Please read Safety Considerations in operation manual before using. [Ai-M-42 Series] [Ai-M-56 Series] [Ai-M-60 Series] 67.5mm mm. 73.

Transcription

1 i- Series 2-Phase Closed-Loop Stepper otor Features inimal heat generating, high torque motor (control voltage 55V) Higher cost-efficiency compared to conventional servo motors vailable in motor frame size 42mm, 56mm, 6mm Please read Safety Considerations in operation manual before using. [i--42 Series] [i--56 Series] [i--6 Series] Ordering Information i 42 L Encoder resolution otor length 1,PPR (2,5PPR 4-multiply) S 67.5mm mm 73.5mm L 81.5mm otor frame size mm S 77.3mm 9.3mm L 111.3mm S 81.9mm 6 6 6mm 12.8mm L 119.8mm Item otor Series i rtificial intelligence odel Set Driver otor is-42s is-d-42s i--42s is-42 is-d-42 i--42 is-42l is-d-42l i--42l is-56s is-d-56s i--56s is-56 is-d-56 i--56 is-56l is-d-56l i--56l is-6s is-d-6s i--6s is-6 is-d-6 i--6 is-6l is-d-6l i--6l Q-2

2 2-Phase Closed-Loop Stepper otor Specifications otor Frame size 42mm odel i--42s i--42 i--42l ax. holding torque kgf.cm (.25N.m) 4.8kgf.cm (.4N.m) 4.89kgf.cm (.48N.m) Rotor moment of inertia 35g.cm 2 ( kg.m 2 ) 54g.cm 2 ( kg.m 2 ) 77g.cm 2 ( kg.m 2 ) Rated current 1.7/Phase Resistance 1.7Ω/Phase ±1% 1.85Ω/Phase ±1% 2.1Ω/Phase ±1% Inductance 1.9mH/Phase ±2% 3.5mH/Phase ±2% 4.4mH/Phase ±2% Weight 2 pprox..45kg (approx..34kg) pprox..52kg (approx..41kg) pprox..59kg (approx..48kg) Frame size 56mm odel i--56s i--56 i--56l ax. holding torque kgf.cm (.6N.m) 12.24kgf.cm (1.2N.m) 2.39kgf.cm (2.N.m) Rotor moment of inertia 14g.cm 2 ( kg.m 2 ) 28g.cm 2 ( kg.m 2 ) 48g.cm 2 ( kg.m 2 ) Rated current 3.5/Phase Resistance.55Ω/Phase ±1%.57Ω/Phase ±1%.93Ω/Phase ±1% Inductance 1.5mH/Phase ±2% 1.8mH/Phase ±2% 3.7mH/Phase ±2% Weight 2 pprox..76kg (approx..62kg) pprox..99kg (approx..85kg) pprox. 1.36kg (approx. 1.22kg) Frame size 6mm odel i--6s i--6 i--6l ax. holding torque kgf.cm (1.1N.m) 22.43kgf.cm (2.2N.m) 29.57kgf.cm (2.9N.m) Rotor moment of inertia 24g.cm 2 ( kg.m 2 ) 49g.cm 2 ( kg.m 2 ) 69g.cm 2 ( kg.m 2 ) Rated current 3.5/Phase Resistance 1.Ω/Phase ±1% 1.23Ω/Phase ±1% 1.3Ω/Phase ±1% Inductance 1.5mH/Phase ±2% 2.6mH/Phase ±2% 3.8mH/Phase ±2% Weight 2 pprox..89kg (approx..75kg) pprox. 1.27kg (approx. 1.13kg) pprox. 1.58kg (approx. 1.44kg) 1: ax. holding torque is standard torque when supplying the rated current (2-phase holding) and stopping the motor for comparing the specifications of motors. 2: The weight includes packaging. The weight in parenthesis is for unit only. Common specifications Standard step angle otor phase Run method 1.8 /.9 (Full/Half step) 2-phase Bipolar Insulation class B type (13 ) Insulation resistance Dielectric strength Vibration Shock Over 1Ω (at 5VDC megger), between motor coil-case 5VC 5/6Hz for 1 min between motor coil-case 1.5mm amplitude at frequency 1 to 55Hz (for 1 min) in each X, Y, Z direction for 2 hours pprox. max. 5G mbient temperature to 5, storage: -2 to 7 Environment mbient humidity 2 to 85%RH, storage: 15 to 9%RH Protection structure IP3 (IEC34-5 standard) Stop angle error 1 ±.9 Shaft vibration 2.3mm T.I.R. Radial ovement 3 ax..25mm (load 25N) xial ovement 4 ax..1mm (load 5N) Concentricity for shaft of setup in-low.5mm T.I.R. Perpendicularity of set-up plate shaft.75mm T.I.R. 1: Specifications are for full-step angle, without load. (values may vary by load size) 2: T.I.R. (Total Indicator Reading) - Indicate total dial gauge quantity in case of one complete rotating monitored reference around a base point. 3: mount of radial shaft displacement when adding a radial load (25N) to the tip of the motor shaft. 4: mount of axial shaft displacement when adding a axial load (5N) to the shaft. Environment resistance is rated at no freezing or condensation..5.3 () Photoelectric (B) Fiber Optic (C) Door/rea (D) Proximity (E) Pressure (F) Rotary Encoders (G) Connectors/ Connector Cables/ Sensor Distribution Boxes/Sockets (H) Temperature (I) SSRs / Power (J) Counters (K) Timers (L) Panel () Tacho / Speed / Pulse (N) Display Units (O) Sensor (P) Switching ode Power Supplies (Q) Stepper otors & Drivers & (R) Graphic/ Logic Panels (S) Field Network Devices (T) Software.75 Q-3

3 i- Series Specifications Encoder Item Resolution Output phase Incremental rotary encoder 1,PPR (2,5PPR 4-multiply),, B, B, Z, Z phase Output duty rate T ± T (T=1 cycle of phase) 2 4 Phase difference of output Output between and B phase: _ T ± _ T (T=1 cycle of phase) 4 8 Electrical Control Line driver [Low] - Load current: max. 2m, residual voltage: max..5vdc specification output output [High] - Load current: max. -2m, output voltage: min. 2.5VDCᜡ Response time (rise, fall) ax..5μs (cable length: 2m, I sink = 2m) ax. response frequency 3kHz Power supply 5VDCᜡ ±5% (ripple P-P: max. 5%) Current consumption ax. 5m (disconnection of the load) Encoder Control Output Diagram Line driver output Rotary encoder circuit Load connection +V ain circuit phase output phase output V ll output circuits of,, B, B, Z, Z phase are the same. Encoder Output Waveforms T phase T T 2 ± 4 phase T T 4 ± 8 B phase B phase Z phase Z phase T T ± 2 Clockwise (CW) T=1 cycle of, B phase CW Connection Diagram 2-phase stepper motor from utonics is equopped with unipolar mothod. The relations between each phase (coil) in the stepper motor and the color of the Lead-wire are followings. Red/Black() Yellow/Black(B) otor Blue/Black(Ā) White/Black(B - ) Q-4

4 2-Phase Closed-Loop Stepper otor Dimensions i--42 Series (unit: mm) () Photoelectric DP ± Ø ±1 L+33.4 (±1.5) 1.8 L ±1 (B) Fiber Optic (C) Door/rea Ø22 15 ±.2 odel L i--42s 34.1 i i--42l 48.1 (D) Proximity (E) Pressure (F) Rotary Encoders Ø1,.18m (G) Connectors/ Connector Cables/ Sensor Distribution Boxes/Sockets i--56 Series (H) Temperature ±1 L+33.8 (±1.5) (I) SSRs / Power 4-Ø ±.2 Ø L ±1 (J) Counters Ø38.1 ± ±.2 odel L i--56s 43.5 i i--56l 77.5 (K) Timers (L) Panel () Tacho / Speed / Pulse (N) Display Units Ø1,.18m (O) Sensor i--6 Series 4-Ø ±.25 Ø38.1 ±.5 Ø ±1 L+33.8 (±1.5) ±.2 L ±1 (P) Switching ode Power Supplies (Q) Stepper otors & Drivers & (R) Graphic/ Logic Panels (S) Field Network Devices odel L i--6s 48.1 i i--6l 86 (T) Software Ø1,.18m Q-5

5 i- Series otor Characteristics i--42 Series i--56 Series Torque[kgf. cm] 6 5 i--42l 4 i--42 Torque[kgf. cm] 25 2 i--56l 15 3 i--42s i--56 i--56s Torque[kgf. cm] Speed [rpm] i--6 Series i--6l i Speed [rpm] 15 i--6s Speed [rpm] Connection Connectors of otor CN2: otor+encoder Connector Pin arrangement Pin no. Function Pin no. Function 1 GND 8 +5VDC 2 ENCODER 9 ENCODER 3 ENCODER B 1 ENCODER B ENCODER Z 11 ENCODER Z GND ERTH 12 N.C 6 OTOR 13 OTOR B 7 OTOR 14 OTOR B Specifications Type anufacture Connector Connector terminal Housing CN2 otor+encoder R 5556T - olex bove connectors are suitable for i- Series. You can use equivalent or substitute connectors. Cable (sold separately) Type odel otor+encoder cable Normal oving 1 C1D14- C1DF14-1 1: indicates cable length (1, 2, 3, 5, 7, 1). E.g.) C1DF14-1: 1m moving type motor+encoder cable. Q-6

6 2-Phase Closed-Loop Stepper otor Troubleshooting 1. When motor does not rotate 1Check the connection status between controller and driver, and pulse input specifications (voltage, width). 2Check the pulse and direction signal are connected correctly. 2. When motor rotates to the opposite direction of the designated direction 1When RUN mode is 1-pulse input method, CCW input is for forward, is for backward. 2When RUN mode is 2-pulse input method, check CW and CCW pulse input are changed or not. 3. When motor drive is unstable 1Check that driver and motor are connected correctly. 2Check the driver pulse input specifications (voltage, width). Proper Usage 1. Do not disassemble or modify the product. It may cause malfunction due to small dregs. Once disassembling the motor, its performance would significantly decline. 2. Do not impact the motor. The air-gap, the distance between rotator and stator is processed as.5mm, but if it is impacted, the balance of air-gap can be broken and it may cause a malfunction. This encoder consists of precision components. Therefore, if it is dropped or has strong shock, it may lose the function or generates wrong output pulses. 3. Using at low temperature Using motors at low temperature may cause reducing maximum starting / driving characteristics of the motor due to decreased ball bearing's grease consistency. Start the motor in a steady manner since motor's torque is not to be influenced. 4. Temperature rise The surface temperature of motor shall be under 1 and it can be significantly increased by operation conditions (ambient temperature, drive speed, drive duty ratio, etc). In this case, use the cooling fan to lower the temperature forcedly. It may cause for motor power cable to be damaged by fire, for inner ball-bearing of motor to be shortening the life cycle or for the unit to malfunction. 5. Insulation resistance measurement, Dielectric strength test When executing insulation resistance measurement or dielectric strength test when motor and driver are connected, it may cause damage to the unit. 6. Encoder wire connection 1Do not draw the wire with over strength 3N after wiring. 2If wire encoder cable with high voltage line or power cable in the same conduit, it may cause a malfunction or mechanical problem. Please wire it separately or use separated conduit. 3Check the cable type and response frequency before using the unit. The cable length should be as short as possible. If not, it may cause increase cable resistance, residual voltage, and output waveform noise 4ust connect the shield cable to the F.G. terminal. 7. aintenance, Inspection For using motor, it is recommended to maintenance and inspection regularly. If motor has error, do not use the motor. Take maintenance and inspection before using it. aintenance and inspection items are as below. 1Unwinding bolt and connection parts for the unit installation and load connection 2Strange sound from ball bearing of the unit 3Damage and stress of lead cable of the unit 4Connection error with driver 5Inconsistency between the axis of motor output and the center, concentric (eccentric, declination) of the load, etc. 8. This product may be used in the following environments 1Indoors 2ltitude max. 2,m 3Pollution degree 2 4Installation category Ⅱ () Photoelectric (B) Fiber Optic (C) Door/rea (D) Proximity (E) Pressure (F) Rotary Encoders (G) Connectors/ Connector Cables/ Sensor Distribution Boxes/Sockets (H) Temperature (I) SSRs / Power (J) Counters (K) Timers (L) Panel () Tacho / Speed / Pulse (N) Display Units (O) Sensor (P) Switching ode Power Supplies (Q) Stepper otors & Drivers & (R) Graphic/ Logic Panels (S) Field Network Devices (T) Software Q-7