Beckhoff AS2000 series Operating Instructions Manual

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
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany
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
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
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
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
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
3
Product overview
1
2
3
4
5
6
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
DC
Stepper Motor
1024 Inc
LOT
AS2021-0D10
24/50 V ; IP 54
DC
1024 Inc
Stepper Motor
0.8 Nm ; 2.0 A
1.5 Nm ; 5.6 A
Stepper Motor
24/50 V ; IP 54
DC
1024 Inc
LOT
AS2022-0H00 AS2022-0H10
1024 Inc
Stepper Motor
LOT
24/50 V ; IP 54
DC
1.5 Nm ; 5.6 A
AS2023-0H00
1024 Inc
24/50 V ; IP 54
DC
LOT
Stepper Motor
1.8 Nm ; 5.6 A
Stepper Motor
AS2023-0H10
1.8 Nm ; 5.6 A
24/50 V ; IP 54
DC
LOT
1024 Inc
AS2041-1H00
24/50 V ; IP 54
DC
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
DC
BECKHOFF
Huelshorstweg 20
D-33415 Verl
Automation GmbH & Co.KG
Made in Japan
24/50 V ; IP 54
DC
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
DC
Stepper Motor
LOT
1024 Inc
8.0 Nm ; 6.5 A
AS2043-1J10
1024 Inc
LOT
24/50 V ; IP 54
DC
Stepper Motor
0.38 Nm ; 1.0 A
24/50 V ; IP 54
DC
Stepper Motor
LOT
AS1010-0000
LOT
Stepper Motor
AS1020-0000
24/50 V ; IP 54
DC
0.50 Nm ; 1.0 A
Stepper Motor
24/50 V ; IP 54
DC
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
DC
0.60 Nm ; 1.5 A
LOT
Stepper Motor
AS1030-0000
24/50 V ; IP 54
DC
AS1050-0000
24/50 V ; IP 54
DC
1.20 Nm ; 5.0 A
LOT
Stepper Motor
1.20 Nm ; 5.0 A
Stepper Motor
AS1050-0110
24/50 V ; IP 54
DC
LOT
200 Inc 1024 Inc
24/50 V ; IP 54
DC
LOT
1.20 Nm ; 5.0 A
Stepper Motor
AS1050-0120
Stepper Motor
AS1060-0000
24/50 V ; IP 54
DC
LOT
5.00 Nm ; 5.0 A
Stepper Motor
24/50 V ; IP 54
DC
LOT
AS1060-1000
5.00 Nm ; 5.0 A
Stepper Motor
LOT
200 Inc
AS1060-0110
24/50 V ; IP 54
DC
5.00 Nm ; 5.0 A
AS1060-1110
24/50 V ; IP 54
DC
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
DC
LOT
1024 Inc
Stepper Motor
AS1060-0120
5.00 Nm ; 5.0 A
Stepper Motor
AS1060-1120
LOT
24/50 V ; IP 54
DC
1024 Inc
5.00 Nm ; 5.0 A
2
3
4
5
8
9
10
1
67
11
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
DC
, 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
0
[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
0
the accelera-
tion time t
b
from 0 to 3000rpm is given as:
4
0
3000 2 ²
[ ]
60 10 ²
b
m
t S J
M s cm
p
*
= * *
*
with M
0
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
o
[Nm] 0.83 1.53 1.80 2.30
Breakdown torque M
p
[Nm] 0.63 1.17 1.45 1.90
Rated supply voltage [V
DC
] 24…50
Rated current [A] 2.0 5.6 6.4
Winding resistance Ph-Ph R
25
[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
X
20,6
5
1,5
Ø6,35
+0
- 0,013
Ø66,67
Ø38,1
±0,025
56
±1
4 x Ø4,5
24
21,5
22
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
56
±1
22
4 x Ø4,5
24
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
2
-0,2
0
0,2
0,4
0,6
0,8
1
0 200 400 600 800 1000 1200
Torque [Nm]
Speed [rpm]
1
3
Curve Motor type Recording
1 AS2021-0D00 24V
DC
1.5A EL7037
2 AS2021-0D00 24V
DC
2A EL7047
3 AS2021-0D00 48V
DC
2A EL7047
AS2021-0D10
"Vector control" field-oriented control
-0,2
0
0,2
0,4
0,6
0,8
1
0 200 400 600 800 1000 1200
Torque [Nm]
Speed [rpm]
1
2
3
Curve Motor type Recording
1 AS2021-0D10 24V
DC
1.5A EL7037
2 AS2021-0D10 24V
DC
2A EL7047
3 AS2021-0D10 48V
DC
2A EL7047
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Beckhoff AS2000 series Operating Instructions Manual

Type
Operating Instructions Manual

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