Instruction Manual. 2-ph Stepping Motor Driver RD-353 RD-355 RORZE CORPORATION

Transcription

1 Instruction Manual 2ph Stepping Motor river R353 R355 RORZ ORPORTION

2

3 e sure to read the following precautions for your safety. This section describes safety precautions to avoid danger to you or someone else, to avoid damage of your property, and to use this product safely. Precautions before using this product This product is designed to be incorporated into general industrial machinery, and is NOT developed to be used in devices such as aerospace machines, security equipment, or other safety devices where a failure or malfunction of this product may directly threaten human lives or health. ven if you use this product in a general device, make sure that you establish a sufficient level of safety in your device by incorporating a protection function into your machine and guarantee your products based on safety tests on the whole set. If you will use this product in devices like the above, please contact us. It should be noted that RORZ will not be responsible for any damage caused by using a product in such a device without the consent of RORZ.! WRNING Ignoring the following warnings may cause a death or a serious injury. Use this product at places where no explosive or flammable stuff exist nearby and no water is splashed on the product. Otherwise it may cause a fire and/or an injury. Turn off the power before moving or wiring the product. Otherwise you may suffer injuries or electric shocks. o not forcibly bend, pull, or nip lead wires. Otherwise they may cause an electric shock, fire, and/or failure. o not use lead wires with their sheath damaged. Otherwise they may cause an electric shock, fire, and/or failure. Make sure that wires are correctly and securely connected at electrical terminals. Otherwise they may cause an electric shock, fire, and/or failure. o not touch the internal parts of this product. o not disassemble or modify this product. o not wire or operate a product with wet hands. Otherwise it may causes electric shocks. ssign a qualified person to transport, install, connect, operate, maintenance, or check this product. Otherwise it may cause an electrical shock, a fire and/or an injury.! UTION Ignoring the following cautions may result in personal injuries and/or property damages. Make sure that the delivered product is the one you ordered. Installing the wrong product may cause a fire and/or a failure. heck the following items before turning on the power. The output voltage of the power supply is as described in the specifications. The voltage/current of the input/output terminals conforms to the ratings in the specifications. Input/output terminals are not incorrectly wired or accidentally shortcircuited. o not use with the motor except the stepping motor. Operate the rated current of stepping motor within the specified input current limits only. Please use the wire rod with the crosssection area corresponding to current value. ecause this product generates heat, please make it stick to metal board etc. or put the fan and radiate enough. When connecting with terminal block, use a screwdriver whose tip fits an adjustment slot. Tighten the screw in the torque of less than 3.5kgf cm(.35n m)(proper torque is 2.5kgf cm(.25n m)). When you run a product for the first time, make sure that the operation can be stopped immediately under an emergency situation. Ignoring the above cautions may cause a fire and/or a failure. Immediately turn off the power, if you hear an unusual noise. Otherwise it may cause a fire and/or an injury. o not touch this product when it is in operation, as a malfunction may occur. o not carry this product by holding its terminal blocks or lead wires. When the product is accidentally dropped, it may cause a personal injury. o not place this product in unstable positions. When the product is accidentally dropped, it may cause a personal injury. Under some circumstances, ignoring the precaution described in the UTION section may also result in a death or a severe injury. Follow the above precautions described in both the WRNING and the UTION section.

4 Table of ontents 1.Features Specifications Part Name urrent djustment urrent Trimmer Wiring Speed Setting High Speed Trimmer ow Speed Trimmer Grow Time Trimmer Terminals STOP/STRT (Input) W/W (Input) GROW OUT (Output) VR (Output) SP (Input) VR GN P/4P (Input) FR (Input) OK OUT (Output) PHS OUT (Output) RM OUT (Output) RM Timing iagrams Input/Output ircuits Input ircuits (STOP/STRT, W/W, 45P/4P, FR, SP)1 12 Output ircuits (GROW OUT, OK OUT, PHS OUT, RM OUT ) Wiring iagram Suitable Motor Heat issipation Other Functions uto. current down Over heating protection circuit Over current protection circuit ow voltage protection circuit onsumption urrent Relationship between Frequency(pps) and Motor speed(rpm) nother river R imensions...14

5 INSTRUTION MNU FOR R Features In case of using R355, please replace the contents written in section 16 on page13 and read this instruction manual. 1.Features High power (3/phase max.) arge supply voltage range (18 to 4V) an change RPM by analog voltage of SP terminal ircuitry to protect against overheating, over current, and low supply voltage uto current down circuit to reduce heat generation when motor is stationary FR input for rotation of motor by hand PHS OUT output for location of home for excitation timing uiltin oscillator makes P or computer control possible R353 1

6 2. Specifications 3. Part Name 2.Specifications Supply voltage Supply current Motor current rive method xcitation method uto. current down Protective circuitry Oscillating frequency ccel.,/ecel. time Speed change function Weight Outside dimensions Single 18 to 4V (including ripple) pprox. 2 times rated coil current per phase (max.).5 to 3/phase (djustable by urrent djustment Trimmer) ipolar, constant current chopper method Full step(4p) or Half step (45P) 5% of the rated current after about.3 seconds of inactivity Overheating, over current and low voltage protection 7 kpps max. 2msec to 3sec (when you change SP terminal from V to 9V.or from 9V to V) nalog (Variable by analog voltage of SP terminal) pprox. 58g (2.5oz.) 63H x 56W x 15mm (2.5 H x 2.2 W x 4.1 ) 3.Part Name URRNT djustment Trimmer RM 5P PUS MOTOR RIVR R353 POWR SUPPY URRNT 5 RM GN STOP/STRT MOTOR OUTPUT 1 S HIGH SP GROW TIM W/W GROW OUT VR HIGH SP Trimmer GROW TIM Trimmer OW SP Trimmer OW SP 18V 4V GN SP VR GN 45P/4P FR OK OUT PHS OUT RM OUT INPUT/ OUTPUT Terminals M IN JPN Fig.1. Name Plate 2

7 4. urrent djustment 4.urrent djustment URRNT 5 41 urrent djustment Trimmer Fig.2. urrent Setting Trimmer! 1 aution Please use after adjusting the current within the motor rated current. xceeding the rated current causes the failure of motor or fire. This is used to adjust the stepping motor drive current and in general it makes equal to the rated current. If a motor is used at a high rpm with a lowerthanrated torque, better efficiency and less temperature rise can be obtained by using the motor with a current lower than the rated value. (Note: s the current decreases, the torque will lower.) The drive current changes relative to the dial. The value of the setting will be ±1 % of the set value. rive urrent () R urrent djustment Trimmer Graduations Fig.3. urrent Setting 42 Wiring In order to measure the exact drive current, connect an ammeter as shown in the 4. Wiring dimension and follow the next instructions. 1. Turn on the power after setting High Speed and ow Speed Trimmer to the minimum value. 2. s reading an ammeter, adjust urrent Trimmer and set it to the rated current/phase. M 184V GN MMTR 1 WIR MOTOR 5P PUS MOTOR RIVR URRNT V 4 V GN R353 RM HIGH SP S GROW TIM OW SP GN STOP/STRT W/W GROW OUT VR SP VR GN 45P/4P FR OK OUT PHS OUT RM OUT Set to the desired motor run current Set the minimum for High and ow Speed. M IN JPN Fig.4. Wiring dimension R353 3

8 5. Speed Setting 5.Speed Setting 51 High Speed Trimmer This trimmer is used for setting the high speed. You can set the maximum setting of the rotation using this trimmer. When SP input and VR output are equipotential(9v), the high setting can be set to any value between 3kpps to 7kpps. The voltage of SP will also affect the setting. HIGH SP S GROW TIM OW SP Frequency(kpps) ow Speed Trimmer: enter Speed input voltage (V) Fig.6. High Speed Setting Fig.5. Speed Setting Trimmers High Speed Trimmer Max. Min. 52 ow Speed Trimmer This trimmer is used for setting the low speed. To adjust the setting, set SP input and VR GN output to the same voltage and turn ow Speed Trimmer to the frequency that meets your application specification. lso, when SP input and VR output are equipotential, the setting will affect the high speed setting by approx. 12%. Frequency(kpps) High Speed Trimmer: Max. ow Speed Trimmer Max. enter Min Speed input voltage (V) Frequency(kpps) High Speed Trimmer: Min Speed input voltage (V) Fig.7. ffect of ow Speed Setting ow Speed Trimmer Max. enter Min. 4

9 6. Grow Time Trimmer 7. Terminals 6.Grow Time Trimmer Trimmer to adjust the duration of time in which the motor s rpm changes from the stationary state to the rpm set for High Speed and then to the rpm set for the ow Speed. djustable range: 2msec. to 3sec. (When SP voltage is changed from to 9Vdc or from 9 to Vdc.) SP HIGH SP OW SP TIM djustable by Grow Time Trimmer Fig.8 GROW TIM 7.Terminals 71 STOP/STRT (Input) Turning STOP/STRT input to ow level (connecting to GN potential) will make the motor start to run and the driver outputs OK OUT signal to motor. Turning STOP/STRT input to High level (open) will make the motor stop and the driver stops to output OK OUT signal. 72 W/W (Input) Turning W/W to ow level (connecting to GN potential) will make the motor rotate in W direction. Turning W/W to High level (open) will make the motor rotate in W direction. W W Fig.9 irection of Rotation 73 GROW OUT (Output) GROW OUT output is turned ON when the motor changes from a stationary state to the speed set at High Speed trimmer. Therefore, by using the number of pulses from acceleration to GROW OUT output duration, it is possible to calculate deceleration time. This feature makes the driver control only by setting total pulse using R24 and R27. SP T1 T2 TIM GROW OUT Fig.1 GROW OUT Output R353 5

10 7. Terminals 74 VR (Output) This output is used for supplying voltage to SP input. The output is maintained at 9V with a 4.7kΩ pullup resistor. 75 SP (Input) This input is used for changing speed. y changing the SP input voltage from the voltage at VR GN (V) to output voltage of VR (9V), you can adjust the frequency between the lowest and highest voltage set at ow Speed trimmer and High Speed trimmer. 76 VR GN Use VR GN along with SP input for remote speed control. s a good practice, use a shielded wire. Refer to Fig. 11 VR SP VR GN 9V SHI WIR 1kΩ V Fig.11 Remote Speed ontrol 77 45P/4P (Input) Motor rotates with 45phase excitation (half step) when this terminal is High level (open) and with 4phase excitation (Full step) when ow level (connects to GN potential). 78 FR (Input) Stepping motor drive current turns OFF at ow level (connects to GN potential) and the motor shaft can be rotated by hand. When turning FR input to High level (open) again, the motor is excited at the phase home. NOT: o not turn this input ON when motor is running at high speed, this operation would damage the amplifier circuits. 79 OK OUT (Output) This is a terminal to output clock pulses. One pulse is put out every time a motor rotates one step. In ow state at input 45P/4P, one pulse is put out at OK OUT for every full step(.72 ) rotation of the motor, in High state, a pulse is outputted every half step(.36 ). The duty of output clock pulse is approx. 5%. 6

11 7. Terminals 8. RM 71 PHS OUT (Output) PHS OUT output (open collector output) is turned ON at the phase home (when phase through is excited to plus side). Once every 1 steps in full step operation (or once every 2 steps in half step), one pulse is put out. (One pulse is put out for every 7.2 rotation of.72 motor.) 711 RM OUT (Output) This terminal puts out a signal when Overheating protection circuit is in operation. (Open collector output is turned ON.) 8.RM This will light when Overheating protection circuit is in operation. R353 7

12 9. Timing iagrams 9.Timing iagrams 1step OK OUT OPN PHS OUT OPN Phase Home Fig.12. 4phase xcitation Method (full step) 1step OK OUT PHS OUT OPN OPN Phase Home Fig phase xcitation Method (half step) 8

13 9. Timing iagrams T1 T1 T2 T3 T4=T2T3 HIGH SP Setting RPM STOP/STRT SP GROW OUT H 9V V H 9V V Stepping Motor rive current FR H H OK OUT Fig.14. Timing hart R353 9

14 1. Input/Output ircuits 1.Input/Output ircuits! aution o not exceed max. rated current voltage of each I/O circuit. It causes failure or malfunction. 11 Input ircuits (STOP/STRT, W/W, 45P/4P, FR, SP) 5V STOP/STRT W/W 45P/4P FR ow evel: ess than 1.5V High evel: More than 3.5V R1 R2 1 Inside Fig.15. Input ircuits 1 MOS 74H Terminal R1 R2 1 STOP/STRT W/W 2.2KΩ 1KΩ 1pF FR 2.2KΩ 2.2KΩ.24μF 45P/4P 2.2KΩ 2.2KΩ.1μF VR 4.7KΩ 9V SP 33KΩ 33KΩ.1μF OPMP VR GN Inside Fig.16. Input ircuits 2 12 Output ircuits (GROW OUT, OK OUT, PHS OUT, RM OUT) GROW OUT OK OUT PHS OUT RM OUT Inside Vceo = 5V Ic = 1m 1KΩ 18Ω 1KΩ VO(low level output Ic=1m) =.38V VO(low level output Ic= 1m) =.22V Fig.17. Output ircuits o not apply the voltage more than 5V, the current more than 1m to this terminal. 1

15 11.Wiring iagram! aution 11. Wiring iagram Make sure that there are no miswiring and shortcircuiting and do not turn power on before wiring correctly. There is danger of fire or failure. Please tighten the terminals with the torque of less than 3.5kgf cm (.35N m). Please use the wire rod with the crosssection area corresponding to current value. Use twisted wire pair for the signal input wiring. Please tighten the terminals less than 3.5kgf cm (.35N m). (Proper torque is 2.5kgf cm (.25N m)) 5P PUS MOTOR RIVR R353 Programmable ontroller 184V URRNT 5 RM GN GN STOP/STRT 1 HIGH SP S GROW TIM W/W GROW OUT VR M 1 WIR MOTOR OW SP 18 V 4 V GN SP VR GN 45P/4P FR OK OUT PHS OUT RM OUT ounter Input ircuit M IN JPN Fig.18. Wiring iagram 111 Suitable Motor You can use any H(hybrid) or PM(permanent magnet) stepping motor with rating of.5 to 3/ph. Select motors with rating of less than supply voltage.7(v). RORZ 5Ph Stepping Motors (Torque 1kgf cm = 13.9oz in Inertia 1g cm2 = oz in 2 ) Holding FullStep Rated Rotor Resistance Inductance ModelNo. Torque ngle urrent Inertia (Ω) (mh) (kgf cm) (N m) (egree) (/ph) (g cm2) RM547SM/M RM5411SM/M RM5414SM/M RM5623S/ RM564S/ RM5685S/ RM592S/ RM592S/ RM59S/ olor of RORZ motors wire Terminal RORZ MOTOR lue Red White Yellow rown Purple lack Gray Orange Green R353 11

16 12. Heat issipation 13. Other Functions 14. onsumption urrent 12.Heat issipation! aution Please dissipate heat generated by driver and motor enough. If it is insufficient, temperature rise causes malfunction, failure or fire. Keep the motor s maximum case temperature below 1 and driver s below 6 by adjusting the drive current or by installing a cooling fin, fan, etc. 13.Other Functions 131 uto. current down fter about.3 seconds of inactivity, current will be reduced to 5% of running current. This reduces driver and motor heat generation during idle periods. 132 Over heating protection circuit This works when the internal temperature of the driver reaches 85 ±4. It turns RM OUT output ON and RM turns ON. Furthermore, if the temperature keeps on raising, it stops motor compulsively and works auto. current down to prevent the driver burn out. If the body temperature drops about 1 below the triggered temperature, returns automatically. 133 Over current protection circuit This works when abnormal current inside the driver occurred by miswiring or shortcircuiting etc. has been detected. 134 ow supply voltage protection circuit The driver has a builtin low voltage protection circuit to prevent current overload. The low supply voltage condition normally occurs when power is turned ON. 14.onsumption urrent The current consumed by driver and motor varies, depending on the supply voltage, pulse (clock) frequency, motor s inductance, rated current and holding torque. lso, the ripple according to the cycle of PWM (6kHz) and RPM is added into the consumption current. Please use the power supply which current is more than 2 times the rated current of the motor as a standard. If other devices share the same power supply and voltage change can t be allowed, then use the power supply which can flow 1.7 times of the max value of the supply current, or incorporate a large capacitor. 12

17 15. Relationship between Frequency and Motor speed 16. nother river 15.Relationship between Frequency(pps) and Motor speed(rpm) pps is about pulse speed and stands for the number of pulses per second. Formula to calculate rpm: Step ngle/resolution Frequency 6 Motor speed(rpm)= 36(degree) Resolution Full step: 1, Half step: 2 xample Step ngle:.72degree, Half step (Resolution: 2), Frequency: 2,pps.72/2 2, 6 Motor speed(rpm)= = 12 rpm nother river 161 R355 The motor current of R355 is 1/phase to 5/phase. Please refer to fig.19 for the current setting graph. ( motor with a current rating of up to 5/phase can be used.) The other specifications of R355 are all the same as that of R353. NOT Please use the wire rod with the crosssection area corresponding to current value. R355 is a high power type. It generates much more heat than R353, so install a radiator board, fun and etc. to dissipate heat. rive urrent () R urrent djustment Trimmer Graduations Fig.19. urrent Setting R353 13

18 17. imensions 17.imensions M4 5P PUS MOTOR RIVR R353 URRNT 5 RM GN STOP/STRT 1 HIGH SP W/W GROW OUT S GROW TIM VR 81mm(3.19") OW SP 18V 4V GN SP VR GN 45P/4P FR OK OUT PHS OUT RM OUT 95mm(3.74") 15mm(4.13") M IN JPN 4mm(.16") 63mm(2.48") 3mm(1.18") 56mm(2.2") Fig.2. imensions 14

19

20 RORZ ORPORTION Head Office (Japan) 1588 Michinoue, Kannabecho, Fukayasugun, Hiroshima 72214, Japan Phone: Fax: mail address: Home page address: *ll RORZ products come with a 24month guarantee. *Specifications and products are subject to change without any obligation on the part of the manufacturer. R 221