Autonics Md5 Cat Eng 130808

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MD5 Series

5-Phase Stepper Motor Driver

Small, light and high speed and torque 5-phase stepper motor driver

(A)
Photo
electric
sensor

Features

(B)
Fiber
optic
sensor

Bipolar constant pentagon drive method


Includes Auto Current Down and self-diagnosis function
Low speed rotation and high accuracy controlling with
microstep-driving (Except for MD5-ND14)
[Max. resolution - 250 division / In case of 5-phase
stepper motor of which basic step angle is 0.72 , it enables to control up to 0.00288 per pulse and it requires
125,000 pulses per rotation.]
Photocoupler input insulation method to minimize the
effects from external noise

(C)
Door/Area
sensor
(D)
Proximity
sensor

MD5-HF28

MD5-HF14

MD5-HF14-AO MD5-HD14 MD5-ND14

(F)
Rotary
encoder

Please read Caution for your safety in operation


manual before using.

MD

(G)
Connector/
Socket

(Except for MD5-HF14-AO, MD5-HD14, ND14)

Ordering information
14
Output
RUN current
Power supply
Step type (Resolution)
Motor phase
Item

1: Except MD5-ND14

No mark
AO

Zero point excitation output


Alarm output

14
28

1.4A/Phase
2.8A/Phase

D
F

20-35VDC
100-220VAC

H
N

Micro step(250divisions)
Normal Step

5-Phase

MD

Motor Driver

(H)
Temp.
controller

(I)
SSR/
Power
controller
(J)
Counter

(K)
Timer

KR-55MC can be replaced with MD5-HD14.


KR-5MC can be replaced with MD5-ND14.
MD5-MF14 can be replaced with MD5-HF14.
KR-505G can be replaced with MD5-HF28.

Specifications
Model

MD5-HD14

MD5-HF14

Power supply

20-35VDC 3A1

100-220VAC 50/60Hz

MD5-HF14-AO

RUN current

0.4 to 1.4A / Phase


Bipolar constant pentagon drive

Basic step angle

0.72/ Phase

Resolution

1, 2, 4, 5, 8, 10, 16, 20, 25, 40, 50, 80, 100, 125, 200, 250 division
(0.72to 0.00288/ Phase)

Input pulse width

Min. 0.5

Pulse Duty

50%

Rising/Falling time

Max. 120ns
High : 4-8VDC, Low : 0-0.5VDC

Input resistance

270(CW, CCW)
390(HOLD OFF, DIVISION SELECTION)
0 to 40,
storage: -20 to 60

MD5-ND14

270(CW, CCW)
390(HOLD OFF)

0 to 50, storage: -10 to 60

Min. 10

Max. 1

Max. 120ns

500kHz

50kHz

270(CW, CCW)
390(HOLD OFF,
DIVISION
SELECTION)

390
(CW, CCW, HOLD
OFF)

(R)
Graphic/
Logic
panel
(S)
Field
network
device
(T)
Software

35 to 85%RH,
storage: -10 to 90%RH

Approval
Unit weight

Approx. 220g

Approx. 660g

Approx. 650g

Approx. 1kg

(P)
Switching
mode power
supply
(Q)
Stepper
motor&
Driver&Controller

0 to 40, storage: -20 to 60

35 to 85%RH,
35 to 85%RH, storage: 35 to 85%RH
storage: -10 to 90%RH

(M)
Tacho/
Speed/ Pulse
meter

(O)
Sensor
controller

1, 2 division
(0.72, 0.36/ Phase)
0.1

(L)
Panel
meter

(N)
Display
unit

1.0 to 2.8A / Phase 0.5 to 1.5A / Phase

Max. input pulse frequency2 1MHz

Ambient
Environ- temperature
ment
Ambient humidity

MD5-HF28

20-35VDC 3A

RUN method

Input voltage level

(E)
Pressure
sensor

Approx. 120g

1: When using over 30VDC, it should be mounted at ventilated place due to increasing heat.
2: Max. pull-out frequency and max. slewing frequency are variable depending on resolution, or load.
Environment resistance is rated at no freezing of condensation.
Q-3

(U)
Other

MD5 Series
5-Phase micro stepper motor driver [MD5-HD14]
Resolution adjuster

Input
Function terminal
selection switch

Power indicator LED

RUN current adjuster


STOP current adjuster

Motor
Zero connection Power
output terminal terminal

Function selection switch


NO

Name

Function

1
2
3

TEST
1/2 CLK
C/D

Self-diagnosis
Pulse input method
Auto current down

Switch position
ON
Rotate in 30rpm
1 Pulse input
Not using

OFF
Not using
2 Pulse input
Using

TEST

Self-diagnosis function is to test motors and drivers.


Motors rotate with 30 rpm in full-step. Motor rotation speed is subject to change depending on resolution setting.
Rotation speed = 30 rpm / resolution
The motor will rotate in CCW direction when in 1-pulse input mode and in CW direction when in 2-pulse input mode.
Note) Make sure that TEST switch is set to OFF before supplying the power.
It may cause injury or danger if TEST switch is set to ON when power is supplied.

1/2 CLK

1/2 CLK switch is to select pulse input mode.


1-pulse input mode : CW operation command pulse input, CCW rotation direction pulse input
([H] : CW rotation, [L] : CCW rotation)
2 Puls input mode : CW CW direction rotation pulse input, CCW CCW direction rotation pulse input

C/D (Auto current down)

This function is reducing current automatically according to STOP current setting value in order to suppress generated
heat when motor is stop.
It activates when there is no pulse input of motor operation for over 200ms.

RUN current setting


S/W No

Current
(A/Phase)

0.4

0.5

0.57

0.63

0.71

0.77

0.84

0.9

0.96

1.02

1.09

1.15

1.22

1.22

1.33

1.4

RUN current is a phase current provided to 5-phase stepper motor.


Be sure to set RUN current at the rated current or below.
Adjust the RUN current in case severe heat generation occurs. Be sure that torque decreasing may occur when
adjusting the current.
Note) Be sure to adjust RUN current while motor is running.

STOP current setting


Switch No. 0

31

36

40

45

50

54

58

62

66

70

74

78

82

86

90

27

STOP current is a phase current provided to 5-phase stepper motor at standstill.


It will be activated when C/D (Auto current down) is set to ON. By setting STOP current, it is possible to suppress the
heat generation at motor standstill.
STOP current setting value is the ratio of RUN current setting value (%).
Ex) In case RUN current setting value is set to 1.4A and STOP current setting value is set to 50%, auto current down current is set to 0.7A.
STOP current setting value may have some deviation depending on resistance impedance of motor.
Auto current down function will be activated when HOLD OFF signal is [L]. When HOLD OFF signal is [H], the function is
not activated since the current provided to each phase is cut off.
Note) Be sure to adjust STOP current while motor is at standstill.
Q-4

Stepper Motor Driver(1.4A/phase, DC Power)


Zero point excitation output signal (ZERO OUT)

(A)
Photo
electric
sensor

CW Pulse

ON
OFF

CCW Pulse

ON
OFF

(B)
Fiber
optic
sensor

ZERO OUT

ON
OFF

(C)
Door/Area
sensor

The signal is output to indicate when the motor excitation status is in the initial stage. Used to check the rotation position
of motor's axis.
In case of full step, the signal is output every 7.2. (50 times / rotation).
Ex) Full step (0.72/Step) : Signal is output every 10 pulses
20 divisions (0.036/Step) : Signal is output every 200 pulses.

HOLD OFF function

(G)
Connector/
Socket
(H)
Temp.
controller

Setting microstep(Microstep : Resolution)


Switch No. 0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Resolution 1
2
4
5
8
10
16
20
25
40
50
80
100
125
200
250
Step angle 0.72 0.36 0.18 0.144 0.09 0.072 0.045 0.036 0.0288 0.018 0.0144 0.009 0.0072 0.00576 0.0036 0.00288

Resolution setting(Same as MS1, MS2)

It is set to MS1 when division selection signal is [L], and MS2 when division selection signal is [H].
Two different micro step can be set using DIVISION SELECTION. Users can select one of them via external input signals.
Microstep is to make basic step angle of 5-phase motors (0.72) divided into smaller angle according to setting values.
The formula for microstep angle is ;
Basic step angle(0.72)
Motor revolution angle (5-phase motors) =
Resolution
In case of geared motors, step angle shall be determined by dividing step angle by gear ratio.
EX) 0.72/ 10 (1:10) = 0.072
It may cause step-out if resolution is changed while motor is running.

270

270

390

390

10
Inner circuit of
MD5-HD14

10 -

(I)
SSR/
Power
controller
(J)
Counter

(K)
Timer

(L)
Panel
meter
(M)
Tacho/
Speed/ Pulse
meter
(N)
Display
unit
(O)
Sensor
controller

InputOutput diagram
+

(E)
Pressure
sensor
(F)
Rotary
encoder

When HOLD OFF input signal is [H], motor excitation is released.


When HOLD OFF input signal is [L], motor excitation is in a normal status.
A function used to rotate motor's axis using external force or used for manual positioning.
HOLD OFF Input signal [H] and [L] represent photocoupler ON/OFF in a circuit.
Please do not use for stopping motor.

(D)
Proximity
sensor

CW

CCW

HOLD OFF

DIVISION SELECTION

ZERO OUT

CW
2-pulse input mode - CW direction rotation pulse input
1-pulse input mode - Operation command pulse input

(P)
Switching
mode power
supply
(Q)
Stepper
motor&
Driver&Controller

CCW
2-pulse input mode - CCW direction rotation pulse input
1-pulse input mode - Rotation direction pulse input
[H] : CW, [L] : CCW

(R)
Graphic/
Logic
panel

HOLD OFF
Motor excitation OFF control signal
[H] : Motor excitation OFF

(S)
Field
network
device
(T)
Software

DIVISION SELECTION
Division selection signal
[L] : Operated by MS1 setting resolution.
[H] : Operated by MS2 setting resolution.

(U)
Other

ZERO OUT
Zero point excitation output signal ON for zero point excitation

Q-5

MD5 Series
Connections

Note) Add external resistance when


power for pulse from the external of
the unit exceeds +5V.
(Input current : 10 to 20mA)

CW+
CWCCW+
CCWHOLD OFF+
HOLD OFF-

+
Power
20-35VDC
Division selection +
signal -

Black
Green
Orange
Red
Blue

Zero point +
excitation output signal

User
Controller

Please refer to Q-37 for


standard wiring.

Motor

Dimensions
(unit: mm)
4.5

100

20

38
39.5

74
76.5

Q-6

105

94

100

4.5

Stepper Motor Driver(1.4A/phase, AC Power)


5-Phase Micro stepper motor driver [MD5-HF14]
Function selection switch
ALARM LED(red)
Power indicator LED

(A)
Photo
electric
sensor

STOP current adjuster


RUN current adjuster

Resolution adjuster

(B)
Fiber
optic
sensor

Input
terminal

(C)
Door/Area
sensor
(D)
Proximity
sensor
(E)
Pressure
sensor

Motor
connection
terminal

Function selection switch

TEST

NO

Name

Function

1
2
3

TEST
2/1 CLK
C/D

Self-diagnosis
Pulse input method
Auto current down

Power
terminal

Switch position
ON
Rotate in 250Hz
1 Pulse input
Not using

(F)
Rotary
encoder
(G)
Connector/
Socket

OFF
2 Pulse input
Using

(H)
Temp.
controller
(I)
SSR/
Power
controller

Self-diagnosis function is to test motors and drivers.


Motors rotate with 250Hz in full-step. Motor rotation speed is subject to change depending on resolution setting.
Rotation speed = 30 rpm / resolution
The motor will rotate in CCW direction when in 1-pulse input mode and in CW direction when in 2-pulse input mode.
Note) Make sure that TEST switch is set to OFF before supplying the power.
It may cause injury or danger if TEST switch is set to ON when power is supplied.

(J)
Counter

(K)
Timer

2/1 CLK

1/2 CLK switch is to select pulse input mode.


1-pulse input mode : CW operation command pulse input, CCW rotation direction pulse input
([H]: CW rotation, [L]: CCW rotation)
2-Puls input mode : CW CW direction rotation pulse input, CCW CCW direction rotation pulse input

(L)
Panel
meter

C/D (Auto current down)

This function is reducing current automatically according to STOP current setting value in order to suppress generated
heat when motor is stop.
It activates when there is no pulse input of motor operation for over 200ms.
Switch No.

Current
(A/Phase)

0.4

0.5

0.57

0.63

0.71

0.77

0.84

0.9

0.96

1.02

1.09

1.15

1.22

1.27

1.33

1.4

27

31

36

40

45

50

54

58

62

66

70

74

78

82

86

90

(P)
Switching
mode power
supply
(Q)
Stepper
motor&
Driver&Controller
(R)
Graphic/
Logic
panel

STOP current setting


0

(N)
Display
unit
(O)
Sensor
controller

RUN current is a phase current provided to 5-phase stepper motor.


Be sure to set RUN current at the rated current or below.
Adjust the RUN current in case severe heat generation occurs. Be sure that torque decreasing may occur when adjusting
the current.
Note) Be sure to adjust RUN current while motor is running.
Switch No.

(M)
Tacho/
Speed/ Pulse
meter

STOP current is a phase current provided to 5-phase stepper motor at standstill.


It will be activated when C/D (Auto current down) is set to ON. By setting STOP current, it is possible to suppress the
heat generation at motor standstill.
STOP current setting value is the ratio of RUN current setting value (%).
Ex) In case RUN current setting value is set to 1.4A and STOP current setting value is set to 50%, auto current down
current is set to 0.7A.
STOP current setting value may have some deviation depending on resistance impedance of motor.
Auto current down function will be activated when HOLD OFF signal is [L]. When HOLD OFF signal is [H], the function is
not activated since the current provided to each phase is cut off.
Note) Be sure to adjust STOP current while motor is at standstill.

Q-7

(S)
Field
network
device
(T)
Software

(U)
Other

MD5 Series
Zero point excitation output signal (ZERO OUT)
CW Pulse

ON
OFF

CCW Pulse

ON
OFF

ZERO OUT

ON
OFF

The signal is output to indicate when the motor excitation status is in the initial stage. / Used to check the rotation
position of motor's axis
In case of full step, the signal is output every 7.2. (50 times / rotation)
EX) Full step (0.72/Step): Signal is output every 10 pulses.
20 divisions (0.036/Step): Signal is output every 200 pulses.

HOLD OFF function

When HOLD OFF input signal is [H], motor excitation is released.


When HOLD OFF input signal is [L], motor excitation is in a normal status.
A function used to rotate motor's axis using external force or used for manual positioning.
HOLD OFF Input signal [H] and [L] represent photocoupler ON/OFF in a circuit.
Please do not use for stopping motor.

Setting microstep(Microstep : Resolution)


Switch No. 0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Resolution 1
2
4
5
8
10
16
20
25
40
50
80
100
125
200
250
Step angle 0.72 0.36 0.18 0.144 0.09 0.072 0.045 0.036 0.0288 0.018 0.0144 0.009 0.0072 0.00576 0.0036 0.00288

Resolution setting(Same as MS1, MS2)

It is set to MS1 when division selection signal is [L], and MS2 when division selection signal is [H].
Two different micro step can be set using DIVISION SELECTION. Users can select one of them via external input
signals.
Microstep is to make basic step angle of 5-phase motors (0.72) divided into smaller angle according to setting values.
The formula for microstep angle is ;
Basic step angle(0.72)
Motor revolution angle (5-phase motors) =
Resolution
In case of geared motors, step angle shall be determined by dividing step angle by gear ratio.
EX) 0.72/ 10 (1:10) = 0.072
It may cause step-out if resolution is changed while motor is running.

ALRAM Function

Over heat: When the temperature in driver BASE is over 80, Alarm LED will be ON and motor will stop with holding the
torque. Remove the Over Heat Alarm causing factors and reset the power in order to reset alarm function.
Overcurrent: When overcurrent is applied to the motor due to driver damage or errors, Alarm LED will be flickering.
In case of overcurrent, the motor will be HOLD OFF. Cut off the power and remove overcurrnet-causing
factors in order to resume normal operation.

InputOutput diagram
1

270

270

390

390

10
Inner circuit of
MD5-HF14

Q-8

10 -

CW

CCW

HOLD OFF

DIVISION SELECTION

ZERO OUT

CW
2-pulse input mode - CW direction rotation pulse input
1-pulse input mode - Operation command pulse input
CCW
2-pulse input mode - CCW direction rotation pulse input
1-pulse input mode - rotation direction pulse input
[H] : CW, [L] : CCW
HOLD OFF
Motor excitation OFF control signal
[H] : Motor excitation OFF
DIVISION SELECTION
Division selection signal
[L] : Operated by MS1 setting resolution.
[H] : Operated by MS2 setting resolution.
ZERO OUT
Zero point excitation output signal ON for zero point excitation

Stepper Motor Driver(1.4A/phase, AC Power)


Connections

(A)
Photo
electric
sensor
(B)
Fiber
optic
sensor
(C)
Door/Area
sensor

Blue
Red
Orange
Green
Black

Motor

(D)
Proximity
sensor

F.G
100-220VAC 50/60Hz
Note) Add external resistance when
power for pulse from the external of
the unit exceeds +5V.
(Input current : 10 to 20mA)

Please refer to Q-37 for


standard wiring.
Division selection +
signal Zero point excitation +
output signal CW+
CWCCW+
CCWHOLD OFF+
HOLD OFF-

(E)
Pressure
sensor
(F)
Rotary
encoder
(G)
Connector/
Socket
(H)
Temp.
controller

User
Controller

(I)
SSR/
Power
controller
(J)
Counter

Dimensions

(unit: mm)

(K)
Timer

(L)
Panel
meter

108
4-M4 TAP DP: 8

(M)
Tacho/
Speed/ Pulse
meter

170

120

(O)
Sensor
controller

156

170

(N)
Display
unit

(P)
Switching
mode power
supply
(Q)
Stepper
motor&
Driver&Controller
(R)
Graphic/
Logic
panel
(S)
Field
network
device

20
42

122
134.3

(T)
Software

(U)
Other

Q-9

MD5 Series
5-Phase Micro stepper motor driver [MD5-HF14-AO]
STOP current adjuster
RUN current adjuster
Input/Output
terminal

Function selection switch


ALARM LED(red)
Power indicator LEDLED

Resolution adjuster

Motor
connection
terminal

Function selection switch


NO

Name

Function

1
2
3

TEST
2/1 CLK
C/D

Self-diagnosis
Pulse input method
Auto current down

Power
terminal

Switch position
ON
Rotate in 30rpm
1 Pulse input
Not using

OFF
2 Pulse input
Using

TEST

Self-diagnosis function is to test motors and drivers.


Motors rotate with 30 rpm in full-step. Motor rotation speed is subject to change depending on resolution setting.
Rotation speed = 30 rpm / resolution
The motor will rotate in CCW direction when in 1-pulse input mode and in CW direction when in 2-pulse input mode.
Note) Make sure that TEST switch is set to OFF before supplying the power.
It may cause injury or danger if TEST switch is set to ON when power is supplied.

2/1 CLK

1/2 CLK switch is to select pulse input mode.


1-pulse input mode : CW operation command pulse input, CCW rotation direction pulse input
([H]: CW rotation, [L]: CCW rotation)
2 Pulse input mode : CW CW direction rotation pulse input, CCW CCW direction rotation pulse input

C/D (Auto current down)

This function is reducing current automatically according to STOP current setting value in order to suppress generated
heat when motor is stop.
It activates when there is no pulse input of motor operation for over 200ms.

RUN current setting


Switch No.

Current
(A/Phase)

0.4

0.5

0.57

0.63

0.71

0.77

0.84

0.9

0.96

1.02

1.09

1.15

1.22

1.27

1.33

1.4

RUN current is a phase current provided to 5-phase stepper motor.


Be sure to set RUN current at the rated current or below.
Adjust the RUN current in case severe heat generation occurs. Be sure that torque decreasing may occur when adjusting
the current.
Note) Be sure to adjust RUN current while motor is running.

STOP current setting


Switch No.

27

31

36

40

45

50

54

58

62

66

70

74

78

82

86

90

STOP current is a phase current provided to 5-phase stepper motor at standstill.


It will be activated when C/D (Auto current down) is set to ON. By setting STOP current, it is possible to suppress the
heat generation at motor standstill.
STOP current setting value is the ratio of RUN current setting value (%).
Ex) In case RUN current setting value is set to 1.4A and STOP current setting value is set to 50%, auto current down current is set to 0.7A.
STOP current setting value may have some deviation depending on resistance impedance of motor.
Auto current down function will be activated when HOLD OFF signal is [L]. When HOLD OFF signal is [H], the function is
not activated since the current provided to each phase is cut off.
Note) Be sure to adjust STOP current while motor is at standstill.
Q-10

Stepper Motor Driver(1.4A/phase, AC Power, Alarm output)


HOLD OFF function

(A)
Photo
electric
sensor

When HOLD OFF input signal is [H], motor excitation is released.


When HOLD OFF input signal is [L], motor excitation is in a normal status.
A function used to rotate motor's axis using external force or used for manual positioning.
HOLD OFF Input signal [H] and [L] represent photocoupler ON/OFF in a circuit.
Please do not use for stopping motor.

(B)
Fiber
optic
sensor
(C)
Door/Area
sensor

Setting microstep(Microstep : Resolution)

Switch No. 0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Resolution 1
2
4
5
8
10
16
20
25
40
50
80
100
125
200
250
Step angle 0.72 0.36 0.18 0.144 0.09 0.072 0.045 0.036 0.0288 0.018 0.0144 0.009 0.0072 0.00576 0.0036 0.00288

Resolution setting

Microstep is to make basic step angle of 5-phase motors (0.72) divided into smaller angle according to setting values.
The formula for microstep angle is ;
Basic step angle(0.72)
Motor revolution angle (5-phase motors) =
Resolution
In case of geared motors, step angle shall be determined by dividing step angle by gear ratio.
EX) 0.72/ 10 (1:10) = 0.072
It may cause step-out if resolution is changed while motor is running.

ALRAM OUTPUT Function

Overheat : When the temperature of inner driver (Base) is over 80, Alarm LED (Red) is turned ON and motor becomes
HOLD OFF. Turn OFF the power, remove the causes, and re-supply the power to clear the alarm.
Overcurrent : When overcurrent is applied to motor due to damage by a fire of stepper motor, broken of inner driver, or
occurrence of abnormal error, Alarm LED (Red) flashes and motor becomes HOLD OFF. Turn OFF the
power, remove the causes, and re-supply the power to clear the alarm.

(D)
Proximity
sensor
(E)
Pressure
sensor
(F)
Rotary
encoder
(G)
Connector/
Socket
(H)
Temp.
controller
(I)
SSR/
Power
controller
(J)
Counter

(K)
Timer

InputOutput diagram

1
270

10
2k

CCW

(O)
Sensor
controller
(P)
Switching
mode power
supply

HOLD OFF
Motor excitation OFF control signal
[H] : Motor excitation OFF

HOLD OFF

(Q)
Stepper
motor&
Driver&Controller
(R)
Graphic/
Logic
panel

When alarm occurs, it turns HOLD OFF. After cut off the
power, remove the causes to operate normally.

8
Alarm out

10

(N)
Display
unit

CCW
2-pulse input mode - CCW direction rotation pulse input
1-pulse input mode - Operation command pulse
[H] : CW, [L] : CCW

(M)
Tacho/
Speed/ Pulse
meter

CW
2-pulse input mode - CW direction rotation pulse
1-pulse input mode - Operation command pulse input

+
CW

270

390

(L)
Panel
meter

(S)
Field
network
device

3-5VDC

Overheat

(T)
Software

Over current :

(U)
Other

Inner circuit of
MD5-HF14-AO

Q-11

MD5 Series
Connections

Motor

Blue
Red
Orange
Green
Black

F.G.
100-220VAC 50/60Hz
Note) Add external resistance when power
for pulse from the external of the unit
exceeds +5V.
(Input current : 10 to 20mA)

Please refer to Q-37 for


standard wiring.

+
CW+
CWCCW+
CCWHOLD OFF+
HOLD OFF-

Alarm out

3-5VDC

User
Controller

Dimensions
(unit: mm)
20

108

5
40
42

Q-12

170
120

156

4-M4 TAP Dp:8

5
122
134.3

Stepper Motor Driver(2.8A/phase, AC Power)


5-Phase Microstep motor driver [MD5-HF28]

(A)
Photo
electric
sensor

Resolution adjuster

STOP current adjuster

(B)
Fiber
optic
sensor

RUN current adjuster

(C)
Door/Area
sensor
(D)
Proximity
sensor
(E)
Pressure
sensor

Power indicator LED


Function
ALARM LED(red)
selection switch
KR-505G can be replaced with MD5-HF28.
Power supply 100-220VAC and connected socket are upgraded.

Function selection switch


NO

Name

Function

1
2
3

TEST
2/1 CLK
C/D

Self-diagnosis
Pulse input method
Auto current down

Switch position
ON
Rotate in 250Hz
1 Pulse input
Not using

(F)
Rotary
encoder
(G)
Connector/
Socket

OFF
2 Pulse input
Using

(H)
Temp.
controller
(I)
SSR/
Power
controller

TEST

Self-diagnosis function is to test motors and drivers.


Motors rotate with 250Hz in full-step. Motor rotation speed is subject to change depending on resolution setting.
Rotation speed = 30 rpm / resolution
The motor will rotate in CCW direction when in 1-pulse input mode and in CW direction when in 2-pulse input mode.
Note) Make sure that TEST switch is set to OFF before supplying the power.
It may cause injury or danger if TEST switch is set to ON when power is supplied.

(J)
Counter

(K)
Timer

2/1 CLK

1/2 CLK switch is to select pulse input mode.


1-pulse input mode : CW operation command pulse input, CCW rotation direction pulse input
([H]: CW rotation, [L]: CCW rotation)
2-pulse input mode : CW CW direction rotation pulse input, CCW CCW direction rotation pulse input

(L)
Panel
meter

C/D (Auto current down)

This function is reducing current automatically according to STOP current setting value in order to suppress generated
heat when motor is stop
It activates when there is no pulse input of motor operation for over 200ms.

RUN current setting


0

Current
(A/Phase)

1.14

1.25

1.36

1.50

1.63

1.74

1.86

1.97

2.10

2.20

2.30

2.40

2.50

2.60

2.78

2.88

RUN current is a phase current provided to 5-phase stepper motor.


Be sure to set RUN current at the rated current or below.
Adjust the RUN current in case severe heat generation occurs. Be sure that torque decreasing may occur when adjusting the current.
Note) Be sure to adjust RUN current while motor is running.

STOP current setting


0

27

31

36

40

45

50

54

58

62

66

70

74

78

82

86

90

(N)
Display
unit
(O)
Sensor
controller

Switch No.

Switch No.

(M)
Tacho/
Speed/ Pulse
meter

(P)
Switching
mode power
supply
(Q)
Stepper
motor&
Driver&Controller
(R)
Graphic/
Logic
panel
(S)
Field
network
device

STOP current is a phase current provided to 5-phase stepper motor at standstill.


It will be activated when C/D (Auto current down) is set to ON. By setting STOP current, it is possible to suppress the
heat generation at motor standstill.
STOP current setting value is the ratio of RUN current setting value (%).
Ex) In case RUN current setting value is set to 1.4A and STOP current setting value is set to 50%, auto current down current is set to 0.7A.
STOP current setting value may have some deviation depending on resistance impedance of motor.
Auto current down function will be activated when HOLD OFF signal is [L]. When HOLD OFF signal is [H], the function is
not activated since the current provided to each phase is cut off.
Note) Be sure to adjust STOP current while motor is at standstill.
Q-13

(T)
Software

(U)
Other

MD5 Series
Zero point excitation output signal (ZERO OUT)
CW Pulse

ON
OFF

CCW Pulse

ON
OFF

ZERO OUT

ON
OFF

The signal is output to indicate when the motor excitation status is in the initial stage. / Used to check the rotation position of motor's axis
In case of full step, the signal is output every 7.2. (50 times / rotation)
EX) Full step (0.72/Step) : Signal is output every 10 pulses.
20 divisions (0.036/Step) : Signal is output every 200 pulses.

HOLD OFF function

When HOLD OFF input signal is [H], motor excitation is released.


When HOLD OFF input signal is [L], motor excitation is in a normal status.
A function used to rotate motor's axis using external force or used for manual positioning.
HOLD OFF Input signal [H] and [L] represent photocoupler ON/OFF in a circuit.
Please do not use for stopping motor.

Setting microstep(Microstep : Resolution)


Switch No. 0

Resolution

10

16

20

25

40

50

80

100

125

200

250

0.36

0.18 0.144

0.045

0.036

0.0288

0.018

0.0144

0.009

0.0072

0.00576

0.0036

0.00288

Step angle 0.72

0.09 0.072

Resolution setting(Same as MS1, MS2)

It is set to MS1 when division selection signal is [L], and MS2 when division selection signal is [H].
Two different micro step can be set using DIVISION SELECTION. Users can select one of them via external input signals.
Microstep is to make basic step angle of 5-phase motors (0.72) divided into smaller angle according to setting values.
The formula for microstep angle is ;
Basic step angle(0.72)
Motor revolution angle (5-phase motors) =
Resolution
In case of geared motors, step angle shall be determined by dividing step angle by gear ratio.
EX) 0.72/ 10 (1:10) = 0.072
It may cause step-out if resolution is changed while motor is running.

ALRAM Function

Over heat : When the temperature in driver BASE is over 80, Alarm LED will be ON and motor will stop with holding
the torque. Remove the Over Heat Alarm causing factors and reset the power in order to reset alarm function
Overcurrent : When overcurrent is applied to the motor due to driver damage or errors, Alarm LED will be flickering. In
case of overcurrent, the motor will be HOLD OFF. Cut off the power and remove overcurrent-causing factors in order to resume normal operation.

InputOutput diagram
270

270

390

390

10
Inner circuit of
MD5-HF28

Q-14

10 -

CW

CCW

HOLD OFF

DIVISION SELECTION

ZERO OUT

CW
2-pulse input mode - CW direction rotation pulse input
1-pulse input mode - Operation command pulse input
CCW
2-pulse input mode - CCW direction rotation pulse input
1-pulse input mode - Rotation direction pulse input
[H] : CW, [L] : CCW
HOLD OFF
Motor excitation OFF control signal
[H] : Motor excitation OFF
DIVISION SELECTION
Division selection signal
[L] : Operated by MS1 setting resolution.
[H] : Operated by MS2 setting resolution.
ZERO OUT
Zero point excitation output signal ON for zero point excitation

Stepper Motor Driver(2.8A/phase, AC Power)


Connections

(A)
Photo
electric
sensor
(B)
Fiber
optic
sensor
(C)
Door/Area
sensor

Note) Add external resistance when


power for pulse from the external
of the unit exceeds +5V.
100-220VAC 50/60Hz
(Input current : 10 to 20mA)
F.G

Black
Green
Orange
Red
Blue

CW+
CWCCW+
CCWHOLD OFF+
HOLD OFF-

Division selection+
signal Zero point excitation +
output signal -

(D)
Proximity
sensor
(E)
Pressure
sensor
(F)
Rotary
encoder

Motor

(G)
Connector/
Socket

Please refer to Q-37 for


standard wiring.

(H)
Temp.
controller

User
Controller

(I)
SSR/
Power
controller

Dimensions

(unit: mm)
10.5

127.5

49
20

(J)
Counter

(K)
Timer

6
4-6

(L)
Panel
meter
(M)
Tacho/
Speed/ Pulse
meter
(N)
Display
unit

(P)
Switching
mode power
supply

200

163

176

185

(O)
Sensor
controller

(Q)
Stepper
motor&
Driver&Controller
(R)
Graphic/
Logic
panel
(S)
Field
network
device

(T)
Software

54.1

(U)
Other

R5

146

Q-15

MD5 Series
5-Phase stepper motor driver [MD5-ND14]

Input
Function
terminal
selection
STOP switch RUN
current
current
adjuster
adjuster

Motor
connection Power
terminal terminal

Function selection switch


NO

Name

Function

1
2

1/2 CLK
FULL HALF

Pulse input method


Resolution Setting

Switch position
ON
1 Pulse input
0.72

OFF
2 Pulse input
0.36

1/2 CLK

1/2 CLK switch is to select pulse input mode.


1-pulse input mode : CW operation command pulse input, CCW rotation direction pulse input
([H]: CW rotation, [L]: CCW rotation)
2 Pulse input mode : CW CW direction rotation pulse input, CCW CCW direction rotation pulse input

FULL HALF

FULL HALF switch is to select pulse input mode.


If changing resolution while the motor is running, it may cause step-out.

RUN current setting


RUN
CURRENT

RUN current is a phase current provided to 5-phase stepper motor.


Be sure to set RUN current at the rated current or below.
RUN current setting range: 0.5 to 1.5A
When changing RUN current, connect CP+ to voltmeter (+) terminal and CP- to voltmeter (-) terminal, then
adjust the volume.
The formula for phase-current setting is ;
CP Input Voltage(V)
Setting current(A) =
2
Adjust the RUN current in case severe heat generation occurs. Be sure that torque decreasing may occur
when adjusting the current.
Note) Be sure to adjust RUN current while motor is running.

STOP current setting


STOP
CURRENT

25% 75%

STOP current is a phase current provided to 5-phase stepper motor at standstill.


A function to reduce the current in order to suppress the heat generation at motor standstill / STOP current
setting range : 25 to 75% of RUN current using VR
In case Run current setting value is set to 1.0A and STOP current setting value is set to 50%, STOP current is set to 0.5A.
STOP current setting value may have some deviation depending on resistance impedance of motor.
STOP current function will be activated when HOLD OFF signal is [L]. When HOLD OFF signal is [H], the
function is not activated since the current provided to each phase is cut off.
STOP current function will be activated when no operation command pulse is input within 500ms.
Note) Be sure to adjust STOP current while motor is at standstill.

HOLD OFF function

When HOLD OFF input signal is [H], motor excitation is released.


When HOLD OFF input signal is [L], motor excitation is in a normal status.
A function used to rotate motor's axis using external force or used for manual positioning.
HOLD OFF Input signal [H] and [L] represent photocoupler ON/OFF in a circuit.
Please do not use for stopping motor.
Q-16

Stepper Motor Driver(1.5A/phase, AC Power)


Input diagram
1 +
390

CW
2

3 +
390
390

CCW
-

5 +
HOLD OFF
6

Inner circuit of
MD5-ND14

CW
2 pulse input method(CW direction rotation pulse input)
1 pulse input method(Operating command pulse input)
Note) If the power for driving pulse from external is over than
+5V, please connect resistor
CCW
2 pulse input method(CCW direction rotation pulse input)
1 pulse input method(Rotating direction pulse input)
[H] : CW, [L] : CCW

(A)
Photo
electric
sensor
(B)
Fiber
optic
sensor
(C)
Door/Area
sensor
(D)
Proximity
sensor

HOLD OFF
The control signal for hold off of Motor [H] : Motor Hold OFF

(E)
Pressure
sensor
(F)
Rotary
encoder
(G)
Connector/
Socket

Connections

(H)
Temp.
controller
(I)
SSR/
Power
controller
(J)
Counter

CPCP+

+
Power 2035VDC
CW+
CWCCW+
CCWHOLD OFF+
HOLD OFF-

(K)
Timer

+5V 30mA output

Black
Green
Orange
Red
Blue

User
Controller

Note) Add external resistance


when power for pulse from
the external of the unit
exceeds +5V.
(Input current:10 to 20mA)

(L)
Panel
meter
(M)
Tacho/
Speed/ Pulse
meter
(N)
Display
unit

Motor

Please refer to Q-37 for


standard wiring.

Dimensions

(unit: mm)

(O)
Sensor
controller
(P)
Switching
mode power
supply

22.5

(Q)
Stepper
motor&
Driver&Controller

4.5

45

(R)
Graphic/
Logic
panel
(S)
Field
network
device

80
87

(T)
Software

55.5

93

(U)
Other

32
20

4.5

87

Q-17

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