective ESD clothing. Only walk on conductive floors.

Only use original packaging for further processing

When shipping, transporting, storing and packing, use the original

packaging or conductive materials. Conductive materials are foam

or aluminum, for example.

For your safety

12 ─── Version: 2.1AS2000

During operation

Do not work on live electrical parts

Do not open the motor while it is live. Ensure that the protective con-

ductor is properly connected. Never disconnect electrical connec-

tions while they are live. Do not work on the motor until the voltage

has dropped below 48V. Disconnect all components from the mains

and secure against reconnection.

Do not touch hot surfaces

Check cooling of the surfaces with a thermometer. Do not touch the

housing during and after operation. Allow the motor to cool down for

at least 15 minutes after switching off.

Avoid overheating

Operate the motor according to the technical specifications. Please

refer to chapter: "Technical data", [Page16]. Ensure sufficient

cooling and switch off the motor immediately if the temperature is

too high.

Do not touch rotating components

Do not touch rotating parts while the motor is in operation. Ensure

that all parts / components on the machine / plant are firmly seated.

After operation

Before working on components, make sure that they are de-en-

ergized

Carry out a voltage test and check all safety-relevant devices for

functionality. Secure the working environment and the control cabi-

net against inadvertent power-up. See chapter: "Decommissioning",

[Page57].

Product overview

Version: 2.1 ─── 13AS2000

Product overview

Number Explanation

1 Feedback connection

2 Power connection

3 Earth connection

4 Motor shaft

5 Name plate

6 Motor housing

3.1

Name plate

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

A 1000 S

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

A 2000 S

LOT

AS2021-0D00

0.8 Nm ; 2.0 A

24/50 V ; IP 54

Stepper Motor

1024 Inc

LOT

AS2021-0D10

24/50 V ; IP 54

1024 Inc

Stepper Motor

0.8 Nm ; 2.0 A

1.5 Nm ; 5.6 A

Stepper Motor

24/50 V ; IP 54

1024 Inc

LOT

AS2022-0H00 AS2022-0H10

1024 Inc

Stepper Motor

LOT

24/50 V ; IP 54

1.5 Nm ; 5.6 A

AS2023-0H00

1024 Inc

24/50 V ; IP 54

LOT

Stepper Motor

1.8 Nm ; 5.6 A

Stepper Motor

AS2023-0H10

1.8 Nm ; 5.6 A

24/50 V ; IP 54

LOT

1024 Inc

AS2041-1H00

24/50 V ; IP 54

LOT

Stepper Motor

3.3 Nm ; 5.6 A

1024 Inc

6.4 Nm ; 5.6 A

1024 Inc

AS2042-1H00

LOT

Stepper Motor

24/50 V ; IP 54

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

24/50 V ; IP 54

Stepper Motor

AS2042-1H10

6.4 Nm ; 5.6 A

1024 Inc

LOT

AS2043-1J00

8.0 Nm ; 6.5 A

24/50 V ; IP 54

Stepper Motor

LOT

1024 Inc

8.0 Nm ; 6.5 A

AS2043-1J10

1024 Inc

LOT

24/50 V ; IP 54

Stepper Motor

0.38 Nm ; 1.0 A

24/50 V ; IP 54

Stepper Motor

LOT

AS1010-0000

LOT

Stepper Motor

AS1020-0000

24/50 V ; IP 54

0.50 Nm ; 1.0 A

Stepper Motor

24/50 V ; IP 54

AS1020-0110

200 Inc

0.50 Nm ; 1.0 A

LOT LOT

Stepper Motor

AS1020-0120

1024 Inc

0.50 Nm ; 1.0 A

24/50 V ; IP 54

0.60 Nm ; 1.5 A

LOT

Stepper Motor

AS1030-0000

24/50 V ; IP 54

AS1050-0000

24/50 V ; IP 54

1.20 Nm ; 5.0 A

LOT

Stepper Motor

1.20 Nm ; 5.0 A

Stepper Motor

AS1050-0110

24/50 V ; IP 54

LOT

200 Inc 1024 Inc

24/50 V ; IP 54

LOT

1.20 Nm ; 5.0 A

Stepper Motor

AS1050-0120

Stepper Motor

AS1060-0000

24/50 V ; IP 54

LOT

5.00 Nm ; 5.0 A

Stepper Motor

24/50 V ; IP 54

LOT

AS1060-1000

5.00 Nm ; 5.0 A

Stepper Motor

LOT

200 Inc

AS1060-0110

24/50 V ; IP 54

5.00 Nm ; 5.0 A

AS1060-1110

24/50 V ; IP 54

LOT

Stepper Motor

200 Inc

5.00 Nm ; 5.0 A

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

BECKHOFF

Huelshorstweg 20

D-33415 Verl

Automation GmbH & Co.KG

Made in Japan

24/50 V ; IP 54

LOT

1024 Inc

Stepper Motor

AS1060-0120

5.00 Nm ; 5.0 A

Stepper Motor

AS1060-1120

LOT

24/50 V ; IP 54

1024 Inc

5.00 Nm ; 5.0 A

Number Explanation

1 Article description

2 UL conformity, as cURus component, in preparation

3 EAC conformity

4 CE conformity

5 Country of manufacture

6 Protection class

7 Standstill current

8 LOT number of the motor for product identification

9 Resolution of the feedback

10 Rated supply voltage

11 Standstill torque

Product overview

14 ─── Version: 2.1AS2000

3.2

Type key

AS 20 uv – w x y z Explanation

AS Product area

Stepper motors

20 Series

AS2000

u Flange size

2 = N2, 56mm

4 = N3, 86mm

v Overall length

1 = One stack

2 = Two stacks

3 = Three stacks

w Shaft versions

0 = Smooth shaft, for AS202x only

1 = Shaft with feather key, for AS204x only

x Winding type

C = 2A

H = 5A … 6A

J = < 8A

y Feedback system

1 = Encoder 24V

, 1024 increments

z Holding brake

0 = Without holding brake

Product characteristics

Standardized NEMA flange sizes

Adaptation to international standards through flange sizes N2,

NEMA23 and N3, NEMA34.

Step angle and power range

The power gap to the AM8000 synchronous servomotor is consider-

ably reduced through a step angle of 1.8°.

High protection class

The IP54 protection class protects the stepper motors against

splash water, contact and dust.

Extended features

• Integrated M12 power connector and feedback socket

• Integrated torsion-proof encoder, 1024 inc/rev, for closed-loop

control

By means of the field-oriented control, resonances are significantly

decreased and the development of heat and noise on the motor is

reduced.

Stepper motor terminals and stepper motor modules

All motors from the AS2000 series are to be put into operation with

Beckhoff motor terminals and modules for stepper motors. For fur-

ther details at chapter "Electrical installation", [Page45].

Ordering options and accessories

Flange size Product characteristic

2 = N2 Smooth shaft

4 = N3 Shaft with feather key

Preassembled cables for power and feedback are also available as

accessories.

Further accessories:

• Low-backlash planetary gear from the AG2250 series

• Elastomer couplings AX2090-+ECxx

Product overview

Version: 2.1 ─── 15AS2000

Ordering options

Ordering options are defined via the type key and must be ordered

separately. The listed components cannot be retrofitted.

3.4.1

Feather key

A feather key transmits torque to an output element.

The stepper motors of flange size N3 are equipped with feather key

groove and fitted feather key according to DIN6885. The rotor is bal-

anced with half a feather key according to DIN ISO

21940-32:2012-08.

Intended use

Beckhoff stepper motors from the AS2000 series are specially de-

signed for use as actuators in handling devices, textile machines,

machine tools, packaging machines and similar machines. They are

intended to be controlled and operated in terms of speed and posi-

tion by Beckhoff stepper motor output stages.

The stepper motors from the AS2000 series may be operated exclu-

sively for the activities foreseen and defined in this documentation,

taking into account the prescribed environmental conditions.

The components are to be installed in electrical systems or ma-

chines and only put into operation as integrated components of the

system or machine.

Read the entire drive system documentation:

• Translation of the original instructions

• Original operating instructions for the stepper motor terminals

and stepper motor modules

• Complete machine documentation provided by the machine

manufacturer

Non-observance of the documentation content may result in dam-

age to the product and exclusion of liability.

Improper use

Any use exceeding the permissible values specified in the "Techni-

cal data", [Page16] is considered improper and therefore prohib-

ited.

Beckhoff stepper motors from the AS2000 series are not suitable for

use in the following areas:

• ATEX zones without suitable housing

• Areas with aggressive environments, for example aggressive

gases or chemicals

The relevant standards and directives for EMC interference emis-

sions must be complied with in residential areas.

Technical data

16 ─── Version: 2.1AS2000

Technical data

Below you will find definitions of terms, environmental conditions,

operating details and technical data for the motors.

Definitions

Characteristic torque and speed curves

Detailed information on characteristic curves can be found at:

www.beckhoff.de -> Beckhoff motor curves

www.beckhoff.de -> TC Motion Designer

All data, with the exception of the voltage constant, are based on

40°C ambient temperature and 100K overtemperature of the wind-

ing. The data can have a tolerance of +/- 10%.

If a gear unit is attached the power may be reduced by up to 20%.

The flange of the motor used for heat dissipation is fitted with a gear

unit that generates heat during operation. The loss in performance

therefore has thermal reasons.

Technical term Symbol [Unit] Definition

Standstill torque M

[Nm] Torque, i.e. starting torque that the motor can output at a standstill.

Rotor moment of inertia J [kgcm²] Measure of the acceleration capacity of the motor. For instance, at J

the accelera-

tion time t

from 0 to 3000rpm is given as:

3000 2 ²

[ ]

60 10 ²

t S J

M s cm

= * *

with M

in Nm and J in kgcm²

Winding inductance L [mH] Indication of the motor inductance. It is the average value for one motor revolution,

with two energized phases, at 1kHz. Saturation of the motor must be taken into ac-

count.

Technical data

Version: 2.1 ─── 17AS2000

Data for operation and

environment

Operate the motor only under the specified conditions

Operate motors only under the operating and environmental con-

ditions specified in this chapter. This ensures a long service life

and proper operation.

At temperatures above 40 °C and encapsulated installation, the

stepper motor may be damaged.

Beckhoff products are designed for operation under certain environ-

mental conditions, which vary depending on the product. The follow-

ing specifications must be observed for operation and environment

in order to achieve the optimum service life of the products.

Environmental requirements

Climate category 3K3 according to EN 60721

Ambient temperature at operation -10°C to +50°C

Ambient temperature at transport and storage Max. 20K/hour, fluctuating:

-20°C to +65°C

Permissible air humidity at operation 20% to 90% relative humidity, no condensation

Permissible air humidity at transport and storage 90% relative humidity, no condensation

Specifications for intended use

Insulation material class B; 130°C according to IEC 60085

Protection class

does not apply to the shaft bushing

Listed in the technical data of the motors

Mounting position See chapter: "Technical description", [Page39]

Ventilation Adequate self surface cooling is to be ensured.

Insulation resistance ≥ 100MΩ

Level of contamination 2 according to EN 60204 / EN 50178

Permissible operating altitude 1000m above sea level

Maximum cable length 10m

Corrosion protection The manufacturer must be consulted with regard to special measures for operation

under extremely corrosive conditions. These measures must be implemented imme-

diately by the user.

Special operating conditions The application and use of the motor are to be determined and assessed in the indi-

vidual case. Please consult the vendor in the case of harsher environmental and op-

erating conditions.

Approvals CE, EAC, UL; in preparation

Technical data

18 ─── Version: 2.1AS2000

Step mode and limit

speeds

The Beckhoff stepper motor terminals can output approx. 125,000

steps per second and have a step angle of 1.8° or 200 steps/revolu-

tion.

Step mode Limit speed [rpm]

Full step theoretically 37,500

1/2 theoretically 18,750

1/4 theoretically 9,375

1/8 theoretically 4,688

1/16 2,344

1/32 1,171

1/64 585

Further information on the limit speeds can be found in the chapters

"AS202x Curves for torques and speeds", [Page20] and "AS204x

Curves for torques and speeds", [Page26] in each case at the end

of the technical data.

Maximum speed of the Beckhoff AS2000 stepper motor

The maximum speed is 3600rpm if using a Beckhoff stepper motor

from the AS2000 series with incremental encoder. In practice the

maximum speed is limited by the design of the stepper motor.

Beckhoff stepper motors from the AS2000 series are usually used

only for applications with nominal speeds of well below 1,000rpm.

4.4

AS202x

Electrical data AS2021 AS2022 AS2023-H AS2023-J

Standstill torque M

[Nm] 0.83 1.53 1.80 2.30

Breakdown torque M

[Nm] 0.63 1.17 1.45 1.90

Rated supply voltage [V

] 24…50

Rated current [A] 2.0 5.6 6.4

Winding resistance Ph-Ph R

[Ω] 0.80 0.24 0.32 0.32

Winding inductance Ph-Ph L [mH] 3.8 0.90 0.97 0.97

EtherCAT plug-in module EJ7047

EtherCAT Terminal EL7037 / EL7031 EL7047 / EL7041-1000

EtherCAT Box EP7041-1002 EP7041-3002

Bus Terminal KL2531 KL2541

Resolution [steps] 1.8° / 200 full steps

Motor connector Round connector M12 high power, M12 feedback

Mechanical data AS2021 AS2022 AS2023

Axial load [N] 15 15 15

Radial load 0 mm from shaft end [N] 63 50 43

Rotor moment of inertia [kg cm²] 0.210 0.360 0.490

Weight without encoder [kg] 0.8 1.1 1.4

Weight with encoder [kg] 0.9 1.2 1.5

Maximum winding temperature [°C] 120

Flange size N2, NEMA 23/56mm

Protection class IP 54

Paint finishes

Properties powder coated

Color jet black / RAL 9005

Technical data

Version: 2.1 ─── 19AS2000

Dimensional drawing

• All figures in millimeters

Y(Z) ±1,5

20,6

1,5

Ø6,35

- 0,013

Ø66,67

Ø38,1

±0,025

±1

4 x Ø4,5

21,5

Motor X Y Z - encoder

AS2021 64.10mm 81.10mm 91.80mm

AS2022 86.20mm 103.10mm 113.90mm

AS2023 105.10mm 122.10mm 132.80mm

View without encoder

±1

4 x Ø4,5

Technical data

20 ─── Version: 2.1AS2000

Characteristic torque and

speed curves

For the design of your application. The curves were recorded with

"open loop" controlled operation and "vector control" field-oriented

control.

AS2021-0D00

• "Open loop" controlled operation

-0,2

0,2

0,4

0,6

0,8

0 200 400 600 800 1000 1200

Torque [Nm]

Speed [rpm]

Curve Motor type Recording

1 AS2021-0D00 24V

1.5A EL7037

2 AS2021-0D00 24V

2A EL7047

3 AS2021-0D00 48V

2A EL7047

AS2021-0D10

• "Vector control" field-oriented control

-0,2

0,2

0,4

0,6

0,8

0 200 400 600 800 1000 1200

Torque [Nm]

Speed [rpm]

Curve Motor type Recording

1 AS2021-0D10 24V

1.5A EL7037

2 AS2021-0D10 24V

2A EL7047

3 AS2021-0D10 48V

2A EL7047

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Beckhoff AS2021 Series Operating Instructions Manual

Beckhoff AS2021 Series Operating Instructions Manual

Beckhoff AS2021 Series Operating Instructions Manual

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