Oriental motor CRK User Manual

HM-40112-9

5-phase stepping motor and driver package

CRK

Series

Built-in Controller Type

USER MANUAL

R-REM-OMC-108

Introduction

Installation and

connection

Operation type and
setting

Method of control via I/O

Method of control via
Modbus RTU (RS-485
communication)

Method of control via
industrial network

Inspection,
troubleshooting and
remedial actions

Thank you for purchasing an Oriental Motor product.

This Manual describes product handling procedures and safety precautions.

•Please read it thoroughly to ensure safe operation.

•Always keep the manual where it is readily available.

Appendix

1 Introduction

1 Introduction .................................................................................................................................................................. 8

2 Overview of the product ............................................................................................................................................. 9

3 System conguration ................................................................................................................................................11

4 Safety precautions .....................................................................................................................................................12

5 Precautions for use ....................................................................................................................................................14

6 General specications ...............................................................................................................................................16

7 Regulations and standards .......................................................................................................................................17

7-1 EU Directive ............................................................................................................................................................................................. 17

7-2 Republic of Korea, Radio Waves Act ............................................................................................................................................... 17

7-3 RoHS Directive ....................................................................................................................................................................................... 17

8 Preparation ..................................................................................................................................................................18

8-1 Checking the product ......................................................................................................................................................................... 18

8-2 Combinations of motors and drivers ............................................................................................................................................. 19

8-3 Names and functions of parts .......................................................................................................................................................... 21

2 Installation and connection

1 Installation ...................................................................................................................................................................24

1-1 Location for installation ...................................................................................................................................................................... 24

1-2 Installing the motor ............................................................................................................................................................................. 24

1-3 Installing a load ..................................................................................................................................................................................... 26

1-4 Permissible radial load and permissible axial load ................................................................................................................... 27

1-5 Installing the driver .............................................................................................................................................................................. 30

1-6 Installing and wiring in compliance with EMC Directive ........................................................................................................ 31

2 Connection ..................................................................................................................................................................33

2-1 Connecting the motor ........................................................................................................................................................................ 33

2-2 Connecting the connector-type motor ........................................................................................................................................ 34

2-3 Connecting the electromagnetic brake ....................................................................................................................................... 36

2-4 Connecting the power supply and grounding the driver ......................................................................................................37

2-5 Connecting the I/O signals ................................................................................................................................................................ 38

2-6 Connecting the data setter ............................................................................................................................................................... 41

2-7 Connecting the encoder .................................................................................................................................................................... 41

2-8 Connecting the RS-485 communication cable .......................................................................................................................... 44

3 Explanation of I/O signals .........................................................................................................................................45

3-1 Input signals ........................................................................................................................................................................................... 45

3-2 Output signals ........................................................................................................................................................................................ 51

2

3 Operation type and setting

1 Adjustment and setting ............................................................................................................................................58

1-1 Step angle ................................................................................................................................................................................................ 58

1-2 Operating current ................................................................................................................................................................................. 58

1-3 Standstill current ................................................................................................................................................................................... 59

1-4 Acceleration/deceleration rate ........................................................................................................................................................ 59

2 Operation .....................................................................................................................................................................60

2-1 Positioning operation..........................................................................................................................................................................61

2-2 Return-to-home operation ................................................................................................................................................................ 70

2-3 Continuous operation ......................................................................................................................................................................... 75

2-4 Other operation ..................................................................................................................................................................................... 77

3 Operation data ............................................................................................................................................................79

4 Parameter ....................................................................................................................................................................80

4-1 Parameter list..........................................................................................................................................................................................80

4-2 I/O parameter ......................................................................................................................................................................................... 81

4-3 Motor parameter ................................................................................................................................................................................... 82

4-4 Speed parameter .................................................................................................................................................................................. 82

4-5 Return-to-home parameter .............................................................................................................................................................. 83

4-6 Alarm/warning parameter ................................................................................................................................................................. 83

4-7 Common parameter ............................................................................................................................................................................ 84

4-8 Operation setting parameter............................................................................................................................................................84

4-9 Communication parameter ...............................................................................................................................................................85

5 Related functions .......................................................................................................................................................86

5-1 Position control .....................................................................................................................................................................................86

5-2 Encoder input ......................................................................................................................................................................................... 86

5-3 Misstep detection function ............................................................................................................................................................... 87

4 Method of control via I/O

1 Guidance ......................................................................................................................................................................92

2 Operation data ............................................................................................................................................................95

3 Parameter ....................................................................................................................................................................96

3-1 Parameter list..........................................................................................................................................................................................96

3-2 I/O parameter ......................................................................................................................................................................................... 97

3-3 Motor parameter ................................................................................................................................................................................... 98

3-4 Speed parameter .................................................................................................................................................................................. 98

3-5 Return-to-home parameter .............................................................................................................................................................. 98

3-6 Alarm/warning parameter ................................................................................................................................................................. 99

3-7 Common parameter ............................................................................................................................................................................ 99

3-8 Communication parameter ...............................................................................................................................................................99

3-9 Operation setting parameter..........................................................................................................................................................100

4 Timing charts ............................................................................................................................................................101

3

5 Method of control via Modbus RTU (RS-485 communication)

1 Guidance ....................................................................................................................................................................104

2 Communication specications ..............................................................................................................................106

3 Setting the switches ................................................................................................................................................107

4 Setting the RS-485 communication ......................................................................................................................109

5 Communication mode and communication timing ..........................................................................................110

5-1 Communication mode ......................................................................................................................................................................110

5-2 Communication timing ....................................................................................................................................................................110

6 Message .....................................................................................................................................................................111

6-1 Query .......................................................................................................................................................................................................111

6-2 Response ................................................................................................................................................................................................113

7 Function code ...........................................................................................................................................................115

7-1 Reading from a holding register(s) ...............................................................................................................................................115

7-2 Writing to a holding register ...........................................................................................................................................................116

7-3 Diagnosis ...............................................................................................................................................................................................116

7-4 Writing to multiple holding registers ..........................................................................................................................................117

7-5 Control method selection ................................................................................................................................................................118

8 Register address list .................................................................................................................................................119

8-1 Register address types ......................................................................................................................................................................119

8-2 Operation area .....................................................................................................................................................................................120

8-3 Maintenance area ...............................................................................................................................................................................123

8-4 Monitor area .........................................................................................................................................................................................124

8-5 Parameter area .....................................................................................................................................................................................126

8-6 Operation data area ...........................................................................................................................................................................129

9 Group send ................................................................................................................................................................131

10 Detection of communication errors ....................................................................................................................133

10-1 Communication errors .....................................................................................................................................................................133

10-2 Alarms and warnings ........................................................................................................................................................................133

11 Timing charts ............................................................................................................................................................134

12 Example of communication setting .....................................................................................................................136

12-1 Positioning operation.......................................................................................................................................................................136

12-2 Continuous operation ......................................................................................................................................................................138

12-3 Return-to-home operation .............................................................................................................................................................139

6 Method of control via industrial network

1 Method of control via CC-Link communication..................................................................................................142

1-1 Guidance ................................................................................................................................................................................................142

1-2 Setting the switches ..........................................................................................................................................................................145

1-3 Remote register list ............................................................................................................................................................................146

1-4 Assignment for remote I/O of 6 axes connection mode ......................................................................................................146

1-5 Assignment for remote I/O of 12 axes connection mode ....................................................................................................149

4

2 Method of control via MECHATROLINK communication ..................................................................................154

2-1 Guidance ................................................................................................................................................................................................154

2-2 Setting the switches ..........................................................................................................................................................................157

2-3 I/O eld map for the

2-4 I/O eld map for the

2-5 Communication format ....................................................................................................................................................................160

NETC01-M2

NETC01-M3

..............................................................................................................................................158

..............................................................................................................................................159

3 Details of remote I/O ...............................................................................................................................................162

3-1 Input signals to the driver ................................................................................................................................................................162

3-2 Output signals from the driver ......................................................................................................................................................162

4 Command code list ..................................................................................................................................................164

4-1 Group function ....................................................................................................................................................................................164

4-2 Maintenance command ...................................................................................................................................................................165

4-3 Monitor command .............................................................................................................................................................................166

4-4 Operation data .....................................................................................................................................................................................168

4-5 Application parameter ......................................................................................................................................................................168

4-6 System parameter...............................................................................................................................................................................170

4-7 Operation command .........................................................................................................................................................................171

7 Inspection, troubleshooting and remedial actions

1 Inspection ..................................................................................................................................................................174

2 Alarms and warnings ...............................................................................................................................................175

2-1 Alarms .....................................................................................................................................................................................................175

2-2 Warnings ................................................................................................................................................................................................178

3 Troubleshooting and remedial actions ................................................................................................................179

8 Appendix

1 Accessories ................................................................................................................................................................182

2 Method of control via GW protocol Version 1 .....................................................................................................183

2-1 Guidance ................................................................................................................................................................................................183

2-2 Communication specications ......................................................................................................................................................186

2-3 Setting the switches ..........................................................................................................................................................................187

2-4 Communication mode ......................................................................................................................................................................188

2-5 Communication timing ....................................................................................................................................................................189

2-6 Frame structures .................................................................................................................................................................................189

2-7 Control method selection ................................................................................................................................................................192

2-8 Example of communication setting .............................................................................................................................................193

2-9 Command list .......................................................................................................................................................................................196

2-10 Command types .................................................................................................................................................................................199

2-11 Command details...............................................................................................................................................................................200

2-12 Simultaneous send ............................................................................................................................................................................220

2-13 Group send...........................................................................................................................................................................................220

2-14 Detection of communication errors ...........................................................................................................................................222

2-15 Timing charts .......................................................................................................................................................................................223

5

6

1 Introduction

This part explains the composition of the operating manuals, the product overview, specications and safety
standards as well as the name and function of each part and others.

Table of contents



1 Introduction ............................................. 8

2 Overview of the product ........................ 9

3 System conguration ............................11

4 Safety precautions ................................ 12

5 Precautions for use ................................14

6 General specications ..........................16

7 Regulations and standards ..................17

7-1 EU Directive ...................................................... 17

7-2 Republic of Korea, Radio Waves Act .........17

7-3 RoHS Directive ................................................. 17

8 Preparation ............................................. 18

8-1 Checking the product ................................... 18

8-2 Combinations of motors and drivers .......19

8-3 Names and functions of parts .................... 21

Introduction

1 Introduction

Before use

Only qualied personnel of electrical and mechanical engineering should work with the product.
Use the product correctly after thoroughly reading the section “4 Safety precautions” on p.12. In addition, be sure to
observe the contents described in warning, caution, and note in this manual.
The product described in this manual has been designed and manufactured to be incorporated in general industrial
equipment. Do not use for any other purpose. For the driver’s power supply, use a DC power supply with reinforced
insulation on its primary and secondary sides. Oriental Motor Co., Ltd. is not responsible for any damage caused
through failure to observe this warning.

1 Introduction

Related operating manuals

For operating manuals not included with the product, contact your nearest Oriental Motor sales oce or download
from Oriental Motor Website Download Page.

Operating manual name

Series FLEX Built-in controller type OPERATING MANUAL Included

CRK

Series FLEX Built-in controller type USER MANUAL (this document) Not included

CRK

Data setter

OPX-2A

OPERATING MANUAL Not included

Included or not included

with product

Notation rules

The following term is used in explanation of this manual.

Ter m Description

Master controller

This is a generic name for a programmable controller, master module,
pulse generator and so on.

8

2 Overview of the product

This product is a motor and driver package product consisting of a 5-phase stepping motor designed for high torque
and low vibration, and a driver with built-in controller function. The driver is compatible with I/O control, Modbus RTU
control (RS-485 communication), and FA network control via the network converter.
The operation data and parameters can be set using a support software
or via RS-485 communication.

Main features

zThree operating patterns

You can perform positioning operation, return-to-home operation and continuous operation.
Up to 63 operation data points can be set, and multi-point positioning is also possible.

zLow vibration, low noise

The micro-step driver with smooth drive function achieves low vibration and low noise.

zSupporting Modbus RTU (RS-485 communication)

You can set operation data and parameters or issue operation start/stop commands from the master station.
Up to 31 drivers can be connected to one master controller.

MEXE02

Overview of the product

, an accessory data setter

OPX-2A

,

1 Introduction

zDetection of misstep

If the deviation between the encoder counter value and driver command position reaches or exceeds the set value, a
STEPOUT output signal will be output.

zAlarm and warning functions

The driver provides alarms that are designed to protect the driver from overheating, poor connection, misoperation,
etc. (protective functions), as well as warnings that are output before the corresponding alarms generate (warning
functions).

Accessories

The operation data and parameters can be set using a
Provide the

MEXE02

•

OPX-2A

•

MEXE02

.....The

......This product can be purchased separately.

or

OPX-2A

MEXE02

When the
needed to connect a PC and driver. Be sure to purchase it.

as necessary.

can be downloaded from Oriental Motor Website Download Page.

MEXE02

is used, a communication cable for support software

MEXE02

, accessory

OPX-2A

or via RS-485 communication.

CC05IF-USB

(accessory) is

Related products

You can connect the

Network converter Supported network

NETC01-CC

NETC02-CC

NETC01-M2

NETC01-M3

NETC01-ECT

Series FLEX built-in controller via the network converter so as to use in various network.

CRK

CC-Link Ver.1.1

CC-Link Ver.2

MECHATROLINK-II

MECHATROLINK-III

EtherCAT

9

Overview of the product

Function list

Main functions

1 Introduction

Return-to-home operation

[Setting by parameters]

Motor operation

[Setting by operation data

and parameters]

Other operations

[Setting by parameters]

Support functions

• 2-sensor mode

• Data setting mode (Position preset)

• 3-sensor mode

• Positioning operation

Operation function

Single-motion operation

Linked-motion operation

Linked-motion operation 2

• Continuous operation

• JOG operation

Starting method

Data number selecting operation

+

Sequential positioning operation

[Setting by parameters]

External interface

Data setter

RS-485 communication

• Protective function

Alarm detection
Warning detection

• I/O function

Output function selection
Input logic level setting

• Coordination setting

Motor resolution
Motor rotation direction
Encoder setting (Electronic gear)

• Monitor function

• Operation data setting

• Parameter setting

• Operation start

• Operation data setting

• Parameter setting

• Return-to-home function

Home position oset
External sensor signal detection

• Stop operation

STOP input action
Hardware overtravel
Software overtravel

• Motor function setting

Operating current
Standstill current

• Data storing

• Download/Upload

• Data initialization

• Monitor function

• Maintenance function

• Test function

Test operation
Teaching
I/O test

10

3 System conguration

Encoder connec
C
with an encoder
if used

and driver.

Master controller

Connect master controller when controlling

Connect to
CN6 or CN7.

the system via RS-485 communication.

Connect to CN3.

PC in which the MEXE02

has been installed *

System conguration

OPX-2A

or

1 Introduction

tion

onnect a motor

.

Connect to CN4.

Motor

Grounding

* The PC must be supplied by the user. Use the accessory communication cable for the support software when

connecting the PC and driver.

Connect to CN2.

+24 V

GND

DC power

supply

Master controller

AC power
Noise lter
Use a noise lter to
eliminate noise.
It has the eect of
reducing noise generated
from the power supply

supply

11

1 Introduction

Safety precautions

4 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.

Handling the product without observing the instructions that accompany a “WARNING”
symbol may result in serious injury or death.

Handling the product without observing the instructions that accompany a “CAUTION”
symbol may result in injury or property damage.

The items under this heading contain important handling instructions that the user
should observe to ensure safe use of the product.

General

•Do not use the product in explosive or corrosive environments, in the presence of ammable gases, locations
subjected to splashing water, or near combustibles. Doing so may result in re, electric shock or injury.

•Assign qualied personnel the task of installing, wiring, operating/controlling, inspecting and troubleshooting the
product. Failure to do so may result in re, electric shock or injury.

•The motor will lose its holding torque when its excitation or the power supply is turned o. Take measures to keep
the moving part in position if the product is used in vertical operations such as elevating equipment. The moving
part may drop, leading to injury or damage to equipment.

•Do not use the brake mechanism of the electromagnetic brake motor for braking or as a safety brake. The
electromagnetic brake is used for the purpose to hold the moving part and motor in position. Using it for braking
or as a safety brake may result in injury or damage to equipment.

•With certain types of alarms (protective functions), the motor may stop when the alarm generates and the holding
torque will be lost as a result. This will result in injury or damage to equipment.

•When an alarm is generated, rst remove the cause and then clear the alarm. Continuing the operation without
removing the cause of the problem may cause malfunction of the motor and driver, leading to injury or damage to
equipment.

Connection

•Always keep the power supply voltage of the driver within the specied range. Failure to do so may result in re.

•For the driver’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 re.

•Do not forcibly bend, pull or pinch the cable or lead wire. Doing so may result in re. Repetitive stress or overstress
on the connection part may cause damage to the product.

•Turn o the power to both the PC and driver before connecting your PC to the driver. Failure to do so may cause
electric shock.

Operation

•Turn o the driver power in the event of a power failure. Otherwise, the motor may suddenly start when the power
is restored, causing injury or damage to equipment.

•Do not turn the excitation to o while the motor is operating. The motor will stop and lose its holding ability, which
may result in injury or damage to equipment.

•Congure an interlock circuit using a sequence program so that the entire system including the driver will operate
on the safe side if a RS-485 communication error occurs.

Repair, disassembly and modication

•Do not disassemble or modify the motor and driver. This may cause injury. Refer all such internal inspections and
repairs to the Oriental Motor sales oce from which you purchased the product.

12

Safety precautions

General

•Do not use the motor and driver beyond its specications. Doing so may result in injury or damage to equipment.

•Keep your ngers and objects out of the openings in the motor and driver. Failure to do so may result in re or
injury.

•Do not touch the motor and driver during operation or immediately after stopping. The surface is hot and may
cause a skin burn(s).

Transportation

•Do not hold the motor output shaft, motor cable or lead wires. This may cause damage or injury.

Installation

•Install the motor and driver in an enclosure in order to prevent injury.

•Keep the area around the motor and driver free of combustible materials in order to prevent re or a skin burn(s).

•Provide a cover over the rotating parts (output shaft) of the motor to prevent injury.

Connection

•The driver’s power supply connector (CN1), I/O connector (CN2), data edit connector (CN3) and RS-485
communication connectors (CN6/CN7) are not electrically insulated. When grounding the positive terminal of the
power supply, do not connect any equipment (PC, etc.) whose negative terminal is grounded. Doing so may cause
the driver and PC to short, damaging both.

•When connecting, check the silk screen of the driver and pay attention to the polarity of the power supply.
Reverse-polarity connection may cause damage to the driver. The power-supply circuit and the RS-485
communication circuit are not insulated. Therefore, when controlling multiple drivers via RS-485 communication,
the reverse polarity of the power supply will cause a short circuit and may result in damage to the drivers.

1 Introduction

Operation

•Use a motor and driver only in the specied combination. An incorrect combination may cause a re.

•Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire
equipment will operate safely in the event of a system failure or malfunction. Failure to do so may result in injury.

•Before supplying power to the driver, turn all control inputs to the driver to OFF. Otherwise, the motor may
suddenly start when the power is turned on, leading to injury or damage to equipment.

•Set the speed and acceleration/deceleration rate at reasonable levels. Otherwise, the motor will misstep and the
moving part may move in an unexpected direction, resulting in injury or damage to equipment.

•Do not touch the rotating part (output shaft) during operation. This may cause injury.

•Before rotating the output shaft manually while the motor stops, shut o the power supply of the driver or turn the
excitation OFF to cut o the motor current. Failure to do so may result in injury.

•The motor surface temperature may exceed 70 °C (158 °F) even under normal operating
conditions. If the operator is allowed to approach the running motor, attach a warning label as
shown below in a conspicuous position. Failure to do so may result in skin burn(s).

Warning label

•Immediately when trouble has occurred, stop running and turn o the driver power. Failure to do so may result in
re or injury.

•Static electricity may cause the driver to malfunction or suer damage. While the driver is receiving power, do not
touch the driver. Use only an insulated slotted screwdriver to adjust the driver’s switches.

Disposal

•Dispose the product correctly in accordance with laws and regulations, or instructions of local governments.

13

Precautions for use

5 Precautions for use

This section covers limitations and requirements the user should consider when using the product.

zWhen conducting the insulation resistance measurement and the dielectric strength test, be sure to

separate the connection between the motor and the driver.

Conducting the insulation resistance measurement or dielectric strength test with the motor and driver connected
may result in damage to the product.

zDo not apply strong impact on the motor output shaft.

If you are using a motor with encoder, an optical encoder is housed in the motor. To prevent damage to the encoder,
handle the motor with care and avoid strong impact to the motor output shaft when transporting the motor or
installing the load.

1 Introduction

zDo not apply a radial load and axial load in excess of the specied permissible limit

Operating it under an excessive radial load and axial load may damage the motor bearings (ball bearings). Be sure to
operate the motor within the specied permissible limit of radial load and axial load. See p.27 for details.

zMotor case temperature

•The motor case surface temperature may exceed 100 °C (212 °F) under certain conditions (ambient temperature,
operating speed, duty cycle, etc.). Keeping the surface temperature of the motor case below 100 °C (212 °F) will
also maximize the life of the motor bearings (ball bearings).

•Use the geared motor in a condition where the gear case temperature does not exceed 70 °C (158 °F), in order to
prevent deterioration of grease and parts in the gear case.

•When the motor with encoder is used, make sure the temperature of the encoder case does not exceed 80 °C
(176 °F).

zHolding torque at standstill

The motor holding torque is reduced by the current cutback function of the driver at motor standstill. When selecting
a motor, check the holding torque at motor standstill in the specications on the catalog.

zDo not use the electromagnetic brake to reduce speed or as a safety brake.

Do not use the electromagnetic brake as a means to decelerate and stop the motor. The brake hub of the
electromagnetic brake will wear signicantly and the braking force will drop if used to stop the motor.
The electromagnetic brake is a power-o activated type. This means that although it helps maintain the position of
the load in the event of power outage, etc., this brake cannot securely hold the load in place. Accordingly, do not use
the electromagnetic brake as a safety brake. To use the electromagnetic brake to hold the load in place, do so after
the motor has stopped.

zNote on connecting a power supply whose positive terminal is grounded

The driver’s power supply connector (CN1), I/O connector (CN2), data edit connector (CN3) and RS-485
communication connectors (CN6/CN7) are not electrically insulated. When grounding the positive terminal of the
power supply, do not connect any equipment (PC, etc.) whose negative terminal is grounded. Doing so may cause the
driver and PC to short, damaging both.

zPreventing electrical noise

See “1-6 Installing and wiring in compliance with EMC Directive” on p.31 for measures with regard to noise.

zRegeneration

The overvoltage alarm will generate depending on the operating condition. When an alarm is generated, review the
operating conditions.

zSaving data to the non-volatile memory

Do not turn o the main power supply while data is being written to the non-volatile memory and ve seconds after
the completion of a data write. Doing so may abort the data write and cause a EEPROM error alarm to generate.
The non-volatile memory can be rewritten approximately 100,000 times.

zGrease of geared motor

On rare occasions, a small amount of grease may ooze out from the geared motor. If there is concern over possible
environmental damage resulting from the leakage of grease, check for grease stains during regular inspections.
Alternatively, install an oil pan or other device to prevent leakage from causing further damage. Oil leakage may lead
to problems in the customer’s equipment or products.

14

Precautions for use

zRotating direction of the gear output shaft

The relationship between the rotating direction of the motor shaft and that of the gear output shaft changes as
follows, depending on the gear type and gear ratio.

Rotating direction (relative to the motor rotating direction)

Type of gear Gear ratio

geared

TH

geared

PS

geared

PN

Harmonic geared All gear ratio Opposite direction

3.6, 7.2, 10 − Opposite direction Same direction

20, 30 − Same direction Opposite direction

All gear ratio Same direction

20 (0.79)



ø22 (0.87)

Frame size [mm (in.)]

28 (1.10)



30 (1.18)



42 (1.65)



60 (2.36)



1 Introduction

15

1 Introduction

General specications

6 General specications

Motor Driver

•High-resolution type

Degree of protection

Operation

environment

Storage

environment

Shipping

environment

Insulation resistance

Dielectric strength

•High-torque type

•High-torque type with encoder

•Geared type (

•Standard type

•Standard type with electromagnetic
brake

•Standard type with encoder

•Geared type (

CRK564, CRK566

−10 to +50 °C (+14 to +122 °F)
geared type of ø22 mm (ø0.87 in.):

Ambient

temperature

Humidity 85% or less (non-condensing)

Altitude Up to 1,000 m (3,300 ft.) above sea level

Surrounding
atmosphere

Ambient

temperature

Humidity 85% or less (non-condensing)

Altitude Up to 3,000 m (10,000 ft.) above sea level

Surrounding
atmosphere

Ambient

temperature

Humidity 85% or less (non-condensing)

Altitude Up to 3,000 m (10,000 ft.) above sea level

Surrounding
atmosphere

PS

0 to +50 °C (+32 to +122 °F) (non-freezing)
Harmonic geared type:
0 to +40 °C (+32 to +104 °F) (non-freezing)

−20 to +60 °C (−4 to +140 °F) (non-freezing) −25 to +70 °C (−13 to +158 °F) (non-freezing)

−20 to +60 °C (−4 to +140 °F) (non-freezing) −25 to +70 °C (−13 to +158 °F) (non-freezing)

100 MΩ or more when 500 VDC megger is
applied between the windings and case.

Sucient to withstand the following between
the windings and case for 1 minute.

PK513P, PK52PM, PK52P, PK54PM

•

PK54P

PK54



•

PK52HPM, PK52HP, PK56PM, PK56

•

1.5 kVAC 50/60 Hz

CRK513P, CRK523P

CRK543, CRK544

)

No corrosive gas, dust, water or oil

No corrosive gas, dust, water or oil

No corrosive gas, dust, water or oil

: 0.5 kVAC 50/60 Hz

: 1.0 kVAC 50/60 Hz

IP20

)

IP30

,

IP20

0 to +40 °C (+32 to +104 °F)
(non-freezing)

100 MΩ or more when 500 VDC megger is
applied between the FG terminal and power
supply terminal.

,

Sucient to withstand 500 VAC at 50 Hz or
60 Hz applied between the FG terminal and
power supply terminal for one minute.

:



16

7 Regulations and standards

7-1 EU Directive

CE Marking

zLow Voltage Directive

Although this product is exempt from the Low Voltage Directive since the input power supply voltage is 24 VDC,
perform the installation and connection as follows.

•This product is designed and manufactured to be incorporated in equipment. Install the product in an enclosure.

•For the driver power supply, use a DC power supply with reinforced insulation on its primary and secondary sides.

Installation conditions

Motor Driver

Overvoltage category I I

Pollution degree 2 2

•High-resolution type

•High-torque type

•High-torque type with encoder

Degree of protection

•Geared type (

•Standard type

•Standard type with encoder

•Standard type with electromagnetic brake

•Geared type (

CRK513P, CRK523P

CRK543, CRK544, CRK564, CRK566

)

Regulations and standards

1 Introduction

IP20

IP20

IP30

)

zEMC Directive

This product is conducted EMC testing under the conditions specied in “Example of motor and driver installation and
wiring” on p.32. The conformance of your mechanical equipment with the EMC Directive will vary depending on
such factors as the conguration, wiring, and layout for other control system devices and electrical parts used with
this product. It therefore must be veried through conducting EMC measures in a state where all parts including this
product have been installed in the equipment.

Applicable standards

EMI

EMS EN 61000-6-2

EN 55011 group 1 class A
EN 61000-6-4

This equipment is not intended for use in residential environments nor for use on a low­voltage public network supplied in residential premises, and it may not provide
adequate protection to radio reception interference in such environments.

7-2 Republic of Korea, Radio Waves Act

This product is axed the KC Mark under the Republic of Korea, Radio Waves Act.

7-3 RoHS Directive

The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).

17

1 Introduction

Preparation

8 Preparation

This chapter explains the items you should check, as well as the name and function of each part.

8-1 Checking the product

Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales
oce from which you purchased the product.
The unit models and corresponding motor/driver combinations are listed on p.19.

zItems included with all unit models

•Motor ..............................................................................................................1 unit

•Driver ..............................................................................................................1 unit

•CN1 connector (3 pins) .............................................................................1 pc.

•CN2 connector cable [1 m (3.3 ft.), 40 pins] ......................................1 pc.

•CN4 connector lead wires [0.6 m (2 ft.), 5 pins] ...............................1 pc.

•OPERATING MANUAL ................................................................................1 copy

zItem included with motors with electromagnetic brake

•Varistor ...........................................................................................................1 pc.

zItems included with connector-type motor units

Applicable product: High-resolution type, high-torque type, high-torque type with encoder,
Geared type (

•Motor connector lead wires [0.6 m (2 ft.), 5 pins] ...........................1 pc.

CRK513P, CRK523P

)

zItems included with motor units with encoder [20 mm (0.79 in.), 28 mm (1.10 in.)]

Applicable product: High-torque type with encoder (

•Encoder connector lead wires [0.6 m (2 ft.), 8 pins] .......................1 pc.

•CN5 connector lead wires [0.6 m (2 ft.), 9 pins] ...............................1 pc.

CRK513PRKD2, CRK52PRKD2

)

zItems included with motor units with encoder [42 mm (1.65 in.), 60 mm (2.36 in.)]

Applicable product: High-torque type with encoder (
Standard type with encoder (

•CN5 connector lead wires [0.6 m (2 ft.), 9 pins] ...............................1 pc.

CRK54PRKD

CRK54RKD, CRK56RKD

),

)

18

8-2 Combinations of motors and drivers

Verify the model number of the purchased unit against the number shown on the package label.
Check the model number of the motor and driver against the number shown on the nameplate.

•The box () in the model name indicates A (single shaft) or B (double shaft)

•For geared type, the box () in the model name indicates a number of the gear ratio.

High-resolution type

Frame size [mm (in.)] Model Motor model Driver model

CRK523PMKD PK523PM

28 (1.10)



42 (1.65)



60 (2.36)



CRK525PMKD PK525PM

CRK523HPMKD PK523HPM

CRK525HPMKD PK525HPM

CRK544PMKD PK544PM

CRK546PMKD PK546PM

CRK564PMKD PK564PM

CRK569PMKD PK569PM























CRD503-KDCRK524PMKD PK524PM

CRD507H-KDCRK524HPMKD PK524HPM

CRD507-KD

CRD514-KDCRK566PMKD PK566PM

Preparation

1 Introduction

High-torque type

Frame size [mm (in.)] Model Motor model Driver model

20 (0.79)



28 (1.10)



42 (1.65)



CRK513PKD PK513P

CRK523PKD PK523P

CRK525PKD PK525P

CRK523HPKD PK523HP

CRK525HPKD PK525HP

CRK544PKD PK544P

CRK546PKD PK546P















CRD503-KD

CRD503-KD

CRD507H-KD

CRD507-KD

High-torque type with encoder

Frame size [mm (in.)] Model Motor model Driver model

20 (0.79)



28 (1.10)



42 (1.65)



CRK513PRKD2 PK513PA-R2GL CRD503-KD

CRK523PRKD2 PK523PA-R2GL

CRK525PRKD2 PK525PA-R2GL

CRK523HPRKD2 PK523HPA-R2GL

CRK525HPRKD2 PK525HPA-R2GL

CRK544PRKD PK544PA-R23L

CRK546PRKD PK546PA-R23L

CRD503-KD

CRD507H-KD

CRD507-KD

19

1 Introduction

Preparation

Standard type with encoder

Frame size [mm (in.)] Model Motor model Driver model

CRK543RKD PK543AW-R23L

42 (1.65)



60 (2.36)



CRK545RKD PK545AW-R23L

CRK564RKD PK564AW-R23L

CRK569RKD PK569AW-R23L

CRD507-KDCRK544RKD PK544AW-R23L

CRD514-KDCRK566RKD PK566AW-R23L

Standard type with electromagnetic brake

Frame size [mm (in.)] Model Motor model Driver model

CRK543AMKD PK543AWM

42 (1.65)



60 (2.36)



CRK545AMKD PK545AWM

CRK564AMKD PK564AWM

CRK569AMKD PK569AWM

CRD507-KDCRK544AMKD PK544AWM

CRD514-KDCRK566AMKD PK566AWM

Standard type

Frame size [mm (in.)] Model Motor model Driver model

CRK543KD PK543W

42 (1.65)



60 (2.36)



CRK545KD PK545W

CRK564KD PK564W

CRK569KD PK569W

CRD507-KDCRK544KD PK544W

CRD514-KDCRK566KD PK566W

TH geared type

Frame size [mm (in.)] Model Motor model Driver model

28 (1.10)



42 (1.65)



60 (2.36)



geared type

PS



Frame size [mm (in.)] Model Motor model Driver model

ø22 (0.87)

28 (1.10)



42 (1.65)



60 (2.36)



CRK523PAKD-T

CRK543AKD-T

CRK564AKD-T

CRK513PAKD-PS

CRK523PAKD-PS

CRK543AKD-PS

CRK545AKD-PS

CRK564AKD-PS

CRK566AKD-PS













PK523PA-T

PK543AW-T

PK564AW-T

PK513PA-PS

PK523PA-PS

PK543AW-PS

PK545AW-PS

PK564AW-PS

PK566AW-PS













CRD503-KD

CRD507-KD

CRD514-KD













CRD503-KD

CRD503-KD

CRD507-KD

CRD514-KD

20

or cable

Mounting holes

(5 pcs.)

Encoder cable

(9 pcs.)

geared type

PN



Frame size [mm (in.)] Model Motor model Driver model

28 (1.10)



42 (1.65)



60 (2.36)



CRK523PAKD-N

CRK544AKD-N

CRK564AKD-N

CRK566AKD-N









Harmonic geared type

Frame size [mm (in.)] Model Motor model Driver model

20 (0.79)



30 (1.18)



42 (1.65)



60 (2.36)



CRK513PAKD-HPK513PA-HS CRD503-KD

CRK523PAKD-HPK523HPA-HS CRD507H-KD

CRK543AKD-HPK543AW-HS CRD507-KD

CRK564AKD-HPK564AW-HS CRD514-KD

8-3 Names and functions of parts

PK523PA-N

PK544AW-N

PK564AW-N

PK566AW-N

Preparation









CRD503-KD

CRD507-KD

CRD514-KD

1 Introduction

Motor (Example:

PK56

)

zStandard type zStandard type with encoder

(4 places)

Output shaft

Pilot

Mot

Motor lead wires

Encoder lead wires

Encoder

21

Preparation

Po

DIN lever

Driver

POWER LED (green)

ALARM LED (red)

C-DAT LED (green)

C-ERR LED (red)

RS-485 communication
connectors (CN6/CN7)

Terminal resistor setting switch (SW3)

Data edit connector (CN3)

1 Introduction

Encoder connector (CN5)

Motor connector (CN4)

wer supply connector (CN1)

Name Description Reference

POWER LED (green) This LED is lit while the main power is input. −

This LED will blink when an alarm generates (a protective function is

ALARM LED (red)

C-DAT LED (green)

C-ERR LED (red)

Address number setting switch
(SW1)

Function setting switch (SW2)

Terminal resistor setting switch
(SW3)

Power supply connector (CN1) Connects main power supply (+24 VDC) using the included connector. p.37

I/O signals connector (CN2) Connects I/O signals using the included cable/connector assembly. p.38

Data edit connector (CN3) Connects a PC in which the

Motor connector (CN4) Connects the motor.

Encoder connector (CN5) Connects the encoder. p.41

RS-485 communication connectors
(CN6/CN7)

triggered). You can check the generated alarm by counting the number of
times the LED blinks.

This LED will blink or lit steadily when the driver is communicating with
the master station properly via RS-485 communication.

This LED will lit when a RS-485 communication error occurs with the
master station.

Use this switch when controlling the system via RS-485 communication.
Sets the address number of RS-485 communication. (Factory setting: 0)

Use this switches when controlling the system via RS-485 communication.

Nos.1 to 3: Set the baud rate of RS-485 communication.
(Factory setting: ON)

No.4: Sets the connection destination of RS-485 communication.
(Factory setting: OFF)

Use this switch when controlling the system via RS-485 communication.
Set the terminal resistor (120 Ω) of RS-485 communication.
(Factory setting: OFF)

MEXE02

Connects the RS-485 communication cable. p.44

Address number setting switch (SW1)

Function setting switch (SW2)

I/O signals connector (CN2)

has been installed, or the

OPX-2A

p.175

p.107

p.108

. p.41

−

−

p.33
p.34

22

2 Installation and connection

This part explains the installation method of the product, the mounting method of a load and the connection
method as well as I/O signals.

Table of contents



1 Installation .............................................. 24

1-1 Location for installation ................................24

1-2 Installing the motor ....................................... 24

1-3 Installing a load ............................................... 26

1-4 Permissible radial load and

permissible axial load .................................... 27

1-5 Installing the driver ........................................ 30

1-6 Installing and wiring in compliance with

EMC Directive ................................................... 31

2 Connection ............................................. 33

2-1 Connecting the motor .................................. 33

2-2 Connecting the connector-type motor .. 34

2-3 Connecting the electromagnetic

brake .................................................................... 36

2-4 Connecting the power supply and

grounding the driver ..................................... 37

2-5 Connecting the I/O signals .......................... 38

2-6 Connecting the data setter ......................... 41

2-7 Connecting the encoder .............................. 41

2-8 Connecting the RS-485 communication

cable .................................................................... 44

3 Explanation of I/O signals .................... 45

3-1 Input signals ..................................................... 45

3-2 Output signals ................................................. 51

2 Installation and connection

Pilot holder

Mounting holes

Pilot holder

Mounting holes

Installation

1 Installation

This chapter explains the installation location and installation method of the motor and driver, and installing a load.
Also covered in this section are the installation and wiring methods that are in compliance with the relevant EMC
Directives.

1-1 Location for installation

The driver is designed and manufactured for installation in equipment.
Install it in a well-ventilated location that provides easy access for inspection. The location must also satisfy the
following conditions:

•Inside an enclosure that is installed indoors (provide vent holes)

•Operating ambient temperature
Motor: −10 to +50 °C (+14 to +122 °F) (non-freezing)

geared type of ø22 mm (ø0.87 in.): 0 to +50 °C (+32 to +122 °F) (non-freezing)

PS

Harmonic geared type: 0 to +40 °C (+32 to +104 °F) (non-freezing)
Driver: 0 to +40 °C (+32 to +104 °F) (non-freezing)

•Operating ambient humidity 85% or less (non-condensing)

•Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid

•Area not exposed to direct sun

•Area free of excessive amount of dust, iron particles or the like

•Area not subject to splashing water (rain, water droplets), oil (oil droplets) or other liquids

•Area free of excessive salt

•Area not subject to continuous vibration or excessive shocks

•Area free of excessive electromagnetic noise (from welders, power machinery, etc.)

•Area free of radioactive materials, magnetic elds or vacuum

•Up to 1,000 m (3,300 ft.) above sea level

1-2 Installing the motor

The motor can be installed in any direction.
Install the motor onto an appropriate at metal plate having excellent vibration resistance and heat conductivity.
When installing the motor, secure it with four screws (not included) through the four mounting holes.
Do not leave a gap between the motor and metal plate.

zInstallation method A zInstallation method B

Metal plate

Not

•Insert the pilot located on the motor’s installation surface into the pilot holder.

•When installing the motor, do not apply strong force using a hammer or other tools. Doing so may
cause damage to the motor.

Metal plate

24

Screw size, tightening torque and installation method

•The box () in the model name indicates A (single shaft) or B (double shaft).

•For geared type, the box () in the model name indicates a number of the gear ratio.

Installation

Frame size

[mm (in.)]

High-torque type

20 (0.79)



ø22 (0.87)

28 (1.10)



30 (1.18) Harmonic geared



42 (1.65)



60 (2.36)



High-torque type with
encoder

Harmonic geared

PS

High-resolution type

High-torque type

High-torque type with
encoder

TH

PS

PN

High-resolution type

High-torque type

High-torque type with
encoder

Standard type with
encoder

Standard type with
electromagnetic brake

Standard type

TH

PS

PN

Harmonic geared

High-resolution type

Standard type with
encoder

Type Motor model Nominal size

geared

geared

geared

geared

geared

geared

geared

PK513P

PK513PA-R2GL

PK513P-HS

PK513P-PS

PK523PM
PK524PM
PK525PM
PK523HPM
PK524HPM
PK525HPM

PK523P
PK525P
PK523HP
PK525HP

PK523PA-R2GL
PK525PA-R2GL
PK523HPA-R2GL
PK525HPA-R2GL

PK523P-T

PK523P-PS

PK523P-N

PK523HP-HS

PK544PM
PK546PM

PK544P
PK546P

PK544PA-R23L
PK546PA-R23L

PK543AW-R23L
PK544AW-R23L
PK545AW-R23L

PK543AWM
PK544AWM
PK545AWM

PK543W
PK544W
PK545W

PK543W-T

PK543W-PS
PK545W-PS

PK544W-N

PK543W-HS

PK564PM
PK566PM
PK569PM

PK564AW-R23L
PK566AW-R23L
PK569AW-R23L



























Tightening

torque

[N·m (oz-in)]

M2 0.25 (35) 2.5 (0.098)

M2 0.25 (35) 5 (0.197)

M2 0.25 (35) 3.5 (0.138) A

M2.5 0.5 (71) 2.5 (0.098)

M2.5 0.5 (71) 4 (0.157)

M3 1 (142) 6 (0.236)

M3 1 (142) 6 (0.236) A

M3 1 (142) 4.5 (0.177)

M4 2 (280) 8 (0.315)

M4 2 (280) − B

Eective depth
of screw thread

[mm (in.)]

Installation

method

A

2 Installation and connection

A

A

25

Installation

Metal plate

Load

oad mounting holes

2 Installation and connection

Frame size

[mm (in.)]

60 (2.36)



Standard type with
electromagnetic brake

Standard type

TH

PS

PN

Harmonic geared

Type Motor model Nominal size

geared

geared

geared

1-3 Installing a load

When connecting a load to the motor, align the centers of the motor’s output shaft and load shaft. Also, keep the
radial load and axial load to the permissible values or below.

•When coupling the load to the motor, pay attention to the centering of the shafts, belt tension,
parallelism of the pulleys, and so on. Securely tighten the coupling and pulley set screws.

•Be careful not to damage the output shaft or bearings (ball bearing) when installing a coupling or
pulley to the motor’s output shaft.

•Do not modify or machine the motor’s output shaft. Doing so may damage the bearings and
destroy the motor.

•If you are using a motor with encoder, an optical encoder is housed in the motor. To prevent
damage to the encoder, handle the motor with care and avoid strong impact to the motor output
shaft when transporting the motor or installing the load.

•Do not apply strong force using hammer or other tools when removing the parallel key. Doing so
may damage the motor output shaft and bearings (ball bearings).

PK564AWM
PK566AWM
PK569AWM

PK564W
PK566W
PK569W

PK564W-T

PK564W-PS
PK566W-PS

PK564W-N
PK566W-N

PK564W-HS







Tightening

torque

[N·m (oz-in)]

M4 2 (280) − B

M4 2 (280) 8 (0.315)

M5 2.5 (350) 10 (0.394)

Eective depth
of screw thread

[mm (in.)]

Installation

method

A

zUsing a coupling

Align the centers of the motor’s output shaft and load shaft in a straight line.

zUsing a belt drive

Align the motor’s output shaft and load shaft in parallel with each other, and position both pulleys so that the line
connecting their centers is at a right angle to the shafts.

zUsing a gear drive

Align the motor’s output shaft and gear shaft in parallel with each other, and let the gears mesh at the center of the
tooth widths.

zUsing a fastening key (geared motor)

Connect a load to the gear output shaft having a key groove, rst provide a key groove on the load and x the load
with the gear output shaft using the included key.

zInstalling on the ange surface (Harmonic geared type)

With a Harmonic geared type, a load can be installed directly to the gear using the load mounting holes provided on
the ange surface.

Flange
surface

Screws

L

26

Installation

Motor model Nominal size Number of screws

PK513

PK523

PK543

PK564

•When installing a load on the ange surface, the load cannot also be axed using the keyway (or
milled surface) in the output shaft.

•Design an appropriate installation layout so that the load will not contact the metal plate or screws
used for installing the motor.

M2 3 0.35 (49) 3 (0.118)

M3 4 1.4 (198) 4 (0.157)

M3 6 1.4 (198) 5 (0.20)

M4 6 2.5 (350) 6 (0.236)

Tightening torque

[N·m (oz-in)]

1-4 Permissible radial load and permissible axial load

The radial load and the axial load on the motor’s output shaft must be kept under the permissible values listed table.

•The box () in the model name indicates A (single shaft) or B (double shaft).

•For geared type, the box () in the model name indicates a number of the gear ratio.

•Failure due to fatigue may occur when the motor bearings and output shaft are subject to
repeated loading by a radial or axial load that is in excess of the permissible limit.

•The permissible radial load and permissible axial load of the PS geared type and PN geared type
represent the value that the service life of the gear part satises 20,000 hours when either of the
radial load or axial load is applied to the gear output shaft.

Eective depth of screw thread

[mm (in.)]

2 Installation and connection

Frame size

[mm (in.)]

20 (0.79)



ø22 (0.87)

28 (1.10)



30 (1.18) Harmonic geared



Type Motor model Gear ratio

High-torque type

High-torque type
with encoder

Harmonic geared

geared

PS

High-resolution
type

High-torque type

High-torque type
with encoder

geared

TH

geared

PS

geared

PN

PK513P

PK513PA-R2GL

PK513P-HS

PK513P-PS

PK523PM
PK523HPM
PK524PM
PK524HPM
PK525PM
PK525HPM

PK523P
PK523HP
PK525PA
PK525HPA

PK523PA-R2GL
PK523HPA-R2GL
PK525PA-R2GL
PK525HPA-R2GL

PK523P-T

PK523P-PS

PK523P-N

PK523HP-HS



















−

−

All gear ratio

All gear ratio

−

−

−

All gear ratio

All gear ratio

All gear ratio

All gear ratio

Permissible radial load [N (lb.)]

Distance from the tip of motor output

shaft [mm (in.)]

0

(0)5 (0.20)

12

(2.7)

50

(11.2)

(10.1)

(16.8)

20

(4.5)

25

(5.6)

15

(3.3)

45

(13.5)

110

(24)

15

(3.3)

75

30

(6.7)

34

(7.6)

17

(3.8)

60

135
(30)

10

(0.39)

52

(11.7)

20

(4.5)

80

(18)

175
(39)

15

(0.59)

− − − 3 (0.67)

− − − 60 (13.5)

− − − 20 (4.5)

23

(18)

100
(22)

250
(56)

20

(0.79)

− − 5 (1.12)

− 10 (2.2)

− 40 (9)

− 140 (31)

Permissible

axial load

[N (lb.)]

27

2 Installation and connection

Installation

Frame size

[mm (in.)]

42 (1.65)



60 (2.36)



Type Motor model Gear ratio

High-resolution
type

High-torque type

High-torque type
with encoder

Standard type with
encoder

Standard type with
electromagnetic
brake

Standard type

geared

TH

geared

PS

geared

PN

Harmonic geared

High-resolution
type

Standard type with
encoder

Standard type with
electromagnetic
brake

Standard type

geared

TH

PK544PM
PK546PM

PK544P
PK546P

PK544PA-R23L
PK546PA-R23L

PK543AW-R23L
PK544AW-R23L
PK545AW-R23L

PK543AWM
PK544AWM
PK545AWM

PK543W
PK544W
PK545W

PK543W-T

PK545W-PS

PK543W-PS

PK544W-N

PK543W-HS

PK564PM
PK566PM
PK569PM

PK564AW-R23L
PK566AW-R23L
PK569AW-R23L

PK564AWM
PK566AWM
PK569AWM

PK564W
PK566W
PK569W

PK564W-T





















−

−

−

−

−

−

All gear ratio

5

7.2

10

25

36

50

5

7.2

10

All gear ratio

−

−

−

−

All gear ratio

Permissible radial load [N (lb.)]

Distance from the tip of motor output

shaft [mm (in.)]

0

(0)5 (0.20)

20

(4.5)

10

(2.2)

70

(15.7)

80

(18)

85

(19.1)

120

(27)

130

(29)

150

(33)

80

(18)

90

(20)

100

(22)

180

(40)

90

(20)

63

(14.1)

(15.7)

(16.8)

70

25

(5.6)

14

(3.1)

80

(18)

90

(20)

100
(22)

140
(31)

160
(36)

170
(38)

95

(21)

110
(24)

120
(27)

220
(49)

100
(22)

75

80

(18)

10

(0.39)

34

(7.6)

20

(4.5)

95

(21)

110
(24)

120
(27)

170
(38)

190
(42)

210
(47)

120
(27)

130
(29)

150
(33)

270
(60)

130
(29)

95

(21)

100
(22)

15

(0.59)

52

(11.7)

30

(6.7)

120
(27)

140
(31)

150
(33)

210
(47)

240
(54)

260
(58)

160
(36)

180
(40)

200
(45)

360
(81)

180
(40)

130
(29)

120
(27)

20

(0.79)

− 10 (2.2)

− 15 (3.3)

−

−

−

−

−

−

−

−

−

510

(114)

270
(60)

190
(42)

150
(33)

Permissible

axial load

[N (lb.)]

100 (22)

220 (49)

20 (4.5)

40 (9)

28

Frame size

L

F

[mm (in.)]

60 (2.36)



Type Motor model Gear ratio

geared

PS

geared

PN

Harmonic geared

PK566W-PS

PK564W-PS

PK566W-N

PK564W-N

PK564W-HS









5

7.2

10

25

36

50

5

7.2

10

25

36

50

All gear ratio

Permissible radial load [N (lb.)]

Distance from the tip of motor output

shaft [mm (in.)]

0

(0)5 (0.20)

170

(38)

200

(45)

220

(49)

300

(67)

340

(76)

380

(85)

240

(54)

270

(60)

300
(67)

410
(92)

360
(81)

360
(81)

320
(72)

200
(45)

220
(49)

250
(56)

340
(76)

380
(85)

430
(96)

260
(58)

290
(65)

320
(72)

440
(99)

410
(92)

410
(92)

370
(83)

10

(0.39)

230
(51)

260
(58)

290
(65)

400
(90)

450

(101)

500

(112)

280
(63)

310
(69)

350
(78)

470

(105)

480

(108)

480

(108)

440

(99)

15

(0.59)

270
(60)

310
(69)

350
(78)

470

(105)

530

(119)

600

(135)

300
(67)

340
(76)

380
(85)

520

(117)

570

(128)

570

(128)

550

(123)

20

(0.79)

320
(72)

370
(83)

410
(92)

560

(126)

630

(141)

700

(157)

330
(74)

370
(83)

410
(92)

560

(126)

640

(144)

700

(157)

720

(162)

Installation

Permissible

axial load

[N (lb.)]

200 (45)

2 Installation and connection

450 (101)

Permissible moment load of the Harmonic geared type

When installing an arm or table on the ange surface, calculate the moment load using the formula below if the
ange surface receives any eccentric load. The moment load should not exceed the permissible value specied in the
table.
Moment load: M (N·m) = F × L

Motor model

PK513

PK523

PK543

PK564

Permissible moment load

(N·m)

0.7

2.9

5.6

11.6

29

Installation

e

e

20 mm (0.79 in.) or more

Heat sink

20 mm (0.79 in.) or more

CRD514-KD

DIN rail

End plate

1-5 Installing the driver

Installation direction

Mount the driver to a 35 mm (1.38 in.) width DIN rail. Provide 50 mm (1.97 in.) clearances in the horizontal and vertical
directions between the driver and enclosure or other equipment within the enclosure.
Refer to the gure for the required distances between adjacent drivers when two or more drivers are installed in
parallel.

Be sure to install (position) the driver vertically. When the driver is installed in any position other than
vertical, the heat radiation eect of the driver will drop.

2 Installation and connection

CRD503-KD, CRD507-KD, CRD507H-KD

z

Horizontal direction : Can be placed in contact with
each other.
Vertical direction : Provide a clearance of 50 mm
(1.97 in.) or more.

50 mm (1.97 in.) or mor

zWhen using the

Another unit can be placed in contact with the right side of
Provide a clearance of 20 mm (0.79 in.) or more on the left side of

CRD514-KD

in parallel with another driver

CRD514-KD

z

Horizontal direction : Provide a clearance of 20 mm
(0.79 in.) or more.
Vertical direction : Provide a clearance of 50 mm
(1.97 in.) or more.

50 mm (1.97 in.) or mor

CRD514-KD

.

CRD514-KD

where a heat sink is located.

Installation method

1. Pull down the DIN lever of the driver and lock it. Hang the hook at the rear to the DIN rail.

2. Hold the driver to the DIN rail, and push up the DIN lever to secure.

3. Secure both sides of the driver using end plates.

Hook

DIN lever

30

DIN rail

DIN lever

Removing from DIN rail

Cable clamp

Cable

Pull the DIN lever down until it locks using a slotted screwdriver,
and lift the bottom of the driver to remove it from the rail. Use a
force of about 10 to 20 N (2.2 to 4.5 lb.) to pull the DIN lever
down to lock it. Excessive force may damage the DIN lever.

1-6 Installing and wiring in compliance with EMC Directive

Eective measures must be taken against the EMI that the motor and driver may give to adjacent control-system
equipment, as well as the EMS of the motor and driver itself, in order to prevent a serious functional impediment in
the machinery. The use of the following installation and wiring methods will enable the motor and driver to be
compliant with the EMC directive. Refer to p.17 for the applicable standards.
Oriental Motor conducts EMC measurements its motors and drivers in accordance with "Example of motor and driver
installation and wiring" on p.32.
The user is responsible for ensuring the machine’s compliance with the EMC Directive, based on the installation and
wiring explained below.

Power supply

This products are specically designed for DC power supply input.
Use a DC power supply (such as a switching power supply) compliant with the EMC Directive.

Installation

2 Installation and connection

Connecting noise lter for power supply line

•Connect a noise lter in the DC power supply input part to prevent the noise generated in the driver from
propagating externally through the power supply line.

•When using a power supply transformer, be sure to connect a noise lter to the AC input side of the power supply
transformer.

•For a noise lter, use HF2010A-UPF (SOSHIN ELECTRIC CO., LTD.), FN2070-10-06 (Schaner EMC) or equivalent
product.

•Install the noise lter as close to the AC input terminal of DC power supply as possible. Use cable clamps and other
means to secure the input and output cables (AWG18: 0.75 mm

•Connect the ground terminal of the noise lter to the grounding point, using as thick and short a wire as possible.

•Do not place the AC input cable (AWG18: 0.75 mm

0.75 mm
directly coupled to the power supply cable by means of stray capacitance.

2

or more). Parallel placement will reduce noise lter eectiveness if the enclosure’s internal noise is

2

or more) parallel with the noise lter output cable (AWG18:

2

or more) rmly to the surface of the enclosure.

Ferrite core

If the

OPX-2A

use ZCAT3035-1330 (TDK Corporation) or equivalent product.
Install ferrite cores as close to the

is used, install ferrite cores. Ferrite cores have the eect of reducing external noise. For a ferrite core,

OPX-2A

as possible.

How to ground

The cable used to ground the driver and noise lter must be as thick and short as possible so that no potential
dierence is generated. Choose a large, thick and uniformly conductive surface for the grounding point.
Install the motor onto a grounded metal surface.

Wiring the power supply cable and signal cable

•Use a shielded cable of AWG22 (0.3 mm2) or more for the power supply cable, and keep it as short as possible.

•Use a included connector cable for the I/O signals cable, and keep it as short as possible.

•To ground a power supply cable, use a metal clamp or similar device
that will maintain contact with the entire circumference of the cable.
Attach a cable clamp as close to the end of the cable as possible, and
connect it as shown in the gure.

31

2 Installation and connection

RS-485 communication cable

Grounding

Installation

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 dierence from developing between grounds.

•When relays or electromagnetic switches are used together with the system, use noise lters 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 mm (3.94 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
noise lter separately from each other.

Example of motor and driver installation and wiring

OPX-2A

Driver

Motor

Shielded cable

Ferrite core

AC

Grounding

Grounding

Noise

lter

DC power

supply

Grounding

Motor cable

Power supply cable

(shielded cable)

Grounding

Ground panel

Cable/connector
assembly

Grounding

Master
controller

Precautions about static electricity

Static electricity may cause the driver to malfunction or suer damage. While the driver is receiving power, handle the
driver with care and do not come near or touch the driver.
Always use an insulated slotted screwdriver to adjust the driver’s switches.

The driver uses parts that are sensitive to electrostatic charge. Before touching the driver, turn o the
power to prevent electrostatic charge from generating. If an electrostatic charge is impressed on the
driver, the driver may be damaged.

32

2 Connection

This chapter explains how to connect the power supply, driver, motor, I/O signals as well as grounding method.

For protection against electric shock, do not turn on the power supply until the wiring
is completed.

•Have the connector plugged in securely. Insecure connector connection may cause malfunction or
damage to the motor or driver.

•The CN2/CN4/CN5 connector have a lock mechanism. When removing these connectors, release
the connector lock rst. Forcibly pulling out the connector without releasing the connector lock
may damage the connector.

•To cycle the power or plugging/unplugging the connector, turn o the power and then wait for at
least 5 seconds.

•If the motor cable or power supply cable generates an undesirable amount of noise, shield the
cable or install a ferrite core.

2-1 Connecting the motor

Connection

2 Installation and connection

Applicable product

•Standard type with encoder

•Standard type with electromagnetic brake

•Standard type

•Geared type (

Connecting method

1. Connect the included CN4 connector lead wires (5 pins) to the motor connector (CN4) on the driver.

2. Connect the motor lead wires and CN4 connector lead wires.
The customer must provide the terminal block, connectors and other items needed to interconnect the lead wires.

CRK543, CRK544, CRK564, CRK566

Motor connector (CN4)

Blue

Red

Orange

Green

Black

Motor lead wires CN4 connector

)

Blue

Red

Orange

Green

Black

lead wires

Keep 10 m (32.8 ft.) or less for the wiring distance between the motor and driver.

33

2 Installation and connection

Pin No.

C

Connection

CN4 pin assignments

Pin No. Connection destination

1 Blue motor lead

2 Red motor lead

3 Orange motor lead

4 Green motor lead

5 Black motor lead

1
2
3
4
5

Composition of CN4 connector lead wires

Connector housing 51103-0500 (Molex)

Contact 50351-8000 (Molex)

Crimping tool 63811-8100 (Molex)

2

Applicable lead size AWG22 (0.3 mm

)

2-2 Connecting the connector-type motor

Applicable product

•High-resolution type

•High-torque type

•High-torque type with encoder

•Geared type (

Connecting method

1. Connect the included CN4 connector lead wires (5 pins) to the motor connector (CN4) on the driver.

2. Connect the included motor connector lead wires (5 pins) to the motor.

3. Connect the motor connector lead wires and CN4 connector lead wires.
The customer must provide the terminal block, connectors and other items needed to interconnect the lead wires.

onnector-type motor

CRK513P, CRK523P

)

Orange

Green

Motor connector

lead wires

Blue

Red

Black

Motor connector (CN4)

Blue

Red

Orange

Green

Black

CN4 connector
lead wires

Keep 10 m (32.8 ft.) or less for the wiring distance between the motor and driver.

34

Connector pin assignments of connector-type motor

4 321

2

Pin No. 5

ull out the cable

1. Release the lock.

Connection

Pin No. Description

1 Blue motor lead

2 Red motor lead

3 Orange motor lead

4 Green motor lead

5 Black motor lead

5

1

D

B

4

A

C

E

3

Composition of motor connector lead wires

Frame size [mm (in.)]

20 (0.79) for



ø22 (0.87) for

28 (1.10) for



Connector housing 51065-0500 (Molex) 51103-0500 (Molex) 51144-0500 (Molex)

Contact 50212-8100 (Molex) 50351-8100 (Molex) 50539-8100 (Molex)

Crimping tool 63819-0500 (Molex) 63811-8100 (Molex) 63811-8300 (Molex)

Applicable lead size AWG24 (0.2 mm

•When connecting a motor, attach the cable in such a way as to prevent the connection point from
receiving stress due to exing of the cable. Make the cable's radius of curvature as large as
possible.

•When disconnecting the connector from the connector type motor, pull the connector horizontally
along the output shaft to remove. The motor may be damaged if force is applied in any other
direction.

•The cable/connector assembly that comes with the following
products has a connector with a lock mechanism. When
removing these types of cables, release the connector lock
rst. Forcibly pulling out the cable without releasing the
connector lock may damage the motor and connector.

· High-resolution type

· High-torque type

· High-torque type with encoder

CRK51

CRK54, CRK56

CRK54

CRK51

42 (1.65) for



CRK52

2

) AWG22 (0.3 mm2) AWG22 (0.3 mm2)

CRK54

CRK54

60 (2.36) for



CRK56

2. P
horizontally.

2 Installation and connection

35

Connection

ristor

Black/white

Mo

2-3 Connecting the electromagnetic brake

Connecting the power supply for electromagnetic brake

The electromagnetic brake operates via the ON/OFF status of the DC power supply. Provide a DC power supply of
24 VDC±5% 0.08 A or more for the
electromagnetic brake.
Use a shielded cable of AWG24 (0.2 mm
keeping the length as short as possible.

Connecting method

Connect two lead wires [600 mm (23.6 in.)] from the motor to the DC power supply.

1. Connect the red/white lead to the +24 VDC terminal of the DC power supply, and connect the black/white lead to
the GND terminal.

2. Connect the varistor (included) in parallel between the +24 VDC terminal and the GND terminal.
The varistor does not have polarity.

, or 24 VDC±5% 0.25 A or more for the

CRK54

2

) or more to connect the electromagnetic brake to the DC power supply,

, for use exclusively for the

CRK56

2 Installation and connection

tor

Operating the electromagnetic brake

Operate the electromagnetic brake as follows:

1. Turn on the driver power and switch ON the excitation to excite the motor.

2. Before inputting operation commands, turn on the electromagnetic brake power and release the electromagnetic
brake.
The motor is now ready to run.

3. When holding the load in position using the electromagnetic brake following motor operation, turn o the
electromagnetic brake power after conrming that the motor has stopped.

Red/white

Switch

•Applying a voltage over the specication will increase the temperature rise in the electromagnetic
brake and may damage the motor. Conversely, insucient voltage may prevent the brake from
releasing.

•Be sure to connect the varistor to protect the switch contacts and prevent noise.

•The lead wires for the electromagnetic brake are polarized. Connecting the lead wires in reverse
polarity will not properly operate the electromagnetic brake.

•Provide separate power supplies for the I/O signals and the electromagnetic brake.

Va

24 VDC

Apply the electromagnetic brake only after the motor has stopped. Do not use the brake to bring the
moving motor to a halt. Repeated braking for such a purpose will wear the brake hub excessively,
causing a decrease in its ability to hold.

36

2-4 Connecting the power supply and grounding the driver

24

CN1 connector

connector (CN1)

Lead wires

Connector screw size: M2

Tightening torque: 0.4 N·m (56 oz-in)

Use the included CN1 connector (3 pins) to connect the power supply cable (AWG22: 0.3 mm2) to the power supply
connector (CN1) on the driver.

•When connecting, check the silk screen of the driver and pay attention to the polarity of the power
supply. Reverse-polarity connection may cause damage to the driver. The power-supply circuit and
the RS-485 communication circuit are not insulated. Therefore, when controlling multiple drivers
via RS-485 communication, the reverse polarity of the power supply will cause a short circuit and
may result in damage to the drivers.

•Do not wire the power supply cable of the driver in the same cable duct with other power line or
motor cable. Doing so may cause malfunction due to noise.

Power supply current capacity

Use a power supply that can supply the current capacity below.

Driver model Input power supply voltage Current capacity

CRD503-KD

CRD507-KD

CRD507H-KD

CRD514-KD

+24 VDC±10%

0.7 A or more

1.4 A or more

2.5 A or more

Connection

2 Installation and connection

Grounding the driver

Ground the driver’s Frame Ground Terminal (FG) as
necessary.
Ground using a wire of AWG24 to 16 (0.2 to 1.25 mm
and do not share the protective earth terminal with a
welder or any other power equipment.

2

),

VDC power supply

GND

Grounding

CN1 pin assignments

Pin No. Name Description

1 +24 VDC +24 VDC power supply input

2 GND Power supply GND

3 FG Frame Ground

Connecting method

1. Strip the insulation cover of the lead wire by 7 mm (0.28 in.)

2. Insert each lead wire into the CN1 connector and tighten the screws using a slotted screwdriver.

3. Insert the CN1 connector into CN1 and tighten the screws using a slotted screwdriver.

Power supply

7 mm

(0.28 in.)

Tightening torque:

0.22 to 0.25 N·m
(31 to 35 oz-in)

CN1 connector

Connector screw size: M2.5

CN1

37

2 Installation and connection

tor cable

B20

Brown-1 (A1)

A20)

Brown-3 (B1)

Black-4 (B20)

Connection

2-5 Connecting the I/O signals

Connect the included CN2 connector cable (40 pins) to the I/O
signals connector (CN2) on the driver.

CN2 pin assignments

A1

B1

Upper ribbon cable

CN2 connec

•

•

•

•

•

Black-2 (

A20

Lower ribbon cable

Lead wire

color

Upper ribbon cable

Pin No. Signal name Description Pin No. Signal name Description

Lead wire

color

Lower ribbon cable

Brown-1 A1 IN-COM0 Input common Brown-3 B1 MOVE+

Red-1 A2 START Start input Red-3 B2 MOVE−

Orange-1 A3 ALM-RST Alarm reset input Orange-3 B3 ALM+

Yellow-1 A4 AW O All windings o input Yellow-3 B4 ALM−

Green-1 A5 STOP Stop input Green-3 B5 OUT1+

Blue-1 A6 M0

Blue-3 B6 OUT1−

Purple-1 A7 M1 Purple-3 B7 OUT2+

Gray-1 A8 M2 Gray-3 B8 OUT2−

White-1 A9 M3 White-3 B9 OUT3+

Data selection input

Black-1 A10 M4 Black-3 B10 OUT3−

Brown-2 A11 M5 Brown-4 B11 OUT4+

Red-2 A12

HOME/

P-PRESET

Return-to-home/
Position preset input

Red-4 B12 OUT4−

•

•

•

•

•

Motor moving output

Alarm output

Control output 1
(initial value: AREA) *

Control output 2
(initial value: READY) *

Control output 3
(initial value: WNG) *

Control output 4
(initial value: HOME-P) *

Orange-2 A13 FWD Forward input Orange-4 B13 N.C. Not used

Yellow-2 A14 RVS Reverse input Yellow-4 B14 N.C. Not used

Green-2 A15 +LS +limit sensor input Green-4 B15 PLS-OUT+

Blue-2 A16 −LS −limit sensor input Blue-4 B16 PLS-OUT−

Purple-2 A17 HOMES

Mechanical home
sensor input

Purple-4 B17 DIR-OUT+

Gray-2 A18 SLIT Slit sensor input Gray-4 B18 DIR-OUT−

Pulse output
(Line driver output)

Direction output
(Line driver output)

White-2 A19 N.C. Not used White-4 B19 GND GND

Black-2 A20 IN-COM1 Sensor input common Black-4 B20 N.C. Not used

* These settings can be changed using the “OUT1 signal mode selection” to “OUT4 signal mode selection” parameters.

38

Connecting to a current sink output circuit

DriverController

V0

Connection

+24 VDC

0 V

+24 VDC or less

R0

R0

R0

IN-COM0

START

ALM-RST

AWO

STOP

M0

M5

HOME/P-PRESET

FWD

RVS

20 mA or less

MOVE

ALM

OUT1

A1
A2

A3

A4

A5

A6

A11

A12

A13

A14

B1
B2

B3
B4

B5
B6

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

2 Installation and connection

1 kΩ

1 kΩ

Sensor

R0

0 V

PLS-OUT

DIR-OUT

0

0 V

•Use input signals at 24 VDC.

•Use output signals at 24 VDC 20 mA or less. If the current exceeds 20 mA, connect an external
resistor R0.

•The PLS-OUT output and DIR-OUT output are line driver outputs. When connecting a line receiver,
be sure to connect pin No.B19 on the driver to the GND on the line receiver, and connect a terminal
resistor of 100 Ω or more between the driver and the input of the line receiver.

+24 VDC

-

LS, HOMES, SLIT

+LS,

IN-COM1

OUT4

GND

A15 to A18

B11
B12

B15
B16
B17
B18
B19

A20

* The GND line is used in common with CN1 (not insulated).

26C31 equivalent

V *

4.4 kΩ

1 kΩ

39

Connection

DriverController

V0

Connecting to a current source output circuit

2 Installation and connection

+24 VDC

0 V

+24 VDC or less

R0

IN-COM0

START

ALM-RST

AWO

STOP

M0

M5

HOME/P-PRESET

FWD

RVS

20 mA or less

MOVE

A1

A2

A3

A4

A5

A6

A11

A12

A13

A14

B1
B2

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

4.4 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

Sensor

0 V

0

R0

R0

R0

+24 VDC

+LS,

PLS-OUT

DIR-OUT

IN-COM1

0 V

-

LS, HOMES, SLIT

B3

ALM

B4

B5

OUT1

B6

B11

OUT4

B12

B15
B16
B17
B18

GND

B19

A20

A15 to A18

* The GND line is used in common with CN1 (not insulated).

26C31 equivalent

V *

4.4 kΩ

1 kΩ

•Use input signals at 24 VDC.

•Use output signals at 24 VDC 20 mA or less. If the current exceeds 20 mA, connect an external
resistor R0.

•The PLS-OUT output and DIR-OUT output are line driver outputs. When connecting a line receiver,
be sure to connect pin No.B19 on the driver to the GND on the line receiver, and connect a terminal
resistor of 100 Ω or more between the driver and the input of the line receiver.

40

2-6 Connecting the data setter

t

Encoder connector

lead wires

Connect the communication cable for the support
software or
connector (CN3) on the driver.

OPX-2A

cable to the data edit

The driver's power supply connector (CN1), I/O connector (CN2), data edit connector
(CN3) and RS-485 communication connectors (CN6/CN7) are not electrically insulated.
When grounding the positive terminal of the power supply, do not connect any
equipment (PC, etc.) whose negative terminal is grounded. Doing so may cause the
driver and PC to short, damaging both.

Connection

Communication cable for the suppor
software or OPX-2A cable

Data edit connector (CN3)

2-7 Connecting the encoder

The color of the lead wire for the motor varies depending on the motor frame size. Check the motor used before
connecting.

42 mm, 60mm

 

Connect the encoder lead wires to the encoder connector (CN5) on the driver using the CN5 connector lead wires
(9 pins).
The CN5 connector lead wires (9 pins) is included with the motor with encoder and driver package.
When extending the lead wires, use shielded cable of AWG24 to 22 (0.2 to 0.3 mm
Refer to p.86 for the detailed specication of this encoder.

Encoder lead wires

Red

Pink

Green

Blue

Yellow

Orange

White

Black

Shield

(CN5)

Red
Brown
Green
Blue
Yellow
Orange
White
Black
Purple

CN5 connector

2 Installation and connection

2

).

Keep 10 m (32.8 ft.) or less for the wiring distance between the motor and driver.

41

Connection

P

ENC-A+

5

zCN5 pin assignments

2 Installation and connection

Pin No. Signal name Description Connection destination

1 ENC-A+

2 ENC-A− Pink encoder lead

3 ENC-B+

4 ENC-B− Blue encoder lead

5 ENC-Z+

6 ENC-Z− Orange encoder lead

7 +5 VDC OUT

Encoder input A-phase
(Line receiver)

Encoder input B-phase
(Line receiver)

Encoder input Z-phase
(Line receiver)

+5 VDC power supply
output for encoder

Red encoder lead

Green encoder lead

Yellow encoder lead

White encoder lead

in No.1

2
3
4
5
6
7
8
9

8 GND GND Black encoder lead

9 SHIELD Shield (Connect to GND) Shield lead

zComposition of CN5 connector lead wires

Connector housing 51103-0900 (Molex)

Contact 50351-8000 (Molex)

Crimping tool 63811-8100 (Molex)

2

Applicable lead size AWG22 (0.3 mm

)

zInternal circuit diagram

5 VDC

3.3 kΩ

ENC-B+
ENC-Z+

ENC-A

­ENC-B
ENC-Z

V OUT

GND

SHIELD

-

-

330 Ω

5 VDC

Output current 150 mA or less

0 V *

26C32 equivalent

3.3 kΩ

0 V *

* The GND line is used in common with CN1 (not insulated).

The current consumption of the encoder power supply should be kept to 150 mA or less. When you
are providing the encoder on your own, take note that if the encoder power consumption exceeds
150 mA, an encoder power supply must be provided externally to the system. In this case, be sure to
use a common GND line for the encoder power supply and encoder connector (CN5).

42

20 mm, 28mm

lead wires

lead wires

 

Connect with the included encoder connector lead wires.
When extending the lead wires, use a shielded cable of AWG24 to 22 (0.2 to 0.3 mm
Refer to p.86 for the detailed specication of this encoder.

1. Connect the included CN5 connector lead wires (9 pins) to the encoder connector (CN5) on the driver.

2. Connect the included encoder connector lead wires (8 pins) to the encoder.

3. Connect the CN5 connector lead wires and encoder connector lead wires.
The customer must provide the terminal block, connectors and other items needed to interconnect the lead wires.

2

).

Connection

Connector-type encoder

zComposition of encoder connector lead wires

Connector housing 51021-0800 (Molex)

Contact 50079-8000 (Molex)

Crimping tool 63819-0300 (Molex)

Applicable lead size AWG26 (0.14 mm

zCN5 pin assignments and composition of CN5 connector lead wires

Refer to p.41.

Encoder connector (CN5)

Red

Brown

Green

Blue

Yellow

Orange

White

Black

Connect to shield or insulate.

Encoder connector

Keep 10 m (32.8 ft.) or less for the wiring distance between the motor and driver.

2

)

Red
Brown
Green
Blue
Yellow
Orange
White
Black
Purple

CN5 connector

2 Installation and connection

43

Connection

RS-485 communication

Drivers can be linked.

1 N.C.

0 V *

2-8 Connecting the RS-485 communication cable

Connect this cable if you want to control your product
via RS-485 communication.
Connect RS-485 communication cable to CN6 or CN7 on
the driver.
You can use the vacant connectors to connect a
dierent driver. Accessories driver link cables are
available. See p.182.
You can also use a commercial LAN cable (straight cable)
to link drivers.

connectors (CN6/CN7)

2 Installation and connection

CN6/CN7 pin assignments

Pin No. Signal name Description

1 N.C. Not used

2 GND GND

3 TR+

4 N.C. Not used

5 N.C. Not used

6 TR−

7 N.C. Not used

8 N.C. Not used

RS-485 communication
signal (+)

RS-485 communication
signal (−)

2 GND
3 TR+
4 N.C.
5 N.C.

-

6 TR
7 N.C.
8 N.C.

1 N.C.
2 GND
3 TR+
4 N.C.
5 N.C.

-

6 TR
7 N.C.
8 N.C.

* The GND line is used in common with CN1 (not insulated).

SW3

120 Ω

44

3 Explanation of I/O signals

IN-COM0, START, ALM-RST, AWO, STOP

A2 to A14

Mot

ON

4 ms or more4 ms or more

Mot

3-1 Input signals

Following input signals of the driver are photocoupler inputs. The signal state represents the “ON: Carrying current” or
“OFF: Not carrying current” state of the internal photocoupler.

Explanation of I/O signals

M0 to M5, HOME/P-PRESET, FWD, RVS

Driver internal circuit

A1

4.4 kΩ

1 kΩ

A15 to A18

IN-COM1, +LS,

Driver internal circuit

A20

4.4 kΩ

-

LS, HOMES, SLIT

1 kΩ

2 Installation and connection

AWO input

This signal is used to cut o the motor current (factory setting: normally open).
When the AWO input is turned ON, the motor current will be cut o and the motor will lose its holding torque.
When the AWO input is turned OFF, current will be supplied to the motor and holding torque will be restored.
You can change the input logic using the “AWO contact conguration” parameter.

AWO input *1

*1 When the AWO input logic is normally open.
*2 If the “Stepout detection” parameter is set to “enable,” this period becomes 500 ms or less. If the parameter is set to

READY output

or excitation command

“disable,” the period becomes 6 ms or less.

OFF

ON

OFF

6 ms or less

6 ms or less

Excitation Excitation

Not excitation

6 ms or less *2

6 ms or less

START input

Turn the START input from OFF to ON to start positioning operation.

START input

M0 to M5 input

READY output

MOVE output

or operation command

ON

OFF

ON

OFF

0 ms or more6 ms or less

ON

OFF

ON

OFF

4 ms

or more

4 ms

or more

4 ms or more

6 ms or less

6 ms or less 6 ms or less

45

2 Installation and connection

4 ms or more

e

Mot

Mot

Explanation of I/O signals

STOP input

The STOP input is used to stop the operating motor (factory setting: normally closed).
The STOP input turns OFF, the motor will stop. This input is normally closed, meaning that it is OFF when the power is
turned on. You can set a desired stopping operation using the “STOP action” parameter.

Immediate stop

Deceleration stop

Immediate stop + motor is not excited

Deceleration stop + motor is not excited

The deceleration rate that applies when the motor decelerates to a stop in positioning operation or continuous
operation can be set as follows using the “Acceleration (deceleration) rate type” parameter:
Separate: The deceleration rate set under the applicable operation data number will be followed.
Common: The setting of the “Common deceleration rate” parameter will be followed.

If the STOP input is normally closed, be sure to turn this input ON when operating the motor.

Stop operation Description

The motor will stop immediately regardless of the specied
deceleration rate.

The motor will stop according to the specied deceleration rate (initial
value).

The motor will stop immediately regardless of the specied
deceleration rate, after which the motor excitation will be turned o.

The motor will stop according to the specied deceleration rate, after
which the motor excitation will be turned o.

zWhen the STOP stopping method is immediate stop or deceleration stop.

STOP input *1

START input

READY output

MOVE output

or operation command

or excitation command

*1 When the STOP input logic is normally closed.
*2 The specic time varies depending on the command speed.
*3 The specic period varies depending on the setting of the “STOP action” parameter.

ON

OFF

ON

OFF

ON

OFF

ON

OFF

*2 *3

6 ms or less

Excitation

0 ms or more

4 ms or mor

6 ms or less

6 ms or less

46

Explanation of I/O signals

4 ms or more

e

excitation

Mot

Mot

zWhen the STOP stopping method is immediate stop + motor is not excited or deceleration stop +

motor is not excited.

STOP input *1

START input

READY output

MOVE output

ON

OFF

ON

OFF

ON

OFF

ON

OFF

6 ms or less *2

0 ms or more

4 ms or mor

6 ms or less

6 ms or less

*3 *4

or operation command

6 ms or less

Excitation

2 Installation and connection

or excitation command

6 ms or less

Not

Excitation

*1 When the STOP input logic is normally closed.
*2 If the “Stepout detection” parameter is set to “enable”, this period becomes 500 ms or less. If the parameter is set to

“disable”, the period becomes 6 ms or less.
*3 The specic time varies depending on the command speed.
*4 The specic period varies depending on the setting of the “STOP action” parameter.

M0 to M5 input

Select a desired operation data number for positioning operation or continuous operation based on a combination of
ON/OFF states of M0 to M5 inputs.
The ON/OFF status should be held until an operation based on the selected operation data No. is executed.

Operation

data No.

M5 M4 M3 M2 M1 M0

Operation

data No.

M5 M4 M3 M2 M1 M0

Sequential operation OFF OFF OFF OFF OFF OFF 22 OFF ON OFF ON ON OFF

1 OFF OFF OFF OFF OFF ON 23 OFF ON OFF ON ON ON

2 OFF OFF OFF OFF ON OFF 24 OFF ON ON OFF OFF OFF

3 OFF OFF OFF OFF ON ON 25 OFF ON ON OFF OFF ON

4 OFF OFF OFF ON OFF OFF 26 OFF ON ON OFF ON OFF

5 OFF OFF OFF ON OFF ON 27 OFF ON ON OFF ON ON

6 OFF OFF OFF ON ON OFF 28 OFF ON ON ON OFF OFF

7 OFF OFF OFF ON ON ON 29 OFF ON ON ON OFF ON

8 OFF OFF ON OFF OFF OFF 30 OFF ON ON ON ON OFF

9 OFF OFF ON OFF OFF ON 31 OFF ON ON ON ON ON

10 OFF OFF ON OFF ON OFF 32 ON OFF OFF OFF OFF OFF

11 OFF OFF ON OFF ON ON 33 ON OFF OFF OFF OFF ON

12 OFF OFF ON ON OFF OFF 34 ON OFF OFF OFF ON OFF

13 OFF OFF ON ON OFF ON 35 ON OFF OFF OFF ON ON

14 OFF OFF ON ON ON OFF 36 ON OFF OFF ON OFF OFF

15 OFF OFF ON ON ON ON 37 ON OFF OFF ON OFF ON

16 OFF ON OFF OFF OFF OFF 38 ON OFF OFF ON ON OFF

17 OFF ON OFF OFF OFF ON 39 ON OFF OFF ON ON ON

18 OFF ON OFF OFF ON OFF 40 ON OFF ON OFF OFF OFF

19 OFF ON OFF OFF ON ON 41 ON OFF ON OFF OFF ON

20 OFF ON OFF ON OFF OFF 42 ON OFF ON OFF ON OFF

21 OFF ON OFF ON OFF ON 43 ON OFF ON OFF ON ON

47

Explanation of I/O signals

FWD input

ON

Mot

2 Installation and connection

Operation

data No.

M5 M4 M3 M2 M1 M0

Operation

data No.

M5 M4 M3 M2 M1 M0

44 ON OFF ON ON OFF OFF 54 ON ON OFF ON ON OFF

45 ON OFF ON ON OFF ON 55 ON ON OFF ON ON ON

46 ON OFF ON ON ON OFF 56 ON ON ON OFF OFF OFF

47 ON OFF ON ON ON ON 57 ON ON ON OFF OFF ON

48 ON ON OFF OFF OFF OFF 58 ON ON ON OFF ON OFF

49 ON ON OFF OFF OFF ON 59 ON ON ON OFF ON ON

50 ON ON OFF OFF ON OFF 60 ON ON ON ON OFF OFF

51 ON ON OFF OFF ON ON 61 ON ON ON ON OFF ON

52 ON ON OFF ON OFF OFF 62 ON ON ON ON ON OFF

53 ON ON OFF ON OFF ON 63 ON ON ON ON ON ON

FWD input, RVS input

When the FWD input turns ON, the motor will perform continuous operation in the + direction.
When the RVS input turns ON, the motor will perform continuous operation in the − direction.
The FWD input and RVS input are operated at the operating speed of the selected operation No.
If the FWD input and RVS input are both ON simultaneously, the motor decelerates to a stop.
When the operation data number is changed during continuous operation, the speed will change to the one specied
for the new operation data number.

(RVS input)

M0 to M5 input

READY output

MOVE output

OFF

ON

OFF

0 ms or more

ON

OFF

ON

OFF

6 ms or less

6 ms or less

**

or operation command

* The specic time varies depending on the command speed.

48

Explanation of I/O signals

4 ms or more

Mot

OFF

HOME-P output *

4 ms or more

e

HOME/P-PRESET input

Factory setting is HOME input. Switch between HOME input and P-PRESET input using the “HOME/P-PRESET input
switching” parameter.

zHOME input

The return-to-home operation starts when the HOME input turns ON.

Example: Return-to-home operation in the 3-sensor mode

HOME input

HOMES input

ON

OFF

ON

OFF

6 ms or less

READY output

MOVE output

HOME-P output

ON

OFF

ON

OFF

ON

OFF

6 ms or less

2 Installation and connection

or operation command

zP-PRESET input

When the P-PRESET input is turned ON, the value in the “Preset position” parameter will be overwritten by the
command position.

Perform the preset operation while the motor is stopped.

P-PRESET input

ON

OFF

6 ms or less

Command position

Preset position becomes eectiv

6 ms or less

ON

* When the “Preset position” parameter is set to “0.”

49

2 Installation and connection

An alarm generates.

Mot

ALM-RST input

+LS input

ON

OFF

Explanation of I/O signals

ALM-RST input

When an alarm generates, the ALM output will turn OFF and motor will stop. When the ALM-RST input is turned from
ON to OFF, the ALM output will turn ON and the alarm will be reset. (The alarm will be reset at the OFF edge of the
ALM-RST input.) Always reset an alarm after removing the cause of the alarm and after ensuring safety.
For details, refer to "ALM output" on p.51, and "2-1 Alarms" on p.175.

Some alarms cannot be reset with the ALM-RST input. To reset these alarms, the power must be
cycled.

zResetting the alarm

ALM-RST input

ALM output *1

READY output

ON

OFF

ON

OFF

ON

OFF

6 ms or less

6 ms or less

6 ms or less

4 ms or more

6 ms or less1 s or more

6 ms or less *3

6 ms or less

or excitation command *2

Excitation Excitation

Not excitation

*1 The ALM output normally closed. This output remains ON in a normal state, and will turn OFF if an alarm generates.
*2 Assuming generation of an alarm that stops motor excitation.
*3 If the “Stepout detection” parameter is set to “enable,” this period becomes 500 ms or less. If the parameter is set to

“disable,” the period becomes 6 ms or less.

zLimit sensor input (when the limit sensor is normally open)

-

LS input

ALM output *

READY output

* The ALM output is normally closed. This output remains ON in a normal state, and will turn OFF if an alarm

generates.

OFF

ON

OFF

ON

OFF

ON

6 ms or less

4 ms or more

6 ms or less1 s or more

6 ms or less6 ms or less

+LS input, −LS input

These signals are input from the applicable limit sensors.
They are used to detect the home during return-to-home operation. In any other operation, these signals are used to
stop the motor.
You can switch the input logics for +LS input and −LS input using the “LS contact conguration” parameter.
Take note, however, that only the same input logics can be set for both signals.
See p.70 for details on the return-to-home operation.

50

If the +LS and −LS inputs are to be used in an operation other than return-to-home, set the
"Hardware overtravel detection" parameter to "enable."

HOMES input

These signals are input from the applicable HOME sensors.
This input detects the mechanical home position when a return-to-home operation is executed in the 3-sensor mode.
You can switch the input logic for HOMES input using the “HOMES contact conguration” parameter.
See p.70 for details on the return-to-home operation.

Explanation of I/O signals

MOVE, ALM, OUT1 to OUT4

B2, B4, B6, B8, B10, B12

PLS-OUT, DIR-OUT, GND

t

MOVE output

4 ms or more

6 ms or less

SLIT input

This signal is used to detect the home using a slit disc, etc.
When detecting the home, use of the SLIT input in addition to the HOMES input and ±LS inputs will increase the
accuracy of home detection.
You can switch the input logic for SLIT input using the “SLIT contact conguration” parameter.

If the SLIT input is used, set the "SLIT detection with home-seeking" parameter to "enable."

IN-COM0 input

This is a common terminal for input signals.

IN-COM1 input

This is a common terminal for the sensors.

Use sensor input signals at 24 VDC±10%.

3-2 Output signals

The driver outputs signals in the photocoupler/open-collector output mode or line driver output mode.
The signal state represents the “ON: Carrying current” or “OFF: Not carrying current” state of the internal photocoupler.

B1, B3, B5, B7, B9, B11

MOVE output

The MOVE output becomes ON while operating the motor or return-to-home operation. Even when the current
operation has completed, the next operation cannot be started while the MOVE output is ON.

START input

ON

OFF

ON

OFF

Driver internal circuit Driver internal circuit

20 mA or less

6 ms or less

B15, B17

B16, B18

B19

* The GND line is used in common with CN1 (not insulated).

6 ms or less

2 Installation and connection

26C31
equivalen

0 V *

Motor operation
command

Even when positioning operation ends, the MOVE output will not turn OFF as long as the START input
remains ON.

ALM output

The ALM output is normally closed.
When an alarm generates, the ALM output will turn OFF. At the same time, the ALARM LED of the driver will blink and
the motor will stop.
Set the host controller so that it will stop motor operation commands upon detection of an OFF status of the ALM
output. You can check the cause of the alarm by counting the number of times the ALARM LED blinks. For details, refer
to p.176.

51

2 Installation and connection

OFF

When Area 1 > Area

When Area 1 < Area

"Area 2" setting "Area 1" setting

"Area 2" setting

Mot

"Area 1" setting

Explanation of I/O signals

OUT1 to OUT4 output

The “OUT1 signal mode selection” to “OUT4 signal mode selection” parameters are used to set the desired functions to
be assigned to the OUT1 to OUT4 outputs, respectively. The following output signals can be assigned:

•AREA output (area output): Default for OUT1 output

•TIM output (timing output)

•READY output (operation ready complete output): Default for OUT2 output

•WNG output (warning output): Default for OUT3 output

•HOME-P output (return-to-home ready complete output): Default for OUT4 output

•ZSG output (Z-phase pulse output)

•R-OUT1 output (remote output 1)

•R-OUT2 output (remote output 2)

•R-OUT3 output (remote output 3)

•R-OUT4 output (remote output 4)

•O.H. output (overheat output)

•STEPOUT output (misstep detection output)

AREA output

The AREA output can be assigned to a control output.
This signal will be output when the motor output shaft is inside the area set by the “Area 1” and “Area 2” parameters.
This signal is also output while the motor is stopped.

If the AREA output is to be used during operation, set the width of the area so that the AREA output
will remain ON for at least 1 ms. If the AREA output remains ON for less than 1 ms, the AREA output
may not actually turn ON.

AREA output

AREA output

2

ON

OFF

2

ON

•When the area 1 boundary is greater in position coordinate than the area 2 boundary:
The AREA output turns ON when the output shaft is positioned at or after the area 2 boundary or at or before the
area 1 boundary.

•When the area 1 boundary is smaller in position coordinate than the area 2 boundary:
The AREA output turns ON when the output shaft is positioned at or before the area 1 boundary or at or after the
area 2 boundary.

•The area 1 is the same as the area 2 boundary:
The AREA output turns ON only when the output shaft is at the specied position.

When the area 1 boundary is greater in position coordinate than the area 2 boundary

M0 to M5 input

START input

MOVE output

AREA output

ON

OFF

ON

OFF

ON

OFF

ON

OFF

52

or operation command

Explanation of I/O signals

In

11020

Generation

Warning

WNG output

10 ms or less

OFF

TIM output

The TIM output can be assigned to a control output.
This signal turns ON when the motor is at its excitation home.
If the base step angle of the motor is 0.72°, the TIM output will turn ON every time the motor moves by 7.2° from its
excitation home in synchronization with the internal oscillation pulse.

ternal oscillation pulse

Motor operation command

Motor with 0.72°/step base step angle 0.72° 0.072° every 7.2°

Motor with 0.36°/step base step angle 0.36° 0.036° every 3.6°

Geared motor with 7.2 gear ratio 0.1° 0.01° every 1°

TIM output

Motor type

•The TIM output delays behind motor movement by up to 3 ms. The output may be used to verify
the stop position of the motor.

•If the TIM output is to be used during operation, set the motor operating speed to 500 Hz or below.
If the motor is operated at speeds faster than 500 Hz, this signal will not be output correctly.

ON

OFF

ON

OFF

0Step 1234567890123456789012

Number of divisions

1 10

Motor output shaft rotates by 7.2°

Operation

TIM output

2 Installation and connection

READY output

The READY output can be assigned to a control output.
This signal will be output when the driver becomes ready. Start operation after the READY output has turned ON.
The READY output remains OFF in the following conditions:

•The motor is operating.

•An alarm is present.

•Any one of the FWD input, RVS input, HOME input and START input is ON.

•The AWO input is ON (normally open).

•The STOP input is OFF (normally closed).

•The system is performing test operation, downloading data or being initialized via the

•The system is operating in the test mode or copy mode via the

•The motor is not excited.

•Immediately after the power was turned on.

OPX-2A

.

MEXE02

.

WNG output

The WNG output can be assigned to control output.
This signal is output when a warning generates. However, the operation will continue.
The WNG output will turn OFF automatically once the cause of the warning is removed.

10 ms or less

ON

53

2 Installation and connection

T2 (response period)

R-

OFF

Ov

10 ms or less

OFF

Explanation of I/O signals

HOME-P output

The HOME-P output can be assigned to a control output.
This signal is output upon completion of return-to-home. It will turn ON when all of the following conditions are
satised:

•The home is already set

•The command position has become 0

•The motor is stopped

The home can be set by the following methods:

•Successful completion of return-to-home operation

•Eecting the preset position

•Clearing the counter via RS-485 communication

The home will be cancelled when either of the following operations is performed:

•Cycle the power.

•Stop the motor excitation (when the “Stepout detection” parameter is set to “disable”)

ZSG output

The ZSG output can be assigned to a control output.
This signal is used when an encoder is connected. The ZSG output signal is output when the ENC-Z input signal is
input to the CN5 from the encoder.
Normally the ENC-Z input signal is input every time the motor output shaft turns one revolution.

•The ZSG output signal will not be output correctly unless the ENC-Z input remains ON for at least
1 ms.

•The ZSG output delays behind motor movement by up to 3 ms. The output may be used to verify
the stop position of the motor.

R-OUT1 to R-OUT4 output

These signals are general outputs. These signals are used when the system is controlled via RS-485 communication.
The gure shows a timing chart that assumes controls according to GW Protocol Version 1.

Communication

OUT1 to R-OUT4 output

* Frame containing the “Remote output” command

Master

Slave

ON

Frame *

Frame

3 ms or less

O.H. output

The O.H. output can be assigned to a control output.
If an overheat warning generates, the O.H. output turns ON. The O.H. output will automatically turn OFF upon
recovery from the warning condition.

erheat warning Generation

O.H. output

ON

10 ms or less

54

Explanation of I/O signals

OFF

STEPOUT output

Deviation normal

Deviation abnormal

10 µs or more

10 µs or more10 µs or more

Mot

DriverReceiving side

V0

DriverReceiving side

STEPOUT output

The STEPOUT output can be assigned to a control output.
This signal becomes eective when an encoder is connected, and a deviation error occurs.
This signal will be output when the deviation between the encoder counter value and driver command position
reaches the value set in the “Stepout detection band” parameter. If the STEPOUT output is to be used, set the “Stepout
detection” parameter to “enable.” For misstep, refer to p.87.

Deviation condition

ON

•While the motor is not excited, the STEPOUT output is always OFF. The signal will become eective
once the motor has remained excited for at least 500 ms.

•The STEPOUT output remains OFF during return-to-home operation.

6 ms or less

PLS-OUT output, DIR-OUT output

The PLS-OUT output is used to output the driver’s internal oscillation pulses. The number of pulses to be output
corresponds to the commanded travel. The pulse frequency corresponds to the operating speed. The maximum
output frequency is 500 kHz.
The DIR-OUT output is used to output the driver’s internal direction command.

PLS-OUT+ output

10 µs or more

-

PLS-OUT

DIR-OUT+ output

DIR-OUT

output

-

output

2 Installation and connection

or operation command

The PLS-OUT output and DIR-OUT output are line driver outputs. When connecting to a line receiver,
be sure to connect pin No. B19 of CN2 with the GND line of the line receiver. Also connect a terminal
resistor of 100 Ω or more between the line receiver inputs.

•Connect to line receiver

26C31

PLS-OUT+

PLS-OUT

DIR-OUT+

DIR-OUT

0

* The GND line is used in common with CN1 (not insulated)

-

-

B15

B16

B17

B18

B19

equivalent

V *

CW

•Connect to photocoupler

CCW

PLS-OUT+

PLS-OUT

DIR-OUT+

DIR-OUT

26C31
equivalent

B15

­B16

B17

­B18

B19

0 V *

55

2 Installation and connection

56

3 Operation type and setting

This part explains the operation functions and the details of parameters.

Table of contents



1 Adjustment and setting .......................58

1-1 Step angle .........................................................58

1-2 Operating current ........................................... 58

1-3 Standstill current .............................................59

1-4 Acceleration/deceleration rate ..................59

2 Operation ................................................ 60

2-1 Positioning operation ...................................61

2-2 Return-to-home operation ......................... 70

2-3 Continuous operation ................................... 75

2-4 Other operation .............................................. 77

3 Operation data ....................................... 79

4 Parameter ................................................80

4-2 I/O parameter ...................................................81

4-3 Motor parameter.............................................82

4-4 Speed parameter ............................................ 82

4-5 Return-to-home parameter ........................ 83

4-6 Alarm/warning parameter...........................83

4-7 Common parameter ...................................... 84

4-8 Operation setting parameter .....................84

4-9 Communication parameter ........................85

5 Related functions .................................. 86

5-1 Position control ...............................................86

5-2 Encoder input .................................................. 86

5-3 Misstep detection function ......................... 87

4-1 Parameter list ...................................................80

Adjustment and setting

1 Adjustment and setting

1-1 Step angle

zSetting value of the “Motor step angle” parameter

3 Operation type and setting

This chapter explains how to adjust/set the motor and driver functions.

Set the motor step angle using the "Motor step angle" parameter.

Related parameter

Parameter name Description Setting range Initial value

Motor step angle Sets the motor step angle. 0 to 15 0

If the base step angle of the motor is 0.72° If the base step angle of the motor is 0.36°

Setting Step angle Number of divisions Setting Step angle Number of divisions

0 0.72° 1 0 0.36° 1

1 0.36° 2 1 0.18° 2

2 0.288° 2.5 2 0.144° 2.5

3 0.18° 4 3 0.09° 4

4 0.144° 5 4 0.072° 5

5 0.09° 8 5 0.045° 8

6 0.072° 10 6 0.036° 10

7 0.036° 20 7 0.018° 20

8 0.0288° 25 8 0.0144° 25

9 0.018° 40 9 0.009° 40

10 0.0144° 50 10 0.0072° 50

11 0.009° 80 11 0.0045° 80

12 0.0072° 100 12 0.0036° 100

13 0.00576° 125 13 0.0028° 125

14 0.0036° 200 14 0.0018° 200

15 0.00288° 250 15 0.00144° 250

•Step angles are theoretical values.

•With the geared type, the value of “step angle/gear ratio” becomes the actual step angle.

•The base step angle is 0.36° for high-resolution type motors.

1-2 Operating current

Set the motor operating current using the “Operating current” parameter.
If the load is small and there is an ample allowance for torque, the motor temperature rise can be suppressed by
setting a lower operating current.

Related parameter

Parameter name Description Setting range Initial value

Operating current

Excessively low operating current may cause a problem in starting the motor or holding the load in
position. Do not lower the operating current more than necessary.

58

Sets the motor operating current based on the
rated current being 100%.

5 to 100% 100

1-3 Standstill current

Speed [Hz]

Time [s]

Operating speed

z)

When the motor stops, the current cutback function will be actuated to lower the motor current to the standstill
current. The standstill current is a value in which the set value of the “Standstill current” parameter is multiplied by the
rated current (100%). The standstill current does not change even when the “Operating current” parameter has been
changed.

Related parameter

Parameter name Description Setting range Initial value

Standstill current

Sets the motor standstill current as a percentage of the
rated current, based on the rated current being 100%.

1-4 Acceleration/deceleration rate

Acceleration/deceleration unit

Set the acceleration/deceleration in ms/kHz unit.

Adjustment and setting

0 to 50% 50

Acceleration

Starting speed

rate (ms/kHz)

Deceleration
rate (ms/kH

3 Operation type and setting

Common setting and separate setting of the acceleration/deceleration rate

The acceleration/deceleration for positioning operation or continuous operation can be set as follows using the
“Acceleration/deceleration type” parameter:
Separate: The acceleration/deceleration rate set under the applicable operation data No. will be followed.
Common: The setting of the “Common acceleration” and “Common deceleration” parameter will be followed.

•When performing linked operation, the acceleration/deceleration rate for the starting linked
operation data No. is applied even when the “Acceleration/deceleration type” parameter is set to
“separate.”

•See p.76 for the acceleration/deceleration rate when performing variable speed operation.

Related parameters

Parameter name Description Setting range Initial value

Acceleration/
deceleration type

Common
acceleration rate

Common
deceleration rate

Sets whether to use the common acceleration/
deceleration rate or the acceleration/deceleration
rate specied for the operation data.

Sets the common acceleration rate in positioning
operation and continuous operation.

Sets the common deceleration rate in positioning
operation and continuous operation.

0: Common
1: Separate

0.001 to
1,000.000 ms/kHz

0

30.000

59

Operation

2 Operation

Operation

[Setting by operation data and parameters]

 Single-motion operation

Speed

Starting

command

 Linked-motion operation

3 Operation type and setting

Speed

Starting

command

This chapter explains the types of operation and timing charts.

Positioning operation

Operating function

 Linked-motion operation 2

Dwell time

Operation

data No.1

Operation

data No.1

Operation
data No.2

Operation

data No.2

Time

Time

Speed

Operation

data No.1

Starting

command

Operation

data No.2

Time

Starting method

 Data number selecting

+

operation

 Sequential positioning
operation

Return-to-home operation Continuous operation

 3-sensor mode

-

LS +LSHOMES

Motor operation

M0 to M5 input

 2-sensor mode

-

LS +LS

FWD input

RVS input

 Position preset

Function

[Setting by parameters]

 I/O

Input logic level
STOP input action
Overtravel action

 Motor function

Operating current
Standstill current

 Alarm/warning

 Operation function

Acceleration/deceleration rate
JOG operation

Misstep detection
Warning detection

 Return-to-home function

Return-to-home speed
Home position oset
Return-to-home starting direction
SLIT sensor, TIM signal detection

Other operations

 JOG operation

Time

 Coordination setting

Step angle
Encoder electronic gear
Motor rotation direction

60

2-1 Positioning operation

Speed

Operating speed

Time

Travel amount

Speed

Operating speed

Time

Travel amount

Positioning operation is one in which motor operating speed, position (travel amount) and other items are set as
operation data and then executed. When the positioning operation is executed, the motor begins at the starting
speed and accelerates until the operating speed is reached. Then, once the operating speed is reached, that speed is
maintained. The motor decelerates when the stopping position approaches, and nally comes to a stop.
The operation function can also be set in operation data. The operation function is how to operate consecutive
operation data (example: operation data No.1, No.2, No.3).

Operation data

The following data are the operation data for positioning operation.

Name Description Setting range Initial value

Position

Operating speed

Operation mode

Operation function

Sequential positioning

Acceleration rate

Deceleration rate

Dwell time

Sets the position (distance) for positioning
operation.

Sets the operating speed in positioning
operation and continuous operation.

Selects how to specify the position (travel
amount) in positioning operation.

Selects how to operate consecutive
operation data.

Sets whether to enable or disable
sequential positioning operation.

Sets the acceleration rate or time in
positioning operation and continuous
operation.

Sets the deceleration rate or time in
positioning operation and continuous
operation.

Sets the dwell time to be used in linked­motion operation 2.

Operation

−8,388,608 to +8,388,607
step

1 to 500,000 Hz 1,000

INC: Incremental
ABS: Absolute

SnGL: Single-motion
Lin1: Linked-motion
Lin2: Linked-motion 2

0: Disable
1: Enable

0.001 to 1,000.000 ms/kHz 30.000

0 to 50.000 s 0

0

INC

SnGL

0

3 Operation type and setting

zPosition, operating speed, acceleration, deceleration

The acceleration/deceleration for positioning operation can be set as follows using the “Acceleration/deceleration
type” parameter:
Separate : The acceleration/deceleration rate set under the applicable operation data No. will be followed.
(Each 63 data for acceleration and deceleration)
Common : The setting of the “Common acceleration” and “Common deceleration” parameter will be followed.
(Each one data for acceleration and deceleration)

When the starting speed < operating speed When the starting speed ≥ operating speed

Starting speed

Acceleration
rate

Starting speed

Deceleration

rate

61

Operation

3,000

Starting point

Home

-

4,000

-

Starting point

Home

zOperation modes

zOperation function, dwell time

3 Operation type and setting

The following two operation modes are available:

Absolute (ABS) mode

The position (distance) from home is set [Absolute positioning].

Example: When positioning operation is performed with setting
the starting point to 1,000 and setting the destination to +3,000
and −3,000

3,000

0

Travel amount

-

4,000

1,000

Travel amount

2,000

Incremental (INC) mode

Each motor destination becomes the starting point for the next
movement. This mode is suitable when the same position
(distance) is repeatedly used [Incremental positioning].

Example: When positioning operation is performed with setting
the starting point to 1,000 and setting the destination to +3,000
and −3,000

The following three operation functions are available:

Name Description Ref.

Single-motion A single operation data set is executed. p.66

Linked-motion Multiple sets of operation data are linked to perform multi-variable speed operation p.67

Linked-motion 2

Dwell time (stop waiting time) can be set between operation data.
Operation data whose rotation direction is dierent can also be linked.

2,000

0

Travel amount

-

3,000

1,000

Travel amount

3,000

p.68

Starting method of positioning operation

The following two types are available in the starting method.

Name Description

Data number selecting
operation

Sequential positioning
operation

zData number selecting operation

Select an operation data based on a combination of ON/OFF status of the M0 to M5 inputs. See p.47 for details.
If all M0 to M5 inputs are turned OFF, sequential operation will be selected.

Operation data No. M5 M4 M3 M2 M1 M0

Sequential operation OFF OFF OFF OFF OFF OFF

1 OFF OFF OFF OFF OFF ON

2 OFF OFF OFF OFF ON OFF

·

·

·

61 ON ON ON ON OFF ON

62 ON ON ON ON ON OFF

63 ON ON ON ON ON ON

When the START input is turned ON with selecting the operation data No. by a
combination of the M0 to M5 inputs, the positioning operation will perform.

Positioning operation is performed to the next operation data No. every time a START
input signal is input.

·

·

·

·

·

·

·

·

·

·

·

·

·

·

·

·

·

·

62

Operating method

M0 to M5 input

OFF

START

1

START

2

START

3

START

4

1) Check the READY output is ON.

2) Select the operation data No. by a combination of the M0 to M5 inputs and turn the START input ON.

3) The motor starts positioning operation.

4) Check that the READY output has been turned OFF and turn the START input OFF.

5) When the positioning operation is completed, the READY output will be turned ON.

Motor operation

START input *

READY output

MOVE output

* When controlling the motor via network communication, operation is performed even if the M0 to M5 input and

operation input are turned ON simultaneously.

zSequential positioning operation

When the "sequential positioning" of the operation data is set to "Enable," positioning operation for the next
operation data number is performed every time the START input turns ON. This function is useful when multiple
positioning operations must be performed sequentially, because there is no need to select each data number by the
M0 to M5 inputs.
When the "sequential positioning" of the operation data is executed up to the data number set to "Disable," the
operation returns to the operation data No.1 and the sequential operation will start again.

No.1

ON

*No.0No.1

OFF

ON

OFF

ON

OFF

ON

2

1

4

3

Operation

5

3 Operation type and setting

When the operating pattern is one type

1) The positioning operation for the operation data No.1 is performed by turning the START input ON.

2) After the operation 1) is completed, when turning the START input ON again, the positioning operation for the
operation data No.2 will be performed.

3) After the operation 2) is completed, when turning the START input ON again, the positioning operation for the
operation data No.3 will be performed.

4) After the operation 3) is completed, when turning the START input ON again, the positioning operation will be
performed by returning to the operation data No.1 because the sequential positioning for the operation data
No.4 has been set to “disable.”

•Setting example

Operation data Sequential positioning

=ON

Set the "sequential positioning" of the operation data No.1 to "Enable" without fail because the
sequential operation starts from the operation data No.1.

No.1

EnableNo.2

No.3

No.4 Disable

Operation

data No.1

=ON

Operation

data No.2

=ON

Operation

data No.3

=ON

63

Operation

Speed

ime

M0 to M5 input

OFF

3 Operation type and setting

When the operating patterns are multiple

This section explains how to operate when performing the sequential positioning operation by the following
operation data.

Operation data Operation function Sequential positioning

No.0 − −

No.1 Single-motion Enable

No.2 Linked-motion Enable

No.3 Linked-motion Enable

No.4 Single-motion Enable

No.5 Single-motion Disable

No.11 Single-motion Enable

No.12 Single-motion Enable

No.13 Single-motion Disable

An example when executing the operation data No.0 rst

1) When selecting the data No.0 and turning the START input ON, a single operation for the data No.1 is
performed.

2) After the operation 1) is completed, when turning the START input ON again, the linked-motion operation for
the operation data No.2 to No.4 will be performed.

3) After the operation 2) is completed, when turning the START input ON again, a single operation for the
operation data No.1 will be performed by returning to the operation data No.1 because the "sequential
positioning" for the operation data No.5 has been set to "Disable."

START input

MOVE output

An example when executing the operation No.0 after executing the operation data No.11

1) When selecting the data No.11 and turning the START input ON, a single operation for the data No.11 is
performed.

2) After the operation 1) is completed, when selecting the data No.0 and turning the START input ON, a single
operation for the operation data No.12 will be performed.

3) After the operation 2) is completed, when turning the START input ON again, a single operation for the
operation data No.1 will be performed by returning to the operation data No.1 because the "sequential
positioning" for the operation data No.13 has been set to "Disable."

An example when the "sequential positioning" for the operation data No.1 is set to "Disable"

When selecting the data No.0 and turning the START input ON while the "sequential positioning" for the operation
data No.1 is set to "Disable," an operation data error alarm will generate.

An example when executing the data No.0 after executing the data No.11 and No.12 while the
"sequential positioning" for the operation data No.1 is set to "Disable"

An operation data error alarm will generate.

No.1

ON

No.1

OFF

ON

OFF

ON

When performing the sequential positioning operation for the operation data which “operation
function” is set to “Linked-motion” or “Linked-motion 2,” set the “sequential positioning” to “Enable.”

No.0

No.2 No.3 No.4

T

64

Operating method

READ

OFF

1) Check the READY output is ON.

2) Turn the START input ON.

3) The motor starts positioning operation.

4) Check that the READY output has been turned OFF and turn the START input OFF.

5) When the positioning operation is completed, the READY output will be turned ON.

Motor operation

SSTART input

MOVE output

END output

The operation data will return to the data No.1.

· When performing return-to-home operation

· When presetting the command position

· When turning the STOP input OFF

· When performing continuous operation

· When turning the AWO input ON (factory setting: normally open)

· When resetting an alarm after it was generated

· When performing teaching function or JOG operation using the

2

1

3

4

5

Y output

ON

OFF

ON

OFF

ON

OFF

ON

MEXE02

or

OPX-2A

Operation

3 Operation type and setting

zStop the positioning operation

When the STOP input is turned ON, the current positioning operation stops. (Factory setting: normally closed)

Absolute mode

In the absolute mode, the absolute position (distance) is set with reference to the home position. If the operation is
resumed after stopping the motor on the way, it will move to the specied position.

Incremental mode

The incremental mode, the destination of each movement (current position) becomes the starting point of the next
movement. If the operation is stopped on the way, the stopped position (current position) will become the starting
point of the next operation.

65

Operation

Speed

Operating speed of No

Position5,0000

M0 to M5 input

OFF

Operation function

zSingle-motion

The positioning operation is performed only once using a single operation data set.

Example of single-motion operation

3 Operation type and setting

Operation

data

No.1 5,000 5,000 30,000 30,000 INC

Position

Operating

speed

Acceleration Deceleration

Operation

mode

Operation

function

Single­motion

Operation example

.1: 5,000

Operation data

Starting speed: 500

No.1

Operating method

1) Check the READY output is ON.

2) Select the operation data No.1 by turning the M0 input ON, and turn the START input ON.

3) The motor starts positioning operation of the operation data No.1.

4) Check that the READY output has been turned OFF and turn the START input OFF.

5) When the positioning operation is completed, the READY output will be turned ON.

No.1

Motor operation

Dwell

time

Not used Not used

Sequential

positioning

START input *

READY output

MOVE output

* When controlling the motor via network communication, operation is performed even if the M0 to M5 input and

operation input are turned ON simultaneously.

ON

*No.0No.1

OFF

ON

OFF

ON

OFF

ON

2

1

4

3

5

66

Operation

Speed

Operating speed of No

Position5,000 20,0000

M0 to M5 input

OFF

zLinked-motion operation

When the “operation function” is set to “linked-motion” using operation data, positioning operation based on the next
data number will be performed without stopping the motor.
If operation data includes data for which “single-motion” is set, the motor will stop after the positioning with respect
to the “single” operation data is completed.
A maximum of four operation data can be linked. Note that only operation data of the same direction can be linked.

•Multiple operation data of dierent directions cannot be linked. An operation data error alarm will
generate during operation.

•Up to four sets of operation data can be linked. When combining the linked-motion operation and
the linked-motion operation 2, make sure the total number of linked operation data sets does not
exceed four. When linked-motion operation is performed with ve or more sets of operation data
linked together, an operation data error alarm will generate upon start of operation.

•No.1 will not be linked even when “linked-motion” is set for data No.63, because the operation
pertaining to No.63 will be processed independently.

•The acceleration/deceleration in linked-motion operation corresponds to the acceleration/
deceleration specied for the operation data No. with which the linked-motion operation is
started.

Example of linked-motion operation

Operation

data

No.1 5,000 5,000 30,000 30,000 INC

No.2 20,000 10,000 Not used Not used INC

Position

Operating

speed

Acceleration Deceleration

Operation

mode

Operation

function

Linked-

motion

Single­motion

Dwell

time

Not used Not used

Not used Not used

Sequential

positioning

3 Operation type and setting

Operation example

.2: 10,000

Operating speed of No.1: 5,000

Starting speed: 500

No.1 No.2

Operating method

1) Check the READY output is ON.

2) Select the operation data No.1 by turning the M0 input ON and turn the START input ON.

3) The motor starts the positioning operation in which the operation data No.1 and No.2 are linked.

4) Check that the READY output has been turned OFF and turn the START input OFF.

5) When the positioning operation is completed, the READY output will be turned ON.

Motor operation

ON

*No.0No.1

OFF

START input *

READY output

MOVE output

* When controlling the motor via network communication, operation is performed even if the M0 to M5 input and

operation input are turned ON simultaneously.

ON

OFF

ON

OFF

ON

2

1

3

No.1 No.2

4

5

67

Operation

Speed

Operating speed of No

Stop for 1,000 ms

M0 to M5 input

0N

OFF

zLinked-motion operation 2

By setting the “operation function” of operation data to “Linked-motion 2,” an operation data whose rotation direction
is dierent can be linked. In this case, the system stops for the dwell time after each positioning operation, and then
performs operation according to the next operation data. If operation data includes data for which “single-motion” is
set, the motor will stop after the positioning with respect to the “single” operation data is completed.

•Up to four sets of operation data can be linked. When combining the linked-motion operation and
the linked-motion operation 2, make sure the total number of linked operation data sets does not
exceed four. When linked-motion operation is performed with ve or more sets of operation data
linked together, an operation data error alarm will generate upon start of operation.

•No.1 will not be linked even when “linked-motion 2” is set for data No.63, because the operation
pertaining to No.63 will be processed independently.

Example of linked-motion operation 2

3 Operation type and setting

Operation

data

No.1 5,000 5,000 30,000 30,000 INC

No.2 −3,000 3,000 30,000 30,000 INC

Position

Operating

speed

Acceleration Deceleration

Operation

mode

Operation

function

Linked-

motion 2

Single­motion

Dwell

time

1,000 Not used

0 Not used

Sequential

positioning

Operation example

Operating speed of No.1: 5,000

Operation data

Starting speed: 500

0

.2: -3,000

No.1

2,000

Operation data

No.2

Position5,000

Operating method

1) Check the READY output is ON.

2) Select the operation data No.1 by turning the M0 input ON and turn the START input ON.

3) The motor starts the positioning operation for the operation data No.1.

4) Check that the READY output has been turned OFF and turn the START input OFF.

5) When the positioning operation 3) is completed, the MOVE output will be turned OFF.

6) When the dwell time has passed, the positioning operation for the operation data No.2 will automatically start.
At the same time, the MOVE output will be turned ON.

7) When the positioning operation for the operation data No.2 is completed, the READY output will be turned ON.

68

Dwell time

No.1

Motor operation

ON

*No.

OFF

START input *

READY output

MOVE output

* When controlling the motor via network communication, operation is performed even if the M0 to M5 input and

operation input are turned ON simultaneously.

ON

OFF

ON

OFF

ON

2

1

4

3

1,000 ms

No.2

o.1

7

5 6

Example of linked-motion operation 2:

Speed

Operating speed of No

Stop for 1,000 ms

M0 to M5 input

0N

OFF

When combining the linked-motion operation and the linked-motion operation 2

Operation

Operation

data

No.1 5,000 3,000 30,000 30,000 INC

No.2 10,000 5,000 Not used Not used INC

No.3 25,000 7,000 Not used Not used INC

No.4 0 7,000 30,000 30,000 ABS

Position

Operating

speed

Acceleration Deceleration

Operation

mode

Operation

function

Linked-

motion

Linked-

motion

Linked-

motion 2

Single­motion

Dwell

time

Not used Not used

Not used Not used

1,000 Not used

Not used Not used

Sequential

positioning

Operation example

Operating speed of No.3: 7,000

Operating speed of No.2: 5,000

Operating speed of No.1: 3,000

Starting speed: 500

No.1 No.2 No.3

No.4

Position5,000 40,00015,0000

3 Operation type and setting

Operating method

1) Check the READY output is ON.

2) Select the operation data No.1 by turning the M0 input ON and turn the START input ON.

3) The motor starts the positioning operation in which the operation data from No.1 to No.3 are linked.

4) Check that the READY output has been turned OFF and turn the START input OFF.

5) When the positioning operation 3) is completed, the MOVE output will be turned OFF.

6) When the dwell time has passed, the positioning operation for the operation data No.4 will automatically start.
At the same time, the MOVE output will be turned ON.

7) When the positioning operation for the operation data No.4 is completed, the READY output will be turned ON.

Motor operation

START input *

READY output

MOVE output

* When controlling the motor via network communication, operation is performed even if the M0 to M5 input and

operation input are turned ON simultaneously.

.4: -7,000

ON

*No.

OFF

ON

OFF

1

ON

OFF

ON

No.1 No.2 No.3

2

4

3

Dwell time

1,000 ms

No.4

o.1

7

5 6

69

Operation

Mechanical home

-

LS HOMES +LS

Electrical home

-home operation

2-2 Return-to-home operation

3 Operation type and setting

Return-to-home is an operation in which the reference point of positioning (mechanical home position) is detected
automatically. Return-to-home operation is performed to return to the home position from the current position when
the power supply is turned on or the positioning operation is completed.
Return-to-home operation can be performed in the following three modes:

Item Description Feature

•Three external sensors are

The motor operates at the "operating speed of home-seeking.”

3-sensor mode

2-sensor mode

Position preset

*1 In the case of a rotating mechanism, even when using one external sensor, the home position can be detected.
*2 The factory setting is 200 steps. It can be changed to a desired value using the “Backward steps in 2-sensor mode

home-seeking” parameter.

When the HOME sensor is detected, the motor will stop and
the stop position will be the home position.

The motor operates at the "starting speed of home-seeking.”
When the limit sensor is detected, the motor will rotate in the
reverse direction and escape from the limit sensor.
After escaping from the limit sensor, the motor will move
200 steps and stop, and then the stop position will be the
home position. *2

When executing the P-PRESET input at the position that the
motor stops, the command position will be the value of the
"Preset position” parameter. The home position can be set to
any position.

needed *1

•Operating speed is high
(Operating speed of
return-to-home)

•Two external sensors are
needed

•Operating speed is low
(Starting speed of return­to-home)

•No external sensor is
needed

•The home position can be
set to any position.

Additional function

Item

Home oset Possible Not possible Position oset of home-seeking

External sensor (signal)
detection

Command position after
returning to home

zHome oset

This is a function to perform positioning operation of the oset amount set by the parameter after return-to-home
operation and to set the stop position to the home position. The position set by the home oset is called “electrical
home” in distinction from the usual home position.
If the amount of oset from mechanical home is “0,” the mechanical home and electrical home will become the same.

Oset operation

2-sensor mode
3-sensor mode

Possible Not possible

The position
becomes "0”

Position preset Related parameter

Any position Preset position

•SLIT detection with home-seeking

•TIM signal detection with home-seeking

Return-to

zDetecting the external sensor (signal)

When detecting the home, use of the SLIT input and/or TIM signal will increase the accuracy of home detection.

When the TIM output is used, set the resolution to be an integral multiple of 50.

70

Operation

Speed

Operating speed

of home

of home

Operating speed

of home

trical home

OFF

Speed

Operating speed

of home

of home

Mechanical home

zCommand position after returning to home

When executing the P-PRESET input at the position that the motor stops, the command position will be the value of
the “Preset position” parameter.

Parameters related to return-to-home operation

Parameter name Description Setting range Initial value

Home-seeking mode

Operating speed of
home-seeking

Acceleration/
deceleration of home­seeking

Starting speed of home­seeking

Position oset of
home-seeking

Starting direction of
home-seeking

SLIT detection with
home-seeking

TIM signal detection
with home-seeking

Backward steps in
2-sensor mode home­seeking

Set the mode for return-to-home
operation.

Sets the operating speed for return-to­home operation.

Sets the acceleration/deceleration rate or
time for return-to-home operation.

Sets the starting speed for return-to-home
operation.

Sets the amount of oset from mechanical
home.

Sets the starting direction for home
detection.

Sets whether or not to concurrently use the
SLIT input for return-to-home operation.

Sets whether or not to concurrently use the
TIM signal or ZSG signal for return-to-home
operation.

Sets the travel amount after the motor
pulls out from the LS sensor in 2-sensor
return-to-home operation.

0: 2-sensor mode
1: 3-sensor mode

1 to 500,000 Hz 1,000

0.001 to
1,000.000 ms/kHz

1 to 500,000 Hz 100

−8,388,608 to
8,388,607 step

0: Negative direction
1: Positive direction

0: Disable
1: Enable

0: Disable
1: Enable (TIM)
2: Enable (ZSG)

0 to 32,767 step 200

∗

1

30.000

0

1

0

3 Operation type and setting

* This signal is used when an encoder is connected.

zOperation example (when using 3-sensor mode)

Operating sequence in seeing a time axis

-seeking

Starting speed

-seeking

-seeking

HOMES input

Acceleration/deceleration

of home-seeking

Mechanical home

ON

Elec

Time

Operating sequence in seeing a travel amount

HOMES input

-seeking

Starting speed

-seeking

Starting position

Electrical home

Position0

71

Operation

HOME-P output

OFF

zOperating method

1) Check the READY output is ON.

2) Turn the HOME input ON.

3) Return-to-home operation will be started.

4) Check that the READY output has been turned OFF and turn the HOME input OFF.

5) When return-to-home operation is completed, the HOME-P output will be turned ON.

Motor operation

3 Operation type and setting

HOME input

READY output

MOVE output

HOMES input

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

2

1

4

3

5

72

Operation

- - - indicates when home oset has been set.

Operation sequence of the 3-sensor mode

The home is detected using the three sensors of +LS, −LS and HOMES. The ON edge of HOMES denes the home.
If the "SLIT detection with home-seeking" parameter is set to "Enable," an AND gate will be applied to the ON edge of
HOMES and the SLIT input, thereby enabling more accurate home detection.
Also note that by setting the "TIM signal detection with home-seeking" parameter to "Enable," an AND gate can be
applied to the TIM signal or encoder Z-phase signal.

Starting position of

return-to-home operation

Starting direction of return-to-home

operation: + (FWD)

-

LS +LSHOMES

+ side

-

LS

-

side

-

LS +LSHOMES

VL

+ side

+LS

-

side

-

LS +LSHOMES

+ side

HOMES

-

side

-

LS +LSHOMES

Between

+ side

HOMES and -LS

-

side

-

LS +LSHOMES

Between

+ side

HOMES and +LS

-

side

VL

VL

VL

VL

Starting direction of return-to-home

VR
VS

VS
VR

VR
VS

VS
VR

VR
VS

VS
VR

VR
VS

VS
VR

VR
VS

VS
VR

-

LS +LSHOMES

+ side

-

side

-

LS +LSHOMES

+ side

-

side

-

LS +LSHOMES

+ side

-

side

-

LS +LSHOMES

+ side

-

side

-

LS +LSHOMES

+ side

-

side

operation:

-

(RVS)

VL

VL

VL

VL

VL

VR
VS

VS
VR

VR
VS

VS
VR

VR
VS

VS
VR

VR
VS

VS
VR

VR
VS

VS
VR

3 Operation type and setting

VS: Starting speed of home-seeking
VR: Operating speed of home-seeking
VL: Last speed of return-to-home (When VS < 500 Hz: VS, When VS ≥ 500 Hz: 500 Hz)

73

Operation

- - - indicates when home oset has been set.

C

OFF

ON

Operation sequence of the 2-sensor mode

The home is detected using +LS and −LS. When the motor pulls o of the limit sensor and both +LS and −LS turn OFF,
the applicable position will be used to dene the home.
If the "SLIT detection with home-seeking" parameter is set to "Enable," an AND gate will be applied to the ON edge of
HOMES and the SLIT input, thereby enabling more accurate home detection.
Also note that by setting the "TIM signal detection with home-seeking" parameter to "Enable," an AND gate can be
applied to the TIM signal or encoder Z-phase signal.

3 Operation type and setting

Starting position of

return-to-home operation

-

LS

+LS

Between

-

LS and +LS

Starting direction of return-to-home

operation: + (FWD)

-

LS +LS

+ side

-

side

-

LS +LS

+ side

-

side

-

LS +LS

+ side

-

side

VR
VS

VS
VR

*

VR
VS

VS
VR

*

VR
VS

VS
VR

*

Starting direction of return-to-home

operation:

-

LS +LS

+ side

-

+ side

-

+ side

-

*

side

-

LS +LS

*

side

-

LS +LS

*

side

-

(RVS)

VR
VS

VS
VR

VR
VS

VS
VR

VR
VS

VS
VR

VS: Starting speed of home-seeking
VR: Operating speed of home-seeking

* After pulling o of the limit sensor, the equipment will move by the value set in the “Backward steps in 2-sensor

mode home-seeking” parameter (initial value: 200 steps).
When an AND gate is applied to the SLIT signal, TIM signal or encoder Z-phase signal, the home position will be
detected after moving the value set in the "Backward steps in 2-sensor mode home-seeking" parameter.

Position preset

When the P-PRESET input is turned ON, the command position is set as the value of the “Preset position” parameter.
However, the preset will not execute in the following conditions.

•When the motor is operating

•When an alarm is present

Related parameter

Parameter name Description Setting range Initial value

Preset position Sets the preset position. −8,388,608 to 8,388,607 step 0

zOperating method

1) Check the READY output is ON.

2) Turn the P-PRESET input ON.

3) When the driver internal processing is completed, the HOME-P output will be turned ON.

4) Check the HOME-P output has been turned ON, and then turn the P-PRESET input OFF.

P-PRESET input

READY output

HOME-P output

ommand position Preset position

OFF

ON

OFF

ON

OFF

ON

2

1

4

3

74

2-3 Continuous operation

Speed

Operating speed

Operating speed

ime

The motor operates continuously while the FWD or RVS input is ON.
Operation is performed based on the FWD or RVS input and the operating speed corresponding to the selected
operation data No. When the operation data No. is changed during continuous operation, the speed will change to
the speed specied by the new operation data No.
When the FWD or RVS input is turned OFF, the motor will decelerate to a stop. If the signal of the same direction is
turned ON again during deceleration, the motor will accelerate and continue operating.
If the FWD and RVS inputs are turned ON simultaneously, the motor will decelerate to a stop.

Operation data

Operation data for continuous operation are as follows.

Name Description Setting range Initial value

Operating speed Sets the operating speed in continuous operation. 1 to 500,000 Hz 1,000

Acceleration rate Sets the acceleration rate in continuous operation.

Deceleration rate Sets the deceleration rate in continuous operation.

Operation

0.001 to 100.000 ms/kHz 30.000

Operation data

Starting speed

Starting speed

FWD input

RVS input

* The acceleration/deceleration for continuous operation can be set as follows using the “Acceleration/deceleration

type” parameter:
Separate : The acceleration/deceleration set under the applicable operation data No. will be followed. (Each 63 data
for acceleration and deceleration)
Common : The setting of the “Common acceleration” and “Common deceleration” parameter will be followed. (Each
one data for acceleration and deceleration)

ON

OFF

ON

OFF

No.1

T

Operation data

No.2

3 Operation type and setting

Starting method of continuous operation

When selecting the operation data No. and turning the FWD input or RVS input ON, continuous operation will be
started.
Select an operation data based on a combination of ON/OFF status of the M0 to M5 inputs. See p.47 for details.

Operation data No. M5 M4 M3 M2 M1 M0

1 OFF OFF OFF OFF OFF ON

2 OFF OFF OFF OFF ON OFF

3 OFF OFF OFF OFF ON ON

·

·

·

61 ON ON ON ON OFF ON

62 ON ON ON ON ON OFF

63 ON ON ON ON ON ON

·

·

·

·

·

·

·

·

·

·

·

·

·

·

·

·

·

·

75

Operation

M0 to M5 input

1N

OFF

FWD input

data No.

data No.

When accelerating When decelerating

Operating method

1) Check the READY output is ON.

2) Select the operation data No. by a combination of the M0 to M5 inputs and turn the FWD input ON.

3) The motor starts continuous operation. The READY output will be turned OFF.

4) Select the operation data No.2 by turning the M0 input ON. The motor accelerates to the operating speed of the
operation data No.2.

5) Select the operation data No.1 by turning the M0 input OFF and M1 input ON. The motor decelerates to the
operating speed of the operation data No.1.

6) Turn the FWD input OFF.

7) The motor will decelerate to a stop and the READY output will be turned ON.

3 Operation type and setting

zWhen acceleration/deceleration rate is “common”

Motor operation

FWD input *

READY output

MOVE output

ON

*No.

OFF

ON

OFF

ON

OFF

ON

2

1

3

4

No.2No.1 No.1

5

o.1No.2

6

7

* When controlling the motor via network communication, operation is performed even if the M0 to M5 input and

operation input are turned ON simultaneously.

Variable speed operation

VR2

TAC TDC

VR1

TAC

VS

VR1

TAC TDC

VR2

VS

TDC

ON

OFF

Operation

No.1

No.2

•Explanation of labels

VS: Starting speed (Hz)
VR1: Operating speed of operation data No.1 (Hz)
VR2: Operating speed of operation data No.2 (Hz)
TAC: Common acceleration rate
TDC: Common deceleration rate

76

FWD input

Operation

ON

OFF

No.1

No.2

zWhen acceleration/deceleration rate is “separate”

FWD input

data No.

data No.

When accelerating When decelerating

Speed

ime

JOG operating speed

Operation

VR2

VR1

Operation

•Explanation of labels

VS: Starting speed (Hz)
VR1: Operating speed of operation data No.1 (Hz)
VR2: Operating speed of operation data No.2 (Hz)

TA1

VS

ON

OFF

No.1

2-4 Other operation

Test operation

Test operation is performed using the
operation can be performed.
For details, refer to the operating manual for each product.

TA2 TD2

No.2 No.1

MEXE02

or

VR1

TA1 TD2

VR2

VS

FWD input

TA1: Acceleration rate of operation data No.1
TA2: Acceleration rate of operation data No.2
TD2: Deceleration rate of operation data No.2

OPX-2A

. JOG operation, teaching function and positioning

ON

OFF

Operation

TD2

No.2

3 Operation type and setting

zJOG operation

Connection condition or operation status for the motor and driver can be checked using JOG operation.

Related parameters

Parameter name Description Setting range Initial value

JOG operating speed Sets the operating speed for JOG operation. 1 to 500,000 Hz 1,000

Acceleration/deceleration
rate of JOG

JOG starting speed Sets the starting speed for JOG operation. 1 to 500,000 Hz 100

Sets the acceleration/deceleration rate or time
for JOG operation.

Example: When performing JOG operation with the

JOG starting speed

Key

1 step 1 step

Less than1 s1 s or more

zTeaching function

This is a function to move the motor using the
amount) of the operation data. When the position (travel amount) is set using teaching function, the “operation mode”
will always be the absolute mode. The operating speed, acceleration/deceleration and starting speed of teaching
function are same as those of JOG operation.

MEXE02

OPX-2A

or

OPX-2A

0.001 to
1,000.000 ms/kHz

T

and set the current position as the position (travel

30.000

zPositioning operation

This is a function to check the set operation data in advance using the
It is a convenient function when checking the operation without connecting a programmable controller.

MEXE02

or

OPX-2A

.

77

Operation

Speed

ime

OFF

ST

Mot

OFF

Speed

ime

Mot

Speed

ime

Spftware limit

Mot

zSTOP action

zHardware overtravel

zSoftware overtravel

3 Operation type and setting

Stop operation

When the STOP input is turned ON or STOP is commanded via
RS-485 communication while the motor is operating, the motor will
stop. The stopping mode is determined by the setting of the “STOP
input action” parameter.
For example, the operation when setting "STOP input action"
parameter to "deceleration stop" is shown in the gure.

Hardware overtravel is the function that limits the operation range
by installing the limit sensor (±LS) at the upper and lower limit of
the operation range. If the "Hardware overtravel" parameter is set
to "enable", the motor can be stopped when detecting the limit
sensor.
The stopping mode is determined by the setting of “Overtravel
action” parameter.
The operation example when setting the "Overtravel action"
parameter to “immediate stop” is shown in the gure.

The software overtravel is a function that limits the range of
movement via software settings.
If the "Software overtravel" parameter is set to "enable", the motor
can be stopped when exceeding the software limit. The stopping
mode is determined by the setting of “Overtravel action” parameter.
The operation example shown on the gure applies when an
operation where a software limit is to be exceeded is started.

or operation

OP input

or operation

±LS input

or operation

ON

ON

T

T

T

Software overtravel will become eective after the position origin is set. See p.86 for setting the
position origin.

zEscape from the limit sensor

It is possible to escape in the negative direction when detecting the positive direction limit, and possible to escape in
the positive direction when detecting the negative direction limit.
The following operations can be used when escaping from the limit sensor.

Types of operation Limit sensors (±LS) Software limit

Positioning operation Will not operate (unable to escape)

Continuous operation
Test operation
Return-to-home operation

Allowed to operate (able to escape)

Allowed to operate (able to escape)

78

3 Operation data

Up to 63 operation data can be set (data Nos.1 to 63).
If the data is changed, a recalculation and setup will be performed after the operation is stopped.

Name Description Setting range Initial value

Position No.1

to

Position No.63

Operating speed No.1

to

Operating speed No.63

Operation mode No.1

to

Operation mode No.63

Operation function No.1

to

Operation function No.63

Acceleration rate No.1

to

Acceleration rate No.63

Deceleration rate No.1

to

Deceleration rate No.63

Sequential positioning No.1

to

Sequential positioning No.63

Dwell time No.1

to

Dwell time No.63

Sets the position (distance) for
positioning operation.

Sets the operating speed in positioning
operation and continuous operation.

Selects how to specify the position
(travel amount) in positioning
operation (absolute mode or
incremental mode).

Selects how to operate consecutive
operation data.

Sets the acceleration rate in positioning
operation and continuous operation. *

Sets the deceleration rate in
positioning operation and continuous
operation. *

Sets whether to enable or disable
sequential positioning operation.

Sets the dwell time to be used in
linked-motion operation 2.

Operation data

−8,388,608 to
+8,388,607 step

0 to 500,000 Hz 1,000

0: INC (Incremental)
1: ABS (Absolute)

0: Single-motion
1: Linked-motion
2: Linked-motion 2

0.001 to
1,000.000 ms/kHz

0: Disable
1: Enable

0 to 50,000 (1=0.001 s) 0

0

0

0

30.000

0

3 Operation type and setting

* This item is eective when the “Acceleration/deceleration type” parameter is set to “separate.” If this parameter is set

to “common”, the values of the “Common acceleration” and “Common deceleration” parameters will be used (initial
value: separate).

79

Parameter

4 Parameter

The parameters are saved in the RAM or non-volatile memory. The data saved in the RAM will be erased once the
power supply is turned o. On the other hand, the parameters saved in the non-volatile memory will be retained even
after the power supply is turned o.
When turning the driver 24 VDC power ON, the parameters saved in the non-volatile memory will be sent to the RAM.
Then, the recalculation and setup for the parameters are executed in the RAM.

•The parameters are written in the RAM when writing via RS-485 communication.

•The non-volatile memory can be rewritten approximately 100,000 times.

4-1 Parameter list

Application parameter

3 Operation type and setting

I/O parameter
(p.81)

Motor parameter
(p.82)

Speed parameter
(p.82)

Return-to-home parameter
(p.83)

Alarm/warning parameter
(p.83)

Common parameter
(p.84)

•START input mode

•I/O STOP input

•STOP action

•STOP contact conguration

•C-ON logic conguration

•OUT1 signal mode selection

•OUT2 signal mode selection

•OUT3 signal mode selection

•OUT4 signal mode selection

•HOME/P-PRESET input switching

•Motor excitation mode

•HOME/FWD/RVS input mode

•Operating current

•Standstill current

•Common acceleration rate

•Common deceleration rate

•Starting speed

•Home-seeking mode

•Operating speed of home-seeking

•Acceleration (deceleration) rate of
home-seeking

•Starting speed of home-seeking

•Position oset of home-seeking

•Stepout detection band

•Overvoltage warning

•Overheat warning

•Software overtravel

•Positive software limit

•Negative software limit

•Display mode of the data setter speed

•The data setter editing mode

•Data No. input mode

•AWO contact conguration

•Hardware overtravel detection

•LS contact conguration

•HOMES contact conguration

•SLIT contact conguration

•Overtravel action

•Preset position

•Area 1

•Area 2

•Encoder counter preset value

•JOG operating speed

•JOG acceleration (deceleration) rate

•JOG starting speed

•Acceleration (deceleration) rate type

•Starting direction of home-seeking

•SLIT detection with home-seeking

•TIM signal detection with home­seeking

•Backward steps in 2-sensor mode
home-seeking

•Communication timeout action

•Receive period

•Response interval

•Receive monitoring

•Stepout detection action

80

System parameters

Parameter

Operation setting parameter
(p.84)

Communication parameter
(p.85)

When a system parameter has been changed, the new parameter will become eective after the
power is cycled.

•Motor rotation direction

•Stepout detection

•Motor step angle

•Communication axis number

•Communication protocol

•Communication parity

•Communication stop bit

•Encoder electronic gear A

•Encoder electronic gear B

•Transmission waiting time

•Communication timeout

•Communication error alarm

4-2 I/O parameter

Parameter name Description Setting range

START input mode *1

I/O STOP input *1 *2

STOP action

STOP contact conguration Sets the STOP input logic.

C-ON logic conguration *3 Sets the C-ON logic for RS-485 communication.

OUT1 signal mode selection Sets the function assigned to the OUT1 output.

OUT2 signal mode selection Sets the function assigned to the OUT2 output. 7

OUT3 signal mode selection Sets the function assigned to the OUT3 output. 8

OUT4 signal mode selection Sets the function assigned to the OUT4 output. 9

HOME/P-PRESET input
switching

Motor excitation mode *1

HOME/FWD/RVS input
mode *1

Data No. input mode *1

AWO contact conguration Sets the AWO input logic.

Hardware overtravel
detection *4

LS contact conguration Sets the ±LS input logics.

HOMES contact
conguration

SLIT contact conguration Sets the SLIT input logic.

Overtravel action

Preset position Sets the preset position. −8,388,608 to +8,388,607 step

Sets whether to input the START input signal
via I/O or RS-485 communication.

Changes the setting to enable/disable STOP
input of I/O.

Sets how the motor should stop when a STOP
input is turned ON.

Sets whether to use HOME or P-PRESET input.

Sets whether to control the motor excitation
via I/O or RS-485 communication.

Sets whether to input the HOME, FWD and RVS
input signals via I/O or RS-485 communication.

Sets whether to input the M0 to M5 input
signals via I/O or RS-485 communication.

Sets whether to enable or disable hardware
overtravel detection using LS inputs.

Sets the HOMES input logic.

Sets the motor action to take place upon the
occurrence of overtravel.

0: RS-485 communication
1: I/O

0: Disable
1: Enable

0: Immediate stop
1: Decelerate stop
2: Immediate stop & Current OFF
3: Decelerate stop & Current OFF

0: Make (N.O.)
1: Break (N.C.)

0: 0=Not excited, 1=Excited
1: 0=Excited, 1=Not excited

See table next.

0: HOME
1: P-PRESET

0: RS-485 communication
1: I/O

0: Make (N.O.)
1: Break (N.C.)

0: Disable
1: Enable

0: Make (N.O.)
1: Break (N.C.)

0: Immediate stop
1: Decelerate stop

Initial
value

1

3 Operation type and setting

1

1

1

0

5

0

1

0

1

0

0

81

Parameter

Parameter name Description Setting range

Area 1

Area 2

Encoder counter preset
value *5

*1 Set the parameter when controlling the system via RS-485 communication.
*2 If this parameter is disabled, the I/O STOP input will become ineective and only the stop input received via RS-485

communication will become eective.

*3 When “Motor excitation mode” parameter is set to “RS-485 communication”, the excitation condition of the motor at the power

ON varies depending on the “C-ON logic conguration” parameter. The motor is not excited if the “C-ON logic conguration”

parameter is set to “0,” and excited if the parameter is set to “1.”
*4 Even when this parameter is disabled, the ±LS will still become eective during a return-to-home operation.
*5 This parameter is used when an encoder is connected.

3 Operation type and setting

4-3 Motor parameter

Sets the range for AREA output. The AREA
output will be ON when the motor is inside the
area set by the area 1 and area 2.

Sets the encoder counter preset value.

Setting range of “OUT signal mode selection” parameter

5: AREA
6: TIM
7: READY

* This signal is used when an encoder is connected.

8: WNG
9: HOME-P
10: ZSG *

11: R-OUT1
12: R-OUT2
13: STEPOUT *

14: O.H.
15: R-OUT3
16: R-OUT4

Initial
value

−8,388,608 to +8,388,607 step 0

Parameter name Description Setting range Initial value

Operating current

Standstill current

•Decrease the operating current and standstill current when there is an allowance in the motor
torque and you wish to reduce vibration during operation or suppress heat generation from the
motor. However, be careful of an excessive decrease in current, since the motor torque and holding
brake force will drop in rough proportion to the operating current.

•The standstill current is the rated current (100%) multiplied by the standstill current ratio.

Sets the motor operating current based on the rated
current being 100%.

Sets the motor standstill current as a percentage of the
rated current, based on the rated current being 100%.

4-4 Speed parameter

Parameter name Description Setting range

Common acceleration rate

Common deceleration rate

Starting speed

JOG operating speed Sets the operating speed for JOG operation. 1,000

JOG acceleration/
deceleration rate

JOG starting speed Sets the starting speed for JOG operation. 1 to 500,000 Hz 100

Acceleration/deceleration
type

Sets the common acceleration rate in positioning
operation and continuous operation.

Sets the common deceleration rate in positioning
operation and continuous operation.

Sets the starting speed in positioning operation
and continuous operation. The motor will operate
at the starting speed if the operating speed is
below the starting speed.

Sets the acceleration/deceleration rate for JOG
operation.

Sets whether to use the common acceleration/
deceleration rate or the acceleration/deceleration
rate specied for the operation data.

5 to 100% 100

5 to 50% 50

Initial
value

0.001 to
1,000.000 ms/kHz

1 to 500,000 Hz

0.001 to
1,000.000 ms/kHz

0: Common
1: Separate

30.000

30.000

100

0

82

4-5 Return-to-home parameter

Parameter name Description Setting range Initial value

Home-seeking mode

Operating speed of home­seeking

Acceleration/deceleration
rate of home-seeking

Starting speed of home­seeking

Position oset of home­seeking

Starting direction of home­seeking

SLIT detection with home­seeking

TIM signal detection with
home-seeking

Backward steps in 2-sensor
mode home-seeking

Set the mode for return-to-home
operation.

Sets the operating speed for return-to­home operation.

Sets the acceleration/deceleration rate for
return-to-home operation.

Sets the starting speed for return-to-home
operation.

Sets the amount of oset from mechanical
home.

Sets the starting direction for home
detection.

Sets whether or not to concurrently use the
SLIT input for return-to-home operation.

Sets whether or not to concurrently use the
TIM (ZSG) output for return-to-home
operation.

Sets the travel amount after the motor
pulls out from the LS sensor in 2-sensor
return-to-home operation.

Parameter

0: 2 sensors
1: 3 sensors

1 to 500,000 Hz 1,000

0.001 to
1,000.000 ms/kHz

1 to 500,000 Hz 100

−8,388,608 to
+8,388,607 step

0: Negative direction
1: Positive direction

0: Disable
1: Enable

0: Disable
1: Enable (TIM)
2: Enable (ZSG) *

0 to 32,767 step 200

1

30.000

0

1

0

0

3 Operation type and setting

4-6 Alarm/warning parameter

Parameter name Description Setting range Initial value

Sets the judgment condition for misstep detection

Stepout detection band *

Overvoltage warning

Overheat warning

using the deviation (angle) between the command
position and encoder counter value.

Sets the voltage at which an overvoltage warning
generates.

Sets the temperature at which an overheat
warning generates.

* This signal is used when an encoder is connected.

0.1 to 360.0 deg 7.2

25.0 to 35.0 V 31.0

40 to 85 °C 85

* This signal is used when an encoder is connected.

83

Parameter

T1

Master

4-7 Common parameter

3 Operation type and setting

Parameter name Description Setting range Initial value

Software overtravel

Positive software limit

Negative software limit

Display mode of the data
setter speed

The data setter editing
mode *1

Communication timeout
action

Receive period *2

Response interval *2

Receive monitoring *2

Stepout detection action *3

Sets whether to enable or disable software
overtravel detection using soft limits.

Sets the value of soft limit in positive
direction.

Sets the value of soft limit in negative
direction.

Sets the display method of monitored
speed in the

Sets whether to enable editing by the

OPX-2A

Sets how to stop the motor when a
communication timeout occurs.

Sets the receive period for RS-485
communication (T1). See p.189 for details.

Sets the response period for RS-485
communication (T2). See p.189 for details.

Sets the receive monitor period for RS-485
communication (T3). See p.189 for details.

Sets the operation to be performed when
the deviation between the command
position and encoder counter value
reaches the stepout detection band.

OPX-2A

when the power is turned on.

.

0: Disable
1: Enable

−8,388,608 to
+8,388,607 step

0: Signed
1: Absolute

0: Disable
1: Enable

0: Immediate stop
1: Decelerate stop

0: Function disabled

0.01 to 9.99 sec.

0 to 1,000 ms 50

0.01 to 9.99 sec. 0.10

0: No operation (alarm/
warning not present)
1: Warning
2: Alarm

1

8,388,607

−8,388,608

0

1

1

0

0

*1 The edit lock function can be activated/cancelled using the
*2 Set this parameter when GW Protocol Version 1 is used.
*3 This parameter is used when an encoder is connected.

T3 T2 T3

Slave

Frame

Frame

4-8 Operation setting parameter

Parameter name Description Setting range Initial value

Motor rotation direction

Stepout detection

Motor step angle Sets the motor step angle. See table next. 0

Encoder electronic gear A * Sets the encoder electronic gear A.

Encoder electronic gear B * Sets the encoder electronic gear B.

* When an encoder is connected, this parameter is used in the misstep detection function. It does not aect the

encoder counter value.

∗

Sets the rotation direction of motor output
shaft.

Sets whether to enable or disable the misstep
detection function.

OPX-2A

Frame

.

0: +direction=CCW
1: +direction=CW

0: Disable
1: Enable

1 to 250,000 500

1

0

84

zSetting value of the “Motor step angle” parameter

If the base step angle of the motor is 0.72° If the base step angle of the motor is 0.36°

Setting Step angle Number of divisions Setting Step angle Number of divisions

0 0.72° 1 0 0.36° 1

1 0.36° 2 1 0.18° 2

2 0.288° 2.5 2 0.144° 2.5

3 0.18° 4 3 0.09° 4

4 0.144° 5 4 0.072° 5

5 0.09° 8 5 0.045° 8

6 0.072° 10 6 0.036° 10

7 0.036° 20 7 0.018° 20

8 0.0288° 25 8 0.0144° 25

9 0.018° 40 9 0.009° 40

10 0.0144° 50 10 0.0072° 50

11 0.009° 80 11 0.0045° 80

12 0.0072° 100 12 0.0036° 100

13 0.00576° 125 13 0.0028° 125

14 0.0036° 200 14 0.0018° 200

15 0.00288° 250 15 0.00144° 250

Parameter

3 Operation type and setting

•Step angles are theoretical values.

•With the geared type, the value of “step angle/gear ratio” becomes the actual step angle.

•The base step angle is 0.36° for high-resolution type motors.

4-9 Communication parameter

Parameter name Description Setting range Initial value

Communication axis number Sets the axis number for RS-485 communication. 0 to 31 15

Communication protocol Sets the protocol for RS-485 communication.

Communication parity * Sets the parity for RS-485 communication.

Communication stop bit * Sets the stop bit for RS-485 communication.

Transmission waiting time *

Communication timeout *

Communication error alarm

Sets the transmission waiting time for RS-485
communication.

Sets the condition in which a communication timeout
occurs in RS-485 communication.

Sets the condition in which a RS-485 communication
error alarm generates. A communication error alarm
generates after a RS-485 communication error has
occurred by the number of times set here.

0: Modbus RTU
1: GW Ver.1

0: None
1: Even number
2: Odd number

0: 1 bit
1: 2 bits

0 to 1,000.0 ms 10.0

0: Not monitored
1 to 10,000 ms

1 to 10 times 3

0

1

0

0

* Set this parameter when Modbus RTU Protocol is used.

85

Related functions

 Increment  Decrement

432

counter

counter

5 Related functions

This chapter explains the useful functions that facilitate operation, functions that become available when an encoder
is connected, and the like.

5-1 Position control

The driver has an internal oscillating-pulse counter. The command position can be read from this counter using the

MEXE02, OPX-2A

times a PLS-OUT or DIR-OUT output signal has been output.
The control range of command positions is −2,147,483,648 to 2,147,483,647.
The command position will be cleared to 0 once the return-to-home operation ends successfully. If a preset is
performed using the P-PRESET input, the command position will change to the value set in the “Preset position”
parameter.
If an encoder is connected and the “Stepout detection” parameter is set to “enable”, the command position will be
refreshed by the encoder counter value while the motor is not excited.

5-2 Encoder input

or RS-485 communication. You can also check the command position by counting the number of

3 Operation type and setting

•You can use the
dierence signal that is input from the encoder. The read value has been multiplied by 1.

•The encoder counter can be cleared to 0 by executing the RS-485 communication command’s “clear counter.” Also,
a successful completion of return-to-home operation resets the encoder counter to 0.

•Executing the
encoder counter value to the one set as the “encoder counter preset value.”

•When an encoder is connected, the misstep detection function becomes available. Take note that the encoder
input is counted even when the misstep detection function is not used.

Perform a counter clear or encoder counter preset while the motor is stopped.

MEXE02, OPX-2A

MEXE02, OPX-2A

or RS-485 communication command’s “encoder counter” to read the 90° phase

or RS-485 communication command’s “preset encoder counter” changes the

Encoder input specications

Input frequency 100 kHz max.

A-phase
B-phase

Z-phase

Encoder cable length 10 m (32.8 ft.) max. *

* If you want to extend the lead wires between the encoder and driver, use wires of AWG24 to 22 (0.2 to 0.3 mm

ENC-A+

Counting range −2,147,483,648 to +2,147,483,647 pulse

Counting mode 90° phase dierence input, multiplied by 1

Interface Dierential line receiver (26C32 or equivalent)

Input width 1 ms or more

Interface Dierential line receiver (26C32 or equivalent)

2

ENC-A+

).

-

ENC-A

ENC-B+

-

ENC-B

Encoder

This example assumes that the “Motor rotation direction” parameter is set to “+direction=CW.” If this parameter is set
to “+direction=CCW”, the counter value will decrease with each increment, and increase with each decrement.

234

86

-

ENC-A

ENC-B+

-

ENC-B

Encoder

5-3 Misstep detection function

This function becomes eective when an encoder is connected. Specically, the deviation between the command
position and encoder counter is monitored.
The sub-functions specied below become available when the “Stepout detection” parameter is set to “enable.”

zDeviation error detection

When the deviation reaches the value set in the “Stepout detection band” parameter (initial value: 7.2°), a deviation
error will be recognized.
If the base step angle of the motor is 0.72°, set the value of the “Stepout detection band” parameter to 7.2°.
If the base step angle of the motor is 0.36°, set the value of the “Stepout detection band” parameter to 3.6°.
Deviation error detection will start after the motor has remained excited for 500 ms. This function is disabled during
return to mechanical home operation.

zSTEPOUT output

This signal noties a deviation error. Assign the STEPOUT output to one of the OUT0 to OUT4 outputs.

zAlarm/warning

You can cause an alarm or warning to be generated upon detection of a deviation error.

•Generate an excessive position deviation alarm: Set the “Stepout detection action” parameter to “alarm.”

•Generate an excessive position deviation warning: Set the “Stepout detection action” parameter to “warning.”

•Do not generate an alarm or warning: Set the “Stepout detection action” parameter to “no operation.”

zCommand position update

The command position is corrected by the encoder counter while the motor is not excited. The command position
will still be refreshed even when the motor output shaft is turned by an external force while the motor excitation is
stopped.

Related functions

3 Operation type and setting

How to recover from deviation error

Perform one of the following operations to recover from the deviation error:

•Stop the motor excitation.

•Perform return to mechanical home.

•Clear the counter.

When the “Stepout detection action” parameter is set to “alarm”

When a deviation error is detected, an excessive position deviation alarm will generate. In this case, reset the alarm by
following the procedure below:

1. Stop the motor excitation or clear the counter to recover from the deviation error.

2. Turn the ALM-RST input ON to reset the alarm.

3. Perform return-to-home operation, if necessary.

If an excessive position deviation alarm generates, turning the ALM-RST input ON alone will not reset
the alarm. Be sure to recover from the deviation error rst, and then reset the alarm.

Encoder electronic gear settings

Even when the motor resolution is dierent from the encoder resolution, you can still detect a deviation error by
setting the encoder electronic gears. The encoder electronic gears are used to determine a deviation error and will
not aect the encoder counter value.

Parameter Description

Encoder electronic gear A

Encoder electronic gear B

Set the encoder resolution. Set to 500 if the encoder pulse count per motor
revolution is 500 P/R. Note that the resolution is 500 P/R for motors with encoder.

Set the motor resolution. Set to 1,000 if the pulse count required for one motor
revolution is 1,000 P/R.

87

Related functions

zSetting example 1

A setting example where the base step angle is 0.72° and encoder resolution is 500 P/R is given below.

3 Operation type and setting

zSetting example 2

Step angle Number of divisions

0.72° 1

0.36° 2 1,000

0.288° 2.5 1,250

0.18° 4 2,000

0.144° 5 2,500

0.09° 8 4,000

0.072° 10 5,000

0.036° 20 10,000

0.0288° 25 12,500

0.018° 40 20,000

0.0144° 50 25,000

0.009° 80 40,000

0.0072° 100 50,000

0.00576° 125 62,500

0.0036° 200 100,000

0.00288° 250 125,000

A setting example where the base step angle is 0.36° and encoder resolution is 500 P/R is given below.

“Encoder electronic

gear A “ parameter

500

“Encoder electronic

gear B“ parameter

500

Step angle Number of divisions

0.36° 1

0.18° 2 2,000

0.144° 2.5 2,500

0.09° 4 4,000

0.072° 5 5,000

0.045° 8 8,000

0.036° 10 10,000

0.018° 20 20,000

0.0144° 25 25,000

0.009° 40 40,000

0.0072° 50 50,000

0.0045° 80 80,000

0.0036° 100 100,000

0.00288° 125 125,000

0.0018° 200 200,000

0.00144° 250 250,000

“Encoder electronic

gear A “ parameter

500

“Encoder electronic

gear B“ parameter

1,000

88

•The accuracy of deviation varies depending on the operating speed and load. Be sure to check the
deviation on the actual system.

•If you are providing the encoder on your own and installing it to the motor, take note that the
accuracy of deviation error detection is also aected by the encoder resolution and assembly
accuracy. Be sure to check the deviation on the actual system.

•If misstep occurs, the home position on the equipment side deviates from the home position
recognized by the driver. If the operation is continued in this condition, the equipment may be
damaged. Accordingly, take prompt actions if misstep is detected.

•If the step angle has been changed, be sure to change the value of the “Encoder electronic gear B”
parameter accordingly. Similarly if the encoder resolution has changed, be sure to change the
value of the “Encoder electronic gear A” parameter accordingly. If the gears are not set properly, the
command position will not be updated correctly and a deviation error will be detected.

Resolution

If the misstep function is used, use of an encoder with a resolution of 500 P/R.

If you are providing the encoder on your own, use the one that meets the specications on p.86.

Related functions

3 Operation type and setting

89

3 Operation type and setting

90

4 Method of control via I/O

This part explains when the operation is controlled via I/O after setting the operation data and parameters by
the

MEXE02

Table of contents



1 Guidance ................................................. 92

2 Operation data ....................................... 95

3 Parameter ................................................96

or

OPX-2A

3-1 Parameter list ...................................................96

3-2 I/O parameter ...................................................97

3-3 Motor parameter.............................................98

3-4 Speed parameter ............................................ 98

3-5 Return-to-home parameter ........................ 98

3-6 Alarm/warning parameter...........................99

3-7 Common parameter ...................................... 99

3-8 Communication parameter ........................99

3-9 Operation setting parameter ...................100

.

4 Timing charts ........................................101

Guidance

Check

Motor and driver
installation

START input, STOP input, M0 input connection

Grounding

1 Guidance

4 Method of control via I/O

If you are new to the
with the operation ow.

Before operating the motor, check the condition of the surrounding area to ensure safety.

STEP 1 Check the installation and connection

Series built-in controller type, read this section to understand the operating methods along

CRK

Check

Motor connection

PC in which the MEXE02

has been installed

Or

Check

MEXE02 or OPX-2A connection

OPX-2A

CN4 connector lead wires *

Check

Power supply
connection

Master controller

Check

* Included item.

92

STEP 2 Turn on the power supply and set the operation data

Grounding

Grounding

Guidance

Turn power supply on.

MEXE02

Or

Using the MEXE02 or OPX-2A, set the
operation data corresponding to one motor
revolution under operation data No.1.

 Position: 500 step
 Operating speed: 1,000 Hz

OPX-2A

4 Method of control via I/O

STEP 3 Operate the motor

4. Check the motor rotates
according to the setting.

MEXE02

Or

1. Turn the STOP input ON.

2. Turn the M0 input ON to
select operation data No.1.

3. Turn the START input ON.

OPX-2A

93

Guidance

STEP 4 Were you able to operate the motor properly?

How did it go? Were you able to operate the motor properly?
If the motor does not function, check the following points:

•Is the STOP input ON? (factory setting: normally closed)

•Is any alarm present?

•Are the power supply and motor connected securely?

For more detailed settings and functions, refer to “3 Parameter” on p.96.

4 Method of control via I/O

94

2 Operation data

Up to 63 operation data can be set (data Nos.1 to 63).
If the data is changed, a recalculation and setup will be performed after the operation is stopped.

Name Setting range Initial value

Position No.1

to

Position No.63

Operating speed No.1

to

Operating speed No.63

Operation mode No.1

to

Operation mode No.63

Operation function No.1

to

Operation function No.63

Acceleration rate No.1 *

to

Acceleration rate No.63 *

Deceleration rate No.1 *

to

Deceleration rate No.63 *

Sequential positioning No.1

to

Sequential positioning No.63

Dwell time No.1

to

Dwell time No.63

−8,388,608 to +8,388,607 step 0

0 to 500,000 Hz 1,000

0: INC (Incremental)
1: ABS (Absolute)

0: Single-motion
1: Linked-motion
2: Linked-motion 2

0.001 to 1,000.000 ms/kHz 30.000

0: Disable
1: Enable

0 to 50,000 (1=0.001 s) 0

Operation data

0

0

4 Method of control via I/O

0

* This item is eective when the “Acceleration/deceleration type” parameter is set to “separate.” If this parameter is set

to “common”, the values of the “Common acceleration” and “Common deceleration” parameters will be used (initial
value: separate).

95

Parameter

3 Parameter

3-1 Parameter list

Application parameter

4 Method of control via I/O

•START input mode

•I/O STOP input

•STOP action

•STOP contact conguration

•C-ON logic conguration

I/O parameter (p.97)

Motor parameter (p.98) •Operating current •Standstill current

Speed parameter (p.98)

Return-to-home parameter
(p.98)

Alarm/warning parameter
(p.99)

Common parameter (p.99)

•OUT1 signal mode selection

•OUT2 signal mode selection

•OUT3 signal mode selection

•OUT4 signal mode selection

•HOME/P-PRESET input switching

•Motor excitation mode

•HOME/FWD/RVS input mode

•Common acceleration rate

•Common deceleration rate

•Starting speed

•Home-seeking mode

•Operating speed of home-seeking

•Acceleration (deceleration) rate of
home-seeking

•Starting speed of home-seeking

•Position oset of home-seeking

•Stepout detection band

•Overvoltage warning

•Software overtravel

•Positive software limit

•Negative software limit

•Display mode of the data setter speed

•The data setter editing mode

•Data No. input mode

•AWO contact conguration

•Hardware overtravel detection

•LS contact conguration

•HOMES contact conguration

•SLIT contact conguration

•Overtravel action

•Preset position

•Area 1

•Area 2

•Encoder counter preset value

•JOG operating speed

•JOG acceleration (deceleration) rate

•JOG starting speed

•Acceleration (deceleration) rate type

•Starting direction of home-seeking

•SLIT detection with home-seeking

•TIM signal detection with home­seeking

•Backward steps in 2-sensor mode
home-seeking

•Overheat warning

•Communication timeout action

•Receive period

•Response interval

•Receive monitoring

•Stepout detection action

System parameter

Communication parameter
(p.99)

Operation setting parameter
(p.100)

96

•Communication axis number

•Communication protocol

•Communication parity

•Communication stop bit

•Motor rotation direction

•Stepout detection

•Motor step angle

When a system parameter has been changed, the new parameter will become eective after the
power is cycled.

•Transmission waiting time

•Communication timeout

•Communication error alarm

•Encoder electronic gear A

•Encoder electronic gear B

3-2 I/O parameter

Parameter name Setting range Initial value

START input mode *1

I/O STOP input *1 *2

STOP action

STOP contact conguration

C-ON logic conguration *3

OUT1 signal mode selection

OUT2 signal mode selection 7

OUT3 signal mode selection 8

OUT4 signal mode selection 9

HOME/P-PRESET input switching

Motor excitation mode *1

Data No. input mode *1

AWO contact conguration

Hardware overtravel detection *4

LS contact conguration

SLIT contact conguration

Overtravel action

Preset position

Area 1

Area 2

Encoder counter preset value *5

0: RS-485 communication
1: I/O

0: Disable
1: Enable

0: Immediate stop
1: Decelerate stop
2: Immediate stop & Current OFF
3: Decelerate stop & Current OFF

0: Make (N.O.)
1: Break (N.C.)

0: 0=Not excited, 1=Excited
1: 0=Excited, 1=Not excited

See table next.

0: HOME
1: P-PRESET

0: RS-485 communication
1: I/O

0: Make (N.O.)
1: Break (N.C.)

0: Disable
1: Enable

0: Make (N.O.)
1: Break (N.C.)

0: Immediate stop
1: Decelerate stop

−8,388,608 to +8,388,607 step 0

Parameter

1

1

1

1

0

5

0

1HOME/FWD/RVS input mode *1

4 Method of control via I/O

0

1

0HOMES contact conguration

0

*1 Set the parameter when controlling the system via RS-485 communication.
*2 If this parameter is disabled, the I/O STOP input will become ineective and only the stop input received via RS-485

communication will become eective.

*3 When “Motor excitation mode” parameter is set to “RS-485 communication”, the excitation condition of the motor

at the power ON varies depending on the “C-ON logic conguration” parameter. The motor is not excited if the

“C-ON logic conguration” parameter is set to “0,” and excited if the parameter is set to “1.”
*4 Even when this parameter is disabled, the ±LS will still become eective during a return-to-home operation.
*5 This parameter is used when an encoder is connected.

Setting range of “OUT signal mode selection” parameter

5: AREA
6: TIM
7: READY

* This signal is used when an encoder is connected.

8: WNG
9: HOME-P
10: ZSG *

11: R-OUT1
12: R-OUT2
13: STEPOUT *

14: O.H.
15: R-OUT3
16: R-OUT4

97

Parameter

4 Method of control via I/O

3-3 Motor parameter

Parameter name Setting range Initial value

Operating current 5 to 100% 100

Standstill current 5 to 50% 50

•Decrease the operating current and standstill current when there is an allowance in the motor
torque and you wish to reduce vibration during operation or suppress heat generation from the
motor. However, be careful of an excessive decrease in current, since the motor torque and holding
brake force will drop in rough proportion to the operating current.

•The standstill current is the rated current (100%) multiplied by the standstill current ratio.

3-4 Speed parameter

Parameter name Setting range Initial value

Common acceleration rate

Common deceleration rate

Starting speed

JOG operating speed 1,000

JOG acceleration/deceleration rate 0.001 to 1,000.000 ms/kHz 30.000

JOG starting speed 1 to 500,000 Hz 100

Acceleration/deceleration type

0.001 to 1,000.000 ms/kHz 30.000

1 to 500,000 Hz

0: Common
1: Separate

100

0

3-5 Return-to-home parameter

Parameter name Setting range Initial value

Home-seeking mode

Operating speed of home-seeking 1 to 500,000 Hz 1,000

Acceleration/deceleration rate of home-seeking 0.001 to 1,000.000 ms/kHz 30.000

Starting speed of home-seeking 1 to 500,000 Hz 100

Position oset of home-seeking −8,388,608 to +8,388,607 step 0

Starting direction of home-seeking

SLIT detection with home-seeking

TIM signal detection with home-seeking

Backward steps in 2-sensor mode home-seeking 0 to 32,767 step 200

0: 2 sensors
1: 3 sensors

0: Negative direction
1: Positive direction

0: Disable
1: Enable

0: Disable
1: Enable (TIM)
2: Enable (ZSG)

∗

* This signal is used when an encoder is connected.

1

1

0

0

98

3-6 Alarm/warning parameter

Parameter name Setting range Initial value

Stepout detection band * 0.1 to 360.0 deg 7.2

Overvoltage warning 25.0 to 35.0 V 31.0

Overheat warning 40 to 85 °C 85

* This signal is used when an encoder is connected.

3-7 Common parameter

Parameter name Setting range Initial value

Software overtravel

Positive software limit

Negative software limit −8,388,608

Display mode of the data setter speed

The data setter editing mode *1

Communication timeout action

Receive period *2

Response interval *2 0 to 1,000 ms 50

Receive monitoring *2 0.01 to 9.99 sec. 0.10

Stepout detection action *2

0: Disable
1: Enable

−8,388,608 to +8,388,607 step

0: Signed
1: Absolute

0: Disable
1: Enable

0: Immediate stop
1: Decelerate stop

0: Function disabled

0.01 to 9.99 sec.

0: No operation (alarm/warning not present)
1: Warning
2: Alarm

1

8,388,607

0

1

1

0

0

Parameter

4 Method of control via I/O

*1 Set this parameter when GW Protocol Version 1 is used.
*2 This parameter is used when an encoder is connected.

3-8 Communication parameter

Parameter name Setting range Initial value

Communication axis number 0 to 31 15

Communication protocol

Communication parity *

Communication stop bit *

Transmission waiting time * 0 to 1,000.0 ms 10.0

Communication timeout *

Communication error alarm 1 to 10 times 3

* Set this parameter when Modbus RTU Protocol is used.

0: Modbus RTU
1: GW Ver.1

0: None
1: Even number
2: Odd number

0: 1 bit
1: 2 bits

0: Not monitored
1 to 10,000 ms

0

1

0

0

99

Parameter

4 Method of control via I/O

3-9 Operation setting parameter

Parameter name Setting range Initial value

Motor rotation direction

Stepout detection *

Motor step angle See table next. 0

Encoder electronic gear A *

Encoder electronic gear B *

* When an encoder is connected, this parameter is used in the misstep detection function. It does not aect the

encoder counter value.

zSetting value of the “Motor step angle” parameter

If the base step angle of the motor is 0.72° If the base step angle of the motor is 0.36°

Setting Step angle Number of divisions Setting Step angle Number of divisions

0 0.72° 1 0 0.36° 1

1 0.36° 2 1 0.18° 2

2 0.288° 2.5 2 0.144° 2.5

3 0.18° 4 3 0.09° 4

4 0.144° 5 4 0.072° 5

5 0.09° 8 5 0.045° 8

6 0.072° 10 6 0.036° 10

7 0.036° 20 7 0.018° 20

8 0.0288° 25 8 0.0144° 25

9 0.018° 40 9 0.009° 40

10 0.0144° 50 10 0.0072° 50

11 0.009° 80 11 0.0045° 80

12 0.0072° 100 12 0.0036° 100

13 0.00576° 125 13 0.0028° 125

14 0.0036° 200 14 0.0018° 200

15 0.00288° 250 15 0.00144° 250

0: +direction=CCW
1: +direction=CW

0: Disable
1: Enable

1 to 250,000 500

1

0

100

•Step angles are theoretical values.

•With the geared type, the value of “step angle/gear ratio” becomes the actual step angle.

•The base step angle is 0.36° for high-resolution type motors.