Instruction Manual. 2-ph Stepping Motor Driver RD-123 RD-123H,RD-126 RORZE CORPORATION

Transcription

1 Instruction Manual 2-ph Stepping Motor Driver RD-123 RD-123H,RD-126 RORZE CORPORTION

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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. Even 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 RORZE will not be responsible for any damage caused by using a product in such a device without the consent of RORZE.! 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. Do not forcibly bend, pull, or nip lead wires. Otherwise they may cause an electric shock, fire, and/or failure. Do 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. Do not touch the internal parts of this product. Do not disassemble or modify this product. Do 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.! CUTION 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. Check 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 short-circuited. Do 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 cross-section 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(0.35n m)(proper torque is 2.5kgf cm(0.25n 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. Do not touch this product when it is in operation, as a malfunction may occur. Do not carry this product by holding its terminal blocks or lead wires. When the product is accidentally dropped, it may cause a personal injury. Do 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 CUTION section may also result in a death or a severe injury. Follow the above precautions described in both the WRNING and the CUTION section.

4 Table of Contents 1.Features Specifications Part Name Current djustment Current Trimmer Wiring Speed Setting High Speed Trimmer ow Speed Trimmer Grow Time Trimmer Terminals STOP/STRT (Input) CW/CCW (Input) SPEED..C.D (Input) P/2P (Input) FREE (Input) COCK OUT (Output) PHSE OUT (Output) RM OUT (Output) RM ED Timing Diagrams Input/Output Circuits Input Circuits (STOP/STRT, CW/CCW, SPEED..C.D, 1-2P/2P, FREE) Output Circuits (COCK OUT, PHSE OUT, RM OUT ) Wiring Diagram Suitable Motor Heat Dissipation Other Functions uto. current down Over heating protection circuit Over current protection circuit ow voltage protection circuit Consumption Current Relationship between Frequency(pps) and Motor speed(rpm) nother Driver RD-123H RD Dimensions...13

5 INSTRUCTION MNU FOR RD Features In case of using RD-123H/126, please replace the contents written in section 16 on page12 and read this instruction manual. 1.Features High power (3/phase max.) arge supply voltage range (18 to 40VDC) Selectable 16 speeds with SPEED input Circuitry to protect against overheating, over current, and low supply voltage uto current down circuit to reduce heat generation when motor is stationary FREE input for rotation of motor by hand PHSE OUT output for location of home for excitation timing uilt-in oscillator makes PC - or computer control possible RD-123 1

6 2. Specifications 3. Part Name 2.Specifications Supply voltage Supply current Motor current Drive method Excitation method uto. current down Protective circuitry Oscillating frequency ccel.,/decel. time Speed change function Weight Outside dimensions Single 18 to 40VDC (including ripple) pprox. 2 times rated coil current per phase (max.) 0.5 to 3/phase (djustable by Current djustment Trimmer) ipolar, constant current chopper method Full step(2p) or Half step (1-2P) 50% of the rated current after about 0.3 seconds of inactivity Overheating, over current and low voltage protection 20 kpps max. 15msec to 1,500msec Digital (etween High speed setting and ow speed setting is divided into 16 by SPEED (..C.D).) pprox. 580g (20.5oz.) 63H x 56W x 105Dmm (2.5 H x 2.2 W x 4.1 D) 3.Part Name CURRENT djustment Trimmer RM ED 2P PUSE MOTOR DRIVER RD-123 POWER SUPPY CURRENT 5 RM GND STOP/STRT MOTOR OUTPUT HIGH SPEED Trimmer GROW TIME Trimmer OW SPEED Trimmer S + HIGH SPEED GROW TIME OW SPEED DC18V -40V GND CW/CCW SPEED C D 1-2P/2P INPUT/ OUTPUT Terminals FREE COCK OUT N.C. PHSE OUT RM OUT MDE IN JPN Fig.1. Name Plate 2

7 4. Current djustment 4.Current djustment CURRENT Current djustment Trimmer Fig.2. Current Setting Trimmer! 0 10 Caution Please use after adjusting the current within the motor rated current. Exceeding 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 lower-than-rated 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 ±10 % of the set value. Drive Current () RD Current djustment Trimmer Graduations Fig.3. Current Setting 4-2 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 minimum levels. 2. djust the Current Trimmer while reading the ammeter and set the current at the name plate value of the motor for the desired torque. 2P PUSE MOTOR DRIVER RD-123 Set to the desired motor run current 18-40VDC CURRENT 5 RM GND GND STOP/STRT CW/CCW MMETER C M C - HIGH SPEED S GROW TIME + OW SPEED DC18V -40V GND N.C. SPEED C D 1-2P/2P FREE COCK OUT PHSE OUT RM OUT Set the minimum for High and ow Speed MDE IN JPN Fig.4. Wiring dimension to adjust the current RD-123 3

8 5. Speed Setting 6. Grow Time Trimmer 5.Speed Setting - + HIGH SPEED S GROW TIME - + OW SPEED Fig.5. Speed Setting Trimmers 5-1 High Speed Trimmer Trimmer to set rpm for high speed range. djusting this trimmer can set maximum rpm. The maximum rpm is adjustable by Speed input CD as well. (djustable range: 650pps to 20kpps.) 5-2 ow Speed Trimmer Trimmer to set rpm for low speed range. Set ow speed with speed inputs CD in (Short with GND). lso, changing High speed will change the rpm for ow speed setting. 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: 15msec. to 1,500msec. SPEED HIGH SPEED OW SPEED T1 T2 cceleration/deceleration Time TIME Fig.6 GROW TIME 4

9 7. Terminals 7.Terminals 7-1 STOP/STRT (Input) Turning STOP/STRT input to ow level (connecting to GND potential) will make the motor start to run and the driver outputs COCK OUT signal to motor. Turning STOP/STRT input to High level (open) will make the motor stop and the driver stops to output COCK OUT signal. 7-2 CW/CCW (Input) Turning CW/CCW to ow level (connecting to GND potential) will make the motor rotate in CCW direction. Turning CW/CCW to High level (open) will make the motor rotate in CW direction. CCW CW Fig.7 Direction of Rotation 7-3 SPEED.. C. D (Input) These input terminals are used for setting RPM. 16 speeds are available between the highest and the lowest rpm setting by combination of signals from SPEED terminal CD FREQUENCY(pps) SPEED Terminal 0 0% 20% 40% 60% 80% 100% RPM RTIO C D E F Input H H H H H H H H Input H H H H H H H H C Input H H H H H H H H D Input H H H H H H H H Fig.8 Relation between RPM ratio and combination of SPEED terminals CD (HIGH SPEED VR: 2kpps) RD-123 5

10 7. Terminals 8. RM ED P/2P (Input) Motor rotates with 1-2phase excitation (half step) when this terminal is High level (open) and with 2-phase excitation (Full step) when ow level (connects to GND potential). 7-5 FREE (Input) Stepping motor drive current turns OFF at ow level (connects to GND potential) and the motor shaft can be rotated by hand. When turning FREE input to High level (open) again, the motor is excited at the phase home. NOTE: Do not turn this input ON when motor is running at high speed, this operation would damage the amplifier circuits. 7-6 COCK 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 1-2P/2P, one pulse is put out at COCK OUT for every full step(1.8 ) rotation of the motor, in High state, a pulse is outputted every half step(0.9 ). ow level time is fixed to 20μsec. 7-7 PHSE OUT (Output) PHSE OUT output (open collector output) is turned ON at the phase home. Once every 4 steps in full step operation (or once every 8 steps in half step), one pulse is put out. (One pulse is put out for every 7.2 rotation of 1.8 motor.) 7-8 RM OUT (Output) This terminal puts out a signal when Overheating protection circuit is in operation. (Open collector output is turned ON.) 8.RM ED This will light when Overheating protection circuit is in operation. 6

11 9. Timing Diagrams 9.Timing Diagrams 1step COCK OUT PHSE OUT OPEN ON OFF ON OFF ON OFF ON OFF OPEN Home Phase Fig.9. 2-phase Excitation Method (full step) 1step COCK OUT PHSE OUT OPEN ON OFF ON OFF ON OFF ON OFF OPEN Home Phase Fig phase Excitation Method (half step) RD-123 7

12 9. Timing Diagrams HIGH SPEED Setting RPM 0 STOP/STRT H H SPEED C D H H H Stepping Motor Drive current 0 FREE H H COCK OUT Fig.11. Timing Chart 8

13 10.Input/Output Circuits! Caution Do not exceed max. rated current voltage of each I/O circuit. It causes failure or malfunction Input Circuits (STOP/STRT, CW/CCW, SPEED..C.D, 1-2P/2P, FREE) 5V 10. Input/Output Circuits STOP/STRT CW/CCW SPEED..C.D 1-2P/2P FREE ow evel: ower than 1.5V High evel: Higher than 3.5V Inside 2.2KΩ 10KΩ 220pF Fig.12. Input Circuits CMOS 74HC 10-2 Output Circuits (COCK OUT, PHSE OUT, RM OUT) COCK OUT PHSE OUT RM OUT Inside Vceo = 50V Ic = 100m 10KΩ 18Ω 10KΩ VO(low level output Ic=10m) = 0.38V VO(low level output Ic= 1m) = 0.22V Fig.13. Output Circuits Do not supply the voltage more than 50V, the current more than 100m to terminals. RD-123 9

14 11. Wiring Diagram 11.Wiring Diagram! Caution Make sure that there are no mis-wiring and short-circuiting 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 (0.35N m). Please use the wire rod with the cross-section area corresponding to current value. Use twisted wire pair for the signal input wiring. Please tighten the terminals less than 3.5kgf cm (0.35N m). (Proper torque is 2.5kgf cm (0.25N m)) 18~40VDC GND C M M C 4 ED WIRE MOTOR 6 ED WIRE MOTOR 2P PUSE MOTOR DRIVER CURRENT DC18V -40V GND RD-123 RM + HIGH SPEED S GROW TIME + OW SPEED STOP/STRT CW/CCW SPEED GND C D 1-2P/2P FREE COCK OUT Programmable Controller Counter N.C. PHSE OUT RM OUT Input Circuit MDE IN JPN Fig.14. Wiring Diagram 11-1 Suitable Motor You can use any H(hybrid) or PM(permanent magnet) stepping motor with rating of 0.5 to 3/ph. Select motors with rating of less than supply voltage 0.7(V). RORZE 2-Ph Stepping Motors (Torque -- 1kgf cm = 13.9oz in Inertia -- 1g cm2 = oz in 2 ) ModelNo. Holding FullStep Rated Rotor Resistance Torque Inductance ngle Current Inertia (Ω) (mh) (kgf cm) (N m) (Degree) (/ph) (g cm2) RM2414S/D RM2424S/D RM2621S/D RM2640S/D RM2690S/D RM263S/D Color of RORZE motor s wire Terminal RORZE MOTOR Red () lack (C) lue () White (C) 10

15 12.Heat Dissipation 12. Heat Dissipation 13. Other Functions 14. Consumption Current! Caution 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 100 and driver s below 60 by adjusting the drive current or by installing a cooling fin, fan, etc. 13.Other Functions 13-1 uto. current down fter about 0.3 seconds of inactivity, current will be reduced to 50% of running current. This reduces driver and motor heat generation during idle periods Over heating protection circuit This works when the internal temperature of the driver reaches 85 ±4. It turns RM OUT output ON and RM ED 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 10 below the triggered temperature, returns automatically Over current protection circuit This works when abnormal current inside the driver occurred by mis-wiring or short-circuiting etc. has been detected ow supply voltage protection circuit The driver has a built-in low voltage protection circuit to prevent current overload. The low supply voltage condition normally occurs when power is turned ON. 14.Consumption Current 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 (60kHz) 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. RD

16 15. Relationship between Frequency and Motor speed 16. nother Driver 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 60 Motor speed(rpm)= 360(degree) Resolution ---- Full step: 1, Half step: 2 Example Step ngle: 1.8degree, Half step (Resolution: 2), Frequency: 2,000pps 1.8/2 2, Motor speed(rpm)= = 300 rpm nother Driver 16-1 RD-123H Power supply voltage of RD-123H is from 30VDC to 80VDC. The other specifications of RD-123H are all the same as that of RD-123. NOTE RD-123H is a high voltage type. It generates much more heat than RD-123, so install a radiator board, fun and etc. to dissipate heat RD-126 The motor current of RD-126 is 1/phase to 6/phase. Please refer to fig.15 for the current setting graph. ( motor with a current rating of up to 6/phase can be used.) The other specifications of RD-126 are all the same as that of RD-123. NOTE Please use the wire rod with the cross-section area corresponding to current value. RD-126 is a high power type. It generates much more heat than RD-123, so install a radiator board, fun and etc. to dissipate heat. Drive Current () 6 RD Current djustment Trimmer Graduations Fig.15. Current Setting 12

17 17. Dimensions 17.Dimensions (RD-126 has the same outside dimensions.) M4 2P PUSE MOTOR DRIVER RD-123 CURRENT 5 RM GND STOP/STRT HIGH SPEED CW/CCW 81mm(3.19") - S GROW TIME + OW SPEED DC18V -40V GND SPEED C D 1-2P/2P FREE COCK OUT 95mm(3.74") 105mm(4.13") N.C. PHSE OUT RM OUT MDE IN JPN 4mm(0.16") 63mm(2.48") 30mm(1.18") 56mm(2.2") Fig.16. Dimensions RD

18 RORZE CORPORTION Head Office (Japan) 1588 Michinoue, Kannabe-cho, Fukayasu-gun, Hiroshima , Japan Phone: Fax: address: Home page address: *ll RORZE products come with a 24-month guarantee. *Specifications and products are subject to change without any obligation on the part of the manufacturer. RCD