Autonics AiSA-D Series User manual

User Manual
Closed-Loop Stepper System
AiSA-D Series
MMD-AiSAU1-V1.0-2008US
Thank you for purchasing an Autonics product.
This usere manual contains information about the product and its propoer use,
and should be kept in a place where it will be easy to access.
www.autonics.com

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
© Copyright Reserved Autonics Co., Ltd. v
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, high 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.
Instal the unit after considering counter plan against power failure.
Failure to follow this instruction may result in personal injury, 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 housing or ground it directly.
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 fire or electric shock.
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 unit, use AWG 18(0.75mm2) cable or over.
Brake is non-polar. When connecting the brake, use AWG 22(0.3 mm2) 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 releasing
hoding torque of the motor.
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 damge 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 a dry cloth to clean the unit and do not use water or organic solvelnt.
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 or 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.
Do not input CW and CCW signal at the same time in 2-pulse input method.
When the signal input voltage exceeded the rated voltage, connect additional resistance at
the outside.
To expand the motor+encoder cable, use the designated cable.
Keep the distance between power cable and signal cable more than 10 cm.
Install the unit vertically on the alarm/status display part upper side.
For heat radiation of the driver, install a fan.
Do not change any setting switches (function, resolution, motor gain, speed filter/limit, in-
position switches) during the operation.
Failure to follow this instruction may result in malfunction.
Do not input external signal until the driver is initialized (In-Position LED ON) after power is
applied.
Motor vibration and noise can occur in specific frequency period.
①Change motor installation method or attach the damper.
②Use and set the motor 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
© Copyright Reserved Autonics Co., Ltd. ix
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 ....................................................................................11
1.1 Features.............................................................................................................11
1.2 Components and Configuration Diagram...................................................... 12
1.2.1 Components..............................................................................................12
1.2.2 Configuration Diagram .............................................................................13
1.3 Ordering Information ...................................................................................... 15
1.4 Models.............................................................................................................. 16
1.4.1 Standard type............................................................................................16
1.4.2 Built-in Brake Type....................................................................................16
2Specifications .......................................................................................... 17
2.1 Driver................................................................................................................ 17
2.1.1 Factory Default..........................................................................................18
2.2 Motor ................................................................................................................ 19
2.2.1 Common Specifications ...........................................................................20
2.2.2 Encoder......................................................................................................21
2.2.3 Brake..........................................................................................................21
3Dimensions .............................................................................................. 22
3.1 Driver................................................................................................................ 22
3.1.1 Panel Cut-out.............................................................................................22
3.2 Motor ................................................................................................................ 23
3.2.1 Standard Type ...........................................................................................23
3.2.2 Built-in Brake Type....................................................................................24
4Installation............................................................................................... 25
4.1 Installation of Driver........................................................................................ 25
4.2 Installation of Motor........................................................................................ 26
4.2.1 Mounting Direction of Motor ....................................................................26
4.2.2 Mounting of Motor ....................................................................................27
4.2.3 Connection with Load...............................................................................28
4.2.4 Installation Conditions .............................................................................29
5Connection............................................................................................... 30
6Characteristics......................................................................................... 31
6.1 Frame Size 60 mm ........................................................................................... 31
6.2 Frame Size 86mm ............................................................................................ 31

Table of Contents
x © Copyright Reserved Autonics Co., Ltd.
7Driver Unit Descriptions ......................................................................... 32
7.1 Driver Status Indicator .....................................................................................33
7.2 Switches............................................................................................................34
7.2.1 Function Selection DIP Switch .................................................................34
7.2.2 Resolution Setting Switch ........................................................................34
7.2.3 Motor GAIN Setting Rotary Switch ...........................................................35
7.2.4 Speed Filter / Limit Setting Rotary Switch...............................................35
7.2.5 In-Position Setting Rotary Switch ............................................................36
7.3 Connectors........................................................................................................38
7.3.1 CN1: Motor+Encoder Connector ..............................................................38
7.3.2 CN2: Power Connector..............................................................................38
7.3.3 CN3: I/O Connector ...................................................................................39
7.3.4 CN4: Brake Connector...............................................................................39
7.4 Connector Specifications.................................................................................39
7.5 Sold Separately.................................................................................................40
7.5.1 I/O Cable (CO20-MP□-R, standard: AiS TAG)...........................................40
7.5.2 Motor+Encoder Cable (Normal: C1D14M-□/Moving: C1DF14M-□).......40
8Electromagnetic Brake ........................................................................... 41
8.1 Brake Connection.............................................................................................42
8.2 Brake Operation ...............................................................................................42
9Control Input/Output.............................................................................. 43
9.1 Input ..................................................................................................................43
9.1.1 Example of Input Circuit Connection.......................................................43
9.1.2 Exclusive Input ..........................................................................................44
9.2 Output ...............................................................................................................49
9.2.1 Example of Output Circuit Connection....................................................49
9.2.2 Exclusive Output .......................................................................................50
10 Driver Function........................................................................................ 52
10.1 Torque Mode.....................................................................................................52
10.1.1 Torque Mode Setting.................................................................................52
10.1.2 Torque Mode Drive....................................................................................53
10.2 Other Functions................................................................................................54
10.2.1 Motor GAIN ................................................................................................54
10.2.2 Speed Filter ...............................................................................................55
10.2.3 In-Position .................................................................................................56
11 Protection Function ................................................................................ 57
11.1 Alarm .................................................................................................................57
12 Troubleshooting ...................................................................................... 60

1 Product Overview
© Copyright Reserved Autonics Co., Ltd. 11
1Product Overview
1.1 Features
AiSA-D series AC type 2-phase closed loop steper motor drivers offer accurate and precise
position control through feedback from the integrated encoder without the hassle of tuning
and vibration of conventional servo motors. The encoder feedback provides information of
the current position in reference to the input pulse with a high resolution of 10,000 pulses
per revoluion, allowing precise and accurate position control down to 0.036°. The series alos
features a 7 segment display for easy operation readings and various alarm functions for
enhnaced safety.
Brake operation for safe control of vertical load at power OFF and alarm occur. (Built-in brake
type)
Higher cost-efficiency compared to servo motor drivers
Torque control mode supported
Able to check alarm and status with Alarm/Status display part (7 segment)
Rapid response which is advantageous for the short distance continuous operation
Able to implement Low frequency operation and high torque in low speed area
Low current drive at middle high speed area
Max. stop torque at Current Down Mode (available vertical load attaching)
Easy to set various Gain with rotary swtich
Applicable to the precision equipment such as optical inspection equipment
with the features of maintaining torque in stop and having no micro vibration (hunting)
10-levels of resolution setting
Frame size 60 mm, 86 mm (Applied Motor: AiA-M Series)

1 Product Overview
12 © Copyright Reserved Autonics Co., Ltd.
1.2 Components and Configuration Diagram
1.2.1 Components
1.2.1.1 Driver
AiSA-D Series Instruction manual
1.2.1.2 Motor
AiA-M Series Insturction manual
1.2.1.3 Connectors
●Power connector ● I/O connector ●Brake connector
Make sure all of the above components are included with your product package before use.
If a component is missing or damaged, please contact Autonics orthe product distributor.
※I/O cable, motor+encoder cable and power cable are sold separately.
For more information, refer to ‘7.5 Sold Separately’.

1 Product Overview
© Copyright Reserved Autonics Co., Ltd. 13
1.2.2 Configuration Diagram
※The thickness of cable should be same or thicker than the below specifications when
connecting the cable for connector.
①CN1 (motor+encoder connector): AWG22, AWG24
②CN2 (power connector): AWG18
③CN3 (I/O connector): AWG28
④CN4 (brake connector): AWG22
※In case of unwanted noise generating from peripherals and power, use ferrite core in the
wiring.
※is sold separately.
※I/O cable, motor+encoder cable and pwer calbe are sold separately.
For more information, refer to ‘7.5 Sold Separately’.

1 Product Overview
14 © Copyright Reserved Autonics Co., Ltd.
Regenerative resistance
Connect Pin No. 1, 2 on power connector (CN2).
Use in condition of the high inertia load or the short deceleration time.
Forced cooling is required in condition of high surface temperature of regenerative resistance.
Model Specifications Manufacture
IRC100
●Resistance: 100 Ω±5 %
●Specified power: 60 W(standby),
100 W(heatsink attached)
RARA Electronics Corp.
Noise fliter for power
Connect the power to suppress external noise.
- The wires should be connected as short as possible and grounded.
Model Specifications Manufacture
RNS-2006
●Specified power: 250 V
●Specified current: 6 A
●Max. leakage current: 1 mA
Orient Electronics
Surge protector
Protect the product from erxternal nois and surge by connectiong power.
Model Specifications Manufacture
LT-C12G801W
●Nominal discharge current: 2500 A
●Max. discharge current: 5000 A
●Voltage protection level: 1.5 kV
OTOWA Electric Co. Ltd
Be sure to disconnect the surge protector when testing internal pressure.
It may result in product damage.
Noise filter for signal line
Connect to wiring to suppress external noise.
- Depending on frequency, filtered noise may different.
Applications Specifications Manufacture
Motor wire 28A5776-0A2
Lairdtech
Power wire 28A5131-0A2

1 Product Overview
© Copyright Reserved Autonics Co., Ltd. 15
1.3 Ordering Information
Ai S A - D - 60 M A -
①②③④⑤⑥⑦⑧
Item Description
①Series Ai Artificial intelligent
②Category No mark Motor
S Standard
③Power A AC Power
④Item
M Motor
D Driver
⑤Motor frame size 60 60ⅹ60mm
86 86ⅹ86mm
⑥Motor axial length
M Middle ‒Frame size 60mm: 48mm
Frame size: 86mm: 60mm)
L Long ‒Frame size 60mm: 69mm
Frame size: 86mm: 75mm)
⑦Encoder resolution A 10,000PPR (2,500PPRⅹ4-multiply)
⑧Brake No mark Standard type
B Built-in brake type

1 Product Overview
16 © Copyright Reserved Autonics Co., Ltd.
1.4 Models
1.4.1 Standard type
Set Driver Motor
AiSA-60MA AiSA-D-60MA AiA-M-60MA
AiSA-60LA AiSA-D-60LA AiA-M-60LA
AiSA-86MA AiSA-D-86MA AiA-M-86MA
AiSA-86LA AiSA-D-86LA AiA-M-86LA
1.4.2 Built-in Brake Type
Set Driver Motor
AiSA-60MA-B AiSA-D-60MA-B AiA-M-60MA-B
AiSA-60LA-B AiSA-D-60LA-B AiA-M-60LA-B
AiSA-86MA-B AiSA-D-86MA-B AiA-M-86MA-B
AiSA-86LA-B AiSA-D-86LA-B AiA-M-86LA-B

2 Specifications
© Copyright Reserved Autonics Co., Ltd. 17
2Specifications
2.1 Driver
Model※1AiSA-D-60MA(-B) AiSA-D-60LA(-B) AiSA-D-86MA(-B) AiSA-D-86LA(-B)
Power
consumption
Power
supply 200-240 VACᜠ50/60 Hz
STOP.※2Max. 60 W Max. 65 W Max. 70 W
Max. during
operation Max. 160 W Max.220 W Max. 250W Max. 300 W
Max. Run
current※32.0 A/Phase
Auxiliary
power※4
Power
supply 24 VDCᜡ
Input
current 0.3 A 0.5 A
STOP current 20% ~ 100% of max. RUN current
Rotation speed 0 to 3000 rpm
Resolution※5500, 1000, 1600, 2000, 3200, 3600, 5000, 6400, 7200, 10000 PPR
Speed filter※50, 2, 4, 6, 8, 10, 20, 40, 60, 80, 100, 120, 140, 160, 180, 200 ms
Motor GAIN※5Standard GAIN: 0 to F, Inertia GAIN: 0 to F
In-Position※5Fast Response: 0 to 7, Accurate Response: 0 to 7
Pulse input method※51-Pulse or 2-Pulse input method
Motor rotation direction※5CW, CCW
Status indicator
●Alarm/Status display part: orange LED 7 seg.
●Power/Alarm indicator: green/red LED
●In-Position indicator: orange LED
●Servo On/Off indicator: blue LED
I/O
Input
CW, CCW (Run pulse)
Servo On/Off (photocoupler input) input voltage - [H]: 24 VDCᜡ, [L]: 0-0.5 VDCᜡ
pulse width - min. 1 ms
Alarm Reset (photocoupler input) input voltage - [H]: 24 VDCᜡ, [L]: 0-0.5 VDCᜡ
pulse width - min. 10 ms
Output
●Photocoupler: In-Position, Alarm Out
●Line driver: encoder signal (A, A, B, B, Z, Z)
Operation mode Standard/Torque mode
I
nput pulse
specificatio
Pulse width
CW, CCW: input pulse frequency duty 50 %
Rising/Falling time CW, CCW: max. 0.5 ㎲
Pulse input voltage
CW, CCW-[H]: 4-8 VDCᜡ, [L]: 0-0.5 VDCᜡ
Max. input pulse freq.※6CW, CCW: 500 kHz
Alarm
Overcurrent, overspeed, position tracking, overload, overheat,
motor connection, encoder connection, overvoltage, undervoltage,
motor misalignment, command pulse, In-Position, brake
Input resistance 4.7 kΩ(Anode Pull-up)
Insulation resistance Over 200 MΩ(500 VDCᜡmegger)
Dielectric strength 1,500 VACᜠ60 Hz for 1 min

2 Specifications
18 © Copyright Reserved Autonics Co., Ltd.
Model※1AiSA-D-60MA(-B) AiSA-D-60LA(-B) AiSA-D-86MA(-B) AiSA-D-86LA(-B)
Vibration 1.5 mm amplitude at frequency of 10 to 55 Hz (for 1 min) in each X, Y, Z direction
for 2 hours
Shock 300 m/s2(approx. 30 G) in each X, Y, Z direction for 3 times
Environment
Ambient temp. 0 to 50°C, storage: -10 to 60°C
Ambient humi. 35 to 85% RH, storage: 10 to 90% RH
Protection structure IP20 (IEC standard)
Sold separately ●I/O cable: CO20-MP□-R※7 (standard: AiS TAG)
●Motor+Encoder cable‒normal: C1D14M-□※8/moving: C1DF14M-□※8
Approval ᜢ
Weight※9●Standard type: Approx. 920 g (approx. 800 g)
●Built-in brake type: Approx. 1,020 g (approx. 780 g)
※1: The model name indicates driver type (none: standard type, B: built-in brake type).
E.g.) AiSA-D-60MA-B: built-in brake type stepping motor driver
※2: Based on the ambient temperature 25°C, ambient humidity 55%RH, and STOP current 20%.
※3: RUN current varies depending on the input RUN frequency and max. RUN current at the moment varies also.
※4: Auxiliary power is only available in built-in brake type. Corresponding specification is not available
in standard type.
※5: Settings are available with the switches located on the front. When setting, the power must not be
applied and cannot be set after power is applied.
※6: Max. input pulse frequency is max. frequency to be input and is not the same as max. pull-out
frequency or max. slewing frequency.
※7: □of model name indicates cable length (010, 020, 030, 050, 070, 100, 150, 200).
E.g.) CO20-MP070-R: 7m I/O cable.
For corresponding EMC Standard, cable length should be below 2 m.
※8: □of model name indicates cable lenght (1, 2, 3, 5, 7, 10, 15, 20).
E.g.) C1DF14M-10: 10m moving type motor+encoder cable.
※9: The weight includes packaging. The weight in parentheses is for unit only.
※Environment resistance is rated at no freezing or condensation.
2.1.1 Factory Default
Function Factory default
Function selection
DIP switch
DIR OFF (CW)
1P/2P OFF (2-Pulse input)
GS H/L OFF (Standard GAIN)
TM OFF (Standard mode)
Resolution 0 (500 PPR)
Speed filter 0 (disable)
Motor GAIN 0 (Standard×1)
In-Position 0 (0)

2 Specifications
© Copyright Reserved Autonics Co., Ltd. 19
2.2 Motor
Model※1AiA-M-60MA AiA-M-60LA AiA-M-86MA AiA-M-86LA
Max. stop torque※21.1N·m 2.2N·m 2.8N·m 4.0N·m
Rotor moment
of inertia
240g·cm2
(240ⅹ10-7kg·m2)
490g·cm2
(490ⅹ10-7kg·m2)
1,100g·cm2
(1,100ⅹ10-7kg·m2)
1,800g·cm2
(1,800ⅹ10-7kg·m2)
Rated current 2.0A/Phase
Resistance ±10% 1.5Ω/Phase 2.4Ω/Phase 2.3Ω/Phase 1.9Ω/Phase
Inductance ±20% 3.9mH/Phase 8.5mH/Phase 11.5mH/Phase 16.2mH/Phase
Weight※3
Standard
type
Approx. 0.95kg
(approx. 0.75kg)
Approx. 1.35kg
(approx. 1.15kg)
Approx. 2.00kg
(approx. 1.70kg)
Approx. 2.60kg
(approx. 2.30kg)
Built-in
brake type
Approx. 1.53 kg
(Approx. 1.35 kg)
Approx. 1.90 kg
(Approx. 1.75 kg)
Approx. 2.76 kg
(Approx. 2.50 kg)
Approx. 3.36 kg
(Approx. 3.10 kg)
※1: The model name indicates driver type (none: standard type, B: built-in brake type)
E.g.) AiCA-D-60MA-B: built-in brake type stepping motor driver.
※2: Max. holding torque is standard torque when supplying the rated current
(2-phase holding) and stopping the motor for comparing the specifications of motors.
※3: The weight includes packaging. The weight in parenthesis is for unit only.

2 Specifications
20 © Copyright Reserved Autonics Co., Ltd.
2.2.1 Common Specifications
Standard step angle 1.8° / 0.9° (Full / Half step)
Motor phase 2 phase
Run method Bipolar
Insulation class B type (130°C)
Insulation resistance Over 100MΩ(at 500VDC megger) between motor coil-case
Dielectric strength 500VAC 50/60Hz for 1 min between motor coil-case
Vibration 1.5mm amplitude at frequency of 10 to 55Hz (for 1 min) in
each X, Y, Z direction for 2 hours
Shock Approx. max. 50G
Environment
Ambient temperature
●Standard type: 0 to 50°C, storage: -20 to 70°C
●Built-in brake type: 0 to 40°C, storage: -20 to 70°C
Ambient humidity 20 to 85%RH, storage: 15 to 90%RH
Approval ᜢ
Protection structure IP30 (IEC34-5 standard)
Stop angle error※1±0.09°
Shaft vibration※20.03mm T.I.R.
Radial movement※3Max. 0.025mm (load 25N)
Axial movement※4Max. 0.01mm (load 50N)
Concentricity for shaft of setup in-low 0.05mm T.I.R.
Perpendicularity of set-up plate shaft 0.075mm T.I.R.
※1: Specifications are for full-step angle, without load. (Values may vary by load size)
※2: T.I.R. (Total Indicator Reading): Indicate total dial gauge quantity in case of one
complete rotating monitored reference around a base point.
※3: Amount of radial shaft displacement when adding a radial load (25N) to the tip of the
motor shaft.
※4: Amount of axial shaft displacement when adding a axial load (50N) to the shaft.
※Environment resistance is rated at no freezing or condensation.