Driver & Stepping motor package CSA Series. Operation Manual

Driver & Stepping motor package CSA Series CSA BX Operation Manual 170-0087-02(Ver.3) 2012.Feb. RoHS compliant This operation manual describes product handling procedures and important information to use of product. Be sure to read this operation manual for safe operation before using/ Keep this manual near at hand after reading. Table of content Handling precaution for safe use. 2 1. Before using product 3 2. Product overview 3 2-1. Product features and main functions 3 2-2. Product lineup 4 3. Preparation & installation 4 3-1. Unpack & check 4 3-2. Name & function 5 3-3. Power supply preparation 7 3-4. Installing locations. 7 3-5. Installing method & precaution 8 3-6. Cable & Connection with driver 10 3-7. Connection with peripherals. 12 3-8. Switch setting 14 4. Operation 18 4-1. Timing chart 18 4-2. LED 22 4-3. Protective functions / Alarms 22 5. General specifications 24 6. Troubleshooting & countermeasure 26 7. Periodical inspection 29 8. Warranty 29 9. Notes 30

Handling precaution for safe use Warning Handling the product breaching this 'warning' notice may cause critical accidents such as serious injuries or even death. Do not use the product under explosive or flammable environmental condition. It may cause fires or injuries. Installation, connection, operation, control and inspection must be done by only qualified personnel, Done only by unqualified personnel may cause fires or injuries. Connect the cable securely under this operation manual. Miss connection or improper connection may cause fires. Turn off the power supply of the application in the invent of the electricity failure. Sudden restarting of motor when power is restored may cause injuries or equipment damages. Turn off the power supply of the application when motor is exposed water splash. Operation under wet condition may cause fires. Do not disassemble or modify the motor. It may cause fires. Contact sales agent or sales office if the internal inspection or repair is required. Keep motor surface temperature 70 deg.c (158 deg.f) or lower. Excessive temperature rise may cause fires or injuries. Keep the motor away from inflammable goods. Improper motor installation may cause fires. Stop operation immediately and turn off the motor power supply, if unexpected system malfunction occurs. Otherwise, it may cause fires or injuries. Caution Handling the product breaching this 'Caution' notice may cause injuries or property damages. Be careful for the static electricity for the motor handing. Touching by electrified fingers may cause the motor damage. Do not use the motor beyond the motor specifications. It may cause property damages. Do not plug or unplug the connector during the power supply is turned on. It may cause electric shocks or property damages. Do not touch the motor output shaft (Rotating portion) during the operation. It may cause injuries. Do not touch the motor surface during the operation or even immediate after the operation. The motor surface temperature does not go down so quickly. it may cause burns. Equip external safety devices or emergency stop circuits for the case of application system failures or unexpected system malfunctions. Dispose the motor as industrial waste, if necessary. 2

1. Before using product < Before starting > This product described here is designed and manufactured for the use in general industrial machinery, including built in applications such as following Suggested applications. Note the product warranty policy does not apply and is void when product is used in the following None suggested applications. Suggested applications General industrial machinery including built in applications such as automatic assembling machines, machining fixture, inspection machines, factory automation machines. None suggested applications Applications that may significantly affect human lives or properties, such as safety devices, transportation equipment (including automobiles, automotive devices, aerospace and ships), medical devices, home-use electric or electronic appliances. 2. Product overview 2-1. Product features and main functions < Product features > This product is unique stepping motor and driver package that has open-loop stall detection mode and closed-loop operation mode. In open-loop stall detection mode, the motor run at open-loop condition and output alarm when motor stalls. In closed-loop mode, the motor keeps running and trace pulse order without stalling even when the motor like to lose synchronization to the input pulse by excessive acceleration order or impermanent overload beyond the motor performance. Also velocity filter can minimize vibration and achieve smooth drive during acceleration and deceleration. <Main functions> 2 type of motor operation modes for different application and situation Open-loop stall detection mode Closed-loop operation mode Smooth acceleration and deceleration with velocity filter Selectable in 4 steps resolution setting : 400, 800, 1600, 3200 PPR DC24V input and 13 steps current setting : 0.6-3.0A Protective function : Overheat, excessive regenerative voltage, low voltage, excessive load and excessive velocity Automatic power down function 3

2.2 Product lineup < Standard model > Item name Motor name Driver name CSA-BX42D2E PMSB-B42D2E CSA-BX42D4E PMSB-B42D4E CSA-BX56D1E PMSB-B56D1E CSA-BX56D3E PMSB-B56D3E CSA-BX56D5E PMSB-B56D5E PDSA-BX < Geared model > Item name Motor name Driver name CSA-BX42D2ESD PMSB-B42D2ESD CSA-BX56D1ESD PMSB-B56D1ESD PDSA-BX 3. Preparation & installation 3-1. Unpack & check Unpack and check the following items. 1.Motor driver (PDSA-BX) 1 2.Motor (PMSB Series) 1 3.Motor to Driver cable (60cm) 1 4.Driver signal cable (60cm) 1 5.Driver power cable (60cm) 1 6.Operation manual (This document) 1 Contact sales agent you purchased from or sales office if any missing or damage. 4

3.2 Name and function Motor 3 1 2 4 PMSB-B42D E PMSB-B56D E 3 1 2 4 PMSB-B42D2ESD PMSB-B56D1ESD Item name 1 Mounting pilot 2 Output shaft 3 Motor connector 4 Motor mounting holes (4holes) Description Pilot for positioning motor mount Rotating motor shaft (with flat) Mating connector for motor cable Hole for motor mounting 5

Driver 7 1 2 4 5 PDSA-BX 6 3 Item name 1 Power cable connector (CN1) 2 Signal cable connector (CN2) 3 Motor cable connector (CN3) 4 DIP switch (SW1) 5 Rotary switch (SW2) 6 LED indicator 7 Mounting plate Description Mating connector for DC24V power supply cable connection M a t i n g c o n n e c t o r f o r s i g n a l c a b l e connection M a t i n g c o n n e c t o r f o r m o t o r c a b l e connection DIP switch for driver function setting Rotary switch for driving current setting 2 indicators for driver condition (POWER and ALARM) Mounting plate of driver (Working as heat dissipation) 6

3-3. Power supply preparation Prepare enough current capacity power supply referring the following chart. Input power supply voltage DC24V ± 10% Input power supply current capacity Enough capacity to supply current to the motor driving Minimum 3.0A power supply is recommended, when the motor size and motor driving current is not determined. Power supply that endures the inductive load is recommended, as the motor regenerates the current to the power supply. Using less capable power supply may cause unexpected motor malfunction such as unstable operation at high speed running or slow starting up time. 3-4. Installing locations This product is designed and manufactured for the use in general industrial machinery including built in applications. Installation must be under the following conditions. Indoor. No presence of evaporative, flammable or corrosive gas. Ambient temperature 0 to 40 Deg. C (32 to 104 Deg. F). Ambient humidity 85% or less (No freezing or condensing). No water and oil splash. No excessive dust or metal particle surroundings. Free from continuous mechanical vibration or excessive external impact. Location can be expected proper metallic heat dissipation. Free from excessive electromagnetic noise area. Ventilated and accessible area for periodical inspection. 7

3-5. Installing method & precaution No restriction of the motor installing orientation. Fit motor pilot for mounting plate hole. Mount the motor on appropriate flat metal plate that can be expected good isolation from vibration and good heat dissipation. Fix securely with 4 screws (or 4 bolts). Keep on gap between motor and metal plate. Bolts and screws are 'not " included in the package. Recommended bolts and screws are as follows. Motor name Hole for motor mounting Recommended bolts and screws PMSB-B42D E M3 (Depth 4.5mm) M3 4pcs PMSB-B56D E φ 4.5 Through hole (Thickness 5mm) M4 4pcs PMSB-B42D2ESD M3 (Depth 7mm) M3 4pcs PMSB-B56D1ESD M4 (Depth 8mm) M4 4pcs PMSB-B42D Series mounting PMSB-B56D Series mounting Bolt X 4 Hole for pilot Mounting plate Bolt X 4 PMSB-B42D2ESD mounting PMSB-B56D1ESD mounting Bolt X 4 Bolt X 4 Hole for pilot 8 Mounting plate

Mount the driver appropriate flat metal plate that can be expected good isolation from vibration and good heat dissipation. Fix securely with minimum 2 M3 screws and 2 spring washers horizontally or vertically. - PDSA-BX M3 bolts (or screw) X 2, Washers X 2 Driver mounting 1 Driver mounting 2 Bolt X 2 Mounting plate Bolt X 2 Mounting plate <Precaution> Keep enough free space more than 3cm for horizontal direction and 5cm for vertical direction for driver mounting. Attach the load onto the motor output shaft with the following procedure. When the load is attached to the motor shaft directly or applied through the mechanical coupling, align the center of the motor output shaft and the load center. When the load is applied through the belt or the gear, keep parallel between the motor output shaft and the load center. The motor and the driver generates temperature rise. Keep enough free space for good heat dissipation. Do not rotate the motor shaft more than 50 r/m(before gear reduction) by the external force. Keep the load within the following listed values. Otherwise, it may cause the shaft to bend or to break. Radial load value is measured at the top of the output shaft. Load direction Item name Thrust to the shaft Radial to the shaft PMSB-B42D E 3.5N (0.35kgf) 20N (2kgf) PMSB-B56D E 5.4N (0.54kgf) 50N (5kgf) PMSB-B42D2ESD 15N (1.5kgf) 10N (1kgf) PMSB-B56D1ESD 30N (3kgf) 30N (3kgf) 9

3-6. Cable & Connection with driver Connect 3 cables to the driver. Cables are hooked up by the connectors. Refer functions to the signal specifications of the cable connection <Precaution> Plug and unplug connectors must be done with power supply turned off. Plug the connector securely after confirming connector orientation. Improper connection may cause motor malfunction or the motor damage. Unplug connector pushing the lock part of the connector housing. Use the cable as short as possible and do not wind or bundle the remainders. Insulate the unused signal cables, or connect them to DC5V power or signal ground to prevent from contacting other devices. Use ferrite core, shield the cables by conductive tape or braided shield are recommended if the noise became a problem. CN3 CN1 CN2 Power supply cable connection Connect power supply cable to CN1. CN1 Signal specifications (CN 1 Mating connector : JST XAP-02-1) Pin Signal Specifications/ Description 1(RD) Vcc DC24V ± 10% 2(BK) GND Power GND Motor - Driver cable connection Connect motor - driver cable to CN3. CN3 Signal specifications (CN3 Mating connector : JST PAP-08VS) Pin Signal Specifications/ Description 1(WT) ENC_B Encoder B phase 2(GN) ENC_A Encoder A phase 3(BK) GND Encoder GND 4(BL) +5V Encoder power 5(YL) B Motor B phase 6(OR) A Motor A phase 7(RD) B Motor B phase 8(BR) A Motor A phase 10

Signal cable connection Connect signal cable to CN2. CN2 Signal specifications (CN2 Mating connector : JST GHDR-20V-S (F) ) Pin Signal Signal type 1(BR) NC - 2(BR/WT) NC - 3(RD/WT) NC - 4(RD) NC - 5(OR/WT) MST ー 6(OR) MST + Out 7(YL/WT) ALARM ー 8(YL) ALARM + Out 9(GN/WT) READY/ BUSY ー 10(GN) READY/ BUSY + Out AUTO_ 11(BL/WT) CURRENT ー In 12(BL) AUTO_ CURRENT + 13(VT/WT) MST_CLR ー 14(VT) MST_CLR + In 15(GR/ ENABLE ー WT) In 16(GR) ENABLE + 17(BK/WT) CCW ー (DIR ー ) 18(WT) CCW + (DIR +) In 19(PK/WT) CW ー (PLS ー ) 20(PK) CW + (PLS +) In Function N/A Stall alarm signal 1 System alarm signal Ready/Busy signal Automatic power down enable signal Stall alarm clear signal Motor enable signal CCW pulse signal (Direction signal) CW pulse signal (Pulse signal) Specifications/Description N/A Do not connect anything. Sealing signal cables properly not to contact each other. OFF: Openloop stall detection mode - Motor stall : Closedloop operation mode - Excessive deviation error or excessive load error ON : Normal operation OFF: System alarm ON: Normal operation OFF: Motor operation execute ON: Motor stop OFF: Motor holding current goes to SW1 No5pin set current 100[ms] after pulse signal input stopped. ON: Motor holding current is maintained at running current at SW2 OFF: Normal operation ON: Motor stall (Miss step) alarm clear OFF: Current disable ON: Current enable 2 pulse input mode - CCW pulse signal input 1 pulse input mode - Direction signal input OFF: CW direction/ ON: CCW direction 2 pulse input mode - CW pulse signal input 1 pulse input mode - Pulse signal input 1 To clear stall alarm signal, input signal to stall alarm clear. (See P21 for details.) 2 Alarm LED blinking cycle shows error description (See P23 for details). Bracket ( ) after pin number shows cable color. "OFF" in chart shows photocoupler off condition and "ON" in chart shows photocoupler on condition respectively. CW shows clockwise direction and CCW shows counterclockwise direction viewed from motor mounting surface. 11

3-7. Connection with peripherals. Driver & Power supply / External signal / Motor connection Connect the power supply and the controller referring the following examples. Connections must be done under the condition of the power supply turned off. < Driver & Power supply / External signal / Motor connection example> Bracket () after pin number shows cable color. R 1 and R 2 show external resistors for current limit. Improper connections may lead motor and other peripherals damages. 12

I/O signal diagram Input signal to the motor driver [ CW+(PLS+) / CW-(PLS ー ) / CCW+(DIR+) / CCW-(DIR ー ) / ENABLE+ / ENABLE ー / MST_ CLR+ / MST_CLR ー / AUTO_CURRENT+ / AUTO_CURRENT ー Signal ] Driver input is photocoupler input. Connect to external device referring the following connection example. < Input circuit example > 1) Connect directly without external resistor "R 1 " when applying DC+5V to V+, 2) Use external resistor "R 1 " to keep photocoupler current not to exceed 10mA when applying more than DC+5V to V+ The formula of the external resistor value is as follows. R 1 (External resistor value) >= ( (+v) - 1.1 - Vce) / (Photocoupler current ) - 330 ohms Ex) When use DC+24[V] for V+, resistor value should be Approx. 2K ohms. Photocoupler current in the driver circuit should be 5 to 10mA Use +V in the range of 5 to 30V. Applying more than DC5V signal voltage without external resistor may cause driver damage. Output signal from the motor driver [ READY/BUSY+ / READY/BUSY ー / ALARM+ / ALARM ー / MST+ / MST ー Signal ] Driver output is photocoupler open-collector output. Connect to external device referring the following connection example. < Output circuit example > 1) Keep photocoupler current 10mA or lower confirming with the specifications of the controller. 2) Use external resistor "R2" to keep photocoupler current not to exceed 10mA, when expected current exceeds 10mA. The formula of the external resistor value is as follows. R 2 (External resistor value)>= ((+V)-VF-Vce) / ( Photocoupler current) Ohms VF shows voltage drop of the connected electrical component. Vce = 0.6V when photocoupler current is 1mA and Vce = 1.8V when photocoupler current is 10mA Use +V in the range of 5 to 30V. Withdrawing more than 10mA current without external resistor may cause driver damage. 13

3-8. Switch setting Before staring the operation, make the following set up with the switch on PDSA-BX driver board. These settings must be done with the power supply turned off. Switch ON Switch OFF SW1 SW2 Resolution setting (SW1 : Pin No. 1 & 2) Set the motor resolution (Pulse/Rotation) SW1 Pin No. Resolution Step Angle 1 2 (Pulse / Rotation) (Deg./Pulse) ON (Default) ON (Default) 400P/R 0.9 ON OFF 800P/R 0.45 OFF ON 1600P/R 0.225 OFF OFF 3200P/R 0.1125 Setting higher resolution allows more precise step angle for each command pulse and reduce the motor running vibration. Use less than 100ms interval pulse command signal (More than 10pps) in 3,200 P/R setting. More than 100ms interval pulse command signal dose not work READY/BUSY output signal and automatic power down function correctly. Pulse input mode setting (SW1 : Pin No. 3) Set the pulse input mode. 13 SW1 Pin No.3 ON (Default) OFF Pulse input mode 2 pulse input mode (CW/CCW) 1 pulse input mode (PLS/DIR) Description 2 pulse input mode is to run the motor using CW (Clockwise) signal and CCW (Counterclockwise) signal respectively. With CW signal input, motor output shaft (viewed from the mounting surface side) rotates CW. With CCW signal input, the motor output shaft rotate CCW. 1 pulse input mode is to run the motor using PLS( Pulse) signal and DIR (Direction) signal. With PLS signal input the motor output shaft rotates and rotation direction is controlled by DIR signal. With DIR On, the motor output shaft rotates CW and with DIR Off, the motor output shaft rotates CCW direction.

Motor operation mode setting (SW1 : Pin No.4) Set the motor operation mode SW1 Pin No.4 ON (Default) OFF Motor operation mode Open-loop stall detection mode Closedloop operation mode Function Output alarm signal (MST) and stop motor operation without energized when motor stalls. Motor keeps operation and traces command pulse without stalling even when excessive acceleration order or impermanent excessive load applies. Description Motor runs in open-loop operation. Motor stall : When more than 3.6 Deg. deviation between rotor position and input pulse occurs, output stall alarm (MST) and motor stops without energized. Motor runs in closed-loop operation. Motor keeps operation and trace command pulse even when the deviation between rotor position and input pulse occurs by excessive acceleration or impermanent excessive load. Excessive deviation error : When the position deviation exceeds 1080 Deg, output stall alarm (MST) and motor stops without energized. Excessive load error : When more than 3.6 Deg deviation condition continues more than 5 seconds, output stall alarm and motor stops without energized. To clear stall alarm signal (MST), input signal to stall alarm clear (MST_CLR) is required (See P19 for details). Automatic power down current setting (SW1 : Pin No.5) Set the automatic power down current. The set parameter activates when Automatic power down signal input is "Off". SW1 Pin No.5 Setting ON (Default) Running current setting X 50% OFF Running current setting X 25% Set the automatic power down current separately from running current setting and effective for temperature rise prevention during motor holding condition. When automatic power down signal input (AUTO_CURRENT) is "On", the motor holding current is maintained at running current at SW2. Holding torque is getting lower in accordance with lower current setting. 15

Velocity filter setting (SW1: Pin 6, 7 & 8) Set velocity filter response time constant SW1 Pin No. 6 7 8 ON ON ON (Default) (Default) (Default) Setting 0ms (Filter inactive) ON ON OFF 2ms ON OFF ON 5ms ON OFF OFF 10ms OFF ON ON 20ms OFF ON OFF 50ms OFF OFF ON 70ms OFF OFF OFF 100ms Velocity filter setting makes smooth acceleration/deceleration and reduce vibration. < Velocity filter setting image > 0ms (Filter inactive) setting 50ms (Filter active) setting Input pulse velocity Motor rotation velocity Ready/Busy output signal timing Excessive time constant setting spoils the motor synchronization to the input pulse signal and delays the motor response time. Set parameter appropriately in accordance to actual application and the load condition. Improper velocity filter setting may cause motor stalling at 400P/R resolution setting in open-loop stall detection mode. It recommends to go higher resolution setting, shorten acceleration/deceleration time or change the load condition to avoid motor stalling. 16

Running current setting (SW2) Set motor running current and adjust motor rotating torque. Current [A] Rotary SW setting ( ± 20%) 0 (Default) 0.6A 1 0.8A 2 1.0A 3 1.2A 4 1.4A 5 1.6A 6 1.8A 7 2.0A 8 2.2A 9 2.4A A 2.6A B 2.8A C 3.0A D 3.0A E 3.0A F 3.0A Set motor running current as follows, if specific setting is not required. Item name Rotary SW setting Current [A] ( ± 20%) PMSB-B42D E 5 1.6A PMSB-B56D E B 2.8A PMSB-B42D2ESD 3 1.2A PMSB-B56D1ESD 9 2.4A Motor running torque goes lower if the running current setting is lower. Contrarily, the motor running torque goes higher if the running current setting is higher. If the running current setting is too high, the motor generates excessive temperature rise and result in motor burning. Keep the motor surface temperature at 70Deg. C( 158Deg.F) or lower. 17

4. Operation 4-1. Timing chart Motor operation and timing chart Operate the motor referring the following timing chart. 1 CW shows clockwise direction and CCW shows counterclockwise direction viewed from motor mounting surface. 2 "OFF" in chart shows photocoupler off condition and "On" in chart shows photocoupler on condition respectively. 3 Wait 5 seconds and more after power supply turned off when power supply resetting. 4 Initializing operation time varies in load condition. It takes approximately 1 second from motor enable signal input to Ready signal "On". 5 Acceleration / Deceleration time varies in operation mode, velocity filter setting and load condition. 6 Time to READY/BUSY signal varies in operation mode, velocity filter setting and load condition. 18

7 Wait time for direction change varies in operation mode, velocity filter setting and load condition. To secure appropriate wait time, it recommend to monitor READY/ BUSY signal. 8 When motor current enable is turned off, motor current shuts down, motor is not energized and position deviation check stops. When motor current enable is turned on, motor starts initializing operation and starts position deviation check. Do not start/stop motor operation with power supply switching and must use pulse signals for operation start/stop. Improper operation may cause injuries or property damage. 19

Pulse wave (CW/CCW) Input pulse signal referring the following chart. 1 CW shows clockwise direction and CCW shows counterclockwise direction viewed from motor mounting surface. 2 "OFF" in chart shows photocoupler off condition and "On" in chart shows photocoupler on condition respectively. Keep photocoupler off condition when pulse is stopped. Do not input CW pulse and CCW pulse in the same timing at 2 pulse input mode. Motor does not rotate correctly. 20

Stall alarm and stall alarm clear (MST/MST_CLR) Motor stops without energized with stall alarm (MST) output when motor stalls in open-loop stall detection mode, excessive deviation or excessive load in closed-loop operation mode. To restart motor operation, input signal on stall alarm clear (MST_ CLR) after removing the cause of stalling, excessive deviation or excessive load. 1 CW shows clockwise direction and CCW shows counterclockwise direction viewed from motor mounting surface. 2 "OFF" in chart shows photocoupler off condition and "On" in chart shows photocoupler on condition respectively. 3 Initializing operation time varies in load condition. It takes approximately 1 second from motor enable signal input to Ready signal "On". 4 Pulse signals are ignored when stall alarm (MST) outputs. When stall alarm (MST) outputs, motor stops without energized and no holding torque performs. System alarm cannot be cleared by stall alarm clear (MST_CLR) input. To clear stall alarm, input signal on stall alarm clear (MST_CLR) after removing the cause of stall, excessive deviation or excessive load. Start without removing the cause of problem may cause injuries or property damage. 21

4-2. LED Driver equips 2 LED indicators show driver and motor status by lighting and blinking. Make sure LED blinking cycles and error description when LED blinks and remove the cause of error. LED Name Color Type Light/Blink condition Power LED (Power supply indicator) Alarm LED (Alarm indicator) Green Orange Light Light Blink LED turns on when power supply is ON. LED turns on when position deviation occurs in closed-loop operation mode. LED blinks when error occurs or protective function works with stall alarm or system alarm signal output. It is possible to identify error description by blinking cycle time. See protective function and alarm column for more details. 4-3. Protective functions / Alarms Driver has alarm function to inform motor stalling including excessive deviation and excessive load and protective functions for system error. It is possible to identify the cause of alarm and system error by counting blinking cycles. Refer to the following page for recovering and countermeasure of problems. LED blinks in particular error cycle of 400ms light on and 400ms light off with 1.2 second interval. 1 2 3 N 1 2 400 ms 400 ms 1.2 s 3 N 22

Alarm LED Blinking cycle and Error description Blinking cycle 2 3 4 5 6 7 8 9 Output Error type Cause Reinstatement Stall alarm Stall alarm System alarm System alarm System alarm System alarm Stall detection Excessive deviation Excessive load Over heat Excessive regenerative voltage Motor stalling in open-loop stall detection mode Excessive position deviation in closed-loop operation mode Excessive load in closed loop operation mode Temperature of the thermistor on driver board reaches 80Deg. C Internal voltage goes more than 32VDC by regenerative voltage. Low voltage Input voltage goes less than 18VDC Excessive velocity Input pulse exceeds 80Khz or motor rotation velocity reaches 3,500 r/min Stall alarm clear (MST_ CLR) Stall alarm clear (MST_ CLR) Stall alarm clear (MST_ CLR) Power restarting Power restarting Power restarting Power restarting System alarm System error Problem of driver IC Power restarting System alarm Initialization error Motor initialization error Power restarting When stall alarm (MST) or system alarm outputs, motor stops without energized and no holding torque performs. Before re-start operation, remove the cause of stall alarm and system alarm. Start without removing the cause of problem may cause injuries or property damage. 23

5. General specifications < Standard model > 24 Item name Motor name Driver name CSA- BX42D2E PMSB- B42D2E CSA- BX42D4E PMSB- B42D4E CSA- BX56D1E PMSB- B56D1E PDSA-BX CSA- BX56D3E PMSB- B56D3E Flange size 42mm 56.4mm Resolution Driving method Power supply voltage CSA- BX56D5E PMSB- B56D5E 400P/R (0.9Deg.), 800P/R (0.45Deg.), 1,600P/R (0.225Deg.) Bracket() shows step angle at each resolution setting. 2 phase bipolar chopper drive DC24V±10% Current 1.6A/phase 2.8A/phase Maximum holding torque Rotor inertia Permissible inertia 0.23 N m 0.38 N m 0.44 N m 0.77 N m 1.40 N m (400P/R 0 pps) Approx. 40 g cm 2 Approx. 400 g cm 2 Approx. 70 g cm 2 Approx. 700 g cm 2 Approx. 153 g cm 2 Approx. 1530 g cm 2 (400P/R 0 pps) Approx. 290 g cm 2 Approx. 2900 g cm 2 Permissible thrust load 3.5 N (0.35 kgf) 5.4 N(0.54 kgf) Permissible radial load Motor mass Driver mass Insulation resistance Die-electrical strength Operating ambient temperature Operating ambient humidity Storage temperature Storage humidity Atmosphere Environmental 20 N (2kgf) at the top of output shaft Approx. 0.29kg Approx. 0.42kg Approx. 513 g cm 2 Approx. 5130 g cm 2 50 N (5kgf) at the top of output shaft Approx. 0.51kg Approx. 0.08kg Approx. 0.71kg 500 VD.C Merger 100M ohms or more A.C.500V 50/60Hz 1 minute. 0 to 40 Deg.C No freezing. 85% or less. No condensing Driver : -10 to + 50 Deg.C. No freezing Motor : -20 to + 60 Deg.C. No freezing 85% or less. No condensing No corrosive gas, no dust surroundings, No water and oil splash. RoHS (2002/95/EC) Approx. 1.10kg

< Geared model > Item name CSA-BX42D2ESD CSA-BX56D1ESD Motor name PMSB-B42D2ESD PMSB-B56D1ESD Driver name PDSA-BX Flange size 42mm 60mm Resolution Driving method 4000 P/R(0.09Deg.), 8000 P/R(0.045Deg.), 16,000 P/R(0.0225Deg.), 32,000 P/R(0.01125Deg.) Bracket() shows step angle at each resolution setting. 2 phase bipolar chopper drive Power supply voltage DC24V ± 10% Current 1.2 A/ Phaze 2.4 A/ Phaze Permissible torque 1.0 N m 3.0 N m Permissible rotation speed Backlash 0 200 r/min Approx.1 2 Deg. Rotor inertia Approx.40 g cm 2 Approx.135 g cm 2 Permissible inertia Approx.40,000 g cm 2 Approx.135,000 g cm 2 Permissible thrust load 15 N (1.5 kgf) 30 N (3 kgf) Permissible radial load 10 N (1kgf) at the top of output shaft 30 N (3kgf) at the top of output shaft Motor mass Approx. 0.38kg Approx. 0.81kg Driver mass Insulation resistance Die-electrical strength Operating ambient temperature Operating ambient humidity Storage temperature Storage humidity Atmosphere Environmental Approx. 0.08kg 500 VD.C Merger 100M ohms or more A.C.500V 50/60Hz 1 minute. 0 to 40 Deg.C No freezing. 85% or less. No condensing Driver : -10 to + 50 Deg.C. No freezing Motor : -20 to + 60 Deg.C. No freezing 85% or less. No condensing No corrosive gas, no dust surroundings, No water and oil splash. RoHS (2002/95/EC) 25

6. Troubleshooting & countermeasure When the motor cannot be operated correctly. Refer to the following troubleshooting and countermeasure list. If the incorrect operation persists, contact your sale agent or sales office. When Alarm LED does not blink Phenomenon Possible cause Countermeasure Motor is not energized. (Output shaft can be rotated by fingers like "power off" condition) Motor does not rotate Motor rotates in reverse direction. Cable miss connection or improper cable connection Power supply "Off" Motor current enable signal is "Off" (Pulse) signal cable miss connection, improper cable connection or disconnection. Motor running current is not set properly No pulse signal input. Improper switch (SW1)setting Reverse connection of CW input signal and CCW input signal at 2 pulse input mode. Input of the rotation direction signal is not correct at 1 pulse input mode. Incorrect switch (SW1) setting. Correct the connection of the cable with the power supply and the motor cable with driver Check if the power supply is "On" Set the motor current enable signal is "On" Check if the correct connection of the signal cable to the driver. Also check if the signal cable has not been damaged. Set the motor running current properly. Check if proper pulse signal from the controller applied. Correct the pulse input mode setting. Incorrect input mode setting may the cause no rotation of the motor. Connect CW pulse signal to CW signal input and CCW pulse signal to CCW signal input. Correct input signal logic of the rotation direction (Photocoupler on - CW direction and photocoupler off - CCW direction). Correct the pulse input mode setting. 26

Phenomenon Possible cause Countermeasure Unstable motor operation Motor generates excessive heat Motor does not generate expected torque. Motor rotation does not reach expected value Motor holding current does not go down. Motor generates excessive vibration (noise) Signal cable or motor cable miss connection or improper cable connection. Incorrect signal voltage input or incorrect frequency. Motor operation time is too long Motor holding current setting is too high Incorrect power supply voltage or power supply current capacity is not enough. Incorrect running current setting or incorrect holding current setting Correct the connection of the signal cable between driver and controller. Also check the correct connection of the motor cable between driver and motor. Also check if the cable has not been damaged. Check the signal voltage and frequency. Shorten the operating time or extend nonoperation interval. Also use external cooling fan for the motor to cool. Adjust the motor holding current at lower value. Check the power supply voltage. Prepare the power supply that has enough current capacity. Adjust the motor running current setting (SW2). Incorrect resolution setting Correct the resolution setting (SW1) Input pulse is too much or Check the supplied pulse from controller. less. Input pulse does not match Input enough pulse in accordance with required pulse after gear reduction. gear ratio. Automatic power down disabled. Set automatic power down enable. Incorrect motor holding current setting Correct holding current setting. Motor resonates Change the operation velocity or use the mounting rubber damper. Changing the resolution setting is also effective to minimize the motor resonance. Use velocity filter to reduce acceleration/ deceleration vibration. Load is small If output torque is too much against load, increase load or reduce the current setting. Use velocity filter to reduce acceleration/ deceleration vibration. 27

When Alarm LED blinks ALARM LED Blinking cycle 2 3 4 5 6 7 8 9 Possible cause Motor stalling in open-loop stall detection mode. Excessive load, Excessive acceleration / Deceleration or vibration. Position deviation or load exceeds the motor tracing range in closed-loop operation mode. Excessive load or command pulse input is too fast beyond the motor performance. Overheat protection works. Temperature of the thermistor on driver board is too high. Excessive regenerative voltage protection works. Low voltage protection works Improper power supply voltage setting. Less capable power supply capacity. Wrong connection. Excessive velocity protection works. Command pulse input is too fast or motor velocity is too high. Driver operation problem. External noise, malfunction by external reason or breakdown. Initialization failure. Excessive load. Motor cable miss connection. Countermeasure Reduce the load if the cause is excessive load. Operate in trapezoidal acceleration / deceleration curve in accordance with the motor performance. Use velocity filter to reduce acceleration/deceleration vibration. Reduce the load if the cause is excessive load. Operate in accordance with the motor performance. Keep enough surrounding space for good heat dissipation. Mount the driver appropriate flat metal plate that can be expected good heat dissipation. Reduce the load if the cause is excessive load. Review and change trapezoidal acceleration / deceleration curve in accordance with motor performance. Check the power supply voltage setting, power supply capacity and connection. Keep maximum command pulse input less than 80Kpps and maximum motor velocity less than 3,500 rpm. Remove the source of noise. Re-start power supply. Reduce the load if the cause is excessive load. Correct the connection of the motor cable with driver. 28

7. Periodical inspection For the safety operation, it is recommended that periodical inspection be done after each motor operation. Stop operation immediately and turn off the motor power supply, if unexpected system malfunction occurs. Then, contact sales agent or sales office. Recommended inspection items - No unusual noise from the motor bearing and moving components. - No foul smell from the motor unit. - No misalignment between the center of the motor output shaft and the load center. - No looseness of the motor and the driver mounting screw. - No looseness of the cable connection and no unusual connection. - No damage and no excessive stress on the cable. 8. Warranty Within one (1) year from the date of invoice ("Warranty Period"), product breakage, deformation, or defect ("Defects") by cause of Shinano Kenshi, the product you purchased shall be repaired, or be replaced at no charge. This warranty excludes and dose not cover any defects arising from or related to the followings. (1) Use excluding Suggested applications (2) Abuse and misuse. (3) Acts of God (Earthquake, lightning, fire or flood) (4) Negligence in observing specifications, applications, precaution of using, use conditions, drawings, other matters that related to the product, product (including optional parts) operation manuals or against other indications regarding safe use. (5) Unauthorized machining, repairs, modifications or disassembly. (6) Use with another manufacture's devices. (7) Exceeding product life. (8) Other than above, defects cannot be attributed to Shinano Kenshi. After warranty period or out of the warranty, any and all repairs, replacements and consumable replacements will be charged appropriately. Shinano Kenshi is not liable for direct damages, loss of opportunities, special damages, incidental damages and other consequent damages or loss caused by production line stop of factory and factory facilities with using our products. 29

9. Notes Reprinting or copying this operation manual is prohibited. Product name, specifications, dimensions may change without notice for product improvement. Products shown in this manual may be discontinued without prior notice. Contact sales agents or sales offices if modification or machining is required. 30

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Designed and manufactured by Shinano Kenshi Co.,Ltd. 386-0498 1078 Kami-maruko, Ueda-shi, Nagano-ken, JAPAN TEL(81)-268-41-1800 FAX(81)-268-43-0010 Plexmotion support center E-mail : Plexmotion@skcj.co.jp 2011 Shinano Kenshi Co.,Ltd. is a trademark of Shinano Kenshi Co.,Ltd.