Oriental motor A Step AZ Series User Manual Download

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Thank you for purchasing an Oriental Motor product.
This Manual describes product handling procedures and safety precautions.

•

Please read it thoroughly to ensure safe operation.

•

Always keep the manual where it is readily available.

HM-60447

Series / Motorized Actuator

equipped with

Series

mini Driver
EtherNet/IP™ Compatible

USER MANUAL

Introduction

Hardware

Implicit communication

Parameter ID lists

Troubleshooting

Reference materials

Summary of Contents for A Step AZ Series

Page 1: ...utions Please read it thoroughly to ensure safe operation Always keep the manual where it is readily available HM 60447 AZ Series Motorized Actuator equipped with AZ Series mini Driver EtherNet IP Compatible USER MANUAL Introduction Hardware Implicit communication Parameter ID lists Troubleshooting Reference materials ...

Page 2: ...tion 21 3 1 Installation location 21 3 2 Installation method 21 4 Connection 23 4 1 Connection example 23 4 2 Connecting the main power supply and the control power supply CN1 24 4 3 Connecting the EtherNet IP cable CN3 CN4 26 4 4 Connecting the USB cable 26 4 5 Connecting input signals CN5 26 4 6 Noise elimination measures 27 4 7 Conformity to EMC 28 5 Setting of IP address 30 5 1 Setting method ...

Page 3: ...s 1 Timing for parameter to update 66 2 Maintenance commands 67 3 Monitor commands 68 4 Operation data R W commands 74 4 1 Base address of each operation data number 74 4 2 Parameter ID 76 4 3 Setting example 77 5 Operation I O event R W commands 78 5 1 Base address of operation I O event 78 5 2 Parameter ID for operation I O event R W command 78 6 Protect release commands 79 7 Extended operation ...

Page 4: ...ers 92 9 I O signals assignment list 94 9 1 Input signals 94 9 2 Output signals 95 5 Troubleshooting 1 Detection of communication errors 98 1 1 Communication timeout 98 1 2 IP address conflict 98 2 Alarms 99 2 1 Alarm reset 99 2 2 Alarm history 99 2 3 Generation condition of alarms 99 2 4 Alarm list 100 2 5 Timing chart 105 3 Information 107 3 1 Information history 110 3 2 Information list 110 4 T...

Page 5: ... in addition to the types and descriptions about operating manuals Table of contents 1 Before using the product 6 2 Operating manuals 7 2 1 Related operating manuals 7 2 2 How to use operating manuals 7 3 Overview of the product 9 4 Safety precautions 10 5 Precautions for use 12 ...

Page 6: ... the section 4 Safety precautions on p 10 In addition be sure to observe the contents described in warning caution and note in this manual The product described in this document has been designed and manufactured to be incorporated in general industrial equipment Do not use for any other purpose Oriental Motor Co Ltd is not responsible for any compensation for damage caused through failure to obse...

Page 7: ...together with the AZ Series OPERATING MANUAL Function Edition This manual describes contents specific to the mini Driver EtherNet IP compatible and the AZ Series OPERATING MANUAL Function Edition describes contents common to the AZ Series products Refer to the AZ Series OPERATING MANUAL Function Edition for the contents not included in this manual Reference destinations are indicated according to ...

Page 8: ...the following contents cannot be operated via EtherNet IP Use the support software MEXE02 Copying the fixed value parameter of the ABZO sensor to driver Creation of recovery data file and method of recovery 2 Refer to this manual for LEDs of the driver _p 19 Description of power supplies This manual describes contents when a main power supply and a control power supply are used The mini Driver can...

Page 9: ...rameters can be set via EtherNet IP or using the MEXE02 software This manual describes how to set operation data and parameters via EtherNet IP Equipped with direct data operation function Direct data operation is a function to start operation at the same time as rewriting of the data It can be used when the setting of the operation data is changed frequently such as changing the speed or travel a...

Page 10: ...o equipment Do not transport install connect or inspect the product while the power is supplied Doing so may result in electric shock Do not touch the driver while the power is supplied Doing so may result in fire or electric shock When an alarm of the driver is generated any of the driver s protective functions is triggered remove the cause before resetting the alarm protective function Continuin...

Page 11: ...ly in the specified combination An incorrect combination may cause a fire Take measures against static electricity when operating the switches of the driver Failure to do so may result in the driver malfunction or damage to equipment Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire equipment will operate safely in the event of a system failure...

Page 12: ...r 5 seconds after the completion of writing the data Doing so may abort writing the data and cause an alarm of EEPROM error to generate The non volatile memory can be rewritten approximately 100 000 times z Noise elimination measures Refer to p 27 for noise elimination measures z Regeneration When operating a large load inertia at a high speed the regenerative energy generated may increase the vol...

Page 13: ...onnectors as shown in the figure or fix it with a wide clamp to take measures to prevent stress from being applied to the connectors Motor Driver In the case of a flexible cable this area is a movable range Fixing at two places Fixing at two places Do not bend the lead wires part or fix with a clamp ...

Page 14: ...1 Introduction 14 ...

Page 15: ...nstallation method 21 4 Connection 23 4 1 Connection example 23 4 2 Connecting the main power supply and the control power supply CN1 24 4 3 Connecting the EtherNet IP cable CN3 CN4 26 4 4 Connecting the USB cable 26 4 5 Connecting input signals CN5 26 4 6 Noise elimination measures 27 4 7 Conformity to EMC 28 5 Setting of IP address 30 5 1 Setting method of IP address 30 5 2 When using the IP add...

Page 16: ...mpatible product PC in which the MEXE02 has been installed Driver Motor Main power supply 1 Connecting the control power supply allows you to continue monitoring even if the main power supply is shut off Connect it as necessary 2 It is recommended that a circuit breaker or a circuit protector is connected because incorrect wiring of the power supply may cause the internal input circuit to short ci...

Page 17: ... driver can be combined are listed below Check the model name of the product with the nameplate Power supply type Product type Applicable Series Model name representing Series name 1 Example of model name DC power input Stepping Motor AZ Series AZM AZM46AK Motorized actuator EAC Series 2 EACM EACM2E05AZAK EAS Series 2 EASM EASM4NXD005AZAK EZS Series 2 EZSM EZSM6D005AZAK DR Series DR DR28G2 5B03 AZ...

Page 18: ...atus of the driver MS LED Green Red MS This LED indicates the status of the driver NS LED Green Red NS This LED indicates the communication status of EtherNet IP L A LED Green L A This LED indicates the LINK ACT status of EtherNet IP Switch IP address setting switch IP ADDR 1 Sets the IP address Factory setting 0 1 0 Connector Power supply connector CN1 Connects a main power supply and a control p...

Page 19: ...on is completed Repeating Green Red Simultaneously lit No light This is the driver simulation mode Green and red colors may overlap and it may be visible to orange MS LED This LED indicates the status of the driver LED status Description Green Red No light No light The main power supply and the control power supply of the driver are not turned on Blinking No light The communication setting of Ethe...

Page 20: ... the scanner No light Blinking Connection timed out with the scanner No light Light The setting of an IP address is duplicated in the same system Blinking alternately Self diagnosis when turning on the power is executing The blinking state of the LED is as follows OFF ON Blinking 500 ms 500 ms L A LED This LED indicates the LINK ACT status of EtherNet IP LED status Description No light This is in ...

Page 21: ...her liquids Area free of excessive salt Area not subject to continuous vibration or excessive shocks Area free of excessive electromagnetic noise from welders power machinery etc Area free of radioactive materials magnetic fields or vacuum Up to 1 000 m 3 300 ft above sea level 3 2 Installation method The driver can be installed in any direction Install the driver onto a flat metal plate offering ...

Page 22: ...Installation 2 Hardware 22 Dimensions Unit mm in Mass 0 11 kg 0 24 lb 4 0 16 61 2 4 69 2 72 26 1 02 56 2 2 40 1 57 ø3 5 0 138 R1 75 0 069 2 0 08 30 1 18 ...

Page 23: ...en if the main power supply is shut off Connect it as necessary 3 It is recommended that a circuit breaker or a circuit protector is connected because incorrect wiring may cause the internal input circuit to short circuit Connect the connectors securely Insecure connections may cause malfunction or damage to the motor or the driver When connecting the cables secure them so that no load is applied ...

Page 24: ...signated crimp tool 2119142 1 TE Connectivity Pin assignment The figure shows the view from the insertion side of contacts Pin No Name Description A1 GND Ground for control power supply A2 GND Ground for main power supply B1 Control power supply 24 VDC 48 VDC B2 Main power supply 24 VDC 48 VDC B1 A1 B2 A2 A1 and A2 are not electrically insulated Voltage specifications The voltage specifications of...

Page 25: ...Series Series Model Rated voltage Power supply current capacity AZ Series EAC Series EAS Series EZS Series AZM14 24 VDC 5 0 4 A or more AZM15 0 5 A or more AZM24 AZM26 1 4 A or more AZM46 24 VDC 5 48 VDC 5 1 6 A or more AZM48 2 1 A or more AZM66 3 7 A or more AZM69 3 5 A or more DGII Series DGM60 24 VDC 5 1 4 A or more DGB85 24 VDC 5 48 VDC 5 1 6 A or more DGB130 3 7 A or more DGM85 1 6 A or more ...

Page 26: ...ications USB2 0 full speed Cable Length 3 m 9 8 ft or less Shape A to mini B Connect the driver and a PC directly using a USB cable In large electrically noisy environments use the USB cable with a ferrite core or install a ferrite core to the USB cable 4 5 Connecting input signals CN5 Connect when using direct inputs or sensors Applicable lead wire and terminal Applicable lead wire AWG26 to 20 0 ...

Page 27: ...malfunction For the noise that is invaded from the outside take measures to prevent the driver malfunction It is needed to take adequate measures because signal lines are very likely to be affected by the noise For the noise that is emitted from the driver take measures to suppress it Measures against electrical noise There are the following three methods mainly to take measures against the electr...

Page 28: ... as well as EMS of the motor and driver itself in order to prevent a serious functional impediment in the machinery The use of the following installation and wiring methods will enable the motor and driver to be compliant with EMC Oriental Motor conducts EMC testing on its motors and drivers in accordance with Example of installation and wiring on p 29 The user is responsible for ensuring the mach...

Page 29: ... the heat sink contact directly with the grounded panel 2 An Oriental Motor cable is used The driver uses components that are sensitive to static electricity Take measures against static electricity since static electricity may cause the driver to malfunction or suffer damage When connecting the following products cover the motor cable with a shielded braided sleeving Use the cable clamps to groun...

Page 30: ...t the first octet to third octet with the parameters Set the forth octet with the IP address setting switch z First octet to third octet Related parameters Parameter name Description Setting range Initial value IP Address 1 Sets the first octet of the IP address 0 to 255 192 IP Address 2 Sets the second octet of the IP address 168 IP Address 3 Sets the third octet of the IP address 1 z Fourth octe...

Page 31: ...e setting of the parameter or the DHCP server Subnet mask 255 255 255 0 Default gateway 0 0 0 0 5 3 When setting with parameters Set the IP address setting switch of the driver to 0 and the Configuration Control parameter to 0 Parameter The parameters and the DHCP server cannot be used in combination Related parameters Parameter name Description Setting range Initial value Configuration Control Se...

Page 32: ...iver to 0 and the Configuration Control parameter to 2 DHCP server The parameters and the DHCP server cannot be used in combination If the main power supply and the control power supply is shut off the IP address obtained from the DHCP server is cleared Related parameter Parameter name Description Setting range Initial value Configuration Control Sets how to obtain the IP address 0 Parameter 2 DHC...

Page 33: ...e installation place of the driver is loose Check if any of the connection parts of the driver is loose Check if dust is deposited on the driver Check if the driver has unusual smells or appearance defects The driver uses semiconductor components Static electricity may damage the semiconductor components of the driver so be extremely careful when handling them 6 2 Warranty Check on the Oriental Mo...

Page 34: ...ection cable When installing the motor on a moving part use a flexible cable z Connection cables For motor encoder Model Length m ft CCM005Z2AAF 0 5 1 6 CCM010Z2AAF 1 3 3 CCM030Z2AAF 3 9 8 CCM050Z2AAF 5 16 4 CCM100Z2AAF 10 32 8 z Flexible connection cables For motor encoder Model Length m ft CCM005Z2AAR 0 5 1 6 CCM010Z2AAR 1 3 3 CCM030Z2AAR 3 9 8 CCM050Z2AAR 5 16 4 CCM100Z2AAR 10 32 8 ...

Page 35: ...t CCM005Z2ABF 0 5 1 6 CCM010Z2ABF 1 3 3 CCM030Z2ABF 3 9 8 CCM050Z2ABF 5 16 4 CCM100Z2ABF 10 32 8 For motor encoder electromagnetic brake Model Length m ft CCM005Z2ACF 0 5 1 6 CCM010Z2ACF 1 3 3 CCM030Z2ACF 3 9 8 CCM050Z2ACF 5 16 4 CCM100Z2ACF 10 32 8 z Flexible connection cables For motor encoder Model Length m ft CCM005Z2ABR 0 5 1 6 CCM010Z2ABR 1 3 3 CCM030Z2ABR 3 9 8 CCM050Z2ABR 5 16 4 CCM100Z2AB...

Page 36: ...ZM14 motor is connected Connection cable Extension cable Use the connection cable used When installing the motor on a moving part use a flexible cable When extending the wiring length by connecting an extension cable to the connection cable make the total cable length 10 m 32 8 ft or less z Extension cables Model Length m ft CCM010Z2ADFT 1 3 3 CCM030Z2ADFT 3 9 8 CCM050Z2ADFT 5 16 4 z Flexible exte...

Page 37: ...1 Implicit message format 43 4 2 Input data 44 4 3 Output data 47 4 4 Processing order of Implicit communication 51 4 5 Data writing 52 4 6 Data reading 53 5 Example of execution for operation 55 5 1 Positioning operation 55 5 2 Continuous operation 56 6 Direct data operation 57 6 1 Overview of direct data operation 57 6 2 Output data and parameters required for direct data operation 58 6 3 Operat...

Page 38: ...supply and or the control power supply are in an on state will not enable the new setting Install and connect the motor and the driver Set an IP address Set the home Set the coordinate and the resolution Assign the remote I O Select the operation method and set data Set parameters Make settings concerning information and alarms Completion of setting Direct data operation Stored data SD operation S...

Page 39: ...arting operation STEP3 Setting of IP address STEP4 Starting of motor z Operating conditions This operation is performed under the following conditions Number of drivers connected 1 unit IP address 192 168 1 2 Before operating the motor check the condition of the surrounding area to ensure safety Before starting based on the guidance import the EDS file to the setting tool of the scanner and regist...

Page 40: ...reaker or a circuit protector is connected because incorrect wiring may cause the internal input circuit to short circuit STEP 2 Make preparations for operation Refer to Before starting operation in the AZ Series OPERATING MANUAL Function Edition STEP 3 Set an IP address Set an IP address using the IP address setting switch IP ADDR 1 on the driver 1 Set the IP address setting switch as shown below...

Page 41: ...n of operation data No 1 36 to 39 Write data 5 000 Position 5 000 steps 2 Turn the WR REQ OFF The WR END is returned to OFF 3 Check the READY has been turned ON 4 Select the operation data No 1 to turn the START ON Positioning operation is started 5 Check the READY has been turned OFF and turn the START OFF STEP 5 Were you able to operate How did it go Were you able to operate properly If the moto...

Page 42: ...sted pair STP cable straight through crossover cable category 5e or higher is recommended Number of occupied bytes Output scanner driver 40 bytes Input driver scanner 56 bytes Implicit communication Number of connections 2 Connection type Exclusive Owner Input Only Communication cycle RPI 1 to 3 200 ms Connection type scanner driver Point to Point Connection type driver scanner Point to Point Mult...

Page 43: ...hanging rate upper 20 21 Torque monitor Direct data operation stopping deceleration lower 22 23 CST operating current Direct data operation stopping deceleration upper 24 25 Information lower Direct data operation operating current 26 27 Information upper Direct data operation forwarding destination 28 29 Reserved Reserved 30 31 Read parameter ID_R Read parameter ID 32 33 Read write status Write r...

Page 44: ... 33 2 Read write status 34 35 2 Write parameter ID_R 36 to 39 4 Read data 40 to 43 4 Assignable monitor 0 44 to 47 4 Assignable monitor 1 48 to 51 4 Assignable monitor 2 52 to 55 4 Assignable monitor 3 Details of Input data z Remote I O R OUT This is the I O accessed via EtherNet IP The assignments of signals can be changed using the R OUT output function parameters Bit Name Description Initial as...

Page 45: ...ally open 8 TRIG_R Output in response to an input signal 9 TRIG MODE_R Output in response to an input signal 10 SET ERR Output when an error occurs in any of the settings of the operation type position operating speed starting changing speed rate stopping deceleration operating current or forwarding destination for direct data operation 11 EXE ERR Output when direct data operation is failed to exe...

Page 46: ...Output when an error occurred in reading If reading is performed properly the RD REQ is turned OFF 8 WR END Output in response to the WR REQ The WR END is also turned ON while the WR REQ is ON OFF Write request waiting ON Write completed 9 SYS BSY Output when the driver is in an internal processing state 10 Reserved 0 is returned 11 WR SET ERR Output when the write parameter ID or write data is ou...

Page 47: ...rmat Assembly Instance Attribute Byte Size byte Description 101 3 0 1 2 Remote I O R IN 2 3 2 Operation data number selection 4 5 2 Fixed I O IN 6 7 2 Direct data operation operation type 8 to 11 4 Direct data operation position 12 to 15 4 Direct data operation operating speed 16 to 19 4 Direct data operation starting changing rate 20 to 23 4 Direct data operation stopping deceleration 24 25 2 Dir...

Page 48: ... 0 R IN0 These are used to execute the signal assigned with the R IN input function parameter 0 Not used 1 R IN1 2 R IN2 3 R IN3 4 R IN4 5 R IN5 6 R IN6 7 R IN7 8 R IN8 9 R IN9 10 R IN10 11 R IN11 12 R IN12 13 R IN13 14 R IN14 15 R IN15 z Operation data number selection Bit Name Description Initial value 0 M0 The operation data number is selected using these eight bits 0 1 M1 2 M2 3 M3 4 M4 5 M5 6...

Page 49: ...to execute inching operation in the forward direction 13 RV JOG P This is used to execute inching operation in the reverse direction 14 FW POS This is used to execute continuous operation in the forward direction 15 RV POS This is used to execute continuous operation in the reverse direction z Direct data operation operation type Bit Name Description Initial value 0 to 15 Direct data operation ope...

Page 50: ...or 1 0 001 ms kHz 1 000 000 z Direct data operation stopping deceleration Bit Name Description Initial value 0 to 31 Direct data operation stopping deceleration This is used to set the stopping deceleration rate or the stop time for direct data operation Setting range 1 to 1 000 000 000 1 0 001 kHz s 1 0 001 s or 1 0 001 ms kHz 1 000 000 z Direct data operation operating current Bit Name Descripti...

Page 51: ...lue to be written to the parameter specified by the write parameter ID 0 4 4 Processing order of Implicit communication The processing order of Implicit communication is shown below Data writing Setting of operation command Data reading If multiple operation commands are set in the Implicit message format the operation command of direct data operation is prioritized If the operation commands for r...

Page 52: ...s the WR END has been turned OFF 2 Sets a parameter ID to be written to in the write parameter ID 3 Sets a value to be written in the write data Driver 4 Turns the WR REQ ON 6 Checks the WR END has been turned ON 7 Turns the WR REQ OFF 9 Clears the write parameter ID and the write data 5 The data is written and the WR END is turned ON 8 The WR END is turned OFF Write parameter ID Parameter ID to b...

Page 53: ...driver Byte Description 30 31 Read parameter ID z Flow that data is read from Scanner 1 Sets the parameter ID to be read from in the read parameter ID 3 Checks that the read parameter ID_R has been the parameter ID having set Driver 4 Checks the RD ERR has been turned OFF 5 Reads the value of the read data 2 The data is read every communication cycle Read parameter ID Parameter ID to be read from ...

Page 54: ...the Assignable monitor address parameter is read every communication cycle Communication cycle Assignable monitor n n 0 to 3 z Related parameters Parameter ID Name Description Initial value Dec Hex 25600 6400h Assignable monitor address 0 Sets the parameter ID to show on the assignable monitor Setting range Set from items of 3 Monitor commands on p 68 124 Driver temperature 25601 6401h Assignable ...

Page 55: ...re given using the scanner as the subject 1 Set the following operation data to turn the WR REQ ON The operation data is set in the driver When the setting is completed the WR END is turned ON Output scanner driver Byte Description Setting value Note 34 35 Write parameter ID 3105 Parameter ID of Position of operation data No 1 36 to 39 Write data 5 000 Position 5 000 steps Input driver scanner Byt...

Page 56: ...s Initial values Speed FW POS ON OFF Time 0 z Operation processing flow Descriptions are given using the scanner as the subject 1 Check the READY has been turned ON 2 Set the following operation data to turn the FW POS ON Continuous operation is started Output scanner driver Byte Description Setting value Note 2 3 Operation data number selection 0 The operation data No 0 is selected 3 To stop cont...

Page 57: ... can be selected from the following two types using the TRIG MODE of fixed I O IN Start at ON edge of TRIG The motor will start according to the operation data being set when the TRIG is turned ON Start at ON level of TRIG The motor will start at the same time when the data of the trigger set in the Direct data operation trigger setting parameter is changed Application example 1 of direct data ope...

Page 58: ...ype This is used to set the operation type for direct data operation Setting range 0 No setting 1 Absolute positioning 2 Incremental positioning based on command position 3 Incremental positioning based on feedback position 7 Continuous operation Position control 8 Wrap absolute positioning 9 Wrap proximity positioning 10 Wrap forward direction absolute positioning 11 Wrap reverse direction absolu...

Page 59: ...eter ID Name Description Initial value Dec Hex 24852 6114h Direct data operation trigger setting Sets the trigger to execute direct data operation The trigger setting is enabled only when the TRIG MODE is set to 1 Start at ON level Setting range 6 Operation type 5 Position 4 Operating speed 3 Starting changing speed rate 2 Stopping deceleration 1 Operating current 0 Disable 1 All data updated 1 Tr...

Page 60: ... memory If the TRIG is turned from OFF to ON or the data corresponding to the trigger is changed the next direct data is saved in the buffer memory When the data during operation is completed operation of the buffer memory is automatically started One direct data can be stored in the buffer memory If the next direct data is written to the buffer memory the DCMD FULL output is turned ON During stop...

Page 61: ... processing flow Descriptions are given using the scanner as the subject 1 Check the DCMD RDY has been turned ON 2 Set the following data Output scanner driver Byte Description Setting value Note 4 5 TRIG MODE bit 9 of fixed I O IN 0 Start at ON edge 6 7 Direct data operation operation type 2 Incremental positioning based on command position 8 to 11 Direct data operation position 5 000 5 000 steps...

Page 62: ... value Note 34 35 Write parameter ID 24852 Parameter ID of Direct data operation trigger setting 36 to 39 Write data 5 Position 2 Turn the WR REQ OFF The WR END is returned to OFF 3 Check the DCMD RDY has been turned ON 4 Set the following data Output scanner driver Byte Description Setting value Note 4 5 TRIG MODE bit 9 of fixed I O IN 1 Start at ON level 6 7 Direct data operation operation type ...

Page 63: ...et a different value from the operation 1 in the position of the operation 2 If a value other than the position is changed direct data operation of the operation 2 will not be executed 3 4 6 5 Write value Write value TRIG Data DCMD RDY TRIG_R READY MOVE Motor operation OFF ON OFF ON OFF ON OFF ON OFF ON ...

Page 64: ...3 Implicit communication 64 ...

Page 65: ...Parameter R W commands 81 8 1 Driver action simulation setting parameter 81 8 2 Base setting parameter 81 8 3 Coordinate parameters 82 8 4 Operation parameters 82 8 5 Direct data operation parameters 82 8 6 ABZO sensor setting parameters 83 8 7 Mechanism settings parameters 83 8 8 Initial coordinate generation wrap coordinate parameters 83 8 9 JOG HOME ZHOME operation information setting parameter...

Page 66: ...so do not shut off for five seconds after the completion of writing the data Doing so may abort the data write and cause an alarm of EEPROM error alarm code 41h to generate Parameters set via Implicit communication are saved in the RAM For parameters that requires to turn on the main power supply and the control power supply again for updating be sure to save them in the non volatile memory before...

Page 67: ...on including communication parameters 203 00CBh Read from backup 204 00CCh Write to backup 205 00CDh Clear latch information 206 00CEh Clear sequence history 207 00CFh Clear tripmeter 209 00D1h ZSG PRESET 210 00D2h Clear ZSG PRESET 211 00D3h Clear information 212 00D4h Clear information history 213 00D5h Alarm history details 1 to 10 Alarm history 1 to 10 0 Not selected Configuration Configuration...

Page 68: ...ber 99 0063h Command position 100 0064h Command speed r min 101 0065h Command speed Hz 102 0066h Feedback position 103 0067h Feedback speed r min 104 0068h Feedback speed Hz 105 0069h Remaining dwell time 106 006Ah Direct I O 107 006Bh Torque monitor 1 0 1 109 006Dh Cumulative load monitor 111 006Fh Target position 112 0070h Next number 113 0071h Loop origin number 114 0072h Loop count 115 0073h E...

Page 69: ...l power supply count 1 163 00A3h Inverter voltage 1 0 1 V 164 00A4h Main power supply voltage 1 0 1 V 167 00A7h IP ADDR SW 2 169 00A9h Elapsed time from BOOT ms 184 00B8h I O status 1 185 00B9h I O status 2 186 00BAh I O status 3 187 00BBh I O status 4 188 00BCh I O status 5 189 00BDh I O status 6 190 00BEh I O status 7 191 00BFh I O status 8 1280 0500h Alarm history details Alarm code 1281 0501h ...

Page 70: ...e history 7 ms 1319 0527h Information time history 8 ms 1320 0528h Information time history 9 ms 1321 0529h Information time history 10 ms 1322 052Ah Information time history 11 ms 1323 052Bh Information time history 12 ms 1324 052Ch Information time history 13 ms 1325 052Dh Information time history 14 ms 1326 052Eh Information time history 15 ms 1327 052Fh Information time history 16 ms 1472 05C0...

Page 71: ...position Operation stop 1500 05DCh Latch monitor operation number Operation stop 1501 05DDh Latch monitor number of loop Operation stop 1 It will be the number of times the main power supply is turned on if the control power supply is not connected 2 It is not described on the AZ Series OPERATING MANUAL Function Edition It indicates the input status of the IP address setting switch IP ADDR 1 Direc...

Page 72: ...S Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 RV JOG C FW JOG C RV JOG P FW JOG P RV JOG H FW JOG H RV JOG FW JOG Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 D SEL7 D SEL6 D SEL5 D SEL4 D SEL3 D SEL2 D SEL1 D SEL0 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 ZHOME HOME NEXT SSTART START 186 00BAh Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 R15 R14 R13 R12 R11 R...

Page 73: ...REA4 AREA3 AREA2 AREA1 AREA0 190 00BEh Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 D END7 D END6 D END5 D END4 D END3 D END2 D END1 D END0 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 M ACT7 M ACT6 M ACT5 M ACT4 M ACT3 M ACT2 M ACT1 M ACT0 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 M CHG DCMD FULL DCMD RDY NEXT LAT JUMP1 LAT JUMP0 LAT Bit 7 Bit 6 Bit 5 Bit 4 Bit 3...

Page 74: ...h No 52 5952 1740h No 90 7168 1C00h No 128 3552 0DE0h No 15 4768 12A0h No 53 5984 1760h No 91 7200 1C20h No 129 3584 0E00h No 16 4800 12C0h No 54 6016 1780h No 92 7232 1C40h No 130 3616 0E20h No 17 4832 12E0h No 55 6048 17A0h No 93 7264 1C60h No 131 3648 0E40h No 18 4864 1300h No 56 6080 17C0h No 94 7296 1C80h No 132 3680 0E60h No 19 4896 1320h No 57 6112 17E0h No 95 7328 1CA0h No 133 3712 0E80h N...

Page 75: ...0h No 188 9920 26C0h No 214 10752 2A00h No 240 8288 2060h No 163 9120 23A0h No 189 9952 26E0h No 215 10784 2A20h No 241 8320 2080h No 164 9152 23C0h No 190 9984 2700h No 216 10816 2A40h No 242 8352 20A0h No 165 9184 23E0h No 191 10016 2720h No 217 10848 2A60h No 243 8384 20C0h No 166 9216 2400h No 192 10048 2740h No 218 10880 2A80h No 244 8416 20E0h No 167 9248 2420h No 193 10080 2760h No 219 1091...

Page 76: ...ositioning push motion based on command position 22 Incremental positioning push motion based on feedback position 2 B Base address 1 Position 2 147 483 648 to 2 147 483 647 steps 0 B Base address 2 Operating speed 4 000 000 to 4 000 000 Hz 1 000 B Base address 3 Starting changing rate 1 to 1 000 000 000 1 0 001 kHz s 1 0 001 s or 1 0 001 ms kHz 1 000 000 B Base address 4 Stop 1 to 1 000 000 000 1...

Page 77: ...ition Base address 1 3072 1 3073 0C01h 1 000 Operating speed Base address 2 3072 2 3074 0C02h 1 000 Operating current Base address 5 3072 5 3077 0C05h 500 Setting of operation data No 1 Seeing the table on p 74 we can find that the base address of the operation data No 1 is 3104 0C20h Based on this base address the parameter ID for the setting item is calculated from the table on p 76 Base address...

Page 78: ... 0AD0h 26 2776 0AD8h 27 2784 0AE0h 28 2792 0AE8h 29 2800 0AF0h 30 2808 0AF8h 31 5 2 Parameter ID for operation I O event R W command The setting item of operation I O event is set with the operation I O event R W command The parameter ID for the setting item is arranged based on the base address of the operation I O event For example in the case of the setting item Dwell 2 is added to the base add...

Page 79: ...n Edition use the parameter name instead of the parameter ID Parameter ID Name Setting range Initial value Dec Hex 32 0020h Backup DATA access key Refer to the next table 0 33 0021h Backup DATA write key 34 0022h HMI release key Key code table Process that requires protect release Command name Key code Data writing to backup area Backup DATA access key 20519253 01391955h Backup DATA write key 1977...

Page 80: ...mon acceleration rate or time 1 to 1 000 000 000 1 0 001 kHz s 1 0 001 s or 1 0 001 ms kHz 1 000 000 A 321 0141h Common stopping deceleration 1 to 1 000 000 000 1 0 001 kHz s 1 0 001 s or 1 0 001 ms kHz 1 000 000 A 326 0146h Rate selection 0 The common rate is used 1 The rate of each operation data is used 1 A 2048 0800h Repeat start operation data number 1 Disable 0 to 255 Operation data number 1...

Page 81: ...F speed filter 2 Moving average filter 1 B 298 012Ah Command filter time constant 0 to 200 ms 1 B 300 012Ch Smooth drive function 0 Disable 1 Enable 1 C 301 012Dh Current control mode 0 Follow the CCM input 1 Alpha control mode CST 2 Servo emulation mode SVE 0 A 302 012Eh Servo emulation SVE ratio 0 to 1 000 1 0 1 1 000 A 303 012Fh SVE position loop gain 1 to 50 10 A 304 0130h SVE speed loop gain ...

Page 82: ...2 147 483 647 A 453 01C5h Negative software limit 2 147 483 648 to 2 147 483 647 steps 2 147 483 648 A 454 01C6h Preset position 2 147 483 648 to 2 147 483 647 steps 0 A 8 4 Operation parameters Parameter ID Name Setting range Initial value Update Dec Hex 322 0142h Starting speed 0 to 4 000 000 Hz 500 B 327 0147h Acceleration deceleration unit 0 kHz s 1 s 2 ms kHz 0 C 328 0148h Permission of absol...

Page 83: ...otor rotation direction 0 Positive side Counterclockwise 1 Positive side Clockwise 2 Positive side Counterclockwise the driver parameter is applied 3 Positive side Clockwise the driver parameter is applied 1 C 2017 07E1h Mechanism lead pitch 1 to 32 767 1 C 2033 07F1h Gear ratio setting 0 Gear ratio setting disable 1 to 32 767 Gear ratio 1 0 01 0 C 2553 09F9h Mechanism lead decimal digit setting 0...

Page 84: ...ting speed 1 to 4 000 000 Hz 1 000 B 338 0152h JOG Acceleration deceleration 1 to 1 000 000 000 1 0 001 kHz s 1 0 001 s or 1 0 001 ms kHz 1 000 000 B 339 0153h JOG Starting speed 0 to 4 000 000 Hz 500 B 340 0154h JOG Operating speed high 1 to 4 000 000 Hz 5000 B 344 0158h ZHOME Operating speed 1 to 4 000 000 Hz 5000 B 345 0159h ZHOME Acceleration deceleration 1 to 1 000 000 000 1 0 001 kHz s 1 0 0...

Page 85: ...nitial value Update Dec Hex 384 0180h Overload alarm 1 to 300 1 0 1 s 50 A 385 0181h Excessive position deviation alarm 1 to 30 000 1 0 01 rev 300 A 24968 6188h Network bus error alarm 0 Disable 1 Enable 1 A 8 11 Information setting parameters Parameter ID Name Setting range Initial value Update Dec Hex 416 01A0h Driver temperature information INFO DRVTMP 40 to 85 C 85 A 417 01A1h Overload time in...

Page 86: ...VTMP 1955 07A3h INFO action Motor temperature information INFO MTRTMP 1956 07A4h INFO action Overvoltage information INFO OVOLT 1957 07A5h INFO action Undervoltage information INFO UVOLT 1958 07A6h INFO action Overload time information INFO OLTIME 1960 07A8h INFO action Speed information INFO SPD 1961 07A9h INFO action Start operation error information INFO START 1962 07AAh INFO action Start ZHOME...

Page 87: ... 0 1 18 A 1796 0704h IN POS positioning completion signal offset 18 to 18 1 0 1 0 A 1797 0705h D SEL drive start function 0 Without START Func only select data Only operation data number selection 1 With START Func Operation data number selection START function 1 A 1798 0706h TEACH operation type setting 1 Not set 1 Absolute positioning 8 Wrap absolute positioning 1 A 1799 0707h ZSG signal width 1...

Page 88: ...860 0744h AREA2 positive direction position offset 1861 0745h AREA2 negative direction position detection range 1862 0746h AREA3 positive direction position offset 1863 0747h AREA3 negative direction position detection range 1864 0748h AREA4 positive direction position offset 1865 0749h AREA4 negative direction position detection range 1866 074Ah AREA5 positive direction position offset 1867 074Bh...

Page 89: ...ion 1 1890 0762h D SEL2 operation number selection 2 1891 0763h D SEL3 operation number selection 3 1892 0764h D SEL4 operation number selection 4 1893 0765h D SEL5 operation number selection 5 1894 0766h D SEL6 operation number selection 6 1895 0767h D SEL7 operation number selection 7 1896 0768h D END0 operation number selection 0 to 255 Operation data number 0 A 1897 0769h D END1 operation numb...

Page 90: ...IN1 input function 2306 0902h R IN2 input function 2307 0903h R IN3 input function 2308 0904h R IN4 input function 2309 0905h R IN5 input function 2310 0906h R IN6 input function 2311 0907h R IN7 input function 2312 0908h R IN8 input function 2313 0909h R IN9 input function 2314 090Ah R IN10 input function 2315 090Bh R IN11 input function 2316 090Ch R IN12 input function 2317 090Dh R IN13 input fu...

Page 91: ...0h Virtual input VIR IN0 function Input signals list _p 94 0 No function C 2369 0941h Virtual input VIR IN1 function 2370 0942h Virtual input VIR IN2 function 2371 0943h Virtual input VIR IN3 function 2372 0944h Virtual input VIR IN0 source selection Output signals list _p 95 128 CONST OFF C 2373 0945h Virtual input VIR IN1 source selection 2374 0946h Virtual input VIR IN2 source selection 2375 09...

Page 92: ... Invert 0 C 2407 0967h User output USR OUT1 source B inverting mode 2408 0968h User output USR OUT0 logical operation 0 AND 1 OR 1 C 2409 0969h User output USR OUT1 logical operation 8 17 Driver mode setting parameters Parameter ID Name Setting range Initial value Update Dec Hex 498 01F2h USB ID enable 0 Disable 1 Enable 1 D 499 01F3h USB ID 0 to 999 999 999 0 D 2555 09FBh USB PID 0 to 31 0 D 8 18...

Page 93: ...ial value Update Dec Hex Configuration Control Sets how to obtain the IP address 0 Parameter 2 DHCP server 2 D IP Address 1 Sets the IP address 0 to 255 192 D IP Address 2 168 IP Address 3 1 IP Address 4 1 Network Mask 1 Sets the subnet mask 0 to 255 255 D Network Mask 2 255 Network Mask 3 255 Network Mask 4 0 Gateway Address 1 Sets the default gateway 0 to 255 0 D Gateway Address 2 0 Gateway Addr...

Page 94: ...1 T MODE 22 CRNT LMT 23 SPD LMT 26 FW BLK 27 RV BLK 28 FW LS 29 RV LS 30 HOMES 31 SLIT 32 START Assignment number Signal name 33 SSTART 35 NEXT 36 HOME 37 ZHOME 40 D SEL0 41 D SEL1 42 D SEL2 43 D SEL3 44 D SEL4 45 D SEL5 46 D SEL6 47 D SEL7 48 FW JOG 49 RV JOG 50 FW JOG H 51 RV JOG H 52 FW JOG P 53 RV JOG P 54 FW JOG C 55 RV JOG C 56 FW POS 57 RV POS 58 FW SPD 59 RV SPD 60 FW PSH Assignment number...

Page 95: ..._R 82 R2_R 165 AREA5 26 FW BLK_R 83 R3_R 166 AREA6 27 RV BLK_R 84 R4_R 167 AREA7 28 FW LS_R 85 R5_R 168 MPS 29 RV LS_R 86 R6_R 169 MBC 30 HOMES_R 87 R7_R 180 USR OUT0 31 SLIT_R 88 R8_R 181 USR OUT1 32 START_R 89 R9_R 192 CRNT LMTD 33 SSTART_R 90 R10_R 193 SPD LMTD 35 NEXT_R 91 R11_R 196 OPE BSY 36 HOME_R 92 R12_R 197 PAUSE BSY 37 ZHOME_R 93 R13_R 198 SEQ BSY 40 D SEL0_R 94 R14_R 199 DELAY BSY 41 D...

Page 96: ...19 D END3 235 INFO PR REQ 220 D END4 237 INFO EGR E 221 D END5 238 INFO RND E 222 D END6 240 INFO FW OT 223 D END7 241 INFO RV OT 224 INFO USRIO 242 INFO CULD0 225 INFO POSERR 243 INFO CULD1 226 INFO DRVTMP 244 INFO TRIP 227 INFO MTRTMP 245 INFO ODO 228 INFO OVOLT 252 INFO DSLMTD 229 INFO UVOLT 253 INFO IOTEST 230 INFO OLTIME 254 INFO CFG 232 INFO SPD 255 INFO RBT ...

Page 97: ...ion errors 98 1 1 Communication timeout 98 1 2 IP address conflict 98 2 Alarms 99 2 1 Alarm reset 99 2 2 Alarm history 99 2 3 Generation condition of alarms 99 2 4 Alarm list 100 2 5 Timing chart 105 3 Information 107 3 1 Information history 110 3 2 Information list 110 4 Troubleshooting and remedial actions 113 ...

Page 98: ...timeout is automatically cleared and the NS LED on the driver returns to be lit in green If the communication timeout is detected check the following points Is the EtherNet IP cable disconnected Is the power supply for the scanner is turned on 1 2 IP address conflict If an IP address of the EtherNet IP compatible products is duplicated in the same system the IP address conflict is detected When th...

Page 99: ...trol power supply again Refer to 2 4 Alarm list on p 100 An alarm of the absolute position error can be reset if the position preset or return to home operation is performed If it cannot be reset by these methods the ABZO sensor may be damaged 2 2 Alarm history Up to 10 generated alarm items are stored in the non volatile memory in order of the latest to the oldest The alarm history stored in the ...

Page 100: ...ation 21h 2 Main circuit overheat The internal temperature of the driver reached the upper limit of the specification value Reconsider the ventilation condition Any of reset operations Non excitation 22h 3 Overvoltage The main power supply voltage exceeded the permissible value A large load inertia was suddenly stopped Vertical operation elevating operation was performed Check the input voltage of...

Page 101: ...tput shaft exceeded the specification value Reconsider the Electronic gear A parameter and the Electronic gear B parameter and set the speed of the motor output shaft to a value lower than the specification value If an overshoot is occurred at the time of accelerating increase the acceleration time or slow the acceleration rate Any of reset operations Non excitation 33h 7 Absolute position error T...

Page 102: ...on was executed in a state where both the FW LS input and the RV LS input were detected Check the sensor logic installed and the Inverting mode parameter Any of reset operations Excitation 61h 7 Reverse LS connection The LS input opposite to the operating direction was detected while return to home operation in the 2 sensor mode or the 3 sensor mode was performed Check the wiring of the sensor Any...

Page 103: ...home reached the mechanism limit stored in the ABZO sensor Check the travel amount position Reset the alarm and then escape from the sensor by operating the motor or manually Any of reset operations Excitation 70h 7 Operation data error Stored data operation was performed with data whose operating speed was 0 Operation was performed at the operating speed or operating current exceeding the value s...

Page 104: ... motor current is cut off and the motor holding force is lost When an electromagnetic brake motor is used the electromagnetic brake is in a state of holding the motor shaft Excitation Even if an alarm is generated the motor current is not cut off and the motor position is held Related parameters Parameter ID Parameter name Description Initial value Dec Hex 384 0180h Overload alarm Sets the conditi...

Page 105: ... turning the ALM RST input ON The alarm is reset and the ALM B output and the READY output are turned ON 4 Check the ALM B output has been turned ON and then turn the ALM RST input OFF ON OFF ON OFF ON OFF ON OFF ON OFF Excitation Non excitation Hold Release Error status Alarm factor ALM RST input READY output MOVE output ALM B output Motor excitation Electromagnetic brake 1 2 4 3 ON OFF ON OFF ON...

Page 106: ... is reset and the ALM B output and the READY output are turned ON 4 Check the ALM B output has been turned ON and then turn the ALM RST input OFF ON OFF ON OFF ON OFF ON OFF ON OFF Excitation Non excitation Hold Release Error status Alarm factor ALM RST input READY output MOVE output ALM B output Motor excitation Electromagnetic brake 1 2 4 3 ON OFF ON OFF ON OFF ON OFF ON OFF Excitation Non excit...

Page 107: ...uring information unlike in the case of an alarm z Parameter Each information has a corresponding INFO action parameter If the parameter is set to 0 No Info reflect only the bit output of information is turned ON and the INFO output and LED are not changed Related parameters Parameter ID Parameter name Description Initial value Dec Hex 416 01A0h Driver temperature information INFO DRVTMP Sets the ...

Page 108: ...the cumulative load 1 information INFO CULD1 is generated Setting range 0 to 2 147 483 647 0 435 01B3h Cumulative load value auto clear Clears the cumulative load when operation is started at the ON edge of the MOVE output Setting range 0 Not clear 1 Clear 1 436 01B4h Cumulative load value count divisor Sets the divisor of the cumulative load Setting range 1 to 32 767 1 444 01BCh INFO USRIO output...

Page 109: ...n INFO SPD 1961 07A9h INFO action Start operation error information INFO START 1962 07AAh INFO action Start ZHOME error information INFO ZHOME 1963 07ABh INFO action PRESET request information INFO PR REQ 1965 07ADh INFO action Electronic gear setting error information INFO EGR E 1966 07AEh INFO action Wrap setting error information INFO RND E 1968 07B0h INFO action Forward operation prohibition i...

Page 110: ...r temperature INFO DRVTMP The internal temperature of the driver exceeded the value set in the Driver temperature information parameter The internal temperature of the driver fell below the value set in the Driver temperature information parameter Motor temperature INFO MTRTMP The detection temperature of the encoder exceeded the value set in the Motor temperature information parameter The detecti...

Page 111: ...ge parameter were inconsistent The Initial coordinate generation wrap setting range parameter was set in the range of the specifications Forward operation prohibition INFO FW OT The positive software limit was exceeded Either the FW LS input or the FW BLK input was turned ON The position of the motor was in the range of the positive software limit and in addition both the FW LS input and the FW BL...

Page 112: ...ation was released Configuration was completed Writing data was completed Data was restored to the factory setting I O test mode INFO IOTEST I O test was executed with the MEXE02 software Configuration was executed The I O test mode was canceled Configuration was completed Configuration request INFO CFG The parameter that required executing the configuration was changed Configuration was executed ...

Page 113: ... the operation data When JOG operation high speed JOG operation or continuous macro operation is performed the input in the forward direction and that in the reverse direction are simultaneously ON Turn both inputs in the forward direction and the reverse direction OFF and then turn either one ON The STOP input is being ON Turn the STOP input OFF The motor rotates in the direction opposite to the ...

Page 114: ...e main power supply starts up slowly or the voltage of the main power supply is unstable Set the Main power mode parameter to 0 24 VDC or 1 48 VDC according to the rated voltage of the main power supply The electromagnetic brake is not put into a state of releasing the motor shaft The power is not supplied to the electromagnetic brake Check the connection of the electromagnetic brake A voltage for...

Page 115: ...6 Reference materials Table of contents 1 Timing chart 116 2 Specifications 118 2 1 Product specifications 118 2 2 General specifications 118 3 Regulations and standards 119 ...

Page 116: ...0 ms or less 1 s or less 200 ms or less 1 s or less 250 ms or less Control power supply Main power supply OFF ON MPS output OFF ON OFF ON EtherNet IP communication preparation Not completed Completed SYS RDY ready to read output ready to accept input Not ready Ready READY output OFF ON DCMD RDY output OFF ON Motor excitation Non excitation Excitation Electromagnetic brake Release Hold 10 s or more...

Page 117: ... s or less 250 ms or less 1 s or less 200 ms or less 1 s or less 250 ms or less Main power supply MPS output OFF ON OFF ON EtherNet IP communication preparation Not completed Completed SYS RDY ready to read output ready to accept input Not ready Ready READY output OFF ON DCMD RDY output OFF ON Motor excitation Non excitation Excitation Electromagnetic brake Release Hold 4 s or less ...

Page 118: ...varies depending on the motor combined Check on p 25 2 The value in parentheses is the one when the electromagnetic brake motor is connected 3 The value in parentheses is the one when the electromagnetic brake motor is connected The AZM46 type is 0 23 A 2 2 General specifications Degree of protection IP20 Operating environment Ambient temperature 0 to 50 C 32 to 122 F non freezing Humidity 85 or l...

Page 119: ...tandards CE Marking UKCA Marking This product is affixed with the marks under the following directives regulations z EU EMC Directive UK EMC Regulation Refer to 4 7 Conformity to EMC on p 28 for details about conformity EU RoHS Directive UK RoHS Regulation This product does not contain the substances exceeding the restriction values Republic of Korea Radio Waves Act This product is affixed with th...

Page 120: ... manual that has been damaged or lost please contact your nearest Oriental Motor sales office Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information circuit equipment or device provided or referenced in this manual Characteristics specifications and dimensions are subject to change without notice While we make every...

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