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Controller Module 

CM10

 Series

 

OPERATING MANUAL 

 

 

Thank you for purchasing an Oriental Motor product. 
This Operating 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. 

 
This Operating Manual supports the firmware version 2.1x.

 

HP-13014-7

 

Содержание CM10 Series

Страница 1: ...riental Motor product This Operating Manual describes product handling procedures and safety precautions Please read it thoroughly to ensure safe operation Always keep the manual where it is readily a...

Страница 2: ...tions 51 8 2 4 Electrical Home Position and Mechanical Home Position 53 8 2 5 Mechanical Home Seeking 55 8 3 Stopping Motion and Sequence 64 8 4 Teaching Positions 65 8 5 Torque Limiting Push motion O...

Страница 3: ...nections USB The CM10 has a USB port on the front panel When you perform the initial setup of the CM10 directly connect it to your computer Commercially available USB2 0 cables mini B type are compati...

Страница 4: ...sition Reading CM10 1 3 5 71 CM10 1 3 5 8 5 Torque Limiting Push motion Operation CM10 1 5 68 Torque limiting push motion operation functions are added 12 Command Reference TL Torque Limiting Push mot...

Страница 5: ...G DOUTSG are added to the function that can be used via CANopen and also PF becomes writable 10 7 Object Dictionary SDO 120 CM10 1 2 3 4 5 The encoder count EC becomes writable and MAXEC as the maximu...

Страница 6: ...DS file with the version that is applicable The following table is the combinations of the firmware and EDS file for CANopen Firmware Applicable EDS files 1 xx CM10 eds 2 0x CM10_2_1 eds 2 1x CM10_3_0...

Страница 7: ...quences using a computer save the programs into the built in memory of the CM10 specify which sequence name or number to run and input the start signal to execute the sequence The program creation is...

Страница 8: ...E Marking EMC Directive is affixed to the product is accordance with EN standards Installation Conditions EN Standard This product is to be used as a component within other equipment Overvoltage categ...

Страница 9: ...Failure to do so may result in fire or injury Do not transport install the product perform connections or inspections when the power is on Always turn the power off before carrying out these operation...

Страница 10: ...er supply do not connect any equipment PC etc whose negative terminal is grounded Doing so may cause the driver and PC to short damaging both Operation To avoid injury remain alert during operation so...

Страница 11: ...wer supply while data is being written to the EEPROM and 5 seconds after the completion of data write Doing so may abort the data write and cause an EEPROM error alarm to generate The EEPROM can be re...

Страница 12: ...CM10 5 M2 6 Pan head screw with spring washer 2 M3 Flat head screw 1 Tape fastener 1 25 4 mm width 22 mm width 15 mm width 25 4 mm width 25 4 mm width 22 mm width 25 4 mm width Startup manual HP 13010...

Страница 13: ...ASD12A C ASD12B C ASD12C C ASD16A C ASD16B C ASD16C C ASD16D C ASD20A C ASD12A S ASD12B S ASD12C S ASD16A S ASD16B S ASD16C S ASD16D S ASD20A S ARLD13A A ARLD13B A ARLD13C A ARLD24A A ARLD24B A ARLD24...

Страница 14: ...ive function can be identified by the number of blinks the LED emits See 13 Troubleshooting on page 338 CANopen LED green red Green Run Red Error See 10 3 LED Indication on page 104 for detail Power c...

Страница 15: ...atched I O assignments 1 Attaching the tape fastener to the driver a Remove grease from the pasting position on the driver surface with alcohol and a cloth b Peel off the red delaminating tape Paste t...

Страница 16: ...Tightening torque 0 5 N m M3 Note Do not use a screw other than the supplied screw CM10 1A 4 a Set the mounting bracket over the I O terminal of the driver so as to mate the screw holes and push the...

Страница 17: ...he installation or uninstallation with powered ON may damage the interface circuit in the CM10 4 Paste the warning sticker on the driver only for AR Series driver AC input type LSD driver AC input typ...

Страница 18: ...or the EMC Directives see 1 6 Standards and CE Marking on page 8 Connecting Mains Filter for Power Source Line Install a mains filter on the input side of the DC power supply in order to prevent the n...

Страница 19: ...or and power supply cables as far apart 100 to 200 mm 3 94 to 7 87 in as possible from the signal cables If they have to cross cross them at a right angle Place the AC input cable and output cable of...

Страница 20: ...ower supply and a computer USB or RS 232C connection are required See 7 Start Up Immediate Command on page 42 Contents 6 2 Connecting the Power Supply 6 3 Connecting the USB and Installation of Utilit...

Страница 21: ...er than the power supply cable AWG24 to 16 0 14 to 1 5 mm2 24VDC FG GND Applicable Lead Wire Connector FMC 1 5 3 ST 3 5 PHOENIX CONTACT Applicable lead wire size AWG24 to 16 0 2 to 1 5 mm2 Connection...

Страница 22: ...e than 256 pieces of CM10 cannot be accomplished using a PC When it is required such as for mass production use RS 232C connection or USB to RS 232C converter so as to be RS 232C connection on the CM1...

Страница 23: ...sition System Requirements Windows XP SP2 or later Windows Vista Windows 7 NET Framework 2 0 SVGA monitor 800 x 600 or greater USB or RS 232C port CD ROM drive Installation and Uninstallation Insert t...

Страница 24: ...the other When Using the IMC Provided Utility Software Use of the highest baud rate 115200 bps is recommended if there is no problem for the usage environment Set it to the CM10 according to the foll...

Страница 25: ...ector is not supplied Provide 15 Pin D Sub connector separately Those become system xxx signal Connector Function Table See the following pin assignments for a solder type connector 14 OUT2 General ou...

Страница 26: ...pause motion PAUSECL pause clear CONT continue motion LSP limit switch positive LSN limit switch negative HOME home sensor CON current on ALMCLR alarm clear START start sequence ABORT abort motion an...

Страница 27: ...llowing signals Set the voltage between IN COM and INx to be 4 25 VDC to 26 4 VDC when the photo coupler is ON Signals IN1 IN9 Input unassigned The IN1 through IN9 inputs can be used as input ports fo...

Страница 28: ...e on going motion is paused The program execution will not stop The leading edge of the signal will cause the action PAUSECL pause clear Input This signal clears the on going operation state that has...

Страница 29: ...s been generated by the system protective function or the driver alarm Input the ALMCLR signal once after removing the cause that has triggered the protective function The leading edge of the signal w...

Страница 30: ...m the following functions AR Series driver LSD driver push motion operation NX Series driver torque limiting 6 4 3 Output Signals Internal Output Circuit All output signals of the device are open coll...

Страница 31: ...in addition to above condition this signal will be turned ON When the factory setting DREADY 1 has not been changed See the READY input on page 357 for the operation LC limiting condition Output This...

Страница 32: ...nput signals on the system I O connector if assigned and on the remote I O CANopen as well as the FREE command If any of those inputs is ON the state of the FREE function becomes 1 and the MBFREE outp...

Страница 33: ...urrent Sink 5 4 k 10 k GND 5 24 VDC IN8 OUT1 OUT2 OUT3 OUT4 IN1 IN2 IN3 IN4 IN5 IN COM OUT COM PLC CM10 IN6 IN7 IN9 5 24 VDC 1 9 2 10 3 11 12 5 13 8 6 14 7 15 5 4 k 10 k 5 4 k 10 k 5 4 k 10 k 5 4 k 10...

Страница 34: ...10 k GND 5 24 VDC IN8 OUT1 OUT2 OUT3 OUT4 IN1 IN2 IN3 IN4 IN5 IN COM OUT COM PLC IN6 IN7 IN9 5 24 VDC GND CM10 1 8 9 2 10 3 11 4 12 13 5 6 14 7 15 5 4 k 10 k 5 4 k 10 k 5 4 k 10 k 5 4 k 10 k 5 4 k 10...

Страница 35: ...led Change the driver I O using the Automatic Setting function of the provided utility software Immediate Motion Creator CM SCX Series IMC With this automatic setting function the necessary signals wi...

Страница 36: ...0 1 3 5 or page 68 8 5 Torque Limiting Push motion Operation CM10 1 5 for details Refer to the driver I O setting or the I O status monitor of the IMC for the driver I O assignment by each automatic s...

Страница 37: ...CM10 can be made using general terminal software such as Windows Hyper Terminal For the quick start up supplied utility software the Immediate Motion Creator for CM SCX Series is recommended See 6 3...

Страница 38: ...2 RX 5 GND 3 TX 4 DTR 6 DSR 7 RTS 8 CTS TX GND RX PC 9pin COM Port CM10 Daisy Chain Connection You can connect multiple controllers with either of the two methods shown below Using only the RS 232C co...

Страница 39: ...network as other CANopen devices Connect a terminating resistor 120 1 4 W on both ends of the line Termination resistors are not provided Connection Method 1 Strip the lead wire insulation by 8 mm 2 P...

Страница 40: ...encoder ZSG input 7 Encoder power External encoder power output 5 V 8 Encoder power External encoder power output 0 V Note This encoder power output should be used for the external encoder only Connec...

Страница 41: ...t Encoder Connection PNP Type Connect a pull down resistor 470 The pull down resistors are not provided CM10 Encoder 470 2 2 k 3 5 VDC GND 5 VDC 26LV32 or equivalent Over current protection circuit EX...

Страница 42: ...User Unit 7 4 Making the Motor Move Immediate Command 7 5 Command Format 7 2 Preparation 1 Connect a personal computer via USB or RS 232C See 6 3 Connecting the USB and Installation of Utility Softwar...

Страница 43: ...t is set on the driver See the driver operating manual about the driver resolution and the setting Example Using deg unit Motor resolution is 500 rev 1 Set the user unit Enter UU deg and press the Ent...

Страница 44: ...and the denominator of the electric gear are set to opposite to the mechanical gear The motor must rotate 3 times as far to complete one revolution at the gearhead output Therefore the GA value is 3...

Страница 45: ...rder to increase more accuracy using the electronic gear set GA 10 and GB 1 and then set to DPR 99 974 When combining the CM10 4 and DG DGII Series Hollow Rotary Actuators unit Rev UU Rev GA 18 GB 1 T...

Страница 46: ...using the STRSW parameter Experience the Operation 1 Set the move distance Enter DIS 360 and press the Enter key DIS 360 DIS 360 deg 2 Set the running velocity Enter VR 360 and press the Enter key VR...

Страница 47: ...required Commands Spacing between command and argument if needed argument by at least a space is required Format Command Space Argument Examples Condition Example Remarks No argument MI Argument is co...

Страница 48: ...Limiting Push motion Operation CM10 1 5 setting the driver setting the CM10 performing torque limiting push motion operation 8 6 Driver Current Position Reading CM10 1 3 5 setting the driver setting...

Страница 49: ...ked Motions below for information on more complex motion profiles The minimum output frequency on the CM10 is 1 Hz If the running velocity in a user unit is set equivalent to less than 1 Hz the actual...

Страница 50: ...er of linked segments is four 4 Commands and Parameters for Linked Motions Command Parameter Argument Parameter Value Function MIx x 0 3 None Start linked motion at link segment x DISx x 0 3 MAXPOS MA...

Страница 51: ...egative The new target velocity is determined by the value of running velocity VR at the time the command executes Velocity can be changed by setting a new value of running velocity VR and executing a...

Страница 52: ...velocity VR Starting velocity VS SENSOR Action If the SENSOR input is configured it can be used to stop continuous motions with stop action determined by SENSORACT If SENSORACT 0 the system performs a...

Страница 53: ...ffset Mechanical home HOMELS The electrical home position can be set in an arbitrary position regardless of the mechanical home position When executing the PRESET reset home position command the curre...

Страница 54: ...ting Note See 8 3 Stopping Motion and Sequence on page 64 for information on stopping motions before they finish An arbitrary value can be written to PC but avoid a careless change because the referen...

Страница 55: ...5 Select the deviation counter clear during mechanical home seeking operation refer to P 58 in details SENSORA CT 0 3 2 SENSOR input action 0 Hard stop 1 Soft stop 2 Soft stop at fixed distance from...

Страница 56: ...ee p 61 8 9 Required for valid home 10 Required for valid home 11 Required for valid home Stop Alarm Required for valid home Required for valid home 1 sensor mode See p 62 12 Not used Not used Sensor...

Страница 57: ...tting the electrical home position other than the mechanical home position is required as described above it is recommended to set the offset value in the CM10 use the OFFSET command but not in the dr...

Страница 58: ...ve mentioned problem does not occur but the motor shaft may become free from generated alarms for overload or others In this case if the motor shaft will rotate PF will change while PC will not change...

Страница 59: ...or the EZED2 data editing software for checking and setting 2 Set the home parameters of the driver Set the return direction home offset return method starting speed of return and operating speed of r...

Страница 60: ...E Seeking Pattern HOMETYP 0 to 3 2 sensor mode Starting position HOME starting direction CW MGHP LS VR TA TD LS LS LS HOME starting direction CCW MGHN LS LS LS LS LS LS LS LS LS LS to LS LS is operati...

Страница 61: ...on LS VR TA TD TD VS HOMELS LS LS HOMELS LS LS HOMELS LS LS HOMELS LS LS HOMELS LS LS HOMELS LS LS LS HOMELS LS HOMELS to LS LS HOMELS LS HOMELS to LS LS HOMELS LS LS HOMELS LS HOMELS LS is operation...

Страница 62: ...und Stop operation Alarm Starting position HOME starting direction CW MGHP LS VR TA TD VS HOMELS LS LS HOMELS LS HOME starting direction CCW MGHN LS HOMELS LS LS HOMELS LS LS HOMELS LS LS HOMELS LS LS...

Страница 63: ...otor side Motor side Starting direction of home seeking operation Motor side Starting direction of home seeking operation Opposite the motor side Sensor less home seeking operation type Push motion2 h...

Страница 64: ...0 1 1 Motor stop action affects MSTOP command or MSTOP input 0 Hard stop MSTOP behaves as HSTOP 1 Soft stop MSTOP behaves as SSTOP ALMACT 0 2 2 Alarm action affects PSTOP command or PSTOP input 0 No...

Страница 65: ...omes zero 0 if ASG and BSG inputs are not connected to the encoder or the encoder output of motor driver Teaching by hand cannot be performed at any time the system position can be stored to any locat...

Страница 66: ...t detected a key for the key interval detection time The key interval detection time can be adjusted Smaller values make the system react quicker but may result in stuttering motions may start and sto...

Страница 67: ...t teach mode PC 15 410 Save to POS After ENTER received while teaching Teach mode V Move Cont Neg M Move Cont Pos B Jog Negative N Jog Positive Q Current ON OFF F FREE ON OFF S Save all data to EEPROM...

Страница 68: ...actory setting combination set using the application parameter for push motion current 0 APP 2 05 to 7 APP 2 12 Memo With the NX Series driver the CM10 has partially overlapped with the analog I O sig...

Страница 69: ...Tx to the LC limiting condition output Parameter 0 indicates unassigned assignment cancel Memo When selecting push motion operation the TL torque limiting push motion operation output of the driver co...

Страница 70: ...celeration deceleration The LC output is turned ON when the motor torque reaches 300 of rated torque even while the torque limiting function is not used Torque limiting push motion operation can be pe...

Страница 71: ...input is not required because the reset setting the home position is automatically performed in the driver when finishing a mechanical home seeking operation The PRESET input is required when perform...

Страница 72: ...he CM10 DOUTx Connect to the PRESET input of the driver Reading the Driver Current Position Memo When turning the power ON for the first time after connecting a battery to the driver start operating w...

Страница 73: ...rm the PC value 3 05 Rev Confirm the PF value 3 04 Rev Servo OFF current OFF release of a load deviation zero Read driver information Overwrite PC and PF EC Current position Driver status code Driver...

Страница 74: ...sed while there is no need to do with the ESMC controller Steps Start from the step 3 when turning the power ON first time 1 Execute ABSREQ and read the cause of the alarm 2 Eliminate the cause of the...

Страница 75: ...devices on the communication line Command Description 1 1 2 2 2 ID ID 2 Executing a 1 command connects device 1 A prompt 1 is output Connect to device 2 A prompt 2 is output Query the ID of the connec...

Страница 76: ...r on page 40 Driver END signal is used to confirm that the driver has completed the operation of the or a servo motor system that have the position deviation in the driver When Driver END signal is ch...

Страница 77: ...the encoder input and those can directly be observed as figures or used in a program The PE can also be used to determine whether the position error is in the allowable range when the operation compl...

Страница 78: ...till condition exceeds 1 8 degrees 0 9 degrees for the basic step angle 0 9 of 2 phase stepping motor and 0 36 of 5 phase stepping motor loss of synchronism may be generated because the force to synch...

Страница 79: ...or when the EC becomes the set value 1 WHILE EC 100 WEND 2 MI Example to operate the motor by the motion distance according to the EC value 1 DIS EC 100 2 MI When the EC becomes greater than 100 Start...

Страница 80: ...able X is set equal to two Variable Y is set equal to the Position Command Value X equals the previous value of X multiplied by Y Print the current value of X to the terminal End the sequence Query th...

Страница 81: ...entry commands e g X KBQ Example Command Description 1 MCP 2 WHILE IN1 0 3 D PE E 4 D 0 01 D 5 E E D 6 WEND 7 SSTOP 8 MEND 9 IF E 3 10 SAS Load increasing clean machine 11 ENDIF Start continuous motio...

Страница 82: ...inactive 0 OUTTEST temporarily disables the actions of all assigned system input and output signals The system will not react to inputs and will not automatically control outputs All output control is...

Страница 83: ...ouplers Take note because it depends on the setting of I O logic level LV command If 1 is received when inquiring SIGHOME while setting to HOMELV 0 0 will be received when inquiring SIGHOME while sett...

Страница 84: ...1 NO 0 IN2 NO 0 IN3 NO 0 IN4 NO 0 IN5 NO 0 IN6 NO 0 IN7 NO 0 IN8 NO 0 IN9 NO 0 OUT1 NO 0 OUT2 NO 0 OUT3 NO 0 OUT4 NO 0 REMOTE I O REPORT IN1 0 IN2 0 IN3 0 IN4 0 IN5 0 IN6 0 IN7 0 IN8 0 ABORT 0 START 0...

Страница 85: ...001 MAXVEL UU sec MCP Move Continuous Positive MCN Move Continuous Negative DIS Incremental motion distance MAXPOS MAXPOS UU VR Running velocity 0 001 MAXVEL UU sec VS Starting velocity 0 MAXVEL UU s...

Страница 86: ...gured to automatically transmit a message when alarms or warnings are detected Automatic message transmission is controlled by ALMMSG ALMMSG Action 0 Do not automatically transmit alarm and warning me...

Страница 87: ...memory of the CM10 specify which sequence number to run and input the start signal to execute the sequence The program creation is made via USB or RS 232C the program selection and execution are made...

Страница 88: ...CM SCX Series IMC In this chapter Editing from the terminal is explained The system enters this mode when EDIT is entered from the terminal In the sequence edit mode you can edit a sequence by changin...

Страница 89: ...fications Sequence Specifications Maximum number of programmable sequences 100 sequences Name is use configurable Maximum sequence size Total sequences 6 kB compiled 21 kB text compiled 1 sequence 6 k...

Страница 90: ...a starting velocity of 1 rev sec and running velocity of 3 rev sec with the target position of 5 revolution from PC 0 When setting the user unit UU to rev and the distance per revolution DPR to 1 Inse...

Страница 91: ...the line number Two or more lines can also be specified depending on the editor command A 3 Line number to be edited Space Program edit command Command Description I Insert A Alter Change D Delete L...

Страница 92: ...d is displayed and the monitor waits for editing input EDIT PROGRAM1 Sequence Name PROGRAM1 Sequence Number 1 Lines 5 Bytes 23 Bytes Free 6121 Command _ 2 Enter L to list the entire sequence make sure...

Страница 93: ...ommand prompt is displayed and the monitor waits for the next editor command 5 Command _ 5 Delete MGHP from line 5 using the following steps Enter D 5 and press the Enter key Line 5 is deleted and eac...

Страница 94: ...ation time is set to 0 1sec The deceleration time is set to 0 1sec The starting velocity is set to 10 deg sec The running velocity is set to 360 deg sec Lines 6 through 9 are repeated five times The d...

Страница 95: ...ent number 0 is set to 10 mm sec The operating speed for segment number 1 is set to 20 mm sec The operating speed for segment number 2 is set to 30 mm sec The positioning mode for segment number 0 is...

Страница 96: ...r than using the IMC use INSTART command ex INSTART 5 2 Connect the START input and ABORT input as needed to the host controller 3 Assert IN1 to IN7 inputs to select the sequence to execute Sequence i...

Страница 97: ...START input from OFF to ON starts sequence execution When sequence is running paused motion is resumed Setting START input from ON to OFF does not stop sequence ABORT input is required for aborting se...

Страница 98: ...yntax Cause action The syntax of the editor command is invalid Extra text is found after an editor command etc End line must follow start line Cause action While many Editor commands can take both sta...

Страница 99: ...operation Cause action Operation contained elements that are not constants or known parameters Invalid WHILE block Cause action WHILE must be followed by WEND WEND must be preceded by WHILE Sequence...

Страница 100: ...data or change the software limit range PSTOP input detected Cause action Device has detected PSTOP input Motion and sequence have stopped Check your system for this PSTOP cause LS or LS detected duri...

Страница 101: ...sor mode and INLSP INLSN 0 LS not configured MGHP MGHN is attempted with HOMETYP 4 to 11 1 3 sensor mode and INHOME 0 HOME not configured Error Value is invalid Cause action Attempt to set parameter n...

Страница 102: ...uences and this attempt to copy or save from editor would overflow available sequence storage memory in EEPROM Error Sequence executable memory full Cause action Copy Not enough memory to create a new...

Страница 103: ...tion Creator for CM SCX Series or a general terminal software via USB or RS 232C Refer to CANopen settings in 12 Command Reference on page 140 for commands related to the CANopen and 9 Program Creatio...

Страница 104: ...r control event A guard event NMT slave or NMT master or a heartbeat event heartbeat consumer has occurred On Bus off The CAN controller is bus off Green Run The CANopen run LED indicates the status o...

Страница 105: ...utput of the CM10 TPDO Mapping CM10 J Master Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 ALM WNG ROUT6 ROUT5 ROUT4 ROUT3 ROUT2 ROUT1 Byte 1 0 1 READY LC HOME_P MOVE END START_R Byte 2 COMMA...

Страница 106: ...each signal TPDO OUTPUT of CM10 Each bit in the Byte 0 and Byte 1 acts exactly the same as a physical switch or an output signal on the I O connector on the CM10 to control a master controller For ex...

Страница 107: ...e supplied utility software Immediate Motion Creator for CM SCX Series via a USB or RS 232C connection If a general terminal software is used refer to the chart below The functions of all system I Os...

Страница 108: ...number last digit h means hexadecimal The parameter 0 1 following the command VS is set in the DATA area The data format is a signed integer and little endian start from least significant bytes Since...

Страница 109: ...T2 ROUT1 Byte 1 0 1 READY LC HOME_P MOVE END START_R Byte 2 1142h Byte 3 STATUS TRIG_R Byte 4 Byte 5 Byte 6 Byte 7 0 Errors occur if the condition is not allowed such as the parameter is out of range...

Страница 110: ...2 Bit 1 Bit 0 Byte 0 RIN8 RIN7 RIN6 RIN5 RIN4 RIN3 RIN2 RIN1 Byte 1 FREE CON ABORT MGHN MCN MCP START Byte 2 0142h Byte 3 TRIG Byte 4 Byte 5 Byte 6 Byte 7 0h The DATA value is not required in a read c...

Страница 111: ...ssage command set the command code for the MCP 1C12h Note that digit C in hexadecimal is defined as 1100 in binary The data area is blank set to zero since MCP does not require a parameter RPDO Master...

Страница 112: ...1 Bit 0 Byte 0 RIN8 RIN7 RIN6 RIN5 RIN4 RIN3 RIN2 RIN1 Byte 1 FREE CON ABORT MGHN MCN MCP START Byte 2 COMMAND Byte 3 TRIG Byte 4 Byte 5 Byte 6 Byte 7 DATA After the program is started set the START...

Страница 113: ...8 RIN7 RIN6 RIN5 RIN4 RIN3 RIN2 RIN1 Byte 1 FREE CON ABORT MGHN MCN MCP START Byte 2 1C05h Byte 3 TRIG Byte 4 Byte 5 Byte 6 Byte 7 03h When the TRIG bit is set to 1 program number 3 is executed RPDO M...

Страница 114: ...TARTACT 0 0 No Action 1 Start Sequence STARTACT 1 0 Abort Sequence 1 Start Sequence MCP Move Continuously Positive 0 No Action 1 Start Motion Positive MCN Move Continuously Negative 0 No Action 1 Star...

Страница 115: ...Active MOVE Motor Moving 0 Stopped 1 Moving pulses are generating or sensor less mechanical home seeking is in a operation HOME_P Home Position 0 Not in HOME Position 1 At HOME Position LC Limiting C...

Страница 116: ...cho of Trigger 0 Not yet Process 1 Processing Completed STATUS If sequence program cannot be executed this bit is 1 0 Normal 1 Process Error DATA_R Result of Read Parameter Monitor or Maintenance Comm...

Страница 117: ...0 POS 1 0464h 1464h Position Array Data No 100 MAXPOS to MAXPOS UU 0 POS 100 0480h 1480h Running Velocity 1 to MAXVEL UU sec 1000 VR 04A0h 14A0h Distance from SENSOR Input to the Stop Position 0 to MA...

Страница 118: ...r Current Position ABSREQ 1C1Eh Reading Driver Current Position Updating Internal Position ABSREQPC 1C1Fh Torque Limiting Push motion Operation Current Cutback Release 0 1 TL n a Not Applicable Monito...

Страница 119: ...0 Not Reset 1 Reset ALMCLR 30C5h Reset Home Position PRESET 30CAh Enable Driver Operation after Absolute Position Loss Alarm Release ABSPLSEN Note The minimum output frequency on the CM10 is 1 Hz If t...

Страница 120: ...of Entries UNSIGNED8 R 2 01 Vendor ID UNSIGNED32 R 000002BE h Oriental Motor Europa GmbH 1018 02 Product Code UNSIGNED32 R CM10 5001 SCX10 5002 Receive PDO Communication Parameter 00 Largest Sub index...

Страница 121: ...gnal Output Status UNSIGNED32 R OUTSG 0 to 1 983 20A0 00 Remote General Input Status UNSIGNED8 R RIN 0 to 255 20A2 00 Remote General Output Status UNSIGNED8 R ROUT 0 to 63 20B0 00 Driver General Input...

Страница 122: ...ty of Link Segment 3 SIGNED32 RW 1000 VR3 1 to MAXVEL UU sec Linked Move Type 00 Number of Entries UNSIGNED8 R 4 01 Link Type for Link Segment 0 BOOLEAN RW 1 INCABS0 0 Absolute 1 Incremental 02 Link T...

Страница 123: ...ear and Deviation Counter Clear ALMCLR input PECLR input I O connector ACL DCL output Driver connector ALMCLR PECLR 110 ms 5 ms 0 5 ms min 2 ms max General Output OUTx x 1 4 output condition has occrr...

Страница 124: ...ition and settling time at stop Pausing Index Operation PAUSE PSTS START input PAUSE input RUN output MOVE output READY output END output PSTS output Motor operation 2 ms min 1 2 ms max 5 ms max 2 ms...

Страница 125: ...on ALARM output PSTOP input ALMACT 0 ALARM OFF ALMACT 1 ALARM ON ALMACT 2 Turn Motor Current OFF ALARM ON 2 ms max 2 ms min 2 ms min 2 ms max 2 ms max When the MSTOP Input is Turned ON 2 ms min 2 ms m...

Страница 126: ...he SENSOR Input is Used 2 ms min 2 ms min 2 ms max 2 ms max MOVE output READY output END output Motor operation SENSOR input SENSORACT 0 Hard Stop SENSORACT 1 Soft Stop 2 ms min 2 ms max SENSORACT 2 O...

Страница 127: ...ts 127 When an ALARM is Occurred MOVE output READY output END output ALARM Occur ALMACT 2 At Current OFF Alarm Free Run Stop ALARM output Motor current Motor operation ALMACT 1 At Current ON Alarm 5 m...

Страница 128: ...t is detected in non excitation state CURRENT 0 1 the CON output is ON the MBFREE output is ON magnetic brake free 2 Operation using the CURRENT command when the CON input is ON the COFF input is OFF...

Страница 129: ...3 3 2 HOME input HOMEP output 5 ms max 5 ms max Software does not care these edges where input has one extra up down edge 5 ms max 5 ms max 5 ms max Motor operation Negative Positive Stopping Operatio...

Страница 130: ...g the Key Down M CW scan input key on query keyboard M M M M M M M M M M Motor operation 500 ms max 150 ms RS 232C USB input Motor operation 500 ms 150 ms RS 232C USB input To Stop Motion Immediately...

Страница 131: ...ly See Continuous Display on page 83 parameter cannot be used SAVE RESET REQUIRED n a S R SR For parameters new value becomes active immediately New value becomes active immediately but save command r...

Страница 132: ...a n a n a yes yes yes 284 SSTOP Soft Stop n a n a n a yes yes yes 311 Motion Variables COMMAND DESCRIPTION FACTORY SETTING RANGE parameter SAVE RESET REQUIRED Immediate IN sequences CANopen Commands...

Страница 133: ...ray Data n a n a n a yes MOVE RUN 168 CURRENT Current On Off 0 CM10 1 5 1 CM10 2 3 4 SCX10 0 Motor Current Off 1 Motor Current On n a yes yes yes 175 DD Driver Operation Data 0 0 to 3 Torque Limiting...

Страница 134: ...yes yes MOVE 278 PRESET Reset Home Position n a n a n a yes yes yes MOVE 283 PULSE Pulse Output Mode 1 0 2PULSE Mode 1 1PULSE Mode SR yes 285 RESET Reset Device n a n a n a yes 288 SAVEALL Save All D...

Страница 135: ...d 249 MAXPOS Maximum Position Value 500000 n a n a read 250 MAXVEL Maximum Velocity Value 1240 CM10 1 4 5 SCX10 6200 CM10 2 12400 CM10 3 n a n a read 251 PABS Driver Current Position n a 2 147 483 648...

Страница 136: ...96 for DOUTxxx Command See Page 196 for DOUTxxx Command SR yes 196 DREADY Driver READY Signal Enable 0 CM10 2 3 4 SCX10 1 CM10 1 5 0 Disable 1 Enable SR yes read 200 DSIGxxx Status for Driver System I...

Страница 137: ...TRACE Sequence Trace Control 0 0 Trace is Disabled 1 Trace is Enabled n a yes 322 VER Display Firmware Version n a n a n a yes 327 Communications COMMAND DESCRIPTION FACTORY SETTING RANGE parameter SA...

Страница 138: ...ce Return n a n a n a yes 289 SACS Send ASCII Control String n a String A Series of ASCII Characters or Control Codes Maximum 70 Characters Except n a yes 299 SAS Send ASCII String n a String A Series...

Страница 139: ...OMMAND DESCRIPTION FACTORY SETTING RANGE parameter SAVE RESET REQUIRED Immediate IN sequences CANopen Commands not Allowed PAGE CLEARSEQ Clear Sequences n a n a n a yes RUN 169 COPY Copy Sequence n a...

Страница 140: ...R yes 232 RIN Remote General Input Status n a 0 to 255 yes n a read read read 290 RINx x 1 to 8 Individual Remote General Input Status n a 0 Not Active 1 Active yes n a read read 291 RINxxx Remote Sys...

Страница 141: ...V SIGMGHN Move Go Home Negative MSTOP INMSTOP RINMSTOP MSTOPACT MSTOPLV SIGMSTOP Motor Stop PAUSE INPAUSE RINPAUSE PAUSELV SIGPAUSE Pause Motion PAUSECLR INPAUSECL RINPAUSECL PAUSECLLV SIGPAUSECL Paus...

Страница 142: ...within a sequence in order to describe the function of the commented sequence Comments within a sequence are saved in EEPROM when the sequence is saved within the Editor Mode Comments should not follo...

Страница 143: ...c shift Shift to right bit Division by zero 0 or numeric overflow will cause an Alarm condition stopping motion and halting sequence operation Note on Modulo operations A B A B sign A B floor A B Comm...

Страница 144: ...and enables command to all the units ID is for checking all devices assigned ID numbers currently active on the daisy chain communication network Applicable Commands ABORT CONT CURRENT CV EHOME HSTOP...

Страница 145: ...racters Note The semicolon cannot be used as a separator after an SACS or SAS command The SAS and SACS commands transmit all following text until the end of a line no other statements can follow SAS o...

Страница 146: ...e g daisy chain configuration That device can then be uniquely addressed and programmed If the device ID is anything other than the default ID communication with the device requires using the or TALK...

Страница 147: ...o abort continuous display of a parameter via the command The function to display the sequence progress by the TRACE command is canceled ESC will discard any characters on a line and send a carriage r...

Страница 148: ...b a is less than b a b a b a is equal to b a b a is greater than or equal to b a b a is greater than b Command Description Example 1 DIS 0 VS 1 VR 10 TA 0 TD 0 1 2 LOOP 3 IF IN6 1 4 DIS 1 5 MI 6 MEND...

Страница 149: ...BORT input on the I O connector if assigned and or the CANopen remote I O When detailed explanation is required see 6 4 Connecting the I O signals on page 25 for I O connector and see 10 4 Controlling...

Страница 150: ...utput assigned to the driver connector on the CM10 SCX10 for about 1 msec When setting the home position by executing the PRESET command without performing a mechanical home seeking operation the ABSP...

Страница 151: ...en to the ABSSTS driver status code driver alarm code parameters The ABSREQ command can be used at any time regardless of the motor operation Assign the PR P0 P1 REQ and CK I Os to the driver connecto...

Страница 152: ...o the driver connector on the CM10 SCX10 when using this command Note When only referring to the current position use the ABSREQ reading driver current position command The current position can be ref...

Страница 153: ...TS via CANopen execute the ABSREQ command or ABSREQPC command first and then execute ABSSTS after confirming that the ABSDATA output was 1 ON by remote I O of CANopen When PABS and ABSSTS can be refer...

Страница 154: ...reset The Alarm history is automatically saved in EEPROM Memo If DALARM 1 the driver alarm may occur each time the CM10 SCX10 and driver are powered ON depending on the power on timing between the CM...

Страница 155: ...LARMLV DALARM ALM ALMCLR OUTxxx OUTALARM PSTOP INxxx INALMCLR INPSTOP RINxxx RINPSTOP Description Establishes the action of the motor current and alarm state after a PSTOP operation or hardware or sof...

Страница 156: ...M condition persists the CM10 SCX10 will enter the ALARM state again Please see the troubleshooting section for a description of the causes of specific ALARM codes Some alarm conditions cannot be clea...

Страница 157: ...e factory setting Access READ and WRITE See Also xxxLV ALARMLV ALM ALMACT ALMCLR ALMSET OUTxxx OUTALARM INxxx INALMCLR DALARM DSIGxxx DSIGALARM Description The system can automatically transmit a mess...

Страница 158: ...d RUN CHKINPUT Illegal sensor input entry ALMSET command detected ALM List sequence CHKINPUT Set distance to 10 run velocity to 1 Start incremental motion While system is moving If general purpose inp...

Страница 159: ...e g A TIMER DIS A Loop Counters e g LOOP Q Conditional Statement Values e g if VR X Arguments for a subroutine CALL e g CALL S Parts of Mathematical Expressions e g VR VS C Targets for interactive dat...

Страница 160: ...1 4 Set the variable B to a value of 0 1 Device response List sequence 1 Query the user for the value of the variable A via the serial port Use A as a loop count Move incrementally Wait for motion to...

Страница 161: ...mputer application that is used to communicate with the CM10 SCX10 or check the COM port property of windows if the application does not have a baud rate function The supplied utility software IMC is...

Страница 162: ...nditional statement Command Description Example LIST 7 1 LOOP 2 IF IN2 1 3 BREAKL 4 ELSE 5 SAS HELLO 6 ENDIF 7 ENDL 8 END List sequence 7 Loop indefinitely If input 2 is 1 ON the sequence proceeds to...

Страница 163: ...a conditional statement Command Description Example LIST 8 1 MCP 2 WHILE IN1 0 3 IF IN2 1 4 BREAKW 5 ENDIF 6 WEND 7 SSTOP 8 END List sequence 8 Move continuously positive Start WHILE block Execute li...

Страница 164: ...sequence at the statement following the CALL Nesting is permitted Sequence 1 can CALL sequence 2 which can CALL sequence 3 etc Each CALL requires some internal memory however which is drawn from a ded...

Страница 165: ...ption Establishes the CANopen communication baud rate for the device Note If the CANopen baud rate on the computer or the CM10 SCX10 is changed the baud rate must also be changed on the other Command...

Страница 166: ...rameter value was saved then the value is set to the factory setting Access READ and WRITE See Also CANBAUD Description Sets the CANopen node address Command Description Example CANID 10 CANID 1 10 SA...

Страница 167: ...ntroller if it could possibly execute at high frequency The number of times for accumulated write cycles is displayed when executing Note Once the information is cleared it cannot be restored Since th...

Страница 168: ...OM The EEPROM has a nominal expected lifetime of 100 000 write cycles The CLEARPOS command should not be used automatically i e by a host controller if it could possibly execute at high frequency The...

Страница 169: ...bly execute at high frequency The number of times for accumulated write cycles is displayed when executing Note Once the sequences are deleted they cannot be restored A locked sequence will be cleared...

Страница 170: ...ser defined variables from memory Caution The CLEARVAR command writes to EEPROM The EEPROM has a nominal expected lifetime of 100 000 write cycles The CLEARVAR command should not be used automatically...

Страница 171: ...n the I O connector and or the CANopen remote I O if assigned When detailed explanation is required see 8 3 Stopping Motion and Sequence on page 64 If STARTACT 0 is set the START input can cause the s...

Страница 172: ...ion of a capital letter or small letter Commands not Allowed RUN See Also DEL EDIT REN Description Makes a copy of a sequence The original program will still exist in memory upon execution of the COPY...

Страница 173: ...S_xxx can store a string of up to 20 characters 10 variables are allowed for each type numeric and string Numeric type variable must start with N_ and string type variable must start with S_ Variable...

Страница 174: ...IDLE S_LABEL RUNNING S_LABEL RUNNING LISTVAR N_name Numeric Data 1 DEPTH 10 02 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 0 10 0 S_name String Data 1 LABEL RUNNING 2 3 4 5 6 7 8 9 10 Create user defined numeric va...

Страница 175: ...programs Memo If the CON input is assigned to the I O connector and or the CANopen is active the CURRENT command is available only when all active CON inputs are ON If the CON input is not assigned to...

Страница 176: ...red to complete the original commanded motion profile There are several other ways to change speeds while moving If moving continuously by MCP set new VR and execute MCP again If moving continuously b...

Страница 177: ...READ only in Sequences See Also DINxxx DINALARM DSIGxxx DSIGALARM Description DALARM command enables the use of the ALARM signal input on the driver connector of the CM10 SCX10 If this function is act...

Страница 178: ...OUTxxx DOUTM0 DOUTM1 DOUTM2 DSIGxxx DSIGM0 DSIGM1 DSIGM2 Description This is a parameter to set the driver operation data such as the push motion operation current torque limiting value etc Assign the...

Страница 179: ...vered If the sequence is locked it cannot be deleted Use the UNLOCK command to unlock the sequence before deleting Sequences cannot be deleted while any sequence is running Note To delete all sequence...

Страница 180: ...alue at device power up If no new parameter value was saved then the value is set to the factory setting Commands not Allowed RUN See Also CLEARALL CLEARSEQ CLEARVAR N_xxx S_xxx CREATEVAR Description...

Страница 181: ...3 0 4 0 5 0 6 0 7 0 8 0 9 0 10 0 S_name String Data 1 LABEL OM USA 2 3 4 5 6 7 8 9 10 SAVEPRM EEPROM has been written 17 times Enter Y to proceed other key to cancel y Saving Parameters OK N_LOOPS is...

Страница 182: ...he selected signal becomes the system END signal status and used for the MEND command END output and mechanical home seeking See 8 8 END motion of end Signal on page 76 Memo The internal end signal is...

Страница 183: ...bution to DIN If Active DIN7 64 DIN6 32 DIN5 16 DIN4 8 DIN3 4 DIN2 2 DIN1 1 For example if the driver general input 2 2 driver general input 3 4 and driver general input 4 8 are active while all other...

Страница 184: ...active signals For example if the ALARM 1 and TIMS 4 signals are active while all other signals are not active DINSG 5 is set 1 4 5 When inputting DIN DIN 5 is replied When checking the status of a si...

Страница 185: ...e of general purpose input x on the driver connector of the CM10 SCX10 If the input on the driver connector has been assigned to a system input signal such as ALARM input then it is no longer a genera...

Страница 186: ...to the factory setting Command Signal Description Factory Setting n Range n See Also DINALARM ALARM Alarm 1 0 1 CM10 1 2 3 4 5 0 to 5 SCX10 DALARM DINEND END Motion End 0 CM10 2 2 SCX10 3 CM10 1 3 4 5...

Страница 187: ...ten 2 times Enter Y to proceed other key to cancel Y Saving Parameters OK RESET Resetting system CM10 Controller Module Software Version Copyright 2010 ORIENTAL MOTOR CO LTD DINALARM DINALARM 0 0 Unas...

Страница 188: ...tor of the CM10 SCX10 and assigned system input output signals on the driver connector of the CM10 SCX10 For TIMD EXTZ the status of the signal selected by the ENC command 0 External encoder ZSG 1 Tim...

Страница 189: ...et is not given lists information for all sequences with summary Command Description DIR List the entire sequence directory Name TextSize Locked 1 Master 940 2 ReSync 93 3 FastReturn 32 Total 3 Execut...

Страница 190: ...Access READ and WRITE READ only in Sequences See Also DIS MA MCP MCN MGHP MGHN MI EHOME Description Inverts the direction of motor rotation When using a gearhead the direction of the gearhead output...

Страница 191: ...value is set to the factory setting Access READ and WRITE See Also MI MAXPOS TA TD VS VR CV DIRINV DPR MA Description Determines the distance to be moved for the MI move incremental command The sign...

Страница 192: ...determines the direction of motion Linked motions can only be run in one direction all linked must have the same effective direction of travel Command Description Example UU in UU in VR1 5 VR1 5 in se...

Страница 193: ...tput 2 2 driver general output 3 4 and driver general output 4 8 become active regardless of the present output status To check or control the status of a single general output use the DOUTx command T...

Страница 194: ...ignals For example if the CON 1 and CS 8 signals are active while all other signals are not active DOUTSG 9 is set 1 8 9 When inputting DOUTSG DOUTSG 9 is replied When checking the status of a single...

Страница 195: ...f the CM10 SCX10 Memo Even the output signal assigned the system output signal can become active 1 as the general driver output status using the DOUTx command For example even when the OUT1 of the dri...

Страница 196: ...CL DCL Driver Alarm Clear Deviation Counter Clear 0 CM10 2 2 CM10 1 3 4 5 3 SCX10 0 CM10 2 0 2 CM10 1 3 4 5 0 to 8 SCX10 ALMCLR PECLR DOUTCK CK Position Data Transmission Clock 0 CM10 1 2 4 SCX10 2 CM...

Страница 197: ...M10 1 2 4 SCX10 3 CM10 3 5 0 CM10 2 4 0 3 CM10 1 3 5 0 to 8 SCX10 ABSREQ ABSREQPC ABSPLSEN DOUTTL TL Torque Limiting Push motion Operation Current Cutback Release 0 CM10 1 2 3 4 4 CM10 5 7 SCX10 0 CM1...

Страница 198: ...fects the minimum and maximum numeric range of many variables In particular it effects position range limit MAXPOS velocity range limit MAXVEL Note If DPR is changed MAXPOS maximum position position r...

Страница 199: ...l y Saving Parameters OK RESET Resetting system CM10 Controller Module Software Version Copyright 2010 ORIENTAL MOTOR CO LTD MAXPOS MAXPOS 500000 500000 mm MAXVEL MAXVEL 24800 24800 mm sec Set the use...

Страница 200: ...hen it is ON operation pulse generation is started immediately When it is OFF operation will be started after turning ON If it is not turned ON after three seconds an alarm will generate 6Fh driver co...

Страница 201: ...Motor Moving CM10 1 3 5 SCX10 DSIGREADY READY Operation Ready CM10 1 5 SCX10 DREADY DSIGTIMDEXTZ TIMD Timing Signal Z phase Pulse Differential Input CM10 1 2 3 4 5 SCX10 TIM ENC DSIGTIMS TIMS Timing...

Страница 202: ...Command Reference 202 Command Description Example 1 CURRENT 1 2 WHILE DSIGREADY 1 WEND 3 EHOME 4 MEND Motor current ON Wait for driver READY signal ON Move to position zero Wait for motion to complet...

Страница 203: ...er created from the A and B signals in the encoder The EC is converted into user unit and used as the PF feedback position value EC get changed when PF is changed Changing PC also affects EC since PF...

Страница 204: ...ort The ECHO command is useful when the device is used with an operator interface OIT or HMI or a Host Controller where the echoing repeating of the entered characters is not necessary The ECHO comman...

Страница 205: ...ram using the UNLOCK command The ESCAPE character can also be used to quit the sequence editor Editor Command Description I x Insert line s before line x end of sequence if no x A x y Alter line s x o...

Страница 206: ...sition Software position limit checking does not start until a valid home position has been established If limit sensors and a home input are used this can be done with mechanical home seeking using M...

Страница 207: ...te operation if the preceding conditional IF statement is not true Command Description Example LIST 5 1 IF IN1 1 2 VR 2 3 MA 0 4 ELSE 5 MGHN 6 ENDIF List sequence 5 If input 1 is ON then do line 2 Run...

Страница 208: ...hen using the utility software and always indicates the PF value If ENC 1 or 2 even though an encoder is not connected the PF can be nonzero when PC is intentionally changed While the A and B signals...

Страница 209: ...proceed other key to cancel y Saving Parameters OK RESET Resetting system CM10 Controller Module Software Version Copyright 2010 ORIENTAL MOTOR CO LTD ENC ENC 1 1 Driver Driver Changing the ENC Devic...

Страница 210: ...ment will cause an error when attempting to save the sequence END is provided for compatibility with other Oriental Motor products Its use is strictly optional a sequence does not need an END as its l...

Страница 211: ...d status only references the end of pulse generation If n is set to nonzero the internal end status references both the end of pulse generation and the end area Set ENDACT to the END range that is all...

Страница 212: ...letion of innermost conditional IF statement Command Description Example LIST 5 1 IF IN1 1 2 MCP 3 ELSE 4 MCN 5 ENDIF 6 END List sequence 5 If input 1 is ON then do line 2 Move continuously positive d...

Страница 213: ...scription Terminates the innermost LOOP block Command Description Example LIST 5 1 DIS 1 2 LOOP 5 3 MI 4 MEND 5 WAIT 1 0 6 ENDL List sequence 5 Distance equals 1 user unit Loop the following 5 times D...

Страница 214: ...l home seeking operation or a motion with MEND command used in the sequence is executing If the END status does not establish within the time that is set by ENDWAIT an alarm is generated according to...

Страница 215: ...command the pre change and post change values of MAXPOS are displayed Position parameters DIS DISx OFFSET SCHGPOS LIMP LIMN ENDACT are automatically checked whether or not to be within the MAXPOS max...

Страница 216: ...sing both event channels 1 and 2 The setting of the event is not released when the operation has completed and it is continued until being cleared To clear the event input EVx 0 Even if the event has...

Страница 217: ...0 is used When the state of the FREE function is set to 1 the motor current will be turned OFF and the electromagnetic brake will be released The FREE input of the connected driver is turned ON If the...

Страница 218: ...uction in distance and velocity Electronic gearing can also be used when the distance per revolution is less than 0 5 or when the exact ratio cannot be specified in three decimal places e g if the dis...

Страница 219: ...ng system CM10 Controller Module Software Version Copyright 2010 ORIENTAL MOTOR CO LTD DPR DPR 10 10 mm Position range 500000 500000 Velocity range 0 001 8266 666 8266 666 Minimum Movable Distance 0 0...

Страница 220: ...ing to MSTOPACT SSTOP Stop decelerating soft stop SCHGPOS Distance from SENSOR on MCx 0 MAXPOS UU SCHGVR Velocity on SCHGPOS motion 0 001 MAXVEL UU sec Enter SPACE to continue other key to quit SPACE...

Страница 221: ...e HOMEDCL to 1 The deviation counter in the driver is cleared to perform an immediate stop and that causes accurate homing If the products is used and the HOMETYP is set so that the timing signal is u...

Страница 222: ...s Mechanical home seeking reacts to various inputs differently depending on HOMETYP and according to the following table Home Position Indicator Signals HOMETYP HOME LS LS SENSOR TIMING 0 1 Required f...

Страница 223: ...m The HSTOP command operates independently of the motor stop action setting MSTOPACT Caution The HSTOP command will attempt to cause the motor to stop rotating immediately Use caution when stopping a...

Страница 224: ...e has been selected it remains selected The device changes its command line prompt to show its ID If a device with ID A is selected the prompt changes from to A All commands will be processed by that...

Страница 225: ...t by a corresponding ENDIF statement forming an IF block An ELSE statement may appear within the IF block When executed the conditional expression is evaluated If it evaluates to TRUE sequence process...

Страница 226: ...set 2 4 8 14 When inputting IN IN 14 is replied To check the status of a single general input use the INx command If an input is assigned to a system input signal HOME LSN LSP etc the IN command will...

Страница 227: ...ental links motion direction is determined by the arithmetic sign of DIS For absolute links motion direction is determined by the motor position at the start of that motion link Generally absolute lin...

Страница 228: ...ed the INITDIO command Caution The INITDIO command writes to EEPROM The EEPROM has a nominal expected lifetime of 100 000 write cycles The INITDIO command should not be used automatically i e by a hos...

Страница 229: ...reset for general purpose use If the command is executed accidentally RESET without SAVEPRM The old I O assignments remain effective until SAVEPRM and RESET execute INITIO does not change any signal...

Страница 230: ...ew settings SAVEPRM EEPROM has been written 21 times Enter Y to proceed other key to cancel y Saving Parameters OK RESET Resetting system CM10 Controller Module Software Version Copyright 2010 ORIENTA...

Страница 231: ...f 100 000 write cycles The INITPRM command should not be used automatically i e by a host controller if it could possibly execute at high frequency The number of times for accumulated write cycles is...

Страница 232: ...utputs are reset for general purpose use If the command is executed accidentally RESET without SAVEPRM The old I O assignments remain effective until SAVEPRM and RESET execute Caution The INITRIO comm...

Страница 233: ...Bit 13 FREE 8196 Bit 12 CON 4096 Bit 11 ALMCLR 2048 Bit 10 Bit 9 PAUSECL 512 Bit 8 PAUSE 256 Bit 7 SENSOR 128 Bit 6 HOME 64 Bit 5 LSN 32 Bit 4 LSP 16 Bit 3 MSTOP 8 Bit 2 PSTOP 4 Bit 1 ABORT 2 Bit 0 S...

Страница 234: ...ts will always return 0 Not Active Use the SIGxxx command to check the status of the individual system input signal Command Description Example LIST JOG 1 TA 0 1 TD 0 1 VS 0 VR 5 2 LOOP 3 IF IN1 1 4 M...

Страница 235: ...hen executing the INITIO command the parameter restores to the factory setting Command Signal Description See Also INABORT ABORT Abort Motion and Sequence Execution ABORT ESC INALMCLR ALMCLR Alarm Cle...

Страница 236: ...times Enter Y to proceed other key to cancel Y Saving Parameters OK RESET Resetting system CM10 Controller Module Software Version Copyright 2010 ORIENTAL MOTOR CO LTD INABORT INABORT 2 2 Assign the...

Страница 237: ...alue of IN This value is shown in the I O response under SEQ and is the number of the sequence that would start if a START signal became active in this I O state In the example below input 1 and input...

Страница 238: ...and KBQ are provided to enable interactive sequence operation when connected with a host computer PLC touch panel etc via the serial port Along with normal variable display responses which include ex...

Страница 239: ...BQ are provided to enable interactive sequence operation when connected with a host computer PLC touch panel etc via the serial port Along with normal variable display responses which include extra ch...

Страница 240: ...ollowing chart Continuous Motion MCN MCP Index Motion MI Absolute Motion MA Homing Motion MGHN MGHP EHOME Software limit action Motion stops when exceeding software limits Motion does not start if tar...

Страница 241: ...D LIMP LIMP 10 10 Rev LIMN LIMN 10 10 Rev SLACT SLACT 1 1 ALMMSG 2 ALMMSG 2 Alarm Warning MGHP SIGHOMEP SIGHOMEP 1 MCP Over travel software position limit detected PC PC 10 001 Rev Set positive motion...

Страница 242: ...the motion segment defined by DISx and VRx will terminate If LINKx 1 the motion segment defined by DISx and VRx will not terminate motion will proceed to motion segment x 1 Command Description Exampl...

Страница 243: ...See Also DIR EDIT Description LIST lists the contents of a stored sequence If startline and endline are not specified the entire sequence is listed If startline is specified output starts with line s...

Страница 244: ...Description Example LISTVAR N_name Numeric Data 1 PRICE 0 2 QUANTITY 0 3 LOT 32 4 SERIAL 4583274 5 SIZE 0 6 LENGTH 106 7 WIDTH 60 8 WEIGHT 0 95 9 0 10 0 S_name String Data 1 NAME IIM 2 STATUS Same da...

Страница 245: ...nce directory listing DIR command shows the lock status for all sequences Caution A locked sequence will be cleared by CLEARSEQ or CLEARALL the lock status offers no protection for these operations Co...

Страница 246: ...L command a return RET an alarm condition etc Loop count n is optional If n is not given the block may execute forever n may be a positive constant or any variable which a sequence can read If the var...

Страница 247: ...ective distance is very short the system could cover too much distance accelerating to velocity VR over time TA The system monitors for these conditions and starts decelerating early if necessary Unde...

Страница 248: ...Position 5 18 MA 1 0 19 MEND 20 SAS End Session Go to next 21 WAIT 2 22 ENDL RUN MOVEABS Position 1 Position 2 Position 3 Position 4 Position 5 End Session Go to next Position 1 Position 2 Position 3...

Страница 249: ...nd Description Example MAXEC MAXEC 500000000 500000000 MAXPOS MAXPOS 500000 500000 Rev ER 100 ER 1000 100 Position range 500000 500000 Velocity range 0 001 1240 1240 saveprm EEPROM has been written 14...

Страница 250: ...the position parameters DIS DISx OFFSET SCHGPOS LIMP LIMN ENDACT are automatically checked whether or not to be within the MAXPOS maximum position and if they are outside the range the warning messag...

Страница 251: ...e will be sent Note that the velocity parameters in the sequence program will not be checked The new values will become effective after executing save and reset Formula of MAXVEL is as follows MAXVEL...

Страница 252: ...c brake during a driver alarm condition If the MBFREEACT is set to 0 a driver alarm does not affect the MBFREE outputs both on the driver connector of the CM10 SCX10 and I O connector If the MBFREEACT...

Страница 253: ...error message if attempted at the command prompt and an alarm alarm code A0h if attempted in a sequence MCP and MCN cannot be used while other motions are in progress e g MI MA EHOME or while current...

Страница 254: ...1 WEND 16 ELSE 17 SSTOP 18 SAS Reached endpoint End Process 19 RET 20 ENDIF 21 ENDIF 22 ENDL RUN VCHANGE Increase speed by 1 rev sec Increase speed by 1 rev sec Increase speed by 1 rev sec Decrease s...

Страница 255: ...is complete before proceeding to another motion MEND refers to the system END signal at the end of each motion An alarm condition alarm code 6Fh occurs if the END signal is not found Command Descript...

Страница 256: ...elocity VR and acceleration and deceleration times TA and TD at the time the process starts If the home process completes successfully the position command PC is set to zero 0 and system output signal...

Страница 257: ...GHOMEP SIGHOMEP 1 PC PC 0 mm Check HOME input configuration Set start velocity VS to 1 mm second Set run velocity VR to 20 mm second Use HOME LSP LSN Start seeking home positive direction Check MOVE s...

Страница 258: ...ystem is careful to preserve the actual motion distance and the effective acceleration and deceleration rates MI is not accepted while the motor is moving current is off or while the system has an act...

Страница 259: ...if speed is decreasing towards zero Some combinations of distance speeds and acceleration and deceleration times are not feasible For instance if VRx is very high and TA and TD are very long but the e...

Страница 260: ...5 user units second Device response Set the distance for linked move 1 to 10 user units Device response Set the move type for linked motion 1 to incremental Device response Enable the linked operatio...

Страница 261: ...ecked whether or not to be within the MAXPOS maximum position and MAXVEL maximum velocity respectively and if they are outside the range the warning message will be sent Note that the position velocit...

Страница 262: ...nce assignment of the I O signal input is used to stop the motion all of the stop action can be changed at a time using MSTOPACT MSTOP command or input can be used with MSTOPACT in a multi axis settin...

Страница 263: ...r stop input and the MSTOP command If MSTOPACT 0 the MSTOP input and command stop the motor as quickly as possible hard stop MSTOP behaves exactly the same as HSTOP If MSTOPACT 1 the MSTOP input and c...

Страница 264: ...lear Using user defined variables in a sequence is slightly slower than using general purpose variable A to Z because the system requires extra time to search for the variable by name before accessing...

Страница 265: ...e HOMEP output to become active if configured The OFFSET motion has start velocity VS running velocity VR and acceleration and deceleration times TA and TD The factory setting of OFFSET is zero 0 the...

Страница 266: ...action is exactly the same as SSTOP Action after stop alarm or no alarm current on or off is controlled by ALMACT Caution Use caution when using the Soft Stop option The additional distance traveled...

Страница 267: ...alue always indicates the internal status of the all general output signals OUT1 to OUT4 For the output signal assigned the system output signal HOMEP ALARM END etc the OUT command recognizes the sign...

Страница 268: ...sum of the contribution of all active signals For example if the END 4 and MBFREE 128 signals are active while all other signals are not active OUTSG 132 is set 4 128 132 When inputting OUTSG OUTSG 13...

Страница 269: ...ing the character displayed next to the signal name in the OUTTEST output Toggling an output changes its state as displayed and changes the electrical state of the associated output port Toggle keystr...

Страница 270: ...ome active 1 as the general output status using the OUTx command For example even when the OUT1 of the I O connector is assigned to ALARM OUT1 1 can be commanded However the actual output terminal of...

Страница 271: ...t assignment is released by OUTxxx 0 and it becomes the general output OUTn When executing the INITIO command the parameter restores to the factory setting Command Signal Description See Also OUTALARM...

Страница 272: ...the ABSREQ command or the ABSREQPC command first and then execute PABS command after confirming that the ABSDATA output has become 1 ON via the remote I O of CANopen PABS can be referred to if the AB...

Страница 273: ...PAUSECLR command to clear the remaining motion and not restarting the motion The system remains in a paused state until motion is continued see CONT or the state is explicitly cleared with a PAUSECL i...

Страница 274: ...SE does not stop the sequence The PAUSECLR function may also be executed via the PAUSECL input on the I O connector and or the CANopen remote I O if assigned When detailed explanation is required see...

Страница 275: ...In normal operations PC is updated by the internal motion profiler If current is off PC is continuously set to actual position PF to maintain zero position error while the system is freewheeling PC i...

Страница 276: ...PCI is undefined immediately after a mechanical home seeking operation completes MGHP MGHN Command Description Example LIST AREAOUT2 1 DIS 100 VR 10 2 MI 3 SAS Motion started 4 WHILE PCI 30 5 WEND 6 S...

Страница 277: ...d for position confirmation referenced by the ENDACT command and or a user program When using a stepping motor with an encoder the status for loss of synchronism can be checked by monitoring PE See 8...

Страница 278: ...cted When using a stepping motor with an encoder once the PECLR command is executed in a condition that no external turning force is applied to the motor shaft the accurate deviation between the stato...

Страница 279: ...ror PE and used for position confirmation referenced by the ENDACT command and or a user program PF get changed when PC is changed For example if PC 0 and PF 0 001 with some constant load setting PC 1...

Страница 280: ...the start of motion PFI is undefined immediately after a mechanical home seeking operation completes MGHP MGHN See also PF Command Description Example LIST AREAOUT4 1 DIS 100 VR 10 2 MI 3 SAS Motion s...

Страница 281: ...new parameter value was saved then the value is set to the factory setting Access READ and WRITE See Also PULSE Description Invert the pulse output logic Command Description Example PLSINV 0 PLSINV 0...

Страница 282: ...rguments to the MA Move Absolute command e g MA POS 7 will start an absolute motion to the position stored in POS 7 POS x data may be entered directly if known or positions can be interactively found...

Страница 283: ...be set to 0 zero and this position will be the electrical home When the driver does not have a PRESET input PC is set to zero and this position will be the electrical home Caution With the ESMC contr...

Страница 284: ...cts immediately The PSTOP function may also be executed via the PSTOP input on the I O connector and or the CANopen remote I O if assigned When detailed explanation is required see 6 4 Connecting the...

Страница 285: ...Description Set the pulse output mode Check the pulse input mode of the driver and set the driver and the CM10 SCX10 to the same pulse input mode 1 pulse mode Pulse CW CW CCW CCW ON OFF ON OFF Directi...

Страница 286: ...e which was created by number only and has no name target cannot be renamed if it is locked Change the name after releasing the lock of the sequence program using the UNLOCK command Command Descriptio...

Страница 287: ...ORT IN1 0 IN2 0 IN3 0 IN4 0 IN5 0 IN6 0 IN7 0 IN8 0 ABORT 0 START 0 MCP 0 MCN 0 MGHN 0 CON 0 FREE 0 OUT1 0 OUT2 0 OUT3 0 OUT4 0 OUT5 0 OUT6 0 END 0 MOVE 0 HOMEP 0 LC 0 READY 0 DRIVER I O REPORT ALM NC...

Страница 288: ...clear prior to the banner depending on emulation mode 9 If current is enabled and the MBFREE output is configured the MBFREE output is set to its closed 10 Inputs are read and appropriate actions take...

Страница 289: ...ll sequence processing use ABORT All sequences automatically return when all statements have been processed a RET is not required at the end of sequences but may be used if desired Command Description...

Страница 290: ...N 14 is set 2 4 8 14 When inputting RIN RIN 14 is replied To check the status of a single remote general input use the RINx command If remote input is assigned to a system input signal HOME LSP LSN et...

Страница 291: ...nitor immediate mode only Access READ See Also RIN RIO ROUT ROUTSG ROUTx REPORT Description RINx returns the state of the remote general purpose input x If the input has been assigned to a system inpu...

Страница 292: ...so RINALMCLR ALMCLR Alarm Clear ALMCLR RINCONT CONT Continue Motion PAUSE PAUSECLR RINHOME HOME Home Sensor HOMETYP MGHP MGHN RINLSP RINLSN LSP LSN Limit Switch Positive Limit Switch Negative ALM ALMA...

Страница 293: ...t or output signal the signal state is shown A START input can start a sequence determined by the binary value of IN This value is shown in the I O response under SEQ and is the number of the sequence...

Страница 294: ...o check or control the status of a single remote general output use the ROUTx command The ROUT value always indicates the internal status of the all remote general output signals ROUT1 to ROUT8 For th...

Страница 295: ...For example even when the ROUT1 is assigned to PSTS ROUT1 1 can be commanded However the PSTS signal will not become active Note that the ROUT remote general output control value becomes 1 at this ti...

Страница 296: ...mote system signal output assignment is released by ROUTxxx 0 and it becomes the remote general output ROUTn When executing the INITRIO command the parameter restores to the factory setting Command Si...

Страница 297: ...started if the system has an active alarm condition Control returns to the command prompt and sequence execution continues in the background until complete or aborted Sequences abort automatically if...

Страница 298: ...ithin sequences the VIEW command can be used to display string contents without entering repeated carriage returns linefeeds or by reprompting Command Description Example CREATEVAR S_QUAD NEW variable...

Страница 299: ...followed by a Line Feed use M J SAS Send ASCII String automatically appends a Carriage Return Linefeed pair and may be easier to use in some applications There are several exceptions and extensions to...

Страница 300: ...t follow an SAS command on the same line they will be considered part of the ASCII string Memo In a daisy chain configuration ID other than all output from sequence commands is suppressed unless the d...

Страница 301: ...the operation Many parameters do not become effective until they are saved and the system is restarted These parameters will have a SAVEPRM RESET entry in this chapter and the system displays their va...

Страница 302: ...ter aborts the operation Caution The SAVEPOS command writes to EEPROM The EEPROM has a nominal expected lifetime of 100 000 write cycles The SAVEPOS command should not be used automatically i e by a h...

Страница 303: ...and the future value displayed second will only become effective if the parameter is saved and the system restarted Caution The SAVEPRM command writes to EEPROM The EEPROM has a nominal expected life...

Страница 304: ...distance used for SENSOR offset operation SENSOR offset operation allows the system to stop a continuous motion MCP MCN a specified distance after a SENSOR input is detected The system will change sp...

Страница 305: ...city used for SENSOR offset operation SENSOR offset operation allows the system to stop a continuous motion MCP MCN a specified distance after a SENSOR input is detected The system will change speed t...

Страница 306: ...p action is exactly the same as HSTOP If SENSORACT 1 the system will stop the motor by a controlled deceleration over time soft stop Stop action is exactly the same as SSTOP If SENSORACT 2 the system...

Страница 307: ...REE SIGHOME HOME Home Sensor HOMETYP MGHP MGHN EHOME RINHOME SIGCONT CONT Continue Motion PAUSE PAUSECLR SIGLSP SIGLSN LSP LSN Limit Switch Positive Limit Switch Negative OTLV OTACT HOMETYP MGHP MGHN...

Страница 308: ...T be elapsed time End of WHILE block Display T time between SIGMOVE 0 and SIGEND 0 Set Run velocity and Deceleration time maybe aggressive Run sequence SETTLETIME System took 27 milliseconds to settl...

Страница 309: ...ay disable motor current depending on the value of ALMACT Stop action soft stop or hard stop is defined by OTACT Software limit checking is disabled while a homing operation is in process MGHP MGHN EH...

Страница 310: ...TAL MOTOR CO LTD MGHP SIGHOMEP SIGHOMEP 1 MCP Over travel software position limit detected PC PC 10 001 Rev Positive position limit 10 rev Negative position limit 10 rev Enable position limit checking...

Страница 311: ...d does not stop a sequence program though the motor stops even in the sequence Command Description Example TD 1 0 TD 1 0 VS 2 VS 2 mm sec VR 4 VR 4 mm sec MCP SSTOP DIS 10 DIS 10 mm MI SSTOP Set the d...

Страница 312: ...ESC ABORT xxxLV STARTLV Description STARTACT determines the action associated with the dedicated START input STARTACT 0 START can be configured only to start sequences only If START input is turned O...

Страница 313: ...READ and WRITE READ only in Sequences See Also DOUTxxx DOUTCS DSIGxxx DSIGCS Description The STRDCS sets the CS output level of the driver connector on the CM10 SCX10 at system power on This is to sel...

Страница 314: ...he motor freewheels Motor current must be explicitly enabled by setting CURRENT to 1 to develop holding torque and permit motions If STRSW 1 the system supplies current to the motor after a successful...

Страница 315: ...ly negative MGHP and MGHN move go home positive and move go home negative EHOME return to PC 0 TA also affects the time required to change speeds when speeds are increasing in an absolute sense for th...

Страница 316: ...That device can then be uniquely addressed and programmed If the device ID is anything other than the default ID communication with the device requires using the or TALK commands to establish communi...

Страница 317: ...negative EHOME return to PC 0 SSTOP soft stop MSTOP motor stop if MSTOPACT 1 ABORT abort motion and sequence execution ESC ESCAPE character equivalent to ABORT TD also affects the time required to cha...

Страница 318: ...ternally positioned after toggling the motor current off and power to the electromagnetic brake on if used The POS x array data can be used as the target destination for absolute motions MA In sequenc...

Страница 319: ...parameter TIMING Source Selection TIMING Source ENC TIM Timing signal Z phase pulse differential input TIMD 1 Driver 0 TIMD EXTZ Timing signal Z phase pulse single ended input TIMS Unrelated 1 TIMS E...

Страница 320: ...et to zero 0 000 at system start and counts up from that time with millisecond resolution TIMER overflows at 500 000 seconds about 5 8 days and is restarted from zero TIMER can be set to any value wit...

Страница 321: ...driver needs to have the current cut back release input Also it is required to assign the each following signals to the driver connector on the CM10 SCX10 Torque limiting TL M0 M1 Push motion operatio...

Страница 322: ...nsmit the trace information Sequences execute slower when TRACE 1 Command Description Example LIST TOGGLEATVR 1 LOOP 3 2 MI 3 WHILE VC VR WEND 4 OUT4 1 OUT4 5 MEND 6 ENDL TRACE 1 RUN TOGGLEATVR LOOP 3...

Страница 323: ...been previously locked with the LOCK command A locked sequence cannot be deleted renamed or overwritten by COPY or EDIT The sequence directory listing DIR command shows the lock status for all sequenc...

Страница 324: ...r the CM10 SCX10 is changed the baud rate must also be changed on the other Always set the CM10 SCX10 baud rate first then set the baud rate of the computer Check the baud rate of the computer applica...

Страница 325: ...ith DPR travel distance per one motor revolution and MR motor resolution the position and velocity can be set in units such as mm inch or degree which users actually use Position related values are di...

Страница 326: ...or set point The sign reflects the motion direction VC reflects the velocity that the system is supposed to be running at The actual shaft velocity may vary from VC Command Description Example 1 DIS...

Страница 327: ...Execution Mode Immediate Syntax VER Description VER displays the system s firmware version information Command Description Example VER CM10 1 2 02 Sep 6 2011 Display the firmware version Typical resp...

Страница 328: ...1 is preferred for human communications When VERBOSE 0 the extra information is suppressed Fewer characters are transmitted reducing the amount of time required to communicate and reducing the amount...

Страница 329: ...ghter control of the response Memo In a daisy chain configuration ID other than all output from sequence commands is suppressed unless the device has been previously addressed via TALK or The KB and K...

Страница 330: ...rection is set by the travel distance DIS for incremental motion and it is set by the position relation between the starting position and target position MA for absolute motion For continuous operatio...

Страница 331: ...nd VRx is always positive the direction for the motion segment is determined by DISx travel distance target position parameter Memo The minimum output frequency on the CM10 SCX10 is 1 Hz If the runnin...

Страница 332: ...ns start with velocity VS and then accelerate to VR over acceleration time TA All motions decelerate from VR to VS over deceleration time TD then stop When a motion is started speed changes between ze...

Страница 333: ...T TENTIMES 1 MA 0 2 MEND 3 OUT4 1 4 WAIT 3 0 5 OUT4 0 6 LOOP 10 7 DIS 0 1 8 MI 9 MEND 10 OUT4 1 11 WAIT Q 12 OUT4 0 13 ENDL Q 0 5 Q 0 5 RUN TENTIMES List sequence TENTIMES Start absolute motion to pos...

Страница 334: ...EATEVAR N_COUNTS 0 New variable N_COUNTS is added N_COUNTS 0 CREATEVAR N_TOTAL 10 New variable N_TOTAL is added N_TOTAL 10 LIST MAIN 1 OUT 4 2 WHILE N_COUNTS N_TOTAL 3 MI MEND 4 OUT4 1 5 WHILE IN6 0 W...

Страница 335: ...conditional operators are Equal to Not equal to Less than Less than or equal to Greater than Greater than or equal to WHILE statements must be followed at some point by a corresponding WEND statement...

Страница 336: ...as been assigned to a system input signal then INxLV has no affect the active level assigned to the signal is used Input Command Signal Description See Also ABORTLV ABORT Abort Motion and Sequence Exe...

Страница 337: ...LCLV LC Limiting Condition LC MOVELV MOVE Motor Moving PSTSLV PSTS Pause Status READYLV READY Operation Ready RUNLV RUN Sequence Running Command Description Example ABORTLV 1 ABORTLV 0 1 SAVEPRM EEPRO...

Страница 338: ...occurs determine and correct the cause of the alarm before attempting to restore normal operation Some alarms can be cleared with the ALMCLR command others require resetting the system or cycling inpu...

Страница 339: ...Conditions Before clearing alarm conditions always correct the cause of the alarm To clear an alarm condition perform one of the following Enter an ALMCLR command for alarm conditions that ALMCLR can...

Страница 340: ...was in process Make sure that PC is only changed when motor is stopped 9Eh User variable reference error Attempt to access a non existing user defined variable Make sure the target user defined variab...

Страница 341: ...see HOMETYP requires a valid SENSOR input and or a valid TIM position while HOME input active Make sure HOME and other required input s can be active at the same location 6Ah LS detected during home o...

Страница 342: ...ck the logic setting for limit sensors OTLV Normally open N O or Normally closed N C Motion and sequence execution stop Motor may or may not have holding torque depending on ALMACT 67h 7 Clears alarm...

Страница 343: ...any use and contact your nearest office During Inspection Are any of the device mounting screws loose Is there any peeling of the tape fastener located between the device and the driver Are there any...

Страница 344: ...operation Driver deviation counter Protective functions Pulse Output 1 pulse 2 pulse mode Line driver output line receiver input photo coupler input compatible Driver Interface I O Snap on connection...

Страница 345: ...sive gas dust water or oil Ambient temperature 25 to 70 C 13 to 158 F non freezing Humidity 85 or less non condensing Altitude Up to 3000 m 10000 ft above sea level Storage Environment Surrounding atm...

Страница 346: ...5 0 73 max 5 0 20 0 5 0 02 max 56 2 20 38 6 1 52 32 1 26 15 4 0 61 1 0 04 max 22 0 87 87 3 43 2 M2 6 8 LEADS ENCODER CM10 2 56 2 20 38 6 1 52 2 M2 6 0 5 0 02 max 46 1 81 1 0 04 max 8 LEADS ENCODER 22...

Страница 347: ...3 3 63 38 6 1 52 56 2 20 17 0 67 4 0 16 160 6 30 160 6 30 87 3 43 27 1 06 125 4 92 ARD A C S CM10 1 2x 4 40UNC CM10 1 with NXD20 A C driver 4 0 16 17 2 0 68 5 0 20 32 1 26 160 6 30 104 4 4 11 175 5 6...

Страница 348: ...0 16 60 2 36 95 8 3 77 5 0 20 32 1 26 9 7 0 38 14 2 0 56 CM10 1 ARD K 38 6 1 52 52 3 2 06 34 8 1 37 2x 4 40UNC CM10 2 with RBD215A K RBD228A K RBD242A V RBD245A V driver 5 0 20 18 5 0 73 max 32 1 26 2...

Страница 349: ...8 6 1 52 56 2 20 46 1 81 18 0 71 5 0 20 150 5 91 156 5 6 16 87 3 43 3 5 0 14 122 4 80 ESMC A2 C2 CM10 3 2x 4 40UNC CM10 3 with ESMC K2 controller 5 0 20 18 5 0 73 max 32 1 26 62 2 44 46 1 81 38 6 1 52...

Страница 350: ...4 40UNC 86 5 3 41 155 2 6 11 150 5 91 56 2 20 38 6 1 52 62 7 2 47 5 0 20 17 7 0 70 32 1 26 65 2 2 57 87 3 43 18 5 0 73 max 4 4 0 17 45 1 77 120 4 72 ASD A C S CM10 5 with NX75 S driver 32 1 26 87 4 3...

Страница 351: ...iting condition input Position data bit 0 input IN5 TIM2 AL2 ZSG2 NEAR AL2 P OUT1 19 TIMS P1 TIM2 AL2 ZSG2 NEAR AL2 P OUT1 20 TIMS P1 Timing signal Z phase pulse single ended input Position data bit 1...

Страница 352: ...T1 IN COM 5 OUT COM Output common CD output 6 LC Limiting condition input IN5 ALM output 7 ALARM Alarm input IN1 TIM output 8 TIMS Timing signal Z phase pulse single ended input IN6 PLS input 9 PLS CW...

Страница 353: ...clock output OUT2 FREE 9 FREE Current off magnetic brake free output OUT8 COFF 10 COFF Current off output OUT1 HMSTOP 11 HMSTOP Sensor less home seeking operation stop output OUT5 12 13 14 15 16 NC N...

Страница 354: ...round connecton ASG1 15 NC No connection GND 16 GND Ground connecton BSG2 17 BSG BSG2 18 BSG B phase pulse differential input ASG2 19 ASG ASG2 20 ASG A phase pulse differential input ACL 21 ACL DCL AC...

Страница 355: ...ition input Position data bit 0 input IN5 ZSG2 NEAR AL2 P OUT1 19 TIMS P1 ZSG2 NEAR AL2 P OUT1 20 TIMS P1 Timing signal Z phase pulse single ended input Position data bit 0 input IN6 GND 21 GND Ground...

Страница 356: ...er selects the source of system END status either driver end signal or the internal end signal The factory setting is DEND 1 the use of driver end signal Set DEND 0 to select this input if the driver...

Страница 357: ...e drivers current position reading function is executed This signal is used to input the P OUTR signal from the NX Series driver or the OUTR signal from the ESMC controller In normal operation this in...

Страница 358: ...t causes the signals become the driver general input IN4 IN5 and IN6 Using the DINx or DIN command you can check the alarm code They can also be used in a sequence The factory setting for the alarm co...

Страница 359: ...controlled using the system CON input signal on the system I O connector if assigned the CURRENT command and CANopen communication When even one of these method commands Current Off this signal will b...

Страница 360: ...nsor less home seeking operation It becomes effective when the mechanical home seeking operation mode homing type is set to HOMETYP 12 See 8 2 5 Mechanical Home Seeking in more detail HMSTOP sensor le...

Страница 361: ...LF LF CR Valid ASCII Data for Serial Communication Following are the values that can be entered from the terminal Any other value is not accepted unless it is specified for specific features Receivin...

Страница 362: ...Parameter value constant EOL Examples Condition Example Notes Parameter value is constant DIS 1 234 EOL DIS 1 234 EOL can be replaced with SP Parameter value is variable DIS A EOL is required Paramete...

Страница 363: ...n at which the SENSOR signal was set Set SENSORACT 2 SCHGPOS and SCHGVR with desired offset position and velocity Stopping motion or sequence while running on the fly by keyboard Press ESC key Verifyi...

Страница 364: ...y for next page Viewing varying parameter in real time Attach space forward slash after command Example PC Displaying sequence statements as they are executed in real time Set TRACE 1 Communication Us...

Страница 365: ...outine Write RET in the last of the sequence program to be used as the subroutine and call it using the CALL command from the main program Automatically asking operator or machine to provide and accep...

Страница 366: ...ve companies and are hereby acknowledged The third party products mentioned in this manual are recommended products and references to their names shall not be construed as any form of performance guar...

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