Orientalmotor AR FLEX DC, MEXE02, OPX-2A User Manual

HM-60190-7

Closed Loop Stepping Motor and Driver Package

AR Series

DC power input Built-in Controller Type

USER MANUAL

Thank you for purchasing an Oriental Motor product. This Operating Manual describes product handling procedures and safety precautions.

•Please read it thoroughly to ensure safe operation.

•Always keep the manual where it is readily available.

1 Introduction

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

2 Operating Manuals for the AR Series .......... 9

3 Overview of the product ............................. 10

4 System conguration .................................. 12

5 Safety precautions ...................................... 13

6 Precautions for use ..................................... 16

7 General specications ................................ 18

8 CE Marking ................................................... 19

9 Preparation .................................................. 20

9.1 Checkingtheproduct................................... 20

9.2 Howtoidentifytheproductmodel............... 20

9.3 Combinationsofmotorsanddrivers............ 21

9.4 Namesandfunctionsofparts...................... 22

2 Installationand

connection

1 Installation ................................................... 26

1.1 Locationforinstallation................................ 26

1.2 Installingthemotor...................................... 26

1.3 Installingaload............................................ 27

1.4 Permissibleradialloadand

permissibleaxialload.................................. 28

1.5 Installingthedriver...................................... 29

1.6 Installingthebattery.................................... 30

1.7 Installingandwiringincompliancewith

EMCDirective.............................................. 30

2 Connection ................................................... 32

2.1 Connectionexample

(electromagneticbrakemotor)..................... 32

2.2 Groundingthemotoranddriver................... 36

2.3 Connectingthedatasetter.......................... 36

2.4 ConnectingtheRS-485communication

cable............................................................ 37

2.5 Connectingandchargingthebattery........... 38

3 Explanation of I/O signals .......................... 39

3.1 AssignmentofdirectI/O.............................. 39

Assignmenttotheinputterminals.....................39

Changingthelogiclevelsettingofinput

signals...............................................................40

Assignmenttotheoutputterminals...................41

3.2 AssignmentofnetworkI/O.......................... 43

Assignmentofinputsignals...............................43

Assignmenttotheoutputterminals...................45

3.3 Inputsignals................................................ 47

3.4 Outputsignals.............................................. 52

3.5 Sensorinput................................................ 56

3.6 Generalsignals(R0toR15)........................ 57

3 Operationtypeandsetting

1 Adjustment and setting .............................. 60

1.1 Resolution.................................................... 60

1.2 Operatingcurrent......................................... 61

1.3 Standstillcurrent.......................................... 61

1.4 Acceleration/decelerationrateand

acceleration/decelerationtime..................... 61

1.5 Smoothdrive............................................... 62

1.6 Speedlter.................................................. 62

1.7 Movingaveragelter................................... 63

1.8 Speederrorgain.......................................... 63

1.9 Controlmode............................................... 63

1.10 Positionloopgain,speedloopgain,

speedloopintegraltimeconstant................ 64

1.11 Absolute-positionbackupsystem................ 64

2 Operation ..................................................... 65

2.1 Positioningoperation................................... 66

Operationdata...................................................66

Startingmethodofpositioningoperation...........67

Operationfunction;Single-motion.....................71

Operationfunction;Linked-motionoperation.....72

Operationfunction;Linked-motionoperation2...73

Operationfunction;Push-motionoperation.......75

2.2 Return-to-homeoperation........................... 79

Additionalfunction.............................................79

Parametersrelatedtoreturn-to-home

operation............................................................80

Operationsequence..........................................81

Positionpreset...................................................86

2.3 Continuousoperation.................................. 86

Operationdata...................................................86

Startingmethodofcontinuousoperation...........87

Variablespeedoperation...................................89

2.4 Otheroperation............................................ 91

JOGoperation...................................................91

Testoperation....................................................92

Automaticreturnoperation................................92

Stopoperation...................................................93

Positioncoordinatemanagement......................93

Wrapfunction....................................................94

3 Operation data ............................................. 96

4 Parameter ..................................................... 97

4.1 Parameterlist.............................................. 97

4.2 I/Oparameter.............................................. 98

4.3 Motorparameter.......................................... 99

4.4 Operationparameter................................. 100

4.5 Return-to-homeparameter........................ 100

4.6 Alarm/warningparameter.......................... 101

4.7 Coordinationparameter............................. 101

4.8 Commonparameter................................... 101

4.9 I/Ofunctionparameter............................... 102

4.10 I/Ofunction[RS-485]parameter............... 103

4.11 Communicationparameter........................ 104

−2−

4 MethodofcontrolviaI/O

1 Guidance .................................................... 106

2 Operation data ........................................... 108

3 Parameter ................................................... 109

3.1 Parameterlist............................................ 109

3.2 I/Oparameter............................................ 110

3.3 Motorparameter........................................ 110

3.4 Operationparameter..................................111

3.5 Return-to-homeparameter.........................111

3.6 Alarm/warningparameter.......................... 112

3.7 Coordinationparameter............................. 112

3.8 Commonparameter................................... 112

3.9 Communicationparameter........................ 112

3.10 I/Ofunctionparameter............................... 113

3.11 I/Ofunction[RS-485]parameter................ 114

4 Timing charts ............................................. 115

5 Methodofcontrolvia

ModbusRTU(RS-485 communication)

1 Guidance .................................................... 128

2 Communication specications ................ 130

3 Setting the switches .................................. 131

4 Setting the RS-485 communication ......... 133

5 Communication mode and

communication timing .............................. 134

5.1 Communicationmode................................ 134

5.2 Communicationtiming............................... 134

6 Message ..................................................... 135

6.1 Query......................................................... 135

6.2 Response.................................................. 137

7 Function code ............................................ 139

7.1 Readingfromaholdingregister(s)............ 139

7.2 Writingtoaholdingregister....................... 140

7.3 Diagnosis................................................... 141

7.4 Writingtomultipleholdingregisters........... 142

8 Register address list ................................. 143

8.1 Operationcommands................................ 143

8.2 Maintenancecommands........................... 144

8.3 Monitorcommands.................................... 145

8.4 ParameterR/Wcommands....................... 148

Operationdata.................................................148

Userparameters..............................................149

9 Group send ................................................ 158

10 Detection of communication errors ........ 160

10.1 Communicationerrors.............................. 160

10.2 Alarmsandwarnings................................ 160

11 Timing charts ............................................ 161

6 Methodofcontrolvia

industrialnetwork

1 Method of control via CC-Link

communication .......................................... 164

1.1 Guidance................................................... 164

1.2 Settingtheswitches................................... 167

1.3 Remoteregisterlist.................................... 168

1.4 AssignmentforremoteI/Oof6axes

connectionmode....................................... 168

AssignmentlistofremoteI/O..........................168

Input/outputofremoteI/O................................169

DetailsofremoteI/Oassignment....................170

1.5 AssignmentforremoteI/Oof12axes

connectionmode....................................... 171

AssignmentlistofremoteI/O..........................171

Input/outputofremoteI/O................................172

DetailsofremoteI/Oassignment....................174

2 Method of control via MECHATROLINK

communication .......................................... 176

2.1 Guidance................................................... 176

2.2 Settingtheswitches................................... 179

2.3 I/Oeldmapforthe

2.4 I/Oeldmapforthe

2.5 Communicationformat.............................. 182

RemoteI/Oinput.............................................182

RemoteI/Ooutput...........................................182

Remoteregisterinput......................................182

Remoteregisteroutput....................................183

3 Details of remote I/O ................................. 184

3.1 Inputsignalstothedriver.......................... 184

3.2 Outputsignalsfromthedriver................... 185

4 Command code list ................................... 186

4.1 Groupfunction........................................... 186

4.2 Maintenancecommand............................. 187

4.3 Monitorcommand...................................... 188

4.4 Operationdata........................................... 189

4.5 Userparameters........................................ 190

I/Oparameter..................................................190

Motorparameter..............................................191

Operationparameter.......................................191

Return-to-homeparameter..............................192

Alarm/warningparameter................................192

Coordinationparameter...................................192

Commonparameter.........................................193

I/Ofunctionparameter.....................................193

I/Ofunction[RS-485]parameter......................194

Communicationparameter..............................195

NETC01-M2

NETC01-M3

............. 180

............. 181

−3−

7 Inspection,

troubleshootingand remedialactions

1 Inspection .................................................. 198

2 Alarms and warnings ................................ 199

2.1 Alarms....................................................... 199

Alarmreset......................................................199

Alarmrecords..................................................199

Alarmlist..........................................................200

2.2 Warnings................................................... 204

Warningrecords..............................................204

Warninglist......................................................204

2.3 Communicationerrors............................... 205

Communicationerrorrecords..........................205

Communicationerrorlist..................................205

3 Troubleshooting and remedial actions ... 206

8 Appendix

1 Accessories (sold separately) .................. 208

Motorcable......................................................208

Datasetter.......................................................210

Communicationcableforthedatasetting

software...........................................................210

RS-485communicationcable..........................210

Batteryset.......................................................210

−4−

Specication Change of Driver

MEXE02 Version 3.00 or later MEXE02 older than Version 3.00

Driver after the specification change Driver before the specification change

Some speciﬁcations have been changed in this product. There are differences in data setting range, etc. between the product after the change and before the change. For the driver before the speciﬁcation change, contact your nearest Oriental Motor sales ofﬁce.

This manual describes contents of the driver which is after the speciﬁcation change.

When using the driver which is before the speciﬁcation change, take note of the following points.

1.Somesettingitemshavebeenchanged

Push current

Before the speciﬁcation change

0 to 500 (1=0.1%) 0 to 1000 (1=0.1%)



NET-IN input function

The following input signals can be assigned in the product after the speciﬁcation change.

•24: ALM-RST

•25: P-PRESET

•26: P-CLR

After the speciﬁcation change

Pay attention to the data update

•When the data is set using the

MEXE02

If the

is older version than 3.00, the value after the speciﬁcation change can not be set.

MEXE02

, use the

•When the following data passing is performed, the most recent value will not be effective

1) When the using the older

If the data is opened by the older

2) When the

MEXE02

Latest value Latest value

OPX-2A

data which has set the value after the speciﬁcation change is opened

MEXE02

than the Version 3.00

MEXE02

Saves the data Opens the data

than the Version 3.00, the data will be changed to the initial value.

Data file

data which has set the value after the speciﬁcation change is downloaded

to the driver that is before the speciﬁcation change

The value which is after the speciﬁcation change will not be updated to the driver which is before the speciﬁcation change, and the value presently set is kept.

MEXE02

which software version is 3.00 or later

Initial value

OPX-2A

Uploads the data Downloads the data

Latest valueLatest value

Value before the change

−5−

2.Theupperlimitofthealarmoutputhasbeenchanged

The maximum speed for push-motion operation has been changed. If push-motion operation is started after setting higher speed than 30 r/min in the driver which is before the speciﬁcation change, an operation data error alarm will generate.

•Maximum speed for push-motion operation

Before the speciﬁcation change

30 r/min 500 r/min



After the speciﬁcation change

−6−

1 Introduction

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

Table of contents

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

2 Operating Manuals for the

AR Series ............................................. 9

3 Overview of the product .................. 10

4 System conguration ....................... 12

5 Safety precautions ........................... 13

6 Precautions for use .......................... 16

7 General specications ..................... 18

8 CE Marking ........................................ 19

9 Preparation ....................................... 20

9.1 Checking the product ............................20

9.2 How to identify the product model .........20

9.3 Combinations of motors and drivers .....21

9.4 Names and functions of parts .........

......2

Introduction

1 Introduction

Before use

Only qualiﬁed personnel should work with the product. Use the product correctly after thoroughly reading the section "5 Safety precautions" on p.13. The product described in this manual has been designed and manufactured for use in general industrial equipment. Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warn

Hazardous substances

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

Notation rules

The following term is used in explanation of this manual.

Term Description

Master controller

ing.

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

−8−

1Introduction

Operating Manuals for the AR Series

2 Operating Manuals for the AR Series

Operating manuals for the AR Series FLEX DC power input built-in controller type are listed below. The "USER MANUAL" does not come with the product. For details, contact your nearest Oriental Motor sales ofﬁce or download from Oriental Motor website download page. After reading these manuals, keep them in a convenient place so that you can reference them at any time.

Applicable product Type of operating manual Description of operating manual

Motor OPERATING MANUAL (Supplied with motor)

Series FLEX DC power input Built-in controller type

Data setting software

MEXE02

Data setter

Network converter

OPX-2A

Driver OPERATING MANUAL (Supplied with driver)

USER MANUAL (this document)

OPERATING MANUAL

CC-Link compatible

NETC01-CC

USER MANUAL MECHATROLINK-Ⅱ compatible

NETC01-M2

USER MANUAL MECHATROLINK-Ⅲ compatible

NETC01-M3

USER MANUAL EtherCAT compatible

NETC01-ECT

OPERATING MANUAL

With regard to the information required to be certiﬁed under the UL Standard, refer to the "APPENDIX UL Standards for AR Series DC power input type" (the paper is supplied with the product).

This manual explains the functions as well as the installation method and others for the motor.

This manual explains the functions as well as the installation method and others for t

This manual explains the functions, installation/ connection method and data setting method as well as the operating method and others for the motor and driver.

This manual explains how to set data using the accessory

This manual explains the functions and installation/ connection method as well as data setting method and o

thers for the accessory

This manual explains the functions and installation/ connection method as well as the operating method for the network converter.

MEXE02

OPX-2A

ver.

he dri

(sold separately).

1Introduction

−9−

Overview of the product

3 Overview of the product

This product is a motor and driver package product consisting of a high-efﬁciency stepping motor equipped with a rotor position detection sensor, and a driver with built-in controller function. This product can be controlled via I/O, Modbus RTU (RS-485 communication) or industrial network communication using the network converter. The operation data and parameters can be set using the accessory 485 communication.

Main features

•Introducing closed loop control

The AR Series can continue its operation even upon encountering quick acceleration or an abrupt change in load. Monitoring the speed and amount of rotation while the motor is running, the AR Series performs the closed-loop control under overload and similar conditions to continue its operation at the peak torque.

hree operating patterns

•T

You can perform positioning operation, return-to-home operation and continuous operation. Up to 64 operation data points can be set, and multi-point positioning is also possible.

•Compatible with Modbus RTU (RS-485 communication)

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

OPX-2A

(sold separately) or

MEXE02

or via RS-

•Absolute-position backup system

When connecting an accessory battery set backup system. Positions will be retained in the event of a power outage or after turning off the driver power.

BAT01B

(sold separately), this product can be used in the absolute-position

•Automatic control of the electromagnetic brake

This driver controls the electromagnetic brake automatically. The control signal input or the troublesome ladder logic design can be saved.

•Energy-saving

Motor and driver losses have been substantially reduced to achieve low heat generation and save energy. Since the motor and driver generate much less heat, they can now be operated for longer hours at high speed, which was not possible with conventional motors/drivers.

•Alarm and warning functions

The driver provides alarms that are designed to protect the driver from overheating, poor connection, error in operation, 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 the accessory 485 communication. Provide the

OPX-2A

MEXE02

as necessary.

OPX-2A

(sold separately) or

MEXE02

, or via RS-

Related products

The AR Series FLEX DC power input built-in controller type can be used via various network when connecting to a network converter.

−10−

Network converter Supported network

NETC01-CC

NETC01-M2

NETC01-M3

NETC01-ECT

CC-Link communication MECHATROLINK-Ⅱ communication MECHATROLINK-Ⅲ communication EtherCAT communication

1Introduction

Function list

Main functions

Overview of the product

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

• 3-sensor mode

• Push-mode

• Data setting mode (Position preset)

• Positioning operation

Operation function

Single-motion operation

Linked-motion operation

Linked-motion operation 2

Push-motion

• Continuous operation

• JOG operation

• Automatic return operation

Starting method

Data number selecting operation

Direct positioning operation

Sequential positioning operation

[Setting by parameters]

External interface

Data setter

RS-485 communication

• Protective function

Alarm detection Warning detection

• I/O function

Input function selection Output function selection Input logic level setting

• Coordination setting

Resolution (Electronic gear) Wrap function Motor rotation direction

• Monitor function

• Operation data setting

• Parameter setting

• Operation start

• Operation data setting

• Parameter setting

• Return-to-home function

Home position offset External sensor signal detection

• Stop operation

STOP input action Hardware overtravel Software overtravel

• Motor function setting

Operating current Standstill current Speed filter Moving average filter

• Data storing

• Download/Upload

• Data initialization

• Test function

Test operation Teaching I/O test

• Monitor function

• Maintenance function

1Introduction

−11−

System conﬁguration

4 System conguration

Connect to CN4

Battery

This battery is an accessory BAT01B (sold separately). Connect this battery if you want to operate the driver in the absolute system.

AC power

supply

Noise filter

Use a noise filter to eliminate noise. It has the effect of reducing noise generated from the power supply and driver.

Connect to CN6 or CN7

24 VDC or 48 VDC

GND Connect to CN1

DC power supply

Master controller

Connect when controlling the system via RS-485 communication.

Connect to CN3

Output signals: Connect to CN9

Input signals: Connect to CN8

Connect to CN2

Cable for motor

This cable is used to connect the motor and driver.

OPX-2A

(sold separately)

Connect to CN5

PC in which the MEXE02

has been installed

The PC must be supplied by the customer. Use the communication cable for the data setting software CC05IF-USB when connecting the PC and driver.

Master controller

Sensor

Motor

−12−

1Introduction

5 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 ﬂammable gases, locations subjected to splashing water, or near combustibles. Doing so may result in ﬁre or injury.

•Assign qualiﬁed personnel the task of installing, wiring, operating/controlling, inspecting and troubleshooting the product. Failure to do so may result in ﬁre, injury or damage to equipment.

ke measures to keep the moving parts in position for vertical operations such as elevator applications. The motor

•

loses holding torque when the power is shut off, allowing the moving parts to fall and possibly cause injury or damage to equipment.

•The brake mechanism of an electromagnetic brake motor is used to keep the moving part and motor in position. Do not use it as a deceleration/safety b

•When the driver generates an alarm (any of the driver's protective functions is triggered), take measures to hold the moving part in place since the motor stops and loses its holding torque. Failure to do so may result in injury or damage to equipment.

•When the driver generates an alarm (any of the driver's protective functions is t then clear the protection function. 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.

rake

. Doing so may result in injury or damage to the equipment.

Safety precautions

riggered), ﬁrst remove

the cause and

Installation

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

Connection

•Keep the driver's input power voltage within the speciﬁed range. Failure to do so may result in ﬁre.

•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. Failure to do so may result in ﬁre.

•Do not forcibly bend, pull or pinch the cable. Doing so may cause ﬁre.

•Turn off the power to both the PC and electric shock.

drive

r before connecting your PC to the driver. Failure to do so may cause

Operation

•Turn off the driver power in the event of a power failure. Or the motor may suddenly start when the power is restored and may cause injury or damage to equipment.

•Do not turn the FREE input to ON while the motor is operating. The motor will stop and lose its holding power. Doing so may result in

injury or damage to equipment.

Repair, disassembly and modiﬁcation

•Do not disassemble or modify the motor and driver. Doing so may cause injury. Refer all such internal inspections and repairs to the branch or sales ofﬁce from which you purchased the product.

1Introduction

−13−

Safety precautions

General

Transportation

Installation

Connection

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

•Keep your ﬁngers and objects out of the openings in the motor and driver. Failure to do so may result in ﬁre 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).

•Do not use other batterie injury or damage to equipment.

•Do not carry the motor by holding the motor output shaft or motor cable. Doing so may cause injury.

•Provide a cover over the rotating parts (output shaft) of the motor. Failure to do so may result in injury.

•Do not leave anything around the motor and driver that wo to equipment.

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

•When connecting, check the silk screen of the driver and pay attention to the polarity of the power supply. Reversepolarity connection may cause damage to the driver. The power-supply circuit and the RS-485 communication circuit are not insulated. Reverse-polarity connection may cause damage to the driver.

s than the accessory dedicated battery

T01B

(sold separately). Doing so may result in

uld obstruct ventilation. Doing so may result in damage

r and these

Operation

•Use a motor and driver only in the speciﬁed combination. An incorrect combination may cause a ﬁre.

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

•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.

•For the power s and secondary sides. Failure to do so may result in electric shock.

•Before supplying power to the driver, turn all input signals to the driver OFF. Otherwise, the motor may start suddenly at power ON and cause injury or damage to equipment.

•Before moving the motor directly with the hands, conﬁrm t result in injury.

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

upply to the electromagnetic brake

, use a DC power supply with reinforced insulation on its primary

hat the FREE input turns ON. Fa

ilure to do so may

Maintenance and inspection

•To prevent the risk of electric shock, do not touch the terminals while performing the insulation resistance test or dielectric strength test.

Disposal

•To dispose of the motor and driver, disassemble it into parts and components as much as possible and dispose of individual parts/components as industrial waste.

−14−

1Introduction

Safety precautions

Handling the battery

Be sure to observe the following instructions when using the accessory battery (sold separately). Handling the battery without observing the instructions may cause the liquid leakage, heat generation and explosion, etc., which may result in injury or damage to equipment.

•Do not heat the battery or throw it into a ﬁre.

•Never short-circuit the battery or connect the positive and negative terminals in reverse.

•When carrying/storing the battery, do not place it together with metal necklaces, hairpins, coins, keys or other conductive objects. When storing the battery, store it away from direct sunlight in a place not subject to high temperature or high humidity.

•D

o not disassemble or modify the battery.

•D

o not apply solder directly to the battery.

•Use a dedicated driver to charge the battery.

•The battery has a vent structure for the release of internal gas. Do not apply a strong force to the battery, since it may cause this structure to deform.

•When installing the battery into the machine, never place it inside a sealed structure. The battery sometimes g

enerates gas, which, if trapped, may cause a burst or an explosion due to ignition.

•The battery contains an alkali solution. If the alkali solution comes in contact with the skin or clothes, ﬂush the area thoroughly with clean water. If the alkali solution gets into the eyes, do not rub. Flush the eyes thoroughly with clean water and seek immediate medical attention.

•Do not use the battery if

•D

o not immerse the battery in water or seawater, nor allow it to become wet. Doing so may cause the battery to

generate heat or rust.

•Do not scratch the battery and battery cable. A scratched battery easily causes shorting, resulting in leakage, heat generation or bursting.

•The battery is connected to the primary circuit, so d

•Do not forcibly bend, pull or pinch the cable. Also, do not bend and ﬂex the cable repeatedly.

•Do not make a continuous vibration or excessive impact.

Note

•Always charge the battery connecting to the driver before use. Refer to p.38 for charging method.

•Nickel-metal-hydride cell is used in this battery. Disposal of the used batteries is subject to each country's regulations on environmental control. Contact your nearest Oriental Motor ofﬁce if you have any questions.

there is leakage, discoloration, deformation or another abnormality.

o not touch the battery while the pow

er is on.

1Introduction

−15−

Precautions for use

6 Precautions for use

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

•Always use the cable (supplied or accessory) to connect the motor and driver.

Be sure to use the cable (supplied or accessory) to connect the motor and driver. In the following condition, an appropriate accessory cable must be purchased separately. Refer to p.208 for details.

•If a ﬂexible cable is to be used.

•I

f a cable of 3 m (9.8 ft.) or longer is to be used.

•If a motor and driver package without a cable was purchased.

•Perform the insulation resistance test or dielectric strength test separately on the motor and the driver.

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

•Do not apply a radial load and axial load in excess of the speciﬁed permissible limit

Operating the motor under an excessive radial load or axial load may damage the motor bearings (ball bearings). Be sure to operate the motor within the speciﬁed permissible limit of radial load and axial load. Refer to p.28 for details.

•Use the motor in conditions where its surface temperature will not exceed 100 °C (212 °F).

The driver has an overheat protection function, but the motor has no such feature. The motor surface temperature may exceed 100 °C (212 °F) under certain conditions (ambient temperature, operating speed, duty cycle, etc.). To prevent the motor bearings (ball bearings) from reaching its usable life quickly, use the motor in conditions where the surface temperature will not exceed 100 °C (212 °F). Use the gea prevent deterioration of grease and parts in the gear case. If the motor is to be operated continuously, install the motor in a location where heat dissipation capacity equivalent to a level achieved with a heat sink [made of aluminum, 250×250×6 mm (9.84×9.84×0.24 in.)] is ensured.

red type motor in a condition where the gear case temperature does not ex

ceed 70 °C (158 °F), in order to

•Holding torque at standstill

The motor holding torque is reduced by the current cutback function of the driver at motor standstill. When selecting a motor for your application, consider the fact that the holding torque will be reduced at motor standstill.

•Do 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 signiﬁcantly and the braking force will drop. Since the power off activated type electromagnetic brake is equipped, it helps maintain the position of the load when the power is cut off, but 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 ho

ld the load in place, do so after the motor has stopped.

•Double shaft type motor

Do not apply load torque, radial load or axial load to the output shaft on the opposite side of the motor output shaft.

•Preventing electrical noise

See "1.7 Installing and wiring in compliance with EMC Directive" on p.30 for measures with regard to noise.

•Peak torque of geared type motor

Always operate the geared type motor under a load not exceeding the peak torque. If the load exceeds the peak torque, the gear will be damaged.

•Grease of geared type motor

On rare occasions, a small amount of grease may ooze out from the geared type 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 dev leakage may lead to problems in the customer’s equipment or products.

ice to prevent leakage from causing further damage. Oil

−16−

1Introduction

Precautions for use

•Rotation direction of the gear output shaft

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

Type of gear Gear ratio

geared

Harmonic geared All gear ratios Opposite direction

3.6, 7.2, 10 Same direction 20, 30 Opposite direction

All gear ratios Same direction

(relative to the motor rotation direction)

Rotation direction

•Do not perform push-motion operation with geared types.

Doing so may cause damage to the motor or gear part.

•Saving data to the non-volatile memory

Do not turn off the power supply while writing the data to the non-volatile memory and 5 seconds after the completion of writing the data. Doing so may abort writing the data and cause a EEPROM error alarm to generate. The non-volatile memory can be rewritten approximately 100,000 times.

•Motor excitation at power ON

The motor is excited when the power is on. If the motor is required to be in non-excitation status when turning on the power, assign the C-ON input to the direct I/O or network I/O.

•Overvoltage alarm by regeneration energy

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

•Note on connecting a power supply whose positive terminal is grounded

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

OPX-2A

to set data, etc.

1Introduction

−17−

General speciﬁcations

7 General specications

Motor Driver

IP65 (Excluding the motor mounting surface and connectors)

Degree of protection

Ambient temperature

Operation environment

Storage environment

Shipping en

vironment

Insulation resistance

Dielectric strength

*1 When installing a motor to a heat sink of a capacity at least equivalent to an aluminum plate [100×100 mm

(3.94×3.94 in.), thickness 6 mm (0.24 in.)].

*2 0.5 kVAC for the

Humidity 85% or less A

ltitude Up to 1000 m (3300 ft.) above sea level

Surrounding atmosphere

Ambient temperature

Humidity 85% or less (non-condensing) Altitude Up to 3000 m (10000 ft.) above sea level Surrounding

atmosphere

mbient

A temperature

Humidity 85% or less (non-condensing) Altitude Up to 3000 m (10000 ft.) above sea level Surrounding

atmosphere

ARM14, ARM15, ARM24

IP20 (Double shaft type, models including "S" in the motor identiﬁcation of motor name.)

−

10 to +50 °C (+14 to +122 °F)

(non-freezing) Harmonic geared type: 0 to +40 °C

(+32 to +104 °F) (non-freezing)

No corrosive gas, dust, water or oil

−

20 to +60 °C (−4 to +140 °F)

(non-freezing)

No corrosive gas, dust, water or oil

−

20 to +60 °C (−4 to +140 °F)

(non-freezing)

No corrosive gas, dust, water or oil 100 MΩ or more when 500 VDC megger

is applied between the following places:

· Case - Motor windings and sensor windings

Case - Electromagnetic brake windings

Sufﬁcient to withstand 1.0 kVAC at 50 Hz or 60 Hz applied between the following places for 1 minute:

· Case - Motor windings and sensor windings

· Case - Electromagnetic brake windings"

∗

(non-condensing)

ARM26

and

types

IP10

0 to +50 °C (+32 to +122 °F) (non-freezing)

∗

−

25 to +70 °C (−13 to +158 °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 following places:

· FG terminal - Power supply terminal

∗

Sufﬁcient to withstand 500 VAC at 50 Hz o

r 60 Hz applied betwe

following places for 1 minute:

· FG terminal - Power supply terminal

en the

−18−

1Introduction

8 CE Marking

Low Voltage Directives

Because the input power supply voltage of this product is 24 VDC/48 VDC, it is not subject to the Low Voltage Directive but install and connect this product as follows. This product is designed and manufactured to be installed within another device. Install the product in an enclosure. For the driver power supply, use a DC power supply with reinforced insulation on its primary and secondary sid

EMC Directive

This product has received EMC compliance under the conditions speciﬁed in "Example of motor and driver installation and wiring" on p.31. Since the compliance of the ﬁnal machinery with the EMC Directive will depend on such factors as the conﬁguration, wiring, layout and risk involved in the control-system equipment and electrical parts, it therefore must be veriﬁed through EMC measures by th

Applicable Standards

EMI

EMS

EN 61000-6-4 EN 61800-3 EN 55011 group 1 class A

EN 61000-6-2 EN 61800-3

CE Marking

es.

e customer of the machinery.

1Introduction

−19−

Preparation

AR 2 4 S A K D - H 50 - 3

9 Preparation

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

9.1 Checking the product

Verify that the items listed below are included. Report any missing or damaged items to the branch or sales ofﬁce from which you purchased the product. Verify the model number of the purchased product against the number shown on the package label. Check the model number of the motor and driver against motor and driver combinations are shown on p.22.

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

•Parallel key ........................................1 pc. (Supplied with geared types; except for the

•Cable for motor .................................1 pc. (Supplied with a motor and driver package)

•Cable for electromag

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

•CN1 connector ..................................1 pc. (for power supply input terminals; 5 pins)

•CN5 connector ..................................1 pc. (for sensor signals; 5 pins)

•CN8 connector ..................................1 pc. (for inpu

N9 connector ..................................1 pc. (for output signals; 7 pins)

•C

•Motor OPERATING MANUAL .......1 copy

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

netic brake

the number show

AR66TH

.......1 pc. (Supplied with an electromagnetic brake motor and driver package)

)

t signals; 9 pins)

n on the nameplate. Model names for

AR24, AR46TH

and

9.2 How to identify the product model

Motor size 1: 20 mm (0.79 in.) 2: 28 mm (1.10 in.) [30 mm (1.18 in.) for Harmonic geared type] 4: 42 mm (1.65 in.) 6: 60 mm (2.36 in.) 9: 85 mm (3.35 in.) [90 mm (3.54 in) for geared types]

Series name AR Series

* The model name is "7" for the gear ratio "7.2" of the PS geared type.

Gear ratio

T: TH geared type㻌 H: Harmonic geared type PS: PS geared type㻌 Blank: Standard type N: PN geared type

Driver type D: Built-in Controller Type

Power input K: 24 VDC/48 VDC

Motor type A: Single shaft B: Double shaft M: With electromagnetic brake

Motor identification

Motor length

Number: Length of supplied connection cable (m) None: Without connection cable

∗

−20−

1Introduction

9.3 Combinations of motors and drivers

indicates A (single shaft), B (double shaft) or M (with electromagnetic brake).

••

AR14S

For For geared type,  indicates A (single shaft) or M (with electromagnetic brake).

•When a connection cable is included,  in the model names indicates a number (-1, -2, -3) representing the cable

length.

in the model names indicates a number representi

••

Standard type

geared type

Harmonic geared type

AR15S

and

,  indicates A (single shaft) or B (double shaft).

ng the gear ratio.

Type Model Motor model Driver model

AR14SKD

AR15SKD

AR24SKD

AR26SKD

AR46SKD

AR46KD

AR66SKD

AR66KD

AR69SKD

AR69KD

AR98SKD

AR98KD

AR24SKD-T

AR46SKD-T

AR46KD-T

AR66SKD-T

AR66KD-T

AR98SKD-T

AR98KD-T

AR24SAKD-PS

AR46SKD-PS

AR46KD-PS

AR66SKD-PS

AR66KD-PS

AR98SKD-PS

AR98KD-PS

AR24SAKD-N

AR46SKD-N

AR46KD-N

AR66SKD-N

AR66KD-N

AR98SKD-N

AR98KD-N

AR24SKD-H

AR46SKD-H

AR46KD-H

AR66SKD-H

AR66KD-H

AR98SKD-H

AR98KD-H





ARM14SK

ARM15SK

ARM24SK

ARM26SK

ARM46SK

ARM46K

ARM66SK

ARM66K

ARM69SK

ARM69K

ARM98SK

ARM98K

ARM24SK-T

ARM46SK-T

ARM46K-T

ARM66SK-T

ARM66K-T

ARM98SK-T

ARM98K-T

ARM24SAK-PS

ARM46SK-PS

ARM46K-PS

ARM66SK-PS

ARM66K-PS

ARM98SK-PS

ARM98K-PS

ARM24SAK-N

ARM46SK-N

ARM46K-N

ARM66SK-N

ARM66K-N

ARM98SK-N

ARM98K-N

ARM24SK-H

ARM46SK-H

ARM46K-H

ARM66SK-H

ARM66K-H

ARM98SK-H

ARM98K-H

Preparation

ARD-KD



ARD-KD

1Introduction

−21−

Preparation

9.4 Names and functions of parts

Driver

POWER/ALARM LED C-DAT/C-ERR LED

Data edit connector (CN3)

RS-485 communication connectors (CN6/CN7)

Function setting switches (SW3)

Address number setting switch (SW1)

Transmission rate setting switch (SW2)

Battery connector (CN4)

Motor connector (CN2)

Electromagnetic brake terminals (CN1)

Power supply input terminals (CN1)

Frame Ground Terminal (CN1)

Output signal connector (CN9)

Input signal connector (CN8)

Sensor signal connector (CN5)

DIN lever

−22−

1Introduction

Preparation

Name Description Page

POWER LED (Green) This LED is lit while the power is input. ALARM LED (Red)

C-DAT LED (Green)

C-ERR LED (Red

)

Address number setting switch (SW1)

Transmission rate setting switch (SW2)

This LED will blink when an alarm generates. It is possible to check the generated alarm by counting the number of times the LED blinks.

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

his LED will illuminate when a RS-485 communication error occurs with the

master station. Use this switch when controlling the system via RS-485 communication. Use this

switch and SW3-No.1 of the function setting switch, to set the address number (slave address) of RS-485 communication. (Factory setting: 0)

Use this sw

itch when controlling the system via RS-485 communication. Set the

transmission rate of RS-485 communication. (Factory setting: 7) Use this switch when controlling the system via RS-485 communication.

No.1: Using this switch and the address number setting switch (SW1), set the address number (slave address) of RS-485 communication.

Function setting switches (SW3)

(Factory setting: OFF N

o.2: Set the protocol of RS-485 communication. (Factory setting: OFF)

)

−

p.199

−

p.131 p.167 p.179

No.3: Not used. No.4: Set the termination resistor (120 Ω) of RS-485 communication. (Factory setting: OFF)

Electromagnetic brake terminals (CN1-MB1/MB2)

Power supply input terminals (CN1)

Frame Ground Terminal (CN1) Ground using a wire of AWG24 to 16 (0.2 to 1.25 mm

Connect the lead wires from the electromagnetic brake. MB1: Electromagnetic brake − (black) MB2: Electromagnetic brake + (white)

Connect th

r supply of the driver.

e powe

+: +24 VDC/48 VDC power supply input

−

: power supply GND

p.32

). p.36 Motor connector (CN2) Connect the motor cable or ﬂexible motor cable to connect the motor. p.32 Data edit connector (CN3) Connect a PC in which the

MEXE02

Battery connector (CN4) Connect the accessory batter

has been installed, or the

y (sold separa

tely). p.38

OPX-2A

. p.36

Sensor signal connector (CN5) Connects the limit sensor. p.32 RS-485 communication

connectors (CN6/CN7) Input signal connector (CN8) Connect the input signals cable. Output signal connector (CN9) Connect the output signals cable.

Connect the RS-485 communication cable. p.37

p.32

1Introduction

−23−

Preparation

Motor (Example: ARM66SMK)

Protective Earth Terminal (M4)

Motor

Mounting holes

(4 locations)

Output shaft

Pilot

Electromagnetic brake cable

Electromagnetic brake

Motor cable

−24−

1Introduction

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 ........................................ 26

1.1 Location for installation ..........................26

1.2 Installing the motor ................................26

1.3 Installing a load .....................................27

1.4 Permissible radial load and

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

1.5 Installing the driver ................................ 29

1.6 Installing the battery .............................. 30

1.7 Installing and wiring in compliance

with EMC Directive ................................ 30

.......2

2 Connection ........................................ 32

2.1 Connection example

(electromagnetic brake motor) ..............32

2.2 Grounding the motor and driver ............36

2.3 Connecting the data setter .................... 36

2.4

onnecting the RS-485 communication

cable ......................................................37

2.5 Connecting and charging the battery ....38

3 Explanation of I/O signals ............... 39

3.1 Assignment of direct I/O ........................39

Assignment to the input terminals ....................39

Changing the logic level setting of input

signals ...............................................................40

Assignment to the o

3.2 Assignment of network I/O .................... 43

Assignment of input signals ..............................43

Assignment to the output terminals ..................45

3.3 Input signals .......................................... 47

3.4 Output signals .......................................52

3.5 Sensor input .......................................... 56

3.6 Genera

l signals (R0 to R15) .

utput terminals .

.................57

.................41

Installation

Metal plate

1 Installation

This chapter explains the installation location and installation methods of the motor and driver, along with load installation. The installation and wiring methods in compliance with the EMC Directive are also explained.

1.1 Location for installation

The motor and driver has been designed and manufactured to be installed within another device. Install them in a well-ventilated location that provides easy access for inspection. T

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

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

•Area that is f

•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

•Area free of radioactive materials, magnetic ﬁelds or vacuum

•1000 m (3300 ft.) or lower above sea level

ree of ex

plosive atmosphere or toxic gas (such as sulfuric gas) or liquid

noise (from welders, pow

er machinery, etc.)

1.2 Installing the motor

The motor can be installed in any direction. To allow for heat dissipation and prevent vibration, install the motor on a metal surface of sufﬁcient strength.

•Installation method A

Pilot

Type

Standard

geared

Harmonic geared ∗1

Harmonic geared ∗2 90 (3.54) M8 4 (560)

AR24, AR46

*3 *4

AR98

and

type only.

Frame size

[mm (in.)]

20 (0.79) M2 0.25 (35) 2.5 (0.098)

42 (1.65) M3 1 (142) 4.5 (0.177) 60 (2.36) M4 2 (280) 85 (3.35) M6 3 (420) 28 (1.10) M2.5 0.5 (71) 4 (0.157) 42 (1.65)

60 (2.36) 90 (3.54) M8 4 (560) 15 (0.591) 28

3 42 (1.65) M4 2 (280) 8 (0.315) 60 (2.36) M5 2.5 (350) 10 (0.394) 90 (3.54) M8 4 (560) 15 (0.591)

AR66

(1.10)

0 (1.18)

type only.

•Installation method B

Pilot

Metal plate

Nominal size

M4 2 (280) 8 (0.315)

M3 1 (142) 6 (0.236)

Tightening torque

[N·m (oz-in)]

Effective depth of

bolt [mm (in.)]

−

Installation

method

A28 (1.10) M2.5 0.5 (71) 2.5 (0.098)

−26−

2Installationandconnection

1.3 Installing a load

When connecting a load to the motor, align the centers of the motor output shaft and load shaft. Flexible couplings are available as accessories.

Note

Using a coupling

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

Using a belt drive

Align the motor 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.

Using a gear drive

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

•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 when installing a coupling or pulley to the motor output shaft.

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

stroy

the motor.

•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).

Installation

• Using a coupling • Using a belt drive • Using a gear drive

Using a parallel key (geared motor)

When connecting the load and gear output shaft with a key slot, secure the load using the key supplied with the gear output shaft after machining the key slot on the load.

Installing on the ange surface (Harmonic geared type)

With a Harmonic geared type (excluding holes provided on the ﬂange surface.

Flange

Metal plate

Model Nominal size

AR24

AR46

AR66

M3 4 1.4 (198) 4 (0.157) M3 6 1.4 (198) 5 (0.2) M4 6 2.5 (350) 6 (0.24)

Number of

bolts

AR98

), a load can be installed directly to the gear using the load mounting

Load mounting holes

Bolts

Load

Tightening torque

[N·m (oz-in)]

Effective depth of

bolt [mm (in.)]

Note

•When installing a load on the ﬂange surface, the load cannot be mounted using the key slot in the output shaft.

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

2Installationandconnection

−27−

Installation

1.4 Permissible radial load and permissible axial load

Note

•If the radial load or axial load exceeds the speciﬁed allowable value, repeated load applications may cause the bearing (ball bearings) or output shaft of the motor to undergo a fatigue failure.

•With a double shaft type, do not apply load torque, radial load or axial load to the output shaft on the opposite side of the motor output shaft.

Type Model Gear ratio

AR14

AR15

AR24

AR26

Standard

geared

AR46

AR66

AR69

AR98

AR24

AR46

AR66

AR98

AR24

AR46

AR66

AR98

AR24

AR46

AR66

AR98

Permissible radial load [N (lb.)]

Distance from the tip of motor output shaft [mm (in.)]

0 (0) 5 (0.2) 10 (0.39) 15 (0.59) 20 (0.79)

12 (2.7) 15 (3.3)

25 (5.6) 34 (7.6) 52 (11.7)

−

7.2 10

2 36 50

5 200 (45) 220 (49) 250 (56) 280 (63) 320 (72)

7.2 10

25 36 50

7.2 10

25 850 (191) 940 (210) 1050 (230) 1190 (260) 1380 (310) 36 930 (200) 1030 (230) 1150 (250) 1310 (290) 1520 (340) 50 1050 (230) 1160 (260) 1300 (290) 1480 (330)

−

5 200 (45) 220 (49) 250 (56) 280 (63) 320 (72)

7.2 10

25 36 50

5 480 (108) 520 (117) 550 (123) 580 (130) 620 (139)

7.2 10

25 850 (191) 940 (210) 1050 (230) 1110 (240) 1190 (260) 36 50 1050 (230) 1160 (260) 1300 (290) 1380 (310) 1490 (330)

35 (7.8) 44 (9.9) 58 (13) 85 (19.1)

90 (20) 100 (22) 130 (29) 180 (40) 270

260 (58) 290 (65) 340 (76) 390 (87) 480 (108)

15 (3.3) 17 (3.8) 20 (4.5) 23 (5.1) 10 (2.2) 14 (3.1) 20 (4.5) 30 (6.7)

70 (15.7) 80 (18) 100 (22) 120 (27) 150 (33) 40 (9)

220 (49) 250 (56) 300 (67) 350 (78) 400 (90) 100 (22)

45 (10.1) 60 (13.5) 80 (18) 100 (22)

73 (16.4) 84 (18.9) 100 (22) 123 (27)

109 (24) 127 (28) 150 (33) 184 (41)

250 (56) 270 (60) 300 (67) 340 (76) 390 (87)

330 (74) 360 (81) 400 (90) 450 (101) 520 (117)

480 (108) 540 (121) 600 (135) 680 (153) 790 (177)

45 (10.1) 60 (13.5) 80 (18) 100 (22)

100 (22) 120 (27) 150 (33) 190 (42)

250 (56) 270 (60) 300 (67) 340 (76) 390 (87)

330 (74) 360 (81) 400 (90) 450 (101) 520 (117)

480 (108) 540 (121) 600 (135) 680 (153) 790 (177)

930 (200) 1

030 (230) 1150 (250) 1220 (270) 1300 (290)

* The brackets < > indicate the value for the electromagnetic brake type.

− − −

− −

−

(60)

−

1710 (380)

−

Permissible axial

load [N (lb.)]

0.7 (0.157)

0.9 (0.2)

1.5 (0.33)

<2.1 (0.47)>

2.2 (0.49)

<2.7 (0.6)>

4.6 (1.03)

<6.1 (1.37)>

.8 (1.98)

<11.8 (2.6)>

13.7 (3)

<16.7 (3.7)>

18 (4)

<24 (5.4)>

10 (2.2) 15 (3.3)

20 (4.5)

0 (11.2)

100 (22)

300 (67)

20 (4.5)

100 (22)

300 (67)

∗

−28−

2Installationandconnection

Installation

35 mm

50 mm or more

100 mm

Type Model Gear ratio

AR24

Harmonic geared

AR46

AR66

AR98

−

1090 (240) 1150 (250) 1230 (270) 1310 (290) 1410 (310) 1300 (290)

Permissible moment load of the Harmonic geared type

When installing an arm or table on the ﬂange surface, calculate the moment load using the formula below if the ﬂange surface receives any eccentric load. The moment load should not exceed the permissible value speciﬁed in the table. Moment load: M [N·m (oz-in)] = F × L

Model

AR24

AR46

AR66

Permissible moment load

[N·m (oz-in)]

2.9 (410)

5.6 (790)

11.6 (1640)

1.5 Installing the driver

Installation method

Mount the driver to a 35 mm (1.38 in.) width DIN rail. When installing two or more drivers in parallel, it is possible to install them closely in the horizontal direction. Provide a minimum clearance of 50 mm (1.97 in.) in the vertical direction. When installing three or more drivers closely, the heat generation of the inside drivers become high. Install the less frequently used drivers toward the in U

se the "overheat warning" parameter to check the inside temperature of the driver.

Note

•Install the driver in an enclosure whose pollution degree is 2 or better environment, or whose degree of protection is IP54 minimum.

•Do not install any equipment that generates a large amount of heat or noise near the driver.

•Do not install the driver underneath the controller or other equipment vulnerable to heat.

•If the ambient temperature of the driver exceeds 50 °C (122 °F), improve the

by using fans or creating spaces between the drivers.

•Be sure to install the driver vertically (vertical position).

Permissible radial load [N (lb.)]

Distance from the tip of motor output shaft [mm (in.)]

0 (0) 5 (0.2) 10 (0.39) 15 (0.59) 20 (0.79) 100 (22) 135 (30) 175 (39) 250 (56) 180 (40) 220 (49) 270 (60) 360 (81) 510 (114) 220 (49) 320 (72) 370 (83) 440 (99) 550 (123) 720 (162) 450 (101)

−

Permissible axial

load [N (lb.)]

140 (31)

side.

ntilation condition such as providing forced cooling

Pull down the driver's DIN lever and lock it. Hang the hook at the rear to the DIN rail, and push in the driver. After installation, secure the both sides of the driver with the end plate.

Hook

DIN rail

DIN lever

2Installationandconnection

End plate

−29−

Installation

•

Removing from DIN rail

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

1.6 Installing the battery

A battery and battery holder are included in an accessory battery set Use the battery holder to secure the battery. See p.210 for accessory.

BAT01B

(sold separately).

Battery installation

dimensions

13±0.3 mm

(0.51±0.012 in.)

1.7 Installing and wiring in compliance with EMC Directive

Effective 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 "8 CE Marking" o

riental Motor conducts EMC measurements on its motors and drivers in accordance with "Example of motor and

O driver installation and wiring" on p.31. The user is responsible for ensuring the machine's compliance with the EMC Directive, based on the installation and wiring explained below.

Connecting the power supply

Use a DC power supply compliant with the EMC Directive. Use a shielded cable for wiring and wire/ground the pow Refer to "Wiring the power supply cable and I/O signal cable" for how to ground the shielded cable.

Connecting noise lter for power supply line

•Connect a noise ﬁlter in the DC power supply input 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 ﬁlter to the AC transformer.

•For a noise ﬁlter, use HF2010A (SOSHIN ELECTRIC CO.,LTD), FN2070-10-06 (Schaffner EMC) or equivalent product.

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

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

•Do not place the AC input cable parallel with the noise ﬁlter output cable. Parallel placement will reduce noise ﬁlter effectiveness if the enclosure's internal noise is directly coupled to the power supply cable by means of stray capacita

nce.

n p.19 for the applicable standards.

er supply over the shortest possible distance.

input side of the power supply

or more) and output cables (AWG18: 0.75 mm2 or more)

−30−

How to ground

The cable used to ground the driver and noise ﬁlter must be as thick and short as possible so that no potential difference is generated. Choose a large, thick and uniformly conductive surface for the grounding point.

•Grounding the motor

Be sure to ground the Protective Earth Terminal of the motor. Refer to p.36 for grounding method.

•Grounding the driver

Refer to p.36 for grounding method.

2Installationandconnection

Installation

A: Cable cramp

Wiring the power supply cable and I/O signal cable

Use a shielded cable for the power supply cable and I/O signal cable, and keep it as short as possible. To ground a shielded cable, use a metal cable 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

Shielded cable

Cable clamp

cable as possible, and connect it as shown in the ﬁgure.

Notes about installation and wiring

•Connect the motor, driver and other peripheral control equipment directly to the grounding point so as to prevent a potential difference from developing between grounds.

•When relays or electromagnetic switches are used together with the system, use noise ﬁlters and CR circuits to suppress surges generated by them.

•Keep cables as short as possible without coiling and bundling extra lengths.

lace the power cables such as the motor and power supply cables as far apart [200 mm (7.87 in.)] as possible from

•

the signal cables. If the power cables and signal cables have to cross, cross them at a right angle. Place the AC input cable and output cable of a noise ﬁlter separately from each other.

•When extending the distance between the motor and driver, it is recommended that an accessory m s

eparately) should be used. The EMC measures are conducted using the Oriental Motor extension cable.

otor cable (sold

Example of motor and driver installation and wiring

RS-485 communication cable

OPX-2A

Motor

Controller

Motor cable (Shielded cable)

Noise

Filter

DC power

supply

PEPE

Shielded cable

BAT01B

Driver

Shielded cable

Grounded panel

Sensor

Shielded cable

Precautions about static electricity

Static electricity may cause the driver to malfunction or suffer 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 screwdriver to adjust the driver's switches.

Note

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

2Installationandconnection

−31−

Connection

2 Connection

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

2.1 Connection example (electromagnetic brake motor)

Wiring the CN5/CN8/CN9 connector

Button of the orange color

Lead wire

Cable for motorMotor cable

Connect to CN2

∗

Insert the lead wire while pushing the button of the orange color with a screwdriver.

Output signals Connect to CN9

Electromagnetic brake cable

DC power supply 24 VDC±5% or 48 VDC±5%

Wiring the CN1 connector

Screwdriver (connector screw size: M2) Tightening torque:

0.22 to 0.25 N·m (31 to 35 oz-in)

Lead wire

Note

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

•When unplugging the connector, do so while pressing the latches on the connector.

•When plugging/unplugging the connector, turn off the power and wait for the POWER LED to turn off before doing so.

•When connecting, check the silk screen of the driver and pay attention to the po Reverse-polarity connection may cause damage to the driver. The power-supply circuit and the RS485 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.

•The lead wires of the "cable for electromagnetic b polarities. If the lead wires are connected with their polarities reversed, the electromagnetic brake will not operate properly.

•If the distance between the motor and driver is extended to 20 m (65.6 ft.) or longer, use a power supply of 24 VDC±4%.

•When installing the motor to a moving part, use an accessory ﬂexible cable offering excellent ﬂexible motor cable, refer to p.208.

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

Cable for electromagnetic brake

Connect to CN1

+24 V (+48 V)

GND

Pay attention to the polarity of the power supply.

+24 VDC

GND

Input signals

Black

∗

White

Screwdriver (connector screw size: M2.5) Tightening torque: 0.4 N·m (56 oz-in)

* Keep 30 m (98.4 ft.) or less for the wiring distance between the motor and driver.

Connect to CN8

Sensor signals Connect to CN5

larity of the power supply.

ke" have polarities, so connect them in the correct

ﬂex

ibility. For the

−32−

2Installationandconnection

Power supply current capacity

Model

AR14

AR15

AR24 AR26

AR46

AR66

AR69

AR98

Input power

supply voltage

24 VDC±5%

24 VDC±5% 48 VDC±5%

Standard type Electromagnetic brake type

0.4 A or more

0.5 A or more

1.3 A or more 1.37 A or more

1.72 A or more 1.8 A or more

3.55 A or more 3.8 A or more

3.45 A or more 3.7 A or more

2.85 A or more 3.1 A or more

Pin assignment list

•CN1

Pin No. Signal name Description

1 MB1 Electromagnetic brake − (Black) 2 MB2 Electromagnetic brake + (White) 3 + 24 VDC/48 VDC power supply 4 5 FG Frame Ground

−

Power supply ground

Power supply current capacity

−

•

Connection

•Applicable lead wire: AWG24 to 16 (0.2 to 1.25 mm

•Length of the insulation cover which can be peeled: 7 mm (0.28 in.)

)

•CN5

Pin No. Signal name Description

1 +LS Limit sensor input + 2

−

LS Limit sensor input 3 HOMES Mechanical home sensor input 4 SLIT Slit sensor input 5 IN-COM2 Sensor common input

•CN8

Pin No. Signal name Description

1 IN0 Control input 0 [HOME] 2 IN1 Control input 1 [START] 3 IN2 Control input 2 [M0] 4 IN3 Control input 3 [M1] 5 IN4 Control input 4 [M2] 6 IN5 Control input 5 [FREE] 7 IN6 Control input 6 [STOP] 8 IN7 Control input 7 [ALM-RST] 9 IN-COM1 Input signal common

* [ ]: Initial value

•CN9

Pin No. Signal name Description

1 OUT0 Control output 0 [HOME-P] 2 OUT1 Control output 1 [END] 3 OUT2 Control output 2 [AREA1] 4 OUT3 Control output 3 [READY] 5 OUT4 Control output 4 [WNG] 6 OUT5 Control output 5 [ALM] 7 OUT-COM Output signal common

* [ ]: Initial value

•Applicable lead wire:

AWG26 to 20 (0.14 to 0.5 mm

−

•

•Length of the insulation cover

•

which can be peeled:

)

8 mm (0.31 in.)

•Applicable lead wire:

•

AWG26 to 20 (0.14 to 0.5 mm

•

•Length of the insulation cover

•

which can be peeled: 8 mm (0.31 in.)

•Applicable lead wire:

•

AWG26 to 20 (0.14 to 0.5 mm

•

•Length of the insulation cover

•

which can be peeled: 8 mm (0.31 in.)

)

2Installationandconnection

−33−

Connection

Connecting to a current sink output circuit (NPN specications)

DriverController

12 to 24 VDC

10 mA or less

OUT0

CN9

OUT1

OUT2

OUT3

Output saturated voltage 3 V max.

0 V

24 VDC

0 V

OUT4

OUT5

OUT-COM

IN0

IN1

IN2

IN3

IN4

IN5

IN6

IN7

IN-COM1

CN8

4.4 kΩ

1 kΩ

−34−

Note

NPN sensor

0 V

24 VDC

+LS

HOMES

SLIT

IN-COM2

CN5

4.4 kΩ 1 kΩ

•Use input signals at 24 VDC.

•Use output signals at 24 VDC 10 mA or less. If the current exceeds 10 mA, connect an external resistor R0.

•The saturated voltage of the output signal is 3 VDC maximum.

2Installationandconnection

Connecting to a current source output circuit (PNP specications)

DriverController

Connection

12 to 24 VDC

10 mA or less

OUT0

OUT1

OUT2

OUT3

CN9

Output saturated voltage 3 V max.

0 V

24 VDC

0 V

OUT4

OUT5

OUT-COM

IN0

IN1

IN2

IN3

IN4

IN5

IN6

IN7

IN-COM1

CN8

4.4 kΩ

1 kΩ

Note

PNP sensor

0 V

24 VDC

+LS

HOMES

SLIT

IN-COM2

CN5

4.4 kΩ 1 kΩ

•Use input signals at 24 VDC.

•Use output signals at 24 VDC 10 mA or less. If the current exceeds 10 mA, connect an external resistor R0.

•The saturated voltage of the output signal is 3 VDC maximum.

2Installationandconnection

−35−

Connection

2.2 Grounding the motor and driver

Grounding the motor

Be sure to ground the Protective Earth Terminal of the motor. (It is no need to ground when the driver power supply voltage is 24 VDC.) Grounding wire: AWG18 (0.75 mm Tightening torque: 1.2 N·m (170 oz-in)

When grounding, use a round terminal and secure it with a mounting screw with a washer. Ground wires and crimp terminals are not supplied.

Grounding the driver

Ground the FG terminal of power supply connector (CN1) as necessary. Ground using a wire of AWG24 to 16 (0.2 to 1.25 mm protective earth terminal with a welder or any other power equipment.

), and do not share the

) or more

+24 VDC GND

Connect to CN1

2.3 Connecting the data setter

Connect the setting software to the data edit connector (CN3) on the driver.

OPX-2A

cable or communication cable for the data

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

OPX-2A cable or communication

cable for the data setting software

−36−

2Installationandconnection

2.4 Connecting the RS-485 communication cable

0 V

Connect this cable if you want to control your product via RS-485 communication. Connect the RS-485 communication cable to CN6 or CN7 on the driver. You can use the vacant connectors to connect a different driver. A driver link cable is available as an accessory (sold separately). See p.210. You can also use a commercial LAN cable to link drivers.

Drivers can be linked.

Connection

RS-485 communication connectors (CN6/CN7)

Function setting switches (SW3)

CN6/CN7 pin assignments

Pin No. Signal name Description

1 N.C. Not used 2 GND GND 3 TR+ RS-485 communication signal (+) 4 N.C. Not used 5 N.C. Not used

1 N.C. 2 GND 3 TR+ 4 N.C. 5 N.C. 6 TR 7 N.C. 8 N.C.

−

RS-485 communication signal (−)

6 TR 7 N.C. Not used 8 N.C. Not used

1 N.C. 2 GND 3 TR+ 4 N.C. 5 N.C. 6 TR 7 N.C. 8 N.C.

SW3-No.4

120 Ω

∗

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

2Installationandconnection

−37−

Connection

2.5 Connecting and charging the battery

Connect an accessory battery set When the battery is connected to the battery connector (CN4) of the driver and the power is turned on, the battery will start charging. It takes approximately 32 hours to fully charge the battery [at an ambient temperature of 20 °C (68 °F)]. See p.210 for accessories.

Battery speciﬁcations

Battery type Sealed nickel-metal hydride battery Nominal voltage 2.4 V Rated capacity 1900 mAh Mass 0.10 kg Expected life Approximately 4 years ∗1 Charging time 32 hours ∗1 Data retention period Approximately 360 hours (Approximately 15 days) ∗1∗2 Ambient temperature 0 to +40 °C (+32 to +104 °F) (non-freezing) Humidity 45 to 85% (non-condensing)

*1 At an ambient temperature of 20 °C (68 °F) *2 After the power is cut

off

BAT01B

with the battery fully charged

(sold separately) for the absolute-position backup system.

Battery power supply GND Battery power supply input Not used

−38−

2Installationandconnection

3 Explanation of I/O signals

In this manual, I/O signals are described as follows.

•Direct I/O: I/O signals accessed via input signal connector (CN8) and output signal connector (CN9)

•Network I/O: I/O signals accessed via RS-485 communication

Set the following parameters using the

3.1 Assignment of direct I/O

Assignment to the input terminals

The input signals shown below can be assigned to the input terminals IN0 to IN7 of CN8 by setting parameters. For details on input signals, refer to p.47.

Direct I/O signal name Initial value Direct I/O signal name Initial value

IN0 3: HOME IN4 50: M2 IN1 4: START IN5 16: FREE IN2 48: M0 IN6 18: STOP IN3 49: M1 IN7 24: ALM-RST

Assignment No. Signal name Function

0 Not used Set when the input terminal is not used. 1 FWD Continuous operation in the positive direction. 2 RVS Continuous operation in the negative direction. 3 HOME Return-to-home operation. 4 START Positioning operation. 5 SSTART Sequential positioning operation. 6 +JOG JOG operation in the positive direction. 7 8 MS0

9 M 10 MS2 11 MS3 12 MS4 13 MS5 16 FREE Stop the motor excitation and release the electromagnetic brake. 17 C-ON Motor excitation switching between excitation and non-excitation. 18 STOP Stop of the motor operation. 24 ALM-RST Reset of the current alarm. 25 P-PRESET Position preset. 26 P-CLR Reset of the absolute position error alarm. 27 HMI Release of the function limitation of the 32 R0 33 R1 34 R2 35 R3 36 R4 37 R5 38 R6 39 R7 40 R8 41 R9 42 R10 43 R11 44 R12 45 R13

−

JOG JOG operation in the negative direction.

OPX-2A, MEXE02

Direct positioning opera

General signals. Use these

ia RS-485 communication.

or RS-485 communication.

tion.

signals when controlling the system

OPX-2A

Explanation of I/O signals

MEXE02

2Installationandconnection

−39−

Explanation of I/O signals

Assignment No. Signal name Function

Related parameters

IN0 input function selection IN1 input function selection 4: START IN2 input function selection 48: M0 IN3 input function selection 49: M1 IN4 input function selection 50: M2 IN5 input function selection 16: FREE IN6 input function selection 18: STOP IN7 input function selection 24: ALM-RST

46 R14 47 R15 48 M0 49 M1 50 M2 51 M3 52 M4 53 M5

Parameter name Description Initial value

General signals. Use these signals when controlling the system via RS-485 communication.

Select the operation data No. using these six bits.

3: HOME

Assigns the following input signals to IN0 to IN7 of the input terminals.

0: Not used 1: FWD 2: RVS 3: HOME 4: START 5: SSTART 6: +JOG 7: −JOG

Note

•Do not assign the same input signal to multiple input terminals. When the same input signal

8: MS0 9: MS1 10: MS2 11: MS3 12: MS4 13: MS5 16: FREE 17: C-ON

18: STOP 24: ALM-RST 25: P-PRESET 26: P-CLR 27: HMI 32: R0 33: R1 34: R2

35: R3 36: R4 37: R5 38: R6 39: R7 40: R8 41: R9 42: R10

43: R11 44: R12 45: R13 46: R14 47: R15 48: M0 49: M1 50: M2

is assigned to multiple input terminals, the function will be executed if any of the terminals becomes active.

•The ALM-RST input and P-CLR input will be executed when turning from ON to OFF. The P-PRESET input will be executed when turning from OFF to ON.

•When the C-ON input and HMI input are not assig

ned to the input term always be set to ON. When assigning to both direct I/O and network I/O, the function will be executed when both of them are set to ON.

Changing the logic level setting of input signals

You can change the logic level setting for input terminals IN0 to IN7 using the parameter.

Related parameters

Parameter name Description Setting range Initial value IN0 input logic level setting IN1 input logic level setting IN2 input logic level setting IN3 input logic level setting IN4 input logic level setting IN5 input logic level setting IN6 input logic level setting IN7 input logic level setting

Changes the logic level setting for input terminals IN0 to IN7.

0: Normally open 1: Normally closed

51: M3 52: M4 53: M5

inals, these inputs will

−40−

2Installationandconnection

Explanation of I/O signals

Assignment to the output terminals

The output signals shown below can be assigned to the output terminals OUT0 to OUT5 of CN9 by setting parameters. For details on output signals, refer to p.52.

Direct I/O signal name Initial value Direct I/O signal name Initial value

OUT0 70: HOME-P OUT3 67: READY OUT1 69: END OUT4 66: WNG OUT2 73: AREA1 OUT5 65: ALM

Assignment No. Signal name Function

0 Not used Set when the output terminal is not used. 1 FWD_R Output in response to the FWD input. 2 RVS_R Output in response to the RVS input. 3 HOME_R Output in response to the HOME input. 4 START_R Output in response to the START input. 5 SSTART_R Output in response to the SSTART input. 6 +JOG_R Output in response to the +JOG input. 7 8 MS0_R

9 M 10 MS2_R 11 MS3_R 12 MS4_R 13 MS5_R 16 FREE_R Output in response to the FREE input. 17 C-ON_R Output in response to the C-ON input. 18 STOP_R Output in response to the STOP input. 32 R0 33 R1 34 R2 35 R3 36 R4 37 R5 38 R6 39 R7 40 R8 41 R9 42 R10 43 R11 44 R12 45 R13 46 R14 47 R15 48 M0_R 49 M1_R 50 M2_R 51 M3_R 52 M4_R 53 M5_R 60 + 61 62 HOMES_R Output in response to the HOME input. 63 SLIT_R Output in response to the SLIT input. 65 ALM Output the alarm status of the driver (normally closed). 66 WNG Output the warning status of the driver. 67 READY Output when the driver is ready.

−

JOG_R Output in response to the −JOG input.

S1_R

utput in response to the MS0 to MS5 input.

Output in response to the R0 to R15 input.

Output in response to the M0 to M5 input.

LS_R Output in response to the +LS input.

−

LS_R Output in response to the −LS input.

2Installationandconnection

−41−

Explanation of I/O signals

Assignment No. Signal name Function

Related parameters

OUT0 output function selection OUT1 output function selection 69: END OUT2 output function selection 73: AREA1 OUT3 output function selection 67: READY OUT4 output function selection 66: WNG OUT5 output function selection 65: ALM

0: Not used 1: FWD_R 2: RVS_R 3: HOME_R 4: START_R 5: SSTART_R 6: +JOG_R 7: −JOG_R 8: MS0_R

68 MOVE Output when the motor operates. 69 END Output when the positioning operation is completed. 70 HOME-P Output when the motor is in home position. 71 TLC Output when the load is outside of the motor torque range. 72 TIM Output once every 7.2° rotation of the motor output shaft. 73 AREA1 Output when the motor is within the area 1. 74 AREA2 Output when the motor is within the area 7

5 AREA3 Output when the motor is within the area 3.

80 S-BSY Output when the driver is in internal processing state.

Parameter name Description Initial value

Assigns the following output signals to OUT0 to OUT5 of the output terminals.

9: MS1_R 10: MS2_R 11: MS3_R 12: MS4_R 13: MS5_R 16: FREE_R 17: C-ON_R 18: STOP_R 32: R0

33: R1 34: R2 35: R3 36: R4 37: R5 38: R6 39: R7 40: R8 41: R9

42: R10 43: R11 44: R12 45: R13 46: R14 47: R15 48: M0_R 49: M1_R 50: M2_R

70: HOME-P

51: M3_R 52: M4_R 53: M5_R 60: +LS_R 61: −LS_R 62: HOMES_R 63: SLIT_R 65: ALM 66: WNG

READY

: 68: MOVE 69: END 70: HOME-P 71: TLC 72: TIM 73: AREA1 74: AREA2 75: AREA3 80: S-BSY

−42−

2Installationandconnection

3.2 Assignment of network I/O

Assign the I/O function via RS-485 communication.

Assignment of input signals

The input signals shown below can be assigned to the NET-IN0 to NET-IN15 of the network I/O by setting parameters. See each command description for the assignment of the NET-IN0 to NET-IN15.

Assignment No. Signal name Function Setting range

0 Not used Set when the input terminal is not used. 1 FWD

2 RVS 3 HOME Return-to-home operation.

4 START Positioning operation. 5 SSTART Sequential positioning operation. 6 +JOG JOG operation in the positive di 7 8 MS0

9 MS1 10 MS2 11 MS3 12 MS4 13 MS5

16 FREE

17 C-ON

18 STOP Stop of the motor operation.

24 ALM-RST ∗Reset of the current alarm.

25 P-PRESET ∗Position preset.

26 P-CLR ∗Reset of the absolute position error alarm.

27 HMI

2 R0

3 33 R1 34 R2 35 R3 36 R4 37 R5 38 R6 39 R7 40 R8 41 R9 42 R10 43 R11 44 R12 45 R13 46 R14 47 R15

* These three signals cannot be set in the driver which is before the speciﬁcation change. Refer to p.5 for details.

−

JOG JOG operation in the negative direction.

Continuous operation in the positive direction.

Continuous operation in the negative direction.

Perform direct positioning operation of the operation data No. set by the I/O parameter.

Stop the motor excitation and release the electromagnetic brake.

Motor excitation switching between excitation and non-excitation.

Release of the function limitation of the

OPX-2A

General signals. Use these signals when controlling the system via RS-485 communication.

MEXE02

Explanation of I/O signals

−

0: Deceleration stop 1: Operation

rection.

0: No operation 1: Start operation

0: No operation 1: Electromagnetic brake release+motor non-excitation

0: Motor non-excita 1

: Motor excitation

0: No operation 1: Stop operation

0: No operation 1: Reset alarm

0: No operation 1: Execute preset

0: No operation 1: Reset alarm

0: Function limitation 1: Function limitation release

0: OFF 1: ON

tion

2Installationandconnection

−43−

Explanation of I/O signals

Assignment No. Signal name Function Setting range

Related parameters

NET-IN0 input function selection NET-IN1 input function selection 49: M1 NET-IN2 input function selection 50: M2 NET-IN3 input function selection 4: START NET-IN4 input function selection 3: HOME NET-IN5 input function selection 18: STOP NET-IN6 input function selection 16: FREE NET-IN7 input function selecti NET-IN8 input function selection 8: MS0 NET-IN9 input function selection 9: MS1 NET-IN10 input function selection 10: MS2 NET-IN11 input function selection 5: SSTART NET-IN12 input function selection 6: +JOG NET-IN13 input function selection 7: −JOG NET-IN14 input function selection 1: FWD NET-IN15 input function selection 2: RVS

48 M0 49 M1 50 M2 51 M3 52 M4 53 M5

Parameter name Description Initial value

Select the operation data No. using these six bits. See p.48 for details on the combination.

on 0

Assigns the following input signals to NET-IN0 to NET-IN15.

0: OFF 1: ON (Operation data No.0 to 63 can be selected.)

48: M0

: Not used

0: Not used 1: FWD 2: RVS 3: HOME 4: START 5: SSTART 6: +JOG 7: −JOG

* These three signals cannot be set in the driver which is

Note

•Do not assign the same input signal to multiple input terminals. When the same input signal

8: MS0 9: MS1 10: MS2 11: MS3 12: MS4 13: MS5 16: FREE 17: C-ON

18: STOP 24: ALM-RST 25: P-PRESET 26: P-CLR 27: HMI 32: R0 33: R1 34: R2

∗

is assigned to multiple input terminals, the function will be executed if any of the terminals becomes active.

•When the C-ON input and HMI input are not assigned to the input terminals, these inputs will always be set to ON. When assigning to both direct I/O and network I/O, the function will be execute

d when both of them are set to ON.

35: R3 36: R4

∗

37: R5

∗

38: R6 39: R7 40: R8 41: R9 42: R10

before the speciﬁcation change. Refer to p.5 for details

43: R11 44: R12 45: R13 46: R14 47: R15 48: M0 49: M1 50: M2

51: M3 52: M4 53: M5

−44−

2Installationandconnection

Explanation of I/O signals

Assignment to the output terminals

The output signals shown below can be assigned to the NET-OUT0 to NET-OUT15 of the network I/O by setting parameters. See each command description for the assignment of the NET-OUT0 to NET-OUT15.

Assignment No. Signal name Function Data read

OG input.

7 8 MS0_R

9 MS1_R 10 MS2_R 11 MS3_R 12 MS4_R 13 MS5_R 16 FREE_R Output in response to the FREE input. 17 C-ON_R Output in response to the C-ON input. 18 STOP_R Output in response to the STOP input. 32 R0 33 R1 34 R2 35 R3 36 R4 37 R5 38 R6 39 R7 40 R8 41 R9 42 R10 43 R11 44 R12 45 R13 46 R14 47 R15 48 M0_R 4

9 M1_R 50 M2_R 51 M3_R 52 M4_R 53 M5_R 60 +LS_R Output in response to the +LS input. 61 LS_R Output in response to the −LS input. 62 HOMES_R Output in response to the HOMES input. 63 SLIT_R Output in response to the SLIT input.

65 ALM Output the alarm of the driver (normally open).

66 WNG Output the warning of the driver.

67 READY Output when the d

68 MOVE Output when the motor operates.

−

JOG_R Output in response to

Output in response to the MS0 to MS5 input.

Output the status of the general signal R0 to R15.

Output in response to the M0 to M5 inputs

the −J

ver is ready.

0: OFF 1: ON

0: Alarm not present 1: Alarm present

0: Warning not present 1: Warning present

0: Not ready 1: Ready

0: Motor stopped 1: Motor operating

−

2Installationandconnection

−45−

Explanation of I/O signals

Assignment No. Signal name Function Data read

Related parameters

NET-OUT0 output function selection NET-OUT1 output function selection 49: M1_R NET-OUT2 output function selection 50: M2_R NET-OUT3 output function selection 4: START_R NET-OUT4 output function selection 70: HOME-P NET-OUT5 output function selection 67: READY NET-OUT6 output function selection 66: WNG

OUT7 output function selection 65: ALM

T-

NE NET-OUT8 output function selection 80: S-BSY NET-OUT9 output function selection 73: AREA1 NET-OUT10 output function selection 74: AREA2 NET-OUT11 output function selection 75: AREA3 NET-OUT12 output function selection 72: TIM NET-OUT13 output function selection 68: MOVE NET-OUT14 output function selection 69: END NET-OUT15 output function selection 71: TLC

69 END

70 HOME-P Output when the motor is in home position.

71 TLC

72 TIM 73 AREA1 Output when the motor is within the area 1.

74 AREA2 Output when the motor is within the area 2. 75 AREA3 Output when the motor is within the area 3.

80 S-BSY

Parameter name Description Initial value

Output when the positioning operation is completed.

Output when the load is outside of the motor torque range.

Output once every 7.2° rotation of the motor output

shaft.

Output when the driver is in internal processing status.

Assigns the following output signals to NET-OUT0 to NET-OUT15.

0: Motor operating 1: Motor operating completion

0: Not home position 1: Home position

0: Inside torque range 1: Outside torque range

: OFF

0 1: ON

0: Outside area 1: Inside area

0: OFF 1: ON

48: M0_R

0: Not used 1: FWD_R 2: RVS_R 3: HOME_R 4: START_R 5: SSTART_R 6: +JOG_R 7: −JOG_R 8: MS0_R 9: MS1_R

10: MS2_R 11: MS3_R 12: MS4_R 13: MS5_R 16: FREE_R 17: C-ON_R 18: STOP_R 32: R0 33: R1 34: R2

35: R3 36: R4 37: R5 38: R6 39: R7 40: R8 41: R9 42: R10 43: R11 44: R12

45: R13 46: R14 47: R15 48: M0_R 49: M1_R 50: M2_R 51: M3_R 52: M4_R 53: M5_R 60: +LS_R

61: −LS_R 62: HOMES_R 63: SLIT_R 65: ALM 66: WNG 6

READY 68: MOVE 69: END 70: HOME-P 71: TLC

72: TIM 73: AREA1 74: AREA2 75: AREA3 80: S-BSY

−46−

2Installationandconnection

3.3 Input signals

IN-COM1

The input signals of the driver are photocoupler inputs.

•Direct I/O ..........I/O for normally open: "ON: Current-carrying", "OFF: Not current-carrying"

•Network I/O ......"ON: 1", "OFF: 0"

Internal input circuit

Explanation of I/O signals

I/O for normally closed: "ON: Not current-carrying", "OFF: Current-carrying"

IN0 input

IN1 input

IN2 input

IN3 input

IN4 input

IN5 input

IN6 input

IN7 input

4.4 kΩ 1 kΩ

2Installationandconnection

−47−

Explanation of I/O signals

M0 to M5 input

Select a desired operation data number for positioning operation or continuous operation based on the combination of ON/OFF states of the M0 to M5 inputs.

Operation

data No.

0 OFF OFF OFF OFF OFF OFF 32 1 OFF OFF OFF OFF OFF 2 OFF OFF OFF OFF 3 OFF OFF OFF OFF 4 OFF OFF OFF 5 OFF OFF OFF 6 OFF OFF OFF 7 OFF OFF OFF 8 OFF OFF

9 OFF OFF 10 OFF OFF 11 12 OFF OFF 13 OFF OFF 14 OFF OFF 15 OFF OFF 16 OFF 17 OFF 18 OFF 19 OFF 20 OFF 21 OFF 22 OFF 23 OFF 24 OFF 25 OFF 26 OFF 27 OFF 28 OFF 29 OFF 30 OFF 31 OFF

M5 M4 M3 M2 M1 M0

OFF 34

ON ON

OFF OFF 36

OFF

OFF O

ON ON

ON ON ON

OFF OFF OFF 40

OFF OFF

OFF

ON ON

ON ON ON

ON ON ON ON

ON ON ON ON ON

OFF

ON ON

ON ON ON

ON ON ON ON

OFF OFF OFF OFF 48 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF

ON ON

ON ON ON

OFF OFF OFF 56 OFF OFF OFF OFF

OFF 38

OFF 42

ON ON

OFF OFF 44 OFF

OFF 46

OFF 50

ON ON

OFF OFF 52 OFF

OFF 54

OFF 58

ON ON

OFF OFF 60 OFF

OFF 62

Operation

data No.

M5 M4 M3 M2 M1 M0

OFF OFF OFF OFF OFF

OFF OFF OFF OFF

OFF OFF OFF

OFF OFF

OFF

ON ON

ON ON ON

ON ON

ON ON ON

ON ON ON ON

ON ON ON ON ON

ON ON ON ON ON ON

OFF OFF

OFF

ON ON

ON ON ON

OFF OFF OFF

OFF OFF

OFF

ON ON

ON ON ON

ON ON ON ON

OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF

OFF OFF OFF

OFF OFF

OFF

ON ON

ON ON ON

OFF OFF OFF

FF OFF

O OFF OFF

OFF OFF OFF

OFF

ON ON

OFF

ON ON

OFF

ON ON

OFF

ON ON

OFF

−48−

START input

This signal starts the positioning operation. Select the operation data No. and turn the START input to ON to start positioning operation.

Related parameters

Parameter name Description Setting range Initial value

Return-to-home incomplete alarm

Note

When the "return-to-home incomplete alarm" parameter is set to "enable", the return-to-home incomplete alarm will generate if the positioning operation is started while the position origin has not been set.

Sets the alarm signal status: When the positioning operation is started while the position origin has not been set, selects whether the alarm generates or not.

2Installationandconnection

0: Disable 1: Enable

Explanation of I/O signals

SSTART input

This signal starts the sequential positioning operation. Positioning operation based on the next operation data No. will be performed every time the SSTART input turns ON. This function is useful when multiple positioning operations must be performed sequentially, because there is no need to repeatedly select each operation data No. See p.69 for sequential positioning operation.

Related parameters

Parameter name Description Setting range Initial value

Return-to-home incomplete alarm

Note

Sets the alarm signal status: When the positioning operation is started while the position origin has not been set, selects whether the alarm generates or not.

0: Disable 1: Enable

MS0 to MS5 input

This signal starts the direct positioning operation. When any of the MS0 to MS5 inputs is turned ON, the positioning operation corresponding to the input data No. will be performed. Since the positioning operation is enabled by turning any the steps of selecting the operation data No. See p.68 for direct positioning operation.

Related parameters

Parameter name Description Setting range Initial value

Sets the alarm signal status: When the

Return-to-home incomplete alarm

MS0 operation data No. selection MS1 operation data No. M

S2 operation data No. selection 2 MS3 operation data No. selection 3 MS4 operation data No. selection 4 MS5 operation data No. selection 5

selection 1

positioning operation is started while the position origin has not been set, selects whether the alarm generates or not.

Sets operation data No. corresponding to MS0 to MS5 input.

of the MS0 to MS5 inputs ON, you can save

0: Disable 1: Enable

Operation data No.0 to 63

Note

HOME input

This signal starts the return-to-home operation. Turn the HOME input ON to start return-to-home operation. When the return-to-home operation is completed and the motor stops, the HOME-P output turns ON. See p.79 for return-to-home operation.

Related parameters

Parameter name Description Setting range Initial value

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

1 to 1,000,000 Hz 1000 1 to 1,000,00

(

1=0.001 ms/kHz or

1=0.001 s) 1 to 1,000,000 Hz 500

−

8,388,608 to 8,388,607

step 0: Negative direction

1: Positive direction

1000

Home-seeking mode

Operating speed of homeseeking

Acceleration/deceleration rate of home-seeking

Starting speed of homeseeking

Position offset of homeseeking

Starting direction of homeseeking

Sets 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-tohome operation.

Sets the offset amount from mechanical home.

Sets the starting direction for home detection.

2Installationandconnection

−49−

Explanation of I/O signals

Parameter name Description Setting range Initial value

SLIT detection with homeseeking

TIM signal detection with home-seeking

Operating current of pushmotion home-seeking

FWD input, RVS input

These signals start the continuous operation. Operation is performed based on the FWD or RVS input and the operating speed corresponding to the selected operation data No. Turn the FWD signal to ON, to perform continuous operation in the positive direction. Turn the RVS signal to ON, to perform continuous operat 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. When the operation data No. is changed during continuous operation, the speed will change to the one speciﬁed for the new operation data No. See p.86 for

+JOG input, −JOG input

These signals start the JOG operation. Turn the +JOG signal to ON, to perform JOG operation in the positive direction. Turn the −JOG signal to ON, to perform JOG operation in the negative direction. See p.91 for JOG operation.

continuous operation.

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 for return-to-home operation.

Sets the operating current, based on the rat

ed current being 100%, fo

motion return-to-home operation.

r push-

ion in the nega

0: Disable 1: Enable

0 to 1000 (1=0.1%) 1000

tive direction.

Related parameters

Parameter name Description Setting range Initial value JOG travel amount Sets the travel amount for JOG operation. 1 to 8,388,607 step 1 JOG operating speed Sets the operating speed for JOG operation. 1 to 1,000,000 Hz 1000

Acceleration/ deceleration of JOG

JOG starting speed Sets the starting speed fo

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

r JOG operation. 0 to 1,000,000 Hz 500

1 to 1,000,000 (1=0.001 ms/kHz or 1=0.001 s)

1000

STOP input

When the STOP input turns ON, the motor will stop. When the STOP input turns ON while a positioning operation is being performed, the balance of the travel amount will be cleared. See p.93 for stop action.

Related parameters

Parameter name Description Setting range Initial value

0: Immediate stop

STOP input action

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

1: Deceleration stop 2: Immediate stop+current OFF 3: Deceleration stop+current OFF

C-ON input

This signal is used to excite the motor. The motor will be excited when the C-ON input is ON, while the motor will become non-excitation status when the C-ON input is OFF. W

hen an electromagnetic brake motor is used, the electromagnetic brake will be released after the motor is excited.

Note

When the C-ON input is not assigned to the direct I/O or network I/O, this input will always be set to ON. When assigning to both direct I/O and network I/O, the function will be executed when both of them are set to ON.

−50−

2Installationandconnection

Explanation of I/O signals

FREE input

When the FREE input is turned ON, the motor current will be cut off. The motor will lose its holding torque, and the output shaft can be turned manually. When an electromagnetic brake motor is used, the electromagnetic brake will be released.

Note

Do not turn the FREE input ON when driving a vertical load. Since the motor loses its holding torque, the load may drop.

P-PRESET input

This signal is used to set the command position (current position) to the preset position. When the P-PRESET input is turned ON, the command position is set as the value of the "preset position" parameter. (This signal will become effective when turning from OFF to ON) However,

•When an alarm is present

•When the motor is operating

the preset will not execute in the following conditions.

Related parameters

Parameter name Description Setting range Initial value Preset position Sets the preset position.

−

8,388,608 to 8,388,607 step 0

ALM-RST input

When an alarm generates, the motor will stop. When the ALM-RST input is turned from ON to OFF, 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. Note th

at some alarms cannot be reset with the A

LM-RST input. See p.199 for alarm descriptions.

P-CLR input

If the P-CLR input is turned from ON to OFF while an absolute position error alarm is generated, the alarm will be reset (The alarm will be reset at the OFF edge of the P-CLR input). The P-CLR input can reset the absolute position error alarm only.

HMI input

This signal is used to release the function limitation of the When the HMI input is turned ON, the function limitation of the When the HMI input is turned OFF, the function limitation will be imposed. The following functions will be limited to execute.

•I/O test

•Test operation

•Teaching

•Writing, downloading and initializing parameters

Note

When the HMI input is not assigned to the input terminal, this input will always be set to ON. When assigning to both direct I/O and network I/O, the function will be executed when both of them are set to ON.

OPX-2A

MEXE02

OPX-2A

MEXE02

will be released.

2Installationandconnection

−51−

Explanation of I/O signals

OUT-COM

3.4 Output signals

The output signals of the driver are photocoupler/open-collector output.

•Direct I/O ..........I/O for normally open: "ON: Current-carrying", "OFF: Not current-carrying"

•Network I/O ......"ON: 1", "OFF: 0"

I/O for normally closed: "ON: Not current-carrying", "OFF: Current-carrying"

Internal output circuit

ALM output

See p.199 for alarm.

OUT0

OUT1

OUT2

OUT3

OUT4

OUT5

•Direct I/O

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 current will be cut off and the motor will stop. The ALM output is normally closed.

•Network I/O

When an alarm generates, the ALM output will turn ON. At the same time, the ALARM LED of the driver will blink and the motor current will be cut off

and the motor will stop. The ALM output is normally open.

Related parameters

Parameter name Description Setting range Initial value Overload alarm

Overﬂow rotation alarm during current ON

Return-to-home incomplete alarm

Overﬂow rotation alarm during current OFF

Communication timeout

Communication error alarm

Sets the condition in which the overload alarm generates.

Sets the condition under which an excessive position deviation alarm generates when the motor is excited.

Sets the alarm signal status: When the positioning opera position origin has not been set, selects whether the alarm generates or not.

Sets the condition under which an excessive position deviation alarm generates when the motor is in a state of current OFF.

Sets the condition in which a communication timeout occurs in R It is not monitored when the set value is 0.

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.

tion is start

S-485 commu

ed while the

nication.

1 to 300 (1=0.1 s) 50

1 to 30000 (1=0.01 rev)

0: Disable 1: Enable

1 to 30000 (1=0.01 rev)

0 to 10000 ms 0

1 to 10 times 3

300

10000

−52−

2Installationandconnection

Explanation of I/O signals

WNG output

When a warning generates, the WNG output turns ON. See p.204 for warning.

Related parameters

Parameter name Description Setting range Initial value

Overheat warning

Overload warning

Overspeed warning

Overvoltage warning

Undervoltage warning

Overﬂow rotation warning during current ON

Sets the temperature at which a main circuit overheat warning generates.

Sets the condition in which an overload warning generates.

Sets the condition at which an overspeed warning generates.

Sets the voltage at which an ove warning generates.

Sets the voltage at which an undervoltage warning generates.

Sets the condition under which an excessive position deviation warning generates when the motor is in a state of current ON.

rvoltage

40 to 85 °C (104 to 185 °F)

1 to 300 (1=0.1 s) 50

1 to 5000 r/min 4500

150 to 630 (1=0.1 V)

1 to 30000 (1=0.01 rev)

630

180

300

READY output

When the driver becomes ready, the READY output turns ON. Input operating commands to the driver after the READY output has turned ON. The READY output turns ON when all of the following conditions are satisﬁed.

•The driver main power supply is turned ON.

•All inputs which start operation are OFF

•The FREE input is OFF

•The C-ON input is ON (When the C-ON input is assigned)

•The STOP input is OFF

•An alarm is not present.

•The motor is not operating.

•Test opera

•Test function, downloading or teaching function was not performed using the

tion, dow

nloading, initializing or teaching function was not performed using the

MEXE02

•Conﬁguration commands, all data initialization commands and batch non-volatile memory read commands are not executed via RS-485 communication.

OPX-2A

HOME-P output

The HOME-P output turns ON corresponding to the setting of the "HOME-P function selection" parameter.

•When "HOME-P function selection" parameter is set to "home output":

When the command position of the driver is in the home-position while the MOVE output is OFF, the HOME-P output will turn ON. However, the HOME-P output remains OFF when the position origin for the driver has not been set.

•When "HOME-P function selection" parameter is set to "return-to-home complete output":

Regardless of the command position by the driver, if the position origin for the driver is set, the HOME-P output will turn ON. Therefore, it turns ON after completing the return-to-home operation or preset. Once the HOME-P output turns ON, it will not turn OFF until the motor has moved from the position origin. See p.93 for setting the position origin.

•Related parameters

Parameter name Description Setting range Initial value

HOME-P function selection Selects the HOME-P output function.

0: Home output 1: Return-to-home complete output

MOVE output

The MOVE output turns ON while the motor is operating.

Related parameters

Parameter name Description Setting range Initial value

Minimum ON time for MOVE output

Sets the minimum ON time for MOVE output.

0 to 255 ms 0

2Installationandconnection

−53−

Explanation of I/O signals

direction position

END output

When the motor has completed its movement, the END output will turn ON. When the motor was converged in a position of the "position completion signal range" parameter against the command position while the MOVE output is in an OFF status, the END output turns ON.

Related parameters

Parameter name Description Setting range Initial value

Positioning completion signal range

Positioning completion signal offset

TLC output

When the load exceeds the motor torque range, the TLC output will turn ON. When performing push-motion operation, if the load exceeds the torque range calculated from the current ratio of push-motion operation, the TLC output will turn ON. This output can be used for the completion signal of the push-motion operation.

AREA1 to AREA3 output

The AREA output turns ON when the motor is inside the area set by the parameters. It turns ON when the motor is inside the area even when the motor stops.

Sets the output range of the END signal (the motor operation converges within this angular range).

Sets the offset for the END signal (the offset for converging angular range).

0 to 180 (1=0.1°) 18

−

18 to 18 (1=0.1°) 0

•When the "AREA positive direction position" parameter < "AREA negative direction position" parameter

To turn the AREA output ON: Motor position ≤ AREA positive direction position, or Motor position ≥ AREA negative direction position

AREA output

OFF

AREA positive

AREA negative

•When the "AREA positive direction position" parameter > "AREA negative direction position" parameter

To turn the AREA output ON: AREA negative direction position ≤ Motor position ≤ AREA positive direction position

AREA output

OFF

AREA negative

AREA positive

•When the "AREA positive direction position" parameter = "AREA negative direction position" parameter

To turn the AREA output ON: Motor position = AREA negative direction position = AREA positive direction position

Note

When using AREA1 to AREA3 output to conﬁrm the motor position, you can use two types - the command position and the feedback position. AREA1 and AREA2: Command position AREA3: Feedback position (Actual motor position)

•Related parameters

Parameter name Description Setting range Initial value

AREA1 positive direction position

AREA1 negative direction position

AREA2 positive direction position

AREA2 negative direction position

AREA3 positive direction

osition

p AREA3 negative direction

position

Sets the AREA1 positive direction position.

Sets the AREA1 negative direction position.

Sets the AREA2 positive direction position.

Sets the AREA2 negative direction position.

Sets the AREA3 positive direction position.

Sets the AREA3 negative direction position.

− 8,388,608 to 8,388,607 step

−54−

2Installationandconnection

Explanation of I/O signals

TIM output

The TIM output will turn ON every time the motor output shaft rotates by 7.2°. If the command speed is faster than 30 r/min, TIM output will not be output correctly.

Pulse

OFF

1 20 40

When the resolution is set to 1000 P/R

TIM output

Motor operation

Note

OFF

The TIM output is a signal that is output for 50 times per revolution of the motor output shaft.

Motor output shaft

rotation by 7.2°

When the TIM output is used, set the "electronic gear" parameters to be an integral multiple of 50.

S-BSY output

The S-BSY output turns ON while internal processing of the driver is being executed. In the following condition, the driver will be in an internal processing status.

•Issuing maintenance commands via RS-485 communication

Response output

The response output is the output signal that shows the ON/OFF status corresponding to the input signals. The following tables show the correspondence between the input signals and output signals.

Input signal Output signal Input signal Output signal Input signal Output signal

FWD FWD_R MS2 MS2_R M2 M2_R

RVS RVS_R MS3 MS3_R M3 M3_R HOME HOME_R MS4 MS4_R M4 M4_R START START_R MS5 MS5_R M5 M5_R

SSTART SSTART_R FREE FREE_R +LS +LS_R

+JOG +JOG_R C-ON C-ON_R

−

JOG MS0 MS0_R M0 M0_R SLIT SLIT_R MS1 MS1_R M1 M1_R

−

JOG_R STOP STOP_R HOMES HOMES_R

−

LS_R

Note

The response output is the output signal to return the status of the input signal. Therefore, the output signals corresponding to the input signals for motor operation (START_R output etc.) do not show the movement of the motor itself.

2Installationandconnection

−55−

Explanation of I/O signals

IN-COM2

3.5 Sensor input

Internal input circuit

+LS input

LS input

HOMES input

SLIT input

4.4 kΩ 1 kΩ

+LS input, −LS input

These signals are input from the applicable limit sensors. The +LS input is for the +side sensor and the −LS input is for the −side sensor.

•Return-to-home operation ....When the +LS or −LS input is detected, perform the return-to-home operation

according to the setting of the "Home-seeking mode" parameter.

•Any other operation .............Detect the hardware over

Related parameters

Parameter name Description Setting range Initial value

Hardware overtravel

Overtravel action

LS contact setting Sets the ±LS input logics.

Sets whether to enable or disable hardware overtravel detection using ±LS inputs.

Sets the motor stop action to take place upon the occurrence of overtravel.

l and stop the motor. See p.93 for hardware overtravel.

trave

0: Disable 1: Enable

0: Immediate stop 1: Deceleration stop

0: Normally open 1: Normally closed

HOMES input

The HOMES input is the input for the mechanical home sensor when setting the "Home-seeking mode" parameter to the 3-sensor mode. See p.79 for return-to-home operation.

Related parameters

Parameter name Description Setting range Initial value

HOMES logic level setting Sets the HOMES input logic.

0: Normally open 1: Normally closed

SLIT input

Connect the SLIT input when using motorized linear slides equipped with a slit. When detecting the home, use of the SLIT input in addition to the HOMES will increase the accuracy of home detection. See p.79 for return-to-home operation.

Related parameters

Parameter name Description Setting range Initial value

SLIT logic level setting Sets the SLIT input logic.

0: Normally open 1: Normally closed

−56−

2Installationandconnection

3.6 General signals (R0 to R15)

R0 to R15 are general signals that enable control via RS-485 communication. Using R0 to R15, I/O signals for the external device can be controlled by the master controller via the driver. The direct I/O of the driver can be used as an I/O unit. See the following example for setting of the general signals.

•When outputting the signals from the master controller to the external device

Assign the general signal R0 to the OUT0 output and NET-IN0. When setting the NET-IN0 to 1, the OUT0 output turns ON. When setting the NET-IN0 to 0, the OUT0 output turns OFF.

•When inputting the output of the external device to the master controller

Assign the general signal R1 to the IN7 input and NET-OUT15. When turning the IN7 input ON by the external device, the NET-OUT15 becomes 1. When turning the IN7 input OFF, the NET-OUT15 becomes 0. The logic level of the IN7 input can be set using "IN7 logic level setting" parameter.

Explanation of I/O signals

RS-485 communicationDirect I/O

I/O

Driver

Switch

Sensor

etc.

R0 (OUT0)

I/O R1 (IN7)

RS-485 communication

R0 (NET-IN0)

Master controller

RS-485 communication R1 (NET-OUT15)

2Installationandconnection

−57−

−58−

2Installationandconnection

3 Operation type and

setting

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

Table of contents

1 Adjustment and setting ................... 60

1.1 Resolution .............................................60

1.2 Operating current ..................................61

1.3 Standstill current ...................................61

1.4 Acceleration/deceleration rate and

acceleration/deceleration time...............61

1.5 Smooth drive .....................................

1.6 Speed ﬁlter ............................................ 62

1.7 Moving average ﬁlter .............................63

1.8 Speed error gain ...................................63

1.9 Control mode .........................................63

1.10 Position loop gain, speed loop gain,

speed loop integral time constant..........64

1.11 Absolute-position backup system ..........64

....6

2 Operation .......................................... 65

2.1 Positioning operation .............................66

Operation data ...................................................66

Starting method of positioning operation .........67

Operation function; Single-motion ...................71

Operation function; Linked-motion

operation ...........................................................72

Operation function; Linked-motion

operation2 ........................

Operation function; Push-motion operation ......75

2.2 Return-to-home operation ..................... 79

Additional function ...........................................79

Parameters related to return-to-home

operation ...........................................................80

.................................7

Operation sequence ...........................................81

Position preset

2.3 Continuous operation ............................ 86

Operation data ...................................................86

Starting method of continuous operation ..........87

Variable speed operation ...................................89

2.4 Other operation .....................................91

JOG operation ...................................................91

Test operation ....................................................92

Automatic return operation ...............................92

Stop operation ...................................................93

Position coordinate management ......................93

Wrap function ...................................................94

..................................................86

3 Operation data .................................. 96

4 Parameter .......................................... 97

4.1 Parameter list ........................................ 97

4.2 I/O parameter ........................................ 98

4.3 Motor parameter ....................................99

4.4 Operation parameter ........................... 100

4.5 Return-to-home parameter ..................100

4.6 Alarm/warning parameter ....................101

4.7 Coordination parameter ......................101

4.8 Common parameter ............................101

4.10 I/O function [RS-485] parameter ........103

4.11 Communication parameter .................. 104

/O function parameter ........................102

9 I

Adjustment and setting

1 Adjustment and setting

This chapter explains how to adjust/set the motor and driver functions. When a parameter is changed, the timing the new value becomes effective varies depending on the parameter. See p.97 for details.

1.1 Resolution

When the "electronic gear A" and "electronic gear B" parameters are set, the resolution per one rotation of the motor output shaft can be set. Note that the calculated value must fall within the setting range speciﬁed below Resolution setting range: 100 to 10000 P/R

Resolution = 1000 ×

Electronic gear B Electronic gear A

Related parameters

Parameter name Description Setting range Initial value Electronic gear A Sets the denominator of electric gear Electronic gear B Sets the numerator of electric gear

Note

•If the value outside of the setting range is set, the "electronic gear setting error warning" will generate. If the power is cycled or the conﬁguration is executed while the "electronic gear setting error warning" is present, an "electronic gear setting error alarm" will generate.

•If the resolution was changed while the absolute-position backup system was in enable status, perform the return-t

•When the TIM output is used, set the “electronic gear” parameters to be an integral multiple of

50.

o-home opera

tion or P-PRESET input.

1 to 65535 1

Calculation of electronic gear A and B

Calculation of electronic gear A and B is explained with examples of a ball screw and rotary table.

•Example: Ball screw

Ball screw lead: 12 mm (0.47 in.) Minimum travel amount: 0.01 mm (0.000394 in.) Gear ratio: 1 (No speed reduction mechanism between the motor and ball screw

Resolution = 1000 ×

In this example: 1000 ×

Result:

Electronic gear B Electronic gear A

Ball screw lead

Minimum travel amount

12 mm

0.01 mm

× 1

× Gear ratio

)

−60−

Therefore, the electronic gear A and B are 10 and 12 respectively, and the resolution will be 1200 P/R.

•Example: Rotary table

Step angle per one rotation: 360 Minimum step angle: 0.01 Gear ratio: 10 [Using the geared motor (gear ratio 10:1)]

Resolution = 1000 ×

Result:

Therefore, the electronic gear A and B are 10 and 36 respectively, and the resolution will be 3600 P/R.

Electronic gear B Electronic gear A

Minimum step angle

Step angle per one rotation

360˚

0.01˚

×In this example: 1000 ×

× Gear ratio

3Operationtypeandsetting

1.2 Operating current

The maximum driver operating current can be changed using the "RUN 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 parameters

Parameter name Description Setting range Initial value

RUN current

Note

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.

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

1.3 Standstill current

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 "STOP current" is multiplied by the rated current (

100%). The standstill current does not change even when the "RUN current" parameter has been changed.

Related parameters

Parameter name Description Setting range Initial value

STOP current

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

Adjustment and setting

0 to 1000 (1=0.1%) 1000

0 to 500 (1=0.1%) 500

1.4 Acceleration/deceleration rate and acceleration/deceleration time

Acceleration/deceleration unit

Set the acceleration/deceleration unit using the "acceleration/deceleration unit" parameter. Acceleration/deceleration rate (ms/kHz) or acceleration/deceleration time (s) can be set.

• When setting with [ms/kHz] • When setting with [s]

Speed [Hz] Speed [Hz]

TA TD

Time [s] Time [s]

TA TD

Related parameter

Parameter name Description Setting range Initial value

Acceleration/deceleration unit Sets the acceleration/deceleration unit.

0: ms/kHz 1: s

Common setting and separate setting of the acceleration/deceleration

The acceleration/deceleration for positioning operation or 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. Commo

Note

he setting of the "common acceleration" and "common deceleration" parameter will be followed.

n: T

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

•See p.89 for the acceleration/deceleration when performing variable speed operation.

VS: Starting speed VR: Operating speed TA: Acceleration TD: Deceleration

Related parameter

Parameter name Description Setting range Initial value

Acceleration/ deceleration type

Sets whether to use the common acceleration/ deceleration or the acceleration/deceleration speciﬁed for the operation data.

0: Common 1: Separate

3Operationtypeandsetting

−61−

Adjustment and setting

1.5 Smooth drive

You can achieve lower vibration and smoother movement using the smooth drive function. You may feel vibration in the low speed range when this function is set to "disable." Set the function to "enable" under normal conditions of use.

Related parameter

Parameter name Description Setting range Initial value

Smooth drive Sets whether to enable or disable smooth drive.

1.6 Speed lter

The motor response can be adjusted by setting the "speed ﬁlter" parameter when selecting the "speed ﬁlter" with the "ﬁlter selection" parameter. When the speed ﬁlter level is raised, vibration can be suppressed during low-speed operation, and starting/stopping of the

motor will become smooth. Note, how

with commands. Set an appropriate value according to the speciﬁc load and purpose.

Related parameter

Parameter name Description Setting range Initial value Filter selection Speed ﬁlter Adjusts the motor response. 0 to 200 ms 1

ever, that an excessively high ﬁlter level will result in lower synchronicity

Sets the ﬁlter function to adjust the motor response.

0: Disable 1: Enable

0: Speed ﬁlter 1: Moving average ﬁlter

• When the "speed filter" parameter is set to 0 ms.

Setting speed

Note

When setting the value of the "speed ﬁlter" parameter to "0," this function will be invalid.

Motor speed

MOVE output END output

• When the "speed filter" parameter is set to 200 ms.

Setting speed

Motor speed

MOVE output END output

−62−

3Operationtypeandsetting

1.7 Moving average lter

The motor response can be adjusted when setting the "Filter selection" parameter to "moving average ﬁlter" and setting the value for the "moving average time" parameter. The positioning time can be shortened by suppressing the residual vibration for the positioning operation. Optimum value for the "moving average time" parameter varies depending on the load or operation condition. Set a suitable

Related parameter

Parameter name Description Setting range Initial value

Filter selection

Moving average time

lue based on the load or application.

Sets the ﬁlter function to adjust the motor response.

Sets the time constant for the moving average ﬁlter.

Adjustment and setting

0: Speed ﬁlter 1: Moving average ﬁlter

1 to 200 ms 1

When the "moving average time"

parameter is not used.

Setting speed

Rectangular

operation

Trapezoidal

operation

Motor speed MOVE output

END output END output

Setting speed

Motor speed MOVE output

END output END output

When the "moving average time"

parameter is set to 200 ms.

Setting speed

Motor speed MOVE output

200 ms200 ms

Setting speed

Motor speed MOVE output

200 ms200 ms

1.8 Speed error gain

The speed error gain is used to suppress vibration while the motor is operating or accelerating/decelerating.

Related parameter

Parameter name Description Setting range Initial value Speed error gain 1 Adjusts vibration during constant speed operation. Speed error gain 2 Adjusts vibration during acceleration/deceleration.

1.9 Control mode

The driver operates in one of two control modes: the normal mode, and the current control mode. If noise is heard during high-speed operation or there is notable vibration, it may be effective to switch to the current control mode. N

ote, however, that a slight delay may occur in the current control mode, compared to the normal mode, depending

on the condition of the load. Keep the driver in the normal mode during normal conditions of use.

Related parameter

Parameter name Description Setting range Initial value Control mode Sets the control mode.

0: Normal mode 1: Current control mode

3Operationtypeandsetting

0 to 500 45

−63−

Adjustment and setting

1.10 Position loop gain, speed loop gain, speed loop integral time constant

These items are effective in the current control mode. Vibration that occurs while the motor is accelerating/decelerating or at standstill can be adjusted to an optimal value. (The optimal value varies depending on the equipment and operating conditions.)

Related parameter

Parameter name Description Setting range Initial value

This adjusts the motor response in reaction to the position deviation. When this value is increased, the

Position loop gain

Speed loop gain

Speed loop integral time constant

deviation between the command position and actual position will be small. An excessively high value may increase the motor overshooting or cause motor hunting.

This adjusts the motor response in reaction

peed deviation. When this value is increased, the

s deviation between the command speed and actual speed will be small. An excessively high value may increase the motor overshooting or cause motor hunting.

This decreases the deviation that cannot be adjusted with the speed loop gain. An excessively high value may slow the motor response. On the ot

cessively low value may cause motor hunting.

to the

her hand, an

1 to 50 10

10 to 200 180

100 to 2000 (1=0.1 ms)

1000

1.11 Absolute-position backup system

This product can be used in the absolute-position backup mode when connecting an accessory battery set (sold separately). Since the absolute position can be kept during an electrical outage or after turning off the power, the return-to-home operation is not required when the power is turned on. Refer to p.9-4 for accessory.

Related parameter

Parameter name Description Setting range Initial value

Absolute-position backup system

Setting of the absolute-position backup system

1. Turn off the driver power, and then connect the battery to the battery connector (CN4).

2. Turn on the driver power.

3. Set the "absolute-position backup system" parameter to "enable."

4. Turn off the driver power, and then turn

5. Since the "absolute position error alarm" generates at this time, reset the alarm with reference to p.201.

6. Perform the return-to-home operation or P-PRESET input.

Note

•Do not turn off the driver power before the return-to-home operation or P-PRESET input is completed. The "absolute position error alarm" may generate when turning on the power next time.

•Even when the absolute-position backup system is used, the absolute position may be lost if the motor cable is disconnected. If this occurs, turn off the power and disconnect the battery, and then set up again

Sets whether to enable or disable the absoluteposition backup system.

on again.

llowing above steps.

0: Disable 1: Enable

BAT01B

−64−

Specication of the absolute-position backup system

Data retention period Charging time 32 hours [At an ambient temperature of 20 °C (68 °F)]

Operation range of multi-rotation

15 days [At an ambient temperature of 20 °C (68 °F), fully charged, motor standstill]

−

167,772 to +167,772 revolutions

3Operationtypeandsetting

2 Operation

This chapter explains the types of operation and timing charts.

Operation

[Setting by operation data and parameters]

Operating function

• Single-motion operation

Speed

Operation data No.0

Starting

command

• Linked-motion operation 2

Speed

Operation data No.0

Starting

command

Operation data No.1

Dwell time

Operation data No.1

Positioning operation

• Linked-motion operation

Speed

Time

Starting

command

• Push-motion operation

Speed

Starting

command

Operation data No.0

Operation data No.1

Time

Starting method

• Data number selecting operation

• Direct positioning operation

• Sequential positioning

operation

Operation

• 3-sensor mode

LS +LSHOMES

Motor operation

M0 to M5 input

FWD input

RVS input

Function

[Setting by parameters]

• I/O

Input logic level STOP input action Overtravel action

• I/O function

Input function Input logic level Output function

Return-to-home operation

• 2-sensor mode

LS +LS

• Push mode • Position preset

side

mechanical end

+ side

mechanical end

Continuous operation Other operations

• JOG operation

• Automatic return operation

• Return-to-home function

Home position offset External sensor signal detection Return-to-home speed Return-to-home starting direction

• Coordination setting

Resolution (Electronic gear) Wrap function Motor rotation direction

• Motor function

Operating current Standstill current Speed filter Moving average filter

• I/O function (RS-485)

Input function Output function

Time

• Operation function

Acceleration/deceleration type Acceleration/deceleration unit JOG operation Automatic return operation

• Alarm/warning

Alarm detection Warning detection

3Operationtypeandsetting

−65−

Operation

Time

2.1 Positioning operation

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 posi

he operation function can also be set in operation data. The operation function is how to operate consecutive

T operation data (example: operation data No.0, No.1, No.2).

Operation data

The following data are the operation data for positioning operation.

Name Description Setting range Initial value

Position

Operating speed

Acceleration

Deceleration

Operation mode

Operation function

Dwell time

Push current

Sequential positioning

* For the driver which is before the speciﬁcation change, the setting range is 0 to 500 (1=0.1%). Refer to p.5 for details.

•Position, 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 set under the applicable operation data No. will be followed. (Each 64 data for acceleration and deceleration) Common: The setting of the "common acceleration" and "common deceleration" parameter will be followed. (Each 1 data for acceleration and deceleration)

Sets the position (distance) for positioning operation.

Sets the operating speed in positioning operation.

Sets the acceleration rate or time in positioning operation.

Sets the deceleration rate or time in positioni

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

Selects how to operate consecutive operation data.

Sets the dwell time to be used in linkedmotion operation2.

Sets the current operation.

Sets whether to enable or disable sequential positioning operation.

ng opera

tion approaches, and ﬁnally comes to a stop.

tion.

lue of push-motion

−

8,388,608 to

+8,388,607 step 0 to 1,000,000 Hz 1000

1 to 1,000,000 (1=0.001 ms/kHz or 1=0.001 s)

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

0: Single-motion 1: Linked-motion 2: Linked-motion 2 3: Push-motion

0 to 50000 (1=0.001 s) 0

0 to 1000 (1=0.1%) 0: Disable

1: Enable

∗

1000

200

−66−

When the starting speed < operating speed

When the starting speed ≥ operating speed

3Operationtypeandsetting

Speed

Operating speed

Starting speed

Speed

Starting speed

Operating speed

Acceleration rate

Deceleration

Travel amount

rate

•Operation modes

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 1000 and setting the destination to +3000 and −3000

3000

Home

Travel amount

4000

Starting point

1000

Travel amount

2000

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 1000 and setting the destination to +3000 and −3000

2000

Home

Travel amount

3000

Starting point

1000

Travel amount

3000

•Operation function, Dwell time

The following four operation function are available:

Name Description Ref.

Single-motion A single operation data set is executed. p.71

Linked-motion

Linked-motion2

Push-motion

Multiple sets of operation data are linked to perform multi-variable speed operation

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

This is an operation of continuously applying pressure o a

gainst the load during positioning operation.

n the load when pressing

Operation

3000

4000

p.72

p.73

p.75

Starting method of positioning operation

The following three types are available in the starting method.

Name Description

Data number selecting operation

Direct positioning operation

Sequential positioning operation

•Data number selecting operation

Select an operation data based on a combination of ON/OFF status of the M0 to M5 inputs. See p.48 for details.

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.

When any of the MS0 to MS5 inputs is turned ON, the positioning operation corresponding to the input data No. will perform.

Positioning operation is perfo SSTART input signal is input.

Operation data No. M5 M4 M3 M2 M1 M0

rmed to the next operation data No. every time a

0 OFF OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF 2 OFF OFF OFF OFF

·

61 62 63

OFF

·

ON ON ON ON

ON ON ON ON ON

ON ON ON ON ON ON

·

OFF

·

3Operationtypeandsetting

−67−

Operation

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 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.

No.1

Motor operation

M0 to M5 input

START input

READY output

MOVE output

END output

∗

No.0 No.1

OFF

∗

OFF

* In direct I/O, turn the START input ON after setting the M0 to M5 inputs. In network I/O, the operation will be performed

even when turning the M0 to M5 inputs and the START input ON simultaneously.

•Direct positioning operation

When any of the MS0 to MS5 inputs is turned ON, the positioning operation corresponding to the input data No. will perform. Since the positioning operation is enabled by turning any

of the MS0 to MS5 inputs ON, you can save the step of selecting the operation data No. The operation data assigning to the MS0 to MS5 inputs will be set by parameters.

Related parameters

Parameter name Description Setting range Initial value

MS0 operation No. selection

0 MS1 operation No. selection 1 MS2 operation No. selection 2 MS3 operation No. selection 3

Sets the operation data No. corresponding to MS0 to MS5 input.

0 to 63

MS4 operation No. selection 4 MS5 operation No. selection 5

Operating method

1） Check the READY output is ON. 2） Turn the MS0 input ON. 3） The motor starts positioning operation. 4

） Check that the READY output has been turned OFF and turn the MS0 input OFF.

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

−68−

Motor operation

MS0 input

READY output

MOVE output

END output

OFF

Operation data No.

corresponding to the MS0 input

3Operationtypeandsetting

Operation

•Sequential positioning operation

In sequential positioning operation, whenever turning the SSTART input ON, the positioning operation for the following operation data No. will be performed. This function is useful when multiple positioning operations must be performed sequentially, because there is no need to select each data number. When the “sequential positioning” of operation data is executed

eturns to the original data No. that was selected before starting the sequential positioning operation. And the

up to the data No. set to "disable", the operation

sequential positioning operation will start again. If the starting point for the sequential positioning operation is changed using the M0 to M5 inputs or the MS0 to MS5 inputs, multiple sequential positioning operations can be set. It i

nient for setting a different operating pattern

s conve

for each component or each process of works.

When the operating pattern is one type

1） The positioning operation for the operation data No.0 is performed by turning the SSTART input ON. 2） After the operation 1) is completed, when turning the SSTART input ON again, the positioning operation

for the operation data No.1 will be performed.

3） After t

he opera

for the operation data No.2 will be performed.

4） After the operation 3) is completed, when turning the SSTART input ON again, the positioning operation

will be performed by returning to the operation data No.0 because the sequential positioning for the operation data No.3 has been set to "disable."

•Setting example Operation data Sequential positioning

tion 2) is completed, when turning the SSTART input ON again, the positioning operation

No.0

EnableNo.1 No.2 No.3 Disable

SSTART =ON

Operation data No.0

SSTART =ON

Operation

data No.1

SSTART =ON

Operation data No.2

SSTART =ON

3Operationtypeandsetting

−69−

Operation

When the operating patterns are multiple

1） After selecting the operation data No.3 that is the starting point for the sequential positioning operation,

the positioning operation will be performed by turning the START input ON.

2） After the operation 1) is completed, when turning the SSTART input ON again, the positioning operation

for the operation data No.4 will be performed.

3） After the operatio

for the operation data No.5 will be performed.

4） After the operation 3) is completed, when turning the SSTART input ON again, the positioning operation

will be performed by returning to the operation data No.3 because the sequential positioning for the operation data No.6 has been set to "disable."

5） After the ope

No.7 and turning the START input ON. 6） The operation data No.7 becomes a starting point for a new sequential positioning operation. 7） After the operation 5) is completed, when turning the SSTART input ON again, the positioning operation

for the operation data No.8 will be performed. 8） When turning the SSTART

will be performed by returning to the operation data No.7 because the sequential positioning for the

operation data No.9 has been set to "disable."

•Setting example Operation data Sequential positioning

No.3

No.5 No.6 Disable No.7 No.8 No.9 Disable

is completed, when turning the SSTART input ON again, the positioning operation

n 2)

tion 4) is completed, the positioning operation is performed by selecting the operation

input ON again after the opera

tion 6) is completed, the positioning operation

EnableNo.4

Enable

M0, M1=ON START=ON

Operation data No.3

SSTART =ON

Operation data No.7

Operation data No.4

M0, M1, M2=ON START=ON

SSTART =ON

Operation data No.8

SSTART =ON

Operation data No.5

SSTART =ON

•Operating method

1） Check the READY output is ON. 2） Turn the SSTART input ON. 3） The motor starts positioning operation. 4） Check that the READY output has been turned OFF and turn the SSTART input OFF. 5） When the positioning operation is completed, the READY output will be turned ON.

Motor operation

SSTART input

READY output

MOVE output

END output

OFF

−70−

3Operationtypeandsetting

Key points about sequential positioning operation

Position50000

When performing any of the following operations while sequential positioning operation is performed, the starting point for sequential positioning will be changed to the operation data No.0. And the current operation data No. is set to "−1".

•When the power supply is turned ON

•When operations other than the positioning operation are performed (ret peration, etc.)

•When an alarm is generated and reset

•When the STOP input is turned ON

•When the command turning the excitation OFF is input (When the FREE input is turned ON or the C-ON input is

turned OFF)

•When the P-PRESET is executed

•When a conﬁguration is executed

Note

Set "enable" the "sequential positioning" even when sequential positioning is performed by the operation data being set to "Linked-motion" or "Linked-motion2" in the "operation function."

Operation function; Single-motion

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

Example of single-motion operation

Operation

data

Position

No.1 5000 5000 1000 1000 INC

Operating

speed

Acceleration Deceleration

Operation

mode

urn-to home operation, continuous

Operation

function

Single-

motion

Dwell

time

Push

current

Not used Not used Not used

Operation

Sequential

positioning

Operation example

Speed

Operating speed of No.1: 5000

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

M0 to M5 input

START input

READY output

MOVE output

END output

∗

No.0 No.1

OFF

∗

OFF

* In direct I/O, turn the START input ON after setting the M0 to M5 inputs. In network I/O, the operation will be performed

even when turning the M0 to M5 inputs and the START input ON simultaneously.

3Operationtypeandsetting

−71−

Operation

Position5000 200000

Operation function; Linked-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” or “push-motion” is set, the motor will stop after the positioning with respect to the “single” or “push-motion” operation data is completed. A maximum of 4 operati

Note

•Multiple operation data of different directions cannot be linked. An operation data error alarm will

on data can be linke

generate during operation.

•Up to four sets of operation data can be linked. When combining the linked-motion operation and the linked-motion operation2, make sure the total number of linked operation data sets does not exceed four. When linked-motion operation is performed with ﬁve or more sets data linked together, an operation data error alarm will generate upon start of operation.

•No.0 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 speciﬁed for the operation data No. with w started.

•When the operation data being set to "push-motion" is linked, the push-motion operation is performed at starting speed.

Example of linked-motion operation

Operation

data

No.1 5000 5000 1000 1000 INC

No.2 20000 10000 Not used Not used INC

Position

Operating

speed

Acceleration Deceleration

d. Note that only operation data of the same direction can be linked.

Operation

mode

hich the linke

Operation

function

Linked-

motion

Single-

motion

of opera

tion

d-motion operation is

Dwell

time

Not used Not used Not used

Push

current

Sequential

positioning

Operation example

Speed

Operating speed of No.2: 10000

Operating speed of No.1: 5000

Starting speed: 500

No.1 No.2

−72−

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 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.

Operation

Motor operation

M0 to M5 input

START input

READY output

MOVE output

END output

∗

No.0 No.1

OFF

∗

OFF

No.1 No.2

* In direct I/O, turn the START input ON after setting the M0 to M5 inputs. In network I/O, the operation will be performed

even when turning the M0 to M5 inputs and the START input ON simultaneously.

Operation function; Linked-motion operation2

By setting the “operation function” of operation data to “Linked-motion2,” an operation data whose rotation direction is different can be linked. In this case, the system stops for the dwell time after each positioning operation, and then p

erforms operation according to the next operation data. If operation data includes data for which “single-motion” or “push-motion” is set, the motor will stop after the positioning with respect to the “single” or “push-motion” operation data is completed.

Note

•Up to four sets of operation data can be linked. When combining the linked-motion operation and the linked-motion operation2, make sure the total number of linked operation data sets does not exceed four. When linked-motion operation is performed with ﬁve or more sets of operation data linked together, an operation data error alarm will generate upon start of operation.

•No.0 will not be linked

n when “linked-motion2” is set for data No.63, because the operation

eve

pertaining to No.63 will be processed independently.

Example of linked-motion operation2

Operation

data

Position

No.1 5000 5000 1000 1000 INC

No.2

−

3000 3000 1000 1000 INC

Operating

speed

Acceleration Deceleration

Operation example

Speed

Operating speed of No.1: 5000

Operation data

Operating speed of No.2:

Starting speed: 500

3000

No.1

2000

Operation data

No.2

3Operationtypeandsetting

Operation

mode

Stop for 1000 ms

Operation

function

Linked-

motion2

Single-

motion

Position5000

Dwell

time

Push

current

Sequential

positioning

1000 Not used Not used

0 Not used Not used

−73−

Operation

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 opera

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.

No.1

Motor operation

M0 to M5 input

START input

READY output

MOVE output

END output

∗

No.0 No.1

OFF

∗

OFF

tion for the operation data No.2 will automatically

Dwell time

1000 ms

No.2

5 6

* In direct I/O, turn the START input ON after setting the M0 to M5 inputs. In network I/O, the operation will be performed

even when turning the M0 to M5 inputs and the START input ON simultaneously.

Example of linked-motion operation2; When combining the linked-motion operation and the linked-motion operation2

Operation

data

Position

No.1 5000 3000 1000 1000 INC

No.2 10000 5000 Not used Not used INC

No.3 25000 7000 Not used Not used INC

No.4 0 7000 1000 1000 ABS

Operating

speed

Acceleration Deceleration

Operation

mode

Operation

function

Linked-

motion

Linked-

motion

Linked-

motion2

Singlemotion

Operation example

Speed

Operating speed of No.3: 7000 Operating speed of No.2: 5000 Operating speed of No.1: 3000

Starting speed: 500

No.1 No.2 No.3

Dwell

time

Push

current

Sequential

positioning

Not used Not used Not used

1000 Not used Not used

Not used Not used Not used

Stop for 1000 ms

Position5000 40000150000

−74−

Operating speed of No.4:

7000

3Operationtypeandsetting

No.4

Operation

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 turn

） 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.

Dwell time

1000 ms

ed OFF.

Motor operation

M0 to M5 input

START input

READY output

MOVE output

END output

∗

No.0 No.1

OFF

∗

OFF

No.1 No.2 No.3

No.4

5 6

* In direct I/O, turn the START input ON after setting the M0 to M5 inputs. In network I/O, the operation will be performed

even when turning the M0 to M5 inputs and the START input ON simultaneously.

Operation function; Push-motion operation

When the "operation function" is set to "push-motion," the motor performs an operation of continuously applying pressure on the load when pressing against the load. In push-motion operation, the motor performs constant speed operation at the operating speed of the selected o

peration data No. but the acceleration/deceleration will not be applied. The motor becomes "push-motion" status when pressing against the load, and the TLC output and READY output are turned ON. The set current value of push-motion operation is applied to the motor current. When the operation was completed with non-push-mo output are turned ON. The set current of push-motion operation is applied to the motor current at standstill. When the STOP input is turned ON, the motor stops, and the END output and READY output are turned ON. The STOP current is applied to the motor current at standstill.

Note

•Regardless of resolution, the maximum speed of push-motion operation is 500 r/min. If the push-motion operation is started by setting higher speed than 500 r/min, an operation data error alarm will generate. For the driver which is before the speciﬁcation change, the maximum speed of push-motion operation is 30 r/min. Refer to p.6 for details.

•If push-motion operation is performed for long per the push current, note that the driver may generate a large amount of heat.

•Do not perform push-motion operation with geared types. Doing so may cause damage to the motor or gear part.

tion status, the motor stops, and the END output and READY

iods of time while a high current va

lue is set in

3Operationtypeandsetting

−75−

Operation

Position

50000

Example of push-motion operation

Operation

data

Position

No.1 5000 500 Not used Not used INC

Operating

speed

Acceleration Deceleration

Operation example (when it had pressed against the load)

Operation

mode

Operation

function

Push-

motion

Dwell

time

Push

current

Sequential

positioning

Not used 500 Not used

Speed

Operating speed of No.1: 500

Push-motion status

Operation data

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 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 motor becomes "push-motion" status, the TLC output will be turned ON and then the READY

output

will be turn

Motor operation

M0 to M5 input

START input

READY output

MOVE output

END output

TLC output

ed ON.

∗

No.0 No.1

OFF

∗

OFF

No.1

Push-motion status

−76−

* In direct I/O, turn the START input ON after setting the M0 to M5 inputs. In network I/O, the operation will be performed

even when turning the M0 to M5 inputs and the START input ON simultaneously.

3Operationtypeandsetting

Position50000

Operation

Operation example (when it had not pressed against the load)

Speed

Operating speed of No.1: 500

Operation data

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 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 motor reaches to the target position, the operation will be stopped and the READY output will

ed ON. Since the motor did not become "push-motion" status, the TLC output remains OFF.

e turn

No.1

Motor operation

M0 to M5 input

START input

READY output

MOVE output

END output

TLC output

∗

No.0 No.1

OFF

∗

OFF

* In direct I/O, turn the START input ON after setting the M0 to M5 inputs. In network I/O, the operation will be performed

even when turning the M0 to M5 inputs and the START input ON simultaneously.

3Operationtypeandsetting

−77−

Operation

Position5000 100000

Example of push-motion operation; When combining the linked-motion operation and the push-motion operation

Operation

data

Position

No.1 5000 5000 1000 1000 INC

No.2 5000 500 Not used Not used INC

Operating

speed

Acceleration Deceleration

Operation

mode

Operation

function

Linked-

motion

Push-

motion

Operation example

Speed

Operating speed of No.1: 5000

Operating speed of No.2: 500

No.1 No.2

Push-motion status

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 motor becomes "push-motion" status, the TLC output will be turned ON

output will be turned ON.

Dwell

time

Push

current

Sequential

positioning

Not used Not used Not used

Not used 500 Not used

and then the READY

Motor operation

M0 to M5 input

START input

READY output

MOVE output

END output

TLC output

∗

No.0 No.1

OFF

∗

OFF

No.1 No.2

Push-motion status

* In direct I/O, turn the START input ON after setting the M0 to M5 inputs. In network I/O, the operation will be performed

even when turning the M0 to M5 inputs and the START input ON simultaneously.

−78−

3Operationtypeandsetting

2.2 Return-to-home operation

LS HOMES +LS

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 four modes:

Item Description Feature

3-sensor mode

2-sensor mode

Push-mode ∗1

Position preset

*3 Do not perform push-mode return-to-home operation for geared motors. *4 It moves 200 steps regardless of resolution. Therefore, the actual travel distance may vary according to resolution. *5 In the case

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

∗

The motor operates at the "starting speed of home-seeking." When the moving part f

echanical stopper etc., the motor will rotates in the reverse

m direction. After reversing, 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, th "preset position" parameter. The home position can be set to any position.

of a rotating mechanism, eve

e command position will be the va

•3 external sensors are needed ∗3

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

•2 external sensors are

the motor will rotate in

or the motor is pressed against a

lue of the

n when using one external sensor, the home position can be detected.

needed

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

•No external sensor is needed

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

•No external sensor is needed

•The home position can be set to any position.

Operation

Additional function

Item

Home offset Possible Not possible •Position offset of home-seeking External sensor (signal)

detection Command position after

returning to home

•Home offset

This is a function to perform positioning operation of the offset 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 offset is called "electrical home" in distinction from the usual home position. If the amount of offset from mechanical home is “0,” the mechanical home and electrical home will become the same.

Mechanical home

Offset operation

2-sensor mode 3-sensor mode

Push-mode

Possible Not possible

The position

becomes "0"

Electrical home

Position preset Related parameter

Any position •Preset position

•SLIT detection with home-seeking

•TIM signal detection with home-seeking

Return-to-home operation

•Detecting the external sensor (signal)

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

Note

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

•Command 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

3Operationtypeandsetting

−79−

Operation

Speed

the "preset position" parameter.

Parameters related to return-to-home operation

Name Description Setting range Initial value

Home-seeking mode Set the mode for return-to-home operation.

Operating speed of homeseeking

Acceleration/deceleration of home-seeking

Starting speed of homeseeking

Position offset of homeseeking

Starting direction of homeseeking

SLIT detection with homeseeking

TIM signal detection with home-seeking

Sets the operating speed for return-to-home 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 offset from mechanical home.

Sets the starting direction for home detection.

Sets whether o S

LIT input for return-to-home operation.

r not to concurrently use the

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

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

2: Push-mode 1 to 1,000,000 Hz 1000 1 to 1,000,000

(1=0.001 ms/kH

=0.001 s)

z or

1000

1 to 1,000,000 Hz 500

−

8,388,608 to

8,388,607 step 0: Negative direction

1: Positive direction

0: Disable 1: Enable

•Operation example (when using 3-sensor mode) Operating sequence in seeing a time axis

Operating speed of home-seeking

Starting speed

of home-seeking

Starting speed

of home-seeking

HOMES input

OFF

Acceleration/deceleration

of home-seeking

Mechanical home

Electrical home

Time

Operating sequence in seeing a travel amount

Speed

Operating speed of home-seeking

Starting speed

of home-seeking

Starting position

HOMES input

Electrical home

Position0

Mechanical home

−80−

3Operationtypeandsetting

•Operating 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

Operation

HOME input

READY output

MOVE output

END output

HOME-P output

HOMES input

OFF

Operation sequence

•3-sensor mode

Starting position of

return-to-home operation

+LS

HOMES

Between HOMES and -LS

Between HOMES and +LS

•Explanation of labels 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)

- - - Broken line indicates a home offset move.

Starting direction of return-to-home

operation: Positive side

LS +LS

+ side

side

LS +LSHOMES

+ side

side

LS +LSHOMES

+ side

side

LS +LSHOMES

+ side

side

LS +LSHOMES

+ side

side

HOMES

Starting direction of return-to-home

operation: Negative side

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

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

−81−

Operation

LS +LSHOMES

SLIT

OFF

SLIT

OFF

LS +LSHOMES

TIM

OFF

TIM

OFF

LS +LSHOMES

SLIT input

TIM signal

SLIT input and TIM signal

LS +LSHOMES

TIM

OFF

TIM

OFF

SLIT

OFF

SLIT

OFF

LS +LSHOMES

Signal type

Starting direction of return-to-home

operation: Positive side

Starting direction of return-to-home

operation: Negative side

+ side

side

+ side

side

+ side

side

+ side

side

+ side

side

+ side

side

When concurrently using the SLIT input and/or TIM signal

After the HOME sensor is detected, the operation will continue until the external sensor (signal) will be detected. If the external sensor (signal) is detected while the HOME sensor is ON, the return-to-home operation will complete.

−82−

3Operationtypeandsetting

Operation

Signal type

SLIT input

TIM signal

SLIT input and

TIM signal

LS +LS

SLIT

OFF

SLIT

OFF

LS +LS

SLIT

OFF

SLIT

OFF

LS +LS

TIM

OFF

TIM

OFF

TIM

OFF

TIM

OFF

Starting direction of return-to-home

operation: Positive side

Starting direction of return-to-home

operation: Negative side

+ side

side

+ side

side

+ side

side

+ side

side

+ side

side

+ side

side

∗

•2-sensor mode

•Explanation of labels 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)

- - - Broken line indicates a home offset move.

Starting position of

return-to-home operation

+LS

Between -LS and +LS

Starting direction of return-to-home

operation: Positive side

LS +LS

+ side

side

LS +LS

∗

+ side

side

LS +LS

∗

+ side

side

∗

Starting direction of return-to-home

operation: Negative side

LS +LS

VR VS

VS VR

VR VS

VS VR

VR VS

VS VR

+ side

side

+ side

side

+ side

side

∗

LS +LS

∗

LS +LS

∗

VR VS

VS VR

VR VS

VS VR

VR VS

VS VR

* After pulling out of the limit sensor, the motor will move 200 steps.

When concurrently using the SLIT input and/or TIM signal

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 once. T continue until the external sensor (signal) will be detected. When the external sensor (signal) is detected, return-to-home operation will complete.

hen, the motor operation will

3Operationtypeandsetting

* After pulling out of the limit sensor, the motor will move 200 steps.

−83−

Operation

•Push-mode

•Explanation of labels 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)

- - - Broken line indicates a home offset move.

Starting position of

return-to-home operation

side

mechanical end

+ side

mechanical end

Between

mechanical ends

Starting direction of return-to-home

operation: Positive side

side

mechanical end

+ side

mechanical end

+ side

side

mechanical end

∗

+ side

mechanical end

+ side

side

mechanical end

∗

+ side

mechanical end

+ side

VR VS

VS VR

VR VS

VS VR

VR VS

Starting direction of return-to-home

operation: Negative side

side

mechanical end

side

∗

side

+ side

mechanical end

side

∗

side

+ side

mechanical end

+ side

∗

+ side

mechanical end

+ side

mechanical end

+ side

mechanical end

VR VS

VS VR

VR VS

VS VR

VR VS

Note

side

∗

side

VS VR

* The motor will move 200 steps from the mechanical end.

•The maximum speed for the push-mode is 30 r/min on the motor output shaft regardless of resolution. Starting return-to-home operation with setting faster speed than 30 r/min may cause damage to the motor or gear part.

•Do not perform push-mode return-to-home operation for geared motors. Doing so may cause damage to the motor or gear part.

−84−

3Operationtypeandsetting

Operation

Signal type

SLIT input

TIM signal

Between SLIT input

and TIM signal

SLIT

OFF

SLIT

OFF

SLIT

OFF

SLIT

OFF

TIM

OFF

TIM

OFF

TIM

OFF

TIM

OFF

side

mechanical end

+ side

mechanical end

side

mechanical end

+ side

mechanical end

side

mechanical end

+ side

mechanical end

side

mechanical end

+ side

mechanical end

side

mechanical end

+ side

mechanical end

side

mechanical end

+ side

mechanical end

+ side

side

+ side

side

+ side

side

+ side

side

+ side

side

+ side

side

∗

Starting direction of return-to-home

operation: Positive side

Starting direction of return-to-home

operation: Negative side

When concurrently using the SLIT input and/or TIM signal

When the moving part for the motor is pressed against a mechanical stopper etc., the motor will rotates in the reverse direction. After reversing, the motor will move 200 steps and stop once. Then, the motor operation will continue until the external sensor (signal) will be detected. When the external sensor (signal) is detected, return-to-ho

me operation will complete.

Note

•The maximum speed for the push-mode is 500 r/min on the motor output shaft regardless of resolution. Starting return-to-home operation with setting faster speed than 500 r/min may cause damage to the motor.

•Do not perform push-mode return-to-home operation for geared motors. Doing so may cause damage to the motor or gear part.

* The motor will move 200 steps from the mechanical end.

3Operationtypeandsetting

−85−

Operation

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 parameters

Parameter name Description Setting range Initial value

Preset position Sets the preset position.

•Operating 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

Command position Preset position

OFF

−

8,388,608 to 8,388,607 step 0

2.3 Continuous operation

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 speciﬁed by the new operation data No. When the FWD or RVS input is turned OFF, the motor will decelerate t

urned 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 1,000,000 Hz 1000 Acceleration

Deceleration

Sets the acceleration rate or time in continuous operation.

Sets the deceleration rate or time in continuous operation.

to a stop. If the signal of the same direction is

1 to 1,000,000 (1=0.001 ms/kHz or 1=0.001 s)

1000

−86−

3Operationtypeandsetting

Operation

Speed

Operating speed

Operation data

Starting speed

Operating speed

FWD input

RVS input

OFF

No.0

Time

Operation data

No.0

* 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 64 data for acceleration and deceleration) Common: The setting of the "common acceleration" and "common deceleration" parameter will be follo

or acceleration and deceleration)

wed. (Each 1 data

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.48 for details.

•Operating method

Operation data No. M5 M4 M3 M2 M1 M0

0 OFF OFF OFF OFF OFF OFF

OFF

·

OFF

1 OFF OFF OFF OFF OFF 2 OFF OFF OFF OFF

·

61 62 63

·

ON ON ON ON

OFF

·

ON ON ON ON ON

ON ON ON ON ON ON

·

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.1 by turning the M0 input ON. The motor accelerates to the operating

speed of the operation data No.1.

5） Select the operation data No.0 by turning the M0 input OFF. The motor

decelera

tes to the operating

speed of the operation data No.0. 6） Turn the FWD input OFF. 7） The motor will decelerate to a stop and the READY output will be turned ON.

Motor operation

M0 to M5 input

FWD input

READY output

MOVE output

END output

∗

OFF

∗

OFF

No.0 No.0No.1

No.1No.0 No.0

* In direct I/O, turn the FWD input or RVS input ON after setting the M0 to M5 inputs. In network I/O, the operation will

be performed even when turning the M0 to M5 inputs and the FWD (RVS) input ON simultaneously.

3Operationtypeandsetting

−87−

Operation

•Operating method; When combining the FWD input and RVS input

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） Turn the FWD input OFF. The motor will decelerate. 5） Turn the FWD input ON while the motor is decelerating. The motor acceler

） Turn the FWD input OFF. The motor will decelerate.

6 7） Turn the RVS input ON while the motor is decelerating. The motor will stop once, and start rotating in

the reverse direction. 8） When turning the FWD input ON while the RVS input is ON, the motor will decelerate. 9） The motor will decelerate to a stop and the MOVE output will be turned OFF. 10） When turning both the FWD input and RVS

input OFF,

the READY output will be turned ON.

ates again.

Motor operation

M0 to M5 input

FWD input

RVS input

READY output

MOVE output

END output

∗

OFF

∗

OFF

∗

OFF

No.0 No.0

4 5 6

No.0

* In direct I/O, turn the FWD input or RVS input ON after setting the M0 to M5 inputs. In network I/O, the operation will

be performed even when turning the M0 to M5 inputs and the FWD (RVS) input ON simultaneously.

−88−

3Operationtypeandsetting

Variable speed operation

data No.

•When acceleration/deceleration is "separate"

•Acceleration/deceleration unit: ms/kHz

When accelerating When decelerating

VR2

TA2 TD2

VR1

TA1

VR1

VR2

Operation

TA1 TD2

TD2

FWD input

OFF

Operation

No.1

•Acceleration/deceleration unit: s

When accelerating When decelerating

VR2

VR1

TAR1

FWD input

Operation

OFF

TA1

No.1

•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: Acceleration of operation data No.1 TA2: Acceleration of operation data No.2

FWD input

No.2 No.1

TAR2 TDR2

TA2

TD2 TA1 TD2

No.2 No.1

Operation

FWD input

Operation

TD2: Deceleration of operation data No.2 TAR1: Acceleration rate of operation data No.1 (Hz/s) TAR2: Acceleration rate of operation data No.2 (Hz/s) TDR2: Decelerat

ion ra

te of operation data

No.2 (Hz/s)

OFF

No.2

VR1

TAR1 TDR2

VR2

TDR2

OFF

No.2

•Calculation method for acceleration/deceleration rate

TAR1 = (VR1 − VS)/ TA1 TAR2 = (VR2 − VS)/ TA2 TDR2 = (VR2 − VS)/ TD2

3Operationtypeandsetting

−89−

Operation

data No.

•When acceleration/deceleration is "common"

•Acceleration/deceleration unit: ms/kHz

When accelerating When decelerating

VR1

VR2

OFF

Operation

FWD input

Operation

VR2

VR1

OFF

TAC

TAC TDC

No.1

FWD input

No.2

•Acceleration/deceleration unit: s

When accelerating When decelerating

VR1

VR2

OFF

Operation

FWD input

Operation

VR2

VR1

OFF

TAR2 TDR2

TAR1

TAC TAC

No.1

TAC

TDC TDC

FWD input

No.2 No.1

TAC TDC

No.1

TAR1 TDR2

No.2

TDC

No.2

TDR2

•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 TDC: Common deceleration

TAR1: Acceleration rate of operation data No.1 (Hz/s) TAR2: Acceleration rate of operation data No.2 (Hz/s) TDR1: Deceleration rate of operation data No.1 (Hz/s) TDR2: Deceleration rate of opera N

o.2 (Hz/s)

tion data

•Calculation method for acceleration/deceleration rate

TAR1 = (VR1 − VS)/ TAC TAR2 = (VR2 − VS)/ TAC TDR2 = (VR2 − VS)/ TDC

−90−

3Operationtypeandsetting

2.4 Other operation

JOG operation

JOG operation is a function to perform positioning operation of the travel amount set in the "JOG travel amount" parameter. When the +JOG signal to ON, JOG operation is in the positive direction. When the −JOG signal to ON, JOG operation is in the negative direction. This function is convenient for ﬁne adjustment of the position.

•Related parameters

Acceleration/deceleration rate of JOG

JOG starting speed Sets the starting speed fo

•Operation example

Speed

JOG operating speed

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

r JOG operation. 0 to 1,000,000 Hz 500

1 to 1,000,000 (1=0.001 ms/kHz or 1=0.001 s)

Operation

1000

JOG starting speed

JOG operating speed

+JOG input

JOG input

OFF

JOG travel amount

Time

JOG travel amount

•Operating method

1） Check the READY output is ON. 2） Turn the +JOG input ON. 3） The motor starts positioning operation. 4） Check the READY output has been turned OFF and turn the +JOG input OFF. 5） When the positioning operation is completed, the READY output will be turned ON.

JOG travel amount

Motor operation

+JOG input

READY output

MOVE output

END output

OFF

3Operationtypeandsetting

−91−

Operation

due to external force

Test operation

Test operation is performed using the

OPX-2A

For details, refer to the operating manual for each product.

•JOG operation

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

MEXE02

. JOG operation and teaching function can be performed.

Example: When performing test operation with the

Speed

JOG operating speed

JOG starting speed

Key

1step 1step

Less than1 s 1 s or more

OPX-2A

Time

•Teaching function

This is a function to move the motor using the

OPX-2A

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

Note

Perform teaching function when the position origin is set. See p.3-36 for setting the position origin.

MEXE02

and set the current position as the position (travel

Automatic return operation

When a position deviation occurs by an external force while the motor is in a non-excitation state, the motor can automatically return to the position where the motor last stopped. If the motor is reexcited by turning the C-ON input ON or turning the FREE input OFF, automatic return operation w

ill be exe

•When the main power is turned on

•When the C-ON input is turned from OFF to ON

•When the FREE input is turned from ON to OFF

cuted under the following conditions;

•Related parameters

Parameter name Description Setting range Initial value Automatic return action Operating speed of

automatic return Acceleration/deceleration of

automatic return Starting speed of automatic

return

Sets whether to enable or disable automatic return operation.

Sets the operating speed for automatic return operation.

Sets the acceleration/deceleration rate or time for automatic return operation.

Sets the starting speed for automatic return operation.

0: Disable 1: Enable

1 to 1,000,000 Hz 1000 1 to 1,0

00,000

1=0.001 ms/kHz or

( 1=0.001 s)

0 to 1,000,000 Hz 500

1000

•Example of automatic return operation

C-ON input

Position deviation

Internal speed command

OFF

Position deviation occurs

TR TR

VS: Starting speed of automatic return VR: Operation speed of automatic return TR: Acceleration/deceleration rate of automatic return

−92−

Note

•Automatic return operation will not be executed immediately after turning on the 24 VDC power supply or executing the conﬁguration command.

•If an alarm generates while the motor is in a non-excitation state, the automatic return operation will not executed normally.

3Operationtypeandsetting

Stop operation

OFF

Soft limit

•STOP action

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 ﬁgure to the right.

•Hardware overtravel

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 "ove

parameter to "immediate stop" is shown in the ﬁgure to the right.

•Software overtravel

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 right applies when an operation where a softwa

re limit is to be ex

rtravel action"

ceeded is started.

Speed

Motor operation

STOP input

Speed

Motor operation

±LS input

Speed

Motor operation

Operation

Time

Note

Software overtravel will become effective after the position origin is set. See Position coordinate management for setting the position origin.

•Escape 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)

Position coordinate management

The driver manages the motor position information. If the absolute-position backup system is used connecting an accessory battery set Refer to p.210 for accessories.

•Position origin for the driver When the absolute-position backup system is disabled

The position origin will be set whenever one of the following operations is executed:

•Return-to-home operation

•P-PRESET input is turned ON

When the absolute-position backup system is enabled

When the absolute-position backup system is enabled, once the position origin is set, there is no need to set the position origin again even if the power is turned off. However, if the absolute position error alarm generates, the position origin will be lost. In this case, after clearing the absolute position error alarm by the P-CLR input, set the position origin by executing one of the followings.

•Return-to-home operation

•P-

PRESET input is turned ON

BAT01B

(sold separately), the position information is ke

pt even when the power is turned off.

3Operationtypeandsetting

−93−

Operation

•When the position origin has not been set

If the "return-to-home incomplete alarm" parameter is set to "enable", positioning operations can be prohibited while the position origin has not been set. The return-to-home incomplete alarm will generate if the START input, SSTART input or the MS0 to MS5 inputs are turned ON while the position origin has not been set. See p.199 for alarm.

Related parameters

Parameter name Description Setting range Initial value

Return-to-home incomplete alarm

Sets the alarm signal status: When the positioning operation is started while the position origin has not been set, selects whether the alarm generates or not.

0: Disable 1: Enable

Wrap function

The wrap function is a function that resets the command position or multi-rotation data to 0 whenever the command position exceeds the set va the unidirectional continuous rotation with the absolute-position backup system will be possible. The command position varies in a range of "0 to (wrap setting value−1)."

Related parameters

Parameter name Description Setting range Initial value Wrap setting Wrap setting range Sets the wrap setting range. 1 to 8,388,607 step 1000

lue by the “wrap setting range” parameter. Since the multi-rotation data is also reset to 0,

Sets whether to enable or disable the wrap function.

0: Disable 1: Enable

Note

•When setting the " wrap setting" parameter to "enable", the software overtravel will be disabled. (It is disabled even when setting the "software overtravel" parameter to "enable".)

•If the "wrap setting" parameter or "wrap setting range" parameter is changed while the "absolute-position backup system" parameter is "enable", the absolute position may be lost. Perform return-to-home operation or

the P-PRESET input when the wra

p settings are changed.

•Setting condition of wrap function

Condition 1:

The wrap setting error warning will generate when not meeting these formulas.

Note

Electronic gear B × 1000

Electronic gear A × 50

= An integer

Electronic gear A × 50

Electronic gear B × 1000

= An integerCondition 2: Wrap setting value ×

When not meeting these formulas while the "wrap setting" parameter is "enable", the wrap setting error warning will generate. If the power is turned on again or the conﬁguration is executed while the wrap setting error warning is present, the wrap setting error alarm will generate.

−94−

3Operationtypeandsetting

•Example for wrap function

Example of operation when the positioning operation is performed in the following conditions. Wrap setting range: 3600 Resolution: 1000 P/R (electronic gear A=1, electronic gear B=1) Command position: 900

Operation

Condition 1:

Electronic gear B × 1000

Electronic gear A × 50

1 × 1000

= = 20

1 × 50

Electronic gear A × 50

Electronic gear B × 1000

= 3600 × = 180Condition 2: Wrap setting value ×

1 × 50

1 × 1000

The calculation result of these two formulas is an integer and this meets the setting condition. Following tables are examples when the positioning operation is performed from 900 steps of the command position.

Operation mode: Incremental Operation mode: AbsolutePosition

+1000 900

2700

1900

3500

1800

∆+1000

∆

1000

2700

1800

∆

900

∆+100 1000

1900

1000 900

+5000

5000

2700

2300

3100

2700

1800

∆+5000

5000

∆

900

2700

2600

2700

1800

1400

900

∆+4100

∆

5900

900

1800

3Operationtypeandsetting

2200

1800

−95−

Operation data

3 Operation data

Up to 64 operation data can be set (data Nos.0 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.0 to Position No.63

Operating speed No.0 to Operating speed No.63

Operation mode No.0 to Operation mode No.63

Operation function No.0 to Operation function No.63

Acceleration No.0 to Acceleration No.63

Deceleration No.0 to Deceleration No.63

Push current No.0 to Push current No.63

Sequential positioning No.0 to Sequential positioning No.63

Dwell time No.0 to Dwell time No.63

*1 This item is effective 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:

sepa

rate).

2 Acceleration/deceleration rate (ms/kHz) or acceleration/deceleration time (s) can be selected using "acceleration/

deceleration unit" parameter. (initial value: acceleration/deceleration rate).

*3 For the driver which is before the speciﬁcation change, the setting range is 0 to 500 (1=0.1%). Refer to p.5 for details.

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 p

o incremental mode).

Selects how to operate consecutive operation data.

Sets the acceleration rate or time in positioning operation and continuous

operation. ∗1

Sets the deceleration rate or time in positioning operation and continuous

operation. ∗1 Sets the current value of push-

motion operation.

Sets whether to enable or disable sequential positionin

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

peration (absolute mode or

ositioning

g opera

tion.

−

8,388,608 to

+8,388,607 step

0 to 1,000,000 Hz 1000

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

0: Single-motion 1: Linked-motion 2: Linked-motion 2 3: Push-motion

1 to 1

,000,000

1=0.001 ms/kHz or

( 1=0.001 s) ∗2

0 to 1000 (1=0.1%)

0: Disable 1: Enable

0 to 50000 (1=0.001 s)

∗

1000

200

−96−

3Operationtypeandsetting

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 off. On the other hand, the parameters saved in the non-volatile memory will be retained even after the power supply is turned off. When turning the driver power supply on, the parameters saved in the non-volatile memory will be sent to the RAM. Then, the recalculat

When a parameter is changed, the timing to reﬂect the new value varies depending on the parameter. See the following four types.

•Effective immediately ................................... Executes the recalculation and setup immediately when writing the

•Effective after stopping the operation ........... Executes the recalculation a

ffective after executing the conﬁguration ...Executes the recalculation and setup after executing the conﬁguration.

•E

•Effective after turning the power ON again ..Executes the recalculation and setup after turning the 24 VDC power

Note

•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

I/O parameters (p.3-41)

Motor parameters (p.3-42)

Operation parameters (p.3-42)

Return-to-home parameters (p.3-43)

Alarm/warning parameters (p.3-43)

ion and setup for the parameters are exe

•STOP input action

•Hardware overtravel

•Overtravel action

•Positioning completion signal range

•Positioning completion signal offset

•AREA1 positive direction position

•AREA1 negative direction position

•AREA2 positive direction position

•AREA2 negative direction position

•AREA3 positive direction position

•AREA3 negative direction position

•RUN current

•STOP current

•Position loop gain

•Speed loop gain

•Speed loop integral time constant

•Speed ﬁlter

•Common acceleration

•Common deceleration

•Starting speed

•JOG operating speed

•Acceleration/deceleration rate of JOG

•JOG starting speed

•Home-seeking mode

•Operating speed of home-seeking

•Acceleration/deceleration of home-seeking

•Starting speed of home-seeking

•Position offset of home-seeking

•Overload alarm

•Overﬂow rotation alarm during current on

•Return-to-home incomplete alarm

•Overﬂow rotation alarm during current off

•Overheat warning

parameter.

ON again.

cuted in the RAM.

nd setup after stopping the operation.

•Minimum ON time for MOVE output

•L

S logic level

•HOMES logic level

•SLIT logic level

•MS0 operation No. selection

•MS1 operation No. selection

•MS2 operation No. selection

•MS3 operation No. selection

•MS4 operation No. selection

•MS5 operation No. selection

•HOME-P output function selection

•Mov

ing average time

•Filter selection

•Speed error gain 1

•Speed error gain 2

•Control mode

•Smooth driver

•Acceleration/deceleration type

•Acceleration/deceleration unit

•Automatic return operation

•Operating speed of automatic return

•A

cceleration/deceleration of automatic return

•Starting speed of automatic return

•JOG travel amount

•Starting direction of home-seeking

•SLIT detection with home-seeking

•TIM signal detection with home-seeking

•O

perating current of push-motion home-

seeking

•Overload warning

•Overspeed warning

•Overvoltage warning

•Undervoltage warning

•Overﬂow rotation warning during current on

Parameter

3Operationtypeandsetting

−97−

Parameter

Coordination parameters (p.3-44)

Common parameters (p.3-44)

Communication parameters (p.3-44)

I/O function parameters (p.3-45)

I/O function [RS-485] parameters (p.3-46)

•Electronic gear A

•Electronic gear B

•Motor rotation direction

•Software overtravel

•Data setter speed display

•Data setter edit

•Absolute-position backup system

•Communication timeout

•Communication error

•C

ommunication parity

•IN0 to IN7 input function selection

•IN0 to IN7 input logic level setting

•OUT0 to OUT5 output function selection

•NET-IN0 to NET-IN15 input function selection

•NET-OUT0 to NET-OUT15 output function selection

alarm

•Positive software limit

•Negative software limit

•Preset position

•Wrap setting

•Wrap setting range

•Communication stop bit

•Transmission waiting time

4.2 I/O parameter

Name Description Setting range Initial value Effective

0: Immediate stop 1: Deceleration stop

STOP input action

Hardware overtravel

Overtravel action

Positioning completion signal range

Positioning completion signal offset

AREA1 positive direction pos

ition

AREA1 negative direction position

AREA2 positive direction position

AREA2 negative direction position

AREA3 positive direction position

AREA

3 negative

position Minimum ON time for MOVE

output LS logic level Sets the ±LS input logic.

SLIT logic level Sets the SLIT input logic. MS0 operation No. selection

MS2 operation No. selection

* Indicates the timing for the data to become effective. (A: Effective immediately, B: Effective after stopping the operation, C: Effective

after executing the conﬁguration)

direction

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

Sets whether to enable or disable hardware overtravel detection using ±LS inputs.

Sets the motor action the occurrence of overtravel.

Sets the output range of the END signal (the motor operation converges within this angular range).

Sets the offset for the END signal (the offset for converging angular range).

ets the position of AREA1 positive

direction. Sets the position of AREA1 negative

direction. Sets the position of AREA2 positive

direction. Sets the position of AREA2 negative

direction. Sets the position of AREA3 positive

direction. Sets the position of AREA3 negative

direction. Sets the minimum time during which the

MOVE output remains ON

Sets the operation data No. corresponding to MS0 input.

Sets the operation data No. corresponding to MS1 input.

Sets the operation data No. corresponding to MS2 input.

to take place upon

2: Immediate stop & Current OFF 3: Deceleration stop &Current OFF

0: Disable 1: Enable

0: Immediate stop 1: Deceleration stop

0 to 180 (1=0.1°) 18

−

18 to 18 (1=0.1°) 0

−

8,388,608 to

8,388,607 step

0 to 255 ms 0

0: Normally open 1: Normally closed

to 63

0 CHOMES logic level Sets the HOMES input logic.

BMS1 operation No. selection

∗

−98−

3Operationtypeandsetting

Parameter

Name Description Setting range Initial value Effective

MS3 operation No. selection

MS5 operation No. selection

HOME-P function selection

* Indicates the timing for the data to become effective. (A: Effective immediately, B: Effective after stopping the operation, C: Effective

after executing the conﬁguration)

Sets the operation data No. corresponding to MS3 input.

Sets the operation data No. corresponding to MS4 input.

Sets the operation data No. corresponding to MS5 input.

Sets the timing to output the HOME-P output.

0 to 63

0: Home output 1: Retu

complete output

-to-home

0 A

BMS4 operation No. selection

4.3 Motor parameter

Name Description Setting range Initial value Effective

RUN current

STOP current

Position loop gain

Speed loop gain Speed loop integral time

constant Speed ﬁlter Adjusts the motor response. 0 to 200 ms 1

Moving average time

Filter selection Speed error gain 1 Adjusts vibration during operation. Speed error gain 2

Control mode Sets the control mode of the driver.

Smooth driver

* Indicates the timing for the data to become eff

after executing the conﬁguration)

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%.

Adjusts the motor response in reaction to the position deviation.

djusts the motor response in reaction to

the speed deviation. Decreases the deviation that cannot be

adjusted with the speed loop gain.

Sets the time constant for the moving average ﬁlter.

Sets the ﬁlter function to adjust the

esponse.

Adjusts vibration during acceleration/ deceleration.

Sets whether to enable or disable smooth drive function.

ective. (A: Effective immediately, B: Effective after stopping the operation, C: Effective

motor

0 to 1000 (1=0.1%) 1000

0 to 500 (1=0.1%) 500

1 to 50 10

10 to 200 180

100 to 2000 (1=0.1 ms) 1000

1 to 200 ms 1 0: Speed ﬁlter

1: Moving average ﬁlter

0 to 500 45 A

0: Normal mode 1: Current control mode

0: Disable 1: Enable

0 C

∗

3Operationtypeandsetting

−99−

Parameter

4.4 Operation parameter

Name Description Setting range Initial value Effective ∗1

Common acceleration

Common deceleration

Starting speed

JOG operating speed Sets the operating speed for JOG operation. 1 to 1,000,000 Hz 1000 Acceleration/

deceleration rate of JOG JOG starting speed Sets the sta Acceleration/

deceleration type Acceleration/

deceleration unit Automatic return

operation Operating speed of

automatic return Acceleration/

deceleration of automatic return

Starting speed of automatic return

JOG travel amount Sets the travel amount for JOG operation. 1 to 8,388,607 step 1

*1 Indicates the timing for the data to become effective. (B: Effective after stopping the operation, C: Effective after executing the

conﬁguration)

*2 Acceleration/deceleration rate (ms/kHz) or acceleration/deceleration time (s) can be selected using "acceleration/deceleration unit"

parameter. (initia

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

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

Sets the starting speed in positioning operation and contin operate at the starting speed if the operating speed is below the starting speed.

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

Sets whether to use the common acceleration/ deceleration or the acceleration/deceleration speciﬁed for the operation data.

Sets the acceleration/ deceleration unit. Sets whether to enable or disable automatic

return operation Sets the operating speed for automatic return

operation. Sets the acceleration/deceleration rate or time

for automatic return operation. Sets the starting speed for automatic return

operation.

l va

lue: acceleration/deceleration rate).

uous opera

ing speed for JOG operation. 0 to 1,000,000 Hz 500

tion. The motor will

1 to 1,000,000 (1=0.001 ms/kHz or 1=0.001 s) ∗2

0 to 1,000,000 Hz 500

1 to 1,000,000 (1=0.001 ms/kHz or 1=0.001 s) ∗2

0: Common 1: Separate

0: ms/kHz 1: s

: Disable

0 1: Enable

1 to 1,000,000 Hz 1000 1 to 1,000,000

(1=0.001 ms/kHz or 1=0.001 s) ∗2

0 to 1,000,000 Hz 5

1000

4.5 Return-to-home parameter

Name Description Setting range Initial value Effective ∗1

Home-seeking mode Sets the mode for return-to-home operation.

Operating speed of homeseeking

Acceleration/deceleration of home-seeking

Starting speed of homeseeking

Position offset of homeseeking

Starting direction of homeseeking

SLIT detection with homesee

king

TIM signal detection with home-seeking

Operating current of pushmotion home-seeking

1 Indicates the timing for the data to become effective. (B: Effective after stopping the operation)

*2 Acceleration/deceleration rate (ms/kHz) or acceleration/deceleration time (s) can be selected using "acceleration/deceleration unit"

parameter. (initial value: acceleration/deceleration rate).

Sets the operating speed for return-to-home 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 offset from mechanical home.

Sets the starting direction for home detection.

ets whether or not to concurrently use the

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

TIM signal for return-to-home operation. Sets the operating current for push-motion

return-to-home operation based on the rated current being 100%.

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

1 to 1,000,000 Hz 1000 1 to 1,000,000

(

1=0.001 ms/kHz or

1=0.001 s) ∗2 1 to 1,000,000 Hz 500

− 8,388,608 to 8,388,607 step

0: Negative direction 1: Positive direction

0: Disable 1: Enable

0 to 1000 (1=0.1%)

1000

−

100

−

3Operationtypeandsetting

Orientalmotor AR FLEX DC, MEXE02, OPX-2A User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Introduction

1 Introduction

2 Operating Manuals for the AR Series

3 Overview of the product

5 Safety precautions

6 Precautions for use

8 CE Marking

9 Preparation

9.1 Checking the product

9.2 How to identify the product model

9.3 Combinations of motors and drivers

9.4 Names and functions of parts

1 Installation

1.1 Location for installation

1.2 Installing the motor

1.3 Installing a load

1.4 Permissible radial load and permissible axial load

1.5 Installing the driver

1.6 Installing the battery

1.7 Installing and wiring in compliance with EMC Directive

2 Connection

2.1 Connection example (electromagnetic brake motor)

2.2 Grounding the motor and driver

2.3 Connecting the data setter

2.4 Connecting the RS-485 communication cable

2.5 Connecting and charging the battery

3 Explanation of I/O signals

3.1 Assignment of direct I/O

3.2 Assignment of network I/O

3.3 Input signals

3.4 Output signals

3.5 Sensor input

3.6 General signals (R0 to R15)

1 Adjustment and setting

1.1 Resolution

1.2 Operating current

1.3 Standstill current

1.4 Acceleration/deceleration rate and acceleration/deceleration time

1.5 Smooth drive

1.8 Speed error gain

1.9 Control mode

1.10 Position loop gain, speed loop gain, speed loop integral time constant

1.11 Absolute-position backup system

2 Operation

2.1 Positioning operation

2.2 Return-to-home operation

2.3 Continuous operation

2.4 Other operation

3 Operation data

4 Parameter

4.1 Parameter list

4.2 I/O parameter

4.3 Motor parameter

4.4 Operation parameter

4.5 Return-to-home parameter