Controller Integrated -Phase Closed-Loop Stepper Motor Driver Features Motor driver and controller integral type Competitive price compared to the servo motor and closed-loop function and fast response for short-distance continuous drive Controllable maximum axis with communication Realizing a wide variety of operation up to 5 steps using control commands combination type of operation mode: jog mode, continuous mode, index mode, program mode Improved user convenience with providing 50 I/O pins C language library provided (-bit, -bit) Dedicated Windows program (atmotion) provided Responding rapidly and maintaining torque in stop without hunting Easy to use without tuning (various gain settings via programming) pplicable to the precision equipment such as optical inspection equipment with the features of maintaining torque in stop and having no micro vibration (hunting) Containing various resolutions (electric gear) : 500, 000, 00, 000, 00, 00, 5000, 00, 700, 0000 (0-level) Various alarm functions : 7 alarms; over current, over speed, over heat, motor connection error, encoder connection error Frame size mm, 5mm, 0mm supported Please read Safety Considerations in operation manual before using. pplications Filed requiring preciseness such as semiconductor equipment, D printer, Optical inspection equipment, chip mounter, cartesian robot, conveying equipment, and alignment stage. Manual For the detail information and instructions, please refer to user manual, user manual for communication and library manual and be sure to follow cautions written in the technical descriptions (catalog, homepage). Visit our homepage (www.autonics.com) to download manuals. Software (atmotion) atmotion is a comprehensive motion device management program that can be used with utonics motion controller (ic-d, PMC-HSP/HSN, PMC-HS/HS, PMC--PCI). atmotion provides GUI control for easy and convenient parameter setting and monitoring data management of multiple devices. Visit our website (www.autonics.com) to download the user manual and software. Item System Operations Memory Hard disk VG Others < Computer specification for using software> Minimum requirements IM PC compatible computer with Intel Pentium Ⅲ or above Microsoft Windows 8/NT/XP/Vista/7/8/0 5M+ G+ of available hard disk space Resolution: 0 78 or higher RS- serial port (-pin), US port < atmotion screen > Q-
-Phase Closed-Loop Stepper Motor Driver Ordering Information i C D L Encoder resolution Motor length mm Motor frame size 5 57. 57.mm S M L S M L 0,000PPR (,500PPR -multiply) 7.5mm 7.5mm 8.5mm 77.mm 0.mm.mm () Photoelectric () Fiber Optic (C) Door/rea (D) Proximity (E) Pressure Series Category Item 0 0 0mm S M L D C i 8.mm 0.8mm.8mm Driver Controller rtifi cial intelligence (F) Rotary Encoders (G) Connectors/ Connector Cables/ Sensor Distribution oxes/sockets (H) Temperature Set Driver Motor ic-s ic-d-s i-m-s ic-m ic-d-m i-m-m ic-l ic-d-l i-m-l ic-5s ic-d-5s i-m-5s ic-5m ic-d-5m i-m-5m ic-5l ic-d-5l i-m-5l ic-0s ic-d-0s i-m-0s ic-0m ic-d-0m i-m-0m ic-0l ic-d-0l i-m-0l (I) SSRs / Power (J) Counters (K) Timers (L) Panel Configuration Diagram Motion controller+motor driver (M) Tacho / Speed / Pulse (N) Display Units + (O) Sensor (P) Switching Mode Power Supplies PLC PC & atmotion Settings of start, stop, rotation direction, etc. US / RSC / Wi-Fi SCM Series communication converter (motor driver) Rated current Power Pulse signal CLE External I/O I/O cable (sold separately) CLE Motor+Encoder cable (sold separately) Flexible coupling ER Series (sold separately) Motor+ Encoder + (Q) Stepper Motors & Drivers & (R) Graphic/ Logic Panels (S) Field Network Devices (T) Software Positioning completion signal / Warning signal i-m Series (motor) Encoder feedback signal Q-
Model Specifications Power supply llowable voltage range Power consumption ic-d- S VDCᜡ ic-d- M ic-d- L 0 to 0% of the rated voltage ic-d- 5S ic-d- 5M ic-d- 5L ic-d- 0S STOP Max. 0W Max. W Max. 5W Max. during operation Max. 0W Max. 0W Max. 0W ic-d- 0M : ased on the ambient temperature 5, ambient humidity 55%RH, and STOP current 50%. : Max. power consumption during operation. When changing the load rapidly, instantaneous peak current may increase. The capacity of power supply should be over.5 to times of max. power consumption. : RUN current varies depending on the input RUN frequency and max. RUN current at the moment varies also. : Settable with the dedicated program. 5: The weight includes packaging. The weight in parenthesis is for unit only. Environment resistance is rated at no freezing or condensation. ic-d- 0L Max. RUN current.7/phase.5/phase STOP current 0 to 00% of max. RUN current (factory default: 50%) Rotation speed 0 to 000rpm Resolution 500 (factory default), 000, 00, 000, 00, 00, 5000, 00, 700, 0000 PPR Speed filter 0 (disable),,,, 8 (factory default), 0, 0, 0, 0, 80, 00, 0, 0, 0, 80, 00 ms Positioning gain (P Gain, I Gain) =(, ), (, ), (, ), (, ), (5, ), (, ), (, ), (, ), (, ), (5, ), (, ), (, ), (, ), (, ), (5, ), user setting Positioning range -,7,8,8 to +,7,8,7 In-Position Fast Response: 0 to 7 or ccurate Response: setting range among 0 to 7 Motor rotation direction CW, CCW Status indicator Power/Warning indicator: green LED larm indicator: red LED In-Position indicator: yellow LED Servo On/Off indicator: orange LED DT IN/OUT indicator: green/yellow LED I/O voltage level [H]: 5-0VDCᜡ, [L]: 0-VDC I/O Input Exclusive input: 0, general input: Output Exclusive output:, general output: 0 External power supply VEX (recommended: VDCᜡ):, GEX (GND): Operation mode Jog / Continuous / Index / Program mode Index step numbers steps Step 5 steps Program function Control command Start Home search Home search mode Communication Multiaxial control ID setting switch larm output Warning output Insulation resistance Dielectric strength Vibration Shock Environment Protection structure S (move absolute position), INC (move incremental position), HOM (home search), ICJ (jump input condition), IRD (waiting input), OPC (on/off of output port), OPT (on pulse from outuput port), JMP (jump), REP (start repetition), RPE (end repetition), END (end program), POS (position set), TIM (timer), CMP (compare output) Power ON program auto-start function Power ON home search auto-start function Home, limit home, zero home, torque home Speed : 00, 00, 800, 5700, 500 (factory default) [bps] -axis -bit rotary switch (0 to F), -bit piano switch Over current, over speed, position tracking, over load, over heat, motor connection, encoder connection, regenerative voltage, motor misalignment, command speed, input voltage, in-position, memory, emergency stop, program mode, index mode, home search mode +software limit, +hardware limit, -software limit, -hardware limit, over load Over 00MΩ (at 500VDC megger),000vc 0Hz for min.5mm amplitude at frequency of 0 to 55Hz (for min) in each X, Y, Z direction for hours 00m/s (approx. 0G) in each X, Y, Z direction for times mbient temp. 0 to 50, storage: -0 to 0 mbient humi. 5 to 85%RH, storage: 0 to 0%RH IP0 (IEC standard) pproval Weight 5 pprox. 0g (approx. 00g) Q-
C -Phase Closed-Loop Stepper Motor Driver Dimensions (unit: mm) () Photoelectric 50 () Fiber Optic (C) Door/rea (D) Proximity 7 (E) Pressure..5 (F) Rotary Encoders (G) Connectors/ Connector Cables/ Sensor Distribution oxes/sockets -R. 5.5 87.5 (H) Temperature (I) SSRs / Power 5 7 8 0 F DE.5 5.5 (J) Counters (K) Timers Unit Descriptions Power Connector (CN) Motor+Encoder connector (CN) I/O connector (CN) ID setting Switch (SW) (L) Panel (M) Tacho / Speed / Pulse (N) Display Units 5 7 8 (O) Sensor 0 F DE C (P) Switching Mode Power Supplies Mounting hole Servo On/Off indicator (orange) In-Position indicator (yellow) Mounting hole larm indicator (red) Power/Warning indicator (green) (Q) Stepper Motors & Drivers & (R) Graphic/ Logic Panels TXD OUT indicator (green) RXD IN indicator (yellow) (S) Field Network Devices (T) Software communication connector (CN) ID setting/terminating resistance DIP switch (SW) Q-5
Q- Status Indicators Status indicator PWR Location LED color Function Descriptions Green L Front Red larm indicator Driver Setting Power indicator Warning indicator Turns ON when the unit operates normally after supplying power. Flashes when limit signal is input or over load status is maintained When alarm occurs, it flashes in various ways depending on the situation. Refer to ' Control Input/Output Output. larm/warning'. INP. Yellow In-Position indicator Turns ON when motor is placed at command position after positioning input. SERVO Orange Servo On/Off indicator Turns ON when Servo is operating, turns OFF when servo is not operating. RXD IN Right side Yellow Flashes when receives data. Data I/O display TXD OUT Green Flashes when sending data. : lthough OUT is disconnected, RXD IN/TXD OUT operates normally, if IN is communicating. SW: ID setting switch Set Node ID of the driver. Depending on the switch setting of the SW, it is possible to connect max. -axis. Setting switch Setting ID SW OFF SW ON Setting ID SW OFF SW ON 0 Disable 8 8 8 (factory default) 7 8 0 5 7 0 0 C 8 ID Selection 5 5 D SW E 0 7 7 F 5 5 7 F E C D SW: ID setting/terminating resistance DIP switch Set Node ID of the driver. Set to use terminating resistance. Switch position No. Function ON OFF (factory default) ON ID setting ID: to ID: to 5 Terminating resistance Use terminating resistance (0Ω) Do not use terminating resistance Control Input/Output Inner signal of all input/output consists of photocoupler. ON, [H]: photocoupler power ON OFF, [L]: photocoupler power OFF Input. Exclusive input (0) Signal name Descriptions Pin no. Signal name Descriptions Pin no. Reset Reset command MD0/HMD0 Operation mode designate 0 / Home search mode designate 0 Start Drive start command MD/HMD Operation mode designate / Home search mode designate Stop Drive stop command 5 Pause Pause 5 EMG Drive emergency stop command Servo On/Off Servo On/Off Step0/+Run/+Jog Step designate 0 / +Run / +Jog 7 Home Home search 7 Step/-Run/-Jog Step designate / -Run / -Jog 8 larm Reset larm reset command 8 Step/SSP0 Step designate / Start speed designate 0 +Limit +direction limit sensor Step/SSP Step designate / Start speed designate 0 -Limit -direction limit sensor 0 Step/MSP0 Step designate / Max. speed designate 0 ORG Home sensor Step5/MSP Step designate 5 / Max. speed designate SD Deceleration (deceleration stop) signal. General input () Signal name Descriptions Pin no. IN0 to IN General input 0 to to 8 IN to IN8 General input to 8 0 to 5
-Phase Closed-Loop Stepper Motor Driver. Example of input circuit connection - ll input circuits are insulated with photocoupler, and separate external power (recommended: VDC) is necessary. -Case of using external power VDC does not require R L. - In case using external power over VDC, select R L value that I F (forward current of primary LED) of photocoupler to be around.5m (max. 0m). R L = VEX-.5V - 0 0 Ω 0.005 VEX 0kΩ () Photoelectric () Fiber Optic (C) Door/rea Input signal R L N Output N: Input pin number of CN. Exclusive output () Signal name Descriptions Pin no. Signal name Descriptions Pin no. In-Position Drive ending pulse Compare (trigger) Comparison output larm larm output 8 Compare (trigger) Comparison output 0. In-Position -In-Position output represents output is output of positioning completion signal. - If the gap between target position and real position is under In-Position setting value after position command pulse has finished, In-Position output turns to [H] and In-Position indicator turns ON. - In reverse, when the gap is over In-Position setting value, In-Position output turns to [L] and the In-Position indicator turns OFF. For accurate drive, check the In-Position output again and execute the next drive. Refer to example of output circuit connection. Fast Response ccurate Response Setting Value Setting Value 0 (factory default) 0 8 0 ± ± ± 0 ± ± ± ± ± 5 ±5 ±5 ± ± 7 ±7 5 ±7 Driver Position In-Position (fast response) In-Position (accurate response). larm/warning larm - This function stops motor to protect driver, depending on the error status such as over current or over speed. -In case of normal status, output is [H], and in case of alarming status, output is [L]. -When supplying alarm reset, driver returns to the normal status. Refer to example of output circuit connection. Warning -This function notices dangers with the alarm indicator prior to motor stop with limit signal or over load alarm. -When turning out from the alarming condition, driver returns to the normal status automatically. larm indicator L (red) No. of flashing larm type Descriptions Over current error When over current flows at motor RUN element Over speed error When motor speed is over,000rpm Position tracking error When the gap between position command value and current position value is over 0 Over load error When applying load over the rated load for over sec. 5 Over heat error When driver inner temperature is over 80 Motor connection error When motor cable connection error occurs at driver 7 Encoder connection error When encoder cable connection error occurs at driver 8 Regenerative voltage error When regenerative voltage is over 78V Motor misalignment When motor is in misalignment 0 Command speed error When command speed is over,500rpm Input voltage error When input voltage is out of VDC ±0% In-Position error When position error (over ) is kept over sec, after motor stopped Memory error When memory error is detected as power supplied Emergency stop When emergently stopped with emergency stop command 5 Program mode error When 'END' command is not exist at the last step Index mode error When other instruction is used but 'INC', 'S' When index command is not completed due to the stop command 7 Home search mode error When failed to find home Delay time: 50ms Motor stop O O Target position Time Time Maintain torque O (D) Proximity (E) Pressure (F) Rotary Encoders (G) Connectors/ Connector Cables/ Sensor Distribution oxes/sockets (H) Temperature (I) SSRs / Power (J) Counters (K) Timers (L) Panel (M) Tacho / Speed / Pulse (N) Display Units (O) Sensor (P) Switching Mode Power Supplies (Q) Stepper Motors & Drivers & (R) Graphic/ Logic Panels (S) Field Network Devices (T) Software Q-7
Warning indicator No. of flashing Warning type Descriptions + software limit When normal direction (CW) software limit is ON - software limit When reverse direction (CCW) software limit is ON PWR (green) + hardware limit - hardware limit When normal direction (CW) hardware limit is ON When reverse direction (CCW) hardware limit is ON 5 Over load warning When maximum load is kept connected over 0 sec (motor or driver can be overheated) Even though warning occurs, it drives as normal status and it may cause damage by fire. It is recommend not to use the unit during warning status. Depending on alarm/warning type, it flashes 0. sec interval and it turns OFF for 0.8 sec repeatedly. <In case of no. alarm> 0.sec 0.8sec Motor stop O Maintain torque O O. Comparison output (compare, compare) Outputs trigger pulse on the certain interval that user has set. Mode Descriptions 0 Outputs [L] without using comparison output. Outputs [H] when the present absolute position value is same or bigger than the set position value. Outputs [H] when the present absolute position value is same or smaller than the set position value. Outputs trigger pulse on set interval and width. Please refer to the user manual to learn how to set. 5. General output (0) Signal name Descriptions Pin no. OUT0 to OUT General output 0 to to 50. Example of output circuit connection - ll output circuits are insulated with photocoupler. - External power input is available from 5VDC to 80VDC with the open collector method. select R L value that I C (collector current of secondary LED) of photocoupler to be around 0m. R L = VEX-0.7V 0.0 Q-8 Output signal Communication Output It is for parameter setting and monitoring via external devices (PC, PLC, etc.). (-) R L VEX GEX N Driver N: Output pin number of CN Interface Comm. protocol Modbus RTU Comm. speed 00, 800, 00, 00, 800, 5700, 500 bps Connection type Comm. response wait time 5 to ms pplication standard Compliance with EI Start bit -bit (fixed) Max. connection units (address: 0 to ) Data bit 8-bit (fixed) Synchronous method synchronous Parity bit None, Odd, Even Comm. method Two-wire half duplex Stop bit -bit, -bit Comm. distance Max. 800m It is not allowed to set overlapping communication address at the same communication line. Use twisted pair wire for communication. pplication of system organization Only for communication output model. RSC/ US/Wi-Fi Computer Comm. converter ON (+) OFF Terminating resistance (00 to 0Ω) (+) (-) (+) (-) (+) (-) DEVICE # DEVICE # DEVICE #0 It is recommended to use utonics communication converter; SCM-WF8 (Wi-Fi to US wireless communication converter, sold separately), SCM-US8I (US to converter, sold separately), SCM-8I (RSC to converter, sold separately). Please use twisted pair wire, which is suitable for communication, for SCM-WF8, SCM-US8I and SCM-8I. (-) (+) DEVICE #
-Phase Closed-Loop Stepper Motor Driver Connection Connectors of Driver Connector function Power connector (CN) Pin arrangement Pin no. Function GND VDC Motor+Encoder connector (CN) Pin arrangement Pin no. Function Pin no. Function GND 8 +5VDC Encoder Encoder 8 Encoder 0 Encoder Encoder Z Encoder Z 5 F.G. N. C 7 Motor Motor 7 Motor Motor I/O connector (CN) Pin arrangement Pin no. I/O Function Pin no. I/O Function - N. C Input IN0 - N. C 7 Input IN Input Reset 8 Input IN Input Start - N. C 5 Input Stop 0 Input IN Input EMG Input IN 7 Input Step0/+Run/+Jog Input IN5 8 Input Step/-Run/-Jog Input IN Input Step/SSP0 Input IN7 0 Input Step/SSP 5 Input IN8 Input Step/MSP0 Input VEX Input Step5/MSP 7 Input GEX Input MD0/HMD0 8 Output larm Input MD/HMD Output Compare (Trigger) 5 Input Pause 0 Output Compare (Trigger) Input Servo On/Off Output OUT0 7 Input Home Output OUT 8 Input larm Reset Output OUT Input +Limit Output OUT 0 Input -Limit 5 Output OUT Input ORG Output OUT5 Input SD 7 Output OUT Output In-Position 8 Output OUT7 Input VEX Output OUT8 5 Input GEX 50 Output OUT 5...... 0... 5...... 50... 5 communication cable connector (CN) Pin arrangement Pin no. I/O Function Pin no. I/O Function - N. C 5 - N. C - N. C Input/Output DT- () Photoelectric () Fiber Optic (C) Door/rea (D) Proximity (E) Pressure (F) Rotary Encoders (G) Connectors/ Connector Cables/ Sensor Distribution oxes/sockets (H) Temperature (I) SSRs / Power (J) Counters (K) Timers (L) Panel (M) Tacho / Speed / Pulse (N) Display Units (O) Sensor (P) Switching Mode Power Supplies (Q) Stepper Motors & Drivers & (R) Graphic/ Logic Panels (S) Field Network Devices (T) Software 8... 8... Input/Output DT+ 7 - N. C - N. C 8 - N. C Q-
Connector specifications Specifi cations Type Manufacture Connector Connector terminal Housing Driver 0-00 (55-0) - - Molex CN Power CHD0-0 CTD0 - HNLIM Driver 58-0 - CN - Molex Motor+Encoder 5557-R 555T Driver 050-5 PL - CN - M I/O connector 050-000PE 050-5F0-008 CN Driver KRM-U-0-8-8--7M5 - - KINNEX bove connectors are suitable for ic Series. You can use equivalent or substitute connectors. Sold Separately I/O cable CJ-MP50-HP of model name indicates cable length (00, 00, 00, 050, 070, 00) E.g.) CJ-MP50-HP070: 7m I/O cable. Pin no. Cable color Dot line color-numbers Pin no. Cable color Dot line color-numbers lack- Red- Red- 7 lack- lack- 8 White Red- Red- lack-5 5 lack- 0 Red-5 Orange Red- lack- 7 lack- Red- 8 Red- lack- lack-5 Red- 0 Red-5 5 lack- Gray lack- Red- Red- 7 lack- lack- 8 Red- Red- lack-5 5 lack- 0 Red-5 Yellow Red- lack- 7 lack- Red- 8 Red- lack- lack-5 Red- 0 Red-5 5 lack- Pink lack- Red- Red- 7 lack- White lack- 8 Red- Red- lack-5 5 lack- 50 Red-5 Motor+Encoder cable Normal: CIDM-, Moving: CIDFM- of model name indicates cable length (,,, 5, 7, 0) E.g.) CDFM-0: 0m moving type motor+encoder cable. Communication converter SCM-WF8 ( Wi-Fi to US wireless communication converter) SCM-US8I (US to converter) SCM-8I (RSC to converter) Q-0
-Phase Closed-Loop Stepper Motor Driver Connection for Motor and Driver N. C VEX Reset Start CN 0kΩ CN DT+ () Photoelectric () Fiber Optic (C) Door/rea (D) Proximity Stop EMG Step0/ +Run/+Jog Step/ -Run/-Jog Step/SSP0 Step/SSP Step/MSP0 Step5/MSP MD0/HMD0 MD/HMD Pause Servo On/Off Home larm Reset +Limit -Limit ORG SD IN0 to N. C 5 7 8 0 5 7 8 0 ~8 0kΩ CN M o t o r E n c o d e r,, 5 7, 8 7 0 8 5 N. C Z Z +5VDC GND F.G. N. C DT- Motor Encoder (E) Pressure (F) Rotary Encoders (G) Connectors/ Connector Cables/ Sensor Distribution oxes/sockets (H) Temperature (I) SSRs / Power (J) Counters (K) Timers (L) Panel (M) Tacho / Speed / Pulse (N) Display Units (O) Sensor (P) Switching Mode Power Supplies (Q) Stepper Motors & Drivers & IN to 8 0 ~5 (R) Graphic/ Logic Panels GEX In-Position 5 7 CN (S) Field Network Devices larm Compare Compare OUT0 to 8 0 ~50 POWER + - VDC Index : Input : Output : I/O : N. C (T) Software Q-
Troubleshooting. When driver communication is failed Check whether the connection between driver and communication cable is correct. Check whether the port and communication speed is set correctly in the dedicated communication program.. When operation of motor is unstable Check whether driver and motor are connected correctly. Check whether operation command is set correctly (e.g. speed, accel/deceleration speed). Proper Usage. Follow instructions in 'Proper Usage'. Otherwise, It may cause unexpected accidents.. VDC power supply should be insulated and limited voltage/current or Class, SELV power supply device.. Re-supply power after min. sec from disconnected power.. In case communication is unstable due to the noise generated by supplied power or peripheral device, use ferrite core at communication line. 5. It is recommended to use 85 converter with the separate power. (utonics product, SCM Series recommended). The thickness of cable should be same or thicker than the motor cable's when extending the motor cable. 7. Keep the distance between power cable and signal cable more than 0cm. 8. Motor vibration and noise can occur in specific frequency period Change motor installation method or attach the damper. Use the unit out of the dedicated frequence range when vibration and noise occurs due to changing motor RUN speed.. For using motor, it is recommended to maintenance and inspection regularly. Unwinding bolts and connection parts for the unit installation and load connection Strange sound from ball bearing of the unit Damage and stress of lead cable of the unit Connection error with motor 5Inconsistency between the axis of motor output and the center, concentric (eccentric, declination) of the load, etc. 0. This product does not prepare protection function for a motor.. This unit may be used in the following environments. Indoors (in the environment condition rated in 'Specifications') ltitude max.,000m Pollution degree Installation category II Q-