Mindman CK10 Series User Manual
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Mindman CK10 Series User Manual

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DRIVER
series
CK10
User Manual
VER. 202108

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Summary of Contents for Mindman CK10 Series

  • Page 1 DRIVER series CK10 User Manual VER. 202108...

  • Page 2: Table Of Contents

    Table of Contents 1. Safety Pre-caution and Note on Installation ............. 3 1-1. Precautions ........................3 1-2. Note on Installation ....................5 2. Specifications of the Drive ....................6 2-1 Specifications ........................6 2-2. Dimensions ........................7 3. Configuration ......................... 8 3-1.

  • Page 3: Safety Pre-Caution And Note On Installation

    1. Contents of this manual are subject to change without prior notice for functional improvements, change of specifications or user’s better understanding. In case of manual is damaged or lost, please contact with MINDMAN’s agent or our company at the address on the last page of this manual.
  • Page 4 ◆ Setting Please carry the CK10 carefully. Otherwise, the product may get damaged or user’s foot may get injured by dropping the product. Use non-flammable materials such as metal in the place where the CK10 is to be installed. Otherwise, a fire may occur. Attention When installing several CK10 in to be sealed place, install a cooling fan to keep the ambient temperature of the product as 50℃...

  • Page 5: Note On Installation

    ◆ Check and Repair Stop to supply power to the main circuit and wait sufficient time before checking or repairing this CK10. Electricity remaining in the condenser may cause of electric shock. Do not change cabling while power is being supplied. Otherwise, the user may get injured or the product and machine may get damaged.

  • Page 6: Specifications Of The Drive

    2. Specifications of the Drive 2-1 Specifications Type of Drive CK10 Series Input Power(Control) 24VDC ± 10% Input Power(Motor Drive) 22VDC ~ 50VDC Control Method Closed loop control with ARM-based 32-bit MCU Multi Axes Drive Maximum 16 axes through Daisy-Chain 128 motion command steps (Move, Wait, Loop, Jump, External control.

  • Page 7: Dimensions

    Specifications of the Motor Model □20 □28 □35 □42 □56 Drive Method Bi-Polar Number of Phases Current per Phase 0.67 1.68 Holding Torque 0.037 0.118 0.137 0.431 1.72 Rotor Inertia g‧cm Weights 1075 Insulation Resistance Mohm 100 MIN.(at 500VDC) Insulation Class Class B (130℃) Operating Temperature ℃...

  • Page 8: Configuration

    3. Configuration 3-1. Controller configuration (1) CK10 Connectors & Switches Function Function Power & EMG input ID Setting Motor RS-485 Termination Brake Setting S/W Encoder Communication port Programmable I/O & input...

  • Page 9: External Wiring Diagram

    3-2. External Wiring Diagram * Note : S-GND is connected to GND in the drive.

  • Page 10: Drive Status Monitor Led

    3-3. Drive status monitor LED In case of CK10 series, status of LED can be checked by turning on / off the status LED and flashing. Name Color Function ON / OFF Condition Power input Green Lights On when power is applied.

  • Page 11: Network Id Setting (Sw1)

    3-4. Network ID setting (SW1) When several modules are connected to one daisy chain network, this switch is to set intrinsic ID to each module. Position ID(PR) ID(Modbus) Position ID(PR) ID(Modbus) * The ID in MODBUS mode is the set value plus 1. 3-5.

  • Page 12: I/O Connector (Cn3)

    3-8. I/O connector (CN3) CK10 Series support versatile I/O functions. You can select the functions with the setting program(GUI) provided. (Connector Type : HIROSE/ HIF6-032PA-1.27DS) Name Function Name Function EXT_24VDC IO Power (+24V) OUTPUT1 Programmable output EXT_GND IO Power Ground...
  • Page 13 (1) Wiring input (2) Wiring output * If the output is connected to inductive loads, Use free-wheel diodes. * Select appropriate value of resistor(R) or load to meet specifications. (3) Wiring CTL1,2 input * When driving with the Open-Collector circuit, add external resistors so that the appropriate current flows.

  • Page 14: Control I/O Signal

    4. Control I/O signal 4-1. Input Signal (1) Limit sensor and Origin sensor Limit sensor and origin sensor are assigned to LIMIT+, LIMIT- , and ORIGIN pin in the CN3 connector respectively. LIMIT+ and LIMIT- sensors are used to limit the motion of each axis to prevent mechanical collision. Origin sensor is to set the origin of equipment Motion Direction Limit-...
  • Page 15 (4) Position Table Start (PT Start) Input signal The position table supports the machine so that its motion can be controlled by I/O signals of central controller. It can directly transmit commands such as position table number, start/stop and origin return to the machine through the PLC. Also, the user can check output signals such as in-position, completion of origin return and Servo ready through the PLC.
  • Page 16 Motion Pattern PT=0 PT=30 PT=31 *1. PT A0~A6 signals must be set 50ms before PT Start signal is asserted. *2. If the PT Start signal asserted when the PT A0~A6 signals are not assigned, the PT No. 0 will be executed. *3.
  • Page 17 (6) Teaching Input [Teaching] signal functions that the position value [pulse] being working can be automatically inputted into a ‘position’ value of a specific position table. If it is hard to calculate the exact moving distance (position value) of specific motion mechanically, the user can measure and set the distance (position value) easily by using this signal.
  • Page 18 (7) Stop Input Soft stop input signal is to stop motion patterns under operation. The deceleration condition until they stop complies with the deceleration time value and the start speed value set previously. The soft stop signal is active in ON level and pulse scale is 10ms or more.
  • Page 19 (9) Servo ON and Alarm Reset input When the protective function of drive executes, alarm output is activated. When AlarmReset input is set to ON, alarm output and alarm blink output are released. Before releasing alarm output, the user must remove any cause of alarm. When Servo ON/OFF signal is set to OFF, the drive stops supplying the current to the motor and so the user can directly adjust the output position.
  • Page 20 (10) Origin Search Input When ‘Origin Search’ signal is set to ON (10ms or more), it starts to search the origin position according to selected conditions. The conditions are subject to parameters such as No.20:Org Method, No.17:Org Speed, No.18:Org Search Speed, No.19:Org AccDec Time, No.21:Org Dir.
  • Page 21 (12) JPT Input0~Input2 (Jump Position Table Input) Input Select motion pattern(position table number) to be subsequently executed according to input signal conditions. 【 Example 】 If PT 14 motion operates, when there is no other input signal, next m otion becomes PT 15 as shown in Figure 1). However, if ‘JPT Input0~Input2’ input signal is set to ON while PT 14 is executing, each corresponding position number is executed as shown in Figure 2)~4).
  • Page 22 (13) JPT(Jump Position Table) Start Input To select motion pattern(position table number) to be subsequently executed according to input signal conditions. The difference from Paragraph 「 12) ‘JPT Input0~Input2 Input 」 1）PT number to be jumped must be composed to 10XXX; 2）Next motion is not executed until ‘JPT Start’...
  • Page 23 (15) Pause Input When Pause signal is set to ON, the motion in service is stopped. There are two pause signal operation modes as follows. ① Case A : When Pause signal is set to ON, the motor starts to decelerate. Pause signal becomes OFF before the motor is completely stopped.

  • Page 24: Output Signal

    4-2. Output Signal (1) ‘Compare Out’ / ‘Trigger Pulse Output’ Output ‘Trigger Pulse Output’ signal is displayed when specific conditions are performed. It is fixed to CN1 connector’s COMP (Compare Out) pin. And it is available when the motor needs to be synchronously controlled by an external controller. Refer to ‘CK10_UserManual_Communication ‘CK10_User...
  • Page 25 (3) ‘Alarm’ Output When the motor operates normally, alarm output becomes OFF. When the protective function operates, alarm output becomes ON. The upper controller being used by the user detects this alarm and then stops motor operation command. If overload or overcurrent occurs while the motor is operating, the drive detects it and cuts off the motor’s current.
  • Page 26 (6) ‘Org Search OK’ Output When the origin return motion is executed by origin search command, ‘Origin Search OK’ signal is set to OFF. When the origin return motion is normally finished by the origin sensor, ‘Origin Search OK’ is set to ON. (7) ‘Servo Ready’...
  • Page 27 (9) ‘BRAKE+’, ‘BRAKE-‘ Output(CN4) and ‘Brake’ Output(CN3) The brake function is used to lock the motor during the servo-off state. CN4 is for brake connection. Also control output port of CN3 can output brake signal. This port needs addtional circuit to drive brake. Approx 400ms Approx 200ms * The function of setting the brake delay time will be supported in future releases.

  • Page 28: Operation

    5. Operation 5-1. Servo ON Operation The default setting after power-on is Servo OFF. The methods of “Servo ON” are as follows. ① Click ‘Servo ON’ button at the User Program (GUI). ② Send a command to drive through DLL library. ③...
  • Page 29 (2) Communication & I/O Command Mode This controller can execute control operation by communication and I/O command transmitted from the upper controller. ① Plus-R Mode：Support Plus-R network, I/O command, Position table functions ② MODBUS-RTU：Support MODBUS-RTU network, I/O command, Position table functions ③...

  • Page 30: Other Operation Function

    6. Other Operation Function 6-1. Position Table(PT) Operation Example Input ‘PT A0~ PT A6’ signals to set PT number. Input ‘PT Start’ number to execute speed control operation. For more information, refer to ’User Manual – Position Table Function’. 【Position Table Setting】 High Accel.

  • Page 31: Jog Operation Example

    6-2. Jog Operation Example This product executes speed control operation at the speed set by parameters according to inputting ‘Jog+’ and ‘Jog-‘ signals. 【Parameter Setting】 Parameter Name Setting Value Unit Jog Speed 1500 [pps] Jog Start Speed [pps] Jog Acc/Dec Time [msec] Jog + command Jog - command...

  • Page 32: Origin Return

    6-3. Origin Return If the machine is operated by I/O signals, the motor can execute origin return by inputting [Origin Search] signal. Also, the motor can execute origin return with User Program(GUI) and DLL program. The following table shows parameters related to origin return.
  • Page 33 (1) Origin（Org Method = 0） ① In case of position of sensor Dog is between the origin and +Limit Sensor ② In case of position of sensor Dog is in the origin sensor ③ In case of position of sensor Dog is between origin and -Limit Sensor (2) Z Origin（Org Method = 1）...
  • Page 34 (3) Limit Origin（Org Method = 2） ① In case of Org Dir is 1 (CCW) ② In case of Org Dir is 0 (CW) (4) Z Limit Origin（Org Method = 3） ① In case of Org Dir is 1 (CCW) ②...
  • Page 35 (7) Torque Origin（Org Method = 6） During the motion by ‘Org Speed’ value ,It will stop motion when detects the force as much as ‘Org Torque Ratio’ by contacting with a particular object, and finish the origin movement after moving a specified distance with opposite direction. This method can be used in the system without origin sensor or limit sensor.

  • Page 36: Stop Operation

    (2) Origin Return Procedure Origin return is executed according to the following procedure. ① Set parameters required to origin return. ② If the Servo is OFF, (reset an alarm when it occurs) input a control input Servo ON command or send a communication program so that the Servo can be ON. ③...
  • Page 37 (2) Signal Output This output pin of CN1 connector for Trigger Pulse is fixed to 「Compare Out」 and the signal diagram is as follows. The pulse is output only in bigger position area than ‘pulse start position’and Caution is output in incremental motion direction. The sign of current position value and the sign of ‘pulse start position’...

  • Page 38: Push Motion

    6-6. Push Motion This function limits the torque of the motor and detects load status. If the load exceed the specified torque ratio in the stop mode, the motor will stop. (1) Function Position motion speed Accel Decel Push motion Work speed (4) (5)
  • Page 39 Non-stop mode : must be execute the ‘Stop’ command before next Caution motion command in the work detect situation. If there is shock in mechanism, the time delay is needed after ‘Stop’ Caution operation. Extends the distance of Position motion command when Push motion is Caution not excuted.
  • Page 40 (2) Setting Method This function is working only in absolute position value. The position error can happen due to the work status in push mode. Push motion command can be executed by 2 methods. One is RS-485 communication(DLL library) method and the other is external digital signal(PT Start command) method.
  • Page 41 (3) Status Check Basically the current push motion status can be checked by DLL library and Additionally can be checked by Flag(Inposition & PT Stopped signal) and Output (END signal) as follows. ① Work detected ① Work not detected (Stop mode) The ‘Inposition’...

  • Page 42: Communication Function

    7. Communication Function Up to 16 axes can be controlled by Daisy chain of RS-485 communication method. If Windows goes to the stand-by mode, serial communication is basically disconnected. So, after recovering from the stand-by mode, the Caution user should connect communication again. This content is equally applied to the library provided with the product.

  • Page 43: Communication Interface Circuit

    (2) Cable of connecting RS-485 Converter and Drive Module Connector Type : RJ45 Cable Type : LANcable, CAT5 or better (UTP or STP) Signal Wiring : Standard Straight Wiring ( 1<->1, 2<->2, 3<->3,…, 8<->8 ) If multi-axis connection is required at one segment, up to 16 drive modules can be connected by the daisy-chain method.

  • Page 44: Parameter

    8. Parameter 8-1. Parameter List Name Unit Lower Limit Upper Limit Default Pulse Per Revolution 50,000 Axis Max Speed [pps] 500,000 500,000 Axis Start Speed [pps] 35,000 Axis Acc Time [msec] 9,999 Axis Dec Time [msec] 9,999 Reserved Jog Speed [pps] 500,000 5,000...

  • Page 45: Parameter Description

    8-2. Parameter Description Description Unit Lower Limit Upper Limit Default Pulse per Revolution : Number of pulses per revolution. If this value is changed, the motor is set to Servo OFF. Value Pulse/Revolution Value Pulse/Revolution Set by MDB 4,800 5,000 1,000 6,400 1,600...
  • Page 46 Jog Acc Dec Time : In case of jog operation, this parameter msec 9,999 sets the time of acceleration and deceleration in milliseconds. S/W Limit Plus Value : When position moving commands (absolute move, incremental move, -2,147,483 +2,147,483, +2,147,483, jog) are given, this parameter sets the pulse maximum position limit that the motor can move to the plus(+) direction with...
  • Page 47 Origin Method : The user can select origin return command types. 0 : The motor moves up to the origin sensor spot by ‘Org Speed’ and then executes precise origin return at the low value of ‘Org Search Speed’. 1 : The motor moves up to the origin sensor spot by ‘Org Speed’...
  • Page 48 Position Loop Gain : After the motor stops, this mode controls the motor’s response by a load attached to the motor. This is a relative value, not a real value In use of internal drive. For example, if this value is changed 3 to 6, not increased the response time two times.
  • Page 49 Inpos Value : Sets the output condition of the in-position signal. After position command pulse is finished, when the position deviation from target position is within ‘Inpos Value’, this mode displays in-position finish signal. The position deviation to output the In-position is 0~63.
  • Page 50 Run Current: Run Current is value of running current during the operating of motor, it is set based on rated current of motor. This value is related with torque in operating of motor, if this value is big, motor torque getting high in operation.
  • Page 51 Operating mode: Setting drive operating mode. The change of this parameter requires power-off/on cycle. 0 : 1 pulse mode (Pulse/Dir) 1 : 2 pulse mode (CCW/DIR) 2 : Quadrature mode (A/B) 3 : Plus-R mode 4 : MODBUS RTU mode 5 : MODBUS ASC mode Tact Switch(SW3) Function : 0 : No function...

  • Page 52: Protection Function

    9. Protection Function 9-1. Type of Alarm When an alarm occurs while the controller is operating, a red LED flashs and the following protective function will be displayed according to the number of LED flash counting Times Alarm name Condition Over Current Error The current through power devices in drive exceeds 4.8A Over Speed Error...

  • Page 53: Alarm Check And Release

    9-3. Alarm check and Release If an alarm occurs, remove its cause and then release it. The alarm can be released as follows. In case of alarms of which ‘Reset ’column is indicated to ‘Invalid’, power must get down prior to releasing the alarms Flash Reset...

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