AU9290 Stepping Motor Driver

Users Manual

Tamagawa-seiki reserves the right to make changes tothis document without notice.

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Contents
1.

Introduction ............................................................................................................... 4
1.1.

Power supply for AU9290 ................................................................................... 4

1.2.

Applicable stepping motors ................................................................................ 4

1.3.

Setting and storing of parameters ..................................................................... 5

1.4.

Optional functions .............................................................................................. 5

1.5.

Part number for ordering ................................................................................... 62.

Selection of Power supply .......................................................................................... 7

3.

Installation of AU9290 .............................................................................................. 7

4.

Connection ................................................................................................................. 8
4.1.

Connection to CN1.............................................................................................. 8

4.2.

Connection with motor ...................................................................................... 11

4.3.

Connection with PC ........................................................................................... 11

4.4.

Connection for Parallel I/O signals ...................................................................12

4.5.

Connection for RS485 Serial communication signals .......................................13

4.6.

Connection for RS232C Serial communication signals .....................................14

5.

Status indication ......................................................................................................14

6.

Trial operation（Please execute in advance of real operation.） ............................15(1) Connect with PC .....................................................................................................15(2) Set motor parameters .............................................................................................15(3) Drive your motor.....................................................................................................15(4) Save parameters. ....................................................................................................15

7.

Operation by pulse command signals ......................................................................16

8.

Operation by Parallel I/O signals .............................................................................17

9.

Operation by serial communication .........................................................................20
9.1.

Protocol of serial communication ......................................................................21

9.2.

Protocol of TSC-Standard serial communication ..............................................22

10.

Various functions of AU9290.................................................................................23

10.1.

Control mode ..................................................................................................23

10.2.

Pulse command mode.....................................................................................23

10.3.

Positioning resolution ....................................................................................24

10.4.

Rotating motor current ..................................................................................24

10.5.

Stopping motor current..................................................................................24

10.6.

PIO input filter ..............................................................................................24

10.7.

Origin search operation and Enable signal porarity .....................................25

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Smoothing parameters...................................................................................27

10.9.

Serial communication parameters .................................................................27

10.10.

Motor parameters ..........................................................................................28

10.11.

Parameters handling .....................................................................................28

10.12.

Status monitor ...............................................................................................29

10.13.

Alarm histories ..............................................................................................29

10.14.

Step-out detection ..........................................................................................30

11.

Protection for abnormal status .............................................................................31

12.

Data list.................................................................................................................33

13.

Specifications ........................................................................................................39

14.

Outline drawing ....................................................................................................40

Revision history ...............................................................................................................41

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1.

Introduction
AU9290 is a high functional and quite a compact stepping motor driver of latest
design.
AU9290 drives a stepping motor with micro-step method, and minimize motor
vibration. Only 1 rpm operation can be performed without bothering limitation ofself-starting frequency of stepping motor.
AU9290 also has a profile generation function, and can operate stepping motor
without getting pulse signal inputs.
Parallel I/O signals are available to set operation commands in AU9290.
No pulse generator is necessary to operate stepping motor with expected velocity byusing parallel I/O signals.
RS485 serial communication is also available to transmit operation commands toAU9290.
Multi-axis motor control can be realized with only 2 wires connection by RS485 serial
communication.
Parameters settings for AU9290 are easily executed with USB port connecting to PC.
AU9290 will contribute to improvement in performance and downsizing for allindustrial equipments.

1.1.

Power supply for AU9290

AU9290 has two types of power supply range. A standard model is of range from 15V
to 36V D.C. Another model is of range from 30V to 50V D.C.
1.2.

Applicable stepping motors

All 2 phase stepping motors may be operated by AU9290 with setting the motor
parameters correctly in AU9290.
AU9290 has 2 types of drive method, unipolar drive type and bipolar drive type.
AU9290 of unipolar drive type is designed only for unipolar wiring stepping motor,
and AU9290 of bipolar drive type is for bipolar wiring stepping motor. They are
distinguished by the part number.
Please pay attention to the part number of AU9290 correctly adapted to your stepping
motor.
Note: Although AU9290 of bipolar drive type is designed for bipolar motor, it also candrive unipolar motor. Please see article 4.2 ‘Connection with motor’.

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1.3.

Setting and storing of parameters

AU9290 is necessary to be set parameters correctly to drive a motor.
Our set-up software will help you to do it easily, by connecting AU9290 with PC by
USB cable.
After setting parameters, please save them in non-volatile memory on AU9290 byclicking Parameter Save button.
You can also try to drive a motor by the set-up software.
1.4.

Optional functions

AU9290 can get drive commands from Parallel I/Os (In: 4 point, Out: 1 point) or
RS232 serial communication as well as Pulse command signal inputs. You can choose
them by designating the part number like following article 1.5.

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1.5.

Part number for ordering

AU9290 N * * *(except for AU9290 N103 throgh N106)
Interface voltage for input signals
0: 5V for both of pulse command signals and digital inputs
1: 5V for pulse command signals, and 24V for digital inputs.
2: 24V for pulse command signals and digital inputs
Optional function
0: nothing (CN4 is not mounted)
1: Parallel I/O
2: RS485 Serial communication
3: RS232C Serial communication
Power supply and motor wiring type
1: DC24V, Unipolar motor
2: DC24V, Bipolar step motor
4: DC48V, Bipola step motor

Value type: AU9290N103, N104, N105, N106
Type number

Power and Motor

Input and Output signals

AU9290N103

DC24V Power source

4 digital Inputs, Enable Input (5V I/F)

AU9290N104

Unipola wiring Motor

4 digital Inputs, Enable Input (24V I/F)

AU9290N105

RS485

and Enable Input (5V I/F)

AU9290N106

RS485

and Enable Input (24V I/F)

Note: 2 Digital Inputs of AU9290N103 and N104 may be used as command pulse signals
as well as PIO input signals.
Note: AU9290N103 and N104 do not have PIO digital output.
Note: AU9290N105 and N106 do not have command pulse signal inputs.

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2.

Selection of Power supply
Select a power supply with the range of DC15 to 36V for N1xx and N2xx, and rage of
DC30 to 50V for N4xx.
Capacity of the power supply is dependent on stepping motor. It should be able tosupply the rating current of stepping motor.
Power voltage is a fundamental factor to drive a stepping motor. Higher rotation
speed needs higher power voltage. If you need not to rotate a motor so high speed, you
may select a lower voltage power supply.
It is necessary to confirm that power voltage is high enough for your motor to be
driven at a required speed without step-out.
When a stepping motor is decelerated, some electric current may flow back to powersource temporarily. In this case, power voltage goes up and it may cause power supply
shut-down by over voltage protection. Accordingly, the power source that does nothave enough capacity against over voltage is not suitable to use for motor driving.
We recommend installing enough capacitance (470 uF or more) to power supply line.
On the other hand, since AU9290 has a function of over voltage protection, AU9290
may go alarm status and stop the operation if power voltage goes over the alarm level,
so that power voltage does not increase.

3.

Installation of AU9290
AU9290 has a structure of open-board type. Please secure AU9290 with screw hole ineach corner.
Since AU9290 will heat during operation, please consider the installation location
where lets air through and has enough distance from heat generating element.

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Connection

4.1.

Connection to CN1

CN1 shall be connected drive power source, pulse command signals and drive enable
signal as shown in Table 4.1. Table4.1-2 and Table 4.1-3 shall be refered for Value
type; AU99290N103, N104, N105, N106.
Table 4.1 CN1 Connection
Pin

Signal name

Description

I/O

1

Command Pulse_1+

R-Pulse signal at F-Pulse/R-Pulse mode.

IN

2

Command Pulse_1-

Direction signal at Pulse/Dir mode.

IN

3

Command Pulse_2+

F-Pulse signal at F-Pulse/R-Pulse mode.

IN

4

Command Pulse_2-

Pulse signal at Pulse/Dir mode.

IN

5

Enable+6

Enable-7

VDD

Connect + side of power supply (DC15 to 36V）

IN

8

VSS

Connect - side of power supply

IN

IN

Drive enable signal

IN

Differential line drivers are recommended to use for pulse command signals source.
Open collector output is commonly used for Enable signal.
The receiving circuits are shown in Diagram 4.1..
Diagram 4.1 Receiving circuits of command pulses and drive enable signal.
R1
1/4W 330

+3.3V
Q1
1K

TLP2355

1

6

3

5
4

0.1uF

DIR

R2
1000pF
1/4W 330

+3.3V
Q2
1K

TLP2355

1

6

3

5
4

+24V
CN1
1
2
3
4
5
6
7
8

0.1uF

PULSE

1000pF+3.3V
R3
1
1/4W 3.3K

Q3

2
1K

B8B-XH-A

4
3

ENABLE

TLP2901K
1000pF※ The value of R1 and R2 are 3.3 k ohms in case of AU9290Nxx2.
※ The value of R3 is 330 ohms in case of AU9290Nxx0.

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Table 4.1-2 CN1 Connection for AU9290N103 and N104
Pin

Signal name

Description

I/O

1

IN1

Digital Input-1.

IN

2

IN2

Digital Input-2 / Command Pulse-1

IN

3

IN3

Digital Input-3

IN

4

IN4

Digital Input-4 / Command Pulse-2

IN

5Input Common

Common Input for DIN1 – DIN4 and Enable signals.

IN

6

EnableDrive enable signal

IN

7

VDD

Connect + side of power supply (DC15 to 36V）

IN

8

VSS

Connect - side of power supply

IN

AU9290N103 and N104 have 5 digital inputs and 2 of them are shared with command
pulse inputs. Open collector output is commonly used for them.
Diagram 4.1-2 is indicating the receiving circuits.
Diagram 4.1-2 Receiving circuits for AU9290N103 and N104.
+3.3V

R1

240

1

4

2

3

IN1

TLP290+3.3V
TLP2355
1

6

3

5
4

1K
R2

240

IN2/DIR
+3.3V

R3

240

1

4

2

3

IN3

TLP290+3.3V
TLP2355
1

6

3

5
4

1

4

1K
VDD
CN1

R4

240

1
2
3
4
5
6
7
8

IN4/PULSE

+3.3V

2
1K
R5

3

ENABL

TLP290240

B8B-XH-A※ The value of R1 through R5 are 4.4 k ohms in case of AU9290N104.
※ AU9290N103 and N104 do not have digital output.

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Table 4.1-3 CN1 Connection for AU9290N105 and N106
Pin

Signal name

Description

1

D+

2

D+

3

D-

4

D-

5

Enable+6

Enable-7

VDD

Connect + side of power supply (DC15 to 36V）

IN

8

VSS

Connect - side of power supplyIN

Positive side of RS485 differencial signal
Negative side of RS485 differencial signal

I/O
IN
IN
IN
IN
IN

Drive enable signal

IN

In case of AU9290N105 and N106, RS485 differencial signals are connected to pin1
thorough pin4, so that daisy chain connection is easily realized.
A terminal resister should be mounted on the final terminal point of RS485 bus line.
AU9290N105 and N106 have a jumper socket on the print board. When the socket isinserted, the terminal resister is connected to RS485 bus line. Please remove thesocket to remove the terminal resister.
Please refer the previous paragraph for the receiving circuits of Enable signal
Diagram 4.1-3 Connection example for RS485 differencial bus line.

※ Jumper socket should be removed for all AU9290N105 other than one of rightedge on the above connection.

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4.2.

Connection with motor

Stepping motor shall be connected to CN2.
In case of unipolar type driver (AU9290N1xx), CN2 is 6 pins connector, and 4 pins
connector for bipolar type driver (AU9290N2xx and AU9290N4xx).
Unipolar type driver can drive only unipolar motors. On the other hand, bipolar typedriver can drive both of bipolar motor and unipolar motor.
Connect a stepping motor as follows.
Table 4.2

Connection of motor for unipolar type driver（CN2）Pin

SignalDescription

I/O

1

COM1

A phase common

OUT

2

COM2

B phase common

OUT

3

A

A phaseOUT

4

A

A phaseOUT

5

B

B phaseOUT

6

B

B phaseOUT

Table 4.3

Connection of motor for bipoplar type driver（CN2）Pin

SignalDescription

I/O

1

A

A phase of bipolar motor and unipolar motor

OUT

2

A

A phase of bipolar motor /OUT

A phase common of unipolar motor
3B

B phase of bipolar motor and unipolar motor

OUT

4

B

B phase of bipolar motor /OUT

B phase common of unipolar motor

4.3.

Connection with PC

CN3 on AU9290 is USB Min-B connector, and can be connected with PC using USB
Min-B cable on the market.
It is necessary to install USB Driver into PC in advance to launch our set-up software.
Please refer to installation manual for AU9290 set-up software.

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4.4.

Connection for Parallel I/O signals

Parallel I/O signals, 4 inputs and 1 output, are available on AU9290Nx1x as optional
function.
Please connect with CN4 as follows.
Table 4.4 PIO signals connection（CN4）Pin

SignalDescription

I/O

1

IN1

Digital input-1

IN

2

IN2

Digital input-2

IN

3

IN3

Digital input-3

IN

4

IN4

Digital input-4

IN5

InputCom

Digital input common signal

IN

6

OUT1+

Digital output (Collector side)

OUT

7

OUT1-

Digital output (Emitter side）

OUT

Diagram 4.2 indicates inputs/output circuits of Parallel I/O signals.
Interface voltage shall be 5V for AU9290Nx10 and 12V to 24V for AU9290Nx11 andAU9290Nx12.
Diagram 4.2 Inputs/output circuits of Parallel I/O signals.
+3.3V +3.3V +3.3V +3.3V

1K

1K

1K

1K
1K

IN1/

4

1

3

2

CN4
R1

TLP290
1K
IN2/

3

R2

2
TLP290
1K

IN3/

4

1

3

2
1K

B7B-X1-A

1/4W 3.3K

1

3

R4

2
TLP2901

OUT1

1/4W 3.3K
R3

TLP2904IN4/

1/4W 3.3K

1

4

1
2
3
4
5
6
7

1/4W 3.3K

6

220
3
4
TLP627※Value of R1,R2,R3 and R4 is 330 ohms in case of AU9290Nxx0,

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4.5.

Connection for RS485 Serial communication signals

AU9290Nx2x is provided with RS485 serial communication function.
Please connect to CN4 as follows.
Table4.5 RS485 serial communication signals connection（CN4）Pin

SignalDescription

I/O

1

D+

RS485 differential signal +

IN

2

D-

RS485 differential signal -

IN

3

GND

Circuit ground

IN

4

R

At the end of RS485 serial bus connection, connectINthis pin with pin-1/pin-5 to connect terminal resistor.
5

D+

RS485 differential signal +

OUT

6

D-

RS485 differential signal -

OUT

7

GND

Circuit groundOUT

See Diagram 4.3 for example of RS485 serial bus connection.
Daisy chain connection is applicable.
A terminal resistor (120 ohms) can be connected at the end of RS485 serial bus byconnecting pin-4 with pin-1.

Diagram 4.3 RS485 serial bus connection examples.
Controller

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4.6.

Connection for RS232C Serial communication signals

AU9290Nx3x has RS232C serial communication function.
Please connect RS232C signals to CN4 in according to the following table.
表 4.6 RS232C Serial communication connection（CN4）Pin

SignalDescription

I/O

1

TXD

RS232C signal output from Driver

IN

2

RXD

RS232C signal input to Driver

IN

3

GND

Circuit ground

IN

4

NC

IN

5

NC

IN

6

NC

OUT

7

GND

5.

Circuit frond

OUT

Status indication
AU9290 operating status is indicated by LEDs on PCB.
(1) Alarm status:
Red LED repeats blinking in a manner that LED blinks to a number of times assame as alarm code and makes a bit long turning off.
(2) Drive off status:
Green LED turns on.
(3) Drive ON status:
Green LED repeats blinking.

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6.

Trial operation（Please execute in advance of real operation.）(1) Connect with PC
Please install both USB driver and Set-up software in advance of connecting powersource to AU9290.
Connect power source and turned it on.
Connect AU9290 with PC by USB cable, and launch our set-up software.
Click COM START button for PC to start connection with AU9290.
(2) Set motor parameters
First of all, set motor parameters.
Click ‘Trial Operation’ tab to open motor setting window.
Set Data-ID #40 to #44 in according to the value specified in your motor data-sheet.

Data-ID

ID nameDescription

40

Motor rate current

Set motor rate current in unit of 0.01A.

41

Winding resistanceSet motor winding resistance in unit of 0.01 ohms

42

Winding inductance

Ser motor winding inductance in unit of 0.01 mH.

44

Basic Number of Steps360 ÷ Basic step angle (degree)※Example for Data-ID #44: Set 200 when basic step angle is 1.8 degree.
(3) Drive your motor
After setting motor parameters, connect the motor with AU9290.
Click ‘Enable’ button on upper window, then you may confirm motor shaft being
locked, while AU9290 makes current flow into the motor.
Set 100 [rpm] to ‘Target Velocity’ and set 1 [rev.] to ‘Number of revolution’.
Click ‘Position control set’ button, then you can see motor makes 1 rotation.
Set -1 [rev] to ‘Number of revolution’ and click ‘Position control set’ button again.
You can see motor makes 1 rotation in the opposite direction and comes back tooriginal position.
(4) Save parameters.
If the trial operation is finished successfully, you need to store motor parameters in
non-volatile memory not to be lost by turning off the power supply.
Please click ‘Parameter Save’ button.

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7.

Operation by pulse command signals
Pulse command signals are commonly used to drive a stepping motor.
[Parameters for pulse command signals control]
ID

Name

Description

0

Control mode

Please set 1 for pulse command signals operation.

1

Pulse command mode

0：F-Pulse and R-Pulse
1：Pulse and Direction
2：F-Pulse and R-Pulse (opposite direction)
3：Pulse and Direction (opposite direction)2

Micro-step magnification

This value determines the positioning resolution.
The resolution is calculated by :(Basic Number of Steps)×(Micro-step magnification)

In case of pulse command signals operation, motor rotates by an increment of thenumber of input pulses.
Data-ID #0 shall be set to 1.
Data-ID #1 shall be select in according to pulse signals style of your pulse generator(1) Forward Pulse／Reverse Pulse: set 0 to Data-ID #1(2) Pulse／Direction: set 1 to Data-ID #1
If you want to change the definition of rotation direction, you may set 2 or 3, so thatmotor rotates in opposite direction by pulse command signals.
Data-ID #2 defines the positioning resolution.
If you set X to Data-ID #2, the positioning resolution is calculated by N x X, where
N is basic number of steps (Data-ID #44), that is, motor rotates 1 revolution with N
x X pulses.
You can determine positioning resolution regardless of micro-step resolution forAU9290 to drive a stepping motor.
Even if you set 1 to Data-ID #2, AU9290 will drive stepping motor with micro-stepmethod and the motor will rotate smoothly with low noise and finally gets to thedesignated position correctly.
[How to operate by pulse command signals]
Connect pulse command signals and Enable signal in according to article 4.1.
Turn on Enable signal. Output command pulses to AU9290, then, motor rotates tothe angle corresponding to the number of command pulses.

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8.

Operation by Parallel I/O signals
If you use AU9290 with parallel I/O option,

you can operate a stepping motor

without a pulse generator.
Both of position control and speed control can be realized by parallel I/O signals.
The function of parallel I/O signals is available for AU9290Nx1x.
AU9290 N103 and N104 are also provided with parallel I/O function but no output
signal.
[Parameters for parallel I/O control]
Parameter necessary to operate by Parallel I/O is as following.
Data-ID
0

Name
Control mode

Description
Set 1 for position control.
Set 2 for speed control.

1

Pulse Mode

Only for N103 and N104, ‘Pulse Mode’ must
be set to 4 to make pulse signal invalid.

2

Micro-step magnification

This

value

determinesthepositioning

resolution.
10

Minimum speed

Set Minimum travel speed in the unit of rpm.

12

Acceleration

Set acceleration in the unit of 10rpm/sec

13

Deceleration

Set deceleration in the unit of 10rpm/sec.

14

Travel speed-0

Set rotation speed-0 in the unit of rpm

15

Travel speed-1

Set rotation speed-1 in the unit of rpm

16

Travel speed-2

Set rotation speed-2 in the unit of rpm

17

Travel speed-3

Set rotation speed-3 in the unit of rpm

20

Travel command-0

Set travel distance-0

21

Travel command-1

Set travel distance-1

22

Travel command-2

Set travel distance-2

23

Travel command-3

Set travel distance-3

24

Travel command-4

Set travel distance-4

25

Travel command-5

Set travel distance-5

26

Travel command-6

Set travel distance-6

27

Travel command-7

Set travel distance-7

28

Travel magnification

Travel distance is given by each Travelcommand multiplied by this value.

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[Position control mode] (Data-ID #0 = 1)
When Data-ID #0 is set to 1, parallel I/O signals are acquired as position control
commands.
After turning on Enable signal, change parallel I/O signals (IN1 to IN4) to set
position control command for AU9290.
When IN4 is changed to ON from OFF, AU9290 takes in data of travel distance andtravel speed in according to the table below, and rotates motor by an increment ofdesignated distance with designated speed.
IN3

IN2

IN1

Travel distance

Travel speed

OFF

OFF

OFF

Value of Data-ID #20

Value of Data-ID #14

OFF

OFF

ON

Value of Data-ID #21

Value of Data-ID #15

OFF

ON

OFF

Value of Data-ID #22

Value of Data-ID #16

OFF

ON

ON

Value of Data-ID #23

Value of Data-ID #17

ON

OFF

OFF

Value of Data-ID #24

Value of Data-ID #14

ON

OFF

ON

Value of Data-ID #25

Value of Data-ID #15

ON

ON

OFF

Value of Data-ID #26

Value of Data-ID #16

ON

ON

ON

Value of Data-ID #27

Value of Data-ID #17

The range of value for Data-ID #20 to ID #27 is from -32767 to +32767. Negativevalue is accepted.
If you need to set the value beyond +/-32767, you can set Data-ID #28 to set themagnification for travel distance.
AU9290 takes in travel distance and travel speed whenever IN4 changed to ON
even if motor does not reach the target position. In this case, target position issummed up with last travel command and target speed is changed to the last travel
speed.
[OUT1 signal output at position control mode]At position control mode, OUT1 signal turns ON when driver is “ready” and motor
position is on target position. That is, you can confirm by this signal if directedtravel operation is finished or not.
※ ”Ready” means that CPU finished initial setting, AU9290 is not in alarm status
and power voltage is over the low voltage level.
※ AU9290N103 and N104 do not have OUT1 signal output.

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[Speed control mode] (Control mode= 2)
When Data-ID #0 is set to 2, parallel I/O signals are acquired as speed control
command.
After turning on Enable signal, change parallel I/O signals (IN1 to IN4) to set speed
control command for AU9290.
When IN1 to IN4 are changed, AU9290 takes in data of rotation speed in according
to the table below, and rotates motor with designated speed.
IN4

IN3

IN2

IN1

Rotation speed

OFF

－

－

－

0 rpm（Stop）

ON

OFF

OFF

OFF

Value of Data-ID #14

ON

OFF

OFF

ON

Value of Data-ID #15

ON

OFF

ON

OFF

Value of Data-ID #16

ON

OFF

ON

ON

Value of Data-ID #17

ON

ON

OFF

OFF

Negative Value of Data-ID #14

ON

ON

OFF

ON

Negative Value of Data-ID #15

ON

ON

ON

OFF

Negative Value of Data-ID #16

ON

ON

ON

ON

Negative Value of Data-ID #17[OUT1 signal output at speed control mode]
In case of Speed control mode, OUT1 signal turns ON as long as AU9290 is“ready”.
※ ”Ready” means that CPU finished initial setting, AU9290 is not in alarm status
and power voltage is not under the low voltage level.
※ AU9290N103 and N104 do not have OUT1 signal output.

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9.

Operation by serial communication
AU9290 can accept the motor control commands from serial communication of UART.
No pulse generator is necessary to operate a motor by serial communication as sameas parallel I/O control.
RS485 serial communication function is available for AU9290Nx2x N105 and N106.
RS232C serial communication function is available for AU9290Nx3x.
The serial communication protocol is same for both of RS485 and RS232C.
[Parameters for serial communication control]
All data in AU9290 can be monitored, and all control data necessary to drive
stepping motor can be changed by serial communication.
Following table shows primary control data for serial communication control.
Data-ID
0

Name
Control mode

Description
Set 1 for position control mode.
Set 2 for speed control mode.

2

Micro-step magnification

Positioning resolution is determined by thisvalue. Please see article 7.

10

Minimum Speed

Set minimum travel speed in rpm.

12

Acceleration

Set acceleration in 10rpm/sec.

13

Deceleration

Set deceleration in 10rpm/sec.

60

Drive Command

Drive ON/OFF and alarm clear can be
executed by this data.

61

Travel command

Set travel distance.

62

Travel speed

Set target speed.

AS all data with ID less than 60 can be saved in non-volatile memory, it is notnecessary each time to set them as long as you do not want to change them.
When Data-ID #0 is set to 1 (position control mode), you can rotate a motor todesignated distance as you want.
Set Data-ID #60 to 1 to start excitation for a motor.
Set target speed to Data-ID #62.
Set travel distance to Data-ID #61.
Your stepping motor will rotate by an increment of designated distance withdesignated speed.

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When Data-ID #0 is set to 2 (speed control mode), you can rotate motor withdesignated rotation speed.
Set Data-ID #60 to 1 to start excitation for a motor.
Set target speed to Data-ID #62.
Your stepping motor will rotate with designated speed.
Bit7 through Bit10 of Drive Command (Data ID #60) are equivalent to PIO inputs
DIN1 through DIN4. By using of this parameter, PIO operation is realized in serial
communication control.
Set Bit2 of Drive Command (Data ID #60), you can reset Present Position (Data ID#1000).
9.1.

Protocol of serial communication

Asynchronous serial communication is provided on AU9290.
The communication protocol can be selected from TSC-Standard, Modbus-ASCII and
Modbus-RTU.
In any protocol choosen, your controller is Master server, while AU9290 works as aslave server.
UART parameters are also possible to be changed.
Data-ID

Name

Description

30

Device ID

Slave number for communicaion：1～15

31

Baud Rate

Baud Rate of communication Unit: 0.1kHz]

32

UARTsettings

0：STOP=1, Parity= non, Length=8
1：STOP=2, Parity= non, Length=8
10：STOP=1, Parity=even, Length=911：STOP=2, Parity=even, Length=920：STOP=1, Parity=odd, Length=921：STOP=2, Parity=odd, Length=933

Communication Protocol

0：TSC-Standard
1：Modbus-ASCII，
2：Modbus-RTU

Next paragraph describes TSC-Standard protocol.
“AU9290 Modbus Communication Specification” shall be refered for Modbus protocol.

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9.2.

Protocol of TSC-Standard serial communication[Configuration for Asynchronous communication]
Baud rate: 19.2 kbps,

Parity: none、 Data length: 8bits

Stop bit: 1, Start bit: 1,

Character code: ASCII

Note: Baud rate can be changed.
[Read request Sequence](1) Master sends Read request to AU9290.
(2) AU9290 sends ACK and subsequently sends requested data to Master.
(3) Master sends ACK to AU9290.
[Write request Sequence](1) Master sends Write request to AU9290.
(2) AU9290 sends ACK with updating the value of requested ID.
Note: If there is any error in message from Master, AU9290 sends NAK.
［Format for Read request］
STX

1

Data-ID；

Check SUM

ETX

［Format for Write request and Read request response］
STX

2

Data-ID，

Data； Checksum

ETX

Length of ‘Data-ID’ and ‘Checksum’ is 4 characters.
Length of ‘Data’ is 4 characters for 2 bites data, and 8 characters for 4 bites data.
‘Checksum’ is lower 16 bits of summing result from ‘STX’ to ‘;’.
‘Data ID’, ‘Data’ and ‘Checksum’ are transferred in order from upper 4 bits to lower 4
bits.
【Slave designation】
Master can designate Slave by setting ‘Slave-ID’ in upper 4bits of ‘Data-ID’.
‘Slave-ID’ must be 1 to 15 (F hex).
Slave will ignore received data if upper 4 bits of ‘Data-ID’ is neither 0 nor his ID
number. That is, if upper 4 bits of ‘Data-ID’ is 0, the message is for everyone, so that
all Slaves will make response.

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10.1. Control mode
AU9290 operates a motor with position control mode or speed control mode.
At position control mode, AU9290 rotates a motor by an increment of designateddistance. At speed control mode AU9290 rotates a motor with designated speed.
Set control mode to Data-ID #0.
Data-ID
0

name
Control mode

Description
1：Position control mode
2：Speed control mode

10.2. Pulse command mode
AU9290 accepts 2 types of pulse commands as below.
(1) Forward Pulse/Reverse Pulse:
AU9290 rotates a motor in the forward direction by an increment of number offorward pulses, and in the reverse direction by an increment of number of reverse
pulses.
(2) Pulse/Direction:
AU9290 rotate a motor by an increment of number of Pulses in the direction of
Direction signal.
Data-ID
1

Name

Description

Pulse command

0: F-Pulse and R-Pulse

mode

1: Pulse and Direction
2: F-Pulse and R-Pulse (opposite direction)
3: Pulse and Direction (opposite direction)
4: Pulse signals are ignored (only for N103 and N104)

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10.3. Positioning resolution
If you set X to Data-ID #2, the positioning resolution is N x X, where N is basic
number of steps (Data-ID #44).
This value is applied to pulse command signals and travel commands data (Data-ID#61 and Data-ID #20 thorough #27).
Please take account of the matter that this resolution does not affect micro-stepresolution with that AU9290 makes micro-step driving.
ID

Name

2

Micro-step magnification

Description
This value determines the positioning resolution.
The resolution is calculated by :(Basic Number of Steps)×(Micro-step magnification)

44

Basic Number of Steps360 ÷ Basic step angle (degree)

10.4. Rotating motor current
Motor current at rotating can be changed by Data-ID #3.
Please set to Data-ID #3 with the value of the percentage (%) to motor rate current.
Data-ID

Name

Description

3

Rotating motor current

Set in the unit of % / motor rate current

10.5. Stopping motor current
Motor current at stopping can be changed by Data-ID #4.
Please set to Data-ID #3 with the value of the percentage (%) to motor rate current.
Stopping status is detected when no more rotation command is accepted for the time
set in Data-ID #5.
Data-ID

Name

Description

4

Stopping motor current

Set in the unit of % / motor rate current

5

Stop detection time

Set in the unit of m sec

10.6. PIO input filter
To prevent error fetch of PIO signals, AU9290 takes in PIO signals after PIO signals
get stable over the time set in Data-ID #6.
Data-ID

name6

PIO input filter

Description
Filtering time for PIO input signals. Unit: m sec

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10.7. Origin search operation and Enable signal porarity
AU9290 is provided with origin search operation.
Origin search operation becomes valid by setting PIO Select (Data ID #7).
AU9290 makes the origin search operation as follows:(1) Start rotation of motor with the velocity of Travel speed-3 (Data ID #17) by turning
ON of origin search start signal.
(2) Stop rotation by turning ON of origin sensor and keep stopping for a designatedperid of ‘Origin Stop Time’ (Data ID #18) and then start reverse rotation with
‘Minimum Speed’ (Data ID #10).
(3) Stop reverse rotation by turning OFF of origin sensor.
OUT1 signal keeps OFF during origin search operation, and comes ON after the endof operation.
Motor position (Data ID #1000) is reset at the end of origin search operation.
‘PIO Select’ (Data ID #7) selct input port of origin sensor and origin search startsignal.
Porarity of origin sensor and rotation direction can be changed also by this parameter.
If origin serach signal turns ON again in the process of origin search operation,
AU9290 stops origin search operation making origin serach fault.
Bit6 of Drive Command (Data ID #60) is also works as origin search start signal.
Bit6 of Drive Status (Data ID #100) comes to 1 at the end of origin search opearation.
Bit15 of Drive Status (Data ID #100) comes to 1 at the origin search fault.
These data are useful for AU9290 of serial communication option to make origin
search.
‘PIO Select’ (Data ID #7) also changes Enable signal polarity. (Please see Table 10.1)
Data-ID
7Name
PIO SelectDescription
This parameter selects origin serch opearion andenable-signal polarity as shown on next table.

10

Minimum Speed

Creep speed in origin search operation: Unit [rpm]17

Travel speed-3

Start origin search with this speed: Unit [rpm]18

Origin Stop Time

Stop time at origin in origin search operation: [msec]

60

Drive Command

Bit0=1: enable motor drive
Bit6=1: start origin search

100

Drive Status

Bit6=1: end of origin search
Bit15=1: origin search fault

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Table 10.1

Setting of Origin search operation and Enable signal porarity
Origin serach operation

Value

Enable signal

Of

OriginStart

OriginRotationPIO

signalsignalsignaldirection

SelectPorarityporarity0

Enable at ON

Origin search invalid

11000

Enable at OFF
Negative

Enable at ONON

direction

Enable at OFF

at origin

Positive

Enable at ON

direction

Enable at OFF

Negative

Enable at ON

OFF

direction

Enable at OFF

at origin

Positive

Enable at ON

1111

direction

Enable at OFF

2000

Negative

Enable at ONON

direction

Enable at OFF

at origin

Positive

Enable at ON

direction

Enable at OFF

Negative

Enable at ON

OFF

direction

Enable at OFF

at origin

Positive

Enable at ON

2111

direction

Enable at OFF

3000

Negative(Note 1)

1001
1010
1011
1100
1101

DIN1

when DIN3

signalsignal turned

Input

to ON

1110

2001
2010
2011
2100
2101

DIR

When Pulse

signalsignal turned

Input

to ON

2110

3001
3010
3011
3100
3101
3110

Enablesignalinput

when DIN4

ON

direction

Enable normallysignal turnedat origin

Positive(Note 1)to ON under

direction

Enable normallycondition that

Negative(Note 1)

DIN1 - DIN3

OFF

direction

Enable normallyare all ON.

at origin

Positive(Note 1)

direction

Enable normally3111(Note 1) Enable only when Bit0 of DriveCommand (Data ID #60) is 1. This setting iseffevtive only for AU9290 of serial communication option.
(Note 2) When PIO Select is set to 2000 through 2111, pulse command signal is ignored.

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10.8. Smoothing parameters
When AU9290 gets a travel command from PIO or serial communication, AU9290
makes movement profile in according to Data-ID #10, #12 and #13 to make motor
rotate smoothly.
Set required acceleration value in Data-ID #12 and deceleration value in Data-ID#13.
You may also set the minimum speed at acceleration and deceleration in Data-ID #10.
The target speed set by PIO or serial communication must not exceed the value in
Data-ID #11.
Data-ID

Name

Description

10

Minimum speed

Set minimum speed at accel. and decel. Unit: [rpm]11

Speed limit

Target speed is limited by this value.

12

Acceleration

Set in the unit of 10rpm/sec

13

Deceleration

Set in the unit of 10rpm/sec

Unit: [rpm]10.9. Serial communication parameters
The baud rate of serial communication can be changed with Data-ID #31.
You can also change UART settings with Data ID #32.
Setting of Data-ID #30 realizes multi-axis control by RS485 serial communication.
After changing parameters above, save them in non-volatile memory. Changes will bevalid at the next power-ON.
Data-ID

name

Description

30

Device ID

Device ID for serial communication:

31

Baud rate

Set baud rate in the unit of 0.1kHz.

32

UART settings

0：STOP=1, Parity= non, Length=8

1 to 15

1：STOP=2, Parity= non, Length=8
10：STOP=1, Parity=even, Length=911：STOP=2, Parity=even, Length=920：STOP=1, Parity=odd, Length=921：STOP=2, Parity=odd, Length=933

Communication

0：TSC-standard

Protocol

1：Modbus-ASCII，
2：Modbus-RTU

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10.10.

Motor parameters

Please set correctly motor parameters, Data-ID #40 through Data-ID #44, so that
AU9290 makes motor current flow normally
ID

Name

Description

40

Motor rate current

Set motor rate current

Unit：[0.01A]

41

Winding resistanceSet motor winding resistance Unit：[0.01Ω]42

Winding inductanceSet motor winding inductance Unit：[0.01mH]

44

Basic Number of Steps

Set the value calculated by 360÷Basic Step Angle

10.11.

Parameters handlingEvery data in AU9290 has Data-ID. Most of the data with ID less than 100 can bechanged and the data with ID less than 60 are called Parameters and they can be
stored in non-volatile memory.
Please set 1 in Data-ID #71, and then all parameters are stored in non-volatilememory.
If you need to change all parameters to default values, set 1 in Data-ID #70.
Please pay attention that the default values are not always same as factory settings.
Data-ID

name

Description

70

Parameters Init

Set 1 to initialize all parameters to default value.

71

Parameters Save

Se1 to store all parameters in non-volatile memory.

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10.12.

Status monitor

The operation status of AU9290 can be monitored with Data-ID #100.
Data-ID
100

Name
Drive Status

Description
Bit0: ’1’ at drive ON
Bit1: ‘1’ at drive ready
Bit2: ‘1’ when motor is at targeted position.
Bit3: ‘1’ at alarm
Bit6: ‘1’ when origin search is completed.
Bit8: ‘1’ when step-out is detected.
Bit9: ‘1’ when power voltage is at over voltage level
Bit10: ‘1’ when power voltage is at low voltage level
Bit11: ‘1’ at overheat
Bit12: ‘1’ at over-load
Bit14: ‘1’ at current control error.
Bit15: ‘1’ at origin search fault

111Power voltage

Power voltage can be monitored. Unit: [0.1V]

112

Drive temperature

Temperature around power deviceis can be monitored.
Unit: [0.1℃]

120Motor current

Motor current can be monitored. Unit: [0.01A]

121

Motor current

Motor current averaged for 0.1 sec can be monitored.

(averaged)

Unit: [0.01A]

10.13.

Alarm histories

AU9290 remembers last 32 errors and they are monitored with Data-ID #102 through#109.
Data-ID #102 – Data-ID #109 consists of 4 alarm codes with a size of 4 bits.
Data-ID

Name

Content

102

Alarm History-1

Alarm codes from last to 3 times before (4bit x 4)

103

Alarm History-2

Alarm codes from 4 to 7 times before (4bit x 4)

104

Alarm History-3

Alarm codes from 8 to 11 times before (4bit x 4)

105

Alarm History-4

Alarm codes from 12 to 15 times before (4bit x 4)

106

Alarm History-5

Alarm codes from 16 to 19 times before (4bit x 4)

107

Alarm History-6

Alarm codes from 20 to 23 times before (4bit x 4)

108

Alarm History-6

Alarm codes from 24 to 27 times before (4bit x 4)

109

Alarm History-7

Alarm codes from 28 to 31 times before (4bit x 4)

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10.14.

Step-out detection

AU9290 is provided with a function of step-out detection.
AU9290 detect step-out by change of motor current at high speed control situation.
Although step-out cannot be detected always for the above reason, this detection isstill effective because step-out occurs due to torque decay at high speed rotation.
When step-out is detected, Bit8 of Drive Status (Data ID #100) turns to 1 andstatus-LED indication changes to orange blinking from green blinking.
When motor stops, step-out detection turns to off.
If Bit0 of Alarm-Mask (Data ID #35) is set to 0, AU9290 generate an alarm status at
step-out detection. Alarm code of step-out is ‘2’ same to over-load. Status-LED
repeates 2 times red blinking.
Number of step-out detections can be monitored by the value of Data ID #210.

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11. Protection for abnormal status
AU9290 is continuously checking the status and stop driving the motor when error is
detected.
Red LED repeats blinking indicating alarm code number (see article 5).
You can also confirm the alarm code in Data-ID #101.
Table 10.1 Alarms and the solutions
Code
1

Alarm name and the detail, the cause and the handling[Over current] Detect over current by shunt resistor.
1. Short of motor winding ⇒ Replace the motor
2. Short of motor cable ⇒ Replace the cable
3. Breakdown in motor drive circuits ⇒ Replace AU9290.

2[Over load]

Average current of motor exceeded rated current of driver.

1. Motor rated current is too large ⇒ Review parameters (#3, #4, #40).
2. Abnormal control of motor current ⇒ Review parameters (#41, #42).
3. Breakdown of drive circuit ⇒ Replace AU9290.
[Step-out]

Step-out is detected

1. Load torque is too large ⇒ Review the load and motor selction.
2. Velocity command is too large ⇒ Review the command velocity
Review the motor selection.
3[Current control error]

Average deviation of current control is too large.

1. Breakdown of motor ⇒ Replace the motor
2. Disconnection of motor cable ⇒ Replace the cable
3. Abnormal control of motor current ⇒ Review parameters (#41, #42).
4[Current offset error] Offset in current sensing is too large.
1. Breakdown in current sensing circuits ⇒ Replace AU9290.

5[Overheat] Temperature exceeded overheat detection level (#38).
1. Motor current is too large ⇒ Review parameter (#3, #4, #40).
2. Abnormal control of motor current ⇒ Review parameters (#41, #42).
3. Breakdown in motor drive circuits ⇒ Replace AU9290.

6[Over voltage]

Power voltage exceeded over voltage detection level ( #36).

1. Voltage increased by regeneration. ⇒ Review operation pattern.
2. Breakdown in voltage sensing circuits ⇒ Replace AU9290.

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Code
7

Alarm name and the detail, the cause and the handling[Voltage drop]

Power voltage decreased under the value (#37).

1. Shutdown of Power supply ⇒ Research regeneration effect.
2. Disconnection of power cable ⇒ Replace power cable.
3. Voltage drop caused by power cable ⇒ Change the cable shorter.
4. Breakdown of drive circuit ⇒ Replace AU9290.
8[Parameters error] Value of a Parameter is wrong.
(This alarm is detected at parameter saving.)
1. Zero or negative value in a parameter where only positive value is allowed.
2. Negative value in a parameter where zero or positive value is allowed.
⇒

9

Change the value of wrong parameter that Data-ID #189 shows.

[Memory read failure] (This alarm happens at power-ON.)
1. Malfunction by noise ⇒ Power OFF and Power ON.
2. Memory data is destroyed. ⇒ Initialize and save parameters.
3. Breakdown of non-volatile memory ⇒ Replace AU9290.
[Memory save failure](This alarm happens at parameter saving)

1. Malfunction by noise ⇒ Try parameter save again.
2. Breakdown of non-volatile memory ⇒ Replace AU9290.

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12. Data list
All the data in AU9290 has Data-ID, and each value can be monitored.
Most of the data with ID less than 100 can be changed.
The data with ID less than 60 are called Parameters and can be saved in nonvolatilememory.
The data size with ID larger than 999 is 32 bits long and 16 bits long for others.
Parameter #0～#9, Basic operation parameters
ID
0

Name
Control mode

Content
1：Position control mode
2：Speed control mode

1

Pulse command mode

0：F-Pulse/R-Pulse
1：Pulse/Direction
2：F-Pulse/R-Pulse (opposite direction).
3：Pulse/Direction (opposite direction).
Note: This parameter shall be set to 4 to enable PIO
function in case of AU9290N103 and N104

2

Micro-step magnification

This value determines the positioning resolution.
The positioning resolution is calculated by :(Basic Number of Steps)×(Micro-step magnification)

3

Rotating Motor current

Set motor current at rotating
Unit：[％／Rate current]4

Stopping Motor current

Set motor current at stopping
Unit：[％／Rate current]5

Stop detection time

Confirmation time to detect stop status
Unit：[m sec]

6

PIO input filter

Set filtering time for PIO input signals.
Unit: m sec

7

PIO selectSet origin search method and enable signal porarity
in according to Table 10.1 in paragraph 10.7.

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Parameter #10～#13,
ID

Parameters for movement profile calculation

Name

Content

10

Minimum travel speed

Minimum speed at Acc./Dec. Unit：[rpm]11

Speed limit

Set Maximum speed. Unit：[rpm]12

Acceleration

Set acceleration. Unit：[10rpm/sec]

13

Deceleration

Set deceleration.

Unit：[10rpm/sec]

Parameter#14～#29,

Parameter for PIO control.

ID

Name

14

Travel speed -0

Target speed when PIO inputs are 0 and 4 Unit：[rpm]15

Travel speed -1

Target speed when PIO inputs are 1 and 5 Unit：[rpm]16

Travel speed -2

Target speed when PIO inputs are 2 and 6 Unit：[rpm]17

Travel speed-3

Target speed when PIO inputs are 3 and 7 Unit：[rpm]20

Travel command -0

Travel distance when PIO inputs are 0 Unit：[Pulse]

21

Travel command -1

Travel distance when PIO inputs are 1 Unit：[Pulse]

22

Travel command -2

Travel distance when PIO inputs are 2 Unit：[Pulse]

23

Travel command -3

Travel distance when PIO inputs are 3 Unit：[Pulse]

24

Travel command -4

Travel distance when PIO inputs are 4 Unit：[Pulse]

25

Travel command -5

Travel distance when PIO inputs are 5 Unit：[Pulse]

26

Travel command -6

Travel distance when PIO inputs are 6 Unit：[Pulse]

27

Travel command-7

Travel distance when PIO inputs are 7 Unit：[Pulse]

28

Travel command

Travel distance is given by each Travel command

magnification

multiplied by this value.

Content

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Parameter #30～#39,
ID

Parameters for Serial communication control

Name

Content30

Device ID

Device ID for serial communication：

1～15

31

Baud rate

Set serial communication frequency： Unit：[0.1kHz]

32

UART setting

0：STOP=1, Parity= non, Length=8
1：STOP=2, Parity= non, Length=8
10：STOP=1, Parity=even, Length=911：STOP=2, Parity=even, Length=920：STOP=1, Parity=odd, Length=921：STOP=2, Parity=odd, Length=933

Communication protocol

0: TSC-standard
1: Modbus-ASCII
2: Modbus-RTU

Parameter #30～#39,
ID
35

Parameters for Alarm detection

Name
Alarm Mask

Content
Bit0 = 1: Step-out alarm is masked and ignored.
Bit2 = 1: Over load alarm is masked and ignored.
Bit3 = 1: Current control error is masked and ignored.
Bit5 = 1: Over-heat alarm is masked and ignored.
Bit7 = 1: Voltage drop alarm is masked and ignored.

36

Over voltage detection value Unit：[0.1V]37

Voltage drop detection value

Unit：[0.1V]

38

Over-heat detection value

Unit：[0.1℃]

39Current control error

Set by percentage against motor rate current

detection value

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Parameter #40～#45, Motor Parameters.
ID

Name

Contents

40

Motor rate current

Set motor rate current

41

Winding resistanceSet motor winding resistance Unit：[0.01Ω]42

Winding inductanceSet motor winding inductance Unit：[0.01mH]

43

Motor inertia(Reserved)

44

Basic Number of Steps

Set the value calculated by 360÷Basic Step Angle

45

Motor type

(Reserved)

Parameter #48～#59,
ID

Unit：[0.01A]

Driver Parameters

Name

Content

48

Kcp

Current control loop proportional gain Unit：[rad/sec]

49

Kci

Current control loop integral gain Unit：[rad/sec]

50

Current scale(System parameter)

Unit：[0.01A]

51

Drive rate current(System parameter)

Unit：[0.01A]

52

Drive maximum current(System parameter)

Unit：[0.01A]

53

Voltage scale(System parameter)

Unit：[0.1V]

54

Driver type

(System parameter)

-

-

-

56

Product Code

(System parameter)

57

Software Code

(System parameter)

58

Revision(System parameter)

Data #60～#69,

Control data for serial communication control

ID

Name

60

Drive commandContent
Bit0 = 1: Drive on
Bit2 = 1: Reset present position (DataID #1000)
Bit3 = 1: Alarm clear
Bit6 = 1: Start origin search
Bit7 – Bit10: Equivallent to PIO inputs DIN1 – DIN4

61

Travel command

Set travel distance Unit：[Pulse]

62

Travel speed

Set target speed Unit : [rpm]63

Voltage command

Set target voltage at voltage control mode. Unit：[0.1V]

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Data #70～#79,

Non-volatile memory handling data

ID

Name

Content

70

Parameters-Init

Set 1 to initialize all parameters to default value.

71

Parameters-Save

Se1 to store all parameters in non-volatile memory.

72

History-Save

Set 1 to store alarm histories to non-volatile memory.
Set 9 to clear alarm histories.

73

Parameters-ReadSet 1 to read all parameters from non-volatile memory.

74

History-ReadSet 1 to read alarm history from non-volatile memory.

189

Error-Parameter-ID

Error ID is stored here when alarm-8 is occurred.

Data #100～#119, Status
ID
100

Name
Drive Status

Content
Bit0: ’1’ at drive ON
Bit1: ‘1’ at drive ready
Bit2: ‘1’ when motor is at targeted position.
Bit3: ‘1’ at alarm
Bit6: ‘1’ when origin search operation is completed.
Bit8: ‘1’ when step-out is detected.
Bit9: ‘1’ when power voltage is at over voltage level
Bit10: ‘1’ when power voltage is at low voltage level
Bit11: ‘1’ at overheat
Bit12: ‘1’ at over-load
Bit14: ‘1’ at current control error.
Bit15: ‘1’ at origin search operation fault

101

Alarm CodeCurrent alarm code

102

AlarmHistory-1

Alarm codes from last to 3 time before.(4bit x 4)

103

AlarmHistory-2

Alarm codes from 4 to 7 times before (4bit x 4)

104

AlarmHistory-3

Alarm codes from 8 to 11 times before (4bit x 4)

105

AlarmHistory-4

Alarm codes from 12 to 15 times before (4bit x 4)

106

AlarmHistory-5

Alarm codes from 16 to 19 times before (4bit x 4)

107

AlarmHistory-6

Alarm codes from 20 to 23 times before (4bit x 4)

108

AlarmHistory-7

Alarm codes from 24 to 27 times before (4bit x 4)

109

AlarmHistory-8

Alarm codes from 28 to 31 times before (4bit x 4)

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Data #110～#112, Monitor for I/O status, power voltage and temperature
ID
110

Name

Content
Bit0：indicates status of Enable signal

I/O Status

Bit1～Bit4：indicate status of IN1～IN4 input signals
Bit8：indicates status of OUT1 output signal
111

Power voltage

Voltage applied to power circuits

112

Motor temperature

Temperature around power devices

Unit：[0.1V]
Unit：[0.1℃]

Data #120～#121 Motor current
ID

Name

Content

120

Motor current（instant） Instantaneous motor current

121

Motor current（average） Motor current averaged for 0.1sec

Data #1000～#1002,
ID

Unit：[0.01A]
Unit：[0.01A]

Position data (32 bits）

Name

Content

1000 Actual position

Present motor position

Unit：[Pulse]

1001 Position deviation

Difference between Actual position and target position
Unit：[Pulse]

1002 Target position

Position directed to move

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Unit：[Pulse]

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13. Specifications
Basic specifications
PN

AU9290N1xx

AU9290N2xx

AU9290N4xx

Power voltage

DC15V～DC28V

DC15V～DC36V

DC30V～DC50V

Applicable2 phase-unipolar

2 phase- Bipolar winding

stepping motor

winding

2 phase-Unipolar winding

Drive method

Micro-step current control drive
Micro-step angle：Motor basic step angle ÷ 64

Rating Output

1.8 Arms

2.4 Arms

2.0 Arms

Installation

Operation temperature：0～50℃ (note1)

Environment

Humidity：Less than 90%RH (No condensation)

Note1: This value does not ensure a continuous operation with driver rating output
without detecting over-heat alarm.
Functions and Performances
PN

Nx0x

Nx1x

Pulse inputs

Nx2x

Nx3x

N103,N104

N105,N106

2 inputs (note2)

2 (note5)Non

5 (note5)

1 (note6)

Digital input

1 (note3)

5 (note3)

1 (note3)

Digital output

non

1 (note4)

Non

Communication

Non

Non

RS485

I/F for PC

USB2.0（Full speed）

Functions

Please refer to paragraph 10

Protections

Please refer to paragraph 11

Parameters

All Parameters are saved in EEPROM

Indication

2-color LED

RS232C

Note2: Isolated with photo-couplers. Pulse signals up to 500 kHz are accepted in case
output circuits are differencial line driver.
Note3: Isolated with photo-couplers.
Interface voltage is 5V for Nxx0 and Nxx1 and 12-24V for Nxx2.
Note4: Isolated with photo-coupler. Maximum output current is 40 mA.
Note5: Pulse input circuits are shared with Digital inputs circuits.
Receiving circuits are isolated with photo-couplers.
Interface voltage is 5V for N103 and 12-24V for N104.
Note6: Isolated with photo-coupler.
Interface voltage is 5V for N105 and 12-24V for N106.

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Connectors
No.

Mating connector

Model of Connector

Housing

Socket Contact

CN1

B8B-X1-A(LF)(SN) (JST)XHP-8

SXH-001T-P0.6

CN2 for N1xx

B6B-X1-A(LF)(SN) (JST)XHP-6

SXH-001T-P0.6

CN2 for N2xx, N4xx

B4B-X1-A(LF)(SN) (JST)XHP-4

SXH-001T-P0.6

CN3

USB-Min B-

CN4 (note7)

B7B-X1-A(LF)(SN) (JST)XHP-7

SXH-001T-P0.6

Note7: CN4 is not provided for AU9290Nx0x.
14. Outline drawing
Diagram 14.1 AU9290 outline drawing 図

Useinstallation

forAU9290 Users Manual

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Revision history
Date

Change content

2016.03.21

First edition2017.07.18

Reviewed all pages

Note
2nd Edition

Additions:(1) Description of N103-N06(2) Origin search function(3) Step-out detection function(4) Description of Modbus-ASCII and Modbus-RTU
for serial communication protocol.

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