Autonics AiC Series User manual

AiC Series
User Manual
AiC Series
Controller Integrated 2-Phase Closed-Loop
Stepper Motor System

ii © Copyright Reserved Autonics Co., Ltd.

Preface
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Preface
Thank you for purchasing Autonics product.
Please familiarize yourself with the information contained in the Safety Precautions section
before using this product.
This user manual contains information about the product and its proper use, and should be kept
in a place where it will be easy to access.

User Manual Guide
iv © Copyright Reserved Autonics Co., Ltd.
User Manual Guide
Please familiarize yourself with the information in this manual before using the product.
This manual provides detailed information on the product's features. It does not offer any
guarantee concerning matters beyond the scope of this manual.
This manual may not be edited or reproduced in either part or whole without permission.
A user manual is not provided as part of the product package. Visit our web site
(www.autonics.com) to download a copy.
The manual's content may vary depending on changes to the product's software and other
unforeseen developments within Autonics, and is subject to change without prior notice.
Upgrade notice is provided through out homepage.
We contrived to describe this manual more easily and correctly. However, if there are any
corrections or questions, please notify us these on our homepage.

User Manual Symbols
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User Manual Symbols
Symbol
Description
Supplementary information for a particular feature.
Failure to follow instructions can result in serious injury or death.
Failure to follow instructions can lead to a minor injury or product damage.
An example of the concerned feature's use.
※1
Annotation mark.

Safety Considerations
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Safety Considerations
Following these safety precautions will ensure the safe and proper use of the product and
help prevent accidents, as well as minimizing possible hazards.
Safety precautions are categorized as Warnings and Cautions, as defined below:
Warning
Failure to follow these instructions may result in serious
injury or death.
Caution
Failure to follow these instructions may result in personal
injury or product damage.
Fail-safe device must be installed when using the unit with machinery that may cause
serious injury or substantial economic loss. (e.g. nuclear power control, medical equipment,
ships, vehicles, railways, aircraft, combustion apparatus, safety equipment, crime/disaster
prevention devices, etc.)
Failure to follow this instruction may result in fire, personal injury, or economic loss.
Do not connect, repair, or inspect the unit while connected to a power source.
Failure to follow this instruction may result in fire.
Install the unit after considering counter plan against power failure.
Failure to follow this instruction may result in personal injury, or economic loss.
Check 'Connections' before wiring.
Failure to follow this instruction may result in fi re.
Do not disassemble or modify the unit.
Failure to follow this instruction may result in fire.
Install the driver in the grounded housing or ground it directly.
Failure to follow this instruction may result in electronic shock, personal injury.
Do not touch the unit during or after operation for a while.
Failure to follow this instruction may result in burn due to high temperature of the surface.
Emergency stop directly when error occurs.
Failure to follow this instruction may result in fi re, or personal injury.
When connecting the power input, use AWG 18(0.75mm2) cable or over.
Install over-current prevention device (e.g. the current breaker, etc) to connect the driver
with power.
Failure to follow this instruction may result in fire.
Check the control input signal before supplying power to the driver.
Failure to follow this instruction may result in personal injury or product damage by
unexpected signal.
Install a safety device to maintain the vertical position after turn off the power of this driver.
Failure to follow this instruction may result in personal injury or product damage by
releasing holding torque of the motor.
Use the unit within the rated specifi cations.
Failure to follow this instruction may result in fire or product damage.

Safety Considerations
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Use dry cloth to clean the unit, and do not use water or organic solvent.
Failure to follow this instruction may result in fire.
Do not use the unit in the place where fl ammable/explosive/corrosive gas, humidity, direct
sunlight, radiant heat, vibration, impact, or salinity may be present.
Failure to follow this instruction may result in fi re or explosion.
The driver may overheat depending on the environment.
Install the unit in the well ventilated place and forced cooling with a cooling fan.
Failure to follow this instruction may result in product damage and degradation.
Keep metal chip, dust, and wire residue from fl owing into the unit.
Failure to follow this instruction may result in fi re or product damage.
Use the designated motor only.
Failure to follow this instruction may result in fi re or product damage.
The above specifications are subject to change and somd models may be discontinued
without notice.
Be sure to follow cautions written in the instruction manual, user manual and the
technical descriptions (catalog, homepage).

Cautions during Use
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Cautions during Use
Follow instructions in 'Cautions during Use'.
Otherwise, it may cause unexpected accidents.
24VDC power supply should be insulated and limited voltage/current or Class 2, SELV
power supply device.
Re-supply power after min. 1 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.
It is recommended to use 485 converter with the separate power.
(Autonics product, SCM-38I, recommended)
The thickness of cable should be same or thicker than the below specifications when
connecting the cable for the connector.
①CN1 (power connector): AWG18
②CN2 (motor+encoder connector): AWG22, AWG24
③CN3 (I/O connector): AWG28
Keep the distance between power cable and signal cable more than 10cm.
Motor vibration and noise can occur in specifi c frequency period
①Change motor installation method or attach the damper.
②Use the unit out of the dedicated frequency range when vibration and noise occurs due to
changing motor RUN speed.
For using motor, it is recommended to maintenance and inspection regularly.
①Unwinding bolts and connection parts for the unit installation and load connection
②Strange sound from ball bearing of the unit
③Damage and stress of lead cable of the unit
④Connection error with motor
⑤Inconsistency between the axis of motor output and the center, concentric (eccentric,
declination) of the load, etc.
This product does not prepare protection function for a motor.
This unit may be used in the following environments.
①Indoors (in the environment condition rated in 'Specifi cations')
②Altitude max. 2,000m
③Pollution degree 2
④Installation category II

Table of Contents
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Table of Contents
Preface.............................................................................................................................iii
User Manual Guide ......................................................................................................... iv
User Manual Symbols......................................................................................................v
Safety Considerations..................................................................................................... vi
Cautions during Use.......................................................................................................viii
Table of Contents ............................................................................................................ ix
1Product Overview .....................................................................................13
1.1 Features.............................................................................................................13
1.2 Components and Accessories...........................................................................14
1.2.1 Driver..........................................................................................................14
1.2.2 Motor..........................................................................................................14
1.2.3 Sold Separately..........................................................................................14
1.3 Ordering Information..........................................................................................15
1.3.1 Driver..........................................................................................................15
1.3.2 Motor..........................................................................................................15
1.4 Models ...............................................................................................................16
2Specifications............................................................................................17
2.1 Driver..................................................................................................................17
2.2 Motor..................................................................................................................19
2.2.1 Frame Size 42mm......................................................................................19
2.2.2 Frame Size 56mm......................................................................................19
2.2.3 Frame Size 60mm......................................................................................19
2.2.4 Common Specifications .............................................................................20
2.2.5 Encoder......................................................................................................21
3Dimensions................................................................................................23
3.1 Driver..................................................................................................................23
3.2 Motor..................................................................................................................24
3.2.1 Frame Size 42mm......................................................................................24
3.2.2 Frame Size 56mm......................................................................................24
3.2.3 Frame Size 60mm......................................................................................24
4Installation of Motor..................................................................................27
4.1 Mounting Direction of Motor ..............................................................................27
4.2 Mounting of Motor..............................................................................................28
4.2.1 Frame Size 42mm......................................................................................28
4.2.2 Frame Size 56mm / Frame Size 60mm .....................................................28
4.3 Connection with Load........................................................................................29
4.3.1 Direct Load Connection with Coupling.......................................................29
4.3.2 Load Connection with Pulley, Belt, and Wire .............................................29
4.3.3 Load Connection with Gear........................................................................29
4.4 Installation Conditions........................................................................................30

Table of Contents
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5Connection ................................................................................................31
6Characteristics ..........................................................................................33
6.1 Frame Size 42mm .............................................................................................33
6.2 Frame Size 56mm .............................................................................................33
6.3 Frame Size 60mm .............................................................................................33
7Driver Unit Descriptions...........................................................................35
7.1 Connectors.........................................................................................................35
7.1.1 CN1: Power Connector ..............................................................................35
7.1.2 CN2: Motor+Encoder Connector................................................................35
7.1.3 CN3: I/O Connector....................................................................................36
7.1.4 CN4: RS485 Communication Cable Connector.........................................38
7.2 Connector Specifications...................................................................................38
7.3 Switches.............................................................................................................39
7.3.1 SW1: ID Setting Switch..............................................................................39
7.3.2 SW2: ID Setting/Terminating Resistance DIP Switch.................................39
7.4 Driver Status Indicator.......................................................................................40
7.5 Sold separately..................................................................................................41
7.5.1 I/O Cable (CJ-MP50-HP□, standard: AiC TAG)........................................41
7.5.2 Power Cable (CJ-PW-□)...........................................................................42
7.5.3 Motor+Encoder Cable (normal: C1D14M-□/moving: C1DF14M-□).........42
8Control Input/Output.................................................................................43
8.1 Input...................................................................................................................43
8.1.1 Exclusive Input (20)....................................................................................43
8.1.2 General Input (9) ........................................................................................48
8.1.3 Example of Input Circuit Connection..........................................................48
8.2 Output................................................................................................................49
8.2.1 Exclusive Output (4)...................................................................................49
8.2.2 General Output (10) ...................................................................................53
8.2.3 Example of Output Circuit Connection.......................................................53
9Drive...........................................................................................................55
9.1 Index Mode........................................................................................................56
9.2 Jog Mode...........................................................................................................57
9.3 Continuous Mode...............................................................................................58
9.4 Program Mode...................................................................................................59
9.5 Home Search.....................................................................................................60
10 Program Instructions................................................................................61
10.1 Drive Instruction.................................................................................................62
10.1.1 ABS (absolute position move)....................................................................62
10.1.2 INC (relative position move).......................................................................64
10.1.3 HOM (home search)...................................................................................65
10.2 Input/Output Instruction.....................................................................................66
10.2.1 ICJ (input condition jump)...........................................................................66
10.2.2 IRD (input wait)...........................................................................................66
10.2.3 OPC (output port ON/OFF) ........................................................................66