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Regulations and standards

178

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ials

3-3 

Functional safety (AC power input driver only)

This product is certified by TÜV SÜD Product Service GmbH under the following standards and affixed with the TÜV 
SÜD Mark. It is not a certified product if the TÜV SÜD Mark is not affixed.

Applicable 

standards

Functional safety

IEC 61800-5-2, EN 61800-5-2 
IEC 61508-1, EN 61508-1 
IEC 61508-2, EN 61508-2 
ISO 13849-1: 2015, EN ISO 13849-1: 2015

Electrical safety IEC 61800-5-1, EN 61800-5-1

EMC

IEC 61000-6-7, EN 61000-6-7

Safety function

STO (Safe Torque Off)

3-4 

Republic of Korea, Radio Waves Act

This product is affixed with the KC Mark under the Radio Waves Act, the Republic of Korea.

3-5 

EU RoHS Directive/UK RoHS Regulation

This product does not contain the substances exceeding the restriction values.

Содержание aSTEP AZ Series

Страница 1: ...operation Always keep the manual where it is readily available HM 60411 2 AZ Series Motorized Actuator equipped with AZ Series PROFINET Compatible Driver USER MANUAL z AC power input type z DC power...

Страница 2: ...tion of LEDs 22 3 Installation 24 3 1 Installation location 24 3 2 Installation method 24 4 Connection 26 4 1 Connection example 26 4 2 Connecting the control power supply the regeneration resistor an...

Страница 3: ...2 6 Indication of LEDs 60 3 Installation 62 3 1 Installation location 62 3 2 Installation method 62 4 Connection 64 4 1 Connection example 64 4 2 Connecting the control power supply CN1 65 4 3 Connect...

Страница 4: ...11 5 1 Positioning operation 111 5 2 Continuous operation 112 6 Direct data operation 113 6 1 Overview of direct data operation 113 6 2 Output data and parameters required for direct data operation 11...

Страница 5: ...rect I O setting parameters 145 8 15 Remote I O setting parameters 146 8 16 Extended input setting parameters 147 8 17 Differential output setting parameters 148 8 18 Virtual input parameters 148 8 19...

Страница 6: ...ications 175 2 2 Product specifications 176 3 Regulations and standards 177 3 1 UL Standards CSA Standards 177 3 2 CE Marking UKCA Marking 177 3 3 Functional safety AC power input driver only 178 3 4...

Страница 7: ...rating manuals Table of contents 1 Before using the product 8 2 Operating manuals 9 2 1 Related operating manuals 9 2 2 How to use operating manuals 9 3 Overview of the product 12 4 Safety precautions...

Страница 8: ...ing the section 4 Safety precautions on p 13 In addition be sure to observe the contents described in warning caution and note in this manual The product described in this manual is designed and manuf...

Страница 9: ...ether with the AZ Series OPERATING MANUAL Function Edition This manual describes contents specific to the PROFINET compatible driver and the AZ Series OPERATING MANUAL Function Edition describes conte...

Страница 10: ...Address code lists 2 Operation 3 I O signals 2 8 Measures for various cases 11 Appendix 3 Before starting operation 1 Before starting operation 1 1 When a motorized actuator is used the following cont...

Страница 11: ...Before starting operation 1 Before starting operation 1 8 Measures for various cases 10 Extended setting for pulse input operation 3 Extending settings by parameters 4 I O signals related to pulse in...

Страница 12: ...o 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 amount according to a load...

Страница 13: ...lied Doing so may result in fire or electric shock Take measures to keep the moving part in position if the product is used in vertical operations such as elevating equipment Failure to do so may resu...

Страница 14: ...d a driver only in the specified combination An incorrect combination may cause a fire Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire equipment...

Страница 15: ...applied to the motor connector CN3 and the main power supply input terminals CN4 Do not touch them while the power is supplied Doing so may result in fire or electric shock AC power input driver 4 2 W...

Страница 16: ...rminal is grounded Doing so may cause the driver and this equipment to short damaging both When connecting do not ground equipment z Preventing leakage current Stray capacitance exists between the dri...

Страница 17: ...power supply CN4 29 4 4 Grounding the driver 30 4 5 Connecting the PROFINET communication cable CN5 CN6 30 4 6 Connecting the USB cable 30 4 7 Connecting the I O signals CN7 31 4 8 Noise elimination...

Страница 18: ...0 to 240 VAC input Control power supply Regeneration resistor RGB100 GND 24 V Thermostat output AWG22 Regeneration resistor AWG18 Host controller PROFINET PROFINET PROFINET compatible products Driver...

Страница 19: ...own on the nameplate Refer to p 20 for how to identify the nameplate AZD C PN 1 2 3 1 Series AZD AZ Series driver 2 Power supply input A Single phase 100 120 VAC C Single phase Three phase 200 240 VAC...

Страница 20: ...ME PRESET switch USB communication connector SW1 SW2 Not used MS LED Green Red NS LED Green Red PROFINET communication connectors CN5 CN6 L A LEDs Green Electromagnetic brake terminals CN1 Regeneratio...

Страница 21: ...ng operation is performed Connector Encoder connector CN2 ENCODER Connects the encoder Motor connector CN3 MOTOR Connects the motor USB communication connector Connects a PC in which the MEXE02 has be...

Страница 22: ...ed The LED is lit in green when it is completed Repeating Green light Red light Lit at the same time No light This is the driver simulation mode Green and red colors may overlap and it may be visible...

Страница 23: ...MS LED Light No light PROFINET communication is being made No light Blinking The communication timeout was detected during PROFINET communication Check the following Is the PROFINET communication cab...

Страница 24: ...via air convection and conduction through the enclosure Install the driver to a flat metal plate material aluminum 200 200 2 mm 7 87 7 87 0 08 in or equivalent offering high heat conductivity When ins...

Страница 25: ...ype Dimensions Unit mm in Mass 0 68 kg 1 5 lb Slits Slits 45 1 77 160 6 30 150 5 91 0 5 0 02 7 5 0 30 76 2 99 22 5 0 89 125 4 92 5 0 20 10 0 39 8 1 0 32 5 0 20 Protective Earth Terminals 2 M4 R2 25 0...

Страница 26: ...ake 1 Required Required Connect to L1 and L2 Main power supply Single phase 200 240 V Required 1 Theses cables are provided as our products Purchase them separately 2 Use the cable for encoder when th...

Страница 27: ...One for control power supply and the other for internal connection Refer to the figure and the table and check each position 24V MB1 TH1 V HWTO1 HWTO2 EDM 0V 1 MB2 TH2 HWTO1 HWTO2 0V 2 EDM Jumper wir...

Страница 28: ...generation resistor RGB100 The two thin lead wires AWG22 0 3 mm2 of the regeneration resistor are the thermostat outputs Connect them to the TH1 and TH2 using the CN1 connector Regenerative current fl...

Страница 29: ...e EAC Series EAS Series EZS Series or EZSH Series z Single phase 100 120 VAC Model Power supply current capacity AZM46 2 7 A or more AZM48 2 7 A or more AZM66 3 8 A or more AZM69 5 4 A or more AZM98 5...

Страница 30: ...t near the driver Protective Earth Terminals Ground either of the terminals Grounding 4 5 Connecting the PROFINET communication cable CN5 CN6 Connect the PROFINET communication cable to the PROFINET c...

Страница 31: ...output 1 IN POS 8 OUT2 Control output 2 PLS RDY 20 OUT3 Control output 3 READY 9 OUT4 Control output 4 MOVE 21 OUT5 Control output 5 ALM B 10 OUT COM Output common 22 GND GND 11 ASG Phase A pulse out...

Страница 32: ...OUT3 READY OUT4 MOVE OUT5 ALM B OUT COM IN1 FREE IN2 STOP IN3 ALM RST IN COM 0 3 IN4 FW JOG IN5 RV JOG IN COM 4 5 ASG ASG BSG BSG GND 4 7 k 2 2 k 4 7 k 2 2 k 4 7 k 2 2 k 4 7 k 2 2 k 0 V 0 V 0 V 10 mA...

Страница 33: ...VDC When using signals at 24 VDC connect an external resistor R1 1 2 k to 2 2 k 0 5 W or more When using signals at 5 VDC apply the voltage directly When the voltage of pulse input signals is 5 VDC 5...

Страница 34: ...DY OUT3 READY OUT4 MOVE OUT5 ALM B OUT COM IN1 FREE IN2 STOP IN3 ALM RST IN COM0 3 IN4 FW JOG IN5 RV JOG IN COM4 5 ASG ASG BSG BSG GND 4 7 k 2 2 k 4 7 k 2 2 k 4 7 k 2 2 k 4 7 k 2 2 k Driver Host contr...

Страница 35: ...VDC When using signals at 24 VDC connect an external resistor R1 1 2 k to 2 2 k 0 5 W or more When using signals at 5 VDC apply the voltage directly When the voltage of pulse input signals is 5 VDC C...

Страница 36: ...Check the model name on p 53 To ground a shielded cable use a metal cable clamp that can maintain contact with the entire circumference of the shielded cable and ground as near the product as possible...

Страница 37: ...drivers in accordance with Example of installation and wiring on p 38 The user is responsible for ensuring the machine s compliance with the EMC based on the installation and wiring explained below Th...

Страница 38: ...l cable AC AC Grounded panel symbol indicate the grounding Driver PROFINET communication cable Cable clamp Cable clamp It is the cable in our products is a shielded box is a ferrite core Cable clamp C...

Страница 39: ...ower arm Shut off Control circuit Motor Turning the HWTO1 input OFF causes the upper arm drive signal of the inverter circuit to shut off Turning the HWTO2 input OFF causes the lower arm drive signal...

Страница 40: ...ipment z If the power removal function operates the driver stops supplying the power to the motor However the power supplying to the driver is not shut off and the driver is not performed electrical i...

Страница 41: ...shot pulse for self diagnosis use an external device which pulse width is 1 ms or less If the OFF time of the HWTO1 input or the HWTO2 input by the safety input off shot pulse is 1 ms or less the powe...

Страница 42: ...motor is in a standstill state before executing the power removal function If the power removal function is executed while the motor is operated it may cause damage to the motor driver or equipment I...

Страница 43: ...state before returning the driver from the power removal status Even if either the HWTO1 input or the HWTO2 input is turned ON the power removal status cannot be released If the ON time of the HWTO1 i...

Страница 44: ...r wiring has failed Check the cause and take a measure immediately At this time the EDM output is in an OFF state and the motor puts into a non excitation state Do not release the power removal functi...

Страница 45: ...a failure that the HWTO1 input or the HWTO2 input is not turned OFF occurs the EDM output is not turned ON A failure can be detected because the safety module is not reset even if the door guard is c...

Страница 46: ...ned OFF Related parameter Parameter ID Name Description Initial value Dec Hex 400 0190h HWTO mode selection Generates an alarm when the HWTO1 input or the HWTO2 input is turned OFF Setting range 0 Ala...

Страница 47: ...O2 input ON OFF HWTO1 input z ETO reset ineffective period The motor cannot be excited even if the ETO CLR input is turned ON until the time set in the ETO reset ineffective period parameter is elapse...

Страница 48: ...tion Initial value Dec Hex 409 0199h ETO reset action ETO CLR Sets the judgment level of the signal when the motor is excited by the ETO CLR input Setting range 1 ON Edge 2 ON Level 1 z Motor excitati...

Страница 49: ...if any of the screws having installed 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...

Страница 50: ...he cable set of electromagnetic brake motors a set of three cables for the motor the encoder and the electromagnetic brake is provided For encoder 2 Connection cable set For electromagnetic brake 1 Fo...

Страница 51: ...3 9 8 CC040VZFB 4 13 1 CC050VZFB 5 16 4 CC070VZFB 7 23 0 CC100VZFB 10 32 8 CC150VZFB 15 49 2 CC200VZFB 20 65 6 z Flexible connection cable sets For motor encoder Model Length m ft CC005VZR 0 5 1 6 CC...

Страница 52: ...ng the motor on a moving part use a flexible cable offering excellent flexibility When extending the wiring length by connecting an extension cable to the connection cable keep the total cable length...

Страница 53: ...unity to connect the I O signals of the host controller to the driver The grounding wires useful to grounding are come out from both ends of the cable A connector is assembled at the driver side Model...

Страница 54: ...CR1201 2 z CR circuit module This product is effective to suppress the surge which occurs in a relay contact part Use it to protect the contacts of the relay or switch Four pieces of CR circuit for su...

Страница 55: ...3 Connecting the main power supply and the electromagnetic brake CN4 66 4 4 Grounding the driver 67 4 5 Connecting the PROFINET communication cable CN5 CN6 67 4 6 Connecting the USB cable 67 4 7 Conn...

Страница 56: ...System configuration Grounding Main power supply 24 V 48 V GND Noise filter AC power supply Control power supply 24 V GND Driver Motor Host controller PROFINET PROFINET PROFINET compatible products Gr...

Страница 57: ...Refer to p 58 for how to identify the nameplate AZD K PN 1 2 3 1 Series AZD AZ Series driver 2 Power supply input K 24 48 VDC 3 Network type PN PROFINET 2 3 Products possible to combine Products with...

Страница 58: ...LM LED Green Red HOME PRESET switch USB communication connector SW1 SW2 Not used MS LED Green Red NS LED Green Red PROFINET communication connectors CN5 CN6 L A LEDs Green Electromagnetic brake termin...

Страница 59: ...is used to set the starting position home when positioning operation is performed Connector Encoder connector CN2 ENCODER Connects the encoder Motor connector CN3 MOTOR Connects the motor USB communic...

Страница 60: ...ed The LED is lit in green when it is completed Repeating Green light Red light Lit at the same time No light This is the driver simulation mode Green and red colors may overlap and it may be visible...

Страница 61: ...MS LED Light No light PROFINET communication is being made No light Blinking The communication timeout was detected during PROFINET communication Check the following Is the PROFINET communication cab...

Страница 62: ...ail When installing two or more drivers in parallel it is possible to install them closely in the horizontal direction Provide a minimum clearance of 50 mm 1 97 in in the vertical direction When insta...

Страница 63: ...crewdriver and lift the bottom of the driver to remove it from the rail Use force of about 10 to 20 N 2 2 to 4 5 lb to pull the DIN lever to lock it Excessive force may damage the DIN lever Dimensions...

Страница 64: ...nough Connect the connectors securely Insecure connections may cause malfunction or damage to the motor or driver The lead wires of the cable for electromagnetic brake have polarities so connect them...

Страница 65: ...Connects the external device If the power removal function is not used do not connect anything V 0V 2 These are for internal connection Do not connect anything If the power removal function is not us...

Страница 66: ...orange color with a slotted screwdriver 3 After having inserted release the button to secure the lead wire Lead wire Button of the orange color Power supply current capacity The current capacity of th...

Страница 67: ...PROFINET communication cable to the PROFINET communication connector CN5 CN6 Pin assignment Signal name Description TXP Transmitted data TXN Transmitted data RXP Received data N C N C RXN Received da...

Страница 68: ...output 1 IN POS 8 OUT2 Control output 2 PLS RDY 20 OUT3 Control output 3 READY 9 OUT4 Control output 4 MOVE 21 OUT5 Control output 5 ALM B 10 OUT COM Output common 22 GND GND 11 ASG Phase A pulse out...

Страница 69: ...OUT3 READY OUT4 MOVE OUT5 ALM B OUT COM IN1 FREE IN2 STOP IN3 ALM RST IN COM 0 3 IN4 FW JOG IN5 RV JOG IN COM 4 5 ASG ASG BSG BSG GND 4 7 k 2 2 k 4 7 k 2 2 k 4 7 k 2 2 k 4 7 k 2 2 k 0 V 0 V 0 V 10 mA...

Страница 70: ...VDC When using signals at 24 VDC connect an external resistor R1 1 2 k to 2 2 k 0 5 W or more When using signals at 5 VDC apply the voltage directly When the voltage of pulse input signals is 5 VDC 5...

Страница 71: ...DY OUT3 READY OUT4 MOVE OUT5 ALM B OUT COM IN1 FREE IN2 STOP IN3 ALM RST IN COM0 3 IN4 FW JOG IN5 RV JOG IN COM4 5 ASG ASG BSG BSG GND 4 7 k 2 2 k 4 7 k 2 2 k 4 7 k 2 2 k 4 7 k 2 2 k Driver Host contr...

Страница 72: ...VDC When using signals at 24 VDC connect an external resistor R1 1 2 k to 2 2 k 0 5 W or more When using signals at 5 VDC apply the voltage directly When the voltage of pulse input signals is 5 VDC C...

Страница 73: ...hielded cable use a metal cable clamp that can maintain contact with the entire circumference of the shielded cable and ground as near the product as possible Cable clamp Shielded cable z Suppression...

Страница 74: ...Example of installation and wiring on p 75 The user is responsible for ensuring the machine s compliance with the EMC based on the installation and wiring explained below This equipment is not intende...

Страница 75: ...able Noise filter AC Cable clamp DC power supply Cable for encoder Cable for motor Cable for electromagnetic brake Grounded panel Shielded cable Ferrite core Shielded cable symbol indicate the groundi...

Страница 76: ...n a standstill state before executing the power removal function If the power removal function is executed while the motor is operated it may cause damage to the motor driver or equipment 5 1 Notes wh...

Страница 77: ...O2 input HWTO1 24 VDC 0 V HWTO1 HWTO2 HWTO2 4 7 k 2 2 k 2 2 k 4 7 k Driver External device CN1 Specification Input voltage 24 VDC 10 EDM output The EDM output is a signal to monitor a failure in the p...

Страница 78: ...magnetic brake is in a state of holding the motor output shaft Be sure to check the motor is in a standstill state before executing the power removal function If the power removal function is executed...

Страница 79: ...in a state of releasing the motor output shaft Even if either the HWTO1 input or the HWTO2 input is turned ON the power removal status cannot be released If the ON time of the HWTO1 input and the HWT...

Страница 80: ...ake a measure immediately 5 4 Related functions z ETO CLR input If the ETO CLR input is turned ON after both the HWTO1 and HWTO2 inputs are turned ON to release the power removal function the motor pu...

Страница 81: ...F Setting range 0 Alarm is not present 1 Alarm is present 0 z Alarm of HWTO input circuit error If a time after either the HWTO1 input or the HWTO2 input is turned OFF until the other input is turned...

Страница 82: ...parameter is elapsed when the motor is excited at the ON edge of the input 15 ms or less ETO reset ineffective period The motor cannot be excited even if the ETO CLR input is turned ON within the ETO...

Страница 83: ...n to excite the motor can be added to the ALM RST input the C ON input and the STOP input using parameters In the initial value this function is set to the STOP input only Related parameters Parameter...

Страница 84: ...heck if the 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 app...

Страница 85: ...For motor encoder Model Length m ft CC005VZ2F2 0 5 1 6 CC010VZ2F2 1 3 3 CC015VZ2F2 1 5 4 9 CC020VZ2F2 2 6 6 CC025VZ2F2 2 5 8 2 CC030VZ2F2 3 9 8 CC040VZ2F2 4 13 1 CC050VZ2F2 5 16 4 CC070VZ2F2 7 23 0 CC...

Страница 86: ...motor is not enough 2 Only when the motor is the electromagnetic brake type When installing the motor on a moving part use a flexible cable offering excellent flexibility z Connection cable sets For...

Страница 87: ...d when extending the connection cable add between the motor and connection cable Use if the length of the connection cable used is not enough when extending the distance between a motor and a driver E...

Страница 88: ...For encoder For electromagnetic brake 2 For motor For motor For encoder Connection cable set 1 1 Use the connection cable used 2 Only when the motor is the electromagnetic brake type When installing...

Страница 89: ...32 8 CC150VZRBT 15 49 2 7 2 I O signal cables These are shielded cables for control I O of the driver offering good noise immunity The grounding wires useful to grounding are come out from both ends...

Страница 90: ...pression This product is effective to suppress the surge which occurs in a relay contact part Use it to protect the contacts of the relay or switch Model EPCR1201 2 z CR circuit module This product is...

Страница 91: ...1 IO data format 97 4 2 Input data 98 4 3 Output data 103 4 4 Processing order of IO data 107 4 5 Data writing 108 4 6 Data reading 109 5 Example of execution for operation 111 5 1 Positioning operati...

Страница 92: ...e the communication settings of PROFINET for the driver using the configuration tool of a host controller Set the home Set the coordinate and the resolution Assign the remote I O Select the operation...

Страница 93: ...Installation and connection STEP2 Before starting operation STEP3 Communication settings of PROFINET STEP4 Starting of motor Before operating the motor check the condition of the surrounding area to...

Страница 94: ...200 240 V Required Grounding 1 Theses cables are provided as our products Purchase them separately 2 Use the cable for encoder when the length of the encoder cable of motor is not enough DC power inpu...

Страница 95: ...5 Write parameter ID 3105 Parameter ID of Position 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...

Страница 96: ...to identify the driver Manufacturing date This can be checked with the nameplate of the driver Module Name This can be checked with the Configuration tool of the host controller Module Software Versi...

Страница 97: ...ging rate 20 21 Torque monitor Direct data operation stopping deceleration 22 23 CST operating current 24 25 Information Direct data operation operating current 26 27 Direct data operation forwarding...

Страница 98: ...ation 28 29 2 Reserved 30 31 2 Read parameter ID_R 32 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...

Страница 99: ...parameter is output 64 M0_R 1 R OUT1 65 M1_R 2 R OUT2 66 M2_R 3 R OUT3 32 START_R 4 R OUT4 144 HOME END 5 R OUT5 132 READY 6 R OUT6 135 INFO 7 R OUT7 129 ALM A 0 8 R OUT8 136 SYS BSY 9 R OUT9 160 ARE...

Страница 100: ...of operation type position speed starting changing speed rate stopping deceleration operating current and forwarding destination for direct data operation 11 EXE ERR This is output when direct data op...

Страница 101: ...ter ID_R Indicates a response of the read parameter ID 30 8 to 15 z Read write status Byte Bit Name Description 33 0 to 6 Reserved 0 is returned 7 RD ERR This is output when an error occurred in readi...

Страница 102: ...able monitor 3 Indicates the value of the parameter set in the Assignable monitor address 3 parameter 54 8 to 15 53 16 to 23 52 24 to 31 51 0 to 7 Assignable monitor 2 Indicates the value of the param...

Страница 103: ...ata operation operating current 26 27 2 Direct data operation forwarding destination 28 29 2 Reserved 30 31 2 Read parameter ID 32 33 2 Write request 34 35 2 Write parameter ID 36 to 39 4 Write data z...

Страница 104: ...0 These are used to execute a 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 0 8 R IN8 9 R IN9 10 R IN10 11 R IN11 12 R IN12...

Страница 105: ...12 FW JOG P This is used 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 continu...

Страница 106: ...15 17 16 to 23 16 24 to 31 z Direct data operation stopping deceleration Byte Bit Name Description Initial value 23 0 to 7 Direct data operation stopping deceleration This is used to set the decelera...

Страница 107: ...ue 39 0 to 7 Write data This is used to set a value to be written to the parameter specified by the write parameter ID 0 38 8 to 15 37 16 to 23 36 24 to 31 4 4 Processing order of IO data The processi...

Страница 108: ...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...

Страница 109: ...arameter ID z Flow that data is read from Host controller 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 Dr...

Страница 110: ...address parameter is read every communication cycle Communication cycle Assignable monitor n n 0 to 3 z Related parameters Parameter ID Name Description Setting range Initial value Dec Hex 25600 6400h...

Страница 111: ...n processing flow Descriptions are given using the host controller 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 c...

Страница 112: ...al values Speed FW POS ON OFF Time 0 z Operation processing flow Descriptions are given using the host controller as the subject 1 Check the READY has been turned ON 2 Set the following operation data...

Страница 113: ...tion 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...

Страница 114: ...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 C...

Страница 115: ...D Name Description Initial value Dec Hex 24852 6114h Direct data operation trigger setting This is used to set the trigger to execute direct data operation The trigger setting is enabled only when the...

Страница 116: ...tate the direct data is not applied to the operation z When the forwarding destination is set to 1 Buffer memory If the TRIG is turned from OFF to ON or the data corresponding to the trigger is change...

Страница 117: ...g flow Descriptions are given using the host controller as the subject 1 Check the DCMD RDY has been turned ON 2 Set the following data Output host controller driver Byte Description Setting value Not...

Страница 118: ...the driver When the setting is completed the WR END is turned ON Output host controller driver Byte Description Setting value Note 34 35 Write parameter ID 24852 Parameter ID of Direct data operation...

Страница 119: ...lue Note 8 to 11 Direct data operation position 3 000 3 000 steps To execute direct data operation of the operation 2 set a different value from the operation 1 in the position of the operation 2 If a...

Страница 120: ...120 4 PROFINET communication...

Страница 121: ...2 Basic setting parameters 135 8 3 Coordinate parameters 136 8 4 Operation parameters 136 8 5 Direct data operation parameters 136 8 6 ABZO sensor setting parameters 137 8 7 Mechanism setting paramete...

Страница 122: ...r ID are stored in the RAM When updating the setting by turning on the control power supply again be sure to save the parameter in the non volatile memory before turning off the control power supply I...

Страница 123: ...ID Name Setting range Initial value Dec Hex 192 00C0h Alarm reset 194 00C2h Clear alarm history 197 00C5h P PRESET execution 198 00C6h Configuration 199 00C7h Batch data initialization excluding comm...

Страница 124: ...ration data number 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 R...

Страница 125: ...upply count 161 00A1h Main power supply time min 162 00A2h Control power supply count 163 00A3h Inverter voltage 1 0 1 V 164 00A4h Main power voltage DC power input driver only 1 0 1 V 166 00A6h ROT S...

Страница 126: ...e history 4 ms 1316 0524h Information time history 5 ms 1317 0525h Information time history 6 ms 1318 0526h Information time history 7 ms 1319 0527h Information time history 8 ms 1320 0528h Informatio...

Страница 127: ...sition I O event High event 1492 05D4h Latch monitor operation number I O event High event 1493 05D5h Latch monitor number of loop I O event High event 1496 05D8h Latch monitor status Operation stop 1...

Страница 128: ...6 1280h 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...

Страница 129: ...8 2380h 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 83...

Страница 130: ...sitioning push motion 21 Incremental positioning 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...

Страница 131: ...00h 1 Position Base address 1 3072 1 3073 0C01h 1 000 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 From the table...

Страница 132: ...2768 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 operati...

Страница 133: ...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...

Страница 134: ...ration 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 0...

Страница 135: ...0128h Stop current 0 to 1 000 1 0 1 500 297 0129h Command filter setting 1 LPF speed filter 2 Moving average filter 1 B 298 012Ah Command filter time constant 0 to 200 ms 1 300 012Ch Smooth drive fun...

Страница 136: ...2 147 483 647 453 01C5h Negative software limit 2 147 483 648 to 2 147 483 647 steps 2 147 483 648 454 01C6h Preset position 2 147 483 648 to 2 147 483 647 steps 0 8 4 Operation parameters Parameter...

Страница 137: ...C2h Motor 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...

Страница 138: ...000 1 0 001 kHz s 1 0 001 s or 1 0 001 ms kHz 1 000 000 339 0153h JOG Starting speed 0 to 4 000 000 Hz 500 340 0154h JOG Operating speed high 1 to 4 000 000 Hz 5 000 344 0158h ZHOME Operating speed 1...

Страница 139: ...setting parameters Parameter ID Name Setting range Initial value Update Dec Hex 400 0190h HWTO mode selection 0 Alarm is not present 1 Alarm is present 0 A 401 0191h HWTO delay time of checking dual s...

Страница 140: ...er information INFO ODO 0 Disable 1 to 2 147 483 647 1 0 1 kRev 0 433 01B1h Cumulative load 0 information INFO CULD0 0 to 2 147 483 647 0 434 01B2h Cumulative load 1 information INFO CULD1 0 to 2 147...

Страница 141: ...prohibition information INFO RV OT 1970 07B2h INFO action cumulative load 0 information INFO CULD0 1971 07B3h INFO action cumulative load 1 information INFO CULD1 1972 07B4h INFO action tripmeter inf...

Страница 142: ...PAUSE standby condition selection 0 Standstill mode current cutback 1 Operation mode operating current is retained 0 1804 070Ch PLS XMODE pulse multiplying factor 2 to 30 times 10 1805 070Dh CRNT LMT...

Страница 143: ...detection range 1860 0744h AREA2 positive direction position offset 1861 0745h AREA2 negative direction position detection range 1862 0746h AREA3 positive direction position offset 1863 0747h AREA3 n...

Страница 144: ...h D SEL2 operation number selection 2 1891 0763h D SEL3 operation number selection 3 1892 0764h D SEL4 operation number selection 0 to 255 Operation data number 4 1893 0765h D SEL5 operation number se...

Страница 145: ...OUT5 normal output function 130 ALM B 2160 0870h DOUT0 inverting mode 0 Non invert 1 Invert 0 2161 0871h DOUT1 inverting mode 2162 0872h DOUT2 inverting mode 2163 0873h DOUT3 inverting mode 2164 0874h...

Страница 146: ...h DIN3 1 shot signal 2260 08D4h DIN4 1 shot signal 2261 08D5h DIN5 1 shot signal 2272 08E0h DOUT0 OFF delay time 0 to 250 ms 0 2273 08E1h DOUT1 OFF delay time 2274 08E2h DOUT2 OFF delay time 2275 08E3...

Страница 147: ...R OUT0 OFF delay time 0 to 250 ms 0 2353 0931h R OUT1 OFF delay time 2354 0932h R OUT2 OFF delay time 2355 0933h R OUT3 OFF delay time 2356 0934h R OUT4 OFF delay time 2357 0935h R OUT5 OFF delay tim...

Страница 148: ...R IN0 function Input signals list _p 150 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 Virtua...

Страница 149: ...ND 1 OR 1 2409 0969h User output USR OUT1 logical operation 8 20 Driver mode setting parameters Parameter ID Name Setting range Initial value Update Dec Hex 496 01F0h PULSE I F mode selection 1 Disabl...

Страница 150: ...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...

Страница 151: ...50 PRST STLD 18 CCM_R 69 M5_R 151 ORGN STLD 19 PLS XMODE_R 70 M6_R 152 RND OVF 20 PLS DIS_R 71 M7_R 153 FW SLS 21 T MODE_R 75 TEACH_R 154 RV SLS 22 CRNT LMT_R 76 MON REQ0_R 155 ZSG 23 SPD LMT_R 77 MON...

Страница 152: ...O OVOLT 204 DCMD RDY 229 INFO UVOLT 205 DCMD FULL 230 INFO OLTIME 207 M CHG 232 INFO SPD 208 M ACT0 233 INFO START 209 M ACT1 234 INFO ZHOME 210 M ACT2 235 INFO PR REQ 211 M ACT3 237 INFO EGR E 212 M...

Страница 153: ...154 1 1 Communication timeout 154 1 2 Error of communication settings 154 2 Alarms 155 2 1 Alarm reset 155 2 2 Alarm history 155 2 3 Generation condition of alarms 155 2 4 Alarm list 156 2 5 Timing c...

Страница 154: ...tion setting data is damaged an error of communication settings is detected When an error of communication settings is detected the MS LED on the driver blinks in green or red Refer to the table for d...

Страница 155: ...Check with 2 4 Alarm list on p 156 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...

Страница 156: ...ration elevating operation was performed 22h 3 Overvoltage DC power input driver The main power supply voltage exceeded the permissible value A large load inertia was suddenly stopped Vertical operati...

Страница 157: ...supplied Any of reset operations Non excitation Check the input voltage of the main power supply Any of reset operations Non excitation Check the heat radiation condition of the motor Reconsider the v...

Страница 158: ...FF exceeded the value set in the HWTO delay time of checking dual system parameter An error of the circuit corresponding to the phenomenon above was detected 60h 7 LS both sides active When the FW LS...

Страница 159: ...again Non excitation Execute the position preset or return to home operation Any of reset operations Excitation If the regeneration resistor RGB100 is not used short the TH1 and TH2 terminals of the C...

Страница 160: ...performed with data whose operating speed was 0 Operation was performed at the operating speed or operating current exceeding the value set in the Mechanism protection parameter Wrap operation was ex...

Страница 161: ...g the motor or manually Any of reset operations Excitation Check the operation data Check the value set in the Mechanism protection parameter using the unit information monitor of the MEXE02 Check the...

Страница 162: ...000 1 0 01 rev 300 24968 6188h Network bus error alarm Sets the function of the network bus error alarm Setting range 0 Disable 1 Enable 1 About causes of the motor combination error alarm code 45h An...

Страница 163: ...is reset and the ALM B output the READY output and the PLS 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 E...

Страница 164: ...output and the PLS 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 Er...

Страница 165: ...usly blink in red and green twice Red and green colors may overlap and it may be visible to orange z Motor operation The motor continues to operate during information unlike in the case of an alarm z...

Страница 166: ...n condition of the tripmeter information INFO TRIP Setting range 0 Disable 1 to 2 147 483 647 1 0 1 kRev 0 432 01B0h Odometer information INFO ODO Sets the generation condition of the odometer informa...

Страница 167: ...INFO DRVTMP 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 0...

Страница 168: ...he INFO USRIO output selection parameter was turned OFF Position deviation INFO POSERR The deviation between the command position and the feedback position exceeded the value set in the Position devia...

Страница 169: ...NFO PR REQ Preset was executed by the position preset or return to home operation Preset was completed Electronic gear setting error INFO EGR E The resolution set with the Electronic gear A parameter...

Страница 170: ...ration was executed using the MEXE02 Configuration was executed Data was written to the driver from the MEXE02 Reset was executed using the MEXE02 Teaching remote operation was canceled Configuration...

Страница 171: ...ration 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 di...

Страница 172: ...172 6 Troubleshooting...

Страница 173: ...l specifications 175 2 2 Product specifications 176 3 Regulations and standards 177 3 1 UL Standards CSA Standards 177 3 2 CE Marking UKCA Marking 177 3 3 Functional safety AC power input driver only...

Страница 174: ...F ON MPS output OFF ON OFF ON PROFINET communication preparation Not completed Completed SYS RDY ready to read output ready to accept input Not ready Ready PLS RDY output OFF ON READY output OFF ON DC...

Страница 175: ...g places for 1 minute Protective Earth Terminal Main power supply input terminal 1 5 kVAC 50 60 Hz Encoder connector Main power supply input terminal 1 8 kVAC 50 60 Hz I O signal connector Main power...

Страница 176: ...VDC 4 if the wiring distance between the motor and the driver is extended to 20 m 65 6 ft using our cable 3 The value in parentheses is the one when the electromagnetic brake motor is connected The AZ...

Страница 177: ...shock using an earth leakage breaker RCD connect a type B earth leakage breaker to the power supply side of the driver Use a molded case circuit breaker MCCB that conforms to EN standards or IEC Stand...

Страница 178: ...e standards Functional safety IEC 61800 5 2 EN 61800 5 2 IEC 61508 1 EN 61508 1 IEC 61508 2 EN 61508 2 ISO 13849 1 2015 EN ISO 13849 1 2015 Electrical safety IEC 61800 5 1 EN 61800 5 1 EMC IEC 61000 6...

Страница 179: ...179 7 Reference materials...

Страница 180: ...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 in...

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