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Safety Information When using QS Series devices, follow the safety precautions below.
QS Series Stepper Motor Driver QS-10N QS-10P QS-10H
WARNING
• Do not use this product for the purpose to protect a human body or part of a human body. • This product is not intended for use as an explosion-proof product. Do not use this product in hazardous locations and/or potentially explosive atmospheres. • Do not use the QS Series in a location where water may splash on the device or in a corrosive environment. Otherwise, this may cause fire. • Do not allow the surface temperature of the Stepper Motor to exceed 75C. Otherwise, this may cause fire or injury. • If the QS Series will be used in a vertical drive such as a lifting and lowering device, take appropriate measures to fix the moving parts in place. As the motor loses its holding power when the power supply is off, moving parts may fall and cause injury or machine damage.
CAUTION
• Do not disassemble or modify the QS Series. Otherwise, this may cause malfunction. • Never touch the rotating section of the motor during operation. Otherwise, this may cause injury. • While the system is turned on, or for some time after the system is turned off, do not touch the QS Series as it is hot. Otherwise, this may cause injury. • The QS Series is designed to be built into machinery. Install guards etc. to ensure that it does not come into contact with hands/bodies when operating. Otherwise, this may cause injury or burns. • Do not insert or remove connectors when the system is turned on. Otherwise, this may cause injury or malfunction. • Install an external emergency stop device or emergency stop circuit in case of device failure or abnormal operation. • Be sure to connect the ground terminal of the Motor Driver. Otherwise, this may cause electrical shock or fire. • Do not use a power supply other than the one stated in the QS Series specifications. Otherwise, this may cause injury or malfunction. • Do not use a damaged Motor Driver or Stepper Motor. Otherwise, this may cause injury or fire. • Be sure to set up a safety device when using the QS Series in a facility where a malfunction of the QS Series may lead to serious accident or loss. • Follow the wiring instructions in this manual. • Be sure to set up a safety device in case of external wire short circuits. Otherwise, this may cause fire. • Be sure to use the rated power supply voltage. Otherwise, this may cause fire or malfunction.
Instruction Manual Read this manual before using the product in order to achieve maximum performance. Keep this manual in a safe place after reading it so that it can be used at any time.
Introduction This manual describes how to operate the QS Series. It also describes other information such as operating procedures and precautions related to the QS Series. To ensure proper use of the QS Series, read this manual carefully and ensure that you fully understand the information contained within. Take care to store this manual in a convenient location so that it is readily accessible for reference whenever necessary. Please take care that the personnel who will actually operate the product have access to this manual.
Safety Precautions Symbol Guide The following symbols are used to show potentially hazardous situations or to provide extra information. Be sure to read this section carefully. DANGER
It indicates a hazardous situation which, if not avoided, will result in death or serious injury.
WARNING
It indicates a hazardous situation which, if not avoided, could result in death or serious injury.
CAUTION
It indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.
NOTICE
Important
Point
NOTICE
It indicates a situation which, if not avoided, could result in product damage as well as property damage. It indicates cautions and limitations that must be followed during operation. It indicates additional information on proper operation.
General precautions • Verify that this device is operating normally in terms of functionality and performance before the start of work and when operating the device. • Provide a safety circuit that does not pass via the programmable controller to enable failsafe operation of the entire system in the event that the programmable controller fails. • Output circuit or internal circuit malfunctions sometimes prevent control from being performed normally. Be sure to provide a safety circuit in control systems where circuit malfunction may lead to fire or other serious accidents. • Proceed with care when modifying the device, or when using it in a manner that falls outside of the ranges indicated in its specifications, since KEYENCE is unable to guarantee device functionality or performance in such situations. • Use this device in combination with other devices only after careful consideration, since the device may fail to satisfy its functionality and performance capabilities as a result of factors such as its usage conditions and the environment in which it is used. • This product is not intended to be used on a low-voltage public network which supplies domestic premises; radio frequency interference is expected if used on such a network. • If this product is used in a manner not specified by the manufacturer, the protection provided by this product may be impaired.
• Do not exceed the stated specifications when using the QS Series. Otherwise, this may cause damage. • Ensure that the input power supply for devices connected to the QS Series is turned off before starting wiring work. Otherwise, this may cause malfunction. • Place cables as far away from high-voltage lines and power supply as possible. Otherwise, this may cause malfunction or failure due to noise. • Do not damage, excessively stress, pinch, or place heavy objects on the cables. Otherwise, this may cause malfunction. • The QS Series is precision machinery, and as such should not be subjected to shocks or be dropped. Take particular care when carrying the QS Series or installing it. • Provide the amount of space specified between the Motor Driver and the inner walls of the control panel, and between the driver and other devices. Otherwise, this may cause malfunction. • Do not carry the QS Series by its cables. Otherwise, this may cause cable breakage, or parts of the unit may knock against each other causing damage. • Do not allow any water, dust, oil, etc. to adhere to the QS Series. Carefully wipe away any dirt with a dry cloth. • Be careful of static electricity when using the QS Series. Touching the QS Series with a hand charged with static electricity may cause damage. • Do not turn the power supply on/off to start/stop motor operation. Otherwise, this may cause malfunction. • Do not turn on/off the commercial power supply frequently. Otherwise, this may damage the Motor Driver. • When disposing of the QS Series, dispose of it as industrial waste in compliance with the laws and rules of the local government. • When performing test operation, be sure to follow the procedures and instructions in this manual. Otherwise, this may cause machine damage or injury. • When adjusting parameters, use parameters suitable for the machine. Otherwise, this may cause injury or machine damage. • When inserting wires, ensure that no loose strands from the core wire touch (short) any other wires. Otherwise, this may cause malfunction. • Be sure to establish shielding measures when using the QS Series in the following locations: Locations where generation of noise is expected due to static electricity or other causes. Locations where a strong electric or magnetic field may be generated. Locations where the QS Series may be exposed to radioactivity. Locations near a power supply cable. • When the Motor Driver is replaced, transfer the parameters to the new Motor Driver before resuming operation. Otherwise, the equipment may be damaged. • If the output shaft is rotated by an external force when the power is off, the Motor Driver may become damaged.
Selection and handling of equipment The selection of this system must be performed by engineering designers who have sufficient knowledge and experience, based on the operating conditions, environment and applications and afterwards conduct necessary analyses and tests. This instruction manual is intended for engineers who have sufficient knowledge and experience of servo systems. Assembly, operation (including parameter setup), maintenance and inspection must be performed only by such engineers. Before conducting assembly, operation (including parameter setup), maintenance and inspection, read this instruction manual thoroughly. -
1-
QS-10_IM_E
Precautions on Regulations and Standards
Supplied items
CE Marking
Motor Driver
Keyence Corporation has confirmed that this product complies with the essential requirements of the applicable EC Directives, based on the following specifications. Be sure to consider the following specifications when using this product inthe Member States of European Union.
EMC Directive (2004/108/EC) • Applicable standard
QS-10N MONITOR
TEACH
EMI : EN61800-3, Class A EMS : EN61800-3 • Be sure to install this product in a conductive enclosure (inside an industrial control panel). • Be sure to ground the enclosure (e.g. an industrial control panel) to an FG (positive grounding is not possible).
ORG JOG SYS
Pt1 Pt2 Pt3 Pt4
• Wrap a ferrite core*1 twice around the QS Series power cable. • Be sure to ground the FG terminal of the QS Series to the enclosure (e.g. an industrial control panel). • Use shielded cables for signal wires that leave the enclosure (e.g. industrial control panel). Ground the shielded cables to the enclosure (e.g. industrial control panel). Do not ground the shielded motor cable.
(this manual) SET MODE
• Wrap a ferrite core*2 once around the driver side of the motor cable. Also, wrap a ferrite core*3 once around the motor side. • Ground the FG terminal of the QS Series Motor.
□ Motor Driver
□ Instruction Manual
*1 The ferrite core used for evaluation by KEYENCE: NEC TOKIN Corporation ESD-SR-150 or ESDSR-160 *2 The ferrite core used for evaluation by KEYENCE: NEC TOKIN Corporation ESD-SR-250 *3 The ferrite core used for evaluation by KEYENCE: KITAGAWA INDUSTRIES CO.,LTD. GRFC-10
* 3 connectors for QS-10N 4 connectors for QS-10P/10H
Remarks:These specifications do not give any guarantee that end-products with this product incorporated comply with the essential requirements of the EMC Directive. The manufacturer of the end-product is solely responsible for the compliance of the end-product itself according to the EMC Directive.
Motor Driver Model Range There are two types of QS Series Motor Drivers: a built-in positioning model that drives via I/O and a model that drives via pulse input. Furthermore, there are two types of built-in positioning motors: Those made exclusively for use with the QS Series, and those made for use with other manufacturers' motors.
CSA Certificate This product complies with the following CSA and UL standards, and has been certified by CSA. • Applicable standard
CAN/CSA C22.2 No.61010-1 UL61010-1 Be sure to consider the following specifications when using this product as a product certified by CSA. • • • • • • • •
Motor Driver models The model names of QS Series Motor Drivers are written in the following way:
QS - 10 N
It must be installed in an enclosure with IP54 or higher. (e.g. Industrial control panel) Overvoltage category I Use this product under pollution degree 2. Use in locations with an ambient temperature of 50°C or less. Use in locations with an ambient humidity of 85% or less. Indoor use only. Use this product at the altitude of 1000 m or less. Use this product with one of the following power supplies. • CSA/UL certified power supply that provides Class 2 output as defined in the CEC (Canadian Electrical Code) and NFPA70 (NEC: National Electrical Code). • CSA/UL certified power supply that has been evaluated as a Limited Power Source as defined in CAN/ CSA-C22.2 No. 60950-1/UL60950-1.
Series name: Fixed Series name: Fixed
H: Motor driver for general use built-in positioning units (Other manufacturer's motors)
Class A equipment This is a class A product. In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures.
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Installation With Other Devices The system configuration of QS Series and other devices is as follows.
Motor Driver TEA CH
ORG JOG
Pt1
SYS
Pt2 Pt3
Pt4
Motor Driver Expansion socket Communication Unit
* OP-87769 is required for coupling.
QS-10N Built-in positioning type QS-10P Pulse input type QS-10H Built-in positioning type (for other manufacturers' motors)
QS-MB1
* There is no battery. * There is no external regenerative resistor.
Other manufacturer's motor Flexible cable QS-C1G (1 m) QS-C3G (3 m) QS-C5G (5 m)
Standard cable QS-C1 (1 m) QS-C3 (3 m) QS-C5 (5 m)
Stepper Motor QS-M28 QS-M42 QS-M60 M : Standard Stepper Motor
QS-10_IM_E
N: Motor Driver with built-in positioning function for KEYENCE QS Series Stepper Motors. P: Pulse input Motor Driver for KEYENCE QS Series Stepper Motors
The Radio Waves Act. (South Korea)
MO NIT OR
□ Connectors Detached from the Motor Driver when shipped.
-2-
Point
Only 2-phase motors are compatible with QS-10H. 5-phase motors are not compatible.
Rotation speed - Torque Characteristics
Specifications
QS-M28
General Specifications
Noise immunity Withstand voltage Insulation resistance
General use built-in positioning unit QS-10H
24 V DC ± 10％ 0 to 50C 35% to 85% RH or below (no condensation) -20 to 85C 35% to 85% RH or below (no condensation) An environment with as little dust and corrosive gas present as possible Up to 1000 m 2 Ⅰ 1500 V p-p, pulse width 1 µs, 50 ns (using a noise simulator) Conforms to IEC Standards (IEC61000-4-2/3/4/6) 500 V AC, 10 mA or less between the power supply and FG 100 MΩ or more with a 500 V DC Megger Conforms with JIS B 3502, IEC61131-2 Intermittent vibration
Vibration resistance
Frequency 5 to 9 Hz
Acceleration −
Amplitude 3.5 mm
9 to 150 Hz
9.8 m/s2
−
Weight Current consumption (Including the Stepper Motor) Dimensions
Frequency 5 to 9 Hz
Acceleration
9 to 150 Hz
m/s2
− 4.9
Stepper Motor rated current [A]
10
0
10 20 30 40 Surrounding air temperature [°C]
20
30
40
50
Operation area over short period of time Operation area for continuous operation
0.20
0.00
0
500
1000
1500
2000
2500
3000
Revolution Speed (min-1) 0
10
20
30
40
50
Pulse speed (kHz) (when set to 1000 P/R)
QS-M60 1.60 1.40 1.20
Operation area over short period of time Operation area for continuous operation
1.00 0.80 0.60 0.40 0.20 0.00
0
When coupled (brake output)
0
500
1000
1500
2000
2500
3000
Revolution Speed (min-1) 10
20
30
40
50
Pulse speed (kHz) (when set to 1000 P/R)
50 Point
Specialised pulse input unit QS-10P
Basic step angle
1.8 degrees
Command resolution
200/400/500/1000/5000/10000 P/R
Drive system Control mode
2-phase bipolar Servo mode/Stepper mode/Hybrid mode
Compatible Stepper Motors
QS Series Stepper Motors
Automatic motor size Available detection Motor encoder resolution 10000 P/R (2500 x 4) Command output frequency 500kHz
3000
0.30
When coupled (no brake output)
Specialised built-in positioning unit QS-10N
2500
0.10
Performance specification Item
2000
0.40
1
0
1500
0.50
1.7A
0.5
1000
QS-M42
No coupling
1.4A
500
Pulse speed (kHz) (when set to 1000 P/R)
2.5
1.5
0 0
Derating characteristics when using QS-10H 40°C 45°C
0.05
−
Acceleration 150 m/s2, application time 11 ms, applied twice in each direction: X, Y, and Z Approx. 200 g Approx. 200 g Approx. 200 g 2.6 A or less 2.6 A or less 2.6 A or less (when using QS-M28) (when using QS-M28) (when the motor rated 2.7 A or less 2.7 A or less current is 1 A) (when using QS-M42) (when using QS-M42) 3.7 A or less 3.7 A or less 3.7 A or less (when the motor rated (when using QS-M60) (when using QS-M60) current is 2.0 A) W85 x D68 x H38
2
Operation area over short period of time Operation area for continuous operation
0.10
Revolution Speed (min-1)
10 times (100 minutes) in each direction: X, Y and Z
Amplitude 1.75 mm
0.15
0.00
Scan times
Continuous Vibration
Shock resistance
Torque (N·m)
Operating temperature Operating humidity Storage temperature Storage humidity Operating atmosphere Operating altitude Pollution degree Overvoltage category
Specialised pulse input unit QS-10P
Torque (N·m)
Input voltage
Specialised built-in positioning unit QS-10N
Torque (N·m)
Item
0.20
General use built-in positioning unit QS-10H 200/400/800/1600/ 3200 P/R
• This is a characteristic of pull-out torque. • The amount of heat generated by the Stepper Motor differs according to the operating conditions. • Do not allow the surface temperature of the Stepper Motor to exceed 75C. • Measurement conditions are as follows: Power supply voltage : 24 V Control mode : Servo mode operation current : 100.0%
I/O Specifications Stepper mode 2-phase DC Stepper motor 1.8°/Step Rated current of 2.0 A or less
Input Terminals • Control input (Control I/O connector)
Item
---
----40kHz 500 kHz (Line Driver) Pulse input frequency ----200 kHz (Open Collector) Regeneration resistance Internal only (external connection is not possible) Dynamic braking Available Settings, alarm history (10 items) (saved to EEPROM) Backup Can be rewritten 100,000 times Display functions Status, function selection, bar display, 7 seg. display (3 digit), 7 seg. display (7 digit), etc. Operation functions Mode change, unit operation, MODE, SET keys, etc. Protective functions Overvoltage (revival) detection, overcurrent detection, overheat detection 8 points 8 points 4 points (point specification 1 to 4, (point specification 1 to 4, (deviation clear, alarm Control origin return command, origin return command, reset, FREE input, input alarm stop/reset, FREE alarm stop/reset, FREE selection input) input, selection input) input, selection input) 4 points 4 points Input Sensor (limit +, limit -, origin --(limit +, limit -, origin input sensor, stop sensor) sensor, stop sensor) 2 points Pulse input --(CW direction/PLS, CCW --direction/DIR) 4 points 2 points 2 points (Timing, in position, Control (operation ready (operation ready operation ready output complete, alarm) complete, alarm) complete, alarm) Output Encoder Differential output ----output (A, B, Z phase) Brake --Available output Within 200 mA Within 200 mA Extra For power sensors * Input power supply --* Input power supply supply (24 V DC) and non-isolation and non-isolation
No. of points Maximum input voltage Input rated voltage Minimum ON voltage Maximum OFF current Input resistance Circuit delay Input time constant Insulation
Specialised built-in positioning unit QS-10N 8 points 26.4 V 24 V (2 mA) 19 V 0.1 mA 12 kΩ
Specialised pulse input unit QS-10P 4 points
General use built-in positioning unit QS-10H 8 points
OFF → ON: 30 µs ON → OFF: 50 µs 250 µs / 500 µs / 1 ms / 2.5 ms / 5 ms / 10 ms Photocoupler insulation
• Sensor input (Sensor input connector)
Item No. of points Maximum input voltage Input rated voltage Minimum ON voltage Maximum OFF current Input resistance Circuit delay Input time constant Insulation Sensor power supply
Specialised built-in positioning unit QS-10N
General use built-in positioning unit QS-10H
4 points 26.4 V 24 V (4 mA) 19 V 1.5 mA 5.6 kΩ OFF → ON: 30 µs ON → OFF: 50 µs 250 µs / 500 µs / 1 ms / 2.5 ms / 5 ms / 10 ms None Up to a total of 200 mA
* QS-10P has no sensor input connector.
-3-
QS-10_IM_E
Amount of Space to Leave Between Devices
• Pulse input (Pulse input connector)
Ensure that there is a gap of at least 50 mm between the device and the inner wall, and other devices. The Motor Driver can be installed in close proximity to other Motor Drivers.
Specialised pulse input unit QS-10P
Item
5 V terminal No. of points Maximum input voltage Input rated voltage Minimum ON voltage Maximum OFF voltage
24 V terminal
2 points 5.5 V 26.4 V 5 V (6.0mA) 24 V (6.3mA) 3V 19 V 1V 2.8 V Line Driver: 500 kHz Open Collector: 200 kHz 1 pulse/2 pulse method (no phase difference input) 500 kHz / 200 kHz / 100 kHz / 10 kHz Photocoupler insulation
Response frequency Input method Input time constant Insulation
At least 50 mm At least 50 mm
At least 50 mm
* QS-10N/QS-10H has no pulse input connectors.
Min. response waveform (Line Driver)
Min. response waveform (Open Collector)
2 μs or more
5 μs or more 1.25 μs or more
1 μs or more
ON
ON
50%
50%
OFF
OFF
1.25 μs or more
NOTICE
• Control output (Control I/O connector)
Below are instructions for mounting and dismounting the device onto a DIN rail.
Specialised built-in positioning unit QS-10N
No. of points Output type Rating Leakage current (when OFF) Residual voltage (when ON) Insulation
If the temperature on the control board (the underneath of the Motor Driver) exceeds the ambient operating temperature, lower the temperature using forced air cooling, or by increasing the gaps between other devices to allow air to flow through.
Mounting Onto a DIN Rail
Output Terminals
Item
DIN rail
○ Single phase 200 kHz
○ Single phase 500 kHz 1 μs or more
At least 50 mm
Specialised pulse input unit QS-10P
General use built-in positioning unit QS-10H
2 points 4 points NPN Open Collector output 30 V DC 10 mA
Mounting
1 Hook the DIN rail clip on the top of the
2 points
Motor Driver onto the groove on the top of the DIN rail.
0.1 mA or less 1.2 V or less Photocoupler insulation
• Encoder output (Encoder output connector)
Specialised pulse input unit QS-10P
Item No. of points Rating
2 Fit the
3 points 5 V DC Line Driver output Equivalent to AM26C31 Phase difference output 2500 pps (at x1) 10000 pps (at x4) None
Output type Output method Insulation
DIN rail clip on the bottom of the Motor Driver to the bottom of the DIN rail. • The lower black clip is on a spring. Push it until it makes an audible click. • If the unit is difficult to mount, release all of the locks, and then lock them again when the unit has been mounted on the DIN rail.
* QS-10N/QS-10H has no encoder output connectors.
• Brake output (motor connector)
General use built-in positioning unit QS-10H
Item No. of points Rating Compatible brakes Insulation
1 point 24 V DC (500 mA) Non-excitation type brakes (released when ON) None
3 Check
that the lower DIN rail clip is pushed in (locked).
* QS-10N/QS-10P has no brake output. Locked
Unlocked
Precautions on Installation Dismounting
Installation Environment
1 Pull the lower DIN rail clip downwards.
Do not install the device in the locations listed below. • Locations where series devices are exposed to direct sunlight. • Locations where the surrounding air temperature range exceeds 0 to +50C. • Locations where relative humidity exceeds 35 to 85% RH. • Locations subject to condensation due to rapid change in temperature. • Locations where corrosive or flammable gasses are present. • Locations where there is excessive dust, salt, iron powder, or soot. • Locations where series devices are subject to direct vibrations or mechanical shocks. • Locations where series devices are exposed to splashes of substances such as water, oil, or chemical agents. • Locations where strong magnetic or electrical fields are generated. • At altitude of 1,000 m at minimum
2 Follow
the mounting procedure in reverse to dismount the DIN rail from the unit. Point
Orientation
Pt2
G JO
Pt1
G OR Pt3
S SY Pt4
SET
SE T
ORG JOG SYS
SET JOG
Pt1 Pt2 Pt3 Pt4
Pt4
Pt4 Pt3
SET
Pt2
ORG JOG SYS
SYS Pt3
Pt1
Pt1 Pt2 Pt3 Pt4
ORG Pt2
SYS JOG
ORG
SET
QS-10_IM_E
When remounting the unit onto a DIN rail after it has been dismounted, push in the lower DIN rail clip in advance.
Use an end unit (separately sold optional accessory: OP-26751) to secure the QS Series when mounted on the DIN rail.
When installing the device in a control panel, ensure that the display is at the front (the motor cable is on top) or facing upwards.
Pt1
Unlocked
-4-
Wiring
Connector pinout
Wiring method
QS-10N (Specialised connector) Pattern 1 None Pattern 2 Pattern 1 None
Motor Upper part
Sensor input Encoder output power supply Control I/O Pulse input
Lower part
QS-10P
QS-10H
(Specialised connector) None Pattern 1 Pattern 2 Pattern 1 Pattern 1
Stepper Motor connector For QS-10H
Pattern 2
1 BRK A /A B /B
6
Terminal specifications
Item
Pattern 1
Pattern 2
AWG 28 to AWG 20 (copper wire, twisted wire) （0.08 mm2 to 0.5 mm2） 8 mm
Compatible cable size Stripped cable length
AWG 24 to AWG 16 (copper wire, twisted wire) （0.2 mm2 to 1.3 mm2） 10 mm
1 2 3 4 5 6
BRK +
Pattern 1 None Pattern 2 Pattern 1 None
1 LS+ 24V OUT 0V OUT
Using cables with terminal blocks
LS−
(2) When using a ferrule terminal with an insulating sleeve Depending on the thickness of the wire's sheath, it may be difficult to fit into an insulating sleeve. Refer to the outline drawing when selecting wires.
24V OUT 0V OUT ORGS 24V OUT 0V OUT STOP
10
8 to 10 mm Insulating sleeve Contact
2 to 2.5 mm
1 A+
Wiring procedure
A− B+ B−
When wiring the QS Series terminal blocks, use wires with a temperature rating of 80C or over (copper wires, twisted wire).
NOTICE
Z+ Z− SG
7
mm to 1.5 mm) into the screwdriver insertion slot to open the wire insertion hole. * Inserting it too forcefully may damage the connector.
1 24V
3
6
Name Encoder A phase (+) Encoder A phase (-) Encoder B phase (+) Encoder B phase (-) Encoder Z phase (+)
− − Input
1 2 3 4 5 6
Direction Output Output Output Output Output Output
Signal name A+ AB+ BZ+ Z-
7
−
SG
Direction Input Input
Signal name Name 24V 24V power supply 0V 0V power supply FG Frame ground
− − Input − − Input
Encoder Z phase (-) Signal ground
1 2 3
−
Control I/O connector For QS-10N/10H
4 Insert the core wire into the wire insertion hole. 5
Name Limit switch + Extra power supply - 24 V Extra power supply - 0 V Limit switch Extra power supply - 24 V Extra power supply - 0 V Origin sensor Extra power supply - 24 V Extra power supply - 0 V Stop sensor
Signal name LS+ 24V OUT 0V OUT LS24V OUT 0V OUT ORGS 24V OUT 0V OUT STOP
Power connector For QS-10N/10P/10H
0V
1 Disconnect each connector from the Motor Driver. 2 Strip coating from the wire you will use. 3 Firmly push the flathead screwdriver (head width 1.0
Direction Input
1 2 3 4 5 6 7 8 9 10
8 to 10 mm
Follow the precautions below when wiring the Motor Driver power connector and the Stepper Motor connector. • Do not turn the Motor Driver on until all wiring, including the power connector, is complete. • Disconnect the power connector from the Motor Driver before performing wiring. • Insert only 1 wire into each insertion hole on the power connector. • When inserting wires, ensure that no loose strands from the core wire touch (short) any other wires.
Name Brake (+) Brake (-) Motor A phase Motor /A phase Motor B phase Motor /B phase
Encoder output connector For QS-10P
10.5 to 12 mm
CAUTION
Signal name BRK+ BRKA /A B /B
Sensor input connector For QS-10N/10H
Cables (1)When using single core wire and twisted wire as they are (a) Ensure that no wire strands are coming out of the end of twisted wire. (b) Do not solder the ends of the wires.
Direction Output Output Output Output Output Output
After inserting the wire, remove the screwdriver and confirm that the wire is properly connected. Follow the above procedure to connect the other necessary wires. Connect to the Motor Driver.
1 P1 P2 P3 P4 ORG ALM RST FREE SEL COM IN RDY
12
ALM COM OUT
1 2 3 4 5 6 7 8 9 10 11 12
Direction Input Input Input Input Input Input Input Input
Signal name P1 P2 P3 P4 ORG ALM RST FREE SEL COM IN RDY ALM COM OUT
Name Start point 1 operation Start point 2 operation Start point 3 operation Start point 4 operation Start origin return Alarm reset/stop FREE input Selection input Input common Ready Alarm Output common
−
Signal name CLR ALM RST FREE SEL COM IN TIM IN POS RDY ALM COM OUT
Name Clear Alarm reset FREE input Selection input Input common Timing In position Ready Alarm Output common
Direction Input Input Input Input Input Input
Signal name CW 24V CW 5V CW COM CCW 24V CCW 5V CCW COM
Name CW/pulse (24 V) CW/pulse (5 V) CW/pulse (common) CCW/direction (24 V) CCW/direction (5 V) CCW/direction (common)
− Output Output −
For QS-10P The wiring procedure is the same for pattern 1 and pattern 2.
Point
Precautions on wiring to a power supply
1
When wiring the QS Series to a power supply, wire each device directly to the power supply, as a large current may pass through the cables.
CLR ALM RST FREE SEL COM IN TIM IN POS RDY
10 3 2 3 24 V Power supply
2 1
1 Current which passes through 1: The current for 1 QS-10N
24 V Power supply
Current which passes through 1: The current for 1 QS-10N
Current which passes through 2: The current for 2 QS-10N
Current which passes through 2: The current for 1 QS-10N
Current which passes through 3: The current for 3 QS-10N
Current which passes through 3: The current for 1 QS-10N
ALM COM OUT
1 2 3 4 5 6 7 8 9 10
Direction Input Input Input Input − Output Output Output Output
Pulse input connector For QS-10P
1
6
-5-
CW 24V CW 5V CW COM CCW 24V CCW 5V CCW COM
1 2 3 4 5 6
QS-10_IM_E
Wiring example
Part functions and names
Standard wiring diagram for QS-10N
(8) Operation mode switch (2) Function selection (3) 7 seg. display (3 digit) (1) Status LED
QS Series Stepper Motor
M
Stepper Motor connector
Power connector
1
DC 24V
1
24V
2
0V
2
0V
FG
3
FG
Start point 1 operation
1
P1
(10) MODE button
(6) Overflow indicator
(9) Operation buttons
: ENC 17 Control I/O connector
18 Sensor input connector LS+
Start point 2 operation
2
P2
1
Limit switch +
Start point 3 operation
3
P3
24V
OUT
2
Extra power supply - 24 V
Start point 4 operation
4
P4
0V
OUT
3
Extra power supply - 0 V
Start origin return
5
ORG
4
Limit switch -
Alarm reset/stop
6
ALM RST
LS24V
OUT
5
Extra power supply - 24 V
FREE input
7
FREE
0V
OUT
6
Extra power supply - 0 V
Selection input
8
SEL
7
Origin sensor
Input common
9
COM IN
8
Extra power supply - 24 V
Ready
10 RDY
9
Extra power supply - 0 V
Alarm
11 ALM
Output common
12 COM OUT
ORG S 24V
OUT
0V
OUT
STOP
10 Stop sensor
(5) Minus indicator (7) Bar LED indicator (18) Coupling connector (on the back)
(11) SET button (4) 7 seg. display (7 digit)
Right side (15) Power connector
(17) Pulse input connector (only for QS-10P) (16) Control I/O connector Left side
Standard wiring diagram for QS-10P (12) Stepper Motor connector
QS Series Stepper Motor
M
Stepper Motor connector
Power connector
1
DC 24V
1
24V
2
0V
2
0V
FG
3
FG
(13) Sensor input connector (only for QS-10N/10H) (14) Encoder output connector (only for QS-10P)
: Control I/O connector
ENC
Clear
1
CLR
17
Alarm reset
2
ALM RST
18
Free input
3
FREE
Selection input
4
SEL
Input common
5
COM IN
Encoder output connector A+
1
Encoder A phase (+)
Timing
6
TIM
A-
2
Encoder A phase (-)
In position
7
IN POS
B+
3
Encoder B phase (+)
Ready
8
RDY
B-
4
Encoder B phase (-)
Alarm
9
ALM
Z+
5
Encoder Z phase (+)
Output common
10 COM OUT
Z-
6
Encoder Z phase (-)
SG
7
Signal ground
No.
Pulse input connector CW/pulse (24 V)
1
CW 24V
CW/pulse (5 V)
2
CW 5V
CW/pulse (common)
3
CW COM
CCW/direction (24 V)
4
CCW 24V
CCW/direction (5 V)
5
CCW 5V
CCW/direction (common) 6
M
Stepper Motor connector
Power connector
BRK+
1 Brake (+)
DC24V
1
24V
BRK-
2 Brake (-)
0V
2
0V
A
3 Motor A phase
FG
3
FG
/A
4 Motor /A phase
B
5 Motor B phase
/B
6 Motor /B phase
* For bipolar drive Stepper Motors
Control I/O connector Sensor input connector
Start point 1 operation
1
P1
Start point 2 operation
2
P2
1 Limit switch +
Start point 3 operation
3
P3
24V
OUT
2 Extra power supply - 24 V
Start point 4 operation
4
P4
0V
OUT
3 Extra power supply - 0 V
Start origin return
5
ORG
LS+
4 Limit switch -
Alarm reset/stop
6
ALM RST
24V
OUT
5 Extra power supply - 24 V
FREE input
7
FREE
0V
OUT
6 Extra power supply - 0 V
Selection input
8
SEL COM IN
LS-
7 Origin sensor
Input common
9
24V
OUT
8 Extra power supply - 24 V
Ready
10 RDY
0V
OUT
9 Extra power supply - 0 V
Alarm
11 ALM
10 Stop sensor
Output common
12 COM OUT
ORG S
STOP
When wiring unipolar Stepper Motors to QS-10H Unipolar Stepper Motor
QS-10H
Signal name
Stepper Motor connector
A phase
Motor A phase
A phase common
Motor /A phase
/A phase
Motor B phase
B phase
Motor /B phase
B phase common /B phase
Point
• When wiring to a unipolar motor, ensure that the /A phase and /B phase cables do not come into contact with other cables. • The excitation sequence of the motor during 2-phase excitation is as follows.
CW direction ↓
QS-10_IM_E
Motor output terminal
Excitation sequence
A phase
B phase
1
A→/A
B←/B
2
A→/A
B→/B
3
A←/A
B→/B
4
A←/A
B←/B
(1)
Status LED
(2)
Function selection
(3)
7 seg. display (3 digit)
(4)
7 seg. display (7 digit)
(5)
Minus indicator
(6)
Overflow indicator
(7)
Bar LED indicator
(8)
Operation mode switch
CCW COM
Standard wiring diagram for QS-10H
Brake
Name
↑ CCW direct
-6-
(9)
Operation buttons
(10) (11) (12)
MODE button SET button Stepper Motor connector
(13)
Sensor input connector
(14)
Encoder output connector
(15) (16)
Power connector Control I/O connector
(17)
Pulse input connector
(18)
Coupling connector
Description Shows the driver status. • Lit in green: MONITOR mode • Flashing green: MONITOR mode (changing parameters) • Flashing orange: TEACH mode • Flashing red: An alarm has occurred Displays operation functions and parameters classifications. The information displayed and number of points differ for built-in positioning types and pulse input types. • Positioning (7 points): P1, P2, P3, P4, ORG, JOG, and SYS • Pulse input (4 points): CW, CCW, JOG, and SYS Displays the current monitoring target and the parameter name. Displays position, speed, set values, etc. Lights up when the 7 seg. display (7 digit) value is negative. (Only when the display value is 7 digits. In all other cases the center of the 7 SEG LED lights up.) Lights up when positions and set values are longer than the number of display characters (7 digit). * When overflow occurs, the lower 7 digit are displayed on the 7 seg. display (7 digit). Displays speed, current, and input terminal status. Changes the operation mode. (Between TEACH and MONITOR) Used to navigate through displays and change numerical values. Changes the display. Confirms selections. A connector which provides power to the motor. A connector for the limit switch and other sensors. * Not included in the pulse input type (QS-10P) A connector for encoder output. * Not included in the built-in positioning type (QS-10N/10H) A connector which provides power to the Motor Driver. A connector for control I/O. A connector for pulse input. * Not included in the built-in positioning type (QS-10N/10H) A connector for communicating using a communication unit QS-MB1. There are 2 connectors. (On the back)
Parameter list Broad Narrow category category
Name
Range
Operation start speed*1 Common for all points
Operation acceleration rate*1 Operation deceleration rate*1 Acceleration/ deceleration mode*1 Operation
Origin return
Origin return
004 Mod
0□2
Next point*1
0 to 4 (Default: 0, No next point)
Dwell time*1
0 to 32767 (default: 0) [ms]
0□3 0□4
Stop sensor setting*1
0: Disable (default) 1: Enable
0□5
Movement after stop sensor input*1 *6
0 to 9999999 (default: 0) [PLS]
0□6
Origin return deceleration rate*1
Ssp
701
Spd
702
-9999999 to 9999999 (default: 0) [PLS]
708 Lo Hi
Operation current
0.1 to 100.0 (default: 100.0) [%]
901
Stop current
0.1 to 100.0 (default: 50.0) [%]
902
System
Control mode*3 Vibration suppression function*2 *3
0: Disable 1: Enable (default)
0: No filter (default) Pulse input speed filter*2 *3 1 to 1000 [ms] 1 to 100000 Stop confirmation time (default: 100 (1)*7) [ms] Deviation clear 0: CLR signal or Servo OFF (default) 1: CLR signal only operation*2 *3 Electromagnetic brake 1 to 5000 (default: 100) [ms] release wait time Electromagnetic brake 1 to 5000 (default: 200) [ms] hold wait time Electromagnetic brake 1 to 5000 (default: 100) [ms] release start wait time Movement at initialization*3
-500 to 500 (default: 0) [n x 7.2 degrees]
GAi
608
0 to 500 (default: 50) [Encoder PLS]
609 610
0 to 255 (default: 10) [ms]
611
0: No INPOS (default) 1: INPOS
612
Stop method during stop input Stop method during limit switch*1 Selection input assignment Soft limit switch + position*1 *6
0: Immediate stop 1: Deceleration stop (default)
613
0: Immediate stop (default) 1: Deceleration stop
614
0: No assignment (default) 1: Servo on
615
-9999999 to 9999999 (default: 0) [PLS]
620
Soft limit switch position*1 *6 Automatic position reset setting*1 *6
-9999999 to 9999999 (default: 0) [PLS]
621
0 to 9999999 (default: 0) [PLS]
622
Stepper Motor rotation direction Excessive position deviation alarm value*3
0: + side = CCW 1: + side = CW (default)
Speed display unit setting
Baud rate*6
Stop bits*6
904 905
908 909
0: 250 µs 1: 500 µs 2: 1 ms 3: 2.5 ms 4: 5 ms 5: 10 ms
dir
1 to 3000000 (default: 30000) [Encoder PLS]
623 625
0: Speed (default) 1: Current 2: Input status 0: Position (default) 1: Speed 2: Current 0: Absolute position (current) 1: Relative position (current) (default) 2: Absolute position (command) 3: Relative position (command) 0: Display in Hz 1: min-1 display (default) 0: 9600 1: 19200 2: 38400 3: 57600 4: 115200 5: 230400 (default) [bps] 0: 1 bit (default) 1: 2 bits
Bar
630
Mon
631
Dp0
632
Dsp
633
650
651
Parity*6
0: Even (default) 1: Odd 2: None
652
Station number setting*6
1 to 16 (default: 1) (0 when not set)
653
Communication timeout time Send communication wait time
0: No timeout observation (default) 1 to 10000 [ms] 0: Use the Communication Unit setting 1: 1 to 10000 (default: 0) [ms]
654 655
□: The point number (1 to 4).
906 907
605
Default: 2
Position display change
Communi cation
604
Default: 4
Display
903
603
607
Initial monitor display item setting
900
602
Default: 0
804 Cur
601
606
Bar LED setting
803 1 to 200 (default: 0 (not set)) [0.01 A]
Gain setting*3
Position
800 801
Stepper Motor rated current*1 *2
Resolution
System
600
Default: 2
RDY output min. OFF time*1 RDY output INPOS setting*1 *3
1 to 10000 (Default: 1000) [ms]
For QS-10N/10P For QS-10H 0: 200 0: 200 (default) 1: 400 1: 400 2: 500 2: 800 3: 1000 (default) 3: 1600 4: 5000 4: 3200 5: 10000 [PLS/Rev] 1 to 6 (Low rigidity: 1 to High rigidity: 6) (default: 2) 0: Servo mode (default) 1: Stepper mode 2: Hybrid mode
Origin sensor input time constant*1 Stop sensor input time constant*1 Limit switch Input time constant*1 INPOS range*3
802
JOG inching movement*6 0 to 9999999 (default: 1) [PLS]
logic*1
Simple Detail
0: a contact (default) 1: b contact 0: a contact (default) 1: b contact
Control input time constant
705
707
1 to 3000 (Default: 500) [min-1]
I/O
704 dir
logic*1
Origin sensor
703
0 to 1000000 (default: 100) [ms]
JOG high speed
Limit switch
700
706
1 to 3000 (Default: 100) [min-1]
JOG acceleration rate time
Mod
0.1 to 100.0 (default: 100.0) [%]
JOG start speed
JOG deceleration rate time
Stepper Motor
0□0
Spd
Origin return by touching the stroke end current*1 Origin return by touching the stroke end time*1 Automatic home position movement*1 *6
JOG
003
1 to 1000000 (default: 1000 (600)*7) [Hz]
Origin return direction*1
JOG
dEc
Operation speed*1
Origin return acceleration rate*1
0: Disable 1: Enable (default)
Pulse input time constant*2 *3
0□1
Origin return start speed*1 Origin return operation speed*1
Hard limit switch operation*1
002
POs
Origin return method
Pulse input logic*2 *3
Acc
Display
Range 0: 1 pulse input 1: 2 pulse input (default) 0: 10 kHz 1: 100 kHz 2: 200 kHz 3: 500 kHz (default) 0: Positive logic (default) 1: Negative logic
Pulse input method*2 *3
-9999999 to 9999999 (default: 0) [PLS]
*1
Name
001
Target position/ movement*1 *6
0: Origin sensor rising edge (default) 1: Origin return sensor and TIM 2: Limit switch rising edge 3: Dog type 4: Touching the Stroke End*3 1 to 1000000 (default: 200 (10)*7) [Hz] 1 to 1000000 (default: 1000 (30)*7) [Hz] 1 to 1000000 (default: 200 (40)*7) [Hz/ms] 1 to 1000000 (default: 200 (40)*7) [Hz/ms] 0: - side (default) 1: + side
Broad Narrow category category
SSP
0: Linear 1: SIN (default) 0: Positioning INC (default) 1: Positioning ABS 2: Speed + 3: Speed -
mode*1
Positioning
Individual points (4 points)
0 to 1000000 (default: 200 (400)*7) [Hz] 1 to 1000000 (default: 200 (40)*7) [Hz/ms] 1 to 1000000 (default: 200 (40)*7) [Hz/ms]
Display Simple Detail
*1 *2 *3 *4 *5 *6 *7
Cannot be set on QS-10P. Cannot be set on QS-10N. Cannot be set on QS-10H. Set using the switch on the side of QS-MB1. Cannot be changed from the operation panel. Can be monitored/set from -2147483648 to 2147483647 when using QS-MB1. Can be monitored/set from 0 to 2147483647 when using QS-MB1. The numbers in brackets are the defaults for QS-10H.
910 911 912 913
-7-
QS-10_IM_E
Panel operation
TEACH mode
The QS Series Motor Driver has two modes: MONITOR mode and TEACH mode. Use the operation mode switch to change the mode.
When the operation mode switch is set to MONITOR mode, the device carries out a JOG operation when turned on.
Operation mode switch
Perform a JOG operation
J O g
JOG
JOG+
0 * When below 200 ms, press the right/left button to perform inching.
JOG-
MODE
MODE
The following operations can be carried out in each mode.
Mode
High speed JOG+
+
High speed JOG-
Perform a JOG operation
Compatible models
MONITOR
TEACH
QS-10N
QS-10P
QS-10H
JOG operation Teaching operation Point positioning Alarm reset Change parameter
No No No Yes Yes
Yes Yes Yes Yes Yes
Yes Yes Yes Yes Yes
Yes No No Yes Yes
Yes Yes Yes Yes Yes
Reset current position Button lock Reset settings
No Yes No
Yes No Yes
Yes Yes Yes
Yes Yes Yes
Yes Yes Yes
NOTICE
+
JOG+
ORG JOG SYS
Teaching selection
T c h
- - - - - - -
MODE
P1
P2
P3
MODE
T c h
P4
JOG-
- - - - - - -
SET
SET
+
High speed JOG+
+
High speed JOG-
Choose from P 1 to 4 The selected item changes in the following order MODE
1→2→3→4→1…
Check that the surrounding area is safe before using the panel to drive the motor.
SET
Press and hold for 1 second or longer
1→4→3→2→1… Teaching ORG JOG SYS
MONITOR mode
Test run selection
- - - - - - -
When the operation mode switch is set to MONITOR mode, the device is in MONITOR mode when turned on. Monitor (position)
i n c
T s t
MODE
P1
P3
T s t
P4
5 0 0 0
SET
SET
Press and hold for 1 second or longer
Choose from P 1 to 4 and ORG
*
The selected item changes in the following order
MODE
0 Monitor (current)
P2
Test run
1→2→3→4→ORG…
C u r
* Pressing MODE during test runs stops the test run.
1→ORG→4→3→2… MODE
Monitor (speed)
MODE
Parameter setting
P r m
- - - - - - -
S p d Start speed
MODE
* Operation mode
m o d
Target position/movement
P O s
Parameter setting
P1
P2
P3
P4
s s p
- - - - - - -
SET
* See the next page for editing instructions
P r m
Start speed
MODE
* See the next page for editing instructions
ORG JOG SYS
*
ORG JOG SYS
Operation mode
M o d
Target position/movement
P O s
P1
P1
Operation speed
* When an alarm is going off
P2
P3
P4
A c c
S p d
Origin return start speed
Origin return operation speed
Origin return direction
P1
P2
P3
P4
JOG start speed
S s p
JOG high speed
S p d
s s p
Operation speed
P2
P3
P4
A c c
S p d
* When an alarm is going off
*For the parameters marked with an asterisk (*), the point number changes when the right/left key is pressed.
M o d
P4
ORG JOG SYS P1
MODE
Operation deceleration rate
(When displaying parameter details)
deceleration rate (When displaying parameter details) Operation ORG JOG SYS
Origin return method
P3
Operation acceleration rate
Operation acceleration rate ORG JOG SYS
MODE
P2
SET
ORG JOG SYS
*For the parameters marked with an asterisk (*), the point number changes when the right/left key is pressed.
D e c
P1
P2
P3
P4
D e c
Origin return method
M o d
JOG start speed
L o
Gain setting
G a i
Origin return start speed
S s p
JOG high speed
H i
Stepper Motor rotation direction
D i r
Origin return operation speed
S p d
Bar LED
B a r
Origin return direction
D i r
Initial monitor display item setting
M o n
Position display change
D p 0
Speed display unit setting
D s p
L o H i (When displaying parameter details)
(When displaying parameter details)
D i r (When displaying parameter details)
(When displaying parameter details) Gain setting
G a i
Stepper Motor rotation direction
D i r
Bar LED
B a r
Initial monitor display item setting
M o n
Alarm
1 0 1
d e u i a t *The display differs according to the alarm.
MODE
Alarm reset
A L m
A L m r s t
SET
SET
Press and hold for 1 second or longer
(When displaying parameter details)
Panel transition diagram The panel transition diagram display is as shown in the below figure.
t c h 0
Position display change
D p 0
Speed display unit setting
D s p
Parameter setting
p r m
- - - - - - (When displaying parameter details) Alarm
1 0 1
d e u i a t *The display differs according to the alarm.
MODE
Alarm reset
A L m M o d
A L m r s t
SET
SET
Press and hold for 1 second or longer Point
QS-10_IM_E
-8-
• When using QS-10H, if the motor rated current setting is 0 (not set), the motor rated current setting screen appears. • When using QS-10H, the rated current setting is displayed instead of the gain setting.
JOG operation
Changing parameters
Perform a JOG operation.
Change parameter values.
1 Switch to TEACH mode and display the JOG screen. 2 Use the 〔▲〕〔 〕〔〕buttons to perform a JOG operation.
1 Use the [MODE] and [SET] buttons to display the parameter you wish to change. 2 Display the parameter you wish to change. In operation mode when each point has an individual parameter, pressing the〔〕 〔〕 key changes the selected point number. 3 Press the 〔SET〕button to enter editing mode. 4 Use the 〔▲〕〔▼〕〔〕〔〕buttons to change the set value. 〔▲〕 〔▼〕buttons: Raise or lower the set value. Press and hold the buttons to raise or lower the value quickly. 〔〕 〔〕buttons: Change which digit is being altered. 5 Press and hold the 〔SET〕button for 1 second or longer to confirm the value.
〔〕/〔〕buttons: Operate JOG at JOG start speed. 〔▲〕＋〔〕/〔〕buttons: Operate JOG at JOG high speed.
Teaching operation Perform teaching (set the current position as the target position).
1 Switch to TEACH mode, display the teaching selection screen, and press 〔SET〕. 2 Use the 〔〕/〔〕keys to select the point number to register.
* Press the 〔MODE〕button to exit editing mode. Point
Confirmed data is written to EEPROM.
Changing the parameter display Change the parameter display between simple and detailed.
1 Press and
hold the 〔MODE〕button for 3 seconds or longer while choosing the parameter. * The 7 seg. display (3 digit) changes.
3 Perform a JOG operation and adjust the motor position. 4
* JOG operations can be performed in TEACH mode. Press and hold the 〔SET〕button for 1 second or longer to perform teaching.
Test run operation
Reset the current position Change the current position to 0.
Use the panel to perform a test run (point 1 to 4, origin return).
1 Switch the operation mode switch to TEACH mode. 2 Press and hold the 〔SET〕button for 3 seconds or longer while pressing 〔MODE〕.
1 Switch to TEACH mode, display the test run selection screen, and press 〔SET〕. 2 Use the〔〕〔〕 / keys to select the item to test: Point number or origin return (ORG).
3 Press and hold the 〔SET〕button for 1 second or longer to perform a test run.
Button lock settings Allow/do not allow operation to be controlled using the panel.
1 Press and hold the 〔▲〕button for 3 seconds or longer while pressing 〔MODE〕. * "Loc" is displayed if a button is touched while locked.
Point
• The monitor display stops after moving. After 0.5 seconds, it automatically changes to 0. To display the absolute position, set the "Position display change" parameter to "Absolute position (current/command)". • To stop a test run, press 〔MODE〕.
Alarm reset
Point
Reset the alarm.
1 The display automatically changes when an alarm goes off. 2 3
Write protect setting Allow/do not allow parameters to be changed using the panel.
* Press the 〔MODE〕button to return to the previous screen without resetting the alarm. Press the 〔SET〕button to switch to the alarm reset screen. * Press the 〔MODE〕button to return to the alarm screen without resetting the alarm. Press and hold the 〔SET〕button for 1 second or longer to reset the alarm.
Stepper Motor rated current
1 Press and hold the 〔▼〕button for 3 seconds or longer while pressing 〔MODE〕. * "Wprotc" is displayed if you try to change parameters while write protect is activated.
Reset settings (Can only be performed in TEACH mode.) Change all parameter settings to the default.
Set the motor rated current. For QS-10H, if the motor rated current setting is 0 (not set), the following screen appears. Set the rated current during 2-phase excitation on the motor to be connected.
Point
The buttons cannot be locked in TEACH mode.
1 Turn the power on while pressing the 〔MODE〕button. * "AllrEst" is displayed.
Turn the device off and on again after setting the motor rated current.
-9-
QS-10_IM_E
Dimensions
(25)
(9)
27.3 xim
3.8
When using a "QS Series Motor Driver" for a prolonged period, it may become dirty. Wipe away any dirt with a clean, dry cloth. Clean any dust or dirt on fine parts such as connectors by disconnecting the connector, and using a cotton bud or similar to remove the dust or dirt.
Resetting Alarms
59.4
Maximum 85 with the cover open.
2.1
38
(71)
(71)
Maintenance
(15)
(15)
3.8
Ma
Tighten the screws.
35.9
0° um
85
35.9
0° 15
15
If a problem is discovered Clean using compressed air or a cloth.
um
At least once a year
67.9
xim
Details Check that there is no dirt, dust, oil, or any other substance on the unit. Check that the terminal block screws, connector screws and other screws are not loose.
67.9
Ma
Loose screws
Frequency
QS-10P
85
Item Exterior inspection
QS-10N
27.3
When using a "QS Series Motor Driver" over a prolonged period of time, connectors may become lose. Loose connectors can cause damage when used. Therefore, it is necessary to inspect the "QS Series Motor Driver", wiring, and so on regularly.
(25)
Inspection
(9)
Inspection and Maintenance
Maximum 85 with the cover open.
1
2.1
38
59.4
1
QS-10H
Alarms on the QS Series Motor Driver can be reset using the methods described below. Use one of the following methods to reset the alarm. • Press and hold the SET button for 1 second or longer when an alarm is going off • Set the control I/O alarm reset signal to ON • When using a communication unit, send a communication to turn on the alarm reset coil
Cause
Eeprom
EEPROM error *1 *2
Data could not be read from or written to EEPROM.
id Err
Model identification error *1 *2
The Motor Driver model could not be identified.
100
StepOut
*3
101
Deviat
1
CpU
2 3
Step out
Excessive position deviation *3 *3
Maximum 85 with the cover open.
2.1
An encoder deviation exceeding the set excessive position deviation alarm value has been detected in servo mode or hybrid mode (while operating).
Overload
OvrHeat
Overheat
104 105 106
OvrVolt Lowvolt OvrCurr
Overvoltage
Overvoltage has been detected.
Low voltage *1
The supplied voltage is low.
Overcurrent
Overcurrent has been detected.
107
rotradj
Initial position malfunction *3
The Stepper Motor could not be initialized.
108
motorID
The Stepper Motor has not been automatically Stepper Motor detected. This may be because it has not been identification error *1 *2 *3 connected.
109 110
reGeOvr Ovr Spd
Regeneration overload Excessive regenerative voltage has been detected.
111
Pls_Spd
Command pulse error
119
cur err
Current detection error *1 *2
200
Stop On
Operation failure (Stop input/CLR input)
201
Free On
Operation failure (FREE input)
202
Srv Off
Operation started when Operation was started when the servo was off. servo off
210
Sens On
Sensor error (Origin return) *4
Unexpected sensor input was detected in origin return operation.
211 212
LS_+ON LS_-ON
LS + *4
The positive direction limit switch was detected.
LS - *4
The negative direction limit switch was detected.
220
softLmt
Soft limit *4
The soft limit was detected. A value with invalid magnitude correlation between the Soft limit switch + position and - position was set.
230
Pt_0
231
Stp_ovr
232
Pnt_ovr
300
Comm
301
Com_Set
38
35.9 3.8
1
WARRANTIES AND DISCLAIMERS:
Overload has been detected.
OvrLoad
103
The circuit board temperature has exceeded the specified value.
An operation command of 3500 min-1 or over was input. A command number of rotations outside of the specified range was input. An abnormal value was detected in the detected current of phase A and B when the power supply was turned on. A start operation command was input with the ALM_RST terminal (positioning stop input) or the CLR terminal set to ON. A start operation command was input with the FREE terminal set to ON.
(1) KEYENCE warrants the Products to be free of defects in materials and workmanship for a period of one (1) year from the date of shipment. If any models or samples were shown to Buyer, such models or samples were used merely to illustrate the general type and quality of the Products and not to represent that the Products would necessarily conform to said models or samples. Any Products found to be defective must be shipped to KEYENCE with all shipping costs paid by Buyer or offered to KEYENCE for inspection and examination. Upon examination by KEYENCE, KEYENCE, at its sole option, will refund the purchase price of, or repair or replace at no charge any Products found to be defective. This warranty does not apply to any defects resulting from any action of Buyer, including but not limited to improper installation, improper interfacing, improper repair, unauthorized modification, misapplication and mishandling, such as exposure to excessive current, heat, coldness, moisture, vibration or outdoors air. Components which wear are not warranted. (2) KEYENCE is pleased to offer suggestions on the use of its various Products. They are only suggestions, and it is Buyer’s responsibility to ascertain the fitness of the Products for Buyer’s intended use. KEYENCE will not be responsible for any damages that may result from the use of the Products. (3) The Products and any samples (“Products/Samples”) supplied to Buyer are not to be used internally in humans, for human transportation, as safety devices or fail-safe systems, unless their written specifications state otherwise. Should any Products/Samples be used in such a manner or misused in any way, KEYENCE assumes no responsibility, and additionally Buyer will indemnify KEYENCE and hold KEYENCE harmless from any liability or damage whatsoever arising out of any misuse of the Products/Samples. (4) OTHER THAN AS STATED HEREIN, THE PRODUCTS/SAMPLES ARE PROVIDED WITH NO OTHER WARRANTIES WHATSOEVER. ALL EXPRESS, IMPLIED, AND STATUTORY WARRANTIES, INCLUDING, WITHOUT LIMITATION, THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT OF PROPRIETARY RIGHTS, ARE EXPRESSLY DISCLAIMED. IN NO EVENT SHALL KEYENCE AND ITS AFFILIATED ENTITIES BE LIABLE TO ANY PERSON OR ENTITY FOR ANY DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, SPECIAL OR CONSEQUENTIAL DAMAGES (INCLUDING, WITHOUT LIMITATION, ANY DAMAGES RESULTING FROM LOSS OF USE, BUSINESS INTERRUPTION, LOSS OF INFORMATION, LOSS OR INACCURACY OF DATA, LOSS OF PROFITS, LOSS OF SAVINGS, THE COST OF PROCUREMENT OF SUBSTITUTED GOODS, SERVICES OR TECHNOLOGIES, OR FOR ANY MATTER ARISING OUT OF OR IN CONNECTION WITH THE USE OR INABILITY TO USE THE PRODUCTS, EVEN IF KEYENCE OR ONE OF ITS AFFILIATED ENTITIES WAS ADVISED OF A POSSIBLE THIRD PARTY’S CLAIM FOR DAMAGES OR ANY OTHER CLAIM AGAINST BUYER. In some jurisdictions, some of the foregoing warranty disclaimers or damage limitations may not apply.
BUYER’S TRANSFER OBLIGATIONS: If the Products/Samples purchased by Buyer are to be resold or delivered to a third party, Buyer must provide such third party with a copy of this document, all specifications, manuals, catalogs, leaflets and written information provided to Buyer pertaining to the Products/Samples.
Positioning setting error A positioning start command was input that included 2 (excessive reserve points) *4 or more consecutive movement distances of 0. The stop sensor was input while "Remaining Excessive movement movement" was smaller than "Movement after stop after stop sensor input *4 sensor input". 1 point excessive The movement of 1 point has exceeded 2147483647. movement *4 Communication was not carried out for longer than the Communication error Communication timeout time. The communication settings include an invalid value. An invalid value refers to one of the following Invalid communication conditions. • A reserved value has been set. settings *2 • There is a driver with an station number setting of over 16. • 9 or more drivers are coupled with QS-MB1.
DB：Dynamic braking *1 As there is an error in the system, an entry may not be made in the error history. *2 As this is a serious system error, the power supply must be turned off and on again to clear the alarm. *3 Not applicable for QS-10H. *4 Not applicable for QS-10P.
QS-10_IM_E
59.4
Step out has been detected in Stepper mode or hybrid mode (while stopped).
102
Excessive speed *3
(15)
CPU error *1 *2
An error has been detected in the program or watchdog timer.
(71)
Name
(7 digit)
xim
7 seg. display
Ma
No.
um
85
15
0°
27.3
67.9
(10)
To clear an alarm
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Copyright (c) 2014 KEYENCE CORPORATION. All rights reserved. 12990E 1084-1 96M12990 Printed in Japan
