Mini Type

Setting & Operation

Status Monitor LED

1. Drive Statue LED
Indication Color Function ON/OFF Condition
PWR Green Power input indication LED is turned ON when power is applied
INP Yellow Complete positioning motion Lights On when Positioning error reaches within the preset pulse selected by dip switch
SON Orange Servo On/Off Indication Servo On: Lights On, Servo Off: Lights Off
ALM Red Alarm indication Flash when protection function is activated(Identifiable which protection mode is activated by counting the blinking times
◆ Protection functions and LED flash times
Times Protection Conditions
1 Over Current Error The current through power devices in inverter exceeds 4.8A
2 Over Speed Error Motor speed exceeds 3,000 [rpm]
3 Position Tracking Error Position error value is higher than 180˚ in motor run state
4 Over Load Error The motor is continuously operated more than 5 seconds under a load exceeding the max. torque
5 Over Temperature Error Inside temperature of drive exceeds 85℃
6 Over Regenerated Voltage Error Back-EMF is higher than 48V
7 Motor Connection Error The power is ON without connection of the motor cable to drive
8 Encoder Connect Error Cable connection error in Encoder connection of drive
10 In-Position Error After operation is finished, position error more than 1 pulse is continued for more than 3 seconds
11 System Error Error occurs in drive system
12 ROM Error Error occurs in parameter storage device(ROM)
15 Position Overflow Error Position error value is higher than 180˚ in motor stop state
Alarm LED flash
(Ex : Position Tracking Error)

Switch

1. Pulse Input Setting Switch(SW2.6)
Indication Switch Name Function
P Selecting Pulse Input Mode Selectable 1-Pulse Input Mode or 2-Pulse Input Mode as Pulse input signal.
ON: 1-Pulse mode
OFF: 2-Pulse mode
※ Default : 2-Pulse Mode
2. Rotational Direction Selection Switch(SW2.5)
Indication Switch Name Function
D Switching Rotational Direction Based on CW(+Dir signal) input to drive.
· ON : CCW(-Direction)
· OFF : CW(+Direction)
※ Default : CW mode

CCW Direction
Direction setting switch : ON

CW Direction
Direction setting switch : OFF

3. Resolution Setting Switch(SW1.5~1.8)

The Number of pulse per revolution. .

Position Pulse/Revolution
8 7 6 5
ON ON ON ON 4,000 or 16,000 *1
ON ON ON OFF 500
ON ON OFF ON 1,000
ON ON OFF OFF 1,600
ON OFF ON ON 2,000
ON OFF ON OFF 3,600
ON OFF OFF ON 5,000
ON OFF OFF OFF 6,400
OFF ON ON ON 7,200
OFF ON ON OFF 10,000*2
OFF ON OFF ON NC
OFF ON OFF OFF NC
OFF OFF ON ON NC
OFF OFF ON OFF NC
OFF OFF OFF ON NC
OFF OFF OFF OFF NC
* 1 : Resolution of position “0” will be different according to the resolution of encoder adopted to the product. But in case of the encoder with 10,000[ppr] resolution, it will be set as 500.
* 2 : When selected resolution is more than encoder resolution, motor shall be operated by microstep between pulse. Default value of resolution will be the same as the resolution of encoder adopted to the product
4. Position Controller Gain Setting Switch
The Position Controller Gain Switch allows for the correction of the motor position deviation after stopping caused by load and friction.
Depending on the motor load, the user may have to select a different gain position to stabilize and to correct positional error quickly.

To tune the controller
1. Set the switch to “ON” position.
2. Start to rotate the switch until system becomes stable.
3. Rotate the switch 1~2 position to reach better performance.
Switch Position Time Constant of the Integral part Proportional
Gain*1
4 3 2 1
ON ON ON ON 1 1
ON ON ON OFF 1 2
ON ON OFF ON 1 3
ON ON OFF OFF 1 4*2
ON OFF ON ON 1 5
ON OFF ON OFF 1 6
ON OFF OFF ON 2 1
ON OFF OFF OFF 2 2
OFF ON ON ON 2 3
OFF ON ON OFF 2 4
OFF ON OFF ON 2 5
OFF ON OFF OFF 3 1
OFF OFF ON ON 3 2
OFF OFF ON OFF 3 3
OFF OFF OFF ON 3 4
OFF OFF OFF OFF 3 5
* 1 : Value in the columns are in relative units. They only show the parameter changes depending on the switch’s position.
* 2 : Default = ON ON OFF OFF
5. In-Position Value Setting Switch
To select the output condition of In-position signal. In-position output signal is generated when the pulse number of positional error is lower than selected In-position value set by this switch after positioning command is executed.
Position In-Position Value [Pulse]
Fast Response
4 3 2 1
ON ON ON ON 0 *1
ON ON ON OFF 1
ON ON OFF ON 2
ON ON OFF OFF 3
ON OFF ON ON 4
ON OFF ON OFF 5
ON OFF OFF ON 6
ON OFF OFF OFF 7
Position In-Position Value [Pulse]
Accurate Response
4 3 2 1
OFF ON ON ON 0
OFF ON ON OFF 1
OFF ON OFF ON 2
OFF ON OFF OFF 3
OFF OFF ON ON 4
OFF OFF ON OFF 5
OFF OFF OFF ON 6
OFF OFF OFF OFF 7
* 1 : Default = 0
※ Please refer to the Manual for setting.

Connector

1. Input/Output Signal Connector(CN1)
No. Function I/O
1 CW+(Pulse+) Input
2 CW-(Pulse-) Input
3 CCW+(Dir+) Input
4 CCW-(Dir-) Input
5 A+ Output
6 A- Output
7 B+ Output
8 B- Output
9 Z+ Output
10 Z- Output
No. Function I/O
11 Alarm Output
12 In-Position Output
13 Servo On/Off Input
14 Alarm Reset Input
15 NC -
16 BRAKE+ Output
17 BRAKE- Output
18 S-GND Output
19 EXT_GND Input
20 EXT_24VDC Input
2. Encoder Connector(CN2)
No. Function I/O
1 A+ Input
2 A- Input
3 B+ Input
4 B- Input
5 Z+ Input
6 Z- Input
7 5VDC Output
8 GND Output
9 F.GND ----
10 F.GND ----
3. Motor Connector(CN3)
No. Function I/O
1 B Phase Output
2 / B Phase Output
3 / A Phase Output
4 A Phase Output
4. Power Connector(CN4)
No. Function I/O
1 24VDC Input
2 GND Input

Connector Specifications

Connector specifications for cabling to drive.
Purpose Item Part Number Manufacture
Power
(CN4)
Housing
Terminal
PAP-02V-S
SPHD-001T-P0.5
JST
Motor Drive Side
(CN3)
Housing
Terminal
PAP-04V-S
SPHD-001T-P0.5
JST
Motor Side Housing
Terminal
5557-04R
5556T
MOLEX
Encoder Drive Side
(CN2)
Housing
Terminal
501646-1000
501648-1000(AWG 26~28)
MOLEX
Encoder Side Housing
Terminal
SMP-09V-NC
SHF-001T-0.8BS
JST
Signal
(CN1)
Housing
Terminal
501646-2000
501648-1000(AWG 26~28)
MOLEX
※ Above connector is the most suitable product for the drive applied. Another equivalent connector can be used.