Technodrive KR-A535M Manual

Motor Driver(5-Phase microstepping driver)
KR-A535M
M A N U A
Thank you very much for selecting Technodrive products.
For your safety, please read the following before using.
Caution for your safety
※Please keep these instructions and review them before using this unit.
※Please observe the cautions that follow ;
Warning
Serious injury may result if instructions are not followed.
Caution
Product may be damaged, or injury may result if instructions are not followed.
※The following is an explanation of the symbols used in the operation manual.
caution:Injury or danger may occur under special conditions.
Warning
1. In case of using this unit with machinery(Nuclear power control, medical equipment, vehicle,
train, airplane, combustion apparatus, entertainment or safety device etc), it is required to
install fail-safe device, or contact us for information on type required.
It may cause serious human injury or a fire, property.
2. Installation, connection, operation, control, maintenance should be carried out by person
who has been qualified.
It may cause a fire, human injury or give an electric shock.
3. It should be installed and earth independently and grounding wire should be over than AWG
No.18(0.75mm 2 ).
It may give an electric shock.
4. Please install this unit after consider countplan against power failure.
It may cause human injury or damage to product by releasing holding torque of motor.
5. Do not use this unit outdoors or place where there are explosiveness, flammable, corrosive
gas, water and frequent vibration etc.
It may cause a fire or give an electric shock.
6. Do no touch this unit or connection terminal of condenser within 30sec after turn off the power.
It may give an electric shock by residual voltage.
7. Do not put finger or any object in to this product.
It may cause a fire or give an electric shock.
8. Do not disassemble or modify this unit. Please contact us if it required.
It may cause a fire, give an electric shock or damage to product.
9. Please adjust the volume switch with insulated screw driver.
It may give an electric shock.
10. It should be insulated not to expose the conductor, because connecting party has a
dangerous voltage when join to connector.
Caution
1. Do not move, install or maintain during it is operating.
It may give an electric shock.
2. Power input voltage must be used within rating specification and power line should be over
2
than AWG NO. 18(0.75mm ).
It may cause a fire or give an electric shock.
3. Please check the connection before power.
It may cause a fire or give an electric shock.
4. When you connect to power, please install current breaker.
It may cause a fire.
5. Please turn off when power failure occurred.
It may cause human injury or damage to product due to sudden movement by recovering from
power failure.
6. Do not touch during the operation or after a while of operation.
It may cause a burn due to high temperature in surface.
7. The emergency stop should be enabled during the operation.
It may cause human injury or damage to product.
8. Please apply power after checking control input signal.
It may cause human injury or damage to product by sudden movement.
9. Do not turn on the HOLD OFF signal input while it is maintaining vertical position.
It may cause human injury or damage to product by releasing holding torque of motor.
10. Please install a safety device when need to remain the vertical position after turn off the
power.
It may cause human injury or damage to product by releasing holding torque of motor.
11. Please check if HOLD OFF signal input is ON when need to set the output manually.
It may cause human injury by sudden movement.
12. Please stop this unit when mechanical problem is occurred.
It may cause a fire or human injury.
13. Do not touch the terminal when during the insulation dielectric strength test or insulation
resistance measurement.
It may give an electric shock.
14. Please observe rating specification.
It may cause a fire, give an electric shock or damage to product.
15. In cleaning the unit, do not use water or an oil-based detergent.
It may cause a fire or give an electric shock.
16. Please separate as industrial waste when disuse this unit.
17. Use the specified 5-phase stepping motor in motor output terminal.
It may cause a fire or damage to product.
※The above specifications are changeable at anytime without notice.
Specification
KR－A535M
Model
Power supply 100－220VAC±10% 50/60Hz
Power consumption (1) 3A(Max.)
RUN current (2) 0.4~1.4A/Phase
Drive method Bipolar constant current pentagon drive
Resolution
1, 2, 4, 5, 8, 10, 16, 20, 25, 40, 50, 80, 100, 125, 200, 250 division
L
Min. 0.25㎲(Duty max. 50%)
Pulse width
Pulse interval Min. 0.25㎲(Duty max. 50%)
CW/
CCW
Rising/falling time Max. 1
Input
Voltage High：4－8VDC， Low：0－0.5VDC
pulse
Current 10~20mA
Frequency(3) Max. 500kpps
Ambient temperature 0~50℃(at non-freezing status)
Ambient humidity 35~85%RH(at non-dew status)
Unit weight Approx. 660g
※(1) Ambient temperature is 25℃ and ambient humidity is 55%RH.
※(2) The max. value of RUN current is based on RMS value in accordance with frequency of
running motor, peak power can be changed by load fluctuation.
※(3) Variable depending on resolution and motor's load.
Dimensions
7 108
4-M4 TAP Dp:8
5
122
134.3
Time charts
CW / CCW Input
(CW : Clockwise direction from the front view of shaft)
2 Pulse type 1 Pulse type
CW CW
CCW CCW
Rotation Rotation
position position
CW CCW
ZERO OUT output
ON
CW Pulse
OFF
ON
CCW Pulse
OFF
ON
ZERO OUT
OFF
0 1 2 3 4 5 6 7 8
※
ZERO OUT means the initial status of motor excitation (STEP 0), it outputs per 7.2° of rotation
in Full Step. (It outputs 50times per 1 rotation of motor.)
Ex) Full step : It outputs one time when input 10 pulse.
20 division : It outputs one time when input 200 pulse.
Connections
Blue
Red
Orange
Green
Black
100-220VAC L
50/60Hz N
F.G
Input ・ Output diagram
＜KR－A535M Driver inner circuit＞
[Signal] I/O terminal connection diagram
1
CW
270Ω
2
3
CCW
270Ω
4
㎲
5
390Ω
HOLD OFF
6
7
DIVISION
390Ω
SELECTION
8
9
10Ω
ZERO OUT
10
[Motor] Motor connection diagram and power supply
Blue
20
10 Blue / Black 1
(Unit:mm)
L
Red
e
Red / Brown 2
a
d
Orange
Orange / Purple 3
w
Green
i
Green / Yellow 4
r
e Black
White / Gray 5
s
AC
L
[Power]
AC
N
F.G
Function
Selectable function switch
No Name
5
1 TEST Self diagnosis function
40
ON 1 2 3 2/1 CLK Pulse input method
2
42
3 C/D Auto Current Down
TEST
※ It rotates at a speed of 250pps in Full Step and it is changed depending on resolution.
※
It rotates to CCW in 1 Pulse input method and CW in 2 Pulse input method.
2/1 CLK
※
Pulse input method selection
※ 1 Pulse method : Input pulse signal input in CW and rotating direction signal in CCW.
It rotates to CCW when [L] and CW for [H].
※
2 Pulse method : Motor is rotated to CW when input pulse in CW and to CCW when input
pulse in CCW.
CURRENT DOWN
CW CCW
※ It is to reduce RUN current according to the setting rate of STOP current switch when motor
stops in order to reduce motor's heat generation.
※
Current is reduced from approx.500[ms] after the last pulse input.
Setting RUN current
Switch No 0 1 2
Current
0.4 0.5 0.57 0.63 0.71 0.77 0.84 0.9 0.96 1.02 1.09 1.15 1.22 1.27 1.33 1.4
(A/Phase)
RUN current is phase current for 5 phase stepping motor.
9 0 1 1 0
There can be an error in RUN current setting value by driving frequency.
RUN current should be used within the rated current of motor, or it may cause overheating,
step-out and loss of torque.
Setting STOP current
Switch No 0 1 2
%
27 31 36 40
STOP current is phase current provided to 5-phase of stepping motor to be stopped.
The switch setting value of STOP current is a percentage of RUN current switch setting current
value.
There can be an error in STOP current by coil impedance of motor.
This function shall be operated when CURRENT DOWN switch is set to OFF. In case CURRENT
DOWN switch is set to ON, RUN CURRENT shall be provided both when a motor stops and
when a motor runs.
Zero point excitation output signal(ZERO OUT)
It indicates the initial step of excitation status of stepping motor and rotation position of motor
axis from previously set zero.
HOLD OFF function
HOLD OFF is [H], the excitation is released, because current provided to each phase is cut off.
HOLD OFF is [L], the excitation is in a normal status.
It rotates motor axis by external force or is used for manual positioning.
Input H/L means ON/OFF of photocoupler in a circuit.
Setting micro step(Microstep:Resolution)
Switch No
Resolution
2 Pulse input method(forward rotation signal input)
Setting resolution(Same for MS1, MS2)
1 Pulse input method(pulse signal input)
※ It drives a motor dividing basic step angle(0.72°) by setting value of resolution.
2 Pulse input method(reverse rotation signal input)
1 step angle of 5-phase stepping motor =
1 Pulse input method(rotating direction signal input)
[H] : CW, [L] : CCW
※
When resolution is changed during the operation of motor, it may cause a step-out of motor.
Selectable resolution(Selectable Step angle)
Motor excitation OFF control signal
※
Change into the resolution in MS1/MS2 by DIVISION SELECTION input.
[H] Motor excitation OFF
※
Motor is rotated by resolution in MS1 when DIVISION SELECTION signal is [L] and MS2 for [H].
※ Change the resolution after motor is stopped or, it may cause a step-out of motor.
Division(MS1, MS2) selection signal
※
Input H/L means ON/OFF of photocoupler in a circuit.
[L] : Operated by switch MS1
[H] : Operated by switch MS2 Alarm function
Overheat
When base temperature of driver is over 80℃, alarm LED(Red) is lighted and motor will be stop
Zero point excitation output signal
holding the excitation. Reset the power after remove the existing factors of overheat that can
ON for zero point excitation
be occurred to release the Alarm.
Overcurrent
When overcurrent is applied from breakdown or error to the motor, alarm LED (Red) is Flickered.
In case overcurrent occurs, a motor will become HOLD OFF. A driver will resume its normal
operation when error causing factors are disappeared.
Failure diagnosis and management
Motor
1. If motor does not rotate
① Check the connection status of controller and driver and pulse input specification. (Voltage,
width)
② Check the input pulse method and connected method is same.
③ Check pulse and direction signal is connected correctly for 1 pulse input method.
2. If motor rotates as a reverse direction
① Check input pulse connection of CW and CCW is correct for 2 pulse input method.
100-220VAC
② In case of 1-pulse method, it is forward rotation when CCW input is [H] and reverse rotation
50/60Hz
Note)
when CCW input is [L].
Add external resistor when power
for pulse from the external of the 3. If motor does not work properly
F.G
unit exceeds +5VDC.
① Check the connection of driver and motor.
② Check the pulse input specification of driver. (Voltage, width)
③ Check output current for current adjuster and current for motor operation as correct.
④ After turning off the power, wait at least 15 seconds before turning the power back on.
Switch position
Caution for using
Function
ON OFF
1. Caution for signal input
250pps rotation Normal
① Do not input CW, CCW signal at the same time in 2 Pulse input method. It may not work
1 Pulse input 2 Pulse input
properly if another signal is supplied when one of them is ON.
No use Use
② In case, the signal input supply is higher than rated supply expressed on the specification,
please connect the additional resistor to external part.
2. Caution for supplying power
① Use the power enough to supply the run current when turn on the power.
② The current value indicated on power supply is the max. input of driver.
3. Caution for wiring
① Use Twist pair(Over 0.2mm
② Please use an electric wire is thicker than the motor lead when product the motor wire
connection.
③ Please leave a space over 10cm between a signal wire connection and power wire.
4. Caution for installation
① In order to increase heat protection efficiency, keep the heat sink as close as possible to
metal panel and keep it well-ventilated.
② Excessive heat generation may occur on Driver. Keep the heat sink under 80℃ when installing
the unit.(In case it is over 80℃, forcible cooling shall be required.)
3 4 5 6 7 8 9 A B C D E F
5. Caution for using function switches
① Check the position of self-diagnosis switch before turn on the power.
It may be dangerous if turn on the power in [ON] status, due to motor is worked instantly or
cause a malfunction.
② When the selection switch of input signal method is changed to 2 Pulse input method during
the operation with 1 Pulse input method, it may be danger as the revolution way of the motor
is changed conversely.
Please do not change the input signal method during the operation.
3 4 5 6 7 8 9 A B C D E F 6. Installation environment
① It shall be used indoor
45 50 54 58 62 66 70 74 78 82 86 90
② Altitude Max. 2000m
※ It may cause malfunction if above instructions are not followed.
101, New Well Ikuta Bldg.,
26-28, Mita 1-chome, Tama-ku, Kawasaki-shi, Kanagawa Pref., 214-0034, Japan
TEL. +81-44-935-0072
URL. http://www.technodrive.com
E-Mail. mail@technodrive.com
0 1 2 3 4 5 6 7 8 9 A B C D E F
1 2 4 5 8 10 16 20 25 40 50 80 100 125 200 250
Basic step angle(0.72°)
Resolution
2 ) for the signal wire should be shorter than 2m.
③ Pollution Degree 2
④ Installation CategoryⅡ
FAX. +81-44-935-0708
EP-JE-14-0009B