Orientalmotor CSK243-ATA, CSK243-BTA, CSK244-ATA, CSK244-BTA, CSK245-ATA Operating Manual

HP-7443-3

2-Phase Stepping Motor Unit

CSK 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 ....................... 5

3 Precautions for use ...................... 8

4 Preparation................................. 10

4.1 Checking the product ................10

4.2 Combinations of motors and

drivers .......................................10

4.3 Names and functions of driver ..12

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 .............. 18

5.5 Installing the driver....................19

5.6 Installing and wiring in compliance

with EMC Directive.................... 20

6 Connection..................................23

6.1 Connection of CSD2109-T,

CSD2112-T, CSD2120-T........... 23

6.2 Connection of CSD2140T,

CSD2145T ................................ 26

6.3 About input/output .................... 28

6.4 Timing chart.............................. 32

7 Setting.........................................33

7.1 Automatic current cutback

function..................................... 33

7.2 Step angle ................................ 34

7.3 Pulse input mode...................... 34

7.4 Power supply voltage ............... 35

7.5 Motor currents .......................... 35

8 Inspection....................................44

9 Troubleshooting and remedial

actions ........................................45

1 Introduction

−2−

1 Introduction

 Before use

Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the section “Safety precautions”.
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. Oriental
Motor Co., Ltd. is not responsible for any damage caused through failure to observe
this warning.

 Overview of the product

The CSK series 2-phase stepping motor is a unit product consisting of a driver of the
open-chassis type, photocoupler I/O specification and a 2-phase stepping motor.
We offer the standard type with a base motor step angle of 1.8°, and the high
resolution type with a 0.9° step angle. A geared type is also available.

 Main features

•

Compact driver

The CSK series adopts a compact driver using DC power supply input, making it
ideal for use as an internal component in general industrial equipment.

•

Two step angle settings

Either full step or half step can be selected as the step angle setting for the motor.

•

Adjustable motor driving currents

The operating current and standstill current of the motor can be adjusted
individually.

•

High torque geared motor

The geared type adopts a directly coupled gearhead designed to withstand high
torque.

1 Introduction

−3−

 System configuration

Operating the CSK series requires a controller equipped with a pulse output
function.

DC power input

Controller

Digital I/O

Motor

Driver

As for the voltage supply to the driver, use an EMC-compliant DC power supply
with reinforced insulation on both the primary and secondary sides.

 Compliance with the EC Directives

If compliance with the European Low Voltage Directive and EMC Directive is
required, the user is advised to take full responsibility for the following measures:
The installation conditions that must be satisfied to meet the above directives are as
follows:

• Install the motor and driver inside an enclosure.

• Use an EMC compliant DC power supply with reinforced insulation on both the

primary and secondary sides.

• Provide protective earthing for the DC power supply.

• Use shielded cable for I/O cables.

• Use a mains filter.

•

For Low Voltage Directive (73/23/EEC)

The CSK series motors and drivers are not subject to the Low Voltage Directive,
since their input power supply voltage is 36 VDC or below. However, the product
must satisfy the following conditions with regard to installation and connection:

• Use the product in a protected environment within an enclosure.

• As for the driver’s and digital I/O signal’s power supply, use a DC power supply

with reinforced insulation on both the primary and secondary sides.

Motor Driver
Degree of protection IP20 IP00
Installation conditions Built-in component

Overvoltage category: I
Pollution degree: 2
Protection against electric shock: Class III equipment

1 Introduction

−4−

•

For EMC Directive (89/336/EEC, 92/31/EEC)

This product has received EMC measures under the conditions specified in
“Example of motor and driver installation and wiring” on page 22.
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

20.

 Hazardous substances

RoHS (Directive 2002/95/EC 27Jan.2003) compliant

2 Safety precautions

−5−

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

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.

• Provide a means to hold the moving parts in place for applications involving
vertical travel. The motor loses holding torque when the power is shut off,
allowing the moving parts to fall and possibly cause injury or damage to
equipment.

Installation

• Install the motor and driver in their enclosures in order to prevent injury.

Connection

• Keep the driver’s input power voltage within the specified range to avoid fire and
electric shock.

• 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.

• The digital I/O part does not have reinforced insulation. For the digital I/O, use a
DC power supply with reinforced insulation provided on the 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 cable. Doing so may fire.

2 Safety precautions

−6−

Operation

• Turn off the driver power 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 C.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 equipment.

Repair, disassembly and modification

• Do not disassemble or modify the motor or driver. This may cause fire, electric
shock or injury.

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.

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 control inputs to the driver to
“OFF.” Otherwise, the motor may start suddenly and cause injury or damage to
equipment.

• Before moving the motor directly (as in the case of manual positioning), confirm
that the driver C.OFF (all windings off) input is “ON” to prevent injury.

2 Safety precautions

−7−

• To prevent bodily injury, do not touch the rotating parts (output shaft) of the motor
during operation.

• Immediately when trouble has occurred, stop running and turn off the driver
power. Failure to do so may result in fire, electric shock or injury.

Disposal

• To dispose of the motor or driver, disassemble it into parts and components as
much as possible and dispose of individual parts/components as industrial waste.

3 Precautions for use

−8−

3 Precautions for use

This section covers limitations and requirements the user should consider when
using the CSK series.

•

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 18 for details.

•

Motor case temperature

When operating the motor, keep the motor’s case temperature to 100 °C (212 °F) or
below. If that temperature exceeds 100 °C (212 °F) due to operating conditions
(ambient temperature, operating speed, duty, etc.), the motor coil may be burned or
the life of the bearing shortened.

•

Driver’s heatsink temperature

When operating the motor, keep the driver’s heatsink temperature to 80 °C (176 °F)
or below. If the temperature exceeds 80 °C (176 °F), the driver may be damaged.

•

Provide a measure to retain the position of the equipment’s movable
part when this unit is used in an vertical application.

The motor loses its holding brake force when the power is cut off. Therefore,
provide a measure to retain the position of the equipment’s movable part when this
unit is used in an vertical application such as a lifter.

•

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.

•

Preventing electrical noise

See 5.6 ”Installing and wiring in compliance with EMC Directive” on page 20 for
measures with regard to noise.

•

Check the colors of motor leads and connect them correctly and
securely.

Wrong connection of leads or poor contact may damage the driver.

•

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.

3 Precautions for use

−9−

•

Maximum static torque at excitation

The maximum static torque at excitation represents the torque when the motor is
excited at the rated current. If the motor is combined with a dedicated driver, the
automatic current cutback function reduces the maximum static torque at excitation
to around 40%. (The specific value varies, depending on the motor standstill current
that is set.) Once started, the motor can be accelerated or operated at the maximum
static torque at excitation. However, the holding torque drops to around 40% while
the motor is at a standstill. Therefore, when selecting a motor consider the reduced
holding torque at motor standstill of around 40% of the maximum static torque at
excitation.

•

Geared type motors

Allowable torque

Operate the motor by making sure the sum of the acceleration/deceleration torque at
the starting/stopping of the motor and the load (friction) torque doesn’t exceed the
allowable torque. Operating the motor in excess of the allowable torque may result
in a damaged gear.

Allowable speed range

Operate the motor at speeds within the allowable range.
Operating the motor at a speed outside the allowable range may result in a shorter
gear life.

Backlash

The gear output shaft is subject to backlash of 1° to 2°. 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, perform positioning operations from one
direction only either from the CW direction or the CCW direction.

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.

Gear ratio Rotating direction

3.6:1, 7.2:1, 9:1, 10:1 Same direction
18:1, 36:1 Opposite direction

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
pen or other device to prevent leakage from causing further damage. Oil leakage
may lead to problems in the customer’s equipment or products.

4 Preparation

−10−

4 Preparation

This section covers the points to be checked along with the names and functions of
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. Verify the model number of the purchased unit against the
number shown on the package label. Check the model number of the motor and
driver against the number shown on the nameplate. The unit models and
corresponding motor/driver combinations are listed on below.

• Motor.................................................................. 1 unit

• Driver ................................................................. 1 unit

• OPERATING MANUAL.................................... 1 copy

• Motor mounting screws (geared type only)........ 4 pcs.

No.4-40 UNC Cross recessed screw
No.8-32 UNC Hexagonal socket head screw

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

Standard type

Unit model Motor model Driver model

CSK243-ATA PK243-01AA
CSK243-BTA PK243-01BA

CSD2109-T

CSK244-ATA PK244-01AA
CSK244-BTA PK244-01BA

CSK245-ATA PK245-01AA
CSK245-BTA PK245-01BA

CSD2112-T

CSK264-AT PK264-02A
CSK264-BT PK264-02B

CSK266-AT PK266-02A
CSK266-BT PK266-02B

CSK268-AT PK268-02A
CSK268-BT PK268-02B

CSD2120-T

4 Preparation

−11−

Unit model Motor model Driver model

CSK296-ATA PK296-03AA

CSK296-BTA PK296-03BA
CSK299-ATA PK299-03AA

CSK299-BTA PK299-03BA

CSD2145T

CSK2913-ATA PK2913-02AA
CSK2913-BTA PK2913-02BA

CSD2140T

High resolution type

Unit model Motor model Driver model

CSK243MATA PK243MAA

CSK243MBTA PK243MBA

CSD2109-T

CSK244MATA PK244MAA
CSK244MBTA PK244MBA

CSK245MATA PK245MAA
CSK245MBTA PK245MBA

CSD2112-T

CSK264MAT PK264MA
CSK264MBT PK264MB

CSK266MAT PK266MA
CSK266MBT PK266MB

CSK268MAT PK268MA
CSK268MBT PK268MB

CSD2120-T

Geared type

Unit model∗

Motor model Driver model

CSK243ATA-SG□ PK243A1A-SG□

CSK243BTA-SG□ PK243B1A-SG□

CSD2109-T

CSK264ATA-SG□ PK264A2A-SG□

CSK264BTA-SG□ PK264B2A-SG□

CSD2120-T

∗ The blank square in the model will contain a number indicating the gear ratio.

Gear ratio: 3.6, 7.2, 9, 10, 18 or 36.

4 Preparation

−12−

4.3 Names and functions of driver

This section covers the names and functions of parts in the driver.

 CSD2109-T, CSD2112-T, CSD2120-T

1

5

2

3

8

7

4

Mounting

holes

6

No. Name Description

1 I/O and power supply terminal

blocks (TB1)

Connected to I/O signals and a 24 VDC or
36 VDC power supply. (36 VDC is only for
CSD2109-T, CSD2112-T, CSD2120-T.)

2 Motor terminal blocks (TB2) Connected to motor leads.
3 Power supply input indicator

LED (POWER)

Remains lit while current is supplied (green).

Automatic current cutback
function switch (ACD)

This switch enables or disables the automatic
current cutback function.
Factory setting: [ON] (enable)

Step angle switch (F/H) This switch sets the motor’s step angle (full

step/half step).
Factory setting: [ON] (full step)

Pulse-input mode switch
(1P/2P)

Set to 1-pulse input mode or 2-pulse input
mode according to the pulse output mode of
the positioning controller.
Factory setting: [ON] (1-pulse input mode)

4

Power supply voltage switch
(24/36V)

Set to 24 V or 36 V, according to the driver’s
power supply voltage.
Factory setting: [ON] (24 V)

5 Potentiometer for adjusting the

motor operating current
(RUN VR)

This potentiometer sets the operating current
of the motor. If there is sufficient torque, the
current setting can be reduced to suppress
increases in motor/driver temperatures.
Factory setting: the rated current

4 Preparation

−13−

No. Name Description

6 Potentiometer for adjusting the

motor standstill current
(STOP VR)

This potentiometer sets the current when the
motor is at a standstill (in the current cutback
state).
Factory setting: 40% of the rated current

7 Positive check terminal for

motor operating current (C.C.+)

This terminal is used to check the motor
operating current.

8 Negative check terminal for

motor operating current (C.C.−)

This terminal is used to check the motor
operating current.

 CSD2140T, CSD2145T

2

3

1

4

5

6

7

Heat sink

Mounting holes

Mounting holes

Mounting
holes

No. Name Description

1 Power supply terminal blocks

(TB1)

Connected to 24 VDC power supply.

2 Motor terminal blocks (TB2) Connected to motor leads.
3 I/O terminal blocks (TB3) Connected to I/O signals.
4 Potentiometer for adjusting the

motor operating current
(RUN VR)

This potentiometer sets the operating current
of the motor. If there is sufficient torque, the
current setting can be reduced to suppress
increases in motor/driver temperatures.
Factory setting: the rated current

5 Potentiometer for adjusting the

motor standstill current
(STOP VR)

This potentiometer sets the current when the
motor is at a standstill (in the current cutback
state).
Factory setting: 40% of the rated current

6 Automatic current cutback

function jumper socket
(C.C./A.C.D.)

This switch enables or disables the automatic
current cutback function.
Factory setting: [A.C.D.] (enable)

4 Preparation

−14−

No. Name Description

7 Step angle jumper socket

(FULL/HALF)

This switch sets the motor’s step angle (full
step/half step).
Factory setting: [FULL] (full step)

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)
Driver: 0 to +40 °C (+32 to +104 °F) (non-freezing)

• Operating ambient humidity 85% or less (non-condensing)

• Area that is free from an explosive nature or toxic gas (such as sulfuric gas) or

liquid

• Area free of excessive amount dust, iron particles or the like

• Area not subject to splashing water (storms, water droplets), oil (oil droplets) or

other liquids

• Area not exposed to direct sun

• 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 (supplied for geared types only)
through the four mounting holes provided. Do not leave a gap between the motor
and metal plate.

Note

• Insert the pilot located on the motor’s installation surface into the

mounting plate’s countersunk or through hole.

• Do not loosen the gearhead attaching screws (4 pcs.)