Autonics MD5-HD14-2X, MD5-HD14-3X Instruction Manual
DR W171412AA
Autonics
Motor Driver (5-Phase Stepper Motor Driver)
MD5-HD14-2X/3X
I N S T R U C T I O N M A N U A L
CE:
Please read the following safety considerations before use.
Safety Considerations
Please observe all safety considerations for safe and proper product operation to avoid
※
hazards.
symbol represents caution due to special circumstances in which hazards may occur.
※
Warning
Caution
Warning
1. Fail-safe device must be installed when using the unit with machinery that may
cause serious injury or substantial economic loss. (e.g. nuclear power control,
medical equipment, ships, vehicles, railways, aircraft, combustion apparatus, safety
equipment, crime/disaster prevention devices, etc.)
Failure to follow this instruction may result in fire, personal injury, or economic loss.
2. Do not connect, repair, or inspect the unit while connected to a power source.
Failure to follow this instruction may result in fire.
3. Install the unit after considering counter plan against power failure.
Failure to follow this instruction may result in personal injury, or economic loss.
4. Check 'Connections' before wiring.
Failure to follow this instruction may result in re.
5. Do not disassemble or modify the unit.
Failure to follow his instruc ion may result in fire.
6. Install the driver in the housing or ground it.
Failure to follow his instruc ion may result in fire.
7. Do not touch the unit during or after operation for a while.
Failure to follow this instruction may result in burn due to high temperature of the surface.
8. Emergency stop directly when error occurs.
Failure to follow this instruction may result in re, or personal injury.
Caution
1. When connecting the power input, use AWG 18(0.75mm2) cable or over.
2. Install over-current prevention device (e.g. the current breaker, etc) to connect the
driver with power.
Failure to follow this instruction may result in fire.
3. Check the control input signal before supplying power to the driver.
Failure to follow this instruction may result in personal injury or product damage by
unexpected signal.
4. Install a safety device to maintain the vertical position after turn off the power of this
driver.
Failure to follow this instruction may result in personal injury or product damage by releasing
holding torque of the motor.
5. Use the unit within the rated specications.
Failure to follow this instruction may result in fire or product damage.
6. Use dry cloth to clean the unit, and do not use water or organic solvent.
Failure to follow his instruc ion may result in fire.
7. Do not use the unit in the place where ammable/explosive/corrosive gas, humidity,
direct sunlight, radiant heat, vibration, impact, or salinity may be present.
Failure to follow this instruction may result in re or explosion.
8. The driver may overheat depending on the environment.
Install the unit in the well ventilated place and forced cooling with a cooling fan.
Failure to follow this instruction may result in product damage and degrada ion.
9. Keep metal chip, dust, and wire residue from owing to the unit.
Failure to follow this instruction may result in re or product damage.
10. Use the designated motor only.
Failure to follow this instruction may result in re or product damage.
※
The above specications are subject to change and some models may be discontinued
without notice.
※
Be sure to follow cautions written in the instruction manual and the technical
descriptions (catalog, homepage).
Thank you for choosing our Autonics product.
Failure to follow these instructions may result in serious injury or death.
Failure to follow these instructions may result in personal injury or product damage.
Specications
Model MD5-HD14-2X MD5-HD14-3X
Power supply
Allowable voltage
uctuation range
Max. current consump-
tion
RUN current
STOP current 27 to 90% of RUN current (set by STOP current switch)
Drive method Bipolar constant current pentagon drive
Basic step angle 0.72
Resolution
Input pulse characteristic
Input resistance 270Ω (CW, CCW), 390Ω (HOLD OFF), 10Ω (ZERO OUT)
Insulation resistance Over. 100MΩ (at 500VDC megger, between all terminals and base)
Dielectric streng h 1,000VAC 50/60Hz for 1min. (between all terminals and base)
Noise resistance ±500V he square wave noise (pulse wid h: 1㎲) by the noise simulator
Vibration
Environ-
ment
Approval
Weight
※
1: When using over 30VDC power supply, torque characteristics are improved but the driver
※
2: Based on ambient temperature 25℃, ambient humidity 55%RH.
※
3: RUN current varies depending on the input RUN frequency and max. RUN current at the
※
4: Max. input pulse frequency is max. frequency to be input and is not same as max. pull-out
※
5: The weight includes packaging. The weight in paren hesis is for unit only.
※
Environment resistance is rated at no freezing or condensation.
Dimensions
00
ig
MD5-HD14-2X
,..$-
※
1
20-35VDC
90 to 110% of the rated voltage
※
2
※
3
Pulse wid h Min. 1μs (CW, CCW), Min. 1ms (HOLD OFF)
Duty Rate 50% (CW, CCW)
Rising/Falling ime Below 130ns (CW, CCW)
Pulse input voltage
Pulse input current 7.5-14mA (CW, CCW),10-16mA (HOLD OFF, ZERO OUT)
Max. input pulse
frequency
Mechanical
Malfunction
Ambient temp.
Ambient humi.
※
5
temperature raise. The unit should be installed at the well ven ilation environment.
moment varies also varies depending on the load.
frequency or max. slewing frequency.
5A 7A
0.4-1.4A/Phase
1, 2, 4, 5, 8, 10, 16, 20, 25, 40, 50, 80, 100, 125, 200, 250-division
(0.72 to 0.00288 /Step)
[H]: 4-8VDCᜡ, [L]: 0-0.5VDC
Max. 500kHz (CW, CCW)
※
4
1.5mm amplitude at frequency of 5 to 60Hz (for 1 min.) in each X, Y, Z
direc ion for 2 hours
1.5mm amplitude at frequency of 5 to 60Hz (for 1 min.) in each X, Y, Z
direc ion for 10 min.
0 to 40℃, Storage: -10 to 60
35 to 85%RH, Storage: 35 to 85%RH
Ct:
Approx. 446g (approx. 292g) Approx. 597g (approx. 411g)
'=='
/Step
190
180
ᜡ
i
i
!
I
---------------------------:---------------------------
!
180
※
Accessory connector specication
Accessory
40
A Power 2P housing Yeonho electronics YH396-02V 1
B Motor 5P housing Yeonho electronics YH396-05V 2
~
ig
MD5-HD14-3X
---------------..
,+--------~
~
~I
80
CB
..........-----------i
80
C Signal 6P housing JST XAP-06V-1 2
-
Power/Motor terminal pin
11
- Signal terminal pin JST
260
249
245
CB
245
O
※
Accessory connector specication
Accessory
40
A Power 2P housing Yeonho electronics YH396-02V 1
B Motor 5P housing Yeonho electronics YH396-05V 3
C Signal 6P housing JST XAP-06V-1 3
I I I I I :
-
Power/Motor terminal pin
- Signal terminal pin JST
I
I
ᜡ
℃
I
I
◄-
5
1-4::
66
4-M3 Tap
5
20
Connector
Manufacturer Model No.
Yeonho electronics YT396 12
I I I
CB
t-------------,
Connector
Manufacturer Model No.
Yeonho electronics YT396 17
A /
SXA-001T-P0.6
~
J+b
SXA-001T-P0.6
(unit: mm)
5
4-M3 Tap
5
Time Chart
1-pulse input method
2-pulse input method
0
※
Do not input CW, CCW signals at the same ime in 2-pulse input me hod.
It may not operate properly if another direction signal is inputted when one of CW or CCW is [H].
1---------------t
CW
CCW
Rotation
position
CW
CCW
Rotation
position
[H]
[L]
[H]
[L]
CW CCW
[H]
[L]
[H]
[L]
CW CCW
I/O Circuit and Connections
Qty
12
[Signal]
[Motor]
BLUE
RED
ORANGE
GREEN
BLACK
[Power]
※
Power input of 2/3-axis are used as same and I/O terminals are proportional to the number of axes.
Functions
00
ig
Function selection DIP switch
I
!~~~
TEST
•
Self diagnosis func ion is for motor and driver test.
•
This function makes the motor rotate with 30rpm in full step. Rotation speed varies with
resolution settings.
Rotation speed = 30rpm/resolution
In 1-pulse input method, it rotates to CCW, and in 2-pulse input method, it rotates to CW.
※
Be sure hat the TEST switch is OFF before supplying the power.
If the TEST switch is ON, he motor operates immediately and it may be dangerous.
1/2 CLK
1/2 CLK switch is to select pulse input method.
~
1-pulse input method: CW → operating rotation signal input,
•
2-pulse input method: CW → CW rotation signal input, CCW → CCW rotation signal input.
.
C/D (auto current down)
•
This function is to reduce the current provided for motor automatically for preventing severe
•
motor's heat when motor stops.
If motor RUN pulse is not applied, the current provided for motor reduces as the set STOP current.
※
Be sure hat when motor RUN current is reduced, he stop torque of motor also reduced.
※
Set the STOP current by the STOP current set ing switch.
1
270Ω
2
3
270Ω
4
5
390Ω
6
7
10Ω
8
1
2
3
4
5
1
2
No Name Function
1 TEST
f--------+--1
---+-------+----------+-----------,
2 1/2 CLK Pulse input method
3 C/D
CCW → rotation direc ion signal input ([H]: CW, [L]: CCW)
Setting RUN current
Switch No
66
RUN current setting is for he current provided for motor when the motor runs.
※
When RUN current is increased, RUN torque of the motor is also increased.
※
When RUN current is set too high, the heat is severe.
※
Set RUN current within the range of motor's rated current according to its load.
※
Change RUN current only when the motor stops.
0 1 2 3 4 5 6 7 8 9 A B C D E F
Current
0.4
(A/Phase)
0.5
Setting STOP current
20
[
Qty
18
Switch No 0 1 2 3 4 5 6 7 8 9 A B C D E F
% 27 31 36 40 45 50 54 58 62 66 70 74 78 82 86 90
®'
I I I I I I I I I I I I I I I I I I
STOP current setting is for the current provided for motor when he motor stops.
This setting is applied when using C/D (Current down) function.
Set ing value of STOP current is percentage (%) ratio of the set RUN current.
E.g.) Set RUN current as 1.4A and STOP current as 40%.
STOP current is set as 1.4A×0.4=0.56A.
※
When STOP current is decreased, STOP torque of the motor is also decreased.
※
When STOP current is set too low, the heat is lower.
※
Change STOP current only when the motor stops.
+5VDC
※
CW
CW
CCW
HOLD
OFF
GND
ZERO OUT
Pentagon
connection
Blue Gray+Red
Red Yellow+Black
Orange
Green Brown+Green
Black Blue+Purple
Self diagnosis function
Auto Current Down
0.57 0.63 0.71
2-pulse input method (CW rotation signal input)
1-pulse input method
※
CCW
2-pulse input method (CCW rotation signal input)
1-pulse input method (rota
→ [H]: CW, [L]: CCW
※
HOLD OFF
Control signal for motor excitation OFF
[H]: Motor excitation OFF
→
※
ZERO OUT (Option)
Zero point excitation output signal
→ Zero point status ON
Standard
connection
Orange+White
+
Power
-
20-35VDC
0.77
(operating rotation signal input)
ion direction signal input)
※
If the power for driving pulse from
external is over than +5VDC, please
connect resistor at the outside.
Motor
※
This connection cable color is only
for Autonics motors.
It may different cable color when
using o her motors.
Switch position
ON OFF (default)
30rpm rota ion Not use
1-pulse input method 2-pulse input method
Not use Use
0.84
0 9
0.96
1.02
1 09
1.15 1.22
CW
~
~
1.27 1 33
Zero point excitation output signal (ZERO OUT)
CW Pulse
CCW Pulse
ZERO OUT
This output indicates he initial step of excitation order of stepping motor and rota ion position
•
of motor axis .
This signal outputs every 7 2° of rotation of the motor axis regardless of resolution.
(50 outputs per 1 rotation of he motor.)
.
E g.) Full step: outputs one ime by 10 pulses input.
HOLD OFF function
0
This signal is for rotating motor's axis using external force or used for manual positioning.
•
When hold off signal maintains over 1ms as [H], motor excitation is released.
•
When hold off signal maintains over 1ms as [L], motor excita ion is in a normal status.
.
※
Must stop the motor for using this function.
※
Refer to
ON
OFF
ON
___
OFF
ON
_n
OFF
20-division: outputs one time by 200 pulses input.
I/O Circuit And Connections.
__
0 1 2 3 4 5 6 7 8 9 0 1 1 0
______.rul
~n~,
Setting microstep (Microstep: Resolution)
Switch No
0 1 2 3 4 5 6 7 8 9 A B C D E F
Resolution
1 2 4 5 8 10 16 20 25 40 50 80 100
Step angle
~~gl
Setting resolution (MS1)
•
The set step angle is dividing basic step angle (0.72°) of 5-phase stepping motor by setting
•
value.
The calcula ion formula of divided step angle is as below.
•
When using geared type motor, he angle is step angle divided by gear ratio.
•
Step angle / gear ra io = Step angle applied gear
E.g) 0.72° / 10 (1:10) = 0.072°
※
Must stop the motor before changing he resolution.
Cautions during Use
00
1. Follow instruc ions in 'Cautions during Use'.
Otherwise, It may cause unexpected accidents.
2. 20-35VDC power supply should be insulated and limited voltage/current or Class 2, SELV
power supply device.
3. Re-supply power after min. 1 sec from disconnected power.
4. Do not input CW
5. When the signal input voltage is exceeded the rated voltage, connect additional resistance
at the outside.
6. Set RUN current wi hin the range of motor's rated current depending on the load.
When the rated motor current is over, the heat may be increased and motor may be damaged.
7. If motor stops, switching for STOP current executed by the current down function.
When hold off signal is [H] or current down function is off,
8. Use twisted pair (over 0.2mm
9. The thickness of cable should be same or hicker han the motor cable's when extending
the motor cable.
10. Keep he distance between power cable and signal cable more than 10cm.
1. If the TEST switch is ON, the motor operates immediately and it may be dangerous.
1
12. Do not change any set ing switchs (function, run/stop current, resolution switches) during
he operation or after supplying power.
Failure to follow this instruction may result in malfunction.
13. Motor vibration and noise can occur in specic frequency period
①
Change motor installation method or attach the damper.
②
Use he unit out of the dedicated frequence range when vibration and noise occurs due
1.4
to changing motor RUN speed.
14. For using motor, it is recommended to maintenance and inspection regularly.
①
Unwinding bolts and connection parts for the unit installation and load connection
②
Strange sound from ball bearing of the unit
③
Damage and stress of lead cable of the unit
④
Connec ion error wi h motor
⑤Inconsistency between the axis of motor output and the center, concentric (eccentric,
declination)
15. This product does not prepare protection func ion for a motor.
16. This unit may be used in he following environments.
①
Indoors (in the environment condi ion rated in 'Specications')
②
Altitude max. 2,000m
③
Pollu ion degree 2
④
Installation category II
0.72° 0.36° 0.18° 0.144° 0.09° 0.072° 0.045° 0.036° 0.0288° 0.018° 0.0144° 0.009° 0.0072° 0.00576° 0.0036°
111111111
Set step angle =
Resolu ion
Basic step angle (0.72°)
, CCW signal at the same time in 2-pulse input method.
2
) for the signal cable which should be shorter than 2m.
of he load, etc.
11
I I I I I I
he switching does not execute.
125 200 250
0.00288
°
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DR W171412A A
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