Oriental motor SUPER VEXTA U1215GA User manual

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VEXTA
OPERATOR'S MANUAL
MODEL U1215GA
INTELLIGENT STEP MOTOR DRIVER
MODEL DP-01
DATA PACK
ORIENTALORIENTAL MOTOR ArvIc3s,T,R9,1,®
Manual Number M91UI215GA-3

THANK YOU FOR CHOOSING SUPER VEXTA°
The UI215GA Intelligent Step Motor Driver 1
Features 1
Step motor-based motion control system 2
UI215GA and DP-01 layout 3
Contents included in this package 4
Motors that can be used with the UI215GA 5
Binary coded decimal (BCD) format 5
Installation 6
Switch selectable functions 8
Setting the Run and Stop current levels 10
Controlling the UI215GA Intelligent Driver 12
External control of the UI215GA 13
Description of signals 14
Data tables 15
Wiring the UI215GA to a programmable controller 16
Control of the UI215GA with the DP-01 Data Pack 24
Connecting the DP-01 Data Pack to the UI215GA 24
Data tables 25
DP-01 Data Pack layout 26
Precautions 30
Trouble shooting the UI215GA 31
Signal timing charts 33
Speed vs. Torque characteristics 36
Mechanical dimensions 38
Specifications 40
Oriental Motor's reputation for award winning quality and cost-effective products is well
known among original equipment manufacturers. Our Vexta and Super Vexta brands of motion
control products are built to these same exacting standards and enjoy the same reputation.
Super Vexta's UI215GA Intelligent Step Motor Drivers and DP-01 Data Packs are built
with the pride and craftsmanship of a century of manufacturing experience. Oriental Motor's ED
Division has engineered and built this product to provide years of trouble free service. Each
product is carefully and thoroughly tested prior to shipment to ensure the same high quality
you've come to expect from us.
Please read this manual carefully, and use this product according to these instructions. If
you have any further questions, please do not hesitate to call Oriental Motor for assistance.
TABLE OF CONTENTS
©Copyright 1991, Oriental Motor U.S.A. Corporation,
All Rights Reserved
MPEn
VEXTA

THE UI215GA INTELLIGENT STEP MOTOR DRIVER
SUPER VEXTA's Intelligent Step Motor Driver combines a high performance unipolar chopper
step motor driver and microprocessor intelligence, and is designed to interface easily with Program-
mable Controllers or other switch-output type controllers (relay contact or open-collector outputs, for
example). The UI215GA allows for easy control of speed, distance and acceleration by direct switches
or BCD thumbwheel switches. With the use of a DP-01 Data Pack, the UI215GA becomes a single axis
preset-indexer, able to repeat exactly the same movement with each new "START" signal. The
UI215GA/DP-01 pair can be used stand alone or in parallel with another type of controller. Once a
"START" signal is received, the microprocessor in the UI215GA automatically calculates the pulse train
profile and then sends the step and direction pulses to the built-in step motor driver.
All of the basic motion control functions have been built-in, including: Index mode, Return to
electrical home mode, Continuous running mode (Scan) and Jog mode (one step at a time). With the use
of a Programmable Controller, the UI215GA can also execute a Hunt for mechanical home and/or
auxiliary home limit switch function.
FEATURES:
*Easily interfaces with Programmable Controllers, or can be operated with simple switch control (SPST,
pushbutton, dry contact or open-collector transistor switches).
*Can be used with VEXTA stepping motors for torques from 16.6 oz-in to 174 oz-in, in 1.8° and 0.9°
per step for 200, 400 or 800 steps per revolution.
*Two speed ranges with high speed operation up to 5,000 pps to fully utilize the UI215GA's ability to
deliver high torque at high speed.
*From 1 to 9,999 steps per index.
*No complicated programming languages to learn: acceleration, running speed and move lengths can be
preset with a DP-01 Data Pack, PLC or any type of switch by the user.
*Easy to set-up, compact in size.
TYPICAL APPLICATIONS:
Cut to length, Transfer machines and material handling, Automating final test, Quality control
and other test fixtures, Packaging machines, Automated textile manufacturing and a host of other factory
automation or process control applications.
1

STEP MOTOR-BASED MOTION CONTROL SYSTEM
COtOt‘;00f1f).11(N-g6,,,
The basic components of an open loop step motor based
motion system are shown in figure 1.
External controller: This is the "intelligent" part of the
system. The external controller (e.g. PLC) will usually
control other operations of the machine(s) as well as the
motion system itself. The PLC can be programmed to
respond to inputs from switches or other sensors (i.e. limit
switches) and can send operational signals (i.e. operating
modes) to the indexer or pulse generator to control the
number of steps, the acceleration/deceleration rate, starting
speeds and running speeds. The DP-01 Data Pack can be
used in place of an external controller to provide all of the
motion data for the UI215GA Intelligent Driver.
Indexer/Pulse Generator: A pulse generator is a
device that produces pulses and sends them to the driver.
The indexer calculates the motion profile from the motion
data (i.e. starting speed, running speed, acceleration/decel-
eration rate and the length of move) supplied by the
external controller or DP-01 Data Pack and then sends the
pulse train to the driver.
With the UI215GA, all of the important parameters of a
motion profile; starting speed, running speed, acceleration/
deceleration rate and the length of a move can be set by the
user. The UI215GA then takes all of the data that has been
Motor
AVelocity
Profile Constant Running Speed
Starting
Speed Slope=
Accel
T1 T2
Slope=t
Decel
Increasing Decreasing
Pulse Pulse
Frequency Frequency
Pulse Constant Pulse Frequency
TD1:9111).1 I I 11111111111111111111111111111111I I Time
T2 T3 T4
T3
Time
T4
set, and by using the built in microprocessor, cal-
culates the step and direction signals (motion pro-
file) to be sent to the driver. See figure 2.
The UI215GA can also be set to operate in 4 differ-
ent operating modes. The 4 operating modes are:
1) Index mode - move the number of steps that has
been set with each start signal received.
2) Return to Electrical Home mode - return to the
original starting point (point where the internal
counter is equal to zero).
3) Continuous mode - move continuously until a
stop signal.
4) Jog mode - moves 1 step per start signal or 4 pps
while the start signal is held "ON" continuously.
The UI215GA can also perform a Return-to-Me-
chanical Home Position (limit switch) hunting
function with the help of a Programmable Control-
ler.
The Driver: The driver has several sections and
functions. Contained in the driver is the logic used
to convert the step and direction signals from the
indexer into "ON" and "OFF" signals for the
motor windings, the power amplifier to amplify
the signals from the logic section to useful levels
for the motor and the power supplies required for
each section.
-The Motor: The stepping motor converts the
electrical signals from the driver into rotational
movements.
The Load: The load is whatever the user wants
to move.
Figure 2: Typical Motion Profile 2

UI215GA & DP-01 LAYOUT
Intelligent Driver
U1215GA
E
INTELLIGENT DRIVER
UI215GA
POWER •
READY •
TIMING •
ALARM •
RUN
STOP
A.C.D
A.H.O.
FULL
-YELLOW
WHITE
BLACK
RED
GREEN
-BLUE
AC 115V
Data Pack
DP-01
61 DATA PAC
DP-01
X
PULSE
OFF
SW CON
RESET
S-STOP
START
VEXTA
Mode (Operating mode)
Index
Return to Electrical Home
Jog
Continuous Running/Home Hunting
Pulse (Number of steps)
Number of steps in index move
0to 9,999 steps maximum
Special cable/connector
(Included with the DP-01)
Range (Speed range)
High/Low
Speed
Running speed
Rate
Acceleration/Deceleration Rate
SW Control
When in the "Off" position, this
disables the CW/CCW, RESET,
S-STOP and START switches on the
DP-01. This allows these functions to
be controlled exclusively by an
external controller
CW/CCW
Direction of rotation
Reset
Stops motor motion and resets the
internal counter to zero
S-Stop
In the continuous mode the motor will slow
down to the base speed.
In the Index and Return modes the motor
will decelerate and stop.
The interrupted move will be completed
when the next START signal is received
Start
The START signal causes the UI215GA to
read all input data lines, calculate the
motion profile and then begin the motion.
All input switches are ignored (except for
RESET and S-STOP) until the move has
been completed and the ready light comes
"ON"
3

CONTENTS INCLUDED IN THIS PACKAGE
UI215GA 1 Unit
ACCESSORIES:
External Controller 1pc PCA-36FES Solder Type
Connector (CN1) Honda Tsushin Kogyo Co., Ltd 4101111111001NOMMIA
External Controller 2pc PCA-36LSM
Connector Case Honda Tsushin Kogyo Co., Ltd
Screw Driver for 1pc
External Controller
Connector Case
Strain Relief for 2 sets (6 pieces total)
External Controller
Connector
Mounting Bracket A 2pc
(Flat)
Mounting Bracket B 2pc
(L-shaped)
Screws 4pc 2x6 M3
2sets
M
Check for any possible damage due to transportation. If any problems are found, contact the dis-
tributor or direct sales office from whom you purchased this product.
4

MOTORS THAT CAN BE USED WITH THE UI215GA
Motor Total current
(Both phases) (A)
Phase current
(A/phase)
Holding Torque
(oz-in)
Step Angle
(deg)
Motor Size
Dia. x Length
PX244-02AA (BA) 1.6 0.8 22.2 1.8° 1.65" x 1.54"
PX245-01AA (BA) 2.4 1.2 31.9 1.8° 1.65" x 1.85"
PH264-01 (B) 2.2 1.1 40.3 1.8° 2.22"0 x 1.54"
PH266-01 (B) 2.4 1.2 83.3 1.8° 2.22"0 x 2.13"
PH268-21 (B) 2.5 1.25 125 1.8° 2.22"0 x 2.99"
PH296-02 (B) 2.5 1.25 174 1.8° 3.27"0 x 2.44"
PX244M-01AA (BA) 2.4 1.2 16.6 0.9° 1.65" x 1.54"
PX245M-01AA(BA) 2.4 1.2 23.6 0.9° 1.65" x 1.85"
PH264M-31 (B) 1.7 0.85 25 0.9° 2.22"0 x 1.54"
PH265M-31 (B) 2.2 1.1 52.8 0.9° 2.22"0 x 2.01"
NUMBER
OF STEPS
BINARY CODED DECIMAL (BCD) "ON"/"OFF" COMBINATIONS
INDEX DATA 8 INDEX DATA 4 INDEX DATA 2 INDEX DATA 1
0OFF OFF OFF OFF
1OFF OFF OFF ON
2OFF OFF ON OFF
3OFF OFF ON ON
4OFF ON OFF OFF
5OFF ON OFF ON
6OFF ON ON OFF
7OFF ON ON ON
8ON OFF OFF OFF
9ON OFF OFF ON
The UI215GA intelligent step motor driver has a maximum current output of 1.25A/phase (2.5A total).
Therefore, only the motors listed below are recommended for use with the UI215GA. These motors are
recommended due to their winding characteristics. The use of any other motors with the UI215GA driver
may damage the driver, the step motor or both.
Motors recommended for use with the UI215GA Intelligent Driver
BINARY CODED DECIMAL (BCD) FORMAT
The Index Data (number of steps in an index mode move) is input to the UI215GA Intelligent
Driver in a Binary Coded Decimal (BCD) format. In the BCD format, four data lines are used to
represent each decimal digit (1000's, 100's, 10's and l's). The UI215GA has a maximum of 9,999
steps (4 digits), therefore, 16 data lines are necessary to have complete flexibility when selecting the
number of steps in an Index move. Similarly, 4 data lines are required for the Running Speed inputs.
By referring to the table below, the correct "ON"/"OFF" combinations can be determined to com-
plete the desired length of move. See the wiring example shown on page 21 for details on selecting a
move length of 6,798 steps.
Binary Coded Decimal Format
NOTE: A data line is considered "ON" when there is a connection between it and ground.
5

INSTALLATION
INSTALLING THE MOUNTING BRACKETS
Use the metal brackets and screws provided to install the unit. The UI215GA can be mounted in
either a Rear, Front, Side, Bottom or Top mounting configuration as show in the figures below.
Rear
Mounting
Bottom
Mounting
O
00
Front
Mounting
Top
Mounting
op
op
Mounting bracket hole drilling dimensions
Rear and front
Mounting Pattern
10.04 10.63
Side
Mounting
•The UI215GA should be mounted to a metal
surface in order to be properly heat sulked.
•Please allow lin. of free space between the
UI215GA and any other equipment when
mounting. Note: the DP-01 Data Pack can be
mounted flush against the UI215GA.
•Securely attatch the UI215GA to the mounting
surface by using all 4 screws that are provided.
Side Top and Bottom
Mounting Pattern Mounting Pattern
0.35 3.94
0.79 1.61
0$- 10 04 10.63 1.38
6

UI215GA
CONNECTING TO THE MOTOR
With no power connected to the driver, securely
attach the colored motor lead wires to the corre-
sponding terminals on the UI215GA (See the
drawings to the right for connecting either a 6 lead
or 8 lead wire stepping motor). Motor wiring
should be kept as short as possible for best per-
formance. If longer lead wires are required, use at
least size AWG 20 wire. Securely connect the
wires to the terminal screws and route them away
from any signal lines. Completely reinstall the
clear plastic shield prior to putting power to the
driver.
WIRE TERMINATION
Please use a size AWG 20 I.D. type wire termina-
tion (round or U-shaped) on the input power and
motor lead wires to ensure a proper connection.
Make sure that the input power is "OFF" while
connecting it to the UI215GA
—YELLOW
WHITE
BLACK
RED
GREEN
—BLUE
UI215GA
—YELLOW
WHITE
BLACK
RED
GREEN
—BLUE
Yellow
White/Black
VVhiteiOrang•
Recommended wire
termination
(Round or U-shaped)
CONNECTING TO THE POWER SOURCE
Apower source of 115VAC ±10%, 60HZ, <1.3A
is required to operate the UI215GA. Securely
attach the wires from the power supply to the
terminals marked "AC 115V". Once power is
applied, potentially dangerous voltages will be
present in the AC power line and wires leading to
the motor. Care should be taken to ensure that all
exposed metal parts of the connector, wires or
terminal strip are electrically insulated to avoid
accidental contact. The terminal marked "FG (frame
ground)" on the UI215GA must be properly
grounded to reduce the chance of electrical shock.
Be sure to completely reinstall the clear plastic
shield prior to putting power to the driver.
U1215GA
Li
AC 115V
I
FG
2Phase
Step Motor
with 6
lead wires
2Phase
Step Motor
with 8
lead wires
AWG 20 or thicker
SUPER
VEXTA
AC 115V
FG
AWG 18 or thicker
7

SWITCH SELECTABLE FEATURES
SETTING THE A.C.D. FUNCTION
SWITCH:
The A.C.D. function turns "ON" or "OFF" the
automatic current cutback function that is built
into the Intelligent Driver unit. When the A.C.D.
switch is in the "ON" position, the motor phase
current value will be reduced to between 30% to
80% (adjustable) of the run phase current value
after the motor has been stopped for approximately
0.2 seconds. The value of the current cutback can
be set by adjusting the STOP potentiometer to the
desired value. See pages 10 and 11 for complete
instructions on how to set the RUN and STOP
current values. A current cutback value of approxi-
mately 50% of the run current value is recom-
mended. This function is extremely helpful in
reducing the amount of motor heating while the
motor is at rest.
When the A.C.D. switch is in the "OFF" position,
the auto current down function is completely dis-
abled and the motor phase current will not be
reduced. This override capability is very useful
when full holding torque is still required to hold the
load when the motor is at rest (e.g. motor is moving
aweight against the force of a spring or gravity)
SETTING THE FULUHALF STEP
FUNCTION SWITCH:
When the FULL/HALF step function switch is in
the "FULL" position, the UI215GA Intelligent
Driver will move the motor in a "2-phase on" man-
ner resulting in steps of 1.8° for 1.8°/step motors
and steps of 0.9° for 0.9°/step motors.
When the FULL/HALF step function switch is in
the "HALF" position, the UI215GA Intelligent
Driver will move the motor in a "1-2-phase on"
manner resulting in steps of 0.9° for 1.8°/step
motors and 0.45° for 0.9°/step motors.
Running
Speed
Base
Speed
Stopped
Run
Current
Stop
INTELLIGENT DRIVER
UI215GA
POWER •
READY •
TIMING •
ALARM •
RUN
STOP
A.C.D
A.H.O
FULL
MAX
HALF
ACD (AUTO CURRENT DOWN)
function override switch
Motor current is automatically
cutback about 0.2 seconds after
the motor stops. Stopped current
is an adjustable 30% to 80% of
the running current
about 0.2 Sec.
Motor Current Level
Current
100%
30 to BO%
(adjustable)
Time
E
INTELLIGENT DRIVER
UI215GA
POWER •
READY •
TIMING •
ALARM •
RUN
STOP
A.C.D
AH.0
FULL
MAX
MIN
MAX
MN
E1111
Ell
ON
ON
•FULL/HALF step switch
HALF
8

OVERHEAT PROTECTION (AUTO-
MATIC THERMAL-CUTOUT: AHO)
When the temperature of the heat sink inside the
driver reaches approximately 176°F (80°C), the
motor output current is automatically shut off, the
alarm indicator on the front panel lights up, and the
"OVERHEAT ALARM" output signal (Pin '35) is
turned "ON" at connector CN1.
In applications where the sudden removal of motor
current could pose a safety problem (e.g. motor is
moving a weight against the force of gravity or a
spring), the AHO switch can be turned to the
"OFF" position to disable the function. If the tem-
perature of the internal heat sink reaches 176°F
(80°C) while the AHO function switch is "OFF",
the alarm indicator on the front panel will still light
up and the "OVER-HEAT ALARM" output signal
(Pin *35) will still be turned "ON" at connector
CN1 even though the Al-10 function has been
disabled. Current to the motor will not be shut off,
however.
If an overheat alarm occurs, review the application
requirements to make sure that they are within the
specifications of the UI215GA (Drive duty cycle,
ambient temperature, etc.), or apply forced air
cooling to the driver.
INTELLIGENT DRIVER
U1215GA
POWER •
READY •
TIMING •
ALARM •
RUN
STOP
A.C.D
A.H.0
FULL.
5minutes
or less
Motor
running
MAX
MIN
Ell
ON
ON
HALF
Alarm
indicator
-*AHO function
override switch
Motor stopped
with 50% current
cutback
T1 I _ T2
The maximum recommended duty cycle (running
time vs. stopped time) for the motor and driver is r4° 10 minutes or less
50% running, up to a maximum 10 minute cycle,
(i.e. up to 50% running would be up to 5 minutes T1
of "ON" time). Duty cycle = Ti + T2 x 100% < 50%
The Auto Thermal Cutoff (AHO) function is self
resetting. Once the driver has cooled sufficiently,
the motor may restart abruptly if the input signal
source is still active. Precautions should be taken
to ensure that the system is reset to protect
persons and property against unexpected mo-
tor activity.
9

SETTING THE RUN AND STOP CURRENT LEVELS
Motor Total current
(Both phases) (A)
Phase current
(A/phase)
PX244-02AA (BA) 1.6 0.8
PX245-01AA (BA) 2.4 1.2
PH264-01(B) 2.2 1.1
PH266-01(B) 2.4 1.2
PH268-21(B) 2.5 1.25
PH296-02 (B) 2.5 1.25
PX244M-01M (BA) 2.4 1.2
PX245M-01AA (BA) 2.4 1.2
PH264M-31 (B) 1.7 0.85
PH265M-31 (B) 2.2 1.1
SETTING THE RUN CURRENT LEVEL
The UI215GA is shipped with the Run current po-
tentiometer turned all the way down to its mini-
mum. The motor will not run properly in this con-
dition. To make the motor perform properly, make
the following adjustments described below.
PROCEDURE
(1) Hook up the motor and power as shown in
the wiring diagram below. Turn the power
"ON". Be sure not to apply any start signals
to the U1215GA.
(2) To set the RUN current
For the motors:
PH268-21(B) & PH296-02(B),
set the RUN potentiometer to MAX.
Tot al Current = 2.5A (1.25 A/phase).
For the motors:
PH266-01(B), PH264-01(B),
PX245-01AA(BA), PX244-02AA(BA),
PH265M-31(B), PX245M-01AA(BA),
PX244M-02AA(BA)
First, turn the ACD switch to the "OFF" posi-
tion and the FULL/HALF switch to the "FULL"
position. Then adjust the RUN potentiometer
so that the current measured is equal to double
the phase current value of the motor. See table
"1 below for the correct phase current value for
each motor. (The current should be set to
double because with the wiring diagram shown,
you are measuring the current in two phases at
the same time).
Tabl e 1: Run current/phase values
RUN
potentiometer
10
Intelligent Driver
U1215GA
POWER 0
READY 0
TIMING 0
ALARM 0
RUN
STOP
AC.O.
AH.O.
FULL
Wiring diagram
MAX
MIN
MAX
ON
ON
HALF
Motor DC ammeter
Run Potentiometer for adjusting
the current value when the motor
is running
Stop potentiometer for adjusting
the current value when the motor
is stopped.
ACD (AUTO CURRENT DOWN)
function override switch. Turn the
ACD switch 'OFF` when setting
the RUN current and 'OW for set-
ting the STOP current and for nor-
mal operation.
FULUHALF step switch. Set to
the "FULL" position when adjust-
ing current
12 3 4 5 6 7 8 9 10
RUN potentiometer setting
Note: This graph is an approximation of
the relative potentiometer setting and
the RUN current value.

SETTING THE STOP CURRENT LEVEL
Motor Total current
(Both phases) (A)
Phase current
(A/phase)
PX244-02AA (BA) 0.8 0.4
PX245-01AA (BA) 1.2 0.6
PH264-01(B) 1.1 0.55
PH266-01(B) 1.2 0.6
PH268-21(B) 1.25 0.625
PH296-02 (B) 1.25 0.625
PX244M-01AA (BA) 1.2 0.6
PX245M-01AA (BA) 1.2 0.6
PH264M-31 (B) 0.85 0.425
PH265M-31 (B) 1.1 0.55
After setting the motor running current, turn
the ACD function switch to the "ON" position
and set the motor stopped current value by
using the STOP potentiometer to approximately
1/2 of the running current value. See table #2
below for the correct STOP current values.
STOP
potentiometer
MIN
Tabl e 2: Stop current/phase values
Running
Speed
Base
Speed
Stopped
Run
Current
Stop
Current
P
e
r
C
e
n
100
80
060
r
U
n40
C
U
r20
e
n
Intelligent Driver
U1215GA
POWER 0
READY 0
TIMING 0
ALARM 0
AC.D.
Al-LO.
FULL
MIN
ON
ON
HALF
Run Potentiometer for adjusting
the current value when the motor
is running
Stop potentiometer for adjusting
the current value when the motor
is stopped.
ACD (AUTO CURRENT DOWN)
function override switch. Turn the
ACD switch 'OFF' when setting
the RUN current and "ON" for set-
ting the STOP current and for nor-
mal operation.
FULL/HALF step switch. Set to
the 'FULL' position when adjust-
ing current
12 3 4 5 6 7 8 9 10
STOP potentiometer setting
Motor current is automatically
cutback about 0.2 seconds after
the motor stops. Stopped current
is an adjustable 30% to 80% of
the running current.
—"i about 0.2 Sec.
Motor Current Level
100%
30 to 80%
(adjustable)
Time
11

CONTROLLING THE UI215GA INTELLIGENT DRIVER
The UI215GA can be controlled in three main configurations: 1) Completely controlled by an external
controller (e.g. programmable controller), 2) Completely controlled by the DP-01 Data Pack or
3) Controlled in parallel by both the DP-01 Data Pack and an external controller. The figures below show
the UI215GA Intelligent Driver being controlled in the various configurations.
1) Complete External Controller Control
In this configuration, all motion data is input by the
external controller (e.g. PLC). The external con-
troller determines the operating mode, the length
of the move, the starting and running speeds, the
acceleration/deceleration rate, the direction of
rotation and when to start, slow down or stop. The
DP-01 Data Pack is not required in this configura-
tion to operate the UI215GA. See page 13 for more
details.
2) Complete DP-01 Data Pack Control
In this configuration, all of the motion data is set by
using the DP-01 Data Pack. The DP-01 can control
the UI215GA by simply adjusting the dials or
switches on the front panel to the appropriate
positions to achieve the desired motion. An exter-
nal controller is not required in this configuration.
See page 24 for more details.
3) Parallel Control
Both the DP-01 Data Pack and an external control-
ler can be used in parallel to control the UI215GA.
There are two possible combinations for parallel
control:
A) By having the input data (e.g. speed, length,
etc.) controlled by an external controller and the
command function inputs (i.e. START, S-STOP,
etc.) controlled by the DP-01 Data Pack. Note: Be
sure that the input data (i.e. mode, pulse, speed and
rate) dials are set to the 0 (zero) position.
B) By having the input data controlled by the DP-
01 Data Pack and the command function inputs
controlled by the external controller. NOTE: If
you are using the UI215GA in this configuration,
be sure to set the SW CONTROL switch on the
DP-01 Data Pack to the "OFF" position. This will
disable the CW/CCW, RESET, S-STOP and START
switches on the DP-01 Data Pack so that these
functions can be controlled exclusively by the
external controller.
External
Controller
INTELLIGENT
DRIVER
UI215GA
External
Controller
INTELLIGENT
DRIVER =.
UI215GA
DATA
PACK
DP-01
SIIIMINE111
111131HIERNIS
It
ies• MMMMMMM SWOON
Jew
INTELLIGENT DATA
DRIVER PACK
UI215GA DP-01
ON-
0
0
0
dam
12

EXTERNAL CONTROL OF THE UI215GA
The UI215GA can be controlled by an external source such as a Programmable Controller, binary coded
decimal (BCD) thumbwheel switches, other dry contact switches or open-collector transistor switches.
All of the motion data; starting speed, running speed, acceleration/deceleration rate, direction, length of
travel and the operating mode can be set by simply turning "ON" one or any combination of the inputs
on CN I to perform the desired motion. An input is considered to be "ON" when there is a connection
made between ground (Pin #31) and the desired input line. A signal that is "ON" will have a voltage level
of approximately OVDC, while a signal that is "OFF" will have a voltage level of approximately 10VDC.
If you plan to use the DP-01 Data Pack to control the UI215GA, please turn to page 24 for complete
information on how to operate the UI215GA.
Referring to the table on page 14 which describes the input/ouput signals on CN1 and CN2, input lines
1-16 are used to set the number of steps in an index move. The speed range is selected on input line *17.
Input lines 18 - 21 are used to set the running speed of the move. The acceleration/deceleration rate is
set by using input lines #22 and #23. The operating mode input lines are #24 and #25. The "START" signal
input line is pin #26. Pin #27 is the decelerate/halt input line. Pin #28 is the "RESET" signal input. Pin
#29 is used for the direction of rotation input (CW/CCW). Pin #30 is used for the "ALL WINDINGS
OFF" input signal. The common ground for all of the input lines (1 - 30) is located on pin #31.
Also referring to page 10, pins #32 to #36 on CN I are used as outputs to the external controller. Pin #32
is the "READY" signal output. Pin #33 is the "MAGNETIC BRAKE" signal output. The timing signal
is located at pin #34 while pin #35 represents the "OVERHEAT ALARM" signal output. Pin #36 is the
common emitter transistor type output for lines #32 to *35.
By referring to tables 1 thru 4 on page 15, you can determine which inputs are necessary (turned "ON")
to perform the desired motion.
Description of signals14
Data tables15
Wiring the UI215GA to a programmable controller16
Setting the motion data17
Selecting the operating mode17
Home hunting with the UI215GA and a PLC19
Improving the accuracy of the home position20
Selecting the number of steps in an index move21
Selecting the speed range21
Selecting the running speed21
Selecting the acceleration/deceleration rate22
Using the command functions22
CW/CCW22
RESET22
S-STOP23
START23
All windings off (AWO)23
13

Description of Signals
Pin # Name of Signal Input/
Output Function Note
CN 1 CN 2
1 1 INDEX DATA 1 Input Number of steps = 1 Selected when the photo coupler is "ON"
2 2 INDEX DATA 2 Input Number of steps = 2 Selected when the photo coupler is "ON"
3 3 INDEX DATA 4 Input Number of steps = 4 Selected when the photo coupler is "ON"
4 4 INDEX DATA 8 Input Number of steps = 8 Selected when the photo coupler is "ON"
5 5 INDEX DATA 10 Input Number of steps = 10 Selected when the photo coupler is "ON"
6 6 INDEX DATA 20 Input Number of steps = 20 Selected when the photo coupler is "ON"
77INDEX DATA 40 Input Number of steps = 40 Selected when the photo coupler is "ON"
8 8 INDEX DATA 80 Input Number of steps = 80 Selected when the photo coupler is "ON"
9 9 INDEX DATA 100 Input Number of steps = 100 Selected when the photo coupler is "ON"
10 10 INDEX DATA 200 Input Number of steps = 200 Selected when the photo coupler is "ON"
11 11 INDEX DATA 400 Input Number of steps = 400 Selected when the photo coupler is "ON"
12 12 INDEX DATA 800 Input Number of steps = 800 Selected when the photo coupler is "ON"
13 13 INDEX DATA 1000 Input Number of steps = 1000 Selected when the photo coupler is "ON"
14 14 INDEX DATA 2000 Input Number of steps = 2000 Selected when the photo coupler is "ON"
15 15 INDEX DATA 4000 Input Number of steps = 4000 Selected when the photo coupler is "ON"
16 16 INDEX DATA 8000 Input Number of steps = 8000 Selected when the photo coupler is "ON"
17 17 SPEED RANGE Input Select speed range High or Low See Table 1
18 18 SPEED DATA 1 Input Running Speed 1 See Table 2
19 19 SPEED DATA 2 Input Running Speed 2 See Table 2
20 20 SPEED DATA 4 Input Running Speed 4 See Table 2
21 21 SPEED DATA 8 Input Running Speed 8 See Table 2
22 22 RATE 1 Input Acceleration/Deceleration Rate 1 See Table 3
23 23 RATE 2 Input Acceleration/Deceleration Rate 2 See Table 3
24 24 MODE 1 Input Operating Mode 1 See Table 4
25 25 MODE 2 Input Operation Mode 2 See Table 4
26 26 START Input Start Signal Move starts on the leading edge of signal
27 27 SLOW DOWN/STOP Input
Decelerate/Halt signal or
Decelerate to base speed
signal
Continuous Running Mode: Motor deceler-
ates to base speed; Index and Return Modes:
Motor decelerates and stops
28 28 RESET Input Emergency stop and counter reset Motor stops with reset signal
29 29 CW/CCW DIRECTION Input
CW rotation when the signal is
"OFF" and CCW rotation when
the signal is "ON"
30 30 ALL WINDINGS OFF Input
Turns off the current to the motor
windings when the "ALL WINDINGS
OFF" signal is "ON"
Removes current for manual positioning
of motor, or to reduce motor
temperature
31 31 GND* Common for all input lines
32 READY Output Signal is "ON" while the motor
is ready to be operated
33 MAGNETIC BRAKE Output Electromagnetic brake "ON"
and "OFF" signal
"ON" while the motor is running,
"OFF" for fail safe brake
34 TIMING Output "Phase V position signal output "ON" when the motor is in the
"Phase W position
35 OVERHEAT ALARM Output
Output signal is "ON" when
the temperature of the drivers
internal heat sink reaches
approximately 175°F (80°C)
Current to the motor is removed
unless the AHO switch is "OFF"
36 COM (EMITTER)* Common for all output lines
An input signal is considered to be "ON" when there is continuity to ground (Pin #31).
An output signal is considered to be "ON" when it is LOW or CLOSED.
Connector CN1 and CN2 Input/Output Signals
*Connect any external controller such as a programmable controller to CN1.
** Connect the Data Pack DP-01 (Available separately) to CN2.
Pin numbers I thru 31 on CN1 and CN2 are internally connected to the
corresponding pins on either connector. 14
*There is no internal connection between pin
'31 (GND for inputs) and pin '36 (COM for
outputs).

Tab le 1: Setting the Speed Range Table 3: Setting the Acceleration/Deceleratior
Speed Range Low Speed High Speed
Starting speed 50 pps 300 pps
Running speed 50 - 1000 pps
(16 rates)
1200 -5000 pps
(16 rates)
Accel/Decel rate 0- 156ms/kpps
(4 rates)
0- 68ms/5kpps
(4 rates)
ignal
Rate
Rate
1
Pin 22
Rate
2
Pin 23
Speed Range
Remark
Low speed
(ms/1000 pps)
High speed
(ms/5000 pps)
0OFF OFF 110 43 Normal
1OFF ON 78 26 Fast
2ON OFF 156 68 Slow
3ON ON 00Constan
Signal
Rate
of Speed
Speed
Data 8
Pin 21
Speed
Data 4
Pin 20
Speed
Data 2
Pin 19
Speed
Data 1
Pin 18
Speed Range
Low speed
(pps)
High speed
(pps)
0OFF OFF OFF OFF 50 1200
1OFF OFF OFF ON 75 1400
2OFF OFF ON OFF 100 1600
3OFF OFF ON ON 150 1800
4OFF ON OFF OFF 200 2000
5OFF ON OFF ON 250 2200
6OFF ON ON OFF 300 2400
7OFF ON ON ON 350 2600
8ON OFF OFF OFF 400 2800
9ON OFF OFF ON 450 3000
10 ON OFF ON OFF 500 3250
11 ON OFF ON ON 600 3500
12 ON ON OFF OFF 700 3750
13 ON ON OFF ON 800 4000
14 ON ON ON OFF 900 4500
15 ON ON ON ON 1000 5000
Signal
Mode
Mode 2
Pin 25
Mode 1
Pin 24 Operating Mode
0OFF OFF Indexing
1OFF ON Return to Electrical Home
2ON OFF Jog
3ON ON Continuous Running
Label Name of terminal Function Remark
YELLOW Motor connection
Motor power lines Hook up each lead wire to the terminal
indicated by the color of lead wire.
WHITE Motor connection
BLACK Motor connection
RED Motor connection
GREEN Motor connection
BLUE Motor connection
AC 115V Power source 115VAC ±10% 60Hz Connect power to the terminal pair
FG Frame ground
The Speed Range is designated to be "Low Speed" when
the switch is in the "L" position and designated to be "High
Speed" when the switch is in the "H" position.
The starting speed (or base speed) is fixed at 50pps in the
low speed range, and 300pps in the high speed range and
cannot be changed.
Tab le 2: Setting the Running Speed
Pins 1 through 16 are used for setting the index data (number of
steps, 0000 to 9999). They are arranged in binary coded decimal
(BCD) format A pin is designated to be "ON" when there is
continuity between it and ground (GND= pin "31, see schematic on
p.16). This connection to the ground pin can be made through a
switch, a transistor, or it can be made directly (hard wired). This
makes the U1215GA ideally suited for use with programmable
controllers. Table 5: Connecting Terminals
* When rate 3 is selected, there is no acceleration or decel-
eration. Therefore, the motor will start at the selected
running speed. If the running speed is greater than the
no load self-starting frequency (marked as fs on the
torque-speed curves on pages 36 and 37), the motor
will not start.
017-0OMMTOM0-iO3
5000
4500
4000
3500
3000
2500
2000
1500
1000
500
0
Fast Normal I Slow
High Speed Range
Starting speed . 300pps
Note: Decal rates are a mirror
image of accel rates
Low Speed Range
91arlIng speed SOppe
Fast Normal Slow
020 40 60 80 100 120 14
HIGH/LOW SPEED RANGE ACCEL RATES
(msec)
Tab le 4 Setting the Operating Mode
15

WIRING THE UI215GA TO A PROGRAMMABLE CONTROLLER
Programmable Controller
Relay OR Transistor
contact output
• 0
•00
• 0 0-0
0-0 o-
00-0
•---0 0-----0
_o
-Co--0
• 0 0-0
▪0----0
0-0 0-0
0 0
•
•6-0-0
•-•-0
•
0--0
Transistor input 24VDC C
CN-1
INDEX DATA 1
INDEX DATA 2
INDEX DATA 4
INDEX DATA 8
INDEX DATA 10
INDEX DATA 20
INDEX DATA 40
INDEX DATA 80
INDEX DATA 100
INDEX DATA 200
U1215GA
2
f3
4)
(5
(6 )
7
(7
9
10VDC
2.2k
..V.1!
INDEX DATA 400
INDEX DATA 800
INDEX DATA 1000
10
11
(12
INDEX DATA 2000
INDEX DATA 4000
INDEX DATA 8000
SPEED RANGE
13
1 14
SPEED DATA 1
17
SPEED DATA 2
18
SPEED DATA 4
)
19
SPEED DATA 8
RATE 1
RATE 2
20
21 )
)
24
25 )
(26
27 )
L28 )
29 )
)
)
GND 777
22
MODE 1
MODE 2
START
S-STOP
RESET
CW/CCW
ALL WINDINGS OFF
GROUND
23
30
READY
31
TIMING
32
BCD input lines for
the l's digit
Negative logic
BCD input lines for
the 10's digit
Negative logic
BCD input lines for
the 100's digit
Negative logic
BCD input lines for
the 1000's digit
Negative logic
Speed Range
H: High, L: Low
BCD input lines for
the Speed Data
Negative logic
Accel/Decel Rate
Negative logic
Operating Mode
Negative logic
START input (neg. logic)
S-STOP input (neg. logic)
RESET input (neg. logic)
CW/CCW input H:CW
L:CCW
AWO input H:normal
L: current off
If PLC output is: "ON", U1215GA input is LOW or "ON"
"OFF", U1215GA input is HIGH or "OFF"
OVER HEAT
34
COMMON
Note: Keep the input data lines at least 3ft. away from the motor lead wires
and at least 1 ft. away from the input power line. The input data lines
should be AWG 24, < 3ft.
)
36
"ON" when the motor is ready
•ki, "ON" when in the Phase 0 position
v. !! "ON" when "0-HEAT" is on
Ou put is: "ON", when U1215GA output is LOW or CLOSED
"OFF",when U1215GA output is HIGH or OPEN
See page 40 for voltage and amperage specs.
16

SETTING THE MOTION DATA
SELECTING THE OPERATING MODE
The UI215GA can operate in four different modes: Index, Return to Electrical Home, Jog and
Continuous Running/Mechanical Home Position Hunting modes.
MODE 0 OR INDEX MODE
When a "START" signal is input to pin #26 on CN1
with the mode selection lines (pins #24 and #25) are
both "OFF", the UI215GA will read all the data input
lines on CN1. The microprocessor will then calculate
the pulse train profile and then execute the length of
move that was preset. The maximum length for each
index move is 9,999 steps. The starting speed (base
speed), running speed, acceleration/deceleration rate
and the direction of rotation that was preset on CN1
will determine how the motor will rotate. The starting
(base) speed is 50pps in the low speed range and
300pps in the high speed range and cannot be changed.
MODE 1 OR RETURN TO
ELECTRICAL HOME MODE
The UI215GA's microprocessor has an internal counter
that keeps track of its current position relative to its
electrical home position each time an index move is
completed (the counter is updated only in the index
mode). The internal counter is equal to 0 when the
UI215GA is in the electrical home position. The inter-
nal counter is set to 0 when power is first applied to the
UI215GA or when the RESET input line (pin #28) is
turned "ON". When the UI215GA is in the Return to
Electrical Home mode (pin #24 "ON" and pin #25
"OFF") and a START signal is input (pin #26), the
motor will move toward the electrical home position.
As the motor nears the home position, it will deceler-
ate and stop when the home position is reached. In
other words, the Return to Electrical Home Mode
returns the system to its original starting position. If
the S -STOP signal is input (pin #27), the motor will
decelerate and stop. The move will be completed
when the next START signal is input. The maximum
number of steps from home that the internal counter
can return is ±16,777,216 steps. The speed at which
the motor will move toward the home position will be
the same as the running speed that is preset on CN1. 17
"0036
Connections for selecting
the INDEX mode (mode 0)
0 0
31 10 ,
00 0 1 1
00
25 Motor Motion
01'24
00
0
❑0
START Signal H
00
00
00 Direction Signal H
0(CW/CCW)
❑a
12
35
25
0
0
Index mode
Connections for selecting
the RETURN mode (mode 1)
00 36
0 0
it° Return to Electrical Home mode
0
0 00 II, I
I0 Motor Motion CW/CCW
or2.
oo
oo
oo
oo
00
oa H 71
00 START Signal
00 L
00
00
00 2
O