Autonics AAiSA-86LA User Manual Download

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Preface

© Copyright Reserved Autonics Co., Ltd.

iii

Preface

Thank you for purchasing Autonics product.

Please familiarize yourself with the information contained in the

Safety Considerations

section before using this product.

This manual contains information about the product and its proper use, and should be kept
in a place where it will be easy to access.

Summary of Contents for AAiSA-86LA

Page 1: ...pStepperSystem AiSA D Series MMD AiSAU1 V1 0 2008US ThankyouforpurchasinganAutonicsproduct Thisuseremanualcontainsinformationabouttheproductanditspropoeruse andshouldbekeptinaplacewhereitwillbeeasytoaccess www autonics com ...

Page 2: ......

Page 3: ...asing Autonics product Please familiarize yourself with the information contained in the Safety Considerations section before using this product This manual contains information about the product and its proper use and should be kept in a place where it will be easy to access ...

Page 4: ... or reproduced in either part or whole without permission This manual is not provided as part of the product package Visit our website www autonics com to download a copy The manual s content may vary depending on changes to the product s software and other unforeseen developments within Autonics and is subject to change without prior notice Upgrade notice is provided through out the website We co...

Page 5: ...s Symbol Descriptions Supplementary information for a particular feature Failure to follow instructions can result in serious injury or death Failure to follow instructions can lead to a minor injury or product damage An example of the concerned feature s use 1 Annotation mark ...

Page 6: ...ource Failure to follow this instruction may result in fire or electric shock Instal the unit after considering counter plan against power failure Failure to follow this instruction may result in personal injury economic loss or fire Re supply power after min 20 sec from disconnected power Failure to follow this instruction may result in product damage or malfunction Check Connections before wirin...

Page 7: ...uct damge by releasing holding torque of the motor Use the unit within the rated specifications Failure to follow this instruction may result in fire or product damage Use a dry cloth to clean the unit and do not use water or organic solvelnt Failure to follow this instruction may result in fire or electric shock The driver may overheat depending on the environment Install the unit in the well ven...

Page 8: ... follow this instruction may result in malfunction Do not input external signal until the driver is initialized In Position LED ON after power is applied Motor vibration and noise can occur in specific frequency period Change motor installation method or attach the damper Use and set the motor gain value For using motor it is recommended to maintenance and inspection regularly Unwinding bolts and ...

Page 9: ...andard type 16 1 4 2 Built in Brake Type 16 2 Specifications 17 2 1 Driver 17 2 1 1 Factory Default 18 2 2 Motor 19 2 2 1 Common Specifications 20 2 2 2 Encoder 21 2 2 3 Brake 21 3 Dimensions 22 3 1 Driver 22 3 1 1 Panel Cut out 22 3 2 Motor 23 3 2 1 Standard Type 23 3 2 2 Built in Brake Type 24 4 Installation 25 4 1 Installation of Driver 25 4 2 Installation of Motor 26 4 2 1 Mounting Direction o...

Page 10: ...9 7 4 Connector Specifications 39 7 5 Sold Separately 40 7 5 1 I O Cable CO20 MP R standard AiS TAG 40 7 5 2 Motor Encoder Cable Normal C1D14M Moving C1DF14M 40 8 Electromagnetic Brake 41 8 1 Brake Connection 42 8 2 Brake Operation 42 9 Control Input Output 43 9 1 Input 43 9 1 1 Example of Input Circuit Connection 43 9 1 2 Exclusive Input 44 9 2 Output 49 9 2 1 Example of Output Circuit Connection...

Page 11: ... enhnaced safety Brake operation for safe control of vertical load at power OFF and alarm occur Built in brake type Higher cost efficiency compared to servo motor drivers Torque control mode supported Able to check alarm and status with Alarm Status display part 7 segment Rapid response which is advantageous for the short distance continuous operation Able to implement Low frequency operation and ...

Page 12: ...M Series Insturction manual 1 2 1 3 Connectors Power connector I O connector Brake connector Make sure all of the above components are included with your product package before use If a component is missing or damaged please contact Autonics orthe product distributor I O cable motor encoder cable and power cable are sold separately For more information refer to 7 5 Sold Separately ...

Page 13: ...ecting the cable for connector CN1 motor encoder connector AWG22 AWG24 CN2 power connector AWG18 CN3 I O connector AWG28 CN4 brake connector AWG22 In case of unwanted noise generating from peripherals and power use ferrite core in the wiring is sold separately I O cable motor encoder cable and pwer calbe are sold separately For more information refer to 7 5 Sold Separately ...

Page 14: ...rt as possible and grounded Model Specifications Manufacture RNS 2006 Specified power 250 V Specified current 6 A Max leakage current 1 mA Orient Electronics Surge protector Protect the product from erxternal nois and surge by connectiong power Model Specifications Manufacture LT C12G801W Nominal discharge current 2500 A Max discharge current 5000 A Voltage protectionlevel 1 5 kV OTOWA Electric Co...

Page 15: ...elligent Category No mark Motor S Standard Power A AC Power Item M Motor D Driver Motor frame size 60 60ⅹ60mm 86 86ⅹ86mm Motor axial length M Middle Frame size 60mm 48mm Frame size 86mm 60mm L Long Frame size 60mm 69mm Frame size 86mm 75mm Encoder resolution A 10 000PPR 2 500PPRⅹ4 multiply Brake No mark Standard type B Built in brake type ...

Page 16: ...SA D 60MA AiA M 60MA AiSA 60LA AiSA D 60LA AiA M 60LA AiSA 86MA AiSA D 86MA AiA M 86MA AiSA 86LA AiSA D 86LA AiA M 86LA 1 4 2 Built in Brake Type Set Driver Motor AiSA 60MA B AiSA D 60MA B AiA M 60MA B AiSA 60LA B AiSA D 60LA B AiA M 60LA B AiSA 86MA B AiSA D 86MA B AiA M 86MA B AiSA 86LA B AiSA D 86LA B AiA M 86LA B ...

Page 17: ... Status indicator Alarm Status display part orange LED 7 seg Power Alarm indicator green red LED In Position indicator orange LED Servo On Off indicator blue LED I O Input CW CCW Run pulse Servo On Off photocoupler input input voltage H 24 VDCᜡ L 0 0 5 VDCᜡ pulse width min 1 ms Alarm Reset photocoupler input input voltage H 24 VDCᜡ L 0 0 5 VDCᜡ pulse width min 10 ms Output Photocoupler In Position...

Page 18: ...Nfrequency and max RUN currentat themomentvariesalso 4 Auxiliary power is only available in built in brake type Corresponding specification is not available in standard type 5 Settings are available with the switches located on the front When setting the power must not be applied and cannot be set after power is applied 6 Max input pulse frequency is max frequency to be input and is not the same a...

Page 19: ...ight 3 Standard type Approx 0 95kg approx 0 75kg Approx 1 35kg approx 1 15kg Approx 2 00kg approx 1 70kg Approx 2 60kg approx 2 30kg Built in braketype Approx 1 53 kg Approx 1 35 kg Approx 1 90 kg Approx 1 75 kg Approx 2 76 kg Approx 2 50 kg Approx 3 36 kg Approx 3 10 kg 1 The model name indicates driver type none standard type B built in brake type E g AiCA D 60MA B built in brake type stepping m...

Page 20: ...midity 20 to 85 RH storage 15 to 90 RH Approval ᜢ Protection structure IP30 IEC34 5 standard Stop angle error 1 0 09 Shaft vibration 2 0 03mm T I R Radial movement 3 Max 0 025mm load 25N Axial movement 4 Max 0 01mm load 50N Concentricity for shaft of setup in low 0 05mm T I R Perpendicularity of set up plate shaft 0 075mm T I R 1 Specifications are for full step angle without load Values may vary ...

Page 21: ...h Loadcurrent max 20mA Outputvoltage min 2 5VDCᜡ Response time rise fall Max 0 5μs cable length 2m I sink 20mA Max response frequency 300kHz Power supply 5VDCᜡ 5 ripple P P max 5 Current consumption Max 50mA disconnection of the load 2 2 3 Brake Motor frame size 60 mm 86 mm Rated excitation voltage 24 VDCᜡ 10 Rated excitation current 0 275 A 0 479 A Static friction torque 0 75 N m 2 6 N m Rotation...

Page 22: ...3 Dimensions 22 Copyright Reserved Autonics Co Ltd 3 Dimensions 3 1 Driver Unit mm 3 1 1 Panel Cut out Be sure that these figures may differ from the actual units ...

Page 23: ...ensions Copyright Reserved Autonics Co Ltd 23 3 2 Motor 3 2 1 Standard Type 3 2 1 1 Frame Size 60 mm 3 2 1 2 Frame Size 86 mm Model L Model L AiA M 60MA 81 2 AiA M 86MA 93 3 AiA M 60LA 102 1 AiA M 86LA 107 8 ...

Page 24: ...ions 24 Copyright Reserved Autonics Co Ltd 3 2 2 Built in Brake Type 3 2 2 1 Frame Size 60 mm 3 2 2 2 Frame Size 86 mm Model L Model L AiA M 60MA B 117 8 AiA M 86MA B 134 8 AiA M 60LA B 138 8 AiA M 86LA B 148 8 ...

Page 25: ...lated area and install the cooling fan in the unventilated environment Failure to heat dissipation may result in damage or malfunction due to the stress on the product Check the environment of use within the rated specifications and install on the well heat dissipated area In case of installing the drivers more than two keep distance at least 20 mm in the horizontal direction and at least 25 mm in...

Page 26: ...elow for allowable shaft overhung load thrust load Motor size The distance from the shaft in front mm Allowable overhung load N Allowable thrust load D 0 D 5 D 10 D 15 Frame size 60mm 54 67 89 130 Below motor weight Frame size 86mm 260 290 340 390 Do not apply excessive force on motor cable when mounting motors Do not forcibly pull or insert the cable It may cause poor connection or disconnection ...

Page 27: ...ith considering heat radiation and vibration isolation mount the motor as tight as possible against a metal panel having high thermal conductivity such as iron or aluminum When mounting motors use hexagon socket screws spring washers and flat washers Do not draw the wire with over strength 30 N after wiring the encoder ...

Page 28: ...t for connecting with a load 4 2 3 1 Direct Load Connection with Coupling Use Autonics flexible coupling ERB Series When connecting a load such as Ball screw or Tm screw directly to the shaft of the motor use flexible coupling as image showing above If the center of the load and the shaft is not aligned it may cause severe vibration damage on shaft or shortened life cycle of bearings 4 2 3 2 Load ...

Page 29: ... non dew status of ambient humidity The place without explosive flammable and corrosive gas The place without direct ray of light The place where dust or metal scrap does not enter into the unit The place without contact with water oil or other liquid The place without contact with strong alkali or acid material The place where easy heat dissipation could be made The place where no continuous vibr...

Page 30: ...5 Connection 30 Copyright Reserved Autonics Co Ltd 5 Connection 1 Corresponding connector is for built in brake type only ...

Page 31: ...6 Characteristics Copyright Reserved Autonics Co Ltd 31 6 Characteristics 6 1 Frame Size 60 mm 6 2 Frame Size 86mm ...

Page 32: ...INP oragne 4 Servo On Off indicator SERVO blue 5 Function selection DIP switch 6 Resolution rotary switch RES 7 Motor GAIN setting rotary switch GAIN 8 Speed filter limit setting rotary switch S F 9 In Position setting rotary switch INP 10 Motor encoder connector CN1 11 Power connector CN2 12 I O connector CN3 13 Brake connector CN4 1 1 Corresponding connector is for built in brake type only ...

Page 33: ...c when Alarm occurs PWR ALM Green Power indicator Turns ON when the unit operates normally after supplying power Red Alarm indicator When alarm occurs it flashes in various ways depending on the situation Refer to 11 1 Alarm INP Orange In Position indicator Turns ON when motor is placed at command position after positioning input Turns OFF in torque mode SERVO Blue Servo On Off indicator Turns ON ...

Page 34: ...d 2 pulse input method 3 GS H L Motor GAIN setting Inertia GAIN Standard GAIN When motor is stopped 4 TM Torque mode Torque mode Standard mode For more information of each function refer to 10 Driver Function 7 2 2 Resolution Setting Switch Set the resolution of driver Setting PPR Resolution Setting PPR Resolution 0 500 2 5 5 3600 18 1 1000 5 6 5000 25 2 1600 8 7 6400 32 3 2000 10 8 7200 36 4 3200...

Page 35: ...F 16 For more information refer to 10 2 1 Motor GAIN 7 2 4 Speed Filter Limit Setting Rotary Switch 7 2 4 1 Speed Filter Setting Rotary Switch In standard mode it sets the delay time between the command position and the motor position Setting Delay time ms Setting Delay time ms 0 Disable 8 60 1 2 9 80 2 4 A 100 3 6 B 120 4 8 C 140 5 10 D 160 6 20 E 180 7 40 F 200 The corresponding function is only...

Page 36: ...ed reaches the speed limit value the torque control may become unstable Set value greater than the speed to be limited 7 2 5 In Position Setting Rotary Switch Fast Response Accurate Response Setting Value Setting Value 0 0 8 0 1 1 9 1 2 2 A 2 3 3 B 3 4 4 C 4 5 5 D 5 6 6 E 6 7 7 F 7 After position commad pulse has finished if the gap between target position and real position is under In Position se...

Page 37: ...7 Driver Unit Descriptions Copyright Reserved Autonics Co Ltd 37 For more information refer to 10 2 3 In Position ...

Page 38: ... the encoder to the driver Pinno Function Pinno Function 1 GND 8 5 VDCᜡ 2 Encoder A 9 Encoder A 3 Encoder B 10 Encoder B 4 Encoder Z 11 Encoder Z 5 PE 12 N C 6 Motor A 13 Motor B 7 Motor A 14 Motor B 7 3 2 CN2 Power Connector Connects with 200 240VACᜠ power Pinno Function 1 Connect regenerative resistance 2 3 N C 4 AC power input 5 6 PE ...

Page 39: ...Output Alarm Out 18 Output Encoder B 9 Input Alarm Reset 19 Output Encoder Z 10 Input Alarm Reset 20 Output Encoder Z 7 3 4 CN4 Brake Connector Corresponding connector is for built in brake type only Pinno Function 1 24 VDCᜡ 2 GND 3 Brake 4 Brake 7 4 Connector Specifications Type Specifications Manufacture Connector Connector terminal Housing CN1 Motor Encoder 5557 14R 5556T Molex CN2 Power 5ESDVM...

Page 40: ... 2 5 Servo On Off Black 3 15 Encoder A Black 3 6 Servo On Off Red 3 16 Encoder A Red 3 7 Alarm Out Black 4 17 Encoder B Black 4 8 Alarm Out Red 4 18 Encoder B Red 4 9 Alarm Reset Black 5 19 Encoder Z Black 5 10 Alarm Reset Red 5 20 Encoder Z Red 5 of model name indicates the cable length 010 020 030 050 070 100 150 200 For corresponding EMC standard cable length should be below 2 m E g CO20 MP070 ...

Page 41: ...made for maintaining load compeletly Do not use as safe brake Do not use electromagnetic brake as brake stop Brake power will be reduced due to worn brake Make sure to use the exclusive power for electromagnetic brake In case of using auxiliary power supply for electromagnetic brake do not mix the power with the power supply for I O signals Failure to follow this instruction may result in electrom...

Page 42: ... AWG22 cable or over for connection 8 2 Brake Operation The auxiliary power 24 VDCᜡ input is required to release brake When the auxiliary power does not input Brake error ED alarm occurs For more information refer to 11 1 Alarm When Servo is On brake is released automatically The brake remains lock inn all status except Servo On status Brake lock is manually controllable using the Brake ON OFF inp...

Page 43: ...sle input When input power is exceedeed it may result the product damage In case the external pulse input power VEX is over 5 VDCᜡ use external resistor RL In case the external pulse input power VEX isover 12 24 VDCᜡ refer to RL as table below RL 𝑉𝑉𝐸𝐸𝐸𝐸 2 17V 0 011A 220Ω 1 Differential Line Driver 2 Open Collector 9 1 1 2 External Input Servo On Off Alarm Reset Use external power VEX 24 VDCᜡ in ex...

Page 44: ...eserved Autonics Co Ltd 9 1 2 Exclusive Input Pin no Signal Descriptions 1 CW Rotates CW direction 2 CW 3 CCW Rotates CCW direction 4 CCW 5 Servo On Off Releases motor torque manually 6 Servo On Off 9 Alarm Reset Alarm reset 10 Alarm Reset ...

Page 45: ...leciton DIP switch The rotation direction of motor is selectable through the DIR of Function selection DIP switch DIR Setting CW Pulse input CCW Pulse input OFF CW Rotate to CW direction Increase position when position setting Rotate to CCW direction Decrease position when position setting ON CCW Rotate to CCW direction Decrease position when position setting Rotate to CW direction Increase positi...

Page 46: ...tion signal input CCW rotatino direction signal input 2 2 Pulse input method CW forward rotation signal input CCW reverse rotation signal input H photocoupler ON voltage of both ends 4 8VDCᜡ L photocoupler OFF voltage of both ends 0 0 5VDCᜡ Use noise filter for signal line to avoid disturbance when using extension cable ...

Page 47: ...gnal and phrase current is cut to relase torque Regaraded as Servo Off Signal and phase current is cut to release torque The Servo ON indicator the In Poisition output and indicator turns OFF Servo On Off signal maintains over 1 ms as L Regarded as Servo On signal and phase current is supplied to gain torque The Servo On indicator the In Position output and indicator turns ON For the safety reason...

Page 48: ... 9 1 2 3 Alarm Reset It is for alarm reset When alarm reset seignal Alarm Reset is H alarm is reset and the alarm indicator and alarm output turns OFF The driver returns to normal status If alarm causes are not removed the diver does not return to normal status ...

Page 49: ...output When current is over 10mA use external resistor RL to control current 𝑅𝑅𝐿𝐿 𝑉𝑉𝐶𝐶𝐶𝐶 0 7𝑉𝑉 𝑉𝑉𝐹𝐹 0 01𝐴𝐴 10Ω VF LED forward voltage of primary photo coupler 1 Open Collector 9 2 1 2 Encoder Output Signal Circuit Encoder output signal uses a line driver 26C32 Connect the terminal resistance RL of 100 to 150 Ω in parallel to both ends A A B B Z Z of each phase of encoder 1 Differential line driver...

Page 50: ...tonics Co Ltd 9 2 2 Exclusive Output Pin no Signal Descriptions 7 Alarm Out Alarm output 8 Alarm Out 11 In Position In Position output 12 In Position 15 Encoder A Encoder signal output 16 Encoder A 17 Encoder B 18 Encoder B 19 Encoder Z 20 Encoder Z ...

Page 51: ... For more information refer to 11 Protection Function 9 2 2 2 In Position In Position output is output dcondition of the positioning complete signal When In Position completes In Position output becomes H and In Position indicator turns ON During In position operation In Position output becomes L and In Position indicator turns OFF The signal outputs depending on the set In Position value For more...

Page 52: ... at a constant acceleration and the speed limit must be set 10 1 1 Torque Mode Setting It has a 1 torque size of the max torque of the motor per pulse input from the upper control device If a torque greater than 100 Pulse is entered the torque size will have a max torque 100 Make sure to use absolute position mode ABS in torque mode when input pulse The current torque size can be checked through t...

Page 53: ...orque Mode Drive through PMC 1st Drive select Set TM of the function selection DIP switch to ON before applying power 2nd Power input Apply power to the driver In Position indicator flashes at this point 3rd Speed limit setting Set the speed limit value using the speed limit swtich 4th GUI connect Execute atMotion by connecting communication on PMC 5th atMotion setting Select drive mode as Positio...

Page 54: ...nsient response improves and error gets lesser motor specification gets stable Assigned GAIN value is applied when motor stops GS H L OFF GS H L ON Setting Standard GAIN Setting Standard GAIN Setting Inertia GAIN Setting Inertia GAIN 0 1 8 9 0 1 8 9 1 2 9 10 1 2 9 10 2 3 A 11 2 3 A 11 3 4 B 12 3 4 B 12 4 5 C 13 4 5 C 13 5 6 D 14 5 6 D 14 6 7 E 15 6 7 E 15 7 8 F 16 7 8 F 16 Rasie the GAIN value unt...

Page 55: ... drive response according to the swtich setting Set the speed filter value for time delay between the command position and motor It is able to drive softly even though load changing or disturbnace occurs Setting Value ms 0 Disable 1 2 2 4 3 6 4 8 5 10 6 20 7 40 8 60 9 80 A 100 B 120 C 140 D 160 E 180 F 200 ...

Page 56: ...g value in position output turns OFF and the in position indicator turns OFF Fast Response When the gap between the target position and the current position is lower than the setting value it outputs in position signal imeediately Accurate Response When the gap between the target position and the current position is lower than the setting value and maintains over 50 ms it outputs in position signa...

Page 57: ... or over speed After removing the cause of alarm re supply power or apply the signal on Alarm Reset the driver returns to the normal status Depending on the alarm type it displays as a segment and indicator on the Alarm Status display part When alarm occurs indicators flash with interval of 0 4 sec and turn OFF with interval of 0 8 sec until the alarm is cleared E g In case of alarm no 3 ...

Page 58: ...ue is over 90 1 Over load 2 Motor connector and cable connection error 3 Burnout of line driver IC in encoder 1 Change operation condition or reduce load so that sudden load fluctuation does not occur 2 Check motor connector and cable connection 3 Replace the line driver IC in encoder 4 E4 Overload error When applying load over the rated load for over 1 sec 1 Over load 2 Insufficient SMPS capacity...

Page 59: ...Burnout of line driver IC in driver 3 Burnout of line driver IC in encoder 4 Burnout of the inverter in the driver 1 Check motor connector and cable connection 2 Replace the line driver IC in driver 3 Replace the line driver IC in encoder 4 Replace burned parts of the inverter in the driver 11 EB Command pulseerror When input pulse is over 3 500rpm When input pulse is input befor initial motor ali...

Page 60: ... is released Alarm occurs Check the alarm type and remove the cause of alarm When motor rotates to the opposite direction of the designated direction Rotation direction setting is not correct Check the DIR setting in function selection DIP switch When motor drive is unstable Connection between motor and encoder is unstable Check the Motor Encoder connection cable Motor gain value is not correct Ch...

Page 61: ...12 Troubleshooting Copyright Reserved Autonics Co Ltd 61 ...

Page 62: ... 본 매뉴얼에 기재된 사양 외형치수 등은 제품의 개선을 위해서 예고 없이 변경되거나 일부 모델이 단종될 수 있습니다 ...

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