MD2U Series 2-Phase Unipolar Stepper Motor Driver

Compact And High-Performance Of 2-Phase Stepper Motor Driver (A)

Photoelectric
Sensors
Features
(B)
● Unipolar constant current drive type Fiber
Optic
● Enable to brake when it stops by STOP current Sensors

adjustment (C)
Door/Area
● Low speed and precise control with microstep Sensors

(MD2U-MD20)
● Insulate using photocoupler to minimize the influence (D)
Proximity
Sensors
by external noise
● Power supply: 24-35VDC (E)
Pressure
Sensors
Please read “Caution for your safety” in operation
manual before using.
(F)

Ordering Information MD2U-MD20 MD2U-ID20 Rotary

Encoders

MD 2 U M D 20 (G)
Connectors/
Sockets
RUN current
20 2A/Phase
Power supply (H)
D 24-35VDC Temperature
Controllers

Step method (resolution) M Micro Step (20-division)

(I)
I Intelligent type SSRs / Power
Controllers
Drive method
U Unipolar drive
Motor phase (J)
2 2-Phase Counters
Item
MD Motor Driver

Specifications (K)
Timers

Model MD2U-MD20 MD2U-ID20

※1 (L)
Power supply 24-35VDC Panel
Meters
Allowable voltage range 90 to 110% of the rated voltage
※2
Max. current consumption 3A (M)
Tacho /
※3
RUN current 0.5 to 2A / Phase Speed / Pulse
Meters
STOP current 20 to 70% of RUN current (set by STOP current volume)
(N)
Drive method Unipolar constant current drive type Display
Units
Basic step angle 1.8˚/Step
Resolution 1, 2, 4, 5, 8, 10, 16, 20-division (1.8˚to 0.09˚/Step) (O)
Input pulse width Min. 10㎲(CW, CCW), 1ms(HOLD OFF) Sensor
Controllers
Duty rate 50%(CW, CCW)
(P)
Input Rising/Falling time Max. 0.5㎲(CW, CCW) Switching
Mode Power
pulse Pulse input voltage [H] 4-8VDC, [L] 0-0.5VDC - Supplies
spec. Max. input current 4mA(CW, CCW), 10mA(HOLD OFF) (Q)
Max. input pulse Stepper Motors
※4 Max. 50kHz (CW, CCW) & Drivers
frequency & Controllers

Input resistance 300Ω(CW, CCW), 390Ω(HOLD OFF) 3.3kΩ (CW/CCW, RUN/STOP, HOLD OFF) (R)
Graphic/
Insulation resistance Min. 200MΩ (at 500VDC megger, between all terminals and case) Logic
Panels
Dielectric strength 1000VAC 50/60Hz for 1 minute (between all terminals and case)
(S)
Noise resistance ±500V the square wave noise (pulse width: 1㎲) by the noise simulator Field
Network
Vibration 1.5mm amplitude at frequency of 10 to 55Hz (for 1 min.) in each X, Y, Z direction for 2 hours Devices

Shock Vibration 300m/s² (approx. 30G) in each X, Y, Z direction for 3 times

Environ- Ambient temperature 0 to 50℃, storage: -10 to 60℃ (T)
Software
ment Ambient humidity 35 to 85%RH, storage: 35 to 85%RH
Approval
※5
Weight Approx. 295g (approx. 180g) Approx. 303g (approx. 190g)
※1: When using over 30VDC power supply, torque characteristics are improved but the driver temperature raise. The unit should be installed
at the well ventilation environment.
※2: Based on ambient temperature 25℃, ambient humidity 55%RH.
※3: RUN current varies depending on the input RUN frequency and max. RUN current at the moment also varies depending on the load.
※4: Max. input pulse frequency is max. frequency to be input and is not same as max. pull-out frequency or max. slewing frequency.
※5: The weight includes packaging. The weight in parentheses is for unit only.
※Environment resistance is rated at no freezing or condensation.

Q-59
MD2U Series

2-Phase Micro Stepper Driver [MD2U-MD20]

Unit Descriptions Power indicator

Function Input Motor Power

selection DIP switch terminal connection terminal
terminal
RUN current volume STOP current volume

Function selection DIP switch

● Microstep, pulse input method setting
Switch position
No. Name Function
ON OFF

MS1 MS2 MS3 Resolution

1 MS1
ON ON ON 1 (Full-step)
ON ON OFF 2-division
ON OFF ON 4-division
2 MS2 Microstep setting ON OFF OFF 5-division
OFF ON ON 8-division
OFF ON OFF 10-division
3 MS3 OFF OFF ON 16-division
OFF OFF OFF 20-division

1-pulse input 2-pulse input

4 1P/2P Pulse input method
method method

● Resolution setting (MS1/ MS2/ MS3)

Select the step angle (motor rotation angle per 1 pulse).
The set step angle is dividing basic step angle(1.8°) of 2-phase stepping motor by setting value.
Basic angle (1.8°)
E.g.) Set step angle =
Resolution
※Must stop the motor before changing the resolution.

● 1P/2P
The switch is to select pulse input method.
1-pulse input method: CW → operating rotation signal input, CCW → rotation direction signal input ([H]: CW, [L]: CCW)
2-pulse input method: CW → CW rotation signal input, CCW → CCW rotation signal input.

Setting RUN current

RUN
RUN current setting is for the current provided for motor when the motor runs.
CURRENT ※When RUN current is increased, RUN torque of the motor is also increased.
※When RUN current is set too high, the heat is severe.
※Set RUN current within the range of motor's rated current according to its load.
※RUN current setting range: 0.5 to 2.0A
※RUN current setting method: Measure the voltage by connecting a DC voltage meter to both CT+ and
0.5A 2.0A CT- terminals while the motor is running (Max. 150rpm)
2
E.g.) Input voltage (3V) × = 2A (motor excitation current)
3
CT CT
※Change RUN current only when the motor stops.

Q-60
 2-Phase Unipolar Stepper Motor Driver
Setting STOP current (A)
S
 TOP current setting is for the current provided for motor when the motor stops for preventing severe Photoelectric
STOP Sensors

CURRENT motor's heat.

(B)
This function is for reducing the heat by variable resistance ratio setting within 0 to 100% of RUN Fiber
Optic
current setting range (actual setting range: 20 to 70%) . Sensors

E.g.) In case of RUN current setting value is 2A and

(C)
STOP current setting value is 0%(actual setting range: 20%), Door/Area
20% 70% Sensors
STOP current 0.4A = 2A × 0.2
※When STOP current is decreased, STOP torque of the motor is also decreased. (D)
※When STOP current is set too low, the heat is lower. Proximity
Sensors
※Change STOP current only when the motor stops.
(E)

HOLD OFF function Pressure

Sensors

This signal is for rotating motor's axis using external force or used for manual positioning.
When hold off signal maintains over 1ms as [H], motor excitation is released. (F)
Rotary
When hold off signal maintains over 1ms as [L], motor excitation is in a normal status. Encoders

※Must stop the motor for using this function.

(G)
※Refer to I/O Circuit and Connections. Connectors/
Sockets

I/O Circuit and Connections (H)

Temperature
Controllers

+5VDC ※CW
[Signal] 2-pulse input method (CW rotation signal input)
(I)
SSRs / Power
1 Controllers
1-pulse input method (operating rotation signal input)
CW
300Ω (J)
2 Counters

※CCW
2-pulse input method (CCW rotation signal input)
3 (K)
1-pulse input method (rotation direction signal input) Timers
CCW
300Ω →[H]: CW, [L]: CCW
4 (L)
Panel
Meters

※HOLD OFF
(M)
5 Control signal for motor excitation OFF Tacho /
HOLD Speed / Pulse
→ [H]: Motor excitation OFF Meters
390Ω OFF
6 (N)
※If the power for driving pulse from external is over than Display
Units
+5VDC, please connect resistor at the outside.
[Motor] A-com (input power max. 24VDC, input current 10-20mA)
1 (O)
Sensor
Controllers
B-com
2 (P)
Switching
Mode Power
Supplies
A
3 (Q)
Motor Stepper Motors
& Drivers
& Controllers
A
4 (R)
Graphic/
Logic
Panels
B
5 (S)
Field
Network
Devices
B
6
(T)
Software

DC+
+
[Power] 24-35VDC
-
DC-

Q-61
MD2U Series

Time Chart
● 1 pulse input method
[H]
CW
[L]
[H]
CCW
[L]

Rotation
position CCW
CW

● 2 pulse input method CW

[H]
CW
[L]

[H]
CCW
[L]

Rotation
position CW CCW

※Do not input CW, CCW signals at the same time in 2-pulse input method.
It may not operate properly if another direction signal is inputted when one of CW or CCW is [H].

Dimensions
(unit: mm)

86
76.5
74
4.5 38
100

100
105
94

20
39.5 4.5

Q-62
 2-Phase Unipolar Intelligent Stepper Motor Driver

2-Phase Intelligent Stepper Motor Driver [MD2U-ID20] (A)

Photoelectric
Sensors
Unit Descriptions START speed volume ACC time setting volume
(B)
RUN speed volume DEC time setting Fiber
Optic
Power indicator volume Sensors

(C)
Door/Area
Sensors

(D)
Proximity
Sensors

(E)
Pressure
Sensors

Function Input Motor Power (F)

selection DIP switch terminal connection terminal Rotary
terminal Encoders
RUN current volume STOP current volume
Intelligent type stepper motor driver?
(G)
MD2U-ID20 is an intelligent type stepper motor driver including all features to control 2-phase stepper motors so that no Connectors/
Sockets
controllers are required.
● Realizing AC motor's driving features to stepper motors (H)
● Controlling START speed, RUN speed and ACC/DEC speed Temperature
Controllers
● User-friendly design to realize various functions (front switch and volume)
Function selection DIP switch (I)
SSRs / Power
Switch position Controllers
No. Name Function
ON OFF
SYM/ (J)
1 SYM/NORMAL Symmetry Asymmetry Counters
NORMAL
Max. speed
2 MS2 MS2 MS3 H/L SPEED (K)
(rpm) Timers
Max. speed ON ON 1500
3 MS3 ON OFF 1350 (L)
ON 1 2 3 4 ON: High speed Panel
OFF ON 1000 Meters

H/L OFF OFF 500

(M)
4 High/Low speed
SPEED D※1 D※1 OFF: Low speed 150 Tacho /
Speed / Pulse
Meters
※1: D=Don't care
※Reset the power after changing function selection switch operations. (N)
Display

Selection of Symmetry/Asymmetry Units

※The function to make the ACC/DEC time of run-speed as asymmetry or symmetry using DIP switch No. 1. (O)
Sensor
Speed Asymmetry (Normal) of ac/deceleration Controllers

(rpm) (P)
Switching
Mode Power
Supplies
A D A D
Time (sec) (Q)
ACC time and DEC time are repeated as a asymmetrical figure Stepper Motors
& Drivers
& Controllers
Speed Symmetry of ac/deceleration
(R)
(rpm) Graphic/
Logic
Panels

A D D A (S)
Time (sec) Field
ACC time and DEC time are repeated symmetrical figure Network
Devices
※It is able to set the gradient (acceleration and deceleration time) as ACC/DEC time.
Selection of max. speed (MS2, MS3) (T)
Software
※The function to select the max. speed of motors.
※The max. speed of stepper motor is changed by MS2/MS3 and Hi/Low speed.
※The features of run and vibration are able to change depending on MS2, MS3.
※Lower the max. speed to run a motor smoothly.

Selection of H/L SPEED

※H/L SPEED mode selection switch: Ac.deceleration control is not available in Low speed mode since all sections are
included in Pull-in range.
※Low speed mode: It is able to drive a motor up to 150rpm of max. drive speed.
※High speed mode: It is able to drive a motor up to 1500rpm of max. drive speed.

Q-63
MD2U Series
Setting RUN current
RUN RUN current setting is for the current provided for motor when the motor runs.
CURRENT ※When RUN current is increased, RUN torque of the motor is also increased.
※When RUN current is set too high, the heat is severe.
※Set RUN current within the range of motor's rated current according to its load.
※RUN current setting range: 0.5 to 2.0A
※RUN current setting method: Measure the voltage by connecting a DC voltage meter to both CT+ and
0.5A 2.0A CT- terminals while the motor is running (Max. 150rpm)
2
E.g.) Input voltage (3V) × = 2A (motor excitation current)
3
CT CT ※Change RUN current only when the motor stops.
Setting STOP current
S
 TOP current setting is for the current provided for motor when the motor stops for preventing severe
STOP motor's heat.
CURRENT This function is for reducing the heat by variable resistance ratio setting within 0 to 100% of RUN
current setting range (actual setting range: 20 to 70%) .
E.g.) In case of RUN current setting value is 2A and
STOP current setting value is 0%(actual setting range: 20%),
20% 70% STOP current 0.4A = 2A × 0.2
※When STOP current is decreased, STOP torque of the motor is also decreased.
※When STOP current is set too low, the heat is lower.
※Change STOP current only when the motor stops.

Setting RUN speed

RUN SPEED ※It sets max. RUN speed.
※Max. RUN speed can be different depending on max. speed setting (MS2, MS3) and driving mode
setting (Hi/Low speed).
※Consider motor type and its RUN current when setting max. RUN speed. Missing step could occur due
to max. input pulse frequency of motors.
0% 100% ※Set the value when the motor stops.

START speed setting

START SPEED ※It sets desired START speed.
※Max. START speed value is same with RUN speed value.
※START speed must be set within max. starting frequency. It is recommended to set up START speed
within 0 to 50% for stable driving.
※Set the value when the motor stops.
0% 100%

Setting ACC time

ACC TIME ※It sets the acceleration time from START speed to max. driving speed.
※AT_1 operation mode when ACC time is under 33.3%, AT_2 operation mode when ACC time is under
66.6% and AT_3 operation mode when ACC time is over 66.6%.
※AT_1 is 0.5 sec. when RUN speed=100%, START speed=0%.
※AT_2 is 1 sec. when RUN speed=100%, START speed=0%.
0% 100% ※AT_3 is 2 sec. when RUN speed=100%, START speed=0%.
※Set the value when the motor stops.

Setting DEC time

DEC TIME
※It sets the deceleration time from max. RUN speed to STOP.
※DT_1 operation mode when DEC time is under 33.3%, DT_2 operation mode when DEC time is under
66.6% and DT_3 operation mode when DEC time is over 66.6%.
※DT_1 is 0.5 sec. when RUN speed=100%, START speed=0%.
※DT_2 is 1 sec. when RUN speed=100%, START speed=0%.
0% 100% ※DT_3 is 2 sec. when RUN speed=100%, START speed=0%.
※Set the value when the motor stops.
※ACC Time and DEC Time are declined in proportion to the setting value of START speed.
※The figures above indicate the factory default for each value.

HOLD OFF function

This signal is for rotating motor's axis using external force or used for manual positioning.
When hold off signal maintains over 1ms as [H], motor excitation is released.
When hold off signal maintains over 1ms as [L], motor excitation is in a normal status.
※Must stop the motor for using this function.
※Refer to I/O Circuit and Connections.

Q-64
 2-Phase Unipolar Intelligent Stepper Motor Driver

Time Chart (A)

Photoelectric
● High speed mode Sensors

ON
RUN/STOP (B)
OFF Fiber
Optic
Sensors
ON
CW/CCW
OFF (C)
Door/Area
Sensors
ACC time
(Same as DEC time) CW
(D)
Rotation speed Proximity
Sensors
and direction
(Symmetry mode) ACC time DEC time
(E)
Pressure
Motor Sensors
CW Stop CCW
(F)
It accelerates up to RUN speed during ACC time after RUN signal is ON and decelerates during DEC time after it is OFF. It is Rotary
Encoders
disable to change the direction during the signal is ON and it takes 0.5sec. for deceleration when DEC time is "0%".
(G)
● Low speed mode Connectors/
Sockets
Max. RUN speed is 150rpm and ACC and DEC time are not available.
It is same with High speed to change RUN/STOP and direction. (H)
Temperature
Controllers

I/O Circuit and Connections (I)

SSRs / Power
Controllers
Inner power (24-35VDC) RUN/STOP signal input
→ [ON]: RUN, [OFF]: STOP (J)
Counters

3.3㏀ Direction signal input

RUN/STOP
1 → [ON]: CW, [OFF]: CCW (K)
Timers

3.3㏀ CW/CCW HOLD OFF signal iuput

2
→ [ON]: HOLD OFF, [OFF]: HOLD ON (L)
Panel
Meters
3.3㏀ HOLD OFF ● Inner adjuster control (Adjusting RUN speed
3
with front VR) (M)
Tacho /

COM Make the connection between terminal No.5 and No.6. Speed / Pulse
Meters
4 - COM 4
0-5VDC (N)
+ Display
5 Units
RUN speed External 5
5VDC (Inner) External
voltage RUN speed 5VDC (Inner)
adjuster (O)
6 control※ 6 Sensor
Inner control 2㏀ ※
Controllers

adjuster (1 to 3㏀)
control ● External adjuster control (Adjusting RUN speed (P)
Switching
with connecting external variable resistance) Mode Power
A-com Supplies
1 Connect variable resistance 2㏀ (1 to 3㏀) for external
(Q)
B-com
adjuster control. If variable resistance is too low, full range Stepper Motors
2 setting might not be possible. Make sure to adjust RUN & Drivers
& Controllers
A speed VR to maximum for external adjuster control.
3 (R)
3 Graphic/
A Motor COM 4 Logic
Panels
4
B 2 (S)
5 External adjuster
5 Field
RUN speed 5VDC (Inner) 2㏀ (1 to 3㏀) Network
B Devices

6 6 1
(T)
● External voltage control (Adjusting RUN speed Software
DC+
Power
+
24-35VDC
with external voltage input)
- Make sure to adjust RUN speed VR to maximum external
DC-
voltage control.

※ Inner adjuster is correlated to external adjuster control COM 4 - External voltage

and external voltage control. Make sure that inner adjuster + 0-5VDC
must be set to maximum in order to set maximum RUN 5
RUN speed
speed using external adjuster and external voltage.
6

Q-65
MD2U Series

Dimensions 86
76.5 (unit: mm)
4.5 74
38

100

100
105
94
20
39.5 4.5

Proper Usage
Failure diagnosis and management
● Check the connection of controller and driver, if motor does not rotate.
● Check the DIR input of driver, if motor rotates as a reverse direction, it is CW for [ON] and CCW for [OFF].
● If motor does not work properly,
Check the connection of driver and motor.
Check driver output current and RUN current of motor depending on current adjuster are correct.

Caution during use

1. For signal input
①Do not input CW, CCW signal at the same time in 2-pulse input method. Failure to follow this instruction may result in
malfunction. (MD2U-MD20)
②Direction cannot be changed during the operation. (MD2U-ID20)
③When the signal input voltage is exceeded the rated voltage, connect additional resistance at the outside.
2. For RUN current, STOP current setting
①Set RUN current within the range of motor's rated current. Failure to follow this instruction may result in severe heat of
motor or motor damage.
②Use the power for supplying sufficient current to the motor.
3. For cable connection
2
①Use twisted pair (over 0.2mm ) for the signal cable which should be shorter than 2m.
②The thickness of cable should be same or thicker than the motor cable's when extending the motor cable.
③Must separate between the signal cable and the power cable over 10cm.
4. For installation
①In order to increase heat protection efficiency of the driver, must install the heat sink close to metal panel and keep it
well-ventilated.
②Excessive heat generation may occur on driver. Keep the heat sink under 80℃ when installing the unit. (at over 80℃,
forcible cooling shall be required.)
5. For using function selection DIP switches
①Do not change the pulse input method during the operation. It may cause danger as the revolution way of the motor is
changed conversely.
6. Motor vibration and noise can occur in specific frequency period.
①Motor vibration and noise can be lowered by changing motor installation or attaching damper.
②Use the unit in a range without vibration and noise by changing RUN speed or resolution.
7. This product may be used in the following environments.
① Indoor ② Altitude under 2000m
③ Pollution degree 2 ④ Installation category Ⅱ

Q-66