αSTEP Closed Loop Stepper Motor Systems

Closed Loop Stepper Motors

 

αSTEP

Closed Loop Stepper Motor Systems

Oriental Motor's αSTEP closed loop stepper motor control systems perform accurate positioning operations with ease. The αSTEP features a unique control system combining the benefits of "open loop control" and "closed loop control".

With the αSTEP stepper motor control system, the position of the motor is always monitored and then the driver automatically switches between the two types of control depending on the situation. Under normal circumstances the operation of the motor is monitored and control is applied using open loop like a standard stepper motor. If an error occurs between the command and motor position due to a load or the like, the system immediately switches to closed loop control like a servo motor. This corrects the position and speed maintaining the desired operation. The combination of these two control methods ensures high reliability and performance.

To expand applications of stepper motors, Oriental Motor offers many different product series designed with different power specifications and various functions. A wide spectrum of variation are available within each series, as products come in many frame sizes and pre-assembled options, such as electromagnetic brake types, geared types or linear and rotary actuator products.


αSTEP Hybrid Control Systems

αSTEP products are stepper motor based hybrid motors with a unique hybrid control system combining the benefits of "open loop control" and "closed loop control".

The position of the motor is always monitored, and then the driver automatically switches between 2 types of control depending on the situation.

Normally Operates in Open Loop Control for the Same Ease of Use as a Stepper Motor

Open Loop Control

High Response

By utilizing the high responsiveness of the stepper motor, moving a short distance for a short time is possible. The motors can execute commands without lag.

High Response

Holding the Stop Position without Hunting

During positioning, the motor stops with its own holding force without hunting. Because of this, it is ideal for applications where the low rigidity of the mechanism requires absence of vibration upon stopping.

Tuning-Free

Because it is normally operated with open loop control, positioning is still possible without gain adjustment even when the load fluctuates due to the use of a belt mechanism, cam or chain drive, etc.

Switches to Closed Loop Control during Overload for More Reliable Operation like a Servo Motor

Closed Loop Control

Continues Operation Even with Sudden Load Fluctuation and Sudden Acceleration

It operates synchronously with commands using open loop control during normal conditions. In an overload condition, it switches immediately to closed loop control to correct the position.

Closed Loop Control

Alarm Signal Output in Case of Abnormality

If an overload is applied continuously, an alarm signal is output. When the positioning is complete, and END signal is output. This ensures the same level of reliability as a servo motor.

 


 

αSTEP Performance

What is the Output of αSTEP ?

"Rated Output" is not listed because αSTEP has no "rated speed". Refer to the graph below to compare rate torque of the αSTEP to Watts of of servo motor's rated output torque.

αSTEP  Rated Output

What is the Stopping Accuracy of αSTEP ?

The stopping accuracy of a typical αSTEP is ±0.05° (under no load), which is equivalent to that of servo motors. The graphs below show the actual measured stopping accuracies when an αSTEP and an AC servo motor were rotated once.

αSTEP  Stopping Accuracy

Hybrid Control System

The hybrid control system constantly monitors the motors position allowing for the benefits of performance from "open loop" control while providing the assurance of "closed loop " performance.

Normal Conditions
Overload Condition


 

αSTEP Sensor Types

AZ Series with Absolute (ABZO) Sensor - αSTEP

Absolute Mechanical Sensor

The αSTEP AZ Series stepper motors offer high efficiency, low vibration and incorporates our newly developed Mechanical Absolute Encoder for absolute-type positioning without battery back-up or external sensors to buy.

Mechanical Multi-turn Absolute Sensor

Absolute position detection is possible within ±900 rotations (1800 rotations) of the motor shaft from the home reference.

No Battery Required

Because positioning information is managed mechanically by the absolute sensor, the positioning information can be preserved, even if the power turns off or if the cable between the motor and driver is disconnected.

 


AR Series with Rotor Position Detection Sensor - αSTEP

AR Series Rotor Position Detector

The αSTEP AR Series stepper motors offer high efficiency, low vibration, continuous operation with the security of closed loop performance without hunting or gain tuning.

Slim Motor Sensor

Because the sensor is compact and slim, the overall length of the motor has been reduced.

High Performance Resolver

Performance such as heat resistance and vibration resistance is better than with regular optical encoders.

Reduced Wiring

Because an encoder cable is not necessary, the motor and driver can be connected with just 1 cable.

 

 

αSTEP Motor Types

The αSTEP stepper motors are used in multiple product types to meet your specific application needs; stepper motors available with a wide range of gearing options and brake types, as well as a full line linear actuators and rotary actuators.

αSTEP Closed Loop Stepper Motors

Closed Loop, Absolute Encoder Stepper Motors - AZ Series

The αSTEP AZ Series stepper motors offer high efficiency, low vibration and incorporates our newly developed Mechanical Absolute Encoder for absolute-type positioning without battery back-up or external sensors to buy. Closed loop performance without hunting or gain tuning. Available with a built-in controller or pulse input driver which substantially reduces heat generation from the motor through the use of high-efficiency technology. Requires αSTEP AZ Series Driver.

  • Battery-Free, Mechanical Absolute Encoder Stepper Motors
  • Closed Loop Performance, No Hunting or Gain Tuning
  • AC or DC Input Types
  • Parallel Shaft and Right Angle Geared Types for Higher Torque, Space Savings
  • Electromagnetic Brake Type Available
  • αSTEP AZ Series Stepper Motor Driver Required*

αSTEP Electric Linear Slides / Linear Actuators

EZS Motorized Linear Slides

Compact, high-rigidity electric linear slides featuring αSTEP AZ Series with absolute encoder stepper motor and driver combined with a simple, dust-resistant structure providing the high response, low vibration and hunting-free operation of a stepper motor in an electric linear slide. A wide variety of options to suit the equipment space and environment, including straight type and reversed motor type. Being compact and rigid, this series is effective in supporting large transportable mass.

  • Equipped with battery-free absolute encoder
  • Positioning information can be known without a sensor
  • High reliability using closed loop control
  • Reduced motor heat and reduced energy consumption through high efficiency design
  • Requires AZ Series Driver (sold separately)

αSTEP Electric Linear Cylinders / Linear Actuators

EAC Linear Cylinders

The αSTEP EAC Series electric linear actuators featuring AZ Series with absolute encoder stepper motor and driver are quick and responsive and incorporate a ball screw design, offering high performance from low speed to high speed or with light loads or heavy loads, regardless of demanding operating conditions. Available in a straight type or reversed motor type and with a shaft guide and cover version also available, saves design time and parts. All EAC Series are available with an electromechanical brake ideal for vertical operations.

  • Equipped with battery-free absolute encoder
  • Positioning information can be known without a sensor
  • High reliability using closed loop control
  • Reduced motor heat and reduced energy consumption through high efficiency design
  • Requires AZ Series Driver (sold separately)

αSTEP Compact Electric Cylinders

DRS Linear Actuators

The DR/DRS2 Series compact linear cylinder uses the αSTEP AZ Series stepper motor and driver. The actuator is equipped with the Mechanical Absolute Encoder Stepper Motor. The Absolute Encoder is a mechanical multi-turn Absolute Sensor, so an external sensor is not required. This helps to save space and reduce wiring, as well as more compact and lightweight design of the equipment.

  • AZ Series Absolute Encoder Stepper Motor
  • Table Type or Rod Type
  • 24/48 VDC Input
  • AZ Series Connection Cables and DC Input Driver required (sold separately)*

αSTEP Electric Grippers / Robotic Grippers

Electric Grippers - AZ Series Equipped

A rack-and-pinion mechanism equipped with an αSTEP AZ Series motor combined with an EH Series electric gripper. Its delicate grip, like that of a human hand, assists in automation and labor-saving.

  • Provides Delicate, Human-like Grip for Robotic Applications
  • 2-Finger or 3-Finger Types
  • Built-In battery-free absolute sensor, for constant monitoring of motor position information without an external sensor
  • High reliability with closed loop control
  • High efficiency technology reduces motor heat generation and saves energy
  • AZ Series Driver (DC Input) required*

αSTEP Rack and Pinion System L Series

Rack and Pinion System L Series - AZ Series Equipped

The Rack and Pinion System L Series- αSTEP AZ Series Equipped is a linear actuator in which a rack and pinion mechanism with a motor have been combined. The motor is equipped with the AZ Series that utilizes a battery-free absolute sensor, which allows for high positioning accuracy and high load transportation.

  • Horizontal or Vertical movement
  • High-Speed or High-Transportable-Mass Type
  • Electromagnetic Brake options
  • AZ Series Driver required*

αSTEP Linear Head Rack and Pinion System LJ Series

Rack and Pinion System LJ Series - AZ Series Equipped

When the LJ linear head with rack and pinion mechanism is attached to a parallel shaft gearhead and motor, linear motion such as pushing, pulling, raising and lowering is possible. Perfect for high load or long stroke applications. Use with the AZ Series that utilizes a battery-free absolute sensor, which allows for high positioning accuracy and high load transportation.

  • Horizontal or Vertical movement
  • 200 kg Mass Transportable Mass
  • Electromagnetic Brake options
  • AZ Series Driver required*

αSTEP Hollow Rotary Actuators

αSTEP  AZ Series DGII Hollow Rotary Actuators

The DGII Series is a line of of products that combine a high rigidity hollow rotary table with an αSTEP absolute encoder AZ series closed loop stepper motor and driver package. It retains the ease of use of a stepper motor, while also allowing for highly accurate positioning of large inertia loads.

  • Integrated actuator and stepper motor makes design easier
  • Vertical or Horizontal Mount Motor Types
  • Easy Home Setting and Return-to-Home without need for sensors
  • Large-diameter hollow output table
  • AC or DC Input

 

αSTEP Stepper Motor Driver Types

A wide range of stepper motor drivers are available for use with the αSTEP series products:

AZ Series AC Input Drivers

αSTEP  AC Input Drivers

The αSTEP AZD (AC Input) Drivers offers superior high speed performance, high functionality and closed loop control. There are no external sensors to buy as the motor and driver complete the system. Advanced operation and function control is included through our MEXE02 software (free download). The αSTEP AZD (AC Input) Drivers can perform quick positioning operations over a short distance without the need for tuning, while providing smooth performance.

  • Built-in Protective Functions
  • Emergency Torque Off Function
  • Pulse Input, Pulse Input with RS-485 Communications, Built-in Controller (Network), EtherCAT, EtherNet/IP™ or PROFINET Types
  • Single-Phase 100-120 VAC or Single-Phase/Three-Phase 200-240 VAC
  • For use with αSTEP AZ Series Motors (AC Input)

 

AZ Series DC Input Drivers

αSTEP  DC Input Drivers

The αSTEP DC Input Drivers offer 24/48 VDC input voltage, high functionality and closed loop control. There are no external sensors to buy as the motor and driver complete the system. The αSTEP AZD-K (DC Input) can perform quick positioning operations over a short distance without the need for tuning, while providing smooth performance.

  • Built-in Protective Functions
  • Pulse Input, Pulse Input with RS-485 Communications, Built-in Controller (Network), EtherCAT, EtherNet/IP™ or PROFINET Types
  • 24/48 VDC
  • For use with αSTEP AZ Series Motors (DC Input)

 

AR Series AC Input Drivers

AC Input Drivers

The αSTEP ARD (AC Input) Drivers offers superior high speed performance, low vibration and closed loop control. Available in a stored data (network) driver or pulse input driver. Advanced operation and function control is included through our MEXE02 software (free download). The ARD (AC Input) Drivers can perform quick positioning operations over a short distance without the need for tuning, while providing smooth performance.

  • Built-in Protective Functions
  • Pulse Input or Built-in Controller (Network) Types
  • Single-Phase 100-115, 200-240 VAC or Three-Phase 200-230 VAC
  • For use with αSTEP AR Series Motors (AC Input)

 

AR Series DC Input Drivers

AC Input Drivers

The αSTEP ARD-K (DC Input) Drivers offer 24/48 VDC input voltage, low vibration and closed loop control. Available in a stored data (network) driver or pulse input driver. Advanced operation and function control is included through our MEXE02 software (free download). The ARD-K (DC Input) Driver can perform quick positioning operations over a short distance without the need for tuning, while providing smooth performance.

  • Built-in Protective Functions
  • Pulse Input or Built-in Controller (Network) Types
  • 24/48 VDC
  • For use with αSTEP AR Series Motors (DC Input)

AZ Series mini DC Input Drivers

αSTEP  mini DC Input Drivers

The AZ Series mini Driver works with a variety of αSTEP AZ Series, DC input products. This driver can be controlled using EtherCAT, PROFINET, EtherNet/IP, RS-485 communication, or Pulse Input Type with RS-485 Communication and daisy chained to maximize design and space and improve installation time. The mini Driver is also designed to be close to the motor, making it ideal for Robotic type applications.

The elimination of switches and I/O connectors allows for a compact and lightweight design. Utilizes the MEXE02 Support Software, available for free download.

  • Built-in Protective Functions
  • Pulse Input, Pulse Input with RS-485 Communications, Built-in Controller (Network), EtherCAT, EtherNet/IP™ or PROFINET Types
  • 24/48 VDC
  • For use with αSTEP AZ Series Motors (DC Input)

 

AZ Series Multi-Axis Controller / Driver (EtherCAT)

Multi-Axis Controller / Driver

A multi-axis controller that supports EtherCAT communication.Compatible with the CiA402 drive profile. It can be connected to the AZ Series DC input motors and electric actuators.

2-axis, 3-axis and 4-axis driver connections are available.

  • 24/48VDC
  • Multi-Axis Motor Connection Cables required*

EtherCat

 

MRC Robot Controller

The MRC01 robot controller supports easy programming and control of in-house designed custom built robots with 3 simple steps: "Initial Setup", "Operating Programming" and "Operational Checking".

 

 

 

Network Gateways

Network Gateways

The communication protocol of the master controller, Factory Automation (FA) network, is converted to Oriental Motor's own RS-485 communication protocol. Connection to Oriental Motor's network compatible products is completed with one RS-485 communication cable.

  • Compatible Networks:
    CC-Link, MECHATROLINK-II, MECHATROLINK-III, EtherCat

EtherCat CC-Link MECHATROLINK


 


EtherNet/IP™ Compatible Driver

With the EtherNet/IP driver, the operating data can sent from the host system or can be set in the driver and selected and executed from a host system. Host system connection and control are performed with I/O Stored Data or EtherNet/IP communications.

EtherNet/IP Drivers

AZ Series EtherNet/IP™ Drivers

Easily control the AZ Series by directly connecting to the EtherNet/IP master device using a single EtherNet/IP communications cable. This allows for quick and simple wiring.

EtherNet/IP Network


EtherNet/IP™ Support Software and EDS File

An EDS file has been prepared to allow EtherNet/IP compatible products to be used more easily.

Built-in Controller Type (Network Compatible)
Built-in Controller Type

With this type of driver, the operating data is set in the driver and is then selected and executed from the host system. Host system connection and control are performed with any of the following: I/O, Modbus (RTU), RS-485 communication or FA network.

By using a network converter (sold separately), CC-link, MECHATROLINK or EtherCAT communication is possible.

FLEX is the collective name for products that support I/O control, Modbus (RTU) control and FA network control via network converters.

Built-in Controller

Built-in Controller Control Methods

 

Pulse Input Type with RS-485 Communication (AZ Series Only)
Pulse Input Type with RS-485 Communication

This type executes operations by inputting pulses into the driver. Control the motor using a positioning module (pulse generator) that you have obtained yourself. Rs-485 Communication can be used to monitor status information for the motor (position, speed, torque, alarms, temperature and more).

RS-485 Driver

RS-485 Driver Control Methods

 

Pulse Input Type
Pulse Input Driver

This type executes operations by inputting pulses into the driver. Control the motor using a positioning module (pulse generator) that you have obtained yourself. The support software (MEXE02) can be used to check alarm history and monitor status information.


 

Network Compatible Multi-Axis Driver (AZ Series DC Input Only)
Multi-Axis Driver

This multi-axis driver is compatible with EtherCAT drive profiles.

AZ Series DC input motors (and linear and rotary actuators that contain them) can be connected.

Drivers that can connect 2, 3 or 4 axes are available.


αSTEP  Multi-Axis Controller Control Methods

 





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