Autonics MD5-HF14 Series Product Manual

-|Transparent Guide|-
TCD210127AA_MODI
Micro step
5-phase Stepper Motor Driver
Safety Considerations
• Observe all ‘Safety Considerations’ for safe and proper operation to avoid hazards.
• ᜸ symbol indicates caution due to special circumstances in which hazards may occur.
᜸ Warning Failure to follow instructions may result in serious injury or death.
01. Fail-safe device must be installed when using the unit with machinery that may
cause serious injury or substantial economic loss. (e.g. nuclear power control,
medical equipment, ships, vehicles, railways, aircraft, combustion apparatus,
safety equipment, crime / disaster prevention devices, etc.)
Failure to follow this instruction may result in personal injury, economic loss or fire.
02. Do not use the unit in the place where flammable / explosive / corrosive gas,
high humidity, direct sunlight, radiant heat, vibration, impact or salinity may be
present.
Failure to follow this instruction may result in explosion or fire.
03. Do not connect, repair, or inspect the unit while connected to a power source.
Failure to follow this instruction may result in fire or electric shock.
04. Install the unit after considering counter plan against power failure.
Failure to follow this instruction may result in personal injury, economic loss or fire.
05. Check ‘Connections’ before wiring.
Failure to follow this instruction may result in fire.
06. For installing the unit, ground it exclusively and use over AWG 18 (0.75 mm2)
ground cable.
Failure to follow this instruction may result in electric shock.
07. Do not disassemble or modify the unit.
Failure to follow this instruction may result in fire.
08. Install the driver in the housing or ground it.
Failure to follow this instruction may result in personal injury, fire or electronic shock.
09. Do not touch the unit during or after operation for a while.
Failure to follow this instruction may result in burn or electric shock due to high
temperature of the surface.
10. For rotating the motor manually when turning off the power, separate the motor
and the driver.
Failure to follow this instruction may result in malfunction due to power applied to the driver.
11. Emergency stop directly when error occurs.
Failure to follow this instruction may result in personal injury or fire.
᜸ Caution Failure to follow instructions may result in injury or product damage.
MD5-HF14 Series
PRODUCT MANUAL
For your safety, read and follow the considerations written in the instruction
manual, other manuals and Autonics website.
The specifications, dimensions, etc. are subject to change without notice for product
improvement. Some models may be discontinued without notice.
Features
• Bipolar constant current pentagon drive method
• Various built-in functions including auto current down and self-diagnosis
• Low speed rotation and extreme precision control with micro stepping drive
(Max. resolution is 250 divisions. In case of 5 phase stepper motor with 0.72° basic step
angle, it can be controlled down to 0.00288° per pulse, 125000 pulses are required for
a single revolution.)
• Isolated photocoupler input design minimizes influence from electrical noise
ᜢᜧᜫ
01. When connecting the power input, use AWG18 (0.75 mm2) cable or over.
02. Install over-current prevention device (e.g. the current breaker, etc.) to connect
the driver with power.
Failure to follow this instruction may result in fire.
03. Check the control input signal before supplying power to the driver.
Failure to follow this instruction may result in personal injury or product damage by
unexpected driver movement.
04. Install a safety device to maintain the vertical position after turn off the power of
this driver.
Failure to follow this instruction may result in personal injury or product damage by
releasing holding torque of the motor.
05. Use the unit within the rated specifications.
Failure to follow this instruction may result in fire or product damage.
06. Use a dry cloth to clean the unit, and do not use water or organic solvent.
Failure to follow this instruction may result in fire or electric shock.
07. The driver may overheat depending on the environment.
Install the unit at the well-ventilated environment and forced cooling with a cooling fan.
Failure to follow this instruction may result in product damage or degradation by heat.
08. Keep the product away from metal chip, dust, and wire residue which flow into the unit.
Failure to follow this instruction may result in fire or product damage.
09. Use the designated motor only.
Failure to follow this instruction may result in fire or product damage.
Cautions during Use
• Follow instructions in ‘Cautions during Use’.
Otherwise, it may cause unexpected accidents.
• Re-supply power after 1 sec from disconnected power.
• Do not input CW, CCW signal at the same time in 2 pulse input method.
-|Transparent Guide|-
• When the signal input voltage is exceeded the rated voltage, connect additional resistance at
the outside.
• Set RUN current within the range of motor’s rated current depending on the load.
When the rated motor current is exceeded, the heat may increased and motor may be
damaged.
• If the driver stops by the current down function, switches to STOP current.
If the current down function is not set or HOLD OFF signal is [H], STOP current switching will
not be executed.
• Use twisted pair (over 0.2 mm2) for the signal cable within 2 m.
• In case of extending the motor cable, use the cable that is thicker than lead cable.
• Keep the distance between power cable and signal cable over 10 cm.
• If the power is supplied while TEST switch is ON, the motor operates immediately and it may
be dangerous.
• Do not change any setting switches (function selection, RUN/STOP current, resolution) during
the operation or after supplying power.
Failure to follow this instruction may result in malfunction.
• Motor vibration and noise may occur in a specific frequency range.
- Change the motor installation method or attach the damper.
- Use the unit out of the corresponding frequency range due to changing motor RUN speed.
• Maintain and inspect regularly the following lists.
- Unwinding bolts and connection parts for the unit installation and load connection
- Abnormal sound from ball-bearing of the unit
- Damage and stress of lead cable of the unit
- Connection error with motor
- Inconsistency between the axis of motor output and the center, concentric (eccentric,
declination) of the load, etc.
• This product does not contain a protection function for a motor unit.
• This unit may be used in the following environments.
- Indoors (in the environment condition rated in ‘Specifications’)
- Altitude max. 2,000 m
- Pollution degree 2
- Installation category II
Product Components
• Product
Dimensions
■ Function selection DIP switch
No.
Name
Function
1
TEST
Self diagnosis
function
2
1/2 CLK
Pulse input
method
3
C/D
Auto current
down
■ RUN current
Setting
• Unit: mm, For the detailed drawings, follow the Autonics website.
7
156
120
170
108
■ Stop current
Setting
40
42
122
133.5
Resolution
Pulse width
Duty rate
Rise, Fall time
Pulse input voltage
Pulse input current
Max. input pulse freq.
Input resistance
Insulation resistance
Dielectric strength
Noise immunity
Vibration
Vibration
(malfunction)
Ambient temp.
Ambient humi.
Approval
Unit weight
(packaged)
5.4
MD5-HF14
100 - 220 VACᜠ 50 / 60 Hz ± 10%
3 A (based on ambient temp. 25℃, ambient humi. 55%RH)
0.4 - 1.4 A / Phase
27 to 90% of RUN current (set by STOP current setting rotary switch)
Bipolar constant current pentagon drive
0.72° / Step
1, 2, 4, 5, 8, 10, 16, 20, 25, 40, 50, 80, 100, 125, 200, 250 division
(0.72° to 0.00288° / Step)
≥ 1 μs (CW / CCW), ≥ 1 ms (HOLD OFF)
50% (CW / CCW)
≤ 130 ns (CW / CCW)
[H]: 4 - 8 VDCᜡ, [L]: 0 - 0.5 VDCᜡ
7.5 - 14 mA (CW / CCW), 10 - 16 mA (HOLD OFF, DIVISION SELECTION, ZERO
OUT)
≤ 500 kHz (CW / CCW)
270 Ω (CW / CCW), 390 Ω (HOLD OFF, DIVISION SELECTION), 10 Ω (ZERO OUT)
Between all terminal and case: ≥ 100 MΩ (500 VDCᜡ megger)
Between all terminal and case: 1,000 VACᜠ 50 / 60 Hz for 1 minute
± 2000 VDCᜡ square wave noise (pulse width: 1 ㎲) by the noise simulator
1.5 mm double amplitude at frequency 5 to 60 Hz (for 1 minute) in each X,
Y, Z direction for 2 hours
1.5 mm double amplitude at frequency 5 to 60 Hz (for 1 minute) in each X,
Y, Z direction for 10 minutes
0 to 50℃, storage: -10 to 60℃ (no freezing or condensation)
35 to 85% RH, storage: 35 to 85% RH (no freezing or condensation)
ᜢᜧᜫ
≈ 690 g (≈ 840 g)
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
• This function allows to control the current provided to motor for preventing severe motor
heat while motor stops.
• The setting is applied when using C/D (Current Down) function.
• STOP current setting value is % ratio of set RUN current.
E.g.) If the RUN current is 1.4 A, STOP current setting is 40%, the STOP current is 1.4 A×0.4 = 0.56 A.
• When STOP current is increased, RUN torque of the motor is also increased.
• When RUN current is increased, the heat of the motor is also increased.
• The setting must be changed when the motor stops.
■ Micro step setting (Micro step: Resolution)
0
1
1
2
2
3
4
4
5
5
8
6
7
8
9
A
B
C
D
E
F
10 16 20 25 40 50 80 100 125 200 250
Step angle (°) 0.72 0.36 0.18 0.144 0.09 0.072 0.045 0.036 0.0288 0.018 0.0144 0.009 0.0072 0.00576 0.0036 0.00288
Specifications
Model
Power supply
Max. current
consumption
RUN current 01)
Stop current
RUN method
Basic step angle
2
27 31 36 40 45 50 54 58 62 66 70 74 78 82 86 90
%
Resolution
5
1
Current
0.4 0.5 0.570.630.710.770.84 0.9 0.961.021.091.151.221.271.33 1.4
(A / Phase)
Setting
4-M4 Tap DP: 8
0
Description
[ON: 250 pps rotation, OFF: Disable]
It rotates 30 rpm in full step, rotation speed may vary
according to resolution setting.
30 rpm
Rotation speed =
Resolution
In 1 pulse input method, it rotates to CCW and in 2 pulse
input method, it rotates to CW.
The setting must be changed when the motor stops.
[ON: 1 pulse input method, OFF: 2 pulse input method]
1 pulse input method:
CW → Operating rotation signal input
CCW → Rotation direction signal input
([H]: Forward rotation, [L]: Reverse rotation)
2 pulse input method:
CW → Forward rotation signal input
CCW → Reverse rotation signal input
[ON: Disable, OFF: Enable]
This function allows to reduce the current provided to
motor automatically for preventing severe motor heat
while motor stops.
If motor RUN pulse is not applied, the current provided
to motor reduces as set STOP current.
• It is able to set the RUN current of the motor.
• When RUN current is increased, RUN torque of the motor is also increased.
• When RUN current is increased, the heat of the motor is also increased.
• Set RUN current for the load within range of the rated current of the motor.
• The setting must be changed when the motor stops.
• Instruction manual
20
Function Setting
01) RUN current varies depending on the RUN frequency, and the max. instantaneous RUN current varies depending
on load.
• Two resolutions can be set with MS1, MS2 switch.
• MS1 or MS1 can be selected with DIVISION SELECTION signal. ([L]: MS1, [H]: MS2)
• It sets the step angle (rotation angle for 1 pulse).
• The set step angle is divided angle with set revolution by setting basic step angle of 0.72
• The set step angle is the angle divided by the set resolution of 0.72° basic step angle of
5-phase stepper motor.
• The divided step angle is based on following equation.
Basic step angle (0.72°)
Set step angle =
Resolution
• In case of using built-in gear motor, the step angle is applied the angle divided by reduction ratio.
Step angle
= Step angle applied by gear
Reduction ratio
0.72°
E.g.)
= 0.072°
10 (1:10)
• The setting must be changed when the motor stops.
■ Zero point excitation output signal (ZERO OUT)
CW Pulse
CCW Pulse
ZERO OUT
ON
OFF
ON
OFF
ON
OFF
0
1
2
3
4
5
6
7
8
9
0
1
1
0
• This output indicates the beginning of the stepper motor excitation sequence, and allows to
know the rotational position of the motor shaft.
• Regardless of the resolution, th pulse is output every 7.2° rotation of motor shaft. (50 outputs
per motor rotation)
E.g.) Full step: 1 output for 10 input pulse, 20 division: 1 output for 200 input pulse
■ HOLD OFF
• This signal is for rotating motor shaft with external force or manual positioning.
- When HOLD OFF signal remains over 1 ms as [H], motor excitation is released.
- When HOLD OFF signal remains over 1 ms as [L], motor excitation is in normal status.
• Refer to 'I/O Circuit and Connections'.
• The setting must be changed when the motor stops.
■ Alarm indicator function
• Overheat
When the driver temperature is over 80℃, the alarm indicator turns ON and the motor stops
with remaining torque. Alarm indicator will turn OFF when re-supply power after turn OFF
power and remove the causes.
• Overcurrent
When overcurrent occurs due to motor damage by burn, internal damage or an abnormal
alarm, the alarm indicator will flash. Alarm indicator will turn OFF when re-supply power after
turn OFF power and remove the causes.
-|Transparent Guide|-
Timing Chart
• The rotation direction is based on facing the shaft, and it is clockwise (CW) when rotating to
Unit Descriptions
the right.
■ 1 pulse input method
CW
CCW
01
[H]
[L]
[H]
[L]
CW
03. Power indicator
04. Alarm indicator
05. Function selection DIP switch
06. Input terminal
07
08
02
CCW
■ 2 pulse input method
CCW
02. Power terminal
06
Rotation
position
CW
01. Motor terminal
03
04
05
07. RUN current setting rotary switch
09
08. Stop current setting rotary switch
09. Resolution setting rotary Switch
[H]
[L]
Connections
[H]
[L]
• In case of standard wiring type, refer to installation method on 5-phase stepper motor.
Rotation
position
CW
• Do not input CW, CCW signal at the same time in 2 pulse input method.
It may not operate properly if either of the signal is [H] and another direction signal is input.
I/O Circuit and Connections
Signal
270 Ω
270 Ω
390 Ω
390 Ω
10 Ω
3
5
7
8
9
10
3
Power
HOLD OFF
6
ORANGE
BLACK
CCW
4
1
GREEN
CW
2
BLUE
RED
+5 VDCᜡ 01)
1
2
4
5
L
N
G
CW
Operating rotation signal input when 1 pulse input method
Forward rotation signal input when 2 pulse input method
CCW
Rotation direction signal input when 1 pulse input method
([H]: Forward rotation, [L]: Reverse rotation)
Reverse rotation signal input when 2 pulse input method
HOLD OFF
Motor excitation OFF control signal
([H]: Motor excitation OFF)
DIVISION SELECTION
DIVISION
division Selection Signal
SELECTION
([H]: MS2 setting resolution, [L]: MS1 setting resolution)
01)
+5 VDCᜡ
2 kΩ
GND
ZERO OUT
ZERO OUT
Zero point excitation output signal: ON when Zero point status
Pentagon
wiring color
Standard
wiring color
Red
Yellow+Black
Blue
Orange
Green
Black
Blue
CCW
Red
Orange
Motor
Green
Black
User Controller
CW+
CWCCW+
CCW-
HOLD OFF+
HOLD OFFDivision selection signal
Zero point excitation output signal
+
+
-
100 - 220 VACᜠ
50 / 60 Hz
F.G.
Gray+Red
Orange+White
Brown+Green
Motor
Blue+Purple
• This connection cable color is for Autonics motors,
the color may different when using other motors.
100 - 220 VACᜠ
50 / 60 Hz
GND
01) If the external signal input voltage is exceed the +5 VDCᜡ, connect a resistor at outside.
Troubleshooting
Malfunction
Troubleshooting
When motor
rotates to
the opposite
direction of
the designated
direction
When the driver's RUN mode is 1-pulse input method, CCW input [H] is for
forward, [L] is for backward.
When the driver's RUN mode is 2-pulse input method, check CW and CCW
pulse input are changed.
Check the connection status between controller and driver and pulse input
When motor does specifications (voltage, width).
not excite
Check the pulse and direction signal are connected correctly.
When motor
drives unstable
Check the driver and motor are connected correctly.
Check the driver pulse input specifications (voltage, width).
18, Bansong-ro 513Beon-gil, Haeundae-gu, Busan, Republic of Korea, 48002
www.autonics.com | +82-2-2048-1577 | [email protected]
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