Oriental motor ASD10A-K Operating Manual

Add to My manuals
52 Pages

advertisement

Oriental motor ASD10A-K Operating Manual | Manualzz
HG-8032-4
Hollow Rotary Actuators
DG Series
OPERATING MANUAL
Thank you for purchasing an Oriental Motor product.
This Operating Manual describes product handling procedures and safety precautions.
• Please read it thoroughly to ensure safe operation.
• Always keep the manual where it is readily available.
Table of contents
1
Introduction .................................. 2
2
Safety precautions ....................... 5
3
Precautions for use ...................... 8
4
Preparation..................................11
4.1 Checking the product................... 11
4.2 Combinations of actuators and
drivers.......................................... 11
4.3 Names and functions of parts...... 12
5
6
6.1
6.2
6.3
6.4
6.5
6.6
7
8
Connection example....................26
Connecting to the power supply ..29
Connecting the actuator ..............30
Connecting control input/output...31
About control input/output............33
Timing chart .................................39
Setting ........................................ 40
7.1
7.2
7.3
7.4
Installation .................................. 14
5.1 Location for installation................ 14
5.2 Installing the actuator .................. 15
5.3 Securing the load to the output
table............................................. 16
5.4 Permissible moment load and
permissible thrust load................. 17
5.5 Installing the driver ...................... 18
5.6 Installation of home-sensor set
(sold separately) .......................... 19
5.7 Installing and wiring in compliance
with EMC Directive ...................... 23
Connection ................................. 26
Resolution....................................40
Pulse-input mode.........................41
Operating current.........................42
Speed filter...................................43
Protective functions .................... 44
8.1 Descriptions of protective functions
and numbers of LED blinks .........44
8.2 How to clear a protective
function ........................................45
9
Inspection ................................... 46
10 Troubleshooting and remedial
actions ........................................ 47
11 Options (sold separately)............ 50
1 Introduction
1 Introduction
Before use
Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the section 2 “Safety precautions”
on page 5.
The product described in this manual has been designed and manufactured for use in
general industrial machinery, and must not be used for any other purpose. Oriental
Motor Co., Ltd. is not responsible for any damage caused through failure to observe
this warning.
Overview of the product
The DG series models are the hollow rotary actuator for high-precision positioning.
stepping motor, with a rotor position sensor, as its power unit.
It uses the
(hereinafter referred to as “actuator”.)
Standards and CE Marking
This product is recognized by UL and certified by CSA, and bears the CE Marking
(EMC Directive) in compliance with the EN Standards.
Motor
Driver
Model
Applicable Standards
ASM34AK-D
ASM34BK-D
UL 60950
CSA C22.2 No.60950
ASD10A-K
UL 508C
CSA C22.2 No.14
UL 1950
CSA C22.2 No.950
Certification
Body
Standards
File No.
CE
Marking
E208200
UL
E171462
EMC
Directive
E208200
∗ Approval conditions for UL 60950 and UL 1950: Class III equipment, SELV circuit,
Pollution degree 2
∗ For unit models, Oriental Motor declares conformance with the EMC Directive individually.
• For Low Voltage Directive
This product is not subject to the EC’s Low Voltage Directive because its input
power supply voltage is 24 VDC. However, the user is advised to perform the
following steps when conducting product installation and connection.
• This product is designed for use within machinery, so it should be installed within
an enclosure.
• For the driver, use a power supply with reinforced insulation on its primary and
secondary sides.
-2-
1 Introduction
• For EMC Directive (89/336/EEC, 92/31/EEC)
This product has received EMC measures under the conditions specified in “Sample
installation and wiring for the DC power input specification” on page 25.
Be sure to conduct EMC measures with the product assembled in your equipment by
referring to 5.7 “Installing and wiring in compliance with EMC Directive” on page
23.
Hazardous substances
RoHS (Directive
2002/95/EC 27Jan.2003) compliant
Main features
• Direct installation of a load axis
A table, arm or other load can be mounted directly on the output table. Thus, it
reduces the need for fastening members such as couplings and friction conclusion
tool, power-transmission members such as belt pulleys, and assembly man-hours.
• High-precision positioning without backlash
The non-backlash mechanism allows for highly precise positioning with 2´ (0.033°)
of lost motion.
• Hollow, large-diameter structure
The output table has a hollow structure with a diameter of 28 mm (1.10 in.). As a
result your equipment design can be simplified and installation space reduced by
routing tubes and wires through the hollow section.
• Quick response, high reliability
The
stepping motor used in the DG series does not allow missteps, even
with a sudden change in load. The speed and amount of rotation are monitored
during operation, and when the possibility of a misstep is detected due to an
overload, etc., the response delay is corrected and operation continues within the
maximum operating torque range.
-3-
1 Introduction
System configuration
Controllers with pulse output functions are needed to operate the DG series.
Controller
(programmable
controller and
others)
Positioning
controller
DG series
Driver
Control input
and output
Pulse output and
control input/output
Extension cable
(sold separately)
Driver cable
(sold separately)
Home-sensor set
(sold separately)
Control input and output
Actuator
Home-detection sensors are required when the return to mechanical home is
performed. For the application requiring home detection, the home-sensor set is
available as an option (sold separately). Refer to page 50.
-4-
2 Safety precautions
2 Safety precautions
The precautions described below are intended to prevent danger or injury to the user
and other personnel through safe, correct use of the product. Use the product only
after carefully reading and fully understanding these instructions.
Handling the product without observing the instructions that
Warning accompany a “Warning” symbol may result in serious injury or
Caution
Note
death.
Handling the product without observing the instructions that
accompany a “Caution” symbol may result in injury or property
damage.
The items under this heading contain important handling
instructions that the user should observe to ensure safe use of
the product.
Warning
General
• Do not use the product in explosive or corrosive environments, in the presence of
flammable gases, locations subjected to splashing water, or near combustibles.
Doing so may result in fire or injury.
• Assign qualified personnel the task of installing, wiring, operating/controlling,
inspecting and troubleshooting the product. Failure to do so may result in fire or
injury.
• Provide a means to hold the moving parts in place for applications involving
vertical travel. The actuator loses holding torque when the power is shut off,
allowing the moving parts to fall and possibly cause injury or damage to
equipment.
• When the driver’s protective function is triggered, the motor will stop and lose its
holding torque, possibly causing injury or damage to equipment.
• When the driver’s protective function is triggered, first remove the cause and then
clear the protective function. Continuing the operation without determining the
cause of the problem may cause malfunction of the actuator, leading to injury or
damage to equipment.
Installation
• Install the actuator and driver in their enclosures in order to prevent injury.
-5-
2 Safety precautions
Connection
• Keep the driver’s power supply input voltage within the specified range to avoid
fire.
• For the driver’s power supply use a DC power supply with reinforced insulation
on its primary and secondary sides. Failure to do so may result in electric shock.
• Connect the cables securely according to the wiring diagram in order to prevent
fire.
• Do not forcibly bend, pull or pitch the cable. Doing so may result in fire.
Operation
• Turn off the driver power in the event of a power failure, otherwise the actuator
may suddenly start when the power is restored and may cause injury or damage to
equipment.
• Do not turn the C.OFF (All windings off) input to “ON” while the actuator is
operating. The actuator will stop and lose its holding ability, which may result in
injury or damage to equipment.
Repair, disassembly and modification
• Do not disassemble or modify the actuator or driver. This may cause injury. Refer
all such internal inspections and repairs to the branch or sales office from which
you purchased the product.
Caution
General
• Do not use the actuator and driver beyond their specifications, or injury or damage
to equipment may result.
• Keep your fingers and objects out of the openings in the actuator and driver, or
fire or injury may occur.
• Do not touch the actuator or driver’s heat radiating plate during operation or
immediately after stopping. The surfaces are hot and may cause a burn.
Transportation
• Do not hold the output table or motor cable. This may cause injury.
Installation
• Keep the area around the actuator and driver free of combustible materials in
order to prevent fire or a burn.
• To prevent the risk of damage to equipment, leave nothing around the actuator and
driver that would obstruct ventilation.
• Provide a cover over the rotating parts of the output table to prevent injury.
-6-
2 Safety precautions
Operation
• Use the actuator and driver only in the specified combination. An incorrect
combination may cause a fire.
• Provide an emergency-stop device or emergency-stop circuit external to the
equipment so that the entire equipment will operate safely in the event of a system
failure or malfunction. Failure to do so may result in injury.
• Before supplying power to the driver, turn all control inputs to the driver to
“OFF.” Otherwise, the actuator may start suddenly and cause injury or damage to
equipment.
• To prevent bodily injury, do not touch the rotating parts (output table) of the
actuator during operation.
• Before moving the output table directly (as in the case of manual positioning),
confirm that the driver C.OFF (All windings off) input is “ON” to prevent injury.
• The actuator’s surface temperature may exceed 70 °C (158 °F),
even under normal operating conditions. If an actuator is
accessible during operation, post a warning label shown in the
Warning label
figure in a conspicuous position to prevent the risk of burns.
• Immediately when trouble has occurred, stop running and turn off the driver
power. Failure to do so may result in fire or injury.
Disposal
• To dispose of the actuator or driver, disassemble it into parts and components as
much as possible and dispose of individual parts/components as industrial waste.
-7-
3 Precautions for use
3 Precautions for use
This section covers limitations and requirements the user should consider when
using the DG series.
• Conduct the insulation resistance measurement or withstand voltage
test separately on the actuator and the driver.
Conducting the insulation resistance measurement or withstand voltage test with the
actuator and driver connected may result in injury or damage to equipment.
• Do not apply moment load and thrust load in excess of the specified
permissible limit.
Be sure to operate the actuator within the specified permissible limit of moment load
and thrust load. Operating it under an excessive moment load and thrust load may
damage the actuator bearings (ball bearing). See page 17 for details.
• Set the surface temperature of the actuators as follows:
When using the actuator, set its operating conditions (operating speed, operating
duty, etc.) so that the following temperatures are maintained.
When the optional home-sensor set is not used
Use the actuator at the ambient operating temperature of 0 to +50 °C (+32 to
+122 °F) and motor surface temperature of 100 °C (212 °F) or less. If the motor
surface temperature exceeds 100 °C (212 °F), the life of the bearing (ball bearing)
employed in the motor will be diminished to a significant extent.
When the optional home-sensor set is used
Use the actuator at the ambient operating temperature of 0 to +40 °C (+32 to
+104 °F) and motor surface temperature of 90 °C (194 °F) or less. If the motor
surface temperature exceeds 90 °C (194 °F), the temperatures of the
photomicrosensors employed as home sensors will rise and the life of the sensor will
be diminished to a significant extent.
• For use with a lift device, provide a means to prevent the moving part
from dropping.
When the driver’s protective function is actuated, the current to the actuator will be
cut off and the actuator will stop (i.e. the holding force will be lost). In a lift device
such as a lifter, provide a means to prevent the moving part from dropping.
• About maximum static torque at excitation
The maximum static torque at excitation indicates the output table’s holding torque
at standstill. The current-cutback function, which suppresses the increase in motor
temperature, maintains the maximum static torque at excitation to approximately
50% of the permissible torque. When selecting the actuator, consider the maximum
static torque at excitation in addition to the permissible torque.
-8-
3 Precautions for use
• About permissible speed
Use the actuator within the permissible speed. The permissible speed indicates the
permissible speed (r/min) of the output table. If the actuator is operated at speeds
exceeding the permissible speed, the life of the actuator may be diminished to a
significant extent.
• About the DG series with double motor shafts
The DG series includes models with double motor shafts. With these models, do not
apply load toque, overhung load or thrust load on the shaft opposite the motor’s
output shaft.
• M2.5 screw holes for home sensor installation
The M2.5 screw holes provided in the gear mechanism of the actuator is used for
installing the optional home-sensor set (sold separately). Do not use these holes for
any purpose other than installation of the home sensor.
• About the actuators screws
Do not loosen or remove the actuator screws. To do so may cause the positioning
accuracy to drop or result in actuator damage.
• About the rotating direction of the actuators
The CW and CCW inputs provided as driver input signals indicate the opposite
directions to the output table’s direction of rotation. When the CW input is active,
the output table rotates counterclockwise. When the CCW input is active, the output
table rotates clockwise.
Direction of
rotation when
CW input is active
Direction of
rotation when
CCW input is active
• About the hollow section
The hollow section rotates with the output table. When routing tubes or wires
through the hollow section, provide the means to prevent wear or wire breakage due
to contact with the interior walls of the hollow section.
• Preventing electrical noise
See 5.7 “Installing and wiring in compliance with EMC Directive” on page 23 for
measures with regard to noise.
-9-
3 Precautions for use
• About grease of actuators
On rare occasions, a small amount of grease may ooze out from the actuator. If there
is concern over possible environmental damage resulting from the leakage of grease,
check for grease stains during regular inspections. Alternatively, install an oil pan or
other device to prevent leakage from causing further damage. Oil leakage may lead
to problems in the customer’s equipment or products.
-10-
4 Preparation
4 Preparation
This section covers the points to be checked along with the names and functions of
respective parts.
4.1
Checking the product
Upon opening the package, verify that the items listed below are included.
Report any missing or damaged items to the branch or sales office from which you
purchased the product.
• Actuator 1 unit
• Driver 1 unit
• Control input/output connector 1 set
• Power supply connector 5557-02R-210 (molex) 1 pc.
• Power supply connector crimp terminal 5556TL (molex) 2 pcs.
• Operating manual 1 copy
Note
When removing the driver from the conductive protection bag,
make sure your hands are not charged with static electricity. This is
to prevent damage to the driver due to static electricity.
Verify the model number of the purchased unit against the number shown on the
package label. Check the model number of the actuator and driver against the
number shown on the nameplate. The unit models and corresponding actuator/driver
combinations are listed below.
4.2
Combinations of actuators and drivers
Unit model
DG60-ASAK
DG60-ASBK
Actuator model
DGM60-ASAK
DGM60-ASBK
Driver model
ASD10A-K
-11-
4 Preparation
4.3
Names and functions of parts
This section covers the names and functions of parts in the actuator and driver.
• Actuator
Load mounting pin holes (two locations) P.16
Output table
Gear mechanism
Load mounting screw holes
(six locations) P.16
Positioning pin hole P.15
Positioning pin hole
P.15
Positioning pin hole
(four locations)
Two holes can be used as
positioning pin holes.
P.15
Home sensor mounting bracket
fixed screw holes (two locations)
P.19
-12-
Pilot
Motor parts
Motor cable P.30
4 Preparation
• Driver
• Function select switch (SW3)
Allows for the selection of
actuator resolution and
pulse input mode.
䂹Resolution select switches P.40
Use these two switches to select the actuator resolution.
The factory setting is "1000: 18000 P/R" and
"×1: Multiplier 1." Be sure to switch to "×1" when the
resolution switching input "CN3 Pin No.31, 32: ×10" is used.
䂹Pulse-input mode select switch P.41
Allows for the selection of 2-pulse input mode or 1-pulse
input mode in accordance with the pulse output mode
in the positioning controller. The factory setting is
"2P: 2-Pulse Input Mode."
• Speed-filter select switch (SW2) P.43
Sets the time constant for the filter that determines
response. The factory setting is "6: 1.20 ms."
• Current setting switch (SW1) P.42
Sets the operating current. The factory setting is
"F: Driver maximum output-current value."
• OPERATION LED (Green)
Lit when the power is on.
• ALARM LED (Red) P.44
This alarm blinks when a protective function is
triggered and the ALARM output turns "OFF."
• Mounting holes
(two locations)
• Mounting cutouts
(two locations)
• Motor connector (CN2) P.30
Connect the motor cable connector.
• Control input/output connectors (CN3) P.31
Used to connect to the position control and others.
• Power supply connector (CN1) P.29
Connect the power supply connector. 24 VDC±10%
-13-
5 Installation
5 Installation
This section covers the environment and method of installing the actuator and driver,
along with load installation.
Also covered in this section are the installation and wiring methods that are in
compliance with the relevant EMC Directives.
5.1
Location for installation
The actuator and driver are designed and manufactured for installation in equipment.
Install them in a well-ventilated location that provides easy access for inspection.
The location must also satisfy the following conditions:
• Inside an enclosure that is installed indoors (provide vent holes)
• Operating ambient temperature
When the home-sensor set is not used
Actuator: 0 to +50 °C (+32 to +122 °F) (non-freezing)
Driver: 0 to +50 °C (+32 to +122 °F) (non-freezing)
When the home-sensor set is used
Actuator: 0 to +40 °C (+32 to +104 °F) (non-freezing)
Driver: 0 to +50 °C (+32 to +122 °F) (non-freezing)
• Operating ambient humidity 85% or less (non-condensing)
• Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or
liquid
• Area not exposed to direct sun
• Area free of excessive amount of dust, iron particles or the like
• Area not subject to splashing water (rains, water droplets), oil (oil droplets) or
other liquids
• Area free of excessive salt
• Area not subject to continuous vibration or excessive shocks
• Area free of excessive electromagnetic noise (from welders, power machinery,
etc.)
• Area free of radioactive materials, magnetic fields or vacuum
-14-
5 Installation
5.2
Installing the actuator
Installation direction
The actuator can be installed in any direction.
Installation method
Affix the actuator to the mounting plate with screws (M4) using the four mounting
holes.
Of the four mounting holes, two (the diagonal pair) have a size of Ø5 + 0.012
mm
0
(Ø0.196 9 + 00.000 5 in.). They can be combined with positioning pins to position the
actuator relative to the equipment.
Bolt size
M4
Note
Tightening torque
2 N·m (280 oz-in)
Mounting plate thickness and material
Iron/aluminum plate 5 mm (0.197 in.) or thicker
• Do not loosen or remove the actuator screws. To do so may cause the
positioning accuracy to drop or result in actuator damage.
• Do not diagonally insert or forcibly assemble the actuator into the holes
in the mounting plate. The pilot section may be scratched, resulting in
damage to the actuator.
• Be sure the positioning pins are secured to the mounting plate. Driving
the pins into the actuator may damage the actuator due to impact.
• When installing from above the mounting plate
Provide a motor relief hole in the mounting plate. The figure illustrates the use of
two mounting holes for accurate positioning in combination with the positioning
pins. All four mounting holes can be used to secure the actuator to the mounting
plate with screws.
Screw (M4)
Spring washer
Mounting hole
Positioning pin
Mounting plate
-15-
5 Installation
• When installing from below the mounting plate
Fit the pilot section of the actuator into the pilot-receiving cutout.
Mounting plate
Mounting
hole
Spring
washer
Screw (M4)
When the optional home-sensor set (sold separately) is used, the actuator
cannot be installed from below the mounting plate.
Note
5.3
Securing the load to the output table
Install the load with screws using the load-mounting screw holes (six locations) in
the output table. The output table has two load-mounting pin holes of Ø5 + 0.012
mm
0
(Ø0.196 9 + 00.000 5 in.) in diameter and 6 mm (0.236 in.) in depth. These holes can be
combined with the positioning pins for accurate positioning of the load.
Note
-16-
Bolt size
Tightening torque
M3
1 N·m (142 oz-in)
Effective depth of
bolt
8 mm (0.315 in.)
Material of load
Iron or Aluminum
Be sure the positioning pins are secured to the load. Driving the pins into
the output table may damage the bearing due to impact or an excessive
moment of inertia.
5 Installation
Permissible moment load and permissible thrust
load
The permissible moment load and permissible thrust load must not exceed the values
shown in the table below.
Permissible moment load
2 N·m (280 oz-in)
Permissible thrust load
100 N (22 lb.)
The moment load and thrust load can be calculated using the formulas below:
Example 1: When external force F is applied at distance L from the
center of the output table
Thrust load [N (lb.)] Fs = F + Mass of load × g (acceleration of gravity)
Moment load [N·m (oz-in)] M = F × L
L
F
Example 2: When external forces F1 and F2 are applied at distance L
from the mounting surface of the output table
Thrust load [N (lb.)] Fs = F1 + Jig and mass of load × g (acceleration of gravity)
Moment load [N·m (oz-in)] M = F2 × (L + 0.01)
F1
F2
L
5.4
-17-
5 Installation
5.5
Installing the driver
Installation direction
Since the driver remains in operation even when the actuator is at rest, and therefore
generates a larger amount of heat than other control system equipment, provide
ventilation near the driver.
Install the driver on a flat metal plate having excellent vibration resistance and heat
conductivity.
Install the driver in vertical or horizontal orientation by securing it with two bolts
(M3, not supplied) through the driver’s mounting holes or mounting cutouts. Leave
no gap between the driver and metal plate. Any other installation method will reduce
the driver’s ability to dissipate heat.
Installation method
There must be a clearance of at least 25 mm (0.98 in.) and 50 mm (1.97 in.) in the
horizontal and vertical directions, respectively, between the driver and enclosure or
other equipment. When two or more drivers are to be installed side by side, provide
20 mm (0.79 in.) and 50 mm (1.97 in.) clearances in the horizontal and vertical
directions, respectively.
• Install the driver in an enclosure.
Note
• Do not install any equipment that generates a large amount of heat near
the driver.
• Check ventilation if the ambient temperature of the driver exceeds 40 °C
(104 °F).
• Horizontal installation
• When using mounting holes
Screw (M3)
• When using mounting cutouts
Screw (M3)
-18-
5 Installation
• Vertical installation
• When using mounting holes
• When using mounting cutouts
Screw (M3)
Screw (M3)
5.6
Installation of home-sensor set (sold separately)
Home position sensor setting details
Home-sensor set (PADG-SA: NPN output, PADG-SAY: PNP output) of the
following parts:
Photomicrosensor ...................................................................................1 pc.
EE-SX672A (Supplied with PADG-SA, OMRON Corporation)
EE-SX672R (Supplied with PADG-SAY, OMRON Corporation)
Connector with cables ............................................................................1 pc.
EE-1010-R (OMRON Corporation) length 2 m (6.6 ft.)
Mounting bracket for sensor...................................................................1 pc.
Shield plate.............................................................................................1 pc.
Screw (M3, Spring washer, Washer) ......................................................2 pcs.
Hexagonal socket head screw (M2.5).....................................................4 pcs.
Installation method
Install the home-sensor set (PADG-SA or PADG-SAY) to the actuator by following
the procedure below
Note
• Do not install the home-sensor set while the power is supplied. To do so
may result in injury or equipment damage.
• Be sure to install the sensor and shield plate in the direction shown in
the figure. Installing them in the wrong direction may disable sensor
detection or cause the shield plate to contact the sensor and result in
sensor damage.
• When installing the sensor bracket and shield plate to the actuator, be
sure to use the supplied screws.
-19-
5 Installation
1.
Affix the sensor to the sensor bracket
using the supplied screws (M3 × 2).
Tightening torque: 0.6 N·m (85 oz-in)
Screw (M3)
2.
Note
Affix the bracket and sensor assembly
to the gear mechanism of the actuator
using the supplied hexagonal socket
head screws (M2.5 × 2).
Tightening torque: 0.5 N·m (71 oz-in)
Hexagonal
socket head
screw (M2.5)
Do not use the M2.5 screw holes to install the home sensor, as provided
in the actuator, for any purpose other than installation of the home-sensor
set.
3.
Plug the connector with cable into the
sensor.
Firmly insert the sensor connector by
aligning its orientation with the connector.
Sensor
Connector
Note
• Do not install or remove the connector with cable while the power is
being supplied. Doing so may damage the sensor.
• When removing the connector with a cable, do not pull it by the cables.
Pull out the connector while pressing it firmly from the top and bottom.
-20-
5 Installation
4.
Use the hexagonal socket head
screws (M2.5 × 2) to affix the shield
plate to the load, which will be
mounted to the output table.
Tightening torque: 0.5 N·m (71 oz-in)
Hexagonal socket
head screw
(M2.5)
Machining dimensions of shield plate for installation [unit: mm (in.)]
When providing mounting holes on
the table center side
37 ± 0.2 (1.5 ± 0.008)
When providing mounting holes on the
opposite side of the table center
62 ± 0.2 (2.4 ± 0.008)
2 × M2.5
7
(0.3)
7
(0.3)
2 × M2.5
Output table center
5.
Note
Output table center
Affix the load and shield plate assembly to the output table.
• The photomicrosensor is designed for use within equipment and
therefore has no special means of protection against disturbances from
external sources of light. If the actuator is to be used under an
incandescent lamp or in conditions that are subject to disturbances from
external light, provide the means to prevent such interference.
• Use the sensors after confirming that there is no looseness, play or
other abnormality due to vibration, impact, etc.
• Place the power cables such as the motor and power supply cables as
far apart as possible from the signal cables. If they have to cross, cross
them at a right angle.
• To prevent sensor deterioration due to heat, set the operating conditions
(speed and operating duty) of the actuator in such a way that the
ambient operating temperature remains at 0 to +40 °C (+32 to +104 °F)
and the motor surface temperature remains at 90 °C (194 °F) or less.
• To prevent malfunctioning due to the adhesion of dust on the sensors,
clean and/or replace the sensors regularly.
• Use a common GND for the sensor power and user’s controller power.
Any difference in GND potential will result in a sensor malfunction.
-21-
5 Installation
Sensor wire connection
• Connection diagram when the home-sensor set PADG-SA is used.
The power supply must be 5 VDC or more and 24 VDC or less. The current must be
100 mA or less. If the current exceeds 100 mA, connect an external resistor R0.
User controller
Power supply for sensor
+5 to +24 V
+5 to +24 V
HOMELS input
Pink
R0
DC input
HOMELS
GND
Brown
Black
Photomicro
sensor (NPN)
Blue
0V
∗ The pink lead (broken line) is connected to the brown lead if the sensor logic is N.C.
(normally-closed). If the sensor logic is N.O. (normally-open), the pink lead is not
connected.
• Connection diagram when the home-sensor set PADG-SAY is used.
The power supply must be 5 VDC or more and 24 VDC or less. The current must be
50 mA or less. If the current exceeds 50 mA, connect an external resistor R0.
Power supply for sensor
+5 to +24 V
User controller
HOMELS input
Pink
R0
DC input
HOMELS
0V
0V
GND
Brown
Black
Photomicro
sensor (PNP)
Blue
0V
∗ The pink lead (broken line) is connected to the brown lead if the sensor logic is N.C.
(normally-closed). If the sensor logic is N.O. (normally-open), the pink lead is not
connected.
-22-
5 Installation
5.7
Installing and wiring in compliance with EMC
Directive
General
EMC Directive (89/336/EEC, 92/31/EEC)
The DG series has been designed and manufactured for incorporation in general
industrial machinery. The EMC Directive requires that the equipment incorporating
this product comply with these directives.
The installation and wiring method for the actuator and driver are the basic methods
that would effectively allow the customer’s equipment to be compliant with the
EMC Directive.
The compliance of the final machinery with the EMC Directive will depend on such
factors as the configuration, wiring, layout and risk involved in the control-system
equipment and electrical parts. It therefore must be verified through EMC measures
by the customer of the machinery.
Applicable Standards
EMI
EMS
Emission Tests
Radiated Emission Test
Immunity Tests
Radiation Field Immunity Test
Electrostatic Discharge Immunity Test
Fast Transient / Burst Immunity Test
Conductive Noise Immunity Test
EN 61000-6-4
EN 55011
EN 61000-6-2
IEC 61000-4-3
IEC 61000-4-2
IEC 61000-4-4
IEC 61000-4-6
Installing and wiring in compliance with EMC Directive
Effective measures must be taken against the EMI that the DG series may give to
adjacent control-system equipment, as well as the EMS of the DG series itself, in
order to prevent a serious functional impediment in the machinery.
The use of the following installation and wiring methods will enable the DG series
to be compliant with the EMC Directive (the aforementioned compliance standards).
• About power source
The DG series products are of the DC power input specification. Use a DC power
supply (such as a switching power supply) that is optimally compliant with the EMC
directive. If a transformer is used in the power supply, be sure to connect a mains
filter to the input side of the transformer.
-23-
5 Installation
• Connecting mains filter for power source line
Install a mains filter on the input side of the DC power supply in order to prevent the
noise generated within the driver from propagating outside via the DC power source
line. For mains filters, use 10ESK1 (Tyco Electronics CORCOM), ZAG2210-11S
(TDK Corporation), or an equivalent.
Install the mains filter as close to the AC input terminal of DC power source as
possible, and use cable clamps and other means to secure the input and output cables
(AWG18: 0.75 mm2 or more) firmly to the surface of the enclosure. Connect the
ground terminal of the mains filter to the grounding point, using as thick and short a
wire as possible.
Do not place the AC input cable (AWG18: 0.75 mm2 or more) parallel with the
mains filter output cable (AWG18: 0.75 mm2 or more). Parallel placement will
reduce mains filter effectiveness if the enclosure’s internal noise is directly coupled
to the power supply cable by means of stray capacitance.
• How to ground
The cable used to ground the driver,
actuator and mains filter must be as thick
and short to the grounding point as
possible so that no potential difference is
generated. Choose a large, thick and
uniformly conductive surface for the
grounding point.
FG
• Wiring the power cable and signal cable
Use a shielded cable of AWG18 (0.75 mm2) or more in diameter for the driver
power cable. Use a shielded cable of AWG28 (0.08 mm2) or more in diameter for the
driver signal cable, and keep it as short as possible. Contact the nearest sales office
for a shielded cable (sold separately).
To ground a shielded cable, use a metal clamp or
Shielded
similar device that will maintain contact with the
cable
Cable
entire circumference of the shielded cable. Attach a
clamp
cable clamp as close to the end of the cable as
possible, and connect it to an appropriate
grounding point as shown in the figure.
-24-
5 Installation
• Notes about installation and wiring
• Connect the actuator, driver and other peripheral control equipment directly to the
grounding point so as to prevent a potential difference from developing between
grounds.
• When relays or electromagnetic switches are used together with the system, use
mains filters and CR circuits to suppress surges generated by them.
• Keep cables as short as possible without coiling and bundling extra lengths.
• Place the power cables such as the motor and power supply cables as far apart
[100 to 200 mm (3.94 to 7.87 in.)] as possible from the signal cables. If they have
to cross, cross them at a right angle. Place the AC input cable and output cable of
a mains filter separately from each other.
• If an extension cable is required between the actuator and driver, it is
recommended that an optional extension cable (sold separately) be used, since the
EMC measures are conducted using the Oriental Motor extension cable.
• Sample installation and wiring for the DC power input specification
User
controller
Actuator
Driver
Motor cable [10 m (32.8 ft.)]
Mains DC power
filter
supply
Power cable
[1.6 m (5.2 ft.)]
Cable
clamp
Cable
clamp
Cable
clamp
Signal cable
[2 m (6.6 ft.)]
FG (Shielded cable)
FG
(Shielded cable)
FG
PE
PE
Grounded panel
FG
Precautions about static electricity
Static electricity may cause the driver to malfunction or suffer damage. Be careful
when handling the driver with the power on. Always use an insulated screwdriver to
adjust the driver’s built-in motor current switch.
Note
Do not come close to or touch the driver while the power is on.
-25-
6 Connection
6 Connection
This section covers the methods and examples of connecting and grounding the
driver, actuator, power and controller, as well as the control input/output.
6.1
Connection example
In the case of current
sourcing inputs and
current sinking outputs
• Connection of 5 VDC
Either 5 or 24 VDC is selected as a
signal voltage for the C.OFF input,
×10 input and ACL input.
Driver
Controller
Connect
to CN3
Control
input/output
Motor cable or
extension cable
Connect
to CN2
Actuator
Connect to CN1
Power input 24 VDC±10%
Controller
Driver
CN3
Twisted pair cable
or shielded cable CW input 11
CW input 12
CCW input 9
CCW input 10
ACL input 21
ACL input 22
×10 input 31
×10 input 32
C.OFF input 33
C.OFF input 34
+5 V
0V
0V
0V
0V
Photocoupler input
5 VDC Input current 7 to 20 mA
Photocoupler input
5 VDC Input current 16 mA
+30 V or less
0V
+30 V or less
ALARM output
ALARM output
END output
END output
TIM.1 output
TIM.1 output
25
26
29
30
23
24
ASG1 output
GND
BSG1 output
GND
15
16
13
14
Photocoupler/open-collector output
30 VDC or less
Output current 15 mA or less
0V
0V
-26-
Transistor/open-collector output
30 VDC or less
Output current 15 mA or less
6 Connection
Note
• The CW and CCW inputs provided as driver input signals indicate the
opposite directions to the output table’s direction of rotation. When the
CW input is active, the output table rotates counterclockwise. When the
CCW input is active, the output table rotates clockwise.
• Be certain the control input/output cable that connects the driver and
controller is as short as possible. The maximum input frequency will
decrease as the cable length increases.
• Connection of 24 VDC
Either 5 or 24 VDC is selected as a signal voltage for the C.OFF input, ×10 input
and ACL input.
Controller
V0
Driver
Twisted pair cable
or shielded cable
R0
0V
0V
+24 V
CN3
CW input
CW input
CCW input
CCW input
11
12
9
10
Photocoupler input
5 VDC Input current 7 to 20 mA
R0
Vcc+24 V 3
ACL input 22
0V
×10 input 32
0V
Photocoupler input
24 VDC Input current 5 mA
C.OFF input 34
0V
+30 V or less
ALARM output
ALARM output
END output
END output
TIM.1 output
TIM.1 output
25
26
29
30
23
24
Photocoupler/open-collector output
30 VDC or less
Output current 15 mA or less
ASG1 output
GND
BSG1 output
GND
15
16
13
14
Transistor/open-collector output
30 VDC or less
Output current 15 mA or less
0V
+30 V or less
0V
Note
• The CW and CCW inputs provided as driver input signals indicate the
opposite directions to the output table’s direction of rotation. When the
CW input is active, the output table rotates counterclockwise. When the
CCW input is active, the output table rotates clockwise.
• The CW and CCW inputs are of the 5 VDC input specification. If V0
exceeds 5 V, connect external resistor R0.
Example) When V0 is 24 VDC R0: 1.5 to 2.2 kΩ, 0.5 W or more.
-27-
6 Connection
In the case of current sinking inputs and current sourcing
outputs
Controller
Driver
+5 V
CN3
Twisted pair cable
or shielded cable CW input 11
CW input 12
CCW input 9
CCW input 10
ACL input 21
ACL input 22
×10 input 31
×10 input 32
C.OFF input 33
C.OFF input 34
Photocoupler input
5 VDC Input current 7 to 20 mA
Photocoupler input
5 VDC Input current 16 mA
0V
+30 V or less
ALARM output
ALARM output
END output
END output
TIM.1 output
TIM.1 output
25
26
29
30
23
24
ASG1 output
GND
BSG1 output
GND
15
16
13
14
Photocoupler/open-collector output
30 VDC or less
Output current 15 mA or less
0V
+30 V or less
Transistor/open-collector output
30 VDC or less
Output current 15 mA or less
0V
Note
• GND of ASG1, BSG1 is common.
• The output type of these signals is current sinking outputs. See page 37
for the wiring.
-28-
6 Connection
6.2
Connecting to the power supply
The driver’s input power supply voltage should be 24 VDC±10% (10% ripple max.).
Use a power supply ensuring a steady supply of 1.0 A or greater.
Crimping the crimp terminal
Securely crimp the terminal to the power supply connector using the crimping tool
specified by the connector manufacturer. We do not provide crimping tools. Use a
power cable of AWG20 to 18 (0.5 to 0.75 mm2) in diameter. When connecting the
cable, be careful regarding the polarity of the power source. Incorrect power source
polarity could damage the driver.
Product number of the specified crimping tool manufactured by
Molex
57026-5000 (for UL 1007) or 57027-5000 (for UL 1015)
Note
• Have the connector plugged in securely. Insecure connection may
cause malfunction or damage to the actuator or driver.
• When pulling out a connector, pull it out by slightly expanding the latch
part of the connectors using a precision screwdriver.
• Do not run the driver’s power cable through a conduit containing other
power lines or motor cables.
• After shutting down the power, wait at least 5 seconds before turning it
back on, unplugging or plugging in the motor’s cable connector.
Connector configuration
Power supply connector
Connector
CN1
Pin No.
1
2
Signal
+24 V
GND
Description
24 VDC±10%
Securely insert the crimp terminal into the power supply connector so that the
terminal will not bend or be out of position. Failure to do so may damage the
actuator and driver.
-29-
6 Connection
Connecting the power
supply connector
Driver
Motor connector (CN2)
Plug of the power supply connector into
the driver’s power supply connector
(CN1).
Actuator
24 VDC
power supply
+24 V
GND
Power supply connector (CN1)
6.3
Connecting the actuator
Plug the connector of the motor cable into the driver’s motor connector (CN2).
Use an optional extension cable (sold separately) to extend the distance between the
actuator and driver. Refer to 11 “Options (sold separately)” on page 50 for the
extension cable.
Note
• Have the connector plugged in securely. Insecure connector connection
may cause malfunction or damage to the actuator or driver.
• To disconnect the plug, pull the plug while using the fingers to press the
latches on the plug.
• When the actuator is to be installed in a moving part, thereby subjecting
the motor cable to repeated bending and stretching, use an optional
flexible cable (sold separately). Refer to 11 “Options (sold separately)”
on page 50 for the flexible cable.
-30-
6 Connection
6.4
Connecting control input/output
Assembling the control input/output connector
Solder the control input/output cable (AWG28: 0.08 mm2
or more) to the connector (36 pins). Assemble the
connector and cover with the supplied screws. For the pin
assignments, refer to page 32.
We provide optional driver cable allowing one-touch
connection with a driver, as well as connector-terminal
block conversion unit (sold separately). Refer to page 50
for details.
Connector pin
• Assembling the connector and the cover
1.
Attach the supplied screws
(two pieces) to the cover and
insert the connector with the
control input/output cable
soldered to it.
Adjust the cable clamp to its
correct position.
Cover
Cable clamp
Connector
Screw (M2)
Control input/
output cable
Place the spring
washer outside
the cover.
Screw
2.
Attach the other cover and clamp both
connector covers together with screws
and nuts.
Tightening torque: 0.5 to 0.55 N·m
(71 to 78 oz-in)
Align the washer in the
depression in the cover.
Screws (M2.5)
-31-
6 Connection
Connecting control input/output connector
Insert the control input/output connector into
the control input/output connector CN3 on the
driver side, and tighten the screw with a flat
blade-parallel tip type screwdriver.
Tightening torque: 0.3 to 0.35 N·m
(42 to 49 oz-in)
Control input/output
connector (CN3)
Control input/output
connector
Screw
Connector pin assignments
(Viewed from the soldering side)
18 16 14 12 10 8 6 4 2
17 15 13 11 9 7 5 3 1
36 34 32 30 28 26 24 22 20
35 33 31 29 27 25 23 21 19
Connector pin functions
Pin
No.
Signal
Description
Not used
Direction
Pin
No.
Signal
-
19
-
Not used
-
20
-
Not used
-
21
ACL
Description
Direction
1
-
2
GND
3
Vcc+24 V
4
-
Not used
-
22
ACL
5
-
Not used
-
23
TIM.1
6
-
Not used
-
24
TIM.1
7
-
Not used
-
25
ALARM
8
-
Not used
-
26
ALARM
9
CCW (DIR.)
27
-
Not used
-
10
CCW (DIR.)
Not used
-
11
12
13
CW (PLS)
CW (PLS)
BSG1
14
GND
15
ASG1
External power
source
CCW pulse (ON:
CW, OFF: CCW)
CW pulse
(Pulse)
16
GND
17
-
B-phase pulse
output
Open-collector
A-phase pulse
output
Open-collector
Not used
18
-
Not used
-32-
Input
Input
Alarm clear
Input
Timing
Open-collector
Output
Alarm
Output
28
-
29
30
31
END
END
×10
32
×10
33
C.OFF
34
C.OFF
-
35
-
Not used
-
-
36
-
Not used
-
Input
Output
Output
Positioning
complete
Output
Resolution
switch
Input
All Windings
Off
Input
6 Connection
Note
• The functions shown in parentheses are enabled when “1P: 1-Pulse
Input Mode” is selected through the pulse-input mode select switch.
• The CW and CCW inputs provided as driver input signals indicate the
opposite directions to the output table’s direction of rotation. When the
CW input is active, the output table rotates counterclockwise. When the
CCW input is active, the output table rotates clockwise.
6.5
About control input/output
Input signals
All input signals of the driver are photocoupler inputs.
The signal state represents the “ON: Carrying current” or “OFF: Not carrying
current” state of the internal photocoupler rather than the voltage level of the signal.
ACL, ×10, C.OFF
CW, CCW
Driver internal circuit
4.7 kΩ
Driver internal circuit
220 Ω
3
5 mA
9, 11
7 to 20 mA
10, 12
21, 31, 33
220 Ω
16 mA
22, 32, 34
Note
If no pulse is to be input, be sure to keep the photocoupler in “OFF” state.
Do not input a CW pulse and CCW pulse simultaneously. If a pulse is
input while the other photocoupler is in the “ON” state, the actuator will not
operate properly.
• CW input and CCW input
With this driver either 2-pulse input mode or 1-pulse input mode may be selected in
accordance with the controller used. Refer to page 41 for details on how to set the
pulse-input mode.
ALARM output is in the “OFF” state immediately after the driver power is turned
on. Check to see that ALARM output has been turned from “OFF” to “ON” before
inputting pulse signals.
Note
The CW and CCW inputs
provided as driver input signals
indicate the opposite directions
to the output table’s direction of
rotation. When the CW input is
active, the output table rotates
counterclockwise. When the
CCW input is active, the output
table rotates clockwise.
Direction of
rotation when
CW input is active
Direction of
rotation when
CCW input is active
-33-
6 Connection
The factory setting of the pulse input mode depends on the destination
country. Check the pulse input mode setting in accordance with the pulse
mode in the controller used.
Note
2-pulse input mode
Connect the CW pulse and CCW pulse of the controller to pin No.12, “CW input,”
and pin No.10, “CCW input,” respectively.
• When the CW pulse input
changes from the “OFF” state to
“ON” state, the actuator will
rotate one step in the CCW
direction.
• When the CCW pulse input
changes from the “OFF” state to
“ON” state, the actuator will
rotate one step in the CW
direction.
CW input
CCW input
∗
ON
OFF
ON
OFF
Actuator
movement
CW
CCW
∗ The minimum interval time needed for switching the direction of rotation will vary,
depending on the operating speed and size of the load. Do not shorten the interval time any
more than is necessary.
Set the input pulse voltage to the CW and CCW pulse inputs at 5 VDC.
If the voltage exceeds 5 VDC, insert an external resistor to limit the input current to
nearly 10 mA.
R=
V - 1.5
10 mA
- 220 [Ω]
R: external resistor
V: Pulse voltage
1-pulse input mode
In 1-pulse input mode, the pin functions will be as follows: pin No.11, “PLS input”;
pin No.12, “PLS input”; pin No.9, “DIR. input”; and pin No.10, “DIR. input.”
Connect the pulse signal of the controller to pin No.11 and No.12, and the rotating
direction signal to pin No.9 and No.10, respectively.
• When the DIR. input is “ON,” a
rise of the “PLS input” from
“OFF” to “ON” will rotate the
actuator one step in the CCW
direction.
• When the DIR. input is “OFF,” a
rise of the “PLS pulse input”
from “OFF” to “ON” will rotate
the actuator one step in the CW
direction.
∗
PLS input ON
(Pulse) OFF
DIR. input ON
(Rotating
OFF
direction)
Actuator
movement
CW
CCW
CW
CCW
∗ The minimum interval time needed for switching the direction of rotation will vary,
depending on the operating speed and size of the load. Do not shorten the interval time any
more than is necessary.
-34-
6 Connection
The voltage of pulse and rotation direction input to the PLS input and DIR. input
shall be 5 VDC. If the voltage exceeds 5 VDC, connect an external resistor to limit
the input current to nearly 10 mA.
V - 1.5
R=
10 mA
R: external resistor
V: Pulse voltage
- 220 [Ω]
Use an input-pulse signal with a waveform having a sharp rise and fall, as shown in
the figure. The figure shows the voltage levels of pulse signals.
ON
OFF
90%
10%
2 µs or more
ON: 4 to 5 V
OFF: 0 to 0.5 V
1 µs or more
2 µs or less
2 µs or less
• C.OFF (All windings off) input
Use the signal only when the output table must be rotated manually for position
adjustment.
• When the C.OFF input is turned “ON,” the driver will shut off the output current
and the actuator will lose its excitation holding torque. This, however, will allow
you to adjust the load position manually.
• When the C.OFF input is turned “OFF,” the driver will turn the output current to
“ON” again and the actuator’s excitation holding torque will be restored. The
C.OFF input must be “OFF” when operating the actuator.
Note
• Normally, keep the C.OFF input in the “OFF” state or leave it
disconnected.
• Turning the C.OFF input to “ON” resets the deviation counter in the
driver.
• ×10 (Resolution select) input
Selects and switches to 10 times either of the resolution “500: 0.04°/pulse” or “1000:
0.02°/ pulse” that has been selected with the resolution select switch.
For instance, if “1000: 0.02°/pulse” has been selected, this signal can switch
between the 0.02° step rotation and 0.002° step rotation.
Refer to page 40 for the selection of the resolution select switch.
The resolution select switch [1000/500] is based on the motor resolution. The
resolution of the actuator is 18 times the motor resolution. Refer to the table below.
Resolution select switch
500 × 1
1000 × 1
500 × 10
1000 × 10
Output table resolution
9000
18000
90000
180000
1 step rotation angle
0.04°
0.02°
0.004°
0.002°
-35-
6 Connection
• Turning the ×10 input to “ON” will select and switch to “×10 resolution.”
• Turning the ×10 input to “OFF” will select and switch to “×1 resolution.”
Be sure to set the resolution select switch to
“×1” when “×10 input” is used. If the switch is
set to “×10,” the resolution will remain at 10
times, regardless of the “ON” or “OFF”
resolution select input.
Note
Lever
Resolution select switch
• ACL (Alarm clear) input
The input clears the ALARM output issued when a protective function has been
triggered. The ALARM output remains “ON” when the driver is operating normally,
then turns “OFF” when a protective function is triggered. For details, refer to
“ALARM output” on page 37 and 8 “Protective functions” on page 44.
Setting the ACL input in the ON state
ACL input ON
clears the ALARM output. To cancel
(Alarm clear) OFF
0.1 s or more
the ALARM output, be sure to remove
0.5 s or less
the cause of the problem that has
ON
ALARM
output
triggered the protective function before
OFF
turning the power back on.
Note
• Turning the power back on will clear the ALARM output. To cancel the
ALARM output, be sure to remove the cause of the problem that has
triggered the protective function before turning the power back on. After
the power has been shut off, wait at least 5 seconds before turning the
power back on.
• The EEPROM data error and system error cannot be cleared using the
ACL input. Clear these errors by cycling the power. If the problem
persists, please contact the nearest office.
-36-
6 Connection
Output signals
Driver output signals are photocoupler/open-collector output (ALARM, END and
TIM.1) and transistor open-collector output (ASG1 and BSG1). The signal state
represents the “ON: Carrying current” or “OFF: Not carrying current” state of the
internal photocoupler rather than the voltage level of the signal.
ASG1, BSG1
TIM.1, ALARM, END
Driver internal circuit
Driver internal circuit
13, 15
23, 25, 29
2, 14, 16
24, 26, 30
30 VDC 15 mA or less
30 VDC 15 mA or less
0V
• ALARM output
ALARM output remains “ON” when the driver is operating normally, then turns
“OFF” when a protective function is triggered. Detect this ALARM output on the
controller side and cancel the command to operate the actuator thereafter.
Error detection by the driver, such as
Blink
overload and overcurrent during actuator
ALARM LED
operation, turns the ALARM output
ALARM ON
“OFF,” blinks the ALARM LED on the
output OFF
driver, and simultaneously shuts off the
actuator current to stop actuator operation.
Actuator
The actuator stops
Count the number of the ALARM LED
movement
due to inertial force.
blinks to identify the particular protective
function that has been triggered. For
When the driver is When a protective
details, refer to 8 “Protective functions”
operating normally. function is triggered.
on page 44.
• END (Positioning complete) output
END output turns “ON” when actuator movement is complete. Conditions for the
issuance of END output are as follows:
END output is issued when the pulse speed is 500 Hz or less, and the rotor has
positioned within ±0.1° of the commanded position.
Movement
Actuator movement
Movement
Stop
Stop
END output ON
(Positioning complete) OFF
Note
The timing of the END output turning “ON” after the pulse stops will vary,
depending on the conditions of the load, the pulse input, and the
speed-filter setting.
-37-
6 Connection
• TIM.1 (timing) output
TIM.1 output turns “ON” whenever the output table rotates 0.4°.
Movement
Actuator movement
Movement
Stop
Stop
TIM.1 output ON
(Timing) OFF
If TIM.1 output is to be detected, set the pulse speed at 500 Hz or less.
Use the ×10 input to switch the resolution only when TIM.1 output is in the
“ON” state and the actuator stops. If the resolution is switched under any
other conditions, TIM.1 output may not turn “ON” even when the output
table has rotated 0.4°.
Note
• ASG1 output and BSG1 output
ASG1 and BSG1 outputs are available in transistor open-collector output.
The output-pulse resolution will be the same as the motor resolution at the time
power is supplied to the driver (as set by the resolution select switch).
The resolution of the output table is 18 times the motor resolution. Counting the
ASG1 output pulses allows the motor position to be monitored.
ON
ASG1 output
OFF
90°
ON
BSG1 output
OFF
ASG1 output: Outputs pulse while the actuator operates.
BSG1 output: Detects the direction of actuator rotation. It has a 90° phase
difference with regard to ASG1 output. The level of BSG1 output at
the rise time of ASG1 output indicates the direction of actuator
rotation.
Note
-38-
The pulse-output delays behind actuator rotation by up to 1 ms.
The output may be used to verify the actuator’s stop position.
6 Connection
6.6
Timing chart
Note
The CW and CCW inputs provided as driver input signals indicate the
opposite directions to the output table’s direction of rotation. When the CW
input is active, the output table rotates counterclockwise. When the CCW
input is active, the output table rotates clockwise.
CW
Actuator
movement
CCW
CCW
5 s or more
ON
Power input
∗1
OFF
0.5 s or less
0.1 s or more
ALARM output
ON
OFF
CW input
CCW input
ON
OFF
∗2
ON
OFF
∗3
END output ON
(Positioning
OFF
complete)
TIM.1 output ON
(Timing) OFF
C.OFF input ON
(All windings off) OFF
∗3
∗3
100 ms or more
∗4
∗5
∗1 After the power has been shut off, wait at least 5 seconds before turning the power back on.
∗2 To input the CW or CCW signal pulse, wait at least 0.1 second after clearing the ALARM
output.
∗3 The turning of END output to “ON” does not necessarily mean the actuator has stopped.
Provide enough of a time delay for a halt, which will vary, depending on the
acceleration/deceleration rates and load condition. The time for END output to turn “ON”
after the pulse signal stops will vary, depending on the pulse-signal input condition and
speed-filter setting condition.
∗4 Detect TIM.1 output only at a pulse speed of 500 Hz or less. No accurate detection is
possible at a speed over 500 Hz.
∗5 Turning C.OFF input “ON” shuts off the actuator current, at which time the actuator loses
its holding ability. It also clears the value on the deviation counter.
-39-
7 Setting
7 Setting
This section covers the selection and settings of driver functions.
7.1
Resolution
Use the resolution select switch
“1000/500” and “×1/×10” to set the
actuator resolution. The resolution of
the output table is 18 times the motor
resolution. A total of four resolution
levels may be selected, with ×10
input “CN3 Pin No.31, 32” used to
switch between 1000 and 10000 and
between 500 and 5000. Refer to page
35 for the use of ×10 input.
For the relationship between the
resolution select switch setting and
the output table’s resolution, refer to
page 35.
Not used.
Function select switch (SW3)
Resolution select
switch
Factory settings
[1000]: 18000 P/R (0.02°/pulse)
[×1]: Multiplier 1
Note
• Be sure to shut off the power before using the resolution select switch.
The new resolution takes effect when the power is turned on again.
• Be sure to set the resolution select switch to “×1” when “×10 input” is
used. If the switch is set to “×10,” “×10” input becomes invalid.
-40-
7 Setting
7.2
Pulse-input mode
Either the 2-pulse or 1-pulse input
mode may be selected in accordance
with the controller used.
When the actuator is to be controlled
through 2-pulse signal input via the
CW pulse signal and CCW pulse
signal, set the pulse-input mode select
switch to “2P.”
When the actuator is to be controlled
through the PLS (pulse) and the DIR.
(rotating-direction), set the pulse-input
mode select switch to “1P.”
Note
Not used.
Function select switch (SW3)
Pulse-input mode select switch
• Be sure to shut off the power before using the pulse-input mode select
switch. The new pulse input mode takes effect when the power is turned
on again.
• The factory setting of the pulse input mode depends on the destination
country. Check the pulse input mode setting in accordance with the
pulse mode in the controller used.
-41-
7 Setting
7.3
Operating current
Use the current setting switch “SW1” to set the actuator’s operating current.
Set the operating current as a product of the maximum driver output current “F,”
which is 100%, multiplied by the operating current percentage corresponding to the
given dial.
The switch provides a selection of 16 levels ranging between “0” and “F.”
If there is extra torque, the current may be set to a lower level in order to suppress
increases in motor temperature.
Factory setting
Current setting switch
(SW1)
[F]: Driver’s maximum
output-current value
SW1
The dial settings and corresponding levels of operating current rates are as follows:
Dial
setting
0
1
2
3
4
5
6
7
Note
-42-
Operating
current rate [%]
6
13
19
25
31
38
44
50
Dial
setting
8
9
A
B
C
D
E
F
Operating
current rate [%]
56
63
69
75
81
88
94
100
An excessively low operating current level may cause a problem when
starting the actuator or holding the load in position. Do not reduce the
current any more than is necessary.
7 Setting
7.4
Speed filter
Use the speed-filter select switch “SW2” to select the filter time constant that
determines the actuator’s response to pulse input.
The switch provides a selection of 16 levels ranging between “0” and “F.” When a
larger value is selected, it will reduce shock when the actuator is started and stopped,
and will minimize low-speed vibration.
An unnecessarily large filter time
Speed-filter select
constant, however, will smooth out
switch (SW2)
the actuator movement further but
with a reduced ability to synchronize
to the pulse input and extended
SW2
settling time when stopping. Select an
optimal value to fit the load and
application.
Factory setting
[6]: 1.20 ms
The dial settings and corresponding levels of filter time constants are as follows:
Dial setting
0
1
2
3
4
5
6
7
Filter time [ms]
None
0.12
0.16
0.27
0.41
0.82
1.20
1.60
When the speed-filter selector
switch is set to [0]
Dial setting
8
9
A
B
C
D
E
F
Filter time [ms]
2.70
4.10
8.20
12.0
16.0
27.0
41.0
82.0
When the speed-filter selector
switch is set to [E]
Command
speed
Command
speed
Actuator
rotation speed
Actuator
rotation speed
END output
END output
-43-
8 Protective functions
8 Protective functions
This section covers the driver-protection functions and methods used to clear the
triggered function.
8.1
Descriptions of protective functions and
numbers of LED blinks
The driver is provided with functions that protect the driver from ambient
temperature increases, improper power-source or motor-cable connections, and the
occurrence of operating errors. When a protective function is triggered, the ALARM
LED on the front panel blinks, ALARM output turns OFF, and simultaneously the
actuator current is shut off in order to stop the actuator. ALARM output remains
“ON” when the driver is operating normally, then turns “OFF” when a protective
function is triggered. For details, refer to “ALARM output” on page 37.
ALARM LED blinking cycle (example: for overvoltage protection)
1
0.2 s
2
3
0.2 s
1
2
3
Interval
1.2 s
The number of ALARM LED blinks varies according to the nature of the triggered
protective function, thereby facilitating action and recovery from the abnormal
conditions causing the function to be triggered. The table below gives descriptions
of protective functions and their corresponding numbers of blinks.
Number of
ALARM
Protective function
LED Blinks
2
Overload protection
3
6
7
Overvoltage
protection
Speed error
protection
Overspeed
EEPROM data error
8
Sensor error
4
Continuous System error
-44-
Conditions
When a load exceeding the maximum torque is
applied to the motor for five seconds or more.
When the driver inverter’s primary voltage exceeds
a permissible value.
When the actuator has not normally followed up on
pulse input.
When the output table speed exceeds 270 r/min.
When the motor parameter in the driver is
damaged.
When power turns on without the connection of a
motor cable to the driver.
When the driver is out of order.
8 Protective functions
8.2
How to clear a protective function
When a driver-protection function is triggered, turning the ALARM output OFF by
employing either of the following methods may clear ALARM output (return to
“ON”):
• Give a one-shot ACL (Alarm clear) input to clear the ALARM output.
• Turn the power back on.
Note
• To clear the ALARM output, be sure to remove the cause of the problem
that has triggered the protective function before either giving a one-shot
ACL input or turning the power back on. After turning off the power, wait
at least 5 seconds before turning the power back on.
• The EEPROM data error and system error cannot be cleared using the
ACL input. Clear these errors by cycling the power. If the problem
persists, please contact the nearest office.
-45-
9 Inspection
9 Inspection
It is recommended that periodic inspections be conducted for the items listed below
after each operation of the actuator.
If an abnormal condition is noted, discontinue any use and contact your nearest
office.
During inspection
• Are any of the actuator mounting screws loose?
• Check for any unusual noises in the actuator’s bearings (ball bearing) or other
moving parts.
• In sure that the screws used to tighten the output table and load are not loose.
• Are there any scratches, signs of stress or loose driver connections in the motor
cable?
• Check for a blocked opening of the driver case.
• Are any of the driver mounting screws loose?
• Are there any strange smells or appearances in the driver?
Note
-46-
The driver uses semiconductor elements, so be extremely careful when
handling them. Static electricity may damage the driver.
10 Troubleshooting and remedial actions
10 Troubleshooting and remedial
actions
During actuator operation, the actuator or driver may fail to function properly due to
an improper speed setting or wiring. When the actuator cannot be operated correctly,
refer to the contents provided in this section and take appropriate action. If the
problem persists, contact your nearest office.
If ALARM LED is not blinking
If the actuator does not operate properly even though the ALARM LED is not
blinking, refer to the table below:
Phenomenon
• The actuator is not
Possible cause
C.OFF input is “ON.”
excited.
• The actuator can be
turned with the hands.
The actuator does not
Bad connection for CW
run.
or CCW input.
Remedial action
Turn the C.OFF input to “OFF”
and confirm that the actuator is
excited.
• Check the connections of the
controller and driver.
• Review the specifications
The actuator rotates in
the direction opposite
that which is specified
(The CW and CCW
inputs provided as
driver input signals
indicate the opposite
directions to the output
table’s direction of
rotation).
Actuator operation is
unstable.
In 2-pulse input mode,
the CW and CCW pulse
inputs are both “ON” at
the same time.
In 1-pulse input mode,
the pulse signal is
connected to the DIR.
input.
When 2-pulse input
mode is selected, the
CW and CCW pulse
inputs are connected in
reverse.
When 1-pulse input
mode is selected, the
DIR. input is set in
reverse.
Bad connection of the
pulse signal line.
(voltage and width) for the input
pulse.
Input the pulse signal either to the
CW or CCW input. Make sure the
terminal with no input is set to
“OFF.”
Connect the pulse signal to the
PLS input.
Connect the CW pulse input to
the CW pulse input and CCW
pulse input to CCW pulse input.
Set to “ON” when setting the CW
direction or “OFF” when setting
the CCW direction.
• Check the connections of the
controller and driver.
• Review the specifications
(voltage and width) for input
pulse.
-47-
10 Troubleshooting and remedial actions
Phenomenon
Vibration is great.
Possible cause
Small load.
The TIM.1 output does
not turn “ON.”
The “×10” input is
turned “OFF” during
operation.
The screws affixing the
actuator or load are
skewed.
The pulse count input is
incorrect.
Bad connection of the
pulse signal line.
The load’s friction
torque is excessive.
Positioning accuracy is
poor.
-48-
Remedial action
Reduce the current by adjusting
the driver’s current adjustment
switch. If the actuator’s output
torque is too great for the load,
vibration will increase.
When the “×10” input is turned
“OFF,” the TIM.1 output may not
turn “ON.”
Tighten the screws to the
specified torque.
Check the pulse count setting.
Check the connections of the
controller and driver.
Reduce the friction torque or
perform positioning from one
direction only.
10 Troubleshooting and remedial actions
If the ALARM LED is blinking
If the ALARM LED is blinking, count the number of blinks and refer to the table
below:
The ALARM LED blinks in two modes: blinking in groups of between 2 to 8 times
(0.2 second on and 0.2 second off) and repeating the same number after 1.2 second
each; and the continuous blinking mode.
Number of
Type of alarm and possible
ALARM LED
cause
Blinks
2
Overload protection.
Overloading.
3
Overvoltage protection.
Incorrect power connection or
loading beyond the
regenerative ability of the
driver.
4
Speed error protection.
Overloading or incorrect speed
filter setting.
6
Excessive speed.
Excessively high
operating-pulse speed.
7
EEPROM data error.
Error in driver.
8
Sensor error.
Bad motor-cable connection or
open line.
ALARM LED System error.
turns on.
The driver is out of order.
Remedial action
Reduce the actuator load.
• Check power-source connections.
• Reduce load in a vertical-travel
application.
Reduce load or slightly increase the
speed-filter setting.
Set the speed of the output table at
200 r/min or less.
Turn on the driver power. If the error
persists, contact the branch or sales
office from which you purchased the
product and request repair.
Shut off the driver power and check
the motor cable and driver connectors.
Then turn the driver power back on.
Turn the driver power on. If the error
persists, contact the branch or sales
office from which you purchased the
product and request repair.
-49-
11 Options (sold separately)
11 Options (sold separately)
• Extension cable
Required to extend the distance between the actuator and driver.
Model
CC01AIP
CC02AIP
CC03AIP
CC05AIP
CC07AIP
CC10AIP
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23)
10 (32.8)
• Flexible cable
Highly flexible cable required to extend the distance between the actuator and
driver.
Model
CC01SAR
CC02SAR
CC03SAR
CC05SAR
CC07SAR
CC10SAR
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23)
10 (32.8)
• Home-sensor set
Used to perform the return-to-home operation.
Model: PADG-SA (NPN), PADG-SAY (PNP)
• Driver cable
Cable with connectors for driver control input/output (36 pins), providing excellent
noise resistance.
Model
CC36D1-1
CC36D2-1
Length [m (ft.)]
1 (3.3)
2 (6.6)
• Connector-terminal block conversion unit
Use this cable to connect the driver to a host controller via the terminal block.
[Cable length: 1 m (3.3 ft.)]
Model: CC36T1
-50-
• Unauthorized reproduction or copying of all or part of this manual is prohibited.
If a new copy is required to replace an original manual that has been damaged or lost,
please contact your nearest Oriental Motor branch or sales office.
• Oriental Motor shall not be liable whatsoever for any problems relating to industrial
property rights arising from use of any information, circuit, equipment or device provided
or referenced in this manual.
• Characteristics, specifications and dimensions are subject to change without notice.
• While we make every effort to offer accurate information in the manual, we welcome
your input. Should you find unclear descriptions, errors or omissions, please contact the
nearest office.
is a trademark of Oriental Motor Co., Ltd.
•
is a trademark of Oriental Motor Co., Ltd., and is registered in japan and other
countries.
Other product names and company names mentioned in this manual may be trademarks or
registered trademarks of their respective companies and are hereby acknowledged. The
third-party products mentioned in this manual are recommended products, and references
to their names shall not be construed as any form of performance guarantee. Oriental
Motor is not liable whatsoever for the performance of these third-party products.
© Copyright ORIENTAL MOTOR CO., LTD. 2007
• Please contact your nearest Oriental Motor office for further information.
Technical Support Line Tel:(800)468-3982
Available from 7:30 AM to 5:00 PM, P.S.T.
E-mail: [email protected]
www.orientalmotor.com
Tel:(02)8228-0707
Fax:(02)8228-0708
Tel:(6745)7344
Fax:(6745)9405
Headquarters and Düsseldorf Office
Tel:0211-5206700
Fax:0211-52067099
Munich Office
Tel:08131-59880
Fax:08131-598888
Hamburg Office
Tel:040-76910443
Fax:040-76910445
Tel:(03)22875778
Fax:(03)22875528
KOREA
Tel:(032)822-2042~3
Fax:(032)819-8745
Tel:01256-347090
Fax:01256-347099
Tel:01 47 86 97 50
Fax:01 47 82 45 16
Tel:02-93906346
Fax:02-93906348
Headquarters
Tel:(03)3835-0684
Tokyo, Japan
Fax:(03)3835-1890
Printed on Recycled Paper

advertisement

Related manuals

Download PDF

advertisement