Oriental motor CMD User manual

1
Introduction
Before use
Only qualied personnel of electrical and mechanical engineering should
work with the product.
Use the product correctly after thoroughly reading the "Safety precautions."
In addition, be sure to observe the contents described in warning, caution,
and note in this manual.
The product described in this manual has been designed and manufactured
to be incorporated in general industrial equipment. Do not use for any other
purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused
through failure to observe this warning.
Overview of the product
The products described in this manual are open frame type microstepping
drivers to drive unipolar-connection stepping motors.
Safety precautions
The precautions described below are intended to prevent danger or injury
to the user and other personnel through safe, correct use of the product.
Use the product only after carefully reading and fully understanding these
instructions.
Description of signs
Handling the product without observing the instructions
that accompany a "WARNING" symbol may result in
serious injury or death.
Handling the product without observing the instructions
that accompany a“CAUTION” symbol may result in injury
or property damage.
The items under this heading contain important handling
instructions that the user should observe to ensure the
safe use of the product.
Description of graphic symbols
Indicates "prohibited" actions that must not be performed.
Indicates "compulsory" actions that must be performed.
yDo not use the product in explosive or corrosive environments, in the
presence of ammable gases, locations subjected to splashing water,
or near combustibles.
Doing so may result in re or injury.
yDo not forcibly bend, pull or pinch the cable.
Doing so may result in re.
yDo not turn the AWO input to ON while the motor is operating.
Doing so may result in injury or damage to equipment.
yDo not disassemble or modify the product.
Doing so may result in injury.
HM-7450-3
OPERATING MANUAL Thank you for purchasing an Oriental Motor product.
This Operating Manual describes product handling procedures and safety
precautions.
yPlease read it thoroughly to ensure safe operation.
yAlways keep the manual where it is readily available.
For 2-phase Stepping Motor
CMD Driver KCC-REM-OMC-001
yAssign qualied personnel to the task of installing, wiring, operating/
controlling, inspecting and troubleshooting the product.
Failure to do so my result in re or injury.
yIf this product is used in a vertical application, be sure to provide a
measure for the position retention of moving parts.
Failure to do so may result in injury or damage to equipment.
yInstall the product inside an enclosure.
Failure to do so may result in injury.
yAlways keep the power supply voltage of the driver within the
specied range.
Failure to do so may result in re.
yFor the driver power supply use a DC power supply with reinforced
insulation on its primary and secondary sides.
Failure to do so may result in electric shock.
yConnect the cables securely according to the wiring diagram.
Failure to do so may result in re.
yTurn o the driver power supply in the event of a power failure.
Failure to do so may result in injury or damage to equipment.
yDo not use the product beyond its specications.
Doing so may result in injury or damage to equipment.
yKeep your ngers and objects out of the openings in the product.
Failure to do so may result in re or injury.
yDo not touch the product during operation or immediately after
stopping.
Doing so may result in a skin burn(s).
yDo not forcibly bend or pull the cable that was connected to the
driver.
Doing so may result in damage to product.
yKeep the area around the product free of combustible materials.
Failure to do so may result in re or a skin burn(s).
yLeave nothing around the product that would obstruct ventilation.
Failure to do so may result in damage to equipment.
yDo not touch the rotating part (output shaft) while operating the
motor.
Doing so may result in injury.
yUse a motor and driver only in the specied combination.
Failure to do so may result in re.
yProvide an emergency stop device or emergency stop circuit so that
the entire equipment will operate safely in the event of a system
failure or malfunction.
Failure to do so may result in injury.
yBefore supplying power to the driver, turn all input signals to the
driver to OFF.
Failure to do so may result in injury or damage to equipment.
yBefore rotating the output shaft manually while the motor stops,
conrm that the AWO input turns ON.
Failure to do so may result in injury.
yWhen an abnormal condition has occurred, immediately stop
operation and turn o the driver power.
Failure to do so may result in re or injury.
yDispose the product correctly in accordance with laws and
regulations, or instructions of local governments.

2
Precautions for use
•When conducting the insulation resistance measurement or
the dielectric strength test, be sure to separate the connection
between the motor and the driver.
Conducting the insulation resistance measurement or dielectric strength test
with the motor and driver connected may result in damage to the product.
•Regeneration
When a large inertial load is operated at high speed, regeneration energy
will generate and increase the power supply voltage, which may damage the
driver. Check the operating condition so that regeneration voltage will not
generate.
General specications
Operation environment
Ambient
temperature 0 to +40 °C (+32 to +104 °F) (non-freezing)
Humidity 85% or less (non-condensing)
Altitude Up to 1,000 m (3,300 ft.) above sea level
Surrounding
atmosphere No corrosive gas, dust, water or oil
Regulations and standards
CE Marking
zLow Voltage Directive
The input power supply voltage of this product is 24 VDC. Therefore this
product is not subject to the Low Voltage Directive, but install and connect it
as follows.
yThis product is designed and manufactured to be incorporated in
equipment. Be sure to install the product inside an enclosure.
yFor the driver power supply, use a DC power supply with reinforced
insulation on its primary and secondary sides.
zEMC Directive
This product is conducted EMC testing under the conditions specied in
"Example of motor and driver installation and wiring" p.7.
The conformance of your mechanical equipment with the EMC Directive
will vary depending on such factors as the conguration, wiring, and layout
for other control system devices and electrical parts used with this product.
It therefore must be veried through conducting EMC measures in a state
where all parts including this product have been installed in the equipment.
•Applicable Standards
EMI EN 55011 group 1 class A, EN 61000-6-4
EMS EN 61000-6-2
This equipment is not intended for use in residential
environments nor for use on a low-voltage public network
supplied in residential premises, and it may not provide
adequate protection to radio reception interference in
such environments.
•Combinations of motors and drivers in compliance with EMC
Directive
Check "Motors for possible combinations" for the combinations of motors and
drivers in compliance with EMC Directive.
Republic of Korea, Radio Waves Act
This product is axed the KC Mark under the Republic of Korea, Radio Waves
Act.
RoHS Directive
The products do not contain the substances exceeding the restriction values
of RoHS Directive (2011/65/EU).
Preparation
Motors for possible combinations
Use the CMD drivers in combination with the motors shown in the table.
Match the driver operating current with the motor rated current before use.
Driver model Motor model Motor rated current
(A/Phase)
CMD2109P
PKP213U050.5
PKP214U060.6
PKP22U090.95
PKP24U080.8
PKP243U09
PKP243MU090.95
CMD2112P
PKP23U12
PKP244MU12
PKP24U12
1.2
CMD2120P
PKP246U161.6
PKP25U202
PKP26U101
PKP26U20
PKP26MU202
Checking the product
Verify that the items listed below are included. Report any missing or
damaged items to the Oriental Motor sales oce from which you purchased
the product.
yDriver.........................................................1 unit
yOPERATING MANUAL ..........................1 copy (this document)
yConnector housing/contact .............1 set (See table next.)
Application Housing (Molex) Contact (Molex)
For power supply (CN1) 1 pc. 51103-0200 (2-poles) 35 pcs. 50351-8100
(15 pieces are spare
contacts.)
For I/O signals (CN2) 1 pc. 51103-1200 (12-poles)
For motor (CN3) 1 pc. 51103-0600 (6-poles)
When removing the driver from the ESD protection bag, make sure
your hands are not charged with static electricity. This is to prevent
damage to the driver due to static electricity.
Names of parts
654
7
3
2
Cutout for mounting B (2 places)
Cutout for mounting
A
(2 places)
1

3
No. Name Description
1Power supply connector (CN1) Connects the power supply.
2 I/O signals connector (CN2) Connects the I/O signals.
3 Motor connector (CN3) Connects the motor.
4Motor operating current
setting switch (RUN) Sets the operating current of the motor.
5Motor standstill current
potentiometer (STOP)
Sets the current when the motor is at a
standstill.
6
Pulse input mode setting
switch (SW-1)
Switches the pulse input mode between
1-pulse input mode and 2-pulse input
mode.
The factory setting of the pulse-input
mode depends on the destination
country.
Step angle setting switches
(SW-2, SW-3, SW-4)
Set a step angle by selecting it from
among the 5 step angles.
7 POWER LED (Green) This LED remains lit while the power
supply is input.
Installation
Location for installation
The driver is designed and manufactured to be incorporated in equipment.
Install it in a well-ventilated location that provides easy access for inspection.
The location must also satisfy the following conditions:
yInside an enclosure that is installed indoors (provide vent holes)
yOperating ambient temperature 0 to +40 °C (+32 to +104 °F) (non-freezing)
yOperating ambient humidity 85% or less (non-condensing)
yArea that is free of explosive atmosphere or toxic gas (such as sulfuric gas)
or liquid
yArea not exposed to direct sun
yArea free of excessive amount of dust, iron particles or the like
yArea not subject to splashing water (rain, water droplets), oil (oil droplets)
or other liquids
yArea free of excessive salt
yArea not subject to continuous vibration or excessive shocks
yArea free of excessive electromagnetic noise (from welders, power
machinery, etc.)
yArea free of radioactive materials, magnetic elds or vacuum
y1,000 m (3,300 ft.) or lower above sea level
Installation direction
Install the driver on a metal plate having excellent vibration resistance in
vertically or horizontally. If the driver is installed under conditions other than
vertical or horizontal position, its heat radiation eect will deteriorate.
The items shown below are necessary in order to install the driver. The items
are not included and must be provided by the customer.
Torque the mounting screw to 0.5 N·m (71 oz-in).
yM3 screw........................2 pcs.
yM3 spring washer .......2 pcs.
yM3 at washer..............2 pcs.
yM3 nut.............................2 pcs.
(Not necessary if screw holes are provided in the enclosure.)
There must be a clearance of at least 25 mm (0.98 in.) in the horizontal and
50 mm (1.97 in.) in the vertical directions, between the driver and enclosure
or other equipment within the enclosure. When two or more drivers are to be
installed side by side, provide 20 mm (0.79 in.) and 50 mm (1.97 in.) clearances
in the horizontal and vertical directions, respectively.
yInstall the driver inside an enclosure.
yDo not install any equipment that generates a large amount of heat
or noise near the driver.
yIf the ambient temperature of the driver exceeds 40 °C (104 °F),
improve the ventilation condition. If the surface temperature of the
driver’s MOSFET array exceeds 85 °C (185 °F), review the operating
conditions.
yThe case containing the MOSFET arrays is insulated.
Installation method
Install the driver using either of the "cutout for mounting A" or "cutout
for mounting B." Do not concurrently use both cutouts.
zVertical installation
When installing the driver vertically, orient the driver so that the
power element faces up and the aluminum electrolytic capacitor faces
down. If the driver is installed upside down, heat generated by the
power element may damage the aluminum electrolytic capacitor.
M3 screws
Spring washers
Flat washers
Metal plate
When using the cutout
f
or mounting A
When using the cutout
for mounting B
zHorizontal installation
When using the cutout for mounting A
M3 screws
Spring washers
Flat washers
Metal plate
When using the cutout for mounting B
Metal plate
M3 screws
Spring washers
Flat washers

4
Connection
Connection example
Either 5 or 24 VDC can be used as the signal voltage for the AWO input, CS input and ACDOFF input.
yCheck the colors of motor lead wires and connect them correctly and securely. Wrong connection of lead wires or poor contact may cause damage to the
driver.
yBe sure to wire the I/O signals cable connecting the driver and controller as short as possible. The maximum input frequency will decrease as the cable length
increases.
zWhen using the voltage of input signals at 5 VDC
Blue
Red
White
Green
Yellow
Black
V0 (5 VDC)
V0 (5 VDC)
GND
24 VDC±10%
Motor lead wire *
Controller
Driver
Photocoupler input
5 VDC
Input current 5 to 20 mA
Photocoupler input
5 VDC
Input current 1 mA
Photocoupler/open-collector output
5 to 24 VDC
Output current 10 mA or less
R2
200 Ω
200 Ω
3.3 kΩ
3.3 kΩ
3.3 kΩ
DIR
- (CCW - )
PLS
- (CW - )
PLS+ (CW+)
DIR+ (CCW+)
AWO
-
AWO+
CS
-
CS+
TIM
-
TIM+
ACDOFF
-
ACDOFF+
CN1
CN3
CN2
1
2
+
1
2
3
4
6
5
-
3
4
5
6
7
8
9
10
11
12
0 V
0 V
0 V
0 V
0 V
0 V
C
Twisted pair cable
* Connector pin assignments vary depending on the motor. For details, refer to "Connecting the motor" p.5.
yIf the output signal current exceeds 10 mA, connect external resistor R2 to keep the current to 10 mA or below.
yDriving a large inertia at high speed will generate regenerated energy. This regenerated energy raises the power supply voltage, causing damage to the
driver. If such operation is performed, review the operating condition so that the temporary rise of the power supply voltage by the regenerated energy is
8 V or less, or connect an electrolytic capacitor C in parallel to the power line (A rated voltage of 50 V or more and a capacitance of 10,000 µF or more are
recommended).

5
zWhen using the voltage of input signals at 24 VDC
Blue
Red
White
Green
Yellow
Black
V0 (24 VDC)
V0 (24 VDC)
GND
24 VDC±10%
Motor lead wire *
Controller
Driver
Photocoupler input
5 to 24 VDC
Input current 5 to 20 mA
Photocoupler input
24 VDC
Input current 8 mA
Photocoupler/open-collector output
5 to 24 VDC
Output current 10 mA or less
R2
R1
R1
200 Ω
200 Ω
3.3 kΩ
3.3 kΩ
3.3 kΩ
DIR
- (CCW - )
PLS
- (CW - )
PLS+ (CW+)
DIR+ (CCW+)
AWO
-
AWO+
CS -
CS+
TIM
-
TIM+
ACDOFF
-
ACDOFF+
CN1
CN3
CN2
1
2
+
1
2
3
4
6
5
-
3
4
5
6
7
8
9
10
11
12
0 V
0 V
0 V
0 V
0 V
0 V
C
Twisted pair cable
* Connector pin assignments vary depending on the motor. For details, refer to the following "Connecting the motor."
yThe PLS (CW) and DIR (CCW) inputs are of the 5 VDC input specication. If V0 exceeds 5 V, connect external resistor R1.
Example) When V0 is 24 VDC R1: 1.5 to 2.2 kΩ, 0.5 W or more.
yIf the output signal current exceeds 10 mA, connect external resistor R2 to keep the current to 10 mA or below.
yDriving a large inertia at high speed will generate regenerated energy. This regenerated energy raises the power supply voltage, causing damage to the
driver. If such operation is performed, review the operating condition so that the temporary rise of the power supply voltage by the regenerated energy is
8 V or less, or connect an electrolytic capacitor C in parallel to the power line (A rated voltage of 50 V or more and a capacitance of 10,000 µF or more are
recommended).
Connecting the motor
Connector pin assignments vary depending on the motor. Refer to the table.
The pin number is shown in the gure.
“Color” in the table represents the color of the lead wire for the connection cable (included or accessory).
The motors of the model A and model B are dierent in pin assignments. Wrong connection will not cause the motor to operate properly.
Model AModel BModel C
51 6
Pin No. →1
Driver
CN3 Pin No.
Model A Model B Model C
Pin No. Color Pin No. Color Color
1 4 Blue 1 Blue Blue
2 3 White 2 White White
3 5 Red 3 Red Red
4 1 Black 4 Black Black
5 − 5 Yellow Yellow
6 2 Green 6 Green Green

6
Connector pin assignments
123
     
CN2
121110 12
+ -
3 4 65
CN3CN1
zCN1 (power supply)
Pin No. Direction Signal name Description
+IN POWER +24 VDC
− GND
zCN2 (I/O signals)
Pin No. Direction Signal name Description
1
IN
PLS (CW) +Pulse (CW pulse) input *
2 −
3DIR (CCW) +Rotation direction
(CCW pulse) input *
4 −
5AWO +All windings o input
6 −
7CS +Step angle switching
input
8 −
9ACDOFF +Auto current down release
input
10 −
11 OUT TIM +Timing output
12 −
* When the 1-pulse input mode is set, the signals are the pulse input (PLS) and the
rotation direction input (DIR). When the 2-pulse input mode is set, the signals are
the CW pulse input (CW) and the CCW pulse input (CCW).
zCN3 (motor)
Pin No. Direction Signal name Description
1
OUT MOTOR
Blue motor lead
2 White motor lead
3 Red motor lead
4 Black motor lead
5 Yellow motor lead
6 Green motor lead
Connector pin assignments vary depending on the motor. For details,
refer to "Connecting the motor" p.5.
Applicable connector
Type Application Model
Connector housing
For power supply (CN1) 51103-0200 (Molex)
For I/O signals (CN2) 51103-1200 (Molex)
For motor (CN3) 51103-0600 (Molex)
Contact − 50351-8100 (Molex)
Applicable crimping tool − 63811-8100 (Molex)
yFor the power supply cable, use a cable of AWG22 (0.3 mm2).
yFor the I/O signals cable, use a twisted pair cable of AWG24 to 22 (0.2 to
0.3 mm2).
yKeep the wiring distance as short as possible [less than 2 m (6.6 ft.)] to
suppress the eect of noise.
For the motor of the frame size 20 mm (0.79 in.) [PKP213, PKP214
type], since the wire diameter of the motor cable is AWG26, it is too
thin to t in the included connector for motor. Provide the AWG24
(0.2 mm2) or thicker cable yourself, and connect by using it.
PKP213
PKP214
AWG24 or thicker cable
Driver
Connecting the power supply
Use a power supply that can supply the following current capacity.
When the power is turned on, the POWER LED will be lit in green.
Driver model Input power supply
voltage
Power supply
current capacity
CMD2109P
+24 VDC±10%
1.5 A or more
CMD2112P 1.7 A or more
CMD2120P 2.9 A or more
yWhen connecting, pay attention to the polarity of the power supply.
Reverse-polarity connection may cause damage to the driver.
yHave the connector plugged in securely. Insecure connection may
cause malfunction or damage to the driver.
yWhen unplugging the connector, do so while spreading the latches
on the connector a little.
yWhen cycling the power or plugging/unplugging the connector,
turn o the power and wait for minimum 5 seconds before doing so.
ySeparate I/O cable at least 100 mm (3.94 in.) from electromagnetic
relays and other than inductance loads. Additionally, route I/O cable
perpendicular to power supply cable and motor cable, rather than
in a parallel fashion.
yDo not wire the power supply cable in the same cable duct with
other power lines or motor cables.
yIf the motor cable or power supply cable generates an undesirable
amount of noise depending on the wiring or conguration, shield
the cable or install a ferrite core.
Noise measures
The electrical noise is of two types: One is a noise to invade into the driver
from the outside and cause the driver malfunction, and the other is a noise to
emit from the driver and cause peripheral equipments malfunction.
For the noise that is invaded from the outside, take measures to prevent the
driver malfunction. It is needed to take adequate measures because signal
lines are very likely to be aected by the noise.
For the noise that is emitted from the driver, take measures to suppress it.
zMeasures against electrical noise
There are the following three methods mainly to take measures against the
electrical noise.
•Noise suppression
yWhen relays or electromagnetic switches are used together with the
system, use noise lters and CR circuits to suppress surges generated by
them.
yCover the driver by a metal plate such as aluminum. This is eective in
shielding the electrical noise emitted from the driver.
•Prevention of noise propagation
yPlace the power lines, such as the motor and power supply cables, keeping
a distance of 100 mm (3.94 in.) or more from the signal lines, and also do
not bundle them or wire them in parallel. If the power cables and signal
cables have to cross, cross them at a right angle.
yUse shielded twisted pair cables of AWG22 (0.3 mm2) or thicker for power
lines and AWG24 (0.2 mm2) or thicker for signal lines.
yKeep cables as short as possible without coiling and bundling extra lengths.

7
yGrounding multiple points will increase eect to block electrical noise
because impedance on the grounding points is decreased. However,
ground them so that a potential dierence does not occur among the
grounding points. A connection cable (for signal) that includes a ground
wire is provided. Refer to p.12 for details.
yTo ground a shielded cable, use a metal cable clamp that will maintain
contact with the entire circumference of the cable. Ground the cable clamp
near the product.
Cable clamp
Shielded cable
•Suppression of eect by noise propagation
yLoop the noise propagated cable around a ferrite core. Doing so will
prevent the propagated noise invades into the driver or emits from the
driver. The frequency band in which an eect by the ferrite core can be
seen is generally 1 MHz or more. Check the frequency characteristics of the
ferrite core used. To increase the eect of noise attenuation by the ferrite
core, loop the cable a lot.
yUse the line driver type, which is less likely to be aected by electrical noise,
for the output circuit of pulse signals. If the pulse signal of the controller is
of the open collector type, use a pulse signal converter for noise immunity.
Refer to p.12 for details.
zNoise suppression parts (accessories)
Refer to p.12 for accessory.
•Connection cable (for signal)
This cable is a shielded twisted pair cable for good noise immunity to connect
the driver and controller. The ground wires useful to grounding are provided
at both ends of the cable. The EMC measures are conducted using the
Oriental Motor connection cable (for signal).
•Pulse signal converter for noise immunity
This is a noise lter for pulse signal lines. It eliminates the noise of the pulse
signal, and converts the pulse signal to the line driver type.
•Surge suppressor
This product is eective to suppress the surge which occurs in a relay contact
part. Connect it when using a relay or electromagnetic switch. CR circuit for
surge suppression and CR circuit module are provided.
Conformity to the EMC Directive
Eective measures must be taken against the EMI that the motor and driver
may give to adjacent control-system equipment, as well as the EMS of the
motor and driver itself, in order to prevent a serious functional impediment in
the machinery. The use of the following installation and wiring methods will
enable the motor and driver to be compliant with the EMC Directive. Refer to
p.2 for the applicable standards.
Oriental Motor conducts EMC measurements on its motors and drivers in
accordance with the "Example of motor and driver installation and wiring"
shown later.
The user is responsible for ensuring the machine's compliance with the EMC
Directive, based on the installation and wiring explained below.
•Power supply
The CMD Driver is a product of DC power input. Use a DC power supply
(switched-mode power supply etc.) that conforms to the EMC Directive.
•Connecting the signal cable
Refer to "Prevention of noise propagation" p.6.
•How to ground
yThe cable used to ground the motor, driver and noise lter must be as thick
and short as possible so that no potential dierence is generated.
yChoose a large, thick and uniformly conductive surface for the grounding
point.
yInstall the motor to the grounded metal plate.
•Example of motor and driver installation and wiring
Motor
Driver
DC power
supply Cable
clamp
Cable
clamp
Grounded panel
Cable for motor
Controller
Power supply
cable
Signal cable
(connection cable)
Cable
clamp
is a shield box.
Grounding
Grounding
Grounding
Grounding
Grounding Grounding
Grounding
Grounding
•Precautions about static electricity
Static electricity may cause the driver to malfunction or suer damage. While
the driver is receiving power, handle the driver with care and do not come
near or touch the driver.
Always use an insulated screwdriver to adjust the driver's switches.
The driver uses parts that are sensitive to electrostatic charge. Before
touching the driver, turn o the power to prevent electrostatic charge
from generating. If an electrostatic charge is impressed on the driver,
the driver may be damaged.
Explanation of I/O signals
Input signals
The signal input state represents "ON: Carrying current" or "OFF: Not carrying
current" state of the internal photocoupler.
•Example of connection with a current sink output circuit
V0
1, 3, 5, 7, 9
2, 4, 6, 8, 10
0 V
•Example of connection with a current source output circuit
V0
1, 3, 5, 7, 9
2, 4, 6, 8, 10
0 V
The PLS (CW) input and DIR (CCW) input are of the 5 VDC input
specication. If V0 exceeds 5 V, connect an external resistor. The AWO
input, CS input and ACDOFF input can be connected directly to 5 VDC
or 24 VDC.

8
zPLS (CW) input, DIR (CCW) input
Set a desired pulse input mode of the driver according to the pulse output
mode of the controller used with the driver.
Maximum input pulse frequency: 100 kHz (duty cycle is 50%)
The interval for when the rotation direction is switched represents the
response time of the driver. Set it to the time required for the motor to
respond to the applicable pulse input.
•1-pulse input mode
When the PLS input is turned from ON to OFF while the DIR input is ON, the
motor will rotate by one step in CW direction.
When the PLS input is turned from ON to OFF while the DIR input is OFF, the
motor will rotate by one step in CCW direction.
Input pulse signals having pulse waveforms with sharp rising and falling
edges, as shown in the gure.
CWCCW
90%
10%
5 µs or more5µs or more
2 µs or less2 µs or less
DIR input
ON
OFF
ON
OFF
PLS input
10 µs or more 10 µs or more
ON: 3.0 to 5.25 V
OFF: 0 to 1 V
When the motor is at standstill, be sure to keep the photocoupler in
OFF state.
•2-pulse input mode
When the CW input is turned from ON to OFF, the motor will rotate by one
step in CW direction.
When the CCW input is turned from ON to OFF, the motor will rotate by one
step in CCW direction.
Input pulse signals having pulse waveforms with sharp rising and falling
edges, as shown in the gure.
90%
10%
5 µs or more5µs or more
2 µs or less2 µs or less
CC
W input
ON
OFF
ON
OFF
CW input
10 µs or more
ON: 3.0 to 5.25 V
OFF: 0 to 1 V
yWhen the motor is at standstill, be sure to keep the photocoupler in
OFF state.
yDo not input the CW pulse and CCW pulse simultaneously. If the
other pulse is input while one of the pulse is ON, the motor cannot
operate normally.
zAWO (all windings o) input
[ON: 4.5 to 26.4 V, OFF: 0 to 1 V]
When the AWO input is turned ON, the motor current will be cut o and the
motor will lose its holding torque. The motor output shaft can be turned
manually.
When the AWO input is turned OFF, current will be supplied and the holding
torque will be restored.
zCS (step angle switching) input
[ON: 4.5 to 26.4 V, OFF: 0 to 1 V]
When the CS input is turned ON, the motor rotates at a basic step angle.
When the CS input is turned OFF, the motor rotates at the step angle set by
the driver step angle setting switches (SW-2, SW-3, SW-4).
yDo not change the CS input while operating. The motor may lose its
synchronism, causing position deviation or standstill of the motor.
yWhen changing the step angle using the CS input, do so while the
TIM output is ON.
zACDOFF (auto current down release) input
[ON: 4.5 to 26.4 V, OFF: 0 to 1 V]
When the ACDOFF input is turned OFF, the motor current will automatically
drop to the standstill current in approximately 0.1 second after the stopping
of pulse output. This mechanism suppresses heat generation from the motor
or driver while the motor is at standstill.
Keep the ACDOFF input OFF in normal conditions of use.
Output signals
The driver outputs signals are photocoupler/open-collector output. The signal
output state represents "ON: Carrying current" or "OFF: Not carrying current"
state of the internal photocoupler.
•Example of connection with
a current sink input circuit
5 to 24 VDC
11
12
0 V
•Example of connection with
a current source input circuit
5 to 24 VDC
11
12
0 V
zTIM (timing) output
Every time the motor output shaft rotates by 7.2° (3.6° for high-resolution
type), the motor excitation state becomes the initial setting state (step 0), and
the TIM output turns ON. If an AND circuit is congured with signals of the
home sensor and TIM output when the home position in the equipment is
detected, the tolerance for the motor stop positions in a detection range of
the home sensor can be reduced and the further accurate home position can
be detected.
Example of output signal for standard type motor
When the base step angle is 1.8° (resolution 200 P/R)
P
ulse input
12 8
ON
OFF
TIM output
ON
OFF
Motor operation
Motor output shaf
t rotates by 7.2º.
34
Motor type Number of divisions TIM output
1 4
Standard Base step angle
1.8°/step 1.8° 0.45° Every 7.2°
High-resolution Base step angle
0.9°/step 0.9° 0.225° Every 3.6°
Geared
Base step angle
0.1°/step
(Gear ratio 18)
0.1° 0.025° Every 0.4°
yWhen using the TIM output, set the pulse or step angle so that the
motor output shaft stops at an integral multiple of 7.2°.
yWhen changing the step angle, do so while the TIM output is ON
and the motor is at standstill.

9
Timing chart
*3
*4
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
DIR input
CW input
CCW input
PLS input
AWO input
Motor operation
Power supply input
10 µs or more
0.5 s or more
10 µs or more
*2
2-pulse input mode
1-pulse input mode
10 µs or more
*1
*1 *1
CW
CCW
The section indicates that the photocoupler diode is emitting light.
CW
CCW CCW
5 s or more
300 µs or more
*1 10 µs or more for the switching time of the DIR input (for 1-pulse input mode) and the switching time of the CW input and CCW input (2-pulse input mode) represents
the response time of the driver. Set it to the time required for the motor to respond to the applicable pulse input.
*2 The specic duration varies depending on the load inertial moment, load torque, starting frequency, etc.
*3 Do not input pulse signals immediately after switching the AWO input to OFF, given that it will aect the motor’s starting characteristics.
*4 When cycling the power supply, turn o the power and turn on the power again after waiting for 5 second or more.
The maximum response frequency is 100 kHz at a pulse duty of 50%.
Setting
Pulse input mode
Either the 1-pulse input mode or 2-pulse input mode can be selected in
accordance with the controller used.
Sets a desired mode using the pulse input mode setting switch (SW-1).
The factory setting of the pulse-input mode depends on the destination
country.
Pulse input mode setting switch (SW-1)
ON: 2-pulse input mode
OFF: 1-pulse input mode
Step angle
Sets the motor step angle using the step angle setting switches (SW-2, SW-3,
SW-4). See the next table for the step angles that can be set.
Factory setting All OFF
Step angle setting switches
(SW-2, SW-3, SW-4)
When the base step angle is 1.8°/step
SW-2 SW-3 SW-4 Number of divisions Resolution Step angle
OFF OFF OFF 1 200 1.8°
OFF OFF ON 2 400 0.9°
OFF ON OFF 4 800 0.45°
OFF ON ON 8 1,600 0.225°
ON OFF OFF 16 3,200 0.1125°
The step angle is calculated by dividing the base step angle by the number of
divisions.
If the switches are set to any combination other than those listed in the table,
the number of divisions will become one and the motor will operate at the
base step angle.
yStep angles are theoretical values.
yThe step angle set by the step angle setting switches becomes
eective when the CS input is OFF.
yDo not change the CS input or the step angle setting switch while
operating. Doing so may cause loss of synchronism of the motor,
resulting in the motor standstill. Set the step angle setting switches
when the CS input is OFF and TIM output is ON.
yFor the high-resolution type, in comparison with the standard type
the resolution is twice and the step angle is one-half.
Example: When SW-2, SW-3, and SW-4 are all OFF
Resolution of the high-resolution type: 200 × 2 = 400
Step angle of the high-resolution type: 1.8°/2 = 0.9°
yWith the geared motor, the actual step angle is calculated by
dividing the step angle by the gear ratio.

10
Motor current
Set the motor current using the motor operating current setting switch (RUN)
and motor standstill current potentiometer (STOP).
Motor standstill current
potentiometer
STOP
Motor operating current
setting switch
RUN
When the load is light and there is a margin for motor torque, the motor’s
operating vibration and the temperature increase of the motor and driver
can be held down by lowering the motor’s operating current and standstill
current.
zOperation current
The motor operating current setting switch (RUN) can be used to set the 16
operating current levels.
Set the operating current to less than the motor rated current.
Factory setting F
Dial setting Operating current (A/phase) [Representative values]
CMD2109P CMD2112P CMD2120P
0 0.12 0.29 0.58
1 0.15 0.36 0.68
2 0.28 0.41 0.77
3 0.33 0.47 0.87
4 0.38 0.54 0.96
5 0.43 0.59 1.05
6 0.49 0.66 1.15
7 0.54 0.72 1.24
8 0.59 0.78 1.35
9 0.64 0.84 1.44
A 0.7 0.9 1.53
B 0.75 0.96 1.62
C 0.8 1.02 1.71
D 0.85 1.08 1.8
E 0.9 1.14 1.9
F 0.95 1.2 2
If the operating current is larger than the motor rated current, the
motor generates heat, causing a burnout or a skin burn(s).
The actual operating current may vary from the applicable value in
the table depending on the motor used.
zStandstill current
Set the motor standstill current using the motor standstill current
potentiometer (STOP).
The motor standstill current is the motor operating current multiplied by
current cutback ratio.
Factory setting 40% of the operating current
yA range of adjustment of the current at motor standstill is within
40% of motor operating current. When the current at motor
standstill is decreased too much, motor starting or maintenance
of the location may be hindered. Do not reduce it any more than is
necessary.
yWhen operating the potentiometer, use a insulated precision
screwdriver.
yWhen setting the current at motor standstill, be sure to do so after
setting the motor’s operating current and turning o the power
supply to the driver.
•Setting method
Set the motor standstill current using ammeters.
Blue
Red
White
Green
Yellow
Black
GND
24 VDC±10%
Motor leads color
Driver
CN1
CN3
*
*
*
+
1
2
3
4
6
5
−
yCheck the colors of motor lead wires and connect them correctly
and securely. Wrong connection of lead wires or poor contact may
damage the driver.
yContacting blue, white and red lead wires of the motor (*) may result
in damage to the motor. Provide insulation measures for protection.
1. Connect a DC ammeter to motor.
2. Turn on the driver’s power supply.
3. Use an insulated precision screwdriver to turn the motor standstill current
potentiometer (STOP) to adjust the standstill current.
The sum of readings on two ammeters represents the current for one
phase.
Example:
Use CMD2109P at an operating current of 0.95 A/phase.
· When the motor standstill current potentiometer (STOP) is set to“2,” the
applicable standstill current is calculated as follows:
0.95 A/phase × 10% = Approximately 0.095 A/phase
· When the motor standstill current potentiometer (STOP) is set to“5,” the
applicable standstill current is calculated as follows:
0.95 A/phase × 36% = Approximately 0.35 A/phase
yCMD2109P [Representative values]
0
10
20
30
40
50
60
70
80
1234567
8
STOP potentiometer
Current-cutback ratio (%)
yCMD2112P [Representative values]
0
10
20
30
40
50
60
70
80
1
2345678
STOP potentiometer
Current-cutback ratio (%)

11
yCMD2120P [Representative values]
0
10
20
30
40
50
60
70
80
12345678
STOP potentiometer
Current-cutback ratio (%)
4. When the setting is complete, turn o the power supply.
After about 0.1 second has passed since the pulse was stopped, the
motor’s operating current automatically decreases to the set value of
current at motor standstill.
Inspection
It is recommended that periodic inspections are conducted for the items
listed below after each operation of the motor. If an abnormal condition is
noted, discontinue any use and contact your nearest Oriental Motor sales
oce.
Inspection item
yAre any of the mounting screws having installed the driver or connection
parts of the driver loose?
yIs there attachment of dust, etc., on the driver?
yAre there any strange smells or appearances within the driver?
The driver uses semiconductor elements, so be extremely careful when
handling them. Static electricity may damage the driver.
Troubleshooting and remedial actions
During motor operation, the motor or driver may fail to function properly due
to an improper speed setting or wiring. When the motor cannot be operated
correctly, refer to the contents provided in this section and take appropriate
action. If the problem persists, contact your nearest Oriental Motor sales
oce.
Phenomenon Possible cause Remedial action
yThe motor is not
excited.
yThe motor’s
output shaft can
be turned easily by
hand.
Connection error in the
motor or power supply.
Check that the connections
between the driver, motor and
power supply are correct.
Motor operating current
incorrectly set. If the
setting is too low, the
motor torque will also be
too low and operation
will be unstable.
Return the motor operating
current to its factory setting
and check.
The AWO input is set to
ON.
Switch the AWO input to OFF
and conrm that the motor is
excited.
The motor does not
run.
Pulse input line
connection error.
yCheck the controller and
driver connections.
yCheck the pulse input
specications (voltage and
width).
The CW input and the
CCW input came ON at
the same time.
Input either the CW input or
the CCW input, and always
switch the other terminal to
OFF.
The motor rotates
in the direction
opposite that which
is specied.
The CW input and the
CCW input are connected
in reverse.
Connect the CW pulses to the
CW input (pin Nos.1 and 2),
and connect the CCW pulses
to the CCW input (pin Nos.3
and 4).
Phenomenon Possible cause Remedial action
Motor operation is
unstable.
Motor connection error. Check that the driver and
motor connections are correct.
Motor operating current
incorrectly set. If the
setting is too low, the
motor torque will also be
too low and operation
will be unstable.
Return the motor operating
current to its factory setting
and check.
Loss of
synchronization
during acceleration
or running.
The centers of the
motor’s output shaft
and load shaft are not
aligned.
Check the connection
condition of the motor output
shaft and load shaft.
The load or load
uctuation is too high.
Check for large load
uctuations during motor
operation. If adjusting the
motor’s operating speed to
low and high torque eliminates
the problem, it is necessary to
review the load conditions.
The speed of the starting
pulse is too high.
Lower the speed of the starting
pulse.
The acceleration
(deceleration) time is too
short.
Lengthen the acceleration
(deceleration) time.
Eect of electrical noise.
Check running with only the
motor, driver and required
controller. If the impact of
noise is recognized, take
countermeasures, such as
rewiring for greater distance
from the noise source,
changing the signal cables to
shielded wire, or mounting a
ferrite core.
Motor does not
move the set
amount.
Mistake in switching CS
input. Check the CS input state.
Wrong step angle
settings.
Check the settings of the step
angle setting switches.
Pulse output count is too
low or too high.
Check whether or not the
number of pulses required for
operation at the set step angle
are being output.
Current does not
drop when the
motor stops.
The ACDOFF input is set
to ON. Switch ACDOFF input to OFF.
Motor vibration is
too loud.
The centers of the
motor’s output shaft
and load shaft are not
aligned.
Check the connection
condition of the motor output
shaft and load shaft.
Motor is resonating.
If the vibration decreases
when the operating pulse
speed is changed, it means
the motor is resonating.
Change the operating pulse
speed setting or install a
clean damper (accessory) to
suppress vibration.
Load is too small.
Lower the motor operating
current. Vibration will increase
if the motor’s output torque is
too large for the load.

12
yUnauthorized reproduction or copying of all or part of this manual is
prohibited.
yOriental Motor shall not be liable whatsoever for any problems relating
to industrial property rights arising from use of any information, circuit,
equipment or device provided or referenced in this manual.
yCharacteristics, specications and dimensions are subject to change without
notice.
yWhile we make every eort to oer accurate information in the manual,
we welcome your input. Should you nd unclear descriptions, errors or
omissions, please contact your nearest Oriental Motor sales oce.
yis a registered trademark or trademark of Oriental Motor
Co., Ltd., in Japan and other countries.
© Copyright ORIENTAL MOTOR CO., LTD. 2016
Published in December 2018
T
echnical Support Tel:[phone]
8:30
A.M. to 5:00 P.M., P.S.T. (M-F)
7:30
A.M. to 5:00 P.M., C.S.T. (M-F)
www
.orientalmotor.com
Schiessstraße 44, 40549 Düsseldor
f, Germany
T
echnical Support Tel:[phone]
www
.orientalmotor.de
T
el:01256-347090
www
.oriental-motor.co.uk
T
el:01 47 86 97 50
www
.orientalmotor.fr
T
el:02-93906346
www
.orientalmotor.it
T
el:[phone]
www
.orientalmotor.com.br
• Please contact your nearest Oriental Motor oce for further information.
4-8-1Higashiueno
,Taito-ku,Tokyo 110-8536
Japan
T
el:03-6744-0361
www
.orientalmotor.co.jp
Tel:[phone]
www.orientalmotor.com.tw
Singapore
Tel:[phone]
www.orientalmotor.com.sg
Tel:[phone]
www.orientalmotor.com.my
Korea
Tel:[phone]
www.inaom.co.kr
Tel:[phone]
www.orientalmotor.co.th
Tel:[phone]
www.orientalmotor.com.cn
Tel:[phone]
www.orientalmotor.co.in
Hong Kong Branch
Tel:[phone]
Phenomenon Possible cause Remedial action
Motor is too hot.
Long continuous
operation time of the
motor.
Decrease the operation time
of the motor per session or
increase the standstill time.
Make sure that the motor case
temperature will not exceed
100 °C (212 °F).
The ACDOFF input is set
to ON. Switch ACDOFF input to OFF.
Motor standstill current
adjustment is too high.
Lower the motor standstill
current.
TIM output does not
work.
CS input switched to ON
when TIM output is not
being output.
Switch the CS input to ON
when TIM output is being
output.
Accessories
Connection cable set
This is a cable set which includes three cables for power supply, for I/O signals,
and for motor connection.
Model: LCS01CMK2 [0.6 m (2 ft.)]
Connection cable (for signal)
This is a shielded twisted pair cable for the driver control I/O (12 pins) that has
good noise immunity. The ground wires useful to grounding are provided at
both ends of the cable.
Model Length [m (ft.)] Conductor
CC12D005-2 0.5 (1.6)
AWG24 (0.2 mm2)
CC12D010-2 1 (3.3)
CC12D015-2 1.5 (4.9)
CC12D020-2 2 (6.6)
Pulse signal converter for noise immunity
This product eliminates the noise of the pulse signal, and converts the pulse
signal to the line driver type.
Model: VCS06
CR circuit for surge suppression
This product is eective to suppress the serge which occurs in a relay contact
part. Use it to protect the contacts of the relay or switch.
Model: EPCR1201-2
CR circuit module
This product is eective to suppress the surge which occurs in a relay contact
part. Use this product to protect the contacts of the relay or switch.
Four pieces of CR circuit for surge suppression are mounted on the compact
circuit, and this product can be installed to the DIN rail. This product can
make the wiring easily and securely since it also supports terminal block
connection.
Model: VCS02