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ECOSTEP 100

Safety Instructions

Technical Specification

Installation

Jenaer Antriebstechnik GmbH

Buchaer Straße 1 . D-07745 Jena
Tel.:+49 (0)3641 6 33 76 55 .
Fax: +49 (0)3641 6 33 76 26
E-Mail: info@jat-gmbh.de
www.ecostep.de
Jenaer Antriebstechnik GmbH ECOSTEP 100 S2 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

Safety Instructions
General
• All transportation, storage, assembly, installation, connection, comissioning and service
work must only be carried out by qualified skilled personnel taking the following into
account: the relevant documentation, regulations and requirements pertaining to the
equipment concerned as well as national and regional safety and accident prevention
regulations.

Qualified skilled personnel are persons who have a relevant vocational qualification and
have proper knowledge of the execution of the above-mentioned work.

• Read the documentation carefully before installation and comissioning. Serious injury
to persons and equipment may result through improper use of the device or incorrect
installation or operation. All technical specifications and conditions must be adhered to
in all cases.

• The device contains electrostatic sensitive components, which may be damaged by

improper handling. Discharge yourself before you touch the device. Avoid contact to
high isolating materials (e.g. synthetic fibres, plastic films, etc.).

• Control and power connectors may be energized even when the motor does not move.
All electrical connectors of the device must not be neither plugged in nor disconnected
under voltage since electric arcs may demage persons and connectors.

• Do not touch components which are energized during operation immediately after
disconnection from supply. Wait after disconnection of the device from the power supply
at least 6 minutes before you touch components which are energized during operation.
The DC-Bus capacitor remains charged to dangerous voltages up to 6 minutes after
power-off. This time could be higher depending on the external power supply. For your
safety, measure the DC-Bus voltage and wait until it is lower than 40V.

Proper Use
The device ECOSTEP is intended for use in commercial equipment and comply with the
applicable standards and regulations and meets the requirements of the Low Voltage
Directive 73/23/EEC. All technical specifications and permissible conditions mentioned in
the documentation must be adhered to in all cases. The device ECOSTEP is a component
intended for installation in machinery. Comissioning (starting operation in accordance with
the intended use) is prohibited until such time as the machine’s conformity with EMC
Directive 89/336/EEC and Machinery Directive 89/392/EEC has been established (note
EN 60204).

The following are prohibited, unless expressly provided otherwise:

• use in hazardous areas

• use near oils, acids, gases, vapours, dust, radiation, etc.
Jenaer Antriebstechnik GmbH ECOSTEP 100 S3 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

Guidelines for Mounting and Installation

Upon mounting and installation, note the following points:

• ensure that the equipment is installed on a suitable, low-vibration substructure or in

an electric cabinet,
• allow unhindered ventilation,
• make sure there is sufficient clearance between adjacent units,
• be careful when handling components to avoid injury to persons or equipment (do
not touch, bend or damage electronic components and contacts, do not change
isolating clearances).

Electrical Connection
All installation instructions mentioned in the documentation must be considered. All
work must be carried out only when
• the electric equipment is disconnected from the power supply and prevented from
being switched on accidentally,
• you have double-checked that the equipment is de-energized
• you have ensured that any additional monitoring and protective features are properly
installed.
When connecting the equipment to the power supply, ensure that
• the applicable standards and regulations are complied with,
• the power connections are permanently secured,
• the EMC-compliant installation (e.g. screening, earthing, arrangement of filters and
laying of cables) is realized.
Note that the machine manufacturer is responsible for the complience of the final machine
with all limits of the valid EMC regulations.

Operation
Do not disable monitoring and protective features during the trial run. Covers, electric
cabinet doors etc. must always be closed during operation. In the event of changes in
the operating state, switch off the equipment in case of doubt and try to establish the
cause. Contact the manufacturer if necessary.

Further documentation for software commissioning and operation

For software commissioning of the ECOSTEP100, follow the guideline “Software
Commissioning ECOVARIO and ECOSTEP” which is provided on the CD-ROM
delivered together with the device. Furthermore, you will find documentation on operation
and application of the ECOSTEP100 on this CD-ROM.
Jenaer Antriebstechnik GmbH ECOSTEP 100 S4 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

Technical Specifications

Operating Modes
Online positioning drive by fieldbus RS232, CAN (Version AA) or
RS232, RS485 (Version LA)
Positioning drive by PLC interface digital PLC I/O
Positioning drive by pulse/direction RS422, 24 V or 5 V signals
Speed controller by analog command 10 Bit analog input
Master/Slave positioning drive RS422 or 24 V encoder signals

Controller Loop Data

Sampling time digital speed loop 0.25 ms (4 kHz)
Sampling time digital position loop 1.0 ms (1 kHz)

Power Stage Specifications

Max. RMS phase current 5.6 Arms
Max. phase current 8 ADC
Max. output voltage UDC-BUS
Max. output power 0.5 kW
Short-circuit protection of motor output motor phases to DC-BUS and amongst
Min. inductance of motor winding 0.5 mH
Lentgh of motor cable max. 10 m (otherwise consult supplier)
Frequency of output current ripple 16.4 kHz

Electrical Specifications
Control logic supply 18 ... 30 V DC, ripple < 10%
Fuse of control logic supply (recommended) 3AT
Bus power supply (UDC-BUS) 24 ... 70VDC
Fuse of bus power supply (recommended) 10 A T

Operating Conditions
Operating temperature 0 ... 40°C
Storage temperature -10 ... 70°C
Humidity (non-condensing) 5 ... 95% (RH-2 according to IEC 61131-2)
Pollution degree 2 (according to IEC 61131-2)
Protection class IP20
Place of installation dust-free, dry, lockable (e.g. electrical cabinet)
Mounting position vertical (refer to “ECOSTEP Installation“)
Installation altitude up to 1000 m above sea level (full ratings)
Power loss dissipation:
@ 5,6 Arms (UDC-BUS ≤ 70V) ≤ 20 W

Cooling Installation on mounting plate

Jenaer Antriebstechnik GmbH ECOSTEP 100 S5 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

Mechanical Specifications
Housing aluminium, passivated, conforming to RoHS
Dimensions (H x W x D mm) 200 x 87 x 50 (without mating connectors )
Mass 0.5 kg
Cable mounting and strain relief metal clips, max. cable diameter 15 mm
Connector fieldbus (X1)
- Version AA (CAN) Sub-D 9-pole plug (male)
- Vrsion LA (RS485) Sub-D 9-pole socket (female)
Connectors for: Sub-D 9-pole socket (female)
RS232 (X5),
Master Encoder (X7),
Encoder In (X8)
2
I/O connectors (X3, X4) WAGO, series 735 (cage clamp, max. 0.75 )
2
Motor connector (X9) WAGO, series 235 (cage clamp, max. 1.5 )
2
Bus power supply connector (X10) WAGO, series 235 (cage clamp, max. 1.5 )

Communication Interfaces
CAN (version AA) CANopen according to DS301, DSP402
(Galvanically isolated, ext. supply 8..24V, max. 850mA) max. 1 MBaud, max. 15 nodes
Important note: max. cable length 40m @ 1 MBaud
If 24 VDC, use only a stabilized supply! max. cable length 1km @ 50 kBaud
RS232 public JAT-protocol (similar to CANopen DS301)
9.6 kBaud, max. 15 nodes
max. cable length 10 m
RS485 (2/4-wire) public JAT-protocol (similar to CANopen DS301)
(Version LA) 38.4 kBaud, max. 15 nodes
max. cable length 400 m
protocol JETWAY-R (comp. JETTER AG)
max. 38.4 kBaud, max. 14 nodes
max. cable length 400 m

Motor Encoder Input

Motor encoder supply 5 V DC, max. 0.2 A
Signal specification differential TTL line driver (RS422: A, B, N, /A, /B, /N)
Input frequency max. 2 MHz
Edge clearance min. 0.1 µs
Pulse width min. 0.125 µs
Galvanic isolation none
Jenaer Antriebstechnik GmbH ECOSTEP 100 S6 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

Master Encoder Input

Master encoder supply 5VDC (max. 0.2 A) or 24 VDC (max. 0.1 A)
Signal specification differential TTL line driver (RS422: A, B, N, /A, /B, /N)
or
24 V signals (A, B, N)
Input frequency max. 2 MHz
Edge clearance min. 0.1µs
Pulse width min. 0.125µs
Galvanic isolation none

Digital Inputs
Number of inputs 10, thereoff 8 programmable
Rated input voltage 24 VDC
Input voltage range 20 ... 30 V
Input current approx. 4 mA
Input resistance 5 kΩ
Input delay appr. 1 ms
Input voltage for state “ON“ > 13 V
Input voltage for state “OFF“ <4V
Galvanic isolation none

Digital Outputs
Number of outputs 3, thereoff 2 programmable
Type of outputs highside-driver to + 24 V
Rated output voltage 24 V DC
Output voltage range 20 ... 30 V
Output current max. 0.5 A
Holding brake output 24V, max. 1.0 / 0.5 A (100 ms / continous)
Protection circuits against thermical overload and short-circuit to GND
Regeneration energy of inductive loads max. 0.2J (internal Z-diodes provide fast
demagnetization of inductive loads)
Galvanic isolation none

Analog Input
Input voltage range +/- 10 V (differential input)
Input voltage max. 15 V
Input resistance appr. 100 kΩ
Input delay appr. 0.1 ms
Resolution 10 Bit
Galvanic isolation none

CE Conformance
EMC Directive pursuant to EC Directive 89/336/EEC
applied harmonized standards:
EN 50082.2 (Interference Immunity)
(test conditions in accordance to “EMC Installation Scheme“) EN 55011, Class B (RFI-Emission)
Low Voltage Directive pursuant to EC Directive 73/23/EEC
applied harmonized standards:
EN 60204.1 / VDE113, EN 50178 / VDE160
Jenaer Antriebstechnik GmbH ECOSTEP 100 S7 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

Mechanical Outline [mm] 5,5 mm

3 mm
Jenaer
Antriebstechnik X1

FIELD BUS
ECOSTEP®100

X5
S0
S1
S2

RS232
S3

24V ERR
BUS RUN

X3 OUT1
OUT2
DIN1

DIN2
X7 MASTER ENCODER
DIN3
DIN4

191 mm

200 mm
DIN5

DIN6
DIN7
DIN8
GND
AN+
AN-
GND
X8
X4
MON1
ENCODER IN

MON2
READY
RESET
ENABLE
+24V
GND X9 X10
BRAKE MOTOR
GND

+24V
GND

GND

+DC
/A
A

B
+

5,5 mm

43,5 mm

87 mm

depth 50 mm (without mating connectors)

Jenaer Antriebstechnik GmbH ECOSTEP 100 S8 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

Inputs / Outputs

X3
Output 1 OUT 1
24 V
Output 2 OUT 2 digital I/O PLC interface
DIN 1 0,5A
Input 1 running configurable motion profiles
Input 2 DIN 2 controlling/monitoring of
Input 3 DIN 3 24V motion ranges/ profiles,
Input 4 DIN 4 3mA
1ms
homing
Input 5 DIN 5
Limit switch pos. DIN 6
Limit switch neg. DIN 7
Home switch DIN 8
Signal ground GND analog command
- 10...+10 V 1ms
Analog input + AN + + input for position and velocity
-
Analog input - AN - 10 bit resolution
100K
Signal ground GND
WAGO, series 735

X4 1ms
2 analog monitors
Monitor1 MON1 scalable, configurable,
Monitor2 MON2 8 bit resolution
24 V
Ready READY digital output ready
0,5A
Error reset RESET 24V
Enable Powerstage ENABLE 4mA digital inputs:
1ms powerstage enable
+ 24V
GND error reset
WAGO, series 735

24 V = monitoring supply voltage,

reset logic
5V =
Motor
X9
Brake + BRAKE + intelligent brake control providing
&
60 V 24 V automatic voltage reduction
Brake - BRAKE - 1A

GND

Motor Phase A MOTOR A

Motor Phase/A MOTOR/A

Motor Phase B MOTOR B 2 - Phase - Powerstage

70V / 8A control of the powerstage
Motor Phase/B MOTOR/B short circuit protection
WAGO, series 235 monitoring overvoltage,
undervoltage and overtemperature

Power Supply

X10
Logic supply ground GND

Logic supply 24V +24V

DC Bus ground GND

+DC 24...70VDC
DC Bus +
GND
WAGO, series 235
Jenaer Antriebstechnik GmbH ECOSTEP 100 S9 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

RS232 1:1 direct connection to a PC COM

X1 CAN
X5
Pin Signal at PC COM Pin Signal
1 DCD 1 nc
2 RxD 2 CAN_L

FIELD BUS 1
3 TxD 3 CAN_GND

RS232
RS232 serial interface for 4 DTR 4 nc
parameter setting, 5 GND 5 nc
configuration, controlling 6 DSR 6 GND
7 RTS 7 CAN_H
interface for setup by a PC 8 CTS 8 nc
9 RI 9 CAN_V+
D-Sub 9 pin D-Sub 9 pin male

X2 RS485
CAN
Fieldbus interface Pin Signal
CANopen, DS 402 1 frei
TTL
2 Rx +

FIELD BUS 2
Option: RS485
galvanic insulation 3 Tx +
only with CAN 4 frei
5 GND
6 +5V
7 Rx -
8 Tx -
D-Sub 9 pin
9 frei

ID setting for S0 Code Switch

serial network operation
S1
S2
for Network-ID
S3 0...15

Status-LED Master encoder input

4 LEDs for indication of 24 V (gn) ERR (rd) X7
BUS (gn) Pin Signal
device status RUN (gn)
1 +5V, max. 200 mA
MASTER ENCODER

2 A (Clock)
3 B (Direction)
4 N
5 +24V
quadrature encoder input RS422 6 GND
configurable for pulse and direction max. 2 MHz 7 / A (/Clock)
command for electronic gear TTL 8 / B (/ Direction)
functions 9 /N
D-Sub 9 pin

Optional: X6
absolute value encoder input
(SSI)
X8 Motor encoder input
Pin Signal
quadrature encoder input 1 +5V
ENCODER IN

for commutation, torque, RS422 2 A

max. 2 MHz 3 B
speed and positioning control 4 N
TTL
5 nc
6 GND
7 /A
8 /B
D-Sub 9 pin 9 /N
Jenaer Antriebstechnik GmbH ECOSTEP 100 S10 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

Incoming Supply
Jenaer Antriebstechnik GmbH ECOSTEP 100 S11 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

EMC Installation Scheme

Jenaer Antriebstechnik GmbH ECOSTEP 100 S12 (12)
Safety Instructions / Technical Specifications / Installation, Date: 09/2007

Cable Assignment
®
• ECOSTEP motors series 17 (partly), 23
®
• ECOLIN motors series SLM
®
• Motor cable MOT43 • ECOSTEP motors series 17 (partly)

Connection
Colour Colour Connection ECOSTEP (X9)
ECOSTEP (X9)
Black A White A
Orange /A Yellow /A
Red B Red B
Brown /Yellow /B Blue /B
Green/Yellow PE

® ®
• ECOSTEP motors series 34, 42 • ECOSTEP motors series 17 (partly), 23
• Motor cable MOT33 • Motor / brake cable MOT34

Lead No. Connection ECOSTEP (X9) Lead No. Connection ECOSTEP(X9)

3 A 3 A
1 /A 1 /A
4 B 4 B
2 /B 2 /B
Green/Yellow PE 5 BRAKE+
6 BRAKE-
Green/Yellow PE

• Brake cable BRM39

Colour Connection ECOSTEP (X9)

Brown BRAKE+
White BRAKE-

• Motor Encoder Cable ENC47

Connection
Colour Signal ECOSTEP (X9)
Red +5V Pin 1
Blue GND Pin 6
White A Pin 2
Brown /A Pin 7
Green B Pin 3
Yellow /B Pin 8
Grey N Pin 4
Pink /N Pin 9
Bare Shield Pin Socket
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