Oriental motor CSK243-ATA Manuale utente

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

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

2Safety precautions ....................... 5

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

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

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

4.2 Combinations of motors and

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

4.3 Names and functions of driver ..12

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

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

5.6 Installing and wiring in compliance

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

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

7Setting.........................................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

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

9Troubleshooting 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

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

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