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Autonics Ai-M Series User Manual Download Page 75

 

10 Program Instructions 

© Copyright Reserved Autonics Co., Ltd. 

75 

10

 

Program Instructions 

There are 13 program instructions as below table. 

Type 

Instruction  Descriptions 

Drive 

ABS 

Absolute position move 

INC 

Incremental position move 

HOM 

Home search 

Input/Output 

ICJ 

Input condition jump 

IRD 

Input wait 

OPC 

Output port ON/OFF 

OPT 

Output port ON pulse 

Program control 

JMP 

Jump 

REP 

Repeat start 

RPE 

Repeat end 

END 

Program end 

POS 

Position set 

Other 

TIM 

Ready 

 

 

 

Summary of Contents for Ai-M Series

Page 1: ...AiC CL Series MMD AiC CLU1 V1 1 2004US Thank you for purchasing an Autonics product This user manual contains information about the product and its proper use and should be kept in a place where it will be easy to access www autonics com ...

Page 2: ......

Page 3: ...ng Autonics product Please familiarize yourself with the information contained in the Safety Considerations section before using this product This user manual contains information about the product and its proper use and should be kept in a place where it will be easy to access ...

Page 4: ...d or reproduced in either part or whole without permission A user manual is not provided as part of the product package Visit our website www autonics com to download a copy The manual s content may vary depending on changes to the product s software and other unforeseen developments within Autonics and is subject to change without prior notice Upgrade notice is provided through out website We con...

Page 5: ...s Symbol Description Supplementary information for a particular feature Failure to follow instructions can result in serious injury or death Failure to follow instructions can lead to a minor injury or product damage An example of the concerned feature s use 1 Annotation mark ...

Page 6: ...sive corrosive gas high humidity direct sunlight radiant heat vibration impact or salinity may be present Failure to follow this instruction may result in explosion or fire Do not connect repair or inspect the unit while connected to a power source Failure to follow this instruction may result in fire or electric shock Install the unit after considering counter plan against power failure Failure t...

Page 7: ...nstruction may result in personal injury or product damage by releasing holding torque of the motor Use the unit within the rated specifications Failure to follow this instruction may result in fire or product damage Use dry cloth to clean the unit and do not use water or organic solvent Failure to follow this instruction may result in fire or electric shock The driver may overheat depending on th...

Page 8: ...meter setting and operation test instead of driver operation When operating with CC Link disconnect the RS485 communication from the device CC Link dedicated cable must be used The performance cannot be guaranteed in case of using other cable Keep the distance between power cable and signal cable more than 10cm Motor vibration and noise can occur in specific frequency period Change motor installat...

Page 9: ... Ltd ix This unit may be used in the following environments Indoors in the environment condition rated in Specifications Altitude max 2 000m Pollution degree 2 Installation category II Please refer to the communication manual for CC Link communication ...

Page 10: ...d Type 19 1 4 2 Built in Brake Type 19 2 Specification 20 2 1 Driver 20 2 2 CC Link Communication 22 2 3 Motor 23 2 3 1 Frame Size 20 mm 23 2 3 2 Frame Size 28 mm 23 2 3 3 Frame Size 35 mm 23 2 3 4 Frame Size 42 mm 24 2 3 5 Frame Size 56 mm 24 2 3 6 Frame Size 60 mm 24 2 3 7 Common Specifications 25 2 3 8 Brake 26 2 3 9 Encoder 27 3 Dimensions 28 3 1 Driver 28 3 2 Motor 29 3 2 1 Standard Type 29 3...

Page 11: ...Size 60 mm 44 7 Driver Unit Descriptions 45 7 1 Connectors 46 7 1 1 Power Connector CN1 PWR 46 7 1 2 Motor Encoder Connector CN2 MOTOR 46 7 1 3 I O Connector CN3 SIGNAL I O 47 7 1 4 RS485 Comm Connector CN4 RS485 48 7 1 5 Brake Connector CN5 BRAKE 48 7 1 6 CC Link Connector CN6 DA DB DG SH FG 48 7 2 Connector Specifications 48 7 3 Switches 49 7 3 1 CC Link Station Setting DIP Switch SW1 49 7 3 2 C...

Page 12: ... Port ON Pulse 80 10 3 Program Control Instruction 81 10 3 1 JMP Jump 81 10 3 2 REP Repeat Start 81 10 3 3 RPE Repeat End 82 10 3 4 END Program End 82 10 3 5 POS Position Setting 82 10 4 Others 82 10 4 1 TIM Ready 82 11 Driver Function 83 11 1 General Drive 83 11 1 1 Fixed Pulse and Continuous Pulse Drive 83 11 1 2 Speed Curve 85 11 2 Home Search 87 11 2 1 General Home Search Home Search Method 0 ...

Page 13: ... Link Version 1 10 Competitive price compared to the servo motor and closed loop function and fast response for short distance continuous drive Realizing a wide variety of operation up to 256 steps using 13 control commands combination Improved user convenience with providing 20 I O pins Dedicated Windows program atMotion provided for parameter setting and test Low vibration operation at low speed...

Page 14: ...al 1 2 1 2 Motor Ai M Series Instruction manual Make sure all of the above components are included with your product package before use If a component is missing or damaged please contact Autonics or the distributor 1 2 2 Configuration Diagram I O cable motor encoder cable and power cable are sold separately For more information refer to the 7 5 Sold Separately ...

Page 15: ...mm 81 9 mm M Middle Frame size 20 mm 41 2 mm Frame size 28 mm 59 mm Frame size 35 mm 52 mm Frame size 42 mm 73 5 mm Frame size 56 mm 90 3 mm Frame size 60 mm 102 8 mm L Long Frame size 20 mm 53 1mm Frame size 28 mm 65 mm Frame size 35 mm 68 5 mm Frame size 42 mm 81 5 mm Frame size 56 mm 111 3 mm Frame size 60 mm 119 8 mm Encoder resolution A 1 4 000 PPR 1 000 PPRⅹ4 multiply B 2 16 000 PPR 4 000 PP...

Page 16: ...6 57 2 57 2 mm 60 60 60 mm Motor length S Short Frame size 42 mm 102 3 mm Frame size 56 mm 112 1 mm Frame size 60 mm 116 7 mm M Middle Frame size 42 mm 108 3 mm Frame size 56 mm 125 1 mm Frame size 60 mm 137 6 mm L Long Frame size 42 mm 116 3 mm Frame size 56 mm 146 1 mm Frame size 60 mm 154 6 mm Encoder resolution A 10 000 PPR 2 500 PPRⅹ4 multiply Brake B Built in Brake type Comm Method CL CC Lin...

Page 17: ...M Middle Frame size 20 mm 41 2 mm Frame size 28 mm 59 mm Frame size 35 mm 52 mm Frame size 42 mm 73 5 mm Frame size 56 mm 90 3 mm Frame size 60 mm 102 8 mm L Long Frame size 20 mm 53 1 mm Frame size 28 mm 65 mm Frame size 35 mm 68 5 mm Frame size 42 mm 81 5 mm Frame size 56 mm 111 3 mm Frame size 60 mm 119 8 mm Encoder resolution A 1 4 000 PPR 1 000 PPRⅹ4 multiply B 2 16 000 PPR 4 000 PPRⅹ4 multip...

Page 18: ... mm 56 57 2 57 2 mm 60 60 60mm Motor length S Short Frame size 42 mm 102 3 mm Frame size 56 mm 112 1 mm Frame size 60 mm 116 7 mm M Middle Frame size 42 mm 108 3 mm Frame size 56 mm 125 1 mm Frame size 60 mm 137 6 mm L Long Frame size 42 mm 116 3 mm Frame size 56 mm 146 1 mm Frame size 60 mm 154 6 mm Encoder resolution A 10 000 PPR 2 500 PPRⅹ4 multiply Brake B Built in Brake type ...

Page 19: ... 42LA CL AiC D 42LA CL Ai M 42LA AiC 56SA CL AiC D 56SA CL Ai M 56SA AiC 56MA CL AiC D 56MA CL Ai M 56MA AiC 56LA CL AiC D 56LA CL Ai M 56LA AiC 60SA CL AiC D 60SA CL Ai M 60SA AiC 60MA CL AiC D 60MA CL Ai M 60MA AiC 60LA CL AiC D 60LA CL Ai M 60LA 1 4 2 Built in Brake Type Set Driver Motor AiC 42SA B CL AiC D 42SA B CL Ai M 42SA B AiC 42MA B CL AiC D 42MA B CL Ai M 42MA B AiC 42LA B CL AiC D 42LA...

Page 20: ...000 16000 PPR 500 factory default 1000 1600 2000 3200 3600 5000 6400 7200 10000 PPR Applied motor 1 Ai M 28SB Ai M 35SB Ai M 42SA B Ai M 56SA B Ai M 60SA B Ai M 20MA Ai M 28MB Ai M 35MB Ai M 42MA B Ai M 56MA B Ai M 60MA B Ai M 20LA Ai M 28LB Ai M 35LB Ai M 42LA B Ai M 56LA B Ai M 60LA B Speed filter 5 0 disable 2 4 6 8 10 20 40 60 factory default 80 100 120 140 160 180 200 ms Positioning Gain 5 P ...

Page 21: ... megger Dielectric strength 1 000 VACᜠ 60 Hz for 1 min Vibration 1 5 mm amplitude at frequency of 10 to 55 Hz for 1 min in each X Y Z direction for 2 hours Shock 300 m s2 approx 30 G in each X Y Z direction for 3 times Environ ment Ambient temp 0 to 50 storage 10 to 60 Ambient humi 35 to 85 RH storage 10 to 90 RH Protection structure IP20 IEC standard Sold separately Power cable CJ PW 6 I O cable ...

Page 22: ...4 Number of occupied stations 1 station occupied 2 stations occupied Max transmit distance Depend on comm speed Remote I O 1 station occupied Ryn RXn 32 points each 2 stations occupied Ryn RXn 64 points each Remote register 1 station occupied RWrn RWwn 4 words each 2 stations occupied RWrn RWwn 8 words each Command Point table read write parameter read write read only special command monitor only ...

Page 23: ...ase 10 10 1 Ω Phase 10 Inductance 3 2 mH Phase 20 6 0 mH Phase 20 6 2 mH Phase 20 Weight 2 Approx 0 260 kg approx 0 162 kg Approx 0 318 kg approx 0 222 kg Approx 0 342 kg approx 0 248 kg 2 3 3 Frame Size 35 mm Model Ai M 35SB Ai M 35MB Ai M 35LB Max stop torque 1 0 714 kgf cm 0 07 N m 1 326 kgf cm 0 13 N m 3 162 kgf cm 0 31 N m Rotor moment of inertia 8 g cm2 8ⅹ10 7 kg m2 14 g cm2 14ⅹ10 7 kg m2 22...

Page 24: ... 10 0 57 Ω Phase 10 0 93 Ω Phase 10 Inductance 1 05 mH Phase 20 1 8 mH Phase 20 3 7 mH Phase 20 Weight 2 Standard type Approx 0 76 kg approx 0 62 kg Approx 0 99 kg approx 0 85 kg Approx 1 36 kg approx 1 22 kg Built in brake type Approx 1 30 kg approx 1 15 kg Approx 1 52 kg approx 1 38 kg Approx 1 90 kg approx 1 75 kg 2 3 6 Frame Size 60 mm Model Ai M 60SA Ai M 60MA Ai M 60LA Max stop torque 1 11 2...

Page 25: ...m T I R Radial movement 3 Frame size 20 28 35 mm Max 0 025mm load 450g Frame size 42 56 60 mm Max 0 025mm load 25N Axial movement 4 Frame size 20 28 35 mm Max 0 005mm load 920g Frame size 42 56 60mm Max 0 01mm load 50N Concentricityforshaftofsetupin low 0 05 mm T I R Perpendicularityofset upplateshaft 0 075 mm T I R 1 Specifications are for full step angle without load Values may vary by load size...

Page 26: ...riction torque Min 1 8 kgf cm Min 8 0 kgf cm Rotation part inertia 6 g cm2 19 g cm2 Insulation class B type 130 C B type brake Power ON brake is released Power OFF brake is operating Operating time Max 25 msec Max 30 msec Releasing time Max 10 msec Max 20 msec 1 Driver reduces power voltage form 24 VDCᜡ to 11 5 VDCᜡ and control the motor to reduce heat generation in the brake which is connected wi...

Page 27: ...A Frame size 28 35 mm Max 1 μs cable length 2 m I sink 20 mA Max response frequency Frame size 20 mm 200 kHz Frame size 28 35 mm 1 000 kHz Power supply 5 VDCᜡ 5 ripple P P max 5 Current consumption Max 50 mA disconnection of the load 2 Frame size 42 56 60 mm Item INCREMENTAL rotary encoder Resolution 10 000 PPR 2 500 PPRⅹ4 multiply Electrical specification Output phase A A B B Z Z Output duty rati...

Page 28: ...3 Dimensions 28 Copyright Reserved Autonics Co Ltd 3 Dimensions 3 1 Driver Be sure that these figures may differ from the actual units ...

Page 29: ...3 Dimensions Copyright Reserved Autonics Co Ltd 29 3 2 Motor 3 2 1 Standard Type 3 2 1 1 Frame Size 20 mm 3 2 1 2 Frame Size 28 mm 3 2 1 3 Frame Size 35 mm ...

Page 30: ...3 Dimensions 30 Copyright Reserved Autonics Co Ltd Model L Model L Model L Ai M 28SB 46 Ai M 35SB 41 5 Ai M 20MA 41 2 Ai M 28MB 59 Ai M 35MB 52 Ai M 20LA 53 1 Ai M 28LB 65 Ai M 35LB 68 5 ...

Page 31: ...3 Dimensions Copyright Reserved Autonics Co Ltd 31 3 2 1 4 Frame Size 42 mm 3 2 1 5 Frame Size 56 mm 3 2 1 6 Frame Size 60 mm ...

Page 32: ...Dimensions 32 Copyright Reserved Autonics Co Ltd Model L Model L Model L Ai M 42SA 34 1 Ai M 56SA 43 5 Ai M 60SA 48 1 Ai M 42MA 40 1 Ai M 56MA 56 5 Ai M 60MA 69 Ai M 42LA 48 1 Ai M 56LA 77 5 Ai M 60LA 86 ...

Page 33: ...3 Dimensions Copyright Reserved Autonics Co Ltd 33 3 2 2 Built in Brake Type 3 2 2 1 Frame Size 42 mm 3 2 2 2 Frame Size 56 mm 3 2 2 3 Frame Size 60 mm ...

Page 34: ...34 Copyright Reserved Autonics Co Ltd Model L Model L Model L Ai M 42SA B 33 9 Ai M 56SA B 43 3 Ai M 60SA B 47 9 Ai M 42MA B 39 9 Ai M 56MA B 56 3 Ai M 60MA B 68 8 Ai M 42LA B 47 9 Ai M 56LA B 77 3 Ai M 60LA B 85 8 ...

Page 35: ...m the shaft in front mm Allowable overhung load kgf N Allowable thrust load D 0 D 5 D 10 D 15 Frame size 20mm 1 22 12 1 53 15 Below motor weight Frame size 28mm 2 55 25 3 46 34 5 3 52 Frame size 35mm 2 20 2 55 25 3 46 34 5 3 52 Frame size 42mm 2 20 2 6 25 3 5 34 5 3 52 Frame size 56mm 5 5 54 6 8 67 9 1 89 13 3 130 Frame size 60mm Do not apply excessive force on motor cable when mounting motors Do ...

Page 36: ...4 Installation of Motor 36 Copyright Reserved Autonics Co Ltd 4 2 Mounting of Motor 4 2 1 Frame Size 20 mm 4 2 2 Frame Size 28 mm 4 2 3 Frame Size 35 mm ...

Page 37: ...mm With considering heat radiation and vibration isolation mount the motor as tight as possible against a metal panel having high thermal conductivity such as iron or aluminum When mounting motors use hexagon socket screws spring washers and flat washers Do not draw the wire with over strength 30N after wiring the encoder ...

Page 38: ...e of the device or the shaft for connecting with a load 4 3 1 Direct Load Connection with Coupling When connecting a load such as Ball screw or Tm screw directly to the shaft of the motor use flexible coupling as image showing above If the center of the load and the shaft is not aligned it may cause severe vibration damage on shaft or shortened life cycle of bearings 4 3 2 Load Connection with Pul...

Page 39: ...H at non dew status of ambient humidity The place without explosive flammable and corrosive gas The place without direct ray of light The place where dust or metal scrap does not enter into the unit The place without contact with water oil or other liquid The place without contact with strong alkali or acid material The place where easy heat dissipation could be made The place where no continuous ...

Page 40: ...5 Connection 40 Copyright Reserved Autonics Co Ltd 5 Connection 5 1 Standard Type ...

Page 41: ...5 Connection Copyright Reserved Autonics Co Ltd 41 5 2 Built in Brake Type ...

Page 42: ...6 Characteristics 42 Copyright Reserved Autonics Co Ltd 6 Characteristics 6 1 Standard Type 6 1 1 Frame Size 20 mm 6 1 2 Frame Size 28 mm 6 1 3 Frame Size 35 mm ...

Page 43: ...6 Characteristics Copyright Reserved Autonics Co Ltd 43 6 1 4 Frame Size 42 mm 6 1 5 Frame Size 56 mm 6 1 6 Frame Size 60 mm ...

Page 44: ...6 Characteristics 44 Copyright Reserved Autonics Co Ltd 6 2 Built in Brake Type 6 2 1 Frame Size 42 mm 6 2 2 Frame Size 56 mm 6 2 3 Frame Size 60 mm ...

Page 45: ... 2 Brake connector CN5 BRAKE 5 1 Servo On Off indicator SERVO Orange 5 2 In Position indicator INP Yellow 5 3 Power Alarm indicator PWR AL Green Red 6 Alarm Warning status indicator 7 Segment Red 7 CC Link status indicator L ERR L RUN Red Green 8 CC Link station setting DIP switch SW1 9 CC Link comm speed setting rotary switch B RATE 10 CC Link comm station setting rotary switch STATION NO 11 CC L...

Page 46: ...hen polarity direction is reversed power is not turned on Pin arrangement Pin no Function 1 24 VDCᜡ 2 GND 7 1 2 Motor Encoder Connector CN2 MOTOR Connects the motor and the encoder to the driver Pin arrangement Pin no Function Pin no Function 1 GND 8 5 VDCᜡ 2 Encoder A 9 Encoder A 3 Encoder B 10 Encoder B 4 Encoder Z 11 Encoder Z 5 F G 12 N C 6 Motor A 13 Motor B 7 Motor A 14 Motor B ...

Page 47: ... Input ORG 1 5 msec L H Home sensor 11 Input Limit 1 5 msec L H direction limit sensor 12 Input Limit 1 5 msec L H direction limit sensor 13 Output OUT0 General output 0 14 Output OUT1 General output 1 15 Output OUT2 General output 2 16 Output OUT3 General output 3 17 Output OUT4 General output 4 18 Output OUT5 General output 5 19 Output OUT6 General output 6 20 GEX External input GND 0 VDCᜡ 1 It ...

Page 48: ...or Connector terminal Housing CN1 Driver LAD1140 02 HANLIM Power CHD1140 02 CTD1140 CN2 Driver 35318 1420 Molex Motor Encoder 5557 14R 5556T CN3 Driver 10220 52A2 PL 3M I O connector 10150 3000PE 10350 52F0 008 CO20 MP R Sold separately Autonics CN4 Driver 053254 0270 Molex RS485 connector 51065 0200 50212 8000 CN5 Driver 5268 02A Brake 5264 02 5263PBT CN6 Driver 2EHDRC 05P OR 1 Dinkle CC Link con...

Page 49: ...occupied 7 3 2 CC Link Comm Speed Setting Rotary Switch B RATE Setting switch Setting Comm speed bps Setting Comm speed bps 0 156k 5 Disable 1 625k 6 2 2 5M 7 3 5M 8 4 10M 9 7 3 3 CC Link Station Setting Rotary Switch STATION NO Setting switch Setting Station No 10 Setting switch Setting Station No 1 10 0 0 10 1 0 0 1 1 10 1 1 2 2 10 2 2 3 3 10 3 3 4 4 10 4 4 5 5 10 5 5 6 6 10 6 6 7 Disable 7 7 8 ...

Page 50: ... signal is input or overload status is maintained AL Red Alarm indicator When alarm occurs it flashes repeat Refer to 8 2 1 2 Alarm Warning INP Yellow In Position indicator Turns ON when motor is placed at command position after positioning input SERVO Orange Servo On Off indicator Turns ON when Servo is operating turns off when Servo is not operating L RUN Green CC Linkstatus indicator Flashes wh...

Page 51: ...encoder cable It is recommended to use ferrite core at Motor Encoder cable 7 5 3 I O Cable CO20 MP R standard AiC CL TAG Pin No Function Name TAG Cable color Dot line color number Pin No Function Name TAG Cable color Dot line color number 1 VEX Yellow Black 1 11 Limit White Red 1 2 IN0 Red 1 12 Limit Black 1 3 IN1 Black 2 13 OUT0 Red 2 4 IN2 Red 2 14 OUT1 Black 2 5 IN3 Black 3 15 OUT2 Red 3 6 IN4 ...

Page 52: ...0 Limit direction limit sensor 11 Limit direction limit sensor 12 8 1 1 1 ORG Origin During driving as general home search mode it is used as home sensor input When suppling ORG signal over 1 5 ms it recognizes as home sensor 8 1 1 2 Limit When supplying the limit signal over 1 5 ms it recognizes as hardware limit input and it decelerates and stops or stops immediately accoridng to the set paramet...

Page 53: ...Input 6 User Input 7 Reset Driver reset Start Program mode drive start Start Index Index drive start Stop Driver stop EMG Driver emergency stop Run continuous drive Run continuous drive Jog jog drive Jog jog drive Pause Pause Servo ON OFF Servo ON OFF Home Home search Alarm Reset Alarm reset SD Slow Down Clear Pos Clear position set current position as 0 Step 0 Step number setting the combination ...

Page 54: ...ndex It starts drive as index mode Start 1 step drive which selected by the combination of 6 bit step 0 to step 5 If the step is not selected or operating step without ABS INC command index mode error occurs 8 1 2 4 Stop During continuous driving it decelerates and stops the motor according to Deceleration Time 1 parameter setting During program mode driving it stops after complete the current ste...

Page 55: ...continuous mode driving it decelerates and stops when pause signal is ON When pause signal is OFF it starts drive If pause signal is OFF before stopping the motor the motor stops and it starts drive as continuous mode 8 1 2 9 Servo On Off It is for adjusting shaft position of motor by external force manually Servo On Off signal is H over 1 msec It recognizes as Servo Off signal and the phase curre...

Page 56: ...11 Alarm Reset It is for alarm reset When alarm reset signal is H over 10 msec alarm is reset and the alarm indicator and alarm output turn OFF then the driver returns to normal status If the alarm causes are not removed the driver does not return to normal status even using alarm reset 8 1 2 12 SD Slow Down When supplying SD signal over 1 5 msec set the start drive speed decelerates 8 1 2 13 Clea...

Page 57: ... 0 0 0 1 1 1 39 1 0 0 1 1 1 8 0 0 1 0 0 0 40 1 0 1 0 0 0 9 0 0 1 0 0 1 41 1 0 1 0 0 1 10 0 0 1 0 1 0 42 1 0 1 0 1 0 11 0 0 1 0 1 1 43 1 0 1 0 1 1 12 0 0 1 1 0 0 44 1 0 1 1 0 0 13 0 0 1 1 0 1 45 1 0 1 1 0 1 14 0 0 1 1 1 0 46 1 0 1 1 1 0 15 0 0 1 1 1 1 47 1 0 1 1 1 1 16 0 1 0 0 0 0 48 1 1 0 0 0 0 17 0 1 0 0 0 1 49 1 1 0 0 0 1 18 0 1 0 0 1 0 50 1 1 0 0 1 0 19 0 1 0 0 1 1 51 1 1 0 0 1 1 20 0 1 0 1 0 0...

Page 58: ...Connection All input circuits are insulated with photocoupler It is recommaneded to use 24VDC at VEX and short RL In case of using external power over 24 VDCᜡ power select RL value that IF forward current of primary LED of photocoupler to be around 2 5mA max 10 mA RL VEX 1 25V 0 0025A 10ⅹ103 Ω ...

Page 59: ...Output The list of functions below can be assigned to general output OUT0 to OUT6 Signal name Description User Output 0 User output User Output 1 User Output 2 User Output 3 User Output 4 User Output 5 User Output 6 In Position In Position output Alarm Alarm output Warning Warning output ...

Page 60: ...ng value in position output turns to L and the in position indicator turns OFF Fast Response Accurate Response Setting Value Setting Value 0 factory default 0 8 0 1 1 9 1 2 2 10 2 3 3 11 3 4 4 12 4 5 5 13 5 6 6 14 6 7 7 15 7 For accurate control check the in position output before the next drive Fast Response When the deviation of the target position and the current position is smaller than the se...

Page 61: ...normal status Refer to 8 2 2 Example of Output Circuit Connection 4 Warning This function notices dangers with the alarm indicator prior to motor stop with limit signal or overload alarm When turning out from the alarming condition driver returns to the normal status automatically Even though warning occurs it drives as normal status and it may cause damage by fire It is recommended not to use the...

Page 62: ...mm speed is exceeded the range of 0 to 4 1 CC Link speed setting error 1 Select the baud rate in 0 to 4 c3 Comm station setting change When station number is changed while power is ON 1 CC Link station setting change 1 Re supply the power c4 Comm speed setting change When comm speed is changed while power is ON 1 CC Link speed setting change 1 Re supply the power c5 Comm failure Comm error 1 Comm ...

Page 63: ...hange operation condition or reduce load so that sudden load fluctuation does not occur 2 Check the less used than recommended SMPS capacity 3 Check driver break e5 Overheat error When driver inner temperature is over 80 1 Installed in an enclosed space 1 Change the installation environment Air flow around driver installation Heat dissipation heat sink or fan e6 Motor connection error When motor c...

Page 64: ...Power input over the specification 24 VDCᜡ 10 1 Change operation condition or reduce load so that sudden load fluctuation does not occur 2 Check the less used than recommended SMPS capacity 3 Supply power under specification 24 VDCᜡ 10 ec In Position error When position error In position setting value is kept over 3 sec after motor stopped 1 Overload 2 Stop torque leakage 1 Change operation condit...

Page 65: ...sed but INC ABS When index command is not completed due to the stop command 1 In case of step is not selected 2 When running a step with commands other than INC ABS 3 When entering the stop command during driving on index mode 1 Check where the command of the step is INC or ABS 2 Check that the selected step number is correct eh Home search mode error When failed to find home 1 If there is no ORG ...

Page 66: ... parameter value W3 H W Limit When normal direction CW H W limit is ON 1 When Limit signal I O pin no 19 is input 1 Check Limit signal is input correctly 2 Check if Limit signal is correctly set with the motor rotation direction CW direction Limit CCW direction Limit W4 H W Limit When reverse direction CCW H W limit is ON 1 When Limit signal I O pin no 20 is input 5 In Case of Both Motor and Torqu...

Page 67: ...Description User Output 0 to 6 User Output It is general output at program mode It is used with OPC OPT instruction When alarm occurs by Output Mode Alarm parameter setting output can be remained or reset Parameter Settings Descriptions Output Mode Alarm Holding Output remain Reset Output reset ...

Page 68: ...10mA RL VEX 0 7V 0 01A 8 2 3 Brake Output In order to reduce heat in the brake connect to the motor the driver outputs DC power to turn off the brake When supplying power to the driver after connecting the driver and brake the rated excitation voltage is supplied and the brake power is released after approx 1 sec Then after approx 0 2 sec the excitation voltage is decreased to 11 5 VDCᜡ and the re...

Page 69: ...mode Starts drive output when instruction input signal turns ON once to direction Stops it when the signal turns stop Program mode Operates by the designated program Index mode Designates and operates the one step among the saved instruction of the program Home search Operates home search Do not operate instructions by I O during communication between the driver and the PC atMotion only monitoring...

Page 70: ...mode operates motor to CW direction or CCW direction while Jog or Jog signal is ON Jog mode drive 1st Drive It drives to CW or CCW direction while Jog or Jog signal inputs 2nd Emergency stop t stops emergently when EMG signal inputs It cannot stop by Stop signal input ...

Page 71: ... to the designated direction When STOP signal inputs or limit signal of the direction inputs it stops Continuous mode drive 1st Drive It drives to CW or CCW direction when Run or Run signal inputs 2nd Stop It stops when Stop signal inputs or limit signal of the direction inputs 3rd Emergency stop It stops emergently when EMG signal inputs ...

Page 72: ...t drives from the completed next step when Start signal inputs again 3rd Stop It stops after completing the step when Stop signal inputs It drives from the first step when Start signal inputs again 4th Emergency stop It stops emergently when EMG signal inputs 5th Program end The program mode drive ends when END signal inputs When Power On Program Start parameter is enabled it operates program mode...

Page 73: ...e to set the step number from 0 to 63 combining with Step0 to Step5 2nd Start drive The designated one step operates when Start input signals turns ON 3rd Emergency stop it stops emergently when EMG signal inputs During the index mode driving it cannot stop by Stop signal or program stop instruction but only emergency stop is available with EMG signal When it stops by Stop signal input no 16 alarm...

Page 74: ...e Search Home search drive 1st Drive It operates home search according to the set mode when HOME signal inputs 2nd Stop It stops when Stop signal inputs or limit signal of the direction inputs 3rd Emergency stop It stops emergently when EMG signal inputs When Power On Home Search parameter is enabled it operates home search when resupplying power ...

Page 75: ...elow table Type Instruction Descriptions Drive ABS Absolute position move INC Incremental position move HOM Home search Input Output ICJ Input condition jump IRD Input wait OPC Output port ON OFF OPT Output port ON pulse Program control JMP Jump REP Repeat start RPE Repeat end END Program end POS Position set Other TIM Ready ...

Page 76: ...peed Select the max drive speed during drive Set the max speed from 1 to 5 according to purpose When selecting User Value it is available to set as the desired value Acceleration Set the acceleration time of drive Set the acceleration time 1 to 5 according to purpose When selecting User Value it is available to set as the desired value Deceleration Set the deceleration time of drive Set the decele...

Page 77: ...alue it is available to set as the desired value Max speed Select the max drive speed during drive Set the max speed from 1 to 5 according to purpose When selecting User Value it is available to set as the desired value Acceleration Set the acceleration time of drive Set the acceleration time 1 to 5 according to purpose When selecting User Value it is available to set as the desired value Decelera...

Page 78: ...or home search according to the set parameter of Home Search Mode Instruction DATA HOM Instruction Home mode Home mode Select home search mode operation setting For more information refer to the 11 2 Home Search 0 General Home Search 1 Limit Home Search 2 Zero Home Search 3 Torque Home Search ...

Page 79: ...PE instruction do not use ICJ Input Condition Jump 10 2 2 IRD Input Wait It is for moving the next step when the selected input port is activated When the input port is deactivated it waits at the current step until the active status Instruction DATA IRD Instruction Input port Input port Select the input port number For more information of input port number refer to 8 1 2 General Input 10 2 3 OPC ...

Page 80: ...ut port Next step On time Output port Select the output port number For more information about output port number refer to 8 2 1 General Output Next step ON It moves to the next step regardless of output operation OFF It turns the set output port ON during the set On Time After the time it moves to the next step On Time Set the ON time for output port Setting range is 1 to 10 000 msec ...

Page 81: ...e sure to the position of END instruction At the loop between REP RPE instruction do not use JMP Jump 10 3 2 REP Repeat Start It operates repeatedly for the set times from the next step of this instruciton to RPE repeat end instruction Instruction DATA REP Instruction Repeat Count Repeat Count Set the repeat times Setting range is 1 to 255 RPE Repeat End instruction should be below higher step num...

Page 82: ...use jump instruction JMP ICJ 10 3 4 END Program End It ends program The instruction must be entered at the end of program Instruction DATA END Instruction 10 3 5 POS Position Setting It sets the position value Instruction DATA POS Instruction Position Position Set the position value Setting range is 2 147 483 648 to 2 147 483 647 10 4 Others 10 4 1 TIM Ready It is ready instruction for the set tim...

Page 83: ...put pulses Acceleration Deceleration fixed pulse drive starts to reduce speed when remaining output pulse is less than the pulse used for acceleration It ends drive when it finishes generating pulse as shown in the image below Absolute position moves and incremental position move There are absolute position move and incremental position move These are fixed pulse drive Absolute position moves driv...

Page 84: ... 000 pulse Example of incremental position movement Incremental position move works as shown in the image below For example if the incremental position move INC instruction is executed for 9 000 pulse 3 times it moves to points A B C 11 1 1 2 Continuous Drive Continuous pulse drive outputs the drive pulse sequentially until the stop instruction from the high level or external stop signal becomes a...

Page 85: ...e accelerates from initial speed to drive speed trapezoidal with an inclination of the designated acceleration Set acceleration deceleration time as msec at Acceleration Time 1 to 5 Deceleration Time 1 to 5 parameter It counts the pulses consumed while accelerating to a specified drive speed and starts decelerating when the remaining output pulse becomes less than accelerating pulse This decelerat...

Page 86: ...nd deceleration speed To move the object to the vertical direction such as stacking device of semiconductor wafer the gravity acceleration speed is added to the object and acceleration speed and deceleration speed for up down movement should be different In this case it operates asymmetric trapezoidal acceleration deceleration drive When deceleration speed is higher than acceleration speed When ac...

Page 87: ...leration drive with the set acceleration time at Home Search Acceleration Time 3rd When acceleration drive is completed it operates constant speed drive until ORG home sensor signal inputs with the set max drive speed at Home Search Max speed 4th If Limit direction limit sensor signal inputs before ORG home sensor signal inputs it decelerates and stops drive to the reverse direction to find home 5...

Page 88: ...sor signal inputs or it arrives to Software Limit software limit it decelerates with the set deceleration time at Home Search Deceleration Time and stops 5th After stops it moves to the reverse direction for the passing distance from limit sensor with the set start drive speed at Home Search Start Speed finds limit sensor and stops 6th After finding home In Position signal outputs and the INP indi...

Page 89: ...d it operates drive at the set home direction 3rd It starts drive with the set start drive speed at Home Search Start Speed and it operates acceleration drive with the set acceleration time at Home Search Acceleration Time 4th After acceleration drive is completed it operates constant speed drive with the set max drive speed at Home Search Max speed 5th When it is closed to home it decelerats with...

Page 90: ...cceleration drive is completed it operates constant speed drive until contacting the specific equipment with the set max drive speed at Home Search Max speed 4th When it contacts with the specific equipment the current of motor is higher It stops when the current of motor is same value as the set value at Home Search Torque 5th After stops it rotates 1 4 to the reverse direction with the start dri...

Page 91: ...sor this limit function is set using internal position data To operate software limit set software limit software limit as Enable High and low limit values can be set each axis separately at software limit parameter Operation Mode Setting value Parameter Setting value Software Limit Enable Software Limit 100 000 Software Limit 50 000 When the setting value is as above the position value operates a...

Page 92: ...le factory default Enable Fixed stop current It maintains stop current as the set value at the parameter Disable Setting stop current It adjusts by stop current load and it is able to reduce over heat of motor 11 3 4 Speed Filter It is available to set motor drive response according to the instruction at the parameter Set the speed filter value for time delay between the command position and motor...

Page 93: ...ibration during drive I Gain Adjust vibration in acceleration deceleration zone The set gain value applies when motor stops Parameter Setting Value ratio P I GAIN 0 factory default 1 1 1 2 1 2 3 1 3 4 1 4 5 1 5 1 2 6 2 2 7 3 2 8 4 2 9 5 2 10 1 3 11 2 3 12 3 3 13 4 3 14 5 3 15 User setting When GAIN 1 P I 2 1 The set value is the ratio between P and I When GAIN 15 each GAIN value can be set by usin...

Page 94: ...under in position setting value after position command pulse has finished in position output turns to H and the in position indicator turns ON In reverse when the gap is over in position setting value in position output turns to L and the in position indicator turns OFF For moere accurate control check the in position output before operating the next step For more information refer to 8 2 1 1 In P...

Page 95: ...hen motor does not excite Servo is not ON Check that servo On Off input signal is L In case of H servo is off and excitation of motor is released Alarm occurs Check the alarm type and remove the cause of alarm When motor rotates to the opposite direction of the designated direction MotorDir parameter setting is not correct Check the MotorDir parameter settings When motor drive is unstable Connecti...

Page 96: ... Dimensionsorspecificationsonthismanualaresubjecttochangeandsomemodelsmaybediscontinuedwithoutnotice ...

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