RoHS compliant - Plexmotionfires. Stop operation immediately and turn off the motor power supply, if unexpected system malfunction occurs. Otherwise, it may cause fires or injuries

CSA − BX

■ Table of contentHandling precaution for safe use.・・・・21. Before using product・・・・・・・・・32. Product overview・・・・・・・・・・・・・3　2-1. Product features and main functions・3　2-2. Product lineup・・・・・・・・・・・43. Preparation & installation・・・・・・・4　3-1. Unpack & check・・・・・・・・・・・4　3-2. Name & function・・・・・・・・・・・5　3-3. Power supply preparation・・・・・・・7　3-4. Installing locations.・・・・・・・・・7　3-5. Installing method & precaution・・・・8　3-6. Cable & Connection with driver・・・・10

This operation manual describes product handling procedures and important information to use of product. Be sure to read this operation manual for safe operation before using/ Keep this manual near at hand after reading.

RoHS compliant

Driver & Stepping motor packageCSA Series

170-0087-02(Ver.3)2012.Feb.

Operation Manual

　3-7. Connection with peripherals.・・・・・12　3-8. Switch setting・・・・・・・・・・・・144. Operation・・・・・・・・・・・・・・・・18　4-1. Timing chart・・・・・・・・・・・・・18　4-2. LED・・・・・・・・・・・・・・・・22　4-3. Protective functions / Alarms・・・・・225. General specifications・・・・・・・・・246. Troubleshooting & countermeasure・・・・267. Periodical inspection・・・・・・・・・・298. Warranty・・・・・・・・・・・・・・・・299. Notes・・・・・・・・・・・・・・・・・30

2

● Do not use the product under explosive or flammable environmental condition. It may cause fires or injuries.

● Installation, connection, operation, control and inspection must be done by only qualified personnel, Done only by unqualified personnel may cause fires or injuries.

● Connect the cable securely under this operation manual. Miss connection or improper connection may cause fires.

● Turn off the power supply of the application in the invent of the electricity failure. Sudden restarting of motor when power is restored may cause injuries or equipment damages.

● Turn off the power supply of the application when motor is exposed water splash. Opera-tion under wet condition may cause fires.

● Do not disassemble or modify the motor. It may cause fires. Contact sales agent or sales office if the internal inspection or repair is required.

● Keep motor surface temperature 70 deg.C (158 deg.F) or lower. Excessive temperature rise may cause fires or injuries.

● Keep the motor away from inflammable goods. Improper motor installation may cause fires.

● Stop operation immediately and turn off the motor power supply, if unexpected system malfunction occurs. Otherwise, it may cause fires or injuries.

Handling the product breaching this 'warning' notice may cause critical accidents such as serious injuries or even death.

Handling precaution for safe use

Warning

● Be careful for the static electricity for the motor handing. Touching by electrified fingers may cause the motor damage.

● Do not use the motor beyond the motor specifications. It may cause property damages.● Do not plug or unplug the connector during the power supply is turned on. It may cause

electric shocks or property damages.● Do not touch the motor output shaft (Rotating portion) during the operation. It may cause

injuries.● Do not touch the motor surface during the operation or even immediate after the opera-

tion. The motor surface temperature does not go down so quickly. it may cause burns.● Equip external safety devices or emergency stop circuits for the case of application sys-

tem failures or unexpected system malfunctions.● Dispose the motor as industrial waste, if necessary.

Handling the product breaching this 'Caution' notice may cause injuries or property damages.Caution

3

○ 2 type of motor operation modes for different application and situationOpen-loop stall detection modeClosed-loop operation mode

○ Smooth acceleration and deceleration with velocity filter○ Selectable in 4 steps resolution setting : 400, 800, 1600, 3200 PPR○ DC24V input and 13 steps current setting : 0.6 - 3.0A○ Protective function : Overheat, excessive regenerative voltage, low voltage, excessive

load and excessive velocity○ Automatic power down function

<Main functions>

This product described here is designed and manufactured for the use “in” general industrial machinery, including built in applications such as following 【 Suggested applications 】. Note the product warranty policy does not apply and is void when product is used in the fol-lowing【 None suggested applications 】.

【 Suggested applications 】General industrial machinery including built in applications such as automatic assembling machines, machining fixture, inspection machines, factory automation machines.

【 None suggested applications】Applications that may significantly affect human lives or properties, such as safety de-vices, transportation equipment (including automobiles, automotive devices, aerospace and ships), medical devices, home-use electric or electronic appliances.

1. Before using product＜ Before starting ＞

2. Product overview

＜ Product features ＞This product is unique stepping motor and driver package that has open-loop stall detec-tion mode and closed-loop operation mode. In open-loop stall detection mode, the motor run at open-loop condition and output alarm when motor stalls. In closed-loop mode, the motor keeps running and trace pulse order without stalling even when the motor like to lose synchronization to the input pulse by excessive acceleration order or impermanent over-load beyond the motor performance. Also velocity filter can minimize vibration and achieve smooth drive during acceleration and deceleration.

2-1. Product features and main functions

4

3-1. Unpack & check

１．Motor driver (PDSA-BX) １２．Motor (PMSB Series) １３．Motor to Driver cable (60cm) １４．Driver signal cable (60cm) １５．Driver power cable (60cm) １６．Operation manual (This document) １

3. Preparation & installation

Unpack and check the following items.

Contact sales agent you purchased from or sales office if any missing or damage.

2.2 Product lineup

＜ Standard model ＞

＜ Geared model ＞

Item name Motor name Driver name

　　　CSA-BX42D2E 　　　PMSB-B42D2E

PDSA-BX





Item name Motor name Driver name

　　　CSA-BX42D2ESD 　　　PMSB-B42D2ESDPDSA-BX

　　　CSA-BX56D1ESD 　　　PMSB-B56D1ESD

5

3.2 Name and function

Motor

Item name Description① Mounting pilot Pilot for positioning motor mount② Output shaft Rotating motor shaft (with flat)③ Motor connector Mating connector for motor cable④ Motor mounting holes (4holes) Hole for motor mounting

PMSB-B56D ■ EPMSB-B42D ■ E

④

②

①

③

PMSB-B42D2ESD PMSB-B56D1ESD

④

②

①

③

Driver

Item name Description① Power cable connector (CN1) Mating connector for DC24V power supply

cable connection② Signal cable connector (CN2) Mat ing connector fo r s igna l cab le

connection③ Motor cable connector (CN3) Mat ing connector fo r motor cab le

connection④ DIP switch (SW1) DIP switch for driver function setting⑤ Rotary switch (SW2) Rotary switch for driving current setting⑥ LED indicator　 2 indicators for driver condition (POWER

and ALARM) ⑦ Mounting plate Mounting plate of driver (Working as heat

dissipation)

④①

②

⑦

③

⑤⑥PDSA-BX

6

Input power supply voltage DC24V ± 10%

Input power supply current capacityEnough capacity to supply current to

the motor driving

3-3. Power supply preparationPrepare enough current capacity power supply referring the following chart.

Minimum 3.0A power supply is recommended, when the motor size and motor driving cur-rent is not determined.

※Power supply that endures the inductive load is recommended, as the motor regenerates the current to the power supply.

※Using less capable power supply may cause unexpected motor malfunction such as un-stable operation at high speed running or slow starting up time.

3-4. Installing locationsThis product is designed and manufactured for the use in general industrial machinery including built in applications. Installation must be under the following conditions.○ Indoor.○ No presence of evaporative, flammable or corrosive gas.○ Ambient temperature 0 to 40 Deg. C (32 to 104 Deg. F). Ambient humidity 85% or less (No

freezing or condensing).○ No water and oil splash. No excessive dust or metal particle surroundings.○ Free from continuous mechanical vibration or excessive external impact.○ Location can be expected proper metallic heat dissipation.○ Free from excessive electromagnetic noise area.○ Ventilated and accessible area for periodical inspection.

7

8

3-5. Installing method & precaution

PMSB-B42D Series mounting

Hole for pilot

Mounting plate

PMSB-B56D Series mounting

Bolt X 4

○ No restriction of the motor installing orientation.○ Fit motor pilot for mounting plate hole.○ Mount the motor on appropriate flat metal plate that can be expected good isolation from

vibration and good heat dissipation. Fix securely with 4 screws (or 4 bolts). Keep on gap between motor and metal plate. Bolts and screws are 'not " included in the package. Rec-ommended bolts and screws are as follows.

Bolt X 4

Motor name Hole for motor mounting Recommended bolts and screwsPMSB-B42D ■ E M3 (Depth 4.5mm) M3 4pcs

PMSB-B56D ■ Eφ 4.5 Through hole（Thickness 5mm）

M4 4pcs

PMSB-B42D2ESD M3 (Depth 7mm) M3 4pcsPMSB-B56D1ESD M4 (Depth 8mm) M4 4pcs

PMSB-B42D2ESD mounting PMSB-B56D1ESD mounting

Hole for pilot

Mounting plate

Bolt X 4 Bolt X 4

9

<Precaution>○ Keep enough free space more than 3cm for horizontal direction and 5cm for vertical di-

rection for driver mounting.○ Attach the load onto the motor output shaft with the following procedure. When the load

is attached to the motor shaft directly or applied through the mechanical coupling, align the center of the motor output shaft and the load center. When the load is applied through the belt or the gear, keep parallel between the motor output shaft and the load center.

○ The motor and the driver generates temperature rise. Keep enough free space for good heat dissipation.

Do not rotate the motor shaft more than 50 r/m(before gear reduction) by the external force.Keep the load within the following listed values. Otherwise, it may cause the shaft to bend or to break. Radial load value is measured at the top of the output shaft.

Item nameLoad direction

Thrust to the shaft Radial to the shaftPMSB-B42D ■ E 3.5N (0.35kgf) 20N (2kgf)PMSB-B56D ■ E 5.4N (0.54kgf) 50N (5kgf)

PMSB-B42D2ESD 15N (1.5kgf) 10N (1kgf)PMSB-B56D1ESD 30N (3kgf) 30N (3kgf)

○ Mount the driver appropriate flat metal plate that can be expected good isolation from vibration and good heat dissipation. Fix securely with minimum 2 M3 screws and 2 spring washers horizontally or vertically.

- PDSA-BX M3 bolts (or screw) X 2, Washers X 2

Driver mounting 1 Driver mounting 2

Bolt X 2

Bolt X 2

Mounting plate

Mounting plate

10

Connect power supply cable to CN1.CN1 Signal specifications (CN 1 Mating connector : JST XAP-02-1)

3-6. Cable & Connection with driver

Pin Signal Specifications/ Description1(RD) Vcc DC24V ± 10%2(BK) GND Power GND

Pin Signal Specifications/ Description1(WT) ENC_B Encoder B phase2(GN) ENC_A Encoder A phase3(BK) GND Encoder GND4(BL) +5V Encoder power5(YL) B Motor B phase6(OR) A Motor A phase7(RD) B Motor B phase8(BR) A Motor A phase

Connect motor - driver cable to CN3.CN3 Signal specifications (CN3 Mating connector : JST PAP-08VS)

<Precaution>○ Plug and unplug connectors must be done with power supply turned off. Plug the connector securely after confirming connector orientation. Improper connection

may cause motor malfunction or the motor damage. ○ Unplug connector pushing the lock part of the connector housing.○ Use the cable as short as possible and do not wind or bundle the remainders.○ Insulate the unused signal cables, or connect them to DC5V power or signal ground to

prevent from contacting other devices.○ Use ferrite core, shield the cables by conductive tape or braided shield are recommended

if the noise became a problem.

Connect 3 cables to the driver. Cables are hooked up by the connectors.Refer functions to the signal specifications of the cable connection

Power supply cable connection

Motor - Driver cable connection

CN1

CN3

CN2

11

Pin SignalSignal type

Function Specifications/Description

1(BR) NC -

N/A・N/A

Do not connect anything. Sealing signal cables properly not to contact each other.

2(BR/WT) NC -3(RD/WT) NC -

4(RD) NC -

5(OR/WT) MST ー

OutStall alarm

signal※1

OFF: Openloop stall detection mode - Motor stall

: Closedloop operation mode - Excessive deviation error or excessive load error

ON : Normal operation6(OR) MST +

7(YL/WT) ALARM ー Out System alarm signal

OFF: System alarmON: Normal operation8(YL) ALARM +

9(GN/WT) READY/BUSY ー Out Ready/Busy

signalOFF: Motor operation executeON: Motor stop10(GN) READY/

BUSY +

11(BL/WT) AUTO_CURRENT ー

InAutomatic

power down enable signal

OFF: Motor holding current goes to SW1 No5pin set current 100[ms] after pulse signal input stopped.

ON: Motor holding current is maintained at running current at SW2

12(BL) AUTO_CURRENT +

13(VT/WT) MST_CLR ー In Stall alarm clear signal

OFF: Normal operationON: Motor stall (Miss step) alarm clear14(VT) MST_CLR +

15(GR/WT) ENABLE ー In Motor enable

signalOFF: Current disableON: Current enable16(GR) ENABLE +

17(BK/WT) CCW ー (DIR ー ) In

CCW pulse signal

(Direction signal)

2 pulse input mode - CCW pulse signal input1 pulse input mode - Direction signal input OFF: CW direction/ ON: CCW direction18(WT) CCW +

(DIR +)

19(PK/WT) CW ー (PLS ー ) In

CW pulse signal

(Pulse signal)2 pulse input mode - CW pulse signal input1 pulse input mode - Pulse signal input20(PK) CW +

(PLS +)※ 1 To clear stall alarm signal, input signal to stall alarm clear. (See P21 for details.)※ 2 Alarm LED blinking cycle shows error description (See P23 for details).

Connect signal cable to CN2.CN2 Signal specifications (CN2 Mating connector : JST GHDR-20V-S (F) )

※ Bracket ( ) after pin number shows cable color.※ "OFF" in chart shows photocoupler off condition and "ON" in chart shows photocoupler on con-

dition respectively.※ CW shows clockwise direction and CCW shows counterclockwise direction viewed from motor

mounting surface.

Signal cable connection

12

Connect the power supply and the controller referring the following examples. Connections must be done under the condition of the power supply turned off.

3-7. Connection with peripherals.Driver & Power supply / External signal / Motor connection

< Driver & Power supply / External signal / Motor connection example>

※Bracket () after pin number shows cable color.※R1 and R2 show external resistors for current limit. Improper connections may lead motor and other peripherals damages.

1（RD）2（BK）

20（PK）

19（PK/WT）

18（WT）

17（BK/WT）

16（GR）

15（GR/WT）

14（VT）

13（VT/WT）

12（BL）

11（BL/WT）

10（GN）

9（GN/WT）

8（YL）

7（YL/WT）

6（OR）

5（OR/WT）

4（RD）

3（RD/WT）

2（BR/WT）

1（BR）

CN1

CN2

CN3

Power supply (DC24V) Driver

Controller

Stepping motor

Vcc (DC24V)

GND

R1

R1

R1

R1

R1

R2

R2

R2

CW＋（PLS＋）

CW－（PLS－）CCW＋（DIR ＋）

CCW－（DIR －）ENABLE＋

ENABLE－MST_CLR＋

MST_CLR－AUTO_CURRENT＋

AUTO_CURRENT－

READY/BUSY＋

READY/BUSY－ALARM＋

ALARM－MST＋

MST－NC

NCNC

NC

GND

GND

＋V（DC5～30V）

＋V（DC5～30V）

Power supply

CW pulse signal(Pulse signal)

CCW pulse signal(Direction signal)

Motor enable signal

Stall alarm clear signal

Automatic power down enable signal

Ready/Busy signal

System alarm signal

Stall alarm signal

No connection

No connection

12345678

（WT）（GN）（BK）（BL）（YL）（OR）（RD）（BR）

ENC_BENC_AGND＋5VBABA

Input signal

Output signal

13

○ Input signal to the motor driver[ CW+(PLS+) ／ CW-(PLS ー ) ／ CCW+(DIR+) ／ CCW-(DIR ー ) ／ ENABLE+ ／ ENABLE ー／ MST_CLR+ ／ MST_CLR ー／ AUTO_CURRENT+ ／ AUTO_CURRENT ー　Signal ]Driver input is photocoupler input. Connect to external device referring the following con-nection example.

1) Connect directly without external resistor "R1" when applying DC+5V to V+,2) Use external resistor "R1" to keep photocou-pler current not to exceed 10mA when applying more than DC+5V to V+The formula of the external resistor value is as follows.

R1 (External resistor value) >= ( (+v) - 1.1 - Vce) / (Photocoupler current ) - 330 ohms　　Ex) When use DC+24[V] for V+, resistor value should be Approx. 2K ohms.

※ Photocoupler current in the driver circuit should be 5 to 10mA※ Use +V in the range of 5 to 30V.

Applying more than DC5V signal voltage without external resistor may cause driver dam-age.

+V

External controller output Driver internal circuit

PIN 12, 14, 16, 18, 20330Ω

PIN 11, 13, 15, 17, 195～10mA

Open collector output

V

R 1

CE

○ Output signal from the motor driver［ READY/BUSY+ ／ READY/BUSY ー／ ALARM+ ／ ALARM ー／ MST+ ／ MST ー　Signal ]Driver output is photocoupler open-collector output. Connect to external device referring the following connection example.

1) Keep photocoupler current 10mA or lower con-firming with the specifications of the controller. 2) Use external resistor "R2" to keep photocoupler current not to exceed 10mA, when expected cur-rent exceeds 10mA. The formula of the external resistor value is as follows.

R2 (External resistor value)>= ((+V)-VF-Vce) / ( Photocoupler current) Ohms

※VF shows voltage drop of the connected electrical component.※Vce = 0.6V when photocoupler current is 1mA and Vce = 1.8V when photocoupler current

is 10mA※Use +V in the range of 5 to 30V.

Withdrawing more than 10mA current without external resistor may cause driver dam-age.

10mA max

R

+V

V

V

External controller input Driver internal circuit

PIN 6, 8, 10

PIN 5, 7, 9

2F

CE

＜ Input circuit example ＞

＜ Output circuit example ＞

I/O signal diagram

13

3-8. Switch settingBefore staring the operation, make the following set up with the switch on PDSA-BX driver board. These settings must be done with the power supply turned off.

Set the motor resolution (Pulse/Rotation)

※ Use less than 100ms interval pulse command signal (More than 10pps) in 3,200 P/R set-ting. More than 100ms interval pulse command signal dose not work READY/BUSY out-put signal and automatic power down function correctly.

SW1 SW2

Switch ON

Switch OFF

SW1 Pin No. Resolution(Pulse / Rotation)

Step Angle(Deg./Pulse)1 2

ON (Default) ON (Default) 400P/R 0.9°

ON OFF 800P/R 0.45°

OFF ON 1600P/R 0.225°

OFF OFF 3200P/R 0.1125°

Resolution setting (SW1 : Pin No. 1 & 2)

SW1 Pin No.3

Pulse input mode Description

ON(Default)

2 pulse input mode

(CW/CCW)

2 pulse input mode is to run the motor using CW (Clockwise) signal and CCW (Counterclockwise) signal respectively. With CW signal input, motor output shaft (viewed from the mounting surface side) rotates CW. With CCW signal input, the motor output shaft rotate CCW.

OFF1 pulse input

mode (PLS/DIR)

1 pulse input mode is to run the motor using PLS( Pulse) signal and DIR (Direction) signal. With PLS signal input the motor output shaft rotates and rotation direction is controlled by DIR signal. With DIR On, the motor output shaft rotates CW and with DIR Off, the motor output shaft rotates CCW direction.

Pulse input mode setting (SW1 : Pin No. 3)

Setting higher resolution allows more precise step angle for each command pulse and re-duce the motor running vibration.

Set the pulse input mode.

15

Set the motor operation mode

※ To clear stall alarm signal (MST), input signal to stall alarm clear (MST_CLR) is required (See P19 for details).

SW1 Pin No.4

Motor operation

modeFunction Description

ON(Default)

Open-loop stall

detection mode

Output alarm signal (MST) and stop motor operation without energized when motor stalls.

Motor runs in open-loop operation.Motor stall : When more than 3.6 Deg. deviation between rotor position and input pulse occurs, output stall alarm (MST) and motor stops without energized.

OFF

Closed-loop

operation mode

Motor keeps operation and traces command pulse without stalling even when excessive acceleration order or impermanent excessive load applies.

Motor runs in closed-loop operation. Motor keeps operation and trace command pulse even when the deviation between rotor position and input pulse occurs by excessive acceleration or impermanent excessive load.Excessive deviation error : When the position deviation exceeds 1080 Deg, output stall alarm (MST) and motor stops without energized.Excessive load error : When more than 3.6 Deg deviation condition continues more than 5 seconds, output stall alarm and motor stops without energized.

Motor operation mode setting (SW1 : Pin No.4)

Set the automatic power down current. The set parameter activates when Automatic power down signal input is "Off".

Set the automatic power down current separately from running current setting and effective for temperature rise prevention during motor holding condition.When automatic power down signal input (AUTO_CURRENT) is "On", the motor holding current is maintained at running current at SW2.

※ Holding torque is getting lower in accordance with lower current setting.

SW1 Pin No.5 Setting

ON (Default) Running current setting X 50%

OFF Running current setting X 25%

Automatic power down current setting (SW1 : Pin No.5)

16

Set velocity filter response time constant

※ Velocity filter setting makes smooth acceleration/deceleration and reduce vibra-tion.

SW1 Pin No. Setting6 7 8ON

(Default)ON

(Default)ON

(Default)0ms

(Filter inactive)ON ON OFF 2msON OFF ON 5msON OFF OFF 10msOFF ON ON 20msOFF ON OFF 50msOFF OFF ON 70msOFF OFF OFF 100ms

< Velocity filter setting image >

0ms (Filter inactive) setting 50ms (Filter active) setting

Velocity filter setting (SW1: Pin 6, 7 & 8)

Input pulse velocity

※ Excessive time constant setting spoils the motor synchronization to the input pulse signal and delays the motor response time. Set parameter appropriately in accordance to actual application and the load condition.

※ Improper velocity filter setting may cause motor stalling at 400P/R resolution set-ting in open-loop stall detection mode. It recommends to go higher resolution set-ting, shorten acceleration/deceleration time or change the load condition to avoid motor stalling.

Motor rotation velocityReady/Busy output

signal timing

17

Motor running torque goes lower if the running current setting is lower. Contrarily, the motor running torque goes higher if the running current setting is higher. If the running current setting is too high, the motor generates excessive temperature rise and result in motor burning. Keep the motor surface temperature at 70Deg.C( 158Deg.F) or lower.

Rotary SW setting Current [A] ( ± 20%)

0 (Default) 0.6A1 0.8A2 1.0A3 1.2A4 1.4A5 1.6A6 1.8A7 2.0A8 2.2A9 2.4AA 2.6AB 2.8AC 3.0AD 3.0AE 3.0AF 3.0A

Item name Rotary SW setting Current [A] ( ± 20%)

PMSB-B42D ■ E 5 1.6APMSB-B56D ■ E B 2.8A

PMSB-B42D2ESD 3 1.2APMSB-B56D1ESD 9 2.4A

Running current setting (SW2)

Set motor running current and adjust motor rotating torque.

Set motor running current as follows, if specific setting is not required.

18

４. Operation4-1. Timing chart

※1 CW shows clockwise direction and CCW shows counterclockwise direction viewed from motor mounting surface.

※2 "OFF" in chart shows photocoupler off condition and "On" in chart shows photo-coupler on condition respectively.

※3 Wait 5 seconds and more after power supply turned off when power supply reset-ting.

※4 Initializing operation time varies in load condition. It takes approximately 1 sec-ond from motor enable signal input to Ready signal "On".

※5 Acceleration / Deceleration time varies in operation mode, velocity filter setting and load condition.

※6 Time to READY/BUSY signal varies in operation mode, velocity filter setting and load condition.

Motor operation and timing chartOperate the motor referring the following timing chart.

Motor operation and timing chart

Stall alarm clear timing chart

Motor operation

Power input

2 pulse input mode

System alarm signal

Ready/Busy signal

Stall alarm signal

CW pulse signal

CCW pulse signal

Pulse signal

Direction signal

Motor enable signal

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

CW

CCW

0.5sor more

0.1s or more

0.1s or more

Initializing operation ※4


0.1s or more0.1s or more0.1s or more0.1s or more0.1s or more0.1s or more

0.05s or more0.05s or more

0.1s or more

5s or more

※5

※4

※2

※1※2

※4

※5

0.05s or more

※5


0.05s or more

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

Motor operationCW

CCW

2 pulseinput mode

Ready/Busy signal

Stall alarm signal

CW pulse signal

CCW pulse signal

Pulse signal

Direction signal


Motor stall/Excessive position deviation or Excessive load

10ms or more

Pulse input timing chart

ON

OFF

90%

10%

ON

OFF

CW pulse signal

CCW pulse signal

20μs or more6.25μs or more

２μs or less

２μs or less

※1

※2

※6

※6

※6

1 pulse input mode


1 pulseinput mode

※3

※7

※8

※1

※5

19



Motor operation

Power input

2 pulse input mode

System alarm signal

Ready/Busy signal

Stall alarm signal

CW pulse signal

CCW pulse signal

Pulse signal

Direction signal

Motor enable signal

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

CW

CCW

0.5sor more

0.1s or more

0.1s or more





0.1s or more

5s or more

※5

※4

※2

※1※2

※4

※5

0.05s or more

※5


0.05s or more

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

Motor operationCW

CCW

2 pulseinput mode

Ready/Busy signal

Stall alarm signal

CW pulse signal

CCW pulse signal

Pulse signal

Direction signal



10ms or more


ON

OFF

90%

10%

ON

OFF

CW pulse signal

CCW pulse signal


２μs or less

２μs or less

※1

※2

※6

※6

※6

1 pulse input mode


1 pulseinput mode

※3

※7

※8

※1

※5

※7 Wait time for direction change varies in operation mode, velocity filter setting and load condition. To secure appropriate wait time, it recommend to monitor READY/BUSY signal.

※8 When motor current enable is turned off, motor current shuts down, motor is not energized and position deviation check stops. When motor current enable is turned on, motor starts initializing operation and starts position deviation check.

Do not start/stop motor operation with power supply switching and must use pulse signals for operation start/stop. Improper operation may cause injuries or property damage.

20

Pulse wave (CW/CCW)

Input pulse signal referring the following chart.



※ Keep photocoupler off condition when pulse is stopped.※ Do not input CW pulse and CCW pulse in the same timing at 2 pulse input mode.

Motor does not rotate correctly.



Motor operation

Power input

2 pulse input mode

System alarm signal

Ready/Busy signal

Stall alarm signal

CW pulse signal

CCW pulse signal

Pulse signal

Direction signal

Motor enable signal

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

CW

CCW

0.5sor more

0.1s or more

0.1s or more





0.1s or more

5s or more

※5

※4

※2

※1※2

※4

※5

0.05s or more

※5


0.05s or more

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

Motor operationCW

CCW

2 pulseinput mode

Ready/Busy signal

Stall alarm signal

CW pulse signal

CCW pulse signal

Pulse signal

Direction signal



10ms or more


ON

OFF

90%

10%

ON

OFF

CW pulse signal

CCW pulse signal


２μs or less

２μs or less

※1

※2

※6

※6

※6

1 pulse input mode


1 pulseinput mode

※3

※7

※8

※1

※5



※3 Initializing operation time varies in load condition. It takes approximately 1 sec-ond from motor enable signal input to Ready signal "On".

※4 Pulse signals are ignored when stall alarm (MST) outputs.

※ When stall alarm (MST) outputs, motor stops without energized and no holding torque performs.

※ System alarm cannot be cleared by stall alarm clear (MST_CLR) input.To clear stall alarm, input signal on stall alarm clear (MST_CLR) after removing the cause of stall, excessive deviation or excessive load. Start without removing the cause of problem may cause injuries or property damage.

21

Stall alarm and stall alarm clear (MST/MST_CLR)



Motor operation

Power input

2 pulse input mode

System alarm signal

Ready/Busy signal

Stall alarm signal

CW pulse signal

CCW pulse signal

Pulse signal

Direction signal

Motor enable signal

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

CW

CCW

0.5sor more

0.1s or more

0.1s or more





0.1s or more

5s or more

※5

※4

※2

※1※2

※4

※5

0.05s or more

※5


0.05s or more

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

Motor operationCW

CCW

2 pulseinput mode

Ready/Busy signal

Stall alarm signal

CW pulse signal

CCW pulse signal

Pulse signal

Direction signal



10ms or more


ON

OFF

90%

10%

ON

OFF

CW pulse signal

CCW pulse signal


２μs or less

２μs or less

※1

※2

※6

※6

※6

1 pulse input mode


1 pulseinput mode

※3

※7

※8

※1

※5

Motor stops without energized with stall alarm (MST) output when motor stalls in open-loop stall detection mode, excessive deviation or excessive load in closed-loop operation mode. To restart motor operation, input signal on stall alarm clear (MST_CLR) after removing the cause of stalling, excessive deviation or excessive load.

22

LED Name Color Type Light/Blink condition

Power LED (Power supply

indicator)

Green Light

LED turns on when power supply is ON.

Alarm LED (Alarm

indicator)Orange

Light LED turns on when position deviation occurs in closed-loop operation mode.

Blink

LED blinks when error occurs or protective function works with stall alarm or system alarm signal output. It is possible to identify error description by blinking cycle time. See protective function and alarm column for more details.

１２３・・・ N １

N

２

1.2 s400 ms 400 ms３・・・

Driver equips 2 LED indicators show driver and motor status by lighting and blinking. Make sure LED blinking cycles and error description when LED blinks and remove the cause of error.

Driver has alarm function to inform motor stalling including excessive deviation and excessive load and protective functions for system error. It is possible to identify the cause of alarm and system error by counting blinking cycles. Refer to the following page for recovering and countermeasure of problems.

LED blinks in particular error cycle of 400ms light on and 400ms light off with 1.2 second interval.

4-2. LED

4-3. Protective functions / Alarms

※When stall alarm (MST) or system alarm outputs, motor stops without energized and no holding torque performs.

Before re-start operation , remove the cause of stall alarm and system alarm. Start without removing the cause of problem may cause injuries or property dam-age.

23

Blinking cycle Output Error type Cause Reinstatement

2 Stall alarm

Stall detection

Motor stalling in open-loop stall detection mode

Stall alarm clear (MST_

CLR)

3 Stall alarm

Excessive deviation

Excessive position deviation in closed-loop operation mode


CLR)

Excessive load

Excessive load in closed loop operation mode


CLR)

4 System alarm Over heat

Temperature of the thermistor on driver board reaches 80Deg.C

Power restarting

5 System alarm

Excessive regenerative

voltageInternal voltage goes more than 32VDC by regenerative voltage.

Power restarting

6 System alarm Low voltage Input voltage goes less than

18VDCPower

restarting

7 System alarm

Excessive velocity

Input pulse exceeds 80Khz or motor rotation velocity reaches 3,500 r/min

Power restarting

8 System alarm System error Problem of driver IC Power

restarting

9 System alarm

Initialization error Motor initialization error Power

restarting

Alarm LED Blinking cycle and Error description

24

5. General specifications

Item name CSA-BX42D2E

CSA-BX42D4E

CSA-BX56D1E

CSA-BX56D3E

CSA-BX56D5E

Motor name PMSB-B42D2E

PMSB-B42D4E

PMSB-B56D1E

PMSB-B56D3E

PMSB-B56D5E

Driver name PDSA-BXFlange size □ 42mm □ 56.4mm

Resolution400P/R (0.9Deg.), 800P/R (0.45Deg.),

1,600P/R (0.225Deg.)Bracket() shows step angle at each resolution setting.

Driving method 2 phase bipolar chopper drivePower supply voltage DC24V±10%

Current 1.6A/phase 2.8A/phase

Maximum holding torque 0.23 N･m 0.38 N･m 0.44 N･m 0.77 N･m 1.40 N･m(400P/R 0 pps) (400P/R 0 pps)

Rotor inertiaApprox.

40g･cm2

Approx.70

g･cm2

Approx.153

g･cm2

Approx.290

g･cm2

Approx.513

g･cm2

Permissible inertiaApprox.

400g･cm2

Approx.700

g･cm2

Approx.1530g･cm2

Approx.2900g･cm2

Approx.5130g･cm2

Permissible thrust load 3.5 N (0.35 kgf) 5.4 Ｎ（0.54 kgf）

Permissible radial load 20 N (2kgf) at the top of output shaft

50 N (5kgf) at the top of output shaft

Motor mass Approx. 0.29kg

Approx. 0.42kg

Approx. 0.51kg

Approx. 0.71kg

Approx. 1.10kg

Driver mass Approx. 0.08kgInsulation resistance 500 VD.C Merger 100M ohms or moreDie-electrical strength A.C.500V 50/60Hz 1 minute.

Operating ambient tempera-ture 0 to 40 Deg.C No freezing.

Operating ambient humidity 85% or less. No condensing

Storage temperature Driver :　-10 to + 50 Deg.C. No freezingMotor :　-20 to + 60 Deg.C. No freezing

Storage humidity 85% or less. No condensing

Atmosphere No corrosive gas, no dust surroundings, No water and oil splash.

Environmental RoHS (2002/95/EC)

＜ Standard model ＞

25

Item name CSA-BX42D2ESD CSA-BX56D1ESD

Motor name PMSB-B42D2ESD PMSB-B56D1ESD

Driver name PDSA-BX

Flange size □ 42mm □ 60mm

Resolution4000 P/R（0.09Deg.), 8000 P/R（0.045Deg.),

16,000 P/R（0.0225Deg.), 32,000 P/R（0.01125Deg.)Bracket() shows step angle at each resolution setting.

Driving method 2 phase bipolar chopper drivePower supply voltage DC24V ± 10%

Current 1.2 A/ Phaze 2.4 A/ PhazePermissible torque 1.0 N･m 3.0 N･mPermissible rotation

speed 0 〜 200 r/min

Backlash Approx.1 〜 2 Deg.Rotor inertia Approx.40 g･cm2 Approx.135 g･cm2

Permissible inertia Approx.40,000 g･cm2 Approx.135,000 g･cm2

Permissible thrust load 15 N (1.5 kgf) 30 N (3 kgf)

Permissible radial load 10 N (1kgf) at the top of output shaft

30 N (3kgf) at the top of output shaft

Motor mass Approx. 0.38kg Approx. 0.81kgDriver mass Approx. 0.08kg

Insulation resistance 500 VD.C Merger 100M ohms or moreDie-electrical strength A.C.500V 50/60Hz 1 minute.

Operating ambient temperature 0 to 40 Deg.C No freezing.

Operating ambient humidity 85% or less. No condensing

Storage temperature Driver :　-10 to + 50 Deg.C. No freezingMotor :　-20 to + 60 Deg.C. No freezing

Storage humidity 85% or less. No condensing

Atmosphere No corrosive gas, no dust surroundings, No water and oil splash.

Environmental RoHS (2002/95/EC)

＜ Geared model ＞

Phenomenon Possible cause Countermeasure

Motor is not ener-gized. (Output shaft can be rotated by fin-gers like "power off" condition)

Cable miss connection or improper cable connection

Correct the connection of the cable with the power supply and the motor cable with driver

Power supply "Off" Check if the power supply is "On"Motor current enable signal is "Off"

Set the motor current enable signal is "On"

Motor does not rotate

(Pulse) signal cable miss connection, improper cable connection or disconnection.

Check if the correct connection of the signal cable to the driver. Also check if the signal cable has not been dam-aged.

Motor running current is not set properly

Set the motor running current properly.

No pulse signal input. Check if proper pulse signal from the controller applied.

Improper switch (SW1)setting Correct the pulse input mode setting. Incorrect input mode setting may the cause no rotation of the motor.

Motor rotates in reverse direction.

Reverse connection of CW input signal and CCW input signal at 2 pulse input mode.

Connect CW pulse signal to CW signal input and CCW pulse signal to CCW signal input.

Input of the rotation direction signal is not correct at 1 pulse input mode.

Correct input signal logic of the rota-tion direction (Photocoupler on - CW direction and photocoupler off - CCW direction).

Incorrect switch (SW1) set-ting.

Correct the pulse input mode setting.

6. Troubleshooting & countermeasure

When Alarm LED does not blink

When the motor cannot be operated correctly. Refer to the following troubleshooting and countermeasure list. If the incorrect operation persists, contact your sale agent or sales office.

26

Phenomenon Possible cause Countermeasure

Unstable motor operation

Signal cable or motor cable miss connection or improper cable connection.

Correct the connection of the signal cable between driver and controller. Also check the correct connection of the motor cable between driver and motor. Also check if the cable has not been damaged.

Incorrect signal voltage input or incorrect frequency.

Check the signal voltage and frequency.

Motor generates excessive heat

Motor operation time is too long

Shorten the operating time or extend non-operation interval. Also use external cool-ing fan for the motor to cool.　

Motor holding current setting is too high

Adjust the motor holding current at lower value.

Motor does not generate expect-ed torque.

Incorrect power supply volt-age or power supply current capacity is not enough.

Check the power supply voltage. Prepare the power supply that has enough current capacity.

Incorrect running current setting or incorrect holding current setting

Adjust the motor running current setting (SW2).

Motor rotation does not reach expected value

Incorrect resolution setting Correct the resolution setting (SW1)Input pulse is too much or less.

Check the supplied pulse from controller.

Input pulse does not match required pulse after gear re-duction.

Input enough pulse in accordance with gear ratio.

Motor holding current does not go down.

Automatic power down dis-abled.

Set automatic power down enable.

Incorrect motor holding cur-rent setting

Correct holding current setting.

Motor generates excessive vibra-tion (noise)

Motor resonates Change the operation velocity or use the mounting rubber damper. Changing the resolution setting is also effective to mini-mize the motor resonance. Use velocity filter to reduce acceleration/deceleration vibration.

Load is small If output torque is too much against load, increase load or reduce the current set-ting.Use velocity filter to reduce acceleration/deceleration vibration.

27

28

ALARM LED Blinking cycle

Possible cause Countermeasure

2

Motor stalling in open-loop stall detection mode. Excessive load, Excessive acceleration / Deceleration or vibration.

Reduce the load if the cause is exces-sive load. Operate in trapezoidal acceler-ation / deceleration curve in accordance with the motor performance. Use velocity filter to reduce acceleration/deceleration vibration.

3

Position deviation or load ex-ceeds the motor tracing range in closed-loop operation mode.Excessive load or command pulse input is too fast beyond the motor performance.

Reduce the load if the cause is exces-sive load. Operate in accordance with the motor performance.

4

Overheat protection works. Temperature of the thermistor on driver board is too high.

Keep enough surrounding space for good heat dissipation. Mount the driver appropriate flat metal plate that can be expected good heat dissipation.

5

Excessive regenerative voltage protection works.

Reduce the load if the cause is exces-sive load. Review and change trapezoi-dal acceleration / deceleration curve in accordance with motor performance.

6

Low voltage protection works Improper power supply voltage setting. Less capable power sup-ply capacity. Wrong connection.

Check the power supply voltage setting, power supply capacity and connection.

7

Excessive velocity protection works. Command pulse input is too fast or motor velocity is too high.

Keep maximum command pulse input less than 80Kpps and maximum motor velocity less than 3,500 rpm.

8Driver operation problem.External noise, malfunction by external reason or breakdown.

Remove the source of noise. Re-start power supply.

9Initialization failure.Excessive load. Motor cable miss connection.

Reduce the load if the cause is exces-sive load. Correct the connection of the motor cable with driver.

When Alarm LED blinks

29

For the safety operation, it is recommended that periodical inspection be done after each motor operation. Stop operation immediately and turn off the motor power supply, if unex-pected system malfunction occurs. Then, contact sales agent or sales office.● Recommended inspection items - No unusual noise from the motor bearing and moving components. - No foul smell from the motor unit. - No misalignment between the center of the motor output shaft and the load center. - No looseness of the motor and the driver mounting screw. - No looseness of the cable connection and no unusual connection. - No damage and no excessive stress on the cable.

● Within one (1) year from the date of invoice ("Warranty Period"), product breakage, de-formation, or defect ("Defects") by cause of Shinano Kenshi, the product you purchased shall be repaired, or be replaced at no charge. This warranty excludes and dose not cover any defects arising from or related to the followings.

(1) Use excluding 【 Suggested applications 】(2) Abuse and misuse.(3) Acts of God (Earthquake, lightning, fire or flood)(4) Negligence in observing specifications, applications, precaution of using, use condi-

tions, drawings, other matters that related to the product, product (including optional parts) operation manuals or against other indications regarding safe use.

(5) Unauthorized machining, repairs, modifications or disassembly.(6) Use with another manufacture's devices.(7) Exceeding product life.(8) Other than above, defects cannot be attributed to Shinano Kenshi.

● After warranty period or out of the warranty, any and all repairs, replacements and con-sumable replacements will be charged appropriately.

● Shinano Kenshi is not liable for direct damages, loss of opportunities, special damages, incidental damages and other consequent damages or loss caused by production line stop of factory and factory facilities with using our products.

7. Periodical inspection

8. Warranty

30

● Reprinting or copying this operation manual is prohibited.● Product name, specifications, dimensions may change without notice for product im-

provement.● Products shown in this manual may be discontinued without prior notice.● Contact sales agents or sales offices if modification or machining is required.

9. Notes

31

< memo >

Plexmotion support centerE-mail : [email protected]

is a trademark of Shinano Kenshi Co.,Ltd.

〒 386-04981078 Kami-maruko, Ueda-shi, Nagano-ken, JAPANTEL(81)-268-41-1800 FAX(81)-268-43-0010

Designed and manufactured by Shinano Kenshi Co.,Ltd.

©2011 Shinano Kenshi Co.,Ltd.

Documents

RoHS compliant - Plexmotionfires. Stop operation immediately and turn off the motor power supply, if unexpected system malfunction occurs. Otherwise, it may cause fires or injuries