Mindman CK10 Series User manual

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DRIVER
CK10 series
User Manual
VER. 202108

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Table of Contents
1. Safety Pre-caution and Note on Installation ............................................................. 3
1-1. Precautions..................................................................................................................... 3
1-2. Note on Installation .................................................................................................... 5
2. Specifications of the Drive ................................................................................................ 6
2-1 Specifications.................................................................................................................. 6
2-2. Dimensions..................................................................................................................... 7
3. Configuration......................................................................................................................... 8
3-1. Controller configuration ........................................................................................... 8
3-2. External Wiring Diagram........................................................................................... 9
3-3. Drive status monitor LED ........................................................................................10
3-4. Network ID setting (SW1).......................................................................................11
3-5. Termination setting (SW2.2)..................................................................................11
3-6. Setting switch (SW3).................................................................................................11
3-7. Power & EMG input (CN1)......................................................................................11
3-8. I/O connector (CN3)..................................................................................................12
4. Control I/O signal ...............................................................................................................14
4-1. Input Signal ..................................................................................................................14
4-2. Output Signal...............................................................................................................24
5. Operation...............................................................................................................................28
5-1. Servo ON Operation .................................................................................................28
5-2. Operation Mode .........................................................................................................28
6. Other Operation Function...............................................................................................30
6-1. Position Table(PT) Operation Example..............................................................30
6-2. Jog Operation Example ...........................................................................................31
6-3. Origin Return ...............................................................................................................32
6-4. Stop Operation ...........................................................................................................36
6-5. Compare Out ...............................................................................................................36
6-6. Push Motion.................................................................................................................38
7. Communication Function................................................................................................42
7-1. Connection with the PC ...........................................................................................42
7-2. Communication Interface Circuit.........................................................................43
8. Parameter ..............................................................................................................................44
8-1. Parameter List..............................................................................................................44
8-2. Parameter Description .............................................................................................45
9. Protection Function ...........................................................................................................52
9-1. Type of Alarm ..............................................................................................................52
9-2. Acquiring the Alarm Information ........................................................................52
9-3. Alarm check and Release ........................................................................................53

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1. Safety Pre-caution and Note on Installation
※Before Operation
◆Thank you for purchasing our CK10 series.
◆CK10 series are a high-performance 32bit ARM chip embedded Full Digital position
control stepping driving unit.
◆This manual describe the handling, maintenance, repair, diagnosis and troubleshooting of
CK10 series.
◆Before start operation of CK10, thoroughly read this manual.
◆After reading this manual, keep the manual near CK10, so that any user can read this
manual whenever needed.
1-1. Precautions
◆General Precautions
1. Contents of this manual are subject to change without prior notice for functional
improvements, change of specifications or user’s better understanding. In case of manual is
damaged or lost, please contact with MINDMAN’s agent or our company at the address on
the last page of this manual.
2. MINDMAN is not responsible for a product breakdown due to user’s dismantling for the
product, and such a breakdown is not guaranteed by the warranty.
◆Safety Precaution
1. Before installation, operation, repairing the products, thoroughly read the manual and fully
understand the contents. Before operating the products, please understand the mechanical
characteristics of this products and related safety information and precautions.
2. This manual divides safety precautions into Attention and Warning.
Attention
If user does not properly handle the products, the user may seriously or
slightly injured damages may occur in the machine.
Attention
If user does not properly handle the products, a dangerous situation
(such as an electric shock) may occur resulting in deaths or serious
injuries.
Although precaution is only a Attention, a serious result could be caused depending on t
he situation. Follow safety precaution.
◆Check the Product
Attention
Check the Product is damaged or parts are missing.
Otherwise, the machine may get damaged or the user may get injured.

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◆Setting
Attention
Please carry the CK10 carefully.
Otherwise, the product may get damaged or user’s foot may get injured by
dropping the product.
Use non-flammable materials such as metal in the place where the CK10 is
to be installed.
Otherwise, a fire may occur.
When installing several CK10 in to be sealed place, install a cooling fan to
keep the ambient temperature of the product as 50℃or lower.
Otherwise, a fire or other kinds of accidents may occur due to overheating.
Attention
The process of installation, Connection, Operation, Checking and Repairing
should be done by qualified person.
Otherwise, a fire or other kinds of accidents may occur.
◆Connect Cables
Attention
Keep the rated range of input Voltage for drive. Otherwise, a fire or other
kinds of accidents may occur. Cable connection should be following the
wiring diagram. Otherwise, a fire or malfunction of machine may occur.
Warning
Before connecting cables, check if input power is off..
Otherwise, an electric shock or a fire may occur.
The case of this CK10 is installed from the ground of the internal circuit by
the condenser, Please Ground the CK10.
Otherwise, an electric shock or a file may occur and a cause of malfunction of
machine.
◆Operation & Setting change
Attention
If a protection function (Alarm) occurs, firstly remove its cause and then release
(Alarm reset) the protection function.
If you operate continuously without removing its cause, the machine may get
damaged or the user may get injured.
Make all input signals to OFF before supply input voltage to drive.
The machine may get damaged or the user may get injured by motor operation.
All parameter values of CK10 are set by default factory setting value. Change
this value after reading this manual thoroughly.
Otherwise, the machine may get damaged or other kinds of accidents may occur.

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◆Check and Repair
Warning
Stop to supply power to the main circuit and wait sufficient time before
checking or repairing this CK10.
Electricity remaining in the condenser may cause of electric shock.
Do not change cabling while power is being supplied.
Otherwise, the user may get injured or the product and machine may get
damaged.
Do not reconstruct the CK10.
Otherwise, an electric shock may occur or the product and machine
get damaged. And the reconstructed product cannot get after service.
1-2. Note on Installation
(1) This product has been designed for indoor uses. The ambient temperature of the room
should be 0°~ 50°C .
(2) If the temperature of drive case is 50°C or higher, heat dissipation must be done to the
outside.
(3) Do not install this product under direct sunlight or near magnetic or radioactive objects.

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2. Specifications of the Drive
2-1 Specifications
Type of Drive
CK10 Series
Input Power(Control)
24VDC ± 10%
Input Power(Motor Drive)
22VDC ~ 50VDC
Control Method
Closed loop control with ARM-based 32-bit MCU
Multi Axes Drive
Maximum 16 axes through Daisy-Chain
Position Table
128 motion command steps (Move, Wait, Loop, Jump, External control.
etc)
Current Consumption
Max. 500mA ( Except motor current )
Operating condition
Ambient
Temperature
Operating : 0~50℃
Storage : -20~70℃
Humidity
In use : 35~85%RH (No condensation)
In Storage : 10~90%RH (No condensation)
Vib. Resist.
0.5G
Function
Rotation Speed
0~3,000 [rpm]
Resolution [P/R]
500 1,000 1,600 2,000 3,200 3,600 4,000 4,800 5,000 6,400 8,000 9,600
10,000 16,000 20,000 (Available to set by the paramter) *
Protection
Function
Over Current Error, Over Speed Error, Position Tracking Error, Over Load
Error, Over Temperature Error, Over Regenerated Voltage Error, Motor
Connect Error, Encoder Connect Error, In-Position Error, ROM Error,
Position Overflow Error
LED Display
Power status, In-Position status, Enable status, Alarm status
In-Position
Selection
0~63 (Selectable by parameter)
Position Gain
Selection
0~63 (Selectable by parameter)
Rotational
Direction
CW/CCW (Selectable by parameter)
RUN Current
50%~150% (Selectable by parameter)
RUN current is flowing current value in the motor when motor is
operating ( rotating ), It is set based on constant current of motor
* Default factory setting value : 100%
STOP Current
20%~100% (Selectable by parameter)
It is set as setting value of STOP current 0.1 sec after motor stop. STOP
current value is at a ratio against RUN current value of motor
* Default factory setting value is : 50%
I/O
Input Signals
12 programmable inputs (Photocoupler)
Output Signals
10 programmable outputs (Photocoupler, Max. 30V 10mA)
Drive Interface
The RS-485 serial communication (Plus-R)
- Communication speed: 9600, 19200, 38400, 57600, 115,200 [bps]
Pulse I/F (Dir/Pulse, CW/CCW, A/B)
Position Control
Incremental mode / Absolute mode
Data Range: -2,147,483,648 to +2,147,483,647 [pulse]
Operating speed: Max. 3,000 [rpm]
Return to Origin
Origin Sensor, Z phase, ±Limit sensor, Torque
GUI
User Interface Program within Windows (Plus-R mode)
Software
Motion Library (DLL) for Windows XP/7/8/10 (Plus-R mode)
* Up to the resolution of 16,000[ppr] the maximum speed can be reached by 3,000[rpm].
And if the resolution is over 16,000[ppr], the maximum speed will decrease accordingly.

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Specifications of the Motor
2-2. Dimensions
Model
□20
□28
□35
□42
□56
Drive Method
-
Bi-Polar
Number of Phases
-
2
2
2
2
2
Current per Phase
A
0.6
0.67
1
1.68
2.8
Holding Torque
N.m
0.037
0.118
0.137
0.431
1.72
Rotor Inertia
g‧cm2
3.3
18
14
68
480
Weights
g
105
227
210
416
1075
Insulation Resistance
Mohm
100 MIN.(at 500VDC)
Insulation Class
-
Class B (130℃)
Operating Temperature
℃
0~55
Encoder
-
Incremental Optical Encoder

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3. Configuration
3-1. Controller configuration
(1) CK10 Connectors & Switches
No
Function
No
Function
CN1
Power & EMG input
SW1
ID Setting
CN2
Motor
SW2
RS-485 Termination
CN4
Brake
SW3
Setting S/W
CN5
Encoder
J5
Communication port
CN3
Programmable I/O & input

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3-2. External Wiring Diagram
* Note : S-GND is connected to GND in the drive.

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3-3. Drive status monitor LED
In case of CK10 series, status of LED can be checked by turning on / off the status LED and
flashing.
Name
Color
Function
ON / OFF Condition
PWR
Green
Power input
indication
Lights On when power is applied.
INP
Yellow
Complete
Positioning
When position command pulse input and then the
position deviation is within the value set by the
parameter, this lights On.
SON
Orange
Servo On/Off
indication
Servo On : light On
Servo Off : light Off
ALM
Red
Alarm
indication
Flash when protective function is activated.
(If you count LED flash time, you can check
what protective function is run.)
The following table shows the alarms according to the number of red LED flashes when an
alarm occurs during operation.
Times
Alarm name
Condition
1
Over Current Error
The current through power devices in drive exceeds 4.8A
2
Over Speed Error
Motor speed exceeds 3,000 [rpm]
3
Position Tracking
Error
Position error value is higher than 90˚in motor run state *1
4
Over Load Error
The motor is continuously operated more than 5 seconds
under a load exceeding the max. torque
5
Over Temperature
Error
Inside temperature of drive exceeds 85℃
6
Over Regeneratived
Voltage Error
Back-EMF is higher than 70V
7
Motor Connect Error
The power is ON without connection of the motor cable to
drive
8
Encoder Connect
Error
Cable connection error in Encoder connection of drive
10
In-Position Error
After operation is finished, a position error occurs
12
ROM Error
Error occurs in parameter storage device(ROM)
15
Position Overflow
Error
Position error value is higher than 90˚ in motor stop state *2
*1. The setting value [pulse] in ‘Pos Tracking Limit[No.24]’parameter
*2. The setting value[pulse] in ‘Pos Error Overflow Limit[No28]’ parameter

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3-4. Network ID setting (SW1)
When several modules are connected to one daisy chain network, this switch is to set intrinsic
ID to each module.
* The ID in MODBUS mode is the set value plus 1.
3-5. Termination setting (SW2.2)
Termination resistor is connected internally by setting on SW2.2.
When connecting to the end of the communication network, please
set the termination.
3-6. Setting switch (SW3)
When this switch is kept pressed and the drive is powered on
the drive operates in the Plus-R mode at 115200bps.
The switch’s function after power-on can be programmable. Please
refer to the parameters settings.
3-7. Power & EMG input (CN1)
Motor power and control power are supplied separately and
the rated current of driving motor is 4A.
Please be careful not to supply only motor power, And use
appropriate power supply and cables.
EMG input can force the drive to stop at emergency.
Please refer to the parameter settings.
(Connector Type : DINKLE / 15EDGRC-3.81-6P)
No
Name
Description
1
F.G
Frame Ground
2
GND
3
DRV-PWR
24/48VDC
4
CTL-PWR
24VDC
5
EMG+
Emergency Stop control
(Use B-contact)
6
EMG-
Position
ID(PR)
ID(Modbus)
Position
ID(PR)
ID(Modbus)
0
0
1
8
8
9
1
1
2
9
9
10
2
2
3
A
10
11
3
3
4
B
11
12
4
4
5
C
12
13
5
5
6
D
13
14
6
6
7
E
14
15
7
7
8
F
15
16

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3-8. I/O connector (CN3)
CK10 Series support versatile I/O functions.
You can select the functions with the setting program(GUI) provided.
(Connector Type : HIROSE/ HIF6-032PA-1.27DS)
NO.
Name
Function
NO.
Name
Function
A1
EXT_24VDC
IO Power (+24V)
B1
OUTPUT1
Programmable output
-User Output 0~8
-Inposition
-Moving, Acc/Dec
-Servo Ready
-Compare Out
-Brake Signal
-PT Out0~2
-ACK, END
A2
EXT_GND
IO Power Ground
B2
OUTPUT2
A3
INPUT1
Programmable input
-User Input 0~8
-Limit+, Limit-
-Org Sensor
-Org Search
-Jog+, Jog-, Stop
-Alarm Reset
-Servo-On, E-Stop
-PT A0~A7, PT Start
- JPT IN0~2
B3
OUTPUT3
A4
INPUT2
B4
OUTPUT4
A5
INPUT 3
B5
OUTPUT5
A6
INPUT 4
B6
OUTPUT6
A7
INPUT 5
B7
OUTPUT7
A8
INPUT 6
B8
OUTPUT8
A9
INPUT 7
B9
OUTPUT9
A10
INPUT 8
B10
OUTPUT10
A11
INPUT 9
B11
CTL1+
CCW / Pulse / B-Phase
Input
A12
INPUT 10
B12
CTL1-
A13
INPUT 11
B13
CTL2+
CW / DIR / A-Phase
Input
A14
INPUT 12
B14
CTL2-
A15
Reserved
Do not connect
B15
Reserved
Do not connect
A16
Reserved
Do not connect
B16
F.G
Frame Ground (Shield)

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(1) Wiring input
(2) Wiring output
* If the output is connected to inductive loads, Use free-wheel diodes.
* Select appropriate value of resistor(R) or load to meet specifications.
(3) Wiring CTL1,2 input
* When driving with the Open-Collector circuit, add external resistors so that the appropriate
current flows.
(Ex : 2.2K ~ 4.7K in case of 24V)

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4. Control I/O signal
4-1. Input Signal
(1) Limit sensor and Origin sensor
Limit sensor and origin sensor are assigned to LIMIT+, LIMIT- , and ORIGIN
pin in the CN3 connector respectively. LIMIT+ and LIMIT- sensors are used to
limit the motion of each axis to prevent mechanical collision. Origin sensor is to
set the origin of equipment
(2) Clear Pos
This input signal sets the command position and the actual position to 0 in relation to
motion position control. The reset signal pulse scale is 10ms or more.
(3) User Input Signal
The user input is connected to the IN pins of the I/O connector and the input s
tatus can be checked by the master controller. Input signals can be assigned to "
User input 0" through "User input 8".
Limit-
Sensor
Origin
Sensor
Limit+
Sensor
Limit+ Sensor output
Motion Direction
Limit- Sensor output
Position value is to be “0” from the rising/falling edge of this signal
Reset input signal
Origin Sensor output

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(4) Position Table Start (PT Start) Input signal
The position table supports the machine so that its motion can be controlled by I/O signals
of central controller. It can directly transmit commands such as position table number,
start/stop and origin return to the machine through the PLC. Also, the user can check output
signals such as in-position, completion of origin return and Servo ready through the PLC.
「Position Table A0~A6 」inputs are total 7 bits of input signal. It is used to set 128
position table numbers.
By using PT A0~A6 signals, the position table address can be set from 0 to 127 with a
binary number. A0 is least significant bit and A6 is most significant bit. The following
table shows how to assign position table number.
* If ‘PT A0~A6’ signal is not connected when motioning by ‘PT Start’ signal, the
position table number will be ‘0’
A7
A6
A5 ~ A3
A2
A1
A0
PT NO.
0
0
0
0
0
0
0
0
0
0
0
0
1
1
0
0
0
0
1
0
2
0
0
0
0
1
1
3
0
0
0
1
0
0
4
0
1
1
1
1
0
126
0
1
1
1
1
1
127
* PT-A7 must be set to ‘0’
(5) ‘Position Table Start (PT Start)’Input
By using PT A0~A6 signals, it can be set the PT start number to be executed.
Following example shows that total 6 motion patterns are executed sequentially starting
from No.0 and motion is terminated after execution of No.32.
①All of PT A0~A7 is set to ‘0’ and PT number is set to ‘0’.
②Set PT Start signal to [ON], and PT No.0 motion pattern will be executed.
③When the motion pattern is started by PT, ACK signal and END signal are displayed
to [ON] at output port as illustrated below. The signal is kept until one motion pattern
loop is stopped. After all motions are stopped, the output signal level is set to [OFF].
④PT Start is edge triggered input and pulse duration must be is 10ms or more.

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*1. PT A0~A6 signals must be set 50ms before PT Start signal is asserted.
*2. If the PT Start signal asserted when the PT A0~A6 signals are not assigned, the PT No. 0
will be executed.
*3. Checking the ‘Moving’ and ‘Inposition’ signals:
Between sequential ‘PT Start’ command signal, the checking step for motion
status(Moving, Inposition) is needed before next motion command.
Motion
Pattern
PT=0
PT=30
PT=31
ACK
END

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(6) Teaching Input
[Teaching] signal functions that the position value [pulse] being working can be
automatically inputted into a ‘position’ value of a specific position table. If it is hard to
calculate the exact moving distance (position value) of specific motion mechanically, the
user can measure and set the distance (position value) easily by using this signal.
①By using User Program (GUI), set a command type of corresponding PT number
among 4 kinds of absolute moving commands (Absolute Move).
②By using input signal (PT A0~A7), select corresponding PT number
③When Teaching signal is set to ON, the position value [pulse] is saved to the position
value of corresponding PT. At this time, it becomes the absolute position value.
④Teaching signal pulse scale is 10ms or more.
* After executing Teaching, click ‘Refresh’ icon, and the position value will be displayed to
the position table.
* Click ‘Save to ROM’ icon, and the position value will be saved to the ROM area.
* Teaching signal can be used by two methods; the user assigns actual signal to the motor, or
he clicks ‘Teaching’ icon at the ‘I/O Monitoring’ window of User Program(GUI).
PT No.
Position Value [pulse] of
Corresponding PT
3
12010
4
15300
12
-12800
112
14500

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(7) Stop Input
Soft stop input signal is to stop motion patterns under operation. The deceleration
condition until they stop complies with the deceleration time value and the start speed
value set previously. The soft stop signal is active in ON level and pulse scale is 10ms or
more.
(8) Jog+ and Jog- input
When Jog+ or Jog- signal is ON, the motor rotates clockwise or counterclockwise until it
reaches the hardware limit or the software limit. Jog motion pattern is subject to jog
related parameters (No.7: start speed, No.6: speed, No.8: Acc Dec time).
Motion pattern
Jog- Input
po
Soft Stop signal input
Jog+ Input
Motion pattern
po
Pulse direction
po

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Alarm Input
Alarm Blink Output
Alarm Reset Input
( Pulse width: over 0.1s )
Servo Ready Output
Servo On Input
(9) Servo ON and Alarm Reset input
When the protective function of drive executes, alarm output is activated. When
AlarmReset input is set to ON, alarm output and alarm blink output are released. Before
releasing alarm output, the user must remove any cause of alarm.
When Servo ON/OFF signal is set to OFF, the drive stops supplying the current to the
motor and so the user can directly adjust the output position. When Servo ON/OFF signal
is set to ON, the drive restarts to supply the current to the motor and its torque is
recovered. Before operating the motor, the user must set it to ON.
When the drive is set to Servo ON, < ServoReady > signal is set to ON. Servo ON signal
is edge trigger type and pulse duration is 10ms or more.
* Note:
(1) If ‘No.0: Pulse per Revolution’ in the parameter list is changed while servo-on, the
drive will be servo-off followed by servo-on to update the resolution.
(2) During the ‘ServoON’ process, the ‘Command Position’ value will be changed to
‘Actual Position’ value to remove ‘Position Error’.
If the ‘Servo ON’ signal is assigned to input pin, Servo ON command
from GUI or DLL library will not executed.
Caution

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(10) Origin Search Input
When ‘Origin Search’ signal is set to ON (10ms or more), it starts to search the origin
position according to selected conditions. The conditions are subject to parameters such
as No.20:Org Method, No.17:Org Speed, No.18:Org Search Speed, No.19:Org AccDec
Time, No.21:Org Dir. (For more information, refer to ‘1.2 Parameter’.) When the origin
search command is completed, ‘Origin Search OK’ signal is set to ON.
(11) E-Stop Input
When [Emergency stop] signal is set to [ON] the current motion is stopped immediately
without deceleration. The duration of this signal must be longer than 10ms. When this
signal is activated, the servo-on procedure can’t be executed. And unlike the EMG
function, the E-STOP function can not be programmed.
Motion Pattern
po
Emergency stop input