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Autonics AiC-CL Series Communications Manual Download Page 25

 

3 Driving operation 

© Copyright Reserved Autonics Co., Ltd.   

27 

3.2

 

Operation 

3.2.1

 

±Direction Linear Accel/Deceleration Operation 

In order to reach the target speed from the current speed, the linear accel/deceleration is 
possible. 
Linked parameter: Acceleration Time, Deceleration Time, Start Speed, Max Speed 

Command 
code 

Data 
number 

Description 

Setting data range 

Initial 
data 

12h 

01h 

Start Speed 

1 to 600,000 

100 

12h 

02h 

Max Speed 

1 to 600,000 

5000 

12h 

03h 

Acceleration Time  0 to 10,000 

100 

12h 

04h 

Deceleration Time  0 to 10,000 

100 

12h 

05h 

Position Data 

-2,147,483,648 to +2,147,483,647  0 

※

 

If the speed override is executed during the constant speed operation, the set 
accel/deceleration time may change. 

※

 

In case of arriving to the target position without reaching max. speed due to 
acceleration time is long and command position is short, the acceleration time may 
change. 

e.g.) Acceleration Time 500 

Deceleration Time 500 
Start Speed 300 
Max Speed 15000 
Linear acel/deceleration operation 
 

 

 

Summary of Contents for AiC-CL Series

Page 1: ...sed LoopStepperSystem AiC CL Series MMD AiC CLC1 V1 0 2002KR ThankyouforpurchasinganAutonicsproduct Thismanualcontainsinformationabouttheproductanditsproperuse andshouldbekeptinaplacewhereitwillbeeasytoaccess www autonics com ...

Page 2: ......

Page 3: ...ng an Autonics product Please familiarize yourself with the information contained in the Safety Considerations section before using this product This 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: ...ot be edited or reproduced in either part or whole without permission This 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 websi...

Page 5: ...ual Symbols 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: ...losive 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...

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: ...ied 16 2 2 5 RY Signal Specification 17 2 2 6 RX Signal Specification 21 3 Driving operation 22 3 1 Switch setting and LED indication 22 3 1 1 Number of occupied stations 23 3 1 2 Station number Comm speed setting 23 3 1 3 LED Indication 24 3 1 4 FND Indication 24 3 2 Operation 27 3 2 1 Direction Linear Accel Deceleration Operation 27 3 2 2 Relative Position Movement 30 3 2 3 Absolute Position Mov...

Page 9: ...on CC Link Communication standard CC Link Ver 1 10 Station type Remote Device station Connection cable CC Link dedicated cable Comm speed Speed 156k 625k 2 5M 5M 10M bps Setting 10 bit rotary switch 0 to 9 Station number Number 01 to 64 Setting 10 bit rotary switch 0 to 9 2 Number of occupied stations Occupied 1 station occupied 2 stations occupied Setting 1 bit DIP switch Max transmit distance De...

Page 10: ...2 Function 12 Copyright Reserved Autonics Co Ltd 2 Function 2 1 System Configuration 485 ...

Page 11: ...running RXn6 Running Running RYn7 PR Start Program running RXn7 PR Running Program running RYn8 PR Single Start Program single step running RXn8 PR Single Running Programsingle step running RYn9 PR Pause Program pause RXn9 Disable RYnA PR Stop Program running stop RXnA RYnB ABS Absolute position running RXnB ABS Running Absolute position running RYnC INC Relative position running RXnC INC Running ...

Page 12: ...on number setting RWw Description RWr Description RWwm 0 Upper Read request code Lower Read request data number RWrn 0 Running step number RWwm 1 Upper Write request code Program single step running number Lower Write data number RWrn 1 Upper Alarm Code Lower Warning Code RWwm 2 Write Data lower RWrn 2 Read Data lower RWwm 3 Write Data upper RWr3 Read Data upper ...

Page 13: ... n 2 2 Limit RY n 2 3 OUT3 RX n 2 3 IN0 RY n 2 4 OUT4 RX n 2 4 IN1 RY n 2 5 OUT5 RX n 2 5 IN2 RY n 2 6 OUT6 RX n 2 6 IN3 RY n 2 7 Step0 Index running step select RX n 2 7 IN4 RY n 2 8 Step1 RX n 2 8 IN5 RY n 2 9 Step2 RX n 2 9 IN6 RY n 2 A Step3 RX n 2 A IN7 RY n 2 B Step4 RX n 2 B OUT0 RY n 2 C Step5 RX n 2 C OUT1 RY n 2 D Monitor Request Monitor request RX n 2 D OUT2 RY n 2 E RY n 2 F Disable RX...

Page 14: ...occupied m n indicates the address assigned to the master station by the station number setting RWw Description RWr Description RWwm 4 RWrn 4 Monitor 1 Data lower RWwm 5 RWrn 5 Monitor 1 Data upper RWwm 6 Monitor 1 RWrn 6 Monitor 2 Data lower RWwm 7 Monitor 2 RWrn 7 Monitor 2 Data upper ...

Page 15: ...or after completely stopped EMG RYn1 Motor stops immediately and occurs the emergency stop alarm It does not cutoff the current through the motor EMG signal is not available in case of the motor is stopped When EMG RYn1 is ON EMG RXn1 is ON Home RYn2 Execute the home search mode Home search mode type can be set in parameters and can be set the start speed max speed acceleration time and decelerati...

Page 16: ...ogram is running Running RXn6 and PR Running RXn7 is ON PR Single Start RYn8 Start program single step running Execute program single step running depend on index mode step selection RY n 2 7 to RY n 2 C While program is running Running RXn6 and PR Running RXn8 is ON PR Pause RYn9 Pause the program running When the pause signal is applied during the program mode running it stops after completing t...

Page 17: ...wm 0 and the data read is requested the read data is displayed in the Remote Register Rwrn 2 to 3 When the Read Request Success RXnE is not ON and the Read Error RX n 1 0 is ON this is the case that the command was incorrectly input Please check the entered command Write Request RYnF Request write Enter the upper write command Rwwm 1 and write data number and enter write data in RWwm 2 to 3 to req...

Page 18: ...63 with the combination of 6 bit STEP No Step5 Step4 Step3 Step2 Step1 Step0 STEP 0 0 0 0 0 0 0 STEP 1 0 0 0 0 0 1 STEP 2 0 0 0 0 1 0 STEP 61 1 1 1 1 0 1 STEP 62 1 1 1 1 1 0 STEP 63 1 1 1 1 1 1 Monitor Request RY n 2 D Request monitoring execution When entering the Monitoring group s command code write data number on Rwwm 6 to 7 Monitor1 to 2 The data will be displayed on Rwrn 4 to 5 Monitor1 Rwrn...

Page 19: ...ve position operation ON PR Running RXn7 Program running PR Single Running RXn8 Program single step running ABS Running RXnB Absolute position movement running INC Running RXnC Relative position movement running Position Reset Success RXnD Current position reset success Read Success RXnE Read execution request complete Write Success RXnF Write execution request complete Read Error RX n 1 0 Read ex...

Page 20: ... CN4 RS485 4 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 STATIO...

Page 21: ... 2 Station number Comm speed setting The driver is available to set the station number and communication speed by switch setting Set the switch setting before supply power to the driver In case of changing the station number or communication speed the power must be resupplied to the driver Set the CC Link communication speed with B RATE switch Setting switch Setting Comm speed bps Setting Comm spe...

Page 22: ... Red Turns ON when communication failure 3 1 4 FND Indication 3 1 4 1 Normal Status The station number is displayed in normal status after power is supplied 3 1 4 2 Alarm Display Function When alarm occurs it remains stops the motor operation or remains releases the torque The alarm status can be reset through resupply the power or input Alarm Reset or Reset after removing the cause of alarm The a...

Page 23: ...ver 80 e6 Motor connection error When motor cable connection error occurs at driver e7 Encoder connection error When encoder cable connection error occurs at driver e8 Regenerative voltage error When regenerative voltage is over 78V e9 Motor misalignment When motor is in misalignment ea Command speed error When command speed is over 3 500rpm eb Input voltage error When input voltage is out of 24VD...

Page 24: ... displayed below Remote Register RWrn1 If the limit waring occurs it will not operate to the same direction as occurred limit and it can be cleared by operating opposite direction from the occurred limit warning It operates as following warning table and the LED flashing cycle is 400ms Warning status Warning type Description Motor status Torque status w1 Software limit When normal direction CW sof...

Page 25: ...d 1 to 600 000 100 12h 02h Max Speed 1 to 600 000 5000 12h 03h Acceleration Time 0 to 10 000 100 12h 04h Deceleration Time 0 to 10 000 100 12h 05h Position Data 2 147 483 648 to 2 147 483 647 0 If the speed override is executed during the constant speed operation the set accel deceleration time may change In case of arriving to the target position without reaching max speed due to acceleration tim...

Page 26: ... 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 RWwm 2 0 0 1 1 1 0 1 0 1 0 0 1 1 0 0 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 Acceleration Time 500 1F4h 1st Enter the write command code 12h on the upper side of RWwm 1 and enter the data number 03h on the lower side 2nd Enter the write data 500 1F4h on RWwm 2 F E D C B A ...

Page 27: ... data 500 1F4h on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0 RWwm 2 0 0 0 0 0 0 0 1 1 1 1 1 0 1 0 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5 Linear Accel deceleration operation 1st Set the linear accel deceleration operation through RUN RYn5 or RYn6 ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYn5 0 0 0 0 0 0...

Page 28: ... coordinate e g program mode INC command Example of relative position movement If the designated pulse of the relative position movement command INC is set to 9000 pulse and executed 3 times it moves to the A B and C points as shown below e g Acceleration Time 500 Deceleration Time 500 Start Speed 300 Max Speed 15000 Position 50000 Relative position movement operation ...

Page 29: ...9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 1 0 0 1 0 0 0 0 0 0 0 1 0 RWwm 2 0 0 1 1 1 0 1 0 1 0 0 1 1 0 0 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 Acceleration Time 500 1F4h 1st Enter the write command code 12h on the upper side of RWwm 1 and enter the data number 03h on the lower side 2nd Enter the write data 500 1F4h on RWwm 2 F E D C B A 9...

Page 30: ... 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5 Position 50000 C350h 1st Enter the write command code 12h on the upper side of RWwm 1 and enter the data number 05h on the lower side 2nd Enter the write data 50000 C350h on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 1 RWwm 2 1 1 0 0 0 0 1 1 0 1 0 1 0 0 0 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1...

Page 31: ...BS command which is command based on the origin point and if it is executed 3 times it only moves to the A position To move to the A B and C points like the example of relative position movement the designated pulse of the ABS command shoud be set each 9000 18000 and 27000 pulse 1 Parameter setting is same as INC 2 Absolute position movement operation 1st Set the linear accel deceleration movement...

Page 32: ... step And if the program mode operation command is entered again the next step from the completed step will be executed To end the program mode operation the program end command END must be required at the last step If there is no prgram end command END the program mode error ef alarm will occur When entering the program mode data the 01H command must be written first If 01H command is entered in ...

Page 33: ...0 0 0 RWwm 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 In case of ABS which is operated by continue mode enter 01h on the upper byte of RWwm 2 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 Program Mode 00 Step Relative Position Movement Position 06h 1st Enter the write command code 06h on the upper side of RWwm 1 and Enter the step number 00h on the...

Page 34: ...e 03h on the upper side of RWwm 1 and Enter the step number 00h on the lower side 2nd Enter the Max Speed Data 10000 2710h on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 RWwm 2 0 0 1 0 0 1 1 1 0 0 0 1 0 0 0 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5 Program Mode 00 Step Relative Position Movement Acce...

Page 35: ...et the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 7 Program Mode 00 Step Relative Position Movement Command 01h 1st Enter the write command code 01h on the upper side of RWwm 1 and Enter the step number 00h on the lower side 2nd Enter the 상대위치이동 명령 01h on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 RWwm 2 0 0 0 0 0 0...

Page 36: ...ite command code 02h on the upper side of RWwm 1 and Enter the step number 01h on the lower side 2nd Enter the output port number 04h on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 RWwm 2 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 Program Mode 01 Step OPT Next Step 03h 1s...

Page 37: ...4h on the upper side of RWwm 1 and Enter the step number 01h on the lower side 2nd Enter the On Time 1000 3E8h on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 RWwm 2 0 0 0 0 0 0 1 1 1 1 1 0 1 0 0 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ...

Page 38: ...01h on the upper side of RWwm 1 and Enter the step number 02h on the lower side 2nd Enter the END 0Ah on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 RWwm 2 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ...

Page 39: ...side 2nd Enter the write data 0 0Ch on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 1 RWwm 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 Homesearch Start Speed 10 Ah 1st Enter the write command code 14h on the upper side of RWwm 1 and enter the data number 02h on the lower si...

Page 40: ...side of RWwm 1 and Enter the step number 04h on the lower side 2nd Enter the Homesearch Acceleration Time 1000 3e8h on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 0 0 RWwm 2 0 0 0 0 0 0 1 1 1 1 1 0 1 0 0 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5 Homesearch Deceleration Time 1000 3e8h 1st Enter the write ...

Page 41: ...e 14h on the upper side of RWwm 1 and enter the data number 06h on the lower side 2nd Enter the write data 0 0h on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 0 RWwm 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ...

Page 42: ...2nd Enter the write data 1 1h on RWwm 2 F E D C B A 9 8 7 6 5 4 3 2 1 0 RWwm 1 0 0 0 1 0 1 0 0 0 0 0 0 0 1 1 1 RWwm 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 3rd Set the Write Request RYnF ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 8 Homesearch Operation RYn2 1st Set the Homesearch operation throgh Home RYn2 ON F E D C B A 9 8 7 6 5 4 3 2 1 0 RYnC 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0...

Page 43: ...re 0x4 Input wait IRD Input port number Don t Care 0x5 Output port ON OFF OPC Output port number On Don t Care 0x6 Output port ON pulse OPT Output port number Next Step ON Time Don t Care 0x7 Jump JMP Step number to jump Don t Care 0x8 Repeat start REP Repeat count Don t Care 0x9 Repeat end RPE Don t Care 0xA Program end END Don t Care 0xB Position set POS Position value Don t Care 0xC Ready TIM D...

Page 44: ...able Disable Set whether to use fixed stop current Disable flow this is the upper limit value of the set stop current and the current changes to 50 of the set stop current value according to the position error e g stop current setting 30 flow current 15 50 of 30 to 30 Enable fixed remain set Stop Current 08h IN0 Active Level Low High High Set the active level of general input signal Low L High H 0...

Page 45: ...he start speed among the 5 parameters 02h Max Speed pps 1 600 000 1 000 Set the max speed among the 5 parameters 03h Acceleration Time msec 0 10 000 100 Set the acceleration rate Up to 5 acceleration time is available 04h Deceleration Time msec 0 10 000 100 Set the deceleration rate Up to 5 deceleration time is available 05h Position Pulse 2 147 483 648 2 147 483 647 0 Set the position to be moved...

Page 46: ... 03h Stop Current 20 100 50 When motor stops set the ratio of supplied current on the motor and current consumption e g set value 50 stop current 50 of current consumption 04h Software Limit pulse 2 147 483 648 2 147 483 647 2 147 483 647 In position move set the max input limit to CW direction 05h Software Limit pulse 2 147 483 648 2 147 483 647 2 147 483 648 In position move set the max input li...

Page 47: ...n setting 0 21 0 0Dh IN3 function setting 0 21 0 0Eh IN4 function setting 0 21 0 0Fh IN5 function setting 0 21 0 10h IN6 function setting 0 21 0 11h IN7 function setting 0 21 0 12h OUT0 function setting 0 4 0 General output OUT0 to OUT6 function assigned 13h OUT1 function setting 0 4 0 14h OUT2 function setting 0 4 0 15h OUT3 function setting 0 4 0 16h OUT4 function setting 0 4 0 17h OUT5 function...

Page 48: ...hod 0 3 0 Selection of home search method 0 move by the set home search direction and end when home sensor is ON 1 In case of home search command it moves to the set home search direction and ends when limit sensor is ON 2 home search operation to the position designated by the user 3 torque home search operation according to the set value in Home Search Torque 07h Home Search Direction CW CCW CW ...

Page 49: ... 36 Arms 4 6 Monitoring Group Command Code Description Display Range Initial value 101h Rotation speed 0 to 4 000 0 102h Logical speed 0 to 600 000 0 103h Actual speed 0 to 600 000 0 104h Logical position 2 147 483 648 to 2 147 483 647 0 105h Actual position 2 147 483 648 to 2 147 483 647 0 106h Operation mode 0 Standby mode 4 Program mode 1 Index mode 5 Home search mode 2 Jog mode 6 General mode ...

Page 50: ...g error 8 e4 Overload error 9 e5 Overheat error 10 e6 Motor connection error 11 e7 Encoder connection error 12 e8 Regenerative voltage error 13 e9 Motor misalignment 14 ea Command speed error 15 eb Input voltage error 16 ec In Position error 17 ed Memory error 18 ee Emergency stop 19 ef Program mode error 20 eg Index mode error 21 eh Home search mode error 22 4 8 Warning Code FND indicator Descrip...

Page 51: ...4 Parameter Data Map Copyright Reserved Autonics Co Ltd 53 ...

Page 52: ... Dimensionsorspecificationsonthismanualaresubjecttochangeandsomemodelsmaybediscontinuedwithoutnotice ...

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