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Orientalmotor CRD5103P-RS4 User Manual

Rs-485 driver with built-in controller function for 5-phase stepping motors
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HM-40064
RS-485 Driver
with Built-in Controller Function
for 5-phase Stepping Motors
CRD5103P-RS4
CRD5107P-RS4
CRD5114P-RS4
USER 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.

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Summary of Contents for Orientalmotor CRD5103P-RS4

  • Page 1 HM-40064 RS-485 Driver with Built-in Controller Function for 5-phase Stepping Motors CRD5103P-RS4 CRD5107P-RS4 CRD5114P-RS4 USER 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.

  • Page 2: Table Of Contents

    Table of contents 9.8 Driver status indication ......37 1 Introduction ......... 3 10 Command details ......38 1.1 Overview of the product ......3 1.2 System configuration....... 3 10.1 No action (00h) ........38 1.3 Standards and CE Marking ..... 4 10.2 Receive period (01h) ......

  • Page 3: Introduction

    1 Introduction 1 Introduction The product is designed and manufactured for use as an internal component for general industrial equipment. Do not use the product for any other purpose. For the driver, use a DC power source with reinforced insulation provided on the primary and secondary sides. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warning.

  • Page 4: Standards And Ce Marking

    1 Introduction 1.3 Standards and CE Marking Applicable Standards This product is recognized by UL and certified by CSA, and bears the CE Marking (EMC Directives) in compliance with the EN Standards. Certification Standards Applicable Standards Body File No. Marking UL 60950-1 High-resolution type CSA C22.2 No.60950-1...

  • Page 5: Safety Precaution

    2 Safety precaution 2 Safety precaution The precautions described below are intended to prevent injury to the user and other personnel through safe, correct use of the product. Fully understand the meaning of each item before using the product. Handling the product without observing the instructions that accompany a Warning “Warning”...
  • Page 6 2 Safety precaution Caution General • Do not use the motor and driver beyond their specifications, or injury or damage to equipment may result. • Keep your fingers and objects out of the openings in the motor and driver, or fire or injury may result. •...

  • Page 7: Precautions For Use

    3 Precautions for use 3 Precautions for use This section covers the limitations and points to note regarding use of the RS-485 driver. Conduct the insulation resistance measurement or withstand voltage test separately on the motor and the driver. Conducting the insulation resistance measurement or withstand voltage test with the motor and driver connected may result in injury or damage to the product.
  • Page 8 3 Precautions for use • Rotating direction of the gear output shaft The relationship between the rotating direction of the motor shaft and that of the gear output shaft changes as follows, depending on the gear type and gear ratio. Rotating direction (relative to the motor rotation direction) Motor size Gear type...

  • Page 9: Preparation

    4.2 Checking for applicable motors The applicable motors vary depending on the driver. Make sure you select a motor and a driver in the correct combination. Applicable motors for CRD5103P-RS4 Applicable motor model Motor size Motor type Single shaft...
  • Page 10 4 Preparation Applicable motors for CRD5107P-RS4 Applicable motor model Motor size Motor type Single shaft Double shaft 42 mm High-resolution type PK544PMA PK544PMB (1.65 in.) PK546PMA PK546PMB PK544PA PK544PB High-torque type PK546PA PK546PB PK543NAW PK543NBW Standard type PK544NAW PK544NBW PK545NAW PK545NBW TH geared type PK543AW-T...

  • Page 11: Names Of Parts

    4 Preparation 4.3 Names of parts Motor Illustration shows the PK56 type. Pilot Mounting holes (four locations) Output shaft Motor leads (five wires: blue, red, orange, green and black) Driver Power supply connector Function setting switches Driver address RS-485 communication switch 2 connector A RS-485 communication...

  • Page 12: Installation

    5 Installation 5 Installation This chapter explains the installation location and installation methods of the motor and driver, as well as how to install a load. The installation and wiring methods in compliance with the EMC Directive are also explained. 5.1 Location for installation The motor and driver are designed and manufactured for installation in equipment.
  • Page 13 5 Installation Bolt size, tightening torque and installation method Motor model Tightening Effective Installation Bolt size torque depth of bolt method Single shaft Double shaft [N·m (oz-in)] [mm (in.)] PK513PA PK513PB 0.25 (35) PK523PA PK523PB PK525PA PK525PB 2.5 (0.098) PK523PMA PK523PMB M2.5 0.5 (71)

  • Page 14: Installing A Load

    5 Installation 5.3 Installing a load When connecting a load to the motor, align the centers of the motor’s output shaft and load shaft. Also, keep the overhang load and thrust load to the permissible values or below. • Using a coupling Align the centers of the motor’s output shaft and load shaft in a straight line.
  • Page 15 5 Installation Permissible overhung load and permissible thrust load The overhung load and the thrust load on the motor’s output shaft must be kept under the permissible values listed below. Failure due to fatigue may occur when the motor bearings and output shaft are subject to Note repeated loading by an overhung or thrust load that is in excess of the permissible limit.

  • Page 16: Installing The Driver

    5 Installation Permissible moment load of the harmonic geared type When installing an arm or table on the flange surface, calculate the moment load using the formula below if the flange surface receives any eccentric load. The moment load should not exceed the permissible value specified in the table. Moment load：M [N·m (oz-in)] = F ×...

  • Page 17: Installing And Wiring In Compliance With The Emc Directive

    5 Installation When installing the driver, it must be placed vertically or horizontally using driver mounting holes. Securely tighten the two screws (M3: not supplied) so as to leave no gaps between the driver’s installation surface and the metal plate. M3 screws •...
  • Page 18 5 Installation Mains filter Connect a mains filter on the input side of the DC power supply so as to prevent the noise generated in the driver from being transmitted externally via the power supply line. When a power supply transformer is used, be sure to connect a mains filter on the AC input side of the power supply transformer.
  • Page 19 5 Installation Example of motor and driver installation and wiring Motor User controller (Master) Driver Motor cable [10 m (33 ft.)] Communication cable [50 m (165 ft.)] Mains power filter supply Cable Power supply clamp cable [2 m (6.6 ft.)] (Shielded cable) Grounded panel Precautions about static electricity...

  • Page 20: Connection

    6 Connection 6 Connection This chapter explains how to connect the driver, motor and power supply, provides connection examples, and describes the I/O interface. Our high-resolution motors, high-torque motors and geared motors (PK513P and PK523P) adopt the connector coupling method. If you are using any of these motors, provide appropriate connectors and leadwires.

  • Page 21: Connection Example

    6 Connection 6.2 Connection example Driver CN2/CN3 ENC-A+ ENC-A- RS-485 communication cable Host controller ENC-B+ ENC-B- 24 VDC Encoder ENC-Z+ +24 VIN ENC-Z- HOMELS +5 V OUT CWLS CCWLS STOP (24 VDC or less) Motor cable OUT1+ OUT1- OUT2+ 24 VDC±10% OUT2- ∗...

  • Page 22: Connector Pin Assignments

    6 Connection 6.3 Connector pin assignments • • CN1 (Power supply connector) CN4 (I/O connector) Signal name Explanation Signal name Explanation POWER+ Power supply input Power supply input for +24 VIN (24 VDC) signal (24 VDC) POWER− Power supply GND HOMELS HOMELS input CWLS...

  • Page 23: Internal Circuits

    6 Connection 6.4 Internal circuits With both the input signal terminals and output signal terminals, keep the inter-terminal voltage to 24 VDC or less. • • Input signal terminal Communication terminal +24 VIN 5 mA 4.7 k Typ. HOMELS CWLS CCWLS STOP •...

  • Page 24: Led

    6 Connection Communication speed setting Communication speed No.2 No.3 9600 bps 19200 bps 38400 bps System reservation These switches are designed so that the new setting will become effective the next time Note the power is turned on. Accordingly, changing the switch setting while the power is supplied will not make the new setting effective right away.

  • Page 25: Applicable Housings And Contacts

    Make the cable’s radius of curvature as large as possible. 6.8 Connecting the power supply Use a power supply that can supply the following current capacity. CRD5103P-RS4 CRD5107P-RS4 CRD5114P-RS4 Driver model Power supply input voltage 24 VDC±10%...

  • Page 26: Method Of Control Via Communication26

    7 Method of control via communication 7 Method of control via communication This driver is controlled from a host system by means of serial communication. Since data is not backed up, the stored data will reset to the default values when the power is reconnected. 7.1 Communication specifications Electrical In conformance with EIA-485.

  • Page 27: Frame Structures

    7 Method of control via communication 7.4 Frame structures The frame structure used for sending data from the master to the slave is shown below. Header Action entry Mode Command Data1 Data2 Data3 Data4 The frame structure used for sending data from the slave to the master is shown below. Header Action entry ACK/NACK...
  • Page 28 7 Method of control via communication Action entry The slave sends directly the action entry data received from the master. Function Explanation Behavior ∗1 Bit7 “0” specification System-reserved bit ∗2 Bit6 WRITE/READ WRITE: Write to the slave 0: WRITE READ: Read from the slave 1: READ ∗2∗3 Bit5...
  • Page 29 7 Method of control via communication Command The following describes each command. For details of each command, refer to the specified reference page. Reference Function Description page No action Specify this command if you don’t want to process P.38 any command. When this command is specified, all data values will be ignored.
  • Page 30 7 Method of control via communication Data Specify data in the signed four-byte binary format. The four-byte data is expressed in the little endian order. Example: When the data “01234567h” is set in the data area The following values will be stored in data 1 to 4. Data1 Data2 Data3...

  • Page 31: Operating Functions

    8 Operating functions 8 Operating functions This chapter explains the operating functions of the driver. The operating functions of the driver include positioning operation (index operation), continuous operation (scan operation) and return to mechanical home operation (home operation). Since the motor excitation is off immediately after the power is turned on, issue an excitation control (22h) command to excite the motor before starting the first operation.

  • Page 32: Continuous Operation (Scan Operation)

    8 Operating functions 8.2 Continuous operation (scan operation) Operation is performed continuously based on the starting speed, acceleration/deceleration rate, operating speed and direction set by each command, until a stop command is issued. Continuous operation data can be set by means of serial communication. Related command Reference Command No.
  • Page 33 8 Operating functions • High-speed detection mode (3-sensor mode) The home is detected using the three sensors of CWLS, CCWLS and HOMELS. While the motor is moving in the starting direction, the motor recognizes a home at the edge of the HOMELS signal and stops within the HOMELS range.

  • Page 34: Relationship Of Starting Speed And Operating Speed

    8 Operating functions • Constant-speed detection mode (2-sensor mode) The home is detected using the CWLS and CCWLS sensors. The motor stops after pulling out from the CWLS or CCWLS position located in the starting direction. If the timing signal for home detection type or encoder input phase Z is “enabled,” the motor will continue to operate after pulling out from the CWLS (CCWLS) position and stop after recognizing a home at the edge of the timing signal or encoder input phase Z.

  • Page 35: Related Function

    9 Related function 9 Related function 9.1 Stop When the STOP bit is set to “1” or the STOP input is turned ON via serial communication while the motor is operating, the motor operation will stop. A desired STOP input logic can be set using a switch according to 6.5 “Setting switches” on p.23, or by issuing a Sensor logic setting (15h) command.

  • Page 36: Excitation Control

    9 Related function 9.4 Excitation control • The excitation status of the motor can be set using an Excitation control (22h) command. • Operation cannot be started while the motor excitation is OFF. Since the motor excitation is OFF immediately after the power is turned on, issue an Excitation control (22h) command to excite the motor before starting the first operation.

  • Page 37: Driver Status Indication

    9 Related function 9.8 Driver status indication • Status indication using a command The driver status can be indicated using a Status (3Ch) command. For the statuses that can be checked, refer to 10.14 “Status (3Ch)” on p.45. • Status indication using LEDs The driver status can be checked by LEDs.

  • Page 38: Command Details

    10 Command details 10 Command details This chapter explains the commands that are sent/received by RS-485 communication. 10.1 No action (00h) Use this command if you don’t want to process any command. When this command is specified, all data values will be ignored. •...

  • Page 39: Response Interval (02H)

    10 Command details 10.3 Response interval (02h) This command sets the response interval (T2) explained in 7.3 “Communication timing” on p.26. • Action entry (WRITE/READ) Either WRITE or READ can be set. WRITE: The setting will become effective immediately after the reception analysis. •...

  • Page 40: Home Detection Type (12H)

    10 Command details 10.5 Home detection type (12h) This command sets the home detection type to be used in return to mechanical home operation. • Action entry (WRITE/READ) Either WRITE or READ can be set. WRITE: If the command is issued while the motor is operating, the setting will become effective after the end of the current operation, provided that the reception analysis completes during the operation.

  • Page 41: Sensor Logic Setting (15H)

    10 Command details 10.7 Sensor logic setting (15h) This command sets the input logic applicable to HOMELS/CWLS/CCWLS/STOP inputs. • Action entry (WRITE/READ) Either WRITE or READ can be set. WRITE: If the command is issued while the motor is operating, the setting will become effective after the end of the current operation, provided that the reception analysis completes during the operation.

  • Page 42: Acceleration/Deceleration Patterns (19H)42

    10 Command details 10.9 Acceleration/Deceleration patterns (19h) Sets the acceleration/deceleration patterns. • Action entry (WRITE/READ) Either WRITE or READ can be set. WRITE: If the command is issued while the motor is operating, the setting will become effective after the end of the current operation, provided that the reception analysis completes during the operation.

  • Page 43: Counter Clear (20H)

    10 Command details 10.10 Counter clear (20h) This command clears the internal counters keeping the current position and encoder count to “0.” • Action entry (WRITE/READ) Only WRITE can be specified. WRITE: If the command is issued while the motor is operating, the setting will become effective after the end of the current operation, provided that the reception analysis completes during the operation.

  • Page 44: Excitation Control (22H)

    10 Command details 10.12 Excitation control (22h) This command sets the excitation control of the driver. The actual excitation status of the motor can be checked by the ENABLE bit explained in 10.14 “Status (3Ch)” on p.45. • Action entry (WRITE/READ) Only WRITE can be specified.

  • Page 45: Status (3Ch)

    10 Command details 10.14 Status (3Ch) This command is used to indicate the driver status. The statuses that can be checked with this command are as follows. Name Display Description General-purpose The general-purpose input status is indicated. input ∗1 STOP STOP The STOP input status is indicated.

  • Page 46: Operating Current (40H)

    10 Command details 10.15 Operating current (40h) This command sets the operating current (current that flows when the motor operates) as a percentage of the rated current. • Action entry (WRITE/READ) Either WRITE or READ can be set. WRITE: If the command is issued while the motor is operating, the setting will become effective after the end of the current operation, provided that the reception analysis completes during the operation.

  • Page 47: Motor Resolution (44H)

    10 Command details Set values and margins of error Current specification Set to 50% Set to less than 50% 1.4 A/phase 3% or less 3% or less 0.75 A/phase 3% or less 5% or less 0.35 A/phase 5% or less 8% or less Example: If the operating current is set to 40% and the margin of error is 3%, the operating current will become 37% to 43%.

  • Page 48: Starting Speed (80H)

    10 Command details 10.18 Starting speed (80h) Sets the starting speed. • Action entry (WRITE/READ) Either WRITE or READ can be set. WRITE: If the command is issued while the motor is operating, the setting will become effective after the end of the current operation, provided that the reception analysis completes during the operation.

  • Page 49: Operating Speed (88H)

    10 Command details 10.20 Operating speed (88h) Sets the operating speed. • Action entry (WRITE/READ) Either WRITE or READ can be set. WRITE: In the case of continuous operation, the setting will become effective immediately after the reception analysis. In the case of positioning operation or return to mechanical home operation, the setting will become effective after the end of the current operation if the command was issued while the motor was operating, provided that the reception analysis completes during the operation.

  • Page 50: Current Position (A1H)

    10 Command details 10.22 Current position (A1h) This command references the current position counter held by the driver. • Action entry (WRITE/READ) Only READ can be specified. WHITE: A receive failure will be recognized and NACK will be returned. The frame data will not be executed, and the data will be destroyed.

  • Page 51: Soft Limit Cw (B8H)

    10 Command details 10.25 Soft limit CW (B8h) This command sets the soft limit position in CW direction. • Action entry (WRITE/READ) Either WRITE or READ can be set. WRITE: If the command is issued while the motor is operating, the setting will become effective after the end of the current operation, provided that the reception analysis completes during the operation.

  • Page 52: Timing Charts

    11 Timing charts 11 Timing charts 11.1 Turning on the power supply Cycling of Turning on the power supply Power cutoff power supply 5 s or more Power supply 2 s or more Frame Master Communication Slave Frame (Response interval) 11.2 Issuing commands Start Frame containing a start command...
  • Page 53 11 Timing charts Deceleration stop Frame containing a stop command Frame Master Communication Slave Frame T2 (Response interval) 3 ms or less Internal pulse command Motor excitation 6 ms or less BUSY status 6 ms or less M-BUSY status ENABLE status 140 ms or less Standstill current...
  • Page 54 11 Timing charts Immediate stop followed by excitation off Frame containing a stop command Frame Master Communication Slave Frame T2 (Response interval) 3 ms or less Internal pulse command 3 ms or less Motor excitation 6 ms or less BUSY status 6 ms or less M-BUSY status 6 ms or less...

  • Page 55: Input Signals

    11 Timing charts General-purpose output Frame containing a general-purpose output Frame Master Communication Slave Frame T2 (Response interval) 3 ms or less OUT1 output OUT2 output 11.3 Input signals The input signal must remain ON for at least 10 ms before the ON status is recognized. Note From change in input signal status to change of status (3Ch) command...
  • Page 56 11 Timing charts Immediate stop 10 ms or more STOP input 6 ms or less Internal pulse command Motor excitation 6 ms or less BUSY status 6 ms or less M-BUSY status ENABLE status 140 ms or less Standstill current Motor current Operating current Full period at operating speed...
  • Page 57 11 Timing charts CWLS input/CCWLS input 10 ms or more CWLS input CCWLS input 6 ms or less Internal pulse command 6 ms or less BUSY status 6 ms or less M-BUSY status 6 ms or less ALM status 140 ms or less Standstill current Motor current Operating current...

  • Page 58: Trouble Shooting

    12 Trouble shooting 12 Trouble shooting 12.1 Actions to be taken upon alarms If an alarm generates during operation, the motor operation will stop. While the alarm is present, the motor behaves just like when operation is stopped under normal conditions of use, where only starting of operation is disabled.

  • Page 59: Detection Of Communication Errors

    12 Trouble shooting Number Alarm Motor of LED Name Description Remedial action code operation blinks LS detection error The motor A limit sensor signal was Clear the alarm, and then stops detected during positioning perform continuous operation or immediately. operation or continuous return to mechanical home operation.

  • Page 60: Inspection

    13 Inspection 13 Inspection It is recommended that periodic inspections be conducted for the items listed below after each operation of the motor. If an abnormal condition is noted, stop the use and contact your nearest office. Inspection items • Are the motor installation screws loose? •...

  • Page 61: Main Specifications

    14 Main specifications 14 Main specifications CRD5103P-RS4 CRD5107P-RS4 CRD5114P-RS4 Driver model Output current 0.35 A/phase 0.75 A/phase 1.4 A/phase Power supply voltage 24 VDC±10% Current consumption 1.0 A or less 2.0 A or less 3.0 A or less Excitating mode...

  • Page 62: Options (Sold Separately)

    15 Options (Sold separately) 15 Options (Sold separately) Connector-fitted leadwires The lead wires come preassembled with a crimped connector for easy connection of a connector-type motor. Model Length Applicable product LC5N06A 0.6 m (2 ft.) PK513P, PK523P, PK525P, PK523PM, PK524PM, PK525PM, PK523P-T , PK523P-N , PK513P-H LC5N10A 1 m (3.3 ft.)
  • Page 64 • Please contact your nearest Oriental Motor office for further information. Technical Support Line Tel:(800)468-3982 Headquarters and Düsseldorf Office Tel:(02)8228-0707 Fax:(02)8228-0708 Available from 7:30 AM to 5:00 PM, P.S.T. Tel:0211-5206700 Fax:0211-52067099 E-mail: techsupport@orientalmotor.com Munich Office Tel:(6745)7344 Fax:(6745)9405 www.orientalmotor.com Tel:08131-59880 Fax:08131-598888 Hamburg Office...

This manual is also suitable for:

Crd5107p-rs4Crd5114p-rs4

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