Oriental motor VEXTA TD Series User manual

Unauthorized reproduction or copying of all or part of this operating manual is prohibited.
If you have damaged or misplaced the operating manual and require a new copy, contact your nearest
Oriental Motor office.
The operating manual is subject to change without prior notice for the purpose of improvement or change
in product specifications, or to improve the manual itself.
The utmost care has been taken to ensure that all information contained in the operating manual is cor-
rect. However, please contact your nearest Oriental Motor office should you find any unclear descrip-
tions, errors or omissions.
is a trademark of Oriental Motor Co., Ltd., registered in Japan and other countries.
Windows is a registered trademark of Microsoft Corp.
Other products and companies referred to in this manual are the trademarks or registered trademarks
of the respective companies. All references to other manufacturer’s products made in this manual are
intended strictly for reference purposes and do not constitute a requirement or recommendation re-
garding the use thereof. Oriental Motor Co., Ltd. shall in no way be liable for the performance or com-
patibility of other manufacturers’ products.
©Copyright ORIENTAL MOTOR CO., LTD. 2001
HP-0021
5-Phase Stepping Driver with Built-in Oscillator
TDSeries
Type V (potentiometer type)
OPERATING MANUAL
Thank you for purchasing an Oriental Motor product.
This operating manual describes product handling
procedures and safety precautions.
●
Please read it thoroughly to ensure safe operation.
●
Always keep the manual where it is readily available.
POWER
SPEED
ACCEL
DECEL
J-LIM
RUN
STOP
O/P
1SHOT
OFF
CD
123
ON
11
Introduction ……………………………2
Safety precautions……………………3
Precautions for use …………………5
Preparation ……………………………6
Checking the product ………………6
Applicable motors …………………6
Names and functions of parts ……7
Installation ……………………………8
Location for installation ……………8
Installation method …………………8
Connection ……………………………9
Power connection …………………9
Motor connection……………………9
I/O Connection ……………………10
Connection of I/O …………………11
Explanation of I/O …………………12
Timing chart ………………………14
Setting …………………………………15
Setting of operating speeds and
acceleration/deceleration rates …15
Switch settings ……………………16
Setting of motor currents …………17
Overvoltage protection function ……19
Inspection ……………………………20
Troubleshooting and
corrective actions ……………………20
Specifications ………………………22
Dimensional drawing ………………23
Table of Contents
● Please contact your nearest ORIENTAL MOTOR office for further information.
ORIENTAL MOTOR U.S.A. CORP.
Technical Support Line Tel:[phone]
Available from 8:30 AM to 5:00 PM, P.S.T.
ORIENTAL MOTOR (EUROPA) GmbH
Headquarters and Düsseldorf Office
Tel:[phone] Fax:[phone]
Munich Office
Tel:[phone] Fax:[phone]
Hamburg Office
Tel:[phone] Fax:[phone]
ORIENTAL MOTOR (UK) LTD.
Tel:[phone] Fax:[phone]
ORIENTAL MOTOR (FRANCE) SARL
Tel:[phone] Fax:[phone]
ORIENTAL MOTOR ITALIA s.r.l.
Tel:[phone] Fax:[phone]
TAIWAN ORIENTAL MOTOR CO., LTD.
Tel:[phone] Fax:[phone]
SINGAPORE ORIENTAL MOTOR PTE LTD.
Tel:[phone] Fax:[phone]
ORIENTAL MOTOR (MALAYSIA) SDN BHD
Tel:[phone] Fax:[phone]
INA OM LTD. (KOREA)
Tel:[phone]~3 Fax:[phone]
ORIENTAL MOTOR CO., LTD.
Headquarters Tokyo, Japan
Tel:[phone] Fax:[phone]
Printed on Recycled Paper

2
Introduction
Before using
the product
Only qualified personnel should work with the product.
Before using the product, read the “Safety Precautions”section care-
fully to ensure correct use.
Should you require the inspection or repair of internal parts, contact
the Oriental Motor sales office where you purchased the product.
The product is designed and manufactured for use as an internal
component for general industrial equipment. Do not use the prod-
uct for any other purpose. Oriental Motor shall not be liable what-
soever for any damage arising from failure to observe this warning.
●
Dual speed settings
The driver supports two speed-setting methods: one using the built-
in potentiometer and the other using an external potentiometer. The
motor can be operated at either of two speeds by switching between
the two potentiometers.
●
5-phase stepping driver with a built-in oscillator
This 5-phase stepping driver has a built-in oscillator that provides
easy, accurate speed control.
Product overview
Main features
This product is a compact, lightweight bipolar constant-current dri-
ver with a built-in oscillator, ideal for driving 5-phase stepping mo-
tors using the New Pentagon drive system method. It can drive mo-
tors requiring an operating current of up to 1.4 A/phase (TD514-V)
or 2.8 A/phase (TD528-V).
●
Easy synchronization of two units
Synchronized operation of two units can be performed easily. Simply
connect the oscillator output of one driver to the pulse input of the
other driver.
●
Jerk-limit control function
This function uses special acceleration/deceleration profiles to
achieve smooth switching of speeds, thereby suppressing vibration
when the motor transits from the acceleration state to constant-speed
operation.
System configuration
I/O signals
Oscillator driver
Controller
(programmable controller)
POWERSPEEDACCELDECELJ-LIM RUNSTOPO/P 1SHOTOFF
CD
123
ON
11
23
■ Dimensional drawing mm(inch)
ø3.5(0.14 DIA.)-2 Holes
83(3.27)
69(2.72)
75(2.95)
4(0.16)
86(3.39)
90(3.54)
3.5(0.14)
25(0.98)
30(1.18)
3.5(0.14)
13.5(0.53)

22
Model
Rated output current
Power input
Excitation mode
Operating mode
Speed range
Speed setting method
Input signal
Output signal
External speed setting input
Acceleration/
deceleration rate setting
Mass
Ambient temperature
Full-step, 0.72°/step (4-phase excitation)
Oscillator mode
Pulse-train mode
0 to 1500 r/min
Setting by built-in potentiometer
Setting by external potentiometer
Setting by external DC voltage (0 to 5 V)
Photocoupler input, input resistance 220 Ω
Input current 20 mA or less
Signal voltage H: 4.5 to 5 V, L: 0 to 0.5 V
START/STOP (pulse input in pulse-input mode)
RUN/BRAKE
CW/CCW
HOLD OFF
Speed setting method selection
Photocoupler/open-collector output
External use conditions: 26.4 VDC, 20 mA or less
Pulse output
Input resistance: 47 kΩ
External potentiometer: 20 kΩ, 1/4 W
External voltage: 0 to 5 VDC
Setting by built-in potentiometer
Setting range: 0 to 3000 ms (at a speed of 1000 r/min)
Linear acceleration/deceleration or jerk-limit control
0.12 kg (3.5 oz)
0 to 50°C (32 to 122°F)
TD514-V
1.4 A
12 to 24 VDC ±10%
2.5 A or less
TD528-V
2.8 A
12 to 24 VDC ±10%
4.5 A or less
■ Specifications
3
●
Do not use the product in an atmosphere containing explosive,
flammable or corrosive gases, in a place exposed to water, or near
flammable objects. Doing so may result in fire or injury.
●
The installation, connection, operation/control, inspection and trou-
bleshooting of the product must be performed by qualified per-
sonnel. Handling of the product by unqualified personnel may re-
sult in fire or injury.
●
Provide a measure to retain the position of the movable part of the
equipment when the product is used in a vertical application. The
motor loses its holding capability when the power is cut off. Without
an appropriate measure, the movable part will descend, resulting
in injury or equipment damage.
●
When the driver’s protection function is activated, the motor will
stop and lose its holding ability, possibly causing injury or equip-
ment damage.
●
When the driver’s protection function is activated, remove the cause
of the problem, and turn the power back on. Allowing the driver to
continue operating without removing the cause of the problem may
lead to motor or driver malfunction, resulting in injury or equipment
damage.
Safety precautions
The precautions provided in this section are intended to ensure safe
and correct use of the product, thereby preventing damage or injury
to the user or other personnel. Fully understand the meaning of each
item before using the product.
Handling the product without observing the instructions that accom-
pany a “Warning”symbol may result in death or serious bodily injury.
General
Handling the product without observing the instructions that accompa-
ny a “Caution”symbol may result in bodily injury or property damage.
These notes appear throughout the manual and describe items that
must be observed by the user in certain situations to ensure correct
use of the product.
Note
Warning
Caution
Installation
●
Install the driver in an enclosure. Failure to do so may result in in-
jury.
Connection
●
Always use the driver with a power source of the rated voltage.
Failure to do so may result in fire.
●
For the driver, use a DC power source with reinforced insulation
provided on the primary and secondary sides. Failure to do so may
result in electric shock.
●
Connect the product correctly and securely according to the wiring
diagram. Failure to do so may result in fire.
Warning

4
Operation
●
Turn off the power to the driver in case of a power failure. Failure
to do so may result in injury or equipment damage when the mo-
tor starts suddenly upon power recovery.
●
Do not turn the HOFF (All Windings Off) input to ON while the mo-
tor is operating. If the input is turned ON, the motor will stop and
lose its holding capability, causing possible injury or equipment
damage.
●
If the driver’s POWER LED remains unlit after the power to the dri-
ver has been turned on, the fuse may have been blown. Turn off
the power immediately, or electric shock may result. For repair,
contact the branch or sales office from which you purchased the
product.
Disassembly and
modification
●
Do not repair, disassemble or modify the driver. Doing so may re-
sult in injury or equipment damage.
●
Do not use the motor and driver beyond their specifications. Doing
so may result in injury or equipment damage.
●
Do not touch the motor or driver’s heat sink during operation or im-
mediately after stopping. The motor’s surface and driver’s heat
sink are hot, so touching them may cause burns.
General
●
When disposing of the motor and driver, treat them as ordinary in-
dustrial waste.
Disposal
●
Do not place flammable objects near the motor or driver. Doing so
may result in fire or burns.
●
Do not place objects near the motor or driver that may prevent
proper ventilation. Doing so may result in equipment damage.
●
Provide a cover for the rotating part of the motor (output shaft).
Failure to do so may result in injury.
Installation
●
Use a motor and driver in the specified combination. Failure to do
so may result in fire.
●
Before operating, confirm that the emergency-stop function is work-
ing properly. Failure to do so may result in injury.
●
Turn on the power to the driver after making sure all control inputs
of the driver are turned OFF. Failure to do so may cause the mo-
tor to start accidentally, resulting in injury or equipment damage.
●
Do not touch the rotating part of the motor (output shaft) during op-
eration. Doing so may result in injury.
●
If the motor’s output shaft must be moved directly by hand (for
manual alignment, etc.), do so after confirming that the driver’s
HOFF input is ON. Failure to do so may result in injury.
●
Should you find any abnormality, immediately turn off the power to
the driver. Failure to do so may result in fire or injury.
Operation
Caution
21
●
Vibration is generated due to a change
in acceleration when the motor transits
from the acceleration state to constant-
speed operation
●
Small load
●
The motor’s output shaft is not aligned
with the load shaft
●
Large load or large fluctuation in load
●
Too high an acceleration/deceleration
rate
●
Improperly connected motor cable
●
Current setting error. Setting too small
a value reduces motor torque, resulting
in unstable operation
●
Either the START input or RUN input is
not turned ON in oscillator mode (I/O)
●
The speed is set to 0
●
Wrong operating mode
●
I/O power source not connected
Symptom Possible cause Corrective action
The motor
doesn’t turn
●
Confirm that both signal input to ON
●
Check the setting of the internal poten-
tiometer or external potentiometer
●
Check to see if switch 1-1 (O/P) is set
correctly
●
An I/O power source must be connect-
ed
The motor turns
opposite the
specified direction
●
The DIR setting is reversed
●
Check the DIR input
Motor operation
is unstable
●
Check the connection between the dri-
ver and motor
●
Check the current setting again
The motor misses
steps during
acceleration or
operation
●
Check the coupling of the motor’s out-
put shaft and load shaft
●
Check to see if the load fluctuates sig-
nificantly during motor operation. If the
problem disappears after reducing the
motor’s operating speed and thus in-
creasing the torque, the load condition
must be reviewed
●
Reduce the acceleration/deceleration
rate so that the motor can start in a sta-
ble manner
Vibration is
excessive
●
Vibration may be suppressed via the jerk-
limit filter. Adjust the jerk-limit time to a
level where vibration is minimized
●
Check the current setting again.
Vibration increases if the motor’s output
torque is too large for the load
Overvoltage
protection is
activated
●
Large inertial load
●
Review the load conditions or increase
the acceleration/deceleration rate

20
●
Are the driver’s mounting screws and power-terminal screws tight-
ened securely ?
●
Are any of the power elements and smoothing capacitors inside
the driver giving off a bad smell or showing other abnormalities ?
It is recommended that the following items be checked regularly af-
ter operation.
Should an abnormality be noted, discontinue any use and contact
your nearest Oriental Motor office.
Inspection
●
The driver uses semiconduc-
tor elements, so exercise
due caution when handling
the driver. The driver may
be damaged by the effects
of static electricity, etc.
NOTE
Inspection items
Troubleshooting and corrective actions
During motor operation, the motor or driver may fail to operate prop-
erly due to an error in speed setting or inappropriate connection.
If the motor doesn’t operate properly, refer to this section and take
appropriate action. If the problem persists, contact your nearest
Oriental Motor office.
●
Improperly connected motor cable
●
Current setting error.
Setting too small a value reduces motor
torque, resulting in unstable operation
●
The HOFF input is turned ON
Symptom Possible cause Corrective action
●
Check again to see whether the driver
and motor are connected properly
●
Check the current setting again
●
Turn the HOFF input to OFF and confirm
that the motor has holding torque
The motor has no
holding torque
The motor can
be moved by hand
5
■ Keep the driver’s heat-sink temperature
at 80°C (176°F) or below during use
The driver doesn’t have a protection function against overheating.
Therefore, depending on the operating conditions (e.g., ambient tem-
perature, operating speed and operating duty), the heat sink may
reach temperatures above 80°C (176°F). Be sure the heat sink’s
saturation temperature doesn’t exceed 80°C (176°F). Failure to do
so may result in damage to the driver.
■ Wiring of I/O cables
●
Wire I/O cables over the shortest possible distances.
●
Provide a minimum distance of 300 mm (11.8 inch) between I/O
cables and inductive loads such as electromagnetic relays, and
power lines (e.g., power-supply cable and motor cable). Do not
wire I/O cables together with power lines in the same duct or con-
duit.
Precautions for use
This section covers the limitations and points to note regarding the
use of this TD Series unit.

Models of applicable motors
PK543N WA, PK544N WA, PK545N WA
PK564N WA, PK566N WA, PK569N WA
PK596-N A, PK599-N A, PK5913-N A
6
Preparation
This section covers the points to be checked, along with the names
and functions of respective parts.
Open the package, check the driver’s model number and confirm
that the operating manual is provided.
If the product is damaged or different from what you’ve ordered, con-
tact the branch or sales office from which you purchased the prod-
uct.
This driver can be used with 5-phase stepping motors with 5leads
connected in a New Pentagon method, as shown in the table below.
The motor operating current of the driver is set to 1.4 A/phase for
TD514-V and 2.8 A/phase for TD528-V .
To drive a motor with an operating current of 0.75 A/phase, the mo-
tor current setting must be changed. See page 16
Driver 1 unit Operating manual 1 copy
HP-021
5-Phase Stepping Driver with Built-in Oscillator
TDSeries
Type V (potentiometer type)
OPERATING MANUAL
Thankyou for purchasing an Oriental Motor product.
Thisoperating manual describes product handling
proceduresand safety precautions.
●
Pleaseread it thoroughly to ensure safe operation.
●
Alwayskeep the manual where it is readily available.
POWER
SPEED
ACCEL
DECEL
J-LIM
RUN
STOP
O/P
1SHOT
OFF
CD
123
ON
11
Introduction ……………………………2
Safetyprecautions …………………… 3
Precautionsfor use …………………5
Preparation ……………………………6
Checkingthe product ……………… 6
Applicablemotors …………………6
Namesand functions of parts ……7
Installation ……………………………8
Locationfor installation …………… 8
Installationmethod …………………8
Connection ……………………………9
Powerconnection …………………9
Motorconnection ……………………9
I/O Connection ……………………10
Connectionof I /O …………………11
Explanationof I/O …………………12
Timingchart ………………………14
Setting …………………………………15
Settingof operating speeds and
acceleration/deceleration rates …15
Switchsettings ……………………16
Settingof motor currents …………17
Overvoltageprotection function ……19
Inspection ……………………………20
Troubleshootingand
correctiveactions ……………………20
Specifications ………………………22
Dimensionaldrawing ………………23
Tableof Contents
POWERSPEED ACCEL DECEL J-LIM RUNSTOP O/P 1SHOTOFF
CD
123
ON
11
Driver model
TD514-V
TD528-V
Motor current
0.75 A/phase
1.4 A/phase
2.8 A/phase
Enter A(single shaft) or B(double shaft) in the in the motor’s model number.
Checking the product
Applicable motors
19
Overvoltage protection function
When the driver’s inverter voltage exceeds a specified value, the dri-
ver’s overvoltage protection function is activated to immediately stop
the motor while causing the POWER LED to blink.
After the overvoltage protection function has been activated, remove
the cause, turn off the power and then turn it on again. The protection
function will be cancelled and the driver will return to its normal state.
●
When the driver’s protection function is activated, remove the
cause of the problem, and turn the power back on. Allowing
the driver to continue operating without removing the cause of
the problem may lead to motor or driver malfunction, resulting
in injury or equipment damage.
Lighting
Put out
Warning

18
PK543N WA
PK544N WA
PK545N WA
PK564N WA
PK566N WA
PK569N WA
PK596-N A
PK599-N A
PK5913-N A
Driver model
TD514-V
TD528-V
Connected motor
Enter A(single shaft) or B(double shaft) in the in the motor’s model number.
Minimum settable current (representative value)
Power-source
voltage 10.8 V (A/phase) Power-source voltage 24 V (A/phase) Power-source voltage 26.4 V (A/phase)
0.30
0.30
0.30
0.30
0.30
0.30
0.60
0.60
0.60
0.30
0.30
0.30
0.45
0.30
0.30
0.80
0.80
0.65
0.30
0.30
0.30
0.50
0.40
0.30
0.90
0.90
0.70
The maximum settable motor current is not affected by the connected
motor or power-source voltage. Representative values of maximum
settable current are shown below:
Model
TD514-V
TD528-V
Motor’s maximum operating current
(representative value) (A/phase) Motor’s maximum standstill current (representative value) (A/phase)
1.6
3.2 0.8 1.6
●
Set the motor operating current within the motor’s rated current.
If the load is relatively small and there is some allowance in torque,
a slight decrease in the motor operating current may be effective
in reducing the rise in motor temperature or vibration.
●
Set the motor standstill current within 50 percent of the motor’s rat-
ed current. Setting this current too high increases heat genera-
tion, which may damage the motor driver. However, setting the
standstill current too low may affect the motor’s ability to start or
hold position. Do not reduce the setting more than necessary.
The minimum settable motor current varies depending on the con-
nected motor and power-source voltage. Shown below are repre-
sentative values when the driver is combined with each of the ap-
plicable standard motors.
7
Names and
functions of parts
This section covers the names and functions of the driver’s respec-
tive parts.
See the reference page indicated for details on each part.
POWERSPEEDACCELDECELJ-LIMRUNSTOPO/P1SHOTOFF
CD
123
ON
11
One-shot switch (1 SHOT)
ON: The START/STOP input becomes
a one-shot input.
OFF: The START/STOP input becomes
a level input.
LED (green)
Stay on: Power is supplied (driver in normal state)
Blink: Overvoltage protection function is activated
(driver in abnormal state)
I/O terminals
Mounting notches
(two locations)
Mounting holes
(two locations)
Power terminals
Motor terminals
Speed setting potentiometer
Adjustment rage: 0 to 1500 r/min
Acceleration rate setting potentiometer
Adjustment range: 0 to 3000 ms (at a speed of 1000 r/min)
Deceleration rate setting potentiometer
Adjustment range: 0 to 3000 ms (at a speed of 1000 r/min)
Jerk-limit filter time setting potentiometer
Adjustment range: 0 to 250 ms
Auto Current Cutback switch (CD OFF)
ON: The Auto Current Cutback function,
which causes the motor current to drop
automatically while the motor is at a
standstill, is enabled.
OFF: The Auto Current Cutback function
is cancelled.
Mode switch (O/P)
ON: The Pulse-train mode is selected
OFF: The Oscillator mode is selected
12345
8
6
9
7
10
1
2
3
4
5
8
9
10
Page 11
Page 14
Page 15
Page 15
Page 15
Motor operating current adjustment
potentiometer
6
Page 17
Motor standstill current adjustment
potentiometer
7
Page 17
Page 9
Page 9
Page 15
Page 15
Page 15

8
Installation
This section covers the driver’s installation location and method.
The driver is designed and manufactured for use as an internal com-
ponent in industrial equipment.
Install it in a well-ventilated place satisfying the following conditions,
where the product can be easily accessed for the purpose of in-
spection.
●
Inside an enclosure installed indoors (with ventilation holes provided)
●
Ambient temperature: 0°C to 50°C
(122°F) (non-freezing)
●
Ambient humidity: 85% or less (no dew condensation)
●
A place free of explosive gasses, or toxic gases (sulfide gas, etc.)
or liquids
●
A place not exposed to direct sunlight
●
A place not exposed to significant amounts of dust or iron powder
●
A place not exposed to water (rain, water droplets), oil (oil droplets)
or other liquids
●
A place not exposed to air having a high salt content
●
A place not subject to continuous vibration or excessive shock
●
A place not subject to significant electromagnetic noise (caused
by welding machines, power equipment, etc.)
●
A non-vacuum place without radioactive substances or magnetic fields
■ Orientation
When installing the driver, be sure to secure it vertically or horizon-
tally via the mounting holes provided. Installing the driver any oth-
er way may reduce its ability to dissipate heat.
■ Installation method
Install the driver on an appropriate flat metal plate having excellent vi-
bration resistance and thermal conductivity.
Install the driver by securing it with two screws (M3, not supplied) through
the mounting holes or notches provided. Do not leave gaps along the
metal plate.
Provide a minimum clearance of 25 mm (0.98 inch) in the horizontal di-
rection or 50 mm (1.96 inch) in the vertical direction between the driver
and enclosure or other equipment within the enclosure.
When installing two or more drivers side by side, provide a minimum clear-
ance of 20 mm (0.79 inch) in the horizontal direction or 50 mm (1.96 inch)
in the vertical direction between drivers, as shown in the figure below.
Location for
installation
Installation method
●
Example of driver installation 1
●
Example of driver installation 2
20mm or more
(0.79 inch or more)
50mm or more
(1.96 inch or more)
20mm or more
(0.79 inch or more)
50mm or more
(1.96 inch or more)
17
The motor operating current is set to 1.4 A/phase ( TD514-V ) or 2.8
A/phase ( TD528-V ) at the factory. If the rated current of the con-
nected motor is other than these values, be sure to use the motor
operating current adjustment potentiometer to set a value appropri-
ate to the motor’s rated current.
■ Setting the operating current
1. Turn switch 1-3 (CDOFF) to ON to disable the automatic cur-
rent-cutback function.
2. Connect the motor and a DC ammeter, then turn on the power
to the driver.
TB-2
TB-1
BLACK
GREEN
ORANGE
RED
BLUE
DC
ammeter
Power
Supply
12 to 24 VDC±10%
5 Phase
Stepping
Motor
-
+
5
4
3
2
1
2
1
3. Turning the motor operating current adjustment potentiometer
(RUN) counterclockwise decreases the current. Use the motor
operating current adjustment potentiometer to set a value ap-
propriate to the motor’s rated current.
Two-phase current flows through the ammeter. Current per phase
is given as one-half the ammeter reading.
4. When the setting is complete, turn switch 1-3 (CDOFF) to OFF.
■ Setting the motor standstill current
The motor standstill current is factory-set to around 50 percent of the
motor operating current. To change the setting of standstill current,
do so using the motor standstill current adjustment potentiometer
(STOP).
1. Turn switch 1-3 (CDOFF) to OFF to disable the automatic cur-
rent-cutback function.
2. Connect the motor and a DC ammeter, then turn on the power
to the driver.
3. Turning the motor standstill current adjustment potentiometer
(STOP) counterclockwise decreases the motor standstill cur-
rent. Use the motor standstill current adjustment potentiometer
to adjust the setting to a maximum of 50 percent of the motor’s
rated current.
Two-phase current flows through the ammeter. Current per phase
is given as one-half the ammeter reading.
Setting of motor
currents
●
Be sure to turn switch 1-3
(CDOFF) to OFF after ad-
justing the operating current.
If the switch remains ON, the
motor current will not switch
to standstill current once the
motor has stopped.
NOTE

16
■ Setting the acceleration/deceleration rates
Acceleration rate and deceleration rate can be set independently us-
ing the potentiometer. Turning the potentiometer clockwise increases
the acceleration/deceleration rate.
The setting range of acceleration/deceleration rates is between 0
and 3000 ms (at a speed of 1000 r/min).
■ Setting the jerk-limit control time
This function uses special acceleration/deceleration profiles to
achieve the smooth switching of speeds, thereby suppressing vi-
bration when the motor transits from the accelerating state to con-
stant-speed operation. The jerk-limit control time can be changed
using the potentiometer.
Turning the potentiometer clockwise increases the jerk-limit control
time. The setting range of jerk-limit control time is between 0 and
250 ms. The minimum setting on the potentiometer represents “ze-
ro”, meaning that the motor will accelerate/decelerate in a linear man-
ner.
■ Mode setting
Turning switch 1-1 (O/P) to OFF activates the oscillator mode. In
this mode the driver operates via the built-in oscillator.
Turning switch 1-1 (O/P) to ON activates the pulse-train mode. In
this mode the driver operates via external pulse-trains.
■ Switching the START/STOP signal type
Turning switch 1-2 (1SHOT) to OFF changes the START/STOP sig-
nal type to “level input”.
Turning switch 1-2 (1SHOT) to ON changes the START/STOP sig-
nal type to “one-shot input”.
■ Enabling/disabling the Auto Current
Cutback function
Turning switch1-3 (CDOFF) to OFF enables the Auto Current Cutback
function. The motor current will automatically switch to standstill cur-
rent approximately 100 ms after the motor is stopped.
Turning switch 1-3 (CDOFF) to ON disables the Auto Current Cutback
function.
Use this switch only when setting the motor operating current.
Linear acceleration/
deceleration
TT
T: Jerk-limit control time
●
If the jerk-limit control time is
set to a value greater than
half the acceleration/decel-
eration time, the actual jerk-
limit control time will be auto-
matically adjusted to one-
half the acceleration/decel-
eration time.
NOTE
Switch settings
●
Regarding the
START/STOP signal type,
the setting in effect at power-
on will be retained until the
power is turned off. When
the setting is changed, turn
stet the power and then turn
it back on to make the new
setting effective.
NOTE
9
Connection
This section covers the methods of connecting the driver, motor, power
and controller, as well as the connection examples and inputs/outputs.
TB1
1
POWER
SPEED
ACCEL
DECEL
J-LIM
RUN
STOP
O/P 1SHOTOFF
CD
12 3
ON
Power input
10.8 to 26.4 VDC
Control
I/O signals
Connect the power-source cable to the power terminal.
The input voltage is 12 to 24 VDC ±10%. Use a power source ca-
pable of supplying the following capacities:
Connect the motor lead wires to the motor terminals.
Model
TD514-V
TD528-V
Power capacity
12 to 24 VDC ±10%, 2.5 A or more
12 to 24 VDC ±10%, 4.5 A or more
Power connection
Motor connection
TB-1
2
1
Power Supply
12 to 24 VDC
±
10%
-
+
-
+
TB-2
5
4
3
2
1
BLACK
GREEN
ORANGE
RED
BLUE
Motor
Connect the power source, motor and I/Os to the driver’s corre-
sponding terminals, as shown in the figure below.

10
A connection example is given in the figure below.
I/O connection
15
In addition to the driver’s internal potentiometer, an external poten-
tiometer or external DC voltage may also be used to set the motor’s
operating speed. Two operating speeds can be set using the inter-
nal potentiometer together with an external potentiometer or exter-
nal DC voltage.
Acceleration/deceleration rates can be set independently.
Additionally, a jerk-limit control time can be set to suppress vibration
during acceleration/deceleration.
Setting
■ Setting the operating speeds with the internal
potentiometer
The internal potentiometer is used when the set operating speed is
not changed frequently, or when operating the motor at two speeds
using an external potentiometer concurrently with the driver’s inter-
nal potentiometer. The speed setting range is between 0 and 1500
r/mn. VR-H, VR-M and VR-L need not be connected if the operat-
ing speed is set using the internal potentiometer alone.
■ Setting the operating speeds with an external
potentiometer
An external potentiometer is used when setting the speed at a dis-
tance from the driver, or when operating the motor at two speeds us-
ing the internal potentiometer concurrently with an external poten-
tiometer. The speed setting range is between 0 and 1500 r/min. Use
the optional part PAVR-20KZ (sold separately) for external speed
setting. Turning the potentiometer clockwise increases the set speed.
Setting of operating
speeds and
acceleration/
deceleration rates
TB-3
1
2
3
4
5
6
7
8
9
10
11
VR-H
VR-M
VR-L
External potentiometer
PAVR-20KZ
■ Setting the operating speeds via external DC
voltage
External DC voltage is used when setting a speed via the D/A out-
put of a programmable controller, or when operating the motor at two
speeds using the internal potentiometer concurrently. The speed
setting range is between 0 and 1500 r/min For external DC voltage,
use a DC power source (0 to 5 VDC, 1 mA or more) with reinforced
insulation provided on the primary and secondary sides.
To operate the motor at the
speed set with an external po-
tentiometer, turn the EXTVR in-
put to ON.
To operate the motor at the speed set via external DC voltage, turn
the EXTVR input to ON.
TB-3
1
2
3
4
5
6
7
8
9
10
11
VR-M
VR-L
1600
1400
1200
1000
800
600
400
200
0
Motor Speed [r/min]
Input Voltage [V]
12345
■ I/O connection example 3
(I/O driven by an external power source,
synchronized operation of two units)
■ I/O connection example 1
(I/O driven by an external power source,
single-unit configuration)
■ I/O connection example 2
(I/O driven by a built-in power source,
single-unit configuration)
TB-3
1
2
3
4
5
6
7
8
9
10
11
+COM
VR-H
START(PLS)
RUN
DIR
HOFF
EXTVR
VR-M
VR-L
PULSE OUT
GND
POUT+
POUT
-
+5V
Connect the motor’s
five leads to the
motor terminal.
External potentiometer
20kΩ1/4W
TB-3
1
2
3
4
5
6
7
8
9
10
11
+COM
VR-H
START(PLS)
RUN
DIR
HOFF
EXTVR
VR-M
VR-L
PULSE OUT
GND
POUT+
POUT
-
External potentiometer
20kΩ1/4W
TB-3
1
2
3
4
5
6
7
8
9
10
11
+COM
START(PLS)
RUN
DIR
HOFF
EXTVR
POUT+
POUT
-
GND
VR-H
VR-M
VR-L
+5V
TB-3
1
2
3
4
5
6
7
8
9
10
11
+COM
START(PLS)
DIR
HOFF
NC
NC
NC
NC
NC
NC
NC
External potentiometer
20kΩ1/4W SW1 : OFF
Oscillator mode SW1 : ON Pulse-train mode
TB-3
1
2
3
4
5
6
7
8
9
10
11
+COM
START(PLS)
RUN
DIR
HOFF
EXTVR
POUT+
POUT
-
VR-H VR-H
VR-M
VR-L VR-L
TB-3
1
2
3
4
5
6
7
8
9
10
11
+COM
START(PLS)
DIR
HOFF
NC
NC
NC
NC
NC
External potentiometer
20kΩ1/4W SW1 : OFF
Oscillator mode SW1 : ON Pulse-train mode
■ I/O connection example 4
(I/O driven by a built-in power source,
synchronized operation of two units)

14
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
CW
Motor
CCW
START
RUN
DIR
H.OFF
EXTVR
100m sec
Current cutback Motor current off
ON
OFF
ON
OFF
START
RUN
Motor
2m sec
or
more
■ Oscillator mode, Level input (SW 1-1 off, SW 1-2 off)
■ Oscillator mode, one-shot input (SW 1-1 off, SW 1-2 off)
Timing chart
11
■ Connection of I/O cables
Connect the I/O cables to the driver.
Use shielded wire for the cables.
Table of I/O functions in oscillator mode
Pin no.
1
2
3
4
5
6
7
8
9
10
11
Description
I/O power input (5 VDC)
Switch 1-2 (1SHOT): OFF (level)
ON: Start, OFF: Decelerate to a stop
Switch 1-2 (1SHOT): ON (one-shot)
ON edge: Start
Switch 1-2 (1SHOT): OFF (level input)
ON: Operation, OFF: Immediate stop
Switch 1-2 (1SHOT): ON (one-shot)
ON edge: Decelerate to a stop
ON: CCW, OFF: CW
ON: Excitation OFF, OFF: Excitation ON
External VR/built-in VR selection
Pulse out
+
Pulse out
-
5 V output (not isolated from main power input)
External potentiometer connection or
potentiometer voltage input
GND (not isolated from main power input)
Signal name
+COM
START (PLS)
RUN
DIR
H OFF
EXTVR
POUT+
POUT-
VR-H
VR-M
VR-L
Direction
Input
Input
Input
Input
Input
Input
Output
Output
Output
Input
-
Table of I/O functions in pulse-train mode
Pin no.
1
2
3
4
5
6
7
8
9
10
11
Description
I/O power input (5 VDC)
Pulse input
Invalid
ON: CCW, OFF: CW
ON: Excitation OFF, OFF: Excitation ON
Invalid
Pulse out +
Pulse out
-
5 V output (not isolated from main power input)
Invalid
GND (not isolated from main power input)
Signal name
+COM
START (PLS)
RUN
DIR
HOFF
EXTVR
POUT+
POUT-
VR-H
VR-M
VR-L
Direction
Input
Input
Input
Input
Input
Input
Output
Output
Output
Input
-
Connection of I/O
●
The following two modes are
available, and operation
varies accordingly. Modes
are changed using switch 1-
1 (O/P).
(See page 16.)
◆ Oscillator mode:
The driver is operated via
the built-in oscillator.
◆ Pulse-input mode:
The driver is operated via
pulse-train input.
It operates in accordance with
pulse-train input to the START
(PLS) input (pin no. 2).
NOTE

12 13
Explanation of I/O
■ Input signals
All input signals to the driver are photocoupler inputs.
All input signals are invalid in oscillator mode (communication).
Signal status indicates the ON (current supplied) or OFF (current not
supplied) status of the internal photocoupler rather than the voltage
level of the signal.
+COM
(5 VDC)
START(PLS)
RUN
DIR
HOFF
EXTVR
220Ω
2.2kΩ
Internal circuit of the driver
●
Oscillator mode
● Switch 1-2 (1SHOT): OFF (level input)
When the START (PLS) input and RUN input are ON, START is
selected and the motor will run.
When the START (PLS) input is OFF, STOP is selected and the
motor will decelerate to a stop.
When the RUN input is OFF, BRAKE is selected and the motor
will stop immediately.
● Switch 1-2 (1SHOT): OFF (one-shot input)
The ON edge of the START input selects START, and the mo-
tor will run.
The ON edge of the RUN input selects STOP, and the motor will
decelerate to a stop.
When both the START input and RUN input are ON, BRAKE is
selected and the motor will stop immediately.
●
Pulse-train mode
The motor operates in accordance with pulse-train commands in-
put to the START (PLS) input.
The RUN input is invalid in this mode.
START (PLS) input, RUN input
When this input is OFF, CW is selected.
When this input is ON, CCW is selected.
The direction of rotation indicates that of the motor’s output shaft as
viewed from the mounting face side of the motor.
DIR input
When this input is OFF, the motor is excited.
When this input is ON, the current supply to the motor is cut off and
excitation stops.
HOFF input
External VR/built-in VR selection
When this input is OFF, built-in potentiometer is selected and the
speed is set via the built-in potentiometer becomes effective.
When this input is ON, EXT is selected and the speed is set via the
external potentiometer or external DC voltage becomes effectiv.
Switching the ON/OFF status of this signal allows dual-speed oper-
ation using an external potentiometer or external DC voltage together
with the built-in potentiometer. This signal need not be connected if
an external potentiometer is not used.
This input is invalid in pulse-train mode.
EXTVR input
■ Output signals
All output signals from the driver are photocoupler/open-collector
outputs.
POUT+
+COM
(5 VDC)
POUT
-
26.4 VDC
20mA or less
Internal circuit of the driver
In oscillator mode, pulses generated by the built-in oscillator are output.
In pulse-train mode, step pulses received from the START (PLS) ter-
minal are output directly.
This output is used in synchronized operation or when measuring
the speed of rotation.
PULSE output