5相步进马达驱动器使用说明书

HP-P0195-phase stepping motor unitCRK Series Built-in ControllerThank you for purchasing an Oriental Motor product. (Stored Program) InformationLocation for installationThe driver is designed and manufactured for installation in equipment.Install it 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 of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid• Area not exposed to direct sun• Area free of excessive amount of dust, iron particles or the like• Area not subject to splashing water (rain, water droplets), oil (oil droplets) or other liquids• 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 vacuumInstalling the motorThe motor can be installed in any direction. 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 (not supplied) through the four mounting holes. Do not leave a gap between the motor and metal plate.Insert the pilot located on the motor's installation surface into themounting plate's pilot hole.Installation method AInstallation method BScrew size, tightening torque and installation methodMotor type Frame size [mm (in.)] Nominal size Tightening torque [N·m (oz-in)] Effective depth of bolt [mm (in.)] Installation method42 (1.65) M3 1 (142) 4.5 (0.177)A Standard 60 (2.36) M4 2 (280) −B TH geared42 (1.65) 60 (2.36)M42 (280)8 (0.315)AInstalling the driver ● Installation directionUse a DIN rail 35 mm (1.38 in.) wide to mount the driver. Provide 50 mm(1.97 in.) clearances in the horizontal and vertical directions between the driver and enclosure or other equipment within the enclosure.Refer to the following figure for the required distances between adjacent drivers when two or more drivers are installed in parallel.Be sure to install (position) the driver vertically. When the driver isinstalled in any position other than vertical, the heat radiation capability of the driver will drop.Installation methodPush up the driver’s DIN lever until it locks. Hang the hook at the rear to the DIN rail, and push in the driver. After installation, fix the both sides of the driver with an end plate.Removing from DIN railPull the DIN lever down until it locks using a flat tip screwdriver, and lift the bottom of the driver to remove it from the e a force of about 10 to 20 N (2.2 to 4.5 lb.) to pull the DIN lever down to lock it. Excessive force may damage the DIN lever.Pin assignments listsCN1: Power supply connectorConnect using the supplied CN1 connector (3 pins).Pin No. Name Description+24 VDC power supply input Upper ribbon cable Description Input common Start input Alarm Clear inputLower ribbon cableLead wire color Pin No. Signal name Description Brown-3 B1 MOVE+Red-3 B2 MOVE− Motor Moving outputOrange-3 B3 ALM+Yellow-3 B4 ALM− Alarm outputGreen-3 B5 OUT1+Blue-3 B6 OUT1− General output 1 *Purple-3 B7 OUT2+Gray-3 B8 OUT2− General output 2 *White-3 B9 OUT3+Black-3 B10 OUT3− General output 3 *Brown-4 B11 OUT4+Red-4 B12 OUT4− General output 4 *Orange-4 B13 N.C. Not used Yellow-4 B14 N.C. Not used Green-4 B15 PLS-OUT+Blue-4 B16 PLS-OUT− Pulse output (Line driver output)Purple-4 B17 DIR-OUT+Gray-4 B18 DIR-OUT− Direction output (Line driver output)White-4 B19 GND GND Black-4B20N.C. Not used* The function of General Output 1(Out1) to 4(Out4) can be assigned unique functions using the “OUTxxx” commands.CN4: Motor connectorConnect the motor using the supplied CN4 connector cable (5 pins).Pin No. Name Description1 BLUE Blue motor lead2 REDRed motor lead 3 ORANGE Orange motor lead 4 GREENGreen motor lead 5BLACKBlack motor leadCN5: Encoder connectorIf an encoder is to be used, connect the encoder using the optional CN5 lead wire connector (9 pins; sold separately)Pin No. Signal name Lead wire colorDescription1 ENC-A+ Red2 ENC-A− Brown Encoder input A-phase (Line receiver)3 ENC-B+ Green4 ENC-B− Blue Encoder input B-phase (Line receiver)5 ENC-Z+ Yellow6 ENC-Z− OrangeEncoder input Z-phase (Line receiver)7 +5 VDC OUT White +5 VDC power supply output forencoder 8 GND Black GND9SHIELDPurpleShield (connect to GND)CN6/7: RS-485 communication connectorUse these connectors to connect to RS-485 communication.Pin No. Signal name Description1 N.C. Not used2 GND GND3 TR+ RS-485 communication signal (+)4 N.C. Not used5 N.C. Not used6 TR− RS-485 communication signal (−)7 N.C. Not used8 N.C.Not usedBe sure to turn off the driver power before setting the switches. If theswitches are set while the power is still on, the new switch settings will not become effective until the driver power is cycled.Address numberSet the address number using the address setting switch (SW1). Factory setting:SW1: 0, (address number 0)Multi-axis modeSet the to device to multi-axis mode using the multi-axis mode setting switch (SW2-No.4) to ON. Factory setting:SW2-No.4: OFF, (single axis mode)Address numberSW1 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 A 11 B 12 C 13 D 14 E 15 FBaud rateSet the baud rate using Nos. 1 to 3 of the function setting switch (SW2). Factory setting: All OFF (9600 bps)Baud rate (bps)SW2-No.3 SW2-No.2 SW2-No.1 9600 OFF OFF OFF 19200 OFF OFF ON 38400 OFF ON OFF 57600 OFF ON ON 115,200 ON OFF OFF 115,200 ON OFF ON 115,200 ON ON OFF 115,200ONONONTermination resistorSet the termination resistor forRS-485 communication (120 Ω) using the termination resistor setting switch (SW3).Factory setting:OFF (termination resistor disabled)SW3 Termination resistor (120 Ω)OFF Disabled ONEnabledThe 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.Handling the product without observing the instructions that accompany a “Warning” symbol may result in serious injury or death.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, electric shock 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, electric shock or injury.• The motor will lose its holding torque when the power supply or motorexcitation turned off. If this product is used in a vertical application, be sure to provide a measure for the position retention of moving parts. Failure to provide such a measure may cause the moving parts to fall, resulting in injury or damage to the equipment.• With certain types of alarms (protective functions), the motor may stop when the alarm generates and the holding torque will be lost as a result. This will result in injury or damage to equipment.• When an alarm is generated, first remove the cause and then clear the alarm. Continuing the operation without removing the cause of the problem may cause malfunction of the motor and driver, leading to injury or damage to equipment.• Connection• Keep the driver’s input-power voltage within the specified range to avoid fire. • For the driver's power supply, use a DC power supply with reinforcedinsulation 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 and motor cable. Doing so may cause a fire. This will cause stress to the connecting section and may result in damage to equipment.Operation• Turn off the driver power in the event of a power failure, or the motor maysuddenly start when the power is restored and may cause injury or damage to equipment.• Do not turn the excitation to off while the motor is operating. The motor will stop and lose its holding ability, which may result in injury or damage to equipment.• Configure an interlock circuit using a sequence program so that when aRS-485 communication error occurs, the entire system including the driver will operate safely.Repair, disassembly and modification• Do not disassemble or modify the motor and driver. This may cause injury. Refer all such internal inspections and repairs to the branch or sales office from which you purchased the product.Handling the product without observing the instructions that accompany a “Caution” symbol may result in injury or property damage.General• Do not use the motor and driver beyond its 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 may result.• Do not touch the motor and driver during operation or immediately after stopping. The surface is hot and may cause a skin burn(s).Transportation• Do not hold the motor output shaft or motor cable. This may cause injury.Installation• Install the motor and driver in the enclosure in order to prevent injury.• Keep the area around the motor and driver free of combustible materials in order to prevent fire or a skin burn(s).• 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 input to the driver to OFF. Otherwise, the motor may start suddenly at power ON and cause injury or damage to equipment.• Set the speed and acceleration/deceleration rate at reasonable levels. Otherwise, the motor will misstep and the moving part may move in an unexpected direction, resulting in injury or damage to equipment.•Do not touch the rotating part (output shaft) during operation. This may cause injury.• Before moving the motor directly with the hands, confirm that the power supply or motor excitation turned off and motor current is cut off. Failure not to do so may result in injury.• The motor surface temperature may exceed 70 °C (158 °F) even under normal operating conditions. If the operator isallowed to approach the running motor, attach a warninglabel as shown below in a conspicuous position. Failure to do so may result in skin burn(s).Warning label• Immediately when trouble has occurred, stop running and turn off the driver power. Failure to do so may result in fire or injury.•Static electricity may cause the driver to malfunction or suffer damage. While the driver is receiving power, do not touch the driver. Use only an insulated screwdriver to adjust the driver's switches.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 industrialwaste. If you have any question, contact your nearest Oriental Motor branch or sales office•is a registered trademark or trademark of OrientalMotor Co., Ltd., in Japan and other countries.© Copyright ORIENTAL MOTOR USA CORP., 2009。

M542H（低成本 4.5Ａ，80Ｖ）256细分步进驱动器使用手册Version1.0版权所有不得翻印【使用前请仔细阅读本手册，以免损坏驱动器】宁波纳川自动化科技有限公司M542H步进电机驱动器使用说明在使用本品前，请仔细阅读本使用说明书请妥善保管本说明书，以备日后参考本册外观图片仅供参考，请以实物为准安全注意事项本产品为直流电源供电，请确认电源正负极正确后上电。

请勿带电插拔连接线缆。

此产品非密封，请勿在内部混入镙丝、金属屑等导电性异物或可燃性异物，储存和使用时请注意防潮防湿。

驱动器为功率设备，尽量保持工作环境的散热通风。

在连上步进电机，调节好电流后使其连续工作半小时后观察步进电机是否在额定温度后方可进行后续使用，如果电机温度过高请联系制造商。

一、产品简介1.1 产品特点⏹平均电流控制，两相正弦电流驱动输出⏹供电电压可达80VDC⏹输出电流峰值可达4.5A(均值3.2Ａ)⏹静止时电流自动减半⏹可驱动4,6,8线两相、四相步进电机⏹高速光耦隔离信号输入，脉冲响应频率最高可达300ＫＨＺ⏹抗高频干扰能力强⏹输出电流1.5A~4.5Ａ。

⏹输出电流设定方便⏹小巧精美外形尺寸（118*75.5*33mm）；⏹细分精度２,４,８,16, 32, 64, 128, 256, 5, 10, 25, 50, 100, 125, 250 细分；⏹有过压、欠压、过流、相间短路保护功能1.2 应用领域适合各种中小型自动化设备和仪器，例如：雕刻机、打标机、切割机、激光照排、绘图仪、数控机床、拿放装置等。

在用户期望低成本、小噪声、高速度的设备中效果特佳。

二、电气、机械和环境指标2.1 电气指标说明 M542H最小值 典型值 最大值 单位 输出电流 1.5 - 4.5(均值3A) A 输入电源电压 18 50~80 120（含纹波）VDC 逻辑输入电流 7 10 16 mA 步进脉冲频率 0 - 300 KHZ 绝缘电阻500M Ω2.2 使用环境及参数冷却方式自然冷却使用环境场合 尽量避免粉尘、油雾及腐蚀性气体环境温度0℃-+50℃ 最高工作温度70℃湿度 40-90% RH9 （不能结露和有水珠）震动 5.9m/S2 Max 保存温度 -20℃-125℃ 重量约280克2.3 机械安装图 单位：毫米※：推荐采用侧面安装，散热效果更佳三、驱动器接口及接线介绍：3.1：弱电接线信号接口描述3.2：强电接口描述3.3输入接口描述M542H 内置高速光电耦合器，允许接收长线控制器，集电极开路和PNP 输出电路的信号。

IFS6020 5A步进电机驱动器使用说明【使用前详细阅读】英飞赛出品一、特点◆最大输出驱动电流5A；◆细分：1、2、8、16细分，拨码开关设置；◆直流供电，最高50V(峰值)；◆输出电流1-5A连续可调，采用电位器调节；◆待机自动半流功能，减少发热量，降低能耗；◆接口采用高速光耦隔离；◆衰减四档可调；◆电机运行平稳噪声小，无脉冲输入时啸叫小;◆精巧的外形尺寸便于安装；◆外形美观，散热效果好；二、使用环境和参数：信号输入有两个接口，任选其一即可，黑色牛角座是配合本公司的接口板使用的，用专用线缆直接连接即可，使用绿色接线插头，进行信号输入的接法如下：3.1、共阳接法：3.2、共阴接法：四、接口定义：PLS—脉冲；DIR—方向；EN—使能；STEP+ STEP- STEP+与STEP-间正常压差为5V，不用串接限流电阻； STEP+与STEP-间正常压差为12V,串接1K电阻； STEP+与STEP-间正常压差为24V,串接3K电阻；脉冲信号：脉冲上升沿有效；DIR+ DIR- DIR+与DIR-间正常压差为5V，不用串接限流电阻； DIR+与DIR-间正常压差为12V，串接1K电阻DIR+与DIR-间正常压差为24V，串接3K电阻；方向信号：高/低电平有效；EN+ EN- EN+与EN-间正常压差为5V，不用串接限流电阻； EN+与EN-间正常压差为12V，串接1K电阻；EN+与EN-间正常压差为24V，串接3K电阻使能信号：高/低电平有效；A- 电机线A-相 A+ 电机线A+相 B+ 电机线B+相 B- 电机线B-相 VCC+直流电源正极 GND-直流电源负极五、拨码开关设定：步数：不细分时每圈200步；细分时步数=200×细分。

拨码开关可以对细分和衰减进行调节，拨码开关位置和对应模式见如下：说明：衰减模式的作用是改善电机运行时的震动和噪声。

根据输出电流的大小，细分数的不同，效果可能会变化。

步进电机驱动器使用手册目录1安全事项 (2)2产品外形 (4)2.1产品外形 (4)3接口定义 (5)3.1电机、电源接口C N1 (5)3.1.1两相步进电机接线 (5)3.1.2五相步进电机接线 (6)3.2控制接口C N2 (7)3.2.1脉冲(P u l)信号/上限位信号 (9)3.2.2方向(D i r)信号/下限位信号 (9)3.2.3回零(Z e r o)信号/原点信号 (9)3.2.4脱机/使能(F r e e/E n a b l e)信号 (9)3.2.5到位(I N P)信号 (10)3.2.6就绪(R D Y)信号 (11)3.2.7接口电压 (11)3.3编码器接口C N3 (13)3.4U S B接口C N4 (14)3.5M o d b u s接口C N5 (15)4L E D指示 (16)4.1状态指示L E D (16)4.2通讯指示L E D (18)5性能参数 (18)5.1机械参数 (18)5.2安装尺寸 (19)6应用指南 (20)6.1安装准备 (20)6.2机械安装 (20)6.3电气安装 (21)6.4日常维护 (21)6.5注意事项 (21)6.5常见问题 (22)为保障使用者人身安全，保护设备正常使用，请务必阅读并遵守本章的安全事项。

在操作时违反本事项所示要求，可能会导致人员重伤或者死亡。

在操作时违反本事项所示要求，可能会引起驱动器永久损坏及附加事故。

谨防触电，爆炸或其他危险禁止在易爆、易燃或腐蚀性环境使用本产品；禁止开启产品外壳；驱动器带电时内部电压可能超过36VDC，驱动器和电机都必须接安全保护地线；驱动器内部电压不会瞬间释放，必须先切断电源，等指示灯熄灭后才能进行插拔、接线、设置、测量、搬动等人工操作；禁止带电插拔；驱动器故障时温度可能很高，必须先切断电源，等下降至安全温度后才能进行人工操作；驱动器应用于直接涉及人身安全的设备，必须配备人身安全防范措施；驱动器或设备故障时可能存在火灾隐患，必须配备消防安全防范措施。

Indexer接口步进电机驱动器使用说明书(57型：ZD-M57P)版本 说明Ver1.00 初始1.产品特点☆微型设计，安装便利，可与57步进电机一体化☆散热铸铝封闭型外壳☆停止运行时自动半流,无锁相噪声☆并行接口高速光电隔离,兼容3.3-5V和12-24V逻辑电平☆电流2-4.5A连续可调☆ 1/2/4/8/16/32/64/128细分可选2.产品参数供电电源 DC11V-DC36V/5A，推荐DC24VIndexer 接口COM 共阳极。

拨码开关选择3.3V-5V或者12V-24V说明：拨码开关HV选择On位置时，COM可当共阴极使用DIR 0V或者Vcom。

电流：8mA@3.3V/8mA@12V/15mA@5V/18mA@24VSTP 0V或者Vcom。

电流：8mA@3.3V/8mA@12V/15mA@5V/18mA@24V频率0-20KHzEN 0V或者Vcom。

电流：8mA@3.3V/8mA@12V/15mA@5V/18mA@24VVcom或者悬空，EN使能步进电机；0V步进电机脱机状态输出电机电流峰值4.5A(单相最大)，实际使用2-4.5A可调驱动方式 PWM斩波恒流驱动细分拨码开关设置选择1、2、4、8、16、32、64、128绝缘电阻在常温常压下>100MΩ绝缘强度在常温常压下0.5KV , 1 分钟保护输入反接、过载、驱动过热、驱动过流操作温度 -20℃-85℃3.电气接口Ref之间电压。

相电流值 = 电压值数值×2例如：步进电机相电流为4.0A,调节电位器，是的Ref与GND之间电压为2.0V4.典型接线图兼容3.3V-5V和12V-24V用户级，脱机信号可选接。

注意：用户系统使用3.3V-5V时，拨码开关HV拨到ON（见3电气接口）用户系统使用12V-24V时，拨码开关HV拨到OFF5.包装序号数量部件1 1 ZD-M57P并行接口57型步进电机驱动器一个2 1 5264-6P延长线30cm3 4(选)φ3×14 螺钉驱动器与57步进电机孔位、大小一致。

DHBQ30722是基于DSP控制的三相步进电机驱动器。

它是将先进的DSP控制芯片和三相逆变驱动模块结合一起所构成的新一代数字步进电机驱动器。

驱动电压为AC110V-220V，适配电流在7.0A以下、外径57-130mm的各种型号的三相混合式步进电机。

该驱动器内部采用类似伺服控制原理的电路，此电路可以使电机运行平稳，几乎没有震动和噪音，电机在高速时，力矩大大高于二相和五相混合式步进电机。

定位精度最高可达60000步/转。

该产品广泛应用于雕刻机、中型数控机床、电脑绣花机、包装机械等分辨率较高的大、中型数控设备上。

特●高性能、低价格●设有16档等角度恒力矩细分，最高分辨率60000步/转●最高反应频率可达200Kpps●步进脉冲停止超过1.5s时，线圈电流自动减到设定电流的一半●光电隔离信号输入/输出●驱动电流1.2A/相到7.0A/相分16档可调●单电源输入，电压范围：AC110V-220V●相位记忆功能（注：输入停止超过3秒后，驱动器自动记忆当时电机相位，重新上电或MF信号由低电平变为高电平时，驱动器自动恢复电机相位）。

电流设定驱动器工作电流由DIP-1端子设定，运行电流为正常工作输出电流设置开关（详见下表）运行电流（A） 1.2 1.5 2.0 2.3 2.5 3.0 3.2 3.6 D1OFF OFF OFF OFF OFF OFF OFF OFF D2OFF OFF OFF OFF ON ON ON ON D3OFF OFF ON ON OFF OFF ON ON D4OFF ON OFF ON OFF ON OFF ON运行电流（A） 4.0 4.5 5.0 5.3 5.8 6.2 6.57.0 D1ON ON ON ON ON ON ON ON D2OFF OFF OFF OFF ON ON ON ON D3OFF OFF ON ON OFF OFF ON ON D4OFF ON OFF ON OFF ON OFF ON细分设定驱动器细分由DIP-2端子设定，共16档，由6位拨码开关的前四位分别设定（后两位为功能设定）。

步进电机说明书德国百格拉公司德国百格拉公司1934年以来一直致力于步进电机和伺服电机的研究、开发、生产工作。

是世界上步进驱动系统行业的领导者。

该公司于1973年发明了五相混合式步进电机及其驱动器，克服了两相步进电机振动噪音大、只能用于简单应用场合的缺点，因此可胜任更高要求的任务，适合进行微步控制，并逐渐成为世界上许多五相步进电机生产厂家学习的典范但由于科学技术的不断发展，人们越来越发现五相步进电机的接线和相电流切换技术比较复杂，生产成本又很高，为了追求高效益、低成本，达到最佳的性能价格比，百格拉公司把交流伺服原理应用到步进电机系统中，于1993年又推出了性能更加优越的三相混合式步进电机，该步进电机吸取五相电机的优点，与其配套的驱动器采用了交流伺服电机驱动器工作方式，这种电机系统彻底解决了传统步进电机低速爬行、有共振区、噪音大、高速扭矩小、起动频率低和驱动器可靠性差等缺点，因此被称为具有交流伺服电机运行特性的步进电机系统。

为满足客户对更大功率、更高动态性能等的要求，百格拉公司开发了全新的交流伺服电机系统。

百格拉公司产品完全符合CE标准，并率先通过ISO9001质量体系认证。

百格拉公司的步进电机系统以其可靠性高、性能价格比优越主宰着欧美市场，目前百格拉公司的步进电机系统已占据欧洲市场的85%，占美国市场的25%，中国市场的占有率也在急剧的上升。

目录第一章驱动器1.1 驱动器概述1.1.1 安全事项1.1.2 驱动器连线注意事项1.1.3 驱动器的特点1.2 驱动器WD3-0071.2.1 电气参数1.2.2 WD3-007的主要特点1.2.3 连线及参数设置1.2.4 控制信号接口1.2.5 功能选择1.2.6 功率接口1.2.7 安装1.2.8 故障诊断1.2.9 故障排除1.3 驱动器WD3-008、WDM3-0081.3.1 电气参数1.3.2 WD3-008、WDM3-008的主要特点1.3.3 连线及参数设置1.3.4 控制信号接口1.3.5 功能选择1.3.6 功率接口1.3.7 安装1.3.8 故障诊断1.3.9 故障排除1.4 驱动器D9211.4.1 电气参数1.4.2 D921的主要特点1.4.3 连线及参数设置1.4.4 控制信号接口1.4.5 功能选择1.4.6 功率接口1.4.7 状态指示1.4.8 安装1.4.9 故障诊断与排除第二章百格拉公司的三相混合式步进电机2.1 基本概念2.2 特殊的机械结构2.3 先进的步进电机控制理论2.4 三相混合式步进电机的特点2.5 电机参数表2.6 电机安装尺寸2.7 抱闸电机2.8 矩频特性曲线2.9 电机转数与电机相电流的关系2.10 电机温升2.11 采购选型第一章驱动器百格拉三相混合式步进电机系统采用了与传统的两相和五相混合式步进电机系统截然不同的控制方式，它特有的优点使人们重新认识到步进电机在许多应用中可以取代甚至优于交流伺服电机。

*HP-P025*HP-P025-15-phase stepping motor unitCRK Series Built-in Controller(Stored Program) InformationThank you for purchasing an Oriental Motor product.Introduction⏹ Before useOnly 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. 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 productThe CRK series built-in controller (Stored program) is a unit product consisting of a 5-phase stepping motor driver with built-in controller function and a 5-phase stepping motor offering high torque with low vibration. The driver supports I/O control and RS-485 communication.Set the operating data and parameters using RS-485 communication.⏹ Hazardous substancesRoHS (Directive 2002/95/EC 27Jan.2003) compliant⏹ Checking the productVerify 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.∙ Motor………………………………………………………………………..…..1 pc. ∙ Driver………………………………………………………………………..…..1 pc. ∙ CN1 Power supply connector (3 terminals)…….…………………….…….1 pc. ∙ CN2 I/O ribbon cable/connector assembly [1 m (3.3 ft.)]………......……..1 pc. ∙ CN4 lead wire/connector assembly (5 leads) [0.6 m (2 ft.)]……….….…..1 pc. ∙ CN5 encoder lead wire/connector assembly (9 leads) [0.6m (2 ft.)]…..... 1 pc. (Encoder Motor/Driver models only)∙ Information (this document)……………………………………………..……1 copy ∙ Motor lead wire/connector assembly (5 leads) [0.6 m (2 ft.)]…….….….. 1 pc. (High torque and High Resolution type motors only)∙ Encoder motor lead wire/connector assembly [0.6m (2 ft.)] ……………..1 pc. (Encoder motors only)∙ Software manual (HP-P024) is available for download for free at: /support/operator_manuals.htm .An optional Immediate Motion Creator (IMC) Graphical User Interface (GUI) isavailable for downlad for free at:/support/software/software.html⏹Names and functions of parts ● MotorIllustration shows the PK56☐ standard type.● Front of the driverName DescriptionPOWER LED (green) This LED is lit while the main power is input. ALARM LED (red) This LED will blink when an alarm generates (aprotective function is triggered). You can check the generated alarm by counting the number of times the LED blinks.C-DAT LED (green) This LED will blink or illuminate steadily when thedriver is communicating with the master station properly via RS-485 communication.C-ERR LED (red) This LED will illuminate when a RS-485communication error occurs with the master station.Address number setting switch (SW1) Set the address number for RS-485communication.Function setting switches (SW2) No.1 to 3: Set the baud rate for RS-485communication.No.4: Set device to single or multi axis modePower supply connector (CN1) Connection for the main power supply (+24 VDC) I/O signals connector (CN2) Connection for the I/O signals. Unused connector (CN3) Not Used Motor connector (CN4) Connection for the motor. Encoder connector (CN5) Connection for the encoder.● Top of the driverName Description Termination resistor setting switch (SW3) Set the termination resistor (120 Ω) for RS-485 communication. RS-485 communication connector (CN6/CN7) Connect the RS-485 communication cable. (Not Supplied)⏹ Location for installationThe driver is designed and manufactured for installation in equipment.Install it 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 temperatureMotor: -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 of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid∙ Area not exposed to direct sun∙ Area free of excessive amount of dust, iron particles or the like∙ Area not subject to splashing water (rain, water droplets), oil (oil droplets) or other liquids∙ 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⏹ Installing the motorThe motor can be installed in any direction. 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 (not supplied) through the four mounting holes. Do not leave a gap between the motor and metal plate.Insert the pilot located on the motor's installation surface into themounting plate's pilot hole.Installation method AInstallation method BScrew size, tightening torque and installation methodMotor type (with or without Encoder)Frame size [mm (in.)] Nominal sizeTightening torque [N·m (oz-in)] Effectivedepth of bolt[mm (in.)]Installationmethod20 (0.79) M2 0.25 (35.4)28 (1.10) M2.5 0.5 (70.8)2.5 (0098 42 (1.65) M3 1 (142) 4.5 (0.177) A Standard, High resolution,High Torque60 (2.36) M4 2 (280) − B 28 (1.10) M2.5 0.5 (70.8) 4 (0.157) TH geared42 (1.65) 60 (2.36) M4 2 (280) 8 (0.315)A 28 (1.10) M3 1 (142) 6 (0.236)42 (1.65) M4 2 (280) 8 (0.315)PS geared 60 (2.36) M5 2.5 (350) 10 (0.394) A 20 (0.79) M2 0.25 (35.4) 5 (0.2)42 (1.65) M4 2 (280) 8 (0.315)Harmonicgeared60 (2.36)M5 2.5 (350) 10 (0.394) A ⏹ Permissible overhung load and permissible thrust loadThe overhung load on the motor’s output shaft or gear output shaft must be keptwithin the permissible values for each part number. The thrust load must notexceed the motor’s mass. Please visit our website, , formore specific information for each motor type. Installing the driver ● Installation direction Use a DIN rail 35 mm (1.38 in.) wide to mount the driver. Provide 50 mm (1.97 in.) clearances in the horizontal and vertical directions between the driver and enclosure or other equipment within the enclosure.Push up the driver’s DIN lever until it locks. Hang the hook at the rear to the DIN Removing from DIN railPull the DIN lever down until it locks using a flat tip screwdriver, and lift the bottom of theLower ribbon cable Lead wire color Pin No. Signal name Description Brown-3 B1 MOVE+Red-3 B2 MOVE − Motor Moving outputOrange-3 B3 ALM+Yellow-3 B4 ALM − Alarm outputGreen-3 B5 OUT1+Blue-3 B6 OUT1− General output 1 *Purple-3 B7 OUT2+Gray-3 B8 OUT2− General output 2 *White-3 B9 OUT3+Black-3 B10 OUT3− General output 3 *Brown-4 B11 OUT4+Red-4 B12 OUT4− General output 4 *Orange-4 B13 N.C. Not used Yellow-4 B14 N.C. Not used Green-4 B15 PLS-OUT+Blue-4 B16 PLS-OUT − Pulse output (Line driver output)Purple-4 B17 DIR-OUT+Gray-4 B18 DIR-OUT − Direction output (Line driver output)White-4 B19 GND GND Black-4 B20 N.C. Not used* The function of General Output 1(Out1) to 4(Out4) can be assigned unique functions using the “OUTxxx” commands.⏹ CN4: Motor connectorConnect the motor using the supplied CN4 leadwire/connector assembly (5 leads).Pin No. Name Description1 BLUE Blue motor lead2 REDRed motor lead 3 ORANGE Orange motor lead 4 GREEN Green motor lead 5 BLACK Black motor lead⏹ CN5: Encoder connectorIf an encoder is to be used, connect the encoder using the supplied CN5 leadwire/connector assembly (9 leads).Pin No. Signal name Lead wire colorDescription 1 ENC-A+ Red 2 ENC-A −BrownEncoder input A-channel(Line receiver) 3 ENC-B+ Green 4 ENC-B − BlueEncoder input B- channel(Line receiver) 5 ENC-I + Yellow6 ENC-I − OrangeEncoder input I ndex signal (Line receiver) 7 +5 VDC OUT White+5 VDC power supply output forencoder8 GND Black GND 9 SHIELD PurpleShield (connect to GND)⏹ CN6/7: RS-485 communication connectorUse these connectors to connect to RS-485 communication.Pin No. Signal name Description1 N.C. Not used2 GND GND3 TR+RS-485 communication signal (+) 4 N.C. Not used 5 N.C. Not used6 TR −RS-485 communication signal (−) 7 N.C. Not used 8 N.C. Not usedBe sure to turn off the driver power before setting the switches. If theswitches are set while the power is still on, the new switch settings will not become effective until the driver power is cycled.⏹ Address numberSet the address number using the address setting switch (SW1). Factory setting:SW1: 0, (address number 0)⏹ Multi-axis modeSet the to device to multi-axis mode using the multi-axis mode setting switch (SW2-No.4) to ON. Factory setting:SW2-No.4: OFF, (single axis mode)Address number SW10 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 A 11 B 12 C 13 D 14 E 15 F⏹ Baud rateSet the baud rate using Nos. 1 to 3 of the function setting switch (SW2). Factory setting: All OFF (9600 bps)Baud rate (bps) SW2-No.3 SW2-No.2 SW2-No.19600 OFF OFF OFF 19200 OFF OFF ON 38400 OFF ON OFF 57600 OFF ON ON 115,200 ON OFF OFF 115,200 ON OFF ON 115,200 ON ON OFF 115,200 ON ON ON⏹ Termination resistorSet the termination resistor forRS-485 communication (120 Ω) using the termination resistor setting switch (SW3).Factory setting:OFF (termination resistor disabled)SW3 Termination resistor (120 Ω)OFF Disabled ON EnabledThe 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.Handling the product without observing the instructions that accompany a“Warning” symbol may result in serious injury or death.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, electric shock 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, electric shock or injury.∙ The motor will lose its holding torque when the power supply or motorexcitation turned off. If this product is used in a vertical application, be sure to provide a measure for the position retention of moving parts. Failure to provide such a measure may cause the moving parts to fall, resulting in injury or damage to the equipment.∙ With certain types of alarms (protective functions), the motor may stop when the alarm generates and the holding torque will be lost as a result. This will result in injury or damage to equipment.∙ When an alarm is generated, first remove the cause and then clear the alarm. Continuing the operation without removing the cause of the problem may cause malfunction of the motor and driver, leading to injury or damage to equipment.∙ Connection∙ Keep the driver’s input-power voltage within the specified range to avoid fire. ∙ For the driver's power supply, use a DC power supply with reinforcedinsulation 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 and motor cable. Doing so may cause a fire. This will cause stress to the connecting section and may result in damage to equipment.Operation∙ Turn off the driver power in the event of a power failure, or the motor maysuddenly start when the power is restored and may cause injury or damage to equipment.∙ Do not turn the excitation to off while the motor is operating. The motor will stop and lose its holding ability, which may result in injury or damage to equipment.∙ Configure an interlock circuit using a sequence program so that when aRS-485 communication error occurs, the entire system including the driver will operate safely.Repair, disassembly and modification∙ Do not disassemble or modify the motor and driver. This may cause injury. Refer all such internal inspections and repairs to the branch or sales office from which you purchased the product.Handling the product without observing the instructions that accompany a “Caution” symbol may result in injury or property damage.General∙ Do not use the motor and driver beyond its 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 may result.∙ Do not touch the motor and driver during operation or immediately after stopping. The surface is hot and may cause a skin burn(s).Transportation∙ Do not hold the motor output shaft or motor cable. This may cause injury.Installation∙ Install the motor and driver in the enclosure in order to prevent injury.∙ Keep the area around the motor and driver free of combustible materials in order to prevent fire or a skin burn(s).∙ 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 input to the driver to OFF. Otherwise, the motor may start suddenly at power ON and cause injury or damage to equipment.∙ Set the speed and acceleration/deceleration rate at reasonable levels. Otherwise, the motor will misstep and the moving part may move in an unexpected direction, resulting in injury or damage to equipment.∙ Do not touch the rotating part (output shaft) during operation. This may cause injury.∙Before moving the motor directly with the hands, confirm that the power supply or motor excitation turned off and motor current is cut off. Failure not to do so may result in injury.∙ The motor surface temperature may exceed 70 °C (158 °F) even under normal operating conditions. If the operator isallowed to approach the running motor, attach a warninglabel as shown below in a conspicuous position. Failure to do so may result in skin burn(s).Warning label∙ Immediately when trouble has occurred, stop running and turn off the driver power. Failure to do so may result in fire or injury.∙ Static electricity may cause the driver to malfunction or suffer damage. While the driver is receiving power, do not touch the driver. Use only an insulated screwdriver to adjust the driver's switches.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 industrialwaste. If you have any question, contact your nearest Oriental Motor branch or sales office.∙ Unauthorized reproduction or copying of all or part of this manual is prohibited.∙ Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information, circuit, equipment or device provided or referenced in this manual.∙ Characteristics, specifications and dimensions are subject to change without notice.∙ While we make every effort to offer accurate information in the manual, we welcome your input. Should you find unclear descriptions, errors or omissions, please contact the nearest sales office. ∙is a registered trademark or trademark of Oriental Motor Co., Ltd., in Japan and other countries.© Copyright ORIENTAL MOTOR USA CORP., 2011。