Oriental motor CRK Series Manuale utente

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

1Introduction .................................. 2

2Safety precautions ....................... 4

3Precautions for use ...................... 7

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

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

4.2 Combinations of motors and

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

4.3 Names and functions of parts ...13

5Installation .................................. 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

6Connection..................................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

7Setting.........................................34

7.1 Step angle ................................ 34

7.2 Pulse input modes.................... 36

7.3 Smooth drive function............... 36

7.4 Motor current ............................ 37

8Inspection....................................42

9Troubleshooting 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.

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

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

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