Oriental motor CRK524PMAP, CRK523PMAP, CRK523PMBP, PK523PMB, CRK524PMBP Operating Manual
...
HP-4189-2
5-Phase Stepping Motor Unit
CRK Series
OPERATING MANUAL
Thank you for purchasing an Oriental Motor product.
This Operating Manual describes product handling procedures and safety precautions.
• Please read it thoroughly to ensure safe operation.
• Always keep the manual where it is readily available.
Table of contents
1
Introduction .................................. 2
2 Safety precautions ....................... 4
3 Precautions for use ...................... 7
4 Preparation................................. 10
4.1 Checking the product ................10
4.2 Combinations of motors and
drivers .......................................10
4.3 Names and functions of parts ...13
5 Installation.................................. 15
5.1 Location for installation .............15
5.2 Installing the motor.................... 15
5.3 Installing a load ......................... 17
5.4 Permissible overhung load and
permissible thrust load .............. 17
5.5 Installing the driver....................19
5.6 Installing and wiring in compliance
with EMC Directive.................... 21
6 Connection..................................24
6.1 Connection example................. 24
6.2 Suitable contacts and
connector housings .................. 27
6.3 Connecting the power supply ... 29
6.4 Explanation of I/O signals......... 29
6.5 Timing chart.............................. 33
7 Setting.........................................34
7.1 Step angle ................................ 34
7.2 Pulse input modes.................... 36
7.3 Smooth drive function............... 36
7.4 Motor current ............................ 37
8 Inspection....................................42
9 Troubleshooting and remedial
actions ........................................43
10 Options (Sold separately)............46
1 Introduction
－2－
1 Introduction
Before using the motor unit
The product described in this manual has been designed and manufactured for use in
general industrial machinery, and must not be used for any other purpose. For the
driver’s power supply, use a DC power supply with reinforced insulation on its
primary and secondary sides. Oriental Motor Co., Ltd. is not responsible for any
damage caused through failure to observe this warning.
Overview of the product
The CRK series is a unit product comprised of an open-case microstep driver
equipped with smooth drive function and a five-phase stepping motor or various
geared motors designed for high torque and low vibration. The smooth drive
function allows microstep drive to be performed automatically within the driver
without having to change the pulse setting, thereby enabling low-vibration,
low-noise operation.
Standards and CE Marking
This product is recognized by UL and certified by CSA, and bears the CE Marking
(EMC Directive) in compliance with the EN Standards.
• Applicable Standards
Applicable Standards
Certification
Body
Standard
File No.
CE
Marking
UL 60950
CSA C22.2 No.60950
E208200
Motor
UL 1004, UL 2111
CSA C22.2 No.77
CSA C22.2 No.100
E64199
Driver
UL 60950
CSA C22.2 No.60950
UL
E208200
EMC
Directive
∗ Approval conditions for UL 60950: Class III equipment, SELV circuit, Pollution degree 2
∗ For unit models, Oriental Motor declares conformance with the EMC Directive individually.
1 Introduction
－3－
• For Low Voltage Directive
This product is not subject to the EC’s Low Voltage Directive because its input
power supply voltage is 24 VDC. However, the user is advised to perform the
following actions when conducting product installation and connection.
• This product is designed for use within machinery, so it should be installed within
an enclosure.
• For the driver’s power supply, use a DC power supply with reinforced insulation
on its primary and secondary sides.
• For EMC Directive (89/336/EEC, 92/31/EEC)
This product bears the CE mark under the conditions specified in “Example of
motor and driver installation and wiring” on page 23.
Be sure to conduct EMC measures with the product assembled in your equipment by
referring to 5.6 “Installing and wiring in compliance with EMC Directive” on page
21.
Hazardous substances
RoHS (Directive 2002/95/EC 27Jan.2003) compliant
2 Safety precautions
－4－
2 Safety precautions
The precautions described below are intended to prevent danger or injury to the user
and other personnel through safe, correct use of the product. Use the product only
after carefully reading and fully understanding these instructions.
Warning
Handling the product without observing the instructions
that accompany a “Warning” symbol may result in serious
injury or death.
Caution
Handling the product without observing the instructions
that accompany a “Caution” symbol may result in injury or
property damage.
Note
The items under this heading contain important handling
instructions that the user should observe to ensure safe
use of the product.
Warning
General
• Do not use the product in explosive or corrosive environments, in the presence of
flammable gases, locations subjected to splashing water, or near combustibles.
Doing so may result in fire or injury.
• Assign qualified personnel the task of installing, wiring, operating/controlling,
inspecting and troubleshooting the product. Failure to do so may result in fire or
injury.
• If this product is used in an elevator application, be sure to provide a measure for
the position retention of moving parts. The motor loses its holding torque when
the power supply is turned off. Failure to provide such a measure may cause the
moving parts to fall, resulting in injury or damage to the equipment.
Installation
• Install the motor and driver in their enclosures in order to prevent injury.
Connection
• Keep the driver’s power supply input voltage within the specified range to avoid
fire.
• For the driver’s power supply, use a DC power supply with reinforced insulation
on its primary and secondary sides. Failure to do so may result in electric shock.
• Connect the cables securely according to the wiring diagram in order to prevent fire.
• Do not forcibly bend, pull or pinch the power supply cable or motor cable. Doing
so may result in fire.
2 Safety precautions
－5－
Operation
• Turn off the driver power supply in the event of a power failure, or the motor may
suddenly start when the power is restored and may cause injury or damage to
equipment.
• Do not turn the A.W.OFF (All windings off) input to “ON” while the motor is
operating. The motor will stop and lose its holding ability, which may result in
injury or damage to the equipment.
Repair, disassembly and modification
• Do not disassemble or modify the motor or driver. This may cause injury. Refer
all such internal inspections and repairs to the branch or sales office from which
you purchased the product.
Caution
General
• Do not use the motor and driver beyond their specifications, or injury or damage
to equipment may result.
• Keep your fingers and objects out of the openings in the motor and driver, or fire
or injury.
• Do not touch the motor or driver during operation or immediately after stopping.
The surfaces are hot and may cause a burn.
• If the power supply cable or motor cable connected the driver are forcibly bent or
pulled, the driver will receive stress and may suffer damage.
Transportation
• Do not hold the motor output shaft or motor cable. This may cause injury.
Installation
• Keep the area around the motor and driver free of combustible materials in order
to prevent fire or a burn.
• To prevent the risk of damage to equipment, leave nothing around the motor and
driver that would obstruct ventilation.
• Provide a cover over the rotating parts (output shaft) of the motor to prevent
injury.
2 Safety precautions
－6－
Operation
• Use a motor and driver only in the specified combination. An incorrect
combination may cause a fire.
• Provide an emergency-stop device or emergency-stop circuit external to the
equipment so that the entire equipment will operate safely in the event of a system
failure or malfunction. Failure to do so may result in injury.
• Before supplying power to the driver, turn all input signals to the driver to “OFF.”
Otherwise, the motor may start suddenly and cause injury or damage to
equipment.
• Provide a cover over the rotating parts (output shaft) of the motor to prevent
injury.
• Before moving the motor directly with the hands (as in the case of manual
positioning), confirm that the driver A.W.OFF (All windings off) input is “ON” to
prevent injury.
• Immediately when trouble has occurred, stop running and turn off the driver
power. Failure to do so may result in fire or injury.
Disposal
• To dispose of the motor and driver, disassemble it into parts and components as
much as possible and dispose of individual parts/components as industrial waste.
3 Precautions for use
－7－
3 Precautions for use
This section covers limitations and requirements the user should consider when
using the CRK series.
• Conduct the insulation resistance measurement or withstand voltage
test separately on the motor and the driver.
Conducting the insulation resistance measurement or withstand voltage test with the
motor and driver connected may result in injury or damage to equipment.
• Do not apply an overhung load and thrust load in excess of the
specified permissible limit.
Be sure to operate the motor within the specified permissible limit of overhung load
and thrust load. Operating it under an excessive overhung load and thrust load may
damage the motor bearings (ball bearings). See page 17 for details.
• Operate the motor with a surface temperature not exceeding 100 °C
(212 °F).
The motor casing’s surface temperature may exceed 100 °C (212 °F) under certain
conditions (ambient temperature, operating speed, duty cycle, etc.). Keeping the
surface temperature of the motor casing below 100 °C (212 °F) will also maximize
the life of the motor bearings (ball bearings).
When a harmonic geared type is used, make sure the gear case temperature is kept at
70 °C (158 °F) or below to prevent degradation of grease applied to the gear.
• About maximum static torque at excitation
Maximum static torque at excitation represents a value obtained when the motor is
excited using the rated current. When the motor is combined with a dedicated driver,
the maximum static torque at excitation drops to approximately 50% due to the
current cutback function that suppresses the rise in motor temperature in a standstill
state. Acceleration and operation at the maximum static torque at excitation is
possible in start-up, but it only has approximately 50% holding power after it has
stopped. When selecting a motor for your application, consider the fact that the
holding power will be reduced to approximately 50% after the motor has stopped.
• Preventing electrical noise
See 5.6 ”Installing and wiring in compliance with EMC Directive” on page 21 for
measures with regard to noise.
3 Precautions for use
－8－
• Geared type motors
Backlash
The TH gear output shaft is subject to backlash of 10 to 60 minutes. As for the PL
gear output shaft is subject to backlash of 15 to 35 minutes. As for the PN gear
output shaft is subject to backlash of 2 to 3 minutes. Backlash refers to the looseness
at the gear output shaft, as generated when the input side of the gear is fixed. To
reduce the effect of backlash, positioning should be from one direction only-either
from the CW direction or the CCW direction.
About maximum torque
Always operate geared types with loads not exceeding their maximum torque. If a
geared type is operated with a load exceeding the maximum torque, the gear will be
damaged.
Rotating direction of the gear output shaft
The relationship between the rotating direction of the motor shaft and that of the
gear output shaft changes as follows, depending on the gear type and gear ratio.
Rotating direction
(Relative to the motor rotation direction)
Motor size
Gear type
Gear
ratio
28 mm
(1.1 in.)
42 mm
(1.65 in.)
60 mm
(2.36 in.)
3.6:1
7.2:1
10:1
Opposite
direction
Same direction
TH gear
20:1
30:1
Same
direction
Opposite direction
PL gear
PN gear
5:1
7.2:1
10:1
25:1
36:1
50:1
Same direction
Harmonic gear
50:1
100:1
Opposite direction
About grease of geared motor
On rare occasions, a small amount of grease may ooze out from the geared motor.
If there is concern over possible environmental damage resulting from the leakage of
grease, check for grease stains during regular inspections. Alternatively, install an oil
pan or other device to prevent leakage from causing further damage. Oil leakage
may lead to problems in the customer’s equipment or products.
3 Precautions for use
－9－
• About regeneration
When a large inertial load is operated at high speed, regenerative energy will
generate and increase the power supply voltage, which can damage the driver.
Review the operating condition and make sure regenerative voltage will not
generate.
4 Preparation
－10－
4 Preparation
This section covers the points to be checked along with the names and functions of
the respective parts.
4.1 Checking the product
Upon opening the package, verify that the items listed below are included.
Report any missing or damaged items to the branch or sales office from which you
purchased the product. See pages 10 to 13 for the motor and driver combinations.
• Motor 1 unit
• Driver 1 unit
• Connector housing/contact 1 set (packed in a bag)
Driver model Connector Housing (Molex) Contact (Molex)
Power supply
1 piece 51103-0200
(2 poles)
I/O signals
1 piece 51103-1200
(12 poles)
CRD5103P
CRD5107P
CRD5114P
Motor
1 piece 51103-0500
(5 poles)
19 pieces
50351-8100
• Motor cable 0.6 m (2 ft.) 1 piece
∗
Motor cables are supplied only with unit products of a connector connection
system.
• Operating manual 1 copy
Note
When removing the driver from the conductive protection bag, make sure
your hands are not charged with static electricity. This is to prevent
damage to the driver due to static electricity.
4.2 Combinations of motors and drivers
High-resolution type
Unit model Motor model
Single shaft Double shaft Single shaft Double shaft
Driver
model
CRK523PMAP CRK523PMBP PK523PMA PK523PMB
CRK524PMAP CRK524PMBP PK524PMA PK524PMB
CRK525PMAP CRK525PMBP PK525PMA PK525PMB
CRD5103P
CRK544PMAP CRK544PMBP PK544PMA PK544PMB
CRK546PMAP CRK546PMBP PK546PMA PK546PMB
CRD5107P
CRK564PMAP CRK564PMBP PK564PMA PK564PMB
CRK566PMAP CRK566PMBP PK566PMA PK566PMB
CRK569PMAP CRK569PMBP PK569PMA PK569PMB
CRD5114P
4 Preparation
－11－
High-torque type
Unit model Motor model
Single shaft Double shaft Single shaft Double shaft
Driver model
CRK513PAP CRK513PBP PK513PA PK513PB
CRK523PAP CRK523PBP PK523PA PK523PB
CRK525PAP CRK525PBP PK525PA PK525PB
CRD5103P
CRK544PAP CRK544PBP PK544PA PK544PB
CRK546PAP CRK546PBP PK546PA PK546PB
CRD5107P
Standard type
Unit model Motor model
Single shaft Double shaft Single shaft Double shaft
Driver model
CRK543AP CRK543BP PK543NAW PK543NBW
CRK544AP CRK544BP PK544NAW PK544NBW
CRK545AP CRK545BP PK545NAW PK545NBW
CRD5107P
CRK564AP CRK564BP PK564NAW PK564NBW
CRK566AP CRK566BP PK566NAW PK566NBW
CRK569AP CRK569BP PK569NAW PK569NBW
CRD5114P
TH geared type
Unit model Motor model
Single shaft Double shaft Single shaft Double shaft
Driver
model
CRK523PAP-T7.2 CRK523PBP-T7.2 PK523PA-T7.2 PK523PB-T7.2
CRK523PAP-T10 CRK523PBP-T10 PK523PA-T10 PK523PB-T10
CRK523PAP-T20 CRK523PBP-T20 PK523PA-T20 PK523PB-T20
CRK523PAP-T30 CRK523PBP-T30 PK523PA-T30 PK523PB-T30
CRD5103P
CRK543AP-T3.6 CRK543BP-T3.6 PK543AW-T3.6 PK543BW-T3.6
CRK543AP-T7.2 CRK543BP-T7.2 PK543AW-T7.2 PK543BW-T7.2
CRK543AP-T10 CRK543BP-T10 PK543AW-T10 PK543BW-T10
CRK543AP-T20 CRK543BP-T20 PK543AW-T20 PK543BW-T20
CRK543AP-T30 CRK543BP-T30 PK543AW-T30 PK543BW-T30
CRD5107P
CRK564AP-T3.6 CRK564BP-T3.6 PK564AW-T3.6 PK564BW-T3.6
CRK564AP-T7.2 CRK564BP-T7.2 PK564AW-T7.2 PK564BW-T7.2
CRK564AP-T10 CRK564BP-T10 PK564AW-T10 PK564BW-T10
CRK564AP-T20 CRK564BP-T20 PK564AW-T20 PK564BW-T20
CRK564AP-T30 CRK564BP-T30 PK564AW-T30 PK564BW-T30
CRD5114P
4 Preparation
－12－
PL geared type
Unit model Motor model
Single shaft Double shaft Single shaft Double shaft
Driver
model
CRK545AP-P5 CRK545BP-P5 PK545AW-P5 PK545BW-P5
CRK545AP-P7.2 CRK545BP-P7.2 PK545AW-P7.2 PK545BW-P7.2
CRK545AP-P10 CRK545BP-P10 PK545AW-P10 PK545BW-P10
CRK543AP-P25 CRK543BP-P25 PK543AW-P25 PK543BW-P25
CRK543AP-P36 CRK543BP-P36 PK543AW-P36 PK543BW-P36
CRK543AP-P50 CRK543BP-P50 PK543AW-P50 PK543BW-P50
CRD5107P
CRK566AP-P5 CRK566BP-P5 PK566AW-P5 PK566BW-P5
CRK566AP-P7.2 CRK566BP-P7.2 PK566AW-P7.2 PK566BW-P7.2
CRK566AP-P10 CRK566BP-P10 PK566AW-P10 PK566BW-P10
CRK564AP-P25 CRK564BP-P25 PK564AW-P25 PK564BW-P25
CRK564AP-P36 CRK564BP-P36 PK564AW-P36 PK564BW-P36
CRK564AP-P50 CRK564BP-P50 PK564AW-P50 PK564BW-P50
CRD5114P
PN geared type
Unit model Motor model
Single shaft Double shaft Single shaft Double shaft
Driver
model
CRK523PAP-N5 CRK523PBP-N5 PK523PA-N5 PK523PB-N5
CRK523PAP-N7.2 CRK523PBP-N7.2 PK523PA-N7.2 PK523PB-N7.2
CRK523PAP-N10 CRK523PBP-N10 PK523PA-N10 PK523PB-N10
CRD5103P
CRK544AP-N5 CRK544BP-N5 PK544AW-N5 PK544BW-N5
CRK544AP-N7.2 CRK544BP-N7.2 PK544AW-N7.2 PK544BW-N7.2
CRK544AP-N10 CRK544BP-N10 PK544AW-N10 PK544BW-N10
CRD5107P
CRK566AP-N5 CRK566BP-N5 PK566AW-N5 PK566BW-N5
CRK566AP-N7.2 CRK566BP-N7.2 PK566AW-N7.2 PK566BW-N7.2
CRK566AP-N10 CRK566BP-N10 PK566AW-N10 PK566BW-N10
CRK564AP-N25 CRK564BP-N25 PK564AW-N25 PK564BW-N25
CRK564AP-N36 CRK564BP-N36 PK564AW-N36 PK564BW-N36
CRK564AP-N50 CRK564BP-N50 PK564AW-N50 PK564BW-N50
CRD5114P
4 Preparation
－13－
Harmonic geared type
Unit model Motor model
Single shaft Double shaft Single shaft Double shaft
Driver
model
CRK543AP-H50 CRK543BP-H50 PK543AW-H50S PK543BW-H50S
CRK543AP-H100 CRK543BP-H100 PK543AW-H100S PK543BW-H100S
CRD5107P
CRK564AP-H50 CRK564BP-H50 PK564AW-H50S PK564BW-H50S
CRK564AP-H100 CRK564BP-H100 PK564AW-H100S PK564BW-H100S
CRD5114P
4.3 Names and functions of parts
This section covers the names and functions of parts in the motor and driver.
See the reference page indicated for details on each part.
Motor
Illustration shows the PK56 type.
Pilot
Output shaft
Mounting holes
(4 locations)
Motor leads
(5 wires: blue, red, orange,
green and black)
4 Preparation
－14－
Driver
CRD5103P, CRD5107P, CRD5114P
CN3
RUN
DATA2
DATA
1
1
1
ON
Mounting holes
Mounting holes
1
2
3
MOSFET arrays
6
8
Mounting holes
7
4
5
1. Power supply connector (CN1) [P.26]
Connect to a 24 VDC power supply.
2. I/O signals connector (CN2) [P.26]
Connect to I/O signals.
3. Motor connector (CN3) [P.26]
Connect to motor leads.
4. Motor operating current potentiometer (RUN) [P.38]
Set the operating current of the motor.
If there is sufficient torque, the current setting can be reduced to suppress
increases in motor/driver temperatures. The potentiometer is factory set to [the
rated current].
5. Motor standstill current potentiometer (STOP) [P.40]
Set the current when the motor is at a standstill (in the current cutback state).
The potentiometer is factory set to [50% of the rated current].
6. Function select switches (1P/2P, OFF/SD, R2/R1) [P.34 to 36]
• Pulse input mode select switch (1P/2P): Switch the pulse input mode between
1-pulse input mode and 2-pulse input mode.
• Smooth drive function select switch (OFF/SD): Set or cancel the smooth drive
function.
• Resolution select switch (R2/R1): Switch the reference step angle between R1
and R2.
7. Step angle setting switch (DATA1, DATA2) [P.34]
You can set a desired step angle by selecting it from among the 16 step angles.
8. Power supply input indicator (LED)
This LED remains lit while the power supply is input.
5 Installation
－15－
5 Installation
This chapter explains the installation location and installation methods of the motor
and driver, as well as how to install a load. The installation and wiring methods in
compliance with the EMC Directive are also explained.
5.1 Location for installation
The motor and driver are designed and manufactured for installation in equipment.
Install them in a well-ventilated location that provides easy access for inspection.
The location must also satisfy the following conditions:
• Inside an enclosure that is installed indoors (provide vent holes)
• Operating ambient temperature
Motor:
-
10 to +50 °C (+14 to +122 °F) (non-freezing)
Harmonic geared type: 0 to +40 °C (+32 to +104 °F) (non-freezing)
Driver: 0 to +40 °C (+32 to +104 °F) (non-freezing)
• Operating ambient humidity 85% or less (non-condensing)
• Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid
• Area not exposed to direct sun
• Area free of excessive amount of dust, iron particles or the like
• Area not subject to splashing water (rains, water droplets), oil (oil droplets) or
other liquids
• Area free of excessive salt
• Area not subject to continuous vibration or excessive shocks
• Area free of excessive electromagnetic noise (from welders, power machinery, etc.)
• Area free of radioactive materials, magnetic fields or vacuum
5.2 Installing the motor
Installation direction
The motor can be installed in any direction.
Installation method
Install the motor onto an appropriate flat metal plate having excellent vibration
resistance and heat conductivity.
When installing the motor, secure it with four bolts (not supplied) through the four
mounting holes provided. Do not leave a gap between the motor and metal plate.
Spot facing or
through hole for pilot
Metal plate
Mounting
holes
Installation method [A]
V
E
X
T
A
Metal plate
Screw holes
Installation method [B]
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