2-phase STEPPING SYSTEMS Stepping DC input motor Specifications Stepping motors with internal drivers Features 1.Driver and motor are now integrated into a single unit. A driver incorporating a motion control function needed for driving a motor and a 2-phase stepping motor were integrated into a single unit for enabling a more compact installation space and less wiring. 2.Three types of operation modes can be selected to match the specific application. 1Control by command pulses 2Program control by general-purpose I/O(Parallel) 3Compliant with RS-485, half-duplex asynchronous communication Pulse rate-torque characteristics 42mm1.65inch 60mm2.36inch 0.6 6 0.5 5 70 1.6 16 DB21M142S-01 E=DC24V I=Rated current JL=0.94x10-4kgm2 80 200 1.4 14 180 1.2 12 30 0.3 2 0.2 1 0.1 140 120 100 80 60 20 8 1.0 0.8 6 0.6 4 0.4 2 0.2 40 10 0 10 Torque (N-m) Torque(oz*in.) 3 Torque (N-m) 40 Torque (kgf-cm) Torque(oz*in.) 4 50 160 0.4 Torque (kgf-cm) 60 DB22M162S-01 E=DC24V I=Rated current JL=0.94x10-4kgm2 220 20 0 0 0 0.1 1 10 0 0 0.1 100 1 10 Pulse ratekpulse/s 100 Pulse ratekpulse/s DimensionsUnit : mminch 42mm1.65inch 1.5 0.76.59.03 +.04 59 .00 (EFFECTIVE LENGTH) 15 0.025 310.251.22.01 0.05 A A 119 4-M3x0.5 ManufacturerJST NAME PLATE CN2:I/O CONNECTORSM20B-SHLDS-GW-TF PSW RSW DSW EARTH TERMINAL O N 6 4 5 3 2 1 6 345 5 012 E F 7 8 9A M2.5X0.45X4L BCD TAP DEPTH 4.16MIN. 4.5 0.151.18.01 42 0.51.65.02 220 310.251.22.01 1 +.000 0 22 -0.05 .87- .002 R3MIN. 2 CONNECTORS02B-PASK-2 42 0.51.65.02 240.5.94.02 +.08 .00 ManufacturerJST +.0000 0 5 -0.013 .1968- .0005 +2 70 0 2.76 CN1:POWER Part numberFlange size DB21M142S-0142 Input sourceNote1 DC24 V 10 Getaway torque A 2 MAX. Basic specifications Stepping Motors with Internal drivers Specifications DB22M162S-0160 3 MAX. Protection class Class I Operation environment Installation categoryover-voltage category: II, pollution degree : 2 Applied standards EN61010-1 Operating ambient temperature Note2 0 to +40 Conservation temperature -20 to + 60 Operating ambient humidity 35 to 85%RHno condensation Conservation humidity 10 to 90%RHno condensation Operation altitude 1000 m3280 feet MAX. above sea level Vibration resistance Tested under the following conditions ; 4.9m/s2, frequency range 10 to 55Hz, direction along X, Y and Z axes, for 2 hours each Impact resistance Not influenced at NDS-C-0110 standard section 3.2.2 division "C " . Withstand voltage Not influenced when 1500V AC is applied between power input terminal and cabinet for one minute. Insulation resistance 10M ohm MIN. when measured with 500V DC megohmmeter between input terminal and cabinet. MassWeight 0.5kg1.10lbs Protection function Against driver overheat Set model Environment 0.87kg1.92lbs LED indicator Alarm monitor Command pulse input signalNote3 Photo coupler input method, input resistance 220 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V Power down input signalPD Photo coupler input method, input resistance 470 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V Step angle setting selection inputEXT Photo coupler input method, input resistance 470 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V FULL/HALF setting selection inputF/H Photo coupler input method, input resistance 470 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V EMG input signal Photo coupler input method, input resistance 470 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V BUSY output signal Photo coupler input method, input resistance 220 Input signal voltage : " H " = 4.0 to 5.5V, " L" = 0 to 0.5V Phase origin monitor output signalMON Open collector output by photo coupler Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX. Alarm output signal AL Open collector output by photo coupler Output signal standard : Vceo = 30V MAX., Ic = 20mA MAX. Stepping motor Function I/O signals 1 Note that the power voltage must not exceed 24VDC + 10% (26.4VDC). If the driver is placed in a box, the temperature inside the box must not exceed this specified range. The maximum input frequency is 250k pulse/s. 2 +2 0 3.46 +.08 .00 0.1 70.25.27.01 1.50.25.06.01 +1 +.04 15 0 .59 .00 (EFFECTIVE LENGTH) 0.025 600.52.36.02 47.10.131.85.01 0.075 A A 119 O N 5 6 2 3 4 F0 12 345 6 EARTH TERMINAL M2.5X0.45X4L DS 1 BCD E 7 8 9A RSW NAME PS PLATE CN2:I/O ManufacturerJST CONNECTORSM20B-SHLDS-GW-TF 5.80.15.23.01 +0.5 +.02 4-4.5 0 4-.18 .00 IC for stepping motor 1 600.52.36.02 2 220 47.10.131.85.01 R4MIN. 38.10.251.5.01 CN1:POWER ManufacturerJST CONNECTORS02B-PASK-2 A 20.60.5.81.02 88 0 +.000 6.35 -0.013 .25 -.001 60mm1.65inch Dimensions 3 6 2-phase STEPPING SYSTEMS Specifications Input circuit configuration Input interface Input circuit configuration 220 Input signal Input signal specifications Negative logic 2s MIN. to Approx. 15 mA Rotation Pulse duty 50 % MAX. to 1s MAX. 1s MAX. Positive logic 1s MAX. 1s MAX. to Rotation Approx. 15mA Pulse duty 50% MAX. to 2s MIN. Timing of the command pulse 2-input modeCW, CCW 50s MIN. * The internal photo coupler turns ON within the and, at its falling edge to OFF, the internal circuitmotoris activated. * When applying the pulse to CW, turn OFF the CCW side internal photo coupler. * When applying the pulse to CCW, turn OFF the CW side internal photo coupler. Pulse and direction modeCK, U/D 50s MIN. 7 10s MIN. * The " H " level is input for and, at its rising edge to " H " level, the internal circuitstepping motoris activated. * Switching the input signal U/D should be performed while the input level on the CK side is " L" . * Shaded area indicates internal photo coupler "ON " . Approx. 10mA * EXT input signal EXT photo coupler "ON " enables a function by external F/H input signal. EX T photo coupler " OFF " enables the set ting of a number of micro steps by main unit 's rotary switch S.S. Input signal Timing of command pulse, step angle selection, and FULL/HALF selection input signal Command pulse 100s MIN. * F/ H input signal F/H photo coupler " ON " sets HALF step (2-division) operation. F/H photo coupler " OFF " sets FULL step (1-division) operation. * Refer to switching EXT and F/H input signal in the [FULL/HALF input signal, command pulse, and step angle select]. 10s MIN. * When switching the step angle by EXT and F/H input signal, the phase origin LCD may not turn ON and the phase origin monitor output may not output when stop. Refer to the MON output in the [Output Interface]. Stepping Motors with Internal drivers Input circuit configuration PDEXTF/HEMG Set model Input circuit configuration Output interface Output circuit configurationBUSYMONAL Output signal Stepping motor MAX. 20mA MAX. 30V Driver Mon output * When the motor excitation phase is at the phase origin (power ON status), the photo coupler is turned "ON" , and the upper D.P of status LED turns on synchronously. CW pulse CCW pulse Dimensions * Output from MON is set to on at every 7.2 degrees of motor output shaft from phase origin. Mon output When changing the division setting by F/H input signal. Phase origin position HALF step Switching to FULL step by external F/H FULL step Phase origin position Stop position at FULL step * When changing the motor division setting by the external input signal and the rotary switch as shown in the example below, the motor cannot stop where MON output signal can be output. Take this into consideration when using the MON output signal. IC for stepping motor Motor shaft 8 2-phase STEPPING SYSTEMS Specification WIRING Specification Summary of Input/Output Signals (Serial I/F mode) Signal General-purpose input common Alarm clear signal standard Reference Designation Pin Number +COM 6 ALMC 6 Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear IN1 6 Emergency stop input EMG 6 Origin signal ORG 6 + direction overtravel signal +OT 7 General-purpose input 2 IN2 7 Emergency stop input EMG Origin signal ORG 7 Alarm clear signal ALMC 7 - direction overtravel signal - OT 8 General-purpose input 3 IN3 8 Emergency stop input EMG 8 Origin signal ORG 8 ALMC 8 Alarm clear signal 7 Pin Number Emergency stop signal EMG 9 General-purpose input 4c IN4 9 Origin signal ORG 9 Alarm clear signal ALMC 9 During motor operation BUSY 10 During program execution PEND 10 Zone signal ZONE 10 During program execution PEND 11 During motor operation BUSY 11 Zone signal ZONE 11 Alarm output ALM 12 OUT_COM 13 It is for the output signal common. DATA+ 14 It is for the serial signal. DATA - 15 It is for the serial signal. Signal Input signal common of the 6 to 9 pins DC 5V is input. General-purpose input 1 Reference Designation Function Summary This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 1 on Internal photo coupler off ... General purpose input 1 off The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler of...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off...Origin signal off An overtravel signal in the + direction is input. Internal photo coupler on ...+ direction overtravel not arrived Internal photo coupler off ...+ direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 2 on Internal photo coupler off ...General purpose input 2 off The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear An overtravel signal in the - direction is input. Internal photo coupler on ...- direction overtravel not arrived Internal photo coupler off...- direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 3 on Internal photo coupler off ... General purpose input 3 off emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear Output signal common DATA+ DATA - Function Summary The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off...Emergency stop This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 4 on Internal photo coupler off ... General purpose input 4 off The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off alarms are cleared. Internal photo coupler off on...Alarm clear The operation status of the motor is output. Internal photo coupler on...During motor operation Internal photo coupler off...During motor stop The execution status of the program is output. Internal photo coupler on...During program execution Internal photo coupler off...Program execution complete on when the current position is inside the coordinates that were set beforehand. The execution status of the program is output. Internal photo coupler on...During program execution Internal photo coupler off...Program execution complete The operation status of the motor is output. Internal photo coupler on...During motor operation Internal photo coupler off...During motor stop Turns on when the current position is inside the coordinates that were set beforehand. When various alarm circuits operate in the driver, an external signal is output. At this time, the stepping motor becomes non excited status. Specification Summary of Input/Output Signals (Pulse train I/F mode) Reference Designation Pin Number CW pulse input Standard CW+ CW - 1 2 When " 2 input mode" , Input drive pulse rotating CW direction. Pulse train input CK+ CK - 1 2 When " 1 input mode" , Input drive pulse train for motor rotation. CCW pulse input Standard CCW+ CCW - 3 4 When " 2 input mode" , Input drive pulse rotating CCW direction. Rotational direction input U/D+ U/D - 3 4 6 Signal General-purpose input common Power down input Step angle select input 9 +COM PD EXT 6 7 Function Summary Signal Reference Designation Pin Number Function Summary FULL/HALF select input F/H 8 When EXT input signal on internal photo coupler on, F/H input signal oninternal photo coupler on ... HALF step F/H input signal offinternal photo coupler off ... FULL step When "1 input mode" , Input motor rotational direction signal. Internal photo coupler ON ... CW direction Internal photo coupler OFF ... CCW direction Emergency stop EMG 9 The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off ...Emergency stop Input signal common of the 6 to 9 pins DC5V is input. During motor operation BUSY 10 Phase origin monitor output MON 11 Alarm output ALM 12 Output signal common OUT_COM 13 Inputting PD signal will cut off power offthe current flowing to the Motor With dip switch select, change to the Power low function is possible. PD input signal on internal photo coupler on ... PD function is valid. PD input signal off internal photo coupler off ... PD function is invalid. FULL/HALF select input will become valid by inputting EXT signal. EXT input signal on internal photo coupler on ... External input signal F/H is valid EXT input signal off internal photo coupler off ... Main body rotary switch S.S is valid The operation status of the motor is output. Internal photo coupler on ...During motor operation Internal photo coupler off ...During motor stop When the excitation phase is at the originin power onit turns on. When FULL step, ON once for 4 pulses, when HALF step, ON once for 8 pulses. When alarm circuits actuated inside the Driver, outputs signals to outside. Then the Stepping motor becomes unexcited status. It is for the output signal common. As for the Motor rotational direction, CW direction is regard as the clockwise revolution by viewing the Motor from output shaft side. 1 2 Program pause PAUSE+ PAUSE- 3 4 +COM 6 Input signal common of the 6 to 9 pins DC5V is input. ALMC 6 Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear IN1 6 Program number selection bit 1 B1 6 Emergency stop input EMG 6 Origin signal ORG 6 + direction overtravel signal +OT General-purpose input 2 IN2 7 Program number selection bit 2 B2 7 Emergency stop input EMG 7 Origin signal ORG 7 Alarm clear signal ALMC 7 - direction overtravel signal -OT 8 General-purpose input 3 IN3 8 Program number selection bit 4 B4 8 Emergency stop input EMG 8 Origin signal ORG 8 Alarm clear signal ALMC 7 8 Emergency stop signal EMG 9 General-purpose input 4 IN4 9 Program number selection bit 8 B8 9 This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 1 on Internal photo coupler off ... General purpose input 1 off The program number is selected along with other bits. Subordinate bit Internal photo coupler on...Corresponding bit 1 Internal photo coupler off ... Corresponding bit 0 The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off ...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off An overtravel signal in the + direction is input. Internal photo coupler on ...+ direction overtravel not arrived Internal photo coupler off ...+ direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 2 on Internal photo coupler off ... General purpose input 2 off The program number is selected along with other bits. The second bit from the subordinate Internal photo coupler on...Corresponding bit 1 Internal photo coupler off ... Corresponding bit 0 The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off ...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off Origin signal ORG 9 Alarm clear signal ALMC 9 During motor operation BUSY 10 During program execution PEND 10 Zone signal ZONE 10 During program execution PEND 11 During motor operation BUSY 11 Zone signal ZONE 11 Alarm output ALM 12 Output signal common DATA+ DATA - Function Summary The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off ...Emergency stop This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 4 on Internal photo coupler off ... General purpose input 4 off The program number is selected along with other bits. The fourth bit from the subordinate Internal photo coupler on ... Corresponding bit 1 Internal photo coupler off ... Corresponding bit 0 The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear The operation status of the motor is output. Internal photo coupler on...During motor operation Internal photo coupler off...During motor stop The execution status of the program is output. Internal photo coupler on...During program execution Internal photo coupler off ...Program execution complete Turns on when the current position is inside the coordinates that were set beforehand. The execution status of the program is output. Internal photo coupler on...During program execution Internal photo coupler off ...Program execution complete The operation status of the motor is output. Internal photo coupler on...During motor operation Internal photo coupler off ...During motor stop Turns on when the current position is inside the coordinates that were set beforehand. When various alarm circuits operate in the driver, an external signal is output. At this time, the stepping motor becomes non excited status. OUT_COM 13 It is for the output signal common. DATA+ 14 It is for the serial signal. DATA - 15 It is for the serial signal. Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear An overtravel signal in the - direction is input. Internal photo coupler on ...- direction overtravel not arrived Internal photo coupler off ...- direction overtravel arrived This is a general-purpose input signal that can be used by program driving. Internal photo coupler on...General purpose input 3 on Internal photo coupler off ... General purpose input 3 off The program number is selected along with other bits. The third bit from the subordinate Internal photo coupler on...Corresponding bit 1 Internal photo coupler off ... Corresponding bit 0 The emergency stop signal is input. Internal photo coupler on...No emergency stop Internal photo coupler off ...Emergency stop The origin signal used for the return to origin operation is input. Internal photo coupler on...Origin signal on Internal photo coupler off ... Origin signal off Recoverable alarms are cleared. Internal photo coupler off on...Alarm clear Set model START+ START- General-purpose input 1 Pin Number Signal Program drive Start/Stop General-purpose input common Alarm clear signal standard Reference Designation Function Summary Commands the start and stop of program driving. Internal photo coupler on...Program driving start Internal photo coupler off ...Program driving stop When START signal on, a pause in program driving is commanded. Internal photo coupler on...Program driving pause Internal photo coupler off ...Program driving pause release Stepping motor Pin Number External Wiring Diagrams Controller DC24V 24G Driver CN1 1 2 CN2 DATA DATA- GND-5G 2 Phase Stepping Motor 24V 24G Power Supply 5G 5V 14 15 Dimensions Reference Designation 20 RXD TXD CWSTART CW-START- CCWPAUSE CCW-PAUSE- COM PDIN1B1 EXTIN2B2 FHIN3B4 IN4B8 BUSYOUT1 MONOUT2 ALM OUT_COM DE 1 2 3 4 5 6 7 8 9 10 11 30V 20mA MAX. IC for stepping motor Signal Stepping Motors with Internal drivers Specification Summary of Input/Output Signals (Parallel I/F mode) 12 13 10 2-phase STEPPING SYSTEMS Specification SET UP Function Select Dip Switch The functions according to the specification can be selected with this Dip switch. Confirm the ex-factory setting as follows. OFF ON 1 F/R OFF 2 input mode (CW/CCW pulse) 2 LV OFF Micro step operation 3 PD OFF Power OFF 4 OFF Phase origin excitation 5 I. SEL OFF 6 S. SEL OFF Pulse stream I/F mode For pulse stream I/F mode 1 Input mode selectF/R Input pulse mode selection This switch setting is only effective in pulse stream I/F mode. F/R Input pulse mode ON 1 input modeCK,U/D OFF 2 input modeCW,CCW 2 Low vibration mode selectLV Low vibration and smooth operation is enabled even by the rough resolution setting e.g. 1 division, 2 division. This switch setting is only effective in pulse stream I/F mode. For parallel I/F mode and serial I/F mode, this is usually a low vibration operation. LV Operation ON Low vibration operation OFF Micro step operation When LV select is ONlow vibration mode, operational process of driving pulse will be carried out inside the Driver. Therefore, the Motor movement delays for the time of 3.2ms pulse per input pulse. Note that depending upon the combined Motor, load,driving profile and etc, it may take a while until the shaft is adjusted when the Motor stops.In parallel I/F mode and serial I/F mode there is no delay 3 Power down selectPD Select the Motor winding current value when inputting the power down signal.This switch setting is only effective in pulse stream I/F mode. PD Motor winding current ON Current value by rotary switch STPPower Low OFF 0APower OFF PD functionthe setting selected by PD of the function select dip switch is enabled by PD input signal ONbuilt-in photo coupler ONof Input/ Output signal connectorCN2. Power down signal input is prior to all the other current settings except for alarms. The operational status may not be maintained such as power swing due to output torque drop or lower operation due to Motor current OFFunexcited Motor. Pay extra attention to the input timing of the power down signal in addition that the security device should be installed to the machine. 4 Excitation selectEORG By turning on the EORG, excitation phase when power OFF is saved. 5 , 6 Operation mode selectionI.SEL, S.SEL The operation mode is selected. I.SEL S.SEL - OFF ON Operation mode Pulse stream I/F mode OFF Parallel I/F mode ON Serial I/F mode Change the operation mode selection switch after cutting off the driver s power supply. 11 For parallel I/F mode or serial I/F mode The communication speed of serial communication is set. Switch F/R LV PD Set value OFF Communication speed(bps) 9,600 19,200 38,400 115,200 ON OFF ON OFF ON The setting change after the power supply is turned on is invalid. It does not function as a F/R, LV, and PD. The communication speed of pulse stream I/F mode is fixed at 9600bps. For pulse stream I/F mode When it selects the step angle, the driving current is selected, and stops the current is selected, set by combining rotary switch (RSW) and mode change switch (PSW). 1. Step angle select(S.S) The divisions of the basic step angle (0.9/step) when micro step driving can be set with this rotary switch. Gradation 0 1 2 3 4 5 6 7 Partition 1 2 2.5 4 5 8 10 20 Gradation 8 9 A B C D E F Partition 25 40 50 80 100 125 200 250 Stepping Motors with Internal drivers Rotary switch(RSW) and the mode change switch(PSW) Ex-factory setting is at 1 (division 2) (built-in photo coupler ON) of Input/Output signal connector (CN2). 2. Driving current select(RUN) The Motor operation current value can be selected with this rotary switch. Gradation Motor current (%) Gradation Motor current (%) 0 100 (rated) 8 1 2 3 4 5 6 7 95 90 85 80 75 70 65 9 A B C D E F 60 55 50 45 40 35 30 25 Set model The step angle select switch (S.S) and the number of partitions become invalid by EXT input signal ON Ex-factory setting is at 0 (rated value). When there is a sufficient extra motor torque, lowering the operation current value will be effective in 3. Current Select when Stop (STP) The motor current value when stop and when power down input signal ON (power low function is selected by dip switch) can be selected with this rotary switch. Gradation Motor current (%) Gradation Motor current (%) 0 100 (rated) 8 1 2 3 4 5 6 7 95 90 85 80 75 70 65 9 A B C D E F 60 55 50 45 40 35 30 25 Stepping motor the lower vibration. The Motor output torque is almost proportional to the current value. When adjusting the operational torque, confirm the sufficient operation margin and determine the Motor current value. Ex-factory setting is set at A (50%). The current setting when stop by STP becomes valid when the Motor stops (approximately 200ms after For parallel I/F mode and serial I/F mode The slave bureau address of serial communications is set with this rotary switch. RSW Slave station address (HEX) 0 0 1 1 E E F F Dimensions the last pulse input) and when power down input signal Ex-factory setting is set at 0 IC for stepping motor The slave station address of the pulse stream I/F mode is fixed at 0. 12