Kohzu Precision KOSMOS series User manual

Operation Manual
-1 -
rev.2.00
TITAN-DⅡF
RoHS
TITAN-DⅡF
AC90～240V, 50/60Hz
AC90～240V, MAX1A
160VA MAX
0 to 40℃
2.1kg
+24V, 0.25A MAX (per axis)
MD-255F (×1)
0.35A, 0.75A, 1.4A/Phase
2 series：1,2,4,5,8,10,20,40,80,16,25,50,100,125,200,250
3 series：1,2,3,6,12,18,24,32,36,48,60,72,120,160,180,240
[H]: 3 to 5VDC, [L]: -3 to 0.5VDC
*Equals to [H]: The photocoupler in the main body's circuit
ON, [L]: The photocoupler in the main body's circuit OFF.
It should be the same in the following description.
FUSE
AC IN 90-240V
50/60Hz
POWER
CONT1
CONT2
PM1
PM2
AC OUT
POWER
TITAN D F Ⅱ
53
213.4
2×4-M3
15
290
61
265
CONT2
Connector
PM2
Connector AC OUT FG
CONT1
Connector
PM1
Connector Fan AC IN
Power switch
Fuse
250V,3A
KOSMOS series
2-Axis 5-Phase Stepping Motor Driver Box
(Built-in DC power driver)
Thank you for purchasing the KOHZU Precision Co. product.
Before start using the product, read "Safety Precautions" thoroughly, and use it
properly following the warnings and cautions.
■Safety Precautions
*To use this product correctly and safely, and to prevent danger to the customers and others, and
damage to physical properties, follow cautions in this manual.
*Precautions are categorized into "Warning" and "Caution" and "Electric Shock ".
Warning When the instruction items are not observed, it can cause death or serious injuries on
people.
Caution
Electric Shock
When the instruction items are not observed, it can cause minor injuries and product
damage.
When the instruction items are not observed, it can cause accident resulting
in electric shock, leakage, etc.
*The symbols displayed on the product and the manual are defined as follows.
The symbol indicates the contents that should be observed with caution (include warning),
because a dangerous state may be generated under the specified condition.
Warning Electric Shock
1. When using on devices that can affect lives and properties (Nuclear control, medical devices,
vehicles, railways, aviation, combustion apparatus, recreational equipment, safety devices, etc.),
apply a double safety device.
It can cause fire, accident affecting human lives, and damage on properties.
2. Installation, connection, driving, operation, inspection, and troubleshooting diagnostic work should
be conducted by personnel who has adequate specialized knowledge.
It can cause fire, electric shock, and injuries.
3. When installing, perform individual grounding using a grounding wire with AWG No. 18 (0.75SQ) or
more.
It may cause electric shock.
4. When grounding the product, apply power outage measures.
It can cause injuries and damage on the device from lowered holding torque.
5. Do not use in the place where there is danger for explosion and corrosion, and water, near
inflammable gas and materials, in the place with heavy vibrations, and outdoors.
It can cause fire, electric shock, and injuries.
6. Do not touch inside the product and connection terminals immediately after shutting down the
power (within 30 seconds).
It can cause electric shock.
7. Do not insert fingers and objects into the opening on the product.
It can cause fire, electric shock, and injuries.
8. Do not disassemble and customize the product. Please contact us for inspection and repair.
It can cause fire, electric shock, and damage on the product.
9. Use an insulated type screwdriver for the volume switch in the product.
It can cause electric shock.
10. Apply insulation treatment not to expose the conductor when connecting a wire to the connector,
because high voltage is applied to the connection part.
Electric Shock
Caution
1. Do not move, install, and inspect while the power is ON.
It can cause electric shock.
2. The power input voltage should maintain the rating range, and use a wire with AWG No. 18 (0.75SQ)
or more.
It can cause fire and electric shock.
3. Perform connection according to the connection diagram, and check if the connection is correct
before turning the power ON.
It can cause fire, electric shock, and damage on the product.
4. Install the current breaker at power connection.
It can cause fire.
5. Shutdown the power promptly when a power outage occurs.
When a power outage is restored, the product suddenly operates causing damage on the device and
injuries.
6. During operation or after stopping, be cautious when touching the product for a certain period.
It can cause damage on the device and injuries.
7. Emergency stop should be always available during operation.
It can cause damage on the device and injuries.
8. When inputting the power, apply only after checking the control input signal of the product.
When the input signal is ON, it can cause injuries and damage on the device, because it operates at the
same time when the power is applied.
9. Do not turn the Hold Off signal input ON while maintaining the vertical direction position.
Because the falling phenomenon from lowered motor holding power is generated, it can cause injuries and
damage on the device.
10. After turning the power OFF, if it is necessary to maintain the vertical direction position, install a
safety device separately.
Because the falling phenomenon from lowered motor holding power is generated, it can cause injuries and
damage on the device.
11. When moving the motor rotation axis with hands (manual position setting, etc.), perform after
checking the Hold Off signal input.
It can cause injuries from unexpected product operation.
12. When fault is found, conduct emergency stop promptly.
It can cause fire and injuries.
13. Do not touch the terminals during insulation resistance measurement and a withstand voltage test.
It can cause electric shock.
14. Do not use exceeding the specifications/rating of the product.
It can cause electric shock, injuries and damage on the device.
15. When cleaning, do not use water and detergents, but use dry towels.
It can cause electric shock and fire.
16. When discarding the product, treat it as industrial waste.
17. Use a 5-phase stepping motor specified on the motor output terminal.
It can cause damage on the device and fire.
*The specifications, outside dimensions, etc. described in this instruction manual may be changed
without prior notice for product improvement.
TITAN-DⅡF outside Dimensions（mm）
Accessories list
■Outside Dimensions/Accessories
The AC code (grey) do not support AC200V.
When using AC200V for AC IN, prepare by
the customers.
The AC code (black) is for power supply to
the host controller (ARIES/LYNX, etc.).
Do not supply power to a device with 1A
or more.
Product
name
AC code
(Grey)
AC code
(Black)
Terminal
conversion
plug
Usage, Specification
2m, 7A, AC125V
(For AC IN)
0.5m, 10A, AC250V
(For AC OUT)
3 terminals →2
terminals conversion
15A, AC125V
QTY
1
1
1
*(1) Power supplied from the AC IN inlet is output from the AC OUT outlet.
・Use as the power supply for the host controller of TITAN –DⅡF(ARIES, LYNX, etc.).
Do not supply power from TITAN-DⅡFtoTITAN-DⅡF,
or to a device that consumption current is 1A or more.
・When the power switch is turned OFF, the power from the AC OUT also becomes OFF.
Model
Product
Input power
Power output (AC OUT) (1)
Consumption power
Ambient operating
temperature
Ambient operating humidity
Main body weight
Power output for sensor
Internal Driver
Driving current
Excitation method
Number of divisions
CW/CCW
Input pulse
Pulse width
Pulse interval
Startup time
Fall time
Voltage
Current
Frequency
Withstand voltage
■Specifications/Rating
30 to 85% (there should be no dew condensation)
Bipolar constant current, new pentagon connection
0.5μsec or more (Duty 50% or less)
1μsec or less
8 to 20mA
500kpps or less
AC1500V (Between line-FG, one minute)
2-Axis 5-Phase Stepping Motor Driver Box

220Ω
1
2
220Ω
3
4
220Ω
5
6
CW+
(PULSE+)
CC W+
(DIR+)
CW-
(PULSE-)
CC W-
(DIR-)
H.O+
H.O-
insiede TITAN-DⅡF
( ) is for 10 lea ds
Pulse Controller
(ARIES,LYNX,etc)
■Signal Input/Output Circuit and Connection Diagram
CONT1,2
7,8
10
11
12
13
14,15
NORG
CWL
CC WL
ORG
GND(24V)
NORG
CWL
CCWL
ORG
GND(24V)
EXT_V 9EXT_V
BLU
(BLU/BLK)
RED
(RED/BRN)
ORN
(ORN/VIO)
GRN
(GRN/YLW)
BLK
(WHT/GRY )
1
2
3
4
5
+24V
10
11
12
13
7,9,15
8,14
PM1,2
GND(24V)
NORG
CWL
CC WL
ORG
Possitioning stage
,etc
6EXT_V
5-phase stepping
motor
ORG sensor
CWL sensor
CCWL sensor
NORG sensor
4
C
0
8
4
C
0
8
O
N
1
2
O
N
1
2
CN3 CN2CN103 CN102
S101
S102 S103
S1
S2 S3
CN1
PM1
PM2
S104 S4
Front
Panel side
Rear
Panel seide
Aperture plate
PM1 side
PM2 side
Switch Position
ON OFF
FunctionNO
1
22, 3 series switching
Pulse input method
3 series
1 pulse input method 2 pulses input method
2 series
Switch
O
N
1
2
◇2,3 series switching
Switch the allocation of the number of divisions in the following micro-step setting.
◎Micro-step（S1,S101）
CW
CC W ［H］
［L］
［H］
［L］
CW CC W
［H］
［L］
［H］
［L］
CW CC W
PULSE
DIR
-2 -
↑
・
↓
S C M
↑
・
↓
1 2 3
4
C
0
8
3 series： the No.2 of S2 & S102 is ON
0
3
1 2 3 4 5 6 7 8 9 A B C D E F
1 2 18612 604824 3632 72 180120 160 240
Number of
divisions
Switch No
2 series： the No.2 of S2 & S102 is OFF
0
4
1 2 3 4 5 6 7 8 9 A B C D E F
1 2 105 8 251620 8040 50 200100 125 250
Number of
divisions
Switch No
Factory default is 1(Number of divisions is 2)
S1(S101)
4
C
0
8
O
N
1
2
S2(S102) S3(S103)
S4(S104)
OFF ON
← →
Switch Position
↑
・
↓
S C M
↑
・
↓
1 2 3
■Switch Position
The name and position of each function
switch are is shown on the right.
Parentheses corresponds second axis.
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
PM★_CW+ (PM★_PULSE+)
PM★_CW- (PM★_PULSE-)
PM★_CCW+ (PM★_DIR+)
PM★_CCW- (PM★_DIR-)
PM★_H.O+
PM★_H.O-
No Connect
No Connect
EXT_V (*3)
PM★_NORG
PM★_CWL
PM★_CCWL
PM★_ORG
GND(24V)
GND(24V)
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
PM★_BLU (BLU/BLK)
PM★_RED (RED/BRN)
PM★_ORN (ORN/VIO)
PM★_GRN (GRN/YLW)
PM★_BLK (WHT/GRY)
EXT_V (*3)
GND(24V)
+24V out (*2)
GND(24V)
PM★_ORG
PM★_CWL
PM★_CCWL
PM★_NORG
+24V out (*2)
GND(24V)
*1
■Input/Output Signal
CONT★Connector
★= 1 or 2
Model
Connector: D02-M15PG-N-F0 (JAE)
Connector: D02-22-22P-PKG100 (JAE)
Compatible connector
High density D-sub15 pin female
PM★Connector
★= 1 or 2
Model
Connector: D02-M15SG-N-F0 (JAE)
Connector: D02-22-22S-PKG100 (JAE）
Compatible connector
High density D-sub15 pin male
Signal Name Signal Name
( ) is a signal
name with
10 leads.
・For CW+,-(PULSE+,-) and CCW+,-(DIR+,-), see "◇Pulse input method".
・For H.O+,-, see "◎Hold Off （H.O)".
*1 .Note that the NORG and ORG signals are alternate with the CONT connector and PM connector.
*2. Pin 8,14of the PM★connector supplies 24V as a power supply for the sensors.
*3. When you use the sensor power supply from a pulse controller, please use EXT_V.
■Setting Method for Driver
The aperture plate on the TITAN-DⅡF can be removed (it is fixed in 2 places).
The driver setting face as shown in the figure below becomes visible when it is removed.
When perform driver setting, to prevent electric shock, open the aperture
plate after turning the power OFF.
■Time Chart
◎CW and CCW input
(CW: Clockwise direction viewed from the motor axis side)
◇2 pulses input method ◇1 pulse input method
Rotation
angle
position
Rotation
angle
position
■Function Description
◎Function selector switch (S2,S102) Factory default is all OFF.
◇Pulse input method
*2 pulses method :It controls with CW/CCW signal. Pulse input to CW, and the motor rotates in
CW direction.
Pulse input to CCW, and the motor rotates in CCW direction. (The logic is high active)
*1 pulse method :It controls with PULSE/DIR signal. PULSE is the drive pulse signal input of
the motor (the logic is high active), and DIR is the rotation direction signal input of the motor.
When the rotation direction signal is [H], it rotates to CCW direction, and when it is [L], the
motor rotates to CW direction.
Turn off the power supply, when changing a setting switch.
◇Number of division setting
*Drive the motor by dividing the basic angle (0.72゜) on the 5-phase stepping motor with the
setting value.
*Divided step angle is obtained with the following formula.
Motor 1 Step angle = Basic angle (0.72゜)
Number of divisions
*When the number of divisions is changed during driving, the motor step out may happen.
Factory default is S(0.75A/Phase)
◎Drive current setting （S3,S103）
◎Stop current setting （S4,S104）
◎Hold Off (H.O)
Factory default is 1(50%)
◇The stop current is a phase current supplied when the 5-phase stepping motor is stopped.
◇The stop current switch set value is the ratio (%) for the drive current switch setting value.
◇The stop current may have deviation from the motor's winding impedance.
◇Set the stop current only when the motor is stopped.
◇The drive current is phase current that can be supplied to the 5-phase stepping motor.
◇Depending on the motor's drive frequency, the drive current set value may not be reached.
◇Set the drive current less than the motor's rated current. When it is set exceeding the rated
current extremely, heat is generated significantly causing step out and reduced torque.
◇When H.O input is [H], the motor excitation is released, because the supply current to each phase is
shutdown.
◇When H.O input [L], it is in the excitation state on the normal motor.
◇Use when manually correct position the motor axis.
1：50％
2：75％
3：25％
S：0.75A/Phase
C：0.35A/Phase
M：1.4A/Phase
Note: When the input signal voltage is
+5VDC or more, use by installing
an external current control resistor.

POWER
CONT1
CONT2
PM1
PM2
FUS E
EMS TRG
I/O
RS-232C
MotionNet COMM LAN
AC IN
90-240V 50/60Hz
CONT1 CONT2ENC1 ENC2
POWER
AC100 supply
-3 -
The connection diagram of TITAN-DⅡF with the configuration of our company's product is shown below.
■Connection Diagram
Motor pulse cable
(sold separately)
Motor cable
(sold separately)
TITAN-DⅡF
Rear panel side
With 5-phase stepping motor
Precision stage (sold separately)
Pulse Controller
ARIES (sold separately)
AC code (black)
(TITAN-DⅡF accessory)
Motor pulse cable
(sold separately)
Motor cable
(sold separately)
With 5-phase stepping motor
Precision stage (sold separately)
AC code (grey)
(TITAN-DⅡF accessory)
1. The motor does not rotate.
1) Check the controller, connection condition of TITAN-DⅡF, and pulse input specification
(voltage and width).
2) Check the input pulse method and connection condition.
3) For the 1 pulse input method, check if the pulse and direction signal are connected
correctly.
2. The motor rotates in the reverse direction from the specified direction.
1) For the 2 pulses input method, check if the input pulse of the CW signal and CCW signal
is connected correctly.
2) For the 1 pulse input method, check the DIR signal level. When the input is [L], it is a
regular rotation, for [H], it is a reverse rotation.
3. The motor operation is unstable.
1) Check the connection between TITAN-DⅡF and the motor is correct.
2) Check the pulse input specification (voltage and width) to TITAN-DⅡF.
3) Check if the drive current with the drive current setting (RUN) is equivalent to the phase
current of the motor rating.
4) Apply the power after 15 seconds or more from the power shutdown.
1. Precautions for signal input
1) Do not input CW and CCW simultaneously with the 2 pulses input method. It causes abnormal
operation.
When other signal is input while either the CW and CCW signal is [H], it does not operate correctly.
2) When the signal input voltage is larger than the voltage specified in the specification, make sure to
connect additional resistance from outside.
2. Precautions for connection
For a input signal wire (PM★_CW±,PM★_CCW±,PM★_H.O.±), use a twist pair wire
(AWG No. 28 (0.08SQ) or more).
3. If the No.1 of the function selector switch is changed to the 2 pulses input method while driving
with the 1 pulse input method, it results in abnormal operation.
Do not change the input signal during motor driving.
*If “Precautions for Use” above are not observed correctly, it may damage the product.
Make sure to follow the contents described in the section for safe operation.
■Trouble Diagnostics and Measures ■Precautions for Use

2-6-15 Kurigi, Asao-ku, Kawasaki-shi, Kanagawa
215-8521, Japan
Tel ：[phone]
Fax ：[phone]
Email ：[email protected]
Web ：
http://www.kohzuprecision.com
KOHZU Precision Co., Ltd.