Oriental motor AZM14, AZ, AZM46, AZM48, AZM66 User Manual
...
Stepping Motor and Driver Package
HM-60262-6
Before starting operation
Operation
AZ
Series/
Motorized actuator
equipped the
AZ
Series
Function Edition
I/O signals
Parameter
Method of control via
Modbus RTU
(RS-485 communication)
Method of control via
industrial network
Address list
Measures for various
cases
Alarm and information
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.
Extended setting for
pulse-input operation
Appendix
1 Characteristics of the AZ Series ..........................................................................................................................10
2 Operations possible with the AZ Series ............................................................................................................12
3 Types and overview of driver .............................................................................................................................. 14
4 How to use OPERATING MANUALS for product ...............................................................................................16
5 Expansion of supported contents ......................................................................................................................18
1 Before starting operation
1 Steps of preparation for operation ....................................................................................................................20
2 Starting the
MEXE02
...........................................................................................................................................21
3 Copying the xed value (parameter) of the ABZO sensor to driver .............................................................22
4 Creation of recovery data le and method of recovery ................................................................................. 24
4-1 Creating the recovery data le ....................................................................................................................................................... 24
4-2 Method of recovery ............................................................................................................................................................................ 26
5 Setting of display unit and resolution ...............................................................................................................29
5-1 Setting example for when an index table is used ................................................................................................................... 29
5-2 Setting example for when a linear mechanism is assembled ............................................................................................. 32
6 Home position setting ..........................................................................................................................................36
7 Wrap setting ...........................................................................................................................................................39
8 Setting of software limit ......................................................................................................................................44
9 Operation check ....................................................................................................................................................47
10 Backup of data .......................................................................................................................................................50
2 Operation
1 Flow of setting required for positioning operation ........................................................................................ 52
2 Setting of resolution .............................................................................................................................................53
3 Stored data (SD) operation ..................................................................................................................................55
3-1 Types of stored data (SD) operation ............................................................................................................................................. 55
3-2 Setting of data ...................................................................................................................................................................................... 59
3-3 Positioning SD operation ................................................................................................................................................................. 66
3-4 Positioning push-motion SD operation ...................................................................................................................................... 75
3-5 Continuous SD operation ................................................................................................................................................................. 78
3-6 Mode for link operation of operation data ................................................................................................................................ 83
3-7 Sequence function .............................................................................................................................................................................. 93
3-8 Extended operation data setting .................................................................................................................................................. 99
3-9 Stop operation ...................................................................................................................................................................................101
3-10 Base current and stop current ......................................................................................................................................................103
3-11 Acceleration/deceleration unit ....................................................................................................................................................104
3-12 Starting speed ....................................................................................................................................................................................104
2
4 Return-to-home operation ................................................................................................................................105
4-1 High-speed return-to-home operation .....................................................................................................................................105
4-2 Return-to-home operation ............................................................................................................................................................107
5 Macro operation ..................................................................................................................................................121
5-1 Types of macro operation ..............................................................................................................................................................121
5-2 JOG operation.....................................................................................................................................................................................122
5-3 High-speed JOG operation ............................................................................................................................................................124
5-4 Inching operation .............................................................................................................................................................................126
5-5 Combined JOG operation ..............................................................................................................................................................128
5-6 Continuous operation .....................................................................................................................................................................130
5-7 Speed control operation .................................................................................................................................................................132
5-8 Speed control push-motion operation .....................................................................................................................................134
6 Relationship between operation type and operation data and parameter .............................................136
7 Position coordinate management ...................................................................................................................140
7-1 Overview of position coordinate management .....................................................................................................................140
7-2 Position coordinate origin ..............................................................................................................................................................144
7-3 Parameters related to ABZO sensor ............................................................................................................................................145
7-4 Mechanism settings parameter ...................................................................................................................................................146
7-5 Initial coordinate generation & wrap coordinate parameter ............................................................................................147
7-6 Mechanism limit ...............................................................................................................................................................................152
7-7 Mechanism protection ....................................................................................................................................................................152
7-8 Position coordinate information monitor function ..............................................................................................................153
3 I/O signals
1 Overview of I/O signals ......................................................................................................................................158
1-1 Overview of input signals...............................................................................................................................................................158
1-2 Overview of output signals ...........................................................................................................................................................159
1-3 Setting contents of input signals and output signals ..........................................................................................................160
2 Signal list ...............................................................................................................................................................165
2-1 Input signal list ...................................................................................................................................................................................165
2-2 Output signal list ...............................................................................................................................................................................167
3 Signal types ..........................................................................................................................................................172
3-1 Direct I/O ..............................................................................................................................................................................................172
3-2 Remote I/O ...........................................................................................................................................................................................181
4 Input signals .........................................................................................................................................................183
4-1 Operation control ..............................................................................................................................................................................183
4-2 Position coordinate management ..............................................................................................................................................202
4-3 Management of driver .....................................................................................................................................................................204
5 Output signals ......................................................................................................................................................207
5-1 Management of driver .....................................................................................................................................................................207
5-2 Management of operation .............................................................................................................................................................208
5-3 Latch information indication ........................................................................................................................................................217
5-4 Response output ...............................................................................................................................................................................218
3
6 Timing chart .........................................................................................................................................................219
7 Power removal function (ETO function: External Torque O function) ....................................................222
7-1 Block diagram .....................................................................................................................................................................................222
7-2 Wiring example ..................................................................................................................................................................................223
7-3 Detection for error of the ETO function ....................................................................................................................................223
7-4 Reset of ETO-mode ...........................................................................................................................................................................224
7-5 Related parameters ..........................................................................................................................................................................224
7-6 Timing chart ........................................................................................................................................................................................225
7-7 For safe use ..........................................................................................................................................................................................227
4 Parameters
1 Parameter: Base setting .....................................................................................................................................230
2 Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) ................................................233
3 Parameter: ETO and Alarm and Info ................................................................................................................236
4 Parameter: I/O action and function .................................................................................................................239
5 Parameter: Direct-IN function ...........................................................................................................................244
6 Parameter: Direct-OUT function .......................................................................................................................245
7 Parameter: Remote-I/O function (R-I/O) .........................................................................................................246
8 Parameter: EXT-IN and VIR-IN and USR-OUT function (Extend) .................................................................248
9 Parameter: Communication & I/F .....................................................................................................................250
10 I/O signal assignment list ...................................................................................................................................256
10-1 Input signals ........................................................................................................................................................................................256
10-2 Output signals ....................................................................................................................................................................................257
5 Method of control via Modbus RTU (RS-485 communication)
1 Specication of Modbus RTU ............................................................................................................................260
1-1 Communication specications .....................................................................................................................................................260
1-2 Communication timing ...................................................................................................................................................................263
2 Message structure ...............................................................................................................................................264
2-1 Query .....................................................................................................................................................................................................264
2-2 Response ..............................................................................................................................................................................................266
3 Function codes .....................................................................................................................................................268
3-1 Reading from a holding register(s) (03h) ..................................................................................................................................268
3-2 Writing to a holding register (06h) ..............................................................................................................................................269
3-3 Diagnosis (08h) ..................................................................................................................................................................................270
3-4 Writing to multiple holding registers (10h) .............................................................................................................................271
3-5 Read/write of multiple holding registers (17h) ......................................................................................................................272
4 Flow of setting required for Modbus communication .................................................................................274
5 Guidance ...............................................................................................................................................................275
4
6 Setting of switches ..............................................................................................................................................279
6-1 Protocol .................................................................................................................................................................................................279
6-2 Address number (slave address) ..................................................................................................................................................280
6-3 Transmission rate...............................................................................................................................................................................280
6-4 Termination resistor .........................................................................................................................................................................281
7 Setting of RS-485 communication ...................................................................................................................282
7-1 Parameters reected when turning on the power ................................................................................................................282
7-2 Parameters reected immediately after rewriting ................................................................................................................283
7-3 Forcible return of parameters to initial values (default function) ....................................................................................283
8 Example of data setting in Modbus RTU mode .............................................................................................284
8-1 Remote I/O command .....................................................................................................................................................................284
8-2 Positioning operation ......................................................................................................................................................................286
8-3 Continuous operation .....................................................................................................................................................................288
8-4 High-speed return-to-home operation .....................................................................................................................................292
9 Data setting method ...........................................................................................................................................294
9-1 Overview of setting method .........................................................................................................................................................294
9-2 Direct reference .................................................................................................................................................................................294
9-3 Indirect reference ..............................................................................................................................................................................295
10 Direct data operation .........................................................................................................................................302
10-1 Overview of direct data operation ..............................................................................................................................................302
10-2 Guidance ..............................................................................................................................................................................................303
10-3 Commands required for direct data operation ......................................................................................................................307
11 Group send ...........................................................................................................................................................312
12 Timing chart .........................................................................................................................................................314
12-1 Communication start .......................................................................................................................................................................314
12-2 Start of operation ..............................................................................................................................................................................314
12-3 Operation stop, speed change .....................................................................................................................................................314
12-4 General signals ...................................................................................................................................................................................315
12-5 Conguration ......................................................................................................................................................................................315
13 Detection of communication errors ................................................................................................................316
13-1 Communication errors ....................................................................................................................................................................316
13-2 Alarms related to RS-485 communication ...............................................................................................................................316
6 Method of control via industrial network
1 Flow of setting required for control via
industrial network ...............................................................................................................................................318
2 Setting of switches ..............................................................................................................................................319
2-1 Protocol .................................................................................................................................................................................................319
2-2 Address number (slave address) ..................................................................................................................................................320
2-3 Transmission rate...............................................................................................................................................................................320
2-4 Termination resistor .........................................................................................................................................................................320
5
3 Method of control via CC-Link communication .............................................................................................322
3-1 Guidance ..............................................................................................................................................................................................322
3-2 Operation example of command selection method ............................................................................................................327
3-3 Operation example of command xation method ...............................................................................................................334
4 Method of control via EtherCAT communication ..........................................................................................340
4-1 Guidance ..............................................................................................................................................................................................340
4-2 Basic operating procedures ...........................................................................................................................................................345
5 Group function.....................................................................................................................................................348
5-1 Group address ....................................................................................................................................................................................349
5-2 Group action modes ........................................................................................................................................................................349
6 Simple direct data operation ............................................................................................................................352
6-1 Types of simple direct data operation .......................................................................................................................................352
6-2 How to use simple direct data operation monitor 0 ............................................................................................................353
6-3 How to use simple direct data operation monitor 1 ............................................................................................................355
7 Detection of communication errors ................................................................................................................357
7-1 Communication errors ....................................................................................................................................................................357
7-2 Alarms ....................................................................................................................................................................................................358
7 Address/code lists
1 Update timing of parameters ............................................................................................................................360
2 I/O commands ......................................................................................................................................................361
3 Group commands ................................................................................................................................................363
4 Protect release commands ................................................................................................................................364
5 Direct data operation commands ....................................................................................................................365
6 Simple direct data operation commands .......................................................................................................367
7 Maintenance commands....................................................................................................................................368
7-1 How to execute maintenance commands ...............................................................................................................................369
8 Monitor commands .............................................................................................................................................370
9 Overview of operation data R/W command address arrangement ...........................................................381
9-1 Overview of direct reference .........................................................................................................................................................382
9-2 Overview of oset reference .........................................................................................................................................................382
9-3 Overview of direct reference (compatible) ..............................................................................................................................382
10 Operation data R/W commands .......................................................................................................................383
10-1 Direct reference (Modbus communication) ............................................................................................................................383
10-2 Oset reference (Modbus communication) ............................................................................................................................388
10-3 Oset reference (industrial network) .........................................................................................................................................388
11 Operation data R/W commands (compatible) ...............................................................................................395
11-1 Direct reference (Modbus communication) ............................................................................................................................395
11-2 Direct reference (industrial network) .........................................................................................................................................396
6
12 Operation I/O event R/W commands ...............................................................................................................398
12-1 Setting method ..................................................................................................................................................................................398
12-2 Direct reference .................................................................................................................................................................................398
12-3 Oset reference .................................................................................................................................................................................400
13 Extended operation data setting R/W commands ........................................................................................402
14 Parameter R/W commands ................................................................................................................................403
14-1 Driver action simulation setting parameter ............................................................................................................................403
14-2 Base setting parameters .................................................................................................................................................................403
14-3 Position coordinate parameters...................................................................................................................................................404
14-4 Operation parameters .....................................................................................................................................................................405
14-5 Direct data operation parameters ...............................................................................................................................................405
14-6 ABZO sensor setting parameters .................................................................................................................................................406
14-7 Mechanism settings parameters .................................................................................................................................................406
14-8 Initial coordinate generation & wrap coordinate parameters ..........................................................................................407
14-9 JOG/HOME/ZHOME operation information setting parameters .....................................................................................407
14-10 Power removal function setting parameters ..........................................................................................................................409
14-11 Alarm setting parameters ..............................................................................................................................................................409
14-12 Information setting parameters ...................................................................................................................................................409
14-13 I/O parameter .....................................................................................................................................................................................412
14-14 Direct I/O setting parameters .......................................................................................................................................................416
14-15 Remote I/O setting parameters ....................................................................................................................................................419
14-16 Extended input setting parameters ...........................................................................................................................................422
14-17 Dierential output setting parameters .....................................................................................................................................422
14-18 Virtual input parameters .................................................................................................................................................................423
14-19 User output setting parameters ...................................................................................................................................................424
14-20 Driver mode setting parameters .................................................................................................................................................424
14-21 LED status indication setting parameters ................................................................................................................................425
14-22 RS-485 communication setting parameters ............................................................................................................................425
14-23 Indirect reference setting parameters .......................................................................................................................................427
14-24 Our exclusive parameters for maintenance. ............................................................................................................................428
15 I/O signal assignment list ...................................................................................................................................429
15-1 Input signals ........................................................................................................................................................................................429
15-2 Output signals ....................................................................................................................................................................................430
8 Measures for various cases
1 Vibration suppression ........................................................................................................................................434
1-1 LPF (speed lter) and moving average lter............................................................................................................................434
1-2 Smooth drive function ....................................................................................................................................................................435
1-3 Resonance suppression ..................................................................................................................................................................436
2 Suppression of heat generation and noise ....................................................................................................437
2-1 Automatic current cutback function ..........................................................................................................................................437
2-2 Current control mode ......................................................................................................................................................................437
2-3 Ramp up/ramp down rate of operating current ....................................................................................................................440
2-4 Deviation acceleration suppression ...........................................................................................................................................440
7
3 Backup of data of
MEXE02
in driver ...............................................................................................................441
4 Check of product information...........................................................................................................................442
5 Copying the setting value of the ABZO sensor to a driver ..........................................................................444
6 Indicating the warning before writing data ...................................................................................................445
7 Monitoring of load factor...................................................................................................................................447
8 Utilizing the waveform monitor .......................................................................................................................448
9 Alarm and information
1 Alarms ....................................................................................................................................................................452
1-1 Alarm reset ...........................................................................................................................................................................................452
1-2 Alarm records......................................................................................................................................................................................452
1-3 Alarm generation conditions ........................................................................................................................................................452
1-4 Alarm list ...............................................................................................................................................................................................453
1-5 Monitor of alarm records ................................................................................................................................................................460
1-6 Timing charts ......................................................................................................................................................................................464
2 Information ...........................................................................................................................................................466
2-1 Information records ..........................................................................................................................................................................469
2-2 Information list ...................................................................................................................................................................................469
2-3 Monitor of information function .................................................................................................................................................472
3 Utilization for maintenance of equipment .....................................................................................................473
3-1 Cumulative load .................................................................................................................................................................................473
3-2 Tripmeter (travel distance) and odometer (cumulative travel distance) .......................................................................475
3-3 Latch function ....................................................................................................................................................................................476
10 Extended setting for pulse-input operation
1 Flow of operation and extended setting ........................................................................................................482
2 Setting with switches (only for pulse-input type) .........................................................................................483
2-1 Resolution ............................................................................................................................................................................................483
2-2 Pulse input mode ..............................................................................................................................................................................484
2-3 Operating current .............................................................................................................................................................................484
2-4 Command lter ..................................................................................................................................................................................485
3 Extending settings by parameters ...................................................................................................................487
3-1 Resolution ............................................................................................................................................................................................487
3-2 Pulse input mode ..............................................................................................................................................................................487
3-3 Operating current .............................................................................................................................................................................489
3-4 Command lter ..................................................................................................................................................................................489
4 I/O signals related to pulse-input operation ..................................................................................................491
4-1 LED (only for the pulse-input type) ............................................................................................................................................491
4-2 Input signals ........................................................................................................................................................................................491
4-3 Output signal ......................................................................................................................................................................................492
4-4 Timing chart ........................................................................................................................................................................................494
8
5 Monitor function .................................................................................................................................................495
5-1 I/O position output function .........................................................................................................................................................495
5-2 Pulse request function.....................................................................................................................................................................497
6 Push-motion operation ......................................................................................................................................499
6-1 Preparation for operation ...............................................................................................................................................................499
6-2 Performing the push-motion operation ...................................................................................................................................502
6-3 Timing chart ........................................................................................................................................................................................503
11 Appendix
1 Change of function of HOME PRESET switch .................................................................................................506
2 Change of assignments of A-phase/B-phase outputs ..................................................................................507
3 LEDs on the driver ...............................................................................................................................................509
3-1 Lighting state of LEDs ......................................................................................................................................................................509
3-2 Change of lighting condition of LED ..........................................................................................................................................510
4 Simulating the driver operation .......................................................................................................................511
4-1 Preparation and operating procedure of the driver simulation mode ..........................................................................512
4-2 Coordinate ...........................................................................................................................................................................................516
4-3 Monitor .................................................................................................................................................................................................517
4-4 Operation .............................................................................................................................................................................................518
4-5 I/O signals .............................................................................................................................................................................................519
4-6 Alarm .....................................................................................................................................................................................................520
5 Use of general signals .........................................................................................................................................521
9
1 Characteristics of the
HOME
(3)
-
LS +LS
ABZO sensor
stored in the AZ Series
Built-in ABZO sensor
The ABZO sensor is a small-sized low-cost mechanical multirotation absolute sensor that does not require a battery.
It can detect the absolute positions for 1800 revolutions of the
motor shaft from the reference home position, so the position is
never missed.
* The motors of frame size 20 mm (0.79 in.) or 28 mm (1.10 in.) are for 900
revolutions.
No external sensor is required
Return-to-home operation can be executed without using external sensors such as the home position sensor and
limit sensors.
zSaving of wiring
AZ
Series
zCost-cutting for the system
zNot inuenced by malfunction of the sensor
No external sensor is required
Return-to-home time has been shortened
zNo return-to-home operation is required
Since the position information is maintained even if the power is interrupted, positioning operation can be continued
without return-to-home operation after emergency stop or power failure.
zHigh-speed return-to-home
Since the ABZO sensor stores the home position, the motor can return to the home position at a high speed.
Home position detection of traditional position-
control motors
The home position is detected at a low speed by sensing
the limit sensor and the home position sensor.
(2)
(1)
Home position detection of the AZ
Series
The motor directly returns to the home position
stored in the ABZO sensor at a high speed.
(1)
Home position
10
No battery is required
No battery is required because the position information is maintained by the ABZO sensor.
zReduction of maintenance frequency
zReplacing a battery is not required
zThe position information is maintained for a long transportation period of equipment
11
2 Operations possible with the
Speed
Time
START input
Speed
Time
START input
Push-motion
Speed
Time
START input
Speed
Coordinate
Loop oset
push-motion
Sensor
Speed
AZ
Series
Execute operation by setting the motor operating speed, position (travel amount)
and other items as operation data
Stored data (SD) operation p.55
Positioning operation is performed. Push-motion operation is performed. Continuous operation is performed.
0
Positioning SD
operation
The command position of the rotating mechanism is returned to "0" for
every rotation.
p.66
Positioning push-motion
0
SD operation
p.75
0
Continuous SD
operation
p.78
The position and the speed can be set easily
with the
MEXE02.
Wrap function p.142
Use of sequence function
Linked operations are repeated for the number of times specied.
When you use the loop oset function, you can increase or decrease the travel amount every time the operation is repeated.
Absolute positioning
operation
X-axis
Absolute positioning
operation
Loop function p.93 Loop oset function
Operation is transited by setting an arbitrary I/O signal as a trigger.
The motor can transit to a dierent operation depending on whether or not the trigger signal has been detected.
Torque control
Push-motion
operation
Coordinate
With push-motion
Continuous
operation
Z-axis
Absolute positioning
operation
Event jump function p.95
12
Without
Return to the home position
ABZO sensor
HOME
(3)
-
LS +LS
The motor returns to the home position at the speed same
as normal positioning operation without using an external
sensor.
(1)
Home position
stored in the AZ Series
High-speed return-to-home
operation
p.105 Return-to-home operation p.107
The motor returns to the home position by using external
sensors or the stopper on the machine.
(2)
(1)
Perform test operation and operation check
zMacro operation (_p.121)
A specic input signal is turned ON to execute the operation corresponding to the signal.
The operating speed, travel amount, acceleration/deceleration rate are set with parameters.
Start operation at the same time as writing of operation data
(Modbus RTU)
zDirect data operation (_p.302)
You can use this operation to change the setting of operation data frequently, to change the speed and travel amount
according to the load, for example.
When the data of the trigger set to be reected is input by using the touch panel, etc., it is reected to the operation
at the same time as input.
Perform operation by inputting pulses
zPulse-input operation (_p.481)
Operation data are set to the master controller to execute operation. The operation data to be executed are selected
in the master controller.
Pulse input operation cannot be executed with the built-in controller type driver.
13
3 Types and overview of driver
There are 3 types of drivers in the AZ Series as shown below. I/O signals, setting items, and LEDs vary depending on
the driver type.
AC power input type
Built-in controller type
Operates via industrial network
Monitors the motor information via a
programmable controller or touchscreen
Operates via RS-485 communication
Operates via I/O control
Pulse input type with RS-485
communication interface
Operates via industrial network
Monitors the motor information via a
programmable controller or touchscreen
Operates via RS-485 communication
Operates via I/O control
Operates by pulse input
PWR/ALM LED
C-DAT/C-ERR LED
Address number
Transmission rate
Function setting switch
Protocol
Address number (extended)
1
2
1
2
13
Pin Nos.1, 2, 13, and 14
14
are for control input
Pin No.1
Pin No.2
Pin No.13
Pin No.14
PWR/ALM LED
C-DAT/C-ERR LED
Address number
Transmission rate
Function setting switch
Protocol
Address number (extended)
13
Pin Nos.1, 2, 13, and 14
14
are for pulse input
Pin No.1
Pin No.2
Pin No.13
Pin No.14
DIN0 [START]
DIN2 [M1]
DIN1 [M0]
DIN3 [M2]
CW+ [PLS+]
CCW+ [DIR+]
CW- [PLS-]
CCW- [DIR-]
Pulse input type
Operates by pulse input
14
PWR/ALM LED
READY LED
Base current rate
Command lter
Function setting switch
Pulse input mode
Resolution
1
2
13
Pin Nos.1, 2, 13, and 14
14
are for pulse input
Pin No.1
Pin No.2
Pin No.13
Pin No.14
CW+ [PLS+]
CCW+ [DIR+]
CW- [PLS-]
CCW- [DIR-]
DC power input type
Built-in controller type
POWER/ALARM LED
C-DAT/C-ERR LED
Function setting switch
Protocol
Address number (extended)
Address number
Transmission rate
Operates via industrial network
Monitors the motor information via a
programmable controller or touchscreen
Operates via RS-485 communication
Operates via I/O control
Pulse input type with RS-485
communication interface
POWER/ALARM LED
C-DAT/C-ERR LED
Operates via industrial network
Monitors the motor information via a
programmable controller or touchscreen
Operates via RS-485 communication
Operates via I/O control
Operates by pulse input
1
2
13
Pin Nos.1, 2, 13, and 14
14
are for control input
Pin No.1
Pin No.2
Pin No.13
Pin No.14
DIN0 [START]
DIN2 [M1]
DIN1 [M0]
DIN3 [M2]
Function setting switch
Protocol
Address number (extended)
Address number
Transmission rate
1
2
13
Pin Nos.1, 2, 13, and 14
14
are for pulse input
Pin No.1
Pin No.2
Pin No.13
Pin No.14
CW+ [PLS+]
CCW+ [DIR+]
CW- [PLS-]
CCW- [DIR-]
Pulse input type
POWER/ALARM LED
READY LED
Operates by pulse input
When "PULSE-I/F" is described in this manual or the
When "PULSE-I/F" is described in this manual or the
•Pulse input type with RS-485 communication interface.
•Pulse input type
MEXE02
Function setting switch
Pulse input mode
Resolution
Base current rate
Command lter
1
2
13
Pin Nos.1, 2, 13, and 14
14
are for pulse input
Pin No.1
Pin No.2
Pin No.13
Pin No.14
CW+ [PLS+]
CCW+ [DIR+]
CW- [PLS-]
CCW- [DIR-]
MEXE02
, the contents are applied to the following drivers.
15
4 How to use OPERATING MANUALS for
product
OPERATING MANUALS for the AZ Series are listed below.
The OPERATING MANUAL Function Edition (this manual) does not come with the product.
Always keep the manual where it is readily available.
Type and description of OPERATING MANUAL
Read these manuals rst
Series AC Power Input/DC Power Input
AZ
•Motor Edition (supplied with the motor)
•Driver Edition (supplied with the driver)
These manuals explain items from preparation to basic
operations, etc.
This manual explains more detailed operations, functions,
etc. that are not described in OPERATING MANUAL
supplied with the product.
Series AC Power Input/DC Power Input
AZ
•Function Edition (this manual)
•The setting unit may vary depending on the application such as the
Note that when you set the operation data and parameters.
This manual use a setting unit "step" for explanation.
•This manual describes the contents of the driver Ver.4.00 and later.
Note that some functions can not be used in a driver older than Ver.4.00.
You can check the driver version on the unit information monitor of the
Series UL APPENDIX
AZ
•APPENDIX UL Standards for the AZ Series
* Attached to the UL Standard qualied product.
•Before starting operation
•Operation
•I/O signals
•Parameter
•Method of control via Modbus RTU (RS-485
communication)
•Method of control via industrial network
•Address list
•Measures for various cases
•Alarm and information
•Extended setting for pulse input operation
MEXE02.
This appendix includes information required for
certication of the UL Standards.
MEXE02.
(
_
p.442)
16
Type and description of OPERATING MANUAL
Motorized actuator
•Actuator Edition (supplied with the actuator)
•Function Setting Edition
The Actuator Edition explains setting methods and
maintenance for actuators.
The Function Setting Edition explains settings of
parameters required for when an actuator is combined
with a driver.
Network Converter
•USER MANUAL
About terms and units
Terms and units to be used vary depending on a motor or motorized actuator. This manual explains by using the
terms of the motor.
When the motorized actuator is used, read this manual by replacing the terms.
Ter m
Unit
Motor Motorized actuator
Torque Thrust force
Moment of inertia Mass
Rotation Movement
CW direction Forward direction
CCW direction Reverse direction
Rotation speed Speed
Resolution Minimum travel amount
N·m N
kHz/s m/s
2
This manual explains functions, installation/connection
methods, operating methods and others about the
network converter.
17
5 Expansion of supported contents
For drivers of the AZ Series, the rmware can be updated using the support software
Download the latest
•Stop the motor before starting the update of rmware.
•Check on the Oriental Motor Website for the latest rmware version.
1. Click on [AZ driver rmware update] from the
[Support] menu.
2. Click [OK].
3. Click [Yes].
Updating the rmware starts.
•Do not turn o the driver power until the update of rmware is completed.
•Once the update of rmware is executed, the version cannot be returned to the previous one.
•If the rmware has already been updated, the following dialog box is shown.
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from Oriental Motor Website Download Page.
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(ver.3.51 or later).
4. After it is completed, click [OK].
The rmware version can be checked with the unit information monitor.
Even if the rmware is updated, the settings for the operation data and parameters before updating
have been retained.
18
1
Before starting operation
This chapter explains contents to be performed before starting
operation.
1 Steps of preparation for operation .........................................................................20
2 Starting the
3 Copying the xed value (parameter) of the ABZO sensor to driver ........... 22
4 Creation of recovery data le and method of recovery .................................. 24
5 Setting of display unit and resolution ................................................................... 29
6 Home position setting ................................................................................................ 36
7 Wrap setting ................................................................................................................... 39
8 Setting of software limit ............................................................................................. 44
9 Operation check ............................................................................................................ 47
10 Backup of data ............................................................................................................... 50
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................................................................................................. 21
Steps of preparation for operation
1 Steps of preparation for operation
1 Before starting operation
To prepare for operation, use the
Since the procedure is dierent in motors and motorized actuators, perform the preparation for operation according
to the product used.
Motor (standard type/geared type) Motorized actuator
Setting of display unit and resolution
p.29
_
Set the display unit and resolution with the "User unit
setting support wizard" of the
Home position setting
Wrap setting
Set the wrap function as necessary.
_
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_
p.39
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p.36
.
Starting the
.
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Match the xed value of the ABZO sensor with the setting
p.21
_
Copying the xed value (parameter)
of the ABZO sensor to driver _p.22
value of the driver parameter in the
Creation of recovery data le and method of
recovery _p.24
Save the information of the factory setting.
Perform before installing to equipment without fail.
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.
Setting of software limit
If a sensor is not used, the setting of the software limit is recommended.
Operation check
Check the set operation with "Teaching, remote operation" of the
Backup of data
Back up the set data.
_
_
_
p.47
p.50
p.44
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.
20
Starting the MEXE02
2 Starting the
1. Connect the PC on which the
1) Start the
2) Connect the driver and PC with a USB cable.
3) Turn on the power to the driver.
2. Set the communication port.
1) Click [Setting of the communication] from the
[Communication] menu.
2) Select the "ORIENTAL MOTOR/Common virtual
COM port", and click [OK].
3. Select the product.
1) Click the [New] icon in the toolbar.
2) Click [Search model] on the Select product
window.
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.
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has been installed and a driver.
1 Before starting operation
3) Check the connected product is selected and
click [OK].
For the pulse input type driver, if No.1 of the function setting switch (SW1) is set to ON (10,000 P/R),
"Resolution 10,000 P/R" is selected in the "Motor/actuator" eld on the "Select product" window. If
"Resolution 10,000 P/R" is selected, the setting by the user unit setting support wizard cannot be
performed. When the resolution is set with the parameter, set the No.1 of the SW1 to OFF. The new
settings of SW1 will become eective after the power is cycled.
After this, the procedure varies based on the product used. Refer to the corresponding page.
Customers who use the standard type and geared type motors _p.29
Customers who use motorized actuators _p.22
21
1 Before starting operation
Copying the xed value (parameter) of the ABZO sensor to driver
3 Copying the xed value (parameter) of
the ABZO sensor to driver
For parameters of the AZ Series, the dierent values are stored in the ABZO sensor and driver.
The values based on the product specications such as recommended macro operation and position coordinate
information are stored in the ABZO sensor. The values stored in the ABZO sensor cannot be changed because of the
xed value.
Meantime, the values for the standard type (motor only) are stored in the driver parameters.
In a state of the factory shipment, parameters stored in the ABZO sensor are used preferentially. However, if
parameters are changed with the
be changed to the values set in the driver parameters. Therefore, an unexpected movement may cause when an
operation is executed. In order to prevent such troubles, copy the xed value in the ABZO sensor to the driver
parameter, and match the setting value of the driver parameter and the xed value of the ABZO sensor.
After writing the parameter (example: electronic gear, etc.), which was changed to [Manual setting]
and set, from the
parameter that was changed with the manual setting does not return to the xed value.
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or other methods, all parameters including the changed parameters will
to the driver, even if the xed value of the ABZO sensor is copied, the
Procedure
1. Click the [Communication] menu of the
select the [Copy the ABZO (xed) information to the
driver in a lump].
2. Click [Yes].
The ABZO information (xed value) is copied in the
driver.
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, and
22
3. After it is completed, click [OK].
4. Cycle the driver power.
5. Check whether the copied value is applied on the unit
information monitor window.
Copying the xed value (parameter) of the ABZO sensor to driver
zUnit information monitor window
1 Before starting operation
zDescription of each item
Item Description
Active Parameter value presently used is shown.
Driver parameter Parameter value set in the driver using the
ABZO (xed)
The values of parameters stored in the ABZO sensor are shown.
They cannot be changed because of the xed value.
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or communication is shown.
23
1 Before starting operation
Creation of recovery data le and method of recovery
4 Creation of recovery data le and
method of recovery
4-1 Creating the recovery data le
The recovery data le is a le that information of the factory setting is stored.
At the beginning, create the recovery data le for when the product is replaced with maintenance or the product is
malfunctioned.
Save the recovery data le in a PC as a data le.
•If you are the customer to use a motorized actuator, create the recovery data le without fail.
•Be sure to create the recovery data le before installing the motorized actuator to equipment.
Creating procedure for recovery data le
1. Start the
Check the connected product is selected.
2. Copy the ABZO information (xed value).
1) Click [Copy the ABZO (xed) information
2) Click [Yes].
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to the driver in a lump] from the
[Communication] menu.
The ABZO information (xed value) is
copied in the driver.
in the steps of "2 Starting the
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" on p.21.
24
3) After it is completed, click [OK].
4) Cycle the driver power.
3. Read the ABZO information stored in the driver.
1) Click the [Data reading (Product → PC)]
from the [Communication] menu or click
the [Data reading (Product → PC)] icon in
the toolbar.
2) Click [OK].
Data reading is started.
3) After it is completed, click [OK].
The read data is shown on the screen.
Creation of recovery data le and method of recovery
or
1 Before starting operation
4. Create the recovery data le.
Click [Save as] from the [File] menu.
A desired le name and storage destination
can be used.
The factory setting of the motorized actuator is saved as the recovery data le.
For the recovery, create two les that are the recovery data le stored the factory setting and the nal
backup le (
have been created in advance, the equipment can be restored smoothly.
p.50) applied the operation data and others. If the recovery data le and backup le
_
25
1 Before starting operation
Creation of recovery data le and method of recovery
4-2 Method of recovery
The recovery can be performed under the precondition of having created the recovery data le according to the "4-1
Creating the recovery data le" on p.24.
When the motor or driver was replaced, be sure to perform the recovery and the home
position resetting. Unless the recovery and the home position resetting are performed, the
followings may happen.
•The moving part may cause unexpected operations, resulting in injury or damage to
equipment.
•The moving part of the motorized linear slide or motorized cylinder may collide with the
mechanical stopper.
•A load may collide with other equipment.
•If "Search model" is performed with the
identied as the AZ Series "Standard/geared motor."
•Refer to the OPERATING MANUAL Actuator Edition for how to replace the motor.
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after the motor is replaced, the product is
When the motor and driver were malfunctioned
1. Replace the motor and driver, and turn on the power.
2. Open the recovery data le in the
1) Click the [Open] from the [File] menu or click
the [Open] icon in the toolbar.
Select the recovery data le, and click [Open].
3. Check the data is correct, and write to the driver in the following steps.
1) Click the [Data writing (PC → product)] from
the [Communication] menu or click the [Data
writing (PC → product)] icon in the toolbar.
2) Select the [All], and click [OK].
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.
or
or
26
3) Click [Yes].
Writing data is started.
If the following message appears, click [Yes].
4) After it is completed, click [OK].
5) Cycle the driver power.
Creation of recovery data le and method of recovery
4. Read the information of the factory setting written to the driver.
When the motor is replaced, set the home position again after reading the driver information.
The communication function of the
1) Click the [Data reading (product → PC)] from
the [Communication] menu or click the [Data
reading (product → PC)] icon in the toolbar.
2) Click [OK].
Data reading is started.
If the following message appears, click [Yes].
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cannot be used without reading the driver information.
or
1 Before starting operation
3) After it is completed, click [OK].
The read data is shown on the screen.
All data and parameters in the driver including the ABZO information were read in the
5. Refer to p.36 and set the home position again.
6. Refer to p.24 and create the recovery data le for the product after replacement.
Save the read driver information as the new recovery data le.
The details of the written parameters can be checked with the "unit information monitor."
When the driver was malfunctioned
1. Replace the driver, and turn on the power.
2. Open the recovery data le in the
1) Click the [Open] from the [File] menu or click
the [Open] icon in the toolbar.
Select the recovery data le, and click [Open].
3. Check the data is correct, and write to the driver in the following steps.
1) Click the [Data writing (PC → product)] from
the [Communication] menu or click the [Data
writing (PC → product)] icon in the toolbar.
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.
or
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or
.
27
1 Before starting operation
Creation of recovery data le and method of recovery
2) Select the [All], and click [OK].
3) Click [Yes].
Writing data is started.
4) Click [OK].
5) Cycle the driver power.
The details of the written parameters can be checked with the "unit information monitor."
When the motor was malfunctioned
1. Replace the motor, and turn on the power.
2. Read the driver information to the PC.
When the motor is replaced, set the home position again after reading the driver information.
The communication function of the
1) Click the [Data reading (product → PC)] from
the [Communication] menu or click the [Data
reading (product → PC)] icon in the toolbar.
2) Click [OK].
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cannot be used without reading the driver information.
or
28
3) After it is completed, click [OK].
The read data is shown on the screen.
All data and parameters in the driver including the ABZO information were read in the
3. Refer to p.36 and set the home position again.
4. Refer to p.24 and create the recovery data le for the product after replacement.
Save the read driver information as the new recovery data le.
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.
Setting of display unit and resolution
5 Setting of display unit and resolution
The display unit and resolution can be set using the "User unit setting support wizard" of the
amount, speed and others can be displayed or input by a desired unit.
5-1 Setting example for when an index table is used
1. The display unit and resolution can be set using the "User unit setting support wizard."
1) Click [System of units customize wizard].
The window of the user unit setting
support wizard is shown.
2) Click [Next].
3) Select the mechanism used.
Select the [Table mechanism], and click
[Next].
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. The travel
1 Before starting operation
4) Set the mechanism information.
When the "table" is selected, the setting of
the mechanism information is not
required. Click [Next].
29
1 Before starting operation
Setting of display unit and resolution
5) Set the speed reduction ratio of the gears.
This is an example for when the geared
motor of the gear ratio 10 is used.
Set as shown in the gure, and click [Next].
When gears or pulleys are not used externally, select "Use the factory default settings of selected
product," and click [Next].
6) Set the minimum step angle of the table.
This example is set as "0.01°." Input "0.01",
and click [Next].
*1 The set contents are shown.
Since the wrong setting is indicated in
red color, set it again.
*2 If there is a wrong setting, the wrong
content and remedial actions are
indicated.
*1
When the wrap function (_ p.39) is used, set so that the resolution per revolution of the motor output
shaft is an integral number.
7) Set the display unit.
Select "deg" here, and click [Next].
The unit for when operating via network is "step."
*2
30
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