Orientalmotor CM10 Operating Manual
Controller Module
CM10 Series
OPERATING MANUAL
Thank you for purchasing an Oriental Motor product.
This Operating 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.
This Operating Manual supports the firmware version 2.1x.
HP-13014-7
Table of Contents
- 2 -
1 Before Use ........................................... 3
1.1 Main Features ................................................ 3
1.2 About Function Improvements..........................4
1.3 System Configuration .......................................6
1.4 Operating Methods ........................................... 7
1.5 Immediate Motion Creator
for CM/SCX Series.... 8
1.6 Standards and CE Marking............................... 8
2 Safety Precautions ...........................................9
3 Precautions for Use ......................................... 11
4 Preparation ......................................... 12
4.1 Checking the Product ..................................... 12
4.2 How to Identify the Product Model .................. 12
4.3 Combinations of CM10 and Drivers ............... 13
4.4 Names and Functions of Parts........................ 14
5 Installation ......................................... 15
5.1 How to Install CM10 on the Driver.................. 15
5.2 Installing the Driver ......................................... 18
5.3 Installing and Wiring in Compliance
with EMC Directive... 18
6 Connection ......................................... 20
6.1 Overview .............................................. 20
6.2 Connecting the Power Supply ........................ 21
6.3 Connecting the USB and Installation
of Utility Software ..... 22
6.4 Connecting the I/O Signals ............................. 25
6.4.1 Pin Assignments...........................................25
6.4.2 Input Signals .............................................. 27
6.4.3 Output Signals .............................................. 30
6.4.4 Connection Example of I/O........................... 33
6.5 Driver I/O Setting (CM10-1 and CM10-3) ..... 35
6.6 Connecting the RS-232C................................ 37
6.7 Connecting the CANopen ............................... 39
6.8 Connecting the External Encoder ................... 40
7 Start Up (Immediate Command).......................... 42
7.1 Overview .............................................. 42
7.2 Preparation .............................................. 42
7.3 Setting the User Unit....................................... 43
7.4 Making the Motor Move
(Immediate Command).... 46
7.5 Command Format........................................... 47
8 Features ......................................... 48
8.1 Overview .............................................. 48
8.2 Motion Types ..............................................49
8.2.1 PTP (Point-to-Point) Motions ........................ 49
8.2.2 Linked Motions ............................................. 50
8.2.3 Continuous Motions...................................... 51
8.2.4 Electrical Home Position
and Mechanical Home Position ..... 53
8.2.5 Mechanical Home Seeking ...........................55
8.3 Stopping Motion and Sequence ......................64
8.4 Teaching Positions ..........................................65
8.5 Torque Limiting/Push-motion Operation
(CM10-1, 5)......68
8.6 Driver Current Position Reading
(CM10-1, 3, 5) .....71
8.7 Multi Axis Operation ........................................75
8.8 END (motion end) Signal ................................76
8.9 Encoder Function ............................................77
8.10 Math/Logical/Conditional Operators ................80
8.11 User Variables ...............................................81
8.12 View and Test Functions .................................82
8.13 Protective Functions........................................86
9 Program Creation and Execution ........................87
9.1 Overview ...............................................87
9.2 Operating Modes.............................................88
9.3 Preparation ...............................................89
9.4 Creating a New Sequence ..............................89
9.5 Sample Programs ...........................................94
9.6 Executing a Sequence ....................................96
9.7 Error Messages Displayed on the Terminal .....98
10 Control by CANopen Communication...............103
10.1 Overview .............................................103
10.2 Transmission Speed and ID Setting ..............103
10.3 LED Indication .............................................104
10.4 Controlling I/O Message (PDO).....................105
10.5 I/O Message Format (PDO) .......................... 114
10.6 I/O Message Command Code List (PDO) .....117
10.7 Object Dictionary (SDO)................................120
11 Timing Charts ........................................123
12 Command Reference ........................................131
12.1 Command List .............................................131
12.2 I/O Signal and Command Structure...............141
12.3
Command Description...................................142
13 Troubleshooting ........................................338
13.1 Protective Functions and Troubleshooting ....338
13.2 Types of Protective Functions (Alarms).........340
14 Inspection ........................................343
15 Specifications ........................................344
Appendix A Signals for Driver.................................351
A.1 Connector Pin Assigment for Driver ..............351
A.2 Input Signals for Driver..................................356
A.3 Output Signals for Driver...............................359
Appendix B How to Send Commands
Using ASCII Strings ....361
Appendix C TIPS ........................................363
1 Before Use
- 3 -
1 Before Use
1.1 Main Features
The CM10 Series controller module is a programmable controller that instantly makes a conventional driver a
powerful indexer/driver and network ready.
Easy Installation, Easy Operation
•
Snap on style
Just snap CM10 on to your driver and you are done. You no longer need to hassle with complicated wiring
and installation. Everything you need to perform position control is now at your fingertips, by combining
Oriental Motor’s standard motor/actuator and driver packages. Oriental Motor’s extensive product lineup
includes stepping motor/gear/brake and driver packages, servo motor/gear/brake and driver packages, and
linear sliders/actuators and driver packages.
•
Friendly GUI
While all commands for the CM10 can be executed using any general terminal software, a Windows based
utility software, the Immediate Motion Creator for CM/SCX Series (IMC), is provided. The IMC
features include instant operation, easy programming and configuration without needing to know the CM10
commands. Real time monitoring of position and feedback, I/O status are also provided. Everything is
intuitive. Once you install the IMC on your computer, you can make your desired motion in a few seconds.
•
User Unit
In the CM10, actual motion distance of user application, such as "mm," "inch" and "revolution" is used,
instead of pulse unit that is commonly used in pulse generates and motor controllers. The CM10 converts it
to pulses for you. Any unit can be used.
Versatile Connections
•
USB
The CM10 has a USB port on the front panel. When you perform the initial setup of the CM10, directly
connect it to your computer. Commercially available USB2.0 cables (mini-B type) are compatible. This
becomes an advantage during maintenance, since a special cable or converter is not required, unlike
RS-485/232C products. USB can also be used for all functions, including network operation.
•
CANopen
The CM10 comes equipped with CANopen as standard. Sequence selection and execution can be made
through CANopen as well as commanding incremental motion. CANopen for the CM10 is certified by CiA
(CAN in Automation).
•
RS-232C Daisy Chain (Multi Axis Control)
While RS-232C is available as a standard connection to the master controller, daisy chain connection is also
supported for multi axis control. Other Oriental Motor products such as the
-One can be connected
together.
•
External Encoder Input
The CM10 has external encoder input. Feedback position is always monitored, and can be used for general
purpose as well as miss-step detection and mechanical home seeking (zero position). The external encoder
inputs are compatible with line driver, open collector and TTL Signals. A 5V output for encoder power is also
included.
•
Configurable I/O
While all connections to the drivers are included, the CM10 has 9 general inputs and 4 general outputs.
Various commands such as start, stop, pause, end, brake and current can be assigned to any I/O point.
Sequence programs can also be selected through these inputs. Connect these I/O to PLC, switches, sensors
and even other actuators. By using the powerful programming functions of the CM10, simple systems can be
configured without a PLC or computer.
1 Before Use
- 4 -
Simple Operations
•
Immediate and Program
You may directly command each motion by a computer or PLC via serial ports, and immediately operate a
motor. You may also store programs in the CM10, and execute them via serial ports or I/Os. The motor will
automatically be operated according to the stored sequence. For your freedom, there is no limitation to
number of lines in each program and up to 100 programs can be stored.
•
Over 250 Commands
The CM10 has various commands including motion control, I/O control, sequence control and status
monitoring. Subroutines, math/logical operators and user variables are ready for sophisticated program
creation. Motion control is versatile with 6 types of stopping and pausing, 13 types of mechanical home
seeking. With these, you can do almost anything you wish.
1.2 About Function Improvements
The CM10 is continuously improving functions and adding new features. The following lists show the major
changes that have been made until now. Note that the utility software and the EDS file for CANopen are also
changed in conjunction with updating the firmware of the main unit.
Added and changed functions with the firmware Ver.2.0x (Released in August to October, 2011)
Feature Content Page
Controller Module
Model
Reading the drivers’ current position
(absolute position) and home preset
functions are added
8.6 Driver Current Position
Reading (CM10-1, 3, 5)
71 CM10-1, 3, 5
8.5 Torque Limiting/Push-motion
Operation (CM10-1, 5)
68 Torque limiting/push-motion
operation functions are added
12 Command Reference
･TL: Torque Limiting/Push-motion
Operation/Current Cutback
Release
321
CM10-1, 5
8.5 Torque Limiting/Push-motion
Operation (CM10-1, 5)
68
6.4.3 Output Signals
･LC (limiting condition) Output
31
Limiting condition output (torque
limiting/push-motion operation) is
added
A.2 Input Signals for Driver
･LC (limiting condition) Input
357
CM10-1, 2, 5
Sensor-less (push-motion type)
home seeking operation is added
8.2.5 Mechanical Home Seeking
・Sensor-less Mechanical Home
Seeking Operation for
"HOMETYP=12"
59 CM10-3
Driver operation ready (READY)
/motor moving (MOVE) can be input
6.4.3 Output Signals
･READY (operation ready) Output
･MOVE (motor moving) Output
31 CM10-1, 3, 5
Expanded the deviation counter
clear selections during mechanical
home seeking operation
8.2.5 Mechanical Home Seeking
・HOMEDCL (deviation counter
clear select at mechanical home
seeking operation)
58 CM10-1, 2, 3, 4, 5
Stopping sequence in addition to
motion, by PSTOP (panic stop)
command or input (previously
stopping motion only)
6.4.2 Input Signals
・PSTOP (panic stop) Input
27 CM10-1, 2, 3, 4, 5
Name change of TIMING signal See the following table* - CM10-1, 2, 3, 4, 5
Expansion of the applicable drivers
and addition of the automated
assignment function for the optimal
driver I/O signals to each
function/driver
6.5 Driver I/O Setting (CM10-1
and CM10-3)
35 CM10-1, 3
Program memory is expanded to 6
kB from 2 kB
15 Specifications
・"Programs" - "Size"
344 CM10-1, 2, 3, 4, 5
1 Before Use
- 5 -
∗ Name Change of TIMING Signal
Function
Previous Firmware
(Ver1.xx)
New Firmware
(Ver.2.0x)
Assignment of the timing signal (differential) DINTIM1 DINTIMDEXTZ
Assignment of the timing signal (single-ended) DINTIM2 DINTIMS
Input status of the timing signal (differential) DSIGTIM1 DSIGTIMDEXTZ
Input status of the timing signal (single-ended) DSIGTIM2 DSIGTIMS
The previous command names cannot be used in the new firmware. The functions of these new commands
remain the same.
Added and changed functions with the firmware Ver.2.10 (Released in October, 2012)
Feature Content Page
Assignment of the resuming function
from a pause status (CONT function)
is added to I/O and Remote I/O.
6.4.2 Input Signals
・CONT (continue motion) Input
28
CM10-1,2,3,4,5
A choice for "no action when
inputting SENSOR during
continuous operation"
(SENSORACT=3) is added to
SENSORACT.
(In this choice, the SENSOR input is
used with return-to-mechanical
home operation only.)
8.2.3 Continuous Motions
8.2.5 Mechanical Home Seeking
51
55
CM10-1,2,3,4,5
Sensor-less mechanical home
seeking operation (HOMETYP=12)
can be performed in the sequence,
and also the MEND function can be
used with HOMETYP=12.
8.2.5 Mechanical Home Seeking
・Sensor-less Mechanical Home
Seeking Operation for
"HOMETYP=12"
12.3 Command Description
・MEND: Wait for Motion End
59
255
CM10-3
PABS, ABSSTS, DD, DIN, DOUT,
DINSG, DOUTSG are added to the
function that can be used via
CANopen, and also PF becomes
writable.
10.7 Object Dictionary (SDO) 120
CM10-1,2,3,4,5
The encoder count (EC) becomes
writable, and MAXEC as the
maximum encoder count value is
added.
8.9 Encoder Function 77
CM10-1,2,3,4,5
ENDWAIT is added as the setting
function of the waiting time for the
motion end signal (END).
8.8 END (motion end) Signal 76
CM10-1,2,3,4,5
Be Sure to Use the Latest Version of the Utility Software Immediate
Motion Creator for CM/SCX Series (IMC)
Since the functions of the CM10 were expanded, the previous version of the IMC cannot be used. If the
previous version of the IMC was installed in your PC, update it by using the CD-ROM provided. The new
version of the IMC (Ver.2.10 or later) can be used with the previous versions of the
CM10 firmware (Ver.1.xx to 2.02).
- To check the version of the IMC and the firmware version of the CM10, use the "Help" - "Version
Information" (or "About" for previous version) function of the IMC. (When checking the firmware version, it
is required to connect the CM10 to your PC.)
- To update to the latest version of IMC, do so only when the previous version of the IMC is not running.
- The latest version of the IMC can be downloaded from the Oriental Motor Website. Check by the function for
"Help" - "Check New Version" (or "Check Version") of the IMC.
- The latest IMC (Ver. 2.10 or later) does not support the Windows 2000 since the considerable period has past
after the Microsoft discontinued to support it. The Windows XP, Windows Vista and Windows 7 are
continuously supported.
1 Before Use
- 6 -
Be Sure to Use the Correct Version 2.1 of CANopen EDS Files
The version of the EDS file that can be used depends on the firmware of the main unit. If the wrong
combination is used, there may be the functions that cannot be used or the product may not work properly. Be
sure to use the EDS file with the version that is applicable.
The following table is the combinations of the firmware and EDS file for CANopen.
Firmware Applicable EDS files
1.xx CM10.eds
2.0x CM10_2_1.eds
2.1x CM10_3_0.eds
1.3 System Configuration
A sample system configuration using the CM10 is provided below.
Immediate Motion Creator
for CM/SCX Series
(Included)
USB or RS-232C
24 VDC
CANopen
I/O signal
Driver
PC, PLC
(USB or RS-232C)
PC, PLC
(CANopen)
24 VDC
Power supply
External encoder
PLC, Switch, Sensor,
Other device
1 Before Use
- 7 -
1.4 Operating Methods
There are two ways to make the motor move, immediate command and program execution.
Immediate Command
Operate the motor by sending each command immediately from the master controller such as a computer or
PLC via RS-232C, USB or CANopen. See "7 Start Up (Immediate Command)" on page 42 for more detail.
Driver
(END, ALARM, etc.)
(END, ALARM, etc.)
Immediate command
Immediate command
PC, PLC
(USB or RS-232C)
PC, PLC
(CANopen)
Program Execution
Create sequences using a computer, save the programs into the built-in memory of the CM10, specify which
sequence name or number to run, and input the start signal to execute the sequence. The program creation is
made via USB or RS-232C, the program selection and execution are made via USB, RS-232C, CANopen or I/O
selection. See "9 Program Creation and Execution" on page 87.
Program creation
Program select and
executi on
Program select and
executi on
Program select
and execution
(END, ALARM, etc.)
(END, ALARM, etc.)
(END, ALARM, etc.)
Driver
PC, PLC
(USB or RS-232C)
PC, PLC
(CANopen)
PLC, Switch, Sensor,
Other device
Immediate
Command
Program Creation
Program Select and
Execution
USB
RS-232C
CANopen -
I/O - -
1 Before Use
- 8 -
Note
• USB and RS-232C cannot be connected and used at the same time.
• Do not use two or more masters (ex. a CANopen master and a RS-232C master) at the
same time to avoid confusion.
Memo
USB or RS-232C can be used for monitor and maintenance purposes while the CM10 is
being operated by CANopen master.
1.5 Immediate Motion Creator for CM/SCX Series
General terminal software programs (ex. Windows HyperTerminal) can be used for all commands. If you
install the exclusive utility software, Immediate Motion Creator for CM/SCX Series on your PC, just
clicking your mouse can do test operations, program creation, position teaching, parameter setup and I/O
configuration. Real time monitoring of position and feedback, along with I/O status and alarm status are also
provided.
See "6.3 Connecting the USB and Installation of Utility Software" on page 22.
1.6 Standards and CE Marking
The CE Marking (EMC Directive) is affixed to the product is accordance with EN standards.
Installation Conditions (EN Standard)
This product is to be used as a component within other equipment.
Overvoltage category: Ⅰ
Pollution degree: Ⅱ
Protection against electric shock: Class Ⅲ
For EMC Directive
This product has received EMC compliance under the conditions specified in "5.3 Installing and Wiring in
Compliance with EMC Directive" on page 18. The compliance of the final machinery with the EMC Directive
will depend on such factors as the configuration, wiring, layout and risk involved in the control-system
equipment and electrical parts. It therefore must be verified through EMC measures by the customer of the
machinery.
Applicable Standards
EMI Emission Tests
Radiated Emission Test
EN61000-6-4
EN55011 Group1 ClassA
EMS Immunity Tests
Radiation Field Immunity Test
Electrostatic Discharge Immunity Test
Fast Transient / Burst Immunity Test
Conductive Noise Immunity Test
EN61000-6-2
EN61000-4-3
EN61000-4-2
EN61000-4-4
EN61000-4-6
Hazardous Substance
RoHS (Directive 2002/95/EC 27Jan.2003) compliant
2 Safety Precautions
- 9 -
2 Safety Precautions
The precautions described below are intended to prevent danger or injury to the user and other personnel
through safe, correct use of the product.
Use the product only after carefully reading and fully understanding these instructions.
Warning
Handling the product without observing the instructions that accompany a "Warning"
symbol may result in serious injury or death.
Caution
Handling the product without observing the instructions that accompany a "Caution"
symbol may result in injury or property damage.
Note
The items under this heading contain important handling instructions that the user
should observe to ensure safe use of the product.
Memo
This contains information relative to the description provided in the main text.
Warning
General
•
Do not use the product in explosive or corrosive environments, in the presence of flammable gases, locations
subjected to splashing water, or near combustibles. Doing so may result in fire or injury.
•
Assign qualified personnel the task of installing, wiring, operating/controlling, inspecting and
troubleshooting the product. Failure to do so may result in fire or injury.
•
Do not transport, install the product, perform connections or inspections when the power is on.
Always turn the power off before carrying out these operations. Failure to do so may result in electric shock.
•
When the device’s protective function is triggered, first remove the cause and then clear the protective
function. Continuing the operation without determining the cause of the problem may cause malfunction of
the device, leading to injury or damage to equipment.
Installation
•
Install the device in an enclosure in order to prevent injury.
Connection
•
Keep the device’s input-power voltage within the specified range to avoid fire.
•
For the device’s 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.
•
Connect the cables securely according to the wiring diagram in order to prevent fire.
Operation
•
Turn off the device power in the event of a power failure, or the motor may suddenly start when the power is
restored and may cause injury or damage to equipment.
Repair, Disassembly and Modification
•
Do not disassemble or modify the device. This may cause injury. Refer all such internal inspections and
repairs to the branch or sales office from which you purchased the product.
2 Safety Precautions
- 10 -
Caution
General
•
Do not use the device beyond its specifications, or injury or damage to equipment may result.
Transportation
•
Do not hold the device cable. This may cause damage or injury.
Installation
•
Keep the area around the device free of combustible materials in order to prevent fire or a skin burn (s).
Conneciton
•
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 PC to short, damaging both.
Operation
•
To avoid injury, remain alert during operation so that the device can be stopped immediately in an emergency.
•
Before supplying power to the device, turn all start inputs to the device to "OFF." Otherwise, the device may
start suddenly and cause injury or damage to equipment.
•
When an abnormality is noted, stop the operation immediately, or fire or injury may occur.
Disposal
•
When disposing of the device, treat it as ordinary industrial waste.
3 Precautions for Use
- 11 -
3 Precautions for Use
This section covers limitations and requirements the user should consider when using this product.
Preventing Electrical Noise
See "5.3 Installing and Wiring in Compliance with EMC Directive" on page 18 for measures with regard to
noise.
EEPROM Write Cycle
Do not turn off the 24 VDC power supply while data is being written to the EEPROM and 5 seconds after the
completion of data write. Doing so may abort the data write and cause an EEPROM error alarm to generate.
The EEPROM can be rewritten approx. 100,000 times.
Temperature Rise
The CM10 is carefully designed so that the installation of the CM10 does not affect the temperature rise in the
driver. However, greater temperature rise in the driver may occur depending on the conditions such as airflow.
Changing the operating/environmental condition may be required
4 Preparation
- 12 -
4 Preparation
4.1 Checking the Product
Product Name CM10-1 CM10-1A CM10-2 CM10-3 CM10-3A CM10-4 CM10-5
Controller Module Name CM10-1 CM10-2 CM10-3 CM10-4 CM10-5
CD-ROM
- IMC (utility software)
- Startup manual
- Operating manual
- CANopen EDS file
- USB driver
- .NET Framework 2.0
Connector set
・RS-232C connector (3 pins): 1
・CANopen connector (4 pins): 1
・Power connector (3 pins): 1
Encoder connector housing
/contact (8 pins)
Mounting plate set
・Mounting bracket: 1
For
CM10-1
For
CM10-1A
For
CM10-2
For
CM10-3
For
CM10-3A
For
CM10-4
For
CM10-5
・M2.6, Pan head screw
with spring washer: 2
-
・M3, Flat head screw: 1 - - - - - -
・Tape fastener: 1 25.4 mm
width
22 mm
width
15 mm
width
25.4 mm
width
25.4 mm
width
22 mm
width
25.4 mm
width
Startup manual HP-13010 HP-13011 HP-13012 HP-13025 HP-13026
Warning sticker - - - - -
4.2 How to Identify the Product Model
CM10 - 1
1 : For AR Series (AC input type), NX Series (50 to 200 W)
For Motorized Actuators with LSD-A, LSD-C, LSD-S drivers
1A : For AR Series (DC input type)
For Motorized Actuators with LSD-K drivers
2 : For RBK Series
3 : For Motorized Actuators with ESMC driver (AC input type)
3A: For Motorized Actuators with ESMC driver (DC input type)
4 : For AS/ARL Series, Motorized Actuators with AS/ARL driver
5 : For NX Series (400 to 750 W)
Controller Module CM10 Series
4 Preparation
- 13 -
4.3 Combinations of CM10 and Drivers
Product
Model
Controller Module
Model
Driver Model
CM10-1 ARD-A, ARD-C, ARD-S
LSD-A, LSD-C, LSD -S
NXD20-A, NXD20-C
CM10-1A
CM10-1
ARD-K
LSD-K
CM10-2 CM10-2 RBD215A-K, RBD228A-K, RBD242A-V, RBD245A-V
CM10-3 ESMC-A2, ESMC-C2
CM10-3A
CM10-3
ESMC-K2
CM10-4 CM10-4 ASD13A-A, ASD13B-A, ASD13C-A
ASD24A-A, ASD24B-A, ASD24C-A
ASD30A-A, ASD30B-A, ASD30C-A, ASD30D-A, ASD30E-A
ASD12A-C, ASD12B-C, ASD12C-C
ASD16A-C, ASD16B-C, ASD16C-C, ASD16D-C
ASD20A-C
ASD12A-S, ASD12B-S, ASD12C-S
ASD16A-S, ASD16B-S, ASD16C-S, ASD16D -S
ASD20A-S
ARLD13A-A, ARLD13B-A, ARLD13C-A
ARLD24A-A, ARLD24B-A, ARLD24C-A
ARLD30A-A, ARLD30B-A, ARLD30C-A, ARLD30D-A, ARLD30E-A
ARLD07A-C, ARLD07B-C, ARLD07C-C
ARLD12A-C, ARLD12B-C, ARLD12C-C
ARLD16A-C, ARLD16B-C, ARLD16C-C, ARLD16D-C, ARLD20A-C
ARLD07A-S, ARLD07B-S,
ARLD07C-S
ARLD12A-S, ARLD12B-S, ARLD12C-S
ARLD16A-S, ARLD16B-S, ARLD16C-S, ARLD16D-S
ARLD20A-S
LSD20A-S, LSD20A-W, LSD20B-S, LSD20B-W
CM10-5 CM10-5 NXD75-S
Note
The NX Series driver can be used only in the position control mode.
4 Preparation
- 14 -
4.4 Names and Functions of Parts
POWER/ALARM LED
CANopen LED
CANopen connector
Power connector
I/O connector
RS-232C connector
Driver connector
Encoder connector
USB connector
Name Description
POWER/ALARM LED (green/red) Green: Lit when the power is on.
Red: The LED blinks when a protective function is triggered. The cause triggering
the protective function can be identified by the number of blinks the LED
emits. See "13 Troubleshooting" on page 338.
CANopen LED (green/red) Green: Run
Red: Error (See "10.3 LED Indication" on page 104 for detail.)
Power connector Connects to the power supply cable
I/O connector Connects to the sensors, switches and/or master controller
RS-232C connector Connects to the RS-232C cable
USB connector Connects to the USB2.0 cable (mini-B type)
CANopen connector Connects to the CANopen cable
Encoder connector Connects to the external encoder
Driver connector Connects to the driver
5 Installation
- 15 -
5 Installation
5.1 How to Install CM10 on the Driver
Note
• See each driver operating manual for the following instructions.
• Before installing the CM10-1, 3, 4, 5 are sure to set the driver pulse mode switch according to the
pulse mode on the CM10. The factory setting of CM10-1, 3, 4, 5 is 1 pulse mode.
• Because the step angle switch on the driver will be partially covered by the CM10-2, it is
recommended that to set the step angle before installing the CM10-2.
• For use of the CM10-3, the ESMC controller should be set to the "driver mode." If the ESMC controller
is used in the "controller mode (factory setting)," unexpected motion may occur due to unmatched I/O
assignments.
1.
Attaching the tape fastener to the driver
a. Remove grease from the pasting position on the driver surface with alcohol and a cloth.
b. Peel off the red delaminating tape.
Paste the tape fastener well on the driver being careful not to bend or crease the tape. The other part of the tape fastener is
attached to the mounting bracket before shipping. Unit: mm (inch)
• CM10-1, 3, 3A, 5 • CM10-2
C
M
1
0
-
1
A
R
L
S
D
C
M
1
0
-
5
C
M
1
0
-
3
A
C
M
1
0
-
3
C
M
1
0
-
1
N
X
C
M
1
0
-
1
A
R
L
S
D
C
M
1
0
-
1
N
X
C
M
1
0
-
3
,
3
A
C
M
1
0
-
5
• CM10-1A
•
CM10-4
Note
Do not apply any peeling force that may influence the adhesive surface immediately after adhesion. The
adhesive strength gradually increases and reaches its maximum in 72 hours. For the best results, allow
one day or more after adhesion, and then go to next step of assembly.
Mate the left edge of tape
fastener with the bump
on the driver surface.
5 Installation
- 16 -
2.
Mounting the mounting bracket
• CM10-1, 2, 3, 3A, 5
a. Set the mounting bracket over the I/O terminal of the driver, and tighten the mounting bracket with the 2 screws provided.
(Only 1 screw for CM10-2)
b. Push the mounting bracket to mesh the two parts of the tape fastener together.
• CM10-1, 3, 3A, 5
Tightening torque: 0.4 N･m (M2.6)
• CM10-2
Tightening torque: 0.5 N･m (M3)
Note
Do not use a screw other
than the supplied screw.
• CM10-1A, 4
a. Set the mounting bracket over the I/O terminal of the driver so as to mate the screw holes, and push the mounting bracket to
mesh the two parts of the tape fastener together. (For ease of mating the screw holes, lightly twist two screws in before
meshing the tape fasteners together. Do not tighten them at this point.)
b. Tighten the mounting bracket with the 2 screws provided.
• CM10-1A
Tightening torque: 0.4 N･m (M2.6)
• CM10-4
Tightening torque: 0.4 N･m (M2.6)
5 Installation
- 17 -
3.
Mounting CM10 on the mounting bracket
a. Put the rails of the mounting bracket in the slits of the CM10, insert the connector of the CM10 into the driver connector
on the CM10.
b. Tighten the two screws on top of the CM10 into the mounting bracket. ∗ Tightening torque: 0.4 N･m (M2.6)
• CM10-1, 3, 3A, 5 • CM10-2
• CM10-1A • CM10-4
Note
Be sure that the CM10 is not powered ON when it is installed to, or uninstalled from the driver. The
installation or uninstallation with powered ON may damage the interface circuit in the CM10.
4.
Paste the warning sticker on the driver (only for AR Series driver AC input type/LSD driver AC input type and NX
Series driver)
Note
Be sure to paste an attached new warning sticker since the warning sticker on the AR Series driver/LSD
driver or NX Series driver is covered by the CM10.
• AR Series driver (AC input type)
• LSD driver (AC input type)
• NX Series driver
WARNING
AVERTISSEMENT
警 告
WARNING
AVERTISSEMENT
警 告
This completes the installation.
Please confirm that the controller module is mounted securely and that no miss-alignment or gaps exist.
5 Installation
- 18 -
Memo
When removing the CM10, unscrew the two screws on top of the CM10 only a few turns just enough to
release it from the bracket and leave the screws as they are in the CM10. Unscrewing any more may
cause the screws to not protrude out of the housing holes.
Note
Always avoid applying a force toward the left direction on the I/O cable or the front panel. It may cause
breaking the adhesion of the tape fastener.
5.2 Installing the Driver
Refer to the driver’s Operating Manual and install it at an appropriate distance from other equipment
5.3 Installing and Wiring in Compliance with EMC Directive
This device has been designed and manufactured for incorporation in general industrial machinery. The EMC
Directive requires that the equipment incorporating this product comply with the directive.
The installation and wiring method for the motor and device are the basic methods that would effectively allow
the customer’s equipment to be compliant with the EMC Directive.
The compliance of the final machinery with the EMC Directive will depend on such factors as configuration,
wiring, layout and risk involved in the control-system equipment and electrical parts. It therefore must be
verified through EMC measures by the customer of the machinery. For the EMC Directives, see "1.6 Standards
and CE Marking" on page 8.
Connecting Mains Filter for Power Source Line
Install a mains filter on the input side of the DC power supply in order to prevent the noise generated within
the driver from propagating outside via the DC power-source line.
•
Install the mains filter as close to the AC input terminal of the DC power source as possible, and use cable
clamps and other means to secure the input and output cables (AWG18: 0.75 mm
2
or more) firmly to the
surface of the enclosure.
•
Connect the ground terminal of the mains filter to the grounding point, using as thick and short a wire as
possible.
•
Do not place the AC input cable (AWG18: 0.75 mm2 or more) parallel with the mains filter output cable
(AWG18: 0.75 mm
2
or more). Parallel placement will reduce mains filter effectiveness if the enclosure’s
internal noise is directly coupled to the power-supply cable by means of stray capacitance.
Connecting the 24 VDC Power Supply
Use a 24 VDC power supply conforming to the EMC Directive.
Use a shielded cable for wiring and wire/ground the 24 VDC power supply over the shortest possible distance.
Refer to "Wiring the Power Supply Cable and I/O Signals Cable" below for how to ground the shielded cable.
How to Ground
The cable used to ground the driver, motor and mains filter must be as thick and short as possible so that no
potential difference is generated. Choose a large, thick and uniformly conductive surface for the grounding
point.
5 Installation
- 19 -
Wiring the Power Supply Cable and I/O Signals Cable
Use a shielded cable of AWG24 (0.2 mm2) or more for the power supply cable and signal cable, and keep it as
short as possible.
To ground a shielded cable, use a metal clamp or similar device that will maintain contact with the entire
circumference of the shielded cable. Attach a cable clamp as close to the end of the cable as possible, and
connect it as shown in the figure.
Cable clamp
Shield cable
Notes about Installation and Wiring
•
Connect the motor, driver and other peripheral control equipment directly to the grounding point so as to
prevent a potential difference from developing between grounds.
•
When relays or electromagnetic switches are used together with the system, use mains filters and CR circuits
to suppress surges generated by them.
•
Keep cables as short as possible without coiling and bundling extra lengths.
•
Place the power cables such as the motor and power supply cables as far apart [100 to 200 mm (3.94 to 7.87
in.)] as possible from the signal cables. If they have to cross, cross them at a right angle. Place the AC input
cable and output cable of a mains filter separately from each other.
Note
Be sure to connect the protective earth lead wire of the motor cable to the protective earth
terminal of the driver. If not connected, an error via USB communication may occur.
Example of CM10 Module and Driver Installation and Wiring
Driver
CM10
Master
controller
I/O cable
(Shielded cable)
Power supply cable
(Shielded cable)
DC Power
supply
Mains
filter
CANopen cable
(Shielded cable)
FG
FG
FG
Grounded panel
PE
A
C
PE PE
PE
Master
controller
FG
Precautions about Static Electricity
Static electricity may cause the CM10 to malfunction or suffer damage. While the CM10 is receiving power,
handle the CM10 with care and do not come near or touch the CM10.
Note
The CM10 uses parts that are sensitive to electrostatic charge. Before touching the CM10,
turn off the power to prevent electrostatic charge from generating.
If an electrostatic charge is impressed on the CM10, the CM10 may be damaged.
6 Connection
- 20 -
6 Connection
This chapter explains the methods for connecting to the computer, PLC, sensors, switches, external encoder,
and the power supply, as well as the grounding method, connection examples and control inputs/outputs.
6.1 Overview
System Configuration
A sample system configuration using the CM10 is provided below.
Immediate Motion Creator
for CM/SCX Series
(Included)
USB or RS-232C
24 VDC
CANopen
I/O signal
Driver
PC, PLC
(USB or RS-232C)
PC, PLC
(CANopen)
24 VDC
Power supply
External encoder
PLC, Switch, Sensor ,
Other device
Memo
• Making all connections is not necessary. Choose the necessary connections according
to your needs by referring the contents and the chart below.
• For the initial set up, only a power supply and a computer (USB or RS-232C connection)
are required. See "7 Start Up (Immediate Command)" on page 42.
Contents
6.2 Connecting the Power Supply
6.3 Connecting the USB and Installation of Utility Software
6.4 Connecting the I/O Signals
6.4.1 Pin Assignments Interface and Availability
6.4.2 Input Signals
6.4.3 Output Signals
6.4.4 Connection Example of I/O
6.5 Driver I/O Setting (CM10-1 and
CM10-3)
6.6 Connecting the RS-232C
6.7 Connecting the CANopen
6.8 Connecting the External Encoder
Memo
The CM10 is designed so that users can operate drivers without needing to know the
connections between the CM10 and the driver. However, the pin assignments and signal
descriptions for the connector driver are provided for users who are familiar with the driver
terminal functions. See "Appendix A Signals for Driver" on page 351.
Immediate
Command
Program
Creation
Program
Select and
Execution
USB
RS-232C
CANopen -
I/O - -
6 Connection
- 21 -
6.2 Connecting the Power Supply
Connecting to the Power Supply
Use the power supply connector (3 pins) to connect the power supply cable (AWG24 to 16: 0.2 to 1.5 mm2) to
the main power supply connector on the CM10.
Grounding CM10
Ground the driver’s Frame Ground Terminal (FG) as necessary.
Use a grounding wire of a size equivalent to or larger than the power-supply cable (AWG24 to 16: 0.14 to 1.5
mm
2
).
+24VDC
FG
GND
Applicable Lead Wire
Connector FMC 1,5/3-ST-3,5 (PHOENIX CONTACT)
Applicable lead wire size AWG24 to 16 (0.2 to 1.5 mm2)
Connection Method
1.
Strip the lead wire insulation by 10 mm.
2.
Push the spring (orange) of the connector with a flat-tip screwdriver, to open a terminal port.
Recommended flat-tip screwdriver: a tip of 2.5 mm in width, 0.4 mm in thickness
3.
Insert the cable while pushing down the flat-tip screwdriver.
4.
Release the flat-tip screwdriver. The lead wire will be attached.
6 Connection
- 22 -
6.3 Connecting the USB and Installation of Utility Software
The USB connection can be used for all the operations including initial setup, test operation, program creation,
I/O configuration and real time monitoring, using general terminal software or supplied utility software as well
as user program. Everything you can perform via USB can also be performed via RS-232C.
Specification
∗ The USB on the CM10 talks to the virtual COM port on the computer.
Item Description
Electrical characteristics In conformance with USB2.0 (Full Speed)
Transmission method Start-stop synchronous method, NRZ (Non-Return Zero), full-duplex
Data length 8 bits, 1 stop bit, no parity
Transmission speed 9600, 19200, 38400, 57600, 115200 bps (9600 is factory setting.)
Selected by the USBBAUD parameter
Protocol TTY (CR+LF)
Terminal Specification
•
ASCII mode
•
VT100 compatible recommended
•
Handshake: None
•
Transmission CR: C-R
•
Word wrap: None
•
Local echo: None
•
Beep sound: ON
Conncector
•
USB mini-B
Note
Be aware that Windows automatically changes the COM port number when a CM10 is
replaced.
Memo
Generally, the maximum number of COM ports in a Windows PC is 256. Since the COM
port number on a PC increases every time different CM10 is connected via USB, setting
data to more than 256 pieces of CM10 cannot be accomplished using a PC. When it is
required such as for mass production, use RS-232C connection or USB to RS-232C
converter so as to be RS-232C connection on the CM10.
USB Driver Installation
Insert the supplied CD-ROM into the CD-ROM drive of the computer, power on the CM10 and connect to a
USB port using a mini-B cable. (Prepare a commercially available USB2.0 cable (mini-B type). A cable with
ferrite cores that has the effect of exogenous noise suppression is recommended.) You will then be asked to
install the USB driver. See the procedure according to the type of Windows as follows.
Windows 7:
1. Open "Devices and Printers" in the control panel.
2. Right click on "FT232R USB UART" and select "Update Driver Software."
3. Select "Browse my computer for driver software."
4. Click "Browse" and select the applicable CD-ROM drive, check the box next to "Include subfolders" and
Click "Next."
5. After successful installation, click "Close."
6. Go back to the Device Manager, right click on "USB Serial Port" and select "Update Driver Software."
Repeat same procedure as the above FT232R USB UART installation.
Windows Vista:
1. The installation of the FT232R USB UART is asked by Windows when the CM10 is connected. Select
"Locate and install driver software," and click "Next." After successful installation, click "Close."
2. The installation of the USB Serial Port is then asked for by Windows.
3. Click "Next." After successful installation, click "Close."
6 Connection
- 23 -
Windows XP:
1. The installation of the FT232R USB UART is asked for by Windows when the CM10 is connected. Select
"Install the software automatically," and click "Next." After successful installation, click "Finish."
2. The installation of the USB Serial Port is then asked for by Windows. Select "Install the software
automatically," and click "Next."
3. After successful installation, click "Finish."
Installation of Utility Software "Immediate Motion Creator for CM/SCX
Series (IMC)"
While all commands for the CM10 can be made using general terminal software, the supplied Windows based
utility software, Immediate Motion Creator for CM/SCX Series (IMC), gives you instant operation, easy
programming and configuration without having to know any commands. Since important settings and functions
(such as I/O assignment, automatic setting of the driver I/O, etc.) are included, it is recommended to use the
IMC.
Functions:
•
Motion Creator: Select motion type, put desired values in and click the start button to begin motions instantly.
•
Program Editor: Double click listed commands in a desired order to create a sequence program, and click a
button to save it to the device or your PC.
•
Terminal: Use as a general terminal software. Most commands can be used by typing.
•
Teach/Jog: Move motors and store positions. Stored positions can be used for programmed motions.
•
System Config: Indicate and Set system parameters and I/O assignments
•
Real Time Monitor: I/O, Alarms (including history), Busy, Motor Position and Encoder Position
• System Requirements
- Windows XP SP2 or later, Windows Vista, Windows 7
- .NET Framework 2.0
- SVGA monitor 800 x 600 or greater
- USB or RS-232C port
- CD-ROM drive
• Installation and Uninstallation
Insert the supplied CD-ROM into your CD-ROM drive. Open the Explorer, select the applicable CD-ROM
drive, open the IMC folder, double click on "setup.exe" and follow the on screen instructions.
To uninstall, use the "Add/Remove Programs" function in the Windows Control Panel.
Note
When updating the installed version of the IMC, do so when the existing IMC is not running.
• .NET Framework 2.0 Installation (For Windows XP)
IMC runs on the Microsoft .NET Framework 2.0. While Windows Vista and Windows 7 normally install
the .NET Framework 2.0, Windows XP requires a separate installation. If the .NET Framework 2.0 is not
installed on the computer, install it prior to the IMC installation. The .NET Framework 2.0 software is on the
supplied CD-ROM, under the DotNet_Framework2_0 folder.
System Requirements for .NET Framework 2.0
- Supported Operating Systems: Windows XP SP2 or later
- Disk Space: 280 MB (x86)
Visit the Microsoft .NET 2.0 Framework website if detailed information is required.
• Start
1. Connect the CM10 by USB2.0 cable (mini-B type)
2. Power on the CM10
3. Click "Start" - "All Programs"- "ORIENTAL MOTOR" - "IMC for CM SCX" - "Immediate Motion Creator
for CM SCX Series." The COM port selection window will appear.
4. Select the COM port that is connected to the CM10. The IMC will be launched.
The IMC is made to be intuitive to use. For instructions, refer to the HELP menu in the IMC, as necessary.
Right click on the IMC screen and select [Help] will launch the IMC Help with the description of function that
the mouse cursor is on.
6 Connection
- 24 -
• Update
After installation, click "Help" - "Check New Version" on the pull down menu with the Internet connection. If a
newer version of this software is available, continue to the download and update actions.
• About VERBOSE and ECHO
The IMC may alter automatically the ECHO (Echo ON/OFF) and VERBOSE (respond with data and
description/respond with data only) parameters of the CM10 for communications and ease of use. The ECHO
and VERBOSE parameters cannot be set in the System Config window on the IMC. When changing the ECHO
and/or VERBOSE setting is required, follow the procedure below.
1. Turn on the power to the CM10
(If the message of reconnection attempt failure has shown while using the IMC, first turn off the power,
wait for a few seconds and restart.)
2. Launch the IMC software
3. Click the [Terminal] tab
4. Type "ECHO=0" or "ECHO=1", press the Enter key and "VERBOSE=0" or "VERBOSE=1", then press
the Enter key (both parameters must be typed)
5. Type "SAVEPRM" and press the Enter key, then type "Y" and press the Enter key
6. After "OK" is indicated, exit the IMC (Do not operate other functions before exiting)
7. Turn off the power to the CM10 for the new settings to become effective
Setting the Baud Rate
Since the USB on the CM10 talks to the virtual COM port on the computer, the baud rate for the COM port and
the baud rate for the CM10 need to be the same.
The default USB baud rate of the CM10 is 9600 bps, same as the default baud rate of a general Windows
computer. If the baud rate on the computer or the CM10 is changed, the baud rate must also be changed on the
other.
• When Using the IMC, Provided Utility Software
Use of the highest baud rate, 115200 bps is recommended if there is no problem for the usage environment. Set
it to the CM10 according to the following steps.
1. Turn on the power for the CM10 and connect to the computer.
2. Launch the IMC.
3. Click the [System Config] tab.
4. Click the "USB Baud rate "located at the upper-center, and select "115200 bps" from the drop-down list.
5. Click the [SAVE and RESET] to enable the change. At that time, the IMC also change the baud rate of
computer side to 115200 bps.
The setting is completed. The CM10 is already communicating with your computer at 115200 bps.
Note
When starting communication with the CM10, be sure to set the baud rate of the IMC to
the same baud rate that has been set to the CM10. If you are unsure about the baud rate
of the CM10, use the [Scan Baud Rate] button on the Serial Port Settings window. If the
wrong baud rate has been set in the Serial Port Settings window, not only will the
communication not be established, but it may also be possible that the communication will
never be established even if the baud rate is correctly set afterwards. If this
communication problem occurs, turn off the power to the CM10, wait for a few seconds
and restart. Take the same action any time when communication is likely to be
disconnected.
• When Using Other Software than the IMC
- The Computer:
Check the baud rate of the computer application that is used to communicate with the CM10, or check the
COM port property of Windows if the application does not have the baud rate function.
- The CM10:
The USBBAUD is the command used to change the baud rate for the USB connection. Always set the
CM10 baud rate first, then set the baud rate on the master to the same baud rate.
6 Connection
- 25 -
6.4 Connecting the I/O Signals
Connect the PLC, switch, sensor etc. to the I/O connector (D-sub connector on the front panel of the CM10).
6.4.1 Pin Assignments
At the time of shipment, any signals that have specific functions are not assigned to the I/O connector, which
functions as general input "IN1 to IN9" and general output "OUT1 to OUT4." As necessary, assign signals and
connect accordingly (The connector is not supplied. Provide 15 Pin D-Sub connector separately). Those
become "system xxx signal."
Connector Function Table
See the following pin assignments for a solder type connector.
14 OUT2 General output
15 OUT4 General output
Pin No. Signal
9IN1
10 IN3
11 IN5
12 IN7
13 IN9 General i nput
General input
General input
General input
General input
Description
Output common OUT-COM 8
General output OUT1 6
General output OUT3 7
General input IN6 4
General input IN8 5
General input IN2 2
General input IN4 3
Description Signal Pin No.
Input common IN-COM 1
Memo
The connector shell is connected to the FG terminal.
6 Connection
- 26 -
Assigning Signals
Assign necessary signals to the I/O using the provided utility software, Immediate Motion Creator for
CM/SCX Series (IMC).
Connect the CM10 to a computer and activate the IMC. Connect the CM10 to a computer, launch the IMC and
follow the steps below.
The setting can also be performed by command input, using the terminal mode of IMC or general terminal
software. See the following chart for the command for assignment and logic level. After executing command,
enter "SAVEPRM" and press the Enter key to save the parameter. New value becomes active after reset or
power cycle.
• Input
Signal Command for Assignment Command for Logic Level Setting
PSTOP (panic stop)
MSTOP (motor stop)
SENSOR (sensor)
PAUSE (pause motion)
PAUSECL (pause clear)
CONT (continue motion)
LSP (limit switch positive)
LSN (limit switch negative)
HOME (home sensor)
CON (current on)
ALMCLR (alarm clear)
START (start sequence)
ABORT (abort motion and sequence
execution)
MCP (move continuously positive)
MCN (move continuously negative)
MGHP (move go home positive)
MGHN (move go home negative)
FREE (current off, magnetic brake free)
PECLR (p
osition error clear)
TL (torque limiting/push-motion operation)
INPSTOP
INMSTOP
INSENSOR
INPAUSE
INPAUSECL
INCONT
INLSP
INLSN
INHOME
INCON
INALMCLR
INSTART
INABORT
INMCP
INMCN
INMGHP
INMGHN
INFREE
INPECLR
INTL
PSTOPLV
MSTOPLV
SENSORLV
PA US E LV
PAUSECLLV
CONTLV
OTLV
OTLV
HOMELV
CONLV
ALMCLRLV
STARTLV
ABORTLV
MCPLV
MCNLV
MGHPLV
MGHNLV
FREELV
PECLRLV
TLLV
Click the [System Config] tab
Click the [I/O Setting] tab
Select the desired signal
Check when setting to "normally closed"
Click [SAVE and RESET] and the
change will become effective
2
1
3
4
5
6 Connection
- 27 -
• Output
Signal Command for Assignment Command for Logic Level Setting
ALARM (alarm)
END (motion end)
RUN (sequence running)
MOVE (motor moving)
READY (operation ready)
LC (limiting condition)
PSTS (pause status)
HOMEP (home position)
MBFREE (magnetic brake free)
OUTALARM
OUTEND
OUTRUN
OUTMOVE
OUTREADY
OUTLC
OUTPSTS
OUTHOMEP
OUTMBFREE
ALARMLV
ENDLV
RUNLV
MOVELV
READYLV
LCLV
PSTSLV
HOMEPLV
-
The following example is a command to assign the FREE input to the IN3 and set to "normally closed."
>INFREE=3
>FREELV=1 (0: Normally Open, 1: Normally Closed)
>SAVEPRM
>RESET
6.4.2 Input Signals
Internal Input Circuit
All input signals of the device are photo coupler inputs. The signal state represents the "ON: Carrying current"
or "OFF: Not carrying current" state of the internal photo coupler rather than the voltage level of the signal.
5.4 kΩ
10 kΩ
1
IN-COM, IN1 to 9
2 to 5, 9 to 13
Internal circuit
Note
• All input signals are "normally open" under the factory settings. When setting the logic
level to "normally closed," ON/OFF will be opposite in the description of the following
signals.
• Set the voltage between IN-COM and INx to be 4.25 VDC to 26.4 VDC when the photo
coupler is ON.
Signals
• IN1-IN9 Input (unassigned)
The IN1 through IN9 inputs can be used as input ports for general signals when they are not assigned to a
specific signal.
The status of each port can be read using an IN command or INx (x=1-9) command, and directly commanded or
used in a sequence program.
A sequence program can be selected by the binary value of the general inputs when a START signal is input.
See "9.6 Executing a Sequence" on page 96.
• PSTOP (panic stop) Input
This signal is used to forcibly stop motion and the sequence. Also the deviation counter in the driver is cleared
for stopping servo motors and
products immediately. The action of the motor current and the alarm
state after the PSTOP operation is determined by the ALMACT command, either alarm or no alarm.
The leading edge of the signal will cause the action.
• MSTOP (motor stop) Input
This signal is used to forcibly stop motion. This command does not stop a sequence program.
While the motor is operating, when MSTOP input is turned ON, the motion will be stopped as configured by the
MSTOPACT command, either hard stop or soft stop.
The leading edge of the signal will cause the action.
6 Connection
- 28 -
• SENSOR (sensor) Input
This signal is used for:
- Stopping motion during continuous operation.
- Offset motion on the fly during continuous operation.
- Secondary home input for better accuracy during the mechanical homing operation.
Set the operation (hard stop, soft stop, soft stop at fixed distance from SENSOR signal, no action) using the
SENSORACT command.
The leading edge of the signal will cause the action.
• PAUSE (pause motion) Input
This signal is used to stop motion temporarily. If the PAUSE input is turned ON during any motion, motion is
stopped and the device retains the motion type (positioning, continuous, etc) and remaining distance to the
original target position if the paused operation is a positioning motion.
If CONT command or input is executed, while in a paused situation, the remaining motion will be started.
If START input is turned ON while in a paused situation only during sequence execution, the remaining motion
will be started (STARTACT=0).
Linked motions, return-to-electrical home operation and mechanical home seeking cannot be paused and
resumed: PAUSE causes a soft stop, and CONT is ignored.
If the PAUSECL input is turned ON or the PAUSECLR is commanded, the remaining motion will be canceled.
Only the on-going motion is paused. The program execution will not stop.
The leading edge of the signal will cause the action.
• PAUSECL (pause clear) Input
This signal clears the on-going operation state that has been paused by the input of a PAUSE signal. (The
remaining motion is canceled.)
If this signal is activated while a sequence is running, only remaining portion of the current motion is cleared
and the next step of the sequence will be executed, since the PAUSE does not stop the sequence.
The leading edge of the signal will cause the action.
• CONT (continue motion) Input
If CONT input is executed, while in a paused situation by PAUSE input, the remaining motion will be started
The leading edge of the signal will cause the action.
• LSP (limit switch positive) Input/LSN (limit switch negative) Input
These signals are used to limit travel range. The stopping action is determined by the OTACT command.
If OTACT=0, the system will stop the motor as quickly as possible (hard stop). Also the deviation counter in the
driver is cleared for stopping servo motors and
products immediately.
If OTACT=1, the system will stop the motor by a controlled deceleration over time (soft stop).
While LSP/LSN input is active, system LSP/LSN signal/status is active.
• HOME (home sensor) Input
This signal is used to set the home position when executing mechanical home seeking operation using sensor
etc.
While HOME input is active, system HOME signal/status is active.
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• CON (current on) Input
This signal is used to toggle the motor current: the motor is in an excited state when ON (servo ON in the case
of a servo motor), while freeing the motor shaft when OFF.
This signal also controls the power to the MBFREE (magnetic brake free) output. When the CON is on, the
MBFREE output is on. When the CON is off, the MBFREE output is off (locked).
The leading edge of this signal will supply the current to the motor.
Note
• When the CON input is ON, the motor current can be toggled by the CURRENT
command. When CON is OFF, the CURRENT command is ignored.
• If the CON input is not assigned to any input and the CANopen is not active, the motor
current at power on is determined by the STRSW setting.
• If the CON input is assigned to the I/O connector and/or the CANopen is active, the
motor current becomes ON only when both CON signals are ON.
• During the CON input is OFF (motor current is off), PC (position command) is
continuously overwritten by PF (position feedback) value. This is to track the actual
position.
• If the operation is made immediately after CON input is ON, position error may occur
since the motor current rising time will be late. (CM10-2, 3, 4) Allow a time interval
according to the timing chart for each driver. Care should be taken especially when
using CURRENT command in sequence program, or controlling CURRENT command,
CON/COFF terminal or CON in CANopen by the host controller programs. (A position
error will not occur with CM10-1, 5 even in the above situation, since AR (LSD)/NX
Series driver has READY output and CM10 starts motion after driver READY signal
comes on.)
• ALMCLR (alarm clear) Input
This signal is used to reset the alarm that has been generated by the system protective function or the driver
alarm. Input the ALMCLR signal once after removing the cause that has triggered the protective function.
The leading edge of the signal will cause the action.
Note
For a description of the protective functions, see "13 Troubleshooting" on page 338.
• START (start sequence) Input
This signal is used to start the sequence execution as determined by the selected IN1 to IN7. See "9.6 Executing
a Sequence" on page 96.
Set the starting method using the STARTACT command.
STARTACT Operation
0 Setting START input from OFF to ON starts sequence execution.
When sequence is running, paused motion is resumed.
(Setting START input from ON to OFF does not stop sequence.)
1 Setting START input from OFF to ON starts sequence execution.
Setting START input from ON to OFF aborts the sequence.
• ABORT (abort motion and sequence execution) Input
This signal is used to terminate a sequence execution and a motion. The motor will decelerate and stop.
The leading edge of the signal will cause the action.
• MCP (move continuously positive) Input/MCN (move continuously negative) Input
This signal is used to cause continuous motion. When the MCP input is detected, continuous operation in the
forward direction (+ coordinate direction) will occur. When the MCN input is detected, continuous operation in
the negative direction (- coordinate direction) will occur. It is not necessary to define the final position to start
motion. The leading edge of the signal will cause the action.
• MGHP (move go home positive) Input/MGHN (move go home negative) Input
This signal is used to start the mechanical home seeking. When the MGHP input is detected, mechanical home
seeking will be performed in the positive direction. When MGHN input is detected, mechanical home seeking
will be performed in the negative direction.
The leading edge of the signal will start the home seeking.
6 Connection
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• FREE (current off, magnetic brake free) Input
- For CM10-1, 3, 5: When turning this signal (the FREE input) ON, the motor current will be turned OFF and
the electromagnetic brake will be released (The FREE input of the connected driver is turned ON).
- The MBFREE (magnetic brake free) output on the I/O connector: When turning this signal (the FREE input)
ON, the MBFREE output on the I/O connector becomes ON.
The FREE input is also available on the remote I/O (CANopen), and the FREE function will occur when either
of those inputs becomes ON. The FREE command can also be used for this function regardless of the state of
those inputs.
While FREE input is active, system FREE signal/status is active.
• PECLR (position error clear) Input
This signal is used to reset the PE (position error) value to zero (0).
When PECLR input is turned ON, the PC (position command) value is set to equal to PF (feedback position)
value. As a result, the PE is reset to zero. For CM10-1, 4, 5: Also the deviation counter in the driver is cleared,
when the driver alarm is inactive. This function can be used when the motor moved away from the PC such as
overload alarm condition.
The leading edge of the signal will cause the action.
• TL (torque limiting/push-motion operation) Input (CM10-1, 5)
This signal is used to perform the following functions.
- AR Series driver/LSD driver: push-motion operation
- NX Series driver: torque limiting
6.4.3 Output Signals
Internal Output Circuit
All output signals of the device are open-collector outputs.
The signal state represents the "ON: Carrying current" or "OFF: Not carrying current" state of the internal
transistor rather than the voltage level of the signal.
8
6, 7, 14, 15
OUT1 to 4, OUT-COM
Internal circuit
30 VDC or less
20 mA or less
Note
All input signals are "normally open" under the factory settings. When setting the logic level
to "normally closed," ON/OFF will be opposite in the description of the following signals.
Signals
• OUT1-OUT4 Output (unassigned)
The OUT1 through OUT4 outputs are used as output ports for general signals when they are not assigned to a
specific signal. The status of each port is read and toggled using an OUT command or OUTx (x=1-4) command,
and can be directly commanded or used in a sequence program.
• ALARM (alarm) Output
When an alarm generates, the ALARM output will change. You can check the cause of the alarm by counting
the number of times the ALARM LED blinks or by executing the ALM command.
To reset the ALARM output, remove the cause of the alarm and then perform one of the following procedures
after ensuring safety:
- Input the ALMCLR signal once or enter the ALMCLR command.
- Turn off the power, wait at least 10 seconds, and then turn it back on.
Memo
For a description of the protective functions, see "13 Troubleshooting" on page 338.
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