5-Phase Stepping Motor and Driver Package CSK Series

Transcription

1 Stepping s -Phase Stepping and Package CSK Series Additional Information Technical Reference F- General Information G- Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping C-9

2 Stepping s -Phase Stepping and Package CSK Series The CSK Series combines a -phase stepping motor and a VDC input board-level driver to provide high torque, high resolution and low vibration in a compact package. Features High torque The CSK Series features PK motors, designed to produce high torque in a compact frame size. Low Vibration Smooth rotation is achieved with no noticeable resonance, allowing for low vibration and low noise. Compact Package Both the motor and driver are compact in design, making them perfect for reducing the size and weight of any system. High Resolution -phase stepping motors move.7 per step in full-step mode and.3 per step in half-step mode. times the resolution of a -phase stepping motor. This mechanically reduced step angle makes for extremely accurate positioning. Tapered Hobbed (TH) Geared Type These low backlash geared stepping motors provide high permissible torque in a compact size. They are optimal for applications in which high torque is required in tight spaces. Safety Standards and CE Marking Product Standards Certification Body File No. CE Marking Stepping UL, UL9 CSA C. No.77 CSA C. No. UL8C CSA C. No. UL9 CSA C. No.9 UL UL UL E99 E7 E8 EMC Directives Approval conditions for UL9: Class# equipment, SELV circuit, Pollution degree CSK [ frame size:. in. sq ( mm sq.)] types do not comply with CSA standards. CSK9 [ frame size: 3.3 in. sq (8 mm sq.)] type is not recognized by UL and CSA. When the system is approved under various safety standards, the model names on the motor and driver nameplates are the approved model names. List of and Combinations Page C-3 Details of Safety Standards Page G- The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motordriver incorporated in the user's equipment. C- Features C- System Configuration C- SpecificationsCharacteristics C-

3 System Configuration Stepping s Flexible Couplings (Accessories) ( Page C-8) Clean Dampers (Accessories) ( Page C-89) Mounting Brackets (Accessories) ( Page C-9) -Phase CSK Series VDC Power Supply (Not supplied) An example of a single-axis system configuration with the EMP Series controller. Product Number Code Standard Type CSK - N T A CSK Series -Phase New Pentagon Drive Case Length USA Version Terminal Block Type Shaft Type A: Single Shaft B: Double Shaft EMP Controller (Sold separately) ( Page C-) Frame Size :. in. sq. ( mm sq.) :.3 in. sq. ( mm sq.) 9: 3.3 in. sq. (8 mm sq.) TH Geared Type CSK A A - TG 7. CSK Series Product Line Type Standard Type TH Geared Type Gear Ratio TH Geared Type USA Version Shaft Type A: Single Shaft -Phase Case Length B: Double Shaft Frame Size :. in. sq. ( mm sq.) :.3 in. sq. ( mm sq.) Power Supply Voltage VDC IO Cable with Terminal Block (Accessories) ( Page C-) VDC Power Supply (Not supplied) Maximum Holding Torque. in. ( mm).3 in. ( mm) 3.3 in. (8 mm) 8.3 oz-in (.3. N m) 33. lb-in (.3. N m) 93 oz-in (.. N m) 3 lb-in (. N m) 989 oz-in (..3 N m) Programmable Controller (Not supplied) Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C- Dimensions C-7 Connection and Operation C-9 and Combinations C-3 C-

4 Stepping s Standard Type Specifications Frame Size:. in. ( mm),.3 in. ( mm) UC Single Shaft CSK3-NATA CSK-NATA CSK-NATA CSK-NATA CSK-NATA CSK9-NATA Double Shaft CSK3-NBTA CSK-NBTA CSK-NBTA CSK-NBTA CSK-NBTA CSK9-NBTA Maximum Holding Torque oz-in (N m) 8. (.3) (.8) 3 (.) 9 (.) 7 (.83) 3 (.) Rotor Inertia J oz-in (kg m ).9 (3-7 ).3 ( -7 ).37 (8-7 ).9 (7-7 ).3 (8-7 ) 3. ( -7 ) Rated Current Aphase.7. Basic Step Angle.7 Power Source VDC%.3 A VDC%. A Excitation Mode Dimension No. How to read specifications table Page C-9 Full Step ( phase excitation):.7 step Half Step (- phase excitation):.3 step lb. (kg). (.).9 (.7).77 (.3).3 (.).8 (.8).9 (.3) lb. (kg).3 (.) z x n Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- CSK3-NBTA CSK-NBTA Power Input: VDC Current:.7 APhase ( Phases ) Power Input: VDC Current:. APhase ( Phases ) With Damper DCL-.F: JL =.8 oz-in (3 7 kg m ).8 With Damper DCL-8.F: JL =.77 oz-in ( 7 kg m ) Full Step.7 step.7 Full Step.7 step Half Step.3 step Half Step.3 step CSK-NBTA Full Step Full Step () () () (3) () (Half Step) () () () (3) () (Half Step) CSK-NBTA Power Input: VDC Current:.7 APhase ( Phases ) Power Input: VDC Current:. APhase ( Phases ).3 With Damper DCL-.F: JL =.8 oz-in (3 7 kg m ). With Damper DCL-8.F: JL =.77 oz-in ( 7 kg m ). Full Step.7 step Full Step.7 step Half Step.3 step. Half Step.3 step CSK-NBTA 3... Full Step Full Step () () () (3) () (Half Step) () () () (3) (Half Step) CSK9-NBTA Power Input: VDC Current:.7 APhase ( Phases ) Power Input: VDC Current:. APhase ( Phases ).3 With Damper DCL-.F: JL =.8 oz-in (3 7 kg m ) With Damper DCL-8.F: JL =.77 oz-in ( 7 kg m ). 3. Full Step.7 step Half Step.3 step 3 Full Step.7 step Half Step.3 step () () () (3) () Full Step (Half Step) The pulse input circuit responds up to approximately khz with a pulse duty of %. () () (8) () 8 Full Step () (Half Step) C- Features C- System Configuration C- SpecificationsCharacteristics C-

5 Standard Type Specifications Frame Size: 3.3 in. ( 8 mm) Single Shaft CSK9-NATA CSK99-NATA CSK93-NATA Double Shaft CSK9-NBTA CSK99-NBTA CSK93-NBTA Maximum Holding Torque oz-in (N m) 9 (.) 8 (.) 89 (.3) Rotor Inertia J oz-in (kg m ) 7.7 ( -7 ).8 (7-7 ) ( -7 ) Rated Current Aphase.8 Basic Step Angle.7 Power Source VDC% A Excitation Mode Full Step ( phase excitation):.7 step Half Step (- phase excitation):.3 step Dimension No. How to read specifications table Page C-9 lb. (kg) 3.7 (.7). (.8) 8. (3.8) lb. (kg). (.) c m Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- CSK9-NBTA CSK99-NBTA 3 8 Power Input: VDC Current:.8 APhase ( Phases ) With Damper D9CL-.7F: JL =.8 oz-in (87 7 kg m ) Full Step.7 step Half Step.3 step Full Step () () (8) () () (Half Step) Power Input: VDC Current:.8 APhase ( Phases ) With Damper D9CL-.7F: JL =.8 oz-in (87 7 kg m ) Full Step.7 step Half Step.3 step 3 3 Full Step () () () () (8) (Half Step) CSK93-NBTA Power Input: VDC Current:.8 APhase ( Phases ) With Damper D9CL-.7F: JL =.8 oz-in (87 7 kg m ) 8 8 Full Step.7 step Half Step.3 step 3 3 Full Step () () () () (8) (Half Step) The pulse input circuit responds up to approximately khz with a pulse duty of %. C Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C- Dimensions C-7 Connection and Operation C-9 and Combinations C-3 C-3

6 Stepping s TH Geared Type Specifications Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Excitation Mode Dimension No. Single Shaft Double Shaft lb-in (N m) oz-in (kg m ) Aphase Full Step Half Step lb. (kg) lb. (kg) Frame Size:. in. ( mm) CSK3AA-TG3. CSK3BA-TG3. 3 (.3). CSK3AA-TG CSK3BA-TG 8.8 ().9 (3-7 ).7.7 : 8.8 () (.7 ) UC Gear Ratio 3.: 3: Permissible Torque lb-in (N m) 3 (.3) 3. (.) Backlash Arc minute (degrees) (.7 ) (. ) Permissible Speed Range (Gear Output Shaft Speed) rmin 8 9 Power Source VDC%.3 A. step. step CSK3AA-TG7. CSK3BA-TG7.. (.7). 7.:. (.7) (.7 ). step. step.7 step.3 step.73 (.33).3 (.) v n How to read specifications table Page C-9 Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of 3.:, 7.: and :. It is opposite for : and 3: gear ratios. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- CSK3BA-TG3. CSK3BA-TG CSK3AA-TG CSK3BA-TG 3. (.).3 : 3. (.) (. ).3 step.8 step CSK3AA-TG3 CSK3BA-TG3 3. (.).. step. step Power Input: VDC Current:.7 APhase ( Phases ) Power Input: VDC Current:.7 APhase ( Phases ) With Damper DCL-.F: JL =.8 oz-in (3 7 kg m ) With Damper DCL-.F: JL =.8 oz-in (3 7 kg m ). Full Step. step Half Step. step. Permissible Torque Full Step.3 step Half Step.8 step 3. Permissible Torque. 3 CSK3BA-TG7. 8 Full Step Full Step () () () (3) (Half Step) () () () (3) (Half Step) CSK3BA-TG3 Power Input: VDC Current:.7 APhase ( Phases ) Power Input: VDC Current:.7 APhase ( Phases ) With Damper DCL-.F: JL =.8 oz-in (3 7 kg m ) With Damper DCL-.F: JL =.8 oz-in (3 7 kg m ) Full Step. step Half Step. step.. Permissible Torque. CSK3BA-TG.. Permissible Torque Full Step. step Half Step. step 3 Full Step Full Step () () () (3) (Half Step) () () () (3) (Half Step) Power Input: VDC Current:.7 APhase ( Phases ) With Damper DCL-.F: JL =.8 oz-in (3 7 kg m ) Full Step.7 step Half Step.3 step C-. Permissible Torque 8 Full Step () () () (3) (Half Step) The pulse input circuit responds up to approximately khz with a pulse duty of %. Features C- System Configuration C- SpecificationsCharacteristics C-

7 TH Geared Type Specifications Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Single Shaft Double Shaft lb-in (N m) oz-in (kg m ) Aphase. Gear Ratio 3.: Permissible Torque lb-in (N m) (.) Backlash Arc minute (degrees) 3 (.8 ) Permissible Speed Range (Gear Output Shaft Speed) rmin Power Source Excitation Mode Dimension No. Full Step Half Step lb. (kg) lb. (kg) How to read specifications table Page C-9 Frame Size:.3 in. ( mm) CSKAA-TG3. CSKBA-TG3. (.). step. step CSKAA-TG7. CSKBA-TG7. (.). 7.: (.) (. ). step. step CSKAA-TG CSKAA-TG CSKBA-TG CSKBA-TG (3) 3 (3.).9 (7-7 )..7.3 : : (3) 3 (3.) (. ) (.7 ) 8 9 VDC%. A.7 step.3 step.3 step.8 step. (.9).3 (.) b n Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of 3.:, 7.: and :. It is opposite for : and 3: gear ratios Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- CSKBA-TG3. CSKBA-TG 3 [A]8 Current UC CSKAA-TG3 CSKBA-TG3 3 () Power Input: VDC Current:. APhase ( Phases ) Power Input: VDC Current:. APhase ( Phases ) With Damper DCL-8.F: JL =.77 oz-in ( 7 kg m ) With Damper DCL-8.F: JL =.77 oz-in ( 7 kg m ) Full Step. step Half Step. step Permissible Torque 3 Permissible Torque Full Step.3 step Half Step.8 step 8. 3: 3 () (.7 ). step. step Full Step Full Step () () () (3) (Half Step) () () () (3) (Half Step) CSKBA-TG7. CSKBA-TG3 Power Input: VDC Current:. APhase ( Phases ) Power Input: VDC Current:. APhase ( Phases ) With Damper DCL-8.F: JL =.77 oz-in ( 7 kg m ) With Damper DCL-8.F: JL =.77 oz-in ( 7 kg m ) Full Step. step Full Step. step Permissible Torque Half Step. step Half Step. step 3 3 Permissible Torque Full Step Full Step () () () (3) (Half Step) () () () (3) (Half Step) CSKBA-TG Power Input: VDC Current:. APhase ( Phases ) With Damper DCL-8.F: JL =.77 oz-in ( 7 kg m ) 3 [A] Current 3 Permissible Torque Full Step.7 step Half Step.3 step 8 Full Step The pulse input circuit responds up to approximately khz with a pulse duty of %. () () () (3) (Half Step) Common Specifications C- Dimensions C-7 Connection and Operation C-9 and Combinations C-3 C- Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping

8 Stepping s Common Specifications Output Signals Input Signals Input Signal Circuit Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) Step Angle Signal All Windings Off Signal Automatic Current Cutback Release Signal Output Signal Circuit Excitation Timing Signal Overheat Signal Functions Cooling Method Only for CSD88N-T (CSK9 Package) General Specifications Insulation Class Insulation Resistance Dielectric Strength Operating Environment Temperature Rise Static Angle Error Shaft Runout Radial Play Axial Play 3 Concentricity Perpendicularity Specifications Ambient Temperature Ambient Humidity Atmosphere Photocoupler input, Input resistance Ω, Input current ma maximum Signal voltage Photocoupler :. V, Photocoupler : V (voltage between terminals) Step command pulse signal (CW step command pulse signal at -pulse input mode) Pulse width: s minimum, Pulse risefall: s maximum, pulse duty: Max. % moves when the photocoupler state changes from to. Maximum input frequency: khz (when a pulse duty is %) Negative logic pulse input. Rotation direction signal Photocoupler : CW, Photocoupler : CCW ( CCW step command signal at -pulse input mode. Pulse width: s minimum, Pulse risefall: s maximum. ) pulse duty: Max. % moves when the photocoupler state changes from to. Maximum input frequency: khz (when a pulse duty is %) Negative logic pulse input. Full Step (.7 ) at "photocoupler " Half Step (.3 ) at "photocoupler " When in the "photocoupler " state, the current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler " state, the current level set by the RUN switch is supplied to the motor. When in the "photocoupler " state, the "Automatic Current Cutback" function at motor standstill is disabled. When in the "photocoupler " state, the "Automatic Current Cutback" function at motor standstill is activated. (Approximately ms after motor stops). Photocoupler, Open-Collector Output External use condition: VDC maximum, ma maximum This value is for full step under no load. (The value changes with size of the load.) The signal is output every time the excitation sequence returns to the initial stage "". (Photocoupler: ) Full step: signal output every pulses, Half step: signal output every pulses The signal is output when the internal temperature of the driver rises above approximately 9 F (9 C). (Photocoupler:, Automatic return) The motor current is shut off automatically if the automatic current off function is. Automatic current cutback, Automatic current off, Pulse input mode switch. Natural ventilation Class B [ F (3 C)] [Recognized as Class A [ F ( C)] by UL and CSA standards.] MΩ minimum under normal temperature and humidity, when measured by a VDC megger between the motor coils and the motor casing. Sufficient to withstand. kv ( kv for CSK type), Hz applied between the motor coils and casing for one minute, under normal temperature and humidity. F F ( C C) (nonfreezing) 8% or less (non-condensing) No corrosive gases, dust, water or oil. Temperature rise of the coil measured by the Change Resistance Method is F (8 C) or less. (at standstill, five phases energized) 3 arc minute (. ). inch (. mm) T.I.R at top of output shaft. inch (. mm) max. of. lb. ( N).3 inch (.7 mm) max. of. lb. ( N).3 inch (.7 mm) T.I.R.3 inch (.7 mm) T.I.R 3 F F ( C C) (nonfreezing) Radial Play: Refers to the displacement in shaft position in the radial direction, when a. lb. ( N) load is applied in the vertical direction to the tip of the motor s shaft. 3 Axial Play: Refers to the displacement in shaft position in the axial direction, when a. lb. ( N) load is applied to the motor s shaft in the axial direction. T.I.R. (Total Indicator Reading): Refers to the total dial gauge reading when the measured section is rotated one revolution centered on a reference axis. Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected..7. A A.7 A C- Features C- System Configuration C- SpecificationsCharacteristics C-

9 .98. (.) ["].7 Permissible Overhung Load and Permissible Thrust Load CSK CSK CSK9 CSK3-TG CSK-TG Dimensions Scale, Unit = inch (mm) Standard Type z Frame Size:. in. ( mm) L.9. ().).99. (.77. (..) L.8 ().79. () Overhung Load Distance from Shaft End [inch (mm)] (). ().39 ().9 ().79 () (.).77. (..)..99 (.) (.33 ).3.8 Leads inch (mm) Length UL Style 3, AWG. ( ).. (3.) No.-UNC.8 (.) Deep Min. Places The length of machining on double shaft model is.9. (.). x Frame Size:.3 in. ( mm) L.9. (3).787. (.) ["]..).3 ( A A' L.8 (7).9. (). (.).787. (.) A ["]..).3 ( ).73 ( 3 Leads inch (mm) Length UL Style 3, AWG c Frame Size: 3.3 in. (8 mm) L.8). (.7.3. (3) A A' L.39 () A'.. (37) (.) ()..7 ["] (.7.8 ) Leads inch (mm) Length UL Style 3, AWG A A' ). ( (3.).3 ( ).77 (.) Holes.99. (.3) 9.9. (7..).99. (.3).9. (7..) Shaft Cross Section A-A' 3.3 ( 8).7. (7.3). (.) Holes.3. (..).3. (..) L inch (mm) Unit = Upper values: lb.lower values: N L inch (mm) Thrust Load The permissible thrust load [lb. (N)] shall be no greater than the motor mass lb. (kg) CSK3-NATA PK3NAWA.3 (33). (.) B8U CSK3-NBTA PK3NBWA.89 (8) CSK-NATA CSK-NBTA CSK-NATA CSK-NBTA PKNAWA PKNBWA PKNAWA PKNBWA. (39).8 (7) L inch (mm).3 (). () L inch (mm) CSK-NATA PKNAWA CSK-NBTA PKNBWA.83 (.).7 (9.) CSK-NATA CSK-NBTA CSK9-NATA CSK9-NBTA.7. (7.3) Shaft Cross Section A-A' PKNAWA PKNBWA. (7.) 3.7 (8.) PK9NAWA PK9NBWA 3.3 (87) L inch (mm).33 () L inch (mm) DXF.9 (.7) B9U.77 (.3) B7U lb. (kg) DXF.3 (.) B7U.8 (.8) B7U.9 (.3) B73U lb. (kg) DXF CSK9-NATA PK9-NAA. () 3.7 (.7) BU CSK9-NBTA PK9-NBA 3.9 () CSK99-NATA PK99-NAA 3.78 (9). (.8) BU CSK99-NBTA PK99-NBA. (3) CSK93-NATA CSK93-NBTA PK93-NAA PK93-NBA.9 ().3 () 8. (3.8) B7U These dimensions are for double shaft models. For single shaft models, ignore the shaded areas. Common Specifications C- Dimensions C-7 Connection and Operation C-9 and Combinations C-3 C-7 Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping

10 Stepping s TH Geared Type v Frame Size:. in. ( mm).9. ().).99. (.77. (..) 3.9 (78.). (3.). (3.).7 ().79. ().7. (..)..3 (.).3. (8.) Leads inch (mm) Length UL Style 3, AWG.8) ( (3.8.). ( ) No.8-3UNC.3 (8) Deep Min. Places CSK3AA-TG CSK3BA-TG PK3NAWA-T PK3NBWA-T lb. (kg) Enter the gear ratio in the box () within the model number. Screws (included) No.8-3 UNC,.37 inch (9. mm) length, pieces DXF.73 (.33) B7U The length of machining on double shaft model is.9. (.). b Frame Size:.3 in. ( mm).9. (3).787. (.) ["]..).3 ( A A'. (.) 3. (9.).. (3). (3.).7 () ["]..9. (7..).).3 ( (.).) ( Leads inch (mm) Length UL Style 3, AWG.7. (7.).3 ( ) NO.8-3 UNC.3 (8) Deep Min. Places 9.9. (7..).9. (7..) Shaft Cross Section A-A' CSKAA-TG CSKBA-TG PKNAWA-T PKNBWA-T lb. (kg) Enter the gear ratio in the box () within the model number. Screws (included) No.8-3 UNC,.7 inch (9. mm) length, pieces DXF. (.9) B7U These dimensions are for double shaft models. For single shaft models, ignore the shaded areas. n CSD87N-T, CSD8N-T :.3 lb. (. kg) d B8U M3-P.. () Deep Min. Places.79.. (3.) Holes () (9.).83 (7).8 (7) 3.3 (77). (3). (.).7 (). (). (). (3). (8) m CSD88N-T :. lb. (. kg) d B8U.8 (.).73 (8.).8 (7). (3.). (3.) 3.98 ().7 (.) 3.8 (83.9).33 (). (3).38 (3.) Holes.3 (7.8).7 (7). (). ().(3).7.9 (.) (3.). (3). Max. (3 Max.).79 ().3 (7.). (3.33).7 (9.) C-8 Features C- System Configuration C- SpecificationsCharacteristics C-

11 Connection and Operation Standard Type: CSK, CSK TH Geared Type: CSK3, CSK z Standard Type: CSK9 Stepping s Power supply terminals x zcurrent Adjustment Potentiometers Indicator Switch Name Function RUN STOP run current potentiometer stop current potentiometer x InputOutput Signal Adjusts the motor running current Adjusts the motor current at standstill Connector InputOutput Terminal No. Signal Name Pulse Signal CN Input signals Output signals Rotation Direction Signal All Windings Off Signal Step Angle Select Signal Current Cutback Release Signal Excitation Timing Signal terminals Power supply terminals terminals v z z Signal Monitor Display Indicator Color Function POWER Green Power input display O.H. Red Overheat output display xcurrent Adjustment Potentiometers Indicator Switch Name Function RUN STOP run current potentiometer stop current potentiometer c Function Select Switches Adjusts the motor running current Adjusts the motor current at standstill Indicator Switch Name Function PP Pulse input mode switch Switches between -pulse input and -pulse input A.C.O Automatic current off function switch v InputOutput Signal c x When the heat sink temperature of the driver rises above 9 F (9 C), this function automatically switches the motor current off. Function can be set and released with this switch. Connector InputOutput Terminal No. Signal Name Pulse Signal (CW Pulse Signal) SIGNAL Input signals Output signals Rotation Direction Signal (CCW Pulse Signal) All Windings Off Signal Step Angle Select Signal Current Cutback Release Signal Excitation Timing Signal Overheat Signal Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C- Dimensions C-7 Connection and Operation C-9 and Combinations C-3 C-9

12 Stepping s Connection Diagrams CSK, CSK CSK3-TG, CSK-TG Controller V ( VDC to VDC) V ( VDC to VDC) GND VDC% GND Twisted-pair wire Pulse Signal R Rotation Direction Signal R All Windings Off Signal R Step Angle Select Signal R R Current Cutback Release Signal Excitation Timing Signal R CN CN CN3 Blue Red Orange Green Black -phase stepping motor Power Supply Use an input power voltage of VDC%. Use a power supply that can supply sufficient input current. Notes: Keep the voltage Vo between VDC and VDC. When Vo is equal to VDC, the external resistance R is not necessary. When Vo is above VDC, connect R to keep the current between ma and ma, and connect R to keep the current below ma. Use twisted-pair wire of AWG or thicker and. feet ( m) or less in length for the signal line. Note that as the length of the pulse signal line increases, the maximum transmission frequency decrease. ( Technical Reference Page F-3) Suitable wire size for the CN, CN and CN3 connector is between AWG and AWG. Use AWG or thicker for motor lines (when extended) and power supply line. Signal lines should be kept at least 3.9 inches ( cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. Use spot grounding to ground the driver and external controller. If noise generated by the motor lead wire causes a problem, try shielding the motor lead wires with conductive tape or wire mesh. Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning the power on. Description of InputOutput Signals Pulse Input Signal "Pulse" signal is input to the PULSEterminal. When the photocoupler state changes from "" to "", the motor rotates one step. The direction of rotation is determined by the rotation direction signal. Rotation Direction Input Signal The "Rotation Direction" signal is input to the DIRECTIterminal. A "photocoupler " signal input commands a clockwise direction rotation. A "photocoupler " signal input commands a counterclockwise direction rotation. All Windings Off Input Signal When the "All Windings Off" (A.W. ) signal is in the "photocoupler " state, the current to the motor is cut off and motor torque is reduced to zero. The motor output shaft can then be rotated freely by hand.this signal is used when moving the motor by external force or to the manual home position. Step Angle Select Input Signal When the "Step Angle Select" (FULLHALF) signal is in the "photocoupler " state, half step mode has been selected; when the FULLHALF signal is in the "photocoupler " state, full step mode has been selected. Current Cutback Release Input Signal When the "Current Cutback Release" (C.D.INH) signal is in the "photocoupler " state, the "Automatic Current Cutback" function is not activated. Excitation Timing Output Signal The Excitation Timing signal is output once each time the excitation sequence returns to step in synchronization with input pulses. The excitation sequence is designed to complete one cycle as the motor shaft rotates 7.. A signal is output every pulses in full step mode and every pulses in half step mode.(when the Excitation Timing signal is output, the transistor turns.) C-3 Features C- System Configuration C- SpecificationsCharacteristics C-

13 CSK9 -phase stepping motor Controller V ( VDC to VDC) V ( VDC to VDC) GND VDC ±% GND Pulse Signal Rotation Direction Signal All Windings Off Signal Step Angle Select Signal Blue Red Orange Green Black Twisted-pair wire R R R R R Current Cutback Release Signal R Excitation Timing Signal R Overheat Signal Power Supply Use an input power voltage of VDC%. Use a power supply that can supply sufficient input current. Notes: Keep the voltage Vo between VDC and VDC. When Vo is equal to VDC, the external resistance R is not necessary. When Vo is above VDC, connect R to keep the current between ma and ma, and connect R to keep the current below ma. Use twisted-pair wire of AWG or thicker and. feet ( m) or less in length for the signal line. Note that as the length of the pulse signal line increases, the maximum transmission frequency decrease. ( Technical Reference Page F-3) Suitable wire size for the "PWR", "MOTOR" and "SIGNAL" connector is between AWG and AWG. Use AWG or thicker for motor lines (when extended) and power supply line. Signal Lines should be kept at least 3.9 inches ( cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. Use spot grounding to ground the driver and external controller. If noise generated by the motor lead wire causes a problem, try shielding the motor lead wires with conductive tape or wire mesh. Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning the power on. PWR MOTOR SIGNAL Description of InputOutput Signals Pulse (CW) and Rotation Direction (CCW) Input Signal -Pulse Input Mode Pulse Signal "Pulse" signal is input to the P.CWterminal. When the photocoupler state changes from "" to "", the motor rotates one step. The direction of rotation is determined by the rotation direction signal. Rotation Direction Signal The "Rotation Direction" signal is input to D.CCWterminal. A "photocoupler " signal input commands a clockwise direction rotation. A "photocoupler " signal input commands a counterclockwise direction rotation. -Pulse Input Mode CW Pulse Signal "Pulse" signal is input to the P.CWterminal. When the photocoupler state changes from "" to "", the motor rotates one step in the clockwise direction. CCW Pulse Signal "Pulse" signal is input to the D.CCWterminal. When the photocoupler state changes from "" to "", the motor rotates one step in the counterclockwise direction. All Windings Off Input Signal When the "All Windings Off" (A.W. ) signal is in the "photocoupler " state, the current to the motor is cut off and motor torque is reduced to zero. The motor output shaft can then be rotated freely by hand.this signal is used when moving the motor by external force or to the manual home position. Step Angle Select Input Signal When the "Step Angle Select" (FULLHALF) signal is in the "photocoupler " state, half step mode has been selected; when the FULLHALF signal is in the "photocoupler " state, full step mode has been selected. Current Cutback Release Input Signal When the "Current Cutback Release" (C.D.INH) signal is in the "photocoupler " state, the "Automatic Current Cutback" function is not activated. Excitation Timing Output Signal The signal is output once each time the excitation sequence returns to step in synchronization with input pulses. The excitation sequence is designed to complete one cycle as the motor shaft rotates 7.. A signal is output every pulses in full step mode and every pulses in half step mode. (When the Excitation Timing signal is output, the transistor turns.) Overheat Output Signal The Overheat signal is output to protect the driver from heat damage if the internal temperature of the driver rises above 9 F (9 C). At the same time this signal is output, the O.H.LED on the circuit board is lit up. The O.HEAT signal is automatically turned off when the temperature of the driver heat sink falls to below 9 F (9 C). (The O.HEAT signal returns to the "photocoupler " state, and O.H.LED turns off.) Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C- Dimensions C-7 Connection and Operation C-9 and Combinations C-3 C-3

14 Stepping s Timing Chart CSK, CSK CSK3-TG, CSK-TG Pulse Signal Rotation Direction Signal Current Cutback Release Signal All Windings Off Signal Step Angle Select Signal CW CCW Photocoupler µs min. CW Current Cutback Approx. ms Full step µs min. µs min. All Windings Off CCW 3 µs min. Half step µs or more is the standard interval time for switching from CW to CCW. Note that the interval time varies greatly depending on the motor and load inertia. Wait a period of time to allow the motor oscillations to end before inputting the "All Windings Off" signal. This time varies with the load inertia, the load torque and the starting pulse rate. The signal input must be stopped before the motor stops. Never input a step pulse signal immediately after switching the "All Windings Off" signal to photocoupler state or the motor may lose synchronism. In general, a minimum interval of 3 s is required. The shaded area indicates when the photocoupler is. CSK9 -pulse input mode Pulse Signal Rotation Direction Signal Current Cutback Release Signal CW CCW Photocoupler Current Cutback All Windings Off µs min. µs min. Approx. ms CW 3 CCW µs min. µs or more is the standard interval time for switching from CW to CCW. Note that the interval time varies greatly depending on the motor and load inertia. When the signal is in the "photocoupler " state, the "Automatic Current Cutback" function is deactivated. Always set it in the "photocoupler " state when the pulse signal is stopped. Wait a period of time to allow the motor oscillations to end before inputting the "All Windings Off" signal. This time varies with the load inertia, the load torque and the starting pulse rate. The signal input must be stopped before the motor stops. All Windings Off Signal Step Angle Select Signal Full step 3 µs min. Half step 3 Never input a step pulse signal immediately after switching the "All Windings Off" signal to photocoupler state or the motor may lose synchronism. In general, a minimum interval of 3 s is required. -pulse input mode Current Cutback The motor will not operate properly if a pulse signal is input when either the CW or CCW input "photocoupler " state. CW Pulse Signal CW CCW Photocoupler ms min. µs min. µs min. All Windings Off The shaded area indicates when the photocoupler is. CCW Pulse Signal 3 Current Cutback Release Signal All Windings Off Signal Step Angle Select Signal Full step 3 µs min. Half step C-3 Features C- System Configuration C- SpecificationsCharacteristics C-

15 MOTOR Adjusting the Output Current The rated output current is set at the factory. When it is necessary to change the current setting, follow the procedures described below. Connecting an Ammeter CSK, CSK CSK3A-TG, CSKA-TG Connect a DC ammeter between the motor and terminal of CN3 connector as shown below. VDC GND RUN potentiometer (RUN) STOP potentiometer (STOP) SW VDC Current cutback release signal CN CN Adjusting the Running Current Set the "Current Cutback Release" signal to the "photocoupler " state (SW: ) when adjusting the RUN current. () Adjust the motor RUN current with the RUN potentiometer. Adjusting range CSD87N-T:. Aphase to.7 Aphase CSD8N-T:. Aphase to. Aphase CSD88N-T:. Aphase to.8 Aphase ()The motor operating current is set for rated current (CSD87N-T:.7 Aphase, CSD8N-T:. Aphase, CSD87N-T CSD8N-T CN3 Blue Red Orange Green Black -phase stepping motor CSK9 Connect a DC ammeter between the motor and terminal of the "MOTOR" connector as shown below. -phase stepping motor VDC GND Blue Red Orange Green Black SW V Current cutback release signal PWR SIGNAL CSD88N-T RUN potentiometer (RUN) STOP potentiometer (STOP) After connecting the DC ammeter to the motor, turn on the power. (The excitation status at this point is fixed.) When the power is turned on, the motor enters a phase excitation state, and +directional positive current flows through the CSK, CSK-black, CSK9-blue motor lead wire. (Even if - phase excitation has been selected, the motor enters a phase excitation state when the power is turned on. Adjust the current in this state.) The value measured by the ammeter represents the total current in two phases. The current for one phase is equivalent to half of the ammeter value. (When setting the current to. Aphase, adjust the current level until the ammeter reads. A.) Notes: Never input pulse signals. Select "photocoupler " for "All Windings Off" signal. (Select photocoupler when the switch is open.) When the RUN current is adjusted, the current at motor standstill also changes. CSD88N-T:.8 Aphase) at the time of shipping, but it can be readjusted using the RUN potentiometer. The operating current can be lowered to suppress temperature rise in the motordriver, or lower running current in order to allow a margin for motor torque or to reduce vibration. The motor RUN current should be less than the motor rated current. Adjusting the Current at Standstill Set the "Current Cutback Release" signal to the "photocoupler " state (SW: ) when adjusting the current while the motor is stopped. () Adjust the current at motor standstill with the STOP potentiometer. Adjusting range CSD87N-T:. Aphase to. Aphase CSD8N-T:. Aphase to. Aphase CSD88N-T:.7 Aphase to.3 Aphase () At the time of shipping, the current at motor standstill is set for half the rated current. (CSD87N-T:.37 Aphase, CSD8N-T:.7 Aphase, CSD88N-T:. Aphase). The STOP potentiometer can be used to readjust the current at motor standstill to the current value required to produce enough holding torque. Maximum Current at motor holding torque standstill [A] Holding torque [oz-in (N m)] = [oz-in (N m)] rated current [A] Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C- Dimensions C-7 Connection and Operation C-9 and Combinations C-3 C-33

16 Stepping s List of and Combinations Type CSK3-NTA PK3NWA CSK-NTA PKNWA CSD87N-T CSK-NTA PKNWA CSK-NTA PKNWA Standard CSK-NTA PKNWA CSD8N-T CSK9-NTA PK9NWA CSK9-NTA PK9-NA CSK99-NTA PK99-NA CSD88N-T CSK93-NTA PK93-NA CSK3A-TG3. PK3NWA-T3. CSK3A-TG7. PK3NWA-T7. CSK3A-TG CSK3A-TG PK3NWA-T PK3NWA-T CSD87N-T TH Geared CSK3A-TG3 PK3NWA-T3 CSKA-TG3. PKNWA-T3. CSKA-TG7. PKNWA-T7. CSKA-TG PKNWA-T CSD8N-T CSKA-TG PKNWA-T CSKA-TG3 PKNWA-T3 Enter A (single shaft) or B (double shaft) in the box () within the model numbers. C-3