SMC Networks JXC731, JXC733, JXC732, JXC734, JXC735 Operation Manual

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Page 1

No.SFOD-OMT0010-B

Product name

4-axis Step Motor Controller

(Parallel I/O type)

MODEL/ Series/ Product Number

JXC73/83 Series

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No.SFOD-OMT0010-B

Contents

1. Safety Instructions ........................................................................ 5

2. Product Outline .............................................................................. 7

2.1 Features ............................................................................................................ 7

2.2 How to Order .................................................................................................. 8

2.3 Product configuration ............................................................................... 9

3. Procedures to Trial run ............................................................... 10

3.1 Checking the contents of the package .......................................... 10

3.2. Mounting the controller ........................................................................ 11

3.3 Install the setting software and the driver ................................... 11

3.4 Wiring and connection ............................................................................ 11

3.5 Power supply, Start-up of controller setting software, and Alarm check 11

(1) Supplying power ................................................................................ 11

(2) Start-up of controller setting software .................................. 12

(3) Alarm check.......................................................................................... 13

3.6 Parameters and Step data ..................................................................... 14

(1) Select the actuator............................................................................ 14

(2) Setting parameters ........................................................................... 17

(3) Step data settings ............................................................................. 19

3.7 Check using JOG operation ................................................................ 20

(1) Change to Remote mode .............................................................. 20

(2) Return to origin .................................................................................. 21

(3) JOG or Inching ................................................................................... 22

3.8 Operation test using Test Drive ......................................................... 23

(1) Test Drive setting .............................................................................. 23

(2) Change to Remote mode .............................................................. 23

(3) Return to origin .................................................................................. 24

(4) Test drive starts ................................................................................. 24

4. Product Specifications ................................................................ 25

4.1 Basic Specifications ................................................................................ 25

4.2 Parts Description ....................................................................................... 26

4.3 Dimensions ................................................................................................... 27

(1) Direct mounting ................................................................................... 27

(2) DIN rail mounting .............................................................................. 27

4.4 Mounting ........................................................................................................ 28

(1) Mounting ................................................................................................ 28

(2) Grounding ............................................................................................. 29

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No.SFOD-OMT0010-B

(3) Mounting location ............................................................................. 30

5. Power supply connector ............................................................. 31

5.1 Connector specifications ...................................................................... 31

(1) Main control power supply connector: C PWR ................. 31

(2) Motor drive power connector: M PWR ................................... 31

(3) Motor control power supply connector: CI ......................... 32

5.2 Wiring ............................................................................................................... 33

(1) Wiring of the power supply connector .................................. 33

(2) Wiring of the stop switch .............................................................. 34

6. Details of parallel I/O connector ................................................. 36

6.1 Parallel I/O specifications ..................................................................... 36

6.2 Parallel I/O circuit (NPN, PNP) ............................................................ 36

(1)Parallel I/O input circuit ................................................................... 36

(2)Parallel I/O output circuit ............................................................... 37

6.3 Parallel I/O signals .................................................................................... 38

(1) I/O1 ............................................................................................................ 39

(2) I/O2 ............................................................................................................ 42

6.4 Parallel I/O Wiring Example.................................................................. 44

(1) NPN type ................................................................................................ 44

(2) PNP type ................................................................................................. 46

7. Setting Data Entry ....................................................................... 48

7.1 Profile parameter ....................................................................................... 48

7.2 Basic parameter ......................................................................................... 49

7.3 Return to origin parameter ................................................................... 51

7.4 Step data ........................................................................................................ 52

(1) ABS ........................................................................................................... 54

(2) INC ............................................................................................................. 54

(3) LIN-A / LIN-I........................................................................................... 54

(4) CIR-R / CIR-L ........................................................................................ 55

(5) SYN-I ........................................................................................................ 55

8. Description of operation ............................................................. 56

8.1 Return to origin ........................................................................................... 56

8.2 Positioning Operation ............................................................................. 57

8.3 Pushing Operation .................................................................................... 60

8.4 Linear interpolation .................................................................................. 64

8.5 Circular interpolation ............................................................................... 67

8.6 Speed tuning control ..................................................................................... 71

8.7 Controller input signal response time............................................ 73

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No.SFOD-OMT0010-B

8.8 Methods of interrupting operation ................................................... 73

9. Operation Instructions ................................................................ 74

9.1 Outline of the Operation instruction ............................................... 74

9.2 Operation procedure of parallel I/O signals ................................ 74

(1) From power on to Return to origin .......................................... 74

(2) Positioning operation ..................................................................... 75

(3) Pushing operation .................................................................................. 76

(4) HOLD ........................................................................................................ 77

(5) RESET ..................................................................................................... 77

(6) STOP ......................................................................................................... 79

(7) Area output ........................................................................................... 80

10. Accessories ................................................................................ 81

10.1 Power cable for main control ............................................................ 81

10.2 DIN rail mounting bracket................................................................... 81

10.3 Actuator cable (5m or less) ................................................................ 82

10.4 Actuator cable (8-20m) ......................................................................... 82

10.5 Actuator cable [For sensor/ with lock (5m or less)] ............. 83

10.6 Actuator cable [For sensor/ with lock (8m to 20m)] ............. 83

10.7 ParallelI/O cable......................................................................................... 84

10.8 Controller Set up kit ............................................................................... 85

11. Alarm detection .......................................................................... 86

11.1 Parallel output Alarm group .............................................................. 86

11.2 Alarms and countermeasures .......................................................... 87

12. Common Precautions for wiring and cable ............................ 95

13. Electric Actuators / Common Precautions .............................. 96

13.1 Design and Selection ............................................................................ 96

13.2 Mounting ...................................................................................................... 97

13.3. Handling Precautions .......................................................................... 98

13.4 Operating environment ........................................................................ 99

13.5 Maintenance and Precautions ....................................................... 100

13.6 Precautions for actuator with lock ............................................. 100

14. Controller and Peripheral Devices / Specific Product Precautions 101

14.1 Design and selection .......................................................................... 101

14.2 Handling Precautions ........................................................................ 101

14.3 Mounting ................................................................................................... 103

14.4 Wiring ......................................................................................................... 103

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No.SFOD-OMT0010-B

14.5 Power supply .......................................................................................... 104

14.6 Grounding ................................................................................................ 104

14.7 Maintenance ............................................................................................ 104

15. Troubleshooting ...................................................................... 105

15.1 Operation Errors ................................................................................... 105

15.2 Position / Speed problems .............................................................. 108

Supplement 1. Actuator Specifications ........................................ 110

Supplement 1.1 Initial setting of LEY/LEYG series ................................. 110

Supplement 1.2 Initial setting of LEFS series ............................................ 110

Supplement 1.3 Initial setting of LES(H) series ............................. 111

Supplement 1.4 Initial setting of LEP series .................................... 111

Supplement 1.5 Initial setting of LEFB series ................................. 112

Supplement 1.6 Initial setting of LER series ................................... 112

Supplement 1.7 Initial setting of LEH series ................................... 112

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No.SFOD-OMT0010-B

JXC73/83 Series / Controller

1. Safety Instructions

These safety instructions are intended to prevent hazardous situations and/or equipment damage.

These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.”

They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC)*1) , and other safety regulations.

*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems.

ISO 4413: Hydraulic fluid power -- General rules relating to systems. IEC 60204-1: Safety of machinery -- Electrical equipment of machines .(Part 1: General requirements) ISO 10218-1992: Manipulating industrial robots -Safety. etc.

Caution

Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or

moderate injury.

Warning

Warning indicates a hazard with a medium level of risk which, if not avoided, could result in

death or serious injury.

Danger

Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or

serious injury.

Warning

1. The compatibility of the product is the responsibility of the person who designs the equipment or decides its specifications.

Since the product specified here is used under various operating conditions, its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based on necessary analysis and test results. The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility with the product. This person should also continuously review all specifications of the product referring to its latest catalog information, with a view to giving due consideration to any possibility of equipment failure when configuring the equipment.

2. Only personnel with appropriate training should operate machinery and equipment.

The product specified here may become unsafe if handled incorrectly. The assembly, operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced.

3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.

1.The inspection and maintenance of machinery/equipment should only be performed after measures to

prevent falling or runaway of the driven objects have been confirmed.

2.When the product is to be removed, confirm that the safety measures as mentioned above are implemented and the power from any appropriate source is cut, and read and understand the specific product precautions of all relevant products carefully.

3. Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.

4. Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions:

1. Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to direct sunlight.

2. Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,

vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.

3. An application which could have negative effects on people, property, or animals requiring special safety

analysis.

4.Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a

mechanical protective function, and periodical checks to confirm proper operation.

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No.SFOD-OMT0010-B

JXC73/83 Series / Controller

1. Safety Instructions

Caution

1.The product is provided for use in manufacturing industries.

The product herein described is basically provided for peaceful use in manufacturing industries. If considering using the product in other industries, consult SMC beforehand and provide specifications or a contract, if necessary.

If anything is unclear, contact your nearest sales branch.

Limited warranty and Disclaimer/Compliance Requirements

The product used is subject to the following “Limited Warranty and Disclaimer” and “Compliance Requirements”.

Read and accept them before using the product.

Limited warranty and Disclaimer

1.The warranty period of the product is 1 year in service or 1.5 years after the product is delivered,whichever is first. *2) Also, the product may have specified durability, running distance or replacement parts. Please consult your nearest sales branch.

2. For any failure or damage reported within the warranty period which is clearly our responsibility,

a replacement product or necessary parts will be provided.

This limited warranty applies only to our product independently, and not to any other damage

incurred due to the failure of the product.

3. Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products.

2) Vacuum pads are excluded from this 1 year warranty. A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.

Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or failure due to the deterioration of rubber material are not covered by the limited

warranty.

Compliance Requirements

1. The use of SMC products with production equipment for the manufacture of weapons of mass

destruction (WMD) or any other weapon is strictly prohibited.

2. The exports of SMC products or technology from one country to another are governed by the

relevant security laws and regulation of the countries involved in the transaction. Prior to the shipment of a SMC product to another country, assure that all local rules governing that export are known and followed.

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No.SFOD-OMT0010-B

2. Product Outline

2.1 Features

This controller uses predefined "step data" in which multiple data such as position or speed are included together as operation instructions to the actuator. An external PLC specifies the step data number to the controller and will start the operation based on the step data.

Feature of the controller.

 4 axes speed tuning control

Up to 4 axes speed tuning control is available for specifying step data.

 Linear/ circular interpolation

Linear interpolation for up to 3 axes and circular interpolation between 2 axes are possible. Linear interpolation is possible by setting the target position and travel speed of the locus. For circular interpolation, the travel speed of the locus and the centre position must be set.

 Return to origin

All axes are possible to return to origin by using one “return to origin” signal (SETUP). The order of the return to origin operation is possible to specify by the parameters.

 It is possible to set 512 steps of positioning or pushing operation in normal mode, and 2048

steps of positioning or pushing operation in extended mode.

Control the actuator according to the step data specified by the input of parallel I/O. It is possible to operate all axes by using 1 step.

 Data input method

It is possible to set the step data, parameters, monitor conditions, and reset alarms by communication via the USB port from a PC inwhich the controller setting software is installed.

Caution

Please keep this manual safe for future use. It will be necessary to refer to this manual along with the operation manuals for other actuators and controller setting software at installation and fault finding. Keep this operation manual accessible for reference.

Circular interpolation

Current position

Target position

Center

Linear interpolation

Current position

Target position Linear interpolation

Individual operation of the axis

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No.SFOD-OMT0010-B

2.2 How to Order

How to order is shown below.

Applicable Actuator

Electric Actuator Rod Type LEY Series

Electric Actuator Rod Type with Guide LEYG Series

Electric Actuator Slider Type LEF Series

Electric Slide Table LES/LESH Series

Electric Rotary Table LER Series

Note2)

Electric Actuator Miniature Type LEPY/LEPS Series

Electric Gripper (2-Finger Type, 3-Finger Type) LEH Series

Note 2) The continuous rotation (360°) type is excluded.

J X C  3 

I/O cable or mounting

Input/Output specifications

Controller

4 axis type

Electric equipment

NPN

PNP

Symbol

I/O cable

Note1)

Mounting

1.5m

Direct mounting

1.5m

DIN rail

Direct mounting

DIN rail

Direct mounting

DIN rail

Direct mounting

DIN rail

Note 1) When I/O cable (1.5 to 5m) is selected,

two I/O cables are included.

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No.SFOD-OMT0010-B

●Motor control power supply connector

(Accessory)

AWG20 (0.5mm2)

● Motor drive power connector

(Accessory) <Applicable wire size>

AWG16 (1.25mm2)

● USB cable

Product No.: JXC-W1-2

位置速度

100 500 200

1000

200

ﾃｽﾄ

現在位置

120.3

現在速度

200

mm/s

動作中

アラーム

モニタ

設定

位置速度

100 500 200

1000

200

ﾃｽﾄ

現在位置

120.3

現在速度

200

mm/s

動作中

アラーム

モニタ

設定

●Controller set up kit

Contents

-Controller Setting Kit

-USB cable

Product No.: JXC-W1

PLC

Main control power

supply 24VDC

Motor control and

motor drive power

supply

24 VDC

●Power cable for main control

Cable length: 1.5m (Accessory) Product No.: JXC-C1

Note2)

●Controller setting software Product No.: JXC-W1-1

Input/output

signal power

supply

24VDC

2.3 Product configuration

Structure of the controller.

Note 1) Connected actuators should be ordered separately.

Note 2) PLC, PC and 24VDC power supply should be prepared by theuser.

Wirning

Refer to 12. Common Precautions for wiring and cable. Use “USB cable (JXC-W1-2)” when communicating with a PC.

Caution

Connector “CI3 4” must be connected even when axis 3 and 4 are not used. If not, a “Modbus Error” alarm will be generated.

To M PWR

To I/O

●Controller

● Electric actuator

Note1)

Options

To CI

To ENC

To MOT

● I/O cable Product No: JXC-C2-

To USB

Note1)

●Actuator cable

Part No:

LE-CP--

(Robotic type cable) LE-CP---S (Standard cable)

To C PWR

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No.SFOD-OMT0010-B

3. Procedures to Trial run

Install, wire, set and perform a trial run for the controller referring to the procedure below when using the product for the first time.

Check the contents of

the package

Mounting the controller

Software Installation

Wiring and connecting

Supply power.

Start-up of controller

setting software

Parameters and

Step data

Check using JOG

operation

Operation test using

Test Drive.

For “Installation of the software”, refer to this operation manual and the Installation Manual for the controller setting software (No.SFOD-OMT0008). For “Start-up of controller setting software”, “Parameters and step data”, “Check using JOG operation” and “Operation test using Test Drive”, please refer to the setting software operation manual (No.SFOD-OMT0012). When this controller is used for the first time after purchase, do not upload the default values in the controller. Please download the information which has been set by the controller setting software and use it.

3.1 Checking the contents of the package

After unpacking everything, check the description on the label to identify the controller and the number of accessories.

Note1) These items are included if you ordered by the

part number for a set of controller.

[Options]

Controller setting kit (Product model No.: JXC-W1)

(Controller setting software and USB cable are included.)

If any parts are missing or damaged, please contact your distributor.

Product name

Quantity

Controller (JXC3)

1 pc.

Power cable for main control (Length 1.5m)

1 pc.

Motor drive power connector

2 pcs.

Motor control power supply connector

2 pcs.

DIN rail mounting bracket

Note 1)

1 set

I/O cable

Note1)

2 pcs.

Controller Setting Kit

Controller

Power cable for main control I/O cable

Note1)

Motor control power supply connector

Motor drive power connector

USB cable

DIN rail mounting bracket

Note 1)

Mounting screw M5 x8 (4pcs.), Holding screw M5 x14 (2pcs.) included

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No.SFOD-OMT0010-B

3.2. Mounting the controller

Refer to

4.4 Mounting

for instructions on how to mount the controller.

3.3 Install the setting software and the driver

Install the controller setting software and driver software on the PC to be used. For details, refer to the Installation Manual for the controller setting software (No.SFOD-OMT0008).

3.4 Wiring and connection

Connect the cables to the controller. Refer to section

2.3 Product configuration, 5.2 Wiring

and

6.4 Parallel I/O Wiring Example

for

wiring details.

3.5 Power supply, Start-up of controller setting software, and Alarm check

(1) Supplying power

After supplying power for the motor control and motor drive, turn on the power supply for the main control.

LED

Colour

Status

PWR

Green

ON: Power ON OFF: Power OFF

RUN

Green

ON: Operating Flashing: Operation by the setting

software

OFF: Not operated

USB

Green

ON: USB connected OFF: USB not connected

ALM

Red

ON: Alarm is generated OFF: Alarm is not generated

Check that thePWR LED is ON. If the green PWR LED is not ON, check the wiring of the power supply and the power supply voltage.

Caution

After supplying power for the motor control and motor drive, turn on the power supply for the

main control. Otherwise a“Modbus Error”alarm will be generated.

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No.SFOD-OMT0010-B

(2) Start-up of controller setting software

Using a PC with the controller setting software installed, start the application “SMC / JXC Controller” to start the setting software. If the controller setting software is installed with the default setting, an icon will be created on the

desk top. It is possible to start the setting software by double-clicking the icon. When the setting software starts, the connection between the controller and PC is confirmed. The

screen below will be displayed when the communication is established correctly.

However, when the setting software is started for the first time, this window will not appear.

When power is supplied to the controller for the first time, the title window will be displayed. The following window will be displayed after setting the parameters of the controller and the connected actuator.

When selecting “No (N)”, the controller will start without uploading. The title window shown below will be displayed.

When the PC is not able to communicate with the controller, the following screen is displayed.

When select “OK”, the title window will be displayed.

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No.SFOD-OMT0010-B

After the initial title window is displayed, the following main window will be displayed.

The communication status between the controller and PC is indicated at the bottom of the main window.

Display

Details

Off-line state

On-line state

When the PC is able to communicate with the controller, "On-line" status is established automatically. If the communication is in the off-line state, the PC is not able to communicate with the controller. Please check the following.

Check that power is supplied to the controller at the correct voltage.

- Check that the controller and the PC are connected to each other via the

communication cable.

- Check that the USB driver is installed correctly.

(3) Alarm check

If the Alarm button at the top of the main window of the setting software flashes red an alarm has been generated.

It is possible to check the details of the generated alarm by clicking the Alarm button. Refer to

11.2

Alarms and countermeasures

for details of the countermeasures against the alarm, and reset

the alarm.

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No.SFOD-OMT0010-B

3.6 Parameters and Step data

When using for the first time or after changing the connected actuator, or when the settings of the controller or connected actuator have been changed, it is necessary to review the set parameters and step data. It is possible to display parameters and step data as shown below.

(1) Select the actuator

Select "View(V)" at the top of the main window, and check the parameters.

The Parameter window will be displayed.Select the "Actuator selection" button. The Actuator selection window will be displayed.

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No.SFOD-OMT0010-B

Input the partnumber of the actuator to be used in the “Search from Part No. area”. A list of part numbers of the actuators matching the conditions will be displayed by clicking the "Result" button. Select the actuator to be connected.

If the part number of the actuator to be used is already known, input the part number until stroke.

Example) When the LEY16RA-100BML is ordered, input ‘LEY16RA-100’.

When the LER series is used, input the part number including the rotation angle.

Example) When the LERH30K-3L is ordered, input ‘LERH30K-3’.

When there is no match in the results even when the stroke is input, the possible causes could be :-. (a) No applicable stroke

Input the part number without the stroke. Select the closest model to the actuator being used, with a stroke which is longer than that of the actuator being used. Example) When LEY16RA-75 is ordered, input ‘LEY16RA-100’.

(b) For LEFSH(High precision type)

Input LEFS to search. Example) When LEFSH25RH-300 isordered, input ‘LEFS25RH-300’

Search without inputting 11- or 25A-, and find the actuator to which 11- or 25A- is applicable. Example) When 11-LEFSH16A-100BR is ordered, input ‘LEFS16A-100’

Caution

When the stroke parameter selected is longer than the stroke of the actuator to be used, the

"position" input to the step data must not exceed the actuator stroke range.

When there is no actuator match, consult SMC.

Search from Part No. area

Result

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No.SFOD-OMT0010-B

Select the check box for the axis for which parameters are to be input (one or more boxes are possible to be selected).

Select the "Execute"

button.

Axis parameters will be displayed in the Actuator selection window. The values input here are for display only, and are not written to the controller.

Display the parameters for all axes.

Select the "Execute" button.

The parameters are copied to

the parameter window table.

Caution

Copying does not write parameters to the controller. Be sure to download the parameters

following the procedure in section 3.6 (2) Setting parameters.

Check box

Execute

Apply

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No.SFOD-OMT0010-B

(2) Setting parameters

Set the parameters such as for valid axis and electronic gear. Check the parameters below and change them if necessary. For other items, refer to section

Settings and Data Entry

Parameter name

Input range

Outline

Profile parameter

Max step data Num

512 or 2048

Maximum step data. Change if necessary.

Activated axis

0 or 1

Set the validity of the axes. Set "0" (invalid) when no actuator is connected. Set "1" (valid) when connected.

ORIG order

1 to 4

The order for axes to return to origin. The order is assigned from 1 to 4. Multiple axes are possible to return to origin simultaneously by setting the same order number.

Basic parameter

Undefined No.11

1 to 4096

Define the Electronic Gear. Undefined parameter No.11: Electronic gear (numerator) Undefined parameter No.12: Electronic gear (denominator)

Caution

When interpolation is performed for actuators of different lead, the travel distance per pulse must be the same. Otherwise do not change the distance.

Set the electronic gear for Axis 2, 3 or 4 so that the travel distance for all of them are the same as Axis 1. [Setting example]

Axis

Actuator

Lead

Electronic

gear ratio

Axis 1

LEY16C-300

2.5mm

1/ 1

Axis 2

LEY16B-300

5mm

25/ 50

Axis 3

LEY16A-300

10mm

25/ 100

Set Axis 2 and 3 so that the travel distance becomes

2.5mm per 800 pulse. Electronic Gear ratio

= Lead of Axis 1/ Lead of Axis 2(or Axis 3) =2.5mm/5mm (or 2.5mm/10mm) =25/50 (or 25/100)

Undefined No.12

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No.SFOD-OMT0010-B

After setting parameters, select the "Download" button in the parameter window. Parameters in the parameter window will be written to the controller. Writing is completed when the progress bar disappears and then the setting software is ready to operate.

It is necessary to turn off the power to the controller and turn it on again. The downloaded parameters will become valid after turning the power on again.

Download

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No.SFOD-OMT0010-B

(3) Step data settings

Select "View(V)" at the top of the main window, and select "Step Data".

The Step data window will be displayed.

Select the “▼” button for the movement mode for the axis of the step number to be set. Select the movement mode shown in the list. Enter the necessary numerical data according to the selected movement mode.

The setting is different depending on the movement mode. Refer to section

7.4 Step Data

for

details.

After setting the step data, select the "Download" button in the step data window. The step data will be written to the controller. Writing is completed when the progress bar disappearsand then the setting software is ready to operate.

Movement mode

Area to input numerical data.

Download

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3.7 Check using JOG operation

(1) Change to Remote mode

Change the mode to Remote mode at the top of the main window. The Servo will be turned on by selecting Remote mode.

Confirm that the Servo is ON. (Confirm SVRE ON in the status window.) Select "View(V)" at the top of the main window, and select "Status".

The Status window will be displayed. When the Servo is ON, the SVRE box will turn blue in the Output signal area.

Caution

When the power is supplied, it may take up to 20 seconds from servo ON input to SVRE ON output, depending on the actuator position or the conditions.

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No.SFOD-OMT0010-B

(2) Return to origin

Select "View(V)" at the top of the main window, and select "Teaching".

The teaching window will be displayed.

Select the “Return to Origin” tab. Select “Return to Origin(●)” or “All axes Return to Origin”. When the return to origin setting is completed, SETON is ON. Confirm that the output signal SETON turns blue in the status window.

All axes Return to Origin Return to Origin tab

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No.SFOD-OMT0010-B

(3) JOG or Inching

Select the “JOG” or “Inching” tab.

(a) JOG

Set the "Speed". The Position will move in the "+" or "-" direction as long as the "+" or "-" button is pressed.

(b) Inching

Set "Speed" for travel speed and "Moving" for travel distance. The Position will move in the "+" or "-" direction during setting.

Confirm that the connected actuator travels at the speed or distance according to the connected actuator setting.

Caution

When perform return to origin operation, JOG function and Inching function for the first time, make sure that the parameter setting is correct. When the electronic gear is set, make sure that the actuator travels for the set travel distance by performing the inching function. It is possible that unexpected operation will result in accidents, injury, or damage to the system or actuator.

Speed

JOG tab

+/- button

Inching tab

Travel distance

Page 24

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No.SFOD-OMT0010-B

3.8 Operation test using Test Drive

Select "View(V)" at the top of the main window, and select "Test Drive".

The Test Drive window will be displayed.

It is possible to test the set step data in a specified order.

(1) Test Drive setting

Set the order of the step data number for testing in the test drive list window. The table below shows details of the items required.

Items

Details

No.

Line number.

Step No.

Step number to be executed. The set line is deleted by entering "-1".

Wait time

Wait time after the actuator has been operated by the step data, specified by the step number. Unit is msec. Setting range is 0 to 32767 msec.

Comments

Comments are possible to be entered. (Note that half-width comma "," cannot be used).

(2) Change to Remote mode

Turn on the Servo, referring to section

3.7 (1) Change to Remote mode.

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No.SFOD-OMT0010-B

(3) Return to origin

Confirm that SVRE output is ON, refer to section

3.7 (1) Change to Remote mode

. Then, select

"All axes Return to Origin", and perform the “Return to origin” operation.

(4) Test drive starts

Confirm that SETON output is ON, refer to section

3.7 (2) Return to origin

. Test drive starts by pressing the "Go" button, based on the test drive list. Test drive is completed when the correct operation is confirmed. If the operation was not as expected, then refer to section

3.6 (3) Step data settings

to revise the settings.

Caution

Do not disconnect the USB cable while executing step data.

The actuator will stop.

Page 26

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No.SFOD-OMT0010-B

4. Product Specifications

4.1 Basic Specifications

Basic specifications of the product.

Item

Specifications

Number of axes per controller

Max. 4 axis Controlled motor

Step motor (servo 24 VDC )

Controlled encoder

Incremental phase A / B (Encoder resolution 800 pulse / rotation)

Power supply specification

Note1)

Main control power supply

Power supply voltage: 24VDC+/-10% Max. current consumption: 300mA

Motor drive and motor control power supply

Power supply voltage: 24VDC+/-10% Max. current consumption: Depends on connected actuator.

Note2)

Parallel input

16 inputs (Optically isolated)

Parallel output

32 outputs (Optically isolated)

Serial communication

USB2.0 (Full Speed 12Mbps) Memory

Flash ROM and EEPROM

LED indicator

PWR (green), RUN (green), USB (green), ALM (red)

Lock control

With forced lock-release terminal

Note3)

Cable length

I/O cable: 5 m maximum Actuator cable: 20 m maximum

Cooling method

Natural air cooling

Operating temperature range

0 to 40oC (No freezing)

Operating humidity range

90% RH or less (No condensation)

Storage temperature range

-10 to 60oC (No freezing)

Storage humidity range

90% RH or less (No condensation)

Insulation resistance

Between the external terminals and case 50MΩ (500 VDC)

Weight

1050 g (Direct mounting) 1100 g (DIN rail mounting)

Note 1) Do not use a power supply with "inrush currentprotection" for the motor drive power

and motor control power supply.

Note 2) Power consumption depends on the actuator connected.Refer to the actuator

specifications for further details.

Note 3) Applicable to non-magnetizing lock.

Page 27

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No.SFOD-OMT0010-B

4.2 Parts Description

Detail of the controller parts.

No.

Display

Description

Details

PWR

Power supply LED (green)

Power supply ON: LED is ON Power supply OFF: LED is OFF

RUN

Operating LED (green)

Operation by parallel I/O: LED is ON Operation by USB communication: LED is Flashing Stop: LED is OFF

USB

USB LED (green)

USB connected: LED is ON USB not connected: LED is OFF

ALM

Alarm LED (red)

Alarm condition: LED is ON No alarm: LED is OFF

USB

Serial communication

Connect to a PC using a USB cable.

C PWR

Main control power supply

connector (2 pin)

Note)

Main control power supply (+)(-)

I/O 1

Parallel I/O connector (40 pins)

Connect to the PLC using an I/O cable.

I/O 2

Parallel I/O connector (40 pins)

Connect to the PLC using an I/O cable.

ENC1

Encoder connector (16 pins)

Axis 1: Connect the actuator cable.

MOT1

Motor power connector (6 pins)

ENC2

Encoder connector (16 pins)

Axis 2: Connect the actuator cable.

MOT2

Motor power connector (6 pins)

CI 1 2

Motor control power supply

connector

Note)

Motor control power supply(+), Axis 1 stop(+), Axis 1 unlock(+), Axis 2 stop(+), Axis 2 unlock (+)

M PWR 1 2

Motor drive power connector

Note)

Axis 1, Axis 2 Motor drive power (+), common(-)

ENC3

Encoder connector (16 pins)

Axis 3: Connect the actuator cable.

MOT3

Motor power connector (6 pins)

ENC4

Encoder connector (16 pins)

Axis 4: Connect the actuator cable.

MOT4

Motor power connector (6 pins)

CI 3 4

Motor control power supply

connector

Note)

Motor control power supply(+), Axis 3 stop(+), Axis 3 unlock(+), Axis 4 stop(+), Axis 4 unlock (+)

M PWR 3 4

Motor drive power connector

Note)

Axis 3, Axis 4 Motor drive power (+), common(-)

Note) The connector is included. Refer to section

5. Power supply connector

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

(20)

(19)

(17)

(18)

Page 28

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No.SFOD-OMT0010-B

4.3 Dimensions

(1) Direct mounting

(2) DIN rail mounting

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No.SFOD-OMT0010-B

4.4 Mounting

(1) Mounting

There are two ways to mount the controller. (Direct mounting with screws and DIN rail mounting) Controller mounting methods are shown below. (a) Direct Mounting with four M5 screws

(b) DIN rail mounting

The figure on the right shows how to mount the DIN rail mounting brackets. Secure the DIN rail mounting bracket using the mounting screws (M5 x 8) 2 places on one side (4 places on both sides). (Appropriate tightening torque: 3.0Nm) Secure the DIN rail mounting bracket using the holding screws (M5 x 14). 1 place on one side (2 places on both sides). Tighten for approximately 2 threads. Do not tighten completely.

Mounting screw M5X8

Included with DIN rail mounting bracket

Tightening torque:

3.0 (Nm)

Holdingscrews M5X14

Included withDIN rail mounting bracket

Tightening torque: 0.4 to 0.6[Nm]

Mounting screw (M5) 4pcs. (prepared by customer)

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No.SFOD-OMT0010-B

The figure below shows how to mount the controller to the DIN rail. Hook part A on to the DIN rail. Press part B on to the DIN rail and tighten the holding screws (M5 x 14). (Appropriate tightening torque: 0.4 to 0.6Nm)

(2) Grounding

Fit the grounding cable with crimped terminal between the M3 screw and shakeproof washer as shown below and tighten the screw.

Caution

The cable with crimped terminal and shakeproof washer must be prepared by the user. The controller must be connected to Ground to reduce noise.

Part A

Part B

Holding screw M5X14

M3 screw

Grounding cable (with crimped terminal)

Shakeproof washer

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No.SFOD-OMT0010-B

Caution

(1) A dedicated ground connection must be used. Grounding should be to a D-class ground (ground

resistance of 100Ω or less).

(2) The cross sectional area of the grounding cable should be 2mm2 minimum.

The grounding point should be as near as possible to the controller, to keep the grounding cable as short as possible.

(3) Mounting location

Design the size of the control panel and the installation so that the temperature surrounding the controller is 40oC or less. Mount the controller vertically with 50 mm or more space at the top and bottom of the controller as shown below. Establish the space more than 100mm between the front of the controller and a door (lid) so that the connectors are possible to connect and disconnect. Leave enough space between the controllers so that the operating temperature of the controllers remains within the specification range. Allow sufficient space for mounting. Avoid mounting the controller near a vibration source, such as a large electromagnetic contactor or no-fuse breaker on the same panel.

Caution

If the mounting surface for the controller is not flat or is uneven, excessive stress could be applied to the case, which could cause failure. Mount on a flat surface.

Shared grounding: Not acceptable

Controller

Other equipment

Dedicated grounding: Good

Controller

Other equipment

D-class ground (ground with the resistance less than 100 ohm)

100 or more

Page 32

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No.SFOD-OMT0010-B

5. Power supply connector

5.1 Connector specifications

The power supply connector type included is shown below. (1) Main control power supply connector: C PWR

Use the power cable for main control, JXC-C1.

Specifications of the cable are as follows.

Item

Specifications

Electric wire size

Stranded wire → AWG20 (0.5mm2) O.D. of sheath →1.76

Wire sheath colour

+24V:Brown 24-0V: Blue

(2) Motor drive power connector: M PWR

Manufactured by Phoenix Contact (Part number MSTB2,5/2-STF-5,08)

Prepare the electrical wiring according to the following specifications (to be prepared by the user).

Item

Specifications

Applicable wire size

Single, Stranded wire → AWG16(1.25mm2) The rated temperature of the insulation coating should be 60oC or more.

Stripped wire length

When the wire is inserted into the motir drive power connector, insert only the stripped part of the wire.

Terminal

Function

Description

+24V

Main control power supply (+)

Power supply (+) for main control.

24-0V

Main control power supply (-)

Power supply (-) for main control.

Terminal

Function

Description

Motor power (-)

Power supply (-) common for M24V terminal, C24V terminal, EMG terminal and LKRLS terminal

M24V

Motor power (+)

Motor drive power supply (+) for Axis 1 and 2 or Axix 3 and 4.

+24V

24-0V

M24V

Brown

Blue

7mm

3.4

or less

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No.SFOD-OMT0010-B

(3) Motor control power supply connector: CI

Manufactured by Phoenix Contact (Part number FK-MC0,5/5-ST-2,5)

Prepare the electrical wiring according to the following specifications (to be prepared by the user).

Item

Specifications

Applicable wire size

Single, Stranded wire → AWG20 (0.5mm2) The rated temperature of the insulation coating should be 60oC or more.

Stripped wire length

When the wire is inserted into the motor control power supply connector, insert only the stripped

Terminal

Function

Functional explanation

C24V

Motor control power supply (+)

Power supply side (+) for motor control.

EMG1/EMG3

Stop(+)

Release the stop status (+) of Axis 1 or Axis 3. (Normal operation by applying 24V.)

EMG2/EMG4

Stop(+)

Release the stop status (+) of Axis 2 or Axis 4. (Normal operation by applying 24V.)

LKRLS1/LKRLS3

Unlock(+)

Release the lock status (+) of Axis 1 or Axis 3.

LKRLS2/LKRLS4

Unlock(+)

Release the lock status (+) of Axis 2 or Axis 4.

Caution

Do not connect multiple wires into one terminal. Contact failure or short circuit to adjacent wire may lead to malfunction or fire.

EMG1/EMG3 C24V LKRLS2/LKRLS4 EMG2/EMG4 LKRLS1/LKRLS3

8mm

2.0

or less

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No.SFOD-OMT0010-B

5.2 Wiring

Connect the main control power supply, motor drive and motor control power supply while referring to (1) to (3) below, and then insert into the controller C PWR, Cl and M PWR. (1) Wiring of the power supply connector

Connect the main control power supply 24V and 0V to the main control power supply connector +24V and 24-0V terminals.

Connect the motor drive and motor control power supply 24V and 0V to the motor drive power connector M24V and 0V terminals.

Connect the motor drive and motor control power supply 24V to the motor control power supply connector C24V terminal.

Caution

(1)Do not use a power supply with “inrush current protection” for the motor drive and motor control

power supply. The power supply capacity should be greater than the "Momentary maximum power consumption” of the actuator specifications.

(2)Connector ‘CI3 4’ must be connected even when Axis 3 and 4 are not used.

If not, a "Modbus Error" alarm will be generated.

(3)The motor power and motor control power supply should be powered at the same time or prior to

the main control power supply.

If the sequence of these power supplies is different then a "ModbusErr or" alarm will be generated.

24V

Motor drive and

motor control power supply

M24V

Open/close lever Press the open/ close lever with a flat blade screwdriver and insert the wire into the wire entry.

- Dedicated flat blade screwdriver (recommended) Phoenix Contact (Part No: SZS0.4×2.0)

Wire entry

24V

Motor drive and

motor control power supply

C 24V

EMG1/EMG3

LKRLS1/LKRLS3

Motor control power supply connector

EMG2/EMG4

LKRLS2/LKRLS4

M3 screw Screw type terminal. Loosen the screws using a flat blade screwdriver. Insert the wires in the wire inlet. Tightening torque: 0.5 to 0.6Nm

+24V

24-0V

24V

Main control

power

supply

Page 35

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No.SFOD-OMT0010-B

Motor drive and

motor control power supply

Motor drive and

motor control power supply

CI1 2

CI3 4

CI1 2

(2) Wiring of the stop switch

A Stop switch must be installed by the user to stop the actuator in abnormal situations. The actuator stops its operation when the external shutdown switch is activated.

- Stop (Stop switch) To stop the controller, connect the stop switch (B contact) between the motor drive and motor

control power supply and the EMG terminal of the motor control power supply connector.

- Stop (Stop relay contact) If there is a separate shutdown circuit for the whole installation or there are multiple controllers with different power supplies, connect a relay (B contact) between the motor drive and motor control power supply and the EMG terminal of the motor control power supply connector. (Circuit example: The Figure below shows the stop status).

Caution

When the EMGx input is turned off (0V) during operation, the corresponding actuator will stop with maximum deceleration and the servo will be turned off thereafter.

24V

24 VDC

Emergency stop

Surge suppressor

The stop is released Switch

C 24V

EMG1

LKRLS1

EMG2

LKRLS2

Motor control power supply connector

C 24V

EMG3

LKRLS3

EMG4

LKRLS4

Motor control power supply connector

Stop switch

24V

C 24V

EMG1

LKRLS1

Motor control power supply connector

EMG2

LKRLS2

C 24V

EMG3

LKRLS3

Motor control power supply connector

EMG4

LKRLS4

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No.SFOD-OMT0010-B

C I□3□

Motor drive and

motor control power supply

CI3 4

CI1 2

Motor power shutdown (relay contact)

If it is necessary to have a circuit to shutdown the motor drive power externally, relay contacts should be placed between the motor drive and motor control power supply and the M24V of the motor control power supply connector and the EMG terminal of the motor control power supply connector. (Circuit example: The Figure below shows the stop status)

Warning

(1) If it is necessary to have a circuit to shutdown the motor power supply, relay contacts should be

placed between the motor drive and motor control power supply and the M24V terminal of the motor drive power connector and the EMG terminal of the motor control power supply connector. The actuator may make unexpected movement.

(2) Do not perform a return to origin operation (SETUP input ON) when the motor drive power

(M24V) is disconnected. The controller cannot recognize the correct origin point if a return to origin instruction is made

with the motor drive power (M24V) disconnected.

(3) When wiring the stop switch, connect the switch such that EMG1 to EMG4 are shut down

together.

24V

C 24V

EMG1

LKRLS1

Motor control power supply connector

EMG2

LKRLS2

C 24V

EMG3

LKRLS3

Motor control power supply connector

EMG4

LKRLS4

Motor drive power connector

M PWR 1 2

M PWR 3 4

M 24V

24 VDC

Stop Switch

Surge suppressor

The stop is released Switch

Page 37

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No.SFOD-OMT0010-B

6. Details of parallel I/O connector

This controller is available with NPN type (JXC73) or PNP type (JXC83) parallel I/O.

6.1 Parallel I/O specifications

■Input specifications

■Output specifications

(NPN) (NPN)

(PNP) (PNP)

6.2 Parallel I/O circuit (NPN, PNP)

(1)Parallel I/O input circuit

No.

Item

Specifications

Output circuit

Internal circuit and Optically isolated

Number of outputs

Max. voltage between terminals

30 VDC 4

Max. output current

100mA

Saturation voltage

-COM+1.8V (Max.)

No.

Item

Specifications

Input circuit

Internal circuit and Optically isolated

Number of inputs

16 3 Voltage

24VDC+/-10%

Input current at ON state

5.1mA+/-20% (at 24 VDC) No.

Item

Specifications

Output circuit

Internal circuit and Optically isolated

Number of outputs

Max. voltage between terminals

30 VDC 4

Max. output current

100mA

Saturation voltage

+COM-1.8V (Max.)

No.

Item

Specifications

Input circuit

Internal circuit and Optically isolated

Number of inputs

16 3 Voltage

24VDC+/-10%

Input current at ON state

5.1mA+/-20% (at 24 VDC)

 NPN type

(a)

+COM1, +COM2

(b)

IN0 to IN10, SETUP, HOLD, DRIVE, RESET, SVON

Inside the controller

(a)

(b)

External

I/O 1

I/O 2

Unused

 PNP type

(a)

-COM1, -COM2

(b)

IN0 to IN10, SETUP, HOLD, DRIVE, RESET, SVON

Inside the controller

External

I/O 1

I/O 2

Unused

(a)

(b)

4.7 kΩ

2.2 kΩ

4.7 kΩ

2.2 kΩ

Page 38

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No.SFOD-OMT0010-B

(2)Parallel I/O output circuit

-NPN type

-PNP type

I/O 1

I/O 2

(a)

+COM3, +COM4

(b)

BUSY1 to BUSY4, AREA1 to AREA4, INP1 to INP4,  ALARM1 to ALARM4

(c)

-COM3, -COM4

(a)

+COM1, +COM2

(b)

OUT0 to OUT8, BUSY, AREA, SETON, INP, SVRE, ESTOP, ALARM

(c)

-COM1, -COM2

I/O 1

(a)

+COM1, +COM2

(b)

OUT0 to OUT8, BUSY, AREA, SETON, INP, SVRE, ESTOP, ALARM

(c)

-COM1, -COM2

I/O 2

(a)

+COM3, +COM4

(b)

BUSY1 to BUSY4, AREA1 to AREA4, INP1 to INP4,  ALARM1 to ALARM4

(c)

-COM3, -COM4

External

Inside the controller

10KΩ

20KΩ

(a)

(b)

(c)

External

Inside the controller

10KΩ

4.7KΩ

(a)

(b)

(c)

Page 39

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No.SFOD-OMT0010-B

6.3 Parallel I/O signals

Pin No.

Insulator colour

Dot mark

Dot colour

Pin No.

Insulator colour

Dot mark

Dot colour

Orange

■

Black

Orange

■■■

Black

Orange

■

Red

Orange

■■■

Red

Grey

■

Black

Grey

■■■

Black

Grey

■

Red

Grey

■■■

Red

White

■

Black

White

■■■

Black

White

■

Red

White

■■■

Red

Yellow

■

Black

Yellow

■■■

Black

Yellow

■

Red

Yellow

■■■

Red

Pink

■

Black

Pink

■■■

Black

Pink

■

Red

Pink

■■■

Red

Orange

■■

Black

Orange

■■■■

Black

Orange

■■

Red

Orange

■■■■

Red

Grey

■■

Black

Grey

■■■■

Black

Grey

■■

Red

Grey

■■■■

Red

White

■■

Black

White

■■■■

Black

White

■■

Red

White

■■■■

Red

Yellow

■■

Black

Yellow

■■■■

Black

Yellow

■■

Red

Yellow

■■■■

Red

Pink

■■

Black

Pink

■■■■

Black

Pink

■■

Red

Pink

■■■■

Red

Signals are different for I/O1 and I/O2. Refer to the table below for details.

Page 40

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No.SFOD-OMT0010-B

(1) I/O1

-Input side

Pin No.

Signal

name

Description

+COM1

Connect the 24 VDC power supply to the input/ output signals

For IN0 to IN10, SETUP, HOLD, DRIVE, RESET, SVON For OUT0 to OUT8, BUSY, AREA, SETON, INP, SVRE, ESTOP, ALARM

+COM2

IN0

Step data instruction Bit No.(Standard: When 512 is used)

Step data instruction Bit No. (Input is instructed in the combination of IN0 to IN8.) Ex. (Assign step data No.3)

IN8

IN7

IN6

IN5

IN4

IN3

IN2

IN1

IN0

OFF

ON 0 0 0 0 0 0 0 1

IN1 3 IN2

IN3 4 IN4

IN5 5 IN6

IN7 6 IN8

IN9

Step data instruction extended mode bit No (Extended: 2048 is used)

IN10

SETUP

Command to Return to Origin Actuators return to origin based on the order of setting for return to origin.

When SVRE output is ON, the SETUP operation (return to origin) will be performed. During the SETUP operation, BUSY will be turned ON and after completion of the SETUP operation, SETON and INP will be turned ON.

HOLD

Pause of operation All axes in operation are paused.

If HOLD input is ON during operation, the speed decreases at maximum deceleration of the basic parameter until the actuator stops. The remaining stroke will be on hold as long as HOLD is ON and when HOLD is turned OFF, the actuator restarts to travel the remaining stroke.

Caution

(1) Do not command SETUP or DRIVE while the HOLD input is ON.

The actuator may make unexpected movements.

(2) While HOLD input is ON, do not move the actuator position.

Changing the residual travel distance may cause inconsistency with the target position.

(3) HOLD input is invalid during return to origin operation.

DRIVE

Operation instruction Read the step data from IN0 to IN8 while the DRIVE signal is ON and start

operation. The number of ongoing steps is output to the OUT terminal when the DRIVE signal is ON.

Binary code

Page 41

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No.SFOD-OMT0010-B

Pin No.

Signal

name

Description

RESET

Alarm reset and interruption of operation When RESET is turned ON during operation, the speed decreases at

maximum deceleration of the basic parameter until the actuator stops. INP and OUT0 to OUT10 are OFF. (However, if the actuator is stopped within the in-position range, the INP will be turned ON). An Alarm is reset when the RESET signal is turned ON if an alarm has been generated. (Some alarms cannot be reset by the RESET command).

Caution

(1) Do not command SETUP or DRIVE while the RESET input is ON.

The actuator may make unexpected movements.

(2) If the RESET input is ON during a return to origin operation, return

to origin may not be available when the RESET input is turned OFF. In this case, turn on the servo, and then turn on the SETUP input.

SVON

Servo ON instruction When SVON is ON, the servo motor for all axes will be turned ON.

Note1)

When SVON is OFF, the servo motor will be turned OFF.

Note 1) When power is supplied, it may take up to 20 seconds from Servo ON to SVRE ON,

depending on the actuator position or conditions.

Page 42

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No.SFOD-OMT0010-B

-Output side

Pin No.

Signal

name

Description

OUT0

Output the number of ongoing step data. When the operation is started and the DRIVE input is turned ON, a Bit No. corresponding to the number of the active step data will be output from these terminals. These output signals will be updated when the DRIVE input is turned ON.

Caution

(1) When RESET is turned ON, these terminals are turned OFF. (2) During an alarm, these terminals output the alarm group.

OUT1

OUT2

OUT3

OUT4

OUT5

OUT6

OUT7

OUT8

BUSY

(OUT9)

The Busy signal turns on until the completion of operation time (theoretically value) of all actuators, and also during the movement of one or more actuators. (OR of BUSY1 to BUSY4.)However, when the positioning operation of pushing operation is inhibited and the movement stops, the Busy signal keeps turning ON exceptionally until operation is released. (Not OR of BUSY1 to BUSY4.) The Bit No is output during step data in extended mode.

Note

AREA

(OUT10)

The Area signal turns on when all actuators are within the area output range. (AND of AREA1 to AREA4) The Bit No is output during step data in extended mode.

Note

SETON

Return to origin completion signal. SETON turns on when all axes have completed the return to origin operation.

INP

Positioning complete signal INP turns on according to the conditions below.(AND of INP1 to INP4)

Movement

mode

Details

Positioning operation

When the actuator moves to within this range from the target position after the positioning completion time (theoretical value), the INP output will turn ON.

Pushing operation

When the Pushing force becomes more than the set "Trigger level" value in the profile parameter and the actuator stopped within the pushing area, the INP output will turn ON.

SVRE

The Servo ON signal turns on when the servo motor is ON.

Note1)

ESTOP

ESTOP turns OFF when EMG signal stops

Note2).

ALARM

ALARM turns OFF when an alarm is generated to one or more actuator. (Reverse of OR

of ALARM1 to ALARM4)

Note

-COM1

Connects the power supply 0V to the input/output signals

For OUT0 to OUT7

-COM1

-COM2

Connects the power supply 0V to the input/output signals

For OUT8, BUSY, AREA, SETON, INP, SVRE, ESTOP, and ALARM

-COM2

Note 1) When power is supplied, it may take up to 20 seconds from Servo ON to SVRE ON, depending

on the actuator position or conditions. Note 2) Negative logic signal. Note 3) For BUSY and AREA signals, use BUSY1 to BUSY4 and AREA1 to AREA4 for I/O2 (optional).

Page 43

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No.SFOD-OMT0010-B

(2) I/O2

-Input side

Pin No.

Signal name

Description

+COM3

Connects the power supply 24 V to the input/output signals

For BUSY1 to BUSY4, AREA1 to AREA4, INP1 to INP4, and ALARM1 to ALARM4.

+COM4

N.C.

Unused

22 3 23 4 24 5 25 6 26 7 27 8 28 9 29

-Output side

Pin No.

Signal name

Description

BUSY1

Busy signal for Axis x When the actuator starts to operate, the BUSY signal will be turned

ON until the completion of operation time (theoretically value). After the completion of operation time if the actuator has stopped, the BUSY signal will be turned off.

BUSY2

BUSY3

BUSY4

AREA1

Area signal for Axis 1

AREA2

Area signal for Axis 2

AREA3

Area signal for Axis 3

AREA4

Area signal for Axis 4

INP1

Positioning complete signal for Axis 1

INP2

Positioning complete signal for Axis 2

INP3

Positioning complete signal for Axis 3

INP4

Positioning complete signal for Axis 4

ALARM1

Alarm signal for Axis 1

Note1)

ALARM2

Alarm signal for Axis 2

Note1)

ALARM3

Alarm signal for Axis 3

Note1)

ALARM4

Alarm signal for Axis 4

Note1)

-COM3

Connect the power supply 0V to the input/output signals

For BUSY1 to BUSY4, AREA1 to AREA4.

-COM3

-COM4

Connect the power supply 0V to the input/output signals

For INP1 to INP4, ALARM1 to ALARM4.

-COM4

Note 1) Negative logic signal.

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No.SFOD-OMT0010-B

The table below shows the changes in the output signal with respect to the state of the controller.

BUSY

INP

SVRE

Lock

SETON

OUT0 to 8

Controller powered down [SVOFF] with no motion

OFF

Lock

OFF

Controller powered down [SVON] with no motion

OFF

Note1)

Unlock

OFF

During Return to origin

OFF

Unlock

OFF

The actuator is at the origin, on completion of [SETUP]

OFF

Note1)

Unlock

OFF

During movement by positioning/pushing operation

OFF

Unlock

Note2)

The actuator is paused by [HOLD]

OFF

Note4)

Unlock

Note2)

On completion of the positioning operation.

OFF

Unlock

Note2)

Stopped due to pushing a workload in pushing operation.

OFF

Unlock

Note2)

Stopped due to no detection of a workload in pushing operation.

OFF

Unlock

Note2)

Servo is OFF after return to origin.

OFF

Lock

Note3)

EMG signal stop from the CI connector after the actuator is at the origin.

OFF

Lock

Note3)

Note1) The output turns on when the actuator is within the range defined in the basic parameter setup. Note 2) The output is updated due to the transition of (OFF→ON) of the DRIVE input signal. Note 3) Retain the previous state. Note 4) The output turns on when the actuator is "In position" according to the step data.

Output

Status

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No.SFOD-OMT0010-B

6.4 Parallel I/O Wiring Example

The Wiring depends on the parallel input/output type of the controller (NPN or PNP).

(1) NPN type

Caution

Prepare a separate power supply for the main control, motor drive and motor control and input/ output signal.

I/O 1

OUT0

OUT1

OUT2

OUT3

OUT4

OUT5

OUT6

OUT7

OUT8

BUSY

(OUT9)

AREA

(OUT10)

SETON

INP

SVRE

ESTOP

ALARM

-COM1

-COM2

+COM1

+COM2

IN0

IN1

IN2

IN3

IN4

IN5

IN6

IN7

IN8

IN9

IN10

SETUP

HOLD

DRIVE

RESET

SVON

24 VDC

Load

Page 46

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No.SFOD-OMT0010-B

Caution

+COM1, +COM2 and +COM3, +COM4 are not connected inside the controller. When I/O2 is used, connect +COM1, +COM2 and +COM3, +COM4 to the 24V side of the common input/ output signal 24 VDC power supply.

Caution

-COM1, -COM2, -COM3, -COM4 are not connected inside the controller. Connect the corresponding common -COM of the 0V side of the input/ output signal 24 VDC power supply.

I/O 2

BUSY1

BUSY2

BUSY3

BUSY4

AREA1

AREA2

AREA3

AREA4

INP1

INP2

INP3

INP4

ALARM1

ALARM2

ALARM3

ALARM4

-COM3

-COM4

+COM3

+COM4

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

Note 1) Not connected

24 VDC

Load

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No.SFOD-OMT0010-B

(2) PNP type

I/O 1

OUT0

OUT1

OUT2

OUT3

OUT4

OUT5

OUT6

OUT7

OUT8

BUSY

(OUT9)

AREA

(OUT10)

SETON

INP

SVRE

ESTOP

ALARM

-COM1

-COM2

+COM1

+COM2

IN0

IN1

IN2

IN3

IN4

IN5

IN6

IN7

IN8

IN9

IN10

SETUP

HOLD

DRIVE

RESET

SVON

24 VDC

Load

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No.SFOD-OMT0010-B

Caution

+COM1, +COM2 and +COM3, +COM4 are not connected inside the controller. When I/O2 is used, connect +COM1, +COM2 and +COM3, +COM4 to the 24V side of the common input/ output signal 24 VDC power supply.

Caution

-COM1, -COM2, -COM3, -COM4 are not connected inside the controller. Connect the corresponding common -COM of the 0V side of the input/ output signal 24 VDC power supply.

I/O 2

BUSY1

BUSY2

BUSY3

BUSY4

AREA1

AREA2

AREA3

AREA4

INP1

INP2

INP3

INP4

ALARM1

ALARM2

ALARM3

ALARM4

-COM3

-COM4

+COM3

+COM4

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

N.C.

Note 1)

Note 1) Not connected

24 VDC

Load

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No.SFOD-OMT0010-B

7. Setting Data Entry

In order to move the actuator to a specific position, it is necessary to program the parameters and step data in the controller using a PC with the controller setting software installed. The data entered using the controller setting software will be stored in the memory of the controller.

7.1 Profile parameter

The “Profile parameter” is the setting data for the controller specifications.

Note: “XX” = Become effective just after storing in the controller

“X” = Become effective after restarting the controller “-“ = The parameter cannot be changed (fixed value)

Description

Input range

Explanation

Write

Max step data Num

512 or 2048

Set the maximum step data number

Activated axis

0 or 1

Validity of axes to be set in the controller. "Disabled" axis is ignored regardless of the connection with the actuator. 0: Disabled 1: Enabled

Pushing force

Note1)

The force for the pushing operation. Pushing is performed with this pushing force when the pushing operation is selected by the step data. (Setting per step data is not possible.)

Trigger level

Note1)

A condition where the INP output signal is ON during the pushing operation. When the actuator generates a force above the trigger level value during the pushing operation, INP will be turned ON. (Setting per step data is not possible.)

Pushing speed

Note1)

The movement speed for the pushing operation. (Setting per step data is not possible.)

Moving force

Note1)

The setting to define the maximum force during the positioning operation. (Setting per step data is not possible.)

Axis name

Note1)

Define the axis name of the actuator.

ORIG order

1 to 4

The order from 1 to 4 is assigned to axes for the return to origin operation when all axes are to return to origin. The axes return to origin from 1 according to the order assigned. Multiple axes are possible to return to origin simultaneously by setting the same order number. [Setting example] (1) Axis 1: 1, Axis 2: 2, Axis 3: 2, Axis 4:3

The order of returning starts from Axis 1, then Axis 2 and 3, and then Axis 4.

(2) Axis 1: 1, Axis 2: 1, Axis 3: 1, Axis 4:1

Four axes return simultaneously.

Caution

Simultaneous return to origin of 4 axes is not synchronous.

Adapter file version

Fixed value

This is a fixed value for this controller. Do not change the setting.

Para protect

1 or 2

Set the range in which parameter and step data are possible to be changed. 1: Basic parameter + Return to origin parameter + Step data 2: Basic parameter + Return to origin parameter

Note1) The range varies depending on the actuator. Refer to the actuator operation manual for more

details.

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No.SFOD-OMT0010-B

7.2 Basic parameter

The “Basic parameter” is the data to define the operating conditions of the controller, conditions of the

actuator, etc.

Activation: “XX” = Become effective just after storing in the controller “X” = Become effective after restarting the controller “-“ = The parameter cannot be changed (fixed value).

Description

Input range

Explanation

Write

Controller ID

Fixed value

This is a fixed value for this controller. Do not change the setting.

Stroke(+)

Note1)

Define the positive (+) limit of the position. [Unit: mm] Any value greater than the [stroke(+)] value cannot be entered in the “Position” field data of the step data setup.

Stroke(-)

Note1)

Define the negative (-) limit of the position. [Unit: mm] Any value less than the [stroke(-)] value cannot be entered in the “Position” field data of the step data setup.

Max speed

Note1)

Define the maximum limit of speed. [Unit: mm/s] Any value greater than the [Max speed] value cannot be entered in the “Speed” field data of the step data setup.

Max ACC/DEC

Note1)

Define the maximum limit of acceleration or deceleration. (Unit:mm/s2） Any value greater than the [Max ACC/DEC] value cannot be entered in the step data.This setting also defines the deceleration when the actuator is stopped by the "HOLD" and "RESET" input signals.

Def In position

Note1)

Set the INP output range to Origin Position after a Return to Origin. [Unit: mm]

ORIG offset

Note1)

Define the position of the actuator after the Return to origin operation. [Unit: mm]

Caution

If the value for the “ORIG offset” is changed, the “Stroke (+)” and “Stroke (-)” in the basic parameters should be checked.

Max force

Note1)

Set the maximum possible force for "Pushing Force" in the profile parameters.

Option 1

Fixed value

This is a fixed value for this controller. Do not change the setting.

Note1) The range varies depending on the actuator. Refer to the actuator operation manual for more details.

■ The ORIG offset is 0 (mm)

■The ORIG offset is 100 (mm).

In the examples on the left, the actuator positions are not different but the reference point that the controller recognizes will be changed after the Return to origin operation.

Controller recognizes position after return to home position (0mm)

Controller recognizes Position after return to home position (100mm)

Actuator

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No.SFOD-OMT0010-B

Description

Input range

Explanation

Write

Undefined No.11

1 to 4096

Define the electronic Gear.

- Undefined No.11: "Electronic Gear (numerator)"

- Undefined No.12: "Electronic Gear (denominator)" This product controls the LE series motor (800 pulse per rotation). Please refer to Supplement 1. Actuator Specifications for the travel distance of the motor per rotation. [Setting example] (1) "Electronic Gear (numerator): 1", "Electronic Gear (denominator): 1" → The motor makes one turn when 800 pulses are input. (2) "Electronic Gear (numerator): 1", "Electronic Gear (denominator): 2" → The motor makes one turn when 1600 pulses are input. (3) "Electronic Gear (numerator): 2", "Electronic Gear (denominator): 1" → The motor makes one turn when 400 pulses are input. "Electronic Gear (numerator): 1", "Electronic Gear (denominator): 1" is recommended. If other values are entered, vibration or noise of the actuator could result. When "0" is set, it is recognized as "1".When a value greater than "4097" is set, it is recognized as "4096".

Caution

When interpolation is performed for the actuators of different leads, the travel distance per pulse must be the same. Set the electronic Gear for Axis 2, 3 or 4 so that the travel distance are the same as Axis 1.

[Setting example]

Axis

Actuator

Lead

Electronic gear ratio

Axis 1

LEY16C-300

2.5mm

1/ 1

Axis 2

LEY16B-300

5mm

25/ 50

Axis 3

LEY16A-300

10mm

25/ 100

Set Axis 2 and 3 so that their travel distance becomes 2.5mm per 800 pulse.

Electronic Gear ratio

= Lead of Axis 1/ Lead of Axis 2(or Axis 3) =2.5mm/5mm (or 2.5mm/10mm) =25/50 (or 25/100)

Undefined No.12

1 to 4096

Note1) The range varies depending on the actuator. Refer to the actuator operation manual for more details.

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No.SFOD-OMT0010-B

7.3 Return to origin parameter

The “Return to origin parameter” is the setting data for the return to origin operation.

Activation: “XX” = Become effective just after storing in the controller “X” = Become effective after restarting the controller “-“ = The parameter cannot be changed (fixed value).

Description

Input

range

Explanation

Write

ORIG direction

1 or 2

Set the direction of Return to origin operation. 1: CW 2: CCW

ORIG mode

1 or 2

Set the mode of the Return to origin operation. 1: ORIG Press

2. Return to origin with sensor

ORIG limit

Note1)

The pushing force limit at which to set the origin.

ORIG time

Fixed value

This is a fixed value for this controller. Do not change the setting.

ORIG speed

Note1)

The allowable speed to move to the origin.

ORIG ACC/DEC

Note1)

The acceleration and deceleration when moving to the origin.

Creep speed

Fixed value

This is a fixed value for this controller. Do not change the setting.

ORIG sensor

0 to 2

Setting of the ORIG sensor. 0: Disable the origin sensor (for this case, only a pushing operation to return to origin is enabled). 1: The origin sensor polarity is contact "a" 2: The origin sensor polarity is contact "b"

ORIG SW DIR

Fixed value

This is a fixed value for this controller. Do not change the setting.

Undefined No.21

Fixed value

This is a fixed value for this controller. Do not change the setting.

Note1) The range varies depending on the actuator. Refer to the actuator operation manual for more

details.

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No.SFOD-OMT0010-B

7.4 Step data

A “step data” is the data set to define the movement of the actuator. Total of 512 step data (9 attributes per step) are possible to be handled by this controller. (When "2048" is set for "Max step data Num" in the Profile parameter, up to 2048 steps are possible to be used). Each step data will become effective as soon as it is recorded into the controller. (Example) Step data on the PC (controller setting software) screen

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration (mm/s2)

Pushing

Selection

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

ABS

100

200.00

1000

1000 0 6.0

12.0

0.5

Axis 2

ABS

100.00

1000

1000 0 6.0

12.0

0.5

Axis 3

ABS

100.00

1000

1000 0 6.0

12.0

0.5

Axis 4

ABS

100.00

1000

1000 0 6.0

12.0

0.5

Axis 1

INC

500

800.00

1000

1000 1 0 0 10

Axis 2

INC

500

900.00

1000

1000 1 0 0 10

Axis 3

INC

500

900.00

1000

1000 1 0 0 10

Axis 4

INC

500

900.00

1000

1000 1 0 0 10 ┆

┆ ┆ ┆ ┆ ┆ ┆ ┆ ┆ ┆

Step Data details

Description

Input range

Explanation

Step No.

0 to 2047

Number of step data. 4 lines of data for one step.

Axis

Axis 1 to Axis 4

Set the axis to be used (ENC 1 MOT to ENC 4 MOT).

Movement mode

7 types (Refer to the table on the right)

Set the mode of movement to the target position.

Movement

mode

Pushing

operation

Details

Blank

Data invalid (No process) Set blank for the axis which does not travel.

ABS

○

Move the actuator to the absolute position.

INC ○ Move the actuator to a relative position.

LIN– A

Move the actuator (3 axes) to the absolute position with linear interpolation.

LIN– I

Move the actuator (3 axes) to a relative position with linear interpolation.

CIR- R

Set Axis 1 as X and Axis 2 as Y. Move the actuator clockwise with circular interpolation. Specify the target coordinate and central coordinate from the current position using relative coordinate.

CIR- L

Set Axis 1 as X and Axis 2 as Y. Move the actuator counterclockwise with circular interpolation. Specify the target coordinate and central coordinate from the current position using relative coordinate.

SYN- I

Move the actuator to a relative position with speed tuning control.

Speed

From minimum value to "Max speed" of basic parameter

Note1)

The speed to move to the target position. (Unit: mm/s) Refer to (1) to (5) on page 54 for the speed setting for movement mode.

Note1) The range varies depending on the actuator. Refer to the actuator operation manual for more

details.

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No.SFOD-OMT0010-B

Description

Input range

Explanation

Position

“Stroke (-)” to “Stroke (+)” in the basic

parameters

Set the target position (unit: mm) Refer to (1) to (5) on page 54 for position setting for movement mode.

Acceleration

1 to “Max ACC/DEC” in the basic parameters

Set the acceleration to reach to travel speed. (Unit:mm/s2) Refer to (1) to (5) on page 54 for acceleration speed setting for movement mode.

Deceleration

1 to “Max ACC/DEC” in the basic parameters

Set the deceleration from travel speed to stop. (Unit:mm/s2) Refer to (1) to (5) on page 54 for deceleration speed setting for movement mode.

Pushing Selection

0 or 1

Define a Pushing operation or Positioning operation. When a Pushing operation is selected, it is performed at a force greater than the pushing force set in the profile parameters.

Value

Movement

mode

Details

Positioning operation

The actuator moves to the position specified by the “Position".

Pushing operation

The actuator moves to the position specified by the “Position”, and then performs a pushing action with a force not greater than the set force.

Area 1

Step data "Area 2" from "Stroke (-)" in the basic parameters

The setting to define the conditions where the AREA output will be turned ON [Unit: mm]

If the current position is within the range between the Area1 and Area2, the AREA output will be turned ON.

If Area1= Area2= 0, the AREA output will be turned OFF.

Area 2

Step data "Area 1" to "Stroke(+)" in the basic parameters

In-position

Note1)

The In -position functionis different for the pushing operation and the positioning operation.

●Positioning operation: Positioning range (Unit: mm)

●Pushing operation Pushing range (Unit: mm)

Movement

mode

Details

Positioning operation

This setting defines the In-position, where the INP output will be turned ON. When the actuator moves to within a distance from the target position, the INP output will be turned ON.

Pushing operation

This setting defines the distance pushed by the actuator during the pushing operation. The INP output will be turned ON when the pushing force exceeds the "Trigger level" set in the profile parameters.

Note1) The range varies depending on the actuator. Refer to the actuator operation manual for more

details.

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No.SFOD-OMT0010-B

Different settings for each movement mode are shown below.

(1) ABS

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration

(mm/s2)

Pushing

Selection

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

ABS

100

200.00

1000

1000 0 6.0

12.0

0.5

Axis 2

ABS

100.00

1000

1000 0 6.0

12.0

0.5

Axis 3

ABS

100

100.00

1000

1000 1 0.0

0.0

5.0

Axis 4

ABS

50.0

1000

1000 1 0.0

0.0

10.0

(2) INC

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration

(mm/s2)

Pushing

Selection

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

INC

100

200.00

1000

1000 0 6.0

12.0

0.5

Axis 2

INC

100.00

1000

1000 0 6.0

12.0

0.5

Axis 3

INC

100

100.00

1000

1000 1 0.0

0.0

5.0

Axis 4

INC

50.0

1000

1000 1 0.0

0.0

10.0

(3) LIN-A / LIN-I

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration

(mm/s2)

Pushing

Selection

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

LIN-A

100

200.00

1000

1000 - 0.0

0.0

0.5

Axis 2

LIN-A

100.00 - - - 0.0

0.0

0.5

Axis 3

LIN-A

100.00 - - - 0.0

0.0

0.5

Axis 4

Note2)

- - - - - - -

Note 1) For LIN-I, the specified target position is a relative position. Note 2) For LIN-A and LIN-I, Axis 1 to Axis 3 are based on interpolation. Do not perform a setting

for Axis 4.

0: Positioning operation 1: Pushing operation

Positioning: In-position Pushing: Max.pushing distance

Positioning: Target position (Absolute position) Pushing: Position of pushing start (Absolute position)

0: Positioning operation 1: Pushing operation

Positioning: In-position Pushing: Max.pushing distance

Positioning: Target position (Relative position) Pushing: Position of pushing start (Relative position)

Composite speed

Target position (Absolute position

)Note 1

Composite acceleration and deceleration speed

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No.SFOD-OMT0010-B

(4) CIR-R / CIR-L

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration

(mm/s2)

Pushing

Selection

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

CIR-R

100

100.00

1000

1000 - 0.0

0.0

0.5

Axis 2

CIR-R

100.00 - - - 0.0

0.0

0.5

Axis 3

Note1)

50.00 - - - - - -

Axis 4

Note1)

50.00 - - - - - -

Note 1) For CIR-R and CIR-L, Axis 1 and 2 are based on interpolation. Do not perform a setting for

Axis 3 and 4.

(5) SYN-I

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration

(mm/s2)

Pushing

Selection

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

SYN-I

100

100.00

1000

1000 - 0.0

0.0

0.5

Axis 2

SYN-I

- - - - -

0.0

0.5

Axis 3

SYN-I

- - - - -

0.0

0.5

Axis 4

SYN-I

- - - - -

0.0

0.5

Caution

It is not possible to set more than one movement method in one step data.

Composite speed

Target position (Relative position)

Composite acceleration and deceleration speed

Rotation centre (Relative position)

Target position for all Speed tuning control axes(Relative position)

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No.SFOD-OMT0010-B

8. Description of operation

8.1 Return to origin

After entering the step data, it is necessary to perform a return to origin operation before positioning the actuator. (To ensure the position of origin)

The actuator moves in the Return to origin direction (*dependent on the actuator) from the initial position at the moment of power-on. Refer to (1) in the figure below. When the actuator reaches the end of travel limit it pauses for a short time. The controller recognizes the position as the end of travel limit of the actuator. Then, the actuator moves at a low speed in the direction opposite to the Return to origin direction. The position after the travel ("(2)" of the figure below) becomes the origin.

Return to Origin position command → Travel in the set Origin position direction → Stop travelling → Reverse travel → Set the Origin position

Return to Origin position reference example

Caution

The Return to origin direction is dependent upon the actuator.

Actuator end

Origin position

Motor

Load

Actuator

Initial position

(1)

(2)

Basic parameter "Default In position"

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No.SFOD-OMT0010-B

8.2 Positioning Operation

When the "Pushing selection" step data is "0" for a Positioning operation. The actuator moves to the target position specified by the step data “Position.”

Example) After a Return to origin, move the 4 axes from the origin to a 50mm position at 100mm/s (Step No.1). Next, move the actuator to a 100mm position by moving it 5 times consecutively, 10mm at a time, at a speed of 50 mm/s (Step No. 2).

Step Data Setting Example

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration

(mm/s2)

Pushing

Selection

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

ABS

100

50.00

1000

1000 0 0 0 0.5

Axis 2

ABS

100

50.00

1000

1000 0 0

0.5

Axis 3

ABS

100

50.00

1000

1000 0 0

0.5

Axis 4

ABS

100

50.00

1000

1000 0 0

0.5

Axis 1

INC

10.00

1000

1000 0 0

0.5

Axis 2

INC

10.00

1000

1000 0 0

0.5

Axis 3

INC

10.00

1000

1000 0 0

0.5

Axis 4

INC

10.00

1000

1000 0 0 0 0.5

Actuator

Origin position

Step Data "Speed"

Step Data "In-position"

Target position

-> Step Data "Position"

Motor

Load

● Positioning Operation (Example)

● Positioning operation [Speed/Position] (Example)

Speed

Set speed

Set acceleration speed

Actual acceleration speed

Set deceleration speed

Actual deceleration speed

Target position

Time

In-position

INP output

Page 59

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No.SFOD-OMT0010-B

Operation (Example)

Actuator

0mm

Origin position

Motor

Load ...

100mm End position

50mm

60mm

...

Axis 1

Actuator

0mm

Origin position

Motor

Load ...

100mm End position

50mm

60mm

...

Axis 3

Actuator

0mm

Origin position

Motor

Load ...

100mm End position

50mm

60mm

...

Axis 2

Actuator

0mm

Origin position

Motor

Load ...

100mm End position

50mm

60mm

...

Axis 4

Page 60

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No.SFOD-OMT0010-B

(1) Select input Step No.1. (Turn IN0 ON.)

↓

(2) Turn the "DRIVE" input ON.

↓

The Motor starts to move to the position set in Step No.1.

↓

(3) Step No.1 output turns on.

(OUT0 output is turned ON)

↓

(4) INP output turns OFF.

↓

(5) The "BUSY" output turns ON.

↓

(6)Turn the DRIVE input OFF.

↓

(7) “INP” output is turned ON.

↓

(8) “BUSY” output is turned OFF.

↓ The move to the position set in Step Data No.1 is completed.

↓ (9) Select input Step No.2. (Turn the IN0 input OFF, and the IN1 input ON.)

↓

(10) Turn ON "DRIVE" input.

↓

Start moving to 10mm from the current position.

↓

(11) Step No.2 output is turned ON.

(OUT1 output is turned ON)

↓

(12) “INP” output is turned OFF.

↓

(13) “BUSY” output is turned ON.

↓

(14) “DRIVE” input is turned OFF.

↓

(15) “INP” output is turned ON.

↓

(16) “BUSY” output is turned OFF.

↓

The move to 10mm away is completed.

Flow chart (Reference)

5 times

Parallel I/O signals

PLC

(2), (6), (10), (14)

(15), (12), (7), (4)

(16), (13), (8), (5)

(11)

(3)

(9)

(1)

Controller

Signal name

Category

DRIVE

Input

IN0

IN1

OUT0

Output

OUT1

INP

BUSY

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No.SFOD-OMT0010-B

8.3 Pushing Operation

When the "Pushing selection" step data is "1", for a pushing operation. First a positioning operation is performed to the "Target" position andaccording to the "Speed"set in the step data. The pushing operation starts from this"Position" for a maximum distance defined by the "Positioning width". The actuator pushes the load with a force no more than the maximum force set for the “Pushing force” in the profile parameters.

(1) Successful pushing operation

During the pushing operation, if the pushing force is greater than the value specified by the “Trigger level” set in the profile parameters for a specificed time, the INP output will be turned ON. The pushing force applied is set in the profile parameters and continues even after the INP output is ON.

It is regarded that the pushing operation is completed successfully when two of the conditions below are satisfied.

Condition 1) The BUSY output is OFF

and

Condition 2) The INP output is ON

(2) Unsuccessful Pushing operation (not pushing).

If the pushing operation is not completed even after the actuator moves over the range specified in the step data from the target position (the starting point of the pushing operation), the operation will be completed. In such a case, the INP output and BUSY output will be turned OFF.

Position of pushing start

Pushing operation

"In-Position"

Position

Speed

Pushing start position

Pushing operation

"In-Position"

Position

Speed

Pushing start position

-> Step Data "Position"

Actuator

Origin position

Pushing operation

Motor

Load

Pushing force

● Pushing operation example

● Pushing operation (Speed/Position)

Step Data "Speed"

Step data "In position"

"Pushing speed"

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No.SFOD-OMT0010-B

(3) Movement of the workpiece after completingthe pushing operation

(a) The workpiece moves in the pushing direction.

After completing the pushing operation, if the reaction force from the workpiece becomes

smaller, the actuator may move with a force smaller than that specified in the “Trigger level” of

the profile parameter. In this case, the INP output will be turned OFF and the actuator moves within the positioning range according to the balance of the force. During the pushing operation, if the pushing force is higher than the value defined by the “Trigger level” in the profile parameter for a specified time, the INP output will be turned ON again.

(b) Movement of the workpiece in the direction opposite to the pushing direction

(The actuator is pushed back since the reaction force from the workpiece is too large.)

After completing the pushing operation, if the reaction force from the workpiece becomes larger, the actuator may be pushed back. In this case, while the INP output is ON, the actuator will be pushed back to the point where the reaction force and the actuator pushing force are balanced (pushed back toward the target position). The INP output is OFF after passing the pushing start position.

Speed

Pushing start position

Pushing operation

"In-Position"

Position

"In-Position"

Speed

Position

Reaction force

Position of pushing start

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No.SFOD-OMT0010-B

Example) After a Return to origin, move 4 axes from the origin to 100mm position at 100mm/s.

From the 100mm position, pushing for a maximum of 5mm at a speed of

10mm/s(profileparameter: Pushing speed) at 50% or lower of thrust(profile parameter: Pushing force) (Step No.1).

Then, move 4 axes to 50 mm position from the origin at 50mm/s from the Pushing completed

position (position where "INP" output is ON) (Step No.2).

Step Data Setting Examples

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration

(mm/s2)

Pushing

Selection

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

ABS

100

100.00

1000

1000 1 0

5.0

Axis 2

ABS

100

100.00

1000

1000 1 0

5.0

Axis 3

ABS

100

100.00

1000

1000 1 0

5.0

Axis 4

ABS

100

100.00

1000

1000 1 0 0 5.0

Axis 1

ABS

50.00

1000

1000 0 0 0 0.5

Axis 2

ABS

50.00

1000

1000 0 0

0.5

Axis 3

ABS

50.00

1000

1000 0 0

0.5

Axis 4

ABS

50.00

1000

1000 0 0

0.5

Movement (ex.) Same operation for 4 axes

Step No.2 positioning operation (Example)

Step No.1 pushing operation (Example)

100mm

Actuator

0mm

Origin position

Pushing operation with pushing force

Motor

Load

Actuator

50mm

End position

Motor

Load

Pushing completed position

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No.SFOD-OMT0010-B

(1)Select input Step No.1. (Turn IN0 ON.)

↓

(2)Turn the "DRIVE" input ON.

↓

The Motor starts to move to the position set in Step No.1.

↓

(3) Step No.1 output is turned ON.

(OUT0 output is turned ON)

↓

(4) “INP” output is turned OFF.

↓

(5) “BUSY” output is turned ON.

↓

(6) “DRIVE" input is turned OFF.

↓

Move at low speed after passing the “Position” in Step No.1

↓

Push the workpiece with the specified pushing force.

↓

(7) “INP” output is turned ON.

↓ (8) “BUSY” output is turned OFF.

↓

The move to the position set in Step No.1 is completed.

↓ (9) Select input Step No.2. (Turn the IN0 input OFF, and the IN1 input ON.)

↓ (10)Turn the "DRIVE" input ON.

↓ Start moving to the position of Step No.2

↓ (11)Step No.2 output is turned ON.

(OUT1 output is turned ON)

↓ (12) “INP” output is turned OFF.

↓ (13) “BUSY” output is turned ON.

↓ (14) “DRIVE” input is turned OFF.

↓

(15) “INP” output is turned ON.

↓

(16) “BUSY” output is turned OFF.

↓ The move to the position set in Step No. 2 is completed.

Flow chart （Reference）

Parallel I/O signals

PLC

(2), (6), (10), (14)

(15), (12), (7), (4)

(16), (13), (8), (5)

(11)

(3)

(9)

(1)

Controller

Signal name

Category

DRIVE

Input

IN0

IN1

OUT0

Output

OUT1

INP

BUSY

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No.SFOD-OMT0010-B

8.4 Linear interpolation

Move axes in a straight line from the current position at a defined "Speed" (composite speed for the speed of each axis) to a "Position" set in the step data.The speed of each axis is calculated using the formulae below. There are two types of linear interpolation. LIN-A to specify absolute coordinates and LIN-l to specify relative coordinates. A pushing operation and linear interpolation of Axis 4 cannot be used.

Caution

Setting of the electronic Gear is necessary when actuators with different lead are used. If the electronic Gear is not set, the step data operation may not be performed. Refer to section 3.6

Parameters and Step data for the calculation of the electronic Gear.

Caution

The speed of the actuator may be outside of the specification range depending on the step data. Calculate the speed of each axis before operation, and confirm that the speed is within the minimum and maximum speed specified.

[Axis speed calculation] Composite travel distance =√((X2-X1)2+(Y2-Y1)2+(Z2-Z1)2) Xaxis speed = ((X2-X1)/ Composite travel distance)  Composite speed Y axis speed = ((Y2-Y1)/ Composite travel distance)  Composite speed Z axis speed = ((Z2-Z1)/ Composite travel distance)  Composite speed

(X1, Y1, Z1)

(X2, Y2, Z2)

X axis

Y axis

Z axis

Current position

Target position

Composite speed

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No.SFOD-OMT0010-B

Example) After a Return to origin, move from the origin position at 100mm/s of composite speed to a

point at100mm on Axis 1 and 100mm on Axis 2 (Step No.1). Then, move from the current position at 50mm/s of composite speed to a point at 100mm on Axis 1 and 50mm on Axis 2 (Step No.2).

Step Data Setting Examples

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration

(mm/s2)

Pushing

Selection

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

LIN -A

100

100.00

1000

1000 - 0

0.5

Axis 2

LIN -A

100.00 - - - 0

0.5

Axis 3

- - - - - - -

Axis 4

- - - - - - - - -

Axis 1

LIN -I

100.00

1000

1000 - 0 0 0.5

Axis 2

LIN -I

50.00 - - - 0

0.5

Axis 3

- - - - - - -

Axis 4

- - - - - - -

Operation (Example)

Axis 1

Axis 2

Travel distance 100mm Axis 2 speed 71mm/s

Composite speed 100mm/s

Composite speed 50mm/s

Travel distance 100mm Axis 1 speed 71mm/s

Travel distance 100mm Axis 1 speed 43mm/s

Travel distance 50mm Axis 2 speed 25mm/s Step1

Step2

(0, 0)

Page 67

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No.SFOD-OMT0010-B

(1) Select input Step No.1. (Turn IN0 ON.)

↓ (2) Turn the DRIVE input ON.

↓ The Motor starts to move to the position set in Step No.1.

↓ (3)Step No.1 output is turned ON.

(OUT0 output is turned ON)

↓ (4)INP output is turned OFF.

↓ (5)BUSY output is turned ON.

↓ (6)Turn the DRIVE input OFF.

↓ (7)INP output is turned ON.

↓ (8)BUSY output is turned OFF.

↓ The move to the position set in Step Data No.1 is completed.

↓ (9)Select input Step No.2. (Turn the IN0 input OFF, and the IN1 input ON.)

↓

(10)Turn the "DRIVE" input ON.

↓ Start moving to a point at 100mm on Axis 1 and 50mm on Axis 2.

↓ (11)Step No.2 output is turned ON.

(OUT1 output is turned ON)

↓ (12) INP output is turned OFF.

↓ (13) BUSY output is turned ON.

↓ (14) DRIVE input is turned OFF.

↓ (15) INP output is turned ON.

↓ (16) BUSY output is turned OFF.

↓ Move to a point at 100mm on Axis 1 and 50mm on Axis 2.

Flow chart (Reference)

Parallel I/O signals

PLC

(2)(6)(10)(14)

(15), (12), (7), (4)

(16), (13), (8), (5)

(11)

(3)

(9)

(1)

Controller

Signal name

Category

DRIVE

Input

IN0

IN1

OUT0

Output

OUT1

INP

BUSY

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No.SFOD-OMT0010-B

8.5 Circular interpolation

Circular interpolation by specifying the target coordinate (relative) and centre coordinate (relative) referring to Axis 1 as the X axis and Axis 2 as the Y axis. Clockwise circular interpolation is in CIR-R mode and counterclockwise is in CIR-L mode. Each axis travels at a speed lower than the composite speed.

When using circular interpolation the composite speed should be lower than the maximum speed of the actuator and lower than the maximum speed of the other actuators used.

The pushing operation and circular interpolation of Axis 3 and 4 cannot be used.

Set the target position on the arc composed by the current position and centre coordinate.

When the target position does not exist on the arc composed by the current position and centre coordinate, the target position is reached using linear movement on the X or Y axes at the end of the operation (Refer to the Figure below).

Note1) Composite speed varies from approx. 0.7 to 1.1 times more than the composition speed of setting depending on the arc angle.

Axis 1 (X axis)

Axis 2(Y axis)

Relative target position(X2, Y2)

Current position(X1, Y1)

Relative Centre coordinate (Xc, Yc)

CIR-R

CIR-L

Composite speed

Note1)

Composite speed

Note1)

Target position(Xa, Ya)

Rotation centre (Xc,Yc)

Start position (0,0) X axis

Y axis

Page 69

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No.SFOD-OMT0010-B

Caution

Setting of the electronic Gear is necessary when actuators with different a lead are used.

If the electronic gear is not set, the step data operation may not be produced. Refer to section 3.6 Parameters and Step data for the calculation of the electronic Gear.

Caution

When mode CIR-R/L is repeatedly used, there will be an accumulated error in the achieved position due to the motor resolution.

Use the instruction ABS once or twice every 2 or 3 times of using mode CIR-R/L for correcting the positional accuracy.

Caution

The following are precautions for setting step data.

1) For circular interpolation the composite speed used should be lower than the maximum speed of the actuator and lower than the maximum speed of the other actuators used.

2) Set the target position on the arc composed by the current position and centre coordinate.

3) Do not set the rotation centre position to (0, 0).

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No.SFOD-OMT0010-B

Example) After a Return to origin, move from the origin position at 100 mm/s to a point 30mm on Axis

1 and 10mm on Axis 2 (Step No.1). Move from the current position using counterclockwise circular interpolation movement at 100 mm/s composite speed to a point 0mm on Axis 1 and 40mm on Axis 2 (Step No.2: Centre position 0mm on Axis 1, 20mm on Axis 2). Make one clockwise rotation movementat 100 mm/s of composite speed (Step No.3: Centre position 0mm on Axis 1, 0mm on Axis 2).

Step Data Setting Example

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration

(mm/s2)

Pushing

Selection

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

ABS

100

30.00

1000

1000 0 0 0 0.5

Axis 2

ABS

100

10.00

1000

1000 0 0

0.5

Axis 3

- - - - - - -

Axis 4

- - - - - - -

Axis 1

CIR-L

100

0.00

1000

1000 - 0

0.5

Axis 2

CIR-L

40.00 - - - 0

0.5

Axis 3

- - 0.00 - - - -

Axis 4

- - 20.00 - - - - - -

Axis 1

CIR-R

100

0.00

1000

1000 - 0 0 0.5

Axis 2

CIR-R

0.00 - - - 0

0.5

Axis 3

- - 0.00 - - - -

Axis 4

- - 20.00 - - - -

Operation （Example）

Axis 1

Axis 2

Step3

Step1

Step2

30mm

10mm

50mm

90mm

Page 71

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No.SFOD-OMT0010-B

(1)Select input Step No.1. (Turn IN0 ON.)

↓

(2)Turn the DRIVE input ON.

↓

The Motor starts to move to the position set in Step No.1.

↓

(3) Step No.1 output is turned ON.

(OUT0 output is turned ON)

↓

(4)INP output is turned OFF.

↓

(5)BUSY output is turned ON.

↓

(6)Turn the DRIVE input OFF.

↓

(7)INP output is turned ON.

↓

(8)BUSY output is turned OFF.

↓ The move to the position set in Step Data No.1 is completed.

↓ (9)Select input Step No.2. (Turn the IN0 input OFF, and the IN1 input ON.)

↓

(10)Turn the "DRIVE" input ON.

↓

Move to the position set in Step No.2.

↓

(11) Step No.2 output is turned ON.

(OUT0 output is turned OFF, OUT1 output is turned ON.)

↓

(12) INP output is turned OFF.

↓

(13) BUSY output is turned ON.

↓

(14) DRIVE input is turned OFF.

↓

(15) INP output is turned ON.

↓

(16) BUSY output is turned OFF.

↓

The move to the position set in Step No. 3 is completed.

↓

(17)Select input Step No.3. (Turn IN0 and IN1 ON)

↓

(18)Turn the "DRIVE" input ON.

↓

Start to move to the position set in Step No.3.

↓

(19)Step No.3 output is turned ON.

(OUT1 and OUT0 output are turned ON)

↓

(20) INP output is turned OFF.

↓

(21)BUSY output is turned ON.

↓

(22) The DRIVE input is turned OFF.

↓

(23) INP output is turned ON.

↓

(24) “BUSY” output is turned OFF.

↓

The move to the position set in Step No. 3 is completed.

Flow chart （Reference）

Parallel I/O signals

PLC

(2)(6)(10)(14)(18)(22)

(23)(20)(15)(12)(7)(4)

(24)(21)(16)(13)(8)(5)

(19)(11)(3)

(1)(9)(17)

Controller

Signal name

Category

DRIVE

Input

IN0

IN1

OUT0

Output

OUT1

INP

BUSY

(19)(11)(3)

(1)(9)(17)

Page 72

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No.SFOD-OMT0010-B

8.6 Speed tuning control

When an (main) axis is delayed due to external load, the speed of other (slave) axes is controlled. Not the synchronization of the position of the main axis and slave axis. Pushing operation cannot be used.

Caution

(1) Actuators with a different lead cannot be used. Use the same type of actuators with the

same lead and stroke.

(2) The minimum speed for speed tuning control is different from the minimum actuator

speed.

Refer to Supplement 1. Actuator Specifications for the specifications of the actuators.

(3) When an external force is applied to the slave axis, which is higher than the force applied

to the main axis during operation, the speed cannot be tuned for the slave axis.

Once the main axis is fixed, the relationship of speed between the main axis and the slave axis is fixed until the completion of the step data operation. Therefore, a new speed cannot be tuned to the new reduced speed of the slave axis.

(4) Speed is not tuned during deceleration.

The timing of deceleration start or level of deceleration depends on the load and operating conditions of the actuators.

(5) If the external force applied to the main axis is removed during operation, the main axis

speed may overshoot.

During speed tuning control, the speed of the main axis is controlled so that it is close to the set speed. (The speed of the slave axis is controlled to tune with the actual speed of the main axis) So, if the external force is removed after the condition in which the main axis continues failing to respond to the set speed, the main axis speed may exceed the set speed rapidly due to the accumulated deviation.

(6) Speed cannot be tuned to the axis whose speed exceeds the set speed due to external

force, etc.

Speed tuning control works when the actual speed becomes slower than the set speed. So, it does not work when the set speed is exceeded.

(7) When an external force is applied to multiple axes simultaneously, it is possible that the

speed of the slave axis which receives the external force decreases.

Even if an external force is applied to multiple axes, only 1 axis is assigned as the main axis. Therefore, the speed of the the slave axes being applied with external force which are not assigned as a main axis may decrease due to accumulated deviation.

(8) When an external force is applied to the axes unevenly, and the main axis speed exceeds

the set speed rapidly, it may take time for the speed of the slave axes to be tuned with the main axis speed.

If an external force is applied and the movement delay is generated at an early stage, that axis becomes the main axis. When the main axis overshoots due to the accumulated deviation, other axes try to tune with the main axis within the set speed. Therefore, it takes time for them to be tuned.

Please design and construct the system taking these cautions into consideration.

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No.SFOD-OMT0010-B

Example) After a Return to origin, move all axes synchronously from the origin to 200mm position at 100mm/s. (Step Data No.0 is used for this operation).

Step Data Setting Example

Step

No.

Axis

Movement

mode

Speed

(mm/s)

Position

(mm)

Acceleration

(mm/s2)

Deceleration

(mm/s2)

Pushing

Selection

(%)

Area 1

(mm)

Area 2

(mm)

In-position

(mm)

Axis 1

SYN-I

100

200.00

1000

1000 - 0

0.5

Axis 2

SYN-I - - - - - 0

0.5

Axis 3

SYN-I - - - - - 0

0.5

Axis 4

SYN-I - - - - - 0

0.5

Operation (Example)

Speed tuning control starts when a specified speed difference is generated. At this time, due to the speed difference, there is a certain specified deviation in the position of the main axis and slave axes

The Slave axes operate according to the main axis speed during speed tuning control. This does not nullify the deviation of axes, so the slave axes reach the target position first.

(Slave) (Main) (Slave) (Slave)

Target position

Axis 1 Axis 2 Axis 3 Axis 4

(Slave) (Main) (Slave) (Slave)

External force

Axis 1 Axis 2 Axis 3 Axis 4

External force

Axis 1 Axis 2 Axis 3 Axis 4

(Slave) (Main) (Slave) (Slave)

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No.SFOD-OMT0010-B

8.7 Controller input signal response time

The controller input signal response time includes the following factors.

1) Controller input signal scan time

2) Delay due to input signal analysis

3) Delay due to command analysis Leave an interval of 15ms or more (recommendation is 30 ms) between input signals and maintain the state of the signal for 15ms or more (recommendation is 30 ms), because PLC processing delays and controller scanning delays could occur.

8.8 Methods of interrupting operation

There are three methods of interrupting the operation and stopping the actuator during a positioning operation or pushing operation, as shown below. The state after the interruption varies, therefore use the method appropriate to the application.

- Stop using the EMG signal

If the EMG signal is turned OFF during operation, the actuator will decelerate and stop, the servo will turn OFF which means the stopped position is not held. (For an actuator with lock, the position is held by the lock function). The residual travel distance will be reset.

- Stop using the RESET signal

If the RESET signal is turned ON during operation, the actuator will decelerate and stop, and the stopped position is held. (The servo does not turn OFF). The residual travel distance will be reset.

- Stop using the HOLD signal

If the HOLD signal is turned ON during operation, the actuator will decelerate and stop. The actuator will resume travel for the residual distance when the HOLD signal is turned OFF.

Caution

If the operation is stopped using the RESET signal, all OUT signals will turn OFF.

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No.SFOD-OMT0010-B

9. Operation Instructions

9.1 Outline of the Operation instruction

The actuator is operated by selecting step data which is preset in the controller, using parallel I/O signals. Refer to the following section for details of the parallel I/O signal timing and control procedures.

9.2 Operation procedure of parallel I/O signals

Please refer to the following “Procedure” and “Timing chart” for each operation.

(1) From power on to Return to origin

- Procedure - - Timing chart (a) Turn the power supply ON ↓ (b) The ALARM output turns ON.



ESTOP output is turned ON.

↓ (c) SVON input is turned ON. ↓ (d) SVRE output is turned ON. INP output is turned ON.

The time taken for SVRE output and INP output to turn on depends on the actuator type and the operating conditions. (When power is supplied, it may take up to 20 seconds from servo ON to SVRE ON.) Actuator (with lock) is unlocked.

↓ (e) Turn SETUP input ON. ↓ (f) BUSY output is turned ON and INP output is turned OFF (Starts the operation). ↓ (g) Return to origin is completed when the BUSY output is turned OFF and SETON and INP output

turns ON.

All valid axes turn on on completion of a return to origin.

The “ALARM” and “ESTOP” are expressed

Return to origin

Power supply

Input signal Output

signal

External lock

Speed

Unlock

Holding

ALARM

ESTOP

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No.SFOD-OMT0010-B

(2) Positioning operation

- Procedure - - Timing chart (a) Input the step data No.(INx).

↓

(b)Turn the DRIVE input ON.

The step data No. (OUT x output) will be output.

↓

and INP output turns OFF. (the positioning movement will start).

↓

(d)When the INP output is

turned ON and BUSY output is turned OFF, the positioning operation is completed.

Caution

Design the system so that no obstacles exist adjacent to the target position which may stop the actuators.

If the actuator is stopped by an obstacle adjacent to the target position during a positioning, the positioning operation will be completed (INP output: ON, BUSY output: OFF). If an operation instruction follows this, the positional offset from the target position of the previous operation will be reflected in the following operation. However the offset is possible to be corrected by using the ABS instruction twice or more.

Power supply

External lock

Speed

Unlock

Holding

The INP output signal is ON when all valid axes are within the positioning range after the positioning completion time (theoretical value) has lapsed. The BUSY output signal turns OFF when the positioning completion time (theoretical value) has lapsed.

Positioning

Current step No.

Previous step No.

OUTx Min.15ms

Input signal

Output signal

Page 77

- 76 -

No.SFOD-OMT0010-B

(3) Pushing operation

- Procedure - - Timing chart (a) Input the step data No.

(INx).

↓

(b) Turn the DRIVE input

ON. The step data No. (OUTx output) will be output.

↓

ON and INP output turns OFF. (Pushing starts).

↓

(d) The pushing operation

is complete when INP is ON and BUSY output is OFF. (The force set as the "Pushing Force" in the profile parameter will be generated).

Caution

1) If the movement is interrupted during positioning of the pushing operation, an alarm “(0-149) Failed to achieve set position in set time limit” will be generated.

2) If an operation is instructed after the pushing operation is completed ((d) above), a positional offset will be generated. Correct the offset by performing the ABS instruction twice or more.

Power supply

Input signal

Output signal

External lock

The INP output will turn ON when a force greater than "Trigger level" set in the profile parameter is generated. The BUSY output signal turns OFF after the pushing completion time (theoretical value) has lapsed.

Pushing operation

Current step data No.

Previous step data No.

Min.15ms

Unlock

Helding

Speed

Page 78

- 77 -

No.SFOD-OMT0010-B

(4) HOLD

- Procedure - - Timing chart (a) The HOLD input is turned ON

during a movement operation (when the BUSY output is ON).

↓

(b) The BUSY output turns OFF.

(The actuator will stop).

↓

(d) The BUSY output will turn

ON. (The Operation will restart)

(5) RESET

[Alarm reset]

- Procedure - - Timing chart (a) Generation of an alarm

(When the ALARM output is OFF, OUTx output corresponding to the alarm group will turn ON).

↓

(b) The RESET input is turned ON.

↓

OUTx output is OFF). (The alarm is deactivated).

Input signal Output signal

Speed

HOLD operation during positioning

Current step data No.

Previous step data No.

Slow-down starting point

Restart point

Paused INP output signal is ON when the actuators are within +/-"Positioning range" of the target position.

Output

signal

Input

signal

Alarm generated

ALARM is displayed in negative logic.

In case of alarm group E, the power supply for the main control and motor control needs to be re-applied to reset the alarm.

ALARM

OUTx

Previous or Current step data No.

Alarm group

Page 79

- 78 -

No.SFOD-OMT0010-B

[Reset of operation]

- Procedure - - Timing chart (a) The RESET input is turned ON

during a movement operation (when the BUSY output is ON).

↓

(b) The BUSY output is OFF and

OUTx output is OFF. (The actuator will stop).

Input signal Output signal

Speed

Current step data No.

Previous step data No.

Slow-down starting point

The INP output signal is ON when the actuators are within +/-"Positioning range" of the target position.

Page 80

- 79 -

No.SFOD-OMT0010-B

(6) STOP

- Procedure - Timing charge (a) The Stop (EMG) input is OFF

during an operation (when the BUSY output is ON). (Stop command)

↓

(b) The ESTOP output will turn

OFF.

↓

(The actuator will stop).

The SVRE output will turn OFF.

The actuator (with lock) will be

locked.

↓

(d) The stop (EMG) input is turned

ON. (The stop release command)

↓

(e) The ESTOP output will turn ON.

SVRE is turned ON.

The actuator (with lock) will be unlocked.

Input signal Output signal

Speed

ALARM is displayed in negative logic. When "Stop (EMG) is 0V" in the timing chart, the stop is activated.

Slow-down starting point

The INP output signal is OFF when the EMG input is OFF. The EMG turns ON (Stop release), and the INP output signal turns ON when the actuators are within +/-"Positioning range" of the target position.

ESTOP

Page 81

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No.SFOD-OMT0010-B

(7) Area output

-Procedures- (a) Input the Step data No. (INx). (b) Turn the "DRIVE" input ON. Step data No. 1 (OUTx output) will be output. (c) The BUSY output will turn ON and INP output will turn OFF (the positioning operation will starts). (d) The AREA output of step data No.1 turns ON (at 150mm from the origin point). (e) The BUSY output will turn OFF and INP output will turn ON. (Positioning operation of step data

No.1 is completed). (f) Input the step data No. 2 (INx). (g) Turn the "DRIVE" input ON. Step data No. 2 (OUTx output) will be output. (h) The AREA output will turn OFF. The BUSY output will turn ON and INP output will turn OFF. (The

positioning operation will start). (i) The AREA output for step data No.2 will turnON (at 170mm from the origin point). (j) The AREA output for step data No.2 will turnOFF (at 130mm from the origin point). (k) The BUSY output will turn OFF and INP output will turn ON. (Positioning operation of step data

No.2 is completed).

- Timing chart Initial position: 50mm

↓

Step data No.1 operation (Position: 200mm, Area 1: 150mm, Area 2: 250mm)

↓

Step data No.2 operation (Position: 100mm, Area 1: 130mm, Area 2: 170mm)

Speed

Input signal

Output signal

Step Data No.1

Step Data No.2

If the current position is within Area 1 and 2 of step data, the AREA signal will turn ON. Otherwise, the signal is OFF

Operation of step data No.1

Operation of step Data No.2

Previous step data No.

Page 82

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No.SFOD-OMT0010-B

10. Accessories

10.1 Power cable for main control

JXC-C1

Cable specification

Item

Specifications

Cable length

1.5m

Electric wire size

Stranded wire --> AWG20 (0.5mm2) O.D. of sheath →1.76 mm

Wire sheath colour

+24V: Brown 24-0V: Blue

10.2 DIN rail mounting bracket

JXC-Z1

Included with the controller

Description

Size

Qty.

Cross recessed round head screw

M5x8

4 pcs.

M5x14

2 pcs.

(1500)

Cable colour: Blue (0V)

Cable colour: Brown(24V)

Page 83

- 82 -

No.SFOD-OMT0010-B

10.3 Actuator cable (5m or less)

10.4 Actuator cable (8-20m)

Note)Produced upon receipt of order (Only "Robotic type cable" is available)

Actuator side

Controller side

L E - C P - - 

Cable length [L]

1.5m

Note)

10m

Note)

15m

Note)

20m

Note)

(14.2)

(17.7)

(11)

(30.7)

(18)

B6 5

6 2

16 2

Actuator side

Controller side

(a)

(b)

(c)

(14)

(14.2)

(17.7)

(11)

(30.7)

(14)

(18)

5 6

16 2

(a)

(b)

(c)

(8)

(5.5)

(6.3)

Nil

Robotic type cable

Standard cable

Cable type

Signal name

Terminal

number

B-1 A A-1 B B-2 B A-2

COM-A/COM

B-3

COM-B/ -

A-3

Vcc

B-4

GND

A-4 A B-5 A A-5 B B-6 B A-6

Cable colour

Terminal

number

Brown

Red

Orange

Yellow

Green

Blue 4

Cable colour

Terminal

number

Brown

Black

Red 7 Black

Orange

Black 8 -

Shield

(a)

(b)

(c)

L E - C P - 

Cable length [L]

Signal name

Terminal

number

B-1

A-1

B-2

A-2

COM-A/COM

B-3

COM-B/ -

A-3

Vcc

B-4

GND

A-4

B-5

A-5

B-6

A-6

Cable colour

Terminal number

Brown

Red

Orange

Yellow

Green

Blue

Cable colour

Terminal number

Brown

Black

Red

Black

Orange

Black

Shield

(a)

(b)

(c)

Page 84

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No.SFOD-OMT0010-B

10.5 Actuator cable [For sensor/ with lock (5m or less)]

Cable type

10.6 Actuator cable [For sensor/ with lock (8m to 20m)]

Note) Produced upon receipt

of order

(Only "Robotic type cable" is

available)

Signal name

Terminal

number A B-1

A-

A-1 B B-2 B A-2

COM-A/COM

B-3

COM-B/ -

A-3 Vcc

B-4

GND

A-4 A B-5 A A-5 B B-6 B A-6

(14.2)

(17.7)

(11)

(30.7)

(14) (18)

5 6

16 2

Actuator side

Controller side

(a)

(b)

(c)

B1 B3

(d)

(10.2)

L E - C P -  - B - 

Cable length [L]

1.5m

Signal name

Terminal

number

B-1

A-1

B-2

A-2

COM-A/COM

B-3

COM-B/ -

A-3

Vcc

B-4

GND

A-4

B-5

A-5

B-6

A-6

Cable colour

Terminal number

Brown

Red

Orange

Yellow

Green

Blue

Cable colour

Terminal number

Brown

Black

Red

Black

Orange

Black

Red

Black

Brown

Blue

Shield

(a)

(b)

Signal name

Terminal

number

Lock (+)

B-1

Lock (-) A-1

Sensor (+)

B-3

Sensor (-)

A-3

(d)

(c)

LE - CP - - B

Cable length [L]

Note)

10m

Note)

15m

Note)

20m

Note)

(14.2)

(17.7)

(11)

(30.7)

(14)

(18)

5 2

16 6

Actuator side

Controller side

(a)

(b)

(c)

B1 B3

(d)

(10.2)

(5.5)

(5.7)

(6.3)

(8)

(5.7)

Nil

Robotic type cable

Standard cable

Cable color

Terminal number

Brown

Red

Orange

Yellow

Green

Blue 4 Cable color

Terminal number

Brown

Black

Red 7 Black

Orange

Black 8 -

Red

Black

Brown

Blue

Shield

(a)

(b)

Signal name

Terminal

number

Lock (+)

B-1

Lock (-)

A-1

Sensor (+)

B-3

Sensor (-)

A-3

(d)

(c)

Page 85

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No.SFOD-OMT0010-B

10.7 ParallelI/O cable

The separate lines of the terminal on the PLC side are fusion together with an adhesive tape with a pitch of 1.27mm.

Pin No.

Insulator colour

Dot mark

Dot colour

Pin No.

Insulator colour

Dot mark

Dot colour

Orange

■

Black

Orange

■■■

Black

Orange

■

Red

Orange

■■■

Red

Grey

■

Black

Grey

■■■

Black

Grey

■

Red

Grey

■■■

Red

White

■

Black

White

■■■

Black

White

■

Red

White

■■■

Red

Yellow

■

Black

Yellow

■■■

Black

Yellow

■

Red

Yellow

■■■

Red

Pink

■

Black

Pink

■■■

Black

Pink

■

Red

Pink

■■■

Red

Orange

■■

Black

Orange

■■■■

Black

Orange

■■

Red

Orange

■■■■

Red

Grey

■■

Black

Grey

■■■■

Black

Grey

■■

Red

Grey

■■■■

Red

White

■■

Black

White

■■■■

Black

White

■■

Red

White

■■■■

Red

Yellow

■■

Black

Yellow

■■■■

Black

Yellow

■■

Red

Yellow

■■■■

Red

Pink

■■

Black

Pink

■■■■

Black

Pink

■■

Red

Pink

■■■■

Red

J X C - C 2 - 

Cable length [L]

1.5m

Core number

AWG size

AWG28

Controller side

PLC side

(7.5)



40 20 39 . . . 2 21 1

Ground cable (green), round terminal R1.25-4 (For M4 screw)

Page 86

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No.SFOD-OMT0010-B

10.8 Controller Set up kit

JXC-W1

Contents

(1) Controller set up software (CD-ROM) Product No.: JXC-W1-1

(2) USBcable (A-B type) Product number JXC-W1-2 PC Controller

Operating environment

Compatible OS

Note1)

Windows®7 (32bit or 64bit) Microsoft .NET Framework 2.0 is necessary.

Windows®8.1 (32bit or 64bit) Microsoft .NET Framework 3.5 is necessary.

Hard disk space

50MB or more

Interface

USB port (USB1.1 or USB 2.0)

Note1) WindowsⓇis the registered trademark of United States Microsoft Corporation.

Page 87

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No.SFOD-OMT0010-B

11. Alarm detection

The details of an alarm generated are possible to check using a PC (with controller setting software). Please refer to the controller setting software manual (No. SFOD-OMT0012) to check the details of the alarms. When an alarm is generated, deactivate the alarm after troubleshooting and correcting the error with reference to section

11.2 Alarms and countermeasures

. Alarms are divided into two types. One alarm type is possible to be cleared by inputting the RESET signal. The other type cannot be cleared unless the main control and motor control power supplies are turned off and on again.

11.1 Parallel output Alarm group

The controller outputs a signal to distinguish the type of alarm when an alarm is generated. Alarms are classified into 4 groups. When an alarm is generated, it is output in OUT0 to 3 outputs. Refer to the table below for the combination of the alarm group and the output terminals.

Alarm group

Parallel signal output.

ALARM

OUT0

OUT1

OUT2

OUT3

Alarm group B

OFF

Alarm group C

OFF

Alarm group D

OFF

Alarm group E

OFF

“ALARM” is displayed in negative logic.

When an alarm is generated, the SVRE or SETON are output according to the contents of the alarm,

as shown below.

Alarm group

Parallel signal output.

How to start test run.

SVRE

SETON

Alarm group B

No change

Input RESET

Alarm group C

No change

Input RESET

Alarm group D

OFF

No change

Input RESET

Alarm group E

OFF

Turn off the main control and

motor control power

supplies→Turn on again

- Procedure to restart -

1. Input RESET → SVRE: will automatically turnON (if SVON is ON when RESET is input)

2. Input SETUP → Instruction to restart after a Return to origin is completed.

Page 88

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No.SFOD-OMT0010-B

11.2 Alarms and countermeasures

(1) Controller alarm

Name of

the

controller

setting

software

(code)

Group

How to

deactivate

Alarms and countermeasures

DRIVE is ON when SVRE is OFF (0-098)

Input RESET

< Details >

An alarm is generated when the Drive operation [DRIVE] is ON when the servo [SVRE] is OFF after a Return to origin.

Command operation while the servo motor is on (SVRE output is ON).

DRIVE is ON when SETON is OFF (0-099)

Input RESET

< Details >

An alarm is generated when the drive operation is ON before a return to origin.

Start operation after completion of a Return to origin.

Failed to achieve set position in set time limit. (0-149)

Input RESET SVON

< Details >

The time to reach the target position is greater than the specified time.

Check if the travel of the actuator was interrupted. Also, make sure that the load, speed, acceleration and deceleration are within the range of the actuator.

Parameter is not registered (0-901)

Turn off the main control and motor control power supplies.

< Details >

An alarm is generated when the step data is executed without parameter settings.

Download an appropriate parameter to the controller.

Step data is not regestered (0-902)

Turn off the main control and motor control power supplies.

< Details > An alarm is generated when the step data is executed without step data setting.

<Countermeasure> Download the step data to the controller.

System Error (0-910)

Turn off the main control and motor control power supplies.

< Details > System error occurred. There is a possibility of damage to the controller or a malfunction due to noise.

<Countermeasure> If the alarm is still generated when the power is reapplied, please contact SMC.

SDRAM Error (0-911)

Turn off the main control and motor control power supplies.

< Details > Abnormality concerning SDRAM is confirmed.

<Countermeasure> Please contact SMC.

Page 89

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No.SFOD-OMT0010-B

Name of

the

controller

setting

software

(code)

Group

How to

deactivate

Alarms and countermeasures

FROM Error (0-912)

Turn off the main control and motor control power supplies.

< Details > Abnormality concerning FROM is confirmed.

<Countermeasure> Please contact SMC.

Modbus Error (0-913)

Turn off the main control and motor control power supplies.

< Details > An alarm is generated when an abnormality is found in the Modbus communication to the controller. There is a possibility that the motor control power supply (Cl 1 2 and Cl

3 4) is OFF or a malfunction occurred due to noise.

<Countermeasure> If the alarm is still generated when the power is reapplied, please contact SMC.

Module Error (0-914)

Turn off the main control and motor control power supplies.

< Details > An alarm is generated when a module error is confirmed. There is a possibility of damage to the controller or a malfunction due to noise.

<Countermeasure> If the alarm is still generated when the power is reapplied, please contact SMC.

Page 90

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No.SFOD-OMT0010-B

(2) Driver alarm

Name of

the

controller

setting

software

(code)

Group

How to

deactivate

Alarms and countermeasures

Step data value is wrong (1-048)

Input RESET

< Details >

The step data or parameter is incorrect for the following parameter assignable range. [Settable range]

(1) Pushing force ≥ Trigger level (2) Pushing force > 0 (3) Speed ≥ Pushing speed ≥ Minimum speed of the

actuator (4) Pushing speedMaximum pushing speed of the actuator (5) Pushing force≥Minimum pushing force of actuator (6) The Basic parameter "Max pushing force"minimum

pushing force of the actuator

(7) The Basic parameter "Max pushing force"  “Trigger

level”.

Modify the step data and basic parameter settings

Caution

Please refer to the actuator manual or the catalogue for the max/min pushing force/speed for the actuator.

Parameter value is wrong (1-049)

Input RESET

< Details >

The parameter is incorrect for the following parameter assignable range. [Settable range]

(1) Stroke (-) < Stroke (+) (2) Parameter “Max pushing force” < maximum pushing force of the actuator

Modify the basic parameter settings.

Caution

Please refer to the actuator manual or the catalogue for the max pushing force for the actuator.

Set stroke is outside stroke limit. (1-052)

Input RESET

< Details >

An alarm is generated when an operation exceeds the basic parameter "Stroke (+)", "Stroke (-)". (Including JOG operation after a Return to origin)

Make sure that the basic parameters “Stroke (+)” and “Stroke

(-)” are consistent with the distance of the actuator movement specified in the step data.

Caution

If the step data operation method is a “relative movement”, note the location where the operation starts and the distance moved. If the location is outside the stroke range when power is supplied, this alarm will be generated. Move the table to within the stroke range, and supply power.

Page 91

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No.SFOD-OMT0010-B

Name of

the

controller

setting

software

(code)

Group

How to

deactivate

Alarms and countermeasures

Return to ORIG did not complete in the set time. (1-097)

Input RESET

< Details >

Return to origin was not completed within the set time.

- If the ORIG mode is "0: Pushing Return to origin", the controller

parameter “model” and the actual actuator model may not match.

Check the parameters. Also, the motor shaft may be loose. Please refer to the actuator operation manual.

- If the ORIG mode is "2, 3: Return to origin with sensor", check that the sensor mounting and the cable connection of the sensor are correct.

DRIVE is ON when SVRE is OFF (1-098)

Input RESET

< Details >

An alarm is generated when a Return to origin instruction is made when the servo is OFF.

Start the operation when the servo motor is ON (SVRE output is ON).

Page 92

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No.SFOD-OMT0010-B

Name of

the

controller

setting

software

(code)

Group

How to

deactivate

Alarms and countermeasures

ORIG switch direction (1-103)

Input RESET

< Details >

The origin sensor does not respond correctly when a Return to origin operation is performed with the origin sensor. An Alarm is generated depending on the set value of the Return to origin parameter.

Return to origin parameter

Value

Alarm conditions

ORIG mode

ORIG sensor

0: Return to

origin by

pushing

force

0. No sensor

(No alarm will be generated).

1: Sensor

A contact

The end position is detected when the sensor has been off since the Return to origin operation started.

2: Sensor

B contact

The end position is detected when the sensor has been on since the Return to origin operation started.

2,3: Sensor

Return to

origin

0: No sensor

Immediately after inputting a command to Return to origin

1: Sensor

A contact

The end position is detected when the sensor has been off since the Return to origin operation started, or the end position is detected after the sensor ON is detected and before the Return to origin operation is completed.

2: Sensor

B contact

The end position is detected when the sensor has been on since the Return to origin operation started, or the end position is detected after the sensor OFF is detected and before the Return to origin operation is completed.

-If the ORIG mode is "0: Return to origin by pushing force" Set the return to origin sensor at 0.

- If the ORIG mode is "2 or 3: Return to origin with sensor" Set the return to origin sensor in accordance with the sensor

specifications. Also, check that the sensor mounting and the cable connection of the sensor are correct.

(Position error Alarm) Position error counter overflow (1-108)

Input RESET

< Details >

Position deviation counter in the driver has overflowed during the operation by pulse signals.

Make sure there are no obstructions that interfere with the actuator movement. Also, make sure that the load, speed, acceleration and deceleration are within the range of the actuators.

Page 93

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No.SFOD-OMT0010-B

Name of

the

controller

setting

software

(code)

Group

How to

deactivate

Alarms and countermeasures

Speed exceeded set value (1-144)

Input

RESET SVON

< Details >

The motor speed has exceeded the specified value, possibly due to an external force, etc.

Make improvements to ensure that the motor speed will not exceed the maximum speed of the actuator.

Caution

Please refer to the actuator manual or the catalogue for the maximum speed of the actuator.

Actuator power supply voltage is outside set range. (1-145)

Input RESET SVON

< Details >

The motor power supply voltage is detected in the controller to be outside of the specified range. The controller will check the lower limit of the motor power supply voltage only when the servo is ON.

Check the voltage supplied to the controller motor power supply (M24V).

Caution

If the power supply is a type with “inrushcurrent protection”, a voltage drop may cause an alarm during acceleration/ deceleration.

< Details >

The alarm may be caused by regenerative power depending on the method of operation of the actuator.

Check if the operating condition of the actuator is within the specification range.

Caution

Please refer to the actuator manual or the catalogue for the method of operation of the actuator.

Controller temperature exceeded set range. (1-146)

Input RESET SVON

< Details >

The temperature around the power element of the controller is too high.

Make improvements so that the temperature around the controller is kept appropriate.

Page 94

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No.SFOD-OMT0010-B

Name of

the

controller

setting

software

(code)

Group

How to

deactivate

Alarms and countermeasures

Controller supply voltage is outside set range. (1-147)

Input RESET SVON

< Details >

The power supply voltage for motor control detected by the controller is outside of the specified range.

Check the motor control power supply voltage connected to the controller.

Caution

If a single power supply is used for both the control power and the motor power, or the power supply is an “inrush

current protection type”, a voltage drop may occur during

acceleration/deceleration, which will generate an alarm.

< Details >

The alarm may be caused by regenerative power depending on the method of operation of the actuator.

Check if the operating condition of the actuator is within the specification range.

Caution

Please refer to the actuator manual or the catalogue for the method of operation of the actuator.

Current limit is exceeded (1-148)

Input RESET SVON

< Details >

The output current accumulated value has exceeded the specified value.

Check if the travel of the actuator was interrupted. Also, make sure that the load, speed, acceleration and deceleration are within the specifications of the actuator.

Page 95

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No.SFOD-OMT0010-B

Name of

the

controller

setting

software

(code)

Group

How to

deactivate

Alarms and countermeasures

Encoder error (1-192)

Turn off the main control

and motor

control

power

supplies.

< Details >

An abnormality occurred in communication with the encoder.

Check the actuator cable connection.

Unable to find motor phase in set time. (1-193)

Turn off the main control and motor control power supplies.

< Details >

Positioning of the polarity is not completed properly. (When the servo motor is turned on (SVON is ON) for the first time after the power is supplied, the actuator needs to move a little to find the motor phase.If this actuator movement is prevented, an alarm will be generated).

Make sure there are no obstructions that interfere with the actuator movement and then turn on the servo motor (SVON is ON).

Output current limit exceeded set value (1-194)

Turn off the main control and motor control power supplies.

< Details >

The Output current in the power supply circuit is abnormally high.

Check if the actuator cable or connector is short-circuited. In addition, make sure that the actuator is compatible with the controller.

Current sensor abnormality has occurred. (1-195)

Turn off the main control and motor control power supplies.

< Details >

An abnormality with the current sensors is detected, which is recognized when the controller is initialized.

Confirm the combination of the controller and the actuator is correct. If the alarm is still generated when the power is reapplied, please contact SMC.

Position error overflowed (1-196)

Turn off the main control and motor control power supplies.

< Details >

The position deviation counter in the controller has overflowed.

Check if the travel of the actuator was interrupted. Also, make sure that the load, speed, acceleration and deceleration are within the specifications of the actuator.

Memory abnormality has occurred (1-197)

Turn off the main control and motor control power supplies.

< Details >

Abnormality concerning EEPROM is confirmed.

Please contact SMC. (The write limit of the EEPROM is approximately100,000 times)

CPU error (1-198)

Turn off the main control and motor control power supplies.

< Details >

The CPU is not operating correctly. (It is possible that the CPU or surrounding circuits have failed, or the CPU is malfunctioning due to electrical noise).

If the alarm is still generated when the power is reapplied, please contact SMC.

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12. Common Precautions for wiring and cable

Warning

1. Adjustment, mounting, inspection or wiring should never be carried out before disconnecting the power supply to the product. Electric shock, malfunction and damage can result.

2. Do not disassemble the cable. Use only specified cables.

3. Do not connect or disconnect the cable or connector with the power on.

Caution

1. Wire the connector securely. Do not apply any voltage to the terminals other than those

specified in the Operation Manual.

2. Wire the connector securely.

Check for correct connector wiring and polarity.

3. Take appropriate measures against noise.

Noise in a signal line may cause malfunction. As a countermeasure, high voltage and low voltage cables should be separated, and keep wiring lengths short, etc.

4. Do not route wires or cables together with power or high voltage cables.

The product may malfunction due to interference and surge voltages. Route the wires of the product separately from power or high voltage cables.

5. Take care that actuator movement does not damage cables.

6. Operate with cables secured. Avoid bending cables at sharp angles where they enter the

product.

7. Avoid twisting, folding, rotating or applying an external force to the cable. Also avoid

operating at sharp angles.

Risk of electric shock, broken wires, contact failure and loss of control of the product can occur.

8. Fix the motor cable protruding from the product in place before using.

The motor cable is not robotic type cable and can be damaged when moved. Do not place Part A in the diagram below in a flexible cable duct.

9. Select “Robotic type cables” when deflecting actuator-cables repeatedly. Do not put cables

into a flexible moving tube with a radius smaller than the specified value (minimum 50mm).

Risk of electric shock, wire damage, contact failure and loss of control of the product can occur if

“Standard cables” are used in case of inflecting the cables

repeatedly.

10. Confirm correct wiring of the product.

Insulation failure (interference with another circuit, poor insulation between terminals etc.) could introduce excessive voltage or current to the controller or its peripheral devices and damage them.

Motor cable

Connector

Actuator cable

Robotic type cable (Flexible type cable)

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11. The Speed/ pushing force may vary, depending on the cable length, load and mounting

conditions etc.

If the cable length exceeds 5m, the speed/ pushing force will decrease by a maximum of 10% per 5m. (If cable length is 15m: Maximum 20% reduction.)

[Transport]

Caution

1. Do not carry or swing the product by the motor or the cable.

13. Electric Actuators / Common Precautions

13.1 Design and Selection

Warning

1. Read the Operation Manual before using the product.

Handling or usage/operation other than that specified in the Operation Manual may lead to breakage and product failure. Any damage attributed to use beyond the specifications is not guaranteed.

2. There is a possibility of dangerous sudden action by the product if sliding parts of machinery are twisted due to external forces, etc.

In such cases, human injury may occur, such as catching hands or feet in the machinery, or damage to the machinery itself may occur. The machinery should be designed to avoid such dangers.

3. A protective cover is recommended to minimize the risk of personal injury.

If a driven object and moving parts of the product are in close proximity, personal injury may

occur. Design the system to avoid contact with the human body.

4. Securely tighten all stationary parts and connected parts so that they will not become loose.

When the product operates with high frequency or is installed where there is a lot of vibration,

ensure that all parts remain secure.

5. Consider a possible loss of power source.

Take measures to prevent injury and equipment damage in the case of a power supply failure.

6. Consider the behavior of an emergency stop of the whole system.

Design the system so that human injury and/or damage to machinery and equipment will not

be caused, when it is stopped by a safety device for abnormal conditions such as a power outage or a manual emergency stop of the whole system.

7. Consider the action when operation is restarted after an emergency stop or abnormal stop of the whole system.

Design the system so that human injury or equipment damage will not occur upon restart of

operation of the whole system.

8. Prohibition of Disassembly and Modification

Do not disassemble the product or make any modifications, including additional machining.

This may cause human injury and/or an accident.

9. Do not use the controller stop signal, "EMG" as an emergency stop for the system.

The controller stop signal "EMG" is to be used only for decelerating and stopping the actuator. Design the system with a separate emergency stop circuit which conforms with the relevant safety standards.

10. When using for vertical applications, it is necessary to build in a safety device.

The rod may fall due to the weight of the work.

The safety device should not interfere with normal operation of the machine.

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No.SFOD-OMT0010-B

Caution

1. Use the product for the maximum usable stroke.

The product will be damaged if it is used with a stroke exceeding the maximum stroke. Refer

to the specifications of the product.

2. When the product repeatedly cycles with partial strokes, operate it at a full stroke at least once a day or every 1,000 strokes.

Otherwise, lubrication can be lost.

3. Do not use the product in applications where excessive external force or impact force is applied.

The product can be damaged. Components, including the motor, are manufactured to precise tolerances, so the slightest deformation may cause faulty operation or seizure.

4. Return to origin cannot be carried out during operating.

5. Refer to a common auto switch (Best Pneumatics No 2), when an auto switch is built and used within the system.

13.2 Mounting

Warning

1. Read and understand the Operation Manual before installing and operating the product. Keep the manual in a safe place for future reference.

2. Observe the tightening torque for screws.

Tighten screws to the recommended torque for mounting the product.

3. Do not make any alterations to this product.

Alterations made to this product may lead to a loss of durability and damage to the product, which can lead to human injury and damage to other equipment and machinery.

4. When using an external guide, the guide axis should be parallel to the actuator axis.

There will be damage/excessive wear on the lead screw if the external guide is not parallel.

5. When an external guide is used, connect the moving parts of the actuator and the load in

such a way that there is no interference at any point within the stroke.

Do not scratch or dent the sliding parts of the actuator tube or piston rod etc., by striking them with other objects. Components are manufactured to precise tolerances, so the slightest deformation may cause faulty operation.

6. Prevent the seizure of rotating parts (pins, etc.) by applying lubricating grease.

7. Do not use the product before verifying that the equipment can operate properly.

After mounting or repair, connect the power supply to the product and perform appropriate functional inspections to check it is mounted properly.

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8. Cantilever

When the actuator is operated at high speeds while it is fixed at one end and free at the other end (flange type, foot type, double clevis type, direct mount type), a bending moment may act on the actuator due to vibration generated at the stroke end, which can damage the actuator. In such a case, install a support bracket to suppress the vibration of the actuator body or reduce the speed so that the actuator does not vibrate. Use a support bracket also when moving the actuator body or when a long stroke actuator is mounted horizontally and fixed at one end.

9. When mounting the actuator or attaching to the work piece, do not apply strong impact or

large moment.

If an external force above the allowable moment is applied, it may cause looseness in the guide unit, an increase in sliding resistance or other problems.

10. Ensure sufficient space for maintenance activities.

When installing the products, allow access for maintenance.

13.3. Handling Precautions

Warning

1. Do not touch the motor while in operation.

The surface temperature of the motor can increase to approx. 90 oC to 100 oC due to operating conditions. Energizing alone may also cause this temperature increase. Do not touch the motor when in operation as it may cause burns.

2. If abnormal heating, smoking or fire, etc., occurs in the product, immediately shut off the

power supply.

3. Immediately stop operation if abnormal operation noise or vibration occurs.

If abnormal operation noise or vibration occurs, the product may have been mounted incorrectly. Unless operation of the product is stopped for inspection, the product can be seriously damaged.

4. Never touch the rotating part of the motor or moving part of the actuator while in operation.

5. When installing, adjusting, inspecting or performing maintenance on the product, controller

and related equipment, shut off the power supply to each of them. Then, lock it so that no one other than the person can turn the power on, or implement measures such as a safety plug.

6. In the case of the actuator that has a servo motor (24VDC), the “motor phase detection step" is

done by inputting the servo on signal just after the controller power is turned on. The “motor phase detection step” moves the table/rod for the distance of one screw-lead maximum. (The motor rotates in the reverse direction if the table hits an obstacle such as the end stop damper.) Take the “motor phase detection step” into consideration for the installation and operation of this actuator.

Caution

1. For the controller, set parameters which are appropriate to the connected actuators.

Operation with inappropriate parameters may cause failure of the controller or actuator, or damage to the user's systems.

2. Check the product for the following points before operation.

a) Damage to power supply line and signal line b) Looseness of the connector to the power and signal lines c) Looseness of the actuator/cylinder and controller/driver mounting d) Abnormal operation e) Emergency stop of the whole system

3. When more than one person is performing work, decide on the procedures, signals,

measures for emergency and how to start the operation after the measures taken. Also, designate a person to supervise work other than those performing work.

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4. Actual speed of the product will be changed by the workload.

Before selecting a product, check the catalog for the instructions regarding selection and specifications.

5. Do not apply a load, impact or resistance, in addition to a transferred load during the “Return

to Origin” operation.

When performing return to origin by pushing force, additional force will cause displacement of the origin position since it is based on detected motor torque.

6. Do not remove the name plate.

7. An operation test should be carried out using a low speed. Start operation using the

predefined speed after confirming there is no problems.

[Grounding]

Warning

1. Provide a good earth connection to the actuator.

2. The earth should be a dedicated earth connection. Class D dedicated grounding should be

used. (Ground resistance 100Ω or less)

3. The earth cable length should be as short as possible.

[Unpacking]

Caution

1. Check that the received product is as ordered.

If a different product is installed, other than that ordered, injury or damage can result.

13.4 Operating environment

Warning

1. Avoid use in the following environments.

a) Locations where a large amount of dust and cutting chips are airborne. b) Locations where the ambient temperature is outside the range of the temperature

specification (refer to specifications).

c) Locations where the ambient humidity is outside the range of the humidity specification

(refer to specifications). d) Locations where corrosive gas, flammable gas, seawater, water and steam are present. e) Locations where strong magnetic or electric fields are generated. f) Locations where direct vibration or impact is applied to the product. g) Areas that are dusty, or are exposed to splashes of water and oil drops. h) Areas exposed to direct sunlight (ultraviolet ray). i) Environment at an altitude of 1000 meters or higher.

Heat dissipation and withstand voltage will decrease. Contact SMC for details.

2. Do not use in an environment where the product is directly exposed to liquid, such as cutting oils.

If cutting oils, coolant or oil mist contaminates the product, failure or increased sliding resistance can result.

3. Install a protective cover when the product is used in an environment directly exposed to foreign matter such as dust, cutting chips and spatter.

Play or increased sliding resistance can result.

4. Provide a protective cover if the product is used in direct sunlight.

5. Shield the product if there is a heat source nearby.

When there is a heat source surrounding the product, the radiated heat from the heat source can increase the temperature of the product beyond the operating temperature range.

6. Grease oil can be reduced due to the external environment and operating conditions. The lubrication performance may deteriorate and shorten the life of the product.

SMC Networks JXC731, JXC733, JXC732, JXC734, JXC735 Operation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Safety Instructions

2. Product Outline

2.1 Features

2.2 How to Order

2.3 Product configuration

3. Procedures to Trial run

3.1 Checking the contents of the package

3.2. Mounting the controller

3.3 Install the setting software and the driver

3.4 Wiring and connection

3.5 Power supply, Start-up of controller setting software, and Alarm check

(1) Supplying power

(2) Start-up of controller setting software

(3) Alarm check

3.6 Parameters and Step data

(1) Select the actuator

(2) Setting parameters

(3) Step data settings

3.7 Check using JOG operation

(1) Change to Remote mode

(2) Return to origin

(3) JOG or Inching

3.8 Operation test using Test Drive

(1) Test Drive setting

(2) Change to Remote mode

(3) Return to origin

(4) Test drive starts

4. Product Specifications

4.1 Basic Specifications

4.2 Parts Description

4.3 Dimensions

(1) Direct mounting

(2) DIN rail mounting

4.4 Mounting

(1) Mounting

(2) Grounding

(3) Mounting location

5. Power supply connector

5.1 Connector specifications

(2) Motor drive power connector: M PWR

(3) Motor control power supply connector: CI

5.2 Wiring

(2) Wiring of the stop switch

6. Details of parallel I/O connector

6.1 Parallel I/O specifications

6.2 Parallel I/O circuit (NPN, PNP)

(1)Parallel I/O input circuit

(2)Parallel I/O output circuit

6.3 Parallel I/O signals

(1) I/O1

(2) I/O2

6.4 Parallel I/O Wiring Example

(1) NPN type

(2) PNP type

7. Setting Data Entry

7.1 Profile parameter

7.2 Basic parameter

7.3 Return to origin parameter

7.4 Step data

(1) ABS

(2) INC

(3) LIN-A / LIN-I

(4) CIR-R / CIR-L

(5) SYN-I

8. Description of operation

8.1 Return to origin

8.2 Positioning Operation

8.3 Pushing Operation

8.4 Linear interpolation

8.5 Circular interpolation

8.6 Speed tuning control

8.7 Controller input signal response time

8.8 Methods of interrupting operation

9. Operation Instructions

9.1 Outline of the Operation instruction

9.2 Operation procedure of parallel I/O signals