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CKD ABSODEX AX9000XS-U2, Instruction Manual

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CKD ABSODEX AX9000XS-U2 Instruction Manual Download Page 1

SMF-2008-A 

Instruction Manual 

ABSODEX 

AX Series 

XS Type 

CC-Link specification 

 

 
 

 

 

 

 

 

 

 

 

 

  Before using this product, be sure to 

read this Instruction Manual. 

  In particular, read the descriptions on 

safety carefully. 

  Store this Instruction Manual so that it 

can be taken out and read quickly as 
necessary. 

 

 

 

Summary of Contents for ABSODEX AX9000XS-U2

Page 1: ...ries XS Type CC Link specification Before using this product be sure to read this Instruction Manual In particular read the descriptions on safety carefully Store this Instruction Manual so that it can be taken out and read quickly as necessary ...

Page 2: ...tion 3 1 Communication Specifications 3 1 3 2 I O Device 3 2 3 3 Data Communication Timing Chart 3 7 3 3 1 Monitor code 3 7 3 3 2 Command code 3 8 3 3 3 Response code 3 9 3 4 Defining the CC Link Register 3 10 3 5 Connection with CC Link Unit 3 12 3 6 Monitoring the CC Link Communication State 3 15 3 7 LED Indication 3 16 3 8 7 segment LED Indication 3 17 4 Network Operation Mode 4 1 Point Table O...

Page 3: ...rior precision This Instruction Manual is dedicated to the ABSODEX AX series XS type driver CC Link specification It is not applied to other types For the operation method precautions on operation maintenance and inspection items and so on refer to Instruction Manual for AX Series TS TH XS type SMF 2006 contained in the attached CD ROM The descriptions specifications and appearances written in thi...

Page 4: ...s 1 1 Product Configuration Name Quantity 1 Driver unit 1 2 Accessories CN5 motor power connector PC4 3 ST 7 62 Phoenix Contact 1 CN4 power supply connector PC4 5 ST 7 62 Phoenix Contact 1 CN3 communication connector CC Link BLZ5 08 FAU Weidmüller 1 ...

Page 5: ...uency 0 50 Hz Rated output current 1 9 A Output Phase number Three phase Power system TN TT IT Mass About 1 6 kg Outside diameter size W75 H220 D160 Configuration Open modular type driver and controller Operating Ambient Temperature Range 0 to 50 C Operating Relative Humidity Range 20 to 90 RH No condensation allowed Storage Ambient Temperature Range 20 65ºC Storage Relative Humidity Range 20 to 9...

Page 6: ...tion Curve Five types Modified sine MS Modified constant velocity MC MC2 Modified trapezoid MT Trapecloid TR Status Display LED power lamp display Motion Display 7 segment LED 2 digits Communication Interface Meets RS 232C specification CC Link Communication Function Ver 1 10 2 stations occupied remote device station Input Home positioning instruction reset start stop continuous rotation stop emer...

Page 7: ...1 Specifications SMF 2008 A 1 4 MEMO ...

Page 8: ...rrespond to the accreditation of the safety standards CN2 Encoder cable connector Control power LED Main power LED Main power Control power Actuator output terminal Nameplate Ground terminal 2 M4 Motion display 7 segment LED 2 digits Gain 1 adjustment DIP switch convergence time Gain 2 adjustment DIP switch load CN1 RS 232C connector TB1 Safety function terminal 1 CC Link LED CN3 CC Link connector...

Page 9: ...Frame ground Connect the frame ground cable 1 2 1 The SLD and FG terminals are connected inside 2 Be sure to connect the grounding terminal heat sink section of the driver to operate Do not tie the frame ground cable together with the protective ground cable power cable or the like Otherwise noise will intrude possibly making communications unstable For details refer to the CC Link Laying Manual a...

Page 10: ...ctor is BLZ5 08 FAU manufactured by Weidmüller Fig 2 5 Connection example of communication cable 3 After checking that the cable name is the same as the one indicated on the module insert the connection connector into the module and securely tighten the connector fixing screw to a tightening torque of 0 3N m If solderless terminals are not used About 50mm Cable Insulating tube If solderless termin...

Page 11: ... the connector fixing screw when inserting the connector Otherwise the connector may be dislocated and cause malfunction For those not provided with a connector fixing screw check that the catch of the connector snaps in position Loosen the two fixing screws before removing the connector The connector may be damaged if excess force is applied to the connector without the two screws loosened Do not...

Page 12: ...n of emergency stop input Emergency stop can be inputted by TB3 s input terminal or CN3 s DeviceNet communications and if one of the inputs becomes open or off it will be recognized as emergency stop Input to TB3 is necessary to release the emergency stop Fig 2 8 Applicable cable to TB3 and peeling size The cable sheath peeling length should be 8 or 9mm The applicable cable is AWG20 to 24 single c...

Page 13: ...2 Wiring SMF 2008 A 2 6 MEMO ...

Page 14: ...egister I O 8 input words 8 output words Communication speed 10M 5M 2 5M 625k 156kbps Selected with a parameter setting Communication method Broadcast polling Synchronization method Frame synchronization method Coding method NRZI Transmission path type Bus type compliant with EIA RS 485 Error control method CRC X16 X12 X6 1 Connection cable Cable compatible with CC Link Ver 1 10 3 conductor twiste...

Page 15: ...put wait output Positive RYnB Answer input Position deviation counter reset Positive Edge RXnB Alarm output 1 Negative RYnC Emergency stop input Negative Level RXnC Alarm output 2 Negative RYnD Brake release input Positive Level RXnD Indexing in progress output 1 Home position output Positive RYnE Jog operation input CW direction 1 Positive Edge RXnE Indexing in progress output 2 Servo state outpu...

Page 16: ...Table 3 4 Monitor code RWwn RWwn 1 list Code No Monitored item Data length Unit Range 0001h Current position in full rotation deg 32bit 1000 deg 0 to 359 999 0003h Current position in full rotation pulse 32bit pulse 0 to 4 194 303 0005h Position deviation amount 32bit pulse 2 147 483 648 to 2 147 483 647 0007h Program number 16bit No 0 to 999 0008h Electronic thermal relay 16bit 100 C 0 to 65 535 ...

Page 17: ...ment LED indication The first digit indicates details of the alarm and the second digit indicates the alarm number Alarms not expressed in 0 to F Alarm H d Alarm L b Alarm P U and others 8 Alarms are set in the order from F to 0 In case of no alarm 00 is set Operation mode loading 0020h The current operation mode is loaded The number of the operation mode is set in the loaded data Table 3 7 Loadab...

Page 18: ...o OFF mode 5 Network operation mode 7 Parameter setting 0029h The set value of the parameter designated with the parameter number RWwn 5 is rewritten to the value of written data Written data are integer values only As for a parameter with a decimal value set a value multiplied by 100 or 10 000 For details refer to the Parameter list on page 3 6 Point table initialization 0030h Point tables design...

Page 19: ...g in progress output 1 0 99 0 34 Indexing in progress output 2 0 99 0 36 Switching of I O program number selection method 1 5 1 37 Segment position range width of designation of indexes 1 2 097 152 10 000 Pulse 38 Rotation direction at time of designation of indexes 1 4 3 39 Torque limitation 1 100 100 45 Coordinate recognition range when power is turned ON 0 4 194 303 2 097 151 Pulse 46 Home posi...

Page 20: ...16 bits of data requested with monitor 2 RWwn 1 Monitor data 2 upper 16 bits RWrn 6 Upper 16 bits of data requested with monitor 2 RWwn 1 If there is no data at RWrn 1 and RWrn 6 the sign is acquired The sign is 0000 in case of while it is FFFF in case of The monitor data acquired in remote registers are always updated while the monitoring signal RS n 2 0 remains turned on If the monitoring signal...

Page 21: ...ution completion RX n 2 1 is turned on simultaneously Load data from RWrn 3 RWrn 4 while the command code execution request RN n 2 1 remains turned on The data is held until the next load command code is entered and the command code execution request RY n 2 1 is turned on If a command code not included in specifications is set as a command code RWwn 2 an error code 1 is set in the response code If...

Page 22: ...r setting an error code 2 is set If a user tries to write an excessive value an error code 3 is set If the writing command code is executed during the processing of the communication command input into CN1 an error code 4 is set Turn the command code execution request RY n 2 1 off after the command code execution completion RX n 2 1 is turned on 3 3 3 Response code If the monitor code or command c...

Page 23: ... a value is displayed on the CC Link register setting and select Setting ABSODEX Fig 3 6 Setting screen of CC Link register Station number setting The current station number setting is displayed The current station number setting is displayed Baud rate setting The current baud rate setting is displayed Select the desired one among 0 156kbps 1 625kbps 2 2 5Mbps 3 5Mbps and 4 10Mbps CC Link register...

Page 24: ... and baud rate will take effect after the power has been restarted Fig 3 7 Screen for end of setting iv Error in setting The following screen is displayed if there is an error in the station number setting Fig 3 8 Warning screen at time of error setting of station number If the system is initialized CC Link register settings will return to default settings Set the CC Link register setting again af...

Page 25: ...r CC Link After a new project is created a project tree on the navigation window is displayed Select Parameter Network parameter CC Link Fig 3 9 Screen for network parameter ii Setting example of network parameter CC Link The following shows a network parameter setting example Fig 3 10 Setting example of network parameter Mode setting Remote net Ver 1 mode Remote input RX X1000 Remote output RY Y1...

Page 26: ...to X1000 Remaining output signals correspond in order for example RXn1 X1001 RXn2 X1002 Fig 3 12 Screen example of device monitor Other devices are as shown in the following Remote output RY Y1000 is RYn0 Program number selection input bit 0 Remote register RWr W0 is RWrn Monitor 1 data lower 16 bits Remote register RWw W100 is RWwn Monitor 1 In the case of Remote input RX X1000 Station number of ...

Page 27: ...is normal can be checked using the following method If there is no error in Diagnosis CC Link CC Link LT diagnosis in the menu Diagnosis result System is normal is displayed Fig 3 13 Network diagnosis normal If there is an error Diagnosis result error cases is displayed Fig 3 14 Network diagnosis abnormal ...

Page 28: ...the AX Tools to display the screen for I O indication Fig 3 15 AX Tools monitor menu ii Check of I O The I O state by CC Link communication can be monitored shows negative logic thus the I O indication will indicate ON when it is open Fig 3 16 Screen example of I O indication iii CC Link monitor Communication error information can be checked by selecting CC Link at the lower part of I O indication...

Page 29: ...tion number setting or transmission speed setting is changed in the middle Unlit upon time over Table 3 13 LED state list LRUN LERR SD RD Operation CRC errors are sometimes caused in spite of normal updates 0 4s The baud rate or station number setting is changed from the power on setting Cannot respond due to a CRC error in the reception data Normal communication No data arrives at the own station...

Page 30: ...LED indication specifications AXドライバの制御電源ON 運転モードを表示する シリアル通信の局番を表示する 局番の表示では を表示しません アラームが発生すると アラームコードを表示する AXドライバの制御電源OFF 0 1 r 1 1 2 The control power of the AX driver is turned on The operation mode is displayed The serial communication station number is displayed is not shown when the station number is displayed The alarm code is displayed when an alarm occurs The control power of the AX dri...

Page 31: ...3 CC Link Communication Function SMF 2008 A 3 18 MEMO ...

Page 32: ...switching Switch the operation mode to the network operation mode The switching method can be performed by any of the following Send communication command M7 Set PRM29 mode when power is turned on 7 and restart the control power Switch using a command code 0021h iii Switch to a table operation Turn off the table operation and data input operation switching input RY n 1 3 OFF Table operation ON Dat...

Page 33: ... 1 198 Movement unit of shared table 1 3 1 1 Angle unit G105 2 Pulse unit G104 3 Index unit G106 199 Movement speed unit of shared table 1 2 1 1 Rotation speed G10 2 Time G11 0 200 Instruction 0 11 0 0 Instruction set to shared table 1 Absolute dimension G90 2 Full rotation absolute dimension G90 1 3 CW direction rotation absolute dimension G90 2 4 CCW direction rotation absolute dimension G90 3 5...

Page 34: ...F code of NC program such as the rotation speed depending on the descriptions of the instruction and movement speed unit within the following range In case of rotation speed 110 240 000 x 1 000 rpm In case of time 10 100 000 x 1 000 sec n 1 63 200 5 x n Instruction 0 11 0 Refer to the explanation of the instruction of table 0 201 5 x n Movement unit 0 3 0 Refer to the explanation of the movement u...

Page 35: ...n Table 4 2 Network operation mode instruction combination list Instruction Movement unit Movement speed unit A code P code F code Absolute G90 Full rotation absolute G90 1 CW direction absolute G90 2 CCW direction absolute G90 3 Incremental G91 Full rotation incremental G91 1 Home positioning G28 Designation of number of segments G101 Change of magnification of gain G12 Brake activation M68 Brake...

Page 36: ... setting set to the shared table is used In this case the operation descriptions of tables 0 to 63 can be changed only by changing the set values of the shared table If you want to execute an operation different from the shared table set the set values of the instruction movement unit and movement speed unit of tables 0 to 63 to values other than 0 Operation not using shared table Table 4 4 NC pro...

Page 37: ...ation of number of segments Table 4 6 NC program Operation instruction equivalent to G101A4 Table Description Set value Operation n Instruction 8 Designation of number of segments Movement unit Movement speed unit A code P code 4 Number of segments 4 F code Change of magnification of gain Table 4 7 NC program Operation instruction equivalent to G12P0 Table Description Set value Operation n Instruc...

Page 38: ...le Description Set value Operation n Instruction 10 Brake activation Movement unit Movement speed unit A code P code F code Brake release Table 4 9 NC program Operation instruction equivalent to M69 Table Description Set value Operation n Instruction 11 Brake release Movement unit Movement speed unit A code P code F code ...

Page 39: ...an be performed by any of the following Send communication command M7 Set PRM29 mode when power is turned on 7 and restart the control power Switch using a command code 0021h ii Switch to a table operation Turn on the table operation and data input operation switching input RY n 1 3 OFF Table operation ON Data input operation iii Setting of operation description Set the instruction movement unit a...

Page 40: ...f number of segments G101 1 0 0 0 Change of magnification of gain G12 1 0 0 1 Brake activation M68 1 0 1 0 Brake release M69 Table 4 11 Movement unit list Set value Description RY n 1 1 RY n 1 0 0 0 Angle unit G105 0 1 Pulse unit G104 1 0 Index unit G106 Table 4 12 Movement speed unit Set value Description RY n 1 2 0 Rotation speed G10 1 Time G11 Table 4 13 A code P code list Set value Description...

Page 41: ...rpm In case of time 10 30 000x 1 000 sec In input data used for a data input operation there are five items Instruction Movement unit Movement speed unit A code P code and F code Required input data items vary depending on the description of the instruction For details refer to Network Operation Mode Instruction Combination List on page 4 4 ...

Page 42: ... dimension G91 1 RYn1 0 RYn2 1 RYn3 0 RY n 1 0 0 Angle unit G105 RY n 1 1 0 RY n 1 2 1 Time G11 RWwn 3 5F90h 0001 5F90h 90 000 unit x 1 000 deg 90 degrees RWwn 4 0001h RWwn 5 03E8h 03E8h 1 000 unit x 1 000 sec 1 sec Change the gain magnification to 100 Table 4 16 NC program Operation instruction equivalent to G12P100 Device No Address No Set value Description RYn0 0 Change of magnification of gain...

Page 43: ...4 Network Operation Mode SMF 2008 A 4 12 MEMO ...

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