Oriental motor ASTEP AZ User Manual
Introduction
HM-60372
AZ
Series/
Motorized Actuator
equipped with
AZ
EtherNet/IP™ Compatible Driver
USER MANUAL
Series
AC power input type
DC power input type
Implicit communication
Parameter ID lists
Troubleshooting
Reference materials
Thank you for purchasing an Oriental Motor product.
This Manual describes product handling procedures and safety precautions.
•Please read it thoroughly to ensure safe operation.
•Always keep the manual where it is readily available.
1 Introduction
1 Before using the product ............................................................................................................................................ 8
2 Operating manuals ...................................................................................................................................................... 9
2-1 Related operating manuals ..................................................................................................................................................................9
2-2 How to use operating manuals...........................................................................................................................................................9
3 Overview of the product ........................................................................................................................................... 11
4 Safety precautions .....................................................................................................................................................12
4-1 Graphical symbols on the driver's front panel ........................................................................................................................... 14
4-2 Warning indication (AC power input driver) ............................................................................................................................... 14
5 Precautions for use ....................................................................................................................................................15
2 AC power input type
1 System conguration ................................................................................................................................................18
2 Preparation ..................................................................................................................................................................19
2-1 Checking the product ......................................................................................................................................................................... 19
2-2 How to identify the product model ............................................................................................................................................... 19
2-3 Products possible to combine .........................................................................................................................................................19
2-4 Information about nameplate ......................................................................................................................................................... 20
2-5 Names and functions of parts .......................................................................................................................................................... 20
2-6 Indication of LEDs ................................................................................................................................................................................. 22
3 Installation ...................................................................................................................................................................24
3-1 Installation location ............................................................................................................................................................................. 24
3-2 Installation method.............................................................................................................................................................................. 24
4 Connection ..................................................................................................................................................................26
4-1 Connection example ........................................................................................................................................................................... 26
4-2 Connecting the control power supply .......................................................................................................................................... 27
4-3 Connecting the regeneration resistor ........................................................................................................................................... 28
4-4 Connecting the main power supply .............................................................................................................................................. 29
4-5 Grounding the driver ........................................................................................................................................................................... 30
4-6 Connecting the EtherNet/IP communication cable ................................................................................................................. 30
4-7 Connecting the USB cable ................................................................................................................................................................. 30
4-8 Connecting the I/O signals ................................................................................................................................................................ 31
4-9 Noise elimination measures .............................................................................................................................................................. 35
4-10 Conformity to the EMC Directive .................................................................................................................................................... 37
5 Setting of IP address ..................................................................................................................................................38
5-1 Setting method ..................................................................................................................................................................................... 38
6 Power removable function (ETO function: External torque o function) .......................................................40
6-1 Block diagram ........................................................................................................................................................................................ 40
6-2 Wiring example ..................................................................................................................................................................................... 41
6-3 Detection for error of the ETO function ........................................................................................................................................ 41
6-4 Reset of ETO-mode............................................................................................................................................................................... 42
6-5 Timing chart............................................................................................................................................................................................ 42
6-6 To use this product safely .................................................................................................................................................................. 43
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2
7 Inspection and maintenance ...................................................................................................................................44
7-1 Inspection ................................................................................................................................................................................................ 44
7-2 Warranty ...................................................................................................................................................................................................44
7-3 Disposal .................................................................................................................................................................................................... 44
8 Cable .............................................................................................................................................................................45
8-1 Connection cable .................................................................................................................................................................................. 45
8-2 I/O signal cable ...................................................................................................................................................................................... 47
9 Accessories ..................................................................................................................................................................48
9-1 Pulse signal converter for noise immunity .................................................................................................................................. 48
9-2 Relay contact protection parts/circuits ......................................................................................................................................... 48
9-3 Regeneration resistor .......................................................................................................................................................................... 48
3 DC power input type
1 System conguration ................................................................................................................................................50
2 Preparation ..................................................................................................................................................................51
2-1 Checking the product ......................................................................................................................................................................... 51
2-2 How to identify the product model ............................................................................................................................................... 51
2-3 Products possible to combine .........................................................................................................................................................51
2-4 Information about nameplate ......................................................................................................................................................... 52
2-5 Names and functions of parts .......................................................................................................................................................... 52
2-6 Indication of LEDs ................................................................................................................................................................................. 54
3 Installation ...................................................................................................................................................................56
3-1 Installation location ............................................................................................................................................................................. 56
3-2 Installation method.............................................................................................................................................................................. 56
4 Connection ..................................................................................................................................................................58
4-1 Connection example ........................................................................................................................................................................... 58
4-2 Connecting the control power supply .......................................................................................................................................... 59
4-3 Connecting the main power supply and grounding ............................................................................................................... 60
4-4 Connecting the EtherNet/IP communication cable ................................................................................................................. 61
4-5 Connecting the USB cable ................................................................................................................................................................. 61
4-6 Connecting the I/O signals ................................................................................................................................................................ 62
4-7 Noise elimination measures .............................................................................................................................................................. 66
4-8 Conformity to the EMC Directive .................................................................................................................................................... 68
5 Setting of IP address ..................................................................................................................................................69
5-1 Setting method ..................................................................................................................................................................................... 69
6 Power removable function (ETO function: External torque o function) .......................................................71
6-1 Block diagram ........................................................................................................................................................................................ 71
6-2 Wiring example ..................................................................................................................................................................................... 72
6-3 Detection for error of the ETO function ........................................................................................................................................ 72
6-4 Reset of ETO-mode............................................................................................................................................................................... 73
6-5 Timing chart............................................................................................................................................................................................ 73
6-6 To use this product safely .................................................................................................................................................................. 74
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3
7 Inspection and maintenance ...................................................................................................................................75
7-1 Inspection ................................................................................................................................................................................................ 75
7-2 Warranty ...................................................................................................................................................................................................75
7-3 Disposal .................................................................................................................................................................................................... 75
8 Cable .............................................................................................................................................................................76
8-1 Connection cable .................................................................................................................................................................................. 76
8-2 I/O signal cable ...................................................................................................................................................................................... 80
9 Accessories ..................................................................................................................................................................81
9-1 Pulse signal converter for noise immunity .................................................................................................................................. 81
9-2 Relay contact protection parts/circuits ......................................................................................................................................... 81
4 Implicit communication
1 Flow of setting of Implicit communication ...........................................................................................................84
2 Guidance ......................................................................................................................................................................85
3 Communications specications ..............................................................................................................................89
4 Implicit message.........................................................................................................................................................90
4-1 Implicit message format ..................................................................................................................................................................... 90
4-2 Input data ................................................................................................................................................................................................ 91
4-3 Output data ............................................................................................................................................................................................ 94
4-4 Processing order of Implicit communication .............................................................................................................................98
4-5 Data writing ............................................................................................................................................................................................ 99
4-6 Data reading .........................................................................................................................................................................................100
5 Example of execution for operation .....................................................................................................................102
5-1 Absolute positioning operation ....................................................................................................................................................102
5-2 Continuous operation .......................................................................................................................................................................103
6 Direct data operation ..............................................................................................................................................104
6-1 Overview of direct data operation ...............................................................................................................................................104
6-2 OUTPUT data and parameters required for direct data operation ...................................................................................105
6-3 Operation example ............................................................................................................................................................................108
5 Parameter ID lists
1 Timing for parameter to update ............................................................................................................................112
2 Maintenance commands ........................................................................................................................................113
3 Monitor commands .................................................................................................................................................114
4 Operation data R/W commands ............................................................................................................................118
4-1 Base address of each operation data number ..........................................................................................................................118
4-2 Parameter ID .........................................................................................................................................................................................120
4-3 Setting example ..................................................................................................................................................................................121
5 Operation I/O event R/W commands....................................................................................................................122
5-1 Base address of operation I/O event ............................................................................................................................................122
5-2 Parameter ID for operation I/O event R/W command ...........................................................................................................122
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4
6 I/O commands ...........................................................................................................................................................123
7 Protect release commands .....................................................................................................................................124
8 Extended operation data setting R/W command ..............................................................................................125
9 Parameter R/W commands .....................................................................................................................................126
9-1 Driver action simulation setting parameter ..............................................................................................................................126
9-2 Basic setting parameters ..................................................................................................................................................................126
9-3 Position coordinate parameters ....................................................................................................................................................127
9-4 Operation parameters .......................................................................................................................................................................127
9-5 Direct data operation parameters ................................................................................................................................................127
9-6 ABZO sensor setting parameters ..................................................................................................................................................128
9-7 Mechanism settings parameters ...................................................................................................................................................128
9-8 Initial coordinate generation & wrap coordinate parameters ............................................................................................128
9-9 JOG/HOME/ZHOME operation information setting parameters .......................................................................................129
9-10 Power removal function setting parameters ............................................................................................................................130
9-11 Alarm setting parameters ................................................................................................................................................................130
9-12 Information setting parameters ....................................................................................................................................................130
9-13 I/O parameters .....................................................................................................................................................................................132
9-14 Direct I/O setting parameters .........................................................................................................................................................135
9-15 Remote I/O setting parameters .....................................................................................................................................................137
9-16 Extended input setting parameters .............................................................................................................................................138
9-17 Dierential output setting parameters .......................................................................................................................................138
9-18 Virtual input parameters ..................................................................................................................................................................139
9-19 User output setting parameters ....................................................................................................................................................139
9-20 Driver mode setting parameters ...................................................................................................................................................140
9-21 EtherNet/IP communication setting parameters ....................................................................................................................140
10 I/O signals assignment list ......................................................................................................................................141
10-1 Input signals .........................................................................................................................................................................................141
10-2 Output signals ......................................................................................................................................................................................142
6 Troubleshooting
1 Detection of communication errors .....................................................................................................................146
1-1 Communication timeout .................................................................................................................................................................146
1-2 IP address conict ...............................................................................................................................................................................146
2 Alarms .........................................................................................................................................................................147
2-1 Alarm reset ............................................................................................................................................................................................147
2-2 Alarm history ........................................................................................................................................................................................147
2-3 Generation condition of alarms .....................................................................................................................................................147
2-4 Alarm list ................................................................................................................................................................................................148
2-5 Timing chart..........................................................................................................................................................................................155
3 Informations ..............................................................................................................................................................157
3-1 Information history ............................................................................................................................................................................160
3-2 Information list ....................................................................................................................................................................................160
4 Troubleshooting and remedial actions ................................................................................................................163
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5
7 Reference materials
1 Timing chart ..............................................................................................................................................................166
2 Specications ............................................................................................................................................................167
2-1 General specications .......................................................................................................................................................................167
2-2 Product specications .......................................................................................................................................................................168
3 Regulations and standards .....................................................................................................................................169
3-1 UL Standards (AC power input driver only) ...............................................................................................................................169
3-2 EU Directives .........................................................................................................................................................................................169
3-3 Republic of Korea, Radio Waves Act .............................................................................................................................................170
3-4 RoHS Directive .....................................................................................................................................................................................170
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6
1 Introduction
This part explains the product overview and safety precautions in addition to the types and descriptions about
operating manuals.
Table of contents
1 Before using the product ....................... 8
2 Operating manuals ................................. 9
2-1 Related operating manuals ............................9
2-2 How to use operating manuals ....................9
3 Overview of the product ...................... 11
4 Safety precautions ................................ 12
4-1 Graphical symbols on the driver's front
panel .................................................................... 14
4-2 Warning indication
(AC power input driver) ................................ 14
5 Precautions for use ................................15
1 Introduction
Before using the product
1 Before using the product
Only qualied personnel of electrical and mechanical engineering should work with the product.
Use the product correctly after thoroughly reading the section "4 Safety precautions" on p.12. In addition, be sure
to observe the contents described in warning, caution, and note in this manual.
The product described in this manual has been designed and manufactured to be incorporated in general industrial
equipment. Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any compensation for
damage caused through failure to observe this warning.
8
2 Operating manuals
n
2-1 Related operating manuals
For operating manuals not included with the product, contact your nearest Oriental Motor sales oce or download
from Oriental Motor Website Download Page.
Operating manuals
Operating manual name
Series OPERATING MANUAL Motor Included
AZ
Series/ /Motorized Actuator equipped with AZ Series
AZ
EtherNet/IP™ Compatible Driver OPERATING MANUAL Driver
Series/ /Motorized Actuator equipped with AZ Series
AZ
EtherNet/IP™ Compatible Driver USER MANUAL (this document)
Series/Motorized Actuator equipped with AZ Series
AZ
OPERATING MANUAL Function Edition
When using a motorized actuator, also read the following operating manuals.
Operating manual name
OPERATING MANUAL Actuator Included
Motorized Actuator Function Setting Edition Not included
Included or not included
2-2 How to use operating manuals
To use the product, read this manual together with the OPERATING MANUAL AZ Series Function Edition.
This manual describes contents specic to the EtherNet/IP compatible driver, and the OPERATING MANUAL AZ Series
Function Edition describes contents common to the
Function Edition for the contents not included in this manual.
For each control method, reference destinations are indicated according to the ow of use.
Included or not included
with product
Included
Not included
Not included
with product
Series products. Refer to the OPERATING MANUAL AZ Series
AZ
1 Introduction
How to read reference destinations
The title name of the operating manual is described in the reference destination.
The title number described in the reference destination may be changed. Use the title name when
checking the reference destination.
Setting of parameters
4 Implicit communication
5 Parameter ID lists
4 Parameters
7 Address/code lists
Procedure
Reference destination in this manual
Reference destination in
OPERATING MANUAL AZ Series Function Editio
9
Operating manuals
When controlling via EtherNet/IP
1 Introduction
Installation and connection
2 AC power input type
3 DC power input type
Setting of parameters
4 Implicit communication
5 Parameter ID lists
4 Parameters
7 Address/code lists
*1 When a motorized actuator is used, the following contents cannot be operated via EtherNet/IP. Use the support
software
· Copying the xed value (parameter) of the ABZO sensor to a driver
· Creation of recovery data le and method of recovery
*2 Refer to this manual for “power removable function.”
· When the AC power input driver is used: p.40
· When the DC power input driver is used: p.71
*3 Refer to this manual for “LEDs of the driver.”
· When the AC power input driver is used: p.22
· When the DC power input driver is used: p.54
MEXE02
.
Before starting operation
1 Before starting
operation *1
Operation
4 Implicit communication
2 Operation
3 I/O signals *2
8 Measures for various cases
11 Appendix *3
Setting of IP address
2 AC power input type
3 DC power input type
When controlling by inputting pulse signals
Before starting operationInstallation and connection Setting of IP address
2 AC power input type
3 DC power input type
Setting of parameters
4 Implicit communication
5 Parameter ID lists
4 Parameters
7 Address/code lists
*1 When a motorized actuator is used, the following contents cannot be operated via EtherNet/IP. Use the support
software
· Copying the xed value (parameter) of the ABZO sensor to a driver
· Creation of recovery data le and method of recovery
*2 Refer to this manual for “LEDs of the driver.”
· When the AC power input driver is used: p.22
· When the DC power input driver is used: p.54
MEXE02
.
1 Before starting
operation *1
Operation
8 Measures for various cases
10 Extended setting for pulse-input operation
3 Extending settings by parameters
4 I/O signals related to pulse-input operation
5 Monitor function
6 Push-motion operation
11 Appendix *2
2 AC power input type
3 DC power input type
10
3 Overview of the product
The AZ Series EtherNet/IP compatible driver is the dedicated driver for the AZ Series products.
Lineup
Two types of the AZ Series EtherNet/IP compatible drivers are available: AC power input type and DC power input
type.
Two types of control methods
zOperation by Implicit communication (periodic communication) of EtherNet/IP
Overview of the product
zOperation by inputting pulses
Setting methods of operation data and parameters
Operation data and parameters can be set via EtherNet/IP or using the
This manual describes how to set operation data and parameters via EtherNet/IP.
MEXE02
.
Equipped with direct data operation function
The direct data operation is a function to start operation at the same time as rewriting of the data. It can be used
when the setting of the operation data is changed frequently, such as changing the speed or travel amount according
to a load.
Equipped with power removable function (ETO function: External Torque OFF)
The power removable function is a function that stops supplying the power to the motor forcibly and puts the motor
into a non-excitation state. This function can shut o the power supplying to the motor directly on the circuit.
It can be used for the purpose to protect a worker from malfunction of the moving part when a load is set to the jig of
equipment or maintenance of the equipment is performed.
Providing the EDS File
The EDS le (Electronic Data Sheets le) is a le that describes the specic information of the EtherNet/IP compatible
products. By importing the EDS le to the setting tool of the scanner, settings of EtherNet/IP can be performed before
you receive the driver.
For details, contact your nearest Oriental Motor sales oce.
1 Introduction
11
Safety precautions
4 Safety precautions
The precautions described below are intended to ensure the safe and correct use of the product, and to prevent the
user and other personnel from exposure to the risk of injury. Use the product only after carefully reading and fully
understanding these instructions.
Handling the product without observing the instructions that accompany a "WARNING"
symbol may result in serious injury or death.
Handling the product without observing the instructions that accompany a "CAUTION"
symbol may result in injury or property damage.
The items under this heading contain important handling instructions that the user
should observe to ensure the safe use of the product.
1 Introduction
The items under this heading contain related information and contents to gain a further
understanding of the text in this manual.
Common to AC power input driver and DC power input driver
General
•Do not use the product in explosive or corrosive environments, in the presence of ammable gases, locations
subjected to splashing water, or near combustibles. Doing so may result in re, electric shock or injury.
•Assign qualied personnel to the task of installing, wiring, operating/controlling, inspecting, and troubleshooting
the product. Failure to do so may result in re, electric shock, injury, or damage to equipment.
•Do not transport, install, connect or inspect the driver while the power is supplied. Doing so may result in electric
shock.
•Do not touch the driver while the power is on. Doing so may result in re or electric shock.
•Take measures to keep the moving part in position if the product is used in vertical operations such as elevating
equipment. Failure to do so may result in injury or damage to equipment.
•When an alarm is generated in the driver (any of the driver's protective functions is triggered), remove the cause
before clearing the alarm (protective function). Continuing the operation without removing the cause of the
problem may cause malfunction of the motor and the driver, leading to injury or damage to equipment.
Installation
•Install the driver inside an enclosure. Failure to do so may result in electric shock or injury.
•The driver is Class I equipment. When installing the driver, install it inside an enclosure so that it is out of the direct
reach of users. Be sure to ground if users can touch it. Failure to do so may result in electric shock.
12
Connection
•Always keep the power supply voltage of the driver within the specied range. Failure to do so may result in re or
electric shock.
•Connect the product securely according to the wiring diagram. Failure to do so may result in re or electric shock.
•Do not forcibly bend, pull, or pinch the cable. Doing so may result in re or electric shock.
Operation
•Turn o the main power supply and the control power supply in the event of a power failure. Failure to do so may
result in injury or damage to equipment.
•Do not turn the FREE input ON while operating the motor. Doing so may result in injury or damage to equipment.
Repair, disassembly, and modication
•Do not disassemble or modify the driver. Doing so may result in injury or damage to equipment.
Safety precautions
AC power input driver
General
•Do not touch the terminals indicated signs on the driver’s front panel while the power is supplied because
high voltage is applied. Doing so may result in re or electric shock.
Inspection and maintenance
•Do not touch the connection terminals of the driver immediately after turning o the main power supply and the
control power supply. Before performing connection or inspection, turn o the main power supply and the control
power supply, and check the CHARGE LED has been turned o. Residual voltage may cause electric shock.
Common to AC power input driver and DC power input driver
General
•Do not use the driver beyond the specications. Doing so may result in electric shock, injury, or damage to
equipment.
•Keep your ngers and objects out of the openings in the driver. Doing so may result in re, electrical shock, or
injury.
•Do not touch the driver during operation or immediately after stopping. Doing so may result in a skin burn(s).
•Do not forcibly bend or pull the cable that is connected to the driver. Doing so may result in damage.
Installation
•Keep the area around the driver free of combustible materials. Failure to do so may result in re or a skin burn(s).
•Do not leave anything around the driver that would obstruct ventilation. Doing so may result in damage to
equipment.
Operation
•Use a motor and a driver only in the specied combination. An incorrect combination may cause a re.
•Provide an emergency stop device or emergency stop circuit externally so that the entire equipment will operate
safely in the event of a system failure or malfunction. Failure to do so may result in injury.
•Before turning on the main power supply and the control power supply, turn all input signals to the driver to OFF.
Failure to do so may result in injury or damage to equipment.
•Before rotating the motor output shaft manually (manual positioning etc.), check the FREE input of the driver is
being ON. Failure to do so may result in injury.
•When an abnormal condition has occurred, immediately stop operation to turn o the main power supply and the
control power supply. Failure to do so may result in re, electrical shock or injury.
•Take measures against static electricity when operating the switches of the driver. Failure to do so may result in the
driver malfunction or damage to equipment.
1 Introduction
AC power input driver
Operation
•For the control power supply, use a DC power supply with reinforced insulation on its primary and secondary sides.
Failure to do so may result in electric shock.
Inspection and maintenance
•Do not touch the terminals while conducting the insulation resistance measurement or dielectric strength test.
Doing so may result in electric shock.
DC power input driver
Operation
•For the main power supply and the control power supply, use a DC power supply with reinforced insulation on its
primary and secondary sides. Failure to do so may result in electric shock.
Inspection and maintenance
•Do not touch the terminals while conducting the insulation resistance measurement. Doing so may result in
electric shock.
13
Safety precautions
4-1 Graphical symbols on the driver's front panel
This is the protective earth terminal. Be sure to ground because
improper grounding may result in electric shock.
A high voltage is applied to the motor connector (CN3) and the main
power supply input terminals (CN4). Do not touch them while the
power is supplied. Doing so may result in re or electric shock. (AC
power input driver)
4-2 Warning indication (AC power input driver)
1 Introduction
A warning about handling precautions is described on the driver.
Be sure to observe the description contents when handling the
product.
Electrical hazard warning label
Material: PET
14
5 Precautions for use
This chapter covers restrictions and requirements the user should consider when using the product.
Common to AC power input driver and DC power input driver
zBe sure to use our cable to connect the motor and the driver.
Check the cable models on p.45 (AC power input driver) or p.76 (DC power input driver).
zNote on connecting a power supply whose positive terminal is grounded
The USB communication connector, CN5, CN6, and CN7 connectors on the driver are not electrically insulated. When
grounding the positive terminal of the power supply, do not connect any equipment (PC, etc.) whose negative
terminal is grounded. Doing so may cause the driver and this equipment to short, damaging both. When connecting,
do not ground equipment.
zSaving data to the non-volatile memory
Do not turn o the control power supply while writing the data to the non-volatile memory, and also do not turn o
for 5 seconds after the completion of writing the data. Doing so may abort writing the data and cause an EEPROM
error alarm to generate. The non-volatile memory can be rewritten approximately 100,000 times.
zNoise elimination measures
Refer to p.35 (AC power input driver) or p.66 (DC power input driver) for the noise elimination measures.
Precautions for use
1 Introduction
AC power input driver
zWhen conducting the insulation resistance measurement or the dielectric strength test, be sure to
separate the connection between the motor and the driver.
Conducting the insulation resistance measurement or dielectric strength test with the motor and the driver
connected may result in damage to the product.
zPreventing leakage current
Stray capacitance exists between the driver’s current-carrying line and other current-carrying lines, the earth and the
motor, respectively. A high-frequency current may leak out through such capacitance, having a detrimental eect on
the surrounding equipment. The actual leakage current depends on the driver’s switching frequency, the length of
wiring between the driver and the motor, and so on. When installing an earth leakage breaker, use a product oering
resistance against high frequency current such as the one specied below.
Mitsubishi Electric Corporation: NV series
zIf vertical drive (gravitational operation) such as elevator applications is performed or if sudden start-
stop operation of a large inertial load is repeated frequently, connect our regeneration resistor
RGB100
An alarm of overvoltage may be detected depending on the operating condition of the motor. When the alarm of
overvoltage has been detected, reconsider the operating condition or use our regeneration resistor
p.28 for the connection method.
.
RGB100
. Refer to
DC power input driver
zWhen conducting the insulation resistance measurement, be sure to separate the connection between
the motor and the driver.
Conducting the insulation resistance measurement with the motor and the driver connected may result in damage to
the product.
15
1 Introduction
16
2 AC power input type
This part explains contents specic to the AC power input type driver.
Table of contents
1 System conguration ............................18
2 Preparation ............................................. 19
2-1 Checking the product ................................... 19
2-2 How to identify the product model ......... 19
2-3 Products possible to combine ................... 19
2-4 Information about nameplate ................... 20
2-5 Names and functions of parts .................... 20
2-6 Indication of LEDs ........................................... 22
3 Installation .............................................. 24
3-1 Installation location ....................................... 24
3-2 Installation method ....................................... 24
4 Connection ............................................. 26
4-1 Connection example ..................................... 26
4-2 Connecting the control power supply .... 27
4-3 Connecting the regeneration resistor ..... 28
4-4 Connecting the main power supply ........ 29
4-5 Grounding the driver.....................................30
4-6 Connecting the EtherNet/IP
communication cable ................................... 30
4-7 Connecting the USB cable ........................... 30
4-8 Connecting the I/O signals .......................... 31
4-9 Noise elimination measures .......................35
4-10 Conformity to the EMC Directive .............. 37
5 Setting of IP address ............................. 38
5-1 Setting method ............................................... 38
6 Power removable function
(ETO function: External torque o
function) .................................................. 40
6-1 Block diagram .................................................. 40
6-2 Wiring example ............................................... 41
6-3 Detection for error of the ETO function .. 41
6-4 Reset of ETO-mode ........................................ 42
6-5 Timing chart ..................................................... 42
6-6 To use this product safely ............................ 43
7 Inspection and maintenance .............. 44
7-1 Inspection .......................................................... 44
7-2 Warranty .............................................................44
7-3 Disposal .............................................................. 44
8 Cable ........................................................ 45
8-1 Connection cable ............................................ 45
8-2 I/O signal cable ................................................ 47
9 Accessories..............................................48
9-1 Pulse signal converter for
noise immunity ............................................... 48
9-2 Relay contact protection parts/circuits .. 48
9-3 Regeneration resistor .................................... 48
System conguration
Regeneration resistor
interrupt circuit
1 System conguration
The gure shows models for the electromagnetic brake type with single-phase 200 to 240 VAC input.
RGB100
Control
power supply
2 AC power input type
Motor
GND +24 V
Thermostat output (AWG22)
Regeneration resistor
(AWG18)
Grounding
Driver
EtherNet/IP compatible products
EtherNet/IP
EtherNet/IP
*
Scanner
Grounding
Main power
supply
Circuit breaker
or ground fault
Noise lter
* Connect when using direct I/O or sensors.
18
2 Preparation
This chapter explains the items you should check, as well as names and functions of each part.
2-1 Checking the product
Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales
oce from which you purchased the product.
•Driver .................................................1 unit
•CN1 connector (14 pins) .............1 pc.
•CN4 connector (5 pins) ................1 pc.
•CN7 connector (24 pins) .............1 pc.
•Connector lever ..............................1 pc. (for CN4 connector)
•OPERATING MANUAL Driver ......1 copy
Included connector model
Preparation
Type Part number Manufacturer
CN1 connector DFMC1,5/7-ST-3,5-LR PHOENIX CONTACT GmbH & Co. KG
CN4 connector 05JFAT-SAXGDK-H5.0 J.S.T. Mfg. Co., Ltd.
CN7 connector DFMC1,5/12-ST-3,5 PHOENIX CONTACT GmbH & Co. KG
2-2 How to identify the product model
Check the model number of the driver against the number shown on the nameplate. Refer to p.20 for how to
identify the nameplate.
AZD - C EP
1 2 3
1 Series
2 Power supply input
3 Network type
AZD: AZ
A
C
EP
Series driver
: Single-phase 100-120 VAC
: Single-phase/Three-phase 200-240 VAC
: EtherNet/IP
2-3 Products possible to combine
Products with which the driver can be combined are listed below. Check the model name of the product with the
nameplate.
2 AC power input type
Power supply
type
AC input
*1 The driver described in this manual can be combined with products that begin with these model names.
*2 For these motorized actuators, the equipped motors have been evaluated to ax the CE Marking. Check the model
name of the equipped motor with the nameplate.
Product type Applicable series
Stepping motor
Motorized actuator
Series
AZ
EAS
EAC
EZS
EZSH
DGII
Series
L
Series *2
Series *2
Series *2
Series *2
Series
Model name representing
series name *1
AZM
EASM EASM4NXD005AZAC
EACM EACM4RWE15AZMC
EZSM EZSM6D005AZAC
EZSHM EZSHM6H020AZAC
DGM
DGB
LM LM4F500AZMC-10
Example of model name
AZM46AC
AZM66AC-TS10
DGM85R-AZAC
DGB85R12-AZACR
19
Preparation
Output specication
Serial number Manufacturing date
r
Regeneration resistor thermal input terminals (
2-4 Information about nameplate
The gure shows an example.
Driver model
Input specication
2 AC power input type
The position describing the information may vary depending on the product.
2-5 Names and functions of parts
The gure shows the
Control power supply input terminals (CN1)
Electromagnetic brake terminals (CN1)
Power removal signal input terminals (CN1)
Power removal monitor output terminals (CN1)
AZD-CEP
Encoder connector (CN2)
.
CN1)
Motor connector (CN3)
PWR/ALM LED (Green/Red)
MS LED (Green/Red)
NS LED (Green/Red)
IP address setting switches
(IP ADDR ×16, ×1)
HOME PRESET switch
USB communication connecto
L/A LED (Green)
EtherNet/IP communication
connectors (CN5, CN6)
20
CHARGE LED (Red)
Regeneration resistor terminals (CN4)
Main power supply input terminals (CN4)
Protective Earth Terminals
I/O signal connector (CN7)
Type Name Sign Description
This LED is lit while the main power supply is turned
on. After the main power has been turned o, the LED
will turn o once the residual voltage in the driver
drops to a safe level.
•This LED is lit in green while the control power supply
is turned on.
•If an alarm (protective function) is generated, the
LED will blink in red.
•If the power removable function (p.40) is triggered,
the LED will blink in green.
•If information is generated, the LED will
simultaneously blink in red and green twice. (Green
and red colors may overlap and it may be visible to
orange.)
This LED indicates the communication status of
EtherNet/IP.
These switches are used to set an IP address.
Factory setting: 00 (×16: 0, ×1: 0)
This switch is used to set the starting position (home
position) when positioning operation is performed.
Connects a PC in which the
installed. (USB2.0 mini-B port)
Connects the lead wires from the electromagnetic
brake.
Connects our regeneration resistor
regeneration resistor
the TH1 and TH2 terminals.
Connects switches or a scanner.
Connects a main power supply.
Ground using a grounding wire of AWG16 to 14 (1.25
to 2.0 mm
2
).
RGB100
LED
Switch
Connector
Terminal
CHARGE LED (Red) CHARGE
PWR/ALM LED (Green/Red) PWR/ALM
MS LED (Green/Red) MS This LED indicates the status of the driver.
NS LED (Green/Red) NS
L/A LED (Green) L/A This LED indicates the LINK/ACT status of EtherNet/IP.
IP address setting switches
HOME PRESET switch HOME PRESET
Encoder connector (CN2) ENCODER Connects the encoder.
Motor connector (CN3) MOTOR Connects the motor.
USB communication connector
EtherNet/IP communication
connectors (CN5, CN6)
I/O signal connector (CN7) I/O Connects when using direct I/O or sensors.
Control power supply input
terminals (CN1)
Electromagnetic brake
terminals (CN1)
Regeneration resistor thermal
terminals (CN1)
Power removal signal input
terminals (CN1)
Power removal monitor output
terminals (CN1)
Regeneration resistor terminals
(CN4)
Main power supply input
terminals (CN4)
Protective Earth Terminals
IP ADDR ×16
IP ADDR ×1
− Connects the EtherNet/IP communication cable.
+24V, 0V Connects a control power supply.
MB1, MB2
TH1, TH2
HWTO1+, HWTO1−
HWTO2+, HWTO2−
EDM+, EDM− Connects a scanner.
RG1, RG2 Connects our regeneration resistor
L, N, NC
L1, L2, NC
L1, L2, L3
Preparation
MEXE02
has been
RGB100
is not connected, short
RGB100
. If the
.
2 AC power input type
21
Preparation
OFF
Blinking
500 ms 500 ms
2-6 Indication of LEDs
PWR/ALM LED
This LED indicates the status of the driver.
2 AC power input type
LED status
Green Red
Unlit Unlit The control power supply is not turned on.
Lit Unlit The control power supply is turned on.
An alarm is being generated. Details about the generated alarm can be
Unlit Blinking
Blinking Unlit
Blinking twice at the same time *
Blinking at the same time *
Lit at the same time *
Repeating "Green → Red →
Simultaneously lit → Unlit"
* Green and red colors may overlap and it may be visible to orange.
checked by counting the number of times the LED blinks. The LED is lit in green
when the alarm is reset.
The power removable function has been activated. The LED is lit in green when
the power removable function is released.
•Information is being generated. The LED is lit in green when the information
is cleared.
•Teaching, remote operation is being executed with the
lit in green when teaching, remote operation is complete.
The interlock was released by holding down the HOME PRESET switch.
The LED is lit in green when the time set in the "Extended input (EXT-IN)
interlock releasing time" parameter is elapsed.
The input signal assigned to the HOME PRESET switch is being executed. The
LED is lit in green when it is complete.
This is the driver simulation mode.
MS LED
This LED indicates the status of the driver.
Description
MEXE02
. The LED is
LED status
Green Red
Unlit Unlit The control power supply of the driver is not turned on.
Blinking Unlit The communication setting of EtherNet/IP is invalid.
Lit Unlit The driver operates properly.
Unlit Blinking
Unlit Lit An alarm that cannot be reset with EtherNet/IP or the
Blinking alternately Self-diagnosis when turning on the power is executing.
The timing to blink the LED is as follows.
ON
•An alarm that can be reset with EtherNet/IP or the
•The setting of an IP address is duplicated in the same system.
Description
MEXE02
MEXE02
was generated.
was generated.
22
NS LED
OFF
Blinking
500 ms 500 ms
This LED indicates the communication status of EtherNet/IP.
Preparation
LED status
Green Red
Unlit Unlit
Blinking Unlit In an online state. Connection with the scanner is not established.
Lit Unlit In an online state. Connection with the scanner is being established.
Unlit Blinking Connection with the scanner became time-out.
Unlit Lit The setting of an IP address is duplicated in the same system.
Blinking alternately Self-diagnosis when turning on the power is executing.
The timing to blink the LED is as follows.
ON
•In an oine state.
•The control power supply of the driver is not turned on.
Description
2 AC power input type
L/A LED
This LED indicates the LINK/ACT status of EtherNet/IP.
LED status Description
Unlit
Blinking
Lit
•In an oine state.
•The frame of EtherNet/IP is not sent and received.
•In an online state.
•The frame of EtherNet/IP is sent and received.
•In an online state.
•The frame of EtherNet/IP is not sent and received.
23
2 AC power input type
25 (0.98) or more
35 (1.38)
Installation
3 Installation
This chapter explains the installation location and installation method of the driver.
3-1 Installation location
The driver is designed and manufactured to be incorporated in equipment. Install it in a well-ventilated location that
provides easy access for inspection. The location must also satisfy the following conditions:
•Inside an enclosure that is installed indoors (provide vent holes)
•Operating ambient temperature: 0 to +55°C (+32 to +131 °F) (non-freezing)
•Operating ambient humidity: 85% or less (non-condensing)
•Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid
•Area not exposed to direct sun
•Area free of excessive amount of dust, iron particles or the like
•Area not subject to splashing water (rain, water droplets), oil (oil droplets) or other liquids
•Area free of excessive salt
•Area not subject to continuous vibrations or excessive shocks
•Area free of excessive electromagnetic noise (from welders, power machinery, etc.)
•Area free of radioactive materials, magnetic elds or vacuum
•Up to 1,000 m (3,300 ft.) above sea level
3-2 Installation method
The driver is designed so that heat is dissipated via air convection and
conduction through the enclosure. Install the driver to a at metal plate (*)
oering high heat conductivity. When installing drivers, provide clearances
of at least 25 mm (0.98 in.) in the horizontal and vertical directions between
the driver and enclosure or other equipment within the enclosure.
When installing the driver, use two screws (M4, not included) to secure the
driver through the mounting holes.
* Material: Aluminum, 200×200×2 mm (7.87×7.87×0.08 in.) or equivalent
•Install the driver inside an enclosure whose pollution degree
is 2 or better environment, or whose degree of protection is
IP54 minimum.
•Do not install any equipment that generates a large amount
of heat or noise near the driver.
•Do not install the driver underneath a scanner or other
equipment vulnerable to heat.
•If the ambient temperature of the driver exceeds 55 °C
(131 °F), improve the ventilation condition such as providing
forced cooling by using fans or creating spaces between the
drivers.
•Be sure to install the driver vertically (in vertical position).
150 (5.91) 25 (0.98) or more
Unit: mm (in.)
24
Dimensions
[7.5 (0.30)]
Slits
R2.25 (0.089)
•Unit: mm (in.)
•Mass: 0.68 kg (1.5 lb.)
Installation
160 (6.30)
0.5 (0.02)
45 (1.77)
[10 (0.39)]
[76 (2.99)]
[22.5 (0.89)]
Protective Earth Terminals 2×M4
125 (4.92)
5 (0.20)
Slits
150 (5.91) 5 (0.20)
ø4.5 (0.177) hole
35
(1.38)
5 (0.20)
2 AC power input type
25
Connection
Grounding
4 Connection
This chapter explains a connection example of a driver and a motor, connection methods of power supplies and the
regeneration resistor
The installation and wiring methods in compliance with the EMC Directive as well as protection against noise are also
explained.
RGB100
4-1 Connection example
, the grounding method, and others.
•For protection against electric shock, do not turn on the power supply until the wiring
is completed.
•A high voltage is applied to the motor connector (CN3) and the main power supply
input terminals (CN4). Do not touch them while the power is on. Doing so may result in
re or electric shock.
2 AC power input type
The gure shows models for the electromagnetic brake type with single-phase 200 to 240 VAC input.
Required
*1 Purchase it separately.
*2 Use the cable for encoder when the length of the encoder cable of motor is not enough.
Control
power supply
Cable for electromagnetic brake *1
Required
Connect to +24V and 0V
Connect to MB1 and MB2
Connect to CN2
Cable for encoder *1 *2
Connect to CN3
Cable for motor *1
Required
Connect to L1 and L2
Main power supply
Single-phase 200-240 V
Connect to CN5 or CN6
EtherNet/IP
communication cable
Scanner
26
•Connect the connectors securely. Insecure connections may cause malfunction or damage to the
motor or driver.
•Before connecting or disconnecting a connector, turn o the main power supply and the control
power supply, and check the CHARGE LED has been turned o. Residual voltage may cause electric
shock.
•The lead wires of the "cable for electromagnetic brake" have polarities, so connect them in the
correct polarities. If the lead wires are connected with their polarities reversed, the electromagnetic
brake will not operate properly.
•Do not wire the power supply cable of the driver in the same cable duct with other power lines or
motor cable. Doing so may cause malfunction due to noise.
•Keep 20 m (65.6 ft.) or less for the wiring distance between the motor and the driver. To extend
more than 20 m (65.6 ft.) may result in the driver heat generation or increase of the electrical noise
emitted from the product.
•A control power supply is required with or without an electromagnetic brake. Be sure to connect it.
•When pulling o the motor cable, do so while pressing the latches on the connector with ngers.
•When installing the motor on a moving part, use a exible cable oering excellent exibility. Refer
to p.45 for the model name.
Electrical wire size
Button of the orange color
HW
HW
O1+
O2+
Jumper wire
Connector Terminal symbol Recommended wire size
+24V, 0V, MB1, MB2, TH1, TH2,
CN1
CN4 RG1, RG2, L, N, L1, L2, L3 Stranded wire or solid wire AWG18 to 14 (0.75 to 2.0 mm
CN7 − Stranded wire or solid wire AWG24 to 16 (0.2 to 1.25 mm
HWTO1+, HWTO1−, HWTO2+,
HWTO2−, EDM+, EDM−
Stranded wire or solid wire AWG24 to 16 (0.2 to 1.25 mm
4-2 Connecting the control power supply
Wiring method of CN1 connector
•Applicable lead wire: AWG24 to 16 (0.2 to 1.25 mm2)
•Stripping length of wire insulation: 10 mm (0.39 in.)
1. Strip the insulation of the lead wire.
2. Insert the lead wire while pushing the button of the orange color with
a slotted screwdriver.
3. After having inserted, release the button to secure the lead wire.
Lead wire
Connection
2
)
2
)
2
)
2 AC power input type
Power supply current capacity
Input power supply voltage
24 VDC±5% *1 0.25 A 0.5 A *2
*1 When an electromagnetic brake motor is used, if the wiring distance between the motor and the driver is extended
to 20 m (65.6 ft.) using our cable, the input voltage is 24 VDC±4%.
*2 The
AZM46
Pin assignment
There are two terminals for 0 V: One for control power supply
and the other is for internal connection. Check each position in
the gure and table shown.
Sign Description
+24V, 0V *1 Connects a control power supply.
MB1, MB2
TH1, TH2
HWTO1+, HWTO1−
HWTO2+, HWTO2−
EDM+, EDM− Connects a scanner.
+V, 0V *2
type is 0.33 A.
Power supply current capacity
Without electromagnetic brake With electromagnetic brake
+24V
MB1
TH1
+V
TO1
-
TO2
-
EDM+
Connects the lead wires from the electromagnetic brake.
MB1: Electromagnetic brake− (Black)
MB2: Electromagnetic brake+ (White)
Connects the signal lines of our regeneration resistor
If the regeneration resistor is not used, connect a jumper wire (included) between the
terminals as shown in the gure.
Connects switches or a scanner.
If the power removal function is not used, connect a jumper wire (included) between the
terminals as shown in the gure.
These are for internal connection. Do not connect anything.
If the power removal function is not used, connect a jumper wire (included) between the
terminals as shown in the gure.
RGB100
0V *1
MB2
TH2
HWT
HWT
0V *2
EDM
.
-
27
Connection
Regeneration resistor
4-3 Connecting the regeneration resistor
If vertical drive (gravitational operation) such as elevating
applications is performed or if sudden start-stop operation
of a large inertial is repeated frequently, connect our
regeneration resistor
•The two thin lead wires (AWG22: 0.3 mm
regeneration resistor are the thermostat outputs.
Connect them to the TH1 and TH2 using the CN1
connector.
•Regenerative current ows through the two thick lead
wires (AWG18: 0.75 mm
Connect them to the RG1 and RG2 using the CN4
connector.
RGB100
.
2
) of the regeneration resistor.
2
) of the
RGB100
150 °C (302 °F)
[N.C.]
R:150 Ω
AWG22
To TH1 and TH2
CN1
CN4
To RG1 and RG2
AWG18
2 AC power input type
•When connecting the regeneration resistor, be sure to remove the jumper wire from the CN1
connector.
•If the allowable power consumption of the regeneration resistor exceeds the allowable level, the
thermostat will be triggered to generate an alarm of regeneration resistor overheat. When an alarm
of regeneration resistor overheat is generated, turn o the main power supply and check the error
content.
zRegeneration resistor specications
Model
Allowable power consumption
Resistance value 150 Ω
Thermostat operating temperature
Thermostat electrical rating 120 VAC 4 A or 30 VDC 4A (minimum current 5 mA)
* Install the regeneration resistor in a location where heat dissipation capacity equivalent to a level achieved with a
aluminum plate [350×350×3 mm (13.78×13.78×0.12 in.)] is ensured.
RGB100
Continuous regenerative power: 50 W *
Instantaneous regenerative power: 600 W
Operation: Opens at 150±7 °C (302±12.6 °F)
Reset: Closes at 145±12 °C (293±21.6 °F) [normally closed]
28
4-4 Connecting the main power supply
Single-phase 100-120 V -15% to +6%
50/60
Single-phase 200-240 V -15% to +6%
Three-phase 200-240 V -15% to +6%
Co
L and
e
Connector lever
The connecting method varies depending on the power supply specication.
Connection
Hz
nnect to
N
50/60 Hz
Connect to
L1 and L2
50/60 Hz
Connect to
L1, L2 and L3
Wiring method of CN4 connector
•Applicable lead wire: AWG18 to 14 (0.75 to 2.0 mm2)
•Stripping length of wire insulation: 9 mm (0.35 in.)
1. Insert the connector lever.
2. Insert the lead wire while pushing down the connector lever.
Lead wir
Power supply current capacity
The current capacity for the power supply varies depending on the product combined.
Check the current capacity in reference to the equipped motor model name when using the
EZS
Series, or
EZSH
Series.
zSingle-phase 100-120 VAC zSingle-phase 200-240 VAC zThree-phase 200-240 VAC
Model
AZM46
AZM48
AZM66
AZM69
AZM98
AZM911
DGB85
DGM85
DGM130
DGM200
LM2
LM4
Power supply
current capacity
2.7 A or more
2.7 A or more
3.8 A or more
5.4 A or more
5.5 A or more
6.4 A or more
2.7 A or more
2.7 A or more
3.8 A or more
6.4 A or more
3.8 A or more
3.8 A or more
Model
AZM46
AZM48
AZM66
AZM69
AZM98
AZM911
DGB85
DGM85
DGM130
DGM200
LM2
LM4
Power supply
current capacity
1.7 A or more
1.6 A or more
2.3 A or more
3.3 A or more
3.3 A or more
3.9 A or more
1.7 A or more
1.7 A or more
2.3 A or more
3.9 A or more
2.3 A or more
2.3 A or more
Model
AZM46
AZM48
AZM66
AZM69
AZM98
AZM911
DGB85
DGM85
DGM130
DGM200
LM2
LM4
EAS
Series,
Power supply
current capacity
1.0 A or more
1.0 A or more
1.4 A or more
2.0 A or more
2.0 A or more
2.3 A or more
1.0 A or more
1.0 A or more
1.4 A or more
2.3 A or more
1.4 A or more
1.4 A or more
EAC
2 AC power input type
Series,
29
Connection
(Ground either of the terminals.)
Grounding
TXP
N
N
4-5 Grounding the driver
Two Protective Earth Terminals (screw size: M4) are provided on
the driver. Be sure to ground one of the Protective Earth
Terminals. Either of the two Protective Earth Terminals can be
used for grounding the driver.
•Grounding wire: AWG16 to 14 (1.25 to 2.0 mm
•Tightening torque: 1.2 N·m (170 oz-in)
Connect the grounding wire of the "cable for motor" to the
other terminal to ground the motor.
Do not share the grounding wire with a welder or any other
power equipment.
When grounding the Protective Earth Terminal, use a round
terminal and secure the grounding point near the driver.
2
)
Protective Earth Terminals
4-6 Connecting the EtherNet/IP communication cable
2 AC power input type
Connect the EtherNet/IP communication cable to the EtherNet/IP communication connector (CN5, CN6).
Pin assignment
Signal name Description
TXP Transmitted data+
TXN Transmitted data−
RXP Received data+
N.C. −
N.C. −
RXN Received data−
N.C. −
N.C. −
4-7 Connecting the USB cable
Using a USB cable of the following specication, connect a PC in which the
communication connector.
Specication USB2.0 (full speed)
Cable
Length: 3 m (9.8 ft.) or less
Shape: A to mini B
TX
RXP
N.C.
N.C.
RX
N.C.
N.C.
MEXE02
has been installed to the USB
30
•Connect the driver and PC directly using the USB cable.
•In large electrically noisy environments, use the USB cable with a ferrite core or install a ferrite core
to the USB cable.
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