Vexta EMP400 Series Operating Manual

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TB1

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Controller for servo and stepping motors

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

z Please read it thoroughly to ensure safe operation.
z Always keep the manual where it is readily available.

EMP400 Series

OPERATING MANUAL

HP-19036

2

The product described in this manual has been designed and manufactured for use in general industrial
machinery, and must not be used for any other purpose. Use a DC power supply with reinforced
insulation provided on the primary and secondary sides as the power source for the controller and
input/output signals.

Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this
warning.

z Duplicate copies of critically important data should be stored in a separate medium in case a

mishap should occur.

z Oriental Motor shall not be liable for damage to or loss of data resulting from the use of this

product.

z Unauthorized reproduction or copying of all or part of this instruction manual is prohibited.

If a new copy is required to replace an original manual that has been damaged or lost, please
contact your nearest branch or sales office.

z This Operating Manual is subject to change without prior notice for the purpose of product

improvement or changes in specifications, or to improve its general content.

z While we make every effort to offer accurate information in the manual, we welcome your input.

Should you find unclear descriptions, errors or omissions, please contact the nearest office. Contact
information may be found at the end of this operating manual.

is a trademark of Oriental Motor Co., Ltd., and is registered in Japan and other countries.
All other product names and company names are the trademarks or registered trademarks of their
respective companies. Any reference made in this Operating Manual to the names of products
manufactured by companies other than Oriental Motor is done so for reference purposes only and is
not intended to enforce or recommend the use thereof. Oriental Motor shall not be liable in anyway
whatsoever for the performance or use of products made by other companies.

Copyright

ORIENTAL MOTOR CO., LTD. 2001

ｃ

3

Introduction

1.1 Main features ....................................................................1-2

1.2 System configuration ........................................................1-2

Safety precautions

2.1 Important safety instructions.............................................2-2

2.2 Precautions for use...........................................................2-4

Preparations

3.1 Checking the product........................................................3-2

3.2 Names of parts .................................................................3-3

3.3 Specifications of EMP400 series ......................................3-4

Installation

4.1 Location for installation .....................................................4-2

4.2 Orientation ........................................................................4-2

4.3 Installation method............................................................4-3

Connection

5.1 Assembling the connector ................................................5-2

5.2 Connecting to the power supply .......................................5-3

5.3 Connecting the host controller (CN1) ...............................5-4

5.3.1 Connection method .......................................................... 5-4

5.3.2 Internal input circuit .......................................................... 5-5

5.3.3 Internal output circuit........................................................ 5-6

5.3.4 Connection example for a host controller ........................ 5-7

5.4 Connecting the driver (CN3·CN4

∗EMP402 only

) ......................5-8

5.4.1 Connection method .......................................................... 5-8

5.4.2 Internal input circuit .......................................................... 5-9

5.4.3 Internal output circuit...................................................... 5-10

5.4.4 Connection example for a driver .................................... 5-11

5.5 Terminal connection (CN2).............................................5-12

5.5.1 Connection method ........................................................ 5-12

Contents

1
2
3

4
5

4

Writing and editing a program

6.1 How to write a sequence program ....................................6-2

6.2 Additional information on program composition................6-3

6.2.1 Sequence program .......................................................... 6-3

6.2.2 Parameter settings for motor operation ........................... 6-3

6.3 Starting and exiting HyperTerminal ..................................6-4

6.3.1 Verifying the communication method .............................. 6-4

6.3.2 How to start HyperTerminal ............................................. 6-5

6.3.3 How to exit HyperTerminal............................................... 6-8

6.4 Writing a program with a line editor ..................................6-9

6.5 Writing a program with a text editor ................................6-10

6.5.1 How to write a program .................................................. 6-11

6.5.2 Downloading a program ................................................. 6-12

6.5.3 Uploading a program ..................................................... 6-14

6.6 Editing the program ........................................................6-17

6.6.1 Checking the number of steps ....................................... 6-17

6.6.2 How to edit the program................................................. 6-18

6.6.3 Quitting the program editing .......................................... 6-24

6.7 List of messages associated with program.....................6-25

Executing the program

7.1 How to execute a program................................................7-2

7.2 Program execution via the host controller ........................7-3

7.2.1 Example of program execution ........................................ 7-4

7.2.2 Emergency stop ............................................................... 7-5

7.2.3 Alarm signal input from the driver .................................... 7-6

7.3 Automatic program execution ...........................................7-7

7.4 Program execution via command .....................................7-8

Program command

8.1 Command input ................................................................8-2

8.2 Command classification....................................................8-3

8.2.1 Hardware configuration commands ................................. 8-3

8.2.2 Common commands ........................................................ 8-4

8.2.3 Operation commands....................................................... 8-5

8.2.4 Other commands ............................................................. 8-7

8.3 Special keys......................................................................8-8

8.4 List of commands..............................................................8-9

8.5 Command details............................................................8-11

ABS ............................................................................................. 8-11

ACTL ........................................................................................... 8-12

CJMP .......................................................................................... 8-13

D.................................................................................................. 8-14

DEL ............................................................................................. 8-15

DELAY ........................................................................................ 8-16

DOWEL....................................................................................... 8-17

DWNLD ....................................................................................... 8-18

EDIT ............................................................................................ 8-19

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EEN............................................................................................. 8-20

END ............................................................................................ 8-21

ENDL .......................................................................................... 8-22

ETIME ......................................................................................... 8-23

H.................................................................................................. 8-24

ID................................................................................................. 8-25

IN................................................................................................. 8-26

INC .............................................................................................. 8-27

JMP ............................................................................................. 8-28

LOOP .......................................................................................... 8-29

MHOME ...................................................................................... 8-30

MU............................................................................................... 8-32

OFS............................................................................................. 8-33

OUT............................................................................................. 8-34

PULSE ........................................................................................ 8-35

R.................................................................................................. 8-36

RAMP.......................................................................................... 8-37

RESET ........................................................................................ 8-38

RTNCR ....................................................................................... 8-39

RUN ............................................................................................ 8-40

S.................................................................................................. 8-41

SCAN .......................................................................................... 8-42

SEN............................................................................................. 8-43

T .................................................................................................. 8-44

TIM .............................................................................................. 8-45

UNIT............................................................................................ 8-46

UPLD .......................................................................................... 8-47

V.................................................................................................. 8-48

VS ............................................................................................... 8-49

Controlling with the operational unit

9.1 Installing and connecting the operational unit...................9-2

9.2 Basic operations ...............................................................9-3

9.2.1 Names of parts................................................................. 9-3

9.2.2 Switching between operation modes ............................... 9-4

9.2.3 Entering and saving numeric values................................ 9-4

9.2.4 Entering the sign .............................................................. 9-5

9.2.5 Entering a numeric value with a decimal point ................ 9-5

9.3 Monitor mode....................................................................9-6

9.4 Edit mode..........................................................................9-7

9.5 Teaching mode .................................................................9-8

9.5.1 Operation in teaching mode............................................. 9-9

9.5.2 Operation in HOME mode ............................................. 9-10

9.5.3 Operation in step execution mode ................................. 9-11

9.5.4 Operation in speed setting mode ................................... 9-13

9.6 Quick chart......................................................................9-14

9.7 Error display....................................................................9-15

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Troubleshooting

10.1 When ALARM LED illuminates....................................... 10-2

10.1.1 Main causes of an alarm................................................ 10-2

10.2 Error messages ..............................................................10-3

Sample programs

11.1 Operation by the host controller......................................11-2

11.2 Speed change operation by the host controller ..............11-3

11.3 Speed change operation at a specified time...................11-4

11.4 Repeating positioning operations ...................................11-5

11.4.1 When movement amount is set in pulses ...................... 11-5

11.4.2 When movement amount is set in degrees ................... 11-6

11.4.3 When movement amount is set in mm .......................... 11-7

11.5 Conditional jump procedure............................................11-8

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1

Introduction

Explains the items you should know before using this product.

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Introduction

1-2

1.1 Main features

Writing a sequence program on a personal computer

You can download the sequence program you have written on your personal computer and execute
the program by activating the START input from the host controller.
The sequence program can be written and modified using Windows HyperTerminal or a text editor.
No special software is required.

Superior expandability

The controller features eight and six general-purpose inputs and outputs points, respectively.

Motor control via multiple sources

The EMP400 Series allows motor operation either from the host controller or a personal computer.
The motor can be operated via the host controller by selecting 32 different sequence programs
through unique combinations of different states of program selection inputs connected to the host
controller and activating the START input.
The motor can also be operated via a personal computer by transmitting commands from a terminal
program via an RS-232C communication interface.

Easy teaching

The workpiece position can easily be adjusted using the optional OP300 operational unit.

1.2 System configuration

A sample system configuration using the EMP400 series is provided below.

24 VDC power supply
(for I/O)

Host controller

24 VDC power supply
(for the main unit)

+24V

RS-232C
Modular cable

(option)

GND

+24V
GND

Personal computer

Driver

Motor or

Motorized slider

Driver

Motor or
Motorized slider

Data setter

(option)
∗ The unit cannot be used to write
a sequence program.

only

2

Safety precautions

This section covers safety precautions to ensure safe operation of
the product.

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Safety precautions

2-2

2.1 Important Safety Instructions

Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the section “Safety precautions.”
The precautions described below are intended to prevent danger or injury to the user and other
personnel through safe, correct use of the product.
Use the product only after carefully reading and fully understanding these instructions.
Please read “Safety Precautions” in the Operating Manual for the motor you are using with this
product.

Warning

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

Caution

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

Note

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

This contains information relative to the description provided in the main text.

Warning

General z Do not use the product in explosive or corrosive environments, in the presence of flammable

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

z Assign qualified personnel the task of installing, wiring, setting, operating/controlling, and inspecting

the product.
Failure to do so may result in fire, electric shock or injury.

Installation z Install the controller and data setter in enclosures in order to prevent injury.
Connection z Keep the controller’s input-power voltage within the specified range to avoid fire.

z For the controller’s input-power voltage within the specified range to avoid fire.
z Connect the cables securely according to the wiring example in order to prevent fire.
z Do not forcibly bend, pull or pinch the power cable.

Doing so may result in fire.

Operation z Turn off the driver power in the event of a power failure, or the motor may suddenly start when the

power is restored and may cause injury or damage to equipment.

z Stop the motor in the event the controller’s ALM (alarm) output is detected.

Failure to do so may result in fire or damaged driver.

Repair, disassembly and modification

z Do not disassemble or modify the controller.

Refer all such internal inspections and repairs to the branch or sales office from which you purchased
the product.

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Safety precautions

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Caution

General z Do not use the controller beyond their specifications, or injury or damage to equipment may

result.

z Keep your fingers and objects out of the openings in the controller, or fire may result.

Installation z Keep the area around the controller, and data setter free of combustible materials in order to

prevent fire or a burn.

z To prevent the risk of damage to equipment, leave nothing around the controller and data setter

that would obstruct ventilation.

Operation z Use a controller and driver only in the specified combination. An incorrect combination may

cause a fire.

z To avoid injury, remain alert during operation so that the motor can be stopped immediately in an

emergency.

z Before switching on the controller, disconnect all of its output signals.

Failure to do so may cause the motor to start unexpectedly, resulting in fire or equipment damage.

z Set the speed and acceleration/deceleration rate well within the respective capacities in order to

prevent abrupt load fluctuations.
Failure to do so may cause the motor to misstep and the moving part to move in unexpected
directions, possibly resulting in injury or equipment damage.

z When an abnormality is noted, stop the operation immediately, or fire, or injury may occur.

Disposal z When disposing of the controller, treat them as ordinary industrial waste.

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Safety precautions

2-4

2.2 Precautions for use

This section covers limitations and requirements the user should consider when using the controller
EMP400 series and the data setter OP300.

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Power capacity

For the controller, use a DC power supply capable of supplying 24VDC ±5% at 0.45A or greater, with
reinforced insulation provided on the primary and secondary sides.

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Connecting the OP300 operational unit

Be sure to use the cable supplied with the OP300 operational unit when connecting it to the controller.
The cable comes with two ferrite cores intended for noise prevention. Do not remove these ferrite
cores, since doing so may diminish noise resistance and possibly cause a malfunction.

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Preventing electrical noise

Take the following anti-noise measures to prevent malfunction of the controller, driver, and motor
due to external noise:

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z Wiring the motor

Use an extension cable (sold separately) for connection between the driver and motor.

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z Wiring the I/O cable

For I/O cables, use a shielded cables with connectors (sold separately).
Minimize the length of the I/O cable.
Wire the I/O cables by maintaining a minimum distance of 300mm (11.8in.) from the inductive loads
of electromagnetic relays, etc., as well as the power lines (the power source and motor, etc.) Do not
wire the I/O cables in the same duct or pipe in which power lines are wired.

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z Connecting mains filter for power source line

Connect a mains filter to the AC power source input part of the driver in order to prevent externally
generated noise from being transmitted to the driver via the power-source line.
Ground the noise filter’s contact terminal using a cable of AWG16 (1.25mm

2

) or more in diameter.

The use of a cable smaller than AWG16 may cause heat generation.

3

Preparations

This section covers the items that needs to be checked after
purchasing the product, along with the names, functions and main
specifications of components in the controller.

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Preparations

3-2

3.1 Checking the product

Upon opening the package, verify that the items listed below are included.
In case any of these items is missing or damaged, check the model number shown on the package
label and contact the branch or sales office from which you purchased the product.

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24V DC

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Series

Controller for servo motor and stepping motor

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

l

Please read it thoroughly to ensure safe operation.

l

Always keep the manual where it is readily available.

OPERATING MANUAL

1

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12

HP-19036

series controller 1 unit I/O connector (50 pins) 1 set

∗

and only

∗

and only

AXIS connector (26 pins)

1 set
2 set

Operating manual 1 copy Appendix 1 copy

Series

Controller for servo motor and stepping motor

UNIT

HP-19034-2

Model number Connector included Equivalent

I/O connector (50 pins) Connector 54306-5011 (MOLEX)

10150-3000VE (SUMITOMO 3M)

Cover 54331-0501 (MOLEX)

10350-52A0-008 (SUMITOMO 3M)

AXIS connector (26 pins) Connector 54306-2611 (MOLEX)

10126-3000VE (SUMITOMO 3M)

Cover 54331-0261 (MOLEX)

10326-52A0-008 (SUMITOMO 3M)

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How to identify the product model

Connector

1: No connector
2: Solder type

series

Axis number

1: 1 axis
2: 2 axes

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Preparations

3-3

3.2 Names of parts

This section covers the names and functions of parts in the controller.

POWER LED
Lit when the power is on.

Terminal block (TB1)
Used to connect the 24VDC
power supply and frame ground.

ALARM LED
Lit when an alarm event occurs.

AXIS 1 connector (CN3)
Used to connect the first
axis I/O and sensor.

I/O connector (CN1)
Used for external-signal and
general-purpose inputs and outputs.

Modular connector (CN2)
Used to connect the cable for
communication with terminals
such as a PC and operational
unit.

AXIS 2 connector (CN4)
Used to connect the second
axis I/O and sensor.
∗Only

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Preparations

3-4

3.3 Specifications of EMP400 series

Control axis number 1 or 2
Number of sequence programs 32 (sequence programs 0 through 31)

The sequence program 99 is a CONFIG program.
Number of program lines 1,000 lines
Parameters Starting speed: 10 to 200kHz (1Hz increments)

Operating speed: 10 to 200kHz (1Hz increments)

Acceleration rate: 0.5 to 1,000ms/kHz (0.1ms/kHz increments)

Acceleration mode: Linear acceleration/deceleration, jerk limit control

Pulse count: ± 16,777,215 pulses
Pulse range -8,388,608 to 8,388,607 pulses
Operation mode Positioning operation (two-axis linear interpolation operation available

with EMP402 only)

Continuous operation

Mechanical home seeking operation
Mode for mechanical home Three-sensor mode (high-speed home seeking)

seeking Two-sensor mode (constant-speed home seeking)

Mechanical home seeking is possible via TIM or SLIT input
Data transmission format RS-232C based (3-wire)
General-purpose input 8 points, photocoupler inputs
General-purpose output 6 points, open-collector outputs, +5~24VDC, 25mA max. each
Power source 24VDC ± 5% at 0.45A min.

4

Installation

This section covers the conditions and method for controller
installation.

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Installation

4-2

4.1 Location for installation

This controller is designed and manufactured for installation in equipment.
Since heat generated from the controller is dissipated via air convection, install the controller in a well
ventilated area that ensures easy maintenance.
The conditions of the installation location are as follows:

z Inside an enclosure that is installed indoors (provide vent holes)
z Operating ambient temperature 0°C to +50°C (+32°F to + 122°F) (non-freezing)
z Operating ambient humidity 20 to 85%, maximum (no condensation)
z Area that is free from an explosive nature or toxic gas (such as sulfuric gas) or liquid
z Area not exposed to direct sun
z Area free of excessive amount dust, iron particles or the like
z Area not subject to splashing water (storms, water droplets), oil (oil droplets) or other liquids
z Area free of excessive salt
z Area not subject to continuous vibration or excessive shocks
z Area free of excessive electromagnetic noise (from welders, power machinery, etc.)
z Area free of radioactive materials, magnetic fields or vacuum

4.2 Orientation

When installing the controller inside an enclosure, place it in a vertical orientation by mounting it on
a DIN rail or securing it with screws through the two mounting holes provided on the controller.
There must be a clearance of at least 25mm (0.98in.) and 50mm (1.97in.) in the horizontal and
verticaldirections, respectively, between the controller and the enclosure or other equipment within
the enclosure.

50mm (1.97in.) minimum

25mm (0.98in.) minimum

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Installation

4-3

4.3 Installation method

Mount the controller on a DIN rail. In case the DIN rail produces significant vibrations, mount the
controller on an appropriate metal plate.

Warning

z

Do not place any equipment that generates excessive heat or noise in the vicinity of the controller.

z

Check and reexamine the means of ventilation if the ambient temperature of the controller exceeds
50°C (122°F).

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Mounting the controller on a DIN rail

Use a DIN rail of 35mm (1.38in.) in width. Use the end
plates to secure the controller mounted on the DIN rail.

1. Engage the hook on the back of the controller over the
DIN rail by pulling down the controller’s DIN lever, and
push the controller until the DIN lever locks in place.

2. Secure each end of the controller using the end plates.

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Installing the controller with screws

Install the controller on a metal plate and secure it using
two screws (M3 or M4, two pieces).
There should be no gap between the controller and plate.

The screws are not included in the package.

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Removing the controller from the DIN rail

125±0.1mm

(4.92±0.004in.)

1. Use a flat-head screwdriver to pull down the DIN lever
until it locks in place.
Pull the DIN lever with a force of 10 to 20N (2.2 to

4.41lb.).
Applying excessive force may damage the DIN lever.

2. Raise the controller upward to remove from the DIN
rail.

Tab

DIN rail

DIN lever

DIN lever

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Installation

4-4

5

Connection

This section covers the methods for connecting the power, driver,
host controller and other units to the EMP400 Series controller, as
well as the grounding method, input/output circuits and a
connection example.

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Connection

5-2

5.1 Assembling the connector

Solder-type connectors are supplied with the EMP401-2 and EMP402-2 series controllers.
Solder the host controller cable for the I/O connector and the driver cable for the AXIS connector.
The following figure shows the pin arrangement of the connector.(Viewed from the soldering side)

1

26

25

50

2

135791113151719212325

4681012141618202224

27

26283032343638404244464850

2931333537394143454749

1

14

13

26

2

135791113

4681012

15

14161820222426

1719212325

I/O connector AXIS connector

1 Solder a cable to the half-pitch connector.

The cable is not included in the package. Use a multi-core, overall-shielded, twisted-pair cable
of AWG28 (0.08mm

2

) or more in diameter.

2 Place the screws (M2.5, two pieces) supplied with the connector in the bottom connector cover.

Place the screws so that their flat washers align with the indents in the connector cover and the
spring washers sit on the outside of the connector cover.

3 Place the connector with the cable in the bottom connector cover and screw the cable mounting

bracket.
Tighten the mounting bracket screws (M2, two pieces) to the specified torque.
Torque: 0.3 to 0.35N·m (42.6 to 49.7oz-in)

4 Place the top connector cover and assemble the top and bottom connector covers using the

supplied screws (M2.5, two pieces) with hexagonal nuts.
Tighten the connector cover screws to the specified torque.
Torque: 0.5 to 0.55N·m (71 to 78.1oz-in)

Top connector cover

Bottom connector cover

Connector

Cable mounting

bracket

Screws for cable
mounting bracket
(M2, two pieces)

Screw for
connector cover
(M2.5, two pieces)

Hexagonal nut

Spring
washer

Flat washer

Screw (M2.5, two pieces)

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Connection

5-3

5.2 Connecting to the power supply

The controller’s power supply is connected to the TB1 terminals. In addition to the power-supply
terminals, TB1 has a frame ground (FG) terminal to prevent malfunctions caused by external noise.
The power supply provides a voltage of 24VDC ± 5% with current consumption of 0.45A max. The
current consumption level includes the current supplied to the operational unit.
Use round, insulated crimp terminals for power and grounding cables.

Note

The power supply should be designed to provide ample capacity. Insufficient power capacity may
cause an error in the controller operation.

24VDC/+ terminal
24VDC/

-

terminal

FG terminal

Grounded at

one point

Controller Driver

1. Remove the terminal cover from TB1.

2. Remove the positive and negative terminal screws, then
connect the 24VDC power cable.
Verify that the connection has the proper polarity.

Note

For the power cable, use the cable of AWG20 (0.5mm2) or
more in diameter. Any cable with a smaller diameter
may cause heat generation.

3. Tighten terminal screws at a tightening
torque of 0.5N·m (71oz-in).

4. Remove the FG terminal screws and connect the
grounding cable.

Note

For the power cable, use the cable of AWG18 (0.75mm2)
or more in diameter. Any cable with a smaller diameter
may cause heat generation.

5. Tighten terminal screws at a tightening
torque of 0.5N·m (71oz-in).

6. Secure the grounding cable connected to the FG
terminal to the ground point, using screws with an inner
clip washer.
The above grounding cable should be grounded at one
point together with the grounding cable connected to
the driver’s protective earth terminal.

7. Place the terminal cover on TB1.

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TB1 signals

Symbol Signal Description

+24V power Input terminal of the power supply
GND Ground of the power supply
FG Frame ground

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5.3 Connecting the host controller (CN1)

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CN1 (I/O) signal table

Pin No. Signal Description Pin No. Signal Description

1

− No connection

26

− No connection

2

E-STOP input Emergency stop

＊1

27

ALM output Alarm

3 START input Execution of a program 28

−

No connection
4 S-STOP input Interruption of a program 29 MOVE output During pulse generation
5

− No connection

30

− No connection

6

− No connection

31

READY output

Ready to accept START

input
7

+COM input

Power source for I/O (+24V)

＊2

32

+COM input

Power source for I/O (+24V)

＊2

8

IN1 input

General input

33

M0 input

Selection of

program number

9

IN2 input

34

M1 input

10

IN3 input

35

M2 input

11

IN4 input

36

M3 input

12

IN5 input

37

M4 input

13

IN6 input

38

− No connection

14

IN7 input

39

− No connection

15

IN8 input

40

− No connection

16

+COM input I/O (+24V)

＊2

41

− No connection

17

OUT1 output

General output

42

− No connection

18

OUT2 output

43

− No connection

19

OUT3 output

44

− No connection

20

OUT4 output

45

− No connection

21

OUT5 output

46

− No connection

22

OUT6 output

47

− No connection

23

− No connection

48

− No connection

24

− No connection

49

END output Positioning complete

25

-

COM input

Power source for I/O (GND)

＊2

50

-

COM input

Power source for I/O (GND)

＊2

∗1:The E-STOP input is at normally closed. (The state of the contact is given when the photocoupler is turned

off.)

∗2:+COM and -COM inputs are shared internally.

5.3.1 Connection method

Use the I/O connector (50-pin) for connection with the host
controller.
Plug the I/O connector into CN1 and tighten the screw.

Screw

55

55

5





Connection

5-5

5.3.2 Internal input circuit

The signal state represents the “ON: Carrying current” or “OFF: Not carrying current” state of the internal
photocoupler rather than the voltage level of the signal.

5.4k

820

PS2801 or
equivalent

+COM

E-STOP, START

S-STOP, IN1 to IN8

M0 to M4

zz

zz

z E-STOP input

This terminal is used to input the emergency stop signal.
The E-STOP input is a normally closed. Input is enabled when the E-STOP is turned off, immediately
stopping pulse output and stopping the motor. The program stops, also.
In the normal state, be sure to connect the E-STOP input to GND to keep it on.

zz

zz

z START input

This terminal is used to input the signal for starting the program.
The program is executed once the START input is turned on.

zz

zz

z S-STOP input

This terminal is used to input the signal for stopping the operation.
The program is stopped once the S-STOP input is turned on. If the S-STOP input is turned
on while the motor is in operation, the motor will decelerate to a stop.
Once operation resumes, the program will start over from the beginning.

zz

zz

z IN1 to IN8 inputs

General-purpose input terminals

zz

zz

z M0 to M4 inputs

Terminals for choosing the program to be used through unique combinations of the M0 to M4 input
states. For more information about the selection of programs through combinations of M0 to M4
input states, see section 7.2, “Program execution via the host controller.”

55

55

5





Connection

5-6

5.3.3 Internal output circuit

The signal state represents the “ON: Carrying current” or “OFF: Not carrying current” state of the internal
photocoupler rather than the voltage level of the signal.

TD62004AF
or equivalent

+COM

+5〜24VDC
25mA max.

-

COM

ALM, MOVE, READY
OUT1 to OUT6, END

zz

zz

z ALM output

The ALM output is turned on when the E-STOP input is turned off, an alarm input is fed from the
driver or there is an error in the controller.
Once the problem’s cause is eliminated, the ALM output is cancelled automatically. For more
information on the causes and handling of alarms, see section 10.1, “When ALARM LED illuminates.”
The output logic may be switched between normally open and normally closed via command inputs.
(Set to “normally closed” at the time of power-on.)

z MOVE output

The MOVE output is turned on during pulse output.

z READY output

The READY output is turned on when the controller is ready to accept the START input.
The READY output is turned off while the program is being executed or modified.

z OUT1 to OUT6 outputs

General-purpose outputs

z END output

One-shot output will be performed after a positioning operation.
The amount of output time can be changed via command input. (Set to 10ms at the time of power­on.) If END input from the driver is set to “used” via command input, pulse output from the controller
will cease. When the END input from the driver turns on, END output also turns on.

55

55

5





Connection

5-7

5.3.4 Connection example to a host controller

Series

CN1

7

16

32

2

3

4

33

37

8

15

25

50

27

29

31

49

17

22

ALM output

MOVE output

READY output

END output

OUT1 output

OUT6 output

E-STOP input

24VDC

+COM input

+COM input

+COM input

-

COM input

-

COM input

START input

S-STOP input

M0 input

M4 input

IN1 input

IN8 input

+5~24VDC
25mA max.

The current flow for each output signal is 25mA or less.

55

55

5





Connection

5-8

5.4 Connecting the driver (CN3·CN4

∗EMP402 only

)

5.4.1 Connection method

Use the AXIS connector (26-pin) for connection with the
driver.
Plug the AXIS connectors for the first- and second-axis
drivers into CN3 and CN4, respectively, and tighten them
with screws.

Screw

CN3

CN4





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CN3·CN4 signal table

Pin

No.

Signal Description

Pin
No.

Signal Description

1

+CW-P output

(+PULSE output)

CW pulse (pulse)

14

-

No connection

2

-

CW-P output

(-PULSE output)

CW pulse (pulse)

15

-

No connection

3

+CCW-P output

(+DIR output)

CCW pulse
(Direction of rotation)

16

+CCR output Counter-clear

4

-

CCW-P output

(-DIR output)

CCW pulse
(Direction of rotation)

17

-

CCR output Counter-clear

5

END input END signal from driver

18

GND

GND signal from driver

6

TIM input

Timing signal from driver

7

ALM input

Alarm signal from driver

8

+LS input

CW limit sensor

19

-

No connection

9

-

LS input CCW limit sensor

20

-

No connection

10

HOMELS input Home limit sensor

21

-

No connection

11

SLIT input Slit sensor

22

-

No connection

12

+12V output

Power source terminal
for sensor (35mA max.)

23

-

No connection

13

GND GND for sensor

24

-

No connection

25

+5V output

Power source terminal for
timing signal (20mA max.)

26

GND GND for timing signal

Outputs to

driver

Inputs from

driver

SENSOR

For timing signals

Shown in parentheses is the information for 1-pulse output mode.

55

55

5





Connection

5-9

5.4.2 Internal input circuit

The signal state represents the “ON: Carrying current” or “OFF: Not carrying current” state of the internal
photocoupler rather than the voltage level of the signal.

2.7kΩ

1kΩ

PS2801 or

equivalent

+12V

END, TIM, ALM

+LS,

-

LS

HOMELS, SLIT

z END input

This terminal is used to input the END signal output from the driver at the end of operation. This
terminal should be connected when using the

or servo motor.
The END signal is enabled or disabled via command input. (Set to “enabled” at the time of power­on.)

z TIM input

This terminal is used to input the timing signal from the driver.
When mechanical home is detected in mechanical home seeking mode, an accurate home position
can be found by using this signal with the HOMELS input or the HOMELS input/TIM input by

connecting them with an AND logic operator.

z ALM input

This terminal is used to input the alarm signal from the driver. (The driver’s alarm outputs may either
be at normally open or normally closed, depending on the model.)
If an alarm-signal input is fed while the motor is in operation, the motor will decelerate to a stop and
the program will stop also.
No pulse can be output while alarm signal inputs are being fed, although any command not associated
with pulse output can be executed.
The input logic may be switched between normally open and normally closed via command inputs.

(Set to “normally closed” at the time of power-on.)

z +LS and –LS inputs

This terminal is used to input signals from +LS and –LS.
If the LS input is turned on during pulse output, the motor will stop immediately. However, mechanical
home seeking will continue even if the LS input is turned on.
The input logic may be switched between normally open and normally closed via command inputs.
(Set to “normally open” at the time of power-on.)

Note

Note that two different input logics cannot be set for the +LS and –LS inputs, respectively.

z HOMELS input

This terminal is used to input signals from HOMELS when performing high-speed home seeking
using three sensors.
The input logic may be switched between normally open and normally closed via command inputs.

(Set to “normally open” at the time of power-on.)

z SLIT input

This terminal is connected when using a motorized slider with a slit sensor.
An accurate home position can be found by using this signal with the HOMELS input or the HOMELS
input/TIM input by connecting them with an AND logic operator.
The input logic may be switched between normally open and normally closed via command inputs.
(Set to “normally open” at the time of power-on.)

55

55

5





Connection

5-10

5.4.3 Internal output circuit

The signal state represents the “ON: Carrying current” or “OFF: Not carrying current” state of the internal
photocoupler rather than the voltage level of the signal.

+12V +12V

560Ω

74LS06 or

equivalent

1000pF

+CW-P (+PULSE)
+CCW-P (+DIR)

-

CW-P (-PULSE)

-

CCW-P (-DIR)

560Ω

74LS06 or equivalent

+CCR

-

CCR

z±CW-P (±PULSE) output, ±CCW-P (±DIR) output

These terminals are used to output pulses.
Information in parentheses is for 1-pulse output mode. In the 1-pulse output mode, the motor will
rotate in the CW direction with the DIR output turned on and in the CCW direction with the DIR output
turned off.
The output mode may be switched between 1-pulse and 2-pulse modes via the PULSE command.
(Set to “2-pulse mode” at the time of power-on.)

z ±CCR output

These terminals are used to output counter clear signals for resetting the counter in the driver.
These terminals should be connected when a servo motor is used.
The circuit will generate CCR outputs in any of the following situations (output width 500µs):

• The E-STOP input is turned off while the motor is in operation

• While mechanical home seeking is in progress

• When the motor has pulled out from the limit sensor during continuous operation

• When an alarm event has caused the operation to stop immediately

• When the power is turned on or the RESET command is input