Autonics AiS Series User manual

Q-2
AiS Series
Features
Pulse Train Input Type, Servo System, DC Type
Minimal heat generating, high torque motor
(control voltage 55V)
No tuning necessary, easy operation
Fast response rate, no hunting and retain torque
when stopped
Various resolutions (electrical gears) and
integrated alarm function
Higher cost-efciency compared to conventional
servo motors
Available in motor frame size 42mm, 56mm
Model
42 L AAiS
Series
Motor frame size (width×height)
Motor axis length
Encoder resolution A10,000P/R (2,500P/R×4-multiply)
SShort
MMiddle
LLong
42 42mm×42mm
56 56mm×56mm
AiS Articial Intelligence Standard
Semiconductor equipment, 3D printer, Optical inspection equipment, chip mounter, cartesian robot, conveying equipment,
alignment stage, etc.
Set Driver Motor
AiS-42SA AiS-D-42SA Ai-M-42SA
AiS-42MA AiS-D-42MA Ai-M-42MA
AiS-42LA AiS-D-42LA Ai-M-42LA
AiS-56SA AiS-D-56SA Ai-M-56SA
AiS-56MA AiS-D-56MA Ai-M-56MA
AiS-56LA AiS-D-56LA Ai-M-56LA
[AiS-56 Series][AiS-42 Series]
Please read “Caution for your safety” in operation
manual before using.
Ordering Information
Applications
两相步进电机马达样本闭环步进电机驱动器说明书
韩国Autonics步进伺服马达选型样本pdf资料
奥托尼克斯电子中国autonics电机热线 4006-022-002
深圳 北京 上海 株洲 天津 青岛
[email protected]

Q-3
Closed-Loop Stepper Motor System
(A)
Photoelectric
Sensors
(B)
Fiber
Optic
Sensors
(C)
Door/Area
Sensors
(D)
Proximity
Sensors
(E)
Pressure
Sensors
(F)
Rotary
Encoders
(G)
Connectors/
Sockets
(H)
Temperature
Controllers
(I)
SSRs / Power
Controllers
(J)
Counters
(K)
Timers
(L)
Panel
Meters
(M)
Tacho /
Speed / Pulse
Meters
(N)
Display
Units
(O)
Sensor
Controllers
(P)
Switching
Mode Power
Supplies
(Q)
Stepper Motors
& Drivers
& Controllers
(R)
Graphic/
Logic
Panels
(S)
Field
Network
Devices
(T)
Software
Model Ai-M-42SA Ai-M-42MA Ai-M-42LA Ai-M-56SA Ai-M-56MA Ai-M-56LA
Max. holding
torque※1
2.81kgf.cm
(0.275N.m)
4.65kgf.cm
(0.45N.m)
5.1kgf.cm
(0.5N.m)
7.65kgf.cm
(0.75N.m)
12.6kgf.cm
(1.23N.m)
23.5kgf.cm
(2.3N.m)
Rotor moment
of inertia
38g.cm2
(38×10-7kg.m2)
55g.cm2
(55×10-7kg.m2)
80g.cm2
(80×10-7kg.m2)
120g.cm2
(120×10-7kg.m2)
300g.cm2
(300×10-7kg.m2)
520g.cm2
(520×10-7kg.m2)
Weight※2Approx. 0.49kg
(approx. 0.3kg)
Approx. 0.56kg
(approx. 0.37kg)
Approx. 0.63kg
(approx. 0.44kg)
Approx. 0.73kg
(approx. 0.55kg)
Approx. 0.92kg
(approx. 0.75kg)
Approx. 1.35kg
(approx. 1.17kg)
Motor
※1: Max. holding torque is standard torque when supply the rated current (2-phase holding) and stop the motor for comparing the
specications of motors.
※2: The weight includes packaging. The weight in parentheses is for unit only.
※Environment resistance is rated at no freezing of condensation.
● Common specifications
Driver
Model AiS-D-42SA AiS-D-42MA AiS-D-42LA AiS-D-56SA AiS-D-56MA AiS-D-56LA
Power supply 24VDC
Allowable voltage range 90 to 110% of the rated voltage
Current
consumption
STOP※1Max. 6W Max. 6.5W Max. 7W Max. 8W Max. 9W Max. 10W
Max. during
operation※2Max. 60W Max. 120W
Max. RUN current※31.7A/Phase 3.5A/Phase
STOP current 25% or 50% of max. RUN current (set by SW3 switch)
Resolution 500, 1000, 1600, 2000, 3200, 3600, 5000, 6400, 7200, 10000P/R
Pulse input method 1 pulse or 2 pulse input method (set by SW3 switch)
Status indicator Power indicator: green LED, Alarm indicator: red LED, In-position indicator: Yellow LED
Input signal RUN pulse, HOLD OFF, Alarm reset (photocoupler input)
Output signal In-position, Alarm output (photocoupler output), Encoder signal (A, A, B, B, Z, Z phase) (line driver output)
Input pulse
specications
Pulse width CW, CCW: Input pulse frequency duty 50% (±5%), HOLD OFF: Min. 1ms, ALARM RESET: Min. 20ms
Rising/Falling time CW, CCW: Max. 0.5㎲
Pulse input voltage [H]: 4-8VDC, [L]: 0-0.5VDC
Max. input pulse
freq.※4CW, CCW: 500kHz
Input resistance 220Ω (CW, CCW), 270Ω (HOLD OFF, ALARM RESET)
Insulation voltage Min. 100MΩ (at 500VDC megger)
Dielectric strength 1,000VAC 60Hz for 1min.
Vibration 1.5mm amplitude at frequency of 10 to 55Hz (for 1 min.) in each X, Y
, Z direction for 2 hours
Shock 300m/s2 (approx. 30G) in each X, Y, Z direction for 3 times
Environ-
ment
Ambient temperature 10 to 50℃, storage: -10 to 60℃
Ambient humidity 35 to 85%RH, storage: 35 to 85%RH
Approval
Weight※5Approx. 400g (approx. 290g)
Specifications
※1: Based on the ambient temperature 25℃, ambient humidity 55%RH, and STOP current 50%.
※2: Max. power consumption during operation. When changing the load rapidly, instantaneous peak current may increase. The capacity of
power supply should be over 1.5 to 2 times of max. power consumption.
※3: RUN current varies depending on the input RUN frequency and max. RUN current at the moment varies also.
※4: Max. input pulse frequency is max. frequency to be input and does not same as max. pull-out frequency or max. slewing frequency.
※5: The weight includes packaging. The weight in parentheses is for unit only.
※Environment resistance is rated at no freezing or condensation.
Basic step angle 1.8°/step
Number of phases 2-phase
Operation method Bipolar
Max. allowable speed 3000rpm
Insulation class B type (130℃)
Insulation resistance Min. 100MΩ (at 500VDC megger), between motor coil-case
Dielectric strength 500VAC 50/60Hz for 1 min., between motor coil-case
Environment Ambient temperature 0 to 50℃, storage: -20 to 70℃
Ambient humidity 20 to 90%RH, storage: 15 to 95%RH
Radial movement Max. 0.025mm (load 5N)
Protection structure IP30 (IEC standards)
两相步进电机马达样本闭环步进电机驱动器说明书
韩国Autonics步进伺服马达选型样本pdf资料
奥托尼克斯电子中国autonics电机热线 4006-022-002
深圳 北京 上海 株洲 天津 青岛
[email protected]

Q-4
AiS Series
Dimensions
●Ai-M-42 Series
※ For flexible coupling (ERB Series) information, refer to F-64 page.
●Ai-M-56 Series
(unit: mm)
(unit: mm)
(unit: mm)
L1±0.8 20
101.6
20.6±0.5
15±0.2
Ø8
0 -0.013
Ø38.1±0.05
7.5±0.1
34
Ø8, 0.4m
150
144
73
4.4
11.5
144 2-R3
4.4
14.5
134
25.5
3.4 87.5
20 L1±0.8 20
2
15±0.2
Ø5
0 -0.012
Ø22
0 -0.03
31
Ø8, 0.4m
Ø5±0.1
Motor
Driver
42 4-M3
Depth 4.5
31±0.2
25.4
19
31±0.2
56.4
47.2±0.2 4-Ø5
22
25.4
47.2±0.2
Model L1
Ai-M-56SA 41
Ai-M-56MA 54.5
Ai-M-56LA 78.5
Model L1
Ai-M-42SA 33
Ai-M-42MA 39
Ai-M-42LA 47.5
两相步进电机马达样本闭环步进电机驱动器说明书
韩国Autonics步进伺服马达选型样本pdf资料
奥托尼克斯电子中国autonics电机热线 4006-022-002
深圳 北京 上海 株洲 天津 青岛
[email protected]

Q-5
Closed-Loop Stepper Motor System
(A)
Photoelectric
Sensors
(B)
Fiber
Optic
Sensors
(C)
Door/Area
Sensors
(D)
Proximity
Sensors
(E)
Pressure
Sensors
(F)
Rotary
Encoders
(G)
Connectors/
Sockets
(H)
Temperature
Controllers
(I)
SSRs / Power
Controllers
(J)
Counters
(K)
Timers
(L)
Panel
Meters
(M)
Tacho /
Speed / Pulse
Meters
(N)
Display
Units
(O)
Sensor
Controllers
(P)
Switching
Mode Power
Supplies
(Q)
Stepper Motors
& Drivers
& Controllers
(R)
Graphic/
Logic
Panels
(S)
Field
Network
Devices
(T)
Software
Driver Unit Descriptions
Driver Status Indicators
Driver Setting
Setting switch Setting Delay time
8
0
4
C
6
E
2
A
1
9
3
B
D
5
7
F
Speed Filter
0 Not used
1 2ms
2 4ms
3 6ms
4 8ms
5 10ms
6 20ms
7 40ms
8 (Factory default) 60ms
9 80ms
A 100ms
B 120ms
C 140ms
D 160ms
E 180ms
F 200ms
SW1: Motor drive response setting switch (speed filter)
※Set motor drive response for input pulse.
※Set the delay time between the position of input pulse and the position of motor to prevent load changing or disturbance with soft operation
function.
※If the setting value is too high, the synchronous response by command is decreased.
Setting switch Setting Pulse/1 Revolution Resolution
5
0
1
2
3
4
6
7
8
9
RES
0 (Factory default) 500 2.5
1 1000 5
2 1600 8
3 2000 10
4 3200 16
5 3600 18
6 5000 25
7 6400 32
8 7200 36
9 10000 50
SW2: Micro step setting switch (Resolution)
※Set the micro step resolution of driver.
※The number of pulses per 1 rotation by resolution is each 500, 1000, 1600, 2000, 3200, 3600, 5000, 6400, 7200, 10000.
Power
connector (CN1)
Motor+Encoder
connector (CN2)
I/O connection
connector (CN3)
Micro step
setting switch
(SW2) Function
selection DIP
switch (SW3)
Mounting
hole
Mounting
hole
Motor drive response
setting switch (SW1)
Alarm indicator (red)
Power indicator (green)
In-position indicator
(yellow)
Name LED Color Function Descriptions
PWR Green Displays power input Turns ON when the unit operates normally after supplying power
AL Red Displays alarm Flashes for alarm status.
INP. Yellow Displays complete in-position Turns ON when motor is placed at command position after positioning input.
<Graph for input speed and motor response>
Delay
time
Motor position
Input pulse
position
Time
Position
两相步进电机马达样本闭环步进电机驱动器说明书
韩国Autonics步进伺服马达选型样本pdf资料
奥托尼克斯电子中国autonics电机热线 4006-022-002
深圳 北京 上海 株洲 天津 青岛
[email protected]

Q-6
AiS Series
● STOP current
※
When it stops (if there is no input during twice of the last input pulse width), set the stop current supplied at the motor phase to decrease
motor heat and current consumption.
● Pulse input method
※1-pulse input method
CW: Rotation operation signal input
CCW: Rotation direction signal input
([H]: Forward rotation, [L]: Reverse rotation)
CW [H]
[L]
CCW [H]
[L]
Rotation angle
position CW CCW
Rotation angle
position CW CCW
[H]
[L]
[L]
[H]
CW
CCW
※2-pulse input method
CW: Forward rotation signal input
CCW: Reverse rotation signal input
[H]: Photocoupler ON (voltage of both ends 4-8VDC) [L]: Photocoupler OFF (voltage of both ends 0-0.5VDC)
SW3: Function selection DIP switch
ON
1 2
No. Name Function Switch position
ON OFF (Factory default)
1 CD STOP current 25% of max. RUN current 50% of max. RUN current
2 1P/2P Pulse input method 1-pulse input method 2-pulse input method
A. Pull-Up
C. Circuit with NPN (not-reversed)
B. Pull-Down
D. Circuit with PNP (reversed)
Input
1. HOLD OFF
●This signal is for rotating motor's axis using external force or used for manual positioning.
●When hold off signal maintains over 1ms as [H], motor excitation is released.
●When hold off signal maintains over 1ms as [L], motor excitation is in a normal status.
※When supplying hold off signal, in-position output and LED turn OFF.
※Stop the motor for using this signal.
※Refer to example of input circuit connection.
2. ALARM RESET
●This signal is for clearing the alarm.
●When alarm reset signal maintains over 20ms as [H], alarm is cleared. The alarm LED and alarm output turns OFF and the driver returns to
normal status.
※If the alarm causes are not removed clearly and using alarm reset, driver may not be returned at the normal status.
※Refer to example of input circuit connection.
3. Example of input circuit connection
-When using 5VDC for VCC, short the RL. In case of over 5VDC (below 30VDC is recommended), use the RL for IF of photo coupler (forward
current of primary LED) to be within 10mA following the below formula.
※RL= VCC-1.25V - 270Ω
0.01A
Inner signal of all input/output consists of photocoupler.
ON, [H]: photocoupler power ON/ OFF, [L]: photocoupler power OFF.
Control Input/Output
270Ω
Driver
VCC
RL
+
-
270Ω
Driver
VCC
RL
C
B
E
+
-
270Ω
Driver
VCC
RL
+
-
270Ω
Driver
VCC
RL
C
B
E
+
-
两相步进电机马达样本闭环步进电机驱动器说明书
韩国Autonics步进伺服马达选型样本pdf资料
奥托尼克斯电子中国autonics电机热线 4006-022-002
深圳 北京 上海 株洲 天津 青岛
[email protected]

Q-7
Closed-Loop Stepper Motor System
(A)
Photoelectric
Sensors
(B)
Fiber
Optic
Sensors
(C)
Door/Area
Sensors
(D)
Proximity
Sensors
(E)
Pressure
Sensors
(F)
Rotary
Encoders
(G)
Connectors/
Sockets
(H)
Temperature
Controllers
(I)
SSRs / Power
Controllers
(J)
Counters
(K)
Timers
(L)
Panel
Meters
(M)
Tacho /
Speed / Pulse
Meters
(N)
Display
Units
(O)
Sensor
Controllers
(P)
Switching
Mode Power
Supplies
(Q)
Stepper Motors
& Drivers
& Controllers
(R)
Graphic/
Logic
Panels
(S)
Field
Network
Devices
(T)
Software
Output
1. In-Position
In-position output is motor drive complete signal and it is output when drive is complete by command pulses.
- When motor is arrived at the command position, in-position output is [H]. (position error=0)
- When drive is complete and motor rotates by the external force,
-1.8°≤ Position error ≤ 1.8° : In-position = [H]
Position error < -1.8°, Position error > 1.8° : In-position = [L]
The in-position LED turns ON/OFF depending on in-position output [H]/[L].
For accurate drive, check the in-position output again and execute the next drive.
※Refer to example of output circuit connection.
2. ALARM OUTPUT
When alarm occurs, driver recognizes the alarm. The alarm LED (red) and alarm output represents the errors.
● Alarm output signal
-In case of normal status, output is [H]. When alarm occurs, output is [L].
-When supplying alarm reset, output turns [H].
※Refer to example of output circuit connection.
● Alarm indicator
Depending on the number of flashing of alarm indicator, you can check alarm causes.
No. of ashing Alarm type Descriptions
1 Over current error When over current flows at motor RUN element
2 Over speed error When motor speed is over 4,000rpm
3 Position tracking error When motor does not track the pulse input normally
4 Over load error When applying over the rated load for over 1 sec.
5 Over heat error When driver inner temperature is over 80℃
6 Motor connection error When supplying power without connecting motor cable to the driver
7 Encoder connection error When encoder cable connection error occurs at driver
B. Circuit with pull up (reversed) C. Circuit with pull down (not-reversed)
※Depending on alarm type, it flashes the number of flashing with 400ms
interval. The waited 800ms signals output repeatedly. Until clearing
alarm by alarm reset signal, alarm signal output continuously.
1 12 23 3
400ms 800ms
A. Circuit with photo coupler
3. Example of output circuit connection
-It is recommended to use below 50VDC at VCC. Use the RL for IC (collector current of secondary detector) of photo coupler inside the
driver to be within 25mA following the below formula.
※A: RL= VCC-0.7V-VF - 10Ω ※B,C: RL= VCC-0.7V - 10Ω
0.025A 0.025A
(VF is LED forward voltage of primary photocoupler.)
10Ω
Driver
VCC
RL
Controller
+
-
-
+
10Ω
Driver
VCC
RL
+
-
10Ω
Driver
VCC
RL
+
-
两相步进电机马达样本闭环步进电机驱动器说明书
韩国Autonics步进伺服马达选型样本pdf资料
奥托尼克斯电子中国autonics电机热线 4006-022-002
深圳 北京 上海 株洲 天津 青岛
[email protected]

Q-8
AiS Series
4. Encoder output (line driver output)
●Encoder output phase
Pin arrangement Pin no. Function Pin no. Function
8913
………
………
14
7 6 2 1
1 GND 8 +5VDC
2 ENCODER A 9 ENCODER A
3 ENCODER B 10 ENCODER B
4 ENCODER Z 11 ENCODER Z
5 GND EARTH 12 N.C
6 MOTOR A 13 MOTOR B
7MOTOR A 14 MOTOR B
● Motor+Encoder Connector (CN2)
Pin arrangement Pin no. Input/
Output Function Pin no. Input/ Output Function
1
……
…… 11
10
20
1 Input CW+ 11 Output END+
2 Input CW- 12 Output END-
3 Input CCW+ 13
- N.C
4 Input CCW- 14
- N.C
5 Input HOLD OFF+ 15 Output ENCODER A
6 Input HOLD OFF- 16 Output ENCODER A
7 Output ALARM OUT+ 17 Output ENCODER B
8 Output ALARM OUT- 18 Output ENCODER B
9 Input ALARM RESET+ 19 Output ENCODER Z
10 Input ALARM RESET- 20 Output ENCODER Z
● I/O connector (CN3)
Pin arrangement Pin no. Function
1
22 GND
1 24VDC
● Power connector (CN1)
CW
A phase
B phase
Z phase
A phase
B phase
Z phase
※T: 1 cycle of A, B phase
T
T
2±T 4
T
4±T
8
T±T
2
[H]
[L]
[H]
[L]
[H]
[L]
[H]
[L]
[H]
[L]
[H]
[L]
CW
Connection Connectors of Driver
Connector function
两相步进电机马达样本闭环步进电机驱动器说明书
韩国Autonics步进伺服马达选型样本pdf资料
奥托尼克斯电子中国autonics电机热线 4006-022-002
深圳 北京 上海 株洲 天津 青岛
[email protected]

Q-9
Closed-Loop Stepper Motor System
(A)
Photoelectric
Sensors
(B)
Fiber
Optic
Sensors
(C)
Door/Area
Sensors
(D)
Proximity
Sensors
(E)
Pressure
Sensors
(F)
Rotary
Encoders
(G)
Connectors/
Sockets
(H)
Temperature
Controllers
(I)
SSRs / Power
Controllers
(J)
Counters
(K)
Timers
(L)
Panel
Meters
(M)
Tacho /
Speed / Pulse
Meters
(N)
Display
Units
(O)
Sensor
Controllers
(P)
Switching
Mode Power
Supplies
(Q)
Stepper Motors
& Drivers
& Controllers
(R)
Graphic/
Logic
Panels
(S)
Field
Network
Devices
(T)
Software
Type Specications Manufacture
Connector Connector terminal Housing
CN1 Driver LAD1140-02(X)
--
HANLIM
Power CHD1140-02 CTD1140
CN2 Driver 35318-1420
--
Molex
Motor+Encoder 5557-14R 5556T
CN3 Driver 10220-52A2 PL
-- 3M
I/O connector 10120-3000PE 10320-52F0-008
※Above connectors are suitable for AiS Series. You can use equivalent or substitute connectors.
Type Model
I/O cable
CJ-MP20-HP (sold separately)※1
Pin No. Cable color Dot line color-numbers Pin No. Cable color Dot line color-numbers
1
Yellow
Black-1 11
White
Black-1
2 Red-1 12 Red-1
3 Black-2 13 Black-2
4 Red-2 14 Red-2
5 Black-3 15 Black-3
6 Red-3 16 Red-3
7 Black-4 17 Black-4
8 Red-4 18 Red-4
9 Black-5 19 Black-5
10 Red-5 20 Red-5
Motor+Encoder cable
Normal C1D14M- ※2
Moving C1DF14M- ※2
※1: indicates cable length (010, 020, 030, 050, 070, 100) E.g.) CJ-MP20-HP070: 7m I/O cable
※2: indicates cable length (1, 2, 3, 5, 7, 10) E.g.) C1DF14M-10: 10m moving type motor+encoder cable
Connector specifications
Cable (sold separately)
两相步进电机马达样本闭环步进电机驱动器说明书
韩国Autonics步进伺服马达选型样本pdf资料
奥托尼克斯电子中国autonics电机热线 4006-022-002
深圳 北京 上海 株洲 天津 青岛
[email protected]

Q-10
AiS Series
Power
24VDC
+
-
1
2
6
7
13
14
Moter
Encoder
CN1
CN3
CN2
5
12
A
A
B
B
2
9
3
10
4
11
8
1
A
A
B
B
Z
Z
+5VDC
GND
F.G.
N.C
220Ω
220Ω
1
2
3
4
5
6
7
8
9
10
270Ω
10Ω
270Ω
11
12
10Ω
N.C
N.C
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
-
-
-
CW
CCW
HOLD OFF
ALARM
In-Position
ENA
ENB
ENZ
ALARM
RESET
15
16
17
18
19
20
13
14
M
O
T
O
R
E
N
C
O
D
E
R
※To input signal over 12VDC, connect external resistance for photocoupler IF to be within 10mA.
※Index
: Input
: Output
Driver
Connection For Motor And Driver
两相步进电机马达样本闭环步进电机驱动器说明书
韩国Autonics步进伺服马达选型样本pdf资料
奥托尼克斯电子中国autonics电机热线 4006-022-002
深圳 北京 上海 株洲 天津 青岛
[email protected]

Q-11
Closed-Loop Stepper Motor System
(A)
Photoelectric
Sensors
(B)
Fiber
Optic
Sensors
(C)
Door/Area
Sensors
(D)
Proximity
Sensors
(E)
Pressure
Sensors
(F)
Rotary
Encoders
(G)
Connectors/
Sockets
(H)
Temperature
Controllers
(I)
SSRs / Power
Controllers
(J)
Counters
(K)
Timers
(L)
Panel
Meters
(M)
Tacho /
Speed / Pulse
Meters
(N)
Display
Units
(O)
Sensor
Controllers
(P)
Switching
Mode Power
Supplies
(Q)
Stepper Motors
& Drivers
& Controllers
(R)
Graphic/
Logic
Panels
(S)
Field
Network
Devices
(T)
Software
Motor Characteristics
Ai-M-56LA
Ai-M-42SA Ai-M-42MA
Ai-M-42LA
Ai-M-56MA
Ai-M-56SA
Torque(kgf.cm)
5
4
3
2
1
0
6
10 50 100 500 1000
Rotation speed(rpm)
Torque(kgf.cm)
5
4
3
2
1
0
6
10 50 100 500 1000
Rotation speed(rpm)
Torque(kgf.cm)
5
4
3
2
1
0
6
10 50 100 500 1000
Rotation speed(rpm)
25
20
15
10
5
010 50 100 500 1000
Rotation speed(rpm)
Torque(kgf.cm)
25
20
15
10
5
010 50 100 500 1000
Rotation speed(rpm)
Torque(kgf.cm)
25
20
15
10
5
010 50 100 500 1000
Rotation speed(rpm)
Torque(kgf.cm)
两相步进电机马达样本闭环步进电机驱动器说明书
韩国Autonics步进伺服马达选型样本pdf资料
奥托尼克斯电子中国autonics电机热线 4006-022-002
深圳 北京 上海 株洲 天津 青岛
[email protected]