Oriental motor aSTEP AZ mini Driver Скачать руководство пользователя страница 39

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Communications specifications

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Communications specifications

2-1

EtherCAT communication interface

Item

Description

Communications standards IEC 61158 Type12
Physical layer/Protocol

100 BASE-TX (IEEE 802.3)

Transmission rate

100 Mbps

Communication cycle

•

Free Run mode: 1 ms or more

•

Sync manager 2 event synchronization mode: 1 ms or more

•

DC mode: 0.25 ms, 0.5 ms, 1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 6 ms, 7 ms, 8 ms

Communication port/
Connector

RJ45×2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output

Topology

Daisy chain (up to 65,535 nodes)

Process data

Variable PDO mapping

Sync manager

•

SM0: Mailbox output

•

SM1: Mailbox input

•

SM2: Process data output

•

SM3: Process data input

Mailbox (CoE)

•

Emergency message

•

SDO request

•

SDO response

•

SDO information

Synchronization mode

•

Free Run mode (asynchronous)

•

Sync manager 2 event synchronization mode

•

DC mode (SYNC0 event synchronization)

Device profile

IEC 61800-7 CiA402 drive profile

2-2

CiA402 drive profile

Item

Description

Modes of operation

•

Profile position mode (PP)

•

Profile velocity mode (PV)

•

Homing mode (HM)

•

Cyclic synchronous position mode (CSP)

•

Cyclic synchronous velocity mode (CSV)

Function

Touch probe (position latch) function
2 inputs (EXT1, EXT2)

Содержание aSTEP AZ mini Driver

Страница 1: ...ons Please read it thoroughly to ensure safe operation Always keep the manual where it is readily available HM 60457 AZ Series Motorized Actuator equipped with AZ Series mini Driver EtherCAT Drive Pro...

Страница 2: ...late 18 2 5 Names and functions of parts 18 2 6 Indication of LEDs 19 3 Installation 20 3 1 Installation location 20 3 2 Installation method 20 4 Connection 22 4 1 Connection example 22 4 2 Connecting...

Страница 3: ...clic synchronous velocity mode CSV 61 3 6 Profile velocity mode PV 63 3 7 Homing mode HM 66 4 Functions 80 4 1 Touch probe 80 4 2 Resolution 83 4 3 Wrap function 84 4 4 Operating current and stop curr...

Страница 4: ...148 1 1 Alarm reset 148 1 2 Alarm history 148 1 3 Generation condition of alarms 148 1 4 Alarms list 149 1 5 Timing chart 155 2 Information 156 2 1 Information history 158 2 2 Information list 159 3 T...

Страница 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...

Страница 6: ...ading 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 manufac...

Страница 7: ...l together with the AZ Series OPERATING MANUAL Function Edition This manual describes contents specific to the mini Driver EtherCAT drive profile compatible and the AZ Series OPERATING MANUAL Function...

Страница 8: ...port 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 Descriptio...

Страница 9: ...d in the driver are called parameters Parameters can be set via EtherCAT communication or using the MEXE02 This manual describes how to set parameters via EtherCAT communication Providing the ESI File...

Страница 10: ...uipment 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 resul...

Страница 11: ...y 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 ma...

Страница 12: ...ter 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 e...

Страница 13: ...nnectors 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...

Страница 14: ...14 1 Introduction...

Страница 15: ...8 2 6 Indication of LEDs 19 3 Installation 20 3 1 Installation location 20 3 2 Installation method 20 4 Connection 22 4 1 Connection example 22 4 2 Connecting the main power supply and the control pow...

Страница 16: ...ible 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...

Страница 17: ...ich the 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...

Страница 18: ...D indicates the status of the driver RUN LED Green RUN This LED indicates the status of EtherCAT communication ERR LED Red ERR This LED blinks when an error occurred via EtherCAT communication L A LED...

Страница 19: ...reen when the information is cleared Remote operation is being executed with the MEXE02 The LED is lit in green when remote operation is completed Repeating Green Red Simultaneously lit No light This...

Страница 20: ...ids 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 mate...

Страница 21: ...Installation 21 2 Hardware 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 3 5 0 138 R1 75 0 069 2 0 08 30 1 18...

Страница 22: ...even 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...

Страница 23: ...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...

Страница 24: ...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...

Страница 25: ...iption TXP Transmitted data TXN Transmitted data RXP Received data N C N C RXN Received data N C N C TXP TXN RXP N C N C RXN N C N C 4 4 Connecting the USB cable Using a USB cable of the following spe...

Страница 26: ...ment Pin No Signal name Description 1 IN0 Control input 0 HOMES 2 IN0 3 IN1 Control input 1 FREE 4 IN1 1 2 3 4 Initial value Connection example with a current sink output circuit 2 2 k 20 to 32 VDC 0...

Страница 27: ...ential difference does not occur among the grounding points To ground a shielded cable use a metal cable clamp that can maintain contact with the entire circumference of the shielded cable and ground...

Страница 28: ...between the grounding points Choose a large thick and uniformly conductive surface for the grounding point Make sure to ground the Protective Earth Terminal of the motor z Example of installation and...

Страница 29: ...ricity 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 ground both ends of th...

Страница 30: ...al to set When connecting two or more EtherCAT communication compatible products do not set duplicate node addresses Factory setting 0 1 0 Setting range Description 0 00h The setting of the EtherCAT m...

Страница 31: ...k if any of the mounting screws secured 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...

Страница 32: ...ction 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...

Страница 33: ...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 CCM030Z2...

Страница 34: ...on to all motors The figure shows an example when the AZM14 motor is connected Connection cable Extension cable Use the connection cable used When installing the motor on a moving part use a flexible...

Страница 35: ...3 4 Profile position mode PP 50 3 5 Cyclic synchronous velocity mode CSV 61 3 6 Profile velocity mode PV 63 3 7 Homing mode HM 66 4 Functions 80 4 1 Touch probe 80 4 2 Resolution 83 4 3 Wrap function...

Страница 36: ...ration STEP 3 Setting of node address STEP 4 Operation of motor z Operating conditions This operation is performed under the following conditions Number of drivers connected 1 unit Node address 1 Befo...

Страница 37: ...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 a node ad...

Страница 38: ...does not operate check the following points Is the PWR ALM LED blinking in red An alarm is being generated Refer to p 148 for details Are the power supply the motor and the EtherCAT cable connected s...

Страница 39: ...UT EtherCAT output Topology Daisy chain up to 65 535 nodes Process data Variable PDO mapping Sync manager SM0 Mailbox output SM1 Mailbox input SM2 Process data output SM3 Process data input Mailbox Co...

Страница 40: ...rformed Commands can be sent from the EtherCAT master to the driver by PDO communication 2 4 Process data object PDO Process data object PDO is used in real time data communication of EtherCAT communi...

Страница 41: ...nager Channel PDO assignment objects set the relationship between PDO and Sync Manager The Sync manager 2 PDO assignment 1C12h is the assignment object dedicated to the receive PDO The Sync manager 3...

Страница 42: ...Object B C D E H G F I TxPDO frame of driver RxPDO data TxPDO data L Object M N O P Data length 04h Object D 1 byte 05h Object E 4 byte 06h Object F 1 byte 07h Object G 2 byte 08h Object H 1 byte 09h...

Страница 43: ...ata type does not match length of service parameter is too short 0609 0011h Sub index does not exist 0609 0030h The setting range of the parameter was exceeded For write access 0609 0031h The value of...

Страница 44: ...emergency message when the alarm is generated consists of the following 8 bytes Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Emergency error code FF00h Error register object 1001h Manufacturer spec...

Страница 45: ...Non excitation Possible to set Ready to switch on A state where the main power supply can be turned on Non excitation Possible to set Switched on A state where the main power supply was turned on Non...

Страница 46: ...he main power is supplied The FREE input is being OFF Test operation remote operation is not being executed using the MEXE02 z State transition other than above Transition number in the figure Transit...

Страница 47: ...e to Fault the motor puts into a non excitation state Transition number 13 14 The main power was cut off An alarm of Main power supply off is generated alarm code 23h After transitioning from Fault re...

Страница 48: ...Sync manager 2 event synchronization mode the speed fluctuation or vibration may increase Since the position is managed by the EtherCAT master in the Cyclic synchronous position mode if the operation...

Страница 49: ...p operation The stopping method is Immediate stop For Bit 7 and Bit 3 to Bit 0 refer to State transition of drive state machine on p 46 Statusword of Cyclic synchronous position mode Bit 15 Bit 14 Bit...

Страница 50: ...Information is being generated For Bit 6 to Bit 0 refer to Status output of drive state machine on p 47 3 4 Profile position mode PP The Profile position mode operates in the internal profile of the...

Страница 51: ...h 13 Push 1 Push motion positioning operation After the Push is set to 1 when the New set point 6040h Bit 4 is set to 1 to start operation push motion positioning operation is performed The Push curre...

Страница 52: ...r than Operation enabled The motor is in a non excitation state For Bit 7 and Bit 3 to Bit 0 refer to State transition of drive state machine on p 46 Statusword of Profile position mode Bit 15 Bit 14...

Страница 53: ...change to 1 when the positioning operation was interrupted on the way It changes to 0 if operation is started from a state where the positioning was completed When the Halt 6040h Bit 8 is 1 The value...

Страница 54: ...positioning operation is started When push motion positioning operation is started self start operation rectangular operation is performed at the operating speed set in the Profile velocity 6081h Dur...

Страница 55: ...Profile velocity 6081h Push motion status Target position 607Ah New set point 6040h Bit 4 Set point acknowledge 6041h Bit 12 TLC 6041h Bit 15 Target reached 6041h Bit 10 When a mechanism installed to...

Страница 56: ...tion mode of the Profile position mode is set with the Controlword 6040h and the Wrap positioning mode 414Fh The operation modes are listed in the table Operation mode Wrap positioning mode 414Fh Cont...

Страница 57: ...ed on command position operation Present position command position 1 000 2 000 3 000 Target position 4 000 5 000 Home 0 Target position 607Ah setting 3 000 Actual travel amount 3 000 z Incremental pos...

Страница 58: ...Present position 1 000 4 000 Target position Target position 607Ah setting 4 000 Actual travel amount 3 000 Home z Wrap proximity positioning Positioning operation in the shortest distance is performe...

Страница 59: ...0 2 500 Present position 1 000 Target position 607Ah setting 4 000 Actual travel amount 5 000 Home 4 000 Target position z Wrap reverse direction absolute positioning Positioning operation in the reve...

Страница 60: ...00 2 500 2 500 0 5 000 2 500 2 500 0 5 000 2 500 2 500 0 5 000 1 000 1 000 1 000 1 500 1 000 1 000 4 000 4 000 4 000 4 000 4 000 1 500 Sets the coordinates of the target position from the home Sets th...

Страница 61: ...itch on Details of Controlword Bit Name Value Description 13 Type Selects the operation mode of the Cyclic synchronous velocity mode The operation mode changed is updated immediately For details refer...

Страница 62: ...operation transitions causing an unexpected push force to apply Statusword of Cyclic synchronous velocity mode Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Manufacturer specific Operation mo...

Страница 63: ...h Controlword U16 RW RxPDO 0000h to FFFFh Initial value 0000h A 6041h 00h Statusword U16 RO TxPDO 6060h 00h Modes of operation INT8 RW RxPDO 0 Initial value 1 3 6 8 9 _p 48 B 6061h 00h Modes of operat...

Страница 64: ...s reached operation is continued with the speed maintained When a load exceeding the motor torque is applied an alarm of Overload is generated 1 0 Continuous operation push motion The motor starts rot...

Страница 65: ...to 1 when any of the following internal limit functions is being activated Limit sensor FW LS RV LS Operation prohibition input FW BLK RV BLK Software limit Mechanism limit 10 Target reached 0 When th...

Страница 66: ...uct specifications are stored in the ABZO sensor The values stored in the ABZO sensor cannot be changed because of the fixed value Meantime the values for the standard type motor only are stored in th...

Страница 67: ...d does not reach the upper limit of the motor output torque 1 A load reached the upper limit of the motor output torque 13 Homing error 0 1 Outputs the status of the motor based on a combination of va...

Страница 68: ...ion 24 Return to home by the home sensor HOMES Starts in the positive direction 28 Return to home by the home sensor HOMES Starts in the negative direction 35 37 Home preset 1 Return to home of Orient...

Страница 69: ...00h HOME SLIT detection U8 RW No 0 Disable Initial value 1 Enable B 4167h 00h HOME TIM ZSG signal detection U8 RW No 0 Disable Initial value 1 TIM 2 ZSG B 4168h 00h HOME Position offset Hz INT32 RW N...

Страница 70: ...at which the motor stopped is set as the home Positive limit switch FW LS HOME switch HOMES 24 24 24 In the case of return to home operation of Oriental Motor s specifications the same operation is pe...

Страница 71: ...h 0 2 sensor HOME Starting direction 4161h 0 negative side HOME SLIT detection 4166h 0 disable HOME TIM ZSG signal detection 4167h 0 disable z Homing method 18 Return to home by the limit sensor FW LS...

Страница 72: ...ore connect either the HOMES input and the FW LS input or the HOMES input and the RV LS input Explanation of code VR Speed during search for switch 6099h 01h VS HOME Starting speed 4163h VL Speed duri...

Страница 73: ...operation is completed Explanation of code VR Speed during search for switch 6099h 01h VS HOME Starting speed 4163h VL Speed during search for zero 6099h 02h Orbit when the home offset is set Home de...

Страница 74: ...ode VR Speed during search for switch 6099h 01h VS HOME Starting speed 4163h VL Speed during search for zero 6099h 02h Orbit when the home offset is set RV LS RV LS Starting position of return to home...

Страница 75: ...is set Home detection signal Starting direction of return to home operation Positive side Starting direction of return to home operation Negative side TIM output or ZSG output VL VS VR VL VS VR RV LS...

Страница 76: ...4163h VL Speed during search for zero 6099h 02h Orbit when the home offset is set HOMES HOMES Starting position of return to home operation Starting direction of return to home operation Positive side...

Страница 77: ...etection signal Starting direction of return to home operation Positive side Starting direction of return to home operation Negative side TIM output or ZSG output SLIT input and TIM output or SLIT inp...

Страница 78: ...s and the DGII Series Doing so may cause damage to the motor or gear part Explanation of code VR Speed during search for switch 6099h 01h VS HOME Starting speed 4163h VL Speed during search for zero 6...

Страница 79: ...on Negative side TIM output or ZSG output SLIT input and TIM output or SLIT input and ZSG output VR VS VL VL VS VR VL VS VR VL VS VR VL VS VR VL VS VR VL VS VR Forward side mechanical end Reverse side...

Страница 80: ...e value step INT32 RO TxPDO 60BDh 00h Touch probe position 2 negative value step INT32 RO TxPDO 44B0h 00h Touch probe 1 latch position U8 RW No 0 Latches the feedback position Initial value 1 Latches...

Страница 81: ...Touch probe 1 trigger selection 0 Sets the external latch input EXT1 as a trigger 1 Sets the ZSG output or the TIM output as a trigger 3 Reserved 0 Reserved 4 Touch probe 1 positive value action 0 Di...

Страница 82: ...he negative value of the touch probe 2 1 Latched on the negative value of the touch probe 2 11 to 15 Reserved 0 Reserved Trigger and latch position A signal that is set as a trigger is selected by the...

Страница 83: ...latch 60B9h Bit 1 Touch probe 1 permission status 60B9h Bit 0 Touch probe 1 up edge action 60B8h Bit 4 Touch probe 1 permission 60B8h Bit 0 Trigger input P0 to P3 Latched position P0 P1 P2 P3 Touch p...

Страница 84: ...al value C 41C9h 00h Initial coordinate generation wrap setting range 1 0 1 rev INT32 RW No 5 to 655 360 Initial value 10 C 41CBh 00h Initial coordinate generation wrap range offset ratio 1 0 01 U16 R...

Страница 85: ...Presets the command position 40C6h 00h Configuration Executes recalculation and setup of the parameter 40C8h 00h Read batch NV memory Reads the parameters stored in the non volatile memory to the RAM...

Страница 86: ...ng conditions are satisfied An alarm is not being generated The motor is not operated I O test remote operation and download are not being executed with the MEXE02 The table below shows the driver sta...

Страница 87: ...O status 1 40B8h Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 SLIT HOMES RV LS FW LS RV BLK FW BLK Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 SPD LMT CRNT LMT T MODE CCM HMI Bi...

Страница 88: ...Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 USR OUT1 USR OUT0 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 MBC MPS Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 AREA7 AREA6 AREA5 AREA4...

Страница 89: ...1 not used R IN0 not used Related objects Refer to p 91 for signals that can be assigned Index Sub Name Type Access PDO Save Range Update 4900h 00h R IN0 input function U8 RW No 0 to 127 Initial value...

Страница 90: ...LS_R C 4911h 00h R OUT1 output function U8 RW No 0 to 255 Initial value 29 RV LS_R C 4912h 00h R OUT2 output function U8 RW No 0 to 255 Initial value 155 ZSG C 4913h 00h R OUT3 output function U8 RW N...

Страница 91: ...load 14 INFO CLR Clear the information status 0 No motion 1 Clear information status 16 HMI Release the function limitation of the MEXE02 0 Function limitation 1 Release the function limitation 18 CC...

Страница 92: ...utput an OFF state all the time 0 OFF 129 ALM A Output the alarm status of the driver Normally open 0 No alarm 1 During alarm generation 130 ALM B Output the alarm status of the driver Normally closed...

Страница 93: ...ceeded 153 FW SLS Output when the software limit in the forward direction is reached 0 Software limit in the forward direction is not reached 1 Software limit in the forward direction is reached 154 R...

Страница 94: ...E BSY Output while internal oscillation is being performed 0 No internal oscillation 1 During internal oscillation 204 DCMD RDY Output when the driver is ready to operate 0 Operation not possible 1 Re...

Страница 95: ...umber of revolutions of the motor output shaft exceeds 1 800 The present position is stored even if the control power supply is turned off When the number of counts exceeds 1 800 revolutions it is res...

Страница 96: ...mm from the motor side Motorized linear slide size 4 Motorized linear slide stroke 600 mm Motorized linear slide pitch 6 mm rev Concept of initial coordinate Initial coordinate generation range Stroke...

Страница 97: ...ept of wrap setting This example explains using the motor of the frame size 60 mm 2 36 in With the wrap setting 1 800 revolutions managed by the ABZO sensor are divided evenly to generate coordinates...

Страница 98: ...32 bit counter inside the driver The 32 bit counter inside the driver outputs the position information of the motor as the number of steps regardless of whether the wrap function is enabled or disable...

Страница 99: ...the ORGN STLD output is turned ON z User home When the user home is set by performing return to home operation or the position preset P PRESET the PRST STLD output is turned ON The user home can be c...

Страница 100: ...setting Setting range 0 Prioritize ABZO setting 1 Manual setting use driver parameter 1 47F1h Gear ratio setting Sets the gear ratio for geared motor When 0 Gear ratio setting disable is set the gear...

Страница 101: ...rdinate generation wrap range offset ratio 1 0 01 5 000 41CCh Initial coordinate generation wrap range offset value 0 step 5 4 Mechanism settings parameter The mechanism settings parameter is a parame...

Страница 102: ...l value 414Fh Wrap positioning mode Sets the operation mode for wrap positioning operation Setting range 0 Wrap absolute positioning 1 Wrap proximity 2 Wrap forward direction 3 Wrap reverse direction...

Страница 103: ...6 8 0 20 0 45 0 120 0 600 0 1 5 4 0 9 0 22 5 50 0 150 0 900 0 1 6 4 5 10 0 24 0 60 0 180 0 1 800 0 z Setting example When setting the Initial coordinate generation wrap range offset ratio 41CBh to 50...

Страница 104: ...tion wrap setting range 41C9h When the wrap range satisfies the following conditions continuous rotation in the same direction can be performed while the home is maintained Condition 1 1 800 Wrap sett...

Страница 105: ...Wrap setting range 1 000 rev Resolution 10 000 P R electronic gear A 1 electronic gear B 1 Motor PS geared motor gear ratio 20 Condition 1 1 800 Wrap setting range 1 8 1 800 1 000 Condition 2 Wrap se...

Страница 106: ...98 999 1 000 17 999 999 18 000 999 Information of wrap setting error is generated RND ZERO output The RND ZERO output is a signal that is output for each division boundary point when the wrap range is...

Страница 107: ...communication Related object Index Name Description Initial value 41CDh The number of the RND ZERO output in wrap range Sets the number of times to turn the RND ZERO output ON in the wrap range Setti...

Страница 108: ...to 32 767 INT32 Integer32 32 bit signed data 2 147 483 648 to 2 147 483 647 U8 Unsigned8 8 bit unsigned data 0 to 255 U16 Unsigned16 16 bit unsigned data 0 to 65 535 U32 Unsigned32 32 bit unsigned da...

Страница 109: ...e name 1008h This indicates the product name Index Sub Name Type Access PDO Save Range Update 1008h 00h Manufacturer device name STRING RO No AZD KRED z Manufacturer hardware version 1009h This indica...

Страница 110: ...RW No A 0Fh Mapping entry 15 U32 RW No A 10h Mapping entry 16 U32 RW No A z Receive PDO mapping 2 1601h This is used to set the receive PDO mapping 2 Index Sub Name Type Access PDO Save Range Update 1...

Страница 111: ...Transmit PDO mapping 2 1A01h This is used to set the transmit PDO mapping 2 Index Sub Name Type Access PDO Save Range Update 1A01h 00h Number of entries U8 RW No 0 to 16 Initial value 8 A 01h Mapping...

Страница 112: ...value 1 A 01h Index of assigned PDO 1 U16 RW No 0000h to FFFFh Initial value 1600h A z Sync manager 3 PDO assignment 1C13h This is used to set the object assigned in the Process data input transmit P...

Страница 113: ...he status Index Sub Name Type Access PDO Save Range Update 1C33h 00h Number of entries U8 RO No 20h 01h Synchronization type U16 RW No 00h 02h 22h Initial value 22h A 02h Cycle time ns U32 RO No 03h S...

Страница 114: ...n alarm is not generated Refer to p 149 for alarm codes z Controlword 6040h This is used to control the transition of the drive state machine start stop of operation etc Index Sub Name Type Access PDO...

Страница 115: ...file for details 13 14 Manufacturer specific Manufacturer specific bit Refer to each operation mode of 3 Drive profile for details 15 z Quick stop option code 605Ah This used to set the action by the...

Страница 116: ...ption code 605Dh This is used to set the operation when Halt Bit 8 of the Controlword 6040h was set Index Sub Name Type Access PDO Save Range Update 605Dh 00h Halt option code INT16 RW No 1 2 3 Initia...

Страница 117: ...This is used to set the output range of the positioning completion output IN POS It is the same as the IN POS positioning completion signal range parameter of the AZ Series In the Profile position mo...

Страница 118: ...T32 RW No 2 147 483 648 to 2 147 483 647 Initial value 2 147 483 647 A z Profile velocity 6081h This is used to set the operating speed for the Profile position mode Index Sub Name Type Access PDO Sav...

Страница 119: ...sensor FW LS RV LS Starts in the negative direction 18 Return to home by the limit sensor FW LS RV LS Starts in the positive direction 24 Return to home by the home sensor HOMES Starts in the positiv...

Страница 120: ...atch function at the positive value of a trigger 5 Touch probe 1 negative value action 0 Disables the latch function at the negative value of a trigger 1 Enables the latch function at the negative val...

Страница 121: ...10 Touch probe 2 negative value latch 0 Has not latch on the negative value of the touch probe 2 1 Latched on the negative value of the touch probe 2 11 to 15 Reserved 0 Reserved z Touch probe positi...

Страница 122: ...ck position actual position Index Sub Name Type Access PDO Save Range Update 60F4h 00h Following error actual value step INT32 RO TxPDO z Digital inputs 60FDh This indicates the status of direct I O I...

Страница 123: ...used to set the operating speed for the Cyclic synchronous velocity mode and the Profile velocity mode Index Sub Name Type Access PDO Save Range Update 60FFh 00h Target velocity Hz INT32 RW RxPDO 4 00...

Страница 124: ...41FAh Index Sub Name Type Access PDO Save Range Update 40B7h 00h Operation voltage mode U8 RO No Details of range Setting value Description 0 The main power supply is not turned on When the Main powe...

Страница 125: ...olute positioning 1 Wrap proximity 2 Wrap forward direction 3 Wrap reverse direction z Main power mode 41FAh This is used to set the voltage mode of the main power supply The voltage mode of the main...

Страница 126: ...1 Initial value 0 A Details of range Setting value Description 0 Latches the feedback position actual position 1 Latches the command position z Touch probe 1 TIM ZSG signal select 44B2h This is used t...

Страница 127: ...of the driver Index Sub Name Type Access PDO Save Range Update 4642h 00h Driver CPU number U16 RO No z Driver software version 4643h This indicates the software version of the driver 0100h is indicate...

Страница 128: ...128 3 EtherCAT communication...

Страница 129: ...describes the lists of objects supported by the driver Table of contents 1 Timing for parameter to update 130 2 Objects of CoE communication area 131 3 Objects of profile area 133 4 Objects of manufac...

Страница 130: ...o 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 EtherCAT com...

Страница 131: ...0h to FFFF FFFFh A 02h Mapping entry 2 U32 RW No 607A 0020h 0000 0000h to FFFF FFFFh A 03h Mapping entry 3 U32 RW No 60FF 0020h 0000 0000h to FFFF FFFFh A 04h Mapping entry 4 U32 RW No 6060 0008h 0000...

Страница 132: ...O No 20h 01h Synchronization type U16 RW No 01h 00h Free run mode asynchronous 01h Sync manager 2 event synchronization mode 02h DC mode SYNC0 event synchronization A 02h Cycle time ns U32 RO No 03h S...

Страница 133: ...tual value Hz INT32 RO TxPDO 607Ah 00h Target position step INT32 RW RxPDO 0 2 147 483 648 to 2 147 483 647 A 607Ch 00h Home offset step INT32 RW No 0 2 147 483 648 to 2 147 483 647 A 607Dh Software p...

Страница 134: ...RO No 18 03h 3rd supported homing method U16 RO No 24 04h 4th supported homing method U16 RO No 28 05h 5th supported homing method U16 RO No 35 06h 6th supported homing method U16 RO No 37 60F4h 00h...

Страница 135: ...speed r min INT32 RO TxPDO 406Ah 00h Direct I O U32 RO TxPDO 406Bh 00h Torque monitor 1 0 1 INT16 RO TxPDO 406Dh 00h Cumulative load monitor INT32 RO TxPDO 407Bh 00h Information INT32 RO TxPDO 407Ch...

Страница 136: ...1 1 LPF speed filter 2 Moving average filter B 412Ah 00h Command filter time constant INT16 RW RxPDO 1 0 to 200 ms B 412Ch 00h Smooth drive function U8 RW No 1 0 Disable 1 Enable C 412Dh 00h Current...

Страница 137: ...W No 0 0 Disable 1 TIM 2 ZSG B 4168h 00h HOME Position offset INT32 RW No 0 2 147 483 647 to 2 147 483 647 steps B 4169h 00h HOME Backward steps in 2 sensor home seeking INT32 RW No 5 000 0 to 8 388 6...

Страница 138: ...Counterclockwise the driver parameter is applied 3 Positive side Clockwise the driver parameter is applied C 41C3h 00h Software overtravel INT8 RW No 3 1 Disable 0 Immediate stop 1 Deceleration stop 2...

Страница 139: ...istory 10 INT32 RO No 452Ah 00h Information time history 11 INT32 RO No 452Bh 00h Information time history 12 INT32 RO No 452Ch 00h Information time history 13 INT32 RO No 452Dh 00h Information time h...

Страница 140: ...rection position offset INT32 RW No 0 474Dh 00h AREA6 negative direction position detection range INT32 RW No 0 474Eh 00h AREA7 positive direction position offset INT32 RW No 0 474Fh 00h AREA7 negativ...

Страница 141: ...n INFO CULD0 U8 RW No 1 47B3h 00h INFO action Cumulative load 1 information INFO CULD1 U8 RW No 1 47B4h 00h INFO action Tripmeter information INFO TRIP U8 RW No 1 47B5h 00h INFO action Odometer inform...

Страница 142: ...not be used 4885h 00h Reserved It cannot be used 4890h 00h Reserved It cannot be used 4891h 00h Reserved It cannot be used 4892h 00h Reserved It cannot be used 4893h 00h Reserved It cannot be used 489...

Страница 143: ...5 output function U8 RW No 204 4916h 00h R OUT6 output function U8 RW No 135 4917h 00h R OUT7 output function U8 RW No 129 4918h 00h R OUT8 output function U8 RW No 136 4919h 00h R OUT9 output functio...

Страница 144: ...4952h 00h Virtual input VIR IN2 1 shot signal mode U8 RW No 0 4953h 00h Virtual input VIR IN3 1 shot signal mode U8 RW No 0 4960h 00h User output USR OUT0 source A function U8 RW No 128 Output signals...

Страница 145: ...Objects of manufacturer specific area 145 4 Object list Reference picture of ON signal dead time ms ON signal dead time Direct input DIN OFF ON Internal signal OFF ON...

Страница 146: ...146 4 Object list...

Страница 147: ...Table of contents 1 Alarms 148 1 1 Alarm reset 148 1 2 Alarm history 148 1 3 Generation condition of alarms 148 1 4 Alarms list 149 1 5 Timing chart 155 2 Information 156 2 1 Information history 158...

Страница 148: ...1 4 Alarms list on p 149 An alarm of Absolute position error can be reset if the position preset P PRESET or return to home operation is performed If it cannot be reset by these methods the ABZO sens...

Страница 149: ...trol power supply again If the alarm is still not reset the motor the cable or the driver may be damaged Contact your nearest Oriental Motor sales office Turn on the main and control power supplies ag...

Страница 150: ...y and the control power supply again Turn on the main and control power supplies again 30h 2 Overload A load exceeding the maximum torque was applied for the time exceeded the value set in the Overloa...

Страница 151: ...command Execute the Clear tripmeter 40CFh of the maintenance command Turn on the main and control power supplies again 45h 8 Motor combination error A motor not allowed to combine with the driver was...

Страница 152: ...he HOME sensor and the Homing acceleration 609Ah Any of reset operations 63h 7 No HOMES The HOMES input was not detected at a position between the FW LS input and the RV LS input while return to home...

Страница 153: ...n return to home operation was performed with the DGII Series Check the operation data Check the value set in the Mechanism protection parameter using the unit information monitor of the MEXE02 Check...

Страница 154: ...e Type Access PDO Save Initial value Range Update 4180h 00h Overload alarm INT16 RW No 50 1 to 300 1 0 1 s A 6065h 00h Following error window U32 RW No 300 1 to 30 000 1 0 01 rev A About causes of the...

Страница 155: ...nd the DCMD RDY 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 sta...

Страница 156: ...ion is generated the PWR ALM LED blinks in blue z Operation of motor The motor continues to operate during information unlike in the case of an alarm z Parameter Each information has a corresponding I...

Страница 157: ...rned OFF automatically 1 Enable turned OFF automatically 1 A 47A0h 00h INFO action Assigned I O status information INFO USRIO U8 RW No 0 No info reflect Only the bit output is ON 1 Info reflect The bi...

Страница 158: ...ODO U8 RW No 1 A 47BCh 00h INFO action Start operation restricted mode information INFO DSLMTD U8 RW No 1 A 47BDh 00h INFO action I O test mode information INFO IOTEST U8 RW No 1 A 47BEh 00h INFO acti...

Страница 159: ...ormation 41ABh Undervoltage INFO UVOLT The voltage of the main power supply fell below the value set in the Undervoltage information 41ACh The main power supply was shut off momentarily or a voltage s...

Страница 160: ...After one of the following operation was performed the travel distance Tripmeter of the motor fell below the value set in the Tripmeter information 41AFh The Tripmeter information 41AFh was set again...

Страница 161: ...0200h 0000 0000 0000 0000 0000 0010 0000 0000 Start operation error INFO START 00000400h 0000 0000 0000 0000 0000 0100 0000 0000 Start ZHOME error INFO ZHOME 00000800h 0000 0000 0000 0000 0000 1000 00...

Страница 162: ...FF The motor rotates in the direction opposite to the specified direction The Motor rotation direction 41C2h is set wrongly Check the setting of the Motor rotation direction 41C2h The gearhead output...

Страница 163: ...e of releasing the motor shaft The power is not supplied to the electromagnetic brake Check the connection of the electromagnetic brake A voltage for the electromagnetic brake is insufficient Check th...

Страница 164: ...164 5 Troubleshooting...

Страница 165: ...6 Reference materials Table of contents 1 Timing chart 166 2 Specifications 168 2 1 Product specifications 168 2 2 General specifications 168 3 Regulations and standards 169...

Страница 166: ...FF ON EtherCAT communication preparation Not completed Completed SYS RDY ready to read output ready to accept input Not ready Ready Excitation command reception Not possible Possible READY output OFF...

Страница 167: ...ion Not completed Completed SYS RDY ready to read output ready to accept input Not ready Ready Excitation command reception Not possible Possible READY output OFF ON DCMD RDY output OFF ON Motor excit...

Страница 168: ...ies depending on the motor combined Refer to p 24 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...

Страница 169: ...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 27 for details about conformity EU RoHS Dire...

Страница 170: ...170 6 Reference materials...

Страница 171: ...171 6 Reference materials...

Страница 172: ...maged or lost please contact your nearest Oriental Motor branch or sales office Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use o...

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