Orientalmotor CM10 Operating Manual

Page 1

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

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Table of Contents

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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

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1 Before Use

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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.

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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.

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1 Before Use

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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)

6.4.3 Output Signals ･LC (limiting condition) Output

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

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1 Before Use

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∗ 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

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

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.

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1 Before Use

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

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

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1 Before Use

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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.)

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.)

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 - - 

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1 Before Use

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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

Page 9

2 Safety Precautions

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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.

Page 10

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.

Page 11

3 Precautions for Use

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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

Page 12

4 Preparation

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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

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

Page 13

4 Preparation

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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.

Page 14

4 Preparation

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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

Page 15

5 Installation

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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.

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

• 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.

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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)

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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.

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.

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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

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

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.

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

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)

Grounded panel

PE PE

Master controller



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.

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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 - - 

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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

+24VDC

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

Strip the lead wire insulation by 10 mm.

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

Insert the cable while pushing down the flat-tip screwdriver.

Release the flat-tip screwdriver. The lead wire will be attached.

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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."

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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.

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• 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.

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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

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.

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

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

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• 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

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.

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• 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.

Page 30

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.

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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6 Connection

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• END (motion end) Output

When in the following condition, END signal will be active. See "8.8 END (motion end) Signal" on page 76.

Definition of END Signal

(Source)

ENDACT

Parameter

DEND

Parameter

Typical Motor Type

End of pulse 0 0 Stepping motor

End of pulse and within end area 0<n (END area) 0 Stepping motor with an encoder

Driver END signal Unrelated 1 /servo motor

• RUN (sequence running) Output

This signal is output during sequence program execution.

Memo

• When the last command of the sequence program is a motor operation command (e.g. MI), the RUN output will be turned OFF as soon as the command is executed and motion is started.

• When turning this signal OFF after completing an operation is desired, insert the MEND (Wait for Motion End) command at the end of the sequence program.

• MOVE (motor moving) Output

This signal is output while the motor is moving. Motion commands are not accepted while the signal is ON.

Memo

This signal is ON during pulses are being sent. The signal is also ON when sensor-less home seeking (HOMETYP=12) is being performed with the CM10-3, though the pulse is not being sent, since the motor is moving.

• READY (operation ready) Output

This signal is turned ON when the CM10 is ready to operate (other than MOVE, RUN and ALARM status). A sequence program or a motion command (MA, MI, MCP, MCN, MGHP, MGHN, MIx, EHOME, CONT) can be executed. For CM10-1, 5: When the driver is ready to operate (the driver's READY output signal is ON) in addition to above condition, this signal will be turned ON. (When the factory setting DREADY=1 has not been changed) See the READY input on page 357 for the operation.

• LC (limiting condition) Output

This signal is turned ON under the following conditions.

- CM10-1 + AR Series driver/LSD driver: When the motor is in a state of push condition (the position

deviation is 1.8 degrees or more) in the normal operating mode, or when the motor torque reaches to the preset value in the current control operating mode. *This signal directly reflects the TLC output of the driver.

- CM10-1, 5 + NX Series driver: When the motor torque reaches the preset value while the torque limiting

function is used. (Also when the motor torque reaches 300% of rated torque even while the torque limiting function is not used.) *This signal directly reflects the TLC output of the driver.

- CM10-2 (RBK Series driver): Under current cutback condition

*This signal directly reflects the CD output of the driver.

- CM10-3 (ESMC controller): While pressing the mechanical home when performing sensor-less mechanical

home seeking operation. *This signal directly reflects the T-UP output of the ESMC controller.

• PSTS (pause status) Output

This signal is output while the device is pausing with the PAUSE command or PAUSE input signal and can be cancelled by the CONT, PAUSECL, START (when sequence is running) or ABORT input signals or commands.

• HOMEP (home position) Output

This signal is output when a mechanical home seeking motion is successfully completed. This position is set to the origin (PC=0). Once this signal is ON, stopping on this position by operations such as EHOME or MA 0 sets this signal to ON.

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• MBFREE (magnetic brake free) Output

This signal is used to control the electromagnetic brake The MBFREE output is ON under normal operating condition and the system power is ON (CURRENT=1). The MBFREE output turns OFF when the motor loses its holding torque due to a current cutoff or alarm (CURRENT=0). Configure the circuit so that the holding torque of the electromagnetic brake is generated when this signal is OFF. The MBFREE output can also be manually controlled with the FREE input signals on the system I/O connector (if assigned) and on the remote I/O (CANopen), as well as the FREE command. If any of those inputs is ON, the state of the FREE function becomes 1, and the MBFREE output becomes ON. The relationship among the status of CURRENT, FREE and MBFREE is as below.

CURRENT FREE MBFREE 0 0 0 (Lock) 0 1 1 (Free) 1 0 1 (Free) 1 1 1 (Free)

∗ The state of MBFREE output on the I/O connector is always the same as the state of the MBFREE output on

the driver connector of the CM10.

Note

Once the motor has lost its holding torque, the equipment that is attached to the motor shaft may move due to gravity or the presence of a load before the electromagnetic brake generates holding force.

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6 Connection

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6.4.4 Connection Example of I/O



Current Sink

5.4 kΩ

10 kΩ

GND

5/24 VDC

IN8

OUT1

OUT2

OUT3

OUT4

IN1

IN2

IN3

IN4

IN5

IN-CO M

OUT-COM

PLC CM10

IN6

IN7

IN9

5/24 VDC

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

Page 34

6 Connection

- 34 -



Current Source

5.4 kΩ

10 kΩ

GND

5/24 VDC

IN8

OUT1

OUT2

OUT3

OUT4

IN1

IN2

IN3

IN4

IN5

IN-CO M

OUT-COM

PLC

IN6

IN7

IN9

5/24 VDC

GND

CM10

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

5.4 kΩ

10 kΩ

Page 35

6 Connection

- 35 -

6.5 Driver I/O Setting (

CM10-1

and

CM10-3

)

The CM10 can be used without any setting in most cases. However, the driver I/O setting is required to change in the following cases.

CM10-1

- With the AR Series driver/LSD driver (AC and DC power input type), when push-motion

operation is used

- With the NX Series driver, when torque limiting function is used, when current position

reading function is used, or when accurate mechanical home seeking operation using the Z-phase signal (timing signal) etc. is required

CM10-3

- When the PRESET signal that sets the home position at an arbitrary position is required to be

enabled while current position reading function of the ESMC controller is used (sensor-less mechanical home seeking operation will be disabled)

Change the driver I/O using the "Automatic Setting" function of the provided utility software, Immediate Motion Creator CM/SCX Series (IMC). With this automatic setting function, the necessary signals will be

assigned to the I/O for driver.

Note

Push-motion, torque limiting, current reading functions and sensor-less mechanical home seeking are implemented in the firmware Ver.2.00 or later of the CM10. The automatic setting of IMC (Ver.2.00 or later) is a function that is available for the firmware Ver.2.00 or later of the CM10. With the Ver.1.07 or older model, only the manual setting and the initialization to the factory setting are available. (The firmware version can be confirmed by [Help] - [Version Information] on the IMC or "VER" command.)



Setting Procedure

Connect the CM10 to a computer and activate the IMC.

Click [System Config] tab

Click [Driver I/O] tab

Select [Auto Configuration]

Select the appropriate driver (function)

Click [SAVE and RESET] button

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6 Connection

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

Setting Type

The following selections are available for setting.

• CM10-1

Selection Description

AR Push-Motion With the AR Series driver/LSD driver, when using the push-motion operation

function (disabling the resolution switching function)

NX Function Expansion

With the NX Series driver, when torque limiting function and/or current position reading function is used, and/or when accurate mechanical home seeking operation is required such as using Z-phase pulse (timing signal)

• CM10-3

Selection Description

ESMC PRESET Signal Enable

When the PRESET signal that sets the home position at an arbitrary position is required to be enabled while the current position reading function of the ESMC controller is used (sensor-less mechanical home seeking operation will be disabled)

Memo

• When using other functions than the driver's factory setting such as driver current position reading, torque limiting, push-motion operation, etc., the setting is also required to the driver. Refer to page 71 "8.6 Driver Current Position Reading (CM10-1, 3, 5)" or page 68 "8.5 Torque Limiting/Push-motion Operation (CM10-1, 5)" for details.

• Refer to the "driver I/O" setting or the "I/O status monitor" of the IMC for the driver I/O assignment by each automatic setting.

• If the automatic setting is executed, unnecessary signals will be unassigned to assign necessary signals for the selected driver and function.

• When setting to "NX Function Expansion," HOMEDCL will automatically be set to "1" in addition to the driver I/O change. By setting this, when detecting the home position at mechanical home seeking operation, the driver deviation counter will be cleared and thus the motor will stop immediately. (The motor will be able to stop at the home position accurately and reset home position.) Refer to page 58 "8.2.5 Mechanical Home Seeking, HOMEDCL (deviation counter clear select at mechanical home seeking operation)." When setting manually, set "Home Deviation Clear" it under [System Config] - [System Parameters] tab of the IMC.

• The driver I/O setting can also be done for each signal individually (manual setting). The manual setting is used in special cases such as using the driver functions that is not supported. Refer to "memo" for "A.2 Input Signals for Driver" (page.356-) or "A.3 Output Signals for Driver" (page.359-).

Page 37

6 Connection

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6.6 Connecting the RS-232C

The RS-232C 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 RS-232C can also be performed via USB, except daisy chain connection.



Specification

Terminal Specification

•

ASCII mode

•

VT100 compatible recommended

•

Handshake: None

•

Transmission CR: C-R

•

Word wrap: None

•

Local echo: None

•

Beep sound: ON

Memo

All commanding to the CM10 can be made using general terminal software, such as Windows Hyper Terminal. For the quick start up, supplied utility software, the Immediate Motion Creator for CM/SCX Series is recommended. See "6.3 Connecting the USB and Installation of Utility Software" on page 22.



Connector and Applicable Lead Wire

XRX

GND

Connector and Applicable Lead Wire

Connector FK-MC 0,5/3-ST-2,5 (PHOENIX CONTACT)

Applicable lead wire size AWG26 to 20 (0.14 to 0.5 mm2)

Item Description

Electrical characteristics In conformance with RS-232C

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 BAUD parameter

Protocol TTY (CR+LF)

Page 38

6 Connection

- 38 -



Connection Method

Strip the lead wire insulation by 8 mm.

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 mm in width, 0.4 mm in thickness

Insert the cable while pushing down the flat-tip screwdriver.

Release the flat-tip screwdriver. The lead wire will be attached.



Single Axis Connection

2 RX

5 GND

3 TX

4 DTR

6 DSR

7 RTS

8 CTS

GND

（

in COM Port）

CM10



Daisy Chain Connection

You can connect multiple controllers with either of the two methods shown below.

Using only the RS-232C connector Using RS-232C and CANopen connector

(If this method is used, it is not required to connect two lead wires to one GND terminal on the CM10.)

2 RX

5 GND

3 TX

4 DTR

6 DSR

7 RTS

8 CTS

GND

2 RX

5 GND

3 TX

4 DTR

6 DSR

7 RTS

8 CTS

GND

CAN_H

SHIELD

CAN_L

GND

CAN_H

SHIELD

CAN_L

GND

CAN_H

SHIELD

CAN_L

GND

（

in COM Port）

CM10

（9

in COM Port）

CM10

Page 39

6 Connection

- 39 -

6.7 Connecting the CANopen



Connector, Applicable Lead Wire and Connecting Example of CANopen

CAN_L

GND

CAN_H

SHIELD

Connector and Applicable Lead Wire

GND

CAN_L

CAN_H

SHIELD

CANopen Master

SCX10 CM10

Other CANopen devices

120 Ω

Termination resistor

120 Ω

Termination resistor

GND

CAN_L

CAN_H

SHIELD

GND

CAN_L

CAN_H

SHIELD

GND

CAN_L

CAN

SHIELD

•

The CM10 can be connected on the same network as other CANopen devices.

•

Connect a terminating resistor (120 Ω 1/4 W) on both ends of the line. Termination resistors are not provided.



Connection Method

Strip the lead wire insulation by 8 mm.

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 mm in width, 0.4 mm in thickness

Insert the cable while pushing down the flat-tip screwdriver.

Release the flat-tip screwdriver. The lead wire will be attached.

Connector FK-MC 0,5/4-ST-2,5 (PHOENIX CONTACT)

Applicable lead wire size AWG26 to 20 (0.14 to 0.5 mm2)

Page 40

6 Connection

- 40 -

6.8 Connecting the External Encoder

Use the terminals and housing provided in the package for the external encoder connection.



Connector and Lead Wire

Connector housing EHR-8 (manufactured by JST)

Terminals BEH-001T-P0.6 (manufactured by JST)

Applicable lead wire size AWG30 to 22 (0.05 to 0.33 mm2)

Crimping tool YC-260R (manufactured by JST)



Pin Assignments and Signal Table

Pin No. Signal Name Description

1 EXTA+

2 EXTA-

External encoder ASG input

3 EXTB+

4 EXTB-

External encoder BSG input

5 EZTZ+

6 EXTZ-

External encoder ZSG input

7 Encoder power + External encoder power output (+5 V)

8 Encoder power - External encoder power output (0 V)

Note

• This encoder power output should be used for the external encoder only.

• Connect the encoder input power "-" (ground) line to the "Encoder Power -" terminal as

instructed below. Do not connect it to the "GND" terminal on the other connectors on the CM10. The CM10 has a dedicated encoder power supply and the protection circuit on the "Encoder Power-" line detects the over current. The maximum current is 150 mA.



Connection Example

• Line Driver Output Encoder Connection

EncoderCM10

2.2 kΩ×3

5 VDC

GND

EXTA+, EXTB+, EXTZ+, EXTA-, EXTB-, EXTZ-,

Encoder power +, Encoder pow er -

5 VDC

26LV32 or equivalent

Over current

protection circuit

1, 3, 5

2, 4, 6

Page 41

6 Connection

- 41 -

• Open Collector Output Encoder Connection (NPN Type)

CM10

Encoder

2.2 kΩ×3

5 VDC

GND

5 VDC

26LV32 or equivalent

Over current

protection circuit

EXTA+, EXTB+, EXTZ+,

Encoder power +, Encoder power -

1, 3, 5

2, 4, 6

• Open Collector Output Encoder Connection (PNP Type)

Connect a pull-down resistor (470 Ω). The pull-down resistors are not provided.

CM10 Encoder

470 Ω

2.2 kΩ×3

5 VDC

GND

5 VDC

26LV32 or equivalent

Over current

protection circuit

EXTA+, EXTB+, EXTZ+,

Encoder power +, Encoder power -

1, 3, 5

2, 4, 6

• TTL Output Encoder Connection

CM10 Encoder

2.2 kΩ×3

5 VDC

GND

5 VDC

26LV32 or equivalent

Over current

protection circuit

EXTA+, EXTB+, EXTZ+,

Encoder power +, Encoder power -

1, 3, 5

2, 4, 6

Page 42

7 Start Up (Immediate Command)

- 42 -

7 Start Up (Immediate Command)

This chapter explains the initial set up, how to operate the device immediately from the terminal as well as command format. These are basic skills and are applied to many modes and functions that the CM10 has. All users should read this chapter for start up.

Memo

Start Up by command input is explained here, the method for using the supplied utility software (IMC) is introduced in a separate STARTUP MANUAL.

7.1 Overview



What is an Immediate Command?

You can operate the motor by sending commands immediately from the master controller such as a computer or PLC via RS-232C, USB or CANopen.

Driver

(END, ALARM, etc.)

Immediate command

PC, PLC

(USB or RS-232C)

PC, PLC

(CANopen)



Contents

7.2 Preparation

7.3 Setting the User Unit

7.4 Making the Motor Move (Immediate Command)

7.5 Command Format

7.2 Preparation

Connect a personal computer via USB or RS-232C.

See "6.3 Connecting the USB and Installation of Utility Software" on page 22 or "6.6 Connecting the RS-232C" on page 37 as necessary.

Power ON the CM10 and the driver.

See "6.2 Connecting the Power Supply" on page 21 as necessary.

Launch the supplied utility software (IMC) or any general terminal software.

See "6.3 Connecting the USB and Installation of Utility Software" on page 22 as necessary.

Communication Setting for the general terminal software 8 bits, 1 stop bit, no parity Baud rate: 9600 bps ∗ The default USB/RS-232C baud rate of the CM10 is 9600 bps.

Memo

If DALARM is set to 1 and the power on timing of the driver is delayed from the CM10, the LED on the CM10 becomes red and blinks (means alarm) until the driver power comes on. This action is normal and will be cleared automatically when the driver is powered on. For more detail, see ALM command on page 154.

Page 43

7 Start Up (Immediate Command)

- 43 -

7.3 Setting the User Unit

In the CM10, the actual motion distance of the user application, such as "mm," "inch," "revolution" and "degree" is used, instead of the pulse unit that is commonly used in pulse generators and motor controllers. This is called "user unit" and is set initially by the following steps as with the motor resolution. (Pulse unit can also be used within this user unit system. See following pages.)

- DPR, UU: The number of user units per motor revolution is determined by the DPR parameter (Distance per Revolution), and the text information used for unit is set with UU (User Units). DPR should be configured before programming motions. DPR can be set to any value between 0.500 and 51200.000 user units per motor revolution, in increments of 0.001. Choose a meaningful value, appropriate for the application. (The factory settings, DPR=1 and UU=Rev (CM10-1, 2, 4, 5) or mm (CM10-3) assuming motions are programmed in revolutions.) Some examples appear on the following page.

- MR: The MR parameter must also be set according to the motor resolution that is set on the driver. (See the driver operating manual about the driver resolution and the setting.)

• Example

(Using "deg" unit, Motor resolution is 500/rev. )

Set the user unit

Enter "UU=deg," and press the Enter key. (A space can be used and replaced with an equal sign between command and parameter.)

>UU=deg UU=deg

Set the distance per revolution

Enter "DPR=1," and press the Enter key.

>DPR=360 DPR=1(360) deg Position range = +/- 500000(499680) Velocity range = 0.001 – 1240(446400) Minimum Movable Distance = +/- 0.001(0.36)

Set the motor resolution

Enter "MR=500," and press the Enter key.

>MR=500 MR=1000(500) Position range = +/- 500000(499680) Velocity range = 0.001 - 1240(892800) Minimum Movable Distance = +/- 0.001(0.72)

Save to the EEPROM

Enter "SAVEPRM," and press the Enter key.

>SAVEPRM (EEPROM has been written 5 times) Enter Y to proceed, other key to cancel.

Enter "Y," and press the Enter key.

Enter Y to proceed, other key to cancel.Y

Saving Parameters........OK.

Reset the system

Enter "RESET," and press the Enter key.

>RESET Resetting system.

The parameter setting is finished.

Check if the parameters are properly set.

Enter DIS and press the Enter Key

>DIS DIS=0 deg

Distance is now indicated in the user unit, "deg"

Enter VR and press the Enter Key

>VR VR=1 deg/sec

Velocity is now indicated in the user unit, "deg/sec"

Page 44

7 Start Up (Immediate Command)

- 44 -

Note

The new value is shown in parenthesis after the active value. The new value will become effective only after saving (with SAVEPRM command) and resetting (with RESET command, or by cycling power) the device.

• Parameters for User Unit

Parameter Parameter Value Function

DPR 0.500 - 51200.000 (1) Distance per revolution [user unit] {mm, deg, etc.}

MR 10 - 51200

(1000) CM10-1, 4, 5 (200) CM10-2 (100) CM10-3

Motor resolution [pulse/rev]

GA 1 - 100 (1) Electric gear {Numerator}

GB 1 - 100 (1) Electric gear {Denominator}

UU String

(Rev) CM10-1, 2, 4, 5 (mm) CM10-3

User unit text. 20 chars max. Cleared (NULL) by "UU 0"

DIRINV 0, 1 (0) 0: Motor rotates clockwise for positive distances

1: Motor rotates counterclockwise for positive distances

( ): factory setting

Note

Changing DPR and MR changes the physical distances and velocities of any previously programmed motions. Generally, DPR and MR should be configured once, and not changed afterward, unless the mechanics of the application also change.

Memo

• When setting the output shaft of the motor gearhead or transmission of the equipment to the reference of user unit (one revolution), the motor can be operated by compensating the gear ratio electronically. The electrical gear ratio is set via the GA and GB parameters and the applied gear ratio equals GA/GB. When a 3:1 reduction gearhead is used, set GA=3 and GB=1. (The numerator and the denominator of the electric gear are set to opposite to the mechanical gear. The motor must rotate 3 times as far to complete one revolution at the gearhead output. Therefore, the GA value is 3 to compensate for the gear ratio’s reduction in distance and velocity.)

• Electronic gearing can also be used when the distance per revolution is less than 0.5 (less than lower limit value of the DPR), or when the exact ratio cannot be specified (can not be divided) in three decimal places (e.g. if the distance per revolution is 1/3 user unit). Setting DPR=1, electronic gear numerator GA=3 and denominator GB=1 will result in three motor rotations per one user unit, for an effective DPR of exactly 1/3 user unit.

• If electronic gearing is used, DPR represents the distance per revolution of the output of

the gear head (or other transmission device).

• The convention for positive vs. negative motion and torque can be changed with

DIRINV.

• User unit text can be suppressed by setting UU to 0 (zero).



Application Examples

•

Ball screw, lead 10 mm (Desired unit: mm) UU=mm, DPR=10

•

Ball screw, lead 10 mm, with 10:1 gear (Desired unit: mm)

•

UU=mm, DPR=1

or UU=mm, DPR=10, GA=10, GB=1

•

Ball screw, lead 10 mm, with 3:1 gear (Desired unit: mm) ∗ Distance per motor revolution approximately 3.333, exact value cannot be set with DPR alone UU=mm, DPR=10, GA=3, GB=1

•

Rotating table (Desired unit: Revolution) UU=Revolution, DPR=1

•

Rotating table, with 100:1 gear (Desired unit: Degree) UU=Degree, DPR=360, GA=100, GB=1

•

Rotating table, with 3:1 gear (Desired unit: Degree) UU=Degree, DPR=120 or UU=Degree, DPR=360, GA=3, GB=1

Page 45

7 Start Up (Immediate Command)

- 45 -

- Examples when combining the CM10 with actuator products (CM10-3, 4) -

•

Products which resolution is 0.01 mm when combining the CM10-3 and ESMC controller (EZSII Series, EZCII Series, EZA Series)

UU=mm, DPR=1, MR=100

(Since the resolution of the actuator/ESMC controller is based on one millimeter while the resolution of

other motors/drivers are based on one revolution. Therefore, the "distance per revolution" parameter on the CM10 works as a "distance per millimeter" for the ESMC controller.)

•

Products which resolution is 0.01 mm when combining the CM10-3 and ESMC controller (unit: inch) UU=inch, DPR=3.937, GA=100, GB=1, MR=100

(Since 1 inch equals to 25.4 mm, "1 divided by 25.4" (0.0393700…..) is the travel distance of "1 mm" in

terms of the user unit. Since DPR can use up to 3 decimal places, an electronic gear is used here in order to increase the accuracy by using as greater number of digits as possible.)

•

Products which resolution is 0.001 mm when combining the CM10-3 and ESMC controller (ESR Series, SPR4, PWA8)

UU=mm, DPR=1, MR=1000

•

Products which lead is 12 mm when combining with the EAS Series UU=mm, DPR=1, MR=1000, GA=3, GB=250

•

Products which lead is 6 mm when combining with the EAS Series UU=mm, DPR=1, MR=1000, GA=3, GB=500

•

When combining the CM10-4 and LAS Series Rack and Pinion Systems (example of LAS2B500) UU=mm, DPR=9.997 (Multiply the resolution by the travel distance per one pulse for the LAS2B500 described in the operating manual of the LAS Series.), MR=500 (Factory Setting)

(When using all of five digits in order to increase more accuracy, using the electronic gear, set GA=10 and

GB=1, and then set to DPR=99.974.)

•

When combining the CM10-4 and DG/DGII Series Hollow Rotary Actuators (unit: Rev) UU=Rev, GA=18, GB=1 (The electronic gear is an inverse number of the gear ratio 18:1), DPR=1

(Because the electronic gear is used), MR=1000 (Factory Setting)

•

When combining the CM10-4 and DG/DGII Series Hollow Rotary Actuators (unit: deg) UU=deg, GA=18, GB=1, DPR=360, MR=1000



Parameter Range and Least Input Increment

The maximum position range in user units is –500,000 to +500,000 and the maximum speed range in user units is 2,147,483.647. Both can be used to three decimal places (0.001). When the DPR, MR, ER, GA, GB is changed, position and velocity ranges also change due to internal calculation limits and pulse output speed limit. The new ranges are shown when the DPR, MR, ER, GA, GB is changed. The values can also be queried independently using the MAXVEL and MAXPOS: The MAXVEL is the maximum value for any velocity-based parameter, and position-based parameters must be between

−MAXPOS and +MAXPOS.



How to Use Pulse Unit

Pulse unit can also be configured in this user unit system. Set the DPR equal to the MR (motor resolution). Ex. Set the UU=Pulse, MR =1000, DPR=1000.

Note

When DPR=MR, the maximum position that can be commanded is limited to 500,000 (pulses). If a greater maximum position (number of output pulses) is required, set DPR to a lower number and keeping in mind that the number of output pulses is the user unit multiplied by (MR/DPR).

Ex. Set the UU=Pulse (1000x), MR=1000, DPR=1.

When "500,000" user unit is commanded, 500,000,000 pulses are output. Since the user unit can be used with three decimal places (0.001), commanding the increment of 1 pulse can still be done.

Page 46

7 Start Up (Immediate Command)

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7.4 Making the Motor Move (Immediate Command)



Set the Motor Current ON (Only for CM10-1)

Enter "CURRENT=1," and press the Enter key. (A space can be used and replaced with an equal sign between command and parameter.)

>CURRENT=1 CURRENT=1

Memo

The AR Series driver/LSD driver (the CM10 to be installed) is designed so that the motor current at driver start up is OFF. The motor current can be controlled by the CM10 using the CURRENT parameter. While the state of the CURRENT at system start up of the CM10-1 is set to "OFF" to match with the AR Series driver/LSD driver, it can be changed using the STRSW parameter.



Experience the Operation

Set the move distance

Enter "DIS=360," and press the Enter key.

>DIS=360 DIS=360 deg

Set the running velocity

Enter "VR=360," and press the Enter key.

>VR=360 VR=360 deg/sec

Make the motor move

Enter "MI," and press the Enter key. The motor starts to move in clockwise direction, and will rotate 1 revolutions in 1 second.

>MI >

Invert the direction

Enter "DIS= -360" and "MI," both followed by pressing the Enter key. The motor will rotate 1 revolution in 1 second in reverse direction.

>DIS=-360 DIS=-360 deg >MI >

Change the running velocity

Enter "VR=720" and "MI," both followed by the Enter key. The motor will rotate in 0.5 seconds.

>VR=720 VR=720 deg/sec >MI >

You now know the basics of incremental motion the CM10. See "8.2 Motion Types" on page 49 for a variety of other motions.

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7 Start Up (Immediate Command)

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7.5 Command Format

This section shows the command format. Case {Upper/Lower} of the character does not a matter unless specified. Decimal point number is accepted in some of the parameters.

Note

The decimal point is defined as "." (period), and "," (comma) cannot be used.

Memo

See "Appendix B How to Send Commands Using ASCII Strings" on page 361 for information on ASCII string construction and for an automated communication.



Parameters

An "=" between a parameter and parameter value is required. If the parameter value is a constant, a space can be used instead of an "=".

• Format

[Parameter] [=] [Parameter value] [Parameter] [Space] [Parameter value (constant)]

• Examples

Condition Example Remarks

Parameter value is constant DIS=1.234, DIS 1.234 "=" can be replaced

with the space

Parameter value is variable (Available in sequence only)

DIS=A "=" is required

Parameter value is equation (Available in sequence only)

DIS=A∗1.5 "=" is required



Commands

Spacing between command and argument (if needed argument) by at least a space is required.

• Format

[Command] [Space] [Argument]

• Examples

Condition Example Remarks

No argument MI -

Argument is constant MA 1.234 "=" is not accepted

Argument is variable MA POS[1] "=" is not accepted

Argument is string RUN Test "=" is not accepted



Multiple-statement on a Line

Multiple statements can be written on a single line. A ";" (semicolon) divides each statement on the line. Spaces around semicolon are accepted. The maximum number of characters on a one line is 80.

• Example

>DIS 1.234; VR 3; TA 0.5; TD 0.1; MI

Memo

VERBOSE parameter defines the response display. The following shows some example.

VERBOSE=1 (Factory Setting) VERBOSE=0

>PC

PC=0.123 Rev

>DIS=5.678

DIS=5.678 Rev

>HOMETYP

HOMETYP=0

>PC

0.123

>DIS=5.678

5.678

>HOMETYP

Note

The ECHO command defines the echo back ON/OFF for entered ASCII data. Factory setting is ECHO=1 (ON) echo back. If ECHO=0 (OFF), there will no reply for the entered ASCII data. Display of parameter readout or SAS command from sequence is not affected by ECHO=, they are always displayed (See page 300 for SAS command).

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8 Features

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8 Features

This chapter introduces the main features of CM10.

8.1 Overview

The CM10 device is designed to make motion control simple and convenient. At the same time, the system has the versatility to adopt various types of operation, powerful features to maximize performance of the motor and driver, and support functions to accelerate successful system integration. The following subjects are discussed in the sections which follow:



Contents

8.2 Motion Types 8.2.1 PTP (Point-to-Point) Motions

8.2.2 Linked Motions

8.2.3 Continuous Motions

8.2.4 Electrical Home Position and Mechanical Home Position

8.2.5 Mechanical Home Seeking

8.3 Stopping Motion and Sequence variety of stopping types, pausing, and system status after stopping

8.4 Teaching Positions teaching and storing positions

8.5 Torque Limiting/Push-motion

Operation (CM10-1, 5)

setting the driver, setting the CM10, performing torque limiting/push-motion operation

8.6 Driver Current Position Reading

(CM10-1, 3, 5)

setting the driver, setting the CM10, reading the driver current position, releasing the absolute position loss alarm/setting the home position

8.7 Multi Axis Operation how to configure multi axis operation

8.8 END (motion end) Signal definition of END Signal (source), output of END signal, how END signal/status is Internally used in the CM10

8.9 Encoder Function monitor position error, detect miss-steps and other encoder functions

8.10 Math/Logical/Conditional

Operators

mathematical/logical operators, conditional operators

8.11 User Variables user variables, user-defined variables

8.12 View and Test Functions monitoring and testing I/O, monitoring parameters

8.13 Protective Functions controlling the system response to alarm conditions

Note

DPR and MR should be set before making any motions. See "7.3 Setting the User Unit" on page 43.

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8 Features

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8.2 Motion Types

The CM10 supports three basic types of motion: point-to-point motions, continuous motions, and electrical and mechanical home seeking. Also, linked operation that combines multiple sets of PTP-motion (point to point) is possible. This section explains each of these basic motion types.

8.2.1 PTP (Point-to-Point) Motions

Point-to-point motions cause the motor to start moving from one position to another position, using a preset distance or destination. Motion begins at starting speed VS, accelerates to VR over acceleration time TA, and finally decelerates back to VS over deceleration time TD before stopping.

• Commands and Parameters for Point-to-Point Motions

Command/Parameter Argument/Parameter Value Function

MA −MAXPOS - +MAXPOS Start absolute motion to the specified

destination [user unit]

MI None Start incremental motion, distance DIS

DIS −MAXPOS - +MAXPOS (0) Distance for incremental motion [user unit]

VR 0.001 - MAXVEL (1) Running velocity [user unit/sec]

VS 0 - MAXVEL (0.1) Starting velocity [user unit/sec]

TA 0.001 - 500.000 (0.5)

Acceleration time [sec]

TD 0.001 - 500.000 (0.5) Deceleration time [sec]

( ): factory setting

Note

See "8.3 Stopping Motion and Sequence" on page 64 for information on stopping motions before they finish.

Memo

• See the description of "8.2.2 Linked Motions" (below) for information on more complex motion profiles.

• The minimum output frequency on the CM10 is 1 Hz. If the running velocity in a user unit is set equivalent to less than 1 Hz, the actual pulse output frequency becomes 1 Hz.

• Point-to-Point Motion Types

Two positioning modes are available for use in the positioning operation: absolute mode and incremental mode. In the absolute mode, set the target position by the distance from electrical home. For example, if absolute operation is performed from the electrical home toward the target position 100, it will stop after moving a distance of 100. However, if the current position is 30 from the electrical home, it will move a distance of 70 and stop. The operation is performed by the command and argument which shows target position.

Example: MA 100 (Start absolute move to target position 100)

In incremental mode, set the target position by the distance from the current position. Since each device destination becomes the starting point for the next movement, this mode is suitable when the same distance is repeatedly used. Travel distance is set by the parameter "DIS" in advance, and the operation is performed by MI command.

Example: DIS 100 (Set the distance to 100)

MI (Start move incremental)

Position 50

Position 100

• Absolute Mode

Distance 50 Distance 50

Starting point Starting point

• Incremental Mode

Before starting operation, set VR (running velocity), VS (starting velocity), TA (acceleration time), TD (deceleration time).

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8 Features

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• Example

Conditions: Ball screw: lead 10 mm (See "7.3 Setting the User Unit" on page 43.) Distance: 60 mm (Incremental) Running velocity: 5 mm/sec Starting velocity: 1 mm/sec Acceleration time: 0.5 sec Deceleration time: 0.5 sec

>DIS=60 DIS=60 mm >VR=5 VR=5 mm/sec >VS=1 VS=1 mm/sec >TA=0.5 TA=0.5 >TD=0.5 TD=0.5 >MI >

Velocity

Acceleration time TA Deceleration time TD

Time

Running velocity VR

Starting velocity VS

Distance DIS ( part)

8.2.2 Linked Motions

Linked motions are point-to-point motions which may be more complex than motions started with MA (move absolute) or MI (move incremental). Linked motions use up to four (4) running speeds between the start and stop position, and each segment of the motion has its own distance or destination. Segments can be (optionally) linked together: when two segments are linked, the system accelerates (or decelerates) to the second segment's running velocity when the first segment's distance has been traveled or destination has been reached. Motion does not stop between linked segments. The maximum number of linked segments is four (4).

• Commands and Parameters for Linked Motions

Command/

Parameter

Argument/Parameter Value Function

MIx (x=0 - 3) None Start linked motion at link segment 'x'

DISx (x=0 - 3) −MAXPOS - +MAXPOS (0) Distance or destination for link segment 'x' [user unit]

VRx (x=0 - 3) 0.001 - MAXVEL (1) Running velocity of link segment 'x' [user unit/sec]

INCABSx (x=0 - 3)

0, 1 (1) Link type for link segment 'x'

0: Absolute 1: Incremental

LINKx (x=0 - 2) 0, 1 (0) Link control for link segment 'x'

0: segment terminates linked motion 1: motion continues with next segment

VS 0 - MAXVEL (0.1) Starting velocity [user unit/sec]

TA 0.001 - 500.000 (0.5) Acceleration time [sec]

TD 0.001 - 500.000 (0.5) Deceleration time [sec]

( ): factory setting

Note

See "8.3 Stopping Motion and Sequence" on page 64 for information on stopping motions before they finish.

Memo

• Acceleration and deceleration times TA and TD are the same for each segment.

• Link segments can be absolute or incremental, but all segments must execute in the

same direction.

• Linked Motions cannot be paused and resumed: PAUSE causes a soft stop, and CONT

is ignored.

• The minimum output frequency on the CM10 is 1 Hz. If the running velocity in a user unit is set equivalent to less than 1 Hz, the actual pulse output frequency becomes 1 Hz.

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8 Features

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• Example

Conditions: Number of linked segments: 2 Link segment 0: Distance: 20 mm, Running velocity: 3 mm/sec Link segment 1: Distance: 60 mm, Running velocity: 5 mm/sec Starting velocity: 1 mm/sec

>DIS0=20 DIS0=20 mm >DIS1=60 DIS1=60 mm >VR0=3 VR0=3 mm/sec >VR1=5 VR1=5 mm/sec >INCABS0=1 INCABS0=1 [INC] >INCABS1=1 INCABS1=1 [INC] >LINK0=1 LINK0=1 >LINK1=0 LINK1=0 >TA=0.1 TA=0.1 >TD=0.1 TD=0.1 >VS=1 VS=1 mm/sec >MI0 >

Velocity

Acceleration time TA Acceleration time TA Deceleration time TD

Time

Running velocity

VR0

Starting velocity

Distance DIS0

( part)

Distance DIS1 ( part)

Running velocity

VR1

8.2.3 Continuous Motions

Continuous motions cause the motor to accelerate or decelerate to a new constant speed and maintain that speed, with no predetermined final position. Motion continues until changed by a new (continuous) motion command, a stop command, or input signal. Two continuous motion commands are available: MCP (Move Continuously Positive) and MCN (Move Continuously Negative). The new target velocity is determined by the value of running velocity VR at the time the command executes.

Velocity can be changed by setting a new value of running velocity VR and executing a continuous motion while running. Direction changes are not allowed: MCP is only permitted after a previous MCP, and MCN is only permitted after a previous MCPN The SENSOR input can be used to change speed and eventually stop after a predetermined distance: see the example and discussion below.

• Commands and Parameters for Continuous Operation

Command/

Parameter

Argument/

Parameter Value

Function

MCP None Move continuously positive

MCN None Move continuously negative

VR 0.001 - MAXVEL (1) Running velocity [user unit/sec]

VS 0 - MAXVEL (0.1) Starting velocity [user unit/sec]

TA 0.001 - 500.000 (0.5) Acceleration time [sec]

TD 0.001 - 500.000 (0.5) Deceleration time [sec]

SENSORACT 0 - 3 (2) SENSOR input action

0: Hard stop 1: Soft stop 2: Soft stop at fixed distance from SENSOR signal 3: No action

SCHGPOS 0 - MAXPOS (0) Distance from SENSOR input to the stop position [user unit] if

SENSORACT=2

SCHGVR 0.001 - MAXVEL (1) Velocity after SENSOR input [user unit/sec] if SENSORACT=2

( ): factory setting

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Note

See "8.3 Stopping Motion and Sequence" on page 64 for information on stopping motions before they finish.

Memo

The minimum output frequency on the CM10 is 1 Hz. If the running velocity in a user unit is set equivalent to less than 1 Hz, the actual pulse output frequency becomes 1 Hz.

• Example

Conditions: Ball screw: lead 10 mm (See "7.3 Setting the User Unit" on page 43.) Running velocity: 5 mm/sec Starting velocity: 1 mm/sec Direction: Positive

>VR=5 VR=5 mm/sec >VS=1 VS=1 mm/sec >TA=0.5 TA=0.5 >MCP >

Velocity

Acceleration time TA

Time

Running velocity VR

Starting velocity VS

• SENSOR Action

If the SENSOR input is configured, it can be used to stop continuous motions, with stop action determined by SENSORACT. If SENSORACT=0, the system performs a hard stop. If SENSORACT=1, the system performs a soft stop. If SENSORACT=2, the system changes velocity to SCHGVR, and stops at a distance SCHGPOS after the position at which the SENSOR signal was set. If SENSORACT=3, the system does not stop. See "8.3 Stopping Motion and Sequence" on page 64 for information on hard stops and soft stops. The picture below illustrates stopping action when SENSORACT=2.

Continuous operation

Time

Offset operation

Velocity

SCHGVR

Offset operation begins when the SENSOR input turns ON.

Distance from SENSOR input (SCHGPOS)

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8 Features

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8.2.4 Electrical Home Position and Mechanical Home Position

The CM10 is operated based on the position command (PC). The position command can be read and indicates the current position. When the CM10 is powered on or reset, PC is set to position zero (0).

• Setting of the Electrical Home Position

The physical position at which PC=0 is called "electrical home." The electrical home position can be aligned with an external reference signal (or signals) through a process called "mechanical home seeking," in which the system moves until a predefined home input signal pattern has been found, or then moves a predefined distance (OFFSET) from that position. (Mechanical home seeking is described in more detail in the next section.) When mechanical home seeking completes successfully, the final position is redefined as the new electrical home: PC is reset to zero (0).

Electrical home

Return to the electrical home operation

PC = 0

Home offset

Mechanical home

HOMELS

The electrical home position can be set in an arbitrary position regardless of the mechanical home position. When executing the PRESET (reset home position) command, the current position will be set to the electrical home position and reset to "PC=0." Also, if the EHOME (return-to-electrical home operation) command is executed when the electrical home position has never been set, the position of "PC=0" will be set to the electrical home position.

• Function of the Electrical Home Position

Once the electrical home position is set, the software position limits (LIMP, LIMN) will become effective. Whenever returning to the electrical home position, the HOMEP (home position) output of the I/O connector will be turned ON (when assigned).

• Returning to the Electrical Home Position

When returning to the electrical home position from an arbitrary position, use the EHOME (return-to-electrical home operation) command or command "MA 0" (move to the absolute position 0). The EHOME operating pattern is determined by VR (operating speed), VS (starting speed), TA (acceleration time) and TD (deceleration time) as well as other operations.

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8 Features

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• Commands and Parameters Related to the Electrical Home Position

Command/Parameter Parameter Value Description

PC −MAXPOS - +MAXPOS (0) Reference and setting of the position command

(current position)

PRESET - Reset of the position command, setting current

position to be the electrical home position

EHOME - Start return-to-electrical home operation

(When the electrical home position is not set, setting PC=0 position to be the electrical home position)

OUTHOMEP 0 - 4 (0)

Assign the HOMEP (home position) output to the OUTx of the I/O connector (the parameter 0 is unassigned)

HOMEPLV 0, 1 (0) Home position output logic (0: Normally open, 1:

Normally closed)

SIGHOMEP 0, 1 Home position output status (0: Not-active, 1:

Active (at home)

LIMP −MAXPOS - +MAXPOS (0) Setting of software position limit (Positive

direction)

LIMN −MAXPOS - +MAXPOS (0) Setting of software position limit (Negative

direction)

SLACT 0, 1(0) Software position limit enable (0: Disabled, 1:

Enabled)

( ): factory setting

Note

• See "8.3 Stopping Motion and Sequence" on page 64 for information on stopping

motions before they finish.

• An arbitrary value can be written to PC but avoid a careless change because the

reference point of all operation will be changed.

• Return-to-electrical home operation cannot be paused and then resumed: PAUSE

causes a soft stop, and CONT is ignored.

Memo

• When turning on the power or when resetting, PC is set to zero (PC=0), but the

electrical home position will not be set. Similarly, although "PC=0" is commanded at an arbitrary position, the electrical home position will not automatically be set. To use the software position limit and home position output functions without executing mechanical home seeking operation, set the electrical home position using EHOME or PRESET.

• When combining with a driver that has a function to read the current position (NX Series

driver or ESMC controller etc.) and if the reading driver current position/updating internal position (ABSREQPC) is performed, the electrical home position will be set without executing mechanical home seeking operation. See "8.6 Driver Current Position Reading (CM10-1, 3, 5)" on page 71.

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8.2.5 Mechanical Home Seeking

Mechanical home seeking is an operation in which the motor moves in a specific pattern, seeking a valid mechanical home position determined by external signals. Thirteen patterns are available, differing in their signal requirements and response. See the HOMETYP table (below) and the motion chart for each homing type on pages 60 to 63. The SENSOR input and the TIM input can be used to increase the repeatability of the final home position. The TIM input is connected to the TIM (excitation timing) output of the stepping motor driver, and is considered ON in fifty (50) or one hundred (100) fixed, evenly spaced locations per motor revolution. If a SENSOR and/or a TIM input are used, they are ANDed with the designated home position signal to form a valid mechanical home input signal set.

• Commands and Parameters for Mechanical Home Seeking

Command/

Parameter

Argument/Parameter Value Function

MGHP None Move go home positive

MGHN None Move go home negative

OFFSET −MAXPOS - +MAXPOS (0) Offset for mechanical home seeking [user unit] HOMETYP 0 - 11 (0): CM10-1, 2, 4, 5

0 - 12 (0): CM10-3

Mechanical home seeking mode: see table "HOME Seeking Pattern"

VR 0.001 - MAXVEL (1) Running velocity [user unit/sec]

VS 0 - MAXVEL (0.1) Starting velocity [user unit/sec]

TA 0.001 - 500.000 (0.5) Acceleration time [sec]

TD 0.001 - 500.000 (0.5) Deceleration time [sec] HOMEDCL 0 - 2 (0): CM10-1, 2, 3, 4

0 - 2 (1): CM10-5

Select the deviation counter clear during mechanical home seeking operation (refer to P.58 in details)

SENSORA CT

0 - 3 (2) SENSOR input action

0: Hard stop 1: Soft stop 2: Soft stop at fixed distance from SENSOR signal 3: No action

If the SENSOR input, which is used in mechanical home seeking operation, is not used in normal operation, set "SENSORACT=3."

( ): factory setting

Note

• See "8.3 Stopping Motion and Sequence" on page 64 for information on stopping

motions before they finish.

• Return-to-electrical home operation cannot be paused and then resumed: PAUSE

causes a soft stop, and CONT is ignored.

Memo

• Mechanical home seeking normally uses starting velocity VS for the final approach to

the home signal(s). If VS=0, the final approach will be internally set to 0.001 user unit. If the TIM signal is used and VS is more than 200 Hz pulse output speed, the final approach will be 200Hz=200/MR "user unit/sec."

• The minimum output frequency on the CM10 is 1 Hz. If the running velocity in a user

unit is set equivalent to less than 1 Hz, the actual pulse output frequency becomes 1 Hz.

• System END signal is referenced at the end of each motion. An error occurs if the END

signal is not found. "See 8.8 END (motion end) Signal" on page 76 in more detail of END signal.

• The TIM (excitation timing) signal of the driver is based on position command (or set

point), not on position feedback information.

• The ACL/DCL signal on the driver connector of the CM10 is momentarily output when a

limit sensor (+LS or -LS) is found during mechanical home seeking, and it clears the deviation counter in the driver for an immediate stop.

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8 Features

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• HOME Seeking Pattern

Home Position Detector

HOMETYP

HOME +LS, −LS SENSOR

TIM

(excitation timing)

Mode

(Motion Pattern)

0 - -

1 -

Required for

valid home

Required for

valid home

Not used

Required for

valid home

Required for

valid home

Required for

valid home

2-sensor mode

(See p.60)

4 - -

5 -

Required for

valid home

Required for

valid home

Reverse direction

Required for

valid home

Required for

valid home

3-sensor mode

(See p.61)

8 - -

9 -

Required for

valid home

Required for

valid home

Required for

valid home

Stop: Alarm

Required for

valid home

Required for

valid home

1-sensor mode

(See p.62)

12*

Not used Not used

- -

Sensor-less mode

(See p.63)

* See also p.59.

Note

∗ "HOMETYP=12" is can be selected by the CM10-3.

• Example: Mechanical Home Seeking with HOMETYP=4

Conditions: Ball screw, lead 10 mm (See "7.3 Setting the User Unit" on page 43.)

Starting velocity: 1 mm/sec Running velocity: 5 mm/sec Starting direction: positive Acceleration time: 0.1 sec Deceleration time: 0.1 sec

>HOMETYP=4 HOMETYP=4 >VR=5 VR=5 mm/sec >VS=1 VS=1 mm/sec >TA=0.1 TA=0.1 >TD=0.1 TD=0.1 >MGHP >

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• Operation and Function at Mechanical Home Seeking

When mechanical home seeking operation is completed (when the operation for OFFSET is completed if OFFSET is set), the final position will be redefined as the new electrical home position, and the position counter PC will be reset to zero (0). (Refer to the previous section "Electrical home position and mechanical home position") Once the electrical home position is set, the software position limit (LIMP, LIMN) will become effective. Whenever returning to the electrical home position, the HOMEP (home position) output will be turned ON (when assigned). When connecting to a driver that has a function to read the current position, CM10 resets the driver internal position to the home position. (The PRESET output of the driver connector on the CM10 is turned ON)

Note

When connecting to a driver that has a function to read the current position and using the driver current position reading function, assign the PRESET (reset home position) output to the driver connector on the CM10, and set the PRESET input of the driver to be enabled. (Refer to page 71 "8.6 Driver current position reading (CM10-1, 3, 5)" in details) When the parameter for OFFSET in the driver is set to other than 0 (zero), execute a ABSREQPC command after completing the mechanical home seeking operation or executing PRESET command. EC (encoder count), PF (feedback position) and PC (position command) in the CM10 are aligned with the HOME parameter of the driver. However, if setting the electrical home position other than the mechanical home position is required as described above, it is recommended to set the offset value in the CM10 (use the OFFSET command) but not in the driver.

(Under "HOMETYP=12," the reset of the home position will automatically be performed in the driver after completing mechanical home seeking operation. Even when using the driver current position reading function, the PRESET signal is not required in mechanical home seeking operation and the PRESET signal from the CM10 will not output.)

• Selection of the Timing Source When Using the Timing Signal

The TIM (timing) signal that is used in mechanical home seeking operation can be selected to be either the driver timing signal (Z-phase output signal in case of a servo motor) or Z-phase signal of an external encoder. Also, the timing signal of the driver can be selected either the single-ended signal or differential signal. The ENC (encoder selection) command and TIM (timing signal selection) command are used to select.

TIMING Source Selection

TIMING Source ENC TIM

Timing signal･Z-phase pulse differential input

TIMD

(Driver)

(TIMD/EXTZ)

Timing signal･Z-phase pulse single ended input

TIMS

Unrelated 1

(TIMS)

External encoder ZSG

EXTZ

(External encoder)

(TIMD/EXTZ)

No source is selected* 0

(Not used)

(TIMD/EXTZ)

∗ If ENC is set to 0 (zero) and TIM is set to 0, the system alarm status will be active when executing MGHP

or MGHN command when the selected home seeking type requires the timing signal.

Signal Flow Path

Timing signal･Z-phase pulse differential input TIMD-------1

ENC--------0 (TIMD/EXTZ)

External encoder ZSG EXTZ-------2 TIM------------------ÆTIMING signal Timing signal･Z-phase pulse single ended input TIMS--------------------1 (TIMS)

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• HOMEDCL (deviation counter clear select at mechanical home seeking operation)

Select whether the deviation counter of the CM10 and/or driver is cleared at the time of detecting the home position, and you can perform an accurate home seeking operation with a servo motor or you can acquire accurate feedback information when using an encoder.

Setting of HOMEDCL

Setting Value Deviation Counter of the CM10 Deviation Counter of the Driver

0 Clear -

1 Clear

Clear

2 -

Factory setting: "0 (zero)" for the CM10-1, 2, 3, 4 and "1" for the CM10-5

Note

When HOMEDCL is set to 2, both deviation counters are not reset when limit swiches are found or PSTOP (panic stop) is performed even under other than mechanical home seeking operation. The motor may not stop immediatly depending on the setting of velocity filter in the driver when uing product.

•

Example 1: When using a stepping motor with an encoder (including the , the ESMC controller) → Set to "HOMEDCL=0."

When there is no problem for little deviation caused by a load, or when there is no load at the time of mechanical home seeking operation even if accurate deviation is necessary, set to "HOMEDEL=0." When performing mechanical home seeking operation, the deviation will automatically be cleared, then PC (position command) and PF (feedback position) will be identically set to "0 (zero)." The motor shaft may turn up to ±3.6° when turning on the power because the first state of the excitation sequence for the stepping motor (excluding the

) is pre-determined in the driver. PC will follow PF when executing the motor current OFF, but the motor shaft may shift when executing the motor current ON the next time since the motor is excited to the last excitation sequence at the time of turning the motor current off regardless of the motors’ current position. In these cases, PC will not change, but PF will change to the appropriate value. If "HOMEDCL=0" is set, the deviation counter will be cleared when a mechanical home seeking operation is performed, and PC and PF will become the same. In case of the

, the current shaft position is excited when turning on the power or executing the motor current ON. Therefore, the above-mentioned problem does not occur, but the motor shaft may become free from generated alarms for overload or others. In this case, if the motor shaft will rotate, PF will change while PC will not change. However, if "HOMEDCL=0" is set, the deviation will be cleared when executing mechanical home seeking operation, then PC and PF will become same.

•

Example 2: When using a servo motor → Set to "HOMEDCL=1."

Since the servo motor has a deviation counter in the driver, the motor may not stop immediately even if the pulse input is stopped. If "HOMEDCL=1" is set, the driver deviation counter will be cleared simultaneously when detecting the home position sensor. Therefore, it will be able to stop at the position of the home position sensor accurately. The deviation counter in the CM10 is also cleared simultaneously, and the driver deviation is reflected to PE (position deviation) of the CM10 correctly.

•

Example 3: When an accurate deviation is required to be observed with the stepping motor plus encoder (including the

, ESMC controller) while the load is applied to the shaft at mechanical home seeking

operation → Set to "HOMEDCL=2."

The stepping motor generates its torque by shifting the rotor position to within 1.8 degree corresponding to the amount of load. When the load is always applied to the shaft, such as a gravity load in vertical axis, the motor excitation position and rotor position are out of alignment even if mechanical home seeking operation was performed. It is an expected condition that the position command (PC) and feedback position (PF) are out of alignment the same exact amount. If "HOMEDCL=2" is set, the deviation is maintained precisely as the deviation in the CM10 will not be cleared at mechanical home seeking operation. However, in advance, PC and PF are required to be matched without a load on the motor shaft (the excitation position and rotor position to be the same). Execute PECLR (deviation counter clear) in a no load condition. The PC value will be matched the PF value without a deviation. Then, perform mechanical home seeking operation. When it is difficult to do the above in vertical drive (gravitational operation), refer to the following steps. When using the

: Once execute the motor current OFF (CURRENT=0), PC and PF will be the same (PC=PF) in no load condition. Then, execute the current ON and perform mechanical home seeking operation.

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When the stepping motor other than the is combined with an encoder: Measure the correct value of the deviation in advance, such as comparing the difference of deviations (PE) between PC and PF in horizontal condition and vertical condition. In the current ON state, execute PECLR (deviation counter clear), overwrite the PF value with the value of the measured deviation added to the current PF value when the motor current is ON. This is required to be done whenever executing the motor current ON if the motor current may be OFF.

Memo

• When using a stepping motor without using an encoder or feedback information, the setting of HOMEDCL is unrelated and is not required.

• A servo motor or the will not misstep. Therefore, there is no need to see the deviation (HOMEDCL=2) in general.

• When HOMETYP is set to use the driver timing signal during mechanical home seeking operation with the , set HOMEDCL to "0" or "2." If HOMEDCL is set to "1," the motor shaft may be shifted from the timing signal position by the delay with the speed filter in the driver.

• Sensor-less Mechanical Home Seeking Operation for "HOMETYP=12"

"HOMETYP=12" is sensor-less (push-motion) type mechanical home seeking operation, and can be used only when combining the CM10-3 with the ESMC controller. See the following steps to use.

Memo

This mode is available only when the controller is used in combination with an EZSII Series, EZCII Series or EZA Series actuator.

Check the HOME input of the driver is effective

Setting to HOME in the I/O parameter for "HOME/PRESET switching" is required. The factory setting is the HOME input. Use the EZT1 teaching pendant or the EZED2 data editing software for checking and setting.

Set the home parameters of the driver

Set the return direction, home offset, return method, starting speed of return and operating speed of return.

Memo

Check that the "Push-motion 1" or "Push-motion 2" is selected as the return method of the driver. The factory setting for the EZSII Series, EZCII Series and EZA Series is "Push-motion 1."

Check if the necessary signals in the driver connector on the CM10-3 are assigned

Use CM10 with its’ factory settings. If the driver I/O settings of the CM10 have been changed, set to select "Factory settings" using the automatic setting under the [System Config] tab - the [Driver I/O] tab in the provided utility software (IMC). The necessary I/O will be set automatically.

Commands, which are input via the keyboard, are as follows.

Command

Parameter Value (Factory Setting)

Description

DINEND 0, 3 (3)

Assign the DINx input of the driver connector

on the

CM10

to the END (motion end) input

(Connect to the END output of the driver)

DINMOVE 0, 4 (4)

Assign the DINx input of the driver connector

on the

CM10

to the MOVE (motor moving) input

(Connect to the MOVE output of the driver)

DOUTHMSTOP 0, 5 (5)

Assign the DOUTx output of the driver connector

on the

CM10

to the HMSTOP (sensor-less mechanical home

seeking operation stop) output (Connect to the HMSTOP input of the driver)

DOUTHOME 0, 7 (7)

Assign the DOUTx output of the driver connector

on the

CM10

to the HOME (sensor-less mechanical home

seeking operation start) output (Connect to the HOME input of the driver)

∗ Parameter 0 indicates "unassigned" (assignment cancel).

Select "HOMETYP=12" and command mechanical home seeking operation

Both commands for MGHP and MGHN will be the same operation.

(Starting direction and speed of the operation depend on the HOME parameters that were set to the driver in "2.")

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• HOME Seeking Pattern: HOMETYP 0 to 3 (2-sensor mode)

Starting position

HOME starting direction +(CW) (MGHP)

-LS

+LS

-LS +LS

HOME starting direction

(CCW) (MGHN)

-LS +LS

-LS

-LS +LS

-LS to

+LS

is operation with offset.

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• HOME Seeking Pattern: HOMETYP 4 to 7 (3-sensor mode)

Starting position

-LS

TATDTD

HOMELS +LS

-LS HOMELS +LS

-LS

-LS HOMELS +LS

HOMELS

-LS

-LS HOMELS +LS

HOMELS

+LS

-LS HOMELS +LS -LS HOMELS +LS

HOMELS

+LS

is operation with offset.

HOME starting direction +(CW) (MGHP) HOME starting direction (CCW) (MGHN)

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• HOME Seeking Pattern: HOMETYP 8 to 11 (1-sensor mode)

HOMELS not found

-> Stop operation -> Alarm

HOMELS not found

-> Stop operation -> Alarm

Starting position

HOME starting direction +(CW) (MGHP)

-LS

TA TD

HOMELS +LS

-LS HOMELS +LS

HOME starting direction

(CCW) (MGHN)

-LS HOMELS +LS

-LS

-LS HOMELS +LS

HOMELS

-LS

-LS HOMELS +LS

HOMELS

+LS

-LS HOMELS +LS -LS HOMELS +LS

HOMELS

+LS

is operation with offset.

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• HOME Seeking Pattern: HOMETYP 12 (Sensor-less mode)

is operation with offset.

Hard stop position

near the motor

Hard stop position

away from the motor

Push-motion1

Opposite the

motor side

Motor side

Hard stop position

near the motor

Hard stop position

away from the motor

Opposite the

motor side

Motor side

Starting direction of home seeking operation:

Motor side

Starting direction of home seeking operation:

Opposite the motor side

Sensor-less home seeking

operation type

Push-motion2

(highspeed)

Hard stop position

near the motor

Hard stop position

away from the motor

Opposite the

motor side

Motor side

Hard stop position

near the motor

Hard stop position

away from the motor

Opposite the

motor side

Motor side

Memo

The "Push-motion 1" or "Push-motion 2" is set at the ESMC controller.

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8.3 Stopping Motion and Sequence

There are three ways to stop motion and sequence, command via serial communication ports, operate switch or PLC with I/O port, or CANopen communication. Various stop actions including soft stop, hard stop, stop motion or stop sequence are also available as below.

• Commands and Parameters for Stopping Motion

Command/ Parameter

Argument/

Parameter Value

Function

Assignable to

I/O Port

SSTOP None Soft stop: decelerate and stop according to TD -

HSTOP None Hard stop: stop as quickly as possible -

MSTOP None Motor stop: Hard or soft stop, determined by

MSTOPACT

Yes

PSTOP None Panic stop: Hard stop, stop also sequence, motor

current and alarm state after stop is defined by ALMACT

Yes

ABORT None Abort motion and sequence execution, soft stop

Yes

PAUSE None Pause motion (soft stop)

Yes

CONT None Continue motion (resume from pause) Yes

START None Setting ON to OFF abort s sequence

(STARTACT=1)

When sequence is running, paused motion is resumed (STARTACT=0).

Yes

PAUSECLR None Pause clear: While a sequence is running, only

remaining portion of the paused motion is cleared and the next step of the sequence will be executed.

Yes

MSTOPACT 0 - 1 (1) Motor stop action (affects MSTOP command or

MSTOP input) 0: Hard stop (MSTOP behaves as HSTOP) 1: Soft stop (MSTOP behaves as SSTOP)

ALMACT 0 - 2 (2) Alarm action (affects PSTOP command or PSTOP

input) 0: No alarm triggered, motor current remains ON 1: Trigger alarm, motor current remains ON 2: Trigger alarm, motor current disabled

( ): factory setting

Memo

• The ESC key or character stops motion and aborts sequences, similar to ABORT.

• The SSTOP, HSTOP, MSTOP and PAUSE do not stop the sequences.

• A motion that has been stopped with the PAUSE command or input on the system I/O

connector (if assigned) can be continued (resumed) using the CONT command or input or the START input on the system I/O connector (if assigned). See the descriptions for CONT (page 171), STARTACT (page 312), PAUSECLR (page 274) and PAUSE (page

273).

• The PAUSECLR command or PAUSECL input on the system I/O connector (if assigned) can be used to clear the remaining motion. If this signal becomes 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.

• 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.

• See "6.4.2 Input Signals" on page 27 for details on assigning signals to I/O ports.

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8.4 Teaching Positions

The CM10 includes a position data array, which can hold up to 100 pre-defined positions. Once defined, these positions can be used as targets for point-to-point motions. The positions are referenced as POS[1] through POS[100].

• Example

>MA POS[1] #Start absolute motion to the position specified by POS[1].

W=POS[100] #Assign the value of POS[100] to variable W. (in sequence only)

Set the position data using the [teach/Jog] tab screen of the supplied utility software Immediate Motion Creator for CM/SCX Series (IMC) or the keyboard operation using any general terminal software. When setting by using a keyboard, the position array data is entered manually, but the system also provides a utility for "teaching" the positions using the TEACH command. The TEACH command starts the teaching process. While the teaching process runs:

- the system constantly monitors and displays system position command, in user units

- motor current and power to the electromagnetic brake (if used) can be toggled on and off

- if motor current is on, the system can be commanded to move, positively or negatively, in increments of jog distance (travel distance), or continuously at running velocity VR

- if motor current is off, the system can be repositioned using external force or torque

- (while motor current is off, the system keeps monitoring position via the encoder inputs ASG and BSG, and position command (PC) is replaced by feedback position (PF). This performs position teaching by hand. Accordingly, position becomes zero (0) if ASG and BSG inputs are not connected to the encoder or the encoder output of motor driver. Teaching by hand cannot be performed.)

- at any time, the system position can be stored to any location in the position data array

Motions use starting velocity VS, running velocity VR, and acceleration and deceleration times TA and TD.

Note

• The position data array is not stored to EEPROM automatically; it must be saved using the (S) "save" key while teaching, or with the SAVEPOS command when not in the teaching mode.

• The teach function is not available while a sequence is being executed, or motion is in progress. While teaching, sequences may not be executed and only the PSTOP, +LS,

−LS, and CON inputs are acknowledged, if they are configured as inputs.

• Key Functions, While Teaching

Key Function

V Move continuously, in the negative direction (while key pressed). Soft stop when key

released.

B Move negatively in increments that is set by "D" command (Jog negative)

Jog motion in the negative direction (while key pressed)

N Move positively in increments that is set by "D" command (Jog positive)

Jog motion in the positive direction (while key pressed)

M Move continuously, in the positive direction (while key pressed). Soft stop when key

released.

Q Toggle motor current OFF and ON

K Set key interval detection time [msec]

D Set jog distance in user unit (factory setting is 0.001) F For CM10-1, 3, 5: Toggle motor current and electromagnetic brake OFF and ON

For CM10-2, 4: Toggle electromagnetic brake OFF and ON

S Save position array data to EEPROM (same as SAVEPOS)

<SPACE> Hard stop

<Enter> Store current position to a location in the position data array (System will prompt for

location, 1-100)

<ESC> Soft stop, terminate teaching

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Note

• For freeing the shaft, use the ‘F’ key for the CM10-1, 3, 5 and use the ‘Q’ key for CM10-2, 4. If the driver attached to the CM10-2, 4 is equipped with an

electromagnetic brake, use both the 'Q' key and the 'F' key for freeing the shaft.

• Be careful when using the ‘Q’ key when an encoder is not connected. Once the ‘Q’ key is pressed, the current position is set to 0.

Memo

• While teaching, continuous motions proceed while the V or M keys are pressed. The system stops the motor (over deceleration time TD) when it has not detected a key for the "key interval detection time." The key interval detection time can be adjusted. Smaller values make the system react quicker, but may result in "stuttering": motions may start and stop in a pulsing pattern. Larger values reduce the chance of stuttering, but take more time to react: controlling the final rest position is less accurate.

• Responsiveness is also very dependent on the host controller (e.g. PC or terminal) and its keyboard settings.

• Toggling current (with ‘Q’) is only recommended while the motor is stopped. A "current off" toggle may not be honored if a ‘Q’ character is sent within a stream of motion characters (‘V’, ‘B’, ‘N’, ‘M’).

• Use an English keyboard for most comfortable key locations for the operation.

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• Example

*** Teach mode ***

(V) : Move Cont. Neg. (M) : Move Cont. Pos. (B) : Jog Negative (N) : Jog Positive (Q) : Current ON/OFF (F) : FREE ON/OFF (S) : Save all data to EEPROM (K) : Change Key Interval (50-500[msec]) (D) : Change Jog Distance (0.001-500000 [Rev]) Minimum Movable Distance : 0.001 [Rev] <Space> : Immediate Stop <Enter> : Data entry mode (Input POS number, then <Enter>) <ESC> : Exit teach mode

PC= 0.000

After TEACH command

*** Teach mode ***

PC= 15.410 Save to POS[

After <ENTER> received while teaching

*** Teach mode ***

PC= 15.410 Save to POS[1] Data set OK.

After <ENTER> received

*** Teach mode ***

PC= 15.410 Saving POS[ ] Data.......OK.

After (S) received

Current position

Set target position data array location: Input "1"

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8.5 Torque Limiting/Push-motion Operation (

CM10-1, 5

)

For safety operation, the maximum output torque of the servo motor can be limited. Also, push-motion operation can be performed using a

A driver that has the torque limiting function (the NX Series driver) is required when performing torque limiting, and a driver that has the push-motion operation function (AR Series driver/LSD driver) is required when performing push-motion operation.



Setting the Driver

Set the torque limiting value of the driver (position control mode), or set to perform push-motion operation. The data setter OPX-2A or data setting software MEXE02 can be used to set the data.

- When using the NX Series driver:

1. Set the analog input signal parameter [SyS-1-05] to "Disable."

2. Recycle on the power to the driver. (When the 24 VDC is used, also recycle it.)

3. Set the desired torque limiting value to the operation data No. 0 to 3.

- When using the AR Series driver/LSD driver:

1. Set "push-motion operation" using the application parameter for I/O input mode [APP-2-00]. (The I/O mode of "positioning operation" under the factory setting will be changed to "push-motion operation," and the I/O terminal function of "CS (resolution selection) input" will be changed to "T-MODE (push-motion operation) input." Also, M0, M1 and M2 of the push-current select input will be enabled.)

2. When setting the value of the push current other than the factory setting combination, set using the application parameter for push-motion current 0 [APP-2-05] to 7 [APP-2-12].

Memo

With the NX Series driver, the CM10 has partially overlapped with the analog I/O signals connector (CN6). Select "digital" for setting the torque limiting value. The digital selection of the torque limiting value is three points at the time of shipment, but it can be extended to four points if the analog I/O signal is set to disable.



Setting the CM10

When performing torque limiting/push-motion operation, when monitoring the operation status or when operating using the I/O terminals by an external signal, it is required to assign the function to the driver connector

on the CM10 and/or I/O connector as follows.

• Setting the Driver Connector on the CM10

It is required to assign the TL (torque limiting/push-motion operation) output, M0/ M1/M2* output (operation data selection) and LC (limiting condition) to the driver connector on the CM10. ∗ When using the NX Series driver, there is no need to assign the M2 input.

- CM10-1: Not assigned at the time of shipment (excluding the LC input). Execute the assignment using the "Auto Configuration" under the [System Config] tab -[Driver I/O] tab in the provided utility software (IMC). (See "6.5 Driver I/O setting (CM10-1 and CM10-3)" on page 35. Select "NX Function Expansion" for the torque limiting of the NX Series driver and "AR Push-Motion" for push-motion operation of the AR Series driver/LSD driver.) Commands, which are executed by operating the keyboard, are as follows.

- CM10-5: Assigned at the time of shipment. There is no need to change the setting.

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Command

Parameter Value

(Factory Setting)

Description

DINLC 0, 5 (5): CM10-1, 5 Assign the driver connector on the CM10 DINx to the LC

(limiting condition) input (Connect to the TLC output of the driver)

DOUTTL 0, 4 (0): CM10-1

0, 4 (4): CM10-5

Assign the driver connector on the CM10 DOUTx to the TL (torque limiting/push-motion operation) output (Connect to the TL/T-Mode input of the driver)

DOUTM0 0, 5 (0): CM10-1

0, 5 (5): CM10-5

Assign the driver connector on the CM10 DOUTx to the M0 (data select bit 0) output (Connect to the M0 input of the driver)

DOUTM1 0, 6 (0): CM10-1

0, 6 (6): CM10-5

Assign the driver connector on the CM10 DOUTx to the M1 (data select bit 1) output

(Connect to the M1 input of the driver)

DOUTM2 0, 7 (0): CM10-1 Assign the driver connector on the CM10 DOUTx to the M2

(data select bit 2) output (Connect to the M2 input of the driver)

∗ Parameter 0 indicates "unassigned" (assignment cancel).

• Setting the I/O Connector

When commanding torque limiting/push-motion operation using the I/O connector, or when outputting the status if the motor torque reaches the set torque value/if the motor is in push-motion state, it is required to assign the signals. The signals can be set in the [I/O setting] tab under the [System Config] tab using the provided utility software (IMC). Commands, which are set by operating the terminal, are as follows.

Command

Parameter Value (Factory Setting)

Description

INTL 0, 1 - 9 (0) Assign the I/O connector INx to the TL (torque limiting/push-motion

operation) input

OUTLC 0, 1 - 4 (0) Assign the I/O connector OUTx to the LC (limiting condition) output

∗ Parameter 0 indicates "unassigned" (assignment cancel).

Memo

When selecting push-motion operation, the TL (torque limiting/push-motion operation) output of the driver connector on the CM10 is enabled. And the CS (resolution selection) output is canceled and disabled.



Performing Torque Limiting/Push-motion Operation

See the following steps.

• When Performing Torque Limiting Operation:

1. Select the desired torque limiting value using the DD (driver operation data) parameter.

2. When setting the TL command (torque limiting) to "1" (TL=1) or turning the TL input of the I/O connector

ON while executing positioning operation, the maximum output torque is limited by the set torque limiting value.

When reaching the set torque limiting value, The LC output of the I/O connector will be turned ON (you can

notice also by the DSIGLC command).

• When Performing Push-motion Operation

1. Select the desired motor current value using the DD (driver operation data) parameter.

2. Set the TL command (push-motion operation) to "1" (TL=1) or turn the TL input of the I/O connector ON.

3. Operate CW or CCW direction.

A load is pressed continuously by selected current value while turning TL ON. The push-force is increased with the deviation and if the push-motion operation is continued and the position deviation becomes 1.8 degrees or more, the LC output of the I/O connector will be turned ON (you can notice also by the DSIGLC command).

4. When the press operation is finished, stop the motion (stop pulses). After that, execute the deviation counter

clear (PECLR) or move in the negative direction and return to the position where the motion started.

5. Set the TL command to 0 (zero) or turn the TL input of the I/O connector OFF.

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Command/Parameter Parameter Value (Factory Setting) Description

TL 0, 1 (0) Performs torque limiting/push-motion

operation while setting to "1."

DD 0-3 (0) NX Series driver

0-7 (0) AR Series driver/LSD driver

Driver operation data

Memo

• Since pulses are accumulated in the driver during push condition, a prolonged push condition may generate an excessive position deviation alarm of the driver. If the push condition continues for a prolonged period, stop the operation. You can check whether it is the push condition or not using the LC output or DSIGLC command.

• When performing push-motion operation, the LC output may be turned ON during acceleration/deceleration.

• The LC output is turned ON when the motor torque reaches 300% of rated torque even while the torque limiting function is not used.

• Torque limiting/push-motion operation can be performed via CANopen. Assign TL to any bit of the byte [0] in RPDO using the RINTL command in advance. To execute torque limiting/push-motion operation, set DD by the command code and start by the assigned TL. The limiting condition will be output by LC (byte [1], bit [4]) that is pre-assigned in the TPDO.

• TL can be set to 1 (ON) or 0 (OFF) by the command, I/O or CANopen, and the later command will be given priority.

• When setting the driver operation data "DD," the M0, M1 and M2 output of the driver connector on the CM10 will be changed as follows.

DD M2 M1 M0

0 OFF OFF OFF 1

OFF OFF

OFF ON

OFF

OFF ON

ON OFF

OFF

ON OFF

ON ON

OFF

ON ON

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8.6 Driver Current Position Reading (

CM10-1, 3, 5

)

When combining with a driver that has a function to read the current position (NX Series driver or ESMC controller etc.), the current position data of the driver can be read by a dedicated command. The current position data is indicated by the user unit. The current position in the CM10 is automatically updated by the value read.



Setting the Driver

Connect the battery and set the driver to the status that can read the current position.

- When using the NX Series driver, set the switch on the front panel (SW1-3) to ON (enable the absolute

function).

- When using the ESMC controller, you can use the factory setting, but if you use the preset (reset home

position) function, select the PRESET function using the I/O parameter "HOME/PRESET switching." (After the PRESET is selected, the HOME signal cannot be used and sensor-less mechanical home seeking operation cannot be performed.)

Note

When selecting the "ESMC PRESET Signal Enable" on the CM10-3 (as below), be sure to select the PRESET in the HOME/PRESET switching of the ESMC controller. If the PRESET is not selected, the ESMC controller will start sensor-less mechanical home seeking operation when operating the PRESET on the CM10-3.

Memo

With the ESMC controller, when performing sensor-less mechanical home seeking operation, select HOME (enable sensor-less mechanical home seeking operation start signal) by "HOME/PRESET switching." (The driver current position reading function can be performed even with this setting.) In sensor-less mechanical home seeking operation, executing the PRESET input is not required because the reset (setting the home position) is automatically performed in the driver when finishing a mechanical home seeking operation. The PRESET input is required when performing mechanical home seeking operation with external sensors etc. (other than sensor-less mechanical home seeking operation). (The PRESET signal is output from the CM10.)



Setting the CM10

To read the drivers’ current position, it is required to assign the necessary signals to the driver connector on the CM10. Perform the following assignments using the automatic setting under [System Config] tab of the supplied utility software (IMC) as needed. (See "6.5 Driver I/O Setting (CM10-1 and CM10-3)" on page 35.)

- CM10-1: Select "NX Function Expansion"

- CM10-3: These signals are assigned at the time of shipment (factory setting). However, if the PRESET

function is used, select the "ESMC PRESET Signal Enable."

- CM10-5: These signals are assigned at the time of shipment (factory setting).

•

When operating by a keyboard and not using the IMC, see the followings (commands are introduced on the next page).

It is required to assign each signal of the REQ (position data transmission request) output, CK (position data transmission clock) output, PR (position data output ready) input, P0 (position data bit 0) input and P1 (position data bit 1) input to the driver connector on the CM10 respectively. Also, it is required to assign the PRESET (reset home position) output signal when using the preset function.

- CM10-1: Assign signals for REQ, CK, PR, P0, P1 and PRESET are not assigned.

- CM10-3: Signals for REQ, CK, PR, P0 and P1 are assigned at the time of shipment. When the PRESET

signal is required, unassign the HOME signal first (OUTHOME=0), then assign the PRESET signal.

- CM10-5: These signals are assigned at the time of shipment (factory setting).

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Commands, which are executed via the keyboard, are as follows. The non-zero parameters indicate the port number of I/O. For example, when assigning the PRESET signal is required, type DOUTPRESET=7. To unassign, type DOUTPRESET=0.

Command

Parameter Value (Factory Setting)

Description

DINPR 0, 3 (3): CM10-3

0, 4 (0): CM10-1 0, 4 (4): CM10-5

Assign the PR (position data output ready) input to the driver connector on the CM10 DINx

(Connect to the OUTR output of the driver)

DINP0 0, 5 (0): CM10-1

0, 5 (5): CM10-5 0, 6 (6): CM10-3

Assign the P0 (position data bit 0) input to the driver connector on the CM10 DINx

(Connect to the OUT0 output of the driver)

DINP1 0, 5 (5): CM10-3

0, 6 (0): CM10-1 0, 6 (6): CM10-5

Assign the P1 (position data bit 1) input to the driver connector on the CM10 DINx

(Connect to the OUT1 output of the driver)

DOUTCK 0, 2 (0): CM10-1

0, 2 (2): CM10-3, 5

Assign the CK (position data transmission clock) output to the driver connector on the CM10 DOUTx

(Connect to the CK input of the driver)

DOUTREQ 0, 3 (0): CM10-1

0, 3 (3): CM10-3, 5

Assign the REQ (position data transmission request) output to the driver connector on the CM10 DOUTx (Connect to the REQ input of the driver)

DOUTPRESET 0, 7 (0): CM10-1

0, 7 (7): CM10-3, 5

Assign the PRESET (reset home position) output to the driver connector on the CM10 DOUTx (Connect to the PRESET input of the driver)



Reading the Driver Current Position

Memo

When turning the power ON for the first time after connecting a battery to the driver, start operating with the next section "Releasing the Absolute Position Loss Alarm/Setting the Home Position."

The driver’s current position is read using the following commands. (The operation can be done with the attached utility software, IMC. Click the [Absolute System] button under the [Motion Creator] tab.)

Command/Parameter Description

ABSREQ (Reading driver current position)

Read the driver current position data, driver status code and driver alarm code, and then indicate

(The current position data is converted to the user unit and written to PABS, while the driver status code and driver alarm code are written to ABSSTS)

ABSREQPC (Reading driver current position

/updating internal position)

In addition to the ABSREQ function, ・PC (position command) of the CM10 is overwritten by the driver

current position that was read, PF (feedback position) and EC (encoder count) of the CM10 will be updated maintaining the deviation

・Set the electrical home position and enable LIMP and LIMN

when the software position limit control is set to 1 (SLACT=1)

PAB S (Driver current position)

Driver current position (User unit)

ABSSTS (Driver status code/driver alarm

code)

Driver status code (2 digits), driver alarm code (2 digits) example) 1C48 1C: driver status code (Hexadecimal) 48: driver alarm code (Hexadecimal)

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<Steps>

1. Execute "CURRENT=0" (servo OFF/current OFF) CURRENT=0 causes to release any load on the shaft by the motor generating torque to be zero, and the deviation in the CM10 is always forced to be zero. ∗ The driver current position can be read in servo ON/current ON state. However, when a load is applied, the

position read may not be equal to the actual machine position due to the machine deflection or the deviation in the driver. When any position displacement occurs by servo OFF/current OFF such as on the vertical axis, hold the load in position using an electromagnetic brake etc.

2. Execute ABSREQPC Read the driver current position and update the position information (PC,PF, EC) in the CM10. If only reading the driver current position is required and updating the position information in the CM10 is not required, execute ABSREQ.

3. Execute "CURRENT=1" (servo ON/current ON) To prevent the position displacement from reading the current position, execute servo ON/current ON immediately after reading the driver current position.

∗ Once the ABSREQ or ABSREQPC commands have been executed, the driver current position will be

written to PABS, and the driver statue code and driver alarm code will be written to ABSSTS. They can be referred to at anytime.

Command Description

>PC PC=3.05 Rev >PF PF=3.04 Rev >CURRENT=0 >ABSREQPC PABS=124.35 Rev Driver Status Code = 1C Driver ALARM Code = 48 >PC PC=124.35 Rev >PF PF=124.35 Rev >PABS PABS=124.35 Rev >ABSSTS ABSSTS=1C48

Confirm the PC value

3.05 Rev Confirm the PF value

3.04 Rev Servo OFF/current OFF (release of a load, deviation zero) Read driver information, Overwrite PC and PF (EC) Current position Driver status code Driver alarm code Confirm the PC value

124.35 Rev (rewritten) Confirm the PF value

124.35 Rev (rewritten) Position when executed the current position reading

124.35 Rev Driver Status Code/Driver Alarm Code 1C48 (Indicates status code in 2 digits + alarm code in 2 digits)

Memo

• The range of the driver’s current position can be read is "-2,147,483.648 to +2,147,483.647," which is the value after converting to the user unit. The range to be written to PC and PF is limited by MAXPOS (maximum position value).

• When only referring to the current position (and not overwriting PC, PF EC), use the ABSREQ (reading driver current position) command. Also, ABSREQ can be used at any time while an error will occur when ABSREQPC is used during pulse generation.

• When executing ABSREQPC, the PC (position command) of the CM10 is overwritten by the driver current position that was read. The value for PF (feedback position) and EC (encoder count) of the CM10 will be updated maintaining the deviation. However, as PC will always follow PF with "deviation-zero" during servo OFF/current OFF, PC and PF will be updated with the same value.

• The driver’s current position reading can be commanded via CANopen. If the data is required to be loaded to the master of CANopen, first command ABSREQPC or ABSREQ, and execute PABS and/or ABSSTS when the ABSDATA (driver current position data ready) output becomes "1." The ABSDATA output can be assigned to the remote output (in TPDO) of CANopen using the IMC software or ROUTABSDATA command.

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

Releasing the Absolute Position Loss Alarm/Setting the Home

Position

The absolute position loss alarm will generate when turning the power ON for the first time after connecting a battery to the driver. This is because the home position has not yet been set to the driver. When the battery voltage is decreased or the coordinate control range is exceeded, this alarm will generate. Referring to the following steps, release the absolute position loss alarm and set/reset the home position.

Command/Parameter Description

PRESET (Reset home position)

・Set PC (position command) to 0 (zero) and the set position will become

the electrical home position. Since PF (feedback position) and EC (encoder count) will follow PC maintaining PE (deviation), they will become the deviation value as a

result.

・When connecting a driver that has a PRESET input (the NX Series driver,

ESMC controller etc.), the driver current position is reset to the home

position.

ABSPLSEN (Enable driver operation after absolute position

loss alarm release)

Enable mechanical home seeking operation after the absolute position loss alarm of the driver is released. (This command will turn ON the P-REQ output assigned to the driver connector on the CM10 for about 1 msec.) ∗ This operation is required only when NX Series driver is used, while there

is no need to do with the ESMC controller.

<Steps> (Start from the step 3. when turning the power ON first time)

1. Execute ABSREQ and read the cause of the alarm

2. Eliminate the cause of the alarm

3. Execute ALMCLR (alarm clear)

4. Execute ABSPLSEN (enable operation at driver absolute position loss alarm release) ∗ for the NX Series

driver only

5. Execute mechanical home seeking operation (When mechanical home seeking operation is finished, the PRESET output is automatically output and the

home position is set to the driver.)

Memo

• When setting the current position to the home position without mechanical home seeking operation, or when performing mechanical home seeking manually, skip the steps 4 and 5, and execute PRESET command.

• If the PRESET command is executed when the parameter for PRESET value (offset value from the home position) on the driver is set to a value other than zero, the current position of the CM10 (PC and PF) will not match the driver's current position. In this case, they will be matched by executing the ABSREQPC command. However, if setting the electrical home position other than the mechanical home position is desired, it is recommended to set the OFFSET value in the CM10 (adjust “Home Offset” with the IMC software or the OFFSET command) but not in the driver.

• When using the NX Series driver, set to "HOMEDCL=1." When finishing mechanical home seeking operation, ACLDCL signal on the driver connector will be output and the driver deviation counter will be cleared.

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8.7 Multi Axis Operation

User or the master controller can operate more than one CM10 at a time via serial communication.



RS-232C (Daisy Chain)

•

Maximum Nodes: 36

•

Address ID: command "ID n"

•

Addressing method: Command "@n" or "TALKn" to select device. This makes a logical connection to a specific device, whose ID is "n" in a daisy chain connection.

•

Reference section: "6.6 Connecting the RS-232C" on page 37, ID (page 224), @ (page 146), TALK (page

316).

The CM10 can also be daisy chained with the SCX10 and the

-One. Commands are limited by each

device, though they are very similar.

Note

When a -One is daisy chained, provided utility software, Immediate Motion Creator for CM/SCX Series cannot be used.

• Daisy Chain Communication Example

Call the CM10 used for communication using the @ command.

Example) Connection to a device whose axis number is 1 on the communication line.

•

When more than one device is connected to be communication line and the device power is first turned on, the terminal program or utility software will not be connected to any of the devices on the communication line. As a result, no prompt (">") is displayed on the screen. The @ command must be used to make a connection to one of the devices on the communication line.

Command Description

@1 1> @2 2> 2>ID ID=2

#Executing a "@1" command connects device 1. #A prompt ("1>") is output. #Connect to device 2. #A prompt ("2>") is output. #Query the ID of the connected device. #The axis ID is returned (2).

Note

The communications echo control must be ON (ECHO=1) when daisy chain is performed.



CANopen

•

Maximum Nodes: 127

•

Address ID: command "CANID n" via USB or RS-232C

•

Addressing method: The master calls the device by following the CANopen specifications.

•

Reference section: "6.7 Connecting the CANopen" on page 39.



USB

•

Maximum Nodes: Up to the number of COM ports on the master controller (PC)

•

Addressing method: One CM10 pairs with one COM port on the master controller (PC). Command any target CM10 through the assigned port, each CM10 acts as a single node to one COM port. No ID is necessary. If desired, ID can be named by the command, "ID n".

Memo

• If the computer does not have an extra USB port, a USB hub can be used.

• The IMC or general terminal software is operated in one-on-one relationship with the

COM port. To connect multiple units of the CM10 to USB and drive each unit using PC, it is required to switch the setting of the IMC or terminal software to the COM port corresponding to each CM10 or to launch the software being an equal number of the connected CM10.

Note

Be aware that Windows automatically changes the COM port number when a CM10 is replaced.

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8.8 END (motion end) Signal

The END (motion end) signal is output when a motion was completed. This signal is used as a trigger to start the next motion or to perform other operations by confirming the completion of the present motion. Customers can use this signal as an output of the END signal or a sequence program, and also this signal is utilized as an internal function of the CM10.



Definition of END Signal (Source)

There are two methods to generate the END signal/status of the CM10: One is to use the driver END signal and another is to create the END signal internally in the CM10. The source of the END signal/status can be selected from the following three types with a combination of the ENDACT (system end action) parameter and DEND (driver end signal enable) parameter. The factory settings are "Driver END signal" for CM10-1, 3, 4, 5 and "End of pulse" for CM10-2.

Definition of END Signal

(Source)

ENDACT

Parameter

DEND

Parameter

Typical Motor Type

End of pulse 0 0 Stepping motor

End of pulse and within end area 0<n (END area) 0 Stepping motor with an encoder

Driver END signal Unrelated 1 /servo motor

Memo

• The "End of pulse and within end area" is generally used to confirm that the positioning of the stepping motor has completed without having a loss of synchronism. With this selection, END signal/status is active when PE (position error) is within the ENDACT value. See "8.9 Encoder Function" on page 77. Connecting the encoder to the CM10 is required. See "6.8 Connecting the External Encoder" on page 40.

• "Driver END signal" is used to confirm that the driver has completed the operation of the

or a servo motor system that have the position deviation in the driver.

• When "Driver END signal" is chosen, there may be the case where END signal intermittently outputs during motor is moving at very slow speed. This is because the motor has been instantaneously entering the end area of the driver. Adjust the END related parameters in the driver or choose "End of pulse" or "End of pulse and within end area" (DEND=0) to avoid intermittent END signal.

Signal Flow Path

CM10 internal END creation

End of pulse generation----------- 0

ENDACT---------------- 0

End of pulse generation and motor is within end area--- n (END area)

DEND ----ÆEND status

Driver END signal-------------------------------------------------- 1



Output of END Signal, and How END Signal/Status is Internally Used in the CM10

The END signal/status, which was created and selected in the definition of END signal, is used by the following three methods.

• END (motion end) Signal

The signal is output as the END (motion end) signal of the I/O connector. (See "6.4 Connecting the I/O Signals" on page 25.) The operation completion can be sent to the host controller by the END signal. The END signal can be checked continuously via CANopen, and also it can be checked using the SIGEND command via serial communication.

• MEND (wait for motion end) Command

The MEND command is a command to be used in a sequence program. This command stops the sequence program until the motor operation completes. The sequence moves on the next one when the CM10 detects the END status internally. Therefore, the sequence program that starts the next motion or operation after confirming the present motion completion can be constructed by using the MEND command.

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• Mechanical Home Seeking

When performing mechanical home seeking operation (MGHP, MGHN), the motor stops a few times during operation and the CM10 checks the END status.

Memo

• In the case of the MEND command or mechanical home seeking operation, if the pulse signal output is completed and the END signal is not output in a certain time, an alarm is generated. The alarm status is "Excessive Position Deviation (10h)" when the definition of END is set to the end area, and "Driver Connection Error (6Fh)" when the definition is set to the driver END signal.

• The waiting time until an alarm generates can be set using the ENDWAIT (END wait time) parameter (the factory setting is 6 seconds).

• The cause, that the END does not establish is the position deviation by overload in many cases. For example, the AR Series driver/LSD driver has the overload alarm function, and the time to decide whether or not to output the alarm is 5 seconds in the factory setting. The factory setting of ENDWAIT is 6 seconds in order to give the priority to the driver setting, and the driver alarm is generated if an overload is occurred (when the driver alarm is connected and it is set to enable).

8.9 Encoder Function

The CM10 has an encoder input that is used to check the actual position of the motor or device, or to perform an operation according to the actual position. The PF (feedback position) and PE (position error) are generated by the encoder input and those can directly be observed as figures, or used in a program. The PE can also be used to determine whether the position error is in the allowable range when the operation completes, in order to generate the END status using mainly a stepping motor with an encoder. Using these functions, it is possible to detect loss of synchronism for the stepping motor.



Connecting an Encoder and Selecting Inputs

There are two encoder inputs, on the driver connector of the CM10 and independent encoder connector. Choose one of them by ENC parameter, and connect it by referring "ASG/BSG Input" in "6.8 Connecting the External Encoder" on page 40. The factory settings are "On driver connector" for CM10-1, 3, 4, 5 and "Not used" for CM10-2.

ENC

Parameter

Description Typical Motor Type Reference Page

0 Not used Stepping motor -

1 On driver connector

(ASG/BSG, TIMD/TIMS)

/servo motor Appendix A Signals for

Driver

2 Independent encoder connector

(EXTA, EXTB, EXTZ)

Stepping motor with an encoder/external Encoder

6.8 Connecting the External Encoder

Memo

• To use the encoder information correctly, it is required to adjust zero positions for the PC (position command) and PF. See "HOMEDCL (deviation counter clear select at mechanical home seeking operation) of 8.2.5 Mechanical Home Seeking" on page 55 and set properly for the conditions of use.

• The "Z" channel (zero position) of the selected encoder input by the ENC parameter is regard as TIMD/EXTZ (timing signal･Z-phase pulse differential input/external encoder ZSG) in the CM10, and can be used to seek the mechanical home position. See "8.2.5 Mechanical Home Seeking" on page 55.

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

Parameters and Relations

The CM10 counts above selected signals by encoder count (EC), and convert it to user unit and continuously monitored as the feedback position (PF). The difference between PC (position command) and PF becomes the PE (position error). These relationships are shown by the following formula. Be sure to set the ER (encoder resolution) parameter first.

PE=PC-PF PF=EC/ER*DPR*GB/GA

PE: position error (user unit) PC: position command (user unit) PF: feedback position (user unit) EC: encoder count ER: encoder resolution DPR: distance per revolution GA, GB: electrical gear ratio (GA/GB)



How to Use

• Position confirmation after positioning operation

When the DEND (driver end signal enable) parameter is set to 0 (internal END signal), the position check using the encoder feedback information (PE) is performed by setting the positioning completion signal range using the ENDACT (system end action). See "8.8 END (motion end) Signal" on page 76.

• Detection of loss of synchronism for stepping motor

When using a stepping motor with an encoder, it is possible to check whether loss of synchronism is generated or not by monitoring the PE. In the case of the basic step angle 1.8° of 2-phase stepping motor and 0.72° of 5-phase stepping motor, if the offset of the small teeth on the stator and rotor (PE) at motor standstill condition exceeds ±1.8 degrees (±0.9 degrees for the basic step angle 0.9° of 2-phase stepping motor and 0.36° of 5-phase stepping motor), loss of synchronism may be generated because the force to synchronize the motor becomes very unstable condition (the acceptable value varies depending on the operating condition such as operating speed etc.).

・How to use the END (motion end) signal: See "8.8 END (motion end) Signal" on page 76.

If the value exceeding just 1.8 degrees at the motor output shaft is set using the ENDACT command, loss of synchronism can be determined by the END signal or the SIGEND command. (In this case, set "DEND=0" to enable the internal END signal.) For example, if the DPR (distance per resolution) is set to 360, set "ENDACT=1.81."

・When programming with the PE (position error):

Loss of synchronism can be detected using the position error if the END area (value of ENDACT) is required to set individually regardless of loss of synchronism. Programming example to show the result on the terminal is as follows.

Command Description

( 1) MI ( 2) MEND ( 3) IF (PE<-1.8) ( 4) SAS MISS-STEP MAY HAVE OCCURRED ( 5) ENDIF ( 6) IF (PE>1.8) ( 7) SAS MISS-STEP MAY HAVE OCCURRED ( 8) ENDIF

#Start incremental motion #Wait for motion to end #When the PE is smaller than -1.8° #Transmit a message #End the IF statement #When the PE is greater than -1.8° #Transmit a message #End the IF statement

∗ As another example, the sample program which urges maintenance of the equipment when a load is increased

is introduced in the explanation of the PE command (page 277).

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• Perform operation and judgement based on a operation of the other parts for the device.

By installing an encoder to the different parts other than the motor such as the shaft of the belt conveyor or the float to measure liquid etc., it is possible to operate or stop the motor, to operate according to the EC (encoder count) value, or to determine OK or NG when the EC reaches the set value. Examples are shown below.

Command Description

Example to operate the motor when the EC becomes the set value. ( 1) WHILE (EC<100);WEND ( 2) MI

Example to operate the motor by the motion distance according to the EC value ( 1) DIS=EC/100 ( 2) MI

#When the EC becomes greater than 100 #Start incremental motion

#Assign a value of hundredth part of the EC to the incremental motion distance #Start incremental motion

Memo

• The value of EC can be set such as to set "EC=0" as an initial value. The setting range of EC is "-MAXEC to +MAXEC."

• The PF can be used instead of the EC, but the user unit becomes in common with the motor and it is affected by the DPR, GA and GB. Use the encoder resolution (ER) to adjust the magnification. And the PE will have no meaning in many cases.

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8.10 Math/Logical/Conditional Operators

You can use math/logical/conditional operators in a sequence program. For command reference of math/logical/conditional Operators, see "■ Math/Logical/Conditional Operators (In Sequence only)" on page

138.



Math/Logical Operators

The following math/logical operators can be used in a program:

• + : Addition

•

: Subtraction

• * : Multiplication

• / : Division

• % : Modulo (remainder)

• & : AND (Boolean)

• | : OR (Boolean)

• ^ : XOR (Boolean)

• << : Left arithmetic shift (Shift to left bit)

• >> : Right arithmetic shift (Shift to right bit)

• Example

Command Description

>LIST 1

( 1) X=2 ( 2) Y=PC ( 3) X=X*Y ( 4) X ( 5) END >PC PC=10 Rev >RUN 1 >20 >

#List the user entered sequence

#The variable X is set equal to two #Variable Y is set equal to the Position Command Value #X equals the previous value of X multiplied by Y #Print the current value of X to the terminal #End the sequence #Query the PC value #Device response #Run sequence #1 #Device response



Conditional Operators

The following conditional operations may be used in a sequence, as part of an IF or WHILE statement. a and b can be constants or any variable available within sequences.

• a!=b : a is not equal to b

• a<=b : a is less than or equal to b

• a<b : a is less than b

• a=b, a

= =

b : a is equal to b

• a>=b : a is greater than or equal to b

• a>b : a is greater than b

• Example

Command Description

>LIST 2

( 1) IF (IN1!=0) ( 2) DIS=1 ( 3) MI ( 4) ENDIF ( 5) END >

#List sequence 2

#If Input #1 does not equal the logic OFF state or 0, then; #Set the distance to 1 User Unit #Move Incrementally #End the IF Statement #End the sequence

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8.11 User Variables

As opposed to the variables (parameters) which roles are fixed such as PC and PF, there are general purpose numeric variables that can be used in various uses such as calculation etc. Variables that can be named freely and variables that can treat a character string are also provided. For command reference of user variables, see "■ User Variables" on page 139.



User Variables

• A to Z

General purpose numeric variables. Upper and lower case are permitted, but 'A' and 'a' reference the same variable. In immediate mode, A to Z may only be set and queried. Within a sequence, variables may also be used in the following conditions:

• Targets or arguments for assignments (e.g. A=TIMER; DIS=A)

• Loop Counters (e.g. LOOP Q)

• Conditional Statement Values (e.g. if (VR>X))

• Arguments for a subroutine CALL (e.g. CALL S)

• Parts of Mathematical Expressions

• Targets for interactive data entry commands (e.g. X=KBQ)

• Example

Command Description

( 1) MCP ( 2) WHILE (IN1=0) ( 3) D=PE-E ( 4) D=0.01*D ( 5) E=E+D ( 6) WEND ( 7) SSTOP ( 8) MEND ( 9) IF (E>3) ( 10) SAS Load increasing, clean machine. ( 11) ENDIF

#Start continuous motion #Repeat while IN1=1 #PE: Position error, E: user variable #D: user variable

#End of WHILE block #Soft Stop #Wait for motion end #If E>3 #Transmit comment #End of IF block



User-defined Variables

• N_xxx :

General purpose, user-defined numeric variables. A user-defined variable must be created with CREATEVAR before it can be used. After it has been created, it can be used in the same way as the general purpose variables A to Z, except that it cannot be used as the argument for a CALL statement.

• S_xxx :

General purpose, user-defined string variables. A user-defined string variable must be created with CREATEVAR before it can be used. After it has been created, it can be used to store or display text.

• Associated commands

CLEARVAR: Clears all user-defined variables from memory. DELETEVAR: Deletes a specific user-defined variable. LISTVAR: Lists the names and values of all user-defined variables.

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• Example

Command Description

>CREATEVAR N_COUNTS=0

New variable N_COUNTS is added. N_COUNTS=0 >CREATEVAR N_TOTAL=10

New variable N_TOTAL is added. N_TOTAL=10 >LIST MAIN

( 1) WHILE (N_COUNTS < N_TOTAL) ( 2) MI; MEND ( 3) OUT4 = 1 ( 4) WHILE (IN6=0); WEND ( 5) OUT4 = 0 ( 6) WHILE (IN6=1); WEND ( 7) N_COUNTS=N_COUNTS+1 ( 8) WEND >

#Create user-defined numeric variable named N_COUNTS

#Create user-defined numeric variable named N_TOTAL

#List sequence MAIN

#N_COUNTS, N_TOTAL user-defined variables #Start incremental motion; wait until complete #Set output 4 on #Wait for input 6 to go off #Set output 4 off #Wait for input 6 to go on #Increment N_COUNTS by 1 #End of WHILE block

8.12 View and Test Functions

The CM10 has various support functions, such as functions to display ON-OFF status and test the connection of I/O, to display the system status (parameters etc.), and to display online HELP letting you know the command names and brief descriptions without reading this manual.



I/O Test

OUTTEST starts a utility process to check I/O connections and levels. Inputs are continuously monitored and displayed, and outputs can be set or cleared, to confirm proper external connections. Inputs and outputs are displayed as active (1) or inactive (0). OUTTEST temporarily disables the actions of all assigned system input and output signals. The system will not react to inputs, and will not automatically control outputs. All output control is from the serial port. Signal assignments are restored when the OUTTEST process terminates, and all outputs are restored to the state they were in when the OUTTEST process was started. Outputs can be toggled, using the character displayed next to the signal name in the OUTTEST screen. Toggling an output changes its state as displayed, and changes the electrical state of the associated output port. Toggle keystrokes or characters for each output are:

OUT1 (1) OUT2 (2) OUT3 (3) OUT4 (4)

MOVE (M) RUN (R) END (E) HOMEP (H) ALARM (A)

PSTS (P) MBFREE (B) READY (D) LC (L)

A SPACE key sets all outputs to inactive (0). An <ESC> key or character exits the OUTTEST process.

Memo

• Only keys for assigned output signals are available.

• OUTTEST is not permitted while a sequence is running, while a motion is in progress, or

if the system is in an alarm state. While OUTTEST is running, sequences are not executable.

• Example

*** Input Monitor – Output Simulator *** Inputs (1-9) = RUN ABORT IN3 IN4 IN5 –LS +LS HOME PSTOP Outputs (1-4) = OUT1(1) OUT2(2) END(E) ALARM(A)

- Use (x) Keys to toggle Outputs.

- Use <space> to set all outputs to zero.

- Use <esc> to exit OUTTEST mode.

I/O Status Monitor

--Inputs-- Outputs 1 2 3 4 5 6 7 8 9 –(SEQ#)- 1 2 3 4 0 0 0 0 0 0 0 0 0 –( 0 )- 0 0 1 0

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

Signal Status

All I/O status can be reported by SIG__commands. For example, the SIGHOME replies "1" when an external HOME input signal is ON (active), and replies "0" when it is OFF (not active).

• Example

Command Description

>LIST SLIPCHECK

( 1) EHOME ( 2) MEND ( 3) IF (SIGHOME!=1) ( 4) SAS No home input at home position. ( 5) SAS Check linkage and sensor. ( 6) ALMSET ( 7) ENDIF >

#List sequence SLIPCHECK

#Return to home position (PC=0) #Wait for motion to complete #If HOME input not active… #…Problem. Transmit messages

#Set an alarm #End of IF block

While SIG__ commands are generally used in a sequence programs, they are also convenient for monitoring purposes. See "Continuous Display" below.

Applicable Commands: SIGPSTOP, SIGMSTOP, SIGABORT, SIGSTART, SIGMCP, SIGMCN, SIGMGHP, SIGMGHN, SIGPAUSE, SIGCONT, SIGPAUSECL, SIGPECLR, SIGALMCLR, SIGSENSOR, SIGHOME, SIGHOMEP, SIGLSP, SIGLSN, SIGCON, SIGFREE, SIGMOVE, SIGRUN, SIGEND, SIGALARM, SIGPSTS, SIGMBFREE, SIGREADY, SIGTL DSIGACLDCL, DSIGALARM, DSIGEND, DSIGTIMS, DSIGTIMDEXTZ, DSIGCON, DSIGCOFF, DSIGCS, DSIGMBFREE, DSIGFREE, DSIGLC, DSIGMOVE, DSIGM0, DSIGM1, DSIGM2, DSIGTL

Note

The display by the SIG_commands represents ON/OFF (active or not active) of signals but not ON/OFF of photocouplers. Take note because it depends on the setting of I/O logic level (LV command). If "1" is received when inquiring "SIGHOME" while setting to "HOMELV=0", "0" will be received when inquiring "SIGHOME" while setting "HOMELV=1."



Continuous Display

A forward slash character (/) following certain variables causes the system to continuously display the value of those elements utilizing these rules:

• Only one command may be displayed simultaneously

• A space must separate the command from the / character

• This data is updated every 0.15 seconds

• Keyboard <ESC> terminate the display loop

• Example

Command Description

>UU=Degrees UU=Degrees >VR=10 VR=10 Degrees/sec >MCP >PC /

72.639 Degrees

#Set the User Units to Degrees

#Set the running velocity to 10 User Units/second.

#Begin moving continuously #Continuously display the position command

#Device response at one moment in time #<ESC> sent: display terminates

Applicable Displayed Commands: IN, INSG, INx, OUT, OUTSG, OUTx, IO, RIO, DIO, PC, PCI, PE, PF, PFI, EC, SIGPSTOP, SIGMSTOP, SIGABORT, SIGSTART, SIGMCP, SIGMCN, SIGMGHP, SIGMGHN, SIGPAUSE, SIGCONT, SIGPAUSECL, SIGPECLR, SIGALMCLR, SIGSENSOR, SIGHOME, SIGHOMEP, SIGLSP, SIGLSN, SIGCON, SIGFREE, SIGMOVE, SIGRUN, SIGEND, SIGALARM, SIGPSTS, SIGMBFREE, SIGREADY, SIGTL DIN, DINx, DINSG, DOUT, DOUTx, DOUTSG, DSIGACLDCL, DSIGALARM, DSIGEND, DSIGTIMS, DSIGTIMDEXTZ, DSIGCON, DSIGCOFF, DSIGCS, DSIGMBFREE, DSIGFREE, DSIGLC, DSIGMOVE, DSIGM0, DSIGM1, DSIGM2, DSIGTL

Page 84

8 Features

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The ESC key will cause the termination of the / (forward slash) command execution. While the forward slash command is executing and motion is occurring, the ESC key will first cause the termination of the forward slash command execution. The ESC must be transmitted to the device a second time to cause the motion to cease.

Note

• Do not confuse this special command with the division operator, "/."

• When this command is used in the RS-232C with daisy chain connection, line feeds will

occur and the bottom line will indicate the current value.



System Status

The system status summary including all I/O assignments, active level and status, values of important parameters, current position, and alarm condition are displayed by the REPORT command. The next page will be displayed by pressing the SPACE key. The REPORT command can be an effective tool for troubleshooting problems with the system.

/ I/O REPORT /---(NO:Normally Open, NC:Normally Closed)---------- IN1(NO) = 0 IN2(NO) = 0 IN3(NO) = 0 IN4(NO) = 0 IN5(NO) = 0 IN6(NO) = 0 IN7(NO) = 0 IN8(NO) = 0 IN9(NO) = 0 OUT1(NO) = 0 OUT2(NO) = 0 OUT3(NO) = 0 OUT4(NO) = 0

/ REMOTE I/O REPORT /-------------------------------------------- IN1 = 0 IN2 = 0 IN3 = 0 IN4 = 0 IN5 = 0 IN6 = 0 IN7 = 0 IN8 = 0 ABORT = 0 START = 0 MCP = 0 MCN = 0 MGHN = 0 CON = 0 FREE = 0 OUT1 = 0 OUT2 = 0 OUT3 = 0 OUT4 = 0 OUT5 = 0 OUT6 = 0 END = 0 MOVE = 0 HOMEP = 0 LC = 0 READY = 0

/ DRIVER I/O REPORT /-------------------------------------------- ALM(NC) = 1 IN2(NO) = 0 END(NO) = 0 READY(NO) = 0 LC(NO) = 0 TIMS(NO) = 0 TIMD/EXTZ(TIMDLV=1, EXTZLV=0) = 0 CON(NO) = 0 ACL/DCL(NO) = 0 REQ(NO) = 0 TL(NO) = 0 M0(NO) = 0 M1(NO) = 0 PRESET(NO) = 0 FREE(NO) = 0

Enter [SPACE] to continue, other key to quit.

/PARAMETER REPORT /--------------------------------------------- UU = Rev STRSW = 0 DPR = 1 MR = 1000 GA = 1 GB = 1 ER = 1000 DIRINV = 0 VS = 0.1 VR = 1 TA = 0.5 TD = 0.5 DIS = 0 LIMP = 0 LIMN = 0 SLACT = 0 STARTACT = 0 MSTOPACT = 0 SENSORACT = 2 OTACT = 0 ALMACT = 2 ALMMSG = 0 HOMETYP = 0 HOMEDCL = 1 INCABS0 = 1 VR0 = 1 DIS0 = 0 LINK0 = 0 INCABS1 = 1 VR1 = 1 DIS1 = 0 LINK1 = 0 INCABS2 = 1 VR2 = 1 DIS2 = 0 LINK2 = 0 INCABS3 = 1 VR3 = 1 DIS3 = 0 DALARM = 1 DREADY = 1 STRDSC = 0 TIM = 1 ENC = 1 DEND = 1 ENDACT = 0 MBFREEACT = 0 PULSE = 1 PLSINV = 0 CANID = 1 CANBAUD = 1

/ POSITION REPORT /---------------------------------------------- PC = 0 PF = 0 PE = 0 EC = 0 PABS = 0

/ ALARM HISTORY /------------------------------------------------ ALARM = 6E , RECORD : 6E 6E 00 00 00 00 00 00 00 00 ALM_DRIVER_ALARM , 15.123 [sec] past. Driver Status Code = 00 Driver ALARM Code = 00

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

Commands

Type HELP to display the command syntax and brief description. The SPACE key on the keyboard lists the next HELP screen. Any other keyboard key will exit the HELP screen mode.

--- Command List ---

TALK* : Select unit in multi-unit communications @* : Select unit in multi-unit communications MI : Move Incrementally MA : Move Absolutely (-MAXPOS - +MAXPOS[UU]) CV : Change Velocity for Index (0.001 - MAXVEL[UU/sec]) MCP : Move Continuous Positive MCN : Move Continuous Negative DIS : Incremental motion distance (-MAXPOS - +MAXPOS[UU]) VR : Running velocity (0.001 - MAXVEL[UU/sec]) VS : Starting velocity (0 - MAXVEL[UU/sec]) TA : Acceleration time (0.001-500.000[sec]) TD : Deceleration time (0.001-500.000[sec]) PSTOP : Stop immediately, stop sequence, follow ALMACT setting HSTOP : Stop immediately (hard stop) MSTOP : Stop according to MSTOPACT SSTOP : Stop, decelerating (soft stop) SCHGPOS : Distance from SENSOR on MCx (0 - +MAXPOS[UU]) SCHGVR : Velocity on SCHGPOS motion (0.001 - MAXVEL[UU/sec])

Enter [SPACE] to continue, other key to quit.

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8.13 Protective Functions

For some alarm conditions, the action(s) taken when the condition is detected can be controlled by ALMACT, to suit the application

• Alarm Conditions Effected by ALMACT

Condition Description Alarm Code

Hardware over travel Positive or negative position limit signal detected 66h

Software over travel Position outside of programmed positive and negative

software position limits LIMP and LIMN

67h

Panic stop System executed a panic stop because of a PSTOP input

or command

68h

ALMACT controls the system response when any of the alarm conditions (above) are detected.

ALMACT Action

0 Motor current ON, alarm OFF.

1 Motor current ON, alarm ON.

2 Motor current OFF, alarm ON. (factory setting)

Memo

See "9.7 Error Messages Displayed on the Terminal" on page 98 for details of each alarm condition and system response.

The system can also be configured to automatically transmit a message when alarms or warnings are detected. Automatic message transmission is controlled by ALMMSG:

ALMMSG Action

0 Do not automatically transmit alarm and warning messages (factory setting)

1 Automatically transmit messages for alarms, but not warnings

2 Automatically transmit messages for alarms and warnings

Memo

• See "9.7 Error Messages Displayed on the Terminal" on page 98 for message details.

• Warnings are for informational purposes only, and do not effect system operation.

The ALM command shows the current alarm status, and the last 10 alarms and warnings.

• Example

>ALM ALARM =30 , RECORD: 23 23 30 30 30 23 23 10 23 23

ALM_OVER_LOAD , 3.234 [sec] past.

WARNING =00 , RECORD: 00 00 00 00 00 00 00 00 00 00

No warning.

Note

The alarm history is automatically saved in non-volatile EEPROM, as a troubleshooting aid (warnings are not saved). The EEPROM has a nominal expected lifetime of 100,000 write cycles. Alarm conditions should be treated as exceptional, and not generated routinely by an application, if they could possibly occur at high frequency.

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9 Program Creation and Execution

This chapter explains the methods used to create new programs, edit existing programs and execute programs.

Memo

Although these functions are introduced as keyboard operation using any general terminal software in this chapter, most of the operations can be done by using the [Program Editor] tab screen on the supplied Immediate Motion Creator for CM/SCX Series utility software.

9.1 Overview



What is Program Execution?

You create sequences using a computer, save the programs into the built-in memory of the CM10, specify which sequence 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.

Program creation Program select and executi on

Program select and executi on

Program select and execution

(END, ALARM, etc.)

Driver

PC, PLC

(USB or RS-232C)

PC, PLC

(CANopen)

PLC, Switch, Sensor,

Other device

Immediate Command

(Monitor Mode)

Program Creation

(Program Edit Mode)

Program Select and

Execution

(Sequence Mode)

USB   

RS-232C   

CANopen  - 

I/O - - 



Contents

9.2 Operating Modes

9.3 Preparation

9.4 Creating a New Sequence

9.5 Sample Programs

9.6 Executing a Sequence

9.7 Error Messages Displayed on the Terminal

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9.2 Operating Modes

Choose one of three operating modes (monitor mode, program-edit mode and sequence mode) to begin a desired task from a terminal.



Operation from Terminal (Monitor Mode)

Operation from the terminal is available when the device’s power is input. When operating from the terminal, you can create, delete, copy, lock and execute sequences. Additionally, motion can be started, stopped and the status of the device and I/O signals can be monitored.



Sequence Editing (Program Edit Mode)

Sequences can be edited by either,

- Editing from the terminal.

- Editing from supplied utility software, the Immediate Motion Creator for CM/SCX Series (IMC). In this chapter, "Editing from the terminal" is explained. The system enters this mode when "EDIT" is entered from the terminal. In the sequence-edit mode, you can edit a sequence by changing, inserting or deleting specified lines. You can also perform a syntax check.



Executing Sequences (Sequence Mode)

Sequences can be executed by either,

- Using the "RUN" command from the terminal.

- From the I/O or the CANopen using the "START" and "INx" inputs.

Sequence execution ends when any of the following conditions are satisfied:

•

The END command or ABORT command written in the sequence is executed

•

The PSTOP or ABORT input is turned ON

•

The ESC key is pressed

•

An alarm has been detected.

Monitor mode

Monitor commands

EDIT command

RUN command

Sequence mode

Execution of program

Program-edit mode

Creation/editing of program

Program-edit commands

Program commands

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9.3 Preparation

Connect a personal computer via USB or RS-232C

See "6.3 Connecting the USB and Installation of Utility Software" on page 22 or "6.6 Connecting the RS-232C" on page 37 as necessary.

Power ON the CM10 and the driver

See "6.2 Connecting the Power Supply" on page 21 as necessary.

Launch any general terminal software or the supplied utility software (IMC)

See "6.3 Connecting the USB and Installation of Utility Software" on page 22 as necessary.

Communication Settings for general terminal software 8 bits, 1 stop bit, no parity Baud rate: 9600 bps (first connection)

∗ The default USB and RS-232C baud rate of the CM10 is 9600 bps. After connecting initially, you

can change the baud rate as necessary.

9.4 Creating a New Sequence

Programs contain data with which to define device operation, such as the running velocity and travel distance. When a sequence is started, the commands included in the sequence are executed sequentially. Sequences are stored in the device’s memory. Program must adhere to the following specifications.



Sequence Specifications

Maximum number of programmable sequences

100 sequences (Name is use configurable)

Maximum sequence size Total sequences: 6 kB (compiled) 21 kB (text + compiled)

1 sequence: 6 kB (text) 2 kB (compiled)

Sequence execution by external input

START input executes a sequence selected by binary combination of IN1 to IN7.

Automatic sequence execution at power up.

Sequence named CONFIG is executed at power up.

Sequence program name 10 characters maximum.

0 to 9, A to Z, a to z, _(underscore) can be used as characters. Upper and lower case are permitted, not case sensitive. Name cannot begin with number, or "N_," "S_," "n_," "s_." Using command name and/or parameter names for sequence names can cause confusion, and is not recommended. If sequence is saved by name, system assigns sequence number within 0 to 99. Assigned number is used for selection to start sequence by I/O.

Memo

Device memory status can be checked either by the "DIR" command from the terminal or by the "M" command while editing sequence.



Sequence Commands

The majority of commands on the CM10 can be used in a sequence. See "12 Command Reference" on page

131. For sequence specific commands, refer to "■ Sequence Commands" on page 138 and "■ Math/Logical/Conditional Operators (In Sequence only)" on page 138.

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

Example of Creating a New Sequence

Enter the monitor command "EDIT ∗," and press the Enter key.

(∗ indicates the sequence name or number (optional). Insert a space between "EDIT" and them.) The system enters the sequence-edit mode, and a message indicating a blank sequence (New sequence) is displayed. Enter "I" (Insert). Subsequently, the line number "(1)" is displayed and you can now create a sequence.

>EDIT SAMPLE1

New Sequence

Sequence Name : SAMPLE1 Sequence Number: 0 Lines: : 0 Bytes: : 0 Bytes Free : 6144

>>Command: I

( 1)_

Enter commands and parameters by referring to "12 Command Reference," to create a program.

The following shows a sample program. This program, SAMPLE1, executes an absolute positioning operation at a starting velocity of 1 rev/sec and running velocity of 3 rev/sec, with the target position of 5 revolution from PC=0. (When setting the user unit (UU) to "rev" and the distance per revolution (DPR) to 1") Insert a space or equal sign between the command and the parameter. See "7.5 Command Format" on page 47 as a reference. ("=" is not used because the MA is not a parameter)

( 1) VS=1 ( 2) VR=3 ( 3) MA 5 ( 4) _

Memo

The semicolon (;) allows for multiple command statements to be used on a single command line. See "7. Command Format" on page 47 for more details.

When the program entry is complete, press the Enter key, enter "S" and press the Enter key to save the program.

Finally, enter "Q" to complete the program and exit edit mode.

( 4)

>>Command: S

Compiling...OK

Saving........OK

>>Command: Q >_

Memo

If "S" is input, syntax check will be executed before saving the program. If a syntax error is found, the error type and the line number that was found an error will be displayed.

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

Editing an Existing Sequence

In the sequence-edit mode, existing sequences can be edited by alter inserting and deleting lines. The method used to enter commands is the same as when creating a new sequence.

Enter the monitor command "EDIT ∗," and press the Enter key.

(∗ indicates the sequence name or number (optional). Insert a space between "EDIT" and them.) The system enters the sequence-edit mode.

>EDIT PROGRAM1

Sequence Name : PROGRAM1 Sequence Number: 1 Lines: : 5 Bytes: : 23 Bytes Free : 6121

>>Command:_

Enter an editor command and a line number according to the edit operation you wish to perform.

Insert a space between the editor command and the line number. Two or more lines can also be specified depending on the editor command.

A 3

Line number to be edited

Space

Program-edit command

Command Description

I Insert

A Alter(Change)

D Delete

L List

X Cut

C Copy

P Paste

S Save, Compile

M Display memory status

H Display help

Q Quit

Memo

The "H" command will show the command help (above list) while editing a sequence.

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

Example of Line Editing

This section explains the steps to edit PROGRAM1 as follows:

PROGRAM1

(1) VR 5

(2) PC 12

(3) MI

(4) MGHP

(5) END

PROGRAM1

(1) VR 5

(2) PC 12

(3) MA 5

(4) WAIT 10

(5) END

• Before editing • After editing

Line 3 is changed from MI to MA 5.

A WAIT command is added between lines 3 and 5.

MGHP is deleted.

Enter "EDIT PROGRAM1" and press the Enter key.

After the contents of PROGRAM1 are displayed, ">>Command:" is displayed and the monitor waits for editing input.

>EDIT PROGRAM1

Sequence Name : PROGRAM1 Sequence Number: 1 Lines: : 5 Bytes: : 23 Bytes Free : 6121

>>Command:_

Enter "L" to list the entire sequence, make sure which line to edit.

>>Command: L

( 1) VR 5 ( 2) PC 12 ( 3) MI ( 4) MGHP ( 5) END

>>Command:_

Change line 3 from "MI" to "MA 5" using the following steps:

a. Enter "A 3" and press the Enter key.

Line 3 becomes editable.

>>Command:_ A 3 ( 3) MI_

b. Delete "MI" with the Backspace key.

( 3) _

c. Enter "MA 5."

( 3) MA 5_

d. Press the Enter key.

Line 3 of PROGRAM1 is changed to "MA 5." The command prompt is displayed and the monitor waits for the next editor command.

( 3) MA 5_ >>Command: _

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Insert "WAIT 10" below line 3 using the following steps:

a. Enter "I 4" and press the Enter key.

Line 4 is added, and the monitor waits for a command.

>>Command: I 4 ( 4)_

b. Enter "WAIT 10."

( 4) WAIT 10_

c. Press the Enter key.

"WAIT 10" is added to line 4 of PROGRAM1. You will now insert a new line at line 5.

( 4) WAIT 10 ( 5) _

d. Press the ENTER key.

A new line is inserted and each of the subsequent line numbers increases by one. The command prompt is displayed and the monitor waits for the next editor command.

( 5)

>>Command:_

Delete "MGHP" from line 5 using the following steps:

Enter "D 5" and press the Enter key. Line 5 is deleted, and each of the subsequent line numbers decreases in turn. The command prompt is displayed and the monitor waits for the next editor command.

>>Command: D 5 >>Command:_



Ending the Edit Session

Enter the command "S" to end the session after saving the edited contents, and then press the Enter key.

The edited contents are saved.

>>Command: D 5 >>Command: S

Compiling...OK

Saving........OK

>>Command:_

Enter "Q" to quit the sequence editor.

a ">" (command prompt) is displayed.

>>Command: Q >_

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9.5 Sample Programs

This section provides sample programs.



Repeated Positioning Operation

• Motion Pattern

START

Positioning

operation

Starting position

9°∗5 times

=45°

18°∗5 times =90°

Moves 9°∗5 times

Moves 18°∗5 times

Stops 1 s

90°

Stops 1 s

Moves 90°

• Main Program

Applicable device: Rotary table

Resolution: 360 deg/rev (DPR=360) UU: degrees

( 1) TA 0.1 ( 2) TD 0.1 ( 3) VS=10 ( 4) VR=360 ( 5) LOOP 5 ( 6) DIS=9 ( 7) MI ( 8) MEND ( 9) WAIT 1 (10) ENDL (11) DIS=90 (12) MI (13) MEND (14) WAIT 1 (15) LOOP 5 (16) DIS=18 (17) MI (18) MEND (19) WAIT 1 (20) ENDL (21) END

The acceleration time is set to 0.1sec. The deceleration time is set to 0.1sec. The starting velocity is set to 10 deg/sec. The running velocity is set to 360 deg/sec. Lines 6 through 9 are repeated five times. The distance is set to 9 degrees. Incremental positioning operation is executed. The program waits until the motion is ended. The program waits 1 sec. The LOOP statement is ended. The distance is set to 90 degrees. Incremental positioning operating is executed. The program waits until the motion is ended. The program waits 1 sec. Lines 16 through 19 are repeated five times. The distance is set to 18 degrees. Incremental positioning operation is executed. The program waits until the motion is ended. The program waits 1 sec. The LOOP statement is ended. The program is ended.

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

Executing Linked Operation

• Motion Pattern

Resolution: 10 mm/rev (DPR=10)

UU=mm

LINKx Setting Value

LINK0 1 (linked)

LINK1 1 (linked)

LINK2 0 (one-shot)

• Main Program

( 1) DIS0=10 ( 2) DIS1=20 ( 3) DIS2=30 ( 4) VR0=10 ( 5) VR1=20 ( 6) VR2=30 ( 7) INCABS0=1 ( 8) INCABS1=1 ( 9) INCABS2=1 ( 10) LINK0=1 ( 11) LINK1=1 ( 12) LINK2=0 ( 13) MI0 ( 14) END

The distance for segment number 0 is set to 10 mm. The distance for segment number 1 is set to 20 mm. The distance for segment number 2 is set to 30 mm. The operating speed for segment number 0 is set to 10 mm/sec. The operating speed for segment number 1 is set to 20 mm/sec. The operating speed for segment number 2 is set to 30 mm/sec. The positioning mode for segment number 0 is set to incremental. The positioning mode for segment number 1 is set to incremental. The positioning mode for segment number 2 is set to incremental. Segment number 0 is set to linked. Segment number 1 is set to linked. Segment number 2 is set to termination. Start the operation to start at segment number 0. (Numbers 0 through 2 are linked.) The sequence program is ended.

No.0 No.1 No.2

Distance: 10 mm Operating speed: 10 mm/s

Time

Vel ocity

Distance: 20 mm Operating speed: 20 mm/s

Distance: 30 mm Operating speed: 30 mm/s

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9.6 Executing a Sequence

You can execute sequences stored in the device’s memory. There are two ways to execute a sequence. To perform this via CANopen, refer to "■ Executing a sequence" on page 112.



Executing a Sequence from the Terminal

Connect the CM10 to the terminal by USB or RS-232C. Start the Immediate Motion Creator for CM/SCX Series (included) or terminal software.

Enter the monitor command "RUN ∗," and press the Enter key.

(∗ indicates the sequence name or number. Insert a space between "RUN" and them.) When the command is entered, the system executes the sequence.



Executing a Sequence from I/O

Assign START input signal (and ABORT signal, as needed) to IN1 to IN9 of the system I/O connector.

Set it using the [System Config] - [I/O setting] tab screens of the provided utility software, IMC.

Memo

• Assign it to the high number input so that the START input and the inputs used for program selection (see below) do not overlap each other.

• If terminal operation is preferred rather than using the IMC, use INSTART command. (ex. INSTART=5)

Connect the START input (and ABORT input as needed) to the host controller.

Assert IN1 to IN7 inputs to select the sequence to execute.

Sequence is selected by the binary value of IN1 to IN7. (see the chart) Inputs assigned to other functions (MSTOP, HOME, etc) are read always as OFF. (e.g. INPAUSE=3 means IN3 is always read as OFF.)

Example of Selection

(Empty section means OFF

)

Input Port

Sequence

Number

IN1

(1)

IN2

(2)

IN3

(4)

IN4

(8)

IN5

(16)

IN6

(32)

IN7 (64)

1 ON

2 ON

4 ON

8 ON

16 ON

32 ON

64 ON

3 ON ON

63 ON ON ON ON ON ON

99 ON ON ON ON

Memo

• The rotary digital switch may conveniently be used when sequence selection is

performed by switches.

• This chart does not mean all seven inputs are always necessary to select sequence

number. If the number of sequences to select are limited, such as eight, only IN 1 to IN 4 are necessary, and IN5 to IN9 can be assigned to any specific system input such as the SENSOR, ABORT and CON.

• The sequence tracing command, "TRACE" is available to check sequence action.

When TRACE=1, while the sequence is processing, sequence statements can be displayed as they are executed, one statement at a time. See TRACE (page 322) in more detail.

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

Stop the sequence execution

When stopping the sequence execution is required, use the ABORT input or signal. The START input also has the ABORT function when configured. Set "START Action" to "Level", under [System Config]-[System Parameters] of the IMC.

STARTACT Operation

(edge)

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. ABORT input is required for aborting sequence.

(level)

Setting START input from OFF to ON starts sequence execution. Setting START input from ON to OFF aborts the sequence.

Memo

• If the terminal operation is preferred, use the STARTACT command to configure as above.

• A variety of stopping methods is introduced in "8.3 Stopping Motion and Sequence" on page 64.

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9.7 Error Messages Displayed on the Terminal

This section lists error messages that may be displayed on the terminal during program creation, syntax checking and program execution.



Error Messages for Editing

Unknown command: xxxx.

Cause/action: Input at Editor prompt did not match any of the single-character Editor

commands (which can be seen by entering 'H' for [H]elp).

Invalid sequence name.

Cause/action: The sequence name is invalid (Given sequence name exceeds 10 characters,

the first character is N, S, n, s, etc.)

Sequence is locked.

Cause/action: At "D x" (delete), "E x" (edit), "S x" (save) execution, sequence x is locked.

Sequence directory full.

Cause/action: Tried to create a sequence, by [C]opy an existing sequence or [S]ave from the

editor. No free directory entries available: all 100 are used.

Sequence editor memory full.

Cause/action: Editor memory is full, cannot add any more text.

Sequence storage memory full.

Cause/action: Sum of stored sequences + this attempt to [C]opy or [S]ave (from editor) would

overflow available sequence storage memory. (EEPROM).

Invalid line number.

Cause/action: Editor command prompt expecting a line number. Found text, but wasn't a valid

line number.

Invalid editor syntax.

Cause/action: The syntax of the editor command is invalid. (Extra text is found after an editor

command, etc.)

End line must follow start line

Cause/action: While many Editor commands can take both start and end line numbers (Alter,

Delete, List, Copy, Cut), the start line number must be before the end line number.

Missing argument.

Cause/action: Editor command prompt expecting and did not find a valid line number.



Error Messages for Syntax

Array index out of range.

Cause/action: Reference to POS[ ] data, index out of range. Can happen in any of MA POS[ ],

POS[ ], POS[ ]=, =POS[ ].

Invalid argument.

Cause/action: Argument is invalid for the command. (MA xxx, WAIT xxx, VIEW xxx, etc.)

Block depth too deep.

Cause/action: Net is too deep. "Blocks" (WHILE−WEND, LOOP−ENDL, IF−ENDIF) can be

"nested" inside each other up to 8 levels.

BREAKL outside LOOP block.

Cause/action: BREAKL is entered at the outside of LOOP block.

BREAKW outside WHILE block.

Cause/action: BREAKW is entered at the outside of WHILE block.

Conditional expression expected.

Cause/action: IF or WHILE statements require a conditional expression.

Invalid sequence number.

Cause/action: CALL by number detected invalid sequence number, number out of range (0 to

99), or fraction.

Invalid sequence reference.

Cause/action: Argument to CALL was not a valid sequence name.

Invalid text (missing separator?).

Cause/action: After a valid statement, found text before end-of-line. No separator (;), and not in

comment.

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Invalid Operator

Cause/action: Math operator not an allowable operator.

Invalid user parameter name.

Cause/action: Too many characters or invalid characters are entered as user parameter name.

Loop count must be positive integer.

Cause/action: Negative number is entered as argument for LOOP.

Invalid assignment.

Cause/action: Found something untranslatable involving an assignment. Note that '=' is

required for all math operators.

Conditional expression expected.

Cause/action: Missing parenthesis, or miss-spelled parameter names, typo in number, etc.

Invalid ELSE−ENDIF block.

Cause/action: ELSE must be followed by ENDIF. ENDIF must be preceded by IF or ELSE.

Invalid IF block.

Cause/action: IF must be followed by ELSE or ENDIF. ELSE must be preceded by IF. ENDIF

must be preceded by IF or ELSE.

Invalid LOOP block.

Cause/action: LOOP must be followed by ENDL. ENDL must be preceded by LOOP.

Invalid number.

Cause/action: Something that looked like a constant number contained unexpected text, or

was out of range.

Invalid operation.

Cause/action: Operation contained elements that are not constants or known parameters.

Invalid WHILE block.

Cause/action: WHILE must be followed by WEND. WEND must be preceded by WHILE.

Sequence needs block closure.

Cause/action: Compiler was still expecting ENDIF, ENDL, WEND when finished processing

sequence.

String too long.

Cause/action: Assignment to user string variable, SAS, SACS arguments exceed limit of string

length.

String argument not allowed here.

Cause/action: MA S_name, WAIT S_name, LOOP S_name, etc is detected.

Strings not allowed in conditionals.

Cause/action: String entry is detected at conditional expression.

Strings not allowed in operations.

Cause/action: String entry is detected at math operator.

Text beyond END.

Cause/action: (Non-commented) text found beyond END statement.

Unknown command or parameter.

Cause/action: Command or parameter is not found.

Unsupported precision.

Cause/action: Numeric constant specified with too much precision (e.g. 1.2345).

Read-only parameter.

Cause/action: Attempt to modify a read-only parameter (e.g. SIGEND)

Parameter cannot be displayed.

Cause/action: Attempt to "View" a non-viewable parameter (e.g. KB, KBQ).

Wait time must be positive.

Cause/action: Negative number is entered as argument for WAIT.

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9 Program Creation and Execution

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Error Messages Displayed during Program Execution

These are not displayed in multi axis mode.

EEPROM data corrupt.

Cause/action: EEPROM data is destroyed.

Both +LS, −LS ON.

Cause/action: Both the +LS and −LS are ON simultaneously.

Check the logic setting for hardware limit sensors Normally Open (N.O.) or Normally Closed (N.C.).

LS detected, opposite HOME direction.

Cause/action: Opposite LS is detected from HOME direction. Connect the +LS and −LS

correctly.

Abnormal LS status detected on HOME.

Cause/action: Abnormal hardware limit is detected during mechanical home seeking.

Check the hardware limits, installation of HOMELS, wiring, and operation data used for the mechanical home seeking.

HOMELS not detected between +LS and –LS on HOME (3 sensor mode).

Cause/action: Check the hardware limits, installation of HOMELS, wiring, and operation data

used for the mechanical home seeking.

TIM, SENSOR not detected on HOMELS at HOME

Cause/action: Check that the SENSOR input signal is wired correctly.

Over travel: +LS or −LS detected.

Cause/action: The device has exceeded its hardware limit. Check the equipment.

Over travel: software position limit detected

Cause/action: The device has exceeded its software limit. Revise the operation data or change

the software limit range.

PSTOP input detected.

Cause/action: Device has detected PSTOP input. Motion and sequence have stopped. Check

your system for this PSTOP cause.

+LS or –LS detected during OFFSET motion

Cause/action: LS detection on offset motion.

Attempted to start unpermitted motion.

Cause/action: Impossible motion pattern is selected on motion start. Revise the operation data.

Sequence stack overflow

Cause/action: Stack area for user program has overflowed.

Reduce the number of nested commands.

Attempted to call non-existent sequence.

Cause/action: Non-existent program is called.

Calculation result overflow

Cause/action: Calculation result over flow.

Parameter out of range

Cause/action: Parameter exceeds its setting range.

Division by Zero detected

Cause/action: Divide by zero was executed. Revise the program.

Attempted to modify PC while moving.

Cause/action: "PC" command is updated while the device is operating or loses its holding

torque. Execute the PC command while the device is at a standstill in the energized state.

Attempted to access non-existent user parameter

Cause/action: Non-exist variable is accessed.

Attempted to write to read-only parameter

Cause/action: Accessed to read only parameter. (Include prohibit access while motion, etc)

ALMSET command detected

Cause/action: ALMSET command is detected.

Attempted to start motion while moving.

Cause/action: Prohibit motion command from being executed while motion.

Orientalmotor CM10 Operating Manual

Specifications and Main Features

Frequently Asked Questions

User Manual