Autonics AiCA Series User manual

User Manual
Closed-Loop Stepper System
AiCA-D Series
MMD-AiCAU1-V1.1-2008US
Thank you for purchasing an Autonics 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.
www.autonics.com

ii © Copyright Reserved Autonics Co., Ltd.

Preface
© Copyright Reserved Autonics Co., Ltd. iii
Preface
Thank you for purchasing Autonics product.
Please familiarize yourself with the information contained in the Safety Considerations
section before using this product.
This 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.
This manual is not provided as part of the product package.
Visit our website (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 the website.
We contrived to describe this manual more easily and correctly. However, if there are
any corrections or questions, please notify us these on our website.

User Manual Symbols
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User Manual Symbols
Symbol Descriptions
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
vi © Copyright Reserved Autonics Co., Ltd.
Safety Considerations
Following these safety considerations will ensure the safe and proper use of the
product and help prevent accidents, as well as minimizing possible hazards.
Safety considerations 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 personal injury, economic loss or fire.
Do not use the unit in the place where flammable/explosive/corrosive gas, humidity,
direct sunlight, radiant heat, vibration, impact or salinity may be present.
Failure to follow this instruction may result in explosion or fire.
Do not connect, repair, or inspect the unit while connected to a power source.
Failure to follow this instruction may result in fire or electric shock.
Install the unit after considering counter plan against power failure.
Failure to follow this instruction may result in personal injury or economic loss or fire.
Re-supply power after min. 20 sec from disconnected power.
Failure to follow this instruction may result in product damage or malfunction.
Check ‘Connections’ before wiring.
Failure to follow this instruction may result in fire.
For installing the unit, ground it exclusively and use over AWG 18 (0.75mm2) ground
cable.
Failure to follow this instruction may result in electric shock.
Do not disassemble or modify the unit.
Failure to follow this instruction may result in fire or electric shock.
Insulate the connector not to be exposed.
Failure to follow this instruction may result in electric shock.
Install the driver in the grounded housing or ground it.
Failure to follow this instruction may result in personal injury, fire or electric shock.
Do not touch the unit during or after operation for a while.
Failure to follow this instruction may result in burn or electric shock due to high
temperature of the surface.
Do not remove the connector during or after operation for a while.
Failure to follow this instruction may result in electric shock or product damage.
Emergency stop directly when error occurs. Failure to follow this instruction may result
in personal injury or fire.

Safety Considerations
© Copyright Reserved Autonics Co., Ltd. vii
When connecting the power input, use AWG 18 (0.75mm2) cable or over.
Brake is non-polar. When connecting the brake, use AWG22 (0.3mm2) cable or over.
Failure to follow this instruction may result in fire or malfunction due to contact failure.
Install overcurrent 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 specifications.
Failure to follow this instruction may result in fire or product damage.
Use dry cloth to clean the unit, and do not use water or organic solvent.
Failure to follow this instruction may result in fire or electric shock.
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 by
heat.
Keep metal chip, dust, and wire residue from flowing into the unit.
Failure to follow this instruction may result in fire or product damage.
Use the designated motor only.
Failure to follow this instruction may result in fire or product damage.
The above specifications, dimensions, etc. are subject to change and some models may
be discontinued without notice.
Be sure to follow cautions written in the instruction manual, user manual, and the
technical descriptions (catalog, website).

Cautions during Use
viii © Copyright Reserved Autonics Co., Ltd.
Cautions during Use
Follow instructions in 'Cautions during Use'.
Otherwise, it may cause unexpected accidents.
It is recommended to use 485 converter with the separate power.
(Autonics product, SCM-38I, recommended)
Keep the distance between power cable and signal cable more than 10cm.
Motor vibration and noise can occur in specific frequency period.
①Change motor installation method or attach the damper.
②Use and set the gain value.
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 'Specifications')
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 ...................................................................... 12
1.1 Features............................................................................................................ 12
1.2 Components and Configuration Diagram...................................................... 13
1.2.1 Components..............................................................................................13
1.2.2 Configuration Diagram .............................................................................14
1.3 Ordering Information ...................................................................................... 16
1.4 Models.............................................................................................................. 17
1.4.1 Standard Type ...........................................................................................17
1.4.2 Built-in Brake Type....................................................................................17
2Specifications ............................................................................ 18
2.1 Driver................................................................................................................ 18
2.1.1 Factory Default..........................................................................................20
2.1.2 Communication Output ...........................................................................21
2.2 Motor ................................................................................................................ 22
2.2.1 Common Specifications ...........................................................................23
2.2.2 Encoder......................................................................................................24
2.2.3 Brake..........................................................................................................24
3Dimensions................................................................................ 25
3.1 Driver................................................................................................................ 25
3.1.1 Panel Cut-out.............................................................................................25
3.2 Motor ................................................................................................................ 26
3.2.1 Standard Type ...........................................................................................26
3.2.2 Built-in Brake Type....................................................................................27
4Installation ................................................................................ 28
4.1 Installation of Driver........................................................................................ 28
4.2 Installation of Motor........................................................................................ 29
4.2.1 Mounting Direction of Motor ....................................................................29
4.2.2 Mounting of Motor ....................................................................................30
4.2.3 Connection with Load...............................................................................31
4.2.4 Installation Conditions .............................................................................32
5Connection ................................................................................ 33
6Characteristics ........................................................................... 34
6.1 Frame Size 60mm ............................................................................................ 34

Table of Contents
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6.2 Frame Size 86mm .............................................................................................34
7Driver Unit Descriptions ..............................................................36
7.1 Driver Status Indicator .....................................................................................37
7.2 Switches............................................................................................................38
7.2.1 ID Sel ..........................................................................................................38
7.2.2 ID, TERM.....................................................................................................38
7.3 ConnConnectors...............................................................................................39
7.3.1 CN1: Motor+Encoder Connector ..............................................................39
7.3.2 CN2: Power Connector..............................................................................39
7.3.3 CN3: RS485 Communication Cable Connector .......................................39
7.3.4 CN4: I/O Connector ...................................................................................40
7.3.5 Brake connector ........................................................................................41
7.4 Connector Specifications.................................................................................42
7.5 Sold Separately.................................................................................................43
7.5.1 I/O Cable (CO50-MP□-R, standard: AiC TAG)...........................................43
7.5.2 Motor+Encoder Cable (Normal: C1D14M-□/Moving: C1DF14M-□).......44
7.5.3 Communication Converter.......................................................................44
8Electromagnetic Brake ................................................................45
8.1 Brake Connection.............................................................................................45
8.2 Brake Operation ...............................................................................................46
9Control Input/Output ..................................................................47
9.1 Input..................................................................................................................47
9.1.1 Example of Input Circuit Connection.......................................................47
9.1.2 Exclusive Input ..........................................................................................48
9.1.3 General Input.............................................................................................62
9.2 Output ...............................................................................................................63
9.2.1 Example of Output Circuit Connection....................................................63
9.2.2 Exclusive Output .......................................................................................64
9.2.3 General Output..........................................................................................67
10 Drive ..........................................................................................68
10.1 I/O Signal Control Drive ...................................................................................69
10.1.1 Index Mode ................................................................................................69
10.1.2 Jog Mode ...................................................................................................71
10.1.3 Continuous Mode......................................................................................73
10.1.4 Program Mode...........................................................................................75
10.1.5 Home Search .............................................................................................77
10.2 atMotion Control Drive.....................................................................................85
10.2.1 Jog Mode ...................................................................................................89
10.2.2 Continuous Mode......................................................................................90
10.2.3 Position Mode............................................................................................91
10.2.4 Torque Mode .............................................................................................93
10.2.5 Program Mode...........................................................................................94
10.2.6 Home Search Mode...................................................................................95
11 Program Instructions ................................................................100
11.1 Drive Instruction............................................................................................ 101