Small, light and high speed and torque 5-phase stepper motor driver

Transcription

1 MD Series Phase Driver Small, light and high speed and torque phase stepper motor driver Features Bipolar constant pentagon drive method Includes auto current down and selfdiagnosis function Low speed rotation and high accuracy controlling with microstepdriving (except for MDND1) [Max. resolution 0 division / In case of phase stepper motor of which basic step angle is 0.7, it enables to control up to per pulse and it requires 1,000 pulses per rotation.] coupler input insulation method to minimize the effects from external noise Please read Caution for your safety in operation manual before using. Ordering information MD H F 1 MDHF8 MDHF1 MDHF1AO MDHD1 MDND1 (except for MDHF1AO, MDHD1, ND1) RUN current Output No mark Zero point excitation output 1 AO Alarm output 1 1.A/Phase 8.8A/Phase D F 0VDC 1000VAC Step type (Resolution) phase Item 1: Except MDND1 H Micro step(0divisions) N Normal Step Phase MD Driver KRMC can be replaced with MDHD1. KRMC can be replaced with MDND1. MDMF1 can be replaced with MDHF1. KR0G can be replaced with MDHF8. Specifications Model MDHD1 MDHF1 MDHF1AO MDHF8 MDND1 0VDC A VAC 0/60Hz 0VDC A RUN current 0. to 1.A / Phase 1.0 to.8a / Phase 0. to 1.A / Phase RUN method Bipolar constant pentagon drive Basic step angle 0.7 / Phase Resolution Input pulse characteristics Environment 1,,,, 8, 10, 16, 0,, 0, 0, 80, 100, 1, 00, 0 division (0.7 to / Phase) 1, division (0.7, 0.6 / Phase) Pulse width Min. 0.μs Min. 10μs Duty rate 0%(CW, CCW) Rising/Falling time Below 10ns(CW, CCW), Max. 0μs (HOLD, DIVISI SELECTI, ZERO OUT) Max. 10ns Pulse input voltage High :..VDC, Low: 00.VDC Pulse input current 7. to 1.mA(CW, CCW), 10 to 16mA(HOLD, DIVISI SELECTI, ZERO OUT) Max. input pulse frequency Max. 1MHz(CW, CCW), Max. khz (HOLD, DIVISI SELECTI, ZERO OUT) 0kHz Ambient temperature Ambient humidity 0 to 0, storage: 0 to 60 to 8%RH, to 8%RH, storage: to 8%RH storage: 10 to 90%RH 0 to 0, storage: 10 to 60 0 to 0, storage: 0 to 60 to 8%RH, storage: 10 to 90%RH Approval Unit weight Approx. 0g Approx. 660g Approx. 60g Approx. 1kg Approx. 10g 1: When using over 0VDC, it should be mounted at ventilated place due to increasing heat. : Max. pullout frequency and max. slewing frequency are variable depending on resolution, or load. : There is no DIVISI SELECTI, ZERO OUT for MDHF1AO. Environment resistance is rated at no freezing of condensation. Q

2 MD Series Phase micro stepper motor driver [MDHD1] Resolution adjuster RUN current adjuster STOP current adjuster Q Function selection switch Switch position NO Name Function 1 TEST Selfdiagnosis Rotate in 0rpm Not using 1/ CLK Pulse input method 1pulse input pulse input C/D Auto current down Not using Using TEST Selfdiagnosis function is to test motors and drivers. s rotate with 0rpm in fullstep. rotation speed is subject to change depending on resolution setting. Rotation speed = 0rpm / resolution The motor will rotate in CCW direction when in 1pulse input mode and in CW direction when in pulse input mode. Note) Make sure that TEST switch is set to before ing the power. It may cause injury or danger if TEST switch is set to when power is supplied. 1/ CLK 1/ CLK switch is to select pulse input mode. 1pulse input mode : CW operation command pulse input, CCW rotation direction pulse input ([H] : CW rotation, [L] : CCW rotation) pulse input mode : CW CW direction rotation pulse input, CCW CCW direction rotation pulse input C/D (Auto current down) This function is reducing current automatically according to STOP current setting value in order to suppress generated heat when motor is stop. It activates when there is no pulse input of motor operation for over 100ms. RUN current setting RUN current is a phase current provided to phase stepper motor. Be sure to set RUN current at the rated current or below. Adjust the RUN current in case severe heat generation occurs. Be sure that torque decreasing may occur when adjusting the current. Note) Be sure to adjust RUN current while motor is running. STOP current setting indicator LED Function selection switch Input Zero output connection S/W No A B C D E F Current (Arms/Phase) S/W No A B C D E F % STOP current is a phase current provided to phase stepper motor at standstill. It will be activated when C/D (Auto current down) is set to. By setting STOP current, it is possible to suppress the heat generation at motor standstill. STOP current setting value is the ratio of RUN current setting value (%). Ex) In case RUN current setting value is set to 1.A and STOP current setting value is set to 0%, auto current down current is set to 0.7A. STOP current setting value may have some deviation depending on resistance impedance of motor. Auto current down function will be activated when HOLD signal is [L]. When HOLD signal is [H], the function is not activated since the current provided to each phase is cut off. Note) Be sure to adjust STOP current while motor is at standstill.

3 Driver(1.A/phase, DC ) Zero point excitation output signal (ZERO OUT) CW Pulse CCW Pulse ZERO OUT The signal is output to indicate when the motor excitation status is in the initial stage. Used to check the rotation position of motor's axis. In case of full step, the signal is output every 7.. (0 times / rotation). Ex) Full step (0.7 /Step) : Signal is output every 10 pulses 0 divisions (0.06 /Step) : Signal is output every 00 pulses. HOLD function When HOLD input signal is [H], motor excitation is released. When HOLD input signal is [L], motor excitation is in a normal status. A function used to rotate motor's axis using external force or used for manual positioning. HOLD Input signal [H] and [L] represent photocoupler / in a circuit. Please do not use for stopping motor. Setting microstep(microstep : Resolution) S/W No A B C D E F Resolution Step angle Resolution setting(same as MS1, MS) It is set to MS1 when division selection signal is [L], and MS when division selection signal is [H]. Two different micro step can be set using DIVISI SELECTI. Users can select one of them via external input signals. Microstep is to make basic step angle of phase motors (0.7 ) divided into smaller angle according to setting values. The formula for microstep angle is ; Basic step angle(0.7 ) revolution angle (phase motors) = Resolution In case of geared motors, step angle shall be determined by dividing step angle by gear ratio. EX) 0.7 / 10 (1:10) = 0.07 It may cause stepout if resolution is changed while motor is running. Input Output diagram 70Ω 70Ω 10Ω Inner circuit of MDHD CW CCW HOLD DIVISI SELECTI ZERO OUT CW pulse input mode CW direction rotation pulse input 1pulse input mode Operation command pulse input CCW pulse input mode CCW direction rotation pulse input 1pulse input mode Rotation direction pulse input [H] : CW, [L] : CCW HOLD excitation control signal [H] : excitation DIVISI SELECTI Division selection signal [L] : Operated by MS1 setting resolution. [H] : Operated by MS setting resolution. ZERO OUT Zero point excitation output signal for zero point excitation Q

4 MD Series Connections Note) Add external resistance when power for pulse from the external of the exceeds V. (Input current : 10 to 0mA) CW CW CCW CCW HOLD HOLD User Controller Division selection signal Zero point excitation output signal POWER 0VDC Please refer to Q8 for standard wiring. Dimensions (: mm) Q6

5 Driver(1.A/phase, AC ) Phase Micro stepper motor driver [MDHF1] Function selection switch ALARM LED(red) indicator LED STOP current adjuster RUN current adjuster Input Resolution adjuster Function selection switch Switch position NO Name Function 1 TEST Selfdiagnosis Rotate in 0rpm /1 CLK Pulse input method 1pulse input pulse input C/D Auto current down Not using Using TEST Selfdiagnosis function is to test motors and drivers. s rotate with 0rpm in fullstep. rotation speed is subject to change depending on resolution setting. Rotation speed = 0rpm / resolution The motor will rotate in CCW direction when in 1pulse input mode and in CW direction when in pulse input mode. Note) Make sure that TEST switch is set to before ing the power. It may cause injury or danger if TEST switch is set to when power is supplied. /1 CLK 1/ CLK switch is to select pulse input mode. 1pulse input mode : CW operation command pulse input, CCW rotation direction pulse input ([H]: CW rotation, [L]: CCW rotation) Puls input mode : CW CW direction rotation pulse input, CCW CCW direction rotation pulse input C/D (Auto current down) This function is reducing current automatically according to STOP current setting value in order to suppress generated heat when motor is stop. It activates when there is no pulse input of motor operation for over 100ms. S/W No A B C D E F Current (Arms/Phase) RUN current is a phase current provided to phase stepper motor. Be sure to set RUN current at the rated current or below. Adjust the RUN current in case severe heat generation occurs. Be sure that torque decreasing may occur when adjusting the current. Note) Be sure to adjust RUN current while motor is running. STOP current setting connection S/W No A B C D E F % STOP current is a phase current provided to phase stepper motor at standstill. It will be activated when C/D (Auto current down) is set to. By setting STOP current, it is possible to suppress the heat generation at motor standstill. STOP current setting value is the ratio of RUN current setting value (%). Ex) In case RUN current setting value is set to 1.A and STOP current setting value is set to 0%, auto current down current is set to 0.7A. STOP current setting value may have some deviation depending on resistance impedance of motor. Auto current down function will be activated when HOLD signal is [L]. When HOLD signal is [H], the function is not activated since the current provided to each phase is cut off. Note) Be sure to adjust STOP current while motor is at standstill. Q7

6 MD Series Q8 Zero point excitation output signal (ZERO OUT) CW Pulse CCW Pulse ZERO OUT The signal is output to indicate when the motor excitation status is in the initial stage. / Used to check the rotation position of motor's axis In case of full step, the signal is output every 7.. (0 times / rotation) EX) Full step (0.7 /Step): Signal is output every 10 pulses. 0 divisions (0.06 /Step): Signal is output every 00 pulses. HOLD function When HOLD input signal is [H], motor excitation is released. When HOLD input signal is [L], motor excitation is in a normal status. A function used to rotate motor's axis using external force or used for manual positioning. HOLD Input signal [H] and [L] represent photocoupler / in a circuit. Please do not use for stopping motor. Setting microstep(microstep : Resolution) Resolution setting(same as MS1, MS) It is set to MS1 when division selection signal is [L], and MS when division selection signal is [H]. Two different micro step can be set using DIVISI SELECTI. Users can select one of them via external input signals. Microstep is to make basic step angle of phase motors (0.7 ) divided into smaller angle according to setting values. The formula for microstep angle is ; revolution angle (phase motors) = S/W No A B C D E F Resolution Step angle Basic step angle(0.7 ) Resolution In case of geared motors, step angle shall be determined by dividing step angle by gear ratio. EX) 0.7 / 10 (1:10) = 0.07 It may cause stepout if resolution is changed while motor is running. ALRAM Function Over heat: When the temperature in driver BASE is over 80, Alarm LED will be and motor will stop with holding the torque. Remove the Over Heat Alarm causing factors and reset the power in order to reset alarm function. Overcurrent: When overcurrent is applied to the motor due to driver damage or errors, Alarm LED will flash. In case of overcurrent, the motor will be HOLD. Cut off the power and remove overcurrnetcausing factors in order to resume normal operation. Input Output diagram 10 Lead wires 1 70Ω 70Ω 6 DIVISI 7 SELECTI 8 VDC 10Ω kω 9 ZERO OUT 10 / / Brown / Purple / Yellow White / Gray 1 L AC N AC G VDC 1000VAC 0/60Hz GND CW CCW HOLD CW pulse input mode CW direction rotation pulse input 1pulse input mode Operation command pulse input CCW pulse input mode CCW direction rotation pulse input 1pulse input mode rotation direction pulse input [H] : CW, [L] : CCW HOLD excitation control signal [H] : excitation DIVISI SELECTI Division selection signal [L] : Operated by MS1 setting resolution. [H] : Operated by MS setting resolution. ZERO OUT Zero point excitation output signal for zero point excitation

7 Driver(1.A/phase, AC ) Connections Please refer to Q8 for standard wiring. Division selection signal Zero point excitation output signal F.G 1000VAC 0/60Hz Note) Add external resistance when power for pulse from the external of the exceeds V. (Input current : 10 to 0mA) CW CW CCW CCW HOLD HOLD User Controller Dimensions (: mm) M Tap depth: Q9

8 MD Series Phase Micro stepper motor driver [MDHF1AO] Function selection switch ALARM LED(red) indicator LED STOP current adjuster RUN current adjuster Input/Output Resolution adjuster Q10 Function selection switch NO Name Function Switch position 1 TEST Selfdiagnosis Rotate in 0rpm /1 CLK Pulse input method 1pulse input pulse input C/D Auto current down Not using Using TEST Selfdiagnosis function is to test motors and drivers. s rotate with 0 rpm in fullstep. rotation speed is subject to change depending on resolution setting. Rotation speed = 0 rpm / resolution The motor will rotate in CCW direction when in 1pulse input mode and in CW direction when in pulse input mode. Note) Make sure that TEST switch is set to before ing the power. It may cause injury or danger if TEST switch is set to when power is supplied. /1 CLK 1/ CLK switch is to select pulse input mode. 1pulse input mode : CW operation command pulse input, CCW rotation direction pulse input ([H]: CW rotation, [L]: CCW rotation) pulse input mode : CW CW direction rotation pulse input, CCW CCW direction rotation pulse input C/D (Auto current down) This function is reducing current automatically according to STOP current setting value in order to suppress generated heat when motor is stop. It activates when there is no pulse input of motor operation for over 100ms. RUN current setting RUN current is a phase current provided to phase stepper motor. Be sure to set RUN current at the rated current or below. Adjust the RUN current in case severe heat generation occurs. Be sure that torque decreasing may occur when adjusting the current. Note) Be sure to adjust RUN current while motor is running. STOP current setting connection S/W No A B C D E F Current (Arms/Phase) S/W No A B C D E F % STOP current is a phase current provided to phase stepper motor at standstill. It will be activated when C/D (Auto current down) is set to. By setting STOP current, it is possible to suppress the heat generation at motor standstill. STOP current setting value is the ratio of RUN current setting value (%). Ex) In case RUN current setting value is set to 1.A and STOP current setting value is set to 0%, auto current down current is set to 0.7A. STOP current setting value may have some deviation depending on resistance impedance of motor. Auto current down function will be activated when HOLD signal is [L]. When HOLD signal is [H], the function is not activated since the current provided to each phase is cut off. Note) Be sure to adjust STOP current while motor is at standstill.

9 Driver(1.A/phase, AC, Alarm output) HOLD function When HOLD input signal is [H], motor excitation is released. When HOLD input signal is [L], motor excitation is in a normal status. A function used to rotate motor's axis using external force or used for manual positioning. HOLD Input signal [H] and [L] represent photocoupler / in a circuit. Please do not use for stopping motor. Setting microstep(microstep : Resolution) S/W No A B C D E F Resolution Step angle Resolution setting Microstep is to make basic step angle of phase motors (0.7 ) divided into smaller angle according to setting values. The formula for microstep angle is ; Basic step angle(0.7 ) revolution angle (phase motors) = Resolution In case of geared motors, step angle shall be determined by dividing step angle by gear ratio. EX) 0.7 / 10 (1:10) = 0.07 It may cause stepout if resolution is changed while motor is running. ALRAM OUTPUT Function Overheat : When the temperature of inner driver (Base) is over 80, Alarm LED () is turned and motor becomes HOLD. Turn the power, remove the causes, and re the power to clear the alarm. Overcurrent : When overcurrent is applied to motor due to damage by a fire of stepper motor, broken of inner driver, or occurrence of abnormal error, Alarm LED () flashes and motor becomes HOLD. Turn the power, remove the causes, and re the power to clear the alarm. Input Output diagram 10 Lead wires kω 1 70Ω 70Ω 10Ω / / Brown / Purple / Yellow White / Gray CW CCW HOLD VDC kω Alarm OUT Alarm OUT VDC CW pulse input mode CW direction rotation pulse 1pulse input mode Operation command pulse input CCW pulse input mode CCW direction rotation pulse input 1pulse input mode Operation command pulse [H] : CW, [L] : CCW HOLD excitation control signal [H] : excitation When alarm occurs, it turns HOLD. After cut off the power, remove the causes to operate normally. Overheat : Over current : L N AC AC 1000VAC 0/60Hz G GND Q11

10 MD Series Connections F.G. 1000VAC 0/60Hz Note) Add external resistance when power for pulse from the external of the exceeds V. (Input current : 10 to 0mA) Please refer to Q8 for standard wiring. CW CW CCW CCW HOLD HOLD User Controller Alarm output VDC Dimensions (: mm) M Tap depth: Q1

11 Driver(.8A/phase, AC ) Phase Microstep motor driver [MDHF8] STOP current adjuster RUN current adjuster Resolution adjuster Function selection switch KR0G can be replaced with MDHF VAC and connected socket are upgraded. TEST Selfdiagnosis function is to test motors and drivers. s rotate with 0 rpm in fullstep. rotation speed is subject to change depending on resolution setting. Rotation speed = 0 rpm / resolution The motor will rotate in CCW direction when in 1pulse input mode and in CW direction when in pulse input mode. Note) Make sure that TEST switch is set to before ing the power. It may cause injury or danger if TEST switch is set to when power is supplied. /1 CLK 1/ CLK switch is to select pulse input mode. 1pulse input mode : CW operation command pulse input, CCW rotation direction pulse input ([H]: CW rotation, [L]: CCW rotation) pulse input mode : CW CW direction rotation pulse input, CCW CCW direction rotation pulse input C/D (Auto current down) This function is reducing current automatically according to STOP current setting value in order to suppress generated heat when motor is stop. It activates when there is no pulse input of motor operation for over 100ms. RUN current setting STOP current setting indicator LED ALARM LED(red) Function selection switch NO Name Function Switch position 1 TEST Selfdiagnosis Rotate in 0rpm /1 CLK Pulse input method 1pulse input pulse input C/D Auto current down Not using Using S/W No A B C D E F Current (Arms/Phase) RUN current is a phase current provided to phase stepper motor. Be sure to set RUN current at the rated current or below. Adjust the RUN current in case severe heat generation occurs. Be sure that torque decreasing may occur when adjusting the current. Note) Be sure to adjust RUN current while motor is running. S/W No A B C D E F % STOP current is a phase current provided to phase stepper motor at standstill. It will be activated when C/D (Auto current down) is set to. By setting STOP current, it is possible to suppress the heat generation at motor standstill. STOP current setting value is the ratio of RUN current setting value (%). Ex) In case RUN current setting value is set to 1.A and STOP current setting value is set to 0%, auto current down current is set to 0.7A. STOP current setting value may have some deviation depending on resistance impedance of motor. Auto current down function will be activated when HOLD signal is [L]. When HOLD signal is [H], the function is not activated since the current provided to each phase is cut off. Note) Be sure to adjust STOP current while motor is at standstill. Q1

12 MD Series Q1 Zero point excitation output signal (ZERO OUT) CW Pulse CCW Pulse ZERO OUT The signal is output to indicate when the motor excitation status is in the initial stage. / Used to check the rotation position of motor's axis. In case of full step, the signal is output every 7.. (0 times / rotation) EX) Full step (0.7 /Step) : Signal is output every 10 pulses. 0 divisions (0.06 /Step) : Signal is output every 00 pulses. HOLD function When HOLD input signal is [H], motor excitation is released. When HOLD input signal is [L], motor excitation is in a normal status. A function used to rotate motor's axis using external force or used for manual positioning. HOLD Input signal [H] and [L] represent photocoupler / in a circuit. Please do not use for stopping motor. Setting microstep(microstep : Resolution) S/W No A B C D E F Resolution Step angle Resolution setting(same as MS1, MS) It is set to MS1 when division selection signal is [L], and MS when division selection signal is [H]. Two different micro step can be set using DIVISI SELECTI. Users can select one of them via external input signals. Microstep is to make basic step angle of phase motors (0.7 ) divided into smaller angle according to setting values. The formula for microstep angle is ; Basic step angle(0.7 ) revolution angle (phase motors) = Resolution In case of geared motors, step angle shall be determined by dividing step angle by gear ratio. EX) 0.7 / 10 (1:10) = 0.07 It may cause stepout if resolution is changed while motor is running. ALRAM Function Over heat : When the temperature in driver BASE is over 80, Alarm LED will be and motor will stop with holding the torque. Remove the Over Heat Alarm causing factors and reset the power in order to reset alarm function. Overcurrent : When overcurrent is applied to the motor due to driver damage or errors, Alarm LED will flash. In case of overcurrent, the motor will be HOLD. Cut off the power and remove overcurrentcausing factors in order to resume normal operation. Input Output diagram 10 Lead wires VDC 1 70Ω CW 70Ω CCW HOLD 6 7 DIVISI SELECTI 8 VDC 10Ω 9 kω ZERO OUT 10 / / Brown / Purple / Yellow White / Gray 1 L AC N AC G 1000VAC 0/60Hz GND CW pulse input mode CW direction rotation pulse input 1pulse input mode Operation command pulse input CCW pulse input mode CCW direction rotation pulse input 1pulse input mode Rotation direction pulse input [H] : CW, [L] : CCW HOLD excitation control signal [H] : excitation DIVISI SELECTI Division selection signal [L] : Operated by MS1 setting resolution. [H] : Operated by MS setting resolution. ZERO OUT Zero point excitation output signal for zero point excitation

13 Driver(.8A/phase, AC ) Connections F.G 1000VAC 0/60Hz Note) Add external resistance when power for pulse from the external of the exceeds V. (Input current : 10 to 0mA) CW CW CCW CCW HOLD HOLD Division selection signal Zero point excitation output signal User Controller Please refer to Q8 for standard wiring. Dimensions 9 0 Ø (: mm) Ø.1 R 16 Q1

14 MD Series Phase stepper motor driver [MDND1] Input Function selection STOP switch RUN current current adjuster adjuster connection Function selection switch FULL HALF Resolution Setting / CLK 1/ CLK switch is to select pulse input mode. 1pulse input mode : CW operation command pulse input, CCW rotation direction pulse input ([H]: CW rotation, [L]: CCW rotation) pulse input mode : CW CW direction rotation pulse input, CCW CCW direction rotation pulse input FULL HALF FULL HALF switch is to select pulse input mode. If changing resolution while the motor is running, it may cause stepout. RUN current setting RUN CURRENT Switch position NO Name Function 1 1/ CLK Pulse input method 1pulse input pulse input RUN current is a phase current provided to phase stepper motor. Be sure to set RUN current at the rated current or below. RUN current setting range: 0. to 1.A When changing RUN current, connect CP to volt () and CP to volt (), then adjust the volume. The formula for phasecurrent setting is ; CP Input Voltage(V) Setting current = Adjust the RUN current in case severe heat generation occurs. Be sure that torque decreasing may occur when adjusting the current. Note) Be sure to adjust RUN current while motor is running. STOP current setting STOP CURRENT % 7% STOP current is a phase current provided to phase stepper motor at standstill. A function to reduce the current in order to suppress the heat generation at motor standstill / STOP current setting range : to 7% of RUN current using VR In case Run current setting value is set to 1.0A and STOP current setting value is set to 0%, STOP current is set to 0.A. STOP current setting value may have some deviation depending on resistance impedance of motor. STOP current function will be activated when HOLD signal is [L]. When HOLD signal is [H], the function is not activated since the current provided to each phase is cut off. STOP current function will be activated when no operation command pulse is input within 00ms. Note) Be sure to adjust STOP current while motor is at standstill. HOLD function When HOLD input signal is [H], motor excitation is released. When HOLD input signal is [L], motor excitation is in a normal status. A function used to rotate motor's axis using external force or used for manual positioning. HOLD Input signal [H] and [L] represent photocoupler / in a circuit. Please do not use for stopping motor. Q16

15 Driver(1.A/phase, AC ) Input diagram Inner circuit of MDND1 1 6 CW CCW HOLD CW pulse input method(cw direction rotation pulse input) 1pulse input method(operating command pulse input) Note) If the power for driving pulse from external is over than V, please connect resistor CCW pulse input method(ccw direction rotation pulse input) 1pulse input method(rotating direction pulse input) [H] : CW, [L] : CCW HOLD The control signal for hold off of [H] : Hold Connections CP CP V 0mA output 0 VDC Note) Add external resistance when power for pulse from the external of the exceeds V. (Input current:10 to 0mA) CW CW CCW CCW HOLD HOLD User Controller Please refer to Q8 for standard wiring. Dimensions. (: mm) Q17