Autonics AiCA Series User Manual Download Page 114

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12 Driver Function

114

© Copyright Reserved Autonics Co., Ltd.

12.1.2.3

Asymmetric Trapezoidal Acceleration/Deceleration Drive

AiCA-D is available as asymmetric trapezoidal acceleration/deceleration drive which is
different between acceleration speed and deceleration speed.

For moving the object to the vertical direction such as stacking device of semi-conductor
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 acceleration speed is higher than deceleration speed,

Summary of Contents for AiCA Series

Page 1: ...em AiCA D Series MMD AiCAU1 V1 1 2008US 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: ...ii Copyright Reserved Autonics Co Ltd ...

Page 3: ...asing 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: ... 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 the website We co...

Page 5: ...s Symbol Descriptions 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: ...this instruction may result in fire or electric shock Install the unit after considering counter plan against power failure Failure to follow this instruction may result in personal injury or economic loss or fire Re supply power after min 20 sec from disconnected power Failure to follow this instruction may result in product damage or malfunction Check Connections before wiring Failure to follow ...

Page 7: ...e 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 the environment Install the unit in the well ventilated pla...

Page 8: ...per Use and set the gain value For using motor it is recommended to maintenance and inspection regularly Unwinding bolts and connection parts for the unit installation and load connection Strange sound from ball bearing of the unit Damage and stress of lead cable of the unit Connection error with motor Inconsistency between the axis of motor output and the center concentric eccentric declination o...

Page 9: ...ard Type 17 1 4 2 Built in Brake Type 17 2 Specifications 18 2 1 Driver 18 2 1 1 Factory Default 20 2 1 2 Communication Output 21 2 2 Motor 22 2 2 1 Common Specifications 23 2 2 2 Encoder 24 2 2 3 Brake 24 3 Dimensions 25 3 1 Driver 25 3 1 1 Panel Cut out 25 3 2 Motor 26 3 2 1 Standard Type 26 3 2 2 Built in Brake Type 27 4 Installation 28 4 1 Installation of Driver 28 4 2 Installation of Motor 29...

Page 10: ...44 7 5 3 Communication Converter 44 8 Electromagnetic Brake 45 8 1 Brake Connection 45 8 2 Brake Operation 46 9 Control Input Output 47 9 1 Input 47 9 1 1 Example of Input Circuit Connection 47 9 1 2 Exclusive Input 48 9 1 3 General Input 62 9 2 Output 63 9 2 1 Example of Output Circuit Connection 63 9 2 2 Exclusive Output 64 9 2 3 General Output 67 10 Drive 68 10 1 I O Signal Control Drive 69 10 ...

Page 11: ...REP Repeat start 108 11 3 3 RPE Repeat end 109 11 3 4 END Program end 109 11 3 5 POS Position set 109 11 3 6 TIM Ready 109 11 4 Torque Mode Command 110 11 4 1 TOQ Torque mode drive 110 12 Driver Function 111 12 1 General Drive 111 12 1 1 Fixed Pulse and Continuous Pulse Drive 111 12 1 2 Speed Curve 113 12 2 Other Functions 118 12 2 1 Limit Operation 118 12 2 2 Motor Gain 119 12 2 3 In Position 120...

Page 12: ...ilt in brake type Real time position controllable with closed loop system Motor driver and controller integral type Torque control mode surpported As AC power type possible to omit SMPS and perform higher torque than DC power type Able to check alarm and status with Alarm Warning display 7 segment Controllable maximum 31 axis with RS485 communication Auto Current Down Mode available C language lib...

Page 13: ...on manual 1 2 1 3 Connectors Power connector I O connector Brake connector Communication protect connector 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 orthe product distributor I O cable motor encoder cable and power cable are sold separately For more information refer to the 7 5 Sold Separatel...

Page 14: ...coder connector AWG22 AWG24 CN2 power connector AWG18 CN3 communication cable connector AWG28 CN4 I O connector AWG28 CN5 brake connector AWG 22 In case communication is unstable due to the noise generated by supplied power or peripheral device use ferrite core at communication line is sold separately I O cable motor encoder cable and pwer calbe are sold separately For more information refer to 7 ...

Page 15: ...le and grounded Model Specifications Manufacture RNS 2006 Specified power 250 V Specified current 6 A Max leakage current 1 mA Orient Electronics Surge protector Protect the product from erxternal nois and surge by connectiong power Model Specifications Manufacture LT C12G801W Nominal discharge current 2500 A Max discharge current 5000 A Voltage protection level 1 5 kV OTOWA Electric Co Ltd Be sur...

Page 16: ...lligent Category No mark Motor C Controller Power A AC Power Item M Motor D Driver Motor frame size 60 60ⅹ60mm 86 86ⅹ86mm Motor axial length M Middle Frame size 60mm 48mm Frame size 86mm 60mm L Long Frame size 60mm 69mm Frame size 86mm 75mm Encoder resolution A 10 000PPR 2 500PPRⅹ4 multiply Brake No mark Standard type B Built in brake type ...

Page 17: ...CA D 60MA AiA M 60MA AiCA 60LA AiCA D 60LA AiA M 60LA AiCA 86MA AiCA D 86MA AiA M 86MA AiCA 86LA AiCA D 86LA AiA M 86LA 1 4 2 Built in Brake Type Set Driver Motor AiCA 60MA B AiCA D 60MA B AiA M 60MA B AiCA 60LA B AiCA D 60LA B AiA M 60LA B AiCA 86MA B AiCA D 86MA B AiA M 86MA B AiCA 86LA B AiCA D 86LA B AiA M 86LA B ...

Page 18: ...ion 5 CW CCW Status indicator Alarm Status display part orange LED 7seg Power Alarm indicator green red LED In Position indicator orange LED Servo On Off indicator blue LED I O Input 6 Exclusive input 20 general input 9 Output Exclusive output 4 general output 10 External power supply VEX default 24 VDCᜡ 2 GEX GND 2 Operation mode Jog Continuous Index Program Position Torque mode Index step 64 ste...

Page 19: ...Communication converter SCM WF48 SCM US48I SCM 38I Protection structure IP20 IEC standard Approval ᜢ Weight 9 Standard type Approx 1 080g approx 800g Built in brake type Approx 1 050g approx 780g 1 The model name indicates driver type none standard type B built in brake type E g AiCA D 60MA B built in brake type stepping motor driver 2 Based on the ambient temperature 25 ambient humidity 55 RH and...

Page 20: ...tory default Resolution 500PPR Speed filter 0 Motor GAIN 0 In Position 0 Communication speed 115 200bps Communication ID setting switch ID Sel 1 Communication ID setting Terminating resistance setting DIP switch ID TERM Communication ID setting ID OFF Terminating resistance setting TERM OFF ...

Page 21: ...ous method Asynchronous Parity bit None Even Odd Comm Method Two wire half duplex Stop bit 1 bit 2 bit Comm distance Max 800m It is not allowed to set overlapping communication address at the same communication line Use twisted pair wire for RS485 communication 2 1 2 2 Application of System organization It is recommended to use Autonics communication converter SCM WF48 Wi Fi to RS485 USB wireless ...

Page 22: ...ight 3 Standard type Approx 0 95kg approx 0 75kg Approx 1 35kg approx 1 15kg Approx 2 00kg approx 1 70kg Approx 2 60kg approx 2 30kg Built in braketype Approx 1 53 kg Approx 1 35 kg Approx 1 90 kg Approx 1 75 kg Approx 2 76 kg Approx 2 50 kg Approx 3 36 kg Approx 3 10 kg 1 The model name indicates driver type none standard type B built in brake type E g AiCA D 60MA B built in brake type stepping m...

Page 23: ...midity 20 to 85 RH storage 15 to 90 RH Approval ᜢ Protection structure IP30 IEC34 5 standard Stop angle error 1 0 09 Shaft vibration 2 0 03mm T I R Radial movement 3 Max 0 025mm load 25N Axial movement 4 Max 0 01mm load 50N Concentricity for shaft of setup in low 0 05mm T I R Perpendicularity of set up plate shaft 0 075mm T I R 1 Specifications are for full step angle without load Values may vary ...

Page 24: ...h Loadcurrent max 20mA Outputvoltage min 2 5VDCᜡ Response time rise fall Max 0 5μs cable length 2m I sink 20mA Max response frequency 300kHz Power supply 5VDCᜡ 5 ripple P P max 5 Current consumption Max 50mA disconnection of the load 2 2 3 Brake Motor frame size 60 mm 86 mm Rated excitation voltage 24 VDCᜡ 10 Rated excitation current 0 275 A 0 479 A Static friction torque 0 75 N m 2 6 N m Rotation...

Page 25: ...3 Dimensions Copyright Reserved Autonics Co Ltd 25 3 Dimensions 3 1 Driver unit mm 3 1 1 Panel Cut out Be sure that these figures may differ from the actual units ...

Page 26: ...imensions 26 Copyright Reserved Autonics Co Ltd 3 2 Motor 3 2 1 Standard Type 3 2 1 1 Frame Size 60 mm 3 2 1 2 Frame Size 86 mm Model L Model L AiA M 60MA 47 4 AiA M 86MA 59 5 AiA M 60LA 68 3 AiA M 86LA 74 ...

Page 27: ...ions Copyright Reserved Autonics Co Ltd 27 3 2 2 Built in Brake Type 3 2 2 1 Frame Size 60 mm 3 2 2 2 Frame Size 86 mm Model L Model L AiA M 60MA B 117 8 AiA M 86MA B 134 8 AiA M 60LA B 138 8 AiA M 86LA B 148 8 ...

Page 28: ...ilated area and install the cooling fan in the unventilated environment Failure to heat dissipation may result in damage or malfunction due to the stress on the product Check the environment of use within the rated specifications and install on the well heat dissipated area In case of installing the drivers more than two keep distance at least 20mm in the horizontal direction and at least 25mm in ...

Page 29: ...elow for allowable shaft overhung load thrust load Motor size The distance from the shaft in front mm Allowable overhung load N Allowable thrust load D 0 D 5 D 10 D 15 Frame size 60mm 54 67 89 130 Below motor weight Frame size 86mm 260 290 340 390 Do not apply excessive force on motor cable when mounting motors Do not forcibly pull or insert the cable It may cause poor connection or disconnection ...

Page 30: ...ith 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 31: ...t for connecting with a load 4 2 3 1 Direct Load Connection with Coupling Use Autonics flexible coupling ERB Series 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 2 3 2 Load ...

Page 32: ... 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 vibr...

Page 33: ...ion Copyright Reserved Autonics Co Ltd 33 5 Connection 1 Corresponding connector is for built in brake type only 2 Corresponding pin is for built in brake type only In case of standard type only IN8 is available ...

Page 34: ...6 Characteristics 34 Copyright Reserved Autonics Co Ltd 6 Characteristics 6 1 Frame Size 60mm 6 2 Frame Size 86mm ...

Page 35: ...6 Characteristics Copyright Reserved Autonics Co Ltd 35 ...

Page 36: ...Position indicator INP orange 4 Servo On Off indicator SERVO blue 5 Communication ID setting switch ID Sel 6 Communication ID setting Terminating resistance setting Dip switch ID TERM 7 Motor Encoder connector CN1 8 Power connector CN2 9 Communication cable connector CN3 10 I O connector CN4 11 Brake connector CN5 1 1 Corresponding connector is for built in brake type only ...

Page 37: ...c when Alarm occurs PWR ALM Green Power indicator Turns ON when the unit operates normally after supplying power Red Alarm indicator When alarm occurs it flashes in various ways depending on the situation Refer to 13 1 Alarm INP Orange In Position indicator Turns ON when motor is placed at command position after positioning input Turns OFF in torque mode SERVO Blue Servo On Off indicator Turns ON ...

Page 38: ... Setting ID ID OFF ID ON ID OFF ID ON ID Sel 0 Disable 16 8 8 24 1 1 17 9 9 25 2 2 18 A 10 26 3 3 19 B 11 27 4 4 20 C 12 28 5 5 21 D 13 29 6 6 22 E 14 30 7 7 23 F 15 31 7 2 2 ID TERM Communication ID Setting Terminating Resistance DIP Switch Set Node ID of the driver Set to use terminating resistance No Function Switch position ON OFF 1 ID setting ID 16 to 31 ID 1 to 15 2 Terminating resistance Us...

Page 39: ...3 Motor B 7 Motor A 14 Motor B 7 3 2 CN2 Power Connector Connects with 200 240VAC power Pin arrangement Pin no Function 1 Connect regenerative resistance 2 3 N C 4 AC power input 5 6 PE 7 3 3 CN3 RS485 Communication Cable Connector Pin arrangement Pin no Function Pin no Function 1 N C 5 N C 2 N C 6 RS485 DATA 3 RS485 DATA 7 N C 4 N C 8 N C RxD indicator yellow Flashes when data input TxD indicator...

Page 40: ...speed designate 0 12 Input Step5 MSP1 1 5 10 msec L H Step designate5 Max speed designate 1 13 Input MD0 HMD0 1 5 10 msec L H Run mode designate0 Home search mode designate0 14 Input MD1 HMD1 1 5 10 msec L H Run mode designate 1 Home search mode designate 1 15 Input Pause 1 5 10 msec L H Pause 16 Input Servo On Off 1 5 10 msec L H Servo On Off 17 Input Home 1 5 10 msec L H Home search 18 Input Ala...

Page 41: ...utput OUT1 General output1 43 Output OUT2 General output2 44 Output OUT3 General output3 45 Output OUT4 General output4 46 Output OUT5 General output5 47 Output OUT6 General output6 48 Output OUT7 General output7 49 Output OUT8 General output8 50 Output OUT9 General output9 1 It is software input filter to set 10 msec or 1 5 msec of parameter Input Filter The filter of Limit ORG SD IN7 to 9 is fix...

Page 42: ...nufacture Connector Connector terminal Housing CN1 Motor Encoder 5557 14R 5556T Molex CN2 Power 5ESDVM 06P OR Dinkle CN3 Communication RJ45 Protect connector LS CV J45BBKZ EPN CN4 I O connector 10150 3000PE 10350 52F0 008 3M CN5 Brake connector ESC250V S2330704P Dinkle Above connectors are suitable for AiCA D Series ...

Page 43: ...N7 Red 2 10 STEP3 SSP1 Red 5 35 IN8 BrakeON OFF Black 3 11 STEP4 MSP0 Yellow Black 1 36 VEX Red 3 12 STEP5 MSP1 Red 1 37 GEX Black 4 13 MD0 HMD0 Black 2 38 ALARM Red 4 14 MD1 HMD1 Red 2 39 COMPARE1 Black 5 15 PAUSE Black 3 40 COMPARE2 Red 5 16 SERVO ON OFF Red 3 41 OUT0 Pink Black 1 17 HOME Black 4 42 OUT1 Red 1 18 ALARM RESET Red 4 43 OUT2 Black 2 19 LIMIT Black 5 44 OUT3 Red 2 20 LIMIT Red 5 45 ...

Page 44: ...Normal C1D14M Moving C1DF14M of model name indicates cable length 1 2 3 5 7 10 15 20 E g C1DF14M 10 10m moving type motor encoder cable 7 5 3 Communication Converter SCM WF48 Wi Fi to RS485 USB wireless communication converter SCM US48I USB to RS485 converter SCM 38I RS232C to RS485 converter ...

Page 45: ...ake as brake stop Brake power will be reduced due to worn brake Make sure to use the exclusive power for electromagnetic brake In case of using auxiliary power supply for electromagnetic brake do not mix the power with the power supply for I O signals Failure to follow this instruction may result in electromagnetic brake damage or malfunction due to outer disturbnace 8 1 Brake Connection Connect t...

Page 46: ...e When the auxiliary power does not input Brake error EJ alarm occurs For more information refer to 13 1 Alarm When Servo is On brake is released automatically The brake remains lock inn all status except Servo On status Brake lock is manually controllable using the Brake ON OFF input signal For more information refer to 9 1 2 16 Brake ON OFF ...

Page 47: ...47 9 Control Input Output Inner signal of all input output consists of photocoupler ON photocoupler power ON OFF photocoupler power OFF 9 1 Input 9 1 1 Example of Input Circuit Connection In case of input use external power VEX 24VDCᜡ N Input pin number of CN4 ...

Page 48: ... designate 0 10 Step3 SSP1 Step designate 3 Start speed designate 1 11 Step4 MSP0 Step designate 4 Max speed designate 0 12 Step5 MSP1 Step designate 5 Max speed designate 1 13 MD0 HMD0 Operation mode designate 0 Home search mode designate 0 14 MD1 HMD1 Operation mode designate 1 Home search mode designate 1 15 Pause Pause 16 Servo On Off Servo On Off 17 Home Home search 18 Alarm Reset Alarm reset...

Page 49: ...motor driving it stops immediately and the driver is reset 9 1 2 2 Start It starts drive as the set mode index mode or program mode When it stops by stop instruction during driving with program mode supplying start input it starts drive from the first step When it pauses by pause instruction during driving with program mode supplying start input it starts drive from the next step of the paused one...

Page 50: ...celerates and stops the motor according to Deceleration Time 1 parameter setting During program mode driving it stops after complete the current step During home search it decelerates and stops according to Home Search Deceleration Time parameter setting In this case home search mode error EH alarm occurs ...

Page 51: ...nput Output Copyright Reserved Autonics Co Ltd 51 9 1 2 4 EMG emergency Motor stops immediately emergency stop alarm EE occurs The current of motor is not blocked During stopping motor EMG instruction does not run ...

Page 52: ...2 1 0 1 0 0 1 11 0 0 1 0 1 0 43 1 0 1 0 1 0 12 0 0 1 0 1 1 44 1 0 1 0 1 1 13 0 0 1 1 0 0 45 1 0 1 1 0 0 14 0 0 1 1 0 1 46 1 0 1 1 0 1 15 0 0 1 1 1 0 47 1 0 1 1 1 0 16 0 0 1 1 1 1 48 1 0 1 1 1 1 17 0 1 0 0 0 0 49 1 1 0 0 0 0 18 0 1 0 0 0 1 50 1 1 0 0 0 1 19 0 1 0 0 1 0 51 1 1 0 0 1 0 20 0 1 0 0 1 1 52 1 1 0 0 1 1 21 0 1 0 1 0 0 53 1 1 0 1 0 0 22 0 1 0 1 0 1 54 1 1 0 1 0 1 23 0 1 0 1 1 0 55 1 1 0 1 ...

Page 53: ...ddress of program mode among 0 to 63 range by 6 digit bit of Step0 to Step5 Refer to Program drive mode step address 2 Run Accoridng to the set parameter it drives to CW Run CCW Run direction as continuous mode 3 Jog Accoridng to the set parameter it drives to CW Jog CCW Jog direction during ON jog signal If Jog signal and Jog signal are supplied at the same time the motor stops ...

Page 54: ...s of program mode among 0 to 63 range by 6 digit bit of Step0 to Step5 Refer to Program drive mode step address 2 SSP0 1 It is available to set the start drive speed of jog mode continuous mode by 2 digit bit of SSP0 SSP1 SSP1 SSP0 Start speed 1 OFF OFF Start speed 2 OFF ON Start speed 3 ON OFF Start speed 4 ON ON Start speed 5 is not available ...

Page 55: ...set the start address of program mode among 0 to 63 range by 6 digit bit of Step0 to Step5 Step 0 LSB Step 5 MSB Refer to Program drive mode step address 2 MSP0 1 It is available to set the max drive speed of jog mode continuous mode by 2 digit bit of MSP0 MSP1 MSP1 MSP0 Max speed 1 OFF OFF Max speed 2 OFF ON Max speed 3 ON OFF Max speed 4 ON ON Max speed 5 is not available ...

Page 56: ... is not home search mode it is available to set the drive mode among 4 types MD1 MD0 Index mode OFF OFF Jog mode OFF ON Continuous mode ON OFF Program mode ON ON 2 HMD0 1 When home signal is ON it is available to set the home search mode among 4 types HMD1 HMD0 Home search OFF OFF Limit home search OFF ON Zero point home search ON OFF Torque home search ON ON ...

Page 57: ...se 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 When pause signal is ON during program mode drive it pauses after completing the current step driving After start signal is ON it starts drive from the next step of the paused one ...

Page 58: ...r to 9 1 2 16 Brake ON OFF Servo On Off signal is ON over 1 5 msec or 10 msec It recognizes as servo off signal and the phase current of motor is blocked and torque is released Servo On indicator In Position Output and the indicator turn OFF Servo On Off signal is Off over 1 5 msec or 10 msec It recognizes as servo on signal and the phase current of motor is supplied and torque is return Servo On ...

Page 59: ...eceleration time Home Search Max Speed Home Search Start Speed Home Search Acceleration Time Home Search Deceleration Time Home Driving mode OFF Home search mode ON 9 1 2 12 Alarm Reset It is for alarm reset When alarm reset signal is H alarm is reset and the alarm indicator and alarm output turns OFF The driver returns to normal status If alarm causes are not removed the driver does not return to...

Page 60: ...stops immediately accoridng to the set parameter Limit CW direction limit sensor signal Limit CCW direction limit sensor signal 9 1 2 14 ORG origin During driving as general home search mode it is used as home sensor input When suppling ORG signal over 1 5 msec it recognizes as home sensor 9 1 2 15 SD slow down When supplying SD signal over 1 5 msec the set the start drive speed decelerates ...

Page 61: ...e ON OFF through the parameter selection When Brake ON OFF signal remains ON more than 1 5 msec or 10 msec Brake is released When Brkae ON OFF signal remains OFF more than 1 5 msec or 10 msec Brake is locked Brake ON OFF is only available in Servo Off status When servo is On this function will be disabled for safety ...

Page 62: ... IN0 to IN2 General input 0 to 2 26 to 28 IN3 to IN8 General input 3 to 8 30 to 35 It is general input at program mode It is used with ICJ IRD instruction IN0 to IN7 When supplying over 1 5 msec it recognizes as input IN8 When supplying over 10 msec or 1 5 msec set at Input Filter parameter it recognizes as input ...

Page 63: ...1 Example of Output Circuit Connection In case of output use external power VEX max 12 to 24VDCᜡ 10mA When current exceeds 10mA use an external resistor RL to adjust the current value RL VEX 0 7V 𝑉𝑉𝐹𝐹 0 01A N Output pin number of CN4 VF Photocoupler primary LED forward voltage ...

Page 64: ...es H and In Position indicator turns ON During In position operation In Position output becomes L and In Position indicator turns OFF The signal outputs depending on the set In Position value For more information refer to 12 2 3 In Position 9 2 2 2 Alarm In normal state output is ON and when alarm occurs output is OFF Depending on the alarm type it displays the alarm number on the alarm stauts dis...

Page 65: ...e 2 Comparison output turns ON when the present absolute position value is same or smaller than the set position value 3 Trigger pulses output with the set interval Compare 1 Period or Compare 2 Period and width Compare 1 Pulse Width or Compare 2 Pulse Width Setting range of Compare 1 Position Compare 2 Position 2 147 483 648 to 2 147 483 647 Setting range of Compare 1 Period Compare 2 Period 1 to...

Page 66: ...9 Control Input Output 66 Copyright Reserved Autonics Co Ltd Compare 1 Mode 1 Compare 1 Position 5000 Compare 1 Mode 2 Compare 1 Position 2000 Compare 1 Mode 3 ...

Page 67: ... to OUT9 General Output 0 to 9 41 to 50 It is general output at program mode It is used with OPC OPT instruction By setting the prameter Output Mode Alarm the output can be maintained or initialized when the alarm occurs Parameter Setting Description Output Mode Alarm Holding Output maintained Reset Output initialized ...

Page 68: ...input signal is ON to direction Continuous mode Starts drive output when instruction input signal turns ON once to direction Stops it when the signal turns stop Position mode Outputs drive while position reaches to designated value Torque mode Outputs continuous drive by designated torque Program mode Operates by the designated program Home search Operates home search Do not operate instructions b...

Page 69: ...ccurs 1st Drive mode MD0 0 MD1 0 2nd Select Index mode It is available to set the step number from 0 to 63 combining with Step0 to Step5 3rd Start drive When Start input signal turns ON the designated one step operates 4th Emergency stop When EMG signal inputs it stops emergently When it stops by stop signal input Index mode error alarm EG occurs When driving the step which does not have ABS or IN...

Page 70: ...10 Drive 70 Copyright Reserved Autonics Co Ltd ...

Page 71: ...speed It is available to set the start drive speed combining with SSP0 SSP1 3rd Select max drive speed It is available to set the max drive speed combining with MSP0 MSP1 4th Drive It drives to CW direction or CCW direction while Jog or Jog signal inputs 5th Emergency stop When EMG signal inputs it stops emergently It cannot stop by Stop signal input If the both signal Jog and Jog enter at the sam...

Page 72: ...10 Drive 72 Copyright Reserved Autonics Co Ltd ...

Page 73: ... 1 2nd Select start drive speed It is available to set the start drive speed combining with SSP0 SSP1 3rd Select max drive speed It is available to set the max drive speed combining with MSP0 MSP1 4th Drive When Run or Run signal inputs it drives to CW direction or CCW direction 5th Stop When STOP signal inputs or limit signal of the direction inputs it stops 6th Emergency stop When EMG signal inp...

Page 74: ...10 Drive 74 Copyright Reserved Autonics Co Ltd ...

Page 75: ...e step When Start signal inputs again it drives from the completed next step 4th Stop When Stop signal inputs it stops after completing the step When Start signal inputs again it drives from the first step 5th When EMG signal inputs it stops emergently 6th Program end When END signal inputs program mode drive is end 256 steps 0 to 255 can be assigned by the atMotion program When Power On Program S...

Page 76: ...10 Drive 76 Copyright Reserved Autonics Co Ltd ...

Page 77: ...0 HMD1 2nd Drive When HOME signal inputs it operates home search according to the set mode 3rd Stop When STOP signal inputs or limit signal of the direction inputs it stops 4th Emergency stop When EMG signal inputs it stops emergently 5th Complete When the home is found home search ends If the Power On Home Search parameter is enabled the home search operates when the power is applied If it is set...

Page 78: ...eleration 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 5th If ORG home sensor signal inputs it decelerates with the set ...

Page 79: ...ration drive is completed it operates constant speed drive until meeting the limit sensor with the set max drive speed at Home Search Max speed 4th If Limit direction limit sensor 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 dist...

Page 80: ...t Reserved Autonics Co Ltd For deceleration stop set the deceleration time shortly In case of long deceleration time it may conflict with the structure Install the limit sensor with the certain distance from the structure ...

Page 81: ... is ignored and 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 complete it operates constant speed drive with the set max drive speed at Home Search Max speed 5th When it is close to home it dec...

Page 82: ...10 Drive 82 Copyright Reserved Autonics Co Ltd If the parameter Power On Home Search is set as Enable and the power is applied Home search mode error alarm EH will occur due to unassigned zero point ...

Page 83: ...ates acceleration drive with the set acceleration time at Home Search Acceleration Time 3rd When acceleration 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 valu...

Page 84: ...10 Drive 84 Copyright Reserved Autonics Co Ltd ...

Page 85: ... 10 2 atMotion Control Drive atMotion run and setting 1st Visit our website www autonics com to download and install newest version of atMotion 2nd Run atMotion which is installed on PC 3rd On the left side select Supported Device List AiCA Series ...

Page 86: ...ication method as RS 232 at New DAQ interface 5th Right click the newly added device on My System then click Add When Add Unit window displays double click the device list or click the arrow placed in the middle of the widnow to create node number then select OK ...

Page 87: ...eserved Autonics Co Ltd 87 6th Select RS 232 on the right side of the window set the communication port and baud rate for the connected device 7th Click Connect on the upper side of the window to connect the communication ...

Page 88: ...10 Drive 88 Copyright Reserved Autonics Co Ltd 8th To make sure the communication is connected properly check the My System items on the right side of the window to figure out the device node setting ...

Page 89: ...1st Select Jog on Motion Control mode selection box 2nd Set the Start Speed Max Speed Accel Rate Decel Rate value for jog mode 3rd Motor begins to operate to designated directon by clicking or button 4th Operation stops by releasing the button Start Speed Max Speed Accel Rate and Decel Rate can be loaded from the saved value without entering these values ...

Page 90: ...han the initial operation speed or in all cases except for reset or emergency stop Continuous mode operates the motor continuously in CW or CCW direction by clicking or button Continuous mode operation 1st Select Continuous on Motion Control mode selection box 2nd Set the Start Speed Max Speed value for continuous mode 3rd Motor begins to operate to designated directon by clicking or button 4th Op...

Page 91: ...d Max Speed Accel Rate Decel Rate value for position mode 3rd Select the position control method between Relative Position and Absolute Position 4th After entering designated position value select and to input pulse value in the desired direction to move the position 5th If the middle button is clicked during the position moving it does not reach the entered position and stops immediately by decel...

Page 92: ...otion Control mode selection box 2nd Set the Start Speed Max Speed Accel Rate Decel Rate value for position mode 3rd Select the position control method between Relative Position and Absolute Position 4th After entering designated position value select and to input pulse value in the desired direction to move the position 5th Before reacing the target position switch control mode as position overri...

Page 93: ...eed Torque mode operation 1st Select Torque on Motion Control mode selection box 2nd Limit the max speed by setting the parameter T_Mode Limit Speed 3rd Set the desired torque in percentage and assign the Rise Time to reach the output torque 4th Control the motor torque by clicking the and to designated direction 5th By clicking button to stop the motor ...

Page 94: ...ute program operation sequentially 3rd To start from a step other than step 0 select the step number from and click the button 4th Click the button to finish the active step and pause the motor Click button to start the next step 5th Click the button to finailze and stop the active step Click button to restart at the designated step 6th When the program command END reaches the entered step during ...

Page 95: ...e time when the power is applied and motor alignment is completed However Home search mode error alarm EH occurs when it is executed by zero point home search mode operation Home search mode operation 1st Click button to select the home search operation mode 2nd Set the value of Start Speed Max Speed Accel Rate and Decel Rate for Home search mode 3rd Click button to execute the home search operati...

Page 96: ...opposite direction to find the origin 7th When a signal is input to the origin sensor ORG the motor decelerates and stops according to the deceleration time set in the parameter Home Search Deceleration Time 8th After stop it moves to the opposite diretion as far as the distance past the origin sensor at the start speed set in the parameter Home Search Start Speed to find the origin sensor and sto...

Page 97: ...Limit or reaches to Software Limit the motor decelerates and stops according to the deceleration time set in the parameter Home Search Deceleration Time 7th After stop it moves to the opposite direction as far as the distance past the limit sensor at the sart speed set in the parameter Home Search Start Speed to find the limit sensor and stops 8th When the home found the operation completion signa...

Page 98: ... in the parameter Home Search Start Speed and acceleration starts according to the acceleration time set in the parameter Home Search Acceleration Time 5th The constant speed operation is performed when the maximum speed set in the parameter Home Search Max Speed is reached 6th As closer to home zero point the motoer decelerates and stops according to the deceleration time set in the parameter Hom...

Page 99: ...peration starts according to the start speed set in the parameter Home Search Start Speed and acceleration starts according to the acceleration time set in the parameter Home Search Acceleration Time 5th The constant speed operation is performed until contact is made with a specific instrument 6th Stops when the load is applied as the torque value set in the parameter Home Search Torque by contact...

Page 100: ...uction Description Drive ABS Absolute position move INC Relative position move HOM Home search Input Output ICJ Input condition jump IRD Input wait OPC Output port ON OFF OPT Output port ON pulse CMP Compare output Program control JMP Jump REP Repeat start RPE Repeat end END Program end POS Position set TIM Ready Torque mode TOQ Torque mode drive ...

Page 101: ...cting User Value it is available to set as the desired value Max speed level max drive speed Select the max drive speed during drive Set the max drive speed from 1 to 5 When selecting User Value it is available to set as the desired value Accel time level Set the acceleration time of drive Set the acceleration time from 1 to 5 When selecting User Value it is available to set as the desired value D...

Page 102: ...continuation Enable Use continuation Disable Not use continuation Step Acceleration time msec Deceleration time msec Start drive speed pps Max drive speed pps 1 1 000 0 500 5 000 2 1 000 0 5 000 10 000 3 1 000 0 10 000 20 000 4 0 1 000 7 000 20 000 5 0 1 000 0 7 000 For the step with acceleration set deceleration time as 0 msec For the step with deceleration set acceleration time as 0 msec ...

Page 103: ...ser Value it is available to set as the desired value Max speed level max drive speed Select the max drive speed during drive Set the max drive speed from 1 to 5 When selecting User Value it is available to set as the desired value Accel time level Set the acceleration time of drive Set the acceleration time from 1 to 5 When selecting User Value it is available to set as the desired value Decel ti...

Page 104: ...continuation Enable Use continuation Disable Not use continuation Step Acceleration time msec Deceleration time msec Start drive speed pps Max drive speed pps 1 1 000 0 500 5 000 2 1 000 0 5 000 10 000 3 1 000 0 10 000 20 000 4 0 1 000 7 000 20 000 5 0 1 000 0 7 000 For the step with acceleration set deceleration time as 0 msec For the step with deceleration set acceleration time as 0 msec ...

Page 105: ...eration by recognizing the point where the home sensor is ON as Home Limit Home Search it moves to assigned home direction and ends the operation by recognizing the point where the Limit sensor is ON Zero Point Home Search it moves to the user assigned home and ends the operation after reaching the point Torque Home Search when a certain torque is output by contacting a specific object it is set i...

Page 106: ...een REP RPE instruction do not use ICJ input condition jump 11 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 Port Input port Select the input port number For more information of input port number refer to 9 1 3 General Input 11 2 3 O...

Page 107: ...t port Set the On time level from 1 to 5 When selecting On time level as 6 it is available to set as the desired value Setting range is 1 to 10 000 msec 11 2 5 CMP Compare output It outputs trigger pulse for the set period Instruction DATA CMP Instruction Pos Port Mode Width Period For more information refer to 8 2 1 3 Compare1 Compare2 Position Set the trigger position of output signal Setting ra...

Page 108: ...ion be sure to the position of END instruction At the loop between REP RPE instruction do not use JMP jump 11 3 2 REP Repeat start It operates repeatedly for the set times from the next step of this instruction to RPE repeat end instruction Instruction DATA REP Instruction Cnt Repeat Count Set the repeat times Setting range is 1 to 255 RPE repeat end instruction should be below higher step number ...

Page 109: ...3 4 END Program end It ends program You must enter this instruction at the end of program Instruction DATA END Instruction 11 3 5 POS Position set It sets the position value Instruction DATA POS Instruction Pos Position Set the position value Setting range is 2 147 483 648 to 2 147 483 647 11 3 6 TIM Ready It is ready instruction for the set time Instruction DATA TIM Instruction Delay Delay Time l...

Page 110: ...The drive speed is able to controll with T_Mode Limit Speed parameter Instruction DATA TOQ Instruction Torque Torque Time Torque Set the torque on motor s output Setting range is 100 to 100 Operates CCW direction in sign and CW direction in sign Torque Acc Time Set the rise time until motor torque is output Setting range is 0 to 5 000 msec ...

Page 111: ...ed to move something a fixed amount It operates fixed speed or acceleration deceleration drive for a specified number of output 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 movement and relative position ...

Page 112: ...e Position Move Relative position movement sets a distance to drive from present coordinates This is INC of program mode Relative Position Move is as the diagram below For example if the command moving 9 000 pulse for 3 times using the Relative Position Move INC it arrives to the point A B C sequently in the diagram below 12 1 1 2 Continuous Drive Continuous pulse drive outputs drive pulse sequent...

Page 113: ...n deceleration drive accelerates from initial speed to drive speed trapezoidally 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...

Page 114: ...deceleration speed For moving the object to the vertical direction such as stacking device of semi conductor 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 a...

Page 115: ...tes S curve without b e trapezoidal zone Precautions for S curve acceleration deceleration drive In a fixed pulse S curve acceleration deceleration drive you cannot change speed while driving At S curve acceleration deceleration fixed pulse drive S Curve Time S curve acceleration deceleration time is set 1 2 of Acceleration Time Deceleration Time If it is set over 1 2 the drive pulse ends during d...

Page 116: ...This is full S curve acceleration During 0 2 sec it drives trapezoidal acceleration up to 20 000pps 3rd At the left 0 2 sec it drives trapezoidal deceleration up to 40 000pps For each setting value of parameters and descriptions refer to the below table Parameter Setting value Description Acceleration Time 4000 msec For S curve drive acceleration deceleration time should be same Deceleration Time ...

Page 117: ...g value Description Acceleration Time 6000 msec For S curve drive acceleration deceleration time should be same Deceleration Time 6000 msec S Curve Time S curve acceleration deceleration time 2000 msec It applies start drive speed S Curve Time and max drive speed S Curve Time Start Speed start drive speed 0 pps Max Speed max drive speed 40000 pps Comparing S curve and Trapezoid acceleration decele...

Page 118: ...nsor 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 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 ...

Page 119: ...ops Parameter Setting Bandwidth Setting Bandwidth Motor GAIN 0 1 16 17 1 2 17 18 2 3 18 19 3 4 19 20 4 5 20 21 5 6 21 22 6 7 22 23 7 8 23 24 8 9 24 25 9 10 25 26 10 11 26 27 11 12 27 28 12 13 28 29 13 14 29 30 14 15 39 31 15 16 Fine Gain User setting Fine Gain When setting Motor GAIN parameter P Gain and I Gain value can be set directly through atMotion P Gain In case of use as friction load impro...

Page 120: ...g value in position output turns OFF and the in position indicator turns OFF Fast response When gab between the target position and the current position is lower than the setting value it outputs in position signal immediately Accurate response When gab between the target position and the current position is lower than the setting value and maintains over 50 msec it outputs in position signal Fast...

Page 121: ...ing to the instruction at the parameter Set the speed filter value for time delay between the command position and motor It is able to drive softly even though load changing or disturbance occurs Parameter Setting Value msec Speed Filter 0 Disable 1 2 2 4 3 6 4 8 5 10 6 20 7 40 8 60 9 80 10 100 11 120 12 140 13 160 14 180 15 200 ...

Page 122: ...nt direction when the power is applied Even when the power is applied again the initial angle is aligned in the direction set in the parameter Initial Angular Dir DIR setting Forward Backward Initial Angular Direction Rotates to CW direction Rotates to CCW direction The rotating direction is based on facing the shaft rotating right is clockwise CW direction 12 2 7 Motor Direction Sets the rotating...

Page 123: ...he initial target position When the initial target is reached subsequent position override commands are not executed The position value may change depending on the parameter Resolution setting If the position override operation is not available properly the position override warning occurs and the final target position is reached at the specified starting speed For more information of operation re...

Page 124: ...flows at motor RUN element 1 Over load 2 Insufficient SMPS capacity 1 Change operation condition or reduce load so that sudden load fluctuation does not occur 2 Check that less than the recommended SMPS capacity is used 3 Check driver break 2 E2 Over speed error When motor speed is over 3 500rpm 1 When overload is applied and released at a moment 2 Turning more than 4 000 rpm by external force 1 C...

Page 125: ...onnection error 2 Burnout of line driver IC in encoder 1 Check motor connector and cable connection 2 Replace the line driver IC in encoder 8 E8 Over voltage error When input voltage is over 24VAC 10 1 Over load 2 Counter electromotive force overflow due to rapid deceleration 1 Change operation condition or reduce load so that sudden load fluctuation does not occur 9 E9 Under voltage error When in...

Page 126: ...ition error over 1 is kept over 3 sec after motor stopped 1 Over load 2 Lack of stop torque 1 Change operation condition or reduce load so that sudden load fluctuation does not occur 2 Increase stop torque as 50 or use the other motor with higher torque 13 ED Memory error When memory error is detected as power supplied 1 EEPROM error 1 Replace EEPROM parts ...

Page 127: ...the stop command during driving on index mode 1 Check whether the command of the step is INC or ABS 2 Check that the selected step number is correct 17 EH Home search mode error When failed to find home 1 If there is no ORG or Limit input 2 If load above the set value is not applied torque home search 3 When a stop command is issued during home search operation 1 Check if the ORG signal is correct...

Page 128: ...mit When reverse direction CCW software limit is ON 1 When the current position reaches the S W Limit value 1 Check S W Limit parameter value W3 H W Limit When normal direction CW hardware limit is ON 1 When Limit signal I O no 19 pin is input 1 Check the Limit signal is input correctly 2 Check if the Limit signal is correctly set with the motor rotation direction CW direction Limit CCW direction ...

Page 129: ...correct When 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...

Page 130: ...14 Troubleshooting 130 Copyright Reserved Autonics Co Ltd ...

Page 131: ... Dimensions or specifications on this manual are subject to change and some models may be discontinued without notice ...

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