Instruction Manual. 2-ph Stepping Motor Driver RD-053/RD-053N RD-055/055N RORZE CORPORATION

Transcription

1 Instruction Manual 2ph Stepping Motor river R53/R53N R55/55N 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 djustment Trimmer Wiring Terminals lock Input and irection Input (W(LOK, W) OWN OFF (Input) P/4P (Input) FR (Input) LOK OUT (Output) PHS OUT (Output) LRM OUT (Output) LRM L Timing iagrams Input/Output ircuits lock Input ircuits (W(LOK), W) Other Input ircuits (OWN OFF, 45P/4P, FR) Output ircuits (LOK OUT, PHS OUT, LRM OUT ) Wiring iagram Suitable Motor Heat issipation Other Functions uto. current down Over heating protection circuit Over current protection circuit Low voltage protection circuit onsumption urrent Relationship between Frequency(pps) and Motor speed(rpm) nother river R R55N imensions...11

5 1. Features INSTRUTION MNUL FOR R53/R53N lock input method of R53 and R53N is different. The other functions are the same entirely. In case of using R55/55N, please replace the contents written in section 14 on page1 and read this instruction manual. 1.Features High power (3/phase max.) Large supply voltage range (18 to 4V) 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 R53/53N 1

6 2. Specifications 3. Part Name 2.Specifications Supply voltage Supply current Motor current rive method xcitation method uto. current down Protective circuitry Response frequency Weight Outside dimensions Single 18 to 4V (including ripple) pprox. 2 times rated coil current of motor (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. ven if the motor rotation is stationary, the auto. current down doesn t work under the condition applying voltage between clock input terminals or turning OWN OFF to Low level (connecting to potential). Overheating, over current and low voltage protection 2 kpps max. (at 4.5V to 5.5V) 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 LRM L 5P PULS MOTOR RIVR R53 R53N POWR SUPPLY URRNT 5 1 W W W LOK INPUT LOK LOK W LRM W W MOTOR OUTPUT 18V 4V OWN OFF 45P/4P FR LOK OUT PHS OUT LRM OUT INPUT/ OUTPUT M IN JPN Fig.1. Name Plate 2

7 4. urrent djustment 4.urrent djustment URRNT 5 41 urrent djustment Trimmer 1 Fig.2. urrent Setting Trimmer! 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 () R53(N) 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 before input the pulse. 2. s reading an ammeter, adjust urrent Trimmer and set it to the rated current/phase. 5P PULS MOTOR RIVR R53 184V MMTR URRNT 5 1 W W W Set to the desired motor run current LRM W M 1 L WIR MOTOR 18 V 4 V OWN OFF 45P/4P FR LOK OUT PHS OUT LRM OUT M IN JPN Fig.4. Wiring dimension R53/53N 3

8 5. Terminals 5.Terminals 51 lock Input and irection Input (W(LOK, W)! aution Please set the current between clock input terminals in the range of 5 to 2m. o not exceed 2m because of the danger of failure. o not set the current to 5m or less because of the danger of malfunction. NOT: lock input method of R53 and R53N is different. R53 (Input 2 kinds of signals W clock pulse and W clock pulse) W/ Motor rotates in W direction with a pulse current of 5 to 2m from W to W terminal. W/ Motor rotates in W direction with a pulse current of 5 to 2m from W to W terminal. W W W W LOK Fig.5. R53 lock Input R53N (Input clock pulse signal and rotation direction signal.(lok, W)) LOK/ & W/ Motor rotates in W direction with a pulse current of 5 to 2m from LOK to LOK terminal and W input OFF. LOK Motor rotates in W direction with a pulse current of 5 to 2m Wfrom LOK to LOK terminal and W input turned ON. Fig.6. R53N lock Input W The current in case of using at 4.5 to 5.5V is 1 to 15m. W W Fig.7. irection of Rotation 4

9 5. Terminals 6. LRM L 52 OWN OFF (Input) Turning this terminal to Low level (connecting to potential) overrides the current down circuit and holds the motor stationary with full current P/4P (Input) Motor rotates with 45phase excitation (half step) when this terminal is High level (open) and with 4phase excitation (Full step) when Low level (connects to potential). 54 FR (Input) Stepping motor drive current turns OFF at Low level (connects to 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. 55 LOK OUT (Output) Outputs clock pulses input to lock input terminal W(LOK), W. 56 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.) 57 LRM OUT (Output) This terminal puts out a L signal when Overheating protection circuit is in operation. (Open collector output is turned ON.) 6.LRM L This will light when Overheating protection circuit is in operation. R53/53N 5

10 7. Timing iagrams 7.Timing iagrams 1step lock input OPN L PHS OUT OPN L Phase Home Fig.8. 4phase xcitation Method (full step) 1step lock input OPN L PHS OUT OPN L Phase Home Fig phase xcitation Method (half step) Note: lock input in the above diagrams indicate voltage waveform of terminal (negative logic) in case of connecting external power supply to each terminal, and opencollector output of external controller to terminal. 6

11 8.Input/Output ircuits aution o not exceed max. rated current voltage of each I/O circuit. It causes failure or malfunction. 81 lock Input ircuits (W(LOK), W) R53N LOK W LOK W R53 W W W W! 27Ω Photocoupler 52m Fig.1. lock Inputs 8. Input/Output ircuits Please operate with a pulse current of 5 to 2m. (1 to15m at 4.5 to 5.5V) If the current exceeds 2m by connecting with power supply of high voltage (24V etc.) directly, please place resistor in series so that current can be set to 5 to 2m. more than 2μS less than 1μS Fig.11. Pulse Specification Inside V V 82 Other Input ircuits (OWN OFF, 45P/4P, FR) 5V Low Level: Less than 1.5V High Level: More than 3.5V OWN OFF 45P/4P 2.2KΩ 1KΩ FR 22pF Inside Fig.12. Input ircuits MOS 74H 83 Output circuits (LOK OUT, PHS OUT, LRM OUT) Inside LOK OUT PHS OUT LRM OUT Vceo = 5V Ic = 1m 1KΩ VOL(low level output Ic=1m) =.38V VOL(low level output Ic= 1m) =.22V 18Ω 1KΩ Fig.13. Output circuits o not supply the voltage more than 5V, the current more than 1m to terminals. R53/53N 7

12 9. Wiring iagram 9.Wiring iagram! aution 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 PULS MOTOR RIVR R53 184V URRNT 5 1 W W W 5V LRM W M 1 L WIR MOTOR 18 V 4 V OWN OFF 45P/4P FR LOK OUT PHS OUT LRM OUT Input ircuit ontroller M IN JPN Fig.14. Wiring iagram 91 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 8

13 1.Heat issipation 1. Heat issipation 11. Other Functions 12. onsumption urrent! 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. 11.Other Functions 111 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. lso even if the motor rotation is stationary, the auto. current down doesn t work under the condition applying the voltage between clock input terminals or turning OWN OFF to Low level (connecting to potential). 112 Over heating protection circuit This works when the internal temperature of the driver reaches 85 ±4. It turns LRM OUT output ON and LRM L 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. 113 Over current protection circuit This works when abnormal current inside the driver occurred by miswiring or shortcircuiting etc. has been detected. 114 Low 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. 12.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 (5kHz) 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. R53/53N 9

14 13. Relationship between Frequency and Motor speed 14. nother river 13.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 141 R55 The motor current of R55 is 1/phase to 5/phase. Please refer to fig.15 for the current setting graph. ( motor with a current rating of up to 5/phase can be used.) The other specifications of R55 are all the same as that of R53. NOT Please use the wire rod with the crosssection area corresponding to current value. R55 is a high power type. It generates much more heat than R53, so install a radiator board, fun and etc. to dissipate heat. 142 R55N The motor current of R55N is 1/phase to 5/phase. Please refer to fig.15 for the current setting graph. ( motor with a current rating of up to 5/phase can be used.) The I/O terminal of R55N is the same as that of R53N. The other specifications of R55N are all the same as that of R53. NOT Please use the wire rod with the crosssection area corresponding to current value. R55N is a high power type. It generates much more heat than R53, so install a radiator board, fun and etc. to dissipate heat. rive urrent () R55(N) urrent djustment Trimmer Graduations Fig.15. urrent Setting 1

15 15. imensions 15.imensions (R53N is the same.) M4 5P PULS MOTOR RIVR R53 URRNT 5 W W 1 W LRM W 81mm(3.19") 18V 4V OWN OFF 45P/4P FR LOK OUT PHS OUT LRM OUT 95mm(3.74") 15mm(4.13") M IN JPN 4mm(.16") 63mm(2.48") 3mm(1.18") 56mm(2.2") Fig.16. imensions R53/53N 11

16 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