IL05003023E.pdf
The ELC can be secured to a cabinet by using the DIN rail that is 35mm high with a depth of 7.5mm. When mounting the ELC on the
DIN rail, be sure to use the end bracket to stop any side-to-side motion of the ELC, thus to reduce the chance of the wires being
pulled loose. At the bottom of the ELC is a small retaining clip. To secure the ELC to the DIN rail, place it onto the rail and gently push
up the clip.
22-16AWG
<1.5mm
Notes:
1. Please use 22-16AWG (1.5mm) wiring (either single or multiple core) for I/O wiring terminals.
The specification for the terminals is as shown on the left. ELC terminal screws should be
tightened to 1.95 kg-cm (1.7 lb-in). Use Copper Conductor Only, 60/75 °C.
2.
I/O signal wires or power supply should not run through the same multi-wire cable or
conduit.
#31
H’41AF X
R/W
Running instruction
factory setting: H’0000
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2
b1 b0
-
-
CLR out
put (
O
n/Of
f)
C
L
R
si
gnal
out
p
ut m
o
d
e
-
Cur
re
nt p
o
sition =
0
-
Sof
tw
a
re
S
T
AR
T
ABS/R
EL
C
oor
di
n
ate
Ze
ro
re
tu
rn st
a
rt
JOG-
JOG+
CCW p
u
lse
S
T
OP
CW p
u
lse
S
T
OP
Sof
tw
a
re
ST
O
P
E
rro
r re
se
t
bit #
Content
Action
0
When b[0]=1, Error reset. Error indicator is off and FLAG in CR (CR#38.b[5]) is cleared to 0.
0
→
1
1
When b[1]=0
1 ,this is the same function as external input signal that forces to stop. When external signal that
forces to stop is inputted or when b[1]=0
1, PU will decelerate to stop.
→
→
0
→
1
2
When b[2]=1, CW running is forbidden. If CW running instruction is given, error will come up.
1
3
When b[3]=1, CCW running is forbidden. If CCW running instruction is given, error will come up.
1
4
When b[4]= 0
1, CW pulse is generated in JOG+ mode.
→
0
→
1
5
When b[5]= 0
1, CCW pulse is generated in JOG- mode.
→
0
→
1
6
When b[6]=0
1, zero return is performed. Zero return execution will differ based on current position (CP). There are
four situation as follows:
→
0
→
1
Position (1): Start position (as the right picture below [1] ) is at the right of zero point and DOG(near point signal),
DOG=Off.
Position (2): Start position (as the right picture below [2] ) is at the right of zero point, DOG=On.
Position (3): Start position (as the right picture below [3] ) is at the left of zero point and DOG(near point signal),
DOG=Off and LSN (hardware limit switch) signal=Off.
Position (4): Start position (as the left picture below [4] ) is at the left of zero point and DOG(near point signal),
DOG=Off and LSN (hardware limit switch) signal=On.
JOG op
er
ati
o
n m
o
d
e
Speed
Tacc
Tdec
Vmax
Time
Vbias
JOG
Vjog
Zer
o
r
e
tur
n
op
er
ati
o
n r
o
ute
LSN
DOG
LSP
Hardware polarity switch
Zero point return direction
Zero point
[4]
[3]
[2]
[1]
Hardware polarity switch
bit #
Content
Action
7
When b[7]=0, it is absolute position. When b[7]=1, it is relative position.
0/1
8 When
b[8]=0
1, start running by the work mode of CR#32.
→
0
t
1
10 When
b[10]=0
1, current position (CP) is cleared to 0.
→
0
t
1
12
When b[12]=0, CLR outputs 130ms to Servo when zero return is completed. It is the clear signal for servo
internal error counter.
When b[12]=1, CLR is common output point and the status(On/Off) is controlled by b[13].
0/1
13
When b[13]=0, CLR output is Off. When b[13]=1, CLR output is On.
0/1
#32
H’41B0
╳
R/W
Work mode
Factory setting:
H’0001
b15 b14 b13 b12 b11~b9 b8 b7 b6 b5 b4 b3 b2 b1
b0
-
-
C
u
rr
ent p
o
si
ti
on:
C
R
3
4
, 33;
cur
rent sp
ee
d: C
R
3
6
,
35;
display u
n
it:
0
Æ
pu
ls
e,
1
Æ
uni
t
Retur
n
t
o
f
a
ctor
y se
ttin
g
M
ASK set
ti
n
g
LSP/
LSN
st
op m
o
de
M
anual
pul
se
ge
ner
at
o
r r
a
nge l
im
it
ati
o
n
ST
OP
m
o
de
M
anual
pul
se
ge
ner
at
o
r i
nput
op
er
ati
on
V
ar
iabl
e sp
eed
op
er
ati
o
n m
o
de s
tar
t
Inter
ru
p
t 2
nd-
sp
eed
po
sition m
o
d
e
s
tar
t
2nd-
sp
ee
d p
o
si
ti
on m
o
de s
tar
t
Inter
ru
p
t 1st-
s
pee
d p
o
s
it
ion m
o
d
e
s
tar
t
1st-
spe
e
d
posi
ti
o
n m
o
de s
tar
t
bit #
Content
0
When b[0] is triggered and START ON, it starts to execute 1st-speed position program. Step number and speed are decided
by P(I)& V(I).
1
When b[1] is triggered, START ON, and DOG external near point signal is performed, it starts to reload the value of the target
position (I) P(I) as relative position.
1st-
spe
ed posi
ti
o
n
o
p
e
rati
on
m
ode
Speed
Tacc
Tdec
Vmax
Time
Vbias
Start
V(I)
P(I)
Inter
ru
p
t 1st
-
s
pe
ed
po
si
ti
on
oper
a
ti
on m
o
de
Speed
Tacc
Tdec
Vmax
Time
Vbias
Start
V(I)
P(I)
DOG
2
When b[2] is triggered and START ON, it starts to execute 1st-speed position operation and then the 2nd-speed position
operation will be started immediately after 1st-speed operation is completed.
3
When b[3] is triggered and START ON, if the DOG external near point signal is executed during 1st-speed position operation,
the 2nd-speed position operation will be started immediately.
2nd -
s
pee
d
p
o
si
ti
on
oper
a
ti
on m
o
de
Speed
Tacc
Tdec
Vmax
Time
Vbias
Start
V(I)
V(II)
P(II)
P(I)
In
te
rru
pt
2n
d
-s
pe
ed
po
s
it
io
n
oper
a
ti
on m
o
de
Speed
Tacc
Tdec
Vmax
Time
Vbias
Start
DOG
V(I)
V(II)
P(II)
4
When b[4] is triggered, it starts to execute variable speed operation and MC01 starts to send pulse as well. The pulse direction
is decided by the sign bit of V(I) value.
V
ar
iabl
e sp
eed
op
er
ati
on m
o
de
Speed
Tacc
Vmax
Time
Vbias
Start
Stop
V(I)
Vbias
0
Tdec
Zer
o
r
e
tur
n
op
er
ati
o
n
m
ode
Description Chart: (1) DOG rising-edge is triggered in normal
mode. (2) DOG falling-edge detecting is On in zero return mode
(CR#18_b1, 0=00). (3) the number of PG0 in zero return mode
N(CR#16). (4) the number of pulse in zero return mode
P(CR#17).
Speed(PPS)
VCR
VRT
VCR
DOG
Isolate from DOG near signal
Contact DOG near signal
Zero return direction
The no. of PG0 in zero return mode (N)
DOG falling-edge detecting
The no. of pulse in zero return mode (P)
5
When b[5]= 0
1, manual pulse generator input is started. Please refer to the setting of CR#40~#46.
→
6
b[6]=0: When STOP is input, motor will decelerate to stop under running mode. When rerun instruction is received, motor
will neglect the uncompleted distance and directly go executing the next position instruction.
b[6]=1: When STOP is input, motor will decelerate to stop under running mode. When rerun instruction is received, motor
will keep executing the uncompleted distance of previous instruction and then execute next position instruction.
7
b[7]=0: The output pulse of manual pulse generator is unlimited.
b[7]=1: The output pulse of manual pulse generator is limited between P(I) and P(II). When the output pulse is out of the
range, it will decelerate and then stop outputting.
8
b[8]=0: When motor is running, it will decelerate to stop if LSP/LSN signal is received.
b[8]=1: When motor is running, it will stop immediately if LSP/LSN signal is received.
9~11
MASK setting (1st-speed operation, 2nd-speed operation, interrupt 1st-speed operation, interrupt
2nd-speed operation)
b[11~9]=K0(000) or other value: NO MASK function.
b[11~9]=K1(001) : the rising-edge of input terminal
A
±
will trigger MASK.
Φ
Φ
Φ
Φ
b[11~9]=K2(010) : the falling-edge of input terminal
A
±
will trigger MASK.
b[11~9]=K3(011) : the rising-edge of input terminal
B
±
will trigger MASK.
b[11~9]=K4(100) : the falling-edge of input terminal
B
±
will trigger MASK.
12
b[12]=1: All parameters return to factory setting.
13
b[13]=0: current position (CR34, 33) and current speed (CR36, 35). Display unit: pulse.
b[13]=1: current position (CR34, 33) and current speed (CR36, 35). Display unit: unit.
#34 #33 H’41B1 X
R/W
Current position CP
(PLS)
Range display: -2,147,483,648~+2,147,483,647 PLS
Factory setting: 0 PLS
#36 #35 H’41B3 X
R/W
Current speed CS
(PPS)
Range display: 0 ~ +2,147,483,647 PPS
Factory setting: 0 PPS
#37
H’41B5
X
R/W
Communication
address and Baud rate
setting
RS-485 communication address setting: setting range 01~225; factory
setting K1.
Baud rate setting: 4800, 9600,19200, 38400, 57600, and 115200 bps.
ASCII mode data format is 7Bit, even bit and 1 stop bit (7 E 1). RTU mode
data format is 8Bit, even bit and 1 stop bit (8, E, 1)
b0: 4800 bps(bit/sec.), b1: 9600 bps(bit/sec.) (factory setting)
b2: 19200 bps(bit/sec.), b3: 38400 bps(bit/sec.)
b 4: 57600 bps(bit/sec.), b 5: 115200 bps(bit/sec.)
b6: reserved, b7: 0 for RTU, 1 for ASCII mode,
b8~b15: communication address
#38 H’41B6 O R/W
Execution status
factory setting:
H’XXXX
b15 b14 b13 b12 b11 b10 b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
-
-
-
-
-
MP
G in
p
u
t do
wn
wa
rd
M
P
G inpu
t u
p
war
d
-
R
o
ute p
a
use
d
i
n
di
cati
o
n
Posi
ti
on
com
p
le
ted i
n
d
icati
on
E
rro
r o
ccu
rre
d
f
la
g
C
P
val
u
e
over
fl
ow
Ze
ro
re
tu
rn is d
o
n
e
CCW
pulse is ou
tpu
ttin
g
CW
pulse is o
u
tp
uttin
g
S
tat
us i
n
di
cati
o
n
bit #
Content
0
When b[0]=0, system is ready. When b[0]=1, MC01 is executing position control mode (Pulse is outputting).
1
When b[1]=1, CW pulse is outputting.
2
When b[2]=1, CCW pulse is outputting.
3
When b[3]=1, zero return is completed and b[3] will be cleared by user-defined program. When MC01 is power on again, b[3]
will be cleared to 0 automatically.
4
When b[4]=1, “Current position CP(PLS)”(CR#34, #33) of 32 bit will overflow. When MC01 is power on again or complete zero
return, b[4] will be cleared to 0 automatically.
5
When b[5]=1, MC01 error occurred. Error code is stored in CR#39.
6
When MC01 starts executing zero return or error reset (only when error occurred), it will clear b[6] to 0. When zero return or
position control is completed, it will set b[6] to 1.
7
When MC01 is running and STOP status is on, MC01 will stop output and b[7] will be set to 1. It means that MC01 is paused
and it will execute the uncompleted route and b[7] will be cleared to 0 after STOP status is off.
9
When b[9]=1, it means manual pulse generator inputs with counting upward.
10
When b[10]=1, it means manual pulse generator inputs with counting downward.
#39 H’41B7
X
R Error
code
Please refer to “Error Code & Troubleshooting” for detail. Factory setting:
H’0000
#40 H’41B8
X
R/W
Electronic gearing
numerator of MPG
input
Please refer to the following explanation
Factory setting: H’1
#41 H’41B9
X
R/W
Electronic gearing
denominator of MPG
input
Please refer to the following explanation
Factory setting: H’1
z
MPG (manual pulse generator) mode:
1.
Manual pulse generator input mode is ON when b5 of CR#32 is set to 1.
2.
2-phase(A phase/B phase) can be input from the manual pulse generator to
A and
B
.
FP/RP I/O pulse is as follows:
Φ
Φ
A phase
B phase
FP
R P
Servo drive
Servo motor
CR#40
Input pulse X
= output pulse
CR#41
3.
When LSP/LSN is activated during running, output will stop immediately. When LSP is ON, CCW is allowed. When LSN is
ON, CW is allowed. Positioning completed flag should be ON in this mode.
4.
Positioning completed indication (CR#38, b6=Off). When positioning control is completed, CR#38_b6 will be ON.
5.
The output speed is proportional to pulse frequency of manual pulse generator and the electronic gearing (CR#40, CR#41).
#43 #42 H’41BA X
R/W
Input frequency of
manual pulse
generator
The input frequency of manual pulse generator
Factory setting: 0
#45 #44 H’41BC X
R/W
Accumulated pulse
input no. of manual
pulse generator
The count value of CW manual pulse input is “ +” symbol, on the contrary,
the CCW manual pulse input is “-“symbol. And the count value is nothing
to do with the ratio setting of manual electronic gearing (CR#40, #41).
Factory setting: 0.
#46 H’41BE
X
R/W
Response speed of
manual pulse
generator
Value
Response speed
When response speed setting is faster, the
instructions of pulse output and manual
pulse generator input will be more
synchronous. When response speed
setting is slower, the instruction of pulse
output is slower than the instruction of
manual pulse generator input. Factory
setting: 5
≧
5 4ms
(factory
setting)
4 32ms
3 108ms
2 256ms
1or 0 500ms
#47 H’41BF
X
R Terminal
status
bit #
Status
Description
b0
START input
When START input is On, b0 is On.
b1
STOP input
When STOP input is On, b1is On.
b2
DOG input
When DOG input is On, b2 is On.
b3
PG0 input
When PG0 input is On, b3 is On.
b4
LSP input
When LSP input is On, b4is On.
b5
LSN input
When LSN input is On, b5 is On.
b6
A phase input
When A phase input is On, b6 is On.
b7
B phase input
When B phase input is On, b7 is On.
b8
CLR output
When CLR output is On, b8 is On.
#48 H’41C0
O R System
version
System version is in hexadecimal. e.g. software V1.00 is for H’0100.
*1: Unit setting varies based on b0 and b1 setting of CR#5.
*2: Use max. pulse output if upper limit is exceeded. Use min. pulse output if lower limit is exceeded.
z
CR#0~CR48: user can use the corresponding addresses H4190~41C0 to read/write data via RS-485 communication.
1. Baud rate supportive: 4,800, 9,600, 38,400, 57,600, and 115,200 bps.
2. Modbus ASCII/RTU: ASCII mode is 7Bit, even bit and 1 stop bit (7,E,1). RTU mode is 8Bit, even bit and 1 stop bit (8, E, 1).
3. Function code: 03H for read data from CR; 06H for write one WORD in CR; 10H for write many WORDs in CR.
5
INSTALLATION & WIRING
To remove it, pull down the retaining clip and gently pull the ELC away from the
DIN rail. As shown on the right:
When installing the ELC, make sure that it is installed in an enclosure with
sufficient space (as shown on the right) to its surroundings so as to allow heat
dissipation.
D
D
D
D
E
L
C
D>50mm
1.
Installation of the DIN rail
2. Wiring
