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User Manual - Oriental Motor

1. e CN1 Pin No Signal name Description 1 MB1 Electromagnetic brake Black 2 MB2 Electromagnetic brake White 3 24 VDC 48 VDC power supply 4 Power supply ground 5 5 FG Frame Ground e CN5 Pin No Signal name Description 1 LS Limit sensor input 1 2 LS Limit sensor input 3 HOMES Mechanical home sensor input 4 SLIT Slit sensor input 2 5 IN COM2 Sensor common input e CN8 Pin No Signal name Description 1 INO Control input 0 HOME 2 IN1 Control input 1 START 1 3 IN2 Control input 2 M0 4 IN3 Control input 3 M1 5 IN4 Control input 4 M2 Q 6 IN5 Control input 5 FREE 8 7 ING Control input 6 STOP 9 8 IN7 Control input 7 ALM RST 9 IN COM1 Input signal common Initial value e CNO Pin No Signal name Description 1 OUTO Control output 0 HOME P 2 OUT1 Control output 1 END 1 3 OUT2 Control output 2 AREA1 4 OUT3 Control output 3 READY 5 OUT4 Control output 4 WNG 7 6 OUT5 Control output 5 ALM 7 OUT COM Output signal common Initial value e Applicable lead wire AWG24 to 16 0 2 to 1 25 mm e Length of the insulation cover which can be peeled 7 mm 0 28 in e Applicable lead wire AWG26 to 20 0 14 to 0 5 mm e Length of the insulation cover which can be peeled 8 mm 0 371 in e Applicable lead wire AWG26 to 20 0 14 to 0 5 mm e Length of the insulation cover which can be peeled 8 mm 0 371
2. Indicates the timing for the data to become effective C Effective after executing the configuration e Setting range for IN input function selection 3 Parameter 0 Not used 8 MSO 18 STOP 35 R3 43 R11 51 M3 1 FWD 9 MS1 24 ALM RST 36 R4 44 R12 52 M4 2 RVS 10 MS2 25 P PRESET 37 R5 45 R13 53 M5 3 HOME 11 MS3 26 P CLR 38 R6 46 R14 4 START 12 MS4 27 HMI 39 R7 47 R15 5 SSTART 13 MS5 32 RO 40 R8 48 MO 6 JOG 16 FREE 33 R1 41 R9 49 M1 7 JOG 17 C ON 34 R2 42 R10 50 M2 e Setting range for OUT output function selection 0 Not used 10 MS2_R 35 R3 45 R13 61 LS_R 72 TIM 1 FWD_R 11 MS3_R 36 R4 46 R14 62 HOMES R_ 73 AREA1 2 RVS_R 12 MS4_R 37 R5 47 R15 63 SLIT_R 74 AREA2 3 HOME_R 13 MS5_R 38 R6 48 MO_R 65 ALM 75 AREA3 4 START_R 16 FREE_R 39 R7 49 M1R 66 WNG 80 S BSY 5 SSTART_R 17 C ON_R 40 R8 50 M2_R 67 READY 6 JOG_R 18 STOP_R 41 R9 51 M3_R 68 MOVE 7 JOG_R 32 RO 42 R10 52 M4_R 69 END 8 MSO_R 33 R1 43 R11 53 M5_R 70 HOME P 9 MS1_R 34 R2 44 R12 60 LS_R 71 TLC 3 Parameter 3 11 I O function RS 485 parameter Name Setting range Initial value Effective NET INO input function selection 48 MO NET IN1 input fu
3. ON OFF O OFF TIM output Motor operation rotation by 7 2 Motor output shaft When the resolution is set to 1000 P R The TIM output is a signal that is output for 50 times per revolution of the motor output shaft When the TIM output is used set the electronic gear parameters to be an integral multiple of 50 E S BSY output The S BSY output turns ON while internal processing of the driver is being executed In the following condition the driver will be in an internal processing status e Issuing maintenance commands via RS 485 communication E Response output The response output is the output signal that shows the ON OFF status corresponding to the input signals The following tables show the correspondence between the input signals and output signals Input signal Output signal Input signal Output signal Input signal Output signal FWD FWD_R MS2 MS2_R M2 M2_R RVS RVS_R MS3 MS3_R M3 M3_R HOME HOME_R MS4 MS4_R M4 M4_R START START_R MS5 MS5_R M5 M5_R SSTART SSTART_R FREE FREE_R LS LS_R JOG JOG_R C ON C ON_R LS LS_R JOG JOG_R STOP STOP_R HOMES HOMES _R MSO MSO_R MO MO_R SLIT SLIT_R MS1 MS1_R M1 M1_R The response output is the output signal to return the status of the input signal Therefore the output signals corresponding to the input signals for motor operation START_R output etc
4. 1 Click Print from the File menu MEXE02 Untitled1 File Edit Move View Communication Tool p New Ctrl N Open Ctr O Close Save Ctri S 0 Save As Save Wayetorm 1 Export 2 Page Setup 3 Print Preview us Exit is 2 Set the items you want to print print object and color and then click OK m Print Item s Operation Data Common Parameter em 1 0 Parameter 1 0 Function Motor Parameter 1 0 Function RS 485 Operation Parameter Communication Parameter Home Operation Parameter Waveform Image Alam Parameter Waming Parameter Coordinates Parameter 7 27 8 Other functions 8 2 Checking product information 1 Click Device Information from the Tool menu M MEXEO2 Untitled1 a File Edit Move View Communication BESA Window Help De 3 glp A fen Device Information 2 Click Check Verification of connection status will start Device Information E x 3 Once the results are displayed click Close Device Information AR StoredData DC e When the driver series name or product name is not displayed Please verify the following items e Is the driver power on e Is the PC interface cable completely inserted e Is the driver a type that is compatible with the MEXEO2 e When Unsupported Product is shown in the product name column Please verify that the driver supports the MEXEO2 7 28 8 Other functions
5. Parameter name Description Setting range Initial value r 0 ms kHz Acceleration deceleration unit Sets the acceleration deceleration unit iss 0 E Common setting and separate setting of the acceleration deceleration The acceleration deceleration for positioning operation or continuous operation can be set as follows using the acceleration deceleration type parameter Separate The acceleration deceleration set under the applicable operation data No will be followed Common The setting of the common acceleration and common deceleration parameter will be followed e When performing linked operation the acceleration deceleration for the starting linked operation data No is applied even when the acceleration deceleration type parameter is set to separate e See p 3 31 for the acceleration deceleration when performing variable speed operation Related parameter Parameter name Description Setting range Initial value Sets whether to use the common acceleration Acceleration sa 0 Common deceleration or the acceleration deceleration specified 4 1 deceleration type i 1 Separate for the operation data 1 Adjustment and setting 1 5 Smooth drive You can achieve lower vibration and smoother movement using the smooth drive function You may feel vibration in the low speed range when this function is set to disable Set the function to enable under normal conditions of u
6. Termination resistor SW3 No 4 ON OOM 000 010 010010101001010 S 910 00 010 000010 0100 01010 0 010 i 3 0 00 010 Address Address Address number 1 number 2 number 31 RS 485 Driver 1 i y TR 3 i R gt ND T SW2Ne4 1200 E lt TR GND ovV Vo ve3 Driver 2 TR TR 1 T T ND Geo SW3 No 4 120 Q fi TR GND Vove3 FL Driver 31 TR R TA lp ND 2 G SW3 No 4 2 1202 i f N x Termination resistor 120 Q 2 Turn the termination resistor 1 SW3 No 4 to ON V0 v 3 3 The GND line is used in common with CN1 not insulated 3 Setting the switches 3 Setting the switches No 1 Set the address number No 2 Set the protocol No 3 Not used No 4 Set the termination resistor 120 Q Function setting switch SW3 Oxia mO Address number setting switch SW1 Transmission rate setting switch SW2 Be sure to turn off the driver power before setting the switches If the switches are set while the power is still on the new switch settings will not become effective until the driver power is cycled E Protocol Set the SW3 No 2 of the function sett
7. 3 21 E Additional function eeeeseeeteeeee 3 21 E Parameters related to return to home Operan r ia e i 3 22 M Operation Sequence cee seceeeeereeeeeeeee 3 24 M Position preset oo eee secs seceeeeeereeeeeeeee 3 27 2 3 Continuous operation 0 3 28 M Operation data eee seceeeeerereeeees 3 28 E Starting method of continuous operation 3 29 E Variable speed operation 3 31 2 4 Other operation ceeeeeees 3 33 M JOG operation eee eeeseeeceeeeeeneeeeeees 3 33 E Testioperationys i sss ccesteaet cgdeteeertny ccs 3 34 m Automatic return operation 3 34 M Stop Operation eee seeeseseceeeeeeneeseeees 3 35 E Position coordinate management 3 36 M Wrap function eee eeeeseeeceeeeeeneeeeees 3 36 3 Operation data ceeee 3 38 4 Parameter wccccccscscscecececsccsscesssesaciees 3 39 4 1 Parameter list 0 0 0 0 3 39 4 2 I O parameter ccccecceeeeeeteees 3 41 4 3 Motor parameter eeeeeees 3 42 4 4 Operation parameter 0 0005 3 42 4 5 Return to home parameter 3 43 4 6 Alarm warning parameter 4 3 43 4 7 Coordination parametet 3 44 4 8 Common parameter 00 0 3 44 4 9 Communication parameter 3 44 4 10 I O function parameter 05 3 45 4 11 I O function RS 485 parameter 3 46 1 Adjustment and setting 1 Adjustme
8. 0 5 18 8 1 Operation commands ce 5 18 8 2 Maintenance commands 5 20 8 3 Monitor commands ccee 5 21 8 4 Parameter R W commands 5 24 M Operation data eceeeceseeseeesceseceeeeee 5 24 M User parameters 20 0 ceeceeeeeeseeceneceneeeeees 5 25 9 Group send ssssssssssssssssnnrnnnnnnnnns 5 34 10 Detection of communication Ae a E A E E 5 36 10 1 Communication errors cc 5 36 10 2 Alarms and warnings 5 36 11 Timing Charts 5 37 1 Guidance 1 Guidance The Modbus protocol is simple and its specification is open to the public so this protocol is used widely in industrial applications Modbus communication is based on the single master multiple slave method Only the master can issue a query command Each slave executes the requested process and returns a response message If you are new to the AR Series FLEX DC power input built in controller type read this section to understand the operating methods along with the operation flow This is an example how to operate the motor based on the operation data and parameters set to the driver by the master controller Note Before operating the motor check the condition of the surrounding area to ensure safety STEP 1 Check the installation and connection Check RS 485 communication cable connection Master controller o Check Motor connection Ch
9. P PRESET HOME P CLR START SSTART 0G JOG TPUT yi FWD_R I Area RVS_R E areaz HOME_R I aneas START_R SSTART_A JOG_R JOGA netic Signal RO R1 R2 R3 R4 R5 RG R7 15_R LSR HOMES_A S BSY SLIT_R Each signal is shown in green if ON and in white if OFF Displa 1 0 signal RS 485 communication p ay 9 internal signal status ON green Conducting Active OFF white Non conducting Not active 3 To end I O monitor unselect Start I O Monitor 5 3 Waveform monitor The motor operating speeds and I O signal switching status can be checked in a waveform format Four sets of waveforms four channels can be shown in the window simultaneously 5 Monitor function 1 Inthe window selection area click Waveform under Monitor The waveform monitor window appears 2 Waveform monitor starts SM MEXE02 Untitled1 amp Eile Edit Move View Communication Tool Window Help TF 2 Select Start Waveform Monitor Data Test lt AR StoredData DC Operation Data Parameter 1 0 Parameter Motor Parameter Operation Parameter Home Operation
10. CH Select the channel you want to set a trigger for LEVEL This item is shown when you have selected CH1 or CH2 under CH Click the up down arrows to set the trigger level of speed EDGE Set the trigger detection condition Te For CH1 and CH2 when the value changes from a value below what is set for LEVEL to a value at or above what is set for LEVEL For CH3 and CH4 measurement will be triggered when the I O signal status changes from OFF to ON J For CH1 or CH2 when the value changes from a value at or above what is set for LEVEL to a value below what is set for LEVEL For CH3 and CH4 measurement will be triggered when the I O signal status changes from ON to OFF T l This item sets both Tf and as conditions POSITION Set the trigger position in the screen Move the trigger position to left gt Move the trigger position to right MODE Select when to display waveforms AUTO Waveforms are constantly updated until the waveform measurement is stopped NORMAL Waveforms are updated every time a trigger is detected SINGLE Waveforms are updated when a trigger is detected after which waveform monitor will end automatically 6 Click START Waveform measurement starts 7 Click STOP to stop the measurement 7 20 5 Monitor function E Measurement function You can measure the time delta and measurement delta in the window based on
11. d OO pge AN d oO Master controller id DO id OO d OO id OO id OO id O a id OO d oO iq 4 AS 2 d i Termination d HO resistor aa Termination resistor 6 15 2 Method of control via MECHATROLINK communication STEP 4 Turn on the power and check the setting Check that the LED condition has become as shown in the figures ARD KD POWER C DAT H Green Lit ALARM C ERR Green Lit Green Lit OFF oN Sets Green Lit LOTS OFF 945 Q eN Ee Ke Coss NETC01 M2 POWER Green Lit OFF CONT ALARM M245 C DAT C ERR BC OS o N NENA STATION No e When C ERR red of the driver or NETCO1 M2 is lit Check the transmission rate or address number of RS 485 communication e When ERR red of the NETCO1 M2 is lit Check the MECHATROLINK I communication error STEP 5 Continuous operation Control the I O signal of the driver using the I O command DATA_RWA 50h of MECHATROLINK II communication 1 Perform continuous operation by turning ON the FWD of the address number 0 bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 NET IN15 NET IN14 NET IN13 NET IN12 NET IN11 NET IN10 NET IN9 NET IN8 RVS FWD JOG JOG SSTART MS2 MS1 MSO bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito NET IN7 NET IN6 NET IN5 NET IN4 NET IN3 NET IN2 NET IN1 NET INO Not used FREE
12. Mail power supply Termination resistor 110 Q 1 2 W Termination resistor ON SW3 No 4 ON 31234 Termination resistor ON Driver NETC01 CC PEF M r controller Termination resistor aster Eos 110 Q 1 2 W I y LZ Termination resistor 110 Q 1 2 W 1 Method of control via CC Link communication l STEP 4 Turn on the power and check the setting Check that the LED condition has become as shown in the figures ARD KD NETCO1 CC POWER C DAT Green Lit ALARM C ERR Green Lit Green Lit POWER L RUN Green Lit OFF ALARM L ERR OFF saps Green Lit C DAT SD Green Lit Vas OFF C ERR RD Green Lit ENS A BCO 23 Loa by a Si yen a Ee 2S x e When C ERR red of the driver or NETCO1 CC is lit Check the transmission rate or address number of RS 485 communication e When L ERR red of the NETCO1 CC is lit Check the type of the CC Link communication error STEP 5 Execute continuous operation via remote I O of CC Link communication Perform continuous operation by turning ON the FWD of the address number 0 for remote I O of CC Link communication RY Master to NETCO1 CC RY Master to NETCO1 CC Device No Signal name Initial value Device No Signal name Initial value RYO NET INO
13. You can perform teaching function using the MEXEO2 The traveling position can be saved in the MEXEO2 When the position travel amount is set using the teaching function the operation mode will always be the absolute mode pressed Before commencing teaching function consider the status of the equipment and condition of its surroundings to confirm thoroughly that motor rotation will not cause any Note During teaching operation the motor rotates at the set speed while each operation button is dangerous situation 1 Inthe window selection area click Operation Data under Data 2 Select Start Teaching MEXEO2 Untitled1 Eile Edit Move View Communication Tool Window Help a mrouvala uy Data INC 25000 10000 Single 20 0 0 000 Disable Operation Data mentor INC o 1000 Single 20 0 0 000 Disable 1 0 Parameter INC 1000 Single 20 0 0 000 Disable Motor Parameter INC 1000 Single 20 0 0 000 Disable Tienie TE INC 1000 Single 20 0 0 000 Disable Aisin Paias INC 1000 Single 20 0 0 000 Disable Warning Parameter INC 1000 Single 20 0 0 000 Disable Coordinates Parameter INC 1000 Single 20 0 0 000 Disable Common Parameter INC 1000 Single 200 0 000 Disable INC 1000 Single 20 0 0 000 Disable Positioning mode Position step Operating speed Hz Operating mode Push current Dwell time s Sequential positionit I 140 Function 1 0 Function RS 485 Communication
14. Command code The response returns the command code of the command This is the trigger for handshake indicating the completion of the 0 Not processing TRIG_R command code When the command code is completed the 1 Execution completion TRIG_R will be turned from 0 to 1 P STATUS This indicates the result that executed the command code e ee operation DATA_R This is the data reading from the driver little endian 6 21 3 Details of remote I O 3 Details of remote I O This is common to NETCO1 CC NETCO1 M2 and NETCO1 M3 3 1 Input signals to the driver The following input signals can be assigned to the NET INO to NET IN15 of remote I O using the parameter See the following table for the assignments of the NET INO to NET IN15 For details on parameter refer to I O function RS 485 parameter on p 6 32 bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 NET IN15 NET IN14 NET IN13 NET IN12 NET IN11 NET IN10 NET IN9 NET IN8 amp RVS FWD JOG JOG SSTART MS2 MS1 MSO bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito NET IN7 NET IN6 NET IN5 NET IN4 NET IN3 NET IN2 NET IN1 NET INO Not used FREE STOP HOME START M2 M1 MO Initial value Signal name Function Setting range Not used Set when the input terminal is not used FWD Continuous operation in the positive direction 0 Deceleration stop RV
15. 1ko YA 1 4 4kQ 4 4kQ INO Da 4 4 KQ tka WA IN4 44kQ t 4 4 KQ i 4 4kQ 7 i 4 4kQ f z amp 0 O O o x te ce b iI o CO He HS el ae faa A24 VDC as h daa i 1ko YA LS 4 4kQ wae oeg Wisc HOMES 1 4 4 kQ i 1koj Wh SLIT 1 4 4kQ liki Was IN COM2 l voVv e Use input signals at 24 VDC e Use output signals at 24 VDC 10 mA or less If the current exceeds 10 mA connect an external resistor RO e The saturated voltage of the output signal is 3 VDC maximum 2 11 2 Connection 2 2 Grounding the motor and driver E Grounding the motor Be sure to ground the Protective Earth Terminal of the motor It is no need to ground when the driver power supply voltage is 24 VDC Grounding wire AWG18 0 75 mm or more Tightening torque 1 2 N m 170 oz in When grounding use a round terminal and secure it with a mounting screw with a washer Ground wires and crimp terminals are not supplied E Grounding the driver Ground the FG terminal of power supply connector CN1 as necessary Ground using a wire of AWG24 to 16 0 2 to 1 25 mm and do not share the protecti
16. Check gt Power supply connection a FG 4 START input connection Set the operation data corresponding to one motor revolution using the OPX 2A or MEXEO2 e Position No 0 1000 step Turn power supply on ISSSSeliasssssses jesssseq OODOO 1 Guidance STEP 3 Operate the motor 2 Confirm that the motor rotates without problem Master controller 1 Turn the START input ON STEP 4 Were you able to operate the motor properly YY How did it go Were you able to operate the motor properly If the motor does not function check the following points e Is any alarm present e Are the power supply and motor connected securely For more detailed settings and functions refer to 3 Operation type and setting 2 Operation data Up to 64 operation data can be set data Nos 0 to 63 If the data is changed a recalculation and setup will be performed after the operation is stopped 2 Operation data Name Setting range Initial value Position No 0 to 8 388 608 to 8 388 607 step 0 Position No 63 Operating speed No 0 to 0 to 1 000 000 Hz 1000 Operating speed No 63 Spores mode No 9 0 INC Incremental 0 Operation mode
17. Example When positioning operation is performed with 3000 0 1000 3000 SS Travel amount Travel amount setting the starting point to 1000 and setting the destination 4000 2000 to 3000 and 3000 Incremental INC mode Each motor destination becomes the starting point for the Home Starting point next movement This mode is suitable when the same 2000 0 1000 4000 position distance is repeatedly used Incremental positioning Example When positioning operation is performed with st R Travel amount Travel amount 3000 3000 setting the starting point to 1000 and setting the destination to 3000 and 3000 e Operation function Dwell time The following four operation function are available Name Description Ref Single motion A single operation data set is executed P 3 13 Multiple sets of operation data are linked to perform multi variable speed Linked motion P 3 14 operation Linked motion2 Dwell time stop waiting time can be set between operation data Operation data P3 15 whose rotation direction is different can also be linked Push motion This is an operation of continuously applying pressure on the load when pressing P3417 against the load during positioning operation E Starting method of positioning operation The following three types are available in the starting method Name Description Data number selecting operation When the START i
18. Name Setting range Initial value Effective Communication timeout 0 to 10000 ms 0 A Communication error alarm 1 to 10 times 3 0 None Communication parity 1 Even number 1 2 Odd number poni 0 1 bit Communication stop bit 1 2 bit 0 Transmission waiting time 0 to 10000 1 0 1 ms 100 Indicates the timing for the data to become effective A Effective immediately D Effective after turning the power ON again 3 10 I O function parameter Name Setting range Initial value Effective INO input function selection 3 HOME IN1 input function selection 4 START IN2 input function selection 48 MO IN3 input cancion selection EENEN 49 M1 IN4 input function selection 50 M2 IN5 input function selection 16 FREE IN6 input function selection 18 STOP IN7 input function selection 24 ALM RST INO input logic level setting IN1 input logic level setting IN2 input logic level setting c IN3 input logic level setting 0 Normally open 0 IN4 input logic level setting 1 Normally closed IN5 input logic level setting IN6 input logic level setting IN7 input logic level setting OUTO output function selection 70 HOME P OUT1 output function selection 69 END OUT2 output function selection 73 AREA1 See table next OUT3 output function selection 67 READY OUT4 output function selection 66 WNG OUT5 output function selection 65 ALM
19. END ab output OFF 2 Operation e Sequential positioning operation In sequential positioning operation whenever turning the SSTART input ON the positioning operation for the following operation data No will be performed This function is useful when multiple positioning operations must be performed sequentially because there is no need to select each data number When the sequential positioning of operation data is executed up to the data No set to disable the operation returns to the original data No that was selected before starting the sequential positioning operation And the sequential positioning operation will start again If the starting point for the sequential positioning operation is changed using the MO to M5 inputs or the MSO to MS5 inputs multiple sequential positioning operations can be set It is convenient for setting a different operating pattern for each component or each process of works When the operating pattern is one type 1 The positioning operation for the operation data No 0 is performed by turning the SSTART input ON 2 After the operation 1 is completed when turning the SSTART input ON again the positioning operation for the operation data No 1 will be performed 3 After the operation 2 is completed when turning the SSTART input ON again the positioning operation for the operation data No 2 will be performed 4 After the operation 3 is completed when turning the SSTART input ON again
20. s s s 9 4 E RS 485 communication cable eee 9 4 M Battery Sets ciriciri 9 4 1 Introduction This part explains the composition of the operating manuals the product overview specifications and safety standards as well as the name and function of each part and others Table of contents 1 Introduction vececssicscccceccicccsetesssnceccee 1 2 2 Operating Manuals for the AR Series aiaa 1 3 3 Overview of the product 1 4 4 System configuration 1 6 5 Safety precautions ccceeeee 1 7 6 Precautions for USEC asss 1 10 7 General specifications 1 12 8 CE Marking cccccccccccceeeeeeeeees 1 13 9 Preparation ccccceeeeeeeeeeeeeeeeeees 1 14 9 1 Checking the product ee 1 14 9 2 How to identify the product model 1 14 9 3 Combinations of motors and drivers anina Mee ieee ee 1 15 9 4 Names and functions of parts 1 16 1 Introduction 1 Introduction E Before use Only qualified personnel should work with the product Use the product correctly after thoroughly reading the section 5 Safety precautions on p 1 7 The product described in this manual has been designed and manufactured for use in general industrial equipment Do not use for any other purpose Oriental Motor Co Ltd is not responsible for any damage caused through failure to observe this warning E Hazardous substances RoHS Directive 2002 95 EC 27Jan 2003 complian
21. A RY n C NET IN4 HOME RX n C NET OUT4 HOME P RY n D NET IN5 STOP RX n D NET OUT5 READY RY n E NET IN6 FREE RX n E NET OUT6 WNG RY n F NET IN7 Not used RX n F NET OUT7 ALM Address number me oe g ae Same as Address RA a ca Same as Address 2 RY n 1 7 NET IN7 marae ress RX n 1 7 NET OUT7 number Address number po 8 bas Same as Address RX mr 8 PEN MIR Same as Address ad RY n 1 F NET IN7 number RX n 1 F NET OUT7 number 1 Address number Dy Ta 0 pera Same as Address RA Pa 0 SE Same as Address RY n 2 7 NET IN7 nee RX n 2 7 NET OUT7 number Address number oe ma 8 ee Same as Address DS na 8 MEEA Same as Address i RY n 2 F NET IN7 pume RX n 2 F NET OUT7 number Address number on ie 0 e o Same as Address D pie 2 be rl Same as Address 6 RY n 3 7 NET IN7 number D RX n 3 7 NET OUT7 neers Address number pat a a ee Same as Address DA ga 8 sain Same as Address 7 RY n 3 F NET IN7 ena RX n 3 F NET OUT7 number Address number m my 0 ae Same as Address ae vi 0 reg Same as Address 8 RY n 4 7 NET IN7 number g RX n 4 7 NET OUT7 number Address number ai of 2 ae Same as Address RA ma E E T Same as Address 3 RY n 4 F NET IN7 NUMOS RX n 4 F NET OUT7 number Address number RY n 5 0 NETINO Same as Address RX ate 0 NET OUTO Same as Address 10 19 to number 0 to to number 0 RY n 5 7 NET IN7 RX n 5 7 NET OUT7 Address number RY ma 2 Poa Same as Address RX m 8 Sr SA Same as Addr
22. AREAS positive direction Sets the position of AREAS positive position direction AREAS negative direction Sets the position of AREA3 negative position direction Minimum ON time for MOVE Sets the minimum time during which 0 to 255 ms 0 output the MOVE output remains ON LS logic level Sets the LS input logic a i s Normally open HOMES logic level Sets the HOMES input logic 1 Normally closed 0 C SLIT logic level Sets the SLIT input logic t Sets the operation data No MSO operation No selection corresponding to MSO input 0 Sets the operation data No MS1 operation No selection corresponding to MS1 input 1 Sets the operation data No MS2 operation No selection corresponding to MS2 input 2 Sets the operation data No mee R i MS3 operation No selection corresponding to MS3 input 3 F Sets the operation data No MS4 operation No selection corresponding to MS4 input 4 s Sets the operation data No MS5 operation No selection corresponding to MS5 input 5 e 0 Home output HOME P function selection Sets the timing to output the HOME 1 Return to home 0 A output complete output Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 3 41 4 Parameter 4 3 Motor parameter Name Description Setting range Initial value Effective
23. Operating speed No 0 upper 1153 0481h Operating speed No 0 lower to to to 1 to 1 000 000 Hz 1000 1278 O4FEh Operating speed No 63 upper 1279 O4FFh Operating speed No 63 lower 1280 0500h Operation mode No 0 upper 1281 0501h Operation mode No 0 lower 0 Incremental be 10 to 1 Absolute E 1406 057Eh Operation mode No 63 upper 1407 057Fh Operation mode No 63 lower 1408 0580h Operation function No 0 upper gk 1409 0581h Operation function No 0 r 5 Single motion Linked motion to to 19 2 Linked motion 2 0 1534 O5FEh Operation function No 63 upper 3 Pishmotion 1535 05FFh Operation function No 63 lower 5 1536 0600h Acceleration No 0 upper 1537 0601h Acceleration No 0 lower to to to 1662 067Eh Acceleration No 63 upper 1663 067Fh_ Acceleration No 63 lower 1 to 1 000 000 4000 1664 0680h Deceleration No 0 upper 1 0 001 ms kHz or 1 0 001 s 1665 0681h Deceleration No 0 lower to to to 1790 O6FEh Deceleration No 63 upper 1791 O6FFh Deceleration No 63 lower 1792 0700h Push current No 0 upper 1793 0701h Push current No 0 lower to to to 0 to 500 1 0 1 200 1918 077Eh Push current No 63 upper 1919 077Fh_ Push current No 63 lower 1920 0780h Sequential positioning No 0 upper 1921 0781h Sequential positioning No 0 lower 0 Disable e 10 to 1 Enable 0 2046 O7FEh Sequential positioning No 63 upper 2047 O7FFh_ Sequential positioni
24. STOP HOME START M2 M1 MO Initial value l STEP 6 Were you able to operate the motor properly How did it go Were you able to operate the motor properly If the motor does not function check the following points Is any alarm present in the driver or NETCO1 M2 Are the address number transmission rate and termination resistor set correctly Is the connection parameter of the NETCO1 M2 set correctly Is the C ERR LED lit RS 485 communication error Is the ERR LED of the NETCO1 M2 lit MECHATROLINK II III communication error Is the operation data set correctly Is the motor excited Or is the excitation setting correct Are the driver parameters set correctly Is the STOP input of the driver I O turned ON For more detailed settings and functions refer to network converter NETCO1 M2 USER MANUAL and following pages 6 16 2 Method of control via MECHATROLINK communication 2 2 Setting the switches When using the driver in combination with the network converter set the switches before use No 1 Set the address number No 2 Set the protocol No 3 Not used No 4 Set the termination resistor 120 Q Function setting switch SW3 O POWER C DAT ALARM C ERR Address number setting switch SW1 Transmission rate setting switch SW2 Be sure to turn off the motor p
25. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO NET OUT7 NET OUT6 NET OUT5 NET OUT4 NET OUT3 NET OUT2 NET OUT1 NET OUTO ALM WNG READY HOME P START_R M2_R M1_R MO_R Initial value e 16 axes connection mode 8 bit mode bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO NET OUT7 NET OUT6 NET OUT5 NET OUT4 NET OUT3 NET OUT2 NET OUT1 NET OUTO ALM WNG READY HOME P START_R M2_R M1_R MO_R 6 20 Initial value 2 Method of control via MECHATROLINK communication E Remote register input e Command NETC01 M2 NETCO1 M3 to driver bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 TRIG Command code DATA e Explanation of command Name Description Setting range Command code The command sets the command code for write and read of parameters monitor and maintenance This is the trigger for handshake to execute the command code 0 No motion TRIG When turning the TRIG from 0 to 1 the command code and DATA will 7 1 Execution be executed DATA This is the data writing to the driver little endian Remote register output e Response Driver to NETCO1 M2 NETCO1 M3 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit O Command code STATUS TRIG_R DATA_R e Explanation of command Name Description Setting range
26. 540 121 600 135 680 153 790 177 ARE 25 850 191 940 210 1050 230 1110 240 1190 260 300 67 36 930 200 1030 230 1150 250 1220 270 1300 290 50 1050 230 1160 260 1300 290 1380 310 1490 330 AR24 100 22 135 30 175 39 250 56 140 31 Harmonic AR46 p 180 40 220 49 270 60 360 81 510 114 220 49 geared AR66 320 72 370 83 440 99 550 123 720 162 450 101 AR 90 24 50 25 7 410 3 90 98 1090 240 1150 250 1230 270 1310 290 1410 310 1300 290 The brackets lt gt indicate the value for the electromagnetic brake type 1 Installation E Permissible moment load of the Harmonic geared type When installing an arm or table on the flange surface calculate the moment load using the formula below if the flange surface receives any eccentric load The moment load should not exceed the permissible value specified in the table Moment load M N m 0z in F x L To Model Permissible moment load N m oz in AR24 2 9 410 AR46 5 6 790 N AR66 11 6 1640 D 1 5 Installing the driver E Installation method Mount the driver to a 35 mm 1 38 in width DIN rail 35 mm 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
27. A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate Register address anes oe eae P Dec Hex 4420 1144h T RA function selection i i 73 AREA1 4421 1145h OUT2 output function selection lower 4422 1146h cs ea function selection OUT3 output function selection 67 READY 4423 1147h Gower P OUT4 output function selection pepo 4424 1148h upper P i s 66 WNG 4425 1149h OUT4 output function selection lower 4426 114Ah oa function selection i i 65 ALM 4427 114Bh OUT5 output function selection lower 4448 1160h T input function selection i i f 48 MO 4449 1161h NET INO input function selection lower 4450 1162h a input function selection i i i 49 M1 4451 1163h NET IN1 input function selection lower 4452 1164h ae input function selection i i A 50 M2 4453 1165h NET IN2 input function selection lower 7 4454 1166h iene input function selection i i i 4 START 4455 1167h NET IN3 input function selection lower 4456 1168h ei input function selection NET IN4 input function selection 3 HOME 4457 1169h llawen P NET IN5 input function selection S86 R 9
28. FREE 4363 110Bh IN5 input function selection lower 4364 110Ch IN6 input function Selecion upper 18 STOP 4365 110Dh IN6 input function selection lower 4366 110Eh IN7 input function selection upper 24 4367 110Fh IN7 input function selection lower ALM RST 4384 1120h INO input logic level setting upper 4385 1121h INO input logic level setting lower c 4386 1122h IN1 input logic level setting upper 4387 1123h IN1 input logic level setting lower 4388 1124h IN2 input logic level setting upper 4389 1125h IN2 input logic level setting lower 4390 1126h IN3 input logic level setting upper 4391 1127h IN3 input logic level setting lower 0 Normally open 0 4392 1128h IN4 input logic level setting upper 1 Normally closed 4393 1129h IN4 input logic level setting lower 4394 112Ah_ IN5 input logic level setting upper 4395 112Bh_ IN5 input logic level setting lower 4396 112Ch_ IN6 input logic level setting upper 4397 112Dh_ IN6 input logic level setting lower 4398 112Eh IN7 input logic level setting upper 4399 112Fh_ IN7 input logic level setting lower 4416 1140h R function selection OUTO output function selection TO HOME F 4417 1141h lower OUT1 output function selection Sperh es 4418 1142h upper f 69 END 4419 1143h OUT1 output function selection lower 5 29 8 Register address list 1 Indicates the timing for the data to become effective
29. LS LS_R Output in response to the LS HOMES_R Output in response to the HOMES SLIT_R Output in response to the SLIT 0 Alarm not present ALM Output the alarm status normally open 1 Alarm present WNG Output the warning status o Warning not present 1 Warning present READY Output when the driver is ready 0 Not ready i 1 Ready MOVE Output when the motor operates 0 Motor stopped 1 Motor operating 0 Motor operating END Output when the positioning operation is completed 1 Motor operating completion HOME P Output when the motor is in home position 0 Not home position 1 Home position TLC Output when the load is outside of the motor torque range o misige torque range 1 Outside torque range A 0 OFF TIM Output once every 7 2 rotation of the motor output shaft 1 ON AREA1 Output when the motor is within the area 1 AREA2 Output when the motor is within the area 2 0 Outside ace 1 Inside area AREA3 Output when the motor is within the area 3 S BSY Output when the motor is in internal processing state md 6 23 4 Command code list 4 Command code list This is common to NETCO1 CC NETCO1 M2 and NETCO1 M3 4 1 Group function The driver has a group function Multiple slaves are made into a group and a operation command is sent to all slaves in the group at once E Group composition A group consists of one parent slave and child slaves E Group address To perform a group send set a group
30. MS1 NET IN10 input function selection 10 MS2 NET IN11 input function selection 5 SSTART NET IN12 input function selection 6 JOG NET IN13 input function selection 7 JOG NET IN14 input function selection 1 FWD NET IN15 input function selection 2 RVS 0 Not used 7 JOG 16 FREE 35 R3 42 R10 49 M1 1 FWD 8 MSO 17 C ON 36 R4 43 R11 50 M2 2 RVS 9 MS1 18 STOP 37 R5 44 R12 51 M3 3 HOME 10 MS2 27 HMI 38 R6 45 R13 52 M4 4 START 11 MS3 32 RO 39 R7 46 R14 53 M5 5 SSTART 12 MS4 33 R1 40 R8 47 R15 6 JOG 13 MS5 34 R2 41 R9 48 MO e Do not assign the same input signal to multiple input terminals When the same input signal is assigned to multiple input terminals the function will be executed if any of the terminals becomes active e When the C ON input and HMI input are not assigned to the input terminals these inputs will always be set to ON When assigning to both direct I O and network I O the function will be executed when both of them are set to ON 2 20 E Assignment to the output terminals The output signals shown below can be assigned to the NET OUTO to NET OUT15 of the network I O by setting parameters See each command description for the assignment of the NET OUTO to NET OUT15 3 Explanation of I O signals Assignment No Signal name F
31. OFF OFF OFF OFF 48 ON ON OFF OFF OFF OFF 17 OFF ON OFF OFF OFF ON 49 ON ON OFF OFF OFF ON 18 OFF ON OFF OFF ON OFF 50 ON ON OFF OFF ON OFF 19 OFF ON OFF OFF ON ON 51 ON ON OFF OFF ON ON 20 OFF ON OFF ON OFF OFF 52 ON ON OFF ON OFF OFF 21 OFF ON OFF ON OFF ON 53 ON ON OFF ON OFF ON 22 OFF ON OFF ON ON OFF 54 ON ON OFF ON ON OFF 23 OFF ON OFF ON ON ON 55 ON ON OFF ON ON ON 24 OFF ON ON OFF OFF OFF 56 ON ON ON OFF OFF OFF 25 OFF ON ON OFF OFF ON 57 ON ON ON OFF OFF ON 26 OFF ON ON OFF ON OFF 58 ON ON ON OFF ON OFF 27 OFF ON ON OFF ON ON 59 ON ON ON OFF ON ON 28 OFF ON ON ON OFF OFF 60 ON ON ON ON OFF OFF 29 OFF ON ON ON OFF ON 61 ON ON ON ON OFF ON 30 OFF ON ON ON ON OFF 62 ON ON ON ON ON OFF 31 OFF ON ON ON ON ON 63 ON ON ON ON ON ON E START input This signal starts the positioning operation Select the operation data No and turn the START input to ON to start positioning operation Related parameters Parameter name Description Setting range Initial value Retum to home G eration is started while the postion origin has not 0 Disable 0 incomplete alarm 1 Enable been set selects whether the alarm generates or not 2 24
32. SW1 Transmission rate setting switch SW2 Be sure to turn off the motor power before setting the switches If the switches are set while the power is still on the new switch settings will not become effective until the driver power is cycled E Setting the connection device Set the connection device of RS 485 communication using the function setting switch SW3 No 2 Turn this switch OFF when controlling via the network converter Factory setting OFF Network converter E Address number slave address Set the address number slave address using the address number setting switch SW1 and SW3 No 1 of the function setting switch Make sure each address number slave address you set for each driver is unique Factory setting SW1 0 SW3 No 1 OFF Address number 0 Address number o 4 Se ge a gel ee Pe ee Pee aie Pag slave address swt 0 1 2 3 4 5 6 7 8 9 A B SW3 No 1 OFF Connection mode 6 ayes connection nods 12 axes connection mode E Transmission rate Set the transmission rate to 625 000 bps using the transmission rate setting switch SW2 Factory setting 7 625 000 bps E Termination resistor Use a termination resistor for the driver located farthest away positioned at the end from the network converter Turn SW3 No 4 of the function setting switch ON to set the termination resistor
33. Synchronization Method Select Synchronization Method Synchronization Method Upload C Download All ig Cancel A 7 23 6 Test function 6 2 I O test You can monitor input signals and cause output signals to forcibly output This function is convenient if you want to check the wiring condition I O signals are kept in the same status which was before the I O test was performed If a signal is input externally while the I O test is performed the signal becomes invalid 1 In the window selection area click I O under Test The I O test window appears 2 Select Start I O Test S4 MEXEO2 Untitled1 Eile Edit Move View Communication Tool Window Help a AR StoredData DC Data Operation Data Parameter OUTPUT 1 0 Parameter OUTO Motor Parameter 4 oun ouT2 i ours ouT4 outs Operation Parameter Home Operation Parameter Alarm Parameter Warning Parameter Coordinates Parameter Common Parameter 1 0 Function 1 0 Function RS 485 Communication Parameter Monitor Status 1 0 Test vo Operation Communicate 0 Test Running 3 Click Yes Warning You can now perform I O test AN The 1 0 test function will be enabled Do you want to proceed INPUT OUTPUT O No goas Couto On gois fount Cin2 C HOMES O ouT2 Click O to swi
34. USER MANUAL CD ROM eccesso neeese eein see riait 1 pe 9 2 How to identify the product model AR24SAKD H 50 0 es Length of supplied cable 1 1 m 3 3 ft 2 2 m 6 6 ft 3 3 m 9 8 ft Gear ratio T TH geared type H Harmonic geared type PS PS geared type Blank Standard type N PN geared type Driver type D Built in Controller Type Power input K 24 VDC 48 VDC Motor type A Single shaft B Double shaft M With electromagnetic brake Motor identification Motor length Motor size 2 28 mm 4 42 mm 6 60 mm 9 85 mm Series name AR Series 1 10 in 30 mm 1 18 in for Harmonic geared type 1 65 in 2 36 in 3 35 in 90 mm 3 54 in for geared types Ss The model name is 7 for the gear ratio 7 2 of the PS geared type 9 3 Combinations of motors and drivers e O indicates A single shaft B double shaft or M with electromagnetic brake For AR24 and AR26 O indicates A single shaft or B double shaft 9 Preparation For geared type O indicates A single shaft or M with electromagnetic brake e O indicates the supplied cable length e E indicates a number of the gear ratio Type Model Motor model Driver model AR24SOKD O ARM24SOK AR26SOKD O ARM26SOK AR46SOKD O ARM46SOK AR4601KD O ARM460K Standard type AR66SOKD O
35. brake e Check the alarm message when the alarm generates e I O signals can be monitored using the OPX 2A MEXE02 or RS 485 communication Use to check the wiring condition of the I O signals 8 10 9 Appendix This part explains accessories sold separately that are used in combination with the products Table of contents 1 Accessories sold separately 9 2 M Motor cables teana aA ia E Data setter iiien Em Data setting software m RS 485 communication cable ee 9 4 M Battery Setir ar A EAEE 9 4 1 Accessories sold separately 1 Accessories sold separately E Motor cable This cable is needed to connect the motor and driver When installing the motor on a moving part use a flexible cable offering excellent flexibility e Extending the wiring length using a connection cable e Connection cable set O O ogg TO a gO f gO l bo Connection cable Eas e ce gO gO gO oh E 18 a ite b K ES Peal g aS O DO e Extending the wiring length using an extension cable Extension cable Cable for motor supplied O ia Ly AY a ele eS REE as Oo ocd When extending the wiring length by
36. eed back speed Upper Monitors the feedback speed 4500 to 4500 r min 207 OOCFh_ Feedback speed lower 210 00D2h_ Remaining dwell time upper Monitors how much of the dwell time used in 0 to 50000 ms 211 00D3h_ Remaining dwell time lower the linked motion operation 2 remains Direct I O and electromagnetic 212 00D4h brake status upper Monitors the each direct I O signal and See next table 213 oopsh_ Direct I O and electromagnetic electromagnetic brake status brake status lower E Direct I O and electromagnetic brake status 00D4h 00D5h Address Hex bit7 bit bit bita bit3 bit2 bit bit oopan PPer 2 a a MB Lower 2 z OUT5 OUT4 OUT3 OUT2 OUTI OUTO oopsny PPer Z IN7 ING IN5 IN4 IN3 IN2 Lower INI INO z SLIT HOMES LS ILS 5 23 8 Register address list 8 4 Parameter R W commands Write or read parameters All commands can be read and written READ WRITE For details on parameters see p 3 39 and later 5 24 E Operation data If the data is changed a recalculation and setup will be performed after the operation is stopped Register address Name Setting range Initial Dec Hex value 1024 0400h Position No 0 upper 1025 0401h Position No 0 lower to to to 8 388 608 to 8 388 607 step 0 1150 047Eh_ Position No 63 upper 1151 047Fh_ Position No 63 lower 1152 0480h
37. executed it tried to do it 3 Troubleshooting and remedial actions 3 Troubleshooting and remedial actions During motor operation the motor or driver may fail to function properly due to an improper speed setting or wiring When the motor cannot be operated correctly refer to the contents provided in this section and take appropriate action If the problem persists contact your nearest Oriental Motor sales office Phenomenon Possible cause Remedial action e The motor is not excited e The motor output shaft can be moved by hand The C ON input is turned OFF Turn the C ON input ON and confirm that the motor will be excited The FREE input is turned ON Turn the FREE input OFF There is holding torque even if motor excitation is turned OFF Effect of dynamic brake If motor excitation is turned OFF by C ON input or STOP input the holding torque will be generated larger than when the power is shut off dynamic brake To release the dynamic brake shut off the power or turn the FREE input ON The motor does not operate An electromagnetic brake motor is used and the electromagnetic brake is in the holding state Check the connections between electromagnetic brake and driver The STOP input is turned ON Turn the STOP input OFF The position distance is not set in the operation data while positioning operation Check the operation data The FWD input and RV
38. menu i File Edit Move View Communication Tool 0 New Ctrl N Open Ctri O Save CtritS Save As Save Waveform Export Page Setup Print Preview Print Ctrl P Exit 4 Data upload download and verification 4 Data upload download and verification This chapter explains how to write the MEXEO2 data to the driver download read data from the driver into the MEXE02 upload and verify the MEXEO2 data against driver data 4 1 Download data to the driver writing You can write data created in the MEXEO2 to the driver Ka e The driver s non volatile memory can be rewritten approximately 100 000 times e Do not turn off the driver power while the download is still in progress Doing so may damage the data 1 Click the Download icon in the toolbar 24 MEXEO2 Untitled1 a File Edit Move View Communication Tool nels TOR 2 Select the data to be downloaded and then click Download OK The MEXEO2 data and the driver data must be synchronized prior to performing a Modified Data Only download For the synchronization method refer to p 7 23 3 Click Yes The data is downloaded Warning dd All data will be downloaded Do you want to proceed 4 After the data has been downloaded click OK If the system parameters have been changed by data initialization the following message will be displayed Changes to the system parameters will i The initialization is co
39. upper 00h Number of registers lower 06h E heck I 01h Tor cheek lower Calculation result of CRC 16 Error check upper 17h 5 17 8 Register address list 8 Register address list All data used by the driver is 32 bit wide Since the register for the Modbus protocol is 16 bit wide one data is described by two registers Since the address assignment is big endian the even number addresses become the upper and the odd number addresses become the lower 8 1 Operation commands Commands related to motor operation Operation commands are not saved in the non volatile memory Register address a READ f Name Description Setting range Dec Hex j WRITE TSS 48 0030h Group upper 1 No group specification Group send is not performed Sets the group address R W 1 to 31 Group address Address number 49 0031h Group lower of parent slave Driver input 124 007Ch d somman upper Sets the input command R W See the following explanation Driver input to the driver 125 007Dh command lower Driver output 126 007Eh command upper Read the output status Driver output of the driver R gt pSee next page 127 007Fh P i command lower E Group 0030h 0031h Multiple slaves are made into a group and a query is sent to all slaves in the group at once See p 5 34 for group details The initial value is 1 When performing read or write for setting
40. 1 000 000 Hz 500 0824h 1824h JOG travel amount 1 to 8 388 607 step 1 1 Indicates the timing for the data to become effective B Effective after stopping the operation C Effective after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 6 29 4 Command code list E Return to home parameter C d cod x Ommen on Description Setting range Initial value Effective Read Write 0 2 sensor mode 0160h 1160h Home seeking mode 1 3 sensor mode 1 2 Push mode 0161h 1161h Operating speed of home seeking 1 to 1 000 000 Hz 1000 Acceleration deceleration of 1 to 1 000 000 0162h Toan home seeking 1 0 001 ms kHz or 1 0 001 s ae 19099 0163h 1163h Starting speed of home seeking 1 to 1 000 000 Hz 500 0164h 1164h Position offset of home seeking 8 388 608 to 8 388 607 step 0 B 0165h 1165h Starting direction of home seeking 0 Negative direction 1 1 Positive direction 0166h 1166h SLIT detection with home seeking TIM signal detection with poe 0 0167h 1167h signal detection wi 1 Enable home seeking o168h 1168h Operating current of push motion 4 to 1000 1 0 1 1000 home seeking 1 Indicates the timing for the data to become effective B Effective after stopping the operation 2 Accele
41. 1 Input signals to the driver 6 22 3 2 Output signals from the driver 6 23 4 Command code list cccceee 6 24 4 1 Group function 6 24 4 2 Maintenance command 6 25 4 3 Monitor command eeeeees 6 26 4 4 Operation data 6 27 4 5 User parameters neeese 6 28 M I O parameter ee eeceseeseeseeeeceeeeeseeneees 6 28 E Motor parameter 0 0 0 ceeeeseceeeceeeeeenee 6 29 E Operation parameter 00 eee eneeeeeees 6 29 E Return to home parameter eee 6 30 E Alarm warning parameter eee 6 30 E Coordination parameter eee 6 30 M Common parameter e er eee m J O function parameter E I O function RS 485 parameter 6 32 E Communication parameter eee 6 33 1 Method of control via CC Link communication 1 Method of control via CC Link communication See the following explanation when using the AR Series FLEX DC power input built in controller type in combination with the network converter NETCO1 CC via CC Link communication Refer to 3 Details of remote I O on p 6 22 and 4 Command code list on p 6 24 for remote I O and command code 1 1 Guidance If you are new to the AR Series FLEX DC power input built in controller type read this section to understand the operating methods along with the operation flow Note e Before operating the motor check the condition of the surrounding area to ensure safety e See the network converter
42. 400 820 6516 Fax 021 6278 0269 TAIWAN ORIENTAL MOTOR CO LTD Tel 02 8228 0707 Fax 02 8228 0708 SINGAPORE ORIENTAL MOTOR PTE LTD Tel 65 6745 7344 Fax 65 6745 9405 ORIENTAL MOTOR MALAYSIA SDN BHD Tel 03 22875778 Fax 03 22875528 ORIENTAL MOTOR THAILAND CO LTD Tel 66 2 251 1871 Fax 66 2 251 1872 INA ORIENTAL MOTOR CO LTD KOREA Tel 080 777 2042 Fax 02 2026 5495 ORIENTAL MOTOR CO LTD Headquarters Tokyo Japan Tel 03 6744 0361 Fax 03 5826 2576
43. Configuration will be executed when all of the following conditions are satisfied e An alarm is not present e The motor is not operated e The OPX 2A is in other modes than the test mode or copy mode e The MEXE072 is in other status than downloading I O test test operation or teaching function Shows the driver status before and after executing the configuration item Configuration is ready to Configuration is Configuration is execute executing completed POWER LED Lit Lit ALM LED OFF OFF Based on the driver Electromagnetic brake Hold Release Hold condition Motor excitation Excitation no excitation No excitation Output signals Allowed Indeterminable Allowed Input signals Allowed Not allowed Allowed Sensor input Allowed Not allowed Allowed Note e The correct monitor value may not return even when the monitor is executed while executing the configuration e If the automatic return action parameter is enable while meeting the conditions performing the automatic return operation the automatic return operation will not perform immediately after executing the configuration 8 3 Monitor commands Monitor the operation speed alarm and warning records etc All commands can be read READ 8 Register address list Register address Name Descrip
44. Data Same as query Data value upper 12h Data value lower 34h Error check lower ECh Error check upper 9Eh 5 16 7 4 Writing to multiple holding registers This function code is used to write data to multiple successive registers Up to 16 registers can be written Write the data to the upper and lower at the same time If not an invalid value may be written Registers are written in order of register addresses Note that even when an exception response is returned because some data is invalid as being outside the specified range etc other data may have been written properly E Example of write 7 Function code Set the following data as acceleration Nos 2 to 4 as part of operation data at slave address 4 Description Register address Value written Corresponding decimal Operation data acceleration No 2 upper 0604h 0000h 40000 Operation data acceleration No 2 lower 0605h 2710h Operation data acceleration No 3 upper 0606h 0000h 20000 Operation data acceleration No 3 lower 0607h 4E20h Operation data acceleration No 4 upper 0608h 0007h 500 000 Operation data acceleration No 4 lower 0609h A120h l e Query Field name Data Description Slave address 04h Slave address 4 Function code 10h Writing to multiple holding registers Register add 06h oe eraddress Upper Register add
45. E Restoring the driver to default settings You can restore data stored in the driver s non volatile memory Note e The driver s non volatile memory can be rewritten approximately 100 000 times e Do not turn off the driver power while the initialization is still in progress Doing so may damage the data 1 Click Initialize from the Communication menu gt H MEXE02 Untitled1 Re File Edit Move View Communication Tool Wir D a S g g Pioa Download f AR StoredData DC Verify Data hhitialize Operation Data m Parameter 2 Select the data you want to restore and then click Initialize OK Revert to initial values Data Range Select 3 Click Yes mx The specified data in the driver s non volatile memory TA All data will revert to their initial values is restored Do you want to proceed Ces Infor mation 4 When the restore is complete click OK e 1 The initialization is completed If the system parameters have been changed by data initialization the following message will be displayed Changes to the system parameters will become effective at next power up Be sure to cycle the power Infor mation i The initialization is completed Turn off the power and turn it on again 7 12 3 Data edit 3 6 Ending data edit To close the data edit window click Close 0 MEXE02 Untitled1 from the File
46. END isk output OFF In direct I O turn the START input ON after setting the MO to M5 inputs In network I O the operation will be performed even when turning the MO to M5 inputs and the START input ON simultaneously e Direct positioning operation When any of the MSO to MSS inputs is turned ON the positioning operation corresponding to the input data No will perform Since the positioning operation is enabled by turning any of the MSO to MSS inputs ON you can save the step of selecting the operation data No The operation data assigning to the MSO to MSS inputs will be set by parameters Related parameters Parameter name Description Setting range Initial value MSO operation No selection MS1 operation No selection MS2 operation No selection Sets the operation data No corresponding MS3 operation No selection to MSO to MS5 input MS4 operation No selection MS5 operation No selection 0 to 63 oO BR w rMm o Operating method 1 Check the READY output is ON 2 Turn the MSO input ON 3 The motor starts positioning operation 4 Check that the READY output has been turned OFF and turn the MSO input OFF 5 When the positioning operation is completed the READY output will be turned ON Operation data No corresponding to the MSO input Motor operation Vv ee ON 0 input OFF if ON oJ a READY output OFF ga MOVE an output OFF
47. FREE Stop the motor excitation and release the 1 Electromagnetic brake electromagnetic brake EN release motor non excitation Motor excitation switching between 0 Motor non excitation 17 C ON ee Oi ae excitation and non excitation 1 Motor excitation 18 STOP Stop of the motor operation 0 ne operation 1 Stop operation 27 HMI Release of the function limitation of the 0 Function limitation OPX 2A or MEXE0O2 1 Function limitation release 32 RO 33 R1 34 R2 35 R3 36 R4 37 R5 38 R6 General signals 39 R7 Use these signals when controlling the i at 40 R8 system via RS 485 communication c 41 R9 42 R10 43 R11 44 R12 45 R13 46 R14 47 R15 48 MO 49 M1 50 M2 pais operation data No using these AR 51 M3 See p 2 24 for details on the combination Operation data INo 0 to 63 can be selected 52 M4 53 M5 3 Explanation of I O signals Related parameters Parameter name Description Initial value NET INO input function selection 48 MO NET IN1 input function selection 49 M1 NET IN2 input function selection 50 M2 NET IN3 input function selection 4 START NET IN4 input function selection 3 HOME NET IN5 input function selection 18 STOP NET IN6 input function selection 16 FREE NET IN7 input function selection Assigns the following input signals to 0 Not used NET IN8 input function selection NET INO to NET IN15 8 MSO NET IN9Q input function selection 9
48. Initial value E Driver output command 007Eh 007Fh These are the driver output signals that can be received via RS 485 communication See p 2 28 for each output signal Address Hex Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 007Eh B bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO Address yee 2 Hex Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 NET OUT15 NET OUT14 NET OUT13 NET OUT12 NET OUT11 NET OUT10 NET OUT9 NET OUT8 arek TLC END MOVE TIM AREA3 AREA2 AREA1 S BSY bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO NET OUT7 NET OUT6 NET OUT5 NET OUT4 NET OUT3 NET OUT2 NET OUT1 NET OUTO ALM WNG READY HOME P START_R M2 R M1_R MO_R Initial value 8 Register address list 8 2 Maintenance commands These commands are used to reset alarms and warnings They are also used to execute the batch processing for the non volatile memory All commands can be written WRITE Executes when writing from 0 to 1 5 20 Register add i 9913101 acess Name Description Setting Dec Hex range 384 0180h Reset alarm upper Resets the alarms that are present Some alarms cannot be reset with the reset 385 0181h Reset alarm lower alarm 386 0182h Absolute position error alarm reset upper y Absol i Resets the absolute posit
49. MO RY8 NET IN8 MSO RY1 NET IN1 M1 RY9 NET IN9 MS1 RY2 NET IN2 M2 RYA NET IN10 MS2 RY3 NET IN3 START RYB NET IN11 SSTART RY4 NET IN4 HOME RYC NET IN12 JOG RY5 NET IN5 STOP RYD NET IN13 JOG RY6 NET IN6 FREE RYE NET IN14 FWD RY7 NET IN7 Not used RYF NET IN15 RVS l STEP 6 Were you How did it go Were you able to operate the motor properly If the motor does not function check the following points vs able to operate the motor properly Is any alarm present in the driver or NETCO1 CC Are the address number transmission rate and termination resistor set correctly Is the connection parameter of the NETCO1 CC set correctly Is the C ERR LED lit RS 485 communication error Is the L ERR LED lit CC Link communication error Is the operation data set correctly Is the motor excited Or is the excitation setting correct Are the driver parameters set correctly Is the STOP input of the driver I O turned ON For more detailed settings and functions refer to network converter NETCO1 CC USER MANUAL and following pages 1 Method of control via CC Link communication 1 2 Setting the switches When using the driver in combination with the network converter set the switches before use No 1 Set the address number No 2 Set the protocol No 3 Not used No 4 Set the termination resistor 120 Q Function setting switch SW3 O POWER C DAT ALARM C ERR Address number setting switch
50. Move View Communication Tool p New Ctrl N Open Ctri 0 Close Save CtritS Save As Save Waveform Page Setup Print Preview Print Ctrl P Exit 2 Enter a file name and click Save All operating data and parameters are saved in CSV format Savein E MyDocuments DK 2 a My Music ml My Pictures My Recent Documents My Computer M ee File name Untitled z ces Save as type MEXE02 format mx2 X Cancel 4 7 10 3 Data edit 3 5 Restore default data E Restoring edited data You can initialize the data you have edited in the data edit window 1 Click Initialize from the Edit menu MEXEO2 Untitled1 Move View Communication Tool i Undo Crez hy gm fa cs Operating current a Copy Ctrl C bees Paste Ctrl V Operating current a 7 Operating current a All Ctrit 4 Operating current a 2 Select the data you want to initialize tees and click OK Revert to initial values Data Range 3 Click Yes The data is initialized i All data will revert to their initial values Do you want to proceed E Restoring default data in selected cells 1 In the data edit window select the cell you want to restore Cell to be initialized 2 Click the right mouse button and click Initialize The value in the selected cell returns to the default 0 Copy Ctrl C INC 0 Paste Giria INC o 0 All Ctri A 7 11 3 Data edit
51. NETCO1 CC USER MANUAL for how to set the parameter STEP 1 Set the transmission rate station address and address number E Using the parameter 1 Set the connection address number 0 1D80h parameter of the NETCO1 CC to 1 Enable 2 Execute the batch NV memory write 3E85h of the NETCO1 CC 3 Cycle the NETCO1 CC power Note Connection parameters will be enabled after the power is cycled E Using the switches Setting condition of driver Setting condition of NETC0O1 CC e Address number of the driver 0 CC Link station number 1 e SW3 No 2 of the function setting switch OFF CC Link baud rate Same as the master station Operation mode 6 axes connection mode e e RS 485 transmission rate 625 000 bps e RS 485 transmission rate 625 000 bps e e SW3 No 2 OFF l a 61234 CC Link station ber 1 Address number 0 number Driver I AEN RS 485 transmission EGD SW1 0 rate 625 000 bps SA AE SW1 7 RIY RS 485 transmission CC Link baud rate rate 625 000 bps i Same as master device 345 f aS 13 LV oN mj a h SEYE SW2 7 EJ E Ke Ory N E LVS acl MU CU lel J 1 Method of control via CC Link communication l STEP 2 Check the connection RS 485 communication cable Driver NETC01 CC Master controller Termination resistor 110 Q 1 2 W CC Link communication cable
52. No 63 1 ABS Absolute 0 Single motion Operation function No 0 1 Lihkedamnoti n to 2 Linked motion 2 0 Operation function No 63 2 Bishanotion Acceleration No 0 to Acceleration No 63 1 to 1 000 000 4000 Deceleration No 0 1 0 001 ms kHz or 1 0 001 s to Deceleration No 63 Push current No 0 to 0 to 500 1 0 1 200 Push current No 63 Sequential positioning No 0 0 Disable to 1 Enable 0 Sequential positioning No 63 Dwell time No 0 to 0 to 50000 1 0 001 s 0 Dwell time No 63 1 This item is effective when the acceleration deceleration type parameter is set to separate If this parameter is set to common the values of the common acceleration and common deceleration parameters will be used initial value separate 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 3 Parameter 3 Parameter 3 1 Parameter list I O parameters p 4 6 Motor parameters p 4 6 e STOP input action e Hardware overtravel e Overtravel action e Positioning completion signal range e Positioning completion signal offset e AREA1 positive direction position e AREA1 negative direction position e AREA2 positive direction position e AREA2 negative direction position e AREA positive direction position e AREA negative direction positio
53. Not used 9 MS1_R 33 R1 42 R10 51 M3_R 67 READY 1 FWD_R 10 MS2_R 34 R2 43 R11 52 M4_R 68 MOVE 2 RVS_R 11 MS3_R 35 R3 44 R12 53 M5_R 69 END 3 HOME_R 12 MS4_R 36 R4 45 R13 60 LS_R 70 HOME P 4 START_R 13 MS5_R 37 R5 46 R14 61 LS_R 71 TLC 5 SSTART_R 16 FREE_R 38 R6 47 R15 62 HOMES R_ 72 TIM 6 JOG_R 17 C ON_R 39 R7 48 MO_R 63 SLIT_R 73 AREA1 7 JOG_R 18 STOP_R 40 R8 49 M1_R 65 ALM 74 AREA2 8 MSO_R 32 RO 41 R9 50 M2_R 66 WNG 75 AREA3 80 S BSY 6 31 4 Command code list E I O function RS 485 parameter command coce Description Setting range Initial value Effective Read Write O08BOh 18B0h NET INO input function selection 48 MO 08B1h 18B1h_ NET IN1 input function selection 49 M1 08B2h 18B2h NET IN2 input function selection 50 M2 08B3h 18B3h_ NET IN3 input function selection 4 START 08B4h 18B4h_ NET IN4 input function selection 3 HOME O8B5h 18B5h_ NET IN5 input function selection 18 STOP O8B6h 18B6h_ NET IN6 input function selection 16 FREE 08B7h 18B7h_ NET IN7 input function selection 0 Not used See table next O8B8h 18B8h_ NET IN8 input function selection 8 MSO O8B9h 18B9h NET INQ input function selection 9 MS1 O8BA
54. Parameter Alarm Parameter Warming Parameter Coordinates Parameter Common Parameter 17 0 Function 1 0 Function AS 485 Monitor Status 10 Waveform Operation on Parameter gt Communicate W ave View Running Set the required items for each channel CH1 O lv ON Command Speed START EE lt Command Speed 500 r min div Actual Speed so r min div TRIGGER Oz POS 500 t min div 4 OE No Item Description 1 ON Selecting this check box specifies that the applicable channel will be displayed Set the position in the window where you want to show the channel 2 POS Move the channel position up Move the channel position down 3 Measurement item Select the speed or signal you want to measure Set the scale for each tick mark on the vertical axis This item can be set only 4 Measurement range for CH1 and CH2 4 Set the time scale The time for each tick mark on the horizontal axis will be set Time will become longer Time will become shorter h r TIME SCALE 500 ms div 7 19 5 Monitor function 5 Click TRIGGER on the lower right of the screen and set the trigger Trigger is a function for automatically measuring waveform when the motor speed or I O signal ON OFF status satisfies a specific condition MODE AUTO C NORMAL SINGLE
55. Pull the DIN lever down until it locks using a flat tip screwdriver 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 Ib to pull the DIN lever to lock it Excessive force may damage the DIN lever 1 Installation 1 6 Installing the battery e Battery installation dimensions A battery and battery holder are included in an accessory battery set BATO1B sold separately Use the battery holder to secure the battery See p 9 4 for accessory M4 13 0 3 mm 0 51 0 012 in 1 7 Installing and wiring in compliance with EMC Directive Effective measures must be taken against the EMI that the motor and driver may give to adjacent control system equipment as well as the EMS of the motor and driver itself in order to prevent a serious functional impediment in the machinery The use of the following installation and wiring methods will enable the motor and driver to be compliant with the EMC directive Refer to CE Marking on p 1 13 for the applicable standards Oriental Motor conducts EMC measurements on its motors and drivers in accordance with Example of motor and driver installation and wiring on p 2 7 The user is responsible for ensuring the machine s compliance with the EMC Directive based on the installation and wiring explained below E Connecting the power supply Use a DC power supply compliant with the EMC Directive Use a shielded cable for wiring and wire ground th
56. READY output OFF MOVE a output opp END output ON OFF ON TLC output OFF In direct I O turn the START input ON after setting the MO to MS inputs In network I O the operation will be performed even when turning the MO to M5 inputs and the START input ON simultaneously 2 2 Return to home operation Return to home is an operation in which the reference point of positioning mechanical home position is detected automatically Return to home operation is performed to return to the home position from the current position when the power supply is turned on or the positioning operation is completed Return to home operation can be performed in the following four modes 2 Operation Item Description Feature 3 sensor mode The motor operates at the operating speed of home seeking When the HOME sensor is detected the motor will stop and the stop position will be the home position e 3 external sensors are needed 3 e Operating speed is high Operating speed of return to home 2 sensor mode The motor operates at the starting speed of home seeking When the limit sensor is detected the motor will rotate in the reverse direction and escape from the limit sensor After and stop and then the stop position will be the home position 2 escaping from the limit sensor the motor will move 200 steps e 2 external sensors are needed e Operating speed is low Starting speed of re
57. Select a desired operation data number for positioning operation or continuous operation based on the combination of ON OFF states of the MO to M5 inputs iets ms M4 m3 m2 m1 mo Operavon ms m4 m3 m2 m mo 0 OFF OFF OFF OFF OFF OFF 32 ON OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF ON 33 ON OFF OFF OFF OFF ON 2 OFF OFF OFF OFF ON OFF 34 ON OFF OFF OFF ON OFF 3 OFF OFF OFF OFF ON ON 35 ON OFF OFF OFF ON ON 4 OFF OFF OFF ON OFF OFF 36 ON OFF OFF ON OFF OFF 5 OFF OFF OFF ON OFF ON 37 ON OFF OFF ON OFF ON 6 OFF OFF OFF ON ON OFF 38 ON OFF OFF ON ON OFF 7 OFF OFF OFF ON ON ON 39 ON OFF OFF ON ON ON 8 OFF OFF ON OFF OFF OFF 40 ON OFF ON OFF OFF OFF 9 OFF OFF ON OFF OFF ON 41 ON OFF ON OFF OFF ON 10 OFF OFF ON OFF ON OFF 42 ON OFF ON OFF ON OFF 11 OFF OFF ON OFF ON ON 43 ON OFF ON OFF ON ON 12 OFF OFF ON ON OFF OFF 44 ON OFF ON ON OFF OFF 13 OFF OFF ON ON OFF ON 45 ON OFF ON ON OFF ON 14 OFF OFF ON ON ON OFF 46 ON OFF ON ON ON OFF 15 OFF OFF ON ON ON ON 47 ON OFF ON ON ON ON 16 OFF ON
58. Sets the motor operating current based on ae RUN current the rated current being 100 0 to 1000 1 0 1 1000 Sets the motor standstill current as a STOP current percentage of the rated current based on 0 to 500 1 0 1 500 the rated current being 100 Position loop gain Adjusts the motor response in reaction to 1 to 50 10 A the position deviation Speed loop gain Adjusts the motor response in reaction to 10 to 200 180 the speed deviation Speed loop integral time Decreases the deviation that cannot be 100 to 2000 1 0 1 ms 1000 constant adjusted with the speed loop gain Speed filter Adjusts the motor response 0 to 200 ms 1 B Moving average time Sets the time constant for the moving 1 to 200 ms 1 average filter y Sets the filter function to adjust the motor 0 Speed filter Filter selection i 7 i 0 Cc response 1 Moving average filter Speed error gain 1 Adjusts vibration during operation Adjusts vibration during acceleration 0 to 500 45 A Speed error gain 2 deceleration Control mode Sets the control mode of the driver Dees 0 1 Current control mode c Sets whether to enable or disable smooth 0 Disable Smooth driver j 1 drive function 1 Enable Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 4 4 Operation parameter Name Description
59. Sets the starting direction for home 0 Negative direction 1 home seeking detection 1 Positive direction SLIT detection with Sets whether or not to concurrently use the home seeking SLIT input for return to home operation 0 Disable 0 TIM signal detection with Sets whether or not to concurrently use the 1 Enable home seeking TIM signal for return to home operation Operating c rrentor Sets the operating current for push motion P 9 return to home operation based on the O to 1000 1 0 1 1000 push motion home seeking rated current being 100 1 Indicates the timing for the data to become effective B Effective after stopping the operation 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 4 6 Alarm warning parameter Name Description Setting range Initial value Effective Overload alarm Sets the condition in which an overload 1 to 300 1 0 1 s 50 alarm generates ny A Overflow rotation alarm Sets Me canainon Diab ane XES SNE 1 to 30000 during current on position deviation alarm generates when 1 0 01 rev 300 the motor is in a state of current ON Sets the alarm signal status When the Return to home incomplete positioning operation is started while the 0 Disable 0 c alarm position origin has not been set selects 1 Enable whether
60. Setting condition of driver Setting condition of NETCO1 M2 e Address number of the driver 0 e MECHATROLINK II station address 61 e RS 485 transmission rate 625 000 bps e RS 485 transmission rate 625 000 bps e SW3 No 2 of the function setting switch OFF e Remote I O occupied size 16 bit mode e Number of transmission bytes 32 bytes SW3 No 2 OFF J MECHATROLINK I 91234 Station address 61 M245 Address number 0 e x10 6 Driver T RS 485 transmission NETCO1 M2 ae SW1 0 rate 625 000 bps VAS S558 Se x1 1 PCD OAN O Ls RN SEAE SW1 7 LEY RS 485 transmission rate 625 000 bps cee BERN e Number of transmission SW2 7 bytes 32 bytes Ls e Remote I O occupied size 16 bit mode SW2 No 3 ON SW2 No 2 OFF SW2 No 1 OFF 6 14 2 Method of control via MECHATROLINK communication l STEP 2 Check the connection RS 485 communication cable NETC01 M2 Driver Master controller MECHATROLINK I communication cable Mail power supply Termination resistor Itis not necessary for the NETCO1 M3 STEP 3 Check the termination resistor Termination resistor ON SW3 No 4 ON o1234 Termination resistor ON Driver NETCO1 M2 Q O O O mi 00 oo
61. Setting range Initial value 0 Normally open 1 Normally closed 2 HOMES logic level setting Sets the HOMES input logic E SLIT input Connect the SLIT input when using motorized linear slides equipped with a slit When detecting the home use of the SLIT input in addition to the HOMES will increase the accuracy of home detection See p 3 21 for return to home operation Related parameters Parameter name Description Setting range Initial value 0 Normally open 1 Normally closed o SLIT logic level setting Sets the SLIT input logic 2 32 3 Explanation of I O signals 3 6 General signals RO to R15 RO to R15 are general signals that enable control via RS 485 communication Using RO to R15 I O signals for the external device can be controlled by the master controller via the driver The direct I O of the driver can be used as an I O unit See the following example for setting of the general signals e When outputting the signals from the master controller to the external device Assign the general signal RO to the OUTO output and NET INO When setting the NET INO to 1 the OUTO output turns ON When setting the NET INO to 0 the OUTO output turns OFF e When inputting the output of the external device to the master controller Assign the general signal R1 to the IN7 input and NET OUT15 When turning the IN7 input ON by the external device the NET OUT15 becomes 1 When turning the IN
62. Setting range Initial value Effective Sets the common acceleration rate or time in commonacceleratign positioning operation and conunusus operation E a 4000 Sets the common deceleration rate or time in 1 0 001 s 2 Common deceleration a i f 0 s positioning operation and continuous operation Sets the starting speed in positioning operation and continuous operation The motor will Starting speed operate at the starting speed if the operating to OO 000 Hz 300 speed is below the starting speed JOG operating speed Sets the operating speed for JOG operation 1 to 1 000 000 Hz 1000 B Rec iaton Sets the acceleration deceleration rate or time 1 10 1000 9000 deceleration rate of for JOG operation 1 0 001 ms kHz or 1000 JOG P i 1 0 001 s JOG starting speed Sets the starting speed for JOG operation 0 to 1 000 000 Hz 500 Sets whether to use the common acceleration Acceleration 3 i 0 Common daccleration tbe deceleration or the acceleration deceleration i Separate 1 yp specified for the operation data SEP Acceleration Sets the acceleration deceleration unit 0 ms kHz 0 deceleration unit 1s c Automatic return Sets whether to enable or disable automatic 0 Disable 0 operation return operation 1 Enable Operating speed of Sets the operating speed for automatic return 4 to 1 000 000 Hz 1000 automatic return operation Aneelgraton Sets the acceleration deceleration rate or time 110 1 000 900 deceleration of for a
63. TUNCUOMS sie cccteccect sink cere anakaa naiaiae 7 23 6 1 Synchronization with the driver 7 23 6 2 VOTES E Micacisnidigiete cokes eurari itii 7 24 6 3 Test operation eeeeeeeeeeeeteeeeeneeees 7 25 Teaching function asssssesseennnnnennnnrennnnnne 7 26 Other fUNCTIONS ccceeeeeeeeeeeeeteeeeeeeteeeeees 7 27 8 1 Printing data cccccecseeeeeeeeeeeeeteees 7 27 8 2 Checking product information 7 28 8 3 Checking version information 7 29 8 4 Checking error message eeee 7 30 8 Inspection troubleshooting and remedial actions 1 INSPO CtiOnie si ccccciivscce eden ctee tes bh cette stevens 8 2 2 Alarms and warnings cccesseeeeeeeeeeeeeeees 8 3 231s ALANS aiia e a cstv ett edecnes 8 3 E Alari Tesetos minenn sets 8 3 E Alamrec rdSyene iea 8 3 E Alarm lists ci 2c ccccscs caresses costed encetestes codecons 8 4 2 2 WAIMMINGS so hadi dceedieeclin teh wes 8 8 E Warning records 8 8 M Warning list 0 0 eeeeeereeeeeeeeeeseeeeeeneeeees 8 8 2 3 Communication Eff Ors cccccccceeeeeeeeees 8 9 E Communication error records 0008 8 9 E Communication error list 0 0 cccc eee 8 9 3 Troubleshooting and remedial actions 8 10 9 Appendix Accessories sold separately 00 9 2 E Motor cable ceccccccceccseeecseeeseseeteesesseees 9 2 E Data setters baclathaescasvtsleeatices bane 9 4 E Data setting software
64. When the return to home incomplete alarm parameter is set to enable the return to home incomplete alarm will generate if the positioning operation is started while the position origin has not been set E SSTART input This signal starts the sequential positioning operation Positioning operation based on the next operation data No will be performed every time the SSTART input turns ON This function is useful when multiple positioning operations must be performed sequentially because there is no need to repeatedly select each operation data No See p 3 11 for sequential positioning operation Related parameters 3 Explanation of I O signals Parameter name Description Setting range Initial value Retuinio hom Sets the alarm signal status When the positioning 0 Disable A operation is started while the position origin has not 0 incomplete alarm 1 Enable been set selects whether the alarm generates or not When the return to home incomplete alarm parameter is set to enable the return to home incomplete alarm will generate if the positioning operation is started while the position origin has not been set E MSO to MS5 input This signal starts the direct positioning operation When any of the MSO to MSS inputs is turned ON the positioning operation corresponding to the input data No will be performed Since the positioning operation is enabled by turning any of the MSO to MS5 inputs ON you can save t
65. address to the child slaves to be included in the group The child slaves to which the group address has been set can receive a command sent to the parent slave The operation command will be sent to the child slaves in the same group by sending it to the parent slave e Parent slave No special setting is required on the parent slave to perform a group send The address of the parent slave becomes the group address e Child slave Use a group 1018h to set a group address to each child slave Only remote I O input can execute the group function Read from commands and parameters or write to commands and parameters cannot be executed E Group setting The group setting is not saved in the non volatile memory even when the maintenance command batch NV memory write executes Command code Read Write Description Setting range Initial value Set the group 1 Individual No group setting 0 to 15 Set the group address Address number of parent slave Set in the 0 to 11 range when using the NETCO1 CC and set in the 0 to 15 range when using the NETCO1 M2 or NETCO1 M3 0018h 1018h Group 1 E Example for setting of the group function Set as follows when making a group by setting the driver of address number 0 to the parent slave and by setting the driver of address number 1 and 2 to the child slaves NETCO1 Parent slave Driver of address number 0 Driver of address number 1 Driver of address
66. been performed in a condition where both LS and LS were detected Check the sensor logic and the setting of LS logic level parameter The HOMES is not detected at a position between LS 63h No HOMES and LS during Set a HOMES between LS return to home operation in 3 sensor mode and LS 2 Alarms and warnings 1 When an alarm generates the motor operates as follows Excitation off When an alarm generates the motor current will be cut off and the motor will lose its holding torque The electromagnetic brake will automatically actuate and hold the position when using the electromagnetic brake motor Excitation on Even when an alarm generates the motor current will not be cut off and the motor position will be held 2 This alarm cannot be reset by the ALM RST input Reset the alarm using the P CLR input No of Reset Motor Code pera Alarm type Cause Remedial action eee excitation blinks input e Adjust the connection condition of the motor output shaft and load as well as the HOMES position so that at least one of the SLIT input or TIM output will turn ON while None of the SLIT input or TIM HOMES is ON 64h TIM ZSG SLIT output could be detected e Set the SLIT detection with signal error during return to home home seeking parameter operation to disable if the SLIT input are not used with HOMES while set the TIM signal detection with home see
67. code record 8 upper 189 OOBDh Communication error code record 8 lower 190 OOBEh Communication error code record 9 upper 191 00BFh Communication error code record 9 lower 192 00C0h Communication error code record 10 upper 193 00C1h Communication error code record 10 lower 194 00C2h Present selected data No l upper Monitors the operation data No currently 0 to 63 selected 195 00C3h Present selected data No lower Monitors the operation data No corresponding Present operation data No to the data used in the current positioning 196 00C4h f upper operation This address is used in linked motion operation and sequential 1 to 63 operation While the motor is stopped the last o Present operation data No used operation data number is indicated 197 00C5h lower 1 is indicated until the positioning operation is performed after turning the power ON 198 00C6h Command position upper Mentera tbe command posis 2 147 483 648 to 199 00C7h Command position lower j 2 147 483 647 step 200 00C8h Command speed upper oe to R r min Monitors the current command speed n TAEA 201 00C9h_ Command speed lower 0 Stop 204 00CCh Feedback iti kainate posi ae upper Monitors the feedback position 2 147 483 648 to 205 00CDh Feedback position lower 2 147 483 647 step 5 22 8 Register address list Register address Name Description Range Dec Hex 206 OOCEh Feedback d
68. connecting an extension cable to the supplied cable keep the total cable length to 30 m 98 4 ft or less See p 9 3 for connector pin assignments of the cable e Connection cable set For standard motor e Connection cable set For electromagnetic brake motor 2 Model Length m ft Model Length m ft CCO10VADF2 1 3 3 CCO10VADIFB2 1 3 3 CCO20VAUF2 2 6 6 CCO20VADIFB2 2 6 6 CCO30VADF2 3 9 8 CCO30VALIFB2 3 9 8 CCOS50VADF2 5 16 4 CCOS50VALIFB2 5 16 4 CCO70VAUF2 7 23 0 CCO7OVADIFB2 7 23 0 CC100VADOF2 10 32 8 CC100VAOFB2 10 32 8 CC150VAOF2 15 49 2 CC150VAOFB2 15 49 2 CC200VADOF2 20 65 6 CC200VAOFB2 20 65 6 CC300VADOF2 30 98 4 CC300VAOFB2 30 98 4 1 2 For IP20 type motor enter 2 in the box O within the model name The cable set for electromagnetic brake motors consists of two cables one for motor and the other for electromagnetic brake e Flexible connection cable set For standard motor e Flexible connection cable set For electromagnetic brake motor 2 Model Length m ft Model Length m ft CCO10VADIR2 1 3 3 CC010VAORB2 1 3 3 CC020VAOR2 2 6 6 CC020VAORB2 2 6 6 CCO30VADIR2 3 9 8 CCO30VADIRB2 3 9 8 CCO50VADIR2 5 16 4 CCOS50VADIRB2 5 16 4 CCO70VADIR2 7 23 0 CCO70VADIRB2 7 23 0 CC100VADIR2 10 32 8 CC100VADIRB2 10 32 8 CC150VADIR2 15 49 2 CC150VAORB2 15 49 2 CC200VAOR2
69. connector CN9 Connect the output signals cable 9 Preparation E Motor Example ARM66SMk Protective Earth Terminal M4 Mounting holes Ces 4 locations Electromagnetic brake Output shaft Pilot Motor cable of If SV Electromagnetic brake cable OS G 2 Installation and connection This part explains the installation method of the product the mounting method of a load and the connection method as well as I O signals Table of contents 1 Installation 2 2 1 1 Location for installation 2 2 1 2 Installing the Motor 2 2 1 3 Installing a load n 2 3 1 4 Permissible overhung load and permissible thrust load 0005 2 4 1 5 Installing the driver cee 2 5 1 6 Installing the battery 0000 ee 2 6 1 7 Installing and wiring in compliance with EMC Directive eee 2 6 2 Connection 2 8 2 1 Connection example electromagnetic brake motor 2 8 2 2 Grounding the motor and driver 2 12 2 3 Connecting the data setter 2 12 2 4 Connecting the RS 485 communication cable 2 13 2 5 Connecting and charging the battery 20 adie eines 2 14 3 Explanation of I O signals 2 15 3 1 Assignment of direct I O 2 15 E Assignment to the input terminals 2 15 m Changing the logic level setting of Input Signals inneni 2 16 E Assignment to the output terminals 2 17 3 2 Assign
70. direction postion _g 388 608 to 8 388 607 step 0 0108h 1108h AREA2 negative direction position 0109h 1109h AREAS positive direction position 010Ah 110Ah_ AREA3 negative direction position 010Bh 110Bh Minimum ON time for MOVE output 0 to 255 ms 0 010Ch 110Ch_ LS logic level FN i 010Dh 110Dh HOMES logic level Sma YORA 0 c 1 Normally closed 010Eh 110Eh SLIT logic level 0800h 1800h MSO operation No selection 0 0801h 1801h MS1 operation No selection 1 0802h 1802h MS2 operation No selection 0 t063 2 B 0803h 1803h MS3 operation No selection 3 0804h 1804h MS4 operation No selection 4 0805h 1805h MS5 operation No selection 5 0806h 1806h HOME P function selection 0 Home output 0 A 1 Return to home complete output Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 6 28 E Motor parameter 4 Command code list Command code Description Setting range Initial value Effective Read Write 0120h 1120h RUN current 0 to 1000 1 0 1 1000 0121h 1121h STOP current 0 to 500 1 0 1 500 0122h 1122h Position loop gain 1 to 50 10 A 0123h 1123h Speed loop gain 10 to 200 180 0124h 1124h Speed loop integral time constant 100 to 2000 1 0 1 ms 1000 0125h 1125h Speed filter 0 to 200 ms 1 B 0126h 1126h Moving average time 1 to 200 ms
71. during current on e Return to home incomplete alarm e Overflow rotation alarm during current off e Overheat warning e Overload warning e Overspeed warning e Overvoltage warning e Undervoltage warning e Overflow rotation warning during current on Coordination parameters p 4 8 e Electronic gear A e Electronic gear B e Motor rotation direction e Software overtravel e Positive software limit e Negative software limit e Preset position e Wrap setting e Wrap setting range Common parameters p 4 8 e Data setter speed display e Data setter edit e Absolute position backup system Communication parameters p 4 8 e Communication timeout e Communication error alarm e Communication parity e Communication stop bit e Transmission waiting time I O function parameters p 4 9 e INO to IN7 input function selection e INO to IN7 input logic level setting e OUTO to OUT5 output function selection I O function RS 485 parameters p 4 10 e NET INO to NET IN15 input function selection e NET OUTO to NET OUT15 output function selection 3 Parameter 3 2 I O parameter Name Setting range Initial value Effective 0 Immediate stop i 1 Deceleration stop STOR Input action 2 Immediate stop amp Current OFF 1 3 Deceleration stop amp Current OFF Hardware overtravel 0 aoe 1 1 Enable Overtravel actio
72. error alarm generates A communication error alarm generates after a RS 485 communication error has occurred by the number of times set here 5 Communication mode and communication timing 5 Communication mode and communication timing 5 1 Communication mode Modbus protocol communication is based on the single master multiple slave method Under this protocol messages are sent in one of two methods e Unicast mode The master sends a command to only one slave The slave executes Master the process and returns a response Slave Response e Broadcast mode If slave address 0 is specified on the master the master can send a Master Query command to all slaves Each slave executes the process but does not Slave No response return a response 5 2 Communication timing Tb1 Tb3 Broadcast Master Response Character Name Description Intervals between received messages are monitored If no message Tb1 Communication timeout could be received after the time set in the communication timeout parameter a communication timeout alarm generates The time after the slave switches its communication line to the transmission mode upon receiving a query from the master until it Tb2 Transmission waiting starts sending a response Sets using the transmission waiting time time parameter The actual transmission waiting time corresponds to the silent interval C3 5 processing time transmission wait
73. error gain 1 0 to 500 45 x Speed error gain 2 0 Normal mode Conirolimode 1 Current control mode c 0 Disable Smooth driver 1 Enable 1 Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 3 4 Operation parameter 3 Parameter Name Setting range Initial value Effective Common acceleration 1 to 1 000 000 4000 Common deceleration 1 0 001 ms kHz or 1 0 001 s se Starting speed 0 to 1 000 000 Hz 500 JOG operating speed 1 to 1 000 000 Hz 1000 1 to 1 000 000 B Acceleration deceleration rate of JOG 1 0 001 ms kHz or 1 0 001 s 2 1000 JOG starting speed 0 to 1 000 000 Hz 500 0 Common Acceleration deceleration type 1 Separate 1 Acceleration deceleration unit ye eee 0 C A i 0 Disable Automatic return operation 1 Enable 0 Operating speed of automatic return 1 to 1 000 000 Hz 1000 Acceleration deceleration of automatic 1 to 1 000 000 1000 return 1 0 001 ms kHz or 1 0 001 s B Starting speed of automatic return 0 to 1 000 000 Hz 500 JOG travel amount 1 to 8 388 607 step 1 1 Indicates the timing for the data to become effective B Effective after stopping the operation C Effective after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acce
74. holding register s 8 7 to 37 Impossible 06h Write to a holding register 8 8 Possible 08h Perform diagnosis 8 8 Impossible 10h Write to multiple holding registers 11 to 41 8 Possible E Data Set data associated with the selected function code The specific data length varies depending on the function code Error check In the Modbus RTU mode error checks are based on the CRC 16 method The slave calculates a CRC 16 of each received message and compares the result against the error check value included in the message If the calculated CRC 16 value matches the error check value the slave determines that the message is normal e CRC 16 calculation method 1 Calculate an exclusive OR XOR value of the default value of FFFFh and slave address 8 bits oe er a Repeat steps 2 to 4 for all bytes The final result gives the result of CRC 16 calculation 5 10 Repeat steps 2 and 3 until a shift is performed eight times Calculate an XOR of the result of step 4 and function code 8 bits Shift the result of step 1 to the right by 1 bit Repeat this shift until the overflow bit becomes 1 Upon obtaining 1 as the overflow bit calculate an XOR of the result of step 2 and A001h e Example of CRC 16 calculation slave address 02h function code 07h 6 Message The following table is a calculation example when setting the slave address of the first byte to 02h and setting the function code of the second by
75. input logic level setting INO to IN7 input logic 0 Normally open 0 IN4 input logic level setting 1 Normally closed IN5 input logic level setting IN6 input logic level setting IN7 input logic level setting OUTO output function selection 70 HOME P OUT1 output function selection 69 END OUT2 output function selection Function of output terminals 73 AREA1 See table next OUT3 output function selection OUTO to OUTS 67 READY OUT4 output function selection 66 WNG OUT5 output function selection 65 ALM Indicates the timing for the data to become effective C Effective after executing the configuration e Setting range for IN input function selection 0 Not used 8 MSO 18 STOP 35 R3 43 R11 51 M3 1 FWD 9 MS1 24 ALM RST 36 R4 44 R12 52 M4 2 RVS 10 MS2 25 P PRESET 37 R5 45 R13 53 M5 3 HOME 11 MS3 26 P CLR 38 R6 46 R14 4 START 12 MS4 27 HMI 39 R7 47 R15 5 SSTART 13 MS5 32 RO 40 R8 48 MO 6 JOG 16 FREE 33 R1 41 R9 49 M1 7 JOG 17 C ON 34 R2 42 R10 50 M2 e Setting range for OUT output function selection 0 Not used 10 MS2_R 35 R3 45 R13 61 LS_R 72 TIM 1 FWD_R 11 MS3_R 36 R4 46 R14 62 HOMES R_ 73 AREA1 2 RVS_R 12 MS4_R 37 R5 47 R15 63 SLIT_R 74 AREA2 3 HOME_R 13 MS5_R 38 R6 48 MO_R 65 ALM 75 AREA3 4 START_R 16 FREE_R 39 R7 49 M1_R 66 WNG 80 S BSY 5 SSTART_R 17 C ON_R 40 R8 50 M2_R 67 READY 6 JOG_R 18 STOP_R 41 R9 51 M3_R 68 MOVE 7 JOG_R 32 RO 42 R10 52 M4_R 69
76. less END A output OFF 6 ms or less READY ON output OFF Motor operation The specific time varies depending on the load operating speed speed filter and other E Sequential operation 4 ms or more SSTART i i input OFF 6 ms or less MOVE i output OFF 6 ms or less END 9N output OFF 6 ms or less READY N output OFF Motor operation The specific time varies depending on the load operating speed speed filter and other E Continuous operation ON FWD RVS input OFF ON MO to M5 input OFF 6 ms or less ON MOVE output OFF 6 ms or less on gs END output OFF 6 ms or less ON READY output OFF 6 ms or less 6 ms or less Motor operation The specific time varies depending on the load operating speed speed filter and other 4 18 4 Timing charts E JOG operation 4 ms or more JOG input ON JOG input OFF 6 ms or less MOVE output OFF 6 ms or less END od output OFF 6 ms or less READY ON output OFF Motor operation The specific time varies depending on the load operating speed speed filter and other E Return to home operation 4 ms or more HOME i ie input OFF i ON HOMES input OFF 6 ms or less MOVE A output OFF 6 ms or less END oN output OFF 6 ms or less READY
77. measurement results The time delta indicates the difference between T1 and T2 while the measurement delta indicates the difference between V1 and V2 This function is useful to verify the time that the measured waveform is in ON state or to verify the interval between the signals It is also useful to verify the difference between the measured value of the items selected for CH1 and CH2 1 Under MEASURE on the right side of the window select the channel you want to measure MEASURE Time delta v AT Measurement delta gt i AV 2 To measure the time delta select AT To measure the measurement delta select AV If AT has been selected two vertical lines appear If AV has been selected two horizontal lines appear The red line shows the T1 time or V1 measurement The blue line shows the T2 time or V2 measurement SM MEXEO2 Untitled1 Eile Edit Move View Communication Tool Window Help a amp AR StoredData DC Data Operation Data Parameter GN Command Speed M Start Waveform Monitor 1 0 Parameter Motor Parameter 500 tmin div Operation Parameter Home Operation Parameter Alarm Parameter Actual Speed Warning Parameter Coordinates Parameter 500 Wmin div Common Parameter 1 0 Function 1 0 Function RS 485 Communication Parameter Monitor Status 1 0 Waveform Test 1 0 Operation msd TRIG
78. number of registers in the query Value read from register address upper 00h Value read from register address lower 00h Value read from register address 0402h Value read from register address 1 upper 27h Value read from register address 0403h Data Value read from register address 1 lower 10h Val dfi ister add 2 FFh a AO paG Om eas er address 2 upper Value read from register address 0404h Value read from register address 2 lower FFh Val dfi ister add 3 D8h SORI ATO N bisa r address 3 Upper Value read from register address 0405h Value read from register address 3 lower FOh E heck I 08h ROE check lower Calculation result of CRC 16 Error check upper A3h 5 14 7 2 Writing to a holding register This function code is used to write data to a specified register address However since the result combining the upper and lower may be outside the data range write the upper and lower at the same time using the multiple holding registers 10h E Example of write Write 80 50h as speed filter to slave address 2 7 Function code Description Register address Value write Corresponding decimal Speed filter 024Bh 50h 80 e Query Field name Data Description Slave address 02h Slave address 2 Function code 06h Writing to a holding register Register add 02h age er address upper Regi
79. or 1 to 1 000 000 i A 1 0 001 ms kHz or 1000 home seeking time for return to home operation 2 1 0 001 s Starting speed of Sets the starting speed for return to home 1 to 1 000 000 Hz 500 home seeking operation Position offset of Sets the amount of offset from mechanical 8 388 608 to 0 home seeking home 8 388 607 step Starting direction of Sets the starting direction for home 0 Negative direction 1 home seeking detection 1 Positive direction SLIT detection with Sets whether or not to concurrently use the home seeking SLIT input for return to home operation 0 Disable 0 TIM signal detection with Sets whether or not to concurrently use the 1 Enable home seeking TIM signal for return to home operation e Operation example when using 3 sensor mode Operating sequence in seeing a time axis Speed Operating speed paises of home seeking N Acceleration deceleration rs Se Electrical home Starting speed of home seeking of home seeking Operating speed of home seeking cok ne Mechanical home HOMES i a input OFF Operating sequence in seeing a travel amount Speed HOMES input Operating speed _ of home seeking ha Electrical home Starting speed of home seeking Starting position lt 0 Position Mechanical home 2 Operation e Operating method 1 Check the READY output is ON 2 Turn the HOME input ON 3 Return to home operation will be started 4 Check t
80. push motion operation is applied to the motor current When the operation was completed with non push motion status the motor stops and the END output and READY output are turned ON The set current of push motion operation is applied to the motor current at standstill When the STOP input is turned ON the motor stops and the END output and READY output are turned ON The STOP current is applied to the motor current at standstill e Regardless of resolution the maximum speed of push motion operation is 30 r min If the push motion operation is started by setting higher speed than 30 r min an operation data error alarm will generate e Do not perform push motion operation with geared types Doing so may cause damage to the motor or gear part 2 Operation Example of push motion operation Operation Position Operating Acceleration Deceleration Operation Operation Dwell Push Sequential data speed mode function time current positioning No 1 5000 500 Not used Not used INC ri Not used 500 Not used Operation example when it had pressed against the load Speed Push motion status Operating speed of No 1 500 Operation data No 1 0 5000 Position Operating method 1 Check the READY output is ON 3 4 output will be turned ON No 1 Motor operation 2 Select the operation data No 1 by turning the MO input ON and turn the START input ON The motor starts the posit
81. response 25 Command code response 26 Command code TRIG TRIG response STATUS Remote resistor 27 28 29 DATA DATA response 30 31 Reserved Reserved 2 Method of control via MECHATROLINK communication 2 4 I O field map for the NETCO1 M3 Update of remote I O data asynchronous is executed by DATA_RWA Command 20h When the remote I O occupied size is 16 bit mode and the number of transmission bytes is 32 bytes initial value I O field map will be as follows See the network converter NETCO1 M3 USER MANUAL for other I O field map Byte Type Command Response 0 DATA_RWA 20h DATA_RWA 20h 1 WDT RWDT CMD_CTRL CMD_ STAT 4 5 T Reserved Connection status Address number 0 remote I O input Address number 0 remote I O output Address number 1 remote I O input Address number 1 remote I O output 10 i 1 Address number 2 remote I O input Address number 2 remote I O output 12 13 Address number 3 remote I O input Address number 3 remote I O output 14 Remote I O 15 Address number 4 remote I O input Address number 4 remote I O output 16 17 Address number 5 remote I O input Address number 5 remote I O output 18 19 Address number 6 remote I O input Address number 6 remote I O output 20 z1 Address number 7 remote I O input Address number
82. screw and rotary table e Example Ball screw Ball screw lead 12 mm 0 47 in Minimum travel amount 0 01 mm 0 000394 in Gear ratio 1 No speed reduction mechanism between the motor and ball screw Electronic gear B Ball screw lead Resolution 1000 x x Gear ratio Electronic gear A Minimum travel amount Electronic gear B 12mm In this example 1000 x x Electronic gear A 0 01 mm Electronic gear B 12 Result Electronic gear A 10 Therefore the electronic gear A and B are 10 and 12 respectively and the resolution will be 1200 P R e Example Rotary table Step angle per one rotation 360 Minimum step angle 0 01 Gear ratio 10 Using the geared motor gear ratio 10 1 Electronic gear B Minimum step angle Resolution 1000 x x Gear ratio Electronic gear A Step angle per one rotation Electronic gear B 360 1 x Electronic gear A 0 01 10 In this example 1000 x Electronic gear B 36 Result Electronic gear A 10 Therefore the electronic gear A and B are 10 and 36 respectively and the resolution will be 3600 P R 1 Adjustment and setting 1 2 Operating current The maximum driver operating current can be changed using the RUN current parameter If the load is small and there is an ample allowance for torque the motor temperature rise can be suppressed by setting a lower operating current Related parameters Parameter name Description Setti
83. selection 50 M2 0885h 1885h IN5 input function selection 16 FREE 0886h 1886h IN6 input function selection 18 STOP 0887h 1887h IN7 input function selection 24 ALM RST 0890h 1890h INO input logic level setting 0891h 1891h IN1 input logic level setting 0892h 1892h IN2 input logic level setting c 0893h 1893h IN3 input logic level setting 0 Normally open 0 0894h 1894h IN4 input logic level setting 1 Normally closed 0895h 1895h IN5 input logic level setting 0896h 1896h IN6 input logic level setting 0897h 1897h IN7 input logic level setting O08A0h 18A0h_ OUTO output function selection 70 HOME P 08A1h 18A1h OUT1 output function selection 69 END 08A2h 18A2h OUT2 output function selection 73 AREA1 See table next 08A3h 18A3h OUT3 output function selection 67 READY 08A4h 18A4h_ OUT4 output function selection 66 WNG O8A5h 18A5h_ OUT5 output function selection 65 ALM Indicates the timing for the data to become effective C Effective after executing the configuration e Setting range for IN input function selection 0 Not used 8 MSO 18 STOP 35 R3 43 R11 51 M3 1 FWD 9 MS1 24 ALM RST 36 R4 44 R12 52 M4 2 RVS 10 MS2 25 P PRESET 37 R5 45 R13 53 M5 3 HOME 11 MS3 26 P CLR 38 R6 46 R14 4 START 12 MS4 27 HMI 39 R7 47 R15 5 SSTART 13 MS5 32 RO 40 R8 48 MO 6 JOG 16 FREE 33 R1 41 R9 49 M1 7 JOG 17 C ON 34 R2 42 R10 50 M2 e Setting range for OUT output function selection 0
84. the alarm generates or not Overflow rotation alarm sels the conamon tat all Excessive 1 to 30000 during current off position deviation alarm generates when 1 0 01 rev 10000 the motor is in a state of current OFF j Overheatwainin Sets the temperature at which a main 40 to 85 C 85 9 circuit overheat warning generates 104 to 185 F Overload warning Sets the condition that an overload warning 1 to 300 1 0 1 s 50 generates Overspeed warning Sets te condition hatar overspeed 1 to 5000 r min 4500 A warning generates Overvoltage warning caring cence Whienan oyeivoltage 630 150 to 630 1 0 1 V Sets the voltage at which an undervoltage Undervoltage warning 3 180 warning generates Overflow rotation warning Sets the condition that an excessive 1 to 30000 i ee E 300 during current on position deviation warning generates 1 0 01 rev Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 3 43 4 Parameter 4 7 Coordination parameter Name Description Setting range Initial value Effective PECUOME gearA Sets the denominator of electric gear 1 to 65535 4 Electronic gear B Sets the numerator of electric gear c Motor rotation direction Sets the rotation direction of motor 0 Positive direction CCW 1 output shaft 1 Positive direction CW Sets whether to enable or disable 0 Disable Software overtravel
85. the condition under which an excessive 1 to 30000 i position deviation alarm generates when the b 300 during current ON A 1 0 01 rev motor is excited Sets the alarm signal status When the Return to home positioning operation is started while the 0 Disable 0 incomplete alarm position origin has not been set selects 1 Enable whether the alarm generates or not Overfiow rotation alarm Sets the condition under which an excessive 1 to 30000 a position deviation alarm generates when the _ 10000 during current OFF ce 1 0 01 rev motor is in a state of current OFF Sets the condition in which a communication Communication timeout timeout occurs in RS 485 communication 0 to 10000 ms 0 It is not monitored when the set value is 0 Sets the condition in which a RS 485 ae communication error alarm generates A Communication error a communication error alarm generates after a 1 to 10 times 3 alarm RS 485 communication error has occurred by the number of times set here 3 Explanation of I O signals E WNG output When a warning generates the WNG output turns ON See p 8 8 for warning Related parameters Parameter name Description Setting range Initial value Overh at warni Sets the temperature at which a main 40 to 85 C 85 9 circuit overheat warning generates 104 to 185 F Overload warning Sets the condition in which an overload 1 to 300 1 0 1 s 50 warning generates Overspeed warning Sets t
86. the positioning operation will be performed by returning to the operation data No 0 because the sequential positioning for the operation data No 3 has been set to disable e Setting example Operation data Sequential positioning No 0 No 1 Enable No 2 No 3 Disable SSTART SSTART SSTART SSTART data No 0 data No 1 data No 2 2 Operation When the operating patterns are multiple 1 After selecting the operation data No 3 that is the starting point for the sequential positioning operation the positioning operation will be performed by turning the START input ON 2 After the operation 1 is completed when turning the SSTART input ON again the positioning operation for the operation data No 4 will be performed 3 After the operation 2 is completed when turning the SSTART input ON again the positioning operation for the operation data No 5 will be performed 4 After the operation 3 is completed when turning the SSTART input ON again the positioning operation will be performed by returning to the operation data No 3 because the sequential positioning for the operation data No 6 has been set to disable 5 After the operation 4 is completed the positioning operation is performed by selecting the operation No 7 and turning the START input ON The operation data No 7 becomes a starting point for a new sequential positioning operation 6 After the operation 5 is completed when turn
87. to No 3 are linked 4 Check that the READY output has been turned OFF and turn the START input OFF 5 When the positioning operation 3 is completed the MOVE output will be turned OFF 6 When the dwell time has passed the positioning operation for the operation data No 4 will automatically start At the same time the MOVE output will be turned ON 7 When the positioning operation for the operation data No 4 is completed the READY output will be turned ON Dwell time 1000 ms Motor operation No 1 No 2 No 3 4 nN No 4 ON MO to M5 input opr No 0 X No 1 i ae ON au START input OFF os ON oo READY output opp Dal MOVE i OQ 2 2 output opp END ON output opp In direct I O turn the START input ON after setting the MO to MS inputs In network I O the operation will be performed even when turning the MO to M5 inputs and the START input ON simultaneously e Push motion operation When the operation function is set to push motion the motor performs an operation of continuously applying pressure on the load when pressing against the load In push motion operation the motor performs constant speed operation at the operating speed of the selected operation data No but the acceleration deceleration will not be applied The motor becomes push motion status when pressing against the load and the TLC output and READY output are turned ON The set current value of
88. with the battery fully charged 2 14 3 Explanation of I O signals 3 Explanation of I O signals In this manual I O signals are described as follows e Direct I O I O signals accessed via input signal connector CN8 and output signal connector CN9 e Network I O I O signals accessed via RS 485 communication Set the following parameters using the OPX 2A MEXEO2 or RS 485 communication 3 1 Assignment of direct I O E Assignment to the input terminals The input signals shown below can be assigned to the input terminals INO to IN7 of CN8 by setting parameters For details on input signals refer to p 2 23 Direct I O signal name Initial value Direct I O signal name Initial value INO 3 HOME IN4 50 M2 IN1 4 START IN5 16 FREE IN2 48 MO ING 18 STOP IN3 49 M1 IN7 24 ALM RST Assignment No Signal name Function 0 Not used Set when the input terminal is not used 1 FWD Continuous operation in the positive direction 2 RVS Continuous operation in the negative direction 3 HOME Return to home operation 4 START Positioning operation 5 SSTART Sequential positioning operation 6 JOG JOG operation in the positive direction 7 JOG JOG operation in the negative direction 8 MSO 9 MS1 10 MS2 Direct positioning operation 11 MS3 12 MS4 13 MS5 16 FREE Stop the motor excitation and release the
89. 0 645 0285h Starting speed lower 5 26 8 Register address list 1 Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate Register address Name Setting range Initial value Effective Dec Hex 646 0286h JOG operating speed upper 1 to 1 000 000 Hz 1000 647 0287h JOG operating speed lower Acceleration deceleration rate of 648 0288h JOG upper 1 to 1 000 000 1000 Acceleration deceleration rate of 1 0 001 ms kHz or 1 0 001 s 649 0289h JOG lower B 650 028Ah JOG starti d elaine spaad ppt 0 to 1 000 000 Hz 500 651 028Bh_ JOG starting speed lower 652 028Ch Acceleration deceleration type upper 0 Common i i i 1 S t 653 028Dh Acceleration deceleration type eparate lower Acceleration deceleration unit 654 028Eh upper 0 ms kHz 5 i i i 1 s 655 028Fh Acceleration deceleration unit c lower 4160 1040h Automatic return action upper 0 Disable 0 4161 1041h Automatic return action lower 1 Enable 4162 1042h inn of automatic 5 i f 1 to 1 000 000 Hz 1000 4163 1043h peration speed of automatic
90. 000 o 1000 Sigh 200 000 o 1000 Sigh 200 2 Position ats PRADE adal gt gt Minimum Cistnse TE ste Serf Us TA eel P Nom Cone Waning Conan mj Monitor function ON OFF statuses of I O signals can be monitored The waveform measurement feature lets you check I O signals motor speeds and other settings based on measured waveforms MEXEDZ Untitied 1 GB Elle Edt Move View Communication Too Window Hel AR StorecData DC Daia AEEA Cormend Pasion peed Alain Rest Alarm History Waning History COM Eror History Test function T O test can be performed to monitor input signals and cause output signals to be output forcibly You can also perform test operations in the MEXEO2 Teaching function You can perform teaching function using the MEXEO2 The traveling position can be saved in the MEXEO2 When the position travel amount is set using the teaching function the operation mode will always be the absolute mode E Hazardous substances RoHS Directive 2002 95 EC 27Jan 2003 compliant E Items required e Data setting software MEXEO2 1 Overview of the MEXE02 e Communication cable for the data setting software CCO5IF USB a set of a PC interface cable and USB cable e INSTALLATION MANUAL E General specifications of the communication cable for the data setting software Interface USB Specification 1 1 Full Speed 12 Mbps Connector shap
91. 0041 0010 0000 1001 1 1010 0000 0000 0001 XOR with AON 1001 0010 0000 1000 7 Sixth shift to right 0100 1001 0000 0100 0 Seventh shift to right 0010 0100 1000 0010 0 Eighth shift to right 0001 0010 0100 0001 0 Result of CRC 16 0001 0010 0100 0001 6 Message 6 2 Response Slave returned responses are classified into three types normal response no response and exception response The response message structure is the same as the command message structure Slave address Function code Data Error check 8 bits 8 bits Nx8 bits 16 bits E Normal response Upon receiving a query from the master the slave executes the requested process and returns a response E No response The slave may not return a response to a query sent by the master This condition is referred to as No response The causes of no response are explained below e Transmission error The slave discards the query and does not return a response if any of the following transmission errors is detected Cause of transmission error Description Framing error Stop bit 0 was detected Parity error A mismatch with the specified parity was detected Mismatched CRC The calculated value of CRC 16 was found not matching the error check value Invalid message length The message length exceeded 256 bytes e Other than transmission error A response may not be returned without any transmission error being detected Cause Descri
92. 1 0810h 1810h Filter selection 0 Speedi filter lt 0 c 1 Moving average filter 0811h 1811h Speed error gain 1 0 to 500 45 A 0812h 1812h Speed error gain 2 0813h 1813h Control mode o Normalmode 0 1 Current control mode c 0814h 1814h Smooth driver 0x DisaDIe 1 1 Enable Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration E Operation parameter Command code Description Setting range Initial value Effective Read Write 0140h 1140h Common acceleration 1 to 1 000 000 1000 0141h 1141h Common deceleration 1 0 001 ms kHz or 1 0 001 s 0142h 1142h Starting speed 0 to 1 000 000 Hz 500 0143h 1143h JOG operating speed 1 to 1 000 000 Hz 1000 Acceleration deceleration rate of 1 to 1 000 000 B 0144h TTE Noe 1 0 001 ms kHz or 1 0 001 s 2 1009 0145h 1145h JOG starting speed 0 to 1 000 000 Hz 500 0146h 1146h Acceleration deceleration type o Comman 1 1 Separate 0147h 1147h Acceleration deceleration unit H Mai 0 C 0820h 1820h Automatic return operation 0 Disable 0 1 Enable 082th 1821h OPerating speed of automatic 4 to 1 000 000 Hz 1000 return Acceleration deceleration of 1 to 1 000 000 ge eel 1922h automatic return 1 0 001 ms kHz or 1 0 001 s a 1000 B 0823h 1823h Starting speed of automatic return 0 to
93. 1 s 50 835 0343h Overload warning lower 836 0344h Overspeed warning upper 1 to 5000 r min 4500 A 837 0345h Overspeed warning lower 838 0346h Overvoltage warning upper 630 839 0347h Overvoltage warning lower 150 to 630 1 0 1 V 840 0348h Undervoltage warning upper 180 841 0349h Undervoltage warning lower DCA a a f f 1 to 30000 1 0 01 rev 300 843 034Bh Overflow rotation warning during current on lower 896 0380h Electronic gear A upper 897 0381h Elsoronie gear A lower 1 to 65535 1 898 0382h Electronic gear B upper c 899 0383h Electronic gear B lower 900 0384h Motor rotation direction upper 0 Positive direction CCW 1 901 0385h Motor rotation direction lower 1 Positive direction CW 902 0386h Software overtravel upper 0 Disable 1 903 0387h Software overtravel lower 1 Enable 904 0388h Positive software nai upper 8 388 607 905 0389h Positive software limit lower A 906 038Ah_ Negati ft limit egalive sofWare limit upped 8 388 608 to 8 388 607 step 8 388 608 907 038Bh Negative software limit lower 908 038Ch_ Preset position upper 0 909 038Dh _ Preset position lower 5 28 8 Register address list 1 Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration tim
94. 20 65 6 CC200VAORB2 20 65 6 CC300VAOR2 30 98 4 CC300VAORB2 30 98 4 l 2 For IP20 type motor enter 2 in the box O within the model name The cable set for electromagnetic brake motors consists of two cables one for motor and the other for electromagnetic brake 1 e Extension cable set See the following for connector pin assignments of the cable e Extension cable set For standard motor e Extension cable set For electromagnetic brake motor 3 Accessories sold separately Model 2 Length m ft Model Length m ft CCO10VADIFMm2 1 3 3 CCO10VALDIFBT2 1 3 3 CCO20VADIFm2 2 6 6 CCO20VALDIFBT2 2 6 6 CCO30VADIFm2 3 9 8 CCO30VALIFBT2 3 9 8 CCO50VADIFm2 5 16 4 CCO50VALIFBT2 5 16 4 CCO70VADIFMm2 7 23 0 CCO70VALIFBT2 7 23 0 CC100VADIFm2 10 32 8 CC100VALDIFBT2 10 32 8 CC150VADFm2 15 49 2 CC150VALDIFBT2 15 49 2 CC200VADIFm2 20 65 6 CC200VALDIFBT2 20 65 6 1 For IP20 type motor enter 2 in the box O within the model name 2 For IP54 type motor enter T in the box M within the model name 3 The cable set for electromagnetic brake motors consists of two cables one for motor and the other for electromagnetic brake e Flexible extension cable set For standard motor e Flexible extension cable set For electromagnetic brake motor 3 Model 2 Length m ft Model Length m ft CCO10VADORM2 1
95. 3 3 CCO10VADRBT2 1 3 3 CCO20VADRM2 2 6 6 CCO20VADRBT2 2 6 6 CCO30VADRM2 3 9 8 CCO30VADRBT2 3 9 8 CCOS50VADRM2 5 16 4 CCO50VADORBT2 5 16 4 CCO70VADORM2 7 23 0 CCO70VADORBT2 7 23 0 CC100VADRM2 10 32 8 CC100VADRBT2 10 32 8 CC150VADORM2 15 49 2 CC150VADRBT2 15 49 2 CC200VADORM2 20 65 6 CC200VADRBT2 20 65 6 1 For IP20 type motor enter 2 in the box O within the model name 2 For IP54 type motor enter T in the box W within the model name 3 The cable set for electromagnetic brake motors consists of two cables one for motor and the other for electromagnetic brake e Connector pin assignments e Connector pin assignments of cable for motor Pin No Color White Black Purple Brown e Motor side Lead size 109876 AWG26 0 14 mm Green Red Gray Blue Orange 10 Drain wire AWG26 0 14 mm No wiring for AR24 and AR26 5 43 2 1 AWG22 0 3 mm Model 43020 1000 Molex O OIN OD oa R wo hm gt e Connector pin assignments of cable for electromagnetic brake 2 Pin No Color Lead size 1 Whit re AWG20 0 5 mm j 2 Black Model 43020 0200 Molex 5559 02P 210 Molex for the cable of IP54 types e Driver side 6 7 8 910 12345 Model 43025 1000 Molex 1 Accessories sold separately E Data setter The data setter lets you set data and parameters for your AR Series DC power input built in cont
96. 40 to 85 C 104 to 185 F 85 Overload warning 1 to 300 1 0 1 s 50 Overspeed warning 1 to 5000 r min 4500 A O It i 630 vee 150 to 630 1 0 1 V Undervoltage warning 180 Overflow rotation warning during current on 1 to 30000 1 0 01 rev 300 Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 3 Parameter 3 7 Coordination parameter Name Setting range Initial value Effective Electronic gear A 1 to 65535 A Electronic gear B c ere 0 Positive direction CCW Motor rotation direction 1 Positive direction CW 1 Software overtravel 0 Disable 1 1 Enable Positive software limit 8 388 607 A Negative software limit 8 388 608 to 8 388 607 step 8 388 608 Preset position 0 A 0 Disable Wrap setting 1 Enable 0 c Wrap setting range 1 to 8 388 607 step 1000 Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 3 8 Common parameter Name Setting range Initial value Effective i 0 Signed Data setter speed display i Absolute value 0 A Data setter edit 0 Disable 1 Absolute position backup system 1 Enable 0 C Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 3 9 Communication parameter
97. 7 remote I O output 22 23 Register address number Register address number response 24 Command code response 25 Command code TRIG TRIG response STATUS Remote resistor 26 27 28 DATA DATA response 29 a Reserved Reserved 6 19 2 Method of control via MECHATROLINK communication 2 5 Communication format Communication formats to the driver and NETCO1 M2 NETCO1 M3 are as follows E Remote I O input For details on remote I O refer to p 6 22 e 8 axes connection mode 16 bit mode bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 NET IN15 NET IN14 NET IN13 NET IN12 NET IN11 NET IN10 NET IN9 NET IN8 RVS FWD JOG JOG SSTART MS2 MS1 MSO bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO NET IN7 NET IN6 NET IN5 NET IN4 NET IN3 NET IN2 NET IN1 NET INO Not used FREE STOP HOME START M2 M1 MO Initial value e 16 axes connection mode 8 bit mode bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO NET IN7 NET IN6 NET IN5 NET IN4 NET IN3 NET IN2 NET IN1 NET INO Not used FREE STOP HOME START M2 M1 MO Initial value E Remote I O output e 8 axes connection mode 16 bit mode bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 NET OUT15 NET OUT14 NET OUT13 NET OUT12 NET OUT 11 NET OUT10 NET OUT9 NET OUT8 TLC END MOVE TIM AREA3 AREA2 AREA S BSY
98. 7 8 44 9 9 58 13 85 19 1 2 Pee 3 Pa Standard AR66 Bnd f 90 20 100 22 130 29 180 40 270 60 ao ARG lt 16 7 3 7 gt 18 4 AR98 260 58 290 65 340 76 390 87 480 108 lt 24 54 gt AR24 15 3 3 17 3 8 20 4 5 23 5 1 a 10 2 2 rea AR46 s 10 2 2 14 3 1 20 4 5 30 6 7 a 15 3 3 AR66 70 15 7 80 18 100 22 120 27 150 33 40 9 AR98 220 49 250 56 300 67 350 78 400 90 100 22 AR24 45 10 1 60 13 5 80 18 100 22 a 20 4 5 5 7 2 73 16 4 84 18 9 100 22 123 27 10 AR46 50 11 2 35 11 2 36 109 24 127 28 150 33 184 41 50 5 200 45 220 49 250 56 280 63 320 72 7 2 250 56 270 60 300 67 340 76 390 87 PS geared AR66 100 22 36 330 74 360 81 400 90 450 101 520 117 50 5 7 2 480 108 540 121 600 135 680 153 790 177 10 AR98 25 850 191 940 210 1050 230 1190 260 1380 310 300 67 36 930 200 1030 230 1150 250 1310 290 1520 340 50 1050 230 1160 260 1300 290 1480 330 1710 380 AR24 p 45 10 1 60 13 5 80 18 100 22 2 20 4 5 AR46 100 22 120 27 150 33 190 42 5 200 45 220 49 250 56 280 63 320 72 7 2 Ay A 250 56 270 60 300 67 340 76 390 87 100 22 66 25 beeen 38 330 74 360 81 400 90 450 101 520 117 5 480 108 520 117 550 123 580 130 620 139 ifs 480 108
99. 7 input OFF the NET OUT15 becomes 0 The logic level of the IN7 input can be set using IN7 logic level setting parameter Direct I O RS 485 communication GOP RS 485 communication Driver Switch OOORO fOCO0O0000 010 010 000 RO NET INO Sensor Master controller etc RS 485 communication R1 NET OUT15 ena 2 33 3 Explanation of I O signals 2 34 3 Operation type and setting This part explains the operation functions and the details of parameters Table of contents 1 Adjustment and setting 3 2 1 1 Resolution 0 cccceeeeseeceeeeeeteeees 3 2 1 2 Operating current n 3 3 1 3 Standstill current cc cee 3 3 1 4 Acceleration deceleration rate and acceleration deceleration time 3 3 1 5 Smooth drive 00 0 eee 3 4 1 6 Speed filter 2 0 eects 3 4 1 7 Moving average filter eee 3 5 1 8 Speed error gain 3 5 1 9 Control Mode 0 cceeeeeeeeeeeeee 3 5 1 10 Position loop gain speed loop gain speed loop integral time constant 3 6 1 11 Absolute position backup system 3 6 2 Operation ceeeseeeeeeeeeeeeeeeeeeeees 3 7 2 1 Positioning operation 3 8 M Operation data oo eee eee eeeeeeecreeeeeeeeeees 3 8 E Starting method of positioning operation 3 9 M Operation function eee ereeeeereeee 3 13 2 2 Return to home operation
100. 8 3 Checking version information You can check the version of the MEXE02 software you are using 1 Click About MEXE02 from the Help menu i MEXEO2 Untitled1 a File Edit Move View Communication Tool Window ais Dee agp Selo o About MEXE02 2 After you have checked the software version click Close About MEXE02 mer xd Data Setting Software M EXE02 Version 2 50 C Copyright 2007 2012 ORIENTAL MOTOR CO LTD All rights reserved This product is licensed to ORIENTAL MOTOR CO LTD OM This product is protected by Japanese copyright law and intemational treaties Unauthorized reproduction or distribution of this program or any portion of it may result in severe civil and criminal penalties and will be prosecuted to the maximum extent possible under the law The software version is also found on the MEXEO2 CD ROM 7 29 8 Other functions 8 4 Checking error message If the MEXEO2 has encountered a problem while running a corresponding error message is shown in the window Measures may be displayed depending on the contents of the error message Check the screen and appropriately deal with the issue Error 0069043D OCO411AF Measures 7 30 8 Inspection troubleshooting and remedial actions This part explains the periodical inspection methods as well as confirmation items and remedial actions when problems have happened Ta
101. 93 4458 116Ah aa P i i 18 STOP 4459 416Bh NET IN5 input function selection lower 4460 416Ch aoe input function selection i i 16 FREE 4461 116Dh NET IN6 input function selection lower 4462 116Eh a input function selection i i i 0 Not used 4463 116Fh NET IN7 input function selection lower 4464 1170h eae input function selection i i 8 MSO 4465 1171h NET IN8 input function selection lower 4466 1172h ca input function selection i i 9 MS1 4467 1173h NET IN9 input function selection lower 5 30 8 Register address list 1 Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate Register address Name Setting range Initial value Effective Dec Hex 4468 1174h Gene input function selection 10 MS2 4469 1175h NET IN10 input function selection lower 4470 1176h aA input function selection 5 SSTART 4471 1177h NET IN11 input function selection lower 4472 1178h a input function selection NET IN12 input function selection SFOC 4473 1179h lower NET IN13
102. A positive direction position AREA p output OFF l L AREA negative direction position AREA positive direction position When the AREA positive direction position parameter AREA negative direction position parameter To turn the AREA output ON Motor position AREA negative direction position AREA positive direction position Note When using AREA to AREA3 output to confirm the motor position you can use two types the command position and the feedback position AREA1 and AREA2 Command position AREA3 Feedback position Actual motor position Related parameters Parameter name Description Setting range Initial value AREA positive Sets the AREA1 positive direction direction position position AREA 1 negative Sets the AREA1 negative direction direction position position AREA2 positive Sets the AREA2 positive direction direction position position 8 388 608 to 8 388 607 step 0 AREA2 negative direction position Sets the AREA2 negative direction position AREAS positive direction position Sets the AREAS positive direction position AREA3 negative direction position Sets the AREA3 negative direction position E TIM output 3 Explanation of I O signals The TIM output will turn ON every time the motor output shaft rotates by 7 2 If the command speed is faster than 30 r min TIM output will not be output correctly Pulse 1 20 40
103. ARM66SDIK ARD KD AR6601KD O ARM660K AR69SOKD O ARM69SOK AR690KD O ARM690K AR98SOKD O ARM98SOK AR980KD O ARM980K AR24SAKD T O ARM24SAK TE AR46SOKD TH O ARM46S0OK TE AR460KD T O ARM4601K T al TH geared type AR66SOKD Ta O ARM66SOK TE ARD KD AR660KD T O ARM660K TE AR98SOKD TH O ARM98SOK TE AR980KD TH O ARM980K TE AR24SAKD PS H O ARM24SAK PSE AR46SOKD PSH O ARM46SO1K PS AR4601KD PS O ARM4601K PS PS geared type AR66SOKD PS O ARM66SO1K PS ARD KD AR660KD PS O ARM660K PSE AR98SOKD PSH O ARM98SOK PSH AR980KD PSH O ARM980K PSE AR24SAKD NE E O ARM24SAK NE AR46SOKD NE O ARM46SOK N E AR4601KD N O ARM460K N E PN geared type AR66SOKD NE E O ARM66SOK N E ARD KD AR66OKD NE O ARM660K N E AR98SOKD NE O ARM98SOK N E AR980KD NE O ARM980K N E AR24SAKD H O ARM24SAK H E AR46SOKD H O ARM46SOK Hm l AR4601KD H O ARM460K H E Harmonic geared type AR66SOKD H m O ARM66SOK H E ARD KD AR660KD H O ARM660K H E AR98SOKD H m O ARM98SOK H E AR980KD HEm O ARM980K H E 9 Preparation 9 4 Names and functions of parts E Driver DOOUNOUUNOL RS 485 communication connectors CN6 CN7 Function setting switches SW3 61234 ARD KD 2 POWER ALARM LED An CEAR C DAT C ERR LED Address number setting switch SW1 Data edit connector CN3 SE Battery connector CN4 Transmission rate setting switch SW2 CN3 sw2 A Aas sw
104. CN9 by setting parameters For details on output signals refer to p 2 28 Direct I O signal name Initial value Direct I O signal name Initial value OUTO 70 HOME P OUT3 67 READY OUT1 69 END OUT4 66 WNG OUT2 73 AREA1 OUTS5 65 ALM Assignment No Signal name Function 0 Not used Set when the output terminal is not used 1 FWD_R Output in response to the FWD input 2 RVS_R Output in response to the RVS input 3 HOME_R_ Output in response to the HOME input 4 START_R_ Output in response to the START input 5 SSTART_R Output in response to the SSTART input 6 JOG_R Output in response to the JOG input 7 JOG_R Output in response to the JOG input 8 MSO_R 9 MS1_R 10 MSR Output in response to the MSO to MS5 input 11 MS3_R 12 MS4_R 13 MS5_R 16 FREE_R Output in response to the FREE input 17 C ON_R Output in response to the C ON input 18 STOP_R Output in response to the STOP input 32 RO 33 R1 34 R2 35 R3 36 R4 37 R5 38 R6 3 RT Output in response to the RO to R15 input 40 R8 41 R9 42 R10 43 R11 44 R12 45 R13 46 R14 47 R15 48 MO_R 49 M1_R 2 M2R Output in response to the MO to M5 input 51 M3_R 52 M4_R 53 M5_R 60 LS_R Output in response to the LS input 61 LS_R Output in response to the LS input 62 HOME
105. Communication errors A communication error record will be saved in the RAM You can check the communication errors using the communication error record command using the MEXEO2 or via RS 485 communication Note The communication error record will be cleared once the driver power is turned off Type of communication error Error code Cause A transmission error was detected See Transmission error on p 5 12 An exception response exception code 01h 02h was detected See p 5 12 RS 485 communication error 84h Command not yet defined 88h Execution disable due to user I F communication in progress 89h An exception response exception code 04h was detected See p 5 12 Non volatile memory processing in progress 8Ah An exception response exception code 03h Outside setting range Seh 04h was detected See p 5 12 Command executeidisabl 8Dh An exception response exception code 04h was detected See p 5 12 10 2 Alarms and warnings When an alarm generates the ALM output will turn OFF and the motor will stop At the same time the ALARM LED will start blinking When a warning generates the WNG output will turn ON The motor will continue to operate Once the cause of the warning is removed the WNG output will turn OFF automatically Note You can also clear the warning records by turning off the driver power Communication switch setting error When setting the t
106. E JOG operation 2 Operation JOG operation is a function to perform positioning operation of the travel amount set in the JOG travel amount parameter When the JOG signal to ON JOG operation is in the positive direction When the JOG signal to ON JOG operation is in the negative direction This function is convenient for fine adjustment of the position e Related parameters Parameter name Description Setting range Initial value JOG travel amount Sets the travel amount for JOG operation 1 to 8 388 607 step 1 JOG operating speed Sets me operating speed for JOG 1 to 1 000 000 Hz 1000 operation Acceleration deceleration Sets the acceleration deceleration rate or 1 Y 1 000 000 f 1 0 001 ms kHz or 1000 rate of JOG time for JOG operation _ 1 0 001 s JOG starting speed Sets the starting speed for JOG operation O to 1 000 000 Hz 500 e Operation example Speed JOG operating speed JOG starting speed JOG travel amount JOG starting speed JOG travel amount JOG operating speed JOG i p input OFF Time JOG i o input OFF e Operating method 1 Check the READY output is ON 2 Turn the JOG input ON 3 The motor starts positioning operation 4 Check the READY output has been turned OFF and turn the JOG input OFF 5 When the positioning operation is completed the READY output will be turned ON Motor opera
107. END 8 MSO_R 33 R1 43 R11 53 M5_R 70 HOME P 9 MS1_R 34 R2 44 R12 60 LS_R 71 TLC 3 45 4 Parameter 4 11 I O function RS 485 parameter Name Description Setting range Initial value Effective NET INO input function selection 48 MO NET IN1 input function selection 49 M1 NET IN2 input function selection 50 M2 NET IN3 input function selection 4 START NET IN4 input function selection 3 HOME NET IN5 input function selection 18 STOP NET IN6 input function selection 16 FREE NET IN7 input function selection Function of NET INO to 0 Not used See table next NET IN8 input function selection NET IN15 8 MSO NET IN9 input function selection 9 MS1 NET IN10 input function selection 10 MS2 NET IN11 input function selection 5 SSTART NET IN12 input function selection 6 JOG NET IN13 input function selection 7 JOG NET IN14 input function selection 1 FWD NET IN15 input function selection 2 RVS c NET OUTO output function selection 48 MO_R NET OUT1 output function selection 49 M1_R NET OUT2 output function selection 50 M2_R NET OUT3 output function selection 4 START_R NET OUT4 output function selection 70 HOME P NET OUT5 output function selection 67 READY NET OUT6 output function selection 66 WNG NET OUT7 outpu
108. Eh 5 12 e Exception code This code indicates why the process cannot be executed 6 Message Communication error code Exception Cause code Description 01h Invalid function The process could not be executed because the function code was invalid The function code is not supported The sub function code for diagnosis 08h is other than 00h 88h 02h Invalid data address The process could not be executed because the data address was invalid The address is not supported other than 0000h to 1FFFh Register address and number of registers are 2000h or more in total 03h 8Ch Invalid data The process could not be executed because the data was invalid The number of registers is 0 or more than 17 The number of bytes is other than twice the number of registers The data length is outside the specified range 89h 8Ah 8Ch 8Dh 04h Slave error The process could not be executed because an error occurred at the slave e User I F communication in progress 89h Downloading initializing or teaching function is in progress using the OPX 2A Downloading or initialization is in progress using the MEXE02 e non volatile memory processing in progress 8Ah Internal processing was in progress S BSY is ON An EEPROM error alarm was present e Outside the parameter setting range 8Ch The value write is outside the setting range e Command ex
109. GER lt Communicate Wave View Running 3 Drag the vertical or horizontal lines with the mouse to desired measurement positions The time delta or measurement delta is shown below the graph z ae eae ete lt _ Display the time delta DGH or measurement delta 7 21 5 Monitor function 7 22 E Saving a waveform The waveform on the waveform monitor screen can be saved as a BMP file 1 Unselect Start Waveform Monitor 2 Click Save Waveform from the File menu 3 Enter a file name and click Save Save in B My Documents X a My Music a My Pictures 4 My Recent Documents My Documents My Computer My Network File name Untitled Places Save as type Bitmap format bmp MEXEO2 Untitledi Move View Communication Tc New Ctrl N n Open Ctro L Close Save Ctri S Save As Save Waveform Export Page Setup Print Preview Print Ctrep ter Exit Caardinatan Dararnnkar Cancel 6 Test function 6 Test function You can perform I O signal test and test operation 6 1 Synchronization with the driver In order to verify the status of a driver using the test function the MEXEQ2 data and driver data must be synchronized A window to select a synchronization method will be displayed when the test function is selected without synchronizing the data Once synchronization is complete the synchronization will be valid until communic
110. I O the function will be executed when both of them are set to ON 2 27 3 Explanation of I O signals 3 4 Output signals The output signals of the driver are photocoupler open collector output e Direct I O T O for normally open ON Current carrying OFF Not current carrying T O for normally closed ON Not current carrying OFF Current carrying e Network I O ON 1 OFF 0 2 28 E Internal output circuit E ALM output See p 8 4 for alarm e Direct I O OUTO 1H aT D lt q q OUTI 1H Det ps oes BT eg gt lt H OUTS o 1H Si J Y q rb OUT4 o ry a EL Kq pH OUT5 o 1H ST Deel KH OUT COM o KH When an alarm generates the ALM output will turn OFF At the same time the ALARM LED ofthe driver will blink and the motor current will be cut off and the motor will stop The ALM output is normally closed e Network I O When an alarm generates the ALM output will turn ON At the same time the ALARM LED of the driver will blink and the motor current will be cut off and the motor will stop The ALM output is normally open Related parameters Parameter name Description Setting range Initial value verl ad alariti Sets the condition in which the overload alarm 1 to 300 1 0 1 s 50 generates Overflow rotation alarm Sets
111. I O input 1 Method of control via CC Link communication Driver Address number 1 Address number 1 remote I O input Address number 1 Address number 2 remote I O input Address number 3 remote I O input Address number 4 remote I O input Address number 5 remote I O input remote I O input Driver Address number 5 Control input of NETCO1 CC Control input of system area Driver Address number 0 Address number 0 remote I O output Address number 0 remote I O output Driver Address number 1 Address number 5 remote I O input Address number 1 remote I O output Address number 1 Address number 2 remote I O output Address number 3 remote I O output Address number 4 remote I O output Address number 5 remote I O output remote I O output Driver Address number 5 Control output of NETCO1 CC Control output of system area Address number 5 remote I O output 1 Method of control via CC Link communication E Details of remote I O assignment Initial value Command RY Master to NETCO1 CC Response RX NETC0O1 CC to master Device No Signal name Description Device N
112. LIT ON OFF OFF LS LS LS VL LS VR m VR side side CERREN eaves 5 vs TIM signal T 9 side Mo VS side TVS VR VR TIM RA i TIM oN OFF OFF LS LS LS VL LS VR n VR side side CERREN i Evs 5 i vs a SLIT input and side ase ZVS side Lye TIM signal VL SLIT ON i SLIT ie OFF OFF ON A ON Li OFF TIM OFF After pulling out of the limit sensor the motor will move 200 steps e Push mode e Explanation of labels VS Starting speed of home seeking VR Operating speed of home seeking VL Last speed of return to home When VS lt 500 Hz VS When VS 2 500 Hz 500 Hz Broken line indicates a home offset move Starting position Starting direction of Starting direction of of return to home return to home operation return to home operation operation Positive side Negative side side side side side mechanical end mechanical end mechanical end mechanical end side side Be side 77 ee mechanical end a VS side side VS VR side side side side mechanical end mechanical end mechanical end mechanical end side side wes side 4 777 ms mechanical end VS VS a side A VS side VS Tx VR VR side side side side mechanical end mechanical end mechanical end mechanical end Between side ae side Bee mechanical ends VS ZVS side 7 VS
113. M output is normally closed It is ON during normal operation and it turns OFF when an alarm generates E P PRESET input 4 ms or more P PRESET input ON OFF 6 ms or less Command position X 6 ms or less HOME P on P output off E Single motion operation positioning operation 4 ms or more START i pa input OFF 4 ms or more ON i MO to M5 input OFF No 0 X No 1 _6 ms or less MOVE ON output OFF 16 ms or less END output ge onrey OFF 6 ms or less READY output ON Pr ee Motor operation The specific time varies depending on the load operating speed speed filter and other 4 15 4 Timing charts E Linked motion operation positioning operation START input ON IPE OFF ON MO to M5 input OFF MOVE ba output OFF END n output opp READY output OFF Motor operation 4 ms or more 4 ms or more j No 0 No 1 6 ms or less 6 ms or less 6 ms or less e E S The specific time varies depending on the load operating speed speed filter and other E Linked motion operation 2 positioning operation START i ON input OFF M M5 i ON 0 to M5 input OFF MOVE ON output OFF ON OFF END output READY on output opp Motor operation 4 ms or more 4 ms or more No 0 X No 1 6 ms or le
114. MS4_R 36 R4 45 R13 60 LS_R 70 HOME P 4 START_R 13 MS5_R 37 R5 46 R14 61 LS_R 71 TLC 5 SSTART_R 16 FREE_R 38 R6 47 R15 62 HOMES R_ 72 TIM 6 JOG_R 17 C ON_R 39 R7 48 MO_R 63 SLIT_R 73 AREA1 7 JOG_R 18 STOP_R 40 R8 49 M1_R 65 ALM 74 AREA2 8 MSO_R 32 RO 41 R9 50 M2_R 66 WNG 75 AREA3 80 S BSY 5 33 9 Group send 9 Group send Multiple slaves are made into a group and a query is sent to all slaves in the group at once E Group composition A group consists of one parent slave and child slaves and only the parent slave returns a response Query sent to Master ine parent slave Response Parent slave E Group address To perform a group send set a group address to the child Query sent to slaves to be included in the group Master the parent slave The child slaves to which the group address has been set Child slave Executes the can receive a query sent to the parent slave process but does not send a response E Parent slave No special setting is required on the parent slave to perform a group send The address of the parent slave becomes the group address When a query is sent to the parent slave from the master the parent slave executes the requested process and then returns a response same as with the unicast mode E Child slave Use a group command to set a group address to each child slave Change the group in the unicast mode When performing r
115. No 0 _ ON MO to M5 input OFF No 0 No 1 Oo FWD input ON oj input OF F READY ON output OFF a ON MOVE output OFF END 9n output OFF In direct I O turn the FWD input or RVS input ON after setting the MO to MS inputs In network I O the operation will be performed even when turning the MO to M5 inputs and the FWD RVS input ON simultaneously 3 29 2 Operation 3 30 e Operating method When combining the FWD input and RVS input 1 Check the READY output is ON 2 Select the operation data No by a combination of the MO to M5 inputs and turn the FWD input ON 3 The motor starts continuous operation The READY output will be turned OFF 4 Turn the FWD input OFF The motor will decelerate 5 Turn the FWD input ON while the motor is decelerating The motor accelerates again 6 Turn the FWD input OFF The motor will decelerate 7 Turn the RVS input ON while the motor is decelerating The motor will stop once and start rotating in the reverse direction 8 When turning the FWD input ON while the RVS input is ON the motor will decelerate 9 The motor will decelerate to a stop and the MOVE output will be turned OFF 10 When turning both the FWD input and RVS input OFF the READY output will be turned ON No 0 No 0 Motor operation No 0 ON OFF ON OFF ON OFF on OFF MO to M5 input No 0 FWD input RVS
116. No 1 to M5 input opp o START i PA input OFF READY on output Opp MOVE ON output OFF END output ON OFF In direct I O turn the START input ON after setting the MO to M5 inputs In network I O the operation will be performed even when turning the MO to M5 inputs and the START input ON simultaneously Example of linked motion operation2 When combining the linked motion operation and the linked motion operation2 Operation Position Operating Acceleration Deceleration Operation Operation Dwell Push Sequential data speed mode function time current positioning No 1 5000 3000 1000 1000 INC eee Not used Not used Not used Linked No 2 10000 5000 Not used Not used INC motori Not used Not used Not used Linked No 3 25000 7000 Not used Not used INC 1000 Not used Not used motion2 Single No 4 0 7000 1000 1000 ABS A Not used Not used Not used motion Operation example Speed Operating speed of No 3 7000 Operating speed of No 2 5000 Operating speed of No 1 3000 Operating speed of No 4 7000 Starting speed 500 0 15000 40000 Position Stop for 1000 ms 2 Operation Operating method 1 Check the READY output is ON 2 Select the operation data No 1 by turning the MO input ON and turn the START input ON 3 The motor starts the positioning operation in which the operation data from No 1
117. O eres F to RY n 3 8 input X n 3 F to RX n 3 8 output Y n 4 7 to RY n 4 0 Address number 4 remote I O X n 4 7 to RX n 4 0 Address number 4 remote I O erie F to RY n 4 8 input X n 4 F to RX n 4 8 output Y n 5 7 to RY n 5 0 Address number 5 remote I O X n 5 7 to RX n 5 0 Address number 5 remote I O erties F to RY n 5 8 input X n 5 F to RX n 5 8 output Y n 6 7 to RY n 6 0 Control input of NETCO1 CC X n 6 7 to RX n 6 0 Status output of NETCO1 CC artes F to RY n 6 8 X n 6 F to RX n 6 8 Y NET RES Control input of system area Z NET T 10 RX MET O Status output of system area RY en F to RY n 7 8 RX n 7 F to RX n 7 8 See the network converter NETCO1 CC USER MANUAL for details E input output of remote I O e Remote O input NETCO1 CC RYnF to RYnO RY n 1 F to RY n 1 0 RY n 2 F to RY n 2 0 RY n 3 F to RY n 3 0 RY n 4 F to RY n 4 0 RY n 5 F to RY n 5 0 RY n 6 F to RY n 6 0 RY n 7 F to RY n 7 0 e Remote I O output NETCO1 CC RXnF to RXn0 RX n 1 F to RX n 1 0 RX n 2 F to RX n 2 0 RX n 3 F to RX n 3 0 RX n 4 F to RX n 4 0 RX n 5 F to RX n 5 0 RX n 6 F to RX n 6 0 RX n 7 F to RX n 7 0 Driver Address number 0 Address number 0 remote I O input Address number 0 remote
118. OFF 514 0202h Hardware overtravel upper 0 Disable 1 515 0203h Hardware overtravel lower 1 Enable 516 0204h Overtravel action upper 0 Immediate stop 0 517 0205h Overtravel action lower 1 Deceleration stop 518 0206h Positioning completion signal range upper ions 5 0 to 180 1 0 1 18 519 0207h Positioning completion signal range ower lower Positioning completion signal offset 520 0208h upper FETE eE 18 to 18 1 0 1 0 521 0209h Positioning completion signal offset ower lower 522 020Ah AREA1 positive direction position upper 523 020Bh AREA1 positive direction position lower AREA1 negative direction position 524 020Ch upper A 525 020Dh AREA1 negative direction position lower 526 020Eh AREA2 positive direction position upper 527 020Fh AREA2 positive direction position om negative direction position 79 398 608 OR SOP CUE SIEP ive directi iti 528 0210h upper 529 0211h AREA2 negative direction position lower 530 0212h AREA3 positive direction position upper 531 0213h AREAS positive direction position lower AREAS negative direction position 532 0214h upper 533 0215h AREA3 negative direction position lower 534 0216h Minimum ON time for MOVE output ppe z 0 to 255 ms 0 535 0217h Minimum ON time for MOVE output lower 536 0218h LS logic level upper 537 0219h LS logic level lower 538 021Ah_ HOMES logic level upper 0 Normally open 0 c 539 021Bh HOMES logi
119. OP 35 R3 43 R11 51 M3 1 FWD 9 MS1 24 ALM RST 36 R4 44 R12 52 M4 2 RVS 10 MS2 25 P PRESET 37 R5 45 R13 53 M5 3 HOME 11 MS3 26 P CLR 38 R6 46 R14 4 START 12 MS4 27 HMI 39 R7 47 R15 5 SSTART 13 MS5 32 RO 40 R8 48 MO 6 JOG 16 FREE 33 R1 41 R9 49 M1 7 JOG 17 C ON 34 R2 42 R10 50 M2 OUT output function selection parameter 0 Not used 9 MS1_R 33 R1 42 R10 51 M3_R 67 READY 1 FWD_R 10 MS2_R 34 R2 43 R11 52 M4_R 68 MOVE 2 RVS_R 11 MS3_R 35 R3 44 R12 53 M5_R 69 END 3 HOME_R 12 MS4_R 36 R4 45 R13 60 LS_R 70 HOME P 4 START_R 13 MS5_R 37 R5 46 R14 61 LS_R 71 TLC 5 SSTART_R 16 FREE_R 38 R6 47 R15 62 HOMES R_ 72 TIM 6 JOG_R 17 C ON_R 39 R7 48 MO_R 63 SLIT_R 73 AREA1 7 JOG_R 18 STOP_R 40 R8 49 M1_R 65 ALM 74 AREA2 8 MSO_R 32 RO 41 R9 50 M2_R 66 WNG 75 AREA3 80 S BSY NET IN input function selection parameter 0 Not used 7 JOG 16 FREE 35 R3 42 R10 49 M1 1 FWD 8 MSO 17 C ON 36 R4 43 R11 50 M2 2 RVS 9 MS1 18 STOP 37 R5 44 R12 51 M3 3 HOME 10 MS2 27 HMI 38 R6 45 R13 52 M4 4 START 11 MS3 32 RO 39 R7 46 R14 53 M5 5 SSTART 12 MS4 33 R1 40 R8 47 R15 6 JOG 13 MS5 34 R2 41 R9 48 MO NET OUT output function selection parameter 0 Not used 9 MS1_R 33 R1 42 R10 51 M3_R 67 READY 1 FWD_R 10 MS2_R 34 R2 43 R11 52 M4_R 68 MOVE 2 RVS_R 11 MS3_R 35 R3 44 R12 53 M5_R 69 END 3 HOME_R 12
120. Orientalmotor SN Closed Loop Stepping motor and driver package NsTErP High efficiency AR Series CLEXD DC power input Built in Controller Type USER MANUAL cE Thank you for purchasing an Oriental Motor product This Manual describes product handling procedures and safety precautions e Please read it thoroughly to ensure safe operation e Always keep the manual where it is readily available 1 Introduction COAN OA FWD INtrOGUCTION eececeeeeeeeseeeeeeeeeeeeeeeeeeeees 1 2 Operating Manuals for the AR Series 1 3 Overview of the product ccceseeee 1 4 System Configuration cseecccceeeeeeeeees 1 6 Safety precautions ccccccesseeeeeeseeeeeeees 1 7 Precautions for USC eceeeeeeeeeees 1 10 General specifications 2 cceeeeee 1 12 CE Mar kKing cccccesseeceeesseneeesseneeeeeseeneeenes 1 13 Preparation ccccceceeseesseeneeseeeeeeeeeees 1 14 9 1 Checking the product 0 0 eee eee 1 14 9 2 How to identify the product model 1 14 9 3 Combinations of motors and drivers 1 15 9 4 Names and functions of parts 1 15 2 Installation and 1 2 3 connection INStallAtiOn 5 cif ccediececcedseceeeeecectededsceeeseteeeee 2 2 1 1 Location for installation eee 2 2 1 2 Installing the motor 0 eeseeeeeeeees 2 2 1 3 Installing a load oo eee eeeeteeeeeeneeees 2 3 1 4 Permissible overhung load an
121. P i A input OFF Speed Motor operation Time LSi ON LS input OFF Speed Motor operation i Time Soft limit Software overtravel will become effective after the position origin is set See p 3 36 for setting the position origin Escape from the limit sensor It is possible to escape in the negative direction when detecting the positive direction limit and possible to escape in the positive direction when detecting the negative direction limit The following operations can be used when escaping from the limit sensor Types of operation Limit sensors LS Software limit Positioning operation Will not operate unable to escape Continuous operation Test operation Return to home operation Allowed to operate able to escape Allowed to operate able to escape 3 35 2 Operation E Position coordinate management The driver manages the motor position information If the absolute position backup system is used connecting an accessory battery set BATO1B sold separately the position information is kept even when the power is turned off Refer to p 9 4 for accessories e Position origin for the driver When the absolute position backup system is disabled The position origin will be set whenever one of the following operations is executed e Return to home operation e P PRESET input is turned ON When the absolute position backup system is enabled When the absolute position backup system is
122. Parameter Monitor Status 10 Woet Position 0 st Position Set Test step osition Sel A a lt a gt Minimum Distance 1 step Operation Operation Data 0 step Positioning Operation Position Preset Home Operation Alarm Condition 00 No Alarm Position Lost Alarm Reset Alarm Reset Waming Condition 00 No warning Move the motor in the negative direction at the JOG operating speed a Move the motor in the negative direction at one tenth the JOG operating speed Move the motor in the negative direction by the minimum travel Move the motor in the positive direction by the minimum travel gt Move the motor in the positive direction at one tenth the JOG operating speed Move the motor in the positive direction at the JOG operating speed The motor will be operated at the starting speed for JOG operation if the operating speed for JOG operation is less than the starting speed for JOG operation 3 Click Yes i Warning You can now perform teaching function 4 To end the teaching function unselect Start i The teaching Function will be enabled Teaching Do you want to proceed 7 26 8 Other functions 8 Other functions You can print the MEXEQ2 data or check the version of the MEXE02 8 1 Printing data You can print data and waveform measurement results
123. Positions will be retained in the event of a power outage or after turning off the driver power Automatic control of the electromagnetic brake This driver controls the electromagnetic brake automatically The control signal input or the troublesome ladder logic design can be saved Energy saving Motor and driver losses have been substantially reduced to achieve low heat generation and save energy Since the motor and driver generate much less heat they can now be operated for longer hours at high speed which was not possible with conventional motors drivers Alarm and warning functions The driver provides alarms that are designed to protect the driver from overheating poor connection error in operation etc protective functions as well as warnings that are output before the corresponding alarms generate warning functions E Accessories The operation data and parameters can be set using an accessory data setter OPX 2A or data setting software MEXEO2 or via RS 485 communication Provide the OPX 2A or MEXEO2 as necessary E Related products The AR Series FLEX DC power input built in controller type can be used via various network when connecting to a network converter Network converter Supported network NETCO1 CC CC Link communication NETCO1 M2 MECHATROLINK I communication NETCO1 M3 MECHATROLINK M communication E Function list 3 Overview of the product Return to home operation Setting by p
124. R 71 TLC 3 46 4 Method of control via I O This part explains when the operation is controlled via I O after setting the operation data and parameters by the OPX 2A or MEXEO2 Table of contents 1 Guidance ccceeee cece ee eeeeeeeeeeeeees 4 2 2 Operation data ccccceeeeeeeees 4 4 3 PALamete F iscieccicecccccsscciecssecctetessceiee 4 5 3 1 Parameter list ceeeeeeteeeteeees 4 5 3 2 I O parameter ceeseeeeteeeteeeee 4 6 3 3 Motor parametet cceceeeeeees 4 6 3 4 Operation parameter e 4 7 3 5 Return to home parameter 4 7 3 6 Alarm warning parameter 00 4 7 3 7 Coordination parametet 05 4 8 3 8 Common parameter ceeee 4 8 3 9 Communication parameter 4 8 3 10 I O function parameter 006 4 9 3 11 I O function RS 485 parameter 4 10 4 Timing charts cesses 4 11 1 Guidance 1 Guidance If you are new to the AR Series FLEX DC power input built in controller type read this section to understand the operating methods along with the operation flow Note Before operating the motor check the condition of the surrounding area to ensure safety STEP 1 Check the installation and connection OPX 2A MEXEO2 Check OPX 2A or _ MEXEO02 connection Check re T Motor connection
125. R4 45 R13 60 LS_R 70 HOME P 4 START_R 13 MS5_R 37 R5 46 R14 61 LS_R 71 TLC 5 SSTART_R 16 FREE_R 38 R6 47 R15 62 HOMES R_ 72 TIM 6 JOG_R 17 C ON_R 39 R7 48 MO_R 63 SLIT_R 73 AREA1 7 JOG_R 18 STOP_R 40 R8 49 M1_R 65 ALM 74 AREA2 8 MSO_R 32 RO 41 R9 50 M2_R 66 WNG 75 AREA3 80 S BSY 3 2 Assignment of network I O Assign the I O function via RS 485 communication E Assignment of input signals The input signals shown below can be assigned to the NET INO to NET IN15 of the network I O by setting parameters See each command description for the assignment of the NET INO to NET IN15 3 Explanation of I O signals Assignment No Signal name Function Setting range 0 Not used Set when the input terminal is not used Continuous operation in the positive 1 FWD RRON i direction 0 Deceleration stop i ion i i 1 Operation 2 RVS Continuous operation in the negative p l direction 3 HOME Return to home operation 4 START Positioning operation 5 SSTART Sequential positioning operation 6 JOG JOG operation in the positive direction 7 JOG JOG operation in the negative direction 0 No operation 8 MSO f 1 Start operation 9 MS1 10 MS2 Perform direct positioning operation of the operation data No set by the I O 11 MS3 parameter 12 MS4 13 MS5 TA 0 No operation 16
126. R8 48 MO 6 JOG 16 FREE 33 R1 41 R9 49 M1 7 JOG 17 C ON 34 R2 42 R10 50 M2 e Do not assign the same input signal to multiple input terminals When the same input signal is assigned to multiple input terminals the function will be executed if any of the terminals becomes active e The ALM RST input and P CLR input will be executed when turning from ON to OFF The P PRESET input will be executed when turning from OFF to ON e When the C ON input and HMI input are not assigned to the input terminals these inputs will always be set to ON When assigning to both direct I O and network I O the function will be executed when both of them are set to ON E Changing the logic level setting of input signals You can change the logic level setting for input terminals INO to IN7 using the parameter Related parameters Parameter name INO input logic level setting IN1 input logic level setting IN2 input logic level setting IN3 input logic level setting IN4 input logic level setting IN5 input logic level setting IN6 input logic level setting IN7 input logic level setting Description Initial value Changes the logic level setting for input terminals INO to IN7 0 Normally open 1 Normally closed 0 Normally open 2 16 3 Explanation of I O signals E Assignment to the output terminals The output signals shown below can be assigned to the output terminals OUTO to OUTS of
127. RX n 5 F_ NET OUT15 number RY n 6 0 M REQO Monitor request 0 RX n 6 0 mM DaTo Puring execution of monitor 0 RY n 6 1 M REQ1 Monitor request 1 RX n 6 1 M DaT1 During execution of monitor 1 RY n 6 2 M REQ2 Monitor request 2 RX n 6 2 m par2 Puring execution of monitor 2 RY n 6 3 M REQ3 Monitor request 3 RX n 6 3 M DaT3 During execution of monitor 3 RY n 6 4 M REQ4 Monitor request 4 RX n 6 4 M DaT4 During execution of monitor 4 NETCO1 CC RY n 6 5 M REQ5 Monitor request 5 RX n 6 5 m pars Purina execution of control input monitor 5 status output RY n 6 6 RX n 6 6 WNG Warning RY n 6 7 ARM RST Reset alarm RX n 6 7 ALM Alarm During execution of RY n 6 8 RX n 6 8 C SUC RS 485 communication RY n 6 9 z RX n 6 9 RY n 6 A RX n 6 A S RY n 6 B RX n 6 B Command Command RY n 6 C D REQ i RX n 6 C D END processing execution request completion 1 Method of control via CC Link communication Command RY Master to NETC0O1 CC Response RX NETC0O1 CC to master Device No Signal name Description Device No Signal name Description RY n 6 D RX n 6 D R ERR Register error NETCO1 CC Banna system control input RY n 6 E RX n 6 E S BSY uring sys processing status output RY n 6 F RX n 6 F RX n 7 0 to Cannot be used RX n 7 A System area RY n 7 0 Remote station control input Cannot be use
128. Return to home speed Return to home starting direction e Coordination setting Resolution Electronic gear Wrap function Motor rotation direction 2 Operation 2 1 Positioning operation Positioning operation is one in which motor operating speed position travel amount and other items are set as operation data and then executed When the positioning operation is executed the motor begins at the starting speed and accelerates until the operating speed is reached Then once the operating speed is reached that speed is maintained The motor decelerates when the stopping position approaches and finally comes to a stop The operation function can also be set in operation data The operation function is how to operate consecutive operation data example operation data No 0 No 1 No 2 E Operation data The following data are the operation data for positioning operation Name Description Setting range Initial value Fe Sets the position distance for positioning 8 388 608 to Position operation 8 388 607 step 0 Sets the operating speed in positioning Operating speed 0 to 1 000 000 Hz 1000 operation Acceleration Sets the acceleration rate or time in 1 to 1 000 000 itioni tion esis SPRraNen 1 0 001 ms kHz or 1000 Sets the deceleration rate or time in 1 0 001 s positioning operation Deceleration Selects how to specify the position travel 0 Incremental INC Op rati
129. S Continuous operation in the negative direction 1 Operation HOME Return to home operation START Positioning operation SSTART Sequential positioning operation 0 No operation JOG JOG operation in the positive direction 1 Start operation JOG JOG operation in the negative direction Pier ee Oe DEn 0 No operation FREE a ang release the 1 Fiectomeancti brake cet release motor non excitation C ON Motor excitation switching between excitation and 0 Non excitation non excitation 1 Excitation STOP Stop the motor o No operation 1 Stop operation HMI Release of the function limitation of the OPX 2A or 0 Function limitation MEXE02 1 Function limitation release RO to R15 General signals Use these signals when controlling 0 OFF the system via RS 485 communication 1 ON MO to M5 Select the operation data No using these six bits 7 nee data No 0 to 63 See p 2 24 for details on the combination can be selected e Do not assign the same input signal to multiple input terminals When the same input signal is assigned to multiple input terminals the function will be executed if any of the terminals becomes active e When the C ON input and HMI input are not assigned to the input terminals these inputs will always be set to ON 1 When assigning to both direct I O and network I O the function will be executed when both of them are set to ON 1 6 22 3 2 Output signals from the driver The following output signals can be a
130. S input are turned ON simultaneously in the continuous operation Turn either FWD input or RVS input ON The motor rotates in the direction opposite to the specified direction The rotation direction parameter is set wrong Check the rotation direction parameter The gear output shaft rotates in the direction opposite to the motor A gear that rotates in the direction opposite to the motor shaft is used e With TH geared motors the gear output shaft rotates in the direction opposite to the motor when the gear ratio is 20 or 30 e With Harmonic geared motors the gear output shaft always rotates in the direction opposite to the motor Motor operation is unstable Connection error in the motor or power supply Check the connections between the driver motor and power supply The RUN current or STOP current parameter is too low Return the RUN current or STOP current parameter to its initial value and check If the operating current is too low the motor torque will also be too low and operation will be unstable Motor vibration is too great Load is too small Lower the operating current using the RUN current parameter Vibration will increase if the motor s output torque is too large for the load The electromagnetic brake does not release The power is not supplied to the electromagnetic brake Check the connection of the electromagnetic
131. S_R Output in response to the HOME input 63 SLIT_R Output in response to the SLIT input 65 ALM Output the alarm status of the driver normally closed 66 WNG Output the warning status of the driver 67 READY Output when the driver is ready 68 MOVE Output when the motor operates 69 END Output when the positioning operation is completed 3 Explanation of I O signals 2 18 Assignment No Signal name Function 70 HOME P _ Output when the motor is in home position 71 TLC Output when the load is outside of the motor torque range 72 TIM Output once every 7 2 rotation of the motor output shaft 73 AREA1 Output when the motor is within the area 1 74 AREA2 Output when the motor is within the area 2 75 AREA3 Output when the motor is within the area 3 80 S BSY Output when the driver is in internal processing state Related parameters Parameter name Description Initial value OUTO output function selection 70 HOME P OUT1 output function selection 69 END OUT2 output function selection Assigns the following output signals to 73 AREA1 OUT3 output function selection OUTO to OUTS of the output terminals 67 READY OUT4 output function selection 66 WNG OUT5 output function selection 65 ALM 0 Not used 9 MS1_R 33 R1 42 R10 51 M3_R 67 READY 1 FWD_R 10 MS2_R 34 R2 43 R11 52 M4_R 68 MOVE 2 RVS_R 11 MS3_R 35 R3 44 R12 53 M5_R 69 END 3 HOME_R 12 MS4_R 36
132. VR yR ON x ON SLIT se 1 SLIT oeri ON A ON TIM OFF ui OFF fl The motor will move 200 steps from the mechanical end Note e The maximum speed for the push mode is 30 r min on the motor output shaft regardless of resolution Starting return to home operation with setting faster speed than 30 r min may cause damage to the motor or gear part e Do not perform push mode return to home operation for geared motors Doing so may cause damage to E Position preset the motor or gear part When the P PRESET input is turned ON the command position is set as the value of the preset position parameter However the preset will not execute in the following conditions e When the motor is operating e When an alarm is present e Related parameters Parameter name Description Setting range Initial value Preset position Sets the preset position 8 388 608 to 8 388 607 step 0 3 27 2 Operation e Operating method 1 Check the READY output is ON 2 Turn the P PRESET input ON 3 When the driver internal processing is completed the HOME P output will be turned ON 4 Check the HOME P output has been turned ON and then turn the P PRESET input OFF P PRESET i input OFF O READY output OFF HOME P BA P output OFF ON Command position OFF X Preset position 2 3 Continuous operation The motor operates continuously whi
133. a group set the upper and lower simultaneously Address Hex Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 0030h FFFFh i bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO FFFFh Initial value Address Hex Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 0031h 1 to 31 Sets the address number for the group send FFFFh bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito 1 to 31 Sets the address number for the group send FFFFh Initial value 5 18 E Driver input command 007Ch 007Dh These are the driver input signals that can be accessed via RS 485 communication See p 2 23 for each input signal 8 Register address list Address Hex Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 007Ch z 3 bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO Address ets m Hex Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 NET IN15 NET IN14 NET IN13 NET IN12 NET IN11 NET IN10 NET IN9 NET IN8 EN RVS FWD JOG JOG SSTART MS2 MS1 MSO bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO NET IN7 NET ING6 NET IN5 NET IN4 NET IN3 NET IN2 NET IN1 NET INO Not used FREE STOP HOME START M2 M1 M0
134. ademarks of Oriental Motor Co Ltd in Japan and other countries Modbus is a registered trademark of the Schneider Automation Inc CC Link is a registered trademark of the CC Link Partner Association MECHATROLINK is a registered trademark of the MECHATROLINK Members Association Other product names and company names mentioned in this manual may be registered trademarks or trademarks of their respective 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 guarantee Oriental Motor is not liable whatsoever for the performance of these third party products Copyright ORIENTAL MOTOR CO LTD 2011 e Please contact your nearest Oriental Motor office for further information ORIENTAL MOTOR U S A CORP Technical Support Tel 800 468 3982 8 30 a m to 5 00 P M P S T M F 7 30 a M to 5 00 P M C S T M F E mail techsupport orientalmotor com www orientalmotor com ORIENTAL MOTOR EUROPA GmbH Headquarters and D sseldorf Office Tel 0211 52067 00 Fax 0211 52067 099 Munich Office Tel 089 3181225 00 Fax 089 3181225 25 Hamburg Office Tel 040 76910443 Fax 040 76910445 ORIENTAL MOTOR UK LTD Tel 01256 347090 Fax 01256 347099 ORIENTAL MOTOR FRANCE SARL Tel 01 47 86 97 50 Fax 01 47 82 45 16 ORIENTAL MOTOR ITALIA s r l Tel 02 93906346 Fax 02 93906348 SHANGHAI ORIENTAL MOTOR CO LTD Tel
135. al Power supply terminal When installing a motor to a heat sink of a capacity at least equivalent to an aluminum plate 100100 mm 3 94x3 94 in thickness 6 mm 0 24 in 8 CE Marking 8 CE Marking E Low Voltage Directives Because the input power supply voltage of this product is 24 VDC 48 VDC it is not subject to the Low Voltage Directive but install and connect this product as follows e This product is designed and manufactured to be installed within another device Install the product in an enclosure e For the driver power supply use a DC power supply with reinforced insulation on its primary and secondary sides E EMC Directive This product has received EMC compliance under the conditions specified in Example of motor and driver installation and wiring on p 2 7 Since the compliance of the final machinery with the EMC Directive will depend on such factors as the configuration wiring layout and risk involved in the control system equipment and electrical parts it therefore must be verified through EMC measures by the customer of the machinery Applicable Standards EN 61000 6 4 EN 61800 3 C3 EN 55011 group 1 class A EMS EN 61000 6 2 EN 61800 3 C3 EMI 9 Preparation 9 Preparation This chapter explains the items you should check as well as the name and function of each part 9 1 Checking the product Verify that the items listed below are included Report any missing or damaged item
136. aled structure The battery sometimes generates gas which if trapped may cause a burst or an explosion due to ignition The battery contains an alkali solution If the alkali solution comes in contact with the skin or clothes flush the area thoroughly with clean water If the alkali solution gets into the eyes do not rub Flush the eyes thoroughly with clean water and seek immediate medical attention Do not use the battery if there is leakage discoloration deformation or another abnormality Do not immerse the battery in water or seawater nor allow it to become wet Doing so may cause the battery to generate heat or rust Do not scratch the battery and battery cable A scratched battery easily causes shorting resulting in leakage heat generation or bursting The battery is connected to the primary circuit so do not touch the battery while the power is on Do not forcibly bend pull or pinch the cable Also do not bend and flex the cable repeatedly Do not make a continuous vibration or excessive impact e Always charge the battery connecting to the driver before use Refer to p 2 14 for charging method e Nickel metal hydride cell is used in this battery Disposal of the used batteries is BY subject to each country s regulations on environmental control Contact your nearest RO Oriental Motor office if you have any questions Ni MH l 6 Precautions for use 6 Precautions for use This section covers limitations and requirem
137. arameters e 2 sensor mode e 3 sensor mode e Push mode e Data setting mode Position preset Motor operation Setting by operation data and parameters e Positioning operation Operation function Single motion operation Linked motion operation Push motion e Continuous operation Linked motion operation 2 Starting method Data number selecting operation Direct positioning operation Sequential positioning operation Other operations Setting by parameters e JOG operation e Automatic return operation Support functions Setting by parameters e Protective function Alarm detection Warning detection e I O function Input function selection Output function selection Input logic level setting e Coordination setting Resolution Electronic gear Wrap function Motor rotation direction e Return to home function Home position offset External sensor signal detection e Stop operation STOP input action Hardware overtravel Software overtravel e Motor function setting Operating current Standstill current Speed filter Moving average filter External interface Data setter e Monitor function e Operation data setting e Parameter setting e Test function Test operation Teaching I O test e Data storing e Download Upload e Data initialization RS 485 communication e Operation start e Operation data setting e Parameter settin
138. as been generated be sure to reset it by clicking the Position Lost Alarm Reset It cannot be reset by clicking Alarm Reset 7 17 5 Monitor function 5 2 I O monitor 7 18 You can monitor the I O status of the driver 1 In the window selection area click I O under Monitor The I O monitor window appears 2 Select Start I O Monitor The I O monitor starts MEXEO2 Untitled1 amp Eile Edit Move View Communication Tool Window Help a AR StoredData DC Data Operation Data Parameter 1 0 Parameter Motor Parameter Operation Parameter Home Operation Parameter Alarm Parameter Warning Parameter Coordinates Parameter Common Parameter 1 0 Function Un Evinction FS 485 Corns Monitor Status 10 Waveform vo Operation Communicate 0 Monitor Running INPUT INO IN1 IN2 IN3 IN4 IN5 ING IN7 Signal Status NPUT RS 485 OUTPUT INPUT OUTPUT mouto NET NO NET INS NET OUTO NET OUTS oun NETAN1 NETANS NET OUT1 E NetT ours Hi our2z NET IN2 NET IN10 NET OUT2 E NET ouTIO i ours NETAN3 NETANT1 NET OUT3 E net out11 OUT4 NET IN4 NET IN12 fi outs NETANS NETAN13 E NET OUTS NET OUT12 E NeT ouTS NET OUT13 NET IN6 NET IN14 NET OUTS E NET OUT14 NETAN NETAN15 NET OUT NET OUTIS FwD ALM RST RYS
139. ata to become effective C Effective after executing the configuration 0 Not used 8 MSO 18 STOP 38 R6 46 R14 1 FWD 9 MS1 27 HMI 39 R7 47 R15 2 RVS 10 MS2 32 RO 40 R8 48 MO 3 HOME 11 MS3 33 R1 41 R9 49 M1 4 START 12 MS4 34 R2 42 R10 50 M2 5 SSTART 13 MS5 35 R3 43 R11 51 M3 6 JOG 16 FREE 36 R4 44 R12 52 M4 7 JOG 17 C ON 37 R5 45 R13 53 M5 e Setting range for NET OUT output function selection 0 Not used 10 MS2_R 35 R3 45 R13 61 LS_R 72 TIM 1 FWD_R 11 MS3_R 36 R4 46 R14 62 HOMES _R 73 AREA1 2 RVS_R 12 MS4_R 37 R5 47 R15 63 SLIT_R 74 AREA2 3 HOME_R 13 MS5_R 38 R6 48 MO_R 65 ALM 75 AREA3 4 START_R 16 FREE_R 39 R7 49 M1_R 66 WNG 80 S BSY 5 SSTART_R 17 C ON_R 40 R8 50 M2_R 67 READY 6 JOG_R 18 STOP_R 41 R9 51 M3_R 68 MOVE 7 JOG_R 32 RO 42 R10 52 M4_R 69 END 8 MSO_R 33 R1 43 R11 53 M5_R 70 HOME P 9 MS1_R 34 R2 44 R12 60 LS_R 71 TLC 4 10 4 Timing charts 4 Timing charts E When the power supply is turned ON ON Main power supply opp o i ON utput signal opf i i ON nput signal opp ON x READY output OFF Motor excitation Not excitation Electromagnetic brake 10 s or more 1 s or less 1 s or less Signal is output 1 s or more 1 s or less Input signal becomes effective 1 25 s or less 1 s or less 1 2 s or less 1 s or less Excitation 1 25 s or les
140. ation 32 to 104 F non freezing environment Humidity 85 or less non condensing Altitude Up to 1000 m 3300 ft above sea level Surrounding No corrosive gas dust water or oil atmosphere Ambient 20 to 60 C 4 to 140 F 25 to 70 C 13 to 158 F temperature non freezing non freezing Storage Humidity 85 or less non condensing environment Altitude Up to 3000 m 10000 ft above sea level Surrounding No corrosive gas dust water or oil atmosphere Ambient 20 to 60 C 4 to 140 F 25 to 70 C 13 to 158 F temperature non freezing non freezing Shipping Humidity 85 or less non condensing environment Altitude Up to 3000 m 10000 ft above sea level Surrounding No corrosive gas dust water or oil atmosphere Insulation resistance 100 MQ or more when 500 VDC megger is applied between the following places Case Motor windings and sensor windings Case Electromagnetic brake windings 100 MQ or more when 500 VDC megger is applied between the following places FG terminal Power supply terminal Dielectric strength Sufficient to withstand 1 0 kVAC at 50 Hz or 60 Hz 0 5 kVAC for ARM24 and ARM26 applied between the following places for 1 minute Case Motor windings and sensor windings Case Electromagnetic brake windings Sufficient to withstand 500 VAC at 50 Hz or 60 Hz applied between the following places for 1 minute FG termin
141. ation coud controller and driver Possible On not be established with the i host system 8Eh Network converter The network converter Check the alarm code of the error generated an alarm network converter Turn off the power and check A sensor error occurred while the connection of the motor 28h Sensor error the motor was operating cable and driver and then cycle the power Turn off the power and check a A sensor error occurred when the connection of the motor 42h Initial sensor error the power was turned on cable and driver and then 8 cycle the power Make sure the motor output Initial rotor rotation Tae motor output shaft did shaft does not turn by an 43h not stand still when the power error external force when the was turned on Not power is turned on Off Check the model name of possible 45h Motor combination A motor not supported by the motor and driver and use the error driver is connected motor and driver in the correct combination Cycle the power Be sure to 29h CPU peripheral Error occurred in the CPU perform return to home 9 circuit error operation after cycling the power 41h EEPROM error Thiestored cata was Initialize the all parameters damaged FOh Lit CPU error CPU malfunctioned Cycle the power 2 Alarms and warnings 2 2 Warnings When a warning generates the WNG output will turn ON The motor will continue to operate Once the cause of the warning is removed the WNG outpu
142. ation of the operation data No 1 4 Check that the READY output has been turned OFF and turn the START input OFF 5 When the positioning operation is completed the READY output will be turned ON No 1 Motor operation ON MO to M5 input opp No 0 X No 1 ART i ON aw S input OFF gA ON READY output opp z MOVE ON output OFF END output ON OFF In direct I O turn the START input ON after setting the MO to M5 inputs In network I O the operation will be performed even when turning the MO to M5 inputs and the START input ON simultaneously 3 13 2 Operation e Linked motion operation When the operation function is set to linked motion using operation data positioning operation based on the next data number will be performed without stopping the motor If operation data includes data for which single motion or push motion is set the motor will stop after the positioning with respect to the single or push motion operation data is completed A maximum of 4 operation data can be linked Note that only operation data of the same direction can be linked Multiple operation data of different directions cannot be linked An operation data error alarm will generate during operation Up to four sets of operation data can be linked When combining the linked motion operation and the linked motion operation2 make sure the total number of linked operation
143. ation when the positioning operation is performed in the following conditions e Wrap setting range 3600 e Resolution 1000 P R electronic gear A 1 electronic gear B 1 e Command position 900 Condition 1 Electronic gear B x 1000 1 x 1000 Electronic gear A x 50 1x 50 a Electronic gear A x 50 1x50 2 W l Ss 180 Condition rap setting value x Electronic gear B x 1000 3600 x TE The calculation result of these two formulas is an integer and this meets the setting condition 2 Operation Following tables are examples when the positioning operation is performed from 900 steps of the command position Position Operation mode Incremental Operation mode Absolute 0 0 1000 2700 900 2700 900 A 100 1000 A 1000 1900 1800 1800 3500 9 0 A 1000 A 1900 1000 2700 900 2700 900 2600 1800 1800 0 0 A 4100 5000 2700 900 2700 900 2300 A 5000 1800 1800 1409 0 0 A 5000 A 5900 3100 5000 2700 900 2700 900 1800 2200 1800 3 Operation data 3 Operation data 3 38 Up to 64 operation data can be set data Nos 0 to 63 If the data is changed a recalculation and setup will be performed after the operation is stopped Name Description Setting range Initial value Position No 0 Sets the position distance for 8 388 608 to to ON 0 Position No 63 positioning operation 8 388 607 step Operating speed No 0 Sets the operat
144. ation with the MEXEO2 is interrupted or the MEXEO2 data is changed Also when the MEXEO2 data is edited after synchronization Download Modified Data Only is enabled to be selected which allows downloading only the data that has been edited to the driver Once synchronization is complete the MEXEO2 data or driver data will be changed Which data is changed depends on the synchronization method 1 Select test function from the window selection area 2 Select the Start check box near the center of the screen The figure below is an example when the I O test is selected Select Start I O Test in this case S4 MEXEO2 Untitled1 Eile Edit Move View Communication Tool Window Help a AR StoredData DC Data Operation Data Parameter 1 0 Parameter Motor Parameter Operation Parameter Home Operation Parameter Alarm Parameter Warming Parameter Coordinates Parameter Common Parameter 170 Function 1 0 Function AS 485 Communication Parameter Monitor Communicate 0 Test Running 3 Select the synchronization method 4 Click OK The MEXEO2 data and driver data will be synchronized 5 Once synchronization is complete clear the check box in Step 2 if you wish to proceed to another function OUTPUT ouTO foun ouT2 Bours OUT4 outs
145. attention to the centering of the shafts belt tension parallelism of the pulleys and so on Securely tighten the coupling and pulley set screws e Be careful not to damage the output shaft or bearings when installing a coupling or pulley to the motor output shaft e Do not modify or machine the motor output shaft Doing so may damage the bearings and destroy the motor e Do not apply strong force using hammer or other tools when removing the parallel key Doing so may damage the motor output shaft and bearings ball bearings E Using a coupling Align the centers of the motor output shaft and load shaft in a straight line E Using a belt drive Align the motor output shaft and load shaft in parallel with each other and position both pulleys so that the line connecting their centers is at a right angle to the shafts E Using a gear drive Align the motor output shaft and gear shaft in parallel with each other and let the gears mesh at the center of the tooth widths e Using a coupling e Using a belt drive e Using a gear drive E Using a parallel key geared motor When connecting the load and gear output shaft with a key slot secure the load using the key supplied with the gear output shaft after machining the key s
146. automatic return operation will not executed normally E Stop operation e STOP action When the STOP input is turned ON or STOP is commanded via RS 485 communication while the motor is operating the motor will stop The stopping mode is determined by the setting of the STOP input action parameter For example the operation when setting STOP input action parameter to deceleration stop is shown in the figure to the right Hardware overtravel Hardware overtravel is the function that limits the operation range by installing the limit sensor LS at the upper and lower limit of the operation range If the hardware overtravel parameter is set to enable the motor can be stopped when detecting the limit sensor The stopping mode is determined by the setting of overtravel action parameter The operation example when setting the overtravel action parameter to immediate stop is shown in the figure to the right Software overtravel The software overtravel is a function that limits the range of movement via software settings If the software overtravel parameter is set to enable the motor can be stopped when exceeding the software limit The stopping mode is determined by the setting of overtravel action parameter The operation example shown on the right applies when an operation where a software limit is to be exceeded is started Speed Motor operation Time STO
147. ble of contents 1 INSPO CUO M i naici 8 2 2 Alarms and warnings 000 8 3 2 1 Alarms E Alarm reset renea etrn E Alarm records E Alarm list 2 2 Warnings M Warning records eceeeecceseesseeseeeeeeeenee 8 8 M Warning listaren anini 8 8 2 3 Communication errors cc000e 8 9 E Communication error records c006 8 9 E Communication error list cccceeeeeee 8 9 3 Troubleshooting and remedial actions cseeeeeee 8 10 1 Inspection 1 Inspection It is recommended that periodic inspections for the items listed below are conducted after each operation of the motor If an abnormal condition is noted discontinue any use and contact your nearest Oriental Motor sales office During inspection Are any of the motor mounting screws loose Check for any unusual noises in the motor bearings ball bearings or other moving parts Are there any scratches signs of stress or loose driver connections in the motor cable Are the motor output shaft and load shaft out of alignment Are any of the driver DIN rail mounting parts loose Are there any loose driver connectors Is there attachment of dust etc on the driver Are there any strange smells or appearances within the driver The driver uses semiconductor elements Handle the driver with care since static electricity may damage semiconductor elements Static electricity may damage the driver 2 Alarms and warnings 2 Alarm
148. bort writing the data and cause a EEPROM error alarm to generate The non volatile memory can be rewritten approximately 100 000 times e Motor excitation at power ON The motor is excited when the power is on If the motor is required to be in non excitation status when turning on the power assign the C ON input to the direct I O or network I O e Overvoltage alarm by regeneration energy The overvoltage alarm will generate depending on the operating condition When an alarm is generated review the operating conditions e Note on connecting a power supply whose positive terminal is grounded The power supply connector CN1 data edit connector CN3 and RS 485 communication connector CN6 CN7 of the driver are not electrically insulated When grounding the positive terminal of the power supply do not connect any equipment PC etc whose negative terminal is grounded Doing so may cause the driver and these equipment to short damaging both Use the data setter OPX 2A to set data etc 7 General specifications 7 General specifications Motor Driver IP54 Excluding the motor mounting surface and connectors Degree of protection IP20 Double shaft type models IP10 including S in the motor identification of motor name 10 to 50 C 14 to 122 F Ambient non freezing 0 to 50 C 32 to 122 F temperature Harmonic geared type 0 to 40 C non freezing Oper
149. c level lower 1 Normally closed 540 021Ch SLIT logic level upper 541 021Dh SLIT logic level lower 4096 1000h MSO operation No selection upo l 0 to 63 0 B 4097 1001h MSO operation No selection lower 5 25 8 Register address list 1 Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate Register add SUIS TEL BORIS Name Setting range Initial value Effective Dec Hex 4098 1002h MS1 operation No selection upper 4 4099 1003h MS1 operation No selection lower 4100 1004h MS2 operation No selection upper 2 4101 1005h MS2 operation No selection lower 4102 1006h ears No selection S 0 to 63 3 B 4103 1007h MS3 operation No selection lower 4104 1008h MS4 operation No selection upper 4 4105 1009h MS4 operation No selection lower 4106 100Ah MS5 operation No selection upper 5 4107 400Bh MS5 operation No selection lower 4108 100Ch HOME P function selection upper 0 Home output 0 4109 100Dh HOME P functio
150. ccecctsicccctescecee acieventessieecveescecs 3 39 4 1 Parameter listi Gusi i 3 39 4 2 WO parameter cccessceeesseceeeeeeeeeteees 3 41 4 3 Motor parameter sece 3 42 4 4 Operation parameter 3 42 4 5 Return to home parameter 3 43 4 6 Alarm warning parameter 3 43 4 7 Coordination parameter 00 3 44 4 8 Common parameter isee 3 44 4 9 Communication parameter 3 44 4 10 I O I O function parameter 0 3 45 4 11 I O function RS 485 parameter 3 46 1 2 3 4 a fk WN 4 Method of control via 1 0 G ida N E a naaa sei des ra aa aan aaa areni 4 2 Operation data ccccceceesseseerceeeeeeeeeees 4 4 Parameter sprico iisen rinrita ionas 4 5 3 1 Parameter list 00 c cccceccceeseeeeeeeeeeeees 4 5 3 2 I O parameter ccccceceeeeecteeeeeeeeeeeees 4 6 3 3 Motor parameter 4 6 3 4 Operation parameter ccccccecsseeeeeeeeees 4 7 3 5 Return to home parameter 4 7 3 6 Alarm warning parameter c 4 7 3 7 Coordination parameter 00 cee 4 8 3 8 Common parameter ccccccecceseeeeeeeeees 4 8 3 9 Communication parameter ccc 4 8 3 10 I O I O function parameter 00 4 9 3 11 I O function RS 485 parameter 4 10 Timing Charts ccccessseeeeeesseeeeeeeeeeeeeeeseteees 4 11 5 Method of control via Modbus RTU RS 485 communication GUId ANC ea at aaae aa aiIe
151. celeration 10h Excessive position the value set in the deceleration longer deviation parameter for overflow e If the driver is in the current rotation alarm during control mode increase the j current on current limit value e The load is large or the acceleration deceleration is too rapid e Do not turn the C ON input E l i te ore input was turned ON while an excessive ash wee lon oaa FACESSI E position deviation warning eviation during position eviation warning at current OFF is present current OFF during current OFF was e Set the parameter for auto present rane f return to Disable 27h 7 Backup battery The battery voltage became Charge the battery On undervoltage below the rated value 1 When an alarm generates the motor operates as follows Excitation off When an alarm generates the motor current will be cut off and the motor will lose its holding torque The electromagnetic brake will automatically actuate and hold the position when using the electromagnetic brake motor Excitation on Even when an alarm generates the motor current will not be cut off and the motor position will be held 2 This alarm cannot be reset by the ALM RST input Reset the alarm using the P CLR input 2 Alarms and warnings No of Reset Motor Code pera Alarm type Cause Remedial action eee excitation blinks input When one of the following conditions is satisfied while the absolute position backup system paramete
152. ctory setting OFF termination resistor disabled SW3 No 4 Termination resistor 120 Q OFF Disabled ON Enabled SW3 No 4 c 120 Q Vo v The GND line is used in common with CN1 not insulated 4 Setting the RS 485 communication 4 Setting the RS 485 communication Set parameters required to use via RS 485 communication beforehand E Parameters set with the OPX 2A or MEXEO2 Set the following parameters using the OPX 2A or MEXEO2 since they cannot be set via RS 485 communication Parameter name Setting range Initial value Description 0 None Communication parity 1 Even number 1 Sets the parity for RS 485 communication 2 Odd number Communication stop bit 0 1 bit 0 Sets the stop bit for RS 485 1 2 bits communication Transmission waiting 0 to 10000 1 0 1 ms 100 Sets the transmission waiting time for time RS 485 communication E Parameters set with the OPX 2A MEXEO2 or via RS 485 communication Set the following parameters using the OPX 2A MEXEO2 or via RS 485 communication Parameter name Setting range Initial value Description Communication timeout 0 to 10000 ms Sets the condition in which a communication timeout occurs in RS 485 communication It is not monitored when the set value is 0 Communication error alarm 1 to 10 times Sets the condition in which a RS 485 communication
153. d Each 64 data for acceleration and deceleration Common The setting of the common acceleration and common deceleration parameter will be followed Each 1 data for acceleration and deceleration 3 28 2 Operation E Starting method of continuous operation When selecting the operation data No and turning the Operation FWD input or RVS input ON continuous operation will data No Ms Mg Ms M2 Mi Mo be started 0 OFF OFF OFF OFF OFF OFF Select an operation data based on a combination of 1 OFF OFF OFF OFF OFF ON ON OFF status of the MO to M5 inputs See p 2 24 for 2 OFF OFF OFF OFF ON OFF details e e e e e e e e e e e e e e e e e e 61 ON ON ON ON OFF ON 62 ON ON ON ON ON OFF 63 ON ON ON ON ON ON e Operating method 1 Check the READY output is ON 2 Select the operation data No by a combination of the MO to M5 inputs and turn the FWD input ON 3 The motor starts continuous operation The READY output will be turned OFF 4 Select the operation data No 1 by turning the MO input ON The motor accelerates to the operating speed of the operation data No 1 5 Select the operation data No 0 by turning the MO input OFF The motor decelerates to the operating speed of the operation data No 0 6 Turn the FWD input OFF 7 The motor will decelerate to a stop and the READY output will be turned ON Motor operation No 0 No 1
154. d permissible thrust load c eee 2 4 1 5 Installing the driver cceeseeeteeeees 2 5 1 6 Installing the battery eee 2 6 1 7 Installing and wiring in compliance with EMC Directive ieee 2 6 Connection cccceseeeeeeeeeeeeeeeeseeneeeeseneeeeeeees 2 8 2 1 Connection example electromagnetic brake motor 4 2 8 2 2 Grounding the motor and driver 2 12 2 3 Connecting the data setter 2 12 2 4 Connecting the RS 485 communication CAD ect eci2h canes iitensae lah aait 2 13 2 5 Connecting and charging the battery 2 14 Explanation of I O signals cse 2 15 3 1 Assignment of direct I O eee 2 15 E Assignment to the input terminals 2 15 E Changing the logic level setting of input SIQMAS cess ccscsiseccvceedeeiacetcsnsecdbcssdesdbecetecdeces 2 16 E Assignment to the output terminals 2 17 3 2 Assignment of network I O eee 2 19 E Assignment of input signals 0 0 68 2 19 E Assignment to the output terminals 2 21 3 3 Input signals ennenen enerne nenene 2 23 3 4 Output Signals n 2 28 3 5 Sensor INPUT akii ee eeeeeeeeeneeeeeeeeees 2 32 3 6 General signals RO to R15 eee 2 33 3 Operation type and setting 1 Adjustment and Setting cccsssseeees 3 2 1 1 RO SOIULION in R 3 2 1 2 Operating current c ccceeeeeteereeeeeees 3 3 1 3 Standstill current cc cceeeeeeeeeeeees 3 3 1 4 Accel
155. d RX n 7 B CRD communication status output RY n 7 F ready RX n 7 C to Cannot be used RX n 7 F 1 5 Assignment for remote I O of 12 axes connection mode Remote I O assignments of the driver are as follows n is an address assigned to the master station by the CC Link station number setting See the network converter NETCO1 CC USER MANUAL for 12 axes E Assignment list of remote I O Command RY Master to NETCO1 CC Response RX NETC0O1 CC to master Device No Description Device No Description RYn7 to RYnO Address number 0 remote RXn7 to RXn0 Address number 0 remote I O input I O output RYnF to RYn8 Address number 1 remote RXnF to RXn8 Address number 1 remote I O input I O output Address number 2 remote Address number 2 remote RY n 1 7 to RY n 1 0 VO input RX n 1 7 to RX n 1 0 I O output Address number 3 remote Address number 3 remote RY n 1 F to RY n 1 8 I O input RX n 1 F to RX n 1 8 I O output Address number 4 remote Address number 4 remote RY n 2 7 to RY n 2 0 I O input RX n 2 7 to RX n 2 0 I O output Address number 5 remote Address number 5 remote RY n 2 F to RY n 2 8 1 0 input RX n 2 F to RX n 2 8 I O output Address number 6 remote Address number 6 remote RY n 3 7 to RY n 3 0 I O input RX n 3 7 to RX n 3 0 I O output Address number 7 remote Address number 7 remot
156. d Speed Operation Operation Operation l Operation o rting meth ea data No 0 data No 1 data No 0 data No 1 Starting method Time Time e Data number selecting Starting 7 Starting A operation command command e Direct positioning operation e Linked motion operation 2 e Push motion operation P e Sequential positioning Speed Dwell time Speed operation Operation Operation data No 0 data No 1 Operation data No 0 Starting H Time Starting gi Time command command Return to home operation e 3 sensor mode e 2 sensor mode e Push mode e Position preset LS LS LS LS side side HOMES mechanical end mechanical end Continuous operation Other operations Motor operation MO to M5 input FWD input Time RVS input e JOG operation e Automatic return operation Setting by parameters e O Input logic level STOP input action Overtravel action e Motor function Operating current Standstill current Speed filter f Moving average filter e I O function g 9 Input function Input logic level Output function Input function Output function e I O function RS 485 e Operation function Acceleration deceleration type Acceleration deceleration unit JOG operation Automatic return operation e Alarm warning Alarm detection Warning detection e Return to home function Home position offset External sensor signal detection
157. d when the set value is 0 Sets the condition in which a RS 485 A Paar communication error alarm generates A Communication error pe alarh communication error alarm generates after a 1 to 10 times 3 RS 485 communication error has occurred by the number of times set here 0 None Communication parity Sets the parity of RS 485 communication 1 Even number 1 2 Odd number TESE PERS 0 1 bit D Communication stop bit Sets the stop bit of RS 485 communication 1 2 bit 0 Transmission waiting Sets the transmission waiting time of RS 485 0 to 10000 100 time communication 1 0 1 ms Indicates the timing for the data to become effective A Effective immediately D Effective after turning the power ON again 3 44 4 10 I O function parameter 4 Parameter Name Description Setting range Initial value Effective INO input function selection 3 HOME IN1 input function selection 4 START IN2 input function selection 48 MO IN3 input function selection Function of input terminals INO 49 M1 See table next IN4 input function selection to IN7 50 M2 IN5 input function selection 16 FREE IN6 input function selection 18 STOP IN7 input function selection 24 ALM RST INO input logic level setting IN1 input logic level setting IN2 input logic level setting c IN3
158. data sets does not exceed four When linked motion operation is performed with five or more sets of operation data linked together an operation data error alarm will generate upon start of operation No 0 will not be linked even when linked motion is set for data No 63 because the operation pertaining to No 63 will be processed independently The acceleration deceleration in linked motion operation corresponds to the acceleration deceleration specified for the operation data No with which the linked motion operation is started When the operation data being set to push motion is linked the push motion operation is performed at starting speed Example of linked motion operation Operation Position Operating Acceleration Deceleration Operation Operation Dwell Push Sequential data speed mode function time current positioning No 1 5000 5000 1000 1000 INC Linked Not used Not used Not used No 2 20000 10000 Not used Not used INC a Not used Not used Not used Operation example Speed Operating speed of No 2 10000 Operating speed of No 1 5000 Starting speed 500 No 1 No 2 0 5000 20000 Position 2 Operation Operating method 1 Check the READY output is ON 2 Select the operation data No 1 by turning the MO input ON and turn the START input ON 3 The motor starts the positioning operation in which the operation data No 1 and No 2 are linked 4 Check that the READY outpu
159. ddress number 5 remote I O output Address number 6 remote I O output Address number 7 remote I O output Address number 8 remote I O output Address number 9 remote I O output Address number 10 remote I O output Address number 11 remote I O output Address number 1 remote I O output Driver Address number 11 Control output of NETCO1 CC Control output of system area Address number 11 remote I O output 1 Method of control via CC Link communication E Details of remote I O assignment Initial value Command RY Master to NETCO1 CC Response RX NETC0O1 CC to master Device No Signal name Description Device No Signal name Description RY n 0 NET INO MO RX n 0 NET OUTO MO_R RY n 1 NET IN1 M1 RX n 1 NET OUT1 M1_R RY n 2 NET IN2 M2 RX n 2 NET OUT2 M2_R Address number RY n 3 NET IN3 START RX n 3 NET OUT3 START_R o RY n 4 NET IN4 HOME RX n 4 NET OUT4 HOME P RY n 5 NET IN5 STOP RX n 5 NET OUT5 READY RY n 6 NET IN6 FREE RX n 6 NET OUT6 WNG RY n 7 NET IN7 Not used RX n 7 NET OUT7 ALM RY n 8 NET INO MO RX n 8 NET OUTO MO_R RY n 9 NET IN1 M1 RX n 9 NET OUT1 M1_R RY n A NET IN2 M2 RX n A NET OUT2 M2_R Address number RY n B NET IN3 START RX n B NET OUT3 START_R
160. dit connector on the driver Insert the USB cable of the communication cable for the data setting software to the USB port on the PC 3 Connect the PC interface cable and USB cable 4 Turn on the power to the PC and driver and start the PC Driver PC interface cable O fe Personal computer HE Cf Ban Data edit connector ca asi ie eal ELIE pea H of EE 2 2 Starting the MEXE0O2 Double click the MEXEO2 icon on the desktop to start the MEXE02 Once the MEXEO72 has started the following window appears MEXEO2 gt H MEXE02 Menu bar File View Communication Tool Window Help Toolbar gt D S G F Status bar gt 2 Connection startup and shutdown 2 3 Setting up the communication line If you have connected the PC and the driver for the first time set up the communication line 1 Click Option from the Communication menu MEXEO2 File View Pe Tool Window Help 2 Select the communication port number connected Po mmunicatonSetup the communication cable for the data setting software and click OK Serial Pa Cancel ease check here if can t Jmmunicate with device If communication cannot be established even through the driver power is input and the correct communication port is selected select this check box and then set up the communicatio
161. do not show the movement of the motor itself 2 31 3 Explanation of I O signals 3 5 Sensor input E Internal input circuit i 4 4 kQ LS input o o KC WA Sree 4 4kQ LS input o 1koj YAK HOMES input ui input o 1 kal YAK MEE 4 4 KQ e Mpa iko Bec IN COM2 4 n E LS input LS input These signals are input from the applicable limit sensors The LS input is for the side sensor and the LS input is for the side sensor e Return to home operation When the LS or LS input is detected perform the return to home operation according to the setting of the Home seeking mode parameter e Any other operation Detect the hardware overtravel and stop the motor See p 3 35 for hardware overtravel Related parameters Parameter name Description Setting range Initial value Hardware overtravel Sets whether to enable or disable hardware 0 Disable 1 overtravel detection using LS inputs 1 Enable Overiravel action Sets the motor stop action to take place upon 0 Immediate stop 0 the occurrence of overtravel 1 Deceleration stop 0 Normally open LS contact setting Sets the LS input logics 1 Normally closed 0 E HOMES input The HOMES input is the input for the mechanical home sensor when setting the Home seeking mode parameter to the 3 sensor mode See p 3 21 for return to home operation Related parameters Parameter name Description
162. e RY n 3 F to RY n 3 8 I O input RX n 3 F to RX n 3 8 I O output Address number 8 remote Address number 8 remote RY n 4 7 to RY n 4 0 I O input RX n 4 7 to RX n 4 0 I O output Address number 9 remote Address number 9 remote RY n 4 F to RY n 4 8 1O input RX n 4 F to RX n 4 8 I O output Address number 10 Address number 10 Paisley n 5 0 remote I O input RS ES RX n15 remote I O output Address number 11 Address number 11 RY NES E tO BY 75 8 remote I O input RX nt Fto RX n 5 8 remote I O output RY n 6 7 to RY n 6 0 _ Control input of RX n 6 7 to RX n 6 0 _ Status output of RY n 6 F to RY n 6 8 NETCO1 CC RX n 6 F to RX n 6 8 NETCO1 CC RY n 7 7 to RY n 7 0 Control input of system RX n 7 7 to RX n 7 0 Status output of system RY n 7 F to RY n 7 8 area RX n 7 F to RX n 7 8 area See the network converter NETCO1 CC USER MANUAL for details 1 Method of control via CC Link communication E input output of remote I O e Remote O input NETCO1 CC RYn7 to RYn0 RYnF to RYn8 amp RY n 1 7 to RY n 1 0 RY n 1 F to RY n 1 8 RY n 2 7 to RY n 2 0 RY n 2 F to RY n 2 8 RY n 3 7 to RY n 3 0 RY n 3 F to RY n 3 8 RY n 4 7 to RY n 4 0 RY n 4 F to RY n 4 8 RY n 5 7 to RY n 5 0 RY n 5 F to RY n 5 8 RY n 6 F to RY n 6 0 RY n 7 F to RY n 7 0 6 10 Driver Address number 0 Address number 0 remote I O i
163. e s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate Register address Name Setting range Initial value Effective Dec Hex 910 038Eh Wrap setting upper 0 Disable 0 911 038Fh Wrap setting lower 1 Enable 912 0390h Wrap setting range upper 1 to 8 388 607 step 1000 913 0391h Wrap setting range lower 960 03C0h Data setter speed display upper 0 Signed 0 961 03C1h Data setter speed display lower 1 Absolute value X 962 03C2h Data setter edit upper 1 963 03C3h_ Data setter edit lower Absolute position backup system 0 Disable 964 03C4h ey p Psy 4 Enable i 965 03C5h cee aca backup system 4352 1100h INO input function selection upper 3 HOME 4353 1101h INO input function selection lower 4354 1102h IN1 input function selection upper 4 START 4355 1103h IN1 input function selection lower 4356 1104h IN2 input function selection upper 48 MO 4357 1105h IN2 input function selection lower 4358 1106h IN3 input function selection upper 49 M1 4359 1107h IN3 input unction selection lower See P5 33 4360 1108h IN4 input function selection upper 50 M2 4361 1109h IN4 input function selection lower 4362 110Ah IN5 input function selection upper 16
164. e sold separately should be used The EMC measures are conducted using the Oriental Motor extension cable E Example of motor and driver installation and wiring RS 485 communication cable 7 OPX 2A Motor ai a Controller PE BATO1B Driver Shielded cable o o Motor cable Sensor Shielded cable i Noise DC power l A Shielded cable Filter supply Shielded A l cable A lre Grounded panel PE A Cable cramp E Precautions about static electricity Static electricity may cause the driver to malfunction or suffer damage While the driver is receiving power handle the driver with care and do not come near or touch the driver Always use an insulated screwdriver to adjust the driver s switches The driver uses parts that are sensitive to electrostatic charge Before touching the driver turn off the power to prevent electrostatic charge from generating If an electrostatic charge is impressed on the driver the driver may be damaged 2 Connection 2 Connection This chapter explains how to connect the motor I O signals and power supply to the driver as well as grounding method 2 1 Connection example electromagnetic brake motor Wiring the CN5 CN8 CN9 connector Button of the orange color ARD KD Orne eO Insert the lead wire
165. e following conditions e When an alarm is present e When the motor is operating Related parameters Parameter name Description Setting range Initial value Preset position Sets the preset position 8 388 608 to 8 388 607 step 0 E ALM RST input When an alarm generates the motor will stop When the ALM RST input is turned from ON to OFF the alarm will be reset The alarm will be reset at the OFF edge of the ALM RST input Always reset an alarm after removing the cause of the alarm and after ensuring safety Note that some alarms cannot be reset with the ALM RST input See p 8 4 for alarm descriptions E P CLR input If the P CLR input is turned from ON to OFF while an absolute position error alarm is generated the alarm will be reset The alarm will be reset at the OFF edge of the P CLR input The P CLR input can reset the absolute position error alarm only E HMI input This signal is used to release the function limitation of the OPX 2A or MEXE02 When the HMI input is turned ON the function limitation of the OPX 2A or MEXEO2 will be released When the HMI input is turned OFF the function limitation will be imposed The following functions will be limited to execute e T O test e Test operation e Teaching e Writing downloading and initializing parameters Note When the HMI input is not assigned to the input terminal this input will always be set to ON When assigning to both direct I O and network
166. e power supply over the shortest possible distance Refer to Wiring the power supply cable and I O signal cable for how to ground the shielded cable E Connecting noise filter for power supply line e Connect a noise filter in the DC power supply input to prevent the noise generated in the driver from propagating externally through the power supply line e When using a power supply transformer be sure to connect a noise filter to the AC input side of the power supply transformer e For a noise filter use MC1210 TDK Lambda Corporation or equivalent product e Install the noise filter as close to the AC input terminal of DC power supply as possible Use cable clamps and other means to secure the AC input cables AWG18 0 75 mm or more and output cables AWG18 0 75 mm or more firmly to the surface of the enclosure e Connect the ground terminal of the noise filter to the grounding point using as thick and short a wire as possible e Do not place the AC input cable parallel with the noise filter output cable Parallel placement will reduce noise filter effectiveness if the enclosure s internal noise is directly coupled to the power supply cable by means of stray capacitance E How to ground The cable used to ground the driver and noise filter must be as thick and short as possible so that no potential difference is generated Choose a large thick and uniformly conductive surface for the grounding point e Grounding the motor Be su
167. ead or write for setting a group set the upper and lower simultaneously Resister address Name Description TERDI Setting range Dec Hex P WRITE g rang 1 No group specification Group ae 0030h Group pee Sets the group RIW send is not performed address 1 to 31 Group address Address 49 0031h Group lower number of parent slave Since the group setting is not saved in the non volatile memory even when the batch NV memory write executes the group setting will be cleared when turning the driver power OFF E Function code to execute in a group send Function code Function 10h Writing to multiple holding registers Master controller Parent slave Address 1 Address 2 Address 3 group command 1 group command 1 group command 1 individual Master to slave Start of positioning operation for address 1 Start of positioning operation for address 2 9 Group send Slave to master Motor operation at address 1 parent slave Motor operation at address 2 child slave Motor operation at address 3 child slave Response from address 2 Response from address 1 5 35 10 Detection of communication errors 10 Detection of communication errors This function detects abnormalities that may occur during RS 485 communication The abnormalities that can be detected include alarms warnings and communication errors 10 1
168. easures with regard to noise Maximum torque of geared type motor Always operate the geared type motor under a load not exceeding the maximum torque If the load exceeds the maximum torque the gear will be damaged Grease of geared type motor On rare occasions a small amount of grease may ooze out from the geared type motor If there is concern over possible environmental damage resulting from the leakage of grease check for grease stains during regular inspections Alternatively install an oil pan or other device to prevent leakage from causing further damage Oil leakage may lead to problems in the customer s equipment or products 6 Precautions for use e Rotation direction of the gear output shaft The relationship between the rotation direction of the motor shaft and that of the gear output shaft changes as follows depending on the gear type and gear ratio Type of gear Gear ratio i Rotation direction y Ae relative to the motor rotation direction TH geared 3 6 7 2 10 Same direction 20 30 Opposite direction Rak d All gear ratios Same direction Harmonic geared All gear ratios Opposite direction Do not perform push motion operation with geared types Doing so may cause damage to the motor or gear part e Saving data to the non volatile memory Do not turn off the power supply while writing the data to the non volatile memory and 5 seconds after the completion of writing the data Doing so may a
169. eck gt Power supply connection OOSB0000 OOOCORO EEEE esas 1 Guidance STEP 2 Set the switches Set the SW3 Slave address ON Modbus protocol Termination resistor Master controller Set the slave address and transmission rate Check ER Set the switches 7 SED Set the slave address N Us Koy Loss 245 a EN N S Set the transmission rate TaS N Check Set the switches l STEP 3 Turn on the power and set the parameters Master controller For the following communication parameters check whether the settings of driver and those 0 ife of the master controller are the same jo e Communication parity a Initial value 1 Even number fo e Communication stop bit HO Initial value O 1 bit 49 e Transmission waiting time ig Initial value 100 10 0 ms Turn power supply on gt T q 00 q 10 dq OO Check that the parameters of the driver and those of the master controller are the same Use the OPX 2A or MEXEO2 when changing the driver parameters l STEP 4 Cycle the power Communication parameters will be enabled after the power is cycled If you have changed any of the communication parameters be sure to cycle the power 1 Guidance l STEP 5 Operate the motor Master controller 1 Send operation data from t
170. ecute disable 8Dh 5 13 7 Function code 7 Function code 7 1 Reading from a holding register s This function code is used to read a register 16 bits Up to 16 successive registers 16x16 bits can be read Read the upper and lower data at the same time If they are not read at the same time the value may be invalid If multiple holding registers are read they are read in order of register addresses E Example of read Read operation data for positions Nos 1 and 2 of slave address 1 Description Register address Value read Corresponding decimal Operation data position No 1 upper 0402h 0000h 40000 Operation data position No 1 lower 0403h 2710h Operation data position No 2 upper 0404h FFFFh 10000 Operation data position No 2 lower 0405h D8FOh e Query Field name Data Description Slave address 01h Slave address 1 Function code 03h Reading from holding registers Register address upper oah Register address to start reading from Data Register address lower 02h Number of registers upper 00h Number of registers to be read from the starting register Number of registers lower 04h ___ address 4 registers 0004h Error Check Owe Zail Calculation result of CRC 16 Error check upper F9h e Response Field name Data Description Slave address 01h Same as query Function code 03h Same as query Number of data bytes 08h Twice the
171. electromagnetic brake 17 C ON Motor excitation switching between excitation and non excitation 18 STOP Stop of the motor operation 24 ALM RST_ Reset of the current alarm 25 P PRESET Position preset 26 P CLR Reset of the absolute position error alarm 27 HMI Release of the function limitation of the OPX 2A or MEXE0O2 32 RO 33 R1 34 R2 35 R3 36 R4 37 R5 38 R6 39 R7 General signals Use these signals when controlling the system 40 R8 via RS 485 communication 41 R9 42 R10 43 R11 44 R12 45 R13 46 R14 47 R15 3 Explanation of I O signals Assignment No Signal name Function 48 MO 49 M1 50 M2 Select the operation data No using these six bits 51 M3 52 M4 53 M5 Related parameters Parameter name Description Initial value INO input function selection 3 HOME IN1 input function selection 4 START IN2 input function selection 48 MO IN3 input function selection Assigns the following input signals to 49 M1 IN4 input function selection INO to IN7 of the input terminals 50 M2 IN5 input function selection 16 FREE IN6 input function selection 18 STOP IN7 input function selection 24 ALM RST 0 Not used 8 MSO 18 STOP 35 R3 43 R11 51 M3 1 FWD 9 MS1 24 ALM RST 36 R4 44 R12 52 M4 2 RVS 10 MS2 25 P PRESET 37 R5 45 R13 53 M5 3 HOME 11 MS3 26 P CLR 38 R6 46 R14 4 START 12 MS4 27 HMI 39 R7 47 R15 5 SSTART 13 MS5 32 RO 40
172. enabled once the position origin is set there is no need to set the position origin again even if the power is turned off However if the absolute position error alarm generates the position origin will be lost In this case after clearing the absolute position error alarm by the P CLR input set the position origin by executing one of the followings e Return to home operation e P PRESET input is turned ON e When the position origin has not been set If the return to home incomplete alarm parameter is set to enable positioning operations can be prohibited while the position origin has not been set The return to home incomplete alarm will generate if the START input SSTART input or the MSO to MSS inputs are turned ON while the position origin has not been set See p 8 3 for alarm Related parameters Parameter name Description Setting range Initial value B t metohome Sets the alarm signal status When the positioning 0 Disable operation is started while the position origin has not 0 incomplete alarm 1 Enable been set selects whether the alarm generates or not E Wrap function 3 36 The wrap function is a function that resets the command position or multi rotation data to 0 whenever the command position exceeds the set value by the wrap setting range parameter Since the multi rotation data is also reset to 0 the unidirectional continuous rotation with the absolute position backup system will be p
173. ents the user should consider when using the product Use the supplied cable to connect the motor and driver Always use the supplied cable to connect the motor and driver Ifa flexible cable or cable of 3 m 9 8 ft or longer is to be used an appropriate cable must be purchased separately Refer to p 9 2 for details Perform the insulation resistance test or dielectric strength test separately on the motor and the driver Performing the insulation resistance test or dielectric strength test with the motor and driver connected may result in damage to the product Do not apply an overhung load and thrust load in excess of the specified permissible limit Operating the motor under an excessive overhung load or thrust load may damage the motor bearings ball bearings Be sure to operate the motor within the specified permissible limit of overhung load and thrust load Refer to p 2 4 for details Use the motor in conditions where its surface temperature will not exceed 100 C 212 F The driver has an overheat protection function but the motor has no such feature The motor surface temperature may exceed 100 C 212 F under certain conditions ambient temperature operating speed duty cycle etc To prevent the motor bearings ball bearings from reaching its usable life quickly use the motor in conditions where the surface temperature will not exceed 100 C 212 F Use the geared type motor in a condition where the gear case tem
174. equipment PC etc whose negative terminal is grounded Doing so may cause the driver and these equipment to short damaging both e When connecting check the silk screen of the driver and pay attention to the polarity of the power supply Reverse polarity connection may cause damage to the driver The power supply circuit and the RS 485 communication circuit are not insulated Reverse polarity connection may cause damage to the driver Operation e Use a motor and driver only in the specified combination An incorrect combination may cause a fire e Do not touch the rotating part output shaft during operation Doing so may cause injury e Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire equipment will operate safely in the event of a system failure or malfunction Failure to do so may result in injury e For the power supply to the electromagnetic brake use a DC power supply with reinforced insulation on its primary and secondary sides Failure to do so may result in electric shock e Before supplying power to the driver turn all input signals to the driver OFF Otherwise the motor may start suddenly at power ON and cause injury or damage to equipment e Before moving the motor directly with the hands confirm that the FREE input turns ON Failure to do so may result in injury e Immediately when trouble has occurred stop running and turn off the driver power Failure to do so may resul
175. eration deceleration rate and acceleration deceleration time 3 3 1 5 SMON dV nacen 3 4 1 6 Speed filter sirri isni nr 3 4 1 7 Moving average filter ccceeeeees 3 5 1 8 Speed error gain ccceeceeeeeeeeeeeeees 3 5 1 9 Control mode cc ccccccccececeeeeeeeeeeeeeees 3 5 1 10 Position loop gain speed loop gain speed loop integral time constant 3 6 1 11 Absolute position backup system 3 6 2 OperatlO ns csic feccsevssseesecceessazetasencteceestveeeetse 3 7 2 1 Positioning operation 0 ceeeees 3 8 E Operation data 2 2 Return to home operation cee 3 21 M Additional function cccceceeeeeereetees 3 21 E Parameters related to return to home Operation 3 22 HM Operation sequence cccceseeseeseeeereeees 3 24 E Position preset c ccccececeseesseseesesseeeeseesees 3 27 2 3 Continuous operation 0 eee 3 28 E Operation data eseese 3 28 E Starting method of continuous operation 3 29 E Variable speed operation 3 31 2 4 Other operation eneen 3 33 E JOG operation eecececesccsceseeseseeseeneeeees 3 33 E Test operation E Automatic return operation eee 3 34 E Stop operation ccecceccceseeeesseseereesees 3 35 E Position coordinate management 3 36 E Wrap function cece cececeeseeseseeeeereeeees 3 36 3 Operation data ccccseeeseeeeeeeeeeeeeeeeees 3 38 A Parameter irc e
176. erview of the MEXEO2 7 2 5 Monitor function 7 17 2 Connection startup and af SN PTE ETA PTY EEE a BONE percep trrnnnnnnnnnnnnnnnnnnnn es 5 3 Waveform monitor cccccceceseceeee 7 19 onnection method ceeeee i 2 2 Starting the MEXEO2 sscsesesseeeeeee 75 6 Test function seere 7 23 2 3 Setting up the communication line 7 6 6 1 Synchronization with the driver 7 23 24 Shutting GOWN oo coccccccccccccccecccceecececceeecs 7 6 6 2 I O test a a a 7 24 3 Data edit 7 7 6 3 Test operation 0 ee 7 25 ATA COUT cceeecceeenseeeeseeeeeseeeeeeenennenes 3 1 Creating new data ceeeee 7 7 7 Teaching function sses 7 26 3 2 Opening an existing data file 78 8 Other functions cseeeeseees 7 27 3 3 Setting data in the data edit window 7 8 8 1 Printing data eeeseen 7 27 3 4 Saving a data file eee 7 9 8 2 Checking product information 7 28 3 5 Restore default data Jaman aaan 7 11 8 3 Checking version information 7 29 3 6 Ending data edit iad Miaia RACEALA RA ARRA Caer wea ae 7 13 8 4 Checking error message eer eer rr 7 30 4 Data upload download and VOTIFICATION di ssiessenesneseeeiiinendeccnene 7 14 4 1 Download data to the driver WAG ae aas ace ider 7 14 4 2 Upload from the driver reading 7 15 4 3 Verifying data 7 16 1 Overview of the MEXE02 1 Overview of the MEXE0O2 This chapter explains the o
177. es RS 485 Mini DIN 8 Pin male USB Type Mini B female USB Type A connection via included USB cable to connect to a PC Communication system Half duplex Communication speed 9600 bps Indicator The LED is lit green when recognized by PC and ready to use Power supply 5 0 VDC bus power Current consumption 25 mA 100 mA max Dimension 25x58 6x16 mm 0 98x2 31 0 63 in excluding cable section PC interface cable App 0 2 kg 7 1 oz Mase USB cable App 0 03 kg 1 06 oz Ambient temperature 0 to 40 C 32 to 104 F non freezing Operating environment Ambient humidity 85 or less non condensing Atmosphere No corrosive gas dust water or oil Insulation system Non isolated E General flow Steps to set operating data and parameters using the MEXEO2 are shown below Install device driver Vv Install the MEXE02 Vv Connect your PC to the driver p 7 5 y Start the MEXEO2 p 7 5 Vv Perform data communication between the PC and driver p 7 6 Vv Edit data p 7 7 Vv Download data files p 7 14 y Shut down the MEXEO72 p 7 6 Refer to INSTALLATION MANUAL Refer to INSTALLATION MANUAL e You can also connect the PC and applicable product after editing data In this case after saving the edited data to the PC turn off both the PC power and applicable prod
178. ess u RY n 5 F NET IN7 number si RX n 5 F NET OUT7 numbers RY n 6 0 M REQO Monitor request 0 RX n 6 0 mM patTo Puring execution of monitor 0 RY n 6 1 M REQ1 Monitor request 1 RX n 6 1 M DAT1 During execution of monitor 1 NETCO1 CC RY n 6 2 M REQ2 Monitor request 2 RX n 6 2 M DAT2 Pan oi control input D F status output RY n 6 3 M REQ3 Monitor request 3 RX n 6 3 M DAT3 E N 2 RY n 6 4 M REQ4 Monitor request 4 RX n 6 4 mM patT4 During execution of monitor 4 RY n 6 5 M REQ5 Monitor request 5 RX n 6 5 mM par5 During execution of monitor 5 1 Method of control via CC Link communication Command RY Master to NETCO1 CC Response RX NETC0O1 CC to master Device No Signal name Description Device No Signal name Description RY n 6 6 RX n 6 6 WNG Warning RY n 6 7 ARM RST Reset alarm RX n 6 7 ALM Alarm During execution of RY n 6 8 RX n 6 8 C SUC RS 485 communication RY n 6 9 a RX n 6 9 NETCO1 CC RY n 6 A RX n 6 A z control input RY n 6 B RX n 6 B status output Command Command RY n 6 C D REQ i RX n 6 C D END processing execution request completion RY n 6 D RX n 6 D R ERR Register error RY n 6 E a RX n 6 E S BSY During system processing RY n 6 F RX n 6 F RX n 7 0 to Cannot be used RX n 7 A System area RY n 7 0 Remote station control input
179. et Alarm Reset Warning Parameter Warming Condition 00 No warning Coordinates Parameter Common Parameter Peno Conan 1 0 Function y S 5 1 0 Function AS 485 i pereton Ub 03 25000 step Positioning Operation Communication Parameter Home Operation Monitor Status 1 0 Jog Operation lt gt gt Minimum Distance step Test 1 0 Operation Move the motor in the negative direction at the JOG operating speed 4 Move the motor in the negative direction at one tenth the JOG operating speed Move the motor in the negative direction by the minimum travel Move the motor in the positive direction by the minimum travel Move the motor in the positive direction at one tenth the JOG operating speed Move the motor in the positive direction at the JOG operating speed The motor will be operated at the starting speed for JOG operation if the operating speed for JOG operation is less than the starting speed for JOG operation 3 Click Yes i Warning You can now perform test operation 4 To end the test operation unselect Start Test D The test operation Function will be enabled Operation Do you want to proceed When the absolute position error alarm has been generated be sure to reset it by clicking the Position Lost Alarm Reset It cannot be reset by clicking Alarm Reset 7 25 7 Teaching function 7 Teaching function
180. eteeeeeeeenees E Motor parameter eee E Operation parameter E Return to home parameter eee 6 30 E Alarm warning parameter cece 6 30 E Coordination parameter 0 0 0 cece 6 30 E Common parameter s es 6 31 E 1 O function parameter cece 6 31 E 1 O function RS 485 parameter 6 32 E Communication parameter cccee 6 33 7 Method to use the _ MEXEO2 Overview of the MEXEO2 cccssseeeeeeee 7 2 Connection startup and shutdown 7 5 2 1 Connection method eseeeceeee 7 5 2 2 Starting the MEXEO2 cece 7 5 2 3 Setting up the communication line 7 6 2 4 Shutting GOWN oenen 7 6 BE fic cccdecsesciecedtietseesthccctundeecins esdsaconeteen 7 7 3 1 Creating new data eeeeeetetteeereees 7 7 3 2 Opening an existing data file 0 7 8 3 3 Setting data in the data edit window 7 8 3 4 Saving a data file eee 7 9 3 5 Restore default data 7 11 3 6 Ending data edit eeeeeeeeeeeees 7 13 Data upload download and verification oaceecieccvcvecesstecieieeseeveeaeesteeteerere 7 14 4 1 Download data to the driver writing 7 14 4 2 Upload from the driver reading 7 15 4 3 Verifying data 0 ccceeeeeeeeeeseeteeeeees 7 16 Monitor function cseeeseeeeeeeeeeeeeeeeees 7 17 5 1 Status monitor 0 cceeeeeeeeeeeeeeeeees 7 17 2 VO MONON svori irienna 7 18 5 3 Waveform MOnItOr seee 7 19 Test
181. excessive salt Area not subject to continuous vibration or excessive shocks Area free of excessive electromagnetic noise from welders power machinery etc Area free of radioactive materials magnetic fields or vacuum 1000 m 3300 ft or lower above sea level 1 2 Installing the motor The motor can be installed in any direction To allow for heat dissipation and prevent vibration install the motor on a metal surface of sufficient strength Installation method A Installation method B Metal plate Type Frame size Nominalisize Tightening torque Effective depth of Installation yp mm in N m oz in bolt mm in method 28 1 10 M2 5 0 5 71 2 5 0 098 A Standard 42 1 65 M3 1 142 4 5 0 177 60 2 36 M4 2 280 _ B 85 3 35 M6 3 420 28 1 10 M2 5 0 5 71 4 0 157 42 1 65 TH geared 60 2 36 M4 2 280 8 0 315 90 3 54 M8 4 560 15 0 591 28 1 10 A M3 1 142 6 0 236 PS geared 30 1 18 PN geared 42 1 65 M4 2 280 8 0 315 Harmonic geared 60 2 36 M5 2 5 350 10 0 394 90 3 54 M8 4 560 15 0 591 Harmonic geared 90 3 54 M8 4 560 B 1 AR24 AR46 and AR66 type only 2 AR98 type only 1 Installation 1 3 Installing a load When connecting a load to the motor align the centers of the motor output shaft and load shaft Flexible couplings are available as accessories e When coupling the load to the motor pay
182. f the product This product is a motor and driver package product consisting of a high efficiency stepping motor equipped with a rotor position detection sensor and a driver with built in controller function This product can be controlled via I O Modbus RTU RS 485 communication or industrial network communication using the network converter The operation data and parameters can be set using an accessory data setter OPX 2A or data setting software MEXE02 sold separately or via RS 485 communication E Main features e Introducing closed loop control The AR Series can continue its operation even upon encountering quick acceleration or an abrupt change in load Monitoring the speed and amount of rotation while the motor is running the AR Series performs the closed loop control under overload and similar conditions to continue its operation at the maximum torque Three operating patterns You can perform positioning operation return to home operation and continuous operation Up to 64 operation data points can be set and multi point positioning is also possible Compatible with Modbus RTU RS 485 communication You can set operation data and parameters or issue operation start stop commands from the master controller Up to 31 drivers can be connected to one master Absolute position backup system When connecting an accessory battery set BATO1B sold separately this product can be used in the absolute position backup system
183. for RS 485 communication 120 Q Factory setting OFF termination resistor disabled SW3 No 4 Termination resistor 120 Q OFF Disabled ON Enabled 1 Method of control via CC Link communication 1 3 Remote register list Remote register is common to 6 axes connection mode and 12 axes connection mode won Monitor using remote register p read and write of parameters and maintenance command for the driver or NETCO1 CC are executed is an address assigned to the master station by the CC Link station number setting RWw Master to NETCO1 CC RWr NETCO1 CC to master Address No Description Address No Description RWwn0 Command code of monitor 0 RWrn0O Data of monitor 0 lower 16 bit RWwn1 Address number of monitor 0 RWrn1 Data of monitor 0 upper 16 bit RWwn2 Command code of monitor 1 RWrn2 Data of monitor 1 lower 16 bit RWwn3 Address number of monitor 1 RWrn3 Data of monitor 1 upper 16 bit RWwn4 Command code of monitor 2 RWrn4 Data of monitor 2 lower 16 bit RWwn5 Address number of monitor 2 RWrn5 Data of monitor 2 upper 16 bit RWwn6 Command code of monitor 3 RWrn6 Data of monitor 3 lower 16 bit RWwn7 Address number of monitor 3 RWrn7 Data of monitor 3 upper 16 bit RWwn8 Command code of monitor 4 RWrn8 Data of monitor 4 lower 16 bit RWwn9 Address number of monitor 4 RWrn9 Data of monit
184. function will be invalid 1 Adjustment and setting 1 7 Moving average filter The motor response can be adjusted when setting the Filter selection parameter to moving average filter and setting the value for the moving average time parameter The positioning time can be shortened by suppressing the residual vibration for the positioning operation Optimum value for the moving average time parameter varies depending on the load or operation condition Set a suitable value based on the load or application Related parameter Parameter name Description Setting range Initial value Sets the filter function to adjust the motor 0 Speed filter Filter selection 0 response 1 Moving average filter Moving average time Sets the time constant for the moving 1 to 200 ms 1 average filter When the moving average time parameter is not used When the moving average time parameter is set to 200 ms Setting speed Lf OL Setting speed Rectangular Motor speed Motor speed operation MOVE output MOVE output END output END output 200 ms Setting speed A J Setting speed Trapezoidal Motor speed Motor speed operation MOVE output MOVE output END output END output _ 200 ms 200 ms 1 8 Speed error gain The speed error gain is used to suppress vibration while the motor is operating or accelerating decelerating Related pa
185. g e Monitor function e Maintenance function 4 System configuration 4 System configuration Connect to CN6 or CN7 Master controller Connect when controlling the system via RS 485 communication Connect to CN4 ons one Battery This battery is an accessory BATO1B sold separately Connect this battery if you X want to operate the driver o in the absolute system KA om pte 3 FG 24 VDC or 48 VDC Qz GND Connect to CN1 AC power Noise filter supply Use a noise filter to DC power eliminate noise supply Tt has the effect of reducing noise generated from the power supply and driver Connect to CN3 PC in which the data setting software MEXE02 sold separately has been installed Data setter OPX 2A sold separately The PC must be supplied by the customer Use the communication cable for the data setting software CCOSIF USB when connecting the PC and driver Master controller Output signals Connect to CN9 Input signals Connect to CN8 Connect to CN5 Sensor Connect to CN2 Cable for motor This cable is used to connect the motor and driver Motor Q N A o PE 5 Safety precautions 5 Safety precautions The precautions described below are intended to prevent danger or injury to the user and other personnel through safe correct use of the product Use the product only after carefully reading and full
186. h 13BFh Push current No 63 03COh 13COh Sequential positioning No 0 0 Disable to to to 1 Enable 0 O3FFh 13FFh Sequential positioning No 63 0400h 1400h Dwell time No 0 to to to 0 to 50000 1 0 001 s 0 043Fh 143Fh_ Dwell time No 63 1 This item is effective when the acceleration deceleration type parameter is set to separate If this parameter is set to common the values of the common acceleration and common deceleration parameters will be used initial value separate 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 6 27 4 Command code list 4 5 User parameters The parameters are saved in the RAM or non volatile memory The data saved in the RAM will be erased once the power is turned off On the other hand the parameters saved in the non volatile memory will be retained even after the power supply is turned off When turning the driver power ON the parameters saved in the non volatile memory will be sent to the RAM Then the recalculation and setup for the parameters are executed in the RAM When a parameter is changed the timing to reflect the new value varies depending on the parameter See the following four types e Effective immediately 00 ee eceeeecreeeeeeeees Executes the recalculation and setup immediately when wr
187. h 18BAh_ NET IN10 input function selection 10 MS2 O8BBh 18BBh_ NET IN11 input function selection 5 SSTART 08BCh 18BCh NET IN12 input function selection 6 JOG 08BDh 18BDh NET IN13 input function selection 7 JOG 08BEh 18BEh NET IN14 input function selection 1 FWD 08BFh 18BFh NET IN15 input function selection 2 RVS c 08COh 18COh_ NET OUTO output function selection 48 MO_R 08C1h 18C1h NET OUT1 output function selection 49 M1_R 08C2h 18C2h NET OUT2 output function selection 50 M2_R 08C3h 18C3h_ NET OUTS3 output function selection 4 START_R 08C4h 18C4h_ NET OUT4 output function selection 70 HOME P 08C5h 18C5h_ NET OUT5 output function selection 67 READY 08C6h 18C6h NET OUT6 output function selection 66 WNG 08C7h 18C7h NET OUT7 output function selection 65 ALM See table next 08C8h 18C8h NET OUT8 output function selection 80 S BSY 08C9h 18C9h NET OUT9 output function selection 73 AREA1 O8CAh 18CAh_ NET OUT10 output function selection 74 AREA2 O8CBh 18CBh_ NET OUT11 output function selection 75 AREA3 08CCh 18CCh_ NET OUT12 output function selection 72 TIM 08CDh 18CDh_ NET OUT13 output function selection 68 MOVE O8CEh 18CEh NET OUT14 output function selection 69 END O8CFh 18CFh_ NET OUT15 output function selection 71 TLC Indicates the timing for the data to become effective C Effective after executing the configuration e Setting range for NET IN input function se
188. hat the READY output has been turned OFF and turn the HOME input OFF 5 When return to home operation is completed the HOME P output will be turned ON Motor operation ON HOME input OFF gt READY o5 2 G output OFF MOVE ae output OFF ON END output opp HOME P ook P output OFF HOMES i ON input OFF 3 23 2 Operation 3 24 E Operation sequence e 3 sensor mode e Explanation of labels VS Starting speed of home seeking VR Operating speed of home seeking VL Last speed of return to home When VS lt 500 Hz VS When VS 2 500 Hz 500 Hz Broken line indicates a home offset move Starting position Starting direction of Starting direction of of return to home return to home operation return to home operation operation Positive side Negative side LS HOMES LS LS HOMES LS side Caan TVR side TN Bes LS VL 1 VS q 1 VS a D E a O side As TVS side s NL Be LS HOMES LS LS HOMES LS on VR os VR side yf a side eos a 4LS VL 4 VS VS side ae i es side Se p v i ya LS HOMES LS LS HOMES LS side side e E H HOMES H i A H vL Vs side side Dae _ vr LS LS HOMES LS VR side side _vs Between HOMES and LS VS side side VR LS LS HOMES LS ony VR
189. he cell will be black if the value in the cell is different from the default value Resetting the cell back to the default value changes the text color to blue e Entering a numeric value Click a desired cell enter a numeric value using the keyboard and then press the Enter key e Selecting a value from a pull down menu Double clicking a desired cell displays a pull down menu Select a desired value from the pull down menu Lancel sition step Operating speed Hz 1000 1000 3 Data edit E Copying and pasting data You can copy an entered value and paste it into a different cell Copying and pasting lets you quickly populate multiple cells with the same value 1 Select the data you want to copy and then click the Copy icon in the toolbar You can select a single value or multiple values gt H MEXE02 Untitled 1 RE File Edit Move View Communication Tool Window Help Demla a S v AR StoredData DC Data 4e Data to be copied 2 Click the cell you want to paste the data into and then click the Paste icon in the toolbar MEXE02 Untitled1 Re File Edit Move View Communication Tool Window Help TOLOS o AR StoredData DC Data Operation Data 0 J Parameter t Cell to be pasted 1 0 Parameter 2 Bana RN Ee 3 4 Saving a data file The data edited wi
190. he condition at which an overspeed 1 to 5000 r min 4500 warning generates Overvoltage warning par ee whichiarirovervoltage 630 gg _ 150 to 630 1 0 1 V Sets the voltage at which an undervoltage Undervoltage warning 180 warning generates Sets the condition under which an Overflow rotation warning excessive position deviation warning 1 to 30000 300 during current ON generates when the motor is in a state of 1 0 01 rev current ON E READY output When the driver becomes ready the READY output turns ON Input operating commands to the driver after the READY output has turned ON The READY output turns ON when all of the following conditions are satisfied The driver main power supply is turned ON All inputs which start operation are OFF The FREE input is OFF The C ON input is ON When the C ON input is assigned The STOP input is OFF An alarm is not present The motor is not operating Test operation downloading initializing or teaching function was not performed using the OPX 2A Test function downloading or teaching function was not performed using the MEXE02 Configuration commands all data initialization commands and batch non volatile memory read commands are not executed via RS 485 communication E HOME P output The HOME P output turns ON corresponding to the setting of the HOME P function selection parameter e When HOME P function selection parameter is set to home output When the com
191. he master controller 2 Send an operation command 3 Confirm that the motor rotates without problem STEP 6 Were you able to operate the motor properly How did it go Were you able to operate the motor properly If the motor does not function check the following points Is any alarm present Are the power supply motor and RS 485 communication cable connected securely Are the slave address transmission rate and termination resistor set correctly Is the C ERR LED lit Is the C DAT LED lit or blinking For more detailed settings and functions refer to the following pages 2 Communication specifications 2 Communication specifications Electrical characteristics In conformance with EIA 485 straight cable Use a twisted pair cable TIA EIA 568B CAT5e or higher is recommended and keep the total wiring distance including extension to 50 m 164 ft or less Communication mode Half duplex Asynchronous mode data 8 bits stop bit 1 bit 2 bits parity none even number odd number Transmission rate Selectable from 9600 bps 19200 bps 38400 bps 57600 bps and 115 200 bps Protocol Modbus RTU mode Connection pattern Up to 31 drivers can be connected to one master controller E Connection example Master controller Termination resistor I COCOOHOOCOCCLLO COOO00
192. he steps of selecting the operation data No See p 3 10 for direct positioning operation Related parameters Parameter name Description Setting range Initial value Sets the alarm signal status When the positioning operation is started while 0 Disable Return to home incomplete alarm the position origin has not been set 1 Enable 0 selects whether the alarm generates or not MSO operation data No selection 0 MS1 operation data No selection 1 MS2 operation data No selection Sets operation data No corresponding Operation data 2 MS3 operation data No selection to MSO to MS5 input No 0 to 63 3 MS4 operation data No selection 4 MS5 operation data No selection 5 When the return to home incomplete alarm parameter is set to enable the return to home incomplete alarm will generate if the positioning operation is started while the position origin has not been set 2 25 3 Explanation of I O signals 2 26 E HOME input This signal starts the return to home operation Turn the HOME input ON to start return to home operation When the return to home operation is completed and the motor stops the HOME P output turns ON See p 3 21 for return to home operation Related parameters Parameter name Description Setting range Initial value Sets the mode for return to home 0 eN Or MOJE Home seeking mode 1 3 sensor mode 1 operation 2 Push mode Operating s
193. home becomes 0 Home offset This is a function to perform positioning operation of the offset amount set by the parameter after return to home operation and to set the stop position to the home position The position set by the home offset is called electrical home in distinction from the usual home position If the amount of offset from mechanical home is 0 the mechanical home and electrical home will become the same Mechanical home LS HOMES Electrical home Offset operation LS e Detecting the external sensor signal Return to home operation When detecting the home use of the SLIT input and or TIM signal will increase the accuracy of home detection Note When the TIM output is used set the resolution to be an integral multiple of 50 3 21 2 Operation 3 22 Command position after returning to home When executing the P PRESET input at the position that the motor stops the command position will be the value of the preset position parameter E Parameters related to return to home operation Name Description Setting range Initial value 0 2 sensor mode Home seeking mode Set the mode for return to home operation 1 3 sensor mode 1 2 Push mode Operating speed of Sets the operating speed for 4 to 1 000 000 Hz 4000 home seeking return to home operation Acceleration deceleration of Sets the acceleration deceleration rate
194. i q Output signal connector CN9 x q O g 2 d O Motor connector CN2 g gt oO g tle Input signal connector CN8 q om q HQ q HQ 4 S d MQ Electromagnetic brake terminals CN1 s1 g nie MB2 d IO Power supply input terminals CN1 re Eee el ow g IO Sensor signal connector CN5 Frame Ground Terminal CN1 q He Z i dt z g WO O Orientalmotor DIN lever 9 Preparation Name Description Page POWER LED Green This LED is lit while the power is input This LED will blink when an alarm generates It is possible to ALARM LED Red check the generated alarm by counting the number of times the P 8 3 LED blinks This LED will blink or illuminate steadily when the driver is C DAT LED Green communicating with the master station properly via RS 485 communication C ERR LED Red This LED will illuminate when a RS 485 communication error occurs with the master station Use this switch when controlling the system via RS 485 Address number setting switch communication Use this switch and SW3 No 1 of the function SW1 setting switch to set the address number slave address of RS 485 communication Factory setting 0 Transmission tate Satin Use this switch when controlling the system via RS 485 i 9 communication Set the transmission
195. in e Applicable lead wire AWG26 to 20 0 14 to 0 5 mm e Length of the insulation cover which can be peeled 8 mm 0 371 in 2 Connection E Connecting to a current sink output circuit NPN specifications 2 10 Controller 12 to 24 VDCA Ro 10 mA or less gt Driver g7 Y AVV AK y i VAV X Hh Output saturated voltage 3 V max NPN sensor A24 VDC i ae lt q o lt Note e Use input signals at 24 VDC e Use output signals at 24 VDC 10 mA or less If the current exceeds 10 mA connect an external resistor RO e The saturated voltage of the output signal is 3 VDC maximum 2 Connection E Connecting to a current source output circuit PNP specifications Controller Driver 12 to 24 VD N to 2 lt 10 mA or less OUTO CNS O Cc C EH tt H 4 Output saturated Deg Sag 3V max Deg Dg H ay O par wo MM OOOO H 2 J Q O z T t 44k f c
196. ing point for sequential positioning will be changed to the operation data No 0 And the current operation data No is set to 1 e When the power supply is turned ON e When operations other than the positioning operation are performed return to home operation continuous operation etc e When an alarm is generated and reset e When the STOP input is turned ON e When the command turning the excitation OFF is input When the FREE input is turned ON or the C ON input is turned OFF e When the P PRESET is executed e When a configuration is executed Set enable the sequential positioning even when sequential positioning is performed by the operation data being set to Linked motion or Linked motion2 in the operation function E Operation function e Single motion The positioning operation is performed only once using a single operation data set Example of single motion operation Operation Position Operating Acceleration Deceleration Operation Operation Dwell Push Sequential data speed mode function time current positioning No 1 5000 5000 1000 1000 INC sale Not used Not used Not used Operation example Speed Operating speed of No 1 5000 Operation data No 1 Starting speed 500 0 5000 Position Operating method 1 Check the READY output is ON 2 Select the operation data No 1 by turning the MO input ON and turn the START input ON 3 The motor starts positioning oper
197. ing speed in to positioning operation and 0 to 1 000 000 Hz 1000 Operating speed No 63 continuous operation Selects how to specify the position ort mode No travel amount in positioning 0 INC Incremental 0 operation absolute mode or 1 ABS Absolute Operation mode No 63 i incremental mode s 0 Single motion operaen fun tion No 0 Selects how to operate consecutive 1 Linked motion 0 operation data 2 Linked motion 2 Operation function No 63 i 3 Push motion Acceleration No 0 Sets the acceleration rate or time in to positioning operation and Acceleration No 63 continuous operation PE ee 4000 Deceleration No 0 Sets the deceleration rate or time in 4 0 001 s 2 to positioning operation and Deceleration No 63 continuous operation RUSI EM eneN 2 0 Sets the current value of to 0 to 500 1 0 1 200 Push current No 63 push motion operation ene positioning No 0 Sets whether to enable or disable 0 Disable 0 Sequential positioning No 63 sequential positioning operation 1 Enable pe time to 0 Sets the dwell time to be used in 0 to 50000 0 linked motion operation 2 1 0 001 s Dwell time No 63 1 This item is effective when the acceleration deceleration type parameter is set to separate If this parameter is set to common the values of the common acceleration and common deceleration parameters will be used initial value separate 2 Acceleration deceleratio
198. ing switch to ON The Modbus protocol is selected Factory setting OFF E Address number slave address Set the address number slave address using the address number setting switch SW1 and SW3 No 1 of the function setting switch Make sure each address number slave address you set for each driver is unique Address number slave address 0 is reserved for broadcasting so do not use this address Factory setting SW1 0 SW3 No 1 OFF swi sw3No1 Cave address swi sw3No1 Cave address 0 Not used 0 16 1 1 1 17 2 2 2 18 3 3 3 19 4 4 4 20 5 5 5 21 6 6 6 22 OFF f ON 8 8 8 24 9 9 9 25 A 10 A 26 B 11 B 27 C 12 C 28 D 13 D 29 E 14 E 30 F 15 F 31 3 Setting the switches E Transmission rate Set the transmission rate using transmission rate setting switch SW2 The transmission rate to be set should be the same as the transmission rate of the master controller Factory setting 7 Sw2 Transmission rate bps 0 9600 1 19200 2 38400 3 57600 4 115 200 5 to F Not used Note Do not set SW2 to positions 5 to F E Termination resistor Use a termination resistor for the driver located farthest away positioned at the end from the master controller Turn SW3 No 4 of the function setting switch ON to set the termination resistor for RS 485 communication 120 Q Fa
199. ing the SSTART input ON again the positioning operation for the operation data No 8 will be performed 7 When turning the SSTART input ON again after the operation 6 is completed the positioning operation will be performed by returning to the operation data No 7 because the sequential positioning for the operation data No 9 has been set to disable e Setting example Operation data Sequential positioning No 3 No 4 Enable No 5 No 6 Disable No 7 2 Enable No 8 No 9 Disable Mo M1 ON SSTART SSTART SSTART START ON Operation ON Operation ON Operation _ ON SEE data No 3 data No 4 data No 5 Mo M1 M2 ON START ON SSTART SSTART Operation 0N Operation _ ON data No 7 data No 8 Operating method 1 Check the READY output is ON 2 Turn the SSTART input ON 3 The motor starts positioning operation 4 Check that the READY output has been turned OFF and turn the SSTART input OFF 5 When the positioning operation is completed the READY output will be turned ON Motor operation Vv SSTART input ON input OFF gA on _ s READY output OFF or MOVE i output OFF END we output OFF 2 Operation Key points about sequential positioning operation When performing any of the following operations while sequential positioning operation is performed the start
200. ing time Tb2 The time until the next query is sent in broadcasting A time Tb3 Broadcasting interval equivalent to or longer than the silent interval C3 5 plus 5 ms is required Be sure to provide a waiting time of 3 5 characters or more If this C3 5 Silent interval waiting time is less than 3 5 characters long the driver cannot respond See the following table for transmission waiting time Transmission waiting time of the silent interval Transmission rate bps Transmission waiting time 9600 4 ms or more 19200 2 ms or more 38400 57600 1 75 ms or more 115 200 6 Message 6 Message The message format is shown below Master Slave address Function code Data Error check 6 1 Query Query Response Slave Slave address Function code Data Error check The query message structure is shown below Slave address Function code Data Error check 8 bits 8 bits Nx8 bits 16 bits E Slave address Specify the slave address unicast mode If the slave address is set to 0 the master can send a query to all slaves broadcast mode E Function code The function codes and message lengths supported by the AR series FLEX DC power input built in controller type are as follows Message length Function code Description Broadcast Query Response 03h Read from a
201. input READY output MOVE 9N output OFF END output OFF In direct I O turn the FWD input or RVS input ON after setting the MO to MS inputs In network I O the operation will be performed even when turning the MO to M5 inputs and the FWD RVS input ON simultaneously E Variable speed operation e When acceleration deceleration is separate e Acceleration deceleration unit ms kHz When accelerating When decelerating 2 Operation VR2 VR1 TA2 TD2 m TD2 VR1 VR2 TA1 TD2 VS VS FWD i on FWD i ian input opp input opr Operation Operation data No No 1 No 2 data No No 1 No 2 e Acceleration deceleration unit s When accelerating When decelerating VR2 VR1 TAR2 TDR2 al TDR2 VR1 VR2 TARI d TDR2 vs Ai amp TD2 vs TAI TD2 FWD i input OFF FWD i ON input OFF Operation data No No 1 e Explanation of labels VS Starting speed Hz VR1 Operating speed of operation data No 1 Hz VR2 Operating speed of operation data No 2 Hz TA1 Acceleration of operation data No 1 TA2 Acceleration of operation data No 2 Operation No 2 data No TD2 Deceleration of operation data No 2 TAR1 Acceleration rate of operation data No 1 Hz s TAR2 Acceleration rate of operation data No 2 Hz s TDR2 Deceleration rate of operation data No 2 Hz s No 1 No 2 e Ca
202. input function selection pees 4474 117Ah upper 7 JOG 4475 447Bh NET IN13 input function selection lower 4476 117Ch oo input function selection f f 1 FWD 4477 117Dh NET IN14 input function selection lower 4478 117Eh pee input function selection 2 RVS 4479 447Fh NET IN15 input function selection lower 4480 1180h SE A function 48 MO_R 4481 1181h NET OUTO output function selection lower c 4482 1182h a function 49 M1_R 4483 1183h NET OUT1 output function selection lower 4484 1184h A eee function 50 M2_R 4485 1185h NET OUT2 output function selection lower 4486 1186h ATESA Has function f 4 START_R 4487 1187h AE ae function See P 5 33 4488 1188h aT aati function f 70 HOME P 4489 1189h NET OUT4 output function selection lower IE cur incto n 67 READY 4491 118Bh NET OUT5 output function selection lower 4492 118Ch AR FE function 66 WNG 4493 118Dh NET OUT6 output function selection lower 4494 118Eh A a function 65 ALM 4495 118Fh NET OUT7 output function selection lower 5 31 8 Register address list 1 Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration decelera
203. ion A load exceeding the deceleration longer maximum torque was applied e If the driver is in the current 30h Overload for the time exceeded the control mode increase the value set in the overload current limit value alarm parameter e Check the connection between the driver and 2 electromagnetic brake e Check the electronic gear setting and set the speed of the motor output shaft to The rotation speed of the Rigen 4500 r min or less 31h Overspeed motor output shaft exceeded If th tori hooti approximately 4500 r min e If the motor is overshooting at the time of acceleration make the acceleration deceleration longer Check the electronic gear The command pulse Command pulse parameter setting and reduce 34h frequency exceeded the error sp cified value the speed of the motor output P shaft to 4500 r min or less e A voltage exceeding the e Check the input voltage of specification value was the power supply off applied e If this alarm generates Possible 22h Overvoltage e A large inertial load was during operation reduce 3 stopped abruptly or vertical the load or make the operation was performed acceleration deceleration longer The main power was cut off s 25h Undervoltage momentarily or the voltage Check ne input voltage of the main power supply became low e When the motor was in a state of current ON the deviation between the command position and e Reduce the load or make actual position exceeded the ac
204. ion RS 485 parameters p 3 46 e NET INO to NET IN15 input function selection e NET OUTO to NET OUT15 output function selection 4 2 I O parameter 4 Parameter Name Description Setting range Initial value Effective 0 Immediate stop 1 Deceleration stop Sets how the motor should stop when a 2 Immediate stop amp STOP Input action STOP input is turned ON Current OFF 1 3 Deceleration stop amp Current OFF Sets whether to enable or disable 0 Disable Hardware overtravel hardware overtravel detection using 1 1 Enable LS inputs Sets the motor action to take place 0 Immediate stop Overtravel action i i 0 upon the occurrence of overtravel 1 Deceleration stop Positioning completion signal Sets We output range ot me END g P 9 signal the motor operation converges 0 to 180 1 0 1 18 range Fn within this angular range Positioning completion signal Sets the offset for the END signal the Sarr F 18 to 18 1 0 1 0 offset offset for converging angular range A AREA positive direction Sets the position of AREA1 positive position direction AREA 1 negative direction Sets the position of AREA1 negative position direction AREA2 positive direction Sets the position of AREA2 positive position direction 8 388 608 to yal z 120 6 0 AREA2 negative direction Sets the position of AREA2 negative 8 388 607 step position direction
205. ion error alarm 387 0183h solute position error alarm reset lower 388 0184h CI d ear alarmirecords Upper Clears alarm records 389 0185h Clear alarm records lower 390 0186h CI i d gar warung records upper Clears warning records 391 0187h Clear warning records lower 392 0188h aai eia aai error Cl pp icat Clears the communication error records 393 0189h ear communication error records lower 0 1 394 018Ah_ P PRESET t execute upper Presets the command position 395 018Bh P PRESET execute lower 396 018Ch Configuration upper Executes the parameter recalculation and 397 018Dh Configuration lower the setup 398 018Eh All data initialization upper Resets the operation data and parameters a saved in the non volatile memory to their 399 018Fh All data initialization lower defaults Reads the parameters saved in the 400 0190h Batch NV memory read upper non volatile memory to the RAM All operation data and parameters previously 401 0191h Batch NV memory read lower saved in the RAM are overwritten 402 0192h Batch NV memory write upper Writes the parameters saved in the RAM to the non volatile memory The non volatile memory can be rewritten approximatel 403 0193h Batch NV memory write lower 499 odd times i ppro Communication parity communication stop bit and transmission waiting time are not initialized Initialize them using the OPX 2A or MEXEO2 Configuration 018Ch
206. ion error alarm using the OPX 2A MEXE0O2 or RS 485 communication This alarm cannot be reset by any other methods E Alarm records Up to 10 generated alarms are saved in the non volatile memory in order of the latest to oldest Alarm records saved in the non volatile memory can be read and cleared when performing any of the following e Read the alarm records by the monitor command via RS 485 communication e Clear the alarm records by the maintenance command via RS 485 communication e Read and clear the alarm records using the OPX 2A or MEXEO2 2 Alarms and warnings E Alarm list 1 When an alarm generates the motor operates as follows Excitation off When an alarm generates the motor current will be cut off and the motor will lose its holding torque The electromagnetic brake will automatically actuate and hold the position when using the electromagnetic brake motor Excitation on Even when an alarm generates the motor current will not be cut off and the motor position will be held 2 This alarm cannot be reset by the ALM RST input Reset the alarm using the P CLR input No of Reset Motor ALARM using the rae Code LED Alarm type Cause Remedial action ALM RST excitation blinks input Poe eer The internal temperature of F Pore 24h Main circuit the driver exceeded 85 C Review the ventilation overheat condition in the enclosure 185 F e Reduce the load or make the accelerat
207. ioning operation for the operation data No 1 Check that the READY output has been turned OFF and turn the START input OFF 5 When the motor becomes push motion status the TLC output will be turned ON and then the READY Push motion status MO to M5 input j N No 1 0 to M5 input OFF 0 0 X o OFF we S Sips START input OFF i ON READY output ol MOVE output o OFF END output ON OFF TLC a output OFF In direct I O turn the START input ON after setting the MO to M5 inputs In network I O the operation will be performed even when turning the MO to M5 inputs and the START input ON simultaneously 2 Operation Operation example when it had not pressed against the load Speed Operating speed of No 1 500 Operation data No 1 0 5000 Position Operating method 1 Check the READY output is ON 2 Select the operation data No 1 by turning the MO input ON and turn the START input ON 3 The motor starts the positioning operation for the operation data No 1 4 Check that the READY output has been turned OFF and turn the START input OFF 5 When the motor reaches to the target position the operation will be stopped and the READY output will be turned ON Since the motor did not become push motion status the TLC output remains OFF No 1 Motor operation M ON MO to M5 input opp No 0 X No 1 ON i START input OFF READY oN ou
208. it are not insulated Therefore when controlling multiple drivers via RS 485 communication the reverse polarity of the power supply will cause a short circuit and may result in damage to the drivers e The lead wires of the cable for electromagnetic brake have polarities so connect them in the correct polarities If the lead wires are connected with their polarities reversed the electromagnetic brake will not operate properly e If the distance between the motor and driver is extended to 20 m 65 6 ft or longer use a power supply of 24 VDC 4 e When installing the motor to a moving part use an accessory flexible cable offering excellent flexibility For the flexible motor cable refer to p 9 2 e Do not wire the power supply cable of the driver in the same cable duct with other power lines or motor cables Doing so may cause malfunction due to noise E Power supply current capacity 2 Connection Model Input power Power supply current capacity supply voltage Standard type Electromagnetic brake type pa 24 VDC 5 1 3 Aor more AR46 1 8 Aor more 1 88 A or more AR66 24 VDC 5 3 8 Aor more 4 05 Aor more AR69 48 VDC 5 3 7 A or more 3 95 A or more AR98 3 1 Aor more 3 35 A or more E Pin assignment list
209. iting the parameter e Effective after stopping the operation Executes the recalculation and setup after stopping the operation e Effective after executing the configuration Executes the recalculation and setup after executing the configuration e Effective after turning the power ON again Executes the recalculation and setup after turning the power ON again e The parameters are written in the RAM area when writing via the NETCO1 CC NETCO1 M2 or NETCO1 M3 e When saving data to the non volatile memory execute batch NV memory write of the maintenance command e The non volatile memory can be rewritten approximately 100 000 times E I O parameter C d cod y onen acl Description Setting range Initial value Effective Read Write 0 Immediate stop d 1 Deceleration stop 0100h 1100n STOPinput acti n 2 Immediate stop amp Current OFF 3 Deceleration stop amp Current OFF 0101h 1101h Hardware overtravel 0 Disable 1 1 Enable 0 Immediate stop 0102h 1102h Overtravel action y 0 1 Deceleration stop 0103h 1103h Positioning completion signal range 0 to 180 1 0 1 18 A 0104h 1104h Positioning completion signal offset 18 to 18 1 0 1 0 0105h 1105h AREA 1 positive direction position 0106h 1106h AREA1 negative direction position 0107h 1107h AREA2 itive directi iti positive
210. king parameter to disable if the TIM output are not used with HOMES A LS or LS signal was Pull out from the limit sensor 66h Hardware overtravel detected when hardware via continuous operation or overtravel was enabled return to home operation In single motion operation check to see if the position Possible On A software limit was reached exceeds the softlimit In 67h Software overtravel when software overtravel was linked motion operation enabled check to see if the result of linked position exceeds the softlimit A limit sensor signal was 6Ah 7 Home seeking offset detected during offset Check the offset value error movement as part of return to home operation e Data of different directions may be linked in linked motion operation e Five or more data may be linked 70h Abnormal operation s Positioning operation of the Check the operation data data operating speed 0 r min was performed e The larger value than 30 r min was set in the operation speed of push motion operation The resolution set by the F A A Set the electronic gear Electronic gear electronic gear parameter 71h correctly and then cycle the setting error was outside of the specification POWE Not Off possible The resolution and wrap Set the wrap setting range 72h Wrap setting error setting range parameter was parameter correctly and cycle inconsistent the power When the motor operates 81h Network b serror the mas
211. l not be linked even when linked motion2 is set for data No 63 because the operation pertaining to No 63 will be processed independently Example of linked motion operation2 Operation Position Operating Acceleration Deceleration Operation Operation Dwell Push Sequential data speed mode function time current positioning No 1 5000 5000 1000 1000 INC Linked 4000 Not used Not used motion2 Single No 2 3000 3000 1000 1000 INC d 0 Not used Not used motion Operation example Speed Operating speed of No 1 5000 Operation data No 1 Stop for 1000 ms Starting speed 500 0 5000 Position Operating speed of No 2 3000 2 Operation Operating method 1 Check the READY output is ON 2 Select the operation data No 1 by turning the MO input ON and turn the START input ON 3 The motor starts the positioning operation for the operation data No 1 4 Check that the READY output has been turned OFF and turn the START input OFF 5 When the positioning operation 3 is completed the MOVE output will be turned OFF 6 When the dwell time has passed the positioning operation for the operation data No 2 will automatically start At the same time the MOVE output will be turned ON 7 When the positioning operation for the operation data No 2 is completed the READY output will be turned ON Dwell time No 1 1000 ms Motor operation No 2 MO to M5 i lt
212. lculation method for acceleration deceleration rate TAR1 VR1 VS TA1 TAR2 VR2 VS TA2 TDR2 VR2 VS TD2 2 Operation e When acceleration deceleration is common e Acceleration deceleration unit ms kKHz When accelerating VR2 When decelerating TAC VR1 TAC VS VR1 TDC TAC TDC VR2 VS TDC FWD i ON input OFF i ON FWD input OFF Operation data No No 1 e Acceleration deceleration unit s When accelerating Operation No 2 data No When decelerating VR2 TAR2 VR1 TAR1 vs AC TAC No 1 No 2 VR1 TDR2 TAR1 TDR2 VR2 TDC VS FWD input O FWD input O input Gee input opp ka TAC Operation data No No 1 e Explanation of labels VS Starting speed Hz VR1 Operating speed of operation data No 1 Hz VR2 Operating speed of operation data No 2 Hz TAC Common acceleration TDC Common deceleration pp Operation No 2 data No TAR1 Acceleration rate of operation data No 1 Hz s TAR2 Acceleration rate of operation data No 2 Hz s TDR1 Deceleration rate of operation data No 1 Hz s TDR2 Deceleration rate of operation data No 2 Hz s No 1 No 2 e Calculation method for acceleration deceleration rate TAR1 VR1 VS TAC TAR2 VR2 VS TAC TDR2 VR2 VS TDC 3 32 2 4 Other operation
213. le the FWD or RVS input is ON Operation is performed based on the FWD or RVS input and the operating speed corresponding to the selected operation data No When the operation data No is changed during continuous operation the speed will change to the speed specified by the new operation data No When the FWD or RVS input is turned OFF the motor will decelerate to a stop If the signal of the same direction is turned ON again during deceleration the motor will accelerate and continue operating If the FWD and RVS inputs are turned ON simultaneously the motor will decelerate to a stop E Operation data Operation data for continuous operation are as follows Name Description Setting range Initial value Operating speed Sets the operating speed in continuous operation 1 to 1 000 000 Hz 1000 Acceleration Sa AA rate or time in continuous 1 to 1 000 000 1 0 001 ms kHz or 1000 Deceleration Sets the deceleration rate or time in continuous 1 0 001 s operation Speed Operating speed Operation data Starting speed No 0 Time Starting speed Operation data No 0 Operating speed FWD i a input OFF RVS i On input OFF The acceleration deceleration for continuous operation can be set as follows using the acceleration deceleration type parameter Separate The acceleration deceleration set under the applicable operation data No will be followe
214. lection 0 Not used 7 JOG 16 FREE 35 R3 42 R10 49 M1 1 FWD 8 MSO 17 C ON 36 R4 43 R11 50 M2 2 RVS 9 MS1 18 STOP 37 R5 44 R12 51 M3 3 HOME 10 MS2 27 HMI 38 R6 45 R13 52 M4 4 START 11 MS3 32 RO 39 R7 46 R14 53 M5 5 SSTART 12 MS4 33 R1 40 R8 47 R15 6 JOG 13 MS5 34 R2 41 R9 48 MO e Setting range for NET OUT output function selection 0 Not used 10 MS2_R 35 R3 45 R13 61 LS_R 72 TIM 1 FWD_R 11 MS3_R 36 R4 46 R14 62 HOMES R_ 73 AREA1 2 RVS_R 12 MS4_R 37 R5 47 R15 63 SLIT_R 74 AREA2 3 HOME_R 13 MS5_R 38 R6 48 MO_R 65 ALM 75 AREA3 4 START_R 16 FREE_R 39 R7 49 M1_R 66 WNG 80 S BSY 5 SSTART_R 17 C ON_R 40 R8 50 M2_R 67 READY 6 JOG_R 18 STOP_R 41 R9 51 M3_R 68 MOVE 7 JOG_R 32 RO 42 R10 52 M4_R 69 END 8 MSO_R 33 R1 43 R11 53 M5_R 70 HOME P 9 MS1_R 34 R2 44 R12 60 LS_R 71 TLC E Communication parameter 4 Command code list commend coce Description Setting range Initial value Effective Read Write 0900h 1900h Communication timeout 0 to 10000 ms 0 A 0901h 1901h Communication error alarm 1 to 10 times 3 Indicates the timing for the data to become effective A Effective immediately 6 33 4 Command code list 6 34 7 Method to use the MEXEO2 This part explains the setting method of the data and parameters as well as the editing method using the data setting software MEXEO2 Table of contents 1 Ov
215. leration deceleration unit parameter initial value acceleration deceleration rate 3 5 Return to home parameter Name Setting range Initial value Effective 0 2 sensor mode Home seeking mode 1 3 sensor mode 1 2 Push mode Operating speed of home seeking 1 to 1 000 000 Hz 1000 s 1 to 1 000 000 Acceleration deceleration of home seeking 1 0 001 ms kHz or 1 0 001 s 2 1000 Starting speed of home seeking 1 to 1 000 000 Hz 500 r Position offset of home seeking 8 388 608 to 8 388 607 step 0 sori 0 Negative direction Starting direction of home seeking 4 Positive direction 1 SLIT detection with home seeking 0 Disable 0 TIM signal detection with home seeking 1 Enable Operating current of push motion 0 to 1000 1 0 1 1000 home seeking 1 Indicates the timing for the data to become effective B Effective after stopping the operation 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 3 6 Alarm warning parameter Name Setting range Initial value Effective Overload alarm 1 to 300 1 0 1 s 50 A Overflow rotation alarm during current on 1 to 30000 1 0 01 rev 300 Return to home incomplete alarm 0 Disable 0 Cc 1 Enable Overflow rotation alarm during current off 1 to 30000 1 0 01 rev 10000 Overheat warning
216. lot on the load Installing on the flange surface Harmonic geared type With a Harmonic geared type excluding AR98 a load can be installed directly to the gear using the load mounting holes provided on the flange surface Load mounting holes Flange Bolts TT N Metal plate Load F Number of Tightening torque Effective depth of Model Nominal size bolts N m oz in bolt mm in AR24 M3 4 1 4 198 4 0 157 AR46 M3 6 1 4 198 5 0 2 AR66 M4 6 2 5 350 6 0 24 Note e When installing a load on the flange surface the load cannot be mounted using the key slot in the output shaft e Design an appropriate installation layout so that the load will not contact the metal plate or bolts used for installing the motor 1 Installation 1 4 Permissible overhung load and permissible thrust load With a double shaft type do not apply load torque overhung load or thrust load to the output shaft on the opposite side of the motor output shaft Permissible overhung load N b Permissible Type Model S Distance from the tip of motor output shaft mm in thrust load 0 0 5 0 2 10 0 39 15 0 59 20 0 79 N Ib ARZA 25 5 6 34 7 6 52 11 7 as AR26 2 2 0 49 AR46 35
217. magnetic brake Release Hold E ALM RST input e When an alarm generates and the motor maintains excitation Alarm generation 1sormore _ 4msormore ON ALM RST input OFF 6 ms or less 6 ms or less ALM output Put OFF 6 ms or less 6 ms or less ON READY output OFF ALM output is normally closed It is ON during normal operation and it turns OFF when an alarm generates e When an alarm generates and the motor does not maintain excitation ALarm generation 1s ormore __ 4 ms or more ALM RST i ON input OFF 6 ms or less 6 ms or less ALM output on oe OFF 6 ms or less 250 ms or less ea READY a output OFF 200 ms or less 200 ms or less Motor excitation Excitation Not excitation 60 ms or less 250 ms or less Electromagnetic brake Release Hold ALM output is normally closed It is ON during normal operation and it turns OFF when an alarm generates E HMI input 4 ms or more HMI i a input OFF 6 ms or less 6 ms or less Data setter function limitation Limitation release 4 14 E P CLR input oO Power supply OFF Absolute position error generates 4 Timing charts ON P CLR input 4 ms or more OFF ON ALM output OFF READY we output OFF Absolute position error alarm Reset 6 ms or less M 6 ms or less 6 ms or less a SSA Generate AL
218. mand position of the driver is in the home position while the MOVE output is OFF the HOME P output will turn ON However the HOME P output remains OFF when the position origin for the driver has not been set e When HOME P function selection parameter is set to return to home complete output Regardless of the command position by the driver if the position origin for the driver is set the HOME P output will turn ON Therefore it turns ON after completing the return to home operation or preset Once the HOME P output turns ON it will not turn OFF until the motor has moved from the position origin See p 3 36 for setting the position origin Related parameters Parameter name Description Setting range Initial value 0 Home output HOME P function selection Selects the HOME P output function 1 Return to home 0 complete output E MOVE output The MOVE output turns ON while the motor is operating Related parameters Parameter name Description Setting range Initial value Minimum ON time for saat MOVE output Sets the minimum ON time for MOVE output 0 to 255 ms 0 2 29 3 Explanation of I O signals 2 30 E END output When the motor has completed its movement the END output will turn ON When the motor was converged in a position of the position completion signal range parameter against the command position while the MOVE output is in an OFF status the END output turns ON Related
219. me parameters p 3 43 e Home seeking mode e Operating speed of home seeking e Acceleration deceleration of home seeking e Starting speed of home seeking e Position offset of home seeking e Starting direction of home seeking e SLIT detection with home seeking e TIM signal detection with home seeking e Operating current of push motion home seeking 3 39 4 Parameter 3 40 Alarm warning parameters p 3 43 e Overload alarm e Overflow rotation alarm during current on e Return to home incomplete alarm e Overflow rotation alarm during current off e Overheat warning e Overload warning e Overspeed warning e Overvoltage warning e Undervoltage warning e Overflow rotation warning during current on Coordination parameters p 3 44 e Electronic gear A e Electronic gear B e Motor rotation direction e Software overtravel e Positive software limit e Negative software limit e Preset position e Wrap setting e Wrap setting range Common parameters p 3 44 e Data setter speed display e Data setter edit e Absolute position backup system Communication parameters p 3 44 e Communication timeout e Communication error alarm e Communication parity e Communication stop bit e Transmission waiting time I O function parameters p 3 45 e INO to IN7 input function selection e INO to IN7 input logic level setting e OUTO to OUT5 output function selection I O funct
220. ment of network I O 2 19 E Assignment of input signals 2 19 E Assignment to the output terminals 2 21 3 3 Input Signals essiens niereiiriiat 2 23 3 4 Output signals 2 28 3 5 Sensor input ee eeeeeeeeeeeeeees 2 32 3 6 General signals RO to R15 2 33 1 Installation 1 Installation This chapter explains the installation location and installation methods of the motor and driver along with load installation The installation and wiring methods in compliance with the EMC Directive are also explained 1 1 Location for installation The motor and driver has been designed and manufactured to be installed within another device Install them in a well ventilated location that provides easy access for inspection The location must also satisfy the following conditions e Inside an enclosure that is installed indoors provide vent holes e Operating ambient temperature Motor 10 to 50 C 14 to 122 F non freezing Harmonic geared type 0 to 40 C 32 to 104 F non freezing Driver 0 to 50 C 32 to 122 F non freezing Operating ambient humidity 85 or less non condensing Area that is free of explosive atmosphere or toxic gas such as sulfuric gas or liquid Area not exposed to direct sun Area free of excessive amount of dust iron particles or the like Area not subject to splashing water rain water droplets oil oil droplets or other liquids Area free of
221. more STOP input ON OFF MOVE output ON OFF END ik output opp 250 ms or less READY oy output opp Motor operation Delay time when the motor is not excited 220 ms or less _ 200 ms or less Motor excitation Excitation Not excitation 60 ms or less 250 ms or less Electromagnetic brake Release Hold The specific time varies depending on the load operating speed speed filter and other e When the STOP input action parameter is deceleration stop current off 4 ms or more STOP i oe input OFF MOVE output ON OFF ON j OFF ON OFF END output 250 ms or less READY output 6 ms or less Motor operation Delay time when the motor is not excited 220 ms or less 200 ms or less Motor excitation Excitation Not excitation 60 ms or less 250 ms or less Electromagnetic brake Release Hold The specific time varies depending on the load operating speed speed filter and other 4 13 4 Timing charts E FREE input 4 ms or more FREE i ON input OFF C ON i ON input OFF 6msorless 250 ms or less 6 ms or less READY output OFF 200 ms or less 200 ms or less 200 ms or less Motor excitation Excitation Not excitation 60 ms or less 60 ms or less 60 ms or less Electro
222. mpleted become effective at next power up Be sure to J cycle the power Infor mation Turn off the power and turn it on again 7 14 4 Data upload download and verification 4 2 Upload from the driver reading You can read data stored in the driver into the MEXE0O2 1 Click the Upload icon in the toolbar 2i MEXEO2 Untitled1 x File Edit Move View Communication Tool Cs a F amp 2 Click OK Upload The data is uploaded Start Upload Cancel 3 After the data has been uploaded click OK The data that has been read is displayed Infor mation e L The upload is completed 7 15 4 Data upload download and verification 4 3 Verifying data You can verify the data stored in the driver against the data displayed in the MEXEO2 1 Click Verify from the Communication menu gt H MEXE02 Untitled 1 Rw File Edit Move View Communication Tool DF S FG Po Download AR StoredData DC F Data hitialize ce Parameter Option 2 Select the data to be verified and then click OK Data is verified C Select Operation Date Only Parameter Only Verify Result C D a _ 3 When the verification is complete click Close When both data match Verify Result MEXE02 Verify Successful When the data do not match An unmatched data is displayed Verify Result MEXE02 Device O
223. n e RUN current e STOP current e Position loop gain e Speed loop gain e Speed loop integral time constant e Speed filter e Minimum ON time for MOVE output e LS logic level e HOMES logic level e SLIT logic level e MSO operation No e MS1 operation No e MS2 operation No e MS3 operation No e MS4 operation No selection e MS5 operation No selection e HOME P output function selection e Moving average time e Filter selection e Moving average e Moving average2 e Control mode e Smooth driver selection selection selection selection Operation parameters p 4 7 e Common acceleration e Common deceleration e Starting speed e JOG operating speed e Acceleration deceleration rate of JOG e JOG starting speed e Acceleration deceleration type e Acceleration deceleration unit e Automatic return operation e Operating speed of automatic return e Acceleration deceleration of automatic return e Starting speed of automatic return e JOG travel amount Return to home parameters p 4 7 e Home seeking mode e Operating speed of home seeking e Acceleration deceleration of home seeking e Starting speed of home seeking e Position offset of home seeking e Starting direction of home seeking e SLIT detection with home seeking e TIM signal detection with home seeking e Operating current of push motion home seeking Alarm warning parameters p 4 7 e Overload alarm e Overflow rotation alarm
224. n 0 immeniate stop 0 1 Deceleration stop Positioning completion signal range 0 to 180 1 0 1 18 Positioning completion signal offset 18 to 18 1 0 1 0 AREA 1 positive direction position AREA 1 negative direction position AREA2 itive directi iti sla OCHAN POSON 8 388 608 to 8 388 607 step 0 AREA2 negative direction position AREAS positive direction position AREAS negative direction position Minimum ON time for MOVE output 0 to 255 ms 0 LS logic level N 7 HOMES logic level a Orma te aah 0 c 1 Normally closed SLIT logic level MSO operation No selection 0 MS1 operation No selection 1 MS2 operation No selection 0 to 63 2 B MS3 operation No selection 3 MS4 operation No selection 4 MS5 operation No selection 5 HOME P function selection 0 Home output 0 A 1 Return to home complete output Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 3 3 Motor parameter Name Setting range Initial value Effective RUN current O to 1000 1 0 1 1000 STOP current 0 to 500 1 0 1 500 Position loop gain 1 to 50 10 A Speed loop gain 10 to 200 180 Speed loop integral time constant 100 to 2000 1 0 1 ms 1000 Speed filter 0 to 200 ms 1 B Moving average time 1 to 200 ms 1 Filter selection 0 Speed filter 0 C 1 Moving average filter Speed
225. n line again E Confirming the communication port number 1 Right click the My Computer icon on the Desktop and click Properties The system properties will be displayed 2 Click the Hardware tab and then click Device Manager 3 Double click Port COM amp LPT Confirm the port number labeled as ORIENTAL MOTOR Virtual COM Port In the example below it is COM3 Device Manager J Ports COM amp LPT Fanette F ECP Printer Port LPT1 AP ORIN Roe epee OI 2 4 Shutting down Click Exit from the File menu The MEXE02 shuts down View Communication Tool Window Help New GCtr N Open Ctro 3 Data edit This chapter explains how to create data files edit operating data and parameters and store edited data 3 Data edit Data can be created from scratch or by editing existing data Both require different procedures so read the section corresponding to each method 3 1 Creating new data 1 Click the New icon in the toolbar MEXEO2 Untitled1 Ee File Edit Move View Communication Tool Ou AEE 2 Select the product series and product name mode and click OK Series name AR Product name mode AR Stored Data DC Select Product Product Name Mode Product Series List ARL BLE CRK DG2 NETC NX PKA Selection Log Product Series JAR StoredData DC Product Name Mode The data edit windo
226. n rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 4 Parameter 4 Parameter The parameters are saved in the RAM or non volatile memory The data saved in the RAM will be erased once the power supply is turned off On the other hand the parameters saved in the non volatile memory will be retained even after the power supply is turned off When turning the driver power supply on the parameters saved in the non volatile memory will be sent to the RAM Then the recalculation and setup for the parameters are executed in the RAM When a parameter is changed the timing to reflect the new value varies depending on the parameter See the following four types e Effective immediately the parameter Executes the recalculation and setup immediately when writing e Effective after stopping the operation Executes the recalculation and setup after stopping the operation e Effective after executing the configuration Executes the recalculation and setup after executing the configuration e Effective after turning the power ON again Executes the recalculation and setup after turning the 24 VDC power ON again Note e The parameters are written in the RAM when writing via RS 485 communication e The non volatile memory can be rewritten approximately 100 000 times 4 1 Parame
227. n selection lower 1 Return to home complete output 576 0240h RUN t current UPPS 0 to 1000 1 0 1 1000 577 0241h RUN current lower 578 0242h STOP t current upper 0 to 500 1 0 1 500 579 0243h STOP current lower 580 0244h Position loop gain upper 1 to 50 10 A 581 0245h Position loop gain lower 582 0246h Speed loop gain upper 10 to 200 180 583 0247h Speed loop gain lower 584 0248h ria integral time constant Seen Ti 100 to 2000 1 0 1 ms 1000 585 0249h peed loop integral time constan lower 586 024Ah_ Speed ANE upper 0 to 200 ms 1 587 024Bh Speed filter lower B 588 024Ch Moving average time upper EA 1 589 024Dh Moving average time lower 4128 1020h Filter selection upper 0 Speed filter 0 c 4129 1021h Filter selection lower 1 Moving average 4130 1022h Speed error gain 1 upper 4131 1023h Speed error gain 1 lower 0 to 500 45 A 4132 1024h Speed error gain 2 upper 4133 1025h Speed error gain 2 lower 4134 1026h Control mode upper 0 Normal mode 0 4135 1027h Control mode lower 1 Current control mode 4136 1028h Smooth driver upper 0 Disable 1 4137 1029h Smooth driver lower 1 Enable 640 0280h Common acceleration upper 641 0281h Common acceleration lower 1 to 1 000 000 RANT T 22 1000 642 0282h Common deceleration upper 1 0 001 ms kHz or 1 0 001 s B 643 0283h Common deceleration lower 644 0284h Starti d E REUEN 0 to 1 000 000 Hz 50
228. nction selection 49 M1 NET IN2 input function selection 50 M2 NET IN3 input function selection 4 START NET IN4 input function selection 3 HOME NET IN5 input function selection 18 STOP NET IN6 input function selection 16 FREE NET IN7 input function selection 0 Not used See table next NET IN8 input function selection 8 MSO NET IN9Q input function selection 9 MS1 NET IN10 input function selection 10 MS2 NET IN11 input function selection 5 SSTART NET IN12 input function selection 6 JOG NET IN13 input function selection 7 JOG NET IN14 input function selection 1 FWD NET IN15 input function selection 2 RVS c NET OUTO output function selection 48 M0O_R NET OUT1 output function selection 49 M1_R NET OUT2 output function selection 50 M2_R NET OUT3 output function selection 4 START_R NET OUT4 output function selection 70 HOME P NET OUT5 output function selection 67 READY NET OUT6 output function selection 66 WNG NET OUT7 output function selection 65 ALM See table next NET OUT8 output function selection 80 S BSY NET OUT9 output function selection 73 AREA1 NET OUT10 output function selection 74 AREA2 NET OUT11 output function selection 75 AREA3 NET OUT12 output function selection 72 TIM NET OUT13 output function selection 68 MOVE NET OUT14 output function selection 69 END NET OUT15 output function selection 71 TLC e Setting range for NET IN input function selection Indicates the timing for the d
229. nction setting switches SW3 CN6 CN7 pin assignments Pin No Signal name Description 1 N C Not used 2 GND GND 3 TR RS 485 communication signal 4 N C Not used 5 N C Not used 6 TR RS 485 communication signal 7 N C Not used 8 N C Not used SW3 No 4 n 120 Q Vo v The GND line is used in common with CN1 not insulated 2 13 2 Connection 2 5 Connecting and charging the battery Connect an accessory battery set BATO1B sold separately for the absolute position backup system When the battery is connected to the battery connector CN4 of the driver and the power is turned on the battery will start charging It takes approximately 32 hours to fully charge the battery at an ambient temperature of 20 C 68 F See p 9 4 for accessories Battery power supply GND Battery power supply input Not used Battery specifications Battery type Sealed nickel metal hydride battery Nominal voltage 2 4V Rated capacity 1900 mAh Mass 0 10 kg Expected life Approximately 4 years Charging time 32 hours Data retention period Approximately 360 hours Approximately 15 days 2 Ambient temperature 0 to 40 C 32 to 104 F non freezing Humidity 45 to 85 non condensing x Atan ambient temperature of 20 C 68 F 2 After the power is cut off
230. ne indicates a home offset move Starting position Starting direction of Starting direction of of return to home return to home operation return to home operation operation Positive side Negative side LS LS LS LS VR Hy ots VR side i side aa ss E LS VS i 2 VS x side ZT YS side ZVS E VR VR LS LS LS LS VR Hy gts VR side _yg ts de oe Ss _ ys LS v ry side s T VS side TVS E VR VR LS LS LS LS side _ WA side fy B vi Between LS and LS x side TVS side ZVS HR VR VR 2 Operation After pulling out of the limit sensor the motor will move 200 steps 3 25 2 Operation When concurrently using the SLIT input and or TIM signal When the limit sensor is detected the motor will rotate in the reverse direction and escape from the limit sensor After escaping from the limit sensor the motor will move 200 steps and stop once Then the motor operation will continue until the external sensor signal will be detected When the external sensor signal is detected return to home operation will complete Starting direction of return to home Starting direction of return to home Signal type ae Se aaa operation Positive side operation Negative side LS LS LS VL LS side side nT EE A v Sear input side side VS VR SLIT ssh S
231. nes 5 2 Communication specifications 5 5 Setting the switches eeceeeeeeeeeees 5 6 Setting the RS 485 communication 5 8 Communication mode and communication TIMING seeeeeeeeeereeeeeeees 5 9 5 1 Communication mode ceeeerees 5 9 5 2 Communication timing ceeee 5 9 Messagen raan aan AnA EaR 5 10 60 1 QUE ninia eiia 5 10 6 2 RESPONSE 00 2 ceeeeeececeeeeeeeeeteeeeeeeeeeees 5 12 FUNCTION Coders 5 14 7 1 Reading from a holding register s 5 14 7 2 Writing to a holding register 5 15 4 3 DIAQNOSIS AA diacetate 5 16 7 4 Writing to multiple holding registers 5 17 Register address list c scccesssereeeeeees 5 18 8 1 Operation ComMMaANGS cccccceeeeeeeeeeee 5 18 8 2 Maintenance commands 0 5 20 8 3 Monitor command6 ccceeeeeeees 5 21 8 4 Parameter R W commands 005 5 24 M Operation data eccccccecceceeeeeseeseeneees 5 24 MI User parameters senoressa 5 25 Group Send iii E dein eretare 5 34 10 Detection of communication errors 5 36 10 1 Communication errors cc cseeceeeeeees 5 36 10 2 Alarms and warnings ccceeeees 5 36 11 Timing Charts cccceccssseeeeeeseseeeeeeseeenees 5 37 6 Method of control via industrial network Method of control via CC Link COMMUNICATION cceseeeeeeeseeeeeeeeeeeeeeeeeeenens 6 2 1 1 G
232. ng No 63 lower 2048 0800h Dwell time No 0 upper 2049 0801h Dwell time No 0 lower to to to 0 to 50000 1 0 001 s 0 2174 087Eh Dwell time No 63 upper 2175 087Fh_ Dwell time No 63 lower 1 This item is effective when the acceleration deceleration type parameter is set to separate If this parameter is set to common the values of the common acceleration and common deceleration parameters will be used initial value separate 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 8 Register address list E User parameters 1 Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate Register add x as Ze Name Setting range Initial value Effective ec ex 0 Immediate stop 512 0200h STOP input action upper 1 Deceleration stop i 2 Immediate stop amp Current OFF 513 0201h STOP input action lower 3 Deceleration stop amp Current
233. ng range Initial value Sets the motor operating current based on the rated current being 100 RUN current 0 to 1000 1 0 1 1000 Excessively low operating current may cause a problem in starting the motor or holding the load in position Do not lower the operating current more than necessary 1 3 Standstill current When the motor stops the current cutback function will be actuated to lower the motor current to the standstill current The standstill current is a value in which the set value of the STOP current is multiplied by the rated current 100 The standstill current does not change even when the RUN current parameter has been changed Related parameters Parameter name Description Setting range Initial value Sets the motor standstill current as a percentage of the 0 to 500 STOR cumani rated current based on the rated current being 100 1 0 1 300 1 4 Acceleration deceleration rate and acceleration deceleration time E Acceleration deceleration unit Set the acceleration deceleration unit using the acceleration deceleration unit parameter Acceleration deceleration rate ms kHz or acceleration deceleration time s can be set e When setting with ms kHz e When setting with s Speed Hz Speed Hz VS Starting speed VR VR VR Operating speed TA Acceleration TA TD TD Deceleration VS VS Time s TA TD Time s Related parameter
234. ng the FREE input OFF automatic return operation will be executed under the following conditions e When the main power is turned on e When the C ON input is turned from OFF to ON e When the FREE input is turned from ON to OFF e Related parameters Parameter name Description Setting range Initial value Sets whether to enable or disable 0 Disable Automatic return action 0 automatic return operation 1 Enable Operating speed of Sets the operating speed for automatic 4 to 1 000 000 Hz 4000 automatic return return operation Acceleration deceleration of Sets the acceleration deceleration rate or E 1 000 000 i 1 0 001 ms kHz or 1000 automatic return time for automatic return operation _ 1 0 001 s Starting speed of automatic Sets the starting speed for automatic return 0 to 1 000 000 Hz 500 return operation e Example of automatic return operation C ON i input OFF Position deviation VR Internal speed command VS TR TR Position deviation occurs due to external force VS Starting speed of automatic return VR Operation speed of automatic return TR Acceleration deceleration rate of automatic return 3 34 2 Operation e Automatic return operation will not be executed immediately after turning on the 24 VDC power supply or executing the configuration command e f an alarm generates while the motor is in a non excitation state the
235. nput Address number 0 remote I O input Driver Address number 1 Address number 1 remote I O input Address number 2 remote I O input Address number 3 remote I O input Address number 4 remote I O input Address number 5 remote I O input Address number 6 remote I O input Address number 7 remote I O input Address number 8 remote I O input Address number 9 remote I O input Address number 10 remote I O input Address number 11 remote I O input Control input of NETCO1 CC Address number 1 remote I O input Driver Address number 11 Control input of system area Address number 11 remote I O input e Remote O output NETCO1 CC RXn7 to RXn0 RXnF to RXn8 amp RX n 1 7 to RX n 1 0 RX n 1 F to RX n 1 8 RX n 2 7 to RX n 2 0 RX n 2 F to RX n 2 8 RX n 3 7 to RX n 3 0 RX n 3 F to RX n 3 8 RX n 4 7 to RX n 4 0 RX n 4 F to RX n 4 8 RX n 5 7 to RX n 5 0 RX n 5 F to RX n 5 8 RX n 6 F to RX n 6 0 RX n 7 F to RX n 7 0 Driver Address number 0 Address number 0 remote I O output Address number 0 remote I O output 1 Method of control via CC Link communication Driver Address number 1 Address number 1 remote I O output Address number 2 remote I O output Address number 3 remote I O output Address number 4 remote I O output A
236. nput is turned ON with selecting the operation data No by a combination of the MO to M5 inputs the positioning operation will perform Direct positioning operation When any of the MSO to MS5 inputs is turned ON the positioning operation corresponding to the input data No will perform Sequential positioning operation Positioning operation is performed to the next operation data No every time a SSTART input signal is input e Data number selecting operation Select an operation data based on a Operation data No M5 M4 M3 M2 M1 MO combination of ON OFF status of the MO to 0 OFF OFF OFF OFF OFF OFF MS inputs See p 2 24 for details 1 OFF OFF OFF OFF OFF ON 2 OFF OFF OFF OFF ON OFF e e e e e e e e e e e e e e e e 61 ON ON ON ON OFF ON 62 ON ON ON ON ON OFF 63 ON ON ON ON ON ON 2 Operation Operating method 1 Check the READY output is ON 2 Select the operation data No by a combination of the MO to M5 inputs and turn the START input ON 3 The motor starts positioning operation 4 Check that the READY output has been turned OFF and turn the START input OFF 5 When the positioning operation is completed the READY output will be turned ON No 1 Motor operation ON MO to M5 input opp No 0 X No 1 ON i START input OFF READY output Ope MOVE oN output opp
237. nt and setting This chapter explains how to adjust set the motor and driver functions When a parameter is changed the timing the new value becomes effective varies depending on the parameter See p 3 39 for details 1 1 Resolution When the electronic gear A and electronic gear B parameters are set the resolution per one rotation of the motor output shaft can be set Note that the calculated value must fall within the setting range specified below Resolution setting range 100 to 10000 P R Electronic gear B Electronic gear A Resolution 1000 x Related parameters Parameter name Description Setting range Initial value Electronic gear A Sets the denominator of electric gear lt 9 ae 1 to 65535 1 Electronic gear B Sets the numerator of electric gear e f the value outside of the setting range is set the electronic gear setting error warning will generate If the power is cycled or the configuration is executed while the electronic gear setting error warning is present an electronic gear setting error alarm will generate e f the resolution was changed while the absolute position backup system was in enable status perform the return to home operation or P PPRESET input e When the TIM output is used set the electronic gear parameters to be an integral multiple of 50 E Calculation of electronic gear A and B Calculation of electronic gear A and B is explained with examples of a ball
238. number 2 group command 1 group command 0 group command 0 individual 6 24 4 Command code list This is a timing chart for when assigning the START signal to NET IN3 remote I O of the driver in the group NETCO1 to slave Address number 0 NET IN3 ON Motor operation at address number 0 parent slave Group command 1 Motor operation at address number 1 child slave Group command 0 Motor operation at address number 2 child slave Group command 0 When inputting a command to the parent slave with remote I O the motors of the parent slave and child slaves will operate The motors will not operate if the command is input to the child slaves 4 2 Maintenance command These commands are used to clear the alarm records and warning records They are also used to execute the batch processing for the non volatile memory Command Name Description Setting code range 30C0h Reset alarm Resets the alarms that are present Absolute position error Resets the absolute position error alarm Since 30C1h p this alarm is the dedicated alarm for the absolute alarm reset A position error other alarms cannot be reset 30C2h Clear alarm records Clears alarm records 30C3h Clear warning records Clears warning records 30C4h Cear communication error Clears the communication error records records 30C5h P PRESET execute Update the command position to the value of the
239. o Signal name Description RY n 0 NET INO M0 RX n 0 NET OUTO MO_R RY n 1 NET IN1 M1 RX n 1 NET OUT1 M1_R RY n 2 NET IN2 M2 RX n 2 NET OUT2 M2_R RY n 3 NET IN3 START RX n 3 NET OUT3 START_R RY n 4 NET IN4 HOME RX n 4 NET OUT4 HOME P RY n 5 NET IN5 STOP RX n 5 NET OUT5 READY RY n 6 NET IN6 FREE RX n 6 NET OUT6 WNG Address number RY n 7 NET IN7 Not used RX n 7 NET OUT7 ALM o RY n 8 NET IN8 MS0 RX n 8 NET OUT8 S BSY RY n 9 NET IN9 MS1 RX n 9 NET OUT9 AREA1 RY n A NET IN10 MS2 RX n A NET OUT10 AREA2 RY n B NET IN11 SSTART RX n B NET OUT11 AREA3 RY n C NET IN12 JOG RX n C NET OUT12 TIM RY n D NET IN13 JOG RX n D NET OUT13 MOVE RY n E NET IN14 FWD RX n E NET OUT14 END RY n F NET IN15 RVS RX n F NET OUT15 TLC Address number P m 4 aE Same as Address RA a E ee Same as Address d RY n 1 F NET IN15 number RX n 1 F NET OUT15 number Address number aa a 9 PN Same as Address RA 2 9 MET RR Same as Address 2 RY n 2 F NET IN15 number RX n 2 F NET OUT15 number 0 Address number RY ma 0 a Same as Address RA Ta 7 a Same as Address 3 RY n 3 F NET IN15 A aie RX n 3 F NET OUT15 number Address number oe ma 8 eur Same as Address BA na 5 NEL ate Same as Address 4 RY n 4 F NET IN15 pumberg RX n 4 F NET OUT15 number o Address number ni ma 0 n Same as Address RA we z NE E Same as Address 5 RY n 5 F NET IN15 number
240. ommand processing time 3 C3 5 silent interval 4 ms or less E Operation stop speed change 2 Master ry l Communication Query Slave Response Motor speed command A message including a query to stop operation and another to change the speed via RS 485 communication 2 Tb2 transmission waiting time C3 5 silent interval command processing time 3 The specific time varies depending on the command speed 4 The deceleration method to be applied at the time of stopping varies according to the value set by the STOP input action parameter E General signals 2 __ __ Master Query Communication Slave Response 3 f ON General signals OFF x A message including a query for remote output via RS 485 communication 2 Tb2 transmission waiting time C3 5 silent interval command processing time 3 C3 5 silent interval 4 ms or less 5 37 11 Timing charts 5 38 E Configuration Communication Internal processing A message including a query for configuration via RS 485 communication Master Query Query Slave Response 3 Internal processing was in progress 2 Tb2 transmission waiting time C3 5 silent interval command processing time 3 Internal processing time 1 s or less 4 Execute a query after the driver internal processing is completed 6 Method of control via industrial net
241. on make the acceleration deceleration longer 48h Battery connection The battery was unconnected while ine Check the battery connection error absolute position backup system was enable 74h Electronic gear The resolution set in the parameter for Set the electronic gear correctly and then setting error electronic gear is outside the specified range cycle the power 72h Wrap setting error The resolution and wrap setting range Set the wrap setting range parameter P 9 parameter was inconsistent correctly and cycle the power RS 485 e Check the connection between the master 84h A RS 485 communication error was detected controller and driver communication error e Check the setting of RS 485 communication 2 3 Communication errors Up to 10 communication errors are saved in the RAM in order of the latest to the oldest and you can check using the MEXEO72 or via RS 485 communication E Communication error list E Communication error records Up to 10 communication errors are saved in the RAM in order of the latest to oldest Communication error records saved in the RAM can be read or cleared when performing any of the following 2 Alarms and warnings e Read the communication error records by the monitor command via RS 485 communication e Clear the communication error records by the maintenance command via RS 485 communication e Clear the communication error records by the status monitor of the MEXEO2 No
242. on output OFF 6 ms or less HOME P n P output OFF Motor operation 4 19 4 Timing charts E Automatic return operation e When the automatic return operation is performed using the C ON input ON Power supply OFF C ON input READY oN output opp ON OFF 6 ms or less MOVE SN output OFF 250 ms or less 250 ms or less END A output opp Motor excitation 200 ms or less Not excitation 250 ms or less Electromagnetic brake Deviation 0 Position deviation Internal speed command Hold Excitation Release The specific time varies depending on the load operating speed speed filter and other e When the operation is completed using the STOP input C ON input STOP i Pi input OFF READY output OFF MOVE ox output opp END ON output opp Motor excitation Electromagnetic brake Deviation 0 Position deviation Internal speed command ON OFF 2 ms or more 2 ms or less 250 ms or less 250 ms or less 200 ms or less Not excitation Excitation 250 ms or less Hold Release 2 ms or less The specific time varies depending on the load operating speed speed filter and other 4 20 4 Timing charts e When the C ON input is turned OFF while performing the automatic return operation C ON inpu
243. on mode amount in positioning operation 1 Absolute ABS a 0 Single motion Operation function Selects how to operate consecutive 1 Linked motion 0 P operation data 2 Linked motion 2 3 Push motion Dwell time ere wel Neto Ue tore 0 to 50000 1 0 001 s 0 linked motion operation2 Bik current Sets the current value of push motion 0 to 500 1 0 1 200 operation a Sets whether to enable or disable 0 Disable Sequential positioning nema 0 sequential positioning operation 1 Enable e Position operating speed acceleration deceleration The acceleration deceleration for positioning operation can be set as follows using the acceleration deceleration type parameter Separate The acceleration deceleration set under the applicable operation data No will be followed Each 64 data for acceleration and deceleration Common The setting of the common acceleration and common deceleration parameter will be followed Each 1 data for acceleration and deceleration When the starting speed lt operating speed Speed Travel amount Operating speed Acceleration rate Deceleration rate Starting speed Time When the starting speed 2 operating speed Speed Travel amount Starting speed Operating speed Time e Operation modes 2 Operation The following two operation modes are available Absolute ABS mode The position distance from home is set Absolute Home Starting point positioning
244. or 4 upper 16 bit RWwnA Command code of monitor 5 RWrnA Data of monitor 5 lower 16 bit RWwnB Address number of monitor 5 RWrnB Data of monitor 5 upper 16 bit RWwnC Command code RWrnC Command code response RWwnD Address number RWrnD Address number response RWwnE Data lower RWrnE Data lower RWwnF Data upper RWrnF Data upper 1 4 Assignment for remote I O of 6 axes connection mode Remote I O assignments of the driver are as follows n is an address assigned to the master station by the CC Link station number setting See the network converter NETCO1 CC USER MANUAL for 6 axes E Assignment list of remote I O Command RY Master to NETC0O1 CC Response RX NETC0O1 CC to master Device No Description Device No Description RYn7 to RYnO RYnF to RYn8 amp Address number 0 remote 1 O input RXn7 to RXnO RXnF to RXn8 amp Address number 0 remote 1 O output RY n 1 7 to RY n 1 0 Address number 1 remote I O X n 1 7 to RX n 1 0 Address number 1 remote I O RY ne 1 F to RY n 1 8 input X n 1 F to RX n 1 8 output Y n 2 7 to RY n 2 0 Address number 2 remote I O X n 2 7 to RX n 2 0 Address number 2 remote I O eve F to RY n 2 8 input X n 2 F to RX n 2 8 output Y n 3 7 to RY n 3 0 Address number 3 remote I O X n 3 7 to RX n 3 0 Address number 3 remote I
245. ossible The command position varies in a range of 0 to wrap setting value 1 e Related parameters Parameter name Description Setting range Initial value Sets whether to enable or disable the wrap 0 Disable Wrap setting l 0 function 1 Enable Wrap setting range Sets the wrap setting range 1 to 8 388 607 step 1000 Note e When setting the wrap setting parameter to enable the software overtravel will be disabled It is disabled even when setting the software overtravel parameter to enable e If the wrap setting parameter or wrap setting range parameter is changed while the absolute position backup system parameter is enable the absolute position may be lost Perform return to home operation or the P PRESET input when the wrap settings are changed e Setting condition of wrap function Electronic gear B x 1000 Condition 1 Electronic gear A x 50 An integer zi Electronic gear A x 50 Condition 2 Wrap setting value An integer P g Electronic gear B x 1000 2 The wrap setting error warning will generate when not meeting these formulas When not meeting these formulas while the wrap setting parameter is enable the wrap setting error warning will generate If the power is turned on again or the configuration is executed while the wrap setting error warning is present the wrap setting error alarm will generate e Example for wrap function Example of oper
246. ower before setting the switches If the switches are set while the power is still on the new switch settings will not become effective until the driver power is cycled E Setting the connection device Set the connection device of RS 485 communication using the function setting switch SW3 No 2 Turn this switch OFF when controlling via the network converter Factory setting OFF Network converter E Address number slave address Set the address number slave address using the address number setting switch SW1 and SW3 No 1 of the function setting switch Make sure each address number slave address you set for each driver is unique Factory setting SW1 0 SW3 No 1 OFF Address number 0 Address number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 slave address sw 0 1 2 3 4 5 6 7 8 9 A B C D E F SW3 No 1 OFF Connection mode 9 axes connection mode 16 axes connection mode E Transmission rate Set the transmission rate to 625 000 bps using the transmission rate setting switch SW2 Factory setting 7 625 000 bps E Termination resistor Use a termination resistor for the driver located farthest away positioned at the end from the network converter Turn SW3 No 4 of the function setting switch ON to set the termination resistor for RS 485 communication 120 Q Factory setting OFF termination resistor disabled SW3 No 4 Termination resistor 120 Q OFF Di
247. parameters Parameter name Description Setting range Initial value Positioning completin Sets the output range of the END signal 9 P the motor operation converges within this O to 180 1 0 1 18 signal range angular range Positioning completion Sets the offset for the END signal the E 18 to 18 1 0 1 0 signal offset offset for converging angular range E TLC output When the load exceeds the motor torque range the TLC output will turn ON When performing push motion operation if the load exceeds the torque range calculated from the current ratio of push motion operation the TLC output will turn ON This output can be used for the completion signal of the push motion operation E AREA to AREA3 output The AREA output turns ON when the motor is inside the area set by the parameters It turns ON when the motor is inside the area even when the motor stops When the AREA positive direction position parameter lt AREA negative direction position parameter To turn the AREA output ON Motor position lt AREA positive direction position or Motor position gt AREA negative direction position AREA ax output OFF l AREA positive direction position AREA negative direction position When the AREA positive direction position parameter gt AREA negative direction position parameter To turn the AREA output ON AREA negative direction position lt Motor position lt ARE
248. peed of Sets the operating speed for 4 to 1 000 000 Hz 1000 home seeking return to home operation Acceleration deceleration Sets the acceleration deceleration rate 1 E 1 000 000 i i 1 0 001 ms kHz or 1000 rate of home seeking or time for return to home operation a 1 0 001 s Starting speed of Sets the starting speed for 1 to 1 000 000 Hz 500 home seeking return to home operation Position offset of Sets the offset amount from 8 388 608 to 0 home seeking mechanical home 8 388 607 step Starting direction of Sets the starting direction for home 0 Negative direction 1 home seeking detection 1 Positive direction Sets whether or not to concurrently use SLIT aetecton with the SLIT input for return to home 0 home seeking operation 0 Disable 1 Enable TIM signal detection with Sets whether or not to concurrently use the TIM signal for return to home 0 home seeking operation Ouerating urrenkor Sets the operating current based on sei the rated current being 100 for 0 to 1000 1 0 1 1000 push motion home seeking push motion return to home operation E FWD input RVS input These signals start the continuous operation Operation is performed based on the FWD or RVS input and the operating speed corresponding to the selected operation data No Turn the FWD signal to ON to perform continuous operation in the positive direction Turn the RVS signal to ON to perform continuous operation in the negative direction If the
249. perating current at CURRENT 0 63 5 0 7 16 5 Monitor function 5 Monitor function You can monitor the motor operating status alarm condition and I O signals In the waveform monitor the motor operating speeds and I O signal switching status can be checked in a waveform format 5 1 Status monitor You can monitor the operation status and alarm condition 1 In the window selection area click Status under Monitor The status monitor window appears 2 Select Start Status Monitor Status monitor starts 34 MEXEO2 Untitled1 B Eile Edit Move View Communication Tool Window Help a AR StoredData DC Data Operation Data Parameter Command Position 1 0 Parameter Motor Parameter Actual Speed Operation Parameter Home Operation Parameter Alarm Parameter Selection Number Warming Parameter Coordinates Parameter Alarm Condition Common Parameter 1 0 Function 1 0 Function RS 485 a tion Parameter Monitor Warning Condition Operation Number Status 1 0 Maunt COM Error Condition Test vo Operation Communicate Status Monitor Running 0 step O r min E 0 00 No Alarm Position Lost Alarm Reset Alarm Reset Alarm History 00 No warming Waring History 00 No communication error COM Error History 3 To end status monitor unselect Start Status Monitor When the absolute position error alarm h
250. perature does not exceed 70 C 158 F in order to prevent deterioration of grease and parts in the gear case If the motor is to be operated continuously install the motor in a location where heat dissipation capacity equivalent to a level achieved with a heat sink made of aluminum 2502506 mm 9 849 84x0 24 in is ensured Holding torque at standstill The motor holding torque is reduced by the current cutback function of the driver at motor standstill When selecting a motor for your application consider the fact that the holding torque will be reduced at motor standstill Do not use the electromagnetic brake to reduce speed or as a safety brake Do not use the electromagnetic brake as a means to decelerate and stop the motor The brake hub of the electromagnetic brake will wear significantly and the braking force will drop Since the power off activated type electromagnetic brake is equipped it helps maintain the position of the load when the power is cut off but this brake cannot securely hold the load in place Accordingly do not use the electromagnetic brake as a safety brake To use the electromagnetic brake to hold the load in place do so after the motor has stopped Double shaft type motor Do not apply load torque overhung load or thrust load to the output shaft on the opposite side of the motor output shaft Preventing electrical noise See 1 7 Installing and wiring in compliance with EMC Directive on p 2 6 for m
251. preset position parameter 30C6h Configuration Executes the parameter recalculation and the 1 Execute setup Resets the parameters saved in the non volatile memory to the initial value Note that 30C7h All data initialization communication parity communication stop bit and transmission waiting time parameters are not initialized Reads the parameters saved in the non volatile memory to the RAM All operation data and 30C8h Balch ty memory reag parameters previously saved in the RAM are overwritten 30C9h Batch NV memory write Writes the parameters saved in the RAM to the non volatile memory Note The non volatile memory can be rewritten approximately 100 000 times 6 25 4 Command code list 4 3 Monitor command 6 26 These commands are used to monitor the driver condition command Name Description code 2040h Present alarm Monitors the present alarm code 2041h Alarm record 1 2042h Alarm record 2 2043h Alarm record 3 2044h Alarm record 4 2045h Alarm record 5 Monitors the alarm records 1 to 10 2046h Alarm record 6 2047h Alarm record 7 2048h Alarm record 8 2049h Alarm record 9 204Ah Alarm record 10 204Bh Present warning Monitors the present warning code 204Ch Warning record 1 204Dh Warning record 2 204Eh Warning record 3 204Fh Warning record 4 2050h
252. ption If the query was broadcast the slave executes the requested process but does Broadcast not return a response The slave address in the query was found not matching the slave address of the Mismatched slave address driver E Exception response An exception response is returned if the slave cannot execute the process requested by the query Appended to this response is an exception code indicating why the process cannot be executed The message structure of exception response is as follows Slave address Function code Exception code Error check 8 bits 8 bits 8 bits 16 bits e Function code The function code in the exception response is a sum of the function code in the query and 80h Example query 03h Exception response 83h e Example of exception response Master Query Slave Slave address Oih p Slave address Oih Function code 10h Response Function code 90h Register address upper 02h Data Exception code 04h Register address lower 42h Error check lower 4Dh Number of registers upper 00h Error check upper C3h Number of registers lower 02h Data Number of data bytes 04h Value written to register address upper 00h Value written to register address upper 00h Value written to register address 1 upper 03h Value written to register address 1 upper 20h Error check lower 6Eh Error check upper O
253. put function selection 75 AREA3 NET OUT12 output function selection 72 TIM NET OUT13 output function selection 68 MOVE NET OUT14 output function selection 69 END NET OUT15 output function selection 71 TLC 0 Not used 10 MS2_R 35 R3 45 R13 61 LS_R 72 TIM 1 FWD_R 11 MS3_R 36 R4 46 R14 62 HOMES R_ 73 AREA1 2 RVS_R 12 MS4_R 37 R5 47 R15 63 SLIT_R 74 AREA2 3 HOME_R 13 MS5_R 38 R6 48 MO_R 65 ALM 75 AREA3 4 START_R 16 FREE_R 39 R7 49 M1_R 66 WNG 80 S BSY 5 SSTART_R 17 C ON_R 40 R8 50 M2_R 67 READY 6 JOG_R 18 STOP_R 41 R9 51 M3_R 68 MOVE 7 JOG_R 32 RO 42 R10 52 M4_R 69 END 8 MSO_R 33 R1 43 R11 53 M5_R 70 HOME P 9 MS1_R 34 R2 44 R12 60 LS_R 71 TLC 3 Explanation of I O signals 3 3 Input signals The input signals of the driver are photocoupler inputs o Direct I O T O for normally open ON Current carrying OFF Not current carrying T O for normally closed ON Not current carrying OFF Current carrying e Network I O ON 1 OFF 0 E Internal input circuit 4 4 KQ INO input r 1 KQ 4 4 KQ IN1 input o rl PAC 4 4 KQ IN2 input o f kaj K 4 4 KQ IN3 input o Kal PAC 44ko IN4 input o Kal VAC 4 4 KQ IN5 input o Kal VAC 4 4kQ IN6 input TKO K IN7 input aaka IN COM1 o i FAK 2 23 3 Explanation of I O signals E MO to M5 input
254. r operating 69 END Output when the positioning operation is 3 he ace completed completion 2 21 3 Explanation of I O signals 2 22 Assignment No Signal name Function Data read 70 HOME P _ Output when the motor is in home position Ps beot i 71 TLC Output when the load is outside of the motor a Inside torque range torque range 1 Outside torque range 72 TIM Output once every 7 2 rotation of the motor 0 OFF output shaft 1 ON 73 AREA1 Output when the motor is within the area 1 f 74 AREA2 Output when the motor is within the area 2 ne arsa Inside area 75 AREA3 Output when the motor is within the area 3 80 S BSY Output when the driver is in internal processing 0 OFF status 1 ON Related parameters Parameter name Description Initial value NET OUTO output function selection 48 MO_R NET OUT1 output function selection 49 M1_R NET OUT2 output function selection 50 M2_R NET OUT3 output function selection 4 START_R NET OUT4 output function selection 70 HOME P NET OUT5 output function selection 67 READY NET OUT6 output function selection 66 WNG NET OUT7 output function selection Assigns the following output signals to 65 ALM NET OUTS8 output function selection NET OUTO to NET OUT15 80 S BSY NET OUT9 output function selection 73 AREA1 NET OUT10 output function selection 74 AREA2 NET OUT11 out
255. r was enable this alarm was generated e Perform the P PRESET or e The power Was turmed on return to home operation Possible Absolute position while the position origin 33h iror was not set e Check the connection of or not On i the battery Or change the possible e The power was turned on battery while the battery was not connected e The power was turned on while operation range of multi rotation was exceeded the specification 4Ah Return to home is see ia Perform the position preset incomplete ae or return to home operation origin has not been set Both the LS and LS Check the sensor logic and 60h a both sides signals were detected when setting of LS logic level active LS detection was enabled parameter The LS opposite to the operating direction has 61h Reverse limit sensor detected during a aif Check the LS wiring connection return to home operation in 2 sensor mode or 3 sensor 7 mode e An unanticipated load may have been applied during the return to home operation Check the load e If the installation positions of LS and HOMES are close to one another the return to home sequence Possible On may not end properly depending on the starting 62h H Return to home operation did direction of return to home ome seeking error i i not complete normally operation Review the sensor installation positions and the starting direction of return to home operation e Return to home operation may have
256. rameter Parameter name Description Setting range Initial value Speed error gain 1 Adjusts vibration during constant speed operation Speed error gain2 Adjusts vibration during acceleration deceleration 0 to 500 45 1 9 Control mode The driver operates in one of two control modes the normal mode and the current control mode If noise is heard during high speed operation or there is notable vibration it may be effective to switch to the current control mode Note however that a slight delay may occur in the current control mode compared to the normal mode depending on the condition of the load Keep the driver in the normal mode during normal conditions of use Related parameter Parameter name Description Setting range Initial value Control mode Sets the control mode 0 Normal mode 0 1 Current control mode 1 Adjustment and setting 1 10 Position loop gain speed loop gain speed loop integral time constant These items are effective in the current control mode Vibration that occurs while the motor is accelerating decelerating or at standstill can be adjusted to an optimal value The optimal value varies depending on the equipment and operating conditions Related parameter Parameter name Description Setting range Initial value Position loop gain This adjusts the motor response in reaction to the position deviation When this value is increased the deviation be
257. ransmission rate setting switch SW2 to positions 8 to F the transmission rate setting switch error will occur E RS 485 communication error 84h The table below shows the relationship between alarms and warnings when an RS 485 communication error occurs Bescipuon Description of error A warning generates when one RS 485 communication error 84h has been detected Warning ear 5 If normal reception occurs while the warning is present the warning will be reset automatically An alarm generates when a RS 485 communication error 84h has been detected Alarm i Pave 3 consecutively by the number of times set in the communication error alarm parameter E RS 485 communication timeout 85h If communication is not established with the master after an elapse of the time set by the communication timeout parameter a RS 485 communication timeout alarm will generate 5 36 11 Timing charts 11 Timing charts E Communication start P ly i D ower supply input OFF 1 s or more Communication Master Query Slave Response Tb2 transmission waiting time C3 5 silent interval command processing time E Operation start 2 Master Query Slave Response Communication MOVE ON output OFF A message including a query to start operation via RS 485 communication 2 Tb2 transmission waiting time C3 5 silent interval c
258. rate of RS 485 switch SW2 Dra R communication Factory setting 7 Use this switch when controlling the system via RS 485 P 5 6 communication P 6 5 No 1 Using this switch and the address number setting switch P 6 17 SW1 set the address number slave address of RS 485 Function setting switches communication Factory setting OFF SW3 No 2 Set the protocol of RS 485 communication Factory setting OFF No 3 Not used No 4 Set the termination resistor 120 Q of RS 485 communication Factory setting OFF Connect the lead wires from the electromagnetic brake Electromagnetic brake terminals CN1 MB1 MB2 MB1 Electromagnetic brake black MBz2 Electromagnetic brake white P2 8 Power supplyinputterminals Connect the power supply of the driver i pp y inp 24 VDC 48 VDC power supply input CN1 i power supply GND Frame Ground Terminal CN1 Ground using a wire of AWG24 to 16 0 2 to 1 25 mm P 2 12 Motor connector CN2 Connect the motor cable or flexible motor cable to connect the P2 8 motor Data edit connector CN3 Connect a PC in which the MEXEO2 has been installed or the P2 12 OPX 2A Battery connector CN4 Connect the accessory battery sold separately P 2 14 Sensor signal connector CN5 Connects the limit sensor P 2 8 RS 485 communication ert connectors CN6 CN7 Connect the RS 485 communication cable P 2 13 Input signal connector CN8 Connect the input signals cable P28 Output signal
259. ration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate E Alarm warning parameter Command code Description Setting range Initial value Effective Read Write 0180h 1180h Overload alarm 1 to 300 1 0 1 s 50 x 0181h 1181h Overflow rotation alarm during current on 1 to 30000 1 0 01 rev 300 0184h 1184h Return to home incomplete alarm 0 DiSaDIe 0 Cc 1 Enable 0840h 1840h Overflow rotation alarm during current off 1 to 30000 1 0 01 rev 10000 01A0h 11A0h_ Overheat warning 40 to 85 C 104 to 185 F 85 01A1h 11A1h Overload warning 1 to 300 1 0 1 s 50 01A2h 11A2h Overspeed warning 1 to 5000 r min 4500 A 01A3h 11A3h Overvoltage warning 150 to 630 1 0 1 V 630 01A4h 11A4h_ Undervoltage warning 180 01A5h 11A5h_ Overflow rotation warning during current on 1 to 30000 1 0 01 rev 300 Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration E Coordination parameter C d cod ommen cone Description Setting range Initial value Effective Read Write 01COh 11C0h Electronig gear A 1 to 65535 1 01C1h 11C1h Electronic gear B c 3 Sna 0 Positive direction CCW 01C2h 11C2h_ Motor rotation direction 1 Positive direc
260. re to ground the Protective Earth Terminal of the motor Refer to p 2 12 for grounding method e Grounding the driver Refer to p 2 12 for grounding method E Wiring the power supply cable and I O signal cable e Use a shielded cable for the power supply cable and I O signal cable and keep it as short as possible e To ground a shielded cable use a metal cable clamp or similar device that will maintain contact with the entire Shielded cable circumference of the cable Attach a cable clamp as close to the end of the cable as possible and connect it as shown in the figure Cable clamp 1 Installation E Notes about installation and wiring e Connect the motor driver and other peripheral control equipment directly to the grounding point so as to prevent a potential difference from developing between grounds e When relays or electromagnetic switches are used together with the system use noise filters and CR circuits to suppress surges generated by them e Keep cables as short as possible without coiling and bundling extra lengths e Place the power cables such as the motor and power supply cables as far apart 200 mm 7 87 in as possible from the signal cables If the power cables and signal cables have to cross cross them at a right angle Place the AC input cable and output cable of a noise filter separately from each other e When extending the distance between the motor and driver it is recommended that an accessory motor cabl
261. red take measures to hold the moving part in place since the motor stops and loses its holding torque Failure to do so may result in injury or damage to equipment e When the driver generates an alarm any of the driver s protective functions is triggered first remove the cause and then clear the protection function Continuing the operation without removing the cause of the problem may cause malfunction of the motor and driver leading to injury or damage to equipment Installation e Install the motor and driver in the enclosure in order to prevent injury Connection e Keep the driver s input power voltage within the specified range Failure to do so may result in fire e For the driver s power supply use a DC power supply with reinforced insulation on its primary and secondary sides Failure to do so may result in electric shock e Connect the cables securely according to the wiring diagram Failure to do so may result in fire e Do not forcibly bend pull or pinch the cable Doing so may cause fire e Turn off the power to both the PC and driver before connecting your PC to the driver Failure to do so may cause electric shock Operation e Turn off the driver power in the event of a power failure Or the motor may suddenly start when the power is restored and may cause injury or damage to equipment e Do not turn the FREE input to ON while the motor is operating The motor will stop and lose its holding power Doing so may resul
262. ress to start writing from Register address lower 04h Number of registers upper 00h Number of registers to be written from the starting register address Number of registers lower 06h 6 registers 0006h Number of data bytes OCh Twice the number of registers in the command Val itten t ister add 00h ZE a anse egis er address Upper Value written to register address 0604h Value written to register address lower 00h Val itten t ister add 1 27h Data aR h Sny regis 6r Address T Uppi Value written to register address 0605h Value written to register address 1 lower 10h Val itten t ister add 2 00h aug we ae rgis er address 2 upper Value written to register address 0606h Value written to register address 2 lower 00h Val itten t ister add 3 4Eh ae n Sme ited eleddiess SS UPPE Value written to register address 0607h Value written to register address 3 lower 20h Val itten t ister add 4 00h ound os giS er address t4 upper Value written to register address 0608h Value written to register address 4 lower 07h Val itten t ister add 5 Ath ae ene 1991s er address t5 Upper Value written to register address 0609h Value written to register address 5 lower 20h E heck I 1Dh rfar check lower Calculation result of CRC 16 Error check upper A9h e Response Field name Data Description Slave address 04h Function code 10h Register add 06h egis er address upper Samea diety Data Register address lower 04h Number of registers
263. return lower Acceleration deceleration of 4164 io automatic return upper 1 to 1 000 000 4000 Acceleration deceleration of 1 0 001 ms kHz or 1 0 001 s 4165 1045h automatic return lower 4166 1046h T speed of automatic return SGA f O to 1 000 000 Hz 500 4167 1047h tarting speed of automatic return lower 4168 1048h JOG travel amount upper 1 to 8 388 607 step 1 4169 1049h JOG travel amount lower 704 02C0h Home seeking mode upper 0 2 sensor mode 1 3 sensor mode 1 705 02C1h Home seeking mode lower 2 Push mode 706 02C2h oe speed of home seeking Gee l T Sag 1 to 1 000 000 Hz 1000 707 02C3h perating speed of home seeking lower Acceleration deceleration of 708 02C4h home seeking upper 1 to 1 000 000 1000 Acceleration deceleration of 1 0 001 ms kHz or 1 0 001 s 709 02C5h home seeking lower 710 02C6h ae speed of home seeking Soe eT 1 to 1 000 000 Hz 500 711 02C7h arting speed of home seeking lower 712 02C8h fee offset of home seeking P PE r fh ki 8 388 608 to 8 388 607 step 0 713 02C9h osition offset of home seeking lower 714 02CAh Starting direction of home seeking l E upper 0 Negative direction i i irecti i 1 Positive direction 715 02CBh Starting direction of home seeking itive direct lower 5 27 8 Register address list 1 Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effec
264. rning record 7 lower 166 OOA6h_ Warning record 8 upper 167 00A7h Warning record 8 lower 168 OOA8h_ Warning record 9 upper 169 00A9h Warning record 9 lower 170 OOAAh_ Warning record 10 upper 171 OOABh_ Warning record 10 lower 172 OOACh Communication error code l ae upper Monitors the last received communication error 173 OOADh Communication error code code lower 5 21 8 Register address list Register address Name Description Range Dec Hex 174 OOAEh Communication error code record 1 upper 175 OOAEh Communication error code record 1 lower 176 00B0h Communication error code record 2 upper 177 00B1h Communication error code record 2 lower 178 00B2h Communication error code record 3 upper 179 00B3h Communication error code record 3 lower 180 00B4h Communication error code record 4 upper 181 00B5h Communication error code record 4 lower 182 00B6h Communication error code record 5 upper Communication error code 183 00B7h record 5 lower Monitors the communication error records 1 to 00h to FFh Communication error code 10 that have occurred in the past 184 OOB8h record 6 upper 185 00B9h Communication error code record 6 lower 186 OOBAh Communication error code record 7 upper 187 OOBBh Communication error code record 7 lower 188 OOBCh Communication error
265. roller type with ease and also functions as a monitor Model OPX 2A E Data setting software The data setting software lets you set parameters for your AR Series and monitor its operating condition using a PC The software comes with a PC interface cable 5 m 16 4 ft The cable is connected to the USB port on the PC Model MEXEO2 E RS 485 communication cable You can link drivers using this cable connected to the RS 485 communication connectors CN6 CN7 Model CCO01 RS4 0 1 m 0 3 ft CC002 RS4 0 25 m 0 8 ft Battery set This is a battery set including a battery and battery holder required in the absolute position backup system Model BATO1B e Unauthorized reproduction or copying of all or part of this manual is prohibited If a new copy is required to replace an original manual that has been damaged or lost please contact your nearest Oriental Motor branch or sales office e Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information circuit equipment or device provided or referenced in this manual e Characteristics specifications and dimensions are subject to change without notice e While we make every effort to offer accurate information in the manual we welcome your input Should you find unclear descriptions errors or omissions please contact the nearest office e Orientalmotor and Qsrep are registered trademarks or tr
266. ry connector CN4 oon Ff WwW ND Turn on the driver power Set the absolute position backup system parameter to enable Turn off the driver power and then turn on again Perform the return to home operation or P PPRESET input Since the absolute position error alarm generates at this time reset the alarm with reference to p 8 3 e Do not turn off the driver power before the return to home operation or P PPRESET input is completed The absolute position error alarm may generate when turning on the power next time e Even when the absolute position backup system is used the absolute position may be lost if the motor cable is disconnected If this occurs turn off the power and disconnect the battery and then set up again following above steps E Specification of the absolute position backup system Data retention period fully charged motor standstill 15 days At an ambient temperature of 20 C 68 F Charging time 32 hours At an ambient temperature of 20 C 68 F Operation range of mu Iti rotation 167 772 to 167 772 revolutions 2 Operation 2 Operation This chapter explains the types of operation and timing charts Setting by operation data and parameters Positioning operation Operating function e Single motion operation e Linked motion operation Spee
267. s 1 s or less Hold Release When the C ON input is not assigned or when the C ON input is assigned as normally closed E C ON input C ON input READY ON output OFF ON OFF 250 ms or less Motor excitation 200 ms or less 6 ms or less 220 ms or less Not excitation 250 ms or less Excitation 60 ms or less Electromagnetic brake Hold Release 4 11 4 Timing charts E STOP input e When the STOP input action parameter is immediate stop 4 ms or more STOP i ae input OFF MOVE A output OFF END output OFF 6 ms or less READY si output OFF Motor operation Motor excitation Excitation Electromagnetic brake Release The specific time varies depending on the load operating speed speed filter and other e When the STOP input action parameter is deceleration stop 4 ms or more STOP i oe input OFF ON OFF MOVE output ON END output OFF _6 ms or less READY a output OFF 6 ms or less Motor operation Motor excitation Excitation Electromagnetic brake Release The specific time varies depending on the load operating speed speed filter and other 4 12 4 Timing charts e When the STOP input action parameter is immediate stop current off 4 ms or
268. s and warnings The driver provides alarms that are designed to protect the driver from overheating poor connection error in operation etc protective functions as well as warnings that are output before the corresponding alarms generate warning functions 2 1 Alarms When an alarm generates the ALM output will turn OFF and the motor will stop At the same time the ALARM LED will start blinking The present alarm can be checked by counting the number of times the ALARM LED blinks or using the OPX 2A MEXEO2 or RS 485 communication Example Overvoltage alarm number of blinks 3 Approx Approx 200 ms 200 ms Approx 1 4 s Interval E Alarm reset Before resetting an alarm always remove the cause of the alarm and ensure safety and perform one of the reset operations specified below Refer to p 4 14 for the timing chart e Turn the ALM RST input to ON and then OFF The alarm will be reset at the OFF edge of the input e Perform an alarm reset using RS 485 communication e Perform an alarm reset using the OPX 2A or MEXEO2 e Cycle the power e Some alarms cannot be reset with the ALM RST input OPX 2A MEXEO2 or RS 485 communication Check the following table to identify which alarms meet this condition To reset these alarms cycle the power e The absolute position error alarm can be reset by turning the P CLR input from ON to OFF or executing the reset of the absolute posit
269. s to the branch or sales office from which you purchased the product Verify the model number of the purchased product against the number shown on the package label Check the model number of the motor and driver against the number shown on the nameplate Model names for motor and driver combinations are shown on p 1 15 MOtOL O ssovastoosntancssacnsessstestoss dasnposs a s eeseiuvapesssncbsece destpess tossvess doeapesaoe 1 unit Parallel Keytar e E E eal oA RE E EE EEE ENE lene 1 pe Supplied with geared types except for the AR24 AR46TH and AR66TH Cable for Mtr sei ei hice cai sssdiecbstoexecsdssdevceessdavcsach RE TE E EE 1 pe Supplied with a motor and driver package e Cable for electromagnetic brake ecceccesseesseeeceecseeeeeeeecesecseeeeeeeeeaeeneeeeees 1 pe Supplied with an electromagnetic brake motor and driver package IVE salad vaca T A dae N dade dives es san eceues TN 1 unit e CNI connector for power supply input terminals 5 pins cess 1 pe e CN5 connector for sensor signals 5 pins eseeceeeeeseeeceeeeeeneeeeeeeaeeeenees 1 pe e CN8 connector for input signals 9 pins cee eseeeeeeceeceeeseeeeeeeeceeeeseeeeees 1 pe e CN9 connector for output signals 7 pins e Motor OPERATING MANUAL eceseessscsseseseeeeeeneeseseeecneaeaeeeceeneeaeeeteenees 1 copy e Driver OPERATING MANUAL essesesessssseresesesereereseseserenssssseresesesereeeesesese 1 copy
270. sabled ON Enabled 6 17 2 Method of control via MECHATROLINK communication 2 3 I O field map for the NETCO1 M2 Update of remote I O data asynchronous is executed by the DATA_RWA Command 50h When the remote I O occupied size is 16 bit mode and the number of transmission bytes is 32 bytes initial value I O field map will be as follows See the network converter NETCO1 M2 USER MANUAL for other I O field map 6 18 Byte Part Type Command Response 1 DATA_RWA 50h DATA_RWA 50h Header field OPTION ALARM STATUS 4 5 6 Reserved Connection status 7 Address number 0 remote I O Address number 0 remote I O 8 input output 9 Address number 1 remote I O Address number 1 remote I O 10 input output 11 Address number 2 remote I O Address number 2 remote I O 12 input output 13 Address number 3 remote I O Address number 3 remote I O 14 input output Remote I O 15 Address number 4 remote I O Address number 4 remote I O 16 input output 17 Address number 5 remote I O Address number 5 remote I O 18 Data field input output 19 Address number 6 remote I O Address number 6 remote I O 20 input output 21 Address number 7 remote I O Address number 7 remote I O 22 input output 23 F OA Register address number Register address number
271. scription Setting range Initial value 0 Immediate stop Sets how the motor should stop 1 Deceleration stop STOP input action when a STOP input is turned ON 2 Immediate stop current OFF 3 Deceleration stop current OFF E C ON input This signal is used to excite the motor The motor will be excited when the C ON input is ON while the motor will become non excitation status when the C ON input is OFF When an electromagnetic brake motor is used the electromagnetic brake will be released after the motor is excited When the C ON input is not assigned to the direct I O or network I O this input will always be set to ON When assigning to both direct I O and network I O the function will be executed when both of them are set to ON E FREE input When the FREE input is turned ON the motor current will be cut off The motor will lose its holding torque and the output shaft can be turned manually When an electromagnetic brake motor is used the electromagnetic brake will be released Do not turn the FREE input ON when driving a vertical load Since the motor loses its holding torque the load may drop E P PRESET input This signal is used to set the command position current position to the preset position When the P PRESET input is turned ON the command position is set as the value of the preset position parameter This signal will become effective when turning from OFF to ON However the preset will not execute in th
272. se Related parameter Parameter name Description Setting range Initial value 0 Disable Smooth drive Sets whether to enable or disable smooth drive 1 Enable 1 1 6 Speed filter The motor response can be adjusted by setting the speed filter parameter when selecting the speed filter with the filter selection parameter When the speed filter level is raised vibration can be suppressed during low speed operation and starting stopping of the motor will become smooth Note however that an excessively high filter level will result in lower synchronicity with commands Set an appropriate value according to the specific load and purpose Related parameter Parameter name Description Setting range Initial value F Sets the filter function to adjust the motor 0 Speed filter Filter selection i 0 response 1 Moving average filter Speed filter Adjusts the motor response 0 to 200 ms 1 e When the speed filter parameter e When the speed filter parameter is set to 0 ms is set to 200 ms _ Setting speed T E c t J 1 1 I Ct J Setti d L A 1 An _ Setting spee ah e _ Motor speed _ Motor speed MOVE output MOVE output _ END output _ END output Note When setting the value of the speed filter parameter to 0 this
273. side side Cae ys Between HOMES and LS H rN T VL VS side side Yaa vp When concurrently using the SLIT input and or TIM signal After the HOME sensor is detected the operation will continue until the external sensor signal will be detected If the external sensor signal is detected while the HOME sensor is ON the return to home operation will complete Starting direction of return to home Starting direction of return to home Signal type ae ie jh i operation Positive side operation Negative side LS HOMES LS LS HOMES LS k s VR ns VR side vio vs side Eos vys SLIT input H side wo VS side g VO vS See VR See VR SLIT D SLIT ae OFF OFF LS HOMES LS LS HOMES LS ny VR i wens VR side vg vs side Eos vs TIM signal l a vs yi ys side NOA side A See VR see VR TIM 2 TIM S OFF OFF LS HOMES LS LS HOMES LS ony VR i ens VR side vy vs side Eos vys F ry i SLIT input and side a TVS side gg VE ES see VR See VR TIM signal suit ON i sut ON 1 OFF OFF ON la ON A mM OFF uu OFF e 2 sensor mode e Explanation of labels VS Starting speed of home seeking VR Operating speed of home seeking VL Last speed of return to home When VS lt 500 Hz VS When VS 2 500 Hz 500 Hz Broken li
274. side TVS Te VR VR The motor will move 200 steps from the mechanical end 3 26 2 Operation When concurrently using the SLIT input and or TIM signal When the moving part for the motor is pressed against a mechanical stopper etc the motor will rotates in the reverse direction After reversing the motor will move 200 steps and stop once Then the motor operation will continue until the external sensor signal will be detected When the external sensor signal is detected return to home operation will complete Starting direction of return to home Starting direction of return to home Signal type operation Positive side operation Negative side side side side side mechanical end mechanical end mechanical end mechanical end VL VR i ENI OPS VR side A vs side a ys SLIT input x v side Se ga VS side TVS VR VR VL SLIT S SLIT i OFF OFF side side side side mechanical end mechanical end mechanical end mechanical end VL i VR EN ants VR side A vs side 7 _yvs TIM signal x v side Se VS side TVS VR VR VL TIM on TIM a OFF OFF side side side side mechanical end mechanical end mechanical end mechanical end VL VR xy anes VR side A vs side M _vs A Between SLIT input 4 ir We is i side se side E and TIM signal sa
275. signal of the same direction is turned ON again during deceleration the motor will accelerate and continue operating If the FWD and RVS inputs are turned ON simultaneously the motor will decelerate to a stop When the operation data No is changed during continuous operation the speed will change to the one specified for the new operation data No See p 3 28 for continuous operation E JOG input JOG input These signals start the JOG operation Turn the JOG signal to ON to perform JOG operation in the positive direction Turn the JOG signal to ON to perform JOG operation in the negative direction See p 3 33 for JOG operation Related parameters Parameter name Description Setting range Initial value JOG travel amount Sets the travel amount for JOG 1 to 8 388 607 step 1 operation JOG operating speed Sets the operating speed for JOG 1 to 1 000 000 Hz 1000 operation Acceleration deceleration of Sets the acceleration deceleration rate l to 1 000 000 i 1 0 001 ms kHz or 1000 JOG or time for JOG operation 2 1 0 001 s JOG starting speed Seb thestartingspegd or JOG 0 to 1 000 000 Hz 500 operation 3 Explanation of I O signals E STOP input When the STOP input turns ON the motor will stop When the STOP input turns ON while a positioning operation is being performed the balance of the travel amount will be cleared See p 81 for stop action Related parameters Parameter name De
276. software overtravel detection using soft 4 1 ae 1 Enable limits Positive software limit Sets the value of soft limit in positive 8 388 607 A direction Sets the value of soft limit in negative cocaine 388 607 Negative software limit re Nea ve gativ step 8 388 608 direction Preset position Sets the preset position 0 Wrap settin Sets whether to enable or disable the 0 Disable 0 P 9 wrap function 1 Enable Wrap setting range Sets the wrap setting range 1 to 8 388 607 step 1000 Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 4 8 Common parameter Name Description Setting range Initial value Effective Data setter speed Sets the display method of the speed monitor 0 Signed 0 display for the OPX 2A 1 Absolute value A Sets whether to enable or disable to edit using Data setter edit the OPX 2A 0 Disable 1 Absolute position Sets whether to enable or disable the 1 Enable 0 c backup system absolute position backup system Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 4 9 Communication parameter Name Description Setting range Initial value Effective Sets the condition in which a communication Communication timeout timeout occurs in RS 485 communication 0 to 10000 ms 0 It is not monitore
277. ss 6 ms or less 6 ms or less i 1 The specific time varies depending on the load operating speed speed filter and other 2 This is the value of the dwell time to be set in operation data No 1 4 16 E Push motion operation 4 Timing charts e When the positioning operation is completed before turning to the push motion status START input MO to M5 input MOVE output END output 4 ms or more 0 ms or more _ __ ll Ee OFF 4 ms or more on D X No 1 No 2 OFF o o o 6 ms or less 6 ms or less ON OFF 6 ms or less 6 ms or less ON OFF 6 ms or less 6 ms or less READY BA output OFF TLC output Motor operation ON OFF No 1 No 2 The specific time varies depending on the load operating speed speed filter and other e When the positioning operation is started from the push motion status START input ON MO to MS input Co Ne MOVE output END output 4 ms or more ON OFF 4 ms or more 0 ms or more a No 2 6 ms or less 6 ms or less ON OFF 6 ms or less ON OFF 6 ms or less 6 ms or less READY oN output Opp TLC output Motor operation ON OFF No 1 6 ms or less e 4 17 4 Timing charts E Direct positioning operation 4 ms or more MS i ON input OFF 6 ms or less MOVE PN output OFF 6 ms or
278. ssigned to the NET OUTO to NET OUT15 of remote I O using the parameter See the following table for the assignments of the NET OUTO to NET OUTIS For details on parameter refer to I O function RS 485 parameter on p 6 32 3 Details of remote I O bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 NET OUT15 NET OUT14 NET OUT13 NET OUT12 NET OUT11 NET OUT10 NET OUT9 NET OUT8 TLC END MOVE TIM AREA3 AREA2 AREA1 S BSY bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO NET OUT7 NET OUT6 NET OUT5 NET OUT4 NET OUT3 NET OUT2 NET OUT1 NET OUTO ALM WNG READY HOME P START_R M2_R M1_R MO_R Initial value Signal name Function Setting range Not used Set when the output terminal is not used FWD_R Output in response to the FWD RVS_R Output in response to the RVS HOME_R Output in response to the HOME START_R Output in response to the START SSTART_R Output in response to the SSTART JOG_R Output in response to the JOG JOG_R Output in response to the JOG MSO_Rto MS5 R_ Output in response to the MSO to MS5 ae FREE_R Output in response to the FREE 4 ae C ON_R Output in response to the C ON STOP_R Output in response to the STOP RO to R15 Output the status of the general signal RO to R15 MO _RtoM5 R Output in response to the MO to M5 LS_R Output in response to the
279. ster address to be written Data Register address lower 4Bh Val it 00h ae wr e upper Value written to the register address Value write lower 50h E heck I F8h itor check lowei Calculation result of CRC 16 Error check upper 6Bh e Response Field name Data Description Slave address 02h Function code 06h Register add 02h egis er address upper Samas duery Data Register address lower 4Bh Value write upper 00h Value write lower 50h E heck I F8h rror check lower Calculation result of CRC 16 Error check upper 6Bh 5 15 7 Function code 7 3 Diagnosis This function code is used to diagnose the communication between the master and slave Arbitrary data is sent and the returned data is used to determine whether the communication is normal 00h reply to query is the only sub function supported by this function code E Example of diagnosis Send arbitrary data 1234h to the slave e Query Field name Data Description Slave address 03h Slave address 3 Function code 08h Diagnosis Sub function code upper 00h Return the query data Data Sub function code lower 00h Data Vale upper 1al Arbitrary data 1234h Data value lower 34h Error check ewe ECN Calculation result of CRC 16 Error check upper 9Eh e Response Field name Data Description Slave address 03h Function code 08h Sub function code upper 00h Sub function code lower 00h
280. t E Notation rules The following term is used in explanation of this manual Term Description This is a generic name for a programmable controller master module Master controller pulse generator and so on 1 2 2 Operating Manuals for the AR Series 2 Operating Manuals for the AR Series Operating manuals for the AR Series FLEX DC power input built in controller type are listed below After reading these manuals keep them in a convenient place so that you can reference them at any time Applicable product Type of operating manual Model Description of operating manual AR Series FLEX DC power input Built in controller type Motor OPERATING MANUAL HM 40051 This manual explains the functions as well as the installation method and others for the motor Driver OPERATING MANUAL HM 60187 This manual explains the functions as well as the installation method and others for the driver USER MANUAL HM 60190 This manual explains the functions installation connection method and data setting method as well as the operating method and others for the motor and driver It also explains how to use the MEXEOZ2 Data setter OPX 2A OPERATING MANUAL HM 60219 This manual explains the functions and installation connection method as well as data setting method and others for the accessory OPX 2A sold separately 1 3 3 Overview of the product 3 Overview o
281. t READY ON output OFF MOVE CN output opp END Ai output OFF Motor excitation Electromagnetic brake Deviation 0 Position deviation Internal speed command ON OFF 250 ms or less 250 ms or less 200 ms or less Not excitation 250 ms or less TT Hold Excitation Release 250 ms or less 60 ms or less The specific time varies depending on the load operating speed speed filter and other 4 21 4 Timing charts 4 22 5 Method of control via Modbus RTU RS 485 communication This part explains how to control from the master controller via RS 485 communication The protocol for the RS 485 communication is the Modbus protocol Table of contents 1 2 3 4 Guidance sissies csecstes cissiies cctesen cesta 5 2 Communication specifications 5 5 Setting the switches ceeee 5 6 Setting the RS 485 COMMUNICATION cccceeeeeeeeeeeeeeeeees 5 8 Communication mode and communication timing 00 5 9 5 1 Communication mode ceee 5 9 5 2 Communication timing e 5 9 Message mareren eee 5 10 6T QUe saua a tbeeeslasdbiteee bette 5 10 6 2 RESPONSE i an aaa iets 5 12 Function code nasses 5 14 7 1 Reading from a holding register s 5 14 7 2 Writing to a holding register 5 15 Ta DIAQMOSIS oea AATA 5 16 7 4 Writing to multiple holding registers 5 17 8 Register address list
282. t function selection Function of NET OUTO 65 ALM See table next NET OUT8 output function selection to NET OUT15 80 S BSY NET OUT9 output function selection 73 AREA1 NET OUT10 output function selection 74 AREA2 NET OUT11 output function selection 75 AREA3 NET OUT12 output function selection 72 TIM NET OUT13 output function selection 68 MOVE NET OUT14 output function selection 69 END NET OUT15 output function selection 71 TLC Indicates the timing for the data to become effective C Effective after executing the configuration e Setting range for NET IN input function selection 0 Not used 8 MSO 18 STOP 38 R6 46 R14 1 FWD 9 MS1 27 HMI 39 R7 47 R15 2 RVS 10 MS2 32 RO 40 R8 48 MO 3 HOME 11 MS3 33 R1 41 R9 49 M1 4 START 12 MS4 34 R2 42 R10 50 M2 5 SSTART 13 MS5 35 R3 43 R11 51 M3 6 JOG 16 FREE 36 R4 44 R12 52 M4 7 JOG 17 C ON 37 R5 45 R13 53 M5 e Setting range for NET OUT output function selection 0 Not used 10 MS2_R 35 R3 45 R13 61 LS_R 72 TIM 1 FWD_R 11 MS3_R 36 R4 46 R14 62 HOMES R_ 73 AREA1 2 RVS_R 12 MS4_R 37 R5 47 R15 63 SLIT_R 74 AREA2 3 HOME_R 13 MS5_R 38 R6 48 MO_R 65 ALM 75 AREA3 4 START_R 16 FREE_R 39 R7 49 M1_R 66 WNG 80 S BSY 5 SSTART_R 17 C ON_R 40 R8 50 M2_R 67 READY 6 JOG_R 18 STOP_R 41 R9 51 M3_R 68 MOVE 7 JOG_R 32 RO 42 R10 52 M4_R 69 END 8 MSO_R 33 R1 43 R11 53 M5_R 70 HOME P 9 MS1_R 34 R2 44 R12 60 LS_
283. t has been turned OFF and turn the START input OFF 5 When the positioning operation is completed the READY output will be turned ON No 1 No 2 Motor operation No 1 ON MO to M5 input OFF ON START input OFF READY output O output OFF MOVE ON output OFF END 2 output OFF In direct I O turn the START input ON after setting the MO to M5 inputs In network I O the operation will be performed even when turning the MO to M5 inputs and the START input ON simultaneously e Linked motion operation2 By setting the operation function of operation data to Linked motion2 an operation data whose rotation direction is different can be linked In this case the system stops for the dwell time after each positioning operation and then performs operation according to the next operation data If operation data includes data for which single motion or push motion is set the motor will stop after the positioning with respect to the single or push motion operation data is completed Note e Up to four sets of operation data can be linked When combining the linked motion operation and the linked motion operation2 make sure the total number of linked operation data sets does not exceed four When linked motion operation is performed with five or more sets of operation data linked together an operation data error alarm will generate upon start of operation e No 0 wil
284. t in fire or injury Maintenance and inspection e To prevent the risk of electric shock do not touch the terminals while performing the insulation resistance test or dielectric strength test Disposal e To dispose of the motor and driver disassemble it into parts and components as much as possible and dispose of individual parts components as industrial waste 5 Safety precautions E Handling the battery Be sure to observe the following instructions when using the accessory battery sold separately Handling the battery without observing the instructions may cause the liquid leakage heat generation and explosion etc which may result in injury or damage to equipment Z Warning Do not heat the battery or throw it into a fire Never short circuit the battery or connect the positive and negative terminals in reverse When carrying storing the battery do not place it together with metal necklaces hairpins coins keys or other conductive objects When storing the battery store it away from direct sunlight in a place not subject to high temperature or high humidity Do not disassemble or modify the battery Do not apply solder directly to the battery Use a dedicated driver to charge the battery The battery has a vent structure for the release of internal gas Do not apply a strong force to the battery since it may cause this structure to deform When installing the battery into the machine never place it inside a se
285. t in injury or damage to equipment Repair disassembly and modification e Do not disassemble or modify the motor and driver Doing so may cause injury Refer all such internal inspections and repairs to the branch or sales office from which you purchased the product 5 Safety precautions 1 8 Z Caution General e Do not use the motor and driver beyond its specifications Doing so may result in injury or damage to equipment e Keep your fingers and objects out of the openings in the motor and driver Failure to do so may result in fire or injury e Do not touch the motor and driver during operation or immediately after stopping The surface is hot and may cause a skin burn s e Do not use other batteries than the accessory dedicated battery BATO1B sold separately Doing so may result in injury or damage to equipment Transportation e Do not carry the motor by holding the motor output shaft or motor cable Doing so may cause injury Installation e Provide a cover over the rotating parts output shaft of the motor Failure to do so may result in injury e Do not leave anything around the motor and driver that would obstruct ventilation Doing so may result in damage to equipment Connection e The power supply connector CN1 data edit connector CN3 and RS 485 communication connector CN6 CN7 of the driver are not electrically insulated When grounding the positive terminal of the power supply do not connect any
286. t will turn OFF automatically E Warning records Up to 10 generated warnings are saved in the RAM in order of the latest to oldest Warning records saved in the RAM can be read or cleared when performing any of the following e Read the warning records by the monitor command via RS 485 communication e Clear the warning records by the maintenance command via RS 485 communication e Read and reset the warning records using the OPX 2A or MEXEO2 Note You can also clear the warning records by turning off the driver power E Warning list Code Warning type Cause Remedial action e When the motor was in a state of current ON the deviation between the command position and actual position exceeded the e Reduce the load or make the acceleration 10h Excessive position value set in the parameter for overflow ceceeraton longer deviation warning rotation during current on e If the driver is in the current control mode e The load is large or acceleration increase the current limit value deceleration is too short When the motor was in a state of current OFF Excessive position me deviation petween Mie COMM ane position Reduce the amount of rotation at current OFF a i and actual position exceeded the value set in ie 12h deviation during A to the specified setting value or less Or the parameter for overflow rotation during y current OFF os change the setting value current off This warning is ou
287. tch Oms osut E 0173 ON OFF of the signal Ons LJ ours Ons m outs Ons Cn You can monitor the ON OFF status of the signals under INPUT For the signals under OUTPUT the ON OFF status switches every time O is clicked Each signal is shown in green if ON and in white if OFF Display I O signal ON green Conducting OFF white Non conducting 4 To end the I O test unselect Start I O Test The signals under OUTPUT output signals return to the status they had before the I O test 7 24 6 Test function 6 3 Test operation You can operate a motor using the MEXEO2 The motor operation can be checked by test operation before connecting to a master controller During test operation the motor rotates at the set speed while each operation button is pressed Perform test operation after confirming thoroughly that the motor rotation will not cause any dangerous situation 1 In the window selection area click Operation under Test The test operation window appears 2 Select Start Test Operation 34 MEXEO2 Untitledi Eile Edit Move View Communication Tool Window Help a izl AR ncaa DC F Start Test Operation Data Operation Data Parameter Command Position 0 step 170 Parameter Motor Parameter cus peed 1 min Operation Parameter Alarm Condition 00 No Alarm Home Operation Parameter Alam Parameter Position Lost Alarm Res
288. te You can also clear the communication records by turning off the driver power Code Communication error type Cause Remedial action e Check the connection between the One of the following errors was detected master controller and driver 84h RS 485 communication error Framing error Check th FRS 485 BCC error e Check t e setting 0 communication The command requested by the master e Check the setting value for the 88h Command not yet defined could not be executed because of being command undefined e Check the flame configuration The command requested by the master 89h Execution disable due to user could not be executed since the OPX 2A Wait until the processing for the I F communication in progress or MEXE02 was communicating with the OPX 2A or MEXEO2 will be completed driver The command could not be executed e Wait until the internal processing will because the driver was processing the complete 8Ah Non volatile memory non volatile memory e When the EEPROM error was processing in progress Internal processing was in progress generated initialize the parameter S BSY is ON using the OPX 2A MEXEO2 or An EEPROM error alarm was present RS 485 communication The setting data requested by the master 8Ch Outside setting range could not be executed due to outside the Check the setting data range 8Dh Command execute disable Wen ME comman co dinot oe Check the driver status
289. te to 07h The result of actual CRC 16 calculation is calculated including the data on and after the third byte Description Result Overflow digit Default value in CRC register FFFFh 1111 1111 1111 1111 First byte 02h 0000 0000 0000 0010 XOR with default value FFFFh 1111 1111 1111 1101 First shift to right 0141 1141 1111 1110 1 1010 0000 0000 0001 XOR with ADOT 1101 1111 1111 1111 Second shift to right 0110 1111 1111 1111 1 i 1010 0000 0000 0001 XOR withAGOIN 1100 1111 1111 1110 j Third shift to right 0110 0111 1111 1111 0 Fourth shift to right 0011 0011 1111 1111 1 1010 0000 0000 0001 XOR with ACh 1001 0011 1111 1110 i Fifth shift to right 0100 1001 1111 1111 0 Sixth shift to right 0010 0100 1111 1111 1 1010 0000 0000 0001 XOR WAGON 1000 0100 1111 1110 Seventh shift to right 0100 0010 0111 1111 0 Eighth shift to right 0010 0001 0011 1111 1 1010 0000 0000 0001 XOR MERON 1000 0001 0011 1110 0000 0000 0000 0111 XOR with next byte 07h 1000 0001 0011 1001 First shift to right 0100 0000 1001 1100 1 1010 0000 0000 0001 no ronan 1110 0000 1001 1101 E Second shift to right 0111 0000 0100 1110 1 i 1010 0000 0000 0001 XOR with 200th 1101 0000 0100 1111 Third shift to right 0110 1000 0010 0111 1 1010 0000 0000 0001 XOR wih ACOTh 1100 1000 0010 0110 z Fourth shift to right 0110 0100 0001 0011 0 Fifth shift to right
290. ter controller for the Check the connector and Possible On network converter showeda cable of the master controller disconnected status 83h Communication E fee setting Check the transmission rate Not off switch setting error setting switch SW2 possible out of specification 1 When an alarm generates the motor operates as follows Excitation off When an alarm generates the motor current will be cut off and the motor will lose its holding torque The electromagnetic brake will automatically actuate and hold the position when using the electromagnetic brake motor Excitation on Even when an alarm generates the motor current will not be cut off and the motor position will be held 2 This alarm cannot be reset by the ALM RST input Reset the alarm using the P CLR input 2 Alarms and warnings No of Reset i Motor ALARM using the ne Code LED Alarm type Cause Remedial action ALM RST excitation blinks input The number of consecutive e Check the connection RS 485 RS 485 communication between the master 84h 3 icati errors reached the value set controller and driver Possible On communication error in the communication error e Check the setting of alarm parameter RS 485 communication The time set in the 7 x RS 485 communication timeout Check the connection ar parameter has elapsed and 85h communication Toh between the master timeout yet the communic
291. ter list I O parameters p 3 41 e STOP input action e Hardware overtravel e Overtravel action e Positioning completion signal range e Positioning completion signal offset e AREA1 positive direction position e AREA1 negative direction position e AREA2 positive direction position e AREA2 negative direction position e AREAS positive direction position e AREA negative direction position e Minimum ON time for MOVE output e LS logic level e HOMES logic level e SLIT logic level e MSO operation No selection e MS1 operation No selection e MS2 operation No selection e MS3 operation No selection e MS4 operation No selection e MS5 operation No selection e HOME P output function selection Motor parameters p 3 42 e RUN current e STOP current e Position loop gain e Speed loop gain e Speed loop integral time constant e Speed filter e Moving average time e Filter selection e Moving average e Moving average2 e Control mode e Smooth driver Operation parameters p 3 42 e Common acceleration e Common deceleration e Starting speed e JOG operating speed e Acceleration deceleration rate of JOG e JOG starting speed e Acceleration deceleration type e Acceleration deceleration unit e Automatic return operation e Operating speed of automatic return e Acceleration deceleration of automatic return e Starting speed of automatic return e JOG travel amount Return to ho
292. thin the MEXEO2 or data read by the driver will be saved as a file Data files can be saved in the MEXEO2 s dedicated file format mx2 or CSV format csv E Saving data by overwriting Click the Save icon in the toolbar The current data is 8 MEXEO2 Untitled saved over the existing data amp File Edit Move View Communication Tool 0 a s 8 memo o E Saving data under a different name 1 Click Save As from the File menu TRGE REO File Edit Move View Communication Tool New Ctrl N Open Ctrl O iki Close Save CtritS Saye Waveform Export Page Setup Print Preview Print Ctrl P Exit k S RIE BS s s 3 Data edit 2 Enter a new file name and click Save The data is saved under the specified name Savein E MyDocuments DK 2 a My Music ml My Pictures My Recent Documents e Desktop My Documents My Computer Mo Heke File name Untitled1 x ces Save as type MEXE02 format mx2 bd Cancel A E Saving data in CSV format Data saved in the CSV format can be edited in applications other than the MEXE02 Note that once saved in the CSV format files can no longer be opened or edited in the MEXE02 To edit a CSV file in the MEXEO2 open the file in an application other than the MEXEO2 and then paste the data to the MEXE0O2 1 Click Export from the File menu MEXE02 Untitled 1 File Edit
293. tic brake status Sue the following table for the assignments Direct I O and electromagnetic brake status 206Ah Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 IN1 INO SLIT HOMES LS LS 1 IN7 IN6 IN5 IN4 IN3 IN2 2 OUT5 outT4 ouT3 ouT2 OUuT1 OUTO 3 MB 4 4 Operation data Up to 64 operation data can be set data Nos 0 to 63 When the operation data is changed a recalculation and setup will be performed after the operation is stopped and the changed value will be set 4 Command code list Command code Description Setting range Initial value Read Write 0200h 1200h Position No 0 to to to 8 388 608 to 8 388 607 step 0 023Fh 123Fh Position No 63 0240h 1240h Operating speed No 0 to to to 0 to 1 000 000 Hz 1000 027Fh 127Fh_ Operating speed No 63 0280h 1280h Operation mode No 0 0 INC Incremental t9 9 to 1 ABS Absolute 02BFh 12BFh Operation mode No 63 02C0h 12C0h Operation function No 0 o Single motion 1 Linked motion ie to K 2 Linked motion 2 2 02FFh 12FFh Operation function No 63 3 Push motion 0300h 1300h Acceleration No 0 to to to 033Fh 133Fh Acceleration No 63 1 to 1 000 000 1000 0340h 1340h Deceleration No 0 1 0 001 ms kHz or 1 0 001 s to to to 037Fh 137Fh Deceleration No 63 0380h 1380h Push current No 0 to to to 0 to 500 1 0 1 200 03BF
294. tion JOG travel amount 3 ON JOG input OFF DJ READY sa output OFF MOVE a output OFF END ee output OFF 3 33 2 Operation E Test operation Test operation is performed using the OPX 2A or MEXEO2 JOG operation and teaching function can be performed e JOG operation Connection condition or operation status for the motor and driver can be checked using JOG operation Refer to the OPX 2A OPERATING MANUAL or p 3 33 Example When performing test operation with the OPX 2A Speed JOG operating speed 1step JOG starting speed Less than1 s 1 sor more Time Key e Teaching function This is a function to move the motor using the OPX 2A or MEXEO2 and set the current position as the position travel amount of the operation data When the position travel amount is set using teaching function the operation mode will always be the absolute mode The operating speed acceleration deceleration and starting speed of teaching function are same as those of JOG operation Perform teaching function when the position origin is set See p 3 36 for setting the position origin E Automatic return operation When a position deviation occurs by an external force while the motor is in a non excitation state the motor can automatically return to the position where the motor last stopped If the motor is reexcited by turning the C ON input ON or turni
295. tion CW 1 01C3h 11C3h Software overtravel 9 Disable 1 1 Enable 01C4h 11C4h_ Positive software limit 8 388 607 A 01C5h 11C5h_ Negative software limit 8 388 608 to 8 388 607 step 8 388 608 01C6h 11C6h_ Preset position 0 F 0 Disable 01C7h 11C7h_ Wrap setting 1 Enable 0 c 01C8h 11C8h Wrap setting range 1 to 8 388 607 step 1000 Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 6 30 E Common parameter 4 Command code list Commana coce Description Setting range Initial value Effective Read Write 01E0h 11E0h_ Data setter speed display 7 Signed 0 1 Absolute value A 01E1h 11E1h Data setter edit 0 Disable 1 01E2h 11E2h Absolute position backup system 1 Enable 0 C Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration E I O function parameter commend code Description Setting range Initial value Effective Read Write 0880h 1880h INO input function selection 3 HOME 0881h 1881h IN1 input function selection 4 START 0882h 1882h IN2 input function selection 48 MO 0883h 1883h IN3 input function selection 49 M1 See table next 0884h 1884h IN4 input function
296. tion Range Dec Hex dea 0090h Presentalarm upp r Monitors the present alarm code 129 0081h Present alarm lower 130 0082h Alarm record 1 upper 131 0083h Alarm record 1 lower 132 0084h Alarm record 2 upper 133 0085h Alarm record 2 lower 134 0086h Alarm record 3 upper 135 0087h Alarm record 3 lower 136 0088h Alarm record 4 upper 137 0089h Alarm record 4 lower 138 008Ah Alarm record 5 upper 1933 GOCE Alanmirecord S Swer Monitors the alarm records 1 to 10 140 008Ch Alarm record 6 upper 141 008Dh Alarm record 6 lower 142 008Eh Alarm record 7 upper 143 008Fh Alarm record 7 lower 144 0090h Alarm record 8 upper 145 0091h Alarm record 8 lower 146 0092h Alarm record 9 upper 147 0093h Alarm record 9 lower 148 0094h Alarm record 10 upper 149 0095h Alarm record 10 lower caeh caning lowes Monitors the present warning code 00h to FFh 152 0098h Warning record 1 upper 153 0099h Warning record 1 lower 154 O09Ah_ Warning record 2 upper 155 009Bh Warning record 2 lower 156 009Ch_ Warning record 3 upper 157 009Dh Warning record 3 lower 158 009Eh Warning record 4 upper 159 009Fh Warning record 4 lower 160 OOAOh_ Warning record 5 upper ie cust Warning record 5 lower Monitors the warning records 1 to 10 162 00A2h Warning record 6 upper 163 OOA3h_ Warning record 6 lower 164 00A4h Warning record 7 upper 165 OOA5h_ Wa
297. tion rate Register add egister address Name Setting range Initial value Effective Dec Hex 4496 1190h a HA function OUT8 functi 80 S BSY 4497 1191h NET UT8 output function selection lower 4498 1192h at function NET OUT9 functi 73 AREA1 4499 1193h N output function selection lower 4500 1194h NET OUT1 0 output function selection upper OUT10 fi i 74 AREA2 4501 1195h NET UT10 output function selection lower 4502 1196h eni oo function NET outs tput functi 75 AREAS Bi 1197h selection aan TON 4504 1198h ir output function selection upper NET OUT12 output f i 72 TIM 4505 1199h ibe output function selection lower 4506 119Ah beled 3 Ti function NET Uee tput functi 68 MOVE 4507 119Bh er output function selection lower 4508 419Ch S ie amy function NET OUT14 output functi 69 END 4509 119Dh Ds output function selection lower 4510 119Eh a va function NET E tput fi i 71 TLC 4511 119Fh ts output function selection lower 4608 1200h Communication timeout upper enti A 4609 1201h Communication timeout lower i 4610 1202h Communigation error alarm upper Feio tines 4611 1203h Communication error alarm lower 5 32 8 Register address list e Setting range for function selection parameters IN input function selection parameter 0 Not used 8 MSO 18 ST
298. tive after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate Register address Name Setting range Initial value Effective Dec Hex 716 02CCh SLIT detection with home seeking upper 0 717 02CDh SLIT detection with home seeking i lower 0 Disable i i i 1 Enabl 718 02CEh TIM signal detection with nable home seeking upper 0 B 719 02CFh TIM signal detection with home seeking lower pi onl eee O to 1000 1 0 1 1000 Operating current of push motion 721 02D1h home seeking lower 768 0300h Overload al vorload alarm upper 1 to 300 1 0 1 s 50 769 0301h Overload alarm lower 770 0302h eda during A a PP m Gun 1 to 30000 1 0 01 rev 300 771 0303h verflow rotation alarm during current on lower 776 0308h Return to home incomplete alarm upper 0 Disable o z 777 0309h Return to home incomplete alarm 1 Enable lower 4224 1080h a a ake during Son P Gun 1 to 30000 1 0 01 rev 10000 4225 1081h verflow rotation alarm during current off lower 832 0340h Overheat i verhgat warming Upper 40 to 85 C 104 to 185 F 85 833 0341h Overheat warning lower 834 0342h Overload warning upper 1 to 300 1 0
299. to Cannot be used RX n 7 B CRD communication status output RY n 7 F ready RX n 7 C to Cannot be used RX n 7 F 6 13 2 Method of control via MECHATROLINK communication 2 Method of control via MECHATROLINK communication See the following explanation when using the AR Series FLEX DC power input built in controller type in combination with the network converter NETCO1 M2 or NETCO1 M3 via MECHATROLINK communication Refer to 3 Details of remote I O on p 6 22 and 4 Command code list on p 6 24 for remote I O and command code 2 1 Guidance If you are new to the AR Series FLEX DC power input built in controller type read this section to understand the operating methods along with the operation flow This section explains the operation method in combination with the NETCO1 M2 as an example Note e Before operating the motor check the condition of the surrounding area to ensure safety e See the network converter NETCO1 M2 NETC0O1 M3 USER MANUAL for how to set the parameter STEP 1 Set the transmission rate station address and address number E Using the parameter 1 Set the communication address number 0 parameter of the NETCO1 Mz2 to Enable using the OPX 2A or MEXEO2 2 Cycle the NETCO1 M2 power e Communication parameters will be enabled after the power is cycled e When setting the parameters of the NETC0O1 M2 use the OPX 2A or MEXE0O2 E Using the switches
300. tput opp MOVE ON output OFF END output ON OFF TLC o output OFF In direct I O turn the START input ON after setting the MO to M5 inputs In network I O the operation will be performed even when turning the MO to M5 inputs and the START input ON simultaneously Example of push motion operation When combining the linked motion operation and the push motion operation Operation Position Operating Acceleration Deceleration Operation Operation Dwell Push Sequential data speed mode function time current positioning No 1 5000 5000 1000 1000 INC eit Not used Not used Not used No 2 5000 500 Not used Not used INC inde Not used 500 Not used 2 Operation 3 20 Operation example Speed Operating speed of No 1 5000 Push motion status Operating speed of No 2 500 0 5000 10000 Position Operating method 1 Check the READY output is ON 2 Select the operation data No 1 by turning the MO input ON and turn the START input ON 3 The motor starts the positioning operation in which the operation data No 1 and No 2 are linked 4 Check that the READY output has been turned OFF and turn the START input OFF 5 When the motor becomes push motion status the TLC output will be turned ON and then the READY output will be turned ON Push motion status Motor operation No 1 No 2 ON MO to M5 input OFF No 1 ON START input OFF N
301. tput when the parameter for auto return is set to Enable Main circuit Jhe temperature M IOE ne aver OxC20008 Review the ventilation condition in the 21h the value set in the parameter for overheat overheat warning enclosure e The voltage of the power supply exceeded f the A in kaAi e Check the input voltage of the power supply 22h Overvoltage overvoltage warning e If this alarm generates during operation e A large inertial load was stopped abruptly or E A make theacceleration vertical operation was performed ger e The power supply voltage dropped from the value set in the parameter for undervoltage 25h Undervoltage warning Check the input voltage of the power supply e The main power was cut off momentarily or the voltage became low A igad exce ding the maximum torque was e Reduce the load or make the acceleration e deceleration longer applied for the time set in parameter for the a g 30h Overload overload warning or longer if the driver is in the current control mode e The load is large or acceleration norpase the guirent imit value deceleration is too short e Check the connection between the driver i and electromagnetic brake e Check the electronic gear setting and reduce the speed of the motor output shaft to the 31h Overspeed The detected motor speed exceeded the value value set in the parameter or less set in the parameter for overspeed warning e If the motor is overshooting at the time of accelerati
302. turn to home Push mode The motor operates at the starting speed of home seeking When the moving part for the motor is pressed against a mechanical stopper etc the motor will rotates in the reverse direction After reversing the motor will move 200 steps and stop and then the stop position will be the home position 2 e No external sensor is needed e Operating speed is low Starting speed of return to home Position preset When executing the P PRESET input at the position that the motor stops the command position will be the value of the preset position parameter The home position can be set to any position e No external sensor is needed e The home position can be set to any position 1 Do not perform push mode return to home operation for geared motors 2 It moves 200 steps regardless of resolution Therefore the actual travel distance may vary according to resolution 3 In the case of a rotating mechanism even when using one external sensor the home position can be detected E Additional function 2 sensor mode Item 3 sensor mode Position preset Related parameter Push mode Home offset Possible Not possible e Position offset of home seeking i SLIT detection with home seekin External sensor signal Possible Not possible i i i g detection e TIM signal detection with home seeking Command position after The position Any position e Preset position returning to
303. tween the command position and actual position will be small An excessively high value may increase the motor overshooting or cause motor hunting 1 to 50 10 Speed loop gain This adjusts the motor response in reaction to the speed deviation When this value is increased the deviation between the command speed and actual speed will be small An excessively high value may increase the motor overshooting or cause motor hunting 10 to 200 180 Speed loop integral time constant This decreases the deviation that cannot be adjusted with the speed loop gain An excessively high value may slow the motor response On the other hand an excessively low value may cause motor hunting 100 to 2000 1 0 1 ms 1000 1 11 Absolute position backup system This product can be used in the absolute position backup mode when connecting an accessory battery set BATO1B sold separately Since the absolute position can be kept during an electrical outage or after turning off the power the return to home operation is not required when the power is turned on Refer to p 9 4 for accessory Related parameter Parameter name Description Setting range Initial value Absolute position backup Sets whether to enable or disable the 0 Disable 0 system absolute position backup system 1 Enable E Setting of the absolute position backup system 1 Turn off the driver power and then connect the battery to the batte
304. uct power connect the PC and applicable product and then start them again e It is recommended to back up the application program to a suitable storage device or a medium since data loss is a possibility when using software e Do not unplug the USB cable while the MEXEO2 communicates with the applicable product 1 Overview of the MEXE02 E Notation rules The description of text in this manual follows the notation rules specified as shown at the right The screens shown in this manual are those displayed in Windows XP Menus and submenus shown in from the title bar buttons and other controls that can be clicked with the mouse are enclosed in square brackets Dialog box messages etc are enclosed in double quotations marks Enter Keyboard keys are shown in a box 2 Connection startup and shutdown 2 Connection startup and shutdown This chapter explains how to connect your PC to the driver and start shut down the MEXE02 2 1 Connection method 7 When grounding the positive terminal of the power supply do not connect any A Caution equipment PC etc whose negative terminal is grounded Doing so may cause the driver and PC to short damaging both Note Use the communication cable for the data setting software when connecting the PC and driver 1 Turn off the PC and driver 2 Insert the PC interface cable of the communication cable for the data setting software to the data e
305. uidance eenen 6 2 1 2 Setting the switches eeeeeeeeeee 6 5 1 3 Remote register list 0 0 eeeeeeeees 6 6 1 4 Assignment for remote I O of 6 axes connection Mode 6 6 E Assignment list of remote I O 6 6 E nput output of remote I O eee 6 7 E Details of remote I O assignment 6 8 1 5 Assignment for remote I O of 12 axes Connection Mode 6 9 E Assignment list of remote I O 6 9 E nput output of remote I O eee 6 10 E Details of remote I O assignment 6 12 2 Method of control via MECHATROLINK COMMUNICATION cceeeeeeeeeeeeeeeeeeeeeeeeeeeees 6 14 2 1 GUIDANCE saarron 6 14 2 2 Setting the switches eee 6 17 2 3 I O field map for the NETCO1 M2 6 18 2 4 I O field map for the NETCO1 M3 6 19 2 5 Communication format eee 6 20 E Remote I O input eee ceceeceeeeeneetees 6 20 E Remote I O output cc ececeseeeeeereetees 6 20 E Remote register input 6 21 E Remote register output 6 21 3 Details of remote O ccccseseeeeeseeeereees 6 22 3 1 Input signals to the driver 0 0 6 22 3 2 Output signals from the driver 6 23 4 Command Code list ceseeccesseeeeeeees 6 24 4 1 Group function i e 6 24 4 2 Maintenance command 6 25 4 3 Monitor COMMANG l 4 4 Operation data oo cccccccccceeeeeeeeeeeeees 4 5 User parameters ccccccccccccccceceeeeeeeees E 1 O parameter ce eeeceeeeecseee
306. unction Data read 0 Not used Set when the output terminal is not used 1 FWD_R Output in response to the FWD input 2 RVS_R Output in response to the RVS input 3 HOME_R_ Output in response to the HOME input 4 START_R_ Output in response to the START input 5 SSTART_R Output in response to the SSTART input 6 JOG_R Output in response to the JOG input 7 JOG_R Output in response to the JOG input 8 MSO_R 9 MS1_R Y Meza 8 Output in response to the MSO to MS5 input 11 MS3_R 12 MS4_R 13 MS5_R 16 FREE_R_ Output in response to the FREE input 17 C ON_R Output in response to the C ON input 18 STOP_R Output in response to the STOP input 32 RO 33 R1 34 R2 35 R3 36 R4 0 OFF 37 R5 1 ON 38 R6 39 R7 Output the status of the general signal RO to 40 R8 R15 41 R9 42 R10 43 R11 44 R12 45 R13 46 R14 47 R15 48 MO_R 49 M1_R 50 M2_R a Output in response to the MO to M5 inputs 51 M3_R 52 M4_R 53 M5_R 60 LS_R Output in response to the LS input 61 LS_R Output in response to the LS input 62 HOMES R Output in response to the HOMES input 63 SLIT_R Output in response to the SLIT input 65 ALM Output the alarm of the driver normally open i Alarm not present Alarm present 66 WNG Output the warning of the driver Woe not present Warning present 67 READY Output when the driver is ready eee eae 68 MOVE Output when the motor operates Motor stopped Moto
307. utom tic return eperatio 1 0 001 ms kHz or 1000 automatic return P i 1 0 001 s B Starting speed of Sets the starting speed for automatic return 0 to 1 000 000 Hz 500 automatic return operation JOG travel amount Sets the travel amount for JOG operation 1 to 8 388 607 step 1 1 Indicates the timing for the data to become effective B Effective after stopping the operation C Effective after executing the configuration 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 3 42 4 5 Return to home parameter 4 Parameter Name Description Setting range Initial value Effective 5 Sets the mode for return to home 0 essenieer Mode Home seeking mode 1 3 sensor mode 1 operation 2 Push mode Operating speed of Sets the operating speed for 1 to 1 000 000 Hz 1000 home seeking return to home operation Acceleration deceleration of Sets the acceleration deceleration rate or l lo 1 000 000 1 0 001 ms kHz or 1000 home seeking time for return to home operation i 2 1 0 001 s Starting speed of Sets the starting speed for return to home 4 to 1 000 000 Hz 500 home seeking operation Position offset of Sets the amount of offset from mechanical 8 388 608 to 0 B home seeking home 8 388 607 step Starting direction of
308. ve earth terminal with a welder or any other power equipment Connect to 8 CN1 ue 24 VDC 24 48V O CN1 Orientalmotor 2 3 Connecting the data setter Connect the OPX 2A cable or communication cable for the data setting software to the data edit connector CN3 on the driver Bana I Aa OPX 2A cable or communication cable for the data setting software OfFl e e 5 0 Pa ES sessg ess252255 oooooj 00000000q The power supply connector CN1 data edit connector CN3 and RS 485 A Caution communication connectors CN6 CN7 of the driver are not electrically insulated When grounding the positive terminal of the power supply do not connect any equipment PC etc whose negative terminal is grounded Doing so may cause the driver and these equipment to short damaging both 2 12 2 Connection 2 4 Connecting the RS 485 communication cable Connect this cable if you want to control your product via RS 485 communication Connect the RS 485 communication cable to CN6 or CN7 on the driver You can use the vacant connectors to connect a different driver A driver link cable is available as an accessory sold separately See p 9 4 You can also use a commercial LAN cable to link drivers Drivers can be linked RS 485 communication connectors CN6 CN7 Fu
309. verview and operating method for the data setting software MEXEO2 Perform any editing operations for the MEXEO2 using an account with Administrator privileges The MEXE02 is designed with the assumption that the user has an understanding of basic operations such as starting up and exiting applications and how to use a mouse in Windows 2000 Windows XP Windows Vista and Windows 7 Use the product only after carefully reading and fully understanding these instructions Functions of the MEXE02 The MEXE02 is a software program that lets you set data required for motor operation from a PC Data can be edited in various PC screens or data set in the driver can be checked from a PC The key functions of the MEXEO2 are explained below Editing and saving the data Operating data and parameters can be created and edited Data edited in the MEXEO2 can be written to the driver download or data stored in driver can be read into the MEXE02 upload You can save data files created in the MEXEO2 in either the MEXE02 s dedicated file format or CSV format Pie EE Fle tdt Move Vew Commnicaten Teal Wirda Hep xl Dema Rg eelo Postion piep _ Operating speed H Operating mode Pushcurent a Dweltine 5 o 1000 Single 200 0000 o 1000 Sia 200 0000 o 1000 Sia 200 0000 0 100 Snok 200 0000 o 1000 si 200 0000 o 1000 Sia 200 0000 o 1000 Sia 200 0000 o 1000 Sink 200
310. w appears MEXE02 Untitled 1 amp File Edit Move View Communication Tool Window Help DSH aT aee E AR StoredData DC 6 Data Parameter 1 0 Parameter Motor Parameter Operation Parameter Home Operation Parameter Alarm Parameter Waming Parameter Coordinates Parameter Common Parameter 1 0 Function 1 0 Function RS 485 Communication Parameter E Monitor T Start Teaching Position I D step Aaaa e Operation Data 0 I 0 step Position Preset 00 No Alarm Position Lost Alarm Reset Alarm Reset Warning Condition D0 No waming 3 Data edit 3 2 Opening an 1 Click the Open icon in the toolbar existing data file gt U MEXEO2 Untitled1 a File Edit Move View Communication Tool OLLA 2 Select the file you want to edit and click Open Lookin My Documents o a c am Te My Recent Documents My Network Places The data edit window appears just like when you are creating a new data file ia My Music m My Pictures EA File name Untitled1 Files of type MEXE02 format mx2 3 3 Setting data in the data edit window Changing the data in the MEXE02 will not change the data in the driver In order to change the data in the driver a download must be performed See p 7 14 for procedures on downloading E Data entry When the value in a cell is changed the cell changes to yellow The characters in t
311. warning recortes Monitors the warning records 1 to 10 2051h Warning record 6 2052h Warning record 7 2053h Warning record 8 2054h Warning record 9 2055h Warning record 10 2057h Communication error code record 1 2058h Communication error code record 2 2059h Communication error code record 3 205Ah Communication error code record 4 205Bh Communication error code record 5 Monitors the communication error records 1 to 10 that 205Ch Communication error code record 6 have occurred in the past 205Dh Communication error code record 7 205Eh Communication error code record 8 205Fh Communication error code record 9 2060h Communication error code record 10 2061h Present selected data No Monitors the operation data No currently selected Monitors the operation data No corresponding to the data used in the current positioning operation This 2062h Present operation data No address is used in linked motion operation and sequential positioning operation While the motor is stopped the last used operation data number is indicated 2063h Command position Monitors the command position 2064h Command speed Monitors the command speed 2066h Feedback position Monitors the feedback position 2067h Feedback speed Monitors the feedback speed 2069h Remaining dwell time Monitors how much of the dwell time used in the linked motion operation 2 remains Monitors the each direct I O signal and 206Ah ree VOAnd electromagnetc brake electromagne
312. while pushing the button of the orange Lead wire Color with a screwdriver lt Output signals Connect to CN9 Motor cable Cable for motor Connect to CN2 q O 7 q gq M Electromagnetic Cable for electro q IST Input signals brake cable magnetic brake Black q IG Connect to CN8 Connect to CN1 White d m alas d I g IHs Sensor signals DC power supply 24 V 48 V amp d IGH Connect to CN5 24 VDC 5 GND Z ql 4 or 48 VDC 5 FG Oriehtalmotor Wiring the CN1 connector Screwdriver Screwdriver Pay attention to the connector screw size M2 5 connector screw size M2 polarity of the power Tightening torque 0 4 N m 56 oz in Tightening torque supply 0 22 to 0 25 Nem 31 to 35 oz in 24 VDC Lead ss o gt K GND Keep 30 m 98 4 ft or less for the wiring distance between the motor and driver e Have the connector plugged in securely Insecure connections may cause malfunction or damage to the motor or driver e When unplugging the connector do so while pressing the latches on the connector e When plugging unplugging the connector turn off the power and wait for the POWER LED to turn off before doing so e When connecting check the silk screen of the driver and pay attention to the polarity of the power supply Reverse polarity connection may cause damage to the driver The power supply circuit and the RS 485 communication circu
313. work This part explains how to control via industrial network This product can be controlled via CC Link communication or MECHATROLINK communication in combination with a network converter sold separately Table of contents 1 Method of control via CC Link COMMUNICATION ceeeeeeeeeeeeeeeeees 6 2 1 1 GUIDANCE eect tee e ett 6 2 1 2 Setting the switches eee 6 5 1 3 Remote register list 0 eee 6 6 1 4 Assignment for remote I O of 6 axes connection MOdE cereeeeeee 6 6 Assignment list of remote I O eee 6 6 E Input output of remote I O eee 6 7 E Details of remote I O assignment 6 8 1 5 Assignment for remote I O of 12 axes connection MOde sceeeeeeee 6 9 m Assignment list of remote I O eee 6 9 E Input output of remote V O ee 6 10 E Details of remote I O assignment 6 12 2 Method of control via MECHATROLINK COMMUNICATION eceeeeeeeeeeeeeee 6 14 2 1 Guidance cece ee teeetetteeeeeeeees 6 14 2 2 Setting the switches ee 6 17 2 3 I O field map for the NETCO1 M2 6 18 2 4 I O field map for the NETCO1 M3 6 19 2 5 Communication format 0 6 20 E Remote O input ee cee ereeeeeeeeee 6 20 E Remote I O output ee eee eneeeeeeeee 6 20 E Remote register INPUt eee eee eeeee 6 21 E Remote register OUtpUt eee eee eens 6 21 3 Details of remote I O 0 6 22 3
314. y understanding these instructions A W Handling the product without observing the instructions that accompany a Warning arning symbol may result in serious injury or death A Cauti Handling the product without observing the instructions that accompany a Caution aution symbol may result in injury or property damage Note The items under this heading contain important handling instructions that the user should observe to ensure safe use of the product Z Warning General e Do not use the product in explosive or corrosive environments in the presence of flammable gases locations subjected to splashing water or near combustibles Doing so may result in fire or injury e Assign qualified personnel the task of installing wiring operating controlling inspecting and troubleshooting the product Failure to do so may result in fire injury or damage to equipment e Take measures to keep the moving parts in position for vertical operations such as elevator applications The motor loses holding torque when the power is shut off allowing the moving parts to fall and possibly cause injury or damage to equipment e The brake mechanism of an electromagnetic brake motor is used to keep the moving part and motor in position Do not use it as a deceleration safety brake Doing so may result in injury or damage to the equipment e When the driver generates an alarm any of the driver s protective functions is trigge
315. z When installing three or more drivers closely the heat generation of the inside 8 drivers become high Install the less frequently used drivers toward the inside 3 Use the overheat warning parameter to check the inside temperature of the driver Note e Install the driver in an enclosure whose pollution degree is 2 or better environment or whose degree of protection is IP54 minimum e Do not install any equipment that generates a large amount of heat or noise near the driver e Do not install the driver underneath the controller or other equipment vulnerable to heat e If the ambient temperature of the driver exceeds 50 C 122 F improve the ventilation condition such as providing forced cooling by using fans or creating spaces between the drivers e Be sure to install the driver vertically vertical position qww OS Pull down the driver s DIN lever and lock it Hang the hook at the rear to the DIN rail and push in the driver After installation secure the both sides of the driver with the end plate O els Z 5 g ma o aa eeeeseses feseoocs COOOGHJOOHOOCOUG fOOOC000 If ODJ i im IC T DIN rail End plate Si OO o oE DIN lever Removing from DIN rail

User Manual - Oriental Motor

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